diff --git a/common/libcommon.a b/common/libcommon.a index 9097490a2..803afc0eb 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index bc74a7e3f..a1577173a 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 7b807fc6a..2fccdf24c 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 6b9ce0017..32e8211fa 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index f07c2d9f9..9fecc8b1a 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 7a3dffc8a..309e48e7e 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index dcdd73ae5..7990b1154 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 5ccd8252e..d2f9a0dc8 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-f1a256da-DEBUG"; +const uint8_t gitversion[19] = "DEV-2c2d8b86-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d1274003d..47fc09fce 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index ea969ede8..dd31747b0 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 34160b474..e5c9f2760 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index db20912a4..63fdf634e 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index c7bb16ae1..f6eb5c6cb 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and 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a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 6ec6e9ccc..3a4d3fd0e 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 200da854a..1691f4ae2 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 9c5b4aa72..81cc54802 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 92f481209..d8e2303f7 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 30ea9fe9c..06c4de455 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index f2602e05a..3f235af86 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 0bfb53b23..cb33835f9 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 9b12ab6f2..d7c9abce6 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 46ce9d6bf..8c9636de9 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index c8f2847cf..56518207f 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 0849f76ca..c7652c1bf 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 48d396720..da8cada02 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-f1a256da-DEBUG \ No newline at end of file +DEV-2c2d8b86-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index b30d8894e..02f0f5a19 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_822107927183758870) { - out_822107927183758870[0] = delta_x[0] + nom_x[0]; - out_822107927183758870[1] = delta_x[1] + nom_x[1]; - out_822107927183758870[2] = delta_x[2] + nom_x[2]; - out_822107927183758870[3] = delta_x[3] + nom_x[3]; - out_822107927183758870[4] = delta_x[4] + nom_x[4]; - out_822107927183758870[5] = delta_x[5] + nom_x[5]; - out_822107927183758870[6] = delta_x[6] + nom_x[6]; - out_822107927183758870[7] = delta_x[7] + nom_x[7]; - out_822107927183758870[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7228457580426239955) { + out_7228457580426239955[0] = delta_x[0] + nom_x[0]; + out_7228457580426239955[1] = delta_x[1] + nom_x[1]; + out_7228457580426239955[2] = delta_x[2] + nom_x[2]; + out_7228457580426239955[3] = delta_x[3] + nom_x[3]; + out_7228457580426239955[4] = delta_x[4] + nom_x[4]; + out_7228457580426239955[5] = delta_x[5] + nom_x[5]; + out_7228457580426239955[6] = delta_x[6] + nom_x[6]; + out_7228457580426239955[7] = delta_x[7] + nom_x[7]; + out_7228457580426239955[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4567978126636007906) { - out_4567978126636007906[0] = -nom_x[0] + true_x[0]; - out_4567978126636007906[1] = -nom_x[1] + true_x[1]; - out_4567978126636007906[2] = -nom_x[2] + true_x[2]; - out_4567978126636007906[3] = -nom_x[3] + true_x[3]; - out_4567978126636007906[4] = -nom_x[4] + true_x[4]; - out_4567978126636007906[5] = -nom_x[5] + true_x[5]; - out_4567978126636007906[6] = -nom_x[6] + true_x[6]; - out_4567978126636007906[7] = -nom_x[7] + true_x[7]; - out_4567978126636007906[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1737471906525172971) { + out_1737471906525172971[0] = -nom_x[0] + true_x[0]; + out_1737471906525172971[1] = -nom_x[1] + true_x[1]; + out_1737471906525172971[2] = -nom_x[2] + true_x[2]; + out_1737471906525172971[3] = -nom_x[3] + true_x[3]; + out_1737471906525172971[4] = -nom_x[4] + true_x[4]; + out_1737471906525172971[5] = -nom_x[5] + true_x[5]; + out_1737471906525172971[6] = -nom_x[6] + true_x[6]; + out_1737471906525172971[7] = -nom_x[7] + true_x[7]; + out_1737471906525172971[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4866635074780860371) { - out_4866635074780860371[0] = 1.0; - out_4866635074780860371[1] = 0.0; - out_4866635074780860371[2] = 0.0; - out_4866635074780860371[3] = 0.0; - out_4866635074780860371[4] = 0.0; - out_4866635074780860371[5] = 0.0; - out_4866635074780860371[6] = 0.0; - out_4866635074780860371[7] = 0.0; - out_4866635074780860371[8] = 0.0; - out_4866635074780860371[9] = 0.0; - out_4866635074780860371[10] = 1.0; - out_4866635074780860371[11] = 0.0; - out_4866635074780860371[12] = 0.0; - out_4866635074780860371[13] = 0.0; - out_4866635074780860371[14] = 0.0; - out_4866635074780860371[15] = 0.0; - out_4866635074780860371[16] = 0.0; - out_4866635074780860371[17] = 0.0; - out_4866635074780860371[18] = 0.0; - out_4866635074780860371[19] = 0.0; - out_4866635074780860371[20] = 1.0; - out_4866635074780860371[21] = 0.0; - out_4866635074780860371[22] = 0.0; - out_4866635074780860371[23] = 0.0; - out_4866635074780860371[24] = 0.0; - out_4866635074780860371[25] = 0.0; - out_4866635074780860371[26] = 0.0; - out_4866635074780860371[27] = 0.0; - out_4866635074780860371[28] = 0.0; - out_4866635074780860371[29] = 0.0; - out_4866635074780860371[30] = 1.0; - out_4866635074780860371[31] = 0.0; - out_4866635074780860371[32] = 0.0; - out_4866635074780860371[33] = 0.0; - out_4866635074780860371[34] = 0.0; - out_4866635074780860371[35] = 0.0; - out_4866635074780860371[36] = 0.0; - out_4866635074780860371[37] = 0.0; - out_4866635074780860371[38] = 0.0; - out_4866635074780860371[39] = 0.0; - out_4866635074780860371[40] = 1.0; - out_4866635074780860371[41] = 0.0; - out_4866635074780860371[42] = 0.0; - out_4866635074780860371[43] = 0.0; - out_4866635074780860371[44] = 0.0; - out_4866635074780860371[45] = 0.0; - out_4866635074780860371[46] = 0.0; - out_4866635074780860371[47] = 0.0; - out_4866635074780860371[48] = 0.0; - out_4866635074780860371[49] = 0.0; - out_4866635074780860371[50] = 1.0; - out_4866635074780860371[51] = 0.0; - out_4866635074780860371[52] = 0.0; - out_4866635074780860371[53] = 0.0; - out_4866635074780860371[54] = 0.0; - out_4866635074780860371[55] = 0.0; - out_4866635074780860371[56] = 0.0; - out_4866635074780860371[57] = 0.0; - out_4866635074780860371[58] = 0.0; - out_4866635074780860371[59] = 0.0; - out_4866635074780860371[60] = 1.0; - out_4866635074780860371[61] = 0.0; - out_4866635074780860371[62] = 0.0; - out_4866635074780860371[63] = 0.0; - out_4866635074780860371[64] = 0.0; - out_4866635074780860371[65] = 0.0; - out_4866635074780860371[66] = 0.0; - out_4866635074780860371[67] = 0.0; - out_4866635074780860371[68] = 0.0; - out_4866635074780860371[69] = 0.0; - out_4866635074780860371[70] = 1.0; - out_4866635074780860371[71] = 0.0; - out_4866635074780860371[72] = 0.0; - out_4866635074780860371[73] = 0.0; - out_4866635074780860371[74] = 0.0; - out_4866635074780860371[75] = 0.0; - out_4866635074780860371[76] = 0.0; - out_4866635074780860371[77] = 0.0; - out_4866635074780860371[78] = 0.0; - out_4866635074780860371[79] = 0.0; - out_4866635074780860371[80] = 1.0; +void H_mod_fun(double *state, double *out_2159575818972962605) { + out_2159575818972962605[0] = 1.0; + out_2159575818972962605[1] = 0.0; + out_2159575818972962605[2] = 0.0; + out_2159575818972962605[3] = 0.0; + out_2159575818972962605[4] = 0.0; + out_2159575818972962605[5] = 0.0; + out_2159575818972962605[6] = 0.0; + out_2159575818972962605[7] = 0.0; + out_2159575818972962605[8] = 0.0; + out_2159575818972962605[9] = 0.0; + out_2159575818972962605[10] = 1.0; + out_2159575818972962605[11] = 0.0; + out_2159575818972962605[12] = 0.0; + out_2159575818972962605[13] = 0.0; + out_2159575818972962605[14] = 0.0; + out_2159575818972962605[15] = 0.0; + out_2159575818972962605[16] = 0.0; + out_2159575818972962605[17] = 0.0; + out_2159575818972962605[18] = 0.0; + out_2159575818972962605[19] = 0.0; + out_2159575818972962605[20] = 1.0; + out_2159575818972962605[21] = 0.0; + out_2159575818972962605[22] = 0.0; + out_2159575818972962605[23] = 0.0; + out_2159575818972962605[24] = 0.0; + out_2159575818972962605[25] = 0.0; + out_2159575818972962605[26] = 0.0; + out_2159575818972962605[27] = 0.0; + out_2159575818972962605[28] = 0.0; + out_2159575818972962605[29] = 0.0; + out_2159575818972962605[30] = 1.0; + out_2159575818972962605[31] = 0.0; + out_2159575818972962605[32] = 0.0; + out_2159575818972962605[33] = 0.0; + out_2159575818972962605[34] = 0.0; + out_2159575818972962605[35] = 0.0; + out_2159575818972962605[36] = 0.0; + out_2159575818972962605[37] = 0.0; + out_2159575818972962605[38] = 0.0; + out_2159575818972962605[39] = 0.0; + out_2159575818972962605[40] = 1.0; + out_2159575818972962605[41] = 0.0; + out_2159575818972962605[42] = 0.0; + out_2159575818972962605[43] = 0.0; + out_2159575818972962605[44] = 0.0; + out_2159575818972962605[45] = 0.0; + out_2159575818972962605[46] = 0.0; + out_2159575818972962605[47] = 0.0; + out_2159575818972962605[48] = 0.0; + out_2159575818972962605[49] = 0.0; + out_2159575818972962605[50] = 1.0; + out_2159575818972962605[51] = 0.0; + out_2159575818972962605[52] = 0.0; + out_2159575818972962605[53] = 0.0; + out_2159575818972962605[54] = 0.0; + out_2159575818972962605[55] = 0.0; + out_2159575818972962605[56] = 0.0; + out_2159575818972962605[57] = 0.0; + out_2159575818972962605[58] = 0.0; + out_2159575818972962605[59] = 0.0; + out_2159575818972962605[60] = 1.0; + out_2159575818972962605[61] = 0.0; + out_2159575818972962605[62] = 0.0; + out_2159575818972962605[63] = 0.0; + out_2159575818972962605[64] = 0.0; + out_2159575818972962605[65] = 0.0; + out_2159575818972962605[66] = 0.0; + out_2159575818972962605[67] = 0.0; + out_2159575818972962605[68] = 0.0; + out_2159575818972962605[69] = 0.0; + out_2159575818972962605[70] = 1.0; + out_2159575818972962605[71] = 0.0; + out_2159575818972962605[72] = 0.0; + out_2159575818972962605[73] = 0.0; + out_2159575818972962605[74] = 0.0; + out_2159575818972962605[75] = 0.0; + out_2159575818972962605[76] = 0.0; + out_2159575818972962605[77] = 0.0; + out_2159575818972962605[78] = 0.0; + out_2159575818972962605[79] = 0.0; + out_2159575818972962605[80] = 1.0; } -void f_fun(double *state, double dt, double *out_982026265070027710) { - out_982026265070027710[0] = state[0]; - out_982026265070027710[1] = state[1]; - out_982026265070027710[2] = state[2]; - out_982026265070027710[3] = state[3]; - out_982026265070027710[4] = state[4]; - out_982026265070027710[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_982026265070027710[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_982026265070027710[7] = state[7]; - out_982026265070027710[8] = state[8]; +void f_fun(double *state, double dt, double *out_1819714955702057293) { + out_1819714955702057293[0] = state[0]; + out_1819714955702057293[1] = state[1]; + out_1819714955702057293[2] = state[2]; + out_1819714955702057293[3] = state[3]; + out_1819714955702057293[4] = state[4]; + out_1819714955702057293[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_1819714955702057293[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_1819714955702057293[7] = state[7]; + out_1819714955702057293[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1254446333762572024) { - out_1254446333762572024[0] = 1; - out_1254446333762572024[1] = 0; - out_1254446333762572024[2] = 0; - out_1254446333762572024[3] = 0; - out_1254446333762572024[4] = 0; - out_1254446333762572024[5] = 0; - out_1254446333762572024[6] = 0; - out_1254446333762572024[7] = 0; - out_1254446333762572024[8] = 0; - out_1254446333762572024[9] = 0; - out_1254446333762572024[10] = 1; - out_1254446333762572024[11] = 0; - out_1254446333762572024[12] = 0; - out_1254446333762572024[13] = 0; - out_1254446333762572024[14] = 0; - out_1254446333762572024[15] = 0; - out_1254446333762572024[16] = 0; - out_1254446333762572024[17] = 0; - out_1254446333762572024[18] = 0; - out_1254446333762572024[19] = 0; - out_1254446333762572024[20] = 1; - out_1254446333762572024[21] = 0; - out_1254446333762572024[22] = 0; - out_1254446333762572024[23] = 0; - out_1254446333762572024[24] = 0; - out_1254446333762572024[25] = 0; - out_1254446333762572024[26] = 0; - out_1254446333762572024[27] = 0; - out_1254446333762572024[28] = 0; - out_1254446333762572024[29] = 0; - out_1254446333762572024[30] = 1; - out_1254446333762572024[31] = 0; - out_1254446333762572024[32] = 0; - out_1254446333762572024[33] = 0; - out_1254446333762572024[34] = 0; - out_1254446333762572024[35] = 0; - out_1254446333762572024[36] = 0; - out_1254446333762572024[37] = 0; - out_1254446333762572024[38] = 0; - out_1254446333762572024[39] = 0; - out_1254446333762572024[40] = 1; - out_1254446333762572024[41] = 0; - out_1254446333762572024[42] = 0; - out_1254446333762572024[43] = 0; - out_1254446333762572024[44] = 0; - out_1254446333762572024[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_1254446333762572024[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1254446333762572024[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1254446333762572024[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1254446333762572024[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_1254446333762572024[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1254446333762572024[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1254446333762572024[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1254446333762572024[53] = -9.8100000000000005*dt; - out_1254446333762572024[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_1254446333762572024[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1254446333762572024[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1254446333762572024[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1254446333762572024[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_1254446333762572024[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1254446333762572024[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_1254446333762572024[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1254446333762572024[62] = 0; - out_1254446333762572024[63] = 0; - out_1254446333762572024[64] = 0; - out_1254446333762572024[65] = 0; - out_1254446333762572024[66] = 0; - out_1254446333762572024[67] = 0; - out_1254446333762572024[68] = 0; - out_1254446333762572024[69] = 0; - out_1254446333762572024[70] = 1; - out_1254446333762572024[71] = 0; - out_1254446333762572024[72] = 0; - out_1254446333762572024[73] = 0; - out_1254446333762572024[74] = 0; - out_1254446333762572024[75] = 0; - out_1254446333762572024[76] = 0; - out_1254446333762572024[77] = 0; - out_1254446333762572024[78] = 0; - out_1254446333762572024[79] = 0; - out_1254446333762572024[80] = 1; +void F_fun(double *state, double dt, double *out_5560137472532626832) { + out_5560137472532626832[0] = 1; + out_5560137472532626832[1] = 0; + out_5560137472532626832[2] = 0; + out_5560137472532626832[3] = 0; + out_5560137472532626832[4] = 0; + out_5560137472532626832[5] = 0; + out_5560137472532626832[6] = 0; + out_5560137472532626832[7] = 0; + out_5560137472532626832[8] = 0; + out_5560137472532626832[9] = 0; + out_5560137472532626832[10] = 1; + out_5560137472532626832[11] = 0; + out_5560137472532626832[12] = 0; + out_5560137472532626832[13] = 0; + out_5560137472532626832[14] = 0; + out_5560137472532626832[15] = 0; + out_5560137472532626832[16] = 0; + out_5560137472532626832[17] = 0; + out_5560137472532626832[18] = 0; + out_5560137472532626832[19] = 0; + out_5560137472532626832[20] = 1; + out_5560137472532626832[21] = 0; + out_5560137472532626832[22] = 0; + out_5560137472532626832[23] = 0; + out_5560137472532626832[24] = 0; + out_5560137472532626832[25] = 0; + out_5560137472532626832[26] = 0; + out_5560137472532626832[27] = 0; + out_5560137472532626832[28] = 0; + out_5560137472532626832[29] = 0; + out_5560137472532626832[30] = 1; + out_5560137472532626832[31] = 0; + out_5560137472532626832[32] = 0; + out_5560137472532626832[33] = 0; + out_5560137472532626832[34] = 0; + out_5560137472532626832[35] = 0; + out_5560137472532626832[36] = 0; + out_5560137472532626832[37] = 0; + out_5560137472532626832[38] = 0; + out_5560137472532626832[39] = 0; + out_5560137472532626832[40] = 1; + out_5560137472532626832[41] = 0; + out_5560137472532626832[42] = 0; + out_5560137472532626832[43] = 0; + out_5560137472532626832[44] = 0; + out_5560137472532626832[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_5560137472532626832[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5560137472532626832[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5560137472532626832[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5560137472532626832[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_5560137472532626832[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5560137472532626832[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5560137472532626832[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5560137472532626832[53] = -9.8100000000000005*dt; + out_5560137472532626832[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_5560137472532626832[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5560137472532626832[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5560137472532626832[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5560137472532626832[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_5560137472532626832[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5560137472532626832[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_5560137472532626832[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5560137472532626832[62] = 0; + out_5560137472532626832[63] = 0; + out_5560137472532626832[64] = 0; + out_5560137472532626832[65] = 0; + out_5560137472532626832[66] = 0; + out_5560137472532626832[67] = 0; + out_5560137472532626832[68] = 0; + out_5560137472532626832[69] = 0; + out_5560137472532626832[70] = 1; + out_5560137472532626832[71] = 0; + out_5560137472532626832[72] = 0; + out_5560137472532626832[73] = 0; + out_5560137472532626832[74] = 0; + out_5560137472532626832[75] = 0; + out_5560137472532626832[76] = 0; + out_5560137472532626832[77] = 0; + out_5560137472532626832[78] = 0; + out_5560137472532626832[79] = 0; + out_5560137472532626832[80] = 1; } -void h_25(double *state, double *unused, double *out_3612384322752044911) { - out_3612384322752044911[0] = state[6]; +void h_25(double *state, double *unused, double *out_3269510566889334287) { + out_3269510566889334287[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4326553151131376866) { - out_4326553151131376866[0] = 0; - out_4326553151131376866[1] = 0; - out_4326553151131376866[2] = 0; - out_4326553151131376866[3] = 0; - out_4326553151131376866[4] = 0; - out_4326553151131376866[5] = 0; - out_4326553151131376866[6] = 1; - out_4326553151131376866[7] = 0; - out_4326553151131376866[8] = 0; +void H_25(double *state, double *unused, double *out_5144733109508563382) { + out_5144733109508563382[0] = 0; + out_5144733109508563382[1] = 0; + out_5144733109508563382[2] = 0; + out_5144733109508563382[3] = 0; + out_5144733109508563382[4] = 0; + out_5144733109508563382[5] = 0; + out_5144733109508563382[6] = 1; + out_5144733109508563382[7] = 0; + out_5144733109508563382[8] = 0; } -void h_24(double *state, double *unused, double *out_5341613571554885336) { - out_5341613571554885336[0] = state[4]; - out_5341613571554885336[1] = state[5]; +void h_24(double *state, double *unused, double *out_2726228600494227622) { + out_2726228600494227622[0] = state[4]; + out_2726228600494227622[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2100845367152508304) { - out_2100845367152508304[0] = 0; - out_2100845367152508304[1] = 0; - out_2100845367152508304[2] = 0; - out_2100845367152508304[3] = 0; - out_2100845367152508304[4] = 1; - out_2100845367152508304[5] = 0; - out_2100845367152508304[6] = 0; - out_2100845367152508304[7] = 0; - out_2100845367152508304[8] = 0; - out_2100845367152508304[9] = 0; - out_2100845367152508304[10] = 0; - out_2100845367152508304[11] = 0; - out_2100845367152508304[12] = 0; - out_2100845367152508304[13] = 0; - out_2100845367152508304[14] = 1; - out_2100845367152508304[15] = 0; - out_2100845367152508304[16] = 0; - out_2100845367152508304[17] = 0; +void H_24(double *state, double *unused, double *out_9127056260906331280) { + out_9127056260906331280[0] = 0; + out_9127056260906331280[1] = 0; + out_9127056260906331280[2] = 0; + out_9127056260906331280[3] = 0; + out_9127056260906331280[4] = 1; + out_9127056260906331280[5] = 0; + out_9127056260906331280[6] = 0; + out_9127056260906331280[7] = 0; + out_9127056260906331280[8] = 0; + out_9127056260906331280[9] = 0; + out_9127056260906331280[10] = 0; + out_9127056260906331280[11] = 0; + out_9127056260906331280[12] = 0; + out_9127056260906331280[13] = 0; + out_9127056260906331280[14] = 1; + out_9127056260906331280[15] = 0; + out_9127056260906331280[16] = 0; + out_9127056260906331280[17] = 0; } -void h_30(double *state, double *unused, double *out_3337190260467539022) { - out_3337190260467539022[0] = state[4]; +void h_30(double *state, double *unused, double *out_6537356030101675445) { + out_6537356030101675445[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4455892098274616936) { - out_4455892098274616936[0] = 0; - out_4455892098274616936[1] = 0; - out_4455892098274616936[2] = 0; - out_4455892098274616936[3] = 0; - out_4455892098274616936[4] = 1; - out_4455892098274616936[5] = 0; - out_4455892098274616936[6] = 0; - out_4455892098274616936[7] = 0; - out_4455892098274616936[8] = 0; +void H_30(double *state, double *unused, double *out_2626400151001314755) { + out_2626400151001314755[0] = 0; + out_2626400151001314755[1] = 0; + out_2626400151001314755[2] = 0; + out_2626400151001314755[3] = 0; + out_2626400151001314755[4] = 1; + out_2626400151001314755[5] = 0; + out_2626400151001314755[6] = 0; + out_2626400151001314755[7] = 0; + out_2626400151001314755[8] = 0; } -void h_26(double *state, double *unused, double *out_2004676975418491541) { - out_2004676975418491541[0] = state[7]; +void h_26(double *state, double *unused, double *out_4474244609179175358) { + out_4474244609179175358[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8068056470005433090) { - out_8068056470005433090[0] = 0; - out_8068056470005433090[1] = 0; - out_8068056470005433090[2] = 0; - out_8068056470005433090[3] = 0; - out_8068056470005433090[4] = 0; - out_8068056470005433090[5] = 0; - out_8068056470005433090[6] = 0; - out_8068056470005433090[7] = 1; - out_8068056470005433090[8] = 0; +void H_26(double *state, double *unused, double *out_1840207139747762781) { + out_1840207139747762781[0] = 0; + out_1840207139747762781[1] = 0; + out_1840207139747762781[2] = 0; + out_1840207139747762781[3] = 0; + out_1840207139747762781[4] = 0; + out_1840207139747762781[5] = 0; + out_1840207139747762781[6] = 0; + out_1840207139747762781[7] = 1; + out_1840207139747762781[8] = 0; } -void h_27(double *state, double *unused, double *out_1389288944908800734) { - out_1389288944908800734[0] = state[3]; +void h_27(double *state, double *unused, double *out_4356237215245798614) { + out_4356237215245798614[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6630655410075041847) { - out_6630655410075041847[0] = 0; - out_6630655410075041847[1] = 0; - out_6630655410075041847[2] = 0; - out_6630655410075041847[3] = 1; - out_6630655410075041847[4] = 0; - out_6630655410075041847[5] = 0; - out_6630655410075041847[6] = 0; - out_6630655410075041847[7] = 0; - out_6630655410075041847[8] = 0; +void H_27(double *state, double *unused, double *out_4801163462801739666) { + out_4801163462801739666[0] = 0; + out_4801163462801739666[1] = 0; + out_4801163462801739666[2] = 0; + out_4801163462801739666[3] = 1; + out_4801163462801739666[4] = 0; + out_4801163462801739666[5] = 0; + out_4801163462801739666[6] = 0; + out_4801163462801739666[7] = 0; + out_4801163462801739666[8] = 0; } -void h_29(double *state, double *unused, double *out_1664483007193306623) { - out_1664483007193306623[0] = state[1]; +void h_29(double *state, double *unused, double *out_5593846177200013010) { + out_5593846177200013010[0] = state[1]; } -void H_29(double *state, double *unused, double *out_3945660753960224752) { - out_3945660753960224752[0] = 0; - out_3945660753960224752[1] = 1; - out_3945660753960224752[2] = 0; - out_3945660753960224752[3] = 0; - out_3945660753960224752[4] = 0; - out_3945660753960224752[5] = 0; - out_3945660753960224752[6] = 0; - out_3945660753960224752[7] = 0; - out_3945660753960224752[8] = 0; +void H_29(double *state, double *unused, double *out_2116168806686922571) { + out_2116168806686922571[0] = 0; + out_2116168806686922571[1] = 1; + out_2116168806686922571[2] = 0; + out_2116168806686922571[3] = 0; + out_2116168806686922571[4] = 0; + out_2116168806686922571[5] = 0; + out_2116168806686922571[6] = 0; + out_2116168806686922571[7] = 0; + out_2116168806686922571[8] = 0; } -void h_28(double *state, double *unused, double *out_990882427725417615) { - out_990882427725417615[0] = state[0]; +void h_28(double *state, double *unused, double *out_6655363424035052189) { + out_6655363424035052189[0] = state[0]; } -void H_28(double *state, double *unused, double *out_1982030482394898501) { - out_1982030482394898501[0] = 1; - out_1982030482394898501[1] = 0; - out_1982030482394898501[2] = 0; - out_1982030482394898501[3] = 0; - out_1982030482394898501[4] = 0; - out_1982030482394898501[5] = 0; - out_1982030482394898501[6] = 0; - out_1982030482394898501[7] = 0; - out_1982030482394898501[8] = 0; +void H_28(double *state, double *unused, double *out_7198567823756453145) { + out_7198567823756453145[0] = 1; + out_7198567823756453145[1] = 0; + out_7198567823756453145[2] = 0; + out_7198567823756453145[3] = 0; + out_7198567823756453145[4] = 0; + out_7198567823756453145[5] = 0; + out_7198567823756453145[6] = 0; + out_7198567823756453145[7] = 0; + out_7198567823756453145[8] = 0; } -void h_31(double *state, double *unused, double *out_7249833851006067261) { - out_7249833851006067261[0] = state[8]; +void h_31(double *state, double *unused, double *out_8813639528518401468) { + out_8813639528518401468[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4295907189254416438) { - out_4295907189254416438[0] = 0; - out_4295907189254416438[1] = 0; - out_4295907189254416438[2] = 0; - out_4295907189254416438[3] = 0; - out_4295907189254416438[4] = 0; - out_4295907189254416438[5] = 0; - out_4295907189254416438[6] = 0; - out_4295907189254416438[7] = 0; - out_4295907189254416438[8] = 1; +void H_31(double *state, double *unused, double *out_8934299543093580534) { + out_8934299543093580534[0] = 0; + out_8934299543093580534[1] = 0; + out_8934299543093580534[2] = 0; + out_8934299543093580534[3] = 0; + out_8934299543093580534[4] = 0; + out_8934299543093580534[5] = 0; + out_8934299543093580534[6] = 0; + out_8934299543093580534[7] = 0; + out_8934299543093580534[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_822107927183758870) { - err_fun(nom_x, delta_x, out_822107927183758870); +void car_err_fun(double *nom_x, double *delta_x, double *out_7228457580426239955) { + err_fun(nom_x, delta_x, out_7228457580426239955); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4567978126636007906) { - inv_err_fun(nom_x, true_x, out_4567978126636007906); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1737471906525172971) { + inv_err_fun(nom_x, true_x, out_1737471906525172971); } -void car_H_mod_fun(double *state, double *out_4866635074780860371) { - H_mod_fun(state, out_4866635074780860371); +void car_H_mod_fun(double *state, double *out_2159575818972962605) { + H_mod_fun(state, out_2159575818972962605); } -void car_f_fun(double *state, double dt, double *out_982026265070027710) { - f_fun(state, dt, out_982026265070027710); +void car_f_fun(double *state, double dt, double *out_1819714955702057293) { + f_fun(state, dt, out_1819714955702057293); } -void car_F_fun(double *state, double dt, double *out_1254446333762572024) { - F_fun(state, dt, out_1254446333762572024); +void car_F_fun(double *state, double dt, double *out_5560137472532626832) { + F_fun(state, dt, out_5560137472532626832); } -void car_h_25(double *state, double *unused, double *out_3612384322752044911) { - h_25(state, unused, out_3612384322752044911); +void car_h_25(double *state, double *unused, double *out_3269510566889334287) { + h_25(state, unused, out_3269510566889334287); } -void car_H_25(double *state, double *unused, double *out_4326553151131376866) { - H_25(state, unused, out_4326553151131376866); +void car_H_25(double *state, double *unused, double *out_5144733109508563382) { + H_25(state, unused, out_5144733109508563382); } -void car_h_24(double *state, double *unused, double *out_5341613571554885336) { - h_24(state, unused, out_5341613571554885336); +void car_h_24(double *state, double *unused, double *out_2726228600494227622) { + h_24(state, unused, out_2726228600494227622); } -void car_H_24(double *state, double *unused, double *out_2100845367152508304) { - H_24(state, unused, out_2100845367152508304); +void car_H_24(double *state, double *unused, double *out_9127056260906331280) { + H_24(state, unused, out_9127056260906331280); } -void car_h_30(double *state, double *unused, double *out_3337190260467539022) { - h_30(state, unused, out_3337190260467539022); +void car_h_30(double *state, double *unused, double *out_6537356030101675445) { + h_30(state, unused, out_6537356030101675445); } -void car_H_30(double *state, double *unused, double *out_4455892098274616936) { - H_30(state, unused, out_4455892098274616936); +void car_H_30(double *state, double *unused, double *out_2626400151001314755) { + H_30(state, unused, out_2626400151001314755); } -void car_h_26(double *state, double *unused, double *out_2004676975418491541) { - h_26(state, unused, out_2004676975418491541); +void car_h_26(double *state, double *unused, double *out_4474244609179175358) { + h_26(state, unused, out_4474244609179175358); } -void car_H_26(double *state, double *unused, double *out_8068056470005433090) { - H_26(state, unused, out_8068056470005433090); +void car_H_26(double *state, double *unused, double *out_1840207139747762781) { + H_26(state, unused, out_1840207139747762781); } -void car_h_27(double *state, double *unused, double *out_1389288944908800734) { - h_27(state, unused, out_1389288944908800734); +void car_h_27(double *state, double *unused, double *out_4356237215245798614) { + h_27(state, unused, out_4356237215245798614); } -void car_H_27(double *state, double *unused, double *out_6630655410075041847) { - H_27(state, unused, out_6630655410075041847); +void car_H_27(double *state, double *unused, double *out_4801163462801739666) { + H_27(state, unused, out_4801163462801739666); } -void car_h_29(double *state, double *unused, double *out_1664483007193306623) { - h_29(state, unused, out_1664483007193306623); +void car_h_29(double *state, double *unused, double *out_5593846177200013010) { + h_29(state, unused, out_5593846177200013010); } -void car_H_29(double *state, double *unused, double *out_3945660753960224752) { - H_29(state, unused, out_3945660753960224752); +void car_H_29(double *state, double *unused, double *out_2116168806686922571) { + H_29(state, unused, out_2116168806686922571); } -void car_h_28(double *state, double *unused, double *out_990882427725417615) { - h_28(state, unused, out_990882427725417615); +void car_h_28(double *state, double *unused, double *out_6655363424035052189) { + h_28(state, unused, out_6655363424035052189); } -void car_H_28(double *state, double *unused, double *out_1982030482394898501) { - H_28(state, unused, out_1982030482394898501); +void car_H_28(double *state, double *unused, double *out_7198567823756453145) { + H_28(state, unused, out_7198567823756453145); } -void car_h_31(double *state, double *unused, double *out_7249833851006067261) { - h_31(state, unused, out_7249833851006067261); +void car_h_31(double *state, double *unused, double *out_8813639528518401468) { + h_31(state, unused, out_8813639528518401468); } -void car_H_31(double *state, double *unused, double *out_4295907189254416438) { - H_31(state, unused, out_4295907189254416438); +void car_H_31(double *state, double *unused, double *out_8934299543093580534) { + H_31(state, unused, out_8934299543093580534); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index d65d312f5..eb4cddda9 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_822107927183758870); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4567978126636007906); -void car_H_mod_fun(double *state, double *out_4866635074780860371); -void car_f_fun(double *state, double dt, double *out_982026265070027710); -void car_F_fun(double *state, double dt, double *out_1254446333762572024); -void car_h_25(double *state, double *unused, double *out_3612384322752044911); -void car_H_25(double *state, double *unused, double *out_4326553151131376866); -void car_h_24(double *state, double *unused, double *out_5341613571554885336); -void car_H_24(double *state, double *unused, double *out_2100845367152508304); -void car_h_30(double *state, double *unused, double *out_3337190260467539022); -void car_H_30(double *state, double *unused, double *out_4455892098274616936); -void car_h_26(double *state, double *unused, double *out_2004676975418491541); -void car_H_26(double *state, double *unused, double *out_8068056470005433090); -void car_h_27(double *state, double *unused, double *out_1389288944908800734); -void car_H_27(double *state, double *unused, double *out_6630655410075041847); -void car_h_29(double *state, double *unused, double *out_1664483007193306623); -void car_H_29(double *state, double *unused, double *out_3945660753960224752); -void car_h_28(double *state, double *unused, double *out_990882427725417615); -void car_H_28(double *state, double *unused, double *out_1982030482394898501); -void car_h_31(double *state, double *unused, double *out_7249833851006067261); -void car_H_31(double *state, double *unused, double *out_4295907189254416438); +void car_err_fun(double *nom_x, double *delta_x, double *out_7228457580426239955); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1737471906525172971); +void car_H_mod_fun(double *state, double *out_2159575818972962605); +void car_f_fun(double *state, double dt, double *out_1819714955702057293); +void car_F_fun(double *state, double dt, double *out_5560137472532626832); +void car_h_25(double *state, double *unused, double *out_3269510566889334287); +void car_H_25(double *state, double *unused, double *out_5144733109508563382); +void car_h_24(double *state, double *unused, double *out_2726228600494227622); +void car_H_24(double *state, double *unused, double *out_9127056260906331280); +void car_h_30(double *state, double *unused, double *out_6537356030101675445); +void car_H_30(double *state, double *unused, double *out_2626400151001314755); +void car_h_26(double *state, double *unused, double *out_4474244609179175358); +void car_H_26(double *state, double *unused, double *out_1840207139747762781); +void car_h_27(double *state, double *unused, double *out_4356237215245798614); +void car_H_27(double *state, double *unused, double *out_4801163462801739666); +void car_h_29(double *state, double *unused, double *out_5593846177200013010); +void car_H_29(double *state, double *unused, double *out_2116168806686922571); +void car_h_28(double *state, double *unused, double *out_6655363424035052189); +void car_H_28(double *state, double *unused, double *out_7198567823756453145); +void car_h_31(double *state, double *unused, double *out_8813639528518401468); +void car_H_31(double *state, double *unused, double *out_8934299543093580534); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 0e4994db6..1387e9dc5 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_521051683878790646) { - out_521051683878790646[0] = delta_x[0] + nom_x[0]; - out_521051683878790646[1] = delta_x[1] + nom_x[1]; - out_521051683878790646[2] = delta_x[2] + nom_x[2]; - out_521051683878790646[3] = delta_x[3] + nom_x[3]; - out_521051683878790646[4] = delta_x[4] + nom_x[4]; - out_521051683878790646[5] = delta_x[5] + nom_x[5]; - out_521051683878790646[6] = delta_x[6] + nom_x[6]; - out_521051683878790646[7] = delta_x[7] + nom_x[7]; - out_521051683878790646[8] = delta_x[8] + nom_x[8]; - out_521051683878790646[9] = delta_x[9] + nom_x[9]; - out_521051683878790646[10] = delta_x[10] + nom_x[10]; - out_521051683878790646[11] = delta_x[11] + nom_x[11]; - out_521051683878790646[12] = delta_x[12] + nom_x[12]; - out_521051683878790646[13] = delta_x[13] + nom_x[13]; - out_521051683878790646[14] = delta_x[14] + nom_x[14]; - out_521051683878790646[15] = delta_x[15] + nom_x[15]; - out_521051683878790646[16] = delta_x[16] + nom_x[16]; - out_521051683878790646[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4423077432163082570) { + out_4423077432163082570[0] = delta_x[0] + nom_x[0]; + out_4423077432163082570[1] = delta_x[1] + nom_x[1]; + out_4423077432163082570[2] = delta_x[2] + nom_x[2]; + out_4423077432163082570[3] = delta_x[3] + nom_x[3]; + out_4423077432163082570[4] = delta_x[4] + nom_x[4]; + out_4423077432163082570[5] = delta_x[5] + nom_x[5]; + out_4423077432163082570[6] = delta_x[6] + nom_x[6]; + out_4423077432163082570[7] = delta_x[7] + nom_x[7]; + out_4423077432163082570[8] = delta_x[8] + nom_x[8]; + out_4423077432163082570[9] = delta_x[9] + nom_x[9]; + out_4423077432163082570[10] = delta_x[10] + nom_x[10]; + out_4423077432163082570[11] = delta_x[11] + nom_x[11]; + out_4423077432163082570[12] = delta_x[12] + nom_x[12]; + out_4423077432163082570[13] = delta_x[13] + nom_x[13]; + out_4423077432163082570[14] = delta_x[14] + nom_x[14]; + out_4423077432163082570[15] = delta_x[15] + nom_x[15]; + out_4423077432163082570[16] = delta_x[16] + nom_x[16]; + out_4423077432163082570[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_210058828153721645) { - out_210058828153721645[0] = -nom_x[0] + true_x[0]; - out_210058828153721645[1] = -nom_x[1] + true_x[1]; - out_210058828153721645[2] = -nom_x[2] + true_x[2]; - out_210058828153721645[3] = -nom_x[3] + true_x[3]; - out_210058828153721645[4] = -nom_x[4] + true_x[4]; - out_210058828153721645[5] = -nom_x[5] + true_x[5]; - out_210058828153721645[6] = -nom_x[6] + true_x[6]; - out_210058828153721645[7] = -nom_x[7] + true_x[7]; - out_210058828153721645[8] = -nom_x[8] + true_x[8]; - out_210058828153721645[9] = -nom_x[9] + true_x[9]; - out_210058828153721645[10] = -nom_x[10] + true_x[10]; - out_210058828153721645[11] = -nom_x[11] + true_x[11]; - out_210058828153721645[12] = -nom_x[12] + true_x[12]; - out_210058828153721645[13] = -nom_x[13] + true_x[13]; - out_210058828153721645[14] = -nom_x[14] + true_x[14]; - out_210058828153721645[15] = -nom_x[15] + true_x[15]; - out_210058828153721645[16] = -nom_x[16] + true_x[16]; - out_210058828153721645[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3066625947211960781) { + out_3066625947211960781[0] = -nom_x[0] + true_x[0]; + out_3066625947211960781[1] = -nom_x[1] + true_x[1]; + out_3066625947211960781[2] = -nom_x[2] + true_x[2]; + out_3066625947211960781[3] = -nom_x[3] + true_x[3]; + out_3066625947211960781[4] = -nom_x[4] + true_x[4]; + out_3066625947211960781[5] = -nom_x[5] + true_x[5]; + out_3066625947211960781[6] = -nom_x[6] + true_x[6]; + out_3066625947211960781[7] = -nom_x[7] + true_x[7]; + out_3066625947211960781[8] = -nom_x[8] + true_x[8]; + out_3066625947211960781[9] = -nom_x[9] + true_x[9]; + out_3066625947211960781[10] = -nom_x[10] + true_x[10]; + out_3066625947211960781[11] = -nom_x[11] + true_x[11]; + out_3066625947211960781[12] = -nom_x[12] + true_x[12]; + out_3066625947211960781[13] = -nom_x[13] + true_x[13]; + out_3066625947211960781[14] = -nom_x[14] + true_x[14]; + out_3066625947211960781[15] = -nom_x[15] + true_x[15]; + out_3066625947211960781[16] = -nom_x[16] + true_x[16]; + out_3066625947211960781[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4312613236564964080) { - out_4312613236564964080[0] = 1.0; - out_4312613236564964080[1] = 0.0; - out_4312613236564964080[2] = 0.0; - out_4312613236564964080[3] = 0.0; - out_4312613236564964080[4] = 0.0; - out_4312613236564964080[5] = 0.0; - out_4312613236564964080[6] = 0.0; - out_4312613236564964080[7] = 0.0; - out_4312613236564964080[8] = 0.0; - out_4312613236564964080[9] = 0.0; - out_4312613236564964080[10] = 0.0; - out_4312613236564964080[11] = 0.0; - out_4312613236564964080[12] = 0.0; - out_4312613236564964080[13] = 0.0; - out_4312613236564964080[14] = 0.0; - out_4312613236564964080[15] = 0.0; - out_4312613236564964080[16] = 0.0; - out_4312613236564964080[17] = 0.0; - out_4312613236564964080[18] = 0.0; - out_4312613236564964080[19] = 1.0; - out_4312613236564964080[20] = 0.0; - out_4312613236564964080[21] = 0.0; - out_4312613236564964080[22] = 0.0; - out_4312613236564964080[23] = 0.0; - out_4312613236564964080[24] = 0.0; - out_4312613236564964080[25] = 0.0; - out_4312613236564964080[26] = 0.0; - out_4312613236564964080[27] = 0.0; - out_4312613236564964080[28] = 0.0; - out_4312613236564964080[29] = 0.0; - out_4312613236564964080[30] = 0.0; - out_4312613236564964080[31] = 0.0; - out_4312613236564964080[32] = 0.0; - out_4312613236564964080[33] = 0.0; - out_4312613236564964080[34] = 0.0; - out_4312613236564964080[35] = 0.0; - out_4312613236564964080[36] = 0.0; - out_4312613236564964080[37] = 0.0; - out_4312613236564964080[38] = 1.0; - out_4312613236564964080[39] = 0.0; - out_4312613236564964080[40] = 0.0; - out_4312613236564964080[41] = 0.0; - out_4312613236564964080[42] = 0.0; - out_4312613236564964080[43] = 0.0; - out_4312613236564964080[44] = 0.0; - out_4312613236564964080[45] = 0.0; - out_4312613236564964080[46] = 0.0; - out_4312613236564964080[47] = 0.0; - out_4312613236564964080[48] = 0.0; - out_4312613236564964080[49] = 0.0; - out_4312613236564964080[50] = 0.0; - out_4312613236564964080[51] = 0.0; - out_4312613236564964080[52] = 0.0; - out_4312613236564964080[53] = 0.0; - out_4312613236564964080[54] = 0.0; - out_4312613236564964080[55] = 0.0; - out_4312613236564964080[56] = 0.0; - out_4312613236564964080[57] = 1.0; - out_4312613236564964080[58] = 0.0; - out_4312613236564964080[59] = 0.0; - out_4312613236564964080[60] = 0.0; - out_4312613236564964080[61] = 0.0; - out_4312613236564964080[62] = 0.0; - out_4312613236564964080[63] = 0.0; - out_4312613236564964080[64] = 0.0; - out_4312613236564964080[65] = 0.0; - out_4312613236564964080[66] = 0.0; - out_4312613236564964080[67] = 0.0; - out_4312613236564964080[68] = 0.0; - out_4312613236564964080[69] = 0.0; - out_4312613236564964080[70] = 0.0; - out_4312613236564964080[71] = 0.0; - out_4312613236564964080[72] = 0.0; - out_4312613236564964080[73] = 0.0; - out_4312613236564964080[74] = 0.0; - out_4312613236564964080[75] = 0.0; - out_4312613236564964080[76] = 1.0; - out_4312613236564964080[77] = 0.0; - out_4312613236564964080[78] = 0.0; - out_4312613236564964080[79] = 0.0; - out_4312613236564964080[80] = 0.0; - out_4312613236564964080[81] = 0.0; - out_4312613236564964080[82] = 0.0; - out_4312613236564964080[83] = 0.0; - out_4312613236564964080[84] = 0.0; - out_4312613236564964080[85] = 0.0; - out_4312613236564964080[86] = 0.0; - out_4312613236564964080[87] = 0.0; - out_4312613236564964080[88] = 0.0; - out_4312613236564964080[89] = 0.0; - out_4312613236564964080[90] = 0.0; - out_4312613236564964080[91] = 0.0; - out_4312613236564964080[92] = 0.0; - out_4312613236564964080[93] = 0.0; - out_4312613236564964080[94] = 0.0; - out_4312613236564964080[95] = 1.0; - out_4312613236564964080[96] = 0.0; - out_4312613236564964080[97] = 0.0; - out_4312613236564964080[98] = 0.0; - out_4312613236564964080[99] = 0.0; - out_4312613236564964080[100] = 0.0; - out_4312613236564964080[101] = 0.0; - out_4312613236564964080[102] = 0.0; - out_4312613236564964080[103] = 0.0; - out_4312613236564964080[104] = 0.0; - out_4312613236564964080[105] = 0.0; - out_4312613236564964080[106] = 0.0; - out_4312613236564964080[107] = 0.0; - out_4312613236564964080[108] = 0.0; - out_4312613236564964080[109] = 0.0; - out_4312613236564964080[110] = 0.0; - out_4312613236564964080[111] = 0.0; - out_4312613236564964080[112] = 0.0; - out_4312613236564964080[113] = 0.0; - out_4312613236564964080[114] = 1.0; - out_4312613236564964080[115] = 0.0; - out_4312613236564964080[116] = 0.0; - out_4312613236564964080[117] = 0.0; - out_4312613236564964080[118] = 0.0; - out_4312613236564964080[119] = 0.0; - out_4312613236564964080[120] = 0.0; - out_4312613236564964080[121] = 0.0; - out_4312613236564964080[122] = 0.0; - out_4312613236564964080[123] = 0.0; - out_4312613236564964080[124] = 0.0; - out_4312613236564964080[125] = 0.0; - out_4312613236564964080[126] = 0.0; - out_4312613236564964080[127] = 0.0; - out_4312613236564964080[128] = 0.0; - out_4312613236564964080[129] = 0.0; - out_4312613236564964080[130] = 0.0; - out_4312613236564964080[131] = 0.0; - out_4312613236564964080[132] = 0.0; - out_4312613236564964080[133] = 1.0; - out_4312613236564964080[134] = 0.0; - out_4312613236564964080[135] = 0.0; - out_4312613236564964080[136] = 0.0; - out_4312613236564964080[137] = 0.0; - out_4312613236564964080[138] = 0.0; - out_4312613236564964080[139] = 0.0; - out_4312613236564964080[140] = 0.0; - out_4312613236564964080[141] = 0.0; - out_4312613236564964080[142] = 0.0; - out_4312613236564964080[143] = 0.0; - out_4312613236564964080[144] = 0.0; - out_4312613236564964080[145] = 0.0; - out_4312613236564964080[146] = 0.0; - out_4312613236564964080[147] = 0.0; - out_4312613236564964080[148] = 0.0; - out_4312613236564964080[149] = 0.0; - out_4312613236564964080[150] = 0.0; - out_4312613236564964080[151] = 0.0; - out_4312613236564964080[152] = 1.0; - out_4312613236564964080[153] = 0.0; - out_4312613236564964080[154] = 0.0; - out_4312613236564964080[155] = 0.0; - out_4312613236564964080[156] = 0.0; - out_4312613236564964080[157] = 0.0; - out_4312613236564964080[158] = 0.0; - out_4312613236564964080[159] = 0.0; - out_4312613236564964080[160] = 0.0; - out_4312613236564964080[161] = 0.0; - out_4312613236564964080[162] = 0.0; - out_4312613236564964080[163] = 0.0; - out_4312613236564964080[164] = 0.0; - out_4312613236564964080[165] = 0.0; - out_4312613236564964080[166] = 0.0; - out_4312613236564964080[167] = 0.0; - out_4312613236564964080[168] = 0.0; - out_4312613236564964080[169] = 0.0; - out_4312613236564964080[170] = 0.0; - out_4312613236564964080[171] = 1.0; - out_4312613236564964080[172] = 0.0; - out_4312613236564964080[173] = 0.0; - out_4312613236564964080[174] = 0.0; - out_4312613236564964080[175] = 0.0; - out_4312613236564964080[176] = 0.0; - out_4312613236564964080[177] = 0.0; - out_4312613236564964080[178] = 0.0; - out_4312613236564964080[179] = 0.0; - out_4312613236564964080[180] = 0.0; - out_4312613236564964080[181] = 0.0; - out_4312613236564964080[182] = 0.0; - out_4312613236564964080[183] = 0.0; - out_4312613236564964080[184] = 0.0; - out_4312613236564964080[185] = 0.0; - out_4312613236564964080[186] = 0.0; - out_4312613236564964080[187] = 0.0; - out_4312613236564964080[188] = 0.0; - out_4312613236564964080[189] = 0.0; - out_4312613236564964080[190] = 1.0; - out_4312613236564964080[191] = 0.0; - out_4312613236564964080[192] = 0.0; - out_4312613236564964080[193] = 0.0; - out_4312613236564964080[194] = 0.0; - out_4312613236564964080[195] = 0.0; - out_4312613236564964080[196] = 0.0; - out_4312613236564964080[197] = 0.0; - out_4312613236564964080[198] = 0.0; - out_4312613236564964080[199] = 0.0; - out_4312613236564964080[200] = 0.0; - out_4312613236564964080[201] = 0.0; - out_4312613236564964080[202] = 0.0; - out_4312613236564964080[203] = 0.0; - out_4312613236564964080[204] = 0.0; - out_4312613236564964080[205] = 0.0; - out_4312613236564964080[206] = 0.0; - out_4312613236564964080[207] = 0.0; - out_4312613236564964080[208] = 0.0; - out_4312613236564964080[209] = 1.0; - out_4312613236564964080[210] = 0.0; - out_4312613236564964080[211] = 0.0; - out_4312613236564964080[212] = 0.0; - out_4312613236564964080[213] = 0.0; - out_4312613236564964080[214] = 0.0; - out_4312613236564964080[215] = 0.0; - out_4312613236564964080[216] = 0.0; - out_4312613236564964080[217] = 0.0; - out_4312613236564964080[218] = 0.0; - out_4312613236564964080[219] = 0.0; - out_4312613236564964080[220] = 0.0; - out_4312613236564964080[221] = 0.0; - out_4312613236564964080[222] = 0.0; - out_4312613236564964080[223] = 0.0; - out_4312613236564964080[224] = 0.0; - out_4312613236564964080[225] = 0.0; - out_4312613236564964080[226] = 0.0; - out_4312613236564964080[227] = 0.0; - out_4312613236564964080[228] = 1.0; - out_4312613236564964080[229] = 0.0; - out_4312613236564964080[230] = 0.0; - out_4312613236564964080[231] = 0.0; - out_4312613236564964080[232] = 0.0; - out_4312613236564964080[233] = 0.0; - out_4312613236564964080[234] = 0.0; - out_4312613236564964080[235] = 0.0; - out_4312613236564964080[236] = 0.0; - out_4312613236564964080[237] = 0.0; - out_4312613236564964080[238] = 0.0; - out_4312613236564964080[239] = 0.0; - out_4312613236564964080[240] = 0.0; - out_4312613236564964080[241] = 0.0; - out_4312613236564964080[242] = 0.0; - out_4312613236564964080[243] = 0.0; - out_4312613236564964080[244] = 0.0; - out_4312613236564964080[245] = 0.0; - out_4312613236564964080[246] = 0.0; - out_4312613236564964080[247] = 1.0; - out_4312613236564964080[248] = 0.0; - out_4312613236564964080[249] = 0.0; - out_4312613236564964080[250] = 0.0; - out_4312613236564964080[251] = 0.0; - out_4312613236564964080[252] = 0.0; - out_4312613236564964080[253] = 0.0; - out_4312613236564964080[254] = 0.0; - out_4312613236564964080[255] = 0.0; - out_4312613236564964080[256] = 0.0; - out_4312613236564964080[257] = 0.0; - out_4312613236564964080[258] = 0.0; - out_4312613236564964080[259] = 0.0; - out_4312613236564964080[260] = 0.0; - out_4312613236564964080[261] = 0.0; - out_4312613236564964080[262] = 0.0; - out_4312613236564964080[263] = 0.0; - out_4312613236564964080[264] = 0.0; - out_4312613236564964080[265] = 0.0; - out_4312613236564964080[266] = 1.0; - out_4312613236564964080[267] = 0.0; - out_4312613236564964080[268] = 0.0; - out_4312613236564964080[269] = 0.0; - out_4312613236564964080[270] = 0.0; - out_4312613236564964080[271] = 0.0; - out_4312613236564964080[272] = 0.0; - out_4312613236564964080[273] = 0.0; - out_4312613236564964080[274] = 0.0; - out_4312613236564964080[275] = 0.0; - out_4312613236564964080[276] = 0.0; - out_4312613236564964080[277] = 0.0; - out_4312613236564964080[278] = 0.0; - out_4312613236564964080[279] = 0.0; - out_4312613236564964080[280] = 0.0; - out_4312613236564964080[281] = 0.0; - out_4312613236564964080[282] = 0.0; - out_4312613236564964080[283] = 0.0; - out_4312613236564964080[284] = 0.0; - out_4312613236564964080[285] = 1.0; - out_4312613236564964080[286] = 0.0; - out_4312613236564964080[287] = 0.0; - out_4312613236564964080[288] = 0.0; - out_4312613236564964080[289] = 0.0; - out_4312613236564964080[290] = 0.0; - out_4312613236564964080[291] = 0.0; - out_4312613236564964080[292] = 0.0; - out_4312613236564964080[293] = 0.0; - out_4312613236564964080[294] = 0.0; - out_4312613236564964080[295] = 0.0; - out_4312613236564964080[296] = 0.0; - out_4312613236564964080[297] = 0.0; - out_4312613236564964080[298] = 0.0; - out_4312613236564964080[299] = 0.0; - out_4312613236564964080[300] = 0.0; - out_4312613236564964080[301] = 0.0; - out_4312613236564964080[302] = 0.0; - out_4312613236564964080[303] = 0.0; - out_4312613236564964080[304] = 1.0; - out_4312613236564964080[305] = 0.0; - out_4312613236564964080[306] = 0.0; - out_4312613236564964080[307] = 0.0; - out_4312613236564964080[308] = 0.0; - out_4312613236564964080[309] = 0.0; - out_4312613236564964080[310] = 0.0; - out_4312613236564964080[311] = 0.0; - out_4312613236564964080[312] = 0.0; - out_4312613236564964080[313] = 0.0; - out_4312613236564964080[314] = 0.0; - out_4312613236564964080[315] = 0.0; - out_4312613236564964080[316] = 0.0; - out_4312613236564964080[317] = 0.0; - out_4312613236564964080[318] = 0.0; - out_4312613236564964080[319] = 0.0; - out_4312613236564964080[320] = 0.0; - out_4312613236564964080[321] = 0.0; - out_4312613236564964080[322] = 0.0; - out_4312613236564964080[323] = 1.0; +void H_mod_fun(double *state, double *out_7899193355677302719) { + out_7899193355677302719[0] = 1.0; + out_7899193355677302719[1] = 0.0; + out_7899193355677302719[2] = 0.0; + out_7899193355677302719[3] = 0.0; + out_7899193355677302719[4] = 0.0; + out_7899193355677302719[5] = 0.0; + out_7899193355677302719[6] = 0.0; + out_7899193355677302719[7] = 0.0; + out_7899193355677302719[8] = 0.0; + out_7899193355677302719[9] = 0.0; + out_7899193355677302719[10] = 0.0; + out_7899193355677302719[11] = 0.0; + out_7899193355677302719[12] = 0.0; + out_7899193355677302719[13] = 0.0; + out_7899193355677302719[14] = 0.0; + out_7899193355677302719[15] = 0.0; + out_7899193355677302719[16] = 0.0; + out_7899193355677302719[17] = 0.0; + out_7899193355677302719[18] = 0.0; + out_7899193355677302719[19] = 1.0; + out_7899193355677302719[20] = 0.0; + out_7899193355677302719[21] = 0.0; + out_7899193355677302719[22] = 0.0; + out_7899193355677302719[23] = 0.0; + out_7899193355677302719[24] = 0.0; + out_7899193355677302719[25] = 0.0; + out_7899193355677302719[26] = 0.0; + out_7899193355677302719[27] = 0.0; + out_7899193355677302719[28] = 0.0; + out_7899193355677302719[29] = 0.0; + out_7899193355677302719[30] = 0.0; + out_7899193355677302719[31] = 0.0; + out_7899193355677302719[32] = 0.0; + out_7899193355677302719[33] = 0.0; + out_7899193355677302719[34] = 0.0; + out_7899193355677302719[35] = 0.0; + out_7899193355677302719[36] = 0.0; + out_7899193355677302719[37] = 0.0; + out_7899193355677302719[38] = 1.0; + out_7899193355677302719[39] = 0.0; + out_7899193355677302719[40] = 0.0; + out_7899193355677302719[41] = 0.0; + out_7899193355677302719[42] = 0.0; + out_7899193355677302719[43] = 0.0; + out_7899193355677302719[44] = 0.0; + out_7899193355677302719[45] = 0.0; + out_7899193355677302719[46] = 0.0; + out_7899193355677302719[47] = 0.0; + out_7899193355677302719[48] = 0.0; + out_7899193355677302719[49] = 0.0; + out_7899193355677302719[50] = 0.0; + out_7899193355677302719[51] = 0.0; + out_7899193355677302719[52] = 0.0; + out_7899193355677302719[53] = 0.0; + out_7899193355677302719[54] = 0.0; + out_7899193355677302719[55] = 0.0; + out_7899193355677302719[56] = 0.0; + out_7899193355677302719[57] = 1.0; + out_7899193355677302719[58] = 0.0; + out_7899193355677302719[59] = 0.0; + out_7899193355677302719[60] = 0.0; + out_7899193355677302719[61] = 0.0; + out_7899193355677302719[62] = 0.0; + out_7899193355677302719[63] = 0.0; + out_7899193355677302719[64] = 0.0; + out_7899193355677302719[65] = 0.0; + out_7899193355677302719[66] = 0.0; + out_7899193355677302719[67] = 0.0; + out_7899193355677302719[68] = 0.0; + out_7899193355677302719[69] = 0.0; + out_7899193355677302719[70] = 0.0; + out_7899193355677302719[71] = 0.0; + out_7899193355677302719[72] = 0.0; + out_7899193355677302719[73] = 0.0; + out_7899193355677302719[74] = 0.0; + out_7899193355677302719[75] = 0.0; + out_7899193355677302719[76] = 1.0; + out_7899193355677302719[77] = 0.0; + out_7899193355677302719[78] = 0.0; + out_7899193355677302719[79] = 0.0; + out_7899193355677302719[80] = 0.0; + out_7899193355677302719[81] = 0.0; + out_7899193355677302719[82] = 0.0; + out_7899193355677302719[83] = 0.0; + out_7899193355677302719[84] = 0.0; + out_7899193355677302719[85] = 0.0; + out_7899193355677302719[86] = 0.0; + out_7899193355677302719[87] = 0.0; + out_7899193355677302719[88] = 0.0; + out_7899193355677302719[89] = 0.0; + out_7899193355677302719[90] = 0.0; + out_7899193355677302719[91] = 0.0; + out_7899193355677302719[92] = 0.0; + out_7899193355677302719[93] = 0.0; + out_7899193355677302719[94] = 0.0; + out_7899193355677302719[95] = 1.0; + out_7899193355677302719[96] = 0.0; + out_7899193355677302719[97] = 0.0; + out_7899193355677302719[98] = 0.0; + out_7899193355677302719[99] = 0.0; + out_7899193355677302719[100] = 0.0; + out_7899193355677302719[101] = 0.0; + out_7899193355677302719[102] = 0.0; + out_7899193355677302719[103] = 0.0; + out_7899193355677302719[104] = 0.0; + out_7899193355677302719[105] = 0.0; + out_7899193355677302719[106] = 0.0; + out_7899193355677302719[107] = 0.0; + out_7899193355677302719[108] = 0.0; + out_7899193355677302719[109] = 0.0; + out_7899193355677302719[110] = 0.0; + out_7899193355677302719[111] = 0.0; + out_7899193355677302719[112] = 0.0; + out_7899193355677302719[113] = 0.0; + out_7899193355677302719[114] = 1.0; + out_7899193355677302719[115] = 0.0; + out_7899193355677302719[116] = 0.0; + out_7899193355677302719[117] = 0.0; + out_7899193355677302719[118] = 0.0; + out_7899193355677302719[119] = 0.0; + out_7899193355677302719[120] = 0.0; + out_7899193355677302719[121] = 0.0; + out_7899193355677302719[122] = 0.0; + out_7899193355677302719[123] = 0.0; + out_7899193355677302719[124] = 0.0; + out_7899193355677302719[125] = 0.0; + out_7899193355677302719[126] = 0.0; + out_7899193355677302719[127] = 0.0; + out_7899193355677302719[128] = 0.0; + out_7899193355677302719[129] = 0.0; + out_7899193355677302719[130] = 0.0; + out_7899193355677302719[131] = 0.0; + out_7899193355677302719[132] = 0.0; + out_7899193355677302719[133] = 1.0; + out_7899193355677302719[134] = 0.0; + out_7899193355677302719[135] = 0.0; + out_7899193355677302719[136] = 0.0; + out_7899193355677302719[137] = 0.0; + out_7899193355677302719[138] = 0.0; + out_7899193355677302719[139] = 0.0; + out_7899193355677302719[140] = 0.0; + out_7899193355677302719[141] = 0.0; + out_7899193355677302719[142] = 0.0; + out_7899193355677302719[143] = 0.0; + out_7899193355677302719[144] = 0.0; + out_7899193355677302719[145] = 0.0; + out_7899193355677302719[146] = 0.0; + out_7899193355677302719[147] = 0.0; + out_7899193355677302719[148] = 0.0; + out_7899193355677302719[149] = 0.0; + out_7899193355677302719[150] = 0.0; + out_7899193355677302719[151] = 0.0; + out_7899193355677302719[152] = 1.0; + out_7899193355677302719[153] = 0.0; + out_7899193355677302719[154] = 0.0; + out_7899193355677302719[155] = 0.0; + out_7899193355677302719[156] = 0.0; + out_7899193355677302719[157] = 0.0; + out_7899193355677302719[158] = 0.0; + out_7899193355677302719[159] = 0.0; + out_7899193355677302719[160] = 0.0; + out_7899193355677302719[161] = 0.0; + out_7899193355677302719[162] = 0.0; + out_7899193355677302719[163] = 0.0; + out_7899193355677302719[164] = 0.0; + out_7899193355677302719[165] = 0.0; + out_7899193355677302719[166] = 0.0; + out_7899193355677302719[167] = 0.0; + out_7899193355677302719[168] = 0.0; + out_7899193355677302719[169] = 0.0; + out_7899193355677302719[170] = 0.0; + out_7899193355677302719[171] = 1.0; + out_7899193355677302719[172] = 0.0; + out_7899193355677302719[173] = 0.0; + out_7899193355677302719[174] = 0.0; + out_7899193355677302719[175] = 0.0; + out_7899193355677302719[176] = 0.0; + out_7899193355677302719[177] = 0.0; + out_7899193355677302719[178] = 0.0; + out_7899193355677302719[179] = 0.0; + out_7899193355677302719[180] = 0.0; + out_7899193355677302719[181] = 0.0; + out_7899193355677302719[182] = 0.0; + out_7899193355677302719[183] = 0.0; + out_7899193355677302719[184] = 0.0; + out_7899193355677302719[185] = 0.0; + out_7899193355677302719[186] = 0.0; + out_7899193355677302719[187] = 0.0; + out_7899193355677302719[188] = 0.0; + out_7899193355677302719[189] = 0.0; + out_7899193355677302719[190] = 1.0; + out_7899193355677302719[191] = 0.0; + out_7899193355677302719[192] = 0.0; + out_7899193355677302719[193] = 0.0; + out_7899193355677302719[194] = 0.0; + out_7899193355677302719[195] = 0.0; + out_7899193355677302719[196] = 0.0; + out_7899193355677302719[197] = 0.0; + out_7899193355677302719[198] = 0.0; + out_7899193355677302719[199] = 0.0; + out_7899193355677302719[200] = 0.0; + out_7899193355677302719[201] = 0.0; + out_7899193355677302719[202] = 0.0; + out_7899193355677302719[203] = 0.0; + out_7899193355677302719[204] = 0.0; + out_7899193355677302719[205] = 0.0; + out_7899193355677302719[206] = 0.0; + out_7899193355677302719[207] = 0.0; + out_7899193355677302719[208] = 0.0; + out_7899193355677302719[209] = 1.0; + out_7899193355677302719[210] = 0.0; + out_7899193355677302719[211] = 0.0; + out_7899193355677302719[212] = 0.0; + out_7899193355677302719[213] = 0.0; + out_7899193355677302719[214] = 0.0; + out_7899193355677302719[215] = 0.0; + out_7899193355677302719[216] = 0.0; + out_7899193355677302719[217] = 0.0; + out_7899193355677302719[218] = 0.0; + out_7899193355677302719[219] = 0.0; + out_7899193355677302719[220] = 0.0; + out_7899193355677302719[221] = 0.0; + out_7899193355677302719[222] = 0.0; + out_7899193355677302719[223] = 0.0; + out_7899193355677302719[224] = 0.0; + out_7899193355677302719[225] = 0.0; + out_7899193355677302719[226] = 0.0; + out_7899193355677302719[227] = 0.0; + out_7899193355677302719[228] = 1.0; + out_7899193355677302719[229] = 0.0; + out_7899193355677302719[230] = 0.0; + out_7899193355677302719[231] = 0.0; + out_7899193355677302719[232] = 0.0; + out_7899193355677302719[233] = 0.0; + out_7899193355677302719[234] = 0.0; + out_7899193355677302719[235] = 0.0; + out_7899193355677302719[236] = 0.0; + out_7899193355677302719[237] = 0.0; + out_7899193355677302719[238] = 0.0; + out_7899193355677302719[239] = 0.0; + out_7899193355677302719[240] = 0.0; + out_7899193355677302719[241] = 0.0; + out_7899193355677302719[242] = 0.0; + out_7899193355677302719[243] = 0.0; + out_7899193355677302719[244] = 0.0; + out_7899193355677302719[245] = 0.0; + out_7899193355677302719[246] = 0.0; + out_7899193355677302719[247] = 1.0; + out_7899193355677302719[248] = 0.0; + out_7899193355677302719[249] = 0.0; + out_7899193355677302719[250] = 0.0; + out_7899193355677302719[251] = 0.0; + out_7899193355677302719[252] = 0.0; + out_7899193355677302719[253] = 0.0; + out_7899193355677302719[254] = 0.0; + out_7899193355677302719[255] = 0.0; + out_7899193355677302719[256] = 0.0; + out_7899193355677302719[257] = 0.0; + out_7899193355677302719[258] = 0.0; + out_7899193355677302719[259] = 0.0; + out_7899193355677302719[260] = 0.0; + out_7899193355677302719[261] = 0.0; + out_7899193355677302719[262] = 0.0; + out_7899193355677302719[263] = 0.0; + out_7899193355677302719[264] = 0.0; + out_7899193355677302719[265] = 0.0; + out_7899193355677302719[266] = 1.0; + out_7899193355677302719[267] = 0.0; + out_7899193355677302719[268] = 0.0; + out_7899193355677302719[269] = 0.0; + out_7899193355677302719[270] = 0.0; + out_7899193355677302719[271] = 0.0; + out_7899193355677302719[272] = 0.0; + out_7899193355677302719[273] = 0.0; + out_7899193355677302719[274] = 0.0; + out_7899193355677302719[275] = 0.0; + out_7899193355677302719[276] = 0.0; + out_7899193355677302719[277] = 0.0; + out_7899193355677302719[278] = 0.0; + out_7899193355677302719[279] = 0.0; + out_7899193355677302719[280] = 0.0; + out_7899193355677302719[281] = 0.0; + out_7899193355677302719[282] = 0.0; + out_7899193355677302719[283] = 0.0; + out_7899193355677302719[284] = 0.0; + out_7899193355677302719[285] = 1.0; + out_7899193355677302719[286] = 0.0; + out_7899193355677302719[287] = 0.0; + out_7899193355677302719[288] = 0.0; + out_7899193355677302719[289] = 0.0; + out_7899193355677302719[290] = 0.0; + out_7899193355677302719[291] = 0.0; + out_7899193355677302719[292] = 0.0; + out_7899193355677302719[293] = 0.0; + out_7899193355677302719[294] = 0.0; + out_7899193355677302719[295] = 0.0; + out_7899193355677302719[296] = 0.0; + out_7899193355677302719[297] = 0.0; + out_7899193355677302719[298] = 0.0; + out_7899193355677302719[299] = 0.0; + out_7899193355677302719[300] = 0.0; + out_7899193355677302719[301] = 0.0; + out_7899193355677302719[302] = 0.0; + out_7899193355677302719[303] = 0.0; + out_7899193355677302719[304] = 1.0; + out_7899193355677302719[305] = 0.0; + out_7899193355677302719[306] = 0.0; + out_7899193355677302719[307] = 0.0; + out_7899193355677302719[308] = 0.0; + out_7899193355677302719[309] = 0.0; + out_7899193355677302719[310] = 0.0; + out_7899193355677302719[311] = 0.0; + out_7899193355677302719[312] = 0.0; + out_7899193355677302719[313] = 0.0; + out_7899193355677302719[314] = 0.0; + out_7899193355677302719[315] = 0.0; + out_7899193355677302719[316] = 0.0; + out_7899193355677302719[317] = 0.0; + out_7899193355677302719[318] = 0.0; + out_7899193355677302719[319] = 0.0; + out_7899193355677302719[320] = 0.0; + out_7899193355677302719[321] = 0.0; + out_7899193355677302719[322] = 0.0; + out_7899193355677302719[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7807614062433422920) { - out_7807614062433422920[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_7807614062433422920[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_7807614062433422920[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_7807614062433422920[3] = dt*state[12] + state[3]; - out_7807614062433422920[4] = dt*state[13] + state[4]; - out_7807614062433422920[5] = dt*state[14] + state[5]; - out_7807614062433422920[6] = state[6]; - out_7807614062433422920[7] = state[7]; - out_7807614062433422920[8] = state[8]; - out_7807614062433422920[9] = state[9]; - out_7807614062433422920[10] = state[10]; - out_7807614062433422920[11] = state[11]; - out_7807614062433422920[12] = state[12]; - out_7807614062433422920[13] = state[13]; - out_7807614062433422920[14] = state[14]; - out_7807614062433422920[15] = state[15]; - out_7807614062433422920[16] = state[16]; - out_7807614062433422920[17] = state[17]; +void f_fun(double *state, double dt, double *out_1767716959874096227) { + out_1767716959874096227[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_1767716959874096227[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_1767716959874096227[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_1767716959874096227[3] = dt*state[12] + state[3]; + out_1767716959874096227[4] = dt*state[13] + state[4]; + out_1767716959874096227[5] = dt*state[14] + state[5]; + out_1767716959874096227[6] = state[6]; + out_1767716959874096227[7] = state[7]; + out_1767716959874096227[8] = state[8]; + out_1767716959874096227[9] = state[9]; + out_1767716959874096227[10] = state[10]; + out_1767716959874096227[11] = state[11]; + out_1767716959874096227[12] = state[12]; + out_1767716959874096227[13] = state[13]; + out_1767716959874096227[14] = state[14]; + out_1767716959874096227[15] = state[15]; + out_1767716959874096227[16] = state[16]; + out_1767716959874096227[17] = state[17]; } -void F_fun(double *state, double dt, double *out_54869773676509633) { - out_54869773676509633[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_54869773676509633[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_54869773676509633[2] = 0; - out_54869773676509633[3] = 0; - out_54869773676509633[4] = 0; - out_54869773676509633[5] = 0; - out_54869773676509633[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_54869773676509633[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_54869773676509633[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_54869773676509633[9] = 0; - out_54869773676509633[10] = 0; - out_54869773676509633[11] = 0; - out_54869773676509633[12] = 0; - out_54869773676509633[13] = 0; - out_54869773676509633[14] = 0; - out_54869773676509633[15] = 0; - out_54869773676509633[16] = 0; - out_54869773676509633[17] = 0; - out_54869773676509633[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_54869773676509633[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_54869773676509633[20] = 0; - out_54869773676509633[21] = 0; - out_54869773676509633[22] = 0; - out_54869773676509633[23] = 0; - out_54869773676509633[24] = 0; - out_54869773676509633[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_54869773676509633[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_54869773676509633[27] = 0; - out_54869773676509633[28] = 0; - out_54869773676509633[29] = 0; - out_54869773676509633[30] = 0; - out_54869773676509633[31] = 0; - out_54869773676509633[32] = 0; - out_54869773676509633[33] = 0; - out_54869773676509633[34] = 0; - out_54869773676509633[35] = 0; - out_54869773676509633[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_54869773676509633[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_54869773676509633[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_54869773676509633[39] = 0; - out_54869773676509633[40] = 0; - out_54869773676509633[41] = 0; - out_54869773676509633[42] = 0; - out_54869773676509633[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_54869773676509633[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_54869773676509633[45] = 0; - out_54869773676509633[46] = 0; - out_54869773676509633[47] = 0; - out_54869773676509633[48] = 0; - out_54869773676509633[49] = 0; - out_54869773676509633[50] = 0; - out_54869773676509633[51] = 0; - out_54869773676509633[52] = 0; - out_54869773676509633[53] = 0; - out_54869773676509633[54] = 0; - out_54869773676509633[55] = 0; - out_54869773676509633[56] = 0; - out_54869773676509633[57] = 1; - out_54869773676509633[58] = 0; - out_54869773676509633[59] = 0; - out_54869773676509633[60] = 0; - out_54869773676509633[61] = 0; - out_54869773676509633[62] = 0; - out_54869773676509633[63] = 0; - out_54869773676509633[64] = 0; - out_54869773676509633[65] = 0; - out_54869773676509633[66] = dt; - out_54869773676509633[67] = 0; - out_54869773676509633[68] = 0; - out_54869773676509633[69] = 0; - out_54869773676509633[70] = 0; - out_54869773676509633[71] = 0; - out_54869773676509633[72] = 0; - out_54869773676509633[73] = 0; - out_54869773676509633[74] = 0; - out_54869773676509633[75] = 0; - out_54869773676509633[76] = 1; - out_54869773676509633[77] = 0; - out_54869773676509633[78] = 0; - out_54869773676509633[79] = 0; - out_54869773676509633[80] = 0; - out_54869773676509633[81] = 0; - out_54869773676509633[82] = 0; - out_54869773676509633[83] = 0; - out_54869773676509633[84] = 0; - out_54869773676509633[85] = dt; - out_54869773676509633[86] = 0; - out_54869773676509633[87] = 0; - out_54869773676509633[88] = 0; - out_54869773676509633[89] = 0; - out_54869773676509633[90] = 0; - out_54869773676509633[91] = 0; - out_54869773676509633[92] = 0; - out_54869773676509633[93] = 0; - out_54869773676509633[94] = 0; - out_54869773676509633[95] = 1; - out_54869773676509633[96] = 0; - out_54869773676509633[97] = 0; - out_54869773676509633[98] = 0; - out_54869773676509633[99] = 0; - out_54869773676509633[100] = 0; - out_54869773676509633[101] = 0; - out_54869773676509633[102] = 0; - out_54869773676509633[103] = 0; - out_54869773676509633[104] = dt; - out_54869773676509633[105] = 0; - out_54869773676509633[106] = 0; - out_54869773676509633[107] = 0; - out_54869773676509633[108] = 0; - out_54869773676509633[109] = 0; - out_54869773676509633[110] = 0; - out_54869773676509633[111] = 0; - out_54869773676509633[112] = 0; - out_54869773676509633[113] = 0; - out_54869773676509633[114] = 1; - out_54869773676509633[115] = 0; - out_54869773676509633[116] = 0; - out_54869773676509633[117] = 0; - out_54869773676509633[118] = 0; - out_54869773676509633[119] = 0; - out_54869773676509633[120] = 0; - out_54869773676509633[121] = 0; - out_54869773676509633[122] = 0; - out_54869773676509633[123] = 0; - out_54869773676509633[124] = 0; - out_54869773676509633[125] = 0; - out_54869773676509633[126] = 0; - out_54869773676509633[127] = 0; - out_54869773676509633[128] = 0; - out_54869773676509633[129] = 0; - out_54869773676509633[130] = 0; - out_54869773676509633[131] = 0; - out_54869773676509633[132] = 0; - out_54869773676509633[133] = 1; - out_54869773676509633[134] = 0; - out_54869773676509633[135] = 0; - out_54869773676509633[136] = 0; - out_54869773676509633[137] = 0; - out_54869773676509633[138] = 0; - out_54869773676509633[139] = 0; - out_54869773676509633[140] = 0; - out_54869773676509633[141] = 0; - out_54869773676509633[142] = 0; - out_54869773676509633[143] = 0; - out_54869773676509633[144] = 0; - out_54869773676509633[145] = 0; - out_54869773676509633[146] = 0; - out_54869773676509633[147] = 0; - out_54869773676509633[148] = 0; - out_54869773676509633[149] = 0; - out_54869773676509633[150] = 0; - out_54869773676509633[151] = 0; - out_54869773676509633[152] = 1; - out_54869773676509633[153] = 0; - out_54869773676509633[154] = 0; - out_54869773676509633[155] = 0; - out_54869773676509633[156] = 0; - out_54869773676509633[157] = 0; - out_54869773676509633[158] = 0; - out_54869773676509633[159] = 0; - out_54869773676509633[160] = 0; - out_54869773676509633[161] = 0; - out_54869773676509633[162] = 0; - out_54869773676509633[163] = 0; - out_54869773676509633[164] = 0; - out_54869773676509633[165] = 0; - out_54869773676509633[166] = 0; - out_54869773676509633[167] = 0; - out_54869773676509633[168] = 0; - out_54869773676509633[169] = 0; - out_54869773676509633[170] = 0; - out_54869773676509633[171] = 1; - out_54869773676509633[172] = 0; - out_54869773676509633[173] = 0; - out_54869773676509633[174] = 0; - out_54869773676509633[175] = 0; - out_54869773676509633[176] = 0; - out_54869773676509633[177] = 0; - out_54869773676509633[178] = 0; - out_54869773676509633[179] = 0; - out_54869773676509633[180] = 0; - out_54869773676509633[181] = 0; - out_54869773676509633[182] = 0; - out_54869773676509633[183] = 0; - out_54869773676509633[184] = 0; - out_54869773676509633[185] = 0; - out_54869773676509633[186] = 0; - out_54869773676509633[187] = 0; - out_54869773676509633[188] = 0; - out_54869773676509633[189] = 0; - out_54869773676509633[190] = 1; - out_54869773676509633[191] = 0; - out_54869773676509633[192] = 0; - out_54869773676509633[193] = 0; - out_54869773676509633[194] = 0; - out_54869773676509633[195] = 0; - out_54869773676509633[196] = 0; - out_54869773676509633[197] = 0; - out_54869773676509633[198] = 0; - out_54869773676509633[199] = 0; - out_54869773676509633[200] = 0; - out_54869773676509633[201] = 0; - out_54869773676509633[202] = 0; - out_54869773676509633[203] = 0; - out_54869773676509633[204] = 0; - out_54869773676509633[205] = 0; - out_54869773676509633[206] = 0; - out_54869773676509633[207] = 0; - out_54869773676509633[208] = 0; - out_54869773676509633[209] = 1; - out_54869773676509633[210] = 0; - out_54869773676509633[211] = 0; - out_54869773676509633[212] = 0; - out_54869773676509633[213] = 0; - out_54869773676509633[214] = 0; - out_54869773676509633[215] = 0; - out_54869773676509633[216] = 0; - out_54869773676509633[217] = 0; - out_54869773676509633[218] = 0; - out_54869773676509633[219] = 0; - out_54869773676509633[220] = 0; - out_54869773676509633[221] = 0; - out_54869773676509633[222] = 0; - out_54869773676509633[223] = 0; - out_54869773676509633[224] = 0; - out_54869773676509633[225] = 0; - out_54869773676509633[226] = 0; - out_54869773676509633[227] = 0; - out_54869773676509633[228] = 1; - out_54869773676509633[229] = 0; - out_54869773676509633[230] = 0; - out_54869773676509633[231] = 0; - out_54869773676509633[232] = 0; - out_54869773676509633[233] = 0; - out_54869773676509633[234] = 0; - out_54869773676509633[235] = 0; - out_54869773676509633[236] = 0; - out_54869773676509633[237] = 0; - out_54869773676509633[238] = 0; - out_54869773676509633[239] = 0; - out_54869773676509633[240] = 0; - out_54869773676509633[241] = 0; - out_54869773676509633[242] = 0; - out_54869773676509633[243] = 0; - out_54869773676509633[244] = 0; - out_54869773676509633[245] = 0; - out_54869773676509633[246] = 0; - out_54869773676509633[247] = 1; - out_54869773676509633[248] = 0; - out_54869773676509633[249] = 0; - out_54869773676509633[250] = 0; - out_54869773676509633[251] = 0; - out_54869773676509633[252] = 0; - out_54869773676509633[253] = 0; - out_54869773676509633[254] = 0; - out_54869773676509633[255] = 0; - out_54869773676509633[256] = 0; - out_54869773676509633[257] = 0; - out_54869773676509633[258] = 0; - out_54869773676509633[259] = 0; - out_54869773676509633[260] = 0; - out_54869773676509633[261] = 0; - out_54869773676509633[262] = 0; - out_54869773676509633[263] = 0; - out_54869773676509633[264] = 0; - out_54869773676509633[265] = 0; - out_54869773676509633[266] = 1; - out_54869773676509633[267] = 0; - out_54869773676509633[268] = 0; - out_54869773676509633[269] = 0; - out_54869773676509633[270] = 0; - out_54869773676509633[271] = 0; - out_54869773676509633[272] = 0; - out_54869773676509633[273] = 0; - out_54869773676509633[274] = 0; - out_54869773676509633[275] = 0; - out_54869773676509633[276] = 0; - out_54869773676509633[277] = 0; - out_54869773676509633[278] = 0; - out_54869773676509633[279] = 0; - out_54869773676509633[280] = 0; - out_54869773676509633[281] = 0; - out_54869773676509633[282] = 0; - out_54869773676509633[283] = 0; - out_54869773676509633[284] = 0; - out_54869773676509633[285] = 1; - out_54869773676509633[286] = 0; - out_54869773676509633[287] = 0; - out_54869773676509633[288] = 0; - out_54869773676509633[289] = 0; - out_54869773676509633[290] = 0; - out_54869773676509633[291] = 0; - out_54869773676509633[292] = 0; - out_54869773676509633[293] = 0; - out_54869773676509633[294] = 0; - out_54869773676509633[295] = 0; - out_54869773676509633[296] = 0; - out_54869773676509633[297] = 0; - out_54869773676509633[298] = 0; - out_54869773676509633[299] = 0; - out_54869773676509633[300] = 0; - out_54869773676509633[301] = 0; - out_54869773676509633[302] = 0; - out_54869773676509633[303] = 0; - out_54869773676509633[304] = 1; - out_54869773676509633[305] = 0; - out_54869773676509633[306] = 0; - out_54869773676509633[307] = 0; - out_54869773676509633[308] = 0; - out_54869773676509633[309] = 0; - out_54869773676509633[310] = 0; - out_54869773676509633[311] = 0; - out_54869773676509633[312] = 0; - out_54869773676509633[313] = 0; - out_54869773676509633[314] = 0; - out_54869773676509633[315] = 0; - out_54869773676509633[316] = 0; - out_54869773676509633[317] = 0; - out_54869773676509633[318] = 0; - out_54869773676509633[319] = 0; - out_54869773676509633[320] = 0; - out_54869773676509633[321] = 0; - out_54869773676509633[322] = 0; - out_54869773676509633[323] = 1; +void F_fun(double *state, double dt, double *out_5946100134082923473) { + out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[2] = 0; + out_5946100134082923473[3] = 0; + out_5946100134082923473[4] = 0; + out_5946100134082923473[5] = 0; + out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[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_5946100134082923473[9] = 0; + out_5946100134082923473[10] = 0; + out_5946100134082923473[11] = 0; + out_5946100134082923473[12] = 0; + out_5946100134082923473[13] = 0; + out_5946100134082923473[14] = 0; + out_5946100134082923473[15] = 0; + out_5946100134082923473[16] = 0; + out_5946100134082923473[17] = 0; + out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[20] = 0; + out_5946100134082923473[21] = 0; + out_5946100134082923473[22] = 0; + out_5946100134082923473[23] = 0; + out_5946100134082923473[24] = 0; + out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[27] = 0; + out_5946100134082923473[28] = 0; + out_5946100134082923473[29] = 0; + out_5946100134082923473[30] = 0; + out_5946100134082923473[31] = 0; + out_5946100134082923473[32] = 0; + out_5946100134082923473[33] = 0; + out_5946100134082923473[34] = 0; + out_5946100134082923473[35] = 0; + out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[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_5946100134082923473[39] = 0; + out_5946100134082923473[40] = 0; + out_5946100134082923473[41] = 0; + out_5946100134082923473[42] = 0; + out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[45] = 0; + out_5946100134082923473[46] = 0; + out_5946100134082923473[47] = 0; + out_5946100134082923473[48] = 0; + out_5946100134082923473[49] = 0; + out_5946100134082923473[50] = 0; + out_5946100134082923473[51] = 0; + out_5946100134082923473[52] = 0; + out_5946100134082923473[53] = 0; + out_5946100134082923473[54] = 0; + out_5946100134082923473[55] = 0; + out_5946100134082923473[56] = 0; + out_5946100134082923473[57] = 1; + out_5946100134082923473[58] = 0; + out_5946100134082923473[59] = 0; + out_5946100134082923473[60] = 0; + out_5946100134082923473[61] = 0; + out_5946100134082923473[62] = 0; + out_5946100134082923473[63] = 0; + out_5946100134082923473[64] = 0; + out_5946100134082923473[65] = 0; + out_5946100134082923473[66] = dt; + out_5946100134082923473[67] = 0; + out_5946100134082923473[68] = 0; + out_5946100134082923473[69] = 0; + out_5946100134082923473[70] = 0; + out_5946100134082923473[71] = 0; + out_5946100134082923473[72] = 0; + out_5946100134082923473[73] = 0; + out_5946100134082923473[74] = 0; + out_5946100134082923473[75] = 0; + out_5946100134082923473[76] = 1; + out_5946100134082923473[77] = 0; + out_5946100134082923473[78] = 0; + out_5946100134082923473[79] = 0; + out_5946100134082923473[80] = 0; + out_5946100134082923473[81] = 0; + out_5946100134082923473[82] = 0; + out_5946100134082923473[83] = 0; + out_5946100134082923473[84] = 0; + out_5946100134082923473[85] = dt; + out_5946100134082923473[86] = 0; + out_5946100134082923473[87] = 0; + out_5946100134082923473[88] = 0; + out_5946100134082923473[89] = 0; + out_5946100134082923473[90] = 0; + out_5946100134082923473[91] = 0; + out_5946100134082923473[92] = 0; + out_5946100134082923473[93] = 0; + out_5946100134082923473[94] = 0; + out_5946100134082923473[95] = 1; + out_5946100134082923473[96] = 0; + out_5946100134082923473[97] = 0; + out_5946100134082923473[98] = 0; + out_5946100134082923473[99] = 0; + out_5946100134082923473[100] = 0; + out_5946100134082923473[101] = 0; + out_5946100134082923473[102] = 0; + out_5946100134082923473[103] = 0; + out_5946100134082923473[104] = dt; + out_5946100134082923473[105] = 0; + out_5946100134082923473[106] = 0; + out_5946100134082923473[107] = 0; + out_5946100134082923473[108] = 0; + out_5946100134082923473[109] = 0; + out_5946100134082923473[110] = 0; + out_5946100134082923473[111] = 0; + out_5946100134082923473[112] = 0; + out_5946100134082923473[113] = 0; + out_5946100134082923473[114] = 1; + out_5946100134082923473[115] = 0; + out_5946100134082923473[116] = 0; + out_5946100134082923473[117] = 0; + out_5946100134082923473[118] = 0; + out_5946100134082923473[119] = 0; + out_5946100134082923473[120] = 0; + out_5946100134082923473[121] = 0; + out_5946100134082923473[122] = 0; + out_5946100134082923473[123] = 0; + out_5946100134082923473[124] = 0; + out_5946100134082923473[125] = 0; + out_5946100134082923473[126] = 0; + out_5946100134082923473[127] = 0; + out_5946100134082923473[128] = 0; + out_5946100134082923473[129] = 0; + out_5946100134082923473[130] = 0; + out_5946100134082923473[131] = 0; + out_5946100134082923473[132] = 0; + out_5946100134082923473[133] = 1; + out_5946100134082923473[134] = 0; + out_5946100134082923473[135] = 0; + out_5946100134082923473[136] = 0; + out_5946100134082923473[137] = 0; + out_5946100134082923473[138] = 0; + out_5946100134082923473[139] = 0; + out_5946100134082923473[140] = 0; + out_5946100134082923473[141] = 0; + out_5946100134082923473[142] = 0; + out_5946100134082923473[143] = 0; + out_5946100134082923473[144] = 0; + out_5946100134082923473[145] = 0; + out_5946100134082923473[146] = 0; + out_5946100134082923473[147] = 0; + out_5946100134082923473[148] = 0; + out_5946100134082923473[149] = 0; + out_5946100134082923473[150] = 0; + out_5946100134082923473[151] = 0; + out_5946100134082923473[152] = 1; + out_5946100134082923473[153] = 0; + out_5946100134082923473[154] = 0; + out_5946100134082923473[155] = 0; + out_5946100134082923473[156] = 0; + out_5946100134082923473[157] = 0; + out_5946100134082923473[158] = 0; + out_5946100134082923473[159] = 0; + out_5946100134082923473[160] = 0; + out_5946100134082923473[161] = 0; + out_5946100134082923473[162] = 0; + out_5946100134082923473[163] = 0; + out_5946100134082923473[164] = 0; + out_5946100134082923473[165] = 0; + out_5946100134082923473[166] = 0; + out_5946100134082923473[167] = 0; + out_5946100134082923473[168] = 0; + out_5946100134082923473[169] = 0; + out_5946100134082923473[170] = 0; + out_5946100134082923473[171] = 1; + out_5946100134082923473[172] = 0; + out_5946100134082923473[173] = 0; + out_5946100134082923473[174] = 0; + out_5946100134082923473[175] = 0; + out_5946100134082923473[176] = 0; + out_5946100134082923473[177] = 0; + out_5946100134082923473[178] = 0; + out_5946100134082923473[179] = 0; + out_5946100134082923473[180] = 0; + out_5946100134082923473[181] = 0; + out_5946100134082923473[182] = 0; + out_5946100134082923473[183] = 0; + out_5946100134082923473[184] = 0; + out_5946100134082923473[185] = 0; + out_5946100134082923473[186] = 0; + out_5946100134082923473[187] = 0; + out_5946100134082923473[188] = 0; + out_5946100134082923473[189] = 0; + out_5946100134082923473[190] = 1; + out_5946100134082923473[191] = 0; + out_5946100134082923473[192] = 0; + out_5946100134082923473[193] = 0; + out_5946100134082923473[194] = 0; + out_5946100134082923473[195] = 0; + out_5946100134082923473[196] = 0; + out_5946100134082923473[197] = 0; + out_5946100134082923473[198] = 0; + out_5946100134082923473[199] = 0; + out_5946100134082923473[200] = 0; + out_5946100134082923473[201] = 0; + out_5946100134082923473[202] = 0; + out_5946100134082923473[203] = 0; + out_5946100134082923473[204] = 0; + out_5946100134082923473[205] = 0; + out_5946100134082923473[206] = 0; + out_5946100134082923473[207] = 0; + out_5946100134082923473[208] = 0; + out_5946100134082923473[209] = 1; + out_5946100134082923473[210] = 0; + out_5946100134082923473[211] = 0; + out_5946100134082923473[212] = 0; + out_5946100134082923473[213] = 0; + out_5946100134082923473[214] = 0; + out_5946100134082923473[215] = 0; + out_5946100134082923473[216] = 0; + out_5946100134082923473[217] = 0; + out_5946100134082923473[218] = 0; + out_5946100134082923473[219] = 0; + out_5946100134082923473[220] = 0; + out_5946100134082923473[221] = 0; + out_5946100134082923473[222] = 0; + out_5946100134082923473[223] = 0; + out_5946100134082923473[224] = 0; + out_5946100134082923473[225] = 0; + out_5946100134082923473[226] = 0; + out_5946100134082923473[227] = 0; + out_5946100134082923473[228] = 1; + out_5946100134082923473[229] = 0; + out_5946100134082923473[230] = 0; + out_5946100134082923473[231] = 0; + out_5946100134082923473[232] = 0; + out_5946100134082923473[233] = 0; + out_5946100134082923473[234] = 0; + out_5946100134082923473[235] = 0; + out_5946100134082923473[236] = 0; + out_5946100134082923473[237] = 0; + out_5946100134082923473[238] = 0; + out_5946100134082923473[239] = 0; + out_5946100134082923473[240] = 0; + out_5946100134082923473[241] = 0; + out_5946100134082923473[242] = 0; + out_5946100134082923473[243] = 0; + out_5946100134082923473[244] = 0; + out_5946100134082923473[245] = 0; + out_5946100134082923473[246] = 0; + out_5946100134082923473[247] = 1; + out_5946100134082923473[248] = 0; + out_5946100134082923473[249] = 0; + out_5946100134082923473[250] = 0; + out_5946100134082923473[251] = 0; + out_5946100134082923473[252] = 0; + out_5946100134082923473[253] = 0; + out_5946100134082923473[254] = 0; + out_5946100134082923473[255] = 0; + out_5946100134082923473[256] = 0; + out_5946100134082923473[257] = 0; + out_5946100134082923473[258] = 0; + out_5946100134082923473[259] = 0; + out_5946100134082923473[260] = 0; + out_5946100134082923473[261] = 0; + out_5946100134082923473[262] = 0; + out_5946100134082923473[263] = 0; + out_5946100134082923473[264] = 0; + out_5946100134082923473[265] = 0; + out_5946100134082923473[266] = 1; + out_5946100134082923473[267] = 0; + out_5946100134082923473[268] = 0; + out_5946100134082923473[269] = 0; + out_5946100134082923473[270] = 0; + out_5946100134082923473[271] = 0; + out_5946100134082923473[272] = 0; + out_5946100134082923473[273] = 0; + out_5946100134082923473[274] = 0; + out_5946100134082923473[275] = 0; + out_5946100134082923473[276] = 0; + out_5946100134082923473[277] = 0; + out_5946100134082923473[278] = 0; + out_5946100134082923473[279] = 0; + out_5946100134082923473[280] = 0; + out_5946100134082923473[281] = 0; + out_5946100134082923473[282] = 0; + out_5946100134082923473[283] = 0; + out_5946100134082923473[284] = 0; + out_5946100134082923473[285] = 1; + out_5946100134082923473[286] = 0; + out_5946100134082923473[287] = 0; + out_5946100134082923473[288] = 0; + out_5946100134082923473[289] = 0; + out_5946100134082923473[290] = 0; + out_5946100134082923473[291] = 0; + out_5946100134082923473[292] = 0; + out_5946100134082923473[293] = 0; + out_5946100134082923473[294] = 0; + out_5946100134082923473[295] = 0; + out_5946100134082923473[296] = 0; + out_5946100134082923473[297] = 0; + out_5946100134082923473[298] = 0; + out_5946100134082923473[299] = 0; + out_5946100134082923473[300] = 0; + out_5946100134082923473[301] = 0; + out_5946100134082923473[302] = 0; + out_5946100134082923473[303] = 0; + out_5946100134082923473[304] = 1; + out_5946100134082923473[305] = 0; + out_5946100134082923473[306] = 0; + out_5946100134082923473[307] = 0; + out_5946100134082923473[308] = 0; + out_5946100134082923473[309] = 0; + out_5946100134082923473[310] = 0; + out_5946100134082923473[311] = 0; + out_5946100134082923473[312] = 0; + out_5946100134082923473[313] = 0; + out_5946100134082923473[314] = 0; + out_5946100134082923473[315] = 0; + out_5946100134082923473[316] = 0; + out_5946100134082923473[317] = 0; + out_5946100134082923473[318] = 0; + out_5946100134082923473[319] = 0; + out_5946100134082923473[320] = 0; + out_5946100134082923473[321] = 0; + out_5946100134082923473[322] = 0; + out_5946100134082923473[323] = 1; } -void h_4(double *state, double *unused, double *out_3501775823039351379) { - out_3501775823039351379[0] = state[6] + state[9]; - out_3501775823039351379[1] = state[7] + state[10]; - out_3501775823039351379[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7895468860031348123) { + out_7895468860031348123[0] = state[6] + state[9]; + out_7895468860031348123[1] = state[7] + state[10]; + out_7895468860031348123[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8084420446408871652) { - out_8084420446408871652[0] = 0; - out_8084420446408871652[1] = 0; - out_8084420446408871652[2] = 0; - out_8084420446408871652[3] = 0; - out_8084420446408871652[4] = 0; - out_8084420446408871652[5] = 0; - out_8084420446408871652[6] = 1; - out_8084420446408871652[7] = 0; - out_8084420446408871652[8] = 0; - out_8084420446408871652[9] = 1; - out_8084420446408871652[10] = 0; - out_8084420446408871652[11] = 0; - out_8084420446408871652[12] = 0; - out_8084420446408871652[13] = 0; - out_8084420446408871652[14] = 0; - out_8084420446408871652[15] = 0; - out_8084420446408871652[16] = 0; - out_8084420446408871652[17] = 0; - out_8084420446408871652[18] = 0; - out_8084420446408871652[19] = 0; - out_8084420446408871652[20] = 0; - out_8084420446408871652[21] = 0; - out_8084420446408871652[22] = 0; - out_8084420446408871652[23] = 0; - out_8084420446408871652[24] = 0; - out_8084420446408871652[25] = 1; - out_8084420446408871652[26] = 0; - out_8084420446408871652[27] = 0; - out_8084420446408871652[28] = 1; - out_8084420446408871652[29] = 0; - out_8084420446408871652[30] = 0; - out_8084420446408871652[31] = 0; - out_8084420446408871652[32] = 0; - out_8084420446408871652[33] = 0; - out_8084420446408871652[34] = 0; - out_8084420446408871652[35] = 0; - out_8084420446408871652[36] = 0; - out_8084420446408871652[37] = 0; - out_8084420446408871652[38] = 0; - out_8084420446408871652[39] = 0; - out_8084420446408871652[40] = 0; - out_8084420446408871652[41] = 0; - out_8084420446408871652[42] = 0; - out_8084420446408871652[43] = 0; - out_8084420446408871652[44] = 1; - out_8084420446408871652[45] = 0; - out_8084420446408871652[46] = 0; - out_8084420446408871652[47] = 1; - out_8084420446408871652[48] = 0; - out_8084420446408871652[49] = 0; - out_8084420446408871652[50] = 0; - out_8084420446408871652[51] = 0; - out_8084420446408871652[52] = 0; - out_8084420446408871652[53] = 0; +void H_4(double *state, double *unused, double *out_4699468911280290176) { + out_4699468911280290176[0] = 0; + out_4699468911280290176[1] = 0; + out_4699468911280290176[2] = 0; + out_4699468911280290176[3] = 0; + out_4699468911280290176[4] = 0; + out_4699468911280290176[5] = 0; + out_4699468911280290176[6] = 1; + out_4699468911280290176[7] = 0; + out_4699468911280290176[8] = 0; + out_4699468911280290176[9] = 1; + out_4699468911280290176[10] = 0; + out_4699468911280290176[11] = 0; + out_4699468911280290176[12] = 0; + out_4699468911280290176[13] = 0; + out_4699468911280290176[14] = 0; + out_4699468911280290176[15] = 0; + out_4699468911280290176[16] = 0; + out_4699468911280290176[17] = 0; + out_4699468911280290176[18] = 0; + out_4699468911280290176[19] = 0; + out_4699468911280290176[20] = 0; + out_4699468911280290176[21] = 0; + out_4699468911280290176[22] = 0; + out_4699468911280290176[23] = 0; + out_4699468911280290176[24] = 0; + out_4699468911280290176[25] = 1; + out_4699468911280290176[26] = 0; + out_4699468911280290176[27] = 0; + out_4699468911280290176[28] = 1; + out_4699468911280290176[29] = 0; + out_4699468911280290176[30] = 0; + out_4699468911280290176[31] = 0; + out_4699468911280290176[32] = 0; + out_4699468911280290176[33] = 0; + out_4699468911280290176[34] = 0; + out_4699468911280290176[35] = 0; + out_4699468911280290176[36] = 0; + out_4699468911280290176[37] = 0; + out_4699468911280290176[38] = 0; + out_4699468911280290176[39] = 0; + out_4699468911280290176[40] = 0; + out_4699468911280290176[41] = 0; + out_4699468911280290176[42] = 0; + out_4699468911280290176[43] = 0; + out_4699468911280290176[44] = 1; + out_4699468911280290176[45] = 0; + out_4699468911280290176[46] = 0; + out_4699468911280290176[47] = 1; + out_4699468911280290176[48] = 0; + out_4699468911280290176[49] = 0; + out_4699468911280290176[50] = 0; + out_4699468911280290176[51] = 0; + out_4699468911280290176[52] = 0; + out_4699468911280290176[53] = 0; } -void h_10(double *state, double *unused, double *out_8571708459300677945) { - out_8571708459300677945[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8571708459300677945[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8571708459300677945[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_7051420194440758803) { + out_7051420194440758803[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7051420194440758803[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7051420194440758803[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_2059745207116816931) { - out_2059745207116816931[0] = 0; - out_2059745207116816931[1] = 9.8100000000000005*cos(state[1]); - out_2059745207116816931[2] = 0; - out_2059745207116816931[3] = 0; - out_2059745207116816931[4] = -state[8]; - out_2059745207116816931[5] = state[7]; - out_2059745207116816931[6] = 0; - out_2059745207116816931[7] = state[5]; - out_2059745207116816931[8] = -state[4]; - out_2059745207116816931[9] = 0; - out_2059745207116816931[10] = 0; - out_2059745207116816931[11] = 0; - out_2059745207116816931[12] = 1; - out_2059745207116816931[13] = 0; - out_2059745207116816931[14] = 0; - out_2059745207116816931[15] = 1; - out_2059745207116816931[16] = 0; - out_2059745207116816931[17] = 0; - out_2059745207116816931[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2059745207116816931[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2059745207116816931[20] = 0; - out_2059745207116816931[21] = state[8]; - out_2059745207116816931[22] = 0; - out_2059745207116816931[23] = -state[6]; - out_2059745207116816931[24] = -state[5]; - out_2059745207116816931[25] = 0; - out_2059745207116816931[26] = state[3]; - out_2059745207116816931[27] = 0; - out_2059745207116816931[28] = 0; - out_2059745207116816931[29] = 0; - out_2059745207116816931[30] = 0; - out_2059745207116816931[31] = 1; - out_2059745207116816931[32] = 0; - out_2059745207116816931[33] = 0; - out_2059745207116816931[34] = 1; - out_2059745207116816931[35] = 0; - out_2059745207116816931[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2059745207116816931[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2059745207116816931[38] = 0; - out_2059745207116816931[39] = -state[7]; - out_2059745207116816931[40] = state[6]; - out_2059745207116816931[41] = 0; - out_2059745207116816931[42] = state[4]; - out_2059745207116816931[43] = -state[3]; - out_2059745207116816931[44] = 0; - out_2059745207116816931[45] = 0; - out_2059745207116816931[46] = 0; - out_2059745207116816931[47] = 0; - out_2059745207116816931[48] = 0; - out_2059745207116816931[49] = 0; - out_2059745207116816931[50] = 1; - out_2059745207116816931[51] = 0; - out_2059745207116816931[52] = 0; - out_2059745207116816931[53] = 1; +void H_10(double *state, double *unused, double *out_181799554460224071) { + out_181799554460224071[0] = 0; + out_181799554460224071[1] = 9.8100000000000005*cos(state[1]); + out_181799554460224071[2] = 0; + out_181799554460224071[3] = 0; + out_181799554460224071[4] = -state[8]; + out_181799554460224071[5] = state[7]; + out_181799554460224071[6] = 0; + out_181799554460224071[7] = state[5]; + out_181799554460224071[8] = -state[4]; + out_181799554460224071[9] = 0; + out_181799554460224071[10] = 0; + out_181799554460224071[11] = 0; + out_181799554460224071[12] = 1; + out_181799554460224071[13] = 0; + out_181799554460224071[14] = 0; + out_181799554460224071[15] = 1; + out_181799554460224071[16] = 0; + out_181799554460224071[17] = 0; + out_181799554460224071[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_181799554460224071[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_181799554460224071[20] = 0; + out_181799554460224071[21] = state[8]; + out_181799554460224071[22] = 0; + out_181799554460224071[23] = -state[6]; + out_181799554460224071[24] = -state[5]; + out_181799554460224071[25] = 0; + out_181799554460224071[26] = state[3]; + out_181799554460224071[27] = 0; + out_181799554460224071[28] = 0; + out_181799554460224071[29] = 0; + out_181799554460224071[30] = 0; + out_181799554460224071[31] = 1; + out_181799554460224071[32] = 0; + out_181799554460224071[33] = 0; + out_181799554460224071[34] = 1; + out_181799554460224071[35] = 0; + out_181799554460224071[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_181799554460224071[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_181799554460224071[38] = 0; + out_181799554460224071[39] = -state[7]; + out_181799554460224071[40] = state[6]; + out_181799554460224071[41] = 0; + out_181799554460224071[42] = state[4]; + out_181799554460224071[43] = -state[3]; + out_181799554460224071[44] = 0; + out_181799554460224071[45] = 0; + out_181799554460224071[46] = 0; + out_181799554460224071[47] = 0; + out_181799554460224071[48] = 0; + out_181799554460224071[49] = 0; + out_181799554460224071[50] = 1; + out_181799554460224071[51] = 0; + out_181799554460224071[52] = 0; + out_181799554460224071[53] = 1; } -void h_13(double *state, double *unused, double *out_6791205246269589213) { - out_6791205246269589213[0] = state[3]; - out_6791205246269589213[1] = state[4]; - out_6791205246269589213[2] = state[5]; +void h_13(double *state, double *unused, double *out_1850536561694260921) { + out_1850536561694260921[0] = state[3]; + out_1850536561694260921[1] = state[4]; + out_1850536561694260921[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8649022366090715756) { - out_8649022366090715756[0] = 0; - out_8649022366090715756[1] = 0; - out_8649022366090715756[2] = 0; - out_8649022366090715756[3] = 1; - out_8649022366090715756[4] = 0; - out_8649022366090715756[5] = 0; - out_8649022366090715756[6] = 0; - out_8649022366090715756[7] = 0; - out_8649022366090715756[8] = 0; - out_8649022366090715756[9] = 0; - out_8649022366090715756[10] = 0; - out_8649022366090715756[11] = 0; - out_8649022366090715756[12] = 0; - out_8649022366090715756[13] = 0; - out_8649022366090715756[14] = 0; - out_8649022366090715756[15] = 0; - out_8649022366090715756[16] = 0; - out_8649022366090715756[17] = 0; - out_8649022366090715756[18] = 0; - out_8649022366090715756[19] = 0; - out_8649022366090715756[20] = 0; - out_8649022366090715756[21] = 0; - out_8649022366090715756[22] = 1; - out_8649022366090715756[23] = 0; - out_8649022366090715756[24] = 0; - out_8649022366090715756[25] = 0; - out_8649022366090715756[26] = 0; - out_8649022366090715756[27] = 0; - out_8649022366090715756[28] = 0; - out_8649022366090715756[29] = 0; - out_8649022366090715756[30] = 0; - out_8649022366090715756[31] = 0; - out_8649022366090715756[32] = 0; - out_8649022366090715756[33] = 0; - out_8649022366090715756[34] = 0; - out_8649022366090715756[35] = 0; - out_8649022366090715756[36] = 0; - out_8649022366090715756[37] = 0; - out_8649022366090715756[38] = 0; - out_8649022366090715756[39] = 0; - out_8649022366090715756[40] = 0; - out_8649022366090715756[41] = 1; - out_8649022366090715756[42] = 0; - out_8649022366090715756[43] = 0; - out_8649022366090715756[44] = 0; - out_8649022366090715756[45] = 0; - out_8649022366090715756[46] = 0; - out_8649022366090715756[47] = 0; - out_8649022366090715756[48] = 0; - out_8649022366090715756[49] = 0; - out_8649022366090715756[50] = 0; - out_8649022366090715756[51] = 0; - out_8649022366090715756[52] = 0; - out_8649022366090715756[53] = 0; +void H_13(double *state, double *unused, double *out_7911742736612622977) { + out_7911742736612622977[0] = 0; + out_7911742736612622977[1] = 0; + out_7911742736612622977[2] = 0; + out_7911742736612622977[3] = 1; + out_7911742736612622977[4] = 0; + out_7911742736612622977[5] = 0; + out_7911742736612622977[6] = 0; + out_7911742736612622977[7] = 0; + out_7911742736612622977[8] = 0; + out_7911742736612622977[9] = 0; + out_7911742736612622977[10] = 0; + out_7911742736612622977[11] = 0; + out_7911742736612622977[12] = 0; + out_7911742736612622977[13] = 0; + out_7911742736612622977[14] = 0; + out_7911742736612622977[15] = 0; + out_7911742736612622977[16] = 0; + out_7911742736612622977[17] = 0; + out_7911742736612622977[18] = 0; + out_7911742736612622977[19] = 0; + out_7911742736612622977[20] = 0; + out_7911742736612622977[21] = 0; + out_7911742736612622977[22] = 1; + out_7911742736612622977[23] = 0; + out_7911742736612622977[24] = 0; + out_7911742736612622977[25] = 0; + out_7911742736612622977[26] = 0; + out_7911742736612622977[27] = 0; + out_7911742736612622977[28] = 0; + out_7911742736612622977[29] = 0; + out_7911742736612622977[30] = 0; + out_7911742736612622977[31] = 0; + out_7911742736612622977[32] = 0; + out_7911742736612622977[33] = 0; + out_7911742736612622977[34] = 0; + out_7911742736612622977[35] = 0; + out_7911742736612622977[36] = 0; + out_7911742736612622977[37] = 0; + out_7911742736612622977[38] = 0; + out_7911742736612622977[39] = 0; + out_7911742736612622977[40] = 0; + out_7911742736612622977[41] = 1; + out_7911742736612622977[42] = 0; + out_7911742736612622977[43] = 0; + out_7911742736612622977[44] = 0; + out_7911742736612622977[45] = 0; + out_7911742736612622977[46] = 0; + out_7911742736612622977[47] = 0; + out_7911742736612622977[48] = 0; + out_7911742736612622977[49] = 0; + out_7911742736612622977[50] = 0; + out_7911742736612622977[51] = 0; + out_7911742736612622977[52] = 0; + out_7911742736612622977[53] = 0; } -void h_14(double *state, double *unused, double *out_8615295986968492388) { - out_8615295986968492388[0] = state[6]; - out_8615295986968492388[1] = state[7]; - out_8615295986968492388[2] = state[8]; +void h_14(double *state, double *unused, double *out_8940417508633322111) { + out_8940417508633322111[0] = state[6]; + out_8940417508633322111[1] = state[7]; + out_8940417508633322111[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5001632014113499356) { - out_5001632014113499356[0] = 0; - out_5001632014113499356[1] = 0; - out_5001632014113499356[2] = 0; - out_5001632014113499356[3] = 0; - out_5001632014113499356[4] = 0; - out_5001632014113499356[5] = 0; - out_5001632014113499356[6] = 1; - out_5001632014113499356[7] = 0; - out_5001632014113499356[8] = 0; - out_5001632014113499356[9] = 0; - out_5001632014113499356[10] = 0; - out_5001632014113499356[11] = 0; - out_5001632014113499356[12] = 0; - out_5001632014113499356[13] = 0; - out_5001632014113499356[14] = 0; - out_5001632014113499356[15] = 0; - out_5001632014113499356[16] = 0; - out_5001632014113499356[17] = 0; - out_5001632014113499356[18] = 0; - out_5001632014113499356[19] = 0; - out_5001632014113499356[20] = 0; - out_5001632014113499356[21] = 0; - out_5001632014113499356[22] = 0; - out_5001632014113499356[23] = 0; - out_5001632014113499356[24] = 0; - out_5001632014113499356[25] = 1; - out_5001632014113499356[26] = 0; - out_5001632014113499356[27] = 0; - out_5001632014113499356[28] = 0; - out_5001632014113499356[29] = 0; - out_5001632014113499356[30] = 0; - out_5001632014113499356[31] = 0; - out_5001632014113499356[32] = 0; - out_5001632014113499356[33] = 0; - out_5001632014113499356[34] = 0; - out_5001632014113499356[35] = 0; - out_5001632014113499356[36] = 0; - out_5001632014113499356[37] = 0; - out_5001632014113499356[38] = 0; - out_5001632014113499356[39] = 0; - out_5001632014113499356[40] = 0; - out_5001632014113499356[41] = 0; - out_5001632014113499356[42] = 0; - out_5001632014113499356[43] = 0; - out_5001632014113499356[44] = 1; - out_5001632014113499356[45] = 0; - out_5001632014113499356[46] = 0; - out_5001632014113499356[47] = 0; - out_5001632014113499356[48] = 0; - out_5001632014113499356[49] = 0; - out_5001632014113499356[50] = 0; - out_5001632014113499356[51] = 0; - out_5001632014113499356[52] = 0; - out_5001632014113499356[53] = 0; +void H_14(double *state, double *unused, double *out_8662709767619774705) { + out_8662709767619774705[0] = 0; + out_8662709767619774705[1] = 0; + out_8662709767619774705[2] = 0; + out_8662709767619774705[3] = 0; + out_8662709767619774705[4] = 0; + out_8662709767619774705[5] = 0; + out_8662709767619774705[6] = 1; + out_8662709767619774705[7] = 0; + out_8662709767619774705[8] = 0; + out_8662709767619774705[9] = 0; + out_8662709767619774705[10] = 0; + out_8662709767619774705[11] = 0; + out_8662709767619774705[12] = 0; + out_8662709767619774705[13] = 0; + out_8662709767619774705[14] = 0; + out_8662709767619774705[15] = 0; + out_8662709767619774705[16] = 0; + out_8662709767619774705[17] = 0; + out_8662709767619774705[18] = 0; + out_8662709767619774705[19] = 0; + out_8662709767619774705[20] = 0; + out_8662709767619774705[21] = 0; + out_8662709767619774705[22] = 0; + out_8662709767619774705[23] = 0; + out_8662709767619774705[24] = 0; + out_8662709767619774705[25] = 1; + out_8662709767619774705[26] = 0; + out_8662709767619774705[27] = 0; + out_8662709767619774705[28] = 0; + out_8662709767619774705[29] = 0; + out_8662709767619774705[30] = 0; + out_8662709767619774705[31] = 0; + out_8662709767619774705[32] = 0; + out_8662709767619774705[33] = 0; + out_8662709767619774705[34] = 0; + out_8662709767619774705[35] = 0; + out_8662709767619774705[36] = 0; + out_8662709767619774705[37] = 0; + out_8662709767619774705[38] = 0; + out_8662709767619774705[39] = 0; + out_8662709767619774705[40] = 0; + out_8662709767619774705[41] = 0; + out_8662709767619774705[42] = 0; + out_8662709767619774705[43] = 0; + out_8662709767619774705[44] = 1; + out_8662709767619774705[45] = 0; + out_8662709767619774705[46] = 0; + out_8662709767619774705[47] = 0; + out_8662709767619774705[48] = 0; + out_8662709767619774705[49] = 0; + out_8662709767619774705[50] = 0; + out_8662709767619774705[51] = 0; + out_8662709767619774705[52] = 0; + out_8662709767619774705[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_521051683878790646) { - err_fun(nom_x, delta_x, out_521051683878790646); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4423077432163082570) { + err_fun(nom_x, delta_x, out_4423077432163082570); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_210058828153721645) { - inv_err_fun(nom_x, true_x, out_210058828153721645); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3066625947211960781) { + inv_err_fun(nom_x, true_x, out_3066625947211960781); } -void pose_H_mod_fun(double *state, double *out_4312613236564964080) { - H_mod_fun(state, out_4312613236564964080); +void pose_H_mod_fun(double *state, double *out_7899193355677302719) { + H_mod_fun(state, out_7899193355677302719); } -void pose_f_fun(double *state, double dt, double *out_7807614062433422920) { - f_fun(state, dt, out_7807614062433422920); +void pose_f_fun(double *state, double dt, double *out_1767716959874096227) { + f_fun(state, dt, out_1767716959874096227); } -void pose_F_fun(double *state, double dt, double *out_54869773676509633) { - F_fun(state, dt, out_54869773676509633); +void pose_F_fun(double *state, double dt, double *out_5946100134082923473) { + F_fun(state, dt, out_5946100134082923473); } -void pose_h_4(double *state, double *unused, double *out_3501775823039351379) { - h_4(state, unused, out_3501775823039351379); +void pose_h_4(double *state, double *unused, double *out_7895468860031348123) { + h_4(state, unused, out_7895468860031348123); } -void pose_H_4(double *state, double *unused, double *out_8084420446408871652) { - H_4(state, unused, out_8084420446408871652); +void pose_H_4(double *state, double *unused, double *out_4699468911280290176) { + H_4(state, unused, out_4699468911280290176); } -void pose_h_10(double *state, double *unused, double *out_8571708459300677945) { - h_10(state, unused, out_8571708459300677945); +void pose_h_10(double *state, double *unused, double *out_7051420194440758803) { + h_10(state, unused, out_7051420194440758803); } -void pose_H_10(double *state, double *unused, double *out_2059745207116816931) { - H_10(state, unused, out_2059745207116816931); +void pose_H_10(double *state, double *unused, double *out_181799554460224071) { + H_10(state, unused, out_181799554460224071); } -void pose_h_13(double *state, double *unused, double *out_6791205246269589213) { - h_13(state, unused, out_6791205246269589213); +void pose_h_13(double *state, double *unused, double *out_1850536561694260921) { + h_13(state, unused, out_1850536561694260921); } -void pose_H_13(double *state, double *unused, double *out_8649022366090715756) { - H_13(state, unused, out_8649022366090715756); +void pose_H_13(double *state, double *unused, double *out_7911742736612622977) { + H_13(state, unused, out_7911742736612622977); } -void pose_h_14(double *state, double *unused, double *out_8615295986968492388) { - h_14(state, unused, out_8615295986968492388); +void pose_h_14(double *state, double *unused, double *out_8940417508633322111) { + h_14(state, unused, out_8940417508633322111); } -void pose_H_14(double *state, double *unused, double *out_5001632014113499356) { - H_14(state, unused, out_5001632014113499356); +void pose_H_14(double *state, double *unused, double *out_8662709767619774705) { + H_14(state, unused, out_8662709767619774705); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/pose.h b/selfdrive/locationd/models/generated/pose.h index e35082c5a..32ee44d32 100644 --- a/selfdrive/locationd/models/generated/pose.h +++ b/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_521051683878790646); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_210058828153721645); -void pose_H_mod_fun(double *state, double *out_4312613236564964080); -void pose_f_fun(double *state, double dt, double *out_7807614062433422920); -void pose_F_fun(double *state, double dt, double *out_54869773676509633); -void pose_h_4(double *state, double *unused, double *out_3501775823039351379); -void pose_H_4(double *state, double *unused, double *out_8084420446408871652); -void pose_h_10(double *state, double *unused, double *out_8571708459300677945); -void pose_H_10(double *state, double *unused, double *out_2059745207116816931); -void pose_h_13(double *state, double *unused, double *out_6791205246269589213); -void pose_H_13(double *state, double *unused, double *out_8649022366090715756); -void pose_h_14(double *state, double *unused, double *out_8615295986968492388); -void pose_H_14(double *state, double *unused, double *out_5001632014113499356); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4423077432163082570); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3066625947211960781); +void pose_H_mod_fun(double *state, double *out_7899193355677302719); +void pose_f_fun(double *state, double dt, double *out_1767716959874096227); +void pose_F_fun(double *state, double dt, double *out_5946100134082923473); +void pose_h_4(double *state, double *unused, double *out_7895468860031348123); +void pose_H_4(double *state, double *unused, double *out_4699468911280290176); +void pose_h_10(double *state, double *unused, double *out_7051420194440758803); +void pose_H_10(double *state, double *unused, double *out_181799554460224071); +void pose_h_13(double *state, double *unused, double *out_1850536561694260921); +void pose_H_13(double *state, double *unused, double *out_7911742736612622977); +void pose_h_14(double *state, double *unused, double *out_8940417508633322111); +void pose_H_14(double *state, double *unused, double *out_8662709767619774705); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 552f9f0a8..1a45d8609 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/translations/main_uk.qm b/selfdrive/ui/translations/main_uk.qm index 34371fc7b..0dc308cea 100644 Binary files a/selfdrive/ui/translations/main_uk.qm and b/selfdrive/ui/translations/main_uk.qm differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 63eb76476..38455c5e6 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index d7363c1ec..89cf3f436 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index b035d79fd..be3ca3671 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 6a37c0ddb..0b34567c0 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index a2297b0e6..770743d54 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ