From be88d86b21e66da86d75571e435cbb2579a1ce59 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sat, 2 May 2026 09:19:39 -0500 Subject: [PATCH] patch --- panda/board/obj/body_h7.bin.signed | Bin 79820 -> 79820 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 79684 -> 79684 bytes panda/board/obj/body_h7/main.elf | Bin 376608 -> 376608 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 71532 -> 71532 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 71396 -> 71396 bytes panda/board/obj/panda/main.elf | Bin 341824 -> 341824 bytes panda/board/obj/panda_h7.bin.signed | Bin 87768 -> 87768 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 87632 -> 87632 bytes panda/board/obj/panda_h7/main.elf | Bin 419880 -> 419880 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 87712 -> 87712 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 87576 -> 87576 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 419840 -> 419840 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 81672 -> 81672 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 81536 -> 81536 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 380540 -> 380540 bytes panda/board/obj/panda_remote.bin.signed | Bin 71488 -> 71488 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 71352 -> 71352 bytes panda/board/obj/panda_remote/main.elf | Bin 341868 -> 341868 bytes panda/board/obj/version | 2 +- selfdrive/car/card.py | 5 +- selfdrive/locationd/models/generated/car.cpp | 684 +++--- selfdrive/locationd/models/generated/car.h | 42 +- selfdrive/locationd/models/generated/pose.cpp | 1938 ++++++++--------- selfdrive/locationd/models/generated/pose.h | 26 +- selfdrive/ui/ui | Bin 4341832 -> 4341832 bytes 38 files changed, 1351 insertions(+), 1348 deletions(-) diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 96f7705692b314b4f86be14ac3c6d48933133166..0282bf95a37d468a2959f3c75a0086a6920b4131 100644 GIT binary patch delta 153 zcmV;K0A~Np?*z>61hA~J2sk%0GB-6dH?y>{n1z2HSq5%*kzqc_pbERJqp92cyOe@I z0Kme@d_g~t5+4$(=;eTXy##CEX{7f$bHWuHD0&_Cc-j 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60e302ade253eaea9501f63aa6da1b49a6d9c253..8a606d3e3fb8b0b0fd574eec135b1032418277d0 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$92VxrM&_o*=9?!vpJxRCZQ}@V delta 23 fcmaDbiSfZC#tog$9Oi~biHQalhMOlkpJxRCaHPx# diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 0e6575d3c0f54adec869fbdacec24ffa918ffb1c..af672ae6685d8bdc31d8411a628358ccc5dd50ff 100755 GIT binary patch delta 34 qcmdlJwkK?ZubQBRxv`PCsj<1Pi>p(pJ3|A*Zo9oo}u>b(STMC%~ delta 34 qcmdlJwkK?ZubQB_p;2O@frX*2i>p(pJ3|A*Zo9oo}u>b(Y@e1Ss diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index f4da61342..e1536bfee 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-712aa081-DEBUG"; +const uint8_t gitversion[19] = "DEV-87327537-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 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a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 3a5c0e5c9de2c761581f194a2d86d8fe4a9ad953..7bb7b49d968693a7c6153b43d873eb43680d698b 100755 GIT binary patch delta 23 fcmdn7mSx9UmJM4La9Efd8=0FLn{VE;;7=(4cB2Xj delta 23 fcmdn7mSx9UmJM4LaF`n!B_X*-(7tB_BM>tIG4u948(2290RVfJ63zes delta 39 tcmaF!PUOuykquimaF`n!B_tIG4u948(2290RV#y6Bz&i diff --git a/panda/board/obj/version b/panda/board/obj/version index 9606cd635..6cbaaa652 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-712aa081-DEBUG \ No newline at end of file +DEV-87327537-DEBUG \ No newline at end of file diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 46a35c283..dea1e1120 100644 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -302,10 +302,13 @@ class Car: if not self.initialized_prev: # Initialize CarInterface, once controls are ready # TODO: this can make us miss at least a few cycles when doing an ECU knockout + was_openpilot_long = self.CP.openpilotLongitudinalControl self.CI.init(self.CP, *self.can_callbacks) # If ECU disable was skipped/failed, strip LONG safety flag from BOTH CarParams # and StarPilotCarParams (pandad ORs both safetyParams together) - if self.CP.openpilotLongitudinalControl and self.params.get_bool("EcuDisableFailed"): + # Use the pre-init longitudinal state here, since Hyundai init() may already + # flip CP.openpilotLongitudinalControl to False as part of the fallback. + if was_openpilot_long and self.params.get_bool("EcuDisableFailed"): # ECU disable failed/rejected - switch to lateral-only mode with stock ACC LONG_FLAG = 4 # HyundaiSafetyFlags.LONG for cfg in self.CP.safetyConfigs: diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index c64ff356c..019e9d8cd 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_2165520225426293203) { - out_2165520225426293203[0] = delta_x[0] + nom_x[0]; - out_2165520225426293203[1] = delta_x[1] + nom_x[1]; - out_2165520225426293203[2] = delta_x[2] + nom_x[2]; - out_2165520225426293203[3] = delta_x[3] + nom_x[3]; - out_2165520225426293203[4] = delta_x[4] + nom_x[4]; - out_2165520225426293203[5] = delta_x[5] + nom_x[5]; - out_2165520225426293203[6] = delta_x[6] + nom_x[6]; - out_2165520225426293203[7] = delta_x[7] + nom_x[7]; - out_2165520225426293203[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7404715378150782082) { + out_7404715378150782082[0] = delta_x[0] + nom_x[0]; + out_7404715378150782082[1] = delta_x[1] + nom_x[1]; + out_7404715378150782082[2] = delta_x[2] + nom_x[2]; + out_7404715378150782082[3] = delta_x[3] + nom_x[3]; + out_7404715378150782082[4] = delta_x[4] + nom_x[4]; + out_7404715378150782082[5] = delta_x[5] + nom_x[5]; + out_7404715378150782082[6] = delta_x[6] + nom_x[6]; + out_7404715378150782082[7] = delta_x[7] + nom_x[7]; + out_7404715378150782082[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_48394968560250279) { - out_48394968560250279[0] = -nom_x[0] + true_x[0]; - out_48394968560250279[1] = -nom_x[1] + true_x[1]; - out_48394968560250279[2] = -nom_x[2] + true_x[2]; - out_48394968560250279[3] = -nom_x[3] + true_x[3]; - out_48394968560250279[4] = -nom_x[4] + true_x[4]; - out_48394968560250279[5] = -nom_x[5] + true_x[5]; - out_48394968560250279[6] = -nom_x[6] + true_x[6]; - out_48394968560250279[7] = -nom_x[7] + true_x[7]; - out_48394968560250279[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1067581222048175770) { + out_1067581222048175770[0] = -nom_x[0] + true_x[0]; + out_1067581222048175770[1] = -nom_x[1] + true_x[1]; + out_1067581222048175770[2] = -nom_x[2] + true_x[2]; + out_1067581222048175770[3] = -nom_x[3] + true_x[3]; + out_1067581222048175770[4] = -nom_x[4] + true_x[4]; + out_1067581222048175770[5] = -nom_x[5] + true_x[5]; + out_1067581222048175770[6] = -nom_x[6] + true_x[6]; + out_1067581222048175770[7] = -nom_x[7] + true_x[7]; + out_1067581222048175770[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8198135828365669542) { - out_8198135828365669542[0] = 1.0; - out_8198135828365669542[1] = 0.0; - out_8198135828365669542[2] = 0.0; - out_8198135828365669542[3] = 0.0; - out_8198135828365669542[4] = 0.0; - out_8198135828365669542[5] = 0.0; - out_8198135828365669542[6] = 0.0; - out_8198135828365669542[7] = 0.0; - out_8198135828365669542[8] = 0.0; - out_8198135828365669542[9] = 0.0; - out_8198135828365669542[10] = 1.0; - out_8198135828365669542[11] = 0.0; - out_8198135828365669542[12] = 0.0; - out_8198135828365669542[13] = 0.0; - out_8198135828365669542[14] = 0.0; - out_8198135828365669542[15] = 0.0; - out_8198135828365669542[16] = 0.0; - out_8198135828365669542[17] = 0.0; - out_8198135828365669542[18] = 0.0; - out_8198135828365669542[19] = 0.0; - out_8198135828365669542[20] = 1.0; - out_8198135828365669542[21] = 0.0; - out_8198135828365669542[22] = 0.0; - out_8198135828365669542[23] = 0.0; - out_8198135828365669542[24] = 0.0; - out_8198135828365669542[25] = 0.0; - out_8198135828365669542[26] = 0.0; - out_8198135828365669542[27] = 0.0; - out_8198135828365669542[28] = 0.0; - out_8198135828365669542[29] = 0.0; - out_8198135828365669542[30] = 1.0; - out_8198135828365669542[31] = 0.0; - out_8198135828365669542[32] = 0.0; - out_8198135828365669542[33] = 0.0; - out_8198135828365669542[34] = 0.0; - out_8198135828365669542[35] = 0.0; - out_8198135828365669542[36] = 0.0; - out_8198135828365669542[37] = 0.0; - out_8198135828365669542[38] = 0.0; - out_8198135828365669542[39] = 0.0; - out_8198135828365669542[40] = 1.0; - out_8198135828365669542[41] = 0.0; - out_8198135828365669542[42] = 0.0; - out_8198135828365669542[43] = 0.0; - out_8198135828365669542[44] = 0.0; - out_8198135828365669542[45] = 0.0; - out_8198135828365669542[46] = 0.0; - out_8198135828365669542[47] = 0.0; - out_8198135828365669542[48] = 0.0; - out_8198135828365669542[49] = 0.0; - out_8198135828365669542[50] = 1.0; - out_8198135828365669542[51] = 0.0; - out_8198135828365669542[52] = 0.0; - out_8198135828365669542[53] = 0.0; - out_8198135828365669542[54] = 0.0; - out_8198135828365669542[55] = 0.0; - out_8198135828365669542[56] = 0.0; - out_8198135828365669542[57] = 0.0; - out_8198135828365669542[58] = 0.0; - out_8198135828365669542[59] = 0.0; - out_8198135828365669542[60] = 1.0; - out_8198135828365669542[61] = 0.0; - out_8198135828365669542[62] = 0.0; - out_8198135828365669542[63] = 0.0; - out_8198135828365669542[64] = 0.0; - out_8198135828365669542[65] = 0.0; - out_8198135828365669542[66] = 0.0; - out_8198135828365669542[67] = 0.0; - out_8198135828365669542[68] = 0.0; - out_8198135828365669542[69] = 0.0; - out_8198135828365669542[70] = 1.0; - out_8198135828365669542[71] = 0.0; - out_8198135828365669542[72] = 0.0; - out_8198135828365669542[73] = 0.0; - out_8198135828365669542[74] = 0.0; - out_8198135828365669542[75] = 0.0; - out_8198135828365669542[76] = 0.0; - out_8198135828365669542[77] = 0.0; - out_8198135828365669542[78] = 0.0; - out_8198135828365669542[79] = 0.0; - out_8198135828365669542[80] = 1.0; +void H_mod_fun(double *state, double *out_7894099950222537712) { + out_7894099950222537712[0] = 1.0; + out_7894099950222537712[1] = 0.0; + out_7894099950222537712[2] = 0.0; + out_7894099950222537712[3] = 0.0; + out_7894099950222537712[4] = 0.0; + out_7894099950222537712[5] = 0.0; + out_7894099950222537712[6] = 0.0; + out_7894099950222537712[7] = 0.0; + out_7894099950222537712[8] = 0.0; + out_7894099950222537712[9] = 0.0; + out_7894099950222537712[10] = 1.0; + out_7894099950222537712[11] = 0.0; + out_7894099950222537712[12] = 0.0; + out_7894099950222537712[13] = 0.0; + out_7894099950222537712[14] = 0.0; + out_7894099950222537712[15] = 0.0; + out_7894099950222537712[16] = 0.0; + out_7894099950222537712[17] = 0.0; + out_7894099950222537712[18] = 0.0; + out_7894099950222537712[19] = 0.0; + out_7894099950222537712[20] = 1.0; + out_7894099950222537712[21] = 0.0; + out_7894099950222537712[22] = 0.0; + out_7894099950222537712[23] = 0.0; + out_7894099950222537712[24] = 0.0; + out_7894099950222537712[25] = 0.0; + out_7894099950222537712[26] = 0.0; + out_7894099950222537712[27] = 0.0; + out_7894099950222537712[28] = 0.0; + out_7894099950222537712[29] = 0.0; + out_7894099950222537712[30] = 1.0; + out_7894099950222537712[31] = 0.0; + out_7894099950222537712[32] = 0.0; + out_7894099950222537712[33] = 0.0; + out_7894099950222537712[34] = 0.0; + out_7894099950222537712[35] = 0.0; + out_7894099950222537712[36] = 0.0; + out_7894099950222537712[37] = 0.0; + out_7894099950222537712[38] = 0.0; + out_7894099950222537712[39] = 0.0; + out_7894099950222537712[40] = 1.0; + out_7894099950222537712[41] = 0.0; + out_7894099950222537712[42] = 0.0; + out_7894099950222537712[43] = 0.0; + out_7894099950222537712[44] = 0.0; + out_7894099950222537712[45] = 0.0; + out_7894099950222537712[46] = 0.0; + out_7894099950222537712[47] = 0.0; + out_7894099950222537712[48] = 0.0; + out_7894099950222537712[49] = 0.0; + out_7894099950222537712[50] = 1.0; + out_7894099950222537712[51] = 0.0; + out_7894099950222537712[52] = 0.0; + out_7894099950222537712[53] = 0.0; + out_7894099950222537712[54] = 0.0; + out_7894099950222537712[55] = 0.0; + out_7894099950222537712[56] = 0.0; + out_7894099950222537712[57] = 0.0; + out_7894099950222537712[58] = 0.0; + out_7894099950222537712[59] = 0.0; + out_7894099950222537712[60] = 1.0; + out_7894099950222537712[61] = 0.0; + out_7894099950222537712[62] = 0.0; + out_7894099950222537712[63] = 0.0; + out_7894099950222537712[64] = 0.0; + out_7894099950222537712[65] = 0.0; + out_7894099950222537712[66] = 0.0; + out_7894099950222537712[67] = 0.0; + out_7894099950222537712[68] = 0.0; + out_7894099950222537712[69] = 0.0; + out_7894099950222537712[70] = 1.0; + out_7894099950222537712[71] = 0.0; + out_7894099950222537712[72] = 0.0; + out_7894099950222537712[73] = 0.0; + out_7894099950222537712[74] = 0.0; + out_7894099950222537712[75] = 0.0; + out_7894099950222537712[76] = 0.0; + out_7894099950222537712[77] = 0.0; + out_7894099950222537712[78] = 0.0; + out_7894099950222537712[79] = 0.0; + out_7894099950222537712[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5413666688161130858) { - out_5413666688161130858[0] = state[0]; - out_5413666688161130858[1] = state[1]; - out_5413666688161130858[2] = state[2]; - out_5413666688161130858[3] = state[3]; - out_5413666688161130858[4] = state[4]; - out_5413666688161130858[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_5413666688161130858[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_5413666688161130858[7] = state[7]; - out_5413666688161130858[8] = state[8]; +void f_fun(double *state, double dt, double *out_18918990587173632) { + out_18918990587173632[0] = state[0]; + out_18918990587173632[1] = state[1]; + out_18918990587173632[2] = state[2]; + out_18918990587173632[3] = state[3]; + out_18918990587173632[4] = state[4]; + out_18918990587173632[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_18918990587173632[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_18918990587173632[7] = state[7]; + out_18918990587173632[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7314745635201977822) { - out_7314745635201977822[0] = 1; - out_7314745635201977822[1] = 0; - out_7314745635201977822[2] = 0; - out_7314745635201977822[3] = 0; - out_7314745635201977822[4] = 0; - out_7314745635201977822[5] = 0; - out_7314745635201977822[6] = 0; - out_7314745635201977822[7] = 0; - out_7314745635201977822[8] = 0; - out_7314745635201977822[9] = 0; - out_7314745635201977822[10] = 1; - out_7314745635201977822[11] = 0; - out_7314745635201977822[12] = 0; - out_7314745635201977822[13] = 0; - out_7314745635201977822[14] = 0; - out_7314745635201977822[15] = 0; - out_7314745635201977822[16] = 0; - out_7314745635201977822[17] = 0; - out_7314745635201977822[18] = 0; - out_7314745635201977822[19] = 0; - out_7314745635201977822[20] = 1; - out_7314745635201977822[21] = 0; - out_7314745635201977822[22] = 0; - out_7314745635201977822[23] = 0; - out_7314745635201977822[24] = 0; - out_7314745635201977822[25] = 0; - out_7314745635201977822[26] = 0; - out_7314745635201977822[27] = 0; - out_7314745635201977822[28] = 0; - out_7314745635201977822[29] = 0; - out_7314745635201977822[30] = 1; - out_7314745635201977822[31] = 0; - out_7314745635201977822[32] = 0; - out_7314745635201977822[33] = 0; - out_7314745635201977822[34] = 0; - out_7314745635201977822[35] = 0; - out_7314745635201977822[36] = 0; - out_7314745635201977822[37] = 0; - out_7314745635201977822[38] = 0; - out_7314745635201977822[39] = 0; - out_7314745635201977822[40] = 1; - out_7314745635201977822[41] = 0; - out_7314745635201977822[42] = 0; - out_7314745635201977822[43] = 0; - out_7314745635201977822[44] = 0; - out_7314745635201977822[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_7314745635201977822[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7314745635201977822[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7314745635201977822[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7314745635201977822[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_7314745635201977822[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7314745635201977822[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7314745635201977822[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7314745635201977822[53] = -9.8100000000000005*dt; - out_7314745635201977822[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_7314745635201977822[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7314745635201977822[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7314745635201977822[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7314745635201977822[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_7314745635201977822[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7314745635201977822[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_7314745635201977822[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7314745635201977822[62] = 0; - out_7314745635201977822[63] = 0; - out_7314745635201977822[64] = 0; - out_7314745635201977822[65] = 0; - out_7314745635201977822[66] = 0; - out_7314745635201977822[67] = 0; - out_7314745635201977822[68] = 0; - out_7314745635201977822[69] = 0; - out_7314745635201977822[70] = 1; - out_7314745635201977822[71] = 0; - out_7314745635201977822[72] = 0; - out_7314745635201977822[73] = 0; - out_7314745635201977822[74] = 0; - out_7314745635201977822[75] = 0; - out_7314745635201977822[76] = 0; - out_7314745635201977822[77] = 0; - out_7314745635201977822[78] = 0; - out_7314745635201977822[79] = 0; - out_7314745635201977822[80] = 1; +void F_fun(double *state, double dt, double *out_164532203047016632) { + out_164532203047016632[0] = 1; + out_164532203047016632[1] = 0; + out_164532203047016632[2] = 0; + out_164532203047016632[3] = 0; + out_164532203047016632[4] = 0; + out_164532203047016632[5] = 0; + out_164532203047016632[6] = 0; + out_164532203047016632[7] = 0; + out_164532203047016632[8] = 0; + out_164532203047016632[9] = 0; + out_164532203047016632[10] = 1; + out_164532203047016632[11] = 0; + out_164532203047016632[12] = 0; + out_164532203047016632[13] = 0; + out_164532203047016632[14] = 0; + out_164532203047016632[15] = 0; + out_164532203047016632[16] = 0; + out_164532203047016632[17] = 0; + out_164532203047016632[18] = 0; + out_164532203047016632[19] = 0; + out_164532203047016632[20] = 1; + out_164532203047016632[21] = 0; + out_164532203047016632[22] = 0; + out_164532203047016632[23] = 0; + out_164532203047016632[24] = 0; + out_164532203047016632[25] = 0; + out_164532203047016632[26] = 0; + out_164532203047016632[27] = 0; + out_164532203047016632[28] = 0; + out_164532203047016632[29] = 0; + out_164532203047016632[30] = 1; + out_164532203047016632[31] = 0; + out_164532203047016632[32] = 0; + out_164532203047016632[33] = 0; + out_164532203047016632[34] = 0; + out_164532203047016632[35] = 0; + out_164532203047016632[36] = 0; + out_164532203047016632[37] = 0; + out_164532203047016632[38] = 0; + out_164532203047016632[39] = 0; + out_164532203047016632[40] = 1; + out_164532203047016632[41] = 0; + out_164532203047016632[42] = 0; + out_164532203047016632[43] = 0; + out_164532203047016632[44] = 0; + out_164532203047016632[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_164532203047016632[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_164532203047016632[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_164532203047016632[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_164532203047016632[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_164532203047016632[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_164532203047016632[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_164532203047016632[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_164532203047016632[53] = -9.8100000000000005*dt; + out_164532203047016632[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_164532203047016632[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_164532203047016632[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_164532203047016632[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_164532203047016632[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_164532203047016632[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_164532203047016632[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_164532203047016632[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_164532203047016632[62] = 0; + out_164532203047016632[63] = 0; + out_164532203047016632[64] = 0; + out_164532203047016632[65] = 0; + out_164532203047016632[66] = 0; + out_164532203047016632[67] = 0; + out_164532203047016632[68] = 0; + out_164532203047016632[69] = 0; + out_164532203047016632[70] = 1; + out_164532203047016632[71] = 0; + out_164532203047016632[72] = 0; + out_164532203047016632[73] = 0; + out_164532203047016632[74] = 0; + out_164532203047016632[75] = 0; + out_164532203047016632[76] = 0; + out_164532203047016632[77] = 0; + out_164532203047016632[78] = 0; + out_164532203047016632[79] = 0; + out_164532203047016632[80] = 1; } -void h_25(double *state, double *unused, double *out_1723156805424676224) { - out_1723156805424676224[0] = state[6]; +void h_25(double *state, double *unused, double *out_513824514853683092) { + out_513824514853683092[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6725559606698516926) { - out_6725559606698516926[0] = 0; - out_6725559606698516926[1] = 0; - out_6725559606698516926[2] = 0; - out_6725559606698516926[3] = 0; - out_6725559606698516926[4] = 0; - out_6725559606698516926[5] = 0; - out_6725559606698516926[6] = 1; - out_6725559606698516926[7] = 0; - out_6725559606698516926[8] = 0; +void H_25(double *state, double *unused, double *out_4371119300233046035) { + out_4371119300233046035[0] = 0; + out_4371119300233046035[1] = 0; + out_4371119300233046035[2] = 0; + out_4371119300233046035[3] = 0; + out_4371119300233046035[4] = 0; + out_4371119300233046035[5] = 0; + out_4371119300233046035[6] = 1; + out_4371119300233046035[7] = 0; + out_4371119300233046035[8] = 0; } -void h_24(double *state, double *unused, double *out_6301088908339500348) { - out_6301088908339500348[0] = state[4]; - out_6301088908339500348[1] = state[5]; +void h_24(double *state, double *unused, double *out_1763325166754368628) { + out_1763325166754368628[0] = state[4]; + out_1763325166754368628[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8163258868208711554) { - out_8163258868208711554[0] = 0; - out_8163258868208711554[1] = 0; - out_8163258868208711554[2] = 0; - out_8163258868208711554[3] = 0; - out_8163258868208711554[4] = 1; - out_8163258868208711554[5] = 0; - out_8163258868208711554[6] = 0; - out_8163258868208711554[7] = 0; - out_8163258868208711554[8] = 0; - out_8163258868208711554[9] = 0; - out_8163258868208711554[10] = 0; - out_8163258868208711554[11] = 0; - out_8163258868208711554[12] = 0; - out_8163258868208711554[13] = 0; - out_8163258868208711554[14] = 1; - out_8163258868208711554[15] = 0; - out_8163258868208711554[16] = 0; - out_8163258868208711554[17] = 0; +void H_24(double *state, double *unused, double *out_813193701430722899) { + out_813193701430722899[0] = 0; + out_813193701430722899[1] = 0; + out_813193701430722899[2] = 0; + out_813193701430722899[3] = 0; + out_813193701430722899[4] = 1; + out_813193701430722899[5] = 0; + out_813193701430722899[6] = 0; + out_813193701430722899[7] = 0; + out_813193701430722899[8] = 0; + out_813193701430722899[9] = 0; + out_813193701430722899[10] = 0; + out_813193701430722899[11] = 0; + out_813193701430722899[12] = 0; + out_813193701430722899[13] = 0; + out_813193701430722899[14] = 1; + out_813193701430722899[15] = 0; + out_813193701430722899[16] = 0; + out_813193701430722899[17] = 0; } -void h_30(double *state, double *unused, double *out_5821460103704048088) { - out_5821460103704048088[0] = state[4]; +void h_30(double *state, double *unused, double *out_2433901475501801869) { + out_2433901475501801869[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4804494125519417935) { - out_4804494125519417935[0] = 0; - out_4804494125519417935[1] = 0; - out_4804494125519417935[2] = 0; - out_4804494125519417935[3] = 0; - out_4804494125519417935[4] = 1; - out_4804494125519417935[5] = 0; - out_4804494125519417935[6] = 0; - out_4804494125519417935[7] = 0; - out_4804494125519417935[8] = 0; +void H_30(double *state, double *unused, double *out_4500458247376286105) { + out_4500458247376286105[0] = 0; + out_4500458247376286105[1] = 0; + out_4500458247376286105[2] = 0; + out_4500458247376286105[3] = 0; + out_4500458247376286105[4] = 1; + out_4500458247376286105[5] = 0; + out_4500458247376286105[6] = 0; + out_4500458247376286105[7] = 0; + out_4500458247376286105[8] = 0; } -void h_26(double *state, double *unused, double *out_3604740557565027086) { - out_3604740557565027086[0] = state[7]; +void h_26(double *state, double *unused, double *out_1451817382166503757) { + out_1451817382166503757[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8416658497250234089) { - out_8416658497250234089[0] = 0; - out_8416658497250234089[1] = 0; - out_8416658497250234089[2] = 0; - out_8416658497250234089[3] = 0; - out_8416658497250234089[4] = 0; - out_8416658497250234089[5] = 0; - out_8416658497250234089[6] = 0; - out_8416658497250234089[7] = 1; - out_8416658497250234089[8] = 0; +void H_26(double *state, double *unused, double *out_8112622619107102259) { + out_8112622619107102259[0] = 0; + out_8112622619107102259[1] = 0; + out_8112622619107102259[2] = 0; + out_8112622619107102259[3] = 0; + out_8112622619107102259[4] = 0; + out_8112622619107102259[5] = 0; + out_8112622619107102259[6] = 0; + out_8112622619107102259[7] = 1; + out_8112622619107102259[8] = 0; } -void h_27(double *state, double *unused, double *out_4759942856869008909) { - out_4759942856869008909[0] = state[3]; +void h_27(double *state, double *unused, double *out_8950950386849027759) { + out_8950950386849027759[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6979257437319842846) { - out_6979257437319842846[0] = 0; - out_6979257437319842846[1] = 0; - out_6979257437319842846[2] = 0; - out_6979257437319842846[3] = 1; - out_6979257437319842846[4] = 0; - out_6979257437319842846[5] = 0; - out_6979257437319842846[6] = 0; - out_6979257437319842846[7] = 0; - out_6979257437319842846[8] = 0; +void H_27(double *state, double *unused, double *out_6675221559176711016) { + out_6675221559176711016[0] = 0; + out_6675221559176711016[1] = 0; + out_6675221559176711016[2] = 0; + out_6675221559176711016[3] = 1; + out_6675221559176711016[4] = 0; + out_6675221559176711016[5] = 0; + out_6675221559176711016[6] = 0; + out_6675221559176711016[7] = 0; + out_6675221559176711016[8] = 0; } -void h_29(double *state, double *unused, double *out_5218144219027570571) { - out_5218144219027570571[0] = state[1]; +void h_29(double *state, double *unused, double *out_7435574743162647514) { + out_7435574743162647514[0] = state[1]; } -void H_29(double *state, double *unused, double *out_4294262781205025751) { - out_4294262781205025751[0] = 0; - out_4294262781205025751[1] = 1; - out_4294262781205025751[2] = 0; - out_4294262781205025751[3] = 0; - out_4294262781205025751[4] = 0; - out_4294262781205025751[5] = 0; - out_4294262781205025751[6] = 0; - out_4294262781205025751[7] = 0; - out_4294262781205025751[8] = 0; +void H_29(double *state, double *unused, double *out_8388584286046262049) { + out_8388584286046262049[0] = 0; + out_8388584286046262049[1] = 1; + out_8388584286046262049[2] = 0; + out_8388584286046262049[3] = 0; + out_8388584286046262049[4] = 0; + out_8388584286046262049[5] = 0; + out_8388584286046262049[6] = 0; + out_8388584286046262049[7] = 0; + out_8388584286046262049[8] = 0; } -void h_28(double *state, double *unused, double *out_5703452709770671344) { - out_5703452709770671344[0] = state[0]; +void h_28(double *state, double *unused, double *out_4494120419199678212) { + out_4494120419199678212[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4671724892450627163) { - out_4671724892450627163[0] = 1; - out_4671724892450627163[1] = 0; - out_4671724892450627163[2] = 0; - out_4671724892450627163[3] = 0; - out_4671724892450627163[4] = 0; - out_4671724892450627163[5] = 0; - out_4671724892450627163[6] = 0; - out_4671724892450627163[7] = 0; - out_4671724892450627163[8] = 0; +void H_28(double *state, double *unused, double *out_6424954014480935798) { + out_6424954014480935798[0] = 1; + out_6424954014480935798[1] = 0; + out_6424954014480935798[2] = 0; + out_6424954014480935798[3] = 0; + out_6424954014480935798[4] = 0; + out_6424954014480935798[5] = 0; + out_6424954014480935798[6] = 0; + out_6424954014480935798[7] = 0; + out_6424954014480935798[8] = 0; } -void h_31(double *state, double *unused, double *out_1998350867709182113) { - out_1998350867709182113[0] = state[8]; +void h_31(double *state, double *unused, double *out_6257010711496667844) { + out_6257010711496667844[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4644509216499217437) { - out_4644509216499217437[0] = 0; - out_4644509216499217437[1] = 0; - out_4644509216499217437[2] = 0; - out_4644509216499217437[3] = 0; - out_4644509216499217437[4] = 0; - out_4644509216499217437[5] = 0; - out_4644509216499217437[6] = 0; - out_4644509216499217437[7] = 0; - out_4644509216499217437[8] = 1; +void H_31(double *state, double *unused, double *out_4340473338356085607) { + out_4340473338356085607[0] = 0; + out_4340473338356085607[1] = 0; + out_4340473338356085607[2] = 0; + out_4340473338356085607[3] = 0; + out_4340473338356085607[4] = 0; + out_4340473338356085607[5] = 0; + out_4340473338356085607[6] = 0; + out_4340473338356085607[7] = 0; + out_4340473338356085607[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_2165520225426293203) { - err_fun(nom_x, delta_x, out_2165520225426293203); +void car_err_fun(double *nom_x, double *delta_x, double *out_7404715378150782082) { + err_fun(nom_x, delta_x, out_7404715378150782082); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_48394968560250279) { - inv_err_fun(nom_x, true_x, out_48394968560250279); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1067581222048175770) { + inv_err_fun(nom_x, true_x, out_1067581222048175770); } -void car_H_mod_fun(double *state, double *out_8198135828365669542) { - H_mod_fun(state, out_8198135828365669542); +void car_H_mod_fun(double *state, double *out_7894099950222537712) { + H_mod_fun(state, out_7894099950222537712); } -void car_f_fun(double *state, double dt, double *out_5413666688161130858) { - f_fun(state, dt, out_5413666688161130858); +void car_f_fun(double *state, double dt, double *out_18918990587173632) { + f_fun(state, dt, out_18918990587173632); } -void car_F_fun(double *state, double dt, double *out_7314745635201977822) { - F_fun(state, dt, out_7314745635201977822); +void car_F_fun(double *state, double dt, double *out_164532203047016632) { + F_fun(state, dt, out_164532203047016632); } -void car_h_25(double *state, double *unused, double *out_1723156805424676224) { - h_25(state, unused, out_1723156805424676224); +void car_h_25(double *state, double *unused, double *out_513824514853683092) { + h_25(state, unused, out_513824514853683092); } -void car_H_25(double *state, double *unused, double *out_6725559606698516926) { - H_25(state, unused, out_6725559606698516926); +void car_H_25(double *state, double *unused, double *out_4371119300233046035) { + H_25(state, unused, out_4371119300233046035); } -void car_h_24(double *state, double *unused, double *out_6301088908339500348) { - h_24(state, unused, out_6301088908339500348); +void car_h_24(double *state, double *unused, double *out_1763325166754368628) { + h_24(state, unused, out_1763325166754368628); } -void car_H_24(double *state, double *unused, double *out_8163258868208711554) { - H_24(state, unused, out_8163258868208711554); +void car_H_24(double *state, double *unused, double *out_813193701430722899) { + H_24(state, unused, out_813193701430722899); } -void car_h_30(double *state, double *unused, double *out_5821460103704048088) { - h_30(state, unused, out_5821460103704048088); +void car_h_30(double *state, double *unused, double *out_2433901475501801869) { + h_30(state, unused, out_2433901475501801869); } -void car_H_30(double *state, double *unused, double *out_4804494125519417935) { - H_30(state, unused, out_4804494125519417935); +void car_H_30(double *state, double *unused, double *out_4500458247376286105) { + H_30(state, unused, out_4500458247376286105); } -void car_h_26(double *state, double *unused, double *out_3604740557565027086) { - h_26(state, unused, out_3604740557565027086); +void car_h_26(double *state, double *unused, double *out_1451817382166503757) { + h_26(state, unused, out_1451817382166503757); } -void car_H_26(double *state, double *unused, double *out_8416658497250234089) { - H_26(state, unused, out_8416658497250234089); +void car_H_26(double *state, double *unused, double *out_8112622619107102259) { + H_26(state, unused, out_8112622619107102259); } -void car_h_27(double *state, double *unused, double *out_4759942856869008909) { - h_27(state, unused, out_4759942856869008909); +void car_h_27(double *state, double *unused, double *out_8950950386849027759) { + h_27(state, unused, out_8950950386849027759); } -void car_H_27(double *state, double *unused, double *out_6979257437319842846) { - H_27(state, unused, out_6979257437319842846); +void car_H_27(double *state, double *unused, double *out_6675221559176711016) { + H_27(state, unused, out_6675221559176711016); } -void car_h_29(double *state, double *unused, double *out_5218144219027570571) { - h_29(state, unused, out_5218144219027570571); +void car_h_29(double *state, double *unused, double *out_7435574743162647514) { + h_29(state, unused, out_7435574743162647514); } -void car_H_29(double *state, double *unused, double *out_4294262781205025751) { - H_29(state, unused, out_4294262781205025751); +void car_H_29(double *state, double *unused, double *out_8388584286046262049) { + H_29(state, unused, out_8388584286046262049); } -void car_h_28(double *state, double *unused, double *out_5703452709770671344) { - h_28(state, unused, out_5703452709770671344); +void car_h_28(double *state, double *unused, double *out_4494120419199678212) { + h_28(state, unused, out_4494120419199678212); } -void car_H_28(double *state, double *unused, double *out_4671724892450627163) { - H_28(state, unused, out_4671724892450627163); +void car_H_28(double *state, double *unused, double *out_6424954014480935798) { + H_28(state, unused, out_6424954014480935798); } -void car_h_31(double *state, double *unused, double *out_1998350867709182113) { - h_31(state, unused, out_1998350867709182113); +void car_h_31(double *state, double *unused, double *out_6257010711496667844) { + h_31(state, unused, out_6257010711496667844); } -void car_H_31(double *state, double *unused, double *out_4644509216499217437) { - H_31(state, unused, out_4644509216499217437); +void car_H_31(double *state, double *unused, double *out_4340473338356085607) { + H_31(state, unused, out_4340473338356085607); } 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 94092dd65..629b2a102 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_2165520225426293203); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_48394968560250279); -void car_H_mod_fun(double *state, double *out_8198135828365669542); -void car_f_fun(double *state, double dt, double *out_5413666688161130858); -void car_F_fun(double *state, double dt, double *out_7314745635201977822); -void car_h_25(double *state, double *unused, double *out_1723156805424676224); -void car_H_25(double *state, double *unused, double *out_6725559606698516926); -void car_h_24(double *state, double *unused, double *out_6301088908339500348); -void car_H_24(double *state, double *unused, double *out_8163258868208711554); -void car_h_30(double *state, double *unused, double *out_5821460103704048088); -void car_H_30(double *state, double *unused, double *out_4804494125519417935); -void car_h_26(double *state, double *unused, double *out_3604740557565027086); -void car_H_26(double *state, double *unused, double *out_8416658497250234089); -void car_h_27(double *state, double *unused, double *out_4759942856869008909); -void car_H_27(double *state, double *unused, double *out_6979257437319842846); -void car_h_29(double *state, double *unused, double *out_5218144219027570571); -void car_H_29(double *state, double *unused, double *out_4294262781205025751); -void car_h_28(double *state, double *unused, double *out_5703452709770671344); -void car_H_28(double *state, double *unused, double *out_4671724892450627163); -void car_h_31(double *state, double *unused, double *out_1998350867709182113); -void car_H_31(double *state, double *unused, double *out_4644509216499217437); +void car_err_fun(double *nom_x, double *delta_x, double *out_7404715378150782082); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1067581222048175770); +void car_H_mod_fun(double *state, double *out_7894099950222537712); +void car_f_fun(double *state, double dt, double *out_18918990587173632); +void car_F_fun(double *state, double dt, double *out_164532203047016632); +void car_h_25(double *state, double *unused, double *out_513824514853683092); +void car_H_25(double *state, double *unused, double *out_4371119300233046035); +void car_h_24(double *state, double *unused, double *out_1763325166754368628); +void car_H_24(double *state, double *unused, double *out_813193701430722899); +void car_h_30(double *state, double *unused, double *out_2433901475501801869); +void car_H_30(double *state, double *unused, double *out_4500458247376286105); +void car_h_26(double *state, double *unused, double *out_1451817382166503757); +void car_H_26(double *state, double *unused, double *out_8112622619107102259); +void car_h_27(double *state, double *unused, double *out_8950950386849027759); +void car_H_27(double *state, double *unused, double *out_6675221559176711016); +void car_h_29(double *state, double *unused, double *out_7435574743162647514); +void car_H_29(double *state, double *unused, double *out_8388584286046262049); +void car_h_28(double *state, double *unused, double *out_4494120419199678212); +void car_H_28(double *state, double *unused, double *out_6424954014480935798); +void car_h_31(double *state, double *unused, double *out_6257010711496667844); +void car_H_31(double *state, double *unused, double *out_4340473338356085607); 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 48f3e130b..11f3ae64f 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_1677822181415374238) { - out_1677822181415374238[0] = delta_x[0] + nom_x[0]; - out_1677822181415374238[1] = delta_x[1] + nom_x[1]; - out_1677822181415374238[2] = delta_x[2] + nom_x[2]; - out_1677822181415374238[3] = delta_x[3] + nom_x[3]; - out_1677822181415374238[4] = delta_x[4] + nom_x[4]; - out_1677822181415374238[5] = delta_x[5] + nom_x[5]; - out_1677822181415374238[6] = delta_x[6] + nom_x[6]; - out_1677822181415374238[7] = delta_x[7] + nom_x[7]; - out_1677822181415374238[8] = delta_x[8] + nom_x[8]; - out_1677822181415374238[9] = delta_x[9] + nom_x[9]; - out_1677822181415374238[10] = delta_x[10] + nom_x[10]; - out_1677822181415374238[11] = delta_x[11] + nom_x[11]; - out_1677822181415374238[12] = delta_x[12] + nom_x[12]; - out_1677822181415374238[13] = delta_x[13] + nom_x[13]; - out_1677822181415374238[14] = delta_x[14] + nom_x[14]; - out_1677822181415374238[15] = delta_x[15] + nom_x[15]; - out_1677822181415374238[16] = delta_x[16] + nom_x[16]; - out_1677822181415374238[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5984861409348236479) { + out_5984861409348236479[0] = delta_x[0] + nom_x[0]; + out_5984861409348236479[1] = delta_x[1] + nom_x[1]; + out_5984861409348236479[2] = delta_x[2] + nom_x[2]; + out_5984861409348236479[3] = delta_x[3] + nom_x[3]; + out_5984861409348236479[4] = delta_x[4] + nom_x[4]; + out_5984861409348236479[5] = delta_x[5] + nom_x[5]; + out_5984861409348236479[6] = delta_x[6] + nom_x[6]; + out_5984861409348236479[7] = delta_x[7] + nom_x[7]; + out_5984861409348236479[8] = delta_x[8] + nom_x[8]; + out_5984861409348236479[9] = delta_x[9] + nom_x[9]; + out_5984861409348236479[10] = delta_x[10] + nom_x[10]; + out_5984861409348236479[11] = delta_x[11] + nom_x[11]; + out_5984861409348236479[12] = delta_x[12] + nom_x[12]; + out_5984861409348236479[13] = delta_x[13] + nom_x[13]; + out_5984861409348236479[14] = delta_x[14] + nom_x[14]; + out_5984861409348236479[15] = delta_x[15] + nom_x[15]; + out_5984861409348236479[16] = delta_x[16] + nom_x[16]; + out_5984861409348236479[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1645070502606612381) { - out_1645070502606612381[0] = -nom_x[0] + true_x[0]; - out_1645070502606612381[1] = -nom_x[1] + true_x[1]; - out_1645070502606612381[2] = -nom_x[2] + true_x[2]; - out_1645070502606612381[3] = -nom_x[3] + true_x[3]; - out_1645070502606612381[4] = -nom_x[4] + true_x[4]; - out_1645070502606612381[5] = -nom_x[5] + true_x[5]; - out_1645070502606612381[6] = -nom_x[6] + true_x[6]; - out_1645070502606612381[7] = -nom_x[7] + true_x[7]; - out_1645070502606612381[8] = -nom_x[8] + true_x[8]; - out_1645070502606612381[9] = -nom_x[9] + true_x[9]; - out_1645070502606612381[10] = -nom_x[10] + true_x[10]; - out_1645070502606612381[11] = -nom_x[11] + true_x[11]; - out_1645070502606612381[12] = -nom_x[12] + true_x[12]; - out_1645070502606612381[13] = -nom_x[13] + true_x[13]; - out_1645070502606612381[14] = -nom_x[14] + true_x[14]; - out_1645070502606612381[15] = -nom_x[15] + true_x[15]; - out_1645070502606612381[16] = -nom_x[16] + true_x[16]; - out_1645070502606612381[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1707565234864444406) { + out_1707565234864444406[0] = -nom_x[0] + true_x[0]; + out_1707565234864444406[1] = -nom_x[1] + true_x[1]; + out_1707565234864444406[2] = -nom_x[2] + true_x[2]; + out_1707565234864444406[3] = -nom_x[3] + true_x[3]; + out_1707565234864444406[4] = -nom_x[4] + true_x[4]; + out_1707565234864444406[5] = -nom_x[5] + true_x[5]; + out_1707565234864444406[6] = -nom_x[6] + true_x[6]; + out_1707565234864444406[7] = -nom_x[7] + true_x[7]; + out_1707565234864444406[8] = -nom_x[8] + true_x[8]; + out_1707565234864444406[9] = -nom_x[9] + true_x[9]; + out_1707565234864444406[10] = -nom_x[10] + true_x[10]; + out_1707565234864444406[11] = -nom_x[11] + true_x[11]; + out_1707565234864444406[12] = -nom_x[12] + true_x[12]; + out_1707565234864444406[13] = -nom_x[13] + true_x[13]; + out_1707565234864444406[14] = -nom_x[14] + true_x[14]; + out_1707565234864444406[15] = -nom_x[15] + true_x[15]; + out_1707565234864444406[16] = -nom_x[16] + true_x[16]; + out_1707565234864444406[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_6168804416891607091) { - out_6168804416891607091[0] = 1.0; - out_6168804416891607091[1] = 0.0; - out_6168804416891607091[2] = 0.0; - out_6168804416891607091[3] = 0.0; - out_6168804416891607091[4] = 0.0; - out_6168804416891607091[5] = 0.0; - out_6168804416891607091[6] = 0.0; - out_6168804416891607091[7] = 0.0; - out_6168804416891607091[8] = 0.0; - out_6168804416891607091[9] = 0.0; - out_6168804416891607091[10] = 0.0; - out_6168804416891607091[11] = 0.0; - out_6168804416891607091[12] = 0.0; - out_6168804416891607091[13] = 0.0; - out_6168804416891607091[14] = 0.0; - out_6168804416891607091[15] = 0.0; - out_6168804416891607091[16] = 0.0; - out_6168804416891607091[17] = 0.0; - out_6168804416891607091[18] = 0.0; - out_6168804416891607091[19] = 1.0; - out_6168804416891607091[20] = 0.0; - out_6168804416891607091[21] = 0.0; - out_6168804416891607091[22] = 0.0; - out_6168804416891607091[23] = 0.0; - out_6168804416891607091[24] = 0.0; - out_6168804416891607091[25] = 0.0; - out_6168804416891607091[26] = 0.0; - out_6168804416891607091[27] = 0.0; - out_6168804416891607091[28] = 0.0; - out_6168804416891607091[29] = 0.0; - out_6168804416891607091[30] = 0.0; - out_6168804416891607091[31] = 0.0; - out_6168804416891607091[32] = 0.0; - out_6168804416891607091[33] = 0.0; - out_6168804416891607091[34] = 0.0; - out_6168804416891607091[35] = 0.0; - out_6168804416891607091[36] = 0.0; - out_6168804416891607091[37] = 0.0; - out_6168804416891607091[38] = 1.0; - out_6168804416891607091[39] = 0.0; - out_6168804416891607091[40] = 0.0; - out_6168804416891607091[41] = 0.0; - out_6168804416891607091[42] = 0.0; - out_6168804416891607091[43] = 0.0; - out_6168804416891607091[44] = 0.0; - out_6168804416891607091[45] = 0.0; - out_6168804416891607091[46] = 0.0; - out_6168804416891607091[47] = 0.0; - out_6168804416891607091[48] = 0.0; - out_6168804416891607091[49] = 0.0; - out_6168804416891607091[50] = 0.0; - out_6168804416891607091[51] = 0.0; - out_6168804416891607091[52] = 0.0; - out_6168804416891607091[53] = 0.0; - out_6168804416891607091[54] = 0.0; - out_6168804416891607091[55] = 0.0; - out_6168804416891607091[56] = 0.0; - out_6168804416891607091[57] = 1.0; - out_6168804416891607091[58] = 0.0; - out_6168804416891607091[59] = 0.0; - out_6168804416891607091[60] = 0.0; - out_6168804416891607091[61] = 0.0; - out_6168804416891607091[62] = 0.0; - out_6168804416891607091[63] = 0.0; - out_6168804416891607091[64] = 0.0; - out_6168804416891607091[65] = 0.0; - out_6168804416891607091[66] = 0.0; - out_6168804416891607091[67] = 0.0; - out_6168804416891607091[68] = 0.0; - out_6168804416891607091[69] = 0.0; - out_6168804416891607091[70] = 0.0; - out_6168804416891607091[71] = 0.0; - out_6168804416891607091[72] = 0.0; - out_6168804416891607091[73] = 0.0; - out_6168804416891607091[74] = 0.0; - out_6168804416891607091[75] = 0.0; - out_6168804416891607091[76] = 1.0; - out_6168804416891607091[77] = 0.0; - out_6168804416891607091[78] = 0.0; - out_6168804416891607091[79] = 0.0; - out_6168804416891607091[80] = 0.0; - out_6168804416891607091[81] = 0.0; - out_6168804416891607091[82] = 0.0; - out_6168804416891607091[83] = 0.0; - out_6168804416891607091[84] = 0.0; - out_6168804416891607091[85] = 0.0; - out_6168804416891607091[86] = 0.0; - out_6168804416891607091[87] = 0.0; - out_6168804416891607091[88] = 0.0; - out_6168804416891607091[89] = 0.0; - out_6168804416891607091[90] = 0.0; - out_6168804416891607091[91] = 0.0; - out_6168804416891607091[92] = 0.0; - out_6168804416891607091[93] = 0.0; - out_6168804416891607091[94] = 0.0; - out_6168804416891607091[95] = 1.0; - out_6168804416891607091[96] = 0.0; - out_6168804416891607091[97] = 0.0; - out_6168804416891607091[98] = 0.0; - out_6168804416891607091[99] = 0.0; - out_6168804416891607091[100] = 0.0; - out_6168804416891607091[101] = 0.0; - out_6168804416891607091[102] = 0.0; - out_6168804416891607091[103] = 0.0; - out_6168804416891607091[104] = 0.0; - out_6168804416891607091[105] = 0.0; - out_6168804416891607091[106] = 0.0; - out_6168804416891607091[107] = 0.0; - out_6168804416891607091[108] = 0.0; - out_6168804416891607091[109] = 0.0; - out_6168804416891607091[110] = 0.0; - out_6168804416891607091[111] = 0.0; - out_6168804416891607091[112] = 0.0; - out_6168804416891607091[113] = 0.0; - out_6168804416891607091[114] = 1.0; - out_6168804416891607091[115] = 0.0; - out_6168804416891607091[116] = 0.0; - out_6168804416891607091[117] = 0.0; - out_6168804416891607091[118] = 0.0; - out_6168804416891607091[119] = 0.0; - out_6168804416891607091[120] = 0.0; - out_6168804416891607091[121] = 0.0; - out_6168804416891607091[122] = 0.0; - out_6168804416891607091[123] = 0.0; - out_6168804416891607091[124] = 0.0; - out_6168804416891607091[125] = 0.0; - out_6168804416891607091[126] = 0.0; - out_6168804416891607091[127] = 0.0; - out_6168804416891607091[128] = 0.0; - out_6168804416891607091[129] = 0.0; - out_6168804416891607091[130] = 0.0; - out_6168804416891607091[131] = 0.0; - out_6168804416891607091[132] = 0.0; - out_6168804416891607091[133] = 1.0; - out_6168804416891607091[134] = 0.0; - out_6168804416891607091[135] = 0.0; - out_6168804416891607091[136] = 0.0; - out_6168804416891607091[137] = 0.0; - out_6168804416891607091[138] = 0.0; - out_6168804416891607091[139] = 0.0; - out_6168804416891607091[140] = 0.0; - out_6168804416891607091[141] = 0.0; - out_6168804416891607091[142] = 0.0; - out_6168804416891607091[143] = 0.0; - out_6168804416891607091[144] = 0.0; - out_6168804416891607091[145] = 0.0; - out_6168804416891607091[146] = 0.0; - out_6168804416891607091[147] = 0.0; - out_6168804416891607091[148] = 0.0; - out_6168804416891607091[149] = 0.0; - out_6168804416891607091[150] = 0.0; - out_6168804416891607091[151] = 0.0; - out_6168804416891607091[152] = 1.0; - out_6168804416891607091[153] = 0.0; - out_6168804416891607091[154] = 0.0; - out_6168804416891607091[155] = 0.0; - out_6168804416891607091[156] = 0.0; - out_6168804416891607091[157] = 0.0; - out_6168804416891607091[158] = 0.0; - out_6168804416891607091[159] = 0.0; - out_6168804416891607091[160] = 0.0; - out_6168804416891607091[161] = 0.0; - out_6168804416891607091[162] = 0.0; - out_6168804416891607091[163] = 0.0; - out_6168804416891607091[164] = 0.0; - out_6168804416891607091[165] = 0.0; - out_6168804416891607091[166] = 0.0; - out_6168804416891607091[167] = 0.0; - out_6168804416891607091[168] = 0.0; - out_6168804416891607091[169] = 0.0; - out_6168804416891607091[170] = 0.0; - out_6168804416891607091[171] = 1.0; - out_6168804416891607091[172] = 0.0; - out_6168804416891607091[173] = 0.0; - out_6168804416891607091[174] = 0.0; - out_6168804416891607091[175] = 0.0; - out_6168804416891607091[176] = 0.0; - out_6168804416891607091[177] = 0.0; - out_6168804416891607091[178] = 0.0; - out_6168804416891607091[179] = 0.0; - out_6168804416891607091[180] = 0.0; - out_6168804416891607091[181] = 0.0; - out_6168804416891607091[182] = 0.0; - out_6168804416891607091[183] = 0.0; - out_6168804416891607091[184] = 0.0; - out_6168804416891607091[185] = 0.0; - out_6168804416891607091[186] = 0.0; - out_6168804416891607091[187] = 0.0; - out_6168804416891607091[188] = 0.0; - out_6168804416891607091[189] = 0.0; - out_6168804416891607091[190] = 1.0; - out_6168804416891607091[191] = 0.0; - out_6168804416891607091[192] = 0.0; - out_6168804416891607091[193] = 0.0; - out_6168804416891607091[194] = 0.0; - out_6168804416891607091[195] = 0.0; - out_6168804416891607091[196] = 0.0; - out_6168804416891607091[197] = 0.0; - out_6168804416891607091[198] = 0.0; - out_6168804416891607091[199] = 0.0; - out_6168804416891607091[200] = 0.0; - out_6168804416891607091[201] = 0.0; - out_6168804416891607091[202] = 0.0; - out_6168804416891607091[203] = 0.0; - out_6168804416891607091[204] = 0.0; - out_6168804416891607091[205] = 0.0; - out_6168804416891607091[206] = 0.0; - out_6168804416891607091[207] = 0.0; - out_6168804416891607091[208] = 0.0; - out_6168804416891607091[209] = 1.0; - out_6168804416891607091[210] = 0.0; - out_6168804416891607091[211] = 0.0; - out_6168804416891607091[212] = 0.0; - out_6168804416891607091[213] = 0.0; - out_6168804416891607091[214] = 0.0; - out_6168804416891607091[215] = 0.0; - out_6168804416891607091[216] = 0.0; - out_6168804416891607091[217] = 0.0; - out_6168804416891607091[218] = 0.0; - out_6168804416891607091[219] = 0.0; - out_6168804416891607091[220] = 0.0; - out_6168804416891607091[221] = 0.0; - out_6168804416891607091[222] = 0.0; - out_6168804416891607091[223] = 0.0; - out_6168804416891607091[224] = 0.0; - out_6168804416891607091[225] = 0.0; - out_6168804416891607091[226] = 0.0; - out_6168804416891607091[227] = 0.0; - out_6168804416891607091[228] = 1.0; - out_6168804416891607091[229] = 0.0; - out_6168804416891607091[230] = 0.0; - out_6168804416891607091[231] = 0.0; - out_6168804416891607091[232] = 0.0; - out_6168804416891607091[233] = 0.0; - out_6168804416891607091[234] = 0.0; - out_6168804416891607091[235] = 0.0; - out_6168804416891607091[236] = 0.0; - out_6168804416891607091[237] = 0.0; - out_6168804416891607091[238] = 0.0; - out_6168804416891607091[239] = 0.0; - out_6168804416891607091[240] = 0.0; - out_6168804416891607091[241] = 0.0; - out_6168804416891607091[242] = 0.0; - out_6168804416891607091[243] = 0.0; - out_6168804416891607091[244] = 0.0; - out_6168804416891607091[245] = 0.0; - out_6168804416891607091[246] = 0.0; - out_6168804416891607091[247] = 1.0; - out_6168804416891607091[248] = 0.0; - out_6168804416891607091[249] = 0.0; - out_6168804416891607091[250] = 0.0; - out_6168804416891607091[251] = 0.0; - out_6168804416891607091[252] = 0.0; - out_6168804416891607091[253] = 0.0; - out_6168804416891607091[254] = 0.0; - out_6168804416891607091[255] = 0.0; - out_6168804416891607091[256] = 0.0; - out_6168804416891607091[257] = 0.0; - out_6168804416891607091[258] = 0.0; - out_6168804416891607091[259] = 0.0; - out_6168804416891607091[260] = 0.0; - out_6168804416891607091[261] = 0.0; - out_6168804416891607091[262] = 0.0; - out_6168804416891607091[263] = 0.0; - out_6168804416891607091[264] = 0.0; - out_6168804416891607091[265] = 0.0; - out_6168804416891607091[266] = 1.0; - out_6168804416891607091[267] = 0.0; - out_6168804416891607091[268] = 0.0; - out_6168804416891607091[269] = 0.0; - out_6168804416891607091[270] = 0.0; - out_6168804416891607091[271] = 0.0; - out_6168804416891607091[272] = 0.0; - out_6168804416891607091[273] = 0.0; - out_6168804416891607091[274] = 0.0; - out_6168804416891607091[275] = 0.0; - out_6168804416891607091[276] = 0.0; - out_6168804416891607091[277] = 0.0; - out_6168804416891607091[278] = 0.0; - out_6168804416891607091[279] = 0.0; - out_6168804416891607091[280] = 0.0; - out_6168804416891607091[281] = 0.0; - out_6168804416891607091[282] = 0.0; - out_6168804416891607091[283] = 0.0; - out_6168804416891607091[284] = 0.0; - out_6168804416891607091[285] = 1.0; - out_6168804416891607091[286] = 0.0; - out_6168804416891607091[287] = 0.0; - out_6168804416891607091[288] = 0.0; - out_6168804416891607091[289] = 0.0; - out_6168804416891607091[290] = 0.0; - out_6168804416891607091[291] = 0.0; - out_6168804416891607091[292] = 0.0; - out_6168804416891607091[293] = 0.0; - out_6168804416891607091[294] = 0.0; - out_6168804416891607091[295] = 0.0; - out_6168804416891607091[296] = 0.0; - out_6168804416891607091[297] = 0.0; - out_6168804416891607091[298] = 0.0; - out_6168804416891607091[299] = 0.0; - out_6168804416891607091[300] = 0.0; - out_6168804416891607091[301] = 0.0; - out_6168804416891607091[302] = 0.0; - out_6168804416891607091[303] = 0.0; - out_6168804416891607091[304] = 1.0; - out_6168804416891607091[305] = 0.0; - out_6168804416891607091[306] = 0.0; - out_6168804416891607091[307] = 0.0; - out_6168804416891607091[308] = 0.0; - out_6168804416891607091[309] = 0.0; - out_6168804416891607091[310] = 0.0; - out_6168804416891607091[311] = 0.0; - out_6168804416891607091[312] = 0.0; - out_6168804416891607091[313] = 0.0; - out_6168804416891607091[314] = 0.0; - out_6168804416891607091[315] = 0.0; - out_6168804416891607091[316] = 0.0; - out_6168804416891607091[317] = 0.0; - out_6168804416891607091[318] = 0.0; - out_6168804416891607091[319] = 0.0; - out_6168804416891607091[320] = 0.0; - out_6168804416891607091[321] = 0.0; - out_6168804416891607091[322] = 0.0; - out_6168804416891607091[323] = 1.0; +void H_mod_fun(double *state, double *out_938651669609787352) { + out_938651669609787352[0] = 1.0; + out_938651669609787352[1] = 0.0; + out_938651669609787352[2] = 0.0; + out_938651669609787352[3] = 0.0; + out_938651669609787352[4] = 0.0; + out_938651669609787352[5] = 0.0; + out_938651669609787352[6] = 0.0; + out_938651669609787352[7] = 0.0; + out_938651669609787352[8] = 0.0; + out_938651669609787352[9] = 0.0; + out_938651669609787352[10] = 0.0; + out_938651669609787352[11] = 0.0; + out_938651669609787352[12] = 0.0; + out_938651669609787352[13] = 0.0; + out_938651669609787352[14] = 0.0; + out_938651669609787352[15] = 0.0; + out_938651669609787352[16] = 0.0; + out_938651669609787352[17] = 0.0; + out_938651669609787352[18] = 0.0; + out_938651669609787352[19] = 1.0; + out_938651669609787352[20] = 0.0; + out_938651669609787352[21] = 0.0; + out_938651669609787352[22] = 0.0; + out_938651669609787352[23] = 0.0; + out_938651669609787352[24] = 0.0; + out_938651669609787352[25] = 0.0; + out_938651669609787352[26] = 0.0; + out_938651669609787352[27] = 0.0; + out_938651669609787352[28] = 0.0; + out_938651669609787352[29] = 0.0; + out_938651669609787352[30] = 0.0; + out_938651669609787352[31] = 0.0; + out_938651669609787352[32] = 0.0; + out_938651669609787352[33] = 0.0; + out_938651669609787352[34] = 0.0; + out_938651669609787352[35] = 0.0; + out_938651669609787352[36] = 0.0; + out_938651669609787352[37] = 0.0; + out_938651669609787352[38] = 1.0; + out_938651669609787352[39] = 0.0; + out_938651669609787352[40] = 0.0; + out_938651669609787352[41] = 0.0; + out_938651669609787352[42] = 0.0; + out_938651669609787352[43] = 0.0; + out_938651669609787352[44] = 0.0; + out_938651669609787352[45] = 0.0; + out_938651669609787352[46] = 0.0; + out_938651669609787352[47] = 0.0; + out_938651669609787352[48] = 0.0; + out_938651669609787352[49] = 0.0; + out_938651669609787352[50] = 0.0; + out_938651669609787352[51] = 0.0; + out_938651669609787352[52] = 0.0; + out_938651669609787352[53] = 0.0; + out_938651669609787352[54] = 0.0; + out_938651669609787352[55] = 0.0; + out_938651669609787352[56] = 0.0; + out_938651669609787352[57] = 1.0; + out_938651669609787352[58] = 0.0; + out_938651669609787352[59] = 0.0; + out_938651669609787352[60] = 0.0; + out_938651669609787352[61] = 0.0; + out_938651669609787352[62] = 0.0; + out_938651669609787352[63] = 0.0; + out_938651669609787352[64] = 0.0; + out_938651669609787352[65] = 0.0; + out_938651669609787352[66] = 0.0; + out_938651669609787352[67] = 0.0; + out_938651669609787352[68] = 0.0; + out_938651669609787352[69] = 0.0; + out_938651669609787352[70] = 0.0; + out_938651669609787352[71] = 0.0; + out_938651669609787352[72] = 0.0; + out_938651669609787352[73] = 0.0; + out_938651669609787352[74] = 0.0; + out_938651669609787352[75] = 0.0; + out_938651669609787352[76] = 1.0; + out_938651669609787352[77] = 0.0; + out_938651669609787352[78] = 0.0; + out_938651669609787352[79] = 0.0; + out_938651669609787352[80] = 0.0; + out_938651669609787352[81] = 0.0; + out_938651669609787352[82] = 0.0; + out_938651669609787352[83] = 0.0; + out_938651669609787352[84] = 0.0; + out_938651669609787352[85] = 0.0; + out_938651669609787352[86] = 0.0; + out_938651669609787352[87] = 0.0; + out_938651669609787352[88] = 0.0; + out_938651669609787352[89] = 0.0; + out_938651669609787352[90] = 0.0; + out_938651669609787352[91] = 0.0; + out_938651669609787352[92] = 0.0; + out_938651669609787352[93] = 0.0; + out_938651669609787352[94] = 0.0; + out_938651669609787352[95] = 1.0; + out_938651669609787352[96] = 0.0; + out_938651669609787352[97] = 0.0; + out_938651669609787352[98] = 0.0; + out_938651669609787352[99] = 0.0; + out_938651669609787352[100] = 0.0; + out_938651669609787352[101] = 0.0; + out_938651669609787352[102] = 0.0; + out_938651669609787352[103] = 0.0; + out_938651669609787352[104] = 0.0; + out_938651669609787352[105] = 0.0; + out_938651669609787352[106] = 0.0; + out_938651669609787352[107] = 0.0; + out_938651669609787352[108] = 0.0; + out_938651669609787352[109] = 0.0; + out_938651669609787352[110] = 0.0; + out_938651669609787352[111] = 0.0; + out_938651669609787352[112] = 0.0; + out_938651669609787352[113] = 0.0; + out_938651669609787352[114] = 1.0; + out_938651669609787352[115] = 0.0; + out_938651669609787352[116] = 0.0; + out_938651669609787352[117] = 0.0; + out_938651669609787352[118] = 0.0; + out_938651669609787352[119] = 0.0; + out_938651669609787352[120] = 0.0; + out_938651669609787352[121] = 0.0; + out_938651669609787352[122] = 0.0; + out_938651669609787352[123] = 0.0; + out_938651669609787352[124] = 0.0; + out_938651669609787352[125] = 0.0; + out_938651669609787352[126] = 0.0; + out_938651669609787352[127] = 0.0; + out_938651669609787352[128] = 0.0; + out_938651669609787352[129] = 0.0; + out_938651669609787352[130] = 0.0; + out_938651669609787352[131] = 0.0; + out_938651669609787352[132] = 0.0; + out_938651669609787352[133] = 1.0; + out_938651669609787352[134] = 0.0; + out_938651669609787352[135] = 0.0; + out_938651669609787352[136] = 0.0; + out_938651669609787352[137] = 0.0; + out_938651669609787352[138] = 0.0; + out_938651669609787352[139] = 0.0; + out_938651669609787352[140] = 0.0; + out_938651669609787352[141] = 0.0; + out_938651669609787352[142] = 0.0; + out_938651669609787352[143] = 0.0; + out_938651669609787352[144] = 0.0; + out_938651669609787352[145] = 0.0; + out_938651669609787352[146] = 0.0; + out_938651669609787352[147] = 0.0; + out_938651669609787352[148] = 0.0; + out_938651669609787352[149] = 0.0; + out_938651669609787352[150] = 0.0; + out_938651669609787352[151] = 0.0; + out_938651669609787352[152] = 1.0; + out_938651669609787352[153] = 0.0; + out_938651669609787352[154] = 0.0; + out_938651669609787352[155] = 0.0; + out_938651669609787352[156] = 0.0; + out_938651669609787352[157] = 0.0; + out_938651669609787352[158] = 0.0; + out_938651669609787352[159] = 0.0; + out_938651669609787352[160] = 0.0; + out_938651669609787352[161] = 0.0; + out_938651669609787352[162] = 0.0; + out_938651669609787352[163] = 0.0; + out_938651669609787352[164] = 0.0; + out_938651669609787352[165] = 0.0; + out_938651669609787352[166] = 0.0; + out_938651669609787352[167] = 0.0; + out_938651669609787352[168] = 0.0; + out_938651669609787352[169] = 0.0; + out_938651669609787352[170] = 0.0; + out_938651669609787352[171] = 1.0; + out_938651669609787352[172] = 0.0; + out_938651669609787352[173] = 0.0; + out_938651669609787352[174] = 0.0; + out_938651669609787352[175] = 0.0; + out_938651669609787352[176] = 0.0; + out_938651669609787352[177] = 0.0; + out_938651669609787352[178] = 0.0; + out_938651669609787352[179] = 0.0; + out_938651669609787352[180] = 0.0; + out_938651669609787352[181] = 0.0; + out_938651669609787352[182] = 0.0; + out_938651669609787352[183] = 0.0; + out_938651669609787352[184] = 0.0; + out_938651669609787352[185] = 0.0; + out_938651669609787352[186] = 0.0; + out_938651669609787352[187] = 0.0; + out_938651669609787352[188] = 0.0; + out_938651669609787352[189] = 0.0; + out_938651669609787352[190] = 1.0; + out_938651669609787352[191] = 0.0; + out_938651669609787352[192] = 0.0; + out_938651669609787352[193] = 0.0; + out_938651669609787352[194] = 0.0; + out_938651669609787352[195] = 0.0; + out_938651669609787352[196] = 0.0; + out_938651669609787352[197] = 0.0; + out_938651669609787352[198] = 0.0; + out_938651669609787352[199] = 0.0; + out_938651669609787352[200] = 0.0; + out_938651669609787352[201] = 0.0; + out_938651669609787352[202] = 0.0; + out_938651669609787352[203] = 0.0; + out_938651669609787352[204] = 0.0; + out_938651669609787352[205] = 0.0; + out_938651669609787352[206] = 0.0; + out_938651669609787352[207] = 0.0; + out_938651669609787352[208] = 0.0; + out_938651669609787352[209] = 1.0; + out_938651669609787352[210] = 0.0; + out_938651669609787352[211] = 0.0; + out_938651669609787352[212] = 0.0; + out_938651669609787352[213] = 0.0; + out_938651669609787352[214] = 0.0; + out_938651669609787352[215] = 0.0; + out_938651669609787352[216] = 0.0; + out_938651669609787352[217] = 0.0; + out_938651669609787352[218] = 0.0; + out_938651669609787352[219] = 0.0; + out_938651669609787352[220] = 0.0; + out_938651669609787352[221] = 0.0; + out_938651669609787352[222] = 0.0; + out_938651669609787352[223] = 0.0; + out_938651669609787352[224] = 0.0; + out_938651669609787352[225] = 0.0; + out_938651669609787352[226] = 0.0; + out_938651669609787352[227] = 0.0; + out_938651669609787352[228] = 1.0; + out_938651669609787352[229] = 0.0; + out_938651669609787352[230] = 0.0; + out_938651669609787352[231] = 0.0; + out_938651669609787352[232] = 0.0; + out_938651669609787352[233] = 0.0; + out_938651669609787352[234] = 0.0; + out_938651669609787352[235] = 0.0; + out_938651669609787352[236] = 0.0; + out_938651669609787352[237] = 0.0; + out_938651669609787352[238] = 0.0; + out_938651669609787352[239] = 0.0; + out_938651669609787352[240] = 0.0; + out_938651669609787352[241] = 0.0; + out_938651669609787352[242] = 0.0; + out_938651669609787352[243] = 0.0; + out_938651669609787352[244] = 0.0; + out_938651669609787352[245] = 0.0; + out_938651669609787352[246] = 0.0; + out_938651669609787352[247] = 1.0; + out_938651669609787352[248] = 0.0; + out_938651669609787352[249] = 0.0; + out_938651669609787352[250] = 0.0; + out_938651669609787352[251] = 0.0; + out_938651669609787352[252] = 0.0; + out_938651669609787352[253] = 0.0; + out_938651669609787352[254] = 0.0; + out_938651669609787352[255] = 0.0; + out_938651669609787352[256] = 0.0; + out_938651669609787352[257] = 0.0; + out_938651669609787352[258] = 0.0; + out_938651669609787352[259] = 0.0; + out_938651669609787352[260] = 0.0; + out_938651669609787352[261] = 0.0; + out_938651669609787352[262] = 0.0; + out_938651669609787352[263] = 0.0; + out_938651669609787352[264] = 0.0; + out_938651669609787352[265] = 0.0; + out_938651669609787352[266] = 1.0; + out_938651669609787352[267] = 0.0; + out_938651669609787352[268] = 0.0; + out_938651669609787352[269] = 0.0; + out_938651669609787352[270] = 0.0; + out_938651669609787352[271] = 0.0; + out_938651669609787352[272] = 0.0; + out_938651669609787352[273] = 0.0; + out_938651669609787352[274] = 0.0; + out_938651669609787352[275] = 0.0; + out_938651669609787352[276] = 0.0; + out_938651669609787352[277] = 0.0; + out_938651669609787352[278] = 0.0; + out_938651669609787352[279] = 0.0; + out_938651669609787352[280] = 0.0; + out_938651669609787352[281] = 0.0; + out_938651669609787352[282] = 0.0; + out_938651669609787352[283] = 0.0; + out_938651669609787352[284] = 0.0; + out_938651669609787352[285] = 1.0; + out_938651669609787352[286] = 0.0; + out_938651669609787352[287] = 0.0; + out_938651669609787352[288] = 0.0; + out_938651669609787352[289] = 0.0; + out_938651669609787352[290] = 0.0; + out_938651669609787352[291] = 0.0; + out_938651669609787352[292] = 0.0; + out_938651669609787352[293] = 0.0; + out_938651669609787352[294] = 0.0; + out_938651669609787352[295] = 0.0; + out_938651669609787352[296] = 0.0; + out_938651669609787352[297] = 0.0; + out_938651669609787352[298] = 0.0; + out_938651669609787352[299] = 0.0; + out_938651669609787352[300] = 0.0; + out_938651669609787352[301] = 0.0; + out_938651669609787352[302] = 0.0; + out_938651669609787352[303] = 0.0; + out_938651669609787352[304] = 1.0; + out_938651669609787352[305] = 0.0; + out_938651669609787352[306] = 0.0; + out_938651669609787352[307] = 0.0; + out_938651669609787352[308] = 0.0; + out_938651669609787352[309] = 0.0; + out_938651669609787352[310] = 0.0; + out_938651669609787352[311] = 0.0; + out_938651669609787352[312] = 0.0; + out_938651669609787352[313] = 0.0; + out_938651669609787352[314] = 0.0; + out_938651669609787352[315] = 0.0; + out_938651669609787352[316] = 0.0; + out_938651669609787352[317] = 0.0; + out_938651669609787352[318] = 0.0; + out_938651669609787352[319] = 0.0; + out_938651669609787352[320] = 0.0; + out_938651669609787352[321] = 0.0; + out_938651669609787352[322] = 0.0; + out_938651669609787352[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4562479811319953042) { - out_4562479811319953042[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_4562479811319953042[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_4562479811319953042[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_4562479811319953042[3] = dt*state[12] + state[3]; - out_4562479811319953042[4] = dt*state[13] + state[4]; - out_4562479811319953042[5] = dt*state[14] + state[5]; - out_4562479811319953042[6] = state[6]; - out_4562479811319953042[7] = state[7]; - out_4562479811319953042[8] = state[8]; - out_4562479811319953042[9] = state[9]; - out_4562479811319953042[10] = state[10]; - out_4562479811319953042[11] = state[11]; - out_4562479811319953042[12] = state[12]; - out_4562479811319953042[13] = state[13]; - out_4562479811319953042[14] = state[14]; - out_4562479811319953042[15] = state[15]; - out_4562479811319953042[16] = state[16]; - out_4562479811319953042[17] = state[17]; +void f_fun(double *state, double dt, double *out_336566407888546136) { + out_336566407888546136[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_336566407888546136[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_336566407888546136[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_336566407888546136[3] = dt*state[12] + state[3]; + out_336566407888546136[4] = dt*state[13] + state[4]; + out_336566407888546136[5] = dt*state[14] + state[5]; + out_336566407888546136[6] = state[6]; + out_336566407888546136[7] = state[7]; + out_336566407888546136[8] = state[8]; + out_336566407888546136[9] = state[9]; + out_336566407888546136[10] = state[10]; + out_336566407888546136[11] = state[11]; + out_336566407888546136[12] = state[12]; + out_336566407888546136[13] = state[13]; + out_336566407888546136[14] = state[14]; + out_336566407888546136[15] = state[15]; + out_336566407888546136[16] = state[16]; + out_336566407888546136[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1994404627029761325) { - out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[2] = 0; - out_1994404627029761325[3] = 0; - out_1994404627029761325[4] = 0; - out_1994404627029761325[5] = 0; - out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[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_1994404627029761325[9] = 0; - out_1994404627029761325[10] = 0; - out_1994404627029761325[11] = 0; - out_1994404627029761325[12] = 0; - out_1994404627029761325[13] = 0; - out_1994404627029761325[14] = 0; - out_1994404627029761325[15] = 0; - out_1994404627029761325[16] = 0; - out_1994404627029761325[17] = 0; - out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[20] = 0; - out_1994404627029761325[21] = 0; - out_1994404627029761325[22] = 0; - out_1994404627029761325[23] = 0; - out_1994404627029761325[24] = 0; - out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[27] = 0; - out_1994404627029761325[28] = 0; - out_1994404627029761325[29] = 0; - out_1994404627029761325[30] = 0; - out_1994404627029761325[31] = 0; - out_1994404627029761325[32] = 0; - out_1994404627029761325[33] = 0; - out_1994404627029761325[34] = 0; - out_1994404627029761325[35] = 0; - out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[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_1994404627029761325[39] = 0; - out_1994404627029761325[40] = 0; - out_1994404627029761325[41] = 0; - out_1994404627029761325[42] = 0; - out_1994404627029761325[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_1994404627029761325[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_1994404627029761325[45] = 0; - out_1994404627029761325[46] = 0; - out_1994404627029761325[47] = 0; - out_1994404627029761325[48] = 0; - out_1994404627029761325[49] = 0; - out_1994404627029761325[50] = 0; - out_1994404627029761325[51] = 0; - out_1994404627029761325[52] = 0; - out_1994404627029761325[53] = 0; - out_1994404627029761325[54] = 0; - out_1994404627029761325[55] = 0; - out_1994404627029761325[56] = 0; - out_1994404627029761325[57] = 1; - out_1994404627029761325[58] = 0; - out_1994404627029761325[59] = 0; - out_1994404627029761325[60] = 0; - out_1994404627029761325[61] = 0; - out_1994404627029761325[62] = 0; - out_1994404627029761325[63] = 0; - out_1994404627029761325[64] = 0; - out_1994404627029761325[65] = 0; - out_1994404627029761325[66] = dt; - out_1994404627029761325[67] = 0; - out_1994404627029761325[68] = 0; - out_1994404627029761325[69] = 0; - out_1994404627029761325[70] = 0; - out_1994404627029761325[71] = 0; - out_1994404627029761325[72] = 0; - out_1994404627029761325[73] = 0; - out_1994404627029761325[74] = 0; - out_1994404627029761325[75] = 0; - out_1994404627029761325[76] = 1; - out_1994404627029761325[77] = 0; - out_1994404627029761325[78] = 0; - out_1994404627029761325[79] = 0; - out_1994404627029761325[80] = 0; - out_1994404627029761325[81] = 0; - out_1994404627029761325[82] = 0; - out_1994404627029761325[83] = 0; - out_1994404627029761325[84] = 0; - out_1994404627029761325[85] = dt; - out_1994404627029761325[86] = 0; - out_1994404627029761325[87] = 0; - out_1994404627029761325[88] = 0; - out_1994404627029761325[89] = 0; - out_1994404627029761325[90] = 0; - out_1994404627029761325[91] = 0; - out_1994404627029761325[92] = 0; - out_1994404627029761325[93] = 0; - out_1994404627029761325[94] = 0; - out_1994404627029761325[95] = 1; - out_1994404627029761325[96] = 0; - out_1994404627029761325[97] = 0; - out_1994404627029761325[98] = 0; - out_1994404627029761325[99] = 0; - out_1994404627029761325[100] = 0; - out_1994404627029761325[101] = 0; - out_1994404627029761325[102] = 0; - out_1994404627029761325[103] = 0; - out_1994404627029761325[104] = dt; - out_1994404627029761325[105] = 0; - out_1994404627029761325[106] = 0; - out_1994404627029761325[107] = 0; - out_1994404627029761325[108] = 0; - out_1994404627029761325[109] = 0; - out_1994404627029761325[110] = 0; - out_1994404627029761325[111] = 0; - out_1994404627029761325[112] = 0; - out_1994404627029761325[113] = 0; - out_1994404627029761325[114] = 1; - out_1994404627029761325[115] = 0; - out_1994404627029761325[116] = 0; - out_1994404627029761325[117] = 0; - out_1994404627029761325[118] = 0; - out_1994404627029761325[119] = 0; - out_1994404627029761325[120] = 0; - out_1994404627029761325[121] = 0; - out_1994404627029761325[122] = 0; - out_1994404627029761325[123] = 0; - out_1994404627029761325[124] = 0; - out_1994404627029761325[125] = 0; - out_1994404627029761325[126] = 0; - out_1994404627029761325[127] = 0; - out_1994404627029761325[128] = 0; - out_1994404627029761325[129] = 0; - out_1994404627029761325[130] = 0; - out_1994404627029761325[131] = 0; - out_1994404627029761325[132] = 0; - out_1994404627029761325[133] = 1; - out_1994404627029761325[134] = 0; - out_1994404627029761325[135] = 0; - out_1994404627029761325[136] = 0; - out_1994404627029761325[137] = 0; - out_1994404627029761325[138] = 0; - out_1994404627029761325[139] = 0; - out_1994404627029761325[140] = 0; - out_1994404627029761325[141] = 0; - out_1994404627029761325[142] = 0; - out_1994404627029761325[143] = 0; - out_1994404627029761325[144] = 0; - out_1994404627029761325[145] = 0; - out_1994404627029761325[146] = 0; - out_1994404627029761325[147] = 0; - out_1994404627029761325[148] = 0; - out_1994404627029761325[149] = 0; - out_1994404627029761325[150] = 0; - out_1994404627029761325[151] = 0; - out_1994404627029761325[152] = 1; - out_1994404627029761325[153] = 0; - out_1994404627029761325[154] = 0; - out_1994404627029761325[155] = 0; - out_1994404627029761325[156] = 0; - out_1994404627029761325[157] = 0; - out_1994404627029761325[158] = 0; - out_1994404627029761325[159] = 0; - out_1994404627029761325[160] = 0; - out_1994404627029761325[161] = 0; - out_1994404627029761325[162] = 0; - out_1994404627029761325[163] = 0; - out_1994404627029761325[164] = 0; - out_1994404627029761325[165] = 0; - out_1994404627029761325[166] = 0; - out_1994404627029761325[167] = 0; - out_1994404627029761325[168] = 0; - out_1994404627029761325[169] = 0; - out_1994404627029761325[170] = 0; - out_1994404627029761325[171] = 1; - out_1994404627029761325[172] = 0; - out_1994404627029761325[173] = 0; - out_1994404627029761325[174] = 0; - out_1994404627029761325[175] = 0; - out_1994404627029761325[176] = 0; - out_1994404627029761325[177] = 0; - out_1994404627029761325[178] = 0; - out_1994404627029761325[179] = 0; - out_1994404627029761325[180] = 0; - out_1994404627029761325[181] = 0; - out_1994404627029761325[182] = 0; - out_1994404627029761325[183] = 0; - out_1994404627029761325[184] = 0; - out_1994404627029761325[185] = 0; - out_1994404627029761325[186] = 0; - out_1994404627029761325[187] = 0; - out_1994404627029761325[188] = 0; - out_1994404627029761325[189] = 0; - out_1994404627029761325[190] = 1; - out_1994404627029761325[191] = 0; - out_1994404627029761325[192] = 0; - out_1994404627029761325[193] = 0; - out_1994404627029761325[194] = 0; - out_1994404627029761325[195] = 0; - out_1994404627029761325[196] = 0; - out_1994404627029761325[197] = 0; - out_1994404627029761325[198] = 0; - out_1994404627029761325[199] = 0; - out_1994404627029761325[200] = 0; - out_1994404627029761325[201] = 0; - out_1994404627029761325[202] = 0; - out_1994404627029761325[203] = 0; - out_1994404627029761325[204] = 0; - out_1994404627029761325[205] = 0; - out_1994404627029761325[206] = 0; - out_1994404627029761325[207] = 0; - out_1994404627029761325[208] = 0; - out_1994404627029761325[209] = 1; - out_1994404627029761325[210] = 0; - out_1994404627029761325[211] = 0; - out_1994404627029761325[212] = 0; - out_1994404627029761325[213] = 0; - out_1994404627029761325[214] = 0; - out_1994404627029761325[215] = 0; - out_1994404627029761325[216] = 0; - out_1994404627029761325[217] = 0; - out_1994404627029761325[218] = 0; - out_1994404627029761325[219] = 0; - out_1994404627029761325[220] = 0; - out_1994404627029761325[221] = 0; - out_1994404627029761325[222] = 0; - out_1994404627029761325[223] = 0; - out_1994404627029761325[224] = 0; - out_1994404627029761325[225] = 0; - out_1994404627029761325[226] = 0; - out_1994404627029761325[227] = 0; - out_1994404627029761325[228] = 1; - out_1994404627029761325[229] = 0; - out_1994404627029761325[230] = 0; - out_1994404627029761325[231] = 0; - out_1994404627029761325[232] = 0; - out_1994404627029761325[233] = 0; - out_1994404627029761325[234] = 0; - out_1994404627029761325[235] = 0; - out_1994404627029761325[236] = 0; - out_1994404627029761325[237] = 0; - out_1994404627029761325[238] = 0; - out_1994404627029761325[239] = 0; - out_1994404627029761325[240] = 0; - out_1994404627029761325[241] = 0; - out_1994404627029761325[242] = 0; - out_1994404627029761325[243] = 0; - out_1994404627029761325[244] = 0; - out_1994404627029761325[245] = 0; - out_1994404627029761325[246] = 0; - out_1994404627029761325[247] = 1; - out_1994404627029761325[248] = 0; - out_1994404627029761325[249] = 0; - out_1994404627029761325[250] = 0; - out_1994404627029761325[251] = 0; - out_1994404627029761325[252] = 0; - out_1994404627029761325[253] = 0; - out_1994404627029761325[254] = 0; - out_1994404627029761325[255] = 0; - out_1994404627029761325[256] = 0; - out_1994404627029761325[257] = 0; - out_1994404627029761325[258] = 0; - out_1994404627029761325[259] = 0; - out_1994404627029761325[260] = 0; - out_1994404627029761325[261] = 0; - out_1994404627029761325[262] = 0; - out_1994404627029761325[263] = 0; - out_1994404627029761325[264] = 0; - out_1994404627029761325[265] = 0; - out_1994404627029761325[266] = 1; - out_1994404627029761325[267] = 0; - out_1994404627029761325[268] = 0; - out_1994404627029761325[269] = 0; - out_1994404627029761325[270] = 0; - out_1994404627029761325[271] = 0; - out_1994404627029761325[272] = 0; - out_1994404627029761325[273] = 0; - out_1994404627029761325[274] = 0; - out_1994404627029761325[275] = 0; - out_1994404627029761325[276] = 0; - out_1994404627029761325[277] = 0; - out_1994404627029761325[278] = 0; - out_1994404627029761325[279] = 0; - out_1994404627029761325[280] = 0; - out_1994404627029761325[281] = 0; - out_1994404627029761325[282] = 0; - out_1994404627029761325[283] = 0; - out_1994404627029761325[284] = 0; - out_1994404627029761325[285] = 1; - out_1994404627029761325[286] = 0; - out_1994404627029761325[287] = 0; - out_1994404627029761325[288] = 0; - out_1994404627029761325[289] = 0; - out_1994404627029761325[290] = 0; - out_1994404627029761325[291] = 0; - out_1994404627029761325[292] = 0; - out_1994404627029761325[293] = 0; - out_1994404627029761325[294] = 0; - out_1994404627029761325[295] = 0; - out_1994404627029761325[296] = 0; - out_1994404627029761325[297] = 0; - out_1994404627029761325[298] = 0; - out_1994404627029761325[299] = 0; - out_1994404627029761325[300] = 0; - out_1994404627029761325[301] = 0; - out_1994404627029761325[302] = 0; - out_1994404627029761325[303] = 0; - out_1994404627029761325[304] = 1; - out_1994404627029761325[305] = 0; - out_1994404627029761325[306] = 0; - out_1994404627029761325[307] = 0; - out_1994404627029761325[308] = 0; - out_1994404627029761325[309] = 0; - out_1994404627029761325[310] = 0; - out_1994404627029761325[311] = 0; - out_1994404627029761325[312] = 0; - out_1994404627029761325[313] = 0; - out_1994404627029761325[314] = 0; - out_1994404627029761325[315] = 0; - out_1994404627029761325[316] = 0; - out_1994404627029761325[317] = 0; - out_1994404627029761325[318] = 0; - out_1994404627029761325[319] = 0; - out_1994404627029761325[320] = 0; - out_1994404627029761325[321] = 0; - out_1994404627029761325[322] = 0; - out_1994404627029761325[323] = 1; +void F_fun(double *state, double dt, double *out_5996324224975557063) { + out_5996324224975557063[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_5996324224975557063[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_5996324224975557063[2] = 0; + out_5996324224975557063[3] = 0; + out_5996324224975557063[4] = 0; + out_5996324224975557063[5] = 0; + out_5996324224975557063[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_5996324224975557063[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_5996324224975557063[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_5996324224975557063[9] = 0; + out_5996324224975557063[10] = 0; + out_5996324224975557063[11] = 0; + out_5996324224975557063[12] = 0; + out_5996324224975557063[13] = 0; + out_5996324224975557063[14] = 0; + out_5996324224975557063[15] = 0; + out_5996324224975557063[16] = 0; + out_5996324224975557063[17] = 0; + out_5996324224975557063[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_5996324224975557063[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_5996324224975557063[20] = 0; + out_5996324224975557063[21] = 0; + out_5996324224975557063[22] = 0; + out_5996324224975557063[23] = 0; + out_5996324224975557063[24] = 0; + out_5996324224975557063[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_5996324224975557063[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_5996324224975557063[27] = 0; + out_5996324224975557063[28] = 0; + out_5996324224975557063[29] = 0; + out_5996324224975557063[30] = 0; + out_5996324224975557063[31] = 0; + out_5996324224975557063[32] = 0; + out_5996324224975557063[33] = 0; + out_5996324224975557063[34] = 0; + out_5996324224975557063[35] = 0; + out_5996324224975557063[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_5996324224975557063[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_5996324224975557063[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_5996324224975557063[39] = 0; + out_5996324224975557063[40] = 0; + out_5996324224975557063[41] = 0; + out_5996324224975557063[42] = 0; + out_5996324224975557063[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_5996324224975557063[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_5996324224975557063[45] = 0; + out_5996324224975557063[46] = 0; + out_5996324224975557063[47] = 0; + out_5996324224975557063[48] = 0; + out_5996324224975557063[49] = 0; + out_5996324224975557063[50] = 0; + out_5996324224975557063[51] = 0; + out_5996324224975557063[52] = 0; + out_5996324224975557063[53] = 0; + out_5996324224975557063[54] = 0; + out_5996324224975557063[55] = 0; + out_5996324224975557063[56] = 0; + out_5996324224975557063[57] = 1; + out_5996324224975557063[58] = 0; + out_5996324224975557063[59] = 0; + out_5996324224975557063[60] = 0; + out_5996324224975557063[61] = 0; + out_5996324224975557063[62] = 0; + out_5996324224975557063[63] = 0; + out_5996324224975557063[64] = 0; + out_5996324224975557063[65] = 0; + out_5996324224975557063[66] = dt; + out_5996324224975557063[67] = 0; + out_5996324224975557063[68] = 0; + out_5996324224975557063[69] = 0; + out_5996324224975557063[70] = 0; + out_5996324224975557063[71] = 0; + out_5996324224975557063[72] = 0; + out_5996324224975557063[73] = 0; + out_5996324224975557063[74] = 0; + out_5996324224975557063[75] = 0; + out_5996324224975557063[76] = 1; + out_5996324224975557063[77] = 0; + out_5996324224975557063[78] = 0; + out_5996324224975557063[79] = 0; + out_5996324224975557063[80] = 0; + out_5996324224975557063[81] = 0; + out_5996324224975557063[82] = 0; + out_5996324224975557063[83] = 0; + out_5996324224975557063[84] = 0; + out_5996324224975557063[85] = dt; + out_5996324224975557063[86] = 0; + out_5996324224975557063[87] = 0; + out_5996324224975557063[88] = 0; + out_5996324224975557063[89] = 0; + out_5996324224975557063[90] = 0; + out_5996324224975557063[91] = 0; + out_5996324224975557063[92] = 0; + out_5996324224975557063[93] = 0; + out_5996324224975557063[94] = 0; + out_5996324224975557063[95] = 1; + out_5996324224975557063[96] = 0; + out_5996324224975557063[97] = 0; + out_5996324224975557063[98] = 0; + out_5996324224975557063[99] = 0; + out_5996324224975557063[100] = 0; + out_5996324224975557063[101] = 0; + out_5996324224975557063[102] = 0; + out_5996324224975557063[103] = 0; + out_5996324224975557063[104] = dt; + out_5996324224975557063[105] = 0; + out_5996324224975557063[106] = 0; + out_5996324224975557063[107] = 0; + out_5996324224975557063[108] = 0; + out_5996324224975557063[109] = 0; + out_5996324224975557063[110] = 0; + out_5996324224975557063[111] = 0; + out_5996324224975557063[112] = 0; + out_5996324224975557063[113] = 0; + out_5996324224975557063[114] = 1; + out_5996324224975557063[115] = 0; + out_5996324224975557063[116] = 0; + out_5996324224975557063[117] = 0; + out_5996324224975557063[118] = 0; + out_5996324224975557063[119] = 0; + out_5996324224975557063[120] = 0; + out_5996324224975557063[121] = 0; + out_5996324224975557063[122] = 0; + out_5996324224975557063[123] = 0; + out_5996324224975557063[124] = 0; + out_5996324224975557063[125] = 0; + out_5996324224975557063[126] = 0; + out_5996324224975557063[127] = 0; + out_5996324224975557063[128] = 0; + out_5996324224975557063[129] = 0; + out_5996324224975557063[130] = 0; + out_5996324224975557063[131] = 0; + out_5996324224975557063[132] = 0; + out_5996324224975557063[133] = 1; + out_5996324224975557063[134] = 0; + out_5996324224975557063[135] = 0; + out_5996324224975557063[136] = 0; + out_5996324224975557063[137] = 0; + out_5996324224975557063[138] = 0; + out_5996324224975557063[139] = 0; + out_5996324224975557063[140] = 0; + out_5996324224975557063[141] = 0; + out_5996324224975557063[142] = 0; + out_5996324224975557063[143] = 0; + out_5996324224975557063[144] = 0; + out_5996324224975557063[145] = 0; + out_5996324224975557063[146] = 0; + out_5996324224975557063[147] = 0; + out_5996324224975557063[148] = 0; + out_5996324224975557063[149] = 0; + out_5996324224975557063[150] = 0; + out_5996324224975557063[151] = 0; + out_5996324224975557063[152] = 1; + out_5996324224975557063[153] = 0; + out_5996324224975557063[154] = 0; + out_5996324224975557063[155] = 0; + out_5996324224975557063[156] = 0; + out_5996324224975557063[157] = 0; + out_5996324224975557063[158] = 0; + out_5996324224975557063[159] = 0; + out_5996324224975557063[160] = 0; + out_5996324224975557063[161] = 0; + out_5996324224975557063[162] = 0; + out_5996324224975557063[163] = 0; + out_5996324224975557063[164] = 0; + out_5996324224975557063[165] = 0; + out_5996324224975557063[166] = 0; + out_5996324224975557063[167] = 0; + out_5996324224975557063[168] = 0; + out_5996324224975557063[169] = 0; + out_5996324224975557063[170] = 0; + out_5996324224975557063[171] = 1; + out_5996324224975557063[172] = 0; + out_5996324224975557063[173] = 0; + out_5996324224975557063[174] = 0; + out_5996324224975557063[175] = 0; + out_5996324224975557063[176] = 0; + out_5996324224975557063[177] = 0; + out_5996324224975557063[178] = 0; + out_5996324224975557063[179] = 0; + out_5996324224975557063[180] = 0; + out_5996324224975557063[181] = 0; + out_5996324224975557063[182] = 0; + out_5996324224975557063[183] = 0; + out_5996324224975557063[184] = 0; + out_5996324224975557063[185] = 0; + out_5996324224975557063[186] = 0; + out_5996324224975557063[187] = 0; + out_5996324224975557063[188] = 0; + out_5996324224975557063[189] = 0; + out_5996324224975557063[190] = 1; + out_5996324224975557063[191] = 0; + out_5996324224975557063[192] = 0; + out_5996324224975557063[193] = 0; + out_5996324224975557063[194] = 0; + out_5996324224975557063[195] = 0; + out_5996324224975557063[196] = 0; + out_5996324224975557063[197] = 0; + out_5996324224975557063[198] = 0; + out_5996324224975557063[199] = 0; + out_5996324224975557063[200] = 0; + out_5996324224975557063[201] = 0; + out_5996324224975557063[202] = 0; + out_5996324224975557063[203] = 0; + out_5996324224975557063[204] = 0; + out_5996324224975557063[205] = 0; + out_5996324224975557063[206] = 0; + out_5996324224975557063[207] = 0; + out_5996324224975557063[208] = 0; + out_5996324224975557063[209] = 1; + out_5996324224975557063[210] = 0; + out_5996324224975557063[211] = 0; + out_5996324224975557063[212] = 0; + out_5996324224975557063[213] = 0; + out_5996324224975557063[214] = 0; + out_5996324224975557063[215] = 0; + out_5996324224975557063[216] = 0; + out_5996324224975557063[217] = 0; + out_5996324224975557063[218] = 0; + out_5996324224975557063[219] = 0; + out_5996324224975557063[220] = 0; + out_5996324224975557063[221] = 0; + out_5996324224975557063[222] = 0; + out_5996324224975557063[223] = 0; + out_5996324224975557063[224] = 0; + out_5996324224975557063[225] = 0; + out_5996324224975557063[226] = 0; + out_5996324224975557063[227] = 0; + out_5996324224975557063[228] = 1; + out_5996324224975557063[229] = 0; + out_5996324224975557063[230] = 0; + out_5996324224975557063[231] = 0; + out_5996324224975557063[232] = 0; + out_5996324224975557063[233] = 0; + out_5996324224975557063[234] = 0; + out_5996324224975557063[235] = 0; + out_5996324224975557063[236] = 0; + out_5996324224975557063[237] = 0; + out_5996324224975557063[238] = 0; + out_5996324224975557063[239] = 0; + out_5996324224975557063[240] = 0; + out_5996324224975557063[241] = 0; + out_5996324224975557063[242] = 0; + out_5996324224975557063[243] = 0; + out_5996324224975557063[244] = 0; + out_5996324224975557063[245] = 0; + out_5996324224975557063[246] = 0; + out_5996324224975557063[247] = 1; + out_5996324224975557063[248] = 0; + out_5996324224975557063[249] = 0; + out_5996324224975557063[250] = 0; + out_5996324224975557063[251] = 0; + out_5996324224975557063[252] = 0; + out_5996324224975557063[253] = 0; + out_5996324224975557063[254] = 0; + out_5996324224975557063[255] = 0; + out_5996324224975557063[256] = 0; + out_5996324224975557063[257] = 0; + out_5996324224975557063[258] = 0; + out_5996324224975557063[259] = 0; + out_5996324224975557063[260] = 0; + out_5996324224975557063[261] = 0; + out_5996324224975557063[262] = 0; + out_5996324224975557063[263] = 0; + out_5996324224975557063[264] = 0; + out_5996324224975557063[265] = 0; + out_5996324224975557063[266] = 1; + out_5996324224975557063[267] = 0; + out_5996324224975557063[268] = 0; + out_5996324224975557063[269] = 0; + out_5996324224975557063[270] = 0; + out_5996324224975557063[271] = 0; + out_5996324224975557063[272] = 0; + out_5996324224975557063[273] = 0; + out_5996324224975557063[274] = 0; + out_5996324224975557063[275] = 0; + out_5996324224975557063[276] = 0; + out_5996324224975557063[277] = 0; + out_5996324224975557063[278] = 0; + out_5996324224975557063[279] = 0; + out_5996324224975557063[280] = 0; + out_5996324224975557063[281] = 0; + out_5996324224975557063[282] = 0; + out_5996324224975557063[283] = 0; + out_5996324224975557063[284] = 0; + out_5996324224975557063[285] = 1; + out_5996324224975557063[286] = 0; + out_5996324224975557063[287] = 0; + out_5996324224975557063[288] = 0; + out_5996324224975557063[289] = 0; + out_5996324224975557063[290] = 0; + out_5996324224975557063[291] = 0; + out_5996324224975557063[292] = 0; + out_5996324224975557063[293] = 0; + out_5996324224975557063[294] = 0; + out_5996324224975557063[295] = 0; + out_5996324224975557063[296] = 0; + out_5996324224975557063[297] = 0; + out_5996324224975557063[298] = 0; + out_5996324224975557063[299] = 0; + out_5996324224975557063[300] = 0; + out_5996324224975557063[301] = 0; + out_5996324224975557063[302] = 0; + out_5996324224975557063[303] = 0; + out_5996324224975557063[304] = 1; + out_5996324224975557063[305] = 0; + out_5996324224975557063[306] = 0; + out_5996324224975557063[307] = 0; + out_5996324224975557063[308] = 0; + out_5996324224975557063[309] = 0; + out_5996324224975557063[310] = 0; + out_5996324224975557063[311] = 0; + out_5996324224975557063[312] = 0; + out_5996324224975557063[313] = 0; + out_5996324224975557063[314] = 0; + out_5996324224975557063[315] = 0; + out_5996324224975557063[316] = 0; + out_5996324224975557063[317] = 0; + out_5996324224975557063[318] = 0; + out_5996324224975557063[319] = 0; + out_5996324224975557063[320] = 0; + out_5996324224975557063[321] = 0; + out_5996324224975557063[322] = 0; + out_5996324224975557063[323] = 1; } -void h_4(double *state, double *unused, double *out_8379183754462585357) { - out_8379183754462585357[0] = state[6] + state[9]; - out_8379183754462585357[1] = state[7] + state[10]; - out_8379183754462585357[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2660879566845649022) { + out_2660879566845649022[0] = state[6] + state[9]; + out_2660879566845649022[1] = state[7] + state[10]; + out_2660879566845649022[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3264955236904260033) { - out_3264955236904260033[0] = 0; - out_3264955236904260033[1] = 0; - out_3264955236904260033[2] = 0; - out_3264955236904260033[3] = 0; - out_3264955236904260033[4] = 0; - out_3264955236904260033[5] = 0; - out_3264955236904260033[6] = 1; - out_3264955236904260033[7] = 0; - out_3264955236904260033[8] = 0; - out_3264955236904260033[9] = 1; - out_3264955236904260033[10] = 0; - out_3264955236904260033[11] = 0; - out_3264955236904260033[12] = 0; - out_3264955236904260033[13] = 0; - out_3264955236904260033[14] = 0; - out_3264955236904260033[15] = 0; - out_3264955236904260033[16] = 0; - out_3264955236904260033[17] = 0; - out_3264955236904260033[18] = 0; - out_3264955236904260033[19] = 0; - out_3264955236904260033[20] = 0; - out_3264955236904260033[21] = 0; - out_3264955236904260033[22] = 0; - out_3264955236904260033[23] = 0; - out_3264955236904260033[24] = 0; - out_3264955236904260033[25] = 1; - out_3264955236904260033[26] = 0; - out_3264955236904260033[27] = 0; - out_3264955236904260033[28] = 1; - out_3264955236904260033[29] = 0; - out_3264955236904260033[30] = 0; - out_3264955236904260033[31] = 0; - out_3264955236904260033[32] = 0; - out_3264955236904260033[33] = 0; - out_3264955236904260033[34] = 0; - out_3264955236904260033[35] = 0; - out_3264955236904260033[36] = 0; - out_3264955236904260033[37] = 0; - out_3264955236904260033[38] = 0; - out_3264955236904260033[39] = 0; - out_3264955236904260033[40] = 0; - out_3264955236904260033[41] = 0; - out_3264955236904260033[42] = 0; - out_3264955236904260033[43] = 0; - out_3264955236904260033[44] = 1; - out_3264955236904260033[45] = 0; - out_3264955236904260033[46] = 0; - out_3264955236904260033[47] = 1; - out_3264955236904260033[48] = 0; - out_3264955236904260033[49] = 0; - out_3264955236904260033[50] = 0; - out_3264955236904260033[51] = 0; - out_3264955236904260033[52] = 0; - out_3264955236904260033[53] = 0; +void H_4(double *state, double *unused, double *out_6786733476361746073) { + out_6786733476361746073[0] = 0; + out_6786733476361746073[1] = 0; + out_6786733476361746073[2] = 0; + out_6786733476361746073[3] = 0; + out_6786733476361746073[4] = 0; + out_6786733476361746073[5] = 0; + out_6786733476361746073[6] = 1; + out_6786733476361746073[7] = 0; + out_6786733476361746073[8] = 0; + out_6786733476361746073[9] = 1; + out_6786733476361746073[10] = 0; + out_6786733476361746073[11] = 0; + out_6786733476361746073[12] = 0; + out_6786733476361746073[13] = 0; + out_6786733476361746073[14] = 0; + out_6786733476361746073[15] = 0; + out_6786733476361746073[16] = 0; + out_6786733476361746073[17] = 0; + out_6786733476361746073[18] = 0; + out_6786733476361746073[19] = 0; + out_6786733476361746073[20] = 0; + out_6786733476361746073[21] = 0; + out_6786733476361746073[22] = 0; + out_6786733476361746073[23] = 0; + out_6786733476361746073[24] = 0; + out_6786733476361746073[25] = 1; + out_6786733476361746073[26] = 0; + out_6786733476361746073[27] = 0; + out_6786733476361746073[28] = 1; + out_6786733476361746073[29] = 0; + out_6786733476361746073[30] = 0; + out_6786733476361746073[31] = 0; + out_6786733476361746073[32] = 0; + out_6786733476361746073[33] = 0; + out_6786733476361746073[34] = 0; + out_6786733476361746073[35] = 0; + out_6786733476361746073[36] = 0; + out_6786733476361746073[37] = 0; + out_6786733476361746073[38] = 0; + out_6786733476361746073[39] = 0; + out_6786733476361746073[40] = 0; + out_6786733476361746073[41] = 0; + out_6786733476361746073[42] = 0; + out_6786733476361746073[43] = 0; + out_6786733476361746073[44] = 1; + out_6786733476361746073[45] = 0; + out_6786733476361746073[46] = 0; + out_6786733476361746073[47] = 1; + out_6786733476361746073[48] = 0; + out_6786733476361746073[49] = 0; + out_6786733476361746073[50] = 0; + out_6786733476361746073[51] = 0; + out_6786733476361746073[52] = 0; + out_6786733476361746073[53] = 0; } -void h_10(double *state, double *unused, double *out_694976072985625952) { - out_694976072985625952[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_694976072985625952[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_694976072985625952[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_323021619404120390) { + out_323021619404120390[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_323021619404120390[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_323021619404120390[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_5824925052510502657) { - out_5824925052510502657[0] = 0; - out_5824925052510502657[1] = 9.8100000000000005*cos(state[1]); - out_5824925052510502657[2] = 0; - out_5824925052510502657[3] = 0; - out_5824925052510502657[4] = -state[8]; - out_5824925052510502657[5] = state[7]; - out_5824925052510502657[6] = 0; - out_5824925052510502657[7] = state[5]; - out_5824925052510502657[8] = -state[4]; - out_5824925052510502657[9] = 0; - out_5824925052510502657[10] = 0; - out_5824925052510502657[11] = 0; - out_5824925052510502657[12] = 1; - out_5824925052510502657[13] = 0; - out_5824925052510502657[14] = 0; - out_5824925052510502657[15] = 1; - out_5824925052510502657[16] = 0; - out_5824925052510502657[17] = 0; - out_5824925052510502657[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5824925052510502657[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5824925052510502657[20] = 0; - out_5824925052510502657[21] = state[8]; - out_5824925052510502657[22] = 0; - out_5824925052510502657[23] = -state[6]; - out_5824925052510502657[24] = -state[5]; - out_5824925052510502657[25] = 0; - out_5824925052510502657[26] = state[3]; - out_5824925052510502657[27] = 0; - out_5824925052510502657[28] = 0; - out_5824925052510502657[29] = 0; - out_5824925052510502657[30] = 0; - out_5824925052510502657[31] = 1; - out_5824925052510502657[32] = 0; - out_5824925052510502657[33] = 0; - out_5824925052510502657[34] = 1; - out_5824925052510502657[35] = 0; - out_5824925052510502657[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5824925052510502657[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5824925052510502657[38] = 0; - out_5824925052510502657[39] = -state[7]; - out_5824925052510502657[40] = state[6]; - out_5824925052510502657[41] = 0; - out_5824925052510502657[42] = state[4]; - out_5824925052510502657[43] = -state[3]; - out_5824925052510502657[44] = 0; - out_5824925052510502657[45] = 0; - out_5824925052510502657[46] = 0; - out_5824925052510502657[47] = 0; - out_5824925052510502657[48] = 0; - out_5824925052510502657[49] = 0; - out_5824925052510502657[50] = 1; - out_5824925052510502657[51] = 0; - out_5824925052510502657[52] = 0; - out_5824925052510502657[53] = 1; +void H_10(double *state, double *unused, double *out_4140593631986057126) { + out_4140593631986057126[0] = 0; + out_4140593631986057126[1] = 9.8100000000000005*cos(state[1]); + out_4140593631986057126[2] = 0; + out_4140593631986057126[3] = 0; + out_4140593631986057126[4] = -state[8]; + out_4140593631986057126[5] = state[7]; + out_4140593631986057126[6] = 0; + out_4140593631986057126[7] = state[5]; + out_4140593631986057126[8] = -state[4]; + out_4140593631986057126[9] = 0; + out_4140593631986057126[10] = 0; + out_4140593631986057126[11] = 0; + out_4140593631986057126[12] = 1; + out_4140593631986057126[13] = 0; + out_4140593631986057126[14] = 0; + out_4140593631986057126[15] = 1; + out_4140593631986057126[16] = 0; + out_4140593631986057126[17] = 0; + out_4140593631986057126[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4140593631986057126[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4140593631986057126[20] = 0; + out_4140593631986057126[21] = state[8]; + out_4140593631986057126[22] = 0; + out_4140593631986057126[23] = -state[6]; + out_4140593631986057126[24] = -state[5]; + out_4140593631986057126[25] = 0; + out_4140593631986057126[26] = state[3]; + out_4140593631986057126[27] = 0; + out_4140593631986057126[28] = 0; + out_4140593631986057126[29] = 0; + out_4140593631986057126[30] = 0; + out_4140593631986057126[31] = 1; + out_4140593631986057126[32] = 0; + out_4140593631986057126[33] = 0; + out_4140593631986057126[34] = 1; + out_4140593631986057126[35] = 0; + out_4140593631986057126[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4140593631986057126[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4140593631986057126[38] = 0; + out_4140593631986057126[39] = -state[7]; + out_4140593631986057126[40] = state[6]; + out_4140593631986057126[41] = 0; + out_4140593631986057126[42] = state[4]; + out_4140593631986057126[43] = -state[3]; + out_4140593631986057126[44] = 0; + out_4140593631986057126[45] = 0; + out_4140593631986057126[46] = 0; + out_4140593631986057126[47] = 0; + out_4140593631986057126[48] = 0; + out_4140593631986057126[49] = 0; + out_4140593631986057126[50] = 1; + out_4140593631986057126[51] = 0; + out_4140593631986057126[52] = 0; + out_4140593631986057126[53] = 1; } -void h_13(double *state, double *unused, double *out_1759161301712070188) { - out_1759161301712070188[0] = state[3]; - out_1759161301712070188[1] = state[4]; - out_1759161301712070188[2] = state[5]; +void h_13(double *state, double *unused, double *out_3801171022701447110) { + out_3801171022701447110[0] = state[3]; + out_3801171022701447110[1] = state[4]; + out_3801171022701447110[2] = state[5]; } -void H_13(double *state, double *unused, double *out_52681411571927232) { - out_52681411571927232[0] = 0; - out_52681411571927232[1] = 0; - out_52681411571927232[2] = 0; - out_52681411571927232[3] = 1; - out_52681411571927232[4] = 0; - out_52681411571927232[5] = 0; - out_52681411571927232[6] = 0; - out_52681411571927232[7] = 0; - out_52681411571927232[8] = 0; - out_52681411571927232[9] = 0; - out_52681411571927232[10] = 0; - out_52681411571927232[11] = 0; - out_52681411571927232[12] = 0; - out_52681411571927232[13] = 0; - out_52681411571927232[14] = 0; - out_52681411571927232[15] = 0; - out_52681411571927232[16] = 0; - out_52681411571927232[17] = 0; - out_52681411571927232[18] = 0; - out_52681411571927232[19] = 0; - out_52681411571927232[20] = 0; - out_52681411571927232[21] = 0; - out_52681411571927232[22] = 1; - out_52681411571927232[23] = 0; - out_52681411571927232[24] = 0; - out_52681411571927232[25] = 0; - out_52681411571927232[26] = 0; - out_52681411571927232[27] = 0; - out_52681411571927232[28] = 0; - out_52681411571927232[29] = 0; - out_52681411571927232[30] = 0; - out_52681411571927232[31] = 0; - out_52681411571927232[32] = 0; - out_52681411571927232[33] = 0; - out_52681411571927232[34] = 0; - out_52681411571927232[35] = 0; - out_52681411571927232[36] = 0; - out_52681411571927232[37] = 0; - out_52681411571927232[38] = 0; - out_52681411571927232[39] = 0; - out_52681411571927232[40] = 0; - out_52681411571927232[41] = 1; - out_52681411571927232[42] = 0; - out_52681411571927232[43] = 0; - out_52681411571927232[44] = 0; - out_52681411571927232[45] = 0; - out_52681411571927232[46] = 0; - out_52681411571927232[47] = 0; - out_52681411571927232[48] = 0; - out_52681411571927232[49] = 0; - out_52681411571927232[50] = 0; - out_52681411571927232[51] = 0; - out_52681411571927232[52] = 0; - out_52681411571927232[53] = 0; +void H_13(double *state, double *unused, double *out_3574459651029413272) { + out_3574459651029413272[0] = 0; + out_3574459651029413272[1] = 0; + out_3574459651029413272[2] = 0; + out_3574459651029413272[3] = 1; + out_3574459651029413272[4] = 0; + out_3574459651029413272[5] = 0; + out_3574459651029413272[6] = 0; + out_3574459651029413272[7] = 0; + out_3574459651029413272[8] = 0; + out_3574459651029413272[9] = 0; + out_3574459651029413272[10] = 0; + out_3574459651029413272[11] = 0; + out_3574459651029413272[12] = 0; + out_3574459651029413272[13] = 0; + out_3574459651029413272[14] = 0; + out_3574459651029413272[15] = 0; + out_3574459651029413272[16] = 0; + out_3574459651029413272[17] = 0; + out_3574459651029413272[18] = 0; + out_3574459651029413272[19] = 0; + out_3574459651029413272[20] = 0; + out_3574459651029413272[21] = 0; + out_3574459651029413272[22] = 1; + out_3574459651029413272[23] = 0; + out_3574459651029413272[24] = 0; + out_3574459651029413272[25] = 0; + out_3574459651029413272[26] = 0; + out_3574459651029413272[27] = 0; + out_3574459651029413272[28] = 0; + out_3574459651029413272[29] = 0; + out_3574459651029413272[30] = 0; + out_3574459651029413272[31] = 0; + out_3574459651029413272[32] = 0; + out_3574459651029413272[33] = 0; + out_3574459651029413272[34] = 0; + out_3574459651029413272[35] = 0; + out_3574459651029413272[36] = 0; + out_3574459651029413272[37] = 0; + out_3574459651029413272[38] = 0; + out_3574459651029413272[39] = 0; + out_3574459651029413272[40] = 0; + out_3574459651029413272[41] = 1; + out_3574459651029413272[42] = 0; + out_3574459651029413272[43] = 0; + out_3574459651029413272[44] = 0; + out_3574459651029413272[45] = 0; + out_3574459651029413272[46] = 0; + out_3574459651029413272[47] = 0; + out_3574459651029413272[48] = 0; + out_3574459651029413272[49] = 0; + out_3574459651029413272[50] = 0; + out_3574459651029413272[51] = 0; + out_3574459651029413272[52] = 0; + out_3574459651029413272[53] = 0; } -void h_14(double *state, double *unused, double *out_9193330309912018009) { - out_9193330309912018009[0] = state[6]; - out_9193330309912018009[1] = state[7]; - out_9193330309912018009[2] = state[8]; +void h_14(double *state, double *unused, double *out_7703097660121677315) { + out_7703097660121677315[0] = state[6]; + out_7703097660121677315[1] = state[7]; + out_7703097660121677315[2] = state[8]; } -void H_14(double *state, double *unused, double *out_698285619435224496) { - out_698285619435224496[0] = 0; - out_698285619435224496[1] = 0; - out_698285619435224496[2] = 0; - out_698285619435224496[3] = 0; - out_698285619435224496[4] = 0; - out_698285619435224496[5] = 0; - out_698285619435224496[6] = 1; - out_698285619435224496[7] = 0; - out_698285619435224496[8] = 0; - out_698285619435224496[9] = 0; - out_698285619435224496[10] = 0; - out_698285619435224496[11] = 0; - out_698285619435224496[12] = 0; - out_698285619435224496[13] = 0; - out_698285619435224496[14] = 0; - out_698285619435224496[15] = 0; - out_698285619435224496[16] = 0; - out_698285619435224496[17] = 0; - out_698285619435224496[18] = 0; - out_698285619435224496[19] = 0; - out_698285619435224496[20] = 0; - out_698285619435224496[21] = 0; - out_698285619435224496[22] = 0; - out_698285619435224496[23] = 0; - out_698285619435224496[24] = 0; - out_698285619435224496[25] = 1; - out_698285619435224496[26] = 0; - out_698285619435224496[27] = 0; - out_698285619435224496[28] = 0; - out_698285619435224496[29] = 0; - out_698285619435224496[30] = 0; - out_698285619435224496[31] = 0; - out_698285619435224496[32] = 0; - out_698285619435224496[33] = 0; - out_698285619435224496[34] = 0; - out_698285619435224496[35] = 0; - out_698285619435224496[36] = 0; - out_698285619435224496[37] = 0; - out_698285619435224496[38] = 0; - out_698285619435224496[39] = 0; - out_698285619435224496[40] = 0; - out_698285619435224496[41] = 0; - out_698285619435224496[42] = 0; - out_698285619435224496[43] = 0; - out_698285619435224496[44] = 1; - out_698285619435224496[45] = 0; - out_698285619435224496[46] = 0; - out_698285619435224496[47] = 0; - out_698285619435224496[48] = 0; - out_698285619435224496[49] = 0; - out_698285619435224496[50] = 0; - out_698285619435224496[51] = 0; - out_698285619435224496[52] = 0; - out_698285619435224496[53] = 0; +void H_14(double *state, double *unused, double *out_2823492620022261544) { + out_2823492620022261544[0] = 0; + out_2823492620022261544[1] = 0; + out_2823492620022261544[2] = 0; + out_2823492620022261544[3] = 0; + out_2823492620022261544[4] = 0; + out_2823492620022261544[5] = 0; + out_2823492620022261544[6] = 1; + out_2823492620022261544[7] = 0; + out_2823492620022261544[8] = 0; + out_2823492620022261544[9] = 0; + out_2823492620022261544[10] = 0; + out_2823492620022261544[11] = 0; + out_2823492620022261544[12] = 0; + out_2823492620022261544[13] = 0; + out_2823492620022261544[14] = 0; + out_2823492620022261544[15] = 0; + out_2823492620022261544[16] = 0; + out_2823492620022261544[17] = 0; + out_2823492620022261544[18] = 0; + out_2823492620022261544[19] = 0; + out_2823492620022261544[20] = 0; + out_2823492620022261544[21] = 0; + out_2823492620022261544[22] = 0; + out_2823492620022261544[23] = 0; + out_2823492620022261544[24] = 0; + out_2823492620022261544[25] = 1; + out_2823492620022261544[26] = 0; + out_2823492620022261544[27] = 0; + out_2823492620022261544[28] = 0; + out_2823492620022261544[29] = 0; + out_2823492620022261544[30] = 0; + out_2823492620022261544[31] = 0; + out_2823492620022261544[32] = 0; + out_2823492620022261544[33] = 0; + out_2823492620022261544[34] = 0; + out_2823492620022261544[35] = 0; + out_2823492620022261544[36] = 0; + out_2823492620022261544[37] = 0; + out_2823492620022261544[38] = 0; + out_2823492620022261544[39] = 0; + out_2823492620022261544[40] = 0; + out_2823492620022261544[41] = 0; + out_2823492620022261544[42] = 0; + out_2823492620022261544[43] = 0; + out_2823492620022261544[44] = 1; + out_2823492620022261544[45] = 0; + out_2823492620022261544[46] = 0; + out_2823492620022261544[47] = 0; + out_2823492620022261544[48] = 0; + out_2823492620022261544[49] = 0; + out_2823492620022261544[50] = 0; + out_2823492620022261544[51] = 0; + out_2823492620022261544[52] = 0; + out_2823492620022261544[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_1677822181415374238) { - err_fun(nom_x, delta_x, out_1677822181415374238); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5984861409348236479) { + err_fun(nom_x, delta_x, out_5984861409348236479); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1645070502606612381) { - inv_err_fun(nom_x, true_x, out_1645070502606612381); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1707565234864444406) { + inv_err_fun(nom_x, true_x, out_1707565234864444406); } -void pose_H_mod_fun(double *state, double *out_6168804416891607091) { - H_mod_fun(state, out_6168804416891607091); +void pose_H_mod_fun(double *state, double *out_938651669609787352) { + H_mod_fun(state, out_938651669609787352); } -void pose_f_fun(double *state, double dt, double *out_4562479811319953042) { - f_fun(state, dt, out_4562479811319953042); +void pose_f_fun(double *state, double dt, double *out_336566407888546136) { + f_fun(state, dt, out_336566407888546136); } -void pose_F_fun(double *state, double dt, double *out_1994404627029761325) { - F_fun(state, dt, out_1994404627029761325); +void pose_F_fun(double *state, double dt, double *out_5996324224975557063) { + F_fun(state, dt, out_5996324224975557063); } -void pose_h_4(double *state, double *unused, double *out_8379183754462585357) { - h_4(state, unused, out_8379183754462585357); +void pose_h_4(double *state, double *unused, double *out_2660879566845649022) { + h_4(state, unused, out_2660879566845649022); } -void pose_H_4(double *state, double *unused, double *out_3264955236904260033) { - H_4(state, unused, out_3264955236904260033); +void pose_H_4(double *state, double *unused, double *out_6786733476361746073) { + H_4(state, unused, out_6786733476361746073); } -void pose_h_10(double *state, double *unused, double *out_694976072985625952) { - h_10(state, unused, out_694976072985625952); +void pose_h_10(double *state, double *unused, double *out_323021619404120390) { + h_10(state, unused, out_323021619404120390); } -void pose_H_10(double *state, double *unused, double *out_5824925052510502657) { - H_10(state, unused, out_5824925052510502657); +void pose_H_10(double *state, double *unused, double *out_4140593631986057126) { + H_10(state, unused, out_4140593631986057126); } -void pose_h_13(double *state, double *unused, double *out_1759161301712070188) { - h_13(state, unused, out_1759161301712070188); +void pose_h_13(double *state, double *unused, double *out_3801171022701447110) { + h_13(state, unused, out_3801171022701447110); } -void pose_H_13(double *state, double *unused, double *out_52681411571927232) { - H_13(state, unused, out_52681411571927232); +void pose_H_13(double *state, double *unused, double *out_3574459651029413272) { + H_13(state, unused, out_3574459651029413272); } -void pose_h_14(double *state, double *unused, double *out_9193330309912018009) { - h_14(state, unused, out_9193330309912018009); +void pose_h_14(double *state, double *unused, double *out_7703097660121677315) { + h_14(state, unused, out_7703097660121677315); } -void pose_H_14(double *state, double *unused, double *out_698285619435224496) { - H_14(state, unused, out_698285619435224496); +void pose_H_14(double *state, double *unused, double *out_2823492620022261544) { + H_14(state, unused, out_2823492620022261544); } 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 75b77f265..c6b128c72 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_1677822181415374238); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1645070502606612381); -void pose_H_mod_fun(double *state, double *out_6168804416891607091); -void pose_f_fun(double *state, double dt, double *out_4562479811319953042); -void pose_F_fun(double *state, double dt, double *out_1994404627029761325); -void pose_h_4(double *state, double *unused, double *out_8379183754462585357); -void pose_H_4(double *state, double *unused, double *out_3264955236904260033); -void pose_h_10(double *state, double *unused, double *out_694976072985625952); -void pose_H_10(double *state, double *unused, double *out_5824925052510502657); -void pose_h_13(double *state, double *unused, double *out_1759161301712070188); -void pose_H_13(double *state, double *unused, double *out_52681411571927232); -void pose_h_14(double *state, double *unused, double *out_9193330309912018009); -void pose_H_14(double *state, double *unused, double *out_698285619435224496); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5984861409348236479); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1707565234864444406); +void pose_H_mod_fun(double *state, double *out_938651669609787352); +void pose_f_fun(double *state, double dt, double *out_336566407888546136); +void pose_F_fun(double *state, double dt, double *out_5996324224975557063); +void pose_h_4(double *state, double *unused, double *out_2660879566845649022); +void pose_H_4(double *state, double *unused, double *out_6786733476361746073); +void pose_h_10(double *state, double *unused, double *out_323021619404120390); +void pose_H_10(double *state, double *unused, double *out_4140593631986057126); +void pose_h_13(double *state, double *unused, double *out_3801171022701447110); +void pose_H_13(double *state, double *unused, double *out_3574459651029413272); +void pose_h_14(double *state, double *unused, double *out_7703097660121677315); +void pose_H_14(double *state, double *unused, double *out_2823492620022261544); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index e011d698cb967588637056e365193ca896a337d6..8549c99dda064e725d118e2195d3aa2d5b45ae02 100755 GIT binary patch delta 671 zcmXxeJ1hfn9Ki9rLtmbyl%nd@^M1co(ZMJZgNZ>J28kGuN+gvKQei|IA(1fHbTZf^ z5|aS~v0!45m?VwG_w?6GKKWh0_q%`Zb}gda;v%RymVTDv591A!(bLgDTY5Zq=i2+c z9@4f#nhIm4AQfpa!3+zmupu28$V3*hkpnw&kp~CzQ2-|jQ3Mx?QG!yqQ3emnQGrTS zp&H)Hkfyi0T%WezRYg%h6ys7AYwVtJL|r_%Dbf95?jn?Bd2Z38@_dCkCe?gsm%6~* 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