diff --git a/common/libcommon.a b/common/libcommon.a index ca625d1c4..0e410cc68 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index db9666d01..1ba79bd1a 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc b/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc index 5c3b59761..a942aebe5 100644 --- a/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc +++ b/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc @@ -1500,6 +1500,7 @@ BO_ 913 BCM_PO_11: 8 Vector__XXX BO_ 1426 LABEL11: 8 XXX SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX + SG_ CC_Engaged : 35|1@1+ (1,0) [0|1] "" XXX BO_ 910 WHL_SPD12_FS: 5 iBAU SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 5fddea589..927612eee 100644 Binary files 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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 50df28920..bc5c8fe54 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin index 50df28920..bc5c8fe54 100755 Binary files a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index bacc11db6..859d71311 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-a3bdcf24-DEBUG"; +const uint8_t gitversion[19] = "DEV-d2fb3628-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index ea229d9ac..90d9d6028 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 4abb791fe..687c52081 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 533729093..3c4872250 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 207e491c0..6dff2c168 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed b/panda/board/obj/panda_can_ignition_only.bin.signed index 629186790..2555a8181 100644 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a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index ae248f40d..805397ba4 100644 Binary files a/panda/board/obj/panda_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index 050069177..059e4e3b6 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index 2961edaf0..c39d4676f 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index dbe626621..e487d3f89 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index ae96e52ad..b856e79b2 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-a3bdcf24-DEBUG \ No newline at end of file +DEV-d2fb3628-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index fbaa0632f..581e1bdd1 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_1090979798261761109) { - out_1090979798261761109[0] = delta_x[0] + nom_x[0]; - out_1090979798261761109[1] = delta_x[1] + nom_x[1]; - out_1090979798261761109[2] = delta_x[2] + nom_x[2]; - out_1090979798261761109[3] = delta_x[3] + nom_x[3]; - out_1090979798261761109[4] = delta_x[4] + nom_x[4]; - out_1090979798261761109[5] = delta_x[5] + nom_x[5]; - out_1090979798261761109[6] = delta_x[6] + nom_x[6]; - out_1090979798261761109[7] = delta_x[7] + nom_x[7]; - out_1090979798261761109[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8341138954345272666) { + out_8341138954345272666[0] = delta_x[0] + nom_x[0]; + out_8341138954345272666[1] = delta_x[1] + nom_x[1]; + out_8341138954345272666[2] = delta_x[2] + nom_x[2]; + out_8341138954345272666[3] = delta_x[3] + nom_x[3]; + out_8341138954345272666[4] = delta_x[4] + nom_x[4]; + out_8341138954345272666[5] = delta_x[5] + nom_x[5]; + out_8341138954345272666[6] = delta_x[6] + nom_x[6]; + out_8341138954345272666[7] = delta_x[7] + nom_x[7]; + out_8341138954345272666[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5039703447688746133) { - out_5039703447688746133[0] = -nom_x[0] + true_x[0]; - out_5039703447688746133[1] = -nom_x[1] + true_x[1]; - out_5039703447688746133[2] = -nom_x[2] + true_x[2]; - out_5039703447688746133[3] = -nom_x[3] + true_x[3]; - out_5039703447688746133[4] = -nom_x[4] + true_x[4]; - out_5039703447688746133[5] = -nom_x[5] + true_x[5]; - out_5039703447688746133[6] = -nom_x[6] + true_x[6]; - out_5039703447688746133[7] = -nom_x[7] + true_x[7]; - out_5039703447688746133[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1053229851557441146) { + out_1053229851557441146[0] = -nom_x[0] + true_x[0]; + out_1053229851557441146[1] = -nom_x[1] + true_x[1]; + out_1053229851557441146[2] = -nom_x[2] + true_x[2]; + out_1053229851557441146[3] = -nom_x[3] + true_x[3]; + out_1053229851557441146[4] = -nom_x[4] + true_x[4]; + out_1053229851557441146[5] = -nom_x[5] + true_x[5]; + out_1053229851557441146[6] = -nom_x[6] + true_x[6]; + out_1053229851557441146[7] = -nom_x[7] + true_x[7]; + out_1053229851557441146[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_3925450346960244372) { - out_3925450346960244372[0] = 1.0; - out_3925450346960244372[1] = 0.0; - out_3925450346960244372[2] = 0.0; - out_3925450346960244372[3] = 0.0; - out_3925450346960244372[4] = 0.0; - out_3925450346960244372[5] = 0.0; - out_3925450346960244372[6] = 0.0; - out_3925450346960244372[7] = 0.0; - out_3925450346960244372[8] = 0.0; - out_3925450346960244372[9] = 0.0; - out_3925450346960244372[10] = 1.0; - out_3925450346960244372[11] = 0.0; - out_3925450346960244372[12] = 0.0; - out_3925450346960244372[13] = 0.0; - out_3925450346960244372[14] = 0.0; - out_3925450346960244372[15] = 0.0; - out_3925450346960244372[16] = 0.0; - out_3925450346960244372[17] = 0.0; - out_3925450346960244372[18] = 0.0; - out_3925450346960244372[19] = 0.0; - out_3925450346960244372[20] = 1.0; - out_3925450346960244372[21] = 0.0; - out_3925450346960244372[22] = 0.0; - out_3925450346960244372[23] = 0.0; - out_3925450346960244372[24] = 0.0; - out_3925450346960244372[25] = 0.0; - out_3925450346960244372[26] = 0.0; - out_3925450346960244372[27] = 0.0; - out_3925450346960244372[28] = 0.0; - out_3925450346960244372[29] = 0.0; - out_3925450346960244372[30] = 1.0; - out_3925450346960244372[31] = 0.0; - out_3925450346960244372[32] = 0.0; - out_3925450346960244372[33] = 0.0; - out_3925450346960244372[34] = 0.0; - out_3925450346960244372[35] = 0.0; - out_3925450346960244372[36] = 0.0; - out_3925450346960244372[37] = 0.0; - out_3925450346960244372[38] = 0.0; - out_3925450346960244372[39] = 0.0; - out_3925450346960244372[40] = 1.0; - out_3925450346960244372[41] = 0.0; - out_3925450346960244372[42] = 0.0; - out_3925450346960244372[43] = 0.0; - out_3925450346960244372[44] = 0.0; - out_3925450346960244372[45] = 0.0; - out_3925450346960244372[46] = 0.0; - out_3925450346960244372[47] = 0.0; - out_3925450346960244372[48] = 0.0; - out_3925450346960244372[49] = 0.0; - out_3925450346960244372[50] = 1.0; - out_3925450346960244372[51] = 0.0; - out_3925450346960244372[52] = 0.0; - out_3925450346960244372[53] = 0.0; - out_3925450346960244372[54] = 0.0; - out_3925450346960244372[55] = 0.0; - out_3925450346960244372[56] = 0.0; - out_3925450346960244372[57] = 0.0; - out_3925450346960244372[58] = 0.0; - out_3925450346960244372[59] = 0.0; - out_3925450346960244372[60] = 1.0; - out_3925450346960244372[61] = 0.0; - out_3925450346960244372[62] = 0.0; - out_3925450346960244372[63] = 0.0; - out_3925450346960244372[64] = 0.0; - out_3925450346960244372[65] = 0.0; - out_3925450346960244372[66] = 0.0; - out_3925450346960244372[67] = 0.0; - out_3925450346960244372[68] = 0.0; - out_3925450346960244372[69] = 0.0; - out_3925450346960244372[70] = 1.0; - out_3925450346960244372[71] = 0.0; - out_3925450346960244372[72] = 0.0; - out_3925450346960244372[73] = 0.0; - out_3925450346960244372[74] = 0.0; - out_3925450346960244372[75] = 0.0; - out_3925450346960244372[76] = 0.0; - out_3925450346960244372[77] = 0.0; - out_3925450346960244372[78] = 0.0; - out_3925450346960244372[79] = 0.0; - out_3925450346960244372[80] = 1.0; +void H_mod_fun(double *state, double *out_1742832659992124751) { + out_1742832659992124751[0] = 1.0; + out_1742832659992124751[1] = 0.0; + out_1742832659992124751[2] = 0.0; + out_1742832659992124751[3] = 0.0; + out_1742832659992124751[4] = 0.0; + out_1742832659992124751[5] = 0.0; + out_1742832659992124751[6] = 0.0; + out_1742832659992124751[7] = 0.0; + out_1742832659992124751[8] = 0.0; + out_1742832659992124751[9] = 0.0; + out_1742832659992124751[10] = 1.0; + out_1742832659992124751[11] = 0.0; + out_1742832659992124751[12] = 0.0; + out_1742832659992124751[13] = 0.0; + out_1742832659992124751[14] = 0.0; + out_1742832659992124751[15] = 0.0; + out_1742832659992124751[16] = 0.0; + out_1742832659992124751[17] = 0.0; + out_1742832659992124751[18] = 0.0; + out_1742832659992124751[19] = 0.0; + out_1742832659992124751[20] = 1.0; + out_1742832659992124751[21] = 0.0; + out_1742832659992124751[22] = 0.0; + out_1742832659992124751[23] = 0.0; + out_1742832659992124751[24] = 0.0; + out_1742832659992124751[25] = 0.0; + out_1742832659992124751[26] = 0.0; + out_1742832659992124751[27] = 0.0; + out_1742832659992124751[28] = 0.0; + out_1742832659992124751[29] = 0.0; + out_1742832659992124751[30] = 1.0; + out_1742832659992124751[31] = 0.0; + out_1742832659992124751[32] = 0.0; + out_1742832659992124751[33] = 0.0; + out_1742832659992124751[34] = 0.0; + out_1742832659992124751[35] = 0.0; + out_1742832659992124751[36] = 0.0; + out_1742832659992124751[37] = 0.0; + out_1742832659992124751[38] = 0.0; + out_1742832659992124751[39] = 0.0; + out_1742832659992124751[40] = 1.0; + out_1742832659992124751[41] = 0.0; + out_1742832659992124751[42] = 0.0; + out_1742832659992124751[43] = 0.0; + out_1742832659992124751[44] = 0.0; + out_1742832659992124751[45] = 0.0; + out_1742832659992124751[46] = 0.0; + out_1742832659992124751[47] = 0.0; + out_1742832659992124751[48] = 0.0; + out_1742832659992124751[49] = 0.0; + out_1742832659992124751[50] = 1.0; + out_1742832659992124751[51] = 0.0; + out_1742832659992124751[52] = 0.0; + out_1742832659992124751[53] = 0.0; + out_1742832659992124751[54] = 0.0; + out_1742832659992124751[55] = 0.0; + out_1742832659992124751[56] = 0.0; + out_1742832659992124751[57] = 0.0; + out_1742832659992124751[58] = 0.0; + out_1742832659992124751[59] = 0.0; + out_1742832659992124751[60] = 1.0; + out_1742832659992124751[61] = 0.0; + out_1742832659992124751[62] = 0.0; + out_1742832659992124751[63] = 0.0; + out_1742832659992124751[64] = 0.0; + out_1742832659992124751[65] = 0.0; + out_1742832659992124751[66] = 0.0; + out_1742832659992124751[67] = 0.0; + out_1742832659992124751[68] = 0.0; + out_1742832659992124751[69] = 0.0; + out_1742832659992124751[70] = 1.0; + out_1742832659992124751[71] = 0.0; + out_1742832659992124751[72] = 0.0; + out_1742832659992124751[73] = 0.0; + out_1742832659992124751[74] = 0.0; + out_1742832659992124751[75] = 0.0; + out_1742832659992124751[76] = 0.0; + out_1742832659992124751[77] = 0.0; + out_1742832659992124751[78] = 0.0; + out_1742832659992124751[79] = 0.0; + out_1742832659992124751[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5857249667330785024) { - out_5857249667330785024[0] = state[0]; - out_5857249667330785024[1] = state[1]; - out_5857249667330785024[2] = state[2]; - out_5857249667330785024[3] = state[3]; - out_5857249667330785024[4] = state[4]; - out_5857249667330785024[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_5857249667330785024[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_5857249667330785024[7] = state[7]; - out_5857249667330785024[8] = state[8]; +void f_fun(double *state, double dt, double *out_418888185766452101) { + out_418888185766452101[0] = state[0]; + out_418888185766452101[1] = state[1]; + out_418888185766452101[2] = state[2]; + out_418888185766452101[3] = state[3]; + out_418888185766452101[4] = state[4]; + out_418888185766452101[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_418888185766452101[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_418888185766452101[7] = state[7]; + out_418888185766452101[8] = state[8]; } -void F_fun(double *state, double dt, double *out_9115802330220690696) { - out_9115802330220690696[0] = 1; - out_9115802330220690696[1] = 0; - out_9115802330220690696[2] = 0; - out_9115802330220690696[3] = 0; - out_9115802330220690696[4] = 0; - out_9115802330220690696[5] = 0; - out_9115802330220690696[6] = 0; - out_9115802330220690696[7] = 0; - out_9115802330220690696[8] = 0; - out_9115802330220690696[9] = 0; - out_9115802330220690696[10] = 1; - out_9115802330220690696[11] = 0; - out_9115802330220690696[12] = 0; - out_9115802330220690696[13] = 0; - out_9115802330220690696[14] = 0; - out_9115802330220690696[15] = 0; - out_9115802330220690696[16] = 0; - out_9115802330220690696[17] = 0; - out_9115802330220690696[18] = 0; - out_9115802330220690696[19] = 0; - out_9115802330220690696[20] = 1; - out_9115802330220690696[21] = 0; - out_9115802330220690696[22] = 0; - out_9115802330220690696[23] = 0; - out_9115802330220690696[24] = 0; - out_9115802330220690696[25] = 0; - out_9115802330220690696[26] = 0; - out_9115802330220690696[27] = 0; - out_9115802330220690696[28] = 0; - out_9115802330220690696[29] = 0; - out_9115802330220690696[30] = 1; - out_9115802330220690696[31] = 0; - out_9115802330220690696[32] = 0; - out_9115802330220690696[33] = 0; - out_9115802330220690696[34] = 0; - out_9115802330220690696[35] = 0; - out_9115802330220690696[36] = 0; - out_9115802330220690696[37] = 0; - out_9115802330220690696[38] = 0; - out_9115802330220690696[39] = 0; - out_9115802330220690696[40] = 1; - out_9115802330220690696[41] = 0; - out_9115802330220690696[42] = 0; - out_9115802330220690696[43] = 0; - out_9115802330220690696[44] = 0; - out_9115802330220690696[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_9115802330220690696[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_9115802330220690696[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_9115802330220690696[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_9115802330220690696[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_9115802330220690696[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_9115802330220690696[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_9115802330220690696[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_9115802330220690696[53] = -9.8100000000000005*dt; - out_9115802330220690696[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_9115802330220690696[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_9115802330220690696[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_9115802330220690696[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_9115802330220690696[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_9115802330220690696[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_9115802330220690696[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_9115802330220690696[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_9115802330220690696[62] = 0; - out_9115802330220690696[63] = 0; - out_9115802330220690696[64] = 0; - out_9115802330220690696[65] = 0; - out_9115802330220690696[66] = 0; - out_9115802330220690696[67] = 0; - out_9115802330220690696[68] = 0; - out_9115802330220690696[69] = 0; - out_9115802330220690696[70] = 1; - out_9115802330220690696[71] = 0; - out_9115802330220690696[72] = 0; - out_9115802330220690696[73] = 0; - out_9115802330220690696[74] = 0; - out_9115802330220690696[75] = 0; - out_9115802330220690696[76] = 0; - out_9115802330220690696[77] = 0; - out_9115802330220690696[78] = 0; - out_9115802330220690696[79] = 0; - out_9115802330220690696[80] = 1; +void F_fun(double *state, double dt, double *out_7332131154779998147) { + out_7332131154779998147[0] = 1; + out_7332131154779998147[1] = 0; + out_7332131154779998147[2] = 0; + out_7332131154779998147[3] = 0; + out_7332131154779998147[4] = 0; + out_7332131154779998147[5] = 0; + out_7332131154779998147[6] = 0; + out_7332131154779998147[7] = 0; + out_7332131154779998147[8] = 0; + out_7332131154779998147[9] = 0; + out_7332131154779998147[10] = 1; + out_7332131154779998147[11] = 0; + out_7332131154779998147[12] = 0; + out_7332131154779998147[13] = 0; + out_7332131154779998147[14] = 0; + out_7332131154779998147[15] = 0; + out_7332131154779998147[16] = 0; + out_7332131154779998147[17] = 0; + out_7332131154779998147[18] = 0; + out_7332131154779998147[19] = 0; + out_7332131154779998147[20] = 1; + out_7332131154779998147[21] = 0; + out_7332131154779998147[22] = 0; + out_7332131154779998147[23] = 0; + out_7332131154779998147[24] = 0; + out_7332131154779998147[25] = 0; + out_7332131154779998147[26] = 0; + out_7332131154779998147[27] = 0; + out_7332131154779998147[28] = 0; + out_7332131154779998147[29] = 0; + out_7332131154779998147[30] = 1; + out_7332131154779998147[31] = 0; + out_7332131154779998147[32] = 0; + out_7332131154779998147[33] = 0; + out_7332131154779998147[34] = 0; + out_7332131154779998147[35] = 0; + out_7332131154779998147[36] = 0; + out_7332131154779998147[37] = 0; + out_7332131154779998147[38] = 0; + out_7332131154779998147[39] = 0; + out_7332131154779998147[40] = 1; + out_7332131154779998147[41] = 0; + out_7332131154779998147[42] = 0; + out_7332131154779998147[43] = 0; + out_7332131154779998147[44] = 0; + out_7332131154779998147[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_7332131154779998147[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7332131154779998147[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7332131154779998147[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7332131154779998147[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_7332131154779998147[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7332131154779998147[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7332131154779998147[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7332131154779998147[53] = -9.8100000000000005*dt; + out_7332131154779998147[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_7332131154779998147[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7332131154779998147[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7332131154779998147[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7332131154779998147[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_7332131154779998147[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7332131154779998147[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_7332131154779998147[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7332131154779998147[62] = 0; + out_7332131154779998147[63] = 0; + out_7332131154779998147[64] = 0; + out_7332131154779998147[65] = 0; + out_7332131154779998147[66] = 0; + out_7332131154779998147[67] = 0; + out_7332131154779998147[68] = 0; + out_7332131154779998147[69] = 0; + out_7332131154779998147[70] = 1; + out_7332131154779998147[71] = 0; + out_7332131154779998147[72] = 0; + out_7332131154779998147[73] = 0; + out_7332131154779998147[74] = 0; + out_7332131154779998147[75] = 0; + out_7332131154779998147[76] = 0; + out_7332131154779998147[77] = 0; + out_7332131154779998147[78] = 0; + out_7332131154779998147[79] = 0; + out_7332131154779998147[80] = 1; } -void h_25(double *state, double *unused, double *out_5135803252423599804) { - out_5135803252423599804[0] = state[6]; +void h_25(double *state, double *unused, double *out_2120117969057149735) { + out_2120117969057149735[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5267737878951992865) { - out_5267737878951992865[0] = 0; - out_5267737878951992865[1] = 0; - out_5267737878951992865[2] = 0; - out_5267737878951992865[3] = 0; - out_5267737878951992865[4] = 0; - out_5267737878951992865[5] = 0; - out_5267737878951992865[6] = 1; - out_5267737878951992865[7] = 0; - out_5267737878951992865[8] = 0; +void H_25(double *state, double *unused, double *out_6108633137067025220) { + out_6108633137067025220[0] = 0; + out_6108633137067025220[1] = 0; + out_6108633137067025220[2] = 0; + out_6108633137067025220[3] = 0; + out_6108633137067025220[4] = 0; + out_6108633137067025220[5] = 0; + out_6108633137067025220[6] = 1; + out_6108633137067025220[7] = 0; + out_6108633137067025220[8] = 0; } -void h_24(double *state, double *unused, double *out_511115109570268580) { - out_511115109570268580[0] = state[4]; - out_511115109570268580[1] = state[5]; +void h_24(double *state, double *unused, double *out_7094254727358861625) { + out_7094254727358861625[0] = state[4]; + out_7094254727358861625[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8432496867791049717) { - out_8432496867791049717[0] = 0; - out_8432496867791049717[1] = 0; - out_8432496867791049717[2] = 0; - out_8432496867791049717[3] = 0; - out_8432496867791049717[4] = 1; - out_8432496867791049717[5] = 0; - out_8432496867791049717[6] = 0; - out_8432496867791049717[7] = 0; - out_8432496867791049717[8] = 0; - out_8432496867791049717[9] = 0; - out_8432496867791049717[10] = 0; - out_8432496867791049717[11] = 0; - out_8432496867791049717[12] = 0; - out_8432496867791049717[13] = 0; - out_8432496867791049717[14] = 1; - out_8432496867791049717[15] = 0; - out_8432496867791049717[16] = 0; - out_8432496867791049717[17] = 0; +void H_24(double *state, double *unused, double *out_8334340921045893782) { + out_8334340921045893782[0] = 0; + out_8334340921045893782[1] = 0; + out_8334340921045893782[2] = 0; + out_8334340921045893782[3] = 0; + out_8334340921045893782[4] = 1; + out_8334340921045893782[5] = 0; + out_8334340921045893782[6] = 0; + out_8334340921045893782[7] = 0; + out_8334340921045893782[8] = 0; + out_8334340921045893782[9] = 0; + out_8334340921045893782[10] = 0; + out_8334340921045893782[11] = 0; + out_8334340921045893782[12] = 0; + out_8334340921045893782[13] = 0; + out_8334340921045893782[14] = 1; + out_8334340921045893782[15] = 0; + out_8334340921045893782[16] = 0; + out_8334340921045893782[17] = 0; } -void h_30(double *state, double *unused, double *out_5547675564465279371) { - out_5547675564465279371[0] = state[4]; +void h_30(double *state, double *unused, double *out_4035329226783510394) { + out_4035329226783510394[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1648952462539623890) { - out_1648952462539623890[0] = 0; - out_1648952462539623890[1] = 0; - out_1648952462539623890[2] = 0; - out_1648952462539623890[3] = 0; - out_1648952462539623890[4] = 1; - out_1648952462539623890[5] = 0; - out_1648952462539623890[6] = 0; - out_1648952462539623890[7] = 0; - out_1648952462539623890[8] = 0; +void H_30(double *state, double *unused, double *out_5421420595150909641) { + out_5421420595150909641[0] = 0; + out_5421420595150909641[1] = 0; + out_5421420595150909641[2] = 0; + out_5421420595150909641[3] = 0; + out_5421420595150909641[4] = 1; + out_5421420595150909641[5] = 0; + out_5421420595150909641[6] = 0; + out_5421420595150909641[7] = 0; + out_5421420595150909641[8] = 0; } -void h_26(double *state, double *unused, double *out_8360227667735132754) { - out_8360227667735132754[0] = state[7]; +void h_26(double *state, double *unused, double *out_3432013342107032877) { + out_3432013342107032877[0] = state[7]; } -void H_26(double *state, double *unused, double *out_9009241197826049089) { - out_9009241197826049089[0] = 0; - out_9009241197826049089[1] = 0; - out_9009241197826049089[2] = 0; - out_9009241197826049089[3] = 0; - out_9009241197826049089[4] = 0; - out_9009241197826049089[5] = 0; - out_9009241197826049089[6] = 0; - out_9009241197826049089[7] = 1; - out_9009241197826049089[8] = 0; +void H_26(double *state, double *unused, double *out_2367129818192968996) { + out_2367129818192968996[0] = 0; + out_2367129818192968996[1] = 0; + out_2367129818192968996[2] = 0; + out_2367129818192968996[3] = 0; + out_2367129818192968996[4] = 0; + out_2367129818192968996[5] = 0; + out_2367129818192968996[6] = 0; + out_2367129818192968996[7] = 1; + out_2367129818192968996[8] = 0; } -void h_27(double *state, double *unused, double *out_742482235135115284) { - out_742482235135115284[0] = state[3]; +void h_27(double *state, double *unused, double *out_4789453276872201226) { + out_4789453276872201226[0] = state[3]; } -void H_27(double *state, double *unused, double *out_525810849260801021) { - out_525810849260801021[0] = 0; - out_525810849260801021[1] = 0; - out_525810849260801021[2] = 0; - out_525810849260801021[3] = 1; - out_525810849260801021[4] = 0; - out_525810849260801021[5] = 0; - out_525810849260801021[6] = 0; - out_525810849260801021[7] = 0; - out_525810849260801021[8] = 0; +void H_27(double *state, double *unused, double *out_7596183906951334552) { + out_7596183906951334552[0] = 0; + out_7596183906951334552[1] = 0; + out_7596183906951334552[2] = 0; + out_7596183906951334552[3] = 1; + out_7596183906951334552[4] = 0; + out_7596183906951334552[5] = 0; + out_7596183906951334552[6] = 0; + out_7596183906951334552[7] = 0; + out_7596183906951334552[8] = 0; } -void h_29(double *state, double *unused, double *out_7897395241583426600) { - out_7897395241583426600[0] = state[1]; +void h_29(double *state, double *unused, double *out_8533129359367326134) { + out_8533129359367326134[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2239173576130352054) { - out_2239173576130352054[0] = 0; - out_2239173576130352054[1] = 1; - out_2239173576130352054[2] = 0; - out_2239173576130352054[3] = 0; - out_2239173576130352054[4] = 0; - out_2239173576130352054[5] = 0; - out_2239173576130352054[6] = 0; - out_2239173576130352054[7] = 0; - out_2239173576130352054[8] = 0; +void H_29(double *state, double *unused, double *out_4911189250836517457) { + out_4911189250836517457[0] = 0; + out_4911189250836517457[1] = 1; + out_4911189250836517457[2] = 0; + out_4911189250836517457[3] = 0; + out_4911189250836517457[4] = 0; + out_4911189250836517457[5] = 0; + out_4911189250836517457[6] = 0; + out_4911189250836517457[7] = 0; + out_4911189250836517457[8] = 0; } -void h_28(double *state, double *unused, double *out_2070069868134738099) { - out_2070069868134738099[0] = state[0]; +void h_28(double *state, double *unused, double *out_212219990788644419) { + out_212219990788644419[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7321572593199882628) { - out_7321572593199882628[0] = 1; - out_7321572593199882628[1] = 0; - out_7321572593199882628[2] = 0; - out_7321572593199882628[3] = 0; - out_7321572593199882628[4] = 0; - out_7321572593199882628[5] = 0; - out_7321572593199882628[6] = 0; - out_7321572593199882628[7] = 0; - out_7321572593199882628[8] = 0; +void H_28(double *state, double *unused, double *out_4054798422819135457) { + out_4054798422819135457[0] = 1; + out_4054798422819135457[1] = 0; + out_4054798422819135457[2] = 0; + out_4054798422819135457[3] = 0; + out_4054798422819135457[4] = 0; + out_4054798422819135457[5] = 0; + out_4054798422819135457[6] = 0; + out_4054798422819135457[7] = 0; + out_4054798422819135457[8] = 0; } -void h_31(double *state, double *unused, double *out_5281323076644254775) { - out_5281323076644254775[0] = state[8]; +void h_31(double *state, double *unused, double *out_6046731432492005227) { + out_6046731432492005227[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5237091917075032437) { - out_5237091917075032437[0] = 0; - out_5237091917075032437[1] = 0; - out_5237091917075032437[2] = 0; - out_5237091917075032437[3] = 0; - out_5237091917075032437[4] = 0; - out_5237091917075032437[5] = 0; - out_5237091917075032437[6] = 0; - out_5237091917075032437[7] = 0; - out_5237091917075032437[8] = 1; +void H_31(double *state, double *unused, double *out_6139279098943985648) { + out_6139279098943985648[0] = 0; + out_6139279098943985648[1] = 0; + out_6139279098943985648[2] = 0; + out_6139279098943985648[3] = 0; + out_6139279098943985648[4] = 0; + out_6139279098943985648[5] = 0; + out_6139279098943985648[6] = 0; + out_6139279098943985648[7] = 0; + out_6139279098943985648[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_1090979798261761109) { - err_fun(nom_x, delta_x, out_1090979798261761109); +void car_err_fun(double *nom_x, double *delta_x, double *out_8341138954345272666) { + err_fun(nom_x, delta_x, out_8341138954345272666); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5039703447688746133) { - inv_err_fun(nom_x, true_x, out_5039703447688746133); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1053229851557441146) { + inv_err_fun(nom_x, true_x, out_1053229851557441146); } -void car_H_mod_fun(double *state, double *out_3925450346960244372) { - H_mod_fun(state, out_3925450346960244372); +void car_H_mod_fun(double *state, double *out_1742832659992124751) { + H_mod_fun(state, out_1742832659992124751); } -void car_f_fun(double *state, double dt, double *out_5857249667330785024) { - f_fun(state, dt, out_5857249667330785024); +void car_f_fun(double *state, double dt, double *out_418888185766452101) { + f_fun(state, dt, out_418888185766452101); } -void car_F_fun(double *state, double dt, double *out_9115802330220690696) { - F_fun(state, dt, out_9115802330220690696); +void car_F_fun(double *state, double dt, double *out_7332131154779998147) { + F_fun(state, dt, out_7332131154779998147); } -void car_h_25(double *state, double *unused, double *out_5135803252423599804) { - h_25(state, unused, out_5135803252423599804); +void car_h_25(double *state, double *unused, double *out_2120117969057149735) { + h_25(state, unused, out_2120117969057149735); } -void car_H_25(double *state, double *unused, double *out_5267737878951992865) { - H_25(state, unused, out_5267737878951992865); +void car_H_25(double *state, double *unused, double *out_6108633137067025220) { + H_25(state, unused, out_6108633137067025220); } -void car_h_24(double *state, double *unused, double *out_511115109570268580) { - h_24(state, unused, out_511115109570268580); +void car_h_24(double *state, double *unused, double *out_7094254727358861625) { + h_24(state, unused, out_7094254727358861625); } -void car_H_24(double *state, double *unused, double *out_8432496867791049717) { - H_24(state, unused, out_8432496867791049717); +void car_H_24(double *state, double *unused, double *out_8334340921045893782) { + H_24(state, unused, out_8334340921045893782); } -void car_h_30(double *state, double *unused, double *out_5547675564465279371) { - h_30(state, unused, out_5547675564465279371); +void car_h_30(double *state, double *unused, double *out_4035329226783510394) { + h_30(state, unused, out_4035329226783510394); } -void car_H_30(double *state, double *unused, double *out_1648952462539623890) { - H_30(state, unused, out_1648952462539623890); +void car_H_30(double *state, double *unused, double *out_5421420595150909641) { + H_30(state, unused, out_5421420595150909641); } -void car_h_26(double *state, double *unused, double *out_8360227667735132754) { - h_26(state, unused, out_8360227667735132754); +void car_h_26(double *state, double *unused, double *out_3432013342107032877) { + h_26(state, unused, out_3432013342107032877); } -void car_H_26(double *state, double *unused, double *out_9009241197826049089) { - H_26(state, unused, out_9009241197826049089); +void car_H_26(double *state, double *unused, double *out_2367129818192968996) { + H_26(state, unused, out_2367129818192968996); } -void car_h_27(double *state, double *unused, double *out_742482235135115284) { - h_27(state, unused, out_742482235135115284); +void car_h_27(double *state, double *unused, double *out_4789453276872201226) { + h_27(state, unused, out_4789453276872201226); } -void car_H_27(double *state, double *unused, double *out_525810849260801021) { - H_27(state, unused, out_525810849260801021); +void car_H_27(double *state, double *unused, double *out_7596183906951334552) { + H_27(state, unused, out_7596183906951334552); } -void car_h_29(double *state, double *unused, double *out_7897395241583426600) { - h_29(state, unused, out_7897395241583426600); +void car_h_29(double *state, double *unused, double *out_8533129359367326134) { + h_29(state, unused, out_8533129359367326134); } -void car_H_29(double *state, double *unused, double *out_2239173576130352054) { - H_29(state, unused, out_2239173576130352054); +void car_H_29(double *state, double *unused, double *out_4911189250836517457) { + H_29(state, unused, out_4911189250836517457); } -void car_h_28(double *state, double *unused, double *out_2070069868134738099) { - h_28(state, unused, out_2070069868134738099); +void car_h_28(double *state, double *unused, double *out_212219990788644419) { + h_28(state, unused, out_212219990788644419); } -void car_H_28(double *state, double *unused, double *out_7321572593199882628) { - H_28(state, unused, out_7321572593199882628); +void car_H_28(double *state, double *unused, double *out_4054798422819135457) { + H_28(state, unused, out_4054798422819135457); } -void car_h_31(double *state, double *unused, double *out_5281323076644254775) { - h_31(state, unused, out_5281323076644254775); +void car_h_31(double *state, double *unused, double *out_6046731432492005227) { + h_31(state, unused, out_6046731432492005227); } -void car_H_31(double *state, double *unused, double *out_5237091917075032437) { - H_31(state, unused, out_5237091917075032437); +void car_H_31(double *state, double *unused, double *out_6139279098943985648) { + H_31(state, unused, out_6139279098943985648); } 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 e5016283e..7fa74d394 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_1090979798261761109); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5039703447688746133); -void car_H_mod_fun(double *state, double *out_3925450346960244372); -void car_f_fun(double *state, double dt, double *out_5857249667330785024); -void car_F_fun(double *state, double dt, double *out_9115802330220690696); -void car_h_25(double *state, double *unused, double *out_5135803252423599804); -void car_H_25(double *state, double *unused, double *out_5267737878951992865); -void car_h_24(double *state, double *unused, double *out_511115109570268580); -void car_H_24(double *state, double *unused, double *out_8432496867791049717); -void car_h_30(double *state, double *unused, double *out_5547675564465279371); -void car_H_30(double *state, double *unused, double *out_1648952462539623890); -void car_h_26(double *state, double *unused, double *out_8360227667735132754); -void car_H_26(double *state, double *unused, double *out_9009241197826049089); -void car_h_27(double *state, double *unused, double *out_742482235135115284); -void car_H_27(double *state, double *unused, double *out_525810849260801021); -void car_h_29(double *state, double *unused, double *out_7897395241583426600); -void car_H_29(double *state, double *unused, double *out_2239173576130352054); -void car_h_28(double *state, double *unused, double *out_2070069868134738099); -void car_H_28(double *state, double *unused, double *out_7321572593199882628); -void car_h_31(double *state, double *unused, double *out_5281323076644254775); -void car_H_31(double *state, double *unused, double *out_5237091917075032437); +void car_err_fun(double *nom_x, double *delta_x, double *out_8341138954345272666); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1053229851557441146); +void car_H_mod_fun(double *state, double *out_1742832659992124751); +void car_f_fun(double *state, double dt, double *out_418888185766452101); +void car_F_fun(double *state, double dt, double *out_7332131154779998147); +void car_h_25(double *state, double *unused, double *out_2120117969057149735); +void car_H_25(double *state, double *unused, double *out_6108633137067025220); +void car_h_24(double *state, double *unused, double *out_7094254727358861625); +void car_H_24(double *state, double *unused, double *out_8334340921045893782); +void car_h_30(double *state, double *unused, double *out_4035329226783510394); +void car_H_30(double *state, double *unused, double *out_5421420595150909641); +void car_h_26(double *state, double *unused, double *out_3432013342107032877); +void car_H_26(double *state, double *unused, double *out_2367129818192968996); +void car_h_27(double *state, double *unused, double *out_4789453276872201226); +void car_H_27(double *state, double *unused, double *out_7596183906951334552); +void car_h_29(double *state, double *unused, double *out_8533129359367326134); +void car_H_29(double *state, double *unused, double *out_4911189250836517457); +void car_h_28(double *state, double *unused, double *out_212219990788644419); +void car_H_28(double *state, double *unused, double *out_4054798422819135457); +void car_h_31(double *state, double *unused, double *out_6046731432492005227); +void car_H_31(double *state, double *unused, double *out_6139279098943985648); 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 fb7757b72..7a258df15 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_5866923855832820417) { - out_5866923855832820417[0] = delta_x[0] + nom_x[0]; - out_5866923855832820417[1] = delta_x[1] + nom_x[1]; - out_5866923855832820417[2] = delta_x[2] + nom_x[2]; - out_5866923855832820417[3] = delta_x[3] + nom_x[3]; - out_5866923855832820417[4] = delta_x[4] + nom_x[4]; - out_5866923855832820417[5] = delta_x[5] + nom_x[5]; - out_5866923855832820417[6] = delta_x[6] + nom_x[6]; - out_5866923855832820417[7] = delta_x[7] + nom_x[7]; - out_5866923855832820417[8] = delta_x[8] + nom_x[8]; - out_5866923855832820417[9] = delta_x[9] + nom_x[9]; - out_5866923855832820417[10] = delta_x[10] + nom_x[10]; - out_5866923855832820417[11] = delta_x[11] + nom_x[11]; - out_5866923855832820417[12] = delta_x[12] + nom_x[12]; - out_5866923855832820417[13] = delta_x[13] + nom_x[13]; - out_5866923855832820417[14] = delta_x[14] + nom_x[14]; - out_5866923855832820417[15] = delta_x[15] + nom_x[15]; - out_5866923855832820417[16] = delta_x[16] + nom_x[16]; - out_5866923855832820417[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_1308154946342484284) { + out_1308154946342484284[0] = delta_x[0] + nom_x[0]; + out_1308154946342484284[1] = delta_x[1] + nom_x[1]; + out_1308154946342484284[2] = delta_x[2] + nom_x[2]; + out_1308154946342484284[3] = delta_x[3] + nom_x[3]; + out_1308154946342484284[4] = delta_x[4] + nom_x[4]; + out_1308154946342484284[5] = delta_x[5] + nom_x[5]; + out_1308154946342484284[6] = delta_x[6] + nom_x[6]; + out_1308154946342484284[7] = delta_x[7] + nom_x[7]; + out_1308154946342484284[8] = delta_x[8] + nom_x[8]; + out_1308154946342484284[9] = delta_x[9] + nom_x[9]; + out_1308154946342484284[10] = delta_x[10] + nom_x[10]; + out_1308154946342484284[11] = delta_x[11] + nom_x[11]; + out_1308154946342484284[12] = delta_x[12] + nom_x[12]; + out_1308154946342484284[13] = delta_x[13] + nom_x[13]; + out_1308154946342484284[14] = delta_x[14] + nom_x[14]; + out_1308154946342484284[15] = delta_x[15] + nom_x[15]; + out_1308154946342484284[16] = delta_x[16] + nom_x[16]; + out_1308154946342484284[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7354374655466778507) { - out_7354374655466778507[0] = -nom_x[0] + true_x[0]; - out_7354374655466778507[1] = -nom_x[1] + true_x[1]; - out_7354374655466778507[2] = -nom_x[2] + true_x[2]; - out_7354374655466778507[3] = -nom_x[3] + true_x[3]; - out_7354374655466778507[4] = -nom_x[4] + true_x[4]; - out_7354374655466778507[5] = -nom_x[5] + true_x[5]; - out_7354374655466778507[6] = -nom_x[6] + true_x[6]; - out_7354374655466778507[7] = -nom_x[7] + true_x[7]; - out_7354374655466778507[8] = -nom_x[8] + true_x[8]; - out_7354374655466778507[9] = -nom_x[9] + true_x[9]; - out_7354374655466778507[10] = -nom_x[10] + true_x[10]; - out_7354374655466778507[11] = -nom_x[11] + true_x[11]; - out_7354374655466778507[12] = -nom_x[12] + true_x[12]; - out_7354374655466778507[13] = -nom_x[13] + true_x[13]; - out_7354374655466778507[14] = -nom_x[14] + true_x[14]; - out_7354374655466778507[15] = -nom_x[15] + true_x[15]; - out_7354374655466778507[16] = -nom_x[16] + true_x[16]; - out_7354374655466778507[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8706500607592261698) { + out_8706500607592261698[0] = -nom_x[0] + true_x[0]; + out_8706500607592261698[1] = -nom_x[1] + true_x[1]; + out_8706500607592261698[2] = -nom_x[2] + true_x[2]; + out_8706500607592261698[3] = -nom_x[3] + true_x[3]; + out_8706500607592261698[4] = -nom_x[4] + true_x[4]; + out_8706500607592261698[5] = -nom_x[5] + true_x[5]; + out_8706500607592261698[6] = -nom_x[6] + true_x[6]; + out_8706500607592261698[7] = -nom_x[7] + true_x[7]; + out_8706500607592261698[8] = -nom_x[8] + true_x[8]; + out_8706500607592261698[9] = -nom_x[9] + true_x[9]; + out_8706500607592261698[10] = -nom_x[10] + true_x[10]; + out_8706500607592261698[11] = -nom_x[11] + true_x[11]; + out_8706500607592261698[12] = -nom_x[12] + true_x[12]; + out_8706500607592261698[13] = -nom_x[13] + true_x[13]; + out_8706500607592261698[14] = -nom_x[14] + true_x[14]; + out_8706500607592261698[15] = -nom_x[15] + true_x[15]; + out_8706500607592261698[16] = -nom_x[16] + true_x[16]; + out_8706500607592261698[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5435820587083186523) { - out_5435820587083186523[0] = 1.0; - out_5435820587083186523[1] = 0.0; - out_5435820587083186523[2] = 0.0; - out_5435820587083186523[3] = 0.0; - out_5435820587083186523[4] = 0.0; - out_5435820587083186523[5] = 0.0; - out_5435820587083186523[6] = 0.0; - out_5435820587083186523[7] = 0.0; - out_5435820587083186523[8] = 0.0; - out_5435820587083186523[9] = 0.0; - out_5435820587083186523[10] = 0.0; - out_5435820587083186523[11] = 0.0; - out_5435820587083186523[12] = 0.0; - out_5435820587083186523[13] = 0.0; - out_5435820587083186523[14] = 0.0; - out_5435820587083186523[15] = 0.0; - out_5435820587083186523[16] = 0.0; - out_5435820587083186523[17] = 0.0; - out_5435820587083186523[18] = 0.0; - out_5435820587083186523[19] = 1.0; - out_5435820587083186523[20] = 0.0; - out_5435820587083186523[21] = 0.0; - out_5435820587083186523[22] = 0.0; - out_5435820587083186523[23] = 0.0; - out_5435820587083186523[24] = 0.0; - out_5435820587083186523[25] = 0.0; - out_5435820587083186523[26] = 0.0; - out_5435820587083186523[27] = 0.0; - out_5435820587083186523[28] = 0.0; - out_5435820587083186523[29] = 0.0; - out_5435820587083186523[30] = 0.0; - out_5435820587083186523[31] = 0.0; - out_5435820587083186523[32] = 0.0; - out_5435820587083186523[33] = 0.0; - out_5435820587083186523[34] = 0.0; - out_5435820587083186523[35] = 0.0; - out_5435820587083186523[36] = 0.0; - out_5435820587083186523[37] = 0.0; - out_5435820587083186523[38] = 1.0; - out_5435820587083186523[39] = 0.0; - out_5435820587083186523[40] = 0.0; - out_5435820587083186523[41] = 0.0; - out_5435820587083186523[42] = 0.0; - out_5435820587083186523[43] = 0.0; - out_5435820587083186523[44] = 0.0; - out_5435820587083186523[45] = 0.0; - out_5435820587083186523[46] = 0.0; - out_5435820587083186523[47] = 0.0; - out_5435820587083186523[48] = 0.0; - out_5435820587083186523[49] = 0.0; - out_5435820587083186523[50] = 0.0; - out_5435820587083186523[51] = 0.0; - out_5435820587083186523[52] = 0.0; - out_5435820587083186523[53] = 0.0; - out_5435820587083186523[54] = 0.0; - out_5435820587083186523[55] = 0.0; - out_5435820587083186523[56] = 0.0; - out_5435820587083186523[57] = 1.0; - out_5435820587083186523[58] = 0.0; - out_5435820587083186523[59] = 0.0; - out_5435820587083186523[60] = 0.0; - out_5435820587083186523[61] = 0.0; - out_5435820587083186523[62] = 0.0; - out_5435820587083186523[63] = 0.0; - out_5435820587083186523[64] = 0.0; - out_5435820587083186523[65] = 0.0; - out_5435820587083186523[66] = 0.0; - out_5435820587083186523[67] = 0.0; - out_5435820587083186523[68] = 0.0; - out_5435820587083186523[69] = 0.0; - out_5435820587083186523[70] = 0.0; - out_5435820587083186523[71] = 0.0; - out_5435820587083186523[72] = 0.0; - out_5435820587083186523[73] = 0.0; - out_5435820587083186523[74] = 0.0; - out_5435820587083186523[75] = 0.0; - out_5435820587083186523[76] = 1.0; - out_5435820587083186523[77] = 0.0; - out_5435820587083186523[78] = 0.0; - out_5435820587083186523[79] = 0.0; - out_5435820587083186523[80] = 0.0; - out_5435820587083186523[81] = 0.0; - out_5435820587083186523[82] = 0.0; - out_5435820587083186523[83] = 0.0; - out_5435820587083186523[84] = 0.0; - out_5435820587083186523[85] = 0.0; - out_5435820587083186523[86] = 0.0; - out_5435820587083186523[87] = 0.0; - out_5435820587083186523[88] = 0.0; - out_5435820587083186523[89] = 0.0; - out_5435820587083186523[90] = 0.0; - out_5435820587083186523[91] = 0.0; - out_5435820587083186523[92] = 0.0; - out_5435820587083186523[93] = 0.0; - out_5435820587083186523[94] = 0.0; - out_5435820587083186523[95] = 1.0; - out_5435820587083186523[96] = 0.0; - out_5435820587083186523[97] = 0.0; - out_5435820587083186523[98] = 0.0; - out_5435820587083186523[99] = 0.0; - out_5435820587083186523[100] = 0.0; - out_5435820587083186523[101] = 0.0; - out_5435820587083186523[102] = 0.0; - out_5435820587083186523[103] = 0.0; - out_5435820587083186523[104] = 0.0; - out_5435820587083186523[105] = 0.0; - out_5435820587083186523[106] = 0.0; - out_5435820587083186523[107] = 0.0; - out_5435820587083186523[108] = 0.0; - out_5435820587083186523[109] = 0.0; - out_5435820587083186523[110] = 0.0; - out_5435820587083186523[111] = 0.0; - out_5435820587083186523[112] = 0.0; - out_5435820587083186523[113] = 0.0; - out_5435820587083186523[114] = 1.0; - out_5435820587083186523[115] = 0.0; - out_5435820587083186523[116] = 0.0; - out_5435820587083186523[117] = 0.0; - out_5435820587083186523[118] = 0.0; - out_5435820587083186523[119] = 0.0; - out_5435820587083186523[120] = 0.0; - out_5435820587083186523[121] = 0.0; - out_5435820587083186523[122] = 0.0; - out_5435820587083186523[123] = 0.0; - out_5435820587083186523[124] = 0.0; - out_5435820587083186523[125] = 0.0; - out_5435820587083186523[126] = 0.0; - out_5435820587083186523[127] = 0.0; - out_5435820587083186523[128] = 0.0; - out_5435820587083186523[129] = 0.0; - out_5435820587083186523[130] = 0.0; - out_5435820587083186523[131] = 0.0; - out_5435820587083186523[132] = 0.0; - out_5435820587083186523[133] = 1.0; - out_5435820587083186523[134] = 0.0; - out_5435820587083186523[135] = 0.0; - out_5435820587083186523[136] = 0.0; - out_5435820587083186523[137] = 0.0; - out_5435820587083186523[138] = 0.0; - out_5435820587083186523[139] = 0.0; - out_5435820587083186523[140] = 0.0; - out_5435820587083186523[141] = 0.0; - out_5435820587083186523[142] = 0.0; - out_5435820587083186523[143] = 0.0; - out_5435820587083186523[144] = 0.0; - out_5435820587083186523[145] = 0.0; - out_5435820587083186523[146] = 0.0; - out_5435820587083186523[147] = 0.0; - out_5435820587083186523[148] = 0.0; - out_5435820587083186523[149] = 0.0; - out_5435820587083186523[150] = 0.0; - out_5435820587083186523[151] = 0.0; - out_5435820587083186523[152] = 1.0; - out_5435820587083186523[153] = 0.0; - out_5435820587083186523[154] = 0.0; - out_5435820587083186523[155] = 0.0; - out_5435820587083186523[156] = 0.0; - out_5435820587083186523[157] = 0.0; - out_5435820587083186523[158] = 0.0; - out_5435820587083186523[159] = 0.0; - out_5435820587083186523[160] = 0.0; - out_5435820587083186523[161] = 0.0; - out_5435820587083186523[162] = 0.0; - out_5435820587083186523[163] = 0.0; - out_5435820587083186523[164] = 0.0; - out_5435820587083186523[165] = 0.0; - out_5435820587083186523[166] = 0.0; - out_5435820587083186523[167] = 0.0; - out_5435820587083186523[168] = 0.0; - out_5435820587083186523[169] = 0.0; - out_5435820587083186523[170] = 0.0; - out_5435820587083186523[171] = 1.0; - out_5435820587083186523[172] = 0.0; - out_5435820587083186523[173] = 0.0; - out_5435820587083186523[174] = 0.0; - out_5435820587083186523[175] = 0.0; - out_5435820587083186523[176] = 0.0; - out_5435820587083186523[177] = 0.0; - out_5435820587083186523[178] = 0.0; - out_5435820587083186523[179] = 0.0; - out_5435820587083186523[180] = 0.0; - out_5435820587083186523[181] = 0.0; - out_5435820587083186523[182] = 0.0; - out_5435820587083186523[183] = 0.0; - out_5435820587083186523[184] = 0.0; - out_5435820587083186523[185] = 0.0; - out_5435820587083186523[186] = 0.0; - out_5435820587083186523[187] = 0.0; - out_5435820587083186523[188] = 0.0; - out_5435820587083186523[189] = 0.0; - out_5435820587083186523[190] = 1.0; - out_5435820587083186523[191] = 0.0; - out_5435820587083186523[192] = 0.0; - out_5435820587083186523[193] = 0.0; - out_5435820587083186523[194] = 0.0; - out_5435820587083186523[195] = 0.0; - out_5435820587083186523[196] = 0.0; - out_5435820587083186523[197] = 0.0; - out_5435820587083186523[198] = 0.0; - out_5435820587083186523[199] = 0.0; - out_5435820587083186523[200] = 0.0; - out_5435820587083186523[201] = 0.0; - out_5435820587083186523[202] = 0.0; - out_5435820587083186523[203] = 0.0; - out_5435820587083186523[204] = 0.0; - out_5435820587083186523[205] = 0.0; - out_5435820587083186523[206] = 0.0; - out_5435820587083186523[207] = 0.0; - out_5435820587083186523[208] = 0.0; - out_5435820587083186523[209] = 1.0; - out_5435820587083186523[210] = 0.0; - out_5435820587083186523[211] = 0.0; - out_5435820587083186523[212] = 0.0; - out_5435820587083186523[213] = 0.0; - out_5435820587083186523[214] = 0.0; - out_5435820587083186523[215] = 0.0; - out_5435820587083186523[216] = 0.0; - out_5435820587083186523[217] = 0.0; - out_5435820587083186523[218] = 0.0; - out_5435820587083186523[219] = 0.0; - out_5435820587083186523[220] = 0.0; - out_5435820587083186523[221] = 0.0; - out_5435820587083186523[222] = 0.0; - out_5435820587083186523[223] = 0.0; - out_5435820587083186523[224] = 0.0; - out_5435820587083186523[225] = 0.0; - out_5435820587083186523[226] = 0.0; - out_5435820587083186523[227] = 0.0; - out_5435820587083186523[228] = 1.0; - out_5435820587083186523[229] = 0.0; - out_5435820587083186523[230] = 0.0; - out_5435820587083186523[231] = 0.0; - out_5435820587083186523[232] = 0.0; - out_5435820587083186523[233] = 0.0; - out_5435820587083186523[234] = 0.0; - out_5435820587083186523[235] = 0.0; - out_5435820587083186523[236] = 0.0; - out_5435820587083186523[237] = 0.0; - out_5435820587083186523[238] = 0.0; - out_5435820587083186523[239] = 0.0; - out_5435820587083186523[240] = 0.0; - out_5435820587083186523[241] = 0.0; - out_5435820587083186523[242] = 0.0; - out_5435820587083186523[243] = 0.0; - out_5435820587083186523[244] = 0.0; - out_5435820587083186523[245] = 0.0; - out_5435820587083186523[246] = 0.0; - out_5435820587083186523[247] = 1.0; - out_5435820587083186523[248] = 0.0; - out_5435820587083186523[249] = 0.0; - out_5435820587083186523[250] = 0.0; - out_5435820587083186523[251] = 0.0; - out_5435820587083186523[252] = 0.0; - out_5435820587083186523[253] = 0.0; - out_5435820587083186523[254] = 0.0; - out_5435820587083186523[255] = 0.0; - out_5435820587083186523[256] = 0.0; - out_5435820587083186523[257] = 0.0; - out_5435820587083186523[258] = 0.0; - out_5435820587083186523[259] = 0.0; - out_5435820587083186523[260] = 0.0; - out_5435820587083186523[261] = 0.0; - out_5435820587083186523[262] = 0.0; - out_5435820587083186523[263] = 0.0; - out_5435820587083186523[264] = 0.0; - out_5435820587083186523[265] = 0.0; - out_5435820587083186523[266] = 1.0; - out_5435820587083186523[267] = 0.0; - out_5435820587083186523[268] = 0.0; - out_5435820587083186523[269] = 0.0; - out_5435820587083186523[270] = 0.0; - out_5435820587083186523[271] = 0.0; - out_5435820587083186523[272] = 0.0; - out_5435820587083186523[273] = 0.0; - out_5435820587083186523[274] = 0.0; - out_5435820587083186523[275] = 0.0; - out_5435820587083186523[276] = 0.0; - out_5435820587083186523[277] = 0.0; - out_5435820587083186523[278] = 0.0; - out_5435820587083186523[279] = 0.0; - out_5435820587083186523[280] = 0.0; - out_5435820587083186523[281] = 0.0; - out_5435820587083186523[282] = 0.0; - out_5435820587083186523[283] = 0.0; - out_5435820587083186523[284] = 0.0; - out_5435820587083186523[285] = 1.0; - out_5435820587083186523[286] = 0.0; - out_5435820587083186523[287] = 0.0; - out_5435820587083186523[288] = 0.0; - out_5435820587083186523[289] = 0.0; - out_5435820587083186523[290] = 0.0; - out_5435820587083186523[291] = 0.0; - out_5435820587083186523[292] = 0.0; - out_5435820587083186523[293] = 0.0; - out_5435820587083186523[294] = 0.0; - out_5435820587083186523[295] = 0.0; - out_5435820587083186523[296] = 0.0; - out_5435820587083186523[297] = 0.0; - out_5435820587083186523[298] = 0.0; - out_5435820587083186523[299] = 0.0; - out_5435820587083186523[300] = 0.0; - out_5435820587083186523[301] = 0.0; - out_5435820587083186523[302] = 0.0; - out_5435820587083186523[303] = 0.0; - out_5435820587083186523[304] = 1.0; - out_5435820587083186523[305] = 0.0; - out_5435820587083186523[306] = 0.0; - out_5435820587083186523[307] = 0.0; - out_5435820587083186523[308] = 0.0; - out_5435820587083186523[309] = 0.0; - out_5435820587083186523[310] = 0.0; - out_5435820587083186523[311] = 0.0; - out_5435820587083186523[312] = 0.0; - out_5435820587083186523[313] = 0.0; - out_5435820587083186523[314] = 0.0; - out_5435820587083186523[315] = 0.0; - out_5435820587083186523[316] = 0.0; - out_5435820587083186523[317] = 0.0; - out_5435820587083186523[318] = 0.0; - out_5435820587083186523[319] = 0.0; - out_5435820587083186523[320] = 0.0; - out_5435820587083186523[321] = 0.0; - out_5435820587083186523[322] = 0.0; - out_5435820587083186523[323] = 1.0; +void H_mod_fun(double *state, double *out_1512473366161392308) { + out_1512473366161392308[0] = 1.0; + out_1512473366161392308[1] = 0.0; + out_1512473366161392308[2] = 0.0; + out_1512473366161392308[3] = 0.0; + out_1512473366161392308[4] = 0.0; + out_1512473366161392308[5] = 0.0; + out_1512473366161392308[6] = 0.0; + out_1512473366161392308[7] = 0.0; + out_1512473366161392308[8] = 0.0; + out_1512473366161392308[9] = 0.0; + out_1512473366161392308[10] = 0.0; + out_1512473366161392308[11] = 0.0; + out_1512473366161392308[12] = 0.0; + out_1512473366161392308[13] = 0.0; + out_1512473366161392308[14] = 0.0; + out_1512473366161392308[15] = 0.0; + out_1512473366161392308[16] = 0.0; + out_1512473366161392308[17] = 0.0; + out_1512473366161392308[18] = 0.0; + out_1512473366161392308[19] = 1.0; + out_1512473366161392308[20] = 0.0; + out_1512473366161392308[21] = 0.0; + out_1512473366161392308[22] = 0.0; + out_1512473366161392308[23] = 0.0; + out_1512473366161392308[24] = 0.0; + out_1512473366161392308[25] = 0.0; + out_1512473366161392308[26] = 0.0; + out_1512473366161392308[27] = 0.0; + out_1512473366161392308[28] = 0.0; + out_1512473366161392308[29] = 0.0; + out_1512473366161392308[30] = 0.0; + out_1512473366161392308[31] = 0.0; + out_1512473366161392308[32] = 0.0; + out_1512473366161392308[33] = 0.0; + out_1512473366161392308[34] = 0.0; + out_1512473366161392308[35] = 0.0; + out_1512473366161392308[36] = 0.0; + out_1512473366161392308[37] = 0.0; + out_1512473366161392308[38] = 1.0; + out_1512473366161392308[39] = 0.0; + out_1512473366161392308[40] = 0.0; + out_1512473366161392308[41] = 0.0; + out_1512473366161392308[42] = 0.0; + out_1512473366161392308[43] = 0.0; + out_1512473366161392308[44] = 0.0; + out_1512473366161392308[45] = 0.0; + out_1512473366161392308[46] = 0.0; + out_1512473366161392308[47] = 0.0; + out_1512473366161392308[48] = 0.0; + out_1512473366161392308[49] = 0.0; + out_1512473366161392308[50] = 0.0; + out_1512473366161392308[51] = 0.0; + out_1512473366161392308[52] = 0.0; + out_1512473366161392308[53] = 0.0; + out_1512473366161392308[54] = 0.0; + out_1512473366161392308[55] = 0.0; + out_1512473366161392308[56] = 0.0; + out_1512473366161392308[57] = 1.0; + out_1512473366161392308[58] = 0.0; + out_1512473366161392308[59] = 0.0; + out_1512473366161392308[60] = 0.0; + out_1512473366161392308[61] = 0.0; + out_1512473366161392308[62] = 0.0; + out_1512473366161392308[63] = 0.0; + out_1512473366161392308[64] = 0.0; + out_1512473366161392308[65] = 0.0; + out_1512473366161392308[66] = 0.0; + out_1512473366161392308[67] = 0.0; + out_1512473366161392308[68] = 0.0; + out_1512473366161392308[69] = 0.0; + out_1512473366161392308[70] = 0.0; + out_1512473366161392308[71] = 0.0; + out_1512473366161392308[72] = 0.0; + out_1512473366161392308[73] = 0.0; + out_1512473366161392308[74] = 0.0; + out_1512473366161392308[75] = 0.0; + out_1512473366161392308[76] = 1.0; + out_1512473366161392308[77] = 0.0; + out_1512473366161392308[78] = 0.0; + out_1512473366161392308[79] = 0.0; + out_1512473366161392308[80] = 0.0; + out_1512473366161392308[81] = 0.0; + out_1512473366161392308[82] = 0.0; + out_1512473366161392308[83] = 0.0; + out_1512473366161392308[84] = 0.0; + out_1512473366161392308[85] = 0.0; + out_1512473366161392308[86] = 0.0; + out_1512473366161392308[87] = 0.0; + out_1512473366161392308[88] = 0.0; + out_1512473366161392308[89] = 0.0; + out_1512473366161392308[90] = 0.0; + out_1512473366161392308[91] = 0.0; + out_1512473366161392308[92] = 0.0; + out_1512473366161392308[93] = 0.0; + out_1512473366161392308[94] = 0.0; + out_1512473366161392308[95] = 1.0; + out_1512473366161392308[96] = 0.0; + out_1512473366161392308[97] = 0.0; + out_1512473366161392308[98] = 0.0; + out_1512473366161392308[99] = 0.0; + out_1512473366161392308[100] = 0.0; + out_1512473366161392308[101] = 0.0; + out_1512473366161392308[102] = 0.0; + out_1512473366161392308[103] = 0.0; + out_1512473366161392308[104] = 0.0; + out_1512473366161392308[105] = 0.0; + out_1512473366161392308[106] = 0.0; + out_1512473366161392308[107] = 0.0; + out_1512473366161392308[108] = 0.0; + out_1512473366161392308[109] = 0.0; + out_1512473366161392308[110] = 0.0; + out_1512473366161392308[111] = 0.0; + out_1512473366161392308[112] = 0.0; + out_1512473366161392308[113] = 0.0; + out_1512473366161392308[114] = 1.0; + out_1512473366161392308[115] = 0.0; + out_1512473366161392308[116] = 0.0; + out_1512473366161392308[117] = 0.0; + out_1512473366161392308[118] = 0.0; + out_1512473366161392308[119] = 0.0; + out_1512473366161392308[120] = 0.0; + out_1512473366161392308[121] = 0.0; + out_1512473366161392308[122] = 0.0; + out_1512473366161392308[123] = 0.0; + out_1512473366161392308[124] = 0.0; + out_1512473366161392308[125] = 0.0; + out_1512473366161392308[126] = 0.0; + out_1512473366161392308[127] = 0.0; + out_1512473366161392308[128] = 0.0; + out_1512473366161392308[129] = 0.0; + out_1512473366161392308[130] = 0.0; + out_1512473366161392308[131] = 0.0; + out_1512473366161392308[132] = 0.0; + out_1512473366161392308[133] = 1.0; + out_1512473366161392308[134] = 0.0; + out_1512473366161392308[135] = 0.0; + out_1512473366161392308[136] = 0.0; + out_1512473366161392308[137] = 0.0; + out_1512473366161392308[138] = 0.0; + out_1512473366161392308[139] = 0.0; + out_1512473366161392308[140] = 0.0; + out_1512473366161392308[141] = 0.0; + out_1512473366161392308[142] = 0.0; + out_1512473366161392308[143] = 0.0; + out_1512473366161392308[144] = 0.0; + out_1512473366161392308[145] = 0.0; + out_1512473366161392308[146] = 0.0; + out_1512473366161392308[147] = 0.0; + out_1512473366161392308[148] = 0.0; + out_1512473366161392308[149] = 0.0; + out_1512473366161392308[150] = 0.0; + out_1512473366161392308[151] = 0.0; + out_1512473366161392308[152] = 1.0; + out_1512473366161392308[153] = 0.0; + out_1512473366161392308[154] = 0.0; + out_1512473366161392308[155] = 0.0; + out_1512473366161392308[156] = 0.0; + out_1512473366161392308[157] = 0.0; + out_1512473366161392308[158] = 0.0; + out_1512473366161392308[159] = 0.0; + out_1512473366161392308[160] = 0.0; + out_1512473366161392308[161] = 0.0; + out_1512473366161392308[162] = 0.0; + out_1512473366161392308[163] = 0.0; + out_1512473366161392308[164] = 0.0; + out_1512473366161392308[165] = 0.0; + out_1512473366161392308[166] = 0.0; + out_1512473366161392308[167] = 0.0; + out_1512473366161392308[168] = 0.0; + out_1512473366161392308[169] = 0.0; + out_1512473366161392308[170] = 0.0; + out_1512473366161392308[171] = 1.0; + out_1512473366161392308[172] = 0.0; + out_1512473366161392308[173] = 0.0; + out_1512473366161392308[174] = 0.0; + out_1512473366161392308[175] = 0.0; + out_1512473366161392308[176] = 0.0; + out_1512473366161392308[177] = 0.0; + out_1512473366161392308[178] = 0.0; + out_1512473366161392308[179] = 0.0; + out_1512473366161392308[180] = 0.0; + out_1512473366161392308[181] = 0.0; + out_1512473366161392308[182] = 0.0; + out_1512473366161392308[183] = 0.0; + out_1512473366161392308[184] = 0.0; + out_1512473366161392308[185] = 0.0; + out_1512473366161392308[186] = 0.0; + out_1512473366161392308[187] = 0.0; + out_1512473366161392308[188] = 0.0; + out_1512473366161392308[189] = 0.0; + out_1512473366161392308[190] = 1.0; + out_1512473366161392308[191] = 0.0; + out_1512473366161392308[192] = 0.0; + out_1512473366161392308[193] = 0.0; + out_1512473366161392308[194] = 0.0; + out_1512473366161392308[195] = 0.0; + out_1512473366161392308[196] = 0.0; + out_1512473366161392308[197] = 0.0; + out_1512473366161392308[198] = 0.0; + out_1512473366161392308[199] = 0.0; + out_1512473366161392308[200] = 0.0; + out_1512473366161392308[201] = 0.0; + out_1512473366161392308[202] = 0.0; + out_1512473366161392308[203] = 0.0; + out_1512473366161392308[204] = 0.0; + out_1512473366161392308[205] = 0.0; + out_1512473366161392308[206] = 0.0; + out_1512473366161392308[207] = 0.0; + out_1512473366161392308[208] = 0.0; + out_1512473366161392308[209] = 1.0; + out_1512473366161392308[210] = 0.0; + out_1512473366161392308[211] = 0.0; + out_1512473366161392308[212] = 0.0; + out_1512473366161392308[213] = 0.0; + out_1512473366161392308[214] = 0.0; + out_1512473366161392308[215] = 0.0; + out_1512473366161392308[216] = 0.0; + out_1512473366161392308[217] = 0.0; + out_1512473366161392308[218] = 0.0; + out_1512473366161392308[219] = 0.0; + out_1512473366161392308[220] = 0.0; + out_1512473366161392308[221] = 0.0; + out_1512473366161392308[222] = 0.0; + out_1512473366161392308[223] = 0.0; + out_1512473366161392308[224] = 0.0; + out_1512473366161392308[225] = 0.0; + out_1512473366161392308[226] = 0.0; + out_1512473366161392308[227] = 0.0; + out_1512473366161392308[228] = 1.0; + out_1512473366161392308[229] = 0.0; + out_1512473366161392308[230] = 0.0; + out_1512473366161392308[231] = 0.0; + out_1512473366161392308[232] = 0.0; + out_1512473366161392308[233] = 0.0; + out_1512473366161392308[234] = 0.0; + out_1512473366161392308[235] = 0.0; + out_1512473366161392308[236] = 0.0; + out_1512473366161392308[237] = 0.0; + out_1512473366161392308[238] = 0.0; + out_1512473366161392308[239] = 0.0; + out_1512473366161392308[240] = 0.0; + out_1512473366161392308[241] = 0.0; + out_1512473366161392308[242] = 0.0; + out_1512473366161392308[243] = 0.0; + out_1512473366161392308[244] = 0.0; + out_1512473366161392308[245] = 0.0; + out_1512473366161392308[246] = 0.0; + out_1512473366161392308[247] = 1.0; + out_1512473366161392308[248] = 0.0; + out_1512473366161392308[249] = 0.0; + out_1512473366161392308[250] = 0.0; + out_1512473366161392308[251] = 0.0; + out_1512473366161392308[252] = 0.0; + out_1512473366161392308[253] = 0.0; + out_1512473366161392308[254] = 0.0; + out_1512473366161392308[255] = 0.0; + out_1512473366161392308[256] = 0.0; + out_1512473366161392308[257] = 0.0; + out_1512473366161392308[258] = 0.0; + out_1512473366161392308[259] = 0.0; + out_1512473366161392308[260] = 0.0; + out_1512473366161392308[261] = 0.0; + out_1512473366161392308[262] = 0.0; + out_1512473366161392308[263] = 0.0; + out_1512473366161392308[264] = 0.0; + out_1512473366161392308[265] = 0.0; + out_1512473366161392308[266] = 1.0; + out_1512473366161392308[267] = 0.0; + out_1512473366161392308[268] = 0.0; + out_1512473366161392308[269] = 0.0; + out_1512473366161392308[270] = 0.0; + out_1512473366161392308[271] = 0.0; + out_1512473366161392308[272] = 0.0; + out_1512473366161392308[273] = 0.0; + out_1512473366161392308[274] = 0.0; + out_1512473366161392308[275] = 0.0; + out_1512473366161392308[276] = 0.0; + out_1512473366161392308[277] = 0.0; + out_1512473366161392308[278] = 0.0; + out_1512473366161392308[279] = 0.0; + out_1512473366161392308[280] = 0.0; + out_1512473366161392308[281] = 0.0; + out_1512473366161392308[282] = 0.0; + out_1512473366161392308[283] = 0.0; + out_1512473366161392308[284] = 0.0; + out_1512473366161392308[285] = 1.0; + out_1512473366161392308[286] = 0.0; + out_1512473366161392308[287] = 0.0; + out_1512473366161392308[288] = 0.0; + out_1512473366161392308[289] = 0.0; + out_1512473366161392308[290] = 0.0; + out_1512473366161392308[291] = 0.0; + out_1512473366161392308[292] = 0.0; + out_1512473366161392308[293] = 0.0; + out_1512473366161392308[294] = 0.0; + out_1512473366161392308[295] = 0.0; + out_1512473366161392308[296] = 0.0; + out_1512473366161392308[297] = 0.0; + out_1512473366161392308[298] = 0.0; + out_1512473366161392308[299] = 0.0; + out_1512473366161392308[300] = 0.0; + out_1512473366161392308[301] = 0.0; + out_1512473366161392308[302] = 0.0; + out_1512473366161392308[303] = 0.0; + out_1512473366161392308[304] = 1.0; + out_1512473366161392308[305] = 0.0; + out_1512473366161392308[306] = 0.0; + out_1512473366161392308[307] = 0.0; + out_1512473366161392308[308] = 0.0; + out_1512473366161392308[309] = 0.0; + out_1512473366161392308[310] = 0.0; + out_1512473366161392308[311] = 0.0; + out_1512473366161392308[312] = 0.0; + out_1512473366161392308[313] = 0.0; + out_1512473366161392308[314] = 0.0; + out_1512473366161392308[315] = 0.0; + out_1512473366161392308[316] = 0.0; + out_1512473366161392308[317] = 0.0; + out_1512473366161392308[318] = 0.0; + out_1512473366161392308[319] = 0.0; + out_1512473366161392308[320] = 0.0; + out_1512473366161392308[321] = 0.0; + out_1512473366161392308[322] = 0.0; + out_1512473366161392308[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5089910609496554967) { - out_5089910609496554967[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_5089910609496554967[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_5089910609496554967[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_5089910609496554967[3] = dt*state[12] + state[3]; - out_5089910609496554967[4] = dt*state[13] + state[4]; - out_5089910609496554967[5] = dt*state[14] + state[5]; - out_5089910609496554967[6] = state[6]; - out_5089910609496554967[7] = state[7]; - out_5089910609496554967[8] = state[8]; - out_5089910609496554967[9] = state[9]; - out_5089910609496554967[10] = state[10]; - out_5089910609496554967[11] = state[11]; - out_5089910609496554967[12] = state[12]; - out_5089910609496554967[13] = state[13]; - out_5089910609496554967[14] = state[14]; - out_5089910609496554967[15] = state[15]; - out_5089910609496554967[16] = state[16]; - out_5089910609496554967[17] = state[17]; +void f_fun(double *state, double dt, double *out_7813170452072968754) { + out_7813170452072968754[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_7813170452072968754[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_7813170452072968754[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_7813170452072968754[3] = dt*state[12] + state[3]; + out_7813170452072968754[4] = dt*state[13] + state[4]; + out_7813170452072968754[5] = dt*state[14] + state[5]; + out_7813170452072968754[6] = state[6]; + out_7813170452072968754[7] = state[7]; + out_7813170452072968754[8] = state[8]; + out_7813170452072968754[9] = state[9]; + out_7813170452072968754[10] = state[10]; + out_7813170452072968754[11] = state[11]; + out_7813170452072968754[12] = state[12]; + out_7813170452072968754[13] = state[13]; + out_7813170452072968754[14] = state[14]; + out_7813170452072968754[15] = state[15]; + out_7813170452072968754[16] = state[16]; + out_7813170452072968754[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7337888639276922507) { - out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[2] = 0; - out_7337888639276922507[3] = 0; - out_7337888639276922507[4] = 0; - out_7337888639276922507[5] = 0; - out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[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_7337888639276922507[9] = 0; - out_7337888639276922507[10] = 0; - out_7337888639276922507[11] = 0; - out_7337888639276922507[12] = 0; - out_7337888639276922507[13] = 0; - out_7337888639276922507[14] = 0; - out_7337888639276922507[15] = 0; - out_7337888639276922507[16] = 0; - out_7337888639276922507[17] = 0; - out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[20] = 0; - out_7337888639276922507[21] = 0; - out_7337888639276922507[22] = 0; - out_7337888639276922507[23] = 0; - out_7337888639276922507[24] = 0; - out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[27] = 0; - out_7337888639276922507[28] = 0; - out_7337888639276922507[29] = 0; - out_7337888639276922507[30] = 0; - out_7337888639276922507[31] = 0; - out_7337888639276922507[32] = 0; - out_7337888639276922507[33] = 0; - out_7337888639276922507[34] = 0; - out_7337888639276922507[35] = 0; - out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[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_7337888639276922507[39] = 0; - out_7337888639276922507[40] = 0; - out_7337888639276922507[41] = 0; - out_7337888639276922507[42] = 0; - out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[45] = 0; - out_7337888639276922507[46] = 0; - out_7337888639276922507[47] = 0; - out_7337888639276922507[48] = 0; - out_7337888639276922507[49] = 0; - out_7337888639276922507[50] = 0; - out_7337888639276922507[51] = 0; - out_7337888639276922507[52] = 0; - out_7337888639276922507[53] = 0; - out_7337888639276922507[54] = 0; - out_7337888639276922507[55] = 0; - out_7337888639276922507[56] = 0; - out_7337888639276922507[57] = 1; - out_7337888639276922507[58] = 0; - out_7337888639276922507[59] = 0; - out_7337888639276922507[60] = 0; - out_7337888639276922507[61] = 0; - out_7337888639276922507[62] = 0; - out_7337888639276922507[63] = 0; - out_7337888639276922507[64] = 0; - out_7337888639276922507[65] = 0; - out_7337888639276922507[66] = dt; - out_7337888639276922507[67] = 0; - out_7337888639276922507[68] = 0; - out_7337888639276922507[69] = 0; - out_7337888639276922507[70] = 0; - out_7337888639276922507[71] = 0; - out_7337888639276922507[72] = 0; - out_7337888639276922507[73] = 0; - out_7337888639276922507[74] = 0; - out_7337888639276922507[75] = 0; - out_7337888639276922507[76] = 1; - out_7337888639276922507[77] = 0; - out_7337888639276922507[78] = 0; - out_7337888639276922507[79] = 0; - out_7337888639276922507[80] = 0; - out_7337888639276922507[81] = 0; - out_7337888639276922507[82] = 0; - out_7337888639276922507[83] = 0; - out_7337888639276922507[84] = 0; - out_7337888639276922507[85] = dt; - out_7337888639276922507[86] = 0; - out_7337888639276922507[87] = 0; - out_7337888639276922507[88] = 0; - out_7337888639276922507[89] = 0; - out_7337888639276922507[90] = 0; - out_7337888639276922507[91] = 0; - out_7337888639276922507[92] = 0; - out_7337888639276922507[93] = 0; - out_7337888639276922507[94] = 0; - out_7337888639276922507[95] = 1; - out_7337888639276922507[96] = 0; - out_7337888639276922507[97] = 0; - out_7337888639276922507[98] = 0; - out_7337888639276922507[99] = 0; - out_7337888639276922507[100] = 0; - out_7337888639276922507[101] = 0; - out_7337888639276922507[102] = 0; - out_7337888639276922507[103] = 0; - out_7337888639276922507[104] = dt; - out_7337888639276922507[105] = 0; - out_7337888639276922507[106] = 0; - out_7337888639276922507[107] = 0; - out_7337888639276922507[108] = 0; - out_7337888639276922507[109] = 0; - out_7337888639276922507[110] = 0; - out_7337888639276922507[111] = 0; - out_7337888639276922507[112] = 0; - out_7337888639276922507[113] = 0; - out_7337888639276922507[114] = 1; - out_7337888639276922507[115] = 0; - out_7337888639276922507[116] = 0; - out_7337888639276922507[117] = 0; - out_7337888639276922507[118] = 0; - out_7337888639276922507[119] = 0; - out_7337888639276922507[120] = 0; - out_7337888639276922507[121] = 0; - out_7337888639276922507[122] = 0; - out_7337888639276922507[123] = 0; - out_7337888639276922507[124] = 0; - out_7337888639276922507[125] = 0; - out_7337888639276922507[126] = 0; - out_7337888639276922507[127] = 0; - out_7337888639276922507[128] = 0; - out_7337888639276922507[129] = 0; - out_7337888639276922507[130] = 0; - out_7337888639276922507[131] = 0; - out_7337888639276922507[132] = 0; - out_7337888639276922507[133] = 1; - out_7337888639276922507[134] = 0; - out_7337888639276922507[135] = 0; - out_7337888639276922507[136] = 0; - out_7337888639276922507[137] = 0; - out_7337888639276922507[138] = 0; - out_7337888639276922507[139] = 0; - out_7337888639276922507[140] = 0; - out_7337888639276922507[141] = 0; - out_7337888639276922507[142] = 0; - out_7337888639276922507[143] = 0; - out_7337888639276922507[144] = 0; - out_7337888639276922507[145] = 0; - out_7337888639276922507[146] = 0; - out_7337888639276922507[147] = 0; - out_7337888639276922507[148] = 0; - out_7337888639276922507[149] = 0; - out_7337888639276922507[150] = 0; - out_7337888639276922507[151] = 0; - out_7337888639276922507[152] = 1; - out_7337888639276922507[153] = 0; - out_7337888639276922507[154] = 0; - out_7337888639276922507[155] = 0; - out_7337888639276922507[156] = 0; - out_7337888639276922507[157] = 0; - out_7337888639276922507[158] = 0; - out_7337888639276922507[159] = 0; - out_7337888639276922507[160] = 0; - out_7337888639276922507[161] = 0; - out_7337888639276922507[162] = 0; - out_7337888639276922507[163] = 0; - out_7337888639276922507[164] = 0; - out_7337888639276922507[165] = 0; - out_7337888639276922507[166] = 0; - out_7337888639276922507[167] = 0; - out_7337888639276922507[168] = 0; - out_7337888639276922507[169] = 0; - out_7337888639276922507[170] = 0; - out_7337888639276922507[171] = 1; - out_7337888639276922507[172] = 0; - out_7337888639276922507[173] = 0; - out_7337888639276922507[174] = 0; - out_7337888639276922507[175] = 0; - out_7337888639276922507[176] = 0; - out_7337888639276922507[177] = 0; - out_7337888639276922507[178] = 0; - out_7337888639276922507[179] = 0; - out_7337888639276922507[180] = 0; - out_7337888639276922507[181] = 0; - out_7337888639276922507[182] = 0; - out_7337888639276922507[183] = 0; - out_7337888639276922507[184] = 0; - out_7337888639276922507[185] = 0; - out_7337888639276922507[186] = 0; - out_7337888639276922507[187] = 0; - out_7337888639276922507[188] = 0; - out_7337888639276922507[189] = 0; - out_7337888639276922507[190] = 1; - out_7337888639276922507[191] = 0; - out_7337888639276922507[192] = 0; - out_7337888639276922507[193] = 0; - out_7337888639276922507[194] = 0; - out_7337888639276922507[195] = 0; - out_7337888639276922507[196] = 0; - out_7337888639276922507[197] = 0; - out_7337888639276922507[198] = 0; - out_7337888639276922507[199] = 0; - out_7337888639276922507[200] = 0; - out_7337888639276922507[201] = 0; - out_7337888639276922507[202] = 0; - out_7337888639276922507[203] = 0; - out_7337888639276922507[204] = 0; - out_7337888639276922507[205] = 0; - out_7337888639276922507[206] = 0; - out_7337888639276922507[207] = 0; - out_7337888639276922507[208] = 0; - out_7337888639276922507[209] = 1; - out_7337888639276922507[210] = 0; - out_7337888639276922507[211] = 0; - out_7337888639276922507[212] = 0; - out_7337888639276922507[213] = 0; - out_7337888639276922507[214] = 0; - out_7337888639276922507[215] = 0; - out_7337888639276922507[216] = 0; - out_7337888639276922507[217] = 0; - out_7337888639276922507[218] = 0; - out_7337888639276922507[219] = 0; - out_7337888639276922507[220] = 0; - out_7337888639276922507[221] = 0; - out_7337888639276922507[222] = 0; - out_7337888639276922507[223] = 0; - out_7337888639276922507[224] = 0; - out_7337888639276922507[225] = 0; - out_7337888639276922507[226] = 0; - out_7337888639276922507[227] = 0; - out_7337888639276922507[228] = 1; - out_7337888639276922507[229] = 0; - out_7337888639276922507[230] = 0; - out_7337888639276922507[231] = 0; - out_7337888639276922507[232] = 0; - out_7337888639276922507[233] = 0; - out_7337888639276922507[234] = 0; - out_7337888639276922507[235] = 0; - out_7337888639276922507[236] = 0; - out_7337888639276922507[237] = 0; - out_7337888639276922507[238] = 0; - out_7337888639276922507[239] = 0; - out_7337888639276922507[240] = 0; - out_7337888639276922507[241] = 0; - out_7337888639276922507[242] = 0; - out_7337888639276922507[243] = 0; - out_7337888639276922507[244] = 0; - out_7337888639276922507[245] = 0; - out_7337888639276922507[246] = 0; - out_7337888639276922507[247] = 1; - out_7337888639276922507[248] = 0; - out_7337888639276922507[249] = 0; - out_7337888639276922507[250] = 0; - out_7337888639276922507[251] = 0; - out_7337888639276922507[252] = 0; - out_7337888639276922507[253] = 0; - out_7337888639276922507[254] = 0; - out_7337888639276922507[255] = 0; - out_7337888639276922507[256] = 0; - out_7337888639276922507[257] = 0; - out_7337888639276922507[258] = 0; - out_7337888639276922507[259] = 0; - out_7337888639276922507[260] = 0; - out_7337888639276922507[261] = 0; - out_7337888639276922507[262] = 0; - out_7337888639276922507[263] = 0; - out_7337888639276922507[264] = 0; - out_7337888639276922507[265] = 0; - out_7337888639276922507[266] = 1; - out_7337888639276922507[267] = 0; - out_7337888639276922507[268] = 0; - out_7337888639276922507[269] = 0; - out_7337888639276922507[270] = 0; - out_7337888639276922507[271] = 0; - out_7337888639276922507[272] = 0; - out_7337888639276922507[273] = 0; - out_7337888639276922507[274] = 0; - out_7337888639276922507[275] = 0; - out_7337888639276922507[276] = 0; - out_7337888639276922507[277] = 0; - out_7337888639276922507[278] = 0; - out_7337888639276922507[279] = 0; - out_7337888639276922507[280] = 0; - out_7337888639276922507[281] = 0; - out_7337888639276922507[282] = 0; - out_7337888639276922507[283] = 0; - out_7337888639276922507[284] = 0; - out_7337888639276922507[285] = 1; - out_7337888639276922507[286] = 0; - out_7337888639276922507[287] = 0; - out_7337888639276922507[288] = 0; - out_7337888639276922507[289] = 0; - out_7337888639276922507[290] = 0; - out_7337888639276922507[291] = 0; - out_7337888639276922507[292] = 0; - out_7337888639276922507[293] = 0; - out_7337888639276922507[294] = 0; - out_7337888639276922507[295] = 0; - out_7337888639276922507[296] = 0; - out_7337888639276922507[297] = 0; - out_7337888639276922507[298] = 0; - out_7337888639276922507[299] = 0; - out_7337888639276922507[300] = 0; - out_7337888639276922507[301] = 0; - out_7337888639276922507[302] = 0; - out_7337888639276922507[303] = 0; - out_7337888639276922507[304] = 1; - out_7337888639276922507[305] = 0; - out_7337888639276922507[306] = 0; - out_7337888639276922507[307] = 0; - out_7337888639276922507[308] = 0; - out_7337888639276922507[309] = 0; - out_7337888639276922507[310] = 0; - out_7337888639276922507[311] = 0; - out_7337888639276922507[312] = 0; - out_7337888639276922507[313] = 0; - out_7337888639276922507[314] = 0; - out_7337888639276922507[315] = 0; - out_7337888639276922507[316] = 0; - out_7337888639276922507[317] = 0; - out_7337888639276922507[318] = 0; - out_7337888639276922507[319] = 0; - out_7337888639276922507[320] = 0; - out_7337888639276922507[321] = 0; - out_7337888639276922507[322] = 0; - out_7337888639276922507[323] = 1; +void F_fun(double *state, double dt, double *out_5083828130456064396) { + out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[2] = 0; + out_5083828130456064396[3] = 0; + out_5083828130456064396[4] = 0; + out_5083828130456064396[5] = 0; + out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[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_5083828130456064396[9] = 0; + out_5083828130456064396[10] = 0; + out_5083828130456064396[11] = 0; + out_5083828130456064396[12] = 0; + out_5083828130456064396[13] = 0; + out_5083828130456064396[14] = 0; + out_5083828130456064396[15] = 0; + out_5083828130456064396[16] = 0; + out_5083828130456064396[17] = 0; + out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[20] = 0; + out_5083828130456064396[21] = 0; + out_5083828130456064396[22] = 0; + out_5083828130456064396[23] = 0; + out_5083828130456064396[24] = 0; + out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[27] = 0; + out_5083828130456064396[28] = 0; + out_5083828130456064396[29] = 0; + out_5083828130456064396[30] = 0; + out_5083828130456064396[31] = 0; + out_5083828130456064396[32] = 0; + out_5083828130456064396[33] = 0; + out_5083828130456064396[34] = 0; + out_5083828130456064396[35] = 0; + out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[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_5083828130456064396[39] = 0; + out_5083828130456064396[40] = 0; + out_5083828130456064396[41] = 0; + out_5083828130456064396[42] = 0; + out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[45] = 0; + out_5083828130456064396[46] = 0; + out_5083828130456064396[47] = 0; + out_5083828130456064396[48] = 0; + out_5083828130456064396[49] = 0; + out_5083828130456064396[50] = 0; + out_5083828130456064396[51] = 0; + out_5083828130456064396[52] = 0; + out_5083828130456064396[53] = 0; + out_5083828130456064396[54] = 0; + out_5083828130456064396[55] = 0; + out_5083828130456064396[56] = 0; + out_5083828130456064396[57] = 1; + out_5083828130456064396[58] = 0; + out_5083828130456064396[59] = 0; + out_5083828130456064396[60] = 0; + out_5083828130456064396[61] = 0; + out_5083828130456064396[62] = 0; + out_5083828130456064396[63] = 0; + out_5083828130456064396[64] = 0; + out_5083828130456064396[65] = 0; + out_5083828130456064396[66] = dt; + out_5083828130456064396[67] = 0; + out_5083828130456064396[68] = 0; + out_5083828130456064396[69] = 0; + out_5083828130456064396[70] = 0; + out_5083828130456064396[71] = 0; + out_5083828130456064396[72] = 0; + out_5083828130456064396[73] = 0; + out_5083828130456064396[74] = 0; + out_5083828130456064396[75] = 0; + out_5083828130456064396[76] = 1; + out_5083828130456064396[77] = 0; + out_5083828130456064396[78] = 0; + out_5083828130456064396[79] = 0; + out_5083828130456064396[80] = 0; + out_5083828130456064396[81] = 0; + out_5083828130456064396[82] = 0; + out_5083828130456064396[83] = 0; + out_5083828130456064396[84] = 0; + out_5083828130456064396[85] = dt; + out_5083828130456064396[86] = 0; + out_5083828130456064396[87] = 0; + out_5083828130456064396[88] = 0; + out_5083828130456064396[89] = 0; + out_5083828130456064396[90] = 0; + out_5083828130456064396[91] = 0; + out_5083828130456064396[92] = 0; + out_5083828130456064396[93] = 0; + out_5083828130456064396[94] = 0; + out_5083828130456064396[95] = 1; + out_5083828130456064396[96] = 0; + out_5083828130456064396[97] = 0; + out_5083828130456064396[98] = 0; + out_5083828130456064396[99] = 0; + out_5083828130456064396[100] = 0; + out_5083828130456064396[101] = 0; + out_5083828130456064396[102] = 0; + out_5083828130456064396[103] = 0; + out_5083828130456064396[104] = dt; + out_5083828130456064396[105] = 0; + out_5083828130456064396[106] = 0; + out_5083828130456064396[107] = 0; + out_5083828130456064396[108] = 0; + out_5083828130456064396[109] = 0; + out_5083828130456064396[110] = 0; + out_5083828130456064396[111] = 0; + out_5083828130456064396[112] = 0; + out_5083828130456064396[113] = 0; + out_5083828130456064396[114] = 1; + out_5083828130456064396[115] = 0; + out_5083828130456064396[116] = 0; + out_5083828130456064396[117] = 0; + out_5083828130456064396[118] = 0; + out_5083828130456064396[119] = 0; + out_5083828130456064396[120] = 0; + out_5083828130456064396[121] = 0; + out_5083828130456064396[122] = 0; + out_5083828130456064396[123] = 0; + out_5083828130456064396[124] = 0; + out_5083828130456064396[125] = 0; + out_5083828130456064396[126] = 0; + out_5083828130456064396[127] = 0; + out_5083828130456064396[128] = 0; + out_5083828130456064396[129] = 0; + out_5083828130456064396[130] = 0; + out_5083828130456064396[131] = 0; + out_5083828130456064396[132] = 0; + out_5083828130456064396[133] = 1; + out_5083828130456064396[134] = 0; + out_5083828130456064396[135] = 0; + out_5083828130456064396[136] = 0; + out_5083828130456064396[137] = 0; + out_5083828130456064396[138] = 0; + out_5083828130456064396[139] = 0; + out_5083828130456064396[140] = 0; + out_5083828130456064396[141] = 0; + out_5083828130456064396[142] = 0; + out_5083828130456064396[143] = 0; + out_5083828130456064396[144] = 0; + out_5083828130456064396[145] = 0; + out_5083828130456064396[146] = 0; + out_5083828130456064396[147] = 0; + out_5083828130456064396[148] = 0; + out_5083828130456064396[149] = 0; + out_5083828130456064396[150] = 0; + out_5083828130456064396[151] = 0; + out_5083828130456064396[152] = 1; + out_5083828130456064396[153] = 0; + out_5083828130456064396[154] = 0; + out_5083828130456064396[155] = 0; + out_5083828130456064396[156] = 0; + out_5083828130456064396[157] = 0; + out_5083828130456064396[158] = 0; + out_5083828130456064396[159] = 0; + out_5083828130456064396[160] = 0; + out_5083828130456064396[161] = 0; + out_5083828130456064396[162] = 0; + out_5083828130456064396[163] = 0; + out_5083828130456064396[164] = 0; + out_5083828130456064396[165] = 0; + out_5083828130456064396[166] = 0; + out_5083828130456064396[167] = 0; + out_5083828130456064396[168] = 0; + out_5083828130456064396[169] = 0; + out_5083828130456064396[170] = 0; + out_5083828130456064396[171] = 1; + out_5083828130456064396[172] = 0; + out_5083828130456064396[173] = 0; + out_5083828130456064396[174] = 0; + out_5083828130456064396[175] = 0; + out_5083828130456064396[176] = 0; + out_5083828130456064396[177] = 0; + out_5083828130456064396[178] = 0; + out_5083828130456064396[179] = 0; + out_5083828130456064396[180] = 0; + out_5083828130456064396[181] = 0; + out_5083828130456064396[182] = 0; + out_5083828130456064396[183] = 0; + out_5083828130456064396[184] = 0; + out_5083828130456064396[185] = 0; + out_5083828130456064396[186] = 0; + out_5083828130456064396[187] = 0; + out_5083828130456064396[188] = 0; + out_5083828130456064396[189] = 0; + out_5083828130456064396[190] = 1; + out_5083828130456064396[191] = 0; + out_5083828130456064396[192] = 0; + out_5083828130456064396[193] = 0; + out_5083828130456064396[194] = 0; + out_5083828130456064396[195] = 0; + out_5083828130456064396[196] = 0; + out_5083828130456064396[197] = 0; + out_5083828130456064396[198] = 0; + out_5083828130456064396[199] = 0; + out_5083828130456064396[200] = 0; + out_5083828130456064396[201] = 0; + out_5083828130456064396[202] = 0; + out_5083828130456064396[203] = 0; + out_5083828130456064396[204] = 0; + out_5083828130456064396[205] = 0; + out_5083828130456064396[206] = 0; + out_5083828130456064396[207] = 0; + out_5083828130456064396[208] = 0; + out_5083828130456064396[209] = 1; + out_5083828130456064396[210] = 0; + out_5083828130456064396[211] = 0; + out_5083828130456064396[212] = 0; + out_5083828130456064396[213] = 0; + out_5083828130456064396[214] = 0; + out_5083828130456064396[215] = 0; + out_5083828130456064396[216] = 0; + out_5083828130456064396[217] = 0; + out_5083828130456064396[218] = 0; + out_5083828130456064396[219] = 0; + out_5083828130456064396[220] = 0; + out_5083828130456064396[221] = 0; + out_5083828130456064396[222] = 0; + out_5083828130456064396[223] = 0; + out_5083828130456064396[224] = 0; + out_5083828130456064396[225] = 0; + out_5083828130456064396[226] = 0; + out_5083828130456064396[227] = 0; + out_5083828130456064396[228] = 1; + out_5083828130456064396[229] = 0; + out_5083828130456064396[230] = 0; + out_5083828130456064396[231] = 0; + out_5083828130456064396[232] = 0; + out_5083828130456064396[233] = 0; + out_5083828130456064396[234] = 0; + out_5083828130456064396[235] = 0; + out_5083828130456064396[236] = 0; + out_5083828130456064396[237] = 0; + out_5083828130456064396[238] = 0; + out_5083828130456064396[239] = 0; + out_5083828130456064396[240] = 0; + out_5083828130456064396[241] = 0; + out_5083828130456064396[242] = 0; + out_5083828130456064396[243] = 0; + out_5083828130456064396[244] = 0; + out_5083828130456064396[245] = 0; + out_5083828130456064396[246] = 0; + out_5083828130456064396[247] = 1; + out_5083828130456064396[248] = 0; + out_5083828130456064396[249] = 0; + out_5083828130456064396[250] = 0; + out_5083828130456064396[251] = 0; + out_5083828130456064396[252] = 0; + out_5083828130456064396[253] = 0; + out_5083828130456064396[254] = 0; + out_5083828130456064396[255] = 0; + out_5083828130456064396[256] = 0; + out_5083828130456064396[257] = 0; + out_5083828130456064396[258] = 0; + out_5083828130456064396[259] = 0; + out_5083828130456064396[260] = 0; + out_5083828130456064396[261] = 0; + out_5083828130456064396[262] = 0; + out_5083828130456064396[263] = 0; + out_5083828130456064396[264] = 0; + out_5083828130456064396[265] = 0; + out_5083828130456064396[266] = 1; + out_5083828130456064396[267] = 0; + out_5083828130456064396[268] = 0; + out_5083828130456064396[269] = 0; + out_5083828130456064396[270] = 0; + out_5083828130456064396[271] = 0; + out_5083828130456064396[272] = 0; + out_5083828130456064396[273] = 0; + out_5083828130456064396[274] = 0; + out_5083828130456064396[275] = 0; + out_5083828130456064396[276] = 0; + out_5083828130456064396[277] = 0; + out_5083828130456064396[278] = 0; + out_5083828130456064396[279] = 0; + out_5083828130456064396[280] = 0; + out_5083828130456064396[281] = 0; + out_5083828130456064396[282] = 0; + out_5083828130456064396[283] = 0; + out_5083828130456064396[284] = 0; + out_5083828130456064396[285] = 1; + out_5083828130456064396[286] = 0; + out_5083828130456064396[287] = 0; + out_5083828130456064396[288] = 0; + out_5083828130456064396[289] = 0; + out_5083828130456064396[290] = 0; + out_5083828130456064396[291] = 0; + out_5083828130456064396[292] = 0; + out_5083828130456064396[293] = 0; + out_5083828130456064396[294] = 0; + out_5083828130456064396[295] = 0; + out_5083828130456064396[296] = 0; + out_5083828130456064396[297] = 0; + out_5083828130456064396[298] = 0; + out_5083828130456064396[299] = 0; + out_5083828130456064396[300] = 0; + out_5083828130456064396[301] = 0; + out_5083828130456064396[302] = 0; + out_5083828130456064396[303] = 0; + out_5083828130456064396[304] = 1; + out_5083828130456064396[305] = 0; + out_5083828130456064396[306] = 0; + out_5083828130456064396[307] = 0; + out_5083828130456064396[308] = 0; + out_5083828130456064396[309] = 0; + out_5083828130456064396[310] = 0; + out_5083828130456064396[311] = 0; + out_5083828130456064396[312] = 0; + out_5083828130456064396[313] = 0; + out_5083828130456064396[314] = 0; + out_5083828130456064396[315] = 0; + out_5083828130456064396[316] = 0; + out_5083828130456064396[317] = 0; + out_5083828130456064396[318] = 0; + out_5083828130456064396[319] = 0; + out_5083828130456064396[320] = 0; + out_5083828130456064396[321] = 0; + out_5083828130456064396[322] = 0; + out_5083828130456064396[323] = 1; } -void h_4(double *state, double *unused, double *out_2944115722558364854) { - out_2944115722558364854[0] = state[6] + state[9]; - out_2944115722558364854[1] = state[7] + state[10]; - out_2944115722558364854[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_8720432154848991493) { + out_8720432154848991493[0] = state[6] + state[9]; + out_8720432154848991493[1] = state[7] + state[10]; + out_8720432154848991493[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_2235410685981716499) { - out_2235410685981716499[0] = 0; - out_2235410685981716499[1] = 0; - out_2235410685981716499[2] = 0; - out_2235410685981716499[3] = 0; - out_2235410685981716499[4] = 0; - out_2235410685981716499[5] = 0; - out_2235410685981716499[6] = 1; - out_2235410685981716499[7] = 0; - out_2235410685981716499[8] = 0; - out_2235410685981716499[9] = 1; - out_2235410685981716499[10] = 0; - out_2235410685981716499[11] = 0; - out_2235410685981716499[12] = 0; - out_2235410685981716499[13] = 0; - out_2235410685981716499[14] = 0; - out_2235410685981716499[15] = 0; - out_2235410685981716499[16] = 0; - out_2235410685981716499[17] = 0; - out_2235410685981716499[18] = 0; - out_2235410685981716499[19] = 0; - out_2235410685981716499[20] = 0; - out_2235410685981716499[21] = 0; - out_2235410685981716499[22] = 0; - out_2235410685981716499[23] = 0; - out_2235410685981716499[24] = 0; - out_2235410685981716499[25] = 1; - out_2235410685981716499[26] = 0; - out_2235410685981716499[27] = 0; - out_2235410685981716499[28] = 1; - out_2235410685981716499[29] = 0; - out_2235410685981716499[30] = 0; - out_2235410685981716499[31] = 0; - out_2235410685981716499[32] = 0; - out_2235410685981716499[33] = 0; - out_2235410685981716499[34] = 0; - out_2235410685981716499[35] = 0; - out_2235410685981716499[36] = 0; - out_2235410685981716499[37] = 0; - out_2235410685981716499[38] = 0; - out_2235410685981716499[39] = 0; - out_2235410685981716499[40] = 0; - out_2235410685981716499[41] = 0; - out_2235410685981716499[42] = 0; - out_2235410685981716499[43] = 0; - out_2235410685981716499[44] = 1; - out_2235410685981716499[45] = 0; - out_2235410685981716499[46] = 0; - out_2235410685981716499[47] = 1; - out_2235410685981716499[48] = 0; - out_2235410685981716499[49] = 0; - out_2235410685981716499[50] = 0; - out_2235410685981716499[51] = 0; - out_2235410685981716499[52] = 0; - out_2235410685981716499[53] = 0; +void H_4(double *state, double *unused, double *out_4091132023239463575) { + out_4091132023239463575[0] = 0; + out_4091132023239463575[1] = 0; + out_4091132023239463575[2] = 0; + out_4091132023239463575[3] = 0; + out_4091132023239463575[4] = 0; + out_4091132023239463575[5] = 0; + out_4091132023239463575[6] = 1; + out_4091132023239463575[7] = 0; + out_4091132023239463575[8] = 0; + out_4091132023239463575[9] = 1; + out_4091132023239463575[10] = 0; + out_4091132023239463575[11] = 0; + out_4091132023239463575[12] = 0; + out_4091132023239463575[13] = 0; + out_4091132023239463575[14] = 0; + out_4091132023239463575[15] = 0; + out_4091132023239463575[16] = 0; + out_4091132023239463575[17] = 0; + out_4091132023239463575[18] = 0; + out_4091132023239463575[19] = 0; + out_4091132023239463575[20] = 0; + out_4091132023239463575[21] = 0; + out_4091132023239463575[22] = 0; + out_4091132023239463575[23] = 0; + out_4091132023239463575[24] = 0; + out_4091132023239463575[25] = 1; + out_4091132023239463575[26] = 0; + out_4091132023239463575[27] = 0; + out_4091132023239463575[28] = 1; + out_4091132023239463575[29] = 0; + out_4091132023239463575[30] = 0; + out_4091132023239463575[31] = 0; + out_4091132023239463575[32] = 0; + out_4091132023239463575[33] = 0; + out_4091132023239463575[34] = 0; + out_4091132023239463575[35] = 0; + out_4091132023239463575[36] = 0; + out_4091132023239463575[37] = 0; + out_4091132023239463575[38] = 0; + out_4091132023239463575[39] = 0; + out_4091132023239463575[40] = 0; + out_4091132023239463575[41] = 0; + out_4091132023239463575[42] = 0; + out_4091132023239463575[43] = 0; + out_4091132023239463575[44] = 1; + out_4091132023239463575[45] = 0; + out_4091132023239463575[46] = 0; + out_4091132023239463575[47] = 1; + out_4091132023239463575[48] = 0; + out_4091132023239463575[49] = 0; + out_4091132023239463575[50] = 0; + out_4091132023239463575[51] = 0; + out_4091132023239463575[52] = 0; + out_4091132023239463575[53] = 0; } -void h_10(double *state, double *unused, double *out_5480980924344673221) { - out_5480980924344673221[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5480980924344673221[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5480980924344673221[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_682446449180910309) { + out_682446449180910309[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_682446449180910309[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_682446449180910309[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_6151696322213561701) { - out_6151696322213561701[0] = 0; - out_6151696322213561701[1] = 9.8100000000000005*cos(state[1]); - out_6151696322213561701[2] = 0; - out_6151696322213561701[3] = 0; - out_6151696322213561701[4] = -state[8]; - out_6151696322213561701[5] = state[7]; - out_6151696322213561701[6] = 0; - out_6151696322213561701[7] = state[5]; - out_6151696322213561701[8] = -state[4]; - out_6151696322213561701[9] = 0; - out_6151696322213561701[10] = 0; - out_6151696322213561701[11] = 0; - out_6151696322213561701[12] = 1; - out_6151696322213561701[13] = 0; - out_6151696322213561701[14] = 0; - out_6151696322213561701[15] = 1; - out_6151696322213561701[16] = 0; - out_6151696322213561701[17] = 0; - out_6151696322213561701[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6151696322213561701[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6151696322213561701[20] = 0; - out_6151696322213561701[21] = state[8]; - out_6151696322213561701[22] = 0; - out_6151696322213561701[23] = -state[6]; - out_6151696322213561701[24] = -state[5]; - out_6151696322213561701[25] = 0; - out_6151696322213561701[26] = state[3]; - out_6151696322213561701[27] = 0; - out_6151696322213561701[28] = 0; - out_6151696322213561701[29] = 0; - out_6151696322213561701[30] = 0; - out_6151696322213561701[31] = 1; - out_6151696322213561701[32] = 0; - out_6151696322213561701[33] = 0; - out_6151696322213561701[34] = 1; - out_6151696322213561701[35] = 0; - out_6151696322213561701[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6151696322213561701[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6151696322213561701[38] = 0; - out_6151696322213561701[39] = -state[7]; - out_6151696322213561701[40] = state[6]; - out_6151696322213561701[41] = 0; - out_6151696322213561701[42] = state[4]; - out_6151696322213561701[43] = -state[3]; - out_6151696322213561701[44] = 0; - out_6151696322213561701[45] = 0; - out_6151696322213561701[46] = 0; - out_6151696322213561701[47] = 0; - out_6151696322213561701[48] = 0; - out_6151696322213561701[49] = 0; - out_6151696322213561701[50] = 1; - out_6151696322213561701[51] = 0; - out_6151696322213561701[52] = 0; - out_6151696322213561701[53] = 1; +void H_10(double *state, double *unused, double *out_4919001356891757040) { + out_4919001356891757040[0] = 0; + out_4919001356891757040[1] = 9.8100000000000005*cos(state[1]); + out_4919001356891757040[2] = 0; + out_4919001356891757040[3] = 0; + out_4919001356891757040[4] = -state[8]; + out_4919001356891757040[5] = state[7]; + out_4919001356891757040[6] = 0; + out_4919001356891757040[7] = state[5]; + out_4919001356891757040[8] = -state[4]; + out_4919001356891757040[9] = 0; + out_4919001356891757040[10] = 0; + out_4919001356891757040[11] = 0; + out_4919001356891757040[12] = 1; + out_4919001356891757040[13] = 0; + out_4919001356891757040[14] = 0; + out_4919001356891757040[15] = 1; + out_4919001356891757040[16] = 0; + out_4919001356891757040[17] = 0; + out_4919001356891757040[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4919001356891757040[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4919001356891757040[20] = 0; + out_4919001356891757040[21] = state[8]; + out_4919001356891757040[22] = 0; + out_4919001356891757040[23] = -state[6]; + out_4919001356891757040[24] = -state[5]; + out_4919001356891757040[25] = 0; + out_4919001356891757040[26] = state[3]; + out_4919001356891757040[27] = 0; + out_4919001356891757040[28] = 0; + out_4919001356891757040[29] = 0; + out_4919001356891757040[30] = 0; + out_4919001356891757040[31] = 1; + out_4919001356891757040[32] = 0; + out_4919001356891757040[33] = 0; + out_4919001356891757040[34] = 1; + out_4919001356891757040[35] = 0; + out_4919001356891757040[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4919001356891757040[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4919001356891757040[38] = 0; + out_4919001356891757040[39] = -state[7]; + out_4919001356891757040[40] = state[6]; + out_4919001356891757040[41] = 0; + out_4919001356891757040[42] = state[4]; + out_4919001356891757040[43] = -state[3]; + out_4919001356891757040[44] = 0; + out_4919001356891757040[45] = 0; + out_4919001356891757040[46] = 0; + out_4919001356891757040[47] = 0; + out_4919001356891757040[48] = 0; + out_4919001356891757040[49] = 0; + out_4919001356891757040[50] = 1; + out_4919001356891757040[51] = 0; + out_4919001356891757040[52] = 0; + out_4919001356891757040[53] = 1; } -void h_13(double *state, double *unused, double *out_1838073821593632587) { - out_1838073821593632587[0] = state[3]; - out_1838073821593632587[1] = state[4]; - out_1838073821593632587[2] = state[5]; +void h_13(double *state, double *unused, double *out_2860834984953274042) { + out_2860834984953274042[0] = state[3]; + out_2860834984953274042[1] = state[4]; + out_2860834984953274042[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8600702179411134188) { - out_8600702179411134188[0] = 0; - out_8600702179411134188[1] = 0; - out_8600702179411134188[2] = 0; - out_8600702179411134188[3] = 1; - out_8600702179411134188[4] = 0; - out_8600702179411134188[5] = 0; - out_8600702179411134188[6] = 0; - out_8600702179411134188[7] = 0; - out_8600702179411134188[8] = 0; - out_8600702179411134188[9] = 0; - out_8600702179411134188[10] = 0; - out_8600702179411134188[11] = 0; - out_8600702179411134188[12] = 0; - out_8600702179411134188[13] = 0; - out_8600702179411134188[14] = 0; - out_8600702179411134188[15] = 0; - out_8600702179411134188[16] = 0; - out_8600702179411134188[17] = 0; - out_8600702179411134188[18] = 0; - out_8600702179411134188[19] = 0; - out_8600702179411134188[20] = 0; - out_8600702179411134188[21] = 0; - out_8600702179411134188[22] = 1; - out_8600702179411134188[23] = 0; - out_8600702179411134188[24] = 0; - out_8600702179411134188[25] = 0; - out_8600702179411134188[26] = 0; - out_8600702179411134188[27] = 0; - out_8600702179411134188[28] = 0; - out_8600702179411134188[29] = 0; - out_8600702179411134188[30] = 0; - out_8600702179411134188[31] = 0; - out_8600702179411134188[32] = 0; - out_8600702179411134188[33] = 0; - out_8600702179411134188[34] = 0; - out_8600702179411134188[35] = 0; - out_8600702179411134188[36] = 0; - out_8600702179411134188[37] = 0; - out_8600702179411134188[38] = 0; - out_8600702179411134188[39] = 0; - out_8600702179411134188[40] = 0; - out_8600702179411134188[41] = 1; - out_8600702179411134188[42] = 0; - out_8600702179411134188[43] = 0; - out_8600702179411134188[44] = 0; - out_8600702179411134188[45] = 0; - out_8600702179411134188[46] = 0; - out_8600702179411134188[47] = 0; - out_8600702179411134188[48] = 0; - out_8600702179411134188[49] = 0; - out_8600702179411134188[50] = 0; - out_8600702179411134188[51] = 0; - out_8600702179411134188[52] = 0; - out_8600702179411134188[53] = 0; +void H_13(double *state, double *unused, double *out_7303405848571796376) { + out_7303405848571796376[0] = 0; + out_7303405848571796376[1] = 0; + out_7303405848571796376[2] = 0; + out_7303405848571796376[3] = 1; + out_7303405848571796376[4] = 0; + out_7303405848571796376[5] = 0; + out_7303405848571796376[6] = 0; + out_7303405848571796376[7] = 0; + out_7303405848571796376[8] = 0; + out_7303405848571796376[9] = 0; + out_7303405848571796376[10] = 0; + out_7303405848571796376[11] = 0; + out_7303405848571796376[12] = 0; + out_7303405848571796376[13] = 0; + out_7303405848571796376[14] = 0; + out_7303405848571796376[15] = 0; + out_7303405848571796376[16] = 0; + out_7303405848571796376[17] = 0; + out_7303405848571796376[18] = 0; + out_7303405848571796376[19] = 0; + out_7303405848571796376[20] = 0; + out_7303405848571796376[21] = 0; + out_7303405848571796376[22] = 1; + out_7303405848571796376[23] = 0; + out_7303405848571796376[24] = 0; + out_7303405848571796376[25] = 0; + out_7303405848571796376[26] = 0; + out_7303405848571796376[27] = 0; + out_7303405848571796376[28] = 0; + out_7303405848571796376[29] = 0; + out_7303405848571796376[30] = 0; + out_7303405848571796376[31] = 0; + out_7303405848571796376[32] = 0; + out_7303405848571796376[33] = 0; + out_7303405848571796376[34] = 0; + out_7303405848571796376[35] = 0; + out_7303405848571796376[36] = 0; + out_7303405848571796376[37] = 0; + out_7303405848571796376[38] = 0; + out_7303405848571796376[39] = 0; + out_7303405848571796376[40] = 0; + out_7303405848571796376[41] = 1; + out_7303405848571796376[42] = 0; + out_7303405848571796376[43] = 0; + out_7303405848571796376[44] = 0; + out_7303405848571796376[45] = 0; + out_7303405848571796376[46] = 0; + out_7303405848571796376[47] = 0; + out_7303405848571796376[48] = 0; + out_7303405848571796376[49] = 0; + out_7303405848571796376[50] = 0; + out_7303405848571796376[51] = 0; + out_7303405848571796376[52] = 0; + out_7303405848571796376[53] = 0; } -void h_14(double *state, double *unused, double *out_7366225133021847841) { - out_7366225133021847841[0] = state[6]; - out_7366225133021847841[1] = state[7]; - out_7366225133021847841[2] = state[8]; +void h_14(double *state, double *unused, double *out_6283645208607536870) { + out_6283645208607536870[0] = state[6]; + out_6283645208607536870[1] = state[7]; + out_6283645208607536870[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6198651542321201028) { - out_6198651542321201028[0] = 0; - out_6198651542321201028[1] = 0; - out_6198651542321201028[2] = 0; - out_6198651542321201028[3] = 0; - out_6198651542321201028[4] = 0; - out_6198651542321201028[5] = 0; - out_6198651542321201028[6] = 1; - out_6198651542321201028[7] = 0; - out_6198651542321201028[8] = 0; - out_6198651542321201028[9] = 0; - out_6198651542321201028[10] = 0; - out_6198651542321201028[11] = 0; - out_6198651542321201028[12] = 0; - out_6198651542321201028[13] = 0; - out_6198651542321201028[14] = 0; - out_6198651542321201028[15] = 0; - out_6198651542321201028[16] = 0; - out_6198651542321201028[17] = 0; - out_6198651542321201028[18] = 0; - out_6198651542321201028[19] = 0; - out_6198651542321201028[20] = 0; - out_6198651542321201028[21] = 0; - out_6198651542321201028[22] = 0; - out_6198651542321201028[23] = 0; - out_6198651542321201028[24] = 0; - out_6198651542321201028[25] = 1; - out_6198651542321201028[26] = 0; - out_6198651542321201028[27] = 0; - out_6198651542321201028[28] = 0; - out_6198651542321201028[29] = 0; - out_6198651542321201028[30] = 0; - out_6198651542321201028[31] = 0; - out_6198651542321201028[32] = 0; - out_6198651542321201028[33] = 0; - out_6198651542321201028[34] = 0; - out_6198651542321201028[35] = 0; - out_6198651542321201028[36] = 0; - out_6198651542321201028[37] = 0; - out_6198651542321201028[38] = 0; - out_6198651542321201028[39] = 0; - out_6198651542321201028[40] = 0; - out_6198651542321201028[41] = 0; - out_6198651542321201028[42] = 0; - out_6198651542321201028[43] = 0; - out_6198651542321201028[44] = 1; - out_6198651542321201028[45] = 0; - out_6198651542321201028[46] = 0; - out_6198651542321201028[47] = 0; - out_6198651542321201028[48] = 0; - out_6198651542321201028[49] = 0; - out_6198651542321201028[50] = 0; - out_6198651542321201028[51] = 0; - out_6198651542321201028[52] = 0; - out_6198651542321201028[53] = 0; +void H_14(double *state, double *unused, double *out_1008343590944091279) { + out_1008343590944091279[0] = 0; + out_1008343590944091279[1] = 0; + out_1008343590944091279[2] = 0; + out_1008343590944091279[3] = 0; + out_1008343590944091279[4] = 0; + out_1008343590944091279[5] = 0; + out_1008343590944091279[6] = 1; + out_1008343590944091279[7] = 0; + out_1008343590944091279[8] = 0; + out_1008343590944091279[9] = 0; + out_1008343590944091279[10] = 0; + out_1008343590944091279[11] = 0; + out_1008343590944091279[12] = 0; + out_1008343590944091279[13] = 0; + out_1008343590944091279[14] = 0; + out_1008343590944091279[15] = 0; + out_1008343590944091279[16] = 0; + out_1008343590944091279[17] = 0; + out_1008343590944091279[18] = 0; + out_1008343590944091279[19] = 0; + out_1008343590944091279[20] = 0; + out_1008343590944091279[21] = 0; + out_1008343590944091279[22] = 0; + out_1008343590944091279[23] = 0; + out_1008343590944091279[24] = 0; + out_1008343590944091279[25] = 1; + out_1008343590944091279[26] = 0; + out_1008343590944091279[27] = 0; + out_1008343590944091279[28] = 0; + out_1008343590944091279[29] = 0; + out_1008343590944091279[30] = 0; + out_1008343590944091279[31] = 0; + out_1008343590944091279[32] = 0; + out_1008343590944091279[33] = 0; + out_1008343590944091279[34] = 0; + out_1008343590944091279[35] = 0; + out_1008343590944091279[36] = 0; + out_1008343590944091279[37] = 0; + out_1008343590944091279[38] = 0; + out_1008343590944091279[39] = 0; + out_1008343590944091279[40] = 0; + out_1008343590944091279[41] = 0; + out_1008343590944091279[42] = 0; + out_1008343590944091279[43] = 0; + out_1008343590944091279[44] = 1; + out_1008343590944091279[45] = 0; + out_1008343590944091279[46] = 0; + out_1008343590944091279[47] = 0; + out_1008343590944091279[48] = 0; + out_1008343590944091279[49] = 0; + out_1008343590944091279[50] = 0; + out_1008343590944091279[51] = 0; + out_1008343590944091279[52] = 0; + out_1008343590944091279[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_5866923855832820417) { - err_fun(nom_x, delta_x, out_5866923855832820417); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1308154946342484284) { + err_fun(nom_x, delta_x, out_1308154946342484284); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7354374655466778507) { - inv_err_fun(nom_x, true_x, out_7354374655466778507); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8706500607592261698) { + inv_err_fun(nom_x, true_x, out_8706500607592261698); } -void pose_H_mod_fun(double *state, double *out_5435820587083186523) { - H_mod_fun(state, out_5435820587083186523); +void pose_H_mod_fun(double *state, double *out_1512473366161392308) { + H_mod_fun(state, out_1512473366161392308); } -void pose_f_fun(double *state, double dt, double *out_5089910609496554967) { - f_fun(state, dt, out_5089910609496554967); +void pose_f_fun(double *state, double dt, double *out_7813170452072968754) { + f_fun(state, dt, out_7813170452072968754); } -void pose_F_fun(double *state, double dt, double *out_7337888639276922507) { - F_fun(state, dt, out_7337888639276922507); +void pose_F_fun(double *state, double dt, double *out_5083828130456064396) { + F_fun(state, dt, out_5083828130456064396); } -void pose_h_4(double *state, double *unused, double *out_2944115722558364854) { - h_4(state, unused, out_2944115722558364854); +void pose_h_4(double *state, double *unused, double *out_8720432154848991493) { + h_4(state, unused, out_8720432154848991493); } -void pose_H_4(double *state, double *unused, double *out_2235410685981716499) { - H_4(state, unused, out_2235410685981716499); +void pose_H_4(double *state, double *unused, double *out_4091132023239463575) { + H_4(state, unused, out_4091132023239463575); } -void pose_h_10(double *state, double *unused, double *out_5480980924344673221) { - h_10(state, unused, out_5480980924344673221); +void pose_h_10(double *state, double *unused, double *out_682446449180910309) { + h_10(state, unused, out_682446449180910309); } -void pose_H_10(double *state, double *unused, double *out_6151696322213561701) { - H_10(state, unused, out_6151696322213561701); +void pose_H_10(double *state, double *unused, double *out_4919001356891757040) { + H_10(state, unused, out_4919001356891757040); } -void pose_h_13(double *state, double *unused, double *out_1838073821593632587) { - h_13(state, unused, out_1838073821593632587); +void pose_h_13(double *state, double *unused, double *out_2860834984953274042) { + h_13(state, unused, out_2860834984953274042); } -void pose_H_13(double *state, double *unused, double *out_8600702179411134188) { - H_13(state, unused, out_8600702179411134188); +void pose_H_13(double *state, double *unused, double *out_7303405848571796376) { + H_13(state, unused, out_7303405848571796376); } -void pose_h_14(double *state, double *unused, double *out_7366225133021847841) { - h_14(state, unused, out_7366225133021847841); +void pose_h_14(double *state, double *unused, double *out_6283645208607536870) { + h_14(state, unused, out_6283645208607536870); } -void pose_H_14(double *state, double *unused, double *out_6198651542321201028) { - H_14(state, unused, out_6198651542321201028); +void pose_H_14(double *state, double *unused, double *out_1008343590944091279) { + H_14(state, unused, out_1008343590944091279); } 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 fcb10a7b4..7bfa74014 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_5866923855832820417); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7354374655466778507); -void pose_H_mod_fun(double *state, double *out_5435820587083186523); -void pose_f_fun(double *state, double dt, double *out_5089910609496554967); -void pose_F_fun(double *state, double dt, double *out_7337888639276922507); -void pose_h_4(double *state, double *unused, double *out_2944115722558364854); -void pose_H_4(double *state, double *unused, double *out_2235410685981716499); -void pose_h_10(double *state, double *unused, double *out_5480980924344673221); -void pose_H_10(double *state, double *unused, double *out_6151696322213561701); -void pose_h_13(double *state, double *unused, double *out_1838073821593632587); -void pose_H_13(double *state, double *unused, double *out_8600702179411134188); -void pose_h_14(double *state, double *unused, double *out_7366225133021847841); -void pose_H_14(double *state, double *unused, double *out_6198651542321201028); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1308154946342484284); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8706500607592261698); +void pose_H_mod_fun(double *state, double *out_1512473366161392308); +void pose_f_fun(double *state, double dt, double *out_7813170452072968754); +void pose_F_fun(double *state, double dt, double *out_5083828130456064396); +void pose_h_4(double *state, double *unused, double *out_8720432154848991493); +void pose_H_4(double *state, double *unused, double *out_4091132023239463575); +void pose_h_10(double *state, double *unused, double *out_682446449180910309); +void pose_H_10(double *state, double *unused, double *out_4919001356891757040); +void pose_h_13(double *state, double *unused, double *out_2860834984953274042); +void pose_H_13(double *state, double *unused, double *out_7303405848571796376); +void pose_h_14(double *state, double *unused, double *out_6283645208607536870); +void pose_H_14(double *state, double *unused, double *out_1008343590944091279); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 7cc588385..c515a48cd 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index d62f46709..e80a83800 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 14fd944ff..ce86dc3ea 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index f67444d24..518058f8e 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index f1523e11a..ef6a0d410 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ