diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 3da3f8671..3df79deca 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 968680c25..b70c48b8d 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 88a0c3aef..58c8e9e47 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 44ed83615..aad0b90d2 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 2e8b124ef..817c25fe5 100755 Binary files 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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 a3c99907a..a83e9cd1a 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_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 3606a5f87..d63331c9e 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 3606a5f87..d63331c9e 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 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uint8_t gitversion[19] = "DEV-3c655e79-DEBUG"; +const uint8_t gitversion[19] = "DEV-af2e153e-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 0fc5f729d..db84ea214 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 8c55d6c94..fb7327595 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 7620d2b2f..dca4babeb 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 2b57704ea..b297b28dc 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 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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 742044565..4d9f2d5a6 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/version b/panda/board/obj/version index 3ee486628..d65108fb8 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-3c655e79-DEBUG \ No newline at end of file +DEV-af2e153e-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index b1af04ee3..f1c3ceacb 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_3753506106150578989) { - out_3753506106150578989[0] = delta_x[0] + nom_x[0]; - out_3753506106150578989[1] = delta_x[1] + nom_x[1]; - out_3753506106150578989[2] = delta_x[2] + nom_x[2]; - out_3753506106150578989[3] = delta_x[3] + nom_x[3]; - out_3753506106150578989[4] = delta_x[4] + nom_x[4]; - out_3753506106150578989[5] = delta_x[5] + nom_x[5]; - out_3753506106150578989[6] = delta_x[6] + nom_x[6]; - out_3753506106150578989[7] = delta_x[7] + nom_x[7]; - out_3753506106150578989[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6663383586198040946) { + out_6663383586198040946[0] = delta_x[0] + nom_x[0]; + out_6663383586198040946[1] = delta_x[1] + nom_x[1]; + out_6663383586198040946[2] = delta_x[2] + nom_x[2]; + out_6663383586198040946[3] = delta_x[3] + nom_x[3]; + out_6663383586198040946[4] = delta_x[4] + nom_x[4]; + out_6663383586198040946[5] = delta_x[5] + nom_x[5]; + out_6663383586198040946[6] = delta_x[6] + nom_x[6]; + out_6663383586198040946[7] = delta_x[7] + nom_x[7]; + out_6663383586198040946[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1593625426676531654) { - out_1593625426676531654[0] = -nom_x[0] + true_x[0]; - out_1593625426676531654[1] = -nom_x[1] + true_x[1]; - out_1593625426676531654[2] = -nom_x[2] + true_x[2]; - out_1593625426676531654[3] = -nom_x[3] + true_x[3]; - out_1593625426676531654[4] = -nom_x[4] + true_x[4]; - out_1593625426676531654[5] = -nom_x[5] + true_x[5]; - out_1593625426676531654[6] = -nom_x[6] + true_x[6]; - out_1593625426676531654[7] = -nom_x[7] + true_x[7]; - out_1593625426676531654[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8588337980518277825) { + out_8588337980518277825[0] = -nom_x[0] + true_x[0]; + out_8588337980518277825[1] = -nom_x[1] + true_x[1]; + out_8588337980518277825[2] = -nom_x[2] + true_x[2]; + out_8588337980518277825[3] = -nom_x[3] + true_x[3]; + out_8588337980518277825[4] = -nom_x[4] + true_x[4]; + out_8588337980518277825[5] = -nom_x[5] + true_x[5]; + out_8588337980518277825[6] = -nom_x[6] + true_x[6]; + out_8588337980518277825[7] = -nom_x[7] + true_x[7]; + out_8588337980518277825[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8762705886933200550) { - out_8762705886933200550[0] = 1.0; - out_8762705886933200550[1] = 0.0; - out_8762705886933200550[2] = 0.0; - out_8762705886933200550[3] = 0.0; - out_8762705886933200550[4] = 0.0; - out_8762705886933200550[5] = 0.0; - out_8762705886933200550[6] = 0.0; - out_8762705886933200550[7] = 0.0; - out_8762705886933200550[8] = 0.0; - out_8762705886933200550[9] = 0.0; - out_8762705886933200550[10] = 1.0; - out_8762705886933200550[11] = 0.0; - out_8762705886933200550[12] = 0.0; - out_8762705886933200550[13] = 0.0; - out_8762705886933200550[14] = 0.0; - out_8762705886933200550[15] = 0.0; - out_8762705886933200550[16] = 0.0; - out_8762705886933200550[17] = 0.0; - out_8762705886933200550[18] = 0.0; - out_8762705886933200550[19] = 0.0; - out_8762705886933200550[20] = 1.0; - out_8762705886933200550[21] = 0.0; - out_8762705886933200550[22] = 0.0; - out_8762705886933200550[23] = 0.0; - out_8762705886933200550[24] = 0.0; - out_8762705886933200550[25] = 0.0; - out_8762705886933200550[26] = 0.0; - out_8762705886933200550[27] = 0.0; - out_8762705886933200550[28] = 0.0; - out_8762705886933200550[29] = 0.0; - out_8762705886933200550[30] = 1.0; - out_8762705886933200550[31] = 0.0; - out_8762705886933200550[32] = 0.0; - out_8762705886933200550[33] = 0.0; - out_8762705886933200550[34] = 0.0; - out_8762705886933200550[35] = 0.0; - out_8762705886933200550[36] = 0.0; - out_8762705886933200550[37] = 0.0; - out_8762705886933200550[38] = 0.0; - out_8762705886933200550[39] = 0.0; - out_8762705886933200550[40] = 1.0; - out_8762705886933200550[41] = 0.0; - out_8762705886933200550[42] = 0.0; - out_8762705886933200550[43] = 0.0; - out_8762705886933200550[44] = 0.0; - out_8762705886933200550[45] = 0.0; - out_8762705886933200550[46] = 0.0; - out_8762705886933200550[47] = 0.0; - out_8762705886933200550[48] = 0.0; - out_8762705886933200550[49] = 0.0; - out_8762705886933200550[50] = 1.0; - out_8762705886933200550[51] = 0.0; - out_8762705886933200550[52] = 0.0; - out_8762705886933200550[53] = 0.0; - out_8762705886933200550[54] = 0.0; - out_8762705886933200550[55] = 0.0; - out_8762705886933200550[56] = 0.0; - out_8762705886933200550[57] = 0.0; - out_8762705886933200550[58] = 0.0; - out_8762705886933200550[59] = 0.0; - out_8762705886933200550[60] = 1.0; - out_8762705886933200550[61] = 0.0; - out_8762705886933200550[62] = 0.0; - out_8762705886933200550[63] = 0.0; - out_8762705886933200550[64] = 0.0; - out_8762705886933200550[65] = 0.0; - out_8762705886933200550[66] = 0.0; - out_8762705886933200550[67] = 0.0; - out_8762705886933200550[68] = 0.0; - out_8762705886933200550[69] = 0.0; - out_8762705886933200550[70] = 1.0; - out_8762705886933200550[71] = 0.0; - out_8762705886933200550[72] = 0.0; - out_8762705886933200550[73] = 0.0; - out_8762705886933200550[74] = 0.0; - out_8762705886933200550[75] = 0.0; - out_8762705886933200550[76] = 0.0; - out_8762705886933200550[77] = 0.0; - out_8762705886933200550[78] = 0.0; - out_8762705886933200550[79] = 0.0; - out_8762705886933200550[80] = 1.0; +void H_mod_fun(double *state, double *out_6555656847717771558) { + out_6555656847717771558[0] = 1.0; + out_6555656847717771558[1] = 0.0; + out_6555656847717771558[2] = 0.0; + out_6555656847717771558[3] = 0.0; + out_6555656847717771558[4] = 0.0; + out_6555656847717771558[5] = 0.0; + out_6555656847717771558[6] = 0.0; + out_6555656847717771558[7] = 0.0; + out_6555656847717771558[8] = 0.0; + out_6555656847717771558[9] = 0.0; + out_6555656847717771558[10] = 1.0; + out_6555656847717771558[11] = 0.0; + out_6555656847717771558[12] = 0.0; + out_6555656847717771558[13] = 0.0; + out_6555656847717771558[14] = 0.0; + out_6555656847717771558[15] = 0.0; + out_6555656847717771558[16] = 0.0; + out_6555656847717771558[17] = 0.0; + out_6555656847717771558[18] = 0.0; + out_6555656847717771558[19] = 0.0; + out_6555656847717771558[20] = 1.0; + out_6555656847717771558[21] = 0.0; + out_6555656847717771558[22] = 0.0; + out_6555656847717771558[23] = 0.0; + out_6555656847717771558[24] = 0.0; + out_6555656847717771558[25] = 0.0; + out_6555656847717771558[26] = 0.0; + out_6555656847717771558[27] = 0.0; + out_6555656847717771558[28] = 0.0; + out_6555656847717771558[29] = 0.0; + out_6555656847717771558[30] = 1.0; + out_6555656847717771558[31] = 0.0; + out_6555656847717771558[32] = 0.0; + out_6555656847717771558[33] = 0.0; + out_6555656847717771558[34] = 0.0; + out_6555656847717771558[35] = 0.0; + out_6555656847717771558[36] = 0.0; + out_6555656847717771558[37] = 0.0; + out_6555656847717771558[38] = 0.0; + out_6555656847717771558[39] = 0.0; + out_6555656847717771558[40] = 1.0; + out_6555656847717771558[41] = 0.0; + out_6555656847717771558[42] = 0.0; + out_6555656847717771558[43] = 0.0; + out_6555656847717771558[44] = 0.0; + out_6555656847717771558[45] = 0.0; + out_6555656847717771558[46] = 0.0; + out_6555656847717771558[47] = 0.0; + out_6555656847717771558[48] = 0.0; + out_6555656847717771558[49] = 0.0; + out_6555656847717771558[50] = 1.0; + out_6555656847717771558[51] = 0.0; + out_6555656847717771558[52] = 0.0; + out_6555656847717771558[53] = 0.0; + out_6555656847717771558[54] = 0.0; + out_6555656847717771558[55] = 0.0; + out_6555656847717771558[56] = 0.0; + out_6555656847717771558[57] = 0.0; + out_6555656847717771558[58] = 0.0; + out_6555656847717771558[59] = 0.0; + out_6555656847717771558[60] = 1.0; + out_6555656847717771558[61] = 0.0; + out_6555656847717771558[62] = 0.0; + out_6555656847717771558[63] = 0.0; + out_6555656847717771558[64] = 0.0; + out_6555656847717771558[65] = 0.0; + out_6555656847717771558[66] = 0.0; + out_6555656847717771558[67] = 0.0; + out_6555656847717771558[68] = 0.0; + out_6555656847717771558[69] = 0.0; + out_6555656847717771558[70] = 1.0; + out_6555656847717771558[71] = 0.0; + out_6555656847717771558[72] = 0.0; + out_6555656847717771558[73] = 0.0; + out_6555656847717771558[74] = 0.0; + out_6555656847717771558[75] = 0.0; + out_6555656847717771558[76] = 0.0; + out_6555656847717771558[77] = 0.0; + out_6555656847717771558[78] = 0.0; + out_6555656847717771558[79] = 0.0; + out_6555656847717771558[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5029070318695641969) { - out_5029070318695641969[0] = state[0]; - out_5029070318695641969[1] = state[1]; - out_5029070318695641969[2] = state[2]; - out_5029070318695641969[3] = state[3]; - out_5029070318695641969[4] = state[4]; - out_5029070318695641969[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_5029070318695641969[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_5029070318695641969[7] = state[7]; - out_5029070318695641969[8] = state[8]; +void f_fun(double *state, double dt, double *out_7137582187284124708) { + out_7137582187284124708[0] = state[0]; + out_7137582187284124708[1] = state[1]; + out_7137582187284124708[2] = state[2]; + out_7137582187284124708[3] = state[3]; + out_7137582187284124708[4] = state[4]; + out_7137582187284124708[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_7137582187284124708[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_7137582187284124708[7] = state[7]; + out_7137582187284124708[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2813073183560075211) { - out_2813073183560075211[0] = 1; - out_2813073183560075211[1] = 0; - out_2813073183560075211[2] = 0; - out_2813073183560075211[3] = 0; - out_2813073183560075211[4] = 0; - out_2813073183560075211[5] = 0; - out_2813073183560075211[6] = 0; - out_2813073183560075211[7] = 0; - out_2813073183560075211[8] = 0; - out_2813073183560075211[9] = 0; - out_2813073183560075211[10] = 1; - out_2813073183560075211[11] = 0; - out_2813073183560075211[12] = 0; - out_2813073183560075211[13] = 0; - out_2813073183560075211[14] = 0; - out_2813073183560075211[15] = 0; - out_2813073183560075211[16] = 0; - out_2813073183560075211[17] = 0; - out_2813073183560075211[18] = 0; - out_2813073183560075211[19] = 0; - out_2813073183560075211[20] = 1; - out_2813073183560075211[21] = 0; - out_2813073183560075211[22] = 0; - out_2813073183560075211[23] = 0; - out_2813073183560075211[24] = 0; - out_2813073183560075211[25] = 0; - out_2813073183560075211[26] = 0; - out_2813073183560075211[27] = 0; - out_2813073183560075211[28] = 0; - out_2813073183560075211[29] = 0; - out_2813073183560075211[30] = 1; - out_2813073183560075211[31] = 0; - out_2813073183560075211[32] = 0; - out_2813073183560075211[33] = 0; - out_2813073183560075211[34] = 0; - out_2813073183560075211[35] = 0; - out_2813073183560075211[36] = 0; - out_2813073183560075211[37] = 0; - out_2813073183560075211[38] = 0; - out_2813073183560075211[39] = 0; - out_2813073183560075211[40] = 1; - out_2813073183560075211[41] = 0; - out_2813073183560075211[42] = 0; - out_2813073183560075211[43] = 0; - out_2813073183560075211[44] = 0; - out_2813073183560075211[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_2813073183560075211[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2813073183560075211[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2813073183560075211[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2813073183560075211[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_2813073183560075211[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2813073183560075211[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2813073183560075211[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2813073183560075211[53] = -9.8100000000000005*dt; - out_2813073183560075211[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_2813073183560075211[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2813073183560075211[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2813073183560075211[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2813073183560075211[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_2813073183560075211[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2813073183560075211[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_2813073183560075211[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2813073183560075211[62] = 0; - out_2813073183560075211[63] = 0; - out_2813073183560075211[64] = 0; - out_2813073183560075211[65] = 0; - out_2813073183560075211[66] = 0; - out_2813073183560075211[67] = 0; - out_2813073183560075211[68] = 0; - out_2813073183560075211[69] = 0; - out_2813073183560075211[70] = 1; - out_2813073183560075211[71] = 0; - out_2813073183560075211[72] = 0; - out_2813073183560075211[73] = 0; - out_2813073183560075211[74] = 0; - out_2813073183560075211[75] = 0; - out_2813073183560075211[76] = 0; - out_2813073183560075211[77] = 0; - out_2813073183560075211[78] = 0; - out_2813073183560075211[79] = 0; - out_2813073183560075211[80] = 1; +void F_fun(double *state, double dt, double *out_2957883628728215032) { + out_2957883628728215032[0] = 1; + out_2957883628728215032[1] = 0; + out_2957883628728215032[2] = 0; + out_2957883628728215032[3] = 0; + out_2957883628728215032[4] = 0; + out_2957883628728215032[5] = 0; + out_2957883628728215032[6] = 0; + out_2957883628728215032[7] = 0; + out_2957883628728215032[8] = 0; + out_2957883628728215032[9] = 0; + out_2957883628728215032[10] = 1; + out_2957883628728215032[11] = 0; + out_2957883628728215032[12] = 0; + out_2957883628728215032[13] = 0; + out_2957883628728215032[14] = 0; + out_2957883628728215032[15] = 0; + out_2957883628728215032[16] = 0; + out_2957883628728215032[17] = 0; + out_2957883628728215032[18] = 0; + out_2957883628728215032[19] = 0; + out_2957883628728215032[20] = 1; + out_2957883628728215032[21] = 0; + out_2957883628728215032[22] = 0; + out_2957883628728215032[23] = 0; + out_2957883628728215032[24] = 0; + out_2957883628728215032[25] = 0; + out_2957883628728215032[26] = 0; + out_2957883628728215032[27] = 0; + out_2957883628728215032[28] = 0; + out_2957883628728215032[29] = 0; + out_2957883628728215032[30] = 1; + out_2957883628728215032[31] = 0; + out_2957883628728215032[32] = 0; + out_2957883628728215032[33] = 0; + out_2957883628728215032[34] = 0; + out_2957883628728215032[35] = 0; + out_2957883628728215032[36] = 0; + out_2957883628728215032[37] = 0; + out_2957883628728215032[38] = 0; + out_2957883628728215032[39] = 0; + out_2957883628728215032[40] = 1; + out_2957883628728215032[41] = 0; + out_2957883628728215032[42] = 0; + out_2957883628728215032[43] = 0; + out_2957883628728215032[44] = 0; + out_2957883628728215032[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_2957883628728215032[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2957883628728215032[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2957883628728215032[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2957883628728215032[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_2957883628728215032[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2957883628728215032[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2957883628728215032[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2957883628728215032[53] = -9.8100000000000005*dt; + out_2957883628728215032[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_2957883628728215032[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2957883628728215032[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2957883628728215032[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2957883628728215032[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_2957883628728215032[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2957883628728215032[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_2957883628728215032[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2957883628728215032[62] = 0; + out_2957883628728215032[63] = 0; + out_2957883628728215032[64] = 0; + out_2957883628728215032[65] = 0; + out_2957883628728215032[66] = 0; + out_2957883628728215032[67] = 0; + out_2957883628728215032[68] = 0; + out_2957883628728215032[69] = 0; + out_2957883628728215032[70] = 1; + out_2957883628728215032[71] = 0; + out_2957883628728215032[72] = 0; + out_2957883628728215032[73] = 0; + out_2957883628728215032[74] = 0; + out_2957883628728215032[75] = 0; + out_2957883628728215032[76] = 0; + out_2957883628728215032[77] = 0; + out_2957883628728215032[78] = 0; + out_2957883628728215032[79] = 0; + out_2957883628728215032[80] = 1; } -void h_25(double *state, double *unused, double *out_658669783575432838) { - out_658669783575432838[0] = state[6]; +void h_25(double *state, double *unused, double *out_753214482939102632) { + out_753214482939102632[0] = state[6]; } -void H_25(double *state, double *unused, double *out_430482338979036687) { - out_430482338979036687[0] = 0; - out_430482338979036687[1] = 0; - out_430482338979036687[2] = 0; - out_430482338979036687[3] = 0; - out_430482338979036687[4] = 0; - out_430482338979036687[5] = 0; - out_430482338979036687[6] = 1; - out_430482338979036687[7] = 0; - out_430482338979036687[8] = 0; +void H_25(double *state, double *unused, double *out_58633887827741607) { + out_58633887827741607[0] = 0; + out_58633887827741607[1] = 0; + out_58633887827741607[2] = 0; + out_58633887827741607[3] = 0; + out_58633887827741607[4] = 0; + out_58633887827741607[5] = 0; + out_58633887827741607[6] = 1; + out_58633887827741607[7] = 0; + out_58633887827741607[8] = 0; } -void h_24(double *state, double *unused, double *out_5825414391673489257) { - out_5825414391673489257[0] = state[4]; - out_5825414391673489257[1] = state[5]; +void h_24(double *state, double *unused, double *out_163608178505822735) { + out_163608178505822735[0] = state[4]; + out_163608178505822735[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1795225444999831875) { - out_1795225444999831875[0] = 0; - out_1795225444999831875[1] = 0; - out_1795225444999831875[2] = 0; - out_1795225444999831875[3] = 0; - out_1795225444999831875[4] = 1; - out_1795225444999831875[5] = 0; - out_1795225444999831875[6] = 0; - out_1795225444999831875[7] = 0; - out_1795225444999831875[8] = 0; - out_1795225444999831875[9] = 0; - out_1795225444999831875[10] = 0; - out_1795225444999831875[11] = 0; - out_1795225444999831875[12] = 0; - out_1795225444999831875[13] = 0; - out_1795225444999831875[14] = 1; - out_1795225444999831875[15] = 0; - out_1795225444999831875[16] = 0; - out_1795225444999831875[17] = 0; +void H_24(double *state, double *unused, double *out_6142398792023419819) { + out_6142398792023419819[0] = 0; + out_6142398792023419819[1] = 0; + out_6142398792023419819[2] = 0; + out_6142398792023419819[3] = 0; + out_6142398792023419819[4] = 1; + out_6142398792023419819[5] = 0; + out_6142398792023419819[6] = 0; + out_6142398792023419819[7] = 0; + out_6142398792023419819[8] = 0; + out_6142398792023419819[9] = 0; + out_6142398792023419819[10] = 0; + out_6142398792023419819[11] = 0; + out_6142398792023419819[12] = 0; + out_6142398792023419819[13] = 0; + out_6142398792023419819[14] = 1; + out_6142398792023419819[15] = 0; + out_6142398792023419819[16] = 0; + out_6142398792023419819[17] = 0; } -void h_30(double *state, double *unused, double *out_383475721290926949) { - out_383475721290926949[0] = state[4]; +void h_30(double *state, double *unused, double *out_596027814587973487) { + out_596027814587973487[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6486208002512580068) { - out_6486208002512580068[0] = 0; - out_6486208002512580068[1] = 0; - out_6486208002512580068[2] = 0; - out_6486208002512580068[3] = 0; - out_6486208002512580068[4] = 1; - out_6486208002512580068[5] = 0; - out_6486208002512580068[6] = 0; - out_6486208002512580068[7] = 0; - out_6486208002512580068[8] = 0; +void H_30(double *state, double *unused, double *out_70705059315498463) { + out_70705059315498463[0] = 0; + out_70705059315498463[1] = 0; + out_70705059315498463[2] = 0; + out_70705059315498463[3] = 0; + out_70705059315498463[4] = 1; + out_70705059315498463[5] = 0; + out_70705059315498463[6] = 0; + out_70705059315498463[7] = 0; + out_70705059315498463[8] = 0; } -void h_26(double *state, double *unused, double *out_4460551706629794316) { - out_4460551706629794316[0] = state[7]; +void h_26(double *state, double *unused, double *out_6995069332001822633) { + out_6995069332001822633[0] = state[7]; } -void H_26(double *state, double *unused, double *out_4171985657853092911) { - out_4171985657853092911[0] = 0; - out_4171985657853092911[1] = 0; - out_4171985657853092911[2] = 0; - out_4171985657853092911[3] = 0; - out_4171985657853092911[4] = 0; - out_4171985657853092911[5] = 0; - out_4171985657853092911[6] = 0; - out_4171985657853092911[7] = 1; - out_4171985657853092911[8] = 0; +void H_26(double *state, double *unused, double *out_3682869431046314617) { + out_3682869431046314617[0] = 0; + out_3682869431046314617[1] = 0; + out_3682869431046314617[2] = 0; + out_3682869431046314617[3] = 0; + out_3682869431046314617[4] = 0; + out_3682869431046314617[5] = 0; + out_3682869431046314617[6] = 0; + out_3682869431046314617[7] = 1; + out_3682869431046314617[8] = 0; } -void h_27(double *state, double *unused, double *out_4343003484085412807) { - out_4343003484085412807[0] = state[3]; +void h_27(double *state, double *unused, double *out_8228754689067738133) { + out_8228754689067738133[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4311444690712155157) { - out_4311444690712155157[0] = 0; - out_4311444690712155157[1] = 0; - out_4311444690712155157[2] = 0; - out_4311444690712155157[3] = 1; - out_4311444690712155157[4] = 0; - out_4311444690712155157[5] = 0; - out_4311444690712155157[6] = 0; - out_4311444690712155157[7] = 0; - out_4311444690712155157[8] = 0; +void H_27(double *state, double *unused, double *out_2245468371115923374) { + out_2245468371115923374[0] = 0; + out_2245468371115923374[1] = 0; + out_2245468371115923374[2] = 0; + out_2245468371115923374[3] = 1; + out_2245468371115923374[4] = 0; + out_2245468371115923374[5] = 0; + out_2245468371115923374[6] = 0; + out_2245468371115923374[7] = 0; + out_2245468371115923374[8] = 0; } -void h_29(double *state, double *unused, double *out_4618197546369918696) { - out_4618197546369918696[0] = state[1]; +void h_29(double *state, double *unused, double *out_347482038313688948) { + out_347482038313688948[0] = state[1]; } -void H_29(double *state, double *unused, double *out_6996439346826972252) { - out_6996439346826972252[0] = 0; - out_6996439346826972252[1] = 1; - out_6996439346826972252[2] = 0; - out_6996439346826972252[3] = 0; - out_6996439346826972252[4] = 0; - out_6996439346826972252[5] = 0; - out_6996439346826972252[6] = 0; - out_6996439346826972252[7] = 0; - out_6996439346826972252[8] = 0; +void H_29(double *state, double *unused, double *out_3958831097985474407) { + out_3958831097985474407[0] = 0; + out_3958831097985474407[1] = 1; + out_3958831097985474407[2] = 0; + out_3958831097985474407[3] = 0; + out_3958831097985474407[4] = 0; + out_3958831097985474407[5] = 0; + out_3958831097985474407[6] = 0; + out_3958831097985474407[7] = 0; + out_3958831097985474407[8] = 0; } -void h_28(double *state, double *unused, double *out_3399493631183750372) { - out_3399493631183750372[0] = state[0]; +void h_28(double *state, double *unused, double *out_7625438804391260616) { + out_7625438804391260616[0] = state[0]; } -void H_28(double *state, double *unused, double *out_1914040329757441678) { - out_1914040329757441678[0] = 1; - out_1914040329757441678[1] = 0; - out_1914040329757441678[2] = 0; - out_1914040329757441678[3] = 0; - out_1914040329757441678[4] = 0; - out_1914040329757441678[5] = 0; - out_1914040329757441678[6] = 0; - out_1914040329757441678[7] = 0; - out_1914040329757441678[8] = 0; +void H_28(double *state, double *unused, double *out_9041230115055004981) { + out_9041230115055004981[0] = 1; + out_9041230115055004981[1] = 0; + out_9041230115055004981[2] = 0; + out_9041230115055004981[3] = 0; + out_9041230115055004981[4] = 0; + out_9041230115055004981[5] = 0; + out_9041230115055004981[6] = 0; + out_9041230115055004981[7] = 0; + out_9041230115055004981[8] = 0; } -void h_31(double *state, double *unused, double *out_501483115224303693) { - out_501483115224303693[0] = state[8]; +void h_31(double *state, double *unused, double *out_5467162699907911337) { + out_5467162699907911337[0] = state[8]; } -void H_31(double *state, double *unused, double *out_399836377102076259) { - out_399836377102076259[0] = 0; - out_399836377102076259[1] = 0; - out_399836377102076259[2] = 0; - out_399836377102076259[3] = 0; - out_399836377102076259[4] = 0; - out_399836377102076259[5] = 0; - out_399836377102076259[6] = 0; - out_399836377102076259[7] = 0; - out_399836377102076259[8] = 1; +void H_31(double *state, double *unused, double *out_89279849704702035) { + out_89279849704702035[0] = 0; + out_89279849704702035[1] = 0; + out_89279849704702035[2] = 0; + out_89279849704702035[3] = 0; + out_89279849704702035[4] = 0; + out_89279849704702035[5] = 0; + out_89279849704702035[6] = 0; + out_89279849704702035[7] = 0; + out_89279849704702035[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_3753506106150578989) { - err_fun(nom_x, delta_x, out_3753506106150578989); +void car_err_fun(double *nom_x, double *delta_x, double *out_6663383586198040946) { + err_fun(nom_x, delta_x, out_6663383586198040946); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1593625426676531654) { - inv_err_fun(nom_x, true_x, out_1593625426676531654); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8588337980518277825) { + inv_err_fun(nom_x, true_x, out_8588337980518277825); } -void car_H_mod_fun(double *state, double *out_8762705886933200550) { - H_mod_fun(state, out_8762705886933200550); +void car_H_mod_fun(double *state, double *out_6555656847717771558) { + H_mod_fun(state, out_6555656847717771558); } -void car_f_fun(double *state, double dt, double *out_5029070318695641969) { - f_fun(state, dt, out_5029070318695641969); +void car_f_fun(double *state, double dt, double *out_7137582187284124708) { + f_fun(state, dt, out_7137582187284124708); } -void car_F_fun(double *state, double dt, double *out_2813073183560075211) { - F_fun(state, dt, out_2813073183560075211); +void car_F_fun(double *state, double dt, double *out_2957883628728215032) { + F_fun(state, dt, out_2957883628728215032); } -void car_h_25(double *state, double *unused, double *out_658669783575432838) { - h_25(state, unused, out_658669783575432838); +void car_h_25(double *state, double *unused, double *out_753214482939102632) { + h_25(state, unused, out_753214482939102632); } -void car_H_25(double *state, double *unused, double *out_430482338979036687) { - H_25(state, unused, out_430482338979036687); +void car_H_25(double *state, double *unused, double *out_58633887827741607) { + H_25(state, unused, out_58633887827741607); } -void car_h_24(double *state, double *unused, double *out_5825414391673489257) { - h_24(state, unused, out_5825414391673489257); +void car_h_24(double *state, double *unused, double *out_163608178505822735) { + h_24(state, unused, out_163608178505822735); } -void car_H_24(double *state, double *unused, double *out_1795225444999831875) { - H_24(state, unused, out_1795225444999831875); +void car_H_24(double *state, double *unused, double *out_6142398792023419819) { + H_24(state, unused, out_6142398792023419819); } -void car_h_30(double *state, double *unused, double *out_383475721290926949) { - h_30(state, unused, out_383475721290926949); +void car_h_30(double *state, double *unused, double *out_596027814587973487) { + h_30(state, unused, out_596027814587973487); } -void car_H_30(double *state, double *unused, double *out_6486208002512580068) { - H_30(state, unused, out_6486208002512580068); +void car_H_30(double *state, double *unused, double *out_70705059315498463) { + H_30(state, unused, out_70705059315498463); } -void car_h_26(double *state, double *unused, double *out_4460551706629794316) { - h_26(state, unused, out_4460551706629794316); +void car_h_26(double *state, double *unused, double *out_6995069332001822633) { + h_26(state, unused, out_6995069332001822633); } -void car_H_26(double *state, double *unused, double *out_4171985657853092911) { - H_26(state, unused, out_4171985657853092911); +void car_H_26(double *state, double *unused, double *out_3682869431046314617) { + H_26(state, unused, out_3682869431046314617); } -void car_h_27(double *state, double *unused, double *out_4343003484085412807) { - h_27(state, unused, out_4343003484085412807); +void car_h_27(double *state, double *unused, double *out_8228754689067738133) { + h_27(state, unused, out_8228754689067738133); } -void car_H_27(double *state, double *unused, double *out_4311444690712155157) { - H_27(state, unused, out_4311444690712155157); +void car_H_27(double *state, double *unused, double *out_2245468371115923374) { + H_27(state, unused, out_2245468371115923374); } -void car_h_29(double *state, double *unused, double *out_4618197546369918696) { - h_29(state, unused, out_4618197546369918696); +void car_h_29(double *state, double *unused, double *out_347482038313688948) { + h_29(state, unused, out_347482038313688948); } -void car_H_29(double *state, double *unused, double *out_6996439346826972252) { - H_29(state, unused, out_6996439346826972252); +void car_H_29(double *state, double *unused, double *out_3958831097985474407) { + H_29(state, unused, out_3958831097985474407); } -void car_h_28(double *state, double *unused, double *out_3399493631183750372) { - h_28(state, unused, out_3399493631183750372); +void car_h_28(double *state, double *unused, double *out_7625438804391260616) { + h_28(state, unused, out_7625438804391260616); } -void car_H_28(double *state, double *unused, double *out_1914040329757441678) { - H_28(state, unused, out_1914040329757441678); +void car_H_28(double *state, double *unused, double *out_9041230115055004981) { + H_28(state, unused, out_9041230115055004981); } -void car_h_31(double *state, double *unused, double *out_501483115224303693) { - h_31(state, unused, out_501483115224303693); +void car_h_31(double *state, double *unused, double *out_5467162699907911337) { + h_31(state, unused, out_5467162699907911337); } -void car_H_31(double *state, double *unused, double *out_399836377102076259) { - H_31(state, unused, out_399836377102076259); +void car_H_31(double *state, double *unused, double *out_89279849704702035) { + H_31(state, unused, out_89279849704702035); } 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 efe61e81d..5b14d9253 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_3753506106150578989); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1593625426676531654); -void car_H_mod_fun(double *state, double *out_8762705886933200550); -void car_f_fun(double *state, double dt, double *out_5029070318695641969); -void car_F_fun(double *state, double dt, double *out_2813073183560075211); -void car_h_25(double *state, double *unused, double *out_658669783575432838); -void car_H_25(double *state, double *unused, double *out_430482338979036687); -void car_h_24(double *state, double *unused, double *out_5825414391673489257); -void car_H_24(double *state, double *unused, double *out_1795225444999831875); -void car_h_30(double *state, double *unused, double *out_383475721290926949); -void car_H_30(double *state, double *unused, double *out_6486208002512580068); -void car_h_26(double *state, double *unused, double *out_4460551706629794316); -void car_H_26(double *state, double *unused, double *out_4171985657853092911); -void car_h_27(double *state, double *unused, double *out_4343003484085412807); -void car_H_27(double *state, double *unused, double *out_4311444690712155157); -void car_h_29(double *state, double *unused, double *out_4618197546369918696); -void car_H_29(double *state, double *unused, double *out_6996439346826972252); -void car_h_28(double *state, double *unused, double *out_3399493631183750372); -void car_H_28(double *state, double *unused, double *out_1914040329757441678); -void car_h_31(double *state, double *unused, double *out_501483115224303693); -void car_H_31(double *state, double *unused, double *out_399836377102076259); +void car_err_fun(double *nom_x, double *delta_x, double *out_6663383586198040946); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8588337980518277825); +void car_H_mod_fun(double *state, double *out_6555656847717771558); +void car_f_fun(double *state, double dt, double *out_7137582187284124708); +void car_F_fun(double *state, double dt, double *out_2957883628728215032); +void car_h_25(double *state, double *unused, double *out_753214482939102632); +void car_H_25(double *state, double *unused, double *out_58633887827741607); +void car_h_24(double *state, double *unused, double *out_163608178505822735); +void car_H_24(double *state, double *unused, double *out_6142398792023419819); +void car_h_30(double *state, double *unused, double *out_596027814587973487); +void car_H_30(double *state, double *unused, double *out_70705059315498463); +void car_h_26(double *state, double *unused, double *out_6995069332001822633); +void car_H_26(double *state, double *unused, double *out_3682869431046314617); +void car_h_27(double *state, double *unused, double *out_8228754689067738133); +void car_H_27(double *state, double *unused, double *out_2245468371115923374); +void car_h_29(double *state, double *unused, double *out_347482038313688948); +void car_H_29(double *state, double *unused, double *out_3958831097985474407); +void car_h_28(double *state, double *unused, double *out_7625438804391260616); +void car_H_28(double *state, double *unused, double *out_9041230115055004981); +void car_h_31(double *state, double *unused, double *out_5467162699907911337); +void car_H_31(double *state, double *unused, double *out_89279849704702035); 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 d810c45fe..b88403e34 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_1384224859777021071) { - out_1384224859777021071[0] = delta_x[0] + nom_x[0]; - out_1384224859777021071[1] = delta_x[1] + nom_x[1]; - out_1384224859777021071[2] = delta_x[2] + nom_x[2]; - out_1384224859777021071[3] = delta_x[3] + nom_x[3]; - out_1384224859777021071[4] = delta_x[4] + nom_x[4]; - out_1384224859777021071[5] = delta_x[5] + nom_x[5]; - out_1384224859777021071[6] = delta_x[6] + nom_x[6]; - out_1384224859777021071[7] = delta_x[7] + nom_x[7]; - out_1384224859777021071[8] = delta_x[8] + nom_x[8]; - out_1384224859777021071[9] = delta_x[9] + nom_x[9]; - out_1384224859777021071[10] = delta_x[10] + nom_x[10]; - out_1384224859777021071[11] = delta_x[11] + nom_x[11]; - out_1384224859777021071[12] = delta_x[12] + nom_x[12]; - out_1384224859777021071[13] = delta_x[13] + nom_x[13]; - out_1384224859777021071[14] = delta_x[14] + nom_x[14]; - out_1384224859777021071[15] = delta_x[15] + nom_x[15]; - out_1384224859777021071[16] = delta_x[16] + nom_x[16]; - out_1384224859777021071[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_309314752274053340) { + out_309314752274053340[0] = delta_x[0] + nom_x[0]; + out_309314752274053340[1] = delta_x[1] + nom_x[1]; + out_309314752274053340[2] = delta_x[2] + nom_x[2]; + out_309314752274053340[3] = delta_x[3] + nom_x[3]; + out_309314752274053340[4] = delta_x[4] + nom_x[4]; + out_309314752274053340[5] = delta_x[5] + nom_x[5]; + out_309314752274053340[6] = delta_x[6] + nom_x[6]; + out_309314752274053340[7] = delta_x[7] + nom_x[7]; + out_309314752274053340[8] = delta_x[8] + nom_x[8]; + out_309314752274053340[9] = delta_x[9] + nom_x[9]; + out_309314752274053340[10] = delta_x[10] + nom_x[10]; + out_309314752274053340[11] = delta_x[11] + nom_x[11]; + out_309314752274053340[12] = delta_x[12] + nom_x[12]; + out_309314752274053340[13] = delta_x[13] + nom_x[13]; + out_309314752274053340[14] = delta_x[14] + nom_x[14]; + out_309314752274053340[15] = delta_x[15] + nom_x[15]; + out_309314752274053340[16] = delta_x[16] + nom_x[16]; + out_309314752274053340[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6553735098488367695) { - out_6553735098488367695[0] = -nom_x[0] + true_x[0]; - out_6553735098488367695[1] = -nom_x[1] + true_x[1]; - out_6553735098488367695[2] = -nom_x[2] + true_x[2]; - out_6553735098488367695[3] = -nom_x[3] + true_x[3]; - out_6553735098488367695[4] = -nom_x[4] + true_x[4]; - out_6553735098488367695[5] = -nom_x[5] + true_x[5]; - out_6553735098488367695[6] = -nom_x[6] + true_x[6]; - out_6553735098488367695[7] = -nom_x[7] + true_x[7]; - out_6553735098488367695[8] = -nom_x[8] + true_x[8]; - out_6553735098488367695[9] = -nom_x[9] + true_x[9]; - out_6553735098488367695[10] = -nom_x[10] + true_x[10]; - out_6553735098488367695[11] = -nom_x[11] + true_x[11]; - out_6553735098488367695[12] = -nom_x[12] + true_x[12]; - out_6553735098488367695[13] = -nom_x[13] + true_x[13]; - out_6553735098488367695[14] = -nom_x[14] + true_x[14]; - out_6553735098488367695[15] = -nom_x[15] + true_x[15]; - out_6553735098488367695[16] = -nom_x[16] + true_x[16]; - out_6553735098488367695[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_651338713617187314) { + out_651338713617187314[0] = -nom_x[0] + true_x[0]; + out_651338713617187314[1] = -nom_x[1] + true_x[1]; + out_651338713617187314[2] = -nom_x[2] + true_x[2]; + out_651338713617187314[3] = -nom_x[3] + true_x[3]; + out_651338713617187314[4] = -nom_x[4] + true_x[4]; + out_651338713617187314[5] = -nom_x[5] + true_x[5]; + out_651338713617187314[6] = -nom_x[6] + true_x[6]; + out_651338713617187314[7] = -nom_x[7] + true_x[7]; + out_651338713617187314[8] = -nom_x[8] + true_x[8]; + out_651338713617187314[9] = -nom_x[9] + true_x[9]; + out_651338713617187314[10] = -nom_x[10] + true_x[10]; + out_651338713617187314[11] = -nom_x[11] + true_x[11]; + out_651338713617187314[12] = -nom_x[12] + true_x[12]; + out_651338713617187314[13] = -nom_x[13] + true_x[13]; + out_651338713617187314[14] = -nom_x[14] + true_x[14]; + out_651338713617187314[15] = -nom_x[15] + true_x[15]; + out_651338713617187314[16] = -nom_x[16] + true_x[16]; + out_651338713617187314[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7066952806100897033) { - out_7066952806100897033[0] = 1.0; - out_7066952806100897033[1] = 0.0; - out_7066952806100897033[2] = 0.0; - out_7066952806100897033[3] = 0.0; - out_7066952806100897033[4] = 0.0; - out_7066952806100897033[5] = 0.0; - out_7066952806100897033[6] = 0.0; - out_7066952806100897033[7] = 0.0; - out_7066952806100897033[8] = 0.0; - out_7066952806100897033[9] = 0.0; - out_7066952806100897033[10] = 0.0; - out_7066952806100897033[11] = 0.0; - out_7066952806100897033[12] = 0.0; - out_7066952806100897033[13] = 0.0; - out_7066952806100897033[14] = 0.0; - out_7066952806100897033[15] = 0.0; - out_7066952806100897033[16] = 0.0; - out_7066952806100897033[17] = 0.0; - out_7066952806100897033[18] = 0.0; - out_7066952806100897033[19] = 1.0; - out_7066952806100897033[20] = 0.0; - out_7066952806100897033[21] = 0.0; - out_7066952806100897033[22] = 0.0; - out_7066952806100897033[23] = 0.0; - out_7066952806100897033[24] = 0.0; - out_7066952806100897033[25] = 0.0; - out_7066952806100897033[26] = 0.0; - out_7066952806100897033[27] = 0.0; - out_7066952806100897033[28] = 0.0; - out_7066952806100897033[29] = 0.0; - out_7066952806100897033[30] = 0.0; - out_7066952806100897033[31] = 0.0; - out_7066952806100897033[32] = 0.0; - out_7066952806100897033[33] = 0.0; - out_7066952806100897033[34] = 0.0; - out_7066952806100897033[35] = 0.0; - out_7066952806100897033[36] = 0.0; - out_7066952806100897033[37] = 0.0; - out_7066952806100897033[38] = 1.0; - out_7066952806100897033[39] = 0.0; - out_7066952806100897033[40] = 0.0; - out_7066952806100897033[41] = 0.0; - out_7066952806100897033[42] = 0.0; - out_7066952806100897033[43] = 0.0; - out_7066952806100897033[44] = 0.0; - out_7066952806100897033[45] = 0.0; - out_7066952806100897033[46] = 0.0; - out_7066952806100897033[47] = 0.0; - out_7066952806100897033[48] = 0.0; - out_7066952806100897033[49] = 0.0; - out_7066952806100897033[50] = 0.0; - out_7066952806100897033[51] = 0.0; - out_7066952806100897033[52] = 0.0; - out_7066952806100897033[53] = 0.0; - out_7066952806100897033[54] = 0.0; - out_7066952806100897033[55] = 0.0; - out_7066952806100897033[56] = 0.0; - out_7066952806100897033[57] = 1.0; - out_7066952806100897033[58] = 0.0; - out_7066952806100897033[59] = 0.0; - out_7066952806100897033[60] = 0.0; - out_7066952806100897033[61] = 0.0; - out_7066952806100897033[62] = 0.0; - out_7066952806100897033[63] = 0.0; - out_7066952806100897033[64] = 0.0; - out_7066952806100897033[65] = 0.0; - out_7066952806100897033[66] = 0.0; - out_7066952806100897033[67] = 0.0; - out_7066952806100897033[68] = 0.0; - out_7066952806100897033[69] = 0.0; - out_7066952806100897033[70] = 0.0; - out_7066952806100897033[71] = 0.0; - out_7066952806100897033[72] = 0.0; - out_7066952806100897033[73] = 0.0; - out_7066952806100897033[74] = 0.0; - out_7066952806100897033[75] = 0.0; - out_7066952806100897033[76] = 1.0; - out_7066952806100897033[77] = 0.0; - out_7066952806100897033[78] = 0.0; - out_7066952806100897033[79] = 0.0; - out_7066952806100897033[80] = 0.0; - out_7066952806100897033[81] = 0.0; - out_7066952806100897033[82] = 0.0; - out_7066952806100897033[83] = 0.0; - out_7066952806100897033[84] = 0.0; - out_7066952806100897033[85] = 0.0; - out_7066952806100897033[86] = 0.0; - out_7066952806100897033[87] = 0.0; - out_7066952806100897033[88] = 0.0; - out_7066952806100897033[89] = 0.0; - out_7066952806100897033[90] = 0.0; - out_7066952806100897033[91] = 0.0; - out_7066952806100897033[92] = 0.0; - out_7066952806100897033[93] = 0.0; - out_7066952806100897033[94] = 0.0; - out_7066952806100897033[95] = 1.0; - out_7066952806100897033[96] = 0.0; - out_7066952806100897033[97] = 0.0; - out_7066952806100897033[98] = 0.0; - out_7066952806100897033[99] = 0.0; - out_7066952806100897033[100] = 0.0; - out_7066952806100897033[101] = 0.0; - out_7066952806100897033[102] = 0.0; - out_7066952806100897033[103] = 0.0; - out_7066952806100897033[104] = 0.0; - out_7066952806100897033[105] = 0.0; - out_7066952806100897033[106] = 0.0; - out_7066952806100897033[107] = 0.0; - out_7066952806100897033[108] = 0.0; - out_7066952806100897033[109] = 0.0; - out_7066952806100897033[110] = 0.0; - out_7066952806100897033[111] = 0.0; - out_7066952806100897033[112] = 0.0; - out_7066952806100897033[113] = 0.0; - out_7066952806100897033[114] = 1.0; - out_7066952806100897033[115] = 0.0; - out_7066952806100897033[116] = 0.0; - out_7066952806100897033[117] = 0.0; - out_7066952806100897033[118] = 0.0; - out_7066952806100897033[119] = 0.0; - out_7066952806100897033[120] = 0.0; - out_7066952806100897033[121] = 0.0; - out_7066952806100897033[122] = 0.0; - out_7066952806100897033[123] = 0.0; - out_7066952806100897033[124] = 0.0; - out_7066952806100897033[125] = 0.0; - out_7066952806100897033[126] = 0.0; - out_7066952806100897033[127] = 0.0; - out_7066952806100897033[128] = 0.0; - out_7066952806100897033[129] = 0.0; - out_7066952806100897033[130] = 0.0; - out_7066952806100897033[131] = 0.0; - out_7066952806100897033[132] = 0.0; - out_7066952806100897033[133] = 1.0; - out_7066952806100897033[134] = 0.0; - out_7066952806100897033[135] = 0.0; - out_7066952806100897033[136] = 0.0; - out_7066952806100897033[137] = 0.0; - out_7066952806100897033[138] = 0.0; - out_7066952806100897033[139] = 0.0; - out_7066952806100897033[140] = 0.0; - out_7066952806100897033[141] = 0.0; - out_7066952806100897033[142] = 0.0; - out_7066952806100897033[143] = 0.0; - out_7066952806100897033[144] = 0.0; - out_7066952806100897033[145] = 0.0; - out_7066952806100897033[146] = 0.0; - out_7066952806100897033[147] = 0.0; - out_7066952806100897033[148] = 0.0; - out_7066952806100897033[149] = 0.0; - out_7066952806100897033[150] = 0.0; - out_7066952806100897033[151] = 0.0; - out_7066952806100897033[152] = 1.0; - out_7066952806100897033[153] = 0.0; - out_7066952806100897033[154] = 0.0; - out_7066952806100897033[155] = 0.0; - out_7066952806100897033[156] = 0.0; - out_7066952806100897033[157] = 0.0; - out_7066952806100897033[158] = 0.0; - out_7066952806100897033[159] = 0.0; - out_7066952806100897033[160] = 0.0; - out_7066952806100897033[161] = 0.0; - out_7066952806100897033[162] = 0.0; - out_7066952806100897033[163] = 0.0; - out_7066952806100897033[164] = 0.0; - out_7066952806100897033[165] = 0.0; - out_7066952806100897033[166] = 0.0; - out_7066952806100897033[167] = 0.0; - out_7066952806100897033[168] = 0.0; - out_7066952806100897033[169] = 0.0; - out_7066952806100897033[170] = 0.0; - out_7066952806100897033[171] = 1.0; - out_7066952806100897033[172] = 0.0; - out_7066952806100897033[173] = 0.0; - out_7066952806100897033[174] = 0.0; - out_7066952806100897033[175] = 0.0; - out_7066952806100897033[176] = 0.0; - out_7066952806100897033[177] = 0.0; - out_7066952806100897033[178] = 0.0; - out_7066952806100897033[179] = 0.0; - out_7066952806100897033[180] = 0.0; - out_7066952806100897033[181] = 0.0; - out_7066952806100897033[182] = 0.0; - out_7066952806100897033[183] = 0.0; - out_7066952806100897033[184] = 0.0; - out_7066952806100897033[185] = 0.0; - out_7066952806100897033[186] = 0.0; - out_7066952806100897033[187] = 0.0; - out_7066952806100897033[188] = 0.0; - out_7066952806100897033[189] = 0.0; - out_7066952806100897033[190] = 1.0; - out_7066952806100897033[191] = 0.0; - out_7066952806100897033[192] = 0.0; - out_7066952806100897033[193] = 0.0; - out_7066952806100897033[194] = 0.0; - out_7066952806100897033[195] = 0.0; - out_7066952806100897033[196] = 0.0; - out_7066952806100897033[197] = 0.0; - out_7066952806100897033[198] = 0.0; - out_7066952806100897033[199] = 0.0; - out_7066952806100897033[200] = 0.0; - out_7066952806100897033[201] = 0.0; - out_7066952806100897033[202] = 0.0; - out_7066952806100897033[203] = 0.0; - out_7066952806100897033[204] = 0.0; - out_7066952806100897033[205] = 0.0; - out_7066952806100897033[206] = 0.0; - out_7066952806100897033[207] = 0.0; - out_7066952806100897033[208] = 0.0; - out_7066952806100897033[209] = 1.0; - out_7066952806100897033[210] = 0.0; - out_7066952806100897033[211] = 0.0; - out_7066952806100897033[212] = 0.0; - out_7066952806100897033[213] = 0.0; - out_7066952806100897033[214] = 0.0; - out_7066952806100897033[215] = 0.0; - out_7066952806100897033[216] = 0.0; - out_7066952806100897033[217] = 0.0; - out_7066952806100897033[218] = 0.0; - out_7066952806100897033[219] = 0.0; - out_7066952806100897033[220] = 0.0; - out_7066952806100897033[221] = 0.0; - out_7066952806100897033[222] = 0.0; - out_7066952806100897033[223] = 0.0; - out_7066952806100897033[224] = 0.0; - out_7066952806100897033[225] = 0.0; - out_7066952806100897033[226] = 0.0; - out_7066952806100897033[227] = 0.0; - out_7066952806100897033[228] = 1.0; - out_7066952806100897033[229] = 0.0; - out_7066952806100897033[230] = 0.0; - out_7066952806100897033[231] = 0.0; - out_7066952806100897033[232] = 0.0; - out_7066952806100897033[233] = 0.0; - out_7066952806100897033[234] = 0.0; - out_7066952806100897033[235] = 0.0; - out_7066952806100897033[236] = 0.0; - out_7066952806100897033[237] = 0.0; - out_7066952806100897033[238] = 0.0; - out_7066952806100897033[239] = 0.0; - out_7066952806100897033[240] = 0.0; - out_7066952806100897033[241] = 0.0; - out_7066952806100897033[242] = 0.0; - out_7066952806100897033[243] = 0.0; - out_7066952806100897033[244] = 0.0; - out_7066952806100897033[245] = 0.0; - out_7066952806100897033[246] = 0.0; - out_7066952806100897033[247] = 1.0; - out_7066952806100897033[248] = 0.0; - out_7066952806100897033[249] = 0.0; - out_7066952806100897033[250] = 0.0; - out_7066952806100897033[251] = 0.0; - out_7066952806100897033[252] = 0.0; - out_7066952806100897033[253] = 0.0; - out_7066952806100897033[254] = 0.0; - out_7066952806100897033[255] = 0.0; - out_7066952806100897033[256] = 0.0; - out_7066952806100897033[257] = 0.0; - out_7066952806100897033[258] = 0.0; - out_7066952806100897033[259] = 0.0; - out_7066952806100897033[260] = 0.0; - out_7066952806100897033[261] = 0.0; - out_7066952806100897033[262] = 0.0; - out_7066952806100897033[263] = 0.0; - out_7066952806100897033[264] = 0.0; - out_7066952806100897033[265] = 0.0; - out_7066952806100897033[266] = 1.0; - out_7066952806100897033[267] = 0.0; - out_7066952806100897033[268] = 0.0; - out_7066952806100897033[269] = 0.0; - out_7066952806100897033[270] = 0.0; - out_7066952806100897033[271] = 0.0; - out_7066952806100897033[272] = 0.0; - out_7066952806100897033[273] = 0.0; - out_7066952806100897033[274] = 0.0; - out_7066952806100897033[275] = 0.0; - out_7066952806100897033[276] = 0.0; - out_7066952806100897033[277] = 0.0; - out_7066952806100897033[278] = 0.0; - out_7066952806100897033[279] = 0.0; - out_7066952806100897033[280] = 0.0; - out_7066952806100897033[281] = 0.0; - out_7066952806100897033[282] = 0.0; - out_7066952806100897033[283] = 0.0; - out_7066952806100897033[284] = 0.0; - out_7066952806100897033[285] = 1.0; - out_7066952806100897033[286] = 0.0; - out_7066952806100897033[287] = 0.0; - out_7066952806100897033[288] = 0.0; - out_7066952806100897033[289] = 0.0; - out_7066952806100897033[290] = 0.0; - out_7066952806100897033[291] = 0.0; - out_7066952806100897033[292] = 0.0; - out_7066952806100897033[293] = 0.0; - out_7066952806100897033[294] = 0.0; - out_7066952806100897033[295] = 0.0; - out_7066952806100897033[296] = 0.0; - out_7066952806100897033[297] = 0.0; - out_7066952806100897033[298] = 0.0; - out_7066952806100897033[299] = 0.0; - out_7066952806100897033[300] = 0.0; - out_7066952806100897033[301] = 0.0; - out_7066952806100897033[302] = 0.0; - out_7066952806100897033[303] = 0.0; - out_7066952806100897033[304] = 1.0; - out_7066952806100897033[305] = 0.0; - out_7066952806100897033[306] = 0.0; - out_7066952806100897033[307] = 0.0; - out_7066952806100897033[308] = 0.0; - out_7066952806100897033[309] = 0.0; - out_7066952806100897033[310] = 0.0; - out_7066952806100897033[311] = 0.0; - out_7066952806100897033[312] = 0.0; - out_7066952806100897033[313] = 0.0; - out_7066952806100897033[314] = 0.0; - out_7066952806100897033[315] = 0.0; - out_7066952806100897033[316] = 0.0; - out_7066952806100897033[317] = 0.0; - out_7066952806100897033[318] = 0.0; - out_7066952806100897033[319] = 0.0; - out_7066952806100897033[320] = 0.0; - out_7066952806100897033[321] = 0.0; - out_7066952806100897033[322] = 0.0; - out_7066952806100897033[323] = 1.0; +void H_mod_fun(double *state, double *out_1638652939169850596) { + out_1638652939169850596[0] = 1.0; + out_1638652939169850596[1] = 0.0; + out_1638652939169850596[2] = 0.0; + out_1638652939169850596[3] = 0.0; + out_1638652939169850596[4] = 0.0; + out_1638652939169850596[5] = 0.0; + out_1638652939169850596[6] = 0.0; + out_1638652939169850596[7] = 0.0; + out_1638652939169850596[8] = 0.0; + out_1638652939169850596[9] = 0.0; + out_1638652939169850596[10] = 0.0; + out_1638652939169850596[11] = 0.0; + out_1638652939169850596[12] = 0.0; + out_1638652939169850596[13] = 0.0; + out_1638652939169850596[14] = 0.0; + out_1638652939169850596[15] = 0.0; + out_1638652939169850596[16] = 0.0; + out_1638652939169850596[17] = 0.0; + out_1638652939169850596[18] = 0.0; + out_1638652939169850596[19] = 1.0; + out_1638652939169850596[20] = 0.0; + out_1638652939169850596[21] = 0.0; + out_1638652939169850596[22] = 0.0; + out_1638652939169850596[23] = 0.0; + out_1638652939169850596[24] = 0.0; + out_1638652939169850596[25] = 0.0; + out_1638652939169850596[26] = 0.0; + out_1638652939169850596[27] = 0.0; + out_1638652939169850596[28] = 0.0; + out_1638652939169850596[29] = 0.0; + out_1638652939169850596[30] = 0.0; + out_1638652939169850596[31] = 0.0; + out_1638652939169850596[32] = 0.0; + out_1638652939169850596[33] = 0.0; + out_1638652939169850596[34] = 0.0; + out_1638652939169850596[35] = 0.0; + out_1638652939169850596[36] = 0.0; + out_1638652939169850596[37] = 0.0; + out_1638652939169850596[38] = 1.0; + out_1638652939169850596[39] = 0.0; + out_1638652939169850596[40] = 0.0; + out_1638652939169850596[41] = 0.0; + out_1638652939169850596[42] = 0.0; + out_1638652939169850596[43] = 0.0; + out_1638652939169850596[44] = 0.0; + out_1638652939169850596[45] = 0.0; + out_1638652939169850596[46] = 0.0; + out_1638652939169850596[47] = 0.0; + out_1638652939169850596[48] = 0.0; + out_1638652939169850596[49] = 0.0; + out_1638652939169850596[50] = 0.0; + out_1638652939169850596[51] = 0.0; + out_1638652939169850596[52] = 0.0; + out_1638652939169850596[53] = 0.0; + out_1638652939169850596[54] = 0.0; + out_1638652939169850596[55] = 0.0; + out_1638652939169850596[56] = 0.0; + out_1638652939169850596[57] = 1.0; + out_1638652939169850596[58] = 0.0; + out_1638652939169850596[59] = 0.0; + out_1638652939169850596[60] = 0.0; + out_1638652939169850596[61] = 0.0; + out_1638652939169850596[62] = 0.0; + out_1638652939169850596[63] = 0.0; + out_1638652939169850596[64] = 0.0; + out_1638652939169850596[65] = 0.0; + out_1638652939169850596[66] = 0.0; + out_1638652939169850596[67] = 0.0; + out_1638652939169850596[68] = 0.0; + out_1638652939169850596[69] = 0.0; + out_1638652939169850596[70] = 0.0; + out_1638652939169850596[71] = 0.0; + out_1638652939169850596[72] = 0.0; + out_1638652939169850596[73] = 0.0; + out_1638652939169850596[74] = 0.0; + out_1638652939169850596[75] = 0.0; + out_1638652939169850596[76] = 1.0; + out_1638652939169850596[77] = 0.0; + out_1638652939169850596[78] = 0.0; + out_1638652939169850596[79] = 0.0; + out_1638652939169850596[80] = 0.0; + out_1638652939169850596[81] = 0.0; + out_1638652939169850596[82] = 0.0; + out_1638652939169850596[83] = 0.0; + out_1638652939169850596[84] = 0.0; + out_1638652939169850596[85] = 0.0; + out_1638652939169850596[86] = 0.0; + out_1638652939169850596[87] = 0.0; + out_1638652939169850596[88] = 0.0; + out_1638652939169850596[89] = 0.0; + out_1638652939169850596[90] = 0.0; + out_1638652939169850596[91] = 0.0; + out_1638652939169850596[92] = 0.0; + out_1638652939169850596[93] = 0.0; + out_1638652939169850596[94] = 0.0; + out_1638652939169850596[95] = 1.0; + out_1638652939169850596[96] = 0.0; + out_1638652939169850596[97] = 0.0; + out_1638652939169850596[98] = 0.0; + out_1638652939169850596[99] = 0.0; + out_1638652939169850596[100] = 0.0; + out_1638652939169850596[101] = 0.0; + out_1638652939169850596[102] = 0.0; + out_1638652939169850596[103] = 0.0; + out_1638652939169850596[104] = 0.0; + out_1638652939169850596[105] = 0.0; + out_1638652939169850596[106] = 0.0; + out_1638652939169850596[107] = 0.0; + out_1638652939169850596[108] = 0.0; + out_1638652939169850596[109] = 0.0; + out_1638652939169850596[110] = 0.0; + out_1638652939169850596[111] = 0.0; + out_1638652939169850596[112] = 0.0; + out_1638652939169850596[113] = 0.0; + out_1638652939169850596[114] = 1.0; + out_1638652939169850596[115] = 0.0; + out_1638652939169850596[116] = 0.0; + out_1638652939169850596[117] = 0.0; + out_1638652939169850596[118] = 0.0; + out_1638652939169850596[119] = 0.0; + out_1638652939169850596[120] = 0.0; + out_1638652939169850596[121] = 0.0; + out_1638652939169850596[122] = 0.0; + out_1638652939169850596[123] = 0.0; + out_1638652939169850596[124] = 0.0; + out_1638652939169850596[125] = 0.0; + out_1638652939169850596[126] = 0.0; + out_1638652939169850596[127] = 0.0; + out_1638652939169850596[128] = 0.0; + out_1638652939169850596[129] = 0.0; + out_1638652939169850596[130] = 0.0; + out_1638652939169850596[131] = 0.0; + out_1638652939169850596[132] = 0.0; + out_1638652939169850596[133] = 1.0; + out_1638652939169850596[134] = 0.0; + out_1638652939169850596[135] = 0.0; + out_1638652939169850596[136] = 0.0; + out_1638652939169850596[137] = 0.0; + out_1638652939169850596[138] = 0.0; + out_1638652939169850596[139] = 0.0; + out_1638652939169850596[140] = 0.0; + out_1638652939169850596[141] = 0.0; + out_1638652939169850596[142] = 0.0; + out_1638652939169850596[143] = 0.0; + out_1638652939169850596[144] = 0.0; + out_1638652939169850596[145] = 0.0; + out_1638652939169850596[146] = 0.0; + out_1638652939169850596[147] = 0.0; + out_1638652939169850596[148] = 0.0; + out_1638652939169850596[149] = 0.0; + out_1638652939169850596[150] = 0.0; + out_1638652939169850596[151] = 0.0; + out_1638652939169850596[152] = 1.0; + out_1638652939169850596[153] = 0.0; + out_1638652939169850596[154] = 0.0; + out_1638652939169850596[155] = 0.0; + out_1638652939169850596[156] = 0.0; + out_1638652939169850596[157] = 0.0; + out_1638652939169850596[158] = 0.0; + out_1638652939169850596[159] = 0.0; + out_1638652939169850596[160] = 0.0; + out_1638652939169850596[161] = 0.0; + out_1638652939169850596[162] = 0.0; + out_1638652939169850596[163] = 0.0; + out_1638652939169850596[164] = 0.0; + out_1638652939169850596[165] = 0.0; + out_1638652939169850596[166] = 0.0; + out_1638652939169850596[167] = 0.0; + out_1638652939169850596[168] = 0.0; + out_1638652939169850596[169] = 0.0; + out_1638652939169850596[170] = 0.0; + out_1638652939169850596[171] = 1.0; + out_1638652939169850596[172] = 0.0; + out_1638652939169850596[173] = 0.0; + out_1638652939169850596[174] = 0.0; + out_1638652939169850596[175] = 0.0; + out_1638652939169850596[176] = 0.0; + out_1638652939169850596[177] = 0.0; + out_1638652939169850596[178] = 0.0; + out_1638652939169850596[179] = 0.0; + out_1638652939169850596[180] = 0.0; + out_1638652939169850596[181] = 0.0; + out_1638652939169850596[182] = 0.0; + out_1638652939169850596[183] = 0.0; + out_1638652939169850596[184] = 0.0; + out_1638652939169850596[185] = 0.0; + out_1638652939169850596[186] = 0.0; + out_1638652939169850596[187] = 0.0; + out_1638652939169850596[188] = 0.0; + out_1638652939169850596[189] = 0.0; + out_1638652939169850596[190] = 1.0; + out_1638652939169850596[191] = 0.0; + out_1638652939169850596[192] = 0.0; + out_1638652939169850596[193] = 0.0; + out_1638652939169850596[194] = 0.0; + out_1638652939169850596[195] = 0.0; + out_1638652939169850596[196] = 0.0; + out_1638652939169850596[197] = 0.0; + out_1638652939169850596[198] = 0.0; + out_1638652939169850596[199] = 0.0; + out_1638652939169850596[200] = 0.0; + out_1638652939169850596[201] = 0.0; + out_1638652939169850596[202] = 0.0; + out_1638652939169850596[203] = 0.0; + out_1638652939169850596[204] = 0.0; + out_1638652939169850596[205] = 0.0; + out_1638652939169850596[206] = 0.0; + out_1638652939169850596[207] = 0.0; + out_1638652939169850596[208] = 0.0; + out_1638652939169850596[209] = 1.0; + out_1638652939169850596[210] = 0.0; + out_1638652939169850596[211] = 0.0; + out_1638652939169850596[212] = 0.0; + out_1638652939169850596[213] = 0.0; + out_1638652939169850596[214] = 0.0; + out_1638652939169850596[215] = 0.0; + out_1638652939169850596[216] = 0.0; + out_1638652939169850596[217] = 0.0; + out_1638652939169850596[218] = 0.0; + out_1638652939169850596[219] = 0.0; + out_1638652939169850596[220] = 0.0; + out_1638652939169850596[221] = 0.0; + out_1638652939169850596[222] = 0.0; + out_1638652939169850596[223] = 0.0; + out_1638652939169850596[224] = 0.0; + out_1638652939169850596[225] = 0.0; + out_1638652939169850596[226] = 0.0; + out_1638652939169850596[227] = 0.0; + out_1638652939169850596[228] = 1.0; + out_1638652939169850596[229] = 0.0; + out_1638652939169850596[230] = 0.0; + out_1638652939169850596[231] = 0.0; + out_1638652939169850596[232] = 0.0; + out_1638652939169850596[233] = 0.0; + out_1638652939169850596[234] = 0.0; + out_1638652939169850596[235] = 0.0; + out_1638652939169850596[236] = 0.0; + out_1638652939169850596[237] = 0.0; + out_1638652939169850596[238] = 0.0; + out_1638652939169850596[239] = 0.0; + out_1638652939169850596[240] = 0.0; + out_1638652939169850596[241] = 0.0; + out_1638652939169850596[242] = 0.0; + out_1638652939169850596[243] = 0.0; + out_1638652939169850596[244] = 0.0; + out_1638652939169850596[245] = 0.0; + out_1638652939169850596[246] = 0.0; + out_1638652939169850596[247] = 1.0; + out_1638652939169850596[248] = 0.0; + out_1638652939169850596[249] = 0.0; + out_1638652939169850596[250] = 0.0; + out_1638652939169850596[251] = 0.0; + out_1638652939169850596[252] = 0.0; + out_1638652939169850596[253] = 0.0; + out_1638652939169850596[254] = 0.0; + out_1638652939169850596[255] = 0.0; + out_1638652939169850596[256] = 0.0; + out_1638652939169850596[257] = 0.0; + out_1638652939169850596[258] = 0.0; + out_1638652939169850596[259] = 0.0; + out_1638652939169850596[260] = 0.0; + out_1638652939169850596[261] = 0.0; + out_1638652939169850596[262] = 0.0; + out_1638652939169850596[263] = 0.0; + out_1638652939169850596[264] = 0.0; + out_1638652939169850596[265] = 0.0; + out_1638652939169850596[266] = 1.0; + out_1638652939169850596[267] = 0.0; + out_1638652939169850596[268] = 0.0; + out_1638652939169850596[269] = 0.0; + out_1638652939169850596[270] = 0.0; + out_1638652939169850596[271] = 0.0; + out_1638652939169850596[272] = 0.0; + out_1638652939169850596[273] = 0.0; + out_1638652939169850596[274] = 0.0; + out_1638652939169850596[275] = 0.0; + out_1638652939169850596[276] = 0.0; + out_1638652939169850596[277] = 0.0; + out_1638652939169850596[278] = 0.0; + out_1638652939169850596[279] = 0.0; + out_1638652939169850596[280] = 0.0; + out_1638652939169850596[281] = 0.0; + out_1638652939169850596[282] = 0.0; + out_1638652939169850596[283] = 0.0; + out_1638652939169850596[284] = 0.0; + out_1638652939169850596[285] = 1.0; + out_1638652939169850596[286] = 0.0; + out_1638652939169850596[287] = 0.0; + out_1638652939169850596[288] = 0.0; + out_1638652939169850596[289] = 0.0; + out_1638652939169850596[290] = 0.0; + out_1638652939169850596[291] = 0.0; + out_1638652939169850596[292] = 0.0; + out_1638652939169850596[293] = 0.0; + out_1638652939169850596[294] = 0.0; + out_1638652939169850596[295] = 0.0; + out_1638652939169850596[296] = 0.0; + out_1638652939169850596[297] = 0.0; + out_1638652939169850596[298] = 0.0; + out_1638652939169850596[299] = 0.0; + out_1638652939169850596[300] = 0.0; + out_1638652939169850596[301] = 0.0; + out_1638652939169850596[302] = 0.0; + out_1638652939169850596[303] = 0.0; + out_1638652939169850596[304] = 1.0; + out_1638652939169850596[305] = 0.0; + out_1638652939169850596[306] = 0.0; + out_1638652939169850596[307] = 0.0; + out_1638652939169850596[308] = 0.0; + out_1638652939169850596[309] = 0.0; + out_1638652939169850596[310] = 0.0; + out_1638652939169850596[311] = 0.0; + out_1638652939169850596[312] = 0.0; + out_1638652939169850596[313] = 0.0; + out_1638652939169850596[314] = 0.0; + out_1638652939169850596[315] = 0.0; + out_1638652939169850596[316] = 0.0; + out_1638652939169850596[317] = 0.0; + out_1638652939169850596[318] = 0.0; + out_1638652939169850596[319] = 0.0; + out_1638652939169850596[320] = 0.0; + out_1638652939169850596[321] = 0.0; + out_1638652939169850596[322] = 0.0; + out_1638652939169850596[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5431061979149799049) { - out_5431061979149799049[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_5431061979149799049[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_5431061979149799049[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_5431061979149799049[3] = dt*state[12] + state[3]; - out_5431061979149799049[4] = dt*state[13] + state[4]; - out_5431061979149799049[5] = dt*state[14] + state[5]; - out_5431061979149799049[6] = state[6]; - out_5431061979149799049[7] = state[7]; - out_5431061979149799049[8] = state[8]; - out_5431061979149799049[9] = state[9]; - out_5431061979149799049[10] = state[10]; - out_5431061979149799049[11] = state[11]; - out_5431061979149799049[12] = state[12]; - out_5431061979149799049[13] = state[13]; - out_5431061979149799049[14] = state[14]; - out_5431061979149799049[15] = state[15]; - out_5431061979149799049[16] = state[16]; - out_5431061979149799049[17] = state[17]; +void f_fun(double *state, double dt, double *out_2831397313375340905) { + out_2831397313375340905[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_2831397313375340905[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_2831397313375340905[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_2831397313375340905[3] = dt*state[12] + state[3]; + out_2831397313375340905[4] = dt*state[13] + state[4]; + out_2831397313375340905[5] = dt*state[14] + state[5]; + out_2831397313375340905[6] = state[6]; + out_2831397313375340905[7] = state[7]; + out_2831397313375340905[8] = state[8]; + out_2831397313375340905[9] = state[9]; + out_2831397313375340905[10] = state[10]; + out_2831397313375340905[11] = state[11]; + out_2831397313375340905[12] = state[12]; + out_2831397313375340905[13] = state[13]; + out_2831397313375340905[14] = state[14]; + out_2831397313375340905[15] = state[15]; + out_2831397313375340905[16] = state[16]; + out_2831397313375340905[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7283706501583847587) { - out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[2] = 0; - out_7283706501583847587[3] = 0; - out_7283706501583847587[4] = 0; - out_7283706501583847587[5] = 0; - out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[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_7283706501583847587[9] = 0; - out_7283706501583847587[10] = 0; - out_7283706501583847587[11] = 0; - out_7283706501583847587[12] = 0; - out_7283706501583847587[13] = 0; - out_7283706501583847587[14] = 0; - out_7283706501583847587[15] = 0; - out_7283706501583847587[16] = 0; - out_7283706501583847587[17] = 0; - out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[20] = 0; - out_7283706501583847587[21] = 0; - out_7283706501583847587[22] = 0; - out_7283706501583847587[23] = 0; - out_7283706501583847587[24] = 0; - out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[27] = 0; - out_7283706501583847587[28] = 0; - out_7283706501583847587[29] = 0; - out_7283706501583847587[30] = 0; - out_7283706501583847587[31] = 0; - out_7283706501583847587[32] = 0; - out_7283706501583847587[33] = 0; - out_7283706501583847587[34] = 0; - out_7283706501583847587[35] = 0; - out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[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_7283706501583847587[39] = 0; - out_7283706501583847587[40] = 0; - out_7283706501583847587[41] = 0; - out_7283706501583847587[42] = 0; - out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[45] = 0; - out_7283706501583847587[46] = 0; - out_7283706501583847587[47] = 0; - out_7283706501583847587[48] = 0; - out_7283706501583847587[49] = 0; - out_7283706501583847587[50] = 0; - out_7283706501583847587[51] = 0; - out_7283706501583847587[52] = 0; - out_7283706501583847587[53] = 0; - out_7283706501583847587[54] = 0; - out_7283706501583847587[55] = 0; - out_7283706501583847587[56] = 0; - out_7283706501583847587[57] = 1; - out_7283706501583847587[58] = 0; - out_7283706501583847587[59] = 0; - out_7283706501583847587[60] = 0; - out_7283706501583847587[61] = 0; - out_7283706501583847587[62] = 0; - out_7283706501583847587[63] = 0; - out_7283706501583847587[64] = 0; - out_7283706501583847587[65] = 0; - out_7283706501583847587[66] = dt; - out_7283706501583847587[67] = 0; - out_7283706501583847587[68] = 0; - out_7283706501583847587[69] = 0; - out_7283706501583847587[70] = 0; - out_7283706501583847587[71] = 0; - out_7283706501583847587[72] = 0; - out_7283706501583847587[73] = 0; - out_7283706501583847587[74] = 0; - out_7283706501583847587[75] = 0; - out_7283706501583847587[76] = 1; - out_7283706501583847587[77] = 0; - out_7283706501583847587[78] = 0; - out_7283706501583847587[79] = 0; - out_7283706501583847587[80] = 0; - out_7283706501583847587[81] = 0; - out_7283706501583847587[82] = 0; - out_7283706501583847587[83] = 0; - out_7283706501583847587[84] = 0; - out_7283706501583847587[85] = dt; - out_7283706501583847587[86] = 0; - out_7283706501583847587[87] = 0; - out_7283706501583847587[88] = 0; - out_7283706501583847587[89] = 0; - out_7283706501583847587[90] = 0; - out_7283706501583847587[91] = 0; - out_7283706501583847587[92] = 0; - out_7283706501583847587[93] = 0; - out_7283706501583847587[94] = 0; - out_7283706501583847587[95] = 1; - out_7283706501583847587[96] = 0; - out_7283706501583847587[97] = 0; - out_7283706501583847587[98] = 0; - out_7283706501583847587[99] = 0; - out_7283706501583847587[100] = 0; - out_7283706501583847587[101] = 0; - out_7283706501583847587[102] = 0; - out_7283706501583847587[103] = 0; - out_7283706501583847587[104] = dt; - out_7283706501583847587[105] = 0; - out_7283706501583847587[106] = 0; - out_7283706501583847587[107] = 0; - out_7283706501583847587[108] = 0; - out_7283706501583847587[109] = 0; - out_7283706501583847587[110] = 0; - out_7283706501583847587[111] = 0; - out_7283706501583847587[112] = 0; - out_7283706501583847587[113] = 0; - out_7283706501583847587[114] = 1; - out_7283706501583847587[115] = 0; - out_7283706501583847587[116] = 0; - out_7283706501583847587[117] = 0; - out_7283706501583847587[118] = 0; - out_7283706501583847587[119] = 0; - out_7283706501583847587[120] = 0; - out_7283706501583847587[121] = 0; - out_7283706501583847587[122] = 0; - out_7283706501583847587[123] = 0; - out_7283706501583847587[124] = 0; - out_7283706501583847587[125] = 0; - out_7283706501583847587[126] = 0; - out_7283706501583847587[127] = 0; - out_7283706501583847587[128] = 0; - out_7283706501583847587[129] = 0; - out_7283706501583847587[130] = 0; - out_7283706501583847587[131] = 0; - out_7283706501583847587[132] = 0; - out_7283706501583847587[133] = 1; - out_7283706501583847587[134] = 0; - out_7283706501583847587[135] = 0; - out_7283706501583847587[136] = 0; - out_7283706501583847587[137] = 0; - out_7283706501583847587[138] = 0; - out_7283706501583847587[139] = 0; - out_7283706501583847587[140] = 0; - out_7283706501583847587[141] = 0; - out_7283706501583847587[142] = 0; - out_7283706501583847587[143] = 0; - out_7283706501583847587[144] = 0; - out_7283706501583847587[145] = 0; - out_7283706501583847587[146] = 0; - out_7283706501583847587[147] = 0; - out_7283706501583847587[148] = 0; - out_7283706501583847587[149] = 0; - out_7283706501583847587[150] = 0; - out_7283706501583847587[151] = 0; - out_7283706501583847587[152] = 1; - out_7283706501583847587[153] = 0; - out_7283706501583847587[154] = 0; - out_7283706501583847587[155] = 0; - out_7283706501583847587[156] = 0; - out_7283706501583847587[157] = 0; - out_7283706501583847587[158] = 0; - out_7283706501583847587[159] = 0; - out_7283706501583847587[160] = 0; - out_7283706501583847587[161] = 0; - out_7283706501583847587[162] = 0; - out_7283706501583847587[163] = 0; - out_7283706501583847587[164] = 0; - out_7283706501583847587[165] = 0; - out_7283706501583847587[166] = 0; - out_7283706501583847587[167] = 0; - out_7283706501583847587[168] = 0; - out_7283706501583847587[169] = 0; - out_7283706501583847587[170] = 0; - out_7283706501583847587[171] = 1; - out_7283706501583847587[172] = 0; - out_7283706501583847587[173] = 0; - out_7283706501583847587[174] = 0; - out_7283706501583847587[175] = 0; - out_7283706501583847587[176] = 0; - out_7283706501583847587[177] = 0; - out_7283706501583847587[178] = 0; - out_7283706501583847587[179] = 0; - out_7283706501583847587[180] = 0; - out_7283706501583847587[181] = 0; - out_7283706501583847587[182] = 0; - out_7283706501583847587[183] = 0; - out_7283706501583847587[184] = 0; - out_7283706501583847587[185] = 0; - out_7283706501583847587[186] = 0; - out_7283706501583847587[187] = 0; - out_7283706501583847587[188] = 0; - out_7283706501583847587[189] = 0; - out_7283706501583847587[190] = 1; - out_7283706501583847587[191] = 0; - out_7283706501583847587[192] = 0; - out_7283706501583847587[193] = 0; - out_7283706501583847587[194] = 0; - out_7283706501583847587[195] = 0; - out_7283706501583847587[196] = 0; - out_7283706501583847587[197] = 0; - out_7283706501583847587[198] = 0; - out_7283706501583847587[199] = 0; - out_7283706501583847587[200] = 0; - out_7283706501583847587[201] = 0; - out_7283706501583847587[202] = 0; - out_7283706501583847587[203] = 0; - out_7283706501583847587[204] = 0; - out_7283706501583847587[205] = 0; - out_7283706501583847587[206] = 0; - out_7283706501583847587[207] = 0; - out_7283706501583847587[208] = 0; - out_7283706501583847587[209] = 1; - out_7283706501583847587[210] = 0; - out_7283706501583847587[211] = 0; - out_7283706501583847587[212] = 0; - out_7283706501583847587[213] = 0; - out_7283706501583847587[214] = 0; - out_7283706501583847587[215] = 0; - out_7283706501583847587[216] = 0; - out_7283706501583847587[217] = 0; - out_7283706501583847587[218] = 0; - out_7283706501583847587[219] = 0; - out_7283706501583847587[220] = 0; - out_7283706501583847587[221] = 0; - out_7283706501583847587[222] = 0; - out_7283706501583847587[223] = 0; - out_7283706501583847587[224] = 0; - out_7283706501583847587[225] = 0; - out_7283706501583847587[226] = 0; - out_7283706501583847587[227] = 0; - out_7283706501583847587[228] = 1; - out_7283706501583847587[229] = 0; - out_7283706501583847587[230] = 0; - out_7283706501583847587[231] = 0; - out_7283706501583847587[232] = 0; - out_7283706501583847587[233] = 0; - out_7283706501583847587[234] = 0; - out_7283706501583847587[235] = 0; - out_7283706501583847587[236] = 0; - out_7283706501583847587[237] = 0; - out_7283706501583847587[238] = 0; - out_7283706501583847587[239] = 0; - out_7283706501583847587[240] = 0; - out_7283706501583847587[241] = 0; - out_7283706501583847587[242] = 0; - out_7283706501583847587[243] = 0; - out_7283706501583847587[244] = 0; - out_7283706501583847587[245] = 0; - out_7283706501583847587[246] = 0; - out_7283706501583847587[247] = 1; - out_7283706501583847587[248] = 0; - out_7283706501583847587[249] = 0; - out_7283706501583847587[250] = 0; - out_7283706501583847587[251] = 0; - out_7283706501583847587[252] = 0; - out_7283706501583847587[253] = 0; - out_7283706501583847587[254] = 0; - out_7283706501583847587[255] = 0; - out_7283706501583847587[256] = 0; - out_7283706501583847587[257] = 0; - out_7283706501583847587[258] = 0; - out_7283706501583847587[259] = 0; - out_7283706501583847587[260] = 0; - out_7283706501583847587[261] = 0; - out_7283706501583847587[262] = 0; - out_7283706501583847587[263] = 0; - out_7283706501583847587[264] = 0; - out_7283706501583847587[265] = 0; - out_7283706501583847587[266] = 1; - out_7283706501583847587[267] = 0; - out_7283706501583847587[268] = 0; - out_7283706501583847587[269] = 0; - out_7283706501583847587[270] = 0; - out_7283706501583847587[271] = 0; - out_7283706501583847587[272] = 0; - out_7283706501583847587[273] = 0; - out_7283706501583847587[274] = 0; - out_7283706501583847587[275] = 0; - out_7283706501583847587[276] = 0; - out_7283706501583847587[277] = 0; - out_7283706501583847587[278] = 0; - out_7283706501583847587[279] = 0; - out_7283706501583847587[280] = 0; - out_7283706501583847587[281] = 0; - out_7283706501583847587[282] = 0; - out_7283706501583847587[283] = 0; - out_7283706501583847587[284] = 0; - out_7283706501583847587[285] = 1; - out_7283706501583847587[286] = 0; - out_7283706501583847587[287] = 0; - out_7283706501583847587[288] = 0; - out_7283706501583847587[289] = 0; - out_7283706501583847587[290] = 0; - out_7283706501583847587[291] = 0; - out_7283706501583847587[292] = 0; - out_7283706501583847587[293] = 0; - out_7283706501583847587[294] = 0; - out_7283706501583847587[295] = 0; - out_7283706501583847587[296] = 0; - out_7283706501583847587[297] = 0; - out_7283706501583847587[298] = 0; - out_7283706501583847587[299] = 0; - out_7283706501583847587[300] = 0; - out_7283706501583847587[301] = 0; - out_7283706501583847587[302] = 0; - out_7283706501583847587[303] = 0; - out_7283706501583847587[304] = 1; - out_7283706501583847587[305] = 0; - out_7283706501583847587[306] = 0; - out_7283706501583847587[307] = 0; - out_7283706501583847587[308] = 0; - out_7283706501583847587[309] = 0; - out_7283706501583847587[310] = 0; - out_7283706501583847587[311] = 0; - out_7283706501583847587[312] = 0; - out_7283706501583847587[313] = 0; - out_7283706501583847587[314] = 0; - out_7283706501583847587[315] = 0; - out_7283706501583847587[316] = 0; - out_7283706501583847587[317] = 0; - out_7283706501583847587[318] = 0; - out_7283706501583847587[319] = 0; - out_7283706501583847587[320] = 0; - out_7283706501583847587[321] = 0; - out_7283706501583847587[322] = 0; - out_7283706501583847587[323] = 1; +void F_fun(double *state, double dt, double *out_852487606375420018) { + out_852487606375420018[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_852487606375420018[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_852487606375420018[2] = 0; + out_852487606375420018[3] = 0; + out_852487606375420018[4] = 0; + out_852487606375420018[5] = 0; + out_852487606375420018[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_852487606375420018[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_852487606375420018[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_852487606375420018[9] = 0; + out_852487606375420018[10] = 0; + out_852487606375420018[11] = 0; + out_852487606375420018[12] = 0; + out_852487606375420018[13] = 0; + out_852487606375420018[14] = 0; + out_852487606375420018[15] = 0; + out_852487606375420018[16] = 0; + out_852487606375420018[17] = 0; + out_852487606375420018[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_852487606375420018[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_852487606375420018[20] = 0; + out_852487606375420018[21] = 0; + out_852487606375420018[22] = 0; + out_852487606375420018[23] = 0; + out_852487606375420018[24] = 0; + out_852487606375420018[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_852487606375420018[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_852487606375420018[27] = 0; + out_852487606375420018[28] = 0; + out_852487606375420018[29] = 0; + out_852487606375420018[30] = 0; + out_852487606375420018[31] = 0; + out_852487606375420018[32] = 0; + out_852487606375420018[33] = 0; + out_852487606375420018[34] = 0; + out_852487606375420018[35] = 0; + out_852487606375420018[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_852487606375420018[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_852487606375420018[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_852487606375420018[39] = 0; + out_852487606375420018[40] = 0; + out_852487606375420018[41] = 0; + out_852487606375420018[42] = 0; + out_852487606375420018[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_852487606375420018[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_852487606375420018[45] = 0; + out_852487606375420018[46] = 0; + out_852487606375420018[47] = 0; + out_852487606375420018[48] = 0; + out_852487606375420018[49] = 0; + out_852487606375420018[50] = 0; + out_852487606375420018[51] = 0; + out_852487606375420018[52] = 0; + out_852487606375420018[53] = 0; + out_852487606375420018[54] = 0; + out_852487606375420018[55] = 0; + out_852487606375420018[56] = 0; + out_852487606375420018[57] = 1; + out_852487606375420018[58] = 0; + out_852487606375420018[59] = 0; + out_852487606375420018[60] = 0; + out_852487606375420018[61] = 0; + out_852487606375420018[62] = 0; + out_852487606375420018[63] = 0; + out_852487606375420018[64] = 0; + out_852487606375420018[65] = 0; + out_852487606375420018[66] = dt; + out_852487606375420018[67] = 0; + out_852487606375420018[68] = 0; + out_852487606375420018[69] = 0; + out_852487606375420018[70] = 0; + out_852487606375420018[71] = 0; + out_852487606375420018[72] = 0; + out_852487606375420018[73] = 0; + out_852487606375420018[74] = 0; + out_852487606375420018[75] = 0; + out_852487606375420018[76] = 1; + out_852487606375420018[77] = 0; + out_852487606375420018[78] = 0; + out_852487606375420018[79] = 0; + out_852487606375420018[80] = 0; + out_852487606375420018[81] = 0; + out_852487606375420018[82] = 0; + out_852487606375420018[83] = 0; + out_852487606375420018[84] = 0; + out_852487606375420018[85] = dt; + out_852487606375420018[86] = 0; + out_852487606375420018[87] = 0; + out_852487606375420018[88] = 0; + out_852487606375420018[89] = 0; + out_852487606375420018[90] = 0; + out_852487606375420018[91] = 0; + out_852487606375420018[92] = 0; + out_852487606375420018[93] = 0; + out_852487606375420018[94] = 0; + out_852487606375420018[95] = 1; + out_852487606375420018[96] = 0; + out_852487606375420018[97] = 0; + out_852487606375420018[98] = 0; + out_852487606375420018[99] = 0; + out_852487606375420018[100] = 0; + out_852487606375420018[101] = 0; + out_852487606375420018[102] = 0; + out_852487606375420018[103] = 0; + out_852487606375420018[104] = dt; + out_852487606375420018[105] = 0; + out_852487606375420018[106] = 0; + out_852487606375420018[107] = 0; + out_852487606375420018[108] = 0; + out_852487606375420018[109] = 0; + out_852487606375420018[110] = 0; + out_852487606375420018[111] = 0; + out_852487606375420018[112] = 0; + out_852487606375420018[113] = 0; + out_852487606375420018[114] = 1; + out_852487606375420018[115] = 0; + out_852487606375420018[116] = 0; + out_852487606375420018[117] = 0; + out_852487606375420018[118] = 0; + out_852487606375420018[119] = 0; + out_852487606375420018[120] = 0; + out_852487606375420018[121] = 0; + out_852487606375420018[122] = 0; + out_852487606375420018[123] = 0; + out_852487606375420018[124] = 0; + out_852487606375420018[125] = 0; + out_852487606375420018[126] = 0; + out_852487606375420018[127] = 0; + out_852487606375420018[128] = 0; + out_852487606375420018[129] = 0; + out_852487606375420018[130] = 0; + out_852487606375420018[131] = 0; + out_852487606375420018[132] = 0; + out_852487606375420018[133] = 1; + out_852487606375420018[134] = 0; + out_852487606375420018[135] = 0; + out_852487606375420018[136] = 0; + out_852487606375420018[137] = 0; + out_852487606375420018[138] = 0; + out_852487606375420018[139] = 0; + out_852487606375420018[140] = 0; + out_852487606375420018[141] = 0; + out_852487606375420018[142] = 0; + out_852487606375420018[143] = 0; + out_852487606375420018[144] = 0; + out_852487606375420018[145] = 0; + out_852487606375420018[146] = 0; + out_852487606375420018[147] = 0; + out_852487606375420018[148] = 0; + out_852487606375420018[149] = 0; + out_852487606375420018[150] = 0; + out_852487606375420018[151] = 0; + out_852487606375420018[152] = 1; + out_852487606375420018[153] = 0; + out_852487606375420018[154] = 0; + out_852487606375420018[155] = 0; + out_852487606375420018[156] = 0; + out_852487606375420018[157] = 0; + out_852487606375420018[158] = 0; + out_852487606375420018[159] = 0; + out_852487606375420018[160] = 0; + out_852487606375420018[161] = 0; + out_852487606375420018[162] = 0; + out_852487606375420018[163] = 0; + out_852487606375420018[164] = 0; + out_852487606375420018[165] = 0; + out_852487606375420018[166] = 0; + out_852487606375420018[167] = 0; + out_852487606375420018[168] = 0; + out_852487606375420018[169] = 0; + out_852487606375420018[170] = 0; + out_852487606375420018[171] = 1; + out_852487606375420018[172] = 0; + out_852487606375420018[173] = 0; + out_852487606375420018[174] = 0; + out_852487606375420018[175] = 0; + out_852487606375420018[176] = 0; + out_852487606375420018[177] = 0; + out_852487606375420018[178] = 0; + out_852487606375420018[179] = 0; + out_852487606375420018[180] = 0; + out_852487606375420018[181] = 0; + out_852487606375420018[182] = 0; + out_852487606375420018[183] = 0; + out_852487606375420018[184] = 0; + out_852487606375420018[185] = 0; + out_852487606375420018[186] = 0; + out_852487606375420018[187] = 0; + out_852487606375420018[188] = 0; + out_852487606375420018[189] = 0; + out_852487606375420018[190] = 1; + out_852487606375420018[191] = 0; + out_852487606375420018[192] = 0; + out_852487606375420018[193] = 0; + out_852487606375420018[194] = 0; + out_852487606375420018[195] = 0; + out_852487606375420018[196] = 0; + out_852487606375420018[197] = 0; + out_852487606375420018[198] = 0; + out_852487606375420018[199] = 0; + out_852487606375420018[200] = 0; + out_852487606375420018[201] = 0; + out_852487606375420018[202] = 0; + out_852487606375420018[203] = 0; + out_852487606375420018[204] = 0; + out_852487606375420018[205] = 0; + out_852487606375420018[206] = 0; + out_852487606375420018[207] = 0; + out_852487606375420018[208] = 0; + out_852487606375420018[209] = 1; + out_852487606375420018[210] = 0; + out_852487606375420018[211] = 0; + out_852487606375420018[212] = 0; + out_852487606375420018[213] = 0; + out_852487606375420018[214] = 0; + out_852487606375420018[215] = 0; + out_852487606375420018[216] = 0; + out_852487606375420018[217] = 0; + out_852487606375420018[218] = 0; + out_852487606375420018[219] = 0; + out_852487606375420018[220] = 0; + out_852487606375420018[221] = 0; + out_852487606375420018[222] = 0; + out_852487606375420018[223] = 0; + out_852487606375420018[224] = 0; + out_852487606375420018[225] = 0; + out_852487606375420018[226] = 0; + out_852487606375420018[227] = 0; + out_852487606375420018[228] = 1; + out_852487606375420018[229] = 0; + out_852487606375420018[230] = 0; + out_852487606375420018[231] = 0; + out_852487606375420018[232] = 0; + out_852487606375420018[233] = 0; + out_852487606375420018[234] = 0; + out_852487606375420018[235] = 0; + out_852487606375420018[236] = 0; + out_852487606375420018[237] = 0; + out_852487606375420018[238] = 0; + out_852487606375420018[239] = 0; + out_852487606375420018[240] = 0; + out_852487606375420018[241] = 0; + out_852487606375420018[242] = 0; + out_852487606375420018[243] = 0; + out_852487606375420018[244] = 0; + out_852487606375420018[245] = 0; + out_852487606375420018[246] = 0; + out_852487606375420018[247] = 1; + out_852487606375420018[248] = 0; + out_852487606375420018[249] = 0; + out_852487606375420018[250] = 0; + out_852487606375420018[251] = 0; + out_852487606375420018[252] = 0; + out_852487606375420018[253] = 0; + out_852487606375420018[254] = 0; + out_852487606375420018[255] = 0; + out_852487606375420018[256] = 0; + out_852487606375420018[257] = 0; + out_852487606375420018[258] = 0; + out_852487606375420018[259] = 0; + out_852487606375420018[260] = 0; + out_852487606375420018[261] = 0; + out_852487606375420018[262] = 0; + out_852487606375420018[263] = 0; + out_852487606375420018[264] = 0; + out_852487606375420018[265] = 0; + out_852487606375420018[266] = 1; + out_852487606375420018[267] = 0; + out_852487606375420018[268] = 0; + out_852487606375420018[269] = 0; + out_852487606375420018[270] = 0; + out_852487606375420018[271] = 0; + out_852487606375420018[272] = 0; + out_852487606375420018[273] = 0; + out_852487606375420018[274] = 0; + out_852487606375420018[275] = 0; + out_852487606375420018[276] = 0; + out_852487606375420018[277] = 0; + out_852487606375420018[278] = 0; + out_852487606375420018[279] = 0; + out_852487606375420018[280] = 0; + out_852487606375420018[281] = 0; + out_852487606375420018[282] = 0; + out_852487606375420018[283] = 0; + out_852487606375420018[284] = 0; + out_852487606375420018[285] = 1; + out_852487606375420018[286] = 0; + out_852487606375420018[287] = 0; + out_852487606375420018[288] = 0; + out_852487606375420018[289] = 0; + out_852487606375420018[290] = 0; + out_852487606375420018[291] = 0; + out_852487606375420018[292] = 0; + out_852487606375420018[293] = 0; + out_852487606375420018[294] = 0; + out_852487606375420018[295] = 0; + out_852487606375420018[296] = 0; + out_852487606375420018[297] = 0; + out_852487606375420018[298] = 0; + out_852487606375420018[299] = 0; + out_852487606375420018[300] = 0; + out_852487606375420018[301] = 0; + out_852487606375420018[302] = 0; + out_852487606375420018[303] = 0; + out_852487606375420018[304] = 1; + out_852487606375420018[305] = 0; + out_852487606375420018[306] = 0; + out_852487606375420018[307] = 0; + out_852487606375420018[308] = 0; + out_852487606375420018[309] = 0; + out_852487606375420018[310] = 0; + out_852487606375420018[311] = 0; + out_852487606375420018[312] = 0; + out_852487606375420018[313] = 0; + out_852487606375420018[314] = 0; + out_852487606375420018[315] = 0; + out_852487606375420018[316] = 0; + out_852487606375420018[317] = 0; + out_852487606375420018[318] = 0; + out_852487606375420018[319] = 0; + out_852487606375420018[320] = 0; + out_852487606375420018[321] = 0; + out_852487606375420018[322] = 0; + out_852487606375420018[323] = 1; } -void h_4(double *state, double *unused, double *out_1801795458370807617) { - out_1801795458370807617[0] = state[6] + state[9]; - out_1801795458370807617[1] = state[7] + state[10]; - out_1801795458370807617[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6027168379751608829) { + out_6027168379751608829[0] = state[6] + state[9]; + out_6027168379751608829[1] = state[7] + state[10]; + out_6027168379751608829[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1671243425982092105) { - out_1671243425982092105[0] = 0; - out_1671243425982092105[1] = 0; - out_1671243425982092105[2] = 0; - out_1671243425982092105[3] = 0; - out_1671243425982092105[4] = 0; - out_1671243425982092105[5] = 0; - out_1671243425982092105[6] = 1; - out_1671243425982092105[7] = 0; - out_1671243425982092105[8] = 0; - out_1671243425982092105[9] = 1; - out_1671243425982092105[10] = 0; - out_1671243425982092105[11] = 0; - out_1671243425982092105[12] = 0; - out_1671243425982092105[13] = 0; - out_1671243425982092105[14] = 0; - out_1671243425982092105[15] = 0; - out_1671243425982092105[16] = 0; - out_1671243425982092105[17] = 0; - out_1671243425982092105[18] = 0; - out_1671243425982092105[19] = 0; - out_1671243425982092105[20] = 0; - out_1671243425982092105[21] = 0; - out_1671243425982092105[22] = 0; - out_1671243425982092105[23] = 0; - out_1671243425982092105[24] = 0; - out_1671243425982092105[25] = 1; - out_1671243425982092105[26] = 0; - out_1671243425982092105[27] = 0; - out_1671243425982092105[28] = 1; - out_1671243425982092105[29] = 0; - out_1671243425982092105[30] = 0; - out_1671243425982092105[31] = 0; - out_1671243425982092105[32] = 0; - out_1671243425982092105[33] = 0; - out_1671243425982092105[34] = 0; - out_1671243425982092105[35] = 0; - out_1671243425982092105[36] = 0; - out_1671243425982092105[37] = 0; - out_1671243425982092105[38] = 0; - out_1671243425982092105[39] = 0; - out_1671243425982092105[40] = 0; - out_1671243425982092105[41] = 0; - out_1671243425982092105[42] = 0; - out_1671243425982092105[43] = 0; - out_1671243425982092105[44] = 1; - out_1671243425982092105[45] = 0; - out_1671243425982092105[46] = 0; - out_1671243425982092105[47] = 1; - out_1671243425982092105[48] = 0; - out_1671243425982092105[49] = 0; - out_1671243425982092105[50] = 0; - out_1671243425982092105[51] = 0; - out_1671243425982092105[52] = 0; - out_1671243425982092105[53] = 0; +void H_4(double *state, double *unused, double *out_4209428867582108125) { + out_4209428867582108125[0] = 0; + out_4209428867582108125[1] = 0; + out_4209428867582108125[2] = 0; + out_4209428867582108125[3] = 0; + out_4209428867582108125[4] = 0; + out_4209428867582108125[5] = 0; + out_4209428867582108125[6] = 1; + out_4209428867582108125[7] = 0; + out_4209428867582108125[8] = 0; + out_4209428867582108125[9] = 1; + out_4209428867582108125[10] = 0; + out_4209428867582108125[11] = 0; + out_4209428867582108125[12] = 0; + out_4209428867582108125[13] = 0; + out_4209428867582108125[14] = 0; + out_4209428867582108125[15] = 0; + out_4209428867582108125[16] = 0; + out_4209428867582108125[17] = 0; + out_4209428867582108125[18] = 0; + out_4209428867582108125[19] = 0; + out_4209428867582108125[20] = 0; + out_4209428867582108125[21] = 0; + out_4209428867582108125[22] = 0; + out_4209428867582108125[23] = 0; + out_4209428867582108125[24] = 0; + out_4209428867582108125[25] = 1; + out_4209428867582108125[26] = 0; + out_4209428867582108125[27] = 0; + out_4209428867582108125[28] = 1; + out_4209428867582108125[29] = 0; + out_4209428867582108125[30] = 0; + out_4209428867582108125[31] = 0; + out_4209428867582108125[32] = 0; + out_4209428867582108125[33] = 0; + out_4209428867582108125[34] = 0; + out_4209428867582108125[35] = 0; + out_4209428867582108125[36] = 0; + out_4209428867582108125[37] = 0; + out_4209428867582108125[38] = 0; + out_4209428867582108125[39] = 0; + out_4209428867582108125[40] = 0; + out_4209428867582108125[41] = 0; + out_4209428867582108125[42] = 0; + out_4209428867582108125[43] = 0; + out_4209428867582108125[44] = 1; + out_4209428867582108125[45] = 0; + out_4209428867582108125[46] = 0; + out_4209428867582108125[47] = 1; + out_4209428867582108125[48] = 0; + out_4209428867582108125[49] = 0; + out_4209428867582108125[50] = 0; + out_4209428867582108125[51] = 0; + out_4209428867582108125[52] = 0; + out_4209428867582108125[53] = 0; } -void h_10(double *state, double *unused, double *out_296127658211319494) { - out_296127658211319494[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_296127658211319494[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_296127658211319494[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_744954405419605369) { + out_744954405419605369[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_744954405419605369[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_744954405419605369[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_4354678574143084041) { - out_4354678574143084041[0] = 0; - out_4354678574143084041[1] = 9.8100000000000005*cos(state[1]); - out_4354678574143084041[2] = 0; - out_4354678574143084041[3] = 0; - out_4354678574143084041[4] = -state[8]; - out_4354678574143084041[5] = state[7]; - out_4354678574143084041[6] = 0; - out_4354678574143084041[7] = state[5]; - out_4354678574143084041[8] = -state[4]; - out_4354678574143084041[9] = 0; - out_4354678574143084041[10] = 0; - out_4354678574143084041[11] = 0; - out_4354678574143084041[12] = 1; - out_4354678574143084041[13] = 0; - out_4354678574143084041[14] = 0; - out_4354678574143084041[15] = 1; - out_4354678574143084041[16] = 0; - out_4354678574143084041[17] = 0; - out_4354678574143084041[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4354678574143084041[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4354678574143084041[20] = 0; - out_4354678574143084041[21] = state[8]; - out_4354678574143084041[22] = 0; - out_4354678574143084041[23] = -state[6]; - out_4354678574143084041[24] = -state[5]; - out_4354678574143084041[25] = 0; - out_4354678574143084041[26] = state[3]; - out_4354678574143084041[27] = 0; - out_4354678574143084041[28] = 0; - out_4354678574143084041[29] = 0; - out_4354678574143084041[30] = 0; - out_4354678574143084041[31] = 1; - out_4354678574143084041[32] = 0; - out_4354678574143084041[33] = 0; - out_4354678574143084041[34] = 1; - out_4354678574143084041[35] = 0; - out_4354678574143084041[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4354678574143084041[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4354678574143084041[38] = 0; - out_4354678574143084041[39] = -state[7]; - out_4354678574143084041[40] = state[6]; - out_4354678574143084041[41] = 0; - out_4354678574143084041[42] = state[4]; - out_4354678574143084041[43] = -state[3]; - out_4354678574143084041[44] = 0; - out_4354678574143084041[45] = 0; - out_4354678574143084041[46] = 0; - out_4354678574143084041[47] = 0; - out_4354678574143084041[48] = 0; - out_4354678574143084041[49] = 0; - out_4354678574143084041[50] = 1; - out_4354678574143084041[51] = 0; - out_4354678574143084041[52] = 0; - out_4354678574143084041[53] = 1; +void H_10(double *state, double *unused, double *out_4888049829332208881) { + out_4888049829332208881[0] = 0; + out_4888049829332208881[1] = 9.8100000000000005*cos(state[1]); + out_4888049829332208881[2] = 0; + out_4888049829332208881[3] = 0; + out_4888049829332208881[4] = -state[8]; + out_4888049829332208881[5] = state[7]; + out_4888049829332208881[6] = 0; + out_4888049829332208881[7] = state[5]; + out_4888049829332208881[8] = -state[4]; + out_4888049829332208881[9] = 0; + out_4888049829332208881[10] = 0; + out_4888049829332208881[11] = 0; + out_4888049829332208881[12] = 1; + out_4888049829332208881[13] = 0; + out_4888049829332208881[14] = 0; + out_4888049829332208881[15] = 1; + out_4888049829332208881[16] = 0; + out_4888049829332208881[17] = 0; + out_4888049829332208881[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4888049829332208881[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4888049829332208881[20] = 0; + out_4888049829332208881[21] = state[8]; + out_4888049829332208881[22] = 0; + out_4888049829332208881[23] = -state[6]; + out_4888049829332208881[24] = -state[5]; + out_4888049829332208881[25] = 0; + out_4888049829332208881[26] = state[3]; + out_4888049829332208881[27] = 0; + out_4888049829332208881[28] = 0; + out_4888049829332208881[29] = 0; + out_4888049829332208881[30] = 0; + out_4888049829332208881[31] = 1; + out_4888049829332208881[32] = 0; + out_4888049829332208881[33] = 0; + out_4888049829332208881[34] = 1; + out_4888049829332208881[35] = 0; + out_4888049829332208881[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4888049829332208881[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4888049829332208881[38] = 0; + out_4888049829332208881[39] = -state[7]; + out_4888049829332208881[40] = state[6]; + out_4888049829332208881[41] = 0; + out_4888049829332208881[42] = state[4]; + out_4888049829332208881[43] = -state[3]; + out_4888049829332208881[44] = 0; + out_4888049829332208881[45] = 0; + out_4888049829332208881[46] = 0; + out_4888049829332208881[47] = 0; + out_4888049829332208881[48] = 0; + out_4888049829332208881[49] = 0; + out_4888049829332208881[50] = 1; + out_4888049829332208881[51] = 0; + out_4888049829332208881[52] = 0; + out_4888049829332208881[53] = 1; } -void h_13(double *state, double *unused, double *out_3294015468262232612) { - out_3294015468262232612[0] = state[3]; - out_3294015468262232612[1] = state[4]; - out_3294015468262232612[2] = state[5]; +void h_13(double *state, double *unused, double *out_6652718215234119768) { + out_6652718215234119768[0] = state[3]; + out_6652718215234119768[1] = state[4]; + out_6652718215234119768[2] = state[5]; } -void H_13(double *state, double *unused, double *out_9164869439410758582) { - out_9164869439410758582[0] = 0; - out_9164869439410758582[1] = 0; - out_9164869439410758582[2] = 0; - out_9164869439410758582[3] = 1; - out_9164869439410758582[4] = 0; - out_9164869439410758582[5] = 0; - out_9164869439410758582[6] = 0; - out_9164869439410758582[7] = 0; - out_9164869439410758582[8] = 0; - out_9164869439410758582[9] = 0; - out_9164869439410758582[10] = 0; - out_9164869439410758582[11] = 0; - out_9164869439410758582[12] = 0; - out_9164869439410758582[13] = 0; - out_9164869439410758582[14] = 0; - out_9164869439410758582[15] = 0; - out_9164869439410758582[16] = 0; - out_9164869439410758582[17] = 0; - out_9164869439410758582[18] = 0; - out_9164869439410758582[19] = 0; - out_9164869439410758582[20] = 0; - out_9164869439410758582[21] = 0; - out_9164869439410758582[22] = 1; - out_9164869439410758582[23] = 0; - out_9164869439410758582[24] = 0; - out_9164869439410758582[25] = 0; - out_9164869439410758582[26] = 0; - out_9164869439410758582[27] = 0; - out_9164869439410758582[28] = 0; - out_9164869439410758582[29] = 0; - out_9164869439410758582[30] = 0; - out_9164869439410758582[31] = 0; - out_9164869439410758582[32] = 0; - out_9164869439410758582[33] = 0; - out_9164869439410758582[34] = 0; - out_9164869439410758582[35] = 0; - out_9164869439410758582[36] = 0; - out_9164869439410758582[37] = 0; - out_9164869439410758582[38] = 0; - out_9164869439410758582[39] = 0; - out_9164869439410758582[40] = 0; - out_9164869439410758582[41] = 1; - out_9164869439410758582[42] = 0; - out_9164869439410758582[43] = 0; - out_9164869439410758582[44] = 0; - out_9164869439410758582[45] = 0; - out_9164869439410758582[46] = 0; - out_9164869439410758582[47] = 0; - out_9164869439410758582[48] = 0; - out_9164869439410758582[49] = 0; - out_9164869439410758582[50] = 0; - out_9164869439410758582[51] = 0; - out_9164869439410758582[52] = 0; - out_9164869439410758582[53] = 0; +void H_13(double *state, double *unused, double *out_997155042249775324) { + out_997155042249775324[0] = 0; + out_997155042249775324[1] = 0; + out_997155042249775324[2] = 0; + out_997155042249775324[3] = 1; + out_997155042249775324[4] = 0; + out_997155042249775324[5] = 0; + out_997155042249775324[6] = 0; + out_997155042249775324[7] = 0; + out_997155042249775324[8] = 0; + out_997155042249775324[9] = 0; + out_997155042249775324[10] = 0; + out_997155042249775324[11] = 0; + out_997155042249775324[12] = 0; + out_997155042249775324[13] = 0; + out_997155042249775324[14] = 0; + out_997155042249775324[15] = 0; + out_997155042249775324[16] = 0; + out_997155042249775324[17] = 0; + out_997155042249775324[18] = 0; + out_997155042249775324[19] = 0; + out_997155042249775324[20] = 0; + out_997155042249775324[21] = 0; + out_997155042249775324[22] = 1; + out_997155042249775324[23] = 0; + out_997155042249775324[24] = 0; + out_997155042249775324[25] = 0; + out_997155042249775324[26] = 0; + out_997155042249775324[27] = 0; + out_997155042249775324[28] = 0; + out_997155042249775324[29] = 0; + out_997155042249775324[30] = 0; + out_997155042249775324[31] = 0; + out_997155042249775324[32] = 0; + out_997155042249775324[33] = 0; + out_997155042249775324[34] = 0; + out_997155042249775324[35] = 0; + out_997155042249775324[36] = 0; + out_997155042249775324[37] = 0; + out_997155042249775324[38] = 0; + out_997155042249775324[39] = 0; + out_997155042249775324[40] = 0; + out_997155042249775324[41] = 1; + out_997155042249775324[42] = 0; + out_997155042249775324[43] = 0; + out_997155042249775324[44] = 0; + out_997155042249775324[45] = 0; + out_997155042249775324[46] = 0; + out_997155042249775324[47] = 0; + out_997155042249775324[48] = 0; + out_997155042249775324[49] = 0; + out_997155042249775324[50] = 0; + out_997155042249775324[51] = 0; + out_997155042249775324[52] = 0; + out_997155042249775324[53] = 0; } -void h_14(double *state, double *unused, double *out_467053765268704623) { - out_467053765268704623[0] = state[6]; - out_467053765268704623[1] = state[7]; - out_467053765268704623[2] = state[8]; +void h_14(double *state, double *unused, double *out_7748768270616969343) { + out_7748768270616969343[0] = state[6]; + out_7748768270616969343[1] = state[7]; + out_7748768270616969343[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1411545006313280191) { - out_1411545006313280191[0] = 0; - out_1411545006313280191[1] = 0; - out_1411545006313280191[2] = 0; - out_1411545006313280191[3] = 0; - out_1411545006313280191[4] = 0; - out_1411545006313280191[5] = 0; - out_1411545006313280191[6] = 1; - out_1411545006313280191[7] = 0; - out_1411545006313280191[8] = 0; - out_1411545006313280191[9] = 0; - out_1411545006313280191[10] = 0; - out_1411545006313280191[11] = 0; - out_1411545006313280191[12] = 0; - out_1411545006313280191[13] = 0; - out_1411545006313280191[14] = 0; - out_1411545006313280191[15] = 0; - out_1411545006313280191[16] = 0; - out_1411545006313280191[17] = 0; - out_1411545006313280191[18] = 0; - out_1411545006313280191[19] = 0; - out_1411545006313280191[20] = 0; - out_1411545006313280191[21] = 0; - out_1411545006313280191[22] = 0; - out_1411545006313280191[23] = 0; - out_1411545006313280191[24] = 0; - out_1411545006313280191[25] = 1; - out_1411545006313280191[26] = 0; - out_1411545006313280191[27] = 0; - out_1411545006313280191[28] = 0; - out_1411545006313280191[29] = 0; - out_1411545006313280191[30] = 0; - out_1411545006313280191[31] = 0; - out_1411545006313280191[32] = 0; - out_1411545006313280191[33] = 0; - out_1411545006313280191[34] = 0; - out_1411545006313280191[35] = 0; - out_1411545006313280191[36] = 0; - out_1411545006313280191[37] = 0; - out_1411545006313280191[38] = 0; - out_1411545006313280191[39] = 0; - out_1411545006313280191[40] = 0; - out_1411545006313280191[41] = 0; - out_1411545006313280191[42] = 0; - out_1411545006313280191[43] = 0; - out_1411545006313280191[44] = 1; - out_1411545006313280191[45] = 0; - out_1411545006313280191[46] = 0; - out_1411545006313280191[47] = 0; - out_1411545006313280191[48] = 0; - out_1411545006313280191[49] = 0; - out_1411545006313280191[50] = 0; - out_1411545006313280191[51] = 0; - out_1411545006313280191[52] = 0; - out_1411545006313280191[53] = 0; +void H_14(double *state, double *unused, double *out_4644545394226991724) { + out_4644545394226991724[0] = 0; + out_4644545394226991724[1] = 0; + out_4644545394226991724[2] = 0; + out_4644545394226991724[3] = 0; + out_4644545394226991724[4] = 0; + out_4644545394226991724[5] = 0; + out_4644545394226991724[6] = 1; + out_4644545394226991724[7] = 0; + out_4644545394226991724[8] = 0; + out_4644545394226991724[9] = 0; + out_4644545394226991724[10] = 0; + out_4644545394226991724[11] = 0; + out_4644545394226991724[12] = 0; + out_4644545394226991724[13] = 0; + out_4644545394226991724[14] = 0; + out_4644545394226991724[15] = 0; + out_4644545394226991724[16] = 0; + out_4644545394226991724[17] = 0; + out_4644545394226991724[18] = 0; + out_4644545394226991724[19] = 0; + out_4644545394226991724[20] = 0; + out_4644545394226991724[21] = 0; + out_4644545394226991724[22] = 0; + out_4644545394226991724[23] = 0; + out_4644545394226991724[24] = 0; + out_4644545394226991724[25] = 1; + out_4644545394226991724[26] = 0; + out_4644545394226991724[27] = 0; + out_4644545394226991724[28] = 0; + out_4644545394226991724[29] = 0; + out_4644545394226991724[30] = 0; + out_4644545394226991724[31] = 0; + out_4644545394226991724[32] = 0; + out_4644545394226991724[33] = 0; + out_4644545394226991724[34] = 0; + out_4644545394226991724[35] = 0; + out_4644545394226991724[36] = 0; + out_4644545394226991724[37] = 0; + out_4644545394226991724[38] = 0; + out_4644545394226991724[39] = 0; + out_4644545394226991724[40] = 0; + out_4644545394226991724[41] = 0; + out_4644545394226991724[42] = 0; + out_4644545394226991724[43] = 0; + out_4644545394226991724[44] = 1; + out_4644545394226991724[45] = 0; + out_4644545394226991724[46] = 0; + out_4644545394226991724[47] = 0; + out_4644545394226991724[48] = 0; + out_4644545394226991724[49] = 0; + out_4644545394226991724[50] = 0; + out_4644545394226991724[51] = 0; + out_4644545394226991724[52] = 0; + out_4644545394226991724[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_1384224859777021071) { - err_fun(nom_x, delta_x, out_1384224859777021071); +void pose_err_fun(double *nom_x, double *delta_x, double *out_309314752274053340) { + err_fun(nom_x, delta_x, out_309314752274053340); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6553735098488367695) { - inv_err_fun(nom_x, true_x, out_6553735098488367695); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_651338713617187314) { + inv_err_fun(nom_x, true_x, out_651338713617187314); } -void pose_H_mod_fun(double *state, double *out_7066952806100897033) { - H_mod_fun(state, out_7066952806100897033); +void pose_H_mod_fun(double *state, double *out_1638652939169850596) { + H_mod_fun(state, out_1638652939169850596); } -void pose_f_fun(double *state, double dt, double *out_5431061979149799049) { - f_fun(state, dt, out_5431061979149799049); +void pose_f_fun(double *state, double dt, double *out_2831397313375340905) { + f_fun(state, dt, out_2831397313375340905); } -void pose_F_fun(double *state, double dt, double *out_7283706501583847587) { - F_fun(state, dt, out_7283706501583847587); +void pose_F_fun(double *state, double dt, double *out_852487606375420018) { + F_fun(state, dt, out_852487606375420018); } -void pose_h_4(double *state, double *unused, double *out_1801795458370807617) { - h_4(state, unused, out_1801795458370807617); +void pose_h_4(double *state, double *unused, double *out_6027168379751608829) { + h_4(state, unused, out_6027168379751608829); } -void pose_H_4(double *state, double *unused, double *out_1671243425982092105) { - H_4(state, unused, out_1671243425982092105); +void pose_H_4(double *state, double *unused, double *out_4209428867582108125) { + H_4(state, unused, out_4209428867582108125); } -void pose_h_10(double *state, double *unused, double *out_296127658211319494) { - h_10(state, unused, out_296127658211319494); +void pose_h_10(double *state, double *unused, double *out_744954405419605369) { + h_10(state, unused, out_744954405419605369); } -void pose_H_10(double *state, double *unused, double *out_4354678574143084041) { - H_10(state, unused, out_4354678574143084041); +void pose_H_10(double *state, double *unused, double *out_4888049829332208881) { + H_10(state, unused, out_4888049829332208881); } -void pose_h_13(double *state, double *unused, double *out_3294015468262232612) { - h_13(state, unused, out_3294015468262232612); +void pose_h_13(double *state, double *unused, double *out_6652718215234119768) { + h_13(state, unused, out_6652718215234119768); } -void pose_H_13(double *state, double *unused, double *out_9164869439410758582) { - H_13(state, unused, out_9164869439410758582); +void pose_H_13(double *state, double *unused, double *out_997155042249775324) { + H_13(state, unused, out_997155042249775324); } -void pose_h_14(double *state, double *unused, double *out_467053765268704623) { - h_14(state, unused, out_467053765268704623); +void pose_h_14(double *state, double *unused, double *out_7748768270616969343) { + h_14(state, unused, out_7748768270616969343); } -void pose_H_14(double *state, double *unused, double *out_1411545006313280191) { - H_14(state, unused, out_1411545006313280191); +void pose_H_14(double *state, double *unused, double *out_4644545394226991724) { + H_14(state, unused, out_4644545394226991724); } 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 c66abe81f..0b8b93d67 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_1384224859777021071); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6553735098488367695); -void pose_H_mod_fun(double *state, double *out_7066952806100897033); -void pose_f_fun(double *state, double dt, double *out_5431061979149799049); -void pose_F_fun(double *state, double dt, double *out_7283706501583847587); -void pose_h_4(double *state, double *unused, double *out_1801795458370807617); -void pose_H_4(double *state, double *unused, double *out_1671243425982092105); -void pose_h_10(double *state, double *unused, double *out_296127658211319494); -void pose_H_10(double *state, double *unused, double *out_4354678574143084041); -void pose_h_13(double *state, double *unused, double *out_3294015468262232612); -void pose_H_13(double *state, double *unused, double *out_9164869439410758582); -void pose_h_14(double *state, double *unused, double *out_467053765268704623); -void pose_H_14(double *state, double *unused, double *out_1411545006313280191); +void pose_err_fun(double *nom_x, double *delta_x, double *out_309314752274053340); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_651338713617187314); +void pose_H_mod_fun(double *state, double *out_1638652939169850596); +void pose_f_fun(double *state, double dt, double *out_2831397313375340905); +void pose_F_fun(double *state, double dt, double *out_852487606375420018); +void pose_h_4(double *state, double *unused, double *out_6027168379751608829); +void pose_H_4(double *state, double *unused, double *out_4209428867582108125); +void pose_h_10(double *state, double *unused, double *out_744954405419605369); +void pose_H_10(double *state, double *unused, double *out_4888049829332208881); +void pose_h_13(double *state, double *unused, double *out_6652718215234119768); +void pose_H_13(double *state, double *unused, double *out_997155042249775324); +void pose_h_14(double *state, double *unused, double *out_7748768270616969343); +void pose_H_14(double *state, double *unused, double *out_4644545394226991724); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file