diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index dd7a86df5..a7aa172d6 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 f85cade5e..3fae99477 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 aad778fae..811b98908 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 273c39fa4..fb29f10c4 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 5fbf88837..4156c2d9e 100755 Binary files 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b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 496501c60..7d43b8ef3 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 03c9cc0ed..5859a3ae1 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-45038112-DEBUG"; +const uint8_t gitversion[19] = "DEV-c612f7a1-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d072b7983..bd88ce5c5 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 9ee906c29..3cf13cbe2 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 1cb686474..683b53034 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index ee1a24cd3..2390a525c 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index f7a5cabe2..f26c7900d 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index f82020a88..b64e4b173 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index bbef3c64d..6b696546a 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index 9eb6fae53..a38174566 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 651a7b823..44f2d22ec 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 4770f25e8..054e6bfab 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 7609fed90..248d9ba60 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index ea3f0cee8..02905fe53 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 9eff3c2b7..080026827 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 9a3128598..665d504a0 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 1286bf23c..4b3df9de0 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 77d072f36..adb5ffe6b 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 0bcbd92c6..4acf1c026 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index e7c425388..27ae626e1 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 2286eec2e..f88d205a9 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index ac2b1c5d3..bbb0ce31e 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 82ab6b768..77bb8e0bc 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-45038112-DEBUG \ No newline at end of file +DEV-c612f7a1-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 3f0e7d585..731b2266b 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_5320341998124928693) { - out_5320341998124928693[0] = delta_x[0] + nom_x[0]; - out_5320341998124928693[1] = delta_x[1] + nom_x[1]; - out_5320341998124928693[2] = delta_x[2] + nom_x[2]; - out_5320341998124928693[3] = delta_x[3] + nom_x[3]; - out_5320341998124928693[4] = delta_x[4] + nom_x[4]; - out_5320341998124928693[5] = delta_x[5] + nom_x[5]; - out_5320341998124928693[6] = delta_x[6] + nom_x[6]; - out_5320341998124928693[7] = delta_x[7] + nom_x[7]; - out_5320341998124928693[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_417238876910560070) { + out_417238876910560070[0] = delta_x[0] + nom_x[0]; + out_417238876910560070[1] = delta_x[1] + nom_x[1]; + out_417238876910560070[2] = delta_x[2] + nom_x[2]; + out_417238876910560070[3] = delta_x[3] + nom_x[3]; + out_417238876910560070[4] = delta_x[4] + nom_x[4]; + out_417238876910560070[5] = delta_x[5] + nom_x[5]; + out_417238876910560070[6] = delta_x[6] + nom_x[6]; + out_417238876910560070[7] = delta_x[7] + nom_x[7]; + out_417238876910560070[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_864421799547270951) { - out_864421799547270951[0] = -nom_x[0] + true_x[0]; - out_864421799547270951[1] = -nom_x[1] + true_x[1]; - out_864421799547270951[2] = -nom_x[2] + true_x[2]; - out_864421799547270951[3] = -nom_x[3] + true_x[3]; - out_864421799547270951[4] = -nom_x[4] + true_x[4]; - out_864421799547270951[5] = -nom_x[5] + true_x[5]; - out_864421799547270951[6] = -nom_x[6] + true_x[6]; - out_864421799547270951[7] = -nom_x[7] + true_x[7]; - out_864421799547270951[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2214194102385980691) { + out_2214194102385980691[0] = -nom_x[0] + true_x[0]; + out_2214194102385980691[1] = -nom_x[1] + true_x[1]; + out_2214194102385980691[2] = -nom_x[2] + true_x[2]; + out_2214194102385980691[3] = -nom_x[3] + true_x[3]; + out_2214194102385980691[4] = -nom_x[4] + true_x[4]; + out_2214194102385980691[5] = -nom_x[5] + true_x[5]; + out_2214194102385980691[6] = -nom_x[6] + true_x[6]; + out_2214194102385980691[7] = -nom_x[7] + true_x[7]; + out_2214194102385980691[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_3451790410312107701) { - out_3451790410312107701[0] = 1.0; - out_3451790410312107701[1] = 0.0; - out_3451790410312107701[2] = 0.0; - out_3451790410312107701[3] = 0.0; - out_3451790410312107701[4] = 0.0; - out_3451790410312107701[5] = 0.0; - out_3451790410312107701[6] = 0.0; - out_3451790410312107701[7] = 0.0; - out_3451790410312107701[8] = 0.0; - out_3451790410312107701[9] = 0.0; - out_3451790410312107701[10] = 1.0; - out_3451790410312107701[11] = 0.0; - out_3451790410312107701[12] = 0.0; - out_3451790410312107701[13] = 0.0; - out_3451790410312107701[14] = 0.0; - out_3451790410312107701[15] = 0.0; - out_3451790410312107701[16] = 0.0; - out_3451790410312107701[17] = 0.0; - out_3451790410312107701[18] = 0.0; - out_3451790410312107701[19] = 0.0; - out_3451790410312107701[20] = 1.0; - out_3451790410312107701[21] = 0.0; - out_3451790410312107701[22] = 0.0; - out_3451790410312107701[23] = 0.0; - out_3451790410312107701[24] = 0.0; - out_3451790410312107701[25] = 0.0; - out_3451790410312107701[26] = 0.0; - out_3451790410312107701[27] = 0.0; - out_3451790410312107701[28] = 0.0; - out_3451790410312107701[29] = 0.0; - out_3451790410312107701[30] = 1.0; - out_3451790410312107701[31] = 0.0; - out_3451790410312107701[32] = 0.0; - out_3451790410312107701[33] = 0.0; - out_3451790410312107701[34] = 0.0; - out_3451790410312107701[35] = 0.0; - out_3451790410312107701[36] = 0.0; - out_3451790410312107701[37] = 0.0; - out_3451790410312107701[38] = 0.0; - out_3451790410312107701[39] = 0.0; - out_3451790410312107701[40] = 1.0; - out_3451790410312107701[41] = 0.0; - out_3451790410312107701[42] = 0.0; - out_3451790410312107701[43] = 0.0; - out_3451790410312107701[44] = 0.0; - out_3451790410312107701[45] = 0.0; - out_3451790410312107701[46] = 0.0; - out_3451790410312107701[47] = 0.0; - out_3451790410312107701[48] = 0.0; - out_3451790410312107701[49] = 0.0; - out_3451790410312107701[50] = 1.0; - out_3451790410312107701[51] = 0.0; - out_3451790410312107701[52] = 0.0; - out_3451790410312107701[53] = 0.0; - out_3451790410312107701[54] = 0.0; - out_3451790410312107701[55] = 0.0; - out_3451790410312107701[56] = 0.0; - out_3451790410312107701[57] = 0.0; - out_3451790410312107701[58] = 0.0; - out_3451790410312107701[59] = 0.0; - out_3451790410312107701[60] = 1.0; - out_3451790410312107701[61] = 0.0; - out_3451790410312107701[62] = 0.0; - out_3451790410312107701[63] = 0.0; - out_3451790410312107701[64] = 0.0; - out_3451790410312107701[65] = 0.0; - out_3451790410312107701[66] = 0.0; - out_3451790410312107701[67] = 0.0; - out_3451790410312107701[68] = 0.0; - out_3451790410312107701[69] = 0.0; - out_3451790410312107701[70] = 1.0; - out_3451790410312107701[71] = 0.0; - out_3451790410312107701[72] = 0.0; - out_3451790410312107701[73] = 0.0; - out_3451790410312107701[74] = 0.0; - out_3451790410312107701[75] = 0.0; - out_3451790410312107701[76] = 0.0; - out_3451790410312107701[77] = 0.0; - out_3451790410312107701[78] = 0.0; - out_3451790410312107701[79] = 0.0; - out_3451790410312107701[80] = 1.0; +void H_mod_fun(double *state, double *out_2617678226180198985) { + out_2617678226180198985[0] = 1.0; + out_2617678226180198985[1] = 0.0; + out_2617678226180198985[2] = 0.0; + out_2617678226180198985[3] = 0.0; + out_2617678226180198985[4] = 0.0; + out_2617678226180198985[5] = 0.0; + out_2617678226180198985[6] = 0.0; + out_2617678226180198985[7] = 0.0; + out_2617678226180198985[8] = 0.0; + out_2617678226180198985[9] = 0.0; + out_2617678226180198985[10] = 1.0; + out_2617678226180198985[11] = 0.0; + out_2617678226180198985[12] = 0.0; + out_2617678226180198985[13] = 0.0; + out_2617678226180198985[14] = 0.0; + out_2617678226180198985[15] = 0.0; + out_2617678226180198985[16] = 0.0; + out_2617678226180198985[17] = 0.0; + out_2617678226180198985[18] = 0.0; + out_2617678226180198985[19] = 0.0; + out_2617678226180198985[20] = 1.0; + out_2617678226180198985[21] = 0.0; + out_2617678226180198985[22] = 0.0; + out_2617678226180198985[23] = 0.0; + out_2617678226180198985[24] = 0.0; + out_2617678226180198985[25] = 0.0; + out_2617678226180198985[26] = 0.0; + out_2617678226180198985[27] = 0.0; + out_2617678226180198985[28] = 0.0; + out_2617678226180198985[29] = 0.0; + out_2617678226180198985[30] = 1.0; + out_2617678226180198985[31] = 0.0; + out_2617678226180198985[32] = 0.0; + out_2617678226180198985[33] = 0.0; + out_2617678226180198985[34] = 0.0; + out_2617678226180198985[35] = 0.0; + out_2617678226180198985[36] = 0.0; + out_2617678226180198985[37] = 0.0; + out_2617678226180198985[38] = 0.0; + out_2617678226180198985[39] = 0.0; + out_2617678226180198985[40] = 1.0; + out_2617678226180198985[41] = 0.0; + out_2617678226180198985[42] = 0.0; + out_2617678226180198985[43] = 0.0; + out_2617678226180198985[44] = 0.0; + out_2617678226180198985[45] = 0.0; + out_2617678226180198985[46] = 0.0; + out_2617678226180198985[47] = 0.0; + out_2617678226180198985[48] = 0.0; + out_2617678226180198985[49] = 0.0; + out_2617678226180198985[50] = 1.0; + out_2617678226180198985[51] = 0.0; + out_2617678226180198985[52] = 0.0; + out_2617678226180198985[53] = 0.0; + out_2617678226180198985[54] = 0.0; + out_2617678226180198985[55] = 0.0; + out_2617678226180198985[56] = 0.0; + out_2617678226180198985[57] = 0.0; + out_2617678226180198985[58] = 0.0; + out_2617678226180198985[59] = 0.0; + out_2617678226180198985[60] = 1.0; + out_2617678226180198985[61] = 0.0; + out_2617678226180198985[62] = 0.0; + out_2617678226180198985[63] = 0.0; + out_2617678226180198985[64] = 0.0; + out_2617678226180198985[65] = 0.0; + out_2617678226180198985[66] = 0.0; + out_2617678226180198985[67] = 0.0; + out_2617678226180198985[68] = 0.0; + out_2617678226180198985[69] = 0.0; + out_2617678226180198985[70] = 1.0; + out_2617678226180198985[71] = 0.0; + out_2617678226180198985[72] = 0.0; + out_2617678226180198985[73] = 0.0; + out_2617678226180198985[74] = 0.0; + out_2617678226180198985[75] = 0.0; + out_2617678226180198985[76] = 0.0; + out_2617678226180198985[77] = 0.0; + out_2617678226180198985[78] = 0.0; + out_2617678226180198985[79] = 0.0; + out_2617678226180198985[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4081593184001938296) { - out_4081593184001938296[0] = state[0]; - out_4081593184001938296[1] = state[1]; - out_4081593184001938296[2] = state[2]; - out_4081593184001938296[3] = state[3]; - out_4081593184001938296[4] = state[4]; - out_4081593184001938296[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_4081593184001938296[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_4081593184001938296[7] = state[7]; - out_4081593184001938296[8] = state[8]; +void f_fun(double *state, double dt, double *out_2248561019141826344) { + out_2248561019141826344[0] = state[0]; + out_2248561019141826344[1] = state[1]; + out_2248561019141826344[2] = state[2]; + out_2248561019141826344[3] = state[3]; + out_2248561019141826344[4] = state[4]; + out_2248561019141826344[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_2248561019141826344[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_2248561019141826344[7] = state[7]; + out_2248561019141826344[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6533608797065389332) { - out_6533608797065389332[0] = 1; - out_6533608797065389332[1] = 0; - out_6533608797065389332[2] = 0; - out_6533608797065389332[3] = 0; - out_6533608797065389332[4] = 0; - out_6533608797065389332[5] = 0; - out_6533608797065389332[6] = 0; - out_6533608797065389332[7] = 0; - out_6533608797065389332[8] = 0; - out_6533608797065389332[9] = 0; - out_6533608797065389332[10] = 1; - out_6533608797065389332[11] = 0; - out_6533608797065389332[12] = 0; - out_6533608797065389332[13] = 0; - out_6533608797065389332[14] = 0; - out_6533608797065389332[15] = 0; - out_6533608797065389332[16] = 0; - out_6533608797065389332[17] = 0; - out_6533608797065389332[18] = 0; - out_6533608797065389332[19] = 0; - out_6533608797065389332[20] = 1; - out_6533608797065389332[21] = 0; - out_6533608797065389332[22] = 0; - out_6533608797065389332[23] = 0; - out_6533608797065389332[24] = 0; - out_6533608797065389332[25] = 0; - out_6533608797065389332[26] = 0; - out_6533608797065389332[27] = 0; - out_6533608797065389332[28] = 0; - out_6533608797065389332[29] = 0; - out_6533608797065389332[30] = 1; - out_6533608797065389332[31] = 0; - out_6533608797065389332[32] = 0; - out_6533608797065389332[33] = 0; - out_6533608797065389332[34] = 0; - out_6533608797065389332[35] = 0; - out_6533608797065389332[36] = 0; - out_6533608797065389332[37] = 0; - out_6533608797065389332[38] = 0; - out_6533608797065389332[39] = 0; - out_6533608797065389332[40] = 1; - out_6533608797065389332[41] = 0; - out_6533608797065389332[42] = 0; - out_6533608797065389332[43] = 0; - out_6533608797065389332[44] = 0; - out_6533608797065389332[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_6533608797065389332[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6533608797065389332[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6533608797065389332[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6533608797065389332[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_6533608797065389332[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6533608797065389332[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6533608797065389332[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6533608797065389332[53] = -9.8100000000000005*dt; - out_6533608797065389332[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_6533608797065389332[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6533608797065389332[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6533608797065389332[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6533608797065389332[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_6533608797065389332[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6533608797065389332[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_6533608797065389332[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6533608797065389332[62] = 0; - out_6533608797065389332[63] = 0; - out_6533608797065389332[64] = 0; - out_6533608797065389332[65] = 0; - out_6533608797065389332[66] = 0; - out_6533608797065389332[67] = 0; - out_6533608797065389332[68] = 0; - out_6533608797065389332[69] = 0; - out_6533608797065389332[70] = 1; - out_6533608797065389332[71] = 0; - out_6533608797065389332[72] = 0; - out_6533608797065389332[73] = 0; - out_6533608797065389332[74] = 0; - out_6533608797065389332[75] = 0; - out_6533608797065389332[76] = 0; - out_6533608797065389332[77] = 0; - out_6533608797065389332[78] = 0; - out_6533608797065389332[79] = 0; - out_6533608797065389332[80] = 1; +void F_fun(double *state, double dt, double *out_1589062328883606575) { + out_1589062328883606575[0] = 1; + out_1589062328883606575[1] = 0; + out_1589062328883606575[2] = 0; + out_1589062328883606575[3] = 0; + out_1589062328883606575[4] = 0; + out_1589062328883606575[5] = 0; + out_1589062328883606575[6] = 0; + out_1589062328883606575[7] = 0; + out_1589062328883606575[8] = 0; + out_1589062328883606575[9] = 0; + out_1589062328883606575[10] = 1; + out_1589062328883606575[11] = 0; + out_1589062328883606575[12] = 0; + out_1589062328883606575[13] = 0; + out_1589062328883606575[14] = 0; + out_1589062328883606575[15] = 0; + out_1589062328883606575[16] = 0; + out_1589062328883606575[17] = 0; + out_1589062328883606575[18] = 0; + out_1589062328883606575[19] = 0; + out_1589062328883606575[20] = 1; + out_1589062328883606575[21] = 0; + out_1589062328883606575[22] = 0; + out_1589062328883606575[23] = 0; + out_1589062328883606575[24] = 0; + out_1589062328883606575[25] = 0; + out_1589062328883606575[26] = 0; + out_1589062328883606575[27] = 0; + out_1589062328883606575[28] = 0; + out_1589062328883606575[29] = 0; + out_1589062328883606575[30] = 1; + out_1589062328883606575[31] = 0; + out_1589062328883606575[32] = 0; + out_1589062328883606575[33] = 0; + out_1589062328883606575[34] = 0; + out_1589062328883606575[35] = 0; + out_1589062328883606575[36] = 0; + out_1589062328883606575[37] = 0; + out_1589062328883606575[38] = 0; + out_1589062328883606575[39] = 0; + out_1589062328883606575[40] = 1; + out_1589062328883606575[41] = 0; + out_1589062328883606575[42] = 0; + out_1589062328883606575[43] = 0; + out_1589062328883606575[44] = 0; + out_1589062328883606575[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_1589062328883606575[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1589062328883606575[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1589062328883606575[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1589062328883606575[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_1589062328883606575[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1589062328883606575[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1589062328883606575[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1589062328883606575[53] = -9.8100000000000005*dt; + out_1589062328883606575[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_1589062328883606575[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1589062328883606575[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1589062328883606575[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1589062328883606575[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_1589062328883606575[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1589062328883606575[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_1589062328883606575[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1589062328883606575[62] = 0; + out_1589062328883606575[63] = 0; + out_1589062328883606575[64] = 0; + out_1589062328883606575[65] = 0; + out_1589062328883606575[66] = 0; + out_1589062328883606575[67] = 0; + out_1589062328883606575[68] = 0; + out_1589062328883606575[69] = 0; + out_1589062328883606575[70] = 1; + out_1589062328883606575[71] = 0; + out_1589062328883606575[72] = 0; + out_1589062328883606575[73] = 0; + out_1589062328883606575[74] = 0; + out_1589062328883606575[75] = 0; + out_1589062328883606575[76] = 0; + out_1589062328883606575[77] = 0; + out_1589062328883606575[78] = 0; + out_1589062328883606575[79] = 0; + out_1589062328883606575[80] = 1; } -void h_25(double *state, double *unused, double *out_1286712737219592117) { - out_1286712737219592117[0] = state[6]; +void h_25(double *state, double *unused, double *out_4251901549604751950) { + out_4251901549604751950[0] = state[6]; } -void H_25(double *state, double *unused, double *out_71190239677383976) { - out_71190239677383976[0] = 0; - out_71190239677383976[1] = 0; - out_71190239677383976[2] = 0; - out_71190239677383976[3] = 0; - out_71190239677383976[4] = 0; - out_71190239677383976[5] = 0; - out_71190239677383976[6] = 1; - out_71190239677383976[7] = 0; - out_71190239677383976[8] = 0; +void H_25(double *state, double *unused, double *out_7412509069108068094) { + out_7412509069108068094[0] = 0; + out_7412509069108068094[1] = 0; + out_7412509069108068094[2] = 0; + out_7412509069108068094[3] = 0; + out_7412509069108068094[4] = 0; + out_7412509069108068094[5] = 0; + out_7412509069108068094[6] = 1; + out_7412509069108068094[7] = 0; + out_7412509069108068094[8] = 0; } -void h_24(double *state, double *unused, double *out_4020914257266522617) { - out_4020914257266522617[0] = state[4]; - out_4020914257266522617[1] = state[5]; +void h_24(double *state, double *unused, double *out_6482324594163419455) { + out_6482324594163419455[0] = state[4]; + out_6482324594163419455[1] = state[5]; } -void H_24(double *state, double *unused, double *out_3629115838479707112) { - out_3629115838479707112[0] = 0; - out_3629115838479707112[1] = 0; - out_3629115838479707112[2] = 0; - out_3629115838479707112[3] = 0; - out_3629115838479707112[4] = 1; - out_3629115838479707112[5] = 0; - out_3629115838479707112[6] = 0; - out_3629115838479707112[7] = 0; - out_3629115838479707112[8] = 0; - out_3629115838479707112[9] = 0; - out_3629115838479707112[10] = 0; - out_3629115838479707112[11] = 0; - out_3629115838479707112[12] = 0; - out_3629115838479707112[13] = 0; - out_3629115838479707112[14] = 1; - out_3629115838479707112[15] = 0; - out_3629115838479707112[16] = 0; - out_3629115838479707112[17] = 0; +void H_24(double *state, double *unused, double *out_1815556116961127131) { + out_1815556116961127131[0] = 0; + out_1815556116961127131[1] = 0; + out_1815556116961127131[2] = 0; + out_1815556116961127131[3] = 0; + out_1815556116961127131[4] = 1; + out_1815556116961127131[5] = 0; + out_1815556116961127131[6] = 0; + out_1815556116961127131[7] = 0; + out_1815556116961127131[8] = 0; + out_1815556116961127131[9] = 0; + out_1815556116961127131[10] = 0; + out_1815556116961127131[11] = 0; + out_1815556116961127131[12] = 0; + out_1815556116961127131[13] = 0; + out_1815556116961127131[14] = 1; + out_1815556116961127131[15] = 0; + out_1815556116961127131[16] = 0; + out_1815556116961127131[17] = 0; } -void h_30(double *state, double *unused, double *out_1561906799504098006) { - out_1561906799504098006[0] = state[4]; +void h_30(double *state, double *unused, double *out_3976707487320246061) { + out_3976707487320246061[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4456506090450224222) { - out_4456506090450224222[0] = 0; - out_4456506090450224222[1] = 0; - out_4456506090450224222[2] = 0; - out_4456506090450224222[3] = 0; - out_4456506090450224222[4] = 1; - out_4456506090450224222[5] = 0; - out_4456506090450224222[6] = 0; - out_4456506090450224222[7] = 0; - out_4456506090450224222[8] = 0; +void H_30(double *state, double *unused, double *out_6506538674473875324) { + out_6506538674473875324[0] = 0; + out_6506538674473875324[1] = 0; + out_6506538674473875324[2] = 0; + out_6506538674473875324[3] = 0; + out_6506538674473875324[4] = 1; + out_6506538674473875324[5] = 0; + out_6506538674473875324[6] = 0; + out_6506538674473875324[7] = 0; + out_6506538674473875324[8] = 0; } -void h_26(double *state, double *unused, double *out_7458636612936378436) { - out_7458636612936378436[0] = state[7]; +void h_26(double *state, double *unused, double *out_8978380754981091706) { + out_8978380754981091706[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3670313079196672248) { - out_3670313079196672248[0] = 0; - out_3670313079196672248[1] = 0; - out_3670313079196672248[2] = 0; - out_3670313079196672248[3] = 0; - out_3670313079196672248[4] = 0; - out_3670313079196672248[5] = 0; - out_3670313079196672248[6] = 0; - out_3670313079196672248[7] = 1; - out_3670313079196672248[8] = 0; +void H_26(double *state, double *unused, double *out_7292731685727427298) { + out_7292731685727427298[0] = 0; + out_7292731685727427298[1] = 0; + out_7292731685727427298[2] = 0; + out_7292731685727427298[3] = 0; + out_7292731685727427298[4] = 0; + out_7292731685727427298[5] = 0; + out_7292731685727427298[6] = 0; + out_7292731685727427298[7] = 1; + out_7292731685727427298[8] = 0; } -void h_27(double *state, double *unused, double *out_2766640841793939077) { - out_2766640841793939077[0] = state[3]; +void h_27(double *state, double *unused, double *out_6938698807011347957) { + out_6938698807011347957[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2232912019266281005) { - out_2232912019266281005[0] = 0; - out_2232912019266281005[1] = 0; - out_2232912019266281005[2] = 0; - out_2232912019266281005[3] = 1; - out_2232912019266281005[4] = 0; - out_2232912019266281005[5] = 0; - out_2232912019266281005[6] = 0; - out_2232912019266281005[7] = 0; - out_2232912019266281005[8] = 0; +void H_27(double *state, double *unused, double *out_4331775362673450413) { + out_4331775362673450413[0] = 0; + out_4331775362673450413[1] = 0; + out_4331775362673450413[2] = 0; + out_4331775362673450413[3] = 1; + out_4331775362673450413[4] = 0; + out_4331775362673450413[5] = 0; + out_4331775362673450413[6] = 0; + out_4331775362673450413[7] = 0; + out_4331775362673450413[8] = 0; } -void h_29(double *state, double *unused, double *out_6371076442889912105) { - out_6371076442889912105[0] = state[1]; +void h_29(double *state, double *unused, double *out_4741129432548446265) { + out_4741129432548446265[0] = state[1]; } -void H_29(double *state, double *unused, double *out_3946274746135832038) { - out_3946274746135832038[0] = 0; - out_3946274746135832038[1] = 1; - out_3946274746135832038[2] = 0; - out_3946274746135832038[3] = 0; - out_3946274746135832038[4] = 0; - out_3946274746135832038[5] = 0; - out_3946274746135832038[6] = 0; - out_3946274746135832038[7] = 0; - out_3946274746135832038[8] = 0; +void H_29(double *state, double *unused, double *out_7016770018788267508) { + out_7016770018788267508[0] = 0; + out_7016770018788267508[1] = 1; + out_7016770018788267508[2] = 0; + out_7016770018788267508[3] = 0; + out_7016770018788267508[4] = 0; + out_7016770018788267508[5] = 0; + out_7016770018788267508[6] = 0; + out_7016770018788267508[7] = 0; + out_7016770018788267508[8] = 0; } -void h_28(double *state, double *unused, double *out_7768314109454784722) { - out_7768314109454784722[0] = state[0]; +void h_28(double *state, double *unused, double *out_64063896781717822) { + out_64063896781717822[0] = state[0]; } -void H_28(double *state, double *unused, double *out_1982644474570505787) { - out_1982644474570505787[0] = 1; - out_1982644474570505787[1] = 0; - out_1982644474570505787[2] = 0; - out_1982644474570505787[3] = 0; - out_1982644474570505787[4] = 0; - out_1982644474570505787[5] = 0; - out_1982644474570505787[6] = 0; - out_1982644474570505787[7] = 0; - out_1982644474570505787[8] = 0; +void H_28(double *state, double *unused, double *out_8980400290353593759) { + out_8980400290353593759[0] = 1; + out_8980400290353593759[1] = 0; + out_8980400290353593759[2] = 0; + out_8980400290353593759[3] = 0; + out_8980400290353593759[4] = 0; + out_8980400290353593759[5] = 0; + out_8980400290353593759[6] = 0; + out_8980400290353593759[7] = 0; + out_8980400290353593759[8] = 0; } -void h_31(double *state, double *unused, double *out_8520153859771417615) { - out_8520153859771417615[0] = state[8]; +void h_31(double *state, double *unused, double *out_4885815735079099232) { + out_4885815735079099232[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4296521181430023724) { - out_4296521181430023724[0] = 0; - out_4296521181430023724[1] = 0; - out_4296521181430023724[2] = 0; - out_4296521181430023724[3] = 0; - out_4296521181430023724[4] = 0; - out_4296521181430023724[5] = 0; - out_4296521181430023724[6] = 0; - out_4296521181430023724[7] = 0; - out_4296521181430023724[8] = 1; +void H_31(double *state, double *unused, double *out_6666523583494075822) { + out_6666523583494075822[0] = 0; + out_6666523583494075822[1] = 0; + out_6666523583494075822[2] = 0; + out_6666523583494075822[3] = 0; + out_6666523583494075822[4] = 0; + out_6666523583494075822[5] = 0; + out_6666523583494075822[6] = 0; + out_6666523583494075822[7] = 0; + out_6666523583494075822[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_5320341998124928693) { - err_fun(nom_x, delta_x, out_5320341998124928693); +void car_err_fun(double *nom_x, double *delta_x, double *out_417238876910560070) { + err_fun(nom_x, delta_x, out_417238876910560070); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_864421799547270951) { - inv_err_fun(nom_x, true_x, out_864421799547270951); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2214194102385980691) { + inv_err_fun(nom_x, true_x, out_2214194102385980691); } -void car_H_mod_fun(double *state, double *out_3451790410312107701) { - H_mod_fun(state, out_3451790410312107701); +void car_H_mod_fun(double *state, double *out_2617678226180198985) { + H_mod_fun(state, out_2617678226180198985); } -void car_f_fun(double *state, double dt, double *out_4081593184001938296) { - f_fun(state, dt, out_4081593184001938296); +void car_f_fun(double *state, double dt, double *out_2248561019141826344) { + f_fun(state, dt, out_2248561019141826344); } -void car_F_fun(double *state, double dt, double *out_6533608797065389332) { - F_fun(state, dt, out_6533608797065389332); +void car_F_fun(double *state, double dt, double *out_1589062328883606575) { + F_fun(state, dt, out_1589062328883606575); } -void car_h_25(double *state, double *unused, double *out_1286712737219592117) { - h_25(state, unused, out_1286712737219592117); +void car_h_25(double *state, double *unused, double *out_4251901549604751950) { + h_25(state, unused, out_4251901549604751950); } -void car_H_25(double *state, double *unused, double *out_71190239677383976) { - H_25(state, unused, out_71190239677383976); +void car_H_25(double *state, double *unused, double *out_7412509069108068094) { + H_25(state, unused, out_7412509069108068094); } -void car_h_24(double *state, double *unused, double *out_4020914257266522617) { - h_24(state, unused, out_4020914257266522617); +void car_h_24(double *state, double *unused, double *out_6482324594163419455) { + h_24(state, unused, out_6482324594163419455); } -void car_H_24(double *state, double *unused, double *out_3629115838479707112) { - H_24(state, unused, out_3629115838479707112); +void car_H_24(double *state, double *unused, double *out_1815556116961127131) { + H_24(state, unused, out_1815556116961127131); } -void car_h_30(double *state, double *unused, double *out_1561906799504098006) { - h_30(state, unused, out_1561906799504098006); +void car_h_30(double *state, double *unused, double *out_3976707487320246061) { + h_30(state, unused, out_3976707487320246061); } -void car_H_30(double *state, double *unused, double *out_4456506090450224222) { - H_30(state, unused, out_4456506090450224222); +void car_H_30(double *state, double *unused, double *out_6506538674473875324) { + H_30(state, unused, out_6506538674473875324); } -void car_h_26(double *state, double *unused, double *out_7458636612936378436) { - h_26(state, unused, out_7458636612936378436); +void car_h_26(double *state, double *unused, double *out_8978380754981091706) { + h_26(state, unused, out_8978380754981091706); } -void car_H_26(double *state, double *unused, double *out_3670313079196672248) { - H_26(state, unused, out_3670313079196672248); +void car_H_26(double *state, double *unused, double *out_7292731685727427298) { + H_26(state, unused, out_7292731685727427298); } -void car_h_27(double *state, double *unused, double *out_2766640841793939077) { - h_27(state, unused, out_2766640841793939077); +void car_h_27(double *state, double *unused, double *out_6938698807011347957) { + h_27(state, unused, out_6938698807011347957); } -void car_H_27(double *state, double *unused, double *out_2232912019266281005) { - H_27(state, unused, out_2232912019266281005); +void car_H_27(double *state, double *unused, double *out_4331775362673450413) { + H_27(state, unused, out_4331775362673450413); } -void car_h_29(double *state, double *unused, double *out_6371076442889912105) { - h_29(state, unused, out_6371076442889912105); +void car_h_29(double *state, double *unused, double *out_4741129432548446265) { + h_29(state, unused, out_4741129432548446265); } -void car_H_29(double *state, double *unused, double *out_3946274746135832038) { - H_29(state, unused, out_3946274746135832038); +void car_H_29(double *state, double *unused, double *out_7016770018788267508) { + H_29(state, unused, out_7016770018788267508); } -void car_h_28(double *state, double *unused, double *out_7768314109454784722) { - h_28(state, unused, out_7768314109454784722); +void car_h_28(double *state, double *unused, double *out_64063896781717822) { + h_28(state, unused, out_64063896781717822); } -void car_H_28(double *state, double *unused, double *out_1982644474570505787) { - H_28(state, unused, out_1982644474570505787); +void car_H_28(double *state, double *unused, double *out_8980400290353593759) { + H_28(state, unused, out_8980400290353593759); } -void car_h_31(double *state, double *unused, double *out_8520153859771417615) { - h_31(state, unused, out_8520153859771417615); +void car_h_31(double *state, double *unused, double *out_4885815735079099232) { + h_31(state, unused, out_4885815735079099232); } -void car_H_31(double *state, double *unused, double *out_4296521181430023724) { - H_31(state, unused, out_4296521181430023724); +void car_H_31(double *state, double *unused, double *out_6666523583494075822) { + H_31(state, unused, out_6666523583494075822); } 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 b7ad82a8e..cbfc90405 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_5320341998124928693); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_864421799547270951); -void car_H_mod_fun(double *state, double *out_3451790410312107701); -void car_f_fun(double *state, double dt, double *out_4081593184001938296); -void car_F_fun(double *state, double dt, double *out_6533608797065389332); -void car_h_25(double *state, double *unused, double *out_1286712737219592117); -void car_H_25(double *state, double *unused, double *out_71190239677383976); -void car_h_24(double *state, double *unused, double *out_4020914257266522617); -void car_H_24(double *state, double *unused, double *out_3629115838479707112); -void car_h_30(double *state, double *unused, double *out_1561906799504098006); -void car_H_30(double *state, double *unused, double *out_4456506090450224222); -void car_h_26(double *state, double *unused, double *out_7458636612936378436); -void car_H_26(double *state, double *unused, double *out_3670313079196672248); -void car_h_27(double *state, double *unused, double *out_2766640841793939077); -void car_H_27(double *state, double *unused, double *out_2232912019266281005); -void car_h_29(double *state, double *unused, double *out_6371076442889912105); -void car_H_29(double *state, double *unused, double *out_3946274746135832038); -void car_h_28(double *state, double *unused, double *out_7768314109454784722); -void car_H_28(double *state, double *unused, double *out_1982644474570505787); -void car_h_31(double *state, double *unused, double *out_8520153859771417615); -void car_H_31(double *state, double *unused, double *out_4296521181430023724); +void car_err_fun(double *nom_x, double *delta_x, double *out_417238876910560070); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2214194102385980691); +void car_H_mod_fun(double *state, double *out_2617678226180198985); +void car_f_fun(double *state, double dt, double *out_2248561019141826344); +void car_F_fun(double *state, double dt, double *out_1589062328883606575); +void car_h_25(double *state, double *unused, double *out_4251901549604751950); +void car_H_25(double *state, double *unused, double *out_7412509069108068094); +void car_h_24(double *state, double *unused, double *out_6482324594163419455); +void car_H_24(double *state, double *unused, double *out_1815556116961127131); +void car_h_30(double *state, double *unused, double *out_3976707487320246061); +void car_H_30(double *state, double *unused, double *out_6506538674473875324); +void car_h_26(double *state, double *unused, double *out_8978380754981091706); +void car_H_26(double *state, double *unused, double *out_7292731685727427298); +void car_h_27(double *state, double *unused, double *out_6938698807011347957); +void car_H_27(double *state, double *unused, double *out_4331775362673450413); +void car_h_29(double *state, double *unused, double *out_4741129432548446265); +void car_H_29(double *state, double *unused, double *out_7016770018788267508); +void car_h_28(double *state, double *unused, double *out_64063896781717822); +void car_H_28(double *state, double *unused, double *out_8980400290353593759); +void car_h_31(double *state, double *unused, double *out_4885815735079099232); +void car_H_31(double *state, double *unused, double *out_6666523583494075822); 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 d258886f4..5f23038f1 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_4091115333149920439) { - out_4091115333149920439[0] = delta_x[0] + nom_x[0]; - out_4091115333149920439[1] = delta_x[1] + nom_x[1]; - out_4091115333149920439[2] = delta_x[2] + nom_x[2]; - out_4091115333149920439[3] = delta_x[3] + nom_x[3]; - out_4091115333149920439[4] = delta_x[4] + nom_x[4]; - out_4091115333149920439[5] = delta_x[5] + nom_x[5]; - out_4091115333149920439[6] = delta_x[6] + nom_x[6]; - out_4091115333149920439[7] = delta_x[7] + nom_x[7]; - out_4091115333149920439[8] = delta_x[8] + nom_x[8]; - out_4091115333149920439[9] = delta_x[9] + nom_x[9]; - out_4091115333149920439[10] = delta_x[10] + nom_x[10]; - out_4091115333149920439[11] = delta_x[11] + nom_x[11]; - out_4091115333149920439[12] = delta_x[12] + nom_x[12]; - out_4091115333149920439[13] = delta_x[13] + nom_x[13]; - out_4091115333149920439[14] = delta_x[14] + nom_x[14]; - out_4091115333149920439[15] = delta_x[15] + nom_x[15]; - out_4091115333149920439[16] = delta_x[16] + nom_x[16]; - out_4091115333149920439[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4055321504301233767) { + out_4055321504301233767[0] = delta_x[0] + nom_x[0]; + out_4055321504301233767[1] = delta_x[1] + nom_x[1]; + out_4055321504301233767[2] = delta_x[2] + nom_x[2]; + out_4055321504301233767[3] = delta_x[3] + nom_x[3]; + out_4055321504301233767[4] = delta_x[4] + nom_x[4]; + out_4055321504301233767[5] = delta_x[5] + nom_x[5]; + out_4055321504301233767[6] = delta_x[6] + nom_x[6]; + out_4055321504301233767[7] = delta_x[7] + nom_x[7]; + out_4055321504301233767[8] = delta_x[8] + nom_x[8]; + out_4055321504301233767[9] = delta_x[9] + nom_x[9]; + out_4055321504301233767[10] = delta_x[10] + nom_x[10]; + out_4055321504301233767[11] = delta_x[11] + nom_x[11]; + out_4055321504301233767[12] = delta_x[12] + nom_x[12]; + out_4055321504301233767[13] = delta_x[13] + nom_x[13]; + out_4055321504301233767[14] = delta_x[14] + nom_x[14]; + out_4055321504301233767[15] = delta_x[15] + nom_x[15]; + out_4055321504301233767[16] = delta_x[16] + nom_x[16]; + out_4055321504301233767[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6264186140300305590) { - out_6264186140300305590[0] = -nom_x[0] + true_x[0]; - out_6264186140300305590[1] = -nom_x[1] + true_x[1]; - out_6264186140300305590[2] = -nom_x[2] + true_x[2]; - out_6264186140300305590[3] = -nom_x[3] + true_x[3]; - out_6264186140300305590[4] = -nom_x[4] + true_x[4]; - out_6264186140300305590[5] = -nom_x[5] + true_x[5]; - out_6264186140300305590[6] = -nom_x[6] + true_x[6]; - out_6264186140300305590[7] = -nom_x[7] + true_x[7]; - out_6264186140300305590[8] = -nom_x[8] + true_x[8]; - out_6264186140300305590[9] = -nom_x[9] + true_x[9]; - out_6264186140300305590[10] = -nom_x[10] + true_x[10]; - out_6264186140300305590[11] = -nom_x[11] + true_x[11]; - out_6264186140300305590[12] = -nom_x[12] + true_x[12]; - out_6264186140300305590[13] = -nom_x[13] + true_x[13]; - out_6264186140300305590[14] = -nom_x[14] + true_x[14]; - out_6264186140300305590[15] = -nom_x[15] + true_x[15]; - out_6264186140300305590[16] = -nom_x[16] + true_x[16]; - out_6264186140300305590[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5242087564548968290) { + out_5242087564548968290[0] = -nom_x[0] + true_x[0]; + out_5242087564548968290[1] = -nom_x[1] + true_x[1]; + out_5242087564548968290[2] = -nom_x[2] + true_x[2]; + out_5242087564548968290[3] = -nom_x[3] + true_x[3]; + out_5242087564548968290[4] = -nom_x[4] + true_x[4]; + out_5242087564548968290[5] = -nom_x[5] + true_x[5]; + out_5242087564548968290[6] = -nom_x[6] + true_x[6]; + out_5242087564548968290[7] = -nom_x[7] + true_x[7]; + out_5242087564548968290[8] = -nom_x[8] + true_x[8]; + out_5242087564548968290[9] = -nom_x[9] + true_x[9]; + out_5242087564548968290[10] = -nom_x[10] + true_x[10]; + out_5242087564548968290[11] = -nom_x[11] + true_x[11]; + out_5242087564548968290[12] = -nom_x[12] + true_x[12]; + out_5242087564548968290[13] = -nom_x[13] + true_x[13]; + out_5242087564548968290[14] = -nom_x[14] + true_x[14]; + out_5242087564548968290[15] = -nom_x[15] + true_x[15]; + out_5242087564548968290[16] = -nom_x[16] + true_x[16]; + out_5242087564548968290[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4881048693765674271) { - out_4881048693765674271[0] = 1.0; - out_4881048693765674271[1] = 0.0; - out_4881048693765674271[2] = 0.0; - out_4881048693765674271[3] = 0.0; - out_4881048693765674271[4] = 0.0; - out_4881048693765674271[5] = 0.0; - out_4881048693765674271[6] = 0.0; - out_4881048693765674271[7] = 0.0; - out_4881048693765674271[8] = 0.0; - out_4881048693765674271[9] = 0.0; - out_4881048693765674271[10] = 0.0; - out_4881048693765674271[11] = 0.0; - out_4881048693765674271[12] = 0.0; - out_4881048693765674271[13] = 0.0; - out_4881048693765674271[14] = 0.0; - out_4881048693765674271[15] = 0.0; - out_4881048693765674271[16] = 0.0; - out_4881048693765674271[17] = 0.0; - out_4881048693765674271[18] = 0.0; - out_4881048693765674271[19] = 1.0; - out_4881048693765674271[20] = 0.0; - out_4881048693765674271[21] = 0.0; - out_4881048693765674271[22] = 0.0; - out_4881048693765674271[23] = 0.0; - out_4881048693765674271[24] = 0.0; - out_4881048693765674271[25] = 0.0; - out_4881048693765674271[26] = 0.0; - out_4881048693765674271[27] = 0.0; - out_4881048693765674271[28] = 0.0; - out_4881048693765674271[29] = 0.0; - out_4881048693765674271[30] = 0.0; - out_4881048693765674271[31] = 0.0; - out_4881048693765674271[32] = 0.0; - out_4881048693765674271[33] = 0.0; - out_4881048693765674271[34] = 0.0; - out_4881048693765674271[35] = 0.0; - out_4881048693765674271[36] = 0.0; - out_4881048693765674271[37] = 0.0; - out_4881048693765674271[38] = 1.0; - out_4881048693765674271[39] = 0.0; - out_4881048693765674271[40] = 0.0; - out_4881048693765674271[41] = 0.0; - out_4881048693765674271[42] = 0.0; - out_4881048693765674271[43] = 0.0; - out_4881048693765674271[44] = 0.0; - out_4881048693765674271[45] = 0.0; - out_4881048693765674271[46] = 0.0; - out_4881048693765674271[47] = 0.0; - out_4881048693765674271[48] = 0.0; - out_4881048693765674271[49] = 0.0; - out_4881048693765674271[50] = 0.0; - out_4881048693765674271[51] = 0.0; - out_4881048693765674271[52] = 0.0; - out_4881048693765674271[53] = 0.0; - out_4881048693765674271[54] = 0.0; - out_4881048693765674271[55] = 0.0; - out_4881048693765674271[56] = 0.0; - out_4881048693765674271[57] = 1.0; - out_4881048693765674271[58] = 0.0; - out_4881048693765674271[59] = 0.0; - out_4881048693765674271[60] = 0.0; - out_4881048693765674271[61] = 0.0; - out_4881048693765674271[62] = 0.0; - out_4881048693765674271[63] = 0.0; - out_4881048693765674271[64] = 0.0; - out_4881048693765674271[65] = 0.0; - out_4881048693765674271[66] = 0.0; - out_4881048693765674271[67] = 0.0; - out_4881048693765674271[68] = 0.0; - out_4881048693765674271[69] = 0.0; - out_4881048693765674271[70] = 0.0; - out_4881048693765674271[71] = 0.0; - out_4881048693765674271[72] = 0.0; - out_4881048693765674271[73] = 0.0; - out_4881048693765674271[74] = 0.0; - out_4881048693765674271[75] = 0.0; - out_4881048693765674271[76] = 1.0; - out_4881048693765674271[77] = 0.0; - out_4881048693765674271[78] = 0.0; - out_4881048693765674271[79] = 0.0; - out_4881048693765674271[80] = 0.0; - out_4881048693765674271[81] = 0.0; - out_4881048693765674271[82] = 0.0; - out_4881048693765674271[83] = 0.0; - out_4881048693765674271[84] = 0.0; - out_4881048693765674271[85] = 0.0; - out_4881048693765674271[86] = 0.0; - out_4881048693765674271[87] = 0.0; - out_4881048693765674271[88] = 0.0; - out_4881048693765674271[89] = 0.0; - out_4881048693765674271[90] = 0.0; - out_4881048693765674271[91] = 0.0; - out_4881048693765674271[92] = 0.0; - out_4881048693765674271[93] = 0.0; - out_4881048693765674271[94] = 0.0; - out_4881048693765674271[95] = 1.0; - out_4881048693765674271[96] = 0.0; - out_4881048693765674271[97] = 0.0; - out_4881048693765674271[98] = 0.0; - out_4881048693765674271[99] = 0.0; - out_4881048693765674271[100] = 0.0; - out_4881048693765674271[101] = 0.0; - out_4881048693765674271[102] = 0.0; - out_4881048693765674271[103] = 0.0; - out_4881048693765674271[104] = 0.0; - out_4881048693765674271[105] = 0.0; - out_4881048693765674271[106] = 0.0; - out_4881048693765674271[107] = 0.0; - out_4881048693765674271[108] = 0.0; - out_4881048693765674271[109] = 0.0; - out_4881048693765674271[110] = 0.0; - out_4881048693765674271[111] = 0.0; - out_4881048693765674271[112] = 0.0; - out_4881048693765674271[113] = 0.0; - out_4881048693765674271[114] = 1.0; - out_4881048693765674271[115] = 0.0; - out_4881048693765674271[116] = 0.0; - out_4881048693765674271[117] = 0.0; - out_4881048693765674271[118] = 0.0; - out_4881048693765674271[119] = 0.0; - out_4881048693765674271[120] = 0.0; - out_4881048693765674271[121] = 0.0; - out_4881048693765674271[122] = 0.0; - out_4881048693765674271[123] = 0.0; - out_4881048693765674271[124] = 0.0; - out_4881048693765674271[125] = 0.0; - out_4881048693765674271[126] = 0.0; - out_4881048693765674271[127] = 0.0; - out_4881048693765674271[128] = 0.0; - out_4881048693765674271[129] = 0.0; - out_4881048693765674271[130] = 0.0; - out_4881048693765674271[131] = 0.0; - out_4881048693765674271[132] = 0.0; - out_4881048693765674271[133] = 1.0; - out_4881048693765674271[134] = 0.0; - out_4881048693765674271[135] = 0.0; - out_4881048693765674271[136] = 0.0; - out_4881048693765674271[137] = 0.0; - out_4881048693765674271[138] = 0.0; - out_4881048693765674271[139] = 0.0; - out_4881048693765674271[140] = 0.0; - out_4881048693765674271[141] = 0.0; - out_4881048693765674271[142] = 0.0; - out_4881048693765674271[143] = 0.0; - out_4881048693765674271[144] = 0.0; - out_4881048693765674271[145] = 0.0; - out_4881048693765674271[146] = 0.0; - out_4881048693765674271[147] = 0.0; - out_4881048693765674271[148] = 0.0; - out_4881048693765674271[149] = 0.0; - out_4881048693765674271[150] = 0.0; - out_4881048693765674271[151] = 0.0; - out_4881048693765674271[152] = 1.0; - out_4881048693765674271[153] = 0.0; - out_4881048693765674271[154] = 0.0; - out_4881048693765674271[155] = 0.0; - out_4881048693765674271[156] = 0.0; - out_4881048693765674271[157] = 0.0; - out_4881048693765674271[158] = 0.0; - out_4881048693765674271[159] = 0.0; - out_4881048693765674271[160] = 0.0; - out_4881048693765674271[161] = 0.0; - out_4881048693765674271[162] = 0.0; - out_4881048693765674271[163] = 0.0; - out_4881048693765674271[164] = 0.0; - out_4881048693765674271[165] = 0.0; - out_4881048693765674271[166] = 0.0; - out_4881048693765674271[167] = 0.0; - out_4881048693765674271[168] = 0.0; - out_4881048693765674271[169] = 0.0; - out_4881048693765674271[170] = 0.0; - out_4881048693765674271[171] = 1.0; - out_4881048693765674271[172] = 0.0; - out_4881048693765674271[173] = 0.0; - out_4881048693765674271[174] = 0.0; - out_4881048693765674271[175] = 0.0; - out_4881048693765674271[176] = 0.0; - out_4881048693765674271[177] = 0.0; - out_4881048693765674271[178] = 0.0; - out_4881048693765674271[179] = 0.0; - out_4881048693765674271[180] = 0.0; - out_4881048693765674271[181] = 0.0; - out_4881048693765674271[182] = 0.0; - out_4881048693765674271[183] = 0.0; - out_4881048693765674271[184] = 0.0; - out_4881048693765674271[185] = 0.0; - out_4881048693765674271[186] = 0.0; - out_4881048693765674271[187] = 0.0; - out_4881048693765674271[188] = 0.0; - out_4881048693765674271[189] = 0.0; - out_4881048693765674271[190] = 1.0; - out_4881048693765674271[191] = 0.0; - out_4881048693765674271[192] = 0.0; - out_4881048693765674271[193] = 0.0; - out_4881048693765674271[194] = 0.0; - out_4881048693765674271[195] = 0.0; - out_4881048693765674271[196] = 0.0; - out_4881048693765674271[197] = 0.0; - out_4881048693765674271[198] = 0.0; - out_4881048693765674271[199] = 0.0; - out_4881048693765674271[200] = 0.0; - out_4881048693765674271[201] = 0.0; - out_4881048693765674271[202] = 0.0; - out_4881048693765674271[203] = 0.0; - out_4881048693765674271[204] = 0.0; - out_4881048693765674271[205] = 0.0; - out_4881048693765674271[206] = 0.0; - out_4881048693765674271[207] = 0.0; - out_4881048693765674271[208] = 0.0; - out_4881048693765674271[209] = 1.0; - out_4881048693765674271[210] = 0.0; - out_4881048693765674271[211] = 0.0; - out_4881048693765674271[212] = 0.0; - out_4881048693765674271[213] = 0.0; - out_4881048693765674271[214] = 0.0; - out_4881048693765674271[215] = 0.0; - out_4881048693765674271[216] = 0.0; - out_4881048693765674271[217] = 0.0; - out_4881048693765674271[218] = 0.0; - out_4881048693765674271[219] = 0.0; - out_4881048693765674271[220] = 0.0; - out_4881048693765674271[221] = 0.0; - out_4881048693765674271[222] = 0.0; - out_4881048693765674271[223] = 0.0; - out_4881048693765674271[224] = 0.0; - out_4881048693765674271[225] = 0.0; - out_4881048693765674271[226] = 0.0; - out_4881048693765674271[227] = 0.0; - out_4881048693765674271[228] = 1.0; - out_4881048693765674271[229] = 0.0; - out_4881048693765674271[230] = 0.0; - out_4881048693765674271[231] = 0.0; - out_4881048693765674271[232] = 0.0; - out_4881048693765674271[233] = 0.0; - out_4881048693765674271[234] = 0.0; - out_4881048693765674271[235] = 0.0; - out_4881048693765674271[236] = 0.0; - out_4881048693765674271[237] = 0.0; - out_4881048693765674271[238] = 0.0; - out_4881048693765674271[239] = 0.0; - out_4881048693765674271[240] = 0.0; - out_4881048693765674271[241] = 0.0; - out_4881048693765674271[242] = 0.0; - out_4881048693765674271[243] = 0.0; - out_4881048693765674271[244] = 0.0; - out_4881048693765674271[245] = 0.0; - out_4881048693765674271[246] = 0.0; - out_4881048693765674271[247] = 1.0; - out_4881048693765674271[248] = 0.0; - out_4881048693765674271[249] = 0.0; - out_4881048693765674271[250] = 0.0; - out_4881048693765674271[251] = 0.0; - out_4881048693765674271[252] = 0.0; - out_4881048693765674271[253] = 0.0; - out_4881048693765674271[254] = 0.0; - out_4881048693765674271[255] = 0.0; - out_4881048693765674271[256] = 0.0; - out_4881048693765674271[257] = 0.0; - out_4881048693765674271[258] = 0.0; - out_4881048693765674271[259] = 0.0; - out_4881048693765674271[260] = 0.0; - out_4881048693765674271[261] = 0.0; - out_4881048693765674271[262] = 0.0; - out_4881048693765674271[263] = 0.0; - out_4881048693765674271[264] = 0.0; - out_4881048693765674271[265] = 0.0; - out_4881048693765674271[266] = 1.0; - out_4881048693765674271[267] = 0.0; - out_4881048693765674271[268] = 0.0; - out_4881048693765674271[269] = 0.0; - out_4881048693765674271[270] = 0.0; - out_4881048693765674271[271] = 0.0; - out_4881048693765674271[272] = 0.0; - out_4881048693765674271[273] = 0.0; - out_4881048693765674271[274] = 0.0; - out_4881048693765674271[275] = 0.0; - out_4881048693765674271[276] = 0.0; - out_4881048693765674271[277] = 0.0; - out_4881048693765674271[278] = 0.0; - out_4881048693765674271[279] = 0.0; - out_4881048693765674271[280] = 0.0; - out_4881048693765674271[281] = 0.0; - out_4881048693765674271[282] = 0.0; - out_4881048693765674271[283] = 0.0; - out_4881048693765674271[284] = 0.0; - out_4881048693765674271[285] = 1.0; - out_4881048693765674271[286] = 0.0; - out_4881048693765674271[287] = 0.0; - out_4881048693765674271[288] = 0.0; - out_4881048693765674271[289] = 0.0; - out_4881048693765674271[290] = 0.0; - out_4881048693765674271[291] = 0.0; - out_4881048693765674271[292] = 0.0; - out_4881048693765674271[293] = 0.0; - out_4881048693765674271[294] = 0.0; - out_4881048693765674271[295] = 0.0; - out_4881048693765674271[296] = 0.0; - out_4881048693765674271[297] = 0.0; - out_4881048693765674271[298] = 0.0; - out_4881048693765674271[299] = 0.0; - out_4881048693765674271[300] = 0.0; - out_4881048693765674271[301] = 0.0; - out_4881048693765674271[302] = 0.0; - out_4881048693765674271[303] = 0.0; - out_4881048693765674271[304] = 1.0; - out_4881048693765674271[305] = 0.0; - out_4881048693765674271[306] = 0.0; - out_4881048693765674271[307] = 0.0; - out_4881048693765674271[308] = 0.0; - out_4881048693765674271[309] = 0.0; - out_4881048693765674271[310] = 0.0; - out_4881048693765674271[311] = 0.0; - out_4881048693765674271[312] = 0.0; - out_4881048693765674271[313] = 0.0; - out_4881048693765674271[314] = 0.0; - out_4881048693765674271[315] = 0.0; - out_4881048693765674271[316] = 0.0; - out_4881048693765674271[317] = 0.0; - out_4881048693765674271[318] = 0.0; - out_4881048693765674271[319] = 0.0; - out_4881048693765674271[320] = 0.0; - out_4881048693765674271[321] = 0.0; - out_4881048693765674271[322] = 0.0; - out_4881048693765674271[323] = 1.0; +void H_mod_fun(double *state, double *out_6187186838300588967) { + out_6187186838300588967[0] = 1.0; + out_6187186838300588967[1] = 0.0; + out_6187186838300588967[2] = 0.0; + out_6187186838300588967[3] = 0.0; + out_6187186838300588967[4] = 0.0; + out_6187186838300588967[5] = 0.0; + out_6187186838300588967[6] = 0.0; + out_6187186838300588967[7] = 0.0; + out_6187186838300588967[8] = 0.0; + out_6187186838300588967[9] = 0.0; + out_6187186838300588967[10] = 0.0; + out_6187186838300588967[11] = 0.0; + out_6187186838300588967[12] = 0.0; + out_6187186838300588967[13] = 0.0; + out_6187186838300588967[14] = 0.0; + out_6187186838300588967[15] = 0.0; + out_6187186838300588967[16] = 0.0; + out_6187186838300588967[17] = 0.0; + out_6187186838300588967[18] = 0.0; + out_6187186838300588967[19] = 1.0; + out_6187186838300588967[20] = 0.0; + out_6187186838300588967[21] = 0.0; + out_6187186838300588967[22] = 0.0; + out_6187186838300588967[23] = 0.0; + out_6187186838300588967[24] = 0.0; + out_6187186838300588967[25] = 0.0; + out_6187186838300588967[26] = 0.0; + out_6187186838300588967[27] = 0.0; + out_6187186838300588967[28] = 0.0; + out_6187186838300588967[29] = 0.0; + out_6187186838300588967[30] = 0.0; + out_6187186838300588967[31] = 0.0; + out_6187186838300588967[32] = 0.0; + out_6187186838300588967[33] = 0.0; + out_6187186838300588967[34] = 0.0; + out_6187186838300588967[35] = 0.0; + out_6187186838300588967[36] = 0.0; + out_6187186838300588967[37] = 0.0; + out_6187186838300588967[38] = 1.0; + out_6187186838300588967[39] = 0.0; + out_6187186838300588967[40] = 0.0; + out_6187186838300588967[41] = 0.0; + out_6187186838300588967[42] = 0.0; + out_6187186838300588967[43] = 0.0; + out_6187186838300588967[44] = 0.0; + out_6187186838300588967[45] = 0.0; + out_6187186838300588967[46] = 0.0; + out_6187186838300588967[47] = 0.0; + out_6187186838300588967[48] = 0.0; + out_6187186838300588967[49] = 0.0; + out_6187186838300588967[50] = 0.0; + out_6187186838300588967[51] = 0.0; + out_6187186838300588967[52] = 0.0; + out_6187186838300588967[53] = 0.0; + out_6187186838300588967[54] = 0.0; + out_6187186838300588967[55] = 0.0; + out_6187186838300588967[56] = 0.0; + out_6187186838300588967[57] = 1.0; + out_6187186838300588967[58] = 0.0; + out_6187186838300588967[59] = 0.0; + out_6187186838300588967[60] = 0.0; + out_6187186838300588967[61] = 0.0; + out_6187186838300588967[62] = 0.0; + out_6187186838300588967[63] = 0.0; + out_6187186838300588967[64] = 0.0; + out_6187186838300588967[65] = 0.0; + out_6187186838300588967[66] = 0.0; + out_6187186838300588967[67] = 0.0; + out_6187186838300588967[68] = 0.0; + out_6187186838300588967[69] = 0.0; + out_6187186838300588967[70] = 0.0; + out_6187186838300588967[71] = 0.0; + out_6187186838300588967[72] = 0.0; + out_6187186838300588967[73] = 0.0; + out_6187186838300588967[74] = 0.0; + out_6187186838300588967[75] = 0.0; + out_6187186838300588967[76] = 1.0; + out_6187186838300588967[77] = 0.0; + out_6187186838300588967[78] = 0.0; + out_6187186838300588967[79] = 0.0; + out_6187186838300588967[80] = 0.0; + out_6187186838300588967[81] = 0.0; + out_6187186838300588967[82] = 0.0; + out_6187186838300588967[83] = 0.0; + out_6187186838300588967[84] = 0.0; + out_6187186838300588967[85] = 0.0; + out_6187186838300588967[86] = 0.0; + out_6187186838300588967[87] = 0.0; + out_6187186838300588967[88] = 0.0; + out_6187186838300588967[89] = 0.0; + out_6187186838300588967[90] = 0.0; + out_6187186838300588967[91] = 0.0; + out_6187186838300588967[92] = 0.0; + out_6187186838300588967[93] = 0.0; + out_6187186838300588967[94] = 0.0; + out_6187186838300588967[95] = 1.0; + out_6187186838300588967[96] = 0.0; + out_6187186838300588967[97] = 0.0; + out_6187186838300588967[98] = 0.0; + out_6187186838300588967[99] = 0.0; + out_6187186838300588967[100] = 0.0; + out_6187186838300588967[101] = 0.0; + out_6187186838300588967[102] = 0.0; + out_6187186838300588967[103] = 0.0; + out_6187186838300588967[104] = 0.0; + out_6187186838300588967[105] = 0.0; + out_6187186838300588967[106] = 0.0; + out_6187186838300588967[107] = 0.0; + out_6187186838300588967[108] = 0.0; + out_6187186838300588967[109] = 0.0; + out_6187186838300588967[110] = 0.0; + out_6187186838300588967[111] = 0.0; + out_6187186838300588967[112] = 0.0; + out_6187186838300588967[113] = 0.0; + out_6187186838300588967[114] = 1.0; + out_6187186838300588967[115] = 0.0; + out_6187186838300588967[116] = 0.0; + out_6187186838300588967[117] = 0.0; + out_6187186838300588967[118] = 0.0; + out_6187186838300588967[119] = 0.0; + out_6187186838300588967[120] = 0.0; + out_6187186838300588967[121] = 0.0; + out_6187186838300588967[122] = 0.0; + out_6187186838300588967[123] = 0.0; + out_6187186838300588967[124] = 0.0; + out_6187186838300588967[125] = 0.0; + out_6187186838300588967[126] = 0.0; + out_6187186838300588967[127] = 0.0; + out_6187186838300588967[128] = 0.0; + out_6187186838300588967[129] = 0.0; + out_6187186838300588967[130] = 0.0; + out_6187186838300588967[131] = 0.0; + out_6187186838300588967[132] = 0.0; + out_6187186838300588967[133] = 1.0; + out_6187186838300588967[134] = 0.0; + out_6187186838300588967[135] = 0.0; + out_6187186838300588967[136] = 0.0; + out_6187186838300588967[137] = 0.0; + out_6187186838300588967[138] = 0.0; + out_6187186838300588967[139] = 0.0; + out_6187186838300588967[140] = 0.0; + out_6187186838300588967[141] = 0.0; + out_6187186838300588967[142] = 0.0; + out_6187186838300588967[143] = 0.0; + out_6187186838300588967[144] = 0.0; + out_6187186838300588967[145] = 0.0; + out_6187186838300588967[146] = 0.0; + out_6187186838300588967[147] = 0.0; + out_6187186838300588967[148] = 0.0; + out_6187186838300588967[149] = 0.0; + out_6187186838300588967[150] = 0.0; + out_6187186838300588967[151] = 0.0; + out_6187186838300588967[152] = 1.0; + out_6187186838300588967[153] = 0.0; + out_6187186838300588967[154] = 0.0; + out_6187186838300588967[155] = 0.0; + out_6187186838300588967[156] = 0.0; + out_6187186838300588967[157] = 0.0; + out_6187186838300588967[158] = 0.0; + out_6187186838300588967[159] = 0.0; + out_6187186838300588967[160] = 0.0; + out_6187186838300588967[161] = 0.0; + out_6187186838300588967[162] = 0.0; + out_6187186838300588967[163] = 0.0; + out_6187186838300588967[164] = 0.0; + out_6187186838300588967[165] = 0.0; + out_6187186838300588967[166] = 0.0; + out_6187186838300588967[167] = 0.0; + out_6187186838300588967[168] = 0.0; + out_6187186838300588967[169] = 0.0; + out_6187186838300588967[170] = 0.0; + out_6187186838300588967[171] = 1.0; + out_6187186838300588967[172] = 0.0; + out_6187186838300588967[173] = 0.0; + out_6187186838300588967[174] = 0.0; + out_6187186838300588967[175] = 0.0; + out_6187186838300588967[176] = 0.0; + out_6187186838300588967[177] = 0.0; + out_6187186838300588967[178] = 0.0; + out_6187186838300588967[179] = 0.0; + out_6187186838300588967[180] = 0.0; + out_6187186838300588967[181] = 0.0; + out_6187186838300588967[182] = 0.0; + out_6187186838300588967[183] = 0.0; + out_6187186838300588967[184] = 0.0; + out_6187186838300588967[185] = 0.0; + out_6187186838300588967[186] = 0.0; + out_6187186838300588967[187] = 0.0; + out_6187186838300588967[188] = 0.0; + out_6187186838300588967[189] = 0.0; + out_6187186838300588967[190] = 1.0; + out_6187186838300588967[191] = 0.0; + out_6187186838300588967[192] = 0.0; + out_6187186838300588967[193] = 0.0; + out_6187186838300588967[194] = 0.0; + out_6187186838300588967[195] = 0.0; + out_6187186838300588967[196] = 0.0; + out_6187186838300588967[197] = 0.0; + out_6187186838300588967[198] = 0.0; + out_6187186838300588967[199] = 0.0; + out_6187186838300588967[200] = 0.0; + out_6187186838300588967[201] = 0.0; + out_6187186838300588967[202] = 0.0; + out_6187186838300588967[203] = 0.0; + out_6187186838300588967[204] = 0.0; + out_6187186838300588967[205] = 0.0; + out_6187186838300588967[206] = 0.0; + out_6187186838300588967[207] = 0.0; + out_6187186838300588967[208] = 0.0; + out_6187186838300588967[209] = 1.0; + out_6187186838300588967[210] = 0.0; + out_6187186838300588967[211] = 0.0; + out_6187186838300588967[212] = 0.0; + out_6187186838300588967[213] = 0.0; + out_6187186838300588967[214] = 0.0; + out_6187186838300588967[215] = 0.0; + out_6187186838300588967[216] = 0.0; + out_6187186838300588967[217] = 0.0; + out_6187186838300588967[218] = 0.0; + out_6187186838300588967[219] = 0.0; + out_6187186838300588967[220] = 0.0; + out_6187186838300588967[221] = 0.0; + out_6187186838300588967[222] = 0.0; + out_6187186838300588967[223] = 0.0; + out_6187186838300588967[224] = 0.0; + out_6187186838300588967[225] = 0.0; + out_6187186838300588967[226] = 0.0; + out_6187186838300588967[227] = 0.0; + out_6187186838300588967[228] = 1.0; + out_6187186838300588967[229] = 0.0; + out_6187186838300588967[230] = 0.0; + out_6187186838300588967[231] = 0.0; + out_6187186838300588967[232] = 0.0; + out_6187186838300588967[233] = 0.0; + out_6187186838300588967[234] = 0.0; + out_6187186838300588967[235] = 0.0; + out_6187186838300588967[236] = 0.0; + out_6187186838300588967[237] = 0.0; + out_6187186838300588967[238] = 0.0; + out_6187186838300588967[239] = 0.0; + out_6187186838300588967[240] = 0.0; + out_6187186838300588967[241] = 0.0; + out_6187186838300588967[242] = 0.0; + out_6187186838300588967[243] = 0.0; + out_6187186838300588967[244] = 0.0; + out_6187186838300588967[245] = 0.0; + out_6187186838300588967[246] = 0.0; + out_6187186838300588967[247] = 1.0; + out_6187186838300588967[248] = 0.0; + out_6187186838300588967[249] = 0.0; + out_6187186838300588967[250] = 0.0; + out_6187186838300588967[251] = 0.0; + out_6187186838300588967[252] = 0.0; + out_6187186838300588967[253] = 0.0; + out_6187186838300588967[254] = 0.0; + out_6187186838300588967[255] = 0.0; + out_6187186838300588967[256] = 0.0; + out_6187186838300588967[257] = 0.0; + out_6187186838300588967[258] = 0.0; + out_6187186838300588967[259] = 0.0; + out_6187186838300588967[260] = 0.0; + out_6187186838300588967[261] = 0.0; + out_6187186838300588967[262] = 0.0; + out_6187186838300588967[263] = 0.0; + out_6187186838300588967[264] = 0.0; + out_6187186838300588967[265] = 0.0; + out_6187186838300588967[266] = 1.0; + out_6187186838300588967[267] = 0.0; + out_6187186838300588967[268] = 0.0; + out_6187186838300588967[269] = 0.0; + out_6187186838300588967[270] = 0.0; + out_6187186838300588967[271] = 0.0; + out_6187186838300588967[272] = 0.0; + out_6187186838300588967[273] = 0.0; + out_6187186838300588967[274] = 0.0; + out_6187186838300588967[275] = 0.0; + out_6187186838300588967[276] = 0.0; + out_6187186838300588967[277] = 0.0; + out_6187186838300588967[278] = 0.0; + out_6187186838300588967[279] = 0.0; + out_6187186838300588967[280] = 0.0; + out_6187186838300588967[281] = 0.0; + out_6187186838300588967[282] = 0.0; + out_6187186838300588967[283] = 0.0; + out_6187186838300588967[284] = 0.0; + out_6187186838300588967[285] = 1.0; + out_6187186838300588967[286] = 0.0; + out_6187186838300588967[287] = 0.0; + out_6187186838300588967[288] = 0.0; + out_6187186838300588967[289] = 0.0; + out_6187186838300588967[290] = 0.0; + out_6187186838300588967[291] = 0.0; + out_6187186838300588967[292] = 0.0; + out_6187186838300588967[293] = 0.0; + out_6187186838300588967[294] = 0.0; + out_6187186838300588967[295] = 0.0; + out_6187186838300588967[296] = 0.0; + out_6187186838300588967[297] = 0.0; + out_6187186838300588967[298] = 0.0; + out_6187186838300588967[299] = 0.0; + out_6187186838300588967[300] = 0.0; + out_6187186838300588967[301] = 0.0; + out_6187186838300588967[302] = 0.0; + out_6187186838300588967[303] = 0.0; + out_6187186838300588967[304] = 1.0; + out_6187186838300588967[305] = 0.0; + out_6187186838300588967[306] = 0.0; + out_6187186838300588967[307] = 0.0; + out_6187186838300588967[308] = 0.0; + out_6187186838300588967[309] = 0.0; + out_6187186838300588967[310] = 0.0; + out_6187186838300588967[311] = 0.0; + out_6187186838300588967[312] = 0.0; + out_6187186838300588967[313] = 0.0; + out_6187186838300588967[314] = 0.0; + out_6187186838300588967[315] = 0.0; + out_6187186838300588967[316] = 0.0; + out_6187186838300588967[317] = 0.0; + out_6187186838300588967[318] = 0.0; + out_6187186838300588967[319] = 0.0; + out_6187186838300588967[320] = 0.0; + out_6187186838300588967[321] = 0.0; + out_6187186838300588967[322] = 0.0; + out_6187186838300588967[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2074460560152714132) { - out_2074460560152714132[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_2074460560152714132[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_2074460560152714132[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_2074460560152714132[3] = dt*state[12] + state[3]; - out_2074460560152714132[4] = dt*state[13] + state[4]; - out_2074460560152714132[5] = dt*state[14] + state[5]; - out_2074460560152714132[6] = state[6]; - out_2074460560152714132[7] = state[7]; - out_2074460560152714132[8] = state[8]; - out_2074460560152714132[9] = state[9]; - out_2074460560152714132[10] = state[10]; - out_2074460560152714132[11] = state[11]; - out_2074460560152714132[12] = state[12]; - out_2074460560152714132[13] = state[13]; - out_2074460560152714132[14] = state[14]; - out_2074460560152714132[15] = state[15]; - out_2074460560152714132[16] = state[16]; - out_2074460560152714132[17] = state[17]; +void f_fun(double *state, double dt, double *out_8843286105500853100) { + out_8843286105500853100[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_8843286105500853100[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_8843286105500853100[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_8843286105500853100[3] = dt*state[12] + state[3]; + out_8843286105500853100[4] = dt*state[13] + state[4]; + out_8843286105500853100[5] = dt*state[14] + state[5]; + out_8843286105500853100[6] = state[6]; + out_8843286105500853100[7] = state[7]; + out_8843286105500853100[8] = state[8]; + out_8843286105500853100[9] = state[9]; + out_8843286105500853100[10] = state[10]; + out_8843286105500853100[11] = state[11]; + out_8843286105500853100[12] = state[12]; + out_8843286105500853100[13] = state[13]; + out_8843286105500853100[14] = state[14]; + out_8843286105500853100[15] = state[15]; + out_8843286105500853100[16] = state[16]; + out_8843286105500853100[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2950416268004545311) { - out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[2] = 0; - out_2950416268004545311[3] = 0; - out_2950416268004545311[4] = 0; - out_2950416268004545311[5] = 0; - out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[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_2950416268004545311[9] = 0; - out_2950416268004545311[10] = 0; - out_2950416268004545311[11] = 0; - out_2950416268004545311[12] = 0; - out_2950416268004545311[13] = 0; - out_2950416268004545311[14] = 0; - out_2950416268004545311[15] = 0; - out_2950416268004545311[16] = 0; - out_2950416268004545311[17] = 0; - out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[20] = 0; - out_2950416268004545311[21] = 0; - out_2950416268004545311[22] = 0; - out_2950416268004545311[23] = 0; - out_2950416268004545311[24] = 0; - out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[27] = 0; - out_2950416268004545311[28] = 0; - out_2950416268004545311[29] = 0; - out_2950416268004545311[30] = 0; - out_2950416268004545311[31] = 0; - out_2950416268004545311[32] = 0; - out_2950416268004545311[33] = 0; - out_2950416268004545311[34] = 0; - out_2950416268004545311[35] = 0; - out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[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_2950416268004545311[39] = 0; - out_2950416268004545311[40] = 0; - out_2950416268004545311[41] = 0; - out_2950416268004545311[42] = 0; - out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[45] = 0; - out_2950416268004545311[46] = 0; - out_2950416268004545311[47] = 0; - out_2950416268004545311[48] = 0; - out_2950416268004545311[49] = 0; - out_2950416268004545311[50] = 0; - out_2950416268004545311[51] = 0; - out_2950416268004545311[52] = 0; - out_2950416268004545311[53] = 0; - out_2950416268004545311[54] = 0; - out_2950416268004545311[55] = 0; - out_2950416268004545311[56] = 0; - out_2950416268004545311[57] = 1; - out_2950416268004545311[58] = 0; - out_2950416268004545311[59] = 0; - out_2950416268004545311[60] = 0; - out_2950416268004545311[61] = 0; - out_2950416268004545311[62] = 0; - out_2950416268004545311[63] = 0; - out_2950416268004545311[64] = 0; - out_2950416268004545311[65] = 0; - out_2950416268004545311[66] = dt; - out_2950416268004545311[67] = 0; - out_2950416268004545311[68] = 0; - out_2950416268004545311[69] = 0; - out_2950416268004545311[70] = 0; - out_2950416268004545311[71] = 0; - out_2950416268004545311[72] = 0; - out_2950416268004545311[73] = 0; - out_2950416268004545311[74] = 0; - out_2950416268004545311[75] = 0; - out_2950416268004545311[76] = 1; - out_2950416268004545311[77] = 0; - out_2950416268004545311[78] = 0; - out_2950416268004545311[79] = 0; - out_2950416268004545311[80] = 0; - out_2950416268004545311[81] = 0; - out_2950416268004545311[82] = 0; - out_2950416268004545311[83] = 0; - out_2950416268004545311[84] = 0; - out_2950416268004545311[85] = dt; - out_2950416268004545311[86] = 0; - out_2950416268004545311[87] = 0; - out_2950416268004545311[88] = 0; - out_2950416268004545311[89] = 0; - out_2950416268004545311[90] = 0; - out_2950416268004545311[91] = 0; - out_2950416268004545311[92] = 0; - out_2950416268004545311[93] = 0; - out_2950416268004545311[94] = 0; - out_2950416268004545311[95] = 1; - out_2950416268004545311[96] = 0; - out_2950416268004545311[97] = 0; - out_2950416268004545311[98] = 0; - out_2950416268004545311[99] = 0; - out_2950416268004545311[100] = 0; - out_2950416268004545311[101] = 0; - out_2950416268004545311[102] = 0; - out_2950416268004545311[103] = 0; - out_2950416268004545311[104] = dt; - out_2950416268004545311[105] = 0; - out_2950416268004545311[106] = 0; - out_2950416268004545311[107] = 0; - out_2950416268004545311[108] = 0; - out_2950416268004545311[109] = 0; - out_2950416268004545311[110] = 0; - out_2950416268004545311[111] = 0; - out_2950416268004545311[112] = 0; - out_2950416268004545311[113] = 0; - out_2950416268004545311[114] = 1; - out_2950416268004545311[115] = 0; - out_2950416268004545311[116] = 0; - out_2950416268004545311[117] = 0; - out_2950416268004545311[118] = 0; - out_2950416268004545311[119] = 0; - out_2950416268004545311[120] = 0; - out_2950416268004545311[121] = 0; - out_2950416268004545311[122] = 0; - out_2950416268004545311[123] = 0; - out_2950416268004545311[124] = 0; - out_2950416268004545311[125] = 0; - out_2950416268004545311[126] = 0; - out_2950416268004545311[127] = 0; - out_2950416268004545311[128] = 0; - out_2950416268004545311[129] = 0; - out_2950416268004545311[130] = 0; - out_2950416268004545311[131] = 0; - out_2950416268004545311[132] = 0; - out_2950416268004545311[133] = 1; - out_2950416268004545311[134] = 0; - out_2950416268004545311[135] = 0; - out_2950416268004545311[136] = 0; - out_2950416268004545311[137] = 0; - out_2950416268004545311[138] = 0; - out_2950416268004545311[139] = 0; - out_2950416268004545311[140] = 0; - out_2950416268004545311[141] = 0; - out_2950416268004545311[142] = 0; - out_2950416268004545311[143] = 0; - out_2950416268004545311[144] = 0; - out_2950416268004545311[145] = 0; - out_2950416268004545311[146] = 0; - out_2950416268004545311[147] = 0; - out_2950416268004545311[148] = 0; - out_2950416268004545311[149] = 0; - out_2950416268004545311[150] = 0; - out_2950416268004545311[151] = 0; - out_2950416268004545311[152] = 1; - out_2950416268004545311[153] = 0; - out_2950416268004545311[154] = 0; - out_2950416268004545311[155] = 0; - out_2950416268004545311[156] = 0; - out_2950416268004545311[157] = 0; - out_2950416268004545311[158] = 0; - out_2950416268004545311[159] = 0; - out_2950416268004545311[160] = 0; - out_2950416268004545311[161] = 0; - out_2950416268004545311[162] = 0; - out_2950416268004545311[163] = 0; - out_2950416268004545311[164] = 0; - out_2950416268004545311[165] = 0; - out_2950416268004545311[166] = 0; - out_2950416268004545311[167] = 0; - out_2950416268004545311[168] = 0; - out_2950416268004545311[169] = 0; - out_2950416268004545311[170] = 0; - out_2950416268004545311[171] = 1; - out_2950416268004545311[172] = 0; - out_2950416268004545311[173] = 0; - out_2950416268004545311[174] = 0; - out_2950416268004545311[175] = 0; - out_2950416268004545311[176] = 0; - out_2950416268004545311[177] = 0; - out_2950416268004545311[178] = 0; - out_2950416268004545311[179] = 0; - out_2950416268004545311[180] = 0; - out_2950416268004545311[181] = 0; - out_2950416268004545311[182] = 0; - out_2950416268004545311[183] = 0; - out_2950416268004545311[184] = 0; - out_2950416268004545311[185] = 0; - out_2950416268004545311[186] = 0; - out_2950416268004545311[187] = 0; - out_2950416268004545311[188] = 0; - out_2950416268004545311[189] = 0; - out_2950416268004545311[190] = 1; - out_2950416268004545311[191] = 0; - out_2950416268004545311[192] = 0; - out_2950416268004545311[193] = 0; - out_2950416268004545311[194] = 0; - out_2950416268004545311[195] = 0; - out_2950416268004545311[196] = 0; - out_2950416268004545311[197] = 0; - out_2950416268004545311[198] = 0; - out_2950416268004545311[199] = 0; - out_2950416268004545311[200] = 0; - out_2950416268004545311[201] = 0; - out_2950416268004545311[202] = 0; - out_2950416268004545311[203] = 0; - out_2950416268004545311[204] = 0; - out_2950416268004545311[205] = 0; - out_2950416268004545311[206] = 0; - out_2950416268004545311[207] = 0; - out_2950416268004545311[208] = 0; - out_2950416268004545311[209] = 1; - out_2950416268004545311[210] = 0; - out_2950416268004545311[211] = 0; - out_2950416268004545311[212] = 0; - out_2950416268004545311[213] = 0; - out_2950416268004545311[214] = 0; - out_2950416268004545311[215] = 0; - out_2950416268004545311[216] = 0; - out_2950416268004545311[217] = 0; - out_2950416268004545311[218] = 0; - out_2950416268004545311[219] = 0; - out_2950416268004545311[220] = 0; - out_2950416268004545311[221] = 0; - out_2950416268004545311[222] = 0; - out_2950416268004545311[223] = 0; - out_2950416268004545311[224] = 0; - out_2950416268004545311[225] = 0; - out_2950416268004545311[226] = 0; - out_2950416268004545311[227] = 0; - out_2950416268004545311[228] = 1; - out_2950416268004545311[229] = 0; - out_2950416268004545311[230] = 0; - out_2950416268004545311[231] = 0; - out_2950416268004545311[232] = 0; - out_2950416268004545311[233] = 0; - out_2950416268004545311[234] = 0; - out_2950416268004545311[235] = 0; - out_2950416268004545311[236] = 0; - out_2950416268004545311[237] = 0; - out_2950416268004545311[238] = 0; - out_2950416268004545311[239] = 0; - out_2950416268004545311[240] = 0; - out_2950416268004545311[241] = 0; - out_2950416268004545311[242] = 0; - out_2950416268004545311[243] = 0; - out_2950416268004545311[244] = 0; - out_2950416268004545311[245] = 0; - out_2950416268004545311[246] = 0; - out_2950416268004545311[247] = 1; - out_2950416268004545311[248] = 0; - out_2950416268004545311[249] = 0; - out_2950416268004545311[250] = 0; - out_2950416268004545311[251] = 0; - out_2950416268004545311[252] = 0; - out_2950416268004545311[253] = 0; - out_2950416268004545311[254] = 0; - out_2950416268004545311[255] = 0; - out_2950416268004545311[256] = 0; - out_2950416268004545311[257] = 0; - out_2950416268004545311[258] = 0; - out_2950416268004545311[259] = 0; - out_2950416268004545311[260] = 0; - out_2950416268004545311[261] = 0; - out_2950416268004545311[262] = 0; - out_2950416268004545311[263] = 0; - out_2950416268004545311[264] = 0; - out_2950416268004545311[265] = 0; - out_2950416268004545311[266] = 1; - out_2950416268004545311[267] = 0; - out_2950416268004545311[268] = 0; - out_2950416268004545311[269] = 0; - out_2950416268004545311[270] = 0; - out_2950416268004545311[271] = 0; - out_2950416268004545311[272] = 0; - out_2950416268004545311[273] = 0; - out_2950416268004545311[274] = 0; - out_2950416268004545311[275] = 0; - out_2950416268004545311[276] = 0; - out_2950416268004545311[277] = 0; - out_2950416268004545311[278] = 0; - out_2950416268004545311[279] = 0; - out_2950416268004545311[280] = 0; - out_2950416268004545311[281] = 0; - out_2950416268004545311[282] = 0; - out_2950416268004545311[283] = 0; - out_2950416268004545311[284] = 0; - out_2950416268004545311[285] = 1; - out_2950416268004545311[286] = 0; - out_2950416268004545311[287] = 0; - out_2950416268004545311[288] = 0; - out_2950416268004545311[289] = 0; - out_2950416268004545311[290] = 0; - out_2950416268004545311[291] = 0; - out_2950416268004545311[292] = 0; - out_2950416268004545311[293] = 0; - out_2950416268004545311[294] = 0; - out_2950416268004545311[295] = 0; - out_2950416268004545311[296] = 0; - out_2950416268004545311[297] = 0; - out_2950416268004545311[298] = 0; - out_2950416268004545311[299] = 0; - out_2950416268004545311[300] = 0; - out_2950416268004545311[301] = 0; - out_2950416268004545311[302] = 0; - out_2950416268004545311[303] = 0; - out_2950416268004545311[304] = 1; - out_2950416268004545311[305] = 0; - out_2950416268004545311[306] = 0; - out_2950416268004545311[307] = 0; - out_2950416268004545311[308] = 0; - out_2950416268004545311[309] = 0; - out_2950416268004545311[310] = 0; - out_2950416268004545311[311] = 0; - out_2950416268004545311[312] = 0; - out_2950416268004545311[313] = 0; - out_2950416268004545311[314] = 0; - out_2950416268004545311[315] = 0; - out_2950416268004545311[316] = 0; - out_2950416268004545311[317] = 0; - out_2950416268004545311[318] = 0; - out_2950416268004545311[319] = 0; - out_2950416268004545311[320] = 0; - out_2950416268004545311[321] = 0; - out_2950416268004545311[322] = 0; - out_2950416268004545311[323] = 1; +void F_fun(double *state, double dt, double *out_4695420932330585758) { + out_4695420932330585758[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_4695420932330585758[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_4695420932330585758[2] = 0; + out_4695420932330585758[3] = 0; + out_4695420932330585758[4] = 0; + out_4695420932330585758[5] = 0; + out_4695420932330585758[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_4695420932330585758[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_4695420932330585758[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_4695420932330585758[9] = 0; + out_4695420932330585758[10] = 0; + out_4695420932330585758[11] = 0; + out_4695420932330585758[12] = 0; + out_4695420932330585758[13] = 0; + out_4695420932330585758[14] = 0; + out_4695420932330585758[15] = 0; + out_4695420932330585758[16] = 0; + out_4695420932330585758[17] = 0; + out_4695420932330585758[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_4695420932330585758[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_4695420932330585758[20] = 0; + out_4695420932330585758[21] = 0; + out_4695420932330585758[22] = 0; + out_4695420932330585758[23] = 0; + out_4695420932330585758[24] = 0; + out_4695420932330585758[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_4695420932330585758[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_4695420932330585758[27] = 0; + out_4695420932330585758[28] = 0; + out_4695420932330585758[29] = 0; + out_4695420932330585758[30] = 0; + out_4695420932330585758[31] = 0; + out_4695420932330585758[32] = 0; + out_4695420932330585758[33] = 0; + out_4695420932330585758[34] = 0; + out_4695420932330585758[35] = 0; + out_4695420932330585758[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_4695420932330585758[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_4695420932330585758[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_4695420932330585758[39] = 0; + out_4695420932330585758[40] = 0; + out_4695420932330585758[41] = 0; + out_4695420932330585758[42] = 0; + out_4695420932330585758[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_4695420932330585758[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_4695420932330585758[45] = 0; + out_4695420932330585758[46] = 0; + out_4695420932330585758[47] = 0; + out_4695420932330585758[48] = 0; + out_4695420932330585758[49] = 0; + out_4695420932330585758[50] = 0; + out_4695420932330585758[51] = 0; + out_4695420932330585758[52] = 0; + out_4695420932330585758[53] = 0; + out_4695420932330585758[54] = 0; + out_4695420932330585758[55] = 0; + out_4695420932330585758[56] = 0; + out_4695420932330585758[57] = 1; + out_4695420932330585758[58] = 0; + out_4695420932330585758[59] = 0; + out_4695420932330585758[60] = 0; + out_4695420932330585758[61] = 0; + out_4695420932330585758[62] = 0; + out_4695420932330585758[63] = 0; + out_4695420932330585758[64] = 0; + out_4695420932330585758[65] = 0; + out_4695420932330585758[66] = dt; + out_4695420932330585758[67] = 0; + out_4695420932330585758[68] = 0; + out_4695420932330585758[69] = 0; + out_4695420932330585758[70] = 0; + out_4695420932330585758[71] = 0; + out_4695420932330585758[72] = 0; + out_4695420932330585758[73] = 0; + out_4695420932330585758[74] = 0; + out_4695420932330585758[75] = 0; + out_4695420932330585758[76] = 1; + out_4695420932330585758[77] = 0; + out_4695420932330585758[78] = 0; + out_4695420932330585758[79] = 0; + out_4695420932330585758[80] = 0; + out_4695420932330585758[81] = 0; + out_4695420932330585758[82] = 0; + out_4695420932330585758[83] = 0; + out_4695420932330585758[84] = 0; + out_4695420932330585758[85] = dt; + out_4695420932330585758[86] = 0; + out_4695420932330585758[87] = 0; + out_4695420932330585758[88] = 0; + out_4695420932330585758[89] = 0; + out_4695420932330585758[90] = 0; + out_4695420932330585758[91] = 0; + out_4695420932330585758[92] = 0; + out_4695420932330585758[93] = 0; + out_4695420932330585758[94] = 0; + out_4695420932330585758[95] = 1; + out_4695420932330585758[96] = 0; + out_4695420932330585758[97] = 0; + out_4695420932330585758[98] = 0; + out_4695420932330585758[99] = 0; + out_4695420932330585758[100] = 0; + out_4695420932330585758[101] = 0; + out_4695420932330585758[102] = 0; + out_4695420932330585758[103] = 0; + out_4695420932330585758[104] = dt; + out_4695420932330585758[105] = 0; + out_4695420932330585758[106] = 0; + out_4695420932330585758[107] = 0; + out_4695420932330585758[108] = 0; + out_4695420932330585758[109] = 0; + out_4695420932330585758[110] = 0; + out_4695420932330585758[111] = 0; + out_4695420932330585758[112] = 0; + out_4695420932330585758[113] = 0; + out_4695420932330585758[114] = 1; + out_4695420932330585758[115] = 0; + out_4695420932330585758[116] = 0; + out_4695420932330585758[117] = 0; + out_4695420932330585758[118] = 0; + out_4695420932330585758[119] = 0; + out_4695420932330585758[120] = 0; + out_4695420932330585758[121] = 0; + out_4695420932330585758[122] = 0; + out_4695420932330585758[123] = 0; + out_4695420932330585758[124] = 0; + out_4695420932330585758[125] = 0; + out_4695420932330585758[126] = 0; + out_4695420932330585758[127] = 0; + out_4695420932330585758[128] = 0; + out_4695420932330585758[129] = 0; + out_4695420932330585758[130] = 0; + out_4695420932330585758[131] = 0; + out_4695420932330585758[132] = 0; + out_4695420932330585758[133] = 1; + out_4695420932330585758[134] = 0; + out_4695420932330585758[135] = 0; + out_4695420932330585758[136] = 0; + out_4695420932330585758[137] = 0; + out_4695420932330585758[138] = 0; + out_4695420932330585758[139] = 0; + out_4695420932330585758[140] = 0; + out_4695420932330585758[141] = 0; + out_4695420932330585758[142] = 0; + out_4695420932330585758[143] = 0; + out_4695420932330585758[144] = 0; + out_4695420932330585758[145] = 0; + out_4695420932330585758[146] = 0; + out_4695420932330585758[147] = 0; + out_4695420932330585758[148] = 0; + out_4695420932330585758[149] = 0; + out_4695420932330585758[150] = 0; + out_4695420932330585758[151] = 0; + out_4695420932330585758[152] = 1; + out_4695420932330585758[153] = 0; + out_4695420932330585758[154] = 0; + out_4695420932330585758[155] = 0; + out_4695420932330585758[156] = 0; + out_4695420932330585758[157] = 0; + out_4695420932330585758[158] = 0; + out_4695420932330585758[159] = 0; + out_4695420932330585758[160] = 0; + out_4695420932330585758[161] = 0; + out_4695420932330585758[162] = 0; + out_4695420932330585758[163] = 0; + out_4695420932330585758[164] = 0; + out_4695420932330585758[165] = 0; + out_4695420932330585758[166] = 0; + out_4695420932330585758[167] = 0; + out_4695420932330585758[168] = 0; + out_4695420932330585758[169] = 0; + out_4695420932330585758[170] = 0; + out_4695420932330585758[171] = 1; + out_4695420932330585758[172] = 0; + out_4695420932330585758[173] = 0; + out_4695420932330585758[174] = 0; + out_4695420932330585758[175] = 0; + out_4695420932330585758[176] = 0; + out_4695420932330585758[177] = 0; + out_4695420932330585758[178] = 0; + out_4695420932330585758[179] = 0; + out_4695420932330585758[180] = 0; + out_4695420932330585758[181] = 0; + out_4695420932330585758[182] = 0; + out_4695420932330585758[183] = 0; + out_4695420932330585758[184] = 0; + out_4695420932330585758[185] = 0; + out_4695420932330585758[186] = 0; + out_4695420932330585758[187] = 0; + out_4695420932330585758[188] = 0; + out_4695420932330585758[189] = 0; + out_4695420932330585758[190] = 1; + out_4695420932330585758[191] = 0; + out_4695420932330585758[192] = 0; + out_4695420932330585758[193] = 0; + out_4695420932330585758[194] = 0; + out_4695420932330585758[195] = 0; + out_4695420932330585758[196] = 0; + out_4695420932330585758[197] = 0; + out_4695420932330585758[198] = 0; + out_4695420932330585758[199] = 0; + out_4695420932330585758[200] = 0; + out_4695420932330585758[201] = 0; + out_4695420932330585758[202] = 0; + out_4695420932330585758[203] = 0; + out_4695420932330585758[204] = 0; + out_4695420932330585758[205] = 0; + out_4695420932330585758[206] = 0; + out_4695420932330585758[207] = 0; + out_4695420932330585758[208] = 0; + out_4695420932330585758[209] = 1; + out_4695420932330585758[210] = 0; + out_4695420932330585758[211] = 0; + out_4695420932330585758[212] = 0; + out_4695420932330585758[213] = 0; + out_4695420932330585758[214] = 0; + out_4695420932330585758[215] = 0; + out_4695420932330585758[216] = 0; + out_4695420932330585758[217] = 0; + out_4695420932330585758[218] = 0; + out_4695420932330585758[219] = 0; + out_4695420932330585758[220] = 0; + out_4695420932330585758[221] = 0; + out_4695420932330585758[222] = 0; + out_4695420932330585758[223] = 0; + out_4695420932330585758[224] = 0; + out_4695420932330585758[225] = 0; + out_4695420932330585758[226] = 0; + out_4695420932330585758[227] = 0; + out_4695420932330585758[228] = 1; + out_4695420932330585758[229] = 0; + out_4695420932330585758[230] = 0; + out_4695420932330585758[231] = 0; + out_4695420932330585758[232] = 0; + out_4695420932330585758[233] = 0; + out_4695420932330585758[234] = 0; + out_4695420932330585758[235] = 0; + out_4695420932330585758[236] = 0; + out_4695420932330585758[237] = 0; + out_4695420932330585758[238] = 0; + out_4695420932330585758[239] = 0; + out_4695420932330585758[240] = 0; + out_4695420932330585758[241] = 0; + out_4695420932330585758[242] = 0; + out_4695420932330585758[243] = 0; + out_4695420932330585758[244] = 0; + out_4695420932330585758[245] = 0; + out_4695420932330585758[246] = 0; + out_4695420932330585758[247] = 1; + out_4695420932330585758[248] = 0; + out_4695420932330585758[249] = 0; + out_4695420932330585758[250] = 0; + out_4695420932330585758[251] = 0; + out_4695420932330585758[252] = 0; + out_4695420932330585758[253] = 0; + out_4695420932330585758[254] = 0; + out_4695420932330585758[255] = 0; + out_4695420932330585758[256] = 0; + out_4695420932330585758[257] = 0; + out_4695420932330585758[258] = 0; + out_4695420932330585758[259] = 0; + out_4695420932330585758[260] = 0; + out_4695420932330585758[261] = 0; + out_4695420932330585758[262] = 0; + out_4695420932330585758[263] = 0; + out_4695420932330585758[264] = 0; + out_4695420932330585758[265] = 0; + out_4695420932330585758[266] = 1; + out_4695420932330585758[267] = 0; + out_4695420932330585758[268] = 0; + out_4695420932330585758[269] = 0; + out_4695420932330585758[270] = 0; + out_4695420932330585758[271] = 0; + out_4695420932330585758[272] = 0; + out_4695420932330585758[273] = 0; + out_4695420932330585758[274] = 0; + out_4695420932330585758[275] = 0; + out_4695420932330585758[276] = 0; + out_4695420932330585758[277] = 0; + out_4695420932330585758[278] = 0; + out_4695420932330585758[279] = 0; + out_4695420932330585758[280] = 0; + out_4695420932330585758[281] = 0; + out_4695420932330585758[282] = 0; + out_4695420932330585758[283] = 0; + out_4695420932330585758[284] = 0; + out_4695420932330585758[285] = 1; + out_4695420932330585758[286] = 0; + out_4695420932330585758[287] = 0; + out_4695420932330585758[288] = 0; + out_4695420932330585758[289] = 0; + out_4695420932330585758[290] = 0; + out_4695420932330585758[291] = 0; + out_4695420932330585758[292] = 0; + out_4695420932330585758[293] = 0; + out_4695420932330585758[294] = 0; + out_4695420932330585758[295] = 0; + out_4695420932330585758[296] = 0; + out_4695420932330585758[297] = 0; + out_4695420932330585758[298] = 0; + out_4695420932330585758[299] = 0; + out_4695420932330585758[300] = 0; + out_4695420932330585758[301] = 0; + out_4695420932330585758[302] = 0; + out_4695420932330585758[303] = 0; + out_4695420932330585758[304] = 1; + out_4695420932330585758[305] = 0; + out_4695420932330585758[306] = 0; + out_4695420932330585758[307] = 0; + out_4695420932330585758[308] = 0; + out_4695420932330585758[309] = 0; + out_4695420932330585758[310] = 0; + out_4695420932330585758[311] = 0; + out_4695420932330585758[312] = 0; + out_4695420932330585758[313] = 0; + out_4695420932330585758[314] = 0; + out_4695420932330585758[315] = 0; + out_4695420932330585758[316] = 0; + out_4695420932330585758[317] = 0; + out_4695420932330585758[318] = 0; + out_4695420932330585758[319] = 0; + out_4695420932330585758[320] = 0; + out_4695420932330585758[321] = 0; + out_4695420932330585758[322] = 0; + out_4695420932330585758[323] = 1; } -void h_4(double *state, double *unused, double *out_7825885472463858534) { - out_7825885472463858534[0] = state[6] + state[9]; - out_7825885472463858534[1] = state[7] + state[10]; - out_7825885472463858534[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2276007570038364899) { + out_2276007570038364899[0] = state[6] + state[9]; + out_2276007570038364899[1] = state[7] + state[10]; + out_2276007570038364899[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3220493145206738279) { - out_3220493145206738279[0] = 0; - out_3220493145206738279[1] = 0; - out_3220493145206738279[2] = 0; - out_3220493145206738279[3] = 0; - out_3220493145206738279[4] = 0; - out_3220493145206738279[5] = 0; - out_3220493145206738279[6] = 1; - out_3220493145206738279[7] = 0; - out_3220493145206738279[8] = 0; - out_3220493145206738279[9] = 1; - out_3220493145206738279[10] = 0; - out_3220493145206738279[11] = 0; - out_3220493145206738279[12] = 0; - out_3220493145206738279[13] = 0; - out_3220493145206738279[14] = 0; - out_3220493145206738279[15] = 0; - out_3220493145206738279[16] = 0; - out_3220493145206738279[17] = 0; - out_3220493145206738279[18] = 0; - out_3220493145206738279[19] = 0; - out_3220493145206738279[20] = 0; - out_3220493145206738279[21] = 0; - out_3220493145206738279[22] = 0; - out_3220493145206738279[23] = 0; - out_3220493145206738279[24] = 0; - out_3220493145206738279[25] = 1; - out_3220493145206738279[26] = 0; - out_3220493145206738279[27] = 0; - out_3220493145206738279[28] = 1; - out_3220493145206738279[29] = 0; - out_3220493145206738279[30] = 0; - out_3220493145206738279[31] = 0; - out_3220493145206738279[32] = 0; - out_3220493145206738279[33] = 0; - out_3220493145206738279[34] = 0; - out_3220493145206738279[35] = 0; - out_3220493145206738279[36] = 0; - out_3220493145206738279[37] = 0; - out_3220493145206738279[38] = 0; - out_3220493145206738279[39] = 0; - out_3220493145206738279[40] = 0; - out_3220493145206738279[41] = 0; - out_3220493145206738279[42] = 0; - out_3220493145206738279[43] = 0; - out_3220493145206738279[44] = 1; - out_3220493145206738279[45] = 0; - out_3220493145206738279[46] = 0; - out_3220493145206738279[47] = 1; - out_3220493145206738279[48] = 0; - out_3220493145206738279[49] = 0; - out_3220493145206738279[50] = 0; - out_3220493145206738279[51] = 0; - out_3220493145206738279[52] = 0; - out_3220493145206738279[53] = 0; +void H_4(double *state, double *unused, double *out_339105031548630246) { + out_339105031548630246[0] = 0; + out_339105031548630246[1] = 0; + out_339105031548630246[2] = 0; + out_339105031548630246[3] = 0; + out_339105031548630246[4] = 0; + out_339105031548630246[5] = 0; + out_339105031548630246[6] = 1; + out_339105031548630246[7] = 0; + out_339105031548630246[8] = 0; + out_339105031548630246[9] = 1; + out_339105031548630246[10] = 0; + out_339105031548630246[11] = 0; + out_339105031548630246[12] = 0; + out_339105031548630246[13] = 0; + out_339105031548630246[14] = 0; + out_339105031548630246[15] = 0; + out_339105031548630246[16] = 0; + out_339105031548630246[17] = 0; + out_339105031548630246[18] = 0; + out_339105031548630246[19] = 0; + out_339105031548630246[20] = 0; + out_339105031548630246[21] = 0; + out_339105031548630246[22] = 0; + out_339105031548630246[23] = 0; + out_339105031548630246[24] = 0; + out_339105031548630246[25] = 1; + out_339105031548630246[26] = 0; + out_339105031548630246[27] = 0; + out_339105031548630246[28] = 1; + out_339105031548630246[29] = 0; + out_339105031548630246[30] = 0; + out_339105031548630246[31] = 0; + out_339105031548630246[32] = 0; + out_339105031548630246[33] = 0; + out_339105031548630246[34] = 0; + out_339105031548630246[35] = 0; + out_339105031548630246[36] = 0; + out_339105031548630246[37] = 0; + out_339105031548630246[38] = 0; + out_339105031548630246[39] = 0; + out_339105031548630246[40] = 0; + out_339105031548630246[41] = 0; + out_339105031548630246[42] = 0; + out_339105031548630246[43] = 0; + out_339105031548630246[44] = 1; + out_339105031548630246[45] = 0; + out_339105031548630246[46] = 0; + out_339105031548630246[47] = 1; + out_339105031548630246[48] = 0; + out_339105031548630246[49] = 0; + out_339105031548630246[50] = 0; + out_339105031548630246[51] = 0; + out_339105031548630246[52] = 0; + out_339105031548630246[53] = 0; } -void h_10(double *state, double *unused, double *out_6806037226153200611) { - out_6806037226153200611[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6806037226153200611[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6806037226153200611[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_530488663462245196) { + out_530488663462245196[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_530488663462245196[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_530488663462245196[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_3332311375343894911) { - out_3332311375343894911[0] = 0; - out_3332311375343894911[1] = 9.8100000000000005*cos(state[1]); - out_3332311375343894911[2] = 0; - out_3332311375343894911[3] = 0; - out_3332311375343894911[4] = -state[8]; - out_3332311375343894911[5] = state[7]; - out_3332311375343894911[6] = 0; - out_3332311375343894911[7] = state[5]; - out_3332311375343894911[8] = -state[4]; - out_3332311375343894911[9] = 0; - out_3332311375343894911[10] = 0; - out_3332311375343894911[11] = 0; - out_3332311375343894911[12] = 1; - out_3332311375343894911[13] = 0; - out_3332311375343894911[14] = 0; - out_3332311375343894911[15] = 1; - out_3332311375343894911[16] = 0; - out_3332311375343894911[17] = 0; - out_3332311375343894911[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3332311375343894911[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3332311375343894911[20] = 0; - out_3332311375343894911[21] = state[8]; - out_3332311375343894911[22] = 0; - out_3332311375343894911[23] = -state[6]; - out_3332311375343894911[24] = -state[5]; - out_3332311375343894911[25] = 0; - out_3332311375343894911[26] = state[3]; - out_3332311375343894911[27] = 0; - out_3332311375343894911[28] = 0; - out_3332311375343894911[29] = 0; - out_3332311375343894911[30] = 0; - out_3332311375343894911[31] = 1; - out_3332311375343894911[32] = 0; - out_3332311375343894911[33] = 0; - out_3332311375343894911[34] = 1; - out_3332311375343894911[35] = 0; - out_3332311375343894911[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3332311375343894911[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3332311375343894911[38] = 0; - out_3332311375343894911[39] = -state[7]; - out_3332311375343894911[40] = state[6]; - out_3332311375343894911[41] = 0; - out_3332311375343894911[42] = state[4]; - out_3332311375343894911[43] = -state[3]; - out_3332311375343894911[44] = 0; - out_3332311375343894911[45] = 0; - out_3332311375343894911[46] = 0; - out_3332311375343894911[47] = 0; - out_3332311375343894911[48] = 0; - out_3332311375343894911[49] = 0; - out_3332311375343894911[50] = 1; - out_3332311375343894911[51] = 0; - out_3332311375343894911[52] = 0; - out_3332311375343894911[53] = 1; +void H_10(double *state, double *unused, double *out_3914913893563359029) { + out_3914913893563359029[0] = 0; + out_3914913893563359029[1] = 9.8100000000000005*cos(state[1]); + out_3914913893563359029[2] = 0; + out_3914913893563359029[3] = 0; + out_3914913893563359029[4] = -state[8]; + out_3914913893563359029[5] = state[7]; + out_3914913893563359029[6] = 0; + out_3914913893563359029[7] = state[5]; + out_3914913893563359029[8] = -state[4]; + out_3914913893563359029[9] = 0; + out_3914913893563359029[10] = 0; + out_3914913893563359029[11] = 0; + out_3914913893563359029[12] = 1; + out_3914913893563359029[13] = 0; + out_3914913893563359029[14] = 0; + out_3914913893563359029[15] = 1; + out_3914913893563359029[16] = 0; + out_3914913893563359029[17] = 0; + out_3914913893563359029[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3914913893563359029[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3914913893563359029[20] = 0; + out_3914913893563359029[21] = state[8]; + out_3914913893563359029[22] = 0; + out_3914913893563359029[23] = -state[6]; + out_3914913893563359029[24] = -state[5]; + out_3914913893563359029[25] = 0; + out_3914913893563359029[26] = state[3]; + out_3914913893563359029[27] = 0; + out_3914913893563359029[28] = 0; + out_3914913893563359029[29] = 0; + out_3914913893563359029[30] = 0; + out_3914913893563359029[31] = 1; + out_3914913893563359029[32] = 0; + out_3914913893563359029[33] = 0; + out_3914913893563359029[34] = 1; + out_3914913893563359029[35] = 0; + out_3914913893563359029[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3914913893563359029[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3914913893563359029[38] = 0; + out_3914913893563359029[39] = -state[7]; + out_3914913893563359029[40] = state[6]; + out_3914913893563359029[41] = 0; + out_3914913893563359029[42] = state[4]; + out_3914913893563359029[43] = -state[3]; + out_3914913893563359029[44] = 0; + out_3914913893563359029[45] = 0; + out_3914913893563359029[46] = 0; + out_3914913893563359029[47] = 0; + out_3914913893563359029[48] = 0; + out_3914913893563359029[49] = 0; + out_3914913893563359029[50] = 1; + out_3914913893563359029[51] = 0; + out_3914913893563359029[52] = 0; + out_3914913893563359029[53] = 1; } -void h_13(double *state, double *unused, double *out_6113289319154753757) { - out_6113289319154753757[0] = state[3]; - out_6113289319154753757[1] = state[4]; - out_6113289319154753757[2] = state[5]; +void h_13(double *state, double *unused, double *out_7290329458186336837) { + out_7290329458186336837[0] = state[3]; + out_7290329458186336837[1] = state[4]; + out_7290329458186336837[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8219319874405478) { - out_8219319874405478[0] = 0; - out_8219319874405478[1] = 0; - out_8219319874405478[2] = 0; - out_8219319874405478[3] = 1; - out_8219319874405478[4] = 0; - out_8219319874405478[5] = 0; - out_8219319874405478[6] = 0; - out_8219319874405478[7] = 0; - out_8219319874405478[8] = 0; - out_8219319874405478[9] = 0; - out_8219319874405478[10] = 0; - out_8219319874405478[11] = 0; - out_8219319874405478[12] = 0; - out_8219319874405478[13] = 0; - out_8219319874405478[14] = 0; - out_8219319874405478[15] = 0; - out_8219319874405478[16] = 0; - out_8219319874405478[17] = 0; - out_8219319874405478[18] = 0; - out_8219319874405478[19] = 0; - out_8219319874405478[20] = 0; - out_8219319874405478[21] = 0; - out_8219319874405478[22] = 1; - out_8219319874405478[23] = 0; - out_8219319874405478[24] = 0; - out_8219319874405478[25] = 0; - out_8219319874405478[26] = 0; - out_8219319874405478[27] = 0; - out_8219319874405478[28] = 0; - out_8219319874405478[29] = 0; - out_8219319874405478[30] = 0; - out_8219319874405478[31] = 0; - out_8219319874405478[32] = 0; - out_8219319874405478[33] = 0; - out_8219319874405478[34] = 0; - out_8219319874405478[35] = 0; - out_8219319874405478[36] = 0; - out_8219319874405478[37] = 0; - out_8219319874405478[38] = 0; - out_8219319874405478[39] = 0; - out_8219319874405478[40] = 0; - out_8219319874405478[41] = 1; - out_8219319874405478[42] = 0; - out_8219319874405478[43] = 0; - out_8219319874405478[44] = 0; - out_8219319874405478[45] = 0; - out_8219319874405478[46] = 0; - out_8219319874405478[47] = 0; - out_8219319874405478[48] = 0; - out_8219319874405478[49] = 0; - out_8219319874405478[50] = 0; - out_8219319874405478[51] = 0; - out_8219319874405478[52] = 0; - out_8219319874405478[53] = 0; +void H_13(double *state, double *unused, double *out_3551378856880963047) { + out_3551378856880963047[0] = 0; + out_3551378856880963047[1] = 0; + out_3551378856880963047[2] = 0; + out_3551378856880963047[3] = 1; + out_3551378856880963047[4] = 0; + out_3551378856880963047[5] = 0; + out_3551378856880963047[6] = 0; + out_3551378856880963047[7] = 0; + out_3551378856880963047[8] = 0; + out_3551378856880963047[9] = 0; + out_3551378856880963047[10] = 0; + out_3551378856880963047[11] = 0; + out_3551378856880963047[12] = 0; + out_3551378856880963047[13] = 0; + out_3551378856880963047[14] = 0; + out_3551378856880963047[15] = 0; + out_3551378856880963047[16] = 0; + out_3551378856880963047[17] = 0; + out_3551378856880963047[18] = 0; + out_3551378856880963047[19] = 0; + out_3551378856880963047[20] = 0; + out_3551378856880963047[21] = 0; + out_3551378856880963047[22] = 1; + out_3551378856880963047[23] = 0; + out_3551378856880963047[24] = 0; + out_3551378856880963047[25] = 0; + out_3551378856880963047[26] = 0; + out_3551378856880963047[27] = 0; + out_3551378856880963047[28] = 0; + out_3551378856880963047[29] = 0; + out_3551378856880963047[30] = 0; + out_3551378856880963047[31] = 0; + out_3551378856880963047[32] = 0; + out_3551378856880963047[33] = 0; + out_3551378856880963047[34] = 0; + out_3551378856880963047[35] = 0; + out_3551378856880963047[36] = 0; + out_3551378856880963047[37] = 0; + out_3551378856880963047[38] = 0; + out_3551378856880963047[39] = 0; + out_3551378856880963047[40] = 0; + out_3551378856880963047[41] = 1; + out_3551378856880963047[42] = 0; + out_3551378856880963047[43] = 0; + out_3551378856880963047[44] = 0; + out_3551378856880963047[45] = 0; + out_3551378856880963047[46] = 0; + out_3551378856880963047[47] = 0; + out_3551378856880963047[48] = 0; + out_3551378856880963047[49] = 0; + out_3551378856880963047[50] = 0; + out_3551378856880963047[51] = 0; + out_3551378856880963047[52] = 0; + out_3551378856880963047[53] = 0; } -void h_14(double *state, double *unused, double *out_6792742952256744963) { - out_6792742952256744963[0] = state[6]; - out_6792742952256744963[1] = state[7]; - out_6792742952256744963[2] = state[8]; +void h_14(double *state, double *unused, double *out_9018381316782859541) { + out_9018381316782859541[0] = state[6]; + out_9018381316782859541[1] = state[7]; + out_9018381316782859541[2] = state[8]; } -void H_14(double *state, double *unused, double *out_742747711132746250) { - out_742747711132746250[0] = 0; - out_742747711132746250[1] = 0; - out_742747711132746250[2] = 0; - out_742747711132746250[3] = 0; - out_742747711132746250[4] = 0; - out_742747711132746250[5] = 0; - out_742747711132746250[6] = 1; - out_742747711132746250[7] = 0; - out_742747711132746250[8] = 0; - out_742747711132746250[9] = 0; - out_742747711132746250[10] = 0; - out_742747711132746250[11] = 0; - out_742747711132746250[12] = 0; - out_742747711132746250[13] = 0; - out_742747711132746250[14] = 0; - out_742747711132746250[15] = 0; - out_742747711132746250[16] = 0; - out_742747711132746250[17] = 0; - out_742747711132746250[18] = 0; - out_742747711132746250[19] = 0; - out_742747711132746250[20] = 0; - out_742747711132746250[21] = 0; - out_742747711132746250[22] = 0; - out_742747711132746250[23] = 0; - out_742747711132746250[24] = 0; - out_742747711132746250[25] = 1; - out_742747711132746250[26] = 0; - out_742747711132746250[27] = 0; - out_742747711132746250[28] = 0; - out_742747711132746250[29] = 0; - out_742747711132746250[30] = 0; - out_742747711132746250[31] = 0; - out_742747711132746250[32] = 0; - out_742747711132746250[33] = 0; - out_742747711132746250[34] = 0; - out_742747711132746250[35] = 0; - out_742747711132746250[36] = 0; - out_742747711132746250[37] = 0; - out_742747711132746250[38] = 0; - out_742747711132746250[39] = 0; - out_742747711132746250[40] = 0; - out_742747711132746250[41] = 0; - out_742747711132746250[42] = 0; - out_742747711132746250[43] = 0; - out_742747711132746250[44] = 1; - out_742747711132746250[45] = 0; - out_742747711132746250[46] = 0; - out_742747711132746250[47] = 0; - out_742747711132746250[48] = 0; - out_742747711132746250[49] = 0; - out_742747711132746250[50] = 0; - out_742747711132746250[51] = 0; - out_742747711132746250[52] = 0; - out_742747711132746250[53] = 0; +void H_14(double *state, double *unused, double *out_4302345887888114775) { + out_4302345887888114775[0] = 0; + out_4302345887888114775[1] = 0; + out_4302345887888114775[2] = 0; + out_4302345887888114775[3] = 0; + out_4302345887888114775[4] = 0; + out_4302345887888114775[5] = 0; + out_4302345887888114775[6] = 1; + out_4302345887888114775[7] = 0; + out_4302345887888114775[8] = 0; + out_4302345887888114775[9] = 0; + out_4302345887888114775[10] = 0; + out_4302345887888114775[11] = 0; + out_4302345887888114775[12] = 0; + out_4302345887888114775[13] = 0; + out_4302345887888114775[14] = 0; + out_4302345887888114775[15] = 0; + out_4302345887888114775[16] = 0; + out_4302345887888114775[17] = 0; + out_4302345887888114775[18] = 0; + out_4302345887888114775[19] = 0; + out_4302345887888114775[20] = 0; + out_4302345887888114775[21] = 0; + out_4302345887888114775[22] = 0; + out_4302345887888114775[23] = 0; + out_4302345887888114775[24] = 0; + out_4302345887888114775[25] = 1; + out_4302345887888114775[26] = 0; + out_4302345887888114775[27] = 0; + out_4302345887888114775[28] = 0; + out_4302345887888114775[29] = 0; + out_4302345887888114775[30] = 0; + out_4302345887888114775[31] = 0; + out_4302345887888114775[32] = 0; + out_4302345887888114775[33] = 0; + out_4302345887888114775[34] = 0; + out_4302345887888114775[35] = 0; + out_4302345887888114775[36] = 0; + out_4302345887888114775[37] = 0; + out_4302345887888114775[38] = 0; + out_4302345887888114775[39] = 0; + out_4302345887888114775[40] = 0; + out_4302345887888114775[41] = 0; + out_4302345887888114775[42] = 0; + out_4302345887888114775[43] = 0; + out_4302345887888114775[44] = 1; + out_4302345887888114775[45] = 0; + out_4302345887888114775[46] = 0; + out_4302345887888114775[47] = 0; + out_4302345887888114775[48] = 0; + out_4302345887888114775[49] = 0; + out_4302345887888114775[50] = 0; + out_4302345887888114775[51] = 0; + out_4302345887888114775[52] = 0; + out_4302345887888114775[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_4091115333149920439) { - err_fun(nom_x, delta_x, out_4091115333149920439); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4055321504301233767) { + err_fun(nom_x, delta_x, out_4055321504301233767); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6264186140300305590) { - inv_err_fun(nom_x, true_x, out_6264186140300305590); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5242087564548968290) { + inv_err_fun(nom_x, true_x, out_5242087564548968290); } -void pose_H_mod_fun(double *state, double *out_4881048693765674271) { - H_mod_fun(state, out_4881048693765674271); +void pose_H_mod_fun(double *state, double *out_6187186838300588967) { + H_mod_fun(state, out_6187186838300588967); } -void pose_f_fun(double *state, double dt, double *out_2074460560152714132) { - f_fun(state, dt, out_2074460560152714132); +void pose_f_fun(double *state, double dt, double *out_8843286105500853100) { + f_fun(state, dt, out_8843286105500853100); } -void pose_F_fun(double *state, double dt, double *out_2950416268004545311) { - F_fun(state, dt, out_2950416268004545311); +void pose_F_fun(double *state, double dt, double *out_4695420932330585758) { + F_fun(state, dt, out_4695420932330585758); } -void pose_h_4(double *state, double *unused, double *out_7825885472463858534) { - h_4(state, unused, out_7825885472463858534); +void pose_h_4(double *state, double *unused, double *out_2276007570038364899) { + h_4(state, unused, out_2276007570038364899); } -void pose_H_4(double *state, double *unused, double *out_3220493145206738279) { - H_4(state, unused, out_3220493145206738279); +void pose_H_4(double *state, double *unused, double *out_339105031548630246) { + H_4(state, unused, out_339105031548630246); } -void pose_h_10(double *state, double *unused, double *out_6806037226153200611) { - h_10(state, unused, out_6806037226153200611); +void pose_h_10(double *state, double *unused, double *out_530488663462245196) { + h_10(state, unused, out_530488663462245196); } -void pose_H_10(double *state, double *unused, double *out_3332311375343894911) { - H_10(state, unused, out_3332311375343894911); +void pose_H_10(double *state, double *unused, double *out_3914913893563359029) { + H_10(state, unused, out_3914913893563359029); } -void pose_h_13(double *state, double *unused, double *out_6113289319154753757) { - h_13(state, unused, out_6113289319154753757); +void pose_h_13(double *state, double *unused, double *out_7290329458186336837) { + h_13(state, unused, out_7290329458186336837); } -void pose_H_13(double *state, double *unused, double *out_8219319874405478) { - H_13(state, unused, out_8219319874405478); +void pose_H_13(double *state, double *unused, double *out_3551378856880963047) { + H_13(state, unused, out_3551378856880963047); } -void pose_h_14(double *state, double *unused, double *out_6792742952256744963) { - h_14(state, unused, out_6792742952256744963); +void pose_h_14(double *state, double *unused, double *out_9018381316782859541) { + h_14(state, unused, out_9018381316782859541); } -void pose_H_14(double *state, double *unused, double *out_742747711132746250) { - H_14(state, unused, out_742747711132746250); +void pose_H_14(double *state, double *unused, double *out_4302345887888114775) { + H_14(state, unused, out_4302345887888114775); } 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 62f50e301..55616ae24 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_4091115333149920439); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6264186140300305590); -void pose_H_mod_fun(double *state, double *out_4881048693765674271); -void pose_f_fun(double *state, double dt, double *out_2074460560152714132); -void pose_F_fun(double *state, double dt, double *out_2950416268004545311); -void pose_h_4(double *state, double *unused, double *out_7825885472463858534); -void pose_H_4(double *state, double *unused, double *out_3220493145206738279); -void pose_h_10(double *state, double *unused, double *out_6806037226153200611); -void pose_H_10(double *state, double *unused, double *out_3332311375343894911); -void pose_h_13(double *state, double *unused, double *out_6113289319154753757); -void pose_H_13(double *state, double *unused, double *out_8219319874405478); -void pose_h_14(double *state, double *unused, double *out_6792742952256744963); -void pose_H_14(double *state, double *unused, double *out_742747711132746250); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4055321504301233767); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5242087564548968290); +void pose_H_mod_fun(double *state, double *out_6187186838300588967); +void pose_f_fun(double *state, double dt, double *out_8843286105500853100); +void pose_F_fun(double *state, double dt, double *out_4695420932330585758); +void pose_h_4(double *state, double *unused, double *out_2276007570038364899); +void pose_H_4(double *state, double *unused, double *out_339105031548630246); +void pose_h_10(double *state, double *unused, double *out_530488663462245196); +void pose_H_10(double *state, double *unused, double *out_3914913893563359029); +void pose_h_13(double *state, double *unused, double *out_7290329458186336837); +void pose_H_13(double *state, double *unused, double *out_3551378856880963047); +void pose_h_14(double *state, double *unused, double *out_9018381316782859541); +void pose_H_14(double *state, double *unused, double *out_4302345887888114775); 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 fb6a345b5..8525a581f 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ