diff --git a/common/libcommon.a b/common/libcommon.a index 51a8e8d84..20f1a27b0 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 378efd17e..9cfb19069 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 51fba5d1e..056dc5a2f 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 01f710cc1..27f37629f 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 f71373a50..e5bb61599 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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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 ecb1d7b4a..cab21855f 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 bb6565b0c..3ae0a673f 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 056697204..2a8d68413 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-53766ff6-DEBUG"; +const uint8_t gitversion[19] = "DEV-5ff108af-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index cc6cf23ca..626ac0025 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 e36874f44..be1fdb4ae 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 13d3e2973..6abc7190b 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 1c4f61174..6c0b7ba1d 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 e84953680..d11a82869 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 838b02c02..c229c8cc1 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 a270cbbb7..310ad41d4 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 f05aadd95..5ff96489e 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 48c3c642a..37ec35948 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 0b681d179..0cd267bb7 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 c5ff9693b..b1e8c9929 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 2ce46dda4..9ddc74717 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 637324ec6..e06d52796 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 aa6cdf9fe..d2dfc117a 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 a1df008ba..fb9a204cf 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 aee1836bc..b67219dfb 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 610297c00..62d150def 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 aebb6be45..ec2c05f8b 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 ebbbf0b60..e8a97424a 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 89515eb4d..a9a15f114 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 8602e2354..ce6843069 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-53766ff6-DEBUG \ No newline at end of file +DEV-5ff108af-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index ad7c1f03f..abf70f885 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_7681400738027994255) { - out_7681400738027994255[0] = delta_x[0] + nom_x[0]; - out_7681400738027994255[1] = delta_x[1] + nom_x[1]; - out_7681400738027994255[2] = delta_x[2] + nom_x[2]; - out_7681400738027994255[3] = delta_x[3] + nom_x[3]; - out_7681400738027994255[4] = delta_x[4] + nom_x[4]; - out_7681400738027994255[5] = delta_x[5] + nom_x[5]; - out_7681400738027994255[6] = delta_x[6] + nom_x[6]; - out_7681400738027994255[7] = delta_x[7] + nom_x[7]; - out_7681400738027994255[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_885257502884011965) { + out_885257502884011965[0] = delta_x[0] + nom_x[0]; + out_885257502884011965[1] = delta_x[1] + nom_x[1]; + out_885257502884011965[2] = delta_x[2] + nom_x[2]; + out_885257502884011965[3] = delta_x[3] + nom_x[3]; + out_885257502884011965[4] = delta_x[4] + nom_x[4]; + out_885257502884011965[5] = delta_x[5] + nom_x[5]; + out_885257502884011965[6] = delta_x[6] + nom_x[6]; + out_885257502884011965[7] = delta_x[7] + nom_x[7]; + out_885257502884011965[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5789638956557325357) { - out_5789638956557325357[0] = -nom_x[0] + true_x[0]; - out_5789638956557325357[1] = -nom_x[1] + true_x[1]; - out_5789638956557325357[2] = -nom_x[2] + true_x[2]; - out_5789638956557325357[3] = -nom_x[3] + true_x[3]; - out_5789638956557325357[4] = -nom_x[4] + true_x[4]; - out_5789638956557325357[5] = -nom_x[5] + true_x[5]; - out_5789638956557325357[6] = -nom_x[6] + true_x[6]; - out_5789638956557325357[7] = -nom_x[7] + true_x[7]; - out_5789638956557325357[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6192379265473109268) { + out_6192379265473109268[0] = -nom_x[0] + true_x[0]; + out_6192379265473109268[1] = -nom_x[1] + true_x[1]; + out_6192379265473109268[2] = -nom_x[2] + true_x[2]; + out_6192379265473109268[3] = -nom_x[3] + true_x[3]; + out_6192379265473109268[4] = -nom_x[4] + true_x[4]; + out_6192379265473109268[5] = -nom_x[5] + true_x[5]; + out_6192379265473109268[6] = -nom_x[6] + true_x[6]; + out_6192379265473109268[7] = -nom_x[7] + true_x[7]; + out_6192379265473109268[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_770586316396255671) { - out_770586316396255671[0] = 1.0; - out_770586316396255671[1] = 0.0; - out_770586316396255671[2] = 0.0; - out_770586316396255671[3] = 0.0; - out_770586316396255671[4] = 0.0; - out_770586316396255671[5] = 0.0; - out_770586316396255671[6] = 0.0; - out_770586316396255671[7] = 0.0; - out_770586316396255671[8] = 0.0; - out_770586316396255671[9] = 0.0; - out_770586316396255671[10] = 1.0; - out_770586316396255671[11] = 0.0; - out_770586316396255671[12] = 0.0; - out_770586316396255671[13] = 0.0; - out_770586316396255671[14] = 0.0; - out_770586316396255671[15] = 0.0; - out_770586316396255671[16] = 0.0; - out_770586316396255671[17] = 0.0; - out_770586316396255671[18] = 0.0; - out_770586316396255671[19] = 0.0; - out_770586316396255671[20] = 1.0; - out_770586316396255671[21] = 0.0; - out_770586316396255671[22] = 0.0; - out_770586316396255671[23] = 0.0; - out_770586316396255671[24] = 0.0; - out_770586316396255671[25] = 0.0; - out_770586316396255671[26] = 0.0; - out_770586316396255671[27] = 0.0; - out_770586316396255671[28] = 0.0; - out_770586316396255671[29] = 0.0; - out_770586316396255671[30] = 1.0; - out_770586316396255671[31] = 0.0; - out_770586316396255671[32] = 0.0; - out_770586316396255671[33] = 0.0; - out_770586316396255671[34] = 0.0; - out_770586316396255671[35] = 0.0; - out_770586316396255671[36] = 0.0; - out_770586316396255671[37] = 0.0; - out_770586316396255671[38] = 0.0; - out_770586316396255671[39] = 0.0; - out_770586316396255671[40] = 1.0; - out_770586316396255671[41] = 0.0; - out_770586316396255671[42] = 0.0; - out_770586316396255671[43] = 0.0; - out_770586316396255671[44] = 0.0; - out_770586316396255671[45] = 0.0; - out_770586316396255671[46] = 0.0; - out_770586316396255671[47] = 0.0; - out_770586316396255671[48] = 0.0; - out_770586316396255671[49] = 0.0; - out_770586316396255671[50] = 1.0; - out_770586316396255671[51] = 0.0; - out_770586316396255671[52] = 0.0; - out_770586316396255671[53] = 0.0; - out_770586316396255671[54] = 0.0; - out_770586316396255671[55] = 0.0; - out_770586316396255671[56] = 0.0; - out_770586316396255671[57] = 0.0; - out_770586316396255671[58] = 0.0; - out_770586316396255671[59] = 0.0; - out_770586316396255671[60] = 1.0; - out_770586316396255671[61] = 0.0; - out_770586316396255671[62] = 0.0; - out_770586316396255671[63] = 0.0; - out_770586316396255671[64] = 0.0; - out_770586316396255671[65] = 0.0; - out_770586316396255671[66] = 0.0; - out_770586316396255671[67] = 0.0; - out_770586316396255671[68] = 0.0; - out_770586316396255671[69] = 0.0; - out_770586316396255671[70] = 1.0; - out_770586316396255671[71] = 0.0; - out_770586316396255671[72] = 0.0; - out_770586316396255671[73] = 0.0; - out_770586316396255671[74] = 0.0; - out_770586316396255671[75] = 0.0; - out_770586316396255671[76] = 0.0; - out_770586316396255671[77] = 0.0; - out_770586316396255671[78] = 0.0; - out_770586316396255671[79] = 0.0; - out_770586316396255671[80] = 1.0; +void H_mod_fun(double *state, double *out_1067171112169386981) { + out_1067171112169386981[0] = 1.0; + out_1067171112169386981[1] = 0.0; + out_1067171112169386981[2] = 0.0; + out_1067171112169386981[3] = 0.0; + out_1067171112169386981[4] = 0.0; + out_1067171112169386981[5] = 0.0; + out_1067171112169386981[6] = 0.0; + out_1067171112169386981[7] = 0.0; + out_1067171112169386981[8] = 0.0; + out_1067171112169386981[9] = 0.0; + out_1067171112169386981[10] = 1.0; + out_1067171112169386981[11] = 0.0; + out_1067171112169386981[12] = 0.0; + out_1067171112169386981[13] = 0.0; + out_1067171112169386981[14] = 0.0; + out_1067171112169386981[15] = 0.0; + out_1067171112169386981[16] = 0.0; + out_1067171112169386981[17] = 0.0; + out_1067171112169386981[18] = 0.0; + out_1067171112169386981[19] = 0.0; + out_1067171112169386981[20] = 1.0; + out_1067171112169386981[21] = 0.0; + out_1067171112169386981[22] = 0.0; + out_1067171112169386981[23] = 0.0; + out_1067171112169386981[24] = 0.0; + out_1067171112169386981[25] = 0.0; + out_1067171112169386981[26] = 0.0; + out_1067171112169386981[27] = 0.0; + out_1067171112169386981[28] = 0.0; + out_1067171112169386981[29] = 0.0; + out_1067171112169386981[30] = 1.0; + out_1067171112169386981[31] = 0.0; + out_1067171112169386981[32] = 0.0; + out_1067171112169386981[33] = 0.0; + out_1067171112169386981[34] = 0.0; + out_1067171112169386981[35] = 0.0; + out_1067171112169386981[36] = 0.0; + out_1067171112169386981[37] = 0.0; + out_1067171112169386981[38] = 0.0; + out_1067171112169386981[39] = 0.0; + out_1067171112169386981[40] = 1.0; + out_1067171112169386981[41] = 0.0; + out_1067171112169386981[42] = 0.0; + out_1067171112169386981[43] = 0.0; + out_1067171112169386981[44] = 0.0; + out_1067171112169386981[45] = 0.0; + out_1067171112169386981[46] = 0.0; + out_1067171112169386981[47] = 0.0; + out_1067171112169386981[48] = 0.0; + out_1067171112169386981[49] = 0.0; + out_1067171112169386981[50] = 1.0; + out_1067171112169386981[51] = 0.0; + out_1067171112169386981[52] = 0.0; + out_1067171112169386981[53] = 0.0; + out_1067171112169386981[54] = 0.0; + out_1067171112169386981[55] = 0.0; + out_1067171112169386981[56] = 0.0; + out_1067171112169386981[57] = 0.0; + out_1067171112169386981[58] = 0.0; + out_1067171112169386981[59] = 0.0; + out_1067171112169386981[60] = 1.0; + out_1067171112169386981[61] = 0.0; + out_1067171112169386981[62] = 0.0; + out_1067171112169386981[63] = 0.0; + out_1067171112169386981[64] = 0.0; + out_1067171112169386981[65] = 0.0; + out_1067171112169386981[66] = 0.0; + out_1067171112169386981[67] = 0.0; + out_1067171112169386981[68] = 0.0; + out_1067171112169386981[69] = 0.0; + out_1067171112169386981[70] = 1.0; + out_1067171112169386981[71] = 0.0; + out_1067171112169386981[72] = 0.0; + out_1067171112169386981[73] = 0.0; + out_1067171112169386981[74] = 0.0; + out_1067171112169386981[75] = 0.0; + out_1067171112169386981[76] = 0.0; + out_1067171112169386981[77] = 0.0; + out_1067171112169386981[78] = 0.0; + out_1067171112169386981[79] = 0.0; + out_1067171112169386981[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5606339599600049351) { - out_5606339599600049351[0] = state[0]; - out_5606339599600049351[1] = state[1]; - out_5606339599600049351[2] = state[2]; - out_5606339599600049351[3] = state[3]; - out_5606339599600049351[4] = state[4]; - out_5606339599600049351[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_5606339599600049351[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_5606339599600049351[7] = state[7]; - out_5606339599600049351[8] = state[8]; +void f_fun(double *state, double dt, double *out_6825209250572789160) { + out_6825209250572789160[0] = state[0]; + out_6825209250572789160[1] = state[1]; + out_6825209250572789160[2] = state[2]; + out_6825209250572789160[3] = state[3]; + out_6825209250572789160[4] = state[4]; + out_6825209250572789160[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_6825209250572789160[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_6825209250572789160[7] = state[7]; + out_6825209250572789160[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7025079641144486959) { - out_7025079641144486959[0] = 1; - out_7025079641144486959[1] = 0; - out_7025079641144486959[2] = 0; - out_7025079641144486959[3] = 0; - out_7025079641144486959[4] = 0; - out_7025079641144486959[5] = 0; - out_7025079641144486959[6] = 0; - out_7025079641144486959[7] = 0; - out_7025079641144486959[8] = 0; - out_7025079641144486959[9] = 0; - out_7025079641144486959[10] = 1; - out_7025079641144486959[11] = 0; - out_7025079641144486959[12] = 0; - out_7025079641144486959[13] = 0; - out_7025079641144486959[14] = 0; - out_7025079641144486959[15] = 0; - out_7025079641144486959[16] = 0; - out_7025079641144486959[17] = 0; - out_7025079641144486959[18] = 0; - out_7025079641144486959[19] = 0; - out_7025079641144486959[20] = 1; - out_7025079641144486959[21] = 0; - out_7025079641144486959[22] = 0; - out_7025079641144486959[23] = 0; - out_7025079641144486959[24] = 0; - out_7025079641144486959[25] = 0; - out_7025079641144486959[26] = 0; - out_7025079641144486959[27] = 0; - out_7025079641144486959[28] = 0; - out_7025079641144486959[29] = 0; - out_7025079641144486959[30] = 1; - out_7025079641144486959[31] = 0; - out_7025079641144486959[32] = 0; - out_7025079641144486959[33] = 0; - out_7025079641144486959[34] = 0; - out_7025079641144486959[35] = 0; - out_7025079641144486959[36] = 0; - out_7025079641144486959[37] = 0; - out_7025079641144486959[38] = 0; - out_7025079641144486959[39] = 0; - out_7025079641144486959[40] = 1; - out_7025079641144486959[41] = 0; - out_7025079641144486959[42] = 0; - out_7025079641144486959[43] = 0; - out_7025079641144486959[44] = 0; - out_7025079641144486959[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_7025079641144486959[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7025079641144486959[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7025079641144486959[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7025079641144486959[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_7025079641144486959[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7025079641144486959[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7025079641144486959[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7025079641144486959[53] = -9.8100000000000005*dt; - out_7025079641144486959[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_7025079641144486959[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7025079641144486959[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7025079641144486959[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7025079641144486959[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_7025079641144486959[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7025079641144486959[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_7025079641144486959[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7025079641144486959[62] = 0; - out_7025079641144486959[63] = 0; - out_7025079641144486959[64] = 0; - out_7025079641144486959[65] = 0; - out_7025079641144486959[66] = 0; - out_7025079641144486959[67] = 0; - out_7025079641144486959[68] = 0; - out_7025079641144486959[69] = 0; - out_7025079641144486959[70] = 1; - out_7025079641144486959[71] = 0; - out_7025079641144486959[72] = 0; - out_7025079641144486959[73] = 0; - out_7025079641144486959[74] = 0; - out_7025079641144486959[75] = 0; - out_7025079641144486959[76] = 0; - out_7025079641144486959[77] = 0; - out_7025079641144486959[78] = 0; - out_7025079641144486959[79] = 0; - out_7025079641144486959[80] = 1; +void F_fun(double *state, double dt, double *out_1474779246882826642) { + out_1474779246882826642[0] = 1; + out_1474779246882826642[1] = 0; + out_1474779246882826642[2] = 0; + out_1474779246882826642[3] = 0; + out_1474779246882826642[4] = 0; + out_1474779246882826642[5] = 0; + out_1474779246882826642[6] = 0; + out_1474779246882826642[7] = 0; + out_1474779246882826642[8] = 0; + out_1474779246882826642[9] = 0; + out_1474779246882826642[10] = 1; + out_1474779246882826642[11] = 0; + out_1474779246882826642[12] = 0; + out_1474779246882826642[13] = 0; + out_1474779246882826642[14] = 0; + out_1474779246882826642[15] = 0; + out_1474779246882826642[16] = 0; + out_1474779246882826642[17] = 0; + out_1474779246882826642[18] = 0; + out_1474779246882826642[19] = 0; + out_1474779246882826642[20] = 1; + out_1474779246882826642[21] = 0; + out_1474779246882826642[22] = 0; + out_1474779246882826642[23] = 0; + out_1474779246882826642[24] = 0; + out_1474779246882826642[25] = 0; + out_1474779246882826642[26] = 0; + out_1474779246882826642[27] = 0; + out_1474779246882826642[28] = 0; + out_1474779246882826642[29] = 0; + out_1474779246882826642[30] = 1; + out_1474779246882826642[31] = 0; + out_1474779246882826642[32] = 0; + out_1474779246882826642[33] = 0; + out_1474779246882826642[34] = 0; + out_1474779246882826642[35] = 0; + out_1474779246882826642[36] = 0; + out_1474779246882826642[37] = 0; + out_1474779246882826642[38] = 0; + out_1474779246882826642[39] = 0; + out_1474779246882826642[40] = 1; + out_1474779246882826642[41] = 0; + out_1474779246882826642[42] = 0; + out_1474779246882826642[43] = 0; + out_1474779246882826642[44] = 0; + out_1474779246882826642[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_1474779246882826642[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1474779246882826642[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1474779246882826642[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1474779246882826642[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_1474779246882826642[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1474779246882826642[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1474779246882826642[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1474779246882826642[53] = -9.8100000000000005*dt; + out_1474779246882826642[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_1474779246882826642[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1474779246882826642[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1474779246882826642[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1474779246882826642[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_1474779246882826642[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1474779246882826642[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_1474779246882826642[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1474779246882826642[62] = 0; + out_1474779246882826642[63] = 0; + out_1474779246882826642[64] = 0; + out_1474779246882826642[65] = 0; + out_1474779246882826642[66] = 0; + out_1474779246882826642[67] = 0; + out_1474779246882826642[68] = 0; + out_1474779246882826642[69] = 0; + out_1474779246882826642[70] = 1; + out_1474779246882826642[71] = 0; + out_1474779246882826642[72] = 0; + out_1474779246882826642[73] = 0; + out_1474779246882826642[74] = 0; + out_1474779246882826642[75] = 0; + out_1474779246882826642[76] = 0; + out_1474779246882826642[77] = 0; + out_1474779246882826642[78] = 0; + out_1474779246882826642[79] = 0; + out_1474779246882826642[80] = 1; } -void h_25(double *state, double *unused, double *out_4577152348291642136) { - out_4577152348291642136[0] = state[6]; +void h_25(double *state, double *unused, double *out_4524197194175300932) { + out_4524197194175300932[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5674278141580920511) { - out_5674278141580920511[0] = 0; - out_5674278141580920511[1] = 0; - out_5674278141580920511[2] = 0; - out_5674278141580920511[3] = 0; - out_5674278141580920511[4] = 0; - out_5674278141580920511[5] = 0; - out_5674278141580920511[6] = 1; - out_5674278141580920511[7] = 0; - out_5674278141580920511[8] = 0; +void H_25(double *state, double *unused, double *out_8126017113742850256) { + out_8126017113742850256[0] = 0; + out_8126017113742850256[1] = 0; + out_8126017113742850256[2] = 0; + out_8126017113742850256[3] = 0; + out_8126017113742850256[4] = 0; + out_8126017113742850256[5] = 0; + out_8126017113742850256[6] = 1; + out_8126017113742850256[7] = 0; + out_8126017113742850256[8] = 0; } -void h_24(double *state, double *unused, double *out_2260271043136596652) { - out_2260271043136596652[0] = state[4]; - out_2260271043136596652[1] = state[5]; +void h_24(double *state, double *unused, double *out_7846417075360830243) { + out_7846417075360830243[0] = state[4]; + out_7846417075360830243[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7498971649215618511) { - out_7498971649215618511[0] = 0; - out_7498971649215618511[1] = 0; - out_7498971649215618511[2] = 0; - out_7498971649215618511[3] = 0; - out_7498971649215618511[4] = 1; - out_7498971649215618511[5] = 0; - out_7498971649215618511[6] = 0; - out_7498971649215618511[7] = 0; - out_7498971649215618511[8] = 0; - out_7498971649215618511[9] = 0; - out_7498971649215618511[10] = 0; - out_7498971649215618511[11] = 0; - out_7498971649215618511[12] = 0; - out_7498971649215618511[13] = 0; - out_7498971649215618511[14] = 1; - out_7498971649215618511[15] = 0; - out_7498971649215618511[16] = 0; - out_7498971649215618511[17] = 0; +void H_24(double *state, double *unused, double *out_5500405455310713097) { + out_5500405455310713097[0] = 0; + out_5500405455310713097[1] = 0; + out_5500405455310713097[2] = 0; + out_5500405455310713097[3] = 0; + out_5500405455310713097[4] = 1; + out_5500405455310713097[5] = 0; + out_5500405455310713097[6] = 0; + out_5500405455310713097[7] = 0; + out_5500405455310713097[8] = 0; + out_5500405455310713097[9] = 0; + out_5500405455310713097[10] = 0; + out_5500405455310713097[11] = 0; + out_5500405455310713097[12] = 0; + out_5500405455310713097[13] = 0; + out_5500405455310713097[14] = 1; + out_5500405455310713097[15] = 0; + out_5500405455310713097[16] = 0; + out_5500405455310713097[17] = 0; } -void h_30(double *state, double *unused, double *out_715468871863140484) { - out_715468871863140484[0] = state[4]; +void h_30(double *state, double *unused, double *out_4249003131890795043) { + out_4249003131890795043[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8192611100088169138) { - out_8192611100088169138[0] = 0; - out_8192611100088169138[1] = 0; - out_8192611100088169138[2] = 0; - out_8192611100088169138[3] = 0; - out_8192611100088169138[4] = 1; - out_8192611100088169138[5] = 0; - out_8192611100088169138[6] = 0; - out_8192611100088169138[7] = 0; - out_8192611100088169138[8] = 0; +void H_30(double *state, double *unused, double *out_8255356060886090326) { + out_8255356060886090326[0] = 0; + out_8255356060886090326[1] = 0; + out_8255356060886090326[2] = 0; + out_8255356060886090326[3] = 0; + out_8255356060886090326[4] = 1; + out_8255356060886090326[5] = 0; + out_8255356060886090326[6] = 0; + out_8255356060886090326[7] = 0; + out_8255356060886090326[8] = 0; } -void h_26(double *state, double *unused, double *out_8710731789405934690) { - out_8710731789405934690[0] = state[7]; +void h_26(double *state, double *unused, double *out_4941641912900521878) { + out_4941641912900521878[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1932774822706864287) { - out_1932774822706864287[0] = 0; - out_1932774822706864287[1] = 0; - out_1932774822706864287[2] = 0; - out_1932774822706864287[3] = 0; - out_1932774822706864287[4] = 0; - out_1932774822706864287[5] = 0; - out_1932774822706864287[6] = 0; - out_1932774822706864287[7] = 1; - out_1932774822706864287[8] = 0; +void H_26(double *state, double *unused, double *out_6579223641092645136) { + out_6579223641092645136[0] = 0; + out_6579223641092645136[1] = 0; + out_6579223641092645136[2] = 0; + out_6579223641092645136[3] = 0; + out_6579223641092645136[4] = 0; + out_6579223641092645136[5] = 0; + out_6579223641092645136[6] = 0; + out_6579223641092645136[7] = 1; + out_6579223641092645136[8] = 0; } -void h_27(double *state, double *unused, double *out_5953042931828939605) { - out_5953042931828939605[0] = state[3]; +void h_27(double *state, double *unused, double *out_8854285503439050117) { + out_8854285503439050117[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6017847788287744227) { - out_6017847788287744227[0] = 0; - out_6017847788287744227[1] = 0; - out_6017847788287744227[2] = 0; - out_6017847788287744227[3] = 1; - out_6017847788287744227[4] = 0; - out_6017847788287744227[5] = 0; - out_6017847788287744227[6] = 0; - out_6017847788287744227[7] = 0; - out_6017847788287744227[8] = 0; +void H_27(double *state, double *unused, double *out_8016624701023036379) { + out_8016624701023036379[0] = 0; + out_8016624701023036379[1] = 0; + out_8016624701023036379[2] = 0; + out_8016624701023036379[3] = 1; + out_8016624701023036379[4] = 0; + out_8016624701023036379[5] = 0; + out_8016624701023036379[6] = 0; + out_8016624701023036379[7] = 0; + out_8016624701023036379[8] = 0; } -void h_29(double *state, double *unused, double *out_5677848869544433716) { - out_5677848869544433716[0] = state[1]; +void h_29(double *state, double *unused, double *out_6762597507390055760) { + out_6762597507390055760[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8702842444402561322) { - out_8702842444402561322[0] = 0; - out_8702842444402561322[1] = 1; - out_8702842444402561322[2] = 0; - out_8702842444402561322[3] = 0; - out_8702842444402561322[4] = 0; - out_8702842444402561322[5] = 0; - out_8702842444402561322[6] = 0; - out_8702842444402561322[7] = 0; - out_8702842444402561322[8] = 0; +void H_29(double *state, double *unused, double *out_7745124716571698142) { + out_7745124716571698142[0] = 0; + out_7745124716571698142[1] = 1; + out_7745124716571698142[2] = 0; + out_7745124716571698142[3] = 0; + out_7745124716571698142[4] = 0; + out_7745124716571698142[5] = 0; + out_7745124716571698142[6] = 0; + out_7745124716571698142[7] = 0; + out_7745124716571698142[8] = 0; } -void h_28(double *state, double *unused, double *out_8557448252637637256) { - out_8557448252637637256[0] = state[0]; +void h_28(double *state, double *unused, double *out_4366551354435176552) { + out_4366551354435176552[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3620443427333030748) { - out_3620443427333030748[0] = 1; - out_3620443427333030748[1] = 0; - out_3620443427333030748[2] = 0; - out_3620443427333030748[3] = 0; - out_3620443427333030748[4] = 0; - out_3620443427333030748[5] = 0; - out_3620443427333030748[6] = 0; - out_3620443427333030748[7] = 0; - out_3620443427333030748[8] = 0; +void H_28(double *state, double *unused, double *out_5619220340068322900) { + out_5619220340068322900[0] = 1; + out_5619220340068322900[1] = 0; + out_5619220340068322900[2] = 0; + out_5619220340068322900[3] = 0; + out_5619220340068322900[4] = 0; + out_5619220340068322900[5] = 0; + out_5619220340068322900[6] = 0; + out_5619220340068322900[7] = 0; + out_5619220340068322900[8] = 0; } -void h_31(double *state, double *unused, double *out_1336580678379106237) { - out_1336580678379106237[0] = state[8]; +void h_31(double *state, double *unused, double *out_4613520090508550250) { + out_4613520090508550250[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1306566720473512811) { - out_1306566720473512811[0] = 0; - out_1306566720473512811[1] = 0; - out_1306566720473512811[2] = 0; - out_1306566720473512811[3] = 0; - out_1306566720473512811[4] = 0; - out_1306566720473512811[5] = 0; - out_1306566720473512811[6] = 0; - out_1306566720473512811[7] = 0; - out_1306566720473512811[8] = 1; +void H_31(double *state, double *unused, double *out_8095371151865889828) { + out_8095371151865889828[0] = 0; + out_8095371151865889828[1] = 0; + out_8095371151865889828[2] = 0; + out_8095371151865889828[3] = 0; + out_8095371151865889828[4] = 0; + out_8095371151865889828[5] = 0; + out_8095371151865889828[6] = 0; + out_8095371151865889828[7] = 0; + out_8095371151865889828[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_7681400738027994255) { - err_fun(nom_x, delta_x, out_7681400738027994255); +void car_err_fun(double *nom_x, double *delta_x, double *out_885257502884011965) { + err_fun(nom_x, delta_x, out_885257502884011965); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5789638956557325357) { - inv_err_fun(nom_x, true_x, out_5789638956557325357); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6192379265473109268) { + inv_err_fun(nom_x, true_x, out_6192379265473109268); } -void car_H_mod_fun(double *state, double *out_770586316396255671) { - H_mod_fun(state, out_770586316396255671); +void car_H_mod_fun(double *state, double *out_1067171112169386981) { + H_mod_fun(state, out_1067171112169386981); } -void car_f_fun(double *state, double dt, double *out_5606339599600049351) { - f_fun(state, dt, out_5606339599600049351); +void car_f_fun(double *state, double dt, double *out_6825209250572789160) { + f_fun(state, dt, out_6825209250572789160); } -void car_F_fun(double *state, double dt, double *out_7025079641144486959) { - F_fun(state, dt, out_7025079641144486959); +void car_F_fun(double *state, double dt, double *out_1474779246882826642) { + F_fun(state, dt, out_1474779246882826642); } -void car_h_25(double *state, double *unused, double *out_4577152348291642136) { - h_25(state, unused, out_4577152348291642136); +void car_h_25(double *state, double *unused, double *out_4524197194175300932) { + h_25(state, unused, out_4524197194175300932); } -void car_H_25(double *state, double *unused, double *out_5674278141580920511) { - H_25(state, unused, out_5674278141580920511); +void car_H_25(double *state, double *unused, double *out_8126017113742850256) { + H_25(state, unused, out_8126017113742850256); } -void car_h_24(double *state, double *unused, double *out_2260271043136596652) { - h_24(state, unused, out_2260271043136596652); +void car_h_24(double *state, double *unused, double *out_7846417075360830243) { + h_24(state, unused, out_7846417075360830243); } -void car_H_24(double *state, double *unused, double *out_7498971649215618511) { - H_24(state, unused, out_7498971649215618511); +void car_H_24(double *state, double *unused, double *out_5500405455310713097) { + H_24(state, unused, out_5500405455310713097); } -void car_h_30(double *state, double *unused, double *out_715468871863140484) { - h_30(state, unused, out_715468871863140484); +void car_h_30(double *state, double *unused, double *out_4249003131890795043) { + h_30(state, unused, out_4249003131890795043); } -void car_H_30(double *state, double *unused, double *out_8192611100088169138) { - H_30(state, unused, out_8192611100088169138); +void car_H_30(double *state, double *unused, double *out_8255356060886090326) { + H_30(state, unused, out_8255356060886090326); } -void car_h_26(double *state, double *unused, double *out_8710731789405934690) { - h_26(state, unused, out_8710731789405934690); +void car_h_26(double *state, double *unused, double *out_4941641912900521878) { + h_26(state, unused, out_4941641912900521878); } -void car_H_26(double *state, double *unused, double *out_1932774822706864287) { - H_26(state, unused, out_1932774822706864287); +void car_H_26(double *state, double *unused, double *out_6579223641092645136) { + H_26(state, unused, out_6579223641092645136); } -void car_h_27(double *state, double *unused, double *out_5953042931828939605) { - h_27(state, unused, out_5953042931828939605); +void car_h_27(double *state, double *unused, double *out_8854285503439050117) { + h_27(state, unused, out_8854285503439050117); } -void car_H_27(double *state, double *unused, double *out_6017847788287744227) { - H_27(state, unused, out_6017847788287744227); +void car_H_27(double *state, double *unused, double *out_8016624701023036379) { + H_27(state, unused, out_8016624701023036379); } -void car_h_29(double *state, double *unused, double *out_5677848869544433716) { - h_29(state, unused, out_5677848869544433716); +void car_h_29(double *state, double *unused, double *out_6762597507390055760) { + h_29(state, unused, out_6762597507390055760); } -void car_H_29(double *state, double *unused, double *out_8702842444402561322) { - H_29(state, unused, out_8702842444402561322); +void car_H_29(double *state, double *unused, double *out_7745124716571698142) { + H_29(state, unused, out_7745124716571698142); } -void car_h_28(double *state, double *unused, double *out_8557448252637637256) { - h_28(state, unused, out_8557448252637637256); +void car_h_28(double *state, double *unused, double *out_4366551354435176552) { + h_28(state, unused, out_4366551354435176552); } -void car_H_28(double *state, double *unused, double *out_3620443427333030748) { - H_28(state, unused, out_3620443427333030748); +void car_H_28(double *state, double *unused, double *out_5619220340068322900) { + H_28(state, unused, out_5619220340068322900); } -void car_h_31(double *state, double *unused, double *out_1336580678379106237) { - h_31(state, unused, out_1336580678379106237); +void car_h_31(double *state, double *unused, double *out_4613520090508550250) { + h_31(state, unused, out_4613520090508550250); } -void car_H_31(double *state, double *unused, double *out_1306566720473512811) { - H_31(state, unused, out_1306566720473512811); +void car_H_31(double *state, double *unused, double *out_8095371151865889828) { + H_31(state, unused, out_8095371151865889828); } 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 61a4f1a8b..021a66512 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_7681400738027994255); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5789638956557325357); -void car_H_mod_fun(double *state, double *out_770586316396255671); -void car_f_fun(double *state, double dt, double *out_5606339599600049351); -void car_F_fun(double *state, double dt, double *out_7025079641144486959); -void car_h_25(double *state, double *unused, double *out_4577152348291642136); -void car_H_25(double *state, double *unused, double *out_5674278141580920511); -void car_h_24(double *state, double *unused, double *out_2260271043136596652); -void car_H_24(double *state, double *unused, double *out_7498971649215618511); -void car_h_30(double *state, double *unused, double *out_715468871863140484); -void car_H_30(double *state, double *unused, double *out_8192611100088169138); -void car_h_26(double *state, double *unused, double *out_8710731789405934690); -void car_H_26(double *state, double *unused, double *out_1932774822706864287); -void car_h_27(double *state, double *unused, double *out_5953042931828939605); -void car_H_27(double *state, double *unused, double *out_6017847788287744227); -void car_h_29(double *state, double *unused, double *out_5677848869544433716); -void car_H_29(double *state, double *unused, double *out_8702842444402561322); -void car_h_28(double *state, double *unused, double *out_8557448252637637256); -void car_H_28(double *state, double *unused, double *out_3620443427333030748); -void car_h_31(double *state, double *unused, double *out_1336580678379106237); -void car_H_31(double *state, double *unused, double *out_1306566720473512811); +void car_err_fun(double *nom_x, double *delta_x, double *out_885257502884011965); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6192379265473109268); +void car_H_mod_fun(double *state, double *out_1067171112169386981); +void car_f_fun(double *state, double dt, double *out_6825209250572789160); +void car_F_fun(double *state, double dt, double *out_1474779246882826642); +void car_h_25(double *state, double *unused, double *out_4524197194175300932); +void car_H_25(double *state, double *unused, double *out_8126017113742850256); +void car_h_24(double *state, double *unused, double *out_7846417075360830243); +void car_H_24(double *state, double *unused, double *out_5500405455310713097); +void car_h_30(double *state, double *unused, double *out_4249003131890795043); +void car_H_30(double *state, double *unused, double *out_8255356060886090326); +void car_h_26(double *state, double *unused, double *out_4941641912900521878); +void car_H_26(double *state, double *unused, double *out_6579223641092645136); +void car_h_27(double *state, double *unused, double *out_8854285503439050117); +void car_H_27(double *state, double *unused, double *out_8016624701023036379); +void car_h_29(double *state, double *unused, double *out_6762597507390055760); +void car_H_29(double *state, double *unused, double *out_7745124716571698142); +void car_h_28(double *state, double *unused, double *out_4366551354435176552); +void car_H_28(double *state, double *unused, double *out_5619220340068322900); +void car_h_31(double *state, double *unused, double *out_4613520090508550250); +void car_H_31(double *state, double *unused, double *out_8095371151865889828); 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 e2b9d8a37..61eb9e888 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_6990659364596708462) { - out_6990659364596708462[0] = delta_x[0] + nom_x[0]; - out_6990659364596708462[1] = delta_x[1] + nom_x[1]; - out_6990659364596708462[2] = delta_x[2] + nom_x[2]; - out_6990659364596708462[3] = delta_x[3] + nom_x[3]; - out_6990659364596708462[4] = delta_x[4] + nom_x[4]; - out_6990659364596708462[5] = delta_x[5] + nom_x[5]; - out_6990659364596708462[6] = delta_x[6] + nom_x[6]; - out_6990659364596708462[7] = delta_x[7] + nom_x[7]; - out_6990659364596708462[8] = delta_x[8] + nom_x[8]; - out_6990659364596708462[9] = delta_x[9] + nom_x[9]; - out_6990659364596708462[10] = delta_x[10] + nom_x[10]; - out_6990659364596708462[11] = delta_x[11] + nom_x[11]; - out_6990659364596708462[12] = delta_x[12] + nom_x[12]; - out_6990659364596708462[13] = delta_x[13] + nom_x[13]; - out_6990659364596708462[14] = delta_x[14] + nom_x[14]; - out_6990659364596708462[15] = delta_x[15] + nom_x[15]; - out_6990659364596708462[16] = delta_x[16] + nom_x[16]; - out_6990659364596708462[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4294292118997978771) { + out_4294292118997978771[0] = delta_x[0] + nom_x[0]; + out_4294292118997978771[1] = delta_x[1] + nom_x[1]; + out_4294292118997978771[2] = delta_x[2] + nom_x[2]; + out_4294292118997978771[3] = delta_x[3] + nom_x[3]; + out_4294292118997978771[4] = delta_x[4] + nom_x[4]; + out_4294292118997978771[5] = delta_x[5] + nom_x[5]; + out_4294292118997978771[6] = delta_x[6] + nom_x[6]; + out_4294292118997978771[7] = delta_x[7] + nom_x[7]; + out_4294292118997978771[8] = delta_x[8] + nom_x[8]; + out_4294292118997978771[9] = delta_x[9] + nom_x[9]; + out_4294292118997978771[10] = delta_x[10] + nom_x[10]; + out_4294292118997978771[11] = delta_x[11] + nom_x[11]; + out_4294292118997978771[12] = delta_x[12] + nom_x[12]; + out_4294292118997978771[13] = delta_x[13] + nom_x[13]; + out_4294292118997978771[14] = delta_x[14] + nom_x[14]; + out_4294292118997978771[15] = delta_x[15] + nom_x[15]; + out_4294292118997978771[16] = delta_x[16] + nom_x[16]; + out_4294292118997978771[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1561026677999837058) { - out_1561026677999837058[0] = -nom_x[0] + true_x[0]; - out_1561026677999837058[1] = -nom_x[1] + true_x[1]; - out_1561026677999837058[2] = -nom_x[2] + true_x[2]; - out_1561026677999837058[3] = -nom_x[3] + true_x[3]; - out_1561026677999837058[4] = -nom_x[4] + true_x[4]; - out_1561026677999837058[5] = -nom_x[5] + true_x[5]; - out_1561026677999837058[6] = -nom_x[6] + true_x[6]; - out_1561026677999837058[7] = -nom_x[7] + true_x[7]; - out_1561026677999837058[8] = -nom_x[8] + true_x[8]; - out_1561026677999837058[9] = -nom_x[9] + true_x[9]; - out_1561026677999837058[10] = -nom_x[10] + true_x[10]; - out_1561026677999837058[11] = -nom_x[11] + true_x[11]; - out_1561026677999837058[12] = -nom_x[12] + true_x[12]; - out_1561026677999837058[13] = -nom_x[13] + true_x[13]; - out_1561026677999837058[14] = -nom_x[14] + true_x[14]; - out_1561026677999837058[15] = -nom_x[15] + true_x[15]; - out_1561026677999837058[16] = -nom_x[16] + true_x[16]; - out_1561026677999837058[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4013254910072164359) { + out_4013254910072164359[0] = -nom_x[0] + true_x[0]; + out_4013254910072164359[1] = -nom_x[1] + true_x[1]; + out_4013254910072164359[2] = -nom_x[2] + true_x[2]; + out_4013254910072164359[3] = -nom_x[3] + true_x[3]; + out_4013254910072164359[4] = -nom_x[4] + true_x[4]; + out_4013254910072164359[5] = -nom_x[5] + true_x[5]; + out_4013254910072164359[6] = -nom_x[6] + true_x[6]; + out_4013254910072164359[7] = -nom_x[7] + true_x[7]; + out_4013254910072164359[8] = -nom_x[8] + true_x[8]; + out_4013254910072164359[9] = -nom_x[9] + true_x[9]; + out_4013254910072164359[10] = -nom_x[10] + true_x[10]; + out_4013254910072164359[11] = -nom_x[11] + true_x[11]; + out_4013254910072164359[12] = -nom_x[12] + true_x[12]; + out_4013254910072164359[13] = -nom_x[13] + true_x[13]; + out_4013254910072164359[14] = -nom_x[14] + true_x[14]; + out_4013254910072164359[15] = -nom_x[15] + true_x[15]; + out_4013254910072164359[16] = -nom_x[16] + true_x[16]; + out_4013254910072164359[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_308647198819961252) { - out_308647198819961252[0] = 1.0; - out_308647198819961252[1] = 0.0; - out_308647198819961252[2] = 0.0; - out_308647198819961252[3] = 0.0; - out_308647198819961252[4] = 0.0; - out_308647198819961252[5] = 0.0; - out_308647198819961252[6] = 0.0; - out_308647198819961252[7] = 0.0; - out_308647198819961252[8] = 0.0; - out_308647198819961252[9] = 0.0; - out_308647198819961252[10] = 0.0; - out_308647198819961252[11] = 0.0; - out_308647198819961252[12] = 0.0; - out_308647198819961252[13] = 0.0; - out_308647198819961252[14] = 0.0; - out_308647198819961252[15] = 0.0; - out_308647198819961252[16] = 0.0; - out_308647198819961252[17] = 0.0; - out_308647198819961252[18] = 0.0; - out_308647198819961252[19] = 1.0; - out_308647198819961252[20] = 0.0; - out_308647198819961252[21] = 0.0; - out_308647198819961252[22] = 0.0; - out_308647198819961252[23] = 0.0; - out_308647198819961252[24] = 0.0; - out_308647198819961252[25] = 0.0; - out_308647198819961252[26] = 0.0; - out_308647198819961252[27] = 0.0; - out_308647198819961252[28] = 0.0; - out_308647198819961252[29] = 0.0; - out_308647198819961252[30] = 0.0; - out_308647198819961252[31] = 0.0; - out_308647198819961252[32] = 0.0; - out_308647198819961252[33] = 0.0; - out_308647198819961252[34] = 0.0; - out_308647198819961252[35] = 0.0; - out_308647198819961252[36] = 0.0; - out_308647198819961252[37] = 0.0; - out_308647198819961252[38] = 1.0; - out_308647198819961252[39] = 0.0; - out_308647198819961252[40] = 0.0; - out_308647198819961252[41] = 0.0; - out_308647198819961252[42] = 0.0; - out_308647198819961252[43] = 0.0; - out_308647198819961252[44] = 0.0; - out_308647198819961252[45] = 0.0; - out_308647198819961252[46] = 0.0; - out_308647198819961252[47] = 0.0; - out_308647198819961252[48] = 0.0; - out_308647198819961252[49] = 0.0; - out_308647198819961252[50] = 0.0; - out_308647198819961252[51] = 0.0; - out_308647198819961252[52] = 0.0; - out_308647198819961252[53] = 0.0; - out_308647198819961252[54] = 0.0; - out_308647198819961252[55] = 0.0; - out_308647198819961252[56] = 0.0; - out_308647198819961252[57] = 1.0; - out_308647198819961252[58] = 0.0; - out_308647198819961252[59] = 0.0; - out_308647198819961252[60] = 0.0; - out_308647198819961252[61] = 0.0; - out_308647198819961252[62] = 0.0; - out_308647198819961252[63] = 0.0; - out_308647198819961252[64] = 0.0; - out_308647198819961252[65] = 0.0; - out_308647198819961252[66] = 0.0; - out_308647198819961252[67] = 0.0; - out_308647198819961252[68] = 0.0; - out_308647198819961252[69] = 0.0; - out_308647198819961252[70] = 0.0; - out_308647198819961252[71] = 0.0; - out_308647198819961252[72] = 0.0; - out_308647198819961252[73] = 0.0; - out_308647198819961252[74] = 0.0; - out_308647198819961252[75] = 0.0; - out_308647198819961252[76] = 1.0; - out_308647198819961252[77] = 0.0; - out_308647198819961252[78] = 0.0; - out_308647198819961252[79] = 0.0; - out_308647198819961252[80] = 0.0; - out_308647198819961252[81] = 0.0; - out_308647198819961252[82] = 0.0; - out_308647198819961252[83] = 0.0; - out_308647198819961252[84] = 0.0; - out_308647198819961252[85] = 0.0; - out_308647198819961252[86] = 0.0; - out_308647198819961252[87] = 0.0; - out_308647198819961252[88] = 0.0; - out_308647198819961252[89] = 0.0; - out_308647198819961252[90] = 0.0; - out_308647198819961252[91] = 0.0; - out_308647198819961252[92] = 0.0; - out_308647198819961252[93] = 0.0; - out_308647198819961252[94] = 0.0; - out_308647198819961252[95] = 1.0; - out_308647198819961252[96] = 0.0; - out_308647198819961252[97] = 0.0; - out_308647198819961252[98] = 0.0; - out_308647198819961252[99] = 0.0; - out_308647198819961252[100] = 0.0; - out_308647198819961252[101] = 0.0; - out_308647198819961252[102] = 0.0; - out_308647198819961252[103] = 0.0; - out_308647198819961252[104] = 0.0; - out_308647198819961252[105] = 0.0; - out_308647198819961252[106] = 0.0; - out_308647198819961252[107] = 0.0; - out_308647198819961252[108] = 0.0; - out_308647198819961252[109] = 0.0; - out_308647198819961252[110] = 0.0; - out_308647198819961252[111] = 0.0; - out_308647198819961252[112] = 0.0; - out_308647198819961252[113] = 0.0; - out_308647198819961252[114] = 1.0; - out_308647198819961252[115] = 0.0; - out_308647198819961252[116] = 0.0; - out_308647198819961252[117] = 0.0; - out_308647198819961252[118] = 0.0; - out_308647198819961252[119] = 0.0; - out_308647198819961252[120] = 0.0; - out_308647198819961252[121] = 0.0; - out_308647198819961252[122] = 0.0; - out_308647198819961252[123] = 0.0; - out_308647198819961252[124] = 0.0; - out_308647198819961252[125] = 0.0; - out_308647198819961252[126] = 0.0; - out_308647198819961252[127] = 0.0; - out_308647198819961252[128] = 0.0; - out_308647198819961252[129] = 0.0; - out_308647198819961252[130] = 0.0; - out_308647198819961252[131] = 0.0; - out_308647198819961252[132] = 0.0; - out_308647198819961252[133] = 1.0; - out_308647198819961252[134] = 0.0; - out_308647198819961252[135] = 0.0; - out_308647198819961252[136] = 0.0; - out_308647198819961252[137] = 0.0; - out_308647198819961252[138] = 0.0; - out_308647198819961252[139] = 0.0; - out_308647198819961252[140] = 0.0; - out_308647198819961252[141] = 0.0; - out_308647198819961252[142] = 0.0; - out_308647198819961252[143] = 0.0; - out_308647198819961252[144] = 0.0; - out_308647198819961252[145] = 0.0; - out_308647198819961252[146] = 0.0; - out_308647198819961252[147] = 0.0; - out_308647198819961252[148] = 0.0; - out_308647198819961252[149] = 0.0; - out_308647198819961252[150] = 0.0; - out_308647198819961252[151] = 0.0; - out_308647198819961252[152] = 1.0; - out_308647198819961252[153] = 0.0; - out_308647198819961252[154] = 0.0; - out_308647198819961252[155] = 0.0; - out_308647198819961252[156] = 0.0; - out_308647198819961252[157] = 0.0; - out_308647198819961252[158] = 0.0; - out_308647198819961252[159] = 0.0; - out_308647198819961252[160] = 0.0; - out_308647198819961252[161] = 0.0; - out_308647198819961252[162] = 0.0; - out_308647198819961252[163] = 0.0; - out_308647198819961252[164] = 0.0; - out_308647198819961252[165] = 0.0; - out_308647198819961252[166] = 0.0; - out_308647198819961252[167] = 0.0; - out_308647198819961252[168] = 0.0; - out_308647198819961252[169] = 0.0; - out_308647198819961252[170] = 0.0; - out_308647198819961252[171] = 1.0; - out_308647198819961252[172] = 0.0; - out_308647198819961252[173] = 0.0; - out_308647198819961252[174] = 0.0; - out_308647198819961252[175] = 0.0; - out_308647198819961252[176] = 0.0; - out_308647198819961252[177] = 0.0; - out_308647198819961252[178] = 0.0; - out_308647198819961252[179] = 0.0; - out_308647198819961252[180] = 0.0; - out_308647198819961252[181] = 0.0; - out_308647198819961252[182] = 0.0; - out_308647198819961252[183] = 0.0; - out_308647198819961252[184] = 0.0; - out_308647198819961252[185] = 0.0; - out_308647198819961252[186] = 0.0; - out_308647198819961252[187] = 0.0; - out_308647198819961252[188] = 0.0; - out_308647198819961252[189] = 0.0; - out_308647198819961252[190] = 1.0; - out_308647198819961252[191] = 0.0; - out_308647198819961252[192] = 0.0; - out_308647198819961252[193] = 0.0; - out_308647198819961252[194] = 0.0; - out_308647198819961252[195] = 0.0; - out_308647198819961252[196] = 0.0; - out_308647198819961252[197] = 0.0; - out_308647198819961252[198] = 0.0; - out_308647198819961252[199] = 0.0; - out_308647198819961252[200] = 0.0; - out_308647198819961252[201] = 0.0; - out_308647198819961252[202] = 0.0; - out_308647198819961252[203] = 0.0; - out_308647198819961252[204] = 0.0; - out_308647198819961252[205] = 0.0; - out_308647198819961252[206] = 0.0; - out_308647198819961252[207] = 0.0; - out_308647198819961252[208] = 0.0; - out_308647198819961252[209] = 1.0; - out_308647198819961252[210] = 0.0; - out_308647198819961252[211] = 0.0; - out_308647198819961252[212] = 0.0; - out_308647198819961252[213] = 0.0; - out_308647198819961252[214] = 0.0; - out_308647198819961252[215] = 0.0; - out_308647198819961252[216] = 0.0; - out_308647198819961252[217] = 0.0; - out_308647198819961252[218] = 0.0; - out_308647198819961252[219] = 0.0; - out_308647198819961252[220] = 0.0; - out_308647198819961252[221] = 0.0; - out_308647198819961252[222] = 0.0; - out_308647198819961252[223] = 0.0; - out_308647198819961252[224] = 0.0; - out_308647198819961252[225] = 0.0; - out_308647198819961252[226] = 0.0; - out_308647198819961252[227] = 0.0; - out_308647198819961252[228] = 1.0; - out_308647198819961252[229] = 0.0; - out_308647198819961252[230] = 0.0; - out_308647198819961252[231] = 0.0; - out_308647198819961252[232] = 0.0; - out_308647198819961252[233] = 0.0; - out_308647198819961252[234] = 0.0; - out_308647198819961252[235] = 0.0; - out_308647198819961252[236] = 0.0; - out_308647198819961252[237] = 0.0; - out_308647198819961252[238] = 0.0; - out_308647198819961252[239] = 0.0; - out_308647198819961252[240] = 0.0; - out_308647198819961252[241] = 0.0; - out_308647198819961252[242] = 0.0; - out_308647198819961252[243] = 0.0; - out_308647198819961252[244] = 0.0; - out_308647198819961252[245] = 0.0; - out_308647198819961252[246] = 0.0; - out_308647198819961252[247] = 1.0; - out_308647198819961252[248] = 0.0; - out_308647198819961252[249] = 0.0; - out_308647198819961252[250] = 0.0; - out_308647198819961252[251] = 0.0; - out_308647198819961252[252] = 0.0; - out_308647198819961252[253] = 0.0; - out_308647198819961252[254] = 0.0; - out_308647198819961252[255] = 0.0; - out_308647198819961252[256] = 0.0; - out_308647198819961252[257] = 0.0; - out_308647198819961252[258] = 0.0; - out_308647198819961252[259] = 0.0; - out_308647198819961252[260] = 0.0; - out_308647198819961252[261] = 0.0; - out_308647198819961252[262] = 0.0; - out_308647198819961252[263] = 0.0; - out_308647198819961252[264] = 0.0; - out_308647198819961252[265] = 0.0; - out_308647198819961252[266] = 1.0; - out_308647198819961252[267] = 0.0; - out_308647198819961252[268] = 0.0; - out_308647198819961252[269] = 0.0; - out_308647198819961252[270] = 0.0; - out_308647198819961252[271] = 0.0; - out_308647198819961252[272] = 0.0; - out_308647198819961252[273] = 0.0; - out_308647198819961252[274] = 0.0; - out_308647198819961252[275] = 0.0; - out_308647198819961252[276] = 0.0; - out_308647198819961252[277] = 0.0; - out_308647198819961252[278] = 0.0; - out_308647198819961252[279] = 0.0; - out_308647198819961252[280] = 0.0; - out_308647198819961252[281] = 0.0; - out_308647198819961252[282] = 0.0; - out_308647198819961252[283] = 0.0; - out_308647198819961252[284] = 0.0; - out_308647198819961252[285] = 1.0; - out_308647198819961252[286] = 0.0; - out_308647198819961252[287] = 0.0; - out_308647198819961252[288] = 0.0; - out_308647198819961252[289] = 0.0; - out_308647198819961252[290] = 0.0; - out_308647198819961252[291] = 0.0; - out_308647198819961252[292] = 0.0; - out_308647198819961252[293] = 0.0; - out_308647198819961252[294] = 0.0; - out_308647198819961252[295] = 0.0; - out_308647198819961252[296] = 0.0; - out_308647198819961252[297] = 0.0; - out_308647198819961252[298] = 0.0; - out_308647198819961252[299] = 0.0; - out_308647198819961252[300] = 0.0; - out_308647198819961252[301] = 0.0; - out_308647198819961252[302] = 0.0; - out_308647198819961252[303] = 0.0; - out_308647198819961252[304] = 1.0; - out_308647198819961252[305] = 0.0; - out_308647198819961252[306] = 0.0; - out_308647198819961252[307] = 0.0; - out_308647198819961252[308] = 0.0; - out_308647198819961252[309] = 0.0; - out_308647198819961252[310] = 0.0; - out_308647198819961252[311] = 0.0; - out_308647198819961252[312] = 0.0; - out_308647198819961252[313] = 0.0; - out_308647198819961252[314] = 0.0; - out_308647198819961252[315] = 0.0; - out_308647198819961252[316] = 0.0; - out_308647198819961252[317] = 0.0; - out_308647198819961252[318] = 0.0; - out_308647198819961252[319] = 0.0; - out_308647198819961252[320] = 0.0; - out_308647198819961252[321] = 0.0; - out_308647198819961252[322] = 0.0; - out_308647198819961252[323] = 1.0; +void H_mod_fun(double *state, double *out_896657555631845271) { + out_896657555631845271[0] = 1.0; + out_896657555631845271[1] = 0.0; + out_896657555631845271[2] = 0.0; + out_896657555631845271[3] = 0.0; + out_896657555631845271[4] = 0.0; + out_896657555631845271[5] = 0.0; + out_896657555631845271[6] = 0.0; + out_896657555631845271[7] = 0.0; + out_896657555631845271[8] = 0.0; + out_896657555631845271[9] = 0.0; + out_896657555631845271[10] = 0.0; + out_896657555631845271[11] = 0.0; + out_896657555631845271[12] = 0.0; + out_896657555631845271[13] = 0.0; + out_896657555631845271[14] = 0.0; + out_896657555631845271[15] = 0.0; + out_896657555631845271[16] = 0.0; + out_896657555631845271[17] = 0.0; + out_896657555631845271[18] = 0.0; + out_896657555631845271[19] = 1.0; + out_896657555631845271[20] = 0.0; + out_896657555631845271[21] = 0.0; + out_896657555631845271[22] = 0.0; + out_896657555631845271[23] = 0.0; + out_896657555631845271[24] = 0.0; + out_896657555631845271[25] = 0.0; + out_896657555631845271[26] = 0.0; + out_896657555631845271[27] = 0.0; + out_896657555631845271[28] = 0.0; + out_896657555631845271[29] = 0.0; + out_896657555631845271[30] = 0.0; + out_896657555631845271[31] = 0.0; + out_896657555631845271[32] = 0.0; + out_896657555631845271[33] = 0.0; + out_896657555631845271[34] = 0.0; + out_896657555631845271[35] = 0.0; + out_896657555631845271[36] = 0.0; + out_896657555631845271[37] = 0.0; + out_896657555631845271[38] = 1.0; + out_896657555631845271[39] = 0.0; + out_896657555631845271[40] = 0.0; + out_896657555631845271[41] = 0.0; + out_896657555631845271[42] = 0.0; + out_896657555631845271[43] = 0.0; + out_896657555631845271[44] = 0.0; + out_896657555631845271[45] = 0.0; + out_896657555631845271[46] = 0.0; + out_896657555631845271[47] = 0.0; + out_896657555631845271[48] = 0.0; + out_896657555631845271[49] = 0.0; + out_896657555631845271[50] = 0.0; + out_896657555631845271[51] = 0.0; + out_896657555631845271[52] = 0.0; + out_896657555631845271[53] = 0.0; + out_896657555631845271[54] = 0.0; + out_896657555631845271[55] = 0.0; + out_896657555631845271[56] = 0.0; + out_896657555631845271[57] = 1.0; + out_896657555631845271[58] = 0.0; + out_896657555631845271[59] = 0.0; + out_896657555631845271[60] = 0.0; + out_896657555631845271[61] = 0.0; + out_896657555631845271[62] = 0.0; + out_896657555631845271[63] = 0.0; + out_896657555631845271[64] = 0.0; + out_896657555631845271[65] = 0.0; + out_896657555631845271[66] = 0.0; + out_896657555631845271[67] = 0.0; + out_896657555631845271[68] = 0.0; + out_896657555631845271[69] = 0.0; + out_896657555631845271[70] = 0.0; + out_896657555631845271[71] = 0.0; + out_896657555631845271[72] = 0.0; + out_896657555631845271[73] = 0.0; + out_896657555631845271[74] = 0.0; + out_896657555631845271[75] = 0.0; + out_896657555631845271[76] = 1.0; + out_896657555631845271[77] = 0.0; + out_896657555631845271[78] = 0.0; + out_896657555631845271[79] = 0.0; + out_896657555631845271[80] = 0.0; + out_896657555631845271[81] = 0.0; + out_896657555631845271[82] = 0.0; + out_896657555631845271[83] = 0.0; + out_896657555631845271[84] = 0.0; + out_896657555631845271[85] = 0.0; + out_896657555631845271[86] = 0.0; + out_896657555631845271[87] = 0.0; + out_896657555631845271[88] = 0.0; + out_896657555631845271[89] = 0.0; + out_896657555631845271[90] = 0.0; + out_896657555631845271[91] = 0.0; + out_896657555631845271[92] = 0.0; + out_896657555631845271[93] = 0.0; + out_896657555631845271[94] = 0.0; + out_896657555631845271[95] = 1.0; + out_896657555631845271[96] = 0.0; + out_896657555631845271[97] = 0.0; + out_896657555631845271[98] = 0.0; + out_896657555631845271[99] = 0.0; + out_896657555631845271[100] = 0.0; + out_896657555631845271[101] = 0.0; + out_896657555631845271[102] = 0.0; + out_896657555631845271[103] = 0.0; + out_896657555631845271[104] = 0.0; + out_896657555631845271[105] = 0.0; + out_896657555631845271[106] = 0.0; + out_896657555631845271[107] = 0.0; + out_896657555631845271[108] = 0.0; + out_896657555631845271[109] = 0.0; + out_896657555631845271[110] = 0.0; + out_896657555631845271[111] = 0.0; + out_896657555631845271[112] = 0.0; + out_896657555631845271[113] = 0.0; + out_896657555631845271[114] = 1.0; + out_896657555631845271[115] = 0.0; + out_896657555631845271[116] = 0.0; + out_896657555631845271[117] = 0.0; + out_896657555631845271[118] = 0.0; + out_896657555631845271[119] = 0.0; + out_896657555631845271[120] = 0.0; + out_896657555631845271[121] = 0.0; + out_896657555631845271[122] = 0.0; + out_896657555631845271[123] = 0.0; + out_896657555631845271[124] = 0.0; + out_896657555631845271[125] = 0.0; + out_896657555631845271[126] = 0.0; + out_896657555631845271[127] = 0.0; + out_896657555631845271[128] = 0.0; + out_896657555631845271[129] = 0.0; + out_896657555631845271[130] = 0.0; + out_896657555631845271[131] = 0.0; + out_896657555631845271[132] = 0.0; + out_896657555631845271[133] = 1.0; + out_896657555631845271[134] = 0.0; + out_896657555631845271[135] = 0.0; + out_896657555631845271[136] = 0.0; + out_896657555631845271[137] = 0.0; + out_896657555631845271[138] = 0.0; + out_896657555631845271[139] = 0.0; + out_896657555631845271[140] = 0.0; + out_896657555631845271[141] = 0.0; + out_896657555631845271[142] = 0.0; + out_896657555631845271[143] = 0.0; + out_896657555631845271[144] = 0.0; + out_896657555631845271[145] = 0.0; + out_896657555631845271[146] = 0.0; + out_896657555631845271[147] = 0.0; + out_896657555631845271[148] = 0.0; + out_896657555631845271[149] = 0.0; + out_896657555631845271[150] = 0.0; + out_896657555631845271[151] = 0.0; + out_896657555631845271[152] = 1.0; + out_896657555631845271[153] = 0.0; + out_896657555631845271[154] = 0.0; + out_896657555631845271[155] = 0.0; + out_896657555631845271[156] = 0.0; + out_896657555631845271[157] = 0.0; + out_896657555631845271[158] = 0.0; + out_896657555631845271[159] = 0.0; + out_896657555631845271[160] = 0.0; + out_896657555631845271[161] = 0.0; + out_896657555631845271[162] = 0.0; + out_896657555631845271[163] = 0.0; + out_896657555631845271[164] = 0.0; + out_896657555631845271[165] = 0.0; + out_896657555631845271[166] = 0.0; + out_896657555631845271[167] = 0.0; + out_896657555631845271[168] = 0.0; + out_896657555631845271[169] = 0.0; + out_896657555631845271[170] = 0.0; + out_896657555631845271[171] = 1.0; + out_896657555631845271[172] = 0.0; + out_896657555631845271[173] = 0.0; + out_896657555631845271[174] = 0.0; + out_896657555631845271[175] = 0.0; + out_896657555631845271[176] = 0.0; + out_896657555631845271[177] = 0.0; + out_896657555631845271[178] = 0.0; + out_896657555631845271[179] = 0.0; + out_896657555631845271[180] = 0.0; + out_896657555631845271[181] = 0.0; + out_896657555631845271[182] = 0.0; + out_896657555631845271[183] = 0.0; + out_896657555631845271[184] = 0.0; + out_896657555631845271[185] = 0.0; + out_896657555631845271[186] = 0.0; + out_896657555631845271[187] = 0.0; + out_896657555631845271[188] = 0.0; + out_896657555631845271[189] = 0.0; + out_896657555631845271[190] = 1.0; + out_896657555631845271[191] = 0.0; + out_896657555631845271[192] = 0.0; + out_896657555631845271[193] = 0.0; + out_896657555631845271[194] = 0.0; + out_896657555631845271[195] = 0.0; + out_896657555631845271[196] = 0.0; + out_896657555631845271[197] = 0.0; + out_896657555631845271[198] = 0.0; + out_896657555631845271[199] = 0.0; + out_896657555631845271[200] = 0.0; + out_896657555631845271[201] = 0.0; + out_896657555631845271[202] = 0.0; + out_896657555631845271[203] = 0.0; + out_896657555631845271[204] = 0.0; + out_896657555631845271[205] = 0.0; + out_896657555631845271[206] = 0.0; + out_896657555631845271[207] = 0.0; + out_896657555631845271[208] = 0.0; + out_896657555631845271[209] = 1.0; + out_896657555631845271[210] = 0.0; + out_896657555631845271[211] = 0.0; + out_896657555631845271[212] = 0.0; + out_896657555631845271[213] = 0.0; + out_896657555631845271[214] = 0.0; + out_896657555631845271[215] = 0.0; + out_896657555631845271[216] = 0.0; + out_896657555631845271[217] = 0.0; + out_896657555631845271[218] = 0.0; + out_896657555631845271[219] = 0.0; + out_896657555631845271[220] = 0.0; + out_896657555631845271[221] = 0.0; + out_896657555631845271[222] = 0.0; + out_896657555631845271[223] = 0.0; + out_896657555631845271[224] = 0.0; + out_896657555631845271[225] = 0.0; + out_896657555631845271[226] = 0.0; + out_896657555631845271[227] = 0.0; + out_896657555631845271[228] = 1.0; + out_896657555631845271[229] = 0.0; + out_896657555631845271[230] = 0.0; + out_896657555631845271[231] = 0.0; + out_896657555631845271[232] = 0.0; + out_896657555631845271[233] = 0.0; + out_896657555631845271[234] = 0.0; + out_896657555631845271[235] = 0.0; + out_896657555631845271[236] = 0.0; + out_896657555631845271[237] = 0.0; + out_896657555631845271[238] = 0.0; + out_896657555631845271[239] = 0.0; + out_896657555631845271[240] = 0.0; + out_896657555631845271[241] = 0.0; + out_896657555631845271[242] = 0.0; + out_896657555631845271[243] = 0.0; + out_896657555631845271[244] = 0.0; + out_896657555631845271[245] = 0.0; + out_896657555631845271[246] = 0.0; + out_896657555631845271[247] = 1.0; + out_896657555631845271[248] = 0.0; + out_896657555631845271[249] = 0.0; + out_896657555631845271[250] = 0.0; + out_896657555631845271[251] = 0.0; + out_896657555631845271[252] = 0.0; + out_896657555631845271[253] = 0.0; + out_896657555631845271[254] = 0.0; + out_896657555631845271[255] = 0.0; + out_896657555631845271[256] = 0.0; + out_896657555631845271[257] = 0.0; + out_896657555631845271[258] = 0.0; + out_896657555631845271[259] = 0.0; + out_896657555631845271[260] = 0.0; + out_896657555631845271[261] = 0.0; + out_896657555631845271[262] = 0.0; + out_896657555631845271[263] = 0.0; + out_896657555631845271[264] = 0.0; + out_896657555631845271[265] = 0.0; + out_896657555631845271[266] = 1.0; + out_896657555631845271[267] = 0.0; + out_896657555631845271[268] = 0.0; + out_896657555631845271[269] = 0.0; + out_896657555631845271[270] = 0.0; + out_896657555631845271[271] = 0.0; + out_896657555631845271[272] = 0.0; + out_896657555631845271[273] = 0.0; + out_896657555631845271[274] = 0.0; + out_896657555631845271[275] = 0.0; + out_896657555631845271[276] = 0.0; + out_896657555631845271[277] = 0.0; + out_896657555631845271[278] = 0.0; + out_896657555631845271[279] = 0.0; + out_896657555631845271[280] = 0.0; + out_896657555631845271[281] = 0.0; + out_896657555631845271[282] = 0.0; + out_896657555631845271[283] = 0.0; + out_896657555631845271[284] = 0.0; + out_896657555631845271[285] = 1.0; + out_896657555631845271[286] = 0.0; + out_896657555631845271[287] = 0.0; + out_896657555631845271[288] = 0.0; + out_896657555631845271[289] = 0.0; + out_896657555631845271[290] = 0.0; + out_896657555631845271[291] = 0.0; + out_896657555631845271[292] = 0.0; + out_896657555631845271[293] = 0.0; + out_896657555631845271[294] = 0.0; + out_896657555631845271[295] = 0.0; + out_896657555631845271[296] = 0.0; + out_896657555631845271[297] = 0.0; + out_896657555631845271[298] = 0.0; + out_896657555631845271[299] = 0.0; + out_896657555631845271[300] = 0.0; + out_896657555631845271[301] = 0.0; + out_896657555631845271[302] = 0.0; + out_896657555631845271[303] = 0.0; + out_896657555631845271[304] = 1.0; + out_896657555631845271[305] = 0.0; + out_896657555631845271[306] = 0.0; + out_896657555631845271[307] = 0.0; + out_896657555631845271[308] = 0.0; + out_896657555631845271[309] = 0.0; + out_896657555631845271[310] = 0.0; + out_896657555631845271[311] = 0.0; + out_896657555631845271[312] = 0.0; + out_896657555631845271[313] = 0.0; + out_896657555631845271[314] = 0.0; + out_896657555631845271[315] = 0.0; + out_896657555631845271[316] = 0.0; + out_896657555631845271[317] = 0.0; + out_896657555631845271[318] = 0.0; + out_896657555631845271[319] = 0.0; + out_896657555631845271[320] = 0.0; + out_896657555631845271[321] = 0.0; + out_896657555631845271[322] = 0.0; + out_896657555631845271[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7010110275742074957) { - out_7010110275742074957[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); - out_7010110275742074957[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); - out_7010110275742074957[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); - out_7010110275742074957[3] = dt*state[12] + state[3]; - out_7010110275742074957[4] = dt*state[13] + state[4]; - out_7010110275742074957[5] = dt*state[14] + state[5]; - out_7010110275742074957[6] = state[6]; - out_7010110275742074957[7] = state[7]; - out_7010110275742074957[8] = state[8]; - out_7010110275742074957[9] = state[9]; - out_7010110275742074957[10] = state[10]; - out_7010110275742074957[11] = state[11]; - out_7010110275742074957[12] = state[12]; - out_7010110275742074957[13] = state[13]; - out_7010110275742074957[14] = state[14]; - out_7010110275742074957[15] = state[15]; - out_7010110275742074957[16] = state[16]; - out_7010110275742074957[17] = state[17]; +void f_fun(double *state, double dt, double *out_8443743878960458350) { + out_8443743878960458350[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_8443743878960458350[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_8443743878960458350[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_8443743878960458350[3] = dt*state[12] + state[3]; + out_8443743878960458350[4] = dt*state[13] + state[4]; + out_8443743878960458350[5] = dt*state[14] + state[5]; + out_8443743878960458350[6] = state[6]; + out_8443743878960458350[7] = state[7]; + out_8443743878960458350[8] = state[8]; + out_8443743878960458350[9] = state[9]; + out_8443743878960458350[10] = state[10]; + out_8443743878960458350[11] = state[11]; + out_8443743878960458350[12] = state[12]; + out_8443743878960458350[13] = state[13]; + out_8443743878960458350[14] = state[14]; + out_8443743878960458350[15] = state[15]; + out_8443743878960458350[16] = state[16]; + out_8443743878960458350[17] = state[17]; } -void F_fun(double *state, double dt, double *out_321710036859700647) { - out_321710036859700647[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_321710036859700647[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_321710036859700647[2] = 0; - out_321710036859700647[3] = 0; - out_321710036859700647[4] = 0; - out_321710036859700647[5] = 0; - out_321710036859700647[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_321710036859700647[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_321710036859700647[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_321710036859700647[9] = 0; - out_321710036859700647[10] = 0; - out_321710036859700647[11] = 0; - out_321710036859700647[12] = 0; - out_321710036859700647[13] = 0; - out_321710036859700647[14] = 0; - out_321710036859700647[15] = 0; - out_321710036859700647[16] = 0; - out_321710036859700647[17] = 0; - out_321710036859700647[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_321710036859700647[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_321710036859700647[20] = 0; - out_321710036859700647[21] = 0; - out_321710036859700647[22] = 0; - out_321710036859700647[23] = 0; - out_321710036859700647[24] = 0; - out_321710036859700647[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_321710036859700647[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_321710036859700647[27] = 0; - out_321710036859700647[28] = 0; - out_321710036859700647[29] = 0; - out_321710036859700647[30] = 0; - out_321710036859700647[31] = 0; - out_321710036859700647[32] = 0; - out_321710036859700647[33] = 0; - out_321710036859700647[34] = 0; - out_321710036859700647[35] = 0; - out_321710036859700647[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_321710036859700647[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_321710036859700647[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_321710036859700647[39] = 0; - out_321710036859700647[40] = 0; - out_321710036859700647[41] = 0; - out_321710036859700647[42] = 0; - out_321710036859700647[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_321710036859700647[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_321710036859700647[45] = 0; - out_321710036859700647[46] = 0; - out_321710036859700647[47] = 0; - out_321710036859700647[48] = 0; - out_321710036859700647[49] = 0; - out_321710036859700647[50] = 0; - out_321710036859700647[51] = 0; - out_321710036859700647[52] = 0; - out_321710036859700647[53] = 0; - out_321710036859700647[54] = 0; - out_321710036859700647[55] = 0; - out_321710036859700647[56] = 0; - out_321710036859700647[57] = 1; - out_321710036859700647[58] = 0; - out_321710036859700647[59] = 0; - out_321710036859700647[60] = 0; - out_321710036859700647[61] = 0; - out_321710036859700647[62] = 0; - out_321710036859700647[63] = 0; - out_321710036859700647[64] = 0; - out_321710036859700647[65] = 0; - out_321710036859700647[66] = dt; - out_321710036859700647[67] = 0; - out_321710036859700647[68] = 0; - out_321710036859700647[69] = 0; - out_321710036859700647[70] = 0; - out_321710036859700647[71] = 0; - out_321710036859700647[72] = 0; - out_321710036859700647[73] = 0; - out_321710036859700647[74] = 0; - out_321710036859700647[75] = 0; - out_321710036859700647[76] = 1; - out_321710036859700647[77] = 0; - out_321710036859700647[78] = 0; - out_321710036859700647[79] = 0; - out_321710036859700647[80] = 0; - out_321710036859700647[81] = 0; - out_321710036859700647[82] = 0; - out_321710036859700647[83] = 0; - out_321710036859700647[84] = 0; - out_321710036859700647[85] = dt; - out_321710036859700647[86] = 0; - out_321710036859700647[87] = 0; - out_321710036859700647[88] = 0; - out_321710036859700647[89] = 0; - out_321710036859700647[90] = 0; - out_321710036859700647[91] = 0; - out_321710036859700647[92] = 0; - out_321710036859700647[93] = 0; - out_321710036859700647[94] = 0; - out_321710036859700647[95] = 1; - out_321710036859700647[96] = 0; - out_321710036859700647[97] = 0; - out_321710036859700647[98] = 0; - out_321710036859700647[99] = 0; - out_321710036859700647[100] = 0; - out_321710036859700647[101] = 0; - out_321710036859700647[102] = 0; - out_321710036859700647[103] = 0; - out_321710036859700647[104] = dt; - out_321710036859700647[105] = 0; - out_321710036859700647[106] = 0; - out_321710036859700647[107] = 0; - out_321710036859700647[108] = 0; - out_321710036859700647[109] = 0; - out_321710036859700647[110] = 0; - out_321710036859700647[111] = 0; - out_321710036859700647[112] = 0; - out_321710036859700647[113] = 0; - out_321710036859700647[114] = 1; - out_321710036859700647[115] = 0; - out_321710036859700647[116] = 0; - out_321710036859700647[117] = 0; - out_321710036859700647[118] = 0; - out_321710036859700647[119] = 0; - out_321710036859700647[120] = 0; - out_321710036859700647[121] = 0; - out_321710036859700647[122] = 0; - out_321710036859700647[123] = 0; - out_321710036859700647[124] = 0; - out_321710036859700647[125] = 0; - out_321710036859700647[126] = 0; - out_321710036859700647[127] = 0; - out_321710036859700647[128] = 0; - out_321710036859700647[129] = 0; - out_321710036859700647[130] = 0; - out_321710036859700647[131] = 0; - out_321710036859700647[132] = 0; - out_321710036859700647[133] = 1; - out_321710036859700647[134] = 0; - out_321710036859700647[135] = 0; - out_321710036859700647[136] = 0; - out_321710036859700647[137] = 0; - out_321710036859700647[138] = 0; - out_321710036859700647[139] = 0; - out_321710036859700647[140] = 0; - out_321710036859700647[141] = 0; - out_321710036859700647[142] = 0; - out_321710036859700647[143] = 0; - out_321710036859700647[144] = 0; - out_321710036859700647[145] = 0; - out_321710036859700647[146] = 0; - out_321710036859700647[147] = 0; - out_321710036859700647[148] = 0; - out_321710036859700647[149] = 0; - out_321710036859700647[150] = 0; - out_321710036859700647[151] = 0; - out_321710036859700647[152] = 1; - out_321710036859700647[153] = 0; - out_321710036859700647[154] = 0; - out_321710036859700647[155] = 0; - out_321710036859700647[156] = 0; - out_321710036859700647[157] = 0; - out_321710036859700647[158] = 0; - out_321710036859700647[159] = 0; - out_321710036859700647[160] = 0; - out_321710036859700647[161] = 0; - out_321710036859700647[162] = 0; - out_321710036859700647[163] = 0; - out_321710036859700647[164] = 0; - out_321710036859700647[165] = 0; - out_321710036859700647[166] = 0; - out_321710036859700647[167] = 0; - out_321710036859700647[168] = 0; - out_321710036859700647[169] = 0; - out_321710036859700647[170] = 0; - out_321710036859700647[171] = 1; - out_321710036859700647[172] = 0; - out_321710036859700647[173] = 0; - out_321710036859700647[174] = 0; - out_321710036859700647[175] = 0; - out_321710036859700647[176] = 0; - out_321710036859700647[177] = 0; - out_321710036859700647[178] = 0; - out_321710036859700647[179] = 0; - out_321710036859700647[180] = 0; - out_321710036859700647[181] = 0; - out_321710036859700647[182] = 0; - out_321710036859700647[183] = 0; - out_321710036859700647[184] = 0; - out_321710036859700647[185] = 0; - out_321710036859700647[186] = 0; - out_321710036859700647[187] = 0; - out_321710036859700647[188] = 0; - out_321710036859700647[189] = 0; - out_321710036859700647[190] = 1; - out_321710036859700647[191] = 0; - out_321710036859700647[192] = 0; - out_321710036859700647[193] = 0; - out_321710036859700647[194] = 0; - out_321710036859700647[195] = 0; - out_321710036859700647[196] = 0; - out_321710036859700647[197] = 0; - out_321710036859700647[198] = 0; - out_321710036859700647[199] = 0; - out_321710036859700647[200] = 0; - out_321710036859700647[201] = 0; - out_321710036859700647[202] = 0; - out_321710036859700647[203] = 0; - out_321710036859700647[204] = 0; - out_321710036859700647[205] = 0; - out_321710036859700647[206] = 0; - out_321710036859700647[207] = 0; - out_321710036859700647[208] = 0; - out_321710036859700647[209] = 1; - out_321710036859700647[210] = 0; - out_321710036859700647[211] = 0; - out_321710036859700647[212] = 0; - out_321710036859700647[213] = 0; - out_321710036859700647[214] = 0; - out_321710036859700647[215] = 0; - out_321710036859700647[216] = 0; - out_321710036859700647[217] = 0; - out_321710036859700647[218] = 0; - out_321710036859700647[219] = 0; - out_321710036859700647[220] = 0; - out_321710036859700647[221] = 0; - out_321710036859700647[222] = 0; - out_321710036859700647[223] = 0; - out_321710036859700647[224] = 0; - out_321710036859700647[225] = 0; - out_321710036859700647[226] = 0; - out_321710036859700647[227] = 0; - out_321710036859700647[228] = 1; - out_321710036859700647[229] = 0; - out_321710036859700647[230] = 0; - out_321710036859700647[231] = 0; - out_321710036859700647[232] = 0; - out_321710036859700647[233] = 0; - out_321710036859700647[234] = 0; - out_321710036859700647[235] = 0; - out_321710036859700647[236] = 0; - out_321710036859700647[237] = 0; - out_321710036859700647[238] = 0; - out_321710036859700647[239] = 0; - out_321710036859700647[240] = 0; - out_321710036859700647[241] = 0; - out_321710036859700647[242] = 0; - out_321710036859700647[243] = 0; - out_321710036859700647[244] = 0; - out_321710036859700647[245] = 0; - out_321710036859700647[246] = 0; - out_321710036859700647[247] = 1; - out_321710036859700647[248] = 0; - out_321710036859700647[249] = 0; - out_321710036859700647[250] = 0; - out_321710036859700647[251] = 0; - out_321710036859700647[252] = 0; - out_321710036859700647[253] = 0; - out_321710036859700647[254] = 0; - out_321710036859700647[255] = 0; - out_321710036859700647[256] = 0; - out_321710036859700647[257] = 0; - out_321710036859700647[258] = 0; - out_321710036859700647[259] = 0; - out_321710036859700647[260] = 0; - out_321710036859700647[261] = 0; - out_321710036859700647[262] = 0; - out_321710036859700647[263] = 0; - out_321710036859700647[264] = 0; - out_321710036859700647[265] = 0; - out_321710036859700647[266] = 1; - out_321710036859700647[267] = 0; - out_321710036859700647[268] = 0; - out_321710036859700647[269] = 0; - out_321710036859700647[270] = 0; - out_321710036859700647[271] = 0; - out_321710036859700647[272] = 0; - out_321710036859700647[273] = 0; - out_321710036859700647[274] = 0; - out_321710036859700647[275] = 0; - out_321710036859700647[276] = 0; - out_321710036859700647[277] = 0; - out_321710036859700647[278] = 0; - out_321710036859700647[279] = 0; - out_321710036859700647[280] = 0; - out_321710036859700647[281] = 0; - out_321710036859700647[282] = 0; - out_321710036859700647[283] = 0; - out_321710036859700647[284] = 0; - out_321710036859700647[285] = 1; - out_321710036859700647[286] = 0; - out_321710036859700647[287] = 0; - out_321710036859700647[288] = 0; - out_321710036859700647[289] = 0; - out_321710036859700647[290] = 0; - out_321710036859700647[291] = 0; - out_321710036859700647[292] = 0; - out_321710036859700647[293] = 0; - out_321710036859700647[294] = 0; - out_321710036859700647[295] = 0; - out_321710036859700647[296] = 0; - out_321710036859700647[297] = 0; - out_321710036859700647[298] = 0; - out_321710036859700647[299] = 0; - out_321710036859700647[300] = 0; - out_321710036859700647[301] = 0; - out_321710036859700647[302] = 0; - out_321710036859700647[303] = 0; - out_321710036859700647[304] = 1; - out_321710036859700647[305] = 0; - out_321710036859700647[306] = 0; - out_321710036859700647[307] = 0; - out_321710036859700647[308] = 0; - out_321710036859700647[309] = 0; - out_321710036859700647[310] = 0; - out_321710036859700647[311] = 0; - out_321710036859700647[312] = 0; - out_321710036859700647[313] = 0; - out_321710036859700647[314] = 0; - out_321710036859700647[315] = 0; - out_321710036859700647[316] = 0; - out_321710036859700647[317] = 0; - out_321710036859700647[318] = 0; - out_321710036859700647[319] = 0; - out_321710036859700647[320] = 0; - out_321710036859700647[321] = 0; - out_321710036859700647[322] = 0; - out_321710036859700647[323] = 1; +void F_fun(double *state, double dt, double *out_8213357667145446301) { + out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[2] = 0; + out_8213357667145446301[3] = 0; + out_8213357667145446301[4] = 0; + out_8213357667145446301[5] = 0; + out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[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_8213357667145446301[9] = 0; + out_8213357667145446301[10] = 0; + out_8213357667145446301[11] = 0; + out_8213357667145446301[12] = 0; + out_8213357667145446301[13] = 0; + out_8213357667145446301[14] = 0; + out_8213357667145446301[15] = 0; + out_8213357667145446301[16] = 0; + out_8213357667145446301[17] = 0; + out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[20] = 0; + out_8213357667145446301[21] = 0; + out_8213357667145446301[22] = 0; + out_8213357667145446301[23] = 0; + out_8213357667145446301[24] = 0; + out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[27] = 0; + out_8213357667145446301[28] = 0; + out_8213357667145446301[29] = 0; + out_8213357667145446301[30] = 0; + out_8213357667145446301[31] = 0; + out_8213357667145446301[32] = 0; + out_8213357667145446301[33] = 0; + out_8213357667145446301[34] = 0; + out_8213357667145446301[35] = 0; + out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[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_8213357667145446301[39] = 0; + out_8213357667145446301[40] = 0; + out_8213357667145446301[41] = 0; + out_8213357667145446301[42] = 0; + out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[45] = 0; + out_8213357667145446301[46] = 0; + out_8213357667145446301[47] = 0; + out_8213357667145446301[48] = 0; + out_8213357667145446301[49] = 0; + out_8213357667145446301[50] = 0; + out_8213357667145446301[51] = 0; + out_8213357667145446301[52] = 0; + out_8213357667145446301[53] = 0; + out_8213357667145446301[54] = 0; + out_8213357667145446301[55] = 0; + out_8213357667145446301[56] = 0; + out_8213357667145446301[57] = 1; + out_8213357667145446301[58] = 0; + out_8213357667145446301[59] = 0; + out_8213357667145446301[60] = 0; + out_8213357667145446301[61] = 0; + out_8213357667145446301[62] = 0; + out_8213357667145446301[63] = 0; + out_8213357667145446301[64] = 0; + out_8213357667145446301[65] = 0; + out_8213357667145446301[66] = dt; + out_8213357667145446301[67] = 0; + out_8213357667145446301[68] = 0; + out_8213357667145446301[69] = 0; + out_8213357667145446301[70] = 0; + out_8213357667145446301[71] = 0; + out_8213357667145446301[72] = 0; + out_8213357667145446301[73] = 0; + out_8213357667145446301[74] = 0; + out_8213357667145446301[75] = 0; + out_8213357667145446301[76] = 1; + out_8213357667145446301[77] = 0; + out_8213357667145446301[78] = 0; + out_8213357667145446301[79] = 0; + out_8213357667145446301[80] = 0; + out_8213357667145446301[81] = 0; + out_8213357667145446301[82] = 0; + out_8213357667145446301[83] = 0; + out_8213357667145446301[84] = 0; + out_8213357667145446301[85] = dt; + out_8213357667145446301[86] = 0; + out_8213357667145446301[87] = 0; + out_8213357667145446301[88] = 0; + out_8213357667145446301[89] = 0; + out_8213357667145446301[90] = 0; + out_8213357667145446301[91] = 0; + out_8213357667145446301[92] = 0; + out_8213357667145446301[93] = 0; + out_8213357667145446301[94] = 0; + out_8213357667145446301[95] = 1; + out_8213357667145446301[96] = 0; + out_8213357667145446301[97] = 0; + out_8213357667145446301[98] = 0; + out_8213357667145446301[99] = 0; + out_8213357667145446301[100] = 0; + out_8213357667145446301[101] = 0; + out_8213357667145446301[102] = 0; + out_8213357667145446301[103] = 0; + out_8213357667145446301[104] = dt; + out_8213357667145446301[105] = 0; + out_8213357667145446301[106] = 0; + out_8213357667145446301[107] = 0; + out_8213357667145446301[108] = 0; + out_8213357667145446301[109] = 0; + out_8213357667145446301[110] = 0; + out_8213357667145446301[111] = 0; + out_8213357667145446301[112] = 0; + out_8213357667145446301[113] = 0; + out_8213357667145446301[114] = 1; + out_8213357667145446301[115] = 0; + out_8213357667145446301[116] = 0; + out_8213357667145446301[117] = 0; + out_8213357667145446301[118] = 0; + out_8213357667145446301[119] = 0; + out_8213357667145446301[120] = 0; + out_8213357667145446301[121] = 0; + out_8213357667145446301[122] = 0; + out_8213357667145446301[123] = 0; + out_8213357667145446301[124] = 0; + out_8213357667145446301[125] = 0; + out_8213357667145446301[126] = 0; + out_8213357667145446301[127] = 0; + out_8213357667145446301[128] = 0; + out_8213357667145446301[129] = 0; + out_8213357667145446301[130] = 0; + out_8213357667145446301[131] = 0; + out_8213357667145446301[132] = 0; + out_8213357667145446301[133] = 1; + out_8213357667145446301[134] = 0; + out_8213357667145446301[135] = 0; + out_8213357667145446301[136] = 0; + out_8213357667145446301[137] = 0; + out_8213357667145446301[138] = 0; + out_8213357667145446301[139] = 0; + out_8213357667145446301[140] = 0; + out_8213357667145446301[141] = 0; + out_8213357667145446301[142] = 0; + out_8213357667145446301[143] = 0; + out_8213357667145446301[144] = 0; + out_8213357667145446301[145] = 0; + out_8213357667145446301[146] = 0; + out_8213357667145446301[147] = 0; + out_8213357667145446301[148] = 0; + out_8213357667145446301[149] = 0; + out_8213357667145446301[150] = 0; + out_8213357667145446301[151] = 0; + out_8213357667145446301[152] = 1; + out_8213357667145446301[153] = 0; + out_8213357667145446301[154] = 0; + out_8213357667145446301[155] = 0; + out_8213357667145446301[156] = 0; + out_8213357667145446301[157] = 0; + out_8213357667145446301[158] = 0; + out_8213357667145446301[159] = 0; + out_8213357667145446301[160] = 0; + out_8213357667145446301[161] = 0; + out_8213357667145446301[162] = 0; + out_8213357667145446301[163] = 0; + out_8213357667145446301[164] = 0; + out_8213357667145446301[165] = 0; + out_8213357667145446301[166] = 0; + out_8213357667145446301[167] = 0; + out_8213357667145446301[168] = 0; + out_8213357667145446301[169] = 0; + out_8213357667145446301[170] = 0; + out_8213357667145446301[171] = 1; + out_8213357667145446301[172] = 0; + out_8213357667145446301[173] = 0; + out_8213357667145446301[174] = 0; + out_8213357667145446301[175] = 0; + out_8213357667145446301[176] = 0; + out_8213357667145446301[177] = 0; + out_8213357667145446301[178] = 0; + out_8213357667145446301[179] = 0; + out_8213357667145446301[180] = 0; + out_8213357667145446301[181] = 0; + out_8213357667145446301[182] = 0; + out_8213357667145446301[183] = 0; + out_8213357667145446301[184] = 0; + out_8213357667145446301[185] = 0; + out_8213357667145446301[186] = 0; + out_8213357667145446301[187] = 0; + out_8213357667145446301[188] = 0; + out_8213357667145446301[189] = 0; + out_8213357667145446301[190] = 1; + out_8213357667145446301[191] = 0; + out_8213357667145446301[192] = 0; + out_8213357667145446301[193] = 0; + out_8213357667145446301[194] = 0; + out_8213357667145446301[195] = 0; + out_8213357667145446301[196] = 0; + out_8213357667145446301[197] = 0; + out_8213357667145446301[198] = 0; + out_8213357667145446301[199] = 0; + out_8213357667145446301[200] = 0; + out_8213357667145446301[201] = 0; + out_8213357667145446301[202] = 0; + out_8213357667145446301[203] = 0; + out_8213357667145446301[204] = 0; + out_8213357667145446301[205] = 0; + out_8213357667145446301[206] = 0; + out_8213357667145446301[207] = 0; + out_8213357667145446301[208] = 0; + out_8213357667145446301[209] = 1; + out_8213357667145446301[210] = 0; + out_8213357667145446301[211] = 0; + out_8213357667145446301[212] = 0; + out_8213357667145446301[213] = 0; + out_8213357667145446301[214] = 0; + out_8213357667145446301[215] = 0; + out_8213357667145446301[216] = 0; + out_8213357667145446301[217] = 0; + out_8213357667145446301[218] = 0; + out_8213357667145446301[219] = 0; + out_8213357667145446301[220] = 0; + out_8213357667145446301[221] = 0; + out_8213357667145446301[222] = 0; + out_8213357667145446301[223] = 0; + out_8213357667145446301[224] = 0; + out_8213357667145446301[225] = 0; + out_8213357667145446301[226] = 0; + out_8213357667145446301[227] = 0; + out_8213357667145446301[228] = 1; + out_8213357667145446301[229] = 0; + out_8213357667145446301[230] = 0; + out_8213357667145446301[231] = 0; + out_8213357667145446301[232] = 0; + out_8213357667145446301[233] = 0; + out_8213357667145446301[234] = 0; + out_8213357667145446301[235] = 0; + out_8213357667145446301[236] = 0; + out_8213357667145446301[237] = 0; + out_8213357667145446301[238] = 0; + out_8213357667145446301[239] = 0; + out_8213357667145446301[240] = 0; + out_8213357667145446301[241] = 0; + out_8213357667145446301[242] = 0; + out_8213357667145446301[243] = 0; + out_8213357667145446301[244] = 0; + out_8213357667145446301[245] = 0; + out_8213357667145446301[246] = 0; + out_8213357667145446301[247] = 1; + out_8213357667145446301[248] = 0; + out_8213357667145446301[249] = 0; + out_8213357667145446301[250] = 0; + out_8213357667145446301[251] = 0; + out_8213357667145446301[252] = 0; + out_8213357667145446301[253] = 0; + out_8213357667145446301[254] = 0; + out_8213357667145446301[255] = 0; + out_8213357667145446301[256] = 0; + out_8213357667145446301[257] = 0; + out_8213357667145446301[258] = 0; + out_8213357667145446301[259] = 0; + out_8213357667145446301[260] = 0; + out_8213357667145446301[261] = 0; + out_8213357667145446301[262] = 0; + out_8213357667145446301[263] = 0; + out_8213357667145446301[264] = 0; + out_8213357667145446301[265] = 0; + out_8213357667145446301[266] = 1; + out_8213357667145446301[267] = 0; + out_8213357667145446301[268] = 0; + out_8213357667145446301[269] = 0; + out_8213357667145446301[270] = 0; + out_8213357667145446301[271] = 0; + out_8213357667145446301[272] = 0; + out_8213357667145446301[273] = 0; + out_8213357667145446301[274] = 0; + out_8213357667145446301[275] = 0; + out_8213357667145446301[276] = 0; + out_8213357667145446301[277] = 0; + out_8213357667145446301[278] = 0; + out_8213357667145446301[279] = 0; + out_8213357667145446301[280] = 0; + out_8213357667145446301[281] = 0; + out_8213357667145446301[282] = 0; + out_8213357667145446301[283] = 0; + out_8213357667145446301[284] = 0; + out_8213357667145446301[285] = 1; + out_8213357667145446301[286] = 0; + out_8213357667145446301[287] = 0; + out_8213357667145446301[288] = 0; + out_8213357667145446301[289] = 0; + out_8213357667145446301[290] = 0; + out_8213357667145446301[291] = 0; + out_8213357667145446301[292] = 0; + out_8213357667145446301[293] = 0; + out_8213357667145446301[294] = 0; + out_8213357667145446301[295] = 0; + out_8213357667145446301[296] = 0; + out_8213357667145446301[297] = 0; + out_8213357667145446301[298] = 0; + out_8213357667145446301[299] = 0; + out_8213357667145446301[300] = 0; + out_8213357667145446301[301] = 0; + out_8213357667145446301[302] = 0; + out_8213357667145446301[303] = 0; + out_8213357667145446301[304] = 1; + out_8213357667145446301[305] = 0; + out_8213357667145446301[306] = 0; + out_8213357667145446301[307] = 0; + out_8213357667145446301[308] = 0; + out_8213357667145446301[309] = 0; + out_8213357667145446301[310] = 0; + out_8213357667145446301[311] = 0; + out_8213357667145446301[312] = 0; + out_8213357667145446301[313] = 0; + out_8213357667145446301[314] = 0; + out_8213357667145446301[315] = 0; + out_8213357667145446301[316] = 0; + out_8213357667145446301[317] = 0; + out_8213357667145446301[318] = 0; + out_8213357667145446301[319] = 0; + out_8213357667145446301[320] = 0; + out_8213357667145446301[321] = 0; + out_8213357667145446301[322] = 0; + out_8213357667145446301[323] = 1; } -void h_4(double *state, double *unused, double *out_8984471206441981160) { - out_8984471206441981160[0] = state[6] + state[9]; - out_8984471206441981160[1] = state[7] + state[10]; - out_8984471206441981160[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_70651799205578182) { + out_70651799205578182[0] = state[6] + state[9]; + out_70651799205578182[1] = state[7] + state[10]; + out_70651799205578182[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1511051527086335609) { - out_1511051527086335609[0] = 0; - out_1511051527086335609[1] = 0; - out_1511051527086335609[2] = 0; - out_1511051527086335609[3] = 0; - out_1511051527086335609[4] = 0; - out_1511051527086335609[5] = 0; - out_1511051527086335609[6] = 1; - out_1511051527086335609[7] = 0; - out_1511051527086335609[8] = 0; - out_1511051527086335609[9] = 1; - out_1511051527086335609[10] = 0; - out_1511051527086335609[11] = 0; - out_1511051527086335609[12] = 0; - out_1511051527086335609[13] = 0; - out_1511051527086335609[14] = 0; - out_1511051527086335609[15] = 0; - out_1511051527086335609[16] = 0; - out_1511051527086335609[17] = 0; - out_1511051527086335609[18] = 0; - out_1511051527086335609[19] = 0; - out_1511051527086335609[20] = 0; - out_1511051527086335609[21] = 0; - out_1511051527086335609[22] = 0; - out_1511051527086335609[23] = 0; - out_1511051527086335609[24] = 0; - out_1511051527086335609[25] = 1; - out_1511051527086335609[26] = 0; - out_1511051527086335609[27] = 0; - out_1511051527086335609[28] = 1; - out_1511051527086335609[29] = 0; - out_1511051527086335609[30] = 0; - out_1511051527086335609[31] = 0; - out_1511051527086335609[32] = 0; - out_1511051527086335609[33] = 0; - out_1511051527086335609[34] = 0; - out_1511051527086335609[35] = 0; - out_1511051527086335609[36] = 0; - out_1511051527086335609[37] = 0; - out_1511051527086335609[38] = 0; - out_1511051527086335609[39] = 0; - out_1511051527086335609[40] = 0; - out_1511051527086335609[41] = 0; - out_1511051527086335609[42] = 0; - out_1511051527086335609[43] = 0; - out_1511051527086335609[44] = 1; - out_1511051527086335609[45] = 0; - out_1511051527086335609[46] = 0; - out_1511051527086335609[47] = 1; - out_1511051527086335609[48] = 0; - out_1511051527086335609[49] = 0; - out_1511051527086335609[50] = 0; - out_1511051527086335609[51] = 0; - out_1511051527086335609[52] = 0; - out_1511051527086335609[53] = 0; +void H_4(double *state, double *unused, double *out_6049175940670926006) { + out_6049175940670926006[0] = 0; + out_6049175940670926006[1] = 0; + out_6049175940670926006[2] = 0; + out_6049175940670926006[3] = 0; + out_6049175940670926006[4] = 0; + out_6049175940670926006[5] = 0; + out_6049175940670926006[6] = 1; + out_6049175940670926006[7] = 0; + out_6049175940670926006[8] = 0; + out_6049175940670926006[9] = 1; + out_6049175940670926006[10] = 0; + out_6049175940670926006[11] = 0; + out_6049175940670926006[12] = 0; + out_6049175940670926006[13] = 0; + out_6049175940670926006[14] = 0; + out_6049175940670926006[15] = 0; + out_6049175940670926006[16] = 0; + out_6049175940670926006[17] = 0; + out_6049175940670926006[18] = 0; + out_6049175940670926006[19] = 0; + out_6049175940670926006[20] = 0; + out_6049175940670926006[21] = 0; + out_6049175940670926006[22] = 0; + out_6049175940670926006[23] = 0; + out_6049175940670926006[24] = 0; + out_6049175940670926006[25] = 1; + out_6049175940670926006[26] = 0; + out_6049175940670926006[27] = 0; + out_6049175940670926006[28] = 1; + out_6049175940670926006[29] = 0; + out_6049175940670926006[30] = 0; + out_6049175940670926006[31] = 0; + out_6049175940670926006[32] = 0; + out_6049175940670926006[33] = 0; + out_6049175940670926006[34] = 0; + out_6049175940670926006[35] = 0; + out_6049175940670926006[36] = 0; + out_6049175940670926006[37] = 0; + out_6049175940670926006[38] = 0; + out_6049175940670926006[39] = 0; + out_6049175940670926006[40] = 0; + out_6049175940670926006[41] = 0; + out_6049175940670926006[42] = 0; + out_6049175940670926006[43] = 0; + out_6049175940670926006[44] = 1; + out_6049175940670926006[45] = 0; + out_6049175940670926006[46] = 0; + out_6049175940670926006[47] = 1; + out_6049175940670926006[48] = 0; + out_6049175940670926006[49] = 0; + out_6049175940670926006[50] = 0; + out_6049175940670926006[51] = 0; + out_6049175940670926006[52] = 0; + out_6049175940670926006[53] = 0; } -void h_10(double *state, double *unused, double *out_1160903693658888330) { - out_1160903693658888330[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1160903693658888330[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1160903693658888330[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; +void h_10(double *state, double *unused, double *out_3996731865855353315) { + out_3996731865855353315[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_3996731865855353315[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_3996731865855353315[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_8626357209504260991) { - out_8626357209504260991[0] = 0; - out_8626357209504260991[1] = 9.8100000000000005*cos(state[1]); - out_8626357209504260991[2] = 0; - out_8626357209504260991[3] = 0; - out_8626357209504260991[4] = -state[8]; - out_8626357209504260991[5] = state[7]; - out_8626357209504260991[6] = 0; - out_8626357209504260991[7] = state[5]; - out_8626357209504260991[8] = -state[4]; - out_8626357209504260991[9] = 0; - out_8626357209504260991[10] = 0; - out_8626357209504260991[11] = 0; - out_8626357209504260991[12] = 1; - out_8626357209504260991[13] = 0; - out_8626357209504260991[14] = 0; - out_8626357209504260991[15] = 1; - out_8626357209504260991[16] = 0; - out_8626357209504260991[17] = 0; - out_8626357209504260991[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8626357209504260991[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8626357209504260991[20] = 0; - out_8626357209504260991[21] = state[8]; - out_8626357209504260991[22] = 0; - out_8626357209504260991[23] = -state[6]; - out_8626357209504260991[24] = -state[5]; - out_8626357209504260991[25] = 0; - out_8626357209504260991[26] = state[3]; - out_8626357209504260991[27] = 0; - out_8626357209504260991[28] = 0; - out_8626357209504260991[29] = 0; - out_8626357209504260991[30] = 0; - out_8626357209504260991[31] = 1; - out_8626357209504260991[32] = 0; - out_8626357209504260991[33] = 0; - out_8626357209504260991[34] = 1; - out_8626357209504260991[35] = 0; - out_8626357209504260991[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8626357209504260991[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8626357209504260991[38] = 0; - out_8626357209504260991[39] = -state[7]; - out_8626357209504260991[40] = state[6]; - out_8626357209504260991[41] = 0; - out_8626357209504260991[42] = state[4]; - out_8626357209504260991[43] = -state[3]; - out_8626357209504260991[44] = 0; - out_8626357209504260991[45] = 0; - out_8626357209504260991[46] = 0; - out_8626357209504260991[47] = 0; - out_8626357209504260991[48] = 0; - out_8626357209504260991[49] = 0; - out_8626357209504260991[50] = 1; - out_8626357209504260991[51] = 0; - out_8626357209504260991[52] = 0; - out_8626357209504260991[53] = 1; +void H_10(double *state, double *unused, double *out_1029675721885226562) { + out_1029675721885226562[0] = 0; + out_1029675721885226562[1] = 9.8100000000000005*cos(state[1]); + out_1029675721885226562[2] = 0; + out_1029675721885226562[3] = 0; + out_1029675721885226562[4] = -state[8]; + out_1029675721885226562[5] = state[7]; + out_1029675721885226562[6] = 0; + out_1029675721885226562[7] = state[5]; + out_1029675721885226562[8] = -state[4]; + out_1029675721885226562[9] = 0; + out_1029675721885226562[10] = 0; + out_1029675721885226562[11] = 0; + out_1029675721885226562[12] = 1; + out_1029675721885226562[13] = 0; + out_1029675721885226562[14] = 0; + out_1029675721885226562[15] = 1; + out_1029675721885226562[16] = 0; + out_1029675721885226562[17] = 0; + out_1029675721885226562[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1029675721885226562[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1029675721885226562[20] = 0; + out_1029675721885226562[21] = state[8]; + out_1029675721885226562[22] = 0; + out_1029675721885226562[23] = -state[6]; + out_1029675721885226562[24] = -state[5]; + out_1029675721885226562[25] = 0; + out_1029675721885226562[26] = state[3]; + out_1029675721885226562[27] = 0; + out_1029675721885226562[28] = 0; + out_1029675721885226562[29] = 0; + out_1029675721885226562[30] = 0; + out_1029675721885226562[31] = 1; + out_1029675721885226562[32] = 0; + out_1029675721885226562[33] = 0; + out_1029675721885226562[34] = 1; + out_1029675721885226562[35] = 0; + out_1029675721885226562[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1029675721885226562[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1029675721885226562[38] = 0; + out_1029675721885226562[39] = -state[7]; + out_1029675721885226562[40] = state[6]; + out_1029675721885226562[41] = 0; + out_1029675721885226562[42] = state[4]; + out_1029675721885226562[43] = -state[3]; + out_1029675721885226562[44] = 0; + out_1029675721885226562[45] = 0; + out_1029675721885226562[46] = 0; + out_1029675721885226562[47] = 0; + out_1029675721885226562[48] = 0; + out_1029675721885226562[49] = 0; + out_1029675721885226562[50] = 1; + out_1029675721885226562[51] = 0; + out_1029675721885226562[52] = 0; + out_1029675721885226562[53] = 1; } -void h_13(double *state, double *unused, double *out_8776526610688936203) { - out_8776526610688936203[0] = state[3]; - out_8776526610688936203[1] = state[4]; - out_8776526610688936203[2] = state[5]; +void h_13(double *state, double *unused, double *out_5486873982549130902) { + out_5486873982549130902[0] = state[3]; + out_5486873982549130902[1] = state[4]; + out_5486873982549130902[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6099579681230365320) { - out_6099579681230365320[0] = 0; - out_6099579681230365320[1] = 0; - out_6099579681230365320[2] = 0; - out_6099579681230365320[3] = 1; - out_6099579681230365320[4] = 0; - out_6099579681230365320[5] = 0; - out_6099579681230365320[6] = 0; - out_6099579681230365320[7] = 0; - out_6099579681230365320[8] = 0; - out_6099579681230365320[9] = 0; - out_6099579681230365320[10] = 0; - out_6099579681230365320[11] = 0; - out_6099579681230365320[12] = 0; - out_6099579681230365320[13] = 0; - out_6099579681230365320[14] = 0; - out_6099579681230365320[15] = 0; - out_6099579681230365320[16] = 0; - out_6099579681230365320[17] = 0; - out_6099579681230365320[18] = 0; - out_6099579681230365320[19] = 0; - out_6099579681230365320[20] = 0; - out_6099579681230365320[21] = 0; - out_6099579681230365320[22] = 1; - out_6099579681230365320[23] = 0; - out_6099579681230365320[24] = 0; - out_6099579681230365320[25] = 0; - out_6099579681230365320[26] = 0; - out_6099579681230365320[27] = 0; - out_6099579681230365320[28] = 0; - out_6099579681230365320[29] = 0; - out_6099579681230365320[30] = 0; - out_6099579681230365320[31] = 0; - out_6099579681230365320[32] = 0; - out_6099579681230365320[33] = 0; - out_6099579681230365320[34] = 0; - out_6099579681230365320[35] = 0; - out_6099579681230365320[36] = 0; - out_6099579681230365320[37] = 0; - out_6099579681230365320[38] = 0; - out_6099579681230365320[39] = 0; - out_6099579681230365320[40] = 0; - out_6099579681230365320[41] = 1; - out_6099579681230365320[42] = 0; - out_6099579681230365320[43] = 0; - out_6099579681230365320[44] = 0; - out_6099579681230365320[45] = 0; - out_6099579681230365320[46] = 0; - out_6099579681230365320[47] = 0; - out_6099579681230365320[48] = 0; - out_6099579681230365320[49] = 0; - out_6099579681230365320[50] = 0; - out_6099579681230365320[51] = 0; - out_6099579681230365320[52] = 0; - out_6099579681230365320[53] = 0; +void H_13(double *state, double *unused, double *out_9185294307706292809) { + out_9185294307706292809[0] = 0; + out_9185294307706292809[1] = 0; + out_9185294307706292809[2] = 0; + out_9185294307706292809[3] = 1; + out_9185294307706292809[4] = 0; + out_9185294307706292809[5] = 0; + out_9185294307706292809[6] = 0; + out_9185294307706292809[7] = 0; + out_9185294307706292809[8] = 0; + out_9185294307706292809[9] = 0; + out_9185294307706292809[10] = 0; + out_9185294307706292809[11] = 0; + out_9185294307706292809[12] = 0; + out_9185294307706292809[13] = 0; + out_9185294307706292809[14] = 0; + out_9185294307706292809[15] = 0; + out_9185294307706292809[16] = 0; + out_9185294307706292809[17] = 0; + out_9185294307706292809[18] = 0; + out_9185294307706292809[19] = 0; + out_9185294307706292809[20] = 0; + out_9185294307706292809[21] = 0; + out_9185294307706292809[22] = 1; + out_9185294307706292809[23] = 0; + out_9185294307706292809[24] = 0; + out_9185294307706292809[25] = 0; + out_9185294307706292809[26] = 0; + out_9185294307706292809[27] = 0; + out_9185294307706292809[28] = 0; + out_9185294307706292809[29] = 0; + out_9185294307706292809[30] = 0; + out_9185294307706292809[31] = 0; + out_9185294307706292809[32] = 0; + out_9185294307706292809[33] = 0; + out_9185294307706292809[34] = 0; + out_9185294307706292809[35] = 0; + out_9185294307706292809[36] = 0; + out_9185294307706292809[37] = 0; + out_9185294307706292809[38] = 0; + out_9185294307706292809[39] = 0; + out_9185294307706292809[40] = 0; + out_9185294307706292809[41] = 1; + out_9185294307706292809[42] = 0; + out_9185294307706292809[43] = 0; + out_9185294307706292809[44] = 0; + out_9185294307706292809[45] = 0; + out_9185294307706292809[46] = 0; + out_9185294307706292809[47] = 0; + out_9185294307706292809[48] = 0; + out_9185294307706292809[49] = 0; + out_9185294307706292809[50] = 0; + out_9185294307706292809[51] = 0; + out_9185294307706292809[52] = 0; + out_9185294307706292809[53] = 0; } -void h_14(double *state, double *unused, double *out_3918582584245710569) { - out_3918582584245710569[0] = state[6]; - out_3918582584245710569[1] = state[7]; - out_3918582584245710569[2] = state[8]; +void h_14(double *state, double *unused, double *out_5889763171134805790) { + out_5889763171134805790[0] = state[6]; + out_5889763171134805790[1] = state[7]; + out_5889763171134805790[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2452189329253148920) { - out_2452189329253148920[0] = 0; - out_2452189329253148920[1] = 0; - out_2452189329253148920[2] = 0; - out_2452189329253148920[3] = 0; - out_2452189329253148920[4] = 0; - out_2452189329253148920[5] = 0; - out_2452189329253148920[6] = 1; - out_2452189329253148920[7] = 0; - out_2452189329253148920[8] = 0; - out_2452189329253148920[9] = 0; - out_2452189329253148920[10] = 0; - out_2452189329253148920[11] = 0; - out_2452189329253148920[12] = 0; - out_2452189329253148920[13] = 0; - out_2452189329253148920[14] = 0; - out_2452189329253148920[15] = 0; - out_2452189329253148920[16] = 0; - out_2452189329253148920[17] = 0; - out_2452189329253148920[18] = 0; - out_2452189329253148920[19] = 0; - out_2452189329253148920[20] = 0; - out_2452189329253148920[21] = 0; - out_2452189329253148920[22] = 0; - out_2452189329253148920[23] = 0; - out_2452189329253148920[24] = 0; - out_2452189329253148920[25] = 1; - out_2452189329253148920[26] = 0; - out_2452189329253148920[27] = 0; - out_2452189329253148920[28] = 0; - out_2452189329253148920[29] = 0; - out_2452189329253148920[30] = 0; - out_2452189329253148920[31] = 0; - out_2452189329253148920[32] = 0; - out_2452189329253148920[33] = 0; - out_2452189329253148920[34] = 0; - out_2452189329253148920[35] = 0; - out_2452189329253148920[36] = 0; - out_2452189329253148920[37] = 0; - out_2452189329253148920[38] = 0; - out_2452189329253148920[39] = 0; - out_2452189329253148920[40] = 0; - out_2452189329253148920[41] = 0; - out_2452189329253148920[42] = 0; - out_2452189329253148920[43] = 0; - out_2452189329253148920[44] = 1; - out_2452189329253148920[45] = 0; - out_2452189329253148920[46] = 0; - out_2452189329253148920[47] = 0; - out_2452189329253148920[48] = 0; - out_2452189329253148920[49] = 0; - out_2452189329253148920[50] = 0; - out_2452189329253148920[51] = 0; - out_2452189329253148920[52] = 0; - out_2452189329253148920[53] = 0; +void H_14(double *state, double *unused, double *out_8434327276699141081) { + out_8434327276699141081[0] = 0; + out_8434327276699141081[1] = 0; + out_8434327276699141081[2] = 0; + out_8434327276699141081[3] = 0; + out_8434327276699141081[4] = 0; + out_8434327276699141081[5] = 0; + out_8434327276699141081[6] = 1; + out_8434327276699141081[7] = 0; + out_8434327276699141081[8] = 0; + out_8434327276699141081[9] = 0; + out_8434327276699141081[10] = 0; + out_8434327276699141081[11] = 0; + out_8434327276699141081[12] = 0; + out_8434327276699141081[13] = 0; + out_8434327276699141081[14] = 0; + out_8434327276699141081[15] = 0; + out_8434327276699141081[16] = 0; + out_8434327276699141081[17] = 0; + out_8434327276699141081[18] = 0; + out_8434327276699141081[19] = 0; + out_8434327276699141081[20] = 0; + out_8434327276699141081[21] = 0; + out_8434327276699141081[22] = 0; + out_8434327276699141081[23] = 0; + out_8434327276699141081[24] = 0; + out_8434327276699141081[25] = 1; + out_8434327276699141081[26] = 0; + out_8434327276699141081[27] = 0; + out_8434327276699141081[28] = 0; + out_8434327276699141081[29] = 0; + out_8434327276699141081[30] = 0; + out_8434327276699141081[31] = 0; + out_8434327276699141081[32] = 0; + out_8434327276699141081[33] = 0; + out_8434327276699141081[34] = 0; + out_8434327276699141081[35] = 0; + out_8434327276699141081[36] = 0; + out_8434327276699141081[37] = 0; + out_8434327276699141081[38] = 0; + out_8434327276699141081[39] = 0; + out_8434327276699141081[40] = 0; + out_8434327276699141081[41] = 0; + out_8434327276699141081[42] = 0; + out_8434327276699141081[43] = 0; + out_8434327276699141081[44] = 1; + out_8434327276699141081[45] = 0; + out_8434327276699141081[46] = 0; + out_8434327276699141081[47] = 0; + out_8434327276699141081[48] = 0; + out_8434327276699141081[49] = 0; + out_8434327276699141081[50] = 0; + out_8434327276699141081[51] = 0; + out_8434327276699141081[52] = 0; + out_8434327276699141081[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_6990659364596708462) { - err_fun(nom_x, delta_x, out_6990659364596708462); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4294292118997978771) { + err_fun(nom_x, delta_x, out_4294292118997978771); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1561026677999837058) { - inv_err_fun(nom_x, true_x, out_1561026677999837058); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4013254910072164359) { + inv_err_fun(nom_x, true_x, out_4013254910072164359); } -void pose_H_mod_fun(double *state, double *out_308647198819961252) { - H_mod_fun(state, out_308647198819961252); +void pose_H_mod_fun(double *state, double *out_896657555631845271) { + H_mod_fun(state, out_896657555631845271); } -void pose_f_fun(double *state, double dt, double *out_7010110275742074957) { - f_fun(state, dt, out_7010110275742074957); +void pose_f_fun(double *state, double dt, double *out_8443743878960458350) { + f_fun(state, dt, out_8443743878960458350); } -void pose_F_fun(double *state, double dt, double *out_321710036859700647) { - F_fun(state, dt, out_321710036859700647); +void pose_F_fun(double *state, double dt, double *out_8213357667145446301) { + F_fun(state, dt, out_8213357667145446301); } -void pose_h_4(double *state, double *unused, double *out_8984471206441981160) { - h_4(state, unused, out_8984471206441981160); +void pose_h_4(double *state, double *unused, double *out_70651799205578182) { + h_4(state, unused, out_70651799205578182); } -void pose_H_4(double *state, double *unused, double *out_1511051527086335609) { - H_4(state, unused, out_1511051527086335609); +void pose_H_4(double *state, double *unused, double *out_6049175940670926006) { + H_4(state, unused, out_6049175940670926006); } -void pose_h_10(double *state, double *unused, double *out_1160903693658888330) { - h_10(state, unused, out_1160903693658888330); +void pose_h_10(double *state, double *unused, double *out_3996731865855353315) { + h_10(state, unused, out_3996731865855353315); } -void pose_H_10(double *state, double *unused, double *out_8626357209504260991) { - H_10(state, unused, out_8626357209504260991); +void pose_H_10(double *state, double *unused, double *out_1029675721885226562) { + H_10(state, unused, out_1029675721885226562); } -void pose_h_13(double *state, double *unused, double *out_8776526610688936203) { - h_13(state, unused, out_8776526610688936203); +void pose_h_13(double *state, double *unused, double *out_5486873982549130902) { + h_13(state, unused, out_5486873982549130902); } -void pose_H_13(double *state, double *unused, double *out_6099579681230365320) { - H_13(state, unused, out_6099579681230365320); +void pose_H_13(double *state, double *unused, double *out_9185294307706292809) { + H_13(state, unused, out_9185294307706292809); } -void pose_h_14(double *state, double *unused, double *out_3918582584245710569) { - h_14(state, unused, out_3918582584245710569); +void pose_h_14(double *state, double *unused, double *out_5889763171134805790) { + h_14(state, unused, out_5889763171134805790); } -void pose_H_14(double *state, double *unused, double *out_2452189329253148920) { - H_14(state, unused, out_2452189329253148920); +void pose_H_14(double *state, double *unused, double *out_8434327276699141081) { + H_14(state, unused, out_8434327276699141081); } 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 7a78aa40a..2b36571cd 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_6990659364596708462); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1561026677999837058); -void pose_H_mod_fun(double *state, double *out_308647198819961252); -void pose_f_fun(double *state, double dt, double *out_7010110275742074957); -void pose_F_fun(double *state, double dt, double *out_321710036859700647); -void pose_h_4(double *state, double *unused, double *out_8984471206441981160); -void pose_H_4(double *state, double *unused, double *out_1511051527086335609); -void pose_h_10(double *state, double *unused, double *out_1160903693658888330); -void pose_H_10(double *state, double *unused, double *out_8626357209504260991); -void pose_h_13(double *state, double *unused, double *out_8776526610688936203); -void pose_H_13(double *state, double *unused, double *out_6099579681230365320); -void pose_h_14(double *state, double *unused, double *out_3918582584245710569); -void pose_H_14(double *state, double *unused, double *out_2452189329253148920); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4294292118997978771); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4013254910072164359); +void pose_H_mod_fun(double *state, double *out_896657555631845271); +void pose_f_fun(double *state, double dt, double *out_8443743878960458350); +void pose_F_fun(double *state, double dt, double *out_8213357667145446301); +void pose_h_4(double *state, double *unused, double *out_70651799205578182); +void pose_H_4(double *state, double *unused, double *out_6049175940670926006); +void pose_h_10(double *state, double *unused, double *out_3996731865855353315); +void pose_H_10(double *state, double *unused, double *out_1029675721885226562); +void pose_h_13(double *state, double *unused, double *out_5486873982549130902); +void pose_H_13(double *state, double *unused, double *out_9185294307706292809); +void pose_h_14(double *state, double *unused, double *out_5889763171134805790); +void pose_H_14(double *state, double *unused, double *out_8434327276699141081); 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 7e56d32d4..76c05d73e 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index de2c46efc..0945f9e58 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 2f1fde37a..fa4070ad7 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index b2a855a36..7b14e84fa 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 2525cb8db..989311b1e 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 44937d792..db3dd6755 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ