diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 8582fff70..a7852dad2 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index ae57900bd..9077e14b9 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index fc2407c38..d1997b54b 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 88a1bc56b..e6c3d7961 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 6c383be1f..71fad8e09 100755 Binary files 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a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index f1b0810e0..fcee94031 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 f1b0810e0..fcee94031 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 e0cc4fc7f..ede238614 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-fb1c2ea1-DEBUG"; +const uint8_t gitversion[19] = "DEV-bdc15322-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 05cc5febb..e4b0ec237 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differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index d5eeb7918..b519994bf 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index bd5e1d4dd..95a50c35a 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 e16293367..2dc7ace51 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 6b7242721..d6eb79b48 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 4a3b15afd..0c7fe731f 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 863fa2043..566332582 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-fb1c2ea1-DEBUG \ No newline at end of file +DEV-bdc15322-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 2a751768d..8bf20639b 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_8558441916270761648) { - out_8558441916270761648[0] = delta_x[0] + nom_x[0]; - out_8558441916270761648[1] = delta_x[1] + nom_x[1]; - out_8558441916270761648[2] = delta_x[2] + nom_x[2]; - out_8558441916270761648[3] = delta_x[3] + nom_x[3]; - out_8558441916270761648[4] = delta_x[4] + nom_x[4]; - out_8558441916270761648[5] = delta_x[5] + nom_x[5]; - out_8558441916270761648[6] = delta_x[6] + nom_x[6]; - out_8558441916270761648[7] = delta_x[7] + nom_x[7]; - out_8558441916270761648[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_4213074370852160810) { + out_4213074370852160810[0] = delta_x[0] + nom_x[0]; + out_4213074370852160810[1] = delta_x[1] + nom_x[1]; + out_4213074370852160810[2] = delta_x[2] + nom_x[2]; + out_4213074370852160810[3] = delta_x[3] + nom_x[3]; + out_4213074370852160810[4] = delta_x[4] + nom_x[4]; + out_4213074370852160810[5] = delta_x[5] + nom_x[5]; + out_4213074370852160810[6] = delta_x[6] + nom_x[6]; + out_4213074370852160810[7] = delta_x[7] + nom_x[7]; + out_4213074370852160810[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_9137456234820429023) { - out_9137456234820429023[0] = -nom_x[0] + true_x[0]; - out_9137456234820429023[1] = -nom_x[1] + true_x[1]; - out_9137456234820429023[2] = -nom_x[2] + true_x[2]; - out_9137456234820429023[3] = -nom_x[3] + true_x[3]; - out_9137456234820429023[4] = -nom_x[4] + true_x[4]; - out_9137456234820429023[5] = -nom_x[5] + true_x[5]; - out_9137456234820429023[6] = -nom_x[6] + true_x[6]; - out_9137456234820429023[7] = -nom_x[7] + true_x[7]; - out_9137456234820429023[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4007900572103243439) { + out_4007900572103243439[0] = -nom_x[0] + true_x[0]; + out_4007900572103243439[1] = -nom_x[1] + true_x[1]; + out_4007900572103243439[2] = -nom_x[2] + true_x[2]; + out_4007900572103243439[3] = -nom_x[3] + true_x[3]; + out_4007900572103243439[4] = -nom_x[4] + true_x[4]; + out_4007900572103243439[5] = -nom_x[5] + true_x[5]; + out_4007900572103243439[6] = -nom_x[6] + true_x[6]; + out_4007900572103243439[7] = -nom_x[7] + true_x[7]; + out_4007900572103243439[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7685081031100061070) { - out_7685081031100061070[0] = 1.0; - out_7685081031100061070[1] = 0.0; - out_7685081031100061070[2] = 0.0; - out_7685081031100061070[3] = 0.0; - out_7685081031100061070[4] = 0.0; - out_7685081031100061070[5] = 0.0; - out_7685081031100061070[6] = 0.0; - out_7685081031100061070[7] = 0.0; - out_7685081031100061070[8] = 0.0; - out_7685081031100061070[9] = 0.0; - out_7685081031100061070[10] = 1.0; - out_7685081031100061070[11] = 0.0; - out_7685081031100061070[12] = 0.0; - out_7685081031100061070[13] = 0.0; - out_7685081031100061070[14] = 0.0; - out_7685081031100061070[15] = 0.0; - out_7685081031100061070[16] = 0.0; - out_7685081031100061070[17] = 0.0; - out_7685081031100061070[18] = 0.0; - out_7685081031100061070[19] = 0.0; - out_7685081031100061070[20] = 1.0; - out_7685081031100061070[21] = 0.0; - out_7685081031100061070[22] = 0.0; - out_7685081031100061070[23] = 0.0; - out_7685081031100061070[24] = 0.0; - out_7685081031100061070[25] = 0.0; - out_7685081031100061070[26] = 0.0; - out_7685081031100061070[27] = 0.0; - out_7685081031100061070[28] = 0.0; - out_7685081031100061070[29] = 0.0; - out_7685081031100061070[30] = 1.0; - out_7685081031100061070[31] = 0.0; - out_7685081031100061070[32] = 0.0; - out_7685081031100061070[33] = 0.0; - out_7685081031100061070[34] = 0.0; - out_7685081031100061070[35] = 0.0; - out_7685081031100061070[36] = 0.0; - out_7685081031100061070[37] = 0.0; - out_7685081031100061070[38] = 0.0; - out_7685081031100061070[39] = 0.0; - out_7685081031100061070[40] = 1.0; - out_7685081031100061070[41] = 0.0; - out_7685081031100061070[42] = 0.0; - out_7685081031100061070[43] = 0.0; - out_7685081031100061070[44] = 0.0; - out_7685081031100061070[45] = 0.0; - out_7685081031100061070[46] = 0.0; - out_7685081031100061070[47] = 0.0; - out_7685081031100061070[48] = 0.0; - out_7685081031100061070[49] = 0.0; - out_7685081031100061070[50] = 1.0; - out_7685081031100061070[51] = 0.0; - out_7685081031100061070[52] = 0.0; - out_7685081031100061070[53] = 0.0; - out_7685081031100061070[54] = 0.0; - out_7685081031100061070[55] = 0.0; - out_7685081031100061070[56] = 0.0; - out_7685081031100061070[57] = 0.0; - out_7685081031100061070[58] = 0.0; - out_7685081031100061070[59] = 0.0; - out_7685081031100061070[60] = 1.0; - out_7685081031100061070[61] = 0.0; - out_7685081031100061070[62] = 0.0; - out_7685081031100061070[63] = 0.0; - out_7685081031100061070[64] = 0.0; - out_7685081031100061070[65] = 0.0; - out_7685081031100061070[66] = 0.0; - out_7685081031100061070[67] = 0.0; - out_7685081031100061070[68] = 0.0; - out_7685081031100061070[69] = 0.0; - out_7685081031100061070[70] = 1.0; - out_7685081031100061070[71] = 0.0; - out_7685081031100061070[72] = 0.0; - out_7685081031100061070[73] = 0.0; - out_7685081031100061070[74] = 0.0; - out_7685081031100061070[75] = 0.0; - out_7685081031100061070[76] = 0.0; - out_7685081031100061070[77] = 0.0; - out_7685081031100061070[78] = 0.0; - out_7685081031100061070[79] = 0.0; - out_7685081031100061070[80] = 1.0; +void H_mod_fun(double *state, double *out_8824637158619611629) { + out_8824637158619611629[0] = 1.0; + out_8824637158619611629[1] = 0.0; + out_8824637158619611629[2] = 0.0; + out_8824637158619611629[3] = 0.0; + out_8824637158619611629[4] = 0.0; + out_8824637158619611629[5] = 0.0; + out_8824637158619611629[6] = 0.0; + out_8824637158619611629[7] = 0.0; + out_8824637158619611629[8] = 0.0; + out_8824637158619611629[9] = 0.0; + out_8824637158619611629[10] = 1.0; + out_8824637158619611629[11] = 0.0; + out_8824637158619611629[12] = 0.0; + out_8824637158619611629[13] = 0.0; + out_8824637158619611629[14] = 0.0; + out_8824637158619611629[15] = 0.0; + out_8824637158619611629[16] = 0.0; + out_8824637158619611629[17] = 0.0; + out_8824637158619611629[18] = 0.0; + out_8824637158619611629[19] = 0.0; + out_8824637158619611629[20] = 1.0; + out_8824637158619611629[21] = 0.0; + out_8824637158619611629[22] = 0.0; + out_8824637158619611629[23] = 0.0; + out_8824637158619611629[24] = 0.0; + out_8824637158619611629[25] = 0.0; + out_8824637158619611629[26] = 0.0; + out_8824637158619611629[27] = 0.0; + out_8824637158619611629[28] = 0.0; + out_8824637158619611629[29] = 0.0; + out_8824637158619611629[30] = 1.0; + out_8824637158619611629[31] = 0.0; + out_8824637158619611629[32] = 0.0; + out_8824637158619611629[33] = 0.0; + out_8824637158619611629[34] = 0.0; + out_8824637158619611629[35] = 0.0; + out_8824637158619611629[36] = 0.0; + out_8824637158619611629[37] = 0.0; + out_8824637158619611629[38] = 0.0; + out_8824637158619611629[39] = 0.0; + out_8824637158619611629[40] = 1.0; + out_8824637158619611629[41] = 0.0; + out_8824637158619611629[42] = 0.0; + out_8824637158619611629[43] = 0.0; + out_8824637158619611629[44] = 0.0; + out_8824637158619611629[45] = 0.0; + out_8824637158619611629[46] = 0.0; + out_8824637158619611629[47] = 0.0; + out_8824637158619611629[48] = 0.0; + out_8824637158619611629[49] = 0.0; + out_8824637158619611629[50] = 1.0; + out_8824637158619611629[51] = 0.0; + out_8824637158619611629[52] = 0.0; + out_8824637158619611629[53] = 0.0; + out_8824637158619611629[54] = 0.0; + out_8824637158619611629[55] = 0.0; + out_8824637158619611629[56] = 0.0; + out_8824637158619611629[57] = 0.0; + out_8824637158619611629[58] = 0.0; + out_8824637158619611629[59] = 0.0; + out_8824637158619611629[60] = 1.0; + out_8824637158619611629[61] = 0.0; + out_8824637158619611629[62] = 0.0; + out_8824637158619611629[63] = 0.0; + out_8824637158619611629[64] = 0.0; + out_8824637158619611629[65] = 0.0; + out_8824637158619611629[66] = 0.0; + out_8824637158619611629[67] = 0.0; + out_8824637158619611629[68] = 0.0; + out_8824637158619611629[69] = 0.0; + out_8824637158619611629[70] = 1.0; + out_8824637158619611629[71] = 0.0; + out_8824637158619611629[72] = 0.0; + out_8824637158619611629[73] = 0.0; + out_8824637158619611629[74] = 0.0; + out_8824637158619611629[75] = 0.0; + out_8824637158619611629[76] = 0.0; + out_8824637158619611629[77] = 0.0; + out_8824637158619611629[78] = 0.0; + out_8824637158619611629[79] = 0.0; + out_8824637158619611629[80] = 1.0; } -void f_fun(double *state, double dt, double *out_6817432226726583046) { - out_6817432226726583046[0] = state[0]; - out_6817432226726583046[1] = state[1]; - out_6817432226726583046[2] = state[2]; - out_6817432226726583046[3] = state[3]; - out_6817432226726583046[4] = state[4]; - out_6817432226726583046[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_6817432226726583046[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_6817432226726583046[7] = state[7]; - out_6817432226726583046[8] = state[8]; +void f_fun(double *state, double dt, double *out_7248181046558172931) { + out_7248181046558172931[0] = state[0]; + out_7248181046558172931[1] = state[1]; + out_7248181046558172931[2] = state[2]; + out_7248181046558172931[3] = state[3]; + out_7248181046558172931[4] = state[4]; + out_7248181046558172931[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_7248181046558172931[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_7248181046558172931[7] = state[7]; + out_7248181046558172931[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5439972572798473920) { - out_5439972572798473920[0] = 1; - out_5439972572798473920[1] = 0; - out_5439972572798473920[2] = 0; - out_5439972572798473920[3] = 0; - out_5439972572798473920[4] = 0; - out_5439972572798473920[5] = 0; - out_5439972572798473920[6] = 0; - out_5439972572798473920[7] = 0; - out_5439972572798473920[8] = 0; - out_5439972572798473920[9] = 0; - out_5439972572798473920[10] = 1; - out_5439972572798473920[11] = 0; - out_5439972572798473920[12] = 0; - out_5439972572798473920[13] = 0; - out_5439972572798473920[14] = 0; - out_5439972572798473920[15] = 0; - out_5439972572798473920[16] = 0; - out_5439972572798473920[17] = 0; - out_5439972572798473920[18] = 0; - out_5439972572798473920[19] = 0; - out_5439972572798473920[20] = 1; - out_5439972572798473920[21] = 0; - out_5439972572798473920[22] = 0; - out_5439972572798473920[23] = 0; - out_5439972572798473920[24] = 0; - out_5439972572798473920[25] = 0; - out_5439972572798473920[26] = 0; - out_5439972572798473920[27] = 0; - out_5439972572798473920[28] = 0; - out_5439972572798473920[29] = 0; - out_5439972572798473920[30] = 1; - out_5439972572798473920[31] = 0; - out_5439972572798473920[32] = 0; - out_5439972572798473920[33] = 0; - out_5439972572798473920[34] = 0; - out_5439972572798473920[35] = 0; - out_5439972572798473920[36] = 0; - out_5439972572798473920[37] = 0; - out_5439972572798473920[38] = 0; - out_5439972572798473920[39] = 0; - out_5439972572798473920[40] = 1; - out_5439972572798473920[41] = 0; - out_5439972572798473920[42] = 0; - out_5439972572798473920[43] = 0; - out_5439972572798473920[44] = 0; - out_5439972572798473920[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_5439972572798473920[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5439972572798473920[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5439972572798473920[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5439972572798473920[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_5439972572798473920[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5439972572798473920[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5439972572798473920[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5439972572798473920[53] = -9.8100000000000005*dt; - out_5439972572798473920[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_5439972572798473920[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5439972572798473920[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5439972572798473920[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5439972572798473920[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_5439972572798473920[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5439972572798473920[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_5439972572798473920[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5439972572798473920[62] = 0; - out_5439972572798473920[63] = 0; - out_5439972572798473920[64] = 0; - out_5439972572798473920[65] = 0; - out_5439972572798473920[66] = 0; - out_5439972572798473920[67] = 0; - out_5439972572798473920[68] = 0; - out_5439972572798473920[69] = 0; - out_5439972572798473920[70] = 1; - out_5439972572798473920[71] = 0; - out_5439972572798473920[72] = 0; - out_5439972572798473920[73] = 0; - out_5439972572798473920[74] = 0; - out_5439972572798473920[75] = 0; - out_5439972572798473920[76] = 0; - out_5439972572798473920[77] = 0; - out_5439972572798473920[78] = 0; - out_5439972572798473920[79] = 0; - out_5439972572798473920[80] = 1; +void F_fun(double *state, double dt, double *out_1901673215728667839) { + out_1901673215728667839[0] = 1; + out_1901673215728667839[1] = 0; + out_1901673215728667839[2] = 0; + out_1901673215728667839[3] = 0; + out_1901673215728667839[4] = 0; + out_1901673215728667839[5] = 0; + out_1901673215728667839[6] = 0; + out_1901673215728667839[7] = 0; + out_1901673215728667839[8] = 0; + out_1901673215728667839[9] = 0; + out_1901673215728667839[10] = 1; + out_1901673215728667839[11] = 0; + out_1901673215728667839[12] = 0; + out_1901673215728667839[13] = 0; + out_1901673215728667839[14] = 0; + out_1901673215728667839[15] = 0; + out_1901673215728667839[16] = 0; + out_1901673215728667839[17] = 0; + out_1901673215728667839[18] = 0; + out_1901673215728667839[19] = 0; + out_1901673215728667839[20] = 1; + out_1901673215728667839[21] = 0; + out_1901673215728667839[22] = 0; + out_1901673215728667839[23] = 0; + out_1901673215728667839[24] = 0; + out_1901673215728667839[25] = 0; + out_1901673215728667839[26] = 0; + out_1901673215728667839[27] = 0; + out_1901673215728667839[28] = 0; + out_1901673215728667839[29] = 0; + out_1901673215728667839[30] = 1; + out_1901673215728667839[31] = 0; + out_1901673215728667839[32] = 0; + out_1901673215728667839[33] = 0; + out_1901673215728667839[34] = 0; + out_1901673215728667839[35] = 0; + out_1901673215728667839[36] = 0; + out_1901673215728667839[37] = 0; + out_1901673215728667839[38] = 0; + out_1901673215728667839[39] = 0; + out_1901673215728667839[40] = 1; + out_1901673215728667839[41] = 0; + out_1901673215728667839[42] = 0; + out_1901673215728667839[43] = 0; + out_1901673215728667839[44] = 0; + out_1901673215728667839[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_1901673215728667839[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1901673215728667839[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1901673215728667839[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1901673215728667839[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_1901673215728667839[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1901673215728667839[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1901673215728667839[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1901673215728667839[53] = -9.8100000000000005*dt; + out_1901673215728667839[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_1901673215728667839[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1901673215728667839[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1901673215728667839[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1901673215728667839[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_1901673215728667839[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1901673215728667839[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_1901673215728667839[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1901673215728667839[62] = 0; + out_1901673215728667839[63] = 0; + out_1901673215728667839[64] = 0; + out_1901673215728667839[65] = 0; + out_1901673215728667839[66] = 0; + out_1901673215728667839[67] = 0; + out_1901673215728667839[68] = 0; + out_1901673215728667839[69] = 0; + out_1901673215728667839[70] = 1; + out_1901673215728667839[71] = 0; + out_1901673215728667839[72] = 0; + out_1901673215728667839[73] = 0; + out_1901673215728667839[74] = 0; + out_1901673215728667839[75] = 0; + out_1901673215728667839[76] = 0; + out_1901673215728667839[77] = 0; + out_1901673215728667839[78] = 0; + out_1901673215728667839[79] = 0; + out_1901673215728667839[80] = 1; } -void h_25(double *state, double *unused, double *out_8501500738727009471) { - out_8501500738727009471[0] = state[6]; +void h_25(double *state, double *unused, double *out_141170775012007602) { + out_141170775012007602[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8190415473300357782) { - out_8190415473300357782[0] = 0; - out_8190415473300357782[1] = 0; - out_8190415473300357782[2] = 0; - out_8190415473300357782[3] = 0; - out_8190415473300357782[4] = 0; - out_8190415473300357782[5] = 0; - out_8190415473300357782[6] = 1; - out_8190415473300357782[7] = 0; - out_8190415473300357782[8] = 0; +void H_25(double *state, double *unused, double *out_4718415089905275147) { + out_4718415089905275147[0] = 0; + out_4718415089905275147[1] = 0; + out_4718415089905275147[2] = 0; + out_4718415089905275147[3] = 0; + out_4718415089905275147[4] = 0; + out_4718415089905275147[5] = 0; + out_4718415089905275147[6] = 1; + out_4718415089905275147[7] = 0; + out_4718415089905275147[8] = 0; } -void h_24(double *state, double *unused, double *out_7993481566605781117) { - out_7993481566605781117[0] = state[4]; - out_7993481566605781117[1] = state[5]; +void h_24(double *state, double *unused, double *out_6127458511898671622) { + out_6127458511898671622[0] = state[4]; + out_6127458511898671622[1] = state[5]; } -void H_24(double *state, double *unused, double *out_5146098263296009590) { - out_5146098263296009590[0] = 0; - out_5146098263296009590[1] = 0; - out_5146098263296009590[2] = 0; - out_5146098263296009590[3] = 0; - out_5146098263296009590[4] = 1; - out_5146098263296009590[5] = 0; - out_5146098263296009590[6] = 0; - out_5146098263296009590[7] = 0; - out_5146098263296009590[8] = 0; - out_5146098263296009590[9] = 0; - out_5146098263296009590[10] = 0; - out_5146098263296009590[11] = 0; - out_5146098263296009590[12] = 0; - out_5146098263296009590[13] = 0; - out_5146098263296009590[14] = 1; - out_5146098263296009590[15] = 0; - out_5146098263296009590[16] = 0; - out_5146098263296009590[17] = 0; +void H_24(double *state, double *unused, double *out_2541200666298125174) { + out_2541200666298125174[0] = 0; + out_2541200666298125174[1] = 0; + out_2541200666298125174[2] = 0; + out_2541200666298125174[3] = 0; + out_2541200666298125174[4] = 1; + out_2541200666298125174[5] = 0; + out_2541200666298125174[6] = 0; + out_2541200666298125174[7] = 0; + out_2541200666298125174[8] = 0; + out_2541200666298125174[9] = 0; + out_2541200666298125174[10] = 0; + out_2541200666298125174[11] = 0; + out_2541200666298125174[12] = 0; + out_2541200666298125174[13] = 0; + out_2541200666298125174[14] = 1; + out_2541200666298125174[15] = 0; + out_2541200666298125174[16] = 0; + out_2541200666298125174[17] = 0; } -void h_30(double *state, double *unused, double *out_8776694801011515360) { - out_8776694801011515360[0] = state[4]; +void h_30(double *state, double *unused, double *out_4296825053779108162) { + out_4296825053779108162[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8061076526157117712) { - out_8061076526157117712[0] = 0; - out_8061076526157117712[1] = 0; - out_8061076526157117712[2] = 0; - out_8061076526157117712[3] = 0; - out_8061076526157117712[4] = 1; - out_8061076526157117712[5] = 0; - out_8061076526157117712[6] = 0; - out_8061076526157117712[7] = 0; - out_8061076526157117712[8] = 0; +void H_30(double *state, double *unused, double *out_2200082131398026520) { + out_2200082131398026520[0] = 0; + out_2200082131398026520[1] = 0; + out_2200082131398026520[2] = 0; + out_2200082131398026520[3] = 0; + out_2200082131398026520[4] = 1; + out_2200082131398026520[5] = 0; + out_2200082131398026520[6] = 0; + out_2200082131398026520[7] = 0; + out_2200082131398026520[8] = 0; } -void h_26(double *state, double *unused, double *out_7296766696437168400) { - out_7296766696437168400[0] = state[7]; +void h_26(double *state, double *unused, double *out_5968496148460696103) { + out_5968496148460696103[0] = state[7]; } -void H_26(double *state, double *unused, double *out_4448912154426301558) { - out_4448912154426301558[0] = 0; - out_4448912154426301558[1] = 0; - out_4448912154426301558[2] = 0; - out_4448912154426301558[3] = 0; - out_4448912154426301558[4] = 0; - out_4448912154426301558[5] = 0; - out_4448912154426301558[6] = 0; - out_4448912154426301558[7] = 1; - out_4448912154426301558[8] = 0; +void H_26(double *state, double *unused, double *out_8459918408779331371) { + out_8459918408779331371[0] = 0; + out_8459918408779331371[1] = 0; + out_8459918408779331371[2] = 0; + out_8459918408779331371[3] = 0; + out_8459918408779331371[4] = 0; + out_8459918408779331371[5] = 0; + out_8459918408779331371[6] = 0; + out_8459918408779331371[7] = 1; + out_8459918408779331371[8] = 0; } -void h_27(double *state, double *unused, double *out_7237333786733854977) { - out_7237333786733854977[0] = state[3]; +void h_27(double *state, double *unused, double *out_4860502492648838043) { + out_4860502492648838043[0] = state[3]; } -void H_27(double *state, double *unused, double *out_5886313214356692801) { - out_5886313214356692801[0] = 0; - out_5886313214356692801[1] = 0; - out_5886313214356692801[2] = 0; - out_5886313214356692801[3] = 1; - out_5886313214356692801[4] = 0; - out_5886313214356692801[5] = 0; - out_5886313214356692801[6] = 0; - out_5886313214356692801[7] = 0; - out_5886313214356692801[8] = 0; +void H_27(double *state, double *unused, double *out_7025869341876243360) { + out_7025869341876243360[0] = 0; + out_7025869341876243360[1] = 0; + out_7025869341876243360[2] = 0; + out_7025869341876243360[3] = 1; + out_7025869341876243360[4] = 0; + out_7025869341876243360[5] = 0; + out_7025869341876243360[6] = 0; + out_7025869341876243360[7] = 0; + out_7025869341876243360[8] = 0; } -void h_29(double *state, double *unused, double *out_1081886590893194848) { - out_1081886590893194848[0] = state[1]; +void h_29(double *state, double *unused, double *out_1910332733701512893) { + out_1910332733701512893[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8571307870471509896) { - out_8571307870471509896[0] = 0; - out_8571307870471509896[1] = 1; - out_8571307870471509896[2] = 0; - out_8571307870471509896[3] = 0; - out_8571307870471509896[4] = 0; - out_8571307870471509896[5] = 0; - out_8571307870471509896[6] = 0; - out_8571307870471509896[7] = 0; - out_8571307870471509896[8] = 0; +void H_29(double *state, double *unused, double *out_8735880075718491161) { + out_8735880075718491161[0] = 0; + out_8735880075718491161[1] = 1; + out_8735880075718491161[2] = 0; + out_8735880075718491161[3] = 0; + out_8735880075718491161[4] = 0; + out_8735880075718491161[5] = 0; + out_8735880075718491161[6] = 0; + out_8735880075718491161[7] = 0; + out_8735880075718491161[8] = 0; } -void h_28(double *state, double *unused, double *out_6634017902057377460) { - out_6634017902057377460[0] = state[0]; +void h_28(double *state, double *unused, double *out_4414832447712484906) { + out_4414832447712484906[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6136580759052468019) { - out_6136580759052468019[0] = 1; - out_6136580759052468019[1] = 0; - out_6136580759052468019[2] = 0; - out_6136580759052468019[3] = 0; - out_6136580759052468019[4] = 0; - out_6136580759052468019[5] = 0; - out_6136580759052468019[6] = 0; - out_6136580759052468019[7] = 0; - out_6136580759052468019[8] = 0; +void H_28(double *state, double *unused, double *out_6772249804153164910) { + out_6772249804153164910[0] = 1; + out_6772249804153164910[1] = 0; + out_6772249804153164910[2] = 0; + out_6772249804153164910[3] = 0; + out_6772249804153164910[4] = 0; + out_6772249804153164910[5] = 0; + out_6772249804153164910[6] = 0; + out_6772249804153164910[7] = 0; + out_6772249804153164910[8] = 0; } -void h_31(double *state, double *unused, double *out_8658687407078138616) { - out_8658687407078138616[0] = state[8]; +void h_31(double *state, double *unused, double *out_1309460617616875565) { + out_1309460617616875565[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8221061435177318210) { - out_8221061435177318210[0] = 0; - out_8221061435177318210[1] = 0; - out_8221061435177318210[2] = 0; - out_8221061435177318210[3] = 0; - out_8221061435177318210[4] = 0; - out_8221061435177318210[5] = 0; - out_8221061435177318210[6] = 0; - out_8221061435177318210[7] = 0; - out_8221061435177318210[8] = 1; +void H_31(double *state, double *unused, double *out_9086126511012682847) { + out_9086126511012682847[0] = 0; + out_9086126511012682847[1] = 0; + out_9086126511012682847[2] = 0; + out_9086126511012682847[3] = 0; + out_9086126511012682847[4] = 0; + out_9086126511012682847[5] = 0; + out_9086126511012682847[6] = 0; + out_9086126511012682847[7] = 0; + out_9086126511012682847[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_8558441916270761648) { - err_fun(nom_x, delta_x, out_8558441916270761648); +void car_err_fun(double *nom_x, double *delta_x, double *out_4213074370852160810) { + err_fun(nom_x, delta_x, out_4213074370852160810); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_9137456234820429023) { - inv_err_fun(nom_x, true_x, out_9137456234820429023); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4007900572103243439) { + inv_err_fun(nom_x, true_x, out_4007900572103243439); } -void car_H_mod_fun(double *state, double *out_7685081031100061070) { - H_mod_fun(state, out_7685081031100061070); +void car_H_mod_fun(double *state, double *out_8824637158619611629) { + H_mod_fun(state, out_8824637158619611629); } -void car_f_fun(double *state, double dt, double *out_6817432226726583046) { - f_fun(state, dt, out_6817432226726583046); +void car_f_fun(double *state, double dt, double *out_7248181046558172931) { + f_fun(state, dt, out_7248181046558172931); } -void car_F_fun(double *state, double dt, double *out_5439972572798473920) { - F_fun(state, dt, out_5439972572798473920); +void car_F_fun(double *state, double dt, double *out_1901673215728667839) { + F_fun(state, dt, out_1901673215728667839); } -void car_h_25(double *state, double *unused, double *out_8501500738727009471) { - h_25(state, unused, out_8501500738727009471); +void car_h_25(double *state, double *unused, double *out_141170775012007602) { + h_25(state, unused, out_141170775012007602); } -void car_H_25(double *state, double *unused, double *out_8190415473300357782) { - H_25(state, unused, out_8190415473300357782); +void car_H_25(double *state, double *unused, double *out_4718415089905275147) { + H_25(state, unused, out_4718415089905275147); } -void car_h_24(double *state, double *unused, double *out_7993481566605781117) { - h_24(state, unused, out_7993481566605781117); +void car_h_24(double *state, double *unused, double *out_6127458511898671622) { + h_24(state, unused, out_6127458511898671622); } -void car_H_24(double *state, double *unused, double *out_5146098263296009590) { - H_24(state, unused, out_5146098263296009590); +void car_H_24(double *state, double *unused, double *out_2541200666298125174) { + H_24(state, unused, out_2541200666298125174); } -void car_h_30(double *state, double *unused, double *out_8776694801011515360) { - h_30(state, unused, out_8776694801011515360); +void car_h_30(double *state, double *unused, double *out_4296825053779108162) { + h_30(state, unused, out_4296825053779108162); } -void car_H_30(double *state, double *unused, double *out_8061076526157117712) { - H_30(state, unused, out_8061076526157117712); +void car_H_30(double *state, double *unused, double *out_2200082131398026520) { + H_30(state, unused, out_2200082131398026520); } -void car_h_26(double *state, double *unused, double *out_7296766696437168400) { - h_26(state, unused, out_7296766696437168400); +void car_h_26(double *state, double *unused, double *out_5968496148460696103) { + h_26(state, unused, out_5968496148460696103); } -void car_H_26(double *state, double *unused, double *out_4448912154426301558) { - H_26(state, unused, out_4448912154426301558); +void car_H_26(double *state, double *unused, double *out_8459918408779331371) { + H_26(state, unused, out_8459918408779331371); } -void car_h_27(double *state, double *unused, double *out_7237333786733854977) { - h_27(state, unused, out_7237333786733854977); +void car_h_27(double *state, double *unused, double *out_4860502492648838043) { + h_27(state, unused, out_4860502492648838043); } -void car_H_27(double *state, double *unused, double *out_5886313214356692801) { - H_27(state, unused, out_5886313214356692801); +void car_H_27(double *state, double *unused, double *out_7025869341876243360) { + H_27(state, unused, out_7025869341876243360); } -void car_h_29(double *state, double *unused, double *out_1081886590893194848) { - h_29(state, unused, out_1081886590893194848); +void car_h_29(double *state, double *unused, double *out_1910332733701512893) { + h_29(state, unused, out_1910332733701512893); } -void car_H_29(double *state, double *unused, double *out_8571307870471509896) { - H_29(state, unused, out_8571307870471509896); +void car_H_29(double *state, double *unused, double *out_8735880075718491161) { + H_29(state, unused, out_8735880075718491161); } -void car_h_28(double *state, double *unused, double *out_6634017902057377460) { - h_28(state, unused, out_6634017902057377460); +void car_h_28(double *state, double *unused, double *out_4414832447712484906) { + h_28(state, unused, out_4414832447712484906); } -void car_H_28(double *state, double *unused, double *out_6136580759052468019) { - H_28(state, unused, out_6136580759052468019); +void car_H_28(double *state, double *unused, double *out_6772249804153164910) { + H_28(state, unused, out_6772249804153164910); } -void car_h_31(double *state, double *unused, double *out_8658687407078138616) { - h_31(state, unused, out_8658687407078138616); +void car_h_31(double *state, double *unused, double *out_1309460617616875565) { + h_31(state, unused, out_1309460617616875565); } -void car_H_31(double *state, double *unused, double *out_8221061435177318210) { - H_31(state, unused, out_8221061435177318210); +void car_H_31(double *state, double *unused, double *out_9086126511012682847) { + H_31(state, unused, out_9086126511012682847); } 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 453b74fcf..ba7818d35 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_8558441916270761648); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_9137456234820429023); -void car_H_mod_fun(double *state, double *out_7685081031100061070); -void car_f_fun(double *state, double dt, double *out_6817432226726583046); -void car_F_fun(double *state, double dt, double *out_5439972572798473920); -void car_h_25(double *state, double *unused, double *out_8501500738727009471); -void car_H_25(double *state, double *unused, double *out_8190415473300357782); -void car_h_24(double *state, double *unused, double *out_7993481566605781117); -void car_H_24(double *state, double *unused, double *out_5146098263296009590); -void car_h_30(double *state, double *unused, double *out_8776694801011515360); -void car_H_30(double *state, double *unused, double *out_8061076526157117712); -void car_h_26(double *state, double *unused, double *out_7296766696437168400); -void car_H_26(double *state, double *unused, double *out_4448912154426301558); -void car_h_27(double *state, double *unused, double *out_7237333786733854977); -void car_H_27(double *state, double *unused, double *out_5886313214356692801); -void car_h_29(double *state, double *unused, double *out_1081886590893194848); -void car_H_29(double *state, double *unused, double *out_8571307870471509896); -void car_h_28(double *state, double *unused, double *out_6634017902057377460); -void car_H_28(double *state, double *unused, double *out_6136580759052468019); -void car_h_31(double *state, double *unused, double *out_8658687407078138616); -void car_H_31(double *state, double *unused, double *out_8221061435177318210); +void car_err_fun(double *nom_x, double *delta_x, double *out_4213074370852160810); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4007900572103243439); +void car_H_mod_fun(double *state, double *out_8824637158619611629); +void car_f_fun(double *state, double dt, double *out_7248181046558172931); +void car_F_fun(double *state, double dt, double *out_1901673215728667839); +void car_h_25(double *state, double *unused, double *out_141170775012007602); +void car_H_25(double *state, double *unused, double *out_4718415089905275147); +void car_h_24(double *state, double *unused, double *out_6127458511898671622); +void car_H_24(double *state, double *unused, double *out_2541200666298125174); +void car_h_30(double *state, double *unused, double *out_4296825053779108162); +void car_H_30(double *state, double *unused, double *out_2200082131398026520); +void car_h_26(double *state, double *unused, double *out_5968496148460696103); +void car_H_26(double *state, double *unused, double *out_8459918408779331371); +void car_h_27(double *state, double *unused, double *out_4860502492648838043); +void car_H_27(double *state, double *unused, double *out_7025869341876243360); +void car_h_29(double *state, double *unused, double *out_1910332733701512893); +void car_H_29(double *state, double *unused, double *out_8735880075718491161); +void car_h_28(double *state, double *unused, double *out_4414832447712484906); +void car_H_28(double *state, double *unused, double *out_6772249804153164910); +void car_h_31(double *state, double *unused, double *out_1309460617616875565); +void car_H_31(double *state, double *unused, double *out_9086126511012682847); 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 e349ae8cb..ba05dbad7 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_3697966966174848325) { - out_3697966966174848325[0] = delta_x[0] + nom_x[0]; - out_3697966966174848325[1] = delta_x[1] + nom_x[1]; - out_3697966966174848325[2] = delta_x[2] + nom_x[2]; - out_3697966966174848325[3] = delta_x[3] + nom_x[3]; - out_3697966966174848325[4] = delta_x[4] + nom_x[4]; - out_3697966966174848325[5] = delta_x[5] + nom_x[5]; - out_3697966966174848325[6] = delta_x[6] + nom_x[6]; - out_3697966966174848325[7] = delta_x[7] + nom_x[7]; - out_3697966966174848325[8] = delta_x[8] + nom_x[8]; - out_3697966966174848325[9] = delta_x[9] + nom_x[9]; - out_3697966966174848325[10] = delta_x[10] + nom_x[10]; - out_3697966966174848325[11] = delta_x[11] + nom_x[11]; - out_3697966966174848325[12] = delta_x[12] + nom_x[12]; - out_3697966966174848325[13] = delta_x[13] + nom_x[13]; - out_3697966966174848325[14] = delta_x[14] + nom_x[14]; - out_3697966966174848325[15] = delta_x[15] + nom_x[15]; - out_3697966966174848325[16] = delta_x[16] + nom_x[16]; - out_3697966966174848325[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6408835186344628642) { + out_6408835186344628642[0] = delta_x[0] + nom_x[0]; + out_6408835186344628642[1] = delta_x[1] + nom_x[1]; + out_6408835186344628642[2] = delta_x[2] + nom_x[2]; + out_6408835186344628642[3] = delta_x[3] + nom_x[3]; + out_6408835186344628642[4] = delta_x[4] + nom_x[4]; + out_6408835186344628642[5] = delta_x[5] + nom_x[5]; + out_6408835186344628642[6] = delta_x[6] + nom_x[6]; + out_6408835186344628642[7] = delta_x[7] + nom_x[7]; + out_6408835186344628642[8] = delta_x[8] + nom_x[8]; + out_6408835186344628642[9] = delta_x[9] + nom_x[9]; + out_6408835186344628642[10] = delta_x[10] + nom_x[10]; + out_6408835186344628642[11] = delta_x[11] + nom_x[11]; + out_6408835186344628642[12] = delta_x[12] + nom_x[12]; + out_6408835186344628642[13] = delta_x[13] + nom_x[13]; + out_6408835186344628642[14] = delta_x[14] + nom_x[14]; + out_6408835186344628642[15] = delta_x[15] + nom_x[15]; + out_6408835186344628642[16] = delta_x[16] + nom_x[16]; + out_6408835186344628642[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6121892126530152725) { - out_6121892126530152725[0] = -nom_x[0] + true_x[0]; - out_6121892126530152725[1] = -nom_x[1] + true_x[1]; - out_6121892126530152725[2] = -nom_x[2] + true_x[2]; - out_6121892126530152725[3] = -nom_x[3] + true_x[3]; - out_6121892126530152725[4] = -nom_x[4] + true_x[4]; - out_6121892126530152725[5] = -nom_x[5] + true_x[5]; - out_6121892126530152725[6] = -nom_x[6] + true_x[6]; - out_6121892126530152725[7] = -nom_x[7] + true_x[7]; - out_6121892126530152725[8] = -nom_x[8] + true_x[8]; - out_6121892126530152725[9] = -nom_x[9] + true_x[9]; - out_6121892126530152725[10] = -nom_x[10] + true_x[10]; - out_6121892126530152725[11] = -nom_x[11] + true_x[11]; - out_6121892126530152725[12] = -nom_x[12] + true_x[12]; - out_6121892126530152725[13] = -nom_x[13] + true_x[13]; - out_6121892126530152725[14] = -nom_x[14] + true_x[14]; - out_6121892126530152725[15] = -nom_x[15] + true_x[15]; - out_6121892126530152725[16] = -nom_x[16] + true_x[16]; - out_6121892126530152725[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4488020327469491521) { + out_4488020327469491521[0] = -nom_x[0] + true_x[0]; + out_4488020327469491521[1] = -nom_x[1] + true_x[1]; + out_4488020327469491521[2] = -nom_x[2] + true_x[2]; + out_4488020327469491521[3] = -nom_x[3] + true_x[3]; + out_4488020327469491521[4] = -nom_x[4] + true_x[4]; + out_4488020327469491521[5] = -nom_x[5] + true_x[5]; + out_4488020327469491521[6] = -nom_x[6] + true_x[6]; + out_4488020327469491521[7] = -nom_x[7] + true_x[7]; + out_4488020327469491521[8] = -nom_x[8] + true_x[8]; + out_4488020327469491521[9] = -nom_x[9] + true_x[9]; + out_4488020327469491521[10] = -nom_x[10] + true_x[10]; + out_4488020327469491521[11] = -nom_x[11] + true_x[11]; + out_4488020327469491521[12] = -nom_x[12] + true_x[12]; + out_4488020327469491521[13] = -nom_x[13] + true_x[13]; + out_4488020327469491521[14] = -nom_x[14] + true_x[14]; + out_4488020327469491521[15] = -nom_x[15] + true_x[15]; + out_4488020327469491521[16] = -nom_x[16] + true_x[16]; + out_4488020327469491521[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1116503706765055069) { - out_1116503706765055069[0] = 1.0; - out_1116503706765055069[1] = 0.0; - out_1116503706765055069[2] = 0.0; - out_1116503706765055069[3] = 0.0; - out_1116503706765055069[4] = 0.0; - out_1116503706765055069[5] = 0.0; - out_1116503706765055069[6] = 0.0; - out_1116503706765055069[7] = 0.0; - out_1116503706765055069[8] = 0.0; - out_1116503706765055069[9] = 0.0; - out_1116503706765055069[10] = 0.0; - out_1116503706765055069[11] = 0.0; - out_1116503706765055069[12] = 0.0; - out_1116503706765055069[13] = 0.0; - out_1116503706765055069[14] = 0.0; - out_1116503706765055069[15] = 0.0; - out_1116503706765055069[16] = 0.0; - out_1116503706765055069[17] = 0.0; - out_1116503706765055069[18] = 0.0; - out_1116503706765055069[19] = 1.0; - out_1116503706765055069[20] = 0.0; - out_1116503706765055069[21] = 0.0; - out_1116503706765055069[22] = 0.0; - out_1116503706765055069[23] = 0.0; - out_1116503706765055069[24] = 0.0; - out_1116503706765055069[25] = 0.0; - out_1116503706765055069[26] = 0.0; - out_1116503706765055069[27] = 0.0; - out_1116503706765055069[28] = 0.0; - out_1116503706765055069[29] = 0.0; - out_1116503706765055069[30] = 0.0; - out_1116503706765055069[31] = 0.0; - out_1116503706765055069[32] = 0.0; - out_1116503706765055069[33] = 0.0; - out_1116503706765055069[34] = 0.0; - out_1116503706765055069[35] = 0.0; - out_1116503706765055069[36] = 0.0; - out_1116503706765055069[37] = 0.0; - out_1116503706765055069[38] = 1.0; - out_1116503706765055069[39] = 0.0; - out_1116503706765055069[40] = 0.0; - out_1116503706765055069[41] = 0.0; - out_1116503706765055069[42] = 0.0; - out_1116503706765055069[43] = 0.0; - out_1116503706765055069[44] = 0.0; - out_1116503706765055069[45] = 0.0; - out_1116503706765055069[46] = 0.0; - out_1116503706765055069[47] = 0.0; - out_1116503706765055069[48] = 0.0; - out_1116503706765055069[49] = 0.0; - out_1116503706765055069[50] = 0.0; - out_1116503706765055069[51] = 0.0; - out_1116503706765055069[52] = 0.0; - out_1116503706765055069[53] = 0.0; - out_1116503706765055069[54] = 0.0; - out_1116503706765055069[55] = 0.0; - out_1116503706765055069[56] = 0.0; - out_1116503706765055069[57] = 1.0; - out_1116503706765055069[58] = 0.0; - out_1116503706765055069[59] = 0.0; - out_1116503706765055069[60] = 0.0; - out_1116503706765055069[61] = 0.0; - out_1116503706765055069[62] = 0.0; - out_1116503706765055069[63] = 0.0; - out_1116503706765055069[64] = 0.0; - out_1116503706765055069[65] = 0.0; - out_1116503706765055069[66] = 0.0; - out_1116503706765055069[67] = 0.0; - out_1116503706765055069[68] = 0.0; - out_1116503706765055069[69] = 0.0; - out_1116503706765055069[70] = 0.0; - out_1116503706765055069[71] = 0.0; - out_1116503706765055069[72] = 0.0; - out_1116503706765055069[73] = 0.0; - out_1116503706765055069[74] = 0.0; - out_1116503706765055069[75] = 0.0; - out_1116503706765055069[76] = 1.0; - out_1116503706765055069[77] = 0.0; - out_1116503706765055069[78] = 0.0; - out_1116503706765055069[79] = 0.0; - out_1116503706765055069[80] = 0.0; - out_1116503706765055069[81] = 0.0; - out_1116503706765055069[82] = 0.0; - out_1116503706765055069[83] = 0.0; - out_1116503706765055069[84] = 0.0; - out_1116503706765055069[85] = 0.0; - out_1116503706765055069[86] = 0.0; - out_1116503706765055069[87] = 0.0; - out_1116503706765055069[88] = 0.0; - out_1116503706765055069[89] = 0.0; - out_1116503706765055069[90] = 0.0; - out_1116503706765055069[91] = 0.0; - out_1116503706765055069[92] = 0.0; - out_1116503706765055069[93] = 0.0; - out_1116503706765055069[94] = 0.0; - out_1116503706765055069[95] = 1.0; - out_1116503706765055069[96] = 0.0; - out_1116503706765055069[97] = 0.0; - out_1116503706765055069[98] = 0.0; - out_1116503706765055069[99] = 0.0; - out_1116503706765055069[100] = 0.0; - out_1116503706765055069[101] = 0.0; - out_1116503706765055069[102] = 0.0; - out_1116503706765055069[103] = 0.0; - out_1116503706765055069[104] = 0.0; - out_1116503706765055069[105] = 0.0; - out_1116503706765055069[106] = 0.0; - out_1116503706765055069[107] = 0.0; - out_1116503706765055069[108] = 0.0; - out_1116503706765055069[109] = 0.0; - out_1116503706765055069[110] = 0.0; - out_1116503706765055069[111] = 0.0; - out_1116503706765055069[112] = 0.0; - out_1116503706765055069[113] = 0.0; - out_1116503706765055069[114] = 1.0; - out_1116503706765055069[115] = 0.0; - out_1116503706765055069[116] = 0.0; - out_1116503706765055069[117] = 0.0; - out_1116503706765055069[118] = 0.0; - out_1116503706765055069[119] = 0.0; - out_1116503706765055069[120] = 0.0; - out_1116503706765055069[121] = 0.0; - out_1116503706765055069[122] = 0.0; - out_1116503706765055069[123] = 0.0; - out_1116503706765055069[124] = 0.0; - out_1116503706765055069[125] = 0.0; - out_1116503706765055069[126] = 0.0; - out_1116503706765055069[127] = 0.0; - out_1116503706765055069[128] = 0.0; - out_1116503706765055069[129] = 0.0; - out_1116503706765055069[130] = 0.0; - out_1116503706765055069[131] = 0.0; - out_1116503706765055069[132] = 0.0; - out_1116503706765055069[133] = 1.0; - out_1116503706765055069[134] = 0.0; - out_1116503706765055069[135] = 0.0; - out_1116503706765055069[136] = 0.0; - out_1116503706765055069[137] = 0.0; - out_1116503706765055069[138] = 0.0; - out_1116503706765055069[139] = 0.0; - out_1116503706765055069[140] = 0.0; - out_1116503706765055069[141] = 0.0; - out_1116503706765055069[142] = 0.0; - out_1116503706765055069[143] = 0.0; - out_1116503706765055069[144] = 0.0; - out_1116503706765055069[145] = 0.0; - out_1116503706765055069[146] = 0.0; - out_1116503706765055069[147] = 0.0; - out_1116503706765055069[148] = 0.0; - out_1116503706765055069[149] = 0.0; - out_1116503706765055069[150] = 0.0; - out_1116503706765055069[151] = 0.0; - out_1116503706765055069[152] = 1.0; - out_1116503706765055069[153] = 0.0; - out_1116503706765055069[154] = 0.0; - out_1116503706765055069[155] = 0.0; - out_1116503706765055069[156] = 0.0; - out_1116503706765055069[157] = 0.0; - out_1116503706765055069[158] = 0.0; - out_1116503706765055069[159] = 0.0; - out_1116503706765055069[160] = 0.0; - out_1116503706765055069[161] = 0.0; - out_1116503706765055069[162] = 0.0; - out_1116503706765055069[163] = 0.0; - out_1116503706765055069[164] = 0.0; - out_1116503706765055069[165] = 0.0; - out_1116503706765055069[166] = 0.0; - out_1116503706765055069[167] = 0.0; - out_1116503706765055069[168] = 0.0; - out_1116503706765055069[169] = 0.0; - out_1116503706765055069[170] = 0.0; - out_1116503706765055069[171] = 1.0; - out_1116503706765055069[172] = 0.0; - out_1116503706765055069[173] = 0.0; - out_1116503706765055069[174] = 0.0; - out_1116503706765055069[175] = 0.0; - out_1116503706765055069[176] = 0.0; - out_1116503706765055069[177] = 0.0; - out_1116503706765055069[178] = 0.0; - out_1116503706765055069[179] = 0.0; - out_1116503706765055069[180] = 0.0; - out_1116503706765055069[181] = 0.0; - out_1116503706765055069[182] = 0.0; - out_1116503706765055069[183] = 0.0; - out_1116503706765055069[184] = 0.0; - out_1116503706765055069[185] = 0.0; - out_1116503706765055069[186] = 0.0; - out_1116503706765055069[187] = 0.0; - out_1116503706765055069[188] = 0.0; - out_1116503706765055069[189] = 0.0; - out_1116503706765055069[190] = 1.0; - out_1116503706765055069[191] = 0.0; - out_1116503706765055069[192] = 0.0; - out_1116503706765055069[193] = 0.0; - out_1116503706765055069[194] = 0.0; - out_1116503706765055069[195] = 0.0; - out_1116503706765055069[196] = 0.0; - out_1116503706765055069[197] = 0.0; - out_1116503706765055069[198] = 0.0; - out_1116503706765055069[199] = 0.0; - out_1116503706765055069[200] = 0.0; - out_1116503706765055069[201] = 0.0; - out_1116503706765055069[202] = 0.0; - out_1116503706765055069[203] = 0.0; - out_1116503706765055069[204] = 0.0; - out_1116503706765055069[205] = 0.0; - out_1116503706765055069[206] = 0.0; - out_1116503706765055069[207] = 0.0; - out_1116503706765055069[208] = 0.0; - out_1116503706765055069[209] = 1.0; - out_1116503706765055069[210] = 0.0; - out_1116503706765055069[211] = 0.0; - out_1116503706765055069[212] = 0.0; - out_1116503706765055069[213] = 0.0; - out_1116503706765055069[214] = 0.0; - out_1116503706765055069[215] = 0.0; - out_1116503706765055069[216] = 0.0; - out_1116503706765055069[217] = 0.0; - out_1116503706765055069[218] = 0.0; - out_1116503706765055069[219] = 0.0; - out_1116503706765055069[220] = 0.0; - out_1116503706765055069[221] = 0.0; - out_1116503706765055069[222] = 0.0; - out_1116503706765055069[223] = 0.0; - out_1116503706765055069[224] = 0.0; - out_1116503706765055069[225] = 0.0; - out_1116503706765055069[226] = 0.0; - out_1116503706765055069[227] = 0.0; - out_1116503706765055069[228] = 1.0; - out_1116503706765055069[229] = 0.0; - out_1116503706765055069[230] = 0.0; - out_1116503706765055069[231] = 0.0; - out_1116503706765055069[232] = 0.0; - out_1116503706765055069[233] = 0.0; - out_1116503706765055069[234] = 0.0; - out_1116503706765055069[235] = 0.0; - out_1116503706765055069[236] = 0.0; - out_1116503706765055069[237] = 0.0; - out_1116503706765055069[238] = 0.0; - out_1116503706765055069[239] = 0.0; - out_1116503706765055069[240] = 0.0; - out_1116503706765055069[241] = 0.0; - out_1116503706765055069[242] = 0.0; - out_1116503706765055069[243] = 0.0; - out_1116503706765055069[244] = 0.0; - out_1116503706765055069[245] = 0.0; - out_1116503706765055069[246] = 0.0; - out_1116503706765055069[247] = 1.0; - out_1116503706765055069[248] = 0.0; - out_1116503706765055069[249] = 0.0; - out_1116503706765055069[250] = 0.0; - out_1116503706765055069[251] = 0.0; - out_1116503706765055069[252] = 0.0; - out_1116503706765055069[253] = 0.0; - out_1116503706765055069[254] = 0.0; - out_1116503706765055069[255] = 0.0; - out_1116503706765055069[256] = 0.0; - out_1116503706765055069[257] = 0.0; - out_1116503706765055069[258] = 0.0; - out_1116503706765055069[259] = 0.0; - out_1116503706765055069[260] = 0.0; - out_1116503706765055069[261] = 0.0; - out_1116503706765055069[262] = 0.0; - out_1116503706765055069[263] = 0.0; - out_1116503706765055069[264] = 0.0; - out_1116503706765055069[265] = 0.0; - out_1116503706765055069[266] = 1.0; - out_1116503706765055069[267] = 0.0; - out_1116503706765055069[268] = 0.0; - out_1116503706765055069[269] = 0.0; - out_1116503706765055069[270] = 0.0; - out_1116503706765055069[271] = 0.0; - out_1116503706765055069[272] = 0.0; - out_1116503706765055069[273] = 0.0; - out_1116503706765055069[274] = 0.0; - out_1116503706765055069[275] = 0.0; - out_1116503706765055069[276] = 0.0; - out_1116503706765055069[277] = 0.0; - out_1116503706765055069[278] = 0.0; - out_1116503706765055069[279] = 0.0; - out_1116503706765055069[280] = 0.0; - out_1116503706765055069[281] = 0.0; - out_1116503706765055069[282] = 0.0; - out_1116503706765055069[283] = 0.0; - out_1116503706765055069[284] = 0.0; - out_1116503706765055069[285] = 1.0; - out_1116503706765055069[286] = 0.0; - out_1116503706765055069[287] = 0.0; - out_1116503706765055069[288] = 0.0; - out_1116503706765055069[289] = 0.0; - out_1116503706765055069[290] = 0.0; - out_1116503706765055069[291] = 0.0; - out_1116503706765055069[292] = 0.0; - out_1116503706765055069[293] = 0.0; - out_1116503706765055069[294] = 0.0; - out_1116503706765055069[295] = 0.0; - out_1116503706765055069[296] = 0.0; - out_1116503706765055069[297] = 0.0; - out_1116503706765055069[298] = 0.0; - out_1116503706765055069[299] = 0.0; - out_1116503706765055069[300] = 0.0; - out_1116503706765055069[301] = 0.0; - out_1116503706765055069[302] = 0.0; - out_1116503706765055069[303] = 0.0; - out_1116503706765055069[304] = 1.0; - out_1116503706765055069[305] = 0.0; - out_1116503706765055069[306] = 0.0; - out_1116503706765055069[307] = 0.0; - out_1116503706765055069[308] = 0.0; - out_1116503706765055069[309] = 0.0; - out_1116503706765055069[310] = 0.0; - out_1116503706765055069[311] = 0.0; - out_1116503706765055069[312] = 0.0; - out_1116503706765055069[313] = 0.0; - out_1116503706765055069[314] = 0.0; - out_1116503706765055069[315] = 0.0; - out_1116503706765055069[316] = 0.0; - out_1116503706765055069[317] = 0.0; - out_1116503706765055069[318] = 0.0; - out_1116503706765055069[319] = 0.0; - out_1116503706765055069[320] = 0.0; - out_1116503706765055069[321] = 0.0; - out_1116503706765055069[322] = 0.0; - out_1116503706765055069[323] = 1.0; +void H_mod_fun(double *state, double *out_8565439984289443181) { + out_8565439984289443181[0] = 1.0; + out_8565439984289443181[1] = 0.0; + out_8565439984289443181[2] = 0.0; + out_8565439984289443181[3] = 0.0; + out_8565439984289443181[4] = 0.0; + out_8565439984289443181[5] = 0.0; + out_8565439984289443181[6] = 0.0; + out_8565439984289443181[7] = 0.0; + out_8565439984289443181[8] = 0.0; + out_8565439984289443181[9] = 0.0; + out_8565439984289443181[10] = 0.0; + out_8565439984289443181[11] = 0.0; + out_8565439984289443181[12] = 0.0; + out_8565439984289443181[13] = 0.0; + out_8565439984289443181[14] = 0.0; + out_8565439984289443181[15] = 0.0; + out_8565439984289443181[16] = 0.0; + out_8565439984289443181[17] = 0.0; + out_8565439984289443181[18] = 0.0; + out_8565439984289443181[19] = 1.0; + out_8565439984289443181[20] = 0.0; + out_8565439984289443181[21] = 0.0; + out_8565439984289443181[22] = 0.0; + out_8565439984289443181[23] = 0.0; + out_8565439984289443181[24] = 0.0; + out_8565439984289443181[25] = 0.0; + out_8565439984289443181[26] = 0.0; + out_8565439984289443181[27] = 0.0; + out_8565439984289443181[28] = 0.0; + out_8565439984289443181[29] = 0.0; + out_8565439984289443181[30] = 0.0; + out_8565439984289443181[31] = 0.0; + out_8565439984289443181[32] = 0.0; + out_8565439984289443181[33] = 0.0; + out_8565439984289443181[34] = 0.0; + out_8565439984289443181[35] = 0.0; + out_8565439984289443181[36] = 0.0; + out_8565439984289443181[37] = 0.0; + out_8565439984289443181[38] = 1.0; + out_8565439984289443181[39] = 0.0; + out_8565439984289443181[40] = 0.0; + out_8565439984289443181[41] = 0.0; + out_8565439984289443181[42] = 0.0; + out_8565439984289443181[43] = 0.0; + out_8565439984289443181[44] = 0.0; + out_8565439984289443181[45] = 0.0; + out_8565439984289443181[46] = 0.0; + out_8565439984289443181[47] = 0.0; + out_8565439984289443181[48] = 0.0; + out_8565439984289443181[49] = 0.0; + out_8565439984289443181[50] = 0.0; + out_8565439984289443181[51] = 0.0; + out_8565439984289443181[52] = 0.0; + out_8565439984289443181[53] = 0.0; + out_8565439984289443181[54] = 0.0; + out_8565439984289443181[55] = 0.0; + out_8565439984289443181[56] = 0.0; + out_8565439984289443181[57] = 1.0; + out_8565439984289443181[58] = 0.0; + out_8565439984289443181[59] = 0.0; + out_8565439984289443181[60] = 0.0; + out_8565439984289443181[61] = 0.0; + out_8565439984289443181[62] = 0.0; + out_8565439984289443181[63] = 0.0; + out_8565439984289443181[64] = 0.0; + out_8565439984289443181[65] = 0.0; + out_8565439984289443181[66] = 0.0; + out_8565439984289443181[67] = 0.0; + out_8565439984289443181[68] = 0.0; + out_8565439984289443181[69] = 0.0; + out_8565439984289443181[70] = 0.0; + out_8565439984289443181[71] = 0.0; + out_8565439984289443181[72] = 0.0; + out_8565439984289443181[73] = 0.0; + out_8565439984289443181[74] = 0.0; + out_8565439984289443181[75] = 0.0; + out_8565439984289443181[76] = 1.0; + out_8565439984289443181[77] = 0.0; + out_8565439984289443181[78] = 0.0; + out_8565439984289443181[79] = 0.0; + out_8565439984289443181[80] = 0.0; + out_8565439984289443181[81] = 0.0; + out_8565439984289443181[82] = 0.0; + out_8565439984289443181[83] = 0.0; + out_8565439984289443181[84] = 0.0; + out_8565439984289443181[85] = 0.0; + out_8565439984289443181[86] = 0.0; + out_8565439984289443181[87] = 0.0; + out_8565439984289443181[88] = 0.0; + out_8565439984289443181[89] = 0.0; + out_8565439984289443181[90] = 0.0; + out_8565439984289443181[91] = 0.0; + out_8565439984289443181[92] = 0.0; + out_8565439984289443181[93] = 0.0; + out_8565439984289443181[94] = 0.0; + out_8565439984289443181[95] = 1.0; + out_8565439984289443181[96] = 0.0; + out_8565439984289443181[97] = 0.0; + out_8565439984289443181[98] = 0.0; + out_8565439984289443181[99] = 0.0; + out_8565439984289443181[100] = 0.0; + out_8565439984289443181[101] = 0.0; + out_8565439984289443181[102] = 0.0; + out_8565439984289443181[103] = 0.0; + out_8565439984289443181[104] = 0.0; + out_8565439984289443181[105] = 0.0; + out_8565439984289443181[106] = 0.0; + out_8565439984289443181[107] = 0.0; + out_8565439984289443181[108] = 0.0; + out_8565439984289443181[109] = 0.0; + out_8565439984289443181[110] = 0.0; + out_8565439984289443181[111] = 0.0; + out_8565439984289443181[112] = 0.0; + out_8565439984289443181[113] = 0.0; + out_8565439984289443181[114] = 1.0; + out_8565439984289443181[115] = 0.0; + out_8565439984289443181[116] = 0.0; + out_8565439984289443181[117] = 0.0; + out_8565439984289443181[118] = 0.0; + out_8565439984289443181[119] = 0.0; + out_8565439984289443181[120] = 0.0; + out_8565439984289443181[121] = 0.0; + out_8565439984289443181[122] = 0.0; + out_8565439984289443181[123] = 0.0; + out_8565439984289443181[124] = 0.0; + out_8565439984289443181[125] = 0.0; + out_8565439984289443181[126] = 0.0; + out_8565439984289443181[127] = 0.0; + out_8565439984289443181[128] = 0.0; + out_8565439984289443181[129] = 0.0; + out_8565439984289443181[130] = 0.0; + out_8565439984289443181[131] = 0.0; + out_8565439984289443181[132] = 0.0; + out_8565439984289443181[133] = 1.0; + out_8565439984289443181[134] = 0.0; + out_8565439984289443181[135] = 0.0; + out_8565439984289443181[136] = 0.0; + out_8565439984289443181[137] = 0.0; + out_8565439984289443181[138] = 0.0; + out_8565439984289443181[139] = 0.0; + out_8565439984289443181[140] = 0.0; + out_8565439984289443181[141] = 0.0; + out_8565439984289443181[142] = 0.0; + out_8565439984289443181[143] = 0.0; + out_8565439984289443181[144] = 0.0; + out_8565439984289443181[145] = 0.0; + out_8565439984289443181[146] = 0.0; + out_8565439984289443181[147] = 0.0; + out_8565439984289443181[148] = 0.0; + out_8565439984289443181[149] = 0.0; + out_8565439984289443181[150] = 0.0; + out_8565439984289443181[151] = 0.0; + out_8565439984289443181[152] = 1.0; + out_8565439984289443181[153] = 0.0; + out_8565439984289443181[154] = 0.0; + out_8565439984289443181[155] = 0.0; + out_8565439984289443181[156] = 0.0; + out_8565439984289443181[157] = 0.0; + out_8565439984289443181[158] = 0.0; + out_8565439984289443181[159] = 0.0; + out_8565439984289443181[160] = 0.0; + out_8565439984289443181[161] = 0.0; + out_8565439984289443181[162] = 0.0; + out_8565439984289443181[163] = 0.0; + out_8565439984289443181[164] = 0.0; + out_8565439984289443181[165] = 0.0; + out_8565439984289443181[166] = 0.0; + out_8565439984289443181[167] = 0.0; + out_8565439984289443181[168] = 0.0; + out_8565439984289443181[169] = 0.0; + out_8565439984289443181[170] = 0.0; + out_8565439984289443181[171] = 1.0; + out_8565439984289443181[172] = 0.0; + out_8565439984289443181[173] = 0.0; + out_8565439984289443181[174] = 0.0; + out_8565439984289443181[175] = 0.0; + out_8565439984289443181[176] = 0.0; + out_8565439984289443181[177] = 0.0; + out_8565439984289443181[178] = 0.0; + out_8565439984289443181[179] = 0.0; + out_8565439984289443181[180] = 0.0; + out_8565439984289443181[181] = 0.0; + out_8565439984289443181[182] = 0.0; + out_8565439984289443181[183] = 0.0; + out_8565439984289443181[184] = 0.0; + out_8565439984289443181[185] = 0.0; + out_8565439984289443181[186] = 0.0; + out_8565439984289443181[187] = 0.0; + out_8565439984289443181[188] = 0.0; + out_8565439984289443181[189] = 0.0; + out_8565439984289443181[190] = 1.0; + out_8565439984289443181[191] = 0.0; + out_8565439984289443181[192] = 0.0; + out_8565439984289443181[193] = 0.0; + out_8565439984289443181[194] = 0.0; + out_8565439984289443181[195] = 0.0; + out_8565439984289443181[196] = 0.0; + out_8565439984289443181[197] = 0.0; + out_8565439984289443181[198] = 0.0; + out_8565439984289443181[199] = 0.0; + out_8565439984289443181[200] = 0.0; + out_8565439984289443181[201] = 0.0; + out_8565439984289443181[202] = 0.0; + out_8565439984289443181[203] = 0.0; + out_8565439984289443181[204] = 0.0; + out_8565439984289443181[205] = 0.0; + out_8565439984289443181[206] = 0.0; + out_8565439984289443181[207] = 0.0; + out_8565439984289443181[208] = 0.0; + out_8565439984289443181[209] = 1.0; + out_8565439984289443181[210] = 0.0; + out_8565439984289443181[211] = 0.0; + out_8565439984289443181[212] = 0.0; + out_8565439984289443181[213] = 0.0; + out_8565439984289443181[214] = 0.0; + out_8565439984289443181[215] = 0.0; + out_8565439984289443181[216] = 0.0; + out_8565439984289443181[217] = 0.0; + out_8565439984289443181[218] = 0.0; + out_8565439984289443181[219] = 0.0; + out_8565439984289443181[220] = 0.0; + out_8565439984289443181[221] = 0.0; + out_8565439984289443181[222] = 0.0; + out_8565439984289443181[223] = 0.0; + out_8565439984289443181[224] = 0.0; + out_8565439984289443181[225] = 0.0; + out_8565439984289443181[226] = 0.0; + out_8565439984289443181[227] = 0.0; + out_8565439984289443181[228] = 1.0; + out_8565439984289443181[229] = 0.0; + out_8565439984289443181[230] = 0.0; + out_8565439984289443181[231] = 0.0; + out_8565439984289443181[232] = 0.0; + out_8565439984289443181[233] = 0.0; + out_8565439984289443181[234] = 0.0; + out_8565439984289443181[235] = 0.0; + out_8565439984289443181[236] = 0.0; + out_8565439984289443181[237] = 0.0; + out_8565439984289443181[238] = 0.0; + out_8565439984289443181[239] = 0.0; + out_8565439984289443181[240] = 0.0; + out_8565439984289443181[241] = 0.0; + out_8565439984289443181[242] = 0.0; + out_8565439984289443181[243] = 0.0; + out_8565439984289443181[244] = 0.0; + out_8565439984289443181[245] = 0.0; + out_8565439984289443181[246] = 0.0; + out_8565439984289443181[247] = 1.0; + out_8565439984289443181[248] = 0.0; + out_8565439984289443181[249] = 0.0; + out_8565439984289443181[250] = 0.0; + out_8565439984289443181[251] = 0.0; + out_8565439984289443181[252] = 0.0; + out_8565439984289443181[253] = 0.0; + out_8565439984289443181[254] = 0.0; + out_8565439984289443181[255] = 0.0; + out_8565439984289443181[256] = 0.0; + out_8565439984289443181[257] = 0.0; + out_8565439984289443181[258] = 0.0; + out_8565439984289443181[259] = 0.0; + out_8565439984289443181[260] = 0.0; + out_8565439984289443181[261] = 0.0; + out_8565439984289443181[262] = 0.0; + out_8565439984289443181[263] = 0.0; + out_8565439984289443181[264] = 0.0; + out_8565439984289443181[265] = 0.0; + out_8565439984289443181[266] = 1.0; + out_8565439984289443181[267] = 0.0; + out_8565439984289443181[268] = 0.0; + out_8565439984289443181[269] = 0.0; + out_8565439984289443181[270] = 0.0; + out_8565439984289443181[271] = 0.0; + out_8565439984289443181[272] = 0.0; + out_8565439984289443181[273] = 0.0; + out_8565439984289443181[274] = 0.0; + out_8565439984289443181[275] = 0.0; + out_8565439984289443181[276] = 0.0; + out_8565439984289443181[277] = 0.0; + out_8565439984289443181[278] = 0.0; + out_8565439984289443181[279] = 0.0; + out_8565439984289443181[280] = 0.0; + out_8565439984289443181[281] = 0.0; + out_8565439984289443181[282] = 0.0; + out_8565439984289443181[283] = 0.0; + out_8565439984289443181[284] = 0.0; + out_8565439984289443181[285] = 1.0; + out_8565439984289443181[286] = 0.0; + out_8565439984289443181[287] = 0.0; + out_8565439984289443181[288] = 0.0; + out_8565439984289443181[289] = 0.0; + out_8565439984289443181[290] = 0.0; + out_8565439984289443181[291] = 0.0; + out_8565439984289443181[292] = 0.0; + out_8565439984289443181[293] = 0.0; + out_8565439984289443181[294] = 0.0; + out_8565439984289443181[295] = 0.0; + out_8565439984289443181[296] = 0.0; + out_8565439984289443181[297] = 0.0; + out_8565439984289443181[298] = 0.0; + out_8565439984289443181[299] = 0.0; + out_8565439984289443181[300] = 0.0; + out_8565439984289443181[301] = 0.0; + out_8565439984289443181[302] = 0.0; + out_8565439984289443181[303] = 0.0; + out_8565439984289443181[304] = 1.0; + out_8565439984289443181[305] = 0.0; + out_8565439984289443181[306] = 0.0; + out_8565439984289443181[307] = 0.0; + out_8565439984289443181[308] = 0.0; + out_8565439984289443181[309] = 0.0; + out_8565439984289443181[310] = 0.0; + out_8565439984289443181[311] = 0.0; + out_8565439984289443181[312] = 0.0; + out_8565439984289443181[313] = 0.0; + out_8565439984289443181[314] = 0.0; + out_8565439984289443181[315] = 0.0; + out_8565439984289443181[316] = 0.0; + out_8565439984289443181[317] = 0.0; + out_8565439984289443181[318] = 0.0; + out_8565439984289443181[319] = 0.0; + out_8565439984289443181[320] = 0.0; + out_8565439984289443181[321] = 0.0; + out_8565439984289443181[322] = 0.0; + out_8565439984289443181[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2317659772838150308) { - out_2317659772838150308[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_2317659772838150308[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_2317659772838150308[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_2317659772838150308[3] = dt*state[12] + state[3]; - out_2317659772838150308[4] = dt*state[13] + state[4]; - out_2317659772838150308[5] = dt*state[14] + state[5]; - out_2317659772838150308[6] = state[6]; - out_2317659772838150308[7] = state[7]; - out_2317659772838150308[8] = state[8]; - out_2317659772838150308[9] = state[9]; - out_2317659772838150308[10] = state[10]; - out_2317659772838150308[11] = state[11]; - out_2317659772838150308[12] = state[12]; - out_2317659772838150308[13] = state[13]; - out_2317659772838150308[14] = state[14]; - out_2317659772838150308[15] = state[15]; - out_2317659772838150308[16] = state[16]; - out_2317659772838150308[17] = state[17]; +void f_fun(double *state, double dt, double *out_4570281413344882742) { + out_4570281413344882742[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_4570281413344882742[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_4570281413344882742[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_4570281413344882742[3] = dt*state[12] + state[3]; + out_4570281413344882742[4] = dt*state[13] + state[4]; + out_4570281413344882742[5] = dt*state[14] + state[5]; + out_4570281413344882742[6] = state[6]; + out_4570281413344882742[7] = state[7]; + out_4570281413344882742[8] = state[8]; + out_4570281413344882742[9] = state[9]; + out_4570281413344882742[10] = state[10]; + out_4570281413344882742[11] = state[11]; + out_4570281413344882742[12] = state[12]; + out_4570281413344882742[13] = state[13]; + out_4570281413344882742[14] = state[14]; + out_4570281413344882742[15] = state[15]; + out_4570281413344882742[16] = state[16]; + out_4570281413344882742[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6164130103148092652) { - out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[2] = 0; - out_6164130103148092652[3] = 0; - out_6164130103148092652[4] = 0; - out_6164130103148092652[5] = 0; - out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[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_6164130103148092652[9] = 0; - out_6164130103148092652[10] = 0; - out_6164130103148092652[11] = 0; - out_6164130103148092652[12] = 0; - out_6164130103148092652[13] = 0; - out_6164130103148092652[14] = 0; - out_6164130103148092652[15] = 0; - out_6164130103148092652[16] = 0; - out_6164130103148092652[17] = 0; - out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[20] = 0; - out_6164130103148092652[21] = 0; - out_6164130103148092652[22] = 0; - out_6164130103148092652[23] = 0; - out_6164130103148092652[24] = 0; - out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[27] = 0; - out_6164130103148092652[28] = 0; - out_6164130103148092652[29] = 0; - out_6164130103148092652[30] = 0; - out_6164130103148092652[31] = 0; - out_6164130103148092652[32] = 0; - out_6164130103148092652[33] = 0; - out_6164130103148092652[34] = 0; - out_6164130103148092652[35] = 0; - out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[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_6164130103148092652[39] = 0; - out_6164130103148092652[40] = 0; - out_6164130103148092652[41] = 0; - out_6164130103148092652[42] = 0; - out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[45] = 0; - out_6164130103148092652[46] = 0; - out_6164130103148092652[47] = 0; - out_6164130103148092652[48] = 0; - out_6164130103148092652[49] = 0; - out_6164130103148092652[50] = 0; - out_6164130103148092652[51] = 0; - out_6164130103148092652[52] = 0; - out_6164130103148092652[53] = 0; - out_6164130103148092652[54] = 0; - out_6164130103148092652[55] = 0; - out_6164130103148092652[56] = 0; - out_6164130103148092652[57] = 1; - out_6164130103148092652[58] = 0; - out_6164130103148092652[59] = 0; - out_6164130103148092652[60] = 0; - out_6164130103148092652[61] = 0; - out_6164130103148092652[62] = 0; - out_6164130103148092652[63] = 0; - out_6164130103148092652[64] = 0; - out_6164130103148092652[65] = 0; - out_6164130103148092652[66] = dt; - out_6164130103148092652[67] = 0; - out_6164130103148092652[68] = 0; - out_6164130103148092652[69] = 0; - out_6164130103148092652[70] = 0; - out_6164130103148092652[71] = 0; - out_6164130103148092652[72] = 0; - out_6164130103148092652[73] = 0; - out_6164130103148092652[74] = 0; - out_6164130103148092652[75] = 0; - out_6164130103148092652[76] = 1; - out_6164130103148092652[77] = 0; - out_6164130103148092652[78] = 0; - out_6164130103148092652[79] = 0; - out_6164130103148092652[80] = 0; - out_6164130103148092652[81] = 0; - out_6164130103148092652[82] = 0; - out_6164130103148092652[83] = 0; - out_6164130103148092652[84] = 0; - out_6164130103148092652[85] = dt; - out_6164130103148092652[86] = 0; - out_6164130103148092652[87] = 0; - out_6164130103148092652[88] = 0; - out_6164130103148092652[89] = 0; - out_6164130103148092652[90] = 0; - out_6164130103148092652[91] = 0; - out_6164130103148092652[92] = 0; - out_6164130103148092652[93] = 0; - out_6164130103148092652[94] = 0; - out_6164130103148092652[95] = 1; - out_6164130103148092652[96] = 0; - out_6164130103148092652[97] = 0; - out_6164130103148092652[98] = 0; - out_6164130103148092652[99] = 0; - out_6164130103148092652[100] = 0; - out_6164130103148092652[101] = 0; - out_6164130103148092652[102] = 0; - out_6164130103148092652[103] = 0; - out_6164130103148092652[104] = dt; - out_6164130103148092652[105] = 0; - out_6164130103148092652[106] = 0; - out_6164130103148092652[107] = 0; - out_6164130103148092652[108] = 0; - out_6164130103148092652[109] = 0; - out_6164130103148092652[110] = 0; - out_6164130103148092652[111] = 0; - out_6164130103148092652[112] = 0; - out_6164130103148092652[113] = 0; - out_6164130103148092652[114] = 1; - out_6164130103148092652[115] = 0; - out_6164130103148092652[116] = 0; - out_6164130103148092652[117] = 0; - out_6164130103148092652[118] = 0; - out_6164130103148092652[119] = 0; - out_6164130103148092652[120] = 0; - out_6164130103148092652[121] = 0; - out_6164130103148092652[122] = 0; - out_6164130103148092652[123] = 0; - out_6164130103148092652[124] = 0; - out_6164130103148092652[125] = 0; - out_6164130103148092652[126] = 0; - out_6164130103148092652[127] = 0; - out_6164130103148092652[128] = 0; - out_6164130103148092652[129] = 0; - out_6164130103148092652[130] = 0; - out_6164130103148092652[131] = 0; - out_6164130103148092652[132] = 0; - out_6164130103148092652[133] = 1; - out_6164130103148092652[134] = 0; - out_6164130103148092652[135] = 0; - out_6164130103148092652[136] = 0; - out_6164130103148092652[137] = 0; - out_6164130103148092652[138] = 0; - out_6164130103148092652[139] = 0; - out_6164130103148092652[140] = 0; - out_6164130103148092652[141] = 0; - out_6164130103148092652[142] = 0; - out_6164130103148092652[143] = 0; - out_6164130103148092652[144] = 0; - out_6164130103148092652[145] = 0; - out_6164130103148092652[146] = 0; - out_6164130103148092652[147] = 0; - out_6164130103148092652[148] = 0; - out_6164130103148092652[149] = 0; - out_6164130103148092652[150] = 0; - out_6164130103148092652[151] = 0; - out_6164130103148092652[152] = 1; - out_6164130103148092652[153] = 0; - out_6164130103148092652[154] = 0; - out_6164130103148092652[155] = 0; - out_6164130103148092652[156] = 0; - out_6164130103148092652[157] = 0; - out_6164130103148092652[158] = 0; - out_6164130103148092652[159] = 0; - out_6164130103148092652[160] = 0; - out_6164130103148092652[161] = 0; - out_6164130103148092652[162] = 0; - out_6164130103148092652[163] = 0; - out_6164130103148092652[164] = 0; - out_6164130103148092652[165] = 0; - out_6164130103148092652[166] = 0; - out_6164130103148092652[167] = 0; - out_6164130103148092652[168] = 0; - out_6164130103148092652[169] = 0; - out_6164130103148092652[170] = 0; - out_6164130103148092652[171] = 1; - out_6164130103148092652[172] = 0; - out_6164130103148092652[173] = 0; - out_6164130103148092652[174] = 0; - out_6164130103148092652[175] = 0; - out_6164130103148092652[176] = 0; - out_6164130103148092652[177] = 0; - out_6164130103148092652[178] = 0; - out_6164130103148092652[179] = 0; - out_6164130103148092652[180] = 0; - out_6164130103148092652[181] = 0; - out_6164130103148092652[182] = 0; - out_6164130103148092652[183] = 0; - out_6164130103148092652[184] = 0; - out_6164130103148092652[185] = 0; - out_6164130103148092652[186] = 0; - out_6164130103148092652[187] = 0; - out_6164130103148092652[188] = 0; - out_6164130103148092652[189] = 0; - out_6164130103148092652[190] = 1; - out_6164130103148092652[191] = 0; - out_6164130103148092652[192] = 0; - out_6164130103148092652[193] = 0; - out_6164130103148092652[194] = 0; - out_6164130103148092652[195] = 0; - out_6164130103148092652[196] = 0; - out_6164130103148092652[197] = 0; - out_6164130103148092652[198] = 0; - out_6164130103148092652[199] = 0; - out_6164130103148092652[200] = 0; - out_6164130103148092652[201] = 0; - out_6164130103148092652[202] = 0; - out_6164130103148092652[203] = 0; - out_6164130103148092652[204] = 0; - out_6164130103148092652[205] = 0; - out_6164130103148092652[206] = 0; - out_6164130103148092652[207] = 0; - out_6164130103148092652[208] = 0; - out_6164130103148092652[209] = 1; - out_6164130103148092652[210] = 0; - out_6164130103148092652[211] = 0; - out_6164130103148092652[212] = 0; - out_6164130103148092652[213] = 0; - out_6164130103148092652[214] = 0; - out_6164130103148092652[215] = 0; - out_6164130103148092652[216] = 0; - out_6164130103148092652[217] = 0; - out_6164130103148092652[218] = 0; - out_6164130103148092652[219] = 0; - out_6164130103148092652[220] = 0; - out_6164130103148092652[221] = 0; - out_6164130103148092652[222] = 0; - out_6164130103148092652[223] = 0; - out_6164130103148092652[224] = 0; - out_6164130103148092652[225] = 0; - out_6164130103148092652[226] = 0; - out_6164130103148092652[227] = 0; - out_6164130103148092652[228] = 1; - out_6164130103148092652[229] = 0; - out_6164130103148092652[230] = 0; - out_6164130103148092652[231] = 0; - out_6164130103148092652[232] = 0; - out_6164130103148092652[233] = 0; - out_6164130103148092652[234] = 0; - out_6164130103148092652[235] = 0; - out_6164130103148092652[236] = 0; - out_6164130103148092652[237] = 0; - out_6164130103148092652[238] = 0; - out_6164130103148092652[239] = 0; - out_6164130103148092652[240] = 0; - out_6164130103148092652[241] = 0; - out_6164130103148092652[242] = 0; - out_6164130103148092652[243] = 0; - out_6164130103148092652[244] = 0; - out_6164130103148092652[245] = 0; - out_6164130103148092652[246] = 0; - out_6164130103148092652[247] = 1; - out_6164130103148092652[248] = 0; - out_6164130103148092652[249] = 0; - out_6164130103148092652[250] = 0; - out_6164130103148092652[251] = 0; - out_6164130103148092652[252] = 0; - out_6164130103148092652[253] = 0; - out_6164130103148092652[254] = 0; - out_6164130103148092652[255] = 0; - out_6164130103148092652[256] = 0; - out_6164130103148092652[257] = 0; - out_6164130103148092652[258] = 0; - out_6164130103148092652[259] = 0; - out_6164130103148092652[260] = 0; - out_6164130103148092652[261] = 0; - out_6164130103148092652[262] = 0; - out_6164130103148092652[263] = 0; - out_6164130103148092652[264] = 0; - out_6164130103148092652[265] = 0; - out_6164130103148092652[266] = 1; - out_6164130103148092652[267] = 0; - out_6164130103148092652[268] = 0; - out_6164130103148092652[269] = 0; - out_6164130103148092652[270] = 0; - out_6164130103148092652[271] = 0; - out_6164130103148092652[272] = 0; - out_6164130103148092652[273] = 0; - out_6164130103148092652[274] = 0; - out_6164130103148092652[275] = 0; - out_6164130103148092652[276] = 0; - out_6164130103148092652[277] = 0; - out_6164130103148092652[278] = 0; - out_6164130103148092652[279] = 0; - out_6164130103148092652[280] = 0; - out_6164130103148092652[281] = 0; - out_6164130103148092652[282] = 0; - out_6164130103148092652[283] = 0; - out_6164130103148092652[284] = 0; - out_6164130103148092652[285] = 1; - out_6164130103148092652[286] = 0; - out_6164130103148092652[287] = 0; - out_6164130103148092652[288] = 0; - out_6164130103148092652[289] = 0; - out_6164130103148092652[290] = 0; - out_6164130103148092652[291] = 0; - out_6164130103148092652[292] = 0; - out_6164130103148092652[293] = 0; - out_6164130103148092652[294] = 0; - out_6164130103148092652[295] = 0; - out_6164130103148092652[296] = 0; - out_6164130103148092652[297] = 0; - out_6164130103148092652[298] = 0; - out_6164130103148092652[299] = 0; - out_6164130103148092652[300] = 0; - out_6164130103148092652[301] = 0; - out_6164130103148092652[302] = 0; - out_6164130103148092652[303] = 0; - out_6164130103148092652[304] = 1; - out_6164130103148092652[305] = 0; - out_6164130103148092652[306] = 0; - out_6164130103148092652[307] = 0; - out_6164130103148092652[308] = 0; - out_6164130103148092652[309] = 0; - out_6164130103148092652[310] = 0; - out_6164130103148092652[311] = 0; - out_6164130103148092652[312] = 0; - out_6164130103148092652[313] = 0; - out_6164130103148092652[314] = 0; - out_6164130103148092652[315] = 0; - out_6164130103148092652[316] = 0; - out_6164130103148092652[317] = 0; - out_6164130103148092652[318] = 0; - out_6164130103148092652[319] = 0; - out_6164130103148092652[320] = 0; - out_6164130103148092652[321] = 0; - out_6164130103148092652[322] = 0; - out_6164130103148092652[323] = 1; +void F_fun(double *state, double dt, double *out_3886745905040610692) { + out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[2] = 0; + out_3886745905040610692[3] = 0; + out_3886745905040610692[4] = 0; + out_3886745905040610692[5] = 0; + out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[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_3886745905040610692[9] = 0; + out_3886745905040610692[10] = 0; + out_3886745905040610692[11] = 0; + out_3886745905040610692[12] = 0; + out_3886745905040610692[13] = 0; + out_3886745905040610692[14] = 0; + out_3886745905040610692[15] = 0; + out_3886745905040610692[16] = 0; + out_3886745905040610692[17] = 0; + out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[20] = 0; + out_3886745905040610692[21] = 0; + out_3886745905040610692[22] = 0; + out_3886745905040610692[23] = 0; + out_3886745905040610692[24] = 0; + out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[27] = 0; + out_3886745905040610692[28] = 0; + out_3886745905040610692[29] = 0; + out_3886745905040610692[30] = 0; + out_3886745905040610692[31] = 0; + out_3886745905040610692[32] = 0; + out_3886745905040610692[33] = 0; + out_3886745905040610692[34] = 0; + out_3886745905040610692[35] = 0; + out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[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_3886745905040610692[39] = 0; + out_3886745905040610692[40] = 0; + out_3886745905040610692[41] = 0; + out_3886745905040610692[42] = 0; + out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[45] = 0; + out_3886745905040610692[46] = 0; + out_3886745905040610692[47] = 0; + out_3886745905040610692[48] = 0; + out_3886745905040610692[49] = 0; + out_3886745905040610692[50] = 0; + out_3886745905040610692[51] = 0; + out_3886745905040610692[52] = 0; + out_3886745905040610692[53] = 0; + out_3886745905040610692[54] = 0; + out_3886745905040610692[55] = 0; + out_3886745905040610692[56] = 0; + out_3886745905040610692[57] = 1; + out_3886745905040610692[58] = 0; + out_3886745905040610692[59] = 0; + out_3886745905040610692[60] = 0; + out_3886745905040610692[61] = 0; + out_3886745905040610692[62] = 0; + out_3886745905040610692[63] = 0; + out_3886745905040610692[64] = 0; + out_3886745905040610692[65] = 0; + out_3886745905040610692[66] = dt; + out_3886745905040610692[67] = 0; + out_3886745905040610692[68] = 0; + out_3886745905040610692[69] = 0; + out_3886745905040610692[70] = 0; + out_3886745905040610692[71] = 0; + out_3886745905040610692[72] = 0; + out_3886745905040610692[73] = 0; + out_3886745905040610692[74] = 0; + out_3886745905040610692[75] = 0; + out_3886745905040610692[76] = 1; + out_3886745905040610692[77] = 0; + out_3886745905040610692[78] = 0; + out_3886745905040610692[79] = 0; + out_3886745905040610692[80] = 0; + out_3886745905040610692[81] = 0; + out_3886745905040610692[82] = 0; + out_3886745905040610692[83] = 0; + out_3886745905040610692[84] = 0; + out_3886745905040610692[85] = dt; + out_3886745905040610692[86] = 0; + out_3886745905040610692[87] = 0; + out_3886745905040610692[88] = 0; + out_3886745905040610692[89] = 0; + out_3886745905040610692[90] = 0; + out_3886745905040610692[91] = 0; + out_3886745905040610692[92] = 0; + out_3886745905040610692[93] = 0; + out_3886745905040610692[94] = 0; + out_3886745905040610692[95] = 1; + out_3886745905040610692[96] = 0; + out_3886745905040610692[97] = 0; + out_3886745905040610692[98] = 0; + out_3886745905040610692[99] = 0; + out_3886745905040610692[100] = 0; + out_3886745905040610692[101] = 0; + out_3886745905040610692[102] = 0; + out_3886745905040610692[103] = 0; + out_3886745905040610692[104] = dt; + out_3886745905040610692[105] = 0; + out_3886745905040610692[106] = 0; + out_3886745905040610692[107] = 0; + out_3886745905040610692[108] = 0; + out_3886745905040610692[109] = 0; + out_3886745905040610692[110] = 0; + out_3886745905040610692[111] = 0; + out_3886745905040610692[112] = 0; + out_3886745905040610692[113] = 0; + out_3886745905040610692[114] = 1; + out_3886745905040610692[115] = 0; + out_3886745905040610692[116] = 0; + out_3886745905040610692[117] = 0; + out_3886745905040610692[118] = 0; + out_3886745905040610692[119] = 0; + out_3886745905040610692[120] = 0; + out_3886745905040610692[121] = 0; + out_3886745905040610692[122] = 0; + out_3886745905040610692[123] = 0; + out_3886745905040610692[124] = 0; + out_3886745905040610692[125] = 0; + out_3886745905040610692[126] = 0; + out_3886745905040610692[127] = 0; + out_3886745905040610692[128] = 0; + out_3886745905040610692[129] = 0; + out_3886745905040610692[130] = 0; + out_3886745905040610692[131] = 0; + out_3886745905040610692[132] = 0; + out_3886745905040610692[133] = 1; + out_3886745905040610692[134] = 0; + out_3886745905040610692[135] = 0; + out_3886745905040610692[136] = 0; + out_3886745905040610692[137] = 0; + out_3886745905040610692[138] = 0; + out_3886745905040610692[139] = 0; + out_3886745905040610692[140] = 0; + out_3886745905040610692[141] = 0; + out_3886745905040610692[142] = 0; + out_3886745905040610692[143] = 0; + out_3886745905040610692[144] = 0; + out_3886745905040610692[145] = 0; + out_3886745905040610692[146] = 0; + out_3886745905040610692[147] = 0; + out_3886745905040610692[148] = 0; + out_3886745905040610692[149] = 0; + out_3886745905040610692[150] = 0; + out_3886745905040610692[151] = 0; + out_3886745905040610692[152] = 1; + out_3886745905040610692[153] = 0; + out_3886745905040610692[154] = 0; + out_3886745905040610692[155] = 0; + out_3886745905040610692[156] = 0; + out_3886745905040610692[157] = 0; + out_3886745905040610692[158] = 0; + out_3886745905040610692[159] = 0; + out_3886745905040610692[160] = 0; + out_3886745905040610692[161] = 0; + out_3886745905040610692[162] = 0; + out_3886745905040610692[163] = 0; + out_3886745905040610692[164] = 0; + out_3886745905040610692[165] = 0; + out_3886745905040610692[166] = 0; + out_3886745905040610692[167] = 0; + out_3886745905040610692[168] = 0; + out_3886745905040610692[169] = 0; + out_3886745905040610692[170] = 0; + out_3886745905040610692[171] = 1; + out_3886745905040610692[172] = 0; + out_3886745905040610692[173] = 0; + out_3886745905040610692[174] = 0; + out_3886745905040610692[175] = 0; + out_3886745905040610692[176] = 0; + out_3886745905040610692[177] = 0; + out_3886745905040610692[178] = 0; + out_3886745905040610692[179] = 0; + out_3886745905040610692[180] = 0; + out_3886745905040610692[181] = 0; + out_3886745905040610692[182] = 0; + out_3886745905040610692[183] = 0; + out_3886745905040610692[184] = 0; + out_3886745905040610692[185] = 0; + out_3886745905040610692[186] = 0; + out_3886745905040610692[187] = 0; + out_3886745905040610692[188] = 0; + out_3886745905040610692[189] = 0; + out_3886745905040610692[190] = 1; + out_3886745905040610692[191] = 0; + out_3886745905040610692[192] = 0; + out_3886745905040610692[193] = 0; + out_3886745905040610692[194] = 0; + out_3886745905040610692[195] = 0; + out_3886745905040610692[196] = 0; + out_3886745905040610692[197] = 0; + out_3886745905040610692[198] = 0; + out_3886745905040610692[199] = 0; + out_3886745905040610692[200] = 0; + out_3886745905040610692[201] = 0; + out_3886745905040610692[202] = 0; + out_3886745905040610692[203] = 0; + out_3886745905040610692[204] = 0; + out_3886745905040610692[205] = 0; + out_3886745905040610692[206] = 0; + out_3886745905040610692[207] = 0; + out_3886745905040610692[208] = 0; + out_3886745905040610692[209] = 1; + out_3886745905040610692[210] = 0; + out_3886745905040610692[211] = 0; + out_3886745905040610692[212] = 0; + out_3886745905040610692[213] = 0; + out_3886745905040610692[214] = 0; + out_3886745905040610692[215] = 0; + out_3886745905040610692[216] = 0; + out_3886745905040610692[217] = 0; + out_3886745905040610692[218] = 0; + out_3886745905040610692[219] = 0; + out_3886745905040610692[220] = 0; + out_3886745905040610692[221] = 0; + out_3886745905040610692[222] = 0; + out_3886745905040610692[223] = 0; + out_3886745905040610692[224] = 0; + out_3886745905040610692[225] = 0; + out_3886745905040610692[226] = 0; + out_3886745905040610692[227] = 0; + out_3886745905040610692[228] = 1; + out_3886745905040610692[229] = 0; + out_3886745905040610692[230] = 0; + out_3886745905040610692[231] = 0; + out_3886745905040610692[232] = 0; + out_3886745905040610692[233] = 0; + out_3886745905040610692[234] = 0; + out_3886745905040610692[235] = 0; + out_3886745905040610692[236] = 0; + out_3886745905040610692[237] = 0; + out_3886745905040610692[238] = 0; + out_3886745905040610692[239] = 0; + out_3886745905040610692[240] = 0; + out_3886745905040610692[241] = 0; + out_3886745905040610692[242] = 0; + out_3886745905040610692[243] = 0; + out_3886745905040610692[244] = 0; + out_3886745905040610692[245] = 0; + out_3886745905040610692[246] = 0; + out_3886745905040610692[247] = 1; + out_3886745905040610692[248] = 0; + out_3886745905040610692[249] = 0; + out_3886745905040610692[250] = 0; + out_3886745905040610692[251] = 0; + out_3886745905040610692[252] = 0; + out_3886745905040610692[253] = 0; + out_3886745905040610692[254] = 0; + out_3886745905040610692[255] = 0; + out_3886745905040610692[256] = 0; + out_3886745905040610692[257] = 0; + out_3886745905040610692[258] = 0; + out_3886745905040610692[259] = 0; + out_3886745905040610692[260] = 0; + out_3886745905040610692[261] = 0; + out_3886745905040610692[262] = 0; + out_3886745905040610692[263] = 0; + out_3886745905040610692[264] = 0; + out_3886745905040610692[265] = 0; + out_3886745905040610692[266] = 1; + out_3886745905040610692[267] = 0; + out_3886745905040610692[268] = 0; + out_3886745905040610692[269] = 0; + out_3886745905040610692[270] = 0; + out_3886745905040610692[271] = 0; + out_3886745905040610692[272] = 0; + out_3886745905040610692[273] = 0; + out_3886745905040610692[274] = 0; + out_3886745905040610692[275] = 0; + out_3886745905040610692[276] = 0; + out_3886745905040610692[277] = 0; + out_3886745905040610692[278] = 0; + out_3886745905040610692[279] = 0; + out_3886745905040610692[280] = 0; + out_3886745905040610692[281] = 0; + out_3886745905040610692[282] = 0; + out_3886745905040610692[283] = 0; + out_3886745905040610692[284] = 0; + out_3886745905040610692[285] = 1; + out_3886745905040610692[286] = 0; + out_3886745905040610692[287] = 0; + out_3886745905040610692[288] = 0; + out_3886745905040610692[289] = 0; + out_3886745905040610692[290] = 0; + out_3886745905040610692[291] = 0; + out_3886745905040610692[292] = 0; + out_3886745905040610692[293] = 0; + out_3886745905040610692[294] = 0; + out_3886745905040610692[295] = 0; + out_3886745905040610692[296] = 0; + out_3886745905040610692[297] = 0; + out_3886745905040610692[298] = 0; + out_3886745905040610692[299] = 0; + out_3886745905040610692[300] = 0; + out_3886745905040610692[301] = 0; + out_3886745905040610692[302] = 0; + out_3886745905040610692[303] = 0; + out_3886745905040610692[304] = 1; + out_3886745905040610692[305] = 0; + out_3886745905040610692[306] = 0; + out_3886745905040610692[307] = 0; + out_3886745905040610692[308] = 0; + out_3886745905040610692[309] = 0; + out_3886745905040610692[310] = 0; + out_3886745905040610692[311] = 0; + out_3886745905040610692[312] = 0; + out_3886745905040610692[313] = 0; + out_3886745905040610692[314] = 0; + out_3886745905040610692[315] = 0; + out_3886745905040610692[316] = 0; + out_3886745905040610692[317] = 0; + out_3886745905040610692[318] = 0; + out_3886745905040610692[319] = 0; + out_3886745905040610692[320] = 0; + out_3886745905040610692[321] = 0; + out_3886745905040610692[322] = 0; + out_3886745905040610692[323] = 1; } -void h_4(double *state, double *unused, double *out_2811574505702470007) { - out_2811574505702470007[0] = state[6] + state[9]; - out_2811574505702470007[1] = state[7] + state[10]; - out_2811574505702470007[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1874588168802752989) { + out_1874588168802752989[0] = state[6] + state[9]; + out_1874588168802752989[1] = state[7] + state[10]; + out_1874588168802752989[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8385878700886675205) { - out_8385878700886675205[0] = 0; - out_8385878700886675205[1] = 0; - out_8385878700886675205[2] = 0; - out_8385878700886675205[3] = 0; - out_8385878700886675205[4] = 0; - out_8385878700886675205[5] = 0; - out_8385878700886675205[6] = 1; - out_8385878700886675205[7] = 0; - out_8385878700886675205[8] = 0; - out_8385878700886675205[9] = 1; - out_8385878700886675205[10] = 0; - out_8385878700886675205[11] = 0; - out_8385878700886675205[12] = 0; - out_8385878700886675205[13] = 0; - out_8385878700886675205[14] = 0; - out_8385878700886675205[15] = 0; - out_8385878700886675205[16] = 0; - out_8385878700886675205[17] = 0; - out_8385878700886675205[18] = 0; - out_8385878700886675205[19] = 0; - out_8385878700886675205[20] = 0; - out_8385878700886675205[21] = 0; - out_8385878700886675205[22] = 0; - out_8385878700886675205[23] = 0; - out_8385878700886675205[24] = 0; - out_8385878700886675205[25] = 1; - out_8385878700886675205[26] = 0; - out_8385878700886675205[27] = 0; - out_8385878700886675205[28] = 1; - out_8385878700886675205[29] = 0; - out_8385878700886675205[30] = 0; - out_8385878700886675205[31] = 0; - out_8385878700886675205[32] = 0; - out_8385878700886675205[33] = 0; - out_8385878700886675205[34] = 0; - out_8385878700886675205[35] = 0; - out_8385878700886675205[36] = 0; - out_8385878700886675205[37] = 0; - out_8385878700886675205[38] = 0; - out_8385878700886675205[39] = 0; - out_8385878700886675205[40] = 0; - out_8385878700886675205[41] = 0; - out_8385878700886675205[42] = 0; - out_8385878700886675205[43] = 0; - out_8385878700886675205[44] = 1; - out_8385878700886675205[45] = 0; - out_8385878700886675205[46] = 0; - out_8385878700886675205[47] = 1; - out_8385878700886675205[48] = 0; - out_8385878700886675205[49] = 0; - out_8385878700886675205[50] = 0; - out_8385878700886675205[51] = 0; - out_8385878700886675205[52] = 0; - out_8385878700886675205[53] = 0; +void H_4(double *state, double *unused, double *out_6745741258383146320) { + out_6745741258383146320[0] = 0; + out_6745741258383146320[1] = 0; + out_6745741258383146320[2] = 0; + out_6745741258383146320[3] = 0; + out_6745741258383146320[4] = 0; + out_6745741258383146320[5] = 0; + out_6745741258383146320[6] = 1; + out_6745741258383146320[7] = 0; + out_6745741258383146320[8] = 0; + out_6745741258383146320[9] = 1; + out_6745741258383146320[10] = 0; + out_6745741258383146320[11] = 0; + out_6745741258383146320[12] = 0; + out_6745741258383146320[13] = 0; + out_6745741258383146320[14] = 0; + out_6745741258383146320[15] = 0; + out_6745741258383146320[16] = 0; + out_6745741258383146320[17] = 0; + out_6745741258383146320[18] = 0; + out_6745741258383146320[19] = 0; + out_6745741258383146320[20] = 0; + out_6745741258383146320[21] = 0; + out_6745741258383146320[22] = 0; + out_6745741258383146320[23] = 0; + out_6745741258383146320[24] = 0; + out_6745741258383146320[25] = 1; + out_6745741258383146320[26] = 0; + out_6745741258383146320[27] = 0; + out_6745741258383146320[28] = 1; + out_6745741258383146320[29] = 0; + out_6745741258383146320[30] = 0; + out_6745741258383146320[31] = 0; + out_6745741258383146320[32] = 0; + out_6745741258383146320[33] = 0; + out_6745741258383146320[34] = 0; + out_6745741258383146320[35] = 0; + out_6745741258383146320[36] = 0; + out_6745741258383146320[37] = 0; + out_6745741258383146320[38] = 0; + out_6745741258383146320[39] = 0; + out_6745741258383146320[40] = 0; + out_6745741258383146320[41] = 0; + out_6745741258383146320[42] = 0; + out_6745741258383146320[43] = 0; + out_6745741258383146320[44] = 1; + out_6745741258383146320[45] = 0; + out_6745741258383146320[46] = 0; + out_6745741258383146320[47] = 1; + out_6745741258383146320[48] = 0; + out_6745741258383146320[49] = 0; + out_6745741258383146320[50] = 0; + out_6745741258383146320[51] = 0; + out_6745741258383146320[52] = 0; + out_6745741258383146320[53] = 0; } -void h_10(double *state, double *unused, double *out_5534858922172779190) { - out_5534858922172779190[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5534858922172779190[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5534858922172779190[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_904127136794521345) { + out_904127136794521345[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_904127136794521345[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_904127136794521345[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_3607384786905077425) { - out_3607384786905077425[0] = 0; - out_3607384786905077425[1] = 9.8100000000000005*cos(state[1]); - out_3607384786905077425[2] = 0; - out_3607384786905077425[3] = 0; - out_3607384786905077425[4] = -state[8]; - out_3607384786905077425[5] = state[7]; - out_3607384786905077425[6] = 0; - out_3607384786905077425[7] = state[5]; - out_3607384786905077425[8] = -state[4]; - out_3607384786905077425[9] = 0; - out_3607384786905077425[10] = 0; - out_3607384786905077425[11] = 0; - out_3607384786905077425[12] = 1; - out_3607384786905077425[13] = 0; - out_3607384786905077425[14] = 0; - out_3607384786905077425[15] = 1; - out_3607384786905077425[16] = 0; - out_3607384786905077425[17] = 0; - out_3607384786905077425[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3607384786905077425[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3607384786905077425[20] = 0; - out_3607384786905077425[21] = state[8]; - out_3607384786905077425[22] = 0; - out_3607384786905077425[23] = -state[6]; - out_3607384786905077425[24] = -state[5]; - out_3607384786905077425[25] = 0; - out_3607384786905077425[26] = state[3]; - out_3607384786905077425[27] = 0; - out_3607384786905077425[28] = 0; - out_3607384786905077425[29] = 0; - out_3607384786905077425[30] = 0; - out_3607384786905077425[31] = 1; - out_3607384786905077425[32] = 0; - out_3607384786905077425[33] = 0; - out_3607384786905077425[34] = 1; - out_3607384786905077425[35] = 0; - out_3607384786905077425[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3607384786905077425[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3607384786905077425[38] = 0; - out_3607384786905077425[39] = -state[7]; - out_3607384786905077425[40] = state[6]; - out_3607384786905077425[41] = 0; - out_3607384786905077425[42] = state[4]; - out_3607384786905077425[43] = -state[3]; - out_3607384786905077425[44] = 0; - out_3607384786905077425[45] = 0; - out_3607384786905077425[46] = 0; - out_3607384786905077425[47] = 0; - out_3607384786905077425[48] = 0; - out_3607384786905077425[49] = 0; - out_3607384786905077425[50] = 1; - out_3607384786905077425[51] = 0; - out_3607384786905077425[52] = 0; - out_3607384786905077425[53] = 1; +void H_10(double *state, double *unused, double *out_138933893569938853) { + out_138933893569938853[0] = 0; + out_138933893569938853[1] = 9.8100000000000005*cos(state[1]); + out_138933893569938853[2] = 0; + out_138933893569938853[3] = 0; + out_138933893569938853[4] = -state[8]; + out_138933893569938853[5] = state[7]; + out_138933893569938853[6] = 0; + out_138933893569938853[7] = state[5]; + out_138933893569938853[8] = -state[4]; + out_138933893569938853[9] = 0; + out_138933893569938853[10] = 0; + out_138933893569938853[11] = 0; + out_138933893569938853[12] = 1; + out_138933893569938853[13] = 0; + out_138933893569938853[14] = 0; + out_138933893569938853[15] = 1; + out_138933893569938853[16] = 0; + out_138933893569938853[17] = 0; + out_138933893569938853[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_138933893569938853[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_138933893569938853[20] = 0; + out_138933893569938853[21] = state[8]; + out_138933893569938853[22] = 0; + out_138933893569938853[23] = -state[6]; + out_138933893569938853[24] = -state[5]; + out_138933893569938853[25] = 0; + out_138933893569938853[26] = state[3]; + out_138933893569938853[27] = 0; + out_138933893569938853[28] = 0; + out_138933893569938853[29] = 0; + out_138933893569938853[30] = 0; + out_138933893569938853[31] = 1; + out_138933893569938853[32] = 0; + out_138933893569938853[33] = 0; + out_138933893569938853[34] = 1; + out_138933893569938853[35] = 0; + out_138933893569938853[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_138933893569938853[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_138933893569938853[38] = 0; + out_138933893569938853[39] = -state[7]; + out_138933893569938853[40] = state[6]; + out_138933893569938853[41] = 0; + out_138933893569938853[42] = state[4]; + out_138933893569938853[43] = -state[3]; + out_138933893569938853[44] = 0; + out_138933893569938853[45] = 0; + out_138933893569938853[46] = 0; + out_138933893569938853[47] = 0; + out_138933893569938853[48] = 0; + out_138933893569938853[49] = 0; + out_138933893569938853[50] = 1; + out_138933893569938853[51] = 0; + out_138933893569938853[52] = 0; + out_138933893569938853[53] = 1; } -void h_13(double *state, double *unused, double *out_7690213453916874753) { - out_7690213453916874753[0] = state[3]; - out_7690213453916874753[1] = state[4]; - out_7690213453916874753[2] = state[5]; +void h_13(double *state, double *unused, double *out_5867467314771514899) { + out_5867467314771514899[0] = state[3]; + out_5867467314771514899[1] = state[4]; + out_5867467314771514899[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6848591547490543610) { - out_6848591547490543610[0] = 0; - out_6848591547490543610[1] = 0; - out_6848591547490543610[2] = 0; - out_6848591547490543610[3] = 1; - out_6848591547490543610[4] = 0; - out_6848591547490543610[5] = 0; - out_6848591547490543610[6] = 0; - out_6848591547490543610[7] = 0; - out_6848591547490543610[8] = 0; - out_6848591547490543610[9] = 0; - out_6848591547490543610[10] = 0; - out_6848591547490543610[11] = 0; - out_6848591547490543610[12] = 0; - out_6848591547490543610[13] = 0; - out_6848591547490543610[14] = 0; - out_6848591547490543610[15] = 0; - out_6848591547490543610[16] = 0; - out_6848591547490543610[17] = 0; - out_6848591547490543610[18] = 0; - out_6848591547490543610[19] = 0; - out_6848591547490543610[20] = 0; - out_6848591547490543610[21] = 0; - out_6848591547490543610[22] = 1; - out_6848591547490543610[23] = 0; - out_6848591547490543610[24] = 0; - out_6848591547490543610[25] = 0; - out_6848591547490543610[26] = 0; - out_6848591547490543610[27] = 0; - out_6848591547490543610[28] = 0; - out_6848591547490543610[29] = 0; - out_6848591547490543610[30] = 0; - out_6848591547490543610[31] = 0; - out_6848591547490543610[32] = 0; - out_6848591547490543610[33] = 0; - out_6848591547490543610[34] = 0; - out_6848591547490543610[35] = 0; - out_6848591547490543610[36] = 0; - out_6848591547490543610[37] = 0; - out_6848591547490543610[38] = 0; - out_6848591547490543610[39] = 0; - out_6848591547490543610[40] = 0; - out_6848591547490543610[41] = 1; - out_6848591547490543610[42] = 0; - out_6848591547490543610[43] = 0; - out_6848591547490543610[44] = 0; - out_6848591547490543610[45] = 0; - out_6848591547490543610[46] = 0; - out_6848591547490543610[47] = 0; - out_6848591547490543610[48] = 0; - out_6848591547490543610[49] = 0; - out_6848591547490543610[50] = 0; - out_6848591547490543610[51] = 0; - out_6848591547490543610[52] = 0; - out_6848591547490543610[53] = 0; +void H_13(double *state, double *unused, double *out_8488728989994072495) { + out_8488728989994072495[0] = 0; + out_8488728989994072495[1] = 0; + out_8488728989994072495[2] = 0; + out_8488728989994072495[3] = 1; + out_8488728989994072495[4] = 0; + out_8488728989994072495[5] = 0; + out_8488728989994072495[6] = 0; + out_8488728989994072495[7] = 0; + out_8488728989994072495[8] = 0; + out_8488728989994072495[9] = 0; + out_8488728989994072495[10] = 0; + out_8488728989994072495[11] = 0; + out_8488728989994072495[12] = 0; + out_8488728989994072495[13] = 0; + out_8488728989994072495[14] = 0; + out_8488728989994072495[15] = 0; + out_8488728989994072495[16] = 0; + out_8488728989994072495[17] = 0; + out_8488728989994072495[18] = 0; + out_8488728989994072495[19] = 0; + out_8488728989994072495[20] = 0; + out_8488728989994072495[21] = 0; + out_8488728989994072495[22] = 1; + out_8488728989994072495[23] = 0; + out_8488728989994072495[24] = 0; + out_8488728989994072495[25] = 0; + out_8488728989994072495[26] = 0; + out_8488728989994072495[27] = 0; + out_8488728989994072495[28] = 0; + out_8488728989994072495[29] = 0; + out_8488728989994072495[30] = 0; + out_8488728989994072495[31] = 0; + out_8488728989994072495[32] = 0; + out_8488728989994072495[33] = 0; + out_8488728989994072495[34] = 0; + out_8488728989994072495[35] = 0; + out_8488728989994072495[36] = 0; + out_8488728989994072495[37] = 0; + out_8488728989994072495[38] = 0; + out_8488728989994072495[39] = 0; + out_8488728989994072495[40] = 0; + out_8488728989994072495[41] = 1; + out_8488728989994072495[42] = 0; + out_8488728989994072495[43] = 0; + out_8488728989994072495[44] = 0; + out_8488728989994072495[45] = 0; + out_8488728989994072495[46] = 0; + out_8488728989994072495[47] = 0; + out_8488728989994072495[48] = 0; + out_8488728989994072495[49] = 0; + out_8488728989994072495[50] = 0; + out_8488728989994072495[51] = 0; + out_8488728989994072495[52] = 0; + out_8488728989994072495[53] = 0; } -void h_14(double *state, double *unused, double *out_1351222622664013473) { - out_1351222622664013473[0] = state[6]; - out_1351222622664013473[1] = state[7]; - out_1351222622664013473[2] = state[8]; +void h_14(double *state, double *unused, double *out_6345221351211143880) { + out_6345221351211143880[0] = state[6]; + out_6345221351211143880[1] = state[7]; + out_6345221351211143880[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5303090268591302909) { - out_5303090268591302909[0] = 0; - out_5303090268591302909[1] = 0; - out_5303090268591302909[2] = 0; - out_5303090268591302909[3] = 0; - out_5303090268591302909[4] = 0; - out_5303090268591302909[5] = 0; - out_5303090268591302909[6] = 1; - out_5303090268591302909[7] = 0; - out_5303090268591302909[8] = 0; - out_5303090268591302909[9] = 0; - out_5303090268591302909[10] = 0; - out_5303090268591302909[11] = 0; - out_5303090268591302909[12] = 0; - out_5303090268591302909[13] = 0; - out_5303090268591302909[14] = 0; - out_5303090268591302909[15] = 0; - out_5303090268591302909[16] = 0; - out_5303090268591302909[17] = 0; - out_5303090268591302909[18] = 0; - out_5303090268591302909[19] = 0; - out_5303090268591302909[20] = 0; - out_5303090268591302909[21] = 0; - out_5303090268591302909[22] = 0; - out_5303090268591302909[23] = 0; - out_5303090268591302909[24] = 0; - out_5303090268591302909[25] = 1; - out_5303090268591302909[26] = 0; - out_5303090268591302909[27] = 0; - out_5303090268591302909[28] = 0; - out_5303090268591302909[29] = 0; - out_5303090268591302909[30] = 0; - out_5303090268591302909[31] = 0; - out_5303090268591302909[32] = 0; - out_5303090268591302909[33] = 0; - out_5303090268591302909[34] = 0; - out_5303090268591302909[35] = 0; - out_5303090268591302909[36] = 0; - out_5303090268591302909[37] = 0; - out_5303090268591302909[38] = 0; - out_5303090268591302909[39] = 0; - out_5303090268591302909[40] = 0; - out_5303090268591302909[41] = 0; - out_5303090268591302909[42] = 0; - out_5303090268591302909[43] = 0; - out_5303090268591302909[44] = 1; - out_5303090268591302909[45] = 0; - out_5303090268591302909[46] = 0; - out_5303090268591302909[47] = 0; - out_5303090268591302909[48] = 0; - out_5303090268591302909[49] = 0; - out_5303090268591302909[50] = 0; - out_5303090268591302909[51] = 0; - out_5303090268591302909[52] = 0; - out_5303090268591302909[53] = 0; +void H_14(double *state, double *unused, double *out_3662952826087774024) { + out_3662952826087774024[0] = 0; + out_3662952826087774024[1] = 0; + out_3662952826087774024[2] = 0; + out_3662952826087774024[3] = 0; + out_3662952826087774024[4] = 0; + out_3662952826087774024[5] = 0; + out_3662952826087774024[6] = 1; + out_3662952826087774024[7] = 0; + out_3662952826087774024[8] = 0; + out_3662952826087774024[9] = 0; + out_3662952826087774024[10] = 0; + out_3662952826087774024[11] = 0; + out_3662952826087774024[12] = 0; + out_3662952826087774024[13] = 0; + out_3662952826087774024[14] = 0; + out_3662952826087774024[15] = 0; + out_3662952826087774024[16] = 0; + out_3662952826087774024[17] = 0; + out_3662952826087774024[18] = 0; + out_3662952826087774024[19] = 0; + out_3662952826087774024[20] = 0; + out_3662952826087774024[21] = 0; + out_3662952826087774024[22] = 0; + out_3662952826087774024[23] = 0; + out_3662952826087774024[24] = 0; + out_3662952826087774024[25] = 1; + out_3662952826087774024[26] = 0; + out_3662952826087774024[27] = 0; + out_3662952826087774024[28] = 0; + out_3662952826087774024[29] = 0; + out_3662952826087774024[30] = 0; + out_3662952826087774024[31] = 0; + out_3662952826087774024[32] = 0; + out_3662952826087774024[33] = 0; + out_3662952826087774024[34] = 0; + out_3662952826087774024[35] = 0; + out_3662952826087774024[36] = 0; + out_3662952826087774024[37] = 0; + out_3662952826087774024[38] = 0; + out_3662952826087774024[39] = 0; + out_3662952826087774024[40] = 0; + out_3662952826087774024[41] = 0; + out_3662952826087774024[42] = 0; + out_3662952826087774024[43] = 0; + out_3662952826087774024[44] = 1; + out_3662952826087774024[45] = 0; + out_3662952826087774024[46] = 0; + out_3662952826087774024[47] = 0; + out_3662952826087774024[48] = 0; + out_3662952826087774024[49] = 0; + out_3662952826087774024[50] = 0; + out_3662952826087774024[51] = 0; + out_3662952826087774024[52] = 0; + out_3662952826087774024[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_3697966966174848325) { - err_fun(nom_x, delta_x, out_3697966966174848325); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6408835186344628642) { + err_fun(nom_x, delta_x, out_6408835186344628642); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6121892126530152725) { - inv_err_fun(nom_x, true_x, out_6121892126530152725); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4488020327469491521) { + inv_err_fun(nom_x, true_x, out_4488020327469491521); } -void pose_H_mod_fun(double *state, double *out_1116503706765055069) { - H_mod_fun(state, out_1116503706765055069); +void pose_H_mod_fun(double *state, double *out_8565439984289443181) { + H_mod_fun(state, out_8565439984289443181); } -void pose_f_fun(double *state, double dt, double *out_2317659772838150308) { - f_fun(state, dt, out_2317659772838150308); +void pose_f_fun(double *state, double dt, double *out_4570281413344882742) { + f_fun(state, dt, out_4570281413344882742); } -void pose_F_fun(double *state, double dt, double *out_6164130103148092652) { - F_fun(state, dt, out_6164130103148092652); +void pose_F_fun(double *state, double dt, double *out_3886745905040610692) { + F_fun(state, dt, out_3886745905040610692); } -void pose_h_4(double *state, double *unused, double *out_2811574505702470007) { - h_4(state, unused, out_2811574505702470007); +void pose_h_4(double *state, double *unused, double *out_1874588168802752989) { + h_4(state, unused, out_1874588168802752989); } -void pose_H_4(double *state, double *unused, double *out_8385878700886675205) { - H_4(state, unused, out_8385878700886675205); +void pose_H_4(double *state, double *unused, double *out_6745741258383146320) { + H_4(state, unused, out_6745741258383146320); } -void pose_h_10(double *state, double *unused, double *out_5534858922172779190) { - h_10(state, unused, out_5534858922172779190); +void pose_h_10(double *state, double *unused, double *out_904127136794521345) { + h_10(state, unused, out_904127136794521345); } -void pose_H_10(double *state, double *unused, double *out_3607384786905077425) { - H_10(state, unused, out_3607384786905077425); +void pose_H_10(double *state, double *unused, double *out_138933893569938853) { + H_10(state, unused, out_138933893569938853); } -void pose_h_13(double *state, double *unused, double *out_7690213453916874753) { - h_13(state, unused, out_7690213453916874753); +void pose_h_13(double *state, double *unused, double *out_5867467314771514899) { + h_13(state, unused, out_5867467314771514899); } -void pose_H_13(double *state, double *unused, double *out_6848591547490543610) { - H_13(state, unused, out_6848591547490543610); +void pose_H_13(double *state, double *unused, double *out_8488728989994072495) { + H_13(state, unused, out_8488728989994072495); } -void pose_h_14(double *state, double *unused, double *out_1351222622664013473) { - h_14(state, unused, out_1351222622664013473); +void pose_h_14(double *state, double *unused, double *out_6345221351211143880) { + h_14(state, unused, out_6345221351211143880); } -void pose_H_14(double *state, double *unused, double *out_5303090268591302909) { - H_14(state, unused, out_5303090268591302909); +void pose_H_14(double *state, double *unused, double *out_3662952826087774024) { + H_14(state, unused, out_3662952826087774024); } 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 b85056f82..ff1e6b1c6 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_3697966966174848325); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6121892126530152725); -void pose_H_mod_fun(double *state, double *out_1116503706765055069); -void pose_f_fun(double *state, double dt, double *out_2317659772838150308); -void pose_F_fun(double *state, double dt, double *out_6164130103148092652); -void pose_h_4(double *state, double *unused, double *out_2811574505702470007); -void pose_H_4(double *state, double *unused, double *out_8385878700886675205); -void pose_h_10(double *state, double *unused, double *out_5534858922172779190); -void pose_H_10(double *state, double *unused, double *out_3607384786905077425); -void pose_h_13(double *state, double *unused, double *out_7690213453916874753); -void pose_H_13(double *state, double *unused, double *out_6848591547490543610); -void pose_h_14(double *state, double *unused, double *out_1351222622664013473); -void pose_H_14(double *state, double *unused, double *out_5303090268591302909); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6408835186344628642); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4488020327469491521); +void pose_H_mod_fun(double *state, double *out_8565439984289443181); +void pose_f_fun(double *state, double dt, double *out_4570281413344882742); +void pose_F_fun(double *state, double dt, double *out_3886745905040610692); +void pose_h_4(double *state, double *unused, double *out_1874588168802752989); +void pose_H_4(double *state, double *unused, double *out_6745741258383146320); +void pose_h_10(double *state, double *unused, double *out_904127136794521345); +void pose_H_10(double *state, double *unused, double *out_138933893569938853); +void pose_h_13(double *state, double *unused, double *out_5867467314771514899); +void pose_H_13(double *state, double *unused, double *out_8488728989994072495); +void pose_h_14(double *state, double *unused, double *out_6345221351211143880); +void pose_H_14(double *state, double *unused, double *out_3662952826087774024); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index dab31a0e8..7254826e9 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ