diff --git a/common/libcommon.a b/common/libcommon.a index 14bbf9dcb..9097490a2 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 9a6fc15af..bc74a7e3f 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 b493c1eca..096fe333f 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 16c1868c0..cb0d665ca 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 bc4f0d41a..c44942f41 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 3f45109c8..a364d71ec 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 799bc7b9e..db1112aba 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 0f1f53d8e..b8e8cf6f8 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-e6b12d61-DEBUG"; +const uint8_t gitversion[19] = "DEV-bb4f3b74-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index c24490517..7d683c33e 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 39ebe78ac..441650ffe 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 613803b58..3ca93dd90 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 4f776d239..96826e5f2 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 07ba2df56..f4060eb9c 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and 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a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 2b92a9c91..0352ddb66 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 264c03f5a..e2cb041eb 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 86eea1295..02d1d9458 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 04d94d08e..3c9a3ed75 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 4fe13ab3f..f6da5e588 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 79479a4ad..c2806e623 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 1ecd44010..94b532b54 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 3d39c0201..a3970bc39 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 7888a1027..8a45b5e2f 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 6ecc37606..f9b8e11f5 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 d8b9e22db..270823eb4 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 67cb0e676..3f8518ed6 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-e6b12d61-DEBUG \ No newline at end of file +DEV-bb4f3b74-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 31838b60f..82806a510 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_2605865889076671127) { - out_2605865889076671127[0] = delta_x[0] + nom_x[0]; - out_2605865889076671127[1] = delta_x[1] + nom_x[1]; - out_2605865889076671127[2] = delta_x[2] + nom_x[2]; - out_2605865889076671127[3] = delta_x[3] + nom_x[3]; - out_2605865889076671127[4] = delta_x[4] + nom_x[4]; - out_2605865889076671127[5] = delta_x[5] + nom_x[5]; - out_2605865889076671127[6] = delta_x[6] + nom_x[6]; - out_2605865889076671127[7] = delta_x[7] + nom_x[7]; - out_2605865889076671127[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7839106046248465839) { + out_7839106046248465839[0] = delta_x[0] + nom_x[0]; + out_7839106046248465839[1] = delta_x[1] + nom_x[1]; + out_7839106046248465839[2] = delta_x[2] + nom_x[2]; + out_7839106046248465839[3] = delta_x[3] + nom_x[3]; + out_7839106046248465839[4] = delta_x[4] + nom_x[4]; + out_7839106046248465839[5] = delta_x[5] + nom_x[5]; + out_7839106046248465839[6] = delta_x[6] + nom_x[6]; + out_7839106046248465839[7] = delta_x[7] + nom_x[7]; + out_7839106046248465839[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6092587495462394066) { - out_6092587495462394066[0] = -nom_x[0] + true_x[0]; - out_6092587495462394066[1] = -nom_x[1] + true_x[1]; - out_6092587495462394066[2] = -nom_x[2] + true_x[2]; - out_6092587495462394066[3] = -nom_x[3] + true_x[3]; - out_6092587495462394066[4] = -nom_x[4] + true_x[4]; - out_6092587495462394066[5] = -nom_x[5] + true_x[5]; - out_6092587495462394066[6] = -nom_x[6] + true_x[6]; - out_6092587495462394066[7] = -nom_x[7] + true_x[7]; - out_6092587495462394066[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_31659364612209693) { + out_31659364612209693[0] = -nom_x[0] + true_x[0]; + out_31659364612209693[1] = -nom_x[1] + true_x[1]; + out_31659364612209693[2] = -nom_x[2] + true_x[2]; + out_31659364612209693[3] = -nom_x[3] + true_x[3]; + out_31659364612209693[4] = -nom_x[4] + true_x[4]; + out_31659364612209693[5] = -nom_x[5] + true_x[5]; + out_31659364612209693[6] = -nom_x[6] + true_x[6]; + out_31659364612209693[7] = -nom_x[7] + true_x[7]; + out_31659364612209693[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_5416567318777544442) { - out_5416567318777544442[0] = 1.0; - out_5416567318777544442[1] = 0.0; - out_5416567318777544442[2] = 0.0; - out_5416567318777544442[3] = 0.0; - out_5416567318777544442[4] = 0.0; - out_5416567318777544442[5] = 0.0; - out_5416567318777544442[6] = 0.0; - out_5416567318777544442[7] = 0.0; - out_5416567318777544442[8] = 0.0; - out_5416567318777544442[9] = 0.0; - out_5416567318777544442[10] = 1.0; - out_5416567318777544442[11] = 0.0; - out_5416567318777544442[12] = 0.0; - out_5416567318777544442[13] = 0.0; - out_5416567318777544442[14] = 0.0; - out_5416567318777544442[15] = 0.0; - out_5416567318777544442[16] = 0.0; - out_5416567318777544442[17] = 0.0; - out_5416567318777544442[18] = 0.0; - out_5416567318777544442[19] = 0.0; - out_5416567318777544442[20] = 1.0; - out_5416567318777544442[21] = 0.0; - out_5416567318777544442[22] = 0.0; - out_5416567318777544442[23] = 0.0; - out_5416567318777544442[24] = 0.0; - out_5416567318777544442[25] = 0.0; - out_5416567318777544442[26] = 0.0; - out_5416567318777544442[27] = 0.0; - out_5416567318777544442[28] = 0.0; - out_5416567318777544442[29] = 0.0; - out_5416567318777544442[30] = 1.0; - out_5416567318777544442[31] = 0.0; - out_5416567318777544442[32] = 0.0; - out_5416567318777544442[33] = 0.0; - out_5416567318777544442[34] = 0.0; - out_5416567318777544442[35] = 0.0; - out_5416567318777544442[36] = 0.0; - out_5416567318777544442[37] = 0.0; - out_5416567318777544442[38] = 0.0; - out_5416567318777544442[39] = 0.0; - out_5416567318777544442[40] = 1.0; - out_5416567318777544442[41] = 0.0; - out_5416567318777544442[42] = 0.0; - out_5416567318777544442[43] = 0.0; - out_5416567318777544442[44] = 0.0; - out_5416567318777544442[45] = 0.0; - out_5416567318777544442[46] = 0.0; - out_5416567318777544442[47] = 0.0; - out_5416567318777544442[48] = 0.0; - out_5416567318777544442[49] = 0.0; - out_5416567318777544442[50] = 1.0; - out_5416567318777544442[51] = 0.0; - out_5416567318777544442[52] = 0.0; - out_5416567318777544442[53] = 0.0; - out_5416567318777544442[54] = 0.0; - out_5416567318777544442[55] = 0.0; - out_5416567318777544442[56] = 0.0; - out_5416567318777544442[57] = 0.0; - out_5416567318777544442[58] = 0.0; - out_5416567318777544442[59] = 0.0; - out_5416567318777544442[60] = 1.0; - out_5416567318777544442[61] = 0.0; - out_5416567318777544442[62] = 0.0; - out_5416567318777544442[63] = 0.0; - out_5416567318777544442[64] = 0.0; - out_5416567318777544442[65] = 0.0; - out_5416567318777544442[66] = 0.0; - out_5416567318777544442[67] = 0.0; - out_5416567318777544442[68] = 0.0; - out_5416567318777544442[69] = 0.0; - out_5416567318777544442[70] = 1.0; - out_5416567318777544442[71] = 0.0; - out_5416567318777544442[72] = 0.0; - out_5416567318777544442[73] = 0.0; - out_5416567318777544442[74] = 0.0; - out_5416567318777544442[75] = 0.0; - out_5416567318777544442[76] = 0.0; - out_5416567318777544442[77] = 0.0; - out_5416567318777544442[78] = 0.0; - out_5416567318777544442[79] = 0.0; - out_5416567318777544442[80] = 1.0; +void H_mod_fun(double *state, double *out_6082546015176302038) { + out_6082546015176302038[0] = 1.0; + out_6082546015176302038[1] = 0.0; + out_6082546015176302038[2] = 0.0; + out_6082546015176302038[3] = 0.0; + out_6082546015176302038[4] = 0.0; + out_6082546015176302038[5] = 0.0; + out_6082546015176302038[6] = 0.0; + out_6082546015176302038[7] = 0.0; + out_6082546015176302038[8] = 0.0; + out_6082546015176302038[9] = 0.0; + out_6082546015176302038[10] = 1.0; + out_6082546015176302038[11] = 0.0; + out_6082546015176302038[12] = 0.0; + out_6082546015176302038[13] = 0.0; + out_6082546015176302038[14] = 0.0; + out_6082546015176302038[15] = 0.0; + out_6082546015176302038[16] = 0.0; + out_6082546015176302038[17] = 0.0; + out_6082546015176302038[18] = 0.0; + out_6082546015176302038[19] = 0.0; + out_6082546015176302038[20] = 1.0; + out_6082546015176302038[21] = 0.0; + out_6082546015176302038[22] = 0.0; + out_6082546015176302038[23] = 0.0; + out_6082546015176302038[24] = 0.0; + out_6082546015176302038[25] = 0.0; + out_6082546015176302038[26] = 0.0; + out_6082546015176302038[27] = 0.0; + out_6082546015176302038[28] = 0.0; + out_6082546015176302038[29] = 0.0; + out_6082546015176302038[30] = 1.0; + out_6082546015176302038[31] = 0.0; + out_6082546015176302038[32] = 0.0; + out_6082546015176302038[33] = 0.0; + out_6082546015176302038[34] = 0.0; + out_6082546015176302038[35] = 0.0; + out_6082546015176302038[36] = 0.0; + out_6082546015176302038[37] = 0.0; + out_6082546015176302038[38] = 0.0; + out_6082546015176302038[39] = 0.0; + out_6082546015176302038[40] = 1.0; + out_6082546015176302038[41] = 0.0; + out_6082546015176302038[42] = 0.0; + out_6082546015176302038[43] = 0.0; + out_6082546015176302038[44] = 0.0; + out_6082546015176302038[45] = 0.0; + out_6082546015176302038[46] = 0.0; + out_6082546015176302038[47] = 0.0; + out_6082546015176302038[48] = 0.0; + out_6082546015176302038[49] = 0.0; + out_6082546015176302038[50] = 1.0; + out_6082546015176302038[51] = 0.0; + out_6082546015176302038[52] = 0.0; + out_6082546015176302038[53] = 0.0; + out_6082546015176302038[54] = 0.0; + out_6082546015176302038[55] = 0.0; + out_6082546015176302038[56] = 0.0; + out_6082546015176302038[57] = 0.0; + out_6082546015176302038[58] = 0.0; + out_6082546015176302038[59] = 0.0; + out_6082546015176302038[60] = 1.0; + out_6082546015176302038[61] = 0.0; + out_6082546015176302038[62] = 0.0; + out_6082546015176302038[63] = 0.0; + out_6082546015176302038[64] = 0.0; + out_6082546015176302038[65] = 0.0; + out_6082546015176302038[66] = 0.0; + out_6082546015176302038[67] = 0.0; + out_6082546015176302038[68] = 0.0; + out_6082546015176302038[69] = 0.0; + out_6082546015176302038[70] = 1.0; + out_6082546015176302038[71] = 0.0; + out_6082546015176302038[72] = 0.0; + out_6082546015176302038[73] = 0.0; + out_6082546015176302038[74] = 0.0; + out_6082546015176302038[75] = 0.0; + out_6082546015176302038[76] = 0.0; + out_6082546015176302038[77] = 0.0; + out_6082546015176302038[78] = 0.0; + out_6082546015176302038[79] = 0.0; + out_6082546015176302038[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8892385645104681966) { - out_8892385645104681966[0] = state[0]; - out_8892385645104681966[1] = state[1]; - out_8892385645104681966[2] = state[2]; - out_8892385645104681966[3] = state[3]; - out_8892385645104681966[4] = state[4]; - out_8892385645104681966[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_8892385645104681966[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_8892385645104681966[7] = state[7]; - out_8892385645104681966[8] = state[8]; +void f_fun(double *state, double dt, double *out_6850955649577617071) { + out_6850955649577617071[0] = state[0]; + out_6850955649577617071[1] = state[1]; + out_6850955649577617071[2] = state[2]; + out_6850955649577617071[3] = state[3]; + out_6850955649577617071[4] = state[4]; + out_6850955649577617071[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_6850955649577617071[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_6850955649577617071[7] = state[7]; + out_6850955649577617071[8] = state[8]; } -void F_fun(double *state, double dt, double *out_8140915848168938492) { - out_8140915848168938492[0] = 1; - out_8140915848168938492[1] = 0; - out_8140915848168938492[2] = 0; - out_8140915848168938492[3] = 0; - out_8140915848168938492[4] = 0; - out_8140915848168938492[5] = 0; - out_8140915848168938492[6] = 0; - out_8140915848168938492[7] = 0; - out_8140915848168938492[8] = 0; - out_8140915848168938492[9] = 0; - out_8140915848168938492[10] = 1; - out_8140915848168938492[11] = 0; - out_8140915848168938492[12] = 0; - out_8140915848168938492[13] = 0; - out_8140915848168938492[14] = 0; - out_8140915848168938492[15] = 0; - out_8140915848168938492[16] = 0; - out_8140915848168938492[17] = 0; - out_8140915848168938492[18] = 0; - out_8140915848168938492[19] = 0; - out_8140915848168938492[20] = 1; - out_8140915848168938492[21] = 0; - out_8140915848168938492[22] = 0; - out_8140915848168938492[23] = 0; - out_8140915848168938492[24] = 0; - out_8140915848168938492[25] = 0; - out_8140915848168938492[26] = 0; - out_8140915848168938492[27] = 0; - out_8140915848168938492[28] = 0; - out_8140915848168938492[29] = 0; - out_8140915848168938492[30] = 1; - out_8140915848168938492[31] = 0; - out_8140915848168938492[32] = 0; - out_8140915848168938492[33] = 0; - out_8140915848168938492[34] = 0; - out_8140915848168938492[35] = 0; - out_8140915848168938492[36] = 0; - out_8140915848168938492[37] = 0; - out_8140915848168938492[38] = 0; - out_8140915848168938492[39] = 0; - out_8140915848168938492[40] = 1; - out_8140915848168938492[41] = 0; - out_8140915848168938492[42] = 0; - out_8140915848168938492[43] = 0; - out_8140915848168938492[44] = 0; - out_8140915848168938492[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_8140915848168938492[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8140915848168938492[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8140915848168938492[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8140915848168938492[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_8140915848168938492[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8140915848168938492[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8140915848168938492[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8140915848168938492[53] = -9.8100000000000005*dt; - out_8140915848168938492[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_8140915848168938492[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8140915848168938492[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8140915848168938492[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8140915848168938492[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_8140915848168938492[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8140915848168938492[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_8140915848168938492[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8140915848168938492[62] = 0; - out_8140915848168938492[63] = 0; - out_8140915848168938492[64] = 0; - out_8140915848168938492[65] = 0; - out_8140915848168938492[66] = 0; - out_8140915848168938492[67] = 0; - out_8140915848168938492[68] = 0; - out_8140915848168938492[69] = 0; - out_8140915848168938492[70] = 1; - out_8140915848168938492[71] = 0; - out_8140915848168938492[72] = 0; - out_8140915848168938492[73] = 0; - out_8140915848168938492[74] = 0; - out_8140915848168938492[75] = 0; - out_8140915848168938492[76] = 0; - out_8140915848168938492[77] = 0; - out_8140915848168938492[78] = 0; - out_8140915848168938492[79] = 0; - out_8140915848168938492[80] = 1; +void F_fun(double *state, double dt, double *out_6972181184240044918) { + out_6972181184240044918[0] = 1; + out_6972181184240044918[1] = 0; + out_6972181184240044918[2] = 0; + out_6972181184240044918[3] = 0; + out_6972181184240044918[4] = 0; + out_6972181184240044918[5] = 0; + out_6972181184240044918[6] = 0; + out_6972181184240044918[7] = 0; + out_6972181184240044918[8] = 0; + out_6972181184240044918[9] = 0; + out_6972181184240044918[10] = 1; + out_6972181184240044918[11] = 0; + out_6972181184240044918[12] = 0; + out_6972181184240044918[13] = 0; + out_6972181184240044918[14] = 0; + out_6972181184240044918[15] = 0; + out_6972181184240044918[16] = 0; + out_6972181184240044918[17] = 0; + out_6972181184240044918[18] = 0; + out_6972181184240044918[19] = 0; + out_6972181184240044918[20] = 1; + out_6972181184240044918[21] = 0; + out_6972181184240044918[22] = 0; + out_6972181184240044918[23] = 0; + out_6972181184240044918[24] = 0; + out_6972181184240044918[25] = 0; + out_6972181184240044918[26] = 0; + out_6972181184240044918[27] = 0; + out_6972181184240044918[28] = 0; + out_6972181184240044918[29] = 0; + out_6972181184240044918[30] = 1; + out_6972181184240044918[31] = 0; + out_6972181184240044918[32] = 0; + out_6972181184240044918[33] = 0; + out_6972181184240044918[34] = 0; + out_6972181184240044918[35] = 0; + out_6972181184240044918[36] = 0; + out_6972181184240044918[37] = 0; + out_6972181184240044918[38] = 0; + out_6972181184240044918[39] = 0; + out_6972181184240044918[40] = 1; + out_6972181184240044918[41] = 0; + out_6972181184240044918[42] = 0; + out_6972181184240044918[43] = 0; + out_6972181184240044918[44] = 0; + out_6972181184240044918[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_6972181184240044918[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6972181184240044918[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6972181184240044918[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6972181184240044918[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_6972181184240044918[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6972181184240044918[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6972181184240044918[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6972181184240044918[53] = -9.8100000000000005*dt; + out_6972181184240044918[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_6972181184240044918[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6972181184240044918[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6972181184240044918[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6972181184240044918[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_6972181184240044918[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6972181184240044918[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_6972181184240044918[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6972181184240044918[62] = 0; + out_6972181184240044918[63] = 0; + out_6972181184240044918[64] = 0; + out_6972181184240044918[65] = 0; + out_6972181184240044918[66] = 0; + out_6972181184240044918[67] = 0; + out_6972181184240044918[68] = 0; + out_6972181184240044918[69] = 0; + out_6972181184240044918[70] = 1; + out_6972181184240044918[71] = 0; + out_6972181184240044918[72] = 0; + out_6972181184240044918[73] = 0; + out_6972181184240044918[74] = 0; + out_6972181184240044918[75] = 0; + out_6972181184240044918[76] = 0; + out_6972181184240044918[77] = 0; + out_6972181184240044918[78] = 0; + out_6972181184240044918[79] = 0; + out_6972181184240044918[80] = 1; } -void h_25(double *state, double *unused, double *out_7505552333880797139) { - out_7505552333880797139[0] = state[6]; +void h_25(double *state, double *unused, double *out_6429787098118084800) { + out_6429787098118084800[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1893586668788052765) { - out_1893586668788052765[0] = 0; - out_1893586668788052765[1] = 0; - out_1893586668788052765[2] = 0; - out_1893586668788052765[3] = 0; - out_1893586668788052765[4] = 0; - out_1893586668788052765[5] = 0; - out_1893586668788052765[6] = 1; - out_1893586668788052765[7] = 0; - out_1893586668788052765[8] = 0; +void H_25(double *state, double *unused, double *out_3171009832621012341) { + out_3171009832621012341[0] = 0; + out_3171009832621012341[1] = 0; + out_3171009832621012341[2] = 0; + out_3171009832621012341[3] = 0; + out_3171009832621012341[4] = 0; + out_3171009832621012341[5] = 0; + out_3171009832621012341[6] = 1; + out_3171009832621012341[7] = 0; + out_3171009832621012341[8] = 0; } -void h_24(double *state, double *unused, double *out_6517755359246205097) { - out_6517755359246205097[0] = state[4]; - out_6517755359246205097[1] = state[5]; +void h_24(double *state, double *unused, double *out_6701597119184761045) { + out_6701597119184761045[0] = state[4]; + out_6701597119184761045[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1664338930014270371) { - out_1664338930014270371[0] = 0; - out_1664338930014270371[1] = 0; - out_1664338930014270371[2] = 0; - out_1664338930014270371[3] = 0; - out_1664338930014270371[4] = 1; - out_1664338930014270371[5] = 0; - out_1664338930014270371[6] = 0; - out_1664338930014270371[7] = 0; - out_1664338930014270371[8] = 0; - out_1664338930014270371[9] = 0; - out_1664338930014270371[10] = 0; - out_1664338930014270371[11] = 0; - out_1664338930014270371[12] = 0; - out_1664338930014270371[13] = 0; - out_1664338930014270371[14] = 1; - out_1664338930014270371[15] = 0; - out_1664338930014270371[16] = 0; - out_1664338930014270371[17] = 0; +void H_24(double *state, double *unused, double *out_998360233615512775) { + out_998360233615512775[0] = 0; + out_998360233615512775[1] = 0; + out_998360233615512775[2] = 0; + out_998360233615512775[3] = 0; + out_998360233615512775[4] = 1; + out_998360233615512775[5] = 0; + out_998360233615512775[6] = 0; + out_998360233615512775[7] = 0; + out_998360233615512775[8] = 0; + out_998360233615512775[9] = 0; + out_998360233615512775[10] = 0; + out_998360233615512775[11] = 0; + out_998360233615512775[12] = 0; + out_998360233615512775[13] = 0; + out_998360233615512775[14] = 1; + out_998360233615512775[15] = 0; + out_998360233615512775[16] = 0; + out_998360233615512775[17] = 0; } -void h_30(double *state, double *unused, double *out_5415134303277731364) { - out_5415134303277731364[0] = state[4]; +void h_30(double *state, double *unused, double *out_5049641810910434322) { + out_5049641810910434322[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2022925615931292835) { - out_2022925615931292835[0] = 0; - out_2022925615931292835[1] = 0; - out_2022925615931292835[2] = 0; - out_2022925615931292835[3] = 0; - out_2022925615931292835[4] = 1; - out_2022925615931292835[5] = 0; - out_2022925615931292835[6] = 0; - out_2022925615931292835[7] = 0; - out_2022925615931292835[8] = 0; +void H_30(double *state, double *unused, double *out_8359043899596922520) { + out_8359043899596922520[0] = 0; + out_8359043899596922520[1] = 0; + out_8359043899596922520[2] = 0; + out_8359043899596922520[3] = 0; + out_8359043899596922520[4] = 1; + out_8359043899596922520[5] = 0; + out_8359043899596922520[6] = 0; + out_8359043899596922520[7] = 0; + out_8359043899596922520[8] = 0; } -void h_26(double *state, double *unused, double *out_6358644156179393799) { - out_6358644156179393799[0] = state[7]; +void h_26(double *state, double *unused, double *out_1349399706503414824) { + out_1349399706503414824[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5635089987662108989) { - out_5635089987662108989[0] = 0; - out_5635089987662108989[1] = 0; - out_5635089987662108989[2] = 0; - out_5635089987662108989[3] = 0; - out_5635089987662108989[4] = 0; - out_5635089987662108989[5] = 0; - out_5635089987662108989[6] = 0; - out_5635089987662108989[7] = 1; - out_5635089987662108989[8] = 0; +void H_26(double *state, double *unused, double *out_570493486253043883) { + out_570493486253043883[0] = 0; + out_570493486253043883[1] = 0; + out_570493486253043883[2] = 0; + out_570493486253043883[3] = 0; + out_570493486253043883[4] = 0; + out_570493486253043883[5] = 0; + out_570493486253043883[6] = 0; + out_570493486253043883[7] = 1; + out_570493486253043883[8] = 0; } -void h_27(double *state, double *unused, double *out_2535534920184527824) { - out_2535534920184527824[0] = state[3]; +void h_27(double *state, double *unused, double *out_1467407100436791568) { + out_1467407100436791568[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4197688927731717746) { - out_4197688927731717746[0] = 0; - out_4197688927731717746[1] = 0; - out_4197688927731717746[2] = 0; - out_4197688927731717746[3] = 1; - out_4197688927731717746[4] = 0; - out_4197688927731717746[5] = 0; - out_4197688927731717746[6] = 0; - out_4197688927731717746[7] = 0; - out_4197688927731717746[8] = 0; +void H_27(double *state, double *unused, double *out_866907573677347360) { + out_866907573677347360[0] = 0; + out_866907573677347360[1] = 0; + out_866907573677347360[2] = 0; + out_866907573677347360[3] = 1; + out_866907573677347360[4] = 0; + out_866907573677347360[5] = 0; + out_866907573677347360[6] = 0; + out_866907573677347360[7] = 0; + out_866907573677347360[8] = 0; } -void h_29(double *state, double *unused, double *out_443846924135533467) { - out_443846924135533467[0] = state[1]; +void h_29(double *state, double *unused, double *out_5993151663812096757) { + out_5993151663812096757[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1512694271616900651) { - out_1512694271616900651[0] = 0; - out_1512694271616900651[1] = 1; - out_1512694271616900651[2] = 0; - out_1512694271616900651[3] = 0; - out_1512694271616900651[4] = 0; - out_1512694271616900651[5] = 0; - out_1512694271616900651[6] = 0; - out_1512694271616900651[7] = 0; - out_1512694271616900651[8] = 0; +void H_29(double *state, double *unused, double *out_846455153192203673) { + out_846455153192203673[0] = 0; + out_846455153192203673[1] = 1; + out_846455153192203673[2] = 0; + out_846455153192203673[3] = 0; + out_846455153192203673[4] = 0; + out_846455153192203673[5] = 0; + out_846455153192203673[6] = 0; + out_846455153192203673[7] = 0; + out_846455153192203673[8] = 0; } -void h_28(double *state, double *unused, double *out_7537208187845373469) { - out_7537208187845373469[0] = state[0]; +void h_28(double *state, double *unused, double *out_1136998220371906083) { + out_1136998220371906083[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6595093288686431225) { - out_6595093288686431225[0] = 1; - out_6595093288686431225[1] = 0; - out_6595093288686431225[2] = 0; - out_6595093288686431225[3] = 0; - out_6595093288686431225[4] = 0; - out_6595093288686431225[5] = 0; - out_6595093288686431225[6] = 0; - out_6595093288686431225[7] = 0; - out_6595093288686431225[8] = 0; +void H_28(double *state, double *unused, double *out_1117175118373122578) { + out_1117175118373122578[0] = 1; + out_1117175118373122578[1] = 0; + out_1117175118373122578[2] = 0; + out_1117175118373122578[3] = 0; + out_1117175118373122578[4] = 0; + out_1117175118373122578[5] = 0; + out_1117175118373122578[6] = 0; + out_1117175118373122578[7] = 0; + out_1117175118373122578[8] = 0; } -void h_31(double *state, double *unused, double *out_6103587875730340171) { - out_6103587875730340171[0] = state[8]; +void h_31(double *state, double *unused, double *out_4228999089596618364) { + out_4228999089596618364[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1862940706911092337) { - out_1862940706911092337[0] = 0; - out_1862940706911092337[1] = 0; - out_1862940706911092337[2] = 0; - out_1862940706911092337[3] = 0; - out_1862940706911092337[4] = 0; - out_1862940706911092337[5] = 0; - out_1862940706911092337[6] = 0; - out_1862940706911092337[7] = 0; - out_1862940706911092337[8] = 1; +void H_31(double *state, double *unused, double *out_3201655794497972769) { + out_3201655794497972769[0] = 0; + out_3201655794497972769[1] = 0; + out_3201655794497972769[2] = 0; + out_3201655794497972769[3] = 0; + out_3201655794497972769[4] = 0; + out_3201655794497972769[5] = 0; + out_3201655794497972769[6] = 0; + out_3201655794497972769[7] = 0; + out_3201655794497972769[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_2605865889076671127) { - err_fun(nom_x, delta_x, out_2605865889076671127); +void car_err_fun(double *nom_x, double *delta_x, double *out_7839106046248465839) { + err_fun(nom_x, delta_x, out_7839106046248465839); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6092587495462394066) { - inv_err_fun(nom_x, true_x, out_6092587495462394066); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_31659364612209693) { + inv_err_fun(nom_x, true_x, out_31659364612209693); } -void car_H_mod_fun(double *state, double *out_5416567318777544442) { - H_mod_fun(state, out_5416567318777544442); +void car_H_mod_fun(double *state, double *out_6082546015176302038) { + H_mod_fun(state, out_6082546015176302038); } -void car_f_fun(double *state, double dt, double *out_8892385645104681966) { - f_fun(state, dt, out_8892385645104681966); +void car_f_fun(double *state, double dt, double *out_6850955649577617071) { + f_fun(state, dt, out_6850955649577617071); } -void car_F_fun(double *state, double dt, double *out_8140915848168938492) { - F_fun(state, dt, out_8140915848168938492); +void car_F_fun(double *state, double dt, double *out_6972181184240044918) { + F_fun(state, dt, out_6972181184240044918); } -void car_h_25(double *state, double *unused, double *out_7505552333880797139) { - h_25(state, unused, out_7505552333880797139); +void car_h_25(double *state, double *unused, double *out_6429787098118084800) { + h_25(state, unused, out_6429787098118084800); } -void car_H_25(double *state, double *unused, double *out_1893586668788052765) { - H_25(state, unused, out_1893586668788052765); +void car_H_25(double *state, double *unused, double *out_3171009832621012341) { + H_25(state, unused, out_3171009832621012341); } -void car_h_24(double *state, double *unused, double *out_6517755359246205097) { - h_24(state, unused, out_6517755359246205097); +void car_h_24(double *state, double *unused, double *out_6701597119184761045) { + h_24(state, unused, out_6701597119184761045); } -void car_H_24(double *state, double *unused, double *out_1664338930014270371) { - H_24(state, unused, out_1664338930014270371); +void car_H_24(double *state, double *unused, double *out_998360233615512775) { + H_24(state, unused, out_998360233615512775); } -void car_h_30(double *state, double *unused, double *out_5415134303277731364) { - h_30(state, unused, out_5415134303277731364); +void car_h_30(double *state, double *unused, double *out_5049641810910434322) { + h_30(state, unused, out_5049641810910434322); } -void car_H_30(double *state, double *unused, double *out_2022925615931292835) { - H_30(state, unused, out_2022925615931292835); +void car_H_30(double *state, double *unused, double *out_8359043899596922520) { + H_30(state, unused, out_8359043899596922520); } -void car_h_26(double *state, double *unused, double *out_6358644156179393799) { - h_26(state, unused, out_6358644156179393799); +void car_h_26(double *state, double *unused, double *out_1349399706503414824) { + h_26(state, unused, out_1349399706503414824); } -void car_H_26(double *state, double *unused, double *out_5635089987662108989) { - H_26(state, unused, out_5635089987662108989); +void car_H_26(double *state, double *unused, double *out_570493486253043883) { + H_26(state, unused, out_570493486253043883); } -void car_h_27(double *state, double *unused, double *out_2535534920184527824) { - h_27(state, unused, out_2535534920184527824); +void car_h_27(double *state, double *unused, double *out_1467407100436791568) { + h_27(state, unused, out_1467407100436791568); } -void car_H_27(double *state, double *unused, double *out_4197688927731717746) { - H_27(state, unused, out_4197688927731717746); +void car_H_27(double *state, double *unused, double *out_866907573677347360) { + H_27(state, unused, out_866907573677347360); } -void car_h_29(double *state, double *unused, double *out_443846924135533467) { - h_29(state, unused, out_443846924135533467); +void car_h_29(double *state, double *unused, double *out_5993151663812096757) { + h_29(state, unused, out_5993151663812096757); } -void car_H_29(double *state, double *unused, double *out_1512694271616900651) { - H_29(state, unused, out_1512694271616900651); +void car_H_29(double *state, double *unused, double *out_846455153192203673) { + H_29(state, unused, out_846455153192203673); } -void car_h_28(double *state, double *unused, double *out_7537208187845373469) { - h_28(state, unused, out_7537208187845373469); +void car_h_28(double *state, double *unused, double *out_1136998220371906083) { + h_28(state, unused, out_1136998220371906083); } -void car_H_28(double *state, double *unused, double *out_6595093288686431225) { - H_28(state, unused, out_6595093288686431225); +void car_H_28(double *state, double *unused, double *out_1117175118373122578) { + H_28(state, unused, out_1117175118373122578); } -void car_h_31(double *state, double *unused, double *out_6103587875730340171) { - h_31(state, unused, out_6103587875730340171); +void car_h_31(double *state, double *unused, double *out_4228999089596618364) { + h_31(state, unused, out_4228999089596618364); } -void car_H_31(double *state, double *unused, double *out_1862940706911092337) { - H_31(state, unused, out_1862940706911092337); +void car_H_31(double *state, double *unused, double *out_3201655794497972769) { + H_31(state, unused, out_3201655794497972769); } 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 8e9cc3c0e..4861d9454 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_2605865889076671127); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6092587495462394066); -void car_H_mod_fun(double *state, double *out_5416567318777544442); -void car_f_fun(double *state, double dt, double *out_8892385645104681966); -void car_F_fun(double *state, double dt, double *out_8140915848168938492); -void car_h_25(double *state, double *unused, double *out_7505552333880797139); -void car_H_25(double *state, double *unused, double *out_1893586668788052765); -void car_h_24(double *state, double *unused, double *out_6517755359246205097); -void car_H_24(double *state, double *unused, double *out_1664338930014270371); -void car_h_30(double *state, double *unused, double *out_5415134303277731364); -void car_H_30(double *state, double *unused, double *out_2022925615931292835); -void car_h_26(double *state, double *unused, double *out_6358644156179393799); -void car_H_26(double *state, double *unused, double *out_5635089987662108989); -void car_h_27(double *state, double *unused, double *out_2535534920184527824); -void car_H_27(double *state, double *unused, double *out_4197688927731717746); -void car_h_29(double *state, double *unused, double *out_443846924135533467); -void car_H_29(double *state, double *unused, double *out_1512694271616900651); -void car_h_28(double *state, double *unused, double *out_7537208187845373469); -void car_H_28(double *state, double *unused, double *out_6595093288686431225); -void car_h_31(double *state, double *unused, double *out_6103587875730340171); -void car_H_31(double *state, double *unused, double *out_1862940706911092337); +void car_err_fun(double *nom_x, double *delta_x, double *out_7839106046248465839); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_31659364612209693); +void car_H_mod_fun(double *state, double *out_6082546015176302038); +void car_f_fun(double *state, double dt, double *out_6850955649577617071); +void car_F_fun(double *state, double dt, double *out_6972181184240044918); +void car_h_25(double *state, double *unused, double *out_6429787098118084800); +void car_H_25(double *state, double *unused, double *out_3171009832621012341); +void car_h_24(double *state, double *unused, double *out_6701597119184761045); +void car_H_24(double *state, double *unused, double *out_998360233615512775); +void car_h_30(double *state, double *unused, double *out_5049641810910434322); +void car_H_30(double *state, double *unused, double *out_8359043899596922520); +void car_h_26(double *state, double *unused, double *out_1349399706503414824); +void car_H_26(double *state, double *unused, double *out_570493486253043883); +void car_h_27(double *state, double *unused, double *out_1467407100436791568); +void car_H_27(double *state, double *unused, double *out_866907573677347360); +void car_h_29(double *state, double *unused, double *out_5993151663812096757); +void car_H_29(double *state, double *unused, double *out_846455153192203673); +void car_h_28(double *state, double *unused, double *out_1136998220371906083); +void car_H_28(double *state, double *unused, double *out_1117175118373122578); +void car_h_31(double *state, double *unused, double *out_4228999089596618364); +void car_H_31(double *state, double *unused, double *out_3201655794497972769); 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 d423b5e27..c02201ed5 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_5135933030950096940) { - out_5135933030950096940[0] = delta_x[0] + nom_x[0]; - out_5135933030950096940[1] = delta_x[1] + nom_x[1]; - out_5135933030950096940[2] = delta_x[2] + nom_x[2]; - out_5135933030950096940[3] = delta_x[3] + nom_x[3]; - out_5135933030950096940[4] = delta_x[4] + nom_x[4]; - out_5135933030950096940[5] = delta_x[5] + nom_x[5]; - out_5135933030950096940[6] = delta_x[6] + nom_x[6]; - out_5135933030950096940[7] = delta_x[7] + nom_x[7]; - out_5135933030950096940[8] = delta_x[8] + nom_x[8]; - out_5135933030950096940[9] = delta_x[9] + nom_x[9]; - out_5135933030950096940[10] = delta_x[10] + nom_x[10]; - out_5135933030950096940[11] = delta_x[11] + nom_x[11]; - out_5135933030950096940[12] = delta_x[12] + nom_x[12]; - out_5135933030950096940[13] = delta_x[13] + nom_x[13]; - out_5135933030950096940[14] = delta_x[14] + nom_x[14]; - out_5135933030950096940[15] = delta_x[15] + nom_x[15]; - out_5135933030950096940[16] = delta_x[16] + nom_x[16]; - out_5135933030950096940[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3316982698909296372) { + out_3316982698909296372[0] = delta_x[0] + nom_x[0]; + out_3316982698909296372[1] = delta_x[1] + nom_x[1]; + out_3316982698909296372[2] = delta_x[2] + nom_x[2]; + out_3316982698909296372[3] = delta_x[3] + nom_x[3]; + out_3316982698909296372[4] = delta_x[4] + nom_x[4]; + out_3316982698909296372[5] = delta_x[5] + nom_x[5]; + out_3316982698909296372[6] = delta_x[6] + nom_x[6]; + out_3316982698909296372[7] = delta_x[7] + nom_x[7]; + out_3316982698909296372[8] = delta_x[8] + nom_x[8]; + out_3316982698909296372[9] = delta_x[9] + nom_x[9]; + out_3316982698909296372[10] = delta_x[10] + nom_x[10]; + out_3316982698909296372[11] = delta_x[11] + nom_x[11]; + out_3316982698909296372[12] = delta_x[12] + nom_x[12]; + out_3316982698909296372[13] = delta_x[13] + nom_x[13]; + out_3316982698909296372[14] = delta_x[14] + nom_x[14]; + out_3316982698909296372[15] = delta_x[15] + nom_x[15]; + out_3316982698909296372[16] = delta_x[16] + nom_x[16]; + out_3316982698909296372[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4473434694497561565) { - out_4473434694497561565[0] = -nom_x[0] + true_x[0]; - out_4473434694497561565[1] = -nom_x[1] + true_x[1]; - out_4473434694497561565[2] = -nom_x[2] + true_x[2]; - out_4473434694497561565[3] = -nom_x[3] + true_x[3]; - out_4473434694497561565[4] = -nom_x[4] + true_x[4]; - out_4473434694497561565[5] = -nom_x[5] + true_x[5]; - out_4473434694497561565[6] = -nom_x[6] + true_x[6]; - out_4473434694497561565[7] = -nom_x[7] + true_x[7]; - out_4473434694497561565[8] = -nom_x[8] + true_x[8]; - out_4473434694497561565[9] = -nom_x[9] + true_x[9]; - out_4473434694497561565[10] = -nom_x[10] + true_x[10]; - out_4473434694497561565[11] = -nom_x[11] + true_x[11]; - out_4473434694497561565[12] = -nom_x[12] + true_x[12]; - out_4473434694497561565[13] = -nom_x[13] + true_x[13]; - out_4473434694497561565[14] = -nom_x[14] + true_x[14]; - out_4473434694497561565[15] = -nom_x[15] + true_x[15]; - out_4473434694497561565[16] = -nom_x[16] + true_x[16]; - out_4473434694497561565[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_875278244398304479) { + out_875278244398304479[0] = -nom_x[0] + true_x[0]; + out_875278244398304479[1] = -nom_x[1] + true_x[1]; + out_875278244398304479[2] = -nom_x[2] + true_x[2]; + out_875278244398304479[3] = -nom_x[3] + true_x[3]; + out_875278244398304479[4] = -nom_x[4] + true_x[4]; + out_875278244398304479[5] = -nom_x[5] + true_x[5]; + out_875278244398304479[6] = -nom_x[6] + true_x[6]; + out_875278244398304479[7] = -nom_x[7] + true_x[7]; + out_875278244398304479[8] = -nom_x[8] + true_x[8]; + out_875278244398304479[9] = -nom_x[9] + true_x[9]; + out_875278244398304479[10] = -nom_x[10] + true_x[10]; + out_875278244398304479[11] = -nom_x[11] + true_x[11]; + out_875278244398304479[12] = -nom_x[12] + true_x[12]; + out_875278244398304479[13] = -nom_x[13] + true_x[13]; + out_875278244398304479[14] = -nom_x[14] + true_x[14]; + out_875278244398304479[15] = -nom_x[15] + true_x[15]; + out_875278244398304479[16] = -nom_x[16] + true_x[16]; + out_875278244398304479[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4955206330411314418) { - out_4955206330411314418[0] = 1.0; - out_4955206330411314418[1] = 0.0; - out_4955206330411314418[2] = 0.0; - out_4955206330411314418[3] = 0.0; - out_4955206330411314418[4] = 0.0; - out_4955206330411314418[5] = 0.0; - out_4955206330411314418[6] = 0.0; - out_4955206330411314418[7] = 0.0; - out_4955206330411314418[8] = 0.0; - out_4955206330411314418[9] = 0.0; - out_4955206330411314418[10] = 0.0; - out_4955206330411314418[11] = 0.0; - out_4955206330411314418[12] = 0.0; - out_4955206330411314418[13] = 0.0; - out_4955206330411314418[14] = 0.0; - out_4955206330411314418[15] = 0.0; - out_4955206330411314418[16] = 0.0; - out_4955206330411314418[17] = 0.0; - out_4955206330411314418[18] = 0.0; - out_4955206330411314418[19] = 1.0; - out_4955206330411314418[20] = 0.0; - out_4955206330411314418[21] = 0.0; - out_4955206330411314418[22] = 0.0; - out_4955206330411314418[23] = 0.0; - out_4955206330411314418[24] = 0.0; - out_4955206330411314418[25] = 0.0; - out_4955206330411314418[26] = 0.0; - out_4955206330411314418[27] = 0.0; - out_4955206330411314418[28] = 0.0; - out_4955206330411314418[29] = 0.0; - out_4955206330411314418[30] = 0.0; - out_4955206330411314418[31] = 0.0; - out_4955206330411314418[32] = 0.0; - out_4955206330411314418[33] = 0.0; - out_4955206330411314418[34] = 0.0; - out_4955206330411314418[35] = 0.0; - out_4955206330411314418[36] = 0.0; - out_4955206330411314418[37] = 0.0; - out_4955206330411314418[38] = 1.0; - out_4955206330411314418[39] = 0.0; - out_4955206330411314418[40] = 0.0; - out_4955206330411314418[41] = 0.0; - out_4955206330411314418[42] = 0.0; - out_4955206330411314418[43] = 0.0; - out_4955206330411314418[44] = 0.0; - out_4955206330411314418[45] = 0.0; - out_4955206330411314418[46] = 0.0; - out_4955206330411314418[47] = 0.0; - out_4955206330411314418[48] = 0.0; - out_4955206330411314418[49] = 0.0; - out_4955206330411314418[50] = 0.0; - out_4955206330411314418[51] = 0.0; - out_4955206330411314418[52] = 0.0; - out_4955206330411314418[53] = 0.0; - out_4955206330411314418[54] = 0.0; - out_4955206330411314418[55] = 0.0; - out_4955206330411314418[56] = 0.0; - out_4955206330411314418[57] = 1.0; - out_4955206330411314418[58] = 0.0; - out_4955206330411314418[59] = 0.0; - out_4955206330411314418[60] = 0.0; - out_4955206330411314418[61] = 0.0; - out_4955206330411314418[62] = 0.0; - out_4955206330411314418[63] = 0.0; - out_4955206330411314418[64] = 0.0; - out_4955206330411314418[65] = 0.0; - out_4955206330411314418[66] = 0.0; - out_4955206330411314418[67] = 0.0; - out_4955206330411314418[68] = 0.0; - out_4955206330411314418[69] = 0.0; - out_4955206330411314418[70] = 0.0; - out_4955206330411314418[71] = 0.0; - out_4955206330411314418[72] = 0.0; - out_4955206330411314418[73] = 0.0; - out_4955206330411314418[74] = 0.0; - out_4955206330411314418[75] = 0.0; - out_4955206330411314418[76] = 1.0; - out_4955206330411314418[77] = 0.0; - out_4955206330411314418[78] = 0.0; - out_4955206330411314418[79] = 0.0; - out_4955206330411314418[80] = 0.0; - out_4955206330411314418[81] = 0.0; - out_4955206330411314418[82] = 0.0; - out_4955206330411314418[83] = 0.0; - out_4955206330411314418[84] = 0.0; - out_4955206330411314418[85] = 0.0; - out_4955206330411314418[86] = 0.0; - out_4955206330411314418[87] = 0.0; - out_4955206330411314418[88] = 0.0; - out_4955206330411314418[89] = 0.0; - out_4955206330411314418[90] = 0.0; - out_4955206330411314418[91] = 0.0; - out_4955206330411314418[92] = 0.0; - out_4955206330411314418[93] = 0.0; - out_4955206330411314418[94] = 0.0; - out_4955206330411314418[95] = 1.0; - out_4955206330411314418[96] = 0.0; - out_4955206330411314418[97] = 0.0; - out_4955206330411314418[98] = 0.0; - out_4955206330411314418[99] = 0.0; - out_4955206330411314418[100] = 0.0; - out_4955206330411314418[101] = 0.0; - out_4955206330411314418[102] = 0.0; - out_4955206330411314418[103] = 0.0; - out_4955206330411314418[104] = 0.0; - out_4955206330411314418[105] = 0.0; - out_4955206330411314418[106] = 0.0; - out_4955206330411314418[107] = 0.0; - out_4955206330411314418[108] = 0.0; - out_4955206330411314418[109] = 0.0; - out_4955206330411314418[110] = 0.0; - out_4955206330411314418[111] = 0.0; - out_4955206330411314418[112] = 0.0; - out_4955206330411314418[113] = 0.0; - out_4955206330411314418[114] = 1.0; - out_4955206330411314418[115] = 0.0; - out_4955206330411314418[116] = 0.0; - out_4955206330411314418[117] = 0.0; - out_4955206330411314418[118] = 0.0; - out_4955206330411314418[119] = 0.0; - out_4955206330411314418[120] = 0.0; - out_4955206330411314418[121] = 0.0; - out_4955206330411314418[122] = 0.0; - out_4955206330411314418[123] = 0.0; - out_4955206330411314418[124] = 0.0; - out_4955206330411314418[125] = 0.0; - out_4955206330411314418[126] = 0.0; - out_4955206330411314418[127] = 0.0; - out_4955206330411314418[128] = 0.0; - out_4955206330411314418[129] = 0.0; - out_4955206330411314418[130] = 0.0; - out_4955206330411314418[131] = 0.0; - out_4955206330411314418[132] = 0.0; - out_4955206330411314418[133] = 1.0; - out_4955206330411314418[134] = 0.0; - out_4955206330411314418[135] = 0.0; - out_4955206330411314418[136] = 0.0; - out_4955206330411314418[137] = 0.0; - out_4955206330411314418[138] = 0.0; - out_4955206330411314418[139] = 0.0; - out_4955206330411314418[140] = 0.0; - out_4955206330411314418[141] = 0.0; - out_4955206330411314418[142] = 0.0; - out_4955206330411314418[143] = 0.0; - out_4955206330411314418[144] = 0.0; - out_4955206330411314418[145] = 0.0; - out_4955206330411314418[146] = 0.0; - out_4955206330411314418[147] = 0.0; - out_4955206330411314418[148] = 0.0; - out_4955206330411314418[149] = 0.0; - out_4955206330411314418[150] = 0.0; - out_4955206330411314418[151] = 0.0; - out_4955206330411314418[152] = 1.0; - out_4955206330411314418[153] = 0.0; - out_4955206330411314418[154] = 0.0; - out_4955206330411314418[155] = 0.0; - out_4955206330411314418[156] = 0.0; - out_4955206330411314418[157] = 0.0; - out_4955206330411314418[158] = 0.0; - out_4955206330411314418[159] = 0.0; - out_4955206330411314418[160] = 0.0; - out_4955206330411314418[161] = 0.0; - out_4955206330411314418[162] = 0.0; - out_4955206330411314418[163] = 0.0; - out_4955206330411314418[164] = 0.0; - out_4955206330411314418[165] = 0.0; - out_4955206330411314418[166] = 0.0; - out_4955206330411314418[167] = 0.0; - out_4955206330411314418[168] = 0.0; - out_4955206330411314418[169] = 0.0; - out_4955206330411314418[170] = 0.0; - out_4955206330411314418[171] = 1.0; - out_4955206330411314418[172] = 0.0; - out_4955206330411314418[173] = 0.0; - out_4955206330411314418[174] = 0.0; - out_4955206330411314418[175] = 0.0; - out_4955206330411314418[176] = 0.0; - out_4955206330411314418[177] = 0.0; - out_4955206330411314418[178] = 0.0; - out_4955206330411314418[179] = 0.0; - out_4955206330411314418[180] = 0.0; - out_4955206330411314418[181] = 0.0; - out_4955206330411314418[182] = 0.0; - out_4955206330411314418[183] = 0.0; - out_4955206330411314418[184] = 0.0; - out_4955206330411314418[185] = 0.0; - out_4955206330411314418[186] = 0.0; - out_4955206330411314418[187] = 0.0; - out_4955206330411314418[188] = 0.0; - out_4955206330411314418[189] = 0.0; - out_4955206330411314418[190] = 1.0; - out_4955206330411314418[191] = 0.0; - out_4955206330411314418[192] = 0.0; - out_4955206330411314418[193] = 0.0; - out_4955206330411314418[194] = 0.0; - out_4955206330411314418[195] = 0.0; - out_4955206330411314418[196] = 0.0; - out_4955206330411314418[197] = 0.0; - out_4955206330411314418[198] = 0.0; - out_4955206330411314418[199] = 0.0; - out_4955206330411314418[200] = 0.0; - out_4955206330411314418[201] = 0.0; - out_4955206330411314418[202] = 0.0; - out_4955206330411314418[203] = 0.0; - out_4955206330411314418[204] = 0.0; - out_4955206330411314418[205] = 0.0; - out_4955206330411314418[206] = 0.0; - out_4955206330411314418[207] = 0.0; - out_4955206330411314418[208] = 0.0; - out_4955206330411314418[209] = 1.0; - out_4955206330411314418[210] = 0.0; - out_4955206330411314418[211] = 0.0; - out_4955206330411314418[212] = 0.0; - out_4955206330411314418[213] = 0.0; - out_4955206330411314418[214] = 0.0; - out_4955206330411314418[215] = 0.0; - out_4955206330411314418[216] = 0.0; - out_4955206330411314418[217] = 0.0; - out_4955206330411314418[218] = 0.0; - out_4955206330411314418[219] = 0.0; - out_4955206330411314418[220] = 0.0; - out_4955206330411314418[221] = 0.0; - out_4955206330411314418[222] = 0.0; - out_4955206330411314418[223] = 0.0; - out_4955206330411314418[224] = 0.0; - out_4955206330411314418[225] = 0.0; - out_4955206330411314418[226] = 0.0; - out_4955206330411314418[227] = 0.0; - out_4955206330411314418[228] = 1.0; - out_4955206330411314418[229] = 0.0; - out_4955206330411314418[230] = 0.0; - out_4955206330411314418[231] = 0.0; - out_4955206330411314418[232] = 0.0; - out_4955206330411314418[233] = 0.0; - out_4955206330411314418[234] = 0.0; - out_4955206330411314418[235] = 0.0; - out_4955206330411314418[236] = 0.0; - out_4955206330411314418[237] = 0.0; - out_4955206330411314418[238] = 0.0; - out_4955206330411314418[239] = 0.0; - out_4955206330411314418[240] = 0.0; - out_4955206330411314418[241] = 0.0; - out_4955206330411314418[242] = 0.0; - out_4955206330411314418[243] = 0.0; - out_4955206330411314418[244] = 0.0; - out_4955206330411314418[245] = 0.0; - out_4955206330411314418[246] = 0.0; - out_4955206330411314418[247] = 1.0; - out_4955206330411314418[248] = 0.0; - out_4955206330411314418[249] = 0.0; - out_4955206330411314418[250] = 0.0; - out_4955206330411314418[251] = 0.0; - out_4955206330411314418[252] = 0.0; - out_4955206330411314418[253] = 0.0; - out_4955206330411314418[254] = 0.0; - out_4955206330411314418[255] = 0.0; - out_4955206330411314418[256] = 0.0; - out_4955206330411314418[257] = 0.0; - out_4955206330411314418[258] = 0.0; - out_4955206330411314418[259] = 0.0; - out_4955206330411314418[260] = 0.0; - out_4955206330411314418[261] = 0.0; - out_4955206330411314418[262] = 0.0; - out_4955206330411314418[263] = 0.0; - out_4955206330411314418[264] = 0.0; - out_4955206330411314418[265] = 0.0; - out_4955206330411314418[266] = 1.0; - out_4955206330411314418[267] = 0.0; - out_4955206330411314418[268] = 0.0; - out_4955206330411314418[269] = 0.0; - out_4955206330411314418[270] = 0.0; - out_4955206330411314418[271] = 0.0; - out_4955206330411314418[272] = 0.0; - out_4955206330411314418[273] = 0.0; - out_4955206330411314418[274] = 0.0; - out_4955206330411314418[275] = 0.0; - out_4955206330411314418[276] = 0.0; - out_4955206330411314418[277] = 0.0; - out_4955206330411314418[278] = 0.0; - out_4955206330411314418[279] = 0.0; - out_4955206330411314418[280] = 0.0; - out_4955206330411314418[281] = 0.0; - out_4955206330411314418[282] = 0.0; - out_4955206330411314418[283] = 0.0; - out_4955206330411314418[284] = 0.0; - out_4955206330411314418[285] = 1.0; - out_4955206330411314418[286] = 0.0; - out_4955206330411314418[287] = 0.0; - out_4955206330411314418[288] = 0.0; - out_4955206330411314418[289] = 0.0; - out_4955206330411314418[290] = 0.0; - out_4955206330411314418[291] = 0.0; - out_4955206330411314418[292] = 0.0; - out_4955206330411314418[293] = 0.0; - out_4955206330411314418[294] = 0.0; - out_4955206330411314418[295] = 0.0; - out_4955206330411314418[296] = 0.0; - out_4955206330411314418[297] = 0.0; - out_4955206330411314418[298] = 0.0; - out_4955206330411314418[299] = 0.0; - out_4955206330411314418[300] = 0.0; - out_4955206330411314418[301] = 0.0; - out_4955206330411314418[302] = 0.0; - out_4955206330411314418[303] = 0.0; - out_4955206330411314418[304] = 1.0; - out_4955206330411314418[305] = 0.0; - out_4955206330411314418[306] = 0.0; - out_4955206330411314418[307] = 0.0; - out_4955206330411314418[308] = 0.0; - out_4955206330411314418[309] = 0.0; - out_4955206330411314418[310] = 0.0; - out_4955206330411314418[311] = 0.0; - out_4955206330411314418[312] = 0.0; - out_4955206330411314418[313] = 0.0; - out_4955206330411314418[314] = 0.0; - out_4955206330411314418[315] = 0.0; - out_4955206330411314418[316] = 0.0; - out_4955206330411314418[317] = 0.0; - out_4955206330411314418[318] = 0.0; - out_4955206330411314418[319] = 0.0; - out_4955206330411314418[320] = 0.0; - out_4955206330411314418[321] = 0.0; - out_4955206330411314418[322] = 0.0; - out_4955206330411314418[323] = 1.0; +void H_mod_fun(double *state, double *out_4269788700262626124) { + out_4269788700262626124[0] = 1.0; + out_4269788700262626124[1] = 0.0; + out_4269788700262626124[2] = 0.0; + out_4269788700262626124[3] = 0.0; + out_4269788700262626124[4] = 0.0; + out_4269788700262626124[5] = 0.0; + out_4269788700262626124[6] = 0.0; + out_4269788700262626124[7] = 0.0; + out_4269788700262626124[8] = 0.0; + out_4269788700262626124[9] = 0.0; + out_4269788700262626124[10] = 0.0; + out_4269788700262626124[11] = 0.0; + out_4269788700262626124[12] = 0.0; + out_4269788700262626124[13] = 0.0; + out_4269788700262626124[14] = 0.0; + out_4269788700262626124[15] = 0.0; + out_4269788700262626124[16] = 0.0; + out_4269788700262626124[17] = 0.0; + out_4269788700262626124[18] = 0.0; + out_4269788700262626124[19] = 1.0; + out_4269788700262626124[20] = 0.0; + out_4269788700262626124[21] = 0.0; + out_4269788700262626124[22] = 0.0; + out_4269788700262626124[23] = 0.0; + out_4269788700262626124[24] = 0.0; + out_4269788700262626124[25] = 0.0; + out_4269788700262626124[26] = 0.0; + out_4269788700262626124[27] = 0.0; + out_4269788700262626124[28] = 0.0; + out_4269788700262626124[29] = 0.0; + out_4269788700262626124[30] = 0.0; + out_4269788700262626124[31] = 0.0; + out_4269788700262626124[32] = 0.0; + out_4269788700262626124[33] = 0.0; + out_4269788700262626124[34] = 0.0; + out_4269788700262626124[35] = 0.0; + out_4269788700262626124[36] = 0.0; + out_4269788700262626124[37] = 0.0; + out_4269788700262626124[38] = 1.0; + out_4269788700262626124[39] = 0.0; + out_4269788700262626124[40] = 0.0; + out_4269788700262626124[41] = 0.0; + out_4269788700262626124[42] = 0.0; + out_4269788700262626124[43] = 0.0; + out_4269788700262626124[44] = 0.0; + out_4269788700262626124[45] = 0.0; + out_4269788700262626124[46] = 0.0; + out_4269788700262626124[47] = 0.0; + out_4269788700262626124[48] = 0.0; + out_4269788700262626124[49] = 0.0; + out_4269788700262626124[50] = 0.0; + out_4269788700262626124[51] = 0.0; + out_4269788700262626124[52] = 0.0; + out_4269788700262626124[53] = 0.0; + out_4269788700262626124[54] = 0.0; + out_4269788700262626124[55] = 0.0; + out_4269788700262626124[56] = 0.0; + out_4269788700262626124[57] = 1.0; + out_4269788700262626124[58] = 0.0; + out_4269788700262626124[59] = 0.0; + out_4269788700262626124[60] = 0.0; + out_4269788700262626124[61] = 0.0; + out_4269788700262626124[62] = 0.0; + out_4269788700262626124[63] = 0.0; + out_4269788700262626124[64] = 0.0; + out_4269788700262626124[65] = 0.0; + out_4269788700262626124[66] = 0.0; + out_4269788700262626124[67] = 0.0; + out_4269788700262626124[68] = 0.0; + out_4269788700262626124[69] = 0.0; + out_4269788700262626124[70] = 0.0; + out_4269788700262626124[71] = 0.0; + out_4269788700262626124[72] = 0.0; + out_4269788700262626124[73] = 0.0; + out_4269788700262626124[74] = 0.0; + out_4269788700262626124[75] = 0.0; + out_4269788700262626124[76] = 1.0; + out_4269788700262626124[77] = 0.0; + out_4269788700262626124[78] = 0.0; + out_4269788700262626124[79] = 0.0; + out_4269788700262626124[80] = 0.0; + out_4269788700262626124[81] = 0.0; + out_4269788700262626124[82] = 0.0; + out_4269788700262626124[83] = 0.0; + out_4269788700262626124[84] = 0.0; + out_4269788700262626124[85] = 0.0; + out_4269788700262626124[86] = 0.0; + out_4269788700262626124[87] = 0.0; + out_4269788700262626124[88] = 0.0; + out_4269788700262626124[89] = 0.0; + out_4269788700262626124[90] = 0.0; + out_4269788700262626124[91] = 0.0; + out_4269788700262626124[92] = 0.0; + out_4269788700262626124[93] = 0.0; + out_4269788700262626124[94] = 0.0; + out_4269788700262626124[95] = 1.0; + out_4269788700262626124[96] = 0.0; + out_4269788700262626124[97] = 0.0; + out_4269788700262626124[98] = 0.0; + out_4269788700262626124[99] = 0.0; + out_4269788700262626124[100] = 0.0; + out_4269788700262626124[101] = 0.0; + out_4269788700262626124[102] = 0.0; + out_4269788700262626124[103] = 0.0; + out_4269788700262626124[104] = 0.0; + out_4269788700262626124[105] = 0.0; + out_4269788700262626124[106] = 0.0; + out_4269788700262626124[107] = 0.0; + out_4269788700262626124[108] = 0.0; + out_4269788700262626124[109] = 0.0; + out_4269788700262626124[110] = 0.0; + out_4269788700262626124[111] = 0.0; + out_4269788700262626124[112] = 0.0; + out_4269788700262626124[113] = 0.0; + out_4269788700262626124[114] = 1.0; + out_4269788700262626124[115] = 0.0; + out_4269788700262626124[116] = 0.0; + out_4269788700262626124[117] = 0.0; + out_4269788700262626124[118] = 0.0; + out_4269788700262626124[119] = 0.0; + out_4269788700262626124[120] = 0.0; + out_4269788700262626124[121] = 0.0; + out_4269788700262626124[122] = 0.0; + out_4269788700262626124[123] = 0.0; + out_4269788700262626124[124] = 0.0; + out_4269788700262626124[125] = 0.0; + out_4269788700262626124[126] = 0.0; + out_4269788700262626124[127] = 0.0; + out_4269788700262626124[128] = 0.0; + out_4269788700262626124[129] = 0.0; + out_4269788700262626124[130] = 0.0; + out_4269788700262626124[131] = 0.0; + out_4269788700262626124[132] = 0.0; + out_4269788700262626124[133] = 1.0; + out_4269788700262626124[134] = 0.0; + out_4269788700262626124[135] = 0.0; + out_4269788700262626124[136] = 0.0; + out_4269788700262626124[137] = 0.0; + out_4269788700262626124[138] = 0.0; + out_4269788700262626124[139] = 0.0; + out_4269788700262626124[140] = 0.0; + out_4269788700262626124[141] = 0.0; + out_4269788700262626124[142] = 0.0; + out_4269788700262626124[143] = 0.0; + out_4269788700262626124[144] = 0.0; + out_4269788700262626124[145] = 0.0; + out_4269788700262626124[146] = 0.0; + out_4269788700262626124[147] = 0.0; + out_4269788700262626124[148] = 0.0; + out_4269788700262626124[149] = 0.0; + out_4269788700262626124[150] = 0.0; + out_4269788700262626124[151] = 0.0; + out_4269788700262626124[152] = 1.0; + out_4269788700262626124[153] = 0.0; + out_4269788700262626124[154] = 0.0; + out_4269788700262626124[155] = 0.0; + out_4269788700262626124[156] = 0.0; + out_4269788700262626124[157] = 0.0; + out_4269788700262626124[158] = 0.0; + out_4269788700262626124[159] = 0.0; + out_4269788700262626124[160] = 0.0; + out_4269788700262626124[161] = 0.0; + out_4269788700262626124[162] = 0.0; + out_4269788700262626124[163] = 0.0; + out_4269788700262626124[164] = 0.0; + out_4269788700262626124[165] = 0.0; + out_4269788700262626124[166] = 0.0; + out_4269788700262626124[167] = 0.0; + out_4269788700262626124[168] = 0.0; + out_4269788700262626124[169] = 0.0; + out_4269788700262626124[170] = 0.0; + out_4269788700262626124[171] = 1.0; + out_4269788700262626124[172] = 0.0; + out_4269788700262626124[173] = 0.0; + out_4269788700262626124[174] = 0.0; + out_4269788700262626124[175] = 0.0; + out_4269788700262626124[176] = 0.0; + out_4269788700262626124[177] = 0.0; + out_4269788700262626124[178] = 0.0; + out_4269788700262626124[179] = 0.0; + out_4269788700262626124[180] = 0.0; + out_4269788700262626124[181] = 0.0; + out_4269788700262626124[182] = 0.0; + out_4269788700262626124[183] = 0.0; + out_4269788700262626124[184] = 0.0; + out_4269788700262626124[185] = 0.0; + out_4269788700262626124[186] = 0.0; + out_4269788700262626124[187] = 0.0; + out_4269788700262626124[188] = 0.0; + out_4269788700262626124[189] = 0.0; + out_4269788700262626124[190] = 1.0; + out_4269788700262626124[191] = 0.0; + out_4269788700262626124[192] = 0.0; + out_4269788700262626124[193] = 0.0; + out_4269788700262626124[194] = 0.0; + out_4269788700262626124[195] = 0.0; + out_4269788700262626124[196] = 0.0; + out_4269788700262626124[197] = 0.0; + out_4269788700262626124[198] = 0.0; + out_4269788700262626124[199] = 0.0; + out_4269788700262626124[200] = 0.0; + out_4269788700262626124[201] = 0.0; + out_4269788700262626124[202] = 0.0; + out_4269788700262626124[203] = 0.0; + out_4269788700262626124[204] = 0.0; + out_4269788700262626124[205] = 0.0; + out_4269788700262626124[206] = 0.0; + out_4269788700262626124[207] = 0.0; + out_4269788700262626124[208] = 0.0; + out_4269788700262626124[209] = 1.0; + out_4269788700262626124[210] = 0.0; + out_4269788700262626124[211] = 0.0; + out_4269788700262626124[212] = 0.0; + out_4269788700262626124[213] = 0.0; + out_4269788700262626124[214] = 0.0; + out_4269788700262626124[215] = 0.0; + out_4269788700262626124[216] = 0.0; + out_4269788700262626124[217] = 0.0; + out_4269788700262626124[218] = 0.0; + out_4269788700262626124[219] = 0.0; + out_4269788700262626124[220] = 0.0; + out_4269788700262626124[221] = 0.0; + out_4269788700262626124[222] = 0.0; + out_4269788700262626124[223] = 0.0; + out_4269788700262626124[224] = 0.0; + out_4269788700262626124[225] = 0.0; + out_4269788700262626124[226] = 0.0; + out_4269788700262626124[227] = 0.0; + out_4269788700262626124[228] = 1.0; + out_4269788700262626124[229] = 0.0; + out_4269788700262626124[230] = 0.0; + out_4269788700262626124[231] = 0.0; + out_4269788700262626124[232] = 0.0; + out_4269788700262626124[233] = 0.0; + out_4269788700262626124[234] = 0.0; + out_4269788700262626124[235] = 0.0; + out_4269788700262626124[236] = 0.0; + out_4269788700262626124[237] = 0.0; + out_4269788700262626124[238] = 0.0; + out_4269788700262626124[239] = 0.0; + out_4269788700262626124[240] = 0.0; + out_4269788700262626124[241] = 0.0; + out_4269788700262626124[242] = 0.0; + out_4269788700262626124[243] = 0.0; + out_4269788700262626124[244] = 0.0; + out_4269788700262626124[245] = 0.0; + out_4269788700262626124[246] = 0.0; + out_4269788700262626124[247] = 1.0; + out_4269788700262626124[248] = 0.0; + out_4269788700262626124[249] = 0.0; + out_4269788700262626124[250] = 0.0; + out_4269788700262626124[251] = 0.0; + out_4269788700262626124[252] = 0.0; + out_4269788700262626124[253] = 0.0; + out_4269788700262626124[254] = 0.0; + out_4269788700262626124[255] = 0.0; + out_4269788700262626124[256] = 0.0; + out_4269788700262626124[257] = 0.0; + out_4269788700262626124[258] = 0.0; + out_4269788700262626124[259] = 0.0; + out_4269788700262626124[260] = 0.0; + out_4269788700262626124[261] = 0.0; + out_4269788700262626124[262] = 0.0; + out_4269788700262626124[263] = 0.0; + out_4269788700262626124[264] = 0.0; + out_4269788700262626124[265] = 0.0; + out_4269788700262626124[266] = 1.0; + out_4269788700262626124[267] = 0.0; + out_4269788700262626124[268] = 0.0; + out_4269788700262626124[269] = 0.0; + out_4269788700262626124[270] = 0.0; + out_4269788700262626124[271] = 0.0; + out_4269788700262626124[272] = 0.0; + out_4269788700262626124[273] = 0.0; + out_4269788700262626124[274] = 0.0; + out_4269788700262626124[275] = 0.0; + out_4269788700262626124[276] = 0.0; + out_4269788700262626124[277] = 0.0; + out_4269788700262626124[278] = 0.0; + out_4269788700262626124[279] = 0.0; + out_4269788700262626124[280] = 0.0; + out_4269788700262626124[281] = 0.0; + out_4269788700262626124[282] = 0.0; + out_4269788700262626124[283] = 0.0; + out_4269788700262626124[284] = 0.0; + out_4269788700262626124[285] = 1.0; + out_4269788700262626124[286] = 0.0; + out_4269788700262626124[287] = 0.0; + out_4269788700262626124[288] = 0.0; + out_4269788700262626124[289] = 0.0; + out_4269788700262626124[290] = 0.0; + out_4269788700262626124[291] = 0.0; + out_4269788700262626124[292] = 0.0; + out_4269788700262626124[293] = 0.0; + out_4269788700262626124[294] = 0.0; + out_4269788700262626124[295] = 0.0; + out_4269788700262626124[296] = 0.0; + out_4269788700262626124[297] = 0.0; + out_4269788700262626124[298] = 0.0; + out_4269788700262626124[299] = 0.0; + out_4269788700262626124[300] = 0.0; + out_4269788700262626124[301] = 0.0; + out_4269788700262626124[302] = 0.0; + out_4269788700262626124[303] = 0.0; + out_4269788700262626124[304] = 1.0; + out_4269788700262626124[305] = 0.0; + out_4269788700262626124[306] = 0.0; + out_4269788700262626124[307] = 0.0; + out_4269788700262626124[308] = 0.0; + out_4269788700262626124[309] = 0.0; + out_4269788700262626124[310] = 0.0; + out_4269788700262626124[311] = 0.0; + out_4269788700262626124[312] = 0.0; + out_4269788700262626124[313] = 0.0; + out_4269788700262626124[314] = 0.0; + out_4269788700262626124[315] = 0.0; + out_4269788700262626124[316] = 0.0; + out_4269788700262626124[317] = 0.0; + out_4269788700262626124[318] = 0.0; + out_4269788700262626124[319] = 0.0; + out_4269788700262626124[320] = 0.0; + out_4269788700262626124[321] = 0.0; + out_4269788700262626124[322] = 0.0; + out_4269788700262626124[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1052805527796842003) { - out_1052805527796842003[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_1052805527796842003[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_1052805527796842003[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_1052805527796842003[3] = dt*state[12] + state[3]; - out_1052805527796842003[4] = dt*state[13] + state[4]; - out_1052805527796842003[5] = dt*state[14] + state[5]; - out_1052805527796842003[6] = state[6]; - out_1052805527796842003[7] = state[7]; - out_1052805527796842003[8] = state[8]; - out_1052805527796842003[9] = state[9]; - out_1052805527796842003[10] = state[10]; - out_1052805527796842003[11] = state[11]; - out_1052805527796842003[12] = state[12]; - out_1052805527796842003[13] = state[13]; - out_1052805527796842003[14] = state[14]; - out_1052805527796842003[15] = state[15]; - out_1052805527796842003[16] = state[16]; - out_1052805527796842003[17] = state[17]; +void f_fun(double *state, double dt, double *out_3692668602312034618) { + out_3692668602312034618[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_3692668602312034618[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_3692668602312034618[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_3692668602312034618[3] = dt*state[12] + state[3]; + out_3692668602312034618[4] = dt*state[13] + state[4]; + out_3692668602312034618[5] = dt*state[14] + state[5]; + out_3692668602312034618[6] = state[6]; + out_3692668602312034618[7] = state[7]; + out_3692668602312034618[8] = state[8]; + out_3692668602312034618[9] = state[9]; + out_3692668602312034618[10] = state[10]; + out_3692668602312034618[11] = state[11]; + out_3692668602312034618[12] = state[12]; + out_3692668602312034618[13] = state[13]; + out_3692668602312034618[14] = state[14]; + out_3692668602312034618[15] = state[15]; + out_3692668602312034618[16] = state[16]; + out_3692668602312034618[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5871869036335399812) { - out_5871869036335399812[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_5871869036335399812[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_5871869036335399812[2] = 0; - out_5871869036335399812[3] = 0; - out_5871869036335399812[4] = 0; - out_5871869036335399812[5] = 0; - out_5871869036335399812[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_5871869036335399812[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_5871869036335399812[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_5871869036335399812[9] = 0; - out_5871869036335399812[10] = 0; - out_5871869036335399812[11] = 0; - out_5871869036335399812[12] = 0; - out_5871869036335399812[13] = 0; - out_5871869036335399812[14] = 0; - out_5871869036335399812[15] = 0; - out_5871869036335399812[16] = 0; - out_5871869036335399812[17] = 0; - out_5871869036335399812[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_5871869036335399812[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_5871869036335399812[20] = 0; - out_5871869036335399812[21] = 0; - out_5871869036335399812[22] = 0; - out_5871869036335399812[23] = 0; - out_5871869036335399812[24] = 0; - out_5871869036335399812[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_5871869036335399812[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_5871869036335399812[27] = 0; - out_5871869036335399812[28] = 0; - out_5871869036335399812[29] = 0; - out_5871869036335399812[30] = 0; - out_5871869036335399812[31] = 0; - out_5871869036335399812[32] = 0; - out_5871869036335399812[33] = 0; - out_5871869036335399812[34] = 0; - out_5871869036335399812[35] = 0; - out_5871869036335399812[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_5871869036335399812[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_5871869036335399812[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_5871869036335399812[39] = 0; - out_5871869036335399812[40] = 0; - out_5871869036335399812[41] = 0; - out_5871869036335399812[42] = 0; - out_5871869036335399812[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_5871869036335399812[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_5871869036335399812[45] = 0; - out_5871869036335399812[46] = 0; - out_5871869036335399812[47] = 0; - out_5871869036335399812[48] = 0; - out_5871869036335399812[49] = 0; - out_5871869036335399812[50] = 0; - out_5871869036335399812[51] = 0; - out_5871869036335399812[52] = 0; - out_5871869036335399812[53] = 0; - out_5871869036335399812[54] = 0; - out_5871869036335399812[55] = 0; - out_5871869036335399812[56] = 0; - out_5871869036335399812[57] = 1; - out_5871869036335399812[58] = 0; - out_5871869036335399812[59] = 0; - out_5871869036335399812[60] = 0; - out_5871869036335399812[61] = 0; - out_5871869036335399812[62] = 0; - out_5871869036335399812[63] = 0; - out_5871869036335399812[64] = 0; - out_5871869036335399812[65] = 0; - out_5871869036335399812[66] = dt; - out_5871869036335399812[67] = 0; - out_5871869036335399812[68] = 0; - out_5871869036335399812[69] = 0; - out_5871869036335399812[70] = 0; - out_5871869036335399812[71] = 0; - out_5871869036335399812[72] = 0; - out_5871869036335399812[73] = 0; - out_5871869036335399812[74] = 0; - out_5871869036335399812[75] = 0; - out_5871869036335399812[76] = 1; - out_5871869036335399812[77] = 0; - out_5871869036335399812[78] = 0; - out_5871869036335399812[79] = 0; - out_5871869036335399812[80] = 0; - out_5871869036335399812[81] = 0; - out_5871869036335399812[82] = 0; - out_5871869036335399812[83] = 0; - out_5871869036335399812[84] = 0; - out_5871869036335399812[85] = dt; - out_5871869036335399812[86] = 0; - out_5871869036335399812[87] = 0; - out_5871869036335399812[88] = 0; - out_5871869036335399812[89] = 0; - out_5871869036335399812[90] = 0; - out_5871869036335399812[91] = 0; - out_5871869036335399812[92] = 0; - out_5871869036335399812[93] = 0; - out_5871869036335399812[94] = 0; - out_5871869036335399812[95] = 1; - out_5871869036335399812[96] = 0; - out_5871869036335399812[97] = 0; - out_5871869036335399812[98] = 0; - out_5871869036335399812[99] = 0; - out_5871869036335399812[100] = 0; - out_5871869036335399812[101] = 0; - out_5871869036335399812[102] = 0; - out_5871869036335399812[103] = 0; - out_5871869036335399812[104] = dt; - out_5871869036335399812[105] = 0; - out_5871869036335399812[106] = 0; - out_5871869036335399812[107] = 0; - out_5871869036335399812[108] = 0; - out_5871869036335399812[109] = 0; - out_5871869036335399812[110] = 0; - out_5871869036335399812[111] = 0; - out_5871869036335399812[112] = 0; - out_5871869036335399812[113] = 0; - out_5871869036335399812[114] = 1; - out_5871869036335399812[115] = 0; - out_5871869036335399812[116] = 0; - out_5871869036335399812[117] = 0; - out_5871869036335399812[118] = 0; - out_5871869036335399812[119] = 0; - out_5871869036335399812[120] = 0; - out_5871869036335399812[121] = 0; - out_5871869036335399812[122] = 0; - out_5871869036335399812[123] = 0; - out_5871869036335399812[124] = 0; - out_5871869036335399812[125] = 0; - out_5871869036335399812[126] = 0; - out_5871869036335399812[127] = 0; - out_5871869036335399812[128] = 0; - out_5871869036335399812[129] = 0; - out_5871869036335399812[130] = 0; - out_5871869036335399812[131] = 0; - out_5871869036335399812[132] = 0; - out_5871869036335399812[133] = 1; - out_5871869036335399812[134] = 0; - out_5871869036335399812[135] = 0; - out_5871869036335399812[136] = 0; - out_5871869036335399812[137] = 0; - out_5871869036335399812[138] = 0; - out_5871869036335399812[139] = 0; - out_5871869036335399812[140] = 0; - out_5871869036335399812[141] = 0; - out_5871869036335399812[142] = 0; - out_5871869036335399812[143] = 0; - out_5871869036335399812[144] = 0; - out_5871869036335399812[145] = 0; - out_5871869036335399812[146] = 0; - out_5871869036335399812[147] = 0; - out_5871869036335399812[148] = 0; - out_5871869036335399812[149] = 0; - out_5871869036335399812[150] = 0; - out_5871869036335399812[151] = 0; - out_5871869036335399812[152] = 1; - out_5871869036335399812[153] = 0; - out_5871869036335399812[154] = 0; - out_5871869036335399812[155] = 0; - out_5871869036335399812[156] = 0; - out_5871869036335399812[157] = 0; - out_5871869036335399812[158] = 0; - out_5871869036335399812[159] = 0; - out_5871869036335399812[160] = 0; - out_5871869036335399812[161] = 0; - out_5871869036335399812[162] = 0; - out_5871869036335399812[163] = 0; - out_5871869036335399812[164] = 0; - out_5871869036335399812[165] = 0; - out_5871869036335399812[166] = 0; - out_5871869036335399812[167] = 0; - out_5871869036335399812[168] = 0; - out_5871869036335399812[169] = 0; - out_5871869036335399812[170] = 0; - out_5871869036335399812[171] = 1; - out_5871869036335399812[172] = 0; - out_5871869036335399812[173] = 0; - out_5871869036335399812[174] = 0; - out_5871869036335399812[175] = 0; - out_5871869036335399812[176] = 0; - out_5871869036335399812[177] = 0; - out_5871869036335399812[178] = 0; - out_5871869036335399812[179] = 0; - out_5871869036335399812[180] = 0; - out_5871869036335399812[181] = 0; - out_5871869036335399812[182] = 0; - out_5871869036335399812[183] = 0; - out_5871869036335399812[184] = 0; - out_5871869036335399812[185] = 0; - out_5871869036335399812[186] = 0; - out_5871869036335399812[187] = 0; - out_5871869036335399812[188] = 0; - out_5871869036335399812[189] = 0; - out_5871869036335399812[190] = 1; - out_5871869036335399812[191] = 0; - out_5871869036335399812[192] = 0; - out_5871869036335399812[193] = 0; - out_5871869036335399812[194] = 0; - out_5871869036335399812[195] = 0; - out_5871869036335399812[196] = 0; - out_5871869036335399812[197] = 0; - out_5871869036335399812[198] = 0; - out_5871869036335399812[199] = 0; - out_5871869036335399812[200] = 0; - out_5871869036335399812[201] = 0; - out_5871869036335399812[202] = 0; - out_5871869036335399812[203] = 0; - out_5871869036335399812[204] = 0; - out_5871869036335399812[205] = 0; - out_5871869036335399812[206] = 0; - out_5871869036335399812[207] = 0; - out_5871869036335399812[208] = 0; - out_5871869036335399812[209] = 1; - out_5871869036335399812[210] = 0; - out_5871869036335399812[211] = 0; - out_5871869036335399812[212] = 0; - out_5871869036335399812[213] = 0; - out_5871869036335399812[214] = 0; - out_5871869036335399812[215] = 0; - out_5871869036335399812[216] = 0; - out_5871869036335399812[217] = 0; - out_5871869036335399812[218] = 0; - out_5871869036335399812[219] = 0; - out_5871869036335399812[220] = 0; - out_5871869036335399812[221] = 0; - out_5871869036335399812[222] = 0; - out_5871869036335399812[223] = 0; - out_5871869036335399812[224] = 0; - out_5871869036335399812[225] = 0; - out_5871869036335399812[226] = 0; - out_5871869036335399812[227] = 0; - out_5871869036335399812[228] = 1; - out_5871869036335399812[229] = 0; - out_5871869036335399812[230] = 0; - out_5871869036335399812[231] = 0; - out_5871869036335399812[232] = 0; - out_5871869036335399812[233] = 0; - out_5871869036335399812[234] = 0; - out_5871869036335399812[235] = 0; - out_5871869036335399812[236] = 0; - out_5871869036335399812[237] = 0; - out_5871869036335399812[238] = 0; - out_5871869036335399812[239] = 0; - out_5871869036335399812[240] = 0; - out_5871869036335399812[241] = 0; - out_5871869036335399812[242] = 0; - out_5871869036335399812[243] = 0; - out_5871869036335399812[244] = 0; - out_5871869036335399812[245] = 0; - out_5871869036335399812[246] = 0; - out_5871869036335399812[247] = 1; - out_5871869036335399812[248] = 0; - out_5871869036335399812[249] = 0; - out_5871869036335399812[250] = 0; - out_5871869036335399812[251] = 0; - out_5871869036335399812[252] = 0; - out_5871869036335399812[253] = 0; - out_5871869036335399812[254] = 0; - out_5871869036335399812[255] = 0; - out_5871869036335399812[256] = 0; - out_5871869036335399812[257] = 0; - out_5871869036335399812[258] = 0; - out_5871869036335399812[259] = 0; - out_5871869036335399812[260] = 0; - out_5871869036335399812[261] = 0; - out_5871869036335399812[262] = 0; - out_5871869036335399812[263] = 0; - out_5871869036335399812[264] = 0; - out_5871869036335399812[265] = 0; - out_5871869036335399812[266] = 1; - out_5871869036335399812[267] = 0; - out_5871869036335399812[268] = 0; - out_5871869036335399812[269] = 0; - out_5871869036335399812[270] = 0; - out_5871869036335399812[271] = 0; - out_5871869036335399812[272] = 0; - out_5871869036335399812[273] = 0; - out_5871869036335399812[274] = 0; - out_5871869036335399812[275] = 0; - out_5871869036335399812[276] = 0; - out_5871869036335399812[277] = 0; - out_5871869036335399812[278] = 0; - out_5871869036335399812[279] = 0; - out_5871869036335399812[280] = 0; - out_5871869036335399812[281] = 0; - out_5871869036335399812[282] = 0; - out_5871869036335399812[283] = 0; - out_5871869036335399812[284] = 0; - out_5871869036335399812[285] = 1; - out_5871869036335399812[286] = 0; - out_5871869036335399812[287] = 0; - out_5871869036335399812[288] = 0; - out_5871869036335399812[289] = 0; - out_5871869036335399812[290] = 0; - out_5871869036335399812[291] = 0; - out_5871869036335399812[292] = 0; - out_5871869036335399812[293] = 0; - out_5871869036335399812[294] = 0; - out_5871869036335399812[295] = 0; - out_5871869036335399812[296] = 0; - out_5871869036335399812[297] = 0; - out_5871869036335399812[298] = 0; - out_5871869036335399812[299] = 0; - out_5871869036335399812[300] = 0; - out_5871869036335399812[301] = 0; - out_5871869036335399812[302] = 0; - out_5871869036335399812[303] = 0; - out_5871869036335399812[304] = 1; - out_5871869036335399812[305] = 0; - out_5871869036335399812[306] = 0; - out_5871869036335399812[307] = 0; - out_5871869036335399812[308] = 0; - out_5871869036335399812[309] = 0; - out_5871869036335399812[310] = 0; - out_5871869036335399812[311] = 0; - out_5871869036335399812[312] = 0; - out_5871869036335399812[313] = 0; - out_5871869036335399812[314] = 0; - out_5871869036335399812[315] = 0; - out_5871869036335399812[316] = 0; - out_5871869036335399812[317] = 0; - out_5871869036335399812[318] = 0; - out_5871869036335399812[319] = 0; - out_5871869036335399812[320] = 0; - out_5871869036335399812[321] = 0; - out_5871869036335399812[322] = 0; - out_5871869036335399812[323] = 1; +void F_fun(double *state, double dt, double *out_2955282305521857746) { + out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[2] = 0; + out_2955282305521857746[3] = 0; + out_2955282305521857746[4] = 0; + out_2955282305521857746[5] = 0; + out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[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_2955282305521857746[9] = 0; + out_2955282305521857746[10] = 0; + out_2955282305521857746[11] = 0; + out_2955282305521857746[12] = 0; + out_2955282305521857746[13] = 0; + out_2955282305521857746[14] = 0; + out_2955282305521857746[15] = 0; + out_2955282305521857746[16] = 0; + out_2955282305521857746[17] = 0; + out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[20] = 0; + out_2955282305521857746[21] = 0; + out_2955282305521857746[22] = 0; + out_2955282305521857746[23] = 0; + out_2955282305521857746[24] = 0; + out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[27] = 0; + out_2955282305521857746[28] = 0; + out_2955282305521857746[29] = 0; + out_2955282305521857746[30] = 0; + out_2955282305521857746[31] = 0; + out_2955282305521857746[32] = 0; + out_2955282305521857746[33] = 0; + out_2955282305521857746[34] = 0; + out_2955282305521857746[35] = 0; + out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[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_2955282305521857746[39] = 0; + out_2955282305521857746[40] = 0; + out_2955282305521857746[41] = 0; + out_2955282305521857746[42] = 0; + out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[45] = 0; + out_2955282305521857746[46] = 0; + out_2955282305521857746[47] = 0; + out_2955282305521857746[48] = 0; + out_2955282305521857746[49] = 0; + out_2955282305521857746[50] = 0; + out_2955282305521857746[51] = 0; + out_2955282305521857746[52] = 0; + out_2955282305521857746[53] = 0; + out_2955282305521857746[54] = 0; + out_2955282305521857746[55] = 0; + out_2955282305521857746[56] = 0; + out_2955282305521857746[57] = 1; + out_2955282305521857746[58] = 0; + out_2955282305521857746[59] = 0; + out_2955282305521857746[60] = 0; + out_2955282305521857746[61] = 0; + out_2955282305521857746[62] = 0; + out_2955282305521857746[63] = 0; + out_2955282305521857746[64] = 0; + out_2955282305521857746[65] = 0; + out_2955282305521857746[66] = dt; + out_2955282305521857746[67] = 0; + out_2955282305521857746[68] = 0; + out_2955282305521857746[69] = 0; + out_2955282305521857746[70] = 0; + out_2955282305521857746[71] = 0; + out_2955282305521857746[72] = 0; + out_2955282305521857746[73] = 0; + out_2955282305521857746[74] = 0; + out_2955282305521857746[75] = 0; + out_2955282305521857746[76] = 1; + out_2955282305521857746[77] = 0; + out_2955282305521857746[78] = 0; + out_2955282305521857746[79] = 0; + out_2955282305521857746[80] = 0; + out_2955282305521857746[81] = 0; + out_2955282305521857746[82] = 0; + out_2955282305521857746[83] = 0; + out_2955282305521857746[84] = 0; + out_2955282305521857746[85] = dt; + out_2955282305521857746[86] = 0; + out_2955282305521857746[87] = 0; + out_2955282305521857746[88] = 0; + out_2955282305521857746[89] = 0; + out_2955282305521857746[90] = 0; + out_2955282305521857746[91] = 0; + out_2955282305521857746[92] = 0; + out_2955282305521857746[93] = 0; + out_2955282305521857746[94] = 0; + out_2955282305521857746[95] = 1; + out_2955282305521857746[96] = 0; + out_2955282305521857746[97] = 0; + out_2955282305521857746[98] = 0; + out_2955282305521857746[99] = 0; + out_2955282305521857746[100] = 0; + out_2955282305521857746[101] = 0; + out_2955282305521857746[102] = 0; + out_2955282305521857746[103] = 0; + out_2955282305521857746[104] = dt; + out_2955282305521857746[105] = 0; + out_2955282305521857746[106] = 0; + out_2955282305521857746[107] = 0; + out_2955282305521857746[108] = 0; + out_2955282305521857746[109] = 0; + out_2955282305521857746[110] = 0; + out_2955282305521857746[111] = 0; + out_2955282305521857746[112] = 0; + out_2955282305521857746[113] = 0; + out_2955282305521857746[114] = 1; + out_2955282305521857746[115] = 0; + out_2955282305521857746[116] = 0; + out_2955282305521857746[117] = 0; + out_2955282305521857746[118] = 0; + out_2955282305521857746[119] = 0; + out_2955282305521857746[120] = 0; + out_2955282305521857746[121] = 0; + out_2955282305521857746[122] = 0; + out_2955282305521857746[123] = 0; + out_2955282305521857746[124] = 0; + out_2955282305521857746[125] = 0; + out_2955282305521857746[126] = 0; + out_2955282305521857746[127] = 0; + out_2955282305521857746[128] = 0; + out_2955282305521857746[129] = 0; + out_2955282305521857746[130] = 0; + out_2955282305521857746[131] = 0; + out_2955282305521857746[132] = 0; + out_2955282305521857746[133] = 1; + out_2955282305521857746[134] = 0; + out_2955282305521857746[135] = 0; + out_2955282305521857746[136] = 0; + out_2955282305521857746[137] = 0; + out_2955282305521857746[138] = 0; + out_2955282305521857746[139] = 0; + out_2955282305521857746[140] = 0; + out_2955282305521857746[141] = 0; + out_2955282305521857746[142] = 0; + out_2955282305521857746[143] = 0; + out_2955282305521857746[144] = 0; + out_2955282305521857746[145] = 0; + out_2955282305521857746[146] = 0; + out_2955282305521857746[147] = 0; + out_2955282305521857746[148] = 0; + out_2955282305521857746[149] = 0; + out_2955282305521857746[150] = 0; + out_2955282305521857746[151] = 0; + out_2955282305521857746[152] = 1; + out_2955282305521857746[153] = 0; + out_2955282305521857746[154] = 0; + out_2955282305521857746[155] = 0; + out_2955282305521857746[156] = 0; + out_2955282305521857746[157] = 0; + out_2955282305521857746[158] = 0; + out_2955282305521857746[159] = 0; + out_2955282305521857746[160] = 0; + out_2955282305521857746[161] = 0; + out_2955282305521857746[162] = 0; + out_2955282305521857746[163] = 0; + out_2955282305521857746[164] = 0; + out_2955282305521857746[165] = 0; + out_2955282305521857746[166] = 0; + out_2955282305521857746[167] = 0; + out_2955282305521857746[168] = 0; + out_2955282305521857746[169] = 0; + out_2955282305521857746[170] = 0; + out_2955282305521857746[171] = 1; + out_2955282305521857746[172] = 0; + out_2955282305521857746[173] = 0; + out_2955282305521857746[174] = 0; + out_2955282305521857746[175] = 0; + out_2955282305521857746[176] = 0; + out_2955282305521857746[177] = 0; + out_2955282305521857746[178] = 0; + out_2955282305521857746[179] = 0; + out_2955282305521857746[180] = 0; + out_2955282305521857746[181] = 0; + out_2955282305521857746[182] = 0; + out_2955282305521857746[183] = 0; + out_2955282305521857746[184] = 0; + out_2955282305521857746[185] = 0; + out_2955282305521857746[186] = 0; + out_2955282305521857746[187] = 0; + out_2955282305521857746[188] = 0; + out_2955282305521857746[189] = 0; + out_2955282305521857746[190] = 1; + out_2955282305521857746[191] = 0; + out_2955282305521857746[192] = 0; + out_2955282305521857746[193] = 0; + out_2955282305521857746[194] = 0; + out_2955282305521857746[195] = 0; + out_2955282305521857746[196] = 0; + out_2955282305521857746[197] = 0; + out_2955282305521857746[198] = 0; + out_2955282305521857746[199] = 0; + out_2955282305521857746[200] = 0; + out_2955282305521857746[201] = 0; + out_2955282305521857746[202] = 0; + out_2955282305521857746[203] = 0; + out_2955282305521857746[204] = 0; + out_2955282305521857746[205] = 0; + out_2955282305521857746[206] = 0; + out_2955282305521857746[207] = 0; + out_2955282305521857746[208] = 0; + out_2955282305521857746[209] = 1; + out_2955282305521857746[210] = 0; + out_2955282305521857746[211] = 0; + out_2955282305521857746[212] = 0; + out_2955282305521857746[213] = 0; + out_2955282305521857746[214] = 0; + out_2955282305521857746[215] = 0; + out_2955282305521857746[216] = 0; + out_2955282305521857746[217] = 0; + out_2955282305521857746[218] = 0; + out_2955282305521857746[219] = 0; + out_2955282305521857746[220] = 0; + out_2955282305521857746[221] = 0; + out_2955282305521857746[222] = 0; + out_2955282305521857746[223] = 0; + out_2955282305521857746[224] = 0; + out_2955282305521857746[225] = 0; + out_2955282305521857746[226] = 0; + out_2955282305521857746[227] = 0; + out_2955282305521857746[228] = 1; + out_2955282305521857746[229] = 0; + out_2955282305521857746[230] = 0; + out_2955282305521857746[231] = 0; + out_2955282305521857746[232] = 0; + out_2955282305521857746[233] = 0; + out_2955282305521857746[234] = 0; + out_2955282305521857746[235] = 0; + out_2955282305521857746[236] = 0; + out_2955282305521857746[237] = 0; + out_2955282305521857746[238] = 0; + out_2955282305521857746[239] = 0; + out_2955282305521857746[240] = 0; + out_2955282305521857746[241] = 0; + out_2955282305521857746[242] = 0; + out_2955282305521857746[243] = 0; + out_2955282305521857746[244] = 0; + out_2955282305521857746[245] = 0; + out_2955282305521857746[246] = 0; + out_2955282305521857746[247] = 1; + out_2955282305521857746[248] = 0; + out_2955282305521857746[249] = 0; + out_2955282305521857746[250] = 0; + out_2955282305521857746[251] = 0; + out_2955282305521857746[252] = 0; + out_2955282305521857746[253] = 0; + out_2955282305521857746[254] = 0; + out_2955282305521857746[255] = 0; + out_2955282305521857746[256] = 0; + out_2955282305521857746[257] = 0; + out_2955282305521857746[258] = 0; + out_2955282305521857746[259] = 0; + out_2955282305521857746[260] = 0; + out_2955282305521857746[261] = 0; + out_2955282305521857746[262] = 0; + out_2955282305521857746[263] = 0; + out_2955282305521857746[264] = 0; + out_2955282305521857746[265] = 0; + out_2955282305521857746[266] = 1; + out_2955282305521857746[267] = 0; + out_2955282305521857746[268] = 0; + out_2955282305521857746[269] = 0; + out_2955282305521857746[270] = 0; + out_2955282305521857746[271] = 0; + out_2955282305521857746[272] = 0; + out_2955282305521857746[273] = 0; + out_2955282305521857746[274] = 0; + out_2955282305521857746[275] = 0; + out_2955282305521857746[276] = 0; + out_2955282305521857746[277] = 0; + out_2955282305521857746[278] = 0; + out_2955282305521857746[279] = 0; + out_2955282305521857746[280] = 0; + out_2955282305521857746[281] = 0; + out_2955282305521857746[282] = 0; + out_2955282305521857746[283] = 0; + out_2955282305521857746[284] = 0; + out_2955282305521857746[285] = 1; + out_2955282305521857746[286] = 0; + out_2955282305521857746[287] = 0; + out_2955282305521857746[288] = 0; + out_2955282305521857746[289] = 0; + out_2955282305521857746[290] = 0; + out_2955282305521857746[291] = 0; + out_2955282305521857746[292] = 0; + out_2955282305521857746[293] = 0; + out_2955282305521857746[294] = 0; + out_2955282305521857746[295] = 0; + out_2955282305521857746[296] = 0; + out_2955282305521857746[297] = 0; + out_2955282305521857746[298] = 0; + out_2955282305521857746[299] = 0; + out_2955282305521857746[300] = 0; + out_2955282305521857746[301] = 0; + out_2955282305521857746[302] = 0; + out_2955282305521857746[303] = 0; + out_2955282305521857746[304] = 1; + out_2955282305521857746[305] = 0; + out_2955282305521857746[306] = 0; + out_2955282305521857746[307] = 0; + out_2955282305521857746[308] = 0; + out_2955282305521857746[309] = 0; + out_2955282305521857746[310] = 0; + out_2955282305521857746[311] = 0; + out_2955282305521857746[312] = 0; + out_2955282305521857746[313] = 0; + out_2955282305521857746[314] = 0; + out_2955282305521857746[315] = 0; + out_2955282305521857746[316] = 0; + out_2955282305521857746[317] = 0; + out_2955282305521857746[318] = 0; + out_2955282305521857746[319] = 0; + out_2955282305521857746[320] = 0; + out_2955282305521857746[321] = 0; + out_2955282305521857746[322] = 0; + out_2955282305521857746[323] = 1; } -void h_4(double *state, double *unused, double *out_921118668651624411) { - out_921118668651624411[0] = state[6] + state[9]; - out_921118668651624411[1] = state[7] + state[10]; - out_921118668651624411[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6086550385890598344) { + out_6086550385890598344[0] = state[6] + state[9]; + out_6086550385890598344[1] = state[7] + state[10]; + out_6086550385890598344[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3989155335646506924) { - out_3989155335646506924[0] = 0; - out_3989155335646506924[1] = 0; - out_3989155335646506924[2] = 0; - out_3989155335646506924[3] = 0; - out_3989155335646506924[4] = 0; - out_3989155335646506924[5] = 0; - out_3989155335646506924[6] = 1; - out_3989155335646506924[7] = 0; - out_3989155335646506924[8] = 0; - out_3989155335646506924[9] = 1; - out_3989155335646506924[10] = 0; - out_3989155335646506924[11] = 0; - out_3989155335646506924[12] = 0; - out_3989155335646506924[13] = 0; - out_3989155335646506924[14] = 0; - out_3989155335646506924[15] = 0; - out_3989155335646506924[16] = 0; - out_3989155335646506924[17] = 0; - out_3989155335646506924[18] = 0; - out_3989155335646506924[19] = 0; - out_3989155335646506924[20] = 0; - out_3989155335646506924[21] = 0; - out_3989155335646506924[22] = 0; - out_3989155335646506924[23] = 0; - out_3989155335646506924[24] = 0; - out_3989155335646506924[25] = 1; - out_3989155335646506924[26] = 0; - out_3989155335646506924[27] = 0; - out_3989155335646506924[28] = 1; - out_3989155335646506924[29] = 0; - out_3989155335646506924[30] = 0; - out_3989155335646506924[31] = 0; - out_3989155335646506924[32] = 0; - out_3989155335646506924[33] = 0; - out_3989155335646506924[34] = 0; - out_3989155335646506924[35] = 0; - out_3989155335646506924[36] = 0; - out_3989155335646506924[37] = 0; - out_3989155335646506924[38] = 0; - out_3989155335646506924[39] = 0; - out_3989155335646506924[40] = 0; - out_3989155335646506924[41] = 0; - out_3989155335646506924[42] = 0; - out_3989155335646506924[43] = 0; - out_3989155335646506924[44] = 1; - out_3989155335646506924[45] = 0; - out_3989155335646506924[46] = 0; - out_3989155335646506924[47] = 1; - out_3989155335646506924[48] = 0; - out_3989155335646506924[49] = 0; - out_3989155335646506924[50] = 0; - out_3989155335646506924[51] = 0; - out_3989155335646506924[52] = 0; - out_3989155335646506924[53] = 0; +void H_4(double *state, double *unused, double *out_882729684776454611) { + out_882729684776454611[0] = 0; + out_882729684776454611[1] = 0; + out_882729684776454611[2] = 0; + out_882729684776454611[3] = 0; + out_882729684776454611[4] = 0; + out_882729684776454611[5] = 0; + out_882729684776454611[6] = 1; + out_882729684776454611[7] = 0; + out_882729684776454611[8] = 0; + out_882729684776454611[9] = 1; + out_882729684776454611[10] = 0; + out_882729684776454611[11] = 0; + out_882729684776454611[12] = 0; + out_882729684776454611[13] = 0; + out_882729684776454611[14] = 0; + out_882729684776454611[15] = 0; + out_882729684776454611[16] = 0; + out_882729684776454611[17] = 0; + out_882729684776454611[18] = 0; + out_882729684776454611[19] = 0; + out_882729684776454611[20] = 0; + out_882729684776454611[21] = 0; + out_882729684776454611[22] = 0; + out_882729684776454611[23] = 0; + out_882729684776454611[24] = 0; + out_882729684776454611[25] = 1; + out_882729684776454611[26] = 0; + out_882729684776454611[27] = 0; + out_882729684776454611[28] = 1; + out_882729684776454611[29] = 0; + out_882729684776454611[30] = 0; + out_882729684776454611[31] = 0; + out_882729684776454611[32] = 0; + out_882729684776454611[33] = 0; + out_882729684776454611[34] = 0; + out_882729684776454611[35] = 0; + out_882729684776454611[36] = 0; + out_882729684776454611[37] = 0; + out_882729684776454611[38] = 0; + out_882729684776454611[39] = 0; + out_882729684776454611[40] = 0; + out_882729684776454611[41] = 0; + out_882729684776454611[42] = 0; + out_882729684776454611[43] = 0; + out_882729684776454611[44] = 1; + out_882729684776454611[45] = 0; + out_882729684776454611[46] = 0; + out_882729684776454611[47] = 1; + out_882729684776454611[48] = 0; + out_882729684776454611[49] = 0; + out_882729684776454611[50] = 0; + out_882729684776454611[51] = 0; + out_882729684776454611[52] = 0; + out_882729684776454611[53] = 0; } -void h_10(double *state, double *unused, double *out_8738369372345178390) { - out_8738369372345178390[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8738369372345178390[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8738369372345178390[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_822146309921429030) { + out_822146309921429030[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_822146309921429030[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_822146309921429030[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_2875729590105375124) { - out_2875729590105375124[0] = 0; - out_2875729590105375124[1] = 9.8100000000000005*cos(state[1]); - out_2875729590105375124[2] = 0; - out_2875729590105375124[3] = 0; - out_2875729590105375124[4] = -state[8]; - out_2875729590105375124[5] = state[7]; - out_2875729590105375124[6] = 0; - out_2875729590105375124[7] = state[5]; - out_2875729590105375124[8] = -state[4]; - out_2875729590105375124[9] = 0; - out_2875729590105375124[10] = 0; - out_2875729590105375124[11] = 0; - out_2875729590105375124[12] = 1; - out_2875729590105375124[13] = 0; - out_2875729590105375124[14] = 0; - out_2875729590105375124[15] = 1; - out_2875729590105375124[16] = 0; - out_2875729590105375124[17] = 0; - out_2875729590105375124[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2875729590105375124[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2875729590105375124[20] = 0; - out_2875729590105375124[21] = state[8]; - out_2875729590105375124[22] = 0; - out_2875729590105375124[23] = -state[6]; - out_2875729590105375124[24] = -state[5]; - out_2875729590105375124[25] = 0; - out_2875729590105375124[26] = state[3]; - out_2875729590105375124[27] = 0; - out_2875729590105375124[28] = 0; - out_2875729590105375124[29] = 0; - out_2875729590105375124[30] = 0; - out_2875729590105375124[31] = 1; - out_2875729590105375124[32] = 0; - out_2875729590105375124[33] = 0; - out_2875729590105375124[34] = 1; - out_2875729590105375124[35] = 0; - out_2875729590105375124[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2875729590105375124[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2875729590105375124[38] = 0; - out_2875729590105375124[39] = -state[7]; - out_2875729590105375124[40] = state[6]; - out_2875729590105375124[41] = 0; - out_2875729590105375124[42] = state[4]; - out_2875729590105375124[43] = -state[3]; - out_2875729590105375124[44] = 0; - out_2875729590105375124[45] = 0; - out_2875729590105375124[46] = 0; - out_2875729590105375124[47] = 0; - out_2875729590105375124[48] = 0; - out_2875729590105375124[49] = 0; - out_2875729590105375124[50] = 1; - out_2875729590105375124[51] = 0; - out_2875729590105375124[52] = 0; - out_2875729590105375124[53] = 1; +void H_10(double *state, double *unused, double *out_8527164112518639864) { + out_8527164112518639864[0] = 0; + out_8527164112518639864[1] = 9.8100000000000005*cos(state[1]); + out_8527164112518639864[2] = 0; + out_8527164112518639864[3] = 0; + out_8527164112518639864[4] = -state[8]; + out_8527164112518639864[5] = state[7]; + out_8527164112518639864[6] = 0; + out_8527164112518639864[7] = state[5]; + out_8527164112518639864[8] = -state[4]; + out_8527164112518639864[9] = 0; + out_8527164112518639864[10] = 0; + out_8527164112518639864[11] = 0; + out_8527164112518639864[12] = 1; + out_8527164112518639864[13] = 0; + out_8527164112518639864[14] = 0; + out_8527164112518639864[15] = 1; + out_8527164112518639864[16] = 0; + out_8527164112518639864[17] = 0; + out_8527164112518639864[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8527164112518639864[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8527164112518639864[20] = 0; + out_8527164112518639864[21] = state[8]; + out_8527164112518639864[22] = 0; + out_8527164112518639864[23] = -state[6]; + out_8527164112518639864[24] = -state[5]; + out_8527164112518639864[25] = 0; + out_8527164112518639864[26] = state[3]; + out_8527164112518639864[27] = 0; + out_8527164112518639864[28] = 0; + out_8527164112518639864[29] = 0; + out_8527164112518639864[30] = 0; + out_8527164112518639864[31] = 1; + out_8527164112518639864[32] = 0; + out_8527164112518639864[33] = 0; + out_8527164112518639864[34] = 1; + out_8527164112518639864[35] = 0; + out_8527164112518639864[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8527164112518639864[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8527164112518639864[38] = 0; + out_8527164112518639864[39] = -state[7]; + out_8527164112518639864[40] = state[6]; + out_8527164112518639864[41] = 0; + out_8527164112518639864[42] = state[4]; + out_8527164112518639864[43] = -state[3]; + out_8527164112518639864[44] = 0; + out_8527164112518639864[45] = 0; + out_8527164112518639864[46] = 0; + out_8527164112518639864[47] = 0; + out_8527164112518639864[48] = 0; + out_8527164112518639864[49] = 0; + out_8527164112518639864[50] = 1; + out_8527164112518639864[51] = 0; + out_8527164112518639864[52] = 0; + out_8527164112518639864[53] = 1; } -void h_13(double *state, double *unused, double *out_1766623406694503914) { - out_1766623406694503914[0] = state[3]; - out_1766623406694503914[1] = state[4]; - out_1766623406694503914[2] = state[5]; +void h_13(double *state, double *unused, double *out_9110778303873781210) { + out_9110778303873781210[0] = state[3]; + out_9110778303873781210[1] = state[4]; + out_9110778303873781210[2] = state[5]; } -void H_13(double *state, double *unused, double *out_776881510314174123) { - out_776881510314174123[0] = 0; - out_776881510314174123[1] = 0; - out_776881510314174123[2] = 0; - out_776881510314174123[3] = 1; - out_776881510314174123[4] = 0; - out_776881510314174123[5] = 0; - out_776881510314174123[6] = 0; - out_776881510314174123[7] = 0; - out_776881510314174123[8] = 0; - out_776881510314174123[9] = 0; - out_776881510314174123[10] = 0; - out_776881510314174123[11] = 0; - out_776881510314174123[12] = 0; - out_776881510314174123[13] = 0; - out_776881510314174123[14] = 0; - out_776881510314174123[15] = 0; - out_776881510314174123[16] = 0; - out_776881510314174123[17] = 0; - out_776881510314174123[18] = 0; - out_776881510314174123[19] = 0; - out_776881510314174123[20] = 0; - out_776881510314174123[21] = 0; - out_776881510314174123[22] = 1; - out_776881510314174123[23] = 0; - out_776881510314174123[24] = 0; - out_776881510314174123[25] = 0; - out_776881510314174123[26] = 0; - out_776881510314174123[27] = 0; - out_776881510314174123[28] = 0; - out_776881510314174123[29] = 0; - out_776881510314174123[30] = 0; - out_776881510314174123[31] = 0; - out_776881510314174123[32] = 0; - out_776881510314174123[33] = 0; - out_776881510314174123[34] = 0; - out_776881510314174123[35] = 0; - out_776881510314174123[36] = 0; - out_776881510314174123[37] = 0; - out_776881510314174123[38] = 0; - out_776881510314174123[39] = 0; - out_776881510314174123[40] = 0; - out_776881510314174123[41] = 1; - out_776881510314174123[42] = 0; - out_776881510314174123[43] = 0; - out_776881510314174123[44] = 0; - out_776881510314174123[45] = 0; - out_776881510314174123[46] = 0; - out_776881510314174123[47] = 0; - out_776881510314174123[48] = 0; - out_776881510314174123[49] = 0; - out_776881510314174123[50] = 0; - out_776881510314174123[51] = 0; - out_776881510314174123[52] = 0; - out_776881510314174123[53] = 0; +void H_13(double *state, double *unused, double *out_4095003510108787412) { + out_4095003510108787412[0] = 0; + out_4095003510108787412[1] = 0; + out_4095003510108787412[2] = 0; + out_4095003510108787412[3] = 1; + out_4095003510108787412[4] = 0; + out_4095003510108787412[5] = 0; + out_4095003510108787412[6] = 0; + out_4095003510108787412[7] = 0; + out_4095003510108787412[8] = 0; + out_4095003510108787412[9] = 0; + out_4095003510108787412[10] = 0; + out_4095003510108787412[11] = 0; + out_4095003510108787412[12] = 0; + out_4095003510108787412[13] = 0; + out_4095003510108787412[14] = 0; + out_4095003510108787412[15] = 0; + out_4095003510108787412[16] = 0; + out_4095003510108787412[17] = 0; + out_4095003510108787412[18] = 0; + out_4095003510108787412[19] = 0; + out_4095003510108787412[20] = 0; + out_4095003510108787412[21] = 0; + out_4095003510108787412[22] = 1; + out_4095003510108787412[23] = 0; + out_4095003510108787412[24] = 0; + out_4095003510108787412[25] = 0; + out_4095003510108787412[26] = 0; + out_4095003510108787412[27] = 0; + out_4095003510108787412[28] = 0; + out_4095003510108787412[29] = 0; + out_4095003510108787412[30] = 0; + out_4095003510108787412[31] = 0; + out_4095003510108787412[32] = 0; + out_4095003510108787412[33] = 0; + out_4095003510108787412[34] = 0; + out_4095003510108787412[35] = 0; + out_4095003510108787412[36] = 0; + out_4095003510108787412[37] = 0; + out_4095003510108787412[38] = 0; + out_4095003510108787412[39] = 0; + out_4095003510108787412[40] = 0; + out_4095003510108787412[41] = 1; + out_4095003510108787412[42] = 0; + out_4095003510108787412[43] = 0; + out_4095003510108787412[44] = 0; + out_4095003510108787412[45] = 0; + out_4095003510108787412[46] = 0; + out_4095003510108787412[47] = 0; + out_4095003510108787412[48] = 0; + out_4095003510108787412[49] = 0; + out_4095003510108787412[50] = 0; + out_4095003510108787412[51] = 0; + out_4095003510108787412[52] = 0; + out_4095003510108787412[53] = 0; } -void h_14(double *state, double *unused, double *out_4485852814658279598) { - out_4485852814658279598[0] = state[6]; - out_4485852814658279598[1] = state[7]; - out_4485852814658279598[2] = state[8]; +void h_14(double *state, double *unused, double *out_6914362473414566847) { + out_6914362473414566847[0] = state[6]; + out_6914362473414566847[1] = state[7]; + out_6914362473414566847[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4424271862291390523) { - out_4424271862291390523[0] = 0; - out_4424271862291390523[1] = 0; - out_4424271862291390523[2] = 0; - out_4424271862291390523[3] = 0; - out_4424271862291390523[4] = 0; - out_4424271862291390523[5] = 0; - out_4424271862291390523[6] = 1; - out_4424271862291390523[7] = 0; - out_4424271862291390523[8] = 0; - out_4424271862291390523[9] = 0; - out_4424271862291390523[10] = 0; - out_4424271862291390523[11] = 0; - out_4424271862291390523[12] = 0; - out_4424271862291390523[13] = 0; - out_4424271862291390523[14] = 0; - out_4424271862291390523[15] = 0; - out_4424271862291390523[16] = 0; - out_4424271862291390523[17] = 0; - out_4424271862291390523[18] = 0; - out_4424271862291390523[19] = 0; - out_4424271862291390523[20] = 0; - out_4424271862291390523[21] = 0; - out_4424271862291390523[22] = 0; - out_4424271862291390523[23] = 0; - out_4424271862291390523[24] = 0; - out_4424271862291390523[25] = 1; - out_4424271862291390523[26] = 0; - out_4424271862291390523[27] = 0; - out_4424271862291390523[28] = 0; - out_4424271862291390523[29] = 0; - out_4424271862291390523[30] = 0; - out_4424271862291390523[31] = 0; - out_4424271862291390523[32] = 0; - out_4424271862291390523[33] = 0; - out_4424271862291390523[34] = 0; - out_4424271862291390523[35] = 0; - out_4424271862291390523[36] = 0; - out_4424271862291390523[37] = 0; - out_4424271862291390523[38] = 0; - out_4424271862291390523[39] = 0; - out_4424271862291390523[40] = 0; - out_4424271862291390523[41] = 0; - out_4424271862291390523[42] = 0; - out_4424271862291390523[43] = 0; - out_4424271862291390523[44] = 1; - out_4424271862291390523[45] = 0; - out_4424271862291390523[46] = 0; - out_4424271862291390523[47] = 0; - out_4424271862291390523[48] = 0; - out_4424271862291390523[49] = 0; - out_4424271862291390523[50] = 0; - out_4424271862291390523[51] = 0; - out_4424271862291390523[52] = 0; - out_4424271862291390523[53] = 0; +void H_14(double *state, double *unused, double *out_4845970541115939140) { + out_4845970541115939140[0] = 0; + out_4845970541115939140[1] = 0; + out_4845970541115939140[2] = 0; + out_4845970541115939140[3] = 0; + out_4845970541115939140[4] = 0; + out_4845970541115939140[5] = 0; + out_4845970541115939140[6] = 1; + out_4845970541115939140[7] = 0; + out_4845970541115939140[8] = 0; + out_4845970541115939140[9] = 0; + out_4845970541115939140[10] = 0; + out_4845970541115939140[11] = 0; + out_4845970541115939140[12] = 0; + out_4845970541115939140[13] = 0; + out_4845970541115939140[14] = 0; + out_4845970541115939140[15] = 0; + out_4845970541115939140[16] = 0; + out_4845970541115939140[17] = 0; + out_4845970541115939140[18] = 0; + out_4845970541115939140[19] = 0; + out_4845970541115939140[20] = 0; + out_4845970541115939140[21] = 0; + out_4845970541115939140[22] = 0; + out_4845970541115939140[23] = 0; + out_4845970541115939140[24] = 0; + out_4845970541115939140[25] = 1; + out_4845970541115939140[26] = 0; + out_4845970541115939140[27] = 0; + out_4845970541115939140[28] = 0; + out_4845970541115939140[29] = 0; + out_4845970541115939140[30] = 0; + out_4845970541115939140[31] = 0; + out_4845970541115939140[32] = 0; + out_4845970541115939140[33] = 0; + out_4845970541115939140[34] = 0; + out_4845970541115939140[35] = 0; + out_4845970541115939140[36] = 0; + out_4845970541115939140[37] = 0; + out_4845970541115939140[38] = 0; + out_4845970541115939140[39] = 0; + out_4845970541115939140[40] = 0; + out_4845970541115939140[41] = 0; + out_4845970541115939140[42] = 0; + out_4845970541115939140[43] = 0; + out_4845970541115939140[44] = 1; + out_4845970541115939140[45] = 0; + out_4845970541115939140[46] = 0; + out_4845970541115939140[47] = 0; + out_4845970541115939140[48] = 0; + out_4845970541115939140[49] = 0; + out_4845970541115939140[50] = 0; + out_4845970541115939140[51] = 0; + out_4845970541115939140[52] = 0; + out_4845970541115939140[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_5135933030950096940) { - err_fun(nom_x, delta_x, out_5135933030950096940); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3316982698909296372) { + err_fun(nom_x, delta_x, out_3316982698909296372); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4473434694497561565) { - inv_err_fun(nom_x, true_x, out_4473434694497561565); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_875278244398304479) { + inv_err_fun(nom_x, true_x, out_875278244398304479); } -void pose_H_mod_fun(double *state, double *out_4955206330411314418) { - H_mod_fun(state, out_4955206330411314418); +void pose_H_mod_fun(double *state, double *out_4269788700262626124) { + H_mod_fun(state, out_4269788700262626124); } -void pose_f_fun(double *state, double dt, double *out_1052805527796842003) { - f_fun(state, dt, out_1052805527796842003); +void pose_f_fun(double *state, double dt, double *out_3692668602312034618) { + f_fun(state, dt, out_3692668602312034618); } -void pose_F_fun(double *state, double dt, double *out_5871869036335399812) { - F_fun(state, dt, out_5871869036335399812); +void pose_F_fun(double *state, double dt, double *out_2955282305521857746) { + F_fun(state, dt, out_2955282305521857746); } -void pose_h_4(double *state, double *unused, double *out_921118668651624411) { - h_4(state, unused, out_921118668651624411); +void pose_h_4(double *state, double *unused, double *out_6086550385890598344) { + h_4(state, unused, out_6086550385890598344); } -void pose_H_4(double *state, double *unused, double *out_3989155335646506924) { - H_4(state, unused, out_3989155335646506924); +void pose_H_4(double *state, double *unused, double *out_882729684776454611) { + H_4(state, unused, out_882729684776454611); } -void pose_h_10(double *state, double *unused, double *out_8738369372345178390) { - h_10(state, unused, out_8738369372345178390); +void pose_h_10(double *state, double *unused, double *out_822146309921429030) { + h_10(state, unused, out_822146309921429030); } -void pose_H_10(double *state, double *unused, double *out_2875729590105375124) { - H_10(state, unused, out_2875729590105375124); +void pose_H_10(double *state, double *unused, double *out_8527164112518639864) { + H_10(state, unused, out_8527164112518639864); } -void pose_h_13(double *state, double *unused, double *out_1766623406694503914) { - h_13(state, unused, out_1766623406694503914); +void pose_h_13(double *state, double *unused, double *out_9110778303873781210) { + h_13(state, unused, out_9110778303873781210); } -void pose_H_13(double *state, double *unused, double *out_776881510314174123) { - H_13(state, unused, out_776881510314174123); +void pose_H_13(double *state, double *unused, double *out_4095003510108787412) { + H_13(state, unused, out_4095003510108787412); } -void pose_h_14(double *state, double *unused, double *out_4485852814658279598) { - h_14(state, unused, out_4485852814658279598); +void pose_h_14(double *state, double *unused, double *out_6914362473414566847) { + h_14(state, unused, out_6914362473414566847); } -void pose_H_14(double *state, double *unused, double *out_4424271862291390523) { - H_14(state, unused, out_4424271862291390523); +void pose_H_14(double *state, double *unused, double *out_4845970541115939140) { + H_14(state, unused, out_4845970541115939140); } 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 7b49879f4..a7bffeb29 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_5135933030950096940); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4473434694497561565); -void pose_H_mod_fun(double *state, double *out_4955206330411314418); -void pose_f_fun(double *state, double dt, double *out_1052805527796842003); -void pose_F_fun(double *state, double dt, double *out_5871869036335399812); -void pose_h_4(double *state, double *unused, double *out_921118668651624411); -void pose_H_4(double *state, double *unused, double *out_3989155335646506924); -void pose_h_10(double *state, double *unused, double *out_8738369372345178390); -void pose_H_10(double *state, double *unused, double *out_2875729590105375124); -void pose_h_13(double *state, double *unused, double *out_1766623406694503914); -void pose_H_13(double *state, double *unused, double *out_776881510314174123); -void pose_h_14(double *state, double *unused, double *out_4485852814658279598); -void pose_H_14(double *state, double *unused, double *out_4424271862291390523); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3316982698909296372); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_875278244398304479); +void pose_H_mod_fun(double *state, double *out_4269788700262626124); +void pose_f_fun(double *state, double dt, double *out_3692668602312034618); +void pose_F_fun(double *state, double dt, double *out_2955282305521857746); +void pose_h_4(double *state, double *unused, double *out_6086550385890598344); +void pose_H_4(double *state, double *unused, double *out_882729684776454611); +void pose_h_10(double *state, double *unused, double *out_822146309921429030); +void pose_H_10(double *state, double *unused, double *out_8527164112518639864); +void pose_h_13(double *state, double *unused, double *out_9110778303873781210); +void pose_H_13(double *state, double *unused, double *out_4095003510108787412); +void pose_h_14(double *state, double *unused, double *out_6914362473414566847); +void pose_H_14(double *state, double *unused, double *out_4845970541115939140); 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 c174a6575..552f9f0a8 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 6f720310d..32d652089 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 17961a22d..d7363c1ec 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 22f247147..b035d79fd 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index e20f5229f..6a37c0ddb 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 62a979980..a2297b0e6 100755 Binary files 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