diff --git a/cereal/libcereal.a b/cereal/libcereal.a index 2937dd70a6..9bdac9f8d1 100644 Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ diff --git a/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc b/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc index bb6acbd6d7..5d9a90bdf2 100644 --- a/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc +++ b/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc @@ -1480,6 +1480,7 @@ BO_ 905 SCC14: 8 SCC SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC + SG_ ObjDistStat : 42|2@1+ (1,0) [0|3] "" XXX BO_ 1157 LFAHDA_MFC: 8 XXX SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX @@ -1671,6 +1672,7 @@ VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled"; VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P"; VAL_ 882 Elect_Gear_Shifter 4 "S" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P"; VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled"; +VAL_ 905 ObjDistStat 0 "no_object" 1 "receding" 2 "approaching"; VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB"; VAL_ 916 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue"; VAL_ 1056 SCCInfoDisplay 0 "No Message" 2 "Cruise Control" 3 "Lost Lead" 4 "Standstill"; diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 47bd3b8918..c61ffd60ce 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 e7082ae941..9ea488c945 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 6e908f00eb..c5ffecfe62 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 45c9c9bb6e..d2d2751bf6 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index f362bdb8fb..348aa0c1b2 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 8205bf5c3b..7d25341dd4 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_can_ignition_only.bin b/panda/board/obj/bootstub.panda_can_ignition_only.bin index 8205bf5c3b..7d25341dd4 100755 Binary files a/panda/board/obj/bootstub.panda_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 695050979d..adc9897d70 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin index 695050979d..adc9897d70 100755 Binary files a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin index 695050979d..adc9897d70 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin index 695050979d..adc9897d70 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 695050979d..adc9897d70 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_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index 695050979d..adc9897d70 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_tesla_wake.bin b/panda/board/obj/bootstub.panda_h7_tesla_wake.bin index 695050979d..adc9897d70 100755 Binary files a/panda/board/obj/bootstub.panda_h7_tesla_wake.bin and b/panda/board/obj/bootstub.panda_h7_tesla_wake.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_tesla_wake_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_tesla_wake_can_ignition_only.bin index 695050979d..adc9897d70 100755 Binary files a/panda/board/obj/bootstub.panda_h7_tesla_wake_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_tesla_wake_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 8205bf5c3b..7d25341dd4 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index 8205bf5c3b..7d25341dd4 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 0bcb84dd01..188ec98900 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 8205bf5c3b..7d25341dd4 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/bootstub.panda_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin index 8205bf5c3b..7d25341dd4 100755 Binary files a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_tesla_wake.bin b/panda/board/obj/bootstub.panda_tesla_wake.bin index 8205bf5c3b..7d25341dd4 100755 Binary files a/panda/board/obj/bootstub.panda_tesla_wake.bin and b/panda/board/obj/bootstub.panda_tesla_wake.bin differ diff --git a/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin b/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin index 8205bf5c3b..7d25341dd4 100755 Binary files a/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 2823b31224..a4b0841523 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-5bead815-DEBUG"; +const uint8_t gitversion[19] = "DEV-f6664f54-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index c3d5aa89d1..27dccece45 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 ce629417e8..eaed9d26f3 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 a57cbb97c9..3e4a5219f4 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 df14e6a6b2..00a8eb4247 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_can_ignition_only.bin.signed b/panda/board/obj/panda_can_ignition_only.bin.signed index a7246799f9..7dda55644b 100644 Binary files a/panda/board/obj/panda_can_ignition_only.bin.signed and b/panda/board/obj/panda_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_can_ignition_only/bootstub.elf b/panda/board/obj/panda_can_ignition_only/bootstub.elf index 88f15af55e..fdd16ab76d 100755 Binary files a/panda/board/obj/panda_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_can_ignition_only/main.bin b/panda/board/obj/panda_can_ignition_only/main.bin index 96d05c5a7c..5ac04597c5 100755 Binary files a/panda/board/obj/panda_can_ignition_only/main.bin and b/panda/board/obj/panda_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_can_ignition_only/main.elf b/panda/board/obj/panda_can_ignition_only/main.elf index 6da9bdf243..bf10e5e195 100755 Binary files a/panda/board/obj/panda_can_ignition_only/main.elf and b/panda/board/obj/panda_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index c87087796c..a256b6b9a1 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 5dcd145ba9..72ac141527 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 c506c011a8..4859bd9a26 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 6a98cdeed9..24a7b8ae87 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_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_can_ignition_only.bin.signed index da6c9460c6..31115c1492 100644 Binary files a/panda/board/obj/panda_h7_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf index c5f7bb8354..1a2975fa77 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/main.bin b/panda/board/obj/panda_h7_can_ignition_only/main.bin index ed3b4e02d2..504802042a 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/main.elf b/panda/board/obj/panda_h7_can_ignition_only/main.elf index 88a0e8b8bb..0786af2ae9 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote.bin.signed b/panda/board/obj/panda_h7_hkg_remote.bin.signed index 2e35914148..9027262df7 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote.bin.signed and b/panda/board/obj/panda_h7_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote/bootstub.elf b/panda/board/obj/panda_h7_hkg_remote/bootstub.elf index f6d2396824..33aa85c94e 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/bootstub.elf and b/panda/board/obj/panda_h7_hkg_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote/main.bin b/panda/board/obj/panda_h7_hkg_remote/main.bin index 9a8c672d01..f4845d1026 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/main.bin and b/panda/board/obj/panda_h7_hkg_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_hkg_remote/main.elf b/panda/board/obj/panda_h7_hkg_remote/main.elf index d38886cf7d..cf3c0c1dde 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/main.elf and b/panda/board/obj/panda_h7_hkg_remote/main.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed index d91713dd7b..c486857b6f 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf index ed4b8fb484..e50926a0e9 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin index 6fe7013a74..e0d715d9b0 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf index b1c65dbb2b..c638394a4e 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 7f28f3ee65..e7ee32c1bf 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 d08d7f6d18..c52b62683d 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 5315e7c373..cca5042cab 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 90261e1584..108648f57f 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_h7_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed index 7ab36dbb0e..e29cfbf68e 100644 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf index dfac49673b..60bed240ae 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin b/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin index 1f52ce8efa..49824b3a59 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf b/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf index 681cb48a69..f93b0534a0 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_tesla_wake.bin.signed b/panda/board/obj/panda_h7_tesla_wake.bin.signed index d5b1f14323..9944b80376 100644 Binary files a/panda/board/obj/panda_h7_tesla_wake.bin.signed and b/panda/board/obj/panda_h7_tesla_wake.bin.signed differ diff --git a/panda/board/obj/panda_h7_tesla_wake/bootstub.elf b/panda/board/obj/panda_h7_tesla_wake/bootstub.elf index 4acd07937a..68a4d42a1e 100755 Binary files a/panda/board/obj/panda_h7_tesla_wake/bootstub.elf and b/panda/board/obj/panda_h7_tesla_wake/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_tesla_wake/main.bin b/panda/board/obj/panda_h7_tesla_wake/main.bin index 8cc1c20b52..0d28b0ef7d 100755 Binary files a/panda/board/obj/panda_h7_tesla_wake/main.bin and b/panda/board/obj/panda_h7_tesla_wake/main.bin differ diff --git a/panda/board/obj/panda_h7_tesla_wake/main.elf b/panda/board/obj/panda_h7_tesla_wake/main.elf index d418373495..9ff0362c01 100755 Binary files a/panda/board/obj/panda_h7_tesla_wake/main.elf and b/panda/board/obj/panda_h7_tesla_wake/main.elf differ diff --git a/panda/board/obj/panda_h7_tesla_wake_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_tesla_wake_can_ignition_only.bin.signed index 75108fde86..7911283b56 100644 Binary files a/panda/board/obj/panda_h7_tesla_wake_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_tesla_wake_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/bootstub.elf index e4bc65e6cf..6e141cd29a 100755 Binary files a/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/main.bin b/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/main.bin index 5d05c4fb9d..adcff44117 100755 Binary files a/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/main.elf b/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/main.elf index ce8a6c82d6..73905ab449 100755 Binary files a/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_tesla_wake_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_hkg_remote.bin.signed b/panda/board/obj/panda_hkg_remote.bin.signed index 11bb75e6f6..2b9a2c29bd 100644 Binary files a/panda/board/obj/panda_hkg_remote.bin.signed and b/panda/board/obj/panda_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote/bootstub.elf b/panda/board/obj/panda_hkg_remote/bootstub.elf index d8e47ff1a4..d3f712fbd3 100755 Binary files a/panda/board/obj/panda_hkg_remote/bootstub.elf and b/panda/board/obj/panda_hkg_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_hkg_remote/main.bin b/panda/board/obj/panda_hkg_remote/main.bin index a9b4975d34..1f88533094 100755 Binary files a/panda/board/obj/panda_hkg_remote/main.bin and b/panda/board/obj/panda_hkg_remote/main.bin differ diff --git a/panda/board/obj/panda_hkg_remote/main.elf b/panda/board/obj/panda_hkg_remote/main.elf index b3fc65f4a3..fd70f33770 100755 Binary files a/panda/board/obj/panda_hkg_remote/main.elf and b/panda/board/obj/panda_hkg_remote/main.elf differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed index b8e23b5355..e81d1f20f6 100644 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf index f52ffaa809..516981ca86 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin index 3743a1f801..1b1e7b4baa 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf index f96eb9285a..c08e391ee0 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index d829f3e4f2..9664686fd9 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 e546ff631e..9ba814232b 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 f41a75772d..c5633eee33 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 2b2287dedb..97187d1aae 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 5ca9f99a5d..f526a8c2dc 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 50799f9b12..0bb2eec5cc 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 f44f14a878..d9e3cf1bb0 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 6bd6972e3c..30bb0617fb 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/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index 3dc5c4085f..868bf03b45 100644 Binary files a/panda/board/obj/panda_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index 4354526003..4ca0e00e58 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index ab54def12f..ab1269c12e 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index e85898273f..bca688a60c 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_tesla_wake.bin.signed b/panda/board/obj/panda_tesla_wake.bin.signed index 4b8e1b8e06..15456b5886 100644 Binary files a/panda/board/obj/panda_tesla_wake.bin.signed and b/panda/board/obj/panda_tesla_wake.bin.signed differ diff --git a/panda/board/obj/panda_tesla_wake/bootstub.elf b/panda/board/obj/panda_tesla_wake/bootstub.elf index 586504dbb6..646afb9ccc 100755 Binary files a/panda/board/obj/panda_tesla_wake/bootstub.elf and b/panda/board/obj/panda_tesla_wake/bootstub.elf differ diff --git a/panda/board/obj/panda_tesla_wake/main.bin b/panda/board/obj/panda_tesla_wake/main.bin index 0648479321..a24ee48a21 100755 Binary files a/panda/board/obj/panda_tesla_wake/main.bin and b/panda/board/obj/panda_tesla_wake/main.bin differ diff --git a/panda/board/obj/panda_tesla_wake/main.elf b/panda/board/obj/panda_tesla_wake/main.elf index 6f754a33ec..c3bad3fb09 100755 Binary files a/panda/board/obj/panda_tesla_wake/main.elf and b/panda/board/obj/panda_tesla_wake/main.elf differ diff --git a/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed b/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed index d234f3a354..90f08a6c16 100644 Binary files a/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed and b/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_tesla_wake_can_ignition_only/bootstub.elf b/panda/board/obj/panda_tesla_wake_can_ignition_only/bootstub.elf index a649d34a1e..25809f588c 100755 Binary files a/panda/board/obj/panda_tesla_wake_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_tesla_wake_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_tesla_wake_can_ignition_only/main.bin b/panda/board/obj/panda_tesla_wake_can_ignition_only/main.bin index 8465f5415d..446d47e0a4 100755 Binary files a/panda/board/obj/panda_tesla_wake_can_ignition_only/main.bin and b/panda/board/obj/panda_tesla_wake_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf b/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf index 974a58d525..aea7f72aef 100755 Binary files a/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf and b/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index d3b9e72c76..6e6592715d 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-5bead815-DEBUG \ No newline at end of file +DEV-f6664f54-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 088ba3656c..b1cd5abc33 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_6455770263676897448) { - out_6455770263676897448[0] = delta_x[0] + nom_x[0]; - out_6455770263676897448[1] = delta_x[1] + nom_x[1]; - out_6455770263676897448[2] = delta_x[2] + nom_x[2]; - out_6455770263676897448[3] = delta_x[3] + nom_x[3]; - out_6455770263676897448[4] = delta_x[4] + nom_x[4]; - out_6455770263676897448[5] = delta_x[5] + nom_x[5]; - out_6455770263676897448[6] = delta_x[6] + nom_x[6]; - out_6455770263676897448[7] = delta_x[7] + nom_x[7]; - out_6455770263676897448[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_781655183145825394) { + out_781655183145825394[0] = delta_x[0] + nom_x[0]; + out_781655183145825394[1] = delta_x[1] + nom_x[1]; + out_781655183145825394[2] = delta_x[2] + nom_x[2]; + out_781655183145825394[3] = delta_x[3] + nom_x[3]; + out_781655183145825394[4] = delta_x[4] + nom_x[4]; + out_781655183145825394[5] = delta_x[5] + nom_x[5]; + out_781655183145825394[6] = delta_x[6] + nom_x[6]; + out_781655183145825394[7] = delta_x[7] + nom_x[7]; + out_781655183145825394[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3264339508163218326) { - out_3264339508163218326[0] = -nom_x[0] + true_x[0]; - out_3264339508163218326[1] = -nom_x[1] + true_x[1]; - out_3264339508163218326[2] = -nom_x[2] + true_x[2]; - out_3264339508163218326[3] = -nom_x[3] + true_x[3]; - out_3264339508163218326[4] = -nom_x[4] + true_x[4]; - out_3264339508163218326[5] = -nom_x[5] + true_x[5]; - out_3264339508163218326[6] = -nom_x[6] + true_x[6]; - out_3264339508163218326[7] = -nom_x[7] + true_x[7]; - out_3264339508163218326[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2912836612698073811) { + out_2912836612698073811[0] = -nom_x[0] + true_x[0]; + out_2912836612698073811[1] = -nom_x[1] + true_x[1]; + out_2912836612698073811[2] = -nom_x[2] + true_x[2]; + out_2912836612698073811[3] = -nom_x[3] + true_x[3]; + out_2912836612698073811[4] = -nom_x[4] + true_x[4]; + out_2912836612698073811[5] = -nom_x[5] + true_x[5]; + out_2912836612698073811[6] = -nom_x[6] + true_x[6]; + out_2912836612698073811[7] = -nom_x[7] + true_x[7]; + out_2912836612698073811[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_2314116705851516155) { - out_2314116705851516155[0] = 1.0; - out_2314116705851516155[1] = 0.0; - out_2314116705851516155[2] = 0.0; - out_2314116705851516155[3] = 0.0; - out_2314116705851516155[4] = 0.0; - out_2314116705851516155[5] = 0.0; - out_2314116705851516155[6] = 0.0; - out_2314116705851516155[7] = 0.0; - out_2314116705851516155[8] = 0.0; - out_2314116705851516155[9] = 0.0; - out_2314116705851516155[10] = 1.0; - out_2314116705851516155[11] = 0.0; - out_2314116705851516155[12] = 0.0; - out_2314116705851516155[13] = 0.0; - out_2314116705851516155[14] = 0.0; - out_2314116705851516155[15] = 0.0; - out_2314116705851516155[16] = 0.0; - out_2314116705851516155[17] = 0.0; - out_2314116705851516155[18] = 0.0; - out_2314116705851516155[19] = 0.0; - out_2314116705851516155[20] = 1.0; - out_2314116705851516155[21] = 0.0; - out_2314116705851516155[22] = 0.0; - out_2314116705851516155[23] = 0.0; - out_2314116705851516155[24] = 0.0; - out_2314116705851516155[25] = 0.0; - out_2314116705851516155[26] = 0.0; - out_2314116705851516155[27] = 0.0; - out_2314116705851516155[28] = 0.0; - out_2314116705851516155[29] = 0.0; - out_2314116705851516155[30] = 1.0; - out_2314116705851516155[31] = 0.0; - out_2314116705851516155[32] = 0.0; - out_2314116705851516155[33] = 0.0; - out_2314116705851516155[34] = 0.0; - out_2314116705851516155[35] = 0.0; - out_2314116705851516155[36] = 0.0; - out_2314116705851516155[37] = 0.0; - out_2314116705851516155[38] = 0.0; - out_2314116705851516155[39] = 0.0; - out_2314116705851516155[40] = 1.0; - out_2314116705851516155[41] = 0.0; - out_2314116705851516155[42] = 0.0; - out_2314116705851516155[43] = 0.0; - out_2314116705851516155[44] = 0.0; - out_2314116705851516155[45] = 0.0; - out_2314116705851516155[46] = 0.0; - out_2314116705851516155[47] = 0.0; - out_2314116705851516155[48] = 0.0; - out_2314116705851516155[49] = 0.0; - out_2314116705851516155[50] = 1.0; - out_2314116705851516155[51] = 0.0; - out_2314116705851516155[52] = 0.0; - out_2314116705851516155[53] = 0.0; - out_2314116705851516155[54] = 0.0; - out_2314116705851516155[55] = 0.0; - out_2314116705851516155[56] = 0.0; - out_2314116705851516155[57] = 0.0; - out_2314116705851516155[58] = 0.0; - out_2314116705851516155[59] = 0.0; - out_2314116705851516155[60] = 1.0; - out_2314116705851516155[61] = 0.0; - out_2314116705851516155[62] = 0.0; - out_2314116705851516155[63] = 0.0; - out_2314116705851516155[64] = 0.0; - out_2314116705851516155[65] = 0.0; - out_2314116705851516155[66] = 0.0; - out_2314116705851516155[67] = 0.0; - out_2314116705851516155[68] = 0.0; - out_2314116705851516155[69] = 0.0; - out_2314116705851516155[70] = 1.0; - out_2314116705851516155[71] = 0.0; - out_2314116705851516155[72] = 0.0; - out_2314116705851516155[73] = 0.0; - out_2314116705851516155[74] = 0.0; - out_2314116705851516155[75] = 0.0; - out_2314116705851516155[76] = 0.0; - out_2314116705851516155[77] = 0.0; - out_2314116705851516155[78] = 0.0; - out_2314116705851516155[79] = 0.0; - out_2314116705851516155[80] = 1.0; +void H_mod_fun(double *state, double *out_6456005511861377664) { + out_6456005511861377664[0] = 1.0; + out_6456005511861377664[1] = 0.0; + out_6456005511861377664[2] = 0.0; + out_6456005511861377664[3] = 0.0; + out_6456005511861377664[4] = 0.0; + out_6456005511861377664[5] = 0.0; + out_6456005511861377664[6] = 0.0; + out_6456005511861377664[7] = 0.0; + out_6456005511861377664[8] = 0.0; + out_6456005511861377664[9] = 0.0; + out_6456005511861377664[10] = 1.0; + out_6456005511861377664[11] = 0.0; + out_6456005511861377664[12] = 0.0; + out_6456005511861377664[13] = 0.0; + out_6456005511861377664[14] = 0.0; + out_6456005511861377664[15] = 0.0; + out_6456005511861377664[16] = 0.0; + out_6456005511861377664[17] = 0.0; + out_6456005511861377664[18] = 0.0; + out_6456005511861377664[19] = 0.0; + out_6456005511861377664[20] = 1.0; + out_6456005511861377664[21] = 0.0; + out_6456005511861377664[22] = 0.0; + out_6456005511861377664[23] = 0.0; + out_6456005511861377664[24] = 0.0; + out_6456005511861377664[25] = 0.0; + out_6456005511861377664[26] = 0.0; + out_6456005511861377664[27] = 0.0; + out_6456005511861377664[28] = 0.0; + out_6456005511861377664[29] = 0.0; + out_6456005511861377664[30] = 1.0; + out_6456005511861377664[31] = 0.0; + out_6456005511861377664[32] = 0.0; + out_6456005511861377664[33] = 0.0; + out_6456005511861377664[34] = 0.0; + out_6456005511861377664[35] = 0.0; + out_6456005511861377664[36] = 0.0; + out_6456005511861377664[37] = 0.0; + out_6456005511861377664[38] = 0.0; + out_6456005511861377664[39] = 0.0; + out_6456005511861377664[40] = 1.0; + out_6456005511861377664[41] = 0.0; + out_6456005511861377664[42] = 0.0; + out_6456005511861377664[43] = 0.0; + out_6456005511861377664[44] = 0.0; + out_6456005511861377664[45] = 0.0; + out_6456005511861377664[46] = 0.0; + out_6456005511861377664[47] = 0.0; + out_6456005511861377664[48] = 0.0; + out_6456005511861377664[49] = 0.0; + out_6456005511861377664[50] = 1.0; + out_6456005511861377664[51] = 0.0; + out_6456005511861377664[52] = 0.0; + out_6456005511861377664[53] = 0.0; + out_6456005511861377664[54] = 0.0; + out_6456005511861377664[55] = 0.0; + out_6456005511861377664[56] = 0.0; + out_6456005511861377664[57] = 0.0; + out_6456005511861377664[58] = 0.0; + out_6456005511861377664[59] = 0.0; + out_6456005511861377664[60] = 1.0; + out_6456005511861377664[61] = 0.0; + out_6456005511861377664[62] = 0.0; + out_6456005511861377664[63] = 0.0; + out_6456005511861377664[64] = 0.0; + out_6456005511861377664[65] = 0.0; + out_6456005511861377664[66] = 0.0; + out_6456005511861377664[67] = 0.0; + out_6456005511861377664[68] = 0.0; + out_6456005511861377664[69] = 0.0; + out_6456005511861377664[70] = 1.0; + out_6456005511861377664[71] = 0.0; + out_6456005511861377664[72] = 0.0; + out_6456005511861377664[73] = 0.0; + out_6456005511861377664[74] = 0.0; + out_6456005511861377664[75] = 0.0; + out_6456005511861377664[76] = 0.0; + out_6456005511861377664[77] = 0.0; + out_6456005511861377664[78] = 0.0; + out_6456005511861377664[79] = 0.0; + out_6456005511861377664[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3179221506286947540) { - out_3179221506286947540[0] = state[0]; - out_3179221506286947540[1] = state[1]; - out_3179221506286947540[2] = state[2]; - out_3179221506286947540[3] = state[3]; - out_3179221506286947540[4] = state[4]; - out_3179221506286947540[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_3179221506286947540[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_3179221506286947540[7] = state[7]; - out_3179221506286947540[8] = state[8]; +void f_fun(double *state, double dt, double *out_6006881912496167916) { + out_6006881912496167916[0] = state[0]; + out_6006881912496167916[1] = state[1]; + out_6006881912496167916[2] = state[2]; + out_6006881912496167916[3] = state[3]; + out_6006881912496167916[4] = state[4]; + out_6006881912496167916[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_6006881912496167916[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_6006881912496167916[7] = state[7]; + out_6006881912496167916[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2603402554270443885) { - out_2603402554270443885[0] = 1; - out_2603402554270443885[1] = 0; - out_2603402554270443885[2] = 0; - out_2603402554270443885[3] = 0; - out_2603402554270443885[4] = 0; - out_2603402554270443885[5] = 0; - out_2603402554270443885[6] = 0; - out_2603402554270443885[7] = 0; - out_2603402554270443885[8] = 0; - out_2603402554270443885[9] = 0; - out_2603402554270443885[10] = 1; - out_2603402554270443885[11] = 0; - out_2603402554270443885[12] = 0; - out_2603402554270443885[13] = 0; - out_2603402554270443885[14] = 0; - out_2603402554270443885[15] = 0; - out_2603402554270443885[16] = 0; - out_2603402554270443885[17] = 0; - out_2603402554270443885[18] = 0; - out_2603402554270443885[19] = 0; - out_2603402554270443885[20] = 1; - out_2603402554270443885[21] = 0; - out_2603402554270443885[22] = 0; - out_2603402554270443885[23] = 0; - out_2603402554270443885[24] = 0; - out_2603402554270443885[25] = 0; - out_2603402554270443885[26] = 0; - out_2603402554270443885[27] = 0; - out_2603402554270443885[28] = 0; - out_2603402554270443885[29] = 0; - out_2603402554270443885[30] = 1; - out_2603402554270443885[31] = 0; - out_2603402554270443885[32] = 0; - out_2603402554270443885[33] = 0; - out_2603402554270443885[34] = 0; - out_2603402554270443885[35] = 0; - out_2603402554270443885[36] = 0; - out_2603402554270443885[37] = 0; - out_2603402554270443885[38] = 0; - out_2603402554270443885[39] = 0; - out_2603402554270443885[40] = 1; - out_2603402554270443885[41] = 0; - out_2603402554270443885[42] = 0; - out_2603402554270443885[43] = 0; - out_2603402554270443885[44] = 0; - out_2603402554270443885[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_2603402554270443885[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2603402554270443885[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2603402554270443885[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2603402554270443885[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_2603402554270443885[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2603402554270443885[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2603402554270443885[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2603402554270443885[53] = -9.8100000000000005*dt; - out_2603402554270443885[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_2603402554270443885[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2603402554270443885[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2603402554270443885[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2603402554270443885[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_2603402554270443885[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2603402554270443885[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_2603402554270443885[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2603402554270443885[62] = 0; - out_2603402554270443885[63] = 0; - out_2603402554270443885[64] = 0; - out_2603402554270443885[65] = 0; - out_2603402554270443885[66] = 0; - out_2603402554270443885[67] = 0; - out_2603402554270443885[68] = 0; - out_2603402554270443885[69] = 0; - out_2603402554270443885[70] = 1; - out_2603402554270443885[71] = 0; - out_2603402554270443885[72] = 0; - out_2603402554270443885[73] = 0; - out_2603402554270443885[74] = 0; - out_2603402554270443885[75] = 0; - out_2603402554270443885[76] = 0; - out_2603402554270443885[77] = 0; - out_2603402554270443885[78] = 0; - out_2603402554270443885[79] = 0; - out_2603402554270443885[80] = 1; +void F_fun(double *state, double dt, double *out_1756382049312448223) { + out_1756382049312448223[0] = 1; + out_1756382049312448223[1] = 0; + out_1756382049312448223[2] = 0; + out_1756382049312448223[3] = 0; + out_1756382049312448223[4] = 0; + out_1756382049312448223[5] = 0; + out_1756382049312448223[6] = 0; + out_1756382049312448223[7] = 0; + out_1756382049312448223[8] = 0; + out_1756382049312448223[9] = 0; + out_1756382049312448223[10] = 1; + out_1756382049312448223[11] = 0; + out_1756382049312448223[12] = 0; + out_1756382049312448223[13] = 0; + out_1756382049312448223[14] = 0; + out_1756382049312448223[15] = 0; + out_1756382049312448223[16] = 0; + out_1756382049312448223[17] = 0; + out_1756382049312448223[18] = 0; + out_1756382049312448223[19] = 0; + out_1756382049312448223[20] = 1; + out_1756382049312448223[21] = 0; + out_1756382049312448223[22] = 0; + out_1756382049312448223[23] = 0; + out_1756382049312448223[24] = 0; + out_1756382049312448223[25] = 0; + out_1756382049312448223[26] = 0; + out_1756382049312448223[27] = 0; + out_1756382049312448223[28] = 0; + out_1756382049312448223[29] = 0; + out_1756382049312448223[30] = 1; + out_1756382049312448223[31] = 0; + out_1756382049312448223[32] = 0; + out_1756382049312448223[33] = 0; + out_1756382049312448223[34] = 0; + out_1756382049312448223[35] = 0; + out_1756382049312448223[36] = 0; + out_1756382049312448223[37] = 0; + out_1756382049312448223[38] = 0; + out_1756382049312448223[39] = 0; + out_1756382049312448223[40] = 1; + out_1756382049312448223[41] = 0; + out_1756382049312448223[42] = 0; + out_1756382049312448223[43] = 0; + out_1756382049312448223[44] = 0; + out_1756382049312448223[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_1756382049312448223[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1756382049312448223[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1756382049312448223[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1756382049312448223[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_1756382049312448223[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1756382049312448223[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1756382049312448223[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1756382049312448223[53] = -9.8100000000000005*dt; + out_1756382049312448223[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_1756382049312448223[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1756382049312448223[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1756382049312448223[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1756382049312448223[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_1756382049312448223[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1756382049312448223[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_1756382049312448223[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1756382049312448223[62] = 0; + out_1756382049312448223[63] = 0; + out_1756382049312448223[64] = 0; + out_1756382049312448223[65] = 0; + out_1756382049312448223[66] = 0; + out_1756382049312448223[67] = 0; + out_1756382049312448223[68] = 0; + out_1756382049312448223[69] = 0; + out_1756382049312448223[70] = 1; + out_1756382049312448223[71] = 0; + out_1756382049312448223[72] = 0; + out_1756382049312448223[73] = 0; + out_1756382049312448223[74] = 0; + out_1756382049312448223[75] = 0; + out_1756382049312448223[76] = 0; + out_1756382049312448223[77] = 0; + out_1756382049312448223[78] = 0; + out_1756382049312448223[79] = 0; + out_1756382049312448223[80] = 1; } -void h_25(double *state, double *unused, double *out_7483142871930603684) { - out_7483142871930603684[0] = state[6]; +void h_25(double *state, double *unused, double *out_2827928331020362404) { + out_2827928331020362404[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1208863944137975522) { - out_1208863944137975522[0] = 0; - out_1208863944137975522[1] = 0; - out_1208863944137975522[2] = 0; - out_1208863944137975522[3] = 0; - out_1208863944137975522[4] = 0; - out_1208863944137975522[5] = 0; - out_1208863944137975522[6] = 1; - out_1208863944137975522[7] = 0; - out_1208863944137975522[8] = 0; +void H_25(double *state, double *unused, double *out_7087046736663509112) { + out_7087046736663509112[0] = 0; + out_7087046736663509112[1] = 0; + out_7087046736663509112[2] = 0; + out_7087046736663509112[3] = 0; + out_7087046736663509112[4] = 0; + out_7087046736663509112[5] = 0; + out_7087046736663509112[6] = 1; + out_7087046736663509112[7] = 0; + out_7087046736663509112[8] = 0; } -void h_24(double *state, double *unused, double *out_5607942348347630047) { - out_5607942348347630047[0] = state[4]; - out_5607942348347630047[1] = state[5]; +void h_24(double *state, double *unused, double *out_668554717831057533) { + out_668554717831057533[0] = state[4]; + out_668554717831057533[1] = state[5]; } -void H_24(double *state, double *unused, double *out_25779713474104338) { - out_25779713474104338[0] = 0; - out_25779713474104338[1] = 0; - out_25779713474104338[2] = 0; - out_25779713474104338[3] = 0; - out_25779713474104338[4] = 1; - out_25779713474104338[5] = 0; - out_25779713474104338[6] = 0; - out_25779713474104338[7] = 0; - out_25779713474104338[8] = 0; - out_25779713474104338[9] = 0; - out_25779713474104338[10] = 0; - out_25779713474104338[11] = 0; - out_25779713474104338[12] = 0; - out_25779713474104338[13] = 0; - out_25779713474104338[14] = 1; - out_25779713474104338[15] = 0; - out_25779713474104338[16] = 0; - out_25779713474104338[17] = 0; +void H_24(double *state, double *unused, double *out_4909832313056359139) { + out_4909832313056359139[0] = 0; + out_4909832313056359139[1] = 0; + out_4909832313056359139[2] = 0; + out_4909832313056359139[3] = 0; + out_4909832313056359139[4] = 1; + out_4909832313056359139[5] = 0; + out_4909832313056359139[6] = 0; + out_4909832313056359139[7] = 0; + out_4909832313056359139[8] = 0; + out_4909832313056359139[9] = 0; + out_4909832313056359139[10] = 0; + out_4909832313056359139[11] = 0; + out_4909832313056359139[12] = 0; + out_4909832313056359139[13] = 0; + out_4909832313056359139[14] = 1; + out_4909832313056359139[15] = 0; + out_4909832313056359139[16] = 0; + out_4909832313056359139[17] = 0; } -void h_30(double *state, double *unused, double *out_3845693343676581334) { - out_3845693343676581334[0] = state[4]; +void h_30(double *state, double *unused, double *out_4139386833660670090) { + out_4139386833660670090[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1079524996994735452) { - out_1079524996994735452[0] = 0; - out_1079524996994735452[1] = 0; - out_1079524996994735452[2] = 0; - out_1079524996994735452[3] = 0; - out_1079524996994735452[4] = 1; - out_1079524996994735452[5] = 0; - out_1079524996994735452[6] = 0; - out_1079524996994735452[7] = 0; - out_1079524996994735452[8] = 0; +void H_30(double *state, double *unused, double *out_6832001006918434306) { + out_6832001006918434306[0] = 0; + out_6832001006918434306[1] = 0; + out_6832001006918434306[2] = 0; + out_6832001006918434306[3] = 0; + out_6832001006918434306[4] = 1; + out_6832001006918434306[5] = 0; + out_6832001006918434306[6] = 0; + out_6832001006918434306[7] = 0; + out_6832001006918434306[8] = 0; } -void h_26(double *state, double *unused, double *out_8847366611337426979) { - out_8847366611337426979[0] = state[7]; +void h_26(double *state, double *unused, double *out_9101766831341963322) { + out_9101766831341963322[0] = state[7]; } -void H_26(double *state, double *unused, double *out_2532639374736080702) { - out_2532639374736080702[0] = 0; - out_2532639374736080702[1] = 0; - out_2532639374736080702[2] = 0; - out_2532639374736080702[3] = 0; - out_2532639374736080702[4] = 0; - out_2532639374736080702[5] = 0; - out_2532639374736080702[6] = 0; - out_2532639374736080702[7] = 1; - out_2532639374736080702[8] = 0; +void H_26(double *state, double *unused, double *out_7618194018171986280) { + out_7618194018171986280[0] = 0; + out_7618194018171986280[1] = 0; + out_7618194018171986280[2] = 0; + out_7618194018171986280[3] = 0; + out_7618194018171986280[4] = 0; + out_7618194018171986280[5] = 0; + out_7618194018171986280[6] = 0; + out_7618194018171986280[7] = 1; + out_7618194018171986280[8] = 0; } -void h_27(double *state, double *unused, double *out_7323093963955398614) { - out_7323093963955398614[0] = state[3]; +void h_27(double *state, double *unused, double *out_2173744936640483241) { + out_2173744936640483241[0] = state[3]; } -void H_27(double *state, double *unused, double *out_1095238314805689459) { - out_1095238314805689459[0] = 0; - out_1095238314805689459[1] = 0; - out_1095238314805689459[2] = 0; - out_1095238314805689459[3] = 1; - out_1095238314805689459[4] = 0; - out_1095238314805689459[5] = 0; - out_1095238314805689459[6] = 0; - out_1095238314805689459[7] = 0; - out_1095238314805689459[8] = 0; +void H_27(double *state, double *unused, double *out_4657237695118009395) { + out_4657237695118009395[0] = 0; + out_4657237695118009395[1] = 0; + out_4657237695118009395[2] = 0; + out_4657237695118009395[3] = 1; + out_4657237695118009395[4] = 0; + out_4657237695118009395[5] = 0; + out_4657237695118009395[6] = 0; + out_4657237695118009395[7] = 0; + out_4657237695118009395[8] = 0; } -void h_29(double *state, double *unused, double *out_1155979923984264311) { - out_1155979923984264311[0] = state[1]; +void h_29(double *state, double *unused, double *out_8761572863116778404) { + out_8761572863116778404[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1589756341309127636) { - out_1589756341309127636[0] = 0; - out_1589756341309127636[1] = 1; - out_1589756341309127636[2] = 0; - out_1589756341309127636[3] = 0; - out_1589756341309127636[4] = 0; - out_1589756341309127636[5] = 0; - out_1589756341309127636[6] = 0; - out_1589756341309127636[7] = 0; - out_1589756341309127636[8] = 0; +void H_29(double *state, double *unused, double *out_7342232351232826490) { + out_7342232351232826490[0] = 0; + out_7342232351232826490[1] = 1; + out_7342232351232826490[2] = 0; + out_7342232351232826490[3] = 0; + out_7342232351232826490[4] = 0; + out_7342232351232826490[5] = 0; + out_7342232351232826490[6] = 0; + out_7342232351232826490[7] = 0; + out_7342232351232826490[8] = 0; } -void h_28(double *state, double *unused, double *out_5021130674020958612) { - out_5021130674020958612[0] = state[0]; +void h_28(double *state, double *unused, double *out_7175418204301328886) { + out_7175418204301328886[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7891000058744771066) { - out_7891000058744771066[0] = 1; - out_7891000058744771066[1] = 0; - out_7891000058744771066[2] = 0; - out_7891000058744771066[3] = 0; - out_7891000058744771066[4] = 0; - out_7891000058744771066[5] = 0; - out_7891000058744771066[6] = 0; - out_7891000058744771066[7] = 0; - out_7891000058744771066[8] = 0; +void H_28(double *state, double *unused, double *out_9140881450911398875) { + out_9140881450911398875[0] = 1; + out_9140881450911398875[1] = 0; + out_9140881450911398875[2] = 0; + out_9140881450911398875[3] = 0; + out_9140881450911398875[4] = 0; + out_9140881450911398875[5] = 0; + out_9140881450911398875[6] = 0; + out_9140881450911398875[7] = 0; + out_9140881450911398875[8] = 0; } -void h_31(double *state, double *unused, double *out_3082328551024898747) { - out_3082328551024898747[0] = state[8]; +void h_31(double *state, double *unused, double *out_6465377859274384754) { + out_6465377859274384754[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1239509906014935950) { - out_1239509906014935950[0] = 0; - out_1239509906014935950[1] = 0; - out_1239509906014935950[2] = 0; - out_1239509906014935950[3] = 0; - out_1239509906014935950[4] = 0; - out_1239509906014935950[5] = 0; - out_1239509906014935950[6] = 0; - out_1239509906014935950[7] = 0; - out_1239509906014935950[8] = 1; +void H_31(double *state, double *unused, double *out_6991985915938634804) { + out_6991985915938634804[0] = 0; + out_6991985915938634804[1] = 0; + out_6991985915938634804[2] = 0; + out_6991985915938634804[3] = 0; + out_6991985915938634804[4] = 0; + out_6991985915938634804[5] = 0; + out_6991985915938634804[6] = 0; + out_6991985915938634804[7] = 0; + out_6991985915938634804[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_6455770263676897448) { - err_fun(nom_x, delta_x, out_6455770263676897448); +void car_err_fun(double *nom_x, double *delta_x, double *out_781655183145825394) { + err_fun(nom_x, delta_x, out_781655183145825394); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3264339508163218326) { - inv_err_fun(nom_x, true_x, out_3264339508163218326); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2912836612698073811) { + inv_err_fun(nom_x, true_x, out_2912836612698073811); } -void car_H_mod_fun(double *state, double *out_2314116705851516155) { - H_mod_fun(state, out_2314116705851516155); +void car_H_mod_fun(double *state, double *out_6456005511861377664) { + H_mod_fun(state, out_6456005511861377664); } -void car_f_fun(double *state, double dt, double *out_3179221506286947540) { - f_fun(state, dt, out_3179221506286947540); +void car_f_fun(double *state, double dt, double *out_6006881912496167916) { + f_fun(state, dt, out_6006881912496167916); } -void car_F_fun(double *state, double dt, double *out_2603402554270443885) { - F_fun(state, dt, out_2603402554270443885); +void car_F_fun(double *state, double dt, double *out_1756382049312448223) { + F_fun(state, dt, out_1756382049312448223); } -void car_h_25(double *state, double *unused, double *out_7483142871930603684) { - h_25(state, unused, out_7483142871930603684); +void car_h_25(double *state, double *unused, double *out_2827928331020362404) { + h_25(state, unused, out_2827928331020362404); } -void car_H_25(double *state, double *unused, double *out_1208863944137975522) { - H_25(state, unused, out_1208863944137975522); +void car_H_25(double *state, double *unused, double *out_7087046736663509112) { + H_25(state, unused, out_7087046736663509112); } -void car_h_24(double *state, double *unused, double *out_5607942348347630047) { - h_24(state, unused, out_5607942348347630047); +void car_h_24(double *state, double *unused, double *out_668554717831057533) { + h_24(state, unused, out_668554717831057533); } -void car_H_24(double *state, double *unused, double *out_25779713474104338) { - H_24(state, unused, out_25779713474104338); +void car_H_24(double *state, double *unused, double *out_4909832313056359139) { + H_24(state, unused, out_4909832313056359139); } -void car_h_30(double *state, double *unused, double *out_3845693343676581334) { - h_30(state, unused, out_3845693343676581334); +void car_h_30(double *state, double *unused, double *out_4139386833660670090) { + h_30(state, unused, out_4139386833660670090); } -void car_H_30(double *state, double *unused, double *out_1079524996994735452) { - H_30(state, unused, out_1079524996994735452); +void car_H_30(double *state, double *unused, double *out_6832001006918434306) { + H_30(state, unused, out_6832001006918434306); } -void car_h_26(double *state, double *unused, double *out_8847366611337426979) { - h_26(state, unused, out_8847366611337426979); +void car_h_26(double *state, double *unused, double *out_9101766831341963322) { + h_26(state, unused, out_9101766831341963322); } -void car_H_26(double *state, double *unused, double *out_2532639374736080702) { - H_26(state, unused, out_2532639374736080702); +void car_H_26(double *state, double *unused, double *out_7618194018171986280) { + H_26(state, unused, out_7618194018171986280); } -void car_h_27(double *state, double *unused, double *out_7323093963955398614) { - h_27(state, unused, out_7323093963955398614); +void car_h_27(double *state, double *unused, double *out_2173744936640483241) { + h_27(state, unused, out_2173744936640483241); } -void car_H_27(double *state, double *unused, double *out_1095238314805689459) { - H_27(state, unused, out_1095238314805689459); +void car_H_27(double *state, double *unused, double *out_4657237695118009395) { + H_27(state, unused, out_4657237695118009395); } -void car_h_29(double *state, double *unused, double *out_1155979923984264311) { - h_29(state, unused, out_1155979923984264311); +void car_h_29(double *state, double *unused, double *out_8761572863116778404) { + h_29(state, unused, out_8761572863116778404); } -void car_H_29(double *state, double *unused, double *out_1589756341309127636) { - H_29(state, unused, out_1589756341309127636); +void car_H_29(double *state, double *unused, double *out_7342232351232826490) { + H_29(state, unused, out_7342232351232826490); } -void car_h_28(double *state, double *unused, double *out_5021130674020958612) { - h_28(state, unused, out_5021130674020958612); +void car_h_28(double *state, double *unused, double *out_7175418204301328886) { + h_28(state, unused, out_7175418204301328886); } -void car_H_28(double *state, double *unused, double *out_7891000058744771066) { - H_28(state, unused, out_7891000058744771066); +void car_H_28(double *state, double *unused, double *out_9140881450911398875) { + H_28(state, unused, out_9140881450911398875); } -void car_h_31(double *state, double *unused, double *out_3082328551024898747) { - h_31(state, unused, out_3082328551024898747); +void car_h_31(double *state, double *unused, double *out_6465377859274384754) { + h_31(state, unused, out_6465377859274384754); } -void car_H_31(double *state, double *unused, double *out_1239509906014935950) { - H_31(state, unused, out_1239509906014935950); +void car_H_31(double *state, double *unused, double *out_6991985915938634804) { + H_31(state, unused, out_6991985915938634804); } 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 7a0bf85bf2..e606b1496f 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_6455770263676897448); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3264339508163218326); -void car_H_mod_fun(double *state, double *out_2314116705851516155); -void car_f_fun(double *state, double dt, double *out_3179221506286947540); -void car_F_fun(double *state, double dt, double *out_2603402554270443885); -void car_h_25(double *state, double *unused, double *out_7483142871930603684); -void car_H_25(double *state, double *unused, double *out_1208863944137975522); -void car_h_24(double *state, double *unused, double *out_5607942348347630047); -void car_H_24(double *state, double *unused, double *out_25779713474104338); -void car_h_30(double *state, double *unused, double *out_3845693343676581334); -void car_H_30(double *state, double *unused, double *out_1079524996994735452); -void car_h_26(double *state, double *unused, double *out_8847366611337426979); -void car_H_26(double *state, double *unused, double *out_2532639374736080702); -void car_h_27(double *state, double *unused, double *out_7323093963955398614); -void car_H_27(double *state, double *unused, double *out_1095238314805689459); -void car_h_29(double *state, double *unused, double *out_1155979923984264311); -void car_H_29(double *state, double *unused, double *out_1589756341309127636); -void car_h_28(double *state, double *unused, double *out_5021130674020958612); -void car_H_28(double *state, double *unused, double *out_7891000058744771066); -void car_h_31(double *state, double *unused, double *out_3082328551024898747); -void car_H_31(double *state, double *unused, double *out_1239509906014935950); +void car_err_fun(double *nom_x, double *delta_x, double *out_781655183145825394); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2912836612698073811); +void car_H_mod_fun(double *state, double *out_6456005511861377664); +void car_f_fun(double *state, double dt, double *out_6006881912496167916); +void car_F_fun(double *state, double dt, double *out_1756382049312448223); +void car_h_25(double *state, double *unused, double *out_2827928331020362404); +void car_H_25(double *state, double *unused, double *out_7087046736663509112); +void car_h_24(double *state, double *unused, double *out_668554717831057533); +void car_H_24(double *state, double *unused, double *out_4909832313056359139); +void car_h_30(double *state, double *unused, double *out_4139386833660670090); +void car_H_30(double *state, double *unused, double *out_6832001006918434306); +void car_h_26(double *state, double *unused, double *out_9101766831341963322); +void car_H_26(double *state, double *unused, double *out_7618194018171986280); +void car_h_27(double *state, double *unused, double *out_2173744936640483241); +void car_H_27(double *state, double *unused, double *out_4657237695118009395); +void car_h_29(double *state, double *unused, double *out_8761572863116778404); +void car_H_29(double *state, double *unused, double *out_7342232351232826490); +void car_h_28(double *state, double *unused, double *out_7175418204301328886); +void car_H_28(double *state, double *unused, double *out_9140881450911398875); +void car_h_31(double *state, double *unused, double *out_6465377859274384754); +void car_H_31(double *state, double *unused, double *out_6991985915938634804); 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 3f79da4ecc..44f6117723 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_3211789106073125283) { - out_3211789106073125283[0] = delta_x[0] + nom_x[0]; - out_3211789106073125283[1] = delta_x[1] + nom_x[1]; - out_3211789106073125283[2] = delta_x[2] + nom_x[2]; - out_3211789106073125283[3] = delta_x[3] + nom_x[3]; - out_3211789106073125283[4] = delta_x[4] + nom_x[4]; - out_3211789106073125283[5] = delta_x[5] + nom_x[5]; - out_3211789106073125283[6] = delta_x[6] + nom_x[6]; - out_3211789106073125283[7] = delta_x[7] + nom_x[7]; - out_3211789106073125283[8] = delta_x[8] + nom_x[8]; - out_3211789106073125283[9] = delta_x[9] + nom_x[9]; - out_3211789106073125283[10] = delta_x[10] + nom_x[10]; - out_3211789106073125283[11] = delta_x[11] + nom_x[11]; - out_3211789106073125283[12] = delta_x[12] + nom_x[12]; - out_3211789106073125283[13] = delta_x[13] + nom_x[13]; - out_3211789106073125283[14] = delta_x[14] + nom_x[14]; - out_3211789106073125283[15] = delta_x[15] + nom_x[15]; - out_3211789106073125283[16] = delta_x[16] + nom_x[16]; - out_3211789106073125283[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7437794640769795433) { + out_7437794640769795433[0] = delta_x[0] + nom_x[0]; + out_7437794640769795433[1] = delta_x[1] + nom_x[1]; + out_7437794640769795433[2] = delta_x[2] + nom_x[2]; + out_7437794640769795433[3] = delta_x[3] + nom_x[3]; + out_7437794640769795433[4] = delta_x[4] + nom_x[4]; + out_7437794640769795433[5] = delta_x[5] + nom_x[5]; + out_7437794640769795433[6] = delta_x[6] + nom_x[6]; + out_7437794640769795433[7] = delta_x[7] + nom_x[7]; + out_7437794640769795433[8] = delta_x[8] + nom_x[8]; + out_7437794640769795433[9] = delta_x[9] + nom_x[9]; + out_7437794640769795433[10] = delta_x[10] + nom_x[10]; + out_7437794640769795433[11] = delta_x[11] + nom_x[11]; + out_7437794640769795433[12] = delta_x[12] + nom_x[12]; + out_7437794640769795433[13] = delta_x[13] + nom_x[13]; + out_7437794640769795433[14] = delta_x[14] + nom_x[14]; + out_7437794640769795433[15] = delta_x[15] + nom_x[15]; + out_7437794640769795433[16] = delta_x[16] + nom_x[16]; + out_7437794640769795433[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6226563961506943969) { - out_6226563961506943969[0] = -nom_x[0] + true_x[0]; - out_6226563961506943969[1] = -nom_x[1] + true_x[1]; - out_6226563961506943969[2] = -nom_x[2] + true_x[2]; - out_6226563961506943969[3] = -nom_x[3] + true_x[3]; - out_6226563961506943969[4] = -nom_x[4] + true_x[4]; - out_6226563961506943969[5] = -nom_x[5] + true_x[5]; - out_6226563961506943969[6] = -nom_x[6] + true_x[6]; - out_6226563961506943969[7] = -nom_x[7] + true_x[7]; - out_6226563961506943969[8] = -nom_x[8] + true_x[8]; - out_6226563961506943969[9] = -nom_x[9] + true_x[9]; - out_6226563961506943969[10] = -nom_x[10] + true_x[10]; - out_6226563961506943969[11] = -nom_x[11] + true_x[11]; - out_6226563961506943969[12] = -nom_x[12] + true_x[12]; - out_6226563961506943969[13] = -nom_x[13] + true_x[13]; - out_6226563961506943969[14] = -nom_x[14] + true_x[14]; - out_6226563961506943969[15] = -nom_x[15] + true_x[15]; - out_6226563961506943969[16] = -nom_x[16] + true_x[16]; - out_6226563961506943969[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2037082783356591262) { + out_2037082783356591262[0] = -nom_x[0] + true_x[0]; + out_2037082783356591262[1] = -nom_x[1] + true_x[1]; + out_2037082783356591262[2] = -nom_x[2] + true_x[2]; + out_2037082783356591262[3] = -nom_x[3] + true_x[3]; + out_2037082783356591262[4] = -nom_x[4] + true_x[4]; + out_2037082783356591262[5] = -nom_x[5] + true_x[5]; + out_2037082783356591262[6] = -nom_x[6] + true_x[6]; + out_2037082783356591262[7] = -nom_x[7] + true_x[7]; + out_2037082783356591262[8] = -nom_x[8] + true_x[8]; + out_2037082783356591262[9] = -nom_x[9] + true_x[9]; + out_2037082783356591262[10] = -nom_x[10] + true_x[10]; + out_2037082783356591262[11] = -nom_x[11] + true_x[11]; + out_2037082783356591262[12] = -nom_x[12] + true_x[12]; + out_2037082783356591262[13] = -nom_x[13] + true_x[13]; + out_2037082783356591262[14] = -nom_x[14] + true_x[14]; + out_2037082783356591262[15] = -nom_x[15] + true_x[15]; + out_2037082783356591262[16] = -nom_x[16] + true_x[16]; + out_2037082783356591262[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5161461913541420634) { - out_5161461913541420634[0] = 1.0; - out_5161461913541420634[1] = 0.0; - out_5161461913541420634[2] = 0.0; - out_5161461913541420634[3] = 0.0; - out_5161461913541420634[4] = 0.0; - out_5161461913541420634[5] = 0.0; - out_5161461913541420634[6] = 0.0; - out_5161461913541420634[7] = 0.0; - out_5161461913541420634[8] = 0.0; - out_5161461913541420634[9] = 0.0; - out_5161461913541420634[10] = 0.0; - out_5161461913541420634[11] = 0.0; - out_5161461913541420634[12] = 0.0; - out_5161461913541420634[13] = 0.0; - out_5161461913541420634[14] = 0.0; - out_5161461913541420634[15] = 0.0; - out_5161461913541420634[16] = 0.0; - out_5161461913541420634[17] = 0.0; - out_5161461913541420634[18] = 0.0; - out_5161461913541420634[19] = 1.0; - out_5161461913541420634[20] = 0.0; - out_5161461913541420634[21] = 0.0; - out_5161461913541420634[22] = 0.0; - out_5161461913541420634[23] = 0.0; - out_5161461913541420634[24] = 0.0; - out_5161461913541420634[25] = 0.0; - out_5161461913541420634[26] = 0.0; - out_5161461913541420634[27] = 0.0; - out_5161461913541420634[28] = 0.0; - out_5161461913541420634[29] = 0.0; - out_5161461913541420634[30] = 0.0; - out_5161461913541420634[31] = 0.0; - out_5161461913541420634[32] = 0.0; - out_5161461913541420634[33] = 0.0; - out_5161461913541420634[34] = 0.0; - out_5161461913541420634[35] = 0.0; - out_5161461913541420634[36] = 0.0; - out_5161461913541420634[37] = 0.0; - out_5161461913541420634[38] = 1.0; - out_5161461913541420634[39] = 0.0; - out_5161461913541420634[40] = 0.0; - out_5161461913541420634[41] = 0.0; - out_5161461913541420634[42] = 0.0; - out_5161461913541420634[43] = 0.0; - out_5161461913541420634[44] = 0.0; - out_5161461913541420634[45] = 0.0; - out_5161461913541420634[46] = 0.0; - out_5161461913541420634[47] = 0.0; - out_5161461913541420634[48] = 0.0; - out_5161461913541420634[49] = 0.0; - out_5161461913541420634[50] = 0.0; - out_5161461913541420634[51] = 0.0; - out_5161461913541420634[52] = 0.0; - out_5161461913541420634[53] = 0.0; - out_5161461913541420634[54] = 0.0; - out_5161461913541420634[55] = 0.0; - out_5161461913541420634[56] = 0.0; - out_5161461913541420634[57] = 1.0; - out_5161461913541420634[58] = 0.0; - out_5161461913541420634[59] = 0.0; - out_5161461913541420634[60] = 0.0; - out_5161461913541420634[61] = 0.0; - out_5161461913541420634[62] = 0.0; - out_5161461913541420634[63] = 0.0; - out_5161461913541420634[64] = 0.0; - out_5161461913541420634[65] = 0.0; - out_5161461913541420634[66] = 0.0; - out_5161461913541420634[67] = 0.0; - out_5161461913541420634[68] = 0.0; - out_5161461913541420634[69] = 0.0; - out_5161461913541420634[70] = 0.0; - out_5161461913541420634[71] = 0.0; - out_5161461913541420634[72] = 0.0; - out_5161461913541420634[73] = 0.0; - out_5161461913541420634[74] = 0.0; - out_5161461913541420634[75] = 0.0; - out_5161461913541420634[76] = 1.0; - out_5161461913541420634[77] = 0.0; - out_5161461913541420634[78] = 0.0; - out_5161461913541420634[79] = 0.0; - out_5161461913541420634[80] = 0.0; - out_5161461913541420634[81] = 0.0; - out_5161461913541420634[82] = 0.0; - out_5161461913541420634[83] = 0.0; - out_5161461913541420634[84] = 0.0; - out_5161461913541420634[85] = 0.0; - out_5161461913541420634[86] = 0.0; - out_5161461913541420634[87] = 0.0; - out_5161461913541420634[88] = 0.0; - out_5161461913541420634[89] = 0.0; - out_5161461913541420634[90] = 0.0; - out_5161461913541420634[91] = 0.0; - out_5161461913541420634[92] = 0.0; - out_5161461913541420634[93] = 0.0; - out_5161461913541420634[94] = 0.0; - out_5161461913541420634[95] = 1.0; - out_5161461913541420634[96] = 0.0; - out_5161461913541420634[97] = 0.0; - out_5161461913541420634[98] = 0.0; - out_5161461913541420634[99] = 0.0; - out_5161461913541420634[100] = 0.0; - out_5161461913541420634[101] = 0.0; - out_5161461913541420634[102] = 0.0; - out_5161461913541420634[103] = 0.0; - out_5161461913541420634[104] = 0.0; - out_5161461913541420634[105] = 0.0; - out_5161461913541420634[106] = 0.0; - out_5161461913541420634[107] = 0.0; - out_5161461913541420634[108] = 0.0; - out_5161461913541420634[109] = 0.0; - out_5161461913541420634[110] = 0.0; - out_5161461913541420634[111] = 0.0; - out_5161461913541420634[112] = 0.0; - out_5161461913541420634[113] = 0.0; - out_5161461913541420634[114] = 1.0; - out_5161461913541420634[115] = 0.0; - out_5161461913541420634[116] = 0.0; - out_5161461913541420634[117] = 0.0; - out_5161461913541420634[118] = 0.0; - out_5161461913541420634[119] = 0.0; - out_5161461913541420634[120] = 0.0; - out_5161461913541420634[121] = 0.0; - out_5161461913541420634[122] = 0.0; - out_5161461913541420634[123] = 0.0; - out_5161461913541420634[124] = 0.0; - out_5161461913541420634[125] = 0.0; - out_5161461913541420634[126] = 0.0; - out_5161461913541420634[127] = 0.0; - out_5161461913541420634[128] = 0.0; - out_5161461913541420634[129] = 0.0; - out_5161461913541420634[130] = 0.0; - out_5161461913541420634[131] = 0.0; - out_5161461913541420634[132] = 0.0; - out_5161461913541420634[133] = 1.0; - out_5161461913541420634[134] = 0.0; - out_5161461913541420634[135] = 0.0; - out_5161461913541420634[136] = 0.0; - out_5161461913541420634[137] = 0.0; - out_5161461913541420634[138] = 0.0; - out_5161461913541420634[139] = 0.0; - out_5161461913541420634[140] = 0.0; - out_5161461913541420634[141] = 0.0; - out_5161461913541420634[142] = 0.0; - out_5161461913541420634[143] = 0.0; - out_5161461913541420634[144] = 0.0; - out_5161461913541420634[145] = 0.0; - out_5161461913541420634[146] = 0.0; - out_5161461913541420634[147] = 0.0; - out_5161461913541420634[148] = 0.0; - out_5161461913541420634[149] = 0.0; - out_5161461913541420634[150] = 0.0; - out_5161461913541420634[151] = 0.0; - out_5161461913541420634[152] = 1.0; - out_5161461913541420634[153] = 0.0; - out_5161461913541420634[154] = 0.0; - out_5161461913541420634[155] = 0.0; - out_5161461913541420634[156] = 0.0; - out_5161461913541420634[157] = 0.0; - out_5161461913541420634[158] = 0.0; - out_5161461913541420634[159] = 0.0; - out_5161461913541420634[160] = 0.0; - out_5161461913541420634[161] = 0.0; - out_5161461913541420634[162] = 0.0; - out_5161461913541420634[163] = 0.0; - out_5161461913541420634[164] = 0.0; - out_5161461913541420634[165] = 0.0; - out_5161461913541420634[166] = 0.0; - out_5161461913541420634[167] = 0.0; - out_5161461913541420634[168] = 0.0; - out_5161461913541420634[169] = 0.0; - out_5161461913541420634[170] = 0.0; - out_5161461913541420634[171] = 1.0; - out_5161461913541420634[172] = 0.0; - out_5161461913541420634[173] = 0.0; - out_5161461913541420634[174] = 0.0; - out_5161461913541420634[175] = 0.0; - out_5161461913541420634[176] = 0.0; - out_5161461913541420634[177] = 0.0; - out_5161461913541420634[178] = 0.0; - out_5161461913541420634[179] = 0.0; - out_5161461913541420634[180] = 0.0; - out_5161461913541420634[181] = 0.0; - out_5161461913541420634[182] = 0.0; - out_5161461913541420634[183] = 0.0; - out_5161461913541420634[184] = 0.0; - out_5161461913541420634[185] = 0.0; - out_5161461913541420634[186] = 0.0; - out_5161461913541420634[187] = 0.0; - out_5161461913541420634[188] = 0.0; - out_5161461913541420634[189] = 0.0; - out_5161461913541420634[190] = 1.0; - out_5161461913541420634[191] = 0.0; - out_5161461913541420634[192] = 0.0; - out_5161461913541420634[193] = 0.0; - out_5161461913541420634[194] = 0.0; - out_5161461913541420634[195] = 0.0; - out_5161461913541420634[196] = 0.0; - out_5161461913541420634[197] = 0.0; - out_5161461913541420634[198] = 0.0; - out_5161461913541420634[199] = 0.0; - out_5161461913541420634[200] = 0.0; - out_5161461913541420634[201] = 0.0; - out_5161461913541420634[202] = 0.0; - out_5161461913541420634[203] = 0.0; - out_5161461913541420634[204] = 0.0; - out_5161461913541420634[205] = 0.0; - out_5161461913541420634[206] = 0.0; - out_5161461913541420634[207] = 0.0; - out_5161461913541420634[208] = 0.0; - out_5161461913541420634[209] = 1.0; - out_5161461913541420634[210] = 0.0; - out_5161461913541420634[211] = 0.0; - out_5161461913541420634[212] = 0.0; - out_5161461913541420634[213] = 0.0; - out_5161461913541420634[214] = 0.0; - out_5161461913541420634[215] = 0.0; - out_5161461913541420634[216] = 0.0; - out_5161461913541420634[217] = 0.0; - out_5161461913541420634[218] = 0.0; - out_5161461913541420634[219] = 0.0; - out_5161461913541420634[220] = 0.0; - out_5161461913541420634[221] = 0.0; - out_5161461913541420634[222] = 0.0; - out_5161461913541420634[223] = 0.0; - out_5161461913541420634[224] = 0.0; - out_5161461913541420634[225] = 0.0; - out_5161461913541420634[226] = 0.0; - out_5161461913541420634[227] = 0.0; - out_5161461913541420634[228] = 1.0; - out_5161461913541420634[229] = 0.0; - out_5161461913541420634[230] = 0.0; - out_5161461913541420634[231] = 0.0; - out_5161461913541420634[232] = 0.0; - out_5161461913541420634[233] = 0.0; - out_5161461913541420634[234] = 0.0; - out_5161461913541420634[235] = 0.0; - out_5161461913541420634[236] = 0.0; - out_5161461913541420634[237] = 0.0; - out_5161461913541420634[238] = 0.0; - out_5161461913541420634[239] = 0.0; - out_5161461913541420634[240] = 0.0; - out_5161461913541420634[241] = 0.0; - out_5161461913541420634[242] = 0.0; - out_5161461913541420634[243] = 0.0; - out_5161461913541420634[244] = 0.0; - out_5161461913541420634[245] = 0.0; - out_5161461913541420634[246] = 0.0; - out_5161461913541420634[247] = 1.0; - out_5161461913541420634[248] = 0.0; - out_5161461913541420634[249] = 0.0; - out_5161461913541420634[250] = 0.0; - out_5161461913541420634[251] = 0.0; - out_5161461913541420634[252] = 0.0; - out_5161461913541420634[253] = 0.0; - out_5161461913541420634[254] = 0.0; - out_5161461913541420634[255] = 0.0; - out_5161461913541420634[256] = 0.0; - out_5161461913541420634[257] = 0.0; - out_5161461913541420634[258] = 0.0; - out_5161461913541420634[259] = 0.0; - out_5161461913541420634[260] = 0.0; - out_5161461913541420634[261] = 0.0; - out_5161461913541420634[262] = 0.0; - out_5161461913541420634[263] = 0.0; - out_5161461913541420634[264] = 0.0; - out_5161461913541420634[265] = 0.0; - out_5161461913541420634[266] = 1.0; - out_5161461913541420634[267] = 0.0; - out_5161461913541420634[268] = 0.0; - out_5161461913541420634[269] = 0.0; - out_5161461913541420634[270] = 0.0; - out_5161461913541420634[271] = 0.0; - out_5161461913541420634[272] = 0.0; - out_5161461913541420634[273] = 0.0; - out_5161461913541420634[274] = 0.0; - out_5161461913541420634[275] = 0.0; - out_5161461913541420634[276] = 0.0; - out_5161461913541420634[277] = 0.0; - out_5161461913541420634[278] = 0.0; - out_5161461913541420634[279] = 0.0; - out_5161461913541420634[280] = 0.0; - out_5161461913541420634[281] = 0.0; - out_5161461913541420634[282] = 0.0; - out_5161461913541420634[283] = 0.0; - out_5161461913541420634[284] = 0.0; - out_5161461913541420634[285] = 1.0; - out_5161461913541420634[286] = 0.0; - out_5161461913541420634[287] = 0.0; - out_5161461913541420634[288] = 0.0; - out_5161461913541420634[289] = 0.0; - out_5161461913541420634[290] = 0.0; - out_5161461913541420634[291] = 0.0; - out_5161461913541420634[292] = 0.0; - out_5161461913541420634[293] = 0.0; - out_5161461913541420634[294] = 0.0; - out_5161461913541420634[295] = 0.0; - out_5161461913541420634[296] = 0.0; - out_5161461913541420634[297] = 0.0; - out_5161461913541420634[298] = 0.0; - out_5161461913541420634[299] = 0.0; - out_5161461913541420634[300] = 0.0; - out_5161461913541420634[301] = 0.0; - out_5161461913541420634[302] = 0.0; - out_5161461913541420634[303] = 0.0; - out_5161461913541420634[304] = 1.0; - out_5161461913541420634[305] = 0.0; - out_5161461913541420634[306] = 0.0; - out_5161461913541420634[307] = 0.0; - out_5161461913541420634[308] = 0.0; - out_5161461913541420634[309] = 0.0; - out_5161461913541420634[310] = 0.0; - out_5161461913541420634[311] = 0.0; - out_5161461913541420634[312] = 0.0; - out_5161461913541420634[313] = 0.0; - out_5161461913541420634[314] = 0.0; - out_5161461913541420634[315] = 0.0; - out_5161461913541420634[316] = 0.0; - out_5161461913541420634[317] = 0.0; - out_5161461913541420634[318] = 0.0; - out_5161461913541420634[319] = 0.0; - out_5161461913541420634[320] = 0.0; - out_5161461913541420634[321] = 0.0; - out_5161461913541420634[322] = 0.0; - out_5161461913541420634[323] = 1.0; +void H_mod_fun(double *state, double *out_6997830721327979188) { + out_6997830721327979188[0] = 1.0; + out_6997830721327979188[1] = 0.0; + out_6997830721327979188[2] = 0.0; + out_6997830721327979188[3] = 0.0; + out_6997830721327979188[4] = 0.0; + out_6997830721327979188[5] = 0.0; + out_6997830721327979188[6] = 0.0; + out_6997830721327979188[7] = 0.0; + out_6997830721327979188[8] = 0.0; + out_6997830721327979188[9] = 0.0; + out_6997830721327979188[10] = 0.0; + out_6997830721327979188[11] = 0.0; + out_6997830721327979188[12] = 0.0; + out_6997830721327979188[13] = 0.0; + out_6997830721327979188[14] = 0.0; + out_6997830721327979188[15] = 0.0; + out_6997830721327979188[16] = 0.0; + out_6997830721327979188[17] = 0.0; + out_6997830721327979188[18] = 0.0; + out_6997830721327979188[19] = 1.0; + out_6997830721327979188[20] = 0.0; + out_6997830721327979188[21] = 0.0; + out_6997830721327979188[22] = 0.0; + out_6997830721327979188[23] = 0.0; + out_6997830721327979188[24] = 0.0; + out_6997830721327979188[25] = 0.0; + out_6997830721327979188[26] = 0.0; + out_6997830721327979188[27] = 0.0; + out_6997830721327979188[28] = 0.0; + out_6997830721327979188[29] = 0.0; + out_6997830721327979188[30] = 0.0; + out_6997830721327979188[31] = 0.0; + out_6997830721327979188[32] = 0.0; + out_6997830721327979188[33] = 0.0; + out_6997830721327979188[34] = 0.0; + out_6997830721327979188[35] = 0.0; + out_6997830721327979188[36] = 0.0; + out_6997830721327979188[37] = 0.0; + out_6997830721327979188[38] = 1.0; + out_6997830721327979188[39] = 0.0; + out_6997830721327979188[40] = 0.0; + out_6997830721327979188[41] = 0.0; + out_6997830721327979188[42] = 0.0; + out_6997830721327979188[43] = 0.0; + out_6997830721327979188[44] = 0.0; + out_6997830721327979188[45] = 0.0; + out_6997830721327979188[46] = 0.0; + out_6997830721327979188[47] = 0.0; + out_6997830721327979188[48] = 0.0; + out_6997830721327979188[49] = 0.0; + out_6997830721327979188[50] = 0.0; + out_6997830721327979188[51] = 0.0; + out_6997830721327979188[52] = 0.0; + out_6997830721327979188[53] = 0.0; + out_6997830721327979188[54] = 0.0; + out_6997830721327979188[55] = 0.0; + out_6997830721327979188[56] = 0.0; + out_6997830721327979188[57] = 1.0; + out_6997830721327979188[58] = 0.0; + out_6997830721327979188[59] = 0.0; + out_6997830721327979188[60] = 0.0; + out_6997830721327979188[61] = 0.0; + out_6997830721327979188[62] = 0.0; + out_6997830721327979188[63] = 0.0; + out_6997830721327979188[64] = 0.0; + out_6997830721327979188[65] = 0.0; + out_6997830721327979188[66] = 0.0; + out_6997830721327979188[67] = 0.0; + out_6997830721327979188[68] = 0.0; + out_6997830721327979188[69] = 0.0; + out_6997830721327979188[70] = 0.0; + out_6997830721327979188[71] = 0.0; + out_6997830721327979188[72] = 0.0; + out_6997830721327979188[73] = 0.0; + out_6997830721327979188[74] = 0.0; + out_6997830721327979188[75] = 0.0; + out_6997830721327979188[76] = 1.0; + out_6997830721327979188[77] = 0.0; + out_6997830721327979188[78] = 0.0; + out_6997830721327979188[79] = 0.0; + out_6997830721327979188[80] = 0.0; + out_6997830721327979188[81] = 0.0; + out_6997830721327979188[82] = 0.0; + out_6997830721327979188[83] = 0.0; + out_6997830721327979188[84] = 0.0; + out_6997830721327979188[85] = 0.0; + out_6997830721327979188[86] = 0.0; + out_6997830721327979188[87] = 0.0; + out_6997830721327979188[88] = 0.0; + out_6997830721327979188[89] = 0.0; + out_6997830721327979188[90] = 0.0; + out_6997830721327979188[91] = 0.0; + out_6997830721327979188[92] = 0.0; + out_6997830721327979188[93] = 0.0; + out_6997830721327979188[94] = 0.0; + out_6997830721327979188[95] = 1.0; + out_6997830721327979188[96] = 0.0; + out_6997830721327979188[97] = 0.0; + out_6997830721327979188[98] = 0.0; + out_6997830721327979188[99] = 0.0; + out_6997830721327979188[100] = 0.0; + out_6997830721327979188[101] = 0.0; + out_6997830721327979188[102] = 0.0; + out_6997830721327979188[103] = 0.0; + out_6997830721327979188[104] = 0.0; + out_6997830721327979188[105] = 0.0; + out_6997830721327979188[106] = 0.0; + out_6997830721327979188[107] = 0.0; + out_6997830721327979188[108] = 0.0; + out_6997830721327979188[109] = 0.0; + out_6997830721327979188[110] = 0.0; + out_6997830721327979188[111] = 0.0; + out_6997830721327979188[112] = 0.0; + out_6997830721327979188[113] = 0.0; + out_6997830721327979188[114] = 1.0; + out_6997830721327979188[115] = 0.0; + out_6997830721327979188[116] = 0.0; + out_6997830721327979188[117] = 0.0; + out_6997830721327979188[118] = 0.0; + out_6997830721327979188[119] = 0.0; + out_6997830721327979188[120] = 0.0; + out_6997830721327979188[121] = 0.0; + out_6997830721327979188[122] = 0.0; + out_6997830721327979188[123] = 0.0; + out_6997830721327979188[124] = 0.0; + out_6997830721327979188[125] = 0.0; + out_6997830721327979188[126] = 0.0; + out_6997830721327979188[127] = 0.0; + out_6997830721327979188[128] = 0.0; + out_6997830721327979188[129] = 0.0; + out_6997830721327979188[130] = 0.0; + out_6997830721327979188[131] = 0.0; + out_6997830721327979188[132] = 0.0; + out_6997830721327979188[133] = 1.0; + out_6997830721327979188[134] = 0.0; + out_6997830721327979188[135] = 0.0; + out_6997830721327979188[136] = 0.0; + out_6997830721327979188[137] = 0.0; + out_6997830721327979188[138] = 0.0; + out_6997830721327979188[139] = 0.0; + out_6997830721327979188[140] = 0.0; + out_6997830721327979188[141] = 0.0; + out_6997830721327979188[142] = 0.0; + out_6997830721327979188[143] = 0.0; + out_6997830721327979188[144] = 0.0; + out_6997830721327979188[145] = 0.0; + out_6997830721327979188[146] = 0.0; + out_6997830721327979188[147] = 0.0; + out_6997830721327979188[148] = 0.0; + out_6997830721327979188[149] = 0.0; + out_6997830721327979188[150] = 0.0; + out_6997830721327979188[151] = 0.0; + out_6997830721327979188[152] = 1.0; + out_6997830721327979188[153] = 0.0; + out_6997830721327979188[154] = 0.0; + out_6997830721327979188[155] = 0.0; + out_6997830721327979188[156] = 0.0; + out_6997830721327979188[157] = 0.0; + out_6997830721327979188[158] = 0.0; + out_6997830721327979188[159] = 0.0; + out_6997830721327979188[160] = 0.0; + out_6997830721327979188[161] = 0.0; + out_6997830721327979188[162] = 0.0; + out_6997830721327979188[163] = 0.0; + out_6997830721327979188[164] = 0.0; + out_6997830721327979188[165] = 0.0; + out_6997830721327979188[166] = 0.0; + out_6997830721327979188[167] = 0.0; + out_6997830721327979188[168] = 0.0; + out_6997830721327979188[169] = 0.0; + out_6997830721327979188[170] = 0.0; + out_6997830721327979188[171] = 1.0; + out_6997830721327979188[172] = 0.0; + out_6997830721327979188[173] = 0.0; + out_6997830721327979188[174] = 0.0; + out_6997830721327979188[175] = 0.0; + out_6997830721327979188[176] = 0.0; + out_6997830721327979188[177] = 0.0; + out_6997830721327979188[178] = 0.0; + out_6997830721327979188[179] = 0.0; + out_6997830721327979188[180] = 0.0; + out_6997830721327979188[181] = 0.0; + out_6997830721327979188[182] = 0.0; + out_6997830721327979188[183] = 0.0; + out_6997830721327979188[184] = 0.0; + out_6997830721327979188[185] = 0.0; + out_6997830721327979188[186] = 0.0; + out_6997830721327979188[187] = 0.0; + out_6997830721327979188[188] = 0.0; + out_6997830721327979188[189] = 0.0; + out_6997830721327979188[190] = 1.0; + out_6997830721327979188[191] = 0.0; + out_6997830721327979188[192] = 0.0; + out_6997830721327979188[193] = 0.0; + out_6997830721327979188[194] = 0.0; + out_6997830721327979188[195] = 0.0; + out_6997830721327979188[196] = 0.0; + out_6997830721327979188[197] = 0.0; + out_6997830721327979188[198] = 0.0; + out_6997830721327979188[199] = 0.0; + out_6997830721327979188[200] = 0.0; + out_6997830721327979188[201] = 0.0; + out_6997830721327979188[202] = 0.0; + out_6997830721327979188[203] = 0.0; + out_6997830721327979188[204] = 0.0; + out_6997830721327979188[205] = 0.0; + out_6997830721327979188[206] = 0.0; + out_6997830721327979188[207] = 0.0; + out_6997830721327979188[208] = 0.0; + out_6997830721327979188[209] = 1.0; + out_6997830721327979188[210] = 0.0; + out_6997830721327979188[211] = 0.0; + out_6997830721327979188[212] = 0.0; + out_6997830721327979188[213] = 0.0; + out_6997830721327979188[214] = 0.0; + out_6997830721327979188[215] = 0.0; + out_6997830721327979188[216] = 0.0; + out_6997830721327979188[217] = 0.0; + out_6997830721327979188[218] = 0.0; + out_6997830721327979188[219] = 0.0; + out_6997830721327979188[220] = 0.0; + out_6997830721327979188[221] = 0.0; + out_6997830721327979188[222] = 0.0; + out_6997830721327979188[223] = 0.0; + out_6997830721327979188[224] = 0.0; + out_6997830721327979188[225] = 0.0; + out_6997830721327979188[226] = 0.0; + out_6997830721327979188[227] = 0.0; + out_6997830721327979188[228] = 1.0; + out_6997830721327979188[229] = 0.0; + out_6997830721327979188[230] = 0.0; + out_6997830721327979188[231] = 0.0; + out_6997830721327979188[232] = 0.0; + out_6997830721327979188[233] = 0.0; + out_6997830721327979188[234] = 0.0; + out_6997830721327979188[235] = 0.0; + out_6997830721327979188[236] = 0.0; + out_6997830721327979188[237] = 0.0; + out_6997830721327979188[238] = 0.0; + out_6997830721327979188[239] = 0.0; + out_6997830721327979188[240] = 0.0; + out_6997830721327979188[241] = 0.0; + out_6997830721327979188[242] = 0.0; + out_6997830721327979188[243] = 0.0; + out_6997830721327979188[244] = 0.0; + out_6997830721327979188[245] = 0.0; + out_6997830721327979188[246] = 0.0; + out_6997830721327979188[247] = 1.0; + out_6997830721327979188[248] = 0.0; + out_6997830721327979188[249] = 0.0; + out_6997830721327979188[250] = 0.0; + out_6997830721327979188[251] = 0.0; + out_6997830721327979188[252] = 0.0; + out_6997830721327979188[253] = 0.0; + out_6997830721327979188[254] = 0.0; + out_6997830721327979188[255] = 0.0; + out_6997830721327979188[256] = 0.0; + out_6997830721327979188[257] = 0.0; + out_6997830721327979188[258] = 0.0; + out_6997830721327979188[259] = 0.0; + out_6997830721327979188[260] = 0.0; + out_6997830721327979188[261] = 0.0; + out_6997830721327979188[262] = 0.0; + out_6997830721327979188[263] = 0.0; + out_6997830721327979188[264] = 0.0; + out_6997830721327979188[265] = 0.0; + out_6997830721327979188[266] = 1.0; + out_6997830721327979188[267] = 0.0; + out_6997830721327979188[268] = 0.0; + out_6997830721327979188[269] = 0.0; + out_6997830721327979188[270] = 0.0; + out_6997830721327979188[271] = 0.0; + out_6997830721327979188[272] = 0.0; + out_6997830721327979188[273] = 0.0; + out_6997830721327979188[274] = 0.0; + out_6997830721327979188[275] = 0.0; + out_6997830721327979188[276] = 0.0; + out_6997830721327979188[277] = 0.0; + out_6997830721327979188[278] = 0.0; + out_6997830721327979188[279] = 0.0; + out_6997830721327979188[280] = 0.0; + out_6997830721327979188[281] = 0.0; + out_6997830721327979188[282] = 0.0; + out_6997830721327979188[283] = 0.0; + out_6997830721327979188[284] = 0.0; + out_6997830721327979188[285] = 1.0; + out_6997830721327979188[286] = 0.0; + out_6997830721327979188[287] = 0.0; + out_6997830721327979188[288] = 0.0; + out_6997830721327979188[289] = 0.0; + out_6997830721327979188[290] = 0.0; + out_6997830721327979188[291] = 0.0; + out_6997830721327979188[292] = 0.0; + out_6997830721327979188[293] = 0.0; + out_6997830721327979188[294] = 0.0; + out_6997830721327979188[295] = 0.0; + out_6997830721327979188[296] = 0.0; + out_6997830721327979188[297] = 0.0; + out_6997830721327979188[298] = 0.0; + out_6997830721327979188[299] = 0.0; + out_6997830721327979188[300] = 0.0; + out_6997830721327979188[301] = 0.0; + out_6997830721327979188[302] = 0.0; + out_6997830721327979188[303] = 0.0; + out_6997830721327979188[304] = 1.0; + out_6997830721327979188[305] = 0.0; + out_6997830721327979188[306] = 0.0; + out_6997830721327979188[307] = 0.0; + out_6997830721327979188[308] = 0.0; + out_6997830721327979188[309] = 0.0; + out_6997830721327979188[310] = 0.0; + out_6997830721327979188[311] = 0.0; + out_6997830721327979188[312] = 0.0; + out_6997830721327979188[313] = 0.0; + out_6997830721327979188[314] = 0.0; + out_6997830721327979188[315] = 0.0; + out_6997830721327979188[316] = 0.0; + out_6997830721327979188[317] = 0.0; + out_6997830721327979188[318] = 0.0; + out_6997830721327979188[319] = 0.0; + out_6997830721327979188[320] = 0.0; + out_6997830721327979188[321] = 0.0; + out_6997830721327979188[322] = 0.0; + out_6997830721327979188[323] = 1.0; } -void f_fun(double *state, double dt, double *out_3057528827902898560) { - out_3057528827902898560[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_3057528827902898560[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_3057528827902898560[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_3057528827902898560[3] = dt*state[12] + state[3]; - out_3057528827902898560[4] = dt*state[13] + state[4]; - out_3057528827902898560[5] = dt*state[14] + state[5]; - out_3057528827902898560[6] = state[6]; - out_3057528827902898560[7] = state[7]; - out_3057528827902898560[8] = state[8]; - out_3057528827902898560[9] = state[9]; - out_3057528827902898560[10] = state[10]; - out_3057528827902898560[11] = state[11]; - out_3057528827902898560[12] = state[12]; - out_3057528827902898560[13] = state[13]; - out_3057528827902898560[14] = state[14]; - out_3057528827902898560[15] = state[15]; - out_3057528827902898560[16] = state[16]; - out_3057528827902898560[17] = state[17]; +void f_fun(double *state, double dt, double *out_2524658316881090159) { + out_2524658316881090159[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_2524658316881090159[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_2524658316881090159[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_2524658316881090159[3] = dt*state[12] + state[3]; + out_2524658316881090159[4] = dt*state[13] + state[4]; + out_2524658316881090159[5] = dt*state[14] + state[5]; + out_2524658316881090159[6] = state[6]; + out_2524658316881090159[7] = state[7]; + out_2524658316881090159[8] = state[8]; + out_2524658316881090159[9] = state[9]; + out_2524658316881090159[10] = state[10]; + out_2524658316881090159[11] = state[11]; + out_2524658316881090159[12] = state[12]; + out_2524658316881090159[13] = state[13]; + out_2524658316881090159[14] = state[14]; + out_2524658316881090159[15] = state[15]; + out_2524658316881090159[16] = state[16]; + out_2524658316881090159[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2410705301866754520) { - out_2410705301866754520[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_2410705301866754520[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_2410705301866754520[2] = 0; - out_2410705301866754520[3] = 0; - out_2410705301866754520[4] = 0; - out_2410705301866754520[5] = 0; - out_2410705301866754520[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_2410705301866754520[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_2410705301866754520[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_2410705301866754520[9] = 0; - out_2410705301866754520[10] = 0; - out_2410705301866754520[11] = 0; - out_2410705301866754520[12] = 0; - out_2410705301866754520[13] = 0; - out_2410705301866754520[14] = 0; - out_2410705301866754520[15] = 0; - out_2410705301866754520[16] = 0; - out_2410705301866754520[17] = 0; - out_2410705301866754520[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_2410705301866754520[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_2410705301866754520[20] = 0; - out_2410705301866754520[21] = 0; - out_2410705301866754520[22] = 0; - out_2410705301866754520[23] = 0; - out_2410705301866754520[24] = 0; - out_2410705301866754520[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_2410705301866754520[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_2410705301866754520[27] = 0; - out_2410705301866754520[28] = 0; - out_2410705301866754520[29] = 0; - out_2410705301866754520[30] = 0; - out_2410705301866754520[31] = 0; - out_2410705301866754520[32] = 0; - out_2410705301866754520[33] = 0; - out_2410705301866754520[34] = 0; - out_2410705301866754520[35] = 0; - out_2410705301866754520[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_2410705301866754520[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_2410705301866754520[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_2410705301866754520[39] = 0; - out_2410705301866754520[40] = 0; - out_2410705301866754520[41] = 0; - out_2410705301866754520[42] = 0; - out_2410705301866754520[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_2410705301866754520[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_2410705301866754520[45] = 0; - out_2410705301866754520[46] = 0; - out_2410705301866754520[47] = 0; - out_2410705301866754520[48] = 0; - out_2410705301866754520[49] = 0; - out_2410705301866754520[50] = 0; - out_2410705301866754520[51] = 0; - out_2410705301866754520[52] = 0; - out_2410705301866754520[53] = 0; - out_2410705301866754520[54] = 0; - out_2410705301866754520[55] = 0; - out_2410705301866754520[56] = 0; - out_2410705301866754520[57] = 1; - out_2410705301866754520[58] = 0; - out_2410705301866754520[59] = 0; - out_2410705301866754520[60] = 0; - out_2410705301866754520[61] = 0; - out_2410705301866754520[62] = 0; - out_2410705301866754520[63] = 0; - out_2410705301866754520[64] = 0; - out_2410705301866754520[65] = 0; - out_2410705301866754520[66] = dt; - out_2410705301866754520[67] = 0; - out_2410705301866754520[68] = 0; - out_2410705301866754520[69] = 0; - out_2410705301866754520[70] = 0; - out_2410705301866754520[71] = 0; - out_2410705301866754520[72] = 0; - out_2410705301866754520[73] = 0; - out_2410705301866754520[74] = 0; - out_2410705301866754520[75] = 0; - out_2410705301866754520[76] = 1; - out_2410705301866754520[77] = 0; - out_2410705301866754520[78] = 0; - out_2410705301866754520[79] = 0; - out_2410705301866754520[80] = 0; - out_2410705301866754520[81] = 0; - out_2410705301866754520[82] = 0; - out_2410705301866754520[83] = 0; - out_2410705301866754520[84] = 0; - out_2410705301866754520[85] = dt; - out_2410705301866754520[86] = 0; - out_2410705301866754520[87] = 0; - out_2410705301866754520[88] = 0; - out_2410705301866754520[89] = 0; - out_2410705301866754520[90] = 0; - out_2410705301866754520[91] = 0; - out_2410705301866754520[92] = 0; - out_2410705301866754520[93] = 0; - out_2410705301866754520[94] = 0; - out_2410705301866754520[95] = 1; - out_2410705301866754520[96] = 0; - out_2410705301866754520[97] = 0; - out_2410705301866754520[98] = 0; - out_2410705301866754520[99] = 0; - out_2410705301866754520[100] = 0; - out_2410705301866754520[101] = 0; - out_2410705301866754520[102] = 0; - out_2410705301866754520[103] = 0; - out_2410705301866754520[104] = dt; - out_2410705301866754520[105] = 0; - out_2410705301866754520[106] = 0; - out_2410705301866754520[107] = 0; - out_2410705301866754520[108] = 0; - out_2410705301866754520[109] = 0; - out_2410705301866754520[110] = 0; - out_2410705301866754520[111] = 0; - out_2410705301866754520[112] = 0; - out_2410705301866754520[113] = 0; - out_2410705301866754520[114] = 1; - out_2410705301866754520[115] = 0; - out_2410705301866754520[116] = 0; - out_2410705301866754520[117] = 0; - out_2410705301866754520[118] = 0; - out_2410705301866754520[119] = 0; - out_2410705301866754520[120] = 0; - out_2410705301866754520[121] = 0; - out_2410705301866754520[122] = 0; - out_2410705301866754520[123] = 0; - out_2410705301866754520[124] = 0; - out_2410705301866754520[125] = 0; - out_2410705301866754520[126] = 0; - out_2410705301866754520[127] = 0; - out_2410705301866754520[128] = 0; - out_2410705301866754520[129] = 0; - out_2410705301866754520[130] = 0; - out_2410705301866754520[131] = 0; - out_2410705301866754520[132] = 0; - out_2410705301866754520[133] = 1; - out_2410705301866754520[134] = 0; - out_2410705301866754520[135] = 0; - out_2410705301866754520[136] = 0; - out_2410705301866754520[137] = 0; - out_2410705301866754520[138] = 0; - out_2410705301866754520[139] = 0; - out_2410705301866754520[140] = 0; - out_2410705301866754520[141] = 0; - out_2410705301866754520[142] = 0; - out_2410705301866754520[143] = 0; - out_2410705301866754520[144] = 0; - out_2410705301866754520[145] = 0; - out_2410705301866754520[146] = 0; - out_2410705301866754520[147] = 0; - out_2410705301866754520[148] = 0; - out_2410705301866754520[149] = 0; - out_2410705301866754520[150] = 0; - out_2410705301866754520[151] = 0; - out_2410705301866754520[152] = 1; - out_2410705301866754520[153] = 0; - out_2410705301866754520[154] = 0; - out_2410705301866754520[155] = 0; - out_2410705301866754520[156] = 0; - out_2410705301866754520[157] = 0; - out_2410705301866754520[158] = 0; - out_2410705301866754520[159] = 0; - out_2410705301866754520[160] = 0; - out_2410705301866754520[161] = 0; - out_2410705301866754520[162] = 0; - out_2410705301866754520[163] = 0; - out_2410705301866754520[164] = 0; - out_2410705301866754520[165] = 0; - out_2410705301866754520[166] = 0; - out_2410705301866754520[167] = 0; - out_2410705301866754520[168] = 0; - out_2410705301866754520[169] = 0; - out_2410705301866754520[170] = 0; - out_2410705301866754520[171] = 1; - out_2410705301866754520[172] = 0; - out_2410705301866754520[173] = 0; - out_2410705301866754520[174] = 0; - out_2410705301866754520[175] = 0; - out_2410705301866754520[176] = 0; - out_2410705301866754520[177] = 0; - out_2410705301866754520[178] = 0; - out_2410705301866754520[179] = 0; - out_2410705301866754520[180] = 0; - out_2410705301866754520[181] = 0; - out_2410705301866754520[182] = 0; - out_2410705301866754520[183] = 0; - out_2410705301866754520[184] = 0; - out_2410705301866754520[185] = 0; - out_2410705301866754520[186] = 0; - out_2410705301866754520[187] = 0; - out_2410705301866754520[188] = 0; - out_2410705301866754520[189] = 0; - out_2410705301866754520[190] = 1; - out_2410705301866754520[191] = 0; - out_2410705301866754520[192] = 0; - out_2410705301866754520[193] = 0; - out_2410705301866754520[194] = 0; - out_2410705301866754520[195] = 0; - out_2410705301866754520[196] = 0; - out_2410705301866754520[197] = 0; - out_2410705301866754520[198] = 0; - out_2410705301866754520[199] = 0; - out_2410705301866754520[200] = 0; - out_2410705301866754520[201] = 0; - out_2410705301866754520[202] = 0; - out_2410705301866754520[203] = 0; - out_2410705301866754520[204] = 0; - out_2410705301866754520[205] = 0; - out_2410705301866754520[206] = 0; - out_2410705301866754520[207] = 0; - out_2410705301866754520[208] = 0; - out_2410705301866754520[209] = 1; - out_2410705301866754520[210] = 0; - out_2410705301866754520[211] = 0; - out_2410705301866754520[212] = 0; - out_2410705301866754520[213] = 0; - out_2410705301866754520[214] = 0; - out_2410705301866754520[215] = 0; - out_2410705301866754520[216] = 0; - out_2410705301866754520[217] = 0; - out_2410705301866754520[218] = 0; - out_2410705301866754520[219] = 0; - out_2410705301866754520[220] = 0; - out_2410705301866754520[221] = 0; - out_2410705301866754520[222] = 0; - out_2410705301866754520[223] = 0; - out_2410705301866754520[224] = 0; - out_2410705301866754520[225] = 0; - out_2410705301866754520[226] = 0; - out_2410705301866754520[227] = 0; - out_2410705301866754520[228] = 1; - out_2410705301866754520[229] = 0; - out_2410705301866754520[230] = 0; - out_2410705301866754520[231] = 0; - out_2410705301866754520[232] = 0; - out_2410705301866754520[233] = 0; - out_2410705301866754520[234] = 0; - out_2410705301866754520[235] = 0; - out_2410705301866754520[236] = 0; - out_2410705301866754520[237] = 0; - out_2410705301866754520[238] = 0; - out_2410705301866754520[239] = 0; - out_2410705301866754520[240] = 0; - out_2410705301866754520[241] = 0; - out_2410705301866754520[242] = 0; - out_2410705301866754520[243] = 0; - out_2410705301866754520[244] = 0; - out_2410705301866754520[245] = 0; - out_2410705301866754520[246] = 0; - out_2410705301866754520[247] = 1; - out_2410705301866754520[248] = 0; - out_2410705301866754520[249] = 0; - out_2410705301866754520[250] = 0; - out_2410705301866754520[251] = 0; - out_2410705301866754520[252] = 0; - out_2410705301866754520[253] = 0; - out_2410705301866754520[254] = 0; - out_2410705301866754520[255] = 0; - out_2410705301866754520[256] = 0; - out_2410705301866754520[257] = 0; - out_2410705301866754520[258] = 0; - out_2410705301866754520[259] = 0; - out_2410705301866754520[260] = 0; - out_2410705301866754520[261] = 0; - out_2410705301866754520[262] = 0; - out_2410705301866754520[263] = 0; - out_2410705301866754520[264] = 0; - out_2410705301866754520[265] = 0; - out_2410705301866754520[266] = 1; - out_2410705301866754520[267] = 0; - out_2410705301866754520[268] = 0; - out_2410705301866754520[269] = 0; - out_2410705301866754520[270] = 0; - out_2410705301866754520[271] = 0; - out_2410705301866754520[272] = 0; - out_2410705301866754520[273] = 0; - out_2410705301866754520[274] = 0; - out_2410705301866754520[275] = 0; - out_2410705301866754520[276] = 0; - out_2410705301866754520[277] = 0; - out_2410705301866754520[278] = 0; - out_2410705301866754520[279] = 0; - out_2410705301866754520[280] = 0; - out_2410705301866754520[281] = 0; - out_2410705301866754520[282] = 0; - out_2410705301866754520[283] = 0; - out_2410705301866754520[284] = 0; - out_2410705301866754520[285] = 1; - out_2410705301866754520[286] = 0; - out_2410705301866754520[287] = 0; - out_2410705301866754520[288] = 0; - out_2410705301866754520[289] = 0; - out_2410705301866754520[290] = 0; - out_2410705301866754520[291] = 0; - out_2410705301866754520[292] = 0; - out_2410705301866754520[293] = 0; - out_2410705301866754520[294] = 0; - out_2410705301866754520[295] = 0; - out_2410705301866754520[296] = 0; - out_2410705301866754520[297] = 0; - out_2410705301866754520[298] = 0; - out_2410705301866754520[299] = 0; - out_2410705301866754520[300] = 0; - out_2410705301866754520[301] = 0; - out_2410705301866754520[302] = 0; - out_2410705301866754520[303] = 0; - out_2410705301866754520[304] = 1; - out_2410705301866754520[305] = 0; - out_2410705301866754520[306] = 0; - out_2410705301866754520[307] = 0; - out_2410705301866754520[308] = 0; - out_2410705301866754520[309] = 0; - out_2410705301866754520[310] = 0; - out_2410705301866754520[311] = 0; - out_2410705301866754520[312] = 0; - out_2410705301866754520[313] = 0; - out_2410705301866754520[314] = 0; - out_2410705301866754520[315] = 0; - out_2410705301866754520[316] = 0; - out_2410705301866754520[317] = 0; - out_2410705301866754520[318] = 0; - out_2410705301866754520[319] = 0; - out_2410705301866754520[320] = 0; - out_2410705301866754520[321] = 0; - out_2410705301866754520[322] = 0; - out_2410705301866754520[323] = 1; +void F_fun(double *state, double dt, double *out_1493803281019954497) { + out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[2] = 0; + out_1493803281019954497[3] = 0; + out_1493803281019954497[4] = 0; + out_1493803281019954497[5] = 0; + out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[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_1493803281019954497[9] = 0; + out_1493803281019954497[10] = 0; + out_1493803281019954497[11] = 0; + out_1493803281019954497[12] = 0; + out_1493803281019954497[13] = 0; + out_1493803281019954497[14] = 0; + out_1493803281019954497[15] = 0; + out_1493803281019954497[16] = 0; + out_1493803281019954497[17] = 0; + out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[20] = 0; + out_1493803281019954497[21] = 0; + out_1493803281019954497[22] = 0; + out_1493803281019954497[23] = 0; + out_1493803281019954497[24] = 0; + out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[27] = 0; + out_1493803281019954497[28] = 0; + out_1493803281019954497[29] = 0; + out_1493803281019954497[30] = 0; + out_1493803281019954497[31] = 0; + out_1493803281019954497[32] = 0; + out_1493803281019954497[33] = 0; + out_1493803281019954497[34] = 0; + out_1493803281019954497[35] = 0; + out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[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_1493803281019954497[39] = 0; + out_1493803281019954497[40] = 0; + out_1493803281019954497[41] = 0; + out_1493803281019954497[42] = 0; + out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[45] = 0; + out_1493803281019954497[46] = 0; + out_1493803281019954497[47] = 0; + out_1493803281019954497[48] = 0; + out_1493803281019954497[49] = 0; + out_1493803281019954497[50] = 0; + out_1493803281019954497[51] = 0; + out_1493803281019954497[52] = 0; + out_1493803281019954497[53] = 0; + out_1493803281019954497[54] = 0; + out_1493803281019954497[55] = 0; + out_1493803281019954497[56] = 0; + out_1493803281019954497[57] = 1; + out_1493803281019954497[58] = 0; + out_1493803281019954497[59] = 0; + out_1493803281019954497[60] = 0; + out_1493803281019954497[61] = 0; + out_1493803281019954497[62] = 0; + out_1493803281019954497[63] = 0; + out_1493803281019954497[64] = 0; + out_1493803281019954497[65] = 0; + out_1493803281019954497[66] = dt; + out_1493803281019954497[67] = 0; + out_1493803281019954497[68] = 0; + out_1493803281019954497[69] = 0; + out_1493803281019954497[70] = 0; + out_1493803281019954497[71] = 0; + out_1493803281019954497[72] = 0; + out_1493803281019954497[73] = 0; + out_1493803281019954497[74] = 0; + out_1493803281019954497[75] = 0; + out_1493803281019954497[76] = 1; + out_1493803281019954497[77] = 0; + out_1493803281019954497[78] = 0; + out_1493803281019954497[79] = 0; + out_1493803281019954497[80] = 0; + out_1493803281019954497[81] = 0; + out_1493803281019954497[82] = 0; + out_1493803281019954497[83] = 0; + out_1493803281019954497[84] = 0; + out_1493803281019954497[85] = dt; + out_1493803281019954497[86] = 0; + out_1493803281019954497[87] = 0; + out_1493803281019954497[88] = 0; + out_1493803281019954497[89] = 0; + out_1493803281019954497[90] = 0; + out_1493803281019954497[91] = 0; + out_1493803281019954497[92] = 0; + out_1493803281019954497[93] = 0; + out_1493803281019954497[94] = 0; + out_1493803281019954497[95] = 1; + out_1493803281019954497[96] = 0; + out_1493803281019954497[97] = 0; + out_1493803281019954497[98] = 0; + out_1493803281019954497[99] = 0; + out_1493803281019954497[100] = 0; + out_1493803281019954497[101] = 0; + out_1493803281019954497[102] = 0; + out_1493803281019954497[103] = 0; + out_1493803281019954497[104] = dt; + out_1493803281019954497[105] = 0; + out_1493803281019954497[106] = 0; + out_1493803281019954497[107] = 0; + out_1493803281019954497[108] = 0; + out_1493803281019954497[109] = 0; + out_1493803281019954497[110] = 0; + out_1493803281019954497[111] = 0; + out_1493803281019954497[112] = 0; + out_1493803281019954497[113] = 0; + out_1493803281019954497[114] = 1; + out_1493803281019954497[115] = 0; + out_1493803281019954497[116] = 0; + out_1493803281019954497[117] = 0; + out_1493803281019954497[118] = 0; + out_1493803281019954497[119] = 0; + out_1493803281019954497[120] = 0; + out_1493803281019954497[121] = 0; + out_1493803281019954497[122] = 0; + out_1493803281019954497[123] = 0; + out_1493803281019954497[124] = 0; + out_1493803281019954497[125] = 0; + out_1493803281019954497[126] = 0; + out_1493803281019954497[127] = 0; + out_1493803281019954497[128] = 0; + out_1493803281019954497[129] = 0; + out_1493803281019954497[130] = 0; + out_1493803281019954497[131] = 0; + out_1493803281019954497[132] = 0; + out_1493803281019954497[133] = 1; + out_1493803281019954497[134] = 0; + out_1493803281019954497[135] = 0; + out_1493803281019954497[136] = 0; + out_1493803281019954497[137] = 0; + out_1493803281019954497[138] = 0; + out_1493803281019954497[139] = 0; + out_1493803281019954497[140] = 0; + out_1493803281019954497[141] = 0; + out_1493803281019954497[142] = 0; + out_1493803281019954497[143] = 0; + out_1493803281019954497[144] = 0; + out_1493803281019954497[145] = 0; + out_1493803281019954497[146] = 0; + out_1493803281019954497[147] = 0; + out_1493803281019954497[148] = 0; + out_1493803281019954497[149] = 0; + out_1493803281019954497[150] = 0; + out_1493803281019954497[151] = 0; + out_1493803281019954497[152] = 1; + out_1493803281019954497[153] = 0; + out_1493803281019954497[154] = 0; + out_1493803281019954497[155] = 0; + out_1493803281019954497[156] = 0; + out_1493803281019954497[157] = 0; + out_1493803281019954497[158] = 0; + out_1493803281019954497[159] = 0; + out_1493803281019954497[160] = 0; + out_1493803281019954497[161] = 0; + out_1493803281019954497[162] = 0; + out_1493803281019954497[163] = 0; + out_1493803281019954497[164] = 0; + out_1493803281019954497[165] = 0; + out_1493803281019954497[166] = 0; + out_1493803281019954497[167] = 0; + out_1493803281019954497[168] = 0; + out_1493803281019954497[169] = 0; + out_1493803281019954497[170] = 0; + out_1493803281019954497[171] = 1; + out_1493803281019954497[172] = 0; + out_1493803281019954497[173] = 0; + out_1493803281019954497[174] = 0; + out_1493803281019954497[175] = 0; + out_1493803281019954497[176] = 0; + out_1493803281019954497[177] = 0; + out_1493803281019954497[178] = 0; + out_1493803281019954497[179] = 0; + out_1493803281019954497[180] = 0; + out_1493803281019954497[181] = 0; + out_1493803281019954497[182] = 0; + out_1493803281019954497[183] = 0; + out_1493803281019954497[184] = 0; + out_1493803281019954497[185] = 0; + out_1493803281019954497[186] = 0; + out_1493803281019954497[187] = 0; + out_1493803281019954497[188] = 0; + out_1493803281019954497[189] = 0; + out_1493803281019954497[190] = 1; + out_1493803281019954497[191] = 0; + out_1493803281019954497[192] = 0; + out_1493803281019954497[193] = 0; + out_1493803281019954497[194] = 0; + out_1493803281019954497[195] = 0; + out_1493803281019954497[196] = 0; + out_1493803281019954497[197] = 0; + out_1493803281019954497[198] = 0; + out_1493803281019954497[199] = 0; + out_1493803281019954497[200] = 0; + out_1493803281019954497[201] = 0; + out_1493803281019954497[202] = 0; + out_1493803281019954497[203] = 0; + out_1493803281019954497[204] = 0; + out_1493803281019954497[205] = 0; + out_1493803281019954497[206] = 0; + out_1493803281019954497[207] = 0; + out_1493803281019954497[208] = 0; + out_1493803281019954497[209] = 1; + out_1493803281019954497[210] = 0; + out_1493803281019954497[211] = 0; + out_1493803281019954497[212] = 0; + out_1493803281019954497[213] = 0; + out_1493803281019954497[214] = 0; + out_1493803281019954497[215] = 0; + out_1493803281019954497[216] = 0; + out_1493803281019954497[217] = 0; + out_1493803281019954497[218] = 0; + out_1493803281019954497[219] = 0; + out_1493803281019954497[220] = 0; + out_1493803281019954497[221] = 0; + out_1493803281019954497[222] = 0; + out_1493803281019954497[223] = 0; + out_1493803281019954497[224] = 0; + out_1493803281019954497[225] = 0; + out_1493803281019954497[226] = 0; + out_1493803281019954497[227] = 0; + out_1493803281019954497[228] = 1; + out_1493803281019954497[229] = 0; + out_1493803281019954497[230] = 0; + out_1493803281019954497[231] = 0; + out_1493803281019954497[232] = 0; + out_1493803281019954497[233] = 0; + out_1493803281019954497[234] = 0; + out_1493803281019954497[235] = 0; + out_1493803281019954497[236] = 0; + out_1493803281019954497[237] = 0; + out_1493803281019954497[238] = 0; + out_1493803281019954497[239] = 0; + out_1493803281019954497[240] = 0; + out_1493803281019954497[241] = 0; + out_1493803281019954497[242] = 0; + out_1493803281019954497[243] = 0; + out_1493803281019954497[244] = 0; + out_1493803281019954497[245] = 0; + out_1493803281019954497[246] = 0; + out_1493803281019954497[247] = 1; + out_1493803281019954497[248] = 0; + out_1493803281019954497[249] = 0; + out_1493803281019954497[250] = 0; + out_1493803281019954497[251] = 0; + out_1493803281019954497[252] = 0; + out_1493803281019954497[253] = 0; + out_1493803281019954497[254] = 0; + out_1493803281019954497[255] = 0; + out_1493803281019954497[256] = 0; + out_1493803281019954497[257] = 0; + out_1493803281019954497[258] = 0; + out_1493803281019954497[259] = 0; + out_1493803281019954497[260] = 0; + out_1493803281019954497[261] = 0; + out_1493803281019954497[262] = 0; + out_1493803281019954497[263] = 0; + out_1493803281019954497[264] = 0; + out_1493803281019954497[265] = 0; + out_1493803281019954497[266] = 1; + out_1493803281019954497[267] = 0; + out_1493803281019954497[268] = 0; + out_1493803281019954497[269] = 0; + out_1493803281019954497[270] = 0; + out_1493803281019954497[271] = 0; + out_1493803281019954497[272] = 0; + out_1493803281019954497[273] = 0; + out_1493803281019954497[274] = 0; + out_1493803281019954497[275] = 0; + out_1493803281019954497[276] = 0; + out_1493803281019954497[277] = 0; + out_1493803281019954497[278] = 0; + out_1493803281019954497[279] = 0; + out_1493803281019954497[280] = 0; + out_1493803281019954497[281] = 0; + out_1493803281019954497[282] = 0; + out_1493803281019954497[283] = 0; + out_1493803281019954497[284] = 0; + out_1493803281019954497[285] = 1; + out_1493803281019954497[286] = 0; + out_1493803281019954497[287] = 0; + out_1493803281019954497[288] = 0; + out_1493803281019954497[289] = 0; + out_1493803281019954497[290] = 0; + out_1493803281019954497[291] = 0; + out_1493803281019954497[292] = 0; + out_1493803281019954497[293] = 0; + out_1493803281019954497[294] = 0; + out_1493803281019954497[295] = 0; + out_1493803281019954497[296] = 0; + out_1493803281019954497[297] = 0; + out_1493803281019954497[298] = 0; + out_1493803281019954497[299] = 0; + out_1493803281019954497[300] = 0; + out_1493803281019954497[301] = 0; + out_1493803281019954497[302] = 0; + out_1493803281019954497[303] = 0; + out_1493803281019954497[304] = 1; + out_1493803281019954497[305] = 0; + out_1493803281019954497[306] = 0; + out_1493803281019954497[307] = 0; + out_1493803281019954497[308] = 0; + out_1493803281019954497[309] = 0; + out_1493803281019954497[310] = 0; + out_1493803281019954497[311] = 0; + out_1493803281019954497[312] = 0; + out_1493803281019954497[313] = 0; + out_1493803281019954497[314] = 0; + out_1493803281019954497[315] = 0; + out_1493803281019954497[316] = 0; + out_1493803281019954497[317] = 0; + out_1493803281019954497[318] = 0; + out_1493803281019954497[319] = 0; + out_1493803281019954497[320] = 0; + out_1493803281019954497[321] = 0; + out_1493803281019954497[322] = 0; + out_1493803281019954497[323] = 1; } -void h_4(double *state, double *unused, double *out_9112018432623595899) { - out_9112018432623595899[0] = state[6] + state[9]; - out_9112018432623595899[1] = state[7] + state[10]; - out_9112018432623595899[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_9199116239139928597) { + out_9199116239139928597[0] = state[6] + state[9]; + out_9199116239139928597[1] = state[7] + state[10]; + out_9199116239139928597[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_5072803088510724449) { - out_5072803088510724449[0] = 0; - out_5072803088510724449[1] = 0; - out_5072803088510724449[2] = 0; - out_5072803088510724449[3] = 0; - out_5072803088510724449[4] = 0; - out_5072803088510724449[5] = 0; - out_5072803088510724449[6] = 1; - out_5072803088510724449[7] = 0; - out_5072803088510724449[8] = 0; - out_5072803088510724449[9] = 1; - out_5072803088510724449[10] = 0; - out_5072803088510724449[11] = 0; - out_5072803088510724449[12] = 0; - out_5072803088510724449[13] = 0; - out_5072803088510724449[14] = 0; - out_5072803088510724449[15] = 0; - out_5072803088510724449[16] = 0; - out_5072803088510724449[17] = 0; - out_5072803088510724449[18] = 0; - out_5072803088510724449[19] = 0; - out_5072803088510724449[20] = 0; - out_5072803088510724449[21] = 0; - out_5072803088510724449[22] = 0; - out_5072803088510724449[23] = 0; - out_5072803088510724449[24] = 0; - out_5072803088510724449[25] = 1; - out_5072803088510724449[26] = 0; - out_5072803088510724449[27] = 0; - out_5072803088510724449[28] = 1; - out_5072803088510724449[29] = 0; - out_5072803088510724449[30] = 0; - out_5072803088510724449[31] = 0; - out_5072803088510724449[32] = 0; - out_5072803088510724449[33] = 0; - out_5072803088510724449[34] = 0; - out_5072803088510724449[35] = 0; - out_5072803088510724449[36] = 0; - out_5072803088510724449[37] = 0; - out_5072803088510724449[38] = 0; - out_5072803088510724449[39] = 0; - out_5072803088510724449[40] = 0; - out_5072803088510724449[41] = 0; - out_5072803088510724449[42] = 0; - out_5072803088510724449[43] = 0; - out_5072803088510724449[44] = 1; - out_5072803088510724449[45] = 0; - out_5072803088510724449[46] = 0; - out_5072803088510724449[47] = 1; - out_5072803088510724449[48] = 0; - out_5072803088510724449[49] = 0; - out_5072803088510724449[50] = 0; - out_5072803088510724449[51] = 0; - out_5072803088510724449[52] = 0; - out_5072803088510724449[53] = 0; +void H_4(double *state, double *unused, double *out_5055826457360484509) { + out_5055826457360484509[0] = 0; + out_5055826457360484509[1] = 0; + out_5055826457360484509[2] = 0; + out_5055826457360484509[3] = 0; + out_5055826457360484509[4] = 0; + out_5055826457360484509[5] = 0; + out_5055826457360484509[6] = 1; + out_5055826457360484509[7] = 0; + out_5055826457360484509[8] = 0; + out_5055826457360484509[9] = 1; + out_5055826457360484509[10] = 0; + out_5055826457360484509[11] = 0; + out_5055826457360484509[12] = 0; + out_5055826457360484509[13] = 0; + out_5055826457360484509[14] = 0; + out_5055826457360484509[15] = 0; + out_5055826457360484509[16] = 0; + out_5055826457360484509[17] = 0; + out_5055826457360484509[18] = 0; + out_5055826457360484509[19] = 0; + out_5055826457360484509[20] = 0; + out_5055826457360484509[21] = 0; + out_5055826457360484509[22] = 0; + out_5055826457360484509[23] = 0; + out_5055826457360484509[24] = 0; + out_5055826457360484509[25] = 1; + out_5055826457360484509[26] = 0; + out_5055826457360484509[27] = 0; + out_5055826457360484509[28] = 1; + out_5055826457360484509[29] = 0; + out_5055826457360484509[30] = 0; + out_5055826457360484509[31] = 0; + out_5055826457360484509[32] = 0; + out_5055826457360484509[33] = 0; + out_5055826457360484509[34] = 0; + out_5055826457360484509[35] = 0; + out_5055826457360484509[36] = 0; + out_5055826457360484509[37] = 0; + out_5055826457360484509[38] = 0; + out_5055826457360484509[39] = 0; + out_5055826457360484509[40] = 0; + out_5055826457360484509[41] = 0; + out_5055826457360484509[42] = 0; + out_5055826457360484509[43] = 0; + out_5055826457360484509[44] = 1; + out_5055826457360484509[45] = 0; + out_5055826457360484509[46] = 0; + out_5055826457360484509[47] = 1; + out_5055826457360484509[48] = 0; + out_5055826457360484509[49] = 0; + out_5055826457360484509[50] = 0; + out_5055826457360484509[51] = 0; + out_5055826457360484509[52] = 0; + out_5055826457360484509[53] = 0; } -void h_10(double *state, double *unused, double *out_1222625076235428622) { - out_1222625076235428622[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1222625076235428622[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1222625076235428622[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_6229114816113941890) { + out_6229114816113941890[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6229114816113941890[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6229114816113941890[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_6913994360612087924) { - out_6913994360612087924[0] = 0; - out_6913994360612087924[1] = 9.8100000000000005*cos(state[1]); - out_6913994360612087924[2] = 0; - out_6913994360612087924[3] = 0; - out_6913994360612087924[4] = -state[8]; - out_6913994360612087924[5] = state[7]; - out_6913994360612087924[6] = 0; - out_6913994360612087924[7] = state[5]; - out_6913994360612087924[8] = -state[4]; - out_6913994360612087924[9] = 0; - out_6913994360612087924[10] = 0; - out_6913994360612087924[11] = 0; - out_6913994360612087924[12] = 1; - out_6913994360612087924[13] = 0; - out_6913994360612087924[14] = 0; - out_6913994360612087924[15] = 1; - out_6913994360612087924[16] = 0; - out_6913994360612087924[17] = 0; - out_6913994360612087924[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6913994360612087924[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6913994360612087924[20] = 0; - out_6913994360612087924[21] = state[8]; - out_6913994360612087924[22] = 0; - out_6913994360612087924[23] = -state[6]; - out_6913994360612087924[24] = -state[5]; - out_6913994360612087924[25] = 0; - out_6913994360612087924[26] = state[3]; - out_6913994360612087924[27] = 0; - out_6913994360612087924[28] = 0; - out_6913994360612087924[29] = 0; - out_6913994360612087924[30] = 0; - out_6913994360612087924[31] = 1; - out_6913994360612087924[32] = 0; - out_6913994360612087924[33] = 0; - out_6913994360612087924[34] = 1; - out_6913994360612087924[35] = 0; - out_6913994360612087924[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6913994360612087924[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6913994360612087924[38] = 0; - out_6913994360612087924[39] = -state[7]; - out_6913994360612087924[40] = state[6]; - out_6913994360612087924[41] = 0; - out_6913994360612087924[42] = state[4]; - out_6913994360612087924[43] = -state[3]; - out_6913994360612087924[44] = 0; - out_6913994360612087924[45] = 0; - out_6913994360612087924[46] = 0; - out_6913994360612087924[47] = 0; - out_6913994360612087924[48] = 0; - out_6913994360612087924[49] = 0; - out_6913994360612087924[50] = 1; - out_6913994360612087924[51] = 0; - out_6913994360612087924[52] = 0; - out_6913994360612087924[53] = 1; +void H_10(double *state, double *unused, double *out_4767454895579609867) { + out_4767454895579609867[0] = 0; + out_4767454895579609867[1] = 9.8100000000000005*cos(state[1]); + out_4767454895579609867[2] = 0; + out_4767454895579609867[3] = 0; + out_4767454895579609867[4] = -state[8]; + out_4767454895579609867[5] = state[7]; + out_4767454895579609867[6] = 0; + out_4767454895579609867[7] = state[5]; + out_4767454895579609867[8] = -state[4]; + out_4767454895579609867[9] = 0; + out_4767454895579609867[10] = 0; + out_4767454895579609867[11] = 0; + out_4767454895579609867[12] = 1; + out_4767454895579609867[13] = 0; + out_4767454895579609867[14] = 0; + out_4767454895579609867[15] = 1; + out_4767454895579609867[16] = 0; + out_4767454895579609867[17] = 0; + out_4767454895579609867[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4767454895579609867[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4767454895579609867[20] = 0; + out_4767454895579609867[21] = state[8]; + out_4767454895579609867[22] = 0; + out_4767454895579609867[23] = -state[6]; + out_4767454895579609867[24] = -state[5]; + out_4767454895579609867[25] = 0; + out_4767454895579609867[26] = state[3]; + out_4767454895579609867[27] = 0; + out_4767454895579609867[28] = 0; + out_4767454895579609867[29] = 0; + out_4767454895579609867[30] = 0; + out_4767454895579609867[31] = 1; + out_4767454895579609867[32] = 0; + out_4767454895579609867[33] = 0; + out_4767454895579609867[34] = 1; + out_4767454895579609867[35] = 0; + out_4767454895579609867[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4767454895579609867[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4767454895579609867[38] = 0; + out_4767454895579609867[39] = -state[7]; + out_4767454895579609867[40] = state[6]; + out_4767454895579609867[41] = 0; + out_4767454895579609867[42] = state[4]; + out_4767454895579609867[43] = -state[3]; + out_4767454895579609867[44] = 0; + out_4767454895579609867[45] = 0; + out_4767454895579609867[46] = 0; + out_4767454895579609867[47] = 0; + out_4767454895579609867[48] = 0; + out_4767454895579609867[49] = 0; + out_4767454895579609867[50] = 1; + out_4767454895579609867[51] = 0; + out_4767454895579609867[52] = 0; + out_4767454895579609867[53] = 1; } -void h_13(double *state, double *unused, double *out_5539054079846767747) { - out_5539054079846767747[0] = state[3]; - out_5539054079846767747[1] = state[4]; - out_5539054079846767747[2] = state[5]; +void h_13(double *state, double *unused, double *out_8087901312810249753) { + out_8087901312810249753[0] = state[3]; + out_8087901312810249753[1] = state[4]; + out_8087901312810249753[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5637405008192568553) { - out_5637405008192568553[0] = 0; - out_5637405008192568553[1] = 0; - out_5637405008192568553[2] = 0; - out_5637405008192568553[3] = 1; - out_5637405008192568553[4] = 0; - out_5637405008192568553[5] = 0; - out_5637405008192568553[6] = 0; - out_5637405008192568553[7] = 0; - out_5637405008192568553[8] = 0; - out_5637405008192568553[9] = 0; - out_5637405008192568553[10] = 0; - out_5637405008192568553[11] = 0; - out_5637405008192568553[12] = 0; - out_5637405008192568553[13] = 0; - out_5637405008192568553[14] = 0; - out_5637405008192568553[15] = 0; - out_5637405008192568553[16] = 0; - out_5637405008192568553[17] = 0; - out_5637405008192568553[18] = 0; - out_5637405008192568553[19] = 0; - out_5637405008192568553[20] = 0; - out_5637405008192568553[21] = 0; - out_5637405008192568553[22] = 1; - out_5637405008192568553[23] = 0; - out_5637405008192568553[24] = 0; - out_5637405008192568553[25] = 0; - out_5637405008192568553[26] = 0; - out_5637405008192568553[27] = 0; - out_5637405008192568553[28] = 0; - out_5637405008192568553[29] = 0; - out_5637405008192568553[30] = 0; - out_5637405008192568553[31] = 0; - out_5637405008192568553[32] = 0; - out_5637405008192568553[33] = 0; - out_5637405008192568553[34] = 0; - out_5637405008192568553[35] = 0; - out_5637405008192568553[36] = 0; - out_5637405008192568553[37] = 0; - out_5637405008192568553[38] = 0; - out_5637405008192568553[39] = 0; - out_5637405008192568553[40] = 0; - out_5637405008192568553[41] = 1; - out_5637405008192568553[42] = 0; - out_5637405008192568553[43] = 0; - out_5637405008192568553[44] = 0; - out_5637405008192568553[45] = 0; - out_5637405008192568553[46] = 0; - out_5637405008192568553[47] = 0; - out_5637405008192568553[48] = 0; - out_5637405008192568553[49] = 0; - out_5637405008192568553[50] = 0; - out_5637405008192568553[51] = 0; - out_5637405008192568553[52] = 0; - out_5637405008192568553[53] = 0; +void H_13(double *state, double *unused, double *out_5780286408032366178) { + out_5780286408032366178[0] = 0; + out_5780286408032366178[1] = 0; + out_5780286408032366178[2] = 0; + out_5780286408032366178[3] = 1; + out_5780286408032366178[4] = 0; + out_5780286408032366178[5] = 0; + out_5780286408032366178[6] = 0; + out_5780286408032366178[7] = 0; + out_5780286408032366178[8] = 0; + out_5780286408032366178[9] = 0; + out_5780286408032366178[10] = 0; + out_5780286408032366178[11] = 0; + out_5780286408032366178[12] = 0; + out_5780286408032366178[13] = 0; + out_5780286408032366178[14] = 0; + out_5780286408032366178[15] = 0; + out_5780286408032366178[16] = 0; + out_5780286408032366178[17] = 0; + out_5780286408032366178[18] = 0; + out_5780286408032366178[19] = 0; + out_5780286408032366178[20] = 0; + out_5780286408032366178[21] = 0; + out_5780286408032366178[22] = 1; + out_5780286408032366178[23] = 0; + out_5780286408032366178[24] = 0; + out_5780286408032366178[25] = 0; + out_5780286408032366178[26] = 0; + out_5780286408032366178[27] = 0; + out_5780286408032366178[28] = 0; + out_5780286408032366178[29] = 0; + out_5780286408032366178[30] = 0; + out_5780286408032366178[31] = 0; + out_5780286408032366178[32] = 0; + out_5780286408032366178[33] = 0; + out_5780286408032366178[34] = 0; + out_5780286408032366178[35] = 0; + out_5780286408032366178[36] = 0; + out_5780286408032366178[37] = 0; + out_5780286408032366178[38] = 0; + out_5780286408032366178[39] = 0; + out_5780286408032366178[40] = 0; + out_5780286408032366178[41] = 1; + out_5780286408032366178[42] = 0; + out_5780286408032366178[43] = 0; + out_5780286408032366178[44] = 0; + out_5780286408032366178[45] = 0; + out_5780286408032366178[46] = 0; + out_5780286408032366178[47] = 0; + out_5780286408032366178[48] = 0; + out_5780286408032366178[49] = 0; + out_5780286408032366178[50] = 0; + out_5780286408032366178[51] = 0; + out_5780286408032366178[52] = 0; + out_5780286408032366178[53] = 0; } -void h_14(double *state, double *unused, double *out_4189770429909065638) { - out_4189770429909065638[0] = state[6]; - out_4189770429909065638[1] = state[7]; - out_4189770429909065638[2] = state[8]; +void h_14(double *state, double *unused, double *out_8155013269706044892) { + out_8155013269706044892[0] = state[6]; + out_8155013269706044892[1] = state[7]; + out_8155013269706044892[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1990014656215352153) { - out_1990014656215352153[0] = 0; - out_1990014656215352153[1] = 0; - out_1990014656215352153[2] = 0; - out_1990014656215352153[3] = 0; - out_1990014656215352153[4] = 0; - out_1990014656215352153[5] = 0; - out_1990014656215352153[6] = 1; - out_1990014656215352153[7] = 0; - out_1990014656215352153[8] = 0; - out_1990014656215352153[9] = 0; - out_1990014656215352153[10] = 0; - out_1990014656215352153[11] = 0; - out_1990014656215352153[12] = 0; - out_1990014656215352153[13] = 0; - out_1990014656215352153[14] = 0; - out_1990014656215352153[15] = 0; - out_1990014656215352153[16] = 0; - out_1990014656215352153[17] = 0; - out_1990014656215352153[18] = 0; - out_1990014656215352153[19] = 0; - out_1990014656215352153[20] = 0; - out_1990014656215352153[21] = 0; - out_1990014656215352153[22] = 0; - out_1990014656215352153[23] = 0; - out_1990014656215352153[24] = 0; - out_1990014656215352153[25] = 1; - out_1990014656215352153[26] = 0; - out_1990014656215352153[27] = 0; - out_1990014656215352153[28] = 0; - out_1990014656215352153[29] = 0; - out_1990014656215352153[30] = 0; - out_1990014656215352153[31] = 0; - out_1990014656215352153[32] = 0; - out_1990014656215352153[33] = 0; - out_1990014656215352153[34] = 0; - out_1990014656215352153[35] = 0; - out_1990014656215352153[36] = 0; - out_1990014656215352153[37] = 0; - out_1990014656215352153[38] = 0; - out_1990014656215352153[39] = 0; - out_1990014656215352153[40] = 0; - out_1990014656215352153[41] = 0; - out_1990014656215352153[42] = 0; - out_1990014656215352153[43] = 0; - out_1990014656215352153[44] = 1; - out_1990014656215352153[45] = 0; - out_1990014656215352153[46] = 0; - out_1990014656215352153[47] = 0; - out_1990014656215352153[48] = 0; - out_1990014656215352153[49] = 0; - out_1990014656215352153[50] = 0; - out_1990014656215352153[51] = 0; - out_1990014656215352153[52] = 0; - out_1990014656215352153[53] = 0; +void H_14(double *state, double *unused, double *out_9019067313699969038) { + out_9019067313699969038[0] = 0; + out_9019067313699969038[1] = 0; + out_9019067313699969038[2] = 0; + out_9019067313699969038[3] = 0; + out_9019067313699969038[4] = 0; + out_9019067313699969038[5] = 0; + out_9019067313699969038[6] = 1; + out_9019067313699969038[7] = 0; + out_9019067313699969038[8] = 0; + out_9019067313699969038[9] = 0; + out_9019067313699969038[10] = 0; + out_9019067313699969038[11] = 0; + out_9019067313699969038[12] = 0; + out_9019067313699969038[13] = 0; + out_9019067313699969038[14] = 0; + out_9019067313699969038[15] = 0; + out_9019067313699969038[16] = 0; + out_9019067313699969038[17] = 0; + out_9019067313699969038[18] = 0; + out_9019067313699969038[19] = 0; + out_9019067313699969038[20] = 0; + out_9019067313699969038[21] = 0; + out_9019067313699969038[22] = 0; + out_9019067313699969038[23] = 0; + out_9019067313699969038[24] = 0; + out_9019067313699969038[25] = 1; + out_9019067313699969038[26] = 0; + out_9019067313699969038[27] = 0; + out_9019067313699969038[28] = 0; + out_9019067313699969038[29] = 0; + out_9019067313699969038[30] = 0; + out_9019067313699969038[31] = 0; + out_9019067313699969038[32] = 0; + out_9019067313699969038[33] = 0; + out_9019067313699969038[34] = 0; + out_9019067313699969038[35] = 0; + out_9019067313699969038[36] = 0; + out_9019067313699969038[37] = 0; + out_9019067313699969038[38] = 0; + out_9019067313699969038[39] = 0; + out_9019067313699969038[40] = 0; + out_9019067313699969038[41] = 0; + out_9019067313699969038[42] = 0; + out_9019067313699969038[43] = 0; + out_9019067313699969038[44] = 1; + out_9019067313699969038[45] = 0; + out_9019067313699969038[46] = 0; + out_9019067313699969038[47] = 0; + out_9019067313699969038[48] = 0; + out_9019067313699969038[49] = 0; + out_9019067313699969038[50] = 0; + out_9019067313699969038[51] = 0; + out_9019067313699969038[52] = 0; + out_9019067313699969038[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_3211789106073125283) { - err_fun(nom_x, delta_x, out_3211789106073125283); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7437794640769795433) { + err_fun(nom_x, delta_x, out_7437794640769795433); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6226563961506943969) { - inv_err_fun(nom_x, true_x, out_6226563961506943969); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2037082783356591262) { + inv_err_fun(nom_x, true_x, out_2037082783356591262); } -void pose_H_mod_fun(double *state, double *out_5161461913541420634) { - H_mod_fun(state, out_5161461913541420634); +void pose_H_mod_fun(double *state, double *out_6997830721327979188) { + H_mod_fun(state, out_6997830721327979188); } -void pose_f_fun(double *state, double dt, double *out_3057528827902898560) { - f_fun(state, dt, out_3057528827902898560); +void pose_f_fun(double *state, double dt, double *out_2524658316881090159) { + f_fun(state, dt, out_2524658316881090159); } -void pose_F_fun(double *state, double dt, double *out_2410705301866754520) { - F_fun(state, dt, out_2410705301866754520); +void pose_F_fun(double *state, double dt, double *out_1493803281019954497) { + F_fun(state, dt, out_1493803281019954497); } -void pose_h_4(double *state, double *unused, double *out_9112018432623595899) { - h_4(state, unused, out_9112018432623595899); +void pose_h_4(double *state, double *unused, double *out_9199116239139928597) { + h_4(state, unused, out_9199116239139928597); } -void pose_H_4(double *state, double *unused, double *out_5072803088510724449) { - H_4(state, unused, out_5072803088510724449); +void pose_H_4(double *state, double *unused, double *out_5055826457360484509) { + H_4(state, unused, out_5055826457360484509); } -void pose_h_10(double *state, double *unused, double *out_1222625076235428622) { - h_10(state, unused, out_1222625076235428622); +void pose_h_10(double *state, double *unused, double *out_6229114816113941890) { + h_10(state, unused, out_6229114816113941890); } -void pose_H_10(double *state, double *unused, double *out_6913994360612087924) { - H_10(state, unused, out_6913994360612087924); +void pose_H_10(double *state, double *unused, double *out_4767454895579609867) { + H_10(state, unused, out_4767454895579609867); } -void pose_h_13(double *state, double *unused, double *out_5539054079846767747) { - h_13(state, unused, out_5539054079846767747); +void pose_h_13(double *state, double *unused, double *out_8087901312810249753) { + h_13(state, unused, out_8087901312810249753); } -void pose_H_13(double *state, double *unused, double *out_5637405008192568553) { - H_13(state, unused, out_5637405008192568553); +void pose_H_13(double *state, double *unused, double *out_5780286408032366178) { + H_13(state, unused, out_5780286408032366178); } -void pose_h_14(double *state, double *unused, double *out_4189770429909065638) { - h_14(state, unused, out_4189770429909065638); +void pose_h_14(double *state, double *unused, double *out_8155013269706044892) { + h_14(state, unused, out_8155013269706044892); } -void pose_H_14(double *state, double *unused, double *out_1990014656215352153) { - H_14(state, unused, out_1990014656215352153); +void pose_H_14(double *state, double *unused, double *out_9019067313699969038) { + H_14(state, unused, out_9019067313699969038); } 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 93d02334ac..c7140a5943 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_3211789106073125283); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6226563961506943969); -void pose_H_mod_fun(double *state, double *out_5161461913541420634); -void pose_f_fun(double *state, double dt, double *out_3057528827902898560); -void pose_F_fun(double *state, double dt, double *out_2410705301866754520); -void pose_h_4(double *state, double *unused, double *out_9112018432623595899); -void pose_H_4(double *state, double *unused, double *out_5072803088510724449); -void pose_h_10(double *state, double *unused, double *out_1222625076235428622); -void pose_H_10(double *state, double *unused, double *out_6913994360612087924); -void pose_h_13(double *state, double *unused, double *out_5539054079846767747); -void pose_H_13(double *state, double *unused, double *out_5637405008192568553); -void pose_h_14(double *state, double *unused, double *out_4189770429909065638); -void pose_H_14(double *state, double *unused, double *out_1990014656215352153); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7437794640769795433); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2037082783356591262); +void pose_H_mod_fun(double *state, double *out_6997830721327979188); +void pose_f_fun(double *state, double dt, double *out_2524658316881090159); +void pose_F_fun(double *state, double dt, double *out_1493803281019954497); +void pose_h_4(double *state, double *unused, double *out_9199116239139928597); +void pose_H_4(double *state, double *unused, double *out_5055826457360484509); +void pose_h_10(double *state, double *unused, double *out_6229114816113941890); +void pose_H_10(double *state, double *unused, double *out_4767454895579609867); +void pose_h_13(double *state, double *unused, double *out_8087901312810249753); +void pose_H_13(double *state, double *unused, double *out_5780286408032366178); +void pose_h_14(double *state, double *unused, double *out_8155013269706044892); +void pose_H_14(double *state, double *unused, double *out_9019067313699969038); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file