diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index b7f7c56ca..23f0b694a 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 37739e860..e80c1392c 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 e2a3ef2b7..081ebeb3a 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 3de97c4f3..45b56d19d 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 734ea0b51..b95a7c96f 100755 Binary files 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b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index e2fecc10d..df93b078a 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 fbb315dba..3c900acd2 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-1d77de2f-DEBUG"; +const uint8_t gitversion[19] = "DEV-9910651a-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 2cd5a7c89..8dbd0f36b 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 4170aa10e..d9c9c7e0f 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 c307b2e8b..0dac1c91a 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 5dcc89af7..c5309fde2 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 76193eb81..6404294af 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 d393fdabe..eb855d9f0 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 97717adce..1d9aedf67 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index d9a498712..bb00135b3 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 7b93d1afe..1acc51759 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index a63b5c6e1..d6a980f8a 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 07e14bea9..8863d6df7 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index f1db254d4..11565bf42 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 c79c68a98..7aa1f2068 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 2b6256158..7a1672a4e 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 1f36828aa..0c67e49d1 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 3d021df92..7013a86ee 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 999d5b84f..9e8a0e429 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 50aac26b9..58a465d8a 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 02e23d9a4..0fb1a90df 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 df76b10ed..4339835aa 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 dcd8f3f6f..de96c0e0a 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-1d77de2f-DEBUG \ No newline at end of file +DEV-9910651a-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 2d08b0e53..b99d43486 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_787387508528698300) { - out_787387508528698300[0] = delta_x[0] + nom_x[0]; - out_787387508528698300[1] = delta_x[1] + nom_x[1]; - out_787387508528698300[2] = delta_x[2] + nom_x[2]; - out_787387508528698300[3] = delta_x[3] + nom_x[3]; - out_787387508528698300[4] = delta_x[4] + nom_x[4]; - out_787387508528698300[5] = delta_x[5] + nom_x[5]; - out_787387508528698300[6] = delta_x[6] + nom_x[6]; - out_787387508528698300[7] = delta_x[7] + nom_x[7]; - out_787387508528698300[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3928719841740981699) { + out_3928719841740981699[0] = delta_x[0] + nom_x[0]; + out_3928719841740981699[1] = delta_x[1] + nom_x[1]; + out_3928719841740981699[2] = delta_x[2] + nom_x[2]; + out_3928719841740981699[3] = delta_x[3] + nom_x[3]; + out_3928719841740981699[4] = delta_x[4] + nom_x[4]; + out_3928719841740981699[5] = delta_x[5] + nom_x[5]; + out_3928719841740981699[6] = delta_x[6] + nom_x[6]; + out_3928719841740981699[7] = delta_x[7] + nom_x[7]; + out_3928719841740981699[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4326351974821968285) { - out_4326351974821968285[0] = -nom_x[0] + true_x[0]; - out_4326351974821968285[1] = -nom_x[1] + true_x[1]; - out_4326351974821968285[2] = -nom_x[2] + true_x[2]; - out_4326351974821968285[3] = -nom_x[3] + true_x[3]; - out_4326351974821968285[4] = -nom_x[4] + true_x[4]; - out_4326351974821968285[5] = -nom_x[5] + true_x[5]; - out_4326351974821968285[6] = -nom_x[6] + true_x[6]; - out_4326351974821968285[7] = -nom_x[7] + true_x[7]; - out_4326351974821968285[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5321639104726738897) { + out_5321639104726738897[0] = -nom_x[0] + true_x[0]; + out_5321639104726738897[1] = -nom_x[1] + true_x[1]; + out_5321639104726738897[2] = -nom_x[2] + true_x[2]; + out_5321639104726738897[3] = -nom_x[3] + true_x[3]; + out_5321639104726738897[4] = -nom_x[4] + true_x[4]; + out_5321639104726738897[5] = -nom_x[5] + true_x[5]; + out_5321639104726738897[6] = -nom_x[6] + true_x[6]; + out_5321639104726738897[7] = -nom_x[7] + true_x[7]; + out_5321639104726738897[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_253192225752308971) { - out_253192225752308971[0] = 1.0; - out_253192225752308971[1] = 0.0; - out_253192225752308971[2] = 0.0; - out_253192225752308971[3] = 0.0; - out_253192225752308971[4] = 0.0; - out_253192225752308971[5] = 0.0; - out_253192225752308971[6] = 0.0; - out_253192225752308971[7] = 0.0; - out_253192225752308971[8] = 0.0; - out_253192225752308971[9] = 0.0; - out_253192225752308971[10] = 1.0; - out_253192225752308971[11] = 0.0; - out_253192225752308971[12] = 0.0; - out_253192225752308971[13] = 0.0; - out_253192225752308971[14] = 0.0; - out_253192225752308971[15] = 0.0; - out_253192225752308971[16] = 0.0; - out_253192225752308971[17] = 0.0; - out_253192225752308971[18] = 0.0; - out_253192225752308971[19] = 0.0; - out_253192225752308971[20] = 1.0; - out_253192225752308971[21] = 0.0; - out_253192225752308971[22] = 0.0; - out_253192225752308971[23] = 0.0; - out_253192225752308971[24] = 0.0; - out_253192225752308971[25] = 0.0; - out_253192225752308971[26] = 0.0; - out_253192225752308971[27] = 0.0; - out_253192225752308971[28] = 0.0; - out_253192225752308971[29] = 0.0; - out_253192225752308971[30] = 1.0; - out_253192225752308971[31] = 0.0; - out_253192225752308971[32] = 0.0; - out_253192225752308971[33] = 0.0; - out_253192225752308971[34] = 0.0; - out_253192225752308971[35] = 0.0; - out_253192225752308971[36] = 0.0; - out_253192225752308971[37] = 0.0; - out_253192225752308971[38] = 0.0; - out_253192225752308971[39] = 0.0; - out_253192225752308971[40] = 1.0; - out_253192225752308971[41] = 0.0; - out_253192225752308971[42] = 0.0; - out_253192225752308971[43] = 0.0; - out_253192225752308971[44] = 0.0; - out_253192225752308971[45] = 0.0; - out_253192225752308971[46] = 0.0; - out_253192225752308971[47] = 0.0; - out_253192225752308971[48] = 0.0; - out_253192225752308971[49] = 0.0; - out_253192225752308971[50] = 1.0; - out_253192225752308971[51] = 0.0; - out_253192225752308971[52] = 0.0; - out_253192225752308971[53] = 0.0; - out_253192225752308971[54] = 0.0; - out_253192225752308971[55] = 0.0; - out_253192225752308971[56] = 0.0; - out_253192225752308971[57] = 0.0; - out_253192225752308971[58] = 0.0; - out_253192225752308971[59] = 0.0; - out_253192225752308971[60] = 1.0; - out_253192225752308971[61] = 0.0; - out_253192225752308971[62] = 0.0; - out_253192225752308971[63] = 0.0; - out_253192225752308971[64] = 0.0; - out_253192225752308971[65] = 0.0; - out_253192225752308971[66] = 0.0; - out_253192225752308971[67] = 0.0; - out_253192225752308971[68] = 0.0; - out_253192225752308971[69] = 0.0; - out_253192225752308971[70] = 1.0; - out_253192225752308971[71] = 0.0; - out_253192225752308971[72] = 0.0; - out_253192225752308971[73] = 0.0; - out_253192225752308971[74] = 0.0; - out_253192225752308971[75] = 0.0; - out_253192225752308971[76] = 0.0; - out_253192225752308971[77] = 0.0; - out_253192225752308971[78] = 0.0; - out_253192225752308971[79] = 0.0; - out_253192225752308971[80] = 1.0; +void H_mod_fun(double *state, double *out_8540419750358065319) { + out_8540419750358065319[0] = 1.0; + out_8540419750358065319[1] = 0.0; + out_8540419750358065319[2] = 0.0; + out_8540419750358065319[3] = 0.0; + out_8540419750358065319[4] = 0.0; + out_8540419750358065319[5] = 0.0; + out_8540419750358065319[6] = 0.0; + out_8540419750358065319[7] = 0.0; + out_8540419750358065319[8] = 0.0; + out_8540419750358065319[9] = 0.0; + out_8540419750358065319[10] = 1.0; + out_8540419750358065319[11] = 0.0; + out_8540419750358065319[12] = 0.0; + out_8540419750358065319[13] = 0.0; + out_8540419750358065319[14] = 0.0; + out_8540419750358065319[15] = 0.0; + out_8540419750358065319[16] = 0.0; + out_8540419750358065319[17] = 0.0; + out_8540419750358065319[18] = 0.0; + out_8540419750358065319[19] = 0.0; + out_8540419750358065319[20] = 1.0; + out_8540419750358065319[21] = 0.0; + out_8540419750358065319[22] = 0.0; + out_8540419750358065319[23] = 0.0; + out_8540419750358065319[24] = 0.0; + out_8540419750358065319[25] = 0.0; + out_8540419750358065319[26] = 0.0; + out_8540419750358065319[27] = 0.0; + out_8540419750358065319[28] = 0.0; + out_8540419750358065319[29] = 0.0; + out_8540419750358065319[30] = 1.0; + out_8540419750358065319[31] = 0.0; + out_8540419750358065319[32] = 0.0; + out_8540419750358065319[33] = 0.0; + out_8540419750358065319[34] = 0.0; + out_8540419750358065319[35] = 0.0; + out_8540419750358065319[36] = 0.0; + out_8540419750358065319[37] = 0.0; + out_8540419750358065319[38] = 0.0; + out_8540419750358065319[39] = 0.0; + out_8540419750358065319[40] = 1.0; + out_8540419750358065319[41] = 0.0; + out_8540419750358065319[42] = 0.0; + out_8540419750358065319[43] = 0.0; + out_8540419750358065319[44] = 0.0; + out_8540419750358065319[45] = 0.0; + out_8540419750358065319[46] = 0.0; + out_8540419750358065319[47] = 0.0; + out_8540419750358065319[48] = 0.0; + out_8540419750358065319[49] = 0.0; + out_8540419750358065319[50] = 1.0; + out_8540419750358065319[51] = 0.0; + out_8540419750358065319[52] = 0.0; + out_8540419750358065319[53] = 0.0; + out_8540419750358065319[54] = 0.0; + out_8540419750358065319[55] = 0.0; + out_8540419750358065319[56] = 0.0; + out_8540419750358065319[57] = 0.0; + out_8540419750358065319[58] = 0.0; + out_8540419750358065319[59] = 0.0; + out_8540419750358065319[60] = 1.0; + out_8540419750358065319[61] = 0.0; + out_8540419750358065319[62] = 0.0; + out_8540419750358065319[63] = 0.0; + out_8540419750358065319[64] = 0.0; + out_8540419750358065319[65] = 0.0; + out_8540419750358065319[66] = 0.0; + out_8540419750358065319[67] = 0.0; + out_8540419750358065319[68] = 0.0; + out_8540419750358065319[69] = 0.0; + out_8540419750358065319[70] = 1.0; + out_8540419750358065319[71] = 0.0; + out_8540419750358065319[72] = 0.0; + out_8540419750358065319[73] = 0.0; + out_8540419750358065319[74] = 0.0; + out_8540419750358065319[75] = 0.0; + out_8540419750358065319[76] = 0.0; + out_8540419750358065319[77] = 0.0; + out_8540419750358065319[78] = 0.0; + out_8540419750358065319[79] = 0.0; + out_8540419750358065319[80] = 1.0; } -void f_fun(double *state, double dt, double *out_7053536604478710960) { - out_7053536604478710960[0] = state[0]; - out_7053536604478710960[1] = state[1]; - out_7053536604478710960[2] = state[2]; - out_7053536604478710960[3] = state[3]; - out_7053536604478710960[4] = state[4]; - out_7053536604478710960[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_7053536604478710960[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_7053536604478710960[7] = state[7]; - out_7053536604478710960[8] = state[8]; +void f_fun(double *state, double dt, double *out_5791363154948922080) { + out_5791363154948922080[0] = state[0]; + out_5791363154948922080[1] = state[1]; + out_5791363154948922080[2] = state[2]; + out_5791363154948922080[3] = state[3]; + out_5791363154948922080[4] = state[4]; + out_5791363154948922080[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_5791363154948922080[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_5791363154948922080[7] = state[7]; + out_5791363154948922080[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1214429005669720164) { - out_1214429005669720164[0] = 1; - out_1214429005669720164[1] = 0; - out_1214429005669720164[2] = 0; - out_1214429005669720164[3] = 0; - out_1214429005669720164[4] = 0; - out_1214429005669720164[5] = 0; - out_1214429005669720164[6] = 0; - out_1214429005669720164[7] = 0; - out_1214429005669720164[8] = 0; - out_1214429005669720164[9] = 0; - out_1214429005669720164[10] = 1; - out_1214429005669720164[11] = 0; - out_1214429005669720164[12] = 0; - out_1214429005669720164[13] = 0; - out_1214429005669720164[14] = 0; - out_1214429005669720164[15] = 0; - out_1214429005669720164[16] = 0; - out_1214429005669720164[17] = 0; - out_1214429005669720164[18] = 0; - out_1214429005669720164[19] = 0; - out_1214429005669720164[20] = 1; - out_1214429005669720164[21] = 0; - out_1214429005669720164[22] = 0; - out_1214429005669720164[23] = 0; - out_1214429005669720164[24] = 0; - out_1214429005669720164[25] = 0; - out_1214429005669720164[26] = 0; - out_1214429005669720164[27] = 0; - out_1214429005669720164[28] = 0; - out_1214429005669720164[29] = 0; - out_1214429005669720164[30] = 1; - out_1214429005669720164[31] = 0; - out_1214429005669720164[32] = 0; - out_1214429005669720164[33] = 0; - out_1214429005669720164[34] = 0; - out_1214429005669720164[35] = 0; - out_1214429005669720164[36] = 0; - out_1214429005669720164[37] = 0; - out_1214429005669720164[38] = 0; - out_1214429005669720164[39] = 0; - out_1214429005669720164[40] = 1; - out_1214429005669720164[41] = 0; - out_1214429005669720164[42] = 0; - out_1214429005669720164[43] = 0; - out_1214429005669720164[44] = 0; - out_1214429005669720164[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_1214429005669720164[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1214429005669720164[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1214429005669720164[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1214429005669720164[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_1214429005669720164[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1214429005669720164[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1214429005669720164[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1214429005669720164[53] = -9.8100000000000005*dt; - out_1214429005669720164[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_1214429005669720164[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1214429005669720164[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1214429005669720164[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1214429005669720164[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_1214429005669720164[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1214429005669720164[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_1214429005669720164[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1214429005669720164[62] = 0; - out_1214429005669720164[63] = 0; - out_1214429005669720164[64] = 0; - out_1214429005669720164[65] = 0; - out_1214429005669720164[66] = 0; - out_1214429005669720164[67] = 0; - out_1214429005669720164[68] = 0; - out_1214429005669720164[69] = 0; - out_1214429005669720164[70] = 1; - out_1214429005669720164[71] = 0; - out_1214429005669720164[72] = 0; - out_1214429005669720164[73] = 0; - out_1214429005669720164[74] = 0; - out_1214429005669720164[75] = 0; - out_1214429005669720164[76] = 0; - out_1214429005669720164[77] = 0; - out_1214429005669720164[78] = 0; - out_1214429005669720164[79] = 0; - out_1214429005669720164[80] = 1; +void F_fun(double *state, double dt, double *out_4207718710431964525) { + out_4207718710431964525[0] = 1; + out_4207718710431964525[1] = 0; + out_4207718710431964525[2] = 0; + out_4207718710431964525[3] = 0; + out_4207718710431964525[4] = 0; + out_4207718710431964525[5] = 0; + out_4207718710431964525[6] = 0; + out_4207718710431964525[7] = 0; + out_4207718710431964525[8] = 0; + out_4207718710431964525[9] = 0; + out_4207718710431964525[10] = 1; + out_4207718710431964525[11] = 0; + out_4207718710431964525[12] = 0; + out_4207718710431964525[13] = 0; + out_4207718710431964525[14] = 0; + out_4207718710431964525[15] = 0; + out_4207718710431964525[16] = 0; + out_4207718710431964525[17] = 0; + out_4207718710431964525[18] = 0; + out_4207718710431964525[19] = 0; + out_4207718710431964525[20] = 1; + out_4207718710431964525[21] = 0; + out_4207718710431964525[22] = 0; + out_4207718710431964525[23] = 0; + out_4207718710431964525[24] = 0; + out_4207718710431964525[25] = 0; + out_4207718710431964525[26] = 0; + out_4207718710431964525[27] = 0; + out_4207718710431964525[28] = 0; + out_4207718710431964525[29] = 0; + out_4207718710431964525[30] = 1; + out_4207718710431964525[31] = 0; + out_4207718710431964525[32] = 0; + out_4207718710431964525[33] = 0; + out_4207718710431964525[34] = 0; + out_4207718710431964525[35] = 0; + out_4207718710431964525[36] = 0; + out_4207718710431964525[37] = 0; + out_4207718710431964525[38] = 0; + out_4207718710431964525[39] = 0; + out_4207718710431964525[40] = 1; + out_4207718710431964525[41] = 0; + out_4207718710431964525[42] = 0; + out_4207718710431964525[43] = 0; + out_4207718710431964525[44] = 0; + out_4207718710431964525[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_4207718710431964525[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4207718710431964525[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4207718710431964525[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4207718710431964525[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_4207718710431964525[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4207718710431964525[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4207718710431964525[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4207718710431964525[53] = -9.8100000000000005*dt; + out_4207718710431964525[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_4207718710431964525[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4207718710431964525[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4207718710431964525[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4207718710431964525[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_4207718710431964525[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4207718710431964525[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_4207718710431964525[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4207718710431964525[62] = 0; + out_4207718710431964525[63] = 0; + out_4207718710431964525[64] = 0; + out_4207718710431964525[65] = 0; + out_4207718710431964525[66] = 0; + out_4207718710431964525[67] = 0; + out_4207718710431964525[68] = 0; + out_4207718710431964525[69] = 0; + out_4207718710431964525[70] = 1; + out_4207718710431964525[71] = 0; + out_4207718710431964525[72] = 0; + out_4207718710431964525[73] = 0; + out_4207718710431964525[74] = 0; + out_4207718710431964525[75] = 0; + out_4207718710431964525[76] = 0; + out_4207718710431964525[77] = 0; + out_4207718710431964525[78] = 0; + out_4207718710431964525[79] = 0; + out_4207718710431964525[80] = 1; } -void h_25(double *state, double *unused, double *out_3464829860448870764) { - out_3464829860448870764[0] = state[6]; +void h_25(double *state, double *unused, double *out_6333669642167287903) { + out_6333669642167287903[0] = state[6]; } -void H_25(double *state, double *unused, double *out_9000363622045005408) { - out_9000363622045005408[0] = 0; - out_9000363622045005408[1] = 0; - out_9000363622045005408[2] = 0; - out_9000363622045005408[3] = 0; - out_9000363622045005408[4] = 0; - out_9000363622045005408[5] = 0; - out_9000363622045005408[6] = 1; - out_9000363622045005408[7] = 0; - out_9000363622045005408[8] = 0; +void H_25(double *state, double *unused, double *out_619081717384205514) { + out_619081717384205514[0] = 0; + out_619081717384205514[1] = 0; + out_619081717384205514[2] = 0; + out_619081717384205514[3] = 0; + out_619081717384205514[4] = 0; + out_619081717384205514[5] = 0; + out_619081717384205514[6] = 1; + out_619081717384205514[7] = 0; + out_619081717384205514[8] = 0; } -void h_24(double *state, double *unused, double *out_4762731858686047091) { - out_4762731858686047091[0] = state[4]; - out_4762731858686047091[1] = state[5]; +void h_24(double *state, double *unused, double *out_8914852456241702348) { + out_8914852456241702348[0] = state[4]; + out_8914852456241702348[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6827714023039505842) { - out_6827714023039505842[0] = 0; - out_6827714023039505842[1] = 0; - out_6827714023039505842[2] = 0; - out_6827714023039505842[3] = 0; - out_6827714023039505842[4] = 1; - out_6827714023039505842[5] = 0; - out_6827714023039505842[6] = 0; - out_6827714023039505842[7] = 0; - out_6827714023039505842[8] = 0; - out_6827714023039505842[9] = 0; - out_6827714023039505842[10] = 0; - out_6827714023039505842[11] = 0; - out_6827714023039505842[12] = 0; - out_6827714023039505842[13] = 0; - out_6827714023039505842[14] = 1; - out_6827714023039505842[15] = 0; - out_6827714023039505842[16] = 0; - out_6827714023039505842[17] = 0; +void H_24(double *state, double *unused, double *out_6035123740723980243) { + out_6035123740723980243[0] = 0; + out_6035123740723980243[1] = 0; + out_6035123740723980243[2] = 0; + out_6035123740723980243[3] = 0; + out_6035123740723980243[4] = 1; + out_6035123740723980243[5] = 0; + out_6035123740723980243[6] = 0; + out_6035123740723980243[7] = 0; + out_6035123740723980243[8] = 0; + out_6035123740723980243[9] = 0; + out_6035123740723980243[10] = 0; + out_6035123740723980243[11] = 0; + out_6035123740723980243[12] = 0; + out_6035123740723980243[13] = 0; + out_6035123740723980243[14] = 1; + out_6035123740723980243[15] = 0; + out_6035123740723980243[16] = 0; + out_6035123740723980243[17] = 0; } -void h_30(double *state, double *unused, double *out_3738386096537115206) { - out_3738386096537115206[0] = state[4]; +void h_30(double *state, double *unused, double *out_6608863704451793792) { + out_6608863704451793792[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6928047493157297581) { - out_6928047493157297581[0] = 0; - out_6928047493157297581[1] = 0; - out_6928047493157297581[2] = 0; - out_6928047493157297581[3] = 0; - out_6928047493157297581[4] = 1; - out_6928047493157297581[5] = 0; - out_6928047493157297581[6] = 0; - out_6928047493157297581[7] = 0; - out_6928047493157297581[8] = 0; +void H_30(double *state, double *unused, double *out_5146778047511813712) { + out_5146778047511813712[0] = 0; + out_5146778047511813712[1] = 0; + out_5146778047511813712[2] = 0; + out_5146778047511813712[3] = 0; + out_5146778047511813712[4] = 1; + out_5146778047511813712[5] = 0; + out_5146778047511813712[6] = 0; + out_5146778047511813712[7] = 0; + out_5146778047511813712[8] = 0; } -void h_26(double *state, double *unused, double *out_3696757337891585607) { - out_3696757337891585607[0] = state[7]; +void h_26(double *state, double *unused, double *out_730578216893078704) { + out_730578216893078704[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6141854481903745607) { - out_6141854481903745607[0] = 0; - out_6141854481903745607[1] = 0; - out_6141854481903745607[2] = 0; - out_6141854481903745607[3] = 0; - out_6141854481903745607[4] = 0; - out_6141854481903745607[5] = 0; - out_6141854481903745607[6] = 0; - out_6141854481903745607[7] = 1; - out_6141854481903745607[8] = 0; +void H_26(double *state, double *unused, double *out_4360585036258261738) { + out_4360585036258261738[0] = 0; + out_4360585036258261738[1] = 0; + out_4360585036258261738[2] = 0; + out_4360585036258261738[3] = 0; + out_4360585036258261738[4] = 0; + out_4360585036258261738[5] = 0; + out_4360585036258261738[6] = 0; + out_4360585036258261738[7] = 1; + out_4360585036258261738[8] = 0; } -void h_27(double *state, double *unused, double *out_8319345477692799991) { - out_8319345477692799991[0] = state[3]; +void h_27(double *state, double *unused, double *out_7111401163881418068) { + out_7111401163881418068[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4704453421973354364) { - out_4704453421973354364[0] = 0; - out_4704453421973354364[1] = 0; - out_4704453421973354364[2] = 0; - out_4704453421973354364[3] = 1; - out_4704453421973354364[4] = 0; - out_4704453421973354364[5] = 0; - out_4704453421973354364[6] = 0; - out_4704453421973354364[7] = 0; - out_4704453421973354364[8] = 0; +void H_27(double *state, double *unused, double *out_7321541359312238623) { + out_7321541359312238623[0] = 0; + out_7321541359312238623[1] = 0; + out_7321541359312238623[2] = 0; + out_7321541359312238623[3] = 1; + out_7321541359312238623[4] = 0; + out_7321541359312238623[5] = 0; + out_7321541359312238623[6] = 0; + out_7321541359312238623[7] = 0; + out_7321541359312238623[8] = 0; } -void h_29(double *state, double *unused, double *out_6118557469171333555) { - out_6118557469171333555[0] = state[1]; +void h_29(double *state, double *unused, double *out_3249717687452916416) { + out_3249717687452916416[0] = state[1]; } -void H_29(double *state, double *unused, double *out_6417816148842905397) { - out_6417816148842905397[0] = 0; - out_6417816148842905397[1] = 1; - out_6417816148842905397[2] = 0; - out_6417816148842905397[3] = 0; - out_6417816148842905397[4] = 0; - out_6417816148842905397[5] = 0; - out_6417816148842905397[6] = 0; - out_6417816148842905397[7] = 0; - out_6417816148842905397[8] = 0; +void H_29(double *state, double *unused, double *out_4636546703197421528) { + out_4636546703197421528[0] = 0; + out_4636546703197421528[1] = 1; + out_4636546703197421528[2] = 0; + out_4636546703197421528[3] = 0; + out_4636546703197421528[4] = 0; + out_4636546703197421528[5] = 0; + out_4636546703197421528[6] = 0; + out_4636546703197421528[7] = 0; + out_4636546703197421528[8] = 0; } -void h_28(double *state, double *unused, double *out_5845834754773091117) { - out_5845834754773091117[0] = state[0]; +void h_28(double *state, double *unused, double *out_8801848998617099028) { + out_8801848998617099028[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6946528907797115645) { - out_6946528907797115645[0] = 1; - out_6946528907797115645[1] = 0; - out_6946528907797115645[2] = 0; - out_6946528907797115645[3] = 0; - out_6946528907797115645[4] = 0; - out_6946528907797115645[5] = 0; - out_6946528907797115645[6] = 0; - out_6946528907797115645[7] = 0; - out_6946528907797115645[8] = 0; +void H_28(double *state, double *unused, double *out_2672916431632095277) { + out_2672916431632095277[0] = 1; + out_2672916431632095277[1] = 0; + out_2672916431632095277[2] = 0; + out_2672916431632095277[3] = 0; + out_2672916431632095277[4] = 0; + out_2672916431632095277[5] = 0; + out_2672916431632095277[6] = 0; + out_2672916431632095277[7] = 0; + out_2672916431632095277[8] = 0; } -void h_31(double *state, double *unused, double *out_3122998066027424399) { - out_3122998066027424399[0] = state[8]; +void h_31(double *state, double *unused, double *out_178222446326627774) { + out_178222446326627774[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6768062584137097083) { - out_6768062584137097083[0] = 0; - out_6768062584137097083[1] = 0; - out_6768062584137097083[2] = 0; - out_6768062584137097083[3] = 0; - out_6768062584137097083[4] = 0; - out_6768062584137097083[5] = 0; - out_6768062584137097083[6] = 0; - out_6768062584137097083[7] = 0; - out_6768062584137097083[8] = 1; +void H_31(double *state, double *unused, double *out_4986793138491613214) { + out_4986793138491613214[0] = 0; + out_4986793138491613214[1] = 0; + out_4986793138491613214[2] = 0; + out_4986793138491613214[3] = 0; + out_4986793138491613214[4] = 0; + out_4986793138491613214[5] = 0; + out_4986793138491613214[6] = 0; + out_4986793138491613214[7] = 0; + out_4986793138491613214[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_787387508528698300) { - err_fun(nom_x, delta_x, out_787387508528698300); +void car_err_fun(double *nom_x, double *delta_x, double *out_3928719841740981699) { + err_fun(nom_x, delta_x, out_3928719841740981699); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4326351974821968285) { - inv_err_fun(nom_x, true_x, out_4326351974821968285); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5321639104726738897) { + inv_err_fun(nom_x, true_x, out_5321639104726738897); } -void car_H_mod_fun(double *state, double *out_253192225752308971) { - H_mod_fun(state, out_253192225752308971); +void car_H_mod_fun(double *state, double *out_8540419750358065319) { + H_mod_fun(state, out_8540419750358065319); } -void car_f_fun(double *state, double dt, double *out_7053536604478710960) { - f_fun(state, dt, out_7053536604478710960); +void car_f_fun(double *state, double dt, double *out_5791363154948922080) { + f_fun(state, dt, out_5791363154948922080); } -void car_F_fun(double *state, double dt, double *out_1214429005669720164) { - F_fun(state, dt, out_1214429005669720164); +void car_F_fun(double *state, double dt, double *out_4207718710431964525) { + F_fun(state, dt, out_4207718710431964525); } -void car_h_25(double *state, double *unused, double *out_3464829860448870764) { - h_25(state, unused, out_3464829860448870764); +void car_h_25(double *state, double *unused, double *out_6333669642167287903) { + h_25(state, unused, out_6333669642167287903); } -void car_H_25(double *state, double *unused, double *out_9000363622045005408) { - H_25(state, unused, out_9000363622045005408); +void car_H_25(double *state, double *unused, double *out_619081717384205514) { + H_25(state, unused, out_619081717384205514); } -void car_h_24(double *state, double *unused, double *out_4762731858686047091) { - h_24(state, unused, out_4762731858686047091); +void car_h_24(double *state, double *unused, double *out_8914852456241702348) { + h_24(state, unused, out_8914852456241702348); } -void car_H_24(double *state, double *unused, double *out_6827714023039505842) { - H_24(state, unused, out_6827714023039505842); +void car_H_24(double *state, double *unused, double *out_6035123740723980243) { + H_24(state, unused, out_6035123740723980243); } -void car_h_30(double *state, double *unused, double *out_3738386096537115206) { - h_30(state, unused, out_3738386096537115206); +void car_h_30(double *state, double *unused, double *out_6608863704451793792) { + h_30(state, unused, out_6608863704451793792); } -void car_H_30(double *state, double *unused, double *out_6928047493157297581) { - H_30(state, unused, out_6928047493157297581); +void car_H_30(double *state, double *unused, double *out_5146778047511813712) { + H_30(state, unused, out_5146778047511813712); } -void car_h_26(double *state, double *unused, double *out_3696757337891585607) { - h_26(state, unused, out_3696757337891585607); +void car_h_26(double *state, double *unused, double *out_730578216893078704) { + h_26(state, unused, out_730578216893078704); } -void car_H_26(double *state, double *unused, double *out_6141854481903745607) { - H_26(state, unused, out_6141854481903745607); +void car_H_26(double *state, double *unused, double *out_4360585036258261738) { + H_26(state, unused, out_4360585036258261738); } -void car_h_27(double *state, double *unused, double *out_8319345477692799991) { - h_27(state, unused, out_8319345477692799991); +void car_h_27(double *state, double *unused, double *out_7111401163881418068) { + h_27(state, unused, out_7111401163881418068); } -void car_H_27(double *state, double *unused, double *out_4704453421973354364) { - H_27(state, unused, out_4704453421973354364); +void car_H_27(double *state, double *unused, double *out_7321541359312238623) { + H_27(state, unused, out_7321541359312238623); } -void car_h_29(double *state, double *unused, double *out_6118557469171333555) { - h_29(state, unused, out_6118557469171333555); +void car_h_29(double *state, double *unused, double *out_3249717687452916416) { + h_29(state, unused, out_3249717687452916416); } -void car_H_29(double *state, double *unused, double *out_6417816148842905397) { - H_29(state, unused, out_6417816148842905397); +void car_H_29(double *state, double *unused, double *out_4636546703197421528) { + H_29(state, unused, out_4636546703197421528); } -void car_h_28(double *state, double *unused, double *out_5845834754773091117) { - h_28(state, unused, out_5845834754773091117); +void car_h_28(double *state, double *unused, double *out_8801848998617099028) { + h_28(state, unused, out_8801848998617099028); } -void car_H_28(double *state, double *unused, double *out_6946528907797115645) { - H_28(state, unused, out_6946528907797115645); +void car_H_28(double *state, double *unused, double *out_2672916431632095277) { + H_28(state, unused, out_2672916431632095277); } -void car_h_31(double *state, double *unused, double *out_3122998066027424399) { - h_31(state, unused, out_3122998066027424399); +void car_h_31(double *state, double *unused, double *out_178222446326627774) { + h_31(state, unused, out_178222446326627774); } -void car_H_31(double *state, double *unused, double *out_6768062584137097083) { - H_31(state, unused, out_6768062584137097083); +void car_H_31(double *state, double *unused, double *out_4986793138491613214) { + H_31(state, unused, out_4986793138491613214); } 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 22b80d742..098d3db83 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_787387508528698300); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4326351974821968285); -void car_H_mod_fun(double *state, double *out_253192225752308971); -void car_f_fun(double *state, double dt, double *out_7053536604478710960); -void car_F_fun(double *state, double dt, double *out_1214429005669720164); -void car_h_25(double *state, double *unused, double *out_3464829860448870764); -void car_H_25(double *state, double *unused, double *out_9000363622045005408); -void car_h_24(double *state, double *unused, double *out_4762731858686047091); -void car_H_24(double *state, double *unused, double *out_6827714023039505842); -void car_h_30(double *state, double *unused, double *out_3738386096537115206); -void car_H_30(double *state, double *unused, double *out_6928047493157297581); -void car_h_26(double *state, double *unused, double *out_3696757337891585607); -void car_H_26(double *state, double *unused, double *out_6141854481903745607); -void car_h_27(double *state, double *unused, double *out_8319345477692799991); -void car_H_27(double *state, double *unused, double *out_4704453421973354364); -void car_h_29(double *state, double *unused, double *out_6118557469171333555); -void car_H_29(double *state, double *unused, double *out_6417816148842905397); -void car_h_28(double *state, double *unused, double *out_5845834754773091117); -void car_H_28(double *state, double *unused, double *out_6946528907797115645); -void car_h_31(double *state, double *unused, double *out_3122998066027424399); -void car_H_31(double *state, double *unused, double *out_6768062584137097083); +void car_err_fun(double *nom_x, double *delta_x, double *out_3928719841740981699); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5321639104726738897); +void car_H_mod_fun(double *state, double *out_8540419750358065319); +void car_f_fun(double *state, double dt, double *out_5791363154948922080); +void car_F_fun(double *state, double dt, double *out_4207718710431964525); +void car_h_25(double *state, double *unused, double *out_6333669642167287903); +void car_H_25(double *state, double *unused, double *out_619081717384205514); +void car_h_24(double *state, double *unused, double *out_8914852456241702348); +void car_H_24(double *state, double *unused, double *out_6035123740723980243); +void car_h_30(double *state, double *unused, double *out_6608863704451793792); +void car_H_30(double *state, double *unused, double *out_5146778047511813712); +void car_h_26(double *state, double *unused, double *out_730578216893078704); +void car_H_26(double *state, double *unused, double *out_4360585036258261738); +void car_h_27(double *state, double *unused, double *out_7111401163881418068); +void car_H_27(double *state, double *unused, double *out_7321541359312238623); +void car_h_29(double *state, double *unused, double *out_3249717687452916416); +void car_H_29(double *state, double *unused, double *out_4636546703197421528); +void car_h_28(double *state, double *unused, double *out_8801848998617099028); +void car_H_28(double *state, double *unused, double *out_2672916431632095277); +void car_h_31(double *state, double *unused, double *out_178222446326627774); +void car_H_31(double *state, double *unused, double *out_4986793138491613214); 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 5a0421edc..4c589617b 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_2495962770948129313) { - out_2495962770948129313[0] = delta_x[0] + nom_x[0]; - out_2495962770948129313[1] = delta_x[1] + nom_x[1]; - out_2495962770948129313[2] = delta_x[2] + nom_x[2]; - out_2495962770948129313[3] = delta_x[3] + nom_x[3]; - out_2495962770948129313[4] = delta_x[4] + nom_x[4]; - out_2495962770948129313[5] = delta_x[5] + nom_x[5]; - out_2495962770948129313[6] = delta_x[6] + nom_x[6]; - out_2495962770948129313[7] = delta_x[7] + nom_x[7]; - out_2495962770948129313[8] = delta_x[8] + nom_x[8]; - out_2495962770948129313[9] = delta_x[9] + nom_x[9]; - out_2495962770948129313[10] = delta_x[10] + nom_x[10]; - out_2495962770948129313[11] = delta_x[11] + nom_x[11]; - out_2495962770948129313[12] = delta_x[12] + nom_x[12]; - out_2495962770948129313[13] = delta_x[13] + nom_x[13]; - out_2495962770948129313[14] = delta_x[14] + nom_x[14]; - out_2495962770948129313[15] = delta_x[15] + nom_x[15]; - out_2495962770948129313[16] = delta_x[16] + nom_x[16]; - out_2495962770948129313[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6656391008125290288) { + out_6656391008125290288[0] = delta_x[0] + nom_x[0]; + out_6656391008125290288[1] = delta_x[1] + nom_x[1]; + out_6656391008125290288[2] = delta_x[2] + nom_x[2]; + out_6656391008125290288[3] = delta_x[3] + nom_x[3]; + out_6656391008125290288[4] = delta_x[4] + nom_x[4]; + out_6656391008125290288[5] = delta_x[5] + nom_x[5]; + out_6656391008125290288[6] = delta_x[6] + nom_x[6]; + out_6656391008125290288[7] = delta_x[7] + nom_x[7]; + out_6656391008125290288[8] = delta_x[8] + nom_x[8]; + out_6656391008125290288[9] = delta_x[9] + nom_x[9]; + out_6656391008125290288[10] = delta_x[10] + nom_x[10]; + out_6656391008125290288[11] = delta_x[11] + nom_x[11]; + out_6656391008125290288[12] = delta_x[12] + nom_x[12]; + out_6656391008125290288[13] = delta_x[13] + nom_x[13]; + out_6656391008125290288[14] = delta_x[14] + nom_x[14]; + out_6656391008125290288[15] = delta_x[15] + nom_x[15]; + out_6656391008125290288[16] = delta_x[16] + nom_x[16]; + out_6656391008125290288[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_17617025005773203) { - out_17617025005773203[0] = -nom_x[0] + true_x[0]; - out_17617025005773203[1] = -nom_x[1] + true_x[1]; - out_17617025005773203[2] = -nom_x[2] + true_x[2]; - out_17617025005773203[3] = -nom_x[3] + true_x[3]; - out_17617025005773203[4] = -nom_x[4] + true_x[4]; - out_17617025005773203[5] = -nom_x[5] + true_x[5]; - out_17617025005773203[6] = -nom_x[6] + true_x[6]; - out_17617025005773203[7] = -nom_x[7] + true_x[7]; - out_17617025005773203[8] = -nom_x[8] + true_x[8]; - out_17617025005773203[9] = -nom_x[9] + true_x[9]; - out_17617025005773203[10] = -nom_x[10] + true_x[10]; - out_17617025005773203[11] = -nom_x[11] + true_x[11]; - out_17617025005773203[12] = -nom_x[12] + true_x[12]; - out_17617025005773203[13] = -nom_x[13] + true_x[13]; - out_17617025005773203[14] = -nom_x[14] + true_x[14]; - out_17617025005773203[15] = -nom_x[15] + true_x[15]; - out_17617025005773203[16] = -nom_x[16] + true_x[16]; - out_17617025005773203[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2808972743269739579) { + out_2808972743269739579[0] = -nom_x[0] + true_x[0]; + out_2808972743269739579[1] = -nom_x[1] + true_x[1]; + out_2808972743269739579[2] = -nom_x[2] + true_x[2]; + out_2808972743269739579[3] = -nom_x[3] + true_x[3]; + out_2808972743269739579[4] = -nom_x[4] + true_x[4]; + out_2808972743269739579[5] = -nom_x[5] + true_x[5]; + out_2808972743269739579[6] = -nom_x[6] + true_x[6]; + out_2808972743269739579[7] = -nom_x[7] + true_x[7]; + out_2808972743269739579[8] = -nom_x[8] + true_x[8]; + out_2808972743269739579[9] = -nom_x[9] + true_x[9]; + out_2808972743269739579[10] = -nom_x[10] + true_x[10]; + out_2808972743269739579[11] = -nom_x[11] + true_x[11]; + out_2808972743269739579[12] = -nom_x[12] + true_x[12]; + out_2808972743269739579[13] = -nom_x[13] + true_x[13]; + out_2808972743269739579[14] = -nom_x[14] + true_x[14]; + out_2808972743269739579[15] = -nom_x[15] + true_x[15]; + out_2808972743269739579[16] = -nom_x[16] + true_x[16]; + out_2808972743269739579[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_8533106360868564993) { - out_8533106360868564993[0] = 1.0; - out_8533106360868564993[1] = 0.0; - out_8533106360868564993[2] = 0.0; - out_8533106360868564993[3] = 0.0; - out_8533106360868564993[4] = 0.0; - out_8533106360868564993[5] = 0.0; - out_8533106360868564993[6] = 0.0; - out_8533106360868564993[7] = 0.0; - out_8533106360868564993[8] = 0.0; - out_8533106360868564993[9] = 0.0; - out_8533106360868564993[10] = 0.0; - out_8533106360868564993[11] = 0.0; - out_8533106360868564993[12] = 0.0; - out_8533106360868564993[13] = 0.0; - out_8533106360868564993[14] = 0.0; - out_8533106360868564993[15] = 0.0; - out_8533106360868564993[16] = 0.0; - out_8533106360868564993[17] = 0.0; - out_8533106360868564993[18] = 0.0; - out_8533106360868564993[19] = 1.0; - out_8533106360868564993[20] = 0.0; - out_8533106360868564993[21] = 0.0; - out_8533106360868564993[22] = 0.0; - out_8533106360868564993[23] = 0.0; - out_8533106360868564993[24] = 0.0; - out_8533106360868564993[25] = 0.0; - out_8533106360868564993[26] = 0.0; - out_8533106360868564993[27] = 0.0; - out_8533106360868564993[28] = 0.0; - out_8533106360868564993[29] = 0.0; - out_8533106360868564993[30] = 0.0; - out_8533106360868564993[31] = 0.0; - out_8533106360868564993[32] = 0.0; - out_8533106360868564993[33] = 0.0; - out_8533106360868564993[34] = 0.0; - out_8533106360868564993[35] = 0.0; - out_8533106360868564993[36] = 0.0; - out_8533106360868564993[37] = 0.0; - out_8533106360868564993[38] = 1.0; - out_8533106360868564993[39] = 0.0; - out_8533106360868564993[40] = 0.0; - out_8533106360868564993[41] = 0.0; - out_8533106360868564993[42] = 0.0; - out_8533106360868564993[43] = 0.0; - out_8533106360868564993[44] = 0.0; - out_8533106360868564993[45] = 0.0; - out_8533106360868564993[46] = 0.0; - out_8533106360868564993[47] = 0.0; - out_8533106360868564993[48] = 0.0; - out_8533106360868564993[49] = 0.0; - out_8533106360868564993[50] = 0.0; - out_8533106360868564993[51] = 0.0; - out_8533106360868564993[52] = 0.0; - out_8533106360868564993[53] = 0.0; - out_8533106360868564993[54] = 0.0; - out_8533106360868564993[55] = 0.0; - out_8533106360868564993[56] = 0.0; - out_8533106360868564993[57] = 1.0; - out_8533106360868564993[58] = 0.0; - out_8533106360868564993[59] = 0.0; - out_8533106360868564993[60] = 0.0; - out_8533106360868564993[61] = 0.0; - out_8533106360868564993[62] = 0.0; - out_8533106360868564993[63] = 0.0; - out_8533106360868564993[64] = 0.0; - out_8533106360868564993[65] = 0.0; - out_8533106360868564993[66] = 0.0; - out_8533106360868564993[67] = 0.0; - out_8533106360868564993[68] = 0.0; - out_8533106360868564993[69] = 0.0; - out_8533106360868564993[70] = 0.0; - out_8533106360868564993[71] = 0.0; - out_8533106360868564993[72] = 0.0; - out_8533106360868564993[73] = 0.0; - out_8533106360868564993[74] = 0.0; - out_8533106360868564993[75] = 0.0; - out_8533106360868564993[76] = 1.0; - out_8533106360868564993[77] = 0.0; - out_8533106360868564993[78] = 0.0; - out_8533106360868564993[79] = 0.0; - out_8533106360868564993[80] = 0.0; - out_8533106360868564993[81] = 0.0; - out_8533106360868564993[82] = 0.0; - out_8533106360868564993[83] = 0.0; - out_8533106360868564993[84] = 0.0; - out_8533106360868564993[85] = 0.0; - out_8533106360868564993[86] = 0.0; - out_8533106360868564993[87] = 0.0; - out_8533106360868564993[88] = 0.0; - out_8533106360868564993[89] = 0.0; - out_8533106360868564993[90] = 0.0; - out_8533106360868564993[91] = 0.0; - out_8533106360868564993[92] = 0.0; - out_8533106360868564993[93] = 0.0; - out_8533106360868564993[94] = 0.0; - out_8533106360868564993[95] = 1.0; - out_8533106360868564993[96] = 0.0; - out_8533106360868564993[97] = 0.0; - out_8533106360868564993[98] = 0.0; - out_8533106360868564993[99] = 0.0; - out_8533106360868564993[100] = 0.0; - out_8533106360868564993[101] = 0.0; - out_8533106360868564993[102] = 0.0; - out_8533106360868564993[103] = 0.0; - out_8533106360868564993[104] = 0.0; - out_8533106360868564993[105] = 0.0; - out_8533106360868564993[106] = 0.0; - out_8533106360868564993[107] = 0.0; - out_8533106360868564993[108] = 0.0; - out_8533106360868564993[109] = 0.0; - out_8533106360868564993[110] = 0.0; - out_8533106360868564993[111] = 0.0; - out_8533106360868564993[112] = 0.0; - out_8533106360868564993[113] = 0.0; - out_8533106360868564993[114] = 1.0; - out_8533106360868564993[115] = 0.0; - out_8533106360868564993[116] = 0.0; - out_8533106360868564993[117] = 0.0; - out_8533106360868564993[118] = 0.0; - out_8533106360868564993[119] = 0.0; - out_8533106360868564993[120] = 0.0; - out_8533106360868564993[121] = 0.0; - out_8533106360868564993[122] = 0.0; - out_8533106360868564993[123] = 0.0; - out_8533106360868564993[124] = 0.0; - out_8533106360868564993[125] = 0.0; - out_8533106360868564993[126] = 0.0; - out_8533106360868564993[127] = 0.0; - out_8533106360868564993[128] = 0.0; - out_8533106360868564993[129] = 0.0; - out_8533106360868564993[130] = 0.0; - out_8533106360868564993[131] = 0.0; - out_8533106360868564993[132] = 0.0; - out_8533106360868564993[133] = 1.0; - out_8533106360868564993[134] = 0.0; - out_8533106360868564993[135] = 0.0; - out_8533106360868564993[136] = 0.0; - out_8533106360868564993[137] = 0.0; - out_8533106360868564993[138] = 0.0; - out_8533106360868564993[139] = 0.0; - out_8533106360868564993[140] = 0.0; - out_8533106360868564993[141] = 0.0; - out_8533106360868564993[142] = 0.0; - out_8533106360868564993[143] = 0.0; - out_8533106360868564993[144] = 0.0; - out_8533106360868564993[145] = 0.0; - out_8533106360868564993[146] = 0.0; - out_8533106360868564993[147] = 0.0; - out_8533106360868564993[148] = 0.0; - out_8533106360868564993[149] = 0.0; - out_8533106360868564993[150] = 0.0; - out_8533106360868564993[151] = 0.0; - out_8533106360868564993[152] = 1.0; - out_8533106360868564993[153] = 0.0; - out_8533106360868564993[154] = 0.0; - out_8533106360868564993[155] = 0.0; - out_8533106360868564993[156] = 0.0; - out_8533106360868564993[157] = 0.0; - out_8533106360868564993[158] = 0.0; - out_8533106360868564993[159] = 0.0; - out_8533106360868564993[160] = 0.0; - out_8533106360868564993[161] = 0.0; - out_8533106360868564993[162] = 0.0; - out_8533106360868564993[163] = 0.0; - out_8533106360868564993[164] = 0.0; - out_8533106360868564993[165] = 0.0; - out_8533106360868564993[166] = 0.0; - out_8533106360868564993[167] = 0.0; - out_8533106360868564993[168] = 0.0; - out_8533106360868564993[169] = 0.0; - out_8533106360868564993[170] = 0.0; - out_8533106360868564993[171] = 1.0; - out_8533106360868564993[172] = 0.0; - out_8533106360868564993[173] = 0.0; - out_8533106360868564993[174] = 0.0; - out_8533106360868564993[175] = 0.0; - out_8533106360868564993[176] = 0.0; - out_8533106360868564993[177] = 0.0; - out_8533106360868564993[178] = 0.0; - out_8533106360868564993[179] = 0.0; - out_8533106360868564993[180] = 0.0; - out_8533106360868564993[181] = 0.0; - out_8533106360868564993[182] = 0.0; - out_8533106360868564993[183] = 0.0; - out_8533106360868564993[184] = 0.0; - out_8533106360868564993[185] = 0.0; - out_8533106360868564993[186] = 0.0; - out_8533106360868564993[187] = 0.0; - out_8533106360868564993[188] = 0.0; - out_8533106360868564993[189] = 0.0; - out_8533106360868564993[190] = 1.0; - out_8533106360868564993[191] = 0.0; - out_8533106360868564993[192] = 0.0; - out_8533106360868564993[193] = 0.0; - out_8533106360868564993[194] = 0.0; - out_8533106360868564993[195] = 0.0; - out_8533106360868564993[196] = 0.0; - out_8533106360868564993[197] = 0.0; - out_8533106360868564993[198] = 0.0; - out_8533106360868564993[199] = 0.0; - out_8533106360868564993[200] = 0.0; - out_8533106360868564993[201] = 0.0; - out_8533106360868564993[202] = 0.0; - out_8533106360868564993[203] = 0.0; - out_8533106360868564993[204] = 0.0; - out_8533106360868564993[205] = 0.0; - out_8533106360868564993[206] = 0.0; - out_8533106360868564993[207] = 0.0; - out_8533106360868564993[208] = 0.0; - out_8533106360868564993[209] = 1.0; - out_8533106360868564993[210] = 0.0; - out_8533106360868564993[211] = 0.0; - out_8533106360868564993[212] = 0.0; - out_8533106360868564993[213] = 0.0; - out_8533106360868564993[214] = 0.0; - out_8533106360868564993[215] = 0.0; - out_8533106360868564993[216] = 0.0; - out_8533106360868564993[217] = 0.0; - out_8533106360868564993[218] = 0.0; - out_8533106360868564993[219] = 0.0; - out_8533106360868564993[220] = 0.0; - out_8533106360868564993[221] = 0.0; - out_8533106360868564993[222] = 0.0; - out_8533106360868564993[223] = 0.0; - out_8533106360868564993[224] = 0.0; - out_8533106360868564993[225] = 0.0; - out_8533106360868564993[226] = 0.0; - out_8533106360868564993[227] = 0.0; - out_8533106360868564993[228] = 1.0; - out_8533106360868564993[229] = 0.0; - out_8533106360868564993[230] = 0.0; - out_8533106360868564993[231] = 0.0; - out_8533106360868564993[232] = 0.0; - out_8533106360868564993[233] = 0.0; - out_8533106360868564993[234] = 0.0; - out_8533106360868564993[235] = 0.0; - out_8533106360868564993[236] = 0.0; - out_8533106360868564993[237] = 0.0; - out_8533106360868564993[238] = 0.0; - out_8533106360868564993[239] = 0.0; - out_8533106360868564993[240] = 0.0; - out_8533106360868564993[241] = 0.0; - out_8533106360868564993[242] = 0.0; - out_8533106360868564993[243] = 0.0; - out_8533106360868564993[244] = 0.0; - out_8533106360868564993[245] = 0.0; - out_8533106360868564993[246] = 0.0; - out_8533106360868564993[247] = 1.0; - out_8533106360868564993[248] = 0.0; - out_8533106360868564993[249] = 0.0; - out_8533106360868564993[250] = 0.0; - out_8533106360868564993[251] = 0.0; - out_8533106360868564993[252] = 0.0; - out_8533106360868564993[253] = 0.0; - out_8533106360868564993[254] = 0.0; - out_8533106360868564993[255] = 0.0; - out_8533106360868564993[256] = 0.0; - out_8533106360868564993[257] = 0.0; - out_8533106360868564993[258] = 0.0; - out_8533106360868564993[259] = 0.0; - out_8533106360868564993[260] = 0.0; - out_8533106360868564993[261] = 0.0; - out_8533106360868564993[262] = 0.0; - out_8533106360868564993[263] = 0.0; - out_8533106360868564993[264] = 0.0; - out_8533106360868564993[265] = 0.0; - out_8533106360868564993[266] = 1.0; - out_8533106360868564993[267] = 0.0; - out_8533106360868564993[268] = 0.0; - out_8533106360868564993[269] = 0.0; - out_8533106360868564993[270] = 0.0; - out_8533106360868564993[271] = 0.0; - out_8533106360868564993[272] = 0.0; - out_8533106360868564993[273] = 0.0; - out_8533106360868564993[274] = 0.0; - out_8533106360868564993[275] = 0.0; - out_8533106360868564993[276] = 0.0; - out_8533106360868564993[277] = 0.0; - out_8533106360868564993[278] = 0.0; - out_8533106360868564993[279] = 0.0; - out_8533106360868564993[280] = 0.0; - out_8533106360868564993[281] = 0.0; - out_8533106360868564993[282] = 0.0; - out_8533106360868564993[283] = 0.0; - out_8533106360868564993[284] = 0.0; - out_8533106360868564993[285] = 1.0; - out_8533106360868564993[286] = 0.0; - out_8533106360868564993[287] = 0.0; - out_8533106360868564993[288] = 0.0; - out_8533106360868564993[289] = 0.0; - out_8533106360868564993[290] = 0.0; - out_8533106360868564993[291] = 0.0; - out_8533106360868564993[292] = 0.0; - out_8533106360868564993[293] = 0.0; - out_8533106360868564993[294] = 0.0; - out_8533106360868564993[295] = 0.0; - out_8533106360868564993[296] = 0.0; - out_8533106360868564993[297] = 0.0; - out_8533106360868564993[298] = 0.0; - out_8533106360868564993[299] = 0.0; - out_8533106360868564993[300] = 0.0; - out_8533106360868564993[301] = 0.0; - out_8533106360868564993[302] = 0.0; - out_8533106360868564993[303] = 0.0; - out_8533106360868564993[304] = 1.0; - out_8533106360868564993[305] = 0.0; - out_8533106360868564993[306] = 0.0; - out_8533106360868564993[307] = 0.0; - out_8533106360868564993[308] = 0.0; - out_8533106360868564993[309] = 0.0; - out_8533106360868564993[310] = 0.0; - out_8533106360868564993[311] = 0.0; - out_8533106360868564993[312] = 0.0; - out_8533106360868564993[313] = 0.0; - out_8533106360868564993[314] = 0.0; - out_8533106360868564993[315] = 0.0; - out_8533106360868564993[316] = 0.0; - out_8533106360868564993[317] = 0.0; - out_8533106360868564993[318] = 0.0; - out_8533106360868564993[319] = 0.0; - out_8533106360868564993[320] = 0.0; - out_8533106360868564993[321] = 0.0; - out_8533106360868564993[322] = 0.0; - out_8533106360868564993[323] = 1.0; +void H_mod_fun(double *state, double *out_1869854945663891945) { + out_1869854945663891945[0] = 1.0; + out_1869854945663891945[1] = 0.0; + out_1869854945663891945[2] = 0.0; + out_1869854945663891945[3] = 0.0; + out_1869854945663891945[4] = 0.0; + out_1869854945663891945[5] = 0.0; + out_1869854945663891945[6] = 0.0; + out_1869854945663891945[7] = 0.0; + out_1869854945663891945[8] = 0.0; + out_1869854945663891945[9] = 0.0; + out_1869854945663891945[10] = 0.0; + out_1869854945663891945[11] = 0.0; + out_1869854945663891945[12] = 0.0; + out_1869854945663891945[13] = 0.0; + out_1869854945663891945[14] = 0.0; + out_1869854945663891945[15] = 0.0; + out_1869854945663891945[16] = 0.0; + out_1869854945663891945[17] = 0.0; + out_1869854945663891945[18] = 0.0; + out_1869854945663891945[19] = 1.0; + out_1869854945663891945[20] = 0.0; + out_1869854945663891945[21] = 0.0; + out_1869854945663891945[22] = 0.0; + out_1869854945663891945[23] = 0.0; + out_1869854945663891945[24] = 0.0; + out_1869854945663891945[25] = 0.0; + out_1869854945663891945[26] = 0.0; + out_1869854945663891945[27] = 0.0; + out_1869854945663891945[28] = 0.0; + out_1869854945663891945[29] = 0.0; + out_1869854945663891945[30] = 0.0; + out_1869854945663891945[31] = 0.0; + out_1869854945663891945[32] = 0.0; + out_1869854945663891945[33] = 0.0; + out_1869854945663891945[34] = 0.0; + out_1869854945663891945[35] = 0.0; + out_1869854945663891945[36] = 0.0; + out_1869854945663891945[37] = 0.0; + out_1869854945663891945[38] = 1.0; + out_1869854945663891945[39] = 0.0; + out_1869854945663891945[40] = 0.0; + out_1869854945663891945[41] = 0.0; + out_1869854945663891945[42] = 0.0; + out_1869854945663891945[43] = 0.0; + out_1869854945663891945[44] = 0.0; + out_1869854945663891945[45] = 0.0; + out_1869854945663891945[46] = 0.0; + out_1869854945663891945[47] = 0.0; + out_1869854945663891945[48] = 0.0; + out_1869854945663891945[49] = 0.0; + out_1869854945663891945[50] = 0.0; + out_1869854945663891945[51] = 0.0; + out_1869854945663891945[52] = 0.0; + out_1869854945663891945[53] = 0.0; + out_1869854945663891945[54] = 0.0; + out_1869854945663891945[55] = 0.0; + out_1869854945663891945[56] = 0.0; + out_1869854945663891945[57] = 1.0; + out_1869854945663891945[58] = 0.0; + out_1869854945663891945[59] = 0.0; + out_1869854945663891945[60] = 0.0; + out_1869854945663891945[61] = 0.0; + out_1869854945663891945[62] = 0.0; + out_1869854945663891945[63] = 0.0; + out_1869854945663891945[64] = 0.0; + out_1869854945663891945[65] = 0.0; + out_1869854945663891945[66] = 0.0; + out_1869854945663891945[67] = 0.0; + out_1869854945663891945[68] = 0.0; + out_1869854945663891945[69] = 0.0; + out_1869854945663891945[70] = 0.0; + out_1869854945663891945[71] = 0.0; + out_1869854945663891945[72] = 0.0; + out_1869854945663891945[73] = 0.0; + out_1869854945663891945[74] = 0.0; + out_1869854945663891945[75] = 0.0; + out_1869854945663891945[76] = 1.0; + out_1869854945663891945[77] = 0.0; + out_1869854945663891945[78] = 0.0; + out_1869854945663891945[79] = 0.0; + out_1869854945663891945[80] = 0.0; + out_1869854945663891945[81] = 0.0; + out_1869854945663891945[82] = 0.0; + out_1869854945663891945[83] = 0.0; + out_1869854945663891945[84] = 0.0; + out_1869854945663891945[85] = 0.0; + out_1869854945663891945[86] = 0.0; + out_1869854945663891945[87] = 0.0; + out_1869854945663891945[88] = 0.0; + out_1869854945663891945[89] = 0.0; + out_1869854945663891945[90] = 0.0; + out_1869854945663891945[91] = 0.0; + out_1869854945663891945[92] = 0.0; + out_1869854945663891945[93] = 0.0; + out_1869854945663891945[94] = 0.0; + out_1869854945663891945[95] = 1.0; + out_1869854945663891945[96] = 0.0; + out_1869854945663891945[97] = 0.0; + out_1869854945663891945[98] = 0.0; + out_1869854945663891945[99] = 0.0; + out_1869854945663891945[100] = 0.0; + out_1869854945663891945[101] = 0.0; + out_1869854945663891945[102] = 0.0; + out_1869854945663891945[103] = 0.0; + out_1869854945663891945[104] = 0.0; + out_1869854945663891945[105] = 0.0; + out_1869854945663891945[106] = 0.0; + out_1869854945663891945[107] = 0.0; + out_1869854945663891945[108] = 0.0; + out_1869854945663891945[109] = 0.0; + out_1869854945663891945[110] = 0.0; + out_1869854945663891945[111] = 0.0; + out_1869854945663891945[112] = 0.0; + out_1869854945663891945[113] = 0.0; + out_1869854945663891945[114] = 1.0; + out_1869854945663891945[115] = 0.0; + out_1869854945663891945[116] = 0.0; + out_1869854945663891945[117] = 0.0; + out_1869854945663891945[118] = 0.0; + out_1869854945663891945[119] = 0.0; + out_1869854945663891945[120] = 0.0; + out_1869854945663891945[121] = 0.0; + out_1869854945663891945[122] = 0.0; + out_1869854945663891945[123] = 0.0; + out_1869854945663891945[124] = 0.0; + out_1869854945663891945[125] = 0.0; + out_1869854945663891945[126] = 0.0; + out_1869854945663891945[127] = 0.0; + out_1869854945663891945[128] = 0.0; + out_1869854945663891945[129] = 0.0; + out_1869854945663891945[130] = 0.0; + out_1869854945663891945[131] = 0.0; + out_1869854945663891945[132] = 0.0; + out_1869854945663891945[133] = 1.0; + out_1869854945663891945[134] = 0.0; + out_1869854945663891945[135] = 0.0; + out_1869854945663891945[136] = 0.0; + out_1869854945663891945[137] = 0.0; + out_1869854945663891945[138] = 0.0; + out_1869854945663891945[139] = 0.0; + out_1869854945663891945[140] = 0.0; + out_1869854945663891945[141] = 0.0; + out_1869854945663891945[142] = 0.0; + out_1869854945663891945[143] = 0.0; + out_1869854945663891945[144] = 0.0; + out_1869854945663891945[145] = 0.0; + out_1869854945663891945[146] = 0.0; + out_1869854945663891945[147] = 0.0; + out_1869854945663891945[148] = 0.0; + out_1869854945663891945[149] = 0.0; + out_1869854945663891945[150] = 0.0; + out_1869854945663891945[151] = 0.0; + out_1869854945663891945[152] = 1.0; + out_1869854945663891945[153] = 0.0; + out_1869854945663891945[154] = 0.0; + out_1869854945663891945[155] = 0.0; + out_1869854945663891945[156] = 0.0; + out_1869854945663891945[157] = 0.0; + out_1869854945663891945[158] = 0.0; + out_1869854945663891945[159] = 0.0; + out_1869854945663891945[160] = 0.0; + out_1869854945663891945[161] = 0.0; + out_1869854945663891945[162] = 0.0; + out_1869854945663891945[163] = 0.0; + out_1869854945663891945[164] = 0.0; + out_1869854945663891945[165] = 0.0; + out_1869854945663891945[166] = 0.0; + out_1869854945663891945[167] = 0.0; + out_1869854945663891945[168] = 0.0; + out_1869854945663891945[169] = 0.0; + out_1869854945663891945[170] = 0.0; + out_1869854945663891945[171] = 1.0; + out_1869854945663891945[172] = 0.0; + out_1869854945663891945[173] = 0.0; + out_1869854945663891945[174] = 0.0; + out_1869854945663891945[175] = 0.0; + out_1869854945663891945[176] = 0.0; + out_1869854945663891945[177] = 0.0; + out_1869854945663891945[178] = 0.0; + out_1869854945663891945[179] = 0.0; + out_1869854945663891945[180] = 0.0; + out_1869854945663891945[181] = 0.0; + out_1869854945663891945[182] = 0.0; + out_1869854945663891945[183] = 0.0; + out_1869854945663891945[184] = 0.0; + out_1869854945663891945[185] = 0.0; + out_1869854945663891945[186] = 0.0; + out_1869854945663891945[187] = 0.0; + out_1869854945663891945[188] = 0.0; + out_1869854945663891945[189] = 0.0; + out_1869854945663891945[190] = 1.0; + out_1869854945663891945[191] = 0.0; + out_1869854945663891945[192] = 0.0; + out_1869854945663891945[193] = 0.0; + out_1869854945663891945[194] = 0.0; + out_1869854945663891945[195] = 0.0; + out_1869854945663891945[196] = 0.0; + out_1869854945663891945[197] = 0.0; + out_1869854945663891945[198] = 0.0; + out_1869854945663891945[199] = 0.0; + out_1869854945663891945[200] = 0.0; + out_1869854945663891945[201] = 0.0; + out_1869854945663891945[202] = 0.0; + out_1869854945663891945[203] = 0.0; + out_1869854945663891945[204] = 0.0; + out_1869854945663891945[205] = 0.0; + out_1869854945663891945[206] = 0.0; + out_1869854945663891945[207] = 0.0; + out_1869854945663891945[208] = 0.0; + out_1869854945663891945[209] = 1.0; + out_1869854945663891945[210] = 0.0; + out_1869854945663891945[211] = 0.0; + out_1869854945663891945[212] = 0.0; + out_1869854945663891945[213] = 0.0; + out_1869854945663891945[214] = 0.0; + out_1869854945663891945[215] = 0.0; + out_1869854945663891945[216] = 0.0; + out_1869854945663891945[217] = 0.0; + out_1869854945663891945[218] = 0.0; + out_1869854945663891945[219] = 0.0; + out_1869854945663891945[220] = 0.0; + out_1869854945663891945[221] = 0.0; + out_1869854945663891945[222] = 0.0; + out_1869854945663891945[223] = 0.0; + out_1869854945663891945[224] = 0.0; + out_1869854945663891945[225] = 0.0; + out_1869854945663891945[226] = 0.0; + out_1869854945663891945[227] = 0.0; + out_1869854945663891945[228] = 1.0; + out_1869854945663891945[229] = 0.0; + out_1869854945663891945[230] = 0.0; + out_1869854945663891945[231] = 0.0; + out_1869854945663891945[232] = 0.0; + out_1869854945663891945[233] = 0.0; + out_1869854945663891945[234] = 0.0; + out_1869854945663891945[235] = 0.0; + out_1869854945663891945[236] = 0.0; + out_1869854945663891945[237] = 0.0; + out_1869854945663891945[238] = 0.0; + out_1869854945663891945[239] = 0.0; + out_1869854945663891945[240] = 0.0; + out_1869854945663891945[241] = 0.0; + out_1869854945663891945[242] = 0.0; + out_1869854945663891945[243] = 0.0; + out_1869854945663891945[244] = 0.0; + out_1869854945663891945[245] = 0.0; + out_1869854945663891945[246] = 0.0; + out_1869854945663891945[247] = 1.0; + out_1869854945663891945[248] = 0.0; + out_1869854945663891945[249] = 0.0; + out_1869854945663891945[250] = 0.0; + out_1869854945663891945[251] = 0.0; + out_1869854945663891945[252] = 0.0; + out_1869854945663891945[253] = 0.0; + out_1869854945663891945[254] = 0.0; + out_1869854945663891945[255] = 0.0; + out_1869854945663891945[256] = 0.0; + out_1869854945663891945[257] = 0.0; + out_1869854945663891945[258] = 0.0; + out_1869854945663891945[259] = 0.0; + out_1869854945663891945[260] = 0.0; + out_1869854945663891945[261] = 0.0; + out_1869854945663891945[262] = 0.0; + out_1869854945663891945[263] = 0.0; + out_1869854945663891945[264] = 0.0; + out_1869854945663891945[265] = 0.0; + out_1869854945663891945[266] = 1.0; + out_1869854945663891945[267] = 0.0; + out_1869854945663891945[268] = 0.0; + out_1869854945663891945[269] = 0.0; + out_1869854945663891945[270] = 0.0; + out_1869854945663891945[271] = 0.0; + out_1869854945663891945[272] = 0.0; + out_1869854945663891945[273] = 0.0; + out_1869854945663891945[274] = 0.0; + out_1869854945663891945[275] = 0.0; + out_1869854945663891945[276] = 0.0; + out_1869854945663891945[277] = 0.0; + out_1869854945663891945[278] = 0.0; + out_1869854945663891945[279] = 0.0; + out_1869854945663891945[280] = 0.0; + out_1869854945663891945[281] = 0.0; + out_1869854945663891945[282] = 0.0; + out_1869854945663891945[283] = 0.0; + out_1869854945663891945[284] = 0.0; + out_1869854945663891945[285] = 1.0; + out_1869854945663891945[286] = 0.0; + out_1869854945663891945[287] = 0.0; + out_1869854945663891945[288] = 0.0; + out_1869854945663891945[289] = 0.0; + out_1869854945663891945[290] = 0.0; + out_1869854945663891945[291] = 0.0; + out_1869854945663891945[292] = 0.0; + out_1869854945663891945[293] = 0.0; + out_1869854945663891945[294] = 0.0; + out_1869854945663891945[295] = 0.0; + out_1869854945663891945[296] = 0.0; + out_1869854945663891945[297] = 0.0; + out_1869854945663891945[298] = 0.0; + out_1869854945663891945[299] = 0.0; + out_1869854945663891945[300] = 0.0; + out_1869854945663891945[301] = 0.0; + out_1869854945663891945[302] = 0.0; + out_1869854945663891945[303] = 0.0; + out_1869854945663891945[304] = 1.0; + out_1869854945663891945[305] = 0.0; + out_1869854945663891945[306] = 0.0; + out_1869854945663891945[307] = 0.0; + out_1869854945663891945[308] = 0.0; + out_1869854945663891945[309] = 0.0; + out_1869854945663891945[310] = 0.0; + out_1869854945663891945[311] = 0.0; + out_1869854945663891945[312] = 0.0; + out_1869854945663891945[313] = 0.0; + out_1869854945663891945[314] = 0.0; + out_1869854945663891945[315] = 0.0; + out_1869854945663891945[316] = 0.0; + out_1869854945663891945[317] = 0.0; + out_1869854945663891945[318] = 0.0; + out_1869854945663891945[319] = 0.0; + out_1869854945663891945[320] = 0.0; + out_1869854945663891945[321] = 0.0; + out_1869854945663891945[322] = 0.0; + out_1869854945663891945[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5731605766251141681) { - out_5731605766251141681[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_5731605766251141681[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_5731605766251141681[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_5731605766251141681[3] = dt*state[12] + state[3]; - out_5731605766251141681[4] = dt*state[13] + state[4]; - out_5731605766251141681[5] = dt*state[14] + state[5]; - out_5731605766251141681[6] = state[6]; - out_5731605766251141681[7] = state[7]; - out_5731605766251141681[8] = state[8]; - out_5731605766251141681[9] = state[9]; - out_5731605766251141681[10] = state[10]; - out_5731605766251141681[11] = state[11]; - out_5731605766251141681[12] = state[12]; - out_5731605766251141681[13] = state[13]; - out_5731605766251141681[14] = state[14]; - out_5731605766251141681[15] = state[15]; - out_5731605766251141681[16] = state[16]; - out_5731605766251141681[17] = state[17]; +void f_fun(double *state, double dt, double *out_1891205901656639709) { + out_1891205901656639709[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_1891205901656639709[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_1891205901656639709[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_1891205901656639709[3] = dt*state[12] + state[3]; + out_1891205901656639709[4] = dt*state[13] + state[4]; + out_1891205901656639709[5] = dt*state[14] + state[5]; + out_1891205901656639709[6] = state[6]; + out_1891205901656639709[7] = state[7]; + out_1891205901656639709[8] = state[8]; + out_1891205901656639709[9] = state[9]; + out_1891205901656639709[10] = state[10]; + out_1891205901656639709[11] = state[11]; + out_1891205901656639709[12] = state[12]; + out_1891205901656639709[13] = state[13]; + out_1891205901656639709[14] = state[14]; + out_1891205901656639709[15] = state[15]; + out_1891205901656639709[16] = state[16]; + out_1891205901656639709[17] = state[17]; } -void F_fun(double *state, double dt, double *out_3989820231164300868) { - out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[2] = 0; - out_3989820231164300868[3] = 0; - out_3989820231164300868[4] = 0; - out_3989820231164300868[5] = 0; - out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[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_3989820231164300868[9] = 0; - out_3989820231164300868[10] = 0; - out_3989820231164300868[11] = 0; - out_3989820231164300868[12] = 0; - out_3989820231164300868[13] = 0; - out_3989820231164300868[14] = 0; - out_3989820231164300868[15] = 0; - out_3989820231164300868[16] = 0; - out_3989820231164300868[17] = 0; - out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[20] = 0; - out_3989820231164300868[21] = 0; - out_3989820231164300868[22] = 0; - out_3989820231164300868[23] = 0; - out_3989820231164300868[24] = 0; - out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[27] = 0; - out_3989820231164300868[28] = 0; - out_3989820231164300868[29] = 0; - out_3989820231164300868[30] = 0; - out_3989820231164300868[31] = 0; - out_3989820231164300868[32] = 0; - out_3989820231164300868[33] = 0; - out_3989820231164300868[34] = 0; - out_3989820231164300868[35] = 0; - out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[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_3989820231164300868[39] = 0; - out_3989820231164300868[40] = 0; - out_3989820231164300868[41] = 0; - out_3989820231164300868[42] = 0; - out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[45] = 0; - out_3989820231164300868[46] = 0; - out_3989820231164300868[47] = 0; - out_3989820231164300868[48] = 0; - out_3989820231164300868[49] = 0; - out_3989820231164300868[50] = 0; - out_3989820231164300868[51] = 0; - out_3989820231164300868[52] = 0; - out_3989820231164300868[53] = 0; - out_3989820231164300868[54] = 0; - out_3989820231164300868[55] = 0; - out_3989820231164300868[56] = 0; - out_3989820231164300868[57] = 1; - out_3989820231164300868[58] = 0; - out_3989820231164300868[59] = 0; - out_3989820231164300868[60] = 0; - out_3989820231164300868[61] = 0; - out_3989820231164300868[62] = 0; - out_3989820231164300868[63] = 0; - out_3989820231164300868[64] = 0; - out_3989820231164300868[65] = 0; - out_3989820231164300868[66] = dt; - out_3989820231164300868[67] = 0; - out_3989820231164300868[68] = 0; - out_3989820231164300868[69] = 0; - out_3989820231164300868[70] = 0; - out_3989820231164300868[71] = 0; - out_3989820231164300868[72] = 0; - out_3989820231164300868[73] = 0; - out_3989820231164300868[74] = 0; - out_3989820231164300868[75] = 0; - out_3989820231164300868[76] = 1; - out_3989820231164300868[77] = 0; - out_3989820231164300868[78] = 0; - out_3989820231164300868[79] = 0; - out_3989820231164300868[80] = 0; - out_3989820231164300868[81] = 0; - out_3989820231164300868[82] = 0; - out_3989820231164300868[83] = 0; - out_3989820231164300868[84] = 0; - out_3989820231164300868[85] = dt; - out_3989820231164300868[86] = 0; - out_3989820231164300868[87] = 0; - out_3989820231164300868[88] = 0; - out_3989820231164300868[89] = 0; - out_3989820231164300868[90] = 0; - out_3989820231164300868[91] = 0; - out_3989820231164300868[92] = 0; - out_3989820231164300868[93] = 0; - out_3989820231164300868[94] = 0; - out_3989820231164300868[95] = 1; - out_3989820231164300868[96] = 0; - out_3989820231164300868[97] = 0; - out_3989820231164300868[98] = 0; - out_3989820231164300868[99] = 0; - out_3989820231164300868[100] = 0; - out_3989820231164300868[101] = 0; - out_3989820231164300868[102] = 0; - out_3989820231164300868[103] = 0; - out_3989820231164300868[104] = dt; - out_3989820231164300868[105] = 0; - out_3989820231164300868[106] = 0; - out_3989820231164300868[107] = 0; - out_3989820231164300868[108] = 0; - out_3989820231164300868[109] = 0; - out_3989820231164300868[110] = 0; - out_3989820231164300868[111] = 0; - out_3989820231164300868[112] = 0; - out_3989820231164300868[113] = 0; - out_3989820231164300868[114] = 1; - out_3989820231164300868[115] = 0; - out_3989820231164300868[116] = 0; - out_3989820231164300868[117] = 0; - out_3989820231164300868[118] = 0; - out_3989820231164300868[119] = 0; - out_3989820231164300868[120] = 0; - out_3989820231164300868[121] = 0; - out_3989820231164300868[122] = 0; - out_3989820231164300868[123] = 0; - out_3989820231164300868[124] = 0; - out_3989820231164300868[125] = 0; - out_3989820231164300868[126] = 0; - out_3989820231164300868[127] = 0; - out_3989820231164300868[128] = 0; - out_3989820231164300868[129] = 0; - out_3989820231164300868[130] = 0; - out_3989820231164300868[131] = 0; - out_3989820231164300868[132] = 0; - out_3989820231164300868[133] = 1; - out_3989820231164300868[134] = 0; - out_3989820231164300868[135] = 0; - out_3989820231164300868[136] = 0; - out_3989820231164300868[137] = 0; - out_3989820231164300868[138] = 0; - out_3989820231164300868[139] = 0; - out_3989820231164300868[140] = 0; - out_3989820231164300868[141] = 0; - out_3989820231164300868[142] = 0; - out_3989820231164300868[143] = 0; - out_3989820231164300868[144] = 0; - out_3989820231164300868[145] = 0; - out_3989820231164300868[146] = 0; - out_3989820231164300868[147] = 0; - out_3989820231164300868[148] = 0; - out_3989820231164300868[149] = 0; - out_3989820231164300868[150] = 0; - out_3989820231164300868[151] = 0; - out_3989820231164300868[152] = 1; - out_3989820231164300868[153] = 0; - out_3989820231164300868[154] = 0; - out_3989820231164300868[155] = 0; - out_3989820231164300868[156] = 0; - out_3989820231164300868[157] = 0; - out_3989820231164300868[158] = 0; - out_3989820231164300868[159] = 0; - out_3989820231164300868[160] = 0; - out_3989820231164300868[161] = 0; - out_3989820231164300868[162] = 0; - out_3989820231164300868[163] = 0; - out_3989820231164300868[164] = 0; - out_3989820231164300868[165] = 0; - out_3989820231164300868[166] = 0; - out_3989820231164300868[167] = 0; - out_3989820231164300868[168] = 0; - out_3989820231164300868[169] = 0; - out_3989820231164300868[170] = 0; - out_3989820231164300868[171] = 1; - out_3989820231164300868[172] = 0; - out_3989820231164300868[173] = 0; - out_3989820231164300868[174] = 0; - out_3989820231164300868[175] = 0; - out_3989820231164300868[176] = 0; - out_3989820231164300868[177] = 0; - out_3989820231164300868[178] = 0; - out_3989820231164300868[179] = 0; - out_3989820231164300868[180] = 0; - out_3989820231164300868[181] = 0; - out_3989820231164300868[182] = 0; - out_3989820231164300868[183] = 0; - out_3989820231164300868[184] = 0; - out_3989820231164300868[185] = 0; - out_3989820231164300868[186] = 0; - out_3989820231164300868[187] = 0; - out_3989820231164300868[188] = 0; - out_3989820231164300868[189] = 0; - out_3989820231164300868[190] = 1; - out_3989820231164300868[191] = 0; - out_3989820231164300868[192] = 0; - out_3989820231164300868[193] = 0; - out_3989820231164300868[194] = 0; - out_3989820231164300868[195] = 0; - out_3989820231164300868[196] = 0; - out_3989820231164300868[197] = 0; - out_3989820231164300868[198] = 0; - out_3989820231164300868[199] = 0; - out_3989820231164300868[200] = 0; - out_3989820231164300868[201] = 0; - out_3989820231164300868[202] = 0; - out_3989820231164300868[203] = 0; - out_3989820231164300868[204] = 0; - out_3989820231164300868[205] = 0; - out_3989820231164300868[206] = 0; - out_3989820231164300868[207] = 0; - out_3989820231164300868[208] = 0; - out_3989820231164300868[209] = 1; - out_3989820231164300868[210] = 0; - out_3989820231164300868[211] = 0; - out_3989820231164300868[212] = 0; - out_3989820231164300868[213] = 0; - out_3989820231164300868[214] = 0; - out_3989820231164300868[215] = 0; - out_3989820231164300868[216] = 0; - out_3989820231164300868[217] = 0; - out_3989820231164300868[218] = 0; - out_3989820231164300868[219] = 0; - out_3989820231164300868[220] = 0; - out_3989820231164300868[221] = 0; - out_3989820231164300868[222] = 0; - out_3989820231164300868[223] = 0; - out_3989820231164300868[224] = 0; - out_3989820231164300868[225] = 0; - out_3989820231164300868[226] = 0; - out_3989820231164300868[227] = 0; - out_3989820231164300868[228] = 1; - out_3989820231164300868[229] = 0; - out_3989820231164300868[230] = 0; - out_3989820231164300868[231] = 0; - out_3989820231164300868[232] = 0; - out_3989820231164300868[233] = 0; - out_3989820231164300868[234] = 0; - out_3989820231164300868[235] = 0; - out_3989820231164300868[236] = 0; - out_3989820231164300868[237] = 0; - out_3989820231164300868[238] = 0; - out_3989820231164300868[239] = 0; - out_3989820231164300868[240] = 0; - out_3989820231164300868[241] = 0; - out_3989820231164300868[242] = 0; - out_3989820231164300868[243] = 0; - out_3989820231164300868[244] = 0; - out_3989820231164300868[245] = 0; - out_3989820231164300868[246] = 0; - out_3989820231164300868[247] = 1; - out_3989820231164300868[248] = 0; - out_3989820231164300868[249] = 0; - out_3989820231164300868[250] = 0; - out_3989820231164300868[251] = 0; - out_3989820231164300868[252] = 0; - out_3989820231164300868[253] = 0; - out_3989820231164300868[254] = 0; - out_3989820231164300868[255] = 0; - out_3989820231164300868[256] = 0; - out_3989820231164300868[257] = 0; - out_3989820231164300868[258] = 0; - out_3989820231164300868[259] = 0; - out_3989820231164300868[260] = 0; - out_3989820231164300868[261] = 0; - out_3989820231164300868[262] = 0; - out_3989820231164300868[263] = 0; - out_3989820231164300868[264] = 0; - out_3989820231164300868[265] = 0; - out_3989820231164300868[266] = 1; - out_3989820231164300868[267] = 0; - out_3989820231164300868[268] = 0; - out_3989820231164300868[269] = 0; - out_3989820231164300868[270] = 0; - out_3989820231164300868[271] = 0; - out_3989820231164300868[272] = 0; - out_3989820231164300868[273] = 0; - out_3989820231164300868[274] = 0; - out_3989820231164300868[275] = 0; - out_3989820231164300868[276] = 0; - out_3989820231164300868[277] = 0; - out_3989820231164300868[278] = 0; - out_3989820231164300868[279] = 0; - out_3989820231164300868[280] = 0; - out_3989820231164300868[281] = 0; - out_3989820231164300868[282] = 0; - out_3989820231164300868[283] = 0; - out_3989820231164300868[284] = 0; - out_3989820231164300868[285] = 1; - out_3989820231164300868[286] = 0; - out_3989820231164300868[287] = 0; - out_3989820231164300868[288] = 0; - out_3989820231164300868[289] = 0; - out_3989820231164300868[290] = 0; - out_3989820231164300868[291] = 0; - out_3989820231164300868[292] = 0; - out_3989820231164300868[293] = 0; - out_3989820231164300868[294] = 0; - out_3989820231164300868[295] = 0; - out_3989820231164300868[296] = 0; - out_3989820231164300868[297] = 0; - out_3989820231164300868[298] = 0; - out_3989820231164300868[299] = 0; - out_3989820231164300868[300] = 0; - out_3989820231164300868[301] = 0; - out_3989820231164300868[302] = 0; - out_3989820231164300868[303] = 0; - out_3989820231164300868[304] = 1; - out_3989820231164300868[305] = 0; - out_3989820231164300868[306] = 0; - out_3989820231164300868[307] = 0; - out_3989820231164300868[308] = 0; - out_3989820231164300868[309] = 0; - out_3989820231164300868[310] = 0; - out_3989820231164300868[311] = 0; - out_3989820231164300868[312] = 0; - out_3989820231164300868[313] = 0; - out_3989820231164300868[314] = 0; - out_3989820231164300868[315] = 0; - out_3989820231164300868[316] = 0; - out_3989820231164300868[317] = 0; - out_3989820231164300868[318] = 0; - out_3989820231164300868[319] = 0; - out_3989820231164300868[320] = 0; - out_3989820231164300868[321] = 0; - out_3989820231164300868[322] = 0; - out_3989820231164300868[323] = 1; +void F_fun(double *state, double dt, double *out_6621216135717119405) { + out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[2] = 0; + out_6621216135717119405[3] = 0; + out_6621216135717119405[4] = 0; + out_6621216135717119405[5] = 0; + out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[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_6621216135717119405[9] = 0; + out_6621216135717119405[10] = 0; + out_6621216135717119405[11] = 0; + out_6621216135717119405[12] = 0; + out_6621216135717119405[13] = 0; + out_6621216135717119405[14] = 0; + out_6621216135717119405[15] = 0; + out_6621216135717119405[16] = 0; + out_6621216135717119405[17] = 0; + out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[20] = 0; + out_6621216135717119405[21] = 0; + out_6621216135717119405[22] = 0; + out_6621216135717119405[23] = 0; + out_6621216135717119405[24] = 0; + out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[27] = 0; + out_6621216135717119405[28] = 0; + out_6621216135717119405[29] = 0; + out_6621216135717119405[30] = 0; + out_6621216135717119405[31] = 0; + out_6621216135717119405[32] = 0; + out_6621216135717119405[33] = 0; + out_6621216135717119405[34] = 0; + out_6621216135717119405[35] = 0; + out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[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_6621216135717119405[39] = 0; + out_6621216135717119405[40] = 0; + out_6621216135717119405[41] = 0; + out_6621216135717119405[42] = 0; + out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[45] = 0; + out_6621216135717119405[46] = 0; + out_6621216135717119405[47] = 0; + out_6621216135717119405[48] = 0; + out_6621216135717119405[49] = 0; + out_6621216135717119405[50] = 0; + out_6621216135717119405[51] = 0; + out_6621216135717119405[52] = 0; + out_6621216135717119405[53] = 0; + out_6621216135717119405[54] = 0; + out_6621216135717119405[55] = 0; + out_6621216135717119405[56] = 0; + out_6621216135717119405[57] = 1; + out_6621216135717119405[58] = 0; + out_6621216135717119405[59] = 0; + out_6621216135717119405[60] = 0; + out_6621216135717119405[61] = 0; + out_6621216135717119405[62] = 0; + out_6621216135717119405[63] = 0; + out_6621216135717119405[64] = 0; + out_6621216135717119405[65] = 0; + out_6621216135717119405[66] = dt; + out_6621216135717119405[67] = 0; + out_6621216135717119405[68] = 0; + out_6621216135717119405[69] = 0; + out_6621216135717119405[70] = 0; + out_6621216135717119405[71] = 0; + out_6621216135717119405[72] = 0; + out_6621216135717119405[73] = 0; + out_6621216135717119405[74] = 0; + out_6621216135717119405[75] = 0; + out_6621216135717119405[76] = 1; + out_6621216135717119405[77] = 0; + out_6621216135717119405[78] = 0; + out_6621216135717119405[79] = 0; + out_6621216135717119405[80] = 0; + out_6621216135717119405[81] = 0; + out_6621216135717119405[82] = 0; + out_6621216135717119405[83] = 0; + out_6621216135717119405[84] = 0; + out_6621216135717119405[85] = dt; + out_6621216135717119405[86] = 0; + out_6621216135717119405[87] = 0; + out_6621216135717119405[88] = 0; + out_6621216135717119405[89] = 0; + out_6621216135717119405[90] = 0; + out_6621216135717119405[91] = 0; + out_6621216135717119405[92] = 0; + out_6621216135717119405[93] = 0; + out_6621216135717119405[94] = 0; + out_6621216135717119405[95] = 1; + out_6621216135717119405[96] = 0; + out_6621216135717119405[97] = 0; + out_6621216135717119405[98] = 0; + out_6621216135717119405[99] = 0; + out_6621216135717119405[100] = 0; + out_6621216135717119405[101] = 0; + out_6621216135717119405[102] = 0; + out_6621216135717119405[103] = 0; + out_6621216135717119405[104] = dt; + out_6621216135717119405[105] = 0; + out_6621216135717119405[106] = 0; + out_6621216135717119405[107] = 0; + out_6621216135717119405[108] = 0; + out_6621216135717119405[109] = 0; + out_6621216135717119405[110] = 0; + out_6621216135717119405[111] = 0; + out_6621216135717119405[112] = 0; + out_6621216135717119405[113] = 0; + out_6621216135717119405[114] = 1; + out_6621216135717119405[115] = 0; + out_6621216135717119405[116] = 0; + out_6621216135717119405[117] = 0; + out_6621216135717119405[118] = 0; + out_6621216135717119405[119] = 0; + out_6621216135717119405[120] = 0; + out_6621216135717119405[121] = 0; + out_6621216135717119405[122] = 0; + out_6621216135717119405[123] = 0; + out_6621216135717119405[124] = 0; + out_6621216135717119405[125] = 0; + out_6621216135717119405[126] = 0; + out_6621216135717119405[127] = 0; + out_6621216135717119405[128] = 0; + out_6621216135717119405[129] = 0; + out_6621216135717119405[130] = 0; + out_6621216135717119405[131] = 0; + out_6621216135717119405[132] = 0; + out_6621216135717119405[133] = 1; + out_6621216135717119405[134] = 0; + out_6621216135717119405[135] = 0; + out_6621216135717119405[136] = 0; + out_6621216135717119405[137] = 0; + out_6621216135717119405[138] = 0; + out_6621216135717119405[139] = 0; + out_6621216135717119405[140] = 0; + out_6621216135717119405[141] = 0; + out_6621216135717119405[142] = 0; + out_6621216135717119405[143] = 0; + out_6621216135717119405[144] = 0; + out_6621216135717119405[145] = 0; + out_6621216135717119405[146] = 0; + out_6621216135717119405[147] = 0; + out_6621216135717119405[148] = 0; + out_6621216135717119405[149] = 0; + out_6621216135717119405[150] = 0; + out_6621216135717119405[151] = 0; + out_6621216135717119405[152] = 1; + out_6621216135717119405[153] = 0; + out_6621216135717119405[154] = 0; + out_6621216135717119405[155] = 0; + out_6621216135717119405[156] = 0; + out_6621216135717119405[157] = 0; + out_6621216135717119405[158] = 0; + out_6621216135717119405[159] = 0; + out_6621216135717119405[160] = 0; + out_6621216135717119405[161] = 0; + out_6621216135717119405[162] = 0; + out_6621216135717119405[163] = 0; + out_6621216135717119405[164] = 0; + out_6621216135717119405[165] = 0; + out_6621216135717119405[166] = 0; + out_6621216135717119405[167] = 0; + out_6621216135717119405[168] = 0; + out_6621216135717119405[169] = 0; + out_6621216135717119405[170] = 0; + out_6621216135717119405[171] = 1; + out_6621216135717119405[172] = 0; + out_6621216135717119405[173] = 0; + out_6621216135717119405[174] = 0; + out_6621216135717119405[175] = 0; + out_6621216135717119405[176] = 0; + out_6621216135717119405[177] = 0; + out_6621216135717119405[178] = 0; + out_6621216135717119405[179] = 0; + out_6621216135717119405[180] = 0; + out_6621216135717119405[181] = 0; + out_6621216135717119405[182] = 0; + out_6621216135717119405[183] = 0; + out_6621216135717119405[184] = 0; + out_6621216135717119405[185] = 0; + out_6621216135717119405[186] = 0; + out_6621216135717119405[187] = 0; + out_6621216135717119405[188] = 0; + out_6621216135717119405[189] = 0; + out_6621216135717119405[190] = 1; + out_6621216135717119405[191] = 0; + out_6621216135717119405[192] = 0; + out_6621216135717119405[193] = 0; + out_6621216135717119405[194] = 0; + out_6621216135717119405[195] = 0; + out_6621216135717119405[196] = 0; + out_6621216135717119405[197] = 0; + out_6621216135717119405[198] = 0; + out_6621216135717119405[199] = 0; + out_6621216135717119405[200] = 0; + out_6621216135717119405[201] = 0; + out_6621216135717119405[202] = 0; + out_6621216135717119405[203] = 0; + out_6621216135717119405[204] = 0; + out_6621216135717119405[205] = 0; + out_6621216135717119405[206] = 0; + out_6621216135717119405[207] = 0; + out_6621216135717119405[208] = 0; + out_6621216135717119405[209] = 1; + out_6621216135717119405[210] = 0; + out_6621216135717119405[211] = 0; + out_6621216135717119405[212] = 0; + out_6621216135717119405[213] = 0; + out_6621216135717119405[214] = 0; + out_6621216135717119405[215] = 0; + out_6621216135717119405[216] = 0; + out_6621216135717119405[217] = 0; + out_6621216135717119405[218] = 0; + out_6621216135717119405[219] = 0; + out_6621216135717119405[220] = 0; + out_6621216135717119405[221] = 0; + out_6621216135717119405[222] = 0; + out_6621216135717119405[223] = 0; + out_6621216135717119405[224] = 0; + out_6621216135717119405[225] = 0; + out_6621216135717119405[226] = 0; + out_6621216135717119405[227] = 0; + out_6621216135717119405[228] = 1; + out_6621216135717119405[229] = 0; + out_6621216135717119405[230] = 0; + out_6621216135717119405[231] = 0; + out_6621216135717119405[232] = 0; + out_6621216135717119405[233] = 0; + out_6621216135717119405[234] = 0; + out_6621216135717119405[235] = 0; + out_6621216135717119405[236] = 0; + out_6621216135717119405[237] = 0; + out_6621216135717119405[238] = 0; + out_6621216135717119405[239] = 0; + out_6621216135717119405[240] = 0; + out_6621216135717119405[241] = 0; + out_6621216135717119405[242] = 0; + out_6621216135717119405[243] = 0; + out_6621216135717119405[244] = 0; + out_6621216135717119405[245] = 0; + out_6621216135717119405[246] = 0; + out_6621216135717119405[247] = 1; + out_6621216135717119405[248] = 0; + out_6621216135717119405[249] = 0; + out_6621216135717119405[250] = 0; + out_6621216135717119405[251] = 0; + out_6621216135717119405[252] = 0; + out_6621216135717119405[253] = 0; + out_6621216135717119405[254] = 0; + out_6621216135717119405[255] = 0; + out_6621216135717119405[256] = 0; + out_6621216135717119405[257] = 0; + out_6621216135717119405[258] = 0; + out_6621216135717119405[259] = 0; + out_6621216135717119405[260] = 0; + out_6621216135717119405[261] = 0; + out_6621216135717119405[262] = 0; + out_6621216135717119405[263] = 0; + out_6621216135717119405[264] = 0; + out_6621216135717119405[265] = 0; + out_6621216135717119405[266] = 1; + out_6621216135717119405[267] = 0; + out_6621216135717119405[268] = 0; + out_6621216135717119405[269] = 0; + out_6621216135717119405[270] = 0; + out_6621216135717119405[271] = 0; + out_6621216135717119405[272] = 0; + out_6621216135717119405[273] = 0; + out_6621216135717119405[274] = 0; + out_6621216135717119405[275] = 0; + out_6621216135717119405[276] = 0; + out_6621216135717119405[277] = 0; + out_6621216135717119405[278] = 0; + out_6621216135717119405[279] = 0; + out_6621216135717119405[280] = 0; + out_6621216135717119405[281] = 0; + out_6621216135717119405[282] = 0; + out_6621216135717119405[283] = 0; + out_6621216135717119405[284] = 0; + out_6621216135717119405[285] = 1; + out_6621216135717119405[286] = 0; + out_6621216135717119405[287] = 0; + out_6621216135717119405[288] = 0; + out_6621216135717119405[289] = 0; + out_6621216135717119405[290] = 0; + out_6621216135717119405[291] = 0; + out_6621216135717119405[292] = 0; + out_6621216135717119405[293] = 0; + out_6621216135717119405[294] = 0; + out_6621216135717119405[295] = 0; + out_6621216135717119405[296] = 0; + out_6621216135717119405[297] = 0; + out_6621216135717119405[298] = 0; + out_6621216135717119405[299] = 0; + out_6621216135717119405[300] = 0; + out_6621216135717119405[301] = 0; + out_6621216135717119405[302] = 0; + out_6621216135717119405[303] = 0; + out_6621216135717119405[304] = 1; + out_6621216135717119405[305] = 0; + out_6621216135717119405[306] = 0; + out_6621216135717119405[307] = 0; + out_6621216135717119405[308] = 0; + out_6621216135717119405[309] = 0; + out_6621216135717119405[310] = 0; + out_6621216135717119405[311] = 0; + out_6621216135717119405[312] = 0; + out_6621216135717119405[313] = 0; + out_6621216135717119405[314] = 0; + out_6621216135717119405[315] = 0; + out_6621216135717119405[316] = 0; + out_6621216135717119405[317] = 0; + out_6621216135717119405[318] = 0; + out_6621216135717119405[319] = 0; + out_6621216135717119405[320] = 0; + out_6621216135717119405[321] = 0; + out_6621216135717119405[322] = 0; + out_6621216135717119405[323] = 1; } -void h_4(double *state, double *unused, double *out_4946255089901338531) { - out_4946255089901338531[0] = state[6] + state[9]; - out_4946255089901338531[1] = state[7] + state[10]; - out_4946255089901338531[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6788230556268759212) { + out_6788230556268759212[0] = state[6] + state[9]; + out_6788230556268759212[1] = state[7] + state[10]; + out_6788230556268759212[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8715690230958088519) { - out_8715690230958088519[0] = 0; - out_8715690230958088519[1] = 0; - out_8715690230958088519[2] = 0; - out_8715690230958088519[3] = 0; - out_8715690230958088519[4] = 0; - out_8715690230958088519[5] = 0; - out_8715690230958088519[6] = 1; - out_8715690230958088519[7] = 0; - out_8715690230958088519[8] = 0; - out_8715690230958088519[9] = 1; - out_8715690230958088519[10] = 0; - out_8715690230958088519[11] = 0; - out_8715690230958088519[12] = 0; - out_8715690230958088519[13] = 0; - out_8715690230958088519[14] = 0; - out_8715690230958088519[15] = 0; - out_8715690230958088519[16] = 0; - out_8715690230958088519[17] = 0; - out_8715690230958088519[18] = 0; - out_8715690230958088519[19] = 0; - out_8715690230958088519[20] = 0; - out_8715690230958088519[21] = 0; - out_8715690230958088519[22] = 0; - out_8715690230958088519[23] = 0; - out_8715690230958088519[24] = 0; - out_8715690230958088519[25] = 1; - out_8715690230958088519[26] = 0; - out_8715690230958088519[27] = 0; - out_8715690230958088519[28] = 1; - out_8715690230958088519[29] = 0; - out_8715690230958088519[30] = 0; - out_8715690230958088519[31] = 0; - out_8715690230958088519[32] = 0; - out_8715690230958088519[33] = 0; - out_8715690230958088519[34] = 0; - out_8715690230958088519[35] = 0; - out_8715690230958088519[36] = 0; - out_8715690230958088519[37] = 0; - out_8715690230958088519[38] = 0; - out_8715690230958088519[39] = 0; - out_8715690230958088519[40] = 0; - out_8715690230958088519[41] = 0; - out_8715690230958088519[42] = 0; - out_8715690230958088519[43] = 0; - out_8715690230958088519[44] = 1; - out_8715690230958088519[45] = 0; - out_8715690230958088519[46] = 0; - out_8715690230958088519[47] = 1; - out_8715690230958088519[48] = 0; - out_8715690230958088519[49] = 0; - out_8715690230958088519[50] = 0; - out_8715690230958088519[51] = 0; - out_8715690230958088519[52] = 0; - out_8715690230958088519[53] = 0; +void H_4(double *state, double *unused, double *out_7632527461987838329) { + out_7632527461987838329[0] = 0; + out_7632527461987838329[1] = 0; + out_7632527461987838329[2] = 0; + out_7632527461987838329[3] = 0; + out_7632527461987838329[4] = 0; + out_7632527461987838329[5] = 0; + out_7632527461987838329[6] = 1; + out_7632527461987838329[7] = 0; + out_7632527461987838329[8] = 0; + out_7632527461987838329[9] = 1; + out_7632527461987838329[10] = 0; + out_7632527461987838329[11] = 0; + out_7632527461987838329[12] = 0; + out_7632527461987838329[13] = 0; + out_7632527461987838329[14] = 0; + out_7632527461987838329[15] = 0; + out_7632527461987838329[16] = 0; + out_7632527461987838329[17] = 0; + out_7632527461987838329[18] = 0; + out_7632527461987838329[19] = 0; + out_7632527461987838329[20] = 0; + out_7632527461987838329[21] = 0; + out_7632527461987838329[22] = 0; + out_7632527461987838329[23] = 0; + out_7632527461987838329[24] = 0; + out_7632527461987838329[25] = 1; + out_7632527461987838329[26] = 0; + out_7632527461987838329[27] = 0; + out_7632527461987838329[28] = 1; + out_7632527461987838329[29] = 0; + out_7632527461987838329[30] = 0; + out_7632527461987838329[31] = 0; + out_7632527461987838329[32] = 0; + out_7632527461987838329[33] = 0; + out_7632527461987838329[34] = 0; + out_7632527461987838329[35] = 0; + out_7632527461987838329[36] = 0; + out_7632527461987838329[37] = 0; + out_7632527461987838329[38] = 0; + out_7632527461987838329[39] = 0; + out_7632527461987838329[40] = 0; + out_7632527461987838329[41] = 0; + out_7632527461987838329[42] = 0; + out_7632527461987838329[43] = 0; + out_7632527461987838329[44] = 1; + out_7632527461987838329[45] = 0; + out_7632527461987838329[46] = 0; + out_7632527461987838329[47] = 1; + out_7632527461987838329[48] = 0; + out_7632527461987838329[49] = 0; + out_7632527461987838329[50] = 0; + out_7632527461987838329[51] = 0; + out_7632527461987838329[52] = 0; + out_7632527461987838329[53] = 0; } -void h_10(double *state, double *unused, double *out_1122773854384552196) { - out_1122773854384552196[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1122773854384552196[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1122773854384552196[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_8432036585650852946) { + out_8432036585650852946[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8432036585650852946[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8432036585650852946[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_5712996006774124697) { - out_5712996006774124697[0] = 0; - out_5712996006774124697[1] = 9.8100000000000005*cos(state[1]); - out_5712996006774124697[2] = 0; - out_5712996006774124697[3] = 0; - out_5712996006774124697[4] = -state[8]; - out_5712996006774124697[5] = state[7]; - out_5712996006774124697[6] = 0; - out_5712996006774124697[7] = state[5]; - out_5712996006774124697[8] = -state[4]; - out_5712996006774124697[9] = 0; - out_5712996006774124697[10] = 0; - out_5712996006774124697[11] = 0; - out_5712996006774124697[12] = 1; - out_5712996006774124697[13] = 0; - out_5712996006774124697[14] = 0; - out_5712996006774124697[15] = 1; - out_5712996006774124697[16] = 0; - out_5712996006774124697[17] = 0; - out_5712996006774124697[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5712996006774124697[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5712996006774124697[20] = 0; - out_5712996006774124697[21] = state[8]; - out_5712996006774124697[22] = 0; - out_5712996006774124697[23] = -state[6]; - out_5712996006774124697[24] = -state[5]; - out_5712996006774124697[25] = 0; - out_5712996006774124697[26] = state[3]; - out_5712996006774124697[27] = 0; - out_5712996006774124697[28] = 0; - out_5712996006774124697[29] = 0; - out_5712996006774124697[30] = 0; - out_5712996006774124697[31] = 1; - out_5712996006774124697[32] = 0; - out_5712996006774124697[33] = 0; - out_5712996006774124697[34] = 1; - out_5712996006774124697[35] = 0; - out_5712996006774124697[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5712996006774124697[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5712996006774124697[38] = 0; - out_5712996006774124697[39] = -state[7]; - out_5712996006774124697[40] = state[6]; - out_5712996006774124697[41] = 0; - out_5712996006774124697[42] = state[4]; - out_5712996006774124697[43] = -state[3]; - out_5712996006774124697[44] = 0; - out_5712996006774124697[45] = 0; - out_5712996006774124697[46] = 0; - out_5712996006774124697[47] = 0; - out_5712996006774124697[48] = 0; - out_5712996006774124697[49] = 0; - out_5712996006774124697[50] = 1; - out_5712996006774124697[51] = 0; - out_5712996006774124697[52] = 0; - out_5712996006774124697[53] = 1; +void H_10(double *state, double *unused, double *out_8928260110437863487) { + out_8928260110437863487[0] = 0; + out_8928260110437863487[1] = 9.8100000000000005*cos(state[1]); + out_8928260110437863487[2] = 0; + out_8928260110437863487[3] = 0; + out_8928260110437863487[4] = -state[8]; + out_8928260110437863487[5] = state[7]; + out_8928260110437863487[6] = 0; + out_8928260110437863487[7] = state[5]; + out_8928260110437863487[8] = -state[4]; + out_8928260110437863487[9] = 0; + out_8928260110437863487[10] = 0; + out_8928260110437863487[11] = 0; + out_8928260110437863487[12] = 1; + out_8928260110437863487[13] = 0; + out_8928260110437863487[14] = 0; + out_8928260110437863487[15] = 1; + out_8928260110437863487[16] = 0; + out_8928260110437863487[17] = 0; + out_8928260110437863487[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8928260110437863487[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8928260110437863487[20] = 0; + out_8928260110437863487[21] = state[8]; + out_8928260110437863487[22] = 0; + out_8928260110437863487[23] = -state[6]; + out_8928260110437863487[24] = -state[5]; + out_8928260110437863487[25] = 0; + out_8928260110437863487[26] = state[3]; + out_8928260110437863487[27] = 0; + out_8928260110437863487[28] = 0; + out_8928260110437863487[29] = 0; + out_8928260110437863487[30] = 0; + out_8928260110437863487[31] = 1; + out_8928260110437863487[32] = 0; + out_8928260110437863487[33] = 0; + out_8928260110437863487[34] = 1; + out_8928260110437863487[35] = 0; + out_8928260110437863487[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8928260110437863487[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8928260110437863487[38] = 0; + out_8928260110437863487[39] = -state[7]; + out_8928260110437863487[40] = state[6]; + out_8928260110437863487[41] = 0; + out_8928260110437863487[42] = state[4]; + out_8928260110437863487[43] = -state[3]; + out_8928260110437863487[44] = 0; + out_8928260110437863487[45] = 0; + out_8928260110437863487[46] = 0; + out_8928260110437863487[47] = 0; + out_8928260110437863487[48] = 0; + out_8928260110437863487[49] = 0; + out_8928260110437863487[50] = 1; + out_8928260110437863487[51] = 0; + out_8928260110437863487[52] = 0; + out_8928260110437863487[53] = 1; } -void h_13(double *state, double *unused, double *out_1411072044725156723) { - out_1411072044725156723[0] = state[3]; - out_1411072044725156723[1] = state[4]; - out_1411072044725156723[2] = state[5]; +void h_13(double *state, double *unused, double *out_2724236674667547577) { + out_2724236674667547577[0] = state[3]; + out_2724236674667547577[1] = state[4]; + out_2724236674667547577[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5503416405625755718) { - out_5503416405625755718[0] = 0; - out_5503416405625755718[1] = 0; - out_5503416405625755718[2] = 0; - out_5503416405625755718[3] = 1; - out_5503416405625755718[4] = 0; - out_5503416405625755718[5] = 0; - out_5503416405625755718[6] = 0; - out_5503416405625755718[7] = 0; - out_5503416405625755718[8] = 0; - out_5503416405625755718[9] = 0; - out_5503416405625755718[10] = 0; - out_5503416405625755718[11] = 0; - out_5503416405625755718[12] = 0; - out_5503416405625755718[13] = 0; - out_5503416405625755718[14] = 0; - out_5503416405625755718[15] = 0; - out_5503416405625755718[16] = 0; - out_5503416405625755718[17] = 0; - out_5503416405625755718[18] = 0; - out_5503416405625755718[19] = 0; - out_5503416405625755718[20] = 0; - out_5503416405625755718[21] = 0; - out_5503416405625755718[22] = 1; - out_5503416405625755718[23] = 0; - out_5503416405625755718[24] = 0; - out_5503416405625755718[25] = 0; - out_5503416405625755718[26] = 0; - out_5503416405625755718[27] = 0; - out_5503416405625755718[28] = 0; - out_5503416405625755718[29] = 0; - out_5503416405625755718[30] = 0; - out_5503416405625755718[31] = 0; - out_5503416405625755718[32] = 0; - out_5503416405625755718[33] = 0; - out_5503416405625755718[34] = 0; - out_5503416405625755718[35] = 0; - out_5503416405625755718[36] = 0; - out_5503416405625755718[37] = 0; - out_5503416405625755718[38] = 0; - out_5503416405625755718[39] = 0; - out_5503416405625755718[40] = 0; - out_5503416405625755718[41] = 1; - out_5503416405625755718[42] = 0; - out_5503416405625755718[43] = 0; - out_5503416405625755718[44] = 0; - out_5503416405625755718[45] = 0; - out_5503416405625755718[46] = 0; - out_5503416405625755718[47] = 0; - out_5503416405625755718[48] = 0; - out_5503416405625755718[49] = 0; - out_5503416405625755718[50] = 0; - out_5503416405625755718[51] = 0; - out_5503416405625755718[52] = 0; - out_5503416405625755718[53] = 0; +void H_13(double *state, double *unused, double *out_8197129381669682433) { + out_8197129381669682433[0] = 0; + out_8197129381669682433[1] = 0; + out_8197129381669682433[2] = 0; + out_8197129381669682433[3] = 1; + out_8197129381669682433[4] = 0; + out_8197129381669682433[5] = 0; + out_8197129381669682433[6] = 0; + out_8197129381669682433[7] = 0; + out_8197129381669682433[8] = 0; + out_8197129381669682433[9] = 0; + out_8197129381669682433[10] = 0; + out_8197129381669682433[11] = 0; + out_8197129381669682433[12] = 0; + out_8197129381669682433[13] = 0; + out_8197129381669682433[14] = 0; + out_8197129381669682433[15] = 0; + out_8197129381669682433[16] = 0; + out_8197129381669682433[17] = 0; + out_8197129381669682433[18] = 0; + out_8197129381669682433[19] = 0; + out_8197129381669682433[20] = 0; + out_8197129381669682433[21] = 0; + out_8197129381669682433[22] = 1; + out_8197129381669682433[23] = 0; + out_8197129381669682433[24] = 0; + out_8197129381669682433[25] = 0; + out_8197129381669682433[26] = 0; + out_8197129381669682433[27] = 0; + out_8197129381669682433[28] = 0; + out_8197129381669682433[29] = 0; + out_8197129381669682433[30] = 0; + out_8197129381669682433[31] = 0; + out_8197129381669682433[32] = 0; + out_8197129381669682433[33] = 0; + out_8197129381669682433[34] = 0; + out_8197129381669682433[35] = 0; + out_8197129381669682433[36] = 0; + out_8197129381669682433[37] = 0; + out_8197129381669682433[38] = 0; + out_8197129381669682433[39] = 0; + out_8197129381669682433[40] = 0; + out_8197129381669682433[41] = 1; + out_8197129381669682433[42] = 0; + out_8197129381669682433[43] = 0; + out_8197129381669682433[44] = 0; + out_8197129381669682433[45] = 0; + out_8197129381669682433[46] = 0; + out_8197129381669682433[47] = 0; + out_8197129381669682433[48] = 0; + out_8197129381669682433[49] = 0; + out_8197129381669682433[50] = 0; + out_8197129381669682433[51] = 0; + out_8197129381669682433[52] = 0; + out_8197129381669682433[53] = 0; } -void h_14(double *state, double *unused, double *out_2642104827226322779) { - out_2642104827226322779[0] = state[6]; - out_2642104827226322779[1] = state[7]; - out_2642104827226322779[2] = state[8]; +void h_14(double *state, double *unused, double *out_7287061467575581493) { + out_7287061467575581493[0] = state[6]; + out_7287061467575581493[1] = state[7]; + out_7287061467575581493[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2249908027471722673) { - out_2249908027471722673[0] = 0; - out_2249908027471722673[1] = 0; - out_2249908027471722673[2] = 0; - out_2249908027471722673[3] = 0; - out_2249908027471722673[4] = 0; - out_2249908027471722673[5] = 0; - out_2249908027471722673[6] = 1; - out_2249908027471722673[7] = 0; - out_2249908027471722673[8] = 0; - out_2249908027471722673[9] = 0; - out_2249908027471722673[10] = 0; - out_2249908027471722673[11] = 0; - out_2249908027471722673[12] = 0; - out_2249908027471722673[13] = 0; - out_2249908027471722673[14] = 0; - out_2249908027471722673[15] = 0; - out_2249908027471722673[16] = 0; - out_2249908027471722673[17] = 0; - out_2249908027471722673[18] = 0; - out_2249908027471722673[19] = 0; - out_2249908027471722673[20] = 0; - out_2249908027471722673[21] = 0; - out_2249908027471722673[22] = 0; - out_2249908027471722673[23] = 0; - out_2249908027471722673[24] = 0; - out_2249908027471722673[25] = 1; - out_2249908027471722673[26] = 0; - out_2249908027471722673[27] = 0; - out_2249908027471722673[28] = 0; - out_2249908027471722673[29] = 0; - out_2249908027471722673[30] = 0; - out_2249908027471722673[31] = 0; - out_2249908027471722673[32] = 0; - out_2249908027471722673[33] = 0; - out_2249908027471722673[34] = 0; - out_2249908027471722673[35] = 0; - out_2249908027471722673[36] = 0; - out_2249908027471722673[37] = 0; - out_2249908027471722673[38] = 0; - out_2249908027471722673[39] = 0; - out_2249908027471722673[40] = 0; - out_2249908027471722673[41] = 0; - out_2249908027471722673[42] = 0; - out_2249908027471722673[43] = 0; - out_2249908027471722673[44] = 1; - out_2249908027471722673[45] = 0; - out_2249908027471722673[46] = 0; - out_2249908027471722673[47] = 0; - out_2249908027471722673[48] = 0; - out_2249908027471722673[49] = 0; - out_2249908027471722673[50] = 0; - out_2249908027471722673[51] = 0; - out_2249908027471722673[52] = 0; - out_2249908027471722673[53] = 0; +void H_14(double *state, double *unused, double *out_4549739029692466033) { + out_4549739029692466033[0] = 0; + out_4549739029692466033[1] = 0; + out_4549739029692466033[2] = 0; + out_4549739029692466033[3] = 0; + out_4549739029692466033[4] = 0; + out_4549739029692466033[5] = 0; + out_4549739029692466033[6] = 1; + out_4549739029692466033[7] = 0; + out_4549739029692466033[8] = 0; + out_4549739029692466033[9] = 0; + out_4549739029692466033[10] = 0; + out_4549739029692466033[11] = 0; + out_4549739029692466033[12] = 0; + out_4549739029692466033[13] = 0; + out_4549739029692466033[14] = 0; + out_4549739029692466033[15] = 0; + out_4549739029692466033[16] = 0; + out_4549739029692466033[17] = 0; + out_4549739029692466033[18] = 0; + out_4549739029692466033[19] = 0; + out_4549739029692466033[20] = 0; + out_4549739029692466033[21] = 0; + out_4549739029692466033[22] = 0; + out_4549739029692466033[23] = 0; + out_4549739029692466033[24] = 0; + out_4549739029692466033[25] = 1; + out_4549739029692466033[26] = 0; + out_4549739029692466033[27] = 0; + out_4549739029692466033[28] = 0; + out_4549739029692466033[29] = 0; + out_4549739029692466033[30] = 0; + out_4549739029692466033[31] = 0; + out_4549739029692466033[32] = 0; + out_4549739029692466033[33] = 0; + out_4549739029692466033[34] = 0; + out_4549739029692466033[35] = 0; + out_4549739029692466033[36] = 0; + out_4549739029692466033[37] = 0; + out_4549739029692466033[38] = 0; + out_4549739029692466033[39] = 0; + out_4549739029692466033[40] = 0; + out_4549739029692466033[41] = 0; + out_4549739029692466033[42] = 0; + out_4549739029692466033[43] = 0; + out_4549739029692466033[44] = 1; + out_4549739029692466033[45] = 0; + out_4549739029692466033[46] = 0; + out_4549739029692466033[47] = 0; + out_4549739029692466033[48] = 0; + out_4549739029692466033[49] = 0; + out_4549739029692466033[50] = 0; + out_4549739029692466033[51] = 0; + out_4549739029692466033[52] = 0; + out_4549739029692466033[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_2495962770948129313) { - err_fun(nom_x, delta_x, out_2495962770948129313); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6656391008125290288) { + err_fun(nom_x, delta_x, out_6656391008125290288); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_17617025005773203) { - inv_err_fun(nom_x, true_x, out_17617025005773203); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2808972743269739579) { + inv_err_fun(nom_x, true_x, out_2808972743269739579); } -void pose_H_mod_fun(double *state, double *out_8533106360868564993) { - H_mod_fun(state, out_8533106360868564993); +void pose_H_mod_fun(double *state, double *out_1869854945663891945) { + H_mod_fun(state, out_1869854945663891945); } -void pose_f_fun(double *state, double dt, double *out_5731605766251141681) { - f_fun(state, dt, out_5731605766251141681); +void pose_f_fun(double *state, double dt, double *out_1891205901656639709) { + f_fun(state, dt, out_1891205901656639709); } -void pose_F_fun(double *state, double dt, double *out_3989820231164300868) { - F_fun(state, dt, out_3989820231164300868); +void pose_F_fun(double *state, double dt, double *out_6621216135717119405) { + F_fun(state, dt, out_6621216135717119405); } -void pose_h_4(double *state, double *unused, double *out_4946255089901338531) { - h_4(state, unused, out_4946255089901338531); +void pose_h_4(double *state, double *unused, double *out_6788230556268759212) { + h_4(state, unused, out_6788230556268759212); } -void pose_H_4(double *state, double *unused, double *out_8715690230958088519) { - H_4(state, unused, out_8715690230958088519); +void pose_H_4(double *state, double *unused, double *out_7632527461987838329) { + H_4(state, unused, out_7632527461987838329); } -void pose_h_10(double *state, double *unused, double *out_1122773854384552196) { - h_10(state, unused, out_1122773854384552196); +void pose_h_10(double *state, double *unused, double *out_8432036585650852946) { + h_10(state, unused, out_8432036585650852946); } -void pose_H_10(double *state, double *unused, double *out_5712996006774124697) { - H_10(state, unused, out_5712996006774124697); +void pose_H_10(double *state, double *unused, double *out_8928260110437863487) { + H_10(state, unused, out_8928260110437863487); } -void pose_h_13(double *state, double *unused, double *out_1411072044725156723) { - h_13(state, unused, out_1411072044725156723); +void pose_h_13(double *state, double *unused, double *out_2724236674667547577) { + h_13(state, unused, out_2724236674667547577); } -void pose_H_13(double *state, double *unused, double *out_5503416405625755718) { - H_13(state, unused, out_5503416405625755718); +void pose_H_13(double *state, double *unused, double *out_8197129381669682433) { + H_13(state, unused, out_8197129381669682433); } -void pose_h_14(double *state, double *unused, double *out_2642104827226322779) { - h_14(state, unused, out_2642104827226322779); +void pose_h_14(double *state, double *unused, double *out_7287061467575581493) { + h_14(state, unused, out_7287061467575581493); } -void pose_H_14(double *state, double *unused, double *out_2249908027471722673) { - H_14(state, unused, out_2249908027471722673); +void pose_H_14(double *state, double *unused, double *out_4549739029692466033) { + H_14(state, unused, out_4549739029692466033); } 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 2931f6768..ad5faa8ea 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_2495962770948129313); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_17617025005773203); -void pose_H_mod_fun(double *state, double *out_8533106360868564993); -void pose_f_fun(double *state, double dt, double *out_5731605766251141681); -void pose_F_fun(double *state, double dt, double *out_3989820231164300868); -void pose_h_4(double *state, double *unused, double *out_4946255089901338531); -void pose_H_4(double *state, double *unused, double *out_8715690230958088519); -void pose_h_10(double *state, double *unused, double *out_1122773854384552196); -void pose_H_10(double *state, double *unused, double *out_5712996006774124697); -void pose_h_13(double *state, double *unused, double *out_1411072044725156723); -void pose_H_13(double *state, double *unused, double *out_5503416405625755718); -void pose_h_14(double *state, double *unused, double *out_2642104827226322779); -void pose_H_14(double *state, double *unused, double *out_2249908027471722673); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6656391008125290288); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2808972743269739579); +void pose_H_mod_fun(double *state, double *out_1869854945663891945); +void pose_f_fun(double *state, double dt, double *out_1891205901656639709); +void pose_F_fun(double *state, double dt, double *out_6621216135717119405); +void pose_h_4(double *state, double *unused, double *out_6788230556268759212); +void pose_H_4(double *state, double *unused, double *out_7632527461987838329); +void pose_h_10(double *state, double *unused, double *out_8432036585650852946); +void pose_H_10(double *state, double *unused, double *out_8928260110437863487); +void pose_h_13(double *state, double *unused, double *out_2724236674667547577); +void pose_H_13(double *state, double *unused, double *out_8197129381669682433); +void pose_h_14(double *state, double *unused, double *out_7287061467575581493); +void pose_H_14(double *state, double *unused, double *out_4549739029692466033); 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 60d687a13..794142017 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ