diff --git a/opendbc_repo/opendbc/safety/declarations.h b/opendbc_repo/opendbc/safety/declarations.h index 9621d5ee9..23798d7f0 100644 --- a/opendbc_repo/opendbc/safety/declarations.h +++ b/opendbc_repo/opendbc/safety/declarations.h @@ -230,9 +230,7 @@ void update_sample(struct sample_t *sample, int sample_new); bool get_longitudinal_allowed(void); int ROUND(float val); void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]); -#ifdef CANFD void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]); -#endif bool steer_torque_cmd_checks(int desired_torque, int steer_req, const TorqueSteeringLimits limits); bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const AngleSteeringLimits limits); bool steer_angle_cmd_checks_vm(int desired_angle, bool steer_control_enabled, const AngleSteeringLimits limits, diff --git a/opendbc_repo/opendbc/safety/safety.h b/opendbc_repo/opendbc/safety/safety.h index 2db13911b..7ef230dfc 100644 --- a/opendbc_repo/opendbc/safety/safety.h +++ b/opendbc_repo/opendbc/safety/safety.h @@ -306,7 +306,6 @@ void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]) { } } -#ifdef CANFD void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) { for (uint16_t i = 0; i < 256U; i++) { uint16_t crc = i << 8U; @@ -320,7 +319,6 @@ void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) { crc_lut[i] = crc; } } -#endif // 1Hz safety function called by main. Now just a check for lagging safety messages void safety_tick(const safety_config *cfg) { diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index a7aa172d6..96f770569 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 3fae99477..65cf30881 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 811b98908..b308928e4 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 fb29f10c4..d2ae1a4db 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 4156c2d9e..65b7ef852 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 7d43b8ef3..0e6575d3c 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 0cb6e8722..60e302ade 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 0cb6e8722..60e302ade 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index df1636ad5..84e08c41f 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 7d43b8ef3..0e6575d3c 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 5859a3ae1..f4da61342 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-c612f7a1-DEBUG"; +const uint8_t gitversion[19] = "DEV-712aa081-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index bd88ce5c5..0d212ccdd 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 3cf13cbe2..94b747986 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 683b53034..ea44da8ea 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 2390a525c..6037d9efa 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 f26c7900d..115b9a4d9 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 b64e4b173..ce0395193 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 6b696546a..689d41b0c 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 a38174566..634fad2bc 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 44f2d22ec..39db8aebe 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 054e6bfab..f3d702192 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 248d9ba60..caa542731 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 02905fe53..f562a2365 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 080026827..0f2339d12 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 665d504a0..5c5b52996 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 4b3df9de0..ae0001875 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 adb5ffe6b..91b101e39 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 4acf1c026..9872639c0 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 27ae626e1..88022b0ab 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 f88d205a9..3a5c0e5c9 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 bbb0ce31e..c14b73ecb 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 77bb8e0bc..9606cd635 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-c612f7a1-DEBUG \ No newline at end of file +DEV-712aa081-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 731b2266b..c64ff356c 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_417238876910560070) { - out_417238876910560070[0] = delta_x[0] + nom_x[0]; - out_417238876910560070[1] = delta_x[1] + nom_x[1]; - out_417238876910560070[2] = delta_x[2] + nom_x[2]; - out_417238876910560070[3] = delta_x[3] + nom_x[3]; - out_417238876910560070[4] = delta_x[4] + nom_x[4]; - out_417238876910560070[5] = delta_x[5] + nom_x[5]; - out_417238876910560070[6] = delta_x[6] + nom_x[6]; - out_417238876910560070[7] = delta_x[7] + nom_x[7]; - out_417238876910560070[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2165520225426293203) { + out_2165520225426293203[0] = delta_x[0] + nom_x[0]; + out_2165520225426293203[1] = delta_x[1] + nom_x[1]; + out_2165520225426293203[2] = delta_x[2] + nom_x[2]; + out_2165520225426293203[3] = delta_x[3] + nom_x[3]; + out_2165520225426293203[4] = delta_x[4] + nom_x[4]; + out_2165520225426293203[5] = delta_x[5] + nom_x[5]; + out_2165520225426293203[6] = delta_x[6] + nom_x[6]; + out_2165520225426293203[7] = delta_x[7] + nom_x[7]; + out_2165520225426293203[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2214194102385980691) { - out_2214194102385980691[0] = -nom_x[0] + true_x[0]; - out_2214194102385980691[1] = -nom_x[1] + true_x[1]; - out_2214194102385980691[2] = -nom_x[2] + true_x[2]; - out_2214194102385980691[3] = -nom_x[3] + true_x[3]; - out_2214194102385980691[4] = -nom_x[4] + true_x[4]; - out_2214194102385980691[5] = -nom_x[5] + true_x[5]; - out_2214194102385980691[6] = -nom_x[6] + true_x[6]; - out_2214194102385980691[7] = -nom_x[7] + true_x[7]; - out_2214194102385980691[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_48394968560250279) { + out_48394968560250279[0] = -nom_x[0] + true_x[0]; + out_48394968560250279[1] = -nom_x[1] + true_x[1]; + out_48394968560250279[2] = -nom_x[2] + true_x[2]; + out_48394968560250279[3] = -nom_x[3] + true_x[3]; + out_48394968560250279[4] = -nom_x[4] + true_x[4]; + out_48394968560250279[5] = -nom_x[5] + true_x[5]; + out_48394968560250279[6] = -nom_x[6] + true_x[6]; + out_48394968560250279[7] = -nom_x[7] + true_x[7]; + out_48394968560250279[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_2617678226180198985) { - out_2617678226180198985[0] = 1.0; - out_2617678226180198985[1] = 0.0; - out_2617678226180198985[2] = 0.0; - out_2617678226180198985[3] = 0.0; - out_2617678226180198985[4] = 0.0; - out_2617678226180198985[5] = 0.0; - out_2617678226180198985[6] = 0.0; - out_2617678226180198985[7] = 0.0; - out_2617678226180198985[8] = 0.0; - out_2617678226180198985[9] = 0.0; - out_2617678226180198985[10] = 1.0; - out_2617678226180198985[11] = 0.0; - out_2617678226180198985[12] = 0.0; - out_2617678226180198985[13] = 0.0; - out_2617678226180198985[14] = 0.0; - out_2617678226180198985[15] = 0.0; - out_2617678226180198985[16] = 0.0; - out_2617678226180198985[17] = 0.0; - out_2617678226180198985[18] = 0.0; - out_2617678226180198985[19] = 0.0; - out_2617678226180198985[20] = 1.0; - out_2617678226180198985[21] = 0.0; - out_2617678226180198985[22] = 0.0; - out_2617678226180198985[23] = 0.0; - out_2617678226180198985[24] = 0.0; - out_2617678226180198985[25] = 0.0; - out_2617678226180198985[26] = 0.0; - out_2617678226180198985[27] = 0.0; - out_2617678226180198985[28] = 0.0; - out_2617678226180198985[29] = 0.0; - out_2617678226180198985[30] = 1.0; - out_2617678226180198985[31] = 0.0; - out_2617678226180198985[32] = 0.0; - out_2617678226180198985[33] = 0.0; - out_2617678226180198985[34] = 0.0; - out_2617678226180198985[35] = 0.0; - out_2617678226180198985[36] = 0.0; - out_2617678226180198985[37] = 0.0; - out_2617678226180198985[38] = 0.0; - out_2617678226180198985[39] = 0.0; - out_2617678226180198985[40] = 1.0; - out_2617678226180198985[41] = 0.0; - out_2617678226180198985[42] = 0.0; - out_2617678226180198985[43] = 0.0; - out_2617678226180198985[44] = 0.0; - out_2617678226180198985[45] = 0.0; - out_2617678226180198985[46] = 0.0; - out_2617678226180198985[47] = 0.0; - out_2617678226180198985[48] = 0.0; - out_2617678226180198985[49] = 0.0; - out_2617678226180198985[50] = 1.0; - out_2617678226180198985[51] = 0.0; - out_2617678226180198985[52] = 0.0; - out_2617678226180198985[53] = 0.0; - out_2617678226180198985[54] = 0.0; - out_2617678226180198985[55] = 0.0; - out_2617678226180198985[56] = 0.0; - out_2617678226180198985[57] = 0.0; - out_2617678226180198985[58] = 0.0; - out_2617678226180198985[59] = 0.0; - out_2617678226180198985[60] = 1.0; - out_2617678226180198985[61] = 0.0; - out_2617678226180198985[62] = 0.0; - out_2617678226180198985[63] = 0.0; - out_2617678226180198985[64] = 0.0; - out_2617678226180198985[65] = 0.0; - out_2617678226180198985[66] = 0.0; - out_2617678226180198985[67] = 0.0; - out_2617678226180198985[68] = 0.0; - out_2617678226180198985[69] = 0.0; - out_2617678226180198985[70] = 1.0; - out_2617678226180198985[71] = 0.0; - out_2617678226180198985[72] = 0.0; - out_2617678226180198985[73] = 0.0; - out_2617678226180198985[74] = 0.0; - out_2617678226180198985[75] = 0.0; - out_2617678226180198985[76] = 0.0; - out_2617678226180198985[77] = 0.0; - out_2617678226180198985[78] = 0.0; - out_2617678226180198985[79] = 0.0; - out_2617678226180198985[80] = 1.0; +void H_mod_fun(double *state, double *out_8198135828365669542) { + out_8198135828365669542[0] = 1.0; + out_8198135828365669542[1] = 0.0; + out_8198135828365669542[2] = 0.0; + out_8198135828365669542[3] = 0.0; + out_8198135828365669542[4] = 0.0; + out_8198135828365669542[5] = 0.0; + out_8198135828365669542[6] = 0.0; + out_8198135828365669542[7] = 0.0; + out_8198135828365669542[8] = 0.0; + out_8198135828365669542[9] = 0.0; + out_8198135828365669542[10] = 1.0; + out_8198135828365669542[11] = 0.0; + out_8198135828365669542[12] = 0.0; + out_8198135828365669542[13] = 0.0; + out_8198135828365669542[14] = 0.0; + out_8198135828365669542[15] = 0.0; + out_8198135828365669542[16] = 0.0; + out_8198135828365669542[17] = 0.0; + out_8198135828365669542[18] = 0.0; + out_8198135828365669542[19] = 0.0; + out_8198135828365669542[20] = 1.0; + out_8198135828365669542[21] = 0.0; + out_8198135828365669542[22] = 0.0; + out_8198135828365669542[23] = 0.0; + out_8198135828365669542[24] = 0.0; + out_8198135828365669542[25] = 0.0; + out_8198135828365669542[26] = 0.0; + out_8198135828365669542[27] = 0.0; + out_8198135828365669542[28] = 0.0; + out_8198135828365669542[29] = 0.0; + out_8198135828365669542[30] = 1.0; + out_8198135828365669542[31] = 0.0; + out_8198135828365669542[32] = 0.0; + out_8198135828365669542[33] = 0.0; + out_8198135828365669542[34] = 0.0; + out_8198135828365669542[35] = 0.0; + out_8198135828365669542[36] = 0.0; + out_8198135828365669542[37] = 0.0; + out_8198135828365669542[38] = 0.0; + out_8198135828365669542[39] = 0.0; + out_8198135828365669542[40] = 1.0; + out_8198135828365669542[41] = 0.0; + out_8198135828365669542[42] = 0.0; + out_8198135828365669542[43] = 0.0; + out_8198135828365669542[44] = 0.0; + out_8198135828365669542[45] = 0.0; + out_8198135828365669542[46] = 0.0; + out_8198135828365669542[47] = 0.0; + out_8198135828365669542[48] = 0.0; + out_8198135828365669542[49] = 0.0; + out_8198135828365669542[50] = 1.0; + out_8198135828365669542[51] = 0.0; + out_8198135828365669542[52] = 0.0; + out_8198135828365669542[53] = 0.0; + out_8198135828365669542[54] = 0.0; + out_8198135828365669542[55] = 0.0; + out_8198135828365669542[56] = 0.0; + out_8198135828365669542[57] = 0.0; + out_8198135828365669542[58] = 0.0; + out_8198135828365669542[59] = 0.0; + out_8198135828365669542[60] = 1.0; + out_8198135828365669542[61] = 0.0; + out_8198135828365669542[62] = 0.0; + out_8198135828365669542[63] = 0.0; + out_8198135828365669542[64] = 0.0; + out_8198135828365669542[65] = 0.0; + out_8198135828365669542[66] = 0.0; + out_8198135828365669542[67] = 0.0; + out_8198135828365669542[68] = 0.0; + out_8198135828365669542[69] = 0.0; + out_8198135828365669542[70] = 1.0; + out_8198135828365669542[71] = 0.0; + out_8198135828365669542[72] = 0.0; + out_8198135828365669542[73] = 0.0; + out_8198135828365669542[74] = 0.0; + out_8198135828365669542[75] = 0.0; + out_8198135828365669542[76] = 0.0; + out_8198135828365669542[77] = 0.0; + out_8198135828365669542[78] = 0.0; + out_8198135828365669542[79] = 0.0; + out_8198135828365669542[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2248561019141826344) { - out_2248561019141826344[0] = state[0]; - out_2248561019141826344[1] = state[1]; - out_2248561019141826344[2] = state[2]; - out_2248561019141826344[3] = state[3]; - out_2248561019141826344[4] = state[4]; - out_2248561019141826344[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_2248561019141826344[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_2248561019141826344[7] = state[7]; - out_2248561019141826344[8] = state[8]; +void f_fun(double *state, double dt, double *out_5413666688161130858) { + out_5413666688161130858[0] = state[0]; + out_5413666688161130858[1] = state[1]; + out_5413666688161130858[2] = state[2]; + out_5413666688161130858[3] = state[3]; + out_5413666688161130858[4] = state[4]; + out_5413666688161130858[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_5413666688161130858[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_5413666688161130858[7] = state[7]; + out_5413666688161130858[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1589062328883606575) { - out_1589062328883606575[0] = 1; - out_1589062328883606575[1] = 0; - out_1589062328883606575[2] = 0; - out_1589062328883606575[3] = 0; - out_1589062328883606575[4] = 0; - out_1589062328883606575[5] = 0; - out_1589062328883606575[6] = 0; - out_1589062328883606575[7] = 0; - out_1589062328883606575[8] = 0; - out_1589062328883606575[9] = 0; - out_1589062328883606575[10] = 1; - out_1589062328883606575[11] = 0; - out_1589062328883606575[12] = 0; - out_1589062328883606575[13] = 0; - out_1589062328883606575[14] = 0; - out_1589062328883606575[15] = 0; - out_1589062328883606575[16] = 0; - out_1589062328883606575[17] = 0; - out_1589062328883606575[18] = 0; - out_1589062328883606575[19] = 0; - out_1589062328883606575[20] = 1; - out_1589062328883606575[21] = 0; - out_1589062328883606575[22] = 0; - out_1589062328883606575[23] = 0; - out_1589062328883606575[24] = 0; - out_1589062328883606575[25] = 0; - out_1589062328883606575[26] = 0; - out_1589062328883606575[27] = 0; - out_1589062328883606575[28] = 0; - out_1589062328883606575[29] = 0; - out_1589062328883606575[30] = 1; - out_1589062328883606575[31] = 0; - out_1589062328883606575[32] = 0; - out_1589062328883606575[33] = 0; - out_1589062328883606575[34] = 0; - out_1589062328883606575[35] = 0; - out_1589062328883606575[36] = 0; - out_1589062328883606575[37] = 0; - out_1589062328883606575[38] = 0; - out_1589062328883606575[39] = 0; - out_1589062328883606575[40] = 1; - out_1589062328883606575[41] = 0; - out_1589062328883606575[42] = 0; - out_1589062328883606575[43] = 0; - out_1589062328883606575[44] = 0; - out_1589062328883606575[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_1589062328883606575[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1589062328883606575[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1589062328883606575[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1589062328883606575[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_1589062328883606575[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1589062328883606575[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1589062328883606575[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1589062328883606575[53] = -9.8100000000000005*dt; - out_1589062328883606575[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_1589062328883606575[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1589062328883606575[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1589062328883606575[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1589062328883606575[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_1589062328883606575[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1589062328883606575[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_1589062328883606575[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1589062328883606575[62] = 0; - out_1589062328883606575[63] = 0; - out_1589062328883606575[64] = 0; - out_1589062328883606575[65] = 0; - out_1589062328883606575[66] = 0; - out_1589062328883606575[67] = 0; - out_1589062328883606575[68] = 0; - out_1589062328883606575[69] = 0; - out_1589062328883606575[70] = 1; - out_1589062328883606575[71] = 0; - out_1589062328883606575[72] = 0; - out_1589062328883606575[73] = 0; - out_1589062328883606575[74] = 0; - out_1589062328883606575[75] = 0; - out_1589062328883606575[76] = 0; - out_1589062328883606575[77] = 0; - out_1589062328883606575[78] = 0; - out_1589062328883606575[79] = 0; - out_1589062328883606575[80] = 1; +void F_fun(double *state, double dt, double *out_7314745635201977822) { + out_7314745635201977822[0] = 1; + out_7314745635201977822[1] = 0; + out_7314745635201977822[2] = 0; + out_7314745635201977822[3] = 0; + out_7314745635201977822[4] = 0; + out_7314745635201977822[5] = 0; + out_7314745635201977822[6] = 0; + out_7314745635201977822[7] = 0; + out_7314745635201977822[8] = 0; + out_7314745635201977822[9] = 0; + out_7314745635201977822[10] = 1; + out_7314745635201977822[11] = 0; + out_7314745635201977822[12] = 0; + out_7314745635201977822[13] = 0; + out_7314745635201977822[14] = 0; + out_7314745635201977822[15] = 0; + out_7314745635201977822[16] = 0; + out_7314745635201977822[17] = 0; + out_7314745635201977822[18] = 0; + out_7314745635201977822[19] = 0; + out_7314745635201977822[20] = 1; + out_7314745635201977822[21] = 0; + out_7314745635201977822[22] = 0; + out_7314745635201977822[23] = 0; + out_7314745635201977822[24] = 0; + out_7314745635201977822[25] = 0; + out_7314745635201977822[26] = 0; + out_7314745635201977822[27] = 0; + out_7314745635201977822[28] = 0; + out_7314745635201977822[29] = 0; + out_7314745635201977822[30] = 1; + out_7314745635201977822[31] = 0; + out_7314745635201977822[32] = 0; + out_7314745635201977822[33] = 0; + out_7314745635201977822[34] = 0; + out_7314745635201977822[35] = 0; + out_7314745635201977822[36] = 0; + out_7314745635201977822[37] = 0; + out_7314745635201977822[38] = 0; + out_7314745635201977822[39] = 0; + out_7314745635201977822[40] = 1; + out_7314745635201977822[41] = 0; + out_7314745635201977822[42] = 0; + out_7314745635201977822[43] = 0; + out_7314745635201977822[44] = 0; + out_7314745635201977822[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_7314745635201977822[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7314745635201977822[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7314745635201977822[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7314745635201977822[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_7314745635201977822[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7314745635201977822[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7314745635201977822[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7314745635201977822[53] = -9.8100000000000005*dt; + out_7314745635201977822[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_7314745635201977822[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7314745635201977822[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7314745635201977822[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7314745635201977822[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_7314745635201977822[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7314745635201977822[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_7314745635201977822[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7314745635201977822[62] = 0; + out_7314745635201977822[63] = 0; + out_7314745635201977822[64] = 0; + out_7314745635201977822[65] = 0; + out_7314745635201977822[66] = 0; + out_7314745635201977822[67] = 0; + out_7314745635201977822[68] = 0; + out_7314745635201977822[69] = 0; + out_7314745635201977822[70] = 1; + out_7314745635201977822[71] = 0; + out_7314745635201977822[72] = 0; + out_7314745635201977822[73] = 0; + out_7314745635201977822[74] = 0; + out_7314745635201977822[75] = 0; + out_7314745635201977822[76] = 0; + out_7314745635201977822[77] = 0; + out_7314745635201977822[78] = 0; + out_7314745635201977822[79] = 0; + out_7314745635201977822[80] = 1; } -void h_25(double *state, double *unused, double *out_4251901549604751950) { - out_4251901549604751950[0] = state[6]; +void h_25(double *state, double *unused, double *out_1723156805424676224) { + out_1723156805424676224[0] = state[6]; } -void H_25(double *state, double *unused, double *out_7412509069108068094) { - out_7412509069108068094[0] = 0; - out_7412509069108068094[1] = 0; - out_7412509069108068094[2] = 0; - out_7412509069108068094[3] = 0; - out_7412509069108068094[4] = 0; - out_7412509069108068094[5] = 0; - out_7412509069108068094[6] = 1; - out_7412509069108068094[7] = 0; - out_7412509069108068094[8] = 0; +void H_25(double *state, double *unused, double *out_6725559606698516926) { + out_6725559606698516926[0] = 0; + out_6725559606698516926[1] = 0; + out_6725559606698516926[2] = 0; + out_6725559606698516926[3] = 0; + out_6725559606698516926[4] = 0; + out_6725559606698516926[5] = 0; + out_6725559606698516926[6] = 1; + out_6725559606698516926[7] = 0; + out_6725559606698516926[8] = 0; } -void h_24(double *state, double *unused, double *out_6482324594163419455) { - out_6482324594163419455[0] = state[4]; - out_6482324594163419455[1] = state[5]; +void h_24(double *state, double *unused, double *out_6301088908339500348) { + out_6301088908339500348[0] = state[4]; + out_6301088908339500348[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1815556116961127131) { - out_1815556116961127131[0] = 0; - out_1815556116961127131[1] = 0; - out_1815556116961127131[2] = 0; - out_1815556116961127131[3] = 0; - out_1815556116961127131[4] = 1; - out_1815556116961127131[5] = 0; - out_1815556116961127131[6] = 0; - out_1815556116961127131[7] = 0; - out_1815556116961127131[8] = 0; - out_1815556116961127131[9] = 0; - out_1815556116961127131[10] = 0; - out_1815556116961127131[11] = 0; - out_1815556116961127131[12] = 0; - out_1815556116961127131[13] = 0; - out_1815556116961127131[14] = 1; - out_1815556116961127131[15] = 0; - out_1815556116961127131[16] = 0; - out_1815556116961127131[17] = 0; +void H_24(double *state, double *unused, double *out_8163258868208711554) { + out_8163258868208711554[0] = 0; + out_8163258868208711554[1] = 0; + out_8163258868208711554[2] = 0; + out_8163258868208711554[3] = 0; + out_8163258868208711554[4] = 1; + out_8163258868208711554[5] = 0; + out_8163258868208711554[6] = 0; + out_8163258868208711554[7] = 0; + out_8163258868208711554[8] = 0; + out_8163258868208711554[9] = 0; + out_8163258868208711554[10] = 0; + out_8163258868208711554[11] = 0; + out_8163258868208711554[12] = 0; + out_8163258868208711554[13] = 0; + out_8163258868208711554[14] = 1; + out_8163258868208711554[15] = 0; + out_8163258868208711554[16] = 0; + out_8163258868208711554[17] = 0; } -void h_30(double *state, double *unused, double *out_3976707487320246061) { - out_3976707487320246061[0] = state[4]; +void h_30(double *state, double *unused, double *out_5821460103704048088) { + out_5821460103704048088[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6506538674473875324) { - out_6506538674473875324[0] = 0; - out_6506538674473875324[1] = 0; - out_6506538674473875324[2] = 0; - out_6506538674473875324[3] = 0; - out_6506538674473875324[4] = 1; - out_6506538674473875324[5] = 0; - out_6506538674473875324[6] = 0; - out_6506538674473875324[7] = 0; - out_6506538674473875324[8] = 0; +void H_30(double *state, double *unused, double *out_4804494125519417935) { + out_4804494125519417935[0] = 0; + out_4804494125519417935[1] = 0; + out_4804494125519417935[2] = 0; + out_4804494125519417935[3] = 0; + out_4804494125519417935[4] = 1; + out_4804494125519417935[5] = 0; + out_4804494125519417935[6] = 0; + out_4804494125519417935[7] = 0; + out_4804494125519417935[8] = 0; } -void h_26(double *state, double *unused, double *out_8978380754981091706) { - out_8978380754981091706[0] = state[7]; +void h_26(double *state, double *unused, double *out_3604740557565027086) { + out_3604740557565027086[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7292731685727427298) { - out_7292731685727427298[0] = 0; - out_7292731685727427298[1] = 0; - out_7292731685727427298[2] = 0; - out_7292731685727427298[3] = 0; - out_7292731685727427298[4] = 0; - out_7292731685727427298[5] = 0; - out_7292731685727427298[6] = 0; - out_7292731685727427298[7] = 1; - out_7292731685727427298[8] = 0; +void H_26(double *state, double *unused, double *out_8416658497250234089) { + out_8416658497250234089[0] = 0; + out_8416658497250234089[1] = 0; + out_8416658497250234089[2] = 0; + out_8416658497250234089[3] = 0; + out_8416658497250234089[4] = 0; + out_8416658497250234089[5] = 0; + out_8416658497250234089[6] = 0; + out_8416658497250234089[7] = 1; + out_8416658497250234089[8] = 0; } -void h_27(double *state, double *unused, double *out_6938698807011347957) { - out_6938698807011347957[0] = state[3]; +void h_27(double *state, double *unused, double *out_4759942856869008909) { + out_4759942856869008909[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4331775362673450413) { - out_4331775362673450413[0] = 0; - out_4331775362673450413[1] = 0; - out_4331775362673450413[2] = 0; - out_4331775362673450413[3] = 1; - out_4331775362673450413[4] = 0; - out_4331775362673450413[5] = 0; - out_4331775362673450413[6] = 0; - out_4331775362673450413[7] = 0; - out_4331775362673450413[8] = 0; +void H_27(double *state, double *unused, double *out_6979257437319842846) { + out_6979257437319842846[0] = 0; + out_6979257437319842846[1] = 0; + out_6979257437319842846[2] = 0; + out_6979257437319842846[3] = 1; + out_6979257437319842846[4] = 0; + out_6979257437319842846[5] = 0; + out_6979257437319842846[6] = 0; + out_6979257437319842846[7] = 0; + out_6979257437319842846[8] = 0; } -void h_29(double *state, double *unused, double *out_4741129432548446265) { - out_4741129432548446265[0] = state[1]; +void h_29(double *state, double *unused, double *out_5218144219027570571) { + out_5218144219027570571[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7016770018788267508) { - out_7016770018788267508[0] = 0; - out_7016770018788267508[1] = 1; - out_7016770018788267508[2] = 0; - out_7016770018788267508[3] = 0; - out_7016770018788267508[4] = 0; - out_7016770018788267508[5] = 0; - out_7016770018788267508[6] = 0; - out_7016770018788267508[7] = 0; - out_7016770018788267508[8] = 0; +void H_29(double *state, double *unused, double *out_4294262781205025751) { + out_4294262781205025751[0] = 0; + out_4294262781205025751[1] = 1; + out_4294262781205025751[2] = 0; + out_4294262781205025751[3] = 0; + out_4294262781205025751[4] = 0; + out_4294262781205025751[5] = 0; + out_4294262781205025751[6] = 0; + out_4294262781205025751[7] = 0; + out_4294262781205025751[8] = 0; } -void h_28(double *state, double *unused, double *out_64063896781717822) { - out_64063896781717822[0] = state[0]; +void h_28(double *state, double *unused, double *out_5703452709770671344) { + out_5703452709770671344[0] = state[0]; } -void H_28(double *state, double *unused, double *out_8980400290353593759) { - out_8980400290353593759[0] = 1; - out_8980400290353593759[1] = 0; - out_8980400290353593759[2] = 0; - out_8980400290353593759[3] = 0; - out_8980400290353593759[4] = 0; - out_8980400290353593759[5] = 0; - out_8980400290353593759[6] = 0; - out_8980400290353593759[7] = 0; - out_8980400290353593759[8] = 0; +void H_28(double *state, double *unused, double *out_4671724892450627163) { + out_4671724892450627163[0] = 1; + out_4671724892450627163[1] = 0; + out_4671724892450627163[2] = 0; + out_4671724892450627163[3] = 0; + out_4671724892450627163[4] = 0; + out_4671724892450627163[5] = 0; + out_4671724892450627163[6] = 0; + out_4671724892450627163[7] = 0; + out_4671724892450627163[8] = 0; } -void h_31(double *state, double *unused, double *out_4885815735079099232) { - out_4885815735079099232[0] = state[8]; +void h_31(double *state, double *unused, double *out_1998350867709182113) { + out_1998350867709182113[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6666523583494075822) { - out_6666523583494075822[0] = 0; - out_6666523583494075822[1] = 0; - out_6666523583494075822[2] = 0; - out_6666523583494075822[3] = 0; - out_6666523583494075822[4] = 0; - out_6666523583494075822[5] = 0; - out_6666523583494075822[6] = 0; - out_6666523583494075822[7] = 0; - out_6666523583494075822[8] = 1; +void H_31(double *state, double *unused, double *out_4644509216499217437) { + out_4644509216499217437[0] = 0; + out_4644509216499217437[1] = 0; + out_4644509216499217437[2] = 0; + out_4644509216499217437[3] = 0; + out_4644509216499217437[4] = 0; + out_4644509216499217437[5] = 0; + out_4644509216499217437[6] = 0; + out_4644509216499217437[7] = 0; + out_4644509216499217437[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_417238876910560070) { - err_fun(nom_x, delta_x, out_417238876910560070); +void car_err_fun(double *nom_x, double *delta_x, double *out_2165520225426293203) { + err_fun(nom_x, delta_x, out_2165520225426293203); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2214194102385980691) { - inv_err_fun(nom_x, true_x, out_2214194102385980691); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_48394968560250279) { + inv_err_fun(nom_x, true_x, out_48394968560250279); } -void car_H_mod_fun(double *state, double *out_2617678226180198985) { - H_mod_fun(state, out_2617678226180198985); +void car_H_mod_fun(double *state, double *out_8198135828365669542) { + H_mod_fun(state, out_8198135828365669542); } -void car_f_fun(double *state, double dt, double *out_2248561019141826344) { - f_fun(state, dt, out_2248561019141826344); +void car_f_fun(double *state, double dt, double *out_5413666688161130858) { + f_fun(state, dt, out_5413666688161130858); } -void car_F_fun(double *state, double dt, double *out_1589062328883606575) { - F_fun(state, dt, out_1589062328883606575); +void car_F_fun(double *state, double dt, double *out_7314745635201977822) { + F_fun(state, dt, out_7314745635201977822); } -void car_h_25(double *state, double *unused, double *out_4251901549604751950) { - h_25(state, unused, out_4251901549604751950); +void car_h_25(double *state, double *unused, double *out_1723156805424676224) { + h_25(state, unused, out_1723156805424676224); } -void car_H_25(double *state, double *unused, double *out_7412509069108068094) { - H_25(state, unused, out_7412509069108068094); +void car_H_25(double *state, double *unused, double *out_6725559606698516926) { + H_25(state, unused, out_6725559606698516926); } -void car_h_24(double *state, double *unused, double *out_6482324594163419455) { - h_24(state, unused, out_6482324594163419455); +void car_h_24(double *state, double *unused, double *out_6301088908339500348) { + h_24(state, unused, out_6301088908339500348); } -void car_H_24(double *state, double *unused, double *out_1815556116961127131) { - H_24(state, unused, out_1815556116961127131); +void car_H_24(double *state, double *unused, double *out_8163258868208711554) { + H_24(state, unused, out_8163258868208711554); } -void car_h_30(double *state, double *unused, double *out_3976707487320246061) { - h_30(state, unused, out_3976707487320246061); +void car_h_30(double *state, double *unused, double *out_5821460103704048088) { + h_30(state, unused, out_5821460103704048088); } -void car_H_30(double *state, double *unused, double *out_6506538674473875324) { - H_30(state, unused, out_6506538674473875324); +void car_H_30(double *state, double *unused, double *out_4804494125519417935) { + H_30(state, unused, out_4804494125519417935); } -void car_h_26(double *state, double *unused, double *out_8978380754981091706) { - h_26(state, unused, out_8978380754981091706); +void car_h_26(double *state, double *unused, double *out_3604740557565027086) { + h_26(state, unused, out_3604740557565027086); } -void car_H_26(double *state, double *unused, double *out_7292731685727427298) { - H_26(state, unused, out_7292731685727427298); +void car_H_26(double *state, double *unused, double *out_8416658497250234089) { + H_26(state, unused, out_8416658497250234089); } -void car_h_27(double *state, double *unused, double *out_6938698807011347957) { - h_27(state, unused, out_6938698807011347957); +void car_h_27(double *state, double *unused, double *out_4759942856869008909) { + h_27(state, unused, out_4759942856869008909); } -void car_H_27(double *state, double *unused, double *out_4331775362673450413) { - H_27(state, unused, out_4331775362673450413); +void car_H_27(double *state, double *unused, double *out_6979257437319842846) { + H_27(state, unused, out_6979257437319842846); } -void car_h_29(double *state, double *unused, double *out_4741129432548446265) { - h_29(state, unused, out_4741129432548446265); +void car_h_29(double *state, double *unused, double *out_5218144219027570571) { + h_29(state, unused, out_5218144219027570571); } -void car_H_29(double *state, double *unused, double *out_7016770018788267508) { - H_29(state, unused, out_7016770018788267508); +void car_H_29(double *state, double *unused, double *out_4294262781205025751) { + H_29(state, unused, out_4294262781205025751); } -void car_h_28(double *state, double *unused, double *out_64063896781717822) { - h_28(state, unused, out_64063896781717822); +void car_h_28(double *state, double *unused, double *out_5703452709770671344) { + h_28(state, unused, out_5703452709770671344); } -void car_H_28(double *state, double *unused, double *out_8980400290353593759) { - H_28(state, unused, out_8980400290353593759); +void car_H_28(double *state, double *unused, double *out_4671724892450627163) { + H_28(state, unused, out_4671724892450627163); } -void car_h_31(double *state, double *unused, double *out_4885815735079099232) { - h_31(state, unused, out_4885815735079099232); +void car_h_31(double *state, double *unused, double *out_1998350867709182113) { + h_31(state, unused, out_1998350867709182113); } -void car_H_31(double *state, double *unused, double *out_6666523583494075822) { - H_31(state, unused, out_6666523583494075822); +void car_H_31(double *state, double *unused, double *out_4644509216499217437) { + H_31(state, unused, out_4644509216499217437); } 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 cbfc90405..94092dd65 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_417238876910560070); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2214194102385980691); -void car_H_mod_fun(double *state, double *out_2617678226180198985); -void car_f_fun(double *state, double dt, double *out_2248561019141826344); -void car_F_fun(double *state, double dt, double *out_1589062328883606575); -void car_h_25(double *state, double *unused, double *out_4251901549604751950); -void car_H_25(double *state, double *unused, double *out_7412509069108068094); -void car_h_24(double *state, double *unused, double *out_6482324594163419455); -void car_H_24(double *state, double *unused, double *out_1815556116961127131); -void car_h_30(double *state, double *unused, double *out_3976707487320246061); -void car_H_30(double *state, double *unused, double *out_6506538674473875324); -void car_h_26(double *state, double *unused, double *out_8978380754981091706); -void car_H_26(double *state, double *unused, double *out_7292731685727427298); -void car_h_27(double *state, double *unused, double *out_6938698807011347957); -void car_H_27(double *state, double *unused, double *out_4331775362673450413); -void car_h_29(double *state, double *unused, double *out_4741129432548446265); -void car_H_29(double *state, double *unused, double *out_7016770018788267508); -void car_h_28(double *state, double *unused, double *out_64063896781717822); -void car_H_28(double *state, double *unused, double *out_8980400290353593759); -void car_h_31(double *state, double *unused, double *out_4885815735079099232); -void car_H_31(double *state, double *unused, double *out_6666523583494075822); +void car_err_fun(double *nom_x, double *delta_x, double *out_2165520225426293203); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_48394968560250279); +void car_H_mod_fun(double *state, double *out_8198135828365669542); +void car_f_fun(double *state, double dt, double *out_5413666688161130858); +void car_F_fun(double *state, double dt, double *out_7314745635201977822); +void car_h_25(double *state, double *unused, double *out_1723156805424676224); +void car_H_25(double *state, double *unused, double *out_6725559606698516926); +void car_h_24(double *state, double *unused, double *out_6301088908339500348); +void car_H_24(double *state, double *unused, double *out_8163258868208711554); +void car_h_30(double *state, double *unused, double *out_5821460103704048088); +void car_H_30(double *state, double *unused, double *out_4804494125519417935); +void car_h_26(double *state, double *unused, double *out_3604740557565027086); +void car_H_26(double *state, double *unused, double *out_8416658497250234089); +void car_h_27(double *state, double *unused, double *out_4759942856869008909); +void car_H_27(double *state, double *unused, double *out_6979257437319842846); +void car_h_29(double *state, double *unused, double *out_5218144219027570571); +void car_H_29(double *state, double *unused, double *out_4294262781205025751); +void car_h_28(double *state, double *unused, double *out_5703452709770671344); +void car_H_28(double *state, double *unused, double *out_4671724892450627163); +void car_h_31(double *state, double *unused, double *out_1998350867709182113); +void car_H_31(double *state, double *unused, double *out_4644509216499217437); 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 5f23038f1..48f3e130b 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_4055321504301233767) { - out_4055321504301233767[0] = delta_x[0] + nom_x[0]; - out_4055321504301233767[1] = delta_x[1] + nom_x[1]; - out_4055321504301233767[2] = delta_x[2] + nom_x[2]; - out_4055321504301233767[3] = delta_x[3] + nom_x[3]; - out_4055321504301233767[4] = delta_x[4] + nom_x[4]; - out_4055321504301233767[5] = delta_x[5] + nom_x[5]; - out_4055321504301233767[6] = delta_x[6] + nom_x[6]; - out_4055321504301233767[7] = delta_x[7] + nom_x[7]; - out_4055321504301233767[8] = delta_x[8] + nom_x[8]; - out_4055321504301233767[9] = delta_x[9] + nom_x[9]; - out_4055321504301233767[10] = delta_x[10] + nom_x[10]; - out_4055321504301233767[11] = delta_x[11] + nom_x[11]; - out_4055321504301233767[12] = delta_x[12] + nom_x[12]; - out_4055321504301233767[13] = delta_x[13] + nom_x[13]; - out_4055321504301233767[14] = delta_x[14] + nom_x[14]; - out_4055321504301233767[15] = delta_x[15] + nom_x[15]; - out_4055321504301233767[16] = delta_x[16] + nom_x[16]; - out_4055321504301233767[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_1677822181415374238) { + out_1677822181415374238[0] = delta_x[0] + nom_x[0]; + out_1677822181415374238[1] = delta_x[1] + nom_x[1]; + out_1677822181415374238[2] = delta_x[2] + nom_x[2]; + out_1677822181415374238[3] = delta_x[3] + nom_x[3]; + out_1677822181415374238[4] = delta_x[4] + nom_x[4]; + out_1677822181415374238[5] = delta_x[5] + nom_x[5]; + out_1677822181415374238[6] = delta_x[6] + nom_x[6]; + out_1677822181415374238[7] = delta_x[7] + nom_x[7]; + out_1677822181415374238[8] = delta_x[8] + nom_x[8]; + out_1677822181415374238[9] = delta_x[9] + nom_x[9]; + out_1677822181415374238[10] = delta_x[10] + nom_x[10]; + out_1677822181415374238[11] = delta_x[11] + nom_x[11]; + out_1677822181415374238[12] = delta_x[12] + nom_x[12]; + out_1677822181415374238[13] = delta_x[13] + nom_x[13]; + out_1677822181415374238[14] = delta_x[14] + nom_x[14]; + out_1677822181415374238[15] = delta_x[15] + nom_x[15]; + out_1677822181415374238[16] = delta_x[16] + nom_x[16]; + out_1677822181415374238[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5242087564548968290) { - out_5242087564548968290[0] = -nom_x[0] + true_x[0]; - out_5242087564548968290[1] = -nom_x[1] + true_x[1]; - out_5242087564548968290[2] = -nom_x[2] + true_x[2]; - out_5242087564548968290[3] = -nom_x[3] + true_x[3]; - out_5242087564548968290[4] = -nom_x[4] + true_x[4]; - out_5242087564548968290[5] = -nom_x[5] + true_x[5]; - out_5242087564548968290[6] = -nom_x[6] + true_x[6]; - out_5242087564548968290[7] = -nom_x[7] + true_x[7]; - out_5242087564548968290[8] = -nom_x[8] + true_x[8]; - out_5242087564548968290[9] = -nom_x[9] + true_x[9]; - out_5242087564548968290[10] = -nom_x[10] + true_x[10]; - out_5242087564548968290[11] = -nom_x[11] + true_x[11]; - out_5242087564548968290[12] = -nom_x[12] + true_x[12]; - out_5242087564548968290[13] = -nom_x[13] + true_x[13]; - out_5242087564548968290[14] = -nom_x[14] + true_x[14]; - out_5242087564548968290[15] = -nom_x[15] + true_x[15]; - out_5242087564548968290[16] = -nom_x[16] + true_x[16]; - out_5242087564548968290[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1645070502606612381) { + out_1645070502606612381[0] = -nom_x[0] + true_x[0]; + out_1645070502606612381[1] = -nom_x[1] + true_x[1]; + out_1645070502606612381[2] = -nom_x[2] + true_x[2]; + out_1645070502606612381[3] = -nom_x[3] + true_x[3]; + out_1645070502606612381[4] = -nom_x[4] + true_x[4]; + out_1645070502606612381[5] = -nom_x[5] + true_x[5]; + out_1645070502606612381[6] = -nom_x[6] + true_x[6]; + out_1645070502606612381[7] = -nom_x[7] + true_x[7]; + out_1645070502606612381[8] = -nom_x[8] + true_x[8]; + out_1645070502606612381[9] = -nom_x[9] + true_x[9]; + out_1645070502606612381[10] = -nom_x[10] + true_x[10]; + out_1645070502606612381[11] = -nom_x[11] + true_x[11]; + out_1645070502606612381[12] = -nom_x[12] + true_x[12]; + out_1645070502606612381[13] = -nom_x[13] + true_x[13]; + out_1645070502606612381[14] = -nom_x[14] + true_x[14]; + out_1645070502606612381[15] = -nom_x[15] + true_x[15]; + out_1645070502606612381[16] = -nom_x[16] + true_x[16]; + out_1645070502606612381[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_6187186838300588967) { - out_6187186838300588967[0] = 1.0; - out_6187186838300588967[1] = 0.0; - out_6187186838300588967[2] = 0.0; - out_6187186838300588967[3] = 0.0; - out_6187186838300588967[4] = 0.0; - out_6187186838300588967[5] = 0.0; - out_6187186838300588967[6] = 0.0; - out_6187186838300588967[7] = 0.0; - out_6187186838300588967[8] = 0.0; - out_6187186838300588967[9] = 0.0; - out_6187186838300588967[10] = 0.0; - out_6187186838300588967[11] = 0.0; - out_6187186838300588967[12] = 0.0; - out_6187186838300588967[13] = 0.0; - out_6187186838300588967[14] = 0.0; - out_6187186838300588967[15] = 0.0; - out_6187186838300588967[16] = 0.0; - out_6187186838300588967[17] = 0.0; - out_6187186838300588967[18] = 0.0; - out_6187186838300588967[19] = 1.0; - out_6187186838300588967[20] = 0.0; - out_6187186838300588967[21] = 0.0; - out_6187186838300588967[22] = 0.0; - out_6187186838300588967[23] = 0.0; - out_6187186838300588967[24] = 0.0; - out_6187186838300588967[25] = 0.0; - out_6187186838300588967[26] = 0.0; - out_6187186838300588967[27] = 0.0; - out_6187186838300588967[28] = 0.0; - out_6187186838300588967[29] = 0.0; - out_6187186838300588967[30] = 0.0; - out_6187186838300588967[31] = 0.0; - out_6187186838300588967[32] = 0.0; - out_6187186838300588967[33] = 0.0; - out_6187186838300588967[34] = 0.0; - out_6187186838300588967[35] = 0.0; - out_6187186838300588967[36] = 0.0; - out_6187186838300588967[37] = 0.0; - out_6187186838300588967[38] = 1.0; - out_6187186838300588967[39] = 0.0; - out_6187186838300588967[40] = 0.0; - out_6187186838300588967[41] = 0.0; - out_6187186838300588967[42] = 0.0; - out_6187186838300588967[43] = 0.0; - out_6187186838300588967[44] = 0.0; - out_6187186838300588967[45] = 0.0; - out_6187186838300588967[46] = 0.0; - out_6187186838300588967[47] = 0.0; - out_6187186838300588967[48] = 0.0; - out_6187186838300588967[49] = 0.0; - out_6187186838300588967[50] = 0.0; - out_6187186838300588967[51] = 0.0; - out_6187186838300588967[52] = 0.0; - out_6187186838300588967[53] = 0.0; - out_6187186838300588967[54] = 0.0; - out_6187186838300588967[55] = 0.0; - out_6187186838300588967[56] = 0.0; - out_6187186838300588967[57] = 1.0; - out_6187186838300588967[58] = 0.0; - out_6187186838300588967[59] = 0.0; - out_6187186838300588967[60] = 0.0; - out_6187186838300588967[61] = 0.0; - out_6187186838300588967[62] = 0.0; - out_6187186838300588967[63] = 0.0; - out_6187186838300588967[64] = 0.0; - out_6187186838300588967[65] = 0.0; - out_6187186838300588967[66] = 0.0; - out_6187186838300588967[67] = 0.0; - out_6187186838300588967[68] = 0.0; - out_6187186838300588967[69] = 0.0; - out_6187186838300588967[70] = 0.0; - out_6187186838300588967[71] = 0.0; - out_6187186838300588967[72] = 0.0; - out_6187186838300588967[73] = 0.0; - out_6187186838300588967[74] = 0.0; - out_6187186838300588967[75] = 0.0; - out_6187186838300588967[76] = 1.0; - out_6187186838300588967[77] = 0.0; - out_6187186838300588967[78] = 0.0; - out_6187186838300588967[79] = 0.0; - out_6187186838300588967[80] = 0.0; - out_6187186838300588967[81] = 0.0; - out_6187186838300588967[82] = 0.0; - out_6187186838300588967[83] = 0.0; - out_6187186838300588967[84] = 0.0; - out_6187186838300588967[85] = 0.0; - out_6187186838300588967[86] = 0.0; - out_6187186838300588967[87] = 0.0; - out_6187186838300588967[88] = 0.0; - out_6187186838300588967[89] = 0.0; - out_6187186838300588967[90] = 0.0; - out_6187186838300588967[91] = 0.0; - out_6187186838300588967[92] = 0.0; - out_6187186838300588967[93] = 0.0; - out_6187186838300588967[94] = 0.0; - out_6187186838300588967[95] = 1.0; - out_6187186838300588967[96] = 0.0; - out_6187186838300588967[97] = 0.0; - out_6187186838300588967[98] = 0.0; - out_6187186838300588967[99] = 0.0; - out_6187186838300588967[100] = 0.0; - out_6187186838300588967[101] = 0.0; - out_6187186838300588967[102] = 0.0; - out_6187186838300588967[103] = 0.0; - out_6187186838300588967[104] = 0.0; - out_6187186838300588967[105] = 0.0; - out_6187186838300588967[106] = 0.0; - out_6187186838300588967[107] = 0.0; - out_6187186838300588967[108] = 0.0; - out_6187186838300588967[109] = 0.0; - out_6187186838300588967[110] = 0.0; - out_6187186838300588967[111] = 0.0; - out_6187186838300588967[112] = 0.0; - out_6187186838300588967[113] = 0.0; - out_6187186838300588967[114] = 1.0; - out_6187186838300588967[115] = 0.0; - out_6187186838300588967[116] = 0.0; - out_6187186838300588967[117] = 0.0; - out_6187186838300588967[118] = 0.0; - out_6187186838300588967[119] = 0.0; - out_6187186838300588967[120] = 0.0; - out_6187186838300588967[121] = 0.0; - out_6187186838300588967[122] = 0.0; - out_6187186838300588967[123] = 0.0; - out_6187186838300588967[124] = 0.0; - out_6187186838300588967[125] = 0.0; - out_6187186838300588967[126] = 0.0; - out_6187186838300588967[127] = 0.0; - out_6187186838300588967[128] = 0.0; - out_6187186838300588967[129] = 0.0; - out_6187186838300588967[130] = 0.0; - out_6187186838300588967[131] = 0.0; - out_6187186838300588967[132] = 0.0; - out_6187186838300588967[133] = 1.0; - out_6187186838300588967[134] = 0.0; - out_6187186838300588967[135] = 0.0; - out_6187186838300588967[136] = 0.0; - out_6187186838300588967[137] = 0.0; - out_6187186838300588967[138] = 0.0; - out_6187186838300588967[139] = 0.0; - out_6187186838300588967[140] = 0.0; - out_6187186838300588967[141] = 0.0; - out_6187186838300588967[142] = 0.0; - out_6187186838300588967[143] = 0.0; - out_6187186838300588967[144] = 0.0; - out_6187186838300588967[145] = 0.0; - out_6187186838300588967[146] = 0.0; - out_6187186838300588967[147] = 0.0; - out_6187186838300588967[148] = 0.0; - out_6187186838300588967[149] = 0.0; - out_6187186838300588967[150] = 0.0; - out_6187186838300588967[151] = 0.0; - out_6187186838300588967[152] = 1.0; - out_6187186838300588967[153] = 0.0; - out_6187186838300588967[154] = 0.0; - out_6187186838300588967[155] = 0.0; - out_6187186838300588967[156] = 0.0; - out_6187186838300588967[157] = 0.0; - out_6187186838300588967[158] = 0.0; - out_6187186838300588967[159] = 0.0; - out_6187186838300588967[160] = 0.0; - out_6187186838300588967[161] = 0.0; - out_6187186838300588967[162] = 0.0; - out_6187186838300588967[163] = 0.0; - out_6187186838300588967[164] = 0.0; - out_6187186838300588967[165] = 0.0; - out_6187186838300588967[166] = 0.0; - out_6187186838300588967[167] = 0.0; - out_6187186838300588967[168] = 0.0; - out_6187186838300588967[169] = 0.0; - out_6187186838300588967[170] = 0.0; - out_6187186838300588967[171] = 1.0; - out_6187186838300588967[172] = 0.0; - out_6187186838300588967[173] = 0.0; - out_6187186838300588967[174] = 0.0; - out_6187186838300588967[175] = 0.0; - out_6187186838300588967[176] = 0.0; - out_6187186838300588967[177] = 0.0; - out_6187186838300588967[178] = 0.0; - out_6187186838300588967[179] = 0.0; - out_6187186838300588967[180] = 0.0; - out_6187186838300588967[181] = 0.0; - out_6187186838300588967[182] = 0.0; - out_6187186838300588967[183] = 0.0; - out_6187186838300588967[184] = 0.0; - out_6187186838300588967[185] = 0.0; - out_6187186838300588967[186] = 0.0; - out_6187186838300588967[187] = 0.0; - out_6187186838300588967[188] = 0.0; - out_6187186838300588967[189] = 0.0; - out_6187186838300588967[190] = 1.0; - out_6187186838300588967[191] = 0.0; - out_6187186838300588967[192] = 0.0; - out_6187186838300588967[193] = 0.0; - out_6187186838300588967[194] = 0.0; - out_6187186838300588967[195] = 0.0; - out_6187186838300588967[196] = 0.0; - out_6187186838300588967[197] = 0.0; - out_6187186838300588967[198] = 0.0; - out_6187186838300588967[199] = 0.0; - out_6187186838300588967[200] = 0.0; - out_6187186838300588967[201] = 0.0; - out_6187186838300588967[202] = 0.0; - out_6187186838300588967[203] = 0.0; - out_6187186838300588967[204] = 0.0; - out_6187186838300588967[205] = 0.0; - out_6187186838300588967[206] = 0.0; - out_6187186838300588967[207] = 0.0; - out_6187186838300588967[208] = 0.0; - out_6187186838300588967[209] = 1.0; - out_6187186838300588967[210] = 0.0; - out_6187186838300588967[211] = 0.0; - out_6187186838300588967[212] = 0.0; - out_6187186838300588967[213] = 0.0; - out_6187186838300588967[214] = 0.0; - out_6187186838300588967[215] = 0.0; - out_6187186838300588967[216] = 0.0; - out_6187186838300588967[217] = 0.0; - out_6187186838300588967[218] = 0.0; - out_6187186838300588967[219] = 0.0; - out_6187186838300588967[220] = 0.0; - out_6187186838300588967[221] = 0.0; - out_6187186838300588967[222] = 0.0; - out_6187186838300588967[223] = 0.0; - out_6187186838300588967[224] = 0.0; - out_6187186838300588967[225] = 0.0; - out_6187186838300588967[226] = 0.0; - out_6187186838300588967[227] = 0.0; - out_6187186838300588967[228] = 1.0; - out_6187186838300588967[229] = 0.0; - out_6187186838300588967[230] = 0.0; - out_6187186838300588967[231] = 0.0; - out_6187186838300588967[232] = 0.0; - out_6187186838300588967[233] = 0.0; - out_6187186838300588967[234] = 0.0; - out_6187186838300588967[235] = 0.0; - out_6187186838300588967[236] = 0.0; - out_6187186838300588967[237] = 0.0; - out_6187186838300588967[238] = 0.0; - out_6187186838300588967[239] = 0.0; - out_6187186838300588967[240] = 0.0; - out_6187186838300588967[241] = 0.0; - out_6187186838300588967[242] = 0.0; - out_6187186838300588967[243] = 0.0; - out_6187186838300588967[244] = 0.0; - out_6187186838300588967[245] = 0.0; - out_6187186838300588967[246] = 0.0; - out_6187186838300588967[247] = 1.0; - out_6187186838300588967[248] = 0.0; - out_6187186838300588967[249] = 0.0; - out_6187186838300588967[250] = 0.0; - out_6187186838300588967[251] = 0.0; - out_6187186838300588967[252] = 0.0; - out_6187186838300588967[253] = 0.0; - out_6187186838300588967[254] = 0.0; - out_6187186838300588967[255] = 0.0; - out_6187186838300588967[256] = 0.0; - out_6187186838300588967[257] = 0.0; - out_6187186838300588967[258] = 0.0; - out_6187186838300588967[259] = 0.0; - out_6187186838300588967[260] = 0.0; - out_6187186838300588967[261] = 0.0; - out_6187186838300588967[262] = 0.0; - out_6187186838300588967[263] = 0.0; - out_6187186838300588967[264] = 0.0; - out_6187186838300588967[265] = 0.0; - out_6187186838300588967[266] = 1.0; - out_6187186838300588967[267] = 0.0; - out_6187186838300588967[268] = 0.0; - out_6187186838300588967[269] = 0.0; - out_6187186838300588967[270] = 0.0; - out_6187186838300588967[271] = 0.0; - out_6187186838300588967[272] = 0.0; - out_6187186838300588967[273] = 0.0; - out_6187186838300588967[274] = 0.0; - out_6187186838300588967[275] = 0.0; - out_6187186838300588967[276] = 0.0; - out_6187186838300588967[277] = 0.0; - out_6187186838300588967[278] = 0.0; - out_6187186838300588967[279] = 0.0; - out_6187186838300588967[280] = 0.0; - out_6187186838300588967[281] = 0.0; - out_6187186838300588967[282] = 0.0; - out_6187186838300588967[283] = 0.0; - out_6187186838300588967[284] = 0.0; - out_6187186838300588967[285] = 1.0; - out_6187186838300588967[286] = 0.0; - out_6187186838300588967[287] = 0.0; - out_6187186838300588967[288] = 0.0; - out_6187186838300588967[289] = 0.0; - out_6187186838300588967[290] = 0.0; - out_6187186838300588967[291] = 0.0; - out_6187186838300588967[292] = 0.0; - out_6187186838300588967[293] = 0.0; - out_6187186838300588967[294] = 0.0; - out_6187186838300588967[295] = 0.0; - out_6187186838300588967[296] = 0.0; - out_6187186838300588967[297] = 0.0; - out_6187186838300588967[298] = 0.0; - out_6187186838300588967[299] = 0.0; - out_6187186838300588967[300] = 0.0; - out_6187186838300588967[301] = 0.0; - out_6187186838300588967[302] = 0.0; - out_6187186838300588967[303] = 0.0; - out_6187186838300588967[304] = 1.0; - out_6187186838300588967[305] = 0.0; - out_6187186838300588967[306] = 0.0; - out_6187186838300588967[307] = 0.0; - out_6187186838300588967[308] = 0.0; - out_6187186838300588967[309] = 0.0; - out_6187186838300588967[310] = 0.0; - out_6187186838300588967[311] = 0.0; - out_6187186838300588967[312] = 0.0; - out_6187186838300588967[313] = 0.0; - out_6187186838300588967[314] = 0.0; - out_6187186838300588967[315] = 0.0; - out_6187186838300588967[316] = 0.0; - out_6187186838300588967[317] = 0.0; - out_6187186838300588967[318] = 0.0; - out_6187186838300588967[319] = 0.0; - out_6187186838300588967[320] = 0.0; - out_6187186838300588967[321] = 0.0; - out_6187186838300588967[322] = 0.0; - out_6187186838300588967[323] = 1.0; +void H_mod_fun(double *state, double *out_6168804416891607091) { + out_6168804416891607091[0] = 1.0; + out_6168804416891607091[1] = 0.0; + out_6168804416891607091[2] = 0.0; + out_6168804416891607091[3] = 0.0; + out_6168804416891607091[4] = 0.0; + out_6168804416891607091[5] = 0.0; + out_6168804416891607091[6] = 0.0; + out_6168804416891607091[7] = 0.0; + out_6168804416891607091[8] = 0.0; + out_6168804416891607091[9] = 0.0; + out_6168804416891607091[10] = 0.0; + out_6168804416891607091[11] = 0.0; + out_6168804416891607091[12] = 0.0; + out_6168804416891607091[13] = 0.0; + out_6168804416891607091[14] = 0.0; + out_6168804416891607091[15] = 0.0; + out_6168804416891607091[16] = 0.0; + out_6168804416891607091[17] = 0.0; + out_6168804416891607091[18] = 0.0; + out_6168804416891607091[19] = 1.0; + out_6168804416891607091[20] = 0.0; + out_6168804416891607091[21] = 0.0; + out_6168804416891607091[22] = 0.0; + out_6168804416891607091[23] = 0.0; + out_6168804416891607091[24] = 0.0; + out_6168804416891607091[25] = 0.0; + out_6168804416891607091[26] = 0.0; + out_6168804416891607091[27] = 0.0; + out_6168804416891607091[28] = 0.0; + out_6168804416891607091[29] = 0.0; + out_6168804416891607091[30] = 0.0; + out_6168804416891607091[31] = 0.0; + out_6168804416891607091[32] = 0.0; + out_6168804416891607091[33] = 0.0; + out_6168804416891607091[34] = 0.0; + out_6168804416891607091[35] = 0.0; + out_6168804416891607091[36] = 0.0; + out_6168804416891607091[37] = 0.0; + out_6168804416891607091[38] = 1.0; + out_6168804416891607091[39] = 0.0; + out_6168804416891607091[40] = 0.0; + out_6168804416891607091[41] = 0.0; + out_6168804416891607091[42] = 0.0; + out_6168804416891607091[43] = 0.0; + out_6168804416891607091[44] = 0.0; + out_6168804416891607091[45] = 0.0; + out_6168804416891607091[46] = 0.0; + out_6168804416891607091[47] = 0.0; + out_6168804416891607091[48] = 0.0; + out_6168804416891607091[49] = 0.0; + out_6168804416891607091[50] = 0.0; + out_6168804416891607091[51] = 0.0; + out_6168804416891607091[52] = 0.0; + out_6168804416891607091[53] = 0.0; + out_6168804416891607091[54] = 0.0; + out_6168804416891607091[55] = 0.0; + out_6168804416891607091[56] = 0.0; + out_6168804416891607091[57] = 1.0; + out_6168804416891607091[58] = 0.0; + out_6168804416891607091[59] = 0.0; + out_6168804416891607091[60] = 0.0; + out_6168804416891607091[61] = 0.0; + out_6168804416891607091[62] = 0.0; + out_6168804416891607091[63] = 0.0; + out_6168804416891607091[64] = 0.0; + out_6168804416891607091[65] = 0.0; + out_6168804416891607091[66] = 0.0; + out_6168804416891607091[67] = 0.0; + out_6168804416891607091[68] = 0.0; + out_6168804416891607091[69] = 0.0; + out_6168804416891607091[70] = 0.0; + out_6168804416891607091[71] = 0.0; + out_6168804416891607091[72] = 0.0; + out_6168804416891607091[73] = 0.0; + out_6168804416891607091[74] = 0.0; + out_6168804416891607091[75] = 0.0; + out_6168804416891607091[76] = 1.0; + out_6168804416891607091[77] = 0.0; + out_6168804416891607091[78] = 0.0; + out_6168804416891607091[79] = 0.0; + out_6168804416891607091[80] = 0.0; + out_6168804416891607091[81] = 0.0; + out_6168804416891607091[82] = 0.0; + out_6168804416891607091[83] = 0.0; + out_6168804416891607091[84] = 0.0; + out_6168804416891607091[85] = 0.0; + out_6168804416891607091[86] = 0.0; + out_6168804416891607091[87] = 0.0; + out_6168804416891607091[88] = 0.0; + out_6168804416891607091[89] = 0.0; + out_6168804416891607091[90] = 0.0; + out_6168804416891607091[91] = 0.0; + out_6168804416891607091[92] = 0.0; + out_6168804416891607091[93] = 0.0; + out_6168804416891607091[94] = 0.0; + out_6168804416891607091[95] = 1.0; + out_6168804416891607091[96] = 0.0; + out_6168804416891607091[97] = 0.0; + out_6168804416891607091[98] = 0.0; + out_6168804416891607091[99] = 0.0; + out_6168804416891607091[100] = 0.0; + out_6168804416891607091[101] = 0.0; + out_6168804416891607091[102] = 0.0; + out_6168804416891607091[103] = 0.0; + out_6168804416891607091[104] = 0.0; + out_6168804416891607091[105] = 0.0; + out_6168804416891607091[106] = 0.0; + out_6168804416891607091[107] = 0.0; + out_6168804416891607091[108] = 0.0; + out_6168804416891607091[109] = 0.0; + out_6168804416891607091[110] = 0.0; + out_6168804416891607091[111] = 0.0; + out_6168804416891607091[112] = 0.0; + out_6168804416891607091[113] = 0.0; + out_6168804416891607091[114] = 1.0; + out_6168804416891607091[115] = 0.0; + out_6168804416891607091[116] = 0.0; + out_6168804416891607091[117] = 0.0; + out_6168804416891607091[118] = 0.0; + out_6168804416891607091[119] = 0.0; + out_6168804416891607091[120] = 0.0; + out_6168804416891607091[121] = 0.0; + out_6168804416891607091[122] = 0.0; + out_6168804416891607091[123] = 0.0; + out_6168804416891607091[124] = 0.0; + out_6168804416891607091[125] = 0.0; + out_6168804416891607091[126] = 0.0; + out_6168804416891607091[127] = 0.0; + out_6168804416891607091[128] = 0.0; + out_6168804416891607091[129] = 0.0; + out_6168804416891607091[130] = 0.0; + out_6168804416891607091[131] = 0.0; + out_6168804416891607091[132] = 0.0; + out_6168804416891607091[133] = 1.0; + out_6168804416891607091[134] = 0.0; + out_6168804416891607091[135] = 0.0; + out_6168804416891607091[136] = 0.0; + out_6168804416891607091[137] = 0.0; + out_6168804416891607091[138] = 0.0; + out_6168804416891607091[139] = 0.0; + out_6168804416891607091[140] = 0.0; + out_6168804416891607091[141] = 0.0; + out_6168804416891607091[142] = 0.0; + out_6168804416891607091[143] = 0.0; + out_6168804416891607091[144] = 0.0; + out_6168804416891607091[145] = 0.0; + out_6168804416891607091[146] = 0.0; + out_6168804416891607091[147] = 0.0; + out_6168804416891607091[148] = 0.0; + out_6168804416891607091[149] = 0.0; + out_6168804416891607091[150] = 0.0; + out_6168804416891607091[151] = 0.0; + out_6168804416891607091[152] = 1.0; + out_6168804416891607091[153] = 0.0; + out_6168804416891607091[154] = 0.0; + out_6168804416891607091[155] = 0.0; + out_6168804416891607091[156] = 0.0; + out_6168804416891607091[157] = 0.0; + out_6168804416891607091[158] = 0.0; + out_6168804416891607091[159] = 0.0; + out_6168804416891607091[160] = 0.0; + out_6168804416891607091[161] = 0.0; + out_6168804416891607091[162] = 0.0; + out_6168804416891607091[163] = 0.0; + out_6168804416891607091[164] = 0.0; + out_6168804416891607091[165] = 0.0; + out_6168804416891607091[166] = 0.0; + out_6168804416891607091[167] = 0.0; + out_6168804416891607091[168] = 0.0; + out_6168804416891607091[169] = 0.0; + out_6168804416891607091[170] = 0.0; + out_6168804416891607091[171] = 1.0; + out_6168804416891607091[172] = 0.0; + out_6168804416891607091[173] = 0.0; + out_6168804416891607091[174] = 0.0; + out_6168804416891607091[175] = 0.0; + out_6168804416891607091[176] = 0.0; + out_6168804416891607091[177] = 0.0; + out_6168804416891607091[178] = 0.0; + out_6168804416891607091[179] = 0.0; + out_6168804416891607091[180] = 0.0; + out_6168804416891607091[181] = 0.0; + out_6168804416891607091[182] = 0.0; + out_6168804416891607091[183] = 0.0; + out_6168804416891607091[184] = 0.0; + out_6168804416891607091[185] = 0.0; + out_6168804416891607091[186] = 0.0; + out_6168804416891607091[187] = 0.0; + out_6168804416891607091[188] = 0.0; + out_6168804416891607091[189] = 0.0; + out_6168804416891607091[190] = 1.0; + out_6168804416891607091[191] = 0.0; + out_6168804416891607091[192] = 0.0; + out_6168804416891607091[193] = 0.0; + out_6168804416891607091[194] = 0.0; + out_6168804416891607091[195] = 0.0; + out_6168804416891607091[196] = 0.0; + out_6168804416891607091[197] = 0.0; + out_6168804416891607091[198] = 0.0; + out_6168804416891607091[199] = 0.0; + out_6168804416891607091[200] = 0.0; + out_6168804416891607091[201] = 0.0; + out_6168804416891607091[202] = 0.0; + out_6168804416891607091[203] = 0.0; + out_6168804416891607091[204] = 0.0; + out_6168804416891607091[205] = 0.0; + out_6168804416891607091[206] = 0.0; + out_6168804416891607091[207] = 0.0; + out_6168804416891607091[208] = 0.0; + out_6168804416891607091[209] = 1.0; + out_6168804416891607091[210] = 0.0; + out_6168804416891607091[211] = 0.0; + out_6168804416891607091[212] = 0.0; + out_6168804416891607091[213] = 0.0; + out_6168804416891607091[214] = 0.0; + out_6168804416891607091[215] = 0.0; + out_6168804416891607091[216] = 0.0; + out_6168804416891607091[217] = 0.0; + out_6168804416891607091[218] = 0.0; + out_6168804416891607091[219] = 0.0; + out_6168804416891607091[220] = 0.0; + out_6168804416891607091[221] = 0.0; + out_6168804416891607091[222] = 0.0; + out_6168804416891607091[223] = 0.0; + out_6168804416891607091[224] = 0.0; + out_6168804416891607091[225] = 0.0; + out_6168804416891607091[226] = 0.0; + out_6168804416891607091[227] = 0.0; + out_6168804416891607091[228] = 1.0; + out_6168804416891607091[229] = 0.0; + out_6168804416891607091[230] = 0.0; + out_6168804416891607091[231] = 0.0; + out_6168804416891607091[232] = 0.0; + out_6168804416891607091[233] = 0.0; + out_6168804416891607091[234] = 0.0; + out_6168804416891607091[235] = 0.0; + out_6168804416891607091[236] = 0.0; + out_6168804416891607091[237] = 0.0; + out_6168804416891607091[238] = 0.0; + out_6168804416891607091[239] = 0.0; + out_6168804416891607091[240] = 0.0; + out_6168804416891607091[241] = 0.0; + out_6168804416891607091[242] = 0.0; + out_6168804416891607091[243] = 0.0; + out_6168804416891607091[244] = 0.0; + out_6168804416891607091[245] = 0.0; + out_6168804416891607091[246] = 0.0; + out_6168804416891607091[247] = 1.0; + out_6168804416891607091[248] = 0.0; + out_6168804416891607091[249] = 0.0; + out_6168804416891607091[250] = 0.0; + out_6168804416891607091[251] = 0.0; + out_6168804416891607091[252] = 0.0; + out_6168804416891607091[253] = 0.0; + out_6168804416891607091[254] = 0.0; + out_6168804416891607091[255] = 0.0; + out_6168804416891607091[256] = 0.0; + out_6168804416891607091[257] = 0.0; + out_6168804416891607091[258] = 0.0; + out_6168804416891607091[259] = 0.0; + out_6168804416891607091[260] = 0.0; + out_6168804416891607091[261] = 0.0; + out_6168804416891607091[262] = 0.0; + out_6168804416891607091[263] = 0.0; + out_6168804416891607091[264] = 0.0; + out_6168804416891607091[265] = 0.0; + out_6168804416891607091[266] = 1.0; + out_6168804416891607091[267] = 0.0; + out_6168804416891607091[268] = 0.0; + out_6168804416891607091[269] = 0.0; + out_6168804416891607091[270] = 0.0; + out_6168804416891607091[271] = 0.0; + out_6168804416891607091[272] = 0.0; + out_6168804416891607091[273] = 0.0; + out_6168804416891607091[274] = 0.0; + out_6168804416891607091[275] = 0.0; + out_6168804416891607091[276] = 0.0; + out_6168804416891607091[277] = 0.0; + out_6168804416891607091[278] = 0.0; + out_6168804416891607091[279] = 0.0; + out_6168804416891607091[280] = 0.0; + out_6168804416891607091[281] = 0.0; + out_6168804416891607091[282] = 0.0; + out_6168804416891607091[283] = 0.0; + out_6168804416891607091[284] = 0.0; + out_6168804416891607091[285] = 1.0; + out_6168804416891607091[286] = 0.0; + out_6168804416891607091[287] = 0.0; + out_6168804416891607091[288] = 0.0; + out_6168804416891607091[289] = 0.0; + out_6168804416891607091[290] = 0.0; + out_6168804416891607091[291] = 0.0; + out_6168804416891607091[292] = 0.0; + out_6168804416891607091[293] = 0.0; + out_6168804416891607091[294] = 0.0; + out_6168804416891607091[295] = 0.0; + out_6168804416891607091[296] = 0.0; + out_6168804416891607091[297] = 0.0; + out_6168804416891607091[298] = 0.0; + out_6168804416891607091[299] = 0.0; + out_6168804416891607091[300] = 0.0; + out_6168804416891607091[301] = 0.0; + out_6168804416891607091[302] = 0.0; + out_6168804416891607091[303] = 0.0; + out_6168804416891607091[304] = 1.0; + out_6168804416891607091[305] = 0.0; + out_6168804416891607091[306] = 0.0; + out_6168804416891607091[307] = 0.0; + out_6168804416891607091[308] = 0.0; + out_6168804416891607091[309] = 0.0; + out_6168804416891607091[310] = 0.0; + out_6168804416891607091[311] = 0.0; + out_6168804416891607091[312] = 0.0; + out_6168804416891607091[313] = 0.0; + out_6168804416891607091[314] = 0.0; + out_6168804416891607091[315] = 0.0; + out_6168804416891607091[316] = 0.0; + out_6168804416891607091[317] = 0.0; + out_6168804416891607091[318] = 0.0; + out_6168804416891607091[319] = 0.0; + out_6168804416891607091[320] = 0.0; + out_6168804416891607091[321] = 0.0; + out_6168804416891607091[322] = 0.0; + out_6168804416891607091[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8843286105500853100) { - out_8843286105500853100[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); - out_8843286105500853100[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); - out_8843286105500853100[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); - out_8843286105500853100[3] = dt*state[12] + state[3]; - out_8843286105500853100[4] = dt*state[13] + state[4]; - out_8843286105500853100[5] = dt*state[14] + state[5]; - out_8843286105500853100[6] = state[6]; - out_8843286105500853100[7] = state[7]; - out_8843286105500853100[8] = state[8]; - out_8843286105500853100[9] = state[9]; - out_8843286105500853100[10] = state[10]; - out_8843286105500853100[11] = state[11]; - out_8843286105500853100[12] = state[12]; - out_8843286105500853100[13] = state[13]; - out_8843286105500853100[14] = state[14]; - out_8843286105500853100[15] = state[15]; - out_8843286105500853100[16] = state[16]; - out_8843286105500853100[17] = state[17]; +void f_fun(double *state, double dt, double *out_4562479811319953042) { + out_4562479811319953042[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_4562479811319953042[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_4562479811319953042[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_4562479811319953042[3] = dt*state[12] + state[3]; + out_4562479811319953042[4] = dt*state[13] + state[4]; + out_4562479811319953042[5] = dt*state[14] + state[5]; + out_4562479811319953042[6] = state[6]; + out_4562479811319953042[7] = state[7]; + out_4562479811319953042[8] = state[8]; + out_4562479811319953042[9] = state[9]; + out_4562479811319953042[10] = state[10]; + out_4562479811319953042[11] = state[11]; + out_4562479811319953042[12] = state[12]; + out_4562479811319953042[13] = state[13]; + out_4562479811319953042[14] = state[14]; + out_4562479811319953042[15] = state[15]; + out_4562479811319953042[16] = state[16]; + out_4562479811319953042[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4695420932330585758) { - out_4695420932330585758[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_4695420932330585758[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_4695420932330585758[2] = 0; - out_4695420932330585758[3] = 0; - out_4695420932330585758[4] = 0; - out_4695420932330585758[5] = 0; - out_4695420932330585758[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_4695420932330585758[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_4695420932330585758[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_4695420932330585758[9] = 0; - out_4695420932330585758[10] = 0; - out_4695420932330585758[11] = 0; - out_4695420932330585758[12] = 0; - out_4695420932330585758[13] = 0; - out_4695420932330585758[14] = 0; - out_4695420932330585758[15] = 0; - out_4695420932330585758[16] = 0; - out_4695420932330585758[17] = 0; - out_4695420932330585758[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_4695420932330585758[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_4695420932330585758[20] = 0; - out_4695420932330585758[21] = 0; - out_4695420932330585758[22] = 0; - out_4695420932330585758[23] = 0; - out_4695420932330585758[24] = 0; - out_4695420932330585758[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_4695420932330585758[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_4695420932330585758[27] = 0; - out_4695420932330585758[28] = 0; - out_4695420932330585758[29] = 0; - out_4695420932330585758[30] = 0; - out_4695420932330585758[31] = 0; - out_4695420932330585758[32] = 0; - out_4695420932330585758[33] = 0; - out_4695420932330585758[34] = 0; - out_4695420932330585758[35] = 0; - out_4695420932330585758[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_4695420932330585758[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_4695420932330585758[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_4695420932330585758[39] = 0; - out_4695420932330585758[40] = 0; - out_4695420932330585758[41] = 0; - out_4695420932330585758[42] = 0; - out_4695420932330585758[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_4695420932330585758[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_4695420932330585758[45] = 0; - out_4695420932330585758[46] = 0; - out_4695420932330585758[47] = 0; - out_4695420932330585758[48] = 0; - out_4695420932330585758[49] = 0; - out_4695420932330585758[50] = 0; - out_4695420932330585758[51] = 0; - out_4695420932330585758[52] = 0; - out_4695420932330585758[53] = 0; - out_4695420932330585758[54] = 0; - out_4695420932330585758[55] = 0; - out_4695420932330585758[56] = 0; - out_4695420932330585758[57] = 1; - out_4695420932330585758[58] = 0; - out_4695420932330585758[59] = 0; - out_4695420932330585758[60] = 0; - out_4695420932330585758[61] = 0; - out_4695420932330585758[62] = 0; - out_4695420932330585758[63] = 0; - out_4695420932330585758[64] = 0; - out_4695420932330585758[65] = 0; - out_4695420932330585758[66] = dt; - out_4695420932330585758[67] = 0; - out_4695420932330585758[68] = 0; - out_4695420932330585758[69] = 0; - out_4695420932330585758[70] = 0; - out_4695420932330585758[71] = 0; - out_4695420932330585758[72] = 0; - out_4695420932330585758[73] = 0; - out_4695420932330585758[74] = 0; - out_4695420932330585758[75] = 0; - out_4695420932330585758[76] = 1; - out_4695420932330585758[77] = 0; - out_4695420932330585758[78] = 0; - out_4695420932330585758[79] = 0; - out_4695420932330585758[80] = 0; - out_4695420932330585758[81] = 0; - out_4695420932330585758[82] = 0; - out_4695420932330585758[83] = 0; - out_4695420932330585758[84] = 0; - out_4695420932330585758[85] = dt; - out_4695420932330585758[86] = 0; - out_4695420932330585758[87] = 0; - out_4695420932330585758[88] = 0; - out_4695420932330585758[89] = 0; - out_4695420932330585758[90] = 0; - out_4695420932330585758[91] = 0; - out_4695420932330585758[92] = 0; - out_4695420932330585758[93] = 0; - out_4695420932330585758[94] = 0; - out_4695420932330585758[95] = 1; - out_4695420932330585758[96] = 0; - out_4695420932330585758[97] = 0; - out_4695420932330585758[98] = 0; - out_4695420932330585758[99] = 0; - out_4695420932330585758[100] = 0; - out_4695420932330585758[101] = 0; - out_4695420932330585758[102] = 0; - out_4695420932330585758[103] = 0; - out_4695420932330585758[104] = dt; - out_4695420932330585758[105] = 0; - out_4695420932330585758[106] = 0; - out_4695420932330585758[107] = 0; - out_4695420932330585758[108] = 0; - out_4695420932330585758[109] = 0; - out_4695420932330585758[110] = 0; - out_4695420932330585758[111] = 0; - out_4695420932330585758[112] = 0; - out_4695420932330585758[113] = 0; - out_4695420932330585758[114] = 1; - out_4695420932330585758[115] = 0; - out_4695420932330585758[116] = 0; - out_4695420932330585758[117] = 0; - out_4695420932330585758[118] = 0; - out_4695420932330585758[119] = 0; - out_4695420932330585758[120] = 0; - out_4695420932330585758[121] = 0; - out_4695420932330585758[122] = 0; - out_4695420932330585758[123] = 0; - out_4695420932330585758[124] = 0; - out_4695420932330585758[125] = 0; - out_4695420932330585758[126] = 0; - out_4695420932330585758[127] = 0; - out_4695420932330585758[128] = 0; - out_4695420932330585758[129] = 0; - out_4695420932330585758[130] = 0; - out_4695420932330585758[131] = 0; - out_4695420932330585758[132] = 0; - out_4695420932330585758[133] = 1; - out_4695420932330585758[134] = 0; - out_4695420932330585758[135] = 0; - out_4695420932330585758[136] = 0; - out_4695420932330585758[137] = 0; - out_4695420932330585758[138] = 0; - out_4695420932330585758[139] = 0; - out_4695420932330585758[140] = 0; - out_4695420932330585758[141] = 0; - out_4695420932330585758[142] = 0; - out_4695420932330585758[143] = 0; - out_4695420932330585758[144] = 0; - out_4695420932330585758[145] = 0; - out_4695420932330585758[146] = 0; - out_4695420932330585758[147] = 0; - out_4695420932330585758[148] = 0; - out_4695420932330585758[149] = 0; - out_4695420932330585758[150] = 0; - out_4695420932330585758[151] = 0; - out_4695420932330585758[152] = 1; - out_4695420932330585758[153] = 0; - out_4695420932330585758[154] = 0; - out_4695420932330585758[155] = 0; - out_4695420932330585758[156] = 0; - out_4695420932330585758[157] = 0; - out_4695420932330585758[158] = 0; - out_4695420932330585758[159] = 0; - out_4695420932330585758[160] = 0; - out_4695420932330585758[161] = 0; - out_4695420932330585758[162] = 0; - out_4695420932330585758[163] = 0; - out_4695420932330585758[164] = 0; - out_4695420932330585758[165] = 0; - out_4695420932330585758[166] = 0; - out_4695420932330585758[167] = 0; - out_4695420932330585758[168] = 0; - out_4695420932330585758[169] = 0; - out_4695420932330585758[170] = 0; - out_4695420932330585758[171] = 1; - out_4695420932330585758[172] = 0; - out_4695420932330585758[173] = 0; - out_4695420932330585758[174] = 0; - out_4695420932330585758[175] = 0; - out_4695420932330585758[176] = 0; - out_4695420932330585758[177] = 0; - out_4695420932330585758[178] = 0; - out_4695420932330585758[179] = 0; - out_4695420932330585758[180] = 0; - out_4695420932330585758[181] = 0; - out_4695420932330585758[182] = 0; - out_4695420932330585758[183] = 0; - out_4695420932330585758[184] = 0; - out_4695420932330585758[185] = 0; - out_4695420932330585758[186] = 0; - out_4695420932330585758[187] = 0; - out_4695420932330585758[188] = 0; - out_4695420932330585758[189] = 0; - out_4695420932330585758[190] = 1; - out_4695420932330585758[191] = 0; - out_4695420932330585758[192] = 0; - out_4695420932330585758[193] = 0; - out_4695420932330585758[194] = 0; - out_4695420932330585758[195] = 0; - out_4695420932330585758[196] = 0; - out_4695420932330585758[197] = 0; - out_4695420932330585758[198] = 0; - out_4695420932330585758[199] = 0; - out_4695420932330585758[200] = 0; - out_4695420932330585758[201] = 0; - out_4695420932330585758[202] = 0; - out_4695420932330585758[203] = 0; - out_4695420932330585758[204] = 0; - out_4695420932330585758[205] = 0; - out_4695420932330585758[206] = 0; - out_4695420932330585758[207] = 0; - out_4695420932330585758[208] = 0; - out_4695420932330585758[209] = 1; - out_4695420932330585758[210] = 0; - out_4695420932330585758[211] = 0; - out_4695420932330585758[212] = 0; - out_4695420932330585758[213] = 0; - out_4695420932330585758[214] = 0; - out_4695420932330585758[215] = 0; - out_4695420932330585758[216] = 0; - out_4695420932330585758[217] = 0; - out_4695420932330585758[218] = 0; - out_4695420932330585758[219] = 0; - out_4695420932330585758[220] = 0; - out_4695420932330585758[221] = 0; - out_4695420932330585758[222] = 0; - out_4695420932330585758[223] = 0; - out_4695420932330585758[224] = 0; - out_4695420932330585758[225] = 0; - out_4695420932330585758[226] = 0; - out_4695420932330585758[227] = 0; - out_4695420932330585758[228] = 1; - out_4695420932330585758[229] = 0; - out_4695420932330585758[230] = 0; - out_4695420932330585758[231] = 0; - out_4695420932330585758[232] = 0; - out_4695420932330585758[233] = 0; - out_4695420932330585758[234] = 0; - out_4695420932330585758[235] = 0; - out_4695420932330585758[236] = 0; - out_4695420932330585758[237] = 0; - out_4695420932330585758[238] = 0; - out_4695420932330585758[239] = 0; - out_4695420932330585758[240] = 0; - out_4695420932330585758[241] = 0; - out_4695420932330585758[242] = 0; - out_4695420932330585758[243] = 0; - out_4695420932330585758[244] = 0; - out_4695420932330585758[245] = 0; - out_4695420932330585758[246] = 0; - out_4695420932330585758[247] = 1; - out_4695420932330585758[248] = 0; - out_4695420932330585758[249] = 0; - out_4695420932330585758[250] = 0; - out_4695420932330585758[251] = 0; - out_4695420932330585758[252] = 0; - out_4695420932330585758[253] = 0; - out_4695420932330585758[254] = 0; - out_4695420932330585758[255] = 0; - out_4695420932330585758[256] = 0; - out_4695420932330585758[257] = 0; - out_4695420932330585758[258] = 0; - out_4695420932330585758[259] = 0; - out_4695420932330585758[260] = 0; - out_4695420932330585758[261] = 0; - out_4695420932330585758[262] = 0; - out_4695420932330585758[263] = 0; - out_4695420932330585758[264] = 0; - out_4695420932330585758[265] = 0; - out_4695420932330585758[266] = 1; - out_4695420932330585758[267] = 0; - out_4695420932330585758[268] = 0; - out_4695420932330585758[269] = 0; - out_4695420932330585758[270] = 0; - out_4695420932330585758[271] = 0; - out_4695420932330585758[272] = 0; - out_4695420932330585758[273] = 0; - out_4695420932330585758[274] = 0; - out_4695420932330585758[275] = 0; - out_4695420932330585758[276] = 0; - out_4695420932330585758[277] = 0; - out_4695420932330585758[278] = 0; - out_4695420932330585758[279] = 0; - out_4695420932330585758[280] = 0; - out_4695420932330585758[281] = 0; - out_4695420932330585758[282] = 0; - out_4695420932330585758[283] = 0; - out_4695420932330585758[284] = 0; - out_4695420932330585758[285] = 1; - out_4695420932330585758[286] = 0; - out_4695420932330585758[287] = 0; - out_4695420932330585758[288] = 0; - out_4695420932330585758[289] = 0; - out_4695420932330585758[290] = 0; - out_4695420932330585758[291] = 0; - out_4695420932330585758[292] = 0; - out_4695420932330585758[293] = 0; - out_4695420932330585758[294] = 0; - out_4695420932330585758[295] = 0; - out_4695420932330585758[296] = 0; - out_4695420932330585758[297] = 0; - out_4695420932330585758[298] = 0; - out_4695420932330585758[299] = 0; - out_4695420932330585758[300] = 0; - out_4695420932330585758[301] = 0; - out_4695420932330585758[302] = 0; - out_4695420932330585758[303] = 0; - out_4695420932330585758[304] = 1; - out_4695420932330585758[305] = 0; - out_4695420932330585758[306] = 0; - out_4695420932330585758[307] = 0; - out_4695420932330585758[308] = 0; - out_4695420932330585758[309] = 0; - out_4695420932330585758[310] = 0; - out_4695420932330585758[311] = 0; - out_4695420932330585758[312] = 0; - out_4695420932330585758[313] = 0; - out_4695420932330585758[314] = 0; - out_4695420932330585758[315] = 0; - out_4695420932330585758[316] = 0; - out_4695420932330585758[317] = 0; - out_4695420932330585758[318] = 0; - out_4695420932330585758[319] = 0; - out_4695420932330585758[320] = 0; - out_4695420932330585758[321] = 0; - out_4695420932330585758[322] = 0; - out_4695420932330585758[323] = 1; +void F_fun(double *state, double dt, double *out_1994404627029761325) { + out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[2] = 0; + out_1994404627029761325[3] = 0; + out_1994404627029761325[4] = 0; + out_1994404627029761325[5] = 0; + out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[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_1994404627029761325[9] = 0; + out_1994404627029761325[10] = 0; + out_1994404627029761325[11] = 0; + out_1994404627029761325[12] = 0; + out_1994404627029761325[13] = 0; + out_1994404627029761325[14] = 0; + out_1994404627029761325[15] = 0; + out_1994404627029761325[16] = 0; + out_1994404627029761325[17] = 0; + out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[20] = 0; + out_1994404627029761325[21] = 0; + out_1994404627029761325[22] = 0; + out_1994404627029761325[23] = 0; + out_1994404627029761325[24] = 0; + out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[27] = 0; + out_1994404627029761325[28] = 0; + out_1994404627029761325[29] = 0; + out_1994404627029761325[30] = 0; + out_1994404627029761325[31] = 0; + out_1994404627029761325[32] = 0; + out_1994404627029761325[33] = 0; + out_1994404627029761325[34] = 0; + out_1994404627029761325[35] = 0; + out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[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_1994404627029761325[39] = 0; + out_1994404627029761325[40] = 0; + out_1994404627029761325[41] = 0; + out_1994404627029761325[42] = 0; + out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[45] = 0; + out_1994404627029761325[46] = 0; + out_1994404627029761325[47] = 0; + out_1994404627029761325[48] = 0; + out_1994404627029761325[49] = 0; + out_1994404627029761325[50] = 0; + out_1994404627029761325[51] = 0; + out_1994404627029761325[52] = 0; + out_1994404627029761325[53] = 0; + out_1994404627029761325[54] = 0; + out_1994404627029761325[55] = 0; + out_1994404627029761325[56] = 0; + out_1994404627029761325[57] = 1; + out_1994404627029761325[58] = 0; + out_1994404627029761325[59] = 0; + out_1994404627029761325[60] = 0; + out_1994404627029761325[61] = 0; + out_1994404627029761325[62] = 0; + out_1994404627029761325[63] = 0; + out_1994404627029761325[64] = 0; + out_1994404627029761325[65] = 0; + out_1994404627029761325[66] = dt; + out_1994404627029761325[67] = 0; + out_1994404627029761325[68] = 0; + out_1994404627029761325[69] = 0; + out_1994404627029761325[70] = 0; + out_1994404627029761325[71] = 0; + out_1994404627029761325[72] = 0; + out_1994404627029761325[73] = 0; + out_1994404627029761325[74] = 0; + out_1994404627029761325[75] = 0; + out_1994404627029761325[76] = 1; + out_1994404627029761325[77] = 0; + out_1994404627029761325[78] = 0; + out_1994404627029761325[79] = 0; + out_1994404627029761325[80] = 0; + out_1994404627029761325[81] = 0; + out_1994404627029761325[82] = 0; + out_1994404627029761325[83] = 0; + out_1994404627029761325[84] = 0; + out_1994404627029761325[85] = dt; + out_1994404627029761325[86] = 0; + out_1994404627029761325[87] = 0; + out_1994404627029761325[88] = 0; + out_1994404627029761325[89] = 0; + out_1994404627029761325[90] = 0; + out_1994404627029761325[91] = 0; + out_1994404627029761325[92] = 0; + out_1994404627029761325[93] = 0; + out_1994404627029761325[94] = 0; + out_1994404627029761325[95] = 1; + out_1994404627029761325[96] = 0; + out_1994404627029761325[97] = 0; + out_1994404627029761325[98] = 0; + out_1994404627029761325[99] = 0; + out_1994404627029761325[100] = 0; + out_1994404627029761325[101] = 0; + out_1994404627029761325[102] = 0; + out_1994404627029761325[103] = 0; + out_1994404627029761325[104] = dt; + out_1994404627029761325[105] = 0; + out_1994404627029761325[106] = 0; + out_1994404627029761325[107] = 0; + out_1994404627029761325[108] = 0; + out_1994404627029761325[109] = 0; + out_1994404627029761325[110] = 0; + out_1994404627029761325[111] = 0; + out_1994404627029761325[112] = 0; + out_1994404627029761325[113] = 0; + out_1994404627029761325[114] = 1; + out_1994404627029761325[115] = 0; + out_1994404627029761325[116] = 0; + out_1994404627029761325[117] = 0; + out_1994404627029761325[118] = 0; + out_1994404627029761325[119] = 0; + out_1994404627029761325[120] = 0; + out_1994404627029761325[121] = 0; + out_1994404627029761325[122] = 0; + out_1994404627029761325[123] = 0; + out_1994404627029761325[124] = 0; + out_1994404627029761325[125] = 0; + out_1994404627029761325[126] = 0; + out_1994404627029761325[127] = 0; + out_1994404627029761325[128] = 0; + out_1994404627029761325[129] = 0; + out_1994404627029761325[130] = 0; + out_1994404627029761325[131] = 0; + out_1994404627029761325[132] = 0; + out_1994404627029761325[133] = 1; + out_1994404627029761325[134] = 0; + out_1994404627029761325[135] = 0; + out_1994404627029761325[136] = 0; + out_1994404627029761325[137] = 0; + out_1994404627029761325[138] = 0; + out_1994404627029761325[139] = 0; + out_1994404627029761325[140] = 0; + out_1994404627029761325[141] = 0; + out_1994404627029761325[142] = 0; + out_1994404627029761325[143] = 0; + out_1994404627029761325[144] = 0; + out_1994404627029761325[145] = 0; + out_1994404627029761325[146] = 0; + out_1994404627029761325[147] = 0; + out_1994404627029761325[148] = 0; + out_1994404627029761325[149] = 0; + out_1994404627029761325[150] = 0; + out_1994404627029761325[151] = 0; + out_1994404627029761325[152] = 1; + out_1994404627029761325[153] = 0; + out_1994404627029761325[154] = 0; + out_1994404627029761325[155] = 0; + out_1994404627029761325[156] = 0; + out_1994404627029761325[157] = 0; + out_1994404627029761325[158] = 0; + out_1994404627029761325[159] = 0; + out_1994404627029761325[160] = 0; + out_1994404627029761325[161] = 0; + out_1994404627029761325[162] = 0; + out_1994404627029761325[163] = 0; + out_1994404627029761325[164] = 0; + out_1994404627029761325[165] = 0; + out_1994404627029761325[166] = 0; + out_1994404627029761325[167] = 0; + out_1994404627029761325[168] = 0; + out_1994404627029761325[169] = 0; + out_1994404627029761325[170] = 0; + out_1994404627029761325[171] = 1; + out_1994404627029761325[172] = 0; + out_1994404627029761325[173] = 0; + out_1994404627029761325[174] = 0; + out_1994404627029761325[175] = 0; + out_1994404627029761325[176] = 0; + out_1994404627029761325[177] = 0; + out_1994404627029761325[178] = 0; + out_1994404627029761325[179] = 0; + out_1994404627029761325[180] = 0; + out_1994404627029761325[181] = 0; + out_1994404627029761325[182] = 0; + out_1994404627029761325[183] = 0; + out_1994404627029761325[184] = 0; + out_1994404627029761325[185] = 0; + out_1994404627029761325[186] = 0; + out_1994404627029761325[187] = 0; + out_1994404627029761325[188] = 0; + out_1994404627029761325[189] = 0; + out_1994404627029761325[190] = 1; + out_1994404627029761325[191] = 0; + out_1994404627029761325[192] = 0; + out_1994404627029761325[193] = 0; + out_1994404627029761325[194] = 0; + out_1994404627029761325[195] = 0; + out_1994404627029761325[196] = 0; + out_1994404627029761325[197] = 0; + out_1994404627029761325[198] = 0; + out_1994404627029761325[199] = 0; + out_1994404627029761325[200] = 0; + out_1994404627029761325[201] = 0; + out_1994404627029761325[202] = 0; + out_1994404627029761325[203] = 0; + out_1994404627029761325[204] = 0; + out_1994404627029761325[205] = 0; + out_1994404627029761325[206] = 0; + out_1994404627029761325[207] = 0; + out_1994404627029761325[208] = 0; + out_1994404627029761325[209] = 1; + out_1994404627029761325[210] = 0; + out_1994404627029761325[211] = 0; + out_1994404627029761325[212] = 0; + out_1994404627029761325[213] = 0; + out_1994404627029761325[214] = 0; + out_1994404627029761325[215] = 0; + out_1994404627029761325[216] = 0; + out_1994404627029761325[217] = 0; + out_1994404627029761325[218] = 0; + out_1994404627029761325[219] = 0; + out_1994404627029761325[220] = 0; + out_1994404627029761325[221] = 0; + out_1994404627029761325[222] = 0; + out_1994404627029761325[223] = 0; + out_1994404627029761325[224] = 0; + out_1994404627029761325[225] = 0; + out_1994404627029761325[226] = 0; + out_1994404627029761325[227] = 0; + out_1994404627029761325[228] = 1; + out_1994404627029761325[229] = 0; + out_1994404627029761325[230] = 0; + out_1994404627029761325[231] = 0; + out_1994404627029761325[232] = 0; + out_1994404627029761325[233] = 0; + out_1994404627029761325[234] = 0; + out_1994404627029761325[235] = 0; + out_1994404627029761325[236] = 0; + out_1994404627029761325[237] = 0; + out_1994404627029761325[238] = 0; + out_1994404627029761325[239] = 0; + out_1994404627029761325[240] = 0; + out_1994404627029761325[241] = 0; + out_1994404627029761325[242] = 0; + out_1994404627029761325[243] = 0; + out_1994404627029761325[244] = 0; + out_1994404627029761325[245] = 0; + out_1994404627029761325[246] = 0; + out_1994404627029761325[247] = 1; + out_1994404627029761325[248] = 0; + out_1994404627029761325[249] = 0; + out_1994404627029761325[250] = 0; + out_1994404627029761325[251] = 0; + out_1994404627029761325[252] = 0; + out_1994404627029761325[253] = 0; + out_1994404627029761325[254] = 0; + out_1994404627029761325[255] = 0; + out_1994404627029761325[256] = 0; + out_1994404627029761325[257] = 0; + out_1994404627029761325[258] = 0; + out_1994404627029761325[259] = 0; + out_1994404627029761325[260] = 0; + out_1994404627029761325[261] = 0; + out_1994404627029761325[262] = 0; + out_1994404627029761325[263] = 0; + out_1994404627029761325[264] = 0; + out_1994404627029761325[265] = 0; + out_1994404627029761325[266] = 1; + out_1994404627029761325[267] = 0; + out_1994404627029761325[268] = 0; + out_1994404627029761325[269] = 0; + out_1994404627029761325[270] = 0; + out_1994404627029761325[271] = 0; + out_1994404627029761325[272] = 0; + out_1994404627029761325[273] = 0; + out_1994404627029761325[274] = 0; + out_1994404627029761325[275] = 0; + out_1994404627029761325[276] = 0; + out_1994404627029761325[277] = 0; + out_1994404627029761325[278] = 0; + out_1994404627029761325[279] = 0; + out_1994404627029761325[280] = 0; + out_1994404627029761325[281] = 0; + out_1994404627029761325[282] = 0; + out_1994404627029761325[283] = 0; + out_1994404627029761325[284] = 0; + out_1994404627029761325[285] = 1; + out_1994404627029761325[286] = 0; + out_1994404627029761325[287] = 0; + out_1994404627029761325[288] = 0; + out_1994404627029761325[289] = 0; + out_1994404627029761325[290] = 0; + out_1994404627029761325[291] = 0; + out_1994404627029761325[292] = 0; + out_1994404627029761325[293] = 0; + out_1994404627029761325[294] = 0; + out_1994404627029761325[295] = 0; + out_1994404627029761325[296] = 0; + out_1994404627029761325[297] = 0; + out_1994404627029761325[298] = 0; + out_1994404627029761325[299] = 0; + out_1994404627029761325[300] = 0; + out_1994404627029761325[301] = 0; + out_1994404627029761325[302] = 0; + out_1994404627029761325[303] = 0; + out_1994404627029761325[304] = 1; + out_1994404627029761325[305] = 0; + out_1994404627029761325[306] = 0; + out_1994404627029761325[307] = 0; + out_1994404627029761325[308] = 0; + out_1994404627029761325[309] = 0; + out_1994404627029761325[310] = 0; + out_1994404627029761325[311] = 0; + out_1994404627029761325[312] = 0; + out_1994404627029761325[313] = 0; + out_1994404627029761325[314] = 0; + out_1994404627029761325[315] = 0; + out_1994404627029761325[316] = 0; + out_1994404627029761325[317] = 0; + out_1994404627029761325[318] = 0; + out_1994404627029761325[319] = 0; + out_1994404627029761325[320] = 0; + out_1994404627029761325[321] = 0; + out_1994404627029761325[322] = 0; + out_1994404627029761325[323] = 1; } -void h_4(double *state, double *unused, double *out_2276007570038364899) { - out_2276007570038364899[0] = state[6] + state[9]; - out_2276007570038364899[1] = state[7] + state[10]; - out_2276007570038364899[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_8379183754462585357) { + out_8379183754462585357[0] = state[6] + state[9]; + out_8379183754462585357[1] = state[7] + state[10]; + out_8379183754462585357[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_339105031548630246) { - out_339105031548630246[0] = 0; - out_339105031548630246[1] = 0; - out_339105031548630246[2] = 0; - out_339105031548630246[3] = 0; - out_339105031548630246[4] = 0; - out_339105031548630246[5] = 0; - out_339105031548630246[6] = 1; - out_339105031548630246[7] = 0; - out_339105031548630246[8] = 0; - out_339105031548630246[9] = 1; - out_339105031548630246[10] = 0; - out_339105031548630246[11] = 0; - out_339105031548630246[12] = 0; - out_339105031548630246[13] = 0; - out_339105031548630246[14] = 0; - out_339105031548630246[15] = 0; - out_339105031548630246[16] = 0; - out_339105031548630246[17] = 0; - out_339105031548630246[18] = 0; - out_339105031548630246[19] = 0; - out_339105031548630246[20] = 0; - out_339105031548630246[21] = 0; - out_339105031548630246[22] = 0; - out_339105031548630246[23] = 0; - out_339105031548630246[24] = 0; - out_339105031548630246[25] = 1; - out_339105031548630246[26] = 0; - out_339105031548630246[27] = 0; - out_339105031548630246[28] = 1; - out_339105031548630246[29] = 0; - out_339105031548630246[30] = 0; - out_339105031548630246[31] = 0; - out_339105031548630246[32] = 0; - out_339105031548630246[33] = 0; - out_339105031548630246[34] = 0; - out_339105031548630246[35] = 0; - out_339105031548630246[36] = 0; - out_339105031548630246[37] = 0; - out_339105031548630246[38] = 0; - out_339105031548630246[39] = 0; - out_339105031548630246[40] = 0; - out_339105031548630246[41] = 0; - out_339105031548630246[42] = 0; - out_339105031548630246[43] = 0; - out_339105031548630246[44] = 1; - out_339105031548630246[45] = 0; - out_339105031548630246[46] = 0; - out_339105031548630246[47] = 1; - out_339105031548630246[48] = 0; - out_339105031548630246[49] = 0; - out_339105031548630246[50] = 0; - out_339105031548630246[51] = 0; - out_339105031548630246[52] = 0; - out_339105031548630246[53] = 0; +void H_4(double *state, double *unused, double *out_3264955236904260033) { + out_3264955236904260033[0] = 0; + out_3264955236904260033[1] = 0; + out_3264955236904260033[2] = 0; + out_3264955236904260033[3] = 0; + out_3264955236904260033[4] = 0; + out_3264955236904260033[5] = 0; + out_3264955236904260033[6] = 1; + out_3264955236904260033[7] = 0; + out_3264955236904260033[8] = 0; + out_3264955236904260033[9] = 1; + out_3264955236904260033[10] = 0; + out_3264955236904260033[11] = 0; + out_3264955236904260033[12] = 0; + out_3264955236904260033[13] = 0; + out_3264955236904260033[14] = 0; + out_3264955236904260033[15] = 0; + out_3264955236904260033[16] = 0; + out_3264955236904260033[17] = 0; + out_3264955236904260033[18] = 0; + out_3264955236904260033[19] = 0; + out_3264955236904260033[20] = 0; + out_3264955236904260033[21] = 0; + out_3264955236904260033[22] = 0; + out_3264955236904260033[23] = 0; + out_3264955236904260033[24] = 0; + out_3264955236904260033[25] = 1; + out_3264955236904260033[26] = 0; + out_3264955236904260033[27] = 0; + out_3264955236904260033[28] = 1; + out_3264955236904260033[29] = 0; + out_3264955236904260033[30] = 0; + out_3264955236904260033[31] = 0; + out_3264955236904260033[32] = 0; + out_3264955236904260033[33] = 0; + out_3264955236904260033[34] = 0; + out_3264955236904260033[35] = 0; + out_3264955236904260033[36] = 0; + out_3264955236904260033[37] = 0; + out_3264955236904260033[38] = 0; + out_3264955236904260033[39] = 0; + out_3264955236904260033[40] = 0; + out_3264955236904260033[41] = 0; + out_3264955236904260033[42] = 0; + out_3264955236904260033[43] = 0; + out_3264955236904260033[44] = 1; + out_3264955236904260033[45] = 0; + out_3264955236904260033[46] = 0; + out_3264955236904260033[47] = 1; + out_3264955236904260033[48] = 0; + out_3264955236904260033[49] = 0; + out_3264955236904260033[50] = 0; + out_3264955236904260033[51] = 0; + out_3264955236904260033[52] = 0; + out_3264955236904260033[53] = 0; } -void h_10(double *state, double *unused, double *out_530488663462245196) { - out_530488663462245196[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_530488663462245196[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_530488663462245196[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; +void h_10(double *state, double *unused, double *out_694976072985625952) { + out_694976072985625952[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_694976072985625952[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_694976072985625952[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_3914913893563359029) { - out_3914913893563359029[0] = 0; - out_3914913893563359029[1] = 9.8100000000000005*cos(state[1]); - out_3914913893563359029[2] = 0; - out_3914913893563359029[3] = 0; - out_3914913893563359029[4] = -state[8]; - out_3914913893563359029[5] = state[7]; - out_3914913893563359029[6] = 0; - out_3914913893563359029[7] = state[5]; - out_3914913893563359029[8] = -state[4]; - out_3914913893563359029[9] = 0; - out_3914913893563359029[10] = 0; - out_3914913893563359029[11] = 0; - out_3914913893563359029[12] = 1; - out_3914913893563359029[13] = 0; - out_3914913893563359029[14] = 0; - out_3914913893563359029[15] = 1; - out_3914913893563359029[16] = 0; - out_3914913893563359029[17] = 0; - out_3914913893563359029[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3914913893563359029[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3914913893563359029[20] = 0; - out_3914913893563359029[21] = state[8]; - out_3914913893563359029[22] = 0; - out_3914913893563359029[23] = -state[6]; - out_3914913893563359029[24] = -state[5]; - out_3914913893563359029[25] = 0; - out_3914913893563359029[26] = state[3]; - out_3914913893563359029[27] = 0; - out_3914913893563359029[28] = 0; - out_3914913893563359029[29] = 0; - out_3914913893563359029[30] = 0; - out_3914913893563359029[31] = 1; - out_3914913893563359029[32] = 0; - out_3914913893563359029[33] = 0; - out_3914913893563359029[34] = 1; - out_3914913893563359029[35] = 0; - out_3914913893563359029[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3914913893563359029[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3914913893563359029[38] = 0; - out_3914913893563359029[39] = -state[7]; - out_3914913893563359029[40] = state[6]; - out_3914913893563359029[41] = 0; - out_3914913893563359029[42] = state[4]; - out_3914913893563359029[43] = -state[3]; - out_3914913893563359029[44] = 0; - out_3914913893563359029[45] = 0; - out_3914913893563359029[46] = 0; - out_3914913893563359029[47] = 0; - out_3914913893563359029[48] = 0; - out_3914913893563359029[49] = 0; - out_3914913893563359029[50] = 1; - out_3914913893563359029[51] = 0; - out_3914913893563359029[52] = 0; - out_3914913893563359029[53] = 1; +void H_10(double *state, double *unused, double *out_5824925052510502657) { + out_5824925052510502657[0] = 0; + out_5824925052510502657[1] = 9.8100000000000005*cos(state[1]); + out_5824925052510502657[2] = 0; + out_5824925052510502657[3] = 0; + out_5824925052510502657[4] = -state[8]; + out_5824925052510502657[5] = state[7]; + out_5824925052510502657[6] = 0; + out_5824925052510502657[7] = state[5]; + out_5824925052510502657[8] = -state[4]; + out_5824925052510502657[9] = 0; + out_5824925052510502657[10] = 0; + out_5824925052510502657[11] = 0; + out_5824925052510502657[12] = 1; + out_5824925052510502657[13] = 0; + out_5824925052510502657[14] = 0; + out_5824925052510502657[15] = 1; + out_5824925052510502657[16] = 0; + out_5824925052510502657[17] = 0; + out_5824925052510502657[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5824925052510502657[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5824925052510502657[20] = 0; + out_5824925052510502657[21] = state[8]; + out_5824925052510502657[22] = 0; + out_5824925052510502657[23] = -state[6]; + out_5824925052510502657[24] = -state[5]; + out_5824925052510502657[25] = 0; + out_5824925052510502657[26] = state[3]; + out_5824925052510502657[27] = 0; + out_5824925052510502657[28] = 0; + out_5824925052510502657[29] = 0; + out_5824925052510502657[30] = 0; + out_5824925052510502657[31] = 1; + out_5824925052510502657[32] = 0; + out_5824925052510502657[33] = 0; + out_5824925052510502657[34] = 1; + out_5824925052510502657[35] = 0; + out_5824925052510502657[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5824925052510502657[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5824925052510502657[38] = 0; + out_5824925052510502657[39] = -state[7]; + out_5824925052510502657[40] = state[6]; + out_5824925052510502657[41] = 0; + out_5824925052510502657[42] = state[4]; + out_5824925052510502657[43] = -state[3]; + out_5824925052510502657[44] = 0; + out_5824925052510502657[45] = 0; + out_5824925052510502657[46] = 0; + out_5824925052510502657[47] = 0; + out_5824925052510502657[48] = 0; + out_5824925052510502657[49] = 0; + out_5824925052510502657[50] = 1; + out_5824925052510502657[51] = 0; + out_5824925052510502657[52] = 0; + out_5824925052510502657[53] = 1; } -void h_13(double *state, double *unused, double *out_7290329458186336837) { - out_7290329458186336837[0] = state[3]; - out_7290329458186336837[1] = state[4]; - out_7290329458186336837[2] = state[5]; +void h_13(double *state, double *unused, double *out_1759161301712070188) { + out_1759161301712070188[0] = state[3]; + out_1759161301712070188[1] = state[4]; + out_1759161301712070188[2] = state[5]; } -void H_13(double *state, double *unused, double *out_3551378856880963047) { - out_3551378856880963047[0] = 0; - out_3551378856880963047[1] = 0; - out_3551378856880963047[2] = 0; - out_3551378856880963047[3] = 1; - out_3551378856880963047[4] = 0; - out_3551378856880963047[5] = 0; - out_3551378856880963047[6] = 0; - out_3551378856880963047[7] = 0; - out_3551378856880963047[8] = 0; - out_3551378856880963047[9] = 0; - out_3551378856880963047[10] = 0; - out_3551378856880963047[11] = 0; - out_3551378856880963047[12] = 0; - out_3551378856880963047[13] = 0; - out_3551378856880963047[14] = 0; - out_3551378856880963047[15] = 0; - out_3551378856880963047[16] = 0; - out_3551378856880963047[17] = 0; - out_3551378856880963047[18] = 0; - out_3551378856880963047[19] = 0; - out_3551378856880963047[20] = 0; - out_3551378856880963047[21] = 0; - out_3551378856880963047[22] = 1; - out_3551378856880963047[23] = 0; - out_3551378856880963047[24] = 0; - out_3551378856880963047[25] = 0; - out_3551378856880963047[26] = 0; - out_3551378856880963047[27] = 0; - out_3551378856880963047[28] = 0; - out_3551378856880963047[29] = 0; - out_3551378856880963047[30] = 0; - out_3551378856880963047[31] = 0; - out_3551378856880963047[32] = 0; - out_3551378856880963047[33] = 0; - out_3551378856880963047[34] = 0; - out_3551378856880963047[35] = 0; - out_3551378856880963047[36] = 0; - out_3551378856880963047[37] = 0; - out_3551378856880963047[38] = 0; - out_3551378856880963047[39] = 0; - out_3551378856880963047[40] = 0; - out_3551378856880963047[41] = 1; - out_3551378856880963047[42] = 0; - out_3551378856880963047[43] = 0; - out_3551378856880963047[44] = 0; - out_3551378856880963047[45] = 0; - out_3551378856880963047[46] = 0; - out_3551378856880963047[47] = 0; - out_3551378856880963047[48] = 0; - out_3551378856880963047[49] = 0; - out_3551378856880963047[50] = 0; - out_3551378856880963047[51] = 0; - out_3551378856880963047[52] = 0; - out_3551378856880963047[53] = 0; +void H_13(double *state, double *unused, double *out_52681411571927232) { + out_52681411571927232[0] = 0; + out_52681411571927232[1] = 0; + out_52681411571927232[2] = 0; + out_52681411571927232[3] = 1; + out_52681411571927232[4] = 0; + out_52681411571927232[5] = 0; + out_52681411571927232[6] = 0; + out_52681411571927232[7] = 0; + out_52681411571927232[8] = 0; + out_52681411571927232[9] = 0; + out_52681411571927232[10] = 0; + out_52681411571927232[11] = 0; + out_52681411571927232[12] = 0; + out_52681411571927232[13] = 0; + out_52681411571927232[14] = 0; + out_52681411571927232[15] = 0; + out_52681411571927232[16] = 0; + out_52681411571927232[17] = 0; + out_52681411571927232[18] = 0; + out_52681411571927232[19] = 0; + out_52681411571927232[20] = 0; + out_52681411571927232[21] = 0; + out_52681411571927232[22] = 1; + out_52681411571927232[23] = 0; + out_52681411571927232[24] = 0; + out_52681411571927232[25] = 0; + out_52681411571927232[26] = 0; + out_52681411571927232[27] = 0; + out_52681411571927232[28] = 0; + out_52681411571927232[29] = 0; + out_52681411571927232[30] = 0; + out_52681411571927232[31] = 0; + out_52681411571927232[32] = 0; + out_52681411571927232[33] = 0; + out_52681411571927232[34] = 0; + out_52681411571927232[35] = 0; + out_52681411571927232[36] = 0; + out_52681411571927232[37] = 0; + out_52681411571927232[38] = 0; + out_52681411571927232[39] = 0; + out_52681411571927232[40] = 0; + out_52681411571927232[41] = 1; + out_52681411571927232[42] = 0; + out_52681411571927232[43] = 0; + out_52681411571927232[44] = 0; + out_52681411571927232[45] = 0; + out_52681411571927232[46] = 0; + out_52681411571927232[47] = 0; + out_52681411571927232[48] = 0; + out_52681411571927232[49] = 0; + out_52681411571927232[50] = 0; + out_52681411571927232[51] = 0; + out_52681411571927232[52] = 0; + out_52681411571927232[53] = 0; } -void h_14(double *state, double *unused, double *out_9018381316782859541) { - out_9018381316782859541[0] = state[6]; - out_9018381316782859541[1] = state[7]; - out_9018381316782859541[2] = state[8]; +void h_14(double *state, double *unused, double *out_9193330309912018009) { + out_9193330309912018009[0] = state[6]; + out_9193330309912018009[1] = state[7]; + out_9193330309912018009[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4302345887888114775) { - out_4302345887888114775[0] = 0; - out_4302345887888114775[1] = 0; - out_4302345887888114775[2] = 0; - out_4302345887888114775[3] = 0; - out_4302345887888114775[4] = 0; - out_4302345887888114775[5] = 0; - out_4302345887888114775[6] = 1; - out_4302345887888114775[7] = 0; - out_4302345887888114775[8] = 0; - out_4302345887888114775[9] = 0; - out_4302345887888114775[10] = 0; - out_4302345887888114775[11] = 0; - out_4302345887888114775[12] = 0; - out_4302345887888114775[13] = 0; - out_4302345887888114775[14] = 0; - out_4302345887888114775[15] = 0; - out_4302345887888114775[16] = 0; - out_4302345887888114775[17] = 0; - out_4302345887888114775[18] = 0; - out_4302345887888114775[19] = 0; - out_4302345887888114775[20] = 0; - out_4302345887888114775[21] = 0; - out_4302345887888114775[22] = 0; - out_4302345887888114775[23] = 0; - out_4302345887888114775[24] = 0; - out_4302345887888114775[25] = 1; - out_4302345887888114775[26] = 0; - out_4302345887888114775[27] = 0; - out_4302345887888114775[28] = 0; - out_4302345887888114775[29] = 0; - out_4302345887888114775[30] = 0; - out_4302345887888114775[31] = 0; - out_4302345887888114775[32] = 0; - out_4302345887888114775[33] = 0; - out_4302345887888114775[34] = 0; - out_4302345887888114775[35] = 0; - out_4302345887888114775[36] = 0; - out_4302345887888114775[37] = 0; - out_4302345887888114775[38] = 0; - out_4302345887888114775[39] = 0; - out_4302345887888114775[40] = 0; - out_4302345887888114775[41] = 0; - out_4302345887888114775[42] = 0; - out_4302345887888114775[43] = 0; - out_4302345887888114775[44] = 1; - out_4302345887888114775[45] = 0; - out_4302345887888114775[46] = 0; - out_4302345887888114775[47] = 0; - out_4302345887888114775[48] = 0; - out_4302345887888114775[49] = 0; - out_4302345887888114775[50] = 0; - out_4302345887888114775[51] = 0; - out_4302345887888114775[52] = 0; - out_4302345887888114775[53] = 0; +void H_14(double *state, double *unused, double *out_698285619435224496) { + out_698285619435224496[0] = 0; + out_698285619435224496[1] = 0; + out_698285619435224496[2] = 0; + out_698285619435224496[3] = 0; + out_698285619435224496[4] = 0; + out_698285619435224496[5] = 0; + out_698285619435224496[6] = 1; + out_698285619435224496[7] = 0; + out_698285619435224496[8] = 0; + out_698285619435224496[9] = 0; + out_698285619435224496[10] = 0; + out_698285619435224496[11] = 0; + out_698285619435224496[12] = 0; + out_698285619435224496[13] = 0; + out_698285619435224496[14] = 0; + out_698285619435224496[15] = 0; + out_698285619435224496[16] = 0; + out_698285619435224496[17] = 0; + out_698285619435224496[18] = 0; + out_698285619435224496[19] = 0; + out_698285619435224496[20] = 0; + out_698285619435224496[21] = 0; + out_698285619435224496[22] = 0; + out_698285619435224496[23] = 0; + out_698285619435224496[24] = 0; + out_698285619435224496[25] = 1; + out_698285619435224496[26] = 0; + out_698285619435224496[27] = 0; + out_698285619435224496[28] = 0; + out_698285619435224496[29] = 0; + out_698285619435224496[30] = 0; + out_698285619435224496[31] = 0; + out_698285619435224496[32] = 0; + out_698285619435224496[33] = 0; + out_698285619435224496[34] = 0; + out_698285619435224496[35] = 0; + out_698285619435224496[36] = 0; + out_698285619435224496[37] = 0; + out_698285619435224496[38] = 0; + out_698285619435224496[39] = 0; + out_698285619435224496[40] = 0; + out_698285619435224496[41] = 0; + out_698285619435224496[42] = 0; + out_698285619435224496[43] = 0; + out_698285619435224496[44] = 1; + out_698285619435224496[45] = 0; + out_698285619435224496[46] = 0; + out_698285619435224496[47] = 0; + out_698285619435224496[48] = 0; + out_698285619435224496[49] = 0; + out_698285619435224496[50] = 0; + out_698285619435224496[51] = 0; + out_698285619435224496[52] = 0; + out_698285619435224496[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_4055321504301233767) { - err_fun(nom_x, delta_x, out_4055321504301233767); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1677822181415374238) { + err_fun(nom_x, delta_x, out_1677822181415374238); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5242087564548968290) { - inv_err_fun(nom_x, true_x, out_5242087564548968290); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1645070502606612381) { + inv_err_fun(nom_x, true_x, out_1645070502606612381); } -void pose_H_mod_fun(double *state, double *out_6187186838300588967) { - H_mod_fun(state, out_6187186838300588967); +void pose_H_mod_fun(double *state, double *out_6168804416891607091) { + H_mod_fun(state, out_6168804416891607091); } -void pose_f_fun(double *state, double dt, double *out_8843286105500853100) { - f_fun(state, dt, out_8843286105500853100); +void pose_f_fun(double *state, double dt, double *out_4562479811319953042) { + f_fun(state, dt, out_4562479811319953042); } -void pose_F_fun(double *state, double dt, double *out_4695420932330585758) { - F_fun(state, dt, out_4695420932330585758); +void pose_F_fun(double *state, double dt, double *out_1994404627029761325) { + F_fun(state, dt, out_1994404627029761325); } -void pose_h_4(double *state, double *unused, double *out_2276007570038364899) { - h_4(state, unused, out_2276007570038364899); +void pose_h_4(double *state, double *unused, double *out_8379183754462585357) { + h_4(state, unused, out_8379183754462585357); } -void pose_H_4(double *state, double *unused, double *out_339105031548630246) { - H_4(state, unused, out_339105031548630246); +void pose_H_4(double *state, double *unused, double *out_3264955236904260033) { + H_4(state, unused, out_3264955236904260033); } -void pose_h_10(double *state, double *unused, double *out_530488663462245196) { - h_10(state, unused, out_530488663462245196); +void pose_h_10(double *state, double *unused, double *out_694976072985625952) { + h_10(state, unused, out_694976072985625952); } -void pose_H_10(double *state, double *unused, double *out_3914913893563359029) { - H_10(state, unused, out_3914913893563359029); +void pose_H_10(double *state, double *unused, double *out_5824925052510502657) { + H_10(state, unused, out_5824925052510502657); } -void pose_h_13(double *state, double *unused, double *out_7290329458186336837) { - h_13(state, unused, out_7290329458186336837); +void pose_h_13(double *state, double *unused, double *out_1759161301712070188) { + h_13(state, unused, out_1759161301712070188); } -void pose_H_13(double *state, double *unused, double *out_3551378856880963047) { - H_13(state, unused, out_3551378856880963047); +void pose_H_13(double *state, double *unused, double *out_52681411571927232) { + H_13(state, unused, out_52681411571927232); } -void pose_h_14(double *state, double *unused, double *out_9018381316782859541) { - h_14(state, unused, out_9018381316782859541); +void pose_h_14(double *state, double *unused, double *out_9193330309912018009) { + h_14(state, unused, out_9193330309912018009); } -void pose_H_14(double *state, double *unused, double *out_4302345887888114775) { - H_14(state, unused, out_4302345887888114775); +void pose_H_14(double *state, double *unused, double *out_698285619435224496) { + H_14(state, unused, out_698285619435224496); } 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 55616ae24..75b77f265 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_4055321504301233767); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5242087564548968290); -void pose_H_mod_fun(double *state, double *out_6187186838300588967); -void pose_f_fun(double *state, double dt, double *out_8843286105500853100); -void pose_F_fun(double *state, double dt, double *out_4695420932330585758); -void pose_h_4(double *state, double *unused, double *out_2276007570038364899); -void pose_H_4(double *state, double *unused, double *out_339105031548630246); -void pose_h_10(double *state, double *unused, double *out_530488663462245196); -void pose_H_10(double *state, double *unused, double *out_3914913893563359029); -void pose_h_13(double *state, double *unused, double *out_7290329458186336837); -void pose_H_13(double *state, double *unused, double *out_3551378856880963047); -void pose_h_14(double *state, double *unused, double *out_9018381316782859541); -void pose_H_14(double *state, double *unused, double *out_4302345887888114775); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1677822181415374238); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1645070502606612381); +void pose_H_mod_fun(double *state, double *out_6168804416891607091); +void pose_f_fun(double *state, double dt, double *out_4562479811319953042); +void pose_F_fun(double *state, double dt, double *out_1994404627029761325); +void pose_h_4(double *state, double *unused, double *out_8379183754462585357); +void pose_H_4(double *state, double *unused, double *out_3264955236904260033); +void pose_h_10(double *state, double *unused, double *out_694976072985625952); +void pose_H_10(double *state, double *unused, double *out_5824925052510502657); +void pose_h_13(double *state, double *unused, double *out_1759161301712070188); +void pose_H_13(double *state, double *unused, double *out_52681411571927232); +void pose_h_14(double *state, double *unused, double *out_9193330309912018009); +void pose_H_14(double *state, double *unused, double *out_698285619435224496); 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 8525a581f..e011d698c 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ