From aa84176c7de992fde15e102e592fadddb5f1e1c9 Mon Sep 17 00:00:00 2001 From: StarPilot Build Bot <168790843+firestar5683@users.noreply.github.com> Date: Thu, 14 May 2026 23:54:40 +0000 Subject: [PATCH] build --- panda/board/obj/body_h7.bin.signed | Bin 86072 -> 86072 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 85936 -> 85936 bytes panda/board/obj/body_h7/main.elf | Bin 397448 -> 397448 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 77964 -> 77964 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 77828 -> 77828 bytes panda/board/obj/panda/main.elf | Bin 361832 -> 361832 bytes panda/board/obj/panda_h7.bin.signed | Bin 94108 -> 94108 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 93972 -> 93972 bytes panda/board/obj/panda_h7/main.elf | Bin 440612 -> 440612 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 94044 -> 94044 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 93908 -> 93908 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 440608 -> 440608 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 88064 -> 88064 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 87928 -> 87928 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 401288 -> 401288 bytes panda/board/obj/panda_remote.bin.signed | Bin 77924 -> 77924 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 77788 -> 77788 bytes panda/board/obj/panda_remote/main.elf | Bin 362032 -> 362032 bytes panda/board/obj/version | 2 +- selfdrive/locationd/models/generated/car.cpp | 684 +++--- selfdrive/locationd/models/generated/car.h | 42 +- selfdrive/locationd/models/generated/pose.cpp | 1938 ++++++++--------- selfdrive/locationd/models/generated/pose.h | 26 +- selfdrive/ui/ui | Bin 4407728 -> 4407728 bytes 37 files changed, 1347 insertions(+), 1347 deletions(-) diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index dfbe7ad28a68ecb0d2bde7d1926c63ecd0ddabd8..66cab38e7dfbcacd007236d755da88b172bd3b2a 100644 GIT binary patch delta 153 zcmV;K0A~NVpar;~1+cun2xc=dWi>P~HnYUO^pJlng51hJ=W%iGOF_;O_Gp%; z)szi^(w;yA9pZ|~vT}@9vq*^lC7*--qwk?NFe}S>L(+AQ*3S*};-_JK=%t!AYLzHop(P H6P^L+c|J}} diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index adc8af52f9c3564d7b4c684eee3d8fcccab81330..576c51d495ab702535dd130299f4eaf43726b419 100755 GIT binary patch delta 27 jcmdn;fo;nNwhgW}9BIY|sir0dX3f4f+kI^qpH~9_nIH-} delta 27 jcmdn;fo;nNwhgW}9A?JGiKa$|#?8Jq+kI^qpH~9_mAVQA diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index e53fda56edcb78334618d27415592587bdc66f01..5caba182bf81a9fe6184f534c0cd1d606d527f54 100755 GIT binary patch delta 23 dcmdlmpLGKe?b*kXW^9mZYGPov`N+OE699R+3W)#! delta 23 dcmdlmpLGKe?b*j+W^9~jYGi1<`N+OE699K73RD09 diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 0681742aaec283fab5470e713041324b7ba00ca0..390378b0ce2081bdf7ce873baf6839319583f9f4 100755 GIT binary patch delta 43 vcmeBJDABP{V#A(u9BIY|sir0dX3a;=wI4ah2*gZ4%nZaV+mD=MJ>m!euQwE! delta 43 vcmeBJDABP{V#A(u9A?JGiKa$|#?430wI4ah2*gZ4%nZaV+mD=MJ>m!esDTt? diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index ed7d9818126d79c6de3789997f90ea1e94034181..c678b5d10be8af1c68195b959214881ef8d0352d 100755 GIT binary patch delta 21 ccmaEo^dxD6s}4t+u|cY-iGkT>UmbB)0A5rE`v3p{ delta 21 ccmaEo^dxD6s}6^mv2miQk)iQsUmbB)09(Qa#sB~S diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index dc89b4d31189bb4e0c9e3e50dbdd1c89f05f8a98..f2b5c671bc928a782df4e99356f960cd21d0d3e1 100755 GIT binary patch delta 34 qcmdlJwkK?ZubN<*u|cY-iGi7}i>p(pJ3|A*Zo9oo}u>b(aU<&L2 delta 34 qcmdlJwkK?ZubQBlv2miQk)g4!i>p(pJ3|A*Zo9oo}u>b(V9SXMq diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 8e7ceb35ac2d33a505c940321ea1711e3808a7bd..0c2dcc81d06231a18339ea203349dd867f346583 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$9BIY|sir0dW}7EEpJxRCaj^)) delta 23 fcmaDbiSfZC#tog$9A?JGiKa$|#+xTPpJxRCZyyMb diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 8e7ceb35ac2d33a505c940321ea1711e3808a7bd..0c2dcc81d06231a18339ea203349dd867f346583 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$9BIY|sir0dW}7EEpJxRCaj^)) delta 23 fcmaDbiSfZC#tog$9A?JGiKa$|#+xTPpJxRCZyyMb diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index af552d48782854204d776b9e39dd1a04968299d6..c59188511355000fe92b0366a9b78e7d0b646478 100755 GIT binary patch delta 21 ccmZq4ZOPrR*MK9<*dW!^#K3IxQG@-g09)<{@c;k- delta 21 ccmZq4ZOPrR*MP&!*f`PD$k2H6QG@-g09jlIyZ`_I diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index dc89b4d31189bb4e0c9e3e50dbdd1c89f05f8a98..f2b5c671bc928a782df4e99356f960cd21d0d3e1 100755 GIT binary patch delta 34 qcmdlJwkK?ZubN<*u|cY-iGi7}i>p(pJ3|A*Zo9oo}u>b(aU<&L2 delta 34 qcmdlJwkK?ZubQBlv2miQk)g4!i>p(pJ3|A*Zo9oo}u>b(V9SXMq diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 124932265..c238df627 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-633a5213-DEBUG"; +const uint8_t gitversion[19] = "DEV-f30e5406-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 46d75d8edd1d5bd64093d219fc1de83a1d7c1ca0..a5d8a85ea23906f20e6a3a1a40981e9df24d06c5 100644 GIT binary patch delta 153 zcmV;K0A~M;;RKA~1hA;C2xc=dWi>P~HnXsbHu2^u{RH;?*s%- ziO?NnN)1k^?{SXSA81iup9D)N-D#3OTjPs1wNA622mz6AT{AoVMQVIGRdb2BhHgaU z(rwVa=$F1@*uN|bQJQ*XWh-wBi1u0MD%uKzvTcwhVr4FS%1m H00RND5j035 delta 153 zcmV;K0A~M;;RKA~1hA;C2sSe_VKp)_GqbR+T!DX*J^2EUrJ}q`2~31x%oDR$mA~~} zN_+*2I>*02$Q|_qJ*`)wk87<1`Az;3MWT}FdfF&io$Dy`dtP{(6LbvUFeb*vAazRx zZ(j}|5H{~J)BX2(HGGWHI*(#rN7KxuJ2JM@jGQd#S&=gV-!c8U=18! 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* * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_9028291241411164041) { - out_9028291241411164041[0] = delta_x[0] + nom_x[0]; - out_9028291241411164041[1] = delta_x[1] + nom_x[1]; - out_9028291241411164041[2] = delta_x[2] + nom_x[2]; - out_9028291241411164041[3] = delta_x[3] + nom_x[3]; - out_9028291241411164041[4] = delta_x[4] + nom_x[4]; - out_9028291241411164041[5] = delta_x[5] + nom_x[5]; - out_9028291241411164041[6] = delta_x[6] + nom_x[6]; - out_9028291241411164041[7] = delta_x[7] + nom_x[7]; - out_9028291241411164041[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5591921399563932369) { + out_5591921399563932369[0] = delta_x[0] + nom_x[0]; + out_5591921399563932369[1] = delta_x[1] + nom_x[1]; + out_5591921399563932369[2] = delta_x[2] + nom_x[2]; + out_5591921399563932369[3] = delta_x[3] + nom_x[3]; + out_5591921399563932369[4] = delta_x[4] + nom_x[4]; + out_5591921399563932369[5] = delta_x[5] + nom_x[5]; + out_5591921399563932369[6] = delta_x[6] + nom_x[6]; + out_5591921399563932369[7] = delta_x[7] + nom_x[7]; + out_5591921399563932369[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4666000221593499497) { - out_4666000221593499497[0] = -nom_x[0] + true_x[0]; - out_4666000221593499497[1] = -nom_x[1] + true_x[1]; - out_4666000221593499497[2] = -nom_x[2] + true_x[2]; - out_4666000221593499497[3] = -nom_x[3] + true_x[3]; - out_4666000221593499497[4] = -nom_x[4] + true_x[4]; - out_4666000221593499497[5] = -nom_x[5] + true_x[5]; - out_4666000221593499497[6] = -nom_x[6] + true_x[6]; - out_4666000221593499497[7] = -nom_x[7] + true_x[7]; - out_4666000221593499497[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_806607420895539823) { + out_806607420895539823[0] = -nom_x[0] + true_x[0]; + out_806607420895539823[1] = -nom_x[1] + true_x[1]; + out_806607420895539823[2] = -nom_x[2] + true_x[2]; + out_806607420895539823[3] = -nom_x[3] + true_x[3]; + out_806607420895539823[4] = -nom_x[4] + true_x[4]; + out_806607420895539823[5] = -nom_x[5] + true_x[5]; + out_806607420895539823[6] = -nom_x[6] + true_x[6]; + out_806607420895539823[7] = -nom_x[7] + true_x[7]; + out_806607420895539823[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1234525725193622425) { - out_1234525725193622425[0] = 1.0; - out_1234525725193622425[1] = 0.0; - out_1234525725193622425[2] = 0.0; - out_1234525725193622425[3] = 0.0; - out_1234525725193622425[4] = 0.0; - out_1234525725193622425[5] = 0.0; - out_1234525725193622425[6] = 0.0; - out_1234525725193622425[7] = 0.0; - out_1234525725193622425[8] = 0.0; - out_1234525725193622425[9] = 0.0; - out_1234525725193622425[10] = 1.0; - out_1234525725193622425[11] = 0.0; - out_1234525725193622425[12] = 0.0; - out_1234525725193622425[13] = 0.0; - out_1234525725193622425[14] = 0.0; - out_1234525725193622425[15] = 0.0; - out_1234525725193622425[16] = 0.0; - out_1234525725193622425[17] = 0.0; - out_1234525725193622425[18] = 0.0; - out_1234525725193622425[19] = 0.0; - out_1234525725193622425[20] = 1.0; - out_1234525725193622425[21] = 0.0; - out_1234525725193622425[22] = 0.0; - out_1234525725193622425[23] = 0.0; - out_1234525725193622425[24] = 0.0; - out_1234525725193622425[25] = 0.0; - out_1234525725193622425[26] = 0.0; - out_1234525725193622425[27] = 0.0; - out_1234525725193622425[28] = 0.0; - out_1234525725193622425[29] = 0.0; - out_1234525725193622425[30] = 1.0; - out_1234525725193622425[31] = 0.0; - out_1234525725193622425[32] = 0.0; - out_1234525725193622425[33] = 0.0; - out_1234525725193622425[34] = 0.0; - out_1234525725193622425[35] = 0.0; - out_1234525725193622425[36] = 0.0; - out_1234525725193622425[37] = 0.0; - out_1234525725193622425[38] = 0.0; - out_1234525725193622425[39] = 0.0; - out_1234525725193622425[40] = 1.0; - out_1234525725193622425[41] = 0.0; - out_1234525725193622425[42] = 0.0; - out_1234525725193622425[43] = 0.0; - out_1234525725193622425[44] = 0.0; - out_1234525725193622425[45] = 0.0; - out_1234525725193622425[46] = 0.0; - out_1234525725193622425[47] = 0.0; - out_1234525725193622425[48] = 0.0; - out_1234525725193622425[49] = 0.0; - out_1234525725193622425[50] = 1.0; - out_1234525725193622425[51] = 0.0; - out_1234525725193622425[52] = 0.0; - out_1234525725193622425[53] = 0.0; - out_1234525725193622425[54] = 0.0; - out_1234525725193622425[55] = 0.0; - out_1234525725193622425[56] = 0.0; - out_1234525725193622425[57] = 0.0; - out_1234525725193622425[58] = 0.0; - out_1234525725193622425[59] = 0.0; - out_1234525725193622425[60] = 1.0; - out_1234525725193622425[61] = 0.0; - out_1234525725193622425[62] = 0.0; - out_1234525725193622425[63] = 0.0; - out_1234525725193622425[64] = 0.0; - out_1234525725193622425[65] = 0.0; - out_1234525725193622425[66] = 0.0; - out_1234525725193622425[67] = 0.0; - out_1234525725193622425[68] = 0.0; - out_1234525725193622425[69] = 0.0; - out_1234525725193622425[70] = 1.0; - out_1234525725193622425[71] = 0.0; - out_1234525725193622425[72] = 0.0; - out_1234525725193622425[73] = 0.0; - out_1234525725193622425[74] = 0.0; - out_1234525725193622425[75] = 0.0; - out_1234525725193622425[76] = 0.0; - out_1234525725193622425[77] = 0.0; - out_1234525725193622425[78] = 0.0; - out_1234525725193622425[79] = 0.0; - out_1234525725193622425[80] = 1.0; +void H_mod_fun(double *state, double *out_5676707820504431668) { + out_5676707820504431668[0] = 1.0; + out_5676707820504431668[1] = 0.0; + out_5676707820504431668[2] = 0.0; + out_5676707820504431668[3] = 0.0; + out_5676707820504431668[4] = 0.0; + out_5676707820504431668[5] = 0.0; + out_5676707820504431668[6] = 0.0; + out_5676707820504431668[7] = 0.0; + out_5676707820504431668[8] = 0.0; + out_5676707820504431668[9] = 0.0; + out_5676707820504431668[10] = 1.0; + out_5676707820504431668[11] = 0.0; + out_5676707820504431668[12] = 0.0; + out_5676707820504431668[13] = 0.0; + out_5676707820504431668[14] = 0.0; + out_5676707820504431668[15] = 0.0; + out_5676707820504431668[16] = 0.0; + out_5676707820504431668[17] = 0.0; + out_5676707820504431668[18] = 0.0; + out_5676707820504431668[19] = 0.0; + out_5676707820504431668[20] = 1.0; + out_5676707820504431668[21] = 0.0; + out_5676707820504431668[22] = 0.0; + out_5676707820504431668[23] = 0.0; + out_5676707820504431668[24] = 0.0; + out_5676707820504431668[25] = 0.0; + out_5676707820504431668[26] = 0.0; + out_5676707820504431668[27] = 0.0; + out_5676707820504431668[28] = 0.0; + out_5676707820504431668[29] = 0.0; + out_5676707820504431668[30] = 1.0; + out_5676707820504431668[31] = 0.0; + out_5676707820504431668[32] = 0.0; + out_5676707820504431668[33] = 0.0; + out_5676707820504431668[34] = 0.0; + out_5676707820504431668[35] = 0.0; + out_5676707820504431668[36] = 0.0; + out_5676707820504431668[37] = 0.0; + out_5676707820504431668[38] = 0.0; + out_5676707820504431668[39] = 0.0; + out_5676707820504431668[40] = 1.0; + out_5676707820504431668[41] = 0.0; + out_5676707820504431668[42] = 0.0; + out_5676707820504431668[43] = 0.0; + out_5676707820504431668[44] = 0.0; + out_5676707820504431668[45] = 0.0; + out_5676707820504431668[46] = 0.0; + out_5676707820504431668[47] = 0.0; + out_5676707820504431668[48] = 0.0; + out_5676707820504431668[49] = 0.0; + out_5676707820504431668[50] = 1.0; + out_5676707820504431668[51] = 0.0; + out_5676707820504431668[52] = 0.0; + out_5676707820504431668[53] = 0.0; + out_5676707820504431668[54] = 0.0; + out_5676707820504431668[55] = 0.0; + out_5676707820504431668[56] = 0.0; + out_5676707820504431668[57] = 0.0; + out_5676707820504431668[58] = 0.0; + out_5676707820504431668[59] = 0.0; + out_5676707820504431668[60] = 1.0; + out_5676707820504431668[61] = 0.0; + out_5676707820504431668[62] = 0.0; + out_5676707820504431668[63] = 0.0; + out_5676707820504431668[64] = 0.0; + out_5676707820504431668[65] = 0.0; + out_5676707820504431668[66] = 0.0; + out_5676707820504431668[67] = 0.0; + out_5676707820504431668[68] = 0.0; + out_5676707820504431668[69] = 0.0; + out_5676707820504431668[70] = 1.0; + out_5676707820504431668[71] = 0.0; + out_5676707820504431668[72] = 0.0; + out_5676707820504431668[73] = 0.0; + out_5676707820504431668[74] = 0.0; + out_5676707820504431668[75] = 0.0; + out_5676707820504431668[76] = 0.0; + out_5676707820504431668[77] = 0.0; + out_5676707820504431668[78] = 0.0; + out_5676707820504431668[79] = 0.0; + out_5676707820504431668[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5744399634248528082) { - out_5744399634248528082[0] = state[0]; - out_5744399634248528082[1] = state[1]; - out_5744399634248528082[2] = state[2]; - out_5744399634248528082[3] = state[3]; - out_5744399634248528082[4] = state[4]; - out_5744399634248528082[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_5744399634248528082[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_5744399634248528082[7] = state[7]; - out_5744399634248528082[8] = state[8]; +void f_fun(double *state, double dt, double *out_4844917589263296834) { + out_4844917589263296834[0] = state[0]; + out_4844917589263296834[1] = state[1]; + out_4844917589263296834[2] = state[2]; + out_4844917589263296834[3] = state[3]; + out_4844917589263296834[4] = state[4]; + out_4844917589263296834[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_4844917589263296834[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_4844917589263296834[7] = state[7]; + out_4844917589263296834[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1994809722497824627) { - out_1994809722497824627[0] = 1; - out_1994809722497824627[1] = 0; - out_1994809722497824627[2] = 0; - out_1994809722497824627[3] = 0; - out_1994809722497824627[4] = 0; - out_1994809722497824627[5] = 0; - out_1994809722497824627[6] = 0; - out_1994809722497824627[7] = 0; - out_1994809722497824627[8] = 0; - out_1994809722497824627[9] = 0; - out_1994809722497824627[10] = 1; - out_1994809722497824627[11] = 0; - out_1994809722497824627[12] = 0; - out_1994809722497824627[13] = 0; - out_1994809722497824627[14] = 0; - out_1994809722497824627[15] = 0; - out_1994809722497824627[16] = 0; - out_1994809722497824627[17] = 0; - out_1994809722497824627[18] = 0; - out_1994809722497824627[19] = 0; - out_1994809722497824627[20] = 1; - out_1994809722497824627[21] = 0; - out_1994809722497824627[22] = 0; - out_1994809722497824627[23] = 0; - out_1994809722497824627[24] = 0; - out_1994809722497824627[25] = 0; - out_1994809722497824627[26] = 0; - out_1994809722497824627[27] = 0; - out_1994809722497824627[28] = 0; - out_1994809722497824627[29] = 0; - out_1994809722497824627[30] = 1; - out_1994809722497824627[31] = 0; - out_1994809722497824627[32] = 0; - out_1994809722497824627[33] = 0; - out_1994809722497824627[34] = 0; - out_1994809722497824627[35] = 0; - out_1994809722497824627[36] = 0; - out_1994809722497824627[37] = 0; - out_1994809722497824627[38] = 0; - out_1994809722497824627[39] = 0; - out_1994809722497824627[40] = 1; - out_1994809722497824627[41] = 0; - out_1994809722497824627[42] = 0; - out_1994809722497824627[43] = 0; - out_1994809722497824627[44] = 0; - out_1994809722497824627[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_1994809722497824627[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1994809722497824627[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1994809722497824627[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1994809722497824627[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_1994809722497824627[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1994809722497824627[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1994809722497824627[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1994809722497824627[53] = -9.8100000000000005*dt; - out_1994809722497824627[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_1994809722497824627[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1994809722497824627[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1994809722497824627[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1994809722497824627[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_1994809722497824627[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1994809722497824627[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_1994809722497824627[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1994809722497824627[62] = 0; - out_1994809722497824627[63] = 0; - out_1994809722497824627[64] = 0; - out_1994809722497824627[65] = 0; - out_1994809722497824627[66] = 0; - out_1994809722497824627[67] = 0; - out_1994809722497824627[68] = 0; - out_1994809722497824627[69] = 0; - out_1994809722497824627[70] = 1; - out_1994809722497824627[71] = 0; - out_1994809722497824627[72] = 0; - out_1994809722497824627[73] = 0; - out_1994809722497824627[74] = 0; - out_1994809722497824627[75] = 0; - out_1994809722497824627[76] = 0; - out_1994809722497824627[77] = 0; - out_1994809722497824627[78] = 0; - out_1994809722497824627[79] = 0; - out_1994809722497824627[80] = 1; +void F_fun(double *state, double dt, double *out_4636534629313466670) { + out_4636534629313466670[0] = 1; + out_4636534629313466670[1] = 0; + out_4636534629313466670[2] = 0; + out_4636534629313466670[3] = 0; + out_4636534629313466670[4] = 0; + out_4636534629313466670[5] = 0; + out_4636534629313466670[6] = 0; + out_4636534629313466670[7] = 0; + out_4636534629313466670[8] = 0; + out_4636534629313466670[9] = 0; + out_4636534629313466670[10] = 1; + out_4636534629313466670[11] = 0; + out_4636534629313466670[12] = 0; + out_4636534629313466670[13] = 0; + out_4636534629313466670[14] = 0; + out_4636534629313466670[15] = 0; + out_4636534629313466670[16] = 0; + out_4636534629313466670[17] = 0; + out_4636534629313466670[18] = 0; + out_4636534629313466670[19] = 0; + out_4636534629313466670[20] = 1; + out_4636534629313466670[21] = 0; + out_4636534629313466670[22] = 0; + out_4636534629313466670[23] = 0; + out_4636534629313466670[24] = 0; + out_4636534629313466670[25] = 0; + out_4636534629313466670[26] = 0; + out_4636534629313466670[27] = 0; + out_4636534629313466670[28] = 0; + out_4636534629313466670[29] = 0; + out_4636534629313466670[30] = 1; + out_4636534629313466670[31] = 0; + out_4636534629313466670[32] = 0; + out_4636534629313466670[33] = 0; + out_4636534629313466670[34] = 0; + out_4636534629313466670[35] = 0; + out_4636534629313466670[36] = 0; + out_4636534629313466670[37] = 0; + out_4636534629313466670[38] = 0; + out_4636534629313466670[39] = 0; + out_4636534629313466670[40] = 1; + out_4636534629313466670[41] = 0; + out_4636534629313466670[42] = 0; + out_4636534629313466670[43] = 0; + out_4636534629313466670[44] = 0; + out_4636534629313466670[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_4636534629313466670[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4636534629313466670[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4636534629313466670[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4636534629313466670[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_4636534629313466670[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4636534629313466670[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4636534629313466670[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4636534629313466670[53] = -9.8100000000000005*dt; + out_4636534629313466670[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_4636534629313466670[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4636534629313466670[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4636534629313466670[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4636534629313466670[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_4636534629313466670[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4636534629313466670[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_4636534629313466670[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4636534629313466670[62] = 0; + out_4636534629313466670[63] = 0; + out_4636534629313466670[64] = 0; + out_4636534629313466670[65] = 0; + out_4636534629313466670[66] = 0; + out_4636534629313466670[67] = 0; + out_4636534629313466670[68] = 0; + out_4636534629313466670[69] = 0; + out_4636534629313466670[70] = 1; + out_4636534629313466670[71] = 0; + out_4636534629313466670[72] = 0; + out_4636534629313466670[73] = 0; + out_4636534629313466670[74] = 0; + out_4636534629313466670[75] = 0; + out_4636534629313466670[76] = 0; + out_4636534629313466670[77] = 0; + out_4636534629313466670[78] = 0; + out_4636534629313466670[79] = 0; + out_4636534629313466670[80] = 1; } -void h_25(double *state, double *unused, double *out_4913819377999097610) { - out_4913819377999097610[0] = state[6]; +void h_25(double *state, double *unused, double *out_5482647601852736049) { + out_5482647601852736049[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6138217550378287265) { - out_6138217550378287265[0] = 0; - out_6138217550378287265[1] = 0; - out_6138217550378287265[2] = 0; - out_6138217550378287265[3] = 0; - out_6138217550378287265[4] = 0; - out_6138217550378287265[5] = 0; - out_6138217550378287265[6] = 1; - out_6138217550378287265[7] = 0; - out_6138217550378287265[8] = 0; +void H_25(double *state, double *unused, double *out_7866344428020455108) { + out_7866344428020455108[0] = 0; + out_7866344428020455108[1] = 0; + out_7866344428020455108[2] = 0; + out_7866344428020455108[3] = 0; + out_7866344428020455108[4] = 0; + out_7866344428020455108[5] = 0; + out_7866344428020455108[6] = 1; + out_7866344428020455108[7] = 0; + out_7866344428020455108[8] = 0; } -void h_24(double *state, double *unused, double *out_7436088339947871774) { - out_7436088339947871774[0] = state[4]; - out_7436088339947871774[1] = state[5]; +void h_24(double *state, double *unused, double *out_6159121467458312716) { + out_6159121467458312716[0] = state[4]; + out_6159121467458312716[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8315431973985437238) { - out_8315431973985437238[0] = 0; - out_8315431973985437238[1] = 0; - out_8315431973985437238[2] = 0; - out_8315431973985437238[3] = 0; - out_8315431973985437238[4] = 1; - out_8315431973985437238[5] = 0; - out_8315431973985437238[6] = 0; - out_8315431973985437238[7] = 0; - out_8315431973985437238[8] = 0; - out_8315431973985437238[9] = 0; - out_8315431973985437238[10] = 0; - out_8315431973985437238[11] = 0; - out_8315431973985437238[12] = 0; - out_8315431973985437238[13] = 0; - out_8315431973985437238[14] = 1; - out_8315431973985437238[15] = 0; - out_8315431973985437238[16] = 0; - out_8315431973985437238[17] = 0; +void H_24(double *state, double *unused, double *out_3137725052700380188) { + out_3137725052700380188[0] = 0; + out_3137725052700380188[1] = 0; + out_3137725052700380188[2] = 0; + out_3137725052700380188[3] = 0; + out_3137725052700380188[4] = 1; + out_3137725052700380188[5] = 0; + out_3137725052700380188[6] = 0; + out_3137725052700380188[7] = 0; + out_3137725052700380188[8] = 0; + out_3137725052700380188[9] = 0; + out_3137725052700380188[10] = 0; + out_3137725052700380188[11] = 0; + out_3137725052700380188[12] = 0; + out_3137725052700380188[13] = 0; + out_3137725052700380188[14] = 1; + out_3137725052700380188[15] = 0; + out_3137725052700380188[16] = 0; + out_3137725052700380188[17] = 0; } -void h_30(double *state, double *unused, double *out_7861545368354582571) { - out_7861545368354582571[0] = state[4]; +void h_30(double *state, double *unused, double *out_5757841664137241938) { + out_5757841664137241938[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8656550508885535892) { - out_8656550508885535892[0] = 0; - out_8656550508885535892[1] = 0; - out_8656550508885535892[2] = 0; - out_8656550508885535892[3] = 0; - out_8656550508885535892[4] = 1; - out_8656550508885535892[5] = 0; - out_8656550508885535892[6] = 0; - out_8656550508885535892[7] = 0; - out_8656550508885535892[8] = 0; +void H_30(double *state, double *unused, double *out_7995683375163695178) { + out_7995683375163695178[0] = 0; + out_7995683375163695178[1] = 0; + out_7995683375163695178[2] = 0; + out_7995683375163695178[3] = 0; + out_7995683375163695178[4] = 1; + out_7995683375163695178[5] = 0; + out_7995683375163695178[6] = 0; + out_7995683375163695178[7] = 0; + out_7995683375163695178[8] = 0; } -void h_26(double *state, double *unused, double *out_4585697555607125982) { - out_4585697555607125982[0] = state[7]; +void h_26(double *state, double *unused, double *out_6701351517038904373) { + out_6701351517038904373[0] = state[7]; } -void H_26(double *state, double *unused, double *out_2396714231504231041) { - out_2396714231504231041[0] = 0; - out_2396714231504231041[1] = 0; - out_2396714231504231041[2] = 0; - out_2396714231504231041[3] = 0; - out_2396714231504231041[4] = 0; - out_2396714231504231041[5] = 0; - out_2396714231504231041[6] = 0; - out_2396714231504231041[7] = 1; - out_2396714231504231041[8] = 0; +void H_26(double *state, double *unused, double *out_6838896326815040284) { + out_6838896326815040284[0] = 0; + out_6838896326815040284[1] = 0; + out_6838896326815040284[2] = 0; + out_6838896326815040284[3] = 0; + out_6838896326815040284[4] = 0; + out_6838896326815040284[5] = 0; + out_6838896326815040284[6] = 0; + out_6838896326815040284[7] = 1; + out_6838896326815040284[8] = 0; } -void h_27(double *state, double *unused, double *out_7430405259977259616) { - out_7430405259977259616[0] = state[3]; +void h_27(double *state, double *unused, double *out_7962423204195969922) { + out_7962423204195969922[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6481787197085110981) { - out_6481787197085110981[0] = 0; - out_6481787197085110981[1] = 0; - out_6481787197085110981[2] = 0; - out_6481787197085110981[3] = 1; - out_6481787197085110981[4] = 0; - out_6481787197085110981[5] = 0; - out_6481787197085110981[6] = 0; - out_6481787197085110981[7] = 0; - out_6481787197085110981[8] = 0; +void H_27(double *state, double *unused, double *out_8276297386745431527) { + out_8276297386745431527[0] = 0; + out_8276297386745431527[1] = 0; + out_8276297386745431527[2] = 0; + out_8276297386745431527[3] = 1; + out_8276297386745431527[4] = 0; + out_8276297386745431527[5] = 0; + out_8276297386745431527[6] = 0; + out_8276297386745431527[7] = 0; + out_8276297386745431527[8] = 0; } -void h_29(double *state, double *unused, double *out_3792955731723237266) { - out_3792955731723237266[0] = state[1]; +void h_29(double *state, double *unused, double *out_2721055612692909253) { + out_2721055612692909253[0] = state[1]; } -void H_29(double *state, double *unused, double *out_9166781853199928076) { - out_9166781853199928076[0] = 0; - out_9166781853199928076[1] = 1; - out_9166781853199928076[2] = 0; - out_9166781853199928076[3] = 0; - out_9166781853199928076[4] = 0; - out_9166781853199928076[5] = 0; - out_9166781853199928076[6] = 0; - out_9166781853199928076[7] = 0; - out_9166781853199928076[8] = 0; +void H_29(double *state, double *unused, double *out_6562934659875880494) { + out_6562934659875880494[0] = 0; + out_6562934659875880494[1] = 1; + out_6562934659875880494[2] = 0; + out_6562934659875880494[3] = 0; + out_6562934659875880494[4] = 0; + out_6562934659875880494[5] = 0; + out_6562934659875880494[6] = 0; + out_6562934659875880494[7] = 0; + out_6562934659875880494[8] = 0; } -void h_28(double *state, double *unused, double *out_7979552762287959315) { - out_7979552762287959315[0] = state[0]; +void h_28(double *state, double *unused, double *out_8408093249132323059) { + out_8408093249132323059[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4084382836130397502) { - out_4084382836130397502[0] = 1; - out_4084382836130397502[1] = 0; - out_4084382836130397502[2] = 0; - out_4084382836130397502[3] = 0; - out_4084382836130397502[4] = 0; - out_4084382836130397502[5] = 0; - out_4084382836130397502[6] = 0; - out_4084382836130397502[7] = 0; - out_4084382836130397502[8] = 0; +void H_28(double *state, double *unused, double *out_1480535642806349920) { + out_1480535642806349920[0] = 1; + out_1480535642806349920[1] = 0; + out_1480535642806349920[2] = 0; + out_1480535642806349920[3] = 0; + out_1480535642806349920[4] = 0; + out_1480535642806349920[5] = 0; + out_1480535642806349920[6] = 0; + out_1480535642806349920[7] = 0; + out_1480535642806349920[8] = 0; } -void h_31(double *state, double *unused, double *out_494689836007543994) { - out_494689836007543994[0] = state[8]; +void h_31(double *state, double *unused, double *out_4467435790593075575) { + out_4467435790593075575[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1770506129270879565) { - out_1770506129270879565[0] = 0; - out_1770506129270879565[1] = 0; - out_1770506129270879565[2] = 0; - out_1770506129270879565[3] = 0; - out_1770506129270879565[4] = 0; - out_1770506129270879565[5] = 0; - out_1770506129270879565[6] = 0; - out_1770506129270879565[7] = 0; - out_1770506129270879565[8] = 1; +void H_31(double *state, double *unused, double *out_7835698466143494680) { + out_7835698466143494680[0] = 0; + out_7835698466143494680[1] = 0; + out_7835698466143494680[2] = 0; + out_7835698466143494680[3] = 0; + out_7835698466143494680[4] = 0; + out_7835698466143494680[5] = 0; + out_7835698466143494680[6] = 0; + out_7835698466143494680[7] = 0; + out_7835698466143494680[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_9028291241411164041) { - err_fun(nom_x, delta_x, out_9028291241411164041); +void car_err_fun(double *nom_x, double *delta_x, double *out_5591921399563932369) { + err_fun(nom_x, delta_x, out_5591921399563932369); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4666000221593499497) { - inv_err_fun(nom_x, true_x, out_4666000221593499497); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_806607420895539823) { + inv_err_fun(nom_x, true_x, out_806607420895539823); } -void car_H_mod_fun(double *state, double *out_1234525725193622425) { - H_mod_fun(state, out_1234525725193622425); +void car_H_mod_fun(double *state, double *out_5676707820504431668) { + H_mod_fun(state, out_5676707820504431668); } -void car_f_fun(double *state, double dt, double *out_5744399634248528082) { - f_fun(state, dt, out_5744399634248528082); +void car_f_fun(double *state, double dt, double *out_4844917589263296834) { + f_fun(state, dt, out_4844917589263296834); } -void car_F_fun(double *state, double dt, double *out_1994809722497824627) { - F_fun(state, dt, out_1994809722497824627); +void car_F_fun(double *state, double dt, double *out_4636534629313466670) { + F_fun(state, dt, out_4636534629313466670); } -void car_h_25(double *state, double *unused, double *out_4913819377999097610) { - h_25(state, unused, out_4913819377999097610); +void car_h_25(double *state, double *unused, double *out_5482647601852736049) { + h_25(state, unused, out_5482647601852736049); } -void car_H_25(double *state, double *unused, double *out_6138217550378287265) { - H_25(state, unused, out_6138217550378287265); +void car_H_25(double *state, double *unused, double *out_7866344428020455108) { + H_25(state, unused, out_7866344428020455108); } -void car_h_24(double *state, double *unused, double *out_7436088339947871774) { - h_24(state, unused, out_7436088339947871774); +void car_h_24(double *state, double *unused, double *out_6159121467458312716) { + h_24(state, unused, out_6159121467458312716); } -void car_H_24(double *state, double *unused, double *out_8315431973985437238) { - H_24(state, unused, out_8315431973985437238); +void car_H_24(double *state, double *unused, double *out_3137725052700380188) { + H_24(state, unused, out_3137725052700380188); } -void car_h_30(double *state, double *unused, double *out_7861545368354582571) { - h_30(state, unused, out_7861545368354582571); +void car_h_30(double *state, double *unused, double *out_5757841664137241938) { + h_30(state, unused, out_5757841664137241938); } -void car_H_30(double *state, double *unused, double *out_8656550508885535892) { - H_30(state, unused, out_8656550508885535892); +void car_H_30(double *state, double *unused, double *out_7995683375163695178) { + H_30(state, unused, out_7995683375163695178); } -void car_h_26(double *state, double *unused, double *out_4585697555607125982) { - h_26(state, unused, out_4585697555607125982); +void car_h_26(double *state, double *unused, double *out_6701351517038904373) { + h_26(state, unused, out_6701351517038904373); } -void car_H_26(double *state, double *unused, double *out_2396714231504231041) { - H_26(state, unused, out_2396714231504231041); +void car_H_26(double *state, double *unused, double *out_6838896326815040284) { + H_26(state, unused, out_6838896326815040284); } -void car_h_27(double *state, double *unused, double *out_7430405259977259616) { - h_27(state, unused, out_7430405259977259616); +void car_h_27(double *state, double *unused, double *out_7962423204195969922) { + h_27(state, unused, out_7962423204195969922); } -void car_H_27(double *state, double *unused, double *out_6481787197085110981) { - H_27(state, unused, out_6481787197085110981); +void car_H_27(double *state, double *unused, double *out_8276297386745431527) { + H_27(state, unused, out_8276297386745431527); } -void car_h_29(double *state, double *unused, double *out_3792955731723237266) { - h_29(state, unused, out_3792955731723237266); +void car_h_29(double *state, double *unused, double *out_2721055612692909253) { + h_29(state, unused, out_2721055612692909253); } -void car_H_29(double *state, double *unused, double *out_9166781853199928076) { - H_29(state, unused, out_9166781853199928076); +void car_H_29(double *state, double *unused, double *out_6562934659875880494) { + H_29(state, unused, out_6562934659875880494); } -void car_h_28(double *state, double *unused, double *out_7979552762287959315) { - h_28(state, unused, out_7979552762287959315); +void car_h_28(double *state, double *unused, double *out_8408093249132323059) { + h_28(state, unused, out_8408093249132323059); } -void car_H_28(double *state, double *unused, double *out_4084382836130397502) { - H_28(state, unused, out_4084382836130397502); +void car_H_28(double *state, double *unused, double *out_1480535642806349920) { + H_28(state, unused, out_1480535642806349920); } -void car_h_31(double *state, double *unused, double *out_494689836007543994) { - h_31(state, unused, out_494689836007543994); +void car_h_31(double *state, double *unused, double *out_4467435790593075575) { + h_31(state, unused, out_4467435790593075575); } -void car_H_31(double *state, double *unused, double *out_1770506129270879565) { - H_31(state, unused, out_1770506129270879565); +void car_H_31(double *state, double *unused, double *out_7835698466143494680) { + H_31(state, unused, out_7835698466143494680); } 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 5a4327abe..26814a1e8 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_9028291241411164041); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4666000221593499497); -void car_H_mod_fun(double *state, double *out_1234525725193622425); -void car_f_fun(double *state, double dt, double *out_5744399634248528082); -void car_F_fun(double *state, double dt, double *out_1994809722497824627); -void car_h_25(double *state, double *unused, double *out_4913819377999097610); -void car_H_25(double *state, double *unused, double *out_6138217550378287265); -void car_h_24(double *state, double *unused, double *out_7436088339947871774); -void car_H_24(double *state, double *unused, double *out_8315431973985437238); -void car_h_30(double *state, double *unused, double *out_7861545368354582571); -void car_H_30(double *state, double *unused, double *out_8656550508885535892); -void car_h_26(double *state, double *unused, double *out_4585697555607125982); -void car_H_26(double *state, double *unused, double *out_2396714231504231041); -void car_h_27(double *state, double *unused, double *out_7430405259977259616); -void car_H_27(double *state, double *unused, double *out_6481787197085110981); -void car_h_29(double *state, double *unused, double *out_3792955731723237266); -void car_H_29(double *state, double *unused, double *out_9166781853199928076); -void car_h_28(double *state, double *unused, double *out_7979552762287959315); -void car_H_28(double *state, double *unused, double *out_4084382836130397502); -void car_h_31(double *state, double *unused, double *out_494689836007543994); -void car_H_31(double *state, double *unused, double *out_1770506129270879565); +void car_err_fun(double *nom_x, double *delta_x, double *out_5591921399563932369); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_806607420895539823); +void car_H_mod_fun(double *state, double *out_5676707820504431668); +void car_f_fun(double *state, double dt, double *out_4844917589263296834); +void car_F_fun(double *state, double dt, double *out_4636534629313466670); +void car_h_25(double *state, double *unused, double *out_5482647601852736049); +void car_H_25(double *state, double *unused, double *out_7866344428020455108); +void car_h_24(double *state, double *unused, double *out_6159121467458312716); +void car_H_24(double *state, double *unused, double *out_3137725052700380188); +void car_h_30(double *state, double *unused, double *out_5757841664137241938); +void car_H_30(double *state, double *unused, double *out_7995683375163695178); +void car_h_26(double *state, double *unused, double *out_6701351517038904373); +void car_H_26(double *state, double *unused, double *out_6838896326815040284); +void car_h_27(double *state, double *unused, double *out_7962423204195969922); +void car_H_27(double *state, double *unused, double *out_8276297386745431527); +void car_h_29(double *state, double *unused, double *out_2721055612692909253); +void car_H_29(double *state, double *unused, double *out_6562934659875880494); +void car_h_28(double *state, double *unused, double *out_8408093249132323059); +void car_H_28(double *state, double *unused, double *out_1480535642806349920); +void car_h_31(double *state, double *unused, double *out_4467435790593075575); +void car_H_31(double *state, double *unused, double *out_7835698466143494680); 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 4a7e3934d..7348afa4c 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_1909500707924070274) { - out_1909500707924070274[0] = delta_x[0] + nom_x[0]; - out_1909500707924070274[1] = delta_x[1] + nom_x[1]; - out_1909500707924070274[2] = delta_x[2] + nom_x[2]; - out_1909500707924070274[3] = delta_x[3] + nom_x[3]; - out_1909500707924070274[4] = delta_x[4] + nom_x[4]; - out_1909500707924070274[5] = delta_x[5] + nom_x[5]; - out_1909500707924070274[6] = delta_x[6] + nom_x[6]; - out_1909500707924070274[7] = delta_x[7] + nom_x[7]; - out_1909500707924070274[8] = delta_x[8] + nom_x[8]; - out_1909500707924070274[9] = delta_x[9] + nom_x[9]; - out_1909500707924070274[10] = delta_x[10] + nom_x[10]; - out_1909500707924070274[11] = delta_x[11] + nom_x[11]; - out_1909500707924070274[12] = delta_x[12] + nom_x[12]; - out_1909500707924070274[13] = delta_x[13] + nom_x[13]; - out_1909500707924070274[14] = delta_x[14] + nom_x[14]; - out_1909500707924070274[15] = delta_x[15] + nom_x[15]; - out_1909500707924070274[16] = delta_x[16] + nom_x[16]; - out_1909500707924070274[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_9183838211698085113) { + out_9183838211698085113[0] = delta_x[0] + nom_x[0]; + out_9183838211698085113[1] = delta_x[1] + nom_x[1]; + out_9183838211698085113[2] = delta_x[2] + nom_x[2]; + out_9183838211698085113[3] = delta_x[3] + nom_x[3]; + out_9183838211698085113[4] = delta_x[4] + nom_x[4]; + out_9183838211698085113[5] = delta_x[5] + nom_x[5]; + out_9183838211698085113[6] = delta_x[6] + nom_x[6]; + out_9183838211698085113[7] = delta_x[7] + nom_x[7]; + out_9183838211698085113[8] = delta_x[8] + nom_x[8]; + out_9183838211698085113[9] = delta_x[9] + nom_x[9]; + out_9183838211698085113[10] = delta_x[10] + nom_x[10]; + out_9183838211698085113[11] = delta_x[11] + nom_x[11]; + out_9183838211698085113[12] = delta_x[12] + nom_x[12]; + out_9183838211698085113[13] = delta_x[13] + nom_x[13]; + out_9183838211698085113[14] = delta_x[14] + nom_x[14]; + out_9183838211698085113[15] = delta_x[15] + nom_x[15]; + out_9183838211698085113[16] = delta_x[16] + nom_x[16]; + out_9183838211698085113[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4767002163824434397) { - out_4767002163824434397[0] = -nom_x[0] + true_x[0]; - out_4767002163824434397[1] = -nom_x[1] + true_x[1]; - out_4767002163824434397[2] = -nom_x[2] + true_x[2]; - out_4767002163824434397[3] = -nom_x[3] + true_x[3]; - out_4767002163824434397[4] = -nom_x[4] + true_x[4]; - out_4767002163824434397[5] = -nom_x[5] + true_x[5]; - out_4767002163824434397[6] = -nom_x[6] + true_x[6]; - out_4767002163824434397[7] = -nom_x[7] + true_x[7]; - out_4767002163824434397[8] = -nom_x[8] + true_x[8]; - out_4767002163824434397[9] = -nom_x[9] + true_x[9]; - out_4767002163824434397[10] = -nom_x[10] + true_x[10]; - out_4767002163824434397[11] = -nom_x[11] + true_x[11]; - out_4767002163824434397[12] = -nom_x[12] + true_x[12]; - out_4767002163824434397[13] = -nom_x[13] + true_x[13]; - out_4767002163824434397[14] = -nom_x[14] + true_x[14]; - out_4767002163824434397[15] = -nom_x[15] + true_x[15]; - out_4767002163824434397[16] = -nom_x[16] + true_x[16]; - out_4767002163824434397[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7880707634176237912) { + out_7880707634176237912[0] = -nom_x[0] + true_x[0]; + out_7880707634176237912[1] = -nom_x[1] + true_x[1]; + out_7880707634176237912[2] = -nom_x[2] + true_x[2]; + out_7880707634176237912[3] = -nom_x[3] + true_x[3]; + out_7880707634176237912[4] = -nom_x[4] + true_x[4]; + out_7880707634176237912[5] = -nom_x[5] + true_x[5]; + out_7880707634176237912[6] = -nom_x[6] + true_x[6]; + out_7880707634176237912[7] = -nom_x[7] + true_x[7]; + out_7880707634176237912[8] = -nom_x[8] + true_x[8]; + out_7880707634176237912[9] = -nom_x[9] + true_x[9]; + out_7880707634176237912[10] = -nom_x[10] + true_x[10]; + out_7880707634176237912[11] = -nom_x[11] + true_x[11]; + out_7880707634176237912[12] = -nom_x[12] + true_x[12]; + out_7880707634176237912[13] = -nom_x[13] + true_x[13]; + out_7880707634176237912[14] = -nom_x[14] + true_x[14]; + out_7880707634176237912[15] = -nom_x[15] + true_x[15]; + out_7880707634176237912[16] = -nom_x[16] + true_x[16]; + out_7880707634176237912[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_2632577706224621837) { - out_2632577706224621837[0] = 1.0; - out_2632577706224621837[1] = 0.0; - out_2632577706224621837[2] = 0.0; - out_2632577706224621837[3] = 0.0; - out_2632577706224621837[4] = 0.0; - out_2632577706224621837[5] = 0.0; - out_2632577706224621837[6] = 0.0; - out_2632577706224621837[7] = 0.0; - out_2632577706224621837[8] = 0.0; - out_2632577706224621837[9] = 0.0; - out_2632577706224621837[10] = 0.0; - out_2632577706224621837[11] = 0.0; - out_2632577706224621837[12] = 0.0; - out_2632577706224621837[13] = 0.0; - out_2632577706224621837[14] = 0.0; - out_2632577706224621837[15] = 0.0; - out_2632577706224621837[16] = 0.0; - out_2632577706224621837[17] = 0.0; - out_2632577706224621837[18] = 0.0; - out_2632577706224621837[19] = 1.0; - out_2632577706224621837[20] = 0.0; - out_2632577706224621837[21] = 0.0; - out_2632577706224621837[22] = 0.0; - out_2632577706224621837[23] = 0.0; - out_2632577706224621837[24] = 0.0; - out_2632577706224621837[25] = 0.0; - out_2632577706224621837[26] = 0.0; - out_2632577706224621837[27] = 0.0; - out_2632577706224621837[28] = 0.0; - out_2632577706224621837[29] = 0.0; - out_2632577706224621837[30] = 0.0; - out_2632577706224621837[31] = 0.0; - out_2632577706224621837[32] = 0.0; - out_2632577706224621837[33] = 0.0; - out_2632577706224621837[34] = 0.0; - out_2632577706224621837[35] = 0.0; - out_2632577706224621837[36] = 0.0; - out_2632577706224621837[37] = 0.0; - out_2632577706224621837[38] = 1.0; - out_2632577706224621837[39] = 0.0; - out_2632577706224621837[40] = 0.0; - out_2632577706224621837[41] = 0.0; - out_2632577706224621837[42] = 0.0; - out_2632577706224621837[43] = 0.0; - out_2632577706224621837[44] = 0.0; - out_2632577706224621837[45] = 0.0; - out_2632577706224621837[46] = 0.0; - out_2632577706224621837[47] = 0.0; - out_2632577706224621837[48] = 0.0; - out_2632577706224621837[49] = 0.0; - out_2632577706224621837[50] = 0.0; - out_2632577706224621837[51] = 0.0; - out_2632577706224621837[52] = 0.0; - out_2632577706224621837[53] = 0.0; - out_2632577706224621837[54] = 0.0; - out_2632577706224621837[55] = 0.0; - out_2632577706224621837[56] = 0.0; - out_2632577706224621837[57] = 1.0; - out_2632577706224621837[58] = 0.0; - out_2632577706224621837[59] = 0.0; - out_2632577706224621837[60] = 0.0; - out_2632577706224621837[61] = 0.0; - out_2632577706224621837[62] = 0.0; - out_2632577706224621837[63] = 0.0; - out_2632577706224621837[64] = 0.0; - out_2632577706224621837[65] = 0.0; - out_2632577706224621837[66] = 0.0; - out_2632577706224621837[67] = 0.0; - out_2632577706224621837[68] = 0.0; - out_2632577706224621837[69] = 0.0; - out_2632577706224621837[70] = 0.0; - out_2632577706224621837[71] = 0.0; - out_2632577706224621837[72] = 0.0; - out_2632577706224621837[73] = 0.0; - out_2632577706224621837[74] = 0.0; - out_2632577706224621837[75] = 0.0; - out_2632577706224621837[76] = 1.0; - out_2632577706224621837[77] = 0.0; - out_2632577706224621837[78] = 0.0; - out_2632577706224621837[79] = 0.0; - out_2632577706224621837[80] = 0.0; - out_2632577706224621837[81] = 0.0; - out_2632577706224621837[82] = 0.0; - out_2632577706224621837[83] = 0.0; - out_2632577706224621837[84] = 0.0; - out_2632577706224621837[85] = 0.0; - out_2632577706224621837[86] = 0.0; - out_2632577706224621837[87] = 0.0; - out_2632577706224621837[88] = 0.0; - out_2632577706224621837[89] = 0.0; - out_2632577706224621837[90] = 0.0; - out_2632577706224621837[91] = 0.0; - out_2632577706224621837[92] = 0.0; - out_2632577706224621837[93] = 0.0; - out_2632577706224621837[94] = 0.0; - out_2632577706224621837[95] = 1.0; - out_2632577706224621837[96] = 0.0; - out_2632577706224621837[97] = 0.0; - out_2632577706224621837[98] = 0.0; - out_2632577706224621837[99] = 0.0; - out_2632577706224621837[100] = 0.0; - out_2632577706224621837[101] = 0.0; - out_2632577706224621837[102] = 0.0; - out_2632577706224621837[103] = 0.0; - out_2632577706224621837[104] = 0.0; - out_2632577706224621837[105] = 0.0; - out_2632577706224621837[106] = 0.0; - out_2632577706224621837[107] = 0.0; - out_2632577706224621837[108] = 0.0; - out_2632577706224621837[109] = 0.0; - out_2632577706224621837[110] = 0.0; - out_2632577706224621837[111] = 0.0; - out_2632577706224621837[112] = 0.0; - out_2632577706224621837[113] = 0.0; - out_2632577706224621837[114] = 1.0; - out_2632577706224621837[115] = 0.0; - out_2632577706224621837[116] = 0.0; - out_2632577706224621837[117] = 0.0; - out_2632577706224621837[118] = 0.0; - out_2632577706224621837[119] = 0.0; - out_2632577706224621837[120] = 0.0; - out_2632577706224621837[121] = 0.0; - out_2632577706224621837[122] = 0.0; - out_2632577706224621837[123] = 0.0; - out_2632577706224621837[124] = 0.0; - out_2632577706224621837[125] = 0.0; - out_2632577706224621837[126] = 0.0; - out_2632577706224621837[127] = 0.0; - out_2632577706224621837[128] = 0.0; - out_2632577706224621837[129] = 0.0; - out_2632577706224621837[130] = 0.0; - out_2632577706224621837[131] = 0.0; - out_2632577706224621837[132] = 0.0; - out_2632577706224621837[133] = 1.0; - out_2632577706224621837[134] = 0.0; - out_2632577706224621837[135] = 0.0; - out_2632577706224621837[136] = 0.0; - out_2632577706224621837[137] = 0.0; - out_2632577706224621837[138] = 0.0; - out_2632577706224621837[139] = 0.0; - out_2632577706224621837[140] = 0.0; - out_2632577706224621837[141] = 0.0; - out_2632577706224621837[142] = 0.0; - out_2632577706224621837[143] = 0.0; - out_2632577706224621837[144] = 0.0; - out_2632577706224621837[145] = 0.0; - out_2632577706224621837[146] = 0.0; - out_2632577706224621837[147] = 0.0; - out_2632577706224621837[148] = 0.0; - out_2632577706224621837[149] = 0.0; - out_2632577706224621837[150] = 0.0; - out_2632577706224621837[151] = 0.0; - out_2632577706224621837[152] = 1.0; - out_2632577706224621837[153] = 0.0; - out_2632577706224621837[154] = 0.0; - out_2632577706224621837[155] = 0.0; - out_2632577706224621837[156] = 0.0; - out_2632577706224621837[157] = 0.0; - out_2632577706224621837[158] = 0.0; - out_2632577706224621837[159] = 0.0; - out_2632577706224621837[160] = 0.0; - out_2632577706224621837[161] = 0.0; - out_2632577706224621837[162] = 0.0; - out_2632577706224621837[163] = 0.0; - out_2632577706224621837[164] = 0.0; - out_2632577706224621837[165] = 0.0; - out_2632577706224621837[166] = 0.0; - out_2632577706224621837[167] = 0.0; - out_2632577706224621837[168] = 0.0; - out_2632577706224621837[169] = 0.0; - out_2632577706224621837[170] = 0.0; - out_2632577706224621837[171] = 1.0; - out_2632577706224621837[172] = 0.0; - out_2632577706224621837[173] = 0.0; - out_2632577706224621837[174] = 0.0; - out_2632577706224621837[175] = 0.0; - out_2632577706224621837[176] = 0.0; - out_2632577706224621837[177] = 0.0; - out_2632577706224621837[178] = 0.0; - out_2632577706224621837[179] = 0.0; - out_2632577706224621837[180] = 0.0; - out_2632577706224621837[181] = 0.0; - out_2632577706224621837[182] = 0.0; - out_2632577706224621837[183] = 0.0; - out_2632577706224621837[184] = 0.0; - out_2632577706224621837[185] = 0.0; - out_2632577706224621837[186] = 0.0; - out_2632577706224621837[187] = 0.0; - out_2632577706224621837[188] = 0.0; - out_2632577706224621837[189] = 0.0; - out_2632577706224621837[190] = 1.0; - out_2632577706224621837[191] = 0.0; - out_2632577706224621837[192] = 0.0; - out_2632577706224621837[193] = 0.0; - out_2632577706224621837[194] = 0.0; - out_2632577706224621837[195] = 0.0; - out_2632577706224621837[196] = 0.0; - out_2632577706224621837[197] = 0.0; - out_2632577706224621837[198] = 0.0; - out_2632577706224621837[199] = 0.0; - out_2632577706224621837[200] = 0.0; - out_2632577706224621837[201] = 0.0; - out_2632577706224621837[202] = 0.0; - out_2632577706224621837[203] = 0.0; - out_2632577706224621837[204] = 0.0; - out_2632577706224621837[205] = 0.0; - out_2632577706224621837[206] = 0.0; - out_2632577706224621837[207] = 0.0; - out_2632577706224621837[208] = 0.0; - out_2632577706224621837[209] = 1.0; - out_2632577706224621837[210] = 0.0; - out_2632577706224621837[211] = 0.0; - out_2632577706224621837[212] = 0.0; - out_2632577706224621837[213] = 0.0; - out_2632577706224621837[214] = 0.0; - out_2632577706224621837[215] = 0.0; - out_2632577706224621837[216] = 0.0; - out_2632577706224621837[217] = 0.0; - out_2632577706224621837[218] = 0.0; - out_2632577706224621837[219] = 0.0; - out_2632577706224621837[220] = 0.0; - out_2632577706224621837[221] = 0.0; - out_2632577706224621837[222] = 0.0; - out_2632577706224621837[223] = 0.0; - out_2632577706224621837[224] = 0.0; - out_2632577706224621837[225] = 0.0; - out_2632577706224621837[226] = 0.0; - out_2632577706224621837[227] = 0.0; - out_2632577706224621837[228] = 1.0; - out_2632577706224621837[229] = 0.0; - out_2632577706224621837[230] = 0.0; - out_2632577706224621837[231] = 0.0; - out_2632577706224621837[232] = 0.0; - out_2632577706224621837[233] = 0.0; - out_2632577706224621837[234] = 0.0; - out_2632577706224621837[235] = 0.0; - out_2632577706224621837[236] = 0.0; - out_2632577706224621837[237] = 0.0; - out_2632577706224621837[238] = 0.0; - out_2632577706224621837[239] = 0.0; - out_2632577706224621837[240] = 0.0; - out_2632577706224621837[241] = 0.0; - out_2632577706224621837[242] = 0.0; - out_2632577706224621837[243] = 0.0; - out_2632577706224621837[244] = 0.0; - out_2632577706224621837[245] = 0.0; - out_2632577706224621837[246] = 0.0; - out_2632577706224621837[247] = 1.0; - out_2632577706224621837[248] = 0.0; - out_2632577706224621837[249] = 0.0; - out_2632577706224621837[250] = 0.0; - out_2632577706224621837[251] = 0.0; - out_2632577706224621837[252] = 0.0; - out_2632577706224621837[253] = 0.0; - out_2632577706224621837[254] = 0.0; - out_2632577706224621837[255] = 0.0; - out_2632577706224621837[256] = 0.0; - out_2632577706224621837[257] = 0.0; - out_2632577706224621837[258] = 0.0; - out_2632577706224621837[259] = 0.0; - out_2632577706224621837[260] = 0.0; - out_2632577706224621837[261] = 0.0; - out_2632577706224621837[262] = 0.0; - out_2632577706224621837[263] = 0.0; - out_2632577706224621837[264] = 0.0; - out_2632577706224621837[265] = 0.0; - out_2632577706224621837[266] = 1.0; - out_2632577706224621837[267] = 0.0; - out_2632577706224621837[268] = 0.0; - out_2632577706224621837[269] = 0.0; - out_2632577706224621837[270] = 0.0; - out_2632577706224621837[271] = 0.0; - out_2632577706224621837[272] = 0.0; - out_2632577706224621837[273] = 0.0; - out_2632577706224621837[274] = 0.0; - out_2632577706224621837[275] = 0.0; - out_2632577706224621837[276] = 0.0; - out_2632577706224621837[277] = 0.0; - out_2632577706224621837[278] = 0.0; - out_2632577706224621837[279] = 0.0; - out_2632577706224621837[280] = 0.0; - out_2632577706224621837[281] = 0.0; - out_2632577706224621837[282] = 0.0; - out_2632577706224621837[283] = 0.0; - out_2632577706224621837[284] = 0.0; - out_2632577706224621837[285] = 1.0; - out_2632577706224621837[286] = 0.0; - out_2632577706224621837[287] = 0.0; - out_2632577706224621837[288] = 0.0; - out_2632577706224621837[289] = 0.0; - out_2632577706224621837[290] = 0.0; - out_2632577706224621837[291] = 0.0; - out_2632577706224621837[292] = 0.0; - out_2632577706224621837[293] = 0.0; - out_2632577706224621837[294] = 0.0; - out_2632577706224621837[295] = 0.0; - out_2632577706224621837[296] = 0.0; - out_2632577706224621837[297] = 0.0; - out_2632577706224621837[298] = 0.0; - out_2632577706224621837[299] = 0.0; - out_2632577706224621837[300] = 0.0; - out_2632577706224621837[301] = 0.0; - out_2632577706224621837[302] = 0.0; - out_2632577706224621837[303] = 0.0; - out_2632577706224621837[304] = 1.0; - out_2632577706224621837[305] = 0.0; - out_2632577706224621837[306] = 0.0; - out_2632577706224621837[307] = 0.0; - out_2632577706224621837[308] = 0.0; - out_2632577706224621837[309] = 0.0; - out_2632577706224621837[310] = 0.0; - out_2632577706224621837[311] = 0.0; - out_2632577706224621837[312] = 0.0; - out_2632577706224621837[313] = 0.0; - out_2632577706224621837[314] = 0.0; - out_2632577706224621837[315] = 0.0; - out_2632577706224621837[316] = 0.0; - out_2632577706224621837[317] = 0.0; - out_2632577706224621837[318] = 0.0; - out_2632577706224621837[319] = 0.0; - out_2632577706224621837[320] = 0.0; - out_2632577706224621837[321] = 0.0; - out_2632577706224621837[322] = 0.0; - out_2632577706224621837[323] = 1.0; +void H_mod_fun(double *state, double *out_4757006295873358620) { + out_4757006295873358620[0] = 1.0; + out_4757006295873358620[1] = 0.0; + out_4757006295873358620[2] = 0.0; + out_4757006295873358620[3] = 0.0; + out_4757006295873358620[4] = 0.0; + out_4757006295873358620[5] = 0.0; + out_4757006295873358620[6] = 0.0; + out_4757006295873358620[7] = 0.0; + out_4757006295873358620[8] = 0.0; + out_4757006295873358620[9] = 0.0; + out_4757006295873358620[10] = 0.0; + out_4757006295873358620[11] = 0.0; + out_4757006295873358620[12] = 0.0; + out_4757006295873358620[13] = 0.0; + out_4757006295873358620[14] = 0.0; + out_4757006295873358620[15] = 0.0; + out_4757006295873358620[16] = 0.0; + out_4757006295873358620[17] = 0.0; + out_4757006295873358620[18] = 0.0; + out_4757006295873358620[19] = 1.0; + out_4757006295873358620[20] = 0.0; + out_4757006295873358620[21] = 0.0; + out_4757006295873358620[22] = 0.0; + out_4757006295873358620[23] = 0.0; + out_4757006295873358620[24] = 0.0; + out_4757006295873358620[25] = 0.0; + out_4757006295873358620[26] = 0.0; + out_4757006295873358620[27] = 0.0; + out_4757006295873358620[28] = 0.0; + out_4757006295873358620[29] = 0.0; + out_4757006295873358620[30] = 0.0; + out_4757006295873358620[31] = 0.0; + out_4757006295873358620[32] = 0.0; + out_4757006295873358620[33] = 0.0; + out_4757006295873358620[34] = 0.0; + out_4757006295873358620[35] = 0.0; + out_4757006295873358620[36] = 0.0; + out_4757006295873358620[37] = 0.0; + out_4757006295873358620[38] = 1.0; + out_4757006295873358620[39] = 0.0; + out_4757006295873358620[40] = 0.0; + out_4757006295873358620[41] = 0.0; + out_4757006295873358620[42] = 0.0; + out_4757006295873358620[43] = 0.0; + out_4757006295873358620[44] = 0.0; + out_4757006295873358620[45] = 0.0; + out_4757006295873358620[46] = 0.0; + out_4757006295873358620[47] = 0.0; + out_4757006295873358620[48] = 0.0; + out_4757006295873358620[49] = 0.0; + out_4757006295873358620[50] = 0.0; + out_4757006295873358620[51] = 0.0; + out_4757006295873358620[52] = 0.0; + out_4757006295873358620[53] = 0.0; + out_4757006295873358620[54] = 0.0; + out_4757006295873358620[55] = 0.0; + out_4757006295873358620[56] = 0.0; + out_4757006295873358620[57] = 1.0; + out_4757006295873358620[58] = 0.0; + out_4757006295873358620[59] = 0.0; + out_4757006295873358620[60] = 0.0; + out_4757006295873358620[61] = 0.0; + out_4757006295873358620[62] = 0.0; + out_4757006295873358620[63] = 0.0; + out_4757006295873358620[64] = 0.0; + out_4757006295873358620[65] = 0.0; + out_4757006295873358620[66] = 0.0; + out_4757006295873358620[67] = 0.0; + out_4757006295873358620[68] = 0.0; + out_4757006295873358620[69] = 0.0; + out_4757006295873358620[70] = 0.0; + out_4757006295873358620[71] = 0.0; + out_4757006295873358620[72] = 0.0; + out_4757006295873358620[73] = 0.0; + out_4757006295873358620[74] = 0.0; + out_4757006295873358620[75] = 0.0; + out_4757006295873358620[76] = 1.0; + out_4757006295873358620[77] = 0.0; + out_4757006295873358620[78] = 0.0; + out_4757006295873358620[79] = 0.0; + out_4757006295873358620[80] = 0.0; + out_4757006295873358620[81] = 0.0; + out_4757006295873358620[82] = 0.0; + out_4757006295873358620[83] = 0.0; + out_4757006295873358620[84] = 0.0; + out_4757006295873358620[85] = 0.0; + out_4757006295873358620[86] = 0.0; + out_4757006295873358620[87] = 0.0; + out_4757006295873358620[88] = 0.0; + out_4757006295873358620[89] = 0.0; + out_4757006295873358620[90] = 0.0; + out_4757006295873358620[91] = 0.0; + out_4757006295873358620[92] = 0.0; + out_4757006295873358620[93] = 0.0; + out_4757006295873358620[94] = 0.0; + out_4757006295873358620[95] = 1.0; + out_4757006295873358620[96] = 0.0; + out_4757006295873358620[97] = 0.0; + out_4757006295873358620[98] = 0.0; + out_4757006295873358620[99] = 0.0; + out_4757006295873358620[100] = 0.0; + out_4757006295873358620[101] = 0.0; + out_4757006295873358620[102] = 0.0; + out_4757006295873358620[103] = 0.0; + out_4757006295873358620[104] = 0.0; + out_4757006295873358620[105] = 0.0; + out_4757006295873358620[106] = 0.0; + out_4757006295873358620[107] = 0.0; + out_4757006295873358620[108] = 0.0; + out_4757006295873358620[109] = 0.0; + out_4757006295873358620[110] = 0.0; + out_4757006295873358620[111] = 0.0; + out_4757006295873358620[112] = 0.0; + out_4757006295873358620[113] = 0.0; + out_4757006295873358620[114] = 1.0; + out_4757006295873358620[115] = 0.0; + out_4757006295873358620[116] = 0.0; + out_4757006295873358620[117] = 0.0; + out_4757006295873358620[118] = 0.0; + out_4757006295873358620[119] = 0.0; + out_4757006295873358620[120] = 0.0; + out_4757006295873358620[121] = 0.0; + out_4757006295873358620[122] = 0.0; + out_4757006295873358620[123] = 0.0; + out_4757006295873358620[124] = 0.0; + out_4757006295873358620[125] = 0.0; + out_4757006295873358620[126] = 0.0; + out_4757006295873358620[127] = 0.0; + out_4757006295873358620[128] = 0.0; + out_4757006295873358620[129] = 0.0; + out_4757006295873358620[130] = 0.0; + out_4757006295873358620[131] = 0.0; + out_4757006295873358620[132] = 0.0; + out_4757006295873358620[133] = 1.0; + out_4757006295873358620[134] = 0.0; + out_4757006295873358620[135] = 0.0; + out_4757006295873358620[136] = 0.0; + out_4757006295873358620[137] = 0.0; + out_4757006295873358620[138] = 0.0; + out_4757006295873358620[139] = 0.0; + out_4757006295873358620[140] = 0.0; + out_4757006295873358620[141] = 0.0; + out_4757006295873358620[142] = 0.0; + out_4757006295873358620[143] = 0.0; + out_4757006295873358620[144] = 0.0; + out_4757006295873358620[145] = 0.0; + out_4757006295873358620[146] = 0.0; + out_4757006295873358620[147] = 0.0; + out_4757006295873358620[148] = 0.0; + out_4757006295873358620[149] = 0.0; + out_4757006295873358620[150] = 0.0; + out_4757006295873358620[151] = 0.0; + out_4757006295873358620[152] = 1.0; + out_4757006295873358620[153] = 0.0; + out_4757006295873358620[154] = 0.0; + out_4757006295873358620[155] = 0.0; + out_4757006295873358620[156] = 0.0; + out_4757006295873358620[157] = 0.0; + out_4757006295873358620[158] = 0.0; + out_4757006295873358620[159] = 0.0; + out_4757006295873358620[160] = 0.0; + out_4757006295873358620[161] = 0.0; + out_4757006295873358620[162] = 0.0; + out_4757006295873358620[163] = 0.0; + out_4757006295873358620[164] = 0.0; + out_4757006295873358620[165] = 0.0; + out_4757006295873358620[166] = 0.0; + out_4757006295873358620[167] = 0.0; + out_4757006295873358620[168] = 0.0; + out_4757006295873358620[169] = 0.0; + out_4757006295873358620[170] = 0.0; + out_4757006295873358620[171] = 1.0; + out_4757006295873358620[172] = 0.0; + out_4757006295873358620[173] = 0.0; + out_4757006295873358620[174] = 0.0; + out_4757006295873358620[175] = 0.0; + out_4757006295873358620[176] = 0.0; + out_4757006295873358620[177] = 0.0; + out_4757006295873358620[178] = 0.0; + out_4757006295873358620[179] = 0.0; + out_4757006295873358620[180] = 0.0; + out_4757006295873358620[181] = 0.0; + out_4757006295873358620[182] = 0.0; + out_4757006295873358620[183] = 0.0; + out_4757006295873358620[184] = 0.0; + out_4757006295873358620[185] = 0.0; + out_4757006295873358620[186] = 0.0; + out_4757006295873358620[187] = 0.0; + out_4757006295873358620[188] = 0.0; + out_4757006295873358620[189] = 0.0; + out_4757006295873358620[190] = 1.0; + out_4757006295873358620[191] = 0.0; + out_4757006295873358620[192] = 0.0; + out_4757006295873358620[193] = 0.0; + out_4757006295873358620[194] = 0.0; + out_4757006295873358620[195] = 0.0; + out_4757006295873358620[196] = 0.0; + out_4757006295873358620[197] = 0.0; + out_4757006295873358620[198] = 0.0; + out_4757006295873358620[199] = 0.0; + out_4757006295873358620[200] = 0.0; + out_4757006295873358620[201] = 0.0; + out_4757006295873358620[202] = 0.0; + out_4757006295873358620[203] = 0.0; + out_4757006295873358620[204] = 0.0; + out_4757006295873358620[205] = 0.0; + out_4757006295873358620[206] = 0.0; + out_4757006295873358620[207] = 0.0; + out_4757006295873358620[208] = 0.0; + out_4757006295873358620[209] = 1.0; + out_4757006295873358620[210] = 0.0; + out_4757006295873358620[211] = 0.0; + out_4757006295873358620[212] = 0.0; + out_4757006295873358620[213] = 0.0; + out_4757006295873358620[214] = 0.0; + out_4757006295873358620[215] = 0.0; + out_4757006295873358620[216] = 0.0; + out_4757006295873358620[217] = 0.0; + out_4757006295873358620[218] = 0.0; + out_4757006295873358620[219] = 0.0; + out_4757006295873358620[220] = 0.0; + out_4757006295873358620[221] = 0.0; + out_4757006295873358620[222] = 0.0; + out_4757006295873358620[223] = 0.0; + out_4757006295873358620[224] = 0.0; + out_4757006295873358620[225] = 0.0; + out_4757006295873358620[226] = 0.0; + out_4757006295873358620[227] = 0.0; + out_4757006295873358620[228] = 1.0; + out_4757006295873358620[229] = 0.0; + out_4757006295873358620[230] = 0.0; + out_4757006295873358620[231] = 0.0; + out_4757006295873358620[232] = 0.0; + out_4757006295873358620[233] = 0.0; + out_4757006295873358620[234] = 0.0; + out_4757006295873358620[235] = 0.0; + out_4757006295873358620[236] = 0.0; + out_4757006295873358620[237] = 0.0; + out_4757006295873358620[238] = 0.0; + out_4757006295873358620[239] = 0.0; + out_4757006295873358620[240] = 0.0; + out_4757006295873358620[241] = 0.0; + out_4757006295873358620[242] = 0.0; + out_4757006295873358620[243] = 0.0; + out_4757006295873358620[244] = 0.0; + out_4757006295873358620[245] = 0.0; + out_4757006295873358620[246] = 0.0; + out_4757006295873358620[247] = 1.0; + out_4757006295873358620[248] = 0.0; + out_4757006295873358620[249] = 0.0; + out_4757006295873358620[250] = 0.0; + out_4757006295873358620[251] = 0.0; + out_4757006295873358620[252] = 0.0; + out_4757006295873358620[253] = 0.0; + out_4757006295873358620[254] = 0.0; + out_4757006295873358620[255] = 0.0; + out_4757006295873358620[256] = 0.0; + out_4757006295873358620[257] = 0.0; + out_4757006295873358620[258] = 0.0; + out_4757006295873358620[259] = 0.0; + out_4757006295873358620[260] = 0.0; + out_4757006295873358620[261] = 0.0; + out_4757006295873358620[262] = 0.0; + out_4757006295873358620[263] = 0.0; + out_4757006295873358620[264] = 0.0; + out_4757006295873358620[265] = 0.0; + out_4757006295873358620[266] = 1.0; + out_4757006295873358620[267] = 0.0; + out_4757006295873358620[268] = 0.0; + out_4757006295873358620[269] = 0.0; + out_4757006295873358620[270] = 0.0; + out_4757006295873358620[271] = 0.0; + out_4757006295873358620[272] = 0.0; + out_4757006295873358620[273] = 0.0; + out_4757006295873358620[274] = 0.0; + out_4757006295873358620[275] = 0.0; + out_4757006295873358620[276] = 0.0; + out_4757006295873358620[277] = 0.0; + out_4757006295873358620[278] = 0.0; + out_4757006295873358620[279] = 0.0; + out_4757006295873358620[280] = 0.0; + out_4757006295873358620[281] = 0.0; + out_4757006295873358620[282] = 0.0; + out_4757006295873358620[283] = 0.0; + out_4757006295873358620[284] = 0.0; + out_4757006295873358620[285] = 1.0; + out_4757006295873358620[286] = 0.0; + out_4757006295873358620[287] = 0.0; + out_4757006295873358620[288] = 0.0; + out_4757006295873358620[289] = 0.0; + out_4757006295873358620[290] = 0.0; + out_4757006295873358620[291] = 0.0; + out_4757006295873358620[292] = 0.0; + out_4757006295873358620[293] = 0.0; + out_4757006295873358620[294] = 0.0; + out_4757006295873358620[295] = 0.0; + out_4757006295873358620[296] = 0.0; + out_4757006295873358620[297] = 0.0; + out_4757006295873358620[298] = 0.0; + out_4757006295873358620[299] = 0.0; + out_4757006295873358620[300] = 0.0; + out_4757006295873358620[301] = 0.0; + out_4757006295873358620[302] = 0.0; + out_4757006295873358620[303] = 0.0; + out_4757006295873358620[304] = 1.0; + out_4757006295873358620[305] = 0.0; + out_4757006295873358620[306] = 0.0; + out_4757006295873358620[307] = 0.0; + out_4757006295873358620[308] = 0.0; + out_4757006295873358620[309] = 0.0; + out_4757006295873358620[310] = 0.0; + out_4757006295873358620[311] = 0.0; + out_4757006295873358620[312] = 0.0; + out_4757006295873358620[313] = 0.0; + out_4757006295873358620[314] = 0.0; + out_4757006295873358620[315] = 0.0; + out_4757006295873358620[316] = 0.0; + out_4757006295873358620[317] = 0.0; + out_4757006295873358620[318] = 0.0; + out_4757006295873358620[319] = 0.0; + out_4757006295873358620[320] = 0.0; + out_4757006295873358620[321] = 0.0; + out_4757006295873358620[322] = 0.0; + out_4757006295873358620[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2193527682870666897) { - out_2193527682870666897[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_2193527682870666897[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_2193527682870666897[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_2193527682870666897[3] = dt*state[12] + state[3]; - out_2193527682870666897[4] = dt*state[13] + state[4]; - out_2193527682870666897[5] = dt*state[14] + state[5]; - out_2193527682870666897[6] = state[6]; - out_2193527682870666897[7] = state[7]; - out_2193527682870666897[8] = state[8]; - out_2193527682870666897[9] = state[9]; - out_2193527682870666897[10] = state[10]; - out_2193527682870666897[11] = state[11]; - out_2193527682870666897[12] = state[12]; - out_2193527682870666897[13] = state[13]; - out_2193527682870666897[14] = state[14]; - out_2193527682870666897[15] = state[15]; - out_2193527682870666897[16] = state[16]; - out_2193527682870666897[17] = state[17]; +void f_fun(double *state, double dt, double *out_9118920386528411329) { + out_9118920386528411329[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_9118920386528411329[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_9118920386528411329[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_9118920386528411329[3] = dt*state[12] + state[3]; + out_9118920386528411329[4] = dt*state[13] + state[4]; + out_9118920386528411329[5] = dt*state[14] + state[5]; + out_9118920386528411329[6] = state[6]; + out_9118920386528411329[7] = state[7]; + out_9118920386528411329[8] = state[8]; + out_9118920386528411329[9] = state[9]; + out_9118920386528411329[10] = state[10]; + out_9118920386528411329[11] = state[11]; + out_9118920386528411329[12] = state[12]; + out_9118920386528411329[13] = state[13]; + out_9118920386528411329[14] = state[14]; + out_9118920386528411329[15] = state[15]; + out_9118920386528411329[16] = state[16]; + out_9118920386528411329[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7071521444289373248) { - out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[2] = 0; - out_7071521444289373248[3] = 0; - out_7071521444289373248[4] = 0; - out_7071521444289373248[5] = 0; - out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[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_7071521444289373248[9] = 0; - out_7071521444289373248[10] = 0; - out_7071521444289373248[11] = 0; - out_7071521444289373248[12] = 0; - out_7071521444289373248[13] = 0; - out_7071521444289373248[14] = 0; - out_7071521444289373248[15] = 0; - out_7071521444289373248[16] = 0; - out_7071521444289373248[17] = 0; - out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[20] = 0; - out_7071521444289373248[21] = 0; - out_7071521444289373248[22] = 0; - out_7071521444289373248[23] = 0; - out_7071521444289373248[24] = 0; - out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[27] = 0; - out_7071521444289373248[28] = 0; - out_7071521444289373248[29] = 0; - out_7071521444289373248[30] = 0; - out_7071521444289373248[31] = 0; - out_7071521444289373248[32] = 0; - out_7071521444289373248[33] = 0; - out_7071521444289373248[34] = 0; - out_7071521444289373248[35] = 0; - out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[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_7071521444289373248[39] = 0; - out_7071521444289373248[40] = 0; - out_7071521444289373248[41] = 0; - out_7071521444289373248[42] = 0; - out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[45] = 0; - out_7071521444289373248[46] = 0; - out_7071521444289373248[47] = 0; - out_7071521444289373248[48] = 0; - out_7071521444289373248[49] = 0; - out_7071521444289373248[50] = 0; - out_7071521444289373248[51] = 0; - out_7071521444289373248[52] = 0; - out_7071521444289373248[53] = 0; - out_7071521444289373248[54] = 0; - out_7071521444289373248[55] = 0; - out_7071521444289373248[56] = 0; - out_7071521444289373248[57] = 1; - out_7071521444289373248[58] = 0; - out_7071521444289373248[59] = 0; - out_7071521444289373248[60] = 0; - out_7071521444289373248[61] = 0; - out_7071521444289373248[62] = 0; - out_7071521444289373248[63] = 0; - out_7071521444289373248[64] = 0; - out_7071521444289373248[65] = 0; - out_7071521444289373248[66] = dt; - out_7071521444289373248[67] = 0; - out_7071521444289373248[68] = 0; - out_7071521444289373248[69] = 0; - out_7071521444289373248[70] = 0; - out_7071521444289373248[71] = 0; - out_7071521444289373248[72] = 0; - out_7071521444289373248[73] = 0; - out_7071521444289373248[74] = 0; - out_7071521444289373248[75] = 0; - out_7071521444289373248[76] = 1; - out_7071521444289373248[77] = 0; - out_7071521444289373248[78] = 0; - out_7071521444289373248[79] = 0; - out_7071521444289373248[80] = 0; - out_7071521444289373248[81] = 0; - out_7071521444289373248[82] = 0; - out_7071521444289373248[83] = 0; - out_7071521444289373248[84] = 0; - out_7071521444289373248[85] = dt; - out_7071521444289373248[86] = 0; - out_7071521444289373248[87] = 0; - out_7071521444289373248[88] = 0; - out_7071521444289373248[89] = 0; - out_7071521444289373248[90] = 0; - out_7071521444289373248[91] = 0; - out_7071521444289373248[92] = 0; - out_7071521444289373248[93] = 0; - out_7071521444289373248[94] = 0; - out_7071521444289373248[95] = 1; - out_7071521444289373248[96] = 0; - out_7071521444289373248[97] = 0; - out_7071521444289373248[98] = 0; - out_7071521444289373248[99] = 0; - out_7071521444289373248[100] = 0; - out_7071521444289373248[101] = 0; - out_7071521444289373248[102] = 0; - out_7071521444289373248[103] = 0; - out_7071521444289373248[104] = dt; - out_7071521444289373248[105] = 0; - out_7071521444289373248[106] = 0; - out_7071521444289373248[107] = 0; - out_7071521444289373248[108] = 0; - out_7071521444289373248[109] = 0; - out_7071521444289373248[110] = 0; - out_7071521444289373248[111] = 0; - out_7071521444289373248[112] = 0; - out_7071521444289373248[113] = 0; - out_7071521444289373248[114] = 1; - out_7071521444289373248[115] = 0; - out_7071521444289373248[116] = 0; - out_7071521444289373248[117] = 0; - out_7071521444289373248[118] = 0; - out_7071521444289373248[119] = 0; - out_7071521444289373248[120] = 0; - out_7071521444289373248[121] = 0; - out_7071521444289373248[122] = 0; - out_7071521444289373248[123] = 0; - out_7071521444289373248[124] = 0; - out_7071521444289373248[125] = 0; - out_7071521444289373248[126] = 0; - out_7071521444289373248[127] = 0; - out_7071521444289373248[128] = 0; - out_7071521444289373248[129] = 0; - out_7071521444289373248[130] = 0; - out_7071521444289373248[131] = 0; - out_7071521444289373248[132] = 0; - out_7071521444289373248[133] = 1; - out_7071521444289373248[134] = 0; - out_7071521444289373248[135] = 0; - out_7071521444289373248[136] = 0; - out_7071521444289373248[137] = 0; - out_7071521444289373248[138] = 0; - out_7071521444289373248[139] = 0; - out_7071521444289373248[140] = 0; - out_7071521444289373248[141] = 0; - out_7071521444289373248[142] = 0; - out_7071521444289373248[143] = 0; - out_7071521444289373248[144] = 0; - out_7071521444289373248[145] = 0; - out_7071521444289373248[146] = 0; - out_7071521444289373248[147] = 0; - out_7071521444289373248[148] = 0; - out_7071521444289373248[149] = 0; - out_7071521444289373248[150] = 0; - out_7071521444289373248[151] = 0; - out_7071521444289373248[152] = 1; - out_7071521444289373248[153] = 0; - out_7071521444289373248[154] = 0; - out_7071521444289373248[155] = 0; - out_7071521444289373248[156] = 0; - out_7071521444289373248[157] = 0; - out_7071521444289373248[158] = 0; - out_7071521444289373248[159] = 0; - out_7071521444289373248[160] = 0; - out_7071521444289373248[161] = 0; - out_7071521444289373248[162] = 0; - out_7071521444289373248[163] = 0; - out_7071521444289373248[164] = 0; - out_7071521444289373248[165] = 0; - out_7071521444289373248[166] = 0; - out_7071521444289373248[167] = 0; - out_7071521444289373248[168] = 0; - out_7071521444289373248[169] = 0; - out_7071521444289373248[170] = 0; - out_7071521444289373248[171] = 1; - out_7071521444289373248[172] = 0; - out_7071521444289373248[173] = 0; - out_7071521444289373248[174] = 0; - out_7071521444289373248[175] = 0; - out_7071521444289373248[176] = 0; - out_7071521444289373248[177] = 0; - out_7071521444289373248[178] = 0; - out_7071521444289373248[179] = 0; - out_7071521444289373248[180] = 0; - out_7071521444289373248[181] = 0; - out_7071521444289373248[182] = 0; - out_7071521444289373248[183] = 0; - out_7071521444289373248[184] = 0; - out_7071521444289373248[185] = 0; - out_7071521444289373248[186] = 0; - out_7071521444289373248[187] = 0; - out_7071521444289373248[188] = 0; - out_7071521444289373248[189] = 0; - out_7071521444289373248[190] = 1; - out_7071521444289373248[191] = 0; - out_7071521444289373248[192] = 0; - out_7071521444289373248[193] = 0; - out_7071521444289373248[194] = 0; - out_7071521444289373248[195] = 0; - out_7071521444289373248[196] = 0; - out_7071521444289373248[197] = 0; - out_7071521444289373248[198] = 0; - out_7071521444289373248[199] = 0; - out_7071521444289373248[200] = 0; - out_7071521444289373248[201] = 0; - out_7071521444289373248[202] = 0; - out_7071521444289373248[203] = 0; - out_7071521444289373248[204] = 0; - out_7071521444289373248[205] = 0; - out_7071521444289373248[206] = 0; - out_7071521444289373248[207] = 0; - out_7071521444289373248[208] = 0; - out_7071521444289373248[209] = 1; - out_7071521444289373248[210] = 0; - out_7071521444289373248[211] = 0; - out_7071521444289373248[212] = 0; - out_7071521444289373248[213] = 0; - out_7071521444289373248[214] = 0; - out_7071521444289373248[215] = 0; - out_7071521444289373248[216] = 0; - out_7071521444289373248[217] = 0; - out_7071521444289373248[218] = 0; - out_7071521444289373248[219] = 0; - out_7071521444289373248[220] = 0; - out_7071521444289373248[221] = 0; - out_7071521444289373248[222] = 0; - out_7071521444289373248[223] = 0; - out_7071521444289373248[224] = 0; - out_7071521444289373248[225] = 0; - out_7071521444289373248[226] = 0; - out_7071521444289373248[227] = 0; - out_7071521444289373248[228] = 1; - out_7071521444289373248[229] = 0; - out_7071521444289373248[230] = 0; - out_7071521444289373248[231] = 0; - out_7071521444289373248[232] = 0; - out_7071521444289373248[233] = 0; - out_7071521444289373248[234] = 0; - out_7071521444289373248[235] = 0; - out_7071521444289373248[236] = 0; - out_7071521444289373248[237] = 0; - out_7071521444289373248[238] = 0; - out_7071521444289373248[239] = 0; - out_7071521444289373248[240] = 0; - out_7071521444289373248[241] = 0; - out_7071521444289373248[242] = 0; - out_7071521444289373248[243] = 0; - out_7071521444289373248[244] = 0; - out_7071521444289373248[245] = 0; - out_7071521444289373248[246] = 0; - out_7071521444289373248[247] = 1; - out_7071521444289373248[248] = 0; - out_7071521444289373248[249] = 0; - out_7071521444289373248[250] = 0; - out_7071521444289373248[251] = 0; - out_7071521444289373248[252] = 0; - out_7071521444289373248[253] = 0; - out_7071521444289373248[254] = 0; - out_7071521444289373248[255] = 0; - out_7071521444289373248[256] = 0; - out_7071521444289373248[257] = 0; - out_7071521444289373248[258] = 0; - out_7071521444289373248[259] = 0; - out_7071521444289373248[260] = 0; - out_7071521444289373248[261] = 0; - out_7071521444289373248[262] = 0; - out_7071521444289373248[263] = 0; - out_7071521444289373248[264] = 0; - out_7071521444289373248[265] = 0; - out_7071521444289373248[266] = 1; - out_7071521444289373248[267] = 0; - out_7071521444289373248[268] = 0; - out_7071521444289373248[269] = 0; - out_7071521444289373248[270] = 0; - out_7071521444289373248[271] = 0; - out_7071521444289373248[272] = 0; - out_7071521444289373248[273] = 0; - out_7071521444289373248[274] = 0; - out_7071521444289373248[275] = 0; - out_7071521444289373248[276] = 0; - out_7071521444289373248[277] = 0; - out_7071521444289373248[278] = 0; - out_7071521444289373248[279] = 0; - out_7071521444289373248[280] = 0; - out_7071521444289373248[281] = 0; - out_7071521444289373248[282] = 0; - out_7071521444289373248[283] = 0; - out_7071521444289373248[284] = 0; - out_7071521444289373248[285] = 1; - out_7071521444289373248[286] = 0; - out_7071521444289373248[287] = 0; - out_7071521444289373248[288] = 0; - out_7071521444289373248[289] = 0; - out_7071521444289373248[290] = 0; - out_7071521444289373248[291] = 0; - out_7071521444289373248[292] = 0; - out_7071521444289373248[293] = 0; - out_7071521444289373248[294] = 0; - out_7071521444289373248[295] = 0; - out_7071521444289373248[296] = 0; - out_7071521444289373248[297] = 0; - out_7071521444289373248[298] = 0; - out_7071521444289373248[299] = 0; - out_7071521444289373248[300] = 0; - out_7071521444289373248[301] = 0; - out_7071521444289373248[302] = 0; - out_7071521444289373248[303] = 0; - out_7071521444289373248[304] = 1; - out_7071521444289373248[305] = 0; - out_7071521444289373248[306] = 0; - out_7071521444289373248[307] = 0; - out_7071521444289373248[308] = 0; - out_7071521444289373248[309] = 0; - out_7071521444289373248[310] = 0; - out_7071521444289373248[311] = 0; - out_7071521444289373248[312] = 0; - out_7071521444289373248[313] = 0; - out_7071521444289373248[314] = 0; - out_7071521444289373248[315] = 0; - out_7071521444289373248[316] = 0; - out_7071521444289373248[317] = 0; - out_7071521444289373248[318] = 0; - out_7071521444289373248[319] = 0; - out_7071521444289373248[320] = 0; - out_7071521444289373248[321] = 0; - out_7071521444289373248[322] = 0; - out_7071521444289373248[323] = 1; +void F_fun(double *state, double dt, double *out_388070008261359487) { + out_388070008261359487[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_388070008261359487[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_388070008261359487[2] = 0; + out_388070008261359487[3] = 0; + out_388070008261359487[4] = 0; + out_388070008261359487[5] = 0; + out_388070008261359487[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_388070008261359487[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_388070008261359487[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_388070008261359487[9] = 0; + out_388070008261359487[10] = 0; + out_388070008261359487[11] = 0; + out_388070008261359487[12] = 0; + out_388070008261359487[13] = 0; + out_388070008261359487[14] = 0; + out_388070008261359487[15] = 0; + out_388070008261359487[16] = 0; + out_388070008261359487[17] = 0; + out_388070008261359487[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_388070008261359487[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_388070008261359487[20] = 0; + out_388070008261359487[21] = 0; + out_388070008261359487[22] = 0; + out_388070008261359487[23] = 0; + out_388070008261359487[24] = 0; + out_388070008261359487[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_388070008261359487[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_388070008261359487[27] = 0; + out_388070008261359487[28] = 0; + out_388070008261359487[29] = 0; + out_388070008261359487[30] = 0; + out_388070008261359487[31] = 0; + out_388070008261359487[32] = 0; + out_388070008261359487[33] = 0; + out_388070008261359487[34] = 0; + out_388070008261359487[35] = 0; + out_388070008261359487[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_388070008261359487[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_388070008261359487[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_388070008261359487[39] = 0; + out_388070008261359487[40] = 0; + out_388070008261359487[41] = 0; + out_388070008261359487[42] = 0; + out_388070008261359487[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_388070008261359487[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_388070008261359487[45] = 0; + out_388070008261359487[46] = 0; + out_388070008261359487[47] = 0; + out_388070008261359487[48] = 0; + out_388070008261359487[49] = 0; + out_388070008261359487[50] = 0; + out_388070008261359487[51] = 0; + out_388070008261359487[52] = 0; + out_388070008261359487[53] = 0; + out_388070008261359487[54] = 0; + out_388070008261359487[55] = 0; + out_388070008261359487[56] = 0; + out_388070008261359487[57] = 1; + out_388070008261359487[58] = 0; + out_388070008261359487[59] = 0; + out_388070008261359487[60] = 0; + out_388070008261359487[61] = 0; + out_388070008261359487[62] = 0; + out_388070008261359487[63] = 0; + out_388070008261359487[64] = 0; + out_388070008261359487[65] = 0; + out_388070008261359487[66] = dt; + out_388070008261359487[67] = 0; + out_388070008261359487[68] = 0; + out_388070008261359487[69] = 0; + out_388070008261359487[70] = 0; + out_388070008261359487[71] = 0; + out_388070008261359487[72] = 0; + out_388070008261359487[73] = 0; + out_388070008261359487[74] = 0; + out_388070008261359487[75] = 0; + out_388070008261359487[76] = 1; + out_388070008261359487[77] = 0; + out_388070008261359487[78] = 0; + out_388070008261359487[79] = 0; + out_388070008261359487[80] = 0; + out_388070008261359487[81] = 0; + out_388070008261359487[82] = 0; + out_388070008261359487[83] = 0; + out_388070008261359487[84] = 0; + out_388070008261359487[85] = dt; + out_388070008261359487[86] = 0; + out_388070008261359487[87] = 0; + out_388070008261359487[88] = 0; + out_388070008261359487[89] = 0; + out_388070008261359487[90] = 0; + out_388070008261359487[91] = 0; + out_388070008261359487[92] = 0; + out_388070008261359487[93] = 0; + out_388070008261359487[94] = 0; + out_388070008261359487[95] = 1; + out_388070008261359487[96] = 0; + out_388070008261359487[97] = 0; + out_388070008261359487[98] = 0; + out_388070008261359487[99] = 0; + out_388070008261359487[100] = 0; + out_388070008261359487[101] = 0; + out_388070008261359487[102] = 0; + out_388070008261359487[103] = 0; + out_388070008261359487[104] = dt; + out_388070008261359487[105] = 0; + out_388070008261359487[106] = 0; + out_388070008261359487[107] = 0; + out_388070008261359487[108] = 0; + out_388070008261359487[109] = 0; + out_388070008261359487[110] = 0; + out_388070008261359487[111] = 0; + out_388070008261359487[112] = 0; + out_388070008261359487[113] = 0; + out_388070008261359487[114] = 1; + out_388070008261359487[115] = 0; + out_388070008261359487[116] = 0; + out_388070008261359487[117] = 0; + out_388070008261359487[118] = 0; + out_388070008261359487[119] = 0; + out_388070008261359487[120] = 0; + out_388070008261359487[121] = 0; + out_388070008261359487[122] = 0; + out_388070008261359487[123] = 0; + out_388070008261359487[124] = 0; + out_388070008261359487[125] = 0; + out_388070008261359487[126] = 0; + out_388070008261359487[127] = 0; + out_388070008261359487[128] = 0; + out_388070008261359487[129] = 0; + out_388070008261359487[130] = 0; + out_388070008261359487[131] = 0; + out_388070008261359487[132] = 0; + out_388070008261359487[133] = 1; + out_388070008261359487[134] = 0; + out_388070008261359487[135] = 0; + out_388070008261359487[136] = 0; + out_388070008261359487[137] = 0; + out_388070008261359487[138] = 0; + out_388070008261359487[139] = 0; + out_388070008261359487[140] = 0; + out_388070008261359487[141] = 0; + out_388070008261359487[142] = 0; + out_388070008261359487[143] = 0; + out_388070008261359487[144] = 0; + out_388070008261359487[145] = 0; + out_388070008261359487[146] = 0; + out_388070008261359487[147] = 0; + out_388070008261359487[148] = 0; + out_388070008261359487[149] = 0; + out_388070008261359487[150] = 0; + out_388070008261359487[151] = 0; + out_388070008261359487[152] = 1; + out_388070008261359487[153] = 0; + out_388070008261359487[154] = 0; + out_388070008261359487[155] = 0; + out_388070008261359487[156] = 0; + out_388070008261359487[157] = 0; + out_388070008261359487[158] = 0; + out_388070008261359487[159] = 0; + out_388070008261359487[160] = 0; + out_388070008261359487[161] = 0; + out_388070008261359487[162] = 0; + out_388070008261359487[163] = 0; + out_388070008261359487[164] = 0; + out_388070008261359487[165] = 0; + out_388070008261359487[166] = 0; + out_388070008261359487[167] = 0; + out_388070008261359487[168] = 0; + out_388070008261359487[169] = 0; + out_388070008261359487[170] = 0; + out_388070008261359487[171] = 1; + out_388070008261359487[172] = 0; + out_388070008261359487[173] = 0; + out_388070008261359487[174] = 0; + out_388070008261359487[175] = 0; + out_388070008261359487[176] = 0; + out_388070008261359487[177] = 0; + out_388070008261359487[178] = 0; + out_388070008261359487[179] = 0; + out_388070008261359487[180] = 0; + out_388070008261359487[181] = 0; + out_388070008261359487[182] = 0; + out_388070008261359487[183] = 0; + out_388070008261359487[184] = 0; + out_388070008261359487[185] = 0; + out_388070008261359487[186] = 0; + out_388070008261359487[187] = 0; + out_388070008261359487[188] = 0; + out_388070008261359487[189] = 0; + out_388070008261359487[190] = 1; + out_388070008261359487[191] = 0; + out_388070008261359487[192] = 0; + out_388070008261359487[193] = 0; + out_388070008261359487[194] = 0; + out_388070008261359487[195] = 0; + out_388070008261359487[196] = 0; + out_388070008261359487[197] = 0; + out_388070008261359487[198] = 0; + out_388070008261359487[199] = 0; + out_388070008261359487[200] = 0; + out_388070008261359487[201] = 0; + out_388070008261359487[202] = 0; + out_388070008261359487[203] = 0; + out_388070008261359487[204] = 0; + out_388070008261359487[205] = 0; + out_388070008261359487[206] = 0; + out_388070008261359487[207] = 0; + out_388070008261359487[208] = 0; + out_388070008261359487[209] = 1; + out_388070008261359487[210] = 0; + out_388070008261359487[211] = 0; + out_388070008261359487[212] = 0; + out_388070008261359487[213] = 0; + out_388070008261359487[214] = 0; + out_388070008261359487[215] = 0; + out_388070008261359487[216] = 0; + out_388070008261359487[217] = 0; + out_388070008261359487[218] = 0; + out_388070008261359487[219] = 0; + out_388070008261359487[220] = 0; + out_388070008261359487[221] = 0; + out_388070008261359487[222] = 0; + out_388070008261359487[223] = 0; + out_388070008261359487[224] = 0; + out_388070008261359487[225] = 0; + out_388070008261359487[226] = 0; + out_388070008261359487[227] = 0; + out_388070008261359487[228] = 1; + out_388070008261359487[229] = 0; + out_388070008261359487[230] = 0; + out_388070008261359487[231] = 0; + out_388070008261359487[232] = 0; + out_388070008261359487[233] = 0; + out_388070008261359487[234] = 0; + out_388070008261359487[235] = 0; + out_388070008261359487[236] = 0; + out_388070008261359487[237] = 0; + out_388070008261359487[238] = 0; + out_388070008261359487[239] = 0; + out_388070008261359487[240] = 0; + out_388070008261359487[241] = 0; + out_388070008261359487[242] = 0; + out_388070008261359487[243] = 0; + out_388070008261359487[244] = 0; + out_388070008261359487[245] = 0; + out_388070008261359487[246] = 0; + out_388070008261359487[247] = 1; + out_388070008261359487[248] = 0; + out_388070008261359487[249] = 0; + out_388070008261359487[250] = 0; + out_388070008261359487[251] = 0; + out_388070008261359487[252] = 0; + out_388070008261359487[253] = 0; + out_388070008261359487[254] = 0; + out_388070008261359487[255] = 0; + out_388070008261359487[256] = 0; + out_388070008261359487[257] = 0; + out_388070008261359487[258] = 0; + out_388070008261359487[259] = 0; + out_388070008261359487[260] = 0; + out_388070008261359487[261] = 0; + out_388070008261359487[262] = 0; + out_388070008261359487[263] = 0; + out_388070008261359487[264] = 0; + out_388070008261359487[265] = 0; + out_388070008261359487[266] = 1; + out_388070008261359487[267] = 0; + out_388070008261359487[268] = 0; + out_388070008261359487[269] = 0; + out_388070008261359487[270] = 0; + out_388070008261359487[271] = 0; + out_388070008261359487[272] = 0; + out_388070008261359487[273] = 0; + out_388070008261359487[274] = 0; + out_388070008261359487[275] = 0; + out_388070008261359487[276] = 0; + out_388070008261359487[277] = 0; + out_388070008261359487[278] = 0; + out_388070008261359487[279] = 0; + out_388070008261359487[280] = 0; + out_388070008261359487[281] = 0; + out_388070008261359487[282] = 0; + out_388070008261359487[283] = 0; + out_388070008261359487[284] = 0; + out_388070008261359487[285] = 1; + out_388070008261359487[286] = 0; + out_388070008261359487[287] = 0; + out_388070008261359487[288] = 0; + out_388070008261359487[289] = 0; + out_388070008261359487[290] = 0; + out_388070008261359487[291] = 0; + out_388070008261359487[292] = 0; + out_388070008261359487[293] = 0; + out_388070008261359487[294] = 0; + out_388070008261359487[295] = 0; + out_388070008261359487[296] = 0; + out_388070008261359487[297] = 0; + out_388070008261359487[298] = 0; + out_388070008261359487[299] = 0; + out_388070008261359487[300] = 0; + out_388070008261359487[301] = 0; + out_388070008261359487[302] = 0; + out_388070008261359487[303] = 0; + out_388070008261359487[304] = 1; + out_388070008261359487[305] = 0; + out_388070008261359487[306] = 0; + out_388070008261359487[307] = 0; + out_388070008261359487[308] = 0; + out_388070008261359487[309] = 0; + out_388070008261359487[310] = 0; + out_388070008261359487[311] = 0; + out_388070008261359487[312] = 0; + out_388070008261359487[313] = 0; + out_388070008261359487[314] = 0; + out_388070008261359487[315] = 0; + out_388070008261359487[316] = 0; + out_388070008261359487[317] = 0; + out_388070008261359487[318] = 0; + out_388070008261359487[319] = 0; + out_388070008261359487[320] = 0; + out_388070008261359487[321] = 0; + out_388070008261359487[322] = 0; + out_388070008261359487[323] = 1; } -void h_4(double *state, double *unused, double *out_67509566290800345) { - out_67509566290800345[0] = state[6] + state[9]; - out_67509566290800345[1] = state[7] + state[10]; - out_67509566290800345[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_424143301988092518) { + out_424143301988092518[0] = state[6] + state[9]; + out_424143301988092518[1] = state[7] + state[10]; + out_424143301988092518[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3215504100527336884) { - out_3215504100527336884[0] = 0; - out_3215504100527336884[1] = 0; - out_3215504100527336884[2] = 0; - out_3215504100527336884[3] = 0; - out_3215504100527336884[4] = 0; - out_3215504100527336884[5] = 0; - out_3215504100527336884[6] = 1; - out_3215504100527336884[7] = 0; - out_3215504100527336884[8] = 0; - out_3215504100527336884[9] = 1; - out_3215504100527336884[10] = 0; - out_3215504100527336884[11] = 0; - out_3215504100527336884[12] = 0; - out_3215504100527336884[13] = 0; - out_3215504100527336884[14] = 0; - out_3215504100527336884[15] = 0; - out_3215504100527336884[16] = 0; - out_3215504100527336884[17] = 0; - out_3215504100527336884[18] = 0; - out_3215504100527336884[19] = 0; - out_3215504100527336884[20] = 0; - out_3215504100527336884[21] = 0; - out_3215504100527336884[22] = 0; - out_3215504100527336884[23] = 0; - out_3215504100527336884[24] = 0; - out_3215504100527336884[25] = 1; - out_3215504100527336884[26] = 0; - out_3215504100527336884[27] = 0; - out_3215504100527336884[28] = 1; - out_3215504100527336884[29] = 0; - out_3215504100527336884[30] = 0; - out_3215504100527336884[31] = 0; - out_3215504100527336884[32] = 0; - out_3215504100527336884[33] = 0; - out_3215504100527336884[34] = 0; - out_3215504100527336884[35] = 0; - out_3215504100527336884[36] = 0; - out_3215504100527336884[37] = 0; - out_3215504100527336884[38] = 0; - out_3215504100527336884[39] = 0; - out_3215504100527336884[40] = 0; - out_3215504100527336884[41] = 0; - out_3215504100527336884[42] = 0; - out_3215504100527336884[43] = 0; - out_3215504100527336884[44] = 1; - out_3215504100527336884[45] = 0; - out_3215504100527336884[46] = 0; - out_3215504100527336884[47] = 1; - out_3215504100527336884[48] = 0; - out_3215504100527336884[49] = 0; - out_3215504100527336884[50] = 0; - out_3215504100527336884[51] = 0; - out_3215504100527336884[52] = 0; - out_3215504100527336884[53] = 0; +void H_4(double *state, double *unused, double *out_6650517199469134710) { + out_6650517199469134710[0] = 0; + out_6650517199469134710[1] = 0; + out_6650517199469134710[2] = 0; + out_6650517199469134710[3] = 0; + out_6650517199469134710[4] = 0; + out_6650517199469134710[5] = 0; + out_6650517199469134710[6] = 1; + out_6650517199469134710[7] = 0; + out_6650517199469134710[8] = 0; + out_6650517199469134710[9] = 1; + out_6650517199469134710[10] = 0; + out_6650517199469134710[11] = 0; + out_6650517199469134710[12] = 0; + out_6650517199469134710[13] = 0; + out_6650517199469134710[14] = 0; + out_6650517199469134710[15] = 0; + out_6650517199469134710[16] = 0; + out_6650517199469134710[17] = 0; + out_6650517199469134710[18] = 0; + out_6650517199469134710[19] = 0; + out_6650517199469134710[20] = 0; + out_6650517199469134710[21] = 0; + out_6650517199469134710[22] = 0; + out_6650517199469134710[23] = 0; + out_6650517199469134710[24] = 0; + out_6650517199469134710[25] = 1; + out_6650517199469134710[26] = 0; + out_6650517199469134710[27] = 0; + out_6650517199469134710[28] = 1; + out_6650517199469134710[29] = 0; + out_6650517199469134710[30] = 0; + out_6650517199469134710[31] = 0; + out_6650517199469134710[32] = 0; + out_6650517199469134710[33] = 0; + out_6650517199469134710[34] = 0; + out_6650517199469134710[35] = 0; + out_6650517199469134710[36] = 0; + out_6650517199469134710[37] = 0; + out_6650517199469134710[38] = 0; + out_6650517199469134710[39] = 0; + out_6650517199469134710[40] = 0; + out_6650517199469134710[41] = 0; + out_6650517199469134710[42] = 0; + out_6650517199469134710[43] = 0; + out_6650517199469134710[44] = 1; + out_6650517199469134710[45] = 0; + out_6650517199469134710[46] = 0; + out_6650517199469134710[47] = 1; + out_6650517199469134710[48] = 0; + out_6650517199469134710[49] = 0; + out_6650517199469134710[50] = 0; + out_6650517199469134710[51] = 0; + out_6650517199469134710[52] = 0; + out_6650517199469134710[53] = 0; } -void h_10(double *state, double *unused, double *out_2077999983659095687) { - out_2077999983659095687[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_2077999983659095687[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_2077999983659095687[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_5429944465818265103) { + out_5429944465818265103[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5429944465818265103[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5429944465818265103[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_1146830641480722290) { - out_1146830641480722290[0] = 0; - out_1146830641480722290[1] = 9.8100000000000005*cos(state[1]); - out_1146830641480722290[2] = 0; - out_1146830641480722290[3] = 0; - out_1146830641480722290[4] = -state[8]; - out_1146830641480722290[5] = state[7]; - out_1146830641480722290[6] = 0; - out_1146830641480722290[7] = state[5]; - out_1146830641480722290[8] = -state[4]; - out_1146830641480722290[9] = 0; - out_1146830641480722290[10] = 0; - out_1146830641480722290[11] = 0; - out_1146830641480722290[12] = 1; - out_1146830641480722290[13] = 0; - out_1146830641480722290[14] = 0; - out_1146830641480722290[15] = 1; - out_1146830641480722290[16] = 0; - out_1146830641480722290[17] = 0; - out_1146830641480722290[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1146830641480722290[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1146830641480722290[20] = 0; - out_1146830641480722290[21] = state[8]; - out_1146830641480722290[22] = 0; - out_1146830641480722290[23] = -state[6]; - out_1146830641480722290[24] = -state[5]; - out_1146830641480722290[25] = 0; - out_1146830641480722290[26] = state[3]; - out_1146830641480722290[27] = 0; - out_1146830641480722290[28] = 0; - out_1146830641480722290[29] = 0; - out_1146830641480722290[30] = 0; - out_1146830641480722290[31] = 1; - out_1146830641480722290[32] = 0; - out_1146830641480722290[33] = 0; - out_1146830641480722290[34] = 1; - out_1146830641480722290[35] = 0; - out_1146830641480722290[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1146830641480722290[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1146830641480722290[38] = 0; - out_1146830641480722290[39] = -state[7]; - out_1146830641480722290[40] = state[6]; - out_1146830641480722290[41] = 0; - out_1146830641480722290[42] = state[4]; - out_1146830641480722290[43] = -state[3]; - out_1146830641480722290[44] = 0; - out_1146830641480722290[45] = 0; - out_1146830641480722290[46] = 0; - out_1146830641480722290[47] = 0; - out_1146830641480722290[48] = 0; - out_1146830641480722290[49] = 0; - out_1146830641480722290[50] = 1; - out_1146830641480722290[51] = 0; - out_1146830641480722290[52] = 0; - out_1146830641480722290[53] = 1; +void H_10(double *state, double *unused, double *out_6328749297458135702) { + out_6328749297458135702[0] = 0; + out_6328749297458135702[1] = 9.8100000000000005*cos(state[1]); + out_6328749297458135702[2] = 0; + out_6328749297458135702[3] = 0; + out_6328749297458135702[4] = -state[8]; + out_6328749297458135702[5] = state[7]; + out_6328749297458135702[6] = 0; + out_6328749297458135702[7] = state[5]; + out_6328749297458135702[8] = -state[4]; + out_6328749297458135702[9] = 0; + out_6328749297458135702[10] = 0; + out_6328749297458135702[11] = 0; + out_6328749297458135702[12] = 1; + out_6328749297458135702[13] = 0; + out_6328749297458135702[14] = 0; + out_6328749297458135702[15] = 1; + out_6328749297458135702[16] = 0; + out_6328749297458135702[17] = 0; + out_6328749297458135702[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6328749297458135702[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6328749297458135702[20] = 0; + out_6328749297458135702[21] = state[8]; + out_6328749297458135702[22] = 0; + out_6328749297458135702[23] = -state[6]; + out_6328749297458135702[24] = -state[5]; + out_6328749297458135702[25] = 0; + out_6328749297458135702[26] = state[3]; + out_6328749297458135702[27] = 0; + out_6328749297458135702[28] = 0; + out_6328749297458135702[29] = 0; + out_6328749297458135702[30] = 0; + out_6328749297458135702[31] = 1; + out_6328749297458135702[32] = 0; + out_6328749297458135702[33] = 0; + out_6328749297458135702[34] = 1; + out_6328749297458135702[35] = 0; + out_6328749297458135702[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6328749297458135702[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6328749297458135702[38] = 0; + out_6328749297458135702[39] = -state[7]; + out_6328749297458135702[40] = state[6]; + out_6328749297458135702[41] = 0; + out_6328749297458135702[42] = state[4]; + out_6328749297458135702[43] = -state[3]; + out_6328749297458135702[44] = 0; + out_6328749297458135702[45] = 0; + out_6328749297458135702[46] = 0; + out_6328749297458135702[47] = 0; + out_6328749297458135702[48] = 0; + out_6328749297458135702[49] = 0; + out_6328749297458135702[50] = 1; + out_6328749297458135702[51] = 0; + out_6328749297458135702[52] = 0; + out_6328749297458135702[53] = 1; } -void h_13(double *state, double *unused, double *out_7759616382768276568) { - out_7759616382768276568[0] = state[3]; - out_7759616382768276568[1] = state[4]; - out_7759616382768276568[2] = state[5]; +void h_13(double *state, double *unused, double *out_7408027604108256403) { + out_7408027604108256403[0] = state[3]; + out_7408027604108256403[1] = state[4]; + out_7408027604108256403[2] = state[5]; } -void H_13(double *state, double *unused, double *out_3230275195004083) { - out_3230275195004083[0] = 0; - out_3230275195004083[1] = 0; - out_3230275195004083[2] = 0; - out_3230275195004083[3] = 1; - out_3230275195004083[4] = 0; - out_3230275195004083[5] = 0; - out_3230275195004083[6] = 0; - out_3230275195004083[7] = 0; - out_3230275195004083[8] = 0; - out_3230275195004083[9] = 0; - out_3230275195004083[10] = 0; - out_3230275195004083[11] = 0; - out_3230275195004083[12] = 0; - out_3230275195004083[13] = 0; - out_3230275195004083[14] = 0; - out_3230275195004083[15] = 0; - out_3230275195004083[16] = 0; - out_3230275195004083[17] = 0; - out_3230275195004083[18] = 0; - out_3230275195004083[19] = 0; - out_3230275195004083[20] = 0; - out_3230275195004083[21] = 0; - out_3230275195004083[22] = 1; - out_3230275195004083[23] = 0; - out_3230275195004083[24] = 0; - out_3230275195004083[25] = 0; - out_3230275195004083[26] = 0; - out_3230275195004083[27] = 0; - out_3230275195004083[28] = 0; - out_3230275195004083[29] = 0; - out_3230275195004083[30] = 0; - out_3230275195004083[31] = 0; - out_3230275195004083[32] = 0; - out_3230275195004083[33] = 0; - out_3230275195004083[34] = 0; - out_3230275195004083[35] = 0; - out_3230275195004083[36] = 0; - out_3230275195004083[37] = 0; - out_3230275195004083[38] = 0; - out_3230275195004083[39] = 0; - out_3230275195004083[40] = 0; - out_3230275195004083[41] = 1; - out_3230275195004083[42] = 0; - out_3230275195004083[43] = 0; - out_3230275195004083[44] = 0; - out_3230275195004083[45] = 0; - out_3230275195004083[46] = 0; - out_3230275195004083[47] = 0; - out_3230275195004083[48] = 0; - out_3230275195004083[49] = 0; - out_3230275195004083[50] = 0; - out_3230275195004083[51] = 0; - out_3230275195004083[52] = 0; - out_3230275195004083[53] = 0; +void H_13(double *state, double *unused, double *out_3438243374136801909) { + out_3438243374136801909[0] = 0; + out_3438243374136801909[1] = 0; + out_3438243374136801909[2] = 0; + out_3438243374136801909[3] = 1; + out_3438243374136801909[4] = 0; + out_3438243374136801909[5] = 0; + out_3438243374136801909[6] = 0; + out_3438243374136801909[7] = 0; + out_3438243374136801909[8] = 0; + out_3438243374136801909[9] = 0; + out_3438243374136801909[10] = 0; + out_3438243374136801909[11] = 0; + out_3438243374136801909[12] = 0; + out_3438243374136801909[13] = 0; + out_3438243374136801909[14] = 0; + out_3438243374136801909[15] = 0; + out_3438243374136801909[16] = 0; + out_3438243374136801909[17] = 0; + out_3438243374136801909[18] = 0; + out_3438243374136801909[19] = 0; + out_3438243374136801909[20] = 0; + out_3438243374136801909[21] = 0; + out_3438243374136801909[22] = 1; + out_3438243374136801909[23] = 0; + out_3438243374136801909[24] = 0; + out_3438243374136801909[25] = 0; + out_3438243374136801909[26] = 0; + out_3438243374136801909[27] = 0; + out_3438243374136801909[28] = 0; + out_3438243374136801909[29] = 0; + out_3438243374136801909[30] = 0; + out_3438243374136801909[31] = 0; + out_3438243374136801909[32] = 0; + out_3438243374136801909[33] = 0; + out_3438243374136801909[34] = 0; + out_3438243374136801909[35] = 0; + out_3438243374136801909[36] = 0; + out_3438243374136801909[37] = 0; + out_3438243374136801909[38] = 0; + out_3438243374136801909[39] = 0; + out_3438243374136801909[40] = 0; + out_3438243374136801909[41] = 1; + out_3438243374136801909[42] = 0; + out_3438243374136801909[43] = 0; + out_3438243374136801909[44] = 0; + out_3438243374136801909[45] = 0; + out_3438243374136801909[46] = 0; + out_3438243374136801909[47] = 0; + out_3438243374136801909[48] = 0; + out_3438243374136801909[49] = 0; + out_3438243374136801909[50] = 0; + out_3438243374136801909[51] = 0; + out_3438243374136801909[52] = 0; + out_3438243374136801909[53] = 0; } -void h_14(double *state, double *unused, double *out_3709581126101699448) { - out_3709581126101699448[0] = state[6]; - out_3709581126101699448[1] = state[7]; - out_3709581126101699448[2] = state[8]; +void h_14(double *state, double *unused, double *out_1915359263866192008) { + out_1915359263866192008[0] = state[6]; + out_1915359263866192008[1] = state[7]; + out_1915359263866192008[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3650620627172220483) { - out_3650620627172220483[0] = 0; - out_3650620627172220483[1] = 0; - out_3650620627172220483[2] = 0; - out_3650620627172220483[3] = 0; - out_3650620627172220483[4] = 0; - out_3650620627172220483[5] = 0; - out_3650620627172220483[6] = 1; - out_3650620627172220483[7] = 0; - out_3650620627172220483[8] = 0; - out_3650620627172220483[9] = 0; - out_3650620627172220483[10] = 0; - out_3650620627172220483[11] = 0; - out_3650620627172220483[12] = 0; - out_3650620627172220483[13] = 0; - out_3650620627172220483[14] = 0; - out_3650620627172220483[15] = 0; - out_3650620627172220483[16] = 0; - out_3650620627172220483[17] = 0; - out_3650620627172220483[18] = 0; - out_3650620627172220483[19] = 0; - out_3650620627172220483[20] = 0; - out_3650620627172220483[21] = 0; - out_3650620627172220483[22] = 0; - out_3650620627172220483[23] = 0; - out_3650620627172220483[24] = 0; - out_3650620627172220483[25] = 1; - out_3650620627172220483[26] = 0; - out_3650620627172220483[27] = 0; - out_3650620627172220483[28] = 0; - out_3650620627172220483[29] = 0; - out_3650620627172220483[30] = 0; - out_3650620627172220483[31] = 0; - out_3650620627172220483[32] = 0; - out_3650620627172220483[33] = 0; - out_3650620627172220483[34] = 0; - out_3650620627172220483[35] = 0; - out_3650620627172220483[36] = 0; - out_3650620627172220483[37] = 0; - out_3650620627172220483[38] = 0; - out_3650620627172220483[39] = 0; - out_3650620627172220483[40] = 0; - out_3650620627172220483[41] = 0; - out_3650620627172220483[42] = 0; - out_3650620627172220483[43] = 0; - out_3650620627172220483[44] = 1; - out_3650620627172220483[45] = 0; - out_3650620627172220483[46] = 0; - out_3650620627172220483[47] = 0; - out_3650620627172220483[48] = 0; - out_3650620627172220483[49] = 0; - out_3650620627172220483[50] = 0; - out_3650620627172220483[51] = 0; - out_3650620627172220483[52] = 0; - out_3650620627172220483[53] = 0; +void H_14(double *state, double *unused, double *out_2687276343129650181) { + out_2687276343129650181[0] = 0; + out_2687276343129650181[1] = 0; + out_2687276343129650181[2] = 0; + out_2687276343129650181[3] = 0; + out_2687276343129650181[4] = 0; + out_2687276343129650181[5] = 0; + out_2687276343129650181[6] = 1; + out_2687276343129650181[7] = 0; + out_2687276343129650181[8] = 0; + out_2687276343129650181[9] = 0; + out_2687276343129650181[10] = 0; + out_2687276343129650181[11] = 0; + out_2687276343129650181[12] = 0; + out_2687276343129650181[13] = 0; + out_2687276343129650181[14] = 0; + out_2687276343129650181[15] = 0; + out_2687276343129650181[16] = 0; + out_2687276343129650181[17] = 0; + out_2687276343129650181[18] = 0; + out_2687276343129650181[19] = 0; + out_2687276343129650181[20] = 0; + out_2687276343129650181[21] = 0; + out_2687276343129650181[22] = 0; + out_2687276343129650181[23] = 0; + out_2687276343129650181[24] = 0; + out_2687276343129650181[25] = 1; + out_2687276343129650181[26] = 0; + out_2687276343129650181[27] = 0; + out_2687276343129650181[28] = 0; + out_2687276343129650181[29] = 0; + out_2687276343129650181[30] = 0; + out_2687276343129650181[31] = 0; + out_2687276343129650181[32] = 0; + out_2687276343129650181[33] = 0; + out_2687276343129650181[34] = 0; + out_2687276343129650181[35] = 0; + out_2687276343129650181[36] = 0; + out_2687276343129650181[37] = 0; + out_2687276343129650181[38] = 0; + out_2687276343129650181[39] = 0; + out_2687276343129650181[40] = 0; + out_2687276343129650181[41] = 0; + out_2687276343129650181[42] = 0; + out_2687276343129650181[43] = 0; + out_2687276343129650181[44] = 1; + out_2687276343129650181[45] = 0; + out_2687276343129650181[46] = 0; + out_2687276343129650181[47] = 0; + out_2687276343129650181[48] = 0; + out_2687276343129650181[49] = 0; + out_2687276343129650181[50] = 0; + out_2687276343129650181[51] = 0; + out_2687276343129650181[52] = 0; + out_2687276343129650181[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_1909500707924070274) { - err_fun(nom_x, delta_x, out_1909500707924070274); +void pose_err_fun(double *nom_x, double *delta_x, double *out_9183838211698085113) { + err_fun(nom_x, delta_x, out_9183838211698085113); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4767002163824434397) { - inv_err_fun(nom_x, true_x, out_4767002163824434397); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7880707634176237912) { + inv_err_fun(nom_x, true_x, out_7880707634176237912); } -void pose_H_mod_fun(double *state, double *out_2632577706224621837) { - H_mod_fun(state, out_2632577706224621837); +void pose_H_mod_fun(double *state, double *out_4757006295873358620) { + H_mod_fun(state, out_4757006295873358620); } -void pose_f_fun(double *state, double dt, double *out_2193527682870666897) { - f_fun(state, dt, out_2193527682870666897); +void pose_f_fun(double *state, double dt, double *out_9118920386528411329) { + f_fun(state, dt, out_9118920386528411329); } -void pose_F_fun(double *state, double dt, double *out_7071521444289373248) { - F_fun(state, dt, out_7071521444289373248); +void pose_F_fun(double *state, double dt, double *out_388070008261359487) { + F_fun(state, dt, out_388070008261359487); } -void pose_h_4(double *state, double *unused, double *out_67509566290800345) { - h_4(state, unused, out_67509566290800345); +void pose_h_4(double *state, double *unused, double *out_424143301988092518) { + h_4(state, unused, out_424143301988092518); } -void pose_H_4(double *state, double *unused, double *out_3215504100527336884) { - H_4(state, unused, out_3215504100527336884); +void pose_H_4(double *state, double *unused, double *out_6650517199469134710) { + H_4(state, unused, out_6650517199469134710); } -void pose_h_10(double *state, double *unused, double *out_2077999983659095687) { - h_10(state, unused, out_2077999983659095687); +void pose_h_10(double *state, double *unused, double *out_5429944465818265103) { + h_10(state, unused, out_5429944465818265103); } -void pose_H_10(double *state, double *unused, double *out_1146830641480722290) { - H_10(state, unused, out_1146830641480722290); +void pose_H_10(double *state, double *unused, double *out_6328749297458135702) { + H_10(state, unused, out_6328749297458135702); } -void pose_h_13(double *state, double *unused, double *out_7759616382768276568) { - h_13(state, unused, out_7759616382768276568); +void pose_h_13(double *state, double *unused, double *out_7408027604108256403) { + h_13(state, unused, out_7408027604108256403); } -void pose_H_13(double *state, double *unused, double *out_3230275195004083) { - H_13(state, unused, out_3230275195004083); +void pose_H_13(double *state, double *unused, double *out_3438243374136801909) { + H_13(state, unused, out_3438243374136801909); } -void pose_h_14(double *state, double *unused, double *out_3709581126101699448) { - h_14(state, unused, out_3709581126101699448); +void pose_h_14(double *state, double *unused, double *out_1915359263866192008) { + h_14(state, unused, out_1915359263866192008); } -void pose_H_14(double *state, double *unused, double *out_3650620627172220483) { - H_14(state, unused, out_3650620627172220483); +void pose_H_14(double *state, double *unused, double *out_2687276343129650181) { + H_14(state, unused, out_2687276343129650181); } 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 51f8af4d7..ce528f8b4 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_1909500707924070274); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4767002163824434397); -void pose_H_mod_fun(double *state, double *out_2632577706224621837); -void pose_f_fun(double *state, double dt, double *out_2193527682870666897); -void pose_F_fun(double *state, double dt, double *out_7071521444289373248); -void pose_h_4(double *state, double *unused, double *out_67509566290800345); -void pose_H_4(double *state, double *unused, double *out_3215504100527336884); -void pose_h_10(double *state, double *unused, double *out_2077999983659095687); -void pose_H_10(double *state, double *unused, double *out_1146830641480722290); -void pose_h_13(double *state, double *unused, double *out_7759616382768276568); -void pose_H_13(double *state, double *unused, double *out_3230275195004083); -void pose_h_14(double *state, double *unused, double *out_3709581126101699448); -void pose_H_14(double *state, double *unused, double *out_3650620627172220483); +void pose_err_fun(double *nom_x, double *delta_x, double *out_9183838211698085113); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7880707634176237912); +void pose_H_mod_fun(double *state, double *out_4757006295873358620); +void pose_f_fun(double *state, double dt, double *out_9118920386528411329); +void pose_F_fun(double *state, double dt, double *out_388070008261359487); +void pose_h_4(double *state, double *unused, double *out_424143301988092518); +void pose_H_4(double *state, double *unused, double *out_6650517199469134710); +void pose_h_10(double *state, double *unused, double *out_5429944465818265103); +void pose_H_10(double *state, double *unused, double *out_6328749297458135702); +void pose_h_13(double *state, double *unused, double *out_7408027604108256403); +void pose_H_13(double *state, double *unused, double *out_3438243374136801909); +void pose_h_14(double *state, double *unused, double *out_1915359263866192008); +void pose_H_14(double *state, double *unused, double *out_2687276343129650181); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index a1fa933d7d40c3fedb5f03260582b028bebec208..02288342530ef6b22387572f8ada098f09f0448e 100755 GIT binary patch delta 1000 zcmYk(O-K}B7{KwFcWh^;{MuZzEX}NKW-I&tFh5EwBIr<;po36{=n(8=O0m&l4oXH) zC({s-4hwnQ)j)%#h$2K#4+%xLI*36?*Dlfjoqb<-2Yx)e|9R)xWj8zUOk|~7BEDLg zNiHw^jei?^-I~16+m~N_`(_|5hSI`>oEFNk0TI}U!ofytLOCi>i7HehhRvu!9JSbj zI&8%@)MGn#paG58i6-nqGj?MS64*PF7Vaaz-djoy8-}@R$jdaGTpMG8IyhQ!&vklvCB{t0$^54bF3!hBR9v5MxI=O4=shgyqVK$9O=Ci7K=9H>V&5f|e zd^U+jU2}X2e@5)iW$GVY^FdbS^M+x)(|P_%N&T+tuNTEC_#3$RYSVJa#cUAzS9NBe z7prw!pZ%05sTXAp z8d~Xh;US5A*pCBf!9g6tVI09x9K&&(z)74!D^8;g?dU)!&fqM%&^@!#e{O!^KNvOc AxBvhE delta 1000 zcmYk)T}V@57{KxOoTK|FP0N{SP0dX=#u~Boz@v6kQZi^qmx|E)HU}2R1vQLwoSBchO^V$cW*`n)Mn3QD@@TKd29d0E1bXZxR*XJ=<7yRO?w?T{V1du(Ln z)6sh$GpaKkzyG_iz4gJvu9zK<*%tJ4P=G@C;70&KOu}Rop%_z8f>KPyG?XEPa!f}B zW}p&Pn2A{kqZ&1+#cb4J4(1|)c|$SVy>zmwCR}+~DeH&Qf0hcS8W?@ly@}#8uIu%D z8UMPU^xhmOKP3mwG0#g4xR%s|%pFqwJr|_zVO}$5dw)sY$t;rU>;ERTj}nqM$iL)#}zas=xhlW-YaZsr-?5 zl8+=>&bm>L1CP0Q1^T)@@Jz0!l(KU%_b7Ku-9`GI%a-!>zm$5BIVd$)c7S)cH~)Qm ziw)JLrcO`PEWd#L$J8fYQt~#XoTnydw*OZ@oBH#n)OJ=}HZ{!){c+hXRP$7Wk8Via z%3l5}^dS{|5y@|GT6OeveqJxRO{s!Xopl}KQRWu2!tOOSJ)U1-?=y8UER~yZ>P#JO z%5QMGO?~}AYMb&q@zD+!QOw5zEW{$zV=(PiNY`{h| Mqh)BcV^ikMKd({pN&o-=