diff --git a/cereal/libcereal.a b/cereal/libcereal.a index 324d968ca..c300000da 100644 Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ diff --git a/common/libcommon.a b/common/libcommon.a index 59f0db63b..674f63f11 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 787b84121..e5ae227c9 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 6db3023a4..705148086 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 f2159fd2a..3d8cbace4 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 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differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 2a2a622d3..319c18313 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 80a9ce77e..3d837b7ef 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 76d29b770..344cefeb9 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 16bb523c0..9c43a1662 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-da61e79f-DEBUG"; +const uint8_t gitversion[19] = "DEV-0c4ec652-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 2e9105373..5813177a6 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 edca0068f..262efc66b 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 978f3ed6d..6269a92fe 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 3cb23bf49..d7850e367 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 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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 5ccee603e..64b827d59 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 ea5296701..2cd5b4333 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 57a71fcf8..6c0ce0d41 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 bf8839a86..affe4be57 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-da61e79f-DEBUG \ No newline at end of file +DEV-0c4ec652-DEBUG \ No newline at end of file diff --git a/scripts/laptop_device_build.sh b/scripts/laptop_device_build.sh index 5f2bd2532..067768898 100755 --- a/scripts/laptop_device_build.sh +++ b/scripts/laptop_device_build.sh @@ -272,6 +272,15 @@ scrub_mixed_arch_artifacts() { # Desktop launchers can leave macOS objects with the same paths as larch64 outputs. # Remove known cross-target extension intermediates so device builds always relink. rm -f \ + "${ROOT_DIR}/.sconsign.dblite" \ + "${ROOT_DIR}/common/libcommon.a" \ + "${ROOT_DIR}/common/params.o" \ + "${ROOT_DIR}/common/params_pyx.cpp" \ + "${ROOT_DIR}/cereal/libcereal.a" \ + "${ROOT_DIR}/cereal/libsocketmaster.a" \ + "${ROOT_DIR}/cereal/gen/cpp/"*.capnp.c++ \ + "${ROOT_DIR}/cereal/gen/cpp/"*.capnp.h \ + "${ROOT_DIR}/cereal/gen/cpp/"*.capnp.o \ "${ROOT_DIR}/cereal/messaging/"*.o \ "${ROOT_DIR}/cereal/messaging/bridge" \ "${ROOT_DIR}/msgq_repo/msgq/"*.os \ @@ -288,6 +297,8 @@ scrub_mixed_arch_artifacts() { "${ROOT_DIR}/common/params_pyx.so" \ "${ROOT_DIR}/common/transformations/transformations.o" \ "${ROOT_DIR}/common/transformations/transformations.so" \ + "${ROOT_DIR}/selfdrive/pandad/can_list_to_can_capnp.o" \ + "${ROOT_DIR}/selfdrive/pandad/libcan_list_to_can_capnp.a" \ "${ROOT_DIR}/selfdrive/modeld/models/commonmodel_pyx.o" \ "${ROOT_DIR}/selfdrive/modeld/models/commonmodel_pyx.so" } diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index eb77a81d8..7861ea336 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_2689391300508487509) { - out_2689391300508487509[0] = delta_x[0] + nom_x[0]; - out_2689391300508487509[1] = delta_x[1] + nom_x[1]; - out_2689391300508487509[2] = delta_x[2] + nom_x[2]; - out_2689391300508487509[3] = delta_x[3] + nom_x[3]; - out_2689391300508487509[4] = delta_x[4] + nom_x[4]; - out_2689391300508487509[5] = delta_x[5] + nom_x[5]; - out_2689391300508487509[6] = delta_x[6] + nom_x[6]; - out_2689391300508487509[7] = delta_x[7] + nom_x[7]; - out_2689391300508487509[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_4898271858899960872) { + out_4898271858899960872[0] = delta_x[0] + nom_x[0]; + out_4898271858899960872[1] = delta_x[1] + nom_x[1]; + out_4898271858899960872[2] = delta_x[2] + nom_x[2]; + out_4898271858899960872[3] = delta_x[3] + nom_x[3]; + out_4898271858899960872[4] = delta_x[4] + nom_x[4]; + out_4898271858899960872[5] = delta_x[5] + nom_x[5]; + out_4898271858899960872[6] = delta_x[6] + nom_x[6]; + out_4898271858899960872[7] = delta_x[7] + nom_x[7]; + out_4898271858899960872[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7177783815062799236) { - out_7177783815062799236[0] = -nom_x[0] + true_x[0]; - out_7177783815062799236[1] = -nom_x[1] + true_x[1]; - out_7177783815062799236[2] = -nom_x[2] + true_x[2]; - out_7177783815062799236[3] = -nom_x[3] + true_x[3]; - out_7177783815062799236[4] = -nom_x[4] + true_x[4]; - out_7177783815062799236[5] = -nom_x[5] + true_x[5]; - out_7177783815062799236[6] = -nom_x[6] + true_x[6]; - out_7177783815062799236[7] = -nom_x[7] + true_x[7]; - out_7177783815062799236[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6923660614592572242) { + out_6923660614592572242[0] = -nom_x[0] + true_x[0]; + out_6923660614592572242[1] = -nom_x[1] + true_x[1]; + out_6923660614592572242[2] = -nom_x[2] + true_x[2]; + out_6923660614592572242[3] = -nom_x[3] + true_x[3]; + out_6923660614592572242[4] = -nom_x[4] + true_x[4]; + out_6923660614592572242[5] = -nom_x[5] + true_x[5]; + out_6923660614592572242[6] = -nom_x[6] + true_x[6]; + out_6923660614592572242[7] = -nom_x[7] + true_x[7]; + out_6923660614592572242[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8221602802744378233) { - out_8221602802744378233[0] = 1.0; - out_8221602802744378233[1] = 0.0; - out_8221602802744378233[2] = 0.0; - out_8221602802744378233[3] = 0.0; - out_8221602802744378233[4] = 0.0; - out_8221602802744378233[5] = 0.0; - out_8221602802744378233[6] = 0.0; - out_8221602802744378233[7] = 0.0; - out_8221602802744378233[8] = 0.0; - out_8221602802744378233[9] = 0.0; - out_8221602802744378233[10] = 1.0; - out_8221602802744378233[11] = 0.0; - out_8221602802744378233[12] = 0.0; - out_8221602802744378233[13] = 0.0; - out_8221602802744378233[14] = 0.0; - out_8221602802744378233[15] = 0.0; - out_8221602802744378233[16] = 0.0; - out_8221602802744378233[17] = 0.0; - out_8221602802744378233[18] = 0.0; - out_8221602802744378233[19] = 0.0; - out_8221602802744378233[20] = 1.0; - out_8221602802744378233[21] = 0.0; - out_8221602802744378233[22] = 0.0; - out_8221602802744378233[23] = 0.0; - out_8221602802744378233[24] = 0.0; - out_8221602802744378233[25] = 0.0; - out_8221602802744378233[26] = 0.0; - out_8221602802744378233[27] = 0.0; - out_8221602802744378233[28] = 0.0; - out_8221602802744378233[29] = 0.0; - out_8221602802744378233[30] = 1.0; - out_8221602802744378233[31] = 0.0; - out_8221602802744378233[32] = 0.0; - out_8221602802744378233[33] = 0.0; - out_8221602802744378233[34] = 0.0; - out_8221602802744378233[35] = 0.0; - out_8221602802744378233[36] = 0.0; - out_8221602802744378233[37] = 0.0; - out_8221602802744378233[38] = 0.0; - out_8221602802744378233[39] = 0.0; - out_8221602802744378233[40] = 1.0; - out_8221602802744378233[41] = 0.0; - out_8221602802744378233[42] = 0.0; - out_8221602802744378233[43] = 0.0; - out_8221602802744378233[44] = 0.0; - out_8221602802744378233[45] = 0.0; - out_8221602802744378233[46] = 0.0; - out_8221602802744378233[47] = 0.0; - out_8221602802744378233[48] = 0.0; - out_8221602802744378233[49] = 0.0; - out_8221602802744378233[50] = 1.0; - out_8221602802744378233[51] = 0.0; - out_8221602802744378233[52] = 0.0; - out_8221602802744378233[53] = 0.0; - out_8221602802744378233[54] = 0.0; - out_8221602802744378233[55] = 0.0; - out_8221602802744378233[56] = 0.0; - out_8221602802744378233[57] = 0.0; - out_8221602802744378233[58] = 0.0; - out_8221602802744378233[59] = 0.0; - out_8221602802744378233[60] = 1.0; - out_8221602802744378233[61] = 0.0; - out_8221602802744378233[62] = 0.0; - out_8221602802744378233[63] = 0.0; - out_8221602802744378233[64] = 0.0; - out_8221602802744378233[65] = 0.0; - out_8221602802744378233[66] = 0.0; - out_8221602802744378233[67] = 0.0; - out_8221602802744378233[68] = 0.0; - out_8221602802744378233[69] = 0.0; - out_8221602802744378233[70] = 1.0; - out_8221602802744378233[71] = 0.0; - out_8221602802744378233[72] = 0.0; - out_8221602802744378233[73] = 0.0; - out_8221602802744378233[74] = 0.0; - out_8221602802744378233[75] = 0.0; - out_8221602802744378233[76] = 0.0; - out_8221602802744378233[77] = 0.0; - out_8221602802744378233[78] = 0.0; - out_8221602802744378233[79] = 0.0; - out_8221602802744378233[80] = 1.0; +void H_mod_fun(double *state, double *out_2317713943645087999) { + out_2317713943645087999[0] = 1.0; + out_2317713943645087999[1] = 0.0; + out_2317713943645087999[2] = 0.0; + out_2317713943645087999[3] = 0.0; + out_2317713943645087999[4] = 0.0; + out_2317713943645087999[5] = 0.0; + out_2317713943645087999[6] = 0.0; + out_2317713943645087999[7] = 0.0; + out_2317713943645087999[8] = 0.0; + out_2317713943645087999[9] = 0.0; + out_2317713943645087999[10] = 1.0; + out_2317713943645087999[11] = 0.0; + out_2317713943645087999[12] = 0.0; + out_2317713943645087999[13] = 0.0; + out_2317713943645087999[14] = 0.0; + out_2317713943645087999[15] = 0.0; + out_2317713943645087999[16] = 0.0; + out_2317713943645087999[17] = 0.0; + out_2317713943645087999[18] = 0.0; + out_2317713943645087999[19] = 0.0; + out_2317713943645087999[20] = 1.0; + out_2317713943645087999[21] = 0.0; + out_2317713943645087999[22] = 0.0; + out_2317713943645087999[23] = 0.0; + out_2317713943645087999[24] = 0.0; + out_2317713943645087999[25] = 0.0; + out_2317713943645087999[26] = 0.0; + out_2317713943645087999[27] = 0.0; + out_2317713943645087999[28] = 0.0; + out_2317713943645087999[29] = 0.0; + out_2317713943645087999[30] = 1.0; + out_2317713943645087999[31] = 0.0; + out_2317713943645087999[32] = 0.0; + out_2317713943645087999[33] = 0.0; + out_2317713943645087999[34] = 0.0; + out_2317713943645087999[35] = 0.0; + out_2317713943645087999[36] = 0.0; + out_2317713943645087999[37] = 0.0; + out_2317713943645087999[38] = 0.0; + out_2317713943645087999[39] = 0.0; + out_2317713943645087999[40] = 1.0; + out_2317713943645087999[41] = 0.0; + out_2317713943645087999[42] = 0.0; + out_2317713943645087999[43] = 0.0; + out_2317713943645087999[44] = 0.0; + out_2317713943645087999[45] = 0.0; + out_2317713943645087999[46] = 0.0; + out_2317713943645087999[47] = 0.0; + out_2317713943645087999[48] = 0.0; + out_2317713943645087999[49] = 0.0; + out_2317713943645087999[50] = 1.0; + out_2317713943645087999[51] = 0.0; + out_2317713943645087999[52] = 0.0; + out_2317713943645087999[53] = 0.0; + out_2317713943645087999[54] = 0.0; + out_2317713943645087999[55] = 0.0; + out_2317713943645087999[56] = 0.0; + out_2317713943645087999[57] = 0.0; + out_2317713943645087999[58] = 0.0; + out_2317713943645087999[59] = 0.0; + out_2317713943645087999[60] = 1.0; + out_2317713943645087999[61] = 0.0; + out_2317713943645087999[62] = 0.0; + out_2317713943645087999[63] = 0.0; + out_2317713943645087999[64] = 0.0; + out_2317713943645087999[65] = 0.0; + out_2317713943645087999[66] = 0.0; + out_2317713943645087999[67] = 0.0; + out_2317713943645087999[68] = 0.0; + out_2317713943645087999[69] = 0.0; + out_2317713943645087999[70] = 1.0; + out_2317713943645087999[71] = 0.0; + out_2317713943645087999[72] = 0.0; + out_2317713943645087999[73] = 0.0; + out_2317713943645087999[74] = 0.0; + out_2317713943645087999[75] = 0.0; + out_2317713943645087999[76] = 0.0; + out_2317713943645087999[77] = 0.0; + out_2317713943645087999[78] = 0.0; + out_2317713943645087999[79] = 0.0; + out_2317713943645087999[80] = 1.0; } -void f_fun(double *state, double dt, double *out_7651705913211861388) { - out_7651705913211861388[0] = state[0]; - out_7651705913211861388[1] = state[1]; - out_7651705913211861388[2] = state[2]; - out_7651705913211861388[3] = state[3]; - out_7651705913211861388[4] = state[4]; - out_7651705913211861388[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_7651705913211861388[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_7651705913211861388[7] = state[7]; - out_7651705913211861388[8] = state[8]; +void f_fun(double *state, double dt, double *out_7025688067405742044) { + out_7025688067405742044[0] = state[0]; + out_7025688067405742044[1] = state[1]; + out_7025688067405742044[2] = state[2]; + out_7025688067405742044[3] = state[3]; + out_7025688067405742044[4] = state[4]; + out_7025688067405742044[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_7025688067405742044[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_7025688067405742044[7] = state[7]; + out_7025688067405742044[8] = state[8]; } -void F_fun(double *state, double dt, double *out_97859790539154602) { - out_97859790539154602[0] = 1; - out_97859790539154602[1] = 0; - out_97859790539154602[2] = 0; - out_97859790539154602[3] = 0; - out_97859790539154602[4] = 0; - out_97859790539154602[5] = 0; - out_97859790539154602[6] = 0; - out_97859790539154602[7] = 0; - out_97859790539154602[8] = 0; - out_97859790539154602[9] = 0; - out_97859790539154602[10] = 1; - out_97859790539154602[11] = 0; - out_97859790539154602[12] = 0; - out_97859790539154602[13] = 0; - out_97859790539154602[14] = 0; - out_97859790539154602[15] = 0; - out_97859790539154602[16] = 0; - out_97859790539154602[17] = 0; - out_97859790539154602[18] = 0; - out_97859790539154602[19] = 0; - out_97859790539154602[20] = 1; - out_97859790539154602[21] = 0; - out_97859790539154602[22] = 0; - out_97859790539154602[23] = 0; - out_97859790539154602[24] = 0; - out_97859790539154602[25] = 0; - out_97859790539154602[26] = 0; - out_97859790539154602[27] = 0; - out_97859790539154602[28] = 0; - out_97859790539154602[29] = 0; - out_97859790539154602[30] = 1; - out_97859790539154602[31] = 0; - out_97859790539154602[32] = 0; - out_97859790539154602[33] = 0; - out_97859790539154602[34] = 0; - out_97859790539154602[35] = 0; - out_97859790539154602[36] = 0; - out_97859790539154602[37] = 0; - out_97859790539154602[38] = 0; - out_97859790539154602[39] = 0; - out_97859790539154602[40] = 1; - out_97859790539154602[41] = 0; - out_97859790539154602[42] = 0; - out_97859790539154602[43] = 0; - out_97859790539154602[44] = 0; - out_97859790539154602[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_97859790539154602[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_97859790539154602[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_97859790539154602[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_97859790539154602[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_97859790539154602[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_97859790539154602[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_97859790539154602[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_97859790539154602[53] = -9.8100000000000005*dt; - out_97859790539154602[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_97859790539154602[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_97859790539154602[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_97859790539154602[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_97859790539154602[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_97859790539154602[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_97859790539154602[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_97859790539154602[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_97859790539154602[62] = 0; - out_97859790539154602[63] = 0; - out_97859790539154602[64] = 0; - out_97859790539154602[65] = 0; - out_97859790539154602[66] = 0; - out_97859790539154602[67] = 0; - out_97859790539154602[68] = 0; - out_97859790539154602[69] = 0; - out_97859790539154602[70] = 1; - out_97859790539154602[71] = 0; - out_97859790539154602[72] = 0; - out_97859790539154602[73] = 0; - out_97859790539154602[74] = 0; - out_97859790539154602[75] = 0; - out_97859790539154602[76] = 0; - out_97859790539154602[77] = 0; - out_97859790539154602[78] = 0; - out_97859790539154602[79] = 0; - out_97859790539154602[80] = 1; +void F_fun(double *state, double dt, double *out_8992610323869343845) { + out_8992610323869343845[0] = 1; + out_8992610323869343845[1] = 0; + out_8992610323869343845[2] = 0; + out_8992610323869343845[3] = 0; + out_8992610323869343845[4] = 0; + out_8992610323869343845[5] = 0; + out_8992610323869343845[6] = 0; + out_8992610323869343845[7] = 0; + out_8992610323869343845[8] = 0; + out_8992610323869343845[9] = 0; + out_8992610323869343845[10] = 1; + out_8992610323869343845[11] = 0; + out_8992610323869343845[12] = 0; + out_8992610323869343845[13] = 0; + out_8992610323869343845[14] = 0; + out_8992610323869343845[15] = 0; + out_8992610323869343845[16] = 0; + out_8992610323869343845[17] = 0; + out_8992610323869343845[18] = 0; + out_8992610323869343845[19] = 0; + out_8992610323869343845[20] = 1; + out_8992610323869343845[21] = 0; + out_8992610323869343845[22] = 0; + out_8992610323869343845[23] = 0; + out_8992610323869343845[24] = 0; + out_8992610323869343845[25] = 0; + out_8992610323869343845[26] = 0; + out_8992610323869343845[27] = 0; + out_8992610323869343845[28] = 0; + out_8992610323869343845[29] = 0; + out_8992610323869343845[30] = 1; + out_8992610323869343845[31] = 0; + out_8992610323869343845[32] = 0; + out_8992610323869343845[33] = 0; + out_8992610323869343845[34] = 0; + out_8992610323869343845[35] = 0; + out_8992610323869343845[36] = 0; + out_8992610323869343845[37] = 0; + out_8992610323869343845[38] = 0; + out_8992610323869343845[39] = 0; + out_8992610323869343845[40] = 1; + out_8992610323869343845[41] = 0; + out_8992610323869343845[42] = 0; + out_8992610323869343845[43] = 0; + out_8992610323869343845[44] = 0; + out_8992610323869343845[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_8992610323869343845[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8992610323869343845[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8992610323869343845[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8992610323869343845[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_8992610323869343845[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8992610323869343845[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8992610323869343845[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8992610323869343845[53] = -9.8100000000000005*dt; + out_8992610323869343845[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_8992610323869343845[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8992610323869343845[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8992610323869343845[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8992610323869343845[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_8992610323869343845[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8992610323869343845[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_8992610323869343845[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8992610323869343845[62] = 0; + out_8992610323869343845[63] = 0; + out_8992610323869343845[64] = 0; + out_8992610323869343845[65] = 0; + out_8992610323869343845[66] = 0; + out_8992610323869343845[67] = 0; + out_8992610323869343845[68] = 0; + out_8992610323869343845[69] = 0; + out_8992610323869343845[70] = 1; + out_8992610323869343845[71] = 0; + out_8992610323869343845[72] = 0; + out_8992610323869343845[73] = 0; + out_8992610323869343845[74] = 0; + out_8992610323869343845[75] = 0; + out_8992610323869343845[76] = 0; + out_8992610323869343845[77] = 0; + out_8992610323869343845[78] = 0; + out_8992610323869343845[79] = 0; + out_8992610323869343845[80] = 1; } -void h_25(double *state, double *unused, double *out_1747255377487496462) { - out_1747255377487496462[0] = state[6]; +void h_25(double *state, double *unused, double *out_659508963430133761) { + out_659508963430133761[0] = state[6]; } -void H_25(double *state, double *unused, double *out_7588584345949747189) { - out_7588584345949747189[0] = 0; - out_7588584345949747189[1] = 0; - out_7588584345949747189[2] = 0; - out_7588584345949747189[3] = 0; - out_7588584345949747189[4] = 0; - out_7588584345949747189[5] = 0; - out_7588584345949747189[6] = 1; - out_7588584345949747189[7] = 0; - out_7588584345949747189[8] = 0; +void H_25(double *state, double *unused, double *out_5411732216437484507) { + out_5411732216437484507[0] = 0; + out_5411732216437484507[1] = 0; + out_5411732216437484507[2] = 0; + out_5411732216437484507[3] = 0; + out_5411732216437484507[4] = 0; + out_5411732216437484507[5] = 0; + out_5411732216437484507[6] = 1; + out_5411732216437484507[7] = 0; + out_5411732216437484507[8] = 0; } -void h_24(double *state, double *unused, double *out_3070396560078381804) { - out_3070396560078381804[0] = state[4]; - out_3070396560078381804[1] = state[5]; +void h_24(double *state, double *unused, double *out_2182025158618031287) { + out_2182025158618031287[0] = state[4]; + out_2182025158618031287[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7300234128957481291) { - out_7300234128957481291[0] = 0; - out_7300234128957481291[1] = 0; - out_7300234128957481291[2] = 0; - out_7300234128957481291[3] = 0; - out_7300234128957481291[4] = 1; - out_7300234128957481291[5] = 0; - out_7300234128957481291[6] = 0; - out_7300234128957481291[7] = 0; - out_7300234128957481291[8] = 0; - out_7300234128957481291[9] = 0; - out_7300234128957481291[10] = 0; - out_7300234128957481291[11] = 0; - out_7300234128957481291[12] = 0; - out_7300234128957481291[13] = 0; - out_7300234128957481291[14] = 1; - out_7300234128957481291[15] = 0; - out_7300234128957481291[16] = 0; - out_7300234128957481291[17] = 0; +void H_24(double *state, double *unused, double *out_6824760464475893344) { + out_6824760464475893344[0] = 0; + out_6824760464475893344[1] = 0; + out_6824760464475893344[2] = 0; + out_6824760464475893344[3] = 0; + out_6824760464475893344[4] = 1; + out_6824760464475893344[5] = 0; + out_6824760464475893344[6] = 0; + out_6824760464475893344[7] = 0; + out_6824760464475893344[8] = 0; + out_6824760464475893344[9] = 0; + out_6824760464475893344[10] = 0; + out_6824760464475893344[11] = 0; + out_6824760464475893344[12] = 0; + out_6824760464475893344[13] = 0; + out_6824760464475893344[14] = 1; + out_6824760464475893344[15] = 0; + out_6824760464475893344[16] = 0; + out_6824760464475893344[17] = 0; } -void h_30(double *state, double *unused, double *out_2594165583737162996) { - out_2594165583737162996[0] = state[4]; +void h_30(double *state, double *unused, double *out_3607234953785618722) { + out_3607234953785618722[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8339826769252555800) { - out_8339826769252555800[0] = 0; - out_8339826769252555800[1] = 0; - out_8339826769252555800[2] = 0; - out_8339826769252555800[3] = 0; - out_8339826769252555800[4] = 1; - out_8339826769252555800[5] = 0; - out_8339826769252555800[6] = 0; - out_8339826769252555800[7] = 0; - out_8339826769252555800[8] = 0; +void H_30(double *state, double *unused, double *out_7930065174944733134) { + out_7930065174944733134[0] = 0; + out_7930065174944733134[1] = 0; + out_7930065174944733134[2] = 0; + out_7930065174944733134[3] = 0; + out_7930065174944733134[4] = 1; + out_7930065174944733134[5] = 0; + out_7930065174944733134[6] = 0; + out_7930065174944733134[7] = 0; + out_7930065174944733134[8] = 0; } -void h_26(double *state, double *unused, double *out_1234538052727793168) { - out_1234538052727793168[0] = state[7]; +void h_26(double *state, double *unused, double *out_6419787057055472105) { + out_6419787057055472105[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3847081027075690965) { - out_3847081027075690965[0] = 0; - out_3847081027075690965[1] = 0; - out_3847081027075690965[2] = 0; - out_3847081027075690965[3] = 0; - out_3847081027075690965[4] = 0; - out_3847081027075690965[5] = 0; - out_3847081027075690965[6] = 0; - out_3847081027075690965[7] = 1; - out_3847081027075690965[8] = 0; +void H_26(double *state, double *unused, double *out_1670228897563428283) { + out_1670228897563428283[0] = 0; + out_1670228897563428283[1] = 0; + out_1670228897563428283[2] = 0; + out_1670228897563428283[3] = 0; + out_1670228897563428283[4] = 0; + out_1670228897563428283[5] = 0; + out_1670228897563428283[6] = 0; + out_1670228897563428283[7] = 1; + out_1670228897563428283[8] = 0; } -void h_27(double *state, double *unused, double *out_4784041428931829147) { - out_4784041428931829147[0] = state[3]; +void h_27(double *state, double *unused, double *out_1197958375544545365) { + out_1197958375544545365[0] = state[3]; } -void H_27(double *state, double *unused, double *out_886124704021714080) { - out_886124704021714080[0] = 0; - out_886124704021714080[1] = 0; - out_886124704021714080[2] = 0; - out_886124704021714080[3] = 1; - out_886124704021714080[4] = 0; - out_886124704021714080[5] = 0; - out_886124704021714080[6] = 0; - out_886124704021714080[7] = 0; - out_886124704021714080[8] = 0; +void H_27(double *state, double *unused, double *out_5755301863144308223) { + out_5755301863144308223[0] = 0; + out_5755301863144308223[1] = 0; + out_5755301863144308223[2] = 0; + out_5755301863144308223[3] = 1; + out_5755301863144308223[4] = 0; + out_5755301863144308223[5] = 0; + out_5755301863144308223[6] = 0; + out_5755301863144308223[7] = 0; + out_5755301863144308223[8] = 0; } -void h_29(double *state, double *unused, double *out_2407507683923682649) { - out_2407507683923682649[0] = state[1]; +void h_29(double *state, double *unused, double *out_8608908221446464367) { + out_8608908221446464367[0] = state[1]; } -void H_29(double *state, double *unused, double *out_3571119360136531175) { - out_3571119360136531175[0] = 0; - out_3571119360136531175[1] = 1; - out_3571119360136531175[2] = 0; - out_3571119360136531175[3] = 0; - out_3571119360136531175[4] = 0; - out_3571119360136531175[5] = 0; - out_3571119360136531175[6] = 0; - out_3571119360136531175[7] = 0; - out_3571119360136531175[8] = 0; +void H_29(double *state, double *unused, double *out_8440296519259125318) { + out_8440296519259125318[0] = 0; + out_8440296519259125318[1] = 1; + out_8440296519259125318[2] = 0; + out_8440296519259125318[3] = 0; + out_8440296519259125318[4] = 0; + out_8440296519259125318[5] = 0; + out_8440296519259125318[6] = 0; + out_8440296519259125318[7] = 0; + out_8440296519259125318[8] = 0; } -void h_28(double *state, double *unused, double *out_7679778805471580716) { - out_7679778805471580716[0] = state[0]; +void h_28(double *state, double *unused, double *out_7519878544324146961) { + out_7519878544324146961[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5534749631701857426) { - out_5534749631701857426[0] = 1; - out_5534749631701857426[1] = 0; - out_5534749631701857426[2] = 0; - out_5534749631701857426[3] = 0; - out_5534749631701857426[4] = 0; - out_5534749631701857426[5] = 0; - out_5534749631701857426[6] = 0; - out_5534749631701857426[7] = 0; - out_5534749631701857426[8] = 0; +void H_28(double *state, double *unused, double *out_3357897502189594744) { + out_3357897502189594744[0] = 1; + out_3357897502189594744[1] = 0; + out_3357897502189594744[2] = 0; + out_3357897502189594744[3] = 0; + out_3357897502189594744[4] = 0; + out_3357897502189594744[5] = 0; + out_3357897502189594744[6] = 0; + out_3357897502189594744[7] = 0; + out_3357897502189594744[8] = 0; } -void h_31(double *state, double *unused, double *out_5023579848862854474) { - out_5023579848862854474[0] = state[8]; +void h_31(double *state, double *unused, double *out_7221763687323915424) { + out_7221763687323915424[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3220872924842339489) { - out_3220872924842339489[0] = 0; - out_3220872924842339489[1] = 0; - out_3220872924842339489[2] = 0; - out_3220872924842339489[3] = 0; - out_3220872924842339489[4] = 0; - out_3220872924842339489[5] = 0; - out_3220872924842339489[6] = 0; - out_3220872924842339489[7] = 0; - out_3220872924842339489[8] = 1; +void H_31(double *state, double *unused, double *out_1044020795330076807) { + out_1044020795330076807[0] = 0; + out_1044020795330076807[1] = 0; + out_1044020795330076807[2] = 0; + out_1044020795330076807[3] = 0; + out_1044020795330076807[4] = 0; + out_1044020795330076807[5] = 0; + out_1044020795330076807[6] = 0; + out_1044020795330076807[7] = 0; + out_1044020795330076807[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_2689391300508487509) { - err_fun(nom_x, delta_x, out_2689391300508487509); +void car_err_fun(double *nom_x, double *delta_x, double *out_4898271858899960872) { + err_fun(nom_x, delta_x, out_4898271858899960872); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7177783815062799236) { - inv_err_fun(nom_x, true_x, out_7177783815062799236); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6923660614592572242) { + inv_err_fun(nom_x, true_x, out_6923660614592572242); } -void car_H_mod_fun(double *state, double *out_8221602802744378233) { - H_mod_fun(state, out_8221602802744378233); +void car_H_mod_fun(double *state, double *out_2317713943645087999) { + H_mod_fun(state, out_2317713943645087999); } -void car_f_fun(double *state, double dt, double *out_7651705913211861388) { - f_fun(state, dt, out_7651705913211861388); +void car_f_fun(double *state, double dt, double *out_7025688067405742044) { + f_fun(state, dt, out_7025688067405742044); } -void car_F_fun(double *state, double dt, double *out_97859790539154602) { - F_fun(state, dt, out_97859790539154602); +void car_F_fun(double *state, double dt, double *out_8992610323869343845) { + F_fun(state, dt, out_8992610323869343845); } -void car_h_25(double *state, double *unused, double *out_1747255377487496462) { - h_25(state, unused, out_1747255377487496462); +void car_h_25(double *state, double *unused, double *out_659508963430133761) { + h_25(state, unused, out_659508963430133761); } -void car_H_25(double *state, double *unused, double *out_7588584345949747189) { - H_25(state, unused, out_7588584345949747189); +void car_H_25(double *state, double *unused, double *out_5411732216437484507) { + H_25(state, unused, out_5411732216437484507); } -void car_h_24(double *state, double *unused, double *out_3070396560078381804) { - h_24(state, unused, out_3070396560078381804); +void car_h_24(double *state, double *unused, double *out_2182025158618031287) { + h_24(state, unused, out_2182025158618031287); } -void car_H_24(double *state, double *unused, double *out_7300234128957481291) { - H_24(state, unused, out_7300234128957481291); +void car_H_24(double *state, double *unused, double *out_6824760464475893344) { + H_24(state, unused, out_6824760464475893344); } -void car_h_30(double *state, double *unused, double *out_2594165583737162996) { - h_30(state, unused, out_2594165583737162996); +void car_h_30(double *state, double *unused, double *out_3607234953785618722) { + h_30(state, unused, out_3607234953785618722); } -void car_H_30(double *state, double *unused, double *out_8339826769252555800) { - H_30(state, unused, out_8339826769252555800); +void car_H_30(double *state, double *unused, double *out_7930065174944733134) { + H_30(state, unused, out_7930065174944733134); } -void car_h_26(double *state, double *unused, double *out_1234538052727793168) { - h_26(state, unused, out_1234538052727793168); +void car_h_26(double *state, double *unused, double *out_6419787057055472105) { + h_26(state, unused, out_6419787057055472105); } -void car_H_26(double *state, double *unused, double *out_3847081027075690965) { - H_26(state, unused, out_3847081027075690965); +void car_H_26(double *state, double *unused, double *out_1670228897563428283) { + H_26(state, unused, out_1670228897563428283); } -void car_h_27(double *state, double *unused, double *out_4784041428931829147) { - h_27(state, unused, out_4784041428931829147); +void car_h_27(double *state, double *unused, double *out_1197958375544545365) { + h_27(state, unused, out_1197958375544545365); } -void car_H_27(double *state, double *unused, double *out_886124704021714080) { - H_27(state, unused, out_886124704021714080); +void car_H_27(double *state, double *unused, double *out_5755301863144308223) { + H_27(state, unused, out_5755301863144308223); } -void car_h_29(double *state, double *unused, double *out_2407507683923682649) { - h_29(state, unused, out_2407507683923682649); +void car_h_29(double *state, double *unused, double *out_8608908221446464367) { + h_29(state, unused, out_8608908221446464367); } -void car_H_29(double *state, double *unused, double *out_3571119360136531175) { - H_29(state, unused, out_3571119360136531175); +void car_H_29(double *state, double *unused, double *out_8440296519259125318) { + H_29(state, unused, out_8440296519259125318); } -void car_h_28(double *state, double *unused, double *out_7679778805471580716) { - h_28(state, unused, out_7679778805471580716); +void car_h_28(double *state, double *unused, double *out_7519878544324146961) { + h_28(state, unused, out_7519878544324146961); } -void car_H_28(double *state, double *unused, double *out_5534749631701857426) { - H_28(state, unused, out_5534749631701857426); +void car_H_28(double *state, double *unused, double *out_3357897502189594744) { + H_28(state, unused, out_3357897502189594744); } -void car_h_31(double *state, double *unused, double *out_5023579848862854474) { - h_31(state, unused, out_5023579848862854474); +void car_h_31(double *state, double *unused, double *out_7221763687323915424) { + h_31(state, unused, out_7221763687323915424); } -void car_H_31(double *state, double *unused, double *out_3220872924842339489) { - H_31(state, unused, out_3220872924842339489); +void car_H_31(double *state, double *unused, double *out_1044020795330076807) { + H_31(state, unused, out_1044020795330076807); } 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 98732f5e7..e35a739cc 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_2689391300508487509); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7177783815062799236); -void car_H_mod_fun(double *state, double *out_8221602802744378233); -void car_f_fun(double *state, double dt, double *out_7651705913211861388); -void car_F_fun(double *state, double dt, double *out_97859790539154602); -void car_h_25(double *state, double *unused, double *out_1747255377487496462); -void car_H_25(double *state, double *unused, double *out_7588584345949747189); -void car_h_24(double *state, double *unused, double *out_3070396560078381804); -void car_H_24(double *state, double *unused, double *out_7300234128957481291); -void car_h_30(double *state, double *unused, double *out_2594165583737162996); -void car_H_30(double *state, double *unused, double *out_8339826769252555800); -void car_h_26(double *state, double *unused, double *out_1234538052727793168); -void car_H_26(double *state, double *unused, double *out_3847081027075690965); -void car_h_27(double *state, double *unused, double *out_4784041428931829147); -void car_H_27(double *state, double *unused, double *out_886124704021714080); -void car_h_29(double *state, double *unused, double *out_2407507683923682649); -void car_H_29(double *state, double *unused, double *out_3571119360136531175); -void car_h_28(double *state, double *unused, double *out_7679778805471580716); -void car_H_28(double *state, double *unused, double *out_5534749631701857426); -void car_h_31(double *state, double *unused, double *out_5023579848862854474); -void car_H_31(double *state, double *unused, double *out_3220872924842339489); +void car_err_fun(double *nom_x, double *delta_x, double *out_4898271858899960872); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6923660614592572242); +void car_H_mod_fun(double *state, double *out_2317713943645087999); +void car_f_fun(double *state, double dt, double *out_7025688067405742044); +void car_F_fun(double *state, double dt, double *out_8992610323869343845); +void car_h_25(double *state, double *unused, double *out_659508963430133761); +void car_H_25(double *state, double *unused, double *out_5411732216437484507); +void car_h_24(double *state, double *unused, double *out_2182025158618031287); +void car_H_24(double *state, double *unused, double *out_6824760464475893344); +void car_h_30(double *state, double *unused, double *out_3607234953785618722); +void car_H_30(double *state, double *unused, double *out_7930065174944733134); +void car_h_26(double *state, double *unused, double *out_6419787057055472105); +void car_H_26(double *state, double *unused, double *out_1670228897563428283); +void car_h_27(double *state, double *unused, double *out_1197958375544545365); +void car_H_27(double *state, double *unused, double *out_5755301863144308223); +void car_h_29(double *state, double *unused, double *out_8608908221446464367); +void car_H_29(double *state, double *unused, double *out_8440296519259125318); +void car_h_28(double *state, double *unused, double *out_7519878544324146961); +void car_H_28(double *state, double *unused, double *out_3357897502189594744); +void car_h_31(double *state, double *unused, double *out_7221763687323915424); +void car_H_31(double *state, double *unused, double *out_1044020795330076807); 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 537aeabbe..dd752eca2 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_9191542510053319957) { - out_9191542510053319957[0] = delta_x[0] + nom_x[0]; - out_9191542510053319957[1] = delta_x[1] + nom_x[1]; - out_9191542510053319957[2] = delta_x[2] + nom_x[2]; - out_9191542510053319957[3] = delta_x[3] + nom_x[3]; - out_9191542510053319957[4] = delta_x[4] + nom_x[4]; - out_9191542510053319957[5] = delta_x[5] + nom_x[5]; - out_9191542510053319957[6] = delta_x[6] + nom_x[6]; - out_9191542510053319957[7] = delta_x[7] + nom_x[7]; - out_9191542510053319957[8] = delta_x[8] + nom_x[8]; - out_9191542510053319957[9] = delta_x[9] + nom_x[9]; - out_9191542510053319957[10] = delta_x[10] + nom_x[10]; - out_9191542510053319957[11] = delta_x[11] + nom_x[11]; - out_9191542510053319957[12] = delta_x[12] + nom_x[12]; - out_9191542510053319957[13] = delta_x[13] + nom_x[13]; - out_9191542510053319957[14] = delta_x[14] + nom_x[14]; - out_9191542510053319957[15] = delta_x[15] + nom_x[15]; - out_9191542510053319957[16] = delta_x[16] + nom_x[16]; - out_9191542510053319957[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6656022622757342812) { + out_6656022622757342812[0] = delta_x[0] + nom_x[0]; + out_6656022622757342812[1] = delta_x[1] + nom_x[1]; + out_6656022622757342812[2] = delta_x[2] + nom_x[2]; + out_6656022622757342812[3] = delta_x[3] + nom_x[3]; + out_6656022622757342812[4] = delta_x[4] + nom_x[4]; + out_6656022622757342812[5] = delta_x[5] + nom_x[5]; + out_6656022622757342812[6] = delta_x[6] + nom_x[6]; + out_6656022622757342812[7] = delta_x[7] + nom_x[7]; + out_6656022622757342812[8] = delta_x[8] + nom_x[8]; + out_6656022622757342812[9] = delta_x[9] + nom_x[9]; + out_6656022622757342812[10] = delta_x[10] + nom_x[10]; + out_6656022622757342812[11] = delta_x[11] + nom_x[11]; + out_6656022622757342812[12] = delta_x[12] + nom_x[12]; + out_6656022622757342812[13] = delta_x[13] + nom_x[13]; + out_6656022622757342812[14] = delta_x[14] + nom_x[14]; + out_6656022622757342812[15] = delta_x[15] + nom_x[15]; + out_6656022622757342812[16] = delta_x[16] + nom_x[16]; + out_6656022622757342812[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3004969772891744590) { - out_3004969772891744590[0] = -nom_x[0] + true_x[0]; - out_3004969772891744590[1] = -nom_x[1] + true_x[1]; - out_3004969772891744590[2] = -nom_x[2] + true_x[2]; - out_3004969772891744590[3] = -nom_x[3] + true_x[3]; - out_3004969772891744590[4] = -nom_x[4] + true_x[4]; - out_3004969772891744590[5] = -nom_x[5] + true_x[5]; - out_3004969772891744590[6] = -nom_x[6] + true_x[6]; - out_3004969772891744590[7] = -nom_x[7] + true_x[7]; - out_3004969772891744590[8] = -nom_x[8] + true_x[8]; - out_3004969772891744590[9] = -nom_x[9] + true_x[9]; - out_3004969772891744590[10] = -nom_x[10] + true_x[10]; - out_3004969772891744590[11] = -nom_x[11] + true_x[11]; - out_3004969772891744590[12] = -nom_x[12] + true_x[12]; - out_3004969772891744590[13] = -nom_x[13] + true_x[13]; - out_3004969772891744590[14] = -nom_x[14] + true_x[14]; - out_3004969772891744590[15] = -nom_x[15] + true_x[15]; - out_3004969772891744590[16] = -nom_x[16] + true_x[16]; - out_3004969772891744590[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5165337953826908445) { + out_5165337953826908445[0] = -nom_x[0] + true_x[0]; + out_5165337953826908445[1] = -nom_x[1] + true_x[1]; + out_5165337953826908445[2] = -nom_x[2] + true_x[2]; + out_5165337953826908445[3] = -nom_x[3] + true_x[3]; + out_5165337953826908445[4] = -nom_x[4] + true_x[4]; + out_5165337953826908445[5] = -nom_x[5] + true_x[5]; + out_5165337953826908445[6] = -nom_x[6] + true_x[6]; + out_5165337953826908445[7] = -nom_x[7] + true_x[7]; + out_5165337953826908445[8] = -nom_x[8] + true_x[8]; + out_5165337953826908445[9] = -nom_x[9] + true_x[9]; + out_5165337953826908445[10] = -nom_x[10] + true_x[10]; + out_5165337953826908445[11] = -nom_x[11] + true_x[11]; + out_5165337953826908445[12] = -nom_x[12] + true_x[12]; + out_5165337953826908445[13] = -nom_x[13] + true_x[13]; + out_5165337953826908445[14] = -nom_x[14] + true_x[14]; + out_5165337953826908445[15] = -nom_x[15] + true_x[15]; + out_5165337953826908445[16] = -nom_x[16] + true_x[16]; + out_5165337953826908445[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7359357434108742810) { - out_7359357434108742810[0] = 1.0; - out_7359357434108742810[1] = 0.0; - out_7359357434108742810[2] = 0.0; - out_7359357434108742810[3] = 0.0; - out_7359357434108742810[4] = 0.0; - out_7359357434108742810[5] = 0.0; - out_7359357434108742810[6] = 0.0; - out_7359357434108742810[7] = 0.0; - out_7359357434108742810[8] = 0.0; - out_7359357434108742810[9] = 0.0; - out_7359357434108742810[10] = 0.0; - out_7359357434108742810[11] = 0.0; - out_7359357434108742810[12] = 0.0; - out_7359357434108742810[13] = 0.0; - out_7359357434108742810[14] = 0.0; - out_7359357434108742810[15] = 0.0; - out_7359357434108742810[16] = 0.0; - out_7359357434108742810[17] = 0.0; - out_7359357434108742810[18] = 0.0; - out_7359357434108742810[19] = 1.0; - out_7359357434108742810[20] = 0.0; - out_7359357434108742810[21] = 0.0; - out_7359357434108742810[22] = 0.0; - out_7359357434108742810[23] = 0.0; - out_7359357434108742810[24] = 0.0; - out_7359357434108742810[25] = 0.0; - out_7359357434108742810[26] = 0.0; - out_7359357434108742810[27] = 0.0; - out_7359357434108742810[28] = 0.0; - out_7359357434108742810[29] = 0.0; - out_7359357434108742810[30] = 0.0; - out_7359357434108742810[31] = 0.0; - out_7359357434108742810[32] = 0.0; - out_7359357434108742810[33] = 0.0; - out_7359357434108742810[34] = 0.0; - out_7359357434108742810[35] = 0.0; - out_7359357434108742810[36] = 0.0; - out_7359357434108742810[37] = 0.0; - out_7359357434108742810[38] = 1.0; - out_7359357434108742810[39] = 0.0; - out_7359357434108742810[40] = 0.0; - out_7359357434108742810[41] = 0.0; - out_7359357434108742810[42] = 0.0; - out_7359357434108742810[43] = 0.0; - out_7359357434108742810[44] = 0.0; - out_7359357434108742810[45] = 0.0; - out_7359357434108742810[46] = 0.0; - out_7359357434108742810[47] = 0.0; - out_7359357434108742810[48] = 0.0; - out_7359357434108742810[49] = 0.0; - out_7359357434108742810[50] = 0.0; - out_7359357434108742810[51] = 0.0; - out_7359357434108742810[52] = 0.0; - out_7359357434108742810[53] = 0.0; - out_7359357434108742810[54] = 0.0; - out_7359357434108742810[55] = 0.0; - out_7359357434108742810[56] = 0.0; - out_7359357434108742810[57] = 1.0; - out_7359357434108742810[58] = 0.0; - out_7359357434108742810[59] = 0.0; - out_7359357434108742810[60] = 0.0; - out_7359357434108742810[61] = 0.0; - out_7359357434108742810[62] = 0.0; - out_7359357434108742810[63] = 0.0; - out_7359357434108742810[64] = 0.0; - out_7359357434108742810[65] = 0.0; - out_7359357434108742810[66] = 0.0; - out_7359357434108742810[67] = 0.0; - out_7359357434108742810[68] = 0.0; - out_7359357434108742810[69] = 0.0; - out_7359357434108742810[70] = 0.0; - out_7359357434108742810[71] = 0.0; - out_7359357434108742810[72] = 0.0; - out_7359357434108742810[73] = 0.0; - out_7359357434108742810[74] = 0.0; - out_7359357434108742810[75] = 0.0; - out_7359357434108742810[76] = 1.0; - out_7359357434108742810[77] = 0.0; - out_7359357434108742810[78] = 0.0; - out_7359357434108742810[79] = 0.0; - out_7359357434108742810[80] = 0.0; - out_7359357434108742810[81] = 0.0; - out_7359357434108742810[82] = 0.0; - out_7359357434108742810[83] = 0.0; - out_7359357434108742810[84] = 0.0; - out_7359357434108742810[85] = 0.0; - out_7359357434108742810[86] = 0.0; - out_7359357434108742810[87] = 0.0; - out_7359357434108742810[88] = 0.0; - out_7359357434108742810[89] = 0.0; - out_7359357434108742810[90] = 0.0; - out_7359357434108742810[91] = 0.0; - out_7359357434108742810[92] = 0.0; - out_7359357434108742810[93] = 0.0; - out_7359357434108742810[94] = 0.0; - out_7359357434108742810[95] = 1.0; - out_7359357434108742810[96] = 0.0; - out_7359357434108742810[97] = 0.0; - out_7359357434108742810[98] = 0.0; - out_7359357434108742810[99] = 0.0; - out_7359357434108742810[100] = 0.0; - out_7359357434108742810[101] = 0.0; - out_7359357434108742810[102] = 0.0; - out_7359357434108742810[103] = 0.0; - out_7359357434108742810[104] = 0.0; - out_7359357434108742810[105] = 0.0; - out_7359357434108742810[106] = 0.0; - out_7359357434108742810[107] = 0.0; - out_7359357434108742810[108] = 0.0; - out_7359357434108742810[109] = 0.0; - out_7359357434108742810[110] = 0.0; - out_7359357434108742810[111] = 0.0; - out_7359357434108742810[112] = 0.0; - out_7359357434108742810[113] = 0.0; - out_7359357434108742810[114] = 1.0; - out_7359357434108742810[115] = 0.0; - out_7359357434108742810[116] = 0.0; - out_7359357434108742810[117] = 0.0; - out_7359357434108742810[118] = 0.0; - out_7359357434108742810[119] = 0.0; - out_7359357434108742810[120] = 0.0; - out_7359357434108742810[121] = 0.0; - out_7359357434108742810[122] = 0.0; - out_7359357434108742810[123] = 0.0; - out_7359357434108742810[124] = 0.0; - out_7359357434108742810[125] = 0.0; - out_7359357434108742810[126] = 0.0; - out_7359357434108742810[127] = 0.0; - out_7359357434108742810[128] = 0.0; - out_7359357434108742810[129] = 0.0; - out_7359357434108742810[130] = 0.0; - out_7359357434108742810[131] = 0.0; - out_7359357434108742810[132] = 0.0; - out_7359357434108742810[133] = 1.0; - out_7359357434108742810[134] = 0.0; - out_7359357434108742810[135] = 0.0; - out_7359357434108742810[136] = 0.0; - out_7359357434108742810[137] = 0.0; - out_7359357434108742810[138] = 0.0; - out_7359357434108742810[139] = 0.0; - out_7359357434108742810[140] = 0.0; - out_7359357434108742810[141] = 0.0; - out_7359357434108742810[142] = 0.0; - out_7359357434108742810[143] = 0.0; - out_7359357434108742810[144] = 0.0; - out_7359357434108742810[145] = 0.0; - out_7359357434108742810[146] = 0.0; - out_7359357434108742810[147] = 0.0; - out_7359357434108742810[148] = 0.0; - out_7359357434108742810[149] = 0.0; - out_7359357434108742810[150] = 0.0; - out_7359357434108742810[151] = 0.0; - out_7359357434108742810[152] = 1.0; - out_7359357434108742810[153] = 0.0; - out_7359357434108742810[154] = 0.0; - out_7359357434108742810[155] = 0.0; - out_7359357434108742810[156] = 0.0; - out_7359357434108742810[157] = 0.0; - out_7359357434108742810[158] = 0.0; - out_7359357434108742810[159] = 0.0; - out_7359357434108742810[160] = 0.0; - out_7359357434108742810[161] = 0.0; - out_7359357434108742810[162] = 0.0; - out_7359357434108742810[163] = 0.0; - out_7359357434108742810[164] = 0.0; - out_7359357434108742810[165] = 0.0; - out_7359357434108742810[166] = 0.0; - out_7359357434108742810[167] = 0.0; - out_7359357434108742810[168] = 0.0; - out_7359357434108742810[169] = 0.0; - out_7359357434108742810[170] = 0.0; - out_7359357434108742810[171] = 1.0; - out_7359357434108742810[172] = 0.0; - out_7359357434108742810[173] = 0.0; - out_7359357434108742810[174] = 0.0; - out_7359357434108742810[175] = 0.0; - out_7359357434108742810[176] = 0.0; - out_7359357434108742810[177] = 0.0; - out_7359357434108742810[178] = 0.0; - out_7359357434108742810[179] = 0.0; - out_7359357434108742810[180] = 0.0; - out_7359357434108742810[181] = 0.0; - out_7359357434108742810[182] = 0.0; - out_7359357434108742810[183] = 0.0; - out_7359357434108742810[184] = 0.0; - out_7359357434108742810[185] = 0.0; - out_7359357434108742810[186] = 0.0; - out_7359357434108742810[187] = 0.0; - out_7359357434108742810[188] = 0.0; - out_7359357434108742810[189] = 0.0; - out_7359357434108742810[190] = 1.0; - out_7359357434108742810[191] = 0.0; - out_7359357434108742810[192] = 0.0; - out_7359357434108742810[193] = 0.0; - out_7359357434108742810[194] = 0.0; - out_7359357434108742810[195] = 0.0; - out_7359357434108742810[196] = 0.0; - out_7359357434108742810[197] = 0.0; - out_7359357434108742810[198] = 0.0; - out_7359357434108742810[199] = 0.0; - out_7359357434108742810[200] = 0.0; - out_7359357434108742810[201] = 0.0; - out_7359357434108742810[202] = 0.0; - out_7359357434108742810[203] = 0.0; - out_7359357434108742810[204] = 0.0; - out_7359357434108742810[205] = 0.0; - out_7359357434108742810[206] = 0.0; - out_7359357434108742810[207] = 0.0; - out_7359357434108742810[208] = 0.0; - out_7359357434108742810[209] = 1.0; - out_7359357434108742810[210] = 0.0; - out_7359357434108742810[211] = 0.0; - out_7359357434108742810[212] = 0.0; - out_7359357434108742810[213] = 0.0; - out_7359357434108742810[214] = 0.0; - out_7359357434108742810[215] = 0.0; - out_7359357434108742810[216] = 0.0; - out_7359357434108742810[217] = 0.0; - out_7359357434108742810[218] = 0.0; - out_7359357434108742810[219] = 0.0; - out_7359357434108742810[220] = 0.0; - out_7359357434108742810[221] = 0.0; - out_7359357434108742810[222] = 0.0; - out_7359357434108742810[223] = 0.0; - out_7359357434108742810[224] = 0.0; - out_7359357434108742810[225] = 0.0; - out_7359357434108742810[226] = 0.0; - out_7359357434108742810[227] = 0.0; - out_7359357434108742810[228] = 1.0; - out_7359357434108742810[229] = 0.0; - out_7359357434108742810[230] = 0.0; - out_7359357434108742810[231] = 0.0; - out_7359357434108742810[232] = 0.0; - out_7359357434108742810[233] = 0.0; - out_7359357434108742810[234] = 0.0; - out_7359357434108742810[235] = 0.0; - out_7359357434108742810[236] = 0.0; - out_7359357434108742810[237] = 0.0; - out_7359357434108742810[238] = 0.0; - out_7359357434108742810[239] = 0.0; - out_7359357434108742810[240] = 0.0; - out_7359357434108742810[241] = 0.0; - out_7359357434108742810[242] = 0.0; - out_7359357434108742810[243] = 0.0; - out_7359357434108742810[244] = 0.0; - out_7359357434108742810[245] = 0.0; - out_7359357434108742810[246] = 0.0; - out_7359357434108742810[247] = 1.0; - out_7359357434108742810[248] = 0.0; - out_7359357434108742810[249] = 0.0; - out_7359357434108742810[250] = 0.0; - out_7359357434108742810[251] = 0.0; - out_7359357434108742810[252] = 0.0; - out_7359357434108742810[253] = 0.0; - out_7359357434108742810[254] = 0.0; - out_7359357434108742810[255] = 0.0; - out_7359357434108742810[256] = 0.0; - out_7359357434108742810[257] = 0.0; - out_7359357434108742810[258] = 0.0; - out_7359357434108742810[259] = 0.0; - out_7359357434108742810[260] = 0.0; - out_7359357434108742810[261] = 0.0; - out_7359357434108742810[262] = 0.0; - out_7359357434108742810[263] = 0.0; - out_7359357434108742810[264] = 0.0; - out_7359357434108742810[265] = 0.0; - out_7359357434108742810[266] = 1.0; - out_7359357434108742810[267] = 0.0; - out_7359357434108742810[268] = 0.0; - out_7359357434108742810[269] = 0.0; - out_7359357434108742810[270] = 0.0; - out_7359357434108742810[271] = 0.0; - out_7359357434108742810[272] = 0.0; - out_7359357434108742810[273] = 0.0; - out_7359357434108742810[274] = 0.0; - out_7359357434108742810[275] = 0.0; - out_7359357434108742810[276] = 0.0; - out_7359357434108742810[277] = 0.0; - out_7359357434108742810[278] = 0.0; - out_7359357434108742810[279] = 0.0; - out_7359357434108742810[280] = 0.0; - out_7359357434108742810[281] = 0.0; - out_7359357434108742810[282] = 0.0; - out_7359357434108742810[283] = 0.0; - out_7359357434108742810[284] = 0.0; - out_7359357434108742810[285] = 1.0; - out_7359357434108742810[286] = 0.0; - out_7359357434108742810[287] = 0.0; - out_7359357434108742810[288] = 0.0; - out_7359357434108742810[289] = 0.0; - out_7359357434108742810[290] = 0.0; - out_7359357434108742810[291] = 0.0; - out_7359357434108742810[292] = 0.0; - out_7359357434108742810[293] = 0.0; - out_7359357434108742810[294] = 0.0; - out_7359357434108742810[295] = 0.0; - out_7359357434108742810[296] = 0.0; - out_7359357434108742810[297] = 0.0; - out_7359357434108742810[298] = 0.0; - out_7359357434108742810[299] = 0.0; - out_7359357434108742810[300] = 0.0; - out_7359357434108742810[301] = 0.0; - out_7359357434108742810[302] = 0.0; - out_7359357434108742810[303] = 0.0; - out_7359357434108742810[304] = 1.0; - out_7359357434108742810[305] = 0.0; - out_7359357434108742810[306] = 0.0; - out_7359357434108742810[307] = 0.0; - out_7359357434108742810[308] = 0.0; - out_7359357434108742810[309] = 0.0; - out_7359357434108742810[310] = 0.0; - out_7359357434108742810[311] = 0.0; - out_7359357434108742810[312] = 0.0; - out_7359357434108742810[313] = 0.0; - out_7359357434108742810[314] = 0.0; - out_7359357434108742810[315] = 0.0; - out_7359357434108742810[316] = 0.0; - out_7359357434108742810[317] = 0.0; - out_7359357434108742810[318] = 0.0; - out_7359357434108742810[319] = 0.0; - out_7359357434108742810[320] = 0.0; - out_7359357434108742810[321] = 0.0; - out_7359357434108742810[322] = 0.0; - out_7359357434108742810[323] = 1.0; +void H_mod_fun(double *state, double *out_5190446458913695382) { + out_5190446458913695382[0] = 1.0; + out_5190446458913695382[1] = 0.0; + out_5190446458913695382[2] = 0.0; + out_5190446458913695382[3] = 0.0; + out_5190446458913695382[4] = 0.0; + out_5190446458913695382[5] = 0.0; + out_5190446458913695382[6] = 0.0; + out_5190446458913695382[7] = 0.0; + out_5190446458913695382[8] = 0.0; + out_5190446458913695382[9] = 0.0; + out_5190446458913695382[10] = 0.0; + out_5190446458913695382[11] = 0.0; + out_5190446458913695382[12] = 0.0; + out_5190446458913695382[13] = 0.0; + out_5190446458913695382[14] = 0.0; + out_5190446458913695382[15] = 0.0; + out_5190446458913695382[16] = 0.0; + out_5190446458913695382[17] = 0.0; + out_5190446458913695382[18] = 0.0; + out_5190446458913695382[19] = 1.0; + out_5190446458913695382[20] = 0.0; + out_5190446458913695382[21] = 0.0; + out_5190446458913695382[22] = 0.0; + out_5190446458913695382[23] = 0.0; + out_5190446458913695382[24] = 0.0; + out_5190446458913695382[25] = 0.0; + out_5190446458913695382[26] = 0.0; + out_5190446458913695382[27] = 0.0; + out_5190446458913695382[28] = 0.0; + out_5190446458913695382[29] = 0.0; + out_5190446458913695382[30] = 0.0; + out_5190446458913695382[31] = 0.0; + out_5190446458913695382[32] = 0.0; + out_5190446458913695382[33] = 0.0; + out_5190446458913695382[34] = 0.0; + out_5190446458913695382[35] = 0.0; + out_5190446458913695382[36] = 0.0; + out_5190446458913695382[37] = 0.0; + out_5190446458913695382[38] = 1.0; + out_5190446458913695382[39] = 0.0; + out_5190446458913695382[40] = 0.0; + out_5190446458913695382[41] = 0.0; + out_5190446458913695382[42] = 0.0; + out_5190446458913695382[43] = 0.0; + out_5190446458913695382[44] = 0.0; + out_5190446458913695382[45] = 0.0; + out_5190446458913695382[46] = 0.0; + out_5190446458913695382[47] = 0.0; + out_5190446458913695382[48] = 0.0; + out_5190446458913695382[49] = 0.0; + out_5190446458913695382[50] = 0.0; + out_5190446458913695382[51] = 0.0; + out_5190446458913695382[52] = 0.0; + out_5190446458913695382[53] = 0.0; + out_5190446458913695382[54] = 0.0; + out_5190446458913695382[55] = 0.0; + out_5190446458913695382[56] = 0.0; + out_5190446458913695382[57] = 1.0; + out_5190446458913695382[58] = 0.0; + out_5190446458913695382[59] = 0.0; + out_5190446458913695382[60] = 0.0; + out_5190446458913695382[61] = 0.0; + out_5190446458913695382[62] = 0.0; + out_5190446458913695382[63] = 0.0; + out_5190446458913695382[64] = 0.0; + out_5190446458913695382[65] = 0.0; + out_5190446458913695382[66] = 0.0; + out_5190446458913695382[67] = 0.0; + out_5190446458913695382[68] = 0.0; + out_5190446458913695382[69] = 0.0; + out_5190446458913695382[70] = 0.0; + out_5190446458913695382[71] = 0.0; + out_5190446458913695382[72] = 0.0; + out_5190446458913695382[73] = 0.0; + out_5190446458913695382[74] = 0.0; + out_5190446458913695382[75] = 0.0; + out_5190446458913695382[76] = 1.0; + out_5190446458913695382[77] = 0.0; + out_5190446458913695382[78] = 0.0; + out_5190446458913695382[79] = 0.0; + out_5190446458913695382[80] = 0.0; + out_5190446458913695382[81] = 0.0; + out_5190446458913695382[82] = 0.0; + out_5190446458913695382[83] = 0.0; + out_5190446458913695382[84] = 0.0; + out_5190446458913695382[85] = 0.0; + out_5190446458913695382[86] = 0.0; + out_5190446458913695382[87] = 0.0; + out_5190446458913695382[88] = 0.0; + out_5190446458913695382[89] = 0.0; + out_5190446458913695382[90] = 0.0; + out_5190446458913695382[91] = 0.0; + out_5190446458913695382[92] = 0.0; + out_5190446458913695382[93] = 0.0; + out_5190446458913695382[94] = 0.0; + out_5190446458913695382[95] = 1.0; + out_5190446458913695382[96] = 0.0; + out_5190446458913695382[97] = 0.0; + out_5190446458913695382[98] = 0.0; + out_5190446458913695382[99] = 0.0; + out_5190446458913695382[100] = 0.0; + out_5190446458913695382[101] = 0.0; + out_5190446458913695382[102] = 0.0; + out_5190446458913695382[103] = 0.0; + out_5190446458913695382[104] = 0.0; + out_5190446458913695382[105] = 0.0; + out_5190446458913695382[106] = 0.0; + out_5190446458913695382[107] = 0.0; + out_5190446458913695382[108] = 0.0; + out_5190446458913695382[109] = 0.0; + out_5190446458913695382[110] = 0.0; + out_5190446458913695382[111] = 0.0; + out_5190446458913695382[112] = 0.0; + out_5190446458913695382[113] = 0.0; + out_5190446458913695382[114] = 1.0; + out_5190446458913695382[115] = 0.0; + out_5190446458913695382[116] = 0.0; + out_5190446458913695382[117] = 0.0; + out_5190446458913695382[118] = 0.0; + out_5190446458913695382[119] = 0.0; + out_5190446458913695382[120] = 0.0; + out_5190446458913695382[121] = 0.0; + out_5190446458913695382[122] = 0.0; + out_5190446458913695382[123] = 0.0; + out_5190446458913695382[124] = 0.0; + out_5190446458913695382[125] = 0.0; + out_5190446458913695382[126] = 0.0; + out_5190446458913695382[127] = 0.0; + out_5190446458913695382[128] = 0.0; + out_5190446458913695382[129] = 0.0; + out_5190446458913695382[130] = 0.0; + out_5190446458913695382[131] = 0.0; + out_5190446458913695382[132] = 0.0; + out_5190446458913695382[133] = 1.0; + out_5190446458913695382[134] = 0.0; + out_5190446458913695382[135] = 0.0; + out_5190446458913695382[136] = 0.0; + out_5190446458913695382[137] = 0.0; + out_5190446458913695382[138] = 0.0; + out_5190446458913695382[139] = 0.0; + out_5190446458913695382[140] = 0.0; + out_5190446458913695382[141] = 0.0; + out_5190446458913695382[142] = 0.0; + out_5190446458913695382[143] = 0.0; + out_5190446458913695382[144] = 0.0; + out_5190446458913695382[145] = 0.0; + out_5190446458913695382[146] = 0.0; + out_5190446458913695382[147] = 0.0; + out_5190446458913695382[148] = 0.0; + out_5190446458913695382[149] = 0.0; + out_5190446458913695382[150] = 0.0; + out_5190446458913695382[151] = 0.0; + out_5190446458913695382[152] = 1.0; + out_5190446458913695382[153] = 0.0; + out_5190446458913695382[154] = 0.0; + out_5190446458913695382[155] = 0.0; + out_5190446458913695382[156] = 0.0; + out_5190446458913695382[157] = 0.0; + out_5190446458913695382[158] = 0.0; + out_5190446458913695382[159] = 0.0; + out_5190446458913695382[160] = 0.0; + out_5190446458913695382[161] = 0.0; + out_5190446458913695382[162] = 0.0; + out_5190446458913695382[163] = 0.0; + out_5190446458913695382[164] = 0.0; + out_5190446458913695382[165] = 0.0; + out_5190446458913695382[166] = 0.0; + out_5190446458913695382[167] = 0.0; + out_5190446458913695382[168] = 0.0; + out_5190446458913695382[169] = 0.0; + out_5190446458913695382[170] = 0.0; + out_5190446458913695382[171] = 1.0; + out_5190446458913695382[172] = 0.0; + out_5190446458913695382[173] = 0.0; + out_5190446458913695382[174] = 0.0; + out_5190446458913695382[175] = 0.0; + out_5190446458913695382[176] = 0.0; + out_5190446458913695382[177] = 0.0; + out_5190446458913695382[178] = 0.0; + out_5190446458913695382[179] = 0.0; + out_5190446458913695382[180] = 0.0; + out_5190446458913695382[181] = 0.0; + out_5190446458913695382[182] = 0.0; + out_5190446458913695382[183] = 0.0; + out_5190446458913695382[184] = 0.0; + out_5190446458913695382[185] = 0.0; + out_5190446458913695382[186] = 0.0; + out_5190446458913695382[187] = 0.0; + out_5190446458913695382[188] = 0.0; + out_5190446458913695382[189] = 0.0; + out_5190446458913695382[190] = 1.0; + out_5190446458913695382[191] = 0.0; + out_5190446458913695382[192] = 0.0; + out_5190446458913695382[193] = 0.0; + out_5190446458913695382[194] = 0.0; + out_5190446458913695382[195] = 0.0; + out_5190446458913695382[196] = 0.0; + out_5190446458913695382[197] = 0.0; + out_5190446458913695382[198] = 0.0; + out_5190446458913695382[199] = 0.0; + out_5190446458913695382[200] = 0.0; + out_5190446458913695382[201] = 0.0; + out_5190446458913695382[202] = 0.0; + out_5190446458913695382[203] = 0.0; + out_5190446458913695382[204] = 0.0; + out_5190446458913695382[205] = 0.0; + out_5190446458913695382[206] = 0.0; + out_5190446458913695382[207] = 0.0; + out_5190446458913695382[208] = 0.0; + out_5190446458913695382[209] = 1.0; + out_5190446458913695382[210] = 0.0; + out_5190446458913695382[211] = 0.0; + out_5190446458913695382[212] = 0.0; + out_5190446458913695382[213] = 0.0; + out_5190446458913695382[214] = 0.0; + out_5190446458913695382[215] = 0.0; + out_5190446458913695382[216] = 0.0; + out_5190446458913695382[217] = 0.0; + out_5190446458913695382[218] = 0.0; + out_5190446458913695382[219] = 0.0; + out_5190446458913695382[220] = 0.0; + out_5190446458913695382[221] = 0.0; + out_5190446458913695382[222] = 0.0; + out_5190446458913695382[223] = 0.0; + out_5190446458913695382[224] = 0.0; + out_5190446458913695382[225] = 0.0; + out_5190446458913695382[226] = 0.0; + out_5190446458913695382[227] = 0.0; + out_5190446458913695382[228] = 1.0; + out_5190446458913695382[229] = 0.0; + out_5190446458913695382[230] = 0.0; + out_5190446458913695382[231] = 0.0; + out_5190446458913695382[232] = 0.0; + out_5190446458913695382[233] = 0.0; + out_5190446458913695382[234] = 0.0; + out_5190446458913695382[235] = 0.0; + out_5190446458913695382[236] = 0.0; + out_5190446458913695382[237] = 0.0; + out_5190446458913695382[238] = 0.0; + out_5190446458913695382[239] = 0.0; + out_5190446458913695382[240] = 0.0; + out_5190446458913695382[241] = 0.0; + out_5190446458913695382[242] = 0.0; + out_5190446458913695382[243] = 0.0; + out_5190446458913695382[244] = 0.0; + out_5190446458913695382[245] = 0.0; + out_5190446458913695382[246] = 0.0; + out_5190446458913695382[247] = 1.0; + out_5190446458913695382[248] = 0.0; + out_5190446458913695382[249] = 0.0; + out_5190446458913695382[250] = 0.0; + out_5190446458913695382[251] = 0.0; + out_5190446458913695382[252] = 0.0; + out_5190446458913695382[253] = 0.0; + out_5190446458913695382[254] = 0.0; + out_5190446458913695382[255] = 0.0; + out_5190446458913695382[256] = 0.0; + out_5190446458913695382[257] = 0.0; + out_5190446458913695382[258] = 0.0; + out_5190446458913695382[259] = 0.0; + out_5190446458913695382[260] = 0.0; + out_5190446458913695382[261] = 0.0; + out_5190446458913695382[262] = 0.0; + out_5190446458913695382[263] = 0.0; + out_5190446458913695382[264] = 0.0; + out_5190446458913695382[265] = 0.0; + out_5190446458913695382[266] = 1.0; + out_5190446458913695382[267] = 0.0; + out_5190446458913695382[268] = 0.0; + out_5190446458913695382[269] = 0.0; + out_5190446458913695382[270] = 0.0; + out_5190446458913695382[271] = 0.0; + out_5190446458913695382[272] = 0.0; + out_5190446458913695382[273] = 0.0; + out_5190446458913695382[274] = 0.0; + out_5190446458913695382[275] = 0.0; + out_5190446458913695382[276] = 0.0; + out_5190446458913695382[277] = 0.0; + out_5190446458913695382[278] = 0.0; + out_5190446458913695382[279] = 0.0; + out_5190446458913695382[280] = 0.0; + out_5190446458913695382[281] = 0.0; + out_5190446458913695382[282] = 0.0; + out_5190446458913695382[283] = 0.0; + out_5190446458913695382[284] = 0.0; + out_5190446458913695382[285] = 1.0; + out_5190446458913695382[286] = 0.0; + out_5190446458913695382[287] = 0.0; + out_5190446458913695382[288] = 0.0; + out_5190446458913695382[289] = 0.0; + out_5190446458913695382[290] = 0.0; + out_5190446458913695382[291] = 0.0; + out_5190446458913695382[292] = 0.0; + out_5190446458913695382[293] = 0.0; + out_5190446458913695382[294] = 0.0; + out_5190446458913695382[295] = 0.0; + out_5190446458913695382[296] = 0.0; + out_5190446458913695382[297] = 0.0; + out_5190446458913695382[298] = 0.0; + out_5190446458913695382[299] = 0.0; + out_5190446458913695382[300] = 0.0; + out_5190446458913695382[301] = 0.0; + out_5190446458913695382[302] = 0.0; + out_5190446458913695382[303] = 0.0; + out_5190446458913695382[304] = 1.0; + out_5190446458913695382[305] = 0.0; + out_5190446458913695382[306] = 0.0; + out_5190446458913695382[307] = 0.0; + out_5190446458913695382[308] = 0.0; + out_5190446458913695382[309] = 0.0; + out_5190446458913695382[310] = 0.0; + out_5190446458913695382[311] = 0.0; + out_5190446458913695382[312] = 0.0; + out_5190446458913695382[313] = 0.0; + out_5190446458913695382[314] = 0.0; + out_5190446458913695382[315] = 0.0; + out_5190446458913695382[316] = 0.0; + out_5190446458913695382[317] = 0.0; + out_5190446458913695382[318] = 0.0; + out_5190446458913695382[319] = 0.0; + out_5190446458913695382[320] = 0.0; + out_5190446458913695382[321] = 0.0; + out_5190446458913695382[322] = 0.0; + out_5190446458913695382[323] = 1.0; } -void f_fun(double *state, double dt, double *out_729710836783527414) { - out_729710836783527414[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_729710836783527414[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_729710836783527414[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_729710836783527414[3] = dt*state[12] + state[3]; - out_729710836783527414[4] = dt*state[13] + state[4]; - out_729710836783527414[5] = dt*state[14] + state[5]; - out_729710836783527414[6] = state[6]; - out_729710836783527414[7] = state[7]; - out_729710836783527414[8] = state[8]; - out_729710836783527414[9] = state[9]; - out_729710836783527414[10] = state[10]; - out_729710836783527414[11] = state[11]; - out_729710836783527414[12] = state[12]; - out_729710836783527414[13] = state[13]; - out_729710836783527414[14] = state[14]; - out_729710836783527414[15] = state[15]; - out_729710836783527414[16] = state[16]; - out_729710836783527414[17] = state[17]; +void f_fun(double *state, double dt, double *out_337750480546902101) { + out_337750480546902101[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_337750480546902101[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_337750480546902101[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_337750480546902101[3] = dt*state[12] + state[3]; + out_337750480546902101[4] = dt*state[13] + state[4]; + out_337750480546902101[5] = dt*state[14] + state[5]; + out_337750480546902101[6] = state[6]; + out_337750480546902101[7] = state[7]; + out_337750480546902101[8] = state[8]; + out_337750480546902101[9] = state[9]; + out_337750480546902101[10] = state[10]; + out_337750480546902101[11] = state[11]; + out_337750480546902101[12] = state[12]; + out_337750480546902101[13] = state[13]; + out_337750480546902101[14] = state[14]; + out_337750480546902101[15] = state[15]; + out_337750480546902101[16] = state[16]; + out_337750480546902101[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8499021045100499940) { - out_8499021045100499940[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_8499021045100499940[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_8499021045100499940[2] = 0; - out_8499021045100499940[3] = 0; - out_8499021045100499940[4] = 0; - out_8499021045100499940[5] = 0; - out_8499021045100499940[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_8499021045100499940[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_8499021045100499940[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_8499021045100499940[9] = 0; - out_8499021045100499940[10] = 0; - out_8499021045100499940[11] = 0; - out_8499021045100499940[12] = 0; - out_8499021045100499940[13] = 0; - out_8499021045100499940[14] = 0; - out_8499021045100499940[15] = 0; - out_8499021045100499940[16] = 0; - out_8499021045100499940[17] = 0; - out_8499021045100499940[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_8499021045100499940[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_8499021045100499940[20] = 0; - out_8499021045100499940[21] = 0; - out_8499021045100499940[22] = 0; - out_8499021045100499940[23] = 0; - out_8499021045100499940[24] = 0; - out_8499021045100499940[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_8499021045100499940[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_8499021045100499940[27] = 0; - out_8499021045100499940[28] = 0; - out_8499021045100499940[29] = 0; - out_8499021045100499940[30] = 0; - out_8499021045100499940[31] = 0; - out_8499021045100499940[32] = 0; - out_8499021045100499940[33] = 0; - out_8499021045100499940[34] = 0; - out_8499021045100499940[35] = 0; - out_8499021045100499940[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_8499021045100499940[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_8499021045100499940[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_8499021045100499940[39] = 0; - out_8499021045100499940[40] = 0; - out_8499021045100499940[41] = 0; - out_8499021045100499940[42] = 0; - out_8499021045100499940[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_8499021045100499940[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_8499021045100499940[45] = 0; - out_8499021045100499940[46] = 0; - out_8499021045100499940[47] = 0; - out_8499021045100499940[48] = 0; - out_8499021045100499940[49] = 0; - out_8499021045100499940[50] = 0; - out_8499021045100499940[51] = 0; - out_8499021045100499940[52] = 0; - out_8499021045100499940[53] = 0; - out_8499021045100499940[54] = 0; - out_8499021045100499940[55] = 0; - out_8499021045100499940[56] = 0; - out_8499021045100499940[57] = 1; - out_8499021045100499940[58] = 0; - out_8499021045100499940[59] = 0; - out_8499021045100499940[60] = 0; - out_8499021045100499940[61] = 0; - out_8499021045100499940[62] = 0; - out_8499021045100499940[63] = 0; - out_8499021045100499940[64] = 0; - out_8499021045100499940[65] = 0; - out_8499021045100499940[66] = dt; - out_8499021045100499940[67] = 0; - out_8499021045100499940[68] = 0; - out_8499021045100499940[69] = 0; - out_8499021045100499940[70] = 0; - out_8499021045100499940[71] = 0; - out_8499021045100499940[72] = 0; - out_8499021045100499940[73] = 0; - out_8499021045100499940[74] = 0; - out_8499021045100499940[75] = 0; - out_8499021045100499940[76] = 1; - out_8499021045100499940[77] = 0; - out_8499021045100499940[78] = 0; - out_8499021045100499940[79] = 0; - out_8499021045100499940[80] = 0; - out_8499021045100499940[81] = 0; - out_8499021045100499940[82] = 0; - out_8499021045100499940[83] = 0; - out_8499021045100499940[84] = 0; - out_8499021045100499940[85] = dt; - out_8499021045100499940[86] = 0; - out_8499021045100499940[87] = 0; - out_8499021045100499940[88] = 0; - out_8499021045100499940[89] = 0; - out_8499021045100499940[90] = 0; - out_8499021045100499940[91] = 0; - out_8499021045100499940[92] = 0; - out_8499021045100499940[93] = 0; - out_8499021045100499940[94] = 0; - out_8499021045100499940[95] = 1; - out_8499021045100499940[96] = 0; - out_8499021045100499940[97] = 0; - out_8499021045100499940[98] = 0; - out_8499021045100499940[99] = 0; - out_8499021045100499940[100] = 0; - out_8499021045100499940[101] = 0; - out_8499021045100499940[102] = 0; - out_8499021045100499940[103] = 0; - out_8499021045100499940[104] = dt; - out_8499021045100499940[105] = 0; - out_8499021045100499940[106] = 0; - out_8499021045100499940[107] = 0; - out_8499021045100499940[108] = 0; - out_8499021045100499940[109] = 0; - out_8499021045100499940[110] = 0; - out_8499021045100499940[111] = 0; - out_8499021045100499940[112] = 0; - out_8499021045100499940[113] = 0; - out_8499021045100499940[114] = 1; - out_8499021045100499940[115] = 0; - out_8499021045100499940[116] = 0; - out_8499021045100499940[117] = 0; - out_8499021045100499940[118] = 0; - out_8499021045100499940[119] = 0; - out_8499021045100499940[120] = 0; - out_8499021045100499940[121] = 0; - out_8499021045100499940[122] = 0; - out_8499021045100499940[123] = 0; - out_8499021045100499940[124] = 0; - out_8499021045100499940[125] = 0; - out_8499021045100499940[126] = 0; - out_8499021045100499940[127] = 0; - out_8499021045100499940[128] = 0; - out_8499021045100499940[129] = 0; - out_8499021045100499940[130] = 0; - out_8499021045100499940[131] = 0; - out_8499021045100499940[132] = 0; - out_8499021045100499940[133] = 1; - out_8499021045100499940[134] = 0; - out_8499021045100499940[135] = 0; - out_8499021045100499940[136] = 0; - out_8499021045100499940[137] = 0; - out_8499021045100499940[138] = 0; - out_8499021045100499940[139] = 0; - out_8499021045100499940[140] = 0; - out_8499021045100499940[141] = 0; - out_8499021045100499940[142] = 0; - out_8499021045100499940[143] = 0; - out_8499021045100499940[144] = 0; - out_8499021045100499940[145] = 0; - out_8499021045100499940[146] = 0; - out_8499021045100499940[147] = 0; - out_8499021045100499940[148] = 0; - out_8499021045100499940[149] = 0; - out_8499021045100499940[150] = 0; - out_8499021045100499940[151] = 0; - out_8499021045100499940[152] = 1; - out_8499021045100499940[153] = 0; - out_8499021045100499940[154] = 0; - out_8499021045100499940[155] = 0; - out_8499021045100499940[156] = 0; - out_8499021045100499940[157] = 0; - out_8499021045100499940[158] = 0; - out_8499021045100499940[159] = 0; - out_8499021045100499940[160] = 0; - out_8499021045100499940[161] = 0; - out_8499021045100499940[162] = 0; - out_8499021045100499940[163] = 0; - out_8499021045100499940[164] = 0; - out_8499021045100499940[165] = 0; - out_8499021045100499940[166] = 0; - out_8499021045100499940[167] = 0; - out_8499021045100499940[168] = 0; - out_8499021045100499940[169] = 0; - out_8499021045100499940[170] = 0; - out_8499021045100499940[171] = 1; - out_8499021045100499940[172] = 0; - out_8499021045100499940[173] = 0; - out_8499021045100499940[174] = 0; - out_8499021045100499940[175] = 0; - out_8499021045100499940[176] = 0; - out_8499021045100499940[177] = 0; - out_8499021045100499940[178] = 0; - out_8499021045100499940[179] = 0; - out_8499021045100499940[180] = 0; - out_8499021045100499940[181] = 0; - out_8499021045100499940[182] = 0; - out_8499021045100499940[183] = 0; - out_8499021045100499940[184] = 0; - out_8499021045100499940[185] = 0; - out_8499021045100499940[186] = 0; - out_8499021045100499940[187] = 0; - out_8499021045100499940[188] = 0; - out_8499021045100499940[189] = 0; - out_8499021045100499940[190] = 1; - out_8499021045100499940[191] = 0; - out_8499021045100499940[192] = 0; - out_8499021045100499940[193] = 0; - out_8499021045100499940[194] = 0; - out_8499021045100499940[195] = 0; - out_8499021045100499940[196] = 0; - out_8499021045100499940[197] = 0; - out_8499021045100499940[198] = 0; - out_8499021045100499940[199] = 0; - out_8499021045100499940[200] = 0; - out_8499021045100499940[201] = 0; - out_8499021045100499940[202] = 0; - out_8499021045100499940[203] = 0; - out_8499021045100499940[204] = 0; - out_8499021045100499940[205] = 0; - out_8499021045100499940[206] = 0; - out_8499021045100499940[207] = 0; - out_8499021045100499940[208] = 0; - out_8499021045100499940[209] = 1; - out_8499021045100499940[210] = 0; - out_8499021045100499940[211] = 0; - out_8499021045100499940[212] = 0; - out_8499021045100499940[213] = 0; - out_8499021045100499940[214] = 0; - out_8499021045100499940[215] = 0; - out_8499021045100499940[216] = 0; - out_8499021045100499940[217] = 0; - out_8499021045100499940[218] = 0; - out_8499021045100499940[219] = 0; - out_8499021045100499940[220] = 0; - out_8499021045100499940[221] = 0; - out_8499021045100499940[222] = 0; - out_8499021045100499940[223] = 0; - out_8499021045100499940[224] = 0; - out_8499021045100499940[225] = 0; - out_8499021045100499940[226] = 0; - out_8499021045100499940[227] = 0; - out_8499021045100499940[228] = 1; - out_8499021045100499940[229] = 0; - out_8499021045100499940[230] = 0; - out_8499021045100499940[231] = 0; - out_8499021045100499940[232] = 0; - out_8499021045100499940[233] = 0; - out_8499021045100499940[234] = 0; - out_8499021045100499940[235] = 0; - out_8499021045100499940[236] = 0; - out_8499021045100499940[237] = 0; - out_8499021045100499940[238] = 0; - out_8499021045100499940[239] = 0; - out_8499021045100499940[240] = 0; - out_8499021045100499940[241] = 0; - out_8499021045100499940[242] = 0; - out_8499021045100499940[243] = 0; - out_8499021045100499940[244] = 0; - out_8499021045100499940[245] = 0; - out_8499021045100499940[246] = 0; - out_8499021045100499940[247] = 1; - out_8499021045100499940[248] = 0; - out_8499021045100499940[249] = 0; - out_8499021045100499940[250] = 0; - out_8499021045100499940[251] = 0; - out_8499021045100499940[252] = 0; - out_8499021045100499940[253] = 0; - out_8499021045100499940[254] = 0; - out_8499021045100499940[255] = 0; - out_8499021045100499940[256] = 0; - out_8499021045100499940[257] = 0; - out_8499021045100499940[258] = 0; - out_8499021045100499940[259] = 0; - out_8499021045100499940[260] = 0; - out_8499021045100499940[261] = 0; - out_8499021045100499940[262] = 0; - out_8499021045100499940[263] = 0; - out_8499021045100499940[264] = 0; - out_8499021045100499940[265] = 0; - out_8499021045100499940[266] = 1; - out_8499021045100499940[267] = 0; - out_8499021045100499940[268] = 0; - out_8499021045100499940[269] = 0; - out_8499021045100499940[270] = 0; - out_8499021045100499940[271] = 0; - out_8499021045100499940[272] = 0; - out_8499021045100499940[273] = 0; - out_8499021045100499940[274] = 0; - out_8499021045100499940[275] = 0; - out_8499021045100499940[276] = 0; - out_8499021045100499940[277] = 0; - out_8499021045100499940[278] = 0; - out_8499021045100499940[279] = 0; - out_8499021045100499940[280] = 0; - out_8499021045100499940[281] = 0; - out_8499021045100499940[282] = 0; - out_8499021045100499940[283] = 0; - out_8499021045100499940[284] = 0; - out_8499021045100499940[285] = 1; - out_8499021045100499940[286] = 0; - out_8499021045100499940[287] = 0; - out_8499021045100499940[288] = 0; - out_8499021045100499940[289] = 0; - out_8499021045100499940[290] = 0; - out_8499021045100499940[291] = 0; - out_8499021045100499940[292] = 0; - out_8499021045100499940[293] = 0; - out_8499021045100499940[294] = 0; - out_8499021045100499940[295] = 0; - out_8499021045100499940[296] = 0; - out_8499021045100499940[297] = 0; - out_8499021045100499940[298] = 0; - out_8499021045100499940[299] = 0; - out_8499021045100499940[300] = 0; - out_8499021045100499940[301] = 0; - out_8499021045100499940[302] = 0; - out_8499021045100499940[303] = 0; - out_8499021045100499940[304] = 1; - out_8499021045100499940[305] = 0; - out_8499021045100499940[306] = 0; - out_8499021045100499940[307] = 0; - out_8499021045100499940[308] = 0; - out_8499021045100499940[309] = 0; - out_8499021045100499940[310] = 0; - out_8499021045100499940[311] = 0; - out_8499021045100499940[312] = 0; - out_8499021045100499940[313] = 0; - out_8499021045100499940[314] = 0; - out_8499021045100499940[315] = 0; - out_8499021045100499940[316] = 0; - out_8499021045100499940[317] = 0; - out_8499021045100499940[318] = 0; - out_8499021045100499940[319] = 0; - out_8499021045100499940[320] = 0; - out_8499021045100499940[321] = 0; - out_8499021045100499940[322] = 0; - out_8499021045100499940[323] = 1; +void F_fun(double *state, double dt, double *out_1252525263334667707) { + out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[2] = 0; + out_1252525263334667707[3] = 0; + out_1252525263334667707[4] = 0; + out_1252525263334667707[5] = 0; + out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[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_1252525263334667707[9] = 0; + out_1252525263334667707[10] = 0; + out_1252525263334667707[11] = 0; + out_1252525263334667707[12] = 0; + out_1252525263334667707[13] = 0; + out_1252525263334667707[14] = 0; + out_1252525263334667707[15] = 0; + out_1252525263334667707[16] = 0; + out_1252525263334667707[17] = 0; + out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[20] = 0; + out_1252525263334667707[21] = 0; + out_1252525263334667707[22] = 0; + out_1252525263334667707[23] = 0; + out_1252525263334667707[24] = 0; + out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[27] = 0; + out_1252525263334667707[28] = 0; + out_1252525263334667707[29] = 0; + out_1252525263334667707[30] = 0; + out_1252525263334667707[31] = 0; + out_1252525263334667707[32] = 0; + out_1252525263334667707[33] = 0; + out_1252525263334667707[34] = 0; + out_1252525263334667707[35] = 0; + out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[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_1252525263334667707[39] = 0; + out_1252525263334667707[40] = 0; + out_1252525263334667707[41] = 0; + out_1252525263334667707[42] = 0; + out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[45] = 0; + out_1252525263334667707[46] = 0; + out_1252525263334667707[47] = 0; + out_1252525263334667707[48] = 0; + out_1252525263334667707[49] = 0; + out_1252525263334667707[50] = 0; + out_1252525263334667707[51] = 0; + out_1252525263334667707[52] = 0; + out_1252525263334667707[53] = 0; + out_1252525263334667707[54] = 0; + out_1252525263334667707[55] = 0; + out_1252525263334667707[56] = 0; + out_1252525263334667707[57] = 1; + out_1252525263334667707[58] = 0; + out_1252525263334667707[59] = 0; + out_1252525263334667707[60] = 0; + out_1252525263334667707[61] = 0; + out_1252525263334667707[62] = 0; + out_1252525263334667707[63] = 0; + out_1252525263334667707[64] = 0; + out_1252525263334667707[65] = 0; + out_1252525263334667707[66] = dt; + out_1252525263334667707[67] = 0; + out_1252525263334667707[68] = 0; + out_1252525263334667707[69] = 0; + out_1252525263334667707[70] = 0; + out_1252525263334667707[71] = 0; + out_1252525263334667707[72] = 0; + out_1252525263334667707[73] = 0; + out_1252525263334667707[74] = 0; + out_1252525263334667707[75] = 0; + out_1252525263334667707[76] = 1; + out_1252525263334667707[77] = 0; + out_1252525263334667707[78] = 0; + out_1252525263334667707[79] = 0; + out_1252525263334667707[80] = 0; + out_1252525263334667707[81] = 0; + out_1252525263334667707[82] = 0; + out_1252525263334667707[83] = 0; + out_1252525263334667707[84] = 0; + out_1252525263334667707[85] = dt; + out_1252525263334667707[86] = 0; + out_1252525263334667707[87] = 0; + out_1252525263334667707[88] = 0; + out_1252525263334667707[89] = 0; + out_1252525263334667707[90] = 0; + out_1252525263334667707[91] = 0; + out_1252525263334667707[92] = 0; + out_1252525263334667707[93] = 0; + out_1252525263334667707[94] = 0; + out_1252525263334667707[95] = 1; + out_1252525263334667707[96] = 0; + out_1252525263334667707[97] = 0; + out_1252525263334667707[98] = 0; + out_1252525263334667707[99] = 0; + out_1252525263334667707[100] = 0; + out_1252525263334667707[101] = 0; + out_1252525263334667707[102] = 0; + out_1252525263334667707[103] = 0; + out_1252525263334667707[104] = dt; + out_1252525263334667707[105] = 0; + out_1252525263334667707[106] = 0; + out_1252525263334667707[107] = 0; + out_1252525263334667707[108] = 0; + out_1252525263334667707[109] = 0; + out_1252525263334667707[110] = 0; + out_1252525263334667707[111] = 0; + out_1252525263334667707[112] = 0; + out_1252525263334667707[113] = 0; + out_1252525263334667707[114] = 1; + out_1252525263334667707[115] = 0; + out_1252525263334667707[116] = 0; + out_1252525263334667707[117] = 0; + out_1252525263334667707[118] = 0; + out_1252525263334667707[119] = 0; + out_1252525263334667707[120] = 0; + out_1252525263334667707[121] = 0; + out_1252525263334667707[122] = 0; + out_1252525263334667707[123] = 0; + out_1252525263334667707[124] = 0; + out_1252525263334667707[125] = 0; + out_1252525263334667707[126] = 0; + out_1252525263334667707[127] = 0; + out_1252525263334667707[128] = 0; + out_1252525263334667707[129] = 0; + out_1252525263334667707[130] = 0; + out_1252525263334667707[131] = 0; + out_1252525263334667707[132] = 0; + out_1252525263334667707[133] = 1; + out_1252525263334667707[134] = 0; + out_1252525263334667707[135] = 0; + out_1252525263334667707[136] = 0; + out_1252525263334667707[137] = 0; + out_1252525263334667707[138] = 0; + out_1252525263334667707[139] = 0; + out_1252525263334667707[140] = 0; + out_1252525263334667707[141] = 0; + out_1252525263334667707[142] = 0; + out_1252525263334667707[143] = 0; + out_1252525263334667707[144] = 0; + out_1252525263334667707[145] = 0; + out_1252525263334667707[146] = 0; + out_1252525263334667707[147] = 0; + out_1252525263334667707[148] = 0; + out_1252525263334667707[149] = 0; + out_1252525263334667707[150] = 0; + out_1252525263334667707[151] = 0; + out_1252525263334667707[152] = 1; + out_1252525263334667707[153] = 0; + out_1252525263334667707[154] = 0; + out_1252525263334667707[155] = 0; + out_1252525263334667707[156] = 0; + out_1252525263334667707[157] = 0; + out_1252525263334667707[158] = 0; + out_1252525263334667707[159] = 0; + out_1252525263334667707[160] = 0; + out_1252525263334667707[161] = 0; + out_1252525263334667707[162] = 0; + out_1252525263334667707[163] = 0; + out_1252525263334667707[164] = 0; + out_1252525263334667707[165] = 0; + out_1252525263334667707[166] = 0; + out_1252525263334667707[167] = 0; + out_1252525263334667707[168] = 0; + out_1252525263334667707[169] = 0; + out_1252525263334667707[170] = 0; + out_1252525263334667707[171] = 1; + out_1252525263334667707[172] = 0; + out_1252525263334667707[173] = 0; + out_1252525263334667707[174] = 0; + out_1252525263334667707[175] = 0; + out_1252525263334667707[176] = 0; + out_1252525263334667707[177] = 0; + out_1252525263334667707[178] = 0; + out_1252525263334667707[179] = 0; + out_1252525263334667707[180] = 0; + out_1252525263334667707[181] = 0; + out_1252525263334667707[182] = 0; + out_1252525263334667707[183] = 0; + out_1252525263334667707[184] = 0; + out_1252525263334667707[185] = 0; + out_1252525263334667707[186] = 0; + out_1252525263334667707[187] = 0; + out_1252525263334667707[188] = 0; + out_1252525263334667707[189] = 0; + out_1252525263334667707[190] = 1; + out_1252525263334667707[191] = 0; + out_1252525263334667707[192] = 0; + out_1252525263334667707[193] = 0; + out_1252525263334667707[194] = 0; + out_1252525263334667707[195] = 0; + out_1252525263334667707[196] = 0; + out_1252525263334667707[197] = 0; + out_1252525263334667707[198] = 0; + out_1252525263334667707[199] = 0; + out_1252525263334667707[200] = 0; + out_1252525263334667707[201] = 0; + out_1252525263334667707[202] = 0; + out_1252525263334667707[203] = 0; + out_1252525263334667707[204] = 0; + out_1252525263334667707[205] = 0; + out_1252525263334667707[206] = 0; + out_1252525263334667707[207] = 0; + out_1252525263334667707[208] = 0; + out_1252525263334667707[209] = 1; + out_1252525263334667707[210] = 0; + out_1252525263334667707[211] = 0; + out_1252525263334667707[212] = 0; + out_1252525263334667707[213] = 0; + out_1252525263334667707[214] = 0; + out_1252525263334667707[215] = 0; + out_1252525263334667707[216] = 0; + out_1252525263334667707[217] = 0; + out_1252525263334667707[218] = 0; + out_1252525263334667707[219] = 0; + out_1252525263334667707[220] = 0; + out_1252525263334667707[221] = 0; + out_1252525263334667707[222] = 0; + out_1252525263334667707[223] = 0; + out_1252525263334667707[224] = 0; + out_1252525263334667707[225] = 0; + out_1252525263334667707[226] = 0; + out_1252525263334667707[227] = 0; + out_1252525263334667707[228] = 1; + out_1252525263334667707[229] = 0; + out_1252525263334667707[230] = 0; + out_1252525263334667707[231] = 0; + out_1252525263334667707[232] = 0; + out_1252525263334667707[233] = 0; + out_1252525263334667707[234] = 0; + out_1252525263334667707[235] = 0; + out_1252525263334667707[236] = 0; + out_1252525263334667707[237] = 0; + out_1252525263334667707[238] = 0; + out_1252525263334667707[239] = 0; + out_1252525263334667707[240] = 0; + out_1252525263334667707[241] = 0; + out_1252525263334667707[242] = 0; + out_1252525263334667707[243] = 0; + out_1252525263334667707[244] = 0; + out_1252525263334667707[245] = 0; + out_1252525263334667707[246] = 0; + out_1252525263334667707[247] = 1; + out_1252525263334667707[248] = 0; + out_1252525263334667707[249] = 0; + out_1252525263334667707[250] = 0; + out_1252525263334667707[251] = 0; + out_1252525263334667707[252] = 0; + out_1252525263334667707[253] = 0; + out_1252525263334667707[254] = 0; + out_1252525263334667707[255] = 0; + out_1252525263334667707[256] = 0; + out_1252525263334667707[257] = 0; + out_1252525263334667707[258] = 0; + out_1252525263334667707[259] = 0; + out_1252525263334667707[260] = 0; + out_1252525263334667707[261] = 0; + out_1252525263334667707[262] = 0; + out_1252525263334667707[263] = 0; + out_1252525263334667707[264] = 0; + out_1252525263334667707[265] = 0; + out_1252525263334667707[266] = 1; + out_1252525263334667707[267] = 0; + out_1252525263334667707[268] = 0; + out_1252525263334667707[269] = 0; + out_1252525263334667707[270] = 0; + out_1252525263334667707[271] = 0; + out_1252525263334667707[272] = 0; + out_1252525263334667707[273] = 0; + out_1252525263334667707[274] = 0; + out_1252525263334667707[275] = 0; + out_1252525263334667707[276] = 0; + out_1252525263334667707[277] = 0; + out_1252525263334667707[278] = 0; + out_1252525263334667707[279] = 0; + out_1252525263334667707[280] = 0; + out_1252525263334667707[281] = 0; + out_1252525263334667707[282] = 0; + out_1252525263334667707[283] = 0; + out_1252525263334667707[284] = 0; + out_1252525263334667707[285] = 1; + out_1252525263334667707[286] = 0; + out_1252525263334667707[287] = 0; + out_1252525263334667707[288] = 0; + out_1252525263334667707[289] = 0; + out_1252525263334667707[290] = 0; + out_1252525263334667707[291] = 0; + out_1252525263334667707[292] = 0; + out_1252525263334667707[293] = 0; + out_1252525263334667707[294] = 0; + out_1252525263334667707[295] = 0; + out_1252525263334667707[296] = 0; + out_1252525263334667707[297] = 0; + out_1252525263334667707[298] = 0; + out_1252525263334667707[299] = 0; + out_1252525263334667707[300] = 0; + out_1252525263334667707[301] = 0; + out_1252525263334667707[302] = 0; + out_1252525263334667707[303] = 0; + out_1252525263334667707[304] = 1; + out_1252525263334667707[305] = 0; + out_1252525263334667707[306] = 0; + out_1252525263334667707[307] = 0; + out_1252525263334667707[308] = 0; + out_1252525263334667707[309] = 0; + out_1252525263334667707[310] = 0; + out_1252525263334667707[311] = 0; + out_1252525263334667707[312] = 0; + out_1252525263334667707[313] = 0; + out_1252525263334667707[314] = 0; + out_1252525263334667707[315] = 0; + out_1252525263334667707[316] = 0; + out_1252525263334667707[317] = 0; + out_1252525263334667707[318] = 0; + out_1252525263334667707[319] = 0; + out_1252525263334667707[320] = 0; + out_1252525263334667707[321] = 0; + out_1252525263334667707[322] = 0; + out_1252525263334667707[323] = 1; } -void h_4(double *state, double *unused, double *out_1075969755128808186) { - out_1075969755128808186[0] = state[6] + state[9]; - out_1075969755128808186[1] = state[7] + state[10]; - out_1075969755128808186[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1011967617642247994) { + out_1011967617642247994[0] = state[6] + state[9]; + out_1011967617642247994[1] = state[7] + state[10]; + out_1011967617642247994[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_5239304832848850085) { - out_5239304832848850085[0] = 0; - out_5239304832848850085[1] = 0; - out_5239304832848850085[2] = 0; - out_5239304832848850085[3] = 0; - out_5239304832848850085[4] = 0; - out_5239304832848850085[5] = 0; - out_5239304832848850085[6] = 1; - out_5239304832848850085[7] = 0; - out_5239304832848850085[8] = 0; - out_5239304832848850085[9] = 1; - out_5239304832848850085[10] = 0; - out_5239304832848850085[11] = 0; - out_5239304832848850085[12] = 0; - out_5239304832848850085[13] = 0; - out_5239304832848850085[14] = 0; - out_5239304832848850085[15] = 0; - out_5239304832848850085[16] = 0; - out_5239304832848850085[17] = 0; - out_5239304832848850085[18] = 0; - out_5239304832848850085[19] = 0; - out_5239304832848850085[20] = 0; - out_5239304832848850085[21] = 0; - out_5239304832848850085[22] = 0; - out_5239304832848850085[23] = 0; - out_5239304832848850085[24] = 0; - out_5239304832848850085[25] = 1; - out_5239304832848850085[26] = 0; - out_5239304832848850085[27] = 0; - out_5239304832848850085[28] = 1; - out_5239304832848850085[29] = 0; - out_5239304832848850085[30] = 0; - out_5239304832848850085[31] = 0; - out_5239304832848850085[32] = 0; - out_5239304832848850085[33] = 0; - out_5239304832848850085[34] = 0; - out_5239304832848850085[35] = 0; - out_5239304832848850085[36] = 0; - out_5239304832848850085[37] = 0; - out_5239304832848850085[38] = 0; - out_5239304832848850085[39] = 0; - out_5239304832848850085[40] = 0; - out_5239304832848850085[41] = 0; - out_5239304832848850085[42] = 0; - out_5239304832848850085[43] = 0; - out_5239304832848850085[44] = 1; - out_5239304832848850085[45] = 0; - out_5239304832848850085[46] = 0; - out_5239304832848850085[47] = 1; - out_5239304832848850085[48] = 0; - out_5239304832848850085[49] = 0; - out_5239304832848850085[50] = 0; - out_5239304832848850085[51] = 0; - out_5239304832848850085[52] = 0; - out_5239304832848850085[53] = 0; +void H_4(double *state, double *unused, double *out_7408215808043897513) { + out_7408215808043897513[0] = 0; + out_7408215808043897513[1] = 0; + out_7408215808043897513[2] = 0; + out_7408215808043897513[3] = 0; + out_7408215808043897513[4] = 0; + out_7408215808043897513[5] = 0; + out_7408215808043897513[6] = 1; + out_7408215808043897513[7] = 0; + out_7408215808043897513[8] = 0; + out_7408215808043897513[9] = 1; + out_7408215808043897513[10] = 0; + out_7408215808043897513[11] = 0; + out_7408215808043897513[12] = 0; + out_7408215808043897513[13] = 0; + out_7408215808043897513[14] = 0; + out_7408215808043897513[15] = 0; + out_7408215808043897513[16] = 0; + out_7408215808043897513[17] = 0; + out_7408215808043897513[18] = 0; + out_7408215808043897513[19] = 0; + out_7408215808043897513[20] = 0; + out_7408215808043897513[21] = 0; + out_7408215808043897513[22] = 0; + out_7408215808043897513[23] = 0; + out_7408215808043897513[24] = 0; + out_7408215808043897513[25] = 1; + out_7408215808043897513[26] = 0; + out_7408215808043897513[27] = 0; + out_7408215808043897513[28] = 1; + out_7408215808043897513[29] = 0; + out_7408215808043897513[30] = 0; + out_7408215808043897513[31] = 0; + out_7408215808043897513[32] = 0; + out_7408215808043897513[33] = 0; + out_7408215808043897513[34] = 0; + out_7408215808043897513[35] = 0; + out_7408215808043897513[36] = 0; + out_7408215808043897513[37] = 0; + out_7408215808043897513[38] = 0; + out_7408215808043897513[39] = 0; + out_7408215808043897513[40] = 0; + out_7408215808043897513[41] = 0; + out_7408215808043897513[42] = 0; + out_7408215808043897513[43] = 0; + out_7408215808043897513[44] = 1; + out_7408215808043897513[45] = 0; + out_7408215808043897513[46] = 0; + out_7408215808043897513[47] = 1; + out_7408215808043897513[48] = 0; + out_7408215808043897513[49] = 0; + out_7408215808043897513[50] = 0; + out_7408215808043897513[51] = 0; + out_7408215808043897513[52] = 0; + out_7408215808043897513[53] = 0; } -void h_10(double *state, double *unused, double *out_4050058798394118968) { - out_4050058798394118968[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_4050058798394118968[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_4050058798394118968[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_511164501586373249) { + out_511164501586373249[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_511164501586373249[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_511164501586373249[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_3614267989921698938) { - out_3614267989921698938[0] = 0; - out_3614267989921698938[1] = 9.8100000000000005*cos(state[1]); - out_3614267989921698938[2] = 0; - out_3614267989921698938[3] = 0; - out_3614267989921698938[4] = -state[8]; - out_3614267989921698938[5] = state[7]; - out_3614267989921698938[6] = 0; - out_3614267989921698938[7] = state[5]; - out_3614267989921698938[8] = -state[4]; - out_3614267989921698938[9] = 0; - out_3614267989921698938[10] = 0; - out_3614267989921698938[11] = 0; - out_3614267989921698938[12] = 1; - out_3614267989921698938[13] = 0; - out_3614267989921698938[14] = 0; - out_3614267989921698938[15] = 1; - out_3614267989921698938[16] = 0; - out_3614267989921698938[17] = 0; - out_3614267989921698938[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3614267989921698938[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3614267989921698938[20] = 0; - out_3614267989921698938[21] = state[8]; - out_3614267989921698938[22] = 0; - out_3614267989921698938[23] = -state[6]; - out_3614267989921698938[24] = -state[5]; - out_3614267989921698938[25] = 0; - out_3614267989921698938[26] = state[3]; - out_3614267989921698938[27] = 0; - out_3614267989921698938[28] = 0; - out_3614267989921698938[29] = 0; - out_3614267989921698938[30] = 0; - out_3614267989921698938[31] = 1; - out_3614267989921698938[32] = 0; - out_3614267989921698938[33] = 0; - out_3614267989921698938[34] = 1; - out_3614267989921698938[35] = 0; - out_3614267989921698938[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3614267989921698938[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3614267989921698938[38] = 0; - out_3614267989921698938[39] = -state[7]; - out_3614267989921698938[40] = state[6]; - out_3614267989921698938[41] = 0; - out_3614267989921698938[42] = state[4]; - out_3614267989921698938[43] = -state[3]; - out_3614267989921698938[44] = 0; - out_3614267989921698938[45] = 0; - out_3614267989921698938[46] = 0; - out_3614267989921698938[47] = 0; - out_3614267989921698938[48] = 0; - out_3614267989921698938[49] = 0; - out_3614267989921698938[50] = 1; - out_3614267989921698938[51] = 0; - out_3614267989921698938[52] = 0; - out_3614267989921698938[53] = 1; +void H_10(double *state, double *unused, double *out_8712555441471564813) { + out_8712555441471564813[0] = 0; + out_8712555441471564813[1] = 9.8100000000000005*cos(state[1]); + out_8712555441471564813[2] = 0; + out_8712555441471564813[3] = 0; + out_8712555441471564813[4] = -state[8]; + out_8712555441471564813[5] = state[7]; + out_8712555441471564813[6] = 0; + out_8712555441471564813[7] = state[5]; + out_8712555441471564813[8] = -state[4]; + out_8712555441471564813[9] = 0; + out_8712555441471564813[10] = 0; + out_8712555441471564813[11] = 0; + out_8712555441471564813[12] = 1; + out_8712555441471564813[13] = 0; + out_8712555441471564813[14] = 0; + out_8712555441471564813[15] = 1; + out_8712555441471564813[16] = 0; + out_8712555441471564813[17] = 0; + out_8712555441471564813[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8712555441471564813[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8712555441471564813[20] = 0; + out_8712555441471564813[21] = state[8]; + out_8712555441471564813[22] = 0; + out_8712555441471564813[23] = -state[6]; + out_8712555441471564813[24] = -state[5]; + out_8712555441471564813[25] = 0; + out_8712555441471564813[26] = state[3]; + out_8712555441471564813[27] = 0; + out_8712555441471564813[28] = 0; + out_8712555441471564813[29] = 0; + out_8712555441471564813[30] = 0; + out_8712555441471564813[31] = 1; + out_8712555441471564813[32] = 0; + out_8712555441471564813[33] = 0; + out_8712555441471564813[34] = 1; + out_8712555441471564813[35] = 0; + out_8712555441471564813[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8712555441471564813[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8712555441471564813[38] = 0; + out_8712555441471564813[39] = -state[7]; + out_8712555441471564813[40] = state[6]; + out_8712555441471564813[41] = 0; + out_8712555441471564813[42] = state[4]; + out_8712555441471564813[43] = -state[3]; + out_8712555441471564813[44] = 0; + out_8712555441471564813[45] = 0; + out_8712555441471564813[46] = 0; + out_8712555441471564813[47] = 0; + out_8712555441471564813[48] = 0; + out_8712555441471564813[49] = 0; + out_8712555441471564813[50] = 1; + out_8712555441471564813[51] = 0; + out_8712555441471564813[52] = 0; + out_8712555441471564813[53] = 1; } -void h_13(double *state, double *unused, double *out_9106371473023855959) { - out_9106371473023855959[0] = state[3]; - out_9106371473023855959[1] = state[4]; - out_9106371473023855959[2] = state[5]; +void h_13(double *state, double *unused, double *out_6347656539957505651) { + out_6347656539957505651[0] = state[3]; + out_6347656539957505651[1] = state[4]; + out_6347656539957505651[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8451578658181182886) { - out_8451578658181182886[0] = 0; - out_8451578658181182886[1] = 0; - out_8451578658181182886[2] = 0; - out_8451578658181182886[3] = 1; - out_8451578658181182886[4] = 0; - out_8451578658181182886[5] = 0; - out_8451578658181182886[6] = 0; - out_8451578658181182886[7] = 0; - out_8451578658181182886[8] = 0; - out_8451578658181182886[9] = 0; - out_8451578658181182886[10] = 0; - out_8451578658181182886[11] = 0; - out_8451578658181182886[12] = 0; - out_8451578658181182886[13] = 0; - out_8451578658181182886[14] = 0; - out_8451578658181182886[15] = 0; - out_8451578658181182886[16] = 0; - out_8451578658181182886[17] = 0; - out_8451578658181182886[18] = 0; - out_8451578658181182886[19] = 0; - out_8451578658181182886[20] = 0; - out_8451578658181182886[21] = 0; - out_8451578658181182886[22] = 1; - out_8451578658181182886[23] = 0; - out_8451578658181182886[24] = 0; - out_8451578658181182886[25] = 0; - out_8451578658181182886[26] = 0; - out_8451578658181182886[27] = 0; - out_8451578658181182886[28] = 0; - out_8451578658181182886[29] = 0; - out_8451578658181182886[30] = 0; - out_8451578658181182886[31] = 0; - out_8451578658181182886[32] = 0; - out_8451578658181182886[33] = 0; - out_8451578658181182886[34] = 0; - out_8451578658181182886[35] = 0; - out_8451578658181182886[36] = 0; - out_8451578658181182886[37] = 0; - out_8451578658181182886[38] = 0; - out_8451578658181182886[39] = 0; - out_8451578658181182886[40] = 0; - out_8451578658181182886[41] = 1; - out_8451578658181182886[42] = 0; - out_8451578658181182886[43] = 0; - out_8451578658181182886[44] = 0; - out_8451578658181182886[45] = 0; - out_8451578658181182886[46] = 0; - out_8451578658181182886[47] = 0; - out_8451578658181182886[48] = 0; - out_8451578658181182886[49] = 0; - out_8451578658181182886[50] = 0; - out_8451578658181182886[51] = 0; - out_8451578658181182886[52] = 0; - out_8451578658181182886[53] = 0; +void H_13(double *state, double *unused, double *out_7826254440333321302) { + out_7826254440333321302[0] = 0; + out_7826254440333321302[1] = 0; + out_7826254440333321302[2] = 0; + out_7826254440333321302[3] = 1; + out_7826254440333321302[4] = 0; + out_7826254440333321302[5] = 0; + out_7826254440333321302[6] = 0; + out_7826254440333321302[7] = 0; + out_7826254440333321302[8] = 0; + out_7826254440333321302[9] = 0; + out_7826254440333321302[10] = 0; + out_7826254440333321302[11] = 0; + out_7826254440333321302[12] = 0; + out_7826254440333321302[13] = 0; + out_7826254440333321302[14] = 0; + out_7826254440333321302[15] = 0; + out_7826254440333321302[16] = 0; + out_7826254440333321302[17] = 0; + out_7826254440333321302[18] = 0; + out_7826254440333321302[19] = 0; + out_7826254440333321302[20] = 0; + out_7826254440333321302[21] = 0; + out_7826254440333321302[22] = 1; + out_7826254440333321302[23] = 0; + out_7826254440333321302[24] = 0; + out_7826254440333321302[25] = 0; + out_7826254440333321302[26] = 0; + out_7826254440333321302[27] = 0; + out_7826254440333321302[28] = 0; + out_7826254440333321302[29] = 0; + out_7826254440333321302[30] = 0; + out_7826254440333321302[31] = 0; + out_7826254440333321302[32] = 0; + out_7826254440333321302[33] = 0; + out_7826254440333321302[34] = 0; + out_7826254440333321302[35] = 0; + out_7826254440333321302[36] = 0; + out_7826254440333321302[37] = 0; + out_7826254440333321302[38] = 0; + out_7826254440333321302[39] = 0; + out_7826254440333321302[40] = 0; + out_7826254440333321302[41] = 1; + out_7826254440333321302[42] = 0; + out_7826254440333321302[43] = 0; + out_7826254440333321302[44] = 0; + out_7826254440333321302[45] = 0; + out_7826254440333321302[46] = 0; + out_7826254440333321302[47] = 0; + out_7826254440333321302[48] = 0; + out_7826254440333321302[49] = 0; + out_7826254440333321302[50] = 0; + out_7826254440333321302[51] = 0; + out_7826254440333321302[52] = 0; + out_7826254440333321302[53] = 0; } -void h_14(double *state, double *unused, double *out_4347596682095509082) { - out_4347596682095509082[0] = state[6]; - out_4347596682095509082[1] = state[7]; - out_4347596682095509082[2] = state[8]; +void h_14(double *state, double *unused, double *out_251978956082886222) { + out_251978956082886222[0] = state[6]; + out_251978956082886222[1] = state[7]; + out_251978956082886222[2] = state[8]; } -void H_14(double *state, double *unused, double *out_9202545689188334614) { - out_9202545689188334614[0] = 0; - out_9202545689188334614[1] = 0; - out_9202545689188334614[2] = 0; - out_9202545689188334614[3] = 0; - out_9202545689188334614[4] = 0; - out_9202545689188334614[5] = 0; - out_9202545689188334614[6] = 1; - out_9202545689188334614[7] = 0; - out_9202545689188334614[8] = 0; - out_9202545689188334614[9] = 0; - out_9202545689188334614[10] = 0; - out_9202545689188334614[11] = 0; - out_9202545689188334614[12] = 0; - out_9202545689188334614[13] = 0; - out_9202545689188334614[14] = 0; - out_9202545689188334614[15] = 0; - out_9202545689188334614[16] = 0; - out_9202545689188334614[17] = 0; - out_9202545689188334614[18] = 0; - out_9202545689188334614[19] = 0; - out_9202545689188334614[20] = 0; - out_9202545689188334614[21] = 0; - out_9202545689188334614[22] = 0; - out_9202545689188334614[23] = 0; - out_9202545689188334614[24] = 0; - out_9202545689188334614[25] = 1; - out_9202545689188334614[26] = 0; - out_9202545689188334614[27] = 0; - out_9202545689188334614[28] = 0; - out_9202545689188334614[29] = 0; - out_9202545689188334614[30] = 0; - out_9202545689188334614[31] = 0; - out_9202545689188334614[32] = 0; - out_9202545689188334614[33] = 0; - out_9202545689188334614[34] = 0; - out_9202545689188334614[35] = 0; - out_9202545689188334614[36] = 0; - out_9202545689188334614[37] = 0; - out_9202545689188334614[38] = 0; - out_9202545689188334614[39] = 0; - out_9202545689188334614[40] = 0; - out_9202545689188334614[41] = 0; - out_9202545689188334614[42] = 0; - out_9202545689188334614[43] = 0; - out_9202545689188334614[44] = 1; - out_9202545689188334614[45] = 0; - out_9202545689188334614[46] = 0; - out_9202545689188334614[47] = 0; - out_9202545689188334614[48] = 0; - out_9202545689188334614[49] = 0; - out_9202545689188334614[50] = 0; - out_9202545689188334614[51] = 0; - out_9202545689188334614[52] = 0; - out_9202545689188334614[53] = 0; +void H_14(double *state, double *unused, double *out_7075287409326169574) { + out_7075287409326169574[0] = 0; + out_7075287409326169574[1] = 0; + out_7075287409326169574[2] = 0; + out_7075287409326169574[3] = 0; + out_7075287409326169574[4] = 0; + out_7075287409326169574[5] = 0; + out_7075287409326169574[6] = 1; + out_7075287409326169574[7] = 0; + out_7075287409326169574[8] = 0; + out_7075287409326169574[9] = 0; + out_7075287409326169574[10] = 0; + out_7075287409326169574[11] = 0; + out_7075287409326169574[12] = 0; + out_7075287409326169574[13] = 0; + out_7075287409326169574[14] = 0; + out_7075287409326169574[15] = 0; + out_7075287409326169574[16] = 0; + out_7075287409326169574[17] = 0; + out_7075287409326169574[18] = 0; + out_7075287409326169574[19] = 0; + out_7075287409326169574[20] = 0; + out_7075287409326169574[21] = 0; + out_7075287409326169574[22] = 0; + out_7075287409326169574[23] = 0; + out_7075287409326169574[24] = 0; + out_7075287409326169574[25] = 1; + out_7075287409326169574[26] = 0; + out_7075287409326169574[27] = 0; + out_7075287409326169574[28] = 0; + out_7075287409326169574[29] = 0; + out_7075287409326169574[30] = 0; + out_7075287409326169574[31] = 0; + out_7075287409326169574[32] = 0; + out_7075287409326169574[33] = 0; + out_7075287409326169574[34] = 0; + out_7075287409326169574[35] = 0; + out_7075287409326169574[36] = 0; + out_7075287409326169574[37] = 0; + out_7075287409326169574[38] = 0; + out_7075287409326169574[39] = 0; + out_7075287409326169574[40] = 0; + out_7075287409326169574[41] = 0; + out_7075287409326169574[42] = 0; + out_7075287409326169574[43] = 0; + out_7075287409326169574[44] = 1; + out_7075287409326169574[45] = 0; + out_7075287409326169574[46] = 0; + out_7075287409326169574[47] = 0; + out_7075287409326169574[48] = 0; + out_7075287409326169574[49] = 0; + out_7075287409326169574[50] = 0; + out_7075287409326169574[51] = 0; + out_7075287409326169574[52] = 0; + out_7075287409326169574[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_9191542510053319957) { - err_fun(nom_x, delta_x, out_9191542510053319957); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6656022622757342812) { + err_fun(nom_x, delta_x, out_6656022622757342812); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3004969772891744590) { - inv_err_fun(nom_x, true_x, out_3004969772891744590); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5165337953826908445) { + inv_err_fun(nom_x, true_x, out_5165337953826908445); } -void pose_H_mod_fun(double *state, double *out_7359357434108742810) { - H_mod_fun(state, out_7359357434108742810); +void pose_H_mod_fun(double *state, double *out_5190446458913695382) { + H_mod_fun(state, out_5190446458913695382); } -void pose_f_fun(double *state, double dt, double *out_729710836783527414) { - f_fun(state, dt, out_729710836783527414); +void pose_f_fun(double *state, double dt, double *out_337750480546902101) { + f_fun(state, dt, out_337750480546902101); } -void pose_F_fun(double *state, double dt, double *out_8499021045100499940) { - F_fun(state, dt, out_8499021045100499940); +void pose_F_fun(double *state, double dt, double *out_1252525263334667707) { + F_fun(state, dt, out_1252525263334667707); } -void pose_h_4(double *state, double *unused, double *out_1075969755128808186) { - h_4(state, unused, out_1075969755128808186); +void pose_h_4(double *state, double *unused, double *out_1011967617642247994) { + h_4(state, unused, out_1011967617642247994); } -void pose_H_4(double *state, double *unused, double *out_5239304832848850085) { - H_4(state, unused, out_5239304832848850085); +void pose_H_4(double *state, double *unused, double *out_7408215808043897513) { + H_4(state, unused, out_7408215808043897513); } -void pose_h_10(double *state, double *unused, double *out_4050058798394118968) { - h_10(state, unused, out_4050058798394118968); +void pose_h_10(double *state, double *unused, double *out_511164501586373249) { + h_10(state, unused, out_511164501586373249); } -void pose_H_10(double *state, double *unused, double *out_3614267989921698938) { - H_10(state, unused, out_3614267989921698938); +void pose_H_10(double *state, double *unused, double *out_8712555441471564813) { + H_10(state, unused, out_8712555441471564813); } -void pose_h_13(double *state, double *unused, double *out_9106371473023855959) { - h_13(state, unused, out_9106371473023855959); +void pose_h_13(double *state, double *unused, double *out_6347656539957505651) { + h_13(state, unused, out_6347656539957505651); } -void pose_H_13(double *state, double *unused, double *out_8451578658181182886) { - H_13(state, unused, out_8451578658181182886); +void pose_H_13(double *state, double *unused, double *out_7826254440333321302) { + H_13(state, unused, out_7826254440333321302); } -void pose_h_14(double *state, double *unused, double *out_4347596682095509082) { - h_14(state, unused, out_4347596682095509082); +void pose_h_14(double *state, double *unused, double *out_251978956082886222) { + h_14(state, unused, out_251978956082886222); } -void pose_H_14(double *state, double *unused, double *out_9202545689188334614) { - H_14(state, unused, out_9202545689188334614); +void pose_H_14(double *state, double *unused, double *out_7075287409326169574) { + H_14(state, unused, out_7075287409326169574); } 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 a85bb8440..0fd36a287 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_9191542510053319957); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3004969772891744590); -void pose_H_mod_fun(double *state, double *out_7359357434108742810); -void pose_f_fun(double *state, double dt, double *out_729710836783527414); -void pose_F_fun(double *state, double dt, double *out_8499021045100499940); -void pose_h_4(double *state, double *unused, double *out_1075969755128808186); -void pose_H_4(double *state, double *unused, double *out_5239304832848850085); -void pose_h_10(double *state, double *unused, double *out_4050058798394118968); -void pose_H_10(double *state, double *unused, double *out_3614267989921698938); -void pose_h_13(double *state, double *unused, double *out_9106371473023855959); -void pose_H_13(double *state, double *unused, double *out_8451578658181182886); -void pose_h_14(double *state, double *unused, double *out_4347596682095509082); -void pose_H_14(double *state, double *unused, double *out_9202545689188334614); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6656022622757342812); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5165337953826908445); +void pose_H_mod_fun(double *state, double *out_5190446458913695382); +void pose_f_fun(double *state, double dt, double *out_337750480546902101); +void pose_F_fun(double *state, double dt, double *out_1252525263334667707); +void pose_h_4(double *state, double *unused, double *out_1011967617642247994); +void pose_H_4(double *state, double *unused, double *out_7408215808043897513); +void pose_h_10(double *state, double *unused, double *out_511164501586373249); +void pose_H_10(double *state, double *unused, double *out_8712555441471564813); +void pose_h_13(double *state, double *unused, double *out_6347656539957505651); +void pose_H_13(double *state, double *unused, double *out_7826254440333321302); +void pose_h_14(double *state, double *unused, double *out_251978956082886222); +void pose_H_14(double *state, double *unused, double *out_7075287409326169574); 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 058e1b484..7bfa6e918 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index d2ab86172..6fb44c14b 100755 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