diff --git a/common/libcommon.a b/common/libcommon.a index 20f1a27b01..efdba9d63e 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index 9cfb19069f..9b24f7a30d 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 056dc5a2fc..084df44432 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 27f37629f0..50671fc730 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 e5bb61599b..e535525075 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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5648b1165a..2de0623bf3 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index cab21855fc..ccc068b8bd 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 3ae0a673f0..cb1e6c651d 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 2a8d684131..9ff1fd6146 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-5ff108af-DEBUG"; +const uint8_t gitversion[19] = "DEV-1c2aedcc-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 626ac00257..ad98da7072 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 be1fdb4ae8..5eb1621b40 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 6abc7190bc..faaf4bf23f 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 6c0b7ba1de..bfdaec47d0 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 d11a828698..78f7761597 100644 Binary files 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diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 0cd267bb74..60f1925c4e 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 b1e8c9929b..dfd3794093 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 9ddc74717d..d654cba066 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 e06d527969..80fcbc938d 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 d2dfc117a9..5000ab5983 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 fb9a204cfd..06ef425ad3 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 b67219dfb4..7d16af19ac 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 62d150def2..a6bfc66dac 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 ec2c05f8ba..d09ffc0410 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 e8a97424a1..87255c343b 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 a9a15f1147..464b25456d 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 ce68430690..f89c8b6576 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-5ff108af-DEBUG \ No newline at end of file +DEV-1c2aedcc-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index abf70f8856..7c8e15b527 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_885257502884011965) { - out_885257502884011965[0] = delta_x[0] + nom_x[0]; - out_885257502884011965[1] = delta_x[1] + nom_x[1]; - out_885257502884011965[2] = delta_x[2] + nom_x[2]; - out_885257502884011965[3] = delta_x[3] + nom_x[3]; - out_885257502884011965[4] = delta_x[4] + nom_x[4]; - out_885257502884011965[5] = delta_x[5] + nom_x[5]; - out_885257502884011965[6] = delta_x[6] + nom_x[6]; - out_885257502884011965[7] = delta_x[7] + nom_x[7]; - out_885257502884011965[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_488496692945809667) { + out_488496692945809667[0] = delta_x[0] + nom_x[0]; + out_488496692945809667[1] = delta_x[1] + nom_x[1]; + out_488496692945809667[2] = delta_x[2] + nom_x[2]; + out_488496692945809667[3] = delta_x[3] + nom_x[3]; + out_488496692945809667[4] = delta_x[4] + nom_x[4]; + out_488496692945809667[5] = delta_x[5] + nom_x[5]; + out_488496692945809667[6] = delta_x[6] + nom_x[6]; + out_488496692945809667[7] = delta_x[7] + nom_x[7]; + out_488496692945809667[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6192379265473109268) { - out_6192379265473109268[0] = -nom_x[0] + true_x[0]; - out_6192379265473109268[1] = -nom_x[1] + true_x[1]; - out_6192379265473109268[2] = -nom_x[2] + true_x[2]; - out_6192379265473109268[3] = -nom_x[3] + true_x[3]; - out_6192379265473109268[4] = -nom_x[4] + true_x[4]; - out_6192379265473109268[5] = -nom_x[5] + true_x[5]; - out_6192379265473109268[6] = -nom_x[6] + true_x[6]; - out_6192379265473109268[7] = -nom_x[7] + true_x[7]; - out_6192379265473109268[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4539209272711951056) { + out_4539209272711951056[0] = -nom_x[0] + true_x[0]; + out_4539209272711951056[1] = -nom_x[1] + true_x[1]; + out_4539209272711951056[2] = -nom_x[2] + true_x[2]; + out_4539209272711951056[3] = -nom_x[3] + true_x[3]; + out_4539209272711951056[4] = -nom_x[4] + true_x[4]; + out_4539209272711951056[5] = -nom_x[5] + true_x[5]; + out_4539209272711951056[6] = -nom_x[6] + true_x[6]; + out_4539209272711951056[7] = -nom_x[7] + true_x[7]; + out_4539209272711951056[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1067171112169386981) { - out_1067171112169386981[0] = 1.0; - out_1067171112169386981[1] = 0.0; - out_1067171112169386981[2] = 0.0; - out_1067171112169386981[3] = 0.0; - out_1067171112169386981[4] = 0.0; - out_1067171112169386981[5] = 0.0; - out_1067171112169386981[6] = 0.0; - out_1067171112169386981[7] = 0.0; - out_1067171112169386981[8] = 0.0; - out_1067171112169386981[9] = 0.0; - out_1067171112169386981[10] = 1.0; - out_1067171112169386981[11] = 0.0; - out_1067171112169386981[12] = 0.0; - out_1067171112169386981[13] = 0.0; - out_1067171112169386981[14] = 0.0; - out_1067171112169386981[15] = 0.0; - out_1067171112169386981[16] = 0.0; - out_1067171112169386981[17] = 0.0; - out_1067171112169386981[18] = 0.0; - out_1067171112169386981[19] = 0.0; - out_1067171112169386981[20] = 1.0; - out_1067171112169386981[21] = 0.0; - out_1067171112169386981[22] = 0.0; - out_1067171112169386981[23] = 0.0; - out_1067171112169386981[24] = 0.0; - out_1067171112169386981[25] = 0.0; - out_1067171112169386981[26] = 0.0; - out_1067171112169386981[27] = 0.0; - out_1067171112169386981[28] = 0.0; - out_1067171112169386981[29] = 0.0; - out_1067171112169386981[30] = 1.0; - out_1067171112169386981[31] = 0.0; - out_1067171112169386981[32] = 0.0; - out_1067171112169386981[33] = 0.0; - out_1067171112169386981[34] = 0.0; - out_1067171112169386981[35] = 0.0; - out_1067171112169386981[36] = 0.0; - out_1067171112169386981[37] = 0.0; - out_1067171112169386981[38] = 0.0; - out_1067171112169386981[39] = 0.0; - out_1067171112169386981[40] = 1.0; - out_1067171112169386981[41] = 0.0; - out_1067171112169386981[42] = 0.0; - out_1067171112169386981[43] = 0.0; - out_1067171112169386981[44] = 0.0; - out_1067171112169386981[45] = 0.0; - out_1067171112169386981[46] = 0.0; - out_1067171112169386981[47] = 0.0; - out_1067171112169386981[48] = 0.0; - out_1067171112169386981[49] = 0.0; - out_1067171112169386981[50] = 1.0; - out_1067171112169386981[51] = 0.0; - out_1067171112169386981[52] = 0.0; - out_1067171112169386981[53] = 0.0; - out_1067171112169386981[54] = 0.0; - out_1067171112169386981[55] = 0.0; - out_1067171112169386981[56] = 0.0; - out_1067171112169386981[57] = 0.0; - out_1067171112169386981[58] = 0.0; - out_1067171112169386981[59] = 0.0; - out_1067171112169386981[60] = 1.0; - out_1067171112169386981[61] = 0.0; - out_1067171112169386981[62] = 0.0; - out_1067171112169386981[63] = 0.0; - out_1067171112169386981[64] = 0.0; - out_1067171112169386981[65] = 0.0; - out_1067171112169386981[66] = 0.0; - out_1067171112169386981[67] = 0.0; - out_1067171112169386981[68] = 0.0; - out_1067171112169386981[69] = 0.0; - out_1067171112169386981[70] = 1.0; - out_1067171112169386981[71] = 0.0; - out_1067171112169386981[72] = 0.0; - out_1067171112169386981[73] = 0.0; - out_1067171112169386981[74] = 0.0; - out_1067171112169386981[75] = 0.0; - out_1067171112169386981[76] = 0.0; - out_1067171112169386981[77] = 0.0; - out_1067171112169386981[78] = 0.0; - out_1067171112169386981[79] = 0.0; - out_1067171112169386981[80] = 1.0; +void H_mod_fun(double *state, double *out_8602256134349546689) { + out_8602256134349546689[0] = 1.0; + out_8602256134349546689[1] = 0.0; + out_8602256134349546689[2] = 0.0; + out_8602256134349546689[3] = 0.0; + out_8602256134349546689[4] = 0.0; + out_8602256134349546689[5] = 0.0; + out_8602256134349546689[6] = 0.0; + out_8602256134349546689[7] = 0.0; + out_8602256134349546689[8] = 0.0; + out_8602256134349546689[9] = 0.0; + out_8602256134349546689[10] = 1.0; + out_8602256134349546689[11] = 0.0; + out_8602256134349546689[12] = 0.0; + out_8602256134349546689[13] = 0.0; + out_8602256134349546689[14] = 0.0; + out_8602256134349546689[15] = 0.0; + out_8602256134349546689[16] = 0.0; + out_8602256134349546689[17] = 0.0; + out_8602256134349546689[18] = 0.0; + out_8602256134349546689[19] = 0.0; + out_8602256134349546689[20] = 1.0; + out_8602256134349546689[21] = 0.0; + out_8602256134349546689[22] = 0.0; + out_8602256134349546689[23] = 0.0; + out_8602256134349546689[24] = 0.0; + out_8602256134349546689[25] = 0.0; + out_8602256134349546689[26] = 0.0; + out_8602256134349546689[27] = 0.0; + out_8602256134349546689[28] = 0.0; + out_8602256134349546689[29] = 0.0; + out_8602256134349546689[30] = 1.0; + out_8602256134349546689[31] = 0.0; + out_8602256134349546689[32] = 0.0; + out_8602256134349546689[33] = 0.0; + out_8602256134349546689[34] = 0.0; + out_8602256134349546689[35] = 0.0; + out_8602256134349546689[36] = 0.0; + out_8602256134349546689[37] = 0.0; + out_8602256134349546689[38] = 0.0; + out_8602256134349546689[39] = 0.0; + out_8602256134349546689[40] = 1.0; + out_8602256134349546689[41] = 0.0; + out_8602256134349546689[42] = 0.0; + out_8602256134349546689[43] = 0.0; + out_8602256134349546689[44] = 0.0; + out_8602256134349546689[45] = 0.0; + out_8602256134349546689[46] = 0.0; + out_8602256134349546689[47] = 0.0; + out_8602256134349546689[48] = 0.0; + out_8602256134349546689[49] = 0.0; + out_8602256134349546689[50] = 1.0; + out_8602256134349546689[51] = 0.0; + out_8602256134349546689[52] = 0.0; + out_8602256134349546689[53] = 0.0; + out_8602256134349546689[54] = 0.0; + out_8602256134349546689[55] = 0.0; + out_8602256134349546689[56] = 0.0; + out_8602256134349546689[57] = 0.0; + out_8602256134349546689[58] = 0.0; + out_8602256134349546689[59] = 0.0; + out_8602256134349546689[60] = 1.0; + out_8602256134349546689[61] = 0.0; + out_8602256134349546689[62] = 0.0; + out_8602256134349546689[63] = 0.0; + out_8602256134349546689[64] = 0.0; + out_8602256134349546689[65] = 0.0; + out_8602256134349546689[66] = 0.0; + out_8602256134349546689[67] = 0.0; + out_8602256134349546689[68] = 0.0; + out_8602256134349546689[69] = 0.0; + out_8602256134349546689[70] = 1.0; + out_8602256134349546689[71] = 0.0; + out_8602256134349546689[72] = 0.0; + out_8602256134349546689[73] = 0.0; + out_8602256134349546689[74] = 0.0; + out_8602256134349546689[75] = 0.0; + out_8602256134349546689[76] = 0.0; + out_8602256134349546689[77] = 0.0; + out_8602256134349546689[78] = 0.0; + out_8602256134349546689[79] = 0.0; + out_8602256134349546689[80] = 1.0; } -void f_fun(double *state, double dt, double *out_6825209250572789160) { - out_6825209250572789160[0] = state[0]; - out_6825209250572789160[1] = state[1]; - out_6825209250572789160[2] = state[2]; - out_6825209250572789160[3] = state[3]; - out_6825209250572789160[4] = state[4]; - out_6825209250572789160[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_6825209250572789160[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_6825209250572789160[7] = state[7]; - out_6825209250572789160[8] = state[8]; +void f_fun(double *state, double dt, double *out_5404650696097251297) { + out_5404650696097251297[0] = state[0]; + out_5404650696097251297[1] = state[1]; + out_5404650696097251297[2] = state[2]; + out_5404650696097251297[3] = state[3]; + out_5404650696097251297[4] = state[4]; + out_5404650696097251297[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_5404650696097251297[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_5404650696097251297[7] = state[7]; + out_5404650696097251297[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1474779246882826642) { - out_1474779246882826642[0] = 1; - out_1474779246882826642[1] = 0; - out_1474779246882826642[2] = 0; - out_1474779246882826642[3] = 0; - out_1474779246882826642[4] = 0; - out_1474779246882826642[5] = 0; - out_1474779246882826642[6] = 0; - out_1474779246882826642[7] = 0; - out_1474779246882826642[8] = 0; - out_1474779246882826642[9] = 0; - out_1474779246882826642[10] = 1; - out_1474779246882826642[11] = 0; - out_1474779246882826642[12] = 0; - out_1474779246882826642[13] = 0; - out_1474779246882826642[14] = 0; - out_1474779246882826642[15] = 0; - out_1474779246882826642[16] = 0; - out_1474779246882826642[17] = 0; - out_1474779246882826642[18] = 0; - out_1474779246882826642[19] = 0; - out_1474779246882826642[20] = 1; - out_1474779246882826642[21] = 0; - out_1474779246882826642[22] = 0; - out_1474779246882826642[23] = 0; - out_1474779246882826642[24] = 0; - out_1474779246882826642[25] = 0; - out_1474779246882826642[26] = 0; - out_1474779246882826642[27] = 0; - out_1474779246882826642[28] = 0; - out_1474779246882826642[29] = 0; - out_1474779246882826642[30] = 1; - out_1474779246882826642[31] = 0; - out_1474779246882826642[32] = 0; - out_1474779246882826642[33] = 0; - out_1474779246882826642[34] = 0; - out_1474779246882826642[35] = 0; - out_1474779246882826642[36] = 0; - out_1474779246882826642[37] = 0; - out_1474779246882826642[38] = 0; - out_1474779246882826642[39] = 0; - out_1474779246882826642[40] = 1; - out_1474779246882826642[41] = 0; - out_1474779246882826642[42] = 0; - out_1474779246882826642[43] = 0; - out_1474779246882826642[44] = 0; - out_1474779246882826642[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_1474779246882826642[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1474779246882826642[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1474779246882826642[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1474779246882826642[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_1474779246882826642[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1474779246882826642[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1474779246882826642[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1474779246882826642[53] = -9.8100000000000005*dt; - out_1474779246882826642[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_1474779246882826642[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1474779246882826642[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1474779246882826642[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1474779246882826642[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_1474779246882826642[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1474779246882826642[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_1474779246882826642[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1474779246882826642[62] = 0; - out_1474779246882826642[63] = 0; - out_1474779246882826642[64] = 0; - out_1474779246882826642[65] = 0; - out_1474779246882826642[66] = 0; - out_1474779246882826642[67] = 0; - out_1474779246882826642[68] = 0; - out_1474779246882826642[69] = 0; - out_1474779246882826642[70] = 1; - out_1474779246882826642[71] = 0; - out_1474779246882826642[72] = 0; - out_1474779246882826642[73] = 0; - out_1474779246882826642[74] = 0; - out_1474779246882826642[75] = 0; - out_1474779246882826642[76] = 0; - out_1474779246882826642[77] = 0; - out_1474779246882826642[78] = 0; - out_1474779246882826642[79] = 0; - out_1474779246882826642[80] = 1; +void F_fun(double *state, double dt, double *out_3720686995353807718) { + out_3720686995353807718[0] = 1; + out_3720686995353807718[1] = 0; + out_3720686995353807718[2] = 0; + out_3720686995353807718[3] = 0; + out_3720686995353807718[4] = 0; + out_3720686995353807718[5] = 0; + out_3720686995353807718[6] = 0; + out_3720686995353807718[7] = 0; + out_3720686995353807718[8] = 0; + out_3720686995353807718[9] = 0; + out_3720686995353807718[10] = 1; + out_3720686995353807718[11] = 0; + out_3720686995353807718[12] = 0; + out_3720686995353807718[13] = 0; + out_3720686995353807718[14] = 0; + out_3720686995353807718[15] = 0; + out_3720686995353807718[16] = 0; + out_3720686995353807718[17] = 0; + out_3720686995353807718[18] = 0; + out_3720686995353807718[19] = 0; + out_3720686995353807718[20] = 1; + out_3720686995353807718[21] = 0; + out_3720686995353807718[22] = 0; + out_3720686995353807718[23] = 0; + out_3720686995353807718[24] = 0; + out_3720686995353807718[25] = 0; + out_3720686995353807718[26] = 0; + out_3720686995353807718[27] = 0; + out_3720686995353807718[28] = 0; + out_3720686995353807718[29] = 0; + out_3720686995353807718[30] = 1; + out_3720686995353807718[31] = 0; + out_3720686995353807718[32] = 0; + out_3720686995353807718[33] = 0; + out_3720686995353807718[34] = 0; + out_3720686995353807718[35] = 0; + out_3720686995353807718[36] = 0; + out_3720686995353807718[37] = 0; + out_3720686995353807718[38] = 0; + out_3720686995353807718[39] = 0; + out_3720686995353807718[40] = 1; + out_3720686995353807718[41] = 0; + out_3720686995353807718[42] = 0; + out_3720686995353807718[43] = 0; + out_3720686995353807718[44] = 0; + out_3720686995353807718[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_3720686995353807718[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3720686995353807718[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3720686995353807718[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3720686995353807718[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_3720686995353807718[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3720686995353807718[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3720686995353807718[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3720686995353807718[53] = -9.8100000000000005*dt; + out_3720686995353807718[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_3720686995353807718[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3720686995353807718[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3720686995353807718[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3720686995353807718[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_3720686995353807718[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3720686995353807718[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_3720686995353807718[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3720686995353807718[62] = 0; + out_3720686995353807718[63] = 0; + out_3720686995353807718[64] = 0; + out_3720686995353807718[65] = 0; + out_3720686995353807718[66] = 0; + out_3720686995353807718[67] = 0; + out_3720686995353807718[68] = 0; + out_3720686995353807718[69] = 0; + out_3720686995353807718[70] = 1; + out_3720686995353807718[71] = 0; + out_3720686995353807718[72] = 0; + out_3720686995353807718[73] = 0; + out_3720686995353807718[74] = 0; + out_3720686995353807718[75] = 0; + out_3720686995353807718[76] = 0; + out_3720686995353807718[77] = 0; + out_3720686995353807718[78] = 0; + out_3720686995353807718[79] = 0; + out_3720686995353807718[80] = 1; } -void h_25(double *state, double *unused, double *out_4524197194175300932) { - out_4524197194175300932[0] = state[6]; +void h_25(double *state, double *unused, double *out_2947196115150604911) { + out_2947196115150604911[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8126017113742850256) { - out_8126017113742850256[0] = 0; - out_8126017113742850256[1] = 0; - out_8126017113742850256[2] = 0; - out_8126017113742850256[3] = 0; - out_8126017113742850256[4] = 0; - out_8126017113742850256[5] = 0; - out_8126017113742850256[6] = 1; - out_8126017113742850256[7] = 0; - out_8126017113742850256[8] = 0; +void H_25(double *state, double *unused, double *out_5079207495704181541) { + out_5079207495704181541[0] = 0; + out_5079207495704181541[1] = 0; + out_5079207495704181541[2] = 0; + out_5079207495704181541[3] = 0; + out_5079207495704181541[4] = 0; + out_5079207495704181541[5] = 0; + out_5079207495704181541[6] = 1; + out_5079207495704181541[7] = 0; + out_5079207495704181541[8] = 0; } -void h_24(double *state, double *unused, double *out_7846417075360830243) { - out_7846417075360830243[0] = state[4]; - out_7846417075360830243[1] = state[5]; +void h_24(double *state, double *unused, double *out_5743512623925098853) { + out_5743512623925098853[0] = state[4]; + out_5743512623925098853[1] = state[5]; } -void H_24(double *state, double *unused, double *out_5500405455310713097) { - out_5500405455310713097[0] = 0; - out_5500405455310713097[1] = 0; - out_5500405455310713097[2] = 0; - out_5500405455310713097[3] = 0; - out_5500405455310713097[4] = 1; - out_5500405455310713097[5] = 0; - out_5500405455310713097[6] = 0; - out_5500405455310713097[7] = 0; - out_5500405455310713097[8] = 0; - out_5500405455310713097[9] = 0; - out_5500405455310713097[10] = 0; - out_5500405455310713097[11] = 0; - out_5500405455310713097[12] = 0; - out_5500405455310713097[13] = 0; - out_5500405455310713097[14] = 1; - out_5500405455310713097[15] = 0; - out_5500405455310713097[16] = 0; - out_5500405455310713097[17] = 0; +void H_24(double *state, double *unused, double *out_8637133094506504677) { + out_8637133094506504677[0] = 0; + out_8637133094506504677[1] = 0; + out_8637133094506504677[2] = 0; + out_8637133094506504677[3] = 0; + out_8637133094506504677[4] = 1; + out_8637133094506504677[5] = 0; + out_8637133094506504677[6] = 0; + out_8637133094506504677[7] = 0; + out_8637133094506504677[8] = 0; + out_8637133094506504677[9] = 0; + out_8637133094506504677[10] = 0; + out_8637133094506504677[11] = 0; + out_8637133094506504677[12] = 0; + out_8637133094506504677[13] = 0; + out_8637133094506504677[14] = 1; + out_8637133094506504677[15] = 0; + out_8637133094506504677[16] = 0; + out_8637133094506504677[17] = 0; } -void h_30(double *state, double *unused, double *out_4249003131890795043) { - out_4249003131890795043[0] = state[4]; +void h_30(double *state, double *unused, double *out_1496564722521721744) { + out_1496564722521721744[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8255356060886090326) { - out_8255356060886090326[0] = 0; - out_8255356060886090326[1] = 0; - out_8255356060886090326[2] = 0; - out_8255356060886090326[3] = 0; - out_8255356060886090326[4] = 1; - out_8255356060886090326[5] = 0; - out_8255356060886090326[6] = 0; - out_8255356060886090326[7] = 0; - out_8255356060886090326[8] = 0; +void H_30(double *state, double *unused, double *out_6450846236513753320) { + out_6450846236513753320[0] = 0; + out_6450846236513753320[1] = 0; + out_6450846236513753320[2] = 0; + out_6450846236513753320[3] = 0; + out_6450846236513753320[4] = 1; + out_6450846236513753320[5] = 0; + out_6450846236513753320[6] = 0; + out_6450846236513753320[7] = 0; + out_6450846236513753320[8] = 0; } -void h_26(double *state, double *unused, double *out_4941641912900521878) { - out_4941641912900521878[0] = state[7]; +void h_26(double *state, double *unused, double *out_7752389444480768998) { + out_7752389444480768998[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6579223641092645136) { - out_6579223641092645136[0] = 0; - out_6579223641092645136[1] = 0; - out_6579223641092645136[2] = 0; - out_6579223641092645136[3] = 0; - out_6579223641092645136[4] = 0; - out_6579223641092645136[5] = 0; - out_6579223641092645136[6] = 0; - out_6579223641092645136[7] = 1; - out_6579223641092645136[8] = 0; +void H_26(double *state, double *unused, double *out_8383733465464982142) { + out_8383733465464982142[0] = 0; + out_8383733465464982142[1] = 0; + out_8383733465464982142[2] = 0; + out_8383733465464982142[3] = 0; + out_8383733465464982142[4] = 0; + out_8383733465464982142[5] = 0; + out_8383733465464982142[6] = 0; + out_8383733465464982142[7] = 1; + out_8383733465464982142[8] = 0; } -void h_27(double *state, double *unused, double *out_8854285503439050117) { - out_8854285503439050117[0] = state[3]; +void h_27(double *state, double *unused, double *out_6576952114136391720) { + out_6576952114136391720[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8016624701023036379) { - out_8016624701023036379[0] = 0; - out_8016624701023036379[1] = 0; - out_8016624701023036379[2] = 0; - out_8016624701023036379[3] = 1; - out_8016624701023036379[4] = 0; - out_8016624701023036379[5] = 0; - out_8016624701023036379[6] = 0; - out_8016624701023036379[7] = 0; - out_8016624701023036379[8] = 0; +void H_27(double *state, double *unused, double *out_8625609548314178231) { + out_8625609548314178231[0] = 0; + out_8625609548314178231[1] = 0; + out_8625609548314178231[2] = 0; + out_8625609548314178231[3] = 1; + out_8625609548314178231[4] = 0; + out_8625609548314178231[5] = 0; + out_8625609548314178231[6] = 0; + out_8625609548314178231[7] = 0; + out_8625609548314178231[8] = 0; } -void h_29(double *state, double *unused, double *out_6762597507390055760) { - out_6762597507390055760[0] = state[1]; +void h_29(double *state, double *unused, double *out_6498237990182567389) { + out_6498237990182567389[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7745124716571698142) { - out_7745124716571698142[0] = 0; - out_7745124716571698142[1] = 1; - out_7745124716571698142[2] = 0; - out_7745124716571698142[3] = 0; - out_7745124716571698142[4] = 0; - out_7745124716571698142[5] = 0; - out_7745124716571698142[6] = 0; - out_7745124716571698142[7] = 0; - out_7745124716571698142[8] = 0; +void H_29(double *state, double *unused, double *out_5940614892199361136) { + out_5940614892199361136[0] = 0; + out_5940614892199361136[1] = 1; + out_5940614892199361136[2] = 0; + out_5940614892199361136[3] = 0; + out_5940614892199361136[4] = 0; + out_5940614892199361136[5] = 0; + out_5940614892199361136[6] = 0; + out_5940614892199361136[7] = 0; + out_5940614892199361136[8] = 0; } -void h_28(double *state, double *unused, double *out_4366551354435176552) { - out_4366551354435176552[0] = state[0]; +void h_28(double *state, double *unused, double *out_6868118691912314251) { + out_6868118691912314251[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5619220340068322900) { - out_5619220340068322900[0] = 1; - out_5619220340068322900[1] = 0; - out_5619220340068322900[2] = 0; - out_5619220340068322900[3] = 0; - out_5619220340068322900[4] = 0; - out_5619220340068322900[5] = 0; - out_5619220340068322900[6] = 0; - out_5619220340068322900[7] = 0; - out_5619220340068322900[8] = 0; +void H_28(double *state, double *unused, double *out_3025372781456291778) { + out_3025372781456291778[0] = 1; + out_3025372781456291778[1] = 0; + out_3025372781456291778[2] = 0; + out_3025372781456291778[3] = 0; + out_3025372781456291778[4] = 0; + out_3025372781456291778[5] = 0; + out_3025372781456291778[6] = 0; + out_3025372781456291778[7] = 0; + out_3025372781456291778[8] = 0; } -void h_31(double *state, double *unused, double *out_4613520090508550250) { - out_4613520090508550250[0] = state[8]; +void h_31(double *state, double *unused, double *out_8728712732208595769) { + out_8728712732208595769[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8095371151865889828) { - out_8095371151865889828[0] = 0; - out_8095371151865889828[1] = 0; - out_8095371151865889828[2] = 0; - out_8095371151865889828[3] = 0; - out_8095371151865889828[4] = 0; - out_8095371151865889828[5] = 0; - out_8095371151865889828[6] = 0; - out_8095371151865889828[7] = 0; - out_8095371151865889828[8] = 1; +void H_31(double *state, double *unused, double *out_6290861327493552822) { + out_6290861327493552822[0] = 0; + out_6290861327493552822[1] = 0; + out_6290861327493552822[2] = 0; + out_6290861327493552822[3] = 0; + out_6290861327493552822[4] = 0; + out_6290861327493552822[5] = 0; + out_6290861327493552822[6] = 0; + out_6290861327493552822[7] = 0; + out_6290861327493552822[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_885257502884011965) { - err_fun(nom_x, delta_x, out_885257502884011965); +void car_err_fun(double *nom_x, double *delta_x, double *out_488496692945809667) { + err_fun(nom_x, delta_x, out_488496692945809667); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6192379265473109268) { - inv_err_fun(nom_x, true_x, out_6192379265473109268); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4539209272711951056) { + inv_err_fun(nom_x, true_x, out_4539209272711951056); } -void car_H_mod_fun(double *state, double *out_1067171112169386981) { - H_mod_fun(state, out_1067171112169386981); +void car_H_mod_fun(double *state, double *out_8602256134349546689) { + H_mod_fun(state, out_8602256134349546689); } -void car_f_fun(double *state, double dt, double *out_6825209250572789160) { - f_fun(state, dt, out_6825209250572789160); +void car_f_fun(double *state, double dt, double *out_5404650696097251297) { + f_fun(state, dt, out_5404650696097251297); } -void car_F_fun(double *state, double dt, double *out_1474779246882826642) { - F_fun(state, dt, out_1474779246882826642); +void car_F_fun(double *state, double dt, double *out_3720686995353807718) { + F_fun(state, dt, out_3720686995353807718); } -void car_h_25(double *state, double *unused, double *out_4524197194175300932) { - h_25(state, unused, out_4524197194175300932); +void car_h_25(double *state, double *unused, double *out_2947196115150604911) { + h_25(state, unused, out_2947196115150604911); } -void car_H_25(double *state, double *unused, double *out_8126017113742850256) { - H_25(state, unused, out_8126017113742850256); +void car_H_25(double *state, double *unused, double *out_5079207495704181541) { + H_25(state, unused, out_5079207495704181541); } -void car_h_24(double *state, double *unused, double *out_7846417075360830243) { - h_24(state, unused, out_7846417075360830243); +void car_h_24(double *state, double *unused, double *out_5743512623925098853) { + h_24(state, unused, out_5743512623925098853); } -void car_H_24(double *state, double *unused, double *out_5500405455310713097) { - H_24(state, unused, out_5500405455310713097); +void car_H_24(double *state, double *unused, double *out_8637133094506504677) { + H_24(state, unused, out_8637133094506504677); } -void car_h_30(double *state, double *unused, double *out_4249003131890795043) { - h_30(state, unused, out_4249003131890795043); +void car_h_30(double *state, double *unused, double *out_1496564722521721744) { + h_30(state, unused, out_1496564722521721744); } -void car_H_30(double *state, double *unused, double *out_8255356060886090326) { - H_30(state, unused, out_8255356060886090326); +void car_H_30(double *state, double *unused, double *out_6450846236513753320) { + H_30(state, unused, out_6450846236513753320); } -void car_h_26(double *state, double *unused, double *out_4941641912900521878) { - h_26(state, unused, out_4941641912900521878); +void car_h_26(double *state, double *unused, double *out_7752389444480768998) { + h_26(state, unused, out_7752389444480768998); } -void car_H_26(double *state, double *unused, double *out_6579223641092645136) { - H_26(state, unused, out_6579223641092645136); +void car_H_26(double *state, double *unused, double *out_8383733465464982142) { + H_26(state, unused, out_8383733465464982142); } -void car_h_27(double *state, double *unused, double *out_8854285503439050117) { - h_27(state, unused, out_8854285503439050117); +void car_h_27(double *state, double *unused, double *out_6576952114136391720) { + h_27(state, unused, out_6576952114136391720); } -void car_H_27(double *state, double *unused, double *out_8016624701023036379) { - H_27(state, unused, out_8016624701023036379); +void car_H_27(double *state, double *unused, double *out_8625609548314178231) { + H_27(state, unused, out_8625609548314178231); } -void car_h_29(double *state, double *unused, double *out_6762597507390055760) { - h_29(state, unused, out_6762597507390055760); +void car_h_29(double *state, double *unused, double *out_6498237990182567389) { + h_29(state, unused, out_6498237990182567389); } -void car_H_29(double *state, double *unused, double *out_7745124716571698142) { - H_29(state, unused, out_7745124716571698142); +void car_H_29(double *state, double *unused, double *out_5940614892199361136) { + H_29(state, unused, out_5940614892199361136); } -void car_h_28(double *state, double *unused, double *out_4366551354435176552) { - h_28(state, unused, out_4366551354435176552); +void car_h_28(double *state, double *unused, double *out_6868118691912314251) { + h_28(state, unused, out_6868118691912314251); } -void car_H_28(double *state, double *unused, double *out_5619220340068322900) { - H_28(state, unused, out_5619220340068322900); +void car_H_28(double *state, double *unused, double *out_3025372781456291778) { + H_28(state, unused, out_3025372781456291778); } -void car_h_31(double *state, double *unused, double *out_4613520090508550250) { - h_31(state, unused, out_4613520090508550250); +void car_h_31(double *state, double *unused, double *out_8728712732208595769) { + h_31(state, unused, out_8728712732208595769); } -void car_H_31(double *state, double *unused, double *out_8095371151865889828) { - H_31(state, unused, out_8095371151865889828); +void car_H_31(double *state, double *unused, double *out_6290861327493552822) { + H_31(state, unused, out_6290861327493552822); } 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 021a66512e..36fd855446 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_885257502884011965); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6192379265473109268); -void car_H_mod_fun(double *state, double *out_1067171112169386981); -void car_f_fun(double *state, double dt, double *out_6825209250572789160); -void car_F_fun(double *state, double dt, double *out_1474779246882826642); -void car_h_25(double *state, double *unused, double *out_4524197194175300932); -void car_H_25(double *state, double *unused, double *out_8126017113742850256); -void car_h_24(double *state, double *unused, double *out_7846417075360830243); -void car_H_24(double *state, double *unused, double *out_5500405455310713097); -void car_h_30(double *state, double *unused, double *out_4249003131890795043); -void car_H_30(double *state, double *unused, double *out_8255356060886090326); -void car_h_26(double *state, double *unused, double *out_4941641912900521878); -void car_H_26(double *state, double *unused, double *out_6579223641092645136); -void car_h_27(double *state, double *unused, double *out_8854285503439050117); -void car_H_27(double *state, double *unused, double *out_8016624701023036379); -void car_h_29(double *state, double *unused, double *out_6762597507390055760); -void car_H_29(double *state, double *unused, double *out_7745124716571698142); -void car_h_28(double *state, double *unused, double *out_4366551354435176552); -void car_H_28(double *state, double *unused, double *out_5619220340068322900); -void car_h_31(double *state, double *unused, double *out_4613520090508550250); -void car_H_31(double *state, double *unused, double *out_8095371151865889828); +void car_err_fun(double *nom_x, double *delta_x, double *out_488496692945809667); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4539209272711951056); +void car_H_mod_fun(double *state, double *out_8602256134349546689); +void car_f_fun(double *state, double dt, double *out_5404650696097251297); +void car_F_fun(double *state, double dt, double *out_3720686995353807718); +void car_h_25(double *state, double *unused, double *out_2947196115150604911); +void car_H_25(double *state, double *unused, double *out_5079207495704181541); +void car_h_24(double *state, double *unused, double *out_5743512623925098853); +void car_H_24(double *state, double *unused, double *out_8637133094506504677); +void car_h_30(double *state, double *unused, double *out_1496564722521721744); +void car_H_30(double *state, double *unused, double *out_6450846236513753320); +void car_h_26(double *state, double *unused, double *out_7752389444480768998); +void car_H_26(double *state, double *unused, double *out_8383733465464982142); +void car_h_27(double *state, double *unused, double *out_6576952114136391720); +void car_H_27(double *state, double *unused, double *out_8625609548314178231); +void car_h_29(double *state, double *unused, double *out_6498237990182567389); +void car_H_29(double *state, double *unused, double *out_5940614892199361136); +void car_h_28(double *state, double *unused, double *out_6868118691912314251); +void car_H_28(double *state, double *unused, double *out_3025372781456291778); +void car_h_31(double *state, double *unused, double *out_8728712732208595769); +void car_H_31(double *state, double *unused, double *out_6290861327493552822); 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 61eb9e888e..dbed7f26ef 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_4294292118997978771) { - out_4294292118997978771[0] = delta_x[0] + nom_x[0]; - out_4294292118997978771[1] = delta_x[1] + nom_x[1]; - out_4294292118997978771[2] = delta_x[2] + nom_x[2]; - out_4294292118997978771[3] = delta_x[3] + nom_x[3]; - out_4294292118997978771[4] = delta_x[4] + nom_x[4]; - out_4294292118997978771[5] = delta_x[5] + nom_x[5]; - out_4294292118997978771[6] = delta_x[6] + nom_x[6]; - out_4294292118997978771[7] = delta_x[7] + nom_x[7]; - out_4294292118997978771[8] = delta_x[8] + nom_x[8]; - out_4294292118997978771[9] = delta_x[9] + nom_x[9]; - out_4294292118997978771[10] = delta_x[10] + nom_x[10]; - out_4294292118997978771[11] = delta_x[11] + nom_x[11]; - out_4294292118997978771[12] = delta_x[12] + nom_x[12]; - out_4294292118997978771[13] = delta_x[13] + nom_x[13]; - out_4294292118997978771[14] = delta_x[14] + nom_x[14]; - out_4294292118997978771[15] = delta_x[15] + nom_x[15]; - out_4294292118997978771[16] = delta_x[16] + nom_x[16]; - out_4294292118997978771[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_486750963754107954) { + out_486750963754107954[0] = delta_x[0] + nom_x[0]; + out_486750963754107954[1] = delta_x[1] + nom_x[1]; + out_486750963754107954[2] = delta_x[2] + nom_x[2]; + out_486750963754107954[3] = delta_x[3] + nom_x[3]; + out_486750963754107954[4] = delta_x[4] + nom_x[4]; + out_486750963754107954[5] = delta_x[5] + nom_x[5]; + out_486750963754107954[6] = delta_x[6] + nom_x[6]; + out_486750963754107954[7] = delta_x[7] + nom_x[7]; + out_486750963754107954[8] = delta_x[8] + nom_x[8]; + out_486750963754107954[9] = delta_x[9] + nom_x[9]; + out_486750963754107954[10] = delta_x[10] + nom_x[10]; + out_486750963754107954[11] = delta_x[11] + nom_x[11]; + out_486750963754107954[12] = delta_x[12] + nom_x[12]; + out_486750963754107954[13] = delta_x[13] + nom_x[13]; + out_486750963754107954[14] = delta_x[14] + nom_x[14]; + out_486750963754107954[15] = delta_x[15] + nom_x[15]; + out_486750963754107954[16] = delta_x[16] + nom_x[16]; + out_486750963754107954[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4013254910072164359) { - out_4013254910072164359[0] = -nom_x[0] + true_x[0]; - out_4013254910072164359[1] = -nom_x[1] + true_x[1]; - out_4013254910072164359[2] = -nom_x[2] + true_x[2]; - out_4013254910072164359[3] = -nom_x[3] + true_x[3]; - out_4013254910072164359[4] = -nom_x[4] + true_x[4]; - out_4013254910072164359[5] = -nom_x[5] + true_x[5]; - out_4013254910072164359[6] = -nom_x[6] + true_x[6]; - out_4013254910072164359[7] = -nom_x[7] + true_x[7]; - out_4013254910072164359[8] = -nom_x[8] + true_x[8]; - out_4013254910072164359[9] = -nom_x[9] + true_x[9]; - out_4013254910072164359[10] = -nom_x[10] + true_x[10]; - out_4013254910072164359[11] = -nom_x[11] + true_x[11]; - out_4013254910072164359[12] = -nom_x[12] + true_x[12]; - out_4013254910072164359[13] = -nom_x[13] + true_x[13]; - out_4013254910072164359[14] = -nom_x[14] + true_x[14]; - out_4013254910072164359[15] = -nom_x[15] + true_x[15]; - out_4013254910072164359[16] = -nom_x[16] + true_x[16]; - out_4013254910072164359[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1555487183493314770) { + out_1555487183493314770[0] = -nom_x[0] + true_x[0]; + out_1555487183493314770[1] = -nom_x[1] + true_x[1]; + out_1555487183493314770[2] = -nom_x[2] + true_x[2]; + out_1555487183493314770[3] = -nom_x[3] + true_x[3]; + out_1555487183493314770[4] = -nom_x[4] + true_x[4]; + out_1555487183493314770[5] = -nom_x[5] + true_x[5]; + out_1555487183493314770[6] = -nom_x[6] + true_x[6]; + out_1555487183493314770[7] = -nom_x[7] + true_x[7]; + out_1555487183493314770[8] = -nom_x[8] + true_x[8]; + out_1555487183493314770[9] = -nom_x[9] + true_x[9]; + out_1555487183493314770[10] = -nom_x[10] + true_x[10]; + out_1555487183493314770[11] = -nom_x[11] + true_x[11]; + out_1555487183493314770[12] = -nom_x[12] + true_x[12]; + out_1555487183493314770[13] = -nom_x[13] + true_x[13]; + out_1555487183493314770[14] = -nom_x[14] + true_x[14]; + out_1555487183493314770[15] = -nom_x[15] + true_x[15]; + out_1555487183493314770[16] = -nom_x[16] + true_x[16]; + out_1555487183493314770[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_896657555631845271) { - out_896657555631845271[0] = 1.0; - out_896657555631845271[1] = 0.0; - out_896657555631845271[2] = 0.0; - out_896657555631845271[3] = 0.0; - out_896657555631845271[4] = 0.0; - out_896657555631845271[5] = 0.0; - out_896657555631845271[6] = 0.0; - out_896657555631845271[7] = 0.0; - out_896657555631845271[8] = 0.0; - out_896657555631845271[9] = 0.0; - out_896657555631845271[10] = 0.0; - out_896657555631845271[11] = 0.0; - out_896657555631845271[12] = 0.0; - out_896657555631845271[13] = 0.0; - out_896657555631845271[14] = 0.0; - out_896657555631845271[15] = 0.0; - out_896657555631845271[16] = 0.0; - out_896657555631845271[17] = 0.0; - out_896657555631845271[18] = 0.0; - out_896657555631845271[19] = 1.0; - out_896657555631845271[20] = 0.0; - out_896657555631845271[21] = 0.0; - out_896657555631845271[22] = 0.0; - out_896657555631845271[23] = 0.0; - out_896657555631845271[24] = 0.0; - out_896657555631845271[25] = 0.0; - out_896657555631845271[26] = 0.0; - out_896657555631845271[27] = 0.0; - out_896657555631845271[28] = 0.0; - out_896657555631845271[29] = 0.0; - out_896657555631845271[30] = 0.0; - out_896657555631845271[31] = 0.0; - out_896657555631845271[32] = 0.0; - out_896657555631845271[33] = 0.0; - out_896657555631845271[34] = 0.0; - out_896657555631845271[35] = 0.0; - out_896657555631845271[36] = 0.0; - out_896657555631845271[37] = 0.0; - out_896657555631845271[38] = 1.0; - out_896657555631845271[39] = 0.0; - out_896657555631845271[40] = 0.0; - out_896657555631845271[41] = 0.0; - out_896657555631845271[42] = 0.0; - out_896657555631845271[43] = 0.0; - out_896657555631845271[44] = 0.0; - out_896657555631845271[45] = 0.0; - out_896657555631845271[46] = 0.0; - out_896657555631845271[47] = 0.0; - out_896657555631845271[48] = 0.0; - out_896657555631845271[49] = 0.0; - out_896657555631845271[50] = 0.0; - out_896657555631845271[51] = 0.0; - out_896657555631845271[52] = 0.0; - out_896657555631845271[53] = 0.0; - out_896657555631845271[54] = 0.0; - out_896657555631845271[55] = 0.0; - out_896657555631845271[56] = 0.0; - out_896657555631845271[57] = 1.0; - out_896657555631845271[58] = 0.0; - out_896657555631845271[59] = 0.0; - out_896657555631845271[60] = 0.0; - out_896657555631845271[61] = 0.0; - out_896657555631845271[62] = 0.0; - out_896657555631845271[63] = 0.0; - out_896657555631845271[64] = 0.0; - out_896657555631845271[65] = 0.0; - out_896657555631845271[66] = 0.0; - out_896657555631845271[67] = 0.0; - out_896657555631845271[68] = 0.0; - out_896657555631845271[69] = 0.0; - out_896657555631845271[70] = 0.0; - out_896657555631845271[71] = 0.0; - out_896657555631845271[72] = 0.0; - out_896657555631845271[73] = 0.0; - out_896657555631845271[74] = 0.0; - out_896657555631845271[75] = 0.0; - out_896657555631845271[76] = 1.0; - out_896657555631845271[77] = 0.0; - out_896657555631845271[78] = 0.0; - out_896657555631845271[79] = 0.0; - out_896657555631845271[80] = 0.0; - out_896657555631845271[81] = 0.0; - out_896657555631845271[82] = 0.0; - out_896657555631845271[83] = 0.0; - out_896657555631845271[84] = 0.0; - out_896657555631845271[85] = 0.0; - out_896657555631845271[86] = 0.0; - out_896657555631845271[87] = 0.0; - out_896657555631845271[88] = 0.0; - out_896657555631845271[89] = 0.0; - out_896657555631845271[90] = 0.0; - out_896657555631845271[91] = 0.0; - out_896657555631845271[92] = 0.0; - out_896657555631845271[93] = 0.0; - out_896657555631845271[94] = 0.0; - out_896657555631845271[95] = 1.0; - out_896657555631845271[96] = 0.0; - out_896657555631845271[97] = 0.0; - out_896657555631845271[98] = 0.0; - out_896657555631845271[99] = 0.0; - out_896657555631845271[100] = 0.0; - out_896657555631845271[101] = 0.0; - out_896657555631845271[102] = 0.0; - out_896657555631845271[103] = 0.0; - out_896657555631845271[104] = 0.0; - out_896657555631845271[105] = 0.0; - out_896657555631845271[106] = 0.0; - out_896657555631845271[107] = 0.0; - out_896657555631845271[108] = 0.0; - out_896657555631845271[109] = 0.0; - out_896657555631845271[110] = 0.0; - out_896657555631845271[111] = 0.0; - out_896657555631845271[112] = 0.0; - out_896657555631845271[113] = 0.0; - out_896657555631845271[114] = 1.0; - out_896657555631845271[115] = 0.0; - out_896657555631845271[116] = 0.0; - out_896657555631845271[117] = 0.0; - out_896657555631845271[118] = 0.0; - out_896657555631845271[119] = 0.0; - out_896657555631845271[120] = 0.0; - out_896657555631845271[121] = 0.0; - out_896657555631845271[122] = 0.0; - out_896657555631845271[123] = 0.0; - out_896657555631845271[124] = 0.0; - out_896657555631845271[125] = 0.0; - out_896657555631845271[126] = 0.0; - out_896657555631845271[127] = 0.0; - out_896657555631845271[128] = 0.0; - out_896657555631845271[129] = 0.0; - out_896657555631845271[130] = 0.0; - out_896657555631845271[131] = 0.0; - out_896657555631845271[132] = 0.0; - out_896657555631845271[133] = 1.0; - out_896657555631845271[134] = 0.0; - out_896657555631845271[135] = 0.0; - out_896657555631845271[136] = 0.0; - out_896657555631845271[137] = 0.0; - out_896657555631845271[138] = 0.0; - out_896657555631845271[139] = 0.0; - out_896657555631845271[140] = 0.0; - out_896657555631845271[141] = 0.0; - out_896657555631845271[142] = 0.0; - out_896657555631845271[143] = 0.0; - out_896657555631845271[144] = 0.0; - out_896657555631845271[145] = 0.0; - out_896657555631845271[146] = 0.0; - out_896657555631845271[147] = 0.0; - out_896657555631845271[148] = 0.0; - out_896657555631845271[149] = 0.0; - out_896657555631845271[150] = 0.0; - out_896657555631845271[151] = 0.0; - out_896657555631845271[152] = 1.0; - out_896657555631845271[153] = 0.0; - out_896657555631845271[154] = 0.0; - out_896657555631845271[155] = 0.0; - out_896657555631845271[156] = 0.0; - out_896657555631845271[157] = 0.0; - out_896657555631845271[158] = 0.0; - out_896657555631845271[159] = 0.0; - out_896657555631845271[160] = 0.0; - out_896657555631845271[161] = 0.0; - out_896657555631845271[162] = 0.0; - out_896657555631845271[163] = 0.0; - out_896657555631845271[164] = 0.0; - out_896657555631845271[165] = 0.0; - out_896657555631845271[166] = 0.0; - out_896657555631845271[167] = 0.0; - out_896657555631845271[168] = 0.0; - out_896657555631845271[169] = 0.0; - out_896657555631845271[170] = 0.0; - out_896657555631845271[171] = 1.0; - out_896657555631845271[172] = 0.0; - out_896657555631845271[173] = 0.0; - out_896657555631845271[174] = 0.0; - out_896657555631845271[175] = 0.0; - out_896657555631845271[176] = 0.0; - out_896657555631845271[177] = 0.0; - out_896657555631845271[178] = 0.0; - out_896657555631845271[179] = 0.0; - out_896657555631845271[180] = 0.0; - out_896657555631845271[181] = 0.0; - out_896657555631845271[182] = 0.0; - out_896657555631845271[183] = 0.0; - out_896657555631845271[184] = 0.0; - out_896657555631845271[185] = 0.0; - out_896657555631845271[186] = 0.0; - out_896657555631845271[187] = 0.0; - out_896657555631845271[188] = 0.0; - out_896657555631845271[189] = 0.0; - out_896657555631845271[190] = 1.0; - out_896657555631845271[191] = 0.0; - out_896657555631845271[192] = 0.0; - out_896657555631845271[193] = 0.0; - out_896657555631845271[194] = 0.0; - out_896657555631845271[195] = 0.0; - out_896657555631845271[196] = 0.0; - out_896657555631845271[197] = 0.0; - out_896657555631845271[198] = 0.0; - out_896657555631845271[199] = 0.0; - out_896657555631845271[200] = 0.0; - out_896657555631845271[201] = 0.0; - out_896657555631845271[202] = 0.0; - out_896657555631845271[203] = 0.0; - out_896657555631845271[204] = 0.0; - out_896657555631845271[205] = 0.0; - out_896657555631845271[206] = 0.0; - out_896657555631845271[207] = 0.0; - out_896657555631845271[208] = 0.0; - out_896657555631845271[209] = 1.0; - out_896657555631845271[210] = 0.0; - out_896657555631845271[211] = 0.0; - out_896657555631845271[212] = 0.0; - out_896657555631845271[213] = 0.0; - out_896657555631845271[214] = 0.0; - out_896657555631845271[215] = 0.0; - out_896657555631845271[216] = 0.0; - out_896657555631845271[217] = 0.0; - out_896657555631845271[218] = 0.0; - out_896657555631845271[219] = 0.0; - out_896657555631845271[220] = 0.0; - out_896657555631845271[221] = 0.0; - out_896657555631845271[222] = 0.0; - out_896657555631845271[223] = 0.0; - out_896657555631845271[224] = 0.0; - out_896657555631845271[225] = 0.0; - out_896657555631845271[226] = 0.0; - out_896657555631845271[227] = 0.0; - out_896657555631845271[228] = 1.0; - out_896657555631845271[229] = 0.0; - out_896657555631845271[230] = 0.0; - out_896657555631845271[231] = 0.0; - out_896657555631845271[232] = 0.0; - out_896657555631845271[233] = 0.0; - out_896657555631845271[234] = 0.0; - out_896657555631845271[235] = 0.0; - out_896657555631845271[236] = 0.0; - out_896657555631845271[237] = 0.0; - out_896657555631845271[238] = 0.0; - out_896657555631845271[239] = 0.0; - out_896657555631845271[240] = 0.0; - out_896657555631845271[241] = 0.0; - out_896657555631845271[242] = 0.0; - out_896657555631845271[243] = 0.0; - out_896657555631845271[244] = 0.0; - out_896657555631845271[245] = 0.0; - out_896657555631845271[246] = 0.0; - out_896657555631845271[247] = 1.0; - out_896657555631845271[248] = 0.0; - out_896657555631845271[249] = 0.0; - out_896657555631845271[250] = 0.0; - out_896657555631845271[251] = 0.0; - out_896657555631845271[252] = 0.0; - out_896657555631845271[253] = 0.0; - out_896657555631845271[254] = 0.0; - out_896657555631845271[255] = 0.0; - out_896657555631845271[256] = 0.0; - out_896657555631845271[257] = 0.0; - out_896657555631845271[258] = 0.0; - out_896657555631845271[259] = 0.0; - out_896657555631845271[260] = 0.0; - out_896657555631845271[261] = 0.0; - out_896657555631845271[262] = 0.0; - out_896657555631845271[263] = 0.0; - out_896657555631845271[264] = 0.0; - out_896657555631845271[265] = 0.0; - out_896657555631845271[266] = 1.0; - out_896657555631845271[267] = 0.0; - out_896657555631845271[268] = 0.0; - out_896657555631845271[269] = 0.0; - out_896657555631845271[270] = 0.0; - out_896657555631845271[271] = 0.0; - out_896657555631845271[272] = 0.0; - out_896657555631845271[273] = 0.0; - out_896657555631845271[274] = 0.0; - out_896657555631845271[275] = 0.0; - out_896657555631845271[276] = 0.0; - out_896657555631845271[277] = 0.0; - out_896657555631845271[278] = 0.0; - out_896657555631845271[279] = 0.0; - out_896657555631845271[280] = 0.0; - out_896657555631845271[281] = 0.0; - out_896657555631845271[282] = 0.0; - out_896657555631845271[283] = 0.0; - out_896657555631845271[284] = 0.0; - out_896657555631845271[285] = 1.0; - out_896657555631845271[286] = 0.0; - out_896657555631845271[287] = 0.0; - out_896657555631845271[288] = 0.0; - out_896657555631845271[289] = 0.0; - out_896657555631845271[290] = 0.0; - out_896657555631845271[291] = 0.0; - out_896657555631845271[292] = 0.0; - out_896657555631845271[293] = 0.0; - out_896657555631845271[294] = 0.0; - out_896657555631845271[295] = 0.0; - out_896657555631845271[296] = 0.0; - out_896657555631845271[297] = 0.0; - out_896657555631845271[298] = 0.0; - out_896657555631845271[299] = 0.0; - out_896657555631845271[300] = 0.0; - out_896657555631845271[301] = 0.0; - out_896657555631845271[302] = 0.0; - out_896657555631845271[303] = 0.0; - out_896657555631845271[304] = 1.0; - out_896657555631845271[305] = 0.0; - out_896657555631845271[306] = 0.0; - out_896657555631845271[307] = 0.0; - out_896657555631845271[308] = 0.0; - out_896657555631845271[309] = 0.0; - out_896657555631845271[310] = 0.0; - out_896657555631845271[311] = 0.0; - out_896657555631845271[312] = 0.0; - out_896657555631845271[313] = 0.0; - out_896657555631845271[314] = 0.0; - out_896657555631845271[315] = 0.0; - out_896657555631845271[316] = 0.0; - out_896657555631845271[317] = 0.0; - out_896657555631845271[318] = 0.0; - out_896657555631845271[319] = 0.0; - out_896657555631845271[320] = 0.0; - out_896657555631845271[321] = 0.0; - out_896657555631845271[322] = 0.0; - out_896657555631845271[323] = 1.0; +void H_mod_fun(double *state, double *out_2668724034635220264) { + out_2668724034635220264[0] = 1.0; + out_2668724034635220264[1] = 0.0; + out_2668724034635220264[2] = 0.0; + out_2668724034635220264[3] = 0.0; + out_2668724034635220264[4] = 0.0; + out_2668724034635220264[5] = 0.0; + out_2668724034635220264[6] = 0.0; + out_2668724034635220264[7] = 0.0; + out_2668724034635220264[8] = 0.0; + out_2668724034635220264[9] = 0.0; + out_2668724034635220264[10] = 0.0; + out_2668724034635220264[11] = 0.0; + out_2668724034635220264[12] = 0.0; + out_2668724034635220264[13] = 0.0; + out_2668724034635220264[14] = 0.0; + out_2668724034635220264[15] = 0.0; + out_2668724034635220264[16] = 0.0; + out_2668724034635220264[17] = 0.0; + out_2668724034635220264[18] = 0.0; + out_2668724034635220264[19] = 1.0; + out_2668724034635220264[20] = 0.0; + out_2668724034635220264[21] = 0.0; + out_2668724034635220264[22] = 0.0; + out_2668724034635220264[23] = 0.0; + out_2668724034635220264[24] = 0.0; + out_2668724034635220264[25] = 0.0; + out_2668724034635220264[26] = 0.0; + out_2668724034635220264[27] = 0.0; + out_2668724034635220264[28] = 0.0; + out_2668724034635220264[29] = 0.0; + out_2668724034635220264[30] = 0.0; + out_2668724034635220264[31] = 0.0; + out_2668724034635220264[32] = 0.0; + out_2668724034635220264[33] = 0.0; + out_2668724034635220264[34] = 0.0; + out_2668724034635220264[35] = 0.0; + out_2668724034635220264[36] = 0.0; + out_2668724034635220264[37] = 0.0; + out_2668724034635220264[38] = 1.0; + out_2668724034635220264[39] = 0.0; + out_2668724034635220264[40] = 0.0; + out_2668724034635220264[41] = 0.0; + out_2668724034635220264[42] = 0.0; + out_2668724034635220264[43] = 0.0; + out_2668724034635220264[44] = 0.0; + out_2668724034635220264[45] = 0.0; + out_2668724034635220264[46] = 0.0; + out_2668724034635220264[47] = 0.0; + out_2668724034635220264[48] = 0.0; + out_2668724034635220264[49] = 0.0; + out_2668724034635220264[50] = 0.0; + out_2668724034635220264[51] = 0.0; + out_2668724034635220264[52] = 0.0; + out_2668724034635220264[53] = 0.0; + out_2668724034635220264[54] = 0.0; + out_2668724034635220264[55] = 0.0; + out_2668724034635220264[56] = 0.0; + out_2668724034635220264[57] = 1.0; + out_2668724034635220264[58] = 0.0; + out_2668724034635220264[59] = 0.0; + out_2668724034635220264[60] = 0.0; + out_2668724034635220264[61] = 0.0; + out_2668724034635220264[62] = 0.0; + out_2668724034635220264[63] = 0.0; + out_2668724034635220264[64] = 0.0; + out_2668724034635220264[65] = 0.0; + out_2668724034635220264[66] = 0.0; + out_2668724034635220264[67] = 0.0; + out_2668724034635220264[68] = 0.0; + out_2668724034635220264[69] = 0.0; + out_2668724034635220264[70] = 0.0; + out_2668724034635220264[71] = 0.0; + out_2668724034635220264[72] = 0.0; + out_2668724034635220264[73] = 0.0; + out_2668724034635220264[74] = 0.0; + out_2668724034635220264[75] = 0.0; + out_2668724034635220264[76] = 1.0; + out_2668724034635220264[77] = 0.0; + out_2668724034635220264[78] = 0.0; + out_2668724034635220264[79] = 0.0; + out_2668724034635220264[80] = 0.0; + out_2668724034635220264[81] = 0.0; + out_2668724034635220264[82] = 0.0; + out_2668724034635220264[83] = 0.0; + out_2668724034635220264[84] = 0.0; + out_2668724034635220264[85] = 0.0; + out_2668724034635220264[86] = 0.0; + out_2668724034635220264[87] = 0.0; + out_2668724034635220264[88] = 0.0; + out_2668724034635220264[89] = 0.0; + out_2668724034635220264[90] = 0.0; + out_2668724034635220264[91] = 0.0; + out_2668724034635220264[92] = 0.0; + out_2668724034635220264[93] = 0.0; + out_2668724034635220264[94] = 0.0; + out_2668724034635220264[95] = 1.0; + out_2668724034635220264[96] = 0.0; + out_2668724034635220264[97] = 0.0; + out_2668724034635220264[98] = 0.0; + out_2668724034635220264[99] = 0.0; + out_2668724034635220264[100] = 0.0; + out_2668724034635220264[101] = 0.0; + out_2668724034635220264[102] = 0.0; + out_2668724034635220264[103] = 0.0; + out_2668724034635220264[104] = 0.0; + out_2668724034635220264[105] = 0.0; + out_2668724034635220264[106] = 0.0; + out_2668724034635220264[107] = 0.0; + out_2668724034635220264[108] = 0.0; + out_2668724034635220264[109] = 0.0; + out_2668724034635220264[110] = 0.0; + out_2668724034635220264[111] = 0.0; + out_2668724034635220264[112] = 0.0; + out_2668724034635220264[113] = 0.0; + out_2668724034635220264[114] = 1.0; + out_2668724034635220264[115] = 0.0; + out_2668724034635220264[116] = 0.0; + out_2668724034635220264[117] = 0.0; + out_2668724034635220264[118] = 0.0; + out_2668724034635220264[119] = 0.0; + out_2668724034635220264[120] = 0.0; + out_2668724034635220264[121] = 0.0; + out_2668724034635220264[122] = 0.0; + out_2668724034635220264[123] = 0.0; + out_2668724034635220264[124] = 0.0; + out_2668724034635220264[125] = 0.0; + out_2668724034635220264[126] = 0.0; + out_2668724034635220264[127] = 0.0; + out_2668724034635220264[128] = 0.0; + out_2668724034635220264[129] = 0.0; + out_2668724034635220264[130] = 0.0; + out_2668724034635220264[131] = 0.0; + out_2668724034635220264[132] = 0.0; + out_2668724034635220264[133] = 1.0; + out_2668724034635220264[134] = 0.0; + out_2668724034635220264[135] = 0.0; + out_2668724034635220264[136] = 0.0; + out_2668724034635220264[137] = 0.0; + out_2668724034635220264[138] = 0.0; + out_2668724034635220264[139] = 0.0; + out_2668724034635220264[140] = 0.0; + out_2668724034635220264[141] = 0.0; + out_2668724034635220264[142] = 0.0; + out_2668724034635220264[143] = 0.0; + out_2668724034635220264[144] = 0.0; + out_2668724034635220264[145] = 0.0; + out_2668724034635220264[146] = 0.0; + out_2668724034635220264[147] = 0.0; + out_2668724034635220264[148] = 0.0; + out_2668724034635220264[149] = 0.0; + out_2668724034635220264[150] = 0.0; + out_2668724034635220264[151] = 0.0; + out_2668724034635220264[152] = 1.0; + out_2668724034635220264[153] = 0.0; + out_2668724034635220264[154] = 0.0; + out_2668724034635220264[155] = 0.0; + out_2668724034635220264[156] = 0.0; + out_2668724034635220264[157] = 0.0; + out_2668724034635220264[158] = 0.0; + out_2668724034635220264[159] = 0.0; + out_2668724034635220264[160] = 0.0; + out_2668724034635220264[161] = 0.0; + out_2668724034635220264[162] = 0.0; + out_2668724034635220264[163] = 0.0; + out_2668724034635220264[164] = 0.0; + out_2668724034635220264[165] = 0.0; + out_2668724034635220264[166] = 0.0; + out_2668724034635220264[167] = 0.0; + out_2668724034635220264[168] = 0.0; + out_2668724034635220264[169] = 0.0; + out_2668724034635220264[170] = 0.0; + out_2668724034635220264[171] = 1.0; + out_2668724034635220264[172] = 0.0; + out_2668724034635220264[173] = 0.0; + out_2668724034635220264[174] = 0.0; + out_2668724034635220264[175] = 0.0; + out_2668724034635220264[176] = 0.0; + out_2668724034635220264[177] = 0.0; + out_2668724034635220264[178] = 0.0; + out_2668724034635220264[179] = 0.0; + out_2668724034635220264[180] = 0.0; + out_2668724034635220264[181] = 0.0; + out_2668724034635220264[182] = 0.0; + out_2668724034635220264[183] = 0.0; + out_2668724034635220264[184] = 0.0; + out_2668724034635220264[185] = 0.0; + out_2668724034635220264[186] = 0.0; + out_2668724034635220264[187] = 0.0; + out_2668724034635220264[188] = 0.0; + out_2668724034635220264[189] = 0.0; + out_2668724034635220264[190] = 1.0; + out_2668724034635220264[191] = 0.0; + out_2668724034635220264[192] = 0.0; + out_2668724034635220264[193] = 0.0; + out_2668724034635220264[194] = 0.0; + out_2668724034635220264[195] = 0.0; + out_2668724034635220264[196] = 0.0; + out_2668724034635220264[197] = 0.0; + out_2668724034635220264[198] = 0.0; + out_2668724034635220264[199] = 0.0; + out_2668724034635220264[200] = 0.0; + out_2668724034635220264[201] = 0.0; + out_2668724034635220264[202] = 0.0; + out_2668724034635220264[203] = 0.0; + out_2668724034635220264[204] = 0.0; + out_2668724034635220264[205] = 0.0; + out_2668724034635220264[206] = 0.0; + out_2668724034635220264[207] = 0.0; + out_2668724034635220264[208] = 0.0; + out_2668724034635220264[209] = 1.0; + out_2668724034635220264[210] = 0.0; + out_2668724034635220264[211] = 0.0; + out_2668724034635220264[212] = 0.0; + out_2668724034635220264[213] = 0.0; + out_2668724034635220264[214] = 0.0; + out_2668724034635220264[215] = 0.0; + out_2668724034635220264[216] = 0.0; + out_2668724034635220264[217] = 0.0; + out_2668724034635220264[218] = 0.0; + out_2668724034635220264[219] = 0.0; + out_2668724034635220264[220] = 0.0; + out_2668724034635220264[221] = 0.0; + out_2668724034635220264[222] = 0.0; + out_2668724034635220264[223] = 0.0; + out_2668724034635220264[224] = 0.0; + out_2668724034635220264[225] = 0.0; + out_2668724034635220264[226] = 0.0; + out_2668724034635220264[227] = 0.0; + out_2668724034635220264[228] = 1.0; + out_2668724034635220264[229] = 0.0; + out_2668724034635220264[230] = 0.0; + out_2668724034635220264[231] = 0.0; + out_2668724034635220264[232] = 0.0; + out_2668724034635220264[233] = 0.0; + out_2668724034635220264[234] = 0.0; + out_2668724034635220264[235] = 0.0; + out_2668724034635220264[236] = 0.0; + out_2668724034635220264[237] = 0.0; + out_2668724034635220264[238] = 0.0; + out_2668724034635220264[239] = 0.0; + out_2668724034635220264[240] = 0.0; + out_2668724034635220264[241] = 0.0; + out_2668724034635220264[242] = 0.0; + out_2668724034635220264[243] = 0.0; + out_2668724034635220264[244] = 0.0; + out_2668724034635220264[245] = 0.0; + out_2668724034635220264[246] = 0.0; + out_2668724034635220264[247] = 1.0; + out_2668724034635220264[248] = 0.0; + out_2668724034635220264[249] = 0.0; + out_2668724034635220264[250] = 0.0; + out_2668724034635220264[251] = 0.0; + out_2668724034635220264[252] = 0.0; + out_2668724034635220264[253] = 0.0; + out_2668724034635220264[254] = 0.0; + out_2668724034635220264[255] = 0.0; + out_2668724034635220264[256] = 0.0; + out_2668724034635220264[257] = 0.0; + out_2668724034635220264[258] = 0.0; + out_2668724034635220264[259] = 0.0; + out_2668724034635220264[260] = 0.0; + out_2668724034635220264[261] = 0.0; + out_2668724034635220264[262] = 0.0; + out_2668724034635220264[263] = 0.0; + out_2668724034635220264[264] = 0.0; + out_2668724034635220264[265] = 0.0; + out_2668724034635220264[266] = 1.0; + out_2668724034635220264[267] = 0.0; + out_2668724034635220264[268] = 0.0; + out_2668724034635220264[269] = 0.0; + out_2668724034635220264[270] = 0.0; + out_2668724034635220264[271] = 0.0; + out_2668724034635220264[272] = 0.0; + out_2668724034635220264[273] = 0.0; + out_2668724034635220264[274] = 0.0; + out_2668724034635220264[275] = 0.0; + out_2668724034635220264[276] = 0.0; + out_2668724034635220264[277] = 0.0; + out_2668724034635220264[278] = 0.0; + out_2668724034635220264[279] = 0.0; + out_2668724034635220264[280] = 0.0; + out_2668724034635220264[281] = 0.0; + out_2668724034635220264[282] = 0.0; + out_2668724034635220264[283] = 0.0; + out_2668724034635220264[284] = 0.0; + out_2668724034635220264[285] = 1.0; + out_2668724034635220264[286] = 0.0; + out_2668724034635220264[287] = 0.0; + out_2668724034635220264[288] = 0.0; + out_2668724034635220264[289] = 0.0; + out_2668724034635220264[290] = 0.0; + out_2668724034635220264[291] = 0.0; + out_2668724034635220264[292] = 0.0; + out_2668724034635220264[293] = 0.0; + out_2668724034635220264[294] = 0.0; + out_2668724034635220264[295] = 0.0; + out_2668724034635220264[296] = 0.0; + out_2668724034635220264[297] = 0.0; + out_2668724034635220264[298] = 0.0; + out_2668724034635220264[299] = 0.0; + out_2668724034635220264[300] = 0.0; + out_2668724034635220264[301] = 0.0; + out_2668724034635220264[302] = 0.0; + out_2668724034635220264[303] = 0.0; + out_2668724034635220264[304] = 1.0; + out_2668724034635220264[305] = 0.0; + out_2668724034635220264[306] = 0.0; + out_2668724034635220264[307] = 0.0; + out_2668724034635220264[308] = 0.0; + out_2668724034635220264[309] = 0.0; + out_2668724034635220264[310] = 0.0; + out_2668724034635220264[311] = 0.0; + out_2668724034635220264[312] = 0.0; + out_2668724034635220264[313] = 0.0; + out_2668724034635220264[314] = 0.0; + out_2668724034635220264[315] = 0.0; + out_2668724034635220264[316] = 0.0; + out_2668724034635220264[317] = 0.0; + out_2668724034635220264[318] = 0.0; + out_2668724034635220264[319] = 0.0; + out_2668724034635220264[320] = 0.0; + out_2668724034635220264[321] = 0.0; + out_2668724034635220264[322] = 0.0; + out_2668724034635220264[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8443743878960458350) { - out_8443743878960458350[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_8443743878960458350[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_8443743878960458350[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_8443743878960458350[3] = dt*state[12] + state[3]; - out_8443743878960458350[4] = dt*state[13] + state[4]; - out_8443743878960458350[5] = dt*state[14] + state[5]; - out_8443743878960458350[6] = state[6]; - out_8443743878960458350[7] = state[7]; - out_8443743878960458350[8] = state[8]; - out_8443743878960458350[9] = state[9]; - out_8443743878960458350[10] = state[10]; - out_8443743878960458350[11] = state[11]; - out_8443743878960458350[12] = state[12]; - out_8443743878960458350[13] = state[13]; - out_8443743878960458350[14] = state[14]; - out_8443743878960458350[15] = state[15]; - out_8443743878960458350[16] = state[16]; - out_8443743878960458350[17] = state[17]; +void f_fun(double *state, double dt, double *out_9201625055442330332) { + out_9201625055442330332[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_9201625055442330332[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_9201625055442330332[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_9201625055442330332[3] = dt*state[12] + state[3]; + out_9201625055442330332[4] = dt*state[13] + state[4]; + out_9201625055442330332[5] = dt*state[14] + state[5]; + out_9201625055442330332[6] = state[6]; + out_9201625055442330332[7] = state[7]; + out_9201625055442330332[8] = state[8]; + out_9201625055442330332[9] = state[9]; + out_9201625055442330332[10] = state[10]; + out_9201625055442330332[11] = state[11]; + out_9201625055442330332[12] = state[12]; + out_9201625055442330332[13] = state[13]; + out_9201625055442330332[14] = state[14]; + out_9201625055442330332[15] = state[15]; + out_9201625055442330332[16] = state[16]; + out_9201625055442330332[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8213357667145446301) { - out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[2] = 0; - out_8213357667145446301[3] = 0; - out_8213357667145446301[4] = 0; - out_8213357667145446301[5] = 0; - out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[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_8213357667145446301[9] = 0; - out_8213357667145446301[10] = 0; - out_8213357667145446301[11] = 0; - out_8213357667145446301[12] = 0; - out_8213357667145446301[13] = 0; - out_8213357667145446301[14] = 0; - out_8213357667145446301[15] = 0; - out_8213357667145446301[16] = 0; - out_8213357667145446301[17] = 0; - out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[20] = 0; - out_8213357667145446301[21] = 0; - out_8213357667145446301[22] = 0; - out_8213357667145446301[23] = 0; - out_8213357667145446301[24] = 0; - out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[27] = 0; - out_8213357667145446301[28] = 0; - out_8213357667145446301[29] = 0; - out_8213357667145446301[30] = 0; - out_8213357667145446301[31] = 0; - out_8213357667145446301[32] = 0; - out_8213357667145446301[33] = 0; - out_8213357667145446301[34] = 0; - out_8213357667145446301[35] = 0; - out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[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_8213357667145446301[39] = 0; - out_8213357667145446301[40] = 0; - out_8213357667145446301[41] = 0; - out_8213357667145446301[42] = 0; - out_8213357667145446301[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_8213357667145446301[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_8213357667145446301[45] = 0; - out_8213357667145446301[46] = 0; - out_8213357667145446301[47] = 0; - out_8213357667145446301[48] = 0; - out_8213357667145446301[49] = 0; - out_8213357667145446301[50] = 0; - out_8213357667145446301[51] = 0; - out_8213357667145446301[52] = 0; - out_8213357667145446301[53] = 0; - out_8213357667145446301[54] = 0; - out_8213357667145446301[55] = 0; - out_8213357667145446301[56] = 0; - out_8213357667145446301[57] = 1; - out_8213357667145446301[58] = 0; - out_8213357667145446301[59] = 0; - out_8213357667145446301[60] = 0; - out_8213357667145446301[61] = 0; - out_8213357667145446301[62] = 0; - out_8213357667145446301[63] = 0; - out_8213357667145446301[64] = 0; - out_8213357667145446301[65] = 0; - out_8213357667145446301[66] = dt; - out_8213357667145446301[67] = 0; - out_8213357667145446301[68] = 0; - out_8213357667145446301[69] = 0; - out_8213357667145446301[70] = 0; - out_8213357667145446301[71] = 0; - out_8213357667145446301[72] = 0; - out_8213357667145446301[73] = 0; - out_8213357667145446301[74] = 0; - out_8213357667145446301[75] = 0; - out_8213357667145446301[76] = 1; - out_8213357667145446301[77] = 0; - out_8213357667145446301[78] = 0; - out_8213357667145446301[79] = 0; - out_8213357667145446301[80] = 0; - out_8213357667145446301[81] = 0; - out_8213357667145446301[82] = 0; - out_8213357667145446301[83] = 0; - out_8213357667145446301[84] = 0; - out_8213357667145446301[85] = dt; - out_8213357667145446301[86] = 0; - out_8213357667145446301[87] = 0; - out_8213357667145446301[88] = 0; - out_8213357667145446301[89] = 0; - out_8213357667145446301[90] = 0; - out_8213357667145446301[91] = 0; - out_8213357667145446301[92] = 0; - out_8213357667145446301[93] = 0; - out_8213357667145446301[94] = 0; - out_8213357667145446301[95] = 1; - out_8213357667145446301[96] = 0; - out_8213357667145446301[97] = 0; - out_8213357667145446301[98] = 0; - out_8213357667145446301[99] = 0; - out_8213357667145446301[100] = 0; - out_8213357667145446301[101] = 0; - out_8213357667145446301[102] = 0; - out_8213357667145446301[103] = 0; - out_8213357667145446301[104] = dt; - out_8213357667145446301[105] = 0; - out_8213357667145446301[106] = 0; - out_8213357667145446301[107] = 0; - out_8213357667145446301[108] = 0; - out_8213357667145446301[109] = 0; - out_8213357667145446301[110] = 0; - out_8213357667145446301[111] = 0; - out_8213357667145446301[112] = 0; - out_8213357667145446301[113] = 0; - out_8213357667145446301[114] = 1; - out_8213357667145446301[115] = 0; - out_8213357667145446301[116] = 0; - out_8213357667145446301[117] = 0; - out_8213357667145446301[118] = 0; - out_8213357667145446301[119] = 0; - out_8213357667145446301[120] = 0; - out_8213357667145446301[121] = 0; - out_8213357667145446301[122] = 0; - out_8213357667145446301[123] = 0; - out_8213357667145446301[124] = 0; - out_8213357667145446301[125] = 0; - out_8213357667145446301[126] = 0; - out_8213357667145446301[127] = 0; - out_8213357667145446301[128] = 0; - out_8213357667145446301[129] = 0; - out_8213357667145446301[130] = 0; - out_8213357667145446301[131] = 0; - out_8213357667145446301[132] = 0; - out_8213357667145446301[133] = 1; - out_8213357667145446301[134] = 0; - out_8213357667145446301[135] = 0; - out_8213357667145446301[136] = 0; - out_8213357667145446301[137] = 0; - out_8213357667145446301[138] = 0; - out_8213357667145446301[139] = 0; - out_8213357667145446301[140] = 0; - out_8213357667145446301[141] = 0; - out_8213357667145446301[142] = 0; - out_8213357667145446301[143] = 0; - out_8213357667145446301[144] = 0; - out_8213357667145446301[145] = 0; - out_8213357667145446301[146] = 0; - out_8213357667145446301[147] = 0; - out_8213357667145446301[148] = 0; - out_8213357667145446301[149] = 0; - out_8213357667145446301[150] = 0; - out_8213357667145446301[151] = 0; - out_8213357667145446301[152] = 1; - out_8213357667145446301[153] = 0; - out_8213357667145446301[154] = 0; - out_8213357667145446301[155] = 0; - out_8213357667145446301[156] = 0; - out_8213357667145446301[157] = 0; - out_8213357667145446301[158] = 0; - out_8213357667145446301[159] = 0; - out_8213357667145446301[160] = 0; - out_8213357667145446301[161] = 0; - out_8213357667145446301[162] = 0; - out_8213357667145446301[163] = 0; - out_8213357667145446301[164] = 0; - out_8213357667145446301[165] = 0; - out_8213357667145446301[166] = 0; - out_8213357667145446301[167] = 0; - out_8213357667145446301[168] = 0; - out_8213357667145446301[169] = 0; - out_8213357667145446301[170] = 0; - out_8213357667145446301[171] = 1; - out_8213357667145446301[172] = 0; - out_8213357667145446301[173] = 0; - out_8213357667145446301[174] = 0; - out_8213357667145446301[175] = 0; - out_8213357667145446301[176] = 0; - out_8213357667145446301[177] = 0; - out_8213357667145446301[178] = 0; - out_8213357667145446301[179] = 0; - out_8213357667145446301[180] = 0; - out_8213357667145446301[181] = 0; - out_8213357667145446301[182] = 0; - out_8213357667145446301[183] = 0; - out_8213357667145446301[184] = 0; - out_8213357667145446301[185] = 0; - out_8213357667145446301[186] = 0; - out_8213357667145446301[187] = 0; - out_8213357667145446301[188] = 0; - out_8213357667145446301[189] = 0; - out_8213357667145446301[190] = 1; - out_8213357667145446301[191] = 0; - out_8213357667145446301[192] = 0; - out_8213357667145446301[193] = 0; - out_8213357667145446301[194] = 0; - out_8213357667145446301[195] = 0; - out_8213357667145446301[196] = 0; - out_8213357667145446301[197] = 0; - out_8213357667145446301[198] = 0; - out_8213357667145446301[199] = 0; - out_8213357667145446301[200] = 0; - out_8213357667145446301[201] = 0; - out_8213357667145446301[202] = 0; - out_8213357667145446301[203] = 0; - out_8213357667145446301[204] = 0; - out_8213357667145446301[205] = 0; - out_8213357667145446301[206] = 0; - out_8213357667145446301[207] = 0; - out_8213357667145446301[208] = 0; - out_8213357667145446301[209] = 1; - out_8213357667145446301[210] = 0; - out_8213357667145446301[211] = 0; - out_8213357667145446301[212] = 0; - out_8213357667145446301[213] = 0; - out_8213357667145446301[214] = 0; - out_8213357667145446301[215] = 0; - out_8213357667145446301[216] = 0; - out_8213357667145446301[217] = 0; - out_8213357667145446301[218] = 0; - out_8213357667145446301[219] = 0; - out_8213357667145446301[220] = 0; - out_8213357667145446301[221] = 0; - out_8213357667145446301[222] = 0; - out_8213357667145446301[223] = 0; - out_8213357667145446301[224] = 0; - out_8213357667145446301[225] = 0; - out_8213357667145446301[226] = 0; - out_8213357667145446301[227] = 0; - out_8213357667145446301[228] = 1; - out_8213357667145446301[229] = 0; - out_8213357667145446301[230] = 0; - out_8213357667145446301[231] = 0; - out_8213357667145446301[232] = 0; - out_8213357667145446301[233] = 0; - out_8213357667145446301[234] = 0; - out_8213357667145446301[235] = 0; - out_8213357667145446301[236] = 0; - out_8213357667145446301[237] = 0; - out_8213357667145446301[238] = 0; - out_8213357667145446301[239] = 0; - out_8213357667145446301[240] = 0; - out_8213357667145446301[241] = 0; - out_8213357667145446301[242] = 0; - out_8213357667145446301[243] = 0; - out_8213357667145446301[244] = 0; - out_8213357667145446301[245] = 0; - out_8213357667145446301[246] = 0; - out_8213357667145446301[247] = 1; - out_8213357667145446301[248] = 0; - out_8213357667145446301[249] = 0; - out_8213357667145446301[250] = 0; - out_8213357667145446301[251] = 0; - out_8213357667145446301[252] = 0; - out_8213357667145446301[253] = 0; - out_8213357667145446301[254] = 0; - out_8213357667145446301[255] = 0; - out_8213357667145446301[256] = 0; - out_8213357667145446301[257] = 0; - out_8213357667145446301[258] = 0; - out_8213357667145446301[259] = 0; - out_8213357667145446301[260] = 0; - out_8213357667145446301[261] = 0; - out_8213357667145446301[262] = 0; - out_8213357667145446301[263] = 0; - out_8213357667145446301[264] = 0; - out_8213357667145446301[265] = 0; - out_8213357667145446301[266] = 1; - out_8213357667145446301[267] = 0; - out_8213357667145446301[268] = 0; - out_8213357667145446301[269] = 0; - out_8213357667145446301[270] = 0; - out_8213357667145446301[271] = 0; - out_8213357667145446301[272] = 0; - out_8213357667145446301[273] = 0; - out_8213357667145446301[274] = 0; - out_8213357667145446301[275] = 0; - out_8213357667145446301[276] = 0; - out_8213357667145446301[277] = 0; - out_8213357667145446301[278] = 0; - out_8213357667145446301[279] = 0; - out_8213357667145446301[280] = 0; - out_8213357667145446301[281] = 0; - out_8213357667145446301[282] = 0; - out_8213357667145446301[283] = 0; - out_8213357667145446301[284] = 0; - out_8213357667145446301[285] = 1; - out_8213357667145446301[286] = 0; - out_8213357667145446301[287] = 0; - out_8213357667145446301[288] = 0; - out_8213357667145446301[289] = 0; - out_8213357667145446301[290] = 0; - out_8213357667145446301[291] = 0; - out_8213357667145446301[292] = 0; - out_8213357667145446301[293] = 0; - out_8213357667145446301[294] = 0; - out_8213357667145446301[295] = 0; - out_8213357667145446301[296] = 0; - out_8213357667145446301[297] = 0; - out_8213357667145446301[298] = 0; - out_8213357667145446301[299] = 0; - out_8213357667145446301[300] = 0; - out_8213357667145446301[301] = 0; - out_8213357667145446301[302] = 0; - out_8213357667145446301[303] = 0; - out_8213357667145446301[304] = 1; - out_8213357667145446301[305] = 0; - out_8213357667145446301[306] = 0; - out_8213357667145446301[307] = 0; - out_8213357667145446301[308] = 0; - out_8213357667145446301[309] = 0; - out_8213357667145446301[310] = 0; - out_8213357667145446301[311] = 0; - out_8213357667145446301[312] = 0; - out_8213357667145446301[313] = 0; - out_8213357667145446301[314] = 0; - out_8213357667145446301[315] = 0; - out_8213357667145446301[316] = 0; - out_8213357667145446301[317] = 0; - out_8213357667145446301[318] = 0; - out_8213357667145446301[319] = 0; - out_8213357667145446301[320] = 0; - out_8213357667145446301[321] = 0; - out_8213357667145446301[322] = 0; - out_8213357667145446301[323] = 1; +void F_fun(double *state, double dt, double *out_435223935958301203) { + out_435223935958301203[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_435223935958301203[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_435223935958301203[2] = 0; + out_435223935958301203[3] = 0; + out_435223935958301203[4] = 0; + out_435223935958301203[5] = 0; + out_435223935958301203[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_435223935958301203[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_435223935958301203[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_435223935958301203[9] = 0; + out_435223935958301203[10] = 0; + out_435223935958301203[11] = 0; + out_435223935958301203[12] = 0; + out_435223935958301203[13] = 0; + out_435223935958301203[14] = 0; + out_435223935958301203[15] = 0; + out_435223935958301203[16] = 0; + out_435223935958301203[17] = 0; + out_435223935958301203[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_435223935958301203[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_435223935958301203[20] = 0; + out_435223935958301203[21] = 0; + out_435223935958301203[22] = 0; + out_435223935958301203[23] = 0; + out_435223935958301203[24] = 0; + out_435223935958301203[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_435223935958301203[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_435223935958301203[27] = 0; + out_435223935958301203[28] = 0; + out_435223935958301203[29] = 0; + out_435223935958301203[30] = 0; + out_435223935958301203[31] = 0; + out_435223935958301203[32] = 0; + out_435223935958301203[33] = 0; + out_435223935958301203[34] = 0; + out_435223935958301203[35] = 0; + out_435223935958301203[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_435223935958301203[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_435223935958301203[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_435223935958301203[39] = 0; + out_435223935958301203[40] = 0; + out_435223935958301203[41] = 0; + out_435223935958301203[42] = 0; + out_435223935958301203[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_435223935958301203[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_435223935958301203[45] = 0; + out_435223935958301203[46] = 0; + out_435223935958301203[47] = 0; + out_435223935958301203[48] = 0; + out_435223935958301203[49] = 0; + out_435223935958301203[50] = 0; + out_435223935958301203[51] = 0; + out_435223935958301203[52] = 0; + out_435223935958301203[53] = 0; + out_435223935958301203[54] = 0; + out_435223935958301203[55] = 0; + out_435223935958301203[56] = 0; + out_435223935958301203[57] = 1; + out_435223935958301203[58] = 0; + out_435223935958301203[59] = 0; + out_435223935958301203[60] = 0; + out_435223935958301203[61] = 0; + out_435223935958301203[62] = 0; + out_435223935958301203[63] = 0; + out_435223935958301203[64] = 0; + out_435223935958301203[65] = 0; + out_435223935958301203[66] = dt; + out_435223935958301203[67] = 0; + out_435223935958301203[68] = 0; + out_435223935958301203[69] = 0; + out_435223935958301203[70] = 0; + out_435223935958301203[71] = 0; + out_435223935958301203[72] = 0; + out_435223935958301203[73] = 0; + out_435223935958301203[74] = 0; + out_435223935958301203[75] = 0; + out_435223935958301203[76] = 1; + out_435223935958301203[77] = 0; + out_435223935958301203[78] = 0; + out_435223935958301203[79] = 0; + out_435223935958301203[80] = 0; + out_435223935958301203[81] = 0; + out_435223935958301203[82] = 0; + out_435223935958301203[83] = 0; + out_435223935958301203[84] = 0; + out_435223935958301203[85] = dt; + out_435223935958301203[86] = 0; + out_435223935958301203[87] = 0; + out_435223935958301203[88] = 0; + out_435223935958301203[89] = 0; + out_435223935958301203[90] = 0; + out_435223935958301203[91] = 0; + out_435223935958301203[92] = 0; + out_435223935958301203[93] = 0; + out_435223935958301203[94] = 0; + out_435223935958301203[95] = 1; + out_435223935958301203[96] = 0; + out_435223935958301203[97] = 0; + out_435223935958301203[98] = 0; + out_435223935958301203[99] = 0; + out_435223935958301203[100] = 0; + out_435223935958301203[101] = 0; + out_435223935958301203[102] = 0; + out_435223935958301203[103] = 0; + out_435223935958301203[104] = dt; + out_435223935958301203[105] = 0; + out_435223935958301203[106] = 0; + out_435223935958301203[107] = 0; + out_435223935958301203[108] = 0; + out_435223935958301203[109] = 0; + out_435223935958301203[110] = 0; + out_435223935958301203[111] = 0; + out_435223935958301203[112] = 0; + out_435223935958301203[113] = 0; + out_435223935958301203[114] = 1; + out_435223935958301203[115] = 0; + out_435223935958301203[116] = 0; + out_435223935958301203[117] = 0; + out_435223935958301203[118] = 0; + out_435223935958301203[119] = 0; + out_435223935958301203[120] = 0; + out_435223935958301203[121] = 0; + out_435223935958301203[122] = 0; + out_435223935958301203[123] = 0; + out_435223935958301203[124] = 0; + out_435223935958301203[125] = 0; + out_435223935958301203[126] = 0; + out_435223935958301203[127] = 0; + out_435223935958301203[128] = 0; + out_435223935958301203[129] = 0; + out_435223935958301203[130] = 0; + out_435223935958301203[131] = 0; + out_435223935958301203[132] = 0; + out_435223935958301203[133] = 1; + out_435223935958301203[134] = 0; + out_435223935958301203[135] = 0; + out_435223935958301203[136] = 0; + out_435223935958301203[137] = 0; + out_435223935958301203[138] = 0; + out_435223935958301203[139] = 0; + out_435223935958301203[140] = 0; + out_435223935958301203[141] = 0; + out_435223935958301203[142] = 0; + out_435223935958301203[143] = 0; + out_435223935958301203[144] = 0; + out_435223935958301203[145] = 0; + out_435223935958301203[146] = 0; + out_435223935958301203[147] = 0; + out_435223935958301203[148] = 0; + out_435223935958301203[149] = 0; + out_435223935958301203[150] = 0; + out_435223935958301203[151] = 0; + out_435223935958301203[152] = 1; + out_435223935958301203[153] = 0; + out_435223935958301203[154] = 0; + out_435223935958301203[155] = 0; + out_435223935958301203[156] = 0; + out_435223935958301203[157] = 0; + out_435223935958301203[158] = 0; + out_435223935958301203[159] = 0; + out_435223935958301203[160] = 0; + out_435223935958301203[161] = 0; + out_435223935958301203[162] = 0; + out_435223935958301203[163] = 0; + out_435223935958301203[164] = 0; + out_435223935958301203[165] = 0; + out_435223935958301203[166] = 0; + out_435223935958301203[167] = 0; + out_435223935958301203[168] = 0; + out_435223935958301203[169] = 0; + out_435223935958301203[170] = 0; + out_435223935958301203[171] = 1; + out_435223935958301203[172] = 0; + out_435223935958301203[173] = 0; + out_435223935958301203[174] = 0; + out_435223935958301203[175] = 0; + out_435223935958301203[176] = 0; + out_435223935958301203[177] = 0; + out_435223935958301203[178] = 0; + out_435223935958301203[179] = 0; + out_435223935958301203[180] = 0; + out_435223935958301203[181] = 0; + out_435223935958301203[182] = 0; + out_435223935958301203[183] = 0; + out_435223935958301203[184] = 0; + out_435223935958301203[185] = 0; + out_435223935958301203[186] = 0; + out_435223935958301203[187] = 0; + out_435223935958301203[188] = 0; + out_435223935958301203[189] = 0; + out_435223935958301203[190] = 1; + out_435223935958301203[191] = 0; + out_435223935958301203[192] = 0; + out_435223935958301203[193] = 0; + out_435223935958301203[194] = 0; + out_435223935958301203[195] = 0; + out_435223935958301203[196] = 0; + out_435223935958301203[197] = 0; + out_435223935958301203[198] = 0; + out_435223935958301203[199] = 0; + out_435223935958301203[200] = 0; + out_435223935958301203[201] = 0; + out_435223935958301203[202] = 0; + out_435223935958301203[203] = 0; + out_435223935958301203[204] = 0; + out_435223935958301203[205] = 0; + out_435223935958301203[206] = 0; + out_435223935958301203[207] = 0; + out_435223935958301203[208] = 0; + out_435223935958301203[209] = 1; + out_435223935958301203[210] = 0; + out_435223935958301203[211] = 0; + out_435223935958301203[212] = 0; + out_435223935958301203[213] = 0; + out_435223935958301203[214] = 0; + out_435223935958301203[215] = 0; + out_435223935958301203[216] = 0; + out_435223935958301203[217] = 0; + out_435223935958301203[218] = 0; + out_435223935958301203[219] = 0; + out_435223935958301203[220] = 0; + out_435223935958301203[221] = 0; + out_435223935958301203[222] = 0; + out_435223935958301203[223] = 0; + out_435223935958301203[224] = 0; + out_435223935958301203[225] = 0; + out_435223935958301203[226] = 0; + out_435223935958301203[227] = 0; + out_435223935958301203[228] = 1; + out_435223935958301203[229] = 0; + out_435223935958301203[230] = 0; + out_435223935958301203[231] = 0; + out_435223935958301203[232] = 0; + out_435223935958301203[233] = 0; + out_435223935958301203[234] = 0; + out_435223935958301203[235] = 0; + out_435223935958301203[236] = 0; + out_435223935958301203[237] = 0; + out_435223935958301203[238] = 0; + out_435223935958301203[239] = 0; + out_435223935958301203[240] = 0; + out_435223935958301203[241] = 0; + out_435223935958301203[242] = 0; + out_435223935958301203[243] = 0; + out_435223935958301203[244] = 0; + out_435223935958301203[245] = 0; + out_435223935958301203[246] = 0; + out_435223935958301203[247] = 1; + out_435223935958301203[248] = 0; + out_435223935958301203[249] = 0; + out_435223935958301203[250] = 0; + out_435223935958301203[251] = 0; + out_435223935958301203[252] = 0; + out_435223935958301203[253] = 0; + out_435223935958301203[254] = 0; + out_435223935958301203[255] = 0; + out_435223935958301203[256] = 0; + out_435223935958301203[257] = 0; + out_435223935958301203[258] = 0; + out_435223935958301203[259] = 0; + out_435223935958301203[260] = 0; + out_435223935958301203[261] = 0; + out_435223935958301203[262] = 0; + out_435223935958301203[263] = 0; + out_435223935958301203[264] = 0; + out_435223935958301203[265] = 0; + out_435223935958301203[266] = 1; + out_435223935958301203[267] = 0; + out_435223935958301203[268] = 0; + out_435223935958301203[269] = 0; + out_435223935958301203[270] = 0; + out_435223935958301203[271] = 0; + out_435223935958301203[272] = 0; + out_435223935958301203[273] = 0; + out_435223935958301203[274] = 0; + out_435223935958301203[275] = 0; + out_435223935958301203[276] = 0; + out_435223935958301203[277] = 0; + out_435223935958301203[278] = 0; + out_435223935958301203[279] = 0; + out_435223935958301203[280] = 0; + out_435223935958301203[281] = 0; + out_435223935958301203[282] = 0; + out_435223935958301203[283] = 0; + out_435223935958301203[284] = 0; + out_435223935958301203[285] = 1; + out_435223935958301203[286] = 0; + out_435223935958301203[287] = 0; + out_435223935958301203[288] = 0; + out_435223935958301203[289] = 0; + out_435223935958301203[290] = 0; + out_435223935958301203[291] = 0; + out_435223935958301203[292] = 0; + out_435223935958301203[293] = 0; + out_435223935958301203[294] = 0; + out_435223935958301203[295] = 0; + out_435223935958301203[296] = 0; + out_435223935958301203[297] = 0; + out_435223935958301203[298] = 0; + out_435223935958301203[299] = 0; + out_435223935958301203[300] = 0; + out_435223935958301203[301] = 0; + out_435223935958301203[302] = 0; + out_435223935958301203[303] = 0; + out_435223935958301203[304] = 1; + out_435223935958301203[305] = 0; + out_435223935958301203[306] = 0; + out_435223935958301203[307] = 0; + out_435223935958301203[308] = 0; + out_435223935958301203[309] = 0; + out_435223935958301203[310] = 0; + out_435223935958301203[311] = 0; + out_435223935958301203[312] = 0; + out_435223935958301203[313] = 0; + out_435223935958301203[314] = 0; + out_435223935958301203[315] = 0; + out_435223935958301203[316] = 0; + out_435223935958301203[317] = 0; + out_435223935958301203[318] = 0; + out_435223935958301203[319] = 0; + out_435223935958301203[320] = 0; + out_435223935958301203[321] = 0; + out_435223935958301203[322] = 0; + out_435223935958301203[323] = 1; } -void h_4(double *state, double *unused, double *out_70651799205578182) { - out_70651799205578182[0] = state[6] + state[9]; - out_70651799205578182[1] = state[7] + state[10]; - out_70651799205578182[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6259395131604772748) { + out_6259395131604772748[0] = state[6] + state[9]; + out_6259395131604772748[1] = state[7] + state[10]; + out_6259395131604772748[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_6049175940670926006) { - out_6049175940670926006[0] = 0; - out_6049175940670926006[1] = 0; - out_6049175940670926006[2] = 0; - out_6049175940670926006[3] = 0; - out_6049175940670926006[4] = 0; - out_6049175940670926006[5] = 0; - out_6049175940670926006[6] = 1; - out_6049175940670926006[7] = 0; - out_6049175940670926006[8] = 0; - out_6049175940670926006[9] = 1; - out_6049175940670926006[10] = 0; - out_6049175940670926006[11] = 0; - out_6049175940670926006[12] = 0; - out_6049175940670926006[13] = 0; - out_6049175940670926006[14] = 0; - out_6049175940670926006[15] = 0; - out_6049175940670926006[16] = 0; - out_6049175940670926006[17] = 0; - out_6049175940670926006[18] = 0; - out_6049175940670926006[19] = 0; - out_6049175940670926006[20] = 0; - out_6049175940670926006[21] = 0; - out_6049175940670926006[22] = 0; - out_6049175940670926006[23] = 0; - out_6049175940670926006[24] = 0; - out_6049175940670926006[25] = 1; - out_6049175940670926006[26] = 0; - out_6049175940670926006[27] = 0; - out_6049175940670926006[28] = 1; - out_6049175940670926006[29] = 0; - out_6049175940670926006[30] = 0; - out_6049175940670926006[31] = 0; - out_6049175940670926006[32] = 0; - out_6049175940670926006[33] = 0; - out_6049175940670926006[34] = 0; - out_6049175940670926006[35] = 0; - out_6049175940670926006[36] = 0; - out_6049175940670926006[37] = 0; - out_6049175940670926006[38] = 0; - out_6049175940670926006[39] = 0; - out_6049175940670926006[40] = 0; - out_6049175940670926006[41] = 0; - out_6049175940670926006[42] = 0; - out_6049175940670926006[43] = 0; - out_6049175940670926006[44] = 1; - out_6049175940670926006[45] = 0; - out_6049175940670926006[46] = 0; - out_6049175940670926006[47] = 1; - out_6049175940670926006[48] = 0; - out_6049175940670926006[49] = 0; - out_6049175940670926006[50] = 0; - out_6049175940670926006[51] = 0; - out_6049175940670926006[52] = 0; - out_6049175940670926006[53] = 0; +void H_4(double *state, double *unused, double *out_4488422760541517125) { + out_4488422760541517125[0] = 0; + out_4488422760541517125[1] = 0; + out_4488422760541517125[2] = 0; + out_4488422760541517125[3] = 0; + out_4488422760541517125[4] = 0; + out_4488422760541517125[5] = 0; + out_4488422760541517125[6] = 1; + out_4488422760541517125[7] = 0; + out_4488422760541517125[8] = 0; + out_4488422760541517125[9] = 1; + out_4488422760541517125[10] = 0; + out_4488422760541517125[11] = 0; + out_4488422760541517125[12] = 0; + out_4488422760541517125[13] = 0; + out_4488422760541517125[14] = 0; + out_4488422760541517125[15] = 0; + out_4488422760541517125[16] = 0; + out_4488422760541517125[17] = 0; + out_4488422760541517125[18] = 0; + out_4488422760541517125[19] = 0; + out_4488422760541517125[20] = 0; + out_4488422760541517125[21] = 0; + out_4488422760541517125[22] = 0; + out_4488422760541517125[23] = 0; + out_4488422760541517125[24] = 0; + out_4488422760541517125[25] = 1; + out_4488422760541517125[26] = 0; + out_4488422760541517125[27] = 0; + out_4488422760541517125[28] = 1; + out_4488422760541517125[29] = 0; + out_4488422760541517125[30] = 0; + out_4488422760541517125[31] = 0; + out_4488422760541517125[32] = 0; + out_4488422760541517125[33] = 0; + out_4488422760541517125[34] = 0; + out_4488422760541517125[35] = 0; + out_4488422760541517125[36] = 0; + out_4488422760541517125[37] = 0; + out_4488422760541517125[38] = 0; + out_4488422760541517125[39] = 0; + out_4488422760541517125[40] = 0; + out_4488422760541517125[41] = 0; + out_4488422760541517125[42] = 0; + out_4488422760541517125[43] = 0; + out_4488422760541517125[44] = 1; + out_4488422760541517125[45] = 0; + out_4488422760541517125[46] = 0; + out_4488422760541517125[47] = 1; + out_4488422760541517125[48] = 0; + out_4488422760541517125[49] = 0; + out_4488422760541517125[50] = 0; + out_4488422760541517125[51] = 0; + out_4488422760541517125[52] = 0; + out_4488422760541517125[53] = 0; } -void h_10(double *state, double *unused, double *out_3996731865855353315) { - out_3996731865855353315[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3996731865855353315[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3996731865855353315[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_8979834360034398189) { + out_8979834360034398189[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8979834360034398189[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8979834360034398189[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_1029675721885226562) { - out_1029675721885226562[0] = 0; - out_1029675721885226562[1] = 9.8100000000000005*cos(state[1]); - out_1029675721885226562[2] = 0; - out_1029675721885226562[3] = 0; - out_1029675721885226562[4] = -state[8]; - out_1029675721885226562[5] = state[7]; - out_1029675721885226562[6] = 0; - out_1029675721885226562[7] = state[5]; - out_1029675721885226562[8] = -state[4]; - out_1029675721885226562[9] = 0; - out_1029675721885226562[10] = 0; - out_1029675721885226562[11] = 0; - out_1029675721885226562[12] = 1; - out_1029675721885226562[13] = 0; - out_1029675721885226562[14] = 0; - out_1029675721885226562[15] = 1; - out_1029675721885226562[16] = 0; - out_1029675721885226562[17] = 0; - out_1029675721885226562[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1029675721885226562[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1029675721885226562[20] = 0; - out_1029675721885226562[21] = state[8]; - out_1029675721885226562[22] = 0; - out_1029675721885226562[23] = -state[6]; - out_1029675721885226562[24] = -state[5]; - out_1029675721885226562[25] = 0; - out_1029675721885226562[26] = state[3]; - out_1029675721885226562[27] = 0; - out_1029675721885226562[28] = 0; - out_1029675721885226562[29] = 0; - out_1029675721885226562[30] = 0; - out_1029675721885226562[31] = 1; - out_1029675721885226562[32] = 0; - out_1029675721885226562[33] = 0; - out_1029675721885226562[34] = 1; - out_1029675721885226562[35] = 0; - out_1029675721885226562[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1029675721885226562[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1029675721885226562[38] = 0; - out_1029675721885226562[39] = -state[7]; - out_1029675721885226562[40] = state[6]; - out_1029675721885226562[41] = 0; - out_1029675721885226562[42] = state[4]; - out_1029675721885226562[43] = -state[3]; - out_1029675721885226562[44] = 0; - out_1029675721885226562[45] = 0; - out_1029675721885226562[46] = 0; - out_1029675721885226562[47] = 0; - out_1029675721885226562[48] = 0; - out_1029675721885226562[49] = 0; - out_1029675721885226562[50] = 1; - out_1029675721885226562[51] = 0; - out_1029675721885226562[52] = 0; - out_1029675721885226562[53] = 1; +void H_10(double *state, double *unused, double *out_5518597412603733548) { + out_5518597412603733548[0] = 0; + out_5518597412603733548[1] = 9.8100000000000005*cos(state[1]); + out_5518597412603733548[2] = 0; + out_5518597412603733548[3] = 0; + out_5518597412603733548[4] = -state[8]; + out_5518597412603733548[5] = state[7]; + out_5518597412603733548[6] = 0; + out_5518597412603733548[7] = state[5]; + out_5518597412603733548[8] = -state[4]; + out_5518597412603733548[9] = 0; + out_5518597412603733548[10] = 0; + out_5518597412603733548[11] = 0; + out_5518597412603733548[12] = 1; + out_5518597412603733548[13] = 0; + out_5518597412603733548[14] = 0; + out_5518597412603733548[15] = 1; + out_5518597412603733548[16] = 0; + out_5518597412603733548[17] = 0; + out_5518597412603733548[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5518597412603733548[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5518597412603733548[20] = 0; + out_5518597412603733548[21] = state[8]; + out_5518597412603733548[22] = 0; + out_5518597412603733548[23] = -state[6]; + out_5518597412603733548[24] = -state[5]; + out_5518597412603733548[25] = 0; + out_5518597412603733548[26] = state[3]; + out_5518597412603733548[27] = 0; + out_5518597412603733548[28] = 0; + out_5518597412603733548[29] = 0; + out_5518597412603733548[30] = 0; + out_5518597412603733548[31] = 1; + out_5518597412603733548[32] = 0; + out_5518597412603733548[33] = 0; + out_5518597412603733548[34] = 1; + out_5518597412603733548[35] = 0; + out_5518597412603733548[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5518597412603733548[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5518597412603733548[38] = 0; + out_5518597412603733548[39] = -state[7]; + out_5518597412603733548[40] = state[6]; + out_5518597412603733548[41] = 0; + out_5518597412603733548[42] = state[4]; + out_5518597412603733548[43] = -state[3]; + out_5518597412603733548[44] = 0; + out_5518597412603733548[45] = 0; + out_5518597412603733548[46] = 0; + out_5518597412603733548[47] = 0; + out_5518597412603733548[48] = 0; + out_5518597412603733548[49] = 0; + out_5518597412603733548[50] = 1; + out_5518597412603733548[51] = 0; + out_5518597412603733548[52] = 0; + out_5518597412603733548[53] = 1; } -void h_13(double *state, double *unused, double *out_5486873982549130902) { - out_5486873982549130902[0] = state[3]; - out_5486873982549130902[1] = state[4]; - out_5486873982549130902[2] = state[5]; +void h_13(double *state, double *unused, double *out_627396395224579253) { + out_627396395224579253[0] = state[3]; + out_627396395224579253[1] = state[4]; + out_627396395224579253[2] = state[5]; } -void H_13(double *state, double *unused, double *out_9185294307706292809) { - out_9185294307706292809[0] = 0; - out_9185294307706292809[1] = 0; - out_9185294307706292809[2] = 0; - out_9185294307706292809[3] = 1; - out_9185294307706292809[4] = 0; - out_9185294307706292809[5] = 0; - out_9185294307706292809[6] = 0; - out_9185294307706292809[7] = 0; - out_9185294307706292809[8] = 0; - out_9185294307706292809[9] = 0; - out_9185294307706292809[10] = 0; - out_9185294307706292809[11] = 0; - out_9185294307706292809[12] = 0; - out_9185294307706292809[13] = 0; - out_9185294307706292809[14] = 0; - out_9185294307706292809[15] = 0; - out_9185294307706292809[16] = 0; - out_9185294307706292809[17] = 0; - out_9185294307706292809[18] = 0; - out_9185294307706292809[19] = 0; - out_9185294307706292809[20] = 0; - out_9185294307706292809[21] = 0; - out_9185294307706292809[22] = 1; - out_9185294307706292809[23] = 0; - out_9185294307706292809[24] = 0; - out_9185294307706292809[25] = 0; - out_9185294307706292809[26] = 0; - out_9185294307706292809[27] = 0; - out_9185294307706292809[28] = 0; - out_9185294307706292809[29] = 0; - out_9185294307706292809[30] = 0; - out_9185294307706292809[31] = 0; - out_9185294307706292809[32] = 0; - out_9185294307706292809[33] = 0; - out_9185294307706292809[34] = 0; - out_9185294307706292809[35] = 0; - out_9185294307706292809[36] = 0; - out_9185294307706292809[37] = 0; - out_9185294307706292809[38] = 0; - out_9185294307706292809[39] = 0; - out_9185294307706292809[40] = 0; - out_9185294307706292809[41] = 1; - out_9185294307706292809[42] = 0; - out_9185294307706292809[43] = 0; - out_9185294307706292809[44] = 0; - out_9185294307706292809[45] = 0; - out_9185294307706292809[46] = 0; - out_9185294307706292809[47] = 0; - out_9185294307706292809[48] = 0; - out_9185294307706292809[49] = 0; - out_9185294307706292809[50] = 0; - out_9185294307706292809[51] = 0; - out_9185294307706292809[52] = 0; - out_9185294307706292809[53] = 0; +void H_13(double *state, double *unused, double *out_1276148935209184324) { + out_1276148935209184324[0] = 0; + out_1276148935209184324[1] = 0; + out_1276148935209184324[2] = 0; + out_1276148935209184324[3] = 1; + out_1276148935209184324[4] = 0; + out_1276148935209184324[5] = 0; + out_1276148935209184324[6] = 0; + out_1276148935209184324[7] = 0; + out_1276148935209184324[8] = 0; + out_1276148935209184324[9] = 0; + out_1276148935209184324[10] = 0; + out_1276148935209184324[11] = 0; + out_1276148935209184324[12] = 0; + out_1276148935209184324[13] = 0; + out_1276148935209184324[14] = 0; + out_1276148935209184324[15] = 0; + out_1276148935209184324[16] = 0; + out_1276148935209184324[17] = 0; + out_1276148935209184324[18] = 0; + out_1276148935209184324[19] = 0; + out_1276148935209184324[20] = 0; + out_1276148935209184324[21] = 0; + out_1276148935209184324[22] = 1; + out_1276148935209184324[23] = 0; + out_1276148935209184324[24] = 0; + out_1276148935209184324[25] = 0; + out_1276148935209184324[26] = 0; + out_1276148935209184324[27] = 0; + out_1276148935209184324[28] = 0; + out_1276148935209184324[29] = 0; + out_1276148935209184324[30] = 0; + out_1276148935209184324[31] = 0; + out_1276148935209184324[32] = 0; + out_1276148935209184324[33] = 0; + out_1276148935209184324[34] = 0; + out_1276148935209184324[35] = 0; + out_1276148935209184324[36] = 0; + out_1276148935209184324[37] = 0; + out_1276148935209184324[38] = 0; + out_1276148935209184324[39] = 0; + out_1276148935209184324[40] = 0; + out_1276148935209184324[41] = 1; + out_1276148935209184324[42] = 0; + out_1276148935209184324[43] = 0; + out_1276148935209184324[44] = 0; + out_1276148935209184324[45] = 0; + out_1276148935209184324[46] = 0; + out_1276148935209184324[47] = 0; + out_1276148935209184324[48] = 0; + out_1276148935209184324[49] = 0; + out_1276148935209184324[50] = 0; + out_1276148935209184324[51] = 0; + out_1276148935209184324[52] = 0; + out_1276148935209184324[53] = 0; } -void h_14(double *state, double *unused, double *out_5889763171134805790) { - out_5889763171134805790[0] = state[6]; - out_5889763171134805790[1] = state[7]; - out_5889763171134805790[2] = state[8]; +void h_14(double *state, double *unused, double *out_7453788352524990403) { + out_7453788352524990403[0] = state[6]; + out_7453788352524990403[1] = state[7]; + out_7453788352524990403[2] = state[8]; } -void H_14(double *state, double *unused, double *out_8434327276699141081) { - out_8434327276699141081[0] = 0; - out_8434327276699141081[1] = 0; - out_8434327276699141081[2] = 0; - out_8434327276699141081[3] = 0; - out_8434327276699141081[4] = 0; - out_8434327276699141081[5] = 0; - out_8434327276699141081[6] = 1; - out_8434327276699141081[7] = 0; - out_8434327276699141081[8] = 0; - out_8434327276699141081[9] = 0; - out_8434327276699141081[10] = 0; - out_8434327276699141081[11] = 0; - out_8434327276699141081[12] = 0; - out_8434327276699141081[13] = 0; - out_8434327276699141081[14] = 0; - out_8434327276699141081[15] = 0; - out_8434327276699141081[16] = 0; - out_8434327276699141081[17] = 0; - out_8434327276699141081[18] = 0; - out_8434327276699141081[19] = 0; - out_8434327276699141081[20] = 0; - out_8434327276699141081[21] = 0; - out_8434327276699141081[22] = 0; - out_8434327276699141081[23] = 0; - out_8434327276699141081[24] = 0; - out_8434327276699141081[25] = 1; - out_8434327276699141081[26] = 0; - out_8434327276699141081[27] = 0; - out_8434327276699141081[28] = 0; - out_8434327276699141081[29] = 0; - out_8434327276699141081[30] = 0; - out_8434327276699141081[31] = 0; - out_8434327276699141081[32] = 0; - out_8434327276699141081[33] = 0; - out_8434327276699141081[34] = 0; - out_8434327276699141081[35] = 0; - out_8434327276699141081[36] = 0; - out_8434327276699141081[37] = 0; - out_8434327276699141081[38] = 0; - out_8434327276699141081[39] = 0; - out_8434327276699141081[40] = 0; - out_8434327276699141081[41] = 0; - out_8434327276699141081[42] = 0; - out_8434327276699141081[43] = 0; - out_8434327276699141081[44] = 1; - out_8434327276699141081[45] = 0; - out_8434327276699141081[46] = 0; - out_8434327276699141081[47] = 0; - out_8434327276699141081[48] = 0; - out_8434327276699141081[49] = 0; - out_8434327276699141081[50] = 0; - out_8434327276699141081[51] = 0; - out_8434327276699141081[52] = 0; - out_8434327276699141081[53] = 0; +void H_14(double *state, double *unused, double *out_7571211192836889421) { + out_7571211192836889421[0] = 0; + out_7571211192836889421[1] = 0; + out_7571211192836889421[2] = 0; + out_7571211192836889421[3] = 0; + out_7571211192836889421[4] = 0; + out_7571211192836889421[5] = 0; + out_7571211192836889421[6] = 1; + out_7571211192836889421[7] = 0; + out_7571211192836889421[8] = 0; + out_7571211192836889421[9] = 0; + out_7571211192836889421[10] = 0; + out_7571211192836889421[11] = 0; + out_7571211192836889421[12] = 0; + out_7571211192836889421[13] = 0; + out_7571211192836889421[14] = 0; + out_7571211192836889421[15] = 0; + out_7571211192836889421[16] = 0; + out_7571211192836889421[17] = 0; + out_7571211192836889421[18] = 0; + out_7571211192836889421[19] = 0; + out_7571211192836889421[20] = 0; + out_7571211192836889421[21] = 0; + out_7571211192836889421[22] = 0; + out_7571211192836889421[23] = 0; + out_7571211192836889421[24] = 0; + out_7571211192836889421[25] = 1; + out_7571211192836889421[26] = 0; + out_7571211192836889421[27] = 0; + out_7571211192836889421[28] = 0; + out_7571211192836889421[29] = 0; + out_7571211192836889421[30] = 0; + out_7571211192836889421[31] = 0; + out_7571211192836889421[32] = 0; + out_7571211192836889421[33] = 0; + out_7571211192836889421[34] = 0; + out_7571211192836889421[35] = 0; + out_7571211192836889421[36] = 0; + out_7571211192836889421[37] = 0; + out_7571211192836889421[38] = 0; + out_7571211192836889421[39] = 0; + out_7571211192836889421[40] = 0; + out_7571211192836889421[41] = 0; + out_7571211192836889421[42] = 0; + out_7571211192836889421[43] = 0; + out_7571211192836889421[44] = 1; + out_7571211192836889421[45] = 0; + out_7571211192836889421[46] = 0; + out_7571211192836889421[47] = 0; + out_7571211192836889421[48] = 0; + out_7571211192836889421[49] = 0; + out_7571211192836889421[50] = 0; + out_7571211192836889421[51] = 0; + out_7571211192836889421[52] = 0; + out_7571211192836889421[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_4294292118997978771) { - err_fun(nom_x, delta_x, out_4294292118997978771); +void pose_err_fun(double *nom_x, double *delta_x, double *out_486750963754107954) { + err_fun(nom_x, delta_x, out_486750963754107954); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4013254910072164359) { - inv_err_fun(nom_x, true_x, out_4013254910072164359); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1555487183493314770) { + inv_err_fun(nom_x, true_x, out_1555487183493314770); } -void pose_H_mod_fun(double *state, double *out_896657555631845271) { - H_mod_fun(state, out_896657555631845271); +void pose_H_mod_fun(double *state, double *out_2668724034635220264) { + H_mod_fun(state, out_2668724034635220264); } -void pose_f_fun(double *state, double dt, double *out_8443743878960458350) { - f_fun(state, dt, out_8443743878960458350); +void pose_f_fun(double *state, double dt, double *out_9201625055442330332) { + f_fun(state, dt, out_9201625055442330332); } -void pose_F_fun(double *state, double dt, double *out_8213357667145446301) { - F_fun(state, dt, out_8213357667145446301); +void pose_F_fun(double *state, double dt, double *out_435223935958301203) { + F_fun(state, dt, out_435223935958301203); } -void pose_h_4(double *state, double *unused, double *out_70651799205578182) { - h_4(state, unused, out_70651799205578182); +void pose_h_4(double *state, double *unused, double *out_6259395131604772748) { + h_4(state, unused, out_6259395131604772748); } -void pose_H_4(double *state, double *unused, double *out_6049175940670926006) { - H_4(state, unused, out_6049175940670926006); +void pose_H_4(double *state, double *unused, double *out_4488422760541517125) { + H_4(state, unused, out_4488422760541517125); } -void pose_h_10(double *state, double *unused, double *out_3996731865855353315) { - h_10(state, unused, out_3996731865855353315); +void pose_h_10(double *state, double *unused, double *out_8979834360034398189) { + h_10(state, unused, out_8979834360034398189); } -void pose_H_10(double *state, double *unused, double *out_1029675721885226562) { - H_10(state, unused, out_1029675721885226562); +void pose_H_10(double *state, double *unused, double *out_5518597412603733548) { + H_10(state, unused, out_5518597412603733548); } -void pose_h_13(double *state, double *unused, double *out_5486873982549130902) { - h_13(state, unused, out_5486873982549130902); +void pose_h_13(double *state, double *unused, double *out_627396395224579253) { + h_13(state, unused, out_627396395224579253); } -void pose_H_13(double *state, double *unused, double *out_9185294307706292809) { - H_13(state, unused, out_9185294307706292809); +void pose_H_13(double *state, double *unused, double *out_1276148935209184324) { + H_13(state, unused, out_1276148935209184324); } -void pose_h_14(double *state, double *unused, double *out_5889763171134805790) { - h_14(state, unused, out_5889763171134805790); +void pose_h_14(double *state, double *unused, double *out_7453788352524990403) { + h_14(state, unused, out_7453788352524990403); } -void pose_H_14(double *state, double *unused, double *out_8434327276699141081) { - H_14(state, unused, out_8434327276699141081); +void pose_H_14(double *state, double *unused, double *out_7571211192836889421) { + H_14(state, unused, out_7571211192836889421); } 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 2b36571cd6..1151b92a9c 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_4294292118997978771); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4013254910072164359); -void pose_H_mod_fun(double *state, double *out_896657555631845271); -void pose_f_fun(double *state, double dt, double *out_8443743878960458350); -void pose_F_fun(double *state, double dt, double *out_8213357667145446301); -void pose_h_4(double *state, double *unused, double *out_70651799205578182); -void pose_H_4(double *state, double *unused, double *out_6049175940670926006); -void pose_h_10(double *state, double *unused, double *out_3996731865855353315); -void pose_H_10(double *state, double *unused, double *out_1029675721885226562); -void pose_h_13(double *state, double *unused, double *out_5486873982549130902); -void pose_H_13(double *state, double *unused, double *out_9185294307706292809); -void pose_h_14(double *state, double *unused, double *out_5889763171134805790); -void pose_H_14(double *state, double *unused, double *out_8434327276699141081); +void pose_err_fun(double *nom_x, double *delta_x, double *out_486750963754107954); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1555487183493314770); +void pose_H_mod_fun(double *state, double *out_2668724034635220264); +void pose_f_fun(double *state, double dt, double *out_9201625055442330332); +void pose_F_fun(double *state, double dt, double *out_435223935958301203); +void pose_h_4(double *state, double *unused, double *out_6259395131604772748); +void pose_H_4(double *state, double *unused, double *out_4488422760541517125); +void pose_h_10(double *state, double *unused, double *out_8979834360034398189); +void pose_H_10(double *state, double *unused, double *out_5518597412603733548); +void pose_h_13(double *state, double *unused, double *out_627396395224579253); +void pose_H_13(double *state, double *unused, double *out_1276148935209184324); +void pose_h_14(double *state, double *unused, double *out_7453788352524990403); +void pose_H_14(double *state, double *unused, double *out_7571211192836889421); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 76c05d73e6..adfe68c7fc 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 0945f9e584..c00c1da2e6 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index fa4070ad78..c964a3da34 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 7b14e84faf..ebb8cdd819 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 989311b1e1..f97bd8f6e8 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index db3dd6755a..90d3e8f0b6 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ