diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py index 1f6b09231..f1fec6c37 100644 --- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py +++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py @@ -138,6 +138,9 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, else: if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING: if CP.flags & HyundaiFlags.SEND_LFA: + # Some CAN-FD angle-steering trims still expect the stock-style LFA status/UI + # message to remain present even though angle actuation comes through ADAS_CMD. + ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values)) ret.append(_create_angle_adas_cmd_msg(packer, CAN, apply_angle, lat_active, apply_torque)) else: ret.append(_create_angle_lfa_msg(packer, CAN, lfa_values, apply_angle, lat_active, apply_torque)) diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py index 8d24b0f29..5744a3791 100644 --- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py +++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py @@ -1167,7 +1167,7 @@ class TestHyundaiFingerprint: assert parser.vl["FCA12"]["FCA_DrvSetState"] == 2 assert parser.vl["FCA12"]["FCA_USM"] == 2 - def test_angle_steering_uses_adas_cmd_with_send_lfa(self): + def test_angle_steering_uses_lfa_and_adas_cmd_with_send_lfa(self): fingerprint = gen_empty_fingerprint() cam_can = CanBus(None, fingerprint).CAM fingerprint[cam_can][0xCB] = 24 @@ -1180,6 +1180,7 @@ class TestHyundaiFingerprint: can_bus = CanBus(CP) msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 1.0, 12.3) assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [ + ("LFA", can_bus.ECAN), ("ADAS_CMD_35_10ms", can_bus.ECAN), ] diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index bf4bbc55a..c7329a3d4 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 d595b7a2a..1f242d44d 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 acd844953..1ed30d2cd 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 0524b01ac..94f13348b 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index cc98fba95..6f381c1e2 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 6aa764981..12f203b2f 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 91bc8e727..8958b98d5 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 91bc8e727..8958b98d5 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 9d6b987a6..03b3aa303 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 6aa764981..12f203b2f 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 d260e48ba..1c05118b5 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-78e9b513-DEBUG"; +const uint8_t gitversion[19] = "DEV-71260b52-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 9f3247dfe..0ba5cdc9e 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 46f517685..b5e4aae33 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 86c3f107c..b17d1c394 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 115978c40..84213a1b1 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 b5a3cb0db..d0cd01e44 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index f8e9c67cb..64f2bf935 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 407872e05..cca461912 100755 Binary files a/panda/board/obj/panda_h7/main.bin and 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differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 6debb661f..0ce971d82 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 08b753a91..2df94f709 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 a96dc281d..b224db447 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 5d2f5d7ea..112eb35bb 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 72d920695..9dcbe6888 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 d6e347885..2f5124c6c 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 52d12da29..5fb323235 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 827e4df2e..44383a988 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 783c8f33f..0739b42ca 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 cc4669a58..f5c027e7c 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-78e9b513-DEBUG \ No newline at end of file +DEV-71260b52-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index a763ed276..3dec5655c 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_6333242559483084265) { - out_6333242559483084265[0] = delta_x[0] + nom_x[0]; - out_6333242559483084265[1] = delta_x[1] + nom_x[1]; - out_6333242559483084265[2] = delta_x[2] + nom_x[2]; - out_6333242559483084265[3] = delta_x[3] + nom_x[3]; - out_6333242559483084265[4] = delta_x[4] + nom_x[4]; - out_6333242559483084265[5] = delta_x[5] + nom_x[5]; - out_6333242559483084265[6] = delta_x[6] + nom_x[6]; - out_6333242559483084265[7] = delta_x[7] + nom_x[7]; - out_6333242559483084265[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_4080197981179722536) { + out_4080197981179722536[0] = delta_x[0] + nom_x[0]; + out_4080197981179722536[1] = delta_x[1] + nom_x[1]; + out_4080197981179722536[2] = delta_x[2] + nom_x[2]; + out_4080197981179722536[3] = delta_x[3] + nom_x[3]; + out_4080197981179722536[4] = delta_x[4] + nom_x[4]; + out_4080197981179722536[5] = delta_x[5] + nom_x[5]; + out_4080197981179722536[6] = delta_x[6] + nom_x[6]; + out_4080197981179722536[7] = delta_x[7] + nom_x[7]; + out_4080197981179722536[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072) { - out_829248915283082072[0] = -nom_x[0] + true_x[0]; - out_829248915283082072[1] = -nom_x[1] + true_x[1]; - out_829248915283082072[2] = -nom_x[2] + true_x[2]; - out_829248915283082072[3] = -nom_x[3] + true_x[3]; - out_829248915283082072[4] = -nom_x[4] + true_x[4]; - out_829248915283082072[5] = -nom_x[5] + true_x[5]; - out_829248915283082072[6] = -nom_x[6] + true_x[6]; - out_829248915283082072[7] = -nom_x[7] + true_x[7]; - out_829248915283082072[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3164357961811210311) { + out_3164357961811210311[0] = -nom_x[0] + true_x[0]; + out_3164357961811210311[1] = -nom_x[1] + true_x[1]; + out_3164357961811210311[2] = -nom_x[2] + true_x[2]; + out_3164357961811210311[3] = -nom_x[3] + true_x[3]; + out_3164357961811210311[4] = -nom_x[4] + true_x[4]; + out_3164357961811210311[5] = -nom_x[5] + true_x[5]; + out_3164357961811210311[6] = -nom_x[6] + true_x[6]; + out_3164357961811210311[7] = -nom_x[7] + true_x[7]; + out_3164357961811210311[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8283696179185346057) { - out_8283696179185346057[0] = 1.0; - out_8283696179185346057[1] = 0.0; - out_8283696179185346057[2] = 0.0; - out_8283696179185346057[3] = 0.0; - out_8283696179185346057[4] = 0.0; - out_8283696179185346057[5] = 0.0; - out_8283696179185346057[6] = 0.0; - out_8283696179185346057[7] = 0.0; - out_8283696179185346057[8] = 0.0; - out_8283696179185346057[9] = 0.0; - out_8283696179185346057[10] = 1.0; - out_8283696179185346057[11] = 0.0; - out_8283696179185346057[12] = 0.0; - out_8283696179185346057[13] = 0.0; - out_8283696179185346057[14] = 0.0; - out_8283696179185346057[15] = 0.0; - out_8283696179185346057[16] = 0.0; - out_8283696179185346057[17] = 0.0; - out_8283696179185346057[18] = 0.0; - out_8283696179185346057[19] = 0.0; - out_8283696179185346057[20] = 1.0; - out_8283696179185346057[21] = 0.0; - out_8283696179185346057[22] = 0.0; - out_8283696179185346057[23] = 0.0; - out_8283696179185346057[24] = 0.0; - out_8283696179185346057[25] = 0.0; - out_8283696179185346057[26] = 0.0; - out_8283696179185346057[27] = 0.0; - out_8283696179185346057[28] = 0.0; - out_8283696179185346057[29] = 0.0; - out_8283696179185346057[30] = 1.0; - out_8283696179185346057[31] = 0.0; - out_8283696179185346057[32] = 0.0; - out_8283696179185346057[33] = 0.0; - out_8283696179185346057[34] = 0.0; - out_8283696179185346057[35] = 0.0; - out_8283696179185346057[36] = 0.0; - out_8283696179185346057[37] = 0.0; - out_8283696179185346057[38] = 0.0; - out_8283696179185346057[39] = 0.0; - out_8283696179185346057[40] = 1.0; - out_8283696179185346057[41] = 0.0; - out_8283696179185346057[42] = 0.0; - out_8283696179185346057[43] = 0.0; - out_8283696179185346057[44] = 0.0; - out_8283696179185346057[45] = 0.0; - out_8283696179185346057[46] = 0.0; - out_8283696179185346057[47] = 0.0; - out_8283696179185346057[48] = 0.0; - out_8283696179185346057[49] = 0.0; - out_8283696179185346057[50] = 1.0; - out_8283696179185346057[51] = 0.0; - out_8283696179185346057[52] = 0.0; - out_8283696179185346057[53] = 0.0; - out_8283696179185346057[54] = 0.0; - out_8283696179185346057[55] = 0.0; - out_8283696179185346057[56] = 0.0; - out_8283696179185346057[57] = 0.0; - out_8283696179185346057[58] = 0.0; - out_8283696179185346057[59] = 0.0; - out_8283696179185346057[60] = 1.0; - out_8283696179185346057[61] = 0.0; - out_8283696179185346057[62] = 0.0; - out_8283696179185346057[63] = 0.0; - out_8283696179185346057[64] = 0.0; - out_8283696179185346057[65] = 0.0; - out_8283696179185346057[66] = 0.0; - out_8283696179185346057[67] = 0.0; - out_8283696179185346057[68] = 0.0; - out_8283696179185346057[69] = 0.0; - out_8283696179185346057[70] = 1.0; - out_8283696179185346057[71] = 0.0; - out_8283696179185346057[72] = 0.0; - out_8283696179185346057[73] = 0.0; - out_8283696179185346057[74] = 0.0; - out_8283696179185346057[75] = 0.0; - out_8283696179185346057[76] = 0.0; - out_8283696179185346057[77] = 0.0; - out_8283696179185346057[78] = 0.0; - out_8283696179185346057[79] = 0.0; - out_8283696179185346057[80] = 1.0; +void H_mod_fun(double *state, double *out_4408837966520463957) { + out_4408837966520463957[0] = 1.0; + out_4408837966520463957[1] = 0.0; + out_4408837966520463957[2] = 0.0; + out_4408837966520463957[3] = 0.0; + out_4408837966520463957[4] = 0.0; + out_4408837966520463957[5] = 0.0; + out_4408837966520463957[6] = 0.0; + out_4408837966520463957[7] = 0.0; + out_4408837966520463957[8] = 0.0; + out_4408837966520463957[9] = 0.0; + out_4408837966520463957[10] = 1.0; + out_4408837966520463957[11] = 0.0; + out_4408837966520463957[12] = 0.0; + out_4408837966520463957[13] = 0.0; + out_4408837966520463957[14] = 0.0; + out_4408837966520463957[15] = 0.0; + out_4408837966520463957[16] = 0.0; + out_4408837966520463957[17] = 0.0; + out_4408837966520463957[18] = 0.0; + out_4408837966520463957[19] = 0.0; + out_4408837966520463957[20] = 1.0; + out_4408837966520463957[21] = 0.0; + out_4408837966520463957[22] = 0.0; + out_4408837966520463957[23] = 0.0; + out_4408837966520463957[24] = 0.0; + out_4408837966520463957[25] = 0.0; + out_4408837966520463957[26] = 0.0; + out_4408837966520463957[27] = 0.0; + out_4408837966520463957[28] = 0.0; + out_4408837966520463957[29] = 0.0; + out_4408837966520463957[30] = 1.0; + out_4408837966520463957[31] = 0.0; + out_4408837966520463957[32] = 0.0; + out_4408837966520463957[33] = 0.0; + out_4408837966520463957[34] = 0.0; + out_4408837966520463957[35] = 0.0; + out_4408837966520463957[36] = 0.0; + out_4408837966520463957[37] = 0.0; + out_4408837966520463957[38] = 0.0; + out_4408837966520463957[39] = 0.0; + out_4408837966520463957[40] = 1.0; + out_4408837966520463957[41] = 0.0; + out_4408837966520463957[42] = 0.0; + out_4408837966520463957[43] = 0.0; + out_4408837966520463957[44] = 0.0; + out_4408837966520463957[45] = 0.0; + out_4408837966520463957[46] = 0.0; + out_4408837966520463957[47] = 0.0; + out_4408837966520463957[48] = 0.0; + out_4408837966520463957[49] = 0.0; + out_4408837966520463957[50] = 1.0; + out_4408837966520463957[51] = 0.0; + out_4408837966520463957[52] = 0.0; + out_4408837966520463957[53] = 0.0; + out_4408837966520463957[54] = 0.0; + out_4408837966520463957[55] = 0.0; + out_4408837966520463957[56] = 0.0; + out_4408837966520463957[57] = 0.0; + out_4408837966520463957[58] = 0.0; + out_4408837966520463957[59] = 0.0; + out_4408837966520463957[60] = 1.0; + out_4408837966520463957[61] = 0.0; + out_4408837966520463957[62] = 0.0; + out_4408837966520463957[63] = 0.0; + out_4408837966520463957[64] = 0.0; + out_4408837966520463957[65] = 0.0; + out_4408837966520463957[66] = 0.0; + out_4408837966520463957[67] = 0.0; + out_4408837966520463957[68] = 0.0; + out_4408837966520463957[69] = 0.0; + out_4408837966520463957[70] = 1.0; + out_4408837966520463957[71] = 0.0; + out_4408837966520463957[72] = 0.0; + out_4408837966520463957[73] = 0.0; + out_4408837966520463957[74] = 0.0; + out_4408837966520463957[75] = 0.0; + out_4408837966520463957[76] = 0.0; + out_4408837966520463957[77] = 0.0; + out_4408837966520463957[78] = 0.0; + out_4408837966520463957[79] = 0.0; + out_4408837966520463957[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3453347444055346076) { - out_3453347444055346076[0] = state[0]; - out_3453347444055346076[1] = state[1]; - out_3453347444055346076[2] = state[2]; - out_3453347444055346076[3] = state[3]; - out_3453347444055346076[4] = state[4]; - out_3453347444055346076[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_3453347444055346076[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_3453347444055346076[7] = state[7]; - out_3453347444055346076[8] = state[8]; +void f_fun(double *state, double dt, double *out_5836050664863580465) { + out_5836050664863580465[0] = state[0]; + out_5836050664863580465[1] = state[1]; + out_5836050664863580465[2] = state[2]; + out_5836050664863580465[3] = state[3]; + out_5836050664863580465[4] = state[4]; + out_5836050664863580465[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_5836050664863580465[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_5836050664863580465[7] = state[7]; + out_5836050664863580465[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1825222330008905672) { - out_1825222330008905672[0] = 1; - out_1825222330008905672[1] = 0; - out_1825222330008905672[2] = 0; - out_1825222330008905672[3] = 0; - out_1825222330008905672[4] = 0; - out_1825222330008905672[5] = 0; - out_1825222330008905672[6] = 0; - out_1825222330008905672[7] = 0; - out_1825222330008905672[8] = 0; - out_1825222330008905672[9] = 0; - out_1825222330008905672[10] = 1; - out_1825222330008905672[11] = 0; - out_1825222330008905672[12] = 0; - out_1825222330008905672[13] = 0; - out_1825222330008905672[14] = 0; - out_1825222330008905672[15] = 0; - out_1825222330008905672[16] = 0; - out_1825222330008905672[17] = 0; - out_1825222330008905672[18] = 0; - out_1825222330008905672[19] = 0; - out_1825222330008905672[20] = 1; - out_1825222330008905672[21] = 0; - out_1825222330008905672[22] = 0; - out_1825222330008905672[23] = 0; - out_1825222330008905672[24] = 0; - out_1825222330008905672[25] = 0; - out_1825222330008905672[26] = 0; - out_1825222330008905672[27] = 0; - out_1825222330008905672[28] = 0; - out_1825222330008905672[29] = 0; - out_1825222330008905672[30] = 1; - out_1825222330008905672[31] = 0; - out_1825222330008905672[32] = 0; - out_1825222330008905672[33] = 0; - out_1825222330008905672[34] = 0; - out_1825222330008905672[35] = 0; - out_1825222330008905672[36] = 0; - out_1825222330008905672[37] = 0; - out_1825222330008905672[38] = 0; - out_1825222330008905672[39] = 0; - out_1825222330008905672[40] = 1; - out_1825222330008905672[41] = 0; - out_1825222330008905672[42] = 0; - out_1825222330008905672[43] = 0; - out_1825222330008905672[44] = 0; - out_1825222330008905672[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_1825222330008905672[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1825222330008905672[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1825222330008905672[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1825222330008905672[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_1825222330008905672[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1825222330008905672[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1825222330008905672[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1825222330008905672[53] = -9.8100000000000005*dt; - out_1825222330008905672[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_1825222330008905672[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1825222330008905672[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1825222330008905672[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1825222330008905672[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_1825222330008905672[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1825222330008905672[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_1825222330008905672[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1825222330008905672[62] = 0; - out_1825222330008905672[63] = 0; - out_1825222330008905672[64] = 0; - out_1825222330008905672[65] = 0; - out_1825222330008905672[66] = 0; - out_1825222330008905672[67] = 0; - out_1825222330008905672[68] = 0; - out_1825222330008905672[69] = 0; - out_1825222330008905672[70] = 1; - out_1825222330008905672[71] = 0; - out_1825222330008905672[72] = 0; - out_1825222330008905672[73] = 0; - out_1825222330008905672[74] = 0; - out_1825222330008905672[75] = 0; - out_1825222330008905672[76] = 0; - out_1825222330008905672[77] = 0; - out_1825222330008905672[78] = 0; - out_1825222330008905672[79] = 0; - out_1825222330008905672[80] = 1; +void F_fun(double *state, double dt, double *out_584824642242628871) { + out_584824642242628871[0] = 1; + out_584824642242628871[1] = 0; + out_584824642242628871[2] = 0; + out_584824642242628871[3] = 0; + out_584824642242628871[4] = 0; + out_584824642242628871[5] = 0; + out_584824642242628871[6] = 0; + out_584824642242628871[7] = 0; + out_584824642242628871[8] = 0; + out_584824642242628871[9] = 0; + out_584824642242628871[10] = 1; + out_584824642242628871[11] = 0; + out_584824642242628871[12] = 0; + out_584824642242628871[13] = 0; + out_584824642242628871[14] = 0; + out_584824642242628871[15] = 0; + out_584824642242628871[16] = 0; + out_584824642242628871[17] = 0; + out_584824642242628871[18] = 0; + out_584824642242628871[19] = 0; + out_584824642242628871[20] = 1; + out_584824642242628871[21] = 0; + out_584824642242628871[22] = 0; + out_584824642242628871[23] = 0; + out_584824642242628871[24] = 0; + out_584824642242628871[25] = 0; + out_584824642242628871[26] = 0; + out_584824642242628871[27] = 0; + out_584824642242628871[28] = 0; + out_584824642242628871[29] = 0; + out_584824642242628871[30] = 1; + out_584824642242628871[31] = 0; + out_584824642242628871[32] = 0; + out_584824642242628871[33] = 0; + out_584824642242628871[34] = 0; + out_584824642242628871[35] = 0; + out_584824642242628871[36] = 0; + out_584824642242628871[37] = 0; + out_584824642242628871[38] = 0; + out_584824642242628871[39] = 0; + out_584824642242628871[40] = 1; + out_584824642242628871[41] = 0; + out_584824642242628871[42] = 0; + out_584824642242628871[43] = 0; + out_584824642242628871[44] = 0; + out_584824642242628871[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_584824642242628871[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_584824642242628871[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_584824642242628871[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_584824642242628871[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_584824642242628871[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_584824642242628871[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_584824642242628871[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_584824642242628871[53] = -9.8100000000000005*dt; + out_584824642242628871[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_584824642242628871[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_584824642242628871[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_584824642242628871[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_584824642242628871[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_584824642242628871[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_584824642242628871[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_584824642242628871[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_584824642242628871[62] = 0; + out_584824642242628871[63] = 0; + out_584824642242628871[64] = 0; + out_584824642242628871[65] = 0; + out_584824642242628871[66] = 0; + out_584824642242628871[67] = 0; + out_584824642242628871[68] = 0; + out_584824642242628871[69] = 0; + out_584824642242628871[70] = 1; + out_584824642242628871[71] = 0; + out_584824642242628871[72] = 0; + out_584824642242628871[73] = 0; + out_584824642242628871[74] = 0; + out_584824642242628871[75] = 0; + out_584824642242628871[76] = 0; + out_584824642242628871[77] = 0; + out_584824642242628871[78] = 0; + out_584824642242628871[79] = 0; + out_584824642242628871[80] = 1; } -void h_25(double *state, double *unused, double *out_7364871104219513908) { - out_7364871104219513908[0] = state[6]; +void h_25(double *state, double *unused, double *out_3846550558690327557) { + out_3846550558690327557[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5259356069339540719) { - out_5259356069339540719[0] = 0; - out_5259356069339540719[1] = 0; - out_5259356069339540719[2] = 0; - out_5259356069339540719[3] = 0; - out_5259356069339540719[4] = 0; - out_5259356069339540719[5] = 0; - out_5259356069339540719[6] = 1; - out_5259356069339540719[7] = 0; - out_5259356069339540719[8] = 0; +void H_25(double *state, double *unused, double *out_3533529222181460977) { + out_3533529222181460977[0] = 0; + out_3533529222181460977[1] = 0; + out_3533529222181460977[2] = 0; + out_3533529222181460977[3] = 0; + out_3533529222181460977[4] = 0; + out_3533529222181460977[5] = 0; + out_3533529222181460977[6] = 1; + out_3533529222181460977[7] = 0; + out_3533529222181460977[8] = 0; } -void h_24(double *state, double *unused, double *out_6181950591427252357) { - out_6181950591427252357[0] = state[4]; - out_6181950591427252357[1] = state[5]; +void h_24(double *state, double *unused, double *out_5575782566501311775) { + out_5575782566501311775[0] = state[4]; + out_5575782566501311775[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1316215737251977382) { - out_1316215737251977382[0] = 0; - out_1316215737251977382[1] = 0; - out_1316215737251977382[2] = 0; - out_1316215737251977382[3] = 0; - out_1316215737251977382[4] = 1; - out_1316215737251977382[5] = 0; - out_1316215737251977382[6] = 0; - out_1316215737251977382[7] = 0; - out_1316215737251977382[8] = 0; - out_1316215737251977382[9] = 0; - out_1316215737251977382[10] = 0; - out_1316215737251977382[11] = 0; - out_1316215737251977382[12] = 0; - out_1316215737251977382[13] = 0; - out_1316215737251977382[14] = 1; - out_1316215737251977382[15] = 0; - out_1316215737251977382[16] = 0; - out_1316215737251977382[17] = 0; +void H_24(double *state, double *unused, double *out_24396376620862159) { + out_24396376620862159[0] = 0; + out_24396376620862159[1] = 0; + out_24396376620862159[2] = 0; + out_24396376620862159[3] = 0; + out_24396376620862159[4] = 1; + out_24396376620862159[5] = 0; + out_24396376620862159[6] = 0; + out_24396376620862159[7] = 0; + out_24396376620862159[8] = 0; + out_24396376620862159[9] = 0; + out_24396376620862159[10] = 0; + out_24396376620862159[11] = 0; + out_24396376620862159[12] = 0; + out_24396376620862159[13] = 0; + out_24396376620862159[14] = 1; + out_24396376620862159[15] = 0; + out_24396376620862159[16] = 0; + out_24396376620862159[17] = 0; } -void h_30(double *state, double *unused, double *out_4311037743139686772) { - out_4311037743139686772[0] = state[4]; +void h_30(double *state, double *unused, double *out_6794276549045812518) { + out_6794276549045812518[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1657334272152076036) { - out_1657334272152076036[0] = 0; - out_1657334272152076036[1] = 0; - out_1657334272152076036[2] = 0; - out_1657334272152076036[3] = 0; - out_1657334272152076036[4] = 1; - out_1657334272152076036[5] = 0; - out_1657334272152076036[6] = 0; - out_1657334272152076036[7] = 0; - out_1657334272152076036[8] = 0; +void H_30(double *state, double *unused, double *out_1015196263674212350) { + out_1015196263674212350[0] = 0; + out_1015196263674212350[1] = 0; + out_1015196263674212350[2] = 0; + out_1015196263674212350[3] = 0; + out_1015196263674212350[4] = 1; + out_1015196263674212350[5] = 0; + out_1015196263674212350[6] = 0; + out_1015196263674212350[7] = 0; + out_1015196263674212350[8] = 0; } -void h_26(double *state, double *unused, double *out_8569605146509354979) { - out_8569605146509354979[0] = state[7]; +void h_26(double *state, double *unused, double *out_9048062203855041447) { + out_9048062203855041447[0] = state[7]; } -void H_26(double *state, double *unused, double *out_9000859388213596943) { - out_9000859388213596943[0] = 0; - out_9000859388213596943[1] = 0; - out_9000859388213596943[2] = 0; - out_9000859388213596943[3] = 0; - out_9000859388213596943[4] = 0; - out_9000859388213596943[5] = 0; - out_9000859388213596943[6] = 0; - out_9000859388213596943[7] = 1; - out_9000859388213596943[8] = 0; +void H_26(double *state, double *unused, double *out_229003252420660376) { + out_229003252420660376[0] = 0; + out_229003252420660376[1] = 0; + out_229003252420660376[2] = 0; + out_229003252420660376[3] = 0; + out_229003252420660376[4] = 0; + out_229003252420660376[5] = 0; + out_229003252420660376[6] = 0; + out_229003252420660376[7] = 1; + out_229003252420660376[8] = 0; } -void h_27(double *state, double *unused, double *out_2363197836558668263) { - out_2363197836558668263[0] = state[3]; +void h_27(double *state, double *unused, double *out_5135418613316513208) { + out_5135418613316513208[0] = state[3]; } -void H_27(double *state, double *unused, double *out_517429039648348875) { - out_517429039648348875[0] = 0; - out_517429039648348875[1] = 0; - out_517429039648348875[2] = 0; - out_517429039648348875[3] = 1; - out_517429039648348875[4] = 0; - out_517429039648348875[5] = 0; - out_517429039648348875[6] = 0; - out_517429039648348875[7] = 0; - out_517429039648348875[8] = 0; +void H_27(double *state, double *unused, double *out_3189959575474637261) { + out_3189959575474637261[0] = 0; + out_3189959575474637261[1] = 0; + out_3189959575474637261[2] = 0; + out_3189959575474637261[3] = 1; + out_3189959575474637261[4] = 0; + out_3189959575474637261[5] = 0; + out_3189959575474637261[6] = 0; + out_3189959575474637261[7] = 0; + out_3189959575474637261[8] = 0; } -void h_29(double *state, double *unused, double *out_1498485639869833389) { - out_1498485639869833389[0] = state[1]; +void h_29(double *state, double *unused, double *out_5850766696144150083) { + out_5850766696144150083[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2230791766517899908) { - out_2230791766517899908[0] = 0; - out_2230791766517899908[1] = 1; - out_2230791766517899908[2] = 0; - out_2230791766517899908[3] = 0; - out_2230791766517899908[4] = 0; - out_2230791766517899908[5] = 0; - out_2230791766517899908[6] = 0; - out_2230791766517899908[7] = 0; - out_2230791766517899908[8] = 0; +void H_29(double *state, double *unused, double *out_504964919359820166) { + out_504964919359820166[0] = 0; + out_504964919359820166[1] = 1; + out_504964919359820166[2] = 0; + out_504964919359820166[3] = 0; + out_504964919359820166[4] = 0; + out_504964919359820166[5] = 0; + out_504964919359820166[6] = 0; + out_504964919359820166[7] = 0; + out_504964919359820166[8] = 0; } -void h_28(double *state, double *unused, double *out_6657345575881808179) { - out_6657345575881808179[0] = state[0]; +void h_28(double *state, double *unused, double *out_133745345655667563) { + out_133745345655667563[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7313190783587430482) { - out_7313190783587430482[0] = 1; - out_7313190783587430482[1] = 0; - out_7313190783587430482[2] = 0; - out_7313190783587430482[3] = 0; - out_7313190783587430482[4] = 0; - out_7313190783587430482[5] = 0; - out_7313190783587430482[6] = 0; - out_7313190783587430482[7] = 0; - out_7313190783587430482[8] = 0; +void H_28(double *state, double *unused, double *out_5587363936429350740) { + out_5587363936429350740[0] = 1; + out_5587363936429350740[1] = 0; + out_5587363936429350740[2] = 0; + out_5587363936429350740[3] = 0; + out_5587363936429350740[4] = 0; + out_5587363936429350740[5] = 0; + out_5587363936429350740[6] = 0; + out_5587363936429350740[7] = 0; + out_5587363936429350740[8] = 0; } -void h_31(double *state, double *unused, double *out_398394152601158533) { - out_398394152601158533[0] = state[8]; +void h_31(double *state, double *unused, double *out_4672202664478170413) { + out_4672202664478170413[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5228710107462580291) { - out_5228710107462580291[0] = 0; - out_5228710107462580291[1] = 0; - out_5228710107462580291[2] = 0; - out_5228710107462580291[3] = 0; - out_5228710107462580291[4] = 0; - out_5228710107462580291[5] = 0; - out_5228710107462580291[6] = 0; - out_5228710107462580291[7] = 0; - out_5228710107462580291[8] = 1; +void H_31(double *state, double *unused, double *out_7901240643288868677) { + out_7901240643288868677[0] = 0; + out_7901240643288868677[1] = 0; + out_7901240643288868677[2] = 0; + out_7901240643288868677[3] = 0; + out_7901240643288868677[4] = 0; + out_7901240643288868677[5] = 0; + out_7901240643288868677[6] = 0; + out_7901240643288868677[7] = 0; + out_7901240643288868677[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_6333242559483084265) { - err_fun(nom_x, delta_x, out_6333242559483084265); +void car_err_fun(double *nom_x, double *delta_x, double *out_4080197981179722536) { + err_fun(nom_x, delta_x, out_4080197981179722536); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072) { - inv_err_fun(nom_x, true_x, out_829248915283082072); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3164357961811210311) { + inv_err_fun(nom_x, true_x, out_3164357961811210311); } -void car_H_mod_fun(double *state, double *out_8283696179185346057) { - H_mod_fun(state, out_8283696179185346057); +void car_H_mod_fun(double *state, double *out_4408837966520463957) { + H_mod_fun(state, out_4408837966520463957); } -void car_f_fun(double *state, double dt, double *out_3453347444055346076) { - f_fun(state, dt, out_3453347444055346076); +void car_f_fun(double *state, double dt, double *out_5836050664863580465) { + f_fun(state, dt, out_5836050664863580465); } -void car_F_fun(double *state, double dt, double *out_1825222330008905672) { - F_fun(state, dt, out_1825222330008905672); +void car_F_fun(double *state, double dt, double *out_584824642242628871) { + F_fun(state, dt, out_584824642242628871); } -void car_h_25(double *state, double *unused, double *out_7364871104219513908) { - h_25(state, unused, out_7364871104219513908); +void car_h_25(double *state, double *unused, double *out_3846550558690327557) { + h_25(state, unused, out_3846550558690327557); } -void car_H_25(double *state, double *unused, double *out_5259356069339540719) { - H_25(state, unused, out_5259356069339540719); +void car_H_25(double *state, double *unused, double *out_3533529222181460977) { + H_25(state, unused, out_3533529222181460977); } -void car_h_24(double *state, double *unused, double *out_6181950591427252357) { - h_24(state, unused, out_6181950591427252357); +void car_h_24(double *state, double *unused, double *out_5575782566501311775) { + h_24(state, unused, out_5575782566501311775); } -void car_H_24(double *state, double *unused, double *out_1316215737251977382) { - H_24(state, unused, out_1316215737251977382); +void car_H_24(double *state, double *unused, double *out_24396376620862159) { + H_24(state, unused, out_24396376620862159); } -void car_h_30(double *state, double *unused, double *out_4311037743139686772) { - h_30(state, unused, out_4311037743139686772); +void car_h_30(double *state, double *unused, double *out_6794276549045812518) { + h_30(state, unused, out_6794276549045812518); } -void car_H_30(double *state, double *unused, double *out_1657334272152076036) { - H_30(state, unused, out_1657334272152076036); +void car_H_30(double *state, double *unused, double *out_1015196263674212350) { + H_30(state, unused, out_1015196263674212350); } -void car_h_26(double *state, double *unused, double *out_8569605146509354979) { - h_26(state, unused, out_8569605146509354979); +void car_h_26(double *state, double *unused, double *out_9048062203855041447) { + h_26(state, unused, out_9048062203855041447); } -void car_H_26(double *state, double *unused, double *out_9000859388213596943) { - H_26(state, unused, out_9000859388213596943); +void car_H_26(double *state, double *unused, double *out_229003252420660376) { + H_26(state, unused, out_229003252420660376); } -void car_h_27(double *state, double *unused, double *out_2363197836558668263) { - h_27(state, unused, out_2363197836558668263); +void car_h_27(double *state, double *unused, double *out_5135418613316513208) { + h_27(state, unused, out_5135418613316513208); } -void car_H_27(double *state, double *unused, double *out_517429039648348875) { - H_27(state, unused, out_517429039648348875); +void car_H_27(double *state, double *unused, double *out_3189959575474637261) { + H_27(state, unused, out_3189959575474637261); } -void car_h_29(double *state, double *unused, double *out_1498485639869833389) { - h_29(state, unused, out_1498485639869833389); +void car_h_29(double *state, double *unused, double *out_5850766696144150083) { + h_29(state, unused, out_5850766696144150083); } -void car_H_29(double *state, double *unused, double *out_2230791766517899908) { - H_29(state, unused, out_2230791766517899908); +void car_H_29(double *state, double *unused, double *out_504964919359820166) { + H_29(state, unused, out_504964919359820166); } -void car_h_28(double *state, double *unused, double *out_6657345575881808179) { - h_28(state, unused, out_6657345575881808179); +void car_h_28(double *state, double *unused, double *out_133745345655667563) { + h_28(state, unused, out_133745345655667563); } -void car_H_28(double *state, double *unused, double *out_7313190783587430482) { - H_28(state, unused, out_7313190783587430482); +void car_H_28(double *state, double *unused, double *out_5587363936429350740) { + H_28(state, unused, out_5587363936429350740); } -void car_h_31(double *state, double *unused, double *out_398394152601158533) { - h_31(state, unused, out_398394152601158533); +void car_h_31(double *state, double *unused, double *out_4672202664478170413) { + h_31(state, unused, out_4672202664478170413); } -void car_H_31(double *state, double *unused, double *out_5228710107462580291) { - H_31(state, unused, out_5228710107462580291); +void car_H_31(double *state, double *unused, double *out_7901240643288868677) { + H_31(state, unused, out_7901240643288868677); } 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 5d734609a..da89f0f36 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_6333242559483084265); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072); -void car_H_mod_fun(double *state, double *out_8283696179185346057); -void car_f_fun(double *state, double dt, double *out_3453347444055346076); -void car_F_fun(double *state, double dt, double *out_1825222330008905672); -void car_h_25(double *state, double *unused, double *out_7364871104219513908); -void car_H_25(double *state, double *unused, double *out_5259356069339540719); -void car_h_24(double *state, double *unused, double *out_6181950591427252357); -void car_H_24(double *state, double *unused, double *out_1316215737251977382); -void car_h_30(double *state, double *unused, double *out_4311037743139686772); -void car_H_30(double *state, double *unused, double *out_1657334272152076036); -void car_h_26(double *state, double *unused, double *out_8569605146509354979); -void car_H_26(double *state, double *unused, double *out_9000859388213596943); -void car_h_27(double *state, double *unused, double *out_2363197836558668263); -void car_H_27(double *state, double *unused, double *out_517429039648348875); -void car_h_29(double *state, double *unused, double *out_1498485639869833389); -void car_H_29(double *state, double *unused, double *out_2230791766517899908); -void car_h_28(double *state, double *unused, double *out_6657345575881808179); -void car_H_28(double *state, double *unused, double *out_7313190783587430482); -void car_h_31(double *state, double *unused, double *out_398394152601158533); -void car_H_31(double *state, double *unused, double *out_5228710107462580291); +void car_err_fun(double *nom_x, double *delta_x, double *out_4080197981179722536); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3164357961811210311); +void car_H_mod_fun(double *state, double *out_4408837966520463957); +void car_f_fun(double *state, double dt, double *out_5836050664863580465); +void car_F_fun(double *state, double dt, double *out_584824642242628871); +void car_h_25(double *state, double *unused, double *out_3846550558690327557); +void car_H_25(double *state, double *unused, double *out_3533529222181460977); +void car_h_24(double *state, double *unused, double *out_5575782566501311775); +void car_H_24(double *state, double *unused, double *out_24396376620862159); +void car_h_30(double *state, double *unused, double *out_6794276549045812518); +void car_H_30(double *state, double *unused, double *out_1015196263674212350); +void car_h_26(double *state, double *unused, double *out_9048062203855041447); +void car_H_26(double *state, double *unused, double *out_229003252420660376); +void car_h_27(double *state, double *unused, double *out_5135418613316513208); +void car_H_27(double *state, double *unused, double *out_3189959575474637261); +void car_h_29(double *state, double *unused, double *out_5850766696144150083); +void car_H_29(double *state, double *unused, double *out_504964919359820166); +void car_h_28(double *state, double *unused, double *out_133745345655667563); +void car_H_28(double *state, double *unused, double *out_5587363936429350740); +void car_h_31(double *state, double *unused, double *out_4672202664478170413); +void car_H_31(double *state, double *unused, double *out_7901240643288868677); 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 c221b5191..2f1428e65 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_3574067617578089570) { - out_3574067617578089570[0] = delta_x[0] + nom_x[0]; - out_3574067617578089570[1] = delta_x[1] + nom_x[1]; - out_3574067617578089570[2] = delta_x[2] + nom_x[2]; - out_3574067617578089570[3] = delta_x[3] + nom_x[3]; - out_3574067617578089570[4] = delta_x[4] + nom_x[4]; - out_3574067617578089570[5] = delta_x[5] + nom_x[5]; - out_3574067617578089570[6] = delta_x[6] + nom_x[6]; - out_3574067617578089570[7] = delta_x[7] + nom_x[7]; - out_3574067617578089570[8] = delta_x[8] + nom_x[8]; - out_3574067617578089570[9] = delta_x[9] + nom_x[9]; - out_3574067617578089570[10] = delta_x[10] + nom_x[10]; - out_3574067617578089570[11] = delta_x[11] + nom_x[11]; - out_3574067617578089570[12] = delta_x[12] + nom_x[12]; - out_3574067617578089570[13] = delta_x[13] + nom_x[13]; - out_3574067617578089570[14] = delta_x[14] + nom_x[14]; - out_3574067617578089570[15] = delta_x[15] + nom_x[15]; - out_3574067617578089570[16] = delta_x[16] + nom_x[16]; - out_3574067617578089570[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_616508134330162473) { + out_616508134330162473[0] = delta_x[0] + nom_x[0]; + out_616508134330162473[1] = delta_x[1] + nom_x[1]; + out_616508134330162473[2] = delta_x[2] + nom_x[2]; + out_616508134330162473[3] = delta_x[3] + nom_x[3]; + out_616508134330162473[4] = delta_x[4] + nom_x[4]; + out_616508134330162473[5] = delta_x[5] + nom_x[5]; + out_616508134330162473[6] = delta_x[6] + nom_x[6]; + out_616508134330162473[7] = delta_x[7] + nom_x[7]; + out_616508134330162473[8] = delta_x[8] + nom_x[8]; + out_616508134330162473[9] = delta_x[9] + nom_x[9]; + out_616508134330162473[10] = delta_x[10] + nom_x[10]; + out_616508134330162473[11] = delta_x[11] + nom_x[11]; + out_616508134330162473[12] = delta_x[12] + nom_x[12]; + out_616508134330162473[13] = delta_x[13] + nom_x[13]; + out_616508134330162473[14] = delta_x[14] + nom_x[14]; + out_616508134330162473[15] = delta_x[15] + nom_x[15]; + out_616508134330162473[16] = delta_x[16] + nom_x[16]; + out_616508134330162473[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1515328263168530495) { - out_1515328263168530495[0] = -nom_x[0] + true_x[0]; - out_1515328263168530495[1] = -nom_x[1] + true_x[1]; - out_1515328263168530495[2] = -nom_x[2] + true_x[2]; - out_1515328263168530495[3] = -nom_x[3] + true_x[3]; - out_1515328263168530495[4] = -nom_x[4] + true_x[4]; - out_1515328263168530495[5] = -nom_x[5] + true_x[5]; - out_1515328263168530495[6] = -nom_x[6] + true_x[6]; - out_1515328263168530495[7] = -nom_x[7] + true_x[7]; - out_1515328263168530495[8] = -nom_x[8] + true_x[8]; - out_1515328263168530495[9] = -nom_x[9] + true_x[9]; - out_1515328263168530495[10] = -nom_x[10] + true_x[10]; - out_1515328263168530495[11] = -nom_x[11] + true_x[11]; - out_1515328263168530495[12] = -nom_x[12] + true_x[12]; - out_1515328263168530495[13] = -nom_x[13] + true_x[13]; - out_1515328263168530495[14] = -nom_x[14] + true_x[14]; - out_1515328263168530495[15] = -nom_x[15] + true_x[15]; - out_1515328263168530495[16] = -nom_x[16] + true_x[16]; - out_1515328263168530495[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3534488348241865019) { + out_3534488348241865019[0] = -nom_x[0] + true_x[0]; + out_3534488348241865019[1] = -nom_x[1] + true_x[1]; + out_3534488348241865019[2] = -nom_x[2] + true_x[2]; + out_3534488348241865019[3] = -nom_x[3] + true_x[3]; + out_3534488348241865019[4] = -nom_x[4] + true_x[4]; + out_3534488348241865019[5] = -nom_x[5] + true_x[5]; + out_3534488348241865019[6] = -nom_x[6] + true_x[6]; + out_3534488348241865019[7] = -nom_x[7] + true_x[7]; + out_3534488348241865019[8] = -nom_x[8] + true_x[8]; + out_3534488348241865019[9] = -nom_x[9] + true_x[9]; + out_3534488348241865019[10] = -nom_x[10] + true_x[10]; + out_3534488348241865019[11] = -nom_x[11] + true_x[11]; + out_3534488348241865019[12] = -nom_x[12] + true_x[12]; + out_3534488348241865019[13] = -nom_x[13] + true_x[13]; + out_3534488348241865019[14] = -nom_x[14] + true_x[14]; + out_3534488348241865019[15] = -nom_x[15] + true_x[15]; + out_3534488348241865019[16] = -nom_x[16] + true_x[16]; + out_3534488348241865019[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_207229337745545750) { - out_207229337745545750[0] = 1.0; - out_207229337745545750[1] = 0.0; - out_207229337745545750[2] = 0.0; - out_207229337745545750[3] = 0.0; - out_207229337745545750[4] = 0.0; - out_207229337745545750[5] = 0.0; - out_207229337745545750[6] = 0.0; - out_207229337745545750[7] = 0.0; - out_207229337745545750[8] = 0.0; - out_207229337745545750[9] = 0.0; - out_207229337745545750[10] = 0.0; - out_207229337745545750[11] = 0.0; - out_207229337745545750[12] = 0.0; - out_207229337745545750[13] = 0.0; - out_207229337745545750[14] = 0.0; - out_207229337745545750[15] = 0.0; - out_207229337745545750[16] = 0.0; - out_207229337745545750[17] = 0.0; - out_207229337745545750[18] = 0.0; - out_207229337745545750[19] = 1.0; - out_207229337745545750[20] = 0.0; - out_207229337745545750[21] = 0.0; - out_207229337745545750[22] = 0.0; - out_207229337745545750[23] = 0.0; - out_207229337745545750[24] = 0.0; - out_207229337745545750[25] = 0.0; - out_207229337745545750[26] = 0.0; - out_207229337745545750[27] = 0.0; - out_207229337745545750[28] = 0.0; - out_207229337745545750[29] = 0.0; - out_207229337745545750[30] = 0.0; - out_207229337745545750[31] = 0.0; - out_207229337745545750[32] = 0.0; - out_207229337745545750[33] = 0.0; - out_207229337745545750[34] = 0.0; - out_207229337745545750[35] = 0.0; - out_207229337745545750[36] = 0.0; - out_207229337745545750[37] = 0.0; - out_207229337745545750[38] = 1.0; - out_207229337745545750[39] = 0.0; - out_207229337745545750[40] = 0.0; - out_207229337745545750[41] = 0.0; - out_207229337745545750[42] = 0.0; - out_207229337745545750[43] = 0.0; - out_207229337745545750[44] = 0.0; - out_207229337745545750[45] = 0.0; - out_207229337745545750[46] = 0.0; - out_207229337745545750[47] = 0.0; - out_207229337745545750[48] = 0.0; - out_207229337745545750[49] = 0.0; - out_207229337745545750[50] = 0.0; - out_207229337745545750[51] = 0.0; - out_207229337745545750[52] = 0.0; - out_207229337745545750[53] = 0.0; - out_207229337745545750[54] = 0.0; - out_207229337745545750[55] = 0.0; - out_207229337745545750[56] = 0.0; - out_207229337745545750[57] = 1.0; - out_207229337745545750[58] = 0.0; - out_207229337745545750[59] = 0.0; - out_207229337745545750[60] = 0.0; - out_207229337745545750[61] = 0.0; - out_207229337745545750[62] = 0.0; - out_207229337745545750[63] = 0.0; - out_207229337745545750[64] = 0.0; - out_207229337745545750[65] = 0.0; - out_207229337745545750[66] = 0.0; - out_207229337745545750[67] = 0.0; - out_207229337745545750[68] = 0.0; - out_207229337745545750[69] = 0.0; - out_207229337745545750[70] = 0.0; - out_207229337745545750[71] = 0.0; - out_207229337745545750[72] = 0.0; - out_207229337745545750[73] = 0.0; - out_207229337745545750[74] = 0.0; - out_207229337745545750[75] = 0.0; - out_207229337745545750[76] = 1.0; - out_207229337745545750[77] = 0.0; - out_207229337745545750[78] = 0.0; - out_207229337745545750[79] = 0.0; - out_207229337745545750[80] = 0.0; - out_207229337745545750[81] = 0.0; - out_207229337745545750[82] = 0.0; - out_207229337745545750[83] = 0.0; - out_207229337745545750[84] = 0.0; - out_207229337745545750[85] = 0.0; - out_207229337745545750[86] = 0.0; - out_207229337745545750[87] = 0.0; - out_207229337745545750[88] = 0.0; - out_207229337745545750[89] = 0.0; - out_207229337745545750[90] = 0.0; - out_207229337745545750[91] = 0.0; - out_207229337745545750[92] = 0.0; - out_207229337745545750[93] = 0.0; - out_207229337745545750[94] = 0.0; - out_207229337745545750[95] = 1.0; - out_207229337745545750[96] = 0.0; - out_207229337745545750[97] = 0.0; - out_207229337745545750[98] = 0.0; - out_207229337745545750[99] = 0.0; - out_207229337745545750[100] = 0.0; - out_207229337745545750[101] = 0.0; - out_207229337745545750[102] = 0.0; - out_207229337745545750[103] = 0.0; - out_207229337745545750[104] = 0.0; - out_207229337745545750[105] = 0.0; - out_207229337745545750[106] = 0.0; - out_207229337745545750[107] = 0.0; - out_207229337745545750[108] = 0.0; - out_207229337745545750[109] = 0.0; - out_207229337745545750[110] = 0.0; - out_207229337745545750[111] = 0.0; - out_207229337745545750[112] = 0.0; - out_207229337745545750[113] = 0.0; - out_207229337745545750[114] = 1.0; - out_207229337745545750[115] = 0.0; - out_207229337745545750[116] = 0.0; - out_207229337745545750[117] = 0.0; - out_207229337745545750[118] = 0.0; - out_207229337745545750[119] = 0.0; - out_207229337745545750[120] = 0.0; - out_207229337745545750[121] = 0.0; - out_207229337745545750[122] = 0.0; - out_207229337745545750[123] = 0.0; - out_207229337745545750[124] = 0.0; - out_207229337745545750[125] = 0.0; - out_207229337745545750[126] = 0.0; - out_207229337745545750[127] = 0.0; - out_207229337745545750[128] = 0.0; - out_207229337745545750[129] = 0.0; - out_207229337745545750[130] = 0.0; - out_207229337745545750[131] = 0.0; - out_207229337745545750[132] = 0.0; - out_207229337745545750[133] = 1.0; - out_207229337745545750[134] = 0.0; - out_207229337745545750[135] = 0.0; - out_207229337745545750[136] = 0.0; - out_207229337745545750[137] = 0.0; - out_207229337745545750[138] = 0.0; - out_207229337745545750[139] = 0.0; - out_207229337745545750[140] = 0.0; - out_207229337745545750[141] = 0.0; - out_207229337745545750[142] = 0.0; - out_207229337745545750[143] = 0.0; - out_207229337745545750[144] = 0.0; - out_207229337745545750[145] = 0.0; - out_207229337745545750[146] = 0.0; - out_207229337745545750[147] = 0.0; - out_207229337745545750[148] = 0.0; - out_207229337745545750[149] = 0.0; - out_207229337745545750[150] = 0.0; - out_207229337745545750[151] = 0.0; - out_207229337745545750[152] = 1.0; - out_207229337745545750[153] = 0.0; - out_207229337745545750[154] = 0.0; - out_207229337745545750[155] = 0.0; - out_207229337745545750[156] = 0.0; - out_207229337745545750[157] = 0.0; - out_207229337745545750[158] = 0.0; - out_207229337745545750[159] = 0.0; - out_207229337745545750[160] = 0.0; - out_207229337745545750[161] = 0.0; - out_207229337745545750[162] = 0.0; - out_207229337745545750[163] = 0.0; - out_207229337745545750[164] = 0.0; - out_207229337745545750[165] = 0.0; - out_207229337745545750[166] = 0.0; - out_207229337745545750[167] = 0.0; - out_207229337745545750[168] = 0.0; - out_207229337745545750[169] = 0.0; - out_207229337745545750[170] = 0.0; - out_207229337745545750[171] = 1.0; - out_207229337745545750[172] = 0.0; - out_207229337745545750[173] = 0.0; - out_207229337745545750[174] = 0.0; - out_207229337745545750[175] = 0.0; - out_207229337745545750[176] = 0.0; - out_207229337745545750[177] = 0.0; - out_207229337745545750[178] = 0.0; - out_207229337745545750[179] = 0.0; - out_207229337745545750[180] = 0.0; - out_207229337745545750[181] = 0.0; - out_207229337745545750[182] = 0.0; - out_207229337745545750[183] = 0.0; - out_207229337745545750[184] = 0.0; - out_207229337745545750[185] = 0.0; - out_207229337745545750[186] = 0.0; - out_207229337745545750[187] = 0.0; - out_207229337745545750[188] = 0.0; - out_207229337745545750[189] = 0.0; - out_207229337745545750[190] = 1.0; - out_207229337745545750[191] = 0.0; - out_207229337745545750[192] = 0.0; - out_207229337745545750[193] = 0.0; - out_207229337745545750[194] = 0.0; - out_207229337745545750[195] = 0.0; - out_207229337745545750[196] = 0.0; - out_207229337745545750[197] = 0.0; - out_207229337745545750[198] = 0.0; - out_207229337745545750[199] = 0.0; - out_207229337745545750[200] = 0.0; - out_207229337745545750[201] = 0.0; - out_207229337745545750[202] = 0.0; - out_207229337745545750[203] = 0.0; - out_207229337745545750[204] = 0.0; - out_207229337745545750[205] = 0.0; - out_207229337745545750[206] = 0.0; - out_207229337745545750[207] = 0.0; - out_207229337745545750[208] = 0.0; - out_207229337745545750[209] = 1.0; - out_207229337745545750[210] = 0.0; - out_207229337745545750[211] = 0.0; - out_207229337745545750[212] = 0.0; - out_207229337745545750[213] = 0.0; - out_207229337745545750[214] = 0.0; - out_207229337745545750[215] = 0.0; - out_207229337745545750[216] = 0.0; - out_207229337745545750[217] = 0.0; - out_207229337745545750[218] = 0.0; - out_207229337745545750[219] = 0.0; - out_207229337745545750[220] = 0.0; - out_207229337745545750[221] = 0.0; - out_207229337745545750[222] = 0.0; - out_207229337745545750[223] = 0.0; - out_207229337745545750[224] = 0.0; - out_207229337745545750[225] = 0.0; - out_207229337745545750[226] = 0.0; - out_207229337745545750[227] = 0.0; - out_207229337745545750[228] = 1.0; - out_207229337745545750[229] = 0.0; - out_207229337745545750[230] = 0.0; - out_207229337745545750[231] = 0.0; - out_207229337745545750[232] = 0.0; - out_207229337745545750[233] = 0.0; - out_207229337745545750[234] = 0.0; - out_207229337745545750[235] = 0.0; - out_207229337745545750[236] = 0.0; - out_207229337745545750[237] = 0.0; - out_207229337745545750[238] = 0.0; - out_207229337745545750[239] = 0.0; - out_207229337745545750[240] = 0.0; - out_207229337745545750[241] = 0.0; - out_207229337745545750[242] = 0.0; - out_207229337745545750[243] = 0.0; - out_207229337745545750[244] = 0.0; - out_207229337745545750[245] = 0.0; - out_207229337745545750[246] = 0.0; - out_207229337745545750[247] = 1.0; - out_207229337745545750[248] = 0.0; - out_207229337745545750[249] = 0.0; - out_207229337745545750[250] = 0.0; - out_207229337745545750[251] = 0.0; - out_207229337745545750[252] = 0.0; - out_207229337745545750[253] = 0.0; - out_207229337745545750[254] = 0.0; - out_207229337745545750[255] = 0.0; - out_207229337745545750[256] = 0.0; - out_207229337745545750[257] = 0.0; - out_207229337745545750[258] = 0.0; - out_207229337745545750[259] = 0.0; - out_207229337745545750[260] = 0.0; - out_207229337745545750[261] = 0.0; - out_207229337745545750[262] = 0.0; - out_207229337745545750[263] = 0.0; - out_207229337745545750[264] = 0.0; - out_207229337745545750[265] = 0.0; - out_207229337745545750[266] = 1.0; - out_207229337745545750[267] = 0.0; - out_207229337745545750[268] = 0.0; - out_207229337745545750[269] = 0.0; - out_207229337745545750[270] = 0.0; - out_207229337745545750[271] = 0.0; - out_207229337745545750[272] = 0.0; - out_207229337745545750[273] = 0.0; - out_207229337745545750[274] = 0.0; - out_207229337745545750[275] = 0.0; - out_207229337745545750[276] = 0.0; - out_207229337745545750[277] = 0.0; - out_207229337745545750[278] = 0.0; - out_207229337745545750[279] = 0.0; - out_207229337745545750[280] = 0.0; - out_207229337745545750[281] = 0.0; - out_207229337745545750[282] = 0.0; - out_207229337745545750[283] = 0.0; - out_207229337745545750[284] = 0.0; - out_207229337745545750[285] = 1.0; - out_207229337745545750[286] = 0.0; - out_207229337745545750[287] = 0.0; - out_207229337745545750[288] = 0.0; - out_207229337745545750[289] = 0.0; - out_207229337745545750[290] = 0.0; - out_207229337745545750[291] = 0.0; - out_207229337745545750[292] = 0.0; - out_207229337745545750[293] = 0.0; - out_207229337745545750[294] = 0.0; - out_207229337745545750[295] = 0.0; - out_207229337745545750[296] = 0.0; - out_207229337745545750[297] = 0.0; - out_207229337745545750[298] = 0.0; - out_207229337745545750[299] = 0.0; - out_207229337745545750[300] = 0.0; - out_207229337745545750[301] = 0.0; - out_207229337745545750[302] = 0.0; - out_207229337745545750[303] = 0.0; - out_207229337745545750[304] = 1.0; - out_207229337745545750[305] = 0.0; - out_207229337745545750[306] = 0.0; - out_207229337745545750[307] = 0.0; - out_207229337745545750[308] = 0.0; - out_207229337745545750[309] = 0.0; - out_207229337745545750[310] = 0.0; - out_207229337745545750[311] = 0.0; - out_207229337745545750[312] = 0.0; - out_207229337745545750[313] = 0.0; - out_207229337745545750[314] = 0.0; - out_207229337745545750[315] = 0.0; - out_207229337745545750[316] = 0.0; - out_207229337745545750[317] = 0.0; - out_207229337745545750[318] = 0.0; - out_207229337745545750[319] = 0.0; - out_207229337745545750[320] = 0.0; - out_207229337745545750[321] = 0.0; - out_207229337745545750[322] = 0.0; - out_207229337745545750[323] = 1.0; +void H_mod_fun(double *state, double *out_5384152065241129084) { + out_5384152065241129084[0] = 1.0; + out_5384152065241129084[1] = 0.0; + out_5384152065241129084[2] = 0.0; + out_5384152065241129084[3] = 0.0; + out_5384152065241129084[4] = 0.0; + out_5384152065241129084[5] = 0.0; + out_5384152065241129084[6] = 0.0; + out_5384152065241129084[7] = 0.0; + out_5384152065241129084[8] = 0.0; + out_5384152065241129084[9] = 0.0; + out_5384152065241129084[10] = 0.0; + out_5384152065241129084[11] = 0.0; + out_5384152065241129084[12] = 0.0; + out_5384152065241129084[13] = 0.0; + out_5384152065241129084[14] = 0.0; + out_5384152065241129084[15] = 0.0; + out_5384152065241129084[16] = 0.0; + out_5384152065241129084[17] = 0.0; + out_5384152065241129084[18] = 0.0; + out_5384152065241129084[19] = 1.0; + out_5384152065241129084[20] = 0.0; + out_5384152065241129084[21] = 0.0; + out_5384152065241129084[22] = 0.0; + out_5384152065241129084[23] = 0.0; + out_5384152065241129084[24] = 0.0; + out_5384152065241129084[25] = 0.0; + out_5384152065241129084[26] = 0.0; + out_5384152065241129084[27] = 0.0; + out_5384152065241129084[28] = 0.0; + out_5384152065241129084[29] = 0.0; + out_5384152065241129084[30] = 0.0; + out_5384152065241129084[31] = 0.0; + out_5384152065241129084[32] = 0.0; + out_5384152065241129084[33] = 0.0; + out_5384152065241129084[34] = 0.0; + out_5384152065241129084[35] = 0.0; + out_5384152065241129084[36] = 0.0; + out_5384152065241129084[37] = 0.0; + out_5384152065241129084[38] = 1.0; + out_5384152065241129084[39] = 0.0; + out_5384152065241129084[40] = 0.0; + out_5384152065241129084[41] = 0.0; + out_5384152065241129084[42] = 0.0; + out_5384152065241129084[43] = 0.0; + out_5384152065241129084[44] = 0.0; + out_5384152065241129084[45] = 0.0; + out_5384152065241129084[46] = 0.0; + out_5384152065241129084[47] = 0.0; + out_5384152065241129084[48] = 0.0; + out_5384152065241129084[49] = 0.0; + out_5384152065241129084[50] = 0.0; + out_5384152065241129084[51] = 0.0; + out_5384152065241129084[52] = 0.0; + out_5384152065241129084[53] = 0.0; + out_5384152065241129084[54] = 0.0; + out_5384152065241129084[55] = 0.0; + out_5384152065241129084[56] = 0.0; + out_5384152065241129084[57] = 1.0; + out_5384152065241129084[58] = 0.0; + out_5384152065241129084[59] = 0.0; + out_5384152065241129084[60] = 0.0; + out_5384152065241129084[61] = 0.0; + out_5384152065241129084[62] = 0.0; + out_5384152065241129084[63] = 0.0; + out_5384152065241129084[64] = 0.0; + out_5384152065241129084[65] = 0.0; + out_5384152065241129084[66] = 0.0; + out_5384152065241129084[67] = 0.0; + out_5384152065241129084[68] = 0.0; + out_5384152065241129084[69] = 0.0; + out_5384152065241129084[70] = 0.0; + out_5384152065241129084[71] = 0.0; + out_5384152065241129084[72] = 0.0; + out_5384152065241129084[73] = 0.0; + out_5384152065241129084[74] = 0.0; + out_5384152065241129084[75] = 0.0; + out_5384152065241129084[76] = 1.0; + out_5384152065241129084[77] = 0.0; + out_5384152065241129084[78] = 0.0; + out_5384152065241129084[79] = 0.0; + out_5384152065241129084[80] = 0.0; + out_5384152065241129084[81] = 0.0; + out_5384152065241129084[82] = 0.0; + out_5384152065241129084[83] = 0.0; + out_5384152065241129084[84] = 0.0; + out_5384152065241129084[85] = 0.0; + out_5384152065241129084[86] = 0.0; + out_5384152065241129084[87] = 0.0; + out_5384152065241129084[88] = 0.0; + out_5384152065241129084[89] = 0.0; + out_5384152065241129084[90] = 0.0; + out_5384152065241129084[91] = 0.0; + out_5384152065241129084[92] = 0.0; + out_5384152065241129084[93] = 0.0; + out_5384152065241129084[94] = 0.0; + out_5384152065241129084[95] = 1.0; + out_5384152065241129084[96] = 0.0; + out_5384152065241129084[97] = 0.0; + out_5384152065241129084[98] = 0.0; + out_5384152065241129084[99] = 0.0; + out_5384152065241129084[100] = 0.0; + out_5384152065241129084[101] = 0.0; + out_5384152065241129084[102] = 0.0; + out_5384152065241129084[103] = 0.0; + out_5384152065241129084[104] = 0.0; + out_5384152065241129084[105] = 0.0; + out_5384152065241129084[106] = 0.0; + out_5384152065241129084[107] = 0.0; + out_5384152065241129084[108] = 0.0; + out_5384152065241129084[109] = 0.0; + out_5384152065241129084[110] = 0.0; + out_5384152065241129084[111] = 0.0; + out_5384152065241129084[112] = 0.0; + out_5384152065241129084[113] = 0.0; + out_5384152065241129084[114] = 1.0; + out_5384152065241129084[115] = 0.0; + out_5384152065241129084[116] = 0.0; + out_5384152065241129084[117] = 0.0; + out_5384152065241129084[118] = 0.0; + out_5384152065241129084[119] = 0.0; + out_5384152065241129084[120] = 0.0; + out_5384152065241129084[121] = 0.0; + out_5384152065241129084[122] = 0.0; + out_5384152065241129084[123] = 0.0; + out_5384152065241129084[124] = 0.0; + out_5384152065241129084[125] = 0.0; + out_5384152065241129084[126] = 0.0; + out_5384152065241129084[127] = 0.0; + out_5384152065241129084[128] = 0.0; + out_5384152065241129084[129] = 0.0; + out_5384152065241129084[130] = 0.0; + out_5384152065241129084[131] = 0.0; + out_5384152065241129084[132] = 0.0; + out_5384152065241129084[133] = 1.0; + out_5384152065241129084[134] = 0.0; + out_5384152065241129084[135] = 0.0; + out_5384152065241129084[136] = 0.0; + out_5384152065241129084[137] = 0.0; + out_5384152065241129084[138] = 0.0; + out_5384152065241129084[139] = 0.0; + out_5384152065241129084[140] = 0.0; + out_5384152065241129084[141] = 0.0; + out_5384152065241129084[142] = 0.0; + out_5384152065241129084[143] = 0.0; + out_5384152065241129084[144] = 0.0; + out_5384152065241129084[145] = 0.0; + out_5384152065241129084[146] = 0.0; + out_5384152065241129084[147] = 0.0; + out_5384152065241129084[148] = 0.0; + out_5384152065241129084[149] = 0.0; + out_5384152065241129084[150] = 0.0; + out_5384152065241129084[151] = 0.0; + out_5384152065241129084[152] = 1.0; + out_5384152065241129084[153] = 0.0; + out_5384152065241129084[154] = 0.0; + out_5384152065241129084[155] = 0.0; + out_5384152065241129084[156] = 0.0; + out_5384152065241129084[157] = 0.0; + out_5384152065241129084[158] = 0.0; + out_5384152065241129084[159] = 0.0; + out_5384152065241129084[160] = 0.0; + out_5384152065241129084[161] = 0.0; + out_5384152065241129084[162] = 0.0; + out_5384152065241129084[163] = 0.0; + out_5384152065241129084[164] = 0.0; + out_5384152065241129084[165] = 0.0; + out_5384152065241129084[166] = 0.0; + out_5384152065241129084[167] = 0.0; + out_5384152065241129084[168] = 0.0; + out_5384152065241129084[169] = 0.0; + out_5384152065241129084[170] = 0.0; + out_5384152065241129084[171] = 1.0; + out_5384152065241129084[172] = 0.0; + out_5384152065241129084[173] = 0.0; + out_5384152065241129084[174] = 0.0; + out_5384152065241129084[175] = 0.0; + out_5384152065241129084[176] = 0.0; + out_5384152065241129084[177] = 0.0; + out_5384152065241129084[178] = 0.0; + out_5384152065241129084[179] = 0.0; + out_5384152065241129084[180] = 0.0; + out_5384152065241129084[181] = 0.0; + out_5384152065241129084[182] = 0.0; + out_5384152065241129084[183] = 0.0; + out_5384152065241129084[184] = 0.0; + out_5384152065241129084[185] = 0.0; + out_5384152065241129084[186] = 0.0; + out_5384152065241129084[187] = 0.0; + out_5384152065241129084[188] = 0.0; + out_5384152065241129084[189] = 0.0; + out_5384152065241129084[190] = 1.0; + out_5384152065241129084[191] = 0.0; + out_5384152065241129084[192] = 0.0; + out_5384152065241129084[193] = 0.0; + out_5384152065241129084[194] = 0.0; + out_5384152065241129084[195] = 0.0; + out_5384152065241129084[196] = 0.0; + out_5384152065241129084[197] = 0.0; + out_5384152065241129084[198] = 0.0; + out_5384152065241129084[199] = 0.0; + out_5384152065241129084[200] = 0.0; + out_5384152065241129084[201] = 0.0; + out_5384152065241129084[202] = 0.0; + out_5384152065241129084[203] = 0.0; + out_5384152065241129084[204] = 0.0; + out_5384152065241129084[205] = 0.0; + out_5384152065241129084[206] = 0.0; + out_5384152065241129084[207] = 0.0; + out_5384152065241129084[208] = 0.0; + out_5384152065241129084[209] = 1.0; + out_5384152065241129084[210] = 0.0; + out_5384152065241129084[211] = 0.0; + out_5384152065241129084[212] = 0.0; + out_5384152065241129084[213] = 0.0; + out_5384152065241129084[214] = 0.0; + out_5384152065241129084[215] = 0.0; + out_5384152065241129084[216] = 0.0; + out_5384152065241129084[217] = 0.0; + out_5384152065241129084[218] = 0.0; + out_5384152065241129084[219] = 0.0; + out_5384152065241129084[220] = 0.0; + out_5384152065241129084[221] = 0.0; + out_5384152065241129084[222] = 0.0; + out_5384152065241129084[223] = 0.0; + out_5384152065241129084[224] = 0.0; + out_5384152065241129084[225] = 0.0; + out_5384152065241129084[226] = 0.0; + out_5384152065241129084[227] = 0.0; + out_5384152065241129084[228] = 1.0; + out_5384152065241129084[229] = 0.0; + out_5384152065241129084[230] = 0.0; + out_5384152065241129084[231] = 0.0; + out_5384152065241129084[232] = 0.0; + out_5384152065241129084[233] = 0.0; + out_5384152065241129084[234] = 0.0; + out_5384152065241129084[235] = 0.0; + out_5384152065241129084[236] = 0.0; + out_5384152065241129084[237] = 0.0; + out_5384152065241129084[238] = 0.0; + out_5384152065241129084[239] = 0.0; + out_5384152065241129084[240] = 0.0; + out_5384152065241129084[241] = 0.0; + out_5384152065241129084[242] = 0.0; + out_5384152065241129084[243] = 0.0; + out_5384152065241129084[244] = 0.0; + out_5384152065241129084[245] = 0.0; + out_5384152065241129084[246] = 0.0; + out_5384152065241129084[247] = 1.0; + out_5384152065241129084[248] = 0.0; + out_5384152065241129084[249] = 0.0; + out_5384152065241129084[250] = 0.0; + out_5384152065241129084[251] = 0.0; + out_5384152065241129084[252] = 0.0; + out_5384152065241129084[253] = 0.0; + out_5384152065241129084[254] = 0.0; + out_5384152065241129084[255] = 0.0; + out_5384152065241129084[256] = 0.0; + out_5384152065241129084[257] = 0.0; + out_5384152065241129084[258] = 0.0; + out_5384152065241129084[259] = 0.0; + out_5384152065241129084[260] = 0.0; + out_5384152065241129084[261] = 0.0; + out_5384152065241129084[262] = 0.0; + out_5384152065241129084[263] = 0.0; + out_5384152065241129084[264] = 0.0; + out_5384152065241129084[265] = 0.0; + out_5384152065241129084[266] = 1.0; + out_5384152065241129084[267] = 0.0; + out_5384152065241129084[268] = 0.0; + out_5384152065241129084[269] = 0.0; + out_5384152065241129084[270] = 0.0; + out_5384152065241129084[271] = 0.0; + out_5384152065241129084[272] = 0.0; + out_5384152065241129084[273] = 0.0; + out_5384152065241129084[274] = 0.0; + out_5384152065241129084[275] = 0.0; + out_5384152065241129084[276] = 0.0; + out_5384152065241129084[277] = 0.0; + out_5384152065241129084[278] = 0.0; + out_5384152065241129084[279] = 0.0; + out_5384152065241129084[280] = 0.0; + out_5384152065241129084[281] = 0.0; + out_5384152065241129084[282] = 0.0; + out_5384152065241129084[283] = 0.0; + out_5384152065241129084[284] = 0.0; + out_5384152065241129084[285] = 1.0; + out_5384152065241129084[286] = 0.0; + out_5384152065241129084[287] = 0.0; + out_5384152065241129084[288] = 0.0; + out_5384152065241129084[289] = 0.0; + out_5384152065241129084[290] = 0.0; + out_5384152065241129084[291] = 0.0; + out_5384152065241129084[292] = 0.0; + out_5384152065241129084[293] = 0.0; + out_5384152065241129084[294] = 0.0; + out_5384152065241129084[295] = 0.0; + out_5384152065241129084[296] = 0.0; + out_5384152065241129084[297] = 0.0; + out_5384152065241129084[298] = 0.0; + out_5384152065241129084[299] = 0.0; + out_5384152065241129084[300] = 0.0; + out_5384152065241129084[301] = 0.0; + out_5384152065241129084[302] = 0.0; + out_5384152065241129084[303] = 0.0; + out_5384152065241129084[304] = 1.0; + out_5384152065241129084[305] = 0.0; + out_5384152065241129084[306] = 0.0; + out_5384152065241129084[307] = 0.0; + out_5384152065241129084[308] = 0.0; + out_5384152065241129084[309] = 0.0; + out_5384152065241129084[310] = 0.0; + out_5384152065241129084[311] = 0.0; + out_5384152065241129084[312] = 0.0; + out_5384152065241129084[313] = 0.0; + out_5384152065241129084[314] = 0.0; + out_5384152065241129084[315] = 0.0; + out_5384152065241129084[316] = 0.0; + out_5384152065241129084[317] = 0.0; + out_5384152065241129084[318] = 0.0; + out_5384152065241129084[319] = 0.0; + out_5384152065241129084[320] = 0.0; + out_5384152065241129084[321] = 0.0; + out_5384152065241129084[322] = 0.0; + out_5384152065241129084[323] = 1.0; } -void f_fun(double *state, double dt, double *out_3493541226789963130) { - out_3493541226789963130[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_3493541226789963130[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_3493541226789963130[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_3493541226789963130[3] = dt*state[12] + state[3]; - out_3493541226789963130[4] = dt*state[13] + state[4]; - out_3493541226789963130[5] = dt*state[14] + state[5]; - out_3493541226789963130[6] = state[6]; - out_3493541226789963130[7] = state[7]; - out_3493541226789963130[8] = state[8]; - out_3493541226789963130[9] = state[9]; - out_3493541226789963130[10] = state[10]; - out_3493541226789963130[11] = state[11]; - out_3493541226789963130[12] = state[12]; - out_3493541226789963130[13] = state[13]; - out_3493541226789963130[14] = state[14]; - out_3493541226789963130[15] = state[15]; - out_3493541226789963130[16] = state[16]; - out_3493541226789963130[17] = state[17]; +void f_fun(double *state, double dt, double *out_1966290028419981018) { + out_1966290028419981018[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_1966290028419981018[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_1966290028419981018[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_1966290028419981018[3] = dt*state[12] + state[3]; + out_1966290028419981018[4] = dt*state[13] + state[4]; + out_1966290028419981018[5] = dt*state[14] + state[5]; + out_1966290028419981018[6] = state[6]; + out_1966290028419981018[7] = state[7]; + out_1966290028419981018[8] = state[8]; + out_1966290028419981018[9] = state[9]; + out_1966290028419981018[10] = state[10]; + out_1966290028419981018[11] = state[11]; + out_1966290028419981018[12] = state[12]; + out_1966290028419981018[13] = state[13]; + out_1966290028419981018[14] = state[14]; + out_1966290028419981018[15] = state[15]; + out_1966290028419981018[16] = state[16]; + out_1966290028419981018[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5154051058888586616) { - out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[2] = 0; - out_5154051058888586616[3] = 0; - out_5154051058888586616[4] = 0; - out_5154051058888586616[5] = 0; - out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[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_5154051058888586616[9] = 0; - out_5154051058888586616[10] = 0; - out_5154051058888586616[11] = 0; - out_5154051058888586616[12] = 0; - out_5154051058888586616[13] = 0; - out_5154051058888586616[14] = 0; - out_5154051058888586616[15] = 0; - out_5154051058888586616[16] = 0; - out_5154051058888586616[17] = 0; - out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[20] = 0; - out_5154051058888586616[21] = 0; - out_5154051058888586616[22] = 0; - out_5154051058888586616[23] = 0; - out_5154051058888586616[24] = 0; - out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[27] = 0; - out_5154051058888586616[28] = 0; - out_5154051058888586616[29] = 0; - out_5154051058888586616[30] = 0; - out_5154051058888586616[31] = 0; - out_5154051058888586616[32] = 0; - out_5154051058888586616[33] = 0; - out_5154051058888586616[34] = 0; - out_5154051058888586616[35] = 0; - out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[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_5154051058888586616[39] = 0; - out_5154051058888586616[40] = 0; - out_5154051058888586616[41] = 0; - out_5154051058888586616[42] = 0; - out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[45] = 0; - out_5154051058888586616[46] = 0; - out_5154051058888586616[47] = 0; - out_5154051058888586616[48] = 0; - out_5154051058888586616[49] = 0; - out_5154051058888586616[50] = 0; - out_5154051058888586616[51] = 0; - out_5154051058888586616[52] = 0; - out_5154051058888586616[53] = 0; - out_5154051058888586616[54] = 0; - out_5154051058888586616[55] = 0; - out_5154051058888586616[56] = 0; - out_5154051058888586616[57] = 1; - out_5154051058888586616[58] = 0; - out_5154051058888586616[59] = 0; - out_5154051058888586616[60] = 0; - out_5154051058888586616[61] = 0; - out_5154051058888586616[62] = 0; - out_5154051058888586616[63] = 0; - out_5154051058888586616[64] = 0; - out_5154051058888586616[65] = 0; - out_5154051058888586616[66] = dt; - out_5154051058888586616[67] = 0; - out_5154051058888586616[68] = 0; - out_5154051058888586616[69] = 0; - out_5154051058888586616[70] = 0; - out_5154051058888586616[71] = 0; - out_5154051058888586616[72] = 0; - out_5154051058888586616[73] = 0; - out_5154051058888586616[74] = 0; - out_5154051058888586616[75] = 0; - out_5154051058888586616[76] = 1; - out_5154051058888586616[77] = 0; - out_5154051058888586616[78] = 0; - out_5154051058888586616[79] = 0; - out_5154051058888586616[80] = 0; - out_5154051058888586616[81] = 0; - out_5154051058888586616[82] = 0; - out_5154051058888586616[83] = 0; - out_5154051058888586616[84] = 0; - out_5154051058888586616[85] = dt; - out_5154051058888586616[86] = 0; - out_5154051058888586616[87] = 0; - out_5154051058888586616[88] = 0; - out_5154051058888586616[89] = 0; - out_5154051058888586616[90] = 0; - out_5154051058888586616[91] = 0; - out_5154051058888586616[92] = 0; - out_5154051058888586616[93] = 0; - out_5154051058888586616[94] = 0; - out_5154051058888586616[95] = 1; - out_5154051058888586616[96] = 0; - out_5154051058888586616[97] = 0; - out_5154051058888586616[98] = 0; - out_5154051058888586616[99] = 0; - out_5154051058888586616[100] = 0; - out_5154051058888586616[101] = 0; - out_5154051058888586616[102] = 0; - out_5154051058888586616[103] = 0; - out_5154051058888586616[104] = dt; - out_5154051058888586616[105] = 0; - out_5154051058888586616[106] = 0; - out_5154051058888586616[107] = 0; - out_5154051058888586616[108] = 0; - out_5154051058888586616[109] = 0; - out_5154051058888586616[110] = 0; - out_5154051058888586616[111] = 0; - out_5154051058888586616[112] = 0; - out_5154051058888586616[113] = 0; - out_5154051058888586616[114] = 1; - out_5154051058888586616[115] = 0; - out_5154051058888586616[116] = 0; - out_5154051058888586616[117] = 0; - out_5154051058888586616[118] = 0; - out_5154051058888586616[119] = 0; - out_5154051058888586616[120] = 0; - out_5154051058888586616[121] = 0; - out_5154051058888586616[122] = 0; - out_5154051058888586616[123] = 0; - out_5154051058888586616[124] = 0; - out_5154051058888586616[125] = 0; - out_5154051058888586616[126] = 0; - out_5154051058888586616[127] = 0; - out_5154051058888586616[128] = 0; - out_5154051058888586616[129] = 0; - out_5154051058888586616[130] = 0; - out_5154051058888586616[131] = 0; - out_5154051058888586616[132] = 0; - out_5154051058888586616[133] = 1; - out_5154051058888586616[134] = 0; - out_5154051058888586616[135] = 0; - out_5154051058888586616[136] = 0; - out_5154051058888586616[137] = 0; - out_5154051058888586616[138] = 0; - out_5154051058888586616[139] = 0; - out_5154051058888586616[140] = 0; - out_5154051058888586616[141] = 0; - out_5154051058888586616[142] = 0; - out_5154051058888586616[143] = 0; - out_5154051058888586616[144] = 0; - out_5154051058888586616[145] = 0; - out_5154051058888586616[146] = 0; - out_5154051058888586616[147] = 0; - out_5154051058888586616[148] = 0; - out_5154051058888586616[149] = 0; - out_5154051058888586616[150] = 0; - out_5154051058888586616[151] = 0; - out_5154051058888586616[152] = 1; - out_5154051058888586616[153] = 0; - out_5154051058888586616[154] = 0; - out_5154051058888586616[155] = 0; - out_5154051058888586616[156] = 0; - out_5154051058888586616[157] = 0; - out_5154051058888586616[158] = 0; - out_5154051058888586616[159] = 0; - out_5154051058888586616[160] = 0; - out_5154051058888586616[161] = 0; - out_5154051058888586616[162] = 0; - out_5154051058888586616[163] = 0; - out_5154051058888586616[164] = 0; - out_5154051058888586616[165] = 0; - out_5154051058888586616[166] = 0; - out_5154051058888586616[167] = 0; - out_5154051058888586616[168] = 0; - out_5154051058888586616[169] = 0; - out_5154051058888586616[170] = 0; - out_5154051058888586616[171] = 1; - out_5154051058888586616[172] = 0; - out_5154051058888586616[173] = 0; - out_5154051058888586616[174] = 0; - out_5154051058888586616[175] = 0; - out_5154051058888586616[176] = 0; - out_5154051058888586616[177] = 0; - out_5154051058888586616[178] = 0; - out_5154051058888586616[179] = 0; - out_5154051058888586616[180] = 0; - out_5154051058888586616[181] = 0; - out_5154051058888586616[182] = 0; - out_5154051058888586616[183] = 0; - out_5154051058888586616[184] = 0; - out_5154051058888586616[185] = 0; - out_5154051058888586616[186] = 0; - out_5154051058888586616[187] = 0; - out_5154051058888586616[188] = 0; - out_5154051058888586616[189] = 0; - out_5154051058888586616[190] = 1; - out_5154051058888586616[191] = 0; - out_5154051058888586616[192] = 0; - out_5154051058888586616[193] = 0; - out_5154051058888586616[194] = 0; - out_5154051058888586616[195] = 0; - out_5154051058888586616[196] = 0; - out_5154051058888586616[197] = 0; - out_5154051058888586616[198] = 0; - out_5154051058888586616[199] = 0; - out_5154051058888586616[200] = 0; - out_5154051058888586616[201] = 0; - out_5154051058888586616[202] = 0; - out_5154051058888586616[203] = 0; - out_5154051058888586616[204] = 0; - out_5154051058888586616[205] = 0; - out_5154051058888586616[206] = 0; - out_5154051058888586616[207] = 0; - out_5154051058888586616[208] = 0; - out_5154051058888586616[209] = 1; - out_5154051058888586616[210] = 0; - out_5154051058888586616[211] = 0; - out_5154051058888586616[212] = 0; - out_5154051058888586616[213] = 0; - out_5154051058888586616[214] = 0; - out_5154051058888586616[215] = 0; - out_5154051058888586616[216] = 0; - out_5154051058888586616[217] = 0; - out_5154051058888586616[218] = 0; - out_5154051058888586616[219] = 0; - out_5154051058888586616[220] = 0; - out_5154051058888586616[221] = 0; - out_5154051058888586616[222] = 0; - out_5154051058888586616[223] = 0; - out_5154051058888586616[224] = 0; - out_5154051058888586616[225] = 0; - out_5154051058888586616[226] = 0; - out_5154051058888586616[227] = 0; - out_5154051058888586616[228] = 1; - out_5154051058888586616[229] = 0; - out_5154051058888586616[230] = 0; - out_5154051058888586616[231] = 0; - out_5154051058888586616[232] = 0; - out_5154051058888586616[233] = 0; - out_5154051058888586616[234] = 0; - out_5154051058888586616[235] = 0; - out_5154051058888586616[236] = 0; - out_5154051058888586616[237] = 0; - out_5154051058888586616[238] = 0; - out_5154051058888586616[239] = 0; - out_5154051058888586616[240] = 0; - out_5154051058888586616[241] = 0; - out_5154051058888586616[242] = 0; - out_5154051058888586616[243] = 0; - out_5154051058888586616[244] = 0; - out_5154051058888586616[245] = 0; - out_5154051058888586616[246] = 0; - out_5154051058888586616[247] = 1; - out_5154051058888586616[248] = 0; - out_5154051058888586616[249] = 0; - out_5154051058888586616[250] = 0; - out_5154051058888586616[251] = 0; - out_5154051058888586616[252] = 0; - out_5154051058888586616[253] = 0; - out_5154051058888586616[254] = 0; - out_5154051058888586616[255] = 0; - out_5154051058888586616[256] = 0; - out_5154051058888586616[257] = 0; - out_5154051058888586616[258] = 0; - out_5154051058888586616[259] = 0; - out_5154051058888586616[260] = 0; - out_5154051058888586616[261] = 0; - out_5154051058888586616[262] = 0; - out_5154051058888586616[263] = 0; - out_5154051058888586616[264] = 0; - out_5154051058888586616[265] = 0; - out_5154051058888586616[266] = 1; - out_5154051058888586616[267] = 0; - out_5154051058888586616[268] = 0; - out_5154051058888586616[269] = 0; - out_5154051058888586616[270] = 0; - out_5154051058888586616[271] = 0; - out_5154051058888586616[272] = 0; - out_5154051058888586616[273] = 0; - out_5154051058888586616[274] = 0; - out_5154051058888586616[275] = 0; - out_5154051058888586616[276] = 0; - out_5154051058888586616[277] = 0; - out_5154051058888586616[278] = 0; - out_5154051058888586616[279] = 0; - out_5154051058888586616[280] = 0; - out_5154051058888586616[281] = 0; - out_5154051058888586616[282] = 0; - out_5154051058888586616[283] = 0; - out_5154051058888586616[284] = 0; - out_5154051058888586616[285] = 1; - out_5154051058888586616[286] = 0; - out_5154051058888586616[287] = 0; - out_5154051058888586616[288] = 0; - out_5154051058888586616[289] = 0; - out_5154051058888586616[290] = 0; - out_5154051058888586616[291] = 0; - out_5154051058888586616[292] = 0; - out_5154051058888586616[293] = 0; - out_5154051058888586616[294] = 0; - out_5154051058888586616[295] = 0; - out_5154051058888586616[296] = 0; - out_5154051058888586616[297] = 0; - out_5154051058888586616[298] = 0; - out_5154051058888586616[299] = 0; - out_5154051058888586616[300] = 0; - out_5154051058888586616[301] = 0; - out_5154051058888586616[302] = 0; - out_5154051058888586616[303] = 0; - out_5154051058888586616[304] = 1; - out_5154051058888586616[305] = 0; - out_5154051058888586616[306] = 0; - out_5154051058888586616[307] = 0; - out_5154051058888586616[308] = 0; - out_5154051058888586616[309] = 0; - out_5154051058888586616[310] = 0; - out_5154051058888586616[311] = 0; - out_5154051058888586616[312] = 0; - out_5154051058888586616[313] = 0; - out_5154051058888586616[314] = 0; - out_5154051058888586616[315] = 0; - out_5154051058888586616[316] = 0; - out_5154051058888586616[317] = 0; - out_5154051058888586616[318] = 0; - out_5154051058888586616[319] = 0; - out_5154051058888586616[320] = 0; - out_5154051058888586616[321] = 0; - out_5154051058888586616[322] = 0; - out_5154051058888586616[323] = 1; +void F_fun(double *state, double dt, double *out_8500986371107107872) { + out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[2] = 0; + out_8500986371107107872[3] = 0; + out_8500986371107107872[4] = 0; + out_8500986371107107872[5] = 0; + out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[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_8500986371107107872[9] = 0; + out_8500986371107107872[10] = 0; + out_8500986371107107872[11] = 0; + out_8500986371107107872[12] = 0; + out_8500986371107107872[13] = 0; + out_8500986371107107872[14] = 0; + out_8500986371107107872[15] = 0; + out_8500986371107107872[16] = 0; + out_8500986371107107872[17] = 0; + out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[20] = 0; + out_8500986371107107872[21] = 0; + out_8500986371107107872[22] = 0; + out_8500986371107107872[23] = 0; + out_8500986371107107872[24] = 0; + out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[27] = 0; + out_8500986371107107872[28] = 0; + out_8500986371107107872[29] = 0; + out_8500986371107107872[30] = 0; + out_8500986371107107872[31] = 0; + out_8500986371107107872[32] = 0; + out_8500986371107107872[33] = 0; + out_8500986371107107872[34] = 0; + out_8500986371107107872[35] = 0; + out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[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_8500986371107107872[39] = 0; + out_8500986371107107872[40] = 0; + out_8500986371107107872[41] = 0; + out_8500986371107107872[42] = 0; + out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[45] = 0; + out_8500986371107107872[46] = 0; + out_8500986371107107872[47] = 0; + out_8500986371107107872[48] = 0; + out_8500986371107107872[49] = 0; + out_8500986371107107872[50] = 0; + out_8500986371107107872[51] = 0; + out_8500986371107107872[52] = 0; + out_8500986371107107872[53] = 0; + out_8500986371107107872[54] = 0; + out_8500986371107107872[55] = 0; + out_8500986371107107872[56] = 0; + out_8500986371107107872[57] = 1; + out_8500986371107107872[58] = 0; + out_8500986371107107872[59] = 0; + out_8500986371107107872[60] = 0; + out_8500986371107107872[61] = 0; + out_8500986371107107872[62] = 0; + out_8500986371107107872[63] = 0; + out_8500986371107107872[64] = 0; + out_8500986371107107872[65] = 0; + out_8500986371107107872[66] = dt; + out_8500986371107107872[67] = 0; + out_8500986371107107872[68] = 0; + out_8500986371107107872[69] = 0; + out_8500986371107107872[70] = 0; + out_8500986371107107872[71] = 0; + out_8500986371107107872[72] = 0; + out_8500986371107107872[73] = 0; + out_8500986371107107872[74] = 0; + out_8500986371107107872[75] = 0; + out_8500986371107107872[76] = 1; + out_8500986371107107872[77] = 0; + out_8500986371107107872[78] = 0; + out_8500986371107107872[79] = 0; + out_8500986371107107872[80] = 0; + out_8500986371107107872[81] = 0; + out_8500986371107107872[82] = 0; + out_8500986371107107872[83] = 0; + out_8500986371107107872[84] = 0; + out_8500986371107107872[85] = dt; + out_8500986371107107872[86] = 0; + out_8500986371107107872[87] = 0; + out_8500986371107107872[88] = 0; + out_8500986371107107872[89] = 0; + out_8500986371107107872[90] = 0; + out_8500986371107107872[91] = 0; + out_8500986371107107872[92] = 0; + out_8500986371107107872[93] = 0; + out_8500986371107107872[94] = 0; + out_8500986371107107872[95] = 1; + out_8500986371107107872[96] = 0; + out_8500986371107107872[97] = 0; + out_8500986371107107872[98] = 0; + out_8500986371107107872[99] = 0; + out_8500986371107107872[100] = 0; + out_8500986371107107872[101] = 0; + out_8500986371107107872[102] = 0; + out_8500986371107107872[103] = 0; + out_8500986371107107872[104] = dt; + out_8500986371107107872[105] = 0; + out_8500986371107107872[106] = 0; + out_8500986371107107872[107] = 0; + out_8500986371107107872[108] = 0; + out_8500986371107107872[109] = 0; + out_8500986371107107872[110] = 0; + out_8500986371107107872[111] = 0; + out_8500986371107107872[112] = 0; + out_8500986371107107872[113] = 0; + out_8500986371107107872[114] = 1; + out_8500986371107107872[115] = 0; + out_8500986371107107872[116] = 0; + out_8500986371107107872[117] = 0; + out_8500986371107107872[118] = 0; + out_8500986371107107872[119] = 0; + out_8500986371107107872[120] = 0; + out_8500986371107107872[121] = 0; + out_8500986371107107872[122] = 0; + out_8500986371107107872[123] = 0; + out_8500986371107107872[124] = 0; + out_8500986371107107872[125] = 0; + out_8500986371107107872[126] = 0; + out_8500986371107107872[127] = 0; + out_8500986371107107872[128] = 0; + out_8500986371107107872[129] = 0; + out_8500986371107107872[130] = 0; + out_8500986371107107872[131] = 0; + out_8500986371107107872[132] = 0; + out_8500986371107107872[133] = 1; + out_8500986371107107872[134] = 0; + out_8500986371107107872[135] = 0; + out_8500986371107107872[136] = 0; + out_8500986371107107872[137] = 0; + out_8500986371107107872[138] = 0; + out_8500986371107107872[139] = 0; + out_8500986371107107872[140] = 0; + out_8500986371107107872[141] = 0; + out_8500986371107107872[142] = 0; + out_8500986371107107872[143] = 0; + out_8500986371107107872[144] = 0; + out_8500986371107107872[145] = 0; + out_8500986371107107872[146] = 0; + out_8500986371107107872[147] = 0; + out_8500986371107107872[148] = 0; + out_8500986371107107872[149] = 0; + out_8500986371107107872[150] = 0; + out_8500986371107107872[151] = 0; + out_8500986371107107872[152] = 1; + out_8500986371107107872[153] = 0; + out_8500986371107107872[154] = 0; + out_8500986371107107872[155] = 0; + out_8500986371107107872[156] = 0; + out_8500986371107107872[157] = 0; + out_8500986371107107872[158] = 0; + out_8500986371107107872[159] = 0; + out_8500986371107107872[160] = 0; + out_8500986371107107872[161] = 0; + out_8500986371107107872[162] = 0; + out_8500986371107107872[163] = 0; + out_8500986371107107872[164] = 0; + out_8500986371107107872[165] = 0; + out_8500986371107107872[166] = 0; + out_8500986371107107872[167] = 0; + out_8500986371107107872[168] = 0; + out_8500986371107107872[169] = 0; + out_8500986371107107872[170] = 0; + out_8500986371107107872[171] = 1; + out_8500986371107107872[172] = 0; + out_8500986371107107872[173] = 0; + out_8500986371107107872[174] = 0; + out_8500986371107107872[175] = 0; + out_8500986371107107872[176] = 0; + out_8500986371107107872[177] = 0; + out_8500986371107107872[178] = 0; + out_8500986371107107872[179] = 0; + out_8500986371107107872[180] = 0; + out_8500986371107107872[181] = 0; + out_8500986371107107872[182] = 0; + out_8500986371107107872[183] = 0; + out_8500986371107107872[184] = 0; + out_8500986371107107872[185] = 0; + out_8500986371107107872[186] = 0; + out_8500986371107107872[187] = 0; + out_8500986371107107872[188] = 0; + out_8500986371107107872[189] = 0; + out_8500986371107107872[190] = 1; + out_8500986371107107872[191] = 0; + out_8500986371107107872[192] = 0; + out_8500986371107107872[193] = 0; + out_8500986371107107872[194] = 0; + out_8500986371107107872[195] = 0; + out_8500986371107107872[196] = 0; + out_8500986371107107872[197] = 0; + out_8500986371107107872[198] = 0; + out_8500986371107107872[199] = 0; + out_8500986371107107872[200] = 0; + out_8500986371107107872[201] = 0; + out_8500986371107107872[202] = 0; + out_8500986371107107872[203] = 0; + out_8500986371107107872[204] = 0; + out_8500986371107107872[205] = 0; + out_8500986371107107872[206] = 0; + out_8500986371107107872[207] = 0; + out_8500986371107107872[208] = 0; + out_8500986371107107872[209] = 1; + out_8500986371107107872[210] = 0; + out_8500986371107107872[211] = 0; + out_8500986371107107872[212] = 0; + out_8500986371107107872[213] = 0; + out_8500986371107107872[214] = 0; + out_8500986371107107872[215] = 0; + out_8500986371107107872[216] = 0; + out_8500986371107107872[217] = 0; + out_8500986371107107872[218] = 0; + out_8500986371107107872[219] = 0; + out_8500986371107107872[220] = 0; + out_8500986371107107872[221] = 0; + out_8500986371107107872[222] = 0; + out_8500986371107107872[223] = 0; + out_8500986371107107872[224] = 0; + out_8500986371107107872[225] = 0; + out_8500986371107107872[226] = 0; + out_8500986371107107872[227] = 0; + out_8500986371107107872[228] = 1; + out_8500986371107107872[229] = 0; + out_8500986371107107872[230] = 0; + out_8500986371107107872[231] = 0; + out_8500986371107107872[232] = 0; + out_8500986371107107872[233] = 0; + out_8500986371107107872[234] = 0; + out_8500986371107107872[235] = 0; + out_8500986371107107872[236] = 0; + out_8500986371107107872[237] = 0; + out_8500986371107107872[238] = 0; + out_8500986371107107872[239] = 0; + out_8500986371107107872[240] = 0; + out_8500986371107107872[241] = 0; + out_8500986371107107872[242] = 0; + out_8500986371107107872[243] = 0; + out_8500986371107107872[244] = 0; + out_8500986371107107872[245] = 0; + out_8500986371107107872[246] = 0; + out_8500986371107107872[247] = 1; + out_8500986371107107872[248] = 0; + out_8500986371107107872[249] = 0; + out_8500986371107107872[250] = 0; + out_8500986371107107872[251] = 0; + out_8500986371107107872[252] = 0; + out_8500986371107107872[253] = 0; + out_8500986371107107872[254] = 0; + out_8500986371107107872[255] = 0; + out_8500986371107107872[256] = 0; + out_8500986371107107872[257] = 0; + out_8500986371107107872[258] = 0; + out_8500986371107107872[259] = 0; + out_8500986371107107872[260] = 0; + out_8500986371107107872[261] = 0; + out_8500986371107107872[262] = 0; + out_8500986371107107872[263] = 0; + out_8500986371107107872[264] = 0; + out_8500986371107107872[265] = 0; + out_8500986371107107872[266] = 1; + out_8500986371107107872[267] = 0; + out_8500986371107107872[268] = 0; + out_8500986371107107872[269] = 0; + out_8500986371107107872[270] = 0; + out_8500986371107107872[271] = 0; + out_8500986371107107872[272] = 0; + out_8500986371107107872[273] = 0; + out_8500986371107107872[274] = 0; + out_8500986371107107872[275] = 0; + out_8500986371107107872[276] = 0; + out_8500986371107107872[277] = 0; + out_8500986371107107872[278] = 0; + out_8500986371107107872[279] = 0; + out_8500986371107107872[280] = 0; + out_8500986371107107872[281] = 0; + out_8500986371107107872[282] = 0; + out_8500986371107107872[283] = 0; + out_8500986371107107872[284] = 0; + out_8500986371107107872[285] = 1; + out_8500986371107107872[286] = 0; + out_8500986371107107872[287] = 0; + out_8500986371107107872[288] = 0; + out_8500986371107107872[289] = 0; + out_8500986371107107872[290] = 0; + out_8500986371107107872[291] = 0; + out_8500986371107107872[292] = 0; + out_8500986371107107872[293] = 0; + out_8500986371107107872[294] = 0; + out_8500986371107107872[295] = 0; + out_8500986371107107872[296] = 0; + out_8500986371107107872[297] = 0; + out_8500986371107107872[298] = 0; + out_8500986371107107872[299] = 0; + out_8500986371107107872[300] = 0; + out_8500986371107107872[301] = 0; + out_8500986371107107872[302] = 0; + out_8500986371107107872[303] = 0; + out_8500986371107107872[304] = 1; + out_8500986371107107872[305] = 0; + out_8500986371107107872[306] = 0; + out_8500986371107107872[307] = 0; + out_8500986371107107872[308] = 0; + out_8500986371107107872[309] = 0; + out_8500986371107107872[310] = 0; + out_8500986371107107872[311] = 0; + out_8500986371107107872[312] = 0; + out_8500986371107107872[313] = 0; + out_8500986371107107872[314] = 0; + out_8500986371107107872[315] = 0; + out_8500986371107107872[316] = 0; + out_8500986371107107872[317] = 0; + out_8500986371107107872[318] = 0; + out_8500986371107107872[319] = 0; + out_8500986371107107872[320] = 0; + out_8500986371107107872[321] = 0; + out_8500986371107107872[322] = 0; + out_8500986371107107872[323] = 1; } -void h_4(double *state, double *unused, double *out_5970382648807117116) { - out_5970382648807117116[0] = state[6] + state[9]; - out_5970382648807117116[1] = state[7] + state[10]; - out_5970382648807117116[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5400718070291809963) { + out_5400718070291809963[0] = state[6] + state[9]; + out_5400718070291809963[1] = state[7] + state[10]; + out_5400718070291809963[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4945289047293534985) { - out_4945289047293534985[0] = 0; - out_4945289047293534985[1] = 0; - out_4945289047293534985[2] = 0; - out_4945289047293534985[3] = 0; - out_4945289047293534985[4] = 0; - out_4945289047293534985[5] = 0; - out_4945289047293534985[6] = 1; - out_4945289047293534985[7] = 0; - out_4945289047293534985[8] = 0; - out_4945289047293534985[9] = 1; - out_4945289047293534985[10] = 0; - out_4945289047293534985[11] = 0; - out_4945289047293534985[12] = 0; - out_4945289047293534985[13] = 0; - out_4945289047293534985[14] = 0; - out_4945289047293534985[15] = 0; - out_4945289047293534985[16] = 0; - out_4945289047293534985[17] = 0; - out_4945289047293534985[18] = 0; - out_4945289047293534985[19] = 0; - out_4945289047293534985[20] = 0; - out_4945289047293534985[21] = 0; - out_4945289047293534985[22] = 0; - out_4945289047293534985[23] = 0; - out_4945289047293534985[24] = 0; - out_4945289047293534985[25] = 1; - out_4945289047293534985[26] = 0; - out_4945289047293534985[27] = 0; - out_4945289047293534985[28] = 1; - out_4945289047293534985[29] = 0; - out_4945289047293534985[30] = 0; - out_4945289047293534985[31] = 0; - out_4945289047293534985[32] = 0; - out_4945289047293534985[33] = 0; - out_4945289047293534985[34] = 0; - out_4945289047293534985[35] = 0; - out_4945289047293534985[36] = 0; - out_4945289047293534985[37] = 0; - out_4945289047293534985[38] = 0; - out_4945289047293534985[39] = 0; - out_4945289047293534985[40] = 0; - out_4945289047293534985[41] = 0; - out_4945289047293534985[42] = 0; - out_4945289047293534985[43] = 0; - out_4945289047293534985[44] = 1; - out_4945289047293534985[45] = 0; - out_4945289047293534985[46] = 0; - out_4945289047293534985[47] = 1; - out_4945289047293534985[48] = 0; - out_4945289047293534985[49] = 0; - out_4945289047293534985[50] = 0; - out_4945289047293534985[51] = 0; - out_4945289047293534985[52] = 0; - out_4945289047293534985[53] = 0; +void H_4(double *state, double *unused, double *out_9155959275085036656) { + out_9155959275085036656[0] = 0; + out_9155959275085036656[1] = 0; + out_9155959275085036656[2] = 0; + out_9155959275085036656[3] = 0; + out_9155959275085036656[4] = 0; + out_9155959275085036656[5] = 0; + out_9155959275085036656[6] = 1; + out_9155959275085036656[7] = 0; + out_9155959275085036656[8] = 0; + out_9155959275085036656[9] = 1; + out_9155959275085036656[10] = 0; + out_9155959275085036656[11] = 0; + out_9155959275085036656[12] = 0; + out_9155959275085036656[13] = 0; + out_9155959275085036656[14] = 0; + out_9155959275085036656[15] = 0; + out_9155959275085036656[16] = 0; + out_9155959275085036656[17] = 0; + out_9155959275085036656[18] = 0; + out_9155959275085036656[19] = 0; + out_9155959275085036656[20] = 0; + out_9155959275085036656[21] = 0; + out_9155959275085036656[22] = 0; + out_9155959275085036656[23] = 0; + out_9155959275085036656[24] = 0; + out_9155959275085036656[25] = 1; + out_9155959275085036656[26] = 0; + out_9155959275085036656[27] = 0; + out_9155959275085036656[28] = 1; + out_9155959275085036656[29] = 0; + out_9155959275085036656[30] = 0; + out_9155959275085036656[31] = 0; + out_9155959275085036656[32] = 0; + out_9155959275085036656[33] = 0; + out_9155959275085036656[34] = 0; + out_9155959275085036656[35] = 0; + out_9155959275085036656[36] = 0; + out_9155959275085036656[37] = 0; + out_9155959275085036656[38] = 0; + out_9155959275085036656[39] = 0; + out_9155959275085036656[40] = 0; + out_9155959275085036656[41] = 0; + out_9155959275085036656[42] = 0; + out_9155959275085036656[43] = 0; + out_9155959275085036656[44] = 1; + out_9155959275085036656[45] = 0; + out_9155959275085036656[46] = 0; + out_9155959275085036656[47] = 1; + out_9155959275085036656[48] = 0; + out_9155959275085036656[49] = 0; + out_9155959275085036656[50] = 0; + out_9155959275085036656[51] = 0; + out_9155959275085036656[52] = 0; + out_9155959275085036656[53] = 0; } -void h_10(double *state, double *unused, double *out_520088425664385209) { - out_520088425664385209[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_520088425664385209[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_520088425664385209[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_2963274022918519597) { + out_2963274022918519597[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2963274022918519597[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2963274022918519597[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_4050335309714945768) { - out_4050335309714945768[0] = 0; - out_4050335309714945768[1] = 9.8100000000000005*cos(state[1]); - out_4050335309714945768[2] = 0; - out_4050335309714945768[3] = 0; - out_4050335309714945768[4] = -state[8]; - out_4050335309714945768[5] = state[7]; - out_4050335309714945768[6] = 0; - out_4050335309714945768[7] = state[5]; - out_4050335309714945768[8] = -state[4]; - out_4050335309714945768[9] = 0; - out_4050335309714945768[10] = 0; - out_4050335309714945768[11] = 0; - out_4050335309714945768[12] = 1; - out_4050335309714945768[13] = 0; - out_4050335309714945768[14] = 0; - out_4050335309714945768[15] = 1; - out_4050335309714945768[16] = 0; - out_4050335309714945768[17] = 0; - out_4050335309714945768[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4050335309714945768[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4050335309714945768[20] = 0; - out_4050335309714945768[21] = state[8]; - out_4050335309714945768[22] = 0; - out_4050335309714945768[23] = -state[6]; - out_4050335309714945768[24] = -state[5]; - out_4050335309714945768[25] = 0; - out_4050335309714945768[26] = state[3]; - out_4050335309714945768[27] = 0; - out_4050335309714945768[28] = 0; - out_4050335309714945768[29] = 0; - out_4050335309714945768[30] = 0; - out_4050335309714945768[31] = 1; - out_4050335309714945768[32] = 0; - out_4050335309714945768[33] = 0; - out_4050335309714945768[34] = 1; - out_4050335309714945768[35] = 0; - out_4050335309714945768[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4050335309714945768[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4050335309714945768[38] = 0; - out_4050335309714945768[39] = -state[7]; - out_4050335309714945768[40] = state[6]; - out_4050335309714945768[41] = 0; - out_4050335309714945768[42] = state[4]; - out_4050335309714945768[43] = -state[3]; - out_4050335309714945768[44] = 0; - out_4050335309714945768[45] = 0; - out_4050335309714945768[46] = 0; - out_4050335309714945768[47] = 0; - out_4050335309714945768[48] = 0; - out_4050335309714945768[49] = 0; - out_4050335309714945768[50] = 1; - out_4050335309714945768[51] = 0; - out_4050335309714945768[52] = 0; - out_4050335309714945768[53] = 1; +void H_10(double *state, double *unused, double *out_5627581855619872909) { + out_5627581855619872909[0] = 0; + out_5627581855619872909[1] = 9.8100000000000005*cos(state[1]); + out_5627581855619872909[2] = 0; + out_5627581855619872909[3] = 0; + out_5627581855619872909[4] = -state[8]; + out_5627581855619872909[5] = state[7]; + out_5627581855619872909[6] = 0; + out_5627581855619872909[7] = state[5]; + out_5627581855619872909[8] = -state[4]; + out_5627581855619872909[9] = 0; + out_5627581855619872909[10] = 0; + out_5627581855619872909[11] = 0; + out_5627581855619872909[12] = 1; + out_5627581855619872909[13] = 0; + out_5627581855619872909[14] = 0; + out_5627581855619872909[15] = 1; + out_5627581855619872909[16] = 0; + out_5627581855619872909[17] = 0; + out_5627581855619872909[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5627581855619872909[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5627581855619872909[20] = 0; + out_5627581855619872909[21] = state[8]; + out_5627581855619872909[22] = 0; + out_5627581855619872909[23] = -state[6]; + out_5627581855619872909[24] = -state[5]; + out_5627581855619872909[25] = 0; + out_5627581855619872909[26] = state[3]; + out_5627581855619872909[27] = 0; + out_5627581855619872909[28] = 0; + out_5627581855619872909[29] = 0; + out_5627581855619872909[30] = 0; + out_5627581855619872909[31] = 1; + out_5627581855619872909[32] = 0; + out_5627581855619872909[33] = 0; + out_5627581855619872909[34] = 1; + out_5627581855619872909[35] = 0; + out_5627581855619872909[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5627581855619872909[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5627581855619872909[38] = 0; + out_5627581855619872909[39] = -state[7]; + out_5627581855619872909[40] = state[6]; + out_5627581855619872909[41] = 0; + out_5627581855619872909[42] = state[4]; + out_5627581855619872909[43] = -state[3]; + out_5627581855619872909[44] = 0; + out_5627581855619872909[45] = 0; + out_5627581855619872909[46] = 0; + out_5627581855619872909[47] = 0; + out_5627581855619872909[48] = 0; + out_5627581855619872909[49] = 0; + out_5627581855619872909[50] = 1; + out_5627581855619872909[51] = 0; + out_5627581855619872909[52] = 0; + out_5627581855619872909[53] = 1; } -void h_13(double *state, double *unused, double *out_1434579794425570866) { - out_1434579794425570866[0] = state[3]; - out_1434579794425570866[1] = state[4]; - out_1434579794425570866[2] = state[5]; +void h_13(double *state, double *unused, double *out_6005618121794927988) { + out_6005618121794927988[0] = state[3]; + out_6005618121794927988[1] = state[4]; + out_6005618121794927988[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1111533583991010961) { - out_1111533583991010961[0] = 0; - out_1111533583991010961[1] = 0; - out_1111533583991010961[2] = 0; - out_1111533583991010961[3] = 1; - out_1111533583991010961[4] = 0; - out_1111533583991010961[5] = 0; - out_1111533583991010961[6] = 0; - out_1111533583991010961[7] = 0; - out_1111533583991010961[8] = 0; - out_1111533583991010961[9] = 0; - out_1111533583991010961[10] = 0; - out_1111533583991010961[11] = 0; - out_1111533583991010961[12] = 0; - out_1111533583991010961[13] = 0; - out_1111533583991010961[14] = 0; - out_1111533583991010961[15] = 0; - out_1111533583991010961[16] = 0; - out_1111533583991010961[17] = 0; - out_1111533583991010961[18] = 0; - out_1111533583991010961[19] = 0; - out_1111533583991010961[20] = 0; - out_1111533583991010961[21] = 0; - out_1111533583991010961[22] = 1; - out_1111533583991010961[23] = 0; - out_1111533583991010961[24] = 0; - out_1111533583991010961[25] = 0; - out_1111533583991010961[26] = 0; - out_1111533583991010961[27] = 0; - out_1111533583991010961[28] = 0; - out_1111533583991010961[29] = 0; - out_1111533583991010961[30] = 0; - out_1111533583991010961[31] = 0; - out_1111533583991010961[32] = 0; - out_1111533583991010961[33] = 0; - out_1111533583991010961[34] = 0; - out_1111533583991010961[35] = 0; - out_1111533583991010961[36] = 0; - out_1111533583991010961[37] = 0; - out_1111533583991010961[38] = 0; - out_1111533583991010961[39] = 0; - out_1111533583991010961[40] = 0; - out_1111533583991010961[41] = 1; - out_1111533583991010961[42] = 0; - out_1111533583991010961[43] = 0; - out_1111533583991010961[44] = 0; - out_1111533583991010961[45] = 0; - out_1111533583991010961[46] = 0; - out_1111533583991010961[47] = 0; - out_1111533583991010961[48] = 0; - out_1111533583991010961[49] = 0; - out_1111533583991010961[50] = 0; - out_1111533583991010961[51] = 0; - out_1111533583991010961[52] = 0; - out_1111533583991010961[53] = 0; +void H_13(double *state, double *unused, double *out_1680153590307814031) { + out_1680153590307814031[0] = 0; + out_1680153590307814031[1] = 0; + out_1680153590307814031[2] = 0; + out_1680153590307814031[3] = 1; + out_1680153590307814031[4] = 0; + out_1680153590307814031[5] = 0; + out_1680153590307814031[6] = 0; + out_1680153590307814031[7] = 0; + out_1680153590307814031[8] = 0; + out_1680153590307814031[9] = 0; + out_1680153590307814031[10] = 0; + out_1680153590307814031[11] = 0; + out_1680153590307814031[12] = 0; + out_1680153590307814031[13] = 0; + out_1680153590307814031[14] = 0; + out_1680153590307814031[15] = 0; + out_1680153590307814031[16] = 0; + out_1680153590307814031[17] = 0; + out_1680153590307814031[18] = 0; + out_1680153590307814031[19] = 0; + out_1680153590307814031[20] = 0; + out_1680153590307814031[21] = 0; + out_1680153590307814031[22] = 1; + out_1680153590307814031[23] = 0; + out_1680153590307814031[24] = 0; + out_1680153590307814031[25] = 0; + out_1680153590307814031[26] = 0; + out_1680153590307814031[27] = 0; + out_1680153590307814031[28] = 0; + out_1680153590307814031[29] = 0; + out_1680153590307814031[30] = 0; + out_1680153590307814031[31] = 0; + out_1680153590307814031[32] = 0; + out_1680153590307814031[33] = 0; + out_1680153590307814031[34] = 0; + out_1680153590307814031[35] = 0; + out_1680153590307814031[36] = 0; + out_1680153590307814031[37] = 0; + out_1680153590307814031[38] = 0; + out_1680153590307814031[39] = 0; + out_1680153590307814031[40] = 0; + out_1680153590307814031[41] = 1; + out_1680153590307814031[42] = 0; + out_1680153590307814031[43] = 0; + out_1680153590307814031[44] = 0; + out_1680153590307814031[45] = 0; + out_1680153590307814031[46] = 0; + out_1680153590307814031[47] = 0; + out_1680153590307814031[48] = 0; + out_1680153590307814031[49] = 0; + out_1680153590307814031[50] = 0; + out_1680153590307814031[51] = 0; + out_1680153590307814031[52] = 0; + out_1680153590307814031[53] = 0; } -void h_14(double *state, double *unused, double *out_5370135948753942539) { - out_5370135948753942539[0] = state[6]; - out_5370135948753942539[1] = state[7]; - out_5370135948753942539[2] = state[8]; +void h_14(double *state, double *unused, double *out_5652518326669022365) { + out_5652518326669022365[0] = state[6]; + out_5652518326669022365[1] = state[7]; + out_5652518326669022365[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1862500614998162689) { - out_1862500614998162689[0] = 0; - out_1862500614998162689[1] = 0; - out_1862500614998162689[2] = 0; - out_1862500614998162689[3] = 0; - out_1862500614998162689[4] = 0; - out_1862500614998162689[5] = 0; - out_1862500614998162689[6] = 1; - out_1862500614998162689[7] = 0; - out_1862500614998162689[8] = 0; - out_1862500614998162689[9] = 0; - out_1862500614998162689[10] = 0; - out_1862500614998162689[11] = 0; - out_1862500614998162689[12] = 0; - out_1862500614998162689[13] = 0; - out_1862500614998162689[14] = 0; - out_1862500614998162689[15] = 0; - out_1862500614998162689[16] = 0; - out_1862500614998162689[17] = 0; - out_1862500614998162689[18] = 0; - out_1862500614998162689[19] = 0; - out_1862500614998162689[20] = 0; - out_1862500614998162689[21] = 0; - out_1862500614998162689[22] = 0; - out_1862500614998162689[23] = 0; - out_1862500614998162689[24] = 0; - out_1862500614998162689[25] = 1; - out_1862500614998162689[26] = 0; - out_1862500614998162689[27] = 0; - out_1862500614998162689[28] = 0; - out_1862500614998162689[29] = 0; - out_1862500614998162689[30] = 0; - out_1862500614998162689[31] = 0; - out_1862500614998162689[32] = 0; - out_1862500614998162689[33] = 0; - out_1862500614998162689[34] = 0; - out_1862500614998162689[35] = 0; - out_1862500614998162689[36] = 0; - out_1862500614998162689[37] = 0; - out_1862500614998162689[38] = 0; - out_1862500614998162689[39] = 0; - out_1862500614998162689[40] = 0; - out_1862500614998162689[41] = 0; - out_1862500614998162689[42] = 0; - out_1862500614998162689[43] = 0; - out_1862500614998162689[44] = 1; - out_1862500614998162689[45] = 0; - out_1862500614998162689[46] = 0; - out_1862500614998162689[47] = 0; - out_1862500614998162689[48] = 0; - out_1862500614998162689[49] = 0; - out_1862500614998162689[50] = 0; - out_1862500614998162689[51] = 0; - out_1862500614998162689[52] = 0; - out_1862500614998162689[53] = 0; +void H_14(double *state, double *unused, double *out_6073170842789664360) { + out_6073170842789664360[0] = 0; + out_6073170842789664360[1] = 0; + out_6073170842789664360[2] = 0; + out_6073170842789664360[3] = 0; + out_6073170842789664360[4] = 0; + out_6073170842789664360[5] = 0; + out_6073170842789664360[6] = 1; + out_6073170842789664360[7] = 0; + out_6073170842789664360[8] = 0; + out_6073170842789664360[9] = 0; + out_6073170842789664360[10] = 0; + out_6073170842789664360[11] = 0; + out_6073170842789664360[12] = 0; + out_6073170842789664360[13] = 0; + out_6073170842789664360[14] = 0; + out_6073170842789664360[15] = 0; + out_6073170842789664360[16] = 0; + out_6073170842789664360[17] = 0; + out_6073170842789664360[18] = 0; + out_6073170842789664360[19] = 0; + out_6073170842789664360[20] = 0; + out_6073170842789664360[21] = 0; + out_6073170842789664360[22] = 0; + out_6073170842789664360[23] = 0; + out_6073170842789664360[24] = 0; + out_6073170842789664360[25] = 1; + out_6073170842789664360[26] = 0; + out_6073170842789664360[27] = 0; + out_6073170842789664360[28] = 0; + out_6073170842789664360[29] = 0; + out_6073170842789664360[30] = 0; + out_6073170842789664360[31] = 0; + out_6073170842789664360[32] = 0; + out_6073170842789664360[33] = 0; + out_6073170842789664360[34] = 0; + out_6073170842789664360[35] = 0; + out_6073170842789664360[36] = 0; + out_6073170842789664360[37] = 0; + out_6073170842789664360[38] = 0; + out_6073170842789664360[39] = 0; + out_6073170842789664360[40] = 0; + out_6073170842789664360[41] = 0; + out_6073170842789664360[42] = 0; + out_6073170842789664360[43] = 0; + out_6073170842789664360[44] = 1; + out_6073170842789664360[45] = 0; + out_6073170842789664360[46] = 0; + out_6073170842789664360[47] = 0; + out_6073170842789664360[48] = 0; + out_6073170842789664360[49] = 0; + out_6073170842789664360[50] = 0; + out_6073170842789664360[51] = 0; + out_6073170842789664360[52] = 0; + out_6073170842789664360[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_3574067617578089570) { - err_fun(nom_x, delta_x, out_3574067617578089570); +void pose_err_fun(double *nom_x, double *delta_x, double *out_616508134330162473) { + err_fun(nom_x, delta_x, out_616508134330162473); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1515328263168530495) { - inv_err_fun(nom_x, true_x, out_1515328263168530495); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3534488348241865019) { + inv_err_fun(nom_x, true_x, out_3534488348241865019); } -void pose_H_mod_fun(double *state, double *out_207229337745545750) { - H_mod_fun(state, out_207229337745545750); +void pose_H_mod_fun(double *state, double *out_5384152065241129084) { + H_mod_fun(state, out_5384152065241129084); } -void pose_f_fun(double *state, double dt, double *out_3493541226789963130) { - f_fun(state, dt, out_3493541226789963130); +void pose_f_fun(double *state, double dt, double *out_1966290028419981018) { + f_fun(state, dt, out_1966290028419981018); } -void pose_F_fun(double *state, double dt, double *out_5154051058888586616) { - F_fun(state, dt, out_5154051058888586616); +void pose_F_fun(double *state, double dt, double *out_8500986371107107872) { + F_fun(state, dt, out_8500986371107107872); } -void pose_h_4(double *state, double *unused, double *out_5970382648807117116) { - h_4(state, unused, out_5970382648807117116); +void pose_h_4(double *state, double *unused, double *out_5400718070291809963) { + h_4(state, unused, out_5400718070291809963); } -void pose_H_4(double *state, double *unused, double *out_4945289047293534985) { - H_4(state, unused, out_4945289047293534985); +void pose_H_4(double *state, double *unused, double *out_9155959275085036656) { + H_4(state, unused, out_9155959275085036656); } -void pose_h_10(double *state, double *unused, double *out_520088425664385209) { - h_10(state, unused, out_520088425664385209); +void pose_h_10(double *state, double *unused, double *out_2963274022918519597) { + h_10(state, unused, out_2963274022918519597); } -void pose_H_10(double *state, double *unused, double *out_4050335309714945768) { - H_10(state, unused, out_4050335309714945768); +void pose_H_10(double *state, double *unused, double *out_5627581855619872909) { + H_10(state, unused, out_5627581855619872909); } -void pose_h_13(double *state, double *unused, double *out_1434579794425570866) { - h_13(state, unused, out_1434579794425570866); +void pose_h_13(double *state, double *unused, double *out_6005618121794927988) { + h_13(state, unused, out_6005618121794927988); } -void pose_H_13(double *state, double *unused, double *out_1111533583991010961) { - H_13(state, unused, out_1111533583991010961); +void pose_H_13(double *state, double *unused, double *out_1680153590307814031) { + H_13(state, unused, out_1680153590307814031); } -void pose_h_14(double *state, double *unused, double *out_5370135948753942539) { - h_14(state, unused, out_5370135948753942539); +void pose_h_14(double *state, double *unused, double *out_5652518326669022365) { + h_14(state, unused, out_5652518326669022365); } -void pose_H_14(double *state, double *unused, double *out_1862500614998162689) { - H_14(state, unused, out_1862500614998162689); +void pose_H_14(double *state, double *unused, double *out_6073170842789664360) { + H_14(state, unused, out_6073170842789664360); } 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 1cf895501..fb9821302 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_3574067617578089570); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1515328263168530495); -void pose_H_mod_fun(double *state, double *out_207229337745545750); -void pose_f_fun(double *state, double dt, double *out_3493541226789963130); -void pose_F_fun(double *state, double dt, double *out_5154051058888586616); -void pose_h_4(double *state, double *unused, double *out_5970382648807117116); -void pose_H_4(double *state, double *unused, double *out_4945289047293534985); -void pose_h_10(double *state, double *unused, double *out_520088425664385209); -void pose_H_10(double *state, double *unused, double *out_4050335309714945768); -void pose_h_13(double *state, double *unused, double *out_1434579794425570866); -void pose_H_13(double *state, double *unused, double *out_1111533583991010961); -void pose_h_14(double *state, double *unused, double *out_5370135948753942539); -void pose_H_14(double *state, double *unused, double *out_1862500614998162689); +void pose_err_fun(double *nom_x, double *delta_x, double *out_616508134330162473); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3534488348241865019); +void pose_H_mod_fun(double *state, double *out_5384152065241129084); +void pose_f_fun(double *state, double dt, double *out_1966290028419981018); +void pose_F_fun(double *state, double dt, double *out_8500986371107107872); +void pose_h_4(double *state, double *unused, double *out_5400718070291809963); +void pose_H_4(double *state, double *unused, double *out_9155959275085036656); +void pose_h_10(double *state, double *unused, double *out_2963274022918519597); +void pose_H_10(double *state, double *unused, double *out_5627581855619872909); +void pose_h_13(double *state, double *unused, double *out_6005618121794927988); +void pose_H_13(double *state, double *unused, double *out_1680153590307814031); +void pose_h_14(double *state, double *unused, double *out_5652518326669022365); +void pose_H_14(double *state, double *unused, double *out_6073170842789664360); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index da497bcc9..973633861 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ