diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 4d7e16728..75894854e 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 c17554901..6107430fe 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 d46863a07..1c05624bf 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 cd3963a83..fda9e08d5 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 bc1003d30..61f078c02 100755 Binary files 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b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 0cc091f0f..79983882c 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 29b2418a7..e5c147678 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-95b6ecec-DEBUG"; +const uint8_t gitversion[19] = "DEV-a30dc40b-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 718847265..745d6c1df 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 164e69462..15adf8a21 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 26f06c124..a28dfa43b 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 84a31c732..1ae367ba9 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 0c7b91d32..e7f334be5 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index 3249e0425..ea6648c26 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 210f0f524..f8c87a7e3 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index d25f354ba..1fd5847ef 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 62e7dd3e5..55402d408 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 6f8e51324..57ff87022 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 61ddf316c..041d3996a 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 94ebcc7d5..581cd7b13 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 7232070d0..5b8f80bfa 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 56375cc5f..a99d89fc6 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 9b0d4e414..53d397d9b 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index b823cace4..ae597217c 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 4712fc6e6..178377d76 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 969a5ac36..d94c5698c 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index f1b3b66b1..f985d3f5b 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 4a019e242..002c0ec24 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index d0667452e..753b3f2d7 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-95b6ecec-DEBUG \ No newline at end of file +DEV-a30dc40b-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 731fca1c5..7f15db977 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_3403548426686276780) { - out_3403548426686276780[0] = delta_x[0] + nom_x[0]; - out_3403548426686276780[1] = delta_x[1] + nom_x[1]; - out_3403548426686276780[2] = delta_x[2] + nom_x[2]; - out_3403548426686276780[3] = delta_x[3] + nom_x[3]; - out_3403548426686276780[4] = delta_x[4] + nom_x[4]; - out_3403548426686276780[5] = delta_x[5] + nom_x[5]; - out_3403548426686276780[6] = delta_x[6] + nom_x[6]; - out_3403548426686276780[7] = delta_x[7] + nom_x[7]; - out_3403548426686276780[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6201369500890241283) { + out_6201369500890241283[0] = delta_x[0] + nom_x[0]; + out_6201369500890241283[1] = delta_x[1] + nom_x[1]; + out_6201369500890241283[2] = delta_x[2] + nom_x[2]; + out_6201369500890241283[3] = delta_x[3] + nom_x[3]; + out_6201369500890241283[4] = delta_x[4] + nom_x[4]; + out_6201369500890241283[5] = delta_x[5] + nom_x[5]; + out_6201369500890241283[6] = delta_x[6] + nom_x[6]; + out_6201369500890241283[7] = delta_x[7] + nom_x[7]; + out_6201369500890241283[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8258286328329043480) { - out_8258286328329043480[0] = -nom_x[0] + true_x[0]; - out_8258286328329043480[1] = -nom_x[1] + true_x[1]; - out_8258286328329043480[2] = -nom_x[2] + true_x[2]; - out_8258286328329043480[3] = -nom_x[3] + true_x[3]; - out_8258286328329043480[4] = -nom_x[4] + true_x[4]; - out_8258286328329043480[5] = -nom_x[5] + true_x[5]; - out_8258286328329043480[6] = -nom_x[6] + true_x[6]; - out_8258286328329043480[7] = -nom_x[7] + true_x[7]; - out_8258286328329043480[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124) { + out_6748403134246456124[0] = -nom_x[0] + true_x[0]; + out_6748403134246456124[1] = -nom_x[1] + true_x[1]; + out_6748403134246456124[2] = -nom_x[2] + true_x[2]; + out_6748403134246456124[3] = -nom_x[3] + true_x[3]; + out_6748403134246456124[4] = -nom_x[4] + true_x[4]; + out_6748403134246456124[5] = -nom_x[5] + true_x[5]; + out_6748403134246456124[6] = -nom_x[6] + true_x[6]; + out_6748403134246456124[7] = -nom_x[7] + true_x[7]; + out_6748403134246456124[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1856540843006378518) { - out_1856540843006378518[0] = 1.0; - out_1856540843006378518[1] = 0.0; - out_1856540843006378518[2] = 0.0; - out_1856540843006378518[3] = 0.0; - out_1856540843006378518[4] = 0.0; - out_1856540843006378518[5] = 0.0; - out_1856540843006378518[6] = 0.0; - out_1856540843006378518[7] = 0.0; - out_1856540843006378518[8] = 0.0; - out_1856540843006378518[9] = 0.0; - out_1856540843006378518[10] = 1.0; - out_1856540843006378518[11] = 0.0; - out_1856540843006378518[12] = 0.0; - out_1856540843006378518[13] = 0.0; - out_1856540843006378518[14] = 0.0; - out_1856540843006378518[15] = 0.0; - out_1856540843006378518[16] = 0.0; - out_1856540843006378518[17] = 0.0; - out_1856540843006378518[18] = 0.0; - out_1856540843006378518[19] = 0.0; - out_1856540843006378518[20] = 1.0; - out_1856540843006378518[21] = 0.0; - out_1856540843006378518[22] = 0.0; - out_1856540843006378518[23] = 0.0; - out_1856540843006378518[24] = 0.0; - out_1856540843006378518[25] = 0.0; - out_1856540843006378518[26] = 0.0; - out_1856540843006378518[27] = 0.0; - out_1856540843006378518[28] = 0.0; - out_1856540843006378518[29] = 0.0; - out_1856540843006378518[30] = 1.0; - out_1856540843006378518[31] = 0.0; - out_1856540843006378518[32] = 0.0; - out_1856540843006378518[33] = 0.0; - out_1856540843006378518[34] = 0.0; - out_1856540843006378518[35] = 0.0; - out_1856540843006378518[36] = 0.0; - out_1856540843006378518[37] = 0.0; - out_1856540843006378518[38] = 0.0; - out_1856540843006378518[39] = 0.0; - out_1856540843006378518[40] = 1.0; - out_1856540843006378518[41] = 0.0; - out_1856540843006378518[42] = 0.0; - out_1856540843006378518[43] = 0.0; - out_1856540843006378518[44] = 0.0; - out_1856540843006378518[45] = 0.0; - out_1856540843006378518[46] = 0.0; - out_1856540843006378518[47] = 0.0; - out_1856540843006378518[48] = 0.0; - out_1856540843006378518[49] = 0.0; - out_1856540843006378518[50] = 1.0; - out_1856540843006378518[51] = 0.0; - out_1856540843006378518[52] = 0.0; - out_1856540843006378518[53] = 0.0; - out_1856540843006378518[54] = 0.0; - out_1856540843006378518[55] = 0.0; - out_1856540843006378518[56] = 0.0; - out_1856540843006378518[57] = 0.0; - out_1856540843006378518[58] = 0.0; - out_1856540843006378518[59] = 0.0; - out_1856540843006378518[60] = 1.0; - out_1856540843006378518[61] = 0.0; - out_1856540843006378518[62] = 0.0; - out_1856540843006378518[63] = 0.0; - out_1856540843006378518[64] = 0.0; - out_1856540843006378518[65] = 0.0; - out_1856540843006378518[66] = 0.0; - out_1856540843006378518[67] = 0.0; - out_1856540843006378518[68] = 0.0; - out_1856540843006378518[69] = 0.0; - out_1856540843006378518[70] = 1.0; - out_1856540843006378518[71] = 0.0; - out_1856540843006378518[72] = 0.0; - out_1856540843006378518[73] = 0.0; - out_1856540843006378518[74] = 0.0; - out_1856540843006378518[75] = 0.0; - out_1856540843006378518[76] = 0.0; - out_1856540843006378518[77] = 0.0; - out_1856540843006378518[78] = 0.0; - out_1856540843006378518[79] = 0.0; - out_1856540843006378518[80] = 1.0; +void H_mod_fun(double *state, double *out_2042585132715859694) { + out_2042585132715859694[0] = 1.0; + out_2042585132715859694[1] = 0.0; + out_2042585132715859694[2] = 0.0; + out_2042585132715859694[3] = 0.0; + out_2042585132715859694[4] = 0.0; + out_2042585132715859694[5] = 0.0; + out_2042585132715859694[6] = 0.0; + out_2042585132715859694[7] = 0.0; + out_2042585132715859694[8] = 0.0; + out_2042585132715859694[9] = 0.0; + out_2042585132715859694[10] = 1.0; + out_2042585132715859694[11] = 0.0; + out_2042585132715859694[12] = 0.0; + out_2042585132715859694[13] = 0.0; + out_2042585132715859694[14] = 0.0; + out_2042585132715859694[15] = 0.0; + out_2042585132715859694[16] = 0.0; + out_2042585132715859694[17] = 0.0; + out_2042585132715859694[18] = 0.0; + out_2042585132715859694[19] = 0.0; + out_2042585132715859694[20] = 1.0; + out_2042585132715859694[21] = 0.0; + out_2042585132715859694[22] = 0.0; + out_2042585132715859694[23] = 0.0; + out_2042585132715859694[24] = 0.0; + out_2042585132715859694[25] = 0.0; + out_2042585132715859694[26] = 0.0; + out_2042585132715859694[27] = 0.0; + out_2042585132715859694[28] = 0.0; + out_2042585132715859694[29] = 0.0; + out_2042585132715859694[30] = 1.0; + out_2042585132715859694[31] = 0.0; + out_2042585132715859694[32] = 0.0; + out_2042585132715859694[33] = 0.0; + out_2042585132715859694[34] = 0.0; + out_2042585132715859694[35] = 0.0; + out_2042585132715859694[36] = 0.0; + out_2042585132715859694[37] = 0.0; + out_2042585132715859694[38] = 0.0; + out_2042585132715859694[39] = 0.0; + out_2042585132715859694[40] = 1.0; + out_2042585132715859694[41] = 0.0; + out_2042585132715859694[42] = 0.0; + out_2042585132715859694[43] = 0.0; + out_2042585132715859694[44] = 0.0; + out_2042585132715859694[45] = 0.0; + out_2042585132715859694[46] = 0.0; + out_2042585132715859694[47] = 0.0; + out_2042585132715859694[48] = 0.0; + out_2042585132715859694[49] = 0.0; + out_2042585132715859694[50] = 1.0; + out_2042585132715859694[51] = 0.0; + out_2042585132715859694[52] = 0.0; + out_2042585132715859694[53] = 0.0; + out_2042585132715859694[54] = 0.0; + out_2042585132715859694[55] = 0.0; + out_2042585132715859694[56] = 0.0; + out_2042585132715859694[57] = 0.0; + out_2042585132715859694[58] = 0.0; + out_2042585132715859694[59] = 0.0; + out_2042585132715859694[60] = 1.0; + out_2042585132715859694[61] = 0.0; + out_2042585132715859694[62] = 0.0; + out_2042585132715859694[63] = 0.0; + out_2042585132715859694[64] = 0.0; + out_2042585132715859694[65] = 0.0; + out_2042585132715859694[66] = 0.0; + out_2042585132715859694[67] = 0.0; + out_2042585132715859694[68] = 0.0; + out_2042585132715859694[69] = 0.0; + out_2042585132715859694[70] = 1.0; + out_2042585132715859694[71] = 0.0; + out_2042585132715859694[72] = 0.0; + out_2042585132715859694[73] = 0.0; + out_2042585132715859694[74] = 0.0; + out_2042585132715859694[75] = 0.0; + out_2042585132715859694[76] = 0.0; + out_2042585132715859694[77] = 0.0; + out_2042585132715859694[78] = 0.0; + out_2042585132715859694[79] = 0.0; + out_2042585132715859694[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2705110536690145384) { - out_2705110536690145384[0] = state[0]; - out_2705110536690145384[1] = state[1]; - out_2705110536690145384[2] = state[2]; - out_2705110536690145384[3] = state[3]; - out_2705110536690145384[4] = state[4]; - out_2705110536690145384[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_2705110536690145384[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_2705110536690145384[7] = state[7]; - out_2705110536690145384[8] = state[8]; +void f_fun(double *state, double dt, double *out_4209455390444840494) { + out_4209455390444840494[0] = state[0]; + out_4209455390444840494[1] = state[1]; + out_4209455390444840494[2] = state[2]; + out_4209455390444840494[3] = state[3]; + out_4209455390444840494[4] = state[4]; + out_4209455390444840494[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_4209455390444840494[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_4209455390444840494[7] = state[7]; + out_4209455390444840494[8] = state[8]; } -void F_fun(double *state, double dt, double *out_8630494868968096727) { - out_8630494868968096727[0] = 1; - out_8630494868968096727[1] = 0; - out_8630494868968096727[2] = 0; - out_8630494868968096727[3] = 0; - out_8630494868968096727[4] = 0; - out_8630494868968096727[5] = 0; - out_8630494868968096727[6] = 0; - out_8630494868968096727[7] = 0; - out_8630494868968096727[8] = 0; - out_8630494868968096727[9] = 0; - out_8630494868968096727[10] = 1; - out_8630494868968096727[11] = 0; - out_8630494868968096727[12] = 0; - out_8630494868968096727[13] = 0; - out_8630494868968096727[14] = 0; - out_8630494868968096727[15] = 0; - out_8630494868968096727[16] = 0; - out_8630494868968096727[17] = 0; - out_8630494868968096727[18] = 0; - out_8630494868968096727[19] = 0; - out_8630494868968096727[20] = 1; - out_8630494868968096727[21] = 0; - out_8630494868968096727[22] = 0; - out_8630494868968096727[23] = 0; - out_8630494868968096727[24] = 0; - out_8630494868968096727[25] = 0; - out_8630494868968096727[26] = 0; - out_8630494868968096727[27] = 0; - out_8630494868968096727[28] = 0; - out_8630494868968096727[29] = 0; - out_8630494868968096727[30] = 1; - out_8630494868968096727[31] = 0; - out_8630494868968096727[32] = 0; - out_8630494868968096727[33] = 0; - out_8630494868968096727[34] = 0; - out_8630494868968096727[35] = 0; - out_8630494868968096727[36] = 0; - out_8630494868968096727[37] = 0; - out_8630494868968096727[38] = 0; - out_8630494868968096727[39] = 0; - out_8630494868968096727[40] = 1; - out_8630494868968096727[41] = 0; - out_8630494868968096727[42] = 0; - out_8630494868968096727[43] = 0; - out_8630494868968096727[44] = 0; - out_8630494868968096727[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_8630494868968096727[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8630494868968096727[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8630494868968096727[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8630494868968096727[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_8630494868968096727[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8630494868968096727[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8630494868968096727[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8630494868968096727[53] = -9.8100000000000005*dt; - out_8630494868968096727[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_8630494868968096727[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8630494868968096727[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8630494868968096727[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8630494868968096727[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_8630494868968096727[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8630494868968096727[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_8630494868968096727[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8630494868968096727[62] = 0; - out_8630494868968096727[63] = 0; - out_8630494868968096727[64] = 0; - out_8630494868968096727[65] = 0; - out_8630494868968096727[66] = 0; - out_8630494868968096727[67] = 0; - out_8630494868968096727[68] = 0; - out_8630494868968096727[69] = 0; - out_8630494868968096727[70] = 1; - out_8630494868968096727[71] = 0; - out_8630494868968096727[72] = 0; - out_8630494868968096727[73] = 0; - out_8630494868968096727[74] = 0; - out_8630494868968096727[75] = 0; - out_8630494868968096727[76] = 0; - out_8630494868968096727[77] = 0; - out_8630494868968096727[78] = 0; - out_8630494868968096727[79] = 0; - out_8630494868968096727[80] = 1; +void F_fun(double *state, double dt, double *out_2724900345805544233) { + out_2724900345805544233[0] = 1; + out_2724900345805544233[1] = 0; + out_2724900345805544233[2] = 0; + out_2724900345805544233[3] = 0; + out_2724900345805544233[4] = 0; + out_2724900345805544233[5] = 0; + out_2724900345805544233[6] = 0; + out_2724900345805544233[7] = 0; + out_2724900345805544233[8] = 0; + out_2724900345805544233[9] = 0; + out_2724900345805544233[10] = 1; + out_2724900345805544233[11] = 0; + out_2724900345805544233[12] = 0; + out_2724900345805544233[13] = 0; + out_2724900345805544233[14] = 0; + out_2724900345805544233[15] = 0; + out_2724900345805544233[16] = 0; + out_2724900345805544233[17] = 0; + out_2724900345805544233[18] = 0; + out_2724900345805544233[19] = 0; + out_2724900345805544233[20] = 1; + out_2724900345805544233[21] = 0; + out_2724900345805544233[22] = 0; + out_2724900345805544233[23] = 0; + out_2724900345805544233[24] = 0; + out_2724900345805544233[25] = 0; + out_2724900345805544233[26] = 0; + out_2724900345805544233[27] = 0; + out_2724900345805544233[28] = 0; + out_2724900345805544233[29] = 0; + out_2724900345805544233[30] = 1; + out_2724900345805544233[31] = 0; + out_2724900345805544233[32] = 0; + out_2724900345805544233[33] = 0; + out_2724900345805544233[34] = 0; + out_2724900345805544233[35] = 0; + out_2724900345805544233[36] = 0; + out_2724900345805544233[37] = 0; + out_2724900345805544233[38] = 0; + out_2724900345805544233[39] = 0; + out_2724900345805544233[40] = 1; + out_2724900345805544233[41] = 0; + out_2724900345805544233[42] = 0; + out_2724900345805544233[43] = 0; + out_2724900345805544233[44] = 0; + out_2724900345805544233[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_2724900345805544233[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2724900345805544233[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2724900345805544233[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2724900345805544233[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_2724900345805544233[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2724900345805544233[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2724900345805544233[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2724900345805544233[53] = -9.8100000000000005*dt; + out_2724900345805544233[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_2724900345805544233[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2724900345805544233[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2724900345805544233[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2724900345805544233[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_2724900345805544233[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2724900345805544233[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_2724900345805544233[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2724900345805544233[62] = 0; + out_2724900345805544233[63] = 0; + out_2724900345805544233[64] = 0; + out_2724900345805544233[65] = 0; + out_2724900345805544233[66] = 0; + out_2724900345805544233[67] = 0; + out_2724900345805544233[68] = 0; + out_2724900345805544233[69] = 0; + out_2724900345805544233[70] = 1; + out_2724900345805544233[71] = 0; + out_2724900345805544233[72] = 0; + out_2724900345805544233[73] = 0; + out_2724900345805544233[74] = 0; + out_2724900345805544233[75] = 0; + out_2724900345805544233[76] = 0; + out_2724900345805544233[77] = 0; + out_2724900345805544233[78] = 0; + out_2724900345805544233[79] = 0; + out_2724900345805544233[80] = 1; } -void h_25(double *state, double *unused, double *out_5878308228618872770) { - out_5878308228618872770[0] = state[6]; +void h_25(double *state, double *unused, double *out_2892803162940124204) { + out_2892803162940124204[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8100833558474599855) { - out_8100833558474599855[0] = 0; - out_8100833558474599855[1] = 0; - out_8100833558474599855[2] = 0; - out_8100833558474599855[3] = 0; - out_8100833558474599855[4] = 0; - out_8100833558474599855[5] = 0; - out_8100833558474599855[6] = 1; - out_8100833558474599855[7] = 0; - out_8100833558474599855[8] = 0; +void H_25(double *state, double *unused, double *out_4054323233890514922) { + out_4054323233890514922[0] = 0; + out_4054323233890514922[1] = 0; + out_4054323233890514922[2] = 0; + out_4054323233890514922[3] = 0; + out_4054323233890514922[4] = 0; + out_4054323233890514922[5] = 0; + out_4054323233890514922[6] = 1; + out_4054323233890514922[7] = 0; + out_4054323233890514922[8] = 0; } -void h_24(double *state, double *unused, double *out_4629452303819786169) { - out_4629452303819786169[0] = state[4]; - out_4629452303819786169[1] = state[5]; +void h_24(double *state, double *unused, double *out_2360383510230698975) { + out_2360383510230698975[0] = state[4]; + out_2360383510230698975[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6363587363837183863) { - out_6363587363837183863[0] = 0; - out_6363587363837183863[1] = 0; - out_6363587363837183863[2] = 0; - out_6363587363837183863[3] = 0; - out_6363587363837183863[4] = 1; - out_6363587363837183863[5] = 0; - out_6363587363837183863[6] = 0; - out_6363587363837183863[7] = 0; - out_6363587363837183863[8] = 0; - out_6363587363837183863[9] = 0; - out_6363587363837183863[10] = 0; - out_6363587363837183863[11] = 0; - out_6363587363837183863[12] = 0; - out_6363587363837183863[13] = 0; - out_6363587363837183863[14] = 1; - out_6363587363837183863[15] = 0; - out_6363587363837183863[16] = 0; - out_6363587363837183863[17] = 0; +void H_24(double *state, double *unused, double *out_1828615449911646360) { + out_1828615449911646360[0] = 0; + out_1828615449911646360[1] = 0; + out_1828615449911646360[2] = 0; + out_1828615449911646360[3] = 0; + out_1828615449911646360[4] = 1; + out_1828615449911646360[5] = 0; + out_1828615449911646360[6] = 0; + out_1828615449911646360[7] = 0; + out_1828615449911646360[8] = 0; + out_1828615449911646360[9] = 0; + out_1828615449911646360[10] = 0; + out_1828615449911646360[11] = 0; + out_1828615449911646360[12] = 0; + out_1828615449911646360[13] = 0; + out_1828615449911646360[14] = 1; + out_1828615449911646360[15] = 0; + out_1828615449911646360[16] = 0; + out_1828615449911646360[17] = 0; } -void h_30(double *state, double *unused, double *out_892526997731478166) { - out_892526997731478166[0] = state[4]; +void h_30(double *state, double *unused, double *out_801115166891129847) { + out_801115166891129847[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5582500599967351228) { - out_5582500599967351228[0] = 0; - out_5582500599967351228[1] = 0; - out_5582500599967351228[2] = 0; - out_5582500599967351228[3] = 0; - out_5582500599967351228[4] = 1; - out_5582500599967351228[5] = 0; - out_5582500599967351228[6] = 0; - out_5582500599967351228[7] = 0; - out_5582500599967351228[8] = 0; +void H_30(double *state, double *unused, double *out_2862367107601101833) { + out_2862367107601101833[0] = 0; + out_2862367107601101833[1] = 0; + out_2862367107601101833[2] = 0; + out_2862367107601101833[3] = 0; + out_2862367107601101833[4] = 1; + out_2862367107601101833[5] = 0; + out_2862367107601101833[6] = 0; + out_2862367107601101833[7] = 0; + out_2862367107601101833[8] = 0; } -void h_26(double *state, double *unused, double *out_275216803344663571) { - out_275216803344663571[0] = state[7]; +void h_26(double *state, double *unused, double *out_1833676042436215552) { + out_1833676042436215552[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6604407196360895537) { - out_6604407196360895537[0] = 0; - out_6604407196360895537[1] = 0; - out_6604407196360895537[2] = 0; - out_6604407196360895537[3] = 0; - out_6604407196360895537[4] = 0; - out_6604407196360895537[5] = 0; - out_6604407196360895537[6] = 0; - out_6604407196360895537[7] = 1; - out_6604407196360895537[8] = 0; +void H_26(double *state, double *unused, double *out_749797264129714321) { + out_749797264129714321[0] = 0; + out_749797264129714321[1] = 0; + out_749797264129714321[2] = 0; + out_749797264129714321[3] = 0; + out_749797264129714321[4] = 0; + out_749797264129714321[5] = 0; + out_749797264129714321[6] = 0; + out_749797264129714321[7] = 1; + out_749797264129714321[8] = 0; } -void h_27(double *state, double *unused, double *out_8170483763809049834) { - out_8170483763809049834[0] = state[3]; +void h_27(double *state, double *unused, double *out_512631790305905855) { + out_512631790305905855[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7757263911767776139) { - out_7757263911767776139[0] = 0; - out_7757263911767776139[1] = 0; - out_7757263911767776139[2] = 0; - out_7757263911767776139[3] = 1; - out_7757263911767776139[4] = 0; - out_7757263911767776139[5] = 0; - out_7757263911767776139[6] = 0; - out_7757263911767776139[7] = 0; - out_7757263911767776139[8] = 0; +void H_27(double *state, double *unused, double *out_687603795800676922) { + out_687603795800676922[0] = 0; + out_687603795800676922[1] = 0; + out_687603795800676922[2] = 0; + out_687603795800676922[3] = 1; + out_687603795800676922[4] = 0; + out_687603795800676922[5] = 0; + out_687603795800676922[6] = 0; + out_687603795800676922[7] = 0; + out_687603795800676922[8] = 0; } -void h_29(double *state, double *unused, double *out_289211113055000649) { - out_289211113055000649[0] = state[1]; +void h_29(double *state, double *unused, double *out_355445121954776710) { + out_355445121954776710[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5072269255652959044) { - out_5072269255652959044[0] = 0; - out_5072269255652959044[1] = 1; - out_5072269255652959044[2] = 0; - out_5072269255652959044[3] = 0; - out_5072269255652959044[4] = 0; - out_5072269255652959044[5] = 0; - out_5072269255652959044[6] = 0; - out_5072269255652959044[7] = 0; - out_5072269255652959044[8] = 0; +void H_29(double *state, double *unused, double *out_3372598451915494017) { + out_3372598451915494017[0] = 0; + out_3372598451915494017[1] = 1; + out_3372598451915494017[2] = 0; + out_3372598451915494017[3] = 0; + out_3372598451915494017[4] = 0; + out_3372598451915494017[5] = 0; + out_3372598451915494017[6] = 0; + out_3372598451915494017[7] = 0; + out_3372598451915494017[8] = 0; } -void h_28(double *state, double *unused, double *out_9189533661544037455) { - out_9189533661544037455[0] = state[0]; +void h_28(double *state, double *unused, double *out_4713758757429658086) { + out_4713758757429658086[0] = state[0]; } -void H_28(double *state, double *unused, double *out_8292075800987061998) { - out_8292075800987061998[0] = 1; - out_8292075800987061998[1] = 0; - out_8292075800987061998[2] = 0; - out_8292075800987061998[3] = 0; - out_8292075800987061998[4] = 0; - out_8292075800987061998[5] = 0; - out_8292075800987061998[6] = 0; - out_8292075800987061998[7] = 0; - out_8292075800987061998[8] = 0; +void H_28(double *state, double *unused, double *out_6108157948138404685) { + out_6108157948138404685[0] = 1; + out_6108157948138404685[1] = 0; + out_6108157948138404685[2] = 0; + out_6108157948138404685[3] = 0; + out_6108157948138404685[4] = 0; + out_6108157948138404685[5] = 0; + out_6108157948138404685[6] = 0; + out_6108157948138404685[7] = 0; + out_6108157948138404685[8] = 0; } -void h_31(double *state, double *unused, double *out_1637137513985633787) { - out_1637137513985633787[0] = state[8]; +void h_31(double *state, double *unused, double *out_744646365313898146) { + out_744646365313898146[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5978199094127544061) { - out_5978199094127544061[0] = 0; - out_5978199094127544061[1] = 0; - out_5978199094127544061[2] = 0; - out_5978199094127544061[3] = 0; - out_5978199094127544061[4] = 0; - out_5978199094127544061[5] = 0; - out_5978199094127544061[6] = 0; - out_5978199094127544061[7] = 0; - out_5978199094127544061[8] = 1; +void H_31(double *state, double *unused, double *out_3022352016621302331) { + out_3022352016621302331[0] = 0; + out_3022352016621302331[1] = 0; + out_3022352016621302331[2] = 0; + out_3022352016621302331[3] = 0; + out_3022352016621302331[4] = 0; + out_3022352016621302331[5] = 0; + out_3022352016621302331[6] = 0; + out_3022352016621302331[7] = 0; + out_3022352016621302331[8] = 1; } #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_3403548426686276780) { - err_fun(nom_x, delta_x, out_3403548426686276780); +void car_err_fun(double *nom_x, double *delta_x, double *out_6201369500890241283) { + err_fun(nom_x, delta_x, out_6201369500890241283); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8258286328329043480) { - inv_err_fun(nom_x, true_x, out_8258286328329043480); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124) { + inv_err_fun(nom_x, true_x, out_6748403134246456124); } -void car_H_mod_fun(double *state, double *out_1856540843006378518) { - H_mod_fun(state, out_1856540843006378518); +void car_H_mod_fun(double *state, double *out_2042585132715859694) { + H_mod_fun(state, out_2042585132715859694); } -void car_f_fun(double *state, double dt, double *out_2705110536690145384) { - f_fun(state, dt, out_2705110536690145384); +void car_f_fun(double *state, double dt, double *out_4209455390444840494) { + f_fun(state, dt, out_4209455390444840494); } -void car_F_fun(double *state, double dt, double *out_8630494868968096727) { - F_fun(state, dt, out_8630494868968096727); +void car_F_fun(double *state, double dt, double *out_2724900345805544233) { + F_fun(state, dt, out_2724900345805544233); } -void car_h_25(double *state, double *unused, double *out_5878308228618872770) { - h_25(state, unused, out_5878308228618872770); +void car_h_25(double *state, double *unused, double *out_2892803162940124204) { + h_25(state, unused, out_2892803162940124204); } -void car_H_25(double *state, double *unused, double *out_8100833558474599855) { - H_25(state, unused, out_8100833558474599855); +void car_H_25(double *state, double *unused, double *out_4054323233890514922) { + H_25(state, unused, out_4054323233890514922); } -void car_h_24(double *state, double *unused, double *out_4629452303819786169) { - h_24(state, unused, out_4629452303819786169); +void car_h_24(double *state, double *unused, double *out_2360383510230698975) { + h_24(state, unused, out_2360383510230698975); } -void car_H_24(double *state, double *unused, double *out_6363587363837183863) { - H_24(state, unused, out_6363587363837183863); +void car_H_24(double *state, double *unused, double *out_1828615449911646360) { + H_24(state, unused, out_1828615449911646360); } -void car_h_30(double *state, double *unused, double *out_892526997731478166) { - h_30(state, unused, out_892526997731478166); +void car_h_30(double *state, double *unused, double *out_801115166891129847) { + h_30(state, unused, out_801115166891129847); } -void car_H_30(double *state, double *unused, double *out_5582500599967351228) { - H_30(state, unused, out_5582500599967351228); +void car_H_30(double *state, double *unused, double *out_2862367107601101833) { + H_30(state, unused, out_2862367107601101833); } -void car_h_26(double *state, double *unused, double *out_275216803344663571) { - h_26(state, unused, out_275216803344663571); +void car_h_26(double *state, double *unused, double *out_1833676042436215552) { + h_26(state, unused, out_1833676042436215552); } -void car_H_26(double *state, double *unused, double *out_6604407196360895537) { - H_26(state, unused, out_6604407196360895537); +void car_H_26(double *state, double *unused, double *out_749797264129714321) { + H_26(state, unused, out_749797264129714321); } -void car_h_27(double *state, double *unused, double *out_8170483763809049834) { - h_27(state, unused, out_8170483763809049834); +void car_h_27(double *state, double *unused, double *out_512631790305905855) { + h_27(state, unused, out_512631790305905855); } -void car_H_27(double *state, double *unused, double *out_7757263911767776139) { - H_27(state, unused, out_7757263911767776139); +void car_H_27(double *state, double *unused, double *out_687603795800676922) { + H_27(state, unused, out_687603795800676922); } -void car_h_29(double *state, double *unused, double *out_289211113055000649) { - h_29(state, unused, out_289211113055000649); +void car_h_29(double *state, double *unused, double *out_355445121954776710) { + h_29(state, unused, out_355445121954776710); } -void car_H_29(double *state, double *unused, double *out_5072269255652959044) { - H_29(state, unused, out_5072269255652959044); +void car_H_29(double *state, double *unused, double *out_3372598451915494017) { + H_29(state, unused, out_3372598451915494017); } -void car_h_28(double *state, double *unused, double *out_9189533661544037455) { - h_28(state, unused, out_9189533661544037455); +void car_h_28(double *state, double *unused, double *out_4713758757429658086) { + h_28(state, unused, out_4713758757429658086); } -void car_H_28(double *state, double *unused, double *out_8292075800987061998) { - H_28(state, unused, out_8292075800987061998); +void car_H_28(double *state, double *unused, double *out_6108157948138404685) { + H_28(state, unused, out_6108157948138404685); } -void car_h_31(double *state, double *unused, double *out_1637137513985633787) { - h_31(state, unused, out_1637137513985633787); +void car_h_31(double *state, double *unused, double *out_744646365313898146) { + h_31(state, unused, out_744646365313898146); } -void car_H_31(double *state, double *unused, double *out_5978199094127544061) { - H_31(state, unused, out_5978199094127544061); +void car_H_31(double *state, double *unused, double *out_3022352016621302331) { + H_31(state, unused, out_3022352016621302331); } 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 6b66ba5b0..3187d7d12 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_3403548426686276780); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8258286328329043480); -void car_H_mod_fun(double *state, double *out_1856540843006378518); -void car_f_fun(double *state, double dt, double *out_2705110536690145384); -void car_F_fun(double *state, double dt, double *out_8630494868968096727); -void car_h_25(double *state, double *unused, double *out_5878308228618872770); -void car_H_25(double *state, double *unused, double *out_8100833558474599855); -void car_h_24(double *state, double *unused, double *out_4629452303819786169); -void car_H_24(double *state, double *unused, double *out_6363587363837183863); -void car_h_30(double *state, double *unused, double *out_892526997731478166); -void car_H_30(double *state, double *unused, double *out_5582500599967351228); -void car_h_26(double *state, double *unused, double *out_275216803344663571); -void car_H_26(double *state, double *unused, double *out_6604407196360895537); -void car_h_27(double *state, double *unused, double *out_8170483763809049834); -void car_H_27(double *state, double *unused, double *out_7757263911767776139); -void car_h_29(double *state, double *unused, double *out_289211113055000649); -void car_H_29(double *state, double *unused, double *out_5072269255652959044); -void car_h_28(double *state, double *unused, double *out_9189533661544037455); -void car_H_28(double *state, double *unused, double *out_8292075800987061998); -void car_h_31(double *state, double *unused, double *out_1637137513985633787); -void car_H_31(double *state, double *unused, double *out_5978199094127544061); +void car_err_fun(double *nom_x, double *delta_x, double *out_6201369500890241283); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124); +void car_H_mod_fun(double *state, double *out_2042585132715859694); +void car_f_fun(double *state, double dt, double *out_4209455390444840494); +void car_F_fun(double *state, double dt, double *out_2724900345805544233); +void car_h_25(double *state, double *unused, double *out_2892803162940124204); +void car_H_25(double *state, double *unused, double *out_4054323233890514922); +void car_h_24(double *state, double *unused, double *out_2360383510230698975); +void car_H_24(double *state, double *unused, double *out_1828615449911646360); +void car_h_30(double *state, double *unused, double *out_801115166891129847); +void car_H_30(double *state, double *unused, double *out_2862367107601101833); +void car_h_26(double *state, double *unused, double *out_1833676042436215552); +void car_H_26(double *state, double *unused, double *out_749797264129714321); +void car_h_27(double *state, double *unused, double *out_512631790305905855); +void car_H_27(double *state, double *unused, double *out_687603795800676922); +void car_h_29(double *state, double *unused, double *out_355445121954776710); +void car_H_29(double *state, double *unused, double *out_3372598451915494017); +void car_h_28(double *state, double *unused, double *out_4713758757429658086); +void car_H_28(double *state, double *unused, double *out_6108157948138404685); +void car_h_31(double *state, double *unused, double *out_744646365313898146); +void car_H_31(double *state, double *unused, double *out_3022352016621302331); void car_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 2919fbf19..e34e03f25 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_5797775412313342444) { - out_5797775412313342444[0] = delta_x[0] + nom_x[0]; - out_5797775412313342444[1] = delta_x[1] + nom_x[1]; - out_5797775412313342444[2] = delta_x[2] + nom_x[2]; - out_5797775412313342444[3] = delta_x[3] + nom_x[3]; - out_5797775412313342444[4] = delta_x[4] + nom_x[4]; - out_5797775412313342444[5] = delta_x[5] + nom_x[5]; - out_5797775412313342444[6] = delta_x[6] + nom_x[6]; - out_5797775412313342444[7] = delta_x[7] + nom_x[7]; - out_5797775412313342444[8] = delta_x[8] + nom_x[8]; - out_5797775412313342444[9] = delta_x[9] + nom_x[9]; - out_5797775412313342444[10] = delta_x[10] + nom_x[10]; - out_5797775412313342444[11] = delta_x[11] + nom_x[11]; - out_5797775412313342444[12] = delta_x[12] + nom_x[12]; - out_5797775412313342444[13] = delta_x[13] + nom_x[13]; - out_5797775412313342444[14] = delta_x[14] + nom_x[14]; - out_5797775412313342444[15] = delta_x[15] + nom_x[15]; - out_5797775412313342444[16] = delta_x[16] + nom_x[16]; - out_5797775412313342444[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2815596288453817821) { + out_2815596288453817821[0] = delta_x[0] + nom_x[0]; + out_2815596288453817821[1] = delta_x[1] + nom_x[1]; + out_2815596288453817821[2] = delta_x[2] + nom_x[2]; + out_2815596288453817821[3] = delta_x[3] + nom_x[3]; + out_2815596288453817821[4] = delta_x[4] + nom_x[4]; + out_2815596288453817821[5] = delta_x[5] + nom_x[5]; + out_2815596288453817821[6] = delta_x[6] + nom_x[6]; + out_2815596288453817821[7] = delta_x[7] + nom_x[7]; + out_2815596288453817821[8] = delta_x[8] + nom_x[8]; + out_2815596288453817821[9] = delta_x[9] + nom_x[9]; + out_2815596288453817821[10] = delta_x[10] + nom_x[10]; + out_2815596288453817821[11] = delta_x[11] + nom_x[11]; + out_2815596288453817821[12] = delta_x[12] + nom_x[12]; + out_2815596288453817821[13] = delta_x[13] + nom_x[13]; + out_2815596288453817821[14] = delta_x[14] + nom_x[14]; + out_2815596288453817821[15] = delta_x[15] + nom_x[15]; + out_2815596288453817821[16] = delta_x[16] + nom_x[16]; + out_2815596288453817821[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6978859077859564623) { - out_6978859077859564623[0] = -nom_x[0] + true_x[0]; - out_6978859077859564623[1] = -nom_x[1] + true_x[1]; - out_6978859077859564623[2] = -nom_x[2] + true_x[2]; - out_6978859077859564623[3] = -nom_x[3] + true_x[3]; - out_6978859077859564623[4] = -nom_x[4] + true_x[4]; - out_6978859077859564623[5] = -nom_x[5] + true_x[5]; - out_6978859077859564623[6] = -nom_x[6] + true_x[6]; - out_6978859077859564623[7] = -nom_x[7] + true_x[7]; - out_6978859077859564623[8] = -nom_x[8] + true_x[8]; - out_6978859077859564623[9] = -nom_x[9] + true_x[9]; - out_6978859077859564623[10] = -nom_x[10] + true_x[10]; - out_6978859077859564623[11] = -nom_x[11] + true_x[11]; - out_6978859077859564623[12] = -nom_x[12] + true_x[12]; - out_6978859077859564623[13] = -nom_x[13] + true_x[13]; - out_6978859077859564623[14] = -nom_x[14] + true_x[14]; - out_6978859077859564623[15] = -nom_x[15] + true_x[15]; - out_6978859077859564623[16] = -nom_x[16] + true_x[16]; - out_6978859077859564623[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8761485569796980977) { + out_8761485569796980977[0] = -nom_x[0] + true_x[0]; + out_8761485569796980977[1] = -nom_x[1] + true_x[1]; + out_8761485569796980977[2] = -nom_x[2] + true_x[2]; + out_8761485569796980977[3] = -nom_x[3] + true_x[3]; + out_8761485569796980977[4] = -nom_x[4] + true_x[4]; + out_8761485569796980977[5] = -nom_x[5] + true_x[5]; + out_8761485569796980977[6] = -nom_x[6] + true_x[6]; + out_8761485569796980977[7] = -nom_x[7] + true_x[7]; + out_8761485569796980977[8] = -nom_x[8] + true_x[8]; + out_8761485569796980977[9] = -nom_x[9] + true_x[9]; + out_8761485569796980977[10] = -nom_x[10] + true_x[10]; + out_8761485569796980977[11] = -nom_x[11] + true_x[11]; + out_8761485569796980977[12] = -nom_x[12] + true_x[12]; + out_8761485569796980977[13] = -nom_x[13] + true_x[13]; + out_8761485569796980977[14] = -nom_x[14] + true_x[14]; + out_8761485569796980977[15] = -nom_x[15] + true_x[15]; + out_8761485569796980977[16] = -nom_x[16] + true_x[16]; + out_8761485569796980977[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7486978165612535736) { - out_7486978165612535736[0] = 1.0; - out_7486978165612535736[1] = 0.0; - out_7486978165612535736[2] = 0.0; - out_7486978165612535736[3] = 0.0; - out_7486978165612535736[4] = 0.0; - out_7486978165612535736[5] = 0.0; - out_7486978165612535736[6] = 0.0; - out_7486978165612535736[7] = 0.0; - out_7486978165612535736[8] = 0.0; - out_7486978165612535736[9] = 0.0; - out_7486978165612535736[10] = 0.0; - out_7486978165612535736[11] = 0.0; - out_7486978165612535736[12] = 0.0; - out_7486978165612535736[13] = 0.0; - out_7486978165612535736[14] = 0.0; - out_7486978165612535736[15] = 0.0; - out_7486978165612535736[16] = 0.0; - out_7486978165612535736[17] = 0.0; - out_7486978165612535736[18] = 0.0; - out_7486978165612535736[19] = 1.0; - out_7486978165612535736[20] = 0.0; - out_7486978165612535736[21] = 0.0; - out_7486978165612535736[22] = 0.0; - out_7486978165612535736[23] = 0.0; - out_7486978165612535736[24] = 0.0; - out_7486978165612535736[25] = 0.0; - out_7486978165612535736[26] = 0.0; - out_7486978165612535736[27] = 0.0; - out_7486978165612535736[28] = 0.0; - out_7486978165612535736[29] = 0.0; - out_7486978165612535736[30] = 0.0; - out_7486978165612535736[31] = 0.0; - out_7486978165612535736[32] = 0.0; - out_7486978165612535736[33] = 0.0; - out_7486978165612535736[34] = 0.0; - out_7486978165612535736[35] = 0.0; - out_7486978165612535736[36] = 0.0; - out_7486978165612535736[37] = 0.0; - out_7486978165612535736[38] = 1.0; - out_7486978165612535736[39] = 0.0; - out_7486978165612535736[40] = 0.0; - out_7486978165612535736[41] = 0.0; - out_7486978165612535736[42] = 0.0; - out_7486978165612535736[43] = 0.0; - out_7486978165612535736[44] = 0.0; - out_7486978165612535736[45] = 0.0; - out_7486978165612535736[46] = 0.0; - out_7486978165612535736[47] = 0.0; - out_7486978165612535736[48] = 0.0; - out_7486978165612535736[49] = 0.0; - out_7486978165612535736[50] = 0.0; - out_7486978165612535736[51] = 0.0; - out_7486978165612535736[52] = 0.0; - out_7486978165612535736[53] = 0.0; - out_7486978165612535736[54] = 0.0; - out_7486978165612535736[55] = 0.0; - out_7486978165612535736[56] = 0.0; - out_7486978165612535736[57] = 1.0; - out_7486978165612535736[58] = 0.0; - out_7486978165612535736[59] = 0.0; - out_7486978165612535736[60] = 0.0; - out_7486978165612535736[61] = 0.0; - out_7486978165612535736[62] = 0.0; - out_7486978165612535736[63] = 0.0; - out_7486978165612535736[64] = 0.0; - out_7486978165612535736[65] = 0.0; - out_7486978165612535736[66] = 0.0; - out_7486978165612535736[67] = 0.0; - out_7486978165612535736[68] = 0.0; - out_7486978165612535736[69] = 0.0; - out_7486978165612535736[70] = 0.0; - out_7486978165612535736[71] = 0.0; - out_7486978165612535736[72] = 0.0; - out_7486978165612535736[73] = 0.0; - out_7486978165612535736[74] = 0.0; - out_7486978165612535736[75] = 0.0; - out_7486978165612535736[76] = 1.0; - out_7486978165612535736[77] = 0.0; - out_7486978165612535736[78] = 0.0; - out_7486978165612535736[79] = 0.0; - out_7486978165612535736[80] = 0.0; - out_7486978165612535736[81] = 0.0; - out_7486978165612535736[82] = 0.0; - out_7486978165612535736[83] = 0.0; - out_7486978165612535736[84] = 0.0; - out_7486978165612535736[85] = 0.0; - out_7486978165612535736[86] = 0.0; - out_7486978165612535736[87] = 0.0; - out_7486978165612535736[88] = 0.0; - out_7486978165612535736[89] = 0.0; - out_7486978165612535736[90] = 0.0; - out_7486978165612535736[91] = 0.0; - out_7486978165612535736[92] = 0.0; - out_7486978165612535736[93] = 0.0; - out_7486978165612535736[94] = 0.0; - out_7486978165612535736[95] = 1.0; - out_7486978165612535736[96] = 0.0; - out_7486978165612535736[97] = 0.0; - out_7486978165612535736[98] = 0.0; - out_7486978165612535736[99] = 0.0; - out_7486978165612535736[100] = 0.0; - out_7486978165612535736[101] = 0.0; - out_7486978165612535736[102] = 0.0; - out_7486978165612535736[103] = 0.0; - out_7486978165612535736[104] = 0.0; - out_7486978165612535736[105] = 0.0; - out_7486978165612535736[106] = 0.0; - out_7486978165612535736[107] = 0.0; - out_7486978165612535736[108] = 0.0; - out_7486978165612535736[109] = 0.0; - out_7486978165612535736[110] = 0.0; - out_7486978165612535736[111] = 0.0; - out_7486978165612535736[112] = 0.0; - out_7486978165612535736[113] = 0.0; - out_7486978165612535736[114] = 1.0; - out_7486978165612535736[115] = 0.0; - out_7486978165612535736[116] = 0.0; - out_7486978165612535736[117] = 0.0; - out_7486978165612535736[118] = 0.0; - out_7486978165612535736[119] = 0.0; - out_7486978165612535736[120] = 0.0; - out_7486978165612535736[121] = 0.0; - out_7486978165612535736[122] = 0.0; - out_7486978165612535736[123] = 0.0; - out_7486978165612535736[124] = 0.0; - out_7486978165612535736[125] = 0.0; - out_7486978165612535736[126] = 0.0; - out_7486978165612535736[127] = 0.0; - out_7486978165612535736[128] = 0.0; - out_7486978165612535736[129] = 0.0; - out_7486978165612535736[130] = 0.0; - out_7486978165612535736[131] = 0.0; - out_7486978165612535736[132] = 0.0; - out_7486978165612535736[133] = 1.0; - out_7486978165612535736[134] = 0.0; - out_7486978165612535736[135] = 0.0; - out_7486978165612535736[136] = 0.0; - out_7486978165612535736[137] = 0.0; - out_7486978165612535736[138] = 0.0; - out_7486978165612535736[139] = 0.0; - out_7486978165612535736[140] = 0.0; - out_7486978165612535736[141] = 0.0; - out_7486978165612535736[142] = 0.0; - out_7486978165612535736[143] = 0.0; - out_7486978165612535736[144] = 0.0; - out_7486978165612535736[145] = 0.0; - out_7486978165612535736[146] = 0.0; - out_7486978165612535736[147] = 0.0; - out_7486978165612535736[148] = 0.0; - out_7486978165612535736[149] = 0.0; - out_7486978165612535736[150] = 0.0; - out_7486978165612535736[151] = 0.0; - out_7486978165612535736[152] = 1.0; - out_7486978165612535736[153] = 0.0; - out_7486978165612535736[154] = 0.0; - out_7486978165612535736[155] = 0.0; - out_7486978165612535736[156] = 0.0; - out_7486978165612535736[157] = 0.0; - out_7486978165612535736[158] = 0.0; - out_7486978165612535736[159] = 0.0; - out_7486978165612535736[160] = 0.0; - out_7486978165612535736[161] = 0.0; - out_7486978165612535736[162] = 0.0; - out_7486978165612535736[163] = 0.0; - out_7486978165612535736[164] = 0.0; - out_7486978165612535736[165] = 0.0; - out_7486978165612535736[166] = 0.0; - out_7486978165612535736[167] = 0.0; - out_7486978165612535736[168] = 0.0; - out_7486978165612535736[169] = 0.0; - out_7486978165612535736[170] = 0.0; - out_7486978165612535736[171] = 1.0; - out_7486978165612535736[172] = 0.0; - out_7486978165612535736[173] = 0.0; - out_7486978165612535736[174] = 0.0; - out_7486978165612535736[175] = 0.0; - out_7486978165612535736[176] = 0.0; - out_7486978165612535736[177] = 0.0; - out_7486978165612535736[178] = 0.0; - out_7486978165612535736[179] = 0.0; - out_7486978165612535736[180] = 0.0; - out_7486978165612535736[181] = 0.0; - out_7486978165612535736[182] = 0.0; - out_7486978165612535736[183] = 0.0; - out_7486978165612535736[184] = 0.0; - out_7486978165612535736[185] = 0.0; - out_7486978165612535736[186] = 0.0; - out_7486978165612535736[187] = 0.0; - out_7486978165612535736[188] = 0.0; - out_7486978165612535736[189] = 0.0; - out_7486978165612535736[190] = 1.0; - out_7486978165612535736[191] = 0.0; - out_7486978165612535736[192] = 0.0; - out_7486978165612535736[193] = 0.0; - out_7486978165612535736[194] = 0.0; - out_7486978165612535736[195] = 0.0; - out_7486978165612535736[196] = 0.0; - out_7486978165612535736[197] = 0.0; - out_7486978165612535736[198] = 0.0; - out_7486978165612535736[199] = 0.0; - out_7486978165612535736[200] = 0.0; - out_7486978165612535736[201] = 0.0; - out_7486978165612535736[202] = 0.0; - out_7486978165612535736[203] = 0.0; - out_7486978165612535736[204] = 0.0; - out_7486978165612535736[205] = 0.0; - out_7486978165612535736[206] = 0.0; - out_7486978165612535736[207] = 0.0; - out_7486978165612535736[208] = 0.0; - out_7486978165612535736[209] = 1.0; - out_7486978165612535736[210] = 0.0; - out_7486978165612535736[211] = 0.0; - out_7486978165612535736[212] = 0.0; - out_7486978165612535736[213] = 0.0; - out_7486978165612535736[214] = 0.0; - out_7486978165612535736[215] = 0.0; - out_7486978165612535736[216] = 0.0; - out_7486978165612535736[217] = 0.0; - out_7486978165612535736[218] = 0.0; - out_7486978165612535736[219] = 0.0; - out_7486978165612535736[220] = 0.0; - out_7486978165612535736[221] = 0.0; - out_7486978165612535736[222] = 0.0; - out_7486978165612535736[223] = 0.0; - out_7486978165612535736[224] = 0.0; - out_7486978165612535736[225] = 0.0; - out_7486978165612535736[226] = 0.0; - out_7486978165612535736[227] = 0.0; - out_7486978165612535736[228] = 1.0; - out_7486978165612535736[229] = 0.0; - out_7486978165612535736[230] = 0.0; - out_7486978165612535736[231] = 0.0; - out_7486978165612535736[232] = 0.0; - out_7486978165612535736[233] = 0.0; - out_7486978165612535736[234] = 0.0; - out_7486978165612535736[235] = 0.0; - out_7486978165612535736[236] = 0.0; - out_7486978165612535736[237] = 0.0; - out_7486978165612535736[238] = 0.0; - out_7486978165612535736[239] = 0.0; - out_7486978165612535736[240] = 0.0; - out_7486978165612535736[241] = 0.0; - out_7486978165612535736[242] = 0.0; - out_7486978165612535736[243] = 0.0; - out_7486978165612535736[244] = 0.0; - out_7486978165612535736[245] = 0.0; - out_7486978165612535736[246] = 0.0; - out_7486978165612535736[247] = 1.0; - out_7486978165612535736[248] = 0.0; - out_7486978165612535736[249] = 0.0; - out_7486978165612535736[250] = 0.0; - out_7486978165612535736[251] = 0.0; - out_7486978165612535736[252] = 0.0; - out_7486978165612535736[253] = 0.0; - out_7486978165612535736[254] = 0.0; - out_7486978165612535736[255] = 0.0; - out_7486978165612535736[256] = 0.0; - out_7486978165612535736[257] = 0.0; - out_7486978165612535736[258] = 0.0; - out_7486978165612535736[259] = 0.0; - out_7486978165612535736[260] = 0.0; - out_7486978165612535736[261] = 0.0; - out_7486978165612535736[262] = 0.0; - out_7486978165612535736[263] = 0.0; - out_7486978165612535736[264] = 0.0; - out_7486978165612535736[265] = 0.0; - out_7486978165612535736[266] = 1.0; - out_7486978165612535736[267] = 0.0; - out_7486978165612535736[268] = 0.0; - out_7486978165612535736[269] = 0.0; - out_7486978165612535736[270] = 0.0; - out_7486978165612535736[271] = 0.0; - out_7486978165612535736[272] = 0.0; - out_7486978165612535736[273] = 0.0; - out_7486978165612535736[274] = 0.0; - out_7486978165612535736[275] = 0.0; - out_7486978165612535736[276] = 0.0; - out_7486978165612535736[277] = 0.0; - out_7486978165612535736[278] = 0.0; - out_7486978165612535736[279] = 0.0; - out_7486978165612535736[280] = 0.0; - out_7486978165612535736[281] = 0.0; - out_7486978165612535736[282] = 0.0; - out_7486978165612535736[283] = 0.0; - out_7486978165612535736[284] = 0.0; - out_7486978165612535736[285] = 1.0; - out_7486978165612535736[286] = 0.0; - out_7486978165612535736[287] = 0.0; - out_7486978165612535736[288] = 0.0; - out_7486978165612535736[289] = 0.0; - out_7486978165612535736[290] = 0.0; - out_7486978165612535736[291] = 0.0; - out_7486978165612535736[292] = 0.0; - out_7486978165612535736[293] = 0.0; - out_7486978165612535736[294] = 0.0; - out_7486978165612535736[295] = 0.0; - out_7486978165612535736[296] = 0.0; - out_7486978165612535736[297] = 0.0; - out_7486978165612535736[298] = 0.0; - out_7486978165612535736[299] = 0.0; - out_7486978165612535736[300] = 0.0; - out_7486978165612535736[301] = 0.0; - out_7486978165612535736[302] = 0.0; - out_7486978165612535736[303] = 0.0; - out_7486978165612535736[304] = 1.0; - out_7486978165612535736[305] = 0.0; - out_7486978165612535736[306] = 0.0; - out_7486978165612535736[307] = 0.0; - out_7486978165612535736[308] = 0.0; - out_7486978165612535736[309] = 0.0; - out_7486978165612535736[310] = 0.0; - out_7486978165612535736[311] = 0.0; - out_7486978165612535736[312] = 0.0; - out_7486978165612535736[313] = 0.0; - out_7486978165612535736[314] = 0.0; - out_7486978165612535736[315] = 0.0; - out_7486978165612535736[316] = 0.0; - out_7486978165612535736[317] = 0.0; - out_7486978165612535736[318] = 0.0; - out_7486978165612535736[319] = 0.0; - out_7486978165612535736[320] = 0.0; - out_7486978165612535736[321] = 0.0; - out_7486978165612535736[322] = 0.0; - out_7486978165612535736[323] = 1.0; +void H_mod_fun(double *state, double *out_9016812017969752156) { + out_9016812017969752156[0] = 1.0; + out_9016812017969752156[1] = 0.0; + out_9016812017969752156[2] = 0.0; + out_9016812017969752156[3] = 0.0; + out_9016812017969752156[4] = 0.0; + out_9016812017969752156[5] = 0.0; + out_9016812017969752156[6] = 0.0; + out_9016812017969752156[7] = 0.0; + out_9016812017969752156[8] = 0.0; + out_9016812017969752156[9] = 0.0; + out_9016812017969752156[10] = 0.0; + out_9016812017969752156[11] = 0.0; + out_9016812017969752156[12] = 0.0; + out_9016812017969752156[13] = 0.0; + out_9016812017969752156[14] = 0.0; + out_9016812017969752156[15] = 0.0; + out_9016812017969752156[16] = 0.0; + out_9016812017969752156[17] = 0.0; + out_9016812017969752156[18] = 0.0; + out_9016812017969752156[19] = 1.0; + out_9016812017969752156[20] = 0.0; + out_9016812017969752156[21] = 0.0; + out_9016812017969752156[22] = 0.0; + out_9016812017969752156[23] = 0.0; + out_9016812017969752156[24] = 0.0; + out_9016812017969752156[25] = 0.0; + out_9016812017969752156[26] = 0.0; + out_9016812017969752156[27] = 0.0; + out_9016812017969752156[28] = 0.0; + out_9016812017969752156[29] = 0.0; + out_9016812017969752156[30] = 0.0; + out_9016812017969752156[31] = 0.0; + out_9016812017969752156[32] = 0.0; + out_9016812017969752156[33] = 0.0; + out_9016812017969752156[34] = 0.0; + out_9016812017969752156[35] = 0.0; + out_9016812017969752156[36] = 0.0; + out_9016812017969752156[37] = 0.0; + out_9016812017969752156[38] = 1.0; + out_9016812017969752156[39] = 0.0; + out_9016812017969752156[40] = 0.0; + out_9016812017969752156[41] = 0.0; + out_9016812017969752156[42] = 0.0; + out_9016812017969752156[43] = 0.0; + out_9016812017969752156[44] = 0.0; + out_9016812017969752156[45] = 0.0; + out_9016812017969752156[46] = 0.0; + out_9016812017969752156[47] = 0.0; + out_9016812017969752156[48] = 0.0; + out_9016812017969752156[49] = 0.0; + out_9016812017969752156[50] = 0.0; + out_9016812017969752156[51] = 0.0; + out_9016812017969752156[52] = 0.0; + out_9016812017969752156[53] = 0.0; + out_9016812017969752156[54] = 0.0; + out_9016812017969752156[55] = 0.0; + out_9016812017969752156[56] = 0.0; + out_9016812017969752156[57] = 1.0; + out_9016812017969752156[58] = 0.0; + out_9016812017969752156[59] = 0.0; + out_9016812017969752156[60] = 0.0; + out_9016812017969752156[61] = 0.0; + out_9016812017969752156[62] = 0.0; + out_9016812017969752156[63] = 0.0; + out_9016812017969752156[64] = 0.0; + out_9016812017969752156[65] = 0.0; + out_9016812017969752156[66] = 0.0; + out_9016812017969752156[67] = 0.0; + out_9016812017969752156[68] = 0.0; + out_9016812017969752156[69] = 0.0; + out_9016812017969752156[70] = 0.0; + out_9016812017969752156[71] = 0.0; + out_9016812017969752156[72] = 0.0; + out_9016812017969752156[73] = 0.0; + out_9016812017969752156[74] = 0.0; + out_9016812017969752156[75] = 0.0; + out_9016812017969752156[76] = 1.0; + out_9016812017969752156[77] = 0.0; + out_9016812017969752156[78] = 0.0; + out_9016812017969752156[79] = 0.0; + out_9016812017969752156[80] = 0.0; + out_9016812017969752156[81] = 0.0; + out_9016812017969752156[82] = 0.0; + out_9016812017969752156[83] = 0.0; + out_9016812017969752156[84] = 0.0; + out_9016812017969752156[85] = 0.0; + out_9016812017969752156[86] = 0.0; + out_9016812017969752156[87] = 0.0; + out_9016812017969752156[88] = 0.0; + out_9016812017969752156[89] = 0.0; + out_9016812017969752156[90] = 0.0; + out_9016812017969752156[91] = 0.0; + out_9016812017969752156[92] = 0.0; + out_9016812017969752156[93] = 0.0; + out_9016812017969752156[94] = 0.0; + out_9016812017969752156[95] = 1.0; + out_9016812017969752156[96] = 0.0; + out_9016812017969752156[97] = 0.0; + out_9016812017969752156[98] = 0.0; + out_9016812017969752156[99] = 0.0; + out_9016812017969752156[100] = 0.0; + out_9016812017969752156[101] = 0.0; + out_9016812017969752156[102] = 0.0; + out_9016812017969752156[103] = 0.0; + out_9016812017969752156[104] = 0.0; + out_9016812017969752156[105] = 0.0; + out_9016812017969752156[106] = 0.0; + out_9016812017969752156[107] = 0.0; + out_9016812017969752156[108] = 0.0; + out_9016812017969752156[109] = 0.0; + out_9016812017969752156[110] = 0.0; + out_9016812017969752156[111] = 0.0; + out_9016812017969752156[112] = 0.0; + out_9016812017969752156[113] = 0.0; + out_9016812017969752156[114] = 1.0; + out_9016812017969752156[115] = 0.0; + out_9016812017969752156[116] = 0.0; + out_9016812017969752156[117] = 0.0; + out_9016812017969752156[118] = 0.0; + out_9016812017969752156[119] = 0.0; + out_9016812017969752156[120] = 0.0; + out_9016812017969752156[121] = 0.0; + out_9016812017969752156[122] = 0.0; + out_9016812017969752156[123] = 0.0; + out_9016812017969752156[124] = 0.0; + out_9016812017969752156[125] = 0.0; + out_9016812017969752156[126] = 0.0; + out_9016812017969752156[127] = 0.0; + out_9016812017969752156[128] = 0.0; + out_9016812017969752156[129] = 0.0; + out_9016812017969752156[130] = 0.0; + out_9016812017969752156[131] = 0.0; + out_9016812017969752156[132] = 0.0; + out_9016812017969752156[133] = 1.0; + out_9016812017969752156[134] = 0.0; + out_9016812017969752156[135] = 0.0; + out_9016812017969752156[136] = 0.0; + out_9016812017969752156[137] = 0.0; + out_9016812017969752156[138] = 0.0; + out_9016812017969752156[139] = 0.0; + out_9016812017969752156[140] = 0.0; + out_9016812017969752156[141] = 0.0; + out_9016812017969752156[142] = 0.0; + out_9016812017969752156[143] = 0.0; + out_9016812017969752156[144] = 0.0; + out_9016812017969752156[145] = 0.0; + out_9016812017969752156[146] = 0.0; + out_9016812017969752156[147] = 0.0; + out_9016812017969752156[148] = 0.0; + out_9016812017969752156[149] = 0.0; + out_9016812017969752156[150] = 0.0; + out_9016812017969752156[151] = 0.0; + out_9016812017969752156[152] = 1.0; + out_9016812017969752156[153] = 0.0; + out_9016812017969752156[154] = 0.0; + out_9016812017969752156[155] = 0.0; + out_9016812017969752156[156] = 0.0; + out_9016812017969752156[157] = 0.0; + out_9016812017969752156[158] = 0.0; + out_9016812017969752156[159] = 0.0; + out_9016812017969752156[160] = 0.0; + out_9016812017969752156[161] = 0.0; + out_9016812017969752156[162] = 0.0; + out_9016812017969752156[163] = 0.0; + out_9016812017969752156[164] = 0.0; + out_9016812017969752156[165] = 0.0; + out_9016812017969752156[166] = 0.0; + out_9016812017969752156[167] = 0.0; + out_9016812017969752156[168] = 0.0; + out_9016812017969752156[169] = 0.0; + out_9016812017969752156[170] = 0.0; + out_9016812017969752156[171] = 1.0; + out_9016812017969752156[172] = 0.0; + out_9016812017969752156[173] = 0.0; + out_9016812017969752156[174] = 0.0; + out_9016812017969752156[175] = 0.0; + out_9016812017969752156[176] = 0.0; + out_9016812017969752156[177] = 0.0; + out_9016812017969752156[178] = 0.0; + out_9016812017969752156[179] = 0.0; + out_9016812017969752156[180] = 0.0; + out_9016812017969752156[181] = 0.0; + out_9016812017969752156[182] = 0.0; + out_9016812017969752156[183] = 0.0; + out_9016812017969752156[184] = 0.0; + out_9016812017969752156[185] = 0.0; + out_9016812017969752156[186] = 0.0; + out_9016812017969752156[187] = 0.0; + out_9016812017969752156[188] = 0.0; + out_9016812017969752156[189] = 0.0; + out_9016812017969752156[190] = 1.0; + out_9016812017969752156[191] = 0.0; + out_9016812017969752156[192] = 0.0; + out_9016812017969752156[193] = 0.0; + out_9016812017969752156[194] = 0.0; + out_9016812017969752156[195] = 0.0; + out_9016812017969752156[196] = 0.0; + out_9016812017969752156[197] = 0.0; + out_9016812017969752156[198] = 0.0; + out_9016812017969752156[199] = 0.0; + out_9016812017969752156[200] = 0.0; + out_9016812017969752156[201] = 0.0; + out_9016812017969752156[202] = 0.0; + out_9016812017969752156[203] = 0.0; + out_9016812017969752156[204] = 0.0; + out_9016812017969752156[205] = 0.0; + out_9016812017969752156[206] = 0.0; + out_9016812017969752156[207] = 0.0; + out_9016812017969752156[208] = 0.0; + out_9016812017969752156[209] = 1.0; + out_9016812017969752156[210] = 0.0; + out_9016812017969752156[211] = 0.0; + out_9016812017969752156[212] = 0.0; + out_9016812017969752156[213] = 0.0; + out_9016812017969752156[214] = 0.0; + out_9016812017969752156[215] = 0.0; + out_9016812017969752156[216] = 0.0; + out_9016812017969752156[217] = 0.0; + out_9016812017969752156[218] = 0.0; + out_9016812017969752156[219] = 0.0; + out_9016812017969752156[220] = 0.0; + out_9016812017969752156[221] = 0.0; + out_9016812017969752156[222] = 0.0; + out_9016812017969752156[223] = 0.0; + out_9016812017969752156[224] = 0.0; + out_9016812017969752156[225] = 0.0; + out_9016812017969752156[226] = 0.0; + out_9016812017969752156[227] = 0.0; + out_9016812017969752156[228] = 1.0; + out_9016812017969752156[229] = 0.0; + out_9016812017969752156[230] = 0.0; + out_9016812017969752156[231] = 0.0; + out_9016812017969752156[232] = 0.0; + out_9016812017969752156[233] = 0.0; + out_9016812017969752156[234] = 0.0; + out_9016812017969752156[235] = 0.0; + out_9016812017969752156[236] = 0.0; + out_9016812017969752156[237] = 0.0; + out_9016812017969752156[238] = 0.0; + out_9016812017969752156[239] = 0.0; + out_9016812017969752156[240] = 0.0; + out_9016812017969752156[241] = 0.0; + out_9016812017969752156[242] = 0.0; + out_9016812017969752156[243] = 0.0; + out_9016812017969752156[244] = 0.0; + out_9016812017969752156[245] = 0.0; + out_9016812017969752156[246] = 0.0; + out_9016812017969752156[247] = 1.0; + out_9016812017969752156[248] = 0.0; + out_9016812017969752156[249] = 0.0; + out_9016812017969752156[250] = 0.0; + out_9016812017969752156[251] = 0.0; + out_9016812017969752156[252] = 0.0; + out_9016812017969752156[253] = 0.0; + out_9016812017969752156[254] = 0.0; + out_9016812017969752156[255] = 0.0; + out_9016812017969752156[256] = 0.0; + out_9016812017969752156[257] = 0.0; + out_9016812017969752156[258] = 0.0; + out_9016812017969752156[259] = 0.0; + out_9016812017969752156[260] = 0.0; + out_9016812017969752156[261] = 0.0; + out_9016812017969752156[262] = 0.0; + out_9016812017969752156[263] = 0.0; + out_9016812017969752156[264] = 0.0; + out_9016812017969752156[265] = 0.0; + out_9016812017969752156[266] = 1.0; + out_9016812017969752156[267] = 0.0; + out_9016812017969752156[268] = 0.0; + out_9016812017969752156[269] = 0.0; + out_9016812017969752156[270] = 0.0; + out_9016812017969752156[271] = 0.0; + out_9016812017969752156[272] = 0.0; + out_9016812017969752156[273] = 0.0; + out_9016812017969752156[274] = 0.0; + out_9016812017969752156[275] = 0.0; + out_9016812017969752156[276] = 0.0; + out_9016812017969752156[277] = 0.0; + out_9016812017969752156[278] = 0.0; + out_9016812017969752156[279] = 0.0; + out_9016812017969752156[280] = 0.0; + out_9016812017969752156[281] = 0.0; + out_9016812017969752156[282] = 0.0; + out_9016812017969752156[283] = 0.0; + out_9016812017969752156[284] = 0.0; + out_9016812017969752156[285] = 1.0; + out_9016812017969752156[286] = 0.0; + out_9016812017969752156[287] = 0.0; + out_9016812017969752156[288] = 0.0; + out_9016812017969752156[289] = 0.0; + out_9016812017969752156[290] = 0.0; + out_9016812017969752156[291] = 0.0; + out_9016812017969752156[292] = 0.0; + out_9016812017969752156[293] = 0.0; + out_9016812017969752156[294] = 0.0; + out_9016812017969752156[295] = 0.0; + out_9016812017969752156[296] = 0.0; + out_9016812017969752156[297] = 0.0; + out_9016812017969752156[298] = 0.0; + out_9016812017969752156[299] = 0.0; + out_9016812017969752156[300] = 0.0; + out_9016812017969752156[301] = 0.0; + out_9016812017969752156[302] = 0.0; + out_9016812017969752156[303] = 0.0; + out_9016812017969752156[304] = 1.0; + out_9016812017969752156[305] = 0.0; + out_9016812017969752156[306] = 0.0; + out_9016812017969752156[307] = 0.0; + out_9016812017969752156[308] = 0.0; + out_9016812017969752156[309] = 0.0; + out_9016812017969752156[310] = 0.0; + out_9016812017969752156[311] = 0.0; + out_9016812017969752156[312] = 0.0; + out_9016812017969752156[313] = 0.0; + out_9016812017969752156[314] = 0.0; + out_9016812017969752156[315] = 0.0; + out_9016812017969752156[316] = 0.0; + out_9016812017969752156[317] = 0.0; + out_9016812017969752156[318] = 0.0; + out_9016812017969752156[319] = 0.0; + out_9016812017969752156[320] = 0.0; + out_9016812017969752156[321] = 0.0; + out_9016812017969752156[322] = 0.0; + out_9016812017969752156[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7331794505583909673) { - out_7331794505583909673[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_7331794505583909673[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_7331794505583909673[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_7331794505583909673[3] = dt*state[12] + state[3]; - out_7331794505583909673[4] = dt*state[13] + state[4]; - out_7331794505583909673[5] = dt*state[14] + state[5]; - out_7331794505583909673[6] = state[6]; - out_7331794505583909673[7] = state[7]; - out_7331794505583909673[8] = state[8]; - out_7331794505583909673[9] = state[9]; - out_7331794505583909673[10] = state[10]; - out_7331794505583909673[11] = state[11]; - out_7331794505583909673[12] = state[12]; - out_7331794505583909673[13] = state[13]; - out_7331794505583909673[14] = state[14]; - out_7331794505583909673[15] = state[15]; - out_7331794505583909673[16] = state[16]; - out_7331794505583909673[17] = state[17]; +void f_fun(double *state, double dt, double *out_5314151849166190903) { + out_5314151849166190903[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_5314151849166190903[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_5314151849166190903[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_5314151849166190903[3] = dt*state[12] + state[3]; + out_5314151849166190903[4] = dt*state[13] + state[4]; + out_5314151849166190903[5] = dt*state[14] + state[5]; + out_5314151849166190903[6] = state[6]; + out_5314151849166190903[7] = state[7]; + out_5314151849166190903[8] = state[8]; + out_5314151849166190903[9] = state[9]; + out_5314151849166190903[10] = state[10]; + out_5314151849166190903[11] = state[11]; + out_5314151849166190903[12] = state[12]; + out_5314151849166190903[13] = state[13]; + out_5314151849166190903[14] = state[14]; + out_5314151849166190903[15] = state[15]; + out_5314151849166190903[16] = state[16]; + out_5314151849166190903[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6844171548938607295) { - out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[2] = 0; - out_6844171548938607295[3] = 0; - out_6844171548938607295[4] = 0; - out_6844171548938607295[5] = 0; - out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[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_6844171548938607295[9] = 0; - out_6844171548938607295[10] = 0; - out_6844171548938607295[11] = 0; - out_6844171548938607295[12] = 0; - out_6844171548938607295[13] = 0; - out_6844171548938607295[14] = 0; - out_6844171548938607295[15] = 0; - out_6844171548938607295[16] = 0; - out_6844171548938607295[17] = 0; - out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[20] = 0; - out_6844171548938607295[21] = 0; - out_6844171548938607295[22] = 0; - out_6844171548938607295[23] = 0; - out_6844171548938607295[24] = 0; - out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[27] = 0; - out_6844171548938607295[28] = 0; - out_6844171548938607295[29] = 0; - out_6844171548938607295[30] = 0; - out_6844171548938607295[31] = 0; - out_6844171548938607295[32] = 0; - out_6844171548938607295[33] = 0; - out_6844171548938607295[34] = 0; - out_6844171548938607295[35] = 0; - out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[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_6844171548938607295[39] = 0; - out_6844171548938607295[40] = 0; - out_6844171548938607295[41] = 0; - out_6844171548938607295[42] = 0; - out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[45] = 0; - out_6844171548938607295[46] = 0; - out_6844171548938607295[47] = 0; - out_6844171548938607295[48] = 0; - out_6844171548938607295[49] = 0; - out_6844171548938607295[50] = 0; - out_6844171548938607295[51] = 0; - out_6844171548938607295[52] = 0; - out_6844171548938607295[53] = 0; - out_6844171548938607295[54] = 0; - out_6844171548938607295[55] = 0; - out_6844171548938607295[56] = 0; - out_6844171548938607295[57] = 1; - out_6844171548938607295[58] = 0; - out_6844171548938607295[59] = 0; - out_6844171548938607295[60] = 0; - out_6844171548938607295[61] = 0; - out_6844171548938607295[62] = 0; - out_6844171548938607295[63] = 0; - out_6844171548938607295[64] = 0; - out_6844171548938607295[65] = 0; - out_6844171548938607295[66] = dt; - out_6844171548938607295[67] = 0; - out_6844171548938607295[68] = 0; - out_6844171548938607295[69] = 0; - out_6844171548938607295[70] = 0; - out_6844171548938607295[71] = 0; - out_6844171548938607295[72] = 0; - out_6844171548938607295[73] = 0; - out_6844171548938607295[74] = 0; - out_6844171548938607295[75] = 0; - out_6844171548938607295[76] = 1; - out_6844171548938607295[77] = 0; - out_6844171548938607295[78] = 0; - out_6844171548938607295[79] = 0; - out_6844171548938607295[80] = 0; - out_6844171548938607295[81] = 0; - out_6844171548938607295[82] = 0; - out_6844171548938607295[83] = 0; - out_6844171548938607295[84] = 0; - out_6844171548938607295[85] = dt; - out_6844171548938607295[86] = 0; - out_6844171548938607295[87] = 0; - out_6844171548938607295[88] = 0; - out_6844171548938607295[89] = 0; - out_6844171548938607295[90] = 0; - out_6844171548938607295[91] = 0; - out_6844171548938607295[92] = 0; - out_6844171548938607295[93] = 0; - out_6844171548938607295[94] = 0; - out_6844171548938607295[95] = 1; - out_6844171548938607295[96] = 0; - out_6844171548938607295[97] = 0; - out_6844171548938607295[98] = 0; - out_6844171548938607295[99] = 0; - out_6844171548938607295[100] = 0; - out_6844171548938607295[101] = 0; - out_6844171548938607295[102] = 0; - out_6844171548938607295[103] = 0; - out_6844171548938607295[104] = dt; - out_6844171548938607295[105] = 0; - out_6844171548938607295[106] = 0; - out_6844171548938607295[107] = 0; - out_6844171548938607295[108] = 0; - out_6844171548938607295[109] = 0; - out_6844171548938607295[110] = 0; - out_6844171548938607295[111] = 0; - out_6844171548938607295[112] = 0; - out_6844171548938607295[113] = 0; - out_6844171548938607295[114] = 1; - out_6844171548938607295[115] = 0; - out_6844171548938607295[116] = 0; - out_6844171548938607295[117] = 0; - out_6844171548938607295[118] = 0; - out_6844171548938607295[119] = 0; - out_6844171548938607295[120] = 0; - out_6844171548938607295[121] = 0; - out_6844171548938607295[122] = 0; - out_6844171548938607295[123] = 0; - out_6844171548938607295[124] = 0; - out_6844171548938607295[125] = 0; - out_6844171548938607295[126] = 0; - out_6844171548938607295[127] = 0; - out_6844171548938607295[128] = 0; - out_6844171548938607295[129] = 0; - out_6844171548938607295[130] = 0; - out_6844171548938607295[131] = 0; - out_6844171548938607295[132] = 0; - out_6844171548938607295[133] = 1; - out_6844171548938607295[134] = 0; - out_6844171548938607295[135] = 0; - out_6844171548938607295[136] = 0; - out_6844171548938607295[137] = 0; - out_6844171548938607295[138] = 0; - out_6844171548938607295[139] = 0; - out_6844171548938607295[140] = 0; - out_6844171548938607295[141] = 0; - out_6844171548938607295[142] = 0; - out_6844171548938607295[143] = 0; - out_6844171548938607295[144] = 0; - out_6844171548938607295[145] = 0; - out_6844171548938607295[146] = 0; - out_6844171548938607295[147] = 0; - out_6844171548938607295[148] = 0; - out_6844171548938607295[149] = 0; - out_6844171548938607295[150] = 0; - out_6844171548938607295[151] = 0; - out_6844171548938607295[152] = 1; - out_6844171548938607295[153] = 0; - out_6844171548938607295[154] = 0; - out_6844171548938607295[155] = 0; - out_6844171548938607295[156] = 0; - out_6844171548938607295[157] = 0; - out_6844171548938607295[158] = 0; - out_6844171548938607295[159] = 0; - out_6844171548938607295[160] = 0; - out_6844171548938607295[161] = 0; - out_6844171548938607295[162] = 0; - out_6844171548938607295[163] = 0; - out_6844171548938607295[164] = 0; - out_6844171548938607295[165] = 0; - out_6844171548938607295[166] = 0; - out_6844171548938607295[167] = 0; - out_6844171548938607295[168] = 0; - out_6844171548938607295[169] = 0; - out_6844171548938607295[170] = 0; - out_6844171548938607295[171] = 1; - out_6844171548938607295[172] = 0; - out_6844171548938607295[173] = 0; - out_6844171548938607295[174] = 0; - out_6844171548938607295[175] = 0; - out_6844171548938607295[176] = 0; - out_6844171548938607295[177] = 0; - out_6844171548938607295[178] = 0; - out_6844171548938607295[179] = 0; - out_6844171548938607295[180] = 0; - out_6844171548938607295[181] = 0; - out_6844171548938607295[182] = 0; - out_6844171548938607295[183] = 0; - out_6844171548938607295[184] = 0; - out_6844171548938607295[185] = 0; - out_6844171548938607295[186] = 0; - out_6844171548938607295[187] = 0; - out_6844171548938607295[188] = 0; - out_6844171548938607295[189] = 0; - out_6844171548938607295[190] = 1; - out_6844171548938607295[191] = 0; - out_6844171548938607295[192] = 0; - out_6844171548938607295[193] = 0; - out_6844171548938607295[194] = 0; - out_6844171548938607295[195] = 0; - out_6844171548938607295[196] = 0; - out_6844171548938607295[197] = 0; - out_6844171548938607295[198] = 0; - out_6844171548938607295[199] = 0; - out_6844171548938607295[200] = 0; - out_6844171548938607295[201] = 0; - out_6844171548938607295[202] = 0; - out_6844171548938607295[203] = 0; - out_6844171548938607295[204] = 0; - out_6844171548938607295[205] = 0; - out_6844171548938607295[206] = 0; - out_6844171548938607295[207] = 0; - out_6844171548938607295[208] = 0; - out_6844171548938607295[209] = 1; - out_6844171548938607295[210] = 0; - out_6844171548938607295[211] = 0; - out_6844171548938607295[212] = 0; - out_6844171548938607295[213] = 0; - out_6844171548938607295[214] = 0; - out_6844171548938607295[215] = 0; - out_6844171548938607295[216] = 0; - out_6844171548938607295[217] = 0; - out_6844171548938607295[218] = 0; - out_6844171548938607295[219] = 0; - out_6844171548938607295[220] = 0; - out_6844171548938607295[221] = 0; - out_6844171548938607295[222] = 0; - out_6844171548938607295[223] = 0; - out_6844171548938607295[224] = 0; - out_6844171548938607295[225] = 0; - out_6844171548938607295[226] = 0; - out_6844171548938607295[227] = 0; - out_6844171548938607295[228] = 1; - out_6844171548938607295[229] = 0; - out_6844171548938607295[230] = 0; - out_6844171548938607295[231] = 0; - out_6844171548938607295[232] = 0; - out_6844171548938607295[233] = 0; - out_6844171548938607295[234] = 0; - out_6844171548938607295[235] = 0; - out_6844171548938607295[236] = 0; - out_6844171548938607295[237] = 0; - out_6844171548938607295[238] = 0; - out_6844171548938607295[239] = 0; - out_6844171548938607295[240] = 0; - out_6844171548938607295[241] = 0; - out_6844171548938607295[242] = 0; - out_6844171548938607295[243] = 0; - out_6844171548938607295[244] = 0; - out_6844171548938607295[245] = 0; - out_6844171548938607295[246] = 0; - out_6844171548938607295[247] = 1; - out_6844171548938607295[248] = 0; - out_6844171548938607295[249] = 0; - out_6844171548938607295[250] = 0; - out_6844171548938607295[251] = 0; - out_6844171548938607295[252] = 0; - out_6844171548938607295[253] = 0; - out_6844171548938607295[254] = 0; - out_6844171548938607295[255] = 0; - out_6844171548938607295[256] = 0; - out_6844171548938607295[257] = 0; - out_6844171548938607295[258] = 0; - out_6844171548938607295[259] = 0; - out_6844171548938607295[260] = 0; - out_6844171548938607295[261] = 0; - out_6844171548938607295[262] = 0; - out_6844171548938607295[263] = 0; - out_6844171548938607295[264] = 0; - out_6844171548938607295[265] = 0; - out_6844171548938607295[266] = 1; - out_6844171548938607295[267] = 0; - out_6844171548938607295[268] = 0; - out_6844171548938607295[269] = 0; - out_6844171548938607295[270] = 0; - out_6844171548938607295[271] = 0; - out_6844171548938607295[272] = 0; - out_6844171548938607295[273] = 0; - out_6844171548938607295[274] = 0; - out_6844171548938607295[275] = 0; - out_6844171548938607295[276] = 0; - out_6844171548938607295[277] = 0; - out_6844171548938607295[278] = 0; - out_6844171548938607295[279] = 0; - out_6844171548938607295[280] = 0; - out_6844171548938607295[281] = 0; - out_6844171548938607295[282] = 0; - out_6844171548938607295[283] = 0; - out_6844171548938607295[284] = 0; - out_6844171548938607295[285] = 1; - out_6844171548938607295[286] = 0; - out_6844171548938607295[287] = 0; - out_6844171548938607295[288] = 0; - out_6844171548938607295[289] = 0; - out_6844171548938607295[290] = 0; - out_6844171548938607295[291] = 0; - out_6844171548938607295[292] = 0; - out_6844171548938607295[293] = 0; - out_6844171548938607295[294] = 0; - out_6844171548938607295[295] = 0; - out_6844171548938607295[296] = 0; - out_6844171548938607295[297] = 0; - out_6844171548938607295[298] = 0; - out_6844171548938607295[299] = 0; - out_6844171548938607295[300] = 0; - out_6844171548938607295[301] = 0; - out_6844171548938607295[302] = 0; - out_6844171548938607295[303] = 0; - out_6844171548938607295[304] = 1; - out_6844171548938607295[305] = 0; - out_6844171548938607295[306] = 0; - out_6844171548938607295[307] = 0; - out_6844171548938607295[308] = 0; - out_6844171548938607295[309] = 0; - out_6844171548938607295[310] = 0; - out_6844171548938607295[311] = 0; - out_6844171548938607295[312] = 0; - out_6844171548938607295[313] = 0; - out_6844171548938607295[314] = 0; - out_6844171548938607295[315] = 0; - out_6844171548938607295[316] = 0; - out_6844171548938607295[317] = 0; - out_6844171548938607295[318] = 0; - out_6844171548938607295[319] = 0; - out_6844171548938607295[320] = 0; - out_6844171548938607295[321] = 0; - out_6844171548938607295[322] = 0; - out_6844171548938607295[323] = 1; +void F_fun(double *state, double dt, double *out_3978107798910374878) { + out_3978107798910374878[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_3978107798910374878[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_3978107798910374878[2] = 0; + out_3978107798910374878[3] = 0; + out_3978107798910374878[4] = 0; + out_3978107798910374878[5] = 0; + out_3978107798910374878[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_3978107798910374878[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_3978107798910374878[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_3978107798910374878[9] = 0; + out_3978107798910374878[10] = 0; + out_3978107798910374878[11] = 0; + out_3978107798910374878[12] = 0; + out_3978107798910374878[13] = 0; + out_3978107798910374878[14] = 0; + out_3978107798910374878[15] = 0; + out_3978107798910374878[16] = 0; + out_3978107798910374878[17] = 0; + out_3978107798910374878[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_3978107798910374878[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_3978107798910374878[20] = 0; + out_3978107798910374878[21] = 0; + out_3978107798910374878[22] = 0; + out_3978107798910374878[23] = 0; + out_3978107798910374878[24] = 0; + out_3978107798910374878[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_3978107798910374878[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_3978107798910374878[27] = 0; + out_3978107798910374878[28] = 0; + out_3978107798910374878[29] = 0; + out_3978107798910374878[30] = 0; + out_3978107798910374878[31] = 0; + out_3978107798910374878[32] = 0; + out_3978107798910374878[33] = 0; + out_3978107798910374878[34] = 0; + out_3978107798910374878[35] = 0; + out_3978107798910374878[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_3978107798910374878[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_3978107798910374878[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_3978107798910374878[39] = 0; + out_3978107798910374878[40] = 0; + out_3978107798910374878[41] = 0; + out_3978107798910374878[42] = 0; + out_3978107798910374878[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_3978107798910374878[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_3978107798910374878[45] = 0; + out_3978107798910374878[46] = 0; + out_3978107798910374878[47] = 0; + out_3978107798910374878[48] = 0; + out_3978107798910374878[49] = 0; + out_3978107798910374878[50] = 0; + out_3978107798910374878[51] = 0; + out_3978107798910374878[52] = 0; + out_3978107798910374878[53] = 0; + out_3978107798910374878[54] = 0; + out_3978107798910374878[55] = 0; + out_3978107798910374878[56] = 0; + out_3978107798910374878[57] = 1; + out_3978107798910374878[58] = 0; + out_3978107798910374878[59] = 0; + out_3978107798910374878[60] = 0; + out_3978107798910374878[61] = 0; + out_3978107798910374878[62] = 0; + out_3978107798910374878[63] = 0; + out_3978107798910374878[64] = 0; + out_3978107798910374878[65] = 0; + out_3978107798910374878[66] = dt; + out_3978107798910374878[67] = 0; + out_3978107798910374878[68] = 0; + out_3978107798910374878[69] = 0; + out_3978107798910374878[70] = 0; + out_3978107798910374878[71] = 0; + out_3978107798910374878[72] = 0; + out_3978107798910374878[73] = 0; + out_3978107798910374878[74] = 0; + out_3978107798910374878[75] = 0; + out_3978107798910374878[76] = 1; + out_3978107798910374878[77] = 0; + out_3978107798910374878[78] = 0; + out_3978107798910374878[79] = 0; + out_3978107798910374878[80] = 0; + out_3978107798910374878[81] = 0; + out_3978107798910374878[82] = 0; + out_3978107798910374878[83] = 0; + out_3978107798910374878[84] = 0; + out_3978107798910374878[85] = dt; + out_3978107798910374878[86] = 0; + out_3978107798910374878[87] = 0; + out_3978107798910374878[88] = 0; + out_3978107798910374878[89] = 0; + out_3978107798910374878[90] = 0; + out_3978107798910374878[91] = 0; + out_3978107798910374878[92] = 0; + out_3978107798910374878[93] = 0; + out_3978107798910374878[94] = 0; + out_3978107798910374878[95] = 1; + out_3978107798910374878[96] = 0; + out_3978107798910374878[97] = 0; + out_3978107798910374878[98] = 0; + out_3978107798910374878[99] = 0; + out_3978107798910374878[100] = 0; + out_3978107798910374878[101] = 0; + out_3978107798910374878[102] = 0; + out_3978107798910374878[103] = 0; + out_3978107798910374878[104] = dt; + out_3978107798910374878[105] = 0; + out_3978107798910374878[106] = 0; + out_3978107798910374878[107] = 0; + out_3978107798910374878[108] = 0; + out_3978107798910374878[109] = 0; + out_3978107798910374878[110] = 0; + out_3978107798910374878[111] = 0; + out_3978107798910374878[112] = 0; + out_3978107798910374878[113] = 0; + out_3978107798910374878[114] = 1; + out_3978107798910374878[115] = 0; + out_3978107798910374878[116] = 0; + out_3978107798910374878[117] = 0; + out_3978107798910374878[118] = 0; + out_3978107798910374878[119] = 0; + out_3978107798910374878[120] = 0; + out_3978107798910374878[121] = 0; + out_3978107798910374878[122] = 0; + out_3978107798910374878[123] = 0; + out_3978107798910374878[124] = 0; + out_3978107798910374878[125] = 0; + out_3978107798910374878[126] = 0; + out_3978107798910374878[127] = 0; + out_3978107798910374878[128] = 0; + out_3978107798910374878[129] = 0; + out_3978107798910374878[130] = 0; + out_3978107798910374878[131] = 0; + out_3978107798910374878[132] = 0; + out_3978107798910374878[133] = 1; + out_3978107798910374878[134] = 0; + out_3978107798910374878[135] = 0; + out_3978107798910374878[136] = 0; + out_3978107798910374878[137] = 0; + out_3978107798910374878[138] = 0; + out_3978107798910374878[139] = 0; + out_3978107798910374878[140] = 0; + out_3978107798910374878[141] = 0; + out_3978107798910374878[142] = 0; + out_3978107798910374878[143] = 0; + out_3978107798910374878[144] = 0; + out_3978107798910374878[145] = 0; + out_3978107798910374878[146] = 0; + out_3978107798910374878[147] = 0; + out_3978107798910374878[148] = 0; + out_3978107798910374878[149] = 0; + out_3978107798910374878[150] = 0; + out_3978107798910374878[151] = 0; + out_3978107798910374878[152] = 1; + out_3978107798910374878[153] = 0; + out_3978107798910374878[154] = 0; + out_3978107798910374878[155] = 0; + out_3978107798910374878[156] = 0; + out_3978107798910374878[157] = 0; + out_3978107798910374878[158] = 0; + out_3978107798910374878[159] = 0; + out_3978107798910374878[160] = 0; + out_3978107798910374878[161] = 0; + out_3978107798910374878[162] = 0; + out_3978107798910374878[163] = 0; + out_3978107798910374878[164] = 0; + out_3978107798910374878[165] = 0; + out_3978107798910374878[166] = 0; + out_3978107798910374878[167] = 0; + out_3978107798910374878[168] = 0; + out_3978107798910374878[169] = 0; + out_3978107798910374878[170] = 0; + out_3978107798910374878[171] = 1; + out_3978107798910374878[172] = 0; + out_3978107798910374878[173] = 0; + out_3978107798910374878[174] = 0; + out_3978107798910374878[175] = 0; + out_3978107798910374878[176] = 0; + out_3978107798910374878[177] = 0; + out_3978107798910374878[178] = 0; + out_3978107798910374878[179] = 0; + out_3978107798910374878[180] = 0; + out_3978107798910374878[181] = 0; + out_3978107798910374878[182] = 0; + out_3978107798910374878[183] = 0; + out_3978107798910374878[184] = 0; + out_3978107798910374878[185] = 0; + out_3978107798910374878[186] = 0; + out_3978107798910374878[187] = 0; + out_3978107798910374878[188] = 0; + out_3978107798910374878[189] = 0; + out_3978107798910374878[190] = 1; + out_3978107798910374878[191] = 0; + out_3978107798910374878[192] = 0; + out_3978107798910374878[193] = 0; + out_3978107798910374878[194] = 0; + out_3978107798910374878[195] = 0; + out_3978107798910374878[196] = 0; + out_3978107798910374878[197] = 0; + out_3978107798910374878[198] = 0; + out_3978107798910374878[199] = 0; + out_3978107798910374878[200] = 0; + out_3978107798910374878[201] = 0; + out_3978107798910374878[202] = 0; + out_3978107798910374878[203] = 0; + out_3978107798910374878[204] = 0; + out_3978107798910374878[205] = 0; + out_3978107798910374878[206] = 0; + out_3978107798910374878[207] = 0; + out_3978107798910374878[208] = 0; + out_3978107798910374878[209] = 1; + out_3978107798910374878[210] = 0; + out_3978107798910374878[211] = 0; + out_3978107798910374878[212] = 0; + out_3978107798910374878[213] = 0; + out_3978107798910374878[214] = 0; + out_3978107798910374878[215] = 0; + out_3978107798910374878[216] = 0; + out_3978107798910374878[217] = 0; + out_3978107798910374878[218] = 0; + out_3978107798910374878[219] = 0; + out_3978107798910374878[220] = 0; + out_3978107798910374878[221] = 0; + out_3978107798910374878[222] = 0; + out_3978107798910374878[223] = 0; + out_3978107798910374878[224] = 0; + out_3978107798910374878[225] = 0; + out_3978107798910374878[226] = 0; + out_3978107798910374878[227] = 0; + out_3978107798910374878[228] = 1; + out_3978107798910374878[229] = 0; + out_3978107798910374878[230] = 0; + out_3978107798910374878[231] = 0; + out_3978107798910374878[232] = 0; + out_3978107798910374878[233] = 0; + out_3978107798910374878[234] = 0; + out_3978107798910374878[235] = 0; + out_3978107798910374878[236] = 0; + out_3978107798910374878[237] = 0; + out_3978107798910374878[238] = 0; + out_3978107798910374878[239] = 0; + out_3978107798910374878[240] = 0; + out_3978107798910374878[241] = 0; + out_3978107798910374878[242] = 0; + out_3978107798910374878[243] = 0; + out_3978107798910374878[244] = 0; + out_3978107798910374878[245] = 0; + out_3978107798910374878[246] = 0; + out_3978107798910374878[247] = 1; + out_3978107798910374878[248] = 0; + out_3978107798910374878[249] = 0; + out_3978107798910374878[250] = 0; + out_3978107798910374878[251] = 0; + out_3978107798910374878[252] = 0; + out_3978107798910374878[253] = 0; + out_3978107798910374878[254] = 0; + out_3978107798910374878[255] = 0; + out_3978107798910374878[256] = 0; + out_3978107798910374878[257] = 0; + out_3978107798910374878[258] = 0; + out_3978107798910374878[259] = 0; + out_3978107798910374878[260] = 0; + out_3978107798910374878[261] = 0; + out_3978107798910374878[262] = 0; + out_3978107798910374878[263] = 0; + out_3978107798910374878[264] = 0; + out_3978107798910374878[265] = 0; + out_3978107798910374878[266] = 1; + out_3978107798910374878[267] = 0; + out_3978107798910374878[268] = 0; + out_3978107798910374878[269] = 0; + out_3978107798910374878[270] = 0; + out_3978107798910374878[271] = 0; + out_3978107798910374878[272] = 0; + out_3978107798910374878[273] = 0; + out_3978107798910374878[274] = 0; + out_3978107798910374878[275] = 0; + out_3978107798910374878[276] = 0; + out_3978107798910374878[277] = 0; + out_3978107798910374878[278] = 0; + out_3978107798910374878[279] = 0; + out_3978107798910374878[280] = 0; + out_3978107798910374878[281] = 0; + out_3978107798910374878[282] = 0; + out_3978107798910374878[283] = 0; + out_3978107798910374878[284] = 0; + out_3978107798910374878[285] = 1; + out_3978107798910374878[286] = 0; + out_3978107798910374878[287] = 0; + out_3978107798910374878[288] = 0; + out_3978107798910374878[289] = 0; + out_3978107798910374878[290] = 0; + out_3978107798910374878[291] = 0; + out_3978107798910374878[292] = 0; + out_3978107798910374878[293] = 0; + out_3978107798910374878[294] = 0; + out_3978107798910374878[295] = 0; + out_3978107798910374878[296] = 0; + out_3978107798910374878[297] = 0; + out_3978107798910374878[298] = 0; + out_3978107798910374878[299] = 0; + out_3978107798910374878[300] = 0; + out_3978107798910374878[301] = 0; + out_3978107798910374878[302] = 0; + out_3978107798910374878[303] = 0; + out_3978107798910374878[304] = 1; + out_3978107798910374878[305] = 0; + out_3978107798910374878[306] = 0; + out_3978107798910374878[307] = 0; + out_3978107798910374878[308] = 0; + out_3978107798910374878[309] = 0; + out_3978107798910374878[310] = 0; + out_3978107798910374878[311] = 0; + out_3978107798910374878[312] = 0; + out_3978107798910374878[313] = 0; + out_3978107798910374878[314] = 0; + out_3978107798910374878[315] = 0; + out_3978107798910374878[316] = 0; + out_3978107798910374878[317] = 0; + out_3978107798910374878[318] = 0; + out_3978107798910374878[319] = 0; + out_3978107798910374878[320] = 0; + out_3978107798910374878[321] = 0; + out_3978107798910374878[322] = 0; + out_3978107798910374878[323] = 1; } -void h_4(double *state, double *unused, double *out_7129002449097779903) { - out_7129002449097779903[0] = state[6] + state[9]; - out_7129002449097779903[1] = state[7] + state[10]; - out_7129002449097779903[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6702643113920812120) { + out_6702643113920812120[0] = state[6] + state[9]; + out_6702643113920812120[1] = state[7] + state[10]; + out_6702643113920812120[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1457383500445285606) { - out_1457383500445285606[0] = 0; - out_1457383500445285606[1] = 0; - out_1457383500445285606[2] = 0; - out_1457383500445285606[3] = 0; - out_1457383500445285606[4] = 0; - out_1457383500445285606[5] = 0; - out_1457383500445285606[6] = 1; - out_1457383500445285606[7] = 0; - out_1457383500445285606[8] = 0; - out_1457383500445285606[9] = 1; - out_1457383500445285606[10] = 0; - out_1457383500445285606[11] = 0; - out_1457383500445285606[12] = 0; - out_1457383500445285606[13] = 0; - out_1457383500445285606[14] = 0; - out_1457383500445285606[15] = 0; - out_1457383500445285606[16] = 0; - out_1457383500445285606[17] = 0; - out_1457383500445285606[18] = 0; - out_1457383500445285606[19] = 0; - out_1457383500445285606[20] = 0; - out_1457383500445285606[21] = 0; - out_1457383500445285606[22] = 0; - out_1457383500445285606[23] = 0; - out_1457383500445285606[24] = 0; - out_1457383500445285606[25] = 1; - out_1457383500445285606[26] = 0; - out_1457383500445285606[27] = 0; - out_1457383500445285606[28] = 1; - out_1457383500445285606[29] = 0; - out_1457383500445285606[30] = 0; - out_1457383500445285606[31] = 0; - out_1457383500445285606[32] = 0; - out_1457383500445285606[33] = 0; - out_1457383500445285606[34] = 0; - out_1457383500445285606[35] = 0; - out_1457383500445285606[36] = 0; - out_1457383500445285606[37] = 0; - out_1457383500445285606[38] = 0; - out_1457383500445285606[39] = 0; - out_1457383500445285606[40] = 0; - out_1457383500445285606[41] = 0; - out_1457383500445285606[42] = 0; - out_1457383500445285606[43] = 0; - out_1457383500445285606[44] = 1; - out_1457383500445285606[45] = 0; - out_1457383500445285606[46] = 0; - out_1457383500445285606[47] = 1; - out_1457383500445285606[48] = 0; - out_1457383500445285606[49] = 0; - out_1457383500445285606[50] = 0; - out_1457383500445285606[51] = 0; - out_1457383500445285606[52] = 0; - out_1457383500445285606[53] = 0; +void H_4(double *state, double *unused, double *out_1181133811394856104) { + out_1181133811394856104[0] = 0; + out_1181133811394856104[1] = 0; + out_1181133811394856104[2] = 0; + out_1181133811394856104[3] = 0; + out_1181133811394856104[4] = 0; + out_1181133811394856104[5] = 0; + out_1181133811394856104[6] = 1; + out_1181133811394856104[7] = 0; + out_1181133811394856104[8] = 0; + out_1181133811394856104[9] = 1; + out_1181133811394856104[10] = 0; + out_1181133811394856104[11] = 0; + out_1181133811394856104[12] = 0; + out_1181133811394856104[13] = 0; + out_1181133811394856104[14] = 0; + out_1181133811394856104[15] = 0; + out_1181133811394856104[16] = 0; + out_1181133811394856104[17] = 0; + out_1181133811394856104[18] = 0; + out_1181133811394856104[19] = 0; + out_1181133811394856104[20] = 0; + out_1181133811394856104[21] = 0; + out_1181133811394856104[22] = 0; + out_1181133811394856104[23] = 0; + out_1181133811394856104[24] = 0; + out_1181133811394856104[25] = 1; + out_1181133811394856104[26] = 0; + out_1181133811394856104[27] = 0; + out_1181133811394856104[28] = 1; + out_1181133811394856104[29] = 0; + out_1181133811394856104[30] = 0; + out_1181133811394856104[31] = 0; + out_1181133811394856104[32] = 0; + out_1181133811394856104[33] = 0; + out_1181133811394856104[34] = 0; + out_1181133811394856104[35] = 0; + out_1181133811394856104[36] = 0; + out_1181133811394856104[37] = 0; + out_1181133811394856104[38] = 0; + out_1181133811394856104[39] = 0; + out_1181133811394856104[40] = 0; + out_1181133811394856104[41] = 0; + out_1181133811394856104[42] = 0; + out_1181133811394856104[43] = 0; + out_1181133811394856104[44] = 1; + out_1181133811394856104[45] = 0; + out_1181133811394856104[46] = 0; + out_1181133811394856104[47] = 1; + out_1181133811394856104[48] = 0; + out_1181133811394856104[49] = 0; + out_1181133811394856104[50] = 0; + out_1181133811394856104[51] = 0; + out_1181133811394856104[52] = 0; + out_1181133811394856104[53] = 0; } -void h_10(double *state, double *unused, double *out_3148302492513217557) { - out_3148302492513217557[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3148302492513217557[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3148302492513217557[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_329728007611436907) { + out_329728007611436907[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_329728007611436907[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_329728007611436907[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_4488407256990316453) { - out_4488407256990316453[0] = 0; - out_4488407256990316453[1] = 9.8100000000000005*cos(state[1]); - out_4488407256990316453[2] = 0; - out_4488407256990316453[3] = 0; - out_4488407256990316453[4] = -state[8]; - out_4488407256990316453[5] = state[7]; - out_4488407256990316453[6] = 0; - out_4488407256990316453[7] = state[5]; - out_4488407256990316453[8] = -state[4]; - out_4488407256990316453[9] = 0; - out_4488407256990316453[10] = 0; - out_4488407256990316453[11] = 0; - out_4488407256990316453[12] = 1; - out_4488407256990316453[13] = 0; - out_4488407256990316453[14] = 0; - out_4488407256990316453[15] = 1; - out_4488407256990316453[16] = 0; - out_4488407256990316453[17] = 0; - out_4488407256990316453[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4488407256990316453[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4488407256990316453[20] = 0; - out_4488407256990316453[21] = state[8]; - out_4488407256990316453[22] = 0; - out_4488407256990316453[23] = -state[6]; - out_4488407256990316453[24] = -state[5]; - out_4488407256990316453[25] = 0; - out_4488407256990316453[26] = state[3]; - out_4488407256990316453[27] = 0; - out_4488407256990316453[28] = 0; - out_4488407256990316453[29] = 0; - out_4488407256990316453[30] = 0; - out_4488407256990316453[31] = 1; - out_4488407256990316453[32] = 0; - out_4488407256990316453[33] = 0; - out_4488407256990316453[34] = 1; - out_4488407256990316453[35] = 0; - out_4488407256990316453[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4488407256990316453[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4488407256990316453[38] = 0; - out_4488407256990316453[39] = -state[7]; - out_4488407256990316453[40] = state[6]; - out_4488407256990316453[41] = 0; - out_4488407256990316453[42] = state[4]; - out_4488407256990316453[43] = -state[3]; - out_4488407256990316453[44] = 0; - out_4488407256990316453[45] = 0; - out_4488407256990316453[46] = 0; - out_4488407256990316453[47] = 0; - out_4488407256990316453[48] = 0; - out_4488407256990316453[49] = 0; - out_4488407256990316453[50] = 1; - out_4488407256990316453[51] = 0; - out_4488407256990316453[52] = 0; - out_4488407256990316453[53] = 1; +void H_10(double *state, double *unused, double *out_8047171094370826367) { + out_8047171094370826367[0] = 0; + out_8047171094370826367[1] = 9.8100000000000005*cos(state[1]); + out_8047171094370826367[2] = 0; + out_8047171094370826367[3] = 0; + out_8047171094370826367[4] = -state[8]; + out_8047171094370826367[5] = state[7]; + out_8047171094370826367[6] = 0; + out_8047171094370826367[7] = state[5]; + out_8047171094370826367[8] = -state[4]; + out_8047171094370826367[9] = 0; + out_8047171094370826367[10] = 0; + out_8047171094370826367[11] = 0; + out_8047171094370826367[12] = 1; + out_8047171094370826367[13] = 0; + out_8047171094370826367[14] = 0; + out_8047171094370826367[15] = 1; + out_8047171094370826367[16] = 0; + out_8047171094370826367[17] = 0; + out_8047171094370826367[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8047171094370826367[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8047171094370826367[20] = 0; + out_8047171094370826367[21] = state[8]; + out_8047171094370826367[22] = 0; + out_8047171094370826367[23] = -state[6]; + out_8047171094370826367[24] = -state[5]; + out_8047171094370826367[25] = 0; + out_8047171094370826367[26] = state[3]; + out_8047171094370826367[27] = 0; + out_8047171094370826367[28] = 0; + out_8047171094370826367[29] = 0; + out_8047171094370826367[30] = 0; + out_8047171094370826367[31] = 1; + out_8047171094370826367[32] = 0; + out_8047171094370826367[33] = 0; + out_8047171094370826367[34] = 1; + out_8047171094370826367[35] = 0; + out_8047171094370826367[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8047171094370826367[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8047171094370826367[38] = 0; + out_8047171094370826367[39] = -state[7]; + out_8047171094370826367[40] = state[6]; + out_8047171094370826367[41] = 0; + out_8047171094370826367[42] = state[4]; + out_8047171094370826367[43] = -state[3]; + out_8047171094370826367[44] = 0; + out_8047171094370826367[45] = 0; + out_8047171094370826367[46] = 0; + out_8047171094370826367[47] = 0; + out_8047171094370826367[48] = 0; + out_8047171094370826367[49] = 0; + out_8047171094370826367[50] = 1; + out_8047171094370826367[51] = 0; + out_8047171094370826367[52] = 0; + out_8047171094370826367[53] = 1; } -void h_13(double *state, double *unused, double *out_3993880518003112603) { - out_3993880518003112603[0] = state[3]; - out_3993880518003112603[1] = state[4]; - out_3993880518003112603[2] = state[5]; +void h_13(double *state, double *unused, double *out_8195155792174923791) { + out_8195155792174923791[0] = state[3]; + out_8195155792174923791[1] = state[4]; + out_8195155792174923791[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1754890324887047195) { - out_1754890324887047195[0] = 0; - out_1754890324887047195[1] = 0; - out_1754890324887047195[2] = 0; - out_1754890324887047195[3] = 1; - out_1754890324887047195[4] = 0; - out_1754890324887047195[5] = 0; - out_1754890324887047195[6] = 0; - out_1754890324887047195[7] = 0; - out_1754890324887047195[8] = 0; - out_1754890324887047195[9] = 0; - out_1754890324887047195[10] = 0; - out_1754890324887047195[11] = 0; - out_1754890324887047195[12] = 0; - out_1754890324887047195[13] = 0; - out_1754890324887047195[14] = 0; - out_1754890324887047195[15] = 0; - out_1754890324887047195[16] = 0; - out_1754890324887047195[17] = 0; - out_1754890324887047195[18] = 0; - out_1754890324887047195[19] = 0; - out_1754890324887047195[20] = 0; - out_1754890324887047195[21] = 0; - out_1754890324887047195[22] = 1; - out_1754890324887047195[23] = 0; - out_1754890324887047195[24] = 0; - out_1754890324887047195[25] = 0; - out_1754890324887047195[26] = 0; - out_1754890324887047195[27] = 0; - out_1754890324887047195[28] = 0; - out_1754890324887047195[29] = 0; - out_1754890324887047195[30] = 0; - out_1754890324887047195[31] = 0; - out_1754890324887047195[32] = 0; - out_1754890324887047195[33] = 0; - out_1754890324887047195[34] = 0; - out_1754890324887047195[35] = 0; - out_1754890324887047195[36] = 0; - out_1754890324887047195[37] = 0; - out_1754890324887047195[38] = 0; - out_1754890324887047195[39] = 0; - out_1754890324887047195[40] = 0; - out_1754890324887047195[41] = 1; - out_1754890324887047195[42] = 0; - out_1754890324887047195[43] = 0; - out_1754890324887047195[44] = 0; - out_1754890324887047195[45] = 0; - out_1754890324887047195[46] = 0; - out_1754890324887047195[47] = 0; - out_1754890324887047195[48] = 0; - out_1754890324887047195[49] = 0; - out_1754890324887047195[50] = 0; - out_1754890324887047195[51] = 0; - out_1754890324887047195[52] = 0; - out_1754890324887047195[53] = 0; +void H_13(double *state, double *unused, double *out_2031140013937476697) { + out_2031140013937476697[0] = 0; + out_2031140013937476697[1] = 0; + out_2031140013937476697[2] = 0; + out_2031140013937476697[3] = 1; + out_2031140013937476697[4] = 0; + out_2031140013937476697[5] = 0; + out_2031140013937476697[6] = 0; + out_2031140013937476697[7] = 0; + out_2031140013937476697[8] = 0; + out_2031140013937476697[9] = 0; + out_2031140013937476697[10] = 0; + out_2031140013937476697[11] = 0; + out_2031140013937476697[12] = 0; + out_2031140013937476697[13] = 0; + out_2031140013937476697[14] = 0; + out_2031140013937476697[15] = 0; + out_2031140013937476697[16] = 0; + out_2031140013937476697[17] = 0; + out_2031140013937476697[18] = 0; + out_2031140013937476697[19] = 0; + out_2031140013937476697[20] = 0; + out_2031140013937476697[21] = 0; + out_2031140013937476697[22] = 1; + out_2031140013937476697[23] = 0; + out_2031140013937476697[24] = 0; + out_2031140013937476697[25] = 0; + out_2031140013937476697[26] = 0; + out_2031140013937476697[27] = 0; + out_2031140013937476697[28] = 0; + out_2031140013937476697[29] = 0; + out_2031140013937476697[30] = 0; + out_2031140013937476697[31] = 0; + out_2031140013937476697[32] = 0; + out_2031140013937476697[33] = 0; + out_2031140013937476697[34] = 0; + out_2031140013937476697[35] = 0; + out_2031140013937476697[36] = 0; + out_2031140013937476697[37] = 0; + out_2031140013937476697[38] = 0; + out_2031140013937476697[39] = 0; + out_2031140013937476697[40] = 0; + out_2031140013937476697[41] = 1; + out_2031140013937476697[42] = 0; + out_2031140013937476697[43] = 0; + out_2031140013937476697[44] = 0; + out_2031140013937476697[45] = 0; + out_2031140013937476697[46] = 0; + out_2031140013937476697[47] = 0; + out_2031140013937476697[48] = 0; + out_2031140013937476697[49] = 0; + out_2031140013937476697[50] = 0; + out_2031140013937476697[51] = 0; + out_2031140013937476697[52] = 0; + out_2031140013937476697[53] = 0; } -void h_14(double *state, double *unused, double *out_318727471713913742) { - out_318727471713913742[0] = state[6]; - out_318727471713913742[1] = state[7]; - out_318727471713913742[2] = state[8]; +void h_14(double *state, double *unused, double *out_3839043433562085237) { + out_3839043433562085237[0] = state[6]; + out_3839043433562085237[1] = state[7]; + out_3839043433562085237[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4540171932740657902) { - out_4540171932740657902[0] = 0; - out_4540171932740657902[1] = 0; - out_4540171932740657902[2] = 0; - out_4540171932740657902[3] = 0; - out_4540171932740657902[4] = 0; - out_4540171932740657902[5] = 0; - out_4540171932740657902[6] = 1; - out_4540171932740657902[7] = 0; - out_4540171932740657902[8] = 0; - out_4540171932740657902[9] = 0; - out_4540171932740657902[10] = 0; - out_4540171932740657902[11] = 0; - out_4540171932740657902[12] = 0; - out_4540171932740657902[13] = 0; - out_4540171932740657902[14] = 0; - out_4540171932740657902[15] = 0; - out_4540171932740657902[16] = 0; - out_4540171932740657902[17] = 0; - out_4540171932740657902[18] = 0; - out_4540171932740657902[19] = 0; - out_4540171932740657902[20] = 0; - out_4540171932740657902[21] = 0; - out_4540171932740657902[22] = 0; - out_4540171932740657902[23] = 0; - out_4540171932740657902[24] = 0; - out_4540171932740657902[25] = 1; - out_4540171932740657902[26] = 0; - out_4540171932740657902[27] = 0; - out_4540171932740657902[28] = 0; - out_4540171932740657902[29] = 0; - out_4540171932740657902[30] = 0; - out_4540171932740657902[31] = 0; - out_4540171932740657902[32] = 0; - out_4540171932740657902[33] = 0; - out_4540171932740657902[34] = 0; - out_4540171932740657902[35] = 0; - out_4540171932740657902[36] = 0; - out_4540171932740657902[37] = 0; - out_4540171932740657902[38] = 0; - out_4540171932740657902[39] = 0; - out_4540171932740657902[40] = 0; - out_4540171932740657902[41] = 0; - out_4540171932740657902[42] = 0; - out_4540171932740657902[43] = 0; - out_4540171932740657902[44] = 1; - out_4540171932740657902[45] = 0; - out_4540171932740657902[46] = 0; - out_4540171932740657902[47] = 0; - out_4540171932740657902[48] = 0; - out_4540171932740657902[49] = 0; - out_4540171932740657902[50] = 0; - out_4540171932740657902[51] = 0; - out_4540171932740657902[52] = 0; - out_4540171932740657902[53] = 0; +void H_14(double *state, double *unused, double *out_2782107044944628425) { + out_2782107044944628425[0] = 0; + out_2782107044944628425[1] = 0; + out_2782107044944628425[2] = 0; + out_2782107044944628425[3] = 0; + out_2782107044944628425[4] = 0; + out_2782107044944628425[5] = 0; + out_2782107044944628425[6] = 1; + out_2782107044944628425[7] = 0; + out_2782107044944628425[8] = 0; + out_2782107044944628425[9] = 0; + out_2782107044944628425[10] = 0; + out_2782107044944628425[11] = 0; + out_2782107044944628425[12] = 0; + out_2782107044944628425[13] = 0; + out_2782107044944628425[14] = 0; + out_2782107044944628425[15] = 0; + out_2782107044944628425[16] = 0; + out_2782107044944628425[17] = 0; + out_2782107044944628425[18] = 0; + out_2782107044944628425[19] = 0; + out_2782107044944628425[20] = 0; + out_2782107044944628425[21] = 0; + out_2782107044944628425[22] = 0; + out_2782107044944628425[23] = 0; + out_2782107044944628425[24] = 0; + out_2782107044944628425[25] = 1; + out_2782107044944628425[26] = 0; + out_2782107044944628425[27] = 0; + out_2782107044944628425[28] = 0; + out_2782107044944628425[29] = 0; + out_2782107044944628425[30] = 0; + out_2782107044944628425[31] = 0; + out_2782107044944628425[32] = 0; + out_2782107044944628425[33] = 0; + out_2782107044944628425[34] = 0; + out_2782107044944628425[35] = 0; + out_2782107044944628425[36] = 0; + out_2782107044944628425[37] = 0; + out_2782107044944628425[38] = 0; + out_2782107044944628425[39] = 0; + out_2782107044944628425[40] = 0; + out_2782107044944628425[41] = 0; + out_2782107044944628425[42] = 0; + out_2782107044944628425[43] = 0; + out_2782107044944628425[44] = 1; + out_2782107044944628425[45] = 0; + out_2782107044944628425[46] = 0; + out_2782107044944628425[47] = 0; + out_2782107044944628425[48] = 0; + out_2782107044944628425[49] = 0; + out_2782107044944628425[50] = 0; + out_2782107044944628425[51] = 0; + out_2782107044944628425[52] = 0; + out_2782107044944628425[53] = 0; } #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_5797775412313342444) { - err_fun(nom_x, delta_x, out_5797775412313342444); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2815596288453817821) { + err_fun(nom_x, delta_x, out_2815596288453817821); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6978859077859564623) { - inv_err_fun(nom_x, true_x, out_6978859077859564623); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8761485569796980977) { + inv_err_fun(nom_x, true_x, out_8761485569796980977); } -void pose_H_mod_fun(double *state, double *out_7486978165612535736) { - H_mod_fun(state, out_7486978165612535736); +void pose_H_mod_fun(double *state, double *out_9016812017969752156) { + H_mod_fun(state, out_9016812017969752156); } -void pose_f_fun(double *state, double dt, double *out_7331794505583909673) { - f_fun(state, dt, out_7331794505583909673); +void pose_f_fun(double *state, double dt, double *out_5314151849166190903) { + f_fun(state, dt, out_5314151849166190903); } -void pose_F_fun(double *state, double dt, double *out_6844171548938607295) { - F_fun(state, dt, out_6844171548938607295); +void pose_F_fun(double *state, double dt, double *out_3978107798910374878) { + F_fun(state, dt, out_3978107798910374878); } -void pose_h_4(double *state, double *unused, double *out_7129002449097779903) { - h_4(state, unused, out_7129002449097779903); +void pose_h_4(double *state, double *unused, double *out_6702643113920812120) { + h_4(state, unused, out_6702643113920812120); } -void pose_H_4(double *state, double *unused, double *out_1457383500445285606) { - H_4(state, unused, out_1457383500445285606); +void pose_H_4(double *state, double *unused, double *out_1181133811394856104) { + H_4(state, unused, out_1181133811394856104); } -void pose_h_10(double *state, double *unused, double *out_3148302492513217557) { - h_10(state, unused, out_3148302492513217557); +void pose_h_10(double *state, double *unused, double *out_329728007611436907) { + h_10(state, unused, out_329728007611436907); } -void pose_H_10(double *state, double *unused, double *out_4488407256990316453) { - H_10(state, unused, out_4488407256990316453); +void pose_H_10(double *state, double *unused, double *out_8047171094370826367) { + H_10(state, unused, out_8047171094370826367); } -void pose_h_13(double *state, double *unused, double *out_3993880518003112603) { - h_13(state, unused, out_3993880518003112603); +void pose_h_13(double *state, double *unused, double *out_8195155792174923791) { + h_13(state, unused, out_8195155792174923791); } -void pose_H_13(double *state, double *unused, double *out_1754890324887047195) { - H_13(state, unused, out_1754890324887047195); +void pose_H_13(double *state, double *unused, double *out_2031140013937476697) { + H_13(state, unused, out_2031140013937476697); } -void pose_h_14(double *state, double *unused, double *out_318727471713913742) { - h_14(state, unused, out_318727471713913742); +void pose_h_14(double *state, double *unused, double *out_3839043433562085237) { + h_14(state, unused, out_3839043433562085237); } -void pose_H_14(double *state, double *unused, double *out_4540171932740657902) { - H_14(state, unused, out_4540171932740657902); +void pose_H_14(double *state, double *unused, double *out_2782107044944628425) { + H_14(state, unused, out_2782107044944628425); } 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 04919d47a..78b7a80be 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_5797775412313342444); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6978859077859564623); -void pose_H_mod_fun(double *state, double *out_7486978165612535736); -void pose_f_fun(double *state, double dt, double *out_7331794505583909673); -void pose_F_fun(double *state, double dt, double *out_6844171548938607295); -void pose_h_4(double *state, double *unused, double *out_7129002449097779903); -void pose_H_4(double *state, double *unused, double *out_1457383500445285606); -void pose_h_10(double *state, double *unused, double *out_3148302492513217557); -void pose_H_10(double *state, double *unused, double *out_4488407256990316453); -void pose_h_13(double *state, double *unused, double *out_3993880518003112603); -void pose_H_13(double *state, double *unused, double *out_1754890324887047195); -void pose_h_14(double *state, double *unused, double *out_318727471713913742); -void pose_H_14(double *state, double *unused, double *out_4540171932740657902); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2815596288453817821); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8761485569796980977); +void pose_H_mod_fun(double *state, double *out_9016812017969752156); +void pose_f_fun(double *state, double dt, double *out_5314151849166190903); +void pose_F_fun(double *state, double dt, double *out_3978107798910374878); +void pose_h_4(double *state, double *unused, double *out_6702643113920812120); +void pose_H_4(double *state, double *unused, double *out_1181133811394856104); +void pose_h_10(double *state, double *unused, double *out_329728007611436907); +void pose_H_10(double *state, double *unused, double *out_8047171094370826367); +void pose_h_13(double *state, double *unused, double *out_8195155792174923791); +void pose_H_13(double *state, double *unused, double *out_2031140013937476697); +void pose_h_14(double *state, double *unused, double *out_3839043433562085237); +void pose_H_14(double *state, double *unused, double *out_2782107044944628425); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index e36030c4d..a0e521e5d 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ