diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index de8e92a6c2..4f18b5eac4 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 87ea300e02..d6aabc19bc 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 b2f6174894..2f2a301c2b 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index d335567105..8e9cf159c1 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 8b0d84ebbf..587fbe8a9e 100755 Binary 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a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 76d9e58fae..23bd983506 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 9eb286989f..04e85e3c95 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin index 9eb286989f..04e85e3c95 100755 Binary files a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 536b2df010..0ed68c9f3b 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-eedd73e5-DEBUG"; +const uint8_t gitversion[19] = "DEV-244aa673-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index f2d8df03cf..53c3f2edcd 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 3ba17505e9..8078504135 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 6363619e9c..3387248041 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 7363945dc8..26c820d8eb 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git 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a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index 43008c5efe..301f8048b6 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 0d0583b8e3..1c57ebfc72 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 44692a9729..458314896e 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-eedd73e5-DEBUG \ No newline at end of file +DEV-244aa673-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index bdd92f9527..99250cec3b 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_789804740016769707) { - out_789804740016769707[0] = delta_x[0] + nom_x[0]; - out_789804740016769707[1] = delta_x[1] + nom_x[1]; - out_789804740016769707[2] = delta_x[2] + nom_x[2]; - out_789804740016769707[3] = delta_x[3] + nom_x[3]; - out_789804740016769707[4] = delta_x[4] + nom_x[4]; - out_789804740016769707[5] = delta_x[5] + nom_x[5]; - out_789804740016769707[6] = delta_x[6] + nom_x[6]; - out_789804740016769707[7] = delta_x[7] + nom_x[7]; - out_789804740016769707[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_1264104166079454940) { + out_1264104166079454940[0] = delta_x[0] + nom_x[0]; + out_1264104166079454940[1] = delta_x[1] + nom_x[1]; + out_1264104166079454940[2] = delta_x[2] + nom_x[2]; + out_1264104166079454940[3] = delta_x[3] + nom_x[3]; + out_1264104166079454940[4] = delta_x[4] + nom_x[4]; + out_1264104166079454940[5] = delta_x[5] + nom_x[5]; + out_1264104166079454940[6] = delta_x[6] + nom_x[6]; + out_1264104166079454940[7] = delta_x[7] + nom_x[7]; + out_1264104166079454940[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_385986033898548509) { - out_385986033898548509[0] = -nom_x[0] + true_x[0]; - out_385986033898548509[1] = -nom_x[1] + true_x[1]; - out_385986033898548509[2] = -nom_x[2] + true_x[2]; - out_385986033898548509[3] = -nom_x[3] + true_x[3]; - out_385986033898548509[4] = -nom_x[4] + true_x[4]; - out_385986033898548509[5] = -nom_x[5] + true_x[5]; - out_385986033898548509[6] = -nom_x[6] + true_x[6]; - out_385986033898548509[7] = -nom_x[7] + true_x[7]; - out_385986033898548509[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3182169158929336617) { + out_3182169158929336617[0] = -nom_x[0] + true_x[0]; + out_3182169158929336617[1] = -nom_x[1] + true_x[1]; + out_3182169158929336617[2] = -nom_x[2] + true_x[2]; + out_3182169158929336617[3] = -nom_x[3] + true_x[3]; + out_3182169158929336617[4] = -nom_x[4] + true_x[4]; + out_3182169158929336617[5] = -nom_x[5] + true_x[5]; + out_3182169158929336617[6] = -nom_x[6] + true_x[6]; + out_3182169158929336617[7] = -nom_x[7] + true_x[7]; + out_3182169158929336617[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4046004184415297016) { - out_4046004184415297016[0] = 1.0; - out_4046004184415297016[1] = 0.0; - out_4046004184415297016[2] = 0.0; - out_4046004184415297016[3] = 0.0; - out_4046004184415297016[4] = 0.0; - out_4046004184415297016[5] = 0.0; - out_4046004184415297016[6] = 0.0; - out_4046004184415297016[7] = 0.0; - out_4046004184415297016[8] = 0.0; - out_4046004184415297016[9] = 0.0; - out_4046004184415297016[10] = 1.0; - out_4046004184415297016[11] = 0.0; - out_4046004184415297016[12] = 0.0; - out_4046004184415297016[13] = 0.0; - out_4046004184415297016[14] = 0.0; - out_4046004184415297016[15] = 0.0; - out_4046004184415297016[16] = 0.0; - out_4046004184415297016[17] = 0.0; - out_4046004184415297016[18] = 0.0; - out_4046004184415297016[19] = 0.0; - out_4046004184415297016[20] = 1.0; - out_4046004184415297016[21] = 0.0; - out_4046004184415297016[22] = 0.0; - out_4046004184415297016[23] = 0.0; - out_4046004184415297016[24] = 0.0; - out_4046004184415297016[25] = 0.0; - out_4046004184415297016[26] = 0.0; - out_4046004184415297016[27] = 0.0; - out_4046004184415297016[28] = 0.0; - out_4046004184415297016[29] = 0.0; - out_4046004184415297016[30] = 1.0; - out_4046004184415297016[31] = 0.0; - out_4046004184415297016[32] = 0.0; - out_4046004184415297016[33] = 0.0; - out_4046004184415297016[34] = 0.0; - out_4046004184415297016[35] = 0.0; - out_4046004184415297016[36] = 0.0; - out_4046004184415297016[37] = 0.0; - out_4046004184415297016[38] = 0.0; - out_4046004184415297016[39] = 0.0; - out_4046004184415297016[40] = 1.0; - out_4046004184415297016[41] = 0.0; - out_4046004184415297016[42] = 0.0; - out_4046004184415297016[43] = 0.0; - out_4046004184415297016[44] = 0.0; - out_4046004184415297016[45] = 0.0; - out_4046004184415297016[46] = 0.0; - out_4046004184415297016[47] = 0.0; - out_4046004184415297016[48] = 0.0; - out_4046004184415297016[49] = 0.0; - out_4046004184415297016[50] = 1.0; - out_4046004184415297016[51] = 0.0; - out_4046004184415297016[52] = 0.0; - out_4046004184415297016[53] = 0.0; - out_4046004184415297016[54] = 0.0; - out_4046004184415297016[55] = 0.0; - out_4046004184415297016[56] = 0.0; - out_4046004184415297016[57] = 0.0; - out_4046004184415297016[58] = 0.0; - out_4046004184415297016[59] = 0.0; - out_4046004184415297016[60] = 1.0; - out_4046004184415297016[61] = 0.0; - out_4046004184415297016[62] = 0.0; - out_4046004184415297016[63] = 0.0; - out_4046004184415297016[64] = 0.0; - out_4046004184415297016[65] = 0.0; - out_4046004184415297016[66] = 0.0; - out_4046004184415297016[67] = 0.0; - out_4046004184415297016[68] = 0.0; - out_4046004184415297016[69] = 0.0; - out_4046004184415297016[70] = 1.0; - out_4046004184415297016[71] = 0.0; - out_4046004184415297016[72] = 0.0; - out_4046004184415297016[73] = 0.0; - out_4046004184415297016[74] = 0.0; - out_4046004184415297016[75] = 0.0; - out_4046004184415297016[76] = 0.0; - out_4046004184415297016[77] = 0.0; - out_4046004184415297016[78] = 0.0; - out_4046004184415297016[79] = 0.0; - out_4046004184415297016[80] = 1.0; +void H_mod_fun(double *state, double *out_3410660055109284948) { + out_3410660055109284948[0] = 1.0; + out_3410660055109284948[1] = 0.0; + out_3410660055109284948[2] = 0.0; + out_3410660055109284948[3] = 0.0; + out_3410660055109284948[4] = 0.0; + out_3410660055109284948[5] = 0.0; + out_3410660055109284948[6] = 0.0; + out_3410660055109284948[7] = 0.0; + out_3410660055109284948[8] = 0.0; + out_3410660055109284948[9] = 0.0; + out_3410660055109284948[10] = 1.0; + out_3410660055109284948[11] = 0.0; + out_3410660055109284948[12] = 0.0; + out_3410660055109284948[13] = 0.0; + out_3410660055109284948[14] = 0.0; + out_3410660055109284948[15] = 0.0; + out_3410660055109284948[16] = 0.0; + out_3410660055109284948[17] = 0.0; + out_3410660055109284948[18] = 0.0; + out_3410660055109284948[19] = 0.0; + out_3410660055109284948[20] = 1.0; + out_3410660055109284948[21] = 0.0; + out_3410660055109284948[22] = 0.0; + out_3410660055109284948[23] = 0.0; + out_3410660055109284948[24] = 0.0; + out_3410660055109284948[25] = 0.0; + out_3410660055109284948[26] = 0.0; + out_3410660055109284948[27] = 0.0; + out_3410660055109284948[28] = 0.0; + out_3410660055109284948[29] = 0.0; + out_3410660055109284948[30] = 1.0; + out_3410660055109284948[31] = 0.0; + out_3410660055109284948[32] = 0.0; + out_3410660055109284948[33] = 0.0; + out_3410660055109284948[34] = 0.0; + out_3410660055109284948[35] = 0.0; + out_3410660055109284948[36] = 0.0; + out_3410660055109284948[37] = 0.0; + out_3410660055109284948[38] = 0.0; + out_3410660055109284948[39] = 0.0; + out_3410660055109284948[40] = 1.0; + out_3410660055109284948[41] = 0.0; + out_3410660055109284948[42] = 0.0; + out_3410660055109284948[43] = 0.0; + out_3410660055109284948[44] = 0.0; + out_3410660055109284948[45] = 0.0; + out_3410660055109284948[46] = 0.0; + out_3410660055109284948[47] = 0.0; + out_3410660055109284948[48] = 0.0; + out_3410660055109284948[49] = 0.0; + out_3410660055109284948[50] = 1.0; + out_3410660055109284948[51] = 0.0; + out_3410660055109284948[52] = 0.0; + out_3410660055109284948[53] = 0.0; + out_3410660055109284948[54] = 0.0; + out_3410660055109284948[55] = 0.0; + out_3410660055109284948[56] = 0.0; + out_3410660055109284948[57] = 0.0; + out_3410660055109284948[58] = 0.0; + out_3410660055109284948[59] = 0.0; + out_3410660055109284948[60] = 1.0; + out_3410660055109284948[61] = 0.0; + out_3410660055109284948[62] = 0.0; + out_3410660055109284948[63] = 0.0; + out_3410660055109284948[64] = 0.0; + out_3410660055109284948[65] = 0.0; + out_3410660055109284948[66] = 0.0; + out_3410660055109284948[67] = 0.0; + out_3410660055109284948[68] = 0.0; + out_3410660055109284948[69] = 0.0; + out_3410660055109284948[70] = 1.0; + out_3410660055109284948[71] = 0.0; + out_3410660055109284948[72] = 0.0; + out_3410660055109284948[73] = 0.0; + out_3410660055109284948[74] = 0.0; + out_3410660055109284948[75] = 0.0; + out_3410660055109284948[76] = 0.0; + out_3410660055109284948[77] = 0.0; + out_3410660055109284948[78] = 0.0; + out_3410660055109284948[79] = 0.0; + out_3410660055109284948[80] = 1.0; } -void f_fun(double *state, double dt, double *out_467921565295650481) { - out_467921565295650481[0] = state[0]; - out_467921565295650481[1] = state[1]; - out_467921565295650481[2] = state[2]; - out_467921565295650481[3] = state[3]; - out_467921565295650481[4] = state[4]; - out_467921565295650481[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_467921565295650481[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_467921565295650481[7] = state[7]; - out_467921565295650481[8] = state[8]; +void f_fun(double *state, double dt, double *out_6946480961019455904) { + out_6946480961019455904[0] = state[0]; + out_6946480961019455904[1] = state[1]; + out_6946480961019455904[2] = state[2]; + out_6946480961019455904[3] = state[3]; + out_6946480961019455904[4] = state[4]; + out_6946480961019455904[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_6946480961019455904[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_6946480961019455904[7] = state[7]; + out_6946480961019455904[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2429260194375294140) { - out_2429260194375294140[0] = 1; - out_2429260194375294140[1] = 0; - out_2429260194375294140[2] = 0; - out_2429260194375294140[3] = 0; - out_2429260194375294140[4] = 0; - out_2429260194375294140[5] = 0; - out_2429260194375294140[6] = 0; - out_2429260194375294140[7] = 0; - out_2429260194375294140[8] = 0; - out_2429260194375294140[9] = 0; - out_2429260194375294140[10] = 1; - out_2429260194375294140[11] = 0; - out_2429260194375294140[12] = 0; - out_2429260194375294140[13] = 0; - out_2429260194375294140[14] = 0; - out_2429260194375294140[15] = 0; - out_2429260194375294140[16] = 0; - out_2429260194375294140[17] = 0; - out_2429260194375294140[18] = 0; - out_2429260194375294140[19] = 0; - out_2429260194375294140[20] = 1; - out_2429260194375294140[21] = 0; - out_2429260194375294140[22] = 0; - out_2429260194375294140[23] = 0; - out_2429260194375294140[24] = 0; - out_2429260194375294140[25] = 0; - out_2429260194375294140[26] = 0; - out_2429260194375294140[27] = 0; - out_2429260194375294140[28] = 0; - out_2429260194375294140[29] = 0; - out_2429260194375294140[30] = 1; - out_2429260194375294140[31] = 0; - out_2429260194375294140[32] = 0; - out_2429260194375294140[33] = 0; - out_2429260194375294140[34] = 0; - out_2429260194375294140[35] = 0; - out_2429260194375294140[36] = 0; - out_2429260194375294140[37] = 0; - out_2429260194375294140[38] = 0; - out_2429260194375294140[39] = 0; - out_2429260194375294140[40] = 1; - out_2429260194375294140[41] = 0; - out_2429260194375294140[42] = 0; - out_2429260194375294140[43] = 0; - out_2429260194375294140[44] = 0; - out_2429260194375294140[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_2429260194375294140[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2429260194375294140[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2429260194375294140[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2429260194375294140[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_2429260194375294140[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2429260194375294140[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2429260194375294140[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2429260194375294140[53] = -9.8100000000000005*dt; - out_2429260194375294140[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_2429260194375294140[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2429260194375294140[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2429260194375294140[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2429260194375294140[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_2429260194375294140[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2429260194375294140[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_2429260194375294140[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2429260194375294140[62] = 0; - out_2429260194375294140[63] = 0; - out_2429260194375294140[64] = 0; - out_2429260194375294140[65] = 0; - out_2429260194375294140[66] = 0; - out_2429260194375294140[67] = 0; - out_2429260194375294140[68] = 0; - out_2429260194375294140[69] = 0; - out_2429260194375294140[70] = 1; - out_2429260194375294140[71] = 0; - out_2429260194375294140[72] = 0; - out_2429260194375294140[73] = 0; - out_2429260194375294140[74] = 0; - out_2429260194375294140[75] = 0; - out_2429260194375294140[76] = 0; - out_2429260194375294140[77] = 0; - out_2429260194375294140[78] = 0; - out_2429260194375294140[79] = 0; - out_2429260194375294140[80] = 1; +void F_fun(double *state, double dt, double *out_2425315094814185050) { + out_2425315094814185050[0] = 1; + out_2425315094814185050[1] = 0; + out_2425315094814185050[2] = 0; + out_2425315094814185050[3] = 0; + out_2425315094814185050[4] = 0; + out_2425315094814185050[5] = 0; + out_2425315094814185050[6] = 0; + out_2425315094814185050[7] = 0; + out_2425315094814185050[8] = 0; + out_2425315094814185050[9] = 0; + out_2425315094814185050[10] = 1; + out_2425315094814185050[11] = 0; + out_2425315094814185050[12] = 0; + out_2425315094814185050[13] = 0; + out_2425315094814185050[14] = 0; + out_2425315094814185050[15] = 0; + out_2425315094814185050[16] = 0; + out_2425315094814185050[17] = 0; + out_2425315094814185050[18] = 0; + out_2425315094814185050[19] = 0; + out_2425315094814185050[20] = 1; + out_2425315094814185050[21] = 0; + out_2425315094814185050[22] = 0; + out_2425315094814185050[23] = 0; + out_2425315094814185050[24] = 0; + out_2425315094814185050[25] = 0; + out_2425315094814185050[26] = 0; + out_2425315094814185050[27] = 0; + out_2425315094814185050[28] = 0; + out_2425315094814185050[29] = 0; + out_2425315094814185050[30] = 1; + out_2425315094814185050[31] = 0; + out_2425315094814185050[32] = 0; + out_2425315094814185050[33] = 0; + out_2425315094814185050[34] = 0; + out_2425315094814185050[35] = 0; + out_2425315094814185050[36] = 0; + out_2425315094814185050[37] = 0; + out_2425315094814185050[38] = 0; + out_2425315094814185050[39] = 0; + out_2425315094814185050[40] = 1; + out_2425315094814185050[41] = 0; + out_2425315094814185050[42] = 0; + out_2425315094814185050[43] = 0; + out_2425315094814185050[44] = 0; + out_2425315094814185050[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_2425315094814185050[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2425315094814185050[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2425315094814185050[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2425315094814185050[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_2425315094814185050[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2425315094814185050[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2425315094814185050[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2425315094814185050[53] = -9.8100000000000005*dt; + out_2425315094814185050[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_2425315094814185050[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2425315094814185050[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2425315094814185050[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2425315094814185050[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_2425315094814185050[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2425315094814185050[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_2425315094814185050[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2425315094814185050[62] = 0; + out_2425315094814185050[63] = 0; + out_2425315094814185050[64] = 0; + out_2425315094814185050[65] = 0; + out_2425315094814185050[66] = 0; + out_2425315094814185050[67] = 0; + out_2425315094814185050[68] = 0; + out_2425315094814185050[69] = 0; + out_2425315094814185050[70] = 1; + out_2425315094814185050[71] = 0; + out_2425315094814185050[72] = 0; + out_2425315094814185050[73] = 0; + out_2425315094814185050[74] = 0; + out_2425315094814185050[75] = 0; + out_2425315094814185050[76] = 0; + out_2425315094814185050[77] = 0; + out_2425315094814185050[78] = 0; + out_2425315094814185050[79] = 0; + out_2425315094814185050[80] = 1; } -void h_25(double *state, double *unused, double *out_4530459753918271082) { - out_4530459753918271082[0] = state[6]; +void h_25(double *state, double *unused, double *out_3083351420745802205) { + out_3083351420745802205[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4551338626615593728) { - out_4551338626615593728[0] = 0; - out_4551338626615593728[1] = 0; - out_4551338626615593728[2] = 0; - out_4551338626615593728[3] = 0; - out_4551338626615593728[4] = 0; - out_4551338626615593728[5] = 0; - out_4551338626615593728[6] = 1; - out_4551338626615593728[7] = 0; - out_4551338626615593728[8] = 0; +void H_25(double *state, double *unused, double *out_1342134769348572192) { + out_1342134769348572192[0] = 0; + out_1342134769348572192[1] = 0; + out_1342134769348572192[2] = 0; + out_1342134769348572192[3] = 0; + out_1342134769348572192[4] = 0; + out_1342134769348572192[5] = 0; + out_1342134769348572192[6] = 1; + out_1342134769348572192[7] = 0; + out_1342134769348572192[8] = 0; } -void h_24(double *state, double *unused, double *out_211848015086222289) { - out_211848015086222289[0] = state[4]; - out_211848015086222289[1] = state[5]; +void h_24(double *state, double *unused, double *out_7968288456028556638) { + out_7968288456028556638[0] = state[4]; + out_7968288456028556638[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7319833640502439787) { - out_7319833640502439787[0] = 0; - out_7319833640502439787[1] = 0; - out_7319833640502439787[2] = 0; - out_7319833640502439787[3] = 0; - out_7319833640502439787[4] = 1; - out_7319833640502439787[5] = 0; - out_7319833640502439787[6] = 0; - out_7319833640502439787[7] = 0; - out_7319833640502439787[8] = 0; - out_7319833640502439787[9] = 0; - out_7319833640502439787[10] = 0; - out_7319833640502439787[11] = 0; - out_7319833640502439787[12] = 0; - out_7319833640502439787[13] = 0; - out_7319833640502439787[14] = 1; - out_7319833640502439787[15] = 0; - out_7319833640502439787[16] = 0; - out_7319833640502439787[17] = 0; +void H_24(double *state, double *unused, double *out_7917706575940090293) { + out_7917706575940090293[0] = 0; + out_7917706575940090293[1] = 0; + out_7917706575940090293[2] = 0; + out_7917706575940090293[3] = 0; + out_7917706575940090293[4] = 1; + out_7917706575940090293[5] = 0; + out_7917706575940090293[6] = 0; + out_7917706575940090293[7] = 0; + out_7917706575940090293[8] = 0; + out_7917706575940090293[9] = 0; + out_7917706575940090293[10] = 0; + out_7917706575940090293[11] = 0; + out_7917706575940090293[12] = 0; + out_7917706575940090293[13] = 0; + out_7917706575940090293[14] = 1; + out_7917706575940090293[15] = 0; + out_7917706575940090293[16] = 0; + out_7917706575940090293[17] = 0; } -void h_30(double *state, double *unused, double *out_4687646422269400227) { - out_4687646422269400227[0] = state[4]; +void h_30(double *state, double *unused, double *out_8592557426613398475) { + out_8592557426613398475[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4421999679472353658) { - out_4421999679472353658[0] = 0; - out_4421999679472353658[1] = 0; - out_4421999679472353658[2] = 0; - out_4421999679472353658[3] = 0; - out_4421999679472353658[4] = 1; - out_4421999679472353658[5] = 0; - out_4421999679472353658[6] = 0; - out_4421999679472353658[7] = 0; - out_4421999679472353658[8] = 0; +void H_30(double *state, double *unused, double *out_8258825110840188947) { + out_8258825110840188947[0] = 0; + out_8258825110840188947[1] = 0; + out_8258825110840188947[2] = 0; + out_8258825110840188947[3] = 0; + out_8258825110840188947[4] = 1; + out_8258825110840188947[5] = 0; + out_8258825110840188947[6] = 0; + out_8258825110840188947[7] = 0; + out_8258825110840188947[8] = 0; } -void h_26(double *state, double *unused, double *out_1875094318999546844) { - out_1875094318999546844[0] = state[7]; +void h_26(double *state, double *unused, double *out_3590884158952552830) { + out_3590884158952552830[0] = state[7]; } -void H_26(double *state, double *unused, double *out_809835307741537504) { - out_809835307741537504[0] = 0; - out_809835307741537504[1] = 0; - out_809835307741537504[2] = 0; - out_809835307741537504[3] = 0; - out_809835307741537504[4] = 0; - out_809835307741537504[5] = 0; - out_809835307741537504[6] = 0; - out_809835307741537504[7] = 1; - out_809835307741537504[8] = 0; +void H_26(double *state, double *unused, double *out_2399368549525484032) { + out_2399368549525484032[0] = 0; + out_2399368549525484032[1] = 0; + out_2399368549525484032[2] = 0; + out_2399368549525484032[3] = 0; + out_2399368549525484032[4] = 0; + out_2399368549525484032[5] = 0; + out_2399368549525484032[6] = 0; + out_2399368549525484032[7] = 1; + out_2399368549525484032[8] = 0; } -void h_27(double *state, double *unused, double *out_8953904322109987302) { - out_8953904322109987302[0] = state[3]; +void h_27(double *state, double *unused, double *out_5937191991694674237) { + out_5937191991694674237[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2247236367671928747) { - out_2247236367671928747[0] = 0; - out_2247236367671928747[1] = 0; - out_2247236367671928747[2] = 0; - out_2247236367671928747[3] = 1; - out_2247236367671928747[4] = 0; - out_2247236367671928747[5] = 0; - out_2247236367671928747[6] = 0; - out_2247236367671928747[7] = 0; - out_2247236367671928747[8] = 0; +void H_27(double *state, double *unused, double *out_961967489595092789) { + out_961967489595092789[0] = 0; + out_961967489595092789[1] = 0; + out_961967489595092789[2] = 0; + out_961967489595092789[3] = 1; + out_961967489595092789[4] = 0; + out_961967489595092789[5] = 0; + out_961967489595092789[6] = 0; + out_961967489595092789[7] = 0; + out_961967489595092789[8] = 0; } -void h_29(double *state, double *unused, double *out_5855390223345541964) { - out_5855390223345541964[0] = state[1]; +void h_29(double *state, double *unused, double *out_5780005323343545092) { + out_5780005323343545092[0] = state[1]; } -void H_29(double *state, double *unused, double *out_4932231023786745842) { - out_4932231023786745842[0] = 0; - out_4932231023786745842[1] = 1; - out_4932231023786745842[2] = 0; - out_4932231023786745842[3] = 0; - out_4932231023786745842[4] = 0; - out_4932231023786745842[5] = 0; - out_4932231023786745842[6] = 0; - out_4932231023786745842[7] = 0; - out_4932231023786745842[8] = 0; +void H_29(double *state, double *unused, double *out_1723027166519724306) { + out_1723027166519724306[0] = 0; + out_1723027166519724306[1] = 1; + out_1723027166519724306[2] = 0; + out_1723027166519724306[3] = 0; + out_1723027166519724306[4] = 0; + out_1723027166519724306[5] = 0; + out_1723027166519724306[6] = 0; + out_1723027166519724306[7] = 0; + out_1723027166519724306[8] = 0; } -void h_28(double *state, double *unused, double *out_8510755658264266202) { - out_8510755658264266202[0] = state[0]; +void h_28(double *state, double *unused, double *out_974811994013381005) { + out_974811994013381005[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6895861295352072093) { - out_6895861295352072093[0] = 1; - out_6895861295352072093[1] = 0; - out_6895861295352072093[2] = 0; - out_6895861295352072093[3] = 0; - out_6895861295352072093[4] = 0; - out_6895861295352072093[5] = 0; - out_6895861295352072093[6] = 0; - out_6895861295352072093[7] = 0; - out_6895861295352072093[8] = 0; +void H_28(double *state, double *unused, double *out_3686657438085050557) { + out_3686657438085050557[0] = 1; + out_3686657438085050557[1] = 0; + out_3686657438085050557[2] = 0; + out_3686657438085050557[3] = 0; + out_3686657438085050557[4] = 0; + out_3686657438085050557[5] = 0; + out_3686657438085050557[6] = 0; + out_3686657438085050557[7] = 0; + out_3686657438085050557[8] = 0; } -void h_31(double *state, double *unused, double *out_3677036992164635768) { - out_3677036992164635768[0] = state[8]; +void h_31(double *state, double *unused, double *out_2926164752394673060) { + out_2926164752394673060[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4581984588492554156) { - out_4581984588492554156[0] = 0; - out_4581984588492554156[1] = 0; - out_4581984588492554156[2] = 0; - out_4581984588492554156[3] = 0; - out_4581984588492554156[4] = 0; - out_4581984588492554156[5] = 0; - out_4581984588492554156[6] = 0; - out_4581984588492554156[7] = 0; - out_4581984588492554156[8] = 1; +void H_31(double *state, double *unused, double *out_1372780731225532620) { + out_1372780731225532620[0] = 0; + out_1372780731225532620[1] = 0; + out_1372780731225532620[2] = 0; + out_1372780731225532620[3] = 0; + out_1372780731225532620[4] = 0; + out_1372780731225532620[5] = 0; + out_1372780731225532620[6] = 0; + out_1372780731225532620[7] = 0; + out_1372780731225532620[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_789804740016769707) { - err_fun(nom_x, delta_x, out_789804740016769707); +void car_err_fun(double *nom_x, double *delta_x, double *out_1264104166079454940) { + err_fun(nom_x, delta_x, out_1264104166079454940); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_385986033898548509) { - inv_err_fun(nom_x, true_x, out_385986033898548509); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3182169158929336617) { + inv_err_fun(nom_x, true_x, out_3182169158929336617); } -void car_H_mod_fun(double *state, double *out_4046004184415297016) { - H_mod_fun(state, out_4046004184415297016); +void car_H_mod_fun(double *state, double *out_3410660055109284948) { + H_mod_fun(state, out_3410660055109284948); } -void car_f_fun(double *state, double dt, double *out_467921565295650481) { - f_fun(state, dt, out_467921565295650481); +void car_f_fun(double *state, double dt, double *out_6946480961019455904) { + f_fun(state, dt, out_6946480961019455904); } -void car_F_fun(double *state, double dt, double *out_2429260194375294140) { - F_fun(state, dt, out_2429260194375294140); +void car_F_fun(double *state, double dt, double *out_2425315094814185050) { + F_fun(state, dt, out_2425315094814185050); } -void car_h_25(double *state, double *unused, double *out_4530459753918271082) { - h_25(state, unused, out_4530459753918271082); +void car_h_25(double *state, double *unused, double *out_3083351420745802205) { + h_25(state, unused, out_3083351420745802205); } -void car_H_25(double *state, double *unused, double *out_4551338626615593728) { - H_25(state, unused, out_4551338626615593728); +void car_H_25(double *state, double *unused, double *out_1342134769348572192) { + H_25(state, unused, out_1342134769348572192); } -void car_h_24(double *state, double *unused, double *out_211848015086222289) { - h_24(state, unused, out_211848015086222289); +void car_h_24(double *state, double *unused, double *out_7968288456028556638) { + h_24(state, unused, out_7968288456028556638); } -void car_H_24(double *state, double *unused, double *out_7319833640502439787) { - H_24(state, unused, out_7319833640502439787); +void car_H_24(double *state, double *unused, double *out_7917706575940090293) { + H_24(state, unused, out_7917706575940090293); } -void car_h_30(double *state, double *unused, double *out_4687646422269400227) { - h_30(state, unused, out_4687646422269400227); +void car_h_30(double *state, double *unused, double *out_8592557426613398475) { + h_30(state, unused, out_8592557426613398475); } -void car_H_30(double *state, double *unused, double *out_4421999679472353658) { - H_30(state, unused, out_4421999679472353658); +void car_H_30(double *state, double *unused, double *out_8258825110840188947) { + H_30(state, unused, out_8258825110840188947); } -void car_h_26(double *state, double *unused, double *out_1875094318999546844) { - h_26(state, unused, out_1875094318999546844); +void car_h_26(double *state, double *unused, double *out_3590884158952552830) { + h_26(state, unused, out_3590884158952552830); } -void car_H_26(double *state, double *unused, double *out_809835307741537504) { - H_26(state, unused, out_809835307741537504); +void car_H_26(double *state, double *unused, double *out_2399368549525484032) { + H_26(state, unused, out_2399368549525484032); } -void car_h_27(double *state, double *unused, double *out_8953904322109987302) { - h_27(state, unused, out_8953904322109987302); +void car_h_27(double *state, double *unused, double *out_5937191991694674237) { + h_27(state, unused, out_5937191991694674237); } -void car_H_27(double *state, double *unused, double *out_2247236367671928747) { - H_27(state, unused, out_2247236367671928747); +void car_H_27(double *state, double *unused, double *out_961967489595092789) { + H_27(state, unused, out_961967489595092789); } -void car_h_29(double *state, double *unused, double *out_5855390223345541964) { - h_29(state, unused, out_5855390223345541964); +void car_h_29(double *state, double *unused, double *out_5780005323343545092) { + h_29(state, unused, out_5780005323343545092); } -void car_H_29(double *state, double *unused, double *out_4932231023786745842) { - H_29(state, unused, out_4932231023786745842); +void car_H_29(double *state, double *unused, double *out_1723027166519724306) { + H_29(state, unused, out_1723027166519724306); } -void car_h_28(double *state, double *unused, double *out_8510755658264266202) { - h_28(state, unused, out_8510755658264266202); +void car_h_28(double *state, double *unused, double *out_974811994013381005) { + h_28(state, unused, out_974811994013381005); } -void car_H_28(double *state, double *unused, double *out_6895861295352072093) { - H_28(state, unused, out_6895861295352072093); +void car_H_28(double *state, double *unused, double *out_3686657438085050557) { + H_28(state, unused, out_3686657438085050557); } -void car_h_31(double *state, double *unused, double *out_3677036992164635768) { - h_31(state, unused, out_3677036992164635768); +void car_h_31(double *state, double *unused, double *out_2926164752394673060) { + h_31(state, unused, out_2926164752394673060); } -void car_H_31(double *state, double *unused, double *out_4581984588492554156) { - H_31(state, unused, out_4581984588492554156); +void car_H_31(double *state, double *unused, double *out_1372780731225532620) { + H_31(state, unused, out_1372780731225532620); } 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 cd791113d8..da84444f67 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_789804740016769707); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_385986033898548509); -void car_H_mod_fun(double *state, double *out_4046004184415297016); -void car_f_fun(double *state, double dt, double *out_467921565295650481); -void car_F_fun(double *state, double dt, double *out_2429260194375294140); -void car_h_25(double *state, double *unused, double *out_4530459753918271082); -void car_H_25(double *state, double *unused, double *out_4551338626615593728); -void car_h_24(double *state, double *unused, double *out_211848015086222289); -void car_H_24(double *state, double *unused, double *out_7319833640502439787); -void car_h_30(double *state, double *unused, double *out_4687646422269400227); -void car_H_30(double *state, double *unused, double *out_4421999679472353658); -void car_h_26(double *state, double *unused, double *out_1875094318999546844); -void car_H_26(double *state, double *unused, double *out_809835307741537504); -void car_h_27(double *state, double *unused, double *out_8953904322109987302); -void car_H_27(double *state, double *unused, double *out_2247236367671928747); -void car_h_29(double *state, double *unused, double *out_5855390223345541964); -void car_H_29(double *state, double *unused, double *out_4932231023786745842); -void car_h_28(double *state, double *unused, double *out_8510755658264266202); -void car_H_28(double *state, double *unused, double *out_6895861295352072093); -void car_h_31(double *state, double *unused, double *out_3677036992164635768); -void car_H_31(double *state, double *unused, double *out_4581984588492554156); +void car_err_fun(double *nom_x, double *delta_x, double *out_1264104166079454940); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3182169158929336617); +void car_H_mod_fun(double *state, double *out_3410660055109284948); +void car_f_fun(double *state, double dt, double *out_6946480961019455904); +void car_F_fun(double *state, double dt, double *out_2425315094814185050); +void car_h_25(double *state, double *unused, double *out_3083351420745802205); +void car_H_25(double *state, double *unused, double *out_1342134769348572192); +void car_h_24(double *state, double *unused, double *out_7968288456028556638); +void car_H_24(double *state, double *unused, double *out_7917706575940090293); +void car_h_30(double *state, double *unused, double *out_8592557426613398475); +void car_H_30(double *state, double *unused, double *out_8258825110840188947); +void car_h_26(double *state, double *unused, double *out_3590884158952552830); +void car_H_26(double *state, double *unused, double *out_2399368549525484032); +void car_h_27(double *state, double *unused, double *out_5937191991694674237); +void car_H_27(double *state, double *unused, double *out_961967489595092789); +void car_h_29(double *state, double *unused, double *out_5780005323343545092); +void car_H_29(double *state, double *unused, double *out_1723027166519724306); +void car_h_28(double *state, double *unused, double *out_974811994013381005); +void car_H_28(double *state, double *unused, double *out_3686657438085050557); +void car_h_31(double *state, double *unused, double *out_2926164752394673060); +void car_H_31(double *state, double *unused, double *out_1372780731225532620); 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 471e203634..760b2a37ed 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_7754318151462489406) { - out_7754318151462489406[0] = delta_x[0] + nom_x[0]; - out_7754318151462489406[1] = delta_x[1] + nom_x[1]; - out_7754318151462489406[2] = delta_x[2] + nom_x[2]; - out_7754318151462489406[3] = delta_x[3] + nom_x[3]; - out_7754318151462489406[4] = delta_x[4] + nom_x[4]; - out_7754318151462489406[5] = delta_x[5] + nom_x[5]; - out_7754318151462489406[6] = delta_x[6] + nom_x[6]; - out_7754318151462489406[7] = delta_x[7] + nom_x[7]; - out_7754318151462489406[8] = delta_x[8] + nom_x[8]; - out_7754318151462489406[9] = delta_x[9] + nom_x[9]; - out_7754318151462489406[10] = delta_x[10] + nom_x[10]; - out_7754318151462489406[11] = delta_x[11] + nom_x[11]; - out_7754318151462489406[12] = delta_x[12] + nom_x[12]; - out_7754318151462489406[13] = delta_x[13] + nom_x[13]; - out_7754318151462489406[14] = delta_x[14] + nom_x[14]; - out_7754318151462489406[15] = delta_x[15] + nom_x[15]; - out_7754318151462489406[16] = delta_x[16] + nom_x[16]; - out_7754318151462489406[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_908811316603708218) { + out_908811316603708218[0] = delta_x[0] + nom_x[0]; + out_908811316603708218[1] = delta_x[1] + nom_x[1]; + out_908811316603708218[2] = delta_x[2] + nom_x[2]; + out_908811316603708218[3] = delta_x[3] + nom_x[3]; + out_908811316603708218[4] = delta_x[4] + nom_x[4]; + out_908811316603708218[5] = delta_x[5] + nom_x[5]; + out_908811316603708218[6] = delta_x[6] + nom_x[6]; + out_908811316603708218[7] = delta_x[7] + nom_x[7]; + out_908811316603708218[8] = delta_x[8] + nom_x[8]; + out_908811316603708218[9] = delta_x[9] + nom_x[9]; + out_908811316603708218[10] = delta_x[10] + nom_x[10]; + out_908811316603708218[11] = delta_x[11] + nom_x[11]; + out_908811316603708218[12] = delta_x[12] + nom_x[12]; + out_908811316603708218[13] = delta_x[13] + nom_x[13]; + out_908811316603708218[14] = delta_x[14] + nom_x[14]; + out_908811316603708218[15] = delta_x[15] + nom_x[15]; + out_908811316603708218[16] = delta_x[16] + nom_x[16]; + out_908811316603708218[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5172808168415891616) { - out_5172808168415891616[0] = -nom_x[0] + true_x[0]; - out_5172808168415891616[1] = -nom_x[1] + true_x[1]; - out_5172808168415891616[2] = -nom_x[2] + true_x[2]; - out_5172808168415891616[3] = -nom_x[3] + true_x[3]; - out_5172808168415891616[4] = -nom_x[4] + true_x[4]; - out_5172808168415891616[5] = -nom_x[5] + true_x[5]; - out_5172808168415891616[6] = -nom_x[6] + true_x[6]; - out_5172808168415891616[7] = -nom_x[7] + true_x[7]; - out_5172808168415891616[8] = -nom_x[8] + true_x[8]; - out_5172808168415891616[9] = -nom_x[9] + true_x[9]; - out_5172808168415891616[10] = -nom_x[10] + true_x[10]; - out_5172808168415891616[11] = -nom_x[11] + true_x[11]; - out_5172808168415891616[12] = -nom_x[12] + true_x[12]; - out_5172808168415891616[13] = -nom_x[13] + true_x[13]; - out_5172808168415891616[14] = -nom_x[14] + true_x[14]; - out_5172808168415891616[15] = -nom_x[15] + true_x[15]; - out_5172808168415891616[16] = -nom_x[16] + true_x[16]; - out_5172808168415891616[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6097135032344727242) { + out_6097135032344727242[0] = -nom_x[0] + true_x[0]; + out_6097135032344727242[1] = -nom_x[1] + true_x[1]; + out_6097135032344727242[2] = -nom_x[2] + true_x[2]; + out_6097135032344727242[3] = -nom_x[3] + true_x[3]; + out_6097135032344727242[4] = -nom_x[4] + true_x[4]; + out_6097135032344727242[5] = -nom_x[5] + true_x[5]; + out_6097135032344727242[6] = -nom_x[6] + true_x[6]; + out_6097135032344727242[7] = -nom_x[7] + true_x[7]; + out_6097135032344727242[8] = -nom_x[8] + true_x[8]; + out_6097135032344727242[9] = -nom_x[9] + true_x[9]; + out_6097135032344727242[10] = -nom_x[10] + true_x[10]; + out_6097135032344727242[11] = -nom_x[11] + true_x[11]; + out_6097135032344727242[12] = -nom_x[12] + true_x[12]; + out_6097135032344727242[13] = -nom_x[13] + true_x[13]; + out_6097135032344727242[14] = -nom_x[14] + true_x[14]; + out_6097135032344727242[15] = -nom_x[15] + true_x[15]; + out_6097135032344727242[16] = -nom_x[16] + true_x[16]; + out_6097135032344727242[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_2254475305049299983) { - out_2254475305049299983[0] = 1.0; - out_2254475305049299983[1] = 0.0; - out_2254475305049299983[2] = 0.0; - out_2254475305049299983[3] = 0.0; - out_2254475305049299983[4] = 0.0; - out_2254475305049299983[5] = 0.0; - out_2254475305049299983[6] = 0.0; - out_2254475305049299983[7] = 0.0; - out_2254475305049299983[8] = 0.0; - out_2254475305049299983[9] = 0.0; - out_2254475305049299983[10] = 0.0; - out_2254475305049299983[11] = 0.0; - out_2254475305049299983[12] = 0.0; - out_2254475305049299983[13] = 0.0; - out_2254475305049299983[14] = 0.0; - out_2254475305049299983[15] = 0.0; - out_2254475305049299983[16] = 0.0; - out_2254475305049299983[17] = 0.0; - out_2254475305049299983[18] = 0.0; - out_2254475305049299983[19] = 1.0; - out_2254475305049299983[20] = 0.0; - out_2254475305049299983[21] = 0.0; - out_2254475305049299983[22] = 0.0; - out_2254475305049299983[23] = 0.0; - out_2254475305049299983[24] = 0.0; - out_2254475305049299983[25] = 0.0; - out_2254475305049299983[26] = 0.0; - out_2254475305049299983[27] = 0.0; - out_2254475305049299983[28] = 0.0; - out_2254475305049299983[29] = 0.0; - out_2254475305049299983[30] = 0.0; - out_2254475305049299983[31] = 0.0; - out_2254475305049299983[32] = 0.0; - out_2254475305049299983[33] = 0.0; - out_2254475305049299983[34] = 0.0; - out_2254475305049299983[35] = 0.0; - out_2254475305049299983[36] = 0.0; - out_2254475305049299983[37] = 0.0; - out_2254475305049299983[38] = 1.0; - out_2254475305049299983[39] = 0.0; - out_2254475305049299983[40] = 0.0; - out_2254475305049299983[41] = 0.0; - out_2254475305049299983[42] = 0.0; - out_2254475305049299983[43] = 0.0; - out_2254475305049299983[44] = 0.0; - out_2254475305049299983[45] = 0.0; - out_2254475305049299983[46] = 0.0; - out_2254475305049299983[47] = 0.0; - out_2254475305049299983[48] = 0.0; - out_2254475305049299983[49] = 0.0; - out_2254475305049299983[50] = 0.0; - out_2254475305049299983[51] = 0.0; - out_2254475305049299983[52] = 0.0; - out_2254475305049299983[53] = 0.0; - out_2254475305049299983[54] = 0.0; - out_2254475305049299983[55] = 0.0; - out_2254475305049299983[56] = 0.0; - out_2254475305049299983[57] = 1.0; - out_2254475305049299983[58] = 0.0; - out_2254475305049299983[59] = 0.0; - out_2254475305049299983[60] = 0.0; - out_2254475305049299983[61] = 0.0; - out_2254475305049299983[62] = 0.0; - out_2254475305049299983[63] = 0.0; - out_2254475305049299983[64] = 0.0; - out_2254475305049299983[65] = 0.0; - out_2254475305049299983[66] = 0.0; - out_2254475305049299983[67] = 0.0; - out_2254475305049299983[68] = 0.0; - out_2254475305049299983[69] = 0.0; - out_2254475305049299983[70] = 0.0; - out_2254475305049299983[71] = 0.0; - out_2254475305049299983[72] = 0.0; - out_2254475305049299983[73] = 0.0; - out_2254475305049299983[74] = 0.0; - out_2254475305049299983[75] = 0.0; - out_2254475305049299983[76] = 1.0; - out_2254475305049299983[77] = 0.0; - out_2254475305049299983[78] = 0.0; - out_2254475305049299983[79] = 0.0; - out_2254475305049299983[80] = 0.0; - out_2254475305049299983[81] = 0.0; - out_2254475305049299983[82] = 0.0; - out_2254475305049299983[83] = 0.0; - out_2254475305049299983[84] = 0.0; - out_2254475305049299983[85] = 0.0; - out_2254475305049299983[86] = 0.0; - out_2254475305049299983[87] = 0.0; - out_2254475305049299983[88] = 0.0; - out_2254475305049299983[89] = 0.0; - out_2254475305049299983[90] = 0.0; - out_2254475305049299983[91] = 0.0; - out_2254475305049299983[92] = 0.0; - out_2254475305049299983[93] = 0.0; - out_2254475305049299983[94] = 0.0; - out_2254475305049299983[95] = 1.0; - out_2254475305049299983[96] = 0.0; - out_2254475305049299983[97] = 0.0; - out_2254475305049299983[98] = 0.0; - out_2254475305049299983[99] = 0.0; - out_2254475305049299983[100] = 0.0; - out_2254475305049299983[101] = 0.0; - out_2254475305049299983[102] = 0.0; - out_2254475305049299983[103] = 0.0; - out_2254475305049299983[104] = 0.0; - out_2254475305049299983[105] = 0.0; - out_2254475305049299983[106] = 0.0; - out_2254475305049299983[107] = 0.0; - out_2254475305049299983[108] = 0.0; - out_2254475305049299983[109] = 0.0; - out_2254475305049299983[110] = 0.0; - out_2254475305049299983[111] = 0.0; - out_2254475305049299983[112] = 0.0; - out_2254475305049299983[113] = 0.0; - out_2254475305049299983[114] = 1.0; - out_2254475305049299983[115] = 0.0; - out_2254475305049299983[116] = 0.0; - out_2254475305049299983[117] = 0.0; - out_2254475305049299983[118] = 0.0; - out_2254475305049299983[119] = 0.0; - out_2254475305049299983[120] = 0.0; - out_2254475305049299983[121] = 0.0; - out_2254475305049299983[122] = 0.0; - out_2254475305049299983[123] = 0.0; - out_2254475305049299983[124] = 0.0; - out_2254475305049299983[125] = 0.0; - out_2254475305049299983[126] = 0.0; - out_2254475305049299983[127] = 0.0; - out_2254475305049299983[128] = 0.0; - out_2254475305049299983[129] = 0.0; - out_2254475305049299983[130] = 0.0; - out_2254475305049299983[131] = 0.0; - out_2254475305049299983[132] = 0.0; - out_2254475305049299983[133] = 1.0; - out_2254475305049299983[134] = 0.0; - out_2254475305049299983[135] = 0.0; - out_2254475305049299983[136] = 0.0; - out_2254475305049299983[137] = 0.0; - out_2254475305049299983[138] = 0.0; - out_2254475305049299983[139] = 0.0; - out_2254475305049299983[140] = 0.0; - out_2254475305049299983[141] = 0.0; - out_2254475305049299983[142] = 0.0; - out_2254475305049299983[143] = 0.0; - out_2254475305049299983[144] = 0.0; - out_2254475305049299983[145] = 0.0; - out_2254475305049299983[146] = 0.0; - out_2254475305049299983[147] = 0.0; - out_2254475305049299983[148] = 0.0; - out_2254475305049299983[149] = 0.0; - out_2254475305049299983[150] = 0.0; - out_2254475305049299983[151] = 0.0; - out_2254475305049299983[152] = 1.0; - out_2254475305049299983[153] = 0.0; - out_2254475305049299983[154] = 0.0; - out_2254475305049299983[155] = 0.0; - out_2254475305049299983[156] = 0.0; - out_2254475305049299983[157] = 0.0; - out_2254475305049299983[158] = 0.0; - out_2254475305049299983[159] = 0.0; - out_2254475305049299983[160] = 0.0; - out_2254475305049299983[161] = 0.0; - out_2254475305049299983[162] = 0.0; - out_2254475305049299983[163] = 0.0; - out_2254475305049299983[164] = 0.0; - out_2254475305049299983[165] = 0.0; - out_2254475305049299983[166] = 0.0; - out_2254475305049299983[167] = 0.0; - out_2254475305049299983[168] = 0.0; - out_2254475305049299983[169] = 0.0; - out_2254475305049299983[170] = 0.0; - out_2254475305049299983[171] = 1.0; - out_2254475305049299983[172] = 0.0; - out_2254475305049299983[173] = 0.0; - out_2254475305049299983[174] = 0.0; - out_2254475305049299983[175] = 0.0; - out_2254475305049299983[176] = 0.0; - out_2254475305049299983[177] = 0.0; - out_2254475305049299983[178] = 0.0; - out_2254475305049299983[179] = 0.0; - out_2254475305049299983[180] = 0.0; - out_2254475305049299983[181] = 0.0; - out_2254475305049299983[182] = 0.0; - out_2254475305049299983[183] = 0.0; - out_2254475305049299983[184] = 0.0; - out_2254475305049299983[185] = 0.0; - out_2254475305049299983[186] = 0.0; - out_2254475305049299983[187] = 0.0; - out_2254475305049299983[188] = 0.0; - out_2254475305049299983[189] = 0.0; - out_2254475305049299983[190] = 1.0; - out_2254475305049299983[191] = 0.0; - out_2254475305049299983[192] = 0.0; - out_2254475305049299983[193] = 0.0; - out_2254475305049299983[194] = 0.0; - out_2254475305049299983[195] = 0.0; - out_2254475305049299983[196] = 0.0; - out_2254475305049299983[197] = 0.0; - out_2254475305049299983[198] = 0.0; - out_2254475305049299983[199] = 0.0; - out_2254475305049299983[200] = 0.0; - out_2254475305049299983[201] = 0.0; - out_2254475305049299983[202] = 0.0; - out_2254475305049299983[203] = 0.0; - out_2254475305049299983[204] = 0.0; - out_2254475305049299983[205] = 0.0; - out_2254475305049299983[206] = 0.0; - out_2254475305049299983[207] = 0.0; - out_2254475305049299983[208] = 0.0; - out_2254475305049299983[209] = 1.0; - out_2254475305049299983[210] = 0.0; - out_2254475305049299983[211] = 0.0; - out_2254475305049299983[212] = 0.0; - out_2254475305049299983[213] = 0.0; - out_2254475305049299983[214] = 0.0; - out_2254475305049299983[215] = 0.0; - out_2254475305049299983[216] = 0.0; - out_2254475305049299983[217] = 0.0; - out_2254475305049299983[218] = 0.0; - out_2254475305049299983[219] = 0.0; - out_2254475305049299983[220] = 0.0; - out_2254475305049299983[221] = 0.0; - out_2254475305049299983[222] = 0.0; - out_2254475305049299983[223] = 0.0; - out_2254475305049299983[224] = 0.0; - out_2254475305049299983[225] = 0.0; - out_2254475305049299983[226] = 0.0; - out_2254475305049299983[227] = 0.0; - out_2254475305049299983[228] = 1.0; - out_2254475305049299983[229] = 0.0; - out_2254475305049299983[230] = 0.0; - out_2254475305049299983[231] = 0.0; - out_2254475305049299983[232] = 0.0; - out_2254475305049299983[233] = 0.0; - out_2254475305049299983[234] = 0.0; - out_2254475305049299983[235] = 0.0; - out_2254475305049299983[236] = 0.0; - out_2254475305049299983[237] = 0.0; - out_2254475305049299983[238] = 0.0; - out_2254475305049299983[239] = 0.0; - out_2254475305049299983[240] = 0.0; - out_2254475305049299983[241] = 0.0; - out_2254475305049299983[242] = 0.0; - out_2254475305049299983[243] = 0.0; - out_2254475305049299983[244] = 0.0; - out_2254475305049299983[245] = 0.0; - out_2254475305049299983[246] = 0.0; - out_2254475305049299983[247] = 1.0; - out_2254475305049299983[248] = 0.0; - out_2254475305049299983[249] = 0.0; - out_2254475305049299983[250] = 0.0; - out_2254475305049299983[251] = 0.0; - out_2254475305049299983[252] = 0.0; - out_2254475305049299983[253] = 0.0; - out_2254475305049299983[254] = 0.0; - out_2254475305049299983[255] = 0.0; - out_2254475305049299983[256] = 0.0; - out_2254475305049299983[257] = 0.0; - out_2254475305049299983[258] = 0.0; - out_2254475305049299983[259] = 0.0; - out_2254475305049299983[260] = 0.0; - out_2254475305049299983[261] = 0.0; - out_2254475305049299983[262] = 0.0; - out_2254475305049299983[263] = 0.0; - out_2254475305049299983[264] = 0.0; - out_2254475305049299983[265] = 0.0; - out_2254475305049299983[266] = 1.0; - out_2254475305049299983[267] = 0.0; - out_2254475305049299983[268] = 0.0; - out_2254475305049299983[269] = 0.0; - out_2254475305049299983[270] = 0.0; - out_2254475305049299983[271] = 0.0; - out_2254475305049299983[272] = 0.0; - out_2254475305049299983[273] = 0.0; - out_2254475305049299983[274] = 0.0; - out_2254475305049299983[275] = 0.0; - out_2254475305049299983[276] = 0.0; - out_2254475305049299983[277] = 0.0; - out_2254475305049299983[278] = 0.0; - out_2254475305049299983[279] = 0.0; - out_2254475305049299983[280] = 0.0; - out_2254475305049299983[281] = 0.0; - out_2254475305049299983[282] = 0.0; - out_2254475305049299983[283] = 0.0; - out_2254475305049299983[284] = 0.0; - out_2254475305049299983[285] = 1.0; - out_2254475305049299983[286] = 0.0; - out_2254475305049299983[287] = 0.0; - out_2254475305049299983[288] = 0.0; - out_2254475305049299983[289] = 0.0; - out_2254475305049299983[290] = 0.0; - out_2254475305049299983[291] = 0.0; - out_2254475305049299983[292] = 0.0; - out_2254475305049299983[293] = 0.0; - out_2254475305049299983[294] = 0.0; - out_2254475305049299983[295] = 0.0; - out_2254475305049299983[296] = 0.0; - out_2254475305049299983[297] = 0.0; - out_2254475305049299983[298] = 0.0; - out_2254475305049299983[299] = 0.0; - out_2254475305049299983[300] = 0.0; - out_2254475305049299983[301] = 0.0; - out_2254475305049299983[302] = 0.0; - out_2254475305049299983[303] = 0.0; - out_2254475305049299983[304] = 1.0; - out_2254475305049299983[305] = 0.0; - out_2254475305049299983[306] = 0.0; - out_2254475305049299983[307] = 0.0; - out_2254475305049299983[308] = 0.0; - out_2254475305049299983[309] = 0.0; - out_2254475305049299983[310] = 0.0; - out_2254475305049299983[311] = 0.0; - out_2254475305049299983[312] = 0.0; - out_2254475305049299983[313] = 0.0; - out_2254475305049299983[314] = 0.0; - out_2254475305049299983[315] = 0.0; - out_2254475305049299983[316] = 0.0; - out_2254475305049299983[317] = 0.0; - out_2254475305049299983[318] = 0.0; - out_2254475305049299983[319] = 0.0; - out_2254475305049299983[320] = 0.0; - out_2254475305049299983[321] = 0.0; - out_2254475305049299983[322] = 0.0; - out_2254475305049299983[323] = 1.0; +void H_mod_fun(double *state, double *out_5840907614347766849) { + out_5840907614347766849[0] = 1.0; + out_5840907614347766849[1] = 0.0; + out_5840907614347766849[2] = 0.0; + out_5840907614347766849[3] = 0.0; + out_5840907614347766849[4] = 0.0; + out_5840907614347766849[5] = 0.0; + out_5840907614347766849[6] = 0.0; + out_5840907614347766849[7] = 0.0; + out_5840907614347766849[8] = 0.0; + out_5840907614347766849[9] = 0.0; + out_5840907614347766849[10] = 0.0; + out_5840907614347766849[11] = 0.0; + out_5840907614347766849[12] = 0.0; + out_5840907614347766849[13] = 0.0; + out_5840907614347766849[14] = 0.0; + out_5840907614347766849[15] = 0.0; + out_5840907614347766849[16] = 0.0; + out_5840907614347766849[17] = 0.0; + out_5840907614347766849[18] = 0.0; + out_5840907614347766849[19] = 1.0; + out_5840907614347766849[20] = 0.0; + out_5840907614347766849[21] = 0.0; + out_5840907614347766849[22] = 0.0; + out_5840907614347766849[23] = 0.0; + out_5840907614347766849[24] = 0.0; + out_5840907614347766849[25] = 0.0; + out_5840907614347766849[26] = 0.0; + out_5840907614347766849[27] = 0.0; + out_5840907614347766849[28] = 0.0; + out_5840907614347766849[29] = 0.0; + out_5840907614347766849[30] = 0.0; + out_5840907614347766849[31] = 0.0; + out_5840907614347766849[32] = 0.0; + out_5840907614347766849[33] = 0.0; + out_5840907614347766849[34] = 0.0; + out_5840907614347766849[35] = 0.0; + out_5840907614347766849[36] = 0.0; + out_5840907614347766849[37] = 0.0; + out_5840907614347766849[38] = 1.0; + out_5840907614347766849[39] = 0.0; + out_5840907614347766849[40] = 0.0; + out_5840907614347766849[41] = 0.0; + out_5840907614347766849[42] = 0.0; + out_5840907614347766849[43] = 0.0; + out_5840907614347766849[44] = 0.0; + out_5840907614347766849[45] = 0.0; + out_5840907614347766849[46] = 0.0; + out_5840907614347766849[47] = 0.0; + out_5840907614347766849[48] = 0.0; + out_5840907614347766849[49] = 0.0; + out_5840907614347766849[50] = 0.0; + out_5840907614347766849[51] = 0.0; + out_5840907614347766849[52] = 0.0; + out_5840907614347766849[53] = 0.0; + out_5840907614347766849[54] = 0.0; + out_5840907614347766849[55] = 0.0; + out_5840907614347766849[56] = 0.0; + out_5840907614347766849[57] = 1.0; + out_5840907614347766849[58] = 0.0; + out_5840907614347766849[59] = 0.0; + out_5840907614347766849[60] = 0.0; + out_5840907614347766849[61] = 0.0; + out_5840907614347766849[62] = 0.0; + out_5840907614347766849[63] = 0.0; + out_5840907614347766849[64] = 0.0; + out_5840907614347766849[65] = 0.0; + out_5840907614347766849[66] = 0.0; + out_5840907614347766849[67] = 0.0; + out_5840907614347766849[68] = 0.0; + out_5840907614347766849[69] = 0.0; + out_5840907614347766849[70] = 0.0; + out_5840907614347766849[71] = 0.0; + out_5840907614347766849[72] = 0.0; + out_5840907614347766849[73] = 0.0; + out_5840907614347766849[74] = 0.0; + out_5840907614347766849[75] = 0.0; + out_5840907614347766849[76] = 1.0; + out_5840907614347766849[77] = 0.0; + out_5840907614347766849[78] = 0.0; + out_5840907614347766849[79] = 0.0; + out_5840907614347766849[80] = 0.0; + out_5840907614347766849[81] = 0.0; + out_5840907614347766849[82] = 0.0; + out_5840907614347766849[83] = 0.0; + out_5840907614347766849[84] = 0.0; + out_5840907614347766849[85] = 0.0; + out_5840907614347766849[86] = 0.0; + out_5840907614347766849[87] = 0.0; + out_5840907614347766849[88] = 0.0; + out_5840907614347766849[89] = 0.0; + out_5840907614347766849[90] = 0.0; + out_5840907614347766849[91] = 0.0; + out_5840907614347766849[92] = 0.0; + out_5840907614347766849[93] = 0.0; + out_5840907614347766849[94] = 0.0; + out_5840907614347766849[95] = 1.0; + out_5840907614347766849[96] = 0.0; + out_5840907614347766849[97] = 0.0; + out_5840907614347766849[98] = 0.0; + out_5840907614347766849[99] = 0.0; + out_5840907614347766849[100] = 0.0; + out_5840907614347766849[101] = 0.0; + out_5840907614347766849[102] = 0.0; + out_5840907614347766849[103] = 0.0; + out_5840907614347766849[104] = 0.0; + out_5840907614347766849[105] = 0.0; + out_5840907614347766849[106] = 0.0; + out_5840907614347766849[107] = 0.0; + out_5840907614347766849[108] = 0.0; + out_5840907614347766849[109] = 0.0; + out_5840907614347766849[110] = 0.0; + out_5840907614347766849[111] = 0.0; + out_5840907614347766849[112] = 0.0; + out_5840907614347766849[113] = 0.0; + out_5840907614347766849[114] = 1.0; + out_5840907614347766849[115] = 0.0; + out_5840907614347766849[116] = 0.0; + out_5840907614347766849[117] = 0.0; + out_5840907614347766849[118] = 0.0; + out_5840907614347766849[119] = 0.0; + out_5840907614347766849[120] = 0.0; + out_5840907614347766849[121] = 0.0; + out_5840907614347766849[122] = 0.0; + out_5840907614347766849[123] = 0.0; + out_5840907614347766849[124] = 0.0; + out_5840907614347766849[125] = 0.0; + out_5840907614347766849[126] = 0.0; + out_5840907614347766849[127] = 0.0; + out_5840907614347766849[128] = 0.0; + out_5840907614347766849[129] = 0.0; + out_5840907614347766849[130] = 0.0; + out_5840907614347766849[131] = 0.0; + out_5840907614347766849[132] = 0.0; + out_5840907614347766849[133] = 1.0; + out_5840907614347766849[134] = 0.0; + out_5840907614347766849[135] = 0.0; + out_5840907614347766849[136] = 0.0; + out_5840907614347766849[137] = 0.0; + out_5840907614347766849[138] = 0.0; + out_5840907614347766849[139] = 0.0; + out_5840907614347766849[140] = 0.0; + out_5840907614347766849[141] = 0.0; + out_5840907614347766849[142] = 0.0; + out_5840907614347766849[143] = 0.0; + out_5840907614347766849[144] = 0.0; + out_5840907614347766849[145] = 0.0; + out_5840907614347766849[146] = 0.0; + out_5840907614347766849[147] = 0.0; + out_5840907614347766849[148] = 0.0; + out_5840907614347766849[149] = 0.0; + out_5840907614347766849[150] = 0.0; + out_5840907614347766849[151] = 0.0; + out_5840907614347766849[152] = 1.0; + out_5840907614347766849[153] = 0.0; + out_5840907614347766849[154] = 0.0; + out_5840907614347766849[155] = 0.0; + out_5840907614347766849[156] = 0.0; + out_5840907614347766849[157] = 0.0; + out_5840907614347766849[158] = 0.0; + out_5840907614347766849[159] = 0.0; + out_5840907614347766849[160] = 0.0; + out_5840907614347766849[161] = 0.0; + out_5840907614347766849[162] = 0.0; + out_5840907614347766849[163] = 0.0; + out_5840907614347766849[164] = 0.0; + out_5840907614347766849[165] = 0.0; + out_5840907614347766849[166] = 0.0; + out_5840907614347766849[167] = 0.0; + out_5840907614347766849[168] = 0.0; + out_5840907614347766849[169] = 0.0; + out_5840907614347766849[170] = 0.0; + out_5840907614347766849[171] = 1.0; + out_5840907614347766849[172] = 0.0; + out_5840907614347766849[173] = 0.0; + out_5840907614347766849[174] = 0.0; + out_5840907614347766849[175] = 0.0; + out_5840907614347766849[176] = 0.0; + out_5840907614347766849[177] = 0.0; + out_5840907614347766849[178] = 0.0; + out_5840907614347766849[179] = 0.0; + out_5840907614347766849[180] = 0.0; + out_5840907614347766849[181] = 0.0; + out_5840907614347766849[182] = 0.0; + out_5840907614347766849[183] = 0.0; + out_5840907614347766849[184] = 0.0; + out_5840907614347766849[185] = 0.0; + out_5840907614347766849[186] = 0.0; + out_5840907614347766849[187] = 0.0; + out_5840907614347766849[188] = 0.0; + out_5840907614347766849[189] = 0.0; + out_5840907614347766849[190] = 1.0; + out_5840907614347766849[191] = 0.0; + out_5840907614347766849[192] = 0.0; + out_5840907614347766849[193] = 0.0; + out_5840907614347766849[194] = 0.0; + out_5840907614347766849[195] = 0.0; + out_5840907614347766849[196] = 0.0; + out_5840907614347766849[197] = 0.0; + out_5840907614347766849[198] = 0.0; + out_5840907614347766849[199] = 0.0; + out_5840907614347766849[200] = 0.0; + out_5840907614347766849[201] = 0.0; + out_5840907614347766849[202] = 0.0; + out_5840907614347766849[203] = 0.0; + out_5840907614347766849[204] = 0.0; + out_5840907614347766849[205] = 0.0; + out_5840907614347766849[206] = 0.0; + out_5840907614347766849[207] = 0.0; + out_5840907614347766849[208] = 0.0; + out_5840907614347766849[209] = 1.0; + out_5840907614347766849[210] = 0.0; + out_5840907614347766849[211] = 0.0; + out_5840907614347766849[212] = 0.0; + out_5840907614347766849[213] = 0.0; + out_5840907614347766849[214] = 0.0; + out_5840907614347766849[215] = 0.0; + out_5840907614347766849[216] = 0.0; + out_5840907614347766849[217] = 0.0; + out_5840907614347766849[218] = 0.0; + out_5840907614347766849[219] = 0.0; + out_5840907614347766849[220] = 0.0; + out_5840907614347766849[221] = 0.0; + out_5840907614347766849[222] = 0.0; + out_5840907614347766849[223] = 0.0; + out_5840907614347766849[224] = 0.0; + out_5840907614347766849[225] = 0.0; + out_5840907614347766849[226] = 0.0; + out_5840907614347766849[227] = 0.0; + out_5840907614347766849[228] = 1.0; + out_5840907614347766849[229] = 0.0; + out_5840907614347766849[230] = 0.0; + out_5840907614347766849[231] = 0.0; + out_5840907614347766849[232] = 0.0; + out_5840907614347766849[233] = 0.0; + out_5840907614347766849[234] = 0.0; + out_5840907614347766849[235] = 0.0; + out_5840907614347766849[236] = 0.0; + out_5840907614347766849[237] = 0.0; + out_5840907614347766849[238] = 0.0; + out_5840907614347766849[239] = 0.0; + out_5840907614347766849[240] = 0.0; + out_5840907614347766849[241] = 0.0; + out_5840907614347766849[242] = 0.0; + out_5840907614347766849[243] = 0.0; + out_5840907614347766849[244] = 0.0; + out_5840907614347766849[245] = 0.0; + out_5840907614347766849[246] = 0.0; + out_5840907614347766849[247] = 1.0; + out_5840907614347766849[248] = 0.0; + out_5840907614347766849[249] = 0.0; + out_5840907614347766849[250] = 0.0; + out_5840907614347766849[251] = 0.0; + out_5840907614347766849[252] = 0.0; + out_5840907614347766849[253] = 0.0; + out_5840907614347766849[254] = 0.0; + out_5840907614347766849[255] = 0.0; + out_5840907614347766849[256] = 0.0; + out_5840907614347766849[257] = 0.0; + out_5840907614347766849[258] = 0.0; + out_5840907614347766849[259] = 0.0; + out_5840907614347766849[260] = 0.0; + out_5840907614347766849[261] = 0.0; + out_5840907614347766849[262] = 0.0; + out_5840907614347766849[263] = 0.0; + out_5840907614347766849[264] = 0.0; + out_5840907614347766849[265] = 0.0; + out_5840907614347766849[266] = 1.0; + out_5840907614347766849[267] = 0.0; + out_5840907614347766849[268] = 0.0; + out_5840907614347766849[269] = 0.0; + out_5840907614347766849[270] = 0.0; + out_5840907614347766849[271] = 0.0; + out_5840907614347766849[272] = 0.0; + out_5840907614347766849[273] = 0.0; + out_5840907614347766849[274] = 0.0; + out_5840907614347766849[275] = 0.0; + out_5840907614347766849[276] = 0.0; + out_5840907614347766849[277] = 0.0; + out_5840907614347766849[278] = 0.0; + out_5840907614347766849[279] = 0.0; + out_5840907614347766849[280] = 0.0; + out_5840907614347766849[281] = 0.0; + out_5840907614347766849[282] = 0.0; + out_5840907614347766849[283] = 0.0; + out_5840907614347766849[284] = 0.0; + out_5840907614347766849[285] = 1.0; + out_5840907614347766849[286] = 0.0; + out_5840907614347766849[287] = 0.0; + out_5840907614347766849[288] = 0.0; + out_5840907614347766849[289] = 0.0; + out_5840907614347766849[290] = 0.0; + out_5840907614347766849[291] = 0.0; + out_5840907614347766849[292] = 0.0; + out_5840907614347766849[293] = 0.0; + out_5840907614347766849[294] = 0.0; + out_5840907614347766849[295] = 0.0; + out_5840907614347766849[296] = 0.0; + out_5840907614347766849[297] = 0.0; + out_5840907614347766849[298] = 0.0; + out_5840907614347766849[299] = 0.0; + out_5840907614347766849[300] = 0.0; + out_5840907614347766849[301] = 0.0; + out_5840907614347766849[302] = 0.0; + out_5840907614347766849[303] = 0.0; + out_5840907614347766849[304] = 1.0; + out_5840907614347766849[305] = 0.0; + out_5840907614347766849[306] = 0.0; + out_5840907614347766849[307] = 0.0; + out_5840907614347766849[308] = 0.0; + out_5840907614347766849[309] = 0.0; + out_5840907614347766849[310] = 0.0; + out_5840907614347766849[311] = 0.0; + out_5840907614347766849[312] = 0.0; + out_5840907614347766849[313] = 0.0; + out_5840907614347766849[314] = 0.0; + out_5840907614347766849[315] = 0.0; + out_5840907614347766849[316] = 0.0; + out_5840907614347766849[317] = 0.0; + out_5840907614347766849[318] = 0.0; + out_5840907614347766849[319] = 0.0; + out_5840907614347766849[320] = 0.0; + out_5840907614347766849[321] = 0.0; + out_5840907614347766849[322] = 0.0; + out_5840907614347766849[323] = 1.0; } -void f_fun(double *state, double dt, double *out_9187930556967356165) { - out_9187930556967356165[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_9187930556967356165[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_9187930556967356165[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_9187930556967356165[3] = dt*state[12] + state[3]; - out_9187930556967356165[4] = dt*state[13] + state[4]; - out_9187930556967356165[5] = dt*state[14] + state[5]; - out_9187930556967356165[6] = state[6]; - out_9187930556967356165[7] = state[7]; - out_9187930556967356165[8] = state[8]; - out_9187930556967356165[9] = state[9]; - out_9187930556967356165[10] = state[10]; - out_9187930556967356165[11] = state[11]; - out_9187930556967356165[12] = state[12]; - out_9187930556967356165[13] = state[13]; - out_9187930556967356165[14] = state[14]; - out_9187930556967356165[15] = state[15]; - out_9187930556967356165[16] = state[16]; - out_9187930556967356165[17] = state[17]; +void f_fun(double *state, double dt, double *out_6742419823108127014) { + out_6742419823108127014[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_6742419823108127014[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_6742419823108127014[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_6742419823108127014[3] = dt*state[12] + state[3]; + out_6742419823108127014[4] = dt*state[13] + state[4]; + out_6742419823108127014[5] = dt*state[14] + state[5]; + out_6742419823108127014[6] = state[6]; + out_6742419823108127014[7] = state[7]; + out_6742419823108127014[8] = state[8]; + out_6742419823108127014[9] = state[9]; + out_6742419823108127014[10] = state[10]; + out_6742419823108127014[11] = state[11]; + out_6742419823108127014[12] = state[12]; + out_6742419823108127014[13] = state[13]; + out_6742419823108127014[14] = state[14]; + out_6742419823108127014[15] = state[15]; + out_6742419823108127014[16] = state[16]; + out_6742419823108127014[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1250378920670806697) { - out_1250378920670806697[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_1250378920670806697[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_1250378920670806697[2] = 0; - out_1250378920670806697[3] = 0; - out_1250378920670806697[4] = 0; - out_1250378920670806697[5] = 0; - out_1250378920670806697[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_1250378920670806697[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_1250378920670806697[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_1250378920670806697[9] = 0; - out_1250378920670806697[10] = 0; - out_1250378920670806697[11] = 0; - out_1250378920670806697[12] = 0; - out_1250378920670806697[13] = 0; - out_1250378920670806697[14] = 0; - out_1250378920670806697[15] = 0; - out_1250378920670806697[16] = 0; - out_1250378920670806697[17] = 0; - out_1250378920670806697[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_1250378920670806697[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_1250378920670806697[20] = 0; - out_1250378920670806697[21] = 0; - out_1250378920670806697[22] = 0; - out_1250378920670806697[23] = 0; - out_1250378920670806697[24] = 0; - out_1250378920670806697[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_1250378920670806697[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_1250378920670806697[27] = 0; - out_1250378920670806697[28] = 0; - out_1250378920670806697[29] = 0; - out_1250378920670806697[30] = 0; - out_1250378920670806697[31] = 0; - out_1250378920670806697[32] = 0; - out_1250378920670806697[33] = 0; - out_1250378920670806697[34] = 0; - out_1250378920670806697[35] = 0; - out_1250378920670806697[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_1250378920670806697[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_1250378920670806697[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_1250378920670806697[39] = 0; - out_1250378920670806697[40] = 0; - out_1250378920670806697[41] = 0; - out_1250378920670806697[42] = 0; - out_1250378920670806697[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_1250378920670806697[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_1250378920670806697[45] = 0; - out_1250378920670806697[46] = 0; - out_1250378920670806697[47] = 0; - out_1250378920670806697[48] = 0; - out_1250378920670806697[49] = 0; - out_1250378920670806697[50] = 0; - out_1250378920670806697[51] = 0; - out_1250378920670806697[52] = 0; - out_1250378920670806697[53] = 0; - out_1250378920670806697[54] = 0; - out_1250378920670806697[55] = 0; - out_1250378920670806697[56] = 0; - out_1250378920670806697[57] = 1; - out_1250378920670806697[58] = 0; - out_1250378920670806697[59] = 0; - out_1250378920670806697[60] = 0; - out_1250378920670806697[61] = 0; - out_1250378920670806697[62] = 0; - out_1250378920670806697[63] = 0; - out_1250378920670806697[64] = 0; - out_1250378920670806697[65] = 0; - out_1250378920670806697[66] = dt; - out_1250378920670806697[67] = 0; - out_1250378920670806697[68] = 0; - out_1250378920670806697[69] = 0; - out_1250378920670806697[70] = 0; - out_1250378920670806697[71] = 0; - out_1250378920670806697[72] = 0; - out_1250378920670806697[73] = 0; - out_1250378920670806697[74] = 0; - out_1250378920670806697[75] = 0; - out_1250378920670806697[76] = 1; - out_1250378920670806697[77] = 0; - out_1250378920670806697[78] = 0; - out_1250378920670806697[79] = 0; - out_1250378920670806697[80] = 0; - out_1250378920670806697[81] = 0; - out_1250378920670806697[82] = 0; - out_1250378920670806697[83] = 0; - out_1250378920670806697[84] = 0; - out_1250378920670806697[85] = dt; - out_1250378920670806697[86] = 0; - out_1250378920670806697[87] = 0; - out_1250378920670806697[88] = 0; - out_1250378920670806697[89] = 0; - out_1250378920670806697[90] = 0; - out_1250378920670806697[91] = 0; - out_1250378920670806697[92] = 0; - out_1250378920670806697[93] = 0; - out_1250378920670806697[94] = 0; - out_1250378920670806697[95] = 1; - out_1250378920670806697[96] = 0; - out_1250378920670806697[97] = 0; - out_1250378920670806697[98] = 0; - out_1250378920670806697[99] = 0; - out_1250378920670806697[100] = 0; - out_1250378920670806697[101] = 0; - out_1250378920670806697[102] = 0; - out_1250378920670806697[103] = 0; - out_1250378920670806697[104] = dt; - out_1250378920670806697[105] = 0; - out_1250378920670806697[106] = 0; - out_1250378920670806697[107] = 0; - out_1250378920670806697[108] = 0; - out_1250378920670806697[109] = 0; - out_1250378920670806697[110] = 0; - out_1250378920670806697[111] = 0; - out_1250378920670806697[112] = 0; - out_1250378920670806697[113] = 0; - out_1250378920670806697[114] = 1; - out_1250378920670806697[115] = 0; - out_1250378920670806697[116] = 0; - out_1250378920670806697[117] = 0; - out_1250378920670806697[118] = 0; - out_1250378920670806697[119] = 0; - out_1250378920670806697[120] = 0; - out_1250378920670806697[121] = 0; - out_1250378920670806697[122] = 0; - out_1250378920670806697[123] = 0; - out_1250378920670806697[124] = 0; - out_1250378920670806697[125] = 0; - out_1250378920670806697[126] = 0; - out_1250378920670806697[127] = 0; - out_1250378920670806697[128] = 0; - out_1250378920670806697[129] = 0; - out_1250378920670806697[130] = 0; - out_1250378920670806697[131] = 0; - out_1250378920670806697[132] = 0; - out_1250378920670806697[133] = 1; - out_1250378920670806697[134] = 0; - out_1250378920670806697[135] = 0; - out_1250378920670806697[136] = 0; - out_1250378920670806697[137] = 0; - out_1250378920670806697[138] = 0; - out_1250378920670806697[139] = 0; - out_1250378920670806697[140] = 0; - out_1250378920670806697[141] = 0; - out_1250378920670806697[142] = 0; - out_1250378920670806697[143] = 0; - out_1250378920670806697[144] = 0; - out_1250378920670806697[145] = 0; - out_1250378920670806697[146] = 0; - out_1250378920670806697[147] = 0; - out_1250378920670806697[148] = 0; - out_1250378920670806697[149] = 0; - out_1250378920670806697[150] = 0; - out_1250378920670806697[151] = 0; - out_1250378920670806697[152] = 1; - out_1250378920670806697[153] = 0; - out_1250378920670806697[154] = 0; - out_1250378920670806697[155] = 0; - out_1250378920670806697[156] = 0; - out_1250378920670806697[157] = 0; - out_1250378920670806697[158] = 0; - out_1250378920670806697[159] = 0; - out_1250378920670806697[160] = 0; - out_1250378920670806697[161] = 0; - out_1250378920670806697[162] = 0; - out_1250378920670806697[163] = 0; - out_1250378920670806697[164] = 0; - out_1250378920670806697[165] = 0; - out_1250378920670806697[166] = 0; - out_1250378920670806697[167] = 0; - out_1250378920670806697[168] = 0; - out_1250378920670806697[169] = 0; - out_1250378920670806697[170] = 0; - out_1250378920670806697[171] = 1; - out_1250378920670806697[172] = 0; - out_1250378920670806697[173] = 0; - out_1250378920670806697[174] = 0; - out_1250378920670806697[175] = 0; - out_1250378920670806697[176] = 0; - out_1250378920670806697[177] = 0; - out_1250378920670806697[178] = 0; - out_1250378920670806697[179] = 0; - out_1250378920670806697[180] = 0; - out_1250378920670806697[181] = 0; - out_1250378920670806697[182] = 0; - out_1250378920670806697[183] = 0; - out_1250378920670806697[184] = 0; - out_1250378920670806697[185] = 0; - out_1250378920670806697[186] = 0; - out_1250378920670806697[187] = 0; - out_1250378920670806697[188] = 0; - out_1250378920670806697[189] = 0; - out_1250378920670806697[190] = 1; - out_1250378920670806697[191] = 0; - out_1250378920670806697[192] = 0; - out_1250378920670806697[193] = 0; - out_1250378920670806697[194] = 0; - out_1250378920670806697[195] = 0; - out_1250378920670806697[196] = 0; - out_1250378920670806697[197] = 0; - out_1250378920670806697[198] = 0; - out_1250378920670806697[199] = 0; - out_1250378920670806697[200] = 0; - out_1250378920670806697[201] = 0; - out_1250378920670806697[202] = 0; - out_1250378920670806697[203] = 0; - out_1250378920670806697[204] = 0; - out_1250378920670806697[205] = 0; - out_1250378920670806697[206] = 0; - out_1250378920670806697[207] = 0; - out_1250378920670806697[208] = 0; - out_1250378920670806697[209] = 1; - out_1250378920670806697[210] = 0; - out_1250378920670806697[211] = 0; - out_1250378920670806697[212] = 0; - out_1250378920670806697[213] = 0; - out_1250378920670806697[214] = 0; - out_1250378920670806697[215] = 0; - out_1250378920670806697[216] = 0; - out_1250378920670806697[217] = 0; - out_1250378920670806697[218] = 0; - out_1250378920670806697[219] = 0; - out_1250378920670806697[220] = 0; - out_1250378920670806697[221] = 0; - out_1250378920670806697[222] = 0; - out_1250378920670806697[223] = 0; - out_1250378920670806697[224] = 0; - out_1250378920670806697[225] = 0; - out_1250378920670806697[226] = 0; - out_1250378920670806697[227] = 0; - out_1250378920670806697[228] = 1; - out_1250378920670806697[229] = 0; - out_1250378920670806697[230] = 0; - out_1250378920670806697[231] = 0; - out_1250378920670806697[232] = 0; - out_1250378920670806697[233] = 0; - out_1250378920670806697[234] = 0; - out_1250378920670806697[235] = 0; - out_1250378920670806697[236] = 0; - out_1250378920670806697[237] = 0; - out_1250378920670806697[238] = 0; - out_1250378920670806697[239] = 0; - out_1250378920670806697[240] = 0; - out_1250378920670806697[241] = 0; - out_1250378920670806697[242] = 0; - out_1250378920670806697[243] = 0; - out_1250378920670806697[244] = 0; - out_1250378920670806697[245] = 0; - out_1250378920670806697[246] = 0; - out_1250378920670806697[247] = 1; - out_1250378920670806697[248] = 0; - out_1250378920670806697[249] = 0; - out_1250378920670806697[250] = 0; - out_1250378920670806697[251] = 0; - out_1250378920670806697[252] = 0; - out_1250378920670806697[253] = 0; - out_1250378920670806697[254] = 0; - out_1250378920670806697[255] = 0; - out_1250378920670806697[256] = 0; - out_1250378920670806697[257] = 0; - out_1250378920670806697[258] = 0; - out_1250378920670806697[259] = 0; - out_1250378920670806697[260] = 0; - out_1250378920670806697[261] = 0; - out_1250378920670806697[262] = 0; - out_1250378920670806697[263] = 0; - out_1250378920670806697[264] = 0; - out_1250378920670806697[265] = 0; - out_1250378920670806697[266] = 1; - out_1250378920670806697[267] = 0; - out_1250378920670806697[268] = 0; - out_1250378920670806697[269] = 0; - out_1250378920670806697[270] = 0; - out_1250378920670806697[271] = 0; - out_1250378920670806697[272] = 0; - out_1250378920670806697[273] = 0; - out_1250378920670806697[274] = 0; - out_1250378920670806697[275] = 0; - out_1250378920670806697[276] = 0; - out_1250378920670806697[277] = 0; - out_1250378920670806697[278] = 0; - out_1250378920670806697[279] = 0; - out_1250378920670806697[280] = 0; - out_1250378920670806697[281] = 0; - out_1250378920670806697[282] = 0; - out_1250378920670806697[283] = 0; - out_1250378920670806697[284] = 0; - out_1250378920670806697[285] = 1; - out_1250378920670806697[286] = 0; - out_1250378920670806697[287] = 0; - out_1250378920670806697[288] = 0; - out_1250378920670806697[289] = 0; - out_1250378920670806697[290] = 0; - out_1250378920670806697[291] = 0; - out_1250378920670806697[292] = 0; - out_1250378920670806697[293] = 0; - out_1250378920670806697[294] = 0; - out_1250378920670806697[295] = 0; - out_1250378920670806697[296] = 0; - out_1250378920670806697[297] = 0; - out_1250378920670806697[298] = 0; - out_1250378920670806697[299] = 0; - out_1250378920670806697[300] = 0; - out_1250378920670806697[301] = 0; - out_1250378920670806697[302] = 0; - out_1250378920670806697[303] = 0; - out_1250378920670806697[304] = 1; - out_1250378920670806697[305] = 0; - out_1250378920670806697[306] = 0; - out_1250378920670806697[307] = 0; - out_1250378920670806697[308] = 0; - out_1250378920670806697[309] = 0; - out_1250378920670806697[310] = 0; - out_1250378920670806697[311] = 0; - out_1250378920670806697[312] = 0; - out_1250378920670806697[313] = 0; - out_1250378920670806697[314] = 0; - out_1250378920670806697[315] = 0; - out_1250378920670806697[316] = 0; - out_1250378920670806697[317] = 0; - out_1250378920670806697[318] = 0; - out_1250378920670806697[319] = 0; - out_1250378920670806697[320] = 0; - out_1250378920670806697[321] = 0; - out_1250378920670806697[322] = 0; - out_1250378920670806697[323] = 1; +void F_fun(double *state, double dt, double *out_7663122633241286867) { + out_7663122633241286867[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_7663122633241286867[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_7663122633241286867[2] = 0; + out_7663122633241286867[3] = 0; + out_7663122633241286867[4] = 0; + out_7663122633241286867[5] = 0; + out_7663122633241286867[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_7663122633241286867[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_7663122633241286867[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_7663122633241286867[9] = 0; + out_7663122633241286867[10] = 0; + out_7663122633241286867[11] = 0; + out_7663122633241286867[12] = 0; + out_7663122633241286867[13] = 0; + out_7663122633241286867[14] = 0; + out_7663122633241286867[15] = 0; + out_7663122633241286867[16] = 0; + out_7663122633241286867[17] = 0; + out_7663122633241286867[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_7663122633241286867[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_7663122633241286867[20] = 0; + out_7663122633241286867[21] = 0; + out_7663122633241286867[22] = 0; + out_7663122633241286867[23] = 0; + out_7663122633241286867[24] = 0; + out_7663122633241286867[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_7663122633241286867[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_7663122633241286867[27] = 0; + out_7663122633241286867[28] = 0; + out_7663122633241286867[29] = 0; + out_7663122633241286867[30] = 0; + out_7663122633241286867[31] = 0; + out_7663122633241286867[32] = 0; + out_7663122633241286867[33] = 0; + out_7663122633241286867[34] = 0; + out_7663122633241286867[35] = 0; + out_7663122633241286867[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_7663122633241286867[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_7663122633241286867[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_7663122633241286867[39] = 0; + out_7663122633241286867[40] = 0; + out_7663122633241286867[41] = 0; + out_7663122633241286867[42] = 0; + out_7663122633241286867[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_7663122633241286867[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_7663122633241286867[45] = 0; + out_7663122633241286867[46] = 0; + out_7663122633241286867[47] = 0; + out_7663122633241286867[48] = 0; + out_7663122633241286867[49] = 0; + out_7663122633241286867[50] = 0; + out_7663122633241286867[51] = 0; + out_7663122633241286867[52] = 0; + out_7663122633241286867[53] = 0; + out_7663122633241286867[54] = 0; + out_7663122633241286867[55] = 0; + out_7663122633241286867[56] = 0; + out_7663122633241286867[57] = 1; + out_7663122633241286867[58] = 0; + out_7663122633241286867[59] = 0; + out_7663122633241286867[60] = 0; + out_7663122633241286867[61] = 0; + out_7663122633241286867[62] = 0; + out_7663122633241286867[63] = 0; + out_7663122633241286867[64] = 0; + out_7663122633241286867[65] = 0; + out_7663122633241286867[66] = dt; + out_7663122633241286867[67] = 0; + out_7663122633241286867[68] = 0; + out_7663122633241286867[69] = 0; + out_7663122633241286867[70] = 0; + out_7663122633241286867[71] = 0; + out_7663122633241286867[72] = 0; + out_7663122633241286867[73] = 0; + out_7663122633241286867[74] = 0; + out_7663122633241286867[75] = 0; + out_7663122633241286867[76] = 1; + out_7663122633241286867[77] = 0; + out_7663122633241286867[78] = 0; + out_7663122633241286867[79] = 0; + out_7663122633241286867[80] = 0; + out_7663122633241286867[81] = 0; + out_7663122633241286867[82] = 0; + out_7663122633241286867[83] = 0; + out_7663122633241286867[84] = 0; + out_7663122633241286867[85] = dt; + out_7663122633241286867[86] = 0; + out_7663122633241286867[87] = 0; + out_7663122633241286867[88] = 0; + out_7663122633241286867[89] = 0; + out_7663122633241286867[90] = 0; + out_7663122633241286867[91] = 0; + out_7663122633241286867[92] = 0; + out_7663122633241286867[93] = 0; + out_7663122633241286867[94] = 0; + out_7663122633241286867[95] = 1; + out_7663122633241286867[96] = 0; + out_7663122633241286867[97] = 0; + out_7663122633241286867[98] = 0; + out_7663122633241286867[99] = 0; + out_7663122633241286867[100] = 0; + out_7663122633241286867[101] = 0; + out_7663122633241286867[102] = 0; + out_7663122633241286867[103] = 0; + out_7663122633241286867[104] = dt; + out_7663122633241286867[105] = 0; + out_7663122633241286867[106] = 0; + out_7663122633241286867[107] = 0; + out_7663122633241286867[108] = 0; + out_7663122633241286867[109] = 0; + out_7663122633241286867[110] = 0; + out_7663122633241286867[111] = 0; + out_7663122633241286867[112] = 0; + out_7663122633241286867[113] = 0; + out_7663122633241286867[114] = 1; + out_7663122633241286867[115] = 0; + out_7663122633241286867[116] = 0; + out_7663122633241286867[117] = 0; + out_7663122633241286867[118] = 0; + out_7663122633241286867[119] = 0; + out_7663122633241286867[120] = 0; + out_7663122633241286867[121] = 0; + out_7663122633241286867[122] = 0; + out_7663122633241286867[123] = 0; + out_7663122633241286867[124] = 0; + out_7663122633241286867[125] = 0; + out_7663122633241286867[126] = 0; + out_7663122633241286867[127] = 0; + out_7663122633241286867[128] = 0; + out_7663122633241286867[129] = 0; + out_7663122633241286867[130] = 0; + out_7663122633241286867[131] = 0; + out_7663122633241286867[132] = 0; + out_7663122633241286867[133] = 1; + out_7663122633241286867[134] = 0; + out_7663122633241286867[135] = 0; + out_7663122633241286867[136] = 0; + out_7663122633241286867[137] = 0; + out_7663122633241286867[138] = 0; + out_7663122633241286867[139] = 0; + out_7663122633241286867[140] = 0; + out_7663122633241286867[141] = 0; + out_7663122633241286867[142] = 0; + out_7663122633241286867[143] = 0; + out_7663122633241286867[144] = 0; + out_7663122633241286867[145] = 0; + out_7663122633241286867[146] = 0; + out_7663122633241286867[147] = 0; + out_7663122633241286867[148] = 0; + out_7663122633241286867[149] = 0; + out_7663122633241286867[150] = 0; + out_7663122633241286867[151] = 0; + out_7663122633241286867[152] = 1; + out_7663122633241286867[153] = 0; + out_7663122633241286867[154] = 0; + out_7663122633241286867[155] = 0; + out_7663122633241286867[156] = 0; + out_7663122633241286867[157] = 0; + out_7663122633241286867[158] = 0; + out_7663122633241286867[159] = 0; + out_7663122633241286867[160] = 0; + out_7663122633241286867[161] = 0; + out_7663122633241286867[162] = 0; + out_7663122633241286867[163] = 0; + out_7663122633241286867[164] = 0; + out_7663122633241286867[165] = 0; + out_7663122633241286867[166] = 0; + out_7663122633241286867[167] = 0; + out_7663122633241286867[168] = 0; + out_7663122633241286867[169] = 0; + out_7663122633241286867[170] = 0; + out_7663122633241286867[171] = 1; + out_7663122633241286867[172] = 0; + out_7663122633241286867[173] = 0; + out_7663122633241286867[174] = 0; + out_7663122633241286867[175] = 0; + out_7663122633241286867[176] = 0; + out_7663122633241286867[177] = 0; + out_7663122633241286867[178] = 0; + out_7663122633241286867[179] = 0; + out_7663122633241286867[180] = 0; + out_7663122633241286867[181] = 0; + out_7663122633241286867[182] = 0; + out_7663122633241286867[183] = 0; + out_7663122633241286867[184] = 0; + out_7663122633241286867[185] = 0; + out_7663122633241286867[186] = 0; + out_7663122633241286867[187] = 0; + out_7663122633241286867[188] = 0; + out_7663122633241286867[189] = 0; + out_7663122633241286867[190] = 1; + out_7663122633241286867[191] = 0; + out_7663122633241286867[192] = 0; + out_7663122633241286867[193] = 0; + out_7663122633241286867[194] = 0; + out_7663122633241286867[195] = 0; + out_7663122633241286867[196] = 0; + out_7663122633241286867[197] = 0; + out_7663122633241286867[198] = 0; + out_7663122633241286867[199] = 0; + out_7663122633241286867[200] = 0; + out_7663122633241286867[201] = 0; + out_7663122633241286867[202] = 0; + out_7663122633241286867[203] = 0; + out_7663122633241286867[204] = 0; + out_7663122633241286867[205] = 0; + out_7663122633241286867[206] = 0; + out_7663122633241286867[207] = 0; + out_7663122633241286867[208] = 0; + out_7663122633241286867[209] = 1; + out_7663122633241286867[210] = 0; + out_7663122633241286867[211] = 0; + out_7663122633241286867[212] = 0; + out_7663122633241286867[213] = 0; + out_7663122633241286867[214] = 0; + out_7663122633241286867[215] = 0; + out_7663122633241286867[216] = 0; + out_7663122633241286867[217] = 0; + out_7663122633241286867[218] = 0; + out_7663122633241286867[219] = 0; + out_7663122633241286867[220] = 0; + out_7663122633241286867[221] = 0; + out_7663122633241286867[222] = 0; + out_7663122633241286867[223] = 0; + out_7663122633241286867[224] = 0; + out_7663122633241286867[225] = 0; + out_7663122633241286867[226] = 0; + out_7663122633241286867[227] = 0; + out_7663122633241286867[228] = 1; + out_7663122633241286867[229] = 0; + out_7663122633241286867[230] = 0; + out_7663122633241286867[231] = 0; + out_7663122633241286867[232] = 0; + out_7663122633241286867[233] = 0; + out_7663122633241286867[234] = 0; + out_7663122633241286867[235] = 0; + out_7663122633241286867[236] = 0; + out_7663122633241286867[237] = 0; + out_7663122633241286867[238] = 0; + out_7663122633241286867[239] = 0; + out_7663122633241286867[240] = 0; + out_7663122633241286867[241] = 0; + out_7663122633241286867[242] = 0; + out_7663122633241286867[243] = 0; + out_7663122633241286867[244] = 0; + out_7663122633241286867[245] = 0; + out_7663122633241286867[246] = 0; + out_7663122633241286867[247] = 1; + out_7663122633241286867[248] = 0; + out_7663122633241286867[249] = 0; + out_7663122633241286867[250] = 0; + out_7663122633241286867[251] = 0; + out_7663122633241286867[252] = 0; + out_7663122633241286867[253] = 0; + out_7663122633241286867[254] = 0; + out_7663122633241286867[255] = 0; + out_7663122633241286867[256] = 0; + out_7663122633241286867[257] = 0; + out_7663122633241286867[258] = 0; + out_7663122633241286867[259] = 0; + out_7663122633241286867[260] = 0; + out_7663122633241286867[261] = 0; + out_7663122633241286867[262] = 0; + out_7663122633241286867[263] = 0; + out_7663122633241286867[264] = 0; + out_7663122633241286867[265] = 0; + out_7663122633241286867[266] = 1; + out_7663122633241286867[267] = 0; + out_7663122633241286867[268] = 0; + out_7663122633241286867[269] = 0; + out_7663122633241286867[270] = 0; + out_7663122633241286867[271] = 0; + out_7663122633241286867[272] = 0; + out_7663122633241286867[273] = 0; + out_7663122633241286867[274] = 0; + out_7663122633241286867[275] = 0; + out_7663122633241286867[276] = 0; + out_7663122633241286867[277] = 0; + out_7663122633241286867[278] = 0; + out_7663122633241286867[279] = 0; + out_7663122633241286867[280] = 0; + out_7663122633241286867[281] = 0; + out_7663122633241286867[282] = 0; + out_7663122633241286867[283] = 0; + out_7663122633241286867[284] = 0; + out_7663122633241286867[285] = 1; + out_7663122633241286867[286] = 0; + out_7663122633241286867[287] = 0; + out_7663122633241286867[288] = 0; + out_7663122633241286867[289] = 0; + out_7663122633241286867[290] = 0; + out_7663122633241286867[291] = 0; + out_7663122633241286867[292] = 0; + out_7663122633241286867[293] = 0; + out_7663122633241286867[294] = 0; + out_7663122633241286867[295] = 0; + out_7663122633241286867[296] = 0; + out_7663122633241286867[297] = 0; + out_7663122633241286867[298] = 0; + out_7663122633241286867[299] = 0; + out_7663122633241286867[300] = 0; + out_7663122633241286867[301] = 0; + out_7663122633241286867[302] = 0; + out_7663122633241286867[303] = 0; + out_7663122633241286867[304] = 1; + out_7663122633241286867[305] = 0; + out_7663122633241286867[306] = 0; + out_7663122633241286867[307] = 0; + out_7663122633241286867[308] = 0; + out_7663122633241286867[309] = 0; + out_7663122633241286867[310] = 0; + out_7663122633241286867[311] = 0; + out_7663122633241286867[312] = 0; + out_7663122633241286867[313] = 0; + out_7663122633241286867[314] = 0; + out_7663122633241286867[315] = 0; + out_7663122633241286867[316] = 0; + out_7663122633241286867[317] = 0; + out_7663122633241286867[318] = 0; + out_7663122633241286867[319] = 0; + out_7663122633241286867[320] = 0; + out_7663122633241286867[321] = 0; + out_7663122633241286867[322] = 0; + out_7663122633241286867[323] = 1; } -void h_4(double *state, double *unused, double *out_3431796064752050994) { - out_3431796064752050994[0] = state[6] + state[9]; - out_3431796064752050994[1] = state[7] + state[10]; - out_3431796064752050994[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7389052167092190980) { + out_7389052167092190980[0] = state[6] + state[9]; + out_7389052167092190980[1] = state[7] + state[10]; + out_7389052167092190980[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1019746773741649270) { - out_1019746773741649270[0] = 0; - out_1019746773741649270[1] = 0; - out_1019746773741649270[2] = 0; - out_1019746773741649270[3] = 0; - out_1019746773741649270[4] = 0; - out_1019746773741649270[5] = 0; - out_1019746773741649270[6] = 1; - out_1019746773741649270[7] = 0; - out_1019746773741649270[8] = 0; - out_1019746773741649270[9] = 1; - out_1019746773741649270[10] = 0; - out_1019746773741649270[11] = 0; - out_1019746773741649270[12] = 0; - out_1019746773741649270[13] = 0; - out_1019746773741649270[14] = 0; - out_1019746773741649270[15] = 0; - out_1019746773741649270[16] = 0; - out_1019746773741649270[17] = 0; - out_1019746773741649270[18] = 0; - out_1019746773741649270[19] = 0; - out_1019746773741649270[20] = 0; - out_1019746773741649270[21] = 0; - out_1019746773741649270[22] = 0; - out_1019746773741649270[23] = 0; - out_1019746773741649270[24] = 0; - out_1019746773741649270[25] = 1; - out_1019746773741649270[26] = 0; - out_1019746773741649270[27] = 0; - out_1019746773741649270[28] = 1; - out_1019746773741649270[29] = 0; - out_1019746773741649270[30] = 0; - out_1019746773741649270[31] = 0; - out_1019746773741649270[32] = 0; - out_1019746773741649270[33] = 0; - out_1019746773741649270[34] = 0; - out_1019746773741649270[35] = 0; - out_1019746773741649270[36] = 0; - out_1019746773741649270[37] = 0; - out_1019746773741649270[38] = 0; - out_1019746773741649270[39] = 0; - out_1019746773741649270[40] = 0; - out_1019746773741649270[41] = 0; - out_1019746773741649270[42] = 0; - out_1019746773741649270[43] = 0; - out_1019746773741649270[44] = 1; - out_1019746773741649270[45] = 0; - out_1019746773741649270[46] = 0; - out_1019746773741649270[47] = 1; - out_1019746773741649270[48] = 0; - out_1019746773741649270[49] = 0; - out_1019746773741649270[50] = 0; - out_1019746773741649270[51] = 0; - out_1019746773741649270[52] = 0; - out_1019746773741649270[53] = 0; +void H_4(double *state, double *unused, double *out_7038855096230664953) { + out_7038855096230664953[0] = 0; + out_7038855096230664953[1] = 0; + out_7038855096230664953[2] = 0; + out_7038855096230664953[3] = 0; + out_7038855096230664953[4] = 0; + out_7038855096230664953[5] = 0; + out_7038855096230664953[6] = 1; + out_7038855096230664953[7] = 0; + out_7038855096230664953[8] = 0; + out_7038855096230664953[9] = 1; + out_7038855096230664953[10] = 0; + out_7038855096230664953[11] = 0; + out_7038855096230664953[12] = 0; + out_7038855096230664953[13] = 0; + out_7038855096230664953[14] = 0; + out_7038855096230664953[15] = 0; + out_7038855096230664953[16] = 0; + out_7038855096230664953[17] = 0; + out_7038855096230664953[18] = 0; + out_7038855096230664953[19] = 0; + out_7038855096230664953[20] = 0; + out_7038855096230664953[21] = 0; + out_7038855096230664953[22] = 0; + out_7038855096230664953[23] = 0; + out_7038855096230664953[24] = 0; + out_7038855096230664953[25] = 1; + out_7038855096230664953[26] = 0; + out_7038855096230664953[27] = 0; + out_7038855096230664953[28] = 1; + out_7038855096230664953[29] = 0; + out_7038855096230664953[30] = 0; + out_7038855096230664953[31] = 0; + out_7038855096230664953[32] = 0; + out_7038855096230664953[33] = 0; + out_7038855096230664953[34] = 0; + out_7038855096230664953[35] = 0; + out_7038855096230664953[36] = 0; + out_7038855096230664953[37] = 0; + out_7038855096230664953[38] = 0; + out_7038855096230664953[39] = 0; + out_7038855096230664953[40] = 0; + out_7038855096230664953[41] = 0; + out_7038855096230664953[42] = 0; + out_7038855096230664953[43] = 0; + out_7038855096230664953[44] = 1; + out_7038855096230664953[45] = 0; + out_7038855096230664953[46] = 0; + out_7038855096230664953[47] = 1; + out_7038855096230664953[48] = 0; + out_7038855096230664953[49] = 0; + out_7038855096230664953[50] = 0; + out_7038855096230664953[51] = 0; + out_7038855096230664953[52] = 0; + out_7038855096230664953[53] = 0; } -void h_10(double *state, double *unused, double *out_4742817048768310237) { - out_4742817048768310237[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_4742817048768310237[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_4742817048768310237[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_8071536081821918077) { + out_8071536081821918077[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8071536081821918077[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8071536081821918077[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_7482829619336622044) { - out_7482829619336622044[0] = 0; - out_7482829619336622044[1] = 9.8100000000000005*cos(state[1]); - out_7482829619336622044[2] = 0; - out_7482829619336622044[3] = 0; - out_7482829619336622044[4] = -state[8]; - out_7482829619336622044[5] = state[7]; - out_7482829619336622044[6] = 0; - out_7482829619336622044[7] = state[5]; - out_7482829619336622044[8] = -state[4]; - out_7482829619336622044[9] = 0; - out_7482829619336622044[10] = 0; - out_7482829619336622044[11] = 0; - out_7482829619336622044[12] = 1; - out_7482829619336622044[13] = 0; - out_7482829619336622044[14] = 0; - out_7482829619336622044[15] = 1; - out_7482829619336622044[16] = 0; - out_7482829619336622044[17] = 0; - out_7482829619336622044[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_7482829619336622044[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_7482829619336622044[20] = 0; - out_7482829619336622044[21] = state[8]; - out_7482829619336622044[22] = 0; - out_7482829619336622044[23] = -state[6]; - out_7482829619336622044[24] = -state[5]; - out_7482829619336622044[25] = 0; - out_7482829619336622044[26] = state[3]; - out_7482829619336622044[27] = 0; - out_7482829619336622044[28] = 0; - out_7482829619336622044[29] = 0; - out_7482829619336622044[30] = 0; - out_7482829619336622044[31] = 1; - out_7482829619336622044[32] = 0; - out_7482829619336622044[33] = 0; - out_7482829619336622044[34] = 1; - out_7482829619336622044[35] = 0; - out_7482829619336622044[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_7482829619336622044[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_7482829619336622044[38] = 0; - out_7482829619336622044[39] = -state[7]; - out_7482829619336622044[40] = state[6]; - out_7482829619336622044[41] = 0; - out_7482829619336622044[42] = state[4]; - out_7482829619336622044[43] = -state[3]; - out_7482829619336622044[44] = 0; - out_7482829619336622044[45] = 0; - out_7482829619336622044[46] = 0; - out_7482829619336622044[47] = 0; - out_7482829619336622044[48] = 0; - out_7482829619336622044[49] = 0; - out_7482829619336622044[50] = 1; - out_7482829619336622044[51] = 0; - out_7482829619336622044[52] = 0; - out_7482829619336622044[53] = 1; +void H_10(double *state, double *unused, double *out_4101630430643064156) { + out_4101630430643064156[0] = 0; + out_4101630430643064156[1] = 9.8100000000000005*cos(state[1]); + out_4101630430643064156[2] = 0; + out_4101630430643064156[3] = 0; + out_4101630430643064156[4] = -state[8]; + out_4101630430643064156[5] = state[7]; + out_4101630430643064156[6] = 0; + out_4101630430643064156[7] = state[5]; + out_4101630430643064156[8] = -state[4]; + out_4101630430643064156[9] = 0; + out_4101630430643064156[10] = 0; + out_4101630430643064156[11] = 0; + out_4101630430643064156[12] = 1; + out_4101630430643064156[13] = 0; + out_4101630430643064156[14] = 0; + out_4101630430643064156[15] = 1; + out_4101630430643064156[16] = 0; + out_4101630430643064156[17] = 0; + out_4101630430643064156[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4101630430643064156[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4101630430643064156[20] = 0; + out_4101630430643064156[21] = state[8]; + out_4101630430643064156[22] = 0; + out_4101630430643064156[23] = -state[6]; + out_4101630430643064156[24] = -state[5]; + out_4101630430643064156[25] = 0; + out_4101630430643064156[26] = state[3]; + out_4101630430643064156[27] = 0; + out_4101630430643064156[28] = 0; + out_4101630430643064156[29] = 0; + out_4101630430643064156[30] = 0; + out_4101630430643064156[31] = 1; + out_4101630430643064156[32] = 0; + out_4101630430643064156[33] = 0; + out_4101630430643064156[34] = 1; + out_4101630430643064156[35] = 0; + out_4101630430643064156[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4101630430643064156[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4101630430643064156[38] = 0; + out_4101630430643064156[39] = -state[7]; + out_4101630430643064156[40] = state[6]; + out_4101630430643064156[41] = 0; + out_4101630430643064156[42] = state[4]; + out_4101630430643064156[43] = -state[3]; + out_4101630430643064156[44] = 0; + out_4101630430643064156[45] = 0; + out_4101630430643064156[46] = 0; + out_4101630430643064156[47] = 0; + out_4101630430643064156[48] = 0; + out_4101630430643064156[49] = 0; + out_4101630430643064156[50] = 1; + out_4101630430643064156[51] = 0; + out_4101630430643064156[52] = 0; + out_4101630430643064156[53] = 1; } -void h_13(double *state, double *unused, double *out_3124060736866225144) { - out_3124060736866225144[0] = state[3]; - out_3124060736866225144[1] = state[4]; - out_3124060736866225144[2] = state[5]; +void h_13(double *state, double *unused, double *out_4611633119501949975) { + out_4611633119501949975[0] = state[3]; + out_4611633119501949975[1] = state[4]; + out_4611633119501949975[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2192527051590683531) { - out_2192527051590683531[0] = 0; - out_2192527051590683531[1] = 0; - out_2192527051590683531[2] = 0; - out_2192527051590683531[3] = 1; - out_2192527051590683531[4] = 0; - out_2192527051590683531[5] = 0; - out_2192527051590683531[6] = 0; - out_2192527051590683531[7] = 0; - out_2192527051590683531[8] = 0; - out_2192527051590683531[9] = 0; - out_2192527051590683531[10] = 0; - out_2192527051590683531[11] = 0; - out_2192527051590683531[12] = 0; - out_2192527051590683531[13] = 0; - out_2192527051590683531[14] = 0; - out_2192527051590683531[15] = 0; - out_2192527051590683531[16] = 0; - out_2192527051590683531[17] = 0; - out_2192527051590683531[18] = 0; - out_2192527051590683531[19] = 0; - out_2192527051590683531[20] = 0; - out_2192527051590683531[21] = 0; - out_2192527051590683531[22] = 1; - out_2192527051590683531[23] = 0; - out_2192527051590683531[24] = 0; - out_2192527051590683531[25] = 0; - out_2192527051590683531[26] = 0; - out_2192527051590683531[27] = 0; - out_2192527051590683531[28] = 0; - out_2192527051590683531[29] = 0; - out_2192527051590683531[30] = 0; - out_2192527051590683531[31] = 0; - out_2192527051590683531[32] = 0; - out_2192527051590683531[33] = 0; - out_2192527051590683531[34] = 0; - out_2192527051590683531[35] = 0; - out_2192527051590683531[36] = 0; - out_2192527051590683531[37] = 0; - out_2192527051590683531[38] = 0; - out_2192527051590683531[39] = 0; - out_2192527051590683531[40] = 0; - out_2192527051590683531[41] = 1; - out_2192527051590683531[42] = 0; - out_2192527051590683531[43] = 0; - out_2192527051590683531[44] = 0; - out_2192527051590683531[45] = 0; - out_2192527051590683531[46] = 0; - out_2192527051590683531[47] = 0; - out_2192527051590683531[48] = 0; - out_2192527051590683531[49] = 0; - out_2192527051590683531[50] = 0; - out_2192527051590683531[51] = 0; - out_2192527051590683531[52] = 0; - out_2192527051590683531[53] = 0; +void H_13(double *state, double *unused, double *out_8195615152146553862) { + out_8195615152146553862[0] = 0; + out_8195615152146553862[1] = 0; + out_8195615152146553862[2] = 0; + out_8195615152146553862[3] = 1; + out_8195615152146553862[4] = 0; + out_8195615152146553862[5] = 0; + out_8195615152146553862[6] = 0; + out_8195615152146553862[7] = 0; + out_8195615152146553862[8] = 0; + out_8195615152146553862[9] = 0; + out_8195615152146553862[10] = 0; + out_8195615152146553862[11] = 0; + out_8195615152146553862[12] = 0; + out_8195615152146553862[13] = 0; + out_8195615152146553862[14] = 0; + out_8195615152146553862[15] = 0; + out_8195615152146553862[16] = 0; + out_8195615152146553862[17] = 0; + out_8195615152146553862[18] = 0; + out_8195615152146553862[19] = 0; + out_8195615152146553862[20] = 0; + out_8195615152146553862[21] = 0; + out_8195615152146553862[22] = 1; + out_8195615152146553862[23] = 0; + out_8195615152146553862[24] = 0; + out_8195615152146553862[25] = 0; + out_8195615152146553862[26] = 0; + out_8195615152146553862[27] = 0; + out_8195615152146553862[28] = 0; + out_8195615152146553862[29] = 0; + out_8195615152146553862[30] = 0; + out_8195615152146553862[31] = 0; + out_8195615152146553862[32] = 0; + out_8195615152146553862[33] = 0; + out_8195615152146553862[34] = 0; + out_8195615152146553862[35] = 0; + out_8195615152146553862[36] = 0; + out_8195615152146553862[37] = 0; + out_8195615152146553862[38] = 0; + out_8195615152146553862[39] = 0; + out_8195615152146553862[40] = 0; + out_8195615152146553862[41] = 1; + out_8195615152146553862[42] = 0; + out_8195615152146553862[43] = 0; + out_8195615152146553862[44] = 0; + out_8195615152146553862[45] = 0; + out_8195615152146553862[46] = 0; + out_8195615152146553862[47] = 0; + out_8195615152146553862[48] = 0; + out_8195615152146553862[49] = 0; + out_8195615152146553862[50] = 0; + out_8195615152146553862[51] = 0; + out_8195615152146553862[52] = 0; + out_8195615152146553862[53] = 0; } -void h_14(double *state, double *unused, double *out_3873502266244196496) { - out_3873502266244196496[0] = state[6]; - out_3873502266244196496[1] = state[7]; - out_3873502266244196496[2] = state[8]; +void h_14(double *state, double *unused, double *out_519391538095944063) { + out_519391538095944063[0] = state[6]; + out_519391538095944063[1] = state[7]; + out_519391538095944063[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2943494082597835259) { - out_2943494082597835259[0] = 0; - out_2943494082597835259[1] = 0; - out_2943494082597835259[2] = 0; - out_2943494082597835259[3] = 0; - out_2943494082597835259[4] = 0; - out_2943494082597835259[5] = 0; - out_2943494082597835259[6] = 1; - out_2943494082597835259[7] = 0; - out_2943494082597835259[8] = 0; - out_2943494082597835259[9] = 0; - out_2943494082597835259[10] = 0; - out_2943494082597835259[11] = 0; - out_2943494082597835259[12] = 0; - out_2943494082597835259[13] = 0; - out_2943494082597835259[14] = 0; - out_2943494082597835259[15] = 0; - out_2943494082597835259[16] = 0; - out_2943494082597835259[17] = 0; - out_2943494082597835259[18] = 0; - out_2943494082597835259[19] = 0; - out_2943494082597835259[20] = 0; - out_2943494082597835259[21] = 0; - out_2943494082597835259[22] = 0; - out_2943494082597835259[23] = 0; - out_2943494082597835259[24] = 0; - out_2943494082597835259[25] = 1; - out_2943494082597835259[26] = 0; - out_2943494082597835259[27] = 0; - out_2943494082597835259[28] = 0; - out_2943494082597835259[29] = 0; - out_2943494082597835259[30] = 0; - out_2943494082597835259[31] = 0; - out_2943494082597835259[32] = 0; - out_2943494082597835259[33] = 0; - out_2943494082597835259[34] = 0; - out_2943494082597835259[35] = 0; - out_2943494082597835259[36] = 0; - out_2943494082597835259[37] = 0; - out_2943494082597835259[38] = 0; - out_2943494082597835259[39] = 0; - out_2943494082597835259[40] = 0; - out_2943494082597835259[41] = 0; - out_2943494082597835259[42] = 0; - out_2943494082597835259[43] = 0; - out_2943494082597835259[44] = 1; - out_2943494082597835259[45] = 0; - out_2943494082597835259[46] = 0; - out_2943494082597835259[47] = 0; - out_2943494082597835259[48] = 0; - out_2943494082597835259[49] = 0; - out_2943494082597835259[50] = 0; - out_2943494082597835259[51] = 0; - out_2943494082597835259[52] = 0; - out_2943494082597835259[53] = 0; +void H_14(double *state, double *unused, double *out_3956066663935292657) { + out_3956066663935292657[0] = 0; + out_3956066663935292657[1] = 0; + out_3956066663935292657[2] = 0; + out_3956066663935292657[3] = 0; + out_3956066663935292657[4] = 0; + out_3956066663935292657[5] = 0; + out_3956066663935292657[6] = 1; + out_3956066663935292657[7] = 0; + out_3956066663935292657[8] = 0; + out_3956066663935292657[9] = 0; + out_3956066663935292657[10] = 0; + out_3956066663935292657[11] = 0; + out_3956066663935292657[12] = 0; + out_3956066663935292657[13] = 0; + out_3956066663935292657[14] = 0; + out_3956066663935292657[15] = 0; + out_3956066663935292657[16] = 0; + out_3956066663935292657[17] = 0; + out_3956066663935292657[18] = 0; + out_3956066663935292657[19] = 0; + out_3956066663935292657[20] = 0; + out_3956066663935292657[21] = 0; + out_3956066663935292657[22] = 0; + out_3956066663935292657[23] = 0; + out_3956066663935292657[24] = 0; + out_3956066663935292657[25] = 1; + out_3956066663935292657[26] = 0; + out_3956066663935292657[27] = 0; + out_3956066663935292657[28] = 0; + out_3956066663935292657[29] = 0; + out_3956066663935292657[30] = 0; + out_3956066663935292657[31] = 0; + out_3956066663935292657[32] = 0; + out_3956066663935292657[33] = 0; + out_3956066663935292657[34] = 0; + out_3956066663935292657[35] = 0; + out_3956066663935292657[36] = 0; + out_3956066663935292657[37] = 0; + out_3956066663935292657[38] = 0; + out_3956066663935292657[39] = 0; + out_3956066663935292657[40] = 0; + out_3956066663935292657[41] = 0; + out_3956066663935292657[42] = 0; + out_3956066663935292657[43] = 0; + out_3956066663935292657[44] = 1; + out_3956066663935292657[45] = 0; + out_3956066663935292657[46] = 0; + out_3956066663935292657[47] = 0; + out_3956066663935292657[48] = 0; + out_3956066663935292657[49] = 0; + out_3956066663935292657[50] = 0; + out_3956066663935292657[51] = 0; + out_3956066663935292657[52] = 0; + out_3956066663935292657[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_7754318151462489406) { - err_fun(nom_x, delta_x, out_7754318151462489406); +void pose_err_fun(double *nom_x, double *delta_x, double *out_908811316603708218) { + err_fun(nom_x, delta_x, out_908811316603708218); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5172808168415891616) { - inv_err_fun(nom_x, true_x, out_5172808168415891616); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6097135032344727242) { + inv_err_fun(nom_x, true_x, out_6097135032344727242); } -void pose_H_mod_fun(double *state, double *out_2254475305049299983) { - H_mod_fun(state, out_2254475305049299983); +void pose_H_mod_fun(double *state, double *out_5840907614347766849) { + H_mod_fun(state, out_5840907614347766849); } -void pose_f_fun(double *state, double dt, double *out_9187930556967356165) { - f_fun(state, dt, out_9187930556967356165); +void pose_f_fun(double *state, double dt, double *out_6742419823108127014) { + f_fun(state, dt, out_6742419823108127014); } -void pose_F_fun(double *state, double dt, double *out_1250378920670806697) { - F_fun(state, dt, out_1250378920670806697); +void pose_F_fun(double *state, double dt, double *out_7663122633241286867) { + F_fun(state, dt, out_7663122633241286867); } -void pose_h_4(double *state, double *unused, double *out_3431796064752050994) { - h_4(state, unused, out_3431796064752050994); +void pose_h_4(double *state, double *unused, double *out_7389052167092190980) { + h_4(state, unused, out_7389052167092190980); } -void pose_H_4(double *state, double *unused, double *out_1019746773741649270) { - H_4(state, unused, out_1019746773741649270); +void pose_H_4(double *state, double *unused, double *out_7038855096230664953) { + H_4(state, unused, out_7038855096230664953); } -void pose_h_10(double *state, double *unused, double *out_4742817048768310237) { - h_10(state, unused, out_4742817048768310237); +void pose_h_10(double *state, double *unused, double *out_8071536081821918077) { + h_10(state, unused, out_8071536081821918077); } -void pose_H_10(double *state, double *unused, double *out_7482829619336622044) { - H_10(state, unused, out_7482829619336622044); +void pose_H_10(double *state, double *unused, double *out_4101630430643064156) { + H_10(state, unused, out_4101630430643064156); } -void pose_h_13(double *state, double *unused, double *out_3124060736866225144) { - h_13(state, unused, out_3124060736866225144); +void pose_h_13(double *state, double *unused, double *out_4611633119501949975) { + h_13(state, unused, out_4611633119501949975); } -void pose_H_13(double *state, double *unused, double *out_2192527051590683531) { - H_13(state, unused, out_2192527051590683531); +void pose_H_13(double *state, double *unused, double *out_8195615152146553862) { + H_13(state, unused, out_8195615152146553862); } -void pose_h_14(double *state, double *unused, double *out_3873502266244196496) { - h_14(state, unused, out_3873502266244196496); +void pose_h_14(double *state, double *unused, double *out_519391538095944063) { + h_14(state, unused, out_519391538095944063); } -void pose_H_14(double *state, double *unused, double *out_2943494082597835259) { - H_14(state, unused, out_2943494082597835259); +void pose_H_14(double *state, double *unused, double *out_3956066663935292657) { + H_14(state, unused, out_3956066663935292657); } 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 a9ed46fb84..193755c25f 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_7754318151462489406); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5172808168415891616); -void pose_H_mod_fun(double *state, double *out_2254475305049299983); -void pose_f_fun(double *state, double dt, double *out_9187930556967356165); -void pose_F_fun(double *state, double dt, double *out_1250378920670806697); -void pose_h_4(double *state, double *unused, double *out_3431796064752050994); -void pose_H_4(double *state, double *unused, double *out_1019746773741649270); -void pose_h_10(double *state, double *unused, double *out_4742817048768310237); -void pose_H_10(double *state, double *unused, double *out_7482829619336622044); -void pose_h_13(double *state, double *unused, double *out_3124060736866225144); -void pose_H_13(double *state, double *unused, double *out_2192527051590683531); -void pose_h_14(double *state, double *unused, double *out_3873502266244196496); -void pose_H_14(double *state, double *unused, double *out_2943494082597835259); +void pose_err_fun(double *nom_x, double *delta_x, double *out_908811316603708218); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6097135032344727242); +void pose_H_mod_fun(double *state, double *out_5840907614347766849); +void pose_f_fun(double *state, double dt, double *out_6742419823108127014); +void pose_F_fun(double *state, double dt, double *out_7663122633241286867); +void pose_h_4(double *state, double *unused, double *out_7389052167092190980); +void pose_H_4(double *state, double *unused, double *out_7038855096230664953); +void pose_h_10(double *state, double *unused, double *out_8071536081821918077); +void pose_H_10(double *state, double *unused, double *out_4101630430643064156); +void pose_h_13(double *state, double *unused, double *out_4611633119501949975); +void pose_H_13(double *state, double *unused, double *out_8195615152146553862); +void pose_h_14(double *state, double *unused, double *out_519391538095944063); +void pose_H_14(double *state, double *unused, double *out_3956066663935292657); 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 d33cc943c6..04bfd41ad7 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 4dc5e2803e..7e9c638718 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index d6664f19d1..40861ad13e 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 2ad651f1d4..dd7545173a 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 7e83c93477..af0cedb636 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ