From 8ebda2b25abd44ca9917b2cc3929729834bb6624 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Mon, 19 Oct 2026 20:59:34 -0500 Subject: [PATCH] Update Device Build --- .../locationd/models/generated/car.cpp | 684 +++--- .../locationd/models/generated/car.h | 42 +- .../locationd/models/generated/libcar.so | Bin 24120528 -> 24120528 bytes .../locationd/models/generated/libpose.so | Bin 20605632 -> 20605632 bytes .../locationd/models/generated/pose.cpp | 1938 ++++++++--------- .../locationd/models/generated/pose.h | 26 +- panda/board/obj/body_h7.bin.signed | Bin 217756 -> 217756 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12040 -> 12040 bytes panda/board/obj/bootstub.panda.bin | Bin 11176 -> 11176 bytes .../obj/bootstub.panda_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18824 -> 18824 bytes .../bootstub.panda_h7_can_ignition_only.bin | Bin 18824 -> 18824 bytes .../obj/bootstub.panda_h7_hkg_remote.bin | Bin 18824 -> 18824 bytes ....panda_h7_hkg_remote_can_ignition_only.bin | Bin 18824 -> 18824 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18824 -> 18824 bytes ...stub.panda_h7_remote_can_ignition_only.bin | Bin 18824 -> 18824 bytes .../obj/bootstub.panda_h7_tesla_wake.bin | Bin 18824 -> 18824 bytes ....panda_h7_tesla_wake_can_ignition_only.bin | Bin 18824 -> 18824 bytes panda/board/obj/bootstub.panda_hkg_remote.bin | Bin 11176 -> 11176 bytes ...tub.panda_hkg_remote_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11176 -> 11176 bytes ...ootstub.panda_remote_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/bootstub.panda_tesla_wake.bin | Bin 11176 -> 11176 bytes ...tub.panda_tesla_wake_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 209700 -> 209700 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 209676 -> 209676 bytes panda/board/obj/panda_h7.bin.signed | Bin 218520 -> 218520 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 218496 -> 218496 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 218612 -> 218612 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 218596 -> 218596 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 218520 -> 218520 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 218496 -> 218496 bytes .../board/obj/panda_h7_tesla_wake.bin.signed | Bin 218664 -> 218664 bytes ...h7_tesla_wake_can_ignition_only.bin.signed | Bin 218640 -> 218640 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 209812 -> 209812 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 209792 -> 209792 bytes panda/board/obj/panda_remote.bin.signed | Bin 209696 -> 209696 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 209672 -> 209672 bytes panda/board/obj/panda_tesla_wake.bin.signed | Bin 209860 -> 209860 bytes ...da_tesla_wake_can_ignition_only.bin.signed | Bin 209832 -> 209832 bytes panda/board/obj/version | 2 +- prebuilt.json | 2 +- 43 files changed, 1348 insertions(+), 1348 deletions(-) diff --git a/openpilot/selfdrive/locationd/models/generated/car.cpp b/openpilot/selfdrive/locationd/models/generated/car.cpp index ea094484a0..058c5ff702 100644 --- a/openpilot/selfdrive/locationd/models/generated/car.cpp +++ b/openpilot/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_4191231468621882354) { - out_4191231468621882354[0] = delta_x[0] + nom_x[0]; - out_4191231468621882354[1] = delta_x[1] + nom_x[1]; - out_4191231468621882354[2] = delta_x[2] + nom_x[2]; - out_4191231468621882354[3] = delta_x[3] + nom_x[3]; - out_4191231468621882354[4] = delta_x[4] + nom_x[4]; - out_4191231468621882354[5] = delta_x[5] + nom_x[5]; - out_4191231468621882354[6] = delta_x[6] + nom_x[6]; - out_4191231468621882354[7] = delta_x[7] + nom_x[7]; - out_4191231468621882354[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8532074412831680005) { + out_8532074412831680005[0] = delta_x[0] + nom_x[0]; + out_8532074412831680005[1] = delta_x[1] + nom_x[1]; + out_8532074412831680005[2] = delta_x[2] + nom_x[2]; + out_8532074412831680005[3] = delta_x[3] + nom_x[3]; + out_8532074412831680005[4] = delta_x[4] + nom_x[4]; + out_8532074412831680005[5] = delta_x[5] + nom_x[5]; + out_8532074412831680005[6] = delta_x[6] + nom_x[6]; + out_8532074412831680005[7] = delta_x[7] + nom_x[7]; + out_8532074412831680005[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4409511713992133464) { - out_4409511713992133464[0] = -nom_x[0] + true_x[0]; - out_4409511713992133464[1] = -nom_x[1] + true_x[1]; - out_4409511713992133464[2] = -nom_x[2] + true_x[2]; - out_4409511713992133464[3] = -nom_x[3] + true_x[3]; - out_4409511713992133464[4] = -nom_x[4] + true_x[4]; - out_4409511713992133464[5] = -nom_x[5] + true_x[5]; - out_4409511713992133464[6] = -nom_x[6] + true_x[6]; - out_4409511713992133464[7] = -nom_x[7] + true_x[7]; - out_4409511713992133464[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8887769849182574222) { + out_8887769849182574222[0] = -nom_x[0] + true_x[0]; + out_8887769849182574222[1] = -nom_x[1] + true_x[1]; + out_8887769849182574222[2] = -nom_x[2] + true_x[2]; + out_8887769849182574222[3] = -nom_x[3] + true_x[3]; + out_8887769849182574222[4] = -nom_x[4] + true_x[4]; + out_8887769849182574222[5] = -nom_x[5] + true_x[5]; + out_8887769849182574222[6] = -nom_x[6] + true_x[6]; + out_8887769849182574222[7] = -nom_x[7] + true_x[7]; + out_8887769849182574222[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7704822479144562897) { - out_7704822479144562897[0] = 1.0; - out_7704822479144562897[1] = 0.0; - out_7704822479144562897[2] = 0.0; - out_7704822479144562897[3] = 0.0; - out_7704822479144562897[4] = 0.0; - out_7704822479144562897[5] = 0.0; - out_7704822479144562897[6] = 0.0; - out_7704822479144562897[7] = 0.0; - out_7704822479144562897[8] = 0.0; - out_7704822479144562897[9] = 0.0; - out_7704822479144562897[10] = 1.0; - out_7704822479144562897[11] = 0.0; - out_7704822479144562897[12] = 0.0; - out_7704822479144562897[13] = 0.0; - out_7704822479144562897[14] = 0.0; - out_7704822479144562897[15] = 0.0; - out_7704822479144562897[16] = 0.0; - out_7704822479144562897[17] = 0.0; - out_7704822479144562897[18] = 0.0; - out_7704822479144562897[19] = 0.0; - out_7704822479144562897[20] = 1.0; - out_7704822479144562897[21] = 0.0; - out_7704822479144562897[22] = 0.0; - out_7704822479144562897[23] = 0.0; - out_7704822479144562897[24] = 0.0; - out_7704822479144562897[25] = 0.0; - out_7704822479144562897[26] = 0.0; - out_7704822479144562897[27] = 0.0; - out_7704822479144562897[28] = 0.0; - out_7704822479144562897[29] = 0.0; - out_7704822479144562897[30] = 1.0; - out_7704822479144562897[31] = 0.0; - out_7704822479144562897[32] = 0.0; - out_7704822479144562897[33] = 0.0; - out_7704822479144562897[34] = 0.0; - out_7704822479144562897[35] = 0.0; - out_7704822479144562897[36] = 0.0; - out_7704822479144562897[37] = 0.0; - out_7704822479144562897[38] = 0.0; - out_7704822479144562897[39] = 0.0; - out_7704822479144562897[40] = 1.0; - out_7704822479144562897[41] = 0.0; - out_7704822479144562897[42] = 0.0; - out_7704822479144562897[43] = 0.0; - out_7704822479144562897[44] = 0.0; - out_7704822479144562897[45] = 0.0; - out_7704822479144562897[46] = 0.0; - out_7704822479144562897[47] = 0.0; - out_7704822479144562897[48] = 0.0; - out_7704822479144562897[49] = 0.0; - out_7704822479144562897[50] = 1.0; - out_7704822479144562897[51] = 0.0; - out_7704822479144562897[52] = 0.0; - out_7704822479144562897[53] = 0.0; - out_7704822479144562897[54] = 0.0; - out_7704822479144562897[55] = 0.0; - out_7704822479144562897[56] = 0.0; - out_7704822479144562897[57] = 0.0; - out_7704822479144562897[58] = 0.0; - out_7704822479144562897[59] = 0.0; - out_7704822479144562897[60] = 1.0; - out_7704822479144562897[61] = 0.0; - out_7704822479144562897[62] = 0.0; - out_7704822479144562897[63] = 0.0; - out_7704822479144562897[64] = 0.0; - out_7704822479144562897[65] = 0.0; - out_7704822479144562897[66] = 0.0; - out_7704822479144562897[67] = 0.0; - out_7704822479144562897[68] = 0.0; - out_7704822479144562897[69] = 0.0; - out_7704822479144562897[70] = 1.0; - out_7704822479144562897[71] = 0.0; - out_7704822479144562897[72] = 0.0; - out_7704822479144562897[73] = 0.0; - out_7704822479144562897[74] = 0.0; - out_7704822479144562897[75] = 0.0; - out_7704822479144562897[76] = 0.0; - out_7704822479144562897[77] = 0.0; - out_7704822479144562897[78] = 0.0; - out_7704822479144562897[79] = 0.0; - out_7704822479144562897[80] = 1.0; +void H_mod_fun(double *state, double *out_2434822093009109592) { + out_2434822093009109592[0] = 1.0; + out_2434822093009109592[1] = 0.0; + out_2434822093009109592[2] = 0.0; + out_2434822093009109592[3] = 0.0; + out_2434822093009109592[4] = 0.0; + out_2434822093009109592[5] = 0.0; + out_2434822093009109592[6] = 0.0; + out_2434822093009109592[7] = 0.0; + out_2434822093009109592[8] = 0.0; + out_2434822093009109592[9] = 0.0; + out_2434822093009109592[10] = 1.0; + out_2434822093009109592[11] = 0.0; + out_2434822093009109592[12] = 0.0; + out_2434822093009109592[13] = 0.0; + out_2434822093009109592[14] = 0.0; + out_2434822093009109592[15] = 0.0; + out_2434822093009109592[16] = 0.0; + out_2434822093009109592[17] = 0.0; + out_2434822093009109592[18] = 0.0; + out_2434822093009109592[19] = 0.0; + out_2434822093009109592[20] = 1.0; + out_2434822093009109592[21] = 0.0; + out_2434822093009109592[22] = 0.0; + out_2434822093009109592[23] = 0.0; + out_2434822093009109592[24] = 0.0; + out_2434822093009109592[25] = 0.0; + out_2434822093009109592[26] = 0.0; + out_2434822093009109592[27] = 0.0; + out_2434822093009109592[28] = 0.0; + out_2434822093009109592[29] = 0.0; + out_2434822093009109592[30] = 1.0; + out_2434822093009109592[31] = 0.0; + out_2434822093009109592[32] = 0.0; + out_2434822093009109592[33] = 0.0; + out_2434822093009109592[34] = 0.0; + out_2434822093009109592[35] = 0.0; + out_2434822093009109592[36] = 0.0; + out_2434822093009109592[37] = 0.0; + out_2434822093009109592[38] = 0.0; + out_2434822093009109592[39] = 0.0; + out_2434822093009109592[40] = 1.0; + out_2434822093009109592[41] = 0.0; + out_2434822093009109592[42] = 0.0; + out_2434822093009109592[43] = 0.0; + out_2434822093009109592[44] = 0.0; + out_2434822093009109592[45] = 0.0; + out_2434822093009109592[46] = 0.0; + out_2434822093009109592[47] = 0.0; + out_2434822093009109592[48] = 0.0; + out_2434822093009109592[49] = 0.0; + out_2434822093009109592[50] = 1.0; + out_2434822093009109592[51] = 0.0; + out_2434822093009109592[52] = 0.0; + out_2434822093009109592[53] = 0.0; + out_2434822093009109592[54] = 0.0; + out_2434822093009109592[55] = 0.0; + out_2434822093009109592[56] = 0.0; + out_2434822093009109592[57] = 0.0; + out_2434822093009109592[58] = 0.0; + out_2434822093009109592[59] = 0.0; + out_2434822093009109592[60] = 1.0; + out_2434822093009109592[61] = 0.0; + out_2434822093009109592[62] = 0.0; + out_2434822093009109592[63] = 0.0; + out_2434822093009109592[64] = 0.0; + out_2434822093009109592[65] = 0.0; + out_2434822093009109592[66] = 0.0; + out_2434822093009109592[67] = 0.0; + out_2434822093009109592[68] = 0.0; + out_2434822093009109592[69] = 0.0; + out_2434822093009109592[70] = 1.0; + out_2434822093009109592[71] = 0.0; + out_2434822093009109592[72] = 0.0; + out_2434822093009109592[73] = 0.0; + out_2434822093009109592[74] = 0.0; + out_2434822093009109592[75] = 0.0; + out_2434822093009109592[76] = 0.0; + out_2434822093009109592[77] = 0.0; + out_2434822093009109592[78] = 0.0; + out_2434822093009109592[79] = 0.0; + out_2434822093009109592[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2423168834336223124) { - out_2423168834336223124[0] = state[0]; - out_2423168834336223124[1] = state[1]; - out_2423168834336223124[2] = state[2]; - out_2423168834336223124[3] = state[3]; - out_2423168834336223124[4] = state[4]; - out_2423168834336223124[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_2423168834336223124[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_2423168834336223124[7] = state[7]; - out_2423168834336223124[8] = state[8]; +void f_fun(double *state, double dt, double *out_7489300736878445586) { + out_7489300736878445586[0] = state[0]; + out_7489300736878445586[1] = state[1]; + out_7489300736878445586[2] = state[2]; + out_7489300736878445586[3] = state[3]; + out_7489300736878445586[4] = state[4]; + out_7489300736878445586[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_7489300736878445586[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_7489300736878445586[7] = state[7]; + out_7489300736878445586[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7639588574330807467) { - out_7639588574330807467[0] = 1; - out_7639588574330807467[1] = 0; - out_7639588574330807467[2] = 0; - out_7639588574330807467[3] = 0; - out_7639588574330807467[4] = 0; - out_7639588574330807467[5] = 0; - out_7639588574330807467[6] = 0; - out_7639588574330807467[7] = 0; - out_7639588574330807467[8] = 0; - out_7639588574330807467[9] = 0; - out_7639588574330807467[10] = 1; - out_7639588574330807467[11] = 0; - out_7639588574330807467[12] = 0; - out_7639588574330807467[13] = 0; - out_7639588574330807467[14] = 0; - out_7639588574330807467[15] = 0; - out_7639588574330807467[16] = 0; - out_7639588574330807467[17] = 0; - out_7639588574330807467[18] = 0; - out_7639588574330807467[19] = 0; - out_7639588574330807467[20] = 1; - out_7639588574330807467[21] = 0; - out_7639588574330807467[22] = 0; - out_7639588574330807467[23] = 0; - out_7639588574330807467[24] = 0; - out_7639588574330807467[25] = 0; - out_7639588574330807467[26] = 0; - out_7639588574330807467[27] = 0; - out_7639588574330807467[28] = 0; - out_7639588574330807467[29] = 0; - out_7639588574330807467[30] = 1; - out_7639588574330807467[31] = 0; - out_7639588574330807467[32] = 0; - out_7639588574330807467[33] = 0; - out_7639588574330807467[34] = 0; - out_7639588574330807467[35] = 0; - out_7639588574330807467[36] = 0; - out_7639588574330807467[37] = 0; - out_7639588574330807467[38] = 0; - out_7639588574330807467[39] = 0; - out_7639588574330807467[40] = 1; - out_7639588574330807467[41] = 0; - out_7639588574330807467[42] = 0; - out_7639588574330807467[43] = 0; - out_7639588574330807467[44] = 0; - out_7639588574330807467[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_7639588574330807467[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7639588574330807467[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7639588574330807467[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7639588574330807467[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_7639588574330807467[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7639588574330807467[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7639588574330807467[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7639588574330807467[53] = -9.8100000000000005*dt; - out_7639588574330807467[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_7639588574330807467[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7639588574330807467[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7639588574330807467[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7639588574330807467[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_7639588574330807467[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7639588574330807467[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_7639588574330807467[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7639588574330807467[62] = 0; - out_7639588574330807467[63] = 0; - out_7639588574330807467[64] = 0; - out_7639588574330807467[65] = 0; - out_7639588574330807467[66] = 0; - out_7639588574330807467[67] = 0; - out_7639588574330807467[68] = 0; - out_7639588574330807467[69] = 0; - out_7639588574330807467[70] = 1; - out_7639588574330807467[71] = 0; - out_7639588574330807467[72] = 0; - out_7639588574330807467[73] = 0; - out_7639588574330807467[74] = 0; - out_7639588574330807467[75] = 0; - out_7639588574330807467[76] = 0; - out_7639588574330807467[77] = 0; - out_7639588574330807467[78] = 0; - out_7639588574330807467[79] = 0; - out_7639588574330807467[80] = 1; +void F_fun(double *state, double dt, double *out_5688594807383263913) { + out_5688594807383263913[0] = 1; + out_5688594807383263913[1] = 0; + out_5688594807383263913[2] = 0; + out_5688594807383263913[3] = 0; + out_5688594807383263913[4] = 0; + out_5688594807383263913[5] = 0; + out_5688594807383263913[6] = 0; + out_5688594807383263913[7] = 0; + out_5688594807383263913[8] = 0; + out_5688594807383263913[9] = 0; + out_5688594807383263913[10] = 1; + out_5688594807383263913[11] = 0; + out_5688594807383263913[12] = 0; + out_5688594807383263913[13] = 0; + out_5688594807383263913[14] = 0; + out_5688594807383263913[15] = 0; + out_5688594807383263913[16] = 0; + out_5688594807383263913[17] = 0; + out_5688594807383263913[18] = 0; + out_5688594807383263913[19] = 0; + out_5688594807383263913[20] = 1; + out_5688594807383263913[21] = 0; + out_5688594807383263913[22] = 0; + out_5688594807383263913[23] = 0; + out_5688594807383263913[24] = 0; + out_5688594807383263913[25] = 0; + out_5688594807383263913[26] = 0; + out_5688594807383263913[27] = 0; + out_5688594807383263913[28] = 0; + out_5688594807383263913[29] = 0; + out_5688594807383263913[30] = 1; + out_5688594807383263913[31] = 0; + out_5688594807383263913[32] = 0; + out_5688594807383263913[33] = 0; + out_5688594807383263913[34] = 0; + out_5688594807383263913[35] = 0; + out_5688594807383263913[36] = 0; + out_5688594807383263913[37] = 0; + out_5688594807383263913[38] = 0; + out_5688594807383263913[39] = 0; + out_5688594807383263913[40] = 1; + out_5688594807383263913[41] = 0; + out_5688594807383263913[42] = 0; + out_5688594807383263913[43] = 0; + out_5688594807383263913[44] = 0; + out_5688594807383263913[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_5688594807383263913[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5688594807383263913[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5688594807383263913[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5688594807383263913[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_5688594807383263913[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5688594807383263913[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5688594807383263913[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5688594807383263913[53] = -9.8100000000000005*dt; + out_5688594807383263913[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_5688594807383263913[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5688594807383263913[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5688594807383263913[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5688594807383263913[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_5688594807383263913[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5688594807383263913[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_5688594807383263913[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5688594807383263913[62] = 0; + out_5688594807383263913[63] = 0; + out_5688594807383263913[64] = 0; + out_5688594807383263913[65] = 0; + out_5688594807383263913[66] = 0; + out_5688594807383263913[67] = 0; + out_5688594807383263913[68] = 0; + out_5688594807383263913[69] = 0; + out_5688594807383263913[70] = 1; + out_5688594807383263913[71] = 0; + out_5688594807383263913[72] = 0; + out_5688594807383263913[73] = 0; + out_5688594807383263913[74] = 0; + out_5688594807383263913[75] = 0; + out_5688594807383263913[76] = 0; + out_5688594807383263913[77] = 0; + out_5688594807383263913[78] = 0; + out_5688594807383263913[79] = 0; + out_5688594807383263913[80] = 1; } -void h_25(double *state, double *unused, double *out_4973933158632202337) { - out_4973933158632202337[0] = state[6]; +void h_25(double *state, double *unused, double *out_4593071790268116288) { + out_4593071790268116288[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1488365746767674340) { - out_1488365746767674340[0] = 0; - out_1488365746767674340[1] = 0; - out_1488365746767674340[2] = 0; - out_1488365746767674340[3] = 0; - out_1488365746767674340[4] = 0; - out_1488365746767674340[5] = 0; - out_1488365746767674340[6] = 1; - out_1488365746767674340[7] = 0; - out_1488365746767674340[8] = 0; +void H_25(double *state, double *unused, double *out_3739161203201081212) { + out_3739161203201081212[0] = 0; + out_3739161203201081212[1] = 0; + out_3739161203201081212[2] = 0; + out_3739161203201081212[3] = 0; + out_3739161203201081212[4] = 0; + out_3739161203201081212[5] = 0; + out_3739161203201081212[6] = 1; + out_3739161203201081212[7] = 0; + out_3739161203201081212[8] = 0; } -void h_24(double *state, double *unused, double *out_8075656837058392290) { - out_8075656837058392290[0] = state[4]; - out_8075656837058392290[1] = state[5]; +void h_24(double *state, double *unused, double *out_8003921618768497979) { + out_8003921618768497979[0] = state[4]; + out_8003921618768497979[1] = state[5]; } -void H_24(double *state, double *unused, double *out_688848676839475633) { - out_688848676839475633[0] = 0; - out_688848676839475633[1] = 0; - out_688848676839475633[2] = 0; - out_688848676839475633[3] = 0; - out_688848676839475633[4] = 1; - out_688848676839475633[5] = 0; - out_688848676839475633[6] = 0; - out_688848676839475633[7] = 0; - out_688848676839475633[8] = 0; - out_688848676839475633[9] = 0; - out_688848676839475633[10] = 0; - out_688848676839475633[11] = 0; - out_688848676839475633[12] = 0; - out_688848676839475633[13] = 0; - out_688848676839475633[14] = 1; - out_688848676839475633[15] = 0; - out_688848676839475633[16] = 0; - out_688848676839475633[17] = 0; +void H_24(double *state, double *unused, double *out_4646084155782705221) { + out_4646084155782705221[0] = 0; + out_4646084155782705221[1] = 0; + out_4646084155782705221[2] = 0; + out_4646084155782705221[3] = 0; + out_4646084155782705221[4] = 1; + out_4646084155782705221[5] = 0; + out_4646084155782705221[6] = 0; + out_4646084155782705221[7] = 0; + out_4646084155782705221[8] = 0; + out_4646084155782705221[9] = 0; + out_4646084155782705221[10] = 0; + out_4646084155782705221[11] = 0; + out_4646084155782705221[12] = 0; + out_4646084155782705221[13] = 0; + out_4646084155782705221[14] = 1; + out_4646084155782705221[15] = 0; + out_4646084155782705221[16] = 0; + out_4646084155782705221[17] = 0; } -void h_30(double *state, double *unused, double *out_4816746490281073192) { - out_4816746490281073192[0] = state[4]; +void h_30(double *state, double *unused, double *out_7633295100594421359) { + out_7633295100594421359[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1029967211739574287) { - out_1029967211739574287[0] = 0; - out_1029967211739574287[1] = 0; - out_1029967211739574287[2] = 0; - out_1029967211739574287[3] = 0; - out_1029967211739574287[4] = 1; - out_1029967211739574287[5] = 0; - out_1029967211739574287[6] = 0; - out_1029967211739574287[7] = 0; - out_1029967211739574287[8] = 0; +void H_30(double *state, double *unused, double *out_3177529138290535543) { + out_3177529138290535543[0] = 0; + out_3177529138290535543[1] = 0; + out_3177529138290535543[2] = 0; + out_3177529138290535543[3] = 0; + out_3177529138290535543[4] = 1; + out_3177529138290535543[5] = 0; + out_3177529138290535543[6] = 0; + out_3177529138290535543[7] = 0; + out_3177529138290535543[8] = 0; } -void h_26(double *state, double *unused, double *out_2119428105077637665) { - out_2119428105077637665[0] = state[7]; +void h_26(double *state, double *unused, double *out_5811775705454284612) { + out_5811775705454284612[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5229869065641730564) { - out_5229869065641730564[0] = 0; - out_5229869065641730564[1] = 0; - out_5229869065641730564[2] = 0; - out_5229869065641730564[3] = 0; - out_5229869065641730564[4] = 0; - out_5229869065641730564[5] = 0; - out_5229869065641730564[6] = 0; - out_5229869065641730564[7] = 1; - out_5229869065641730564[8] = 0; +void H_26(double *state, double *unused, double *out_7480664522075137436) { + out_7480664522075137436[0] = 0; + out_7480664522075137436[1] = 0; + out_7480664522075137436[2] = 0; + out_7480664522075137436[3] = 0; + out_7480664522075137436[4] = 0; + out_7480664522075137436[5] = 0; + out_7480664522075137436[6] = 0; + out_7480664522075137436[7] = 1; + out_7480664522075137436[8] = 0; } -void h_27(double *state, double *unused, double *out_2161381055362348954) { - out_2161381055362348954[0] = state[3]; +void h_27(double *state, double *unused, double *out_8851999015780589683) { + out_8851999015780589683[0] = state[3]; } -void H_27(double *state, double *unused, double *out_3253561282923517504) { - out_3253561282923517504[0] = 0; - out_3253561282923517504[1] = 0; - out_3253561282923517504[2] = 0; - out_3253561282923517504[3] = 1; - out_3253561282923517504[4] = 0; - out_3253561282923517504[5] = 0; - out_3253561282923517504[6] = 0; - out_3253561282923517504[7] = 0; - out_3253561282923517504[8] = 0; +void H_27(double *state, double *unused, double *out_6043263462144746193) { + out_6043263462144746193[0] = 0; + out_6043263462144746193[1] = 0; + out_6043263462144746193[2] = 0; + out_6043263462144746193[3] = 1; + out_6043263462144746193[4] = 0; + out_6043263462144746193[5] = 0; + out_6043263462144746193[6] = 0; + out_6043263462144746193[7] = 0; + out_6043263462144746193[8] = 0; } -void h_29(double *state, double *unused, double *out_2436575117646854843) { - out_2436575117646854843[0] = state[1]; +void h_29(double *state, double *unused, double *out_1831479801108289492) { + out_1831479801108289492[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1540198556053966471) { - out_1540198556053966471[0] = 0; - out_1540198556053966471[1] = 1; - out_1540198556053966471[2] = 0; - out_1540198556053966471[3] = 0; - out_1540198556053966471[4] = 0; - out_1540198556053966471[5] = 0; - out_1540198556053966471[6] = 0; - out_1540198556053966471[7] = 0; - out_1540198556053966471[8] = 0; +void H_29(double *state, double *unused, double *out_7756626189014297226) { + out_7756626189014297226[0] = 0; + out_7756626189014297226[1] = 1; + out_7756626189014297226[2] = 0; + out_7756626189014297226[3] = 0; + out_7756626189014297226[4] = 0; + out_7756626189014297226[5] = 0; + out_7756626189014297226[6] = 0; + out_7756626189014297226[7] = 0; + out_7756626189014297226[8] = 0; } -void h_28(double *state, double *unused, double *out_7163054323023194599) { - out_7163054323023194599[0] = state[0]; +void h_28(double *state, double *unused, double *out_6557959006484629248) { + out_6557959006484629248[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3542200461015564103) { - out_3542200461015564103[0] = 1; - out_3542200461015564103[1] = 0; - out_3542200461015564103[2] = 0; - out_3542200461015564103[3] = 0; - out_3542200461015564103[4] = 0; - out_3542200461015564103[5] = 0; - out_3542200461015564103[6] = 0; - out_3542200461015564103[7] = 0; - out_3542200461015564103[8] = 0; +void H_28(double *state, double *unused, double *out_5792995917448970975) { + out_5792995917448970975[0] = 1; + out_5792995917448970975[1] = 0; + out_5792995917448970975[2] = 0; + out_5792995917448970975[3] = 0; + out_5792995917448970975[4] = 0; + out_5792995917448970975[5] = 0; + out_5792995917448970975[6] = 0; + out_5792995917448970975[7] = 0; + out_5792995917448970975[8] = 0; } -void h_31(double *state, double *unused, double *out_1389660819669613524) { - out_1389660819669613524[0] = state[8]; +void h_31(double *state, double *unused, double *out_5357011602177695336) { + out_5357011602177695336[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1457719784890713912) { - out_1457719784890713912[0] = 0; - out_1457719784890713912[1] = 0; - out_1457719784890713912[2] = 0; - out_1457719784890713912[3] = 0; - out_1457719784890713912[4] = 0; - out_1457719784890713912[5] = 0; - out_1457719784890713912[6] = 0; - out_1457719784890713912[7] = 0; - out_1457719784890713912[8] = 1; +void H_31(double *state, double *unused, double *out_3708515241324120784) { + out_3708515241324120784[0] = 0; + out_3708515241324120784[1] = 0; + out_3708515241324120784[2] = 0; + out_3708515241324120784[3] = 0; + out_3708515241324120784[4] = 0; + out_3708515241324120784[5] = 0; + out_3708515241324120784[6] = 0; + out_3708515241324120784[7] = 0; + out_3708515241324120784[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_4191231468621882354) { - err_fun(nom_x, delta_x, out_4191231468621882354); +void car_err_fun(double *nom_x, double *delta_x, double *out_8532074412831680005) { + err_fun(nom_x, delta_x, out_8532074412831680005); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4409511713992133464) { - inv_err_fun(nom_x, true_x, out_4409511713992133464); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8887769849182574222) { + inv_err_fun(nom_x, true_x, out_8887769849182574222); } -void car_H_mod_fun(double *state, double *out_7704822479144562897) { - H_mod_fun(state, out_7704822479144562897); +void car_H_mod_fun(double *state, double *out_2434822093009109592) { + H_mod_fun(state, out_2434822093009109592); } -void car_f_fun(double *state, double dt, double *out_2423168834336223124) { - f_fun(state, dt, out_2423168834336223124); +void car_f_fun(double *state, double dt, double *out_7489300736878445586) { + f_fun(state, dt, out_7489300736878445586); } -void car_F_fun(double *state, double dt, double *out_7639588574330807467) { - F_fun(state, dt, out_7639588574330807467); +void car_F_fun(double *state, double dt, double *out_5688594807383263913) { + F_fun(state, dt, out_5688594807383263913); } -void car_h_25(double *state, double *unused, double *out_4973933158632202337) { - h_25(state, unused, out_4973933158632202337); +void car_h_25(double *state, double *unused, double *out_4593071790268116288) { + h_25(state, unused, out_4593071790268116288); } -void car_H_25(double *state, double *unused, double *out_1488365746767674340) { - H_25(state, unused, out_1488365746767674340); +void car_H_25(double *state, double *unused, double *out_3739161203201081212) { + H_25(state, unused, out_3739161203201081212); } -void car_h_24(double *state, double *unused, double *out_8075656837058392290) { - h_24(state, unused, out_8075656837058392290); +void car_h_24(double *state, double *unused, double *out_8003921618768497979) { + h_24(state, unused, out_8003921618768497979); } -void car_H_24(double *state, double *unused, double *out_688848676839475633) { - H_24(state, unused, out_688848676839475633); +void car_H_24(double *state, double *unused, double *out_4646084155782705221) { + H_24(state, unused, out_4646084155782705221); } -void car_h_30(double *state, double *unused, double *out_4816746490281073192) { - h_30(state, unused, out_4816746490281073192); +void car_h_30(double *state, double *unused, double *out_7633295100594421359) { + h_30(state, unused, out_7633295100594421359); } -void car_H_30(double *state, double *unused, double *out_1029967211739574287) { - H_30(state, unused, out_1029967211739574287); +void car_H_30(double *state, double *unused, double *out_3177529138290535543) { + H_30(state, unused, out_3177529138290535543); } -void car_h_26(double *state, double *unused, double *out_2119428105077637665) { - h_26(state, unused, out_2119428105077637665); +void car_h_26(double *state, double *unused, double *out_5811775705454284612) { + h_26(state, unused, out_5811775705454284612); } -void car_H_26(double *state, double *unused, double *out_5229869065641730564) { - H_26(state, unused, out_5229869065641730564); +void car_H_26(double *state, double *unused, double *out_7480664522075137436) { + H_26(state, unused, out_7480664522075137436); } -void car_h_27(double *state, double *unused, double *out_2161381055362348954) { - h_27(state, unused, out_2161381055362348954); +void car_h_27(double *state, double *unused, double *out_8851999015780589683) { + h_27(state, unused, out_8851999015780589683); } -void car_H_27(double *state, double *unused, double *out_3253561282923517504) { - H_27(state, unused, out_3253561282923517504); +void car_H_27(double *state, double *unused, double *out_6043263462144746193) { + H_27(state, unused, out_6043263462144746193); } -void car_h_29(double *state, double *unused, double *out_2436575117646854843) { - h_29(state, unused, out_2436575117646854843); +void car_h_29(double *state, double *unused, double *out_1831479801108289492) { + h_29(state, unused, out_1831479801108289492); } -void car_H_29(double *state, double *unused, double *out_1540198556053966471) { - H_29(state, unused, out_1540198556053966471); +void car_H_29(double *state, double *unused, double *out_7756626189014297226) { + H_29(state, unused, out_7756626189014297226); } -void car_h_28(double *state, double *unused, double *out_7163054323023194599) { - h_28(state, unused, out_7163054323023194599); +void car_h_28(double *state, double *unused, double *out_6557959006484629248) { + h_28(state, unused, out_6557959006484629248); } -void car_H_28(double *state, double *unused, double *out_3542200461015564103) { - H_28(state, unused, out_3542200461015564103); +void car_H_28(double *state, double *unused, double *out_5792995917448970975) { + H_28(state, unused, out_5792995917448970975); } -void car_h_31(double *state, double *unused, double *out_1389660819669613524) { - h_31(state, unused, out_1389660819669613524); +void car_h_31(double *state, double *unused, double *out_5357011602177695336) { + h_31(state, unused, out_5357011602177695336); } -void car_H_31(double *state, double *unused, double *out_1457719784890713912) { - H_31(state, unused, out_1457719784890713912); +void car_H_31(double *state, double *unused, double *out_3708515241324120784) { + H_31(state, unused, out_3708515241324120784); } 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/openpilot/selfdrive/locationd/models/generated/car.h b/openpilot/selfdrive/locationd/models/generated/car.h index 08c2818fd8..bae7a67e64 100644 --- a/openpilot/selfdrive/locationd/models/generated/car.h +++ b/openpilot/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_4191231468621882354); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4409511713992133464); -void car_H_mod_fun(double *state, double *out_7704822479144562897); -void car_f_fun(double *state, double dt, double *out_2423168834336223124); -void car_F_fun(double *state, double dt, double *out_7639588574330807467); -void car_h_25(double *state, double *unused, double *out_4973933158632202337); -void car_H_25(double *state, double *unused, double *out_1488365746767674340); -void car_h_24(double *state, double *unused, double *out_8075656837058392290); -void car_H_24(double *state, double *unused, double *out_688848676839475633); -void car_h_30(double *state, double *unused, double *out_4816746490281073192); -void car_H_30(double *state, double *unused, double *out_1029967211739574287); -void car_h_26(double *state, double *unused, double *out_2119428105077637665); -void car_H_26(double *state, double *unused, double *out_5229869065641730564); -void car_h_27(double *state, double *unused, double *out_2161381055362348954); -void car_H_27(double *state, double *unused, double *out_3253561282923517504); -void car_h_29(double *state, double *unused, double *out_2436575117646854843); -void car_H_29(double *state, double *unused, double *out_1540198556053966471); -void car_h_28(double *state, double *unused, double *out_7163054323023194599); -void car_H_28(double *state, double *unused, double *out_3542200461015564103); -void car_h_31(double *state, double *unused, double *out_1389660819669613524); -void car_H_31(double *state, double *unused, double *out_1457719784890713912); +void car_err_fun(double *nom_x, double *delta_x, double *out_8532074412831680005); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8887769849182574222); +void car_H_mod_fun(double *state, double *out_2434822093009109592); +void car_f_fun(double *state, double dt, double *out_7489300736878445586); +void car_F_fun(double *state, double dt, double *out_5688594807383263913); +void car_h_25(double *state, double *unused, double *out_4593071790268116288); +void car_H_25(double *state, double *unused, double *out_3739161203201081212); +void car_h_24(double *state, double *unused, double *out_8003921618768497979); +void car_H_24(double *state, double *unused, double *out_4646084155782705221); +void car_h_30(double *state, double *unused, double *out_7633295100594421359); +void car_H_30(double *state, double *unused, double *out_3177529138290535543); +void car_h_26(double *state, double *unused, double *out_5811775705454284612); +void car_H_26(double *state, double *unused, double *out_7480664522075137436); +void car_h_27(double *state, double *unused, double *out_8851999015780589683); +void car_H_27(double *state, double *unused, double *out_6043263462144746193); +void car_h_29(double *state, double *unused, double *out_1831479801108289492); +void car_H_29(double *state, double *unused, double *out_7756626189014297226); +void car_h_28(double *state, double *unused, double *out_6557959006484629248); +void car_H_28(double *state, double *unused, double *out_5792995917448970975); +void car_h_31(double *state, double *unused, double *out_5357011602177695336); +void car_H_31(double *state, double *unused, double *out_3708515241324120784); 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/openpilot/selfdrive/locationd/models/generated/libcar.so b/openpilot/selfdrive/locationd/models/generated/libcar.so index 5711d3ef5d693a34cb6f2d930779bea1498357b3..dd63f21e7289d2c71b4e76ded88d72e08ae8712b 100755 GIT binary patch delta 15540 zcmX}z1$b1~*2eL?gy0_BGe?6a6UT}bcW7}a8lc6!$l$KUiVoTqDDF@QR;)P1DXzt# zIF#={_xbL9`ux^D898U~wbnif$@Jvx-Dyu^?FD6R*1Oua7WoHd9n!GP*N@+3yq&r6 zqOrptY4jrnBttNgBLpds5~+|HX^$cF65ft<*N+{lBx$cOwW zfPx5v2L?=7u;IW(I0~UKil8Wpp*SKC2`{1$jTpot4)I$aDPhf+oCVSZKOFQTq+oEy zVIc*AdsVB!VVY_o1x9Zemw*x|iBc$yGWY^zQ4Zx%0TuBjDxor}pem}NI%=RMYN0mj 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zKfYmER=#RwBd^&hupDvfmy_#q@zl&4r_A}-R{4oc0rFjth!tXs6=qRIxEVaGEXqQW zw|Jb|m1L|^ajNex&6dGE7-cA?5URc`s}JQd97d=j_;MRbF-B3S(X65zc`wh*aRt|L z7mx8Aukaq9VZp;U1XbXHgtW+nqDTyXR+`)>h~g-XFhrpOs$oc0ewt0+3hnU|W??;2 zRpg6Mw}8^qMRZ$y_&;p&& zw;K5$!NFKe!LNwHCM4n?FJ(ailt3hIz(w*JtN=xD7K3W?NUp^V`A8J$6r>JIj92{2kMhsoWyBdM05k5d}xg3XpbHkg5uQ2DEcWlU0PZ~ zKaDRy%jq{^500Y=F5xDg;w82<1vGJnNhB8Y{2{o3Rgn;u;<` zi<{Tcmp8WL&1m0{xxN=Mt9z95Mf#S++@`PWD;ATjXMEo^ruF~!<71ZmZ@(_)HvNnL E0kK6oEC2ui diff --git a/openpilot/selfdrive/locationd/models/generated/pose.cpp b/openpilot/selfdrive/locationd/models/generated/pose.cpp index 00cca74ef7..ee39782f69 100644 --- a/openpilot/selfdrive/locationd/models/generated/pose.cpp +++ b/openpilot/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_7083554587370275014) { - out_7083554587370275014[0] = delta_x[0] + nom_x[0]; - out_7083554587370275014[1] = delta_x[1] + nom_x[1]; - out_7083554587370275014[2] = delta_x[2] + nom_x[2]; - out_7083554587370275014[3] = delta_x[3] + nom_x[3]; - out_7083554587370275014[4] = delta_x[4] + nom_x[4]; - out_7083554587370275014[5] = delta_x[5] + nom_x[5]; - out_7083554587370275014[6] = delta_x[6] + nom_x[6]; - out_7083554587370275014[7] = delta_x[7] + nom_x[7]; - out_7083554587370275014[8] = delta_x[8] + nom_x[8]; - out_7083554587370275014[9] = delta_x[9] + nom_x[9]; - out_7083554587370275014[10] = delta_x[10] + nom_x[10]; - out_7083554587370275014[11] = delta_x[11] + nom_x[11]; - out_7083554587370275014[12] = delta_x[12] + nom_x[12]; - out_7083554587370275014[13] = delta_x[13] + nom_x[13]; - out_7083554587370275014[14] = delta_x[14] + nom_x[14]; - out_7083554587370275014[15] = delta_x[15] + nom_x[15]; - out_7083554587370275014[16] = delta_x[16] + nom_x[16]; - out_7083554587370275014[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3388086590141056177) { + out_3388086590141056177[0] = delta_x[0] + nom_x[0]; + out_3388086590141056177[1] = delta_x[1] + nom_x[1]; + out_3388086590141056177[2] = delta_x[2] + nom_x[2]; + out_3388086590141056177[3] = delta_x[3] + nom_x[3]; + out_3388086590141056177[4] = delta_x[4] + nom_x[4]; + out_3388086590141056177[5] = delta_x[5] + nom_x[5]; + out_3388086590141056177[6] = delta_x[6] + nom_x[6]; + out_3388086590141056177[7] = delta_x[7] + nom_x[7]; + out_3388086590141056177[8] = delta_x[8] + nom_x[8]; + out_3388086590141056177[9] = delta_x[9] + nom_x[9]; + out_3388086590141056177[10] = delta_x[10] + nom_x[10]; + out_3388086590141056177[11] = delta_x[11] + nom_x[11]; + out_3388086590141056177[12] = delta_x[12] + nom_x[12]; + out_3388086590141056177[13] = delta_x[13] + nom_x[13]; + out_3388086590141056177[14] = delta_x[14] + nom_x[14]; + out_3388086590141056177[15] = delta_x[15] + nom_x[15]; + out_3388086590141056177[16] = delta_x[16] + nom_x[16]; + out_3388086590141056177[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6548503546481104197) { - out_6548503546481104197[0] = -nom_x[0] + true_x[0]; - out_6548503546481104197[1] = -nom_x[1] + true_x[1]; - out_6548503546481104197[2] = -nom_x[2] + true_x[2]; - out_6548503546481104197[3] = -nom_x[3] + true_x[3]; - out_6548503546481104197[4] = -nom_x[4] + true_x[4]; - out_6548503546481104197[5] = -nom_x[5] + true_x[5]; - out_6548503546481104197[6] = -nom_x[6] + true_x[6]; - out_6548503546481104197[7] = -nom_x[7] + true_x[7]; - out_6548503546481104197[8] = -nom_x[8] + true_x[8]; - out_6548503546481104197[9] = -nom_x[9] + true_x[9]; - out_6548503546481104197[10] = -nom_x[10] + true_x[10]; - out_6548503546481104197[11] = -nom_x[11] + true_x[11]; - out_6548503546481104197[12] = -nom_x[12] + true_x[12]; - out_6548503546481104197[13] = -nom_x[13] + true_x[13]; - out_6548503546481104197[14] = -nom_x[14] + true_x[14]; - out_6548503546481104197[15] = -nom_x[15] + true_x[15]; - out_6548503546481104197[16] = -nom_x[16] + true_x[16]; - out_6548503546481104197[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1633734341039361389) { + out_1633734341039361389[0] = -nom_x[0] + true_x[0]; + out_1633734341039361389[1] = -nom_x[1] + true_x[1]; + out_1633734341039361389[2] = -nom_x[2] + true_x[2]; + out_1633734341039361389[3] = -nom_x[3] + true_x[3]; + out_1633734341039361389[4] = -nom_x[4] + true_x[4]; + out_1633734341039361389[5] = -nom_x[5] + true_x[5]; + out_1633734341039361389[6] = -nom_x[6] + true_x[6]; + out_1633734341039361389[7] = -nom_x[7] + true_x[7]; + out_1633734341039361389[8] = -nom_x[8] + true_x[8]; + out_1633734341039361389[9] = -nom_x[9] + true_x[9]; + out_1633734341039361389[10] = -nom_x[10] + true_x[10]; + out_1633734341039361389[11] = -nom_x[11] + true_x[11]; + out_1633734341039361389[12] = -nom_x[12] + true_x[12]; + out_1633734341039361389[13] = -nom_x[13] + true_x[13]; + out_1633734341039361389[14] = -nom_x[14] + true_x[14]; + out_1633734341039361389[15] = -nom_x[15] + true_x[15]; + out_1633734341039361389[16] = -nom_x[16] + true_x[16]; + out_1633734341039361389[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_8484867830328864601) { - out_8484867830328864601[0] = 1.0; - out_8484867830328864601[1] = 0.0; - out_8484867830328864601[2] = 0.0; - out_8484867830328864601[3] = 0.0; - out_8484867830328864601[4] = 0.0; - out_8484867830328864601[5] = 0.0; - out_8484867830328864601[6] = 0.0; - out_8484867830328864601[7] = 0.0; - out_8484867830328864601[8] = 0.0; - out_8484867830328864601[9] = 0.0; - out_8484867830328864601[10] = 0.0; - out_8484867830328864601[11] = 0.0; - out_8484867830328864601[12] = 0.0; - out_8484867830328864601[13] = 0.0; - out_8484867830328864601[14] = 0.0; - out_8484867830328864601[15] = 0.0; - out_8484867830328864601[16] = 0.0; - out_8484867830328864601[17] = 0.0; - out_8484867830328864601[18] = 0.0; - out_8484867830328864601[19] = 1.0; - out_8484867830328864601[20] = 0.0; - out_8484867830328864601[21] = 0.0; - out_8484867830328864601[22] = 0.0; - out_8484867830328864601[23] = 0.0; - out_8484867830328864601[24] = 0.0; - out_8484867830328864601[25] = 0.0; - out_8484867830328864601[26] = 0.0; - out_8484867830328864601[27] = 0.0; - out_8484867830328864601[28] = 0.0; - out_8484867830328864601[29] = 0.0; - out_8484867830328864601[30] = 0.0; - out_8484867830328864601[31] = 0.0; - out_8484867830328864601[32] = 0.0; - out_8484867830328864601[33] = 0.0; - out_8484867830328864601[34] = 0.0; - out_8484867830328864601[35] = 0.0; - out_8484867830328864601[36] = 0.0; - out_8484867830328864601[37] = 0.0; - out_8484867830328864601[38] = 1.0; - out_8484867830328864601[39] = 0.0; - out_8484867830328864601[40] = 0.0; - out_8484867830328864601[41] = 0.0; - out_8484867830328864601[42] = 0.0; - out_8484867830328864601[43] = 0.0; - out_8484867830328864601[44] = 0.0; - out_8484867830328864601[45] = 0.0; - out_8484867830328864601[46] = 0.0; - out_8484867830328864601[47] = 0.0; - out_8484867830328864601[48] = 0.0; - out_8484867830328864601[49] = 0.0; - out_8484867830328864601[50] = 0.0; - out_8484867830328864601[51] = 0.0; - out_8484867830328864601[52] = 0.0; - out_8484867830328864601[53] = 0.0; - out_8484867830328864601[54] = 0.0; - out_8484867830328864601[55] = 0.0; - out_8484867830328864601[56] = 0.0; - out_8484867830328864601[57] = 1.0; - out_8484867830328864601[58] = 0.0; - out_8484867830328864601[59] = 0.0; - out_8484867830328864601[60] = 0.0; - out_8484867830328864601[61] = 0.0; - out_8484867830328864601[62] = 0.0; - out_8484867830328864601[63] = 0.0; - out_8484867830328864601[64] = 0.0; - out_8484867830328864601[65] = 0.0; - out_8484867830328864601[66] = 0.0; - out_8484867830328864601[67] = 0.0; - out_8484867830328864601[68] = 0.0; - out_8484867830328864601[69] = 0.0; - out_8484867830328864601[70] = 0.0; - out_8484867830328864601[71] = 0.0; - out_8484867830328864601[72] = 0.0; - out_8484867830328864601[73] = 0.0; - out_8484867830328864601[74] = 0.0; - out_8484867830328864601[75] = 0.0; - out_8484867830328864601[76] = 1.0; - out_8484867830328864601[77] = 0.0; - out_8484867830328864601[78] = 0.0; - out_8484867830328864601[79] = 0.0; - out_8484867830328864601[80] = 0.0; - out_8484867830328864601[81] = 0.0; - out_8484867830328864601[82] = 0.0; - out_8484867830328864601[83] = 0.0; - out_8484867830328864601[84] = 0.0; - out_8484867830328864601[85] = 0.0; - out_8484867830328864601[86] = 0.0; - out_8484867830328864601[87] = 0.0; - out_8484867830328864601[88] = 0.0; - out_8484867830328864601[89] = 0.0; - out_8484867830328864601[90] = 0.0; - out_8484867830328864601[91] = 0.0; - out_8484867830328864601[92] = 0.0; - out_8484867830328864601[93] = 0.0; - out_8484867830328864601[94] = 0.0; - out_8484867830328864601[95] = 1.0; - out_8484867830328864601[96] = 0.0; - out_8484867830328864601[97] = 0.0; - out_8484867830328864601[98] = 0.0; - out_8484867830328864601[99] = 0.0; - out_8484867830328864601[100] = 0.0; - out_8484867830328864601[101] = 0.0; - out_8484867830328864601[102] = 0.0; - out_8484867830328864601[103] = 0.0; - out_8484867830328864601[104] = 0.0; - out_8484867830328864601[105] = 0.0; - out_8484867830328864601[106] = 0.0; - out_8484867830328864601[107] = 0.0; - out_8484867830328864601[108] = 0.0; - out_8484867830328864601[109] = 0.0; - out_8484867830328864601[110] = 0.0; - out_8484867830328864601[111] = 0.0; - out_8484867830328864601[112] = 0.0; - out_8484867830328864601[113] = 0.0; - out_8484867830328864601[114] = 1.0; - out_8484867830328864601[115] = 0.0; - out_8484867830328864601[116] = 0.0; - out_8484867830328864601[117] = 0.0; - out_8484867830328864601[118] = 0.0; - out_8484867830328864601[119] = 0.0; - out_8484867830328864601[120] = 0.0; - out_8484867830328864601[121] = 0.0; - out_8484867830328864601[122] = 0.0; - out_8484867830328864601[123] = 0.0; - out_8484867830328864601[124] = 0.0; - out_8484867830328864601[125] = 0.0; - out_8484867830328864601[126] = 0.0; - out_8484867830328864601[127] = 0.0; - out_8484867830328864601[128] = 0.0; - out_8484867830328864601[129] = 0.0; - out_8484867830328864601[130] = 0.0; - out_8484867830328864601[131] = 0.0; - out_8484867830328864601[132] = 0.0; - out_8484867830328864601[133] = 1.0; - out_8484867830328864601[134] = 0.0; - out_8484867830328864601[135] = 0.0; - out_8484867830328864601[136] = 0.0; - out_8484867830328864601[137] = 0.0; - out_8484867830328864601[138] = 0.0; - out_8484867830328864601[139] = 0.0; - out_8484867830328864601[140] = 0.0; - out_8484867830328864601[141] = 0.0; - out_8484867830328864601[142] = 0.0; - out_8484867830328864601[143] = 0.0; - out_8484867830328864601[144] = 0.0; - out_8484867830328864601[145] = 0.0; - out_8484867830328864601[146] = 0.0; - out_8484867830328864601[147] = 0.0; - out_8484867830328864601[148] = 0.0; - out_8484867830328864601[149] = 0.0; - out_8484867830328864601[150] = 0.0; - out_8484867830328864601[151] = 0.0; - out_8484867830328864601[152] = 1.0; - out_8484867830328864601[153] = 0.0; - out_8484867830328864601[154] = 0.0; - out_8484867830328864601[155] = 0.0; - out_8484867830328864601[156] = 0.0; - out_8484867830328864601[157] = 0.0; - out_8484867830328864601[158] = 0.0; - out_8484867830328864601[159] = 0.0; - out_8484867830328864601[160] = 0.0; - out_8484867830328864601[161] = 0.0; - out_8484867830328864601[162] = 0.0; - out_8484867830328864601[163] = 0.0; - out_8484867830328864601[164] = 0.0; - out_8484867830328864601[165] = 0.0; - out_8484867830328864601[166] = 0.0; - out_8484867830328864601[167] = 0.0; - out_8484867830328864601[168] = 0.0; - out_8484867830328864601[169] = 0.0; - out_8484867830328864601[170] = 0.0; - out_8484867830328864601[171] = 1.0; - out_8484867830328864601[172] = 0.0; - out_8484867830328864601[173] = 0.0; - out_8484867830328864601[174] = 0.0; - out_8484867830328864601[175] = 0.0; - out_8484867830328864601[176] = 0.0; - out_8484867830328864601[177] = 0.0; - out_8484867830328864601[178] = 0.0; - out_8484867830328864601[179] = 0.0; - out_8484867830328864601[180] = 0.0; - out_8484867830328864601[181] = 0.0; - out_8484867830328864601[182] = 0.0; - out_8484867830328864601[183] = 0.0; - out_8484867830328864601[184] = 0.0; - out_8484867830328864601[185] = 0.0; - out_8484867830328864601[186] = 0.0; - out_8484867830328864601[187] = 0.0; - out_8484867830328864601[188] = 0.0; - out_8484867830328864601[189] = 0.0; - out_8484867830328864601[190] = 1.0; - out_8484867830328864601[191] = 0.0; - out_8484867830328864601[192] = 0.0; - out_8484867830328864601[193] = 0.0; - out_8484867830328864601[194] = 0.0; - out_8484867830328864601[195] = 0.0; - out_8484867830328864601[196] = 0.0; - out_8484867830328864601[197] = 0.0; - out_8484867830328864601[198] = 0.0; - out_8484867830328864601[199] = 0.0; - out_8484867830328864601[200] = 0.0; - out_8484867830328864601[201] = 0.0; - out_8484867830328864601[202] = 0.0; - out_8484867830328864601[203] = 0.0; - out_8484867830328864601[204] = 0.0; - out_8484867830328864601[205] = 0.0; - out_8484867830328864601[206] = 0.0; - out_8484867830328864601[207] = 0.0; - out_8484867830328864601[208] = 0.0; - out_8484867830328864601[209] = 1.0; - out_8484867830328864601[210] = 0.0; - out_8484867830328864601[211] = 0.0; - out_8484867830328864601[212] = 0.0; - out_8484867830328864601[213] = 0.0; - out_8484867830328864601[214] = 0.0; - out_8484867830328864601[215] = 0.0; - out_8484867830328864601[216] = 0.0; - out_8484867830328864601[217] = 0.0; - out_8484867830328864601[218] = 0.0; - out_8484867830328864601[219] = 0.0; - out_8484867830328864601[220] = 0.0; - out_8484867830328864601[221] = 0.0; - out_8484867830328864601[222] = 0.0; - out_8484867830328864601[223] = 0.0; - out_8484867830328864601[224] = 0.0; - out_8484867830328864601[225] = 0.0; - out_8484867830328864601[226] = 0.0; - out_8484867830328864601[227] = 0.0; - out_8484867830328864601[228] = 1.0; - out_8484867830328864601[229] = 0.0; - out_8484867830328864601[230] = 0.0; - out_8484867830328864601[231] = 0.0; - out_8484867830328864601[232] = 0.0; - out_8484867830328864601[233] = 0.0; - out_8484867830328864601[234] = 0.0; - out_8484867830328864601[235] = 0.0; - out_8484867830328864601[236] = 0.0; - out_8484867830328864601[237] = 0.0; - out_8484867830328864601[238] = 0.0; - out_8484867830328864601[239] = 0.0; - out_8484867830328864601[240] = 0.0; - out_8484867830328864601[241] = 0.0; - out_8484867830328864601[242] = 0.0; - out_8484867830328864601[243] = 0.0; - out_8484867830328864601[244] = 0.0; - out_8484867830328864601[245] = 0.0; - out_8484867830328864601[246] = 0.0; - out_8484867830328864601[247] = 1.0; - out_8484867830328864601[248] = 0.0; - out_8484867830328864601[249] = 0.0; - out_8484867830328864601[250] = 0.0; - out_8484867830328864601[251] = 0.0; - out_8484867830328864601[252] = 0.0; - out_8484867830328864601[253] = 0.0; - out_8484867830328864601[254] = 0.0; - out_8484867830328864601[255] = 0.0; - out_8484867830328864601[256] = 0.0; - out_8484867830328864601[257] = 0.0; - out_8484867830328864601[258] = 0.0; - out_8484867830328864601[259] = 0.0; - out_8484867830328864601[260] = 0.0; - out_8484867830328864601[261] = 0.0; - out_8484867830328864601[262] = 0.0; - out_8484867830328864601[263] = 0.0; - out_8484867830328864601[264] = 0.0; - out_8484867830328864601[265] = 0.0; - out_8484867830328864601[266] = 1.0; - out_8484867830328864601[267] = 0.0; - out_8484867830328864601[268] = 0.0; - out_8484867830328864601[269] = 0.0; - out_8484867830328864601[270] = 0.0; - out_8484867830328864601[271] = 0.0; - out_8484867830328864601[272] = 0.0; - out_8484867830328864601[273] = 0.0; - out_8484867830328864601[274] = 0.0; - out_8484867830328864601[275] = 0.0; - out_8484867830328864601[276] = 0.0; - out_8484867830328864601[277] = 0.0; - out_8484867830328864601[278] = 0.0; - out_8484867830328864601[279] = 0.0; - out_8484867830328864601[280] = 0.0; - out_8484867830328864601[281] = 0.0; - out_8484867830328864601[282] = 0.0; - out_8484867830328864601[283] = 0.0; - out_8484867830328864601[284] = 0.0; - out_8484867830328864601[285] = 1.0; - out_8484867830328864601[286] = 0.0; - out_8484867830328864601[287] = 0.0; - out_8484867830328864601[288] = 0.0; - out_8484867830328864601[289] = 0.0; - out_8484867830328864601[290] = 0.0; - out_8484867830328864601[291] = 0.0; - out_8484867830328864601[292] = 0.0; - out_8484867830328864601[293] = 0.0; - out_8484867830328864601[294] = 0.0; - out_8484867830328864601[295] = 0.0; - out_8484867830328864601[296] = 0.0; - out_8484867830328864601[297] = 0.0; - out_8484867830328864601[298] = 0.0; - out_8484867830328864601[299] = 0.0; - out_8484867830328864601[300] = 0.0; - out_8484867830328864601[301] = 0.0; - out_8484867830328864601[302] = 0.0; - out_8484867830328864601[303] = 0.0; - out_8484867830328864601[304] = 1.0; - out_8484867830328864601[305] = 0.0; - out_8484867830328864601[306] = 0.0; - out_8484867830328864601[307] = 0.0; - out_8484867830328864601[308] = 0.0; - out_8484867830328864601[309] = 0.0; - out_8484867830328864601[310] = 0.0; - out_8484867830328864601[311] = 0.0; - out_8484867830328864601[312] = 0.0; - out_8484867830328864601[313] = 0.0; - out_8484867830328864601[314] = 0.0; - out_8484867830328864601[315] = 0.0; - out_8484867830328864601[316] = 0.0; - out_8484867830328864601[317] = 0.0; - out_8484867830328864601[318] = 0.0; - out_8484867830328864601[319] = 0.0; - out_8484867830328864601[320] = 0.0; - out_8484867830328864601[321] = 0.0; - out_8484867830328864601[322] = 0.0; - out_8484867830328864601[323] = 1.0; +void H_mod_fun(double *state, double *out_3284972142892485625) { + out_3284972142892485625[0] = 1.0; + out_3284972142892485625[1] = 0.0; + out_3284972142892485625[2] = 0.0; + out_3284972142892485625[3] = 0.0; + out_3284972142892485625[4] = 0.0; + out_3284972142892485625[5] = 0.0; + out_3284972142892485625[6] = 0.0; + out_3284972142892485625[7] = 0.0; + out_3284972142892485625[8] = 0.0; + out_3284972142892485625[9] = 0.0; + out_3284972142892485625[10] = 0.0; + out_3284972142892485625[11] = 0.0; + out_3284972142892485625[12] = 0.0; + out_3284972142892485625[13] = 0.0; + out_3284972142892485625[14] = 0.0; + out_3284972142892485625[15] = 0.0; + out_3284972142892485625[16] = 0.0; + out_3284972142892485625[17] = 0.0; + out_3284972142892485625[18] = 0.0; + out_3284972142892485625[19] = 1.0; + out_3284972142892485625[20] = 0.0; + out_3284972142892485625[21] = 0.0; + out_3284972142892485625[22] = 0.0; + out_3284972142892485625[23] = 0.0; + out_3284972142892485625[24] = 0.0; + out_3284972142892485625[25] = 0.0; + out_3284972142892485625[26] = 0.0; + out_3284972142892485625[27] = 0.0; + out_3284972142892485625[28] = 0.0; + out_3284972142892485625[29] = 0.0; + out_3284972142892485625[30] = 0.0; + out_3284972142892485625[31] = 0.0; + out_3284972142892485625[32] = 0.0; + out_3284972142892485625[33] = 0.0; + out_3284972142892485625[34] = 0.0; + out_3284972142892485625[35] = 0.0; + out_3284972142892485625[36] = 0.0; + out_3284972142892485625[37] = 0.0; + out_3284972142892485625[38] = 1.0; + out_3284972142892485625[39] = 0.0; + out_3284972142892485625[40] = 0.0; + out_3284972142892485625[41] = 0.0; + out_3284972142892485625[42] = 0.0; + out_3284972142892485625[43] = 0.0; + out_3284972142892485625[44] = 0.0; + out_3284972142892485625[45] = 0.0; + out_3284972142892485625[46] = 0.0; + out_3284972142892485625[47] = 0.0; + out_3284972142892485625[48] = 0.0; + out_3284972142892485625[49] = 0.0; + out_3284972142892485625[50] = 0.0; + out_3284972142892485625[51] = 0.0; + out_3284972142892485625[52] = 0.0; + out_3284972142892485625[53] = 0.0; + out_3284972142892485625[54] = 0.0; + out_3284972142892485625[55] = 0.0; + out_3284972142892485625[56] = 0.0; + out_3284972142892485625[57] = 1.0; + out_3284972142892485625[58] = 0.0; + out_3284972142892485625[59] = 0.0; + out_3284972142892485625[60] = 0.0; + out_3284972142892485625[61] = 0.0; + out_3284972142892485625[62] = 0.0; + out_3284972142892485625[63] = 0.0; + out_3284972142892485625[64] = 0.0; + out_3284972142892485625[65] = 0.0; + out_3284972142892485625[66] = 0.0; + out_3284972142892485625[67] = 0.0; + out_3284972142892485625[68] = 0.0; + out_3284972142892485625[69] = 0.0; + out_3284972142892485625[70] = 0.0; + out_3284972142892485625[71] = 0.0; + out_3284972142892485625[72] = 0.0; + out_3284972142892485625[73] = 0.0; + out_3284972142892485625[74] = 0.0; + out_3284972142892485625[75] = 0.0; + out_3284972142892485625[76] = 1.0; + out_3284972142892485625[77] = 0.0; + out_3284972142892485625[78] = 0.0; + out_3284972142892485625[79] = 0.0; + out_3284972142892485625[80] = 0.0; + out_3284972142892485625[81] = 0.0; + out_3284972142892485625[82] = 0.0; + out_3284972142892485625[83] = 0.0; + out_3284972142892485625[84] = 0.0; + out_3284972142892485625[85] = 0.0; + out_3284972142892485625[86] = 0.0; + out_3284972142892485625[87] = 0.0; + out_3284972142892485625[88] = 0.0; + out_3284972142892485625[89] = 0.0; + out_3284972142892485625[90] = 0.0; + out_3284972142892485625[91] = 0.0; + out_3284972142892485625[92] = 0.0; + out_3284972142892485625[93] = 0.0; + out_3284972142892485625[94] = 0.0; + out_3284972142892485625[95] = 1.0; + out_3284972142892485625[96] = 0.0; + out_3284972142892485625[97] = 0.0; + out_3284972142892485625[98] = 0.0; + out_3284972142892485625[99] = 0.0; + out_3284972142892485625[100] = 0.0; + out_3284972142892485625[101] = 0.0; + out_3284972142892485625[102] = 0.0; + out_3284972142892485625[103] = 0.0; + out_3284972142892485625[104] = 0.0; + out_3284972142892485625[105] = 0.0; + out_3284972142892485625[106] = 0.0; + out_3284972142892485625[107] = 0.0; + out_3284972142892485625[108] = 0.0; + out_3284972142892485625[109] = 0.0; + out_3284972142892485625[110] = 0.0; + out_3284972142892485625[111] = 0.0; + out_3284972142892485625[112] = 0.0; + out_3284972142892485625[113] = 0.0; + out_3284972142892485625[114] = 1.0; + out_3284972142892485625[115] = 0.0; + out_3284972142892485625[116] = 0.0; + out_3284972142892485625[117] = 0.0; + out_3284972142892485625[118] = 0.0; + out_3284972142892485625[119] = 0.0; + out_3284972142892485625[120] = 0.0; + out_3284972142892485625[121] = 0.0; + out_3284972142892485625[122] = 0.0; + out_3284972142892485625[123] = 0.0; + out_3284972142892485625[124] = 0.0; + out_3284972142892485625[125] = 0.0; + out_3284972142892485625[126] = 0.0; + out_3284972142892485625[127] = 0.0; + out_3284972142892485625[128] = 0.0; + out_3284972142892485625[129] = 0.0; + out_3284972142892485625[130] = 0.0; + out_3284972142892485625[131] = 0.0; + out_3284972142892485625[132] = 0.0; + out_3284972142892485625[133] = 1.0; + out_3284972142892485625[134] = 0.0; + out_3284972142892485625[135] = 0.0; + out_3284972142892485625[136] = 0.0; + out_3284972142892485625[137] = 0.0; + out_3284972142892485625[138] = 0.0; + out_3284972142892485625[139] = 0.0; + out_3284972142892485625[140] = 0.0; + out_3284972142892485625[141] = 0.0; + out_3284972142892485625[142] = 0.0; + out_3284972142892485625[143] = 0.0; + out_3284972142892485625[144] = 0.0; + out_3284972142892485625[145] = 0.0; + out_3284972142892485625[146] = 0.0; + out_3284972142892485625[147] = 0.0; + out_3284972142892485625[148] = 0.0; + out_3284972142892485625[149] = 0.0; + out_3284972142892485625[150] = 0.0; + out_3284972142892485625[151] = 0.0; + out_3284972142892485625[152] = 1.0; + out_3284972142892485625[153] = 0.0; + out_3284972142892485625[154] = 0.0; + out_3284972142892485625[155] = 0.0; + out_3284972142892485625[156] = 0.0; + out_3284972142892485625[157] = 0.0; + out_3284972142892485625[158] = 0.0; + out_3284972142892485625[159] = 0.0; + out_3284972142892485625[160] = 0.0; + out_3284972142892485625[161] = 0.0; + out_3284972142892485625[162] = 0.0; + out_3284972142892485625[163] = 0.0; + out_3284972142892485625[164] = 0.0; + out_3284972142892485625[165] = 0.0; + out_3284972142892485625[166] = 0.0; + out_3284972142892485625[167] = 0.0; + out_3284972142892485625[168] = 0.0; + out_3284972142892485625[169] = 0.0; + out_3284972142892485625[170] = 0.0; + out_3284972142892485625[171] = 1.0; + out_3284972142892485625[172] = 0.0; + out_3284972142892485625[173] = 0.0; + out_3284972142892485625[174] = 0.0; + out_3284972142892485625[175] = 0.0; + out_3284972142892485625[176] = 0.0; + out_3284972142892485625[177] = 0.0; + out_3284972142892485625[178] = 0.0; + out_3284972142892485625[179] = 0.0; + out_3284972142892485625[180] = 0.0; + out_3284972142892485625[181] = 0.0; + out_3284972142892485625[182] = 0.0; + out_3284972142892485625[183] = 0.0; + out_3284972142892485625[184] = 0.0; + out_3284972142892485625[185] = 0.0; + out_3284972142892485625[186] = 0.0; + out_3284972142892485625[187] = 0.0; + out_3284972142892485625[188] = 0.0; + out_3284972142892485625[189] = 0.0; + out_3284972142892485625[190] = 1.0; + out_3284972142892485625[191] = 0.0; + out_3284972142892485625[192] = 0.0; + out_3284972142892485625[193] = 0.0; + out_3284972142892485625[194] = 0.0; + out_3284972142892485625[195] = 0.0; + out_3284972142892485625[196] = 0.0; + out_3284972142892485625[197] = 0.0; + out_3284972142892485625[198] = 0.0; + out_3284972142892485625[199] = 0.0; + out_3284972142892485625[200] = 0.0; + out_3284972142892485625[201] = 0.0; + out_3284972142892485625[202] = 0.0; + out_3284972142892485625[203] = 0.0; + out_3284972142892485625[204] = 0.0; + out_3284972142892485625[205] = 0.0; + out_3284972142892485625[206] = 0.0; + out_3284972142892485625[207] = 0.0; + out_3284972142892485625[208] = 0.0; + out_3284972142892485625[209] = 1.0; + out_3284972142892485625[210] = 0.0; + out_3284972142892485625[211] = 0.0; + out_3284972142892485625[212] = 0.0; + out_3284972142892485625[213] = 0.0; + out_3284972142892485625[214] = 0.0; + out_3284972142892485625[215] = 0.0; + out_3284972142892485625[216] = 0.0; + out_3284972142892485625[217] = 0.0; + out_3284972142892485625[218] = 0.0; + out_3284972142892485625[219] = 0.0; + out_3284972142892485625[220] = 0.0; + out_3284972142892485625[221] = 0.0; + out_3284972142892485625[222] = 0.0; + out_3284972142892485625[223] = 0.0; + out_3284972142892485625[224] = 0.0; + out_3284972142892485625[225] = 0.0; + out_3284972142892485625[226] = 0.0; + out_3284972142892485625[227] = 0.0; + out_3284972142892485625[228] = 1.0; + out_3284972142892485625[229] = 0.0; + out_3284972142892485625[230] = 0.0; + out_3284972142892485625[231] = 0.0; + out_3284972142892485625[232] = 0.0; + out_3284972142892485625[233] = 0.0; + out_3284972142892485625[234] = 0.0; + out_3284972142892485625[235] = 0.0; + out_3284972142892485625[236] = 0.0; + out_3284972142892485625[237] = 0.0; + out_3284972142892485625[238] = 0.0; + out_3284972142892485625[239] = 0.0; + out_3284972142892485625[240] = 0.0; + out_3284972142892485625[241] = 0.0; + out_3284972142892485625[242] = 0.0; + out_3284972142892485625[243] = 0.0; + out_3284972142892485625[244] = 0.0; + out_3284972142892485625[245] = 0.0; + out_3284972142892485625[246] = 0.0; + out_3284972142892485625[247] = 1.0; + out_3284972142892485625[248] = 0.0; + out_3284972142892485625[249] = 0.0; + out_3284972142892485625[250] = 0.0; + out_3284972142892485625[251] = 0.0; + out_3284972142892485625[252] = 0.0; + out_3284972142892485625[253] = 0.0; + out_3284972142892485625[254] = 0.0; + out_3284972142892485625[255] = 0.0; + out_3284972142892485625[256] = 0.0; + out_3284972142892485625[257] = 0.0; + out_3284972142892485625[258] = 0.0; + out_3284972142892485625[259] = 0.0; + out_3284972142892485625[260] = 0.0; + out_3284972142892485625[261] = 0.0; + out_3284972142892485625[262] = 0.0; + out_3284972142892485625[263] = 0.0; + out_3284972142892485625[264] = 0.0; + out_3284972142892485625[265] = 0.0; + out_3284972142892485625[266] = 1.0; + out_3284972142892485625[267] = 0.0; + out_3284972142892485625[268] = 0.0; + out_3284972142892485625[269] = 0.0; + out_3284972142892485625[270] = 0.0; + out_3284972142892485625[271] = 0.0; + out_3284972142892485625[272] = 0.0; + out_3284972142892485625[273] = 0.0; + out_3284972142892485625[274] = 0.0; + out_3284972142892485625[275] = 0.0; + out_3284972142892485625[276] = 0.0; + out_3284972142892485625[277] = 0.0; + out_3284972142892485625[278] = 0.0; + out_3284972142892485625[279] = 0.0; + out_3284972142892485625[280] = 0.0; + out_3284972142892485625[281] = 0.0; + out_3284972142892485625[282] = 0.0; + out_3284972142892485625[283] = 0.0; + out_3284972142892485625[284] = 0.0; + out_3284972142892485625[285] = 1.0; + out_3284972142892485625[286] = 0.0; + out_3284972142892485625[287] = 0.0; + out_3284972142892485625[288] = 0.0; + out_3284972142892485625[289] = 0.0; + out_3284972142892485625[290] = 0.0; + out_3284972142892485625[291] = 0.0; + out_3284972142892485625[292] = 0.0; + out_3284972142892485625[293] = 0.0; + out_3284972142892485625[294] = 0.0; + out_3284972142892485625[295] = 0.0; + out_3284972142892485625[296] = 0.0; + out_3284972142892485625[297] = 0.0; + out_3284972142892485625[298] = 0.0; + out_3284972142892485625[299] = 0.0; + out_3284972142892485625[300] = 0.0; + out_3284972142892485625[301] = 0.0; + out_3284972142892485625[302] = 0.0; + out_3284972142892485625[303] = 0.0; + out_3284972142892485625[304] = 1.0; + out_3284972142892485625[305] = 0.0; + out_3284972142892485625[306] = 0.0; + out_3284972142892485625[307] = 0.0; + out_3284972142892485625[308] = 0.0; + out_3284972142892485625[309] = 0.0; + out_3284972142892485625[310] = 0.0; + out_3284972142892485625[311] = 0.0; + out_3284972142892485625[312] = 0.0; + out_3284972142892485625[313] = 0.0; + out_3284972142892485625[314] = 0.0; + out_3284972142892485625[315] = 0.0; + out_3284972142892485625[316] = 0.0; + out_3284972142892485625[317] = 0.0; + out_3284972142892485625[318] = 0.0; + out_3284972142892485625[319] = 0.0; + out_3284972142892485625[320] = 0.0; + out_3284972142892485625[321] = 0.0; + out_3284972142892485625[322] = 0.0; + out_3284972142892485625[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6058628880177520660) { - out_6058628880177520660[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_6058628880177520660[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_6058628880177520660[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_6058628880177520660[3] = dt*state[12] + state[3]; - out_6058628880177520660[4] = dt*state[13] + state[4]; - out_6058628880177520660[5] = dt*state[14] + state[5]; - out_6058628880177520660[6] = state[6]; - out_6058628880177520660[7] = state[7]; - out_6058628880177520660[8] = state[8]; - out_6058628880177520660[9] = state[9]; - out_6058628880177520660[10] = state[10]; - out_6058628880177520660[11] = state[11]; - out_6058628880177520660[12] = state[12]; - out_6058628880177520660[13] = state[13]; - out_6058628880177520660[14] = state[14]; - out_6058628880177520660[15] = state[15]; - out_6058628880177520660[16] = state[16]; - out_6058628880177520660[17] = state[17]; +void f_fun(double *state, double dt, double *out_7294513523227393093) { + out_7294513523227393093[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_7294513523227393093[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_7294513523227393093[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_7294513523227393093[3] = dt*state[12] + state[3]; + out_7294513523227393093[4] = dt*state[13] + state[4]; + out_7294513523227393093[5] = dt*state[14] + state[5]; + out_7294513523227393093[6] = state[6]; + out_7294513523227393093[7] = state[7]; + out_7294513523227393093[8] = state[8]; + out_7294513523227393093[9] = state[9]; + out_7294513523227393093[10] = state[10]; + out_7294513523227393093[11] = state[11]; + out_7294513523227393093[12] = state[12]; + out_7294513523227393093[13] = state[13]; + out_7294513523227393093[14] = state[14]; + out_7294513523227393093[15] = state[15]; + out_7294513523227393093[16] = state[16]; + out_7294513523227393093[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5197906072130444471) { - out_5197906072130444471[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_5197906072130444471[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_5197906072130444471[2] = 0; - out_5197906072130444471[3] = 0; - out_5197906072130444471[4] = 0; - out_5197906072130444471[5] = 0; - out_5197906072130444471[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_5197906072130444471[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_5197906072130444471[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_5197906072130444471[9] = 0; - out_5197906072130444471[10] = 0; - out_5197906072130444471[11] = 0; - out_5197906072130444471[12] = 0; - out_5197906072130444471[13] = 0; - out_5197906072130444471[14] = 0; - out_5197906072130444471[15] = 0; - out_5197906072130444471[16] = 0; - out_5197906072130444471[17] = 0; - out_5197906072130444471[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_5197906072130444471[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_5197906072130444471[20] = 0; - out_5197906072130444471[21] = 0; - out_5197906072130444471[22] = 0; - out_5197906072130444471[23] = 0; - out_5197906072130444471[24] = 0; - out_5197906072130444471[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_5197906072130444471[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_5197906072130444471[27] = 0; - out_5197906072130444471[28] = 0; - out_5197906072130444471[29] = 0; - out_5197906072130444471[30] = 0; - out_5197906072130444471[31] = 0; - out_5197906072130444471[32] = 0; - out_5197906072130444471[33] = 0; - out_5197906072130444471[34] = 0; - out_5197906072130444471[35] = 0; - out_5197906072130444471[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_5197906072130444471[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_5197906072130444471[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_5197906072130444471[39] = 0; - out_5197906072130444471[40] = 0; - out_5197906072130444471[41] = 0; - out_5197906072130444471[42] = 0; - out_5197906072130444471[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_5197906072130444471[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_5197906072130444471[45] = 0; - out_5197906072130444471[46] = 0; - out_5197906072130444471[47] = 0; - out_5197906072130444471[48] = 0; - out_5197906072130444471[49] = 0; - out_5197906072130444471[50] = 0; - out_5197906072130444471[51] = 0; - out_5197906072130444471[52] = 0; - out_5197906072130444471[53] = 0; - out_5197906072130444471[54] = 0; - out_5197906072130444471[55] = 0; - out_5197906072130444471[56] = 0; - out_5197906072130444471[57] = 1; - out_5197906072130444471[58] = 0; - out_5197906072130444471[59] = 0; - out_5197906072130444471[60] = 0; - out_5197906072130444471[61] = 0; - out_5197906072130444471[62] = 0; - out_5197906072130444471[63] = 0; - out_5197906072130444471[64] = 0; - out_5197906072130444471[65] = 0; - out_5197906072130444471[66] = dt; - out_5197906072130444471[67] = 0; - out_5197906072130444471[68] = 0; - out_5197906072130444471[69] = 0; - out_5197906072130444471[70] = 0; - out_5197906072130444471[71] = 0; - out_5197906072130444471[72] = 0; - out_5197906072130444471[73] = 0; - out_5197906072130444471[74] = 0; - out_5197906072130444471[75] = 0; - out_5197906072130444471[76] = 1; - out_5197906072130444471[77] = 0; - out_5197906072130444471[78] = 0; - out_5197906072130444471[79] = 0; - out_5197906072130444471[80] = 0; - out_5197906072130444471[81] = 0; - out_5197906072130444471[82] = 0; - out_5197906072130444471[83] = 0; - out_5197906072130444471[84] = 0; - out_5197906072130444471[85] = dt; - out_5197906072130444471[86] = 0; - out_5197906072130444471[87] = 0; - out_5197906072130444471[88] = 0; - out_5197906072130444471[89] = 0; - out_5197906072130444471[90] = 0; - out_5197906072130444471[91] = 0; - out_5197906072130444471[92] = 0; - out_5197906072130444471[93] = 0; - out_5197906072130444471[94] = 0; - out_5197906072130444471[95] = 1; - out_5197906072130444471[96] = 0; - out_5197906072130444471[97] = 0; - out_5197906072130444471[98] = 0; - out_5197906072130444471[99] = 0; - out_5197906072130444471[100] = 0; - out_5197906072130444471[101] = 0; - out_5197906072130444471[102] = 0; - out_5197906072130444471[103] = 0; - out_5197906072130444471[104] = dt; - out_5197906072130444471[105] = 0; - out_5197906072130444471[106] = 0; - out_5197906072130444471[107] = 0; - out_5197906072130444471[108] = 0; - out_5197906072130444471[109] = 0; - out_5197906072130444471[110] = 0; - out_5197906072130444471[111] = 0; - out_5197906072130444471[112] = 0; - out_5197906072130444471[113] = 0; - out_5197906072130444471[114] = 1; - out_5197906072130444471[115] = 0; - out_5197906072130444471[116] = 0; - out_5197906072130444471[117] = 0; - out_5197906072130444471[118] = 0; - out_5197906072130444471[119] = 0; - out_5197906072130444471[120] = 0; - out_5197906072130444471[121] = 0; - out_5197906072130444471[122] = 0; - out_5197906072130444471[123] = 0; - out_5197906072130444471[124] = 0; - out_5197906072130444471[125] = 0; - out_5197906072130444471[126] = 0; - out_5197906072130444471[127] = 0; - out_5197906072130444471[128] = 0; - out_5197906072130444471[129] = 0; - out_5197906072130444471[130] = 0; - out_5197906072130444471[131] = 0; - out_5197906072130444471[132] = 0; - out_5197906072130444471[133] = 1; - out_5197906072130444471[134] = 0; - out_5197906072130444471[135] = 0; - out_5197906072130444471[136] = 0; - out_5197906072130444471[137] = 0; - out_5197906072130444471[138] = 0; - out_5197906072130444471[139] = 0; - out_5197906072130444471[140] = 0; - out_5197906072130444471[141] = 0; - out_5197906072130444471[142] = 0; - out_5197906072130444471[143] = 0; - out_5197906072130444471[144] = 0; - out_5197906072130444471[145] = 0; - out_5197906072130444471[146] = 0; - out_5197906072130444471[147] = 0; - out_5197906072130444471[148] = 0; - out_5197906072130444471[149] = 0; - out_5197906072130444471[150] = 0; - out_5197906072130444471[151] = 0; - out_5197906072130444471[152] = 1; - out_5197906072130444471[153] = 0; - out_5197906072130444471[154] = 0; - out_5197906072130444471[155] = 0; - out_5197906072130444471[156] = 0; - out_5197906072130444471[157] = 0; - out_5197906072130444471[158] = 0; - out_5197906072130444471[159] = 0; - out_5197906072130444471[160] = 0; - out_5197906072130444471[161] = 0; - out_5197906072130444471[162] = 0; - out_5197906072130444471[163] = 0; - out_5197906072130444471[164] = 0; - out_5197906072130444471[165] = 0; - out_5197906072130444471[166] = 0; - out_5197906072130444471[167] = 0; - out_5197906072130444471[168] = 0; - out_5197906072130444471[169] = 0; - out_5197906072130444471[170] = 0; - out_5197906072130444471[171] = 1; - out_5197906072130444471[172] = 0; - out_5197906072130444471[173] = 0; - out_5197906072130444471[174] = 0; - out_5197906072130444471[175] = 0; - out_5197906072130444471[176] = 0; - out_5197906072130444471[177] = 0; - out_5197906072130444471[178] = 0; - out_5197906072130444471[179] = 0; - out_5197906072130444471[180] = 0; - out_5197906072130444471[181] = 0; - out_5197906072130444471[182] = 0; - out_5197906072130444471[183] = 0; - out_5197906072130444471[184] = 0; - out_5197906072130444471[185] = 0; - out_5197906072130444471[186] = 0; - out_5197906072130444471[187] = 0; - out_5197906072130444471[188] = 0; - out_5197906072130444471[189] = 0; - out_5197906072130444471[190] = 1; - out_5197906072130444471[191] = 0; - out_5197906072130444471[192] = 0; - out_5197906072130444471[193] = 0; - out_5197906072130444471[194] = 0; - out_5197906072130444471[195] = 0; - out_5197906072130444471[196] = 0; - out_5197906072130444471[197] = 0; - out_5197906072130444471[198] = 0; - out_5197906072130444471[199] = 0; - out_5197906072130444471[200] = 0; - out_5197906072130444471[201] = 0; - out_5197906072130444471[202] = 0; - out_5197906072130444471[203] = 0; - out_5197906072130444471[204] = 0; - out_5197906072130444471[205] = 0; - out_5197906072130444471[206] = 0; - out_5197906072130444471[207] = 0; - out_5197906072130444471[208] = 0; - out_5197906072130444471[209] = 1; - out_5197906072130444471[210] = 0; - out_5197906072130444471[211] = 0; - out_5197906072130444471[212] = 0; - out_5197906072130444471[213] = 0; - out_5197906072130444471[214] = 0; - out_5197906072130444471[215] = 0; - out_5197906072130444471[216] = 0; - out_5197906072130444471[217] = 0; - out_5197906072130444471[218] = 0; - out_5197906072130444471[219] = 0; - out_5197906072130444471[220] = 0; - out_5197906072130444471[221] = 0; - out_5197906072130444471[222] = 0; - out_5197906072130444471[223] = 0; - out_5197906072130444471[224] = 0; - out_5197906072130444471[225] = 0; - out_5197906072130444471[226] = 0; - out_5197906072130444471[227] = 0; - out_5197906072130444471[228] = 1; - out_5197906072130444471[229] = 0; - out_5197906072130444471[230] = 0; - out_5197906072130444471[231] = 0; - out_5197906072130444471[232] = 0; - out_5197906072130444471[233] = 0; - out_5197906072130444471[234] = 0; - out_5197906072130444471[235] = 0; - out_5197906072130444471[236] = 0; - out_5197906072130444471[237] = 0; - out_5197906072130444471[238] = 0; - out_5197906072130444471[239] = 0; - out_5197906072130444471[240] = 0; - out_5197906072130444471[241] = 0; - out_5197906072130444471[242] = 0; - out_5197906072130444471[243] = 0; - out_5197906072130444471[244] = 0; - out_5197906072130444471[245] = 0; - out_5197906072130444471[246] = 0; - out_5197906072130444471[247] = 1; - out_5197906072130444471[248] = 0; - out_5197906072130444471[249] = 0; - out_5197906072130444471[250] = 0; - out_5197906072130444471[251] = 0; - out_5197906072130444471[252] = 0; - out_5197906072130444471[253] = 0; - out_5197906072130444471[254] = 0; - out_5197906072130444471[255] = 0; - out_5197906072130444471[256] = 0; - out_5197906072130444471[257] = 0; - out_5197906072130444471[258] = 0; - out_5197906072130444471[259] = 0; - out_5197906072130444471[260] = 0; - out_5197906072130444471[261] = 0; - out_5197906072130444471[262] = 0; - out_5197906072130444471[263] = 0; - out_5197906072130444471[264] = 0; - out_5197906072130444471[265] = 0; - out_5197906072130444471[266] = 1; - out_5197906072130444471[267] = 0; - out_5197906072130444471[268] = 0; - out_5197906072130444471[269] = 0; - out_5197906072130444471[270] = 0; - out_5197906072130444471[271] = 0; - out_5197906072130444471[272] = 0; - out_5197906072130444471[273] = 0; - out_5197906072130444471[274] = 0; - out_5197906072130444471[275] = 0; - out_5197906072130444471[276] = 0; - out_5197906072130444471[277] = 0; - out_5197906072130444471[278] = 0; - out_5197906072130444471[279] = 0; - out_5197906072130444471[280] = 0; - out_5197906072130444471[281] = 0; - out_5197906072130444471[282] = 0; - out_5197906072130444471[283] = 0; - out_5197906072130444471[284] = 0; - out_5197906072130444471[285] = 1; - out_5197906072130444471[286] = 0; - out_5197906072130444471[287] = 0; - out_5197906072130444471[288] = 0; - out_5197906072130444471[289] = 0; - out_5197906072130444471[290] = 0; - out_5197906072130444471[291] = 0; - out_5197906072130444471[292] = 0; - out_5197906072130444471[293] = 0; - out_5197906072130444471[294] = 0; - out_5197906072130444471[295] = 0; - out_5197906072130444471[296] = 0; - out_5197906072130444471[297] = 0; - out_5197906072130444471[298] = 0; - out_5197906072130444471[299] = 0; - out_5197906072130444471[300] = 0; - out_5197906072130444471[301] = 0; - out_5197906072130444471[302] = 0; - out_5197906072130444471[303] = 0; - out_5197906072130444471[304] = 1; - out_5197906072130444471[305] = 0; - out_5197906072130444471[306] = 0; - out_5197906072130444471[307] = 0; - out_5197906072130444471[308] = 0; - out_5197906072130444471[309] = 0; - out_5197906072130444471[310] = 0; - out_5197906072130444471[311] = 0; - out_5197906072130444471[312] = 0; - out_5197906072130444471[313] = 0; - out_5197906072130444471[314] = 0; - out_5197906072130444471[315] = 0; - out_5197906072130444471[316] = 0; - out_5197906072130444471[317] = 0; - out_5197906072130444471[318] = 0; - out_5197906072130444471[319] = 0; - out_5197906072130444471[320] = 0; - out_5197906072130444471[321] = 0; - out_5197906072130444471[322] = 0; - out_5197906072130444471[323] = 1; +void F_fun(double *state, double dt, double *out_1315688866139806167) { + out_1315688866139806167[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_1315688866139806167[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_1315688866139806167[2] = 0; + out_1315688866139806167[3] = 0; + out_1315688866139806167[4] = 0; + out_1315688866139806167[5] = 0; + out_1315688866139806167[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_1315688866139806167[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_1315688866139806167[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_1315688866139806167[9] = 0; + out_1315688866139806167[10] = 0; + out_1315688866139806167[11] = 0; + out_1315688866139806167[12] = 0; + out_1315688866139806167[13] = 0; + out_1315688866139806167[14] = 0; + out_1315688866139806167[15] = 0; + out_1315688866139806167[16] = 0; + out_1315688866139806167[17] = 0; + out_1315688866139806167[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_1315688866139806167[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_1315688866139806167[20] = 0; + out_1315688866139806167[21] = 0; + out_1315688866139806167[22] = 0; + out_1315688866139806167[23] = 0; + out_1315688866139806167[24] = 0; + out_1315688866139806167[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_1315688866139806167[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_1315688866139806167[27] = 0; + out_1315688866139806167[28] = 0; + out_1315688866139806167[29] = 0; + out_1315688866139806167[30] = 0; + out_1315688866139806167[31] = 0; + out_1315688866139806167[32] = 0; + out_1315688866139806167[33] = 0; + out_1315688866139806167[34] = 0; + out_1315688866139806167[35] = 0; + out_1315688866139806167[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_1315688866139806167[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_1315688866139806167[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_1315688866139806167[39] = 0; + out_1315688866139806167[40] = 0; + out_1315688866139806167[41] = 0; + out_1315688866139806167[42] = 0; + out_1315688866139806167[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_1315688866139806167[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_1315688866139806167[45] = 0; + out_1315688866139806167[46] = 0; + out_1315688866139806167[47] = 0; + out_1315688866139806167[48] = 0; + out_1315688866139806167[49] = 0; + out_1315688866139806167[50] = 0; + out_1315688866139806167[51] = 0; + out_1315688866139806167[52] = 0; + out_1315688866139806167[53] = 0; + out_1315688866139806167[54] = 0; + out_1315688866139806167[55] = 0; + out_1315688866139806167[56] = 0; + out_1315688866139806167[57] = 1; + out_1315688866139806167[58] = 0; + out_1315688866139806167[59] = 0; + out_1315688866139806167[60] = 0; + out_1315688866139806167[61] = 0; + out_1315688866139806167[62] = 0; + out_1315688866139806167[63] = 0; + out_1315688866139806167[64] = 0; + out_1315688866139806167[65] = 0; + out_1315688866139806167[66] = dt; + out_1315688866139806167[67] = 0; + out_1315688866139806167[68] = 0; + out_1315688866139806167[69] = 0; + out_1315688866139806167[70] = 0; + out_1315688866139806167[71] = 0; + out_1315688866139806167[72] = 0; + out_1315688866139806167[73] = 0; + out_1315688866139806167[74] = 0; + out_1315688866139806167[75] = 0; + out_1315688866139806167[76] = 1; + out_1315688866139806167[77] = 0; + out_1315688866139806167[78] = 0; + out_1315688866139806167[79] = 0; + out_1315688866139806167[80] = 0; + out_1315688866139806167[81] = 0; + out_1315688866139806167[82] = 0; + out_1315688866139806167[83] = 0; + out_1315688866139806167[84] = 0; + out_1315688866139806167[85] = dt; + out_1315688866139806167[86] = 0; + out_1315688866139806167[87] = 0; + out_1315688866139806167[88] = 0; + out_1315688866139806167[89] = 0; + out_1315688866139806167[90] = 0; + out_1315688866139806167[91] = 0; + out_1315688866139806167[92] = 0; + out_1315688866139806167[93] = 0; + out_1315688866139806167[94] = 0; + out_1315688866139806167[95] = 1; + out_1315688866139806167[96] = 0; + out_1315688866139806167[97] = 0; + out_1315688866139806167[98] = 0; + out_1315688866139806167[99] = 0; + out_1315688866139806167[100] = 0; + out_1315688866139806167[101] = 0; + out_1315688866139806167[102] = 0; + out_1315688866139806167[103] = 0; + out_1315688866139806167[104] = dt; + out_1315688866139806167[105] = 0; + out_1315688866139806167[106] = 0; + out_1315688866139806167[107] = 0; + out_1315688866139806167[108] = 0; + out_1315688866139806167[109] = 0; + out_1315688866139806167[110] = 0; + out_1315688866139806167[111] = 0; + out_1315688866139806167[112] = 0; + out_1315688866139806167[113] = 0; + out_1315688866139806167[114] = 1; + out_1315688866139806167[115] = 0; + out_1315688866139806167[116] = 0; + out_1315688866139806167[117] = 0; + out_1315688866139806167[118] = 0; + out_1315688866139806167[119] = 0; + out_1315688866139806167[120] = 0; + out_1315688866139806167[121] = 0; + out_1315688866139806167[122] = 0; + out_1315688866139806167[123] = 0; + out_1315688866139806167[124] = 0; + out_1315688866139806167[125] = 0; + out_1315688866139806167[126] = 0; + out_1315688866139806167[127] = 0; + out_1315688866139806167[128] = 0; + out_1315688866139806167[129] = 0; + out_1315688866139806167[130] = 0; + out_1315688866139806167[131] = 0; + out_1315688866139806167[132] = 0; + out_1315688866139806167[133] = 1; + out_1315688866139806167[134] = 0; + out_1315688866139806167[135] = 0; + out_1315688866139806167[136] = 0; + out_1315688866139806167[137] = 0; + out_1315688866139806167[138] = 0; + out_1315688866139806167[139] = 0; + out_1315688866139806167[140] = 0; + out_1315688866139806167[141] = 0; + out_1315688866139806167[142] = 0; + out_1315688866139806167[143] = 0; + out_1315688866139806167[144] = 0; + out_1315688866139806167[145] = 0; + out_1315688866139806167[146] = 0; + out_1315688866139806167[147] = 0; + out_1315688866139806167[148] = 0; + out_1315688866139806167[149] = 0; + out_1315688866139806167[150] = 0; + out_1315688866139806167[151] = 0; + out_1315688866139806167[152] = 1; + out_1315688866139806167[153] = 0; + out_1315688866139806167[154] = 0; + out_1315688866139806167[155] = 0; + out_1315688866139806167[156] = 0; + out_1315688866139806167[157] = 0; + out_1315688866139806167[158] = 0; + out_1315688866139806167[159] = 0; + out_1315688866139806167[160] = 0; + out_1315688866139806167[161] = 0; + out_1315688866139806167[162] = 0; + out_1315688866139806167[163] = 0; + out_1315688866139806167[164] = 0; + out_1315688866139806167[165] = 0; + out_1315688866139806167[166] = 0; + out_1315688866139806167[167] = 0; + out_1315688866139806167[168] = 0; + out_1315688866139806167[169] = 0; + out_1315688866139806167[170] = 0; + out_1315688866139806167[171] = 1; + out_1315688866139806167[172] = 0; + out_1315688866139806167[173] = 0; + out_1315688866139806167[174] = 0; + out_1315688866139806167[175] = 0; + out_1315688866139806167[176] = 0; + out_1315688866139806167[177] = 0; + out_1315688866139806167[178] = 0; + out_1315688866139806167[179] = 0; + out_1315688866139806167[180] = 0; + out_1315688866139806167[181] = 0; + out_1315688866139806167[182] = 0; + out_1315688866139806167[183] = 0; + out_1315688866139806167[184] = 0; + out_1315688866139806167[185] = 0; + out_1315688866139806167[186] = 0; + out_1315688866139806167[187] = 0; + out_1315688866139806167[188] = 0; + out_1315688866139806167[189] = 0; + out_1315688866139806167[190] = 1; + out_1315688866139806167[191] = 0; + out_1315688866139806167[192] = 0; + out_1315688866139806167[193] = 0; + out_1315688866139806167[194] = 0; + out_1315688866139806167[195] = 0; + out_1315688866139806167[196] = 0; + out_1315688866139806167[197] = 0; + out_1315688866139806167[198] = 0; + out_1315688866139806167[199] = 0; + out_1315688866139806167[200] = 0; + out_1315688866139806167[201] = 0; + out_1315688866139806167[202] = 0; + out_1315688866139806167[203] = 0; + out_1315688866139806167[204] = 0; + out_1315688866139806167[205] = 0; + out_1315688866139806167[206] = 0; + out_1315688866139806167[207] = 0; + out_1315688866139806167[208] = 0; + out_1315688866139806167[209] = 1; + out_1315688866139806167[210] = 0; + out_1315688866139806167[211] = 0; + out_1315688866139806167[212] = 0; + out_1315688866139806167[213] = 0; + out_1315688866139806167[214] = 0; + out_1315688866139806167[215] = 0; + out_1315688866139806167[216] = 0; + out_1315688866139806167[217] = 0; + out_1315688866139806167[218] = 0; + out_1315688866139806167[219] = 0; + out_1315688866139806167[220] = 0; + out_1315688866139806167[221] = 0; + out_1315688866139806167[222] = 0; + out_1315688866139806167[223] = 0; + out_1315688866139806167[224] = 0; + out_1315688866139806167[225] = 0; + out_1315688866139806167[226] = 0; + out_1315688866139806167[227] = 0; + out_1315688866139806167[228] = 1; + out_1315688866139806167[229] = 0; + out_1315688866139806167[230] = 0; + out_1315688866139806167[231] = 0; + out_1315688866139806167[232] = 0; + out_1315688866139806167[233] = 0; + out_1315688866139806167[234] = 0; + out_1315688866139806167[235] = 0; + out_1315688866139806167[236] = 0; + out_1315688866139806167[237] = 0; + out_1315688866139806167[238] = 0; + out_1315688866139806167[239] = 0; + out_1315688866139806167[240] = 0; + out_1315688866139806167[241] = 0; + out_1315688866139806167[242] = 0; + out_1315688866139806167[243] = 0; + out_1315688866139806167[244] = 0; + out_1315688866139806167[245] = 0; + out_1315688866139806167[246] = 0; + out_1315688866139806167[247] = 1; + out_1315688866139806167[248] = 0; + out_1315688866139806167[249] = 0; + out_1315688866139806167[250] = 0; + out_1315688866139806167[251] = 0; + out_1315688866139806167[252] = 0; + out_1315688866139806167[253] = 0; + out_1315688866139806167[254] = 0; + out_1315688866139806167[255] = 0; + out_1315688866139806167[256] = 0; + out_1315688866139806167[257] = 0; + out_1315688866139806167[258] = 0; + out_1315688866139806167[259] = 0; + out_1315688866139806167[260] = 0; + out_1315688866139806167[261] = 0; + out_1315688866139806167[262] = 0; + out_1315688866139806167[263] = 0; + out_1315688866139806167[264] = 0; + out_1315688866139806167[265] = 0; + out_1315688866139806167[266] = 1; + out_1315688866139806167[267] = 0; + out_1315688866139806167[268] = 0; + out_1315688866139806167[269] = 0; + out_1315688866139806167[270] = 0; + out_1315688866139806167[271] = 0; + out_1315688866139806167[272] = 0; + out_1315688866139806167[273] = 0; + out_1315688866139806167[274] = 0; + out_1315688866139806167[275] = 0; + out_1315688866139806167[276] = 0; + out_1315688866139806167[277] = 0; + out_1315688866139806167[278] = 0; + out_1315688866139806167[279] = 0; + out_1315688866139806167[280] = 0; + out_1315688866139806167[281] = 0; + out_1315688866139806167[282] = 0; + out_1315688866139806167[283] = 0; + out_1315688866139806167[284] = 0; + out_1315688866139806167[285] = 1; + out_1315688866139806167[286] = 0; + out_1315688866139806167[287] = 0; + out_1315688866139806167[288] = 0; + out_1315688866139806167[289] = 0; + out_1315688866139806167[290] = 0; + out_1315688866139806167[291] = 0; + out_1315688866139806167[292] = 0; + out_1315688866139806167[293] = 0; + out_1315688866139806167[294] = 0; + out_1315688866139806167[295] = 0; + out_1315688866139806167[296] = 0; + out_1315688866139806167[297] = 0; + out_1315688866139806167[298] = 0; + out_1315688866139806167[299] = 0; + out_1315688866139806167[300] = 0; + out_1315688866139806167[301] = 0; + out_1315688866139806167[302] = 0; + out_1315688866139806167[303] = 0; + out_1315688866139806167[304] = 1; + out_1315688866139806167[305] = 0; + out_1315688866139806167[306] = 0; + out_1315688866139806167[307] = 0; + out_1315688866139806167[308] = 0; + out_1315688866139806167[309] = 0; + out_1315688866139806167[310] = 0; + out_1315688866139806167[311] = 0; + out_1315688866139806167[312] = 0; + out_1315688866139806167[313] = 0; + out_1315688866139806167[314] = 0; + out_1315688866139806167[315] = 0; + out_1315688866139806167[316] = 0; + out_1315688866139806167[317] = 0; + out_1315688866139806167[318] = 0; + out_1315688866139806167[319] = 0; + out_1315688866139806167[320] = 0; + out_1315688866139806167[321] = 0; + out_1315688866139806167[322] = 0; + out_1315688866139806167[323] = 1; } -void h_4(double *state, double *unused, double *out_8442663857645814160) { - out_8442663857645814160[0] = state[6] + state[9]; - out_8442663857645814160[1] = state[7] + state[10]; - out_8442663857645814160[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6849640214971072753) { + out_6849640214971072753[0] = state[6] + state[9]; + out_6849640214971072753[1] = state[7] + state[10]; + out_6849640214971072753[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1223680011297697877) { - out_1223680011297697877[0] = 0; - out_1223680011297697877[1] = 0; - out_1223680011297697877[2] = 0; - out_1223680011297697877[3] = 0; - out_1223680011297697877[4] = 0; - out_1223680011297697877[5] = 0; - out_1223680011297697877[6] = 1; - out_1223680011297697877[7] = 0; - out_1223680011297697877[8] = 0; - out_1223680011297697877[9] = 1; - out_1223680011297697877[10] = 0; - out_1223680011297697877[11] = 0; - out_1223680011297697877[12] = 0; - out_1223680011297697877[13] = 0; - out_1223680011297697877[14] = 0; - out_1223680011297697877[15] = 0; - out_1223680011297697877[16] = 0; - out_1223680011297697877[17] = 0; - out_1223680011297697877[18] = 0; - out_1223680011297697877[19] = 0; - out_1223680011297697877[20] = 0; - out_1223680011297697877[21] = 0; - out_1223680011297697877[22] = 0; - out_1223680011297697877[23] = 0; - out_1223680011297697877[24] = 0; - out_1223680011297697877[25] = 1; - out_1223680011297697877[26] = 0; - out_1223680011297697877[27] = 0; - out_1223680011297697877[28] = 1; - out_1223680011297697877[29] = 0; - out_1223680011297697877[30] = 0; - out_1223680011297697877[31] = 0; - out_1223680011297697877[32] = 0; - out_1223680011297697877[33] = 0; - out_1223680011297697877[34] = 0; - out_1223680011297697877[35] = 0; - out_1223680011297697877[36] = 0; - out_1223680011297697877[37] = 0; - out_1223680011297697877[38] = 0; - out_1223680011297697877[39] = 0; - out_1223680011297697877[40] = 0; - out_1223680011297697877[41] = 0; - out_1223680011297697877[42] = 0; - out_1223680011297697877[43] = 0; - out_1223680011297697877[44] = 1; - out_1223680011297697877[45] = 0; - out_1223680011297697877[46] = 0; - out_1223680011297697877[47] = 1; - out_1223680011297697877[48] = 0; - out_1223680011297697877[49] = 0; - out_1223680011297697877[50] = 0; - out_1223680011297697877[51] = 0; - out_1223680011297697877[52] = 0; - out_1223680011297697877[53] = 0; +void H_4(double *state, double *unused, double *out_6217410264759244649) { + out_6217410264759244649[0] = 0; + out_6217410264759244649[1] = 0; + out_6217410264759244649[2] = 0; + out_6217410264759244649[3] = 0; + out_6217410264759244649[4] = 0; + out_6217410264759244649[5] = 0; + out_6217410264759244649[6] = 1; + out_6217410264759244649[7] = 0; + out_6217410264759244649[8] = 0; + out_6217410264759244649[9] = 1; + out_6217410264759244649[10] = 0; + out_6217410264759244649[11] = 0; + out_6217410264759244649[12] = 0; + out_6217410264759244649[13] = 0; + out_6217410264759244649[14] = 0; + out_6217410264759244649[15] = 0; + out_6217410264759244649[16] = 0; + out_6217410264759244649[17] = 0; + out_6217410264759244649[18] = 0; + out_6217410264759244649[19] = 0; + out_6217410264759244649[20] = 0; + out_6217410264759244649[21] = 0; + out_6217410264759244649[22] = 0; + out_6217410264759244649[23] = 0; + out_6217410264759244649[24] = 0; + out_6217410264759244649[25] = 1; + out_6217410264759244649[26] = 0; + out_6217410264759244649[27] = 0; + out_6217410264759244649[28] = 1; + out_6217410264759244649[29] = 0; + out_6217410264759244649[30] = 0; + out_6217410264759244649[31] = 0; + out_6217410264759244649[32] = 0; + out_6217410264759244649[33] = 0; + out_6217410264759244649[34] = 0; + out_6217410264759244649[35] = 0; + out_6217410264759244649[36] = 0; + out_6217410264759244649[37] = 0; + out_6217410264759244649[38] = 0; + out_6217410264759244649[39] = 0; + out_6217410264759244649[40] = 0; + out_6217410264759244649[41] = 0; + out_6217410264759244649[42] = 0; + out_6217410264759244649[43] = 0; + out_6217410264759244649[44] = 1; + out_6217410264759244649[45] = 0; + out_6217410264759244649[46] = 0; + out_6217410264759244649[47] = 1; + out_6217410264759244649[48] = 0; + out_6217410264759244649[49] = 0; + out_6217410264759244649[50] = 0; + out_6217410264759244649[51] = 0; + out_6217410264759244649[52] = 0; + out_6217410264759244649[53] = 0; } -void h_10(double *state, double *unused, double *out_3964974043036968705) { - out_3964974043036968705[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3964974043036968705[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3964974043036968705[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_2538664534589622554) { + out_2538664534589622554[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2538664534589622554[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2538664534589622554[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_5914479273564375913) { - out_5914479273564375913[0] = 0; - out_5914479273564375913[1] = 9.8100000000000005*cos(state[1]); - out_5914479273564375913[2] = 0; - out_5914479273564375913[3] = 0; - out_5914479273564375913[4] = -state[8]; - out_5914479273564375913[5] = state[7]; - out_5914479273564375913[6] = 0; - out_5914479273564375913[7] = state[5]; - out_5914479273564375913[8] = -state[4]; - out_5914479273564375913[9] = 0; - out_5914479273564375913[10] = 0; - out_5914479273564375913[11] = 0; - out_5914479273564375913[12] = 1; - out_5914479273564375913[13] = 0; - out_5914479273564375913[14] = 0; - out_5914479273564375913[15] = 1; - out_5914479273564375913[16] = 0; - out_5914479273564375913[17] = 0; - out_5914479273564375913[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5914479273564375913[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5914479273564375913[20] = 0; - out_5914479273564375913[21] = state[8]; - out_5914479273564375913[22] = 0; - out_5914479273564375913[23] = -state[6]; - out_5914479273564375913[24] = -state[5]; - out_5914479273564375913[25] = 0; - out_5914479273564375913[26] = state[3]; - out_5914479273564375913[27] = 0; - out_5914479273564375913[28] = 0; - out_5914479273564375913[29] = 0; - out_5914479273564375913[30] = 0; - out_5914479273564375913[31] = 1; - out_5914479273564375913[32] = 0; - out_5914479273564375913[33] = 0; - out_5914479273564375913[34] = 1; - out_5914479273564375913[35] = 0; - out_5914479273564375913[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5914479273564375913[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5914479273564375913[38] = 0; - out_5914479273564375913[39] = -state[7]; - out_5914479273564375913[40] = state[6]; - out_5914479273564375913[41] = 0; - out_5914479273564375913[42] = state[4]; - out_5914479273564375913[43] = -state[3]; - out_5914479273564375913[44] = 0; - out_5914479273564375913[45] = 0; - out_5914479273564375913[46] = 0; - out_5914479273564375913[47] = 0; - out_5914479273564375913[48] = 0; - out_5914479273564375913[49] = 0; - out_5914479273564375913[50] = 1; - out_5914479273564375913[51] = 0; - out_5914479273564375913[52] = 0; - out_5914479273564375913[53] = 1; +void H_10(double *state, double *unused, double *out_5499394725381253526) { + out_5499394725381253526[0] = 0; + out_5499394725381253526[1] = 9.8100000000000005*cos(state[1]); + out_5499394725381253526[2] = 0; + out_5499394725381253526[3] = 0; + out_5499394725381253526[4] = -state[8]; + out_5499394725381253526[5] = state[7]; + out_5499394725381253526[6] = 0; + out_5499394725381253526[7] = state[5]; + out_5499394725381253526[8] = -state[4]; + out_5499394725381253526[9] = 0; + out_5499394725381253526[10] = 0; + out_5499394725381253526[11] = 0; + out_5499394725381253526[12] = 1; + out_5499394725381253526[13] = 0; + out_5499394725381253526[14] = 0; + out_5499394725381253526[15] = 1; + out_5499394725381253526[16] = 0; + out_5499394725381253526[17] = 0; + out_5499394725381253526[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5499394725381253526[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5499394725381253526[20] = 0; + out_5499394725381253526[21] = state[8]; + out_5499394725381253526[22] = 0; + out_5499394725381253526[23] = -state[6]; + out_5499394725381253526[24] = -state[5]; + out_5499394725381253526[25] = 0; + out_5499394725381253526[26] = state[3]; + out_5499394725381253526[27] = 0; + out_5499394725381253526[28] = 0; + out_5499394725381253526[29] = 0; + out_5499394725381253526[30] = 0; + out_5499394725381253526[31] = 1; + out_5499394725381253526[32] = 0; + out_5499394725381253526[33] = 0; + out_5499394725381253526[34] = 1; + out_5499394725381253526[35] = 0; + out_5499394725381253526[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5499394725381253526[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5499394725381253526[38] = 0; + out_5499394725381253526[39] = -state[7]; + out_5499394725381253526[40] = state[6]; + out_5499394725381253526[41] = 0; + out_5499394725381253526[42] = state[4]; + out_5499394725381253526[43] = -state[3]; + out_5499394725381253526[44] = 0; + out_5499394725381253526[45] = 0; + out_5499394725381253526[46] = 0; + out_5499394725381253526[47] = 0; + out_5499394725381253526[48] = 0; + out_5499394725381253526[49] = 0; + out_5499394725381253526[50] = 1; + out_5499394725381253526[51] = 0; + out_5499394725381253526[52] = 0; + out_5499394725381253526[53] = 1; } -void h_13(double *state, double *unused, double *out_8876471781075959631) { - out_8876471781075959631[0] = state[3]; - out_8876471781075959631[1] = state[4]; - out_8876471781075959631[2] = state[5]; +void h_13(double *state, double *unused, double *out_228516151720916839) { + out_228516151720916839[0] = state[3]; + out_228516151720916839[1] = state[4]; + out_228516151720916839[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1988593814034634924) { - out_1988593814034634924[0] = 0; - out_1988593814034634924[1] = 0; - out_1988593814034634924[2] = 0; - out_1988593814034634924[3] = 1; - out_1988593814034634924[4] = 0; - out_1988593814034634924[5] = 0; - out_1988593814034634924[6] = 0; - out_1988593814034634924[7] = 0; - out_1988593814034634924[8] = 0; - out_1988593814034634924[9] = 0; - out_1988593814034634924[10] = 0; - out_1988593814034634924[11] = 0; - out_1988593814034634924[12] = 0; - out_1988593814034634924[13] = 0; - out_1988593814034634924[14] = 0; - out_1988593814034634924[15] = 0; - out_1988593814034634924[16] = 0; - out_1988593814034634924[17] = 0; - out_1988593814034634924[18] = 0; - out_1988593814034634924[19] = 0; - out_1988593814034634924[20] = 0; - out_1988593814034634924[21] = 0; - out_1988593814034634924[22] = 1; - out_1988593814034634924[23] = 0; - out_1988593814034634924[24] = 0; - out_1988593814034634924[25] = 0; - out_1988593814034634924[26] = 0; - out_1988593814034634924[27] = 0; - out_1988593814034634924[28] = 0; - out_1988593814034634924[29] = 0; - out_1988593814034634924[30] = 0; - out_1988593814034634924[31] = 0; - out_1988593814034634924[32] = 0; - out_1988593814034634924[33] = 0; - out_1988593814034634924[34] = 0; - out_1988593814034634924[35] = 0; - out_1988593814034634924[36] = 0; - out_1988593814034634924[37] = 0; - out_1988593814034634924[38] = 0; - out_1988593814034634924[39] = 0; - out_1988593814034634924[40] = 0; - out_1988593814034634924[41] = 1; - out_1988593814034634924[42] = 0; - out_1988593814034634924[43] = 0; - out_1988593814034634924[44] = 0; - out_1988593814034634924[45] = 0; - out_1988593814034634924[46] = 0; - out_1988593814034634924[47] = 0; - out_1988593814034634924[48] = 0; - out_1988593814034634924[49] = 0; - out_1988593814034634924[50] = 0; - out_1988593814034634924[51] = 0; - out_1988593814034634924[52] = 0; - out_1988593814034634924[53] = 0; +void H_13(double *state, double *unused, double *out_9017059983617974166) { + out_9017059983617974166[0] = 0; + out_9017059983617974166[1] = 0; + out_9017059983617974166[2] = 0; + out_9017059983617974166[3] = 1; + out_9017059983617974166[4] = 0; + out_9017059983617974166[5] = 0; + out_9017059983617974166[6] = 0; + out_9017059983617974166[7] = 0; + out_9017059983617974166[8] = 0; + out_9017059983617974166[9] = 0; + out_9017059983617974166[10] = 0; + out_9017059983617974166[11] = 0; + out_9017059983617974166[12] = 0; + out_9017059983617974166[13] = 0; + out_9017059983617974166[14] = 0; + out_9017059983617974166[15] = 0; + out_9017059983617974166[16] = 0; + out_9017059983617974166[17] = 0; + out_9017059983617974166[18] = 0; + out_9017059983617974166[19] = 0; + out_9017059983617974166[20] = 0; + out_9017059983617974166[21] = 0; + out_9017059983617974166[22] = 1; + out_9017059983617974166[23] = 0; + out_9017059983617974166[24] = 0; + out_9017059983617974166[25] = 0; + out_9017059983617974166[26] = 0; + out_9017059983617974166[27] = 0; + out_9017059983617974166[28] = 0; + out_9017059983617974166[29] = 0; + out_9017059983617974166[30] = 0; + out_9017059983617974166[31] = 0; + out_9017059983617974166[32] = 0; + out_9017059983617974166[33] = 0; + out_9017059983617974166[34] = 0; + out_9017059983617974166[35] = 0; + out_9017059983617974166[36] = 0; + out_9017059983617974166[37] = 0; + out_9017059983617974166[38] = 0; + out_9017059983617974166[39] = 0; + out_9017059983617974166[40] = 0; + out_9017059983617974166[41] = 1; + out_9017059983617974166[42] = 0; + out_9017059983617974166[43] = 0; + out_9017059983617974166[44] = 0; + out_9017059983617974166[45] = 0; + out_9017059983617974166[46] = 0; + out_9017059983617974166[47] = 0; + out_9017059983617974166[48] = 0; + out_9017059983617974166[49] = 0; + out_9017059983617974166[50] = 0; + out_9017059983617974166[51] = 0; + out_9017059983617974166[52] = 0; + out_9017059983617974166[53] = 0; } -void h_14(double *state, double *unused, double *out_8405881405530134324) { - out_8405881405530134324[0] = state[6]; - out_8405881405530134324[1] = state[7]; - out_8405881405530134324[2] = state[8]; +void h_14(double *state, double *unused, double *out_4519675338605033391) { + out_4519675338605033391[0] = state[6]; + out_4519675338605033391[1] = state[7]; + out_4519675338605033391[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1658796537942581476) { - out_1658796537942581476[0] = 0; - out_1658796537942581476[1] = 0; - out_1658796537942581476[2] = 0; - out_1658796537942581476[3] = 0; - out_1658796537942581476[4] = 0; - out_1658796537942581476[5] = 0; - out_1658796537942581476[6] = 1; - out_1658796537942581476[7] = 0; - out_1658796537942581476[8] = 0; - out_1658796537942581476[9] = 0; - out_1658796537942581476[10] = 0; - out_1658796537942581476[11] = 0; - out_1658796537942581476[12] = 0; - out_1658796537942581476[13] = 0; - out_1658796537942581476[14] = 0; - out_1658796537942581476[15] = 0; - out_1658796537942581476[16] = 0; - out_1658796537942581476[17] = 0; - out_1658796537942581476[18] = 0; - out_1658796537942581476[19] = 0; - out_1658796537942581476[20] = 0; - out_1658796537942581476[21] = 0; - out_1658796537942581476[22] = 0; - out_1658796537942581476[23] = 0; - out_1658796537942581476[24] = 0; - out_1658796537942581476[25] = 1; - out_1658796537942581476[26] = 0; - out_1658796537942581476[27] = 0; - out_1658796537942581476[28] = 0; - out_1658796537942581476[29] = 0; - out_1658796537942581476[30] = 0; - out_1658796537942581476[31] = 0; - out_1658796537942581476[32] = 0; - out_1658796537942581476[33] = 0; - out_1658796537942581476[34] = 0; - out_1658796537942581476[35] = 0; - out_1658796537942581476[36] = 0; - out_1658796537942581476[37] = 0; - out_1658796537942581476[38] = 0; - out_1658796537942581476[39] = 0; - out_1658796537942581476[40] = 0; - out_1658796537942581476[41] = 0; - out_1658796537942581476[42] = 0; - out_1658796537942581476[43] = 0; - out_1658796537942581476[44] = 1; - out_1658796537942581476[45] = 0; - out_1658796537942581476[46] = 0; - out_1658796537942581476[47] = 0; - out_1658796537942581476[48] = 0; - out_1658796537942581476[49] = 0; - out_1658796537942581476[50] = 0; - out_1658796537942581476[51] = 0; - out_1658796537942581476[52] = 0; - out_1658796537942581476[53] = 0; +void H_14(double *state, double *unused, double *out_3134621832463872353) { + out_3134621832463872353[0] = 0; + out_3134621832463872353[1] = 0; + out_3134621832463872353[2] = 0; + out_3134621832463872353[3] = 0; + out_3134621832463872353[4] = 0; + out_3134621832463872353[5] = 0; + out_3134621832463872353[6] = 1; + out_3134621832463872353[7] = 0; + out_3134621832463872353[8] = 0; + out_3134621832463872353[9] = 0; + out_3134621832463872353[10] = 0; + out_3134621832463872353[11] = 0; + out_3134621832463872353[12] = 0; + out_3134621832463872353[13] = 0; + out_3134621832463872353[14] = 0; + out_3134621832463872353[15] = 0; + out_3134621832463872353[16] = 0; + out_3134621832463872353[17] = 0; + out_3134621832463872353[18] = 0; + out_3134621832463872353[19] = 0; + out_3134621832463872353[20] = 0; + out_3134621832463872353[21] = 0; + out_3134621832463872353[22] = 0; + out_3134621832463872353[23] = 0; + out_3134621832463872353[24] = 0; + out_3134621832463872353[25] = 1; + out_3134621832463872353[26] = 0; + out_3134621832463872353[27] = 0; + out_3134621832463872353[28] = 0; + out_3134621832463872353[29] = 0; + out_3134621832463872353[30] = 0; + out_3134621832463872353[31] = 0; + out_3134621832463872353[32] = 0; + out_3134621832463872353[33] = 0; + out_3134621832463872353[34] = 0; + out_3134621832463872353[35] = 0; + out_3134621832463872353[36] = 0; + out_3134621832463872353[37] = 0; + out_3134621832463872353[38] = 0; + out_3134621832463872353[39] = 0; + out_3134621832463872353[40] = 0; + out_3134621832463872353[41] = 0; + out_3134621832463872353[42] = 0; + out_3134621832463872353[43] = 0; + out_3134621832463872353[44] = 1; + out_3134621832463872353[45] = 0; + out_3134621832463872353[46] = 0; + out_3134621832463872353[47] = 0; + out_3134621832463872353[48] = 0; + out_3134621832463872353[49] = 0; + out_3134621832463872353[50] = 0; + out_3134621832463872353[51] = 0; + out_3134621832463872353[52] = 0; + out_3134621832463872353[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_7083554587370275014) { - err_fun(nom_x, delta_x, out_7083554587370275014); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3388086590141056177) { + err_fun(nom_x, delta_x, out_3388086590141056177); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6548503546481104197) { - inv_err_fun(nom_x, true_x, out_6548503546481104197); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1633734341039361389) { + inv_err_fun(nom_x, true_x, out_1633734341039361389); } -void pose_H_mod_fun(double *state, double *out_8484867830328864601) { - H_mod_fun(state, out_8484867830328864601); +void pose_H_mod_fun(double *state, double *out_3284972142892485625) { + H_mod_fun(state, out_3284972142892485625); } -void pose_f_fun(double *state, double dt, double *out_6058628880177520660) { - f_fun(state, dt, out_6058628880177520660); +void pose_f_fun(double *state, double dt, double *out_7294513523227393093) { + f_fun(state, dt, out_7294513523227393093); } -void pose_F_fun(double *state, double dt, double *out_5197906072130444471) { - F_fun(state, dt, out_5197906072130444471); +void pose_F_fun(double *state, double dt, double *out_1315688866139806167) { + F_fun(state, dt, out_1315688866139806167); } -void pose_h_4(double *state, double *unused, double *out_8442663857645814160) { - h_4(state, unused, out_8442663857645814160); +void pose_h_4(double *state, double *unused, double *out_6849640214971072753) { + h_4(state, unused, out_6849640214971072753); } -void pose_H_4(double *state, double *unused, double *out_1223680011297697877) { - H_4(state, unused, out_1223680011297697877); +void pose_H_4(double *state, double *unused, double *out_6217410264759244649) { + H_4(state, unused, out_6217410264759244649); } -void pose_h_10(double *state, double *unused, double *out_3964974043036968705) { - h_10(state, unused, out_3964974043036968705); +void pose_h_10(double *state, double *unused, double *out_2538664534589622554) { + h_10(state, unused, out_2538664534589622554); } -void pose_H_10(double *state, double *unused, double *out_5914479273564375913) { - H_10(state, unused, out_5914479273564375913); +void pose_H_10(double *state, double *unused, double *out_5499394725381253526) { + H_10(state, unused, out_5499394725381253526); } -void pose_h_13(double *state, double *unused, double *out_8876471781075959631) { - h_13(state, unused, out_8876471781075959631); +void pose_h_13(double *state, double *unused, double *out_228516151720916839) { + h_13(state, unused, out_228516151720916839); } -void pose_H_13(double *state, double *unused, double *out_1988593814034634924) { - H_13(state, unused, out_1988593814034634924); +void pose_H_13(double *state, double *unused, double *out_9017059983617974166) { + H_13(state, unused, out_9017059983617974166); } -void pose_h_14(double *state, double *unused, double *out_8405881405530134324) { - h_14(state, unused, out_8405881405530134324); +void pose_h_14(double *state, double *unused, double *out_4519675338605033391) { + h_14(state, unused, out_4519675338605033391); } -void pose_H_14(double *state, double *unused, double *out_1658796537942581476) { - H_14(state, unused, out_1658796537942581476); +void pose_H_14(double *state, double *unused, double *out_3134621832463872353) { + H_14(state, unused, out_3134621832463872353); } 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/openpilot/selfdrive/locationd/models/generated/pose.h b/openpilot/selfdrive/locationd/models/generated/pose.h index 43cf4a0b37..1ac4e28c27 100644 --- a/openpilot/selfdrive/locationd/models/generated/pose.h +++ b/openpilot/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_7083554587370275014); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6548503546481104197); -void pose_H_mod_fun(double *state, double *out_8484867830328864601); -void pose_f_fun(double *state, double dt, double *out_6058628880177520660); -void pose_F_fun(double *state, double dt, double *out_5197906072130444471); -void pose_h_4(double *state, double *unused, double *out_8442663857645814160); -void pose_H_4(double *state, double *unused, double *out_1223680011297697877); -void pose_h_10(double *state, double *unused, double *out_3964974043036968705); -void pose_H_10(double *state, double *unused, double *out_5914479273564375913); -void pose_h_13(double *state, double *unused, double *out_8876471781075959631); -void pose_H_13(double *state, double *unused, double *out_1988593814034634924); -void pose_h_14(double *state, double *unused, double *out_8405881405530134324); -void pose_H_14(double *state, double *unused, double *out_1658796537942581476); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3388086590141056177); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1633734341039361389); +void pose_H_mod_fun(double *state, double *out_3284972142892485625); +void pose_f_fun(double *state, double dt, double *out_7294513523227393093); +void pose_F_fun(double *state, double dt, double *out_1315688866139806167); +void pose_h_4(double *state, double *unused, double *out_6849640214971072753); +void pose_H_4(double *state, double *unused, double *out_6217410264759244649); +void pose_h_10(double *state, double *unused, double *out_2538664534589622554); +void pose_H_10(double *state, double *unused, double *out_5499394725381253526); +void pose_h_13(double *state, double *unused, double *out_228516151720916839); +void pose_H_13(double *state, double *unused, double *out_9017059983617974166); +void pose_h_14(double *state, double *unused, double *out_4519675338605033391); +void pose_H_14(double *state, double *unused, double *out_3134621832463872353); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 962966e6ab088a9c4c22dc0c2533719abbd268bd..2cc1da168552f8ace12eea618ab5b643fed80b4d 100644 GIT binary patch delta 162 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