diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index eea8fa3c7..8f593be2f 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 c60af7877..f39d076d3 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 3a1087ae8..412512810 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 7b6d35ac8..fc856f06c 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 cd374ff28..82887cd50 100755 Binary files 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differ diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index 6c7325f5e..0f9740b73 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index be7eb9c3f..b10e8e614 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index be7eb9c3f..b10e8e614 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin 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uint8_t gitversion[19] = "DEV-21805a54-DEBUG"; +const uint8_t gitversion[19] = "DEV-4078e6fc-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 39a769aeb..699b97009 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 06d9f7c4e..ccb904911 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 52b4295da..a8888dbba 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 e4026a820..842f8be3e 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_can_ignition_only.bin.signed 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a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 17b832cc8..9d0ee16d3 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 6698c06fd..4d22a87d5 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-21805a54-DEBUG \ No newline at end of file +DEV-4078e6fc-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index e75e038c3..70f1171af 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_5328892797193692082) { - out_5328892797193692082[0] = delta_x[0] + nom_x[0]; - out_5328892797193692082[1] = delta_x[1] + nom_x[1]; - out_5328892797193692082[2] = delta_x[2] + nom_x[2]; - out_5328892797193692082[3] = delta_x[3] + nom_x[3]; - out_5328892797193692082[4] = delta_x[4] + nom_x[4]; - out_5328892797193692082[5] = delta_x[5] + nom_x[5]; - out_5328892797193692082[6] = delta_x[6] + nom_x[6]; - out_5328892797193692082[7] = delta_x[7] + nom_x[7]; - out_5328892797193692082[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_555027713999943867) { + out_555027713999943867[0] = delta_x[0] + nom_x[0]; + out_555027713999943867[1] = delta_x[1] + nom_x[1]; + out_555027713999943867[2] = delta_x[2] + nom_x[2]; + out_555027713999943867[3] = delta_x[3] + nom_x[3]; + out_555027713999943867[4] = delta_x[4] + nom_x[4]; + out_555027713999943867[5] = delta_x[5] + nom_x[5]; + out_555027713999943867[6] = delta_x[6] + nom_x[6]; + out_555027713999943867[7] = delta_x[7] + nom_x[7]; + out_555027713999943867[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465) { - out_6664197118630309465[0] = -nom_x[0] + true_x[0]; - out_6664197118630309465[1] = -nom_x[1] + true_x[1]; - out_6664197118630309465[2] = -nom_x[2] + true_x[2]; - out_6664197118630309465[3] = -nom_x[3] + true_x[3]; - out_6664197118630309465[4] = -nom_x[4] + true_x[4]; - out_6664197118630309465[5] = -nom_x[5] + true_x[5]; - out_6664197118630309465[6] = -nom_x[6] + true_x[6]; - out_6664197118630309465[7] = -nom_x[7] + true_x[7]; - out_6664197118630309465[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589) { + out_7816877518147233589[0] = -nom_x[0] + true_x[0]; + out_7816877518147233589[1] = -nom_x[1] + true_x[1]; + out_7816877518147233589[2] = -nom_x[2] + true_x[2]; + out_7816877518147233589[3] = -nom_x[3] + true_x[3]; + out_7816877518147233589[4] = -nom_x[4] + true_x[4]; + out_7816877518147233589[5] = -nom_x[5] + true_x[5]; + out_7816877518147233589[6] = -nom_x[6] + true_x[6]; + out_7816877518147233589[7] = -nom_x[7] + true_x[7]; + out_7816877518147233589[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7049792320674666550) { - out_7049792320674666550[0] = 1.0; - out_7049792320674666550[1] = 0.0; - out_7049792320674666550[2] = 0.0; - out_7049792320674666550[3] = 0.0; - out_7049792320674666550[4] = 0.0; - out_7049792320674666550[5] = 0.0; - out_7049792320674666550[6] = 0.0; - out_7049792320674666550[7] = 0.0; - out_7049792320674666550[8] = 0.0; - out_7049792320674666550[9] = 0.0; - out_7049792320674666550[10] = 1.0; - out_7049792320674666550[11] = 0.0; - out_7049792320674666550[12] = 0.0; - out_7049792320674666550[13] = 0.0; - out_7049792320674666550[14] = 0.0; - out_7049792320674666550[15] = 0.0; - out_7049792320674666550[16] = 0.0; - out_7049792320674666550[17] = 0.0; - out_7049792320674666550[18] = 0.0; - out_7049792320674666550[19] = 0.0; - out_7049792320674666550[20] = 1.0; - out_7049792320674666550[21] = 0.0; - out_7049792320674666550[22] = 0.0; - out_7049792320674666550[23] = 0.0; - out_7049792320674666550[24] = 0.0; - out_7049792320674666550[25] = 0.0; - out_7049792320674666550[26] = 0.0; - out_7049792320674666550[27] = 0.0; - out_7049792320674666550[28] = 0.0; - out_7049792320674666550[29] = 0.0; - out_7049792320674666550[30] = 1.0; - out_7049792320674666550[31] = 0.0; - out_7049792320674666550[32] = 0.0; - out_7049792320674666550[33] = 0.0; - out_7049792320674666550[34] = 0.0; - out_7049792320674666550[35] = 0.0; - out_7049792320674666550[36] = 0.0; - out_7049792320674666550[37] = 0.0; - out_7049792320674666550[38] = 0.0; - out_7049792320674666550[39] = 0.0; - out_7049792320674666550[40] = 1.0; - out_7049792320674666550[41] = 0.0; - out_7049792320674666550[42] = 0.0; - out_7049792320674666550[43] = 0.0; - out_7049792320674666550[44] = 0.0; - out_7049792320674666550[45] = 0.0; - out_7049792320674666550[46] = 0.0; - out_7049792320674666550[47] = 0.0; - out_7049792320674666550[48] = 0.0; - out_7049792320674666550[49] = 0.0; - out_7049792320674666550[50] = 1.0; - out_7049792320674666550[51] = 0.0; - out_7049792320674666550[52] = 0.0; - out_7049792320674666550[53] = 0.0; - out_7049792320674666550[54] = 0.0; - out_7049792320674666550[55] = 0.0; - out_7049792320674666550[56] = 0.0; - out_7049792320674666550[57] = 0.0; - out_7049792320674666550[58] = 0.0; - out_7049792320674666550[59] = 0.0; - out_7049792320674666550[60] = 1.0; - out_7049792320674666550[61] = 0.0; - out_7049792320674666550[62] = 0.0; - out_7049792320674666550[63] = 0.0; - out_7049792320674666550[64] = 0.0; - out_7049792320674666550[65] = 0.0; - out_7049792320674666550[66] = 0.0; - out_7049792320674666550[67] = 0.0; - out_7049792320674666550[68] = 0.0; - out_7049792320674666550[69] = 0.0; - out_7049792320674666550[70] = 1.0; - out_7049792320674666550[71] = 0.0; - out_7049792320674666550[72] = 0.0; - out_7049792320674666550[73] = 0.0; - out_7049792320674666550[74] = 0.0; - out_7049792320674666550[75] = 0.0; - out_7049792320674666550[76] = 0.0; - out_7049792320674666550[77] = 0.0; - out_7049792320674666550[78] = 0.0; - out_7049792320674666550[79] = 0.0; - out_7049792320674666550[80] = 1.0; +void H_mod_fun(double *state, double *out_4533074481319696241) { + out_4533074481319696241[0] = 1.0; + out_4533074481319696241[1] = 0.0; + out_4533074481319696241[2] = 0.0; + out_4533074481319696241[3] = 0.0; + out_4533074481319696241[4] = 0.0; + out_4533074481319696241[5] = 0.0; + out_4533074481319696241[6] = 0.0; + out_4533074481319696241[7] = 0.0; + out_4533074481319696241[8] = 0.0; + out_4533074481319696241[9] = 0.0; + out_4533074481319696241[10] = 1.0; + out_4533074481319696241[11] = 0.0; + out_4533074481319696241[12] = 0.0; + out_4533074481319696241[13] = 0.0; + out_4533074481319696241[14] = 0.0; + out_4533074481319696241[15] = 0.0; + out_4533074481319696241[16] = 0.0; + out_4533074481319696241[17] = 0.0; + out_4533074481319696241[18] = 0.0; + out_4533074481319696241[19] = 0.0; + out_4533074481319696241[20] = 1.0; + out_4533074481319696241[21] = 0.0; + out_4533074481319696241[22] = 0.0; + out_4533074481319696241[23] = 0.0; + out_4533074481319696241[24] = 0.0; + out_4533074481319696241[25] = 0.0; + out_4533074481319696241[26] = 0.0; + out_4533074481319696241[27] = 0.0; + out_4533074481319696241[28] = 0.0; + out_4533074481319696241[29] = 0.0; + out_4533074481319696241[30] = 1.0; + out_4533074481319696241[31] = 0.0; + out_4533074481319696241[32] = 0.0; + out_4533074481319696241[33] = 0.0; + out_4533074481319696241[34] = 0.0; + out_4533074481319696241[35] = 0.0; + out_4533074481319696241[36] = 0.0; + out_4533074481319696241[37] = 0.0; + out_4533074481319696241[38] = 0.0; + out_4533074481319696241[39] = 0.0; + out_4533074481319696241[40] = 1.0; + out_4533074481319696241[41] = 0.0; + out_4533074481319696241[42] = 0.0; + out_4533074481319696241[43] = 0.0; + out_4533074481319696241[44] = 0.0; + out_4533074481319696241[45] = 0.0; + out_4533074481319696241[46] = 0.0; + out_4533074481319696241[47] = 0.0; + out_4533074481319696241[48] = 0.0; + out_4533074481319696241[49] = 0.0; + out_4533074481319696241[50] = 1.0; + out_4533074481319696241[51] = 0.0; + out_4533074481319696241[52] = 0.0; + out_4533074481319696241[53] = 0.0; + out_4533074481319696241[54] = 0.0; + out_4533074481319696241[55] = 0.0; + out_4533074481319696241[56] = 0.0; + out_4533074481319696241[57] = 0.0; + out_4533074481319696241[58] = 0.0; + out_4533074481319696241[59] = 0.0; + out_4533074481319696241[60] = 1.0; + out_4533074481319696241[61] = 0.0; + out_4533074481319696241[62] = 0.0; + out_4533074481319696241[63] = 0.0; + out_4533074481319696241[64] = 0.0; + out_4533074481319696241[65] = 0.0; + out_4533074481319696241[66] = 0.0; + out_4533074481319696241[67] = 0.0; + out_4533074481319696241[68] = 0.0; + out_4533074481319696241[69] = 0.0; + out_4533074481319696241[70] = 1.0; + out_4533074481319696241[71] = 0.0; + out_4533074481319696241[72] = 0.0; + out_4533074481319696241[73] = 0.0; + out_4533074481319696241[74] = 0.0; + out_4533074481319696241[75] = 0.0; + out_4533074481319696241[76] = 0.0; + out_4533074481319696241[77] = 0.0; + out_4533074481319696241[78] = 0.0; + out_4533074481319696241[79] = 0.0; + out_4533074481319696241[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8058289693715916474) { - out_8058289693715916474[0] = state[0]; - out_8058289693715916474[1] = state[1]; - out_8058289693715916474[2] = state[2]; - out_8058289693715916474[3] = state[3]; - out_8058289693715916474[4] = state[4]; - out_8058289693715916474[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_8058289693715916474[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_8058289693715916474[7] = state[7]; - out_8058289693715916474[8] = state[8]; +void f_fun(double *state, double dt, double *out_5039337670867030572) { + out_5039337670867030572[0] = state[0]; + out_5039337670867030572[1] = state[1]; + out_5039337670867030572[2] = state[2]; + out_5039337670867030572[3] = state[3]; + out_5039337670867030572[4] = state[4]; + out_5039337670867030572[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_5039337670867030572[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_5039337670867030572[7] = state[7]; + out_5039337670867030572[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6834456908135559848) { - out_6834456908135559848[0] = 1; - out_6834456908135559848[1] = 0; - out_6834456908135559848[2] = 0; - out_6834456908135559848[3] = 0; - out_6834456908135559848[4] = 0; - out_6834456908135559848[5] = 0; - out_6834456908135559848[6] = 0; - out_6834456908135559848[7] = 0; - out_6834456908135559848[8] = 0; - out_6834456908135559848[9] = 0; - out_6834456908135559848[10] = 1; - out_6834456908135559848[11] = 0; - out_6834456908135559848[12] = 0; - out_6834456908135559848[13] = 0; - out_6834456908135559848[14] = 0; - out_6834456908135559848[15] = 0; - out_6834456908135559848[16] = 0; - out_6834456908135559848[17] = 0; - out_6834456908135559848[18] = 0; - out_6834456908135559848[19] = 0; - out_6834456908135559848[20] = 1; - out_6834456908135559848[21] = 0; - out_6834456908135559848[22] = 0; - out_6834456908135559848[23] = 0; - out_6834456908135559848[24] = 0; - out_6834456908135559848[25] = 0; - out_6834456908135559848[26] = 0; - out_6834456908135559848[27] = 0; - out_6834456908135559848[28] = 0; - out_6834456908135559848[29] = 0; - out_6834456908135559848[30] = 1; - out_6834456908135559848[31] = 0; - out_6834456908135559848[32] = 0; - out_6834456908135559848[33] = 0; - out_6834456908135559848[34] = 0; - out_6834456908135559848[35] = 0; - out_6834456908135559848[36] = 0; - out_6834456908135559848[37] = 0; - out_6834456908135559848[38] = 0; - out_6834456908135559848[39] = 0; - out_6834456908135559848[40] = 1; - out_6834456908135559848[41] = 0; - out_6834456908135559848[42] = 0; - out_6834456908135559848[43] = 0; - out_6834456908135559848[44] = 0; - out_6834456908135559848[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_6834456908135559848[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6834456908135559848[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6834456908135559848[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6834456908135559848[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_6834456908135559848[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6834456908135559848[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6834456908135559848[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6834456908135559848[53] = -9.8100000000000005*dt; - out_6834456908135559848[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_6834456908135559848[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6834456908135559848[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6834456908135559848[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6834456908135559848[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_6834456908135559848[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6834456908135559848[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_6834456908135559848[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6834456908135559848[62] = 0; - out_6834456908135559848[63] = 0; - out_6834456908135559848[64] = 0; - out_6834456908135559848[65] = 0; - out_6834456908135559848[66] = 0; - out_6834456908135559848[67] = 0; - out_6834456908135559848[68] = 0; - out_6834456908135559848[69] = 0; - out_6834456908135559848[70] = 1; - out_6834456908135559848[71] = 0; - out_6834456908135559848[72] = 0; - out_6834456908135559848[73] = 0; - out_6834456908135559848[74] = 0; - out_6834456908135559848[75] = 0; - out_6834456908135559848[76] = 0; - out_6834456908135559848[77] = 0; - out_6834456908135559848[78] = 0; - out_6834456908135559848[79] = 0; - out_6834456908135559848[80] = 1; +void F_fun(double *state, double dt, double *out_5181832378332727216) { + out_5181832378332727216[0] = 1; + out_5181832378332727216[1] = 0; + out_5181832378332727216[2] = 0; + out_5181832378332727216[3] = 0; + out_5181832378332727216[4] = 0; + out_5181832378332727216[5] = 0; + out_5181832378332727216[6] = 0; + out_5181832378332727216[7] = 0; + out_5181832378332727216[8] = 0; + out_5181832378332727216[9] = 0; + out_5181832378332727216[10] = 1; + out_5181832378332727216[11] = 0; + out_5181832378332727216[12] = 0; + out_5181832378332727216[13] = 0; + out_5181832378332727216[14] = 0; + out_5181832378332727216[15] = 0; + out_5181832378332727216[16] = 0; + out_5181832378332727216[17] = 0; + out_5181832378332727216[18] = 0; + out_5181832378332727216[19] = 0; + out_5181832378332727216[20] = 1; + out_5181832378332727216[21] = 0; + out_5181832378332727216[22] = 0; + out_5181832378332727216[23] = 0; + out_5181832378332727216[24] = 0; + out_5181832378332727216[25] = 0; + out_5181832378332727216[26] = 0; + out_5181832378332727216[27] = 0; + out_5181832378332727216[28] = 0; + out_5181832378332727216[29] = 0; + out_5181832378332727216[30] = 1; + out_5181832378332727216[31] = 0; + out_5181832378332727216[32] = 0; + out_5181832378332727216[33] = 0; + out_5181832378332727216[34] = 0; + out_5181832378332727216[35] = 0; + out_5181832378332727216[36] = 0; + out_5181832378332727216[37] = 0; + out_5181832378332727216[38] = 0; + out_5181832378332727216[39] = 0; + out_5181832378332727216[40] = 1; + out_5181832378332727216[41] = 0; + out_5181832378332727216[42] = 0; + out_5181832378332727216[43] = 0; + out_5181832378332727216[44] = 0; + out_5181832378332727216[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_5181832378332727216[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5181832378332727216[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5181832378332727216[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5181832378332727216[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_5181832378332727216[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5181832378332727216[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5181832378332727216[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5181832378332727216[53] = -9.8100000000000005*dt; + out_5181832378332727216[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_5181832378332727216[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5181832378332727216[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5181832378332727216[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5181832378332727216[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_5181832378332727216[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5181832378332727216[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_5181832378332727216[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5181832378332727216[62] = 0; + out_5181832378332727216[63] = 0; + out_5181832378332727216[64] = 0; + out_5181832378332727216[65] = 0; + out_5181832378332727216[66] = 0; + out_5181832378332727216[67] = 0; + out_5181832378332727216[68] = 0; + out_5181832378332727216[69] = 0; + out_5181832378332727216[70] = 1; + out_5181832378332727216[71] = 0; + out_5181832378332727216[72] = 0; + out_5181832378332727216[73] = 0; + out_5181832378332727216[74] = 0; + out_5181832378332727216[75] = 0; + out_5181832378332727216[76] = 0; + out_5181832378332727216[77] = 0; + out_5181832378332727216[78] = 0; + out_5181832378332727216[79] = 0; + out_5181832378332727216[80] = 1; } -void h_25(double *state, double *unused, double *out_3817993858643920850) { - out_3817993858643920850[0] = state[6]; +void h_25(double *state, double *unused, double *out_9064502358369772671) { + out_9064502358369772671[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2203763527122647829) { - out_2203763527122647829[0] = 0; - out_2203763527122647829[1] = 0; - out_2203763527122647829[2] = 0; - out_2203763527122647829[3] = 0; - out_2203763527122647829[4] = 0; - out_2203763527122647829[5] = 0; - out_2203763527122647829[6] = 1; - out_2203763527122647829[7] = 0; - out_2203763527122647829[8] = 0; +void H_25(double *state, double *unused, double *out_9009977767205190535) { + out_9009977767205190535[0] = 0; + out_9009977767205190535[1] = 0; + out_9009977767205190535[2] = 0; + out_9009977767205190535[3] = 0; + out_9009977767205190535[4] = 0; + out_9009977767205190535[5] = 0; + out_9009977767205190535[6] = 1; + out_9009977767205190535[7] = 0; + out_9009977767205190535[8] = 0; } -void h_24(double *state, double *unused, double *out_589890583681194954) { - out_589890583681194954[0] = state[4]; - out_589890583681194954[1] = state[5]; +void h_24(double *state, double *unused, double *out_4315668618686905201) { + out_4315668618686905201[0] = state[4]; + out_4315668618686905201[1] = state[5]; } -void H_24(double *state, double *unused, double *out_31113928117148263) { - out_31113928117148263[0] = 0; - out_31113928117148263[1] = 0; - out_31113928117148263[2] = 0; - out_31113928117148263[3] = 0; - out_31113928117148263[4] = 1; - out_31113928117148263[5] = 0; - out_31113928117148263[6] = 0; - out_31113928117148263[7] = 0; - out_31113928117148263[8] = 0; - out_31113928117148263[9] = 0; - out_31113928117148263[10] = 0; - out_31113928117148263[11] = 0; - out_31113928117148263[12] = 0; - out_31113928117148263[13] = 0; - out_31113928117148263[14] = 1; - out_31113928117148263[15] = 0; - out_31113928117148263[16] = 0; - out_31113928117148263[17] = 0; +void H_24(double *state, double *unused, double *out_4579303311377586733) { + out_4579303311377586733[0] = 0; + out_4579303311377586733[1] = 0; + out_4579303311377586733[2] = 0; + out_4579303311377586733[3] = 0; + out_4579303311377586733[4] = 1; + out_4579303311377586733[5] = 0; + out_4579303311377586733[6] = 0; + out_4579303311377586733[7] = 0; + out_4579303311377586733[8] = 0; + out_4579303311377586733[9] = 0; + out_4579303311377586733[10] = 0; + out_4579303311377586733[11] = 0; + out_4579303311377586733[12] = 0; + out_4579303311377586733[13] = 0; + out_4579303311377586733[14] = 1; + out_4579303311377586733[15] = 0; + out_4579303311377586733[16] = 0; + out_4579303311377586733[17] = 0; } -void h_30(double *state, double *unused, double *out_855557586624953167) { - out_855557586624953167[0] = state[4]; +void h_30(double *state, double *unused, double *out_8507922675073509890) { + out_8507922675073509890[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4722096485629896456) { - out_4722096485629896456[0] = 0; - out_4722096485629896456[1] = 0; - out_4722096485629896456[2] = 0; - out_4722096485629896456[3] = 0; - out_4722096485629896456[4] = 1; - out_4722096485629896456[5] = 0; - out_4722096485629896456[6] = 0; - out_4722096485629896456[7] = 0; - out_4722096485629896456[8] = 0; +void H_30(double *state, double *unused, double *out_2093287425713573780) { + out_2093287425713573780[0] = 0; + out_2093287425713573780[1] = 0; + out_2093287425713573780[2] = 0; + out_2093287425713573780[3] = 0; + out_2093287425713573780[4] = 1; + out_2093287425713573780[5] = 0; + out_2093287425713573780[6] = 0; + out_2093287425713573780[7] = 0; + out_2093287425713573780[8] = 0; } -void h_26(double *state, double *unused, double *out_3459962907433650818) { - out_3459962907433650818[0] = state[7]; +void h_26(double *state, double *unused, double *out_4180836484642303770) { + out_4180836484642303770[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1537739791751408395) { - out_1537739791751408395[0] = 0; - out_1537739791751408395[1] = 0; - out_1537739791751408395[2] = 0; - out_1537739791751408395[3] = 0; - out_1537739791751408395[4] = 0; - out_1537739791751408395[5] = 0; - out_1537739791751408395[6] = 0; - out_1537739791751408395[7] = 1; - out_1537739791751408395[8] = 0; +void H_26(double *state, double *unused, double *out_5695262987630304857) { + out_5695262987630304857[0] = 0; + out_5695262987630304857[1] = 0; + out_5695262987630304857[2] = 0; + out_5695262987630304857[3] = 0; + out_5695262987630304857[4] = 0; + out_5695262987630304857[5] = 0; + out_5695262987630304857[6] = 0; + out_5695262987630304857[7] = 1; + out_5695262987630304857[8] = 0; } -void h_27(double *state, double *unused, double *out_2284525577089273540) { - out_2284525577089273540[0] = state[3]; +void h_27(double *state, double *unused, double *out_4062829090708927026) { + out_4062829090708927026[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6945690556813839673) { - out_6945690556813839673[0] = 0; - out_6945690556813839673[1] = 0; - out_6945690556813839673[2] = 0; - out_6945690556813839673[3] = 1; - out_6945690556813839673[4] = 0; - out_6945690556813839673[5] = 0; - out_6945690556813839673[6] = 0; - out_6945690556813839673[7] = 0; - out_6945690556813839673[8] = 0; +void H_27(double *state, double *unused, double *out_4268050737513998691) { + out_4268050737513998691[0] = 0; + out_4268050737513998691[1] = 0; + out_4268050737513998691[2] = 0; + out_4268050737513998691[3] = 1; + out_4268050737513998691[4] = 0; + out_4268050737513998691[5] = 0; + out_4268050737513998691[6] = 0; + out_4268050737513998691[7] = 0; + out_4268050737513998691[8] = 0; } -void h_29(double *state, double *unused, double *out_1458873471301430684) { - out_1458873471301430684[0] = state[1]; +void h_29(double *state, double *unused, double *out_7564412822171847455) { + out_7564412822171847455[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5232327829944288640) { - out_5232327829944288640[0] = 0; - out_5232327829944288640[1] = 1; - out_5232327829944288640[2] = 0; - out_5232327829944288640[3] = 0; - out_5232327829944288640[4] = 0; - out_5232327829944288640[5] = 0; - out_5232327829944288640[6] = 0; - out_5232327829944288640[7] = 0; - out_5232327829944288640[8] = 0; +void H_29(double *state, double *unused, double *out_5981413464383549724) { + out_5981413464383549724[0] = 0; + out_5981413464383549724[1] = 1; + out_5981413464383549724[2] = 0; + out_5981413464383549724[3] = 0; + out_5981413464383549724[4] = 0; + out_5981413464383549724[5] = 0; + out_5981413464383549724[6] = 0; + out_5981413464383549724[7] = 0; + out_5981413464383549724[8] = 0; } -void h_28(double *state, double *unused, double *out_7286198844750119185) { - out_7286198844750119185[0] = state[0]; +void h_28(double *state, double *unused, double *out_1579900780372029809) { + out_1579900780372029809[0] = state[0]; } -void H_28(double *state, double *unused, double *out_149928812874758066) { - out_149928812874758066[0] = 1; - out_149928812874758066[1] = 0; - out_149928812874758066[2] = 0; - out_149928812874758066[3] = 0; - out_149928812874758066[4] = 0; - out_149928812874758066[5] = 0; - out_149928812874758066[6] = 0; - out_149928812874758066[7] = 0; - out_149928812874758066[8] = 0; +void H_28(double *state, double *unused, double *out_7382931592256471318) { + out_7382931592256471318[0] = 1; + out_7382931592256471318[1] = 0; + out_7382931592256471318[2] = 0; + out_7382931592256471318[3] = 0; + out_7382931592256471318[4] = 0; + out_7382931592256471318[5] = 0; + out_7382931592256471318[6] = 0; + out_7382931592256471318[7] = 0; + out_7382931592256471318[8] = 0; } -void h_31(double *state, double *unused, double *out_9220241001058989162) { - out_9220241001058989162[0] = state[8]; +void h_31(double *state, double *unused, double *out_6613551970606485049) { + out_6613551970606485049[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2163947893984759871) { - out_2163947893984759871[0] = 0; - out_2163947893984759871[1] = 0; - out_2163947893984759871[2] = 0; - out_2163947893984759871[3] = 0; - out_2163947893984759871[4] = 0; - out_2163947893984759871[5] = 0; - out_2163947893984759871[6] = 0; - out_2163947893984759871[7] = 0; - out_2163947893984759871[8] = 1; +void H_31(double *state, double *unused, double *out_8979331805328230107) { + out_8979331805328230107[0] = 0; + out_8979331805328230107[1] = 0; + out_8979331805328230107[2] = 0; + out_8979331805328230107[3] = 0; + out_8979331805328230107[4] = 0; + out_8979331805328230107[5] = 0; + out_8979331805328230107[6] = 0; + out_8979331805328230107[7] = 0; + out_8979331805328230107[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_5328892797193692082) { - err_fun(nom_x, delta_x, out_5328892797193692082); +void car_err_fun(double *nom_x, double *delta_x, double *out_555027713999943867) { + err_fun(nom_x, delta_x, out_555027713999943867); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465) { - inv_err_fun(nom_x, true_x, out_6664197118630309465); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589) { + inv_err_fun(nom_x, true_x, out_7816877518147233589); } -void car_H_mod_fun(double *state, double *out_7049792320674666550) { - H_mod_fun(state, out_7049792320674666550); +void car_H_mod_fun(double *state, double *out_4533074481319696241) { + H_mod_fun(state, out_4533074481319696241); } -void car_f_fun(double *state, double dt, double *out_8058289693715916474) { - f_fun(state, dt, out_8058289693715916474); +void car_f_fun(double *state, double dt, double *out_5039337670867030572) { + f_fun(state, dt, out_5039337670867030572); } -void car_F_fun(double *state, double dt, double *out_6834456908135559848) { - F_fun(state, dt, out_6834456908135559848); +void car_F_fun(double *state, double dt, double *out_5181832378332727216) { + F_fun(state, dt, out_5181832378332727216); } -void car_h_25(double *state, double *unused, double *out_3817993858643920850) { - h_25(state, unused, out_3817993858643920850); +void car_h_25(double *state, double *unused, double *out_9064502358369772671) { + h_25(state, unused, out_9064502358369772671); } -void car_H_25(double *state, double *unused, double *out_2203763527122647829) { - H_25(state, unused, out_2203763527122647829); +void car_H_25(double *state, double *unused, double *out_9009977767205190535) { + H_25(state, unused, out_9009977767205190535); } -void car_h_24(double *state, double *unused, double *out_589890583681194954) { - h_24(state, unused, out_589890583681194954); +void car_h_24(double *state, double *unused, double *out_4315668618686905201) { + h_24(state, unused, out_4315668618686905201); } -void car_H_24(double *state, double *unused, double *out_31113928117148263) { - H_24(state, unused, out_31113928117148263); +void car_H_24(double *state, double *unused, double *out_4579303311377586733) { + H_24(state, unused, out_4579303311377586733); } -void car_h_30(double *state, double *unused, double *out_855557586624953167) { - h_30(state, unused, out_855557586624953167); +void car_h_30(double *state, double *unused, double *out_8507922675073509890) { + h_30(state, unused, out_8507922675073509890); } -void car_H_30(double *state, double *unused, double *out_4722096485629896456) { - H_30(state, unused, out_4722096485629896456); +void car_H_30(double *state, double *unused, double *out_2093287425713573780) { + H_30(state, unused, out_2093287425713573780); } -void car_h_26(double *state, double *unused, double *out_3459962907433650818) { - h_26(state, unused, out_3459962907433650818); +void car_h_26(double *state, double *unused, double *out_4180836484642303770) { + h_26(state, unused, out_4180836484642303770); } -void car_H_26(double *state, double *unused, double *out_1537739791751408395) { - H_26(state, unused, out_1537739791751408395); +void car_H_26(double *state, double *unused, double *out_5695262987630304857) { + H_26(state, unused, out_5695262987630304857); } -void car_h_27(double *state, double *unused, double *out_2284525577089273540) { - h_27(state, unused, out_2284525577089273540); +void car_h_27(double *state, double *unused, double *out_4062829090708927026) { + h_27(state, unused, out_4062829090708927026); } -void car_H_27(double *state, double *unused, double *out_6945690556813839673) { - H_27(state, unused, out_6945690556813839673); +void car_H_27(double *state, double *unused, double *out_4268050737513998691) { + H_27(state, unused, out_4268050737513998691); } -void car_h_29(double *state, double *unused, double *out_1458873471301430684) { - h_29(state, unused, out_1458873471301430684); +void car_h_29(double *state, double *unused, double *out_7564412822171847455) { + h_29(state, unused, out_7564412822171847455); } -void car_H_29(double *state, double *unused, double *out_5232327829944288640) { - H_29(state, unused, out_5232327829944288640); +void car_H_29(double *state, double *unused, double *out_5981413464383549724) { + H_29(state, unused, out_5981413464383549724); } -void car_h_28(double *state, double *unused, double *out_7286198844750119185) { - h_28(state, unused, out_7286198844750119185); +void car_h_28(double *state, double *unused, double *out_1579900780372029809) { + h_28(state, unused, out_1579900780372029809); } -void car_H_28(double *state, double *unused, double *out_149928812874758066) { - H_28(state, unused, out_149928812874758066); +void car_H_28(double *state, double *unused, double *out_7382931592256471318) { + H_28(state, unused, out_7382931592256471318); } -void car_h_31(double *state, double *unused, double *out_9220241001058989162) { - h_31(state, unused, out_9220241001058989162); +void car_h_31(double *state, double *unused, double *out_6613551970606485049) { + h_31(state, unused, out_6613551970606485049); } -void car_H_31(double *state, double *unused, double *out_2163947893984759871) { - H_31(state, unused, out_2163947893984759871); +void car_H_31(double *state, double *unused, double *out_8979331805328230107) { + H_31(state, unused, out_8979331805328230107); } 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 5f91f61b8..3c27364b3 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_5328892797193692082); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465); -void car_H_mod_fun(double *state, double *out_7049792320674666550); -void car_f_fun(double *state, double dt, double *out_8058289693715916474); -void car_F_fun(double *state, double dt, double *out_6834456908135559848); -void car_h_25(double *state, double *unused, double *out_3817993858643920850); -void car_H_25(double *state, double *unused, double *out_2203763527122647829); -void car_h_24(double *state, double *unused, double *out_589890583681194954); -void car_H_24(double *state, double *unused, double *out_31113928117148263); -void car_h_30(double *state, double *unused, double *out_855557586624953167); -void car_H_30(double *state, double *unused, double *out_4722096485629896456); -void car_h_26(double *state, double *unused, double *out_3459962907433650818); -void car_H_26(double *state, double *unused, double *out_1537739791751408395); -void car_h_27(double *state, double *unused, double *out_2284525577089273540); -void car_H_27(double *state, double *unused, double *out_6945690556813839673); -void car_h_29(double *state, double *unused, double *out_1458873471301430684); -void car_H_29(double *state, double *unused, double *out_5232327829944288640); -void car_h_28(double *state, double *unused, double *out_7286198844750119185); -void car_H_28(double *state, double *unused, double *out_149928812874758066); -void car_h_31(double *state, double *unused, double *out_9220241001058989162); -void car_H_31(double *state, double *unused, double *out_2163947893984759871); +void car_err_fun(double *nom_x, double *delta_x, double *out_555027713999943867); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589); +void car_H_mod_fun(double *state, double *out_4533074481319696241); +void car_f_fun(double *state, double dt, double *out_5039337670867030572); +void car_F_fun(double *state, double dt, double *out_5181832378332727216); +void car_h_25(double *state, double *unused, double *out_9064502358369772671); +void car_H_25(double *state, double *unused, double *out_9009977767205190535); +void car_h_24(double *state, double *unused, double *out_4315668618686905201); +void car_H_24(double *state, double *unused, double *out_4579303311377586733); +void car_h_30(double *state, double *unused, double *out_8507922675073509890); +void car_H_30(double *state, double *unused, double *out_2093287425713573780); +void car_h_26(double *state, double *unused, double *out_4180836484642303770); +void car_H_26(double *state, double *unused, double *out_5695262987630304857); +void car_h_27(double *state, double *unused, double *out_4062829090708927026); +void car_H_27(double *state, double *unused, double *out_4268050737513998691); +void car_h_29(double *state, double *unused, double *out_7564412822171847455); +void car_H_29(double *state, double *unused, double *out_5981413464383549724); +void car_h_28(double *state, double *unused, double *out_1579900780372029809); +void car_H_28(double *state, double *unused, double *out_7382931592256471318); +void car_h_31(double *state, double *unused, double *out_6613551970606485049); +void car_H_31(double *state, double *unused, double *out_8979331805328230107); 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 eace4cd90..a7494d4c5 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_8334628911363265031) { - out_8334628911363265031[0] = delta_x[0] + nom_x[0]; - out_8334628911363265031[1] = delta_x[1] + nom_x[1]; - out_8334628911363265031[2] = delta_x[2] + nom_x[2]; - out_8334628911363265031[3] = delta_x[3] + nom_x[3]; - out_8334628911363265031[4] = delta_x[4] + nom_x[4]; - out_8334628911363265031[5] = delta_x[5] + nom_x[5]; - out_8334628911363265031[6] = delta_x[6] + nom_x[6]; - out_8334628911363265031[7] = delta_x[7] + nom_x[7]; - out_8334628911363265031[8] = delta_x[8] + nom_x[8]; - out_8334628911363265031[9] = delta_x[9] + nom_x[9]; - out_8334628911363265031[10] = delta_x[10] + nom_x[10]; - out_8334628911363265031[11] = delta_x[11] + nom_x[11]; - out_8334628911363265031[12] = delta_x[12] + nom_x[12]; - out_8334628911363265031[13] = delta_x[13] + nom_x[13]; - out_8334628911363265031[14] = delta_x[14] + nom_x[14]; - out_8334628911363265031[15] = delta_x[15] + nom_x[15]; - out_8334628911363265031[16] = delta_x[16] + nom_x[16]; - out_8334628911363265031[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7828077856483360191) { + out_7828077856483360191[0] = delta_x[0] + nom_x[0]; + out_7828077856483360191[1] = delta_x[1] + nom_x[1]; + out_7828077856483360191[2] = delta_x[2] + nom_x[2]; + out_7828077856483360191[3] = delta_x[3] + nom_x[3]; + out_7828077856483360191[4] = delta_x[4] + nom_x[4]; + out_7828077856483360191[5] = delta_x[5] + nom_x[5]; + out_7828077856483360191[6] = delta_x[6] + nom_x[6]; + out_7828077856483360191[7] = delta_x[7] + nom_x[7]; + out_7828077856483360191[8] = delta_x[8] + nom_x[8]; + out_7828077856483360191[9] = delta_x[9] + nom_x[9]; + out_7828077856483360191[10] = delta_x[10] + nom_x[10]; + out_7828077856483360191[11] = delta_x[11] + nom_x[11]; + out_7828077856483360191[12] = delta_x[12] + nom_x[12]; + out_7828077856483360191[13] = delta_x[13] + nom_x[13]; + out_7828077856483360191[14] = delta_x[14] + nom_x[14]; + out_7828077856483360191[15] = delta_x[15] + nom_x[15]; + out_7828077856483360191[16] = delta_x[16] + nom_x[16]; + out_7828077856483360191[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963) { - out_6557509511038369963[0] = -nom_x[0] + true_x[0]; - out_6557509511038369963[1] = -nom_x[1] + true_x[1]; - out_6557509511038369963[2] = -nom_x[2] + true_x[2]; - out_6557509511038369963[3] = -nom_x[3] + true_x[3]; - out_6557509511038369963[4] = -nom_x[4] + true_x[4]; - out_6557509511038369963[5] = -nom_x[5] + true_x[5]; - out_6557509511038369963[6] = -nom_x[6] + true_x[6]; - out_6557509511038369963[7] = -nom_x[7] + true_x[7]; - out_6557509511038369963[8] = -nom_x[8] + true_x[8]; - out_6557509511038369963[9] = -nom_x[9] + true_x[9]; - out_6557509511038369963[10] = -nom_x[10] + true_x[10]; - out_6557509511038369963[11] = -nom_x[11] + true_x[11]; - out_6557509511038369963[12] = -nom_x[12] + true_x[12]; - out_6557509511038369963[13] = -nom_x[13] + true_x[13]; - out_6557509511038369963[14] = -nom_x[14] + true_x[14]; - out_6557509511038369963[15] = -nom_x[15] + true_x[15]; - out_6557509511038369963[16] = -nom_x[16] + true_x[16]; - out_6557509511038369963[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_978622641958652250) { + out_978622641958652250[0] = -nom_x[0] + true_x[0]; + out_978622641958652250[1] = -nom_x[1] + true_x[1]; + out_978622641958652250[2] = -nom_x[2] + true_x[2]; + out_978622641958652250[3] = -nom_x[3] + true_x[3]; + out_978622641958652250[4] = -nom_x[4] + true_x[4]; + out_978622641958652250[5] = -nom_x[5] + true_x[5]; + out_978622641958652250[6] = -nom_x[6] + true_x[6]; + out_978622641958652250[7] = -nom_x[7] + true_x[7]; + out_978622641958652250[8] = -nom_x[8] + true_x[8]; + out_978622641958652250[9] = -nom_x[9] + true_x[9]; + out_978622641958652250[10] = -nom_x[10] + true_x[10]; + out_978622641958652250[11] = -nom_x[11] + true_x[11]; + out_978622641958652250[12] = -nom_x[12] + true_x[12]; + out_978622641958652250[13] = -nom_x[13] + true_x[13]; + out_978622641958652250[14] = -nom_x[14] + true_x[14]; + out_978622641958652250[15] = -nom_x[15] + true_x[15]; + out_978622641958652250[16] = -nom_x[16] + true_x[16]; + out_978622641958652250[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_2207458853057691014) { - out_2207458853057691014[0] = 1.0; - out_2207458853057691014[1] = 0.0; - out_2207458853057691014[2] = 0.0; - out_2207458853057691014[3] = 0.0; - out_2207458853057691014[4] = 0.0; - out_2207458853057691014[5] = 0.0; - out_2207458853057691014[6] = 0.0; - out_2207458853057691014[7] = 0.0; - out_2207458853057691014[8] = 0.0; - out_2207458853057691014[9] = 0.0; - out_2207458853057691014[10] = 0.0; - out_2207458853057691014[11] = 0.0; - out_2207458853057691014[12] = 0.0; - out_2207458853057691014[13] = 0.0; - out_2207458853057691014[14] = 0.0; - out_2207458853057691014[15] = 0.0; - out_2207458853057691014[16] = 0.0; - out_2207458853057691014[17] = 0.0; - out_2207458853057691014[18] = 0.0; - out_2207458853057691014[19] = 1.0; - out_2207458853057691014[20] = 0.0; - out_2207458853057691014[21] = 0.0; - out_2207458853057691014[22] = 0.0; - out_2207458853057691014[23] = 0.0; - out_2207458853057691014[24] = 0.0; - out_2207458853057691014[25] = 0.0; - out_2207458853057691014[26] = 0.0; - out_2207458853057691014[27] = 0.0; - out_2207458853057691014[28] = 0.0; - out_2207458853057691014[29] = 0.0; - out_2207458853057691014[30] = 0.0; - out_2207458853057691014[31] = 0.0; - out_2207458853057691014[32] = 0.0; - out_2207458853057691014[33] = 0.0; - out_2207458853057691014[34] = 0.0; - out_2207458853057691014[35] = 0.0; - out_2207458853057691014[36] = 0.0; - out_2207458853057691014[37] = 0.0; - out_2207458853057691014[38] = 1.0; - out_2207458853057691014[39] = 0.0; - out_2207458853057691014[40] = 0.0; - out_2207458853057691014[41] = 0.0; - out_2207458853057691014[42] = 0.0; - out_2207458853057691014[43] = 0.0; - out_2207458853057691014[44] = 0.0; - out_2207458853057691014[45] = 0.0; - out_2207458853057691014[46] = 0.0; - out_2207458853057691014[47] = 0.0; - out_2207458853057691014[48] = 0.0; - out_2207458853057691014[49] = 0.0; - out_2207458853057691014[50] = 0.0; - out_2207458853057691014[51] = 0.0; - out_2207458853057691014[52] = 0.0; - out_2207458853057691014[53] = 0.0; - out_2207458853057691014[54] = 0.0; - out_2207458853057691014[55] = 0.0; - out_2207458853057691014[56] = 0.0; - out_2207458853057691014[57] = 1.0; - out_2207458853057691014[58] = 0.0; - out_2207458853057691014[59] = 0.0; - out_2207458853057691014[60] = 0.0; - out_2207458853057691014[61] = 0.0; - out_2207458853057691014[62] = 0.0; - out_2207458853057691014[63] = 0.0; - out_2207458853057691014[64] = 0.0; - out_2207458853057691014[65] = 0.0; - out_2207458853057691014[66] = 0.0; - out_2207458853057691014[67] = 0.0; - out_2207458853057691014[68] = 0.0; - out_2207458853057691014[69] = 0.0; - out_2207458853057691014[70] = 0.0; - out_2207458853057691014[71] = 0.0; - out_2207458853057691014[72] = 0.0; - out_2207458853057691014[73] = 0.0; - out_2207458853057691014[74] = 0.0; - out_2207458853057691014[75] = 0.0; - out_2207458853057691014[76] = 1.0; - out_2207458853057691014[77] = 0.0; - out_2207458853057691014[78] = 0.0; - out_2207458853057691014[79] = 0.0; - out_2207458853057691014[80] = 0.0; - out_2207458853057691014[81] = 0.0; - out_2207458853057691014[82] = 0.0; - out_2207458853057691014[83] = 0.0; - out_2207458853057691014[84] = 0.0; - out_2207458853057691014[85] = 0.0; - out_2207458853057691014[86] = 0.0; - out_2207458853057691014[87] = 0.0; - out_2207458853057691014[88] = 0.0; - out_2207458853057691014[89] = 0.0; - out_2207458853057691014[90] = 0.0; - out_2207458853057691014[91] = 0.0; - out_2207458853057691014[92] = 0.0; - out_2207458853057691014[93] = 0.0; - out_2207458853057691014[94] = 0.0; - out_2207458853057691014[95] = 1.0; - out_2207458853057691014[96] = 0.0; - out_2207458853057691014[97] = 0.0; - out_2207458853057691014[98] = 0.0; - out_2207458853057691014[99] = 0.0; - out_2207458853057691014[100] = 0.0; - out_2207458853057691014[101] = 0.0; - out_2207458853057691014[102] = 0.0; - out_2207458853057691014[103] = 0.0; - out_2207458853057691014[104] = 0.0; - out_2207458853057691014[105] = 0.0; - out_2207458853057691014[106] = 0.0; - out_2207458853057691014[107] = 0.0; - out_2207458853057691014[108] = 0.0; - out_2207458853057691014[109] = 0.0; - out_2207458853057691014[110] = 0.0; - out_2207458853057691014[111] = 0.0; - out_2207458853057691014[112] = 0.0; - out_2207458853057691014[113] = 0.0; - out_2207458853057691014[114] = 1.0; - out_2207458853057691014[115] = 0.0; - out_2207458853057691014[116] = 0.0; - out_2207458853057691014[117] = 0.0; - out_2207458853057691014[118] = 0.0; - out_2207458853057691014[119] = 0.0; - out_2207458853057691014[120] = 0.0; - out_2207458853057691014[121] = 0.0; - out_2207458853057691014[122] = 0.0; - out_2207458853057691014[123] = 0.0; - out_2207458853057691014[124] = 0.0; - out_2207458853057691014[125] = 0.0; - out_2207458853057691014[126] = 0.0; - out_2207458853057691014[127] = 0.0; - out_2207458853057691014[128] = 0.0; - out_2207458853057691014[129] = 0.0; - out_2207458853057691014[130] = 0.0; - out_2207458853057691014[131] = 0.0; - out_2207458853057691014[132] = 0.0; - out_2207458853057691014[133] = 1.0; - out_2207458853057691014[134] = 0.0; - out_2207458853057691014[135] = 0.0; - out_2207458853057691014[136] = 0.0; - out_2207458853057691014[137] = 0.0; - out_2207458853057691014[138] = 0.0; - out_2207458853057691014[139] = 0.0; - out_2207458853057691014[140] = 0.0; - out_2207458853057691014[141] = 0.0; - out_2207458853057691014[142] = 0.0; - out_2207458853057691014[143] = 0.0; - out_2207458853057691014[144] = 0.0; - out_2207458853057691014[145] = 0.0; - out_2207458853057691014[146] = 0.0; - out_2207458853057691014[147] = 0.0; - out_2207458853057691014[148] = 0.0; - out_2207458853057691014[149] = 0.0; - out_2207458853057691014[150] = 0.0; - out_2207458853057691014[151] = 0.0; - out_2207458853057691014[152] = 1.0; - out_2207458853057691014[153] = 0.0; - out_2207458853057691014[154] = 0.0; - out_2207458853057691014[155] = 0.0; - out_2207458853057691014[156] = 0.0; - out_2207458853057691014[157] = 0.0; - out_2207458853057691014[158] = 0.0; - out_2207458853057691014[159] = 0.0; - out_2207458853057691014[160] = 0.0; - out_2207458853057691014[161] = 0.0; - out_2207458853057691014[162] = 0.0; - out_2207458853057691014[163] = 0.0; - out_2207458853057691014[164] = 0.0; - out_2207458853057691014[165] = 0.0; - out_2207458853057691014[166] = 0.0; - out_2207458853057691014[167] = 0.0; - out_2207458853057691014[168] = 0.0; - out_2207458853057691014[169] = 0.0; - out_2207458853057691014[170] = 0.0; - out_2207458853057691014[171] = 1.0; - out_2207458853057691014[172] = 0.0; - out_2207458853057691014[173] = 0.0; - out_2207458853057691014[174] = 0.0; - out_2207458853057691014[175] = 0.0; - out_2207458853057691014[176] = 0.0; - out_2207458853057691014[177] = 0.0; - out_2207458853057691014[178] = 0.0; - out_2207458853057691014[179] = 0.0; - out_2207458853057691014[180] = 0.0; - out_2207458853057691014[181] = 0.0; - out_2207458853057691014[182] = 0.0; - out_2207458853057691014[183] = 0.0; - out_2207458853057691014[184] = 0.0; - out_2207458853057691014[185] = 0.0; - out_2207458853057691014[186] = 0.0; - out_2207458853057691014[187] = 0.0; - out_2207458853057691014[188] = 0.0; - out_2207458853057691014[189] = 0.0; - out_2207458853057691014[190] = 1.0; - out_2207458853057691014[191] = 0.0; - out_2207458853057691014[192] = 0.0; - out_2207458853057691014[193] = 0.0; - out_2207458853057691014[194] = 0.0; - out_2207458853057691014[195] = 0.0; - out_2207458853057691014[196] = 0.0; - out_2207458853057691014[197] = 0.0; - out_2207458853057691014[198] = 0.0; - out_2207458853057691014[199] = 0.0; - out_2207458853057691014[200] = 0.0; - out_2207458853057691014[201] = 0.0; - out_2207458853057691014[202] = 0.0; - out_2207458853057691014[203] = 0.0; - out_2207458853057691014[204] = 0.0; - out_2207458853057691014[205] = 0.0; - out_2207458853057691014[206] = 0.0; - out_2207458853057691014[207] = 0.0; - out_2207458853057691014[208] = 0.0; - out_2207458853057691014[209] = 1.0; - out_2207458853057691014[210] = 0.0; - out_2207458853057691014[211] = 0.0; - out_2207458853057691014[212] = 0.0; - out_2207458853057691014[213] = 0.0; - out_2207458853057691014[214] = 0.0; - out_2207458853057691014[215] = 0.0; - out_2207458853057691014[216] = 0.0; - out_2207458853057691014[217] = 0.0; - out_2207458853057691014[218] = 0.0; - out_2207458853057691014[219] = 0.0; - out_2207458853057691014[220] = 0.0; - out_2207458853057691014[221] = 0.0; - out_2207458853057691014[222] = 0.0; - out_2207458853057691014[223] = 0.0; - out_2207458853057691014[224] = 0.0; - out_2207458853057691014[225] = 0.0; - out_2207458853057691014[226] = 0.0; - out_2207458853057691014[227] = 0.0; - out_2207458853057691014[228] = 1.0; - out_2207458853057691014[229] = 0.0; - out_2207458853057691014[230] = 0.0; - out_2207458853057691014[231] = 0.0; - out_2207458853057691014[232] = 0.0; - out_2207458853057691014[233] = 0.0; - out_2207458853057691014[234] = 0.0; - out_2207458853057691014[235] = 0.0; - out_2207458853057691014[236] = 0.0; - out_2207458853057691014[237] = 0.0; - out_2207458853057691014[238] = 0.0; - out_2207458853057691014[239] = 0.0; - out_2207458853057691014[240] = 0.0; - out_2207458853057691014[241] = 0.0; - out_2207458853057691014[242] = 0.0; - out_2207458853057691014[243] = 0.0; - out_2207458853057691014[244] = 0.0; - out_2207458853057691014[245] = 0.0; - out_2207458853057691014[246] = 0.0; - out_2207458853057691014[247] = 1.0; - out_2207458853057691014[248] = 0.0; - out_2207458853057691014[249] = 0.0; - out_2207458853057691014[250] = 0.0; - out_2207458853057691014[251] = 0.0; - out_2207458853057691014[252] = 0.0; - out_2207458853057691014[253] = 0.0; - out_2207458853057691014[254] = 0.0; - out_2207458853057691014[255] = 0.0; - out_2207458853057691014[256] = 0.0; - out_2207458853057691014[257] = 0.0; - out_2207458853057691014[258] = 0.0; - out_2207458853057691014[259] = 0.0; - out_2207458853057691014[260] = 0.0; - out_2207458853057691014[261] = 0.0; - out_2207458853057691014[262] = 0.0; - out_2207458853057691014[263] = 0.0; - out_2207458853057691014[264] = 0.0; - out_2207458853057691014[265] = 0.0; - out_2207458853057691014[266] = 1.0; - out_2207458853057691014[267] = 0.0; - out_2207458853057691014[268] = 0.0; - out_2207458853057691014[269] = 0.0; - out_2207458853057691014[270] = 0.0; - out_2207458853057691014[271] = 0.0; - out_2207458853057691014[272] = 0.0; - out_2207458853057691014[273] = 0.0; - out_2207458853057691014[274] = 0.0; - out_2207458853057691014[275] = 0.0; - out_2207458853057691014[276] = 0.0; - out_2207458853057691014[277] = 0.0; - out_2207458853057691014[278] = 0.0; - out_2207458853057691014[279] = 0.0; - out_2207458853057691014[280] = 0.0; - out_2207458853057691014[281] = 0.0; - out_2207458853057691014[282] = 0.0; - out_2207458853057691014[283] = 0.0; - out_2207458853057691014[284] = 0.0; - out_2207458853057691014[285] = 1.0; - out_2207458853057691014[286] = 0.0; - out_2207458853057691014[287] = 0.0; - out_2207458853057691014[288] = 0.0; - out_2207458853057691014[289] = 0.0; - out_2207458853057691014[290] = 0.0; - out_2207458853057691014[291] = 0.0; - out_2207458853057691014[292] = 0.0; - out_2207458853057691014[293] = 0.0; - out_2207458853057691014[294] = 0.0; - out_2207458853057691014[295] = 0.0; - out_2207458853057691014[296] = 0.0; - out_2207458853057691014[297] = 0.0; - out_2207458853057691014[298] = 0.0; - out_2207458853057691014[299] = 0.0; - out_2207458853057691014[300] = 0.0; - out_2207458853057691014[301] = 0.0; - out_2207458853057691014[302] = 0.0; - out_2207458853057691014[303] = 0.0; - out_2207458853057691014[304] = 1.0; - out_2207458853057691014[305] = 0.0; - out_2207458853057691014[306] = 0.0; - out_2207458853057691014[307] = 0.0; - out_2207458853057691014[308] = 0.0; - out_2207458853057691014[309] = 0.0; - out_2207458853057691014[310] = 0.0; - out_2207458853057691014[311] = 0.0; - out_2207458853057691014[312] = 0.0; - out_2207458853057691014[313] = 0.0; - out_2207458853057691014[314] = 0.0; - out_2207458853057691014[315] = 0.0; - out_2207458853057691014[316] = 0.0; - out_2207458853057691014[317] = 0.0; - out_2207458853057691014[318] = 0.0; - out_2207458853057691014[319] = 0.0; - out_2207458853057691014[320] = 0.0; - out_2207458853057691014[321] = 0.0; - out_2207458853057691014[322] = 0.0; - out_2207458853057691014[323] = 1.0; +void H_mod_fun(double *state, double *out_7441553898687288237) { + out_7441553898687288237[0] = 1.0; + out_7441553898687288237[1] = 0.0; + out_7441553898687288237[2] = 0.0; + out_7441553898687288237[3] = 0.0; + out_7441553898687288237[4] = 0.0; + out_7441553898687288237[5] = 0.0; + out_7441553898687288237[6] = 0.0; + out_7441553898687288237[7] = 0.0; + out_7441553898687288237[8] = 0.0; + out_7441553898687288237[9] = 0.0; + out_7441553898687288237[10] = 0.0; + out_7441553898687288237[11] = 0.0; + out_7441553898687288237[12] = 0.0; + out_7441553898687288237[13] = 0.0; + out_7441553898687288237[14] = 0.0; + out_7441553898687288237[15] = 0.0; + out_7441553898687288237[16] = 0.0; + out_7441553898687288237[17] = 0.0; + out_7441553898687288237[18] = 0.0; + out_7441553898687288237[19] = 1.0; + out_7441553898687288237[20] = 0.0; + out_7441553898687288237[21] = 0.0; + out_7441553898687288237[22] = 0.0; + out_7441553898687288237[23] = 0.0; + out_7441553898687288237[24] = 0.0; + out_7441553898687288237[25] = 0.0; + out_7441553898687288237[26] = 0.0; + out_7441553898687288237[27] = 0.0; + out_7441553898687288237[28] = 0.0; + out_7441553898687288237[29] = 0.0; + out_7441553898687288237[30] = 0.0; + out_7441553898687288237[31] = 0.0; + out_7441553898687288237[32] = 0.0; + out_7441553898687288237[33] = 0.0; + out_7441553898687288237[34] = 0.0; + out_7441553898687288237[35] = 0.0; + out_7441553898687288237[36] = 0.0; + out_7441553898687288237[37] = 0.0; + out_7441553898687288237[38] = 1.0; + out_7441553898687288237[39] = 0.0; + out_7441553898687288237[40] = 0.0; + out_7441553898687288237[41] = 0.0; + out_7441553898687288237[42] = 0.0; + out_7441553898687288237[43] = 0.0; + out_7441553898687288237[44] = 0.0; + out_7441553898687288237[45] = 0.0; + out_7441553898687288237[46] = 0.0; + out_7441553898687288237[47] = 0.0; + out_7441553898687288237[48] = 0.0; + out_7441553898687288237[49] = 0.0; + out_7441553898687288237[50] = 0.0; + out_7441553898687288237[51] = 0.0; + out_7441553898687288237[52] = 0.0; + out_7441553898687288237[53] = 0.0; + out_7441553898687288237[54] = 0.0; + out_7441553898687288237[55] = 0.0; + out_7441553898687288237[56] = 0.0; + out_7441553898687288237[57] = 1.0; + out_7441553898687288237[58] = 0.0; + out_7441553898687288237[59] = 0.0; + out_7441553898687288237[60] = 0.0; + out_7441553898687288237[61] = 0.0; + out_7441553898687288237[62] = 0.0; + out_7441553898687288237[63] = 0.0; + out_7441553898687288237[64] = 0.0; + out_7441553898687288237[65] = 0.0; + out_7441553898687288237[66] = 0.0; + out_7441553898687288237[67] = 0.0; + out_7441553898687288237[68] = 0.0; + out_7441553898687288237[69] = 0.0; + out_7441553898687288237[70] = 0.0; + out_7441553898687288237[71] = 0.0; + out_7441553898687288237[72] = 0.0; + out_7441553898687288237[73] = 0.0; + out_7441553898687288237[74] = 0.0; + out_7441553898687288237[75] = 0.0; + out_7441553898687288237[76] = 1.0; + out_7441553898687288237[77] = 0.0; + out_7441553898687288237[78] = 0.0; + out_7441553898687288237[79] = 0.0; + out_7441553898687288237[80] = 0.0; + out_7441553898687288237[81] = 0.0; + out_7441553898687288237[82] = 0.0; + out_7441553898687288237[83] = 0.0; + out_7441553898687288237[84] = 0.0; + out_7441553898687288237[85] = 0.0; + out_7441553898687288237[86] = 0.0; + out_7441553898687288237[87] = 0.0; + out_7441553898687288237[88] = 0.0; + out_7441553898687288237[89] = 0.0; + out_7441553898687288237[90] = 0.0; + out_7441553898687288237[91] = 0.0; + out_7441553898687288237[92] = 0.0; + out_7441553898687288237[93] = 0.0; + out_7441553898687288237[94] = 0.0; + out_7441553898687288237[95] = 1.0; + out_7441553898687288237[96] = 0.0; + out_7441553898687288237[97] = 0.0; + out_7441553898687288237[98] = 0.0; + out_7441553898687288237[99] = 0.0; + out_7441553898687288237[100] = 0.0; + out_7441553898687288237[101] = 0.0; + out_7441553898687288237[102] = 0.0; + out_7441553898687288237[103] = 0.0; + out_7441553898687288237[104] = 0.0; + out_7441553898687288237[105] = 0.0; + out_7441553898687288237[106] = 0.0; + out_7441553898687288237[107] = 0.0; + out_7441553898687288237[108] = 0.0; + out_7441553898687288237[109] = 0.0; + out_7441553898687288237[110] = 0.0; + out_7441553898687288237[111] = 0.0; + out_7441553898687288237[112] = 0.0; + out_7441553898687288237[113] = 0.0; + out_7441553898687288237[114] = 1.0; + out_7441553898687288237[115] = 0.0; + out_7441553898687288237[116] = 0.0; + out_7441553898687288237[117] = 0.0; + out_7441553898687288237[118] = 0.0; + out_7441553898687288237[119] = 0.0; + out_7441553898687288237[120] = 0.0; + out_7441553898687288237[121] = 0.0; + out_7441553898687288237[122] = 0.0; + out_7441553898687288237[123] = 0.0; + out_7441553898687288237[124] = 0.0; + out_7441553898687288237[125] = 0.0; + out_7441553898687288237[126] = 0.0; + out_7441553898687288237[127] = 0.0; + out_7441553898687288237[128] = 0.0; + out_7441553898687288237[129] = 0.0; + out_7441553898687288237[130] = 0.0; + out_7441553898687288237[131] = 0.0; + out_7441553898687288237[132] = 0.0; + out_7441553898687288237[133] = 1.0; + out_7441553898687288237[134] = 0.0; + out_7441553898687288237[135] = 0.0; + out_7441553898687288237[136] = 0.0; + out_7441553898687288237[137] = 0.0; + out_7441553898687288237[138] = 0.0; + out_7441553898687288237[139] = 0.0; + out_7441553898687288237[140] = 0.0; + out_7441553898687288237[141] = 0.0; + out_7441553898687288237[142] = 0.0; + out_7441553898687288237[143] = 0.0; + out_7441553898687288237[144] = 0.0; + out_7441553898687288237[145] = 0.0; + out_7441553898687288237[146] = 0.0; + out_7441553898687288237[147] = 0.0; + out_7441553898687288237[148] = 0.0; + out_7441553898687288237[149] = 0.0; + out_7441553898687288237[150] = 0.0; + out_7441553898687288237[151] = 0.0; + out_7441553898687288237[152] = 1.0; + out_7441553898687288237[153] = 0.0; + out_7441553898687288237[154] = 0.0; + out_7441553898687288237[155] = 0.0; + out_7441553898687288237[156] = 0.0; + out_7441553898687288237[157] = 0.0; + out_7441553898687288237[158] = 0.0; + out_7441553898687288237[159] = 0.0; + out_7441553898687288237[160] = 0.0; + out_7441553898687288237[161] = 0.0; + out_7441553898687288237[162] = 0.0; + out_7441553898687288237[163] = 0.0; + out_7441553898687288237[164] = 0.0; + out_7441553898687288237[165] = 0.0; + out_7441553898687288237[166] = 0.0; + out_7441553898687288237[167] = 0.0; + out_7441553898687288237[168] = 0.0; + out_7441553898687288237[169] = 0.0; + out_7441553898687288237[170] = 0.0; + out_7441553898687288237[171] = 1.0; + out_7441553898687288237[172] = 0.0; + out_7441553898687288237[173] = 0.0; + out_7441553898687288237[174] = 0.0; + out_7441553898687288237[175] = 0.0; + out_7441553898687288237[176] = 0.0; + out_7441553898687288237[177] = 0.0; + out_7441553898687288237[178] = 0.0; + out_7441553898687288237[179] = 0.0; + out_7441553898687288237[180] = 0.0; + out_7441553898687288237[181] = 0.0; + out_7441553898687288237[182] = 0.0; + out_7441553898687288237[183] = 0.0; + out_7441553898687288237[184] = 0.0; + out_7441553898687288237[185] = 0.0; + out_7441553898687288237[186] = 0.0; + out_7441553898687288237[187] = 0.0; + out_7441553898687288237[188] = 0.0; + out_7441553898687288237[189] = 0.0; + out_7441553898687288237[190] = 1.0; + out_7441553898687288237[191] = 0.0; + out_7441553898687288237[192] = 0.0; + out_7441553898687288237[193] = 0.0; + out_7441553898687288237[194] = 0.0; + out_7441553898687288237[195] = 0.0; + out_7441553898687288237[196] = 0.0; + out_7441553898687288237[197] = 0.0; + out_7441553898687288237[198] = 0.0; + out_7441553898687288237[199] = 0.0; + out_7441553898687288237[200] = 0.0; + out_7441553898687288237[201] = 0.0; + out_7441553898687288237[202] = 0.0; + out_7441553898687288237[203] = 0.0; + out_7441553898687288237[204] = 0.0; + out_7441553898687288237[205] = 0.0; + out_7441553898687288237[206] = 0.0; + out_7441553898687288237[207] = 0.0; + out_7441553898687288237[208] = 0.0; + out_7441553898687288237[209] = 1.0; + out_7441553898687288237[210] = 0.0; + out_7441553898687288237[211] = 0.0; + out_7441553898687288237[212] = 0.0; + out_7441553898687288237[213] = 0.0; + out_7441553898687288237[214] = 0.0; + out_7441553898687288237[215] = 0.0; + out_7441553898687288237[216] = 0.0; + out_7441553898687288237[217] = 0.0; + out_7441553898687288237[218] = 0.0; + out_7441553898687288237[219] = 0.0; + out_7441553898687288237[220] = 0.0; + out_7441553898687288237[221] = 0.0; + out_7441553898687288237[222] = 0.0; + out_7441553898687288237[223] = 0.0; + out_7441553898687288237[224] = 0.0; + out_7441553898687288237[225] = 0.0; + out_7441553898687288237[226] = 0.0; + out_7441553898687288237[227] = 0.0; + out_7441553898687288237[228] = 1.0; + out_7441553898687288237[229] = 0.0; + out_7441553898687288237[230] = 0.0; + out_7441553898687288237[231] = 0.0; + out_7441553898687288237[232] = 0.0; + out_7441553898687288237[233] = 0.0; + out_7441553898687288237[234] = 0.0; + out_7441553898687288237[235] = 0.0; + out_7441553898687288237[236] = 0.0; + out_7441553898687288237[237] = 0.0; + out_7441553898687288237[238] = 0.0; + out_7441553898687288237[239] = 0.0; + out_7441553898687288237[240] = 0.0; + out_7441553898687288237[241] = 0.0; + out_7441553898687288237[242] = 0.0; + out_7441553898687288237[243] = 0.0; + out_7441553898687288237[244] = 0.0; + out_7441553898687288237[245] = 0.0; + out_7441553898687288237[246] = 0.0; + out_7441553898687288237[247] = 1.0; + out_7441553898687288237[248] = 0.0; + out_7441553898687288237[249] = 0.0; + out_7441553898687288237[250] = 0.0; + out_7441553898687288237[251] = 0.0; + out_7441553898687288237[252] = 0.0; + out_7441553898687288237[253] = 0.0; + out_7441553898687288237[254] = 0.0; + out_7441553898687288237[255] = 0.0; + out_7441553898687288237[256] = 0.0; + out_7441553898687288237[257] = 0.0; + out_7441553898687288237[258] = 0.0; + out_7441553898687288237[259] = 0.0; + out_7441553898687288237[260] = 0.0; + out_7441553898687288237[261] = 0.0; + out_7441553898687288237[262] = 0.0; + out_7441553898687288237[263] = 0.0; + out_7441553898687288237[264] = 0.0; + out_7441553898687288237[265] = 0.0; + out_7441553898687288237[266] = 1.0; + out_7441553898687288237[267] = 0.0; + out_7441553898687288237[268] = 0.0; + out_7441553898687288237[269] = 0.0; + out_7441553898687288237[270] = 0.0; + out_7441553898687288237[271] = 0.0; + out_7441553898687288237[272] = 0.0; + out_7441553898687288237[273] = 0.0; + out_7441553898687288237[274] = 0.0; + out_7441553898687288237[275] = 0.0; + out_7441553898687288237[276] = 0.0; + out_7441553898687288237[277] = 0.0; + out_7441553898687288237[278] = 0.0; + out_7441553898687288237[279] = 0.0; + out_7441553898687288237[280] = 0.0; + out_7441553898687288237[281] = 0.0; + out_7441553898687288237[282] = 0.0; + out_7441553898687288237[283] = 0.0; + out_7441553898687288237[284] = 0.0; + out_7441553898687288237[285] = 1.0; + out_7441553898687288237[286] = 0.0; + out_7441553898687288237[287] = 0.0; + out_7441553898687288237[288] = 0.0; + out_7441553898687288237[289] = 0.0; + out_7441553898687288237[290] = 0.0; + out_7441553898687288237[291] = 0.0; + out_7441553898687288237[292] = 0.0; + out_7441553898687288237[293] = 0.0; + out_7441553898687288237[294] = 0.0; + out_7441553898687288237[295] = 0.0; + out_7441553898687288237[296] = 0.0; + out_7441553898687288237[297] = 0.0; + out_7441553898687288237[298] = 0.0; + out_7441553898687288237[299] = 0.0; + out_7441553898687288237[300] = 0.0; + out_7441553898687288237[301] = 0.0; + out_7441553898687288237[302] = 0.0; + out_7441553898687288237[303] = 0.0; + out_7441553898687288237[304] = 1.0; + out_7441553898687288237[305] = 0.0; + out_7441553898687288237[306] = 0.0; + out_7441553898687288237[307] = 0.0; + out_7441553898687288237[308] = 0.0; + out_7441553898687288237[309] = 0.0; + out_7441553898687288237[310] = 0.0; + out_7441553898687288237[311] = 0.0; + out_7441553898687288237[312] = 0.0; + out_7441553898687288237[313] = 0.0; + out_7441553898687288237[314] = 0.0; + out_7441553898687288237[315] = 0.0; + out_7441553898687288237[316] = 0.0; + out_7441553898687288237[317] = 0.0; + out_7441553898687288237[318] = 0.0; + out_7441553898687288237[319] = 0.0; + out_7441553898687288237[320] = 0.0; + out_7441553898687288237[321] = 0.0; + out_7441553898687288237[322] = 0.0; + out_7441553898687288237[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7635303320387631810) { - out_7635303320387631810[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_7635303320387631810[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_7635303320387631810[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_7635303320387631810[3] = dt*state[12] + state[3]; - out_7635303320387631810[4] = dt*state[13] + state[4]; - out_7635303320387631810[5] = dt*state[14] + state[5]; - out_7635303320387631810[6] = state[6]; - out_7635303320387631810[7] = state[7]; - out_7635303320387631810[8] = state[8]; - out_7635303320387631810[9] = state[9]; - out_7635303320387631810[10] = state[10]; - out_7635303320387631810[11] = state[11]; - out_7635303320387631810[12] = state[12]; - out_7635303320387631810[13] = state[13]; - out_7635303320387631810[14] = state[14]; - out_7635303320387631810[15] = state[15]; - out_7635303320387631810[16] = state[16]; - out_7635303320387631810[17] = state[17]; +void f_fun(double *state, double dt, double *out_8648120814934185415) { + out_8648120814934185415[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_8648120814934185415[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_8648120814934185415[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_8648120814934185415[3] = dt*state[12] + state[3]; + out_8648120814934185415[4] = dt*state[13] + state[4]; + out_8648120814934185415[5] = dt*state[14] + state[5]; + out_8648120814934185415[6] = state[6]; + out_8648120814934185415[7] = state[7]; + out_8648120814934185415[8] = state[8]; + out_8648120814934185415[9] = state[9]; + out_8648120814934185415[10] = state[10]; + out_8648120814934185415[11] = state[11]; + out_8648120814934185415[12] = state[12]; + out_8648120814934185415[13] = state[13]; + out_8648120814934185415[14] = state[14]; + out_8648120814934185415[15] = state[15]; + out_8648120814934185415[16] = state[16]; + out_8648120814934185415[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8324840199262111301) { - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[2] = 0; - out_8324840199262111301[3] = 0; - out_8324840199262111301[4] = 0; - out_8324840199262111301[5] = 0; - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[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_8324840199262111301[9] = 0; - out_8324840199262111301[10] = 0; - out_8324840199262111301[11] = 0; - out_8324840199262111301[12] = 0; - out_8324840199262111301[13] = 0; - out_8324840199262111301[14] = 0; - out_8324840199262111301[15] = 0; - out_8324840199262111301[16] = 0; - out_8324840199262111301[17] = 0; - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[20] = 0; - out_8324840199262111301[21] = 0; - out_8324840199262111301[22] = 0; - out_8324840199262111301[23] = 0; - out_8324840199262111301[24] = 0; - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[27] = 0; - out_8324840199262111301[28] = 0; - out_8324840199262111301[29] = 0; - out_8324840199262111301[30] = 0; - out_8324840199262111301[31] = 0; - out_8324840199262111301[32] = 0; - out_8324840199262111301[33] = 0; - out_8324840199262111301[34] = 0; - out_8324840199262111301[35] = 0; - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[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_8324840199262111301[39] = 0; - out_8324840199262111301[40] = 0; - out_8324840199262111301[41] = 0; - out_8324840199262111301[42] = 0; - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[45] = 0; - out_8324840199262111301[46] = 0; - out_8324840199262111301[47] = 0; - out_8324840199262111301[48] = 0; - out_8324840199262111301[49] = 0; - out_8324840199262111301[50] = 0; - out_8324840199262111301[51] = 0; - out_8324840199262111301[52] = 0; - out_8324840199262111301[53] = 0; - out_8324840199262111301[54] = 0; - out_8324840199262111301[55] = 0; - out_8324840199262111301[56] = 0; - out_8324840199262111301[57] = 1; - out_8324840199262111301[58] = 0; - out_8324840199262111301[59] = 0; - out_8324840199262111301[60] = 0; - out_8324840199262111301[61] = 0; - out_8324840199262111301[62] = 0; - out_8324840199262111301[63] = 0; - out_8324840199262111301[64] = 0; - out_8324840199262111301[65] = 0; - out_8324840199262111301[66] = dt; - out_8324840199262111301[67] = 0; - out_8324840199262111301[68] = 0; - out_8324840199262111301[69] = 0; - out_8324840199262111301[70] = 0; - out_8324840199262111301[71] = 0; - out_8324840199262111301[72] = 0; - out_8324840199262111301[73] = 0; - out_8324840199262111301[74] = 0; - out_8324840199262111301[75] = 0; - out_8324840199262111301[76] = 1; - out_8324840199262111301[77] = 0; - out_8324840199262111301[78] = 0; - out_8324840199262111301[79] = 0; - out_8324840199262111301[80] = 0; - out_8324840199262111301[81] = 0; - out_8324840199262111301[82] = 0; - out_8324840199262111301[83] = 0; - out_8324840199262111301[84] = 0; - out_8324840199262111301[85] = dt; - out_8324840199262111301[86] = 0; - out_8324840199262111301[87] = 0; - out_8324840199262111301[88] = 0; - out_8324840199262111301[89] = 0; - out_8324840199262111301[90] = 0; - out_8324840199262111301[91] = 0; - out_8324840199262111301[92] = 0; - out_8324840199262111301[93] = 0; - out_8324840199262111301[94] = 0; - out_8324840199262111301[95] = 1; - out_8324840199262111301[96] = 0; - out_8324840199262111301[97] = 0; - out_8324840199262111301[98] = 0; - out_8324840199262111301[99] = 0; - out_8324840199262111301[100] = 0; - out_8324840199262111301[101] = 0; - out_8324840199262111301[102] = 0; - out_8324840199262111301[103] = 0; - out_8324840199262111301[104] = dt; - out_8324840199262111301[105] = 0; - out_8324840199262111301[106] = 0; - out_8324840199262111301[107] = 0; - out_8324840199262111301[108] = 0; - out_8324840199262111301[109] = 0; - out_8324840199262111301[110] = 0; - out_8324840199262111301[111] = 0; - out_8324840199262111301[112] = 0; - out_8324840199262111301[113] = 0; - out_8324840199262111301[114] = 1; - out_8324840199262111301[115] = 0; - out_8324840199262111301[116] = 0; - out_8324840199262111301[117] = 0; - out_8324840199262111301[118] = 0; - out_8324840199262111301[119] = 0; - out_8324840199262111301[120] = 0; - out_8324840199262111301[121] = 0; - out_8324840199262111301[122] = 0; - out_8324840199262111301[123] = 0; - out_8324840199262111301[124] = 0; - out_8324840199262111301[125] = 0; - out_8324840199262111301[126] = 0; - out_8324840199262111301[127] = 0; - out_8324840199262111301[128] = 0; - out_8324840199262111301[129] = 0; - out_8324840199262111301[130] = 0; - out_8324840199262111301[131] = 0; - out_8324840199262111301[132] = 0; - out_8324840199262111301[133] = 1; - out_8324840199262111301[134] = 0; - out_8324840199262111301[135] = 0; - out_8324840199262111301[136] = 0; - out_8324840199262111301[137] = 0; - out_8324840199262111301[138] = 0; - out_8324840199262111301[139] = 0; - out_8324840199262111301[140] = 0; - out_8324840199262111301[141] = 0; - out_8324840199262111301[142] = 0; - out_8324840199262111301[143] = 0; - out_8324840199262111301[144] = 0; - out_8324840199262111301[145] = 0; - out_8324840199262111301[146] = 0; - out_8324840199262111301[147] = 0; - out_8324840199262111301[148] = 0; - out_8324840199262111301[149] = 0; - out_8324840199262111301[150] = 0; - out_8324840199262111301[151] = 0; - out_8324840199262111301[152] = 1; - out_8324840199262111301[153] = 0; - out_8324840199262111301[154] = 0; - out_8324840199262111301[155] = 0; - out_8324840199262111301[156] = 0; - out_8324840199262111301[157] = 0; - out_8324840199262111301[158] = 0; - out_8324840199262111301[159] = 0; - out_8324840199262111301[160] = 0; - out_8324840199262111301[161] = 0; - out_8324840199262111301[162] = 0; - out_8324840199262111301[163] = 0; - out_8324840199262111301[164] = 0; - out_8324840199262111301[165] = 0; - out_8324840199262111301[166] = 0; - out_8324840199262111301[167] = 0; - out_8324840199262111301[168] = 0; - out_8324840199262111301[169] = 0; - out_8324840199262111301[170] = 0; - out_8324840199262111301[171] = 1; - out_8324840199262111301[172] = 0; - out_8324840199262111301[173] = 0; - out_8324840199262111301[174] = 0; - out_8324840199262111301[175] = 0; - out_8324840199262111301[176] = 0; - out_8324840199262111301[177] = 0; - out_8324840199262111301[178] = 0; - out_8324840199262111301[179] = 0; - out_8324840199262111301[180] = 0; - out_8324840199262111301[181] = 0; - out_8324840199262111301[182] = 0; - out_8324840199262111301[183] = 0; - out_8324840199262111301[184] = 0; - out_8324840199262111301[185] = 0; - out_8324840199262111301[186] = 0; - out_8324840199262111301[187] = 0; - out_8324840199262111301[188] = 0; - out_8324840199262111301[189] = 0; - out_8324840199262111301[190] = 1; - out_8324840199262111301[191] = 0; - out_8324840199262111301[192] = 0; - out_8324840199262111301[193] = 0; - out_8324840199262111301[194] = 0; - out_8324840199262111301[195] = 0; - out_8324840199262111301[196] = 0; - out_8324840199262111301[197] = 0; - out_8324840199262111301[198] = 0; - out_8324840199262111301[199] = 0; - out_8324840199262111301[200] = 0; - out_8324840199262111301[201] = 0; - out_8324840199262111301[202] = 0; - out_8324840199262111301[203] = 0; - out_8324840199262111301[204] = 0; - out_8324840199262111301[205] = 0; - out_8324840199262111301[206] = 0; - out_8324840199262111301[207] = 0; - out_8324840199262111301[208] = 0; - out_8324840199262111301[209] = 1; - out_8324840199262111301[210] = 0; - out_8324840199262111301[211] = 0; - out_8324840199262111301[212] = 0; - out_8324840199262111301[213] = 0; - out_8324840199262111301[214] = 0; - out_8324840199262111301[215] = 0; - out_8324840199262111301[216] = 0; - out_8324840199262111301[217] = 0; - out_8324840199262111301[218] = 0; - out_8324840199262111301[219] = 0; - out_8324840199262111301[220] = 0; - out_8324840199262111301[221] = 0; - out_8324840199262111301[222] = 0; - out_8324840199262111301[223] = 0; - out_8324840199262111301[224] = 0; - out_8324840199262111301[225] = 0; - out_8324840199262111301[226] = 0; - out_8324840199262111301[227] = 0; - out_8324840199262111301[228] = 1; - out_8324840199262111301[229] = 0; - out_8324840199262111301[230] = 0; - out_8324840199262111301[231] = 0; - out_8324840199262111301[232] = 0; - out_8324840199262111301[233] = 0; - out_8324840199262111301[234] = 0; - out_8324840199262111301[235] = 0; - out_8324840199262111301[236] = 0; - out_8324840199262111301[237] = 0; - out_8324840199262111301[238] = 0; - out_8324840199262111301[239] = 0; - out_8324840199262111301[240] = 0; - out_8324840199262111301[241] = 0; - out_8324840199262111301[242] = 0; - out_8324840199262111301[243] = 0; - out_8324840199262111301[244] = 0; - out_8324840199262111301[245] = 0; - out_8324840199262111301[246] = 0; - out_8324840199262111301[247] = 1; - out_8324840199262111301[248] = 0; - out_8324840199262111301[249] = 0; - out_8324840199262111301[250] = 0; - out_8324840199262111301[251] = 0; - out_8324840199262111301[252] = 0; - out_8324840199262111301[253] = 0; - out_8324840199262111301[254] = 0; - out_8324840199262111301[255] = 0; - out_8324840199262111301[256] = 0; - out_8324840199262111301[257] = 0; - out_8324840199262111301[258] = 0; - out_8324840199262111301[259] = 0; - out_8324840199262111301[260] = 0; - out_8324840199262111301[261] = 0; - out_8324840199262111301[262] = 0; - out_8324840199262111301[263] = 0; - out_8324840199262111301[264] = 0; - out_8324840199262111301[265] = 0; - out_8324840199262111301[266] = 1; - out_8324840199262111301[267] = 0; - out_8324840199262111301[268] = 0; - out_8324840199262111301[269] = 0; - out_8324840199262111301[270] = 0; - out_8324840199262111301[271] = 0; - out_8324840199262111301[272] = 0; - out_8324840199262111301[273] = 0; - out_8324840199262111301[274] = 0; - out_8324840199262111301[275] = 0; - out_8324840199262111301[276] = 0; - out_8324840199262111301[277] = 0; - out_8324840199262111301[278] = 0; - out_8324840199262111301[279] = 0; - out_8324840199262111301[280] = 0; - out_8324840199262111301[281] = 0; - out_8324840199262111301[282] = 0; - out_8324840199262111301[283] = 0; - out_8324840199262111301[284] = 0; - out_8324840199262111301[285] = 1; - out_8324840199262111301[286] = 0; - out_8324840199262111301[287] = 0; - out_8324840199262111301[288] = 0; - out_8324840199262111301[289] = 0; - out_8324840199262111301[290] = 0; - out_8324840199262111301[291] = 0; - out_8324840199262111301[292] = 0; - out_8324840199262111301[293] = 0; - out_8324840199262111301[294] = 0; - out_8324840199262111301[295] = 0; - out_8324840199262111301[296] = 0; - out_8324840199262111301[297] = 0; - out_8324840199262111301[298] = 0; - out_8324840199262111301[299] = 0; - out_8324840199262111301[300] = 0; - out_8324840199262111301[301] = 0; - out_8324840199262111301[302] = 0; - out_8324840199262111301[303] = 0; - out_8324840199262111301[304] = 1; - out_8324840199262111301[305] = 0; - out_8324840199262111301[306] = 0; - out_8324840199262111301[307] = 0; - out_8324840199262111301[308] = 0; - out_8324840199262111301[309] = 0; - out_8324840199262111301[310] = 0; - out_8324840199262111301[311] = 0; - out_8324840199262111301[312] = 0; - out_8324840199262111301[313] = 0; - out_8324840199262111301[314] = 0; - out_8324840199262111301[315] = 0; - out_8324840199262111301[316] = 0; - out_8324840199262111301[317] = 0; - out_8324840199262111301[318] = 0; - out_8324840199262111301[319] = 0; - out_8324840199262111301[320] = 0; - out_8324840199262111301[321] = 0; - out_8324840199262111301[322] = 0; - out_8324840199262111301[323] = 1; +void F_fun(double *state, double dt, double *out_5073381682457521558) { + out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[2] = 0; + out_5073381682457521558[3] = 0; + out_5073381682457521558[4] = 0; + out_5073381682457521558[5] = 0; + out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[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_5073381682457521558[9] = 0; + out_5073381682457521558[10] = 0; + out_5073381682457521558[11] = 0; + out_5073381682457521558[12] = 0; + out_5073381682457521558[13] = 0; + out_5073381682457521558[14] = 0; + out_5073381682457521558[15] = 0; + out_5073381682457521558[16] = 0; + out_5073381682457521558[17] = 0; + out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[20] = 0; + out_5073381682457521558[21] = 0; + out_5073381682457521558[22] = 0; + out_5073381682457521558[23] = 0; + out_5073381682457521558[24] = 0; + out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[27] = 0; + out_5073381682457521558[28] = 0; + out_5073381682457521558[29] = 0; + out_5073381682457521558[30] = 0; + out_5073381682457521558[31] = 0; + out_5073381682457521558[32] = 0; + out_5073381682457521558[33] = 0; + out_5073381682457521558[34] = 0; + out_5073381682457521558[35] = 0; + out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[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_5073381682457521558[39] = 0; + out_5073381682457521558[40] = 0; + out_5073381682457521558[41] = 0; + out_5073381682457521558[42] = 0; + out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[45] = 0; + out_5073381682457521558[46] = 0; + out_5073381682457521558[47] = 0; + out_5073381682457521558[48] = 0; + out_5073381682457521558[49] = 0; + out_5073381682457521558[50] = 0; + out_5073381682457521558[51] = 0; + out_5073381682457521558[52] = 0; + out_5073381682457521558[53] = 0; + out_5073381682457521558[54] = 0; + out_5073381682457521558[55] = 0; + out_5073381682457521558[56] = 0; + out_5073381682457521558[57] = 1; + out_5073381682457521558[58] = 0; + out_5073381682457521558[59] = 0; + out_5073381682457521558[60] = 0; + out_5073381682457521558[61] = 0; + out_5073381682457521558[62] = 0; + out_5073381682457521558[63] = 0; + out_5073381682457521558[64] = 0; + out_5073381682457521558[65] = 0; + out_5073381682457521558[66] = dt; + out_5073381682457521558[67] = 0; + out_5073381682457521558[68] = 0; + out_5073381682457521558[69] = 0; + out_5073381682457521558[70] = 0; + out_5073381682457521558[71] = 0; + out_5073381682457521558[72] = 0; + out_5073381682457521558[73] = 0; + out_5073381682457521558[74] = 0; + out_5073381682457521558[75] = 0; + out_5073381682457521558[76] = 1; + out_5073381682457521558[77] = 0; + out_5073381682457521558[78] = 0; + out_5073381682457521558[79] = 0; + out_5073381682457521558[80] = 0; + out_5073381682457521558[81] = 0; + out_5073381682457521558[82] = 0; + out_5073381682457521558[83] = 0; + out_5073381682457521558[84] = 0; + out_5073381682457521558[85] = dt; + out_5073381682457521558[86] = 0; + out_5073381682457521558[87] = 0; + out_5073381682457521558[88] = 0; + out_5073381682457521558[89] = 0; + out_5073381682457521558[90] = 0; + out_5073381682457521558[91] = 0; + out_5073381682457521558[92] = 0; + out_5073381682457521558[93] = 0; + out_5073381682457521558[94] = 0; + out_5073381682457521558[95] = 1; + out_5073381682457521558[96] = 0; + out_5073381682457521558[97] = 0; + out_5073381682457521558[98] = 0; + out_5073381682457521558[99] = 0; + out_5073381682457521558[100] = 0; + out_5073381682457521558[101] = 0; + out_5073381682457521558[102] = 0; + out_5073381682457521558[103] = 0; + out_5073381682457521558[104] = dt; + out_5073381682457521558[105] = 0; + out_5073381682457521558[106] = 0; + out_5073381682457521558[107] = 0; + out_5073381682457521558[108] = 0; + out_5073381682457521558[109] = 0; + out_5073381682457521558[110] = 0; + out_5073381682457521558[111] = 0; + out_5073381682457521558[112] = 0; + out_5073381682457521558[113] = 0; + out_5073381682457521558[114] = 1; + out_5073381682457521558[115] = 0; + out_5073381682457521558[116] = 0; + out_5073381682457521558[117] = 0; + out_5073381682457521558[118] = 0; + out_5073381682457521558[119] = 0; + out_5073381682457521558[120] = 0; + out_5073381682457521558[121] = 0; + out_5073381682457521558[122] = 0; + out_5073381682457521558[123] = 0; + out_5073381682457521558[124] = 0; + out_5073381682457521558[125] = 0; + out_5073381682457521558[126] = 0; + out_5073381682457521558[127] = 0; + out_5073381682457521558[128] = 0; + out_5073381682457521558[129] = 0; + out_5073381682457521558[130] = 0; + out_5073381682457521558[131] = 0; + out_5073381682457521558[132] = 0; + out_5073381682457521558[133] = 1; + out_5073381682457521558[134] = 0; + out_5073381682457521558[135] = 0; + out_5073381682457521558[136] = 0; + out_5073381682457521558[137] = 0; + out_5073381682457521558[138] = 0; + out_5073381682457521558[139] = 0; + out_5073381682457521558[140] = 0; + out_5073381682457521558[141] = 0; + out_5073381682457521558[142] = 0; + out_5073381682457521558[143] = 0; + out_5073381682457521558[144] = 0; + out_5073381682457521558[145] = 0; + out_5073381682457521558[146] = 0; + out_5073381682457521558[147] = 0; + out_5073381682457521558[148] = 0; + out_5073381682457521558[149] = 0; + out_5073381682457521558[150] = 0; + out_5073381682457521558[151] = 0; + out_5073381682457521558[152] = 1; + out_5073381682457521558[153] = 0; + out_5073381682457521558[154] = 0; + out_5073381682457521558[155] = 0; + out_5073381682457521558[156] = 0; + out_5073381682457521558[157] = 0; + out_5073381682457521558[158] = 0; + out_5073381682457521558[159] = 0; + out_5073381682457521558[160] = 0; + out_5073381682457521558[161] = 0; + out_5073381682457521558[162] = 0; + out_5073381682457521558[163] = 0; + out_5073381682457521558[164] = 0; + out_5073381682457521558[165] = 0; + out_5073381682457521558[166] = 0; + out_5073381682457521558[167] = 0; + out_5073381682457521558[168] = 0; + out_5073381682457521558[169] = 0; + out_5073381682457521558[170] = 0; + out_5073381682457521558[171] = 1; + out_5073381682457521558[172] = 0; + out_5073381682457521558[173] = 0; + out_5073381682457521558[174] = 0; + out_5073381682457521558[175] = 0; + out_5073381682457521558[176] = 0; + out_5073381682457521558[177] = 0; + out_5073381682457521558[178] = 0; + out_5073381682457521558[179] = 0; + out_5073381682457521558[180] = 0; + out_5073381682457521558[181] = 0; + out_5073381682457521558[182] = 0; + out_5073381682457521558[183] = 0; + out_5073381682457521558[184] = 0; + out_5073381682457521558[185] = 0; + out_5073381682457521558[186] = 0; + out_5073381682457521558[187] = 0; + out_5073381682457521558[188] = 0; + out_5073381682457521558[189] = 0; + out_5073381682457521558[190] = 1; + out_5073381682457521558[191] = 0; + out_5073381682457521558[192] = 0; + out_5073381682457521558[193] = 0; + out_5073381682457521558[194] = 0; + out_5073381682457521558[195] = 0; + out_5073381682457521558[196] = 0; + out_5073381682457521558[197] = 0; + out_5073381682457521558[198] = 0; + out_5073381682457521558[199] = 0; + out_5073381682457521558[200] = 0; + out_5073381682457521558[201] = 0; + out_5073381682457521558[202] = 0; + out_5073381682457521558[203] = 0; + out_5073381682457521558[204] = 0; + out_5073381682457521558[205] = 0; + out_5073381682457521558[206] = 0; + out_5073381682457521558[207] = 0; + out_5073381682457521558[208] = 0; + out_5073381682457521558[209] = 1; + out_5073381682457521558[210] = 0; + out_5073381682457521558[211] = 0; + out_5073381682457521558[212] = 0; + out_5073381682457521558[213] = 0; + out_5073381682457521558[214] = 0; + out_5073381682457521558[215] = 0; + out_5073381682457521558[216] = 0; + out_5073381682457521558[217] = 0; + out_5073381682457521558[218] = 0; + out_5073381682457521558[219] = 0; + out_5073381682457521558[220] = 0; + out_5073381682457521558[221] = 0; + out_5073381682457521558[222] = 0; + out_5073381682457521558[223] = 0; + out_5073381682457521558[224] = 0; + out_5073381682457521558[225] = 0; + out_5073381682457521558[226] = 0; + out_5073381682457521558[227] = 0; + out_5073381682457521558[228] = 1; + out_5073381682457521558[229] = 0; + out_5073381682457521558[230] = 0; + out_5073381682457521558[231] = 0; + out_5073381682457521558[232] = 0; + out_5073381682457521558[233] = 0; + out_5073381682457521558[234] = 0; + out_5073381682457521558[235] = 0; + out_5073381682457521558[236] = 0; + out_5073381682457521558[237] = 0; + out_5073381682457521558[238] = 0; + out_5073381682457521558[239] = 0; + out_5073381682457521558[240] = 0; + out_5073381682457521558[241] = 0; + out_5073381682457521558[242] = 0; + out_5073381682457521558[243] = 0; + out_5073381682457521558[244] = 0; + out_5073381682457521558[245] = 0; + out_5073381682457521558[246] = 0; + out_5073381682457521558[247] = 1; + out_5073381682457521558[248] = 0; + out_5073381682457521558[249] = 0; + out_5073381682457521558[250] = 0; + out_5073381682457521558[251] = 0; + out_5073381682457521558[252] = 0; + out_5073381682457521558[253] = 0; + out_5073381682457521558[254] = 0; + out_5073381682457521558[255] = 0; + out_5073381682457521558[256] = 0; + out_5073381682457521558[257] = 0; + out_5073381682457521558[258] = 0; + out_5073381682457521558[259] = 0; + out_5073381682457521558[260] = 0; + out_5073381682457521558[261] = 0; + out_5073381682457521558[262] = 0; + out_5073381682457521558[263] = 0; + out_5073381682457521558[264] = 0; + out_5073381682457521558[265] = 0; + out_5073381682457521558[266] = 1; + out_5073381682457521558[267] = 0; + out_5073381682457521558[268] = 0; + out_5073381682457521558[269] = 0; + out_5073381682457521558[270] = 0; + out_5073381682457521558[271] = 0; + out_5073381682457521558[272] = 0; + out_5073381682457521558[273] = 0; + out_5073381682457521558[274] = 0; + out_5073381682457521558[275] = 0; + out_5073381682457521558[276] = 0; + out_5073381682457521558[277] = 0; + out_5073381682457521558[278] = 0; + out_5073381682457521558[279] = 0; + out_5073381682457521558[280] = 0; + out_5073381682457521558[281] = 0; + out_5073381682457521558[282] = 0; + out_5073381682457521558[283] = 0; + out_5073381682457521558[284] = 0; + out_5073381682457521558[285] = 1; + out_5073381682457521558[286] = 0; + out_5073381682457521558[287] = 0; + out_5073381682457521558[288] = 0; + out_5073381682457521558[289] = 0; + out_5073381682457521558[290] = 0; + out_5073381682457521558[291] = 0; + out_5073381682457521558[292] = 0; + out_5073381682457521558[293] = 0; + out_5073381682457521558[294] = 0; + out_5073381682457521558[295] = 0; + out_5073381682457521558[296] = 0; + out_5073381682457521558[297] = 0; + out_5073381682457521558[298] = 0; + out_5073381682457521558[299] = 0; + out_5073381682457521558[300] = 0; + out_5073381682457521558[301] = 0; + out_5073381682457521558[302] = 0; + out_5073381682457521558[303] = 0; + out_5073381682457521558[304] = 1; + out_5073381682457521558[305] = 0; + out_5073381682457521558[306] = 0; + out_5073381682457521558[307] = 0; + out_5073381682457521558[308] = 0; + out_5073381682457521558[309] = 0; + out_5073381682457521558[310] = 0; + out_5073381682457521558[311] = 0; + out_5073381682457521558[312] = 0; + out_5073381682457521558[313] = 0; + out_5073381682457521558[314] = 0; + out_5073381682457521558[315] = 0; + out_5073381682457521558[316] = 0; + out_5073381682457521558[317] = 0; + out_5073381682457521558[318] = 0; + out_5073381682457521558[319] = 0; + out_5073381682457521558[320] = 0; + out_5073381682457521558[321] = 0; + out_5073381682457521558[322] = 0; + out_5073381682457521558[323] = 1; } -void h_4(double *state, double *unused, double *out_2118179578320955915) { - out_2118179578320955915[0] = state[6] + state[9]; - out_2118179578320955915[1] = state[7] + state[10]; - out_2118179578320955915[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2401275546657747080) { + out_2401275546657747080[0] = state[6] + state[9]; + out_2401275546657747080[1] = state[7] + state[10]; + out_2401275546657747080[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_7359977238096771749) { - out_7359977238096771749[0] = 0; - out_7359977238096771749[1] = 0; - out_7359977238096771749[2] = 0; - out_7359977238096771749[3] = 0; - out_7359977238096771749[4] = 0; - out_7359977238096771749[5] = 0; - out_7359977238096771749[6] = 1; - out_7359977238096771749[7] = 0; - out_7359977238096771749[8] = 0; - out_7359977238096771749[9] = 1; - out_7359977238096771749[10] = 0; - out_7359977238096771749[11] = 0; - out_7359977238096771749[12] = 0; - out_7359977238096771749[13] = 0; - out_7359977238096771749[14] = 0; - out_7359977238096771749[15] = 0; - out_7359977238096771749[16] = 0; - out_7359977238096771749[17] = 0; - out_7359977238096771749[18] = 0; - out_7359977238096771749[19] = 0; - out_7359977238096771749[20] = 0; - out_7359977238096771749[21] = 0; - out_7359977238096771749[22] = 0; - out_7359977238096771749[23] = 0; - out_7359977238096771749[24] = 0; - out_7359977238096771749[25] = 1; - out_7359977238096771749[26] = 0; - out_7359977238096771749[27] = 0; - out_7359977238096771749[28] = 1; - out_7359977238096771749[29] = 0; - out_7359977238096771749[30] = 0; - out_7359977238096771749[31] = 0; - out_7359977238096771749[32] = 0; - out_7359977238096771749[33] = 0; - out_7359977238096771749[34] = 0; - out_7359977238096771749[35] = 0; - out_7359977238096771749[36] = 0; - out_7359977238096771749[37] = 0; - out_7359977238096771749[38] = 0; - out_7359977238096771749[39] = 0; - out_7359977238096771749[40] = 0; - out_7359977238096771749[41] = 0; - out_7359977238096771749[42] = 0; - out_7359977238096771749[43] = 0; - out_7359977238096771749[44] = 1; - out_7359977238096771749[45] = 0; - out_7359977238096771749[46] = 0; - out_7359977238096771749[47] = 1; - out_7359977238096771749[48] = 0; - out_7359977238096771749[49] = 0; - out_7359977238096771749[50] = 0; - out_7359977238096771749[51] = 0; - out_7359977238096771749[52] = 0; - out_7359977238096771749[53] = 0; +void H_4(double *state, double *unused, double *out_1593472091935329516) { + out_1593472091935329516[0] = 0; + out_1593472091935329516[1] = 0; + out_1593472091935329516[2] = 0; + out_1593472091935329516[3] = 0; + out_1593472091935329516[4] = 0; + out_1593472091935329516[5] = 0; + out_1593472091935329516[6] = 1; + out_1593472091935329516[7] = 0; + out_1593472091935329516[8] = 0; + out_1593472091935329516[9] = 1; + out_1593472091935329516[10] = 0; + out_1593472091935329516[11] = 0; + out_1593472091935329516[12] = 0; + out_1593472091935329516[13] = 0; + out_1593472091935329516[14] = 0; + out_1593472091935329516[15] = 0; + out_1593472091935329516[16] = 0; + out_1593472091935329516[17] = 0; + out_1593472091935329516[18] = 0; + out_1593472091935329516[19] = 0; + out_1593472091935329516[20] = 0; + out_1593472091935329516[21] = 0; + out_1593472091935329516[22] = 0; + out_1593472091935329516[23] = 0; + out_1593472091935329516[24] = 0; + out_1593472091935329516[25] = 1; + out_1593472091935329516[26] = 0; + out_1593472091935329516[27] = 0; + out_1593472091935329516[28] = 1; + out_1593472091935329516[29] = 0; + out_1593472091935329516[30] = 0; + out_1593472091935329516[31] = 0; + out_1593472091935329516[32] = 0; + out_1593472091935329516[33] = 0; + out_1593472091935329516[34] = 0; + out_1593472091935329516[35] = 0; + out_1593472091935329516[36] = 0; + out_1593472091935329516[37] = 0; + out_1593472091935329516[38] = 0; + out_1593472091935329516[39] = 0; + out_1593472091935329516[40] = 0; + out_1593472091935329516[41] = 0; + out_1593472091935329516[42] = 0; + out_1593472091935329516[43] = 0; + out_1593472091935329516[44] = 1; + out_1593472091935329516[45] = 0; + out_1593472091935329516[46] = 0; + out_1593472091935329516[47] = 1; + out_1593472091935329516[48] = 0; + out_1593472091935329516[49] = 0; + out_1593472091935329516[50] = 0; + out_1593472091935329516[51] = 0; + out_1593472091935329516[52] = 0; + out_1593472091935329516[53] = 0; } -void h_10(double *state, double *unused, double *out_863109591849531819) { - out_863109591849531819[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_863109591849531819[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_863109591849531819[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_7020895229304053766) { + out_7020895229304053766[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7020895229304053766[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7020895229304053766[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_6053481103905099724) { - out_6053481103905099724[0] = 0; - out_6053481103905099724[1] = 9.8100000000000005*cos(state[1]); - out_6053481103905099724[2] = 0; - out_6053481103905099724[3] = 0; - out_6053481103905099724[4] = -state[8]; - out_6053481103905099724[5] = state[7]; - out_6053481103905099724[6] = 0; - out_6053481103905099724[7] = state[5]; - out_6053481103905099724[8] = -state[4]; - out_6053481103905099724[9] = 0; - out_6053481103905099724[10] = 0; - out_6053481103905099724[11] = 0; - out_6053481103905099724[12] = 1; - out_6053481103905099724[13] = 0; - out_6053481103905099724[14] = 0; - out_6053481103905099724[15] = 1; - out_6053481103905099724[16] = 0; - out_6053481103905099724[17] = 0; - out_6053481103905099724[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6053481103905099724[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6053481103905099724[20] = 0; - out_6053481103905099724[21] = state[8]; - out_6053481103905099724[22] = 0; - out_6053481103905099724[23] = -state[6]; - out_6053481103905099724[24] = -state[5]; - out_6053481103905099724[25] = 0; - out_6053481103905099724[26] = state[3]; - out_6053481103905099724[27] = 0; - out_6053481103905099724[28] = 0; - out_6053481103905099724[29] = 0; - out_6053481103905099724[30] = 0; - out_6053481103905099724[31] = 1; - out_6053481103905099724[32] = 0; - out_6053481103905099724[33] = 0; - out_6053481103905099724[34] = 1; - out_6053481103905099724[35] = 0; - out_6053481103905099724[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6053481103905099724[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6053481103905099724[38] = 0; - out_6053481103905099724[39] = -state[7]; - out_6053481103905099724[40] = state[6]; - out_6053481103905099724[41] = 0; - out_6053481103905099724[42] = state[4]; - out_6053481103905099724[43] = -state[3]; - out_6053481103905099724[44] = 0; - out_6053481103905099724[45] = 0; - out_6053481103905099724[46] = 0; - out_6053481103905099724[47] = 0; - out_6053481103905099724[48] = 0; - out_6053481103905099724[49] = 0; - out_6053481103905099724[50] = 1; - out_6053481103905099724[51] = 0; - out_6053481103905099724[52] = 0; - out_6053481103905099724[53] = 1; +void H_10(double *state, double *unused, double *out_299233475658510513) { + out_299233475658510513[0] = 0; + out_299233475658510513[1] = 9.8100000000000005*cos(state[1]); + out_299233475658510513[2] = 0; + out_299233475658510513[3] = 0; + out_299233475658510513[4] = -state[8]; + out_299233475658510513[5] = state[7]; + out_299233475658510513[6] = 0; + out_299233475658510513[7] = state[5]; + out_299233475658510513[8] = -state[4]; + out_299233475658510513[9] = 0; + out_299233475658510513[10] = 0; + out_299233475658510513[11] = 0; + out_299233475658510513[12] = 1; + out_299233475658510513[13] = 0; + out_299233475658510513[14] = 0; + out_299233475658510513[15] = 1; + out_299233475658510513[16] = 0; + out_299233475658510513[17] = 0; + out_299233475658510513[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_299233475658510513[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_299233475658510513[20] = 0; + out_299233475658510513[21] = state[8]; + out_299233475658510513[22] = 0; + out_299233475658510513[23] = -state[6]; + out_299233475658510513[24] = -state[5]; + out_299233475658510513[25] = 0; + out_299233475658510513[26] = state[3]; + out_299233475658510513[27] = 0; + out_299233475658510513[28] = 0; + out_299233475658510513[29] = 0; + out_299233475658510513[30] = 0; + out_299233475658510513[31] = 1; + out_299233475658510513[32] = 0; + out_299233475658510513[33] = 0; + out_299233475658510513[34] = 1; + out_299233475658510513[35] = 0; + out_299233475658510513[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_299233475658510513[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_299233475658510513[38] = 0; + out_299233475658510513[39] = -state[7]; + out_299233475658510513[40] = state[6]; + out_299233475658510513[41] = 0; + out_299233475658510513[42] = state[4]; + out_299233475658510513[43] = -state[3]; + out_299233475658510513[44] = 0; + out_299233475658510513[45] = 0; + out_299233475658510513[46] = 0; + out_299233475658510513[47] = 0; + out_299233475658510513[48] = 0; + out_299233475658510513[49] = 0; + out_299233475658510513[50] = 1; + out_299233475658510513[51] = 0; + out_299233475658510513[52] = 0; + out_299233475658510513[53] = 1; } -void h_13(double *state, double *unused, double *out_8506504787708500859) { - out_8506504787708500859[0] = state[3]; - out_8506504787708500859[1] = state[4]; - out_8506504787708500859[2] = state[5]; +void h_13(double *state, double *unused, double *out_2810480351238834931) { + out_2810480351238834931[0] = state[3]; + out_2810480351238834931[1] = state[4]; + out_2810480351238834931[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7874493010280447066) { - out_7874493010280447066[0] = 0; - out_7874493010280447066[1] = 0; - out_7874493010280447066[2] = 0; - out_7874493010280447066[3] = 1; - out_7874493010280447066[4] = 0; - out_7874493010280447066[5] = 0; - out_7874493010280447066[6] = 0; - out_7874493010280447066[7] = 0; - out_7874493010280447066[8] = 0; - out_7874493010280447066[9] = 0; - out_7874493010280447066[10] = 0; - out_7874493010280447066[11] = 0; - out_7874493010280447066[12] = 0; - out_7874493010280447066[13] = 0; - out_7874493010280447066[14] = 0; - out_7874493010280447066[15] = 0; - out_7874493010280447066[16] = 0; - out_7874493010280447066[17] = 0; - out_7874493010280447066[18] = 0; - out_7874493010280447066[19] = 0; - out_7874493010280447066[20] = 0; - out_7874493010280447066[21] = 0; - out_7874493010280447066[22] = 1; - out_7874493010280447066[23] = 0; - out_7874493010280447066[24] = 0; - out_7874493010280447066[25] = 0; - out_7874493010280447066[26] = 0; - out_7874493010280447066[27] = 0; - out_7874493010280447066[28] = 0; - out_7874493010280447066[29] = 0; - out_7874493010280447066[30] = 0; - out_7874493010280447066[31] = 0; - out_7874493010280447066[32] = 0; - out_7874493010280447066[33] = 0; - out_7874493010280447066[34] = 0; - out_7874493010280447066[35] = 0; - out_7874493010280447066[36] = 0; - out_7874493010280447066[37] = 0; - out_7874493010280447066[38] = 0; - out_7874493010280447066[39] = 0; - out_7874493010280447066[40] = 0; - out_7874493010280447066[41] = 1; - out_7874493010280447066[42] = 0; - out_7874493010280447066[43] = 0; - out_7874493010280447066[44] = 0; - out_7874493010280447066[45] = 0; - out_7874493010280447066[46] = 0; - out_7874493010280447066[47] = 0; - out_7874493010280447066[48] = 0; - out_7874493010280447066[49] = 0; - out_7874493010280447066[50] = 0; - out_7874493010280447066[51] = 0; - out_7874493010280447066[52] = 0; - out_7874493010280447066[53] = 0; +void H_13(double *state, double *unused, double *out_4805745917267662317) { + out_4805745917267662317[0] = 0; + out_4805745917267662317[1] = 0; + out_4805745917267662317[2] = 0; + out_4805745917267662317[3] = 1; + out_4805745917267662317[4] = 0; + out_4805745917267662317[5] = 0; + out_4805745917267662317[6] = 0; + out_4805745917267662317[7] = 0; + out_4805745917267662317[8] = 0; + out_4805745917267662317[9] = 0; + out_4805745917267662317[10] = 0; + out_4805745917267662317[11] = 0; + out_4805745917267662317[12] = 0; + out_4805745917267662317[13] = 0; + out_4805745917267662317[14] = 0; + out_4805745917267662317[15] = 0; + out_4805745917267662317[16] = 0; + out_4805745917267662317[17] = 0; + out_4805745917267662317[18] = 0; + out_4805745917267662317[19] = 0; + out_4805745917267662317[20] = 0; + out_4805745917267662317[21] = 0; + out_4805745917267662317[22] = 1; + out_4805745917267662317[23] = 0; + out_4805745917267662317[24] = 0; + out_4805745917267662317[25] = 0; + out_4805745917267662317[26] = 0; + out_4805745917267662317[27] = 0; + out_4805745917267662317[28] = 0; + out_4805745917267662317[29] = 0; + out_4805745917267662317[30] = 0; + out_4805745917267662317[31] = 0; + out_4805745917267662317[32] = 0; + out_4805745917267662317[33] = 0; + out_4805745917267662317[34] = 0; + out_4805745917267662317[35] = 0; + out_4805745917267662317[36] = 0; + out_4805745917267662317[37] = 0; + out_4805745917267662317[38] = 0; + out_4805745917267662317[39] = 0; + out_4805745917267662317[40] = 0; + out_4805745917267662317[41] = 1; + out_4805745917267662317[42] = 0; + out_4805745917267662317[43] = 0; + out_4805745917267662317[44] = 0; + out_4805745917267662317[45] = 0; + out_4805745917267662317[46] = 0; + out_4805745917267662317[47] = 0; + out_4805745917267662317[48] = 0; + out_4805745917267662317[49] = 0; + out_4805745917267662317[50] = 0; + out_4805745917267662317[51] = 0; + out_4805745917267662317[52] = 0; + out_4805745917267662317[53] = 0; } -void h_14(double *state, double *unused, double *out_6030639671543279411) { - out_6030639671543279411[0] = state[6]; - out_6030639671543279411[1] = state[7]; - out_6030639671543279411[2] = state[8]; +void h_14(double *state, double *unused, double *out_6318162405249945056) { + out_6318162405249945056[0] = state[6]; + out_6318162405249945056[1] = state[7]; + out_6318162405249945056[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7123525979273295338) { - out_7123525979273295338[0] = 0; - out_7123525979273295338[1] = 0; - out_7123525979273295338[2] = 0; - out_7123525979273295338[3] = 0; - out_7123525979273295338[4] = 0; - out_7123525979273295338[5] = 0; - out_7123525979273295338[6] = 1; - out_7123525979273295338[7] = 0; - out_7123525979273295338[8] = 0; - out_7123525979273295338[9] = 0; - out_7123525979273295338[10] = 0; - out_7123525979273295338[11] = 0; - out_7123525979273295338[12] = 0; - out_7123525979273295338[13] = 0; - out_7123525979273295338[14] = 0; - out_7123525979273295338[15] = 0; - out_7123525979273295338[16] = 0; - out_7123525979273295338[17] = 0; - out_7123525979273295338[18] = 0; - out_7123525979273295338[19] = 0; - out_7123525979273295338[20] = 0; - out_7123525979273295338[21] = 0; - out_7123525979273295338[22] = 0; - out_7123525979273295338[23] = 0; - out_7123525979273295338[24] = 0; - out_7123525979273295338[25] = 1; - out_7123525979273295338[26] = 0; - out_7123525979273295338[27] = 0; - out_7123525979273295338[28] = 0; - out_7123525979273295338[29] = 0; - out_7123525979273295338[30] = 0; - out_7123525979273295338[31] = 0; - out_7123525979273295338[32] = 0; - out_7123525979273295338[33] = 0; - out_7123525979273295338[34] = 0; - out_7123525979273295338[35] = 0; - out_7123525979273295338[36] = 0; - out_7123525979273295338[37] = 0; - out_7123525979273295338[38] = 0; - out_7123525979273295338[39] = 0; - out_7123525979273295338[40] = 0; - out_7123525979273295338[41] = 0; - out_7123525979273295338[42] = 0; - out_7123525979273295338[43] = 0; - out_7123525979273295338[44] = 1; - out_7123525979273295338[45] = 0; - out_7123525979273295338[46] = 0; - out_7123525979273295338[47] = 0; - out_7123525979273295338[48] = 0; - out_7123525979273295338[49] = 0; - out_7123525979273295338[50] = 0; - out_7123525979273295338[51] = 0; - out_7123525979273295338[52] = 0; - out_7123525979273295338[53] = 0; +void H_14(double *state, double *unused, double *out_5556712948274814045) { + out_5556712948274814045[0] = 0; + out_5556712948274814045[1] = 0; + out_5556712948274814045[2] = 0; + out_5556712948274814045[3] = 0; + out_5556712948274814045[4] = 0; + out_5556712948274814045[5] = 0; + out_5556712948274814045[6] = 1; + out_5556712948274814045[7] = 0; + out_5556712948274814045[8] = 0; + out_5556712948274814045[9] = 0; + out_5556712948274814045[10] = 0; + out_5556712948274814045[11] = 0; + out_5556712948274814045[12] = 0; + out_5556712948274814045[13] = 0; + out_5556712948274814045[14] = 0; + out_5556712948274814045[15] = 0; + out_5556712948274814045[16] = 0; + out_5556712948274814045[17] = 0; + out_5556712948274814045[18] = 0; + out_5556712948274814045[19] = 0; + out_5556712948274814045[20] = 0; + out_5556712948274814045[21] = 0; + out_5556712948274814045[22] = 0; + out_5556712948274814045[23] = 0; + out_5556712948274814045[24] = 0; + out_5556712948274814045[25] = 1; + out_5556712948274814045[26] = 0; + out_5556712948274814045[27] = 0; + out_5556712948274814045[28] = 0; + out_5556712948274814045[29] = 0; + out_5556712948274814045[30] = 0; + out_5556712948274814045[31] = 0; + out_5556712948274814045[32] = 0; + out_5556712948274814045[33] = 0; + out_5556712948274814045[34] = 0; + out_5556712948274814045[35] = 0; + out_5556712948274814045[36] = 0; + out_5556712948274814045[37] = 0; + out_5556712948274814045[38] = 0; + out_5556712948274814045[39] = 0; + out_5556712948274814045[40] = 0; + out_5556712948274814045[41] = 0; + out_5556712948274814045[42] = 0; + out_5556712948274814045[43] = 0; + out_5556712948274814045[44] = 1; + out_5556712948274814045[45] = 0; + out_5556712948274814045[46] = 0; + out_5556712948274814045[47] = 0; + out_5556712948274814045[48] = 0; + out_5556712948274814045[49] = 0; + out_5556712948274814045[50] = 0; + out_5556712948274814045[51] = 0; + out_5556712948274814045[52] = 0; + out_5556712948274814045[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_8334628911363265031) { - err_fun(nom_x, delta_x, out_8334628911363265031); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7828077856483360191) { + err_fun(nom_x, delta_x, out_7828077856483360191); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963) { - inv_err_fun(nom_x, true_x, out_6557509511038369963); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_978622641958652250) { + inv_err_fun(nom_x, true_x, out_978622641958652250); } -void pose_H_mod_fun(double *state, double *out_2207458853057691014) { - H_mod_fun(state, out_2207458853057691014); +void pose_H_mod_fun(double *state, double *out_7441553898687288237) { + H_mod_fun(state, out_7441553898687288237); } -void pose_f_fun(double *state, double dt, double *out_7635303320387631810) { - f_fun(state, dt, out_7635303320387631810); +void pose_f_fun(double *state, double dt, double *out_8648120814934185415) { + f_fun(state, dt, out_8648120814934185415); } -void pose_F_fun(double *state, double dt, double *out_8324840199262111301) { - F_fun(state, dt, out_8324840199262111301); +void pose_F_fun(double *state, double dt, double *out_5073381682457521558) { + F_fun(state, dt, out_5073381682457521558); } -void pose_h_4(double *state, double *unused, double *out_2118179578320955915) { - h_4(state, unused, out_2118179578320955915); +void pose_h_4(double *state, double *unused, double *out_2401275546657747080) { + h_4(state, unused, out_2401275546657747080); } -void pose_H_4(double *state, double *unused, double *out_7359977238096771749) { - H_4(state, unused, out_7359977238096771749); +void pose_H_4(double *state, double *unused, double *out_1593472091935329516) { + H_4(state, unused, out_1593472091935329516); } -void pose_h_10(double *state, double *unused, double *out_863109591849531819) { - h_10(state, unused, out_863109591849531819); +void pose_h_10(double *state, double *unused, double *out_7020895229304053766) { + h_10(state, unused, out_7020895229304053766); } -void pose_H_10(double *state, double *unused, double *out_6053481103905099724) { - H_10(state, unused, out_6053481103905099724); +void pose_H_10(double *state, double *unused, double *out_299233475658510513) { + H_10(state, unused, out_299233475658510513); } -void pose_h_13(double *state, double *unused, double *out_8506504787708500859) { - h_13(state, unused, out_8506504787708500859); +void pose_h_13(double *state, double *unused, double *out_2810480351238834931) { + h_13(state, unused, out_2810480351238834931); } -void pose_H_13(double *state, double *unused, double *out_7874493010280447066) { - H_13(state, unused, out_7874493010280447066); +void pose_H_13(double *state, double *unused, double *out_4805745917267662317) { + H_13(state, unused, out_4805745917267662317); } -void pose_h_14(double *state, double *unused, double *out_6030639671543279411) { - h_14(state, unused, out_6030639671543279411); +void pose_h_14(double *state, double *unused, double *out_6318162405249945056) { + h_14(state, unused, out_6318162405249945056); } -void pose_H_14(double *state, double *unused, double *out_7123525979273295338) { - H_14(state, unused, out_7123525979273295338); +void pose_H_14(double *state, double *unused, double *out_5556712948274814045) { + H_14(state, unused, out_5556712948274814045); } 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 dd9184a47..d6f2e652f 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_8334628911363265031); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963); -void pose_H_mod_fun(double *state, double *out_2207458853057691014); -void pose_f_fun(double *state, double dt, double *out_7635303320387631810); -void pose_F_fun(double *state, double dt, double *out_8324840199262111301); -void pose_h_4(double *state, double *unused, double *out_2118179578320955915); -void pose_H_4(double *state, double *unused, double *out_7359977238096771749); -void pose_h_10(double *state, double *unused, double *out_863109591849531819); -void pose_H_10(double *state, double *unused, double *out_6053481103905099724); -void pose_h_13(double *state, double *unused, double *out_8506504787708500859); -void pose_H_13(double *state, double *unused, double *out_7874493010280447066); -void pose_h_14(double *state, double *unused, double *out_6030639671543279411); -void pose_H_14(double *state, double *unused, double *out_7123525979273295338); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7828077856483360191); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_978622641958652250); +void pose_H_mod_fun(double *state, double *out_7441553898687288237); +void pose_f_fun(double *state, double dt, double *out_8648120814934185415); +void pose_F_fun(double *state, double dt, double *out_5073381682457521558); +void pose_h_4(double *state, double *unused, double *out_2401275546657747080); +void pose_H_4(double *state, double *unused, double *out_1593472091935329516); +void pose_h_10(double *state, double *unused, double *out_7020895229304053766); +void pose_H_10(double *state, double *unused, double *out_299233475658510513); +void pose_h_13(double *state, double *unused, double *out_2810480351238834931); +void pose_H_13(double *state, double *unused, double *out_4805745917267662317); +void pose_h_14(double *state, double *unused, double *out_6318162405249945056); +void pose_H_14(double *state, double *unused, double *out_5556712948274814045); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file