diff --git a/opendbc_repo/opendbc/car/hyundai/interface.py b/opendbc_repo/opendbc/car/hyundai/interface.py index 4e7d08db5c..ddeb94b579 100644 --- a/opendbc_repo/opendbc/car/hyundai/interface.py +++ b/opendbc_repo/opendbc/car/hyundai/interface.py @@ -201,6 +201,8 @@ class CarInterface(CarInterfaceBase): if ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING: ret.steerControlType = structs.CarParams.SteerControlType.angle ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value + if candidate == CAR.KIA_SPORTAGE_HEV_2026: + ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA.value if candidate == CAR.HYUNDAI_IONIQ_6: # Keep lateral active through stops: zeroing torque at standstill dropped the # stop-turn hold and forced a rate-limit re-ramp from zero on every pull-away diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py index 2078781746..ad80ed83a7 100644 --- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py +++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py @@ -552,6 +552,13 @@ class TestHyundaiFingerprint: CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None) assert CP.flags & HyundaiFlags.SEND_LFA + @pytest.mark.parametrize("candidate", list(CAR)) + def test_no_stock_lka_safety_flag_is_sportage_only(self, candidate): + CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None) + if CP.flags & HyundaiFlags.CANFD: + assert bool(CP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA) == \ + (candidate == CAR.KIA_SPORTAGE_HEV_2026) + def test_smart_mdps_allows_low_speed_steering(self): candidate = CAR.HYUNDAI_IONIQ_EV_LTD diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py index d7cfa094c7..daceb4ddc1 100644 --- a/opendbc_repo/opendbc/car/hyundai/values.py +++ b/opendbc_repo/opendbc/car/hyundai/values.py @@ -117,6 +117,7 @@ class HyundaiSafetyFlags(IntFlag): class HyundaiStarPilotSafetyFlags(IntFlag): + CANFD_NO_STOCK_LKA = 4096 # CAN-FD only; classic CAN uses this bit for NON_SCC. AOL_MAIN_LKAS_ON_ENGAGE = 128 AOL_MAIN_LKAS_SYNC = 32 HAS_LDA_BUTTON = 1024 diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h index 6dc25b733f..b6254cd576 100644 --- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h +++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h @@ -65,6 +65,7 @@ static bool hyundai_canfd_alt_buttons = false; static bool hyundai_canfd_lka_steering_alt = false; static bool hyundai_canfd_angle_steering = false; +static bool hyundai_canfd_no_stock_lka = false; static bool hyundai_ccnc = false; static bool hyundai_canfd_ccnc_angle_long = false; static bool hyundai_canfd_lka_alt_drive_gear = false; @@ -100,7 +101,8 @@ static bool hyundai_canfd_lka_alt_openpilot_allowed(void) { } static bool hyundai_canfd_lka_alt_stock_forwarding(void) { - return hyundai_canfd_lka_steering_alt && hyundai_canfd_angle_steering && !hyundai_canfd_lka_alt_openpilot_allowed(); + return hyundai_canfd_lka_steering_alt && hyundai_canfd_angle_steering && + !hyundai_canfd_no_stock_lka && !hyundai_canfd_lka_alt_openpilot_allowed(); } static void hyundai_canfd_rx_all_hook(const CANPacket_t *msg) { @@ -270,6 +272,10 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) { const int lkas_angle_active = (msg->data[9] >> 4U) & 0x3U; const bool steer_angle_req = lkas_angle_active != 1; + if (hyundai_canfd_no_stock_lka && steer_angle_req && !hyundai_canfd_lka_alt_openpilot_allowed()) { + tx = false; + } + int desired_angle = (msg->data[11] << 6U) | (msg->data[10] >> 2U); desired_angle = to_signed(desired_angle, 14); @@ -364,6 +370,7 @@ static safety_config hyundai_canfd_init(uint16_t param) { const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128; const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32; const uint16_t HYUNDAI_PARAM_CANFD_ANGLE_STEERING = 1024; + const uint16_t HYUNDAI_PARAM_CANFD_NO_STOCK_LKA = 4096U; const uint16_t HYUNDAI_PARAM_CCNC = 32768U; static const CanMsg HYUNDAI_CANFD_LKA_STEERING_TX_MSGS[] = { @@ -479,12 +486,15 @@ static safety_config hyundai_canfd_init(uint16_t param) { {0x7C4, 2, 8, .check_relay = true}, /* camera support frame */ \ {0xEA, 2, 24, .check_relay = true}, /* MDPS support frame */ \ - hyundai_common_init(param); + // This CAN-FD-only bit is independent of classic CAN's NON_SCC mode. + hyundai_common_init(param & ~HYUNDAI_PARAM_CANFD_NO_STOCK_LKA); gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut); hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS); hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT); hyundai_canfd_angle_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ANGLE_STEERING); + hyundai_canfd_no_stock_lka = hyundai_canfd_angle_steering && hyundai_canfd_lka_steering && + hyundai_canfd_lka_steering_alt && GET_FLAG(param, HYUNDAI_PARAM_CANFD_NO_STOCK_LKA); hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC); hyundai_canfd_ccnc_angle_long = hyundai_longitudinal && hyundai_canfd_lka_steering && hyundai_canfd_lka_steering_alt && hyundai_canfd_angle_steering && hyundai_ccnc; diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py index 291b4c7072..d55cea7c4a 100755 --- a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py +++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py @@ -959,5 +959,69 @@ class TestHyundaiCanfdLKASteeringAolLkasOnEngageEV(HyundaiAolLkasOnEngageStockBa self.safety.init_tests() +class TestSportageNoStockLka(unittest.TestCase): + TX_MSGS = None # Supplemental transition tests, not a separate safety mode. + PARAM = (HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT | + HyundaiSafetyFlags.CANFD_ANGLE_STEERING | HyundaiSafetyFlags.HYBRID_GAS) + + def setUp(self): + self.safety = libsafety_py.libsafety + self.packer = CANPackerSafety("hyundai_canfd_generated") + self._init(True) + + def _init(self, suppress): + param = self.PARAM | (HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA if suppress else 0) + self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param) + self.safety.init_tests() + self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL) + + def _speed(self, speed): + for _ in range(common.MAX_SAMPLE_VALS): + self.safety.safety_rx_hook(self.packer.make_can_msg_safety( + "WHEEL_SPEEDS", 1, {f"WHL_Spd{pos}Val": speed for pos in ("FL", "FR", "RL", "RR")})) + + def _toggle(self): + for pressed in (1, 0): + self.safety.safety_rx_hook(self.packer.make_can_msg_safety("CRUISE_BUTTONS", 1, {"LDA_BTN": pressed})) + + def _steer(self, active, gain=None): + return self.packer.make_can_msg_safety("LKAS_ALT", 0, { + "LKAS_ANGLE_ACTIVE": 2 if active else 1, + "ADAS_StrAnglReqVal": 0, + "ADAS_ACIAnglTqRedcGainVal": (0.4 if active else 0.0) if gain is None else gain, + "Damping_Gain": 100, + }) + + def test_aol_toggle_keeps_stock_blocked_and_inactive_status_allowed(self): + self._speed(30) + for expected_aol in (False, True, False, True, False): + if expected_aol != self.safety.get_aol_allowed(): + self._toggle() + self.assertEqual(expected_aol, self.safety.get_aol_allowed()) + for addr in (0x110, 0x362): + self.assertEqual(-1, self.safety.safety_fwd_hook(2, addr)) + self.assertTrue(self.safety.safety_tx_hook(self._steer(False))) + self.assertTrue(self.safety.safety_tx_hook(common.make_msg(0, 0x362, 32))) + self.assertEqual(expected_aol, self.safety.safety_tx_hook(self._steer(True))) + self.assertFalse(self.safety.safety_tx_hook(self._steer(False, gain=0.4))) + + def test_standstill_does_not_allow_active_steering(self): + self._speed(0) + self._toggle() + self.assertTrue(self.safety.get_aol_allowed()) + self.assertFalse(self.safety.safety_tx_hook(self._steer(True))) + self.assertTrue(self.safety.safety_tx_hook(self._steer(False))) + self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x110)) + + def test_unflagged_handoff_and_reinitialization_unchanged(self): + self._init(False) + self._speed(30) + self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x110)) + self.assertFalse(self.safety.safety_tx_hook(self._steer(False))) + self._toggle() + self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x110)) + self.assertTrue(self.safety.safety_tx_hook(self._steer(True))) + + if __name__ == "__main__": unittest.main() diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index b61ae25024..753195600b 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index b49703daec..0314fbaddf 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 0bb9ca5650..b9e74d69d2 100755 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b/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf index 2b63b31d90..c347590fa2 100755 Binary files a/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf and b/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index c6613aa6e5..58ca1bb7d7 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-5925aecd-DEBUG \ No newline at end of file +DEV-79c61f47-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 72852c091f..1f04a764b6 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_6680589116319572635) { - out_6680589116319572635[0] = delta_x[0] + nom_x[0]; - out_6680589116319572635[1] = delta_x[1] + nom_x[1]; - out_6680589116319572635[2] = delta_x[2] + nom_x[2]; - out_6680589116319572635[3] = delta_x[3] + nom_x[3]; - out_6680589116319572635[4] = delta_x[4] + nom_x[4]; - out_6680589116319572635[5] = delta_x[5] + nom_x[5]; - out_6680589116319572635[6] = delta_x[6] + nom_x[6]; - out_6680589116319572635[7] = delta_x[7] + nom_x[7]; - out_6680589116319572635[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_870685266903427678) { + out_870685266903427678[0] = delta_x[0] + nom_x[0]; + out_870685266903427678[1] = delta_x[1] + nom_x[1]; + out_870685266903427678[2] = delta_x[2] + nom_x[2]; + out_870685266903427678[3] = delta_x[3] + nom_x[3]; + out_870685266903427678[4] = delta_x[4] + nom_x[4]; + out_870685266903427678[5] = delta_x[5] + nom_x[5]; + out_870685266903427678[6] = delta_x[6] + nom_x[6]; + out_870685266903427678[7] = delta_x[7] + nom_x[7]; + out_870685266903427678[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1421263034200107343) { - out_1421263034200107343[0] = -nom_x[0] + true_x[0]; - out_1421263034200107343[1] = -nom_x[1] + true_x[1]; - out_1421263034200107343[2] = -nom_x[2] + true_x[2]; - out_1421263034200107343[3] = -nom_x[3] + true_x[3]; - out_1421263034200107343[4] = -nom_x[4] + true_x[4]; - out_1421263034200107343[5] = -nom_x[5] + true_x[5]; - out_1421263034200107343[6] = -nom_x[6] + true_x[6]; - out_1421263034200107343[7] = -nom_x[7] + true_x[7]; - out_1421263034200107343[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8535551015639214025) { + out_8535551015639214025[0] = -nom_x[0] + true_x[0]; + out_8535551015639214025[1] = -nom_x[1] + true_x[1]; + out_8535551015639214025[2] = -nom_x[2] + true_x[2]; + out_8535551015639214025[3] = -nom_x[3] + true_x[3]; + out_8535551015639214025[4] = -nom_x[4] + true_x[4]; + out_8535551015639214025[5] = -nom_x[5] + true_x[5]; + out_8535551015639214025[6] = -nom_x[6] + true_x[6]; + out_8535551015639214025[7] = -nom_x[7] + true_x[7]; + out_8535551015639214025[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8968580721052785900) { - out_8968580721052785900[0] = 1.0; - out_8968580721052785900[1] = 0.0; - out_8968580721052785900[2] = 0.0; - out_8968580721052785900[3] = 0.0; - out_8968580721052785900[4] = 0.0; - out_8968580721052785900[5] = 0.0; - out_8968580721052785900[6] = 0.0; - out_8968580721052785900[7] = 0.0; - out_8968580721052785900[8] = 0.0; - out_8968580721052785900[9] = 0.0; - out_8968580721052785900[10] = 1.0; - out_8968580721052785900[11] = 0.0; - out_8968580721052785900[12] = 0.0; - out_8968580721052785900[13] = 0.0; - out_8968580721052785900[14] = 0.0; - out_8968580721052785900[15] = 0.0; - out_8968580721052785900[16] = 0.0; - out_8968580721052785900[17] = 0.0; - out_8968580721052785900[18] = 0.0; - out_8968580721052785900[19] = 0.0; - out_8968580721052785900[20] = 1.0; - out_8968580721052785900[21] = 0.0; - out_8968580721052785900[22] = 0.0; - out_8968580721052785900[23] = 0.0; - out_8968580721052785900[24] = 0.0; - out_8968580721052785900[25] = 0.0; - out_8968580721052785900[26] = 0.0; - out_8968580721052785900[27] = 0.0; - out_8968580721052785900[28] = 0.0; - out_8968580721052785900[29] = 0.0; - out_8968580721052785900[30] = 1.0; - out_8968580721052785900[31] = 0.0; - out_8968580721052785900[32] = 0.0; - out_8968580721052785900[33] = 0.0; - out_8968580721052785900[34] = 0.0; - out_8968580721052785900[35] = 0.0; - out_8968580721052785900[36] = 0.0; - out_8968580721052785900[37] = 0.0; - out_8968580721052785900[38] = 0.0; - out_8968580721052785900[39] = 0.0; - out_8968580721052785900[40] = 1.0; - out_8968580721052785900[41] = 0.0; - out_8968580721052785900[42] = 0.0; - out_8968580721052785900[43] = 0.0; - out_8968580721052785900[44] = 0.0; - out_8968580721052785900[45] = 0.0; - out_8968580721052785900[46] = 0.0; - out_8968580721052785900[47] = 0.0; - out_8968580721052785900[48] = 0.0; - out_8968580721052785900[49] = 0.0; - out_8968580721052785900[50] = 1.0; - out_8968580721052785900[51] = 0.0; - out_8968580721052785900[52] = 0.0; - out_8968580721052785900[53] = 0.0; - out_8968580721052785900[54] = 0.0; - out_8968580721052785900[55] = 0.0; - out_8968580721052785900[56] = 0.0; - out_8968580721052785900[57] = 0.0; - out_8968580721052785900[58] = 0.0; - out_8968580721052785900[59] = 0.0; - out_8968580721052785900[60] = 1.0; - out_8968580721052785900[61] = 0.0; - out_8968580721052785900[62] = 0.0; - out_8968580721052785900[63] = 0.0; - out_8968580721052785900[64] = 0.0; - out_8968580721052785900[65] = 0.0; - out_8968580721052785900[66] = 0.0; - out_8968580721052785900[67] = 0.0; - out_8968580721052785900[68] = 0.0; - out_8968580721052785900[69] = 0.0; - out_8968580721052785900[70] = 1.0; - out_8968580721052785900[71] = 0.0; - out_8968580721052785900[72] = 0.0; - out_8968580721052785900[73] = 0.0; - out_8968580721052785900[74] = 0.0; - out_8968580721052785900[75] = 0.0; - out_8968580721052785900[76] = 0.0; - out_8968580721052785900[77] = 0.0; - out_8968580721052785900[78] = 0.0; - out_8968580721052785900[79] = 0.0; - out_8968580721052785900[80] = 1.0; +void H_mod_fun(double *state, double *out_5722367516210042485) { + out_5722367516210042485[0] = 1.0; + out_5722367516210042485[1] = 0.0; + out_5722367516210042485[2] = 0.0; + out_5722367516210042485[3] = 0.0; + out_5722367516210042485[4] = 0.0; + out_5722367516210042485[5] = 0.0; + out_5722367516210042485[6] = 0.0; + out_5722367516210042485[7] = 0.0; + out_5722367516210042485[8] = 0.0; + out_5722367516210042485[9] = 0.0; + out_5722367516210042485[10] = 1.0; + out_5722367516210042485[11] = 0.0; + out_5722367516210042485[12] = 0.0; + out_5722367516210042485[13] = 0.0; + out_5722367516210042485[14] = 0.0; + out_5722367516210042485[15] = 0.0; + out_5722367516210042485[16] = 0.0; + out_5722367516210042485[17] = 0.0; + out_5722367516210042485[18] = 0.0; + out_5722367516210042485[19] = 0.0; + out_5722367516210042485[20] = 1.0; + out_5722367516210042485[21] = 0.0; + out_5722367516210042485[22] = 0.0; + out_5722367516210042485[23] = 0.0; + out_5722367516210042485[24] = 0.0; + out_5722367516210042485[25] = 0.0; + out_5722367516210042485[26] = 0.0; + out_5722367516210042485[27] = 0.0; + out_5722367516210042485[28] = 0.0; + out_5722367516210042485[29] = 0.0; + out_5722367516210042485[30] = 1.0; + out_5722367516210042485[31] = 0.0; + out_5722367516210042485[32] = 0.0; + out_5722367516210042485[33] = 0.0; + out_5722367516210042485[34] = 0.0; + out_5722367516210042485[35] = 0.0; + out_5722367516210042485[36] = 0.0; + out_5722367516210042485[37] = 0.0; + out_5722367516210042485[38] = 0.0; + out_5722367516210042485[39] = 0.0; + out_5722367516210042485[40] = 1.0; + out_5722367516210042485[41] = 0.0; + out_5722367516210042485[42] = 0.0; + out_5722367516210042485[43] = 0.0; + out_5722367516210042485[44] = 0.0; + out_5722367516210042485[45] = 0.0; + out_5722367516210042485[46] = 0.0; + out_5722367516210042485[47] = 0.0; + out_5722367516210042485[48] = 0.0; + out_5722367516210042485[49] = 0.0; + out_5722367516210042485[50] = 1.0; + out_5722367516210042485[51] = 0.0; + out_5722367516210042485[52] = 0.0; + out_5722367516210042485[53] = 0.0; + out_5722367516210042485[54] = 0.0; + out_5722367516210042485[55] = 0.0; + out_5722367516210042485[56] = 0.0; + out_5722367516210042485[57] = 0.0; + out_5722367516210042485[58] = 0.0; + out_5722367516210042485[59] = 0.0; + out_5722367516210042485[60] = 1.0; + out_5722367516210042485[61] = 0.0; + out_5722367516210042485[62] = 0.0; + out_5722367516210042485[63] = 0.0; + out_5722367516210042485[64] = 0.0; + out_5722367516210042485[65] = 0.0; + out_5722367516210042485[66] = 0.0; + out_5722367516210042485[67] = 0.0; + out_5722367516210042485[68] = 0.0; + out_5722367516210042485[69] = 0.0; + out_5722367516210042485[70] = 1.0; + out_5722367516210042485[71] = 0.0; + out_5722367516210042485[72] = 0.0; + out_5722367516210042485[73] = 0.0; + out_5722367516210042485[74] = 0.0; + out_5722367516210042485[75] = 0.0; + out_5722367516210042485[76] = 0.0; + out_5722367516210042485[77] = 0.0; + out_5722367516210042485[78] = 0.0; + out_5722367516210042485[79] = 0.0; + out_5722367516210042485[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3852536059217665062) { - out_3852536059217665062[0] = state[0]; - out_3852536059217665062[1] = state[1]; - out_3852536059217665062[2] = state[2]; - out_3852536059217665062[3] = state[3]; - out_3852536059217665062[4] = state[4]; - out_3852536059217665062[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_3852536059217665062[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_3852536059217665062[7] = state[7]; - out_3852536059217665062[8] = state[8]; +void f_fun(double *state, double dt, double *out_6327711019370239094) { + out_6327711019370239094[0] = state[0]; + out_6327711019370239094[1] = state[1]; + out_6327711019370239094[2] = state[2]; + out_6327711019370239094[3] = state[3]; + out_6327711019370239094[4] = state[4]; + out_6327711019370239094[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_6327711019370239094[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_6327711019370239094[7] = state[7]; + out_6327711019370239094[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7217781527381652799) { - out_7217781527381652799[0] = 1; - out_7217781527381652799[1] = 0; - out_7217781527381652799[2] = 0; - out_7217781527381652799[3] = 0; - out_7217781527381652799[4] = 0; - out_7217781527381652799[5] = 0; - out_7217781527381652799[6] = 0; - out_7217781527381652799[7] = 0; - out_7217781527381652799[8] = 0; - out_7217781527381652799[9] = 0; - out_7217781527381652799[10] = 1; - out_7217781527381652799[11] = 0; - out_7217781527381652799[12] = 0; - out_7217781527381652799[13] = 0; - out_7217781527381652799[14] = 0; - out_7217781527381652799[15] = 0; - out_7217781527381652799[16] = 0; - out_7217781527381652799[17] = 0; - out_7217781527381652799[18] = 0; - out_7217781527381652799[19] = 0; - out_7217781527381652799[20] = 1; - out_7217781527381652799[21] = 0; - out_7217781527381652799[22] = 0; - out_7217781527381652799[23] = 0; - out_7217781527381652799[24] = 0; - out_7217781527381652799[25] = 0; - out_7217781527381652799[26] = 0; - out_7217781527381652799[27] = 0; - out_7217781527381652799[28] = 0; - out_7217781527381652799[29] = 0; - out_7217781527381652799[30] = 1; - out_7217781527381652799[31] = 0; - out_7217781527381652799[32] = 0; - out_7217781527381652799[33] = 0; - out_7217781527381652799[34] = 0; - out_7217781527381652799[35] = 0; - out_7217781527381652799[36] = 0; - out_7217781527381652799[37] = 0; - out_7217781527381652799[38] = 0; - out_7217781527381652799[39] = 0; - out_7217781527381652799[40] = 1; - out_7217781527381652799[41] = 0; - out_7217781527381652799[42] = 0; - out_7217781527381652799[43] = 0; - out_7217781527381652799[44] = 0; - out_7217781527381652799[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_7217781527381652799[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7217781527381652799[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7217781527381652799[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7217781527381652799[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_7217781527381652799[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7217781527381652799[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7217781527381652799[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7217781527381652799[53] = -9.8100000000000005*dt; - out_7217781527381652799[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_7217781527381652799[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7217781527381652799[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7217781527381652799[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7217781527381652799[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_7217781527381652799[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7217781527381652799[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_7217781527381652799[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7217781527381652799[62] = 0; - out_7217781527381652799[63] = 0; - out_7217781527381652799[64] = 0; - out_7217781527381652799[65] = 0; - out_7217781527381652799[66] = 0; - out_7217781527381652799[67] = 0; - out_7217781527381652799[68] = 0; - out_7217781527381652799[69] = 0; - out_7217781527381652799[70] = 1; - out_7217781527381652799[71] = 0; - out_7217781527381652799[72] = 0; - out_7217781527381652799[73] = 0; - out_7217781527381652799[74] = 0; - out_7217781527381652799[75] = 0; - out_7217781527381652799[76] = 0; - out_7217781527381652799[77] = 0; - out_7217781527381652799[78] = 0; - out_7217781527381652799[79] = 0; - out_7217781527381652799[80] = 1; +void F_fun(double *state, double dt, double *out_334732449615445707) { + out_334732449615445707[0] = 1; + out_334732449615445707[1] = 0; + out_334732449615445707[2] = 0; + out_334732449615445707[3] = 0; + out_334732449615445707[4] = 0; + out_334732449615445707[5] = 0; + out_334732449615445707[6] = 0; + out_334732449615445707[7] = 0; + out_334732449615445707[8] = 0; + out_334732449615445707[9] = 0; + out_334732449615445707[10] = 1; + out_334732449615445707[11] = 0; + out_334732449615445707[12] = 0; + out_334732449615445707[13] = 0; + out_334732449615445707[14] = 0; + out_334732449615445707[15] = 0; + out_334732449615445707[16] = 0; + out_334732449615445707[17] = 0; + out_334732449615445707[18] = 0; + out_334732449615445707[19] = 0; + out_334732449615445707[20] = 1; + out_334732449615445707[21] = 0; + out_334732449615445707[22] = 0; + out_334732449615445707[23] = 0; + out_334732449615445707[24] = 0; + out_334732449615445707[25] = 0; + out_334732449615445707[26] = 0; + out_334732449615445707[27] = 0; + out_334732449615445707[28] = 0; + out_334732449615445707[29] = 0; + out_334732449615445707[30] = 1; + out_334732449615445707[31] = 0; + out_334732449615445707[32] = 0; + out_334732449615445707[33] = 0; + out_334732449615445707[34] = 0; + out_334732449615445707[35] = 0; + out_334732449615445707[36] = 0; + out_334732449615445707[37] = 0; + out_334732449615445707[38] = 0; + out_334732449615445707[39] = 0; + out_334732449615445707[40] = 1; + out_334732449615445707[41] = 0; + out_334732449615445707[42] = 0; + out_334732449615445707[43] = 0; + out_334732449615445707[44] = 0; + out_334732449615445707[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_334732449615445707[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_334732449615445707[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_334732449615445707[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_334732449615445707[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_334732449615445707[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_334732449615445707[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_334732449615445707[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_334732449615445707[53] = -9.8100000000000005*dt; + out_334732449615445707[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_334732449615445707[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_334732449615445707[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_334732449615445707[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_334732449615445707[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_334732449615445707[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_334732449615445707[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_334732449615445707[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_334732449615445707[62] = 0; + out_334732449615445707[63] = 0; + out_334732449615445707[64] = 0; + out_334732449615445707[65] = 0; + out_334732449615445707[66] = 0; + out_334732449615445707[67] = 0; + out_334732449615445707[68] = 0; + out_334732449615445707[69] = 0; + out_334732449615445707[70] = 1; + out_334732449615445707[71] = 0; + out_334732449615445707[72] = 0; + out_334732449615445707[73] = 0; + out_334732449615445707[74] = 0; + out_334732449615445707[75] = 0; + out_334732449615445707[76] = 0; + out_334732449615445707[77] = 0; + out_334732449615445707[78] = 0; + out_334732449615445707[79] = 0; + out_334732449615445707[80] = 1; } -void h_25(double *state, double *unused, double *out_2838193808077509293) { - out_2838193808077509293[0] = state[6]; +void h_25(double *state, double *unused, double *out_4988354507217303652) { + out_4988354507217303652[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4085073539734055094) { - out_4085073539734055094[0] = 0; - out_4085073539734055094[1] = 0; - out_4085073539734055094[2] = 0; - out_4085073539734055094[3] = 0; - out_4085073539734055094[4] = 0; - out_4085073539734055094[5] = 0; - out_4085073539734055094[6] = 1; - out_4085073539734055094[7] = 0; - out_4085073539734055094[8] = 0; +void H_25(double *state, double *unused, double *out_3470820709702194752) { + out_3470820709702194752[0] = 0; + out_3470820709702194752[1] = 0; + out_3470820709702194752[2] = 0; + out_3470820709702194752[3] = 0; + out_3470820709702194752[4] = 0; + out_3470820709702194752[5] = 0; + out_3470820709702194752[6] = 1; + out_3470820709702194752[7] = 0; + out_3470820709702194752[8] = 0; } -void h_24(double *state, double *unused, double *out_7378709950093750440) { - out_7378709950093750440[0] = state[4]; - out_7378709950093750440[1] = state[5]; +void h_24(double *state, double *unused, double *out_8320591788748654668) { + out_8320591788748654668[0] = state[4]; + out_8320591788748654668[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2001100279119417225) { - out_2001100279119417225[0] = 0; - out_2001100279119417225[1] = 0; - out_2001100279119417225[2] = 0; - out_2001100279119417225[3] = 0; - out_2001100279119417225[4] = 1; - out_2001100279119417225[5] = 0; - out_2001100279119417225[6] = 0; - out_2001100279119417225[7] = 0; - out_2001100279119417225[8] = 0; - out_2001100279119417225[9] = 0; - out_2001100279119417225[10] = 0; - out_2001100279119417225[11] = 0; - out_2001100279119417225[12] = 0; - out_2001100279119417225[13] = 0; - out_2001100279119417225[14] = 1; - out_2001100279119417225[15] = 0; - out_2001100279119417225[16] = 0; - out_2001100279119417225[17] = 0; +void H_24(double *state, double *unused, double *out_5643470308707694318) { + out_5643470308707694318[0] = 0; + out_5643470308707694318[1] = 0; + out_5643470308707694318[2] = 0; + out_5643470308707694318[3] = 0; + out_5643470308707694318[4] = 1; + out_5643470308707694318[5] = 0; + out_5643470308707694318[6] = 0; + out_5643470308707694318[7] = 0; + out_5643470308707694318[8] = 0; + out_5643470308707694318[9] = 0; + out_5643470308707694318[10] = 0; + out_5643470308707694318[11] = 0; + out_5643470308707694318[12] = 0; + out_5643470308707694318[13] = 0; + out_5643470308707694318[14] = 1; + out_5643470308707694318[15] = 0; + out_5643470308707694318[16] = 0; + out_5643470308707694318[17] = 0; } -void h_30(double *state, double *unused, double *out_6475643336331531643) { - out_6475643336331531643[0] = state[4]; +void h_30(double *state, double *unused, double *out_6271436662034189635) { + out_6271436662034189635[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4214412486877295164) { - out_4214412486877295164[0] = 0; - out_4214412486877295164[1] = 0; - out_4214412486877295164[2] = 0; - out_4214412486877295164[3] = 0; - out_4214412486877295164[4] = 1; - out_4214412486877295164[5] = 0; - out_4214412486877295164[6] = 0; - out_4214412486877295164[7] = 0; - out_4214412486877295164[8] = 0; +void H_30(double *state, double *unused, double *out_952487751194946125) { + out_952487751194946125[0] = 0; + out_952487751194946125[1] = 0; + out_952487751194946125[2] = 0; + out_952487751194946125[3] = 0; + out_952487751194946125[4] = 1; + out_952487751194946125[5] = 0; + out_952487751194946125[6] = 0; + out_952487751194946125[7] = 0; + out_952487751194946125[8] = 0; } -void h_26(double *state, double *unused, double *out_8554827447728949957) { - out_8554827447728949957[0] = state[7]; +void h_26(double *state, double *unused, double *out_628706790953232800) { + out_628706790953232800[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3428219475623743190) { - out_3428219475623743190[0] = 0; - out_3428219475623743190[1] = 0; - out_3428219475623743190[2] = 0; - out_3428219475623743190[3] = 0; - out_3428219475623743190[4] = 0; - out_3428219475623743190[5] = 0; - out_3428219475623743190[6] = 0; - out_3428219475623743190[7] = 1; - out_3428219475623743190[8] = 0; +void H_26(double *state, double *unused, double *out_7212324028576250976) { + out_7212324028576250976[0] = 0; + out_7212324028576250976[1] = 0; + out_7212324028576250976[2] = 0; + out_7212324028576250976[3] = 0; + out_7212324028576250976[4] = 0; + out_7212324028576250976[5] = 0; + out_7212324028576250976[6] = 0; + out_7212324028576250976[7] = 1; + out_7212324028576250976[8] = 0; } -void h_27(double *state, double *unused, double *out_1670450007001367556) { - out_1670450007001367556[0] = state[3]; +void h_27(double *state, double *unused, double *out_7592759828026001303) { + out_7592759828026001303[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6389175798677720075) { - out_6389175798677720075[0] = 0; - out_6389175798677720075[1] = 0; - out_6389175798677720075[2] = 0; - out_6389175798677720075[3] = 1; - out_6389175798677720075[4] = 0; - out_6389175798677720075[5] = 0; - out_6389175798677720075[6] = 0; - out_6389175798677720075[7] = 0; - out_6389175798677720075[8] = 0; +void H_27(double *state, double *unused, double *out_5774922968645859733) { + out_5774922968645859733[0] = 0; + out_5774922968645859733[1] = 0; + out_5774922968645859733[2] = 0; + out_5774922968645859733[3] = 1; + out_5774922968645859733[4] = 0; + out_5774922968645859733[5] = 0; + out_5774922968645859733[6] = 0; + out_5774922968645859733[7] = 0; + out_5774922968645859733[8] = 0; } -void h_29(double *state, double *unused, double *out_6969427469717174328) { - out_6969427469717174328[0] = state[1]; +void h_29(double *state, double *unused, double *out_7749946496377130448) { + out_7749946496377130448[0] = state[1]; } -void H_29(double *state, double *unused, double *out_3704181142562902980) { - out_3704181142562902980[0] = 0; - out_3704181142562902980[1] = 1; - out_3704181142562902980[2] = 0; - out_3704181142562902980[3] = 0; - out_3704181142562902980[4] = 0; - out_3704181142562902980[5] = 0; - out_3704181142562902980[6] = 0; - out_3704181142562902980[7] = 0; - out_3704181142562902980[8] = 0; +void H_29(double *state, double *unused, double *out_7488285695515410766) { + out_7488285695515410766[0] = 0; + out_7488285695515410766[1] = 1; + out_7488285695515410766[2] = 0; + out_7488285695515410766[3] = 0; + out_7488285695515410766[4] = 0; + out_7488285695515410766[5] = 0; + out_7488285695515410766[6] = 0; + out_7488285695515410766[7] = 0; + out_7488285695515410766[8] = 0; } -void h_28(double *state, double *unused, double *out_1142102096268485827) { - out_1142102096268485827[0] = state[0]; +void h_28(double *state, double *unused, double *out_1346308770565827835) { + out_1346308770565827835[0] = state[0]; } -void H_28(double *state, double *unused, double *out_1740550870997576729) { - out_1740550870997576729[0] = 1; - out_1740550870997576729[1] = 0; - out_1740550870997576729[2] = 0; - out_1740550870997576729[3] = 0; - out_1740550870997576729[4] = 0; - out_1740550870997576729[5] = 0; - out_1740550870997576729[6] = 0; - out_1740550870997576729[7] = 0; - out_1740550870997576729[8] = 0; +void H_28(double *state, double *unused, double *out_5524655423950084515) { + out_5524655423950084515[0] = 1; + out_5524655423950084515[1] = 0; + out_5524655423950084515[2] = 0; + out_5524655423950084515[3] = 0; + out_5524655423950084515[4] = 0; + out_5524655423950084515[5] = 0; + out_5524655423950084515[6] = 0; + out_5524655423950084515[7] = 0; + out_5524655423950084515[8] = 0; } -void h_31(double *state, double *unused, double *out_4288825200706392460) { - out_4288825200706392460[0] = state[8]; +void h_31(double *state, double *unused, double *out_2214861449768682318) { + out_2214861449768682318[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4054427577857094666) { - out_4054427577857094666[0] = 0; - out_4054427577857094666[1] = 0; - out_4054427577857094666[2] = 0; - out_4054427577857094666[3] = 0; - out_4054427577857094666[4] = 0; - out_4054427577857094666[5] = 0; - out_4054427577857094666[6] = 0; - out_4054427577857094666[7] = 0; - out_4054427577857094666[8] = 1; +void H_31(double *state, double *unused, double *out_7838532130809602452) { + out_7838532130809602452[0] = 0; + out_7838532130809602452[1] = 0; + out_7838532130809602452[2] = 0; + out_7838532130809602452[3] = 0; + out_7838532130809602452[4] = 0; + out_7838532130809602452[5] = 0; + out_7838532130809602452[6] = 0; + out_7838532130809602452[7] = 0; + out_7838532130809602452[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_6680589116319572635) { - err_fun(nom_x, delta_x, out_6680589116319572635); +void car_err_fun(double *nom_x, double *delta_x, double *out_870685266903427678) { + err_fun(nom_x, delta_x, out_870685266903427678); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1421263034200107343) { - inv_err_fun(nom_x, true_x, out_1421263034200107343); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8535551015639214025) { + inv_err_fun(nom_x, true_x, out_8535551015639214025); } -void car_H_mod_fun(double *state, double *out_8968580721052785900) { - H_mod_fun(state, out_8968580721052785900); +void car_H_mod_fun(double *state, double *out_5722367516210042485) { + H_mod_fun(state, out_5722367516210042485); } -void car_f_fun(double *state, double dt, double *out_3852536059217665062) { - f_fun(state, dt, out_3852536059217665062); +void car_f_fun(double *state, double dt, double *out_6327711019370239094) { + f_fun(state, dt, out_6327711019370239094); } -void car_F_fun(double *state, double dt, double *out_7217781527381652799) { - F_fun(state, dt, out_7217781527381652799); +void car_F_fun(double *state, double dt, double *out_334732449615445707) { + F_fun(state, dt, out_334732449615445707); } -void car_h_25(double *state, double *unused, double *out_2838193808077509293) { - h_25(state, unused, out_2838193808077509293); +void car_h_25(double *state, double *unused, double *out_4988354507217303652) { + h_25(state, unused, out_4988354507217303652); } -void car_H_25(double *state, double *unused, double *out_4085073539734055094) { - H_25(state, unused, out_4085073539734055094); +void car_H_25(double *state, double *unused, double *out_3470820709702194752) { + H_25(state, unused, out_3470820709702194752); } -void car_h_24(double *state, double *unused, double *out_7378709950093750440) { - h_24(state, unused, out_7378709950093750440); +void car_h_24(double *state, double *unused, double *out_8320591788748654668) { + h_24(state, unused, out_8320591788748654668); } -void car_H_24(double *state, double *unused, double *out_2001100279119417225) { - H_24(state, unused, out_2001100279119417225); +void car_H_24(double *state, double *unused, double *out_5643470308707694318) { + H_24(state, unused, out_5643470308707694318); } -void car_h_30(double *state, double *unused, double *out_6475643336331531643) { - h_30(state, unused, out_6475643336331531643); +void car_h_30(double *state, double *unused, double *out_6271436662034189635) { + h_30(state, unused, out_6271436662034189635); } -void car_H_30(double *state, double *unused, double *out_4214412486877295164) { - H_30(state, unused, out_4214412486877295164); +void car_H_30(double *state, double *unused, double *out_952487751194946125) { + H_30(state, unused, out_952487751194946125); } -void car_h_26(double *state, double *unused, double *out_8554827447728949957) { - h_26(state, unused, out_8554827447728949957); +void car_h_26(double *state, double *unused, double *out_628706790953232800) { + h_26(state, unused, out_628706790953232800); } -void car_H_26(double *state, double *unused, double *out_3428219475623743190) { - H_26(state, unused, out_3428219475623743190); +void car_H_26(double *state, double *unused, double *out_7212324028576250976) { + H_26(state, unused, out_7212324028576250976); } -void car_h_27(double *state, double *unused, double *out_1670450007001367556) { - h_27(state, unused, out_1670450007001367556); +void car_h_27(double *state, double *unused, double *out_7592759828026001303) { + h_27(state, unused, out_7592759828026001303); } -void car_H_27(double *state, double *unused, double *out_6389175798677720075) { - H_27(state, unused, out_6389175798677720075); +void car_H_27(double *state, double *unused, double *out_5774922968645859733) { + H_27(state, unused, out_5774922968645859733); } -void car_h_29(double *state, double *unused, double *out_6969427469717174328) { - h_29(state, unused, out_6969427469717174328); +void car_h_29(double *state, double *unused, double *out_7749946496377130448) { + h_29(state, unused, out_7749946496377130448); } -void car_H_29(double *state, double *unused, double *out_3704181142562902980) { - H_29(state, unused, out_3704181142562902980); +void car_H_29(double *state, double *unused, double *out_7488285695515410766) { + H_29(state, unused, out_7488285695515410766); } -void car_h_28(double *state, double *unused, double *out_1142102096268485827) { - h_28(state, unused, out_1142102096268485827); +void car_h_28(double *state, double *unused, double *out_1346308770565827835) { + h_28(state, unused, out_1346308770565827835); } -void car_H_28(double *state, double *unused, double *out_1740550870997576729) { - H_28(state, unused, out_1740550870997576729); +void car_H_28(double *state, double *unused, double *out_5524655423950084515) { + H_28(state, unused, out_5524655423950084515); } -void car_h_31(double *state, double *unused, double *out_4288825200706392460) { - h_31(state, unused, out_4288825200706392460); +void car_h_31(double *state, double *unused, double *out_2214861449768682318) { + h_31(state, unused, out_2214861449768682318); } -void car_H_31(double *state, double *unused, double *out_4054427577857094666) { - H_31(state, unused, out_4054427577857094666); +void car_H_31(double *state, double *unused, double *out_7838532130809602452) { + H_31(state, unused, out_7838532130809602452); } 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 ea673bafa4..18397a5d8b 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_6680589116319572635); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1421263034200107343); -void car_H_mod_fun(double *state, double *out_8968580721052785900); -void car_f_fun(double *state, double dt, double *out_3852536059217665062); -void car_F_fun(double *state, double dt, double *out_7217781527381652799); -void car_h_25(double *state, double *unused, double *out_2838193808077509293); -void car_H_25(double *state, double *unused, double *out_4085073539734055094); -void car_h_24(double *state, double *unused, double *out_7378709950093750440); -void car_H_24(double *state, double *unused, double *out_2001100279119417225); -void car_h_30(double *state, double *unused, double *out_6475643336331531643); -void car_H_30(double *state, double *unused, double *out_4214412486877295164); -void car_h_26(double *state, double *unused, double *out_8554827447728949957); -void car_H_26(double *state, double *unused, double *out_3428219475623743190); -void car_h_27(double *state, double *unused, double *out_1670450007001367556); -void car_H_27(double *state, double *unused, double *out_6389175798677720075); -void car_h_29(double *state, double *unused, double *out_6969427469717174328); -void car_H_29(double *state, double *unused, double *out_3704181142562902980); -void car_h_28(double *state, double *unused, double *out_1142102096268485827); -void car_H_28(double *state, double *unused, double *out_1740550870997576729); -void car_h_31(double *state, double *unused, double *out_4288825200706392460); -void car_H_31(double *state, double *unused, double *out_4054427577857094666); +void car_err_fun(double *nom_x, double *delta_x, double *out_870685266903427678); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8535551015639214025); +void car_H_mod_fun(double *state, double *out_5722367516210042485); +void car_f_fun(double *state, double dt, double *out_6327711019370239094); +void car_F_fun(double *state, double dt, double *out_334732449615445707); +void car_h_25(double *state, double *unused, double *out_4988354507217303652); +void car_H_25(double *state, double *unused, double *out_3470820709702194752); +void car_h_24(double *state, double *unused, double *out_8320591788748654668); +void car_H_24(double *state, double *unused, double *out_5643470308707694318); +void car_h_30(double *state, double *unused, double *out_6271436662034189635); +void car_H_30(double *state, double *unused, double *out_952487751194946125); +void car_h_26(double *state, double *unused, double *out_628706790953232800); +void car_H_26(double *state, double *unused, double *out_7212324028576250976); +void car_h_27(double *state, double *unused, double *out_7592759828026001303); +void car_H_27(double *state, double *unused, double *out_5774922968645859733); +void car_h_29(double *state, double *unused, double *out_7749946496377130448); +void car_H_29(double *state, double *unused, double *out_7488285695515410766); +void car_h_28(double *state, double *unused, double *out_1346308770565827835); +void car_H_28(double *state, double *unused, double *out_5524655423950084515); +void car_h_31(double *state, double *unused, double *out_2214861449768682318); +void car_H_31(double *state, double *unused, double *out_7838532130809602452); 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 fe853a757e..d8aa44dc8f 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_7165967535860238129) { - out_7165967535860238129[0] = delta_x[0] + nom_x[0]; - out_7165967535860238129[1] = delta_x[1] + nom_x[1]; - out_7165967535860238129[2] = delta_x[2] + nom_x[2]; - out_7165967535860238129[3] = delta_x[3] + nom_x[3]; - out_7165967535860238129[4] = delta_x[4] + nom_x[4]; - out_7165967535860238129[5] = delta_x[5] + nom_x[5]; - out_7165967535860238129[6] = delta_x[6] + nom_x[6]; - out_7165967535860238129[7] = delta_x[7] + nom_x[7]; - out_7165967535860238129[8] = delta_x[8] + nom_x[8]; - out_7165967535860238129[9] = delta_x[9] + nom_x[9]; - out_7165967535860238129[10] = delta_x[10] + nom_x[10]; - out_7165967535860238129[11] = delta_x[11] + nom_x[11]; - out_7165967535860238129[12] = delta_x[12] + nom_x[12]; - out_7165967535860238129[13] = delta_x[13] + nom_x[13]; - out_7165967535860238129[14] = delta_x[14] + nom_x[14]; - out_7165967535860238129[15] = delta_x[15] + nom_x[15]; - out_7165967535860238129[16] = delta_x[16] + nom_x[16]; - out_7165967535860238129[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_731387772078245243) { + out_731387772078245243[0] = delta_x[0] + nom_x[0]; + out_731387772078245243[1] = delta_x[1] + nom_x[1]; + out_731387772078245243[2] = delta_x[2] + nom_x[2]; + out_731387772078245243[3] = delta_x[3] + nom_x[3]; + out_731387772078245243[4] = delta_x[4] + nom_x[4]; + out_731387772078245243[5] = delta_x[5] + nom_x[5]; + out_731387772078245243[6] = delta_x[6] + nom_x[6]; + out_731387772078245243[7] = delta_x[7] + nom_x[7]; + out_731387772078245243[8] = delta_x[8] + nom_x[8]; + out_731387772078245243[9] = delta_x[9] + nom_x[9]; + out_731387772078245243[10] = delta_x[10] + nom_x[10]; + out_731387772078245243[11] = delta_x[11] + nom_x[11]; + out_731387772078245243[12] = delta_x[12] + nom_x[12]; + out_731387772078245243[13] = delta_x[13] + nom_x[13]; + out_731387772078245243[14] = delta_x[14] + nom_x[14]; + out_731387772078245243[15] = delta_x[15] + nom_x[15]; + out_731387772078245243[16] = delta_x[16] + nom_x[16]; + out_731387772078245243[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_9032729807193459598) { - out_9032729807193459598[0] = -nom_x[0] + true_x[0]; - out_9032729807193459598[1] = -nom_x[1] + true_x[1]; - out_9032729807193459598[2] = -nom_x[2] + true_x[2]; - out_9032729807193459598[3] = -nom_x[3] + true_x[3]; - out_9032729807193459598[4] = -nom_x[4] + true_x[4]; - out_9032729807193459598[5] = -nom_x[5] + true_x[5]; - out_9032729807193459598[6] = -nom_x[6] + true_x[6]; - out_9032729807193459598[7] = -nom_x[7] + true_x[7]; - out_9032729807193459598[8] = -nom_x[8] + true_x[8]; - out_9032729807193459598[9] = -nom_x[9] + true_x[9]; - out_9032729807193459598[10] = -nom_x[10] + true_x[10]; - out_9032729807193459598[11] = -nom_x[11] + true_x[11]; - out_9032729807193459598[12] = -nom_x[12] + true_x[12]; - out_9032729807193459598[13] = -nom_x[13] + true_x[13]; - out_9032729807193459598[14] = -nom_x[14] + true_x[14]; - out_9032729807193459598[15] = -nom_x[15] + true_x[15]; - out_9032729807193459598[16] = -nom_x[16] + true_x[16]; - out_9032729807193459598[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4206130707332622452) { + out_4206130707332622452[0] = -nom_x[0] + true_x[0]; + out_4206130707332622452[1] = -nom_x[1] + true_x[1]; + out_4206130707332622452[2] = -nom_x[2] + true_x[2]; + out_4206130707332622452[3] = -nom_x[3] + true_x[3]; + out_4206130707332622452[4] = -nom_x[4] + true_x[4]; + out_4206130707332622452[5] = -nom_x[5] + true_x[5]; + out_4206130707332622452[6] = -nom_x[6] + true_x[6]; + out_4206130707332622452[7] = -nom_x[7] + true_x[7]; + out_4206130707332622452[8] = -nom_x[8] + true_x[8]; + out_4206130707332622452[9] = -nom_x[9] + true_x[9]; + out_4206130707332622452[10] = -nom_x[10] + true_x[10]; + out_4206130707332622452[11] = -nom_x[11] + true_x[11]; + out_4206130707332622452[12] = -nom_x[12] + true_x[12]; + out_4206130707332622452[13] = -nom_x[13] + true_x[13]; + out_4206130707332622452[14] = -nom_x[14] + true_x[14]; + out_4206130707332622452[15] = -nom_x[15] + true_x[15]; + out_4206130707332622452[16] = -nom_x[16] + true_x[16]; + out_4206130707332622452[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5054599202167139908) { - out_5054599202167139908[0] = 1.0; - out_5054599202167139908[1] = 0.0; - out_5054599202167139908[2] = 0.0; - out_5054599202167139908[3] = 0.0; - out_5054599202167139908[4] = 0.0; - out_5054599202167139908[5] = 0.0; - out_5054599202167139908[6] = 0.0; - out_5054599202167139908[7] = 0.0; - out_5054599202167139908[8] = 0.0; - out_5054599202167139908[9] = 0.0; - out_5054599202167139908[10] = 0.0; - out_5054599202167139908[11] = 0.0; - out_5054599202167139908[12] = 0.0; - out_5054599202167139908[13] = 0.0; - out_5054599202167139908[14] = 0.0; - out_5054599202167139908[15] = 0.0; - out_5054599202167139908[16] = 0.0; - out_5054599202167139908[17] = 0.0; - out_5054599202167139908[18] = 0.0; - out_5054599202167139908[19] = 1.0; - out_5054599202167139908[20] = 0.0; - out_5054599202167139908[21] = 0.0; - out_5054599202167139908[22] = 0.0; - out_5054599202167139908[23] = 0.0; - out_5054599202167139908[24] = 0.0; - out_5054599202167139908[25] = 0.0; - out_5054599202167139908[26] = 0.0; - out_5054599202167139908[27] = 0.0; - out_5054599202167139908[28] = 0.0; - out_5054599202167139908[29] = 0.0; - out_5054599202167139908[30] = 0.0; - out_5054599202167139908[31] = 0.0; - out_5054599202167139908[32] = 0.0; - out_5054599202167139908[33] = 0.0; - out_5054599202167139908[34] = 0.0; - out_5054599202167139908[35] = 0.0; - out_5054599202167139908[36] = 0.0; - out_5054599202167139908[37] = 0.0; - out_5054599202167139908[38] = 1.0; - out_5054599202167139908[39] = 0.0; - out_5054599202167139908[40] = 0.0; - out_5054599202167139908[41] = 0.0; - out_5054599202167139908[42] = 0.0; - out_5054599202167139908[43] = 0.0; - out_5054599202167139908[44] = 0.0; - out_5054599202167139908[45] = 0.0; - out_5054599202167139908[46] = 0.0; - out_5054599202167139908[47] = 0.0; - out_5054599202167139908[48] = 0.0; - out_5054599202167139908[49] = 0.0; - out_5054599202167139908[50] = 0.0; - out_5054599202167139908[51] = 0.0; - out_5054599202167139908[52] = 0.0; - out_5054599202167139908[53] = 0.0; - out_5054599202167139908[54] = 0.0; - out_5054599202167139908[55] = 0.0; - out_5054599202167139908[56] = 0.0; - out_5054599202167139908[57] = 1.0; - out_5054599202167139908[58] = 0.0; - out_5054599202167139908[59] = 0.0; - out_5054599202167139908[60] = 0.0; - out_5054599202167139908[61] = 0.0; - out_5054599202167139908[62] = 0.0; - out_5054599202167139908[63] = 0.0; - out_5054599202167139908[64] = 0.0; - out_5054599202167139908[65] = 0.0; - out_5054599202167139908[66] = 0.0; - out_5054599202167139908[67] = 0.0; - out_5054599202167139908[68] = 0.0; - out_5054599202167139908[69] = 0.0; - out_5054599202167139908[70] = 0.0; - out_5054599202167139908[71] = 0.0; - out_5054599202167139908[72] = 0.0; - out_5054599202167139908[73] = 0.0; - out_5054599202167139908[74] = 0.0; - out_5054599202167139908[75] = 0.0; - out_5054599202167139908[76] = 1.0; - out_5054599202167139908[77] = 0.0; - out_5054599202167139908[78] = 0.0; - out_5054599202167139908[79] = 0.0; - out_5054599202167139908[80] = 0.0; - out_5054599202167139908[81] = 0.0; - out_5054599202167139908[82] = 0.0; - out_5054599202167139908[83] = 0.0; - out_5054599202167139908[84] = 0.0; - out_5054599202167139908[85] = 0.0; - out_5054599202167139908[86] = 0.0; - out_5054599202167139908[87] = 0.0; - out_5054599202167139908[88] = 0.0; - out_5054599202167139908[89] = 0.0; - out_5054599202167139908[90] = 0.0; - out_5054599202167139908[91] = 0.0; - out_5054599202167139908[92] = 0.0; - out_5054599202167139908[93] = 0.0; - out_5054599202167139908[94] = 0.0; - out_5054599202167139908[95] = 1.0; - out_5054599202167139908[96] = 0.0; - out_5054599202167139908[97] = 0.0; - out_5054599202167139908[98] = 0.0; - out_5054599202167139908[99] = 0.0; - out_5054599202167139908[100] = 0.0; - out_5054599202167139908[101] = 0.0; - out_5054599202167139908[102] = 0.0; - out_5054599202167139908[103] = 0.0; - out_5054599202167139908[104] = 0.0; - out_5054599202167139908[105] = 0.0; - out_5054599202167139908[106] = 0.0; - out_5054599202167139908[107] = 0.0; - out_5054599202167139908[108] = 0.0; - out_5054599202167139908[109] = 0.0; - out_5054599202167139908[110] = 0.0; - out_5054599202167139908[111] = 0.0; - out_5054599202167139908[112] = 0.0; - out_5054599202167139908[113] = 0.0; - out_5054599202167139908[114] = 1.0; - out_5054599202167139908[115] = 0.0; - out_5054599202167139908[116] = 0.0; - out_5054599202167139908[117] = 0.0; - out_5054599202167139908[118] = 0.0; - out_5054599202167139908[119] = 0.0; - out_5054599202167139908[120] = 0.0; - out_5054599202167139908[121] = 0.0; - out_5054599202167139908[122] = 0.0; - out_5054599202167139908[123] = 0.0; - out_5054599202167139908[124] = 0.0; - out_5054599202167139908[125] = 0.0; - out_5054599202167139908[126] = 0.0; - out_5054599202167139908[127] = 0.0; - out_5054599202167139908[128] = 0.0; - out_5054599202167139908[129] = 0.0; - out_5054599202167139908[130] = 0.0; - out_5054599202167139908[131] = 0.0; - out_5054599202167139908[132] = 0.0; - out_5054599202167139908[133] = 1.0; - out_5054599202167139908[134] = 0.0; - out_5054599202167139908[135] = 0.0; - out_5054599202167139908[136] = 0.0; - out_5054599202167139908[137] = 0.0; - out_5054599202167139908[138] = 0.0; - out_5054599202167139908[139] = 0.0; - out_5054599202167139908[140] = 0.0; - out_5054599202167139908[141] = 0.0; - out_5054599202167139908[142] = 0.0; - out_5054599202167139908[143] = 0.0; - out_5054599202167139908[144] = 0.0; - out_5054599202167139908[145] = 0.0; - out_5054599202167139908[146] = 0.0; - out_5054599202167139908[147] = 0.0; - out_5054599202167139908[148] = 0.0; - out_5054599202167139908[149] = 0.0; - out_5054599202167139908[150] = 0.0; - out_5054599202167139908[151] = 0.0; - out_5054599202167139908[152] = 1.0; - out_5054599202167139908[153] = 0.0; - out_5054599202167139908[154] = 0.0; - out_5054599202167139908[155] = 0.0; - out_5054599202167139908[156] = 0.0; - out_5054599202167139908[157] = 0.0; - out_5054599202167139908[158] = 0.0; - out_5054599202167139908[159] = 0.0; - out_5054599202167139908[160] = 0.0; - out_5054599202167139908[161] = 0.0; - out_5054599202167139908[162] = 0.0; - out_5054599202167139908[163] = 0.0; - out_5054599202167139908[164] = 0.0; - out_5054599202167139908[165] = 0.0; - out_5054599202167139908[166] = 0.0; - out_5054599202167139908[167] = 0.0; - out_5054599202167139908[168] = 0.0; - out_5054599202167139908[169] = 0.0; - out_5054599202167139908[170] = 0.0; - out_5054599202167139908[171] = 1.0; - out_5054599202167139908[172] = 0.0; - out_5054599202167139908[173] = 0.0; - out_5054599202167139908[174] = 0.0; - out_5054599202167139908[175] = 0.0; - out_5054599202167139908[176] = 0.0; - out_5054599202167139908[177] = 0.0; - out_5054599202167139908[178] = 0.0; - out_5054599202167139908[179] = 0.0; - out_5054599202167139908[180] = 0.0; - out_5054599202167139908[181] = 0.0; - out_5054599202167139908[182] = 0.0; - out_5054599202167139908[183] = 0.0; - out_5054599202167139908[184] = 0.0; - out_5054599202167139908[185] = 0.0; - out_5054599202167139908[186] = 0.0; - out_5054599202167139908[187] = 0.0; - out_5054599202167139908[188] = 0.0; - out_5054599202167139908[189] = 0.0; - out_5054599202167139908[190] = 1.0; - out_5054599202167139908[191] = 0.0; - out_5054599202167139908[192] = 0.0; - out_5054599202167139908[193] = 0.0; - out_5054599202167139908[194] = 0.0; - out_5054599202167139908[195] = 0.0; - out_5054599202167139908[196] = 0.0; - out_5054599202167139908[197] = 0.0; - out_5054599202167139908[198] = 0.0; - out_5054599202167139908[199] = 0.0; - out_5054599202167139908[200] = 0.0; - out_5054599202167139908[201] = 0.0; - out_5054599202167139908[202] = 0.0; - out_5054599202167139908[203] = 0.0; - out_5054599202167139908[204] = 0.0; - out_5054599202167139908[205] = 0.0; - out_5054599202167139908[206] = 0.0; - out_5054599202167139908[207] = 0.0; - out_5054599202167139908[208] = 0.0; - out_5054599202167139908[209] = 1.0; - out_5054599202167139908[210] = 0.0; - out_5054599202167139908[211] = 0.0; - out_5054599202167139908[212] = 0.0; - out_5054599202167139908[213] = 0.0; - out_5054599202167139908[214] = 0.0; - out_5054599202167139908[215] = 0.0; - out_5054599202167139908[216] = 0.0; - out_5054599202167139908[217] = 0.0; - out_5054599202167139908[218] = 0.0; - out_5054599202167139908[219] = 0.0; - out_5054599202167139908[220] = 0.0; - out_5054599202167139908[221] = 0.0; - out_5054599202167139908[222] = 0.0; - out_5054599202167139908[223] = 0.0; - out_5054599202167139908[224] = 0.0; - out_5054599202167139908[225] = 0.0; - out_5054599202167139908[226] = 0.0; - out_5054599202167139908[227] = 0.0; - out_5054599202167139908[228] = 1.0; - out_5054599202167139908[229] = 0.0; - out_5054599202167139908[230] = 0.0; - out_5054599202167139908[231] = 0.0; - out_5054599202167139908[232] = 0.0; - out_5054599202167139908[233] = 0.0; - out_5054599202167139908[234] = 0.0; - out_5054599202167139908[235] = 0.0; - out_5054599202167139908[236] = 0.0; - out_5054599202167139908[237] = 0.0; - out_5054599202167139908[238] = 0.0; - out_5054599202167139908[239] = 0.0; - out_5054599202167139908[240] = 0.0; - out_5054599202167139908[241] = 0.0; - out_5054599202167139908[242] = 0.0; - out_5054599202167139908[243] = 0.0; - out_5054599202167139908[244] = 0.0; - out_5054599202167139908[245] = 0.0; - out_5054599202167139908[246] = 0.0; - out_5054599202167139908[247] = 1.0; - out_5054599202167139908[248] = 0.0; - out_5054599202167139908[249] = 0.0; - out_5054599202167139908[250] = 0.0; - out_5054599202167139908[251] = 0.0; - out_5054599202167139908[252] = 0.0; - out_5054599202167139908[253] = 0.0; - out_5054599202167139908[254] = 0.0; - out_5054599202167139908[255] = 0.0; - out_5054599202167139908[256] = 0.0; - out_5054599202167139908[257] = 0.0; - out_5054599202167139908[258] = 0.0; - out_5054599202167139908[259] = 0.0; - out_5054599202167139908[260] = 0.0; - out_5054599202167139908[261] = 0.0; - out_5054599202167139908[262] = 0.0; - out_5054599202167139908[263] = 0.0; - out_5054599202167139908[264] = 0.0; - out_5054599202167139908[265] = 0.0; - out_5054599202167139908[266] = 1.0; - out_5054599202167139908[267] = 0.0; - out_5054599202167139908[268] = 0.0; - out_5054599202167139908[269] = 0.0; - out_5054599202167139908[270] = 0.0; - out_5054599202167139908[271] = 0.0; - out_5054599202167139908[272] = 0.0; - out_5054599202167139908[273] = 0.0; - out_5054599202167139908[274] = 0.0; - out_5054599202167139908[275] = 0.0; - out_5054599202167139908[276] = 0.0; - out_5054599202167139908[277] = 0.0; - out_5054599202167139908[278] = 0.0; - out_5054599202167139908[279] = 0.0; - out_5054599202167139908[280] = 0.0; - out_5054599202167139908[281] = 0.0; - out_5054599202167139908[282] = 0.0; - out_5054599202167139908[283] = 0.0; - out_5054599202167139908[284] = 0.0; - out_5054599202167139908[285] = 1.0; - out_5054599202167139908[286] = 0.0; - out_5054599202167139908[287] = 0.0; - out_5054599202167139908[288] = 0.0; - out_5054599202167139908[289] = 0.0; - out_5054599202167139908[290] = 0.0; - out_5054599202167139908[291] = 0.0; - out_5054599202167139908[292] = 0.0; - out_5054599202167139908[293] = 0.0; - out_5054599202167139908[294] = 0.0; - out_5054599202167139908[295] = 0.0; - out_5054599202167139908[296] = 0.0; - out_5054599202167139908[297] = 0.0; - out_5054599202167139908[298] = 0.0; - out_5054599202167139908[299] = 0.0; - out_5054599202167139908[300] = 0.0; - out_5054599202167139908[301] = 0.0; - out_5054599202167139908[302] = 0.0; - out_5054599202167139908[303] = 0.0; - out_5054599202167139908[304] = 1.0; - out_5054599202167139908[305] = 0.0; - out_5054599202167139908[306] = 0.0; - out_5054599202167139908[307] = 0.0; - out_5054599202167139908[308] = 0.0; - out_5054599202167139908[309] = 0.0; - out_5054599202167139908[310] = 0.0; - out_5054599202167139908[311] = 0.0; - out_5054599202167139908[312] = 0.0; - out_5054599202167139908[313] = 0.0; - out_5054599202167139908[314] = 0.0; - out_5054599202167139908[315] = 0.0; - out_5054599202167139908[316] = 0.0; - out_5054599202167139908[317] = 0.0; - out_5054599202167139908[318] = 0.0; - out_5054599202167139908[319] = 0.0; - out_5054599202167139908[320] = 0.0; - out_5054599202167139908[321] = 0.0; - out_5054599202167139908[322] = 0.0; - out_5054599202167139908[323] = 1.0; +void H_mod_fun(double *state, double *out_2916011499501574438) { + out_2916011499501574438[0] = 1.0; + out_2916011499501574438[1] = 0.0; + out_2916011499501574438[2] = 0.0; + out_2916011499501574438[3] = 0.0; + out_2916011499501574438[4] = 0.0; + out_2916011499501574438[5] = 0.0; + out_2916011499501574438[6] = 0.0; + out_2916011499501574438[7] = 0.0; + out_2916011499501574438[8] = 0.0; + out_2916011499501574438[9] = 0.0; + out_2916011499501574438[10] = 0.0; + out_2916011499501574438[11] = 0.0; + out_2916011499501574438[12] = 0.0; + out_2916011499501574438[13] = 0.0; + out_2916011499501574438[14] = 0.0; + out_2916011499501574438[15] = 0.0; + out_2916011499501574438[16] = 0.0; + out_2916011499501574438[17] = 0.0; + out_2916011499501574438[18] = 0.0; + out_2916011499501574438[19] = 1.0; + out_2916011499501574438[20] = 0.0; + out_2916011499501574438[21] = 0.0; + out_2916011499501574438[22] = 0.0; + out_2916011499501574438[23] = 0.0; + out_2916011499501574438[24] = 0.0; + out_2916011499501574438[25] = 0.0; + out_2916011499501574438[26] = 0.0; + out_2916011499501574438[27] = 0.0; + out_2916011499501574438[28] = 0.0; + out_2916011499501574438[29] = 0.0; + out_2916011499501574438[30] = 0.0; + out_2916011499501574438[31] = 0.0; + out_2916011499501574438[32] = 0.0; + out_2916011499501574438[33] = 0.0; + out_2916011499501574438[34] = 0.0; + out_2916011499501574438[35] = 0.0; + out_2916011499501574438[36] = 0.0; + out_2916011499501574438[37] = 0.0; + out_2916011499501574438[38] = 1.0; + out_2916011499501574438[39] = 0.0; + out_2916011499501574438[40] = 0.0; + out_2916011499501574438[41] = 0.0; + out_2916011499501574438[42] = 0.0; + out_2916011499501574438[43] = 0.0; + out_2916011499501574438[44] = 0.0; + out_2916011499501574438[45] = 0.0; + out_2916011499501574438[46] = 0.0; + out_2916011499501574438[47] = 0.0; + out_2916011499501574438[48] = 0.0; + out_2916011499501574438[49] = 0.0; + out_2916011499501574438[50] = 0.0; + out_2916011499501574438[51] = 0.0; + out_2916011499501574438[52] = 0.0; + out_2916011499501574438[53] = 0.0; + out_2916011499501574438[54] = 0.0; + out_2916011499501574438[55] = 0.0; + out_2916011499501574438[56] = 0.0; + out_2916011499501574438[57] = 1.0; + out_2916011499501574438[58] = 0.0; + out_2916011499501574438[59] = 0.0; + out_2916011499501574438[60] = 0.0; + out_2916011499501574438[61] = 0.0; + out_2916011499501574438[62] = 0.0; + out_2916011499501574438[63] = 0.0; + out_2916011499501574438[64] = 0.0; + out_2916011499501574438[65] = 0.0; + out_2916011499501574438[66] = 0.0; + out_2916011499501574438[67] = 0.0; + out_2916011499501574438[68] = 0.0; + out_2916011499501574438[69] = 0.0; + out_2916011499501574438[70] = 0.0; + out_2916011499501574438[71] = 0.0; + out_2916011499501574438[72] = 0.0; + out_2916011499501574438[73] = 0.0; + out_2916011499501574438[74] = 0.0; + out_2916011499501574438[75] = 0.0; + out_2916011499501574438[76] = 1.0; + out_2916011499501574438[77] = 0.0; + out_2916011499501574438[78] = 0.0; + out_2916011499501574438[79] = 0.0; + out_2916011499501574438[80] = 0.0; + out_2916011499501574438[81] = 0.0; + out_2916011499501574438[82] = 0.0; + out_2916011499501574438[83] = 0.0; + out_2916011499501574438[84] = 0.0; + out_2916011499501574438[85] = 0.0; + out_2916011499501574438[86] = 0.0; + out_2916011499501574438[87] = 0.0; + out_2916011499501574438[88] = 0.0; + out_2916011499501574438[89] = 0.0; + out_2916011499501574438[90] = 0.0; + out_2916011499501574438[91] = 0.0; + out_2916011499501574438[92] = 0.0; + out_2916011499501574438[93] = 0.0; + out_2916011499501574438[94] = 0.0; + out_2916011499501574438[95] = 1.0; + out_2916011499501574438[96] = 0.0; + out_2916011499501574438[97] = 0.0; + out_2916011499501574438[98] = 0.0; + out_2916011499501574438[99] = 0.0; + out_2916011499501574438[100] = 0.0; + out_2916011499501574438[101] = 0.0; + out_2916011499501574438[102] = 0.0; + out_2916011499501574438[103] = 0.0; + out_2916011499501574438[104] = 0.0; + out_2916011499501574438[105] = 0.0; + out_2916011499501574438[106] = 0.0; + out_2916011499501574438[107] = 0.0; + out_2916011499501574438[108] = 0.0; + out_2916011499501574438[109] = 0.0; + out_2916011499501574438[110] = 0.0; + out_2916011499501574438[111] = 0.0; + out_2916011499501574438[112] = 0.0; + out_2916011499501574438[113] = 0.0; + out_2916011499501574438[114] = 1.0; + out_2916011499501574438[115] = 0.0; + out_2916011499501574438[116] = 0.0; + out_2916011499501574438[117] = 0.0; + out_2916011499501574438[118] = 0.0; + out_2916011499501574438[119] = 0.0; + out_2916011499501574438[120] = 0.0; + out_2916011499501574438[121] = 0.0; + out_2916011499501574438[122] = 0.0; + out_2916011499501574438[123] = 0.0; + out_2916011499501574438[124] = 0.0; + out_2916011499501574438[125] = 0.0; + out_2916011499501574438[126] = 0.0; + out_2916011499501574438[127] = 0.0; + out_2916011499501574438[128] = 0.0; + out_2916011499501574438[129] = 0.0; + out_2916011499501574438[130] = 0.0; + out_2916011499501574438[131] = 0.0; + out_2916011499501574438[132] = 0.0; + out_2916011499501574438[133] = 1.0; + out_2916011499501574438[134] = 0.0; + out_2916011499501574438[135] = 0.0; + out_2916011499501574438[136] = 0.0; + out_2916011499501574438[137] = 0.0; + out_2916011499501574438[138] = 0.0; + out_2916011499501574438[139] = 0.0; + out_2916011499501574438[140] = 0.0; + out_2916011499501574438[141] = 0.0; + out_2916011499501574438[142] = 0.0; + out_2916011499501574438[143] = 0.0; + out_2916011499501574438[144] = 0.0; + out_2916011499501574438[145] = 0.0; + out_2916011499501574438[146] = 0.0; + out_2916011499501574438[147] = 0.0; + out_2916011499501574438[148] = 0.0; + out_2916011499501574438[149] = 0.0; + out_2916011499501574438[150] = 0.0; + out_2916011499501574438[151] = 0.0; + out_2916011499501574438[152] = 1.0; + out_2916011499501574438[153] = 0.0; + out_2916011499501574438[154] = 0.0; + out_2916011499501574438[155] = 0.0; + out_2916011499501574438[156] = 0.0; + out_2916011499501574438[157] = 0.0; + out_2916011499501574438[158] = 0.0; + out_2916011499501574438[159] = 0.0; + out_2916011499501574438[160] = 0.0; + out_2916011499501574438[161] = 0.0; + out_2916011499501574438[162] = 0.0; + out_2916011499501574438[163] = 0.0; + out_2916011499501574438[164] = 0.0; + out_2916011499501574438[165] = 0.0; + out_2916011499501574438[166] = 0.0; + out_2916011499501574438[167] = 0.0; + out_2916011499501574438[168] = 0.0; + out_2916011499501574438[169] = 0.0; + out_2916011499501574438[170] = 0.0; + out_2916011499501574438[171] = 1.0; + out_2916011499501574438[172] = 0.0; + out_2916011499501574438[173] = 0.0; + out_2916011499501574438[174] = 0.0; + out_2916011499501574438[175] = 0.0; + out_2916011499501574438[176] = 0.0; + out_2916011499501574438[177] = 0.0; + out_2916011499501574438[178] = 0.0; + out_2916011499501574438[179] = 0.0; + out_2916011499501574438[180] = 0.0; + out_2916011499501574438[181] = 0.0; + out_2916011499501574438[182] = 0.0; + out_2916011499501574438[183] = 0.0; + out_2916011499501574438[184] = 0.0; + out_2916011499501574438[185] = 0.0; + out_2916011499501574438[186] = 0.0; + out_2916011499501574438[187] = 0.0; + out_2916011499501574438[188] = 0.0; + out_2916011499501574438[189] = 0.0; + out_2916011499501574438[190] = 1.0; + out_2916011499501574438[191] = 0.0; + out_2916011499501574438[192] = 0.0; + out_2916011499501574438[193] = 0.0; + out_2916011499501574438[194] = 0.0; + out_2916011499501574438[195] = 0.0; + out_2916011499501574438[196] = 0.0; + out_2916011499501574438[197] = 0.0; + out_2916011499501574438[198] = 0.0; + out_2916011499501574438[199] = 0.0; + out_2916011499501574438[200] = 0.0; + out_2916011499501574438[201] = 0.0; + out_2916011499501574438[202] = 0.0; + out_2916011499501574438[203] = 0.0; + out_2916011499501574438[204] = 0.0; + out_2916011499501574438[205] = 0.0; + out_2916011499501574438[206] = 0.0; + out_2916011499501574438[207] = 0.0; + out_2916011499501574438[208] = 0.0; + out_2916011499501574438[209] = 1.0; + out_2916011499501574438[210] = 0.0; + out_2916011499501574438[211] = 0.0; + out_2916011499501574438[212] = 0.0; + out_2916011499501574438[213] = 0.0; + out_2916011499501574438[214] = 0.0; + out_2916011499501574438[215] = 0.0; + out_2916011499501574438[216] = 0.0; + out_2916011499501574438[217] = 0.0; + out_2916011499501574438[218] = 0.0; + out_2916011499501574438[219] = 0.0; + out_2916011499501574438[220] = 0.0; + out_2916011499501574438[221] = 0.0; + out_2916011499501574438[222] = 0.0; + out_2916011499501574438[223] = 0.0; + out_2916011499501574438[224] = 0.0; + out_2916011499501574438[225] = 0.0; + out_2916011499501574438[226] = 0.0; + out_2916011499501574438[227] = 0.0; + out_2916011499501574438[228] = 1.0; + out_2916011499501574438[229] = 0.0; + out_2916011499501574438[230] = 0.0; + out_2916011499501574438[231] = 0.0; + out_2916011499501574438[232] = 0.0; + out_2916011499501574438[233] = 0.0; + out_2916011499501574438[234] = 0.0; + out_2916011499501574438[235] = 0.0; + out_2916011499501574438[236] = 0.0; + out_2916011499501574438[237] = 0.0; + out_2916011499501574438[238] = 0.0; + out_2916011499501574438[239] = 0.0; + out_2916011499501574438[240] = 0.0; + out_2916011499501574438[241] = 0.0; + out_2916011499501574438[242] = 0.0; + out_2916011499501574438[243] = 0.0; + out_2916011499501574438[244] = 0.0; + out_2916011499501574438[245] = 0.0; + out_2916011499501574438[246] = 0.0; + out_2916011499501574438[247] = 1.0; + out_2916011499501574438[248] = 0.0; + out_2916011499501574438[249] = 0.0; + out_2916011499501574438[250] = 0.0; + out_2916011499501574438[251] = 0.0; + out_2916011499501574438[252] = 0.0; + out_2916011499501574438[253] = 0.0; + out_2916011499501574438[254] = 0.0; + out_2916011499501574438[255] = 0.0; + out_2916011499501574438[256] = 0.0; + out_2916011499501574438[257] = 0.0; + out_2916011499501574438[258] = 0.0; + out_2916011499501574438[259] = 0.0; + out_2916011499501574438[260] = 0.0; + out_2916011499501574438[261] = 0.0; + out_2916011499501574438[262] = 0.0; + out_2916011499501574438[263] = 0.0; + out_2916011499501574438[264] = 0.0; + out_2916011499501574438[265] = 0.0; + out_2916011499501574438[266] = 1.0; + out_2916011499501574438[267] = 0.0; + out_2916011499501574438[268] = 0.0; + out_2916011499501574438[269] = 0.0; + out_2916011499501574438[270] = 0.0; + out_2916011499501574438[271] = 0.0; + out_2916011499501574438[272] = 0.0; + out_2916011499501574438[273] = 0.0; + out_2916011499501574438[274] = 0.0; + out_2916011499501574438[275] = 0.0; + out_2916011499501574438[276] = 0.0; + out_2916011499501574438[277] = 0.0; + out_2916011499501574438[278] = 0.0; + out_2916011499501574438[279] = 0.0; + out_2916011499501574438[280] = 0.0; + out_2916011499501574438[281] = 0.0; + out_2916011499501574438[282] = 0.0; + out_2916011499501574438[283] = 0.0; + out_2916011499501574438[284] = 0.0; + out_2916011499501574438[285] = 1.0; + out_2916011499501574438[286] = 0.0; + out_2916011499501574438[287] = 0.0; + out_2916011499501574438[288] = 0.0; + out_2916011499501574438[289] = 0.0; + out_2916011499501574438[290] = 0.0; + out_2916011499501574438[291] = 0.0; + out_2916011499501574438[292] = 0.0; + out_2916011499501574438[293] = 0.0; + out_2916011499501574438[294] = 0.0; + out_2916011499501574438[295] = 0.0; + out_2916011499501574438[296] = 0.0; + out_2916011499501574438[297] = 0.0; + out_2916011499501574438[298] = 0.0; + out_2916011499501574438[299] = 0.0; + out_2916011499501574438[300] = 0.0; + out_2916011499501574438[301] = 0.0; + out_2916011499501574438[302] = 0.0; + out_2916011499501574438[303] = 0.0; + out_2916011499501574438[304] = 1.0; + out_2916011499501574438[305] = 0.0; + out_2916011499501574438[306] = 0.0; + out_2916011499501574438[307] = 0.0; + out_2916011499501574438[308] = 0.0; + out_2916011499501574438[309] = 0.0; + out_2916011499501574438[310] = 0.0; + out_2916011499501574438[311] = 0.0; + out_2916011499501574438[312] = 0.0; + out_2916011499501574438[313] = 0.0; + out_2916011499501574438[314] = 0.0; + out_2916011499501574438[315] = 0.0; + out_2916011499501574438[316] = 0.0; + out_2916011499501574438[317] = 0.0; + out_2916011499501574438[318] = 0.0; + out_2916011499501574438[319] = 0.0; + out_2916011499501574438[320] = 0.0; + out_2916011499501574438[321] = 0.0; + out_2916011499501574438[322] = 0.0; + out_2916011499501574438[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5000035888964044284) { - out_5000035888964044284[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_5000035888964044284[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_5000035888964044284[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_5000035888964044284[3] = dt*state[12] + state[3]; - out_5000035888964044284[4] = dt*state[13] + state[4]; - out_5000035888964044284[5] = dt*state[14] + state[5]; - out_5000035888964044284[6] = state[6]; - out_5000035888964044284[7] = state[7]; - out_5000035888964044284[8] = state[8]; - out_5000035888964044284[9] = state[9]; - out_5000035888964044284[10] = state[10]; - out_5000035888964044284[11] = state[11]; - out_5000035888964044284[12] = state[12]; - out_5000035888964044284[13] = state[13]; - out_5000035888964044284[14] = state[14]; - out_5000035888964044284[15] = state[15]; - out_5000035888964044284[16] = state[16]; - out_5000035888964044284[17] = state[17]; +void f_fun(double *state, double dt, double *out_4420889553799640425) { + out_4420889553799640425[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_4420889553799640425[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_4420889553799640425[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_4420889553799640425[3] = dt*state[12] + state[3]; + out_4420889553799640425[4] = dt*state[13] + state[4]; + out_4420889553799640425[5] = dt*state[14] + state[5]; + out_4420889553799640425[6] = state[6]; + out_4420889553799640425[7] = state[7]; + out_4420889553799640425[8] = state[8]; + out_4420889553799640425[9] = state[9]; + out_4420889553799640425[10] = state[10]; + out_4420889553799640425[11] = state[11]; + out_4420889553799640425[12] = state[12]; + out_4420889553799640425[13] = state[13]; + out_4420889553799640425[14] = state[14]; + out_4420889553799640425[15] = state[15]; + out_4420889553799640425[16] = state[16]; + out_4420889553799640425[17] = state[17]; } -void F_fun(double *state, double dt, double *out_9018422947626896264) { - out_9018422947626896264[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_9018422947626896264[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_9018422947626896264[2] = 0; - out_9018422947626896264[3] = 0; - out_9018422947626896264[4] = 0; - out_9018422947626896264[5] = 0; - out_9018422947626896264[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_9018422947626896264[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_9018422947626896264[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_9018422947626896264[9] = 0; - out_9018422947626896264[10] = 0; - out_9018422947626896264[11] = 0; - out_9018422947626896264[12] = 0; - out_9018422947626896264[13] = 0; - out_9018422947626896264[14] = 0; - out_9018422947626896264[15] = 0; - out_9018422947626896264[16] = 0; - out_9018422947626896264[17] = 0; - out_9018422947626896264[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_9018422947626896264[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_9018422947626896264[20] = 0; - out_9018422947626896264[21] = 0; - out_9018422947626896264[22] = 0; - out_9018422947626896264[23] = 0; - out_9018422947626896264[24] = 0; - out_9018422947626896264[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_9018422947626896264[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_9018422947626896264[27] = 0; - out_9018422947626896264[28] = 0; - out_9018422947626896264[29] = 0; - out_9018422947626896264[30] = 0; - out_9018422947626896264[31] = 0; - out_9018422947626896264[32] = 0; - out_9018422947626896264[33] = 0; - out_9018422947626896264[34] = 0; - out_9018422947626896264[35] = 0; - out_9018422947626896264[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_9018422947626896264[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_9018422947626896264[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_9018422947626896264[39] = 0; - out_9018422947626896264[40] = 0; - out_9018422947626896264[41] = 0; - out_9018422947626896264[42] = 0; - out_9018422947626896264[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_9018422947626896264[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_9018422947626896264[45] = 0; - out_9018422947626896264[46] = 0; - out_9018422947626896264[47] = 0; - out_9018422947626896264[48] = 0; - out_9018422947626896264[49] = 0; - out_9018422947626896264[50] = 0; - out_9018422947626896264[51] = 0; - out_9018422947626896264[52] = 0; - out_9018422947626896264[53] = 0; - out_9018422947626896264[54] = 0; - out_9018422947626896264[55] = 0; - out_9018422947626896264[56] = 0; - out_9018422947626896264[57] = 1; - out_9018422947626896264[58] = 0; - out_9018422947626896264[59] = 0; - out_9018422947626896264[60] = 0; - out_9018422947626896264[61] = 0; - out_9018422947626896264[62] = 0; - out_9018422947626896264[63] = 0; - out_9018422947626896264[64] = 0; - out_9018422947626896264[65] = 0; - out_9018422947626896264[66] = dt; - out_9018422947626896264[67] = 0; - out_9018422947626896264[68] = 0; - out_9018422947626896264[69] = 0; - out_9018422947626896264[70] = 0; - out_9018422947626896264[71] = 0; - out_9018422947626896264[72] = 0; - out_9018422947626896264[73] = 0; - out_9018422947626896264[74] = 0; - out_9018422947626896264[75] = 0; - out_9018422947626896264[76] = 1; - out_9018422947626896264[77] = 0; - out_9018422947626896264[78] = 0; - out_9018422947626896264[79] = 0; - out_9018422947626896264[80] = 0; - out_9018422947626896264[81] = 0; - out_9018422947626896264[82] = 0; - out_9018422947626896264[83] = 0; - out_9018422947626896264[84] = 0; - out_9018422947626896264[85] = dt; - out_9018422947626896264[86] = 0; - out_9018422947626896264[87] = 0; - out_9018422947626896264[88] = 0; - out_9018422947626896264[89] = 0; - out_9018422947626896264[90] = 0; - out_9018422947626896264[91] = 0; - out_9018422947626896264[92] = 0; - out_9018422947626896264[93] = 0; - out_9018422947626896264[94] = 0; - out_9018422947626896264[95] = 1; - out_9018422947626896264[96] = 0; - out_9018422947626896264[97] = 0; - out_9018422947626896264[98] = 0; - out_9018422947626896264[99] = 0; - out_9018422947626896264[100] = 0; - out_9018422947626896264[101] = 0; - out_9018422947626896264[102] = 0; - out_9018422947626896264[103] = 0; - out_9018422947626896264[104] = dt; - out_9018422947626896264[105] = 0; - out_9018422947626896264[106] = 0; - out_9018422947626896264[107] = 0; - out_9018422947626896264[108] = 0; - out_9018422947626896264[109] = 0; - out_9018422947626896264[110] = 0; - out_9018422947626896264[111] = 0; - out_9018422947626896264[112] = 0; - out_9018422947626896264[113] = 0; - out_9018422947626896264[114] = 1; - out_9018422947626896264[115] = 0; - out_9018422947626896264[116] = 0; - out_9018422947626896264[117] = 0; - out_9018422947626896264[118] = 0; - out_9018422947626896264[119] = 0; - out_9018422947626896264[120] = 0; - out_9018422947626896264[121] = 0; - out_9018422947626896264[122] = 0; - out_9018422947626896264[123] = 0; - out_9018422947626896264[124] = 0; - out_9018422947626896264[125] = 0; - out_9018422947626896264[126] = 0; - out_9018422947626896264[127] = 0; - out_9018422947626896264[128] = 0; - out_9018422947626896264[129] = 0; - out_9018422947626896264[130] = 0; - out_9018422947626896264[131] = 0; - out_9018422947626896264[132] = 0; - out_9018422947626896264[133] = 1; - out_9018422947626896264[134] = 0; - out_9018422947626896264[135] = 0; - out_9018422947626896264[136] = 0; - out_9018422947626896264[137] = 0; - out_9018422947626896264[138] = 0; - out_9018422947626896264[139] = 0; - out_9018422947626896264[140] = 0; - out_9018422947626896264[141] = 0; - out_9018422947626896264[142] = 0; - out_9018422947626896264[143] = 0; - out_9018422947626896264[144] = 0; - out_9018422947626896264[145] = 0; - out_9018422947626896264[146] = 0; - out_9018422947626896264[147] = 0; - out_9018422947626896264[148] = 0; - out_9018422947626896264[149] = 0; - out_9018422947626896264[150] = 0; - out_9018422947626896264[151] = 0; - out_9018422947626896264[152] = 1; - out_9018422947626896264[153] = 0; - out_9018422947626896264[154] = 0; - out_9018422947626896264[155] = 0; - out_9018422947626896264[156] = 0; - out_9018422947626896264[157] = 0; - out_9018422947626896264[158] = 0; - out_9018422947626896264[159] = 0; - out_9018422947626896264[160] = 0; - out_9018422947626896264[161] = 0; - out_9018422947626896264[162] = 0; - out_9018422947626896264[163] = 0; - out_9018422947626896264[164] = 0; - out_9018422947626896264[165] = 0; - out_9018422947626896264[166] = 0; - out_9018422947626896264[167] = 0; - out_9018422947626896264[168] = 0; - out_9018422947626896264[169] = 0; - out_9018422947626896264[170] = 0; - out_9018422947626896264[171] = 1; - out_9018422947626896264[172] = 0; - out_9018422947626896264[173] = 0; - out_9018422947626896264[174] = 0; - out_9018422947626896264[175] = 0; - out_9018422947626896264[176] = 0; - out_9018422947626896264[177] = 0; - out_9018422947626896264[178] = 0; - out_9018422947626896264[179] = 0; - out_9018422947626896264[180] = 0; - out_9018422947626896264[181] = 0; - out_9018422947626896264[182] = 0; - out_9018422947626896264[183] = 0; - out_9018422947626896264[184] = 0; - out_9018422947626896264[185] = 0; - out_9018422947626896264[186] = 0; - out_9018422947626896264[187] = 0; - out_9018422947626896264[188] = 0; - out_9018422947626896264[189] = 0; - out_9018422947626896264[190] = 1; - out_9018422947626896264[191] = 0; - out_9018422947626896264[192] = 0; - out_9018422947626896264[193] = 0; - out_9018422947626896264[194] = 0; - out_9018422947626896264[195] = 0; - out_9018422947626896264[196] = 0; - out_9018422947626896264[197] = 0; - out_9018422947626896264[198] = 0; - out_9018422947626896264[199] = 0; - out_9018422947626896264[200] = 0; - out_9018422947626896264[201] = 0; - out_9018422947626896264[202] = 0; - out_9018422947626896264[203] = 0; - out_9018422947626896264[204] = 0; - out_9018422947626896264[205] = 0; - out_9018422947626896264[206] = 0; - out_9018422947626896264[207] = 0; - out_9018422947626896264[208] = 0; - out_9018422947626896264[209] = 1; - out_9018422947626896264[210] = 0; - out_9018422947626896264[211] = 0; - out_9018422947626896264[212] = 0; - out_9018422947626896264[213] = 0; - out_9018422947626896264[214] = 0; - out_9018422947626896264[215] = 0; - out_9018422947626896264[216] = 0; - out_9018422947626896264[217] = 0; - out_9018422947626896264[218] = 0; - out_9018422947626896264[219] = 0; - out_9018422947626896264[220] = 0; - out_9018422947626896264[221] = 0; - out_9018422947626896264[222] = 0; - out_9018422947626896264[223] = 0; - out_9018422947626896264[224] = 0; - out_9018422947626896264[225] = 0; - out_9018422947626896264[226] = 0; - out_9018422947626896264[227] = 0; - out_9018422947626896264[228] = 1; - out_9018422947626896264[229] = 0; - out_9018422947626896264[230] = 0; - out_9018422947626896264[231] = 0; - out_9018422947626896264[232] = 0; - out_9018422947626896264[233] = 0; - out_9018422947626896264[234] = 0; - out_9018422947626896264[235] = 0; - out_9018422947626896264[236] = 0; - out_9018422947626896264[237] = 0; - out_9018422947626896264[238] = 0; - out_9018422947626896264[239] = 0; - out_9018422947626896264[240] = 0; - out_9018422947626896264[241] = 0; - out_9018422947626896264[242] = 0; - out_9018422947626896264[243] = 0; - out_9018422947626896264[244] = 0; - out_9018422947626896264[245] = 0; - out_9018422947626896264[246] = 0; - out_9018422947626896264[247] = 1; - out_9018422947626896264[248] = 0; - out_9018422947626896264[249] = 0; - out_9018422947626896264[250] = 0; - out_9018422947626896264[251] = 0; - out_9018422947626896264[252] = 0; - out_9018422947626896264[253] = 0; - out_9018422947626896264[254] = 0; - out_9018422947626896264[255] = 0; - out_9018422947626896264[256] = 0; - out_9018422947626896264[257] = 0; - out_9018422947626896264[258] = 0; - out_9018422947626896264[259] = 0; - out_9018422947626896264[260] = 0; - out_9018422947626896264[261] = 0; - out_9018422947626896264[262] = 0; - out_9018422947626896264[263] = 0; - out_9018422947626896264[264] = 0; - out_9018422947626896264[265] = 0; - out_9018422947626896264[266] = 1; - out_9018422947626896264[267] = 0; - out_9018422947626896264[268] = 0; - out_9018422947626896264[269] = 0; - out_9018422947626896264[270] = 0; - out_9018422947626896264[271] = 0; - out_9018422947626896264[272] = 0; - out_9018422947626896264[273] = 0; - out_9018422947626896264[274] = 0; - out_9018422947626896264[275] = 0; - out_9018422947626896264[276] = 0; - out_9018422947626896264[277] = 0; - out_9018422947626896264[278] = 0; - out_9018422947626896264[279] = 0; - out_9018422947626896264[280] = 0; - out_9018422947626896264[281] = 0; - out_9018422947626896264[282] = 0; - out_9018422947626896264[283] = 0; - out_9018422947626896264[284] = 0; - out_9018422947626896264[285] = 1; - out_9018422947626896264[286] = 0; - out_9018422947626896264[287] = 0; - out_9018422947626896264[288] = 0; - out_9018422947626896264[289] = 0; - out_9018422947626896264[290] = 0; - out_9018422947626896264[291] = 0; - out_9018422947626896264[292] = 0; - out_9018422947626896264[293] = 0; - out_9018422947626896264[294] = 0; - out_9018422947626896264[295] = 0; - out_9018422947626896264[296] = 0; - out_9018422947626896264[297] = 0; - out_9018422947626896264[298] = 0; - out_9018422947626896264[299] = 0; - out_9018422947626896264[300] = 0; - out_9018422947626896264[301] = 0; - out_9018422947626896264[302] = 0; - out_9018422947626896264[303] = 0; - out_9018422947626896264[304] = 1; - out_9018422947626896264[305] = 0; - out_9018422947626896264[306] = 0; - out_9018422947626896264[307] = 0; - out_9018422947626896264[308] = 0; - out_9018422947626896264[309] = 0; - out_9018422947626896264[310] = 0; - out_9018422947626896264[311] = 0; - out_9018422947626896264[312] = 0; - out_9018422947626896264[313] = 0; - out_9018422947626896264[314] = 0; - out_9018422947626896264[315] = 0; - out_9018422947626896264[316] = 0; - out_9018422947626896264[317] = 0; - out_9018422947626896264[318] = 0; - out_9018422947626896264[319] = 0; - out_9018422947626896264[320] = 0; - out_9018422947626896264[321] = 0; - out_9018422947626896264[322] = 0; - out_9018422947626896264[323] = 1; +void F_fun(double *state, double dt, double *out_586752082486093199) { + out_586752082486093199[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_586752082486093199[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_586752082486093199[2] = 0; + out_586752082486093199[3] = 0; + out_586752082486093199[4] = 0; + out_586752082486093199[5] = 0; + out_586752082486093199[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_586752082486093199[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_586752082486093199[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_586752082486093199[9] = 0; + out_586752082486093199[10] = 0; + out_586752082486093199[11] = 0; + out_586752082486093199[12] = 0; + out_586752082486093199[13] = 0; + out_586752082486093199[14] = 0; + out_586752082486093199[15] = 0; + out_586752082486093199[16] = 0; + out_586752082486093199[17] = 0; + out_586752082486093199[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_586752082486093199[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_586752082486093199[20] = 0; + out_586752082486093199[21] = 0; + out_586752082486093199[22] = 0; + out_586752082486093199[23] = 0; + out_586752082486093199[24] = 0; + out_586752082486093199[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_586752082486093199[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_586752082486093199[27] = 0; + out_586752082486093199[28] = 0; + out_586752082486093199[29] = 0; + out_586752082486093199[30] = 0; + out_586752082486093199[31] = 0; + out_586752082486093199[32] = 0; + out_586752082486093199[33] = 0; + out_586752082486093199[34] = 0; + out_586752082486093199[35] = 0; + out_586752082486093199[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_586752082486093199[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_586752082486093199[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_586752082486093199[39] = 0; + out_586752082486093199[40] = 0; + out_586752082486093199[41] = 0; + out_586752082486093199[42] = 0; + out_586752082486093199[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_586752082486093199[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_586752082486093199[45] = 0; + out_586752082486093199[46] = 0; + out_586752082486093199[47] = 0; + out_586752082486093199[48] = 0; + out_586752082486093199[49] = 0; + out_586752082486093199[50] = 0; + out_586752082486093199[51] = 0; + out_586752082486093199[52] = 0; + out_586752082486093199[53] = 0; + out_586752082486093199[54] = 0; + out_586752082486093199[55] = 0; + out_586752082486093199[56] = 0; + out_586752082486093199[57] = 1; + out_586752082486093199[58] = 0; + out_586752082486093199[59] = 0; + out_586752082486093199[60] = 0; + out_586752082486093199[61] = 0; + out_586752082486093199[62] = 0; + out_586752082486093199[63] = 0; + out_586752082486093199[64] = 0; + out_586752082486093199[65] = 0; + out_586752082486093199[66] = dt; + out_586752082486093199[67] = 0; + out_586752082486093199[68] = 0; + out_586752082486093199[69] = 0; + out_586752082486093199[70] = 0; + out_586752082486093199[71] = 0; + out_586752082486093199[72] = 0; + out_586752082486093199[73] = 0; + out_586752082486093199[74] = 0; + out_586752082486093199[75] = 0; + out_586752082486093199[76] = 1; + out_586752082486093199[77] = 0; + out_586752082486093199[78] = 0; + out_586752082486093199[79] = 0; + out_586752082486093199[80] = 0; + out_586752082486093199[81] = 0; + out_586752082486093199[82] = 0; + out_586752082486093199[83] = 0; + out_586752082486093199[84] = 0; + out_586752082486093199[85] = dt; + out_586752082486093199[86] = 0; + out_586752082486093199[87] = 0; + out_586752082486093199[88] = 0; + out_586752082486093199[89] = 0; + out_586752082486093199[90] = 0; + out_586752082486093199[91] = 0; + out_586752082486093199[92] = 0; + out_586752082486093199[93] = 0; + out_586752082486093199[94] = 0; + out_586752082486093199[95] = 1; + out_586752082486093199[96] = 0; + out_586752082486093199[97] = 0; + out_586752082486093199[98] = 0; + out_586752082486093199[99] = 0; + out_586752082486093199[100] = 0; + out_586752082486093199[101] = 0; + out_586752082486093199[102] = 0; + out_586752082486093199[103] = 0; + out_586752082486093199[104] = dt; + out_586752082486093199[105] = 0; + out_586752082486093199[106] = 0; + out_586752082486093199[107] = 0; + out_586752082486093199[108] = 0; + out_586752082486093199[109] = 0; + out_586752082486093199[110] = 0; + out_586752082486093199[111] = 0; + out_586752082486093199[112] = 0; + out_586752082486093199[113] = 0; + out_586752082486093199[114] = 1; + out_586752082486093199[115] = 0; + out_586752082486093199[116] = 0; + out_586752082486093199[117] = 0; + out_586752082486093199[118] = 0; + out_586752082486093199[119] = 0; + out_586752082486093199[120] = 0; + out_586752082486093199[121] = 0; + out_586752082486093199[122] = 0; + out_586752082486093199[123] = 0; + out_586752082486093199[124] = 0; + out_586752082486093199[125] = 0; + out_586752082486093199[126] = 0; + out_586752082486093199[127] = 0; + out_586752082486093199[128] = 0; + out_586752082486093199[129] = 0; + out_586752082486093199[130] = 0; + out_586752082486093199[131] = 0; + out_586752082486093199[132] = 0; + out_586752082486093199[133] = 1; + out_586752082486093199[134] = 0; + out_586752082486093199[135] = 0; + out_586752082486093199[136] = 0; + out_586752082486093199[137] = 0; + out_586752082486093199[138] = 0; + out_586752082486093199[139] = 0; + out_586752082486093199[140] = 0; + out_586752082486093199[141] = 0; + out_586752082486093199[142] = 0; + out_586752082486093199[143] = 0; + out_586752082486093199[144] = 0; + out_586752082486093199[145] = 0; + out_586752082486093199[146] = 0; + out_586752082486093199[147] = 0; + out_586752082486093199[148] = 0; + out_586752082486093199[149] = 0; + out_586752082486093199[150] = 0; + out_586752082486093199[151] = 0; + out_586752082486093199[152] = 1; + out_586752082486093199[153] = 0; + out_586752082486093199[154] = 0; + out_586752082486093199[155] = 0; + out_586752082486093199[156] = 0; + out_586752082486093199[157] = 0; + out_586752082486093199[158] = 0; + out_586752082486093199[159] = 0; + out_586752082486093199[160] = 0; + out_586752082486093199[161] = 0; + out_586752082486093199[162] = 0; + out_586752082486093199[163] = 0; + out_586752082486093199[164] = 0; + out_586752082486093199[165] = 0; + out_586752082486093199[166] = 0; + out_586752082486093199[167] = 0; + out_586752082486093199[168] = 0; + out_586752082486093199[169] = 0; + out_586752082486093199[170] = 0; + out_586752082486093199[171] = 1; + out_586752082486093199[172] = 0; + out_586752082486093199[173] = 0; + out_586752082486093199[174] = 0; + out_586752082486093199[175] = 0; + out_586752082486093199[176] = 0; + out_586752082486093199[177] = 0; + out_586752082486093199[178] = 0; + out_586752082486093199[179] = 0; + out_586752082486093199[180] = 0; + out_586752082486093199[181] = 0; + out_586752082486093199[182] = 0; + out_586752082486093199[183] = 0; + out_586752082486093199[184] = 0; + out_586752082486093199[185] = 0; + out_586752082486093199[186] = 0; + out_586752082486093199[187] = 0; + out_586752082486093199[188] = 0; + out_586752082486093199[189] = 0; + out_586752082486093199[190] = 1; + out_586752082486093199[191] = 0; + out_586752082486093199[192] = 0; + out_586752082486093199[193] = 0; + out_586752082486093199[194] = 0; + out_586752082486093199[195] = 0; + out_586752082486093199[196] = 0; + out_586752082486093199[197] = 0; + out_586752082486093199[198] = 0; + out_586752082486093199[199] = 0; + out_586752082486093199[200] = 0; + out_586752082486093199[201] = 0; + out_586752082486093199[202] = 0; + out_586752082486093199[203] = 0; + out_586752082486093199[204] = 0; + out_586752082486093199[205] = 0; + out_586752082486093199[206] = 0; + out_586752082486093199[207] = 0; + out_586752082486093199[208] = 0; + out_586752082486093199[209] = 1; + out_586752082486093199[210] = 0; + out_586752082486093199[211] = 0; + out_586752082486093199[212] = 0; + out_586752082486093199[213] = 0; + out_586752082486093199[214] = 0; + out_586752082486093199[215] = 0; + out_586752082486093199[216] = 0; + out_586752082486093199[217] = 0; + out_586752082486093199[218] = 0; + out_586752082486093199[219] = 0; + out_586752082486093199[220] = 0; + out_586752082486093199[221] = 0; + out_586752082486093199[222] = 0; + out_586752082486093199[223] = 0; + out_586752082486093199[224] = 0; + out_586752082486093199[225] = 0; + out_586752082486093199[226] = 0; + out_586752082486093199[227] = 0; + out_586752082486093199[228] = 1; + out_586752082486093199[229] = 0; + out_586752082486093199[230] = 0; + out_586752082486093199[231] = 0; + out_586752082486093199[232] = 0; + out_586752082486093199[233] = 0; + out_586752082486093199[234] = 0; + out_586752082486093199[235] = 0; + out_586752082486093199[236] = 0; + out_586752082486093199[237] = 0; + out_586752082486093199[238] = 0; + out_586752082486093199[239] = 0; + out_586752082486093199[240] = 0; + out_586752082486093199[241] = 0; + out_586752082486093199[242] = 0; + out_586752082486093199[243] = 0; + out_586752082486093199[244] = 0; + out_586752082486093199[245] = 0; + out_586752082486093199[246] = 0; + out_586752082486093199[247] = 1; + out_586752082486093199[248] = 0; + out_586752082486093199[249] = 0; + out_586752082486093199[250] = 0; + out_586752082486093199[251] = 0; + out_586752082486093199[252] = 0; + out_586752082486093199[253] = 0; + out_586752082486093199[254] = 0; + out_586752082486093199[255] = 0; + out_586752082486093199[256] = 0; + out_586752082486093199[257] = 0; + out_586752082486093199[258] = 0; + out_586752082486093199[259] = 0; + out_586752082486093199[260] = 0; + out_586752082486093199[261] = 0; + out_586752082486093199[262] = 0; + out_586752082486093199[263] = 0; + out_586752082486093199[264] = 0; + out_586752082486093199[265] = 0; + out_586752082486093199[266] = 1; + out_586752082486093199[267] = 0; + out_586752082486093199[268] = 0; + out_586752082486093199[269] = 0; + out_586752082486093199[270] = 0; + out_586752082486093199[271] = 0; + out_586752082486093199[272] = 0; + out_586752082486093199[273] = 0; + out_586752082486093199[274] = 0; + out_586752082486093199[275] = 0; + out_586752082486093199[276] = 0; + out_586752082486093199[277] = 0; + out_586752082486093199[278] = 0; + out_586752082486093199[279] = 0; + out_586752082486093199[280] = 0; + out_586752082486093199[281] = 0; + out_586752082486093199[282] = 0; + out_586752082486093199[283] = 0; + out_586752082486093199[284] = 0; + out_586752082486093199[285] = 1; + out_586752082486093199[286] = 0; + out_586752082486093199[287] = 0; + out_586752082486093199[288] = 0; + out_586752082486093199[289] = 0; + out_586752082486093199[290] = 0; + out_586752082486093199[291] = 0; + out_586752082486093199[292] = 0; + out_586752082486093199[293] = 0; + out_586752082486093199[294] = 0; + out_586752082486093199[295] = 0; + out_586752082486093199[296] = 0; + out_586752082486093199[297] = 0; + out_586752082486093199[298] = 0; + out_586752082486093199[299] = 0; + out_586752082486093199[300] = 0; + out_586752082486093199[301] = 0; + out_586752082486093199[302] = 0; + out_586752082486093199[303] = 0; + out_586752082486093199[304] = 1; + out_586752082486093199[305] = 0; + out_586752082486093199[306] = 0; + out_586752082486093199[307] = 0; + out_586752082486093199[308] = 0; + out_586752082486093199[309] = 0; + out_586752082486093199[310] = 0; + out_586752082486093199[311] = 0; + out_586752082486093199[312] = 0; + out_586752082486093199[313] = 0; + out_586752082486093199[314] = 0; + out_586752082486093199[315] = 0; + out_586752082486093199[316] = 0; + out_586752082486093199[317] = 0; + out_586752082486093199[318] = 0; + out_586752082486093199[319] = 0; + out_586752082486093199[320] = 0; + out_586752082486093199[321] = 0; + out_586752082486093199[322] = 0; + out_586752082486093199[323] = 1; } -void h_4(double *state, double *unused, double *out_6773718258743003346) { - out_6773718258743003346[0] = state[6] + state[9]; - out_6773718258743003346[1] = state[7] + state[10]; - out_6773718258743003346[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1330626957984611772) { + out_1330626957984611772[0] = state[6] + state[9]; + out_1330626957984611772[1] = state[7] + state[10]; + out_1330626957984611772[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_793482604584818813) { - out_793482604584818813[0] = 0; - out_793482604584818813[1] = 0; - out_793482604584818813[2] = 0; - out_793482604584818813[3] = 0; - out_793482604584818813[4] = 0; - out_793482604584818813[5] = 0; - out_793482604584818813[6] = 1; - out_793482604584818813[7] = 0; - out_793482604584818813[8] = 0; - out_793482604584818813[9] = 1; - out_793482604584818813[10] = 0; - out_793482604584818813[11] = 0; - out_793482604584818813[12] = 0; - out_793482604584818813[13] = 0; - out_793482604584818813[14] = 0; - out_793482604584818813[15] = 0; - out_793482604584818813[16] = 0; - out_793482604584818813[17] = 0; - out_793482604584818813[18] = 0; - out_793482604584818813[19] = 0; - out_793482604584818813[20] = 0; - out_793482604584818813[21] = 0; - out_793482604584818813[22] = 0; - out_793482604584818813[23] = 0; - out_793482604584818813[24] = 0; - out_793482604584818813[25] = 1; - out_793482604584818813[26] = 0; - out_793482604584818813[27] = 0; - out_793482604584818813[28] = 1; - out_793482604584818813[29] = 0; - out_793482604584818813[30] = 0; - out_793482604584818813[31] = 0; - out_793482604584818813[32] = 0; - out_793482604584818813[33] = 0; - out_793482604584818813[34] = 0; - out_793482604584818813[35] = 0; - out_793482604584818813[36] = 0; - out_793482604584818813[37] = 0; - out_793482604584818813[38] = 0; - out_793482604584818813[39] = 0; - out_793482604584818813[40] = 0; - out_793482604584818813[41] = 0; - out_793482604584818813[42] = 0; - out_793482604584818813[43] = 0; - out_793482604584818813[44] = 1; - out_793482604584818813[45] = 0; - out_793482604584818813[46] = 0; - out_793482604584818813[47] = 1; - out_793482604584818813[48] = 0; - out_793482604584818813[49] = 0; - out_793482604584818813[50] = 0; - out_793482604584818813[51] = 0; - out_793482604584818813[52] = 0; - out_793482604584818813[53] = 0; +void H_4(double *state, double *unused, double *out_8068529884540655173) { + out_8068529884540655173[0] = 0; + out_8068529884540655173[1] = 0; + out_8068529884540655173[2] = 0; + out_8068529884540655173[3] = 0; + out_8068529884540655173[4] = 0; + out_8068529884540655173[5] = 0; + out_8068529884540655173[6] = 1; + out_8068529884540655173[7] = 0; + out_8068529884540655173[8] = 0; + out_8068529884540655173[9] = 1; + out_8068529884540655173[10] = 0; + out_8068529884540655173[11] = 0; + out_8068529884540655173[12] = 0; + out_8068529884540655173[13] = 0; + out_8068529884540655173[14] = 0; + out_8068529884540655173[15] = 0; + out_8068529884540655173[16] = 0; + out_8068529884540655173[17] = 0; + out_8068529884540655173[18] = 0; + out_8068529884540655173[19] = 0; + out_8068529884540655173[20] = 0; + out_8068529884540655173[21] = 0; + out_8068529884540655173[22] = 0; + out_8068529884540655173[23] = 0; + out_8068529884540655173[24] = 0; + out_8068529884540655173[25] = 1; + out_8068529884540655173[26] = 0; + out_8068529884540655173[27] = 0; + out_8068529884540655173[28] = 1; + out_8068529884540655173[29] = 0; + out_8068529884540655173[30] = 0; + out_8068529884540655173[31] = 0; + out_8068529884540655173[32] = 0; + out_8068529884540655173[33] = 0; + out_8068529884540655173[34] = 0; + out_8068529884540655173[35] = 0; + out_8068529884540655173[36] = 0; + out_8068529884540655173[37] = 0; + out_8068529884540655173[38] = 0; + out_8068529884540655173[39] = 0; + out_8068529884540655173[40] = 0; + out_8068529884540655173[41] = 0; + out_8068529884540655173[42] = 0; + out_8068529884540655173[43] = 0; + out_8068529884540655173[44] = 1; + out_8068529884540655173[45] = 0; + out_8068529884540655173[46] = 0; + out_8068529884540655173[47] = 1; + out_8068529884540655173[48] = 0; + out_8068529884540655173[49] = 0; + out_8068529884540655173[50] = 0; + out_8068529884540655173[51] = 0; + out_8068529884540655173[52] = 0; + out_8068529884540655173[53] = 0; } -void h_10(double *state, double *unused, double *out_3870110240018051215) { - out_3870110240018051215[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3870110240018051215[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3870110240018051215[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_5440536108172962293) { + out_5440536108172962293[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5440536108172962293[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5440536108172962293[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_3089556940454179292) { - out_3089556940454179292[0] = 0; - out_3089556940454179292[1] = 9.8100000000000005*cos(state[1]); - out_3089556940454179292[2] = 0; - out_3089556940454179292[3] = 0; - out_3089556940454179292[4] = -state[8]; - out_3089556940454179292[5] = state[7]; - out_3089556940454179292[6] = 0; - out_3089556940454179292[7] = state[5]; - out_3089556940454179292[8] = -state[4]; - out_3089556940454179292[9] = 0; - out_3089556940454179292[10] = 0; - out_3089556940454179292[11] = 0; - out_3089556940454179292[12] = 1; - out_3089556940454179292[13] = 0; - out_3089556940454179292[14] = 0; - out_3089556940454179292[15] = 1; - out_3089556940454179292[16] = 0; - out_3089556940454179292[17] = 0; - out_3089556940454179292[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3089556940454179292[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3089556940454179292[20] = 0; - out_3089556940454179292[21] = state[8]; - out_3089556940454179292[22] = 0; - out_3089556940454179292[23] = -state[6]; - out_3089556940454179292[24] = -state[5]; - out_3089556940454179292[25] = 0; - out_3089556940454179292[26] = state[3]; - out_3089556940454179292[27] = 0; - out_3089556940454179292[28] = 0; - out_3089556940454179292[29] = 0; - out_3089556940454179292[30] = 0; - out_3089556940454179292[31] = 1; - out_3089556940454179292[32] = 0; - out_3089556940454179292[33] = 0; - out_3089556940454179292[34] = 1; - out_3089556940454179292[35] = 0; - out_3089556940454179292[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3089556940454179292[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3089556940454179292[38] = 0; - out_3089556940454179292[39] = -state[7]; - out_3089556940454179292[40] = state[6]; - out_3089556940454179292[41] = 0; - out_3089556940454179292[42] = state[4]; - out_3089556940454179292[43] = -state[3]; - out_3089556940454179292[44] = 0; - out_3089556940454179292[45] = 0; - out_3089556940454179292[46] = 0; - out_3089556940454179292[47] = 0; - out_3089556940454179292[48] = 0; - out_3089556940454179292[49] = 0; - out_3089556940454179292[50] = 1; - out_3089556940454179292[51] = 0; - out_3089556940454179292[52] = 0; - out_3089556940454179292[53] = 1; +void H_10(double *state, double *unused, double *out_3777395375513848052) { + out_3777395375513848052[0] = 0; + out_3777395375513848052[1] = 9.8100000000000005*cos(state[1]); + out_3777395375513848052[2] = 0; + out_3777395375513848052[3] = 0; + out_3777395375513848052[4] = -state[8]; + out_3777395375513848052[5] = state[7]; + out_3777395375513848052[6] = 0; + out_3777395375513848052[7] = state[5]; + out_3777395375513848052[8] = -state[4]; + out_3777395375513848052[9] = 0; + out_3777395375513848052[10] = 0; + out_3777395375513848052[11] = 0; + out_3777395375513848052[12] = 1; + out_3777395375513848052[13] = 0; + out_3777395375513848052[14] = 0; + out_3777395375513848052[15] = 1; + out_3777395375513848052[16] = 0; + out_3777395375513848052[17] = 0; + out_3777395375513848052[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3777395375513848052[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3777395375513848052[20] = 0; + out_3777395375513848052[21] = state[8]; + out_3777395375513848052[22] = 0; + out_3777395375513848052[23] = -state[6]; + out_3777395375513848052[24] = -state[5]; + out_3777395375513848052[25] = 0; + out_3777395375513848052[26] = state[3]; + out_3777395375513848052[27] = 0; + out_3777395375513848052[28] = 0; + out_3777395375513848052[29] = 0; + out_3777395375513848052[30] = 0; + out_3777395375513848052[31] = 1; + out_3777395375513848052[32] = 0; + out_3777395375513848052[33] = 0; + out_3777395375513848052[34] = 1; + out_3777395375513848052[35] = 0; + out_3777395375513848052[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3777395375513848052[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3777395375513848052[38] = 0; + out_3777395375513848052[39] = -state[7]; + out_3777395375513848052[40] = state[6]; + out_3777395375513848052[41] = 0; + out_3777395375513848052[42] = state[4]; + out_3777395375513848052[43] = -state[3]; + out_3777395375513848052[44] = 0; + out_3777395375513848052[45] = 0; + out_3777395375513848052[46] = 0; + out_3777395375513848052[47] = 0; + out_3777395375513848052[48] = 0; + out_3777395375513848052[49] = 0; + out_3777395375513848052[50] = 1; + out_3777395375513848052[51] = 0; + out_3777395375513848052[52] = 0; + out_3777395375513848052[53] = 1; } -void h_13(double *state, double *unused, double *out_7087737251706748874) { - out_7087737251706748874[0] = state[3]; - out_7087737251706748874[1] = state[4]; - out_7087737251706748874[2] = state[5]; +void h_13(double *state, double *unused, double *out_7911476404081815631) { + out_7911476404081815631[0] = state[3]; + out_7911476404081815631[1] = state[4]; + out_7911476404081815631[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2418791220747513988) { - out_2418791220747513988[0] = 0; - out_2418791220747513988[1] = 0; - out_2418791220747513988[2] = 0; - out_2418791220747513988[3] = 1; - out_2418791220747513988[4] = 0; - out_2418791220747513988[5] = 0; - out_2418791220747513988[6] = 0; - out_2418791220747513988[7] = 0; - out_2418791220747513988[8] = 0; - out_2418791220747513988[9] = 0; - out_2418791220747513988[10] = 0; - out_2418791220747513988[11] = 0; - out_2418791220747513988[12] = 0; - out_2418791220747513988[13] = 0; - out_2418791220747513988[14] = 0; - out_2418791220747513988[15] = 0; - out_2418791220747513988[16] = 0; - out_2418791220747513988[17] = 0; - out_2418791220747513988[18] = 0; - out_2418791220747513988[19] = 0; - out_2418791220747513988[20] = 0; - out_2418791220747513988[21] = 0; - out_2418791220747513988[22] = 1; - out_2418791220747513988[23] = 0; - out_2418791220747513988[24] = 0; - out_2418791220747513988[25] = 0; - out_2418791220747513988[26] = 0; - out_2418791220747513988[27] = 0; - out_2418791220747513988[28] = 0; - out_2418791220747513988[29] = 0; - out_2418791220747513988[30] = 0; - out_2418791220747513988[31] = 0; - out_2418791220747513988[32] = 0; - out_2418791220747513988[33] = 0; - out_2418791220747513988[34] = 0; - out_2418791220747513988[35] = 0; - out_2418791220747513988[36] = 0; - out_2418791220747513988[37] = 0; - out_2418791220747513988[38] = 0; - out_2418791220747513988[39] = 0; - out_2418791220747513988[40] = 0; - out_2418791220747513988[41] = 1; - out_2418791220747513988[42] = 0; - out_2418791220747513988[43] = 0; - out_2418791220747513988[44] = 0; - out_2418791220747513988[45] = 0; - out_2418791220747513988[46] = 0; - out_2418791220747513988[47] = 0; - out_2418791220747513988[48] = 0; - out_2418791220747513988[49] = 0; - out_2418791220747513988[50] = 0; - out_2418791220747513988[51] = 0; - out_2418791220747513988[52] = 0; - out_2418791220747513988[53] = 0; +void H_13(double *state, double *unused, double *out_7165940363836563642) { + out_7165940363836563642[0] = 0; + out_7165940363836563642[1] = 0; + out_7165940363836563642[2] = 0; + out_7165940363836563642[3] = 1; + out_7165940363836563642[4] = 0; + out_7165940363836563642[5] = 0; + out_7165940363836563642[6] = 0; + out_7165940363836563642[7] = 0; + out_7165940363836563642[8] = 0; + out_7165940363836563642[9] = 0; + out_7165940363836563642[10] = 0; + out_7165940363836563642[11] = 0; + out_7165940363836563642[12] = 0; + out_7165940363836563642[13] = 0; + out_7165940363836563642[14] = 0; + out_7165940363836563642[15] = 0; + out_7165940363836563642[16] = 0; + out_7165940363836563642[17] = 0; + out_7165940363836563642[18] = 0; + out_7165940363836563642[19] = 0; + out_7165940363836563642[20] = 0; + out_7165940363836563642[21] = 0; + out_7165940363836563642[22] = 1; + out_7165940363836563642[23] = 0; + out_7165940363836563642[24] = 0; + out_7165940363836563642[25] = 0; + out_7165940363836563642[26] = 0; + out_7165940363836563642[27] = 0; + out_7165940363836563642[28] = 0; + out_7165940363836563642[29] = 0; + out_7165940363836563642[30] = 0; + out_7165940363836563642[31] = 0; + out_7165940363836563642[32] = 0; + out_7165940363836563642[33] = 0; + out_7165940363836563642[34] = 0; + out_7165940363836563642[35] = 0; + out_7165940363836563642[36] = 0; + out_7165940363836563642[37] = 0; + out_7165940363836563642[38] = 0; + out_7165940363836563642[39] = 0; + out_7165940363836563642[40] = 0; + out_7165940363836563642[41] = 1; + out_7165940363836563642[42] = 0; + out_7165940363836563642[43] = 0; + out_7165940363836563642[44] = 0; + out_7165940363836563642[45] = 0; + out_7165940363836563642[46] = 0; + out_7165940363836563642[47] = 0; + out_7165940363836563642[48] = 0; + out_7165940363836563642[49] = 0; + out_7165940363836563642[50] = 0; + out_7165940363836563642[51] = 0; + out_7165940363836563642[52] = 0; + out_7165940363836563642[53] = 0; } -void h_14(double *state, double *unused, double *out_8542055892000654086) { - out_8542055892000654086[0] = state[6]; - out_8542055892000654086[1] = state[7]; - out_8542055892000654086[2] = state[8]; +void h_14(double *state, double *unused, double *out_5129805537420960347) { + out_5129805537420960347[0] = state[6]; + out_5129805537420960347[1] = state[7]; + out_5129805537420960347[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3169758251754665716) { - out_3169758251754665716[0] = 0; - out_3169758251754665716[1] = 0; - out_3169758251754665716[2] = 0; - out_3169758251754665716[3] = 0; - out_3169758251754665716[4] = 0; - out_3169758251754665716[5] = 0; - out_3169758251754665716[6] = 1; - out_3169758251754665716[7] = 0; - out_3169758251754665716[8] = 0; - out_3169758251754665716[9] = 0; - out_3169758251754665716[10] = 0; - out_3169758251754665716[11] = 0; - out_3169758251754665716[12] = 0; - out_3169758251754665716[13] = 0; - out_3169758251754665716[14] = 0; - out_3169758251754665716[15] = 0; - out_3169758251754665716[16] = 0; - out_3169758251754665716[17] = 0; - out_3169758251754665716[18] = 0; - out_3169758251754665716[19] = 0; - out_3169758251754665716[20] = 0; - out_3169758251754665716[21] = 0; - out_3169758251754665716[22] = 0; - out_3169758251754665716[23] = 0; - out_3169758251754665716[24] = 0; - out_3169758251754665716[25] = 1; - out_3169758251754665716[26] = 0; - out_3169758251754665716[27] = 0; - out_3169758251754665716[28] = 0; - out_3169758251754665716[29] = 0; - out_3169758251754665716[30] = 0; - out_3169758251754665716[31] = 0; - out_3169758251754665716[32] = 0; - out_3169758251754665716[33] = 0; - out_3169758251754665716[34] = 0; - out_3169758251754665716[35] = 0; - out_3169758251754665716[36] = 0; - out_3169758251754665716[37] = 0; - out_3169758251754665716[38] = 0; - out_3169758251754665716[39] = 0; - out_3169758251754665716[40] = 0; - out_3169758251754665716[41] = 0; - out_3169758251754665716[42] = 0; - out_3169758251754665716[43] = 0; - out_3169758251754665716[44] = 1; - out_3169758251754665716[45] = 0; - out_3169758251754665716[46] = 0; - out_3169758251754665716[47] = 0; - out_3169758251754665716[48] = 0; - out_3169758251754665716[49] = 0; - out_3169758251754665716[50] = 0; - out_3169758251754665716[51] = 0; - out_3169758251754665716[52] = 0; - out_3169758251754665716[53] = 0; +void H_14(double *state, double *unused, double *out_4985741452245282877) { + out_4985741452245282877[0] = 0; + out_4985741452245282877[1] = 0; + out_4985741452245282877[2] = 0; + out_4985741452245282877[3] = 0; + out_4985741452245282877[4] = 0; + out_4985741452245282877[5] = 0; + out_4985741452245282877[6] = 1; + out_4985741452245282877[7] = 0; + out_4985741452245282877[8] = 0; + out_4985741452245282877[9] = 0; + out_4985741452245282877[10] = 0; + out_4985741452245282877[11] = 0; + out_4985741452245282877[12] = 0; + out_4985741452245282877[13] = 0; + out_4985741452245282877[14] = 0; + out_4985741452245282877[15] = 0; + out_4985741452245282877[16] = 0; + out_4985741452245282877[17] = 0; + out_4985741452245282877[18] = 0; + out_4985741452245282877[19] = 0; + out_4985741452245282877[20] = 0; + out_4985741452245282877[21] = 0; + out_4985741452245282877[22] = 0; + out_4985741452245282877[23] = 0; + out_4985741452245282877[24] = 0; + out_4985741452245282877[25] = 1; + out_4985741452245282877[26] = 0; + out_4985741452245282877[27] = 0; + out_4985741452245282877[28] = 0; + out_4985741452245282877[29] = 0; + out_4985741452245282877[30] = 0; + out_4985741452245282877[31] = 0; + out_4985741452245282877[32] = 0; + out_4985741452245282877[33] = 0; + out_4985741452245282877[34] = 0; + out_4985741452245282877[35] = 0; + out_4985741452245282877[36] = 0; + out_4985741452245282877[37] = 0; + out_4985741452245282877[38] = 0; + out_4985741452245282877[39] = 0; + out_4985741452245282877[40] = 0; + out_4985741452245282877[41] = 0; + out_4985741452245282877[42] = 0; + out_4985741452245282877[43] = 0; + out_4985741452245282877[44] = 1; + out_4985741452245282877[45] = 0; + out_4985741452245282877[46] = 0; + out_4985741452245282877[47] = 0; + out_4985741452245282877[48] = 0; + out_4985741452245282877[49] = 0; + out_4985741452245282877[50] = 0; + out_4985741452245282877[51] = 0; + out_4985741452245282877[52] = 0; + out_4985741452245282877[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_7165967535860238129) { - err_fun(nom_x, delta_x, out_7165967535860238129); +void pose_err_fun(double *nom_x, double *delta_x, double *out_731387772078245243) { + err_fun(nom_x, delta_x, out_731387772078245243); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_9032729807193459598) { - inv_err_fun(nom_x, true_x, out_9032729807193459598); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4206130707332622452) { + inv_err_fun(nom_x, true_x, out_4206130707332622452); } -void pose_H_mod_fun(double *state, double *out_5054599202167139908) { - H_mod_fun(state, out_5054599202167139908); +void pose_H_mod_fun(double *state, double *out_2916011499501574438) { + H_mod_fun(state, out_2916011499501574438); } -void pose_f_fun(double *state, double dt, double *out_5000035888964044284) { - f_fun(state, dt, out_5000035888964044284); +void pose_f_fun(double *state, double dt, double *out_4420889553799640425) { + f_fun(state, dt, out_4420889553799640425); } -void pose_F_fun(double *state, double dt, double *out_9018422947626896264) { - F_fun(state, dt, out_9018422947626896264); +void pose_F_fun(double *state, double dt, double *out_586752082486093199) { + F_fun(state, dt, out_586752082486093199); } -void pose_h_4(double *state, double *unused, double *out_6773718258743003346) { - h_4(state, unused, out_6773718258743003346); +void pose_h_4(double *state, double *unused, double *out_1330626957984611772) { + h_4(state, unused, out_1330626957984611772); } -void pose_H_4(double *state, double *unused, double *out_793482604584818813) { - H_4(state, unused, out_793482604584818813); +void pose_H_4(double *state, double *unused, double *out_8068529884540655173) { + H_4(state, unused, out_8068529884540655173); } -void pose_h_10(double *state, double *unused, double *out_3870110240018051215) { - h_10(state, unused, out_3870110240018051215); +void pose_h_10(double *state, double *unused, double *out_5440536108172962293) { + h_10(state, unused, out_5440536108172962293); } -void pose_H_10(double *state, double *unused, double *out_3089556940454179292) { - H_10(state, unused, out_3089556940454179292); +void pose_H_10(double *state, double *unused, double *out_3777395375513848052) { + H_10(state, unused, out_3777395375513848052); } -void pose_h_13(double *state, double *unused, double *out_7087737251706748874) { - h_13(state, unused, out_7087737251706748874); +void pose_h_13(double *state, double *unused, double *out_7911476404081815631) { + h_13(state, unused, out_7911476404081815631); } -void pose_H_13(double *state, double *unused, double *out_2418791220747513988) { - H_13(state, unused, out_2418791220747513988); +void pose_H_13(double *state, double *unused, double *out_7165940363836563642) { + H_13(state, unused, out_7165940363836563642); } -void pose_h_14(double *state, double *unused, double *out_8542055892000654086) { - h_14(state, unused, out_8542055892000654086); +void pose_h_14(double *state, double *unused, double *out_5129805537420960347) { + h_14(state, unused, out_5129805537420960347); } -void pose_H_14(double *state, double *unused, double *out_3169758251754665716) { - H_14(state, unused, out_3169758251754665716); +void pose_H_14(double *state, double *unused, double *out_4985741452245282877) { + H_14(state, unused, out_4985741452245282877); } 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 22d6eaac4b..98c89066d0 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_7165967535860238129); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_9032729807193459598); -void pose_H_mod_fun(double *state, double *out_5054599202167139908); -void pose_f_fun(double *state, double dt, double *out_5000035888964044284); -void pose_F_fun(double *state, double dt, double *out_9018422947626896264); -void pose_h_4(double *state, double *unused, double *out_6773718258743003346); -void pose_H_4(double *state, double *unused, double *out_793482604584818813); -void pose_h_10(double *state, double *unused, double *out_3870110240018051215); -void pose_H_10(double *state, double *unused, double *out_3089556940454179292); -void pose_h_13(double *state, double *unused, double *out_7087737251706748874); -void pose_H_13(double *state, double *unused, double *out_2418791220747513988); -void pose_h_14(double *state, double *unused, double *out_8542055892000654086); -void pose_H_14(double *state, double *unused, double *out_3169758251754665716); +void pose_err_fun(double *nom_x, double *delta_x, double *out_731387772078245243); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4206130707332622452); +void pose_H_mod_fun(double *state, double *out_2916011499501574438); +void pose_f_fun(double *state, double dt, double *out_4420889553799640425); +void pose_F_fun(double *state, double dt, double *out_586752082486093199); +void pose_h_4(double *state, double *unused, double *out_1330626957984611772); +void pose_H_4(double *state, double *unused, double *out_8068529884540655173); +void pose_h_10(double *state, double *unused, double *out_5440536108172962293); +void pose_H_10(double *state, double *unused, double *out_3777395375513848052); +void pose_h_13(double *state, double *unused, double *out_7911476404081815631); +void pose_H_13(double *state, double *unused, double *out_7165940363836563642); +void pose_h_14(double *state, double *unused, double *out_5129805537420960347); +void pose_H_14(double *state, double *unused, double *out_4985741452245282877); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 1b177aef04..a8cd14249c 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index aeaecafb89..807c7f9232 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -849,12 +849,17 @@ class AugmentedRoadView(CameraView): rl.draw_rectangle_rounded_lines_ex(border_rect, 0.12, 16, border_size, border_color) if (colors := get_traffic_border_colors()) is not None: + content_x = int(round(self._content_rect.x)) + content_y = int(round(self._content_rect.y)) + content_width = int(round(self._content_rect.width)) + content_height = int(round(self._content_rect.height)) + split_x = content_x + content_width // 2 for x, w, color in ( - (border_rect.x, border_rect.width / 2, colors[0]), - (border_rect.x + border_rect.width / 2, border_rect.width - border_rect.width / 2, colors[1]), + (content_x, split_x - content_x, colors[0]), + (split_x, content_x + content_width - split_x, colors[1]), ): if color.a > 0: - rl.begin_scissor_mode(int(x), int(border_rect.y), int(w), int(border_rect.height)) + rl.begin_scissor_mode(x, content_y, w, content_height) rl.draw_rectangle_rounded_lines_ex(border_rect, 0.12, 16, border_size, color) rl.end_scissor_mode() diff --git a/selfdrive/ui/onroad/starpilot/starpilot_border.py b/selfdrive/ui/onroad/starpilot/starpilot_border.py index 398b1a5c27..1cc10dc62f 100644 --- a/selfdrive/ui/onroad/starpilot/starpilot_border.py +++ b/selfdrive/ui/onroad/starpilot/starpilot_border.py @@ -201,13 +201,10 @@ def get_traffic_border_colors() -> tuple[rl.Color, rl.Color] | None: flicker_active = (int(rl.get_time() * 1000) % (interval * 2)) < interval def get_half_border_color(blindspot, turn_signal): - if turn_signal and show_signal: - if blindspot: - return TRAFFIC_COLOR if flicker_active else CEM_OVERRIDE_COLOR - else: - return CEM_OVERRIDE_COLOR if flicker_active else rl.Color(0, 0, 0, 0) - elif blindspot and show_blindspot: + if blindspot and show_blindspot: return TRAFFIC_COLOR + if turn_signal and show_signal: + return CEM_OVERRIDE_COLOR if flicker_active else rl.Color(0, 0, 0, 0) else: return rl.Color(0, 0, 0, 0) diff --git a/selfdrive/ui/tests/test_traffic_border.py b/selfdrive/ui/tests/test_traffic_border.py index 86e6b85f21..18d1d52b30 100644 --- a/selfdrive/ui/tests/test_traffic_border.py +++ b/selfdrive/ui/tests/test_traffic_border.py @@ -79,7 +79,7 @@ def test_traffic_border_blinker_alone_flickers_amber(monkeypatch): assert _rgba(right) == TRANSPARENT -def test_traffic_border_blinker_with_blindspot_flickers_red_and_amber(monkeypatch): +def test_traffic_border_blindspot_stays_red_over_blinker(monkeypatch): _setup(monkeypatch, car_state=_car_state(left_blinker=True, left_blindspot=True), time=0.1) left, _ = starpilot_border.get_traffic_border_colors() @@ -87,7 +87,7 @@ def test_traffic_border_blinker_with_blindspot_flickers_red_and_amber(monkeypatc _setup(monkeypatch, car_state=_car_state(left_blinker=True, left_blindspot=True), time=0.3) left, _ = starpilot_border.get_traffic_border_colors() - assert _rgba(left) == _rgba(CEM_OVERRIDE_COLOR) + assert _rgba(left) == _rgba(TRAFFIC_COLOR) def test_traffic_border_v_asm_blindspot_is_red(monkeypatch): @@ -98,7 +98,7 @@ def test_traffic_border_v_asm_blindspot_is_red(monkeypatch): assert _rgba(right) == TRANSPARENT -def test_c4_draw_border_paints_traffic_color_on_active_half(monkeypatch): +def test_c4_draw_border_paints_full_width_traffic_color_on_active_half(monkeypatch): import pyray as rl from openpilot.selfdrive.ui.mici.onroad import augmented_road_view as mici_view @@ -121,10 +121,12 @@ def test_c4_draw_border_paints_traffic_color_on_active_half(monkeypatch): assert len(lines) == 2 assert _rgba(lines[0][1][4]) == _rgba(base_color) assert _rgba(lines[1][1][4]) == _rgba(TRAFFIC_COLOR) + assert lines[0][1][0] == lines[1][1][0] + assert lines[0][1][3] == lines[1][1][3] scissor = [c for c in calls if c[0] == "begin_scissor"] assert scissor[0][1] == (10, 20, 200, 100) - assert scissor[1][1] == (14, 24, 96, 92) + assert scissor[1][1] == (10, 20, 100, 100) def test_c4_draw_border_skips_traffic_colors_when_inactive(monkeypatch): diff --git a/starpilot/car/ford/lateral.py b/starpilot/car/ford/lateral.py index 88da3a7b5b..4a8d09ed35 100644 --- a/starpilot/car/ford/lateral.py +++ b/starpilot/car/ford/lateral.py @@ -45,6 +45,7 @@ MACH_E_TURN_IN_FULL_CURVATURE = 0.008 MACH_E_TURN_IN_LAG_CURVATURE = 0.006 MACH_E_UNWIND_LOOKAHEAD_EXTRA = 0.80 MACH_E_UNWIND_FULL_LAG_CURVATURE = 0.0005 +MACH_E_UNWIND_PREVIEW_LAG_CURVATURE = 0.002 MACH_E_DIRECTION_CHANGE_MIN_SPEED = 9.0 MACH_E_DIRECTION_CHANGE_LOOKAHEAD_RAMP_SPEED = 10.0 MACH_E_DIRECTION_CHANGE_LOOKAHEAD_FULL_SPEED = 12.0 @@ -232,14 +233,17 @@ class FordLateralController: return predicted if desired * current <= 0.0 or desired * predicted <= 0.0 or desired * self.desired_curvature_last <= 0.0: return predicted - if abs(desired) >= abs(self.desired_curvature_last) or abs(current) <= abs(desired): + if abs(desired) >= abs(self.desired_curvature_last): return predicted preview = self._predicted_curvature(v_ego, self._curvature_lookahead() + MACH_E_UNWIND_LOOKAHEAD_EXTRA) - if desired * preview <= 0.0 or abs(preview) >= min(abs(desired), abs(predicted)): + if desired * preview <= 0.0 or abs(preview) >= min(abs(desired), abs(predicted), abs(current)): return predicted speed_weight = float(np.interp(v_ego, [5.0, 7.0, 12.0, 15.0], [0.0, 1.0, 1.0, 0.0])) curvature_weight = float(np.interp(abs(desired), [0.002, 0.008], [0.0, 1.0])) lag_weight = float(np.interp(abs(current) - abs(desired), [0.0, MACH_E_UNWIND_FULL_LAG_CURVATURE], [0.0, 1.0])) + preview_lag_weight = float(np.interp( + abs(current) - abs(preview), [0.0, MACH_E_UNWIND_PREVIEW_LAG_CURVATURE], [0.0, 1.0])) + lag_weight = max(lag_weight, preview_lag_weight) return predicted + speed_weight * curvature_weight * lag_weight * (preview - predicted) def _turn_in_preview_weight(self, desired: float, preview: float, current: float) -> float: diff --git a/starpilot/car/ford/tests/test_lateral.py b/starpilot/car/ford/tests/test_lateral.py index 1e5b411a74..d49f5a4599 100644 --- a/starpilot/car/ford/tests/test_lateral.py +++ b/starpilot/car/ford/tests/test_lateral.py @@ -60,8 +60,8 @@ def test_mach_e_unwind_preview_speed_and_direction(controller, monkeypatch, sign @pytest.mark.parametrize("desired,last,current,preview", ( (0.010, 0.009, 0.011, 0.004), (0.010, 0.010, 0.011, 0.004), - (0.010, 0.011, 0.009, 0.004), - (0.010, 0.011, 0.010, 0.004), + (0.010, 0.011, 0.003, 0.004), + (0.010, 0.011, 0.004, 0.004), (0.010, -0.011, 0.011, 0.004), (0.010, 0.011, -0.011, 0.004), (0.010, 0.011, 0.011, -0.004), @@ -87,10 +87,28 @@ def test_mach_e_unwind_lag_ramps_continuously(controller, monkeypatch): controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 controller.desired_curvature_last = 0.011 monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: 0.004) - assert controller._unwind_preview(0.010, 0.009, 0.01025, 10.0) == pytest.approx(0.0065) + assert controller._unwind_preview(0.010, 0.009, 0.005, 10.0) == pytest.approx(0.0065) + assert controller._unwind_preview(0.010, 0.009, 0.01025, 10.0) == pytest.approx(0.004) assert controller._unwind_preview(0.010, -0.009, 0.011, 10.0) == -0.009 +@pytest.mark.parametrize("sign", (-1, 1)) +def test_mach_e_unwind_anticipates_opening_curve_before_current_request_is_met(controller, monkeypatch, sign): + controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 + controller.desired_curvature_last = sign * 0.012 + monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: sign * 0.006) + assert controller._unwind_preview(sign * 0.011, sign * 0.009, sign * 0.008, 11.0) == pytest.approx(sign * 0.006) + controller.desired_curvature_last = sign * 0.010 + assert controller._unwind_preview(sign * 0.011, sign * 0.009, sign * 0.008, 11.0) == sign * 0.009 + + +def test_mach_e_unwind_preserves_existing_release_when_current_exceeds_desired(controller, monkeypatch): + controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1 + controller.desired_curvature_last = 0.009 + monkeypatch.setattr(controller, "_predicted_curvature", lambda *_: 0.0079) + assert controller._unwind_preview(0.008, 0.008, 0.0085, 10.0) == pytest.approx(0.0079) + + @pytest.mark.parametrize("driver,lane_change,active", ((False, False, True), (True, False, True), (False, True, True), (False, False, False))) def test_mach_e_unwind_update_scope_and_rate(controller, monkeypatch, driver, lane_change, active): diff --git a/system/camerad/camerad b/system/camerad/camerad index 582536b8fc..ca9381f056 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index af0a66fa4e..b79360c1ed 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index d59851f0a9..3730355887 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 208b1e31e5..372fe1445b 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ