diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 1f1bc25a24..13f1d4a2c7 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 ef8bf12580..8ab287908d 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 6935c50003..677b879df0 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 c3abedc83e..db72e9465d 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 1077403845..fd7db607c8 100755 Binary 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a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 38317fd3e5..58b609b8d0 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 a572bac90e..1dc9980cbe 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-0f8142a1-DEBUG"; +const uint8_t gitversion[19] = "DEV-c744f66b-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d2f58d0530..1a7efd5362 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 6b200b62cb..0dcfe8ba7a 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 12071f14d5..fe4db36c7e 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 1f356f98c5..f8cb14bee8 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 8fb28f0832..d698312ced 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 6a273dbe10..9f07d10d98 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 52d3cd5abc..1ae12dfbc6 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 d103f92654..ec9c0dd404 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 256f8d4d97..b69f5aefbe 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 0f1cc1367d..b1291f85e9 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 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b/panda/board/obj/panda_jungle_h7/main.bin index b7e217e50d..d1044f1a71 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 ed384ac219..d01bde924b 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 314666276d..f8c20e47fb 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 83c3a853a0..d29d714fce 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 fb2c2bff24..f36ac76081 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 e419550905..b09c121ff0 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 f8833cc441..3e567527b1 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-0f8142a1-DEBUG \ No newline at end of file +DEV-c744f66b-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 4cc7a135ab..88bf7a9133 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_7019737380087612192) { - out_7019737380087612192[0] = delta_x[0] + nom_x[0]; - out_7019737380087612192[1] = delta_x[1] + nom_x[1]; - out_7019737380087612192[2] = delta_x[2] + nom_x[2]; - out_7019737380087612192[3] = delta_x[3] + nom_x[3]; - out_7019737380087612192[4] = delta_x[4] + nom_x[4]; - out_7019737380087612192[5] = delta_x[5] + nom_x[5]; - out_7019737380087612192[6] = delta_x[6] + nom_x[6]; - out_7019737380087612192[7] = delta_x[7] + nom_x[7]; - out_7019737380087612192[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_284207352707246819) { + out_284207352707246819[0] = delta_x[0] + nom_x[0]; + out_284207352707246819[1] = delta_x[1] + nom_x[1]; + out_284207352707246819[2] = delta_x[2] + nom_x[2]; + out_284207352707246819[3] = delta_x[3] + nom_x[3]; + out_284207352707246819[4] = delta_x[4] + nom_x[4]; + out_284207352707246819[5] = delta_x[5] + nom_x[5]; + out_284207352707246819[6] = delta_x[6] + nom_x[6]; + out_284207352707246819[7] = delta_x[7] + nom_x[7]; + out_284207352707246819[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5837591879726777447) { - out_5837591879726777447[0] = -nom_x[0] + true_x[0]; - out_5837591879726777447[1] = -nom_x[1] + true_x[1]; - out_5837591879726777447[2] = -nom_x[2] + true_x[2]; - out_5837591879726777447[3] = -nom_x[3] + true_x[3]; - out_5837591879726777447[4] = -nom_x[4] + true_x[4]; - out_5837591879726777447[5] = -nom_x[5] + true_x[5]; - out_5837591879726777447[6] = -nom_x[6] + true_x[6]; - out_5837591879726777447[7] = -nom_x[7] + true_x[7]; - out_5837591879726777447[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_494072413816411138) { + out_494072413816411138[0] = -nom_x[0] + true_x[0]; + out_494072413816411138[1] = -nom_x[1] + true_x[1]; + out_494072413816411138[2] = -nom_x[2] + true_x[2]; + out_494072413816411138[3] = -nom_x[3] + true_x[3]; + out_494072413816411138[4] = -nom_x[4] + true_x[4]; + out_494072413816411138[5] = -nom_x[5] + true_x[5]; + out_494072413816411138[6] = -nom_x[6] + true_x[6]; + out_494072413816411138[7] = -nom_x[7] + true_x[7]; + out_494072413816411138[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7212341887433844410) { - out_7212341887433844410[0] = 1.0; - out_7212341887433844410[1] = 0.0; - out_7212341887433844410[2] = 0.0; - out_7212341887433844410[3] = 0.0; - out_7212341887433844410[4] = 0.0; - out_7212341887433844410[5] = 0.0; - out_7212341887433844410[6] = 0.0; - out_7212341887433844410[7] = 0.0; - out_7212341887433844410[8] = 0.0; - out_7212341887433844410[9] = 0.0; - out_7212341887433844410[10] = 1.0; - out_7212341887433844410[11] = 0.0; - out_7212341887433844410[12] = 0.0; - out_7212341887433844410[13] = 0.0; - out_7212341887433844410[14] = 0.0; - out_7212341887433844410[15] = 0.0; - out_7212341887433844410[16] = 0.0; - out_7212341887433844410[17] = 0.0; - out_7212341887433844410[18] = 0.0; - out_7212341887433844410[19] = 0.0; - out_7212341887433844410[20] = 1.0; - out_7212341887433844410[21] = 0.0; - out_7212341887433844410[22] = 0.0; - out_7212341887433844410[23] = 0.0; - out_7212341887433844410[24] = 0.0; - out_7212341887433844410[25] = 0.0; - out_7212341887433844410[26] = 0.0; - out_7212341887433844410[27] = 0.0; - out_7212341887433844410[28] = 0.0; - out_7212341887433844410[29] = 0.0; - out_7212341887433844410[30] = 1.0; - out_7212341887433844410[31] = 0.0; - out_7212341887433844410[32] = 0.0; - out_7212341887433844410[33] = 0.0; - out_7212341887433844410[34] = 0.0; - out_7212341887433844410[35] = 0.0; - out_7212341887433844410[36] = 0.0; - out_7212341887433844410[37] = 0.0; - out_7212341887433844410[38] = 0.0; - out_7212341887433844410[39] = 0.0; - out_7212341887433844410[40] = 1.0; - out_7212341887433844410[41] = 0.0; - out_7212341887433844410[42] = 0.0; - out_7212341887433844410[43] = 0.0; - out_7212341887433844410[44] = 0.0; - out_7212341887433844410[45] = 0.0; - out_7212341887433844410[46] = 0.0; - out_7212341887433844410[47] = 0.0; - out_7212341887433844410[48] = 0.0; - out_7212341887433844410[49] = 0.0; - out_7212341887433844410[50] = 1.0; - out_7212341887433844410[51] = 0.0; - out_7212341887433844410[52] = 0.0; - out_7212341887433844410[53] = 0.0; - out_7212341887433844410[54] = 0.0; - out_7212341887433844410[55] = 0.0; - out_7212341887433844410[56] = 0.0; - out_7212341887433844410[57] = 0.0; - out_7212341887433844410[58] = 0.0; - out_7212341887433844410[59] = 0.0; - out_7212341887433844410[60] = 1.0; - out_7212341887433844410[61] = 0.0; - out_7212341887433844410[62] = 0.0; - out_7212341887433844410[63] = 0.0; - out_7212341887433844410[64] = 0.0; - out_7212341887433844410[65] = 0.0; - out_7212341887433844410[66] = 0.0; - out_7212341887433844410[67] = 0.0; - out_7212341887433844410[68] = 0.0; - out_7212341887433844410[69] = 0.0; - out_7212341887433844410[70] = 1.0; - out_7212341887433844410[71] = 0.0; - out_7212341887433844410[72] = 0.0; - out_7212341887433844410[73] = 0.0; - out_7212341887433844410[74] = 0.0; - out_7212341887433844410[75] = 0.0; - out_7212341887433844410[76] = 0.0; - out_7212341887433844410[77] = 0.0; - out_7212341887433844410[78] = 0.0; - out_7212341887433844410[79] = 0.0; - out_7212341887433844410[80] = 1.0; +void H_mod_fun(double *state, double *out_4975994215663677500) { + out_4975994215663677500[0] = 1.0; + out_4975994215663677500[1] = 0.0; + out_4975994215663677500[2] = 0.0; + out_4975994215663677500[3] = 0.0; + out_4975994215663677500[4] = 0.0; + out_4975994215663677500[5] = 0.0; + out_4975994215663677500[6] = 0.0; + out_4975994215663677500[7] = 0.0; + out_4975994215663677500[8] = 0.0; + out_4975994215663677500[9] = 0.0; + out_4975994215663677500[10] = 1.0; + out_4975994215663677500[11] = 0.0; + out_4975994215663677500[12] = 0.0; + out_4975994215663677500[13] = 0.0; + out_4975994215663677500[14] = 0.0; + out_4975994215663677500[15] = 0.0; + out_4975994215663677500[16] = 0.0; + out_4975994215663677500[17] = 0.0; + out_4975994215663677500[18] = 0.0; + out_4975994215663677500[19] = 0.0; + out_4975994215663677500[20] = 1.0; + out_4975994215663677500[21] = 0.0; + out_4975994215663677500[22] = 0.0; + out_4975994215663677500[23] = 0.0; + out_4975994215663677500[24] = 0.0; + out_4975994215663677500[25] = 0.0; + out_4975994215663677500[26] = 0.0; + out_4975994215663677500[27] = 0.0; + out_4975994215663677500[28] = 0.0; + out_4975994215663677500[29] = 0.0; + out_4975994215663677500[30] = 1.0; + out_4975994215663677500[31] = 0.0; + out_4975994215663677500[32] = 0.0; + out_4975994215663677500[33] = 0.0; + out_4975994215663677500[34] = 0.0; + out_4975994215663677500[35] = 0.0; + out_4975994215663677500[36] = 0.0; + out_4975994215663677500[37] = 0.0; + out_4975994215663677500[38] = 0.0; + out_4975994215663677500[39] = 0.0; + out_4975994215663677500[40] = 1.0; + out_4975994215663677500[41] = 0.0; + out_4975994215663677500[42] = 0.0; + out_4975994215663677500[43] = 0.0; + out_4975994215663677500[44] = 0.0; + out_4975994215663677500[45] = 0.0; + out_4975994215663677500[46] = 0.0; + out_4975994215663677500[47] = 0.0; + out_4975994215663677500[48] = 0.0; + out_4975994215663677500[49] = 0.0; + out_4975994215663677500[50] = 1.0; + out_4975994215663677500[51] = 0.0; + out_4975994215663677500[52] = 0.0; + out_4975994215663677500[53] = 0.0; + out_4975994215663677500[54] = 0.0; + out_4975994215663677500[55] = 0.0; + out_4975994215663677500[56] = 0.0; + out_4975994215663677500[57] = 0.0; + out_4975994215663677500[58] = 0.0; + out_4975994215663677500[59] = 0.0; + out_4975994215663677500[60] = 1.0; + out_4975994215663677500[61] = 0.0; + out_4975994215663677500[62] = 0.0; + out_4975994215663677500[63] = 0.0; + out_4975994215663677500[64] = 0.0; + out_4975994215663677500[65] = 0.0; + out_4975994215663677500[66] = 0.0; + out_4975994215663677500[67] = 0.0; + out_4975994215663677500[68] = 0.0; + out_4975994215663677500[69] = 0.0; + out_4975994215663677500[70] = 1.0; + out_4975994215663677500[71] = 0.0; + out_4975994215663677500[72] = 0.0; + out_4975994215663677500[73] = 0.0; + out_4975994215663677500[74] = 0.0; + out_4975994215663677500[75] = 0.0; + out_4975994215663677500[76] = 0.0; + out_4975994215663677500[77] = 0.0; + out_4975994215663677500[78] = 0.0; + out_4975994215663677500[79] = 0.0; + out_4975994215663677500[80] = 1.0; } -void f_fun(double *state, double dt, double *out_884422573903963140) { - out_884422573903963140[0] = state[0]; - out_884422573903963140[1] = state[1]; - out_884422573903963140[2] = state[2]; - out_884422573903963140[3] = state[3]; - out_884422573903963140[4] = state[4]; - out_884422573903963140[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_884422573903963140[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_884422573903963140[7] = state[7]; - out_884422573903963140[8] = state[8]; +void f_fun(double *state, double dt, double *out_1721040043494422786) { + out_1721040043494422786[0] = state[0]; + out_1721040043494422786[1] = state[1]; + out_1721040043494422786[2] = state[2]; + out_1721040043494422786[3] = state[3]; + out_1721040043494422786[4] = state[4]; + out_1721040043494422786[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_1721040043494422786[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_1721040043494422786[7] = state[7]; + out_1721040043494422786[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7930257990036637257) { - out_7930257990036637257[0] = 1; - out_7930257990036637257[1] = 0; - out_7930257990036637257[2] = 0; - out_7930257990036637257[3] = 0; - out_7930257990036637257[4] = 0; - out_7930257990036637257[5] = 0; - out_7930257990036637257[6] = 0; - out_7930257990036637257[7] = 0; - out_7930257990036637257[8] = 0; - out_7930257990036637257[9] = 0; - out_7930257990036637257[10] = 1; - out_7930257990036637257[11] = 0; - out_7930257990036637257[12] = 0; - out_7930257990036637257[13] = 0; - out_7930257990036637257[14] = 0; - out_7930257990036637257[15] = 0; - out_7930257990036637257[16] = 0; - out_7930257990036637257[17] = 0; - out_7930257990036637257[18] = 0; - out_7930257990036637257[19] = 0; - out_7930257990036637257[20] = 1; - out_7930257990036637257[21] = 0; - out_7930257990036637257[22] = 0; - out_7930257990036637257[23] = 0; - out_7930257990036637257[24] = 0; - out_7930257990036637257[25] = 0; - out_7930257990036637257[26] = 0; - out_7930257990036637257[27] = 0; - out_7930257990036637257[28] = 0; - out_7930257990036637257[29] = 0; - out_7930257990036637257[30] = 1; - out_7930257990036637257[31] = 0; - out_7930257990036637257[32] = 0; - out_7930257990036637257[33] = 0; - out_7930257990036637257[34] = 0; - out_7930257990036637257[35] = 0; - out_7930257990036637257[36] = 0; - out_7930257990036637257[37] = 0; - out_7930257990036637257[38] = 0; - out_7930257990036637257[39] = 0; - out_7930257990036637257[40] = 1; - out_7930257990036637257[41] = 0; - out_7930257990036637257[42] = 0; - out_7930257990036637257[43] = 0; - out_7930257990036637257[44] = 0; - out_7930257990036637257[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_7930257990036637257[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7930257990036637257[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7930257990036637257[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7930257990036637257[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_7930257990036637257[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7930257990036637257[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7930257990036637257[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7930257990036637257[53] = -9.8100000000000005*dt; - out_7930257990036637257[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_7930257990036637257[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7930257990036637257[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7930257990036637257[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7930257990036637257[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_7930257990036637257[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7930257990036637257[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_7930257990036637257[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7930257990036637257[62] = 0; - out_7930257990036637257[63] = 0; - out_7930257990036637257[64] = 0; - out_7930257990036637257[65] = 0; - out_7930257990036637257[66] = 0; - out_7930257990036637257[67] = 0; - out_7930257990036637257[68] = 0; - out_7930257990036637257[69] = 0; - out_7930257990036637257[70] = 1; - out_7930257990036637257[71] = 0; - out_7930257990036637257[72] = 0; - out_7930257990036637257[73] = 0; - out_7930257990036637257[74] = 0; - out_7930257990036637257[75] = 0; - out_7930257990036637257[76] = 0; - out_7930257990036637257[77] = 0; - out_7930257990036637257[78] = 0; - out_7930257990036637257[79] = 0; - out_7930257990036637257[80] = 1; +void F_fun(double *state, double dt, double *out_6408657319260780093) { + out_6408657319260780093[0] = 1; + out_6408657319260780093[1] = 0; + out_6408657319260780093[2] = 0; + out_6408657319260780093[3] = 0; + out_6408657319260780093[4] = 0; + out_6408657319260780093[5] = 0; + out_6408657319260780093[6] = 0; + out_6408657319260780093[7] = 0; + out_6408657319260780093[8] = 0; + out_6408657319260780093[9] = 0; + out_6408657319260780093[10] = 1; + out_6408657319260780093[11] = 0; + out_6408657319260780093[12] = 0; + out_6408657319260780093[13] = 0; + out_6408657319260780093[14] = 0; + out_6408657319260780093[15] = 0; + out_6408657319260780093[16] = 0; + out_6408657319260780093[17] = 0; + out_6408657319260780093[18] = 0; + out_6408657319260780093[19] = 0; + out_6408657319260780093[20] = 1; + out_6408657319260780093[21] = 0; + out_6408657319260780093[22] = 0; + out_6408657319260780093[23] = 0; + out_6408657319260780093[24] = 0; + out_6408657319260780093[25] = 0; + out_6408657319260780093[26] = 0; + out_6408657319260780093[27] = 0; + out_6408657319260780093[28] = 0; + out_6408657319260780093[29] = 0; + out_6408657319260780093[30] = 1; + out_6408657319260780093[31] = 0; + out_6408657319260780093[32] = 0; + out_6408657319260780093[33] = 0; + out_6408657319260780093[34] = 0; + out_6408657319260780093[35] = 0; + out_6408657319260780093[36] = 0; + out_6408657319260780093[37] = 0; + out_6408657319260780093[38] = 0; + out_6408657319260780093[39] = 0; + out_6408657319260780093[40] = 1; + out_6408657319260780093[41] = 0; + out_6408657319260780093[42] = 0; + out_6408657319260780093[43] = 0; + out_6408657319260780093[44] = 0; + out_6408657319260780093[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_6408657319260780093[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6408657319260780093[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6408657319260780093[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6408657319260780093[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_6408657319260780093[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6408657319260780093[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6408657319260780093[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6408657319260780093[53] = -9.8100000000000005*dt; + out_6408657319260780093[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_6408657319260780093[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6408657319260780093[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6408657319260780093[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6408657319260780093[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_6408657319260780093[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6408657319260780093[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_6408657319260780093[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6408657319260780093[62] = 0; + out_6408657319260780093[63] = 0; + out_6408657319260780093[64] = 0; + out_6408657319260780093[65] = 0; + out_6408657319260780093[66] = 0; + out_6408657319260780093[67] = 0; + out_6408657319260780093[68] = 0; + out_6408657319260780093[69] = 0; + out_6408657319260780093[70] = 1; + out_6408657319260780093[71] = 0; + out_6408657319260780093[72] = 0; + out_6408657319260780093[73] = 0; + out_6408657319260780093[74] = 0; + out_6408657319260780093[75] = 0; + out_6408657319260780093[76] = 0; + out_6408657319260780093[77] = 0; + out_6408657319260780093[78] = 0; + out_6408657319260780093[79] = 0; + out_6408657319260780093[80] = 1; } -void h_25(double *state, double *unused, double *out_7492620826943930634) { - out_7492620826943930634[0] = state[6]; +void h_25(double *state, double *unused, double *out_8679682106878424978) { + out_8679682106878424978[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6439571343347838097) { - out_6439571343347838097[0] = 0; - out_6439571343347838097[1] = 0; - out_6439571343347838097[2] = 0; - out_6439571343347838097[3] = 0; - out_6439571343347838097[4] = 0; - out_6439571343347838097[5] = 0; - out_6439571343347838097[6] = 1; - out_6439571343347838097[7] = 0; - out_6439571343347838097[8] = 0; +void H_25(double *state, double *unused, double *out_4470659773463380788) { + out_4470659773463380788[0] = 0; + out_4470659773463380788[1] = 0; + out_4470659773463380788[2] = 0; + out_4470659773463380788[3] = 0; + out_4470659773463380788[4] = 0; + out_4470659773463380788[5] = 0; + out_4470659773463380788[6] = 1; + out_4470659773463380788[7] = 0; + out_4470659773463380788[8] = 0; } -void h_24(double *state, double *unused, double *out_4985338018763469281) { - out_4985338018763469281[0] = state[4]; - out_4985338018763469281[1] = state[5]; +void h_24(double *state, double *unused, double *out_5665719925403943373) { + out_5665719925403943373[0] = state[4]; + out_5665719925403943373[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7852599591386246934) { - out_7852599591386246934[0] = 0; - out_7852599591386246934[1] = 0; - out_7852599591386246934[2] = 0; - out_7852599591386246934[3] = 0; - out_7852599591386246934[4] = 1; - out_7852599591386246934[5] = 0; - out_7852599591386246934[6] = 0; - out_7852599591386246934[7] = 0; - out_7852599591386246934[8] = 0; - out_7852599591386246934[9] = 0; - out_7852599591386246934[10] = 0; - out_7852599591386246934[11] = 0; - out_7852599591386246934[12] = 0; - out_7852599591386246934[13] = 0; - out_7852599591386246934[14] = 1; - out_7852599591386246934[15] = 0; - out_7852599591386246934[16] = 0; - out_7852599591386246934[17] = 0; +void H_24(double *state, double *unused, double *out_7514976983467728980) { + out_7514976983467728980[0] = 0; + out_7514976983467728980[1] = 0; + out_7514976983467728980[2] = 0; + out_7514976983467728980[3] = 0; + out_7514976983467728980[4] = 1; + out_7514976983467728980[5] = 0; + out_7514976983467728980[6] = 0; + out_7514976983467728980[7] = 0; + out_7514976983467728980[8] = 0; + out_7514976983467728980[9] = 0; + out_7514976983467728980[10] = 0; + out_7514976983467728980[11] = 0; + out_7514976983467728980[12] = 0; + out_7514976983467728980[13] = 0; + out_7514976983467728980[14] = 1; + out_7514976983467728980[15] = 0; + out_7514976983467728980[16] = 0; + out_7514976983467728980[17] = 0; } -void h_30(double *state, double *unused, double *out_3190857989944948541) { - out_3190857989944948541[0] = state[4]; +void h_30(double *state, double *unused, double *out_6129612438577104288) { + out_6129612438577104288[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8957904301855086724) { - out_8957904301855086724[0] = 0; - out_8957904301855086724[1] = 0; - out_8957904301855086724[2] = 0; - out_8957904301855086724[3] = 0; - out_8957904301855086724[4] = 1; - out_8957904301855086724[5] = 0; - out_8957904301855086724[6] = 0; - out_8957904301855086724[7] = 0; - out_8957904301855086724[8] = 0; +void H_30(double *state, double *unused, double *out_4599998720606620858) { + out_4599998720606620858[0] = 0; + out_4599998720606620858[1] = 0; + out_4599998720606620858[2] = 0; + out_4599998720606620858[3] = 0; + out_4599998720606620858[4] = 1; + out_4599998720606620858[5] = 0; + out_4599998720606620858[6] = 0; + out_4599998720606620858[7] = 0; + out_4599998720606620858[8] = 0; } -void h_26(double *state, double *unused, double *out_1810815277715897104) { - out_1810815277715897104[0] = state[7]; +void h_26(double *state, double *unused, double *out_6887462583737923098) { + out_6887462583737923098[0] = state[7]; } -void H_26(double *state, double *unused, double *out_2698068024473781873) { - out_2698068024473781873[0] = 0; - out_2698068024473781873[1] = 0; - out_2698068024473781873[2] = 0; - out_2698068024473781873[3] = 0; - out_2698068024473781873[4] = 0; - out_2698068024473781873[5] = 0; - out_2698068024473781873[6] = 0; - out_2698068024473781873[7] = 1; - out_2698068024473781873[8] = 0; +void H_26(double *state, double *unused, double *out_3813805709353068884) { + out_3813805709353068884[0] = 0; + out_3813805709353068884[1] = 0; + out_3813805709353068884[2] = 0; + out_3813805709353068884[3] = 0; + out_3813805709353068884[4] = 0; + out_3813805709353068884[5] = 0; + out_3813805709353068884[6] = 0; + out_3813805709353068884[7] = 1; + out_3813805709353068884[8] = 0; } -void h_27(double *state, double *unused, double *out_1225216092924761692) { - out_1225216092924761692[0] = state[3]; +void h_27(double *state, double *unused, double *out_3337814870992394415) { + out_3337814870992394415[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6783140990054661813) { - out_6783140990054661813[0] = 0; - out_6783140990054661813[1] = 0; - out_6783140990054661813[2] = 0; - out_6783140990054661813[3] = 1; - out_6783140990054661813[4] = 0; - out_6783140990054661813[5] = 0; - out_6783140990054661813[6] = 0; - out_6783140990054661813[7] = 0; - out_6783140990054661813[8] = 0; +void H_27(double *state, double *unused, double *out_6774762032407045769) { + out_6774762032407045769[0] = 0; + out_6774762032407045769[1] = 0; + out_6774762032407045769[2] = 0; + out_6774762032407045769[3] = 1; + out_6774762032407045769[4] = 0; + out_6774762032407045769[5] = 0; + out_6774762032407045769[6] = 0; + out_6774762032407045769[7] = 0; + out_6774762032407045769[8] = 0; } -void h_29(double *state, double *unused, double *out_8192531257605794186) { - out_8192531257605794186[0] = state[1]; +void h_29(double *state, double *unused, double *out_5302062605726147469) { + out_5302062605726147469[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8978608427540072708) { - out_8978608427540072708[0] = 0; - out_8978608427540072708[1] = 1; - out_8978608427540072708[2] = 0; - out_8978608427540072708[3] = 0; - out_8978608427540072708[4] = 0; - out_8978608427540072708[5] = 0; - out_8978608427540072708[6] = 0; - out_8978608427540072708[7] = 0; - out_8978608427540072708[8] = 0; +void H_29(double *state, double *unused, double *out_4089767376292228674) { + out_4089767376292228674[0] = 0; + out_4089767376292228674[1] = 1; + out_4089767376292228674[2] = 0; + out_4089767376292228674[3] = 0; + out_4089767376292228674[4] = 0; + out_4089767376292228674[5] = 0; + out_4089767376292228674[6] = 0; + out_4089767376292228674[7] = 0; + out_4089767376292228674[8] = 0; } -void h_28(double *state, double *unused, double *out_6973827342419625862) { - out_6973827342419625862[0] = state[0]; +void h_28(double *state, double *unused, double *out_301028819548061730) { + out_301028819548061730[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4385736629099948334) { - out_4385736629099948334[0] = 1; - out_4385736629099948334[1] = 0; - out_4385736629099948334[2] = 0; - out_4385736629099948334[3] = 0; - out_4385736629099948334[4] = 0; - out_4385736629099948334[5] = 0; - out_4385736629099948334[6] = 0; - out_4385736629099948334[7] = 0; - out_4385736629099948334[8] = 0; +void H_28(double *state, double *unused, double *out_2126137104726902423) { + out_2126137104726902423[0] = 1; + out_2126137104726902423[1] = 0; + out_2126137104726902423[2] = 0; + out_2126137104726902423[3] = 0; + out_2126137104726902423[4] = 0; + out_2126137104726902423[5] = 0; + out_2126137104726902423[6] = 0; + out_2126137104726902423[7] = 0; + out_2126137104726902423[8] = 0; } -void h_31(double *state, double *unused, double *out_7638140651164585605) { - out_7638140651164585605[0] = state[8]; +void h_31(double *state, double *unused, double *out_213227004039568063) { + out_213227004039568063[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2071859922240430397) { - out_2071859922240430397[0] = 0; - out_2071859922240430397[1] = 0; - out_2071859922240430397[2] = 0; - out_2071859922240430397[3] = 0; - out_2071859922240430397[4] = 0; - out_2071859922240430397[5] = 0; - out_2071859922240430397[6] = 0; - out_2071859922240430397[7] = 0; - out_2071859922240430397[8] = 1; +void H_31(double *state, double *unused, double *out_4440013811586420360) { + out_4440013811586420360[0] = 0; + out_4440013811586420360[1] = 0; + out_4440013811586420360[2] = 0; + out_4440013811586420360[3] = 0; + out_4440013811586420360[4] = 0; + out_4440013811586420360[5] = 0; + out_4440013811586420360[6] = 0; + out_4440013811586420360[7] = 0; + out_4440013811586420360[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_7019737380087612192) { - err_fun(nom_x, delta_x, out_7019737380087612192); +void car_err_fun(double *nom_x, double *delta_x, double *out_284207352707246819) { + err_fun(nom_x, delta_x, out_284207352707246819); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5837591879726777447) { - inv_err_fun(nom_x, true_x, out_5837591879726777447); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_494072413816411138) { + inv_err_fun(nom_x, true_x, out_494072413816411138); } -void car_H_mod_fun(double *state, double *out_7212341887433844410) { - H_mod_fun(state, out_7212341887433844410); +void car_H_mod_fun(double *state, double *out_4975994215663677500) { + H_mod_fun(state, out_4975994215663677500); } -void car_f_fun(double *state, double dt, double *out_884422573903963140) { - f_fun(state, dt, out_884422573903963140); +void car_f_fun(double *state, double dt, double *out_1721040043494422786) { + f_fun(state, dt, out_1721040043494422786); } -void car_F_fun(double *state, double dt, double *out_7930257990036637257) { - F_fun(state, dt, out_7930257990036637257); +void car_F_fun(double *state, double dt, double *out_6408657319260780093) { + F_fun(state, dt, out_6408657319260780093); } -void car_h_25(double *state, double *unused, double *out_7492620826943930634) { - h_25(state, unused, out_7492620826943930634); +void car_h_25(double *state, double *unused, double *out_8679682106878424978) { + h_25(state, unused, out_8679682106878424978); } -void car_H_25(double *state, double *unused, double *out_6439571343347838097) { - H_25(state, unused, out_6439571343347838097); +void car_H_25(double *state, double *unused, double *out_4470659773463380788) { + H_25(state, unused, out_4470659773463380788); } -void car_h_24(double *state, double *unused, double *out_4985338018763469281) { - h_24(state, unused, out_4985338018763469281); +void car_h_24(double *state, double *unused, double *out_5665719925403943373) { + h_24(state, unused, out_5665719925403943373); } -void car_H_24(double *state, double *unused, double *out_7852599591386246934) { - H_24(state, unused, out_7852599591386246934); +void car_H_24(double *state, double *unused, double *out_7514976983467728980) { + H_24(state, unused, out_7514976983467728980); } -void car_h_30(double *state, double *unused, double *out_3190857989944948541) { - h_30(state, unused, out_3190857989944948541); +void car_h_30(double *state, double *unused, double *out_6129612438577104288) { + h_30(state, unused, out_6129612438577104288); } -void car_H_30(double *state, double *unused, double *out_8957904301855086724) { - H_30(state, unused, out_8957904301855086724); +void car_H_30(double *state, double *unused, double *out_4599998720606620858) { + H_30(state, unused, out_4599998720606620858); } -void car_h_26(double *state, double *unused, double *out_1810815277715897104) { - h_26(state, unused, out_1810815277715897104); +void car_h_26(double *state, double *unused, double *out_6887462583737923098) { + h_26(state, unused, out_6887462583737923098); } -void car_H_26(double *state, double *unused, double *out_2698068024473781873) { - H_26(state, unused, out_2698068024473781873); +void car_H_26(double *state, double *unused, double *out_3813805709353068884) { + H_26(state, unused, out_3813805709353068884); } -void car_h_27(double *state, double *unused, double *out_1225216092924761692) { - h_27(state, unused, out_1225216092924761692); +void car_h_27(double *state, double *unused, double *out_3337814870992394415) { + h_27(state, unused, out_3337814870992394415); } -void car_H_27(double *state, double *unused, double *out_6783140990054661813) { - H_27(state, unused, out_6783140990054661813); +void car_H_27(double *state, double *unused, double *out_6774762032407045769) { + H_27(state, unused, out_6774762032407045769); } -void car_h_29(double *state, double *unused, double *out_8192531257605794186) { - h_29(state, unused, out_8192531257605794186); +void car_h_29(double *state, double *unused, double *out_5302062605726147469) { + h_29(state, unused, out_5302062605726147469); } -void car_H_29(double *state, double *unused, double *out_8978608427540072708) { - H_29(state, unused, out_8978608427540072708); +void car_H_29(double *state, double *unused, double *out_4089767376292228674) { + H_29(state, unused, out_4089767376292228674); } -void car_h_28(double *state, double *unused, double *out_6973827342419625862) { - h_28(state, unused, out_6973827342419625862); +void car_h_28(double *state, double *unused, double *out_301028819548061730) { + h_28(state, unused, out_301028819548061730); } -void car_H_28(double *state, double *unused, double *out_4385736629099948334) { - H_28(state, unused, out_4385736629099948334); +void car_H_28(double *state, double *unused, double *out_2126137104726902423) { + H_28(state, unused, out_2126137104726902423); } -void car_h_31(double *state, double *unused, double *out_7638140651164585605) { - h_31(state, unused, out_7638140651164585605); +void car_h_31(double *state, double *unused, double *out_213227004039568063) { + h_31(state, unused, out_213227004039568063); } -void car_H_31(double *state, double *unused, double *out_2071859922240430397) { - H_31(state, unused, out_2071859922240430397); +void car_H_31(double *state, double *unused, double *out_4440013811586420360) { + H_31(state, unused, out_4440013811586420360); } 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 b65619b4e9..4035e5f06f 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_7019737380087612192); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5837591879726777447); -void car_H_mod_fun(double *state, double *out_7212341887433844410); -void car_f_fun(double *state, double dt, double *out_884422573903963140); -void car_F_fun(double *state, double dt, double *out_7930257990036637257); -void car_h_25(double *state, double *unused, double *out_7492620826943930634); -void car_H_25(double *state, double *unused, double *out_6439571343347838097); -void car_h_24(double *state, double *unused, double *out_4985338018763469281); -void car_H_24(double *state, double *unused, double *out_7852599591386246934); -void car_h_30(double *state, double *unused, double *out_3190857989944948541); -void car_H_30(double *state, double *unused, double *out_8957904301855086724); -void car_h_26(double *state, double *unused, double *out_1810815277715897104); -void car_H_26(double *state, double *unused, double *out_2698068024473781873); -void car_h_27(double *state, double *unused, double *out_1225216092924761692); -void car_H_27(double *state, double *unused, double *out_6783140990054661813); -void car_h_29(double *state, double *unused, double *out_8192531257605794186); -void car_H_29(double *state, double *unused, double *out_8978608427540072708); -void car_h_28(double *state, double *unused, double *out_6973827342419625862); -void car_H_28(double *state, double *unused, double *out_4385736629099948334); -void car_h_31(double *state, double *unused, double *out_7638140651164585605); -void car_H_31(double *state, double *unused, double *out_2071859922240430397); +void car_err_fun(double *nom_x, double *delta_x, double *out_284207352707246819); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_494072413816411138); +void car_H_mod_fun(double *state, double *out_4975994215663677500); +void car_f_fun(double *state, double dt, double *out_1721040043494422786); +void car_F_fun(double *state, double dt, double *out_6408657319260780093); +void car_h_25(double *state, double *unused, double *out_8679682106878424978); +void car_H_25(double *state, double *unused, double *out_4470659773463380788); +void car_h_24(double *state, double *unused, double *out_5665719925403943373); +void car_H_24(double *state, double *unused, double *out_7514976983467728980); +void car_h_30(double *state, double *unused, double *out_6129612438577104288); +void car_H_30(double *state, double *unused, double *out_4599998720606620858); +void car_h_26(double *state, double *unused, double *out_6887462583737923098); +void car_H_26(double *state, double *unused, double *out_3813805709353068884); +void car_h_27(double *state, double *unused, double *out_3337814870992394415); +void car_H_27(double *state, double *unused, double *out_6774762032407045769); +void car_h_29(double *state, double *unused, double *out_5302062605726147469); +void car_H_29(double *state, double *unused, double *out_4089767376292228674); +void car_h_28(double *state, double *unused, double *out_301028819548061730); +void car_H_28(double *state, double *unused, double *out_2126137104726902423); +void car_h_31(double *state, double *unused, double *out_213227004039568063); +void car_H_31(double *state, double *unused, double *out_4440013811586420360); 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 c1451b31c7..9fa0411cc2 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_937271495952840532) { - out_937271495952840532[0] = delta_x[0] + nom_x[0]; - out_937271495952840532[1] = delta_x[1] + nom_x[1]; - out_937271495952840532[2] = delta_x[2] + nom_x[2]; - out_937271495952840532[3] = delta_x[3] + nom_x[3]; - out_937271495952840532[4] = delta_x[4] + nom_x[4]; - out_937271495952840532[5] = delta_x[5] + nom_x[5]; - out_937271495952840532[6] = delta_x[6] + nom_x[6]; - out_937271495952840532[7] = delta_x[7] + nom_x[7]; - out_937271495952840532[8] = delta_x[8] + nom_x[8]; - out_937271495952840532[9] = delta_x[9] + nom_x[9]; - out_937271495952840532[10] = delta_x[10] + nom_x[10]; - out_937271495952840532[11] = delta_x[11] + nom_x[11]; - out_937271495952840532[12] = delta_x[12] + nom_x[12]; - out_937271495952840532[13] = delta_x[13] + nom_x[13]; - out_937271495952840532[14] = delta_x[14] + nom_x[14]; - out_937271495952840532[15] = delta_x[15] + nom_x[15]; - out_937271495952840532[16] = delta_x[16] + nom_x[16]; - out_937271495952840532[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_628539194751276084) { + out_628539194751276084[0] = delta_x[0] + nom_x[0]; + out_628539194751276084[1] = delta_x[1] + nom_x[1]; + out_628539194751276084[2] = delta_x[2] + nom_x[2]; + out_628539194751276084[3] = delta_x[3] + nom_x[3]; + out_628539194751276084[4] = delta_x[4] + nom_x[4]; + out_628539194751276084[5] = delta_x[5] + nom_x[5]; + out_628539194751276084[6] = delta_x[6] + nom_x[6]; + out_628539194751276084[7] = delta_x[7] + nom_x[7]; + out_628539194751276084[8] = delta_x[8] + nom_x[8]; + out_628539194751276084[9] = delta_x[9] + nom_x[9]; + out_628539194751276084[10] = delta_x[10] + nom_x[10]; + out_628539194751276084[11] = delta_x[11] + nom_x[11]; + out_628539194751276084[12] = delta_x[12] + nom_x[12]; + out_628539194751276084[13] = delta_x[13] + nom_x[13]; + out_628539194751276084[14] = delta_x[14] + nom_x[14]; + out_628539194751276084[15] = delta_x[15] + nom_x[15]; + out_628539194751276084[16] = delta_x[16] + nom_x[16]; + out_628539194751276084[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_712402659692030222) { - out_712402659692030222[0] = -nom_x[0] + true_x[0]; - out_712402659692030222[1] = -nom_x[1] + true_x[1]; - out_712402659692030222[2] = -nom_x[2] + true_x[2]; - out_712402659692030222[3] = -nom_x[3] + true_x[3]; - out_712402659692030222[4] = -nom_x[4] + true_x[4]; - out_712402659692030222[5] = -nom_x[5] + true_x[5]; - out_712402659692030222[6] = -nom_x[6] + true_x[6]; - out_712402659692030222[7] = -nom_x[7] + true_x[7]; - out_712402659692030222[8] = -nom_x[8] + true_x[8]; - out_712402659692030222[9] = -nom_x[9] + true_x[9]; - out_712402659692030222[10] = -nom_x[10] + true_x[10]; - out_712402659692030222[11] = -nom_x[11] + true_x[11]; - out_712402659692030222[12] = -nom_x[12] + true_x[12]; - out_712402659692030222[13] = -nom_x[13] + true_x[13]; - out_712402659692030222[14] = -nom_x[14] + true_x[14]; - out_712402659692030222[15] = -nom_x[15] + true_x[15]; - out_712402659692030222[16] = -nom_x[16] + true_x[16]; - out_712402659692030222[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5785405288888399451) { + out_5785405288888399451[0] = -nom_x[0] + true_x[0]; + out_5785405288888399451[1] = -nom_x[1] + true_x[1]; + out_5785405288888399451[2] = -nom_x[2] + true_x[2]; + out_5785405288888399451[3] = -nom_x[3] + true_x[3]; + out_5785405288888399451[4] = -nom_x[4] + true_x[4]; + out_5785405288888399451[5] = -nom_x[5] + true_x[5]; + out_5785405288888399451[6] = -nom_x[6] + true_x[6]; + out_5785405288888399451[7] = -nom_x[7] + true_x[7]; + out_5785405288888399451[8] = -nom_x[8] + true_x[8]; + out_5785405288888399451[9] = -nom_x[9] + true_x[9]; + out_5785405288888399451[10] = -nom_x[10] + true_x[10]; + out_5785405288888399451[11] = -nom_x[11] + true_x[11]; + out_5785405288888399451[12] = -nom_x[12] + true_x[12]; + out_5785405288888399451[13] = -nom_x[13] + true_x[13]; + out_5785405288888399451[14] = -nom_x[14] + true_x[14]; + out_5785405288888399451[15] = -nom_x[15] + true_x[15]; + out_5785405288888399451[16] = -nom_x[16] + true_x[16]; + out_5785405288888399451[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4304163029800659692) { - out_4304163029800659692[0] = 1.0; - out_4304163029800659692[1] = 0.0; - out_4304163029800659692[2] = 0.0; - out_4304163029800659692[3] = 0.0; - out_4304163029800659692[4] = 0.0; - out_4304163029800659692[5] = 0.0; - out_4304163029800659692[6] = 0.0; - out_4304163029800659692[7] = 0.0; - out_4304163029800659692[8] = 0.0; - out_4304163029800659692[9] = 0.0; - out_4304163029800659692[10] = 0.0; - out_4304163029800659692[11] = 0.0; - out_4304163029800659692[12] = 0.0; - out_4304163029800659692[13] = 0.0; - out_4304163029800659692[14] = 0.0; - out_4304163029800659692[15] = 0.0; - out_4304163029800659692[16] = 0.0; - out_4304163029800659692[17] = 0.0; - out_4304163029800659692[18] = 0.0; - out_4304163029800659692[19] = 1.0; - out_4304163029800659692[20] = 0.0; - out_4304163029800659692[21] = 0.0; - out_4304163029800659692[22] = 0.0; - out_4304163029800659692[23] = 0.0; - out_4304163029800659692[24] = 0.0; - out_4304163029800659692[25] = 0.0; - out_4304163029800659692[26] = 0.0; - out_4304163029800659692[27] = 0.0; - out_4304163029800659692[28] = 0.0; - out_4304163029800659692[29] = 0.0; - out_4304163029800659692[30] = 0.0; - out_4304163029800659692[31] = 0.0; - out_4304163029800659692[32] = 0.0; - out_4304163029800659692[33] = 0.0; - out_4304163029800659692[34] = 0.0; - out_4304163029800659692[35] = 0.0; - out_4304163029800659692[36] = 0.0; - out_4304163029800659692[37] = 0.0; - out_4304163029800659692[38] = 1.0; - out_4304163029800659692[39] = 0.0; - out_4304163029800659692[40] = 0.0; - out_4304163029800659692[41] = 0.0; - out_4304163029800659692[42] = 0.0; - out_4304163029800659692[43] = 0.0; - out_4304163029800659692[44] = 0.0; - out_4304163029800659692[45] = 0.0; - out_4304163029800659692[46] = 0.0; - out_4304163029800659692[47] = 0.0; - out_4304163029800659692[48] = 0.0; - out_4304163029800659692[49] = 0.0; - out_4304163029800659692[50] = 0.0; - out_4304163029800659692[51] = 0.0; - out_4304163029800659692[52] = 0.0; - out_4304163029800659692[53] = 0.0; - out_4304163029800659692[54] = 0.0; - out_4304163029800659692[55] = 0.0; - out_4304163029800659692[56] = 0.0; - out_4304163029800659692[57] = 1.0; - out_4304163029800659692[58] = 0.0; - out_4304163029800659692[59] = 0.0; - out_4304163029800659692[60] = 0.0; - out_4304163029800659692[61] = 0.0; - out_4304163029800659692[62] = 0.0; - out_4304163029800659692[63] = 0.0; - out_4304163029800659692[64] = 0.0; - out_4304163029800659692[65] = 0.0; - out_4304163029800659692[66] = 0.0; - out_4304163029800659692[67] = 0.0; - out_4304163029800659692[68] = 0.0; - out_4304163029800659692[69] = 0.0; - out_4304163029800659692[70] = 0.0; - out_4304163029800659692[71] = 0.0; - out_4304163029800659692[72] = 0.0; - out_4304163029800659692[73] = 0.0; - out_4304163029800659692[74] = 0.0; - out_4304163029800659692[75] = 0.0; - out_4304163029800659692[76] = 1.0; - out_4304163029800659692[77] = 0.0; - out_4304163029800659692[78] = 0.0; - out_4304163029800659692[79] = 0.0; - out_4304163029800659692[80] = 0.0; - out_4304163029800659692[81] = 0.0; - out_4304163029800659692[82] = 0.0; - out_4304163029800659692[83] = 0.0; - out_4304163029800659692[84] = 0.0; - out_4304163029800659692[85] = 0.0; - out_4304163029800659692[86] = 0.0; - out_4304163029800659692[87] = 0.0; - out_4304163029800659692[88] = 0.0; - out_4304163029800659692[89] = 0.0; - out_4304163029800659692[90] = 0.0; - out_4304163029800659692[91] = 0.0; - out_4304163029800659692[92] = 0.0; - out_4304163029800659692[93] = 0.0; - out_4304163029800659692[94] = 0.0; - out_4304163029800659692[95] = 1.0; - out_4304163029800659692[96] = 0.0; - out_4304163029800659692[97] = 0.0; - out_4304163029800659692[98] = 0.0; - out_4304163029800659692[99] = 0.0; - out_4304163029800659692[100] = 0.0; - out_4304163029800659692[101] = 0.0; - out_4304163029800659692[102] = 0.0; - out_4304163029800659692[103] = 0.0; - out_4304163029800659692[104] = 0.0; - out_4304163029800659692[105] = 0.0; - out_4304163029800659692[106] = 0.0; - out_4304163029800659692[107] = 0.0; - out_4304163029800659692[108] = 0.0; - out_4304163029800659692[109] = 0.0; - out_4304163029800659692[110] = 0.0; - out_4304163029800659692[111] = 0.0; - out_4304163029800659692[112] = 0.0; - out_4304163029800659692[113] = 0.0; - out_4304163029800659692[114] = 1.0; - out_4304163029800659692[115] = 0.0; - out_4304163029800659692[116] = 0.0; - out_4304163029800659692[117] = 0.0; - out_4304163029800659692[118] = 0.0; - out_4304163029800659692[119] = 0.0; - out_4304163029800659692[120] = 0.0; - out_4304163029800659692[121] = 0.0; - out_4304163029800659692[122] = 0.0; - out_4304163029800659692[123] = 0.0; - out_4304163029800659692[124] = 0.0; - out_4304163029800659692[125] = 0.0; - out_4304163029800659692[126] = 0.0; - out_4304163029800659692[127] = 0.0; - out_4304163029800659692[128] = 0.0; - out_4304163029800659692[129] = 0.0; - out_4304163029800659692[130] = 0.0; - out_4304163029800659692[131] = 0.0; - out_4304163029800659692[132] = 0.0; - out_4304163029800659692[133] = 1.0; - out_4304163029800659692[134] = 0.0; - out_4304163029800659692[135] = 0.0; - out_4304163029800659692[136] = 0.0; - out_4304163029800659692[137] = 0.0; - out_4304163029800659692[138] = 0.0; - out_4304163029800659692[139] = 0.0; - out_4304163029800659692[140] = 0.0; - out_4304163029800659692[141] = 0.0; - out_4304163029800659692[142] = 0.0; - out_4304163029800659692[143] = 0.0; - out_4304163029800659692[144] = 0.0; - out_4304163029800659692[145] = 0.0; - out_4304163029800659692[146] = 0.0; - out_4304163029800659692[147] = 0.0; - out_4304163029800659692[148] = 0.0; - out_4304163029800659692[149] = 0.0; - out_4304163029800659692[150] = 0.0; - out_4304163029800659692[151] = 0.0; - out_4304163029800659692[152] = 1.0; - out_4304163029800659692[153] = 0.0; - out_4304163029800659692[154] = 0.0; - out_4304163029800659692[155] = 0.0; - out_4304163029800659692[156] = 0.0; - out_4304163029800659692[157] = 0.0; - out_4304163029800659692[158] = 0.0; - out_4304163029800659692[159] = 0.0; - out_4304163029800659692[160] = 0.0; - out_4304163029800659692[161] = 0.0; - out_4304163029800659692[162] = 0.0; - out_4304163029800659692[163] = 0.0; - out_4304163029800659692[164] = 0.0; - out_4304163029800659692[165] = 0.0; - out_4304163029800659692[166] = 0.0; - out_4304163029800659692[167] = 0.0; - out_4304163029800659692[168] = 0.0; - out_4304163029800659692[169] = 0.0; - out_4304163029800659692[170] = 0.0; - out_4304163029800659692[171] = 1.0; - out_4304163029800659692[172] = 0.0; - out_4304163029800659692[173] = 0.0; - out_4304163029800659692[174] = 0.0; - out_4304163029800659692[175] = 0.0; - out_4304163029800659692[176] = 0.0; - out_4304163029800659692[177] = 0.0; - out_4304163029800659692[178] = 0.0; - out_4304163029800659692[179] = 0.0; - out_4304163029800659692[180] = 0.0; - out_4304163029800659692[181] = 0.0; - out_4304163029800659692[182] = 0.0; - out_4304163029800659692[183] = 0.0; - out_4304163029800659692[184] = 0.0; - out_4304163029800659692[185] = 0.0; - out_4304163029800659692[186] = 0.0; - out_4304163029800659692[187] = 0.0; - out_4304163029800659692[188] = 0.0; - out_4304163029800659692[189] = 0.0; - out_4304163029800659692[190] = 1.0; - out_4304163029800659692[191] = 0.0; - out_4304163029800659692[192] = 0.0; - out_4304163029800659692[193] = 0.0; - out_4304163029800659692[194] = 0.0; - out_4304163029800659692[195] = 0.0; - out_4304163029800659692[196] = 0.0; - out_4304163029800659692[197] = 0.0; - out_4304163029800659692[198] = 0.0; - out_4304163029800659692[199] = 0.0; - out_4304163029800659692[200] = 0.0; - out_4304163029800659692[201] = 0.0; - out_4304163029800659692[202] = 0.0; - out_4304163029800659692[203] = 0.0; - out_4304163029800659692[204] = 0.0; - out_4304163029800659692[205] = 0.0; - out_4304163029800659692[206] = 0.0; - out_4304163029800659692[207] = 0.0; - out_4304163029800659692[208] = 0.0; - out_4304163029800659692[209] = 1.0; - out_4304163029800659692[210] = 0.0; - out_4304163029800659692[211] = 0.0; - out_4304163029800659692[212] = 0.0; - out_4304163029800659692[213] = 0.0; - out_4304163029800659692[214] = 0.0; - out_4304163029800659692[215] = 0.0; - out_4304163029800659692[216] = 0.0; - out_4304163029800659692[217] = 0.0; - out_4304163029800659692[218] = 0.0; - out_4304163029800659692[219] = 0.0; - out_4304163029800659692[220] = 0.0; - out_4304163029800659692[221] = 0.0; - out_4304163029800659692[222] = 0.0; - out_4304163029800659692[223] = 0.0; - out_4304163029800659692[224] = 0.0; - out_4304163029800659692[225] = 0.0; - out_4304163029800659692[226] = 0.0; - out_4304163029800659692[227] = 0.0; - out_4304163029800659692[228] = 1.0; - out_4304163029800659692[229] = 0.0; - out_4304163029800659692[230] = 0.0; - out_4304163029800659692[231] = 0.0; - out_4304163029800659692[232] = 0.0; - out_4304163029800659692[233] = 0.0; - out_4304163029800659692[234] = 0.0; - out_4304163029800659692[235] = 0.0; - out_4304163029800659692[236] = 0.0; - out_4304163029800659692[237] = 0.0; - out_4304163029800659692[238] = 0.0; - out_4304163029800659692[239] = 0.0; - out_4304163029800659692[240] = 0.0; - out_4304163029800659692[241] = 0.0; - out_4304163029800659692[242] = 0.0; - out_4304163029800659692[243] = 0.0; - out_4304163029800659692[244] = 0.0; - out_4304163029800659692[245] = 0.0; - out_4304163029800659692[246] = 0.0; - out_4304163029800659692[247] = 1.0; - out_4304163029800659692[248] = 0.0; - out_4304163029800659692[249] = 0.0; - out_4304163029800659692[250] = 0.0; - out_4304163029800659692[251] = 0.0; - out_4304163029800659692[252] = 0.0; - out_4304163029800659692[253] = 0.0; - out_4304163029800659692[254] = 0.0; - out_4304163029800659692[255] = 0.0; - out_4304163029800659692[256] = 0.0; - out_4304163029800659692[257] = 0.0; - out_4304163029800659692[258] = 0.0; - out_4304163029800659692[259] = 0.0; - out_4304163029800659692[260] = 0.0; - out_4304163029800659692[261] = 0.0; - out_4304163029800659692[262] = 0.0; - out_4304163029800659692[263] = 0.0; - out_4304163029800659692[264] = 0.0; - out_4304163029800659692[265] = 0.0; - out_4304163029800659692[266] = 1.0; - out_4304163029800659692[267] = 0.0; - out_4304163029800659692[268] = 0.0; - out_4304163029800659692[269] = 0.0; - out_4304163029800659692[270] = 0.0; - out_4304163029800659692[271] = 0.0; - out_4304163029800659692[272] = 0.0; - out_4304163029800659692[273] = 0.0; - out_4304163029800659692[274] = 0.0; - out_4304163029800659692[275] = 0.0; - out_4304163029800659692[276] = 0.0; - out_4304163029800659692[277] = 0.0; - out_4304163029800659692[278] = 0.0; - out_4304163029800659692[279] = 0.0; - out_4304163029800659692[280] = 0.0; - out_4304163029800659692[281] = 0.0; - out_4304163029800659692[282] = 0.0; - out_4304163029800659692[283] = 0.0; - out_4304163029800659692[284] = 0.0; - out_4304163029800659692[285] = 1.0; - out_4304163029800659692[286] = 0.0; - out_4304163029800659692[287] = 0.0; - out_4304163029800659692[288] = 0.0; - out_4304163029800659692[289] = 0.0; - out_4304163029800659692[290] = 0.0; - out_4304163029800659692[291] = 0.0; - out_4304163029800659692[292] = 0.0; - out_4304163029800659692[293] = 0.0; - out_4304163029800659692[294] = 0.0; - out_4304163029800659692[295] = 0.0; - out_4304163029800659692[296] = 0.0; - out_4304163029800659692[297] = 0.0; - out_4304163029800659692[298] = 0.0; - out_4304163029800659692[299] = 0.0; - out_4304163029800659692[300] = 0.0; - out_4304163029800659692[301] = 0.0; - out_4304163029800659692[302] = 0.0; - out_4304163029800659692[303] = 0.0; - out_4304163029800659692[304] = 1.0; - out_4304163029800659692[305] = 0.0; - out_4304163029800659692[306] = 0.0; - out_4304163029800659692[307] = 0.0; - out_4304163029800659692[308] = 0.0; - out_4304163029800659692[309] = 0.0; - out_4304163029800659692[310] = 0.0; - out_4304163029800659692[311] = 0.0; - out_4304163029800659692[312] = 0.0; - out_4304163029800659692[313] = 0.0; - out_4304163029800659692[314] = 0.0; - out_4304163029800659692[315] = 0.0; - out_4304163029800659692[316] = 0.0; - out_4304163029800659692[317] = 0.0; - out_4304163029800659692[318] = 0.0; - out_4304163029800659692[319] = 0.0; - out_4304163029800659692[320] = 0.0; - out_4304163029800659692[321] = 0.0; - out_4304163029800659692[322] = 0.0; - out_4304163029800659692[323] = 1.0; +void H_mod_fun(double *state, double *out_1308901075637477725) { + out_1308901075637477725[0] = 1.0; + out_1308901075637477725[1] = 0.0; + out_1308901075637477725[2] = 0.0; + out_1308901075637477725[3] = 0.0; + out_1308901075637477725[4] = 0.0; + out_1308901075637477725[5] = 0.0; + out_1308901075637477725[6] = 0.0; + out_1308901075637477725[7] = 0.0; + out_1308901075637477725[8] = 0.0; + out_1308901075637477725[9] = 0.0; + out_1308901075637477725[10] = 0.0; + out_1308901075637477725[11] = 0.0; + out_1308901075637477725[12] = 0.0; + out_1308901075637477725[13] = 0.0; + out_1308901075637477725[14] = 0.0; + out_1308901075637477725[15] = 0.0; + out_1308901075637477725[16] = 0.0; + out_1308901075637477725[17] = 0.0; + out_1308901075637477725[18] = 0.0; + out_1308901075637477725[19] = 1.0; + out_1308901075637477725[20] = 0.0; + out_1308901075637477725[21] = 0.0; + out_1308901075637477725[22] = 0.0; + out_1308901075637477725[23] = 0.0; + out_1308901075637477725[24] = 0.0; + out_1308901075637477725[25] = 0.0; + out_1308901075637477725[26] = 0.0; + out_1308901075637477725[27] = 0.0; + out_1308901075637477725[28] = 0.0; + out_1308901075637477725[29] = 0.0; + out_1308901075637477725[30] = 0.0; + out_1308901075637477725[31] = 0.0; + out_1308901075637477725[32] = 0.0; + out_1308901075637477725[33] = 0.0; + out_1308901075637477725[34] = 0.0; + out_1308901075637477725[35] = 0.0; + out_1308901075637477725[36] = 0.0; + out_1308901075637477725[37] = 0.0; + out_1308901075637477725[38] = 1.0; + out_1308901075637477725[39] = 0.0; + out_1308901075637477725[40] = 0.0; + out_1308901075637477725[41] = 0.0; + out_1308901075637477725[42] = 0.0; + out_1308901075637477725[43] = 0.0; + out_1308901075637477725[44] = 0.0; + out_1308901075637477725[45] = 0.0; + out_1308901075637477725[46] = 0.0; + out_1308901075637477725[47] = 0.0; + out_1308901075637477725[48] = 0.0; + out_1308901075637477725[49] = 0.0; + out_1308901075637477725[50] = 0.0; + out_1308901075637477725[51] = 0.0; + out_1308901075637477725[52] = 0.0; + out_1308901075637477725[53] = 0.0; + out_1308901075637477725[54] = 0.0; + out_1308901075637477725[55] = 0.0; + out_1308901075637477725[56] = 0.0; + out_1308901075637477725[57] = 1.0; + out_1308901075637477725[58] = 0.0; + out_1308901075637477725[59] = 0.0; + out_1308901075637477725[60] = 0.0; + out_1308901075637477725[61] = 0.0; + out_1308901075637477725[62] = 0.0; + out_1308901075637477725[63] = 0.0; + out_1308901075637477725[64] = 0.0; + out_1308901075637477725[65] = 0.0; + out_1308901075637477725[66] = 0.0; + out_1308901075637477725[67] = 0.0; + out_1308901075637477725[68] = 0.0; + out_1308901075637477725[69] = 0.0; + out_1308901075637477725[70] = 0.0; + out_1308901075637477725[71] = 0.0; + out_1308901075637477725[72] = 0.0; + out_1308901075637477725[73] = 0.0; + out_1308901075637477725[74] = 0.0; + out_1308901075637477725[75] = 0.0; + out_1308901075637477725[76] = 1.0; + out_1308901075637477725[77] = 0.0; + out_1308901075637477725[78] = 0.0; + out_1308901075637477725[79] = 0.0; + out_1308901075637477725[80] = 0.0; + out_1308901075637477725[81] = 0.0; + out_1308901075637477725[82] = 0.0; + out_1308901075637477725[83] = 0.0; + out_1308901075637477725[84] = 0.0; + out_1308901075637477725[85] = 0.0; + out_1308901075637477725[86] = 0.0; + out_1308901075637477725[87] = 0.0; + out_1308901075637477725[88] = 0.0; + out_1308901075637477725[89] = 0.0; + out_1308901075637477725[90] = 0.0; + out_1308901075637477725[91] = 0.0; + out_1308901075637477725[92] = 0.0; + out_1308901075637477725[93] = 0.0; + out_1308901075637477725[94] = 0.0; + out_1308901075637477725[95] = 1.0; + out_1308901075637477725[96] = 0.0; + out_1308901075637477725[97] = 0.0; + out_1308901075637477725[98] = 0.0; + out_1308901075637477725[99] = 0.0; + out_1308901075637477725[100] = 0.0; + out_1308901075637477725[101] = 0.0; + out_1308901075637477725[102] = 0.0; + out_1308901075637477725[103] = 0.0; + out_1308901075637477725[104] = 0.0; + out_1308901075637477725[105] = 0.0; + out_1308901075637477725[106] = 0.0; + out_1308901075637477725[107] = 0.0; + out_1308901075637477725[108] = 0.0; + out_1308901075637477725[109] = 0.0; + out_1308901075637477725[110] = 0.0; + out_1308901075637477725[111] = 0.0; + out_1308901075637477725[112] = 0.0; + out_1308901075637477725[113] = 0.0; + out_1308901075637477725[114] = 1.0; + out_1308901075637477725[115] = 0.0; + out_1308901075637477725[116] = 0.0; + out_1308901075637477725[117] = 0.0; + out_1308901075637477725[118] = 0.0; + out_1308901075637477725[119] = 0.0; + out_1308901075637477725[120] = 0.0; + out_1308901075637477725[121] = 0.0; + out_1308901075637477725[122] = 0.0; + out_1308901075637477725[123] = 0.0; + out_1308901075637477725[124] = 0.0; + out_1308901075637477725[125] = 0.0; + out_1308901075637477725[126] = 0.0; + out_1308901075637477725[127] = 0.0; + out_1308901075637477725[128] = 0.0; + out_1308901075637477725[129] = 0.0; + out_1308901075637477725[130] = 0.0; + out_1308901075637477725[131] = 0.0; + out_1308901075637477725[132] = 0.0; + out_1308901075637477725[133] = 1.0; + out_1308901075637477725[134] = 0.0; + out_1308901075637477725[135] = 0.0; + out_1308901075637477725[136] = 0.0; + out_1308901075637477725[137] = 0.0; + out_1308901075637477725[138] = 0.0; + out_1308901075637477725[139] = 0.0; + out_1308901075637477725[140] = 0.0; + out_1308901075637477725[141] = 0.0; + out_1308901075637477725[142] = 0.0; + out_1308901075637477725[143] = 0.0; + out_1308901075637477725[144] = 0.0; + out_1308901075637477725[145] = 0.0; + out_1308901075637477725[146] = 0.0; + out_1308901075637477725[147] = 0.0; + out_1308901075637477725[148] = 0.0; + out_1308901075637477725[149] = 0.0; + out_1308901075637477725[150] = 0.0; + out_1308901075637477725[151] = 0.0; + out_1308901075637477725[152] = 1.0; + out_1308901075637477725[153] = 0.0; + out_1308901075637477725[154] = 0.0; + out_1308901075637477725[155] = 0.0; + out_1308901075637477725[156] = 0.0; + out_1308901075637477725[157] = 0.0; + out_1308901075637477725[158] = 0.0; + out_1308901075637477725[159] = 0.0; + out_1308901075637477725[160] = 0.0; + out_1308901075637477725[161] = 0.0; + out_1308901075637477725[162] = 0.0; + out_1308901075637477725[163] = 0.0; + out_1308901075637477725[164] = 0.0; + out_1308901075637477725[165] = 0.0; + out_1308901075637477725[166] = 0.0; + out_1308901075637477725[167] = 0.0; + out_1308901075637477725[168] = 0.0; + out_1308901075637477725[169] = 0.0; + out_1308901075637477725[170] = 0.0; + out_1308901075637477725[171] = 1.0; + out_1308901075637477725[172] = 0.0; + out_1308901075637477725[173] = 0.0; + out_1308901075637477725[174] = 0.0; + out_1308901075637477725[175] = 0.0; + out_1308901075637477725[176] = 0.0; + out_1308901075637477725[177] = 0.0; + out_1308901075637477725[178] = 0.0; + out_1308901075637477725[179] = 0.0; + out_1308901075637477725[180] = 0.0; + out_1308901075637477725[181] = 0.0; + out_1308901075637477725[182] = 0.0; + out_1308901075637477725[183] = 0.0; + out_1308901075637477725[184] = 0.0; + out_1308901075637477725[185] = 0.0; + out_1308901075637477725[186] = 0.0; + out_1308901075637477725[187] = 0.0; + out_1308901075637477725[188] = 0.0; + out_1308901075637477725[189] = 0.0; + out_1308901075637477725[190] = 1.0; + out_1308901075637477725[191] = 0.0; + out_1308901075637477725[192] = 0.0; + out_1308901075637477725[193] = 0.0; + out_1308901075637477725[194] = 0.0; + out_1308901075637477725[195] = 0.0; + out_1308901075637477725[196] = 0.0; + out_1308901075637477725[197] = 0.0; + out_1308901075637477725[198] = 0.0; + out_1308901075637477725[199] = 0.0; + out_1308901075637477725[200] = 0.0; + out_1308901075637477725[201] = 0.0; + out_1308901075637477725[202] = 0.0; + out_1308901075637477725[203] = 0.0; + out_1308901075637477725[204] = 0.0; + out_1308901075637477725[205] = 0.0; + out_1308901075637477725[206] = 0.0; + out_1308901075637477725[207] = 0.0; + out_1308901075637477725[208] = 0.0; + out_1308901075637477725[209] = 1.0; + out_1308901075637477725[210] = 0.0; + out_1308901075637477725[211] = 0.0; + out_1308901075637477725[212] = 0.0; + out_1308901075637477725[213] = 0.0; + out_1308901075637477725[214] = 0.0; + out_1308901075637477725[215] = 0.0; + out_1308901075637477725[216] = 0.0; + out_1308901075637477725[217] = 0.0; + out_1308901075637477725[218] = 0.0; + out_1308901075637477725[219] = 0.0; + out_1308901075637477725[220] = 0.0; + out_1308901075637477725[221] = 0.0; + out_1308901075637477725[222] = 0.0; + out_1308901075637477725[223] = 0.0; + out_1308901075637477725[224] = 0.0; + out_1308901075637477725[225] = 0.0; + out_1308901075637477725[226] = 0.0; + out_1308901075637477725[227] = 0.0; + out_1308901075637477725[228] = 1.0; + out_1308901075637477725[229] = 0.0; + out_1308901075637477725[230] = 0.0; + out_1308901075637477725[231] = 0.0; + out_1308901075637477725[232] = 0.0; + out_1308901075637477725[233] = 0.0; + out_1308901075637477725[234] = 0.0; + out_1308901075637477725[235] = 0.0; + out_1308901075637477725[236] = 0.0; + out_1308901075637477725[237] = 0.0; + out_1308901075637477725[238] = 0.0; + out_1308901075637477725[239] = 0.0; + out_1308901075637477725[240] = 0.0; + out_1308901075637477725[241] = 0.0; + out_1308901075637477725[242] = 0.0; + out_1308901075637477725[243] = 0.0; + out_1308901075637477725[244] = 0.0; + out_1308901075637477725[245] = 0.0; + out_1308901075637477725[246] = 0.0; + out_1308901075637477725[247] = 1.0; + out_1308901075637477725[248] = 0.0; + out_1308901075637477725[249] = 0.0; + out_1308901075637477725[250] = 0.0; + out_1308901075637477725[251] = 0.0; + out_1308901075637477725[252] = 0.0; + out_1308901075637477725[253] = 0.0; + out_1308901075637477725[254] = 0.0; + out_1308901075637477725[255] = 0.0; + out_1308901075637477725[256] = 0.0; + out_1308901075637477725[257] = 0.0; + out_1308901075637477725[258] = 0.0; + out_1308901075637477725[259] = 0.0; + out_1308901075637477725[260] = 0.0; + out_1308901075637477725[261] = 0.0; + out_1308901075637477725[262] = 0.0; + out_1308901075637477725[263] = 0.0; + out_1308901075637477725[264] = 0.0; + out_1308901075637477725[265] = 0.0; + out_1308901075637477725[266] = 1.0; + out_1308901075637477725[267] = 0.0; + out_1308901075637477725[268] = 0.0; + out_1308901075637477725[269] = 0.0; + out_1308901075637477725[270] = 0.0; + out_1308901075637477725[271] = 0.0; + out_1308901075637477725[272] = 0.0; + out_1308901075637477725[273] = 0.0; + out_1308901075637477725[274] = 0.0; + out_1308901075637477725[275] = 0.0; + out_1308901075637477725[276] = 0.0; + out_1308901075637477725[277] = 0.0; + out_1308901075637477725[278] = 0.0; + out_1308901075637477725[279] = 0.0; + out_1308901075637477725[280] = 0.0; + out_1308901075637477725[281] = 0.0; + out_1308901075637477725[282] = 0.0; + out_1308901075637477725[283] = 0.0; + out_1308901075637477725[284] = 0.0; + out_1308901075637477725[285] = 1.0; + out_1308901075637477725[286] = 0.0; + out_1308901075637477725[287] = 0.0; + out_1308901075637477725[288] = 0.0; + out_1308901075637477725[289] = 0.0; + out_1308901075637477725[290] = 0.0; + out_1308901075637477725[291] = 0.0; + out_1308901075637477725[292] = 0.0; + out_1308901075637477725[293] = 0.0; + out_1308901075637477725[294] = 0.0; + out_1308901075637477725[295] = 0.0; + out_1308901075637477725[296] = 0.0; + out_1308901075637477725[297] = 0.0; + out_1308901075637477725[298] = 0.0; + out_1308901075637477725[299] = 0.0; + out_1308901075637477725[300] = 0.0; + out_1308901075637477725[301] = 0.0; + out_1308901075637477725[302] = 0.0; + out_1308901075637477725[303] = 0.0; + out_1308901075637477725[304] = 1.0; + out_1308901075637477725[305] = 0.0; + out_1308901075637477725[306] = 0.0; + out_1308901075637477725[307] = 0.0; + out_1308901075637477725[308] = 0.0; + out_1308901075637477725[309] = 0.0; + out_1308901075637477725[310] = 0.0; + out_1308901075637477725[311] = 0.0; + out_1308901075637477725[312] = 0.0; + out_1308901075637477725[313] = 0.0; + out_1308901075637477725[314] = 0.0; + out_1308901075637477725[315] = 0.0; + out_1308901075637477725[316] = 0.0; + out_1308901075637477725[317] = 0.0; + out_1308901075637477725[318] = 0.0; + out_1308901075637477725[319] = 0.0; + out_1308901075637477725[320] = 0.0; + out_1308901075637477725[321] = 0.0; + out_1308901075637477725[322] = 0.0; + out_1308901075637477725[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7809694961382882469) { - out_7809694961382882469[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_7809694961382882469[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_7809694961382882469[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_7809694961382882469[3] = dt*state[12] + state[3]; - out_7809694961382882469[4] = dt*state[13] + state[4]; - out_7809694961382882469[5] = dt*state[14] + state[5]; - out_7809694961382882469[6] = state[6]; - out_7809694961382882469[7] = state[7]; - out_7809694961382882469[8] = state[8]; - out_7809694961382882469[9] = state[9]; - out_7809694961382882469[10] = state[10]; - out_7809694961382882469[11] = state[11]; - out_7809694961382882469[12] = state[12]; - out_7809694961382882469[13] = state[13]; - out_7809694961382882469[14] = state[14]; - out_7809694961382882469[15] = state[15]; - out_7809694961382882469[16] = state[16]; - out_7809694961382882469[17] = state[17]; +void f_fun(double *state, double dt, double *out_8416334481406024670) { + out_8416334481406024670[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_8416334481406024670[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_8416334481406024670[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_8416334481406024670[3] = dt*state[12] + state[3]; + out_8416334481406024670[4] = dt*state[13] + state[4]; + out_8416334481406024670[5] = dt*state[14] + state[5]; + out_8416334481406024670[6] = state[6]; + out_8416334481406024670[7] = state[7]; + out_8416334481406024670[8] = state[8]; + out_8416334481406024670[9] = state[9]; + out_8416334481406024670[10] = state[10]; + out_8416334481406024670[11] = state[11]; + out_8416334481406024670[12] = state[12]; + out_8416334481406024670[13] = state[13]; + out_8416334481406024670[14] = state[14]; + out_8416334481406024670[15] = state[15]; + out_8416334481406024670[16] = state[16]; + out_8416334481406024670[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4402047608279739822) { - out_4402047608279739822[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_4402047608279739822[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_4402047608279739822[2] = 0; - out_4402047608279739822[3] = 0; - out_4402047608279739822[4] = 0; - out_4402047608279739822[5] = 0; - out_4402047608279739822[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_4402047608279739822[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_4402047608279739822[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_4402047608279739822[9] = 0; - out_4402047608279739822[10] = 0; - out_4402047608279739822[11] = 0; - out_4402047608279739822[12] = 0; - out_4402047608279739822[13] = 0; - out_4402047608279739822[14] = 0; - out_4402047608279739822[15] = 0; - out_4402047608279739822[16] = 0; - out_4402047608279739822[17] = 0; - out_4402047608279739822[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_4402047608279739822[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_4402047608279739822[20] = 0; - out_4402047608279739822[21] = 0; - out_4402047608279739822[22] = 0; - out_4402047608279739822[23] = 0; - out_4402047608279739822[24] = 0; - out_4402047608279739822[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_4402047608279739822[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_4402047608279739822[27] = 0; - out_4402047608279739822[28] = 0; - out_4402047608279739822[29] = 0; - out_4402047608279739822[30] = 0; - out_4402047608279739822[31] = 0; - out_4402047608279739822[32] = 0; - out_4402047608279739822[33] = 0; - out_4402047608279739822[34] = 0; - out_4402047608279739822[35] = 0; - out_4402047608279739822[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_4402047608279739822[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_4402047608279739822[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_4402047608279739822[39] = 0; - out_4402047608279739822[40] = 0; - out_4402047608279739822[41] = 0; - out_4402047608279739822[42] = 0; - out_4402047608279739822[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_4402047608279739822[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_4402047608279739822[45] = 0; - out_4402047608279739822[46] = 0; - out_4402047608279739822[47] = 0; - out_4402047608279739822[48] = 0; - out_4402047608279739822[49] = 0; - out_4402047608279739822[50] = 0; - out_4402047608279739822[51] = 0; - out_4402047608279739822[52] = 0; - out_4402047608279739822[53] = 0; - out_4402047608279739822[54] = 0; - out_4402047608279739822[55] = 0; - out_4402047608279739822[56] = 0; - out_4402047608279739822[57] = 1; - out_4402047608279739822[58] = 0; - out_4402047608279739822[59] = 0; - out_4402047608279739822[60] = 0; - out_4402047608279739822[61] = 0; - out_4402047608279739822[62] = 0; - out_4402047608279739822[63] = 0; - out_4402047608279739822[64] = 0; - out_4402047608279739822[65] = 0; - out_4402047608279739822[66] = dt; - out_4402047608279739822[67] = 0; - out_4402047608279739822[68] = 0; - out_4402047608279739822[69] = 0; - out_4402047608279739822[70] = 0; - out_4402047608279739822[71] = 0; - out_4402047608279739822[72] = 0; - out_4402047608279739822[73] = 0; - out_4402047608279739822[74] = 0; - out_4402047608279739822[75] = 0; - out_4402047608279739822[76] = 1; - out_4402047608279739822[77] = 0; - out_4402047608279739822[78] = 0; - out_4402047608279739822[79] = 0; - out_4402047608279739822[80] = 0; - out_4402047608279739822[81] = 0; - out_4402047608279739822[82] = 0; - out_4402047608279739822[83] = 0; - out_4402047608279739822[84] = 0; - out_4402047608279739822[85] = dt; - out_4402047608279739822[86] = 0; - out_4402047608279739822[87] = 0; - out_4402047608279739822[88] = 0; - out_4402047608279739822[89] = 0; - out_4402047608279739822[90] = 0; - out_4402047608279739822[91] = 0; - out_4402047608279739822[92] = 0; - out_4402047608279739822[93] = 0; - out_4402047608279739822[94] = 0; - out_4402047608279739822[95] = 1; - out_4402047608279739822[96] = 0; - out_4402047608279739822[97] = 0; - out_4402047608279739822[98] = 0; - out_4402047608279739822[99] = 0; - out_4402047608279739822[100] = 0; - out_4402047608279739822[101] = 0; - out_4402047608279739822[102] = 0; - out_4402047608279739822[103] = 0; - out_4402047608279739822[104] = dt; - out_4402047608279739822[105] = 0; - out_4402047608279739822[106] = 0; - out_4402047608279739822[107] = 0; - out_4402047608279739822[108] = 0; - out_4402047608279739822[109] = 0; - out_4402047608279739822[110] = 0; - out_4402047608279739822[111] = 0; - out_4402047608279739822[112] = 0; - out_4402047608279739822[113] = 0; - out_4402047608279739822[114] = 1; - out_4402047608279739822[115] = 0; - out_4402047608279739822[116] = 0; - out_4402047608279739822[117] = 0; - out_4402047608279739822[118] = 0; - out_4402047608279739822[119] = 0; - out_4402047608279739822[120] = 0; - out_4402047608279739822[121] = 0; - out_4402047608279739822[122] = 0; - out_4402047608279739822[123] = 0; - out_4402047608279739822[124] = 0; - out_4402047608279739822[125] = 0; - out_4402047608279739822[126] = 0; - out_4402047608279739822[127] = 0; - out_4402047608279739822[128] = 0; - out_4402047608279739822[129] = 0; - out_4402047608279739822[130] = 0; - out_4402047608279739822[131] = 0; - out_4402047608279739822[132] = 0; - out_4402047608279739822[133] = 1; - out_4402047608279739822[134] = 0; - out_4402047608279739822[135] = 0; - out_4402047608279739822[136] = 0; - out_4402047608279739822[137] = 0; - out_4402047608279739822[138] = 0; - out_4402047608279739822[139] = 0; - out_4402047608279739822[140] = 0; - out_4402047608279739822[141] = 0; - out_4402047608279739822[142] = 0; - out_4402047608279739822[143] = 0; - out_4402047608279739822[144] = 0; - out_4402047608279739822[145] = 0; - out_4402047608279739822[146] = 0; - out_4402047608279739822[147] = 0; - out_4402047608279739822[148] = 0; - out_4402047608279739822[149] = 0; - out_4402047608279739822[150] = 0; - out_4402047608279739822[151] = 0; - out_4402047608279739822[152] = 1; - out_4402047608279739822[153] = 0; - out_4402047608279739822[154] = 0; - out_4402047608279739822[155] = 0; - out_4402047608279739822[156] = 0; - out_4402047608279739822[157] = 0; - out_4402047608279739822[158] = 0; - out_4402047608279739822[159] = 0; - out_4402047608279739822[160] = 0; - out_4402047608279739822[161] = 0; - out_4402047608279739822[162] = 0; - out_4402047608279739822[163] = 0; - out_4402047608279739822[164] = 0; - out_4402047608279739822[165] = 0; - out_4402047608279739822[166] = 0; - out_4402047608279739822[167] = 0; - out_4402047608279739822[168] = 0; - out_4402047608279739822[169] = 0; - out_4402047608279739822[170] = 0; - out_4402047608279739822[171] = 1; - out_4402047608279739822[172] = 0; - out_4402047608279739822[173] = 0; - out_4402047608279739822[174] = 0; - out_4402047608279739822[175] = 0; - out_4402047608279739822[176] = 0; - out_4402047608279739822[177] = 0; - out_4402047608279739822[178] = 0; - out_4402047608279739822[179] = 0; - out_4402047608279739822[180] = 0; - out_4402047608279739822[181] = 0; - out_4402047608279739822[182] = 0; - out_4402047608279739822[183] = 0; - out_4402047608279739822[184] = 0; - out_4402047608279739822[185] = 0; - out_4402047608279739822[186] = 0; - out_4402047608279739822[187] = 0; - out_4402047608279739822[188] = 0; - out_4402047608279739822[189] = 0; - out_4402047608279739822[190] = 1; - out_4402047608279739822[191] = 0; - out_4402047608279739822[192] = 0; - out_4402047608279739822[193] = 0; - out_4402047608279739822[194] = 0; - out_4402047608279739822[195] = 0; - out_4402047608279739822[196] = 0; - out_4402047608279739822[197] = 0; - out_4402047608279739822[198] = 0; - out_4402047608279739822[199] = 0; - out_4402047608279739822[200] = 0; - out_4402047608279739822[201] = 0; - out_4402047608279739822[202] = 0; - out_4402047608279739822[203] = 0; - out_4402047608279739822[204] = 0; - out_4402047608279739822[205] = 0; - out_4402047608279739822[206] = 0; - out_4402047608279739822[207] = 0; - out_4402047608279739822[208] = 0; - out_4402047608279739822[209] = 1; - out_4402047608279739822[210] = 0; - out_4402047608279739822[211] = 0; - out_4402047608279739822[212] = 0; - out_4402047608279739822[213] = 0; - out_4402047608279739822[214] = 0; - out_4402047608279739822[215] = 0; - out_4402047608279739822[216] = 0; - out_4402047608279739822[217] = 0; - out_4402047608279739822[218] = 0; - out_4402047608279739822[219] = 0; - out_4402047608279739822[220] = 0; - out_4402047608279739822[221] = 0; - out_4402047608279739822[222] = 0; - out_4402047608279739822[223] = 0; - out_4402047608279739822[224] = 0; - out_4402047608279739822[225] = 0; - out_4402047608279739822[226] = 0; - out_4402047608279739822[227] = 0; - out_4402047608279739822[228] = 1; - out_4402047608279739822[229] = 0; - out_4402047608279739822[230] = 0; - out_4402047608279739822[231] = 0; - out_4402047608279739822[232] = 0; - out_4402047608279739822[233] = 0; - out_4402047608279739822[234] = 0; - out_4402047608279739822[235] = 0; - out_4402047608279739822[236] = 0; - out_4402047608279739822[237] = 0; - out_4402047608279739822[238] = 0; - out_4402047608279739822[239] = 0; - out_4402047608279739822[240] = 0; - out_4402047608279739822[241] = 0; - out_4402047608279739822[242] = 0; - out_4402047608279739822[243] = 0; - out_4402047608279739822[244] = 0; - out_4402047608279739822[245] = 0; - out_4402047608279739822[246] = 0; - out_4402047608279739822[247] = 1; - out_4402047608279739822[248] = 0; - out_4402047608279739822[249] = 0; - out_4402047608279739822[250] = 0; - out_4402047608279739822[251] = 0; - out_4402047608279739822[252] = 0; - out_4402047608279739822[253] = 0; - out_4402047608279739822[254] = 0; - out_4402047608279739822[255] = 0; - out_4402047608279739822[256] = 0; - out_4402047608279739822[257] = 0; - out_4402047608279739822[258] = 0; - out_4402047608279739822[259] = 0; - out_4402047608279739822[260] = 0; - out_4402047608279739822[261] = 0; - out_4402047608279739822[262] = 0; - out_4402047608279739822[263] = 0; - out_4402047608279739822[264] = 0; - out_4402047608279739822[265] = 0; - out_4402047608279739822[266] = 1; - out_4402047608279739822[267] = 0; - out_4402047608279739822[268] = 0; - out_4402047608279739822[269] = 0; - out_4402047608279739822[270] = 0; - out_4402047608279739822[271] = 0; - out_4402047608279739822[272] = 0; - out_4402047608279739822[273] = 0; - out_4402047608279739822[274] = 0; - out_4402047608279739822[275] = 0; - out_4402047608279739822[276] = 0; - out_4402047608279739822[277] = 0; - out_4402047608279739822[278] = 0; - out_4402047608279739822[279] = 0; - out_4402047608279739822[280] = 0; - out_4402047608279739822[281] = 0; - out_4402047608279739822[282] = 0; - out_4402047608279739822[283] = 0; - out_4402047608279739822[284] = 0; - out_4402047608279739822[285] = 1; - out_4402047608279739822[286] = 0; - out_4402047608279739822[287] = 0; - out_4402047608279739822[288] = 0; - out_4402047608279739822[289] = 0; - out_4402047608279739822[290] = 0; - out_4402047608279739822[291] = 0; - out_4402047608279739822[292] = 0; - out_4402047608279739822[293] = 0; - out_4402047608279739822[294] = 0; - out_4402047608279739822[295] = 0; - out_4402047608279739822[296] = 0; - out_4402047608279739822[297] = 0; - out_4402047608279739822[298] = 0; - out_4402047608279739822[299] = 0; - out_4402047608279739822[300] = 0; - out_4402047608279739822[301] = 0; - out_4402047608279739822[302] = 0; - out_4402047608279739822[303] = 0; - out_4402047608279739822[304] = 1; - out_4402047608279739822[305] = 0; - out_4402047608279739822[306] = 0; - out_4402047608279739822[307] = 0; - out_4402047608279739822[308] = 0; - out_4402047608279739822[309] = 0; - out_4402047608279739822[310] = 0; - out_4402047608279739822[311] = 0; - out_4402047608279739822[312] = 0; - out_4402047608279739822[313] = 0; - out_4402047608279739822[314] = 0; - out_4402047608279739822[315] = 0; - out_4402047608279739822[316] = 0; - out_4402047608279739822[317] = 0; - out_4402047608279739822[318] = 0; - out_4402047608279739822[319] = 0; - out_4402047608279739822[320] = 0; - out_4402047608279739822[321] = 0; - out_4402047608279739822[322] = 0; - out_4402047608279739822[323] = 1; +void F_fun(double *state, double dt, double *out_5288884962144890875) { + out_5288884962144890875[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_5288884962144890875[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_5288884962144890875[2] = 0; + out_5288884962144890875[3] = 0; + out_5288884962144890875[4] = 0; + out_5288884962144890875[5] = 0; + out_5288884962144890875[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_5288884962144890875[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_5288884962144890875[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_5288884962144890875[9] = 0; + out_5288884962144890875[10] = 0; + out_5288884962144890875[11] = 0; + out_5288884962144890875[12] = 0; + out_5288884962144890875[13] = 0; + out_5288884962144890875[14] = 0; + out_5288884962144890875[15] = 0; + out_5288884962144890875[16] = 0; + out_5288884962144890875[17] = 0; + out_5288884962144890875[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_5288884962144890875[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_5288884962144890875[20] = 0; + out_5288884962144890875[21] = 0; + out_5288884962144890875[22] = 0; + out_5288884962144890875[23] = 0; + out_5288884962144890875[24] = 0; + out_5288884962144890875[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_5288884962144890875[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_5288884962144890875[27] = 0; + out_5288884962144890875[28] = 0; + out_5288884962144890875[29] = 0; + out_5288884962144890875[30] = 0; + out_5288884962144890875[31] = 0; + out_5288884962144890875[32] = 0; + out_5288884962144890875[33] = 0; + out_5288884962144890875[34] = 0; + out_5288884962144890875[35] = 0; + out_5288884962144890875[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_5288884962144890875[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_5288884962144890875[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_5288884962144890875[39] = 0; + out_5288884962144890875[40] = 0; + out_5288884962144890875[41] = 0; + out_5288884962144890875[42] = 0; + out_5288884962144890875[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_5288884962144890875[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_5288884962144890875[45] = 0; + out_5288884962144890875[46] = 0; + out_5288884962144890875[47] = 0; + out_5288884962144890875[48] = 0; + out_5288884962144890875[49] = 0; + out_5288884962144890875[50] = 0; + out_5288884962144890875[51] = 0; + out_5288884962144890875[52] = 0; + out_5288884962144890875[53] = 0; + out_5288884962144890875[54] = 0; + out_5288884962144890875[55] = 0; + out_5288884962144890875[56] = 0; + out_5288884962144890875[57] = 1; + out_5288884962144890875[58] = 0; + out_5288884962144890875[59] = 0; + out_5288884962144890875[60] = 0; + out_5288884962144890875[61] = 0; + out_5288884962144890875[62] = 0; + out_5288884962144890875[63] = 0; + out_5288884962144890875[64] = 0; + out_5288884962144890875[65] = 0; + out_5288884962144890875[66] = dt; + out_5288884962144890875[67] = 0; + out_5288884962144890875[68] = 0; + out_5288884962144890875[69] = 0; + out_5288884962144890875[70] = 0; + out_5288884962144890875[71] = 0; + out_5288884962144890875[72] = 0; + out_5288884962144890875[73] = 0; + out_5288884962144890875[74] = 0; + out_5288884962144890875[75] = 0; + out_5288884962144890875[76] = 1; + out_5288884962144890875[77] = 0; + out_5288884962144890875[78] = 0; + out_5288884962144890875[79] = 0; + out_5288884962144890875[80] = 0; + out_5288884962144890875[81] = 0; + out_5288884962144890875[82] = 0; + out_5288884962144890875[83] = 0; + out_5288884962144890875[84] = 0; + out_5288884962144890875[85] = dt; + out_5288884962144890875[86] = 0; + out_5288884962144890875[87] = 0; + out_5288884962144890875[88] = 0; + out_5288884962144890875[89] = 0; + out_5288884962144890875[90] = 0; + out_5288884962144890875[91] = 0; + out_5288884962144890875[92] = 0; + out_5288884962144890875[93] = 0; + out_5288884962144890875[94] = 0; + out_5288884962144890875[95] = 1; + out_5288884962144890875[96] = 0; + out_5288884962144890875[97] = 0; + out_5288884962144890875[98] = 0; + out_5288884962144890875[99] = 0; + out_5288884962144890875[100] = 0; + out_5288884962144890875[101] = 0; + out_5288884962144890875[102] = 0; + out_5288884962144890875[103] = 0; + out_5288884962144890875[104] = dt; + out_5288884962144890875[105] = 0; + out_5288884962144890875[106] = 0; + out_5288884962144890875[107] = 0; + out_5288884962144890875[108] = 0; + out_5288884962144890875[109] = 0; + out_5288884962144890875[110] = 0; + out_5288884962144890875[111] = 0; + out_5288884962144890875[112] = 0; + out_5288884962144890875[113] = 0; + out_5288884962144890875[114] = 1; + out_5288884962144890875[115] = 0; + out_5288884962144890875[116] = 0; + out_5288884962144890875[117] = 0; + out_5288884962144890875[118] = 0; + out_5288884962144890875[119] = 0; + out_5288884962144890875[120] = 0; + out_5288884962144890875[121] = 0; + out_5288884962144890875[122] = 0; + out_5288884962144890875[123] = 0; + out_5288884962144890875[124] = 0; + out_5288884962144890875[125] = 0; + out_5288884962144890875[126] = 0; + out_5288884962144890875[127] = 0; + out_5288884962144890875[128] = 0; + out_5288884962144890875[129] = 0; + out_5288884962144890875[130] = 0; + out_5288884962144890875[131] = 0; + out_5288884962144890875[132] = 0; + out_5288884962144890875[133] = 1; + out_5288884962144890875[134] = 0; + out_5288884962144890875[135] = 0; + out_5288884962144890875[136] = 0; + out_5288884962144890875[137] = 0; + out_5288884962144890875[138] = 0; + out_5288884962144890875[139] = 0; + out_5288884962144890875[140] = 0; + out_5288884962144890875[141] = 0; + out_5288884962144890875[142] = 0; + out_5288884962144890875[143] = 0; + out_5288884962144890875[144] = 0; + out_5288884962144890875[145] = 0; + out_5288884962144890875[146] = 0; + out_5288884962144890875[147] = 0; + out_5288884962144890875[148] = 0; + out_5288884962144890875[149] = 0; + out_5288884962144890875[150] = 0; + out_5288884962144890875[151] = 0; + out_5288884962144890875[152] = 1; + out_5288884962144890875[153] = 0; + out_5288884962144890875[154] = 0; + out_5288884962144890875[155] = 0; + out_5288884962144890875[156] = 0; + out_5288884962144890875[157] = 0; + out_5288884962144890875[158] = 0; + out_5288884962144890875[159] = 0; + out_5288884962144890875[160] = 0; + out_5288884962144890875[161] = 0; + out_5288884962144890875[162] = 0; + out_5288884962144890875[163] = 0; + out_5288884962144890875[164] = 0; + out_5288884962144890875[165] = 0; + out_5288884962144890875[166] = 0; + out_5288884962144890875[167] = 0; + out_5288884962144890875[168] = 0; + out_5288884962144890875[169] = 0; + out_5288884962144890875[170] = 0; + out_5288884962144890875[171] = 1; + out_5288884962144890875[172] = 0; + out_5288884962144890875[173] = 0; + out_5288884962144890875[174] = 0; + out_5288884962144890875[175] = 0; + out_5288884962144890875[176] = 0; + out_5288884962144890875[177] = 0; + out_5288884962144890875[178] = 0; + out_5288884962144890875[179] = 0; + out_5288884962144890875[180] = 0; + out_5288884962144890875[181] = 0; + out_5288884962144890875[182] = 0; + out_5288884962144890875[183] = 0; + out_5288884962144890875[184] = 0; + out_5288884962144890875[185] = 0; + out_5288884962144890875[186] = 0; + out_5288884962144890875[187] = 0; + out_5288884962144890875[188] = 0; + out_5288884962144890875[189] = 0; + out_5288884962144890875[190] = 1; + out_5288884962144890875[191] = 0; + out_5288884962144890875[192] = 0; + out_5288884962144890875[193] = 0; + out_5288884962144890875[194] = 0; + out_5288884962144890875[195] = 0; + out_5288884962144890875[196] = 0; + out_5288884962144890875[197] = 0; + out_5288884962144890875[198] = 0; + out_5288884962144890875[199] = 0; + out_5288884962144890875[200] = 0; + out_5288884962144890875[201] = 0; + out_5288884962144890875[202] = 0; + out_5288884962144890875[203] = 0; + out_5288884962144890875[204] = 0; + out_5288884962144890875[205] = 0; + out_5288884962144890875[206] = 0; + out_5288884962144890875[207] = 0; + out_5288884962144890875[208] = 0; + out_5288884962144890875[209] = 1; + out_5288884962144890875[210] = 0; + out_5288884962144890875[211] = 0; + out_5288884962144890875[212] = 0; + out_5288884962144890875[213] = 0; + out_5288884962144890875[214] = 0; + out_5288884962144890875[215] = 0; + out_5288884962144890875[216] = 0; + out_5288884962144890875[217] = 0; + out_5288884962144890875[218] = 0; + out_5288884962144890875[219] = 0; + out_5288884962144890875[220] = 0; + out_5288884962144890875[221] = 0; + out_5288884962144890875[222] = 0; + out_5288884962144890875[223] = 0; + out_5288884962144890875[224] = 0; + out_5288884962144890875[225] = 0; + out_5288884962144890875[226] = 0; + out_5288884962144890875[227] = 0; + out_5288884962144890875[228] = 1; + out_5288884962144890875[229] = 0; + out_5288884962144890875[230] = 0; + out_5288884962144890875[231] = 0; + out_5288884962144890875[232] = 0; + out_5288884962144890875[233] = 0; + out_5288884962144890875[234] = 0; + out_5288884962144890875[235] = 0; + out_5288884962144890875[236] = 0; + out_5288884962144890875[237] = 0; + out_5288884962144890875[238] = 0; + out_5288884962144890875[239] = 0; + out_5288884962144890875[240] = 0; + out_5288884962144890875[241] = 0; + out_5288884962144890875[242] = 0; + out_5288884962144890875[243] = 0; + out_5288884962144890875[244] = 0; + out_5288884962144890875[245] = 0; + out_5288884962144890875[246] = 0; + out_5288884962144890875[247] = 1; + out_5288884962144890875[248] = 0; + out_5288884962144890875[249] = 0; + out_5288884962144890875[250] = 0; + out_5288884962144890875[251] = 0; + out_5288884962144890875[252] = 0; + out_5288884962144890875[253] = 0; + out_5288884962144890875[254] = 0; + out_5288884962144890875[255] = 0; + out_5288884962144890875[256] = 0; + out_5288884962144890875[257] = 0; + out_5288884962144890875[258] = 0; + out_5288884962144890875[259] = 0; + out_5288884962144890875[260] = 0; + out_5288884962144890875[261] = 0; + out_5288884962144890875[262] = 0; + out_5288884962144890875[263] = 0; + out_5288884962144890875[264] = 0; + out_5288884962144890875[265] = 0; + out_5288884962144890875[266] = 1; + out_5288884962144890875[267] = 0; + out_5288884962144890875[268] = 0; + out_5288884962144890875[269] = 0; + out_5288884962144890875[270] = 0; + out_5288884962144890875[271] = 0; + out_5288884962144890875[272] = 0; + out_5288884962144890875[273] = 0; + out_5288884962144890875[274] = 0; + out_5288884962144890875[275] = 0; + out_5288884962144890875[276] = 0; + out_5288884962144890875[277] = 0; + out_5288884962144890875[278] = 0; + out_5288884962144890875[279] = 0; + out_5288884962144890875[280] = 0; + out_5288884962144890875[281] = 0; + out_5288884962144890875[282] = 0; + out_5288884962144890875[283] = 0; + out_5288884962144890875[284] = 0; + out_5288884962144890875[285] = 1; + out_5288884962144890875[286] = 0; + out_5288884962144890875[287] = 0; + out_5288884962144890875[288] = 0; + out_5288884962144890875[289] = 0; + out_5288884962144890875[290] = 0; + out_5288884962144890875[291] = 0; + out_5288884962144890875[292] = 0; + out_5288884962144890875[293] = 0; + out_5288884962144890875[294] = 0; + out_5288884962144890875[295] = 0; + out_5288884962144890875[296] = 0; + out_5288884962144890875[297] = 0; + out_5288884962144890875[298] = 0; + out_5288884962144890875[299] = 0; + out_5288884962144890875[300] = 0; + out_5288884962144890875[301] = 0; + out_5288884962144890875[302] = 0; + out_5288884962144890875[303] = 0; + out_5288884962144890875[304] = 1; + out_5288884962144890875[305] = 0; + out_5288884962144890875[306] = 0; + out_5288884962144890875[307] = 0; + out_5288884962144890875[308] = 0; + out_5288884962144890875[309] = 0; + out_5288884962144890875[310] = 0; + out_5288884962144890875[311] = 0; + out_5288884962144890875[312] = 0; + out_5288884962144890875[313] = 0; + out_5288884962144890875[314] = 0; + out_5288884962144890875[315] = 0; + out_5288884962144890875[316] = 0; + out_5288884962144890875[317] = 0; + out_5288884962144890875[318] = 0; + out_5288884962144890875[319] = 0; + out_5288884962144890875[320] = 0; + out_5288884962144890875[321] = 0; + out_5288884962144890875[322] = 0; + out_5288884962144890875[323] = 1; } -void h_4(double *state, double *unused, double *out_1761018668225147827) { - out_1761018668225147827[0] = state[6] + state[9]; - out_1761018668225147827[1] = state[7] + state[10]; - out_1761018668225147827[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_90872324407998874) { + out_90872324407998874[0] = state[6] + state[9]; + out_90872324407998874[1] = state[7] + state[10]; + out_90872324407998874[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_6123861755706956553) { - out_6123861755706956553[0] = 0; - out_6123861755706956553[1] = 0; - out_6123861755706956553[2] = 0; - out_6123861755706956553[3] = 0; - out_6123861755706956553[4] = 0; - out_6123861755706956553[5] = 0; - out_6123861755706956553[6] = 1; - out_6123861755706956553[7] = 0; - out_6123861755706956553[8] = 0; - out_6123861755706956553[9] = 1; - out_6123861755706956553[10] = 0; - out_6123861755706956553[11] = 0; - out_6123861755706956553[12] = 0; - out_6123861755706956553[13] = 0; - out_6123861755706956553[14] = 0; - out_6123861755706956553[15] = 0; - out_6123861755706956553[16] = 0; - out_6123861755706956553[17] = 0; - out_6123861755706956553[18] = 0; - out_6123861755706956553[19] = 0; - out_6123861755706956553[20] = 0; - out_6123861755706956553[21] = 0; - out_6123861755706956553[22] = 0; - out_6123861755706956553[23] = 0; - out_6123861755706956553[24] = 0; - out_6123861755706956553[25] = 1; - out_6123861755706956553[26] = 0; - out_6123861755706956553[27] = 0; - out_6123861755706956553[28] = 1; - out_6123861755706956553[29] = 0; - out_6123861755706956553[30] = 0; - out_6123861755706956553[31] = 0; - out_6123861755706956553[32] = 0; - out_6123861755706956553[33] = 0; - out_6123861755706956553[34] = 0; - out_6123861755706956553[35] = 0; - out_6123861755706956553[36] = 0; - out_6123861755706956553[37] = 0; - out_6123861755706956553[38] = 0; - out_6123861755706956553[39] = 0; - out_6123861755706956553[40] = 0; - out_6123861755706956553[41] = 0; - out_6123861755706956553[42] = 0; - out_6123861755706956553[43] = 0; - out_6123861755706956553[44] = 1; - out_6123861755706956553[45] = 0; - out_6123861755706956553[46] = 0; - out_6123861755706956553[47] = 1; - out_6123861755706956553[48] = 0; - out_6123861755706956553[49] = 0; - out_6123861755706956553[50] = 0; - out_6123861755706956553[51] = 0; - out_6123861755706956553[52] = 0; - out_6123861755706956553[53] = 0; +void H_4(double *state, double *unused, double *out_7635460590420343617) { + out_7635460590420343617[0] = 0; + out_7635460590420343617[1] = 0; + out_7635460590420343617[2] = 0; + out_7635460590420343617[3] = 0; + out_7635460590420343617[4] = 0; + out_7635460590420343617[5] = 0; + out_7635460590420343617[6] = 1; + out_7635460590420343617[7] = 0; + out_7635460590420343617[8] = 0; + out_7635460590420343617[9] = 1; + out_7635460590420343617[10] = 0; + out_7635460590420343617[11] = 0; + out_7635460590420343617[12] = 0; + out_7635460590420343617[13] = 0; + out_7635460590420343617[14] = 0; + out_7635460590420343617[15] = 0; + out_7635460590420343617[16] = 0; + out_7635460590420343617[17] = 0; + out_7635460590420343617[18] = 0; + out_7635460590420343617[19] = 0; + out_7635460590420343617[20] = 0; + out_7635460590420343617[21] = 0; + out_7635460590420343617[22] = 0; + out_7635460590420343617[23] = 0; + out_7635460590420343617[24] = 0; + out_7635460590420343617[25] = 1; + out_7635460590420343617[26] = 0; + out_7635460590420343617[27] = 0; + out_7635460590420343617[28] = 1; + out_7635460590420343617[29] = 0; + out_7635460590420343617[30] = 0; + out_7635460590420343617[31] = 0; + out_7635460590420343617[32] = 0; + out_7635460590420343617[33] = 0; + out_7635460590420343617[34] = 0; + out_7635460590420343617[35] = 0; + out_7635460590420343617[36] = 0; + out_7635460590420343617[37] = 0; + out_7635460590420343617[38] = 0; + out_7635460590420343617[39] = 0; + out_7635460590420343617[40] = 0; + out_7635460590420343617[41] = 0; + out_7635460590420343617[42] = 0; + out_7635460590420343617[43] = 0; + out_7635460590420343617[44] = 1; + out_7635460590420343617[45] = 0; + out_7635460590420343617[46] = 0; + out_7635460590420343617[47] = 1; + out_7635460590420343617[48] = 0; + out_7635460590420343617[49] = 0; + out_7635460590420343617[50] = 0; + out_7635460590420343617[51] = 0; + out_7635460590420343617[52] = 0; + out_7635460590420343617[53] = 0; } -void h_10(double *state, double *unused, double *out_5906261859060682989) { - out_5906261859060682989[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5906261859060682989[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5906261859060682989[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_729559215867171711) { + out_729559215867171711[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_729559215867171711[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_729559215867171711[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_8717187080084033317) { - out_8717187080084033317[0] = 0; - out_8717187080084033317[1] = 9.8100000000000005*cos(state[1]); - out_8717187080084033317[2] = 0; - out_8717187080084033317[3] = 0; - out_8717187080084033317[4] = -state[8]; - out_8717187080084033317[5] = state[7]; - out_8717187080084033317[6] = 0; - out_8717187080084033317[7] = state[5]; - out_8717187080084033317[8] = -state[4]; - out_8717187080084033317[9] = 0; - out_8717187080084033317[10] = 0; - out_8717187080084033317[11] = 0; - out_8717187080084033317[12] = 1; - out_8717187080084033317[13] = 0; - out_8717187080084033317[14] = 0; - out_8717187080084033317[15] = 1; - out_8717187080084033317[16] = 0; - out_8717187080084033317[17] = 0; - out_8717187080084033317[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8717187080084033317[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8717187080084033317[20] = 0; - out_8717187080084033317[21] = state[8]; - out_8717187080084033317[22] = 0; - out_8717187080084033317[23] = -state[6]; - out_8717187080084033317[24] = -state[5]; - out_8717187080084033317[25] = 0; - out_8717187080084033317[26] = state[3]; - out_8717187080084033317[27] = 0; - out_8717187080084033317[28] = 0; - out_8717187080084033317[29] = 0; - out_8717187080084033317[30] = 0; - out_8717187080084033317[31] = 1; - out_8717187080084033317[32] = 0; - out_8717187080084033317[33] = 0; - out_8717187080084033317[34] = 1; - out_8717187080084033317[35] = 0; - out_8717187080084033317[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8717187080084033317[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8717187080084033317[38] = 0; - out_8717187080084033317[39] = -state[7]; - out_8717187080084033317[40] = state[6]; - out_8717187080084033317[41] = 0; - out_8717187080084033317[42] = state[4]; - out_8717187080084033317[43] = -state[3]; - out_8717187080084033317[44] = 0; - out_8717187080084033317[45] = 0; - out_8717187080084033317[46] = 0; - out_8717187080084033317[47] = 0; - out_8717187080084033317[48] = 0; - out_8717187080084033317[49] = 0; - out_8717187080084033317[50] = 1; - out_8717187080084033317[51] = 0; - out_8717187080084033317[52] = 0; - out_8717187080084033317[53] = 1; +void H_10(double *state, double *unused, double *out_4724811786445925588) { + out_4724811786445925588[0] = 0; + out_4724811786445925588[1] = 9.8100000000000005*cos(state[1]); + out_4724811786445925588[2] = 0; + out_4724811786445925588[3] = 0; + out_4724811786445925588[4] = -state[8]; + out_4724811786445925588[5] = state[7]; + out_4724811786445925588[6] = 0; + out_4724811786445925588[7] = state[5]; + out_4724811786445925588[8] = -state[4]; + out_4724811786445925588[9] = 0; + out_4724811786445925588[10] = 0; + out_4724811786445925588[11] = 0; + out_4724811786445925588[12] = 1; + out_4724811786445925588[13] = 0; + out_4724811786445925588[14] = 0; + out_4724811786445925588[15] = 1; + out_4724811786445925588[16] = 0; + out_4724811786445925588[17] = 0; + out_4724811786445925588[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4724811786445925588[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4724811786445925588[20] = 0; + out_4724811786445925588[21] = state[8]; + out_4724811786445925588[22] = 0; + out_4724811786445925588[23] = -state[6]; + out_4724811786445925588[24] = -state[5]; + out_4724811786445925588[25] = 0; + out_4724811786445925588[26] = state[3]; + out_4724811786445925588[27] = 0; + out_4724811786445925588[28] = 0; + out_4724811786445925588[29] = 0; + out_4724811786445925588[30] = 0; + out_4724811786445925588[31] = 1; + out_4724811786445925588[32] = 0; + out_4724811786445925588[33] = 0; + out_4724811786445925588[34] = 1; + out_4724811786445925588[35] = 0; + out_4724811786445925588[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4724811786445925588[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4724811786445925588[38] = 0; + out_4724811786445925588[39] = -state[7]; + out_4724811786445925588[40] = state[6]; + out_4724811786445925588[41] = 0; + out_4724811786445925588[42] = state[4]; + out_4724811786445925588[43] = -state[3]; + out_4724811786445925588[44] = 0; + out_4724811786445925588[45] = 0; + out_4724811786445925588[46] = 0; + out_4724811786445925588[47] = 0; + out_4724811786445925588[48] = 0; + out_4724811786445925588[49] = 0; + out_4724811786445925588[50] = 1; + out_4724811786445925588[51] = 0; + out_4724811786445925588[52] = 0; + out_4724811786445925588[53] = 1; } -void h_13(double *state, double *unused, double *out_5437403947989237748) { - out_5437403947989237748[0] = state[3]; - out_5437403947989237748[1] = state[4]; - out_5437403947989237748[2] = state[5]; +void h_13(double *state, double *unused, double *out_6088791521295825946) { + out_6088791521295825946[0] = state[3]; + out_6088791521295825946[1] = state[4]; + out_6088791521295825946[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8489126854700071039) { - out_8489126854700071039[0] = 0; - out_8489126854700071039[1] = 0; - out_8489126854700071039[2] = 0; - out_8489126854700071039[3] = 1; - out_8489126854700071039[4] = 0; - out_8489126854700071039[5] = 0; - out_8489126854700071039[6] = 0; - out_8489126854700071039[7] = 0; - out_8489126854700071039[8] = 0; - out_8489126854700071039[9] = 0; - out_8489126854700071039[10] = 0; - out_8489126854700071039[11] = 0; - out_8489126854700071039[12] = 0; - out_8489126854700071039[13] = 0; - out_8489126854700071039[14] = 0; - out_8489126854700071039[15] = 0; - out_8489126854700071039[16] = 0; - out_8489126854700071039[17] = 0; - out_8489126854700071039[18] = 0; - out_8489126854700071039[19] = 0; - out_8489126854700071039[20] = 0; - out_8489126854700071039[21] = 0; - out_8489126854700071039[22] = 1; - out_8489126854700071039[23] = 0; - out_8489126854700071039[24] = 0; - out_8489126854700071039[25] = 0; - out_8489126854700071039[26] = 0; - out_8489126854700071039[27] = 0; - out_8489126854700071039[28] = 0; - out_8489126854700071039[29] = 0; - out_8489126854700071039[30] = 0; - out_8489126854700071039[31] = 0; - out_8489126854700071039[32] = 0; - out_8489126854700071039[33] = 0; - out_8489126854700071039[34] = 0; - out_8489126854700071039[35] = 0; - out_8489126854700071039[36] = 0; - out_8489126854700071039[37] = 0; - out_8489126854700071039[38] = 0; - out_8489126854700071039[39] = 0; - out_8489126854700071039[40] = 0; - out_8489126854700071039[41] = 1; - out_8489126854700071039[42] = 0; - out_8489126854700071039[43] = 0; - out_8489126854700071039[44] = 0; - out_8489126854700071039[45] = 0; - out_8489126854700071039[46] = 0; - out_8489126854700071039[47] = 0; - out_8489126854700071039[48] = 0; - out_8489126854700071039[49] = 0; - out_8489126854700071039[50] = 0; - out_8489126854700071039[51] = 0; - out_8489126854700071039[52] = 0; - out_8489126854700071039[53] = 0; +void H_13(double *state, double *unused, double *out_4423186765088010816) { + out_4423186765088010816[0] = 0; + out_4423186765088010816[1] = 0; + out_4423186765088010816[2] = 0; + out_4423186765088010816[3] = 1; + out_4423186765088010816[4] = 0; + out_4423186765088010816[5] = 0; + out_4423186765088010816[6] = 0; + out_4423186765088010816[7] = 0; + out_4423186765088010816[8] = 0; + out_4423186765088010816[9] = 0; + out_4423186765088010816[10] = 0; + out_4423186765088010816[11] = 0; + out_4423186765088010816[12] = 0; + out_4423186765088010816[13] = 0; + out_4423186765088010816[14] = 0; + out_4423186765088010816[15] = 0; + out_4423186765088010816[16] = 0; + out_4423186765088010816[17] = 0; + out_4423186765088010816[18] = 0; + out_4423186765088010816[19] = 0; + out_4423186765088010816[20] = 0; + out_4423186765088010816[21] = 0; + out_4423186765088010816[22] = 1; + out_4423186765088010816[23] = 0; + out_4423186765088010816[24] = 0; + out_4423186765088010816[25] = 0; + out_4423186765088010816[26] = 0; + out_4423186765088010816[27] = 0; + out_4423186765088010816[28] = 0; + out_4423186765088010816[29] = 0; + out_4423186765088010816[30] = 0; + out_4423186765088010816[31] = 0; + out_4423186765088010816[32] = 0; + out_4423186765088010816[33] = 0; + out_4423186765088010816[34] = 0; + out_4423186765088010816[35] = 0; + out_4423186765088010816[36] = 0; + out_4423186765088010816[37] = 0; + out_4423186765088010816[38] = 0; + out_4423186765088010816[39] = 0; + out_4423186765088010816[40] = 0; + out_4423186765088010816[41] = 1; + out_4423186765088010816[42] = 0; + out_4423186765088010816[43] = 0; + out_4423186765088010816[44] = 0; + out_4423186765088010816[45] = 0; + out_4423186765088010816[46] = 0; + out_4423186765088010816[47] = 0; + out_4423186765088010816[48] = 0; + out_4423186765088010816[49] = 0; + out_4423186765088010816[50] = 0; + out_4423186765088010816[51] = 0; + out_4423186765088010816[52] = 0; + out_4423186765088010816[53] = 0; } -void h_14(double *state, double *unused, double *out_2973157686650314108) { - out_2973157686650314108[0] = state[6]; - out_2973157686650314108[1] = state[7]; - out_2973157686650314108[2] = state[8]; +void h_14(double *state, double *unused, double *out_1848639786756728796) { + out_1848639786756728796[0] = state[6]; + out_1848639786756728796[1] = state[7]; + out_1848639786756728796[2] = state[8]; } -void H_14(double *state, double *unused, double *out_9206650188002328849) { - out_9206650188002328849[0] = 0; - out_9206650188002328849[1] = 0; - out_9206650188002328849[2] = 0; - out_9206650188002328849[3] = 0; - out_9206650188002328849[4] = 0; - out_9206650188002328849[5] = 0; - out_9206650188002328849[6] = 1; - out_9206650188002328849[7] = 0; - out_9206650188002328849[8] = 0; - out_9206650188002328849[9] = 0; - out_9206650188002328849[10] = 0; - out_9206650188002328849[11] = 0; - out_9206650188002328849[12] = 0; - out_9206650188002328849[13] = 0; - out_9206650188002328849[14] = 0; - out_9206650188002328849[15] = 0; - out_9206650188002328849[16] = 0; - out_9206650188002328849[17] = 0; - out_9206650188002328849[18] = 0; - out_9206650188002328849[19] = 0; - out_9206650188002328849[20] = 0; - out_9206650188002328849[21] = 0; - out_9206650188002328849[22] = 0; - out_9206650188002328849[23] = 0; - out_9206650188002328849[24] = 0; - out_9206650188002328849[25] = 1; - out_9206650188002328849[26] = 0; - out_9206650188002328849[27] = 0; - out_9206650188002328849[28] = 0; - out_9206650188002328849[29] = 0; - out_9206650188002328849[30] = 0; - out_9206650188002328849[31] = 0; - out_9206650188002328849[32] = 0; - out_9206650188002328849[33] = 0; - out_9206650188002328849[34] = 0; - out_9206650188002328849[35] = 0; - out_9206650188002328849[36] = 0; - out_9206650188002328849[37] = 0; - out_9206650188002328849[38] = 0; - out_9206650188002328849[39] = 0; - out_9206650188002328849[40] = 0; - out_9206650188002328849[41] = 0; - out_9206650188002328849[42] = 0; - out_9206650188002328849[43] = 0; - out_9206650188002328849[44] = 1; - out_9206650188002328849[45] = 0; - out_9206650188002328849[46] = 0; - out_9206650188002328849[47] = 0; - out_9206650188002328849[48] = 0; - out_9206650188002328849[49] = 0; - out_9206650188002328849[50] = 0; - out_9206650188002328849[51] = 0; - out_9206650188002328849[52] = 0; - out_9206650188002328849[53] = 0; +void H_14(double *state, double *unused, double *out_7728495050993835703) { + out_7728495050993835703[0] = 0; + out_7728495050993835703[1] = 0; + out_7728495050993835703[2] = 0; + out_7728495050993835703[3] = 0; + out_7728495050993835703[4] = 0; + out_7728495050993835703[5] = 0; + out_7728495050993835703[6] = 1; + out_7728495050993835703[7] = 0; + out_7728495050993835703[8] = 0; + out_7728495050993835703[9] = 0; + out_7728495050993835703[10] = 0; + out_7728495050993835703[11] = 0; + out_7728495050993835703[12] = 0; + out_7728495050993835703[13] = 0; + out_7728495050993835703[14] = 0; + out_7728495050993835703[15] = 0; + out_7728495050993835703[16] = 0; + out_7728495050993835703[17] = 0; + out_7728495050993835703[18] = 0; + out_7728495050993835703[19] = 0; + out_7728495050993835703[20] = 0; + out_7728495050993835703[21] = 0; + out_7728495050993835703[22] = 0; + out_7728495050993835703[23] = 0; + out_7728495050993835703[24] = 0; + out_7728495050993835703[25] = 1; + out_7728495050993835703[26] = 0; + out_7728495050993835703[27] = 0; + out_7728495050993835703[28] = 0; + out_7728495050993835703[29] = 0; + out_7728495050993835703[30] = 0; + out_7728495050993835703[31] = 0; + out_7728495050993835703[32] = 0; + out_7728495050993835703[33] = 0; + out_7728495050993835703[34] = 0; + out_7728495050993835703[35] = 0; + out_7728495050993835703[36] = 0; + out_7728495050993835703[37] = 0; + out_7728495050993835703[38] = 0; + out_7728495050993835703[39] = 0; + out_7728495050993835703[40] = 0; + out_7728495050993835703[41] = 0; + out_7728495050993835703[42] = 0; + out_7728495050993835703[43] = 0; + out_7728495050993835703[44] = 1; + out_7728495050993835703[45] = 0; + out_7728495050993835703[46] = 0; + out_7728495050993835703[47] = 0; + out_7728495050993835703[48] = 0; + out_7728495050993835703[49] = 0; + out_7728495050993835703[50] = 0; + out_7728495050993835703[51] = 0; + out_7728495050993835703[52] = 0; + out_7728495050993835703[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_937271495952840532) { - err_fun(nom_x, delta_x, out_937271495952840532); +void pose_err_fun(double *nom_x, double *delta_x, double *out_628539194751276084) { + err_fun(nom_x, delta_x, out_628539194751276084); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_712402659692030222) { - inv_err_fun(nom_x, true_x, out_712402659692030222); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5785405288888399451) { + inv_err_fun(nom_x, true_x, out_5785405288888399451); } -void pose_H_mod_fun(double *state, double *out_4304163029800659692) { - H_mod_fun(state, out_4304163029800659692); +void pose_H_mod_fun(double *state, double *out_1308901075637477725) { + H_mod_fun(state, out_1308901075637477725); } -void pose_f_fun(double *state, double dt, double *out_7809694961382882469) { - f_fun(state, dt, out_7809694961382882469); +void pose_f_fun(double *state, double dt, double *out_8416334481406024670) { + f_fun(state, dt, out_8416334481406024670); } -void pose_F_fun(double *state, double dt, double *out_4402047608279739822) { - F_fun(state, dt, out_4402047608279739822); +void pose_F_fun(double *state, double dt, double *out_5288884962144890875) { + F_fun(state, dt, out_5288884962144890875); } -void pose_h_4(double *state, double *unused, double *out_1761018668225147827) { - h_4(state, unused, out_1761018668225147827); +void pose_h_4(double *state, double *unused, double *out_90872324407998874) { + h_4(state, unused, out_90872324407998874); } -void pose_H_4(double *state, double *unused, double *out_6123861755706956553) { - H_4(state, unused, out_6123861755706956553); +void pose_H_4(double *state, double *unused, double *out_7635460590420343617) { + H_4(state, unused, out_7635460590420343617); } -void pose_h_10(double *state, double *unused, double *out_5906261859060682989) { - h_10(state, unused, out_5906261859060682989); +void pose_h_10(double *state, double *unused, double *out_729559215867171711) { + h_10(state, unused, out_729559215867171711); } -void pose_H_10(double *state, double *unused, double *out_8717187080084033317) { - H_10(state, unused, out_8717187080084033317); +void pose_H_10(double *state, double *unused, double *out_4724811786445925588) { + H_10(state, unused, out_4724811786445925588); } -void pose_h_13(double *state, double *unused, double *out_5437403947989237748) { - h_13(state, unused, out_5437403947989237748); +void pose_h_13(double *state, double *unused, double *out_6088791521295825946) { + h_13(state, unused, out_6088791521295825946); } -void pose_H_13(double *state, double *unused, double *out_8489126854700071039) { - H_13(state, unused, out_8489126854700071039); +void pose_H_13(double *state, double *unused, double *out_4423186765088010816) { + H_13(state, unused, out_4423186765088010816); } -void pose_h_14(double *state, double *unused, double *out_2973157686650314108) { - h_14(state, unused, out_2973157686650314108); +void pose_h_14(double *state, double *unused, double *out_1848639786756728796) { + h_14(state, unused, out_1848639786756728796); } -void pose_H_14(double *state, double *unused, double *out_9206650188002328849) { - H_14(state, unused, out_9206650188002328849); +void pose_H_14(double *state, double *unused, double *out_7728495050993835703) { + H_14(state, unused, out_7728495050993835703); } 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 d5e9211c42..8ede3acd02 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_937271495952840532); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_712402659692030222); -void pose_H_mod_fun(double *state, double *out_4304163029800659692); -void pose_f_fun(double *state, double dt, double *out_7809694961382882469); -void pose_F_fun(double *state, double dt, double *out_4402047608279739822); -void pose_h_4(double *state, double *unused, double *out_1761018668225147827); -void pose_H_4(double *state, double *unused, double *out_6123861755706956553); -void pose_h_10(double *state, double *unused, double *out_5906261859060682989); -void pose_H_10(double *state, double *unused, double *out_8717187080084033317); -void pose_h_13(double *state, double *unused, double *out_5437403947989237748); -void pose_H_13(double *state, double *unused, double *out_8489126854700071039); -void pose_h_14(double *state, double *unused, double *out_2973157686650314108); -void pose_H_14(double *state, double *unused, double *out_9206650188002328849); +void pose_err_fun(double *nom_x, double *delta_x, double *out_628539194751276084); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5785405288888399451); +void pose_H_mod_fun(double *state, double *out_1308901075637477725); +void pose_f_fun(double *state, double dt, double *out_8416334481406024670); +void pose_F_fun(double *state, double dt, double *out_5288884962144890875); +void pose_h_4(double *state, double *unused, double *out_90872324407998874); +void pose_H_4(double *state, double *unused, double *out_7635460590420343617); +void pose_h_10(double *state, double *unused, double *out_729559215867171711); +void pose_H_10(double *state, double *unused, double *out_4724811786445925588); +void pose_h_13(double *state, double *unused, double *out_6088791521295825946); +void pose_H_13(double *state, double *unused, double *out_4423186765088010816); +void pose_h_14(double *state, double *unused, double *out_1848639786756728796); +void pose_H_14(double *state, double *unused, double *out_7728495050993835703); 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 d383bbb6c8..6ead8955a3 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ