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uint8_t gitversion[19] = "DEV-284dbddd-DEBUG"; +const uint8_t gitversion[19] = "DEV-590fcdd9-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 00f7d3ec9..4f5f7efb8 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 8dedbe8cb..b00fef562 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 5b9317882..37615b6a3 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index b54eb4466..901ad8bf0 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed 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a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 0b79b2798..707e8c6c0 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 02a395bbb..6f51fcbe3 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-284dbddd-DEBUG \ No newline at end of file +DEV-590fcdd9-DEBUG \ No newline at end of file diff --git a/rednose_repo/rednose/helpers/ekf_sym_pyx.so b/rednose_repo/rednose/helpers/ekf_sym_pyx.so index 1105909f9..985b6c785 100755 Binary files a/rednose_repo/rednose/helpers/ekf_sym_pyx.so and b/rednose_repo/rednose/helpers/ekf_sym_pyx.so differ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so index 4755bd4a6..86028b684 100755 Binary files a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so index 8365b34c7..8243d4a1d 100755 Binary files a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so index feb0708f7..8ffbadf1a 100755 Binary files a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so index 1d19fbe89..f50a94871 100755 Binary files a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so differ diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index aa401375a..5f2857f10 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_4436222918597397805) { - out_4436222918597397805[0] = delta_x[0] + nom_x[0]; - out_4436222918597397805[1] = delta_x[1] + nom_x[1]; - out_4436222918597397805[2] = delta_x[2] + nom_x[2]; - out_4436222918597397805[3] = delta_x[3] + nom_x[3]; - out_4436222918597397805[4] = delta_x[4] + nom_x[4]; - out_4436222918597397805[5] = delta_x[5] + nom_x[5]; - out_4436222918597397805[6] = delta_x[6] + nom_x[6]; - out_4436222918597397805[7] = delta_x[7] + nom_x[7]; - out_4436222918597397805[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6066785079692700737) { + out_6066785079692700737[0] = delta_x[0] + nom_x[0]; + out_6066785079692700737[1] = delta_x[1] + nom_x[1]; + out_6066785079692700737[2] = delta_x[2] + nom_x[2]; + out_6066785079692700737[3] = delta_x[3] + nom_x[3]; + out_6066785079692700737[4] = delta_x[4] + nom_x[4]; + out_6066785079692700737[5] = delta_x[5] + nom_x[5]; + out_6066785079692700737[6] = delta_x[6] + nom_x[6]; + out_6066785079692700737[7] = delta_x[7] + nom_x[7]; + out_6066785079692700737[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5455437002668972894) { - out_5455437002668972894[0] = -nom_x[0] + true_x[0]; - out_5455437002668972894[1] = -nom_x[1] + true_x[1]; - out_5455437002668972894[2] = -nom_x[2] + true_x[2]; - out_5455437002668972894[3] = -nom_x[3] + true_x[3]; - out_5455437002668972894[4] = -nom_x[4] + true_x[4]; - out_5455437002668972894[5] = -nom_x[5] + true_x[5]; - out_5455437002668972894[6] = -nom_x[6] + true_x[6]; - out_5455437002668972894[7] = -nom_x[7] + true_x[7]; - out_5455437002668972894[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_386653618683565600) { + out_386653618683565600[0] = -nom_x[0] + true_x[0]; + out_386653618683565600[1] = -nom_x[1] + true_x[1]; + out_386653618683565600[2] = -nom_x[2] + true_x[2]; + out_386653618683565600[3] = -nom_x[3] + true_x[3]; + out_386653618683565600[4] = -nom_x[4] + true_x[4]; + out_386653618683565600[5] = -nom_x[5] + true_x[5]; + out_386653618683565600[6] = -nom_x[6] + true_x[6]; + out_386653618683565600[7] = -nom_x[7] + true_x[7]; + out_386653618683565600[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_210375879520347438) { - out_210375879520347438[0] = 1.0; - out_210375879520347438[1] = 0.0; - out_210375879520347438[2] = 0.0; - out_210375879520347438[3] = 0.0; - out_210375879520347438[4] = 0.0; - out_210375879520347438[5] = 0.0; - out_210375879520347438[6] = 0.0; - out_210375879520347438[7] = 0.0; - out_210375879520347438[8] = 0.0; - out_210375879520347438[9] = 0.0; - out_210375879520347438[10] = 1.0; - out_210375879520347438[11] = 0.0; - out_210375879520347438[12] = 0.0; - out_210375879520347438[13] = 0.0; - out_210375879520347438[14] = 0.0; - out_210375879520347438[15] = 0.0; - out_210375879520347438[16] = 0.0; - out_210375879520347438[17] = 0.0; - out_210375879520347438[18] = 0.0; - out_210375879520347438[19] = 0.0; - out_210375879520347438[20] = 1.0; - out_210375879520347438[21] = 0.0; - out_210375879520347438[22] = 0.0; - out_210375879520347438[23] = 0.0; - out_210375879520347438[24] = 0.0; - out_210375879520347438[25] = 0.0; - out_210375879520347438[26] = 0.0; - out_210375879520347438[27] = 0.0; - out_210375879520347438[28] = 0.0; - out_210375879520347438[29] = 0.0; - out_210375879520347438[30] = 1.0; - out_210375879520347438[31] = 0.0; - out_210375879520347438[32] = 0.0; - out_210375879520347438[33] = 0.0; - out_210375879520347438[34] = 0.0; - out_210375879520347438[35] = 0.0; - out_210375879520347438[36] = 0.0; - out_210375879520347438[37] = 0.0; - out_210375879520347438[38] = 0.0; - out_210375879520347438[39] = 0.0; - out_210375879520347438[40] = 1.0; - out_210375879520347438[41] = 0.0; - out_210375879520347438[42] = 0.0; - out_210375879520347438[43] = 0.0; - out_210375879520347438[44] = 0.0; - out_210375879520347438[45] = 0.0; - out_210375879520347438[46] = 0.0; - out_210375879520347438[47] = 0.0; - out_210375879520347438[48] = 0.0; - out_210375879520347438[49] = 0.0; - out_210375879520347438[50] = 1.0; - out_210375879520347438[51] = 0.0; - out_210375879520347438[52] = 0.0; - out_210375879520347438[53] = 0.0; - out_210375879520347438[54] = 0.0; - out_210375879520347438[55] = 0.0; - out_210375879520347438[56] = 0.0; - out_210375879520347438[57] = 0.0; - out_210375879520347438[58] = 0.0; - out_210375879520347438[59] = 0.0; - out_210375879520347438[60] = 1.0; - out_210375879520347438[61] = 0.0; - out_210375879520347438[62] = 0.0; - out_210375879520347438[63] = 0.0; - out_210375879520347438[64] = 0.0; - out_210375879520347438[65] = 0.0; - out_210375879520347438[66] = 0.0; - out_210375879520347438[67] = 0.0; - out_210375879520347438[68] = 0.0; - out_210375879520347438[69] = 0.0; - out_210375879520347438[70] = 1.0; - out_210375879520347438[71] = 0.0; - out_210375879520347438[72] = 0.0; - out_210375879520347438[73] = 0.0; - out_210375879520347438[74] = 0.0; - out_210375879520347438[75] = 0.0; - out_210375879520347438[76] = 0.0; - out_210375879520347438[77] = 0.0; - out_210375879520347438[78] = 0.0; - out_210375879520347438[79] = 0.0; - out_210375879520347438[80] = 1.0; +void H_mod_fun(double *state, double *out_2911819638975789429) { + out_2911819638975789429[0] = 1.0; + out_2911819638975789429[1] = 0.0; + out_2911819638975789429[2] = 0.0; + out_2911819638975789429[3] = 0.0; + out_2911819638975789429[4] = 0.0; + out_2911819638975789429[5] = 0.0; + out_2911819638975789429[6] = 0.0; + out_2911819638975789429[7] = 0.0; + out_2911819638975789429[8] = 0.0; + out_2911819638975789429[9] = 0.0; + out_2911819638975789429[10] = 1.0; + out_2911819638975789429[11] = 0.0; + out_2911819638975789429[12] = 0.0; + out_2911819638975789429[13] = 0.0; + out_2911819638975789429[14] = 0.0; + out_2911819638975789429[15] = 0.0; + out_2911819638975789429[16] = 0.0; + out_2911819638975789429[17] = 0.0; + out_2911819638975789429[18] = 0.0; + out_2911819638975789429[19] = 0.0; + out_2911819638975789429[20] = 1.0; + out_2911819638975789429[21] = 0.0; + out_2911819638975789429[22] = 0.0; + out_2911819638975789429[23] = 0.0; + out_2911819638975789429[24] = 0.0; + out_2911819638975789429[25] = 0.0; + out_2911819638975789429[26] = 0.0; + out_2911819638975789429[27] = 0.0; + out_2911819638975789429[28] = 0.0; + out_2911819638975789429[29] = 0.0; + out_2911819638975789429[30] = 1.0; + out_2911819638975789429[31] = 0.0; + out_2911819638975789429[32] = 0.0; + out_2911819638975789429[33] = 0.0; + out_2911819638975789429[34] = 0.0; + out_2911819638975789429[35] = 0.0; + out_2911819638975789429[36] = 0.0; + out_2911819638975789429[37] = 0.0; + out_2911819638975789429[38] = 0.0; + out_2911819638975789429[39] = 0.0; + out_2911819638975789429[40] = 1.0; + out_2911819638975789429[41] = 0.0; + out_2911819638975789429[42] = 0.0; + out_2911819638975789429[43] = 0.0; + out_2911819638975789429[44] = 0.0; + out_2911819638975789429[45] = 0.0; + out_2911819638975789429[46] = 0.0; + out_2911819638975789429[47] = 0.0; + out_2911819638975789429[48] = 0.0; + out_2911819638975789429[49] = 0.0; + out_2911819638975789429[50] = 1.0; + out_2911819638975789429[51] = 0.0; + out_2911819638975789429[52] = 0.0; + out_2911819638975789429[53] = 0.0; + out_2911819638975789429[54] = 0.0; + out_2911819638975789429[55] = 0.0; + out_2911819638975789429[56] = 0.0; + out_2911819638975789429[57] = 0.0; + out_2911819638975789429[58] = 0.0; + out_2911819638975789429[59] = 0.0; + out_2911819638975789429[60] = 1.0; + out_2911819638975789429[61] = 0.0; + out_2911819638975789429[62] = 0.0; + out_2911819638975789429[63] = 0.0; + out_2911819638975789429[64] = 0.0; + out_2911819638975789429[65] = 0.0; + out_2911819638975789429[66] = 0.0; + out_2911819638975789429[67] = 0.0; + out_2911819638975789429[68] = 0.0; + out_2911819638975789429[69] = 0.0; + out_2911819638975789429[70] = 1.0; + out_2911819638975789429[71] = 0.0; + out_2911819638975789429[72] = 0.0; + out_2911819638975789429[73] = 0.0; + out_2911819638975789429[74] = 0.0; + out_2911819638975789429[75] = 0.0; + out_2911819638975789429[76] = 0.0; + out_2911819638975789429[77] = 0.0; + out_2911819638975789429[78] = 0.0; + out_2911819638975789429[79] = 0.0; + out_2911819638975789429[80] = 1.0; } -void f_fun(double *state, double dt, double *out_467846126367206141) { - out_467846126367206141[0] = state[0]; - out_467846126367206141[1] = state[1]; - out_467846126367206141[2] = state[2]; - out_467846126367206141[3] = state[3]; - out_467846126367206141[4] = state[4]; - out_467846126367206141[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_467846126367206141[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_467846126367206141[7] = state[7]; - out_467846126367206141[8] = state[8]; +void f_fun(double *state, double dt, double *out_7908585330617552733) { + out_7908585330617552733[0] = state[0]; + out_7908585330617552733[1] = state[1]; + out_7908585330617552733[2] = state[2]; + out_7908585330617552733[3] = state[3]; + out_7908585330617552733[4] = state[4]; + out_7908585330617552733[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_7908585330617552733[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_7908585330617552733[7] = state[7]; + out_7908585330617552733[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3146439140780538523) { - out_3146439140780538523[0] = 1; - out_3146439140780538523[1] = 0; - out_3146439140780538523[2] = 0; - out_3146439140780538523[3] = 0; - out_3146439140780538523[4] = 0; - out_3146439140780538523[5] = 0; - out_3146439140780538523[6] = 0; - out_3146439140780538523[7] = 0; - out_3146439140780538523[8] = 0; - out_3146439140780538523[9] = 0; - out_3146439140780538523[10] = 1; - out_3146439140780538523[11] = 0; - out_3146439140780538523[12] = 0; - out_3146439140780538523[13] = 0; - out_3146439140780538523[14] = 0; - out_3146439140780538523[15] = 0; - out_3146439140780538523[16] = 0; - out_3146439140780538523[17] = 0; - out_3146439140780538523[18] = 0; - out_3146439140780538523[19] = 0; - out_3146439140780538523[20] = 1; - out_3146439140780538523[21] = 0; - out_3146439140780538523[22] = 0; - out_3146439140780538523[23] = 0; - out_3146439140780538523[24] = 0; - out_3146439140780538523[25] = 0; - out_3146439140780538523[26] = 0; - out_3146439140780538523[27] = 0; - out_3146439140780538523[28] = 0; - out_3146439140780538523[29] = 0; - out_3146439140780538523[30] = 1; - out_3146439140780538523[31] = 0; - out_3146439140780538523[32] = 0; - out_3146439140780538523[33] = 0; - out_3146439140780538523[34] = 0; - out_3146439140780538523[35] = 0; - out_3146439140780538523[36] = 0; - out_3146439140780538523[37] = 0; - out_3146439140780538523[38] = 0; - out_3146439140780538523[39] = 0; - out_3146439140780538523[40] = 1; - out_3146439140780538523[41] = 0; - out_3146439140780538523[42] = 0; - out_3146439140780538523[43] = 0; - out_3146439140780538523[44] = 0; - out_3146439140780538523[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_3146439140780538523[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3146439140780538523[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3146439140780538523[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3146439140780538523[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_3146439140780538523[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3146439140780538523[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3146439140780538523[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3146439140780538523[53] = -9.8100000000000005*dt; - out_3146439140780538523[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_3146439140780538523[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3146439140780538523[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3146439140780538523[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3146439140780538523[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_3146439140780538523[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3146439140780538523[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_3146439140780538523[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3146439140780538523[62] = 0; - out_3146439140780538523[63] = 0; - out_3146439140780538523[64] = 0; - out_3146439140780538523[65] = 0; - out_3146439140780538523[66] = 0; - out_3146439140780538523[67] = 0; - out_3146439140780538523[68] = 0; - out_3146439140780538523[69] = 0; - out_3146439140780538523[70] = 1; - out_3146439140780538523[71] = 0; - out_3146439140780538523[72] = 0; - out_3146439140780538523[73] = 0; - out_3146439140780538523[74] = 0; - out_3146439140780538523[75] = 0; - out_3146439140780538523[76] = 0; - out_3146439140780538523[77] = 0; - out_3146439140780538523[78] = 0; - out_3146439140780538523[79] = 0; - out_3146439140780538523[80] = 1; +void F_fun(double *state, double dt, double *out_3633424257345620011) { + out_3633424257345620011[0] = 1; + out_3633424257345620011[1] = 0; + out_3633424257345620011[2] = 0; + out_3633424257345620011[3] = 0; + out_3633424257345620011[4] = 0; + out_3633424257345620011[5] = 0; + out_3633424257345620011[6] = 0; + out_3633424257345620011[7] = 0; + out_3633424257345620011[8] = 0; + out_3633424257345620011[9] = 0; + out_3633424257345620011[10] = 1; + out_3633424257345620011[11] = 0; + out_3633424257345620011[12] = 0; + out_3633424257345620011[13] = 0; + out_3633424257345620011[14] = 0; + out_3633424257345620011[15] = 0; + out_3633424257345620011[16] = 0; + out_3633424257345620011[17] = 0; + out_3633424257345620011[18] = 0; + out_3633424257345620011[19] = 0; + out_3633424257345620011[20] = 1; + out_3633424257345620011[21] = 0; + out_3633424257345620011[22] = 0; + out_3633424257345620011[23] = 0; + out_3633424257345620011[24] = 0; + out_3633424257345620011[25] = 0; + out_3633424257345620011[26] = 0; + out_3633424257345620011[27] = 0; + out_3633424257345620011[28] = 0; + out_3633424257345620011[29] = 0; + out_3633424257345620011[30] = 1; + out_3633424257345620011[31] = 0; + out_3633424257345620011[32] = 0; + out_3633424257345620011[33] = 0; + out_3633424257345620011[34] = 0; + out_3633424257345620011[35] = 0; + out_3633424257345620011[36] = 0; + out_3633424257345620011[37] = 0; + out_3633424257345620011[38] = 0; + out_3633424257345620011[39] = 0; + out_3633424257345620011[40] = 1; + out_3633424257345620011[41] = 0; + out_3633424257345620011[42] = 0; + out_3633424257345620011[43] = 0; + out_3633424257345620011[44] = 0; + out_3633424257345620011[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_3633424257345620011[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3633424257345620011[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3633424257345620011[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3633424257345620011[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_3633424257345620011[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3633424257345620011[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3633424257345620011[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3633424257345620011[53] = -9.8100000000000005*dt; + out_3633424257345620011[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_3633424257345620011[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3633424257345620011[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3633424257345620011[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3633424257345620011[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_3633424257345620011[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3633424257345620011[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_3633424257345620011[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3633424257345620011[62] = 0; + out_3633424257345620011[63] = 0; + out_3633424257345620011[64] = 0; + out_3633424257345620011[65] = 0; + out_3633424257345620011[66] = 0; + out_3633424257345620011[67] = 0; + out_3633424257345620011[68] = 0; + out_3633424257345620011[69] = 0; + out_3633424257345620011[70] = 1; + out_3633424257345620011[71] = 0; + out_3633424257345620011[72] = 0; + out_3633424257345620011[73] = 0; + out_3633424257345620011[74] = 0; + out_3633424257345620011[75] = 0; + out_3633424257345620011[76] = 0; + out_3633424257345620011[77] = 0; + out_3633424257345620011[78] = 0; + out_3633424257345620011[79] = 0; + out_3633424257345620011[80] = 1; } -void h_25(double *state, double *unused, double *out_3524127915259881655) { - out_3524127915259881655[0] = state[6]; +void h_25(double *state, double *unused, double *out_8566594812092318047) { + out_8566594812092318047[0] = state[6]; } -void H_25(double *state, double *unused, double *out_3733424518165712586) { - out_3733424518165712586[0] = 0; - out_3733424518165712586[1] = 0; - out_3733424518165712586[2] = 0; - out_3733424518165712586[3] = 0; - out_3733424518165712586[4] = 0; - out_3733424518165712586[5] = 0; - out_3733424518165712586[6] = 1; - out_3733424518165712586[7] = 0; - out_3733424518165712586[8] = 0; +void H_25(double *state, double *unused, double *out_3585203320914240522) { + out_3585203320914240522[0] = 0; + out_3585203320914240522[1] = 0; + out_3585203320914240522[2] = 0; + out_3585203320914240522[3] = 0; + out_3585203320914240522[4] = 0; + out_3585203320914240522[5] = 0; + out_3585203320914240522[6] = 1; + out_3585203320914240522[7] = 0; + out_3585203320914240522[8] = 0; } -void h_24(double *state, double *unused, double *out_5258226883159248845) { - out_5258226883159248845[0] = state[4]; - out_5258226883159248845[1] = state[5]; +void h_24(double *state, double *unused, double *out_7709351917136459488) { + out_7709351917136459488[0] = state[4]; + out_7709351917136459488[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2842147288425805515) { - out_2842147288425805515[0] = 0; - out_2842147288425805515[1] = 0; - out_2842147288425805515[2] = 0; - out_2842147288425805515[3] = 0; - out_2842147288425805515[4] = 1; - out_2842147288425805515[5] = 0; - out_2842147288425805515[6] = 0; - out_2842147288425805515[7] = 0; - out_2842147288425805515[8] = 0; - out_2842147288425805515[9] = 0; - out_2842147288425805515[10] = 0; - out_2842147288425805515[11] = 0; - out_2842147288425805515[12] = 0; - out_2842147288425805515[13] = 0; - out_2842147288425805515[14] = 1; - out_2842147288425805515[15] = 0; - out_2842147288425805515[16] = 0; - out_2842147288425805515[17] = 0; +void H_24(double *state, double *unused, double *out_4055660802957579246) { + out_4055660802957579246[0] = 0; + out_4055660802957579246[1] = 0; + out_4055660802957579246[2] = 0; + out_4055660802957579246[3] = 0; + out_4055660802957579246[4] = 1; + out_4055660802957579246[5] = 0; + out_4055660802957579246[6] = 0; + out_4055660802957579246[7] = 0; + out_4055660802957579246[8] = 0; + out_4055660802957579246[9] = 0; + out_4055660802957579246[10] = 0; + out_4055660802957579246[11] = 0; + out_4055660802957579246[12] = 0; + out_4055660802957579246[13] = 0; + out_4055660802957579246[14] = 1; + out_4055660802957579246[15] = 0; + out_4055660802957579246[16] = 0; + out_4055660802957579246[17] = 0; } -void h_30(double *state, double *unused, double *out_2922709757646518101) { - out_2922709757646518101[0] = state[4]; +void h_30(double *state, double *unused, double *out_3060647100788456434) { + out_3060647100788456434[0] = state[4]; } -void H_30(double *state, double *unused, double *out_3183265823325904169) { - out_3183265823325904169[0] = 0; - out_3183265823325904169[1] = 0; - out_3183265823325904169[2] = 0; - out_3183265823325904169[3] = 0; - out_3183265823325904169[4] = 1; - out_3183265823325904169[5] = 0; - out_3183265823325904169[6] = 0; - out_3183265823325904169[7] = 0; - out_3183265823325904169[8] = 0; +void H_30(double *state, double *unused, double *out_3714542268057480592) { + out_3714542268057480592[0] = 0; + out_3714542268057480592[1] = 0; + out_3714542268057480592[2] = 0; + out_3714542268057480592[3] = 0; + out_3714542268057480592[4] = 1; + out_3714542268057480592[5] = 0; + out_3714542268057480592[6] = 0; + out_3714542268057480592[7] = 0; + out_3714542268057480592[8] = 0; } -void h_26(double *state, double *unused, double *out_2078963510014327544) { - out_2078963510014327544[0] = state[7]; +void h_26(double *state, double *unused, double *out_2806316718466979703) { + out_2806316718466979703[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7474927837039768810) { - out_7474927837039768810[0] = 0; - out_7474927837039768810[1] = 0; - out_7474927837039768810[2] = 0; - out_7474927837039768810[3] = 0; - out_7474927837039768810[4] = 0; - out_7474927837039768810[5] = 0; - out_7474927837039768810[6] = 0; - out_7474927837039768810[7] = 1; - out_7474927837039768810[8] = 0; +void H_26(double *state, double *unused, double *out_7326706639788296746) { + out_7326706639788296746[0] = 0; + out_7326706639788296746[1] = 0; + out_7326706639788296746[2] = 0; + out_7326706639788296746[3] = 0; + out_7326706639788296746[4] = 0; + out_7326706639788296746[5] = 0; + out_7326706639788296746[6] = 0; + out_7326706639788296746[7] = 1; + out_7326706639788296746[8] = 0; } -void h_27(double *state, double *unused, double *out_9006985404715807625) { - out_9006985404715807625[0] = state[3]; +void h_27(double *state, double *unused, double *out_8520521730607863741) { + out_8520521730607863741[0] = state[3]; } -void H_27(double *state, double *unused, double *out_1008502511525479258) { - out_1008502511525479258[0] = 0; - out_1008502511525479258[1] = 0; - out_1008502511525479258[2] = 0; - out_1008502511525479258[3] = 1; - out_1008502511525479258[4] = 0; - out_1008502511525479258[5] = 0; - out_1008502511525479258[6] = 0; - out_1008502511525479258[7] = 0; - out_1008502511525479258[8] = 0; +void H_27(double *state, double *unused, double *out_5889305579857905503) { + out_5889305579857905503[0] = 0; + out_5889305579857905503[1] = 0; + out_5889305579857905503[2] = 0; + out_5889305579857905503[3] = 1; + out_5889305579857905503[4] = 0; + out_5889305579857905503[5] = 0; + out_5889305579857905503[6] = 0; + out_5889305579857905503[7] = 0; + out_5889305579857905503[8] = 0; } -void h_29(double *state, double *unused, double *out_1979199904744855666) { - out_1979199904744855666[0] = state[1]; +void h_29(double *state, double *unused, double *out_617195554075987441) { + out_617195554075987441[0] = state[1]; } -void H_29(double *state, double *unused, double *out_704860215344071775) { - out_704860215344071775[0] = 0; - out_704860215344071775[1] = 1; - out_704860215344071775[2] = 0; - out_704860215344071775[3] = 0; - out_704860215344071775[4] = 0; - out_704860215344071775[5] = 0; - out_704860215344071775[6] = 0; - out_704860215344071775[7] = 0; - out_704860215344071775[8] = 0; +void H_29(double *state, double *unused, double *out_7602668306727456536) { + out_7602668306727456536[0] = 0; + out_7602668306727456536[1] = 1; + out_7602668306727456536[2] = 0; + out_7602668306727456536[3] = 0; + out_7602668306727456536[4] = 0; + out_7602668306727456536[5] = 0; + out_7602668306727456536[6] = 0; + out_7602668306727456536[7] = 0; + out_7602668306727456536[8] = 0; } -void h_28(double *state, double *unused, double *out_6835353348185046340) { - out_6835353348185046340[0] = state[0]; +void h_28(double *state, double *unused, double *out_8625997807319031960) { + out_8625997807319031960[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5787259232413602349) { - out_5787259232413602349[0] = 1; - out_5787259232413602349[1] = 0; - out_5787259232413602349[2] = 0; - out_5787259232413602349[3] = 0; - out_5787259232413602349[4] = 0; - out_5787259232413602349[5] = 0; - out_5787259232413602349[6] = 0; - out_5787259232413602349[7] = 0; - out_5787259232413602349[8] = 0; +void H_28(double *state, double *unused, double *out_5761676749912564506) { + out_5761676749912564506[0] = 1; + out_5761676749912564506[1] = 0; + out_5761676749912564506[2] = 0; + out_5761676749912564506[3] = 0; + out_5761676749912564506[4] = 0; + out_5761676749912564506[5] = 0; + out_5761676749912564506[6] = 0; + out_5761676749912564506[7] = 0; + out_5761676749912564506[8] = 0; } -void h_31(double *state, double *unused, double *out_4974759307888764822) { - out_4974759307888764822[0] = state[8]; +void h_31(double *state, double *unused, double *out_7164630353941861079) { + out_7164630353941861079[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3702778556288752158) { - out_3702778556288752158[0] = 0; - out_3702778556288752158[1] = 0; - out_3702778556288752158[2] = 0; - out_3702778556288752158[3] = 0; - out_3702778556288752158[4] = 0; - out_3702778556288752158[5] = 0; - out_3702778556288752158[6] = 0; - out_3702778556288752158[7] = 0; - out_3702778556288752158[8] = 1; +void H_31(double *state, double *unused, double *out_3554557359037280094) { + out_3554557359037280094[0] = 0; + out_3554557359037280094[1] = 0; + out_3554557359037280094[2] = 0; + out_3554557359037280094[3] = 0; + out_3554557359037280094[4] = 0; + out_3554557359037280094[5] = 0; + out_3554557359037280094[6] = 0; + out_3554557359037280094[7] = 0; + out_3554557359037280094[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_4436222918597397805) { - err_fun(nom_x, delta_x, out_4436222918597397805); +void car_err_fun(double *nom_x, double *delta_x, double *out_6066785079692700737) { + err_fun(nom_x, delta_x, out_6066785079692700737); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5455437002668972894) { - inv_err_fun(nom_x, true_x, out_5455437002668972894); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_386653618683565600) { + inv_err_fun(nom_x, true_x, out_386653618683565600); } -void car_H_mod_fun(double *state, double *out_210375879520347438) { - H_mod_fun(state, out_210375879520347438); +void car_H_mod_fun(double *state, double *out_2911819638975789429) { + H_mod_fun(state, out_2911819638975789429); } -void car_f_fun(double *state, double dt, double *out_467846126367206141) { - f_fun(state, dt, out_467846126367206141); +void car_f_fun(double *state, double dt, double *out_7908585330617552733) { + f_fun(state, dt, out_7908585330617552733); } -void car_F_fun(double *state, double dt, double *out_3146439140780538523) { - F_fun(state, dt, out_3146439140780538523); +void car_F_fun(double *state, double dt, double *out_3633424257345620011) { + F_fun(state, dt, out_3633424257345620011); } -void car_h_25(double *state, double *unused, double *out_3524127915259881655) { - h_25(state, unused, out_3524127915259881655); +void car_h_25(double *state, double *unused, double *out_8566594812092318047) { + h_25(state, unused, out_8566594812092318047); } -void car_H_25(double *state, double *unused, double *out_3733424518165712586) { - H_25(state, unused, out_3733424518165712586); +void car_H_25(double *state, double *unused, double *out_3585203320914240522) { + H_25(state, unused, out_3585203320914240522); } -void car_h_24(double *state, double *unused, double *out_5258226883159248845) { - h_24(state, unused, out_5258226883159248845); +void car_h_24(double *state, double *unused, double *out_7709351917136459488) { + h_24(state, unused, out_7709351917136459488); } -void car_H_24(double *state, double *unused, double *out_2842147288425805515) { - H_24(state, unused, out_2842147288425805515); +void car_H_24(double *state, double *unused, double *out_4055660802957579246) { + H_24(state, unused, out_4055660802957579246); } -void car_h_30(double *state, double *unused, double *out_2922709757646518101) { - h_30(state, unused, out_2922709757646518101); +void car_h_30(double *state, double *unused, double *out_3060647100788456434) { + h_30(state, unused, out_3060647100788456434); } -void car_H_30(double *state, double *unused, double *out_3183265823325904169) { - H_30(state, unused, out_3183265823325904169); +void car_H_30(double *state, double *unused, double *out_3714542268057480592) { + H_30(state, unused, out_3714542268057480592); } -void car_h_26(double *state, double *unused, double *out_2078963510014327544) { - h_26(state, unused, out_2078963510014327544); +void car_h_26(double *state, double *unused, double *out_2806316718466979703) { + h_26(state, unused, out_2806316718466979703); } -void car_H_26(double *state, double *unused, double *out_7474927837039768810) { - H_26(state, unused, out_7474927837039768810); +void car_H_26(double *state, double *unused, double *out_7326706639788296746) { + H_26(state, unused, out_7326706639788296746); } -void car_h_27(double *state, double *unused, double *out_9006985404715807625) { - h_27(state, unused, out_9006985404715807625); +void car_h_27(double *state, double *unused, double *out_8520521730607863741) { + h_27(state, unused, out_8520521730607863741); } -void car_H_27(double *state, double *unused, double *out_1008502511525479258) { - H_27(state, unused, out_1008502511525479258); +void car_H_27(double *state, double *unused, double *out_5889305579857905503) { + H_27(state, unused, out_5889305579857905503); } -void car_h_29(double *state, double *unused, double *out_1979199904744855666) { - h_29(state, unused, out_1979199904744855666); +void car_h_29(double *state, double *unused, double *out_617195554075987441) { + h_29(state, unused, out_617195554075987441); } -void car_H_29(double *state, double *unused, double *out_704860215344071775) { - H_29(state, unused, out_704860215344071775); +void car_H_29(double *state, double *unused, double *out_7602668306727456536) { + H_29(state, unused, out_7602668306727456536); } -void car_h_28(double *state, double *unused, double *out_6835353348185046340) { - h_28(state, unused, out_6835353348185046340); +void car_h_28(double *state, double *unused, double *out_8625997807319031960) { + h_28(state, unused, out_8625997807319031960); } -void car_H_28(double *state, double *unused, double *out_5787259232413602349) { - H_28(state, unused, out_5787259232413602349); +void car_H_28(double *state, double *unused, double *out_5761676749912564506) { + H_28(state, unused, out_5761676749912564506); } -void car_h_31(double *state, double *unused, double *out_4974759307888764822) { - h_31(state, unused, out_4974759307888764822); +void car_h_31(double *state, double *unused, double *out_7164630353941861079) { + h_31(state, unused, out_7164630353941861079); } -void car_H_31(double *state, double *unused, double *out_3702778556288752158) { - H_31(state, unused, out_3702778556288752158); +void car_H_31(double *state, double *unused, double *out_3554557359037280094) { + H_31(state, unused, out_3554557359037280094); } 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 e3972d4d2..fb53734f1 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_4436222918597397805); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5455437002668972894); -void car_H_mod_fun(double *state, double *out_210375879520347438); -void car_f_fun(double *state, double dt, double *out_467846126367206141); -void car_F_fun(double *state, double dt, double *out_3146439140780538523); -void car_h_25(double *state, double *unused, double *out_3524127915259881655); -void car_H_25(double *state, double *unused, double *out_3733424518165712586); -void car_h_24(double *state, double *unused, double *out_5258226883159248845); -void car_H_24(double *state, double *unused, double *out_2842147288425805515); -void car_h_30(double *state, double *unused, double *out_2922709757646518101); -void car_H_30(double *state, double *unused, double *out_3183265823325904169); -void car_h_26(double *state, double *unused, double *out_2078963510014327544); -void car_H_26(double *state, double *unused, double *out_7474927837039768810); -void car_h_27(double *state, double *unused, double *out_9006985404715807625); -void car_H_27(double *state, double *unused, double *out_1008502511525479258); -void car_h_29(double *state, double *unused, double *out_1979199904744855666); -void car_H_29(double *state, double *unused, double *out_704860215344071775); -void car_h_28(double *state, double *unused, double *out_6835353348185046340); -void car_H_28(double *state, double *unused, double *out_5787259232413602349); -void car_h_31(double *state, double *unused, double *out_4974759307888764822); -void car_H_31(double *state, double *unused, double *out_3702778556288752158); +void car_err_fun(double *nom_x, double *delta_x, double *out_6066785079692700737); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_386653618683565600); +void car_H_mod_fun(double *state, double *out_2911819638975789429); +void car_f_fun(double *state, double dt, double *out_7908585330617552733); +void car_F_fun(double *state, double dt, double *out_3633424257345620011); +void car_h_25(double *state, double *unused, double *out_8566594812092318047); +void car_H_25(double *state, double *unused, double *out_3585203320914240522); +void car_h_24(double *state, double *unused, double *out_7709351917136459488); +void car_H_24(double *state, double *unused, double *out_4055660802957579246); +void car_h_30(double *state, double *unused, double *out_3060647100788456434); +void car_H_30(double *state, double *unused, double *out_3714542268057480592); +void car_h_26(double *state, double *unused, double *out_2806316718466979703); +void car_H_26(double *state, double *unused, double *out_7326706639788296746); +void car_h_27(double *state, double *unused, double *out_8520521730607863741); +void car_H_27(double *state, double *unused, double *out_5889305579857905503); +void car_h_29(double *state, double *unused, double *out_617195554075987441); +void car_H_29(double *state, double *unused, double *out_7602668306727456536); +void car_h_28(double *state, double *unused, double *out_8625997807319031960); +void car_H_28(double *state, double *unused, double *out_5761676749912564506); +void car_h_31(double *state, double *unused, double *out_7164630353941861079); +void car_H_31(double *state, double *unused, double *out_3554557359037280094); 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/car.os b/selfdrive/locationd/models/generated/car.os index 6d7a588d9..763f6afba 100644 Binary files a/selfdrive/locationd/models/generated/car.os and b/selfdrive/locationd/models/generated/car.os differ diff --git a/selfdrive/locationd/models/generated/libcar.so b/selfdrive/locationd/models/generated/libcar.so index 419ca2147..e66b841c4 100755 Binary files a/selfdrive/locationd/models/generated/libcar.so and b/selfdrive/locationd/models/generated/libcar.so differ diff --git a/selfdrive/locationd/models/generated/libpose.so b/selfdrive/locationd/models/generated/libpose.so index 91488edfc..1661647d9 100755 Binary files a/selfdrive/locationd/models/generated/libpose.so and b/selfdrive/locationd/models/generated/libpose.so differ diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 4544dec05..539afd725 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_4409321269442810496) { - out_4409321269442810496[0] = delta_x[0] + nom_x[0]; - out_4409321269442810496[1] = delta_x[1] + nom_x[1]; - out_4409321269442810496[2] = delta_x[2] + nom_x[2]; - out_4409321269442810496[3] = delta_x[3] + nom_x[3]; - out_4409321269442810496[4] = delta_x[4] + nom_x[4]; - out_4409321269442810496[5] = delta_x[5] + nom_x[5]; - out_4409321269442810496[6] = delta_x[6] + nom_x[6]; - out_4409321269442810496[7] = delta_x[7] + nom_x[7]; - out_4409321269442810496[8] = delta_x[8] + nom_x[8]; - out_4409321269442810496[9] = delta_x[9] + nom_x[9]; - out_4409321269442810496[10] = delta_x[10] + nom_x[10]; - out_4409321269442810496[11] = delta_x[11] + nom_x[11]; - out_4409321269442810496[12] = delta_x[12] + nom_x[12]; - out_4409321269442810496[13] = delta_x[13] + nom_x[13]; - out_4409321269442810496[14] = delta_x[14] + nom_x[14]; - out_4409321269442810496[15] = delta_x[15] + nom_x[15]; - out_4409321269442810496[16] = delta_x[16] + nom_x[16]; - out_4409321269442810496[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6404612215142923466) { + out_6404612215142923466[0] = delta_x[0] + nom_x[0]; + out_6404612215142923466[1] = delta_x[1] + nom_x[1]; + out_6404612215142923466[2] = delta_x[2] + nom_x[2]; + out_6404612215142923466[3] = delta_x[3] + nom_x[3]; + out_6404612215142923466[4] = delta_x[4] + nom_x[4]; + out_6404612215142923466[5] = delta_x[5] + nom_x[5]; + out_6404612215142923466[6] = delta_x[6] + nom_x[6]; + out_6404612215142923466[7] = delta_x[7] + nom_x[7]; + out_6404612215142923466[8] = delta_x[8] + nom_x[8]; + out_6404612215142923466[9] = delta_x[9] + nom_x[9]; + out_6404612215142923466[10] = delta_x[10] + nom_x[10]; + out_6404612215142923466[11] = delta_x[11] + nom_x[11]; + out_6404612215142923466[12] = delta_x[12] + nom_x[12]; + out_6404612215142923466[13] = delta_x[13] + nom_x[13]; + out_6404612215142923466[14] = delta_x[14] + nom_x[14]; + out_6404612215142923466[15] = delta_x[15] + nom_x[15]; + out_6404612215142923466[16] = delta_x[16] + nom_x[16]; + out_6404612215142923466[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3789556254182165506) { - out_3789556254182165506[0] = -nom_x[0] + true_x[0]; - out_3789556254182165506[1] = -nom_x[1] + true_x[1]; - out_3789556254182165506[2] = -nom_x[2] + true_x[2]; - out_3789556254182165506[3] = -nom_x[3] + true_x[3]; - out_3789556254182165506[4] = -nom_x[4] + true_x[4]; - out_3789556254182165506[5] = -nom_x[5] + true_x[5]; - out_3789556254182165506[6] = -nom_x[6] + true_x[6]; - out_3789556254182165506[7] = -nom_x[7] + true_x[7]; - out_3789556254182165506[8] = -nom_x[8] + true_x[8]; - out_3789556254182165506[9] = -nom_x[9] + true_x[9]; - out_3789556254182165506[10] = -nom_x[10] + true_x[10]; - out_3789556254182165506[11] = -nom_x[11] + true_x[11]; - out_3789556254182165506[12] = -nom_x[12] + true_x[12]; - out_3789556254182165506[13] = -nom_x[13] + true_x[13]; - out_3789556254182165506[14] = -nom_x[14] + true_x[14]; - out_3789556254182165506[15] = -nom_x[15] + true_x[15]; - out_3789556254182165506[16] = -nom_x[16] + true_x[16]; - out_3789556254182165506[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8928511729536831732) { + out_8928511729536831732[0] = -nom_x[0] + true_x[0]; + out_8928511729536831732[1] = -nom_x[1] + true_x[1]; + out_8928511729536831732[2] = -nom_x[2] + true_x[2]; + out_8928511729536831732[3] = -nom_x[3] + true_x[3]; + out_8928511729536831732[4] = -nom_x[4] + true_x[4]; + out_8928511729536831732[5] = -nom_x[5] + true_x[5]; + out_8928511729536831732[6] = -nom_x[6] + true_x[6]; + out_8928511729536831732[7] = -nom_x[7] + true_x[7]; + out_8928511729536831732[8] = -nom_x[8] + true_x[8]; + out_8928511729536831732[9] = -nom_x[9] + true_x[9]; + out_8928511729536831732[10] = -nom_x[10] + true_x[10]; + out_8928511729536831732[11] = -nom_x[11] + true_x[11]; + out_8928511729536831732[12] = -nom_x[12] + true_x[12]; + out_8928511729536831732[13] = -nom_x[13] + true_x[13]; + out_8928511729536831732[14] = -nom_x[14] + true_x[14]; + out_8928511729536831732[15] = -nom_x[15] + true_x[15]; + out_8928511729536831732[16] = -nom_x[16] + true_x[16]; + out_8928511729536831732[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3068405914716205428) { - out_3068405914716205428[0] = 1.0; - out_3068405914716205428[1] = 0.0; - out_3068405914716205428[2] = 0.0; - out_3068405914716205428[3] = 0.0; - out_3068405914716205428[4] = 0.0; - out_3068405914716205428[5] = 0.0; - out_3068405914716205428[6] = 0.0; - out_3068405914716205428[7] = 0.0; - out_3068405914716205428[8] = 0.0; - out_3068405914716205428[9] = 0.0; - out_3068405914716205428[10] = 0.0; - out_3068405914716205428[11] = 0.0; - out_3068405914716205428[12] = 0.0; - out_3068405914716205428[13] = 0.0; - out_3068405914716205428[14] = 0.0; - out_3068405914716205428[15] = 0.0; - out_3068405914716205428[16] = 0.0; - out_3068405914716205428[17] = 0.0; - out_3068405914716205428[18] = 0.0; - out_3068405914716205428[19] = 1.0; - out_3068405914716205428[20] = 0.0; - out_3068405914716205428[21] = 0.0; - out_3068405914716205428[22] = 0.0; - out_3068405914716205428[23] = 0.0; - out_3068405914716205428[24] = 0.0; - out_3068405914716205428[25] = 0.0; - out_3068405914716205428[26] = 0.0; - out_3068405914716205428[27] = 0.0; - out_3068405914716205428[28] = 0.0; - out_3068405914716205428[29] = 0.0; - out_3068405914716205428[30] = 0.0; - out_3068405914716205428[31] = 0.0; - out_3068405914716205428[32] = 0.0; - out_3068405914716205428[33] = 0.0; - out_3068405914716205428[34] = 0.0; - out_3068405914716205428[35] = 0.0; - out_3068405914716205428[36] = 0.0; - out_3068405914716205428[37] = 0.0; - out_3068405914716205428[38] = 1.0; - out_3068405914716205428[39] = 0.0; - out_3068405914716205428[40] = 0.0; - out_3068405914716205428[41] = 0.0; - out_3068405914716205428[42] = 0.0; - out_3068405914716205428[43] = 0.0; - out_3068405914716205428[44] = 0.0; - out_3068405914716205428[45] = 0.0; - out_3068405914716205428[46] = 0.0; - out_3068405914716205428[47] = 0.0; - out_3068405914716205428[48] = 0.0; - out_3068405914716205428[49] = 0.0; - out_3068405914716205428[50] = 0.0; - out_3068405914716205428[51] = 0.0; - out_3068405914716205428[52] = 0.0; - out_3068405914716205428[53] = 0.0; - out_3068405914716205428[54] = 0.0; - out_3068405914716205428[55] = 0.0; - out_3068405914716205428[56] = 0.0; - out_3068405914716205428[57] = 1.0; - out_3068405914716205428[58] = 0.0; - out_3068405914716205428[59] = 0.0; - out_3068405914716205428[60] = 0.0; - out_3068405914716205428[61] = 0.0; - out_3068405914716205428[62] = 0.0; - out_3068405914716205428[63] = 0.0; - out_3068405914716205428[64] = 0.0; - out_3068405914716205428[65] = 0.0; - out_3068405914716205428[66] = 0.0; - out_3068405914716205428[67] = 0.0; - out_3068405914716205428[68] = 0.0; - out_3068405914716205428[69] = 0.0; - out_3068405914716205428[70] = 0.0; - out_3068405914716205428[71] = 0.0; - out_3068405914716205428[72] = 0.0; - out_3068405914716205428[73] = 0.0; - out_3068405914716205428[74] = 0.0; - out_3068405914716205428[75] = 0.0; - out_3068405914716205428[76] = 1.0; - out_3068405914716205428[77] = 0.0; - out_3068405914716205428[78] = 0.0; - out_3068405914716205428[79] = 0.0; - out_3068405914716205428[80] = 0.0; - out_3068405914716205428[81] = 0.0; - out_3068405914716205428[82] = 0.0; - out_3068405914716205428[83] = 0.0; - out_3068405914716205428[84] = 0.0; - out_3068405914716205428[85] = 0.0; - out_3068405914716205428[86] = 0.0; - out_3068405914716205428[87] = 0.0; - out_3068405914716205428[88] = 0.0; - out_3068405914716205428[89] = 0.0; - out_3068405914716205428[90] = 0.0; - out_3068405914716205428[91] = 0.0; - out_3068405914716205428[92] = 0.0; - out_3068405914716205428[93] = 0.0; - out_3068405914716205428[94] = 0.0; - out_3068405914716205428[95] = 1.0; - out_3068405914716205428[96] = 0.0; - out_3068405914716205428[97] = 0.0; - out_3068405914716205428[98] = 0.0; - out_3068405914716205428[99] = 0.0; - out_3068405914716205428[100] = 0.0; - out_3068405914716205428[101] = 0.0; - out_3068405914716205428[102] = 0.0; - out_3068405914716205428[103] = 0.0; - out_3068405914716205428[104] = 0.0; - out_3068405914716205428[105] = 0.0; - out_3068405914716205428[106] = 0.0; - out_3068405914716205428[107] = 0.0; - out_3068405914716205428[108] = 0.0; - out_3068405914716205428[109] = 0.0; - out_3068405914716205428[110] = 0.0; - out_3068405914716205428[111] = 0.0; - out_3068405914716205428[112] = 0.0; - out_3068405914716205428[113] = 0.0; - out_3068405914716205428[114] = 1.0; - out_3068405914716205428[115] = 0.0; - out_3068405914716205428[116] = 0.0; - out_3068405914716205428[117] = 0.0; - out_3068405914716205428[118] = 0.0; - out_3068405914716205428[119] = 0.0; - out_3068405914716205428[120] = 0.0; - out_3068405914716205428[121] = 0.0; - out_3068405914716205428[122] = 0.0; - out_3068405914716205428[123] = 0.0; - out_3068405914716205428[124] = 0.0; - out_3068405914716205428[125] = 0.0; - out_3068405914716205428[126] = 0.0; - out_3068405914716205428[127] = 0.0; - out_3068405914716205428[128] = 0.0; - out_3068405914716205428[129] = 0.0; - out_3068405914716205428[130] = 0.0; - out_3068405914716205428[131] = 0.0; - out_3068405914716205428[132] = 0.0; - out_3068405914716205428[133] = 1.0; - out_3068405914716205428[134] = 0.0; - out_3068405914716205428[135] = 0.0; - out_3068405914716205428[136] = 0.0; - out_3068405914716205428[137] = 0.0; - out_3068405914716205428[138] = 0.0; - out_3068405914716205428[139] = 0.0; - out_3068405914716205428[140] = 0.0; - out_3068405914716205428[141] = 0.0; - out_3068405914716205428[142] = 0.0; - out_3068405914716205428[143] = 0.0; - out_3068405914716205428[144] = 0.0; - out_3068405914716205428[145] = 0.0; - out_3068405914716205428[146] = 0.0; - out_3068405914716205428[147] = 0.0; - out_3068405914716205428[148] = 0.0; - out_3068405914716205428[149] = 0.0; - out_3068405914716205428[150] = 0.0; - out_3068405914716205428[151] = 0.0; - out_3068405914716205428[152] = 1.0; - out_3068405914716205428[153] = 0.0; - out_3068405914716205428[154] = 0.0; - out_3068405914716205428[155] = 0.0; - out_3068405914716205428[156] = 0.0; - out_3068405914716205428[157] = 0.0; - out_3068405914716205428[158] = 0.0; - out_3068405914716205428[159] = 0.0; - out_3068405914716205428[160] = 0.0; - out_3068405914716205428[161] = 0.0; - out_3068405914716205428[162] = 0.0; - out_3068405914716205428[163] = 0.0; - out_3068405914716205428[164] = 0.0; - out_3068405914716205428[165] = 0.0; - out_3068405914716205428[166] = 0.0; - out_3068405914716205428[167] = 0.0; - out_3068405914716205428[168] = 0.0; - out_3068405914716205428[169] = 0.0; - out_3068405914716205428[170] = 0.0; - out_3068405914716205428[171] = 1.0; - out_3068405914716205428[172] = 0.0; - out_3068405914716205428[173] = 0.0; - out_3068405914716205428[174] = 0.0; - out_3068405914716205428[175] = 0.0; - out_3068405914716205428[176] = 0.0; - out_3068405914716205428[177] = 0.0; - out_3068405914716205428[178] = 0.0; - out_3068405914716205428[179] = 0.0; - out_3068405914716205428[180] = 0.0; - out_3068405914716205428[181] = 0.0; - out_3068405914716205428[182] = 0.0; - out_3068405914716205428[183] = 0.0; - out_3068405914716205428[184] = 0.0; - out_3068405914716205428[185] = 0.0; - out_3068405914716205428[186] = 0.0; - out_3068405914716205428[187] = 0.0; - out_3068405914716205428[188] = 0.0; - out_3068405914716205428[189] = 0.0; - out_3068405914716205428[190] = 1.0; - out_3068405914716205428[191] = 0.0; - out_3068405914716205428[192] = 0.0; - out_3068405914716205428[193] = 0.0; - out_3068405914716205428[194] = 0.0; - out_3068405914716205428[195] = 0.0; - out_3068405914716205428[196] = 0.0; - out_3068405914716205428[197] = 0.0; - out_3068405914716205428[198] = 0.0; - out_3068405914716205428[199] = 0.0; - out_3068405914716205428[200] = 0.0; - out_3068405914716205428[201] = 0.0; - out_3068405914716205428[202] = 0.0; - out_3068405914716205428[203] = 0.0; - out_3068405914716205428[204] = 0.0; - out_3068405914716205428[205] = 0.0; - out_3068405914716205428[206] = 0.0; - out_3068405914716205428[207] = 0.0; - out_3068405914716205428[208] = 0.0; - out_3068405914716205428[209] = 1.0; - out_3068405914716205428[210] = 0.0; - out_3068405914716205428[211] = 0.0; - out_3068405914716205428[212] = 0.0; - out_3068405914716205428[213] = 0.0; - out_3068405914716205428[214] = 0.0; - out_3068405914716205428[215] = 0.0; - out_3068405914716205428[216] = 0.0; - out_3068405914716205428[217] = 0.0; - out_3068405914716205428[218] = 0.0; - out_3068405914716205428[219] = 0.0; - out_3068405914716205428[220] = 0.0; - out_3068405914716205428[221] = 0.0; - out_3068405914716205428[222] = 0.0; - out_3068405914716205428[223] = 0.0; - out_3068405914716205428[224] = 0.0; - out_3068405914716205428[225] = 0.0; - out_3068405914716205428[226] = 0.0; - out_3068405914716205428[227] = 0.0; - out_3068405914716205428[228] = 1.0; - out_3068405914716205428[229] = 0.0; - out_3068405914716205428[230] = 0.0; - out_3068405914716205428[231] = 0.0; - out_3068405914716205428[232] = 0.0; - out_3068405914716205428[233] = 0.0; - out_3068405914716205428[234] = 0.0; - out_3068405914716205428[235] = 0.0; - out_3068405914716205428[236] = 0.0; - out_3068405914716205428[237] = 0.0; - out_3068405914716205428[238] = 0.0; - out_3068405914716205428[239] = 0.0; - out_3068405914716205428[240] = 0.0; - out_3068405914716205428[241] = 0.0; - out_3068405914716205428[242] = 0.0; - out_3068405914716205428[243] = 0.0; - out_3068405914716205428[244] = 0.0; - out_3068405914716205428[245] = 0.0; - out_3068405914716205428[246] = 0.0; - out_3068405914716205428[247] = 1.0; - out_3068405914716205428[248] = 0.0; - out_3068405914716205428[249] = 0.0; - out_3068405914716205428[250] = 0.0; - out_3068405914716205428[251] = 0.0; - out_3068405914716205428[252] = 0.0; - out_3068405914716205428[253] = 0.0; - out_3068405914716205428[254] = 0.0; - out_3068405914716205428[255] = 0.0; - out_3068405914716205428[256] = 0.0; - out_3068405914716205428[257] = 0.0; - out_3068405914716205428[258] = 0.0; - out_3068405914716205428[259] = 0.0; - out_3068405914716205428[260] = 0.0; - out_3068405914716205428[261] = 0.0; - out_3068405914716205428[262] = 0.0; - out_3068405914716205428[263] = 0.0; - out_3068405914716205428[264] = 0.0; - out_3068405914716205428[265] = 0.0; - out_3068405914716205428[266] = 1.0; - out_3068405914716205428[267] = 0.0; - out_3068405914716205428[268] = 0.0; - out_3068405914716205428[269] = 0.0; - out_3068405914716205428[270] = 0.0; - out_3068405914716205428[271] = 0.0; - out_3068405914716205428[272] = 0.0; - out_3068405914716205428[273] = 0.0; - out_3068405914716205428[274] = 0.0; - out_3068405914716205428[275] = 0.0; - out_3068405914716205428[276] = 0.0; - out_3068405914716205428[277] = 0.0; - out_3068405914716205428[278] = 0.0; - out_3068405914716205428[279] = 0.0; - out_3068405914716205428[280] = 0.0; - out_3068405914716205428[281] = 0.0; - out_3068405914716205428[282] = 0.0; - out_3068405914716205428[283] = 0.0; - out_3068405914716205428[284] = 0.0; - out_3068405914716205428[285] = 1.0; - out_3068405914716205428[286] = 0.0; - out_3068405914716205428[287] = 0.0; - out_3068405914716205428[288] = 0.0; - out_3068405914716205428[289] = 0.0; - out_3068405914716205428[290] = 0.0; - out_3068405914716205428[291] = 0.0; - out_3068405914716205428[292] = 0.0; - out_3068405914716205428[293] = 0.0; - out_3068405914716205428[294] = 0.0; - out_3068405914716205428[295] = 0.0; - out_3068405914716205428[296] = 0.0; - out_3068405914716205428[297] = 0.0; - out_3068405914716205428[298] = 0.0; - out_3068405914716205428[299] = 0.0; - out_3068405914716205428[300] = 0.0; - out_3068405914716205428[301] = 0.0; - out_3068405914716205428[302] = 0.0; - out_3068405914716205428[303] = 0.0; - out_3068405914716205428[304] = 1.0; - out_3068405914716205428[305] = 0.0; - out_3068405914716205428[306] = 0.0; - out_3068405914716205428[307] = 0.0; - out_3068405914716205428[308] = 0.0; - out_3068405914716205428[309] = 0.0; - out_3068405914716205428[310] = 0.0; - out_3068405914716205428[311] = 0.0; - out_3068405914716205428[312] = 0.0; - out_3068405914716205428[313] = 0.0; - out_3068405914716205428[314] = 0.0; - out_3068405914716205428[315] = 0.0; - out_3068405914716205428[316] = 0.0; - out_3068405914716205428[317] = 0.0; - out_3068405914716205428[318] = 0.0; - out_3068405914716205428[319] = 0.0; - out_3068405914716205428[320] = 0.0; - out_3068405914716205428[321] = 0.0; - out_3068405914716205428[322] = 0.0; - out_3068405914716205428[323] = 1.0; +void H_mod_fun(double *state, double *out_6801514816147998315) { + out_6801514816147998315[0] = 1.0; + out_6801514816147998315[1] = 0.0; + out_6801514816147998315[2] = 0.0; + out_6801514816147998315[3] = 0.0; + out_6801514816147998315[4] = 0.0; + out_6801514816147998315[5] = 0.0; + out_6801514816147998315[6] = 0.0; + out_6801514816147998315[7] = 0.0; + out_6801514816147998315[8] = 0.0; + out_6801514816147998315[9] = 0.0; + out_6801514816147998315[10] = 0.0; + out_6801514816147998315[11] = 0.0; + out_6801514816147998315[12] = 0.0; + out_6801514816147998315[13] = 0.0; + out_6801514816147998315[14] = 0.0; + out_6801514816147998315[15] = 0.0; + out_6801514816147998315[16] = 0.0; + out_6801514816147998315[17] = 0.0; + out_6801514816147998315[18] = 0.0; + out_6801514816147998315[19] = 1.0; + out_6801514816147998315[20] = 0.0; + out_6801514816147998315[21] = 0.0; + out_6801514816147998315[22] = 0.0; + out_6801514816147998315[23] = 0.0; + out_6801514816147998315[24] = 0.0; + out_6801514816147998315[25] = 0.0; + out_6801514816147998315[26] = 0.0; + out_6801514816147998315[27] = 0.0; + out_6801514816147998315[28] = 0.0; + out_6801514816147998315[29] = 0.0; + out_6801514816147998315[30] = 0.0; + out_6801514816147998315[31] = 0.0; + out_6801514816147998315[32] = 0.0; + out_6801514816147998315[33] = 0.0; + out_6801514816147998315[34] = 0.0; + out_6801514816147998315[35] = 0.0; + out_6801514816147998315[36] = 0.0; + out_6801514816147998315[37] = 0.0; + out_6801514816147998315[38] = 1.0; + out_6801514816147998315[39] = 0.0; + out_6801514816147998315[40] = 0.0; + out_6801514816147998315[41] = 0.0; + out_6801514816147998315[42] = 0.0; + out_6801514816147998315[43] = 0.0; + out_6801514816147998315[44] = 0.0; + out_6801514816147998315[45] = 0.0; + out_6801514816147998315[46] = 0.0; + out_6801514816147998315[47] = 0.0; + out_6801514816147998315[48] = 0.0; + out_6801514816147998315[49] = 0.0; + out_6801514816147998315[50] = 0.0; + out_6801514816147998315[51] = 0.0; + out_6801514816147998315[52] = 0.0; + out_6801514816147998315[53] = 0.0; + out_6801514816147998315[54] = 0.0; + out_6801514816147998315[55] = 0.0; + out_6801514816147998315[56] = 0.0; + out_6801514816147998315[57] = 1.0; + out_6801514816147998315[58] = 0.0; + out_6801514816147998315[59] = 0.0; + out_6801514816147998315[60] = 0.0; + out_6801514816147998315[61] = 0.0; + out_6801514816147998315[62] = 0.0; + out_6801514816147998315[63] = 0.0; + out_6801514816147998315[64] = 0.0; + out_6801514816147998315[65] = 0.0; + out_6801514816147998315[66] = 0.0; + out_6801514816147998315[67] = 0.0; + out_6801514816147998315[68] = 0.0; + out_6801514816147998315[69] = 0.0; + out_6801514816147998315[70] = 0.0; + out_6801514816147998315[71] = 0.0; + out_6801514816147998315[72] = 0.0; + out_6801514816147998315[73] = 0.0; + out_6801514816147998315[74] = 0.0; + out_6801514816147998315[75] = 0.0; + out_6801514816147998315[76] = 1.0; + out_6801514816147998315[77] = 0.0; + out_6801514816147998315[78] = 0.0; + out_6801514816147998315[79] = 0.0; + out_6801514816147998315[80] = 0.0; + out_6801514816147998315[81] = 0.0; + out_6801514816147998315[82] = 0.0; + out_6801514816147998315[83] = 0.0; + out_6801514816147998315[84] = 0.0; + out_6801514816147998315[85] = 0.0; + out_6801514816147998315[86] = 0.0; + out_6801514816147998315[87] = 0.0; + out_6801514816147998315[88] = 0.0; + out_6801514816147998315[89] = 0.0; + out_6801514816147998315[90] = 0.0; + out_6801514816147998315[91] = 0.0; + out_6801514816147998315[92] = 0.0; + out_6801514816147998315[93] = 0.0; + out_6801514816147998315[94] = 0.0; + out_6801514816147998315[95] = 1.0; + out_6801514816147998315[96] = 0.0; + out_6801514816147998315[97] = 0.0; + out_6801514816147998315[98] = 0.0; + out_6801514816147998315[99] = 0.0; + out_6801514816147998315[100] = 0.0; + out_6801514816147998315[101] = 0.0; + out_6801514816147998315[102] = 0.0; + out_6801514816147998315[103] = 0.0; + out_6801514816147998315[104] = 0.0; + out_6801514816147998315[105] = 0.0; + out_6801514816147998315[106] = 0.0; + out_6801514816147998315[107] = 0.0; + out_6801514816147998315[108] = 0.0; + out_6801514816147998315[109] = 0.0; + out_6801514816147998315[110] = 0.0; + out_6801514816147998315[111] = 0.0; + out_6801514816147998315[112] = 0.0; + out_6801514816147998315[113] = 0.0; + out_6801514816147998315[114] = 1.0; + out_6801514816147998315[115] = 0.0; + out_6801514816147998315[116] = 0.0; + out_6801514816147998315[117] = 0.0; + out_6801514816147998315[118] = 0.0; + out_6801514816147998315[119] = 0.0; + out_6801514816147998315[120] = 0.0; + out_6801514816147998315[121] = 0.0; + out_6801514816147998315[122] = 0.0; + out_6801514816147998315[123] = 0.0; + out_6801514816147998315[124] = 0.0; + out_6801514816147998315[125] = 0.0; + out_6801514816147998315[126] = 0.0; + out_6801514816147998315[127] = 0.0; + out_6801514816147998315[128] = 0.0; + out_6801514816147998315[129] = 0.0; + out_6801514816147998315[130] = 0.0; + out_6801514816147998315[131] = 0.0; + out_6801514816147998315[132] = 0.0; + out_6801514816147998315[133] = 1.0; + out_6801514816147998315[134] = 0.0; + out_6801514816147998315[135] = 0.0; + out_6801514816147998315[136] = 0.0; + out_6801514816147998315[137] = 0.0; + out_6801514816147998315[138] = 0.0; + out_6801514816147998315[139] = 0.0; + out_6801514816147998315[140] = 0.0; + out_6801514816147998315[141] = 0.0; + out_6801514816147998315[142] = 0.0; + out_6801514816147998315[143] = 0.0; + out_6801514816147998315[144] = 0.0; + out_6801514816147998315[145] = 0.0; + out_6801514816147998315[146] = 0.0; + out_6801514816147998315[147] = 0.0; + out_6801514816147998315[148] = 0.0; + out_6801514816147998315[149] = 0.0; + out_6801514816147998315[150] = 0.0; + out_6801514816147998315[151] = 0.0; + out_6801514816147998315[152] = 1.0; + out_6801514816147998315[153] = 0.0; + out_6801514816147998315[154] = 0.0; + out_6801514816147998315[155] = 0.0; + out_6801514816147998315[156] = 0.0; + out_6801514816147998315[157] = 0.0; + out_6801514816147998315[158] = 0.0; + out_6801514816147998315[159] = 0.0; + out_6801514816147998315[160] = 0.0; + out_6801514816147998315[161] = 0.0; + out_6801514816147998315[162] = 0.0; + out_6801514816147998315[163] = 0.0; + out_6801514816147998315[164] = 0.0; + out_6801514816147998315[165] = 0.0; + out_6801514816147998315[166] = 0.0; + out_6801514816147998315[167] = 0.0; + out_6801514816147998315[168] = 0.0; + out_6801514816147998315[169] = 0.0; + out_6801514816147998315[170] = 0.0; + out_6801514816147998315[171] = 1.0; + out_6801514816147998315[172] = 0.0; + out_6801514816147998315[173] = 0.0; + out_6801514816147998315[174] = 0.0; + out_6801514816147998315[175] = 0.0; + out_6801514816147998315[176] = 0.0; + out_6801514816147998315[177] = 0.0; + out_6801514816147998315[178] = 0.0; + out_6801514816147998315[179] = 0.0; + out_6801514816147998315[180] = 0.0; + out_6801514816147998315[181] = 0.0; + out_6801514816147998315[182] = 0.0; + out_6801514816147998315[183] = 0.0; + out_6801514816147998315[184] = 0.0; + out_6801514816147998315[185] = 0.0; + out_6801514816147998315[186] = 0.0; + out_6801514816147998315[187] = 0.0; + out_6801514816147998315[188] = 0.0; + out_6801514816147998315[189] = 0.0; + out_6801514816147998315[190] = 1.0; + out_6801514816147998315[191] = 0.0; + out_6801514816147998315[192] = 0.0; + out_6801514816147998315[193] = 0.0; + out_6801514816147998315[194] = 0.0; + out_6801514816147998315[195] = 0.0; + out_6801514816147998315[196] = 0.0; + out_6801514816147998315[197] = 0.0; + out_6801514816147998315[198] = 0.0; + out_6801514816147998315[199] = 0.0; + out_6801514816147998315[200] = 0.0; + out_6801514816147998315[201] = 0.0; + out_6801514816147998315[202] = 0.0; + out_6801514816147998315[203] = 0.0; + out_6801514816147998315[204] = 0.0; + out_6801514816147998315[205] = 0.0; + out_6801514816147998315[206] = 0.0; + out_6801514816147998315[207] = 0.0; + out_6801514816147998315[208] = 0.0; + out_6801514816147998315[209] = 1.0; + out_6801514816147998315[210] = 0.0; + out_6801514816147998315[211] = 0.0; + out_6801514816147998315[212] = 0.0; + out_6801514816147998315[213] = 0.0; + out_6801514816147998315[214] = 0.0; + out_6801514816147998315[215] = 0.0; + out_6801514816147998315[216] = 0.0; + out_6801514816147998315[217] = 0.0; + out_6801514816147998315[218] = 0.0; + out_6801514816147998315[219] = 0.0; + out_6801514816147998315[220] = 0.0; + out_6801514816147998315[221] = 0.0; + out_6801514816147998315[222] = 0.0; + out_6801514816147998315[223] = 0.0; + out_6801514816147998315[224] = 0.0; + out_6801514816147998315[225] = 0.0; + out_6801514816147998315[226] = 0.0; + out_6801514816147998315[227] = 0.0; + out_6801514816147998315[228] = 1.0; + out_6801514816147998315[229] = 0.0; + out_6801514816147998315[230] = 0.0; + out_6801514816147998315[231] = 0.0; + out_6801514816147998315[232] = 0.0; + out_6801514816147998315[233] = 0.0; + out_6801514816147998315[234] = 0.0; + out_6801514816147998315[235] = 0.0; + out_6801514816147998315[236] = 0.0; + out_6801514816147998315[237] = 0.0; + out_6801514816147998315[238] = 0.0; + out_6801514816147998315[239] = 0.0; + out_6801514816147998315[240] = 0.0; + out_6801514816147998315[241] = 0.0; + out_6801514816147998315[242] = 0.0; + out_6801514816147998315[243] = 0.0; + out_6801514816147998315[244] = 0.0; + out_6801514816147998315[245] = 0.0; + out_6801514816147998315[246] = 0.0; + out_6801514816147998315[247] = 1.0; + out_6801514816147998315[248] = 0.0; + out_6801514816147998315[249] = 0.0; + out_6801514816147998315[250] = 0.0; + out_6801514816147998315[251] = 0.0; + out_6801514816147998315[252] = 0.0; + out_6801514816147998315[253] = 0.0; + out_6801514816147998315[254] = 0.0; + out_6801514816147998315[255] = 0.0; + out_6801514816147998315[256] = 0.0; + out_6801514816147998315[257] = 0.0; + out_6801514816147998315[258] = 0.0; + out_6801514816147998315[259] = 0.0; + out_6801514816147998315[260] = 0.0; + out_6801514816147998315[261] = 0.0; + out_6801514816147998315[262] = 0.0; + out_6801514816147998315[263] = 0.0; + out_6801514816147998315[264] = 0.0; + out_6801514816147998315[265] = 0.0; + out_6801514816147998315[266] = 1.0; + out_6801514816147998315[267] = 0.0; + out_6801514816147998315[268] = 0.0; + out_6801514816147998315[269] = 0.0; + out_6801514816147998315[270] = 0.0; + out_6801514816147998315[271] = 0.0; + out_6801514816147998315[272] = 0.0; + out_6801514816147998315[273] = 0.0; + out_6801514816147998315[274] = 0.0; + out_6801514816147998315[275] = 0.0; + out_6801514816147998315[276] = 0.0; + out_6801514816147998315[277] = 0.0; + out_6801514816147998315[278] = 0.0; + out_6801514816147998315[279] = 0.0; + out_6801514816147998315[280] = 0.0; + out_6801514816147998315[281] = 0.0; + out_6801514816147998315[282] = 0.0; + out_6801514816147998315[283] = 0.0; + out_6801514816147998315[284] = 0.0; + out_6801514816147998315[285] = 1.0; + out_6801514816147998315[286] = 0.0; + out_6801514816147998315[287] = 0.0; + out_6801514816147998315[288] = 0.0; + out_6801514816147998315[289] = 0.0; + out_6801514816147998315[290] = 0.0; + out_6801514816147998315[291] = 0.0; + out_6801514816147998315[292] = 0.0; + out_6801514816147998315[293] = 0.0; + out_6801514816147998315[294] = 0.0; + out_6801514816147998315[295] = 0.0; + out_6801514816147998315[296] = 0.0; + out_6801514816147998315[297] = 0.0; + out_6801514816147998315[298] = 0.0; + out_6801514816147998315[299] = 0.0; + out_6801514816147998315[300] = 0.0; + out_6801514816147998315[301] = 0.0; + out_6801514816147998315[302] = 0.0; + out_6801514816147998315[303] = 0.0; + out_6801514816147998315[304] = 1.0; + out_6801514816147998315[305] = 0.0; + out_6801514816147998315[306] = 0.0; + out_6801514816147998315[307] = 0.0; + out_6801514816147998315[308] = 0.0; + out_6801514816147998315[309] = 0.0; + out_6801514816147998315[310] = 0.0; + out_6801514816147998315[311] = 0.0; + out_6801514816147998315[312] = 0.0; + out_6801514816147998315[313] = 0.0; + out_6801514816147998315[314] = 0.0; + out_6801514816147998315[315] = 0.0; + out_6801514816147998315[316] = 0.0; + out_6801514816147998315[317] = 0.0; + out_6801514816147998315[318] = 0.0; + out_6801514816147998315[319] = 0.0; + out_6801514816147998315[320] = 0.0; + out_6801514816147998315[321] = 0.0; + out_6801514816147998315[322] = 0.0; + out_6801514816147998315[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5515990809264108996) { - out_5515990809264108996[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_5515990809264108996[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_5515990809264108996[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_5515990809264108996[3] = dt*state[12] + state[3]; - out_5515990809264108996[4] = dt*state[13] + state[4]; - out_5515990809264108996[5] = dt*state[14] + state[5]; - out_5515990809264108996[6] = state[6]; - out_5515990809264108996[7] = state[7]; - out_5515990809264108996[8] = state[8]; - out_5515990809264108996[9] = state[9]; - out_5515990809264108996[10] = state[10]; - out_5515990809264108996[11] = state[11]; - out_5515990809264108996[12] = state[12]; - out_5515990809264108996[13] = state[13]; - out_5515990809264108996[14] = state[14]; - out_5515990809264108996[15] = state[15]; - out_5515990809264108996[16] = state[16]; - out_5515990809264108996[17] = state[17]; +void f_fun(double *state, double dt, double *out_9011020625270980343) { + out_9011020625270980343[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_9011020625270980343[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_9011020625270980343[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_9011020625270980343[3] = dt*state[12] + state[3]; + out_9011020625270980343[4] = dt*state[13] + state[4]; + out_9011020625270980343[5] = dt*state[14] + state[5]; + out_9011020625270980343[6] = state[6]; + out_9011020625270980343[7] = state[7]; + out_9011020625270980343[8] = state[8]; + out_9011020625270980343[9] = state[9]; + out_9011020625270980343[10] = state[10]; + out_9011020625270980343[11] = state[11]; + out_9011020625270980343[12] = state[12]; + out_9011020625270980343[13] = state[13]; + out_9011020625270980343[14] = state[14]; + out_9011020625270980343[15] = state[15]; + out_9011020625270980343[16] = state[16]; + out_9011020625270980343[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1412435369220653896) { - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[2] = 0; - out_1412435369220653896[3] = 0; - out_1412435369220653896[4] = 0; - out_1412435369220653896[5] = 0; - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[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_1412435369220653896[9] = 0; - out_1412435369220653896[10] = 0; - out_1412435369220653896[11] = 0; - out_1412435369220653896[12] = 0; - out_1412435369220653896[13] = 0; - out_1412435369220653896[14] = 0; - out_1412435369220653896[15] = 0; - out_1412435369220653896[16] = 0; - out_1412435369220653896[17] = 0; - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[20] = 0; - out_1412435369220653896[21] = 0; - out_1412435369220653896[22] = 0; - out_1412435369220653896[23] = 0; - out_1412435369220653896[24] = 0; - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[27] = 0; - out_1412435369220653896[28] = 0; - out_1412435369220653896[29] = 0; - out_1412435369220653896[30] = 0; - out_1412435369220653896[31] = 0; - out_1412435369220653896[32] = 0; - out_1412435369220653896[33] = 0; - out_1412435369220653896[34] = 0; - out_1412435369220653896[35] = 0; - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[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_1412435369220653896[39] = 0; - out_1412435369220653896[40] = 0; - out_1412435369220653896[41] = 0; - out_1412435369220653896[42] = 0; - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[45] = 0; - out_1412435369220653896[46] = 0; - out_1412435369220653896[47] = 0; - out_1412435369220653896[48] = 0; - out_1412435369220653896[49] = 0; - out_1412435369220653896[50] = 0; - out_1412435369220653896[51] = 0; - out_1412435369220653896[52] = 0; - out_1412435369220653896[53] = 0; - out_1412435369220653896[54] = 0; - out_1412435369220653896[55] = 0; - out_1412435369220653896[56] = 0; - out_1412435369220653896[57] = 1; - out_1412435369220653896[58] = 0; - out_1412435369220653896[59] = 0; - out_1412435369220653896[60] = 0; - out_1412435369220653896[61] = 0; - out_1412435369220653896[62] = 0; - out_1412435369220653896[63] = 0; - out_1412435369220653896[64] = 0; - out_1412435369220653896[65] = 0; - out_1412435369220653896[66] = dt; - out_1412435369220653896[67] = 0; - out_1412435369220653896[68] = 0; - out_1412435369220653896[69] = 0; - out_1412435369220653896[70] = 0; - out_1412435369220653896[71] = 0; - out_1412435369220653896[72] = 0; - out_1412435369220653896[73] = 0; - out_1412435369220653896[74] = 0; - out_1412435369220653896[75] = 0; - out_1412435369220653896[76] = 1; - out_1412435369220653896[77] = 0; - out_1412435369220653896[78] = 0; - out_1412435369220653896[79] = 0; - out_1412435369220653896[80] = 0; - out_1412435369220653896[81] = 0; - out_1412435369220653896[82] = 0; - out_1412435369220653896[83] = 0; - out_1412435369220653896[84] = 0; - out_1412435369220653896[85] = dt; - out_1412435369220653896[86] = 0; - out_1412435369220653896[87] = 0; - out_1412435369220653896[88] = 0; - out_1412435369220653896[89] = 0; - out_1412435369220653896[90] = 0; - out_1412435369220653896[91] = 0; - out_1412435369220653896[92] = 0; - out_1412435369220653896[93] = 0; - out_1412435369220653896[94] = 0; - out_1412435369220653896[95] = 1; - out_1412435369220653896[96] = 0; - out_1412435369220653896[97] = 0; - out_1412435369220653896[98] = 0; - out_1412435369220653896[99] = 0; - out_1412435369220653896[100] = 0; - out_1412435369220653896[101] = 0; - out_1412435369220653896[102] = 0; - out_1412435369220653896[103] = 0; - out_1412435369220653896[104] = dt; - out_1412435369220653896[105] = 0; - out_1412435369220653896[106] = 0; - out_1412435369220653896[107] = 0; - out_1412435369220653896[108] = 0; - out_1412435369220653896[109] = 0; - out_1412435369220653896[110] = 0; - out_1412435369220653896[111] = 0; - out_1412435369220653896[112] = 0; - out_1412435369220653896[113] = 0; - out_1412435369220653896[114] = 1; - out_1412435369220653896[115] = 0; - out_1412435369220653896[116] = 0; - out_1412435369220653896[117] = 0; - out_1412435369220653896[118] = 0; - out_1412435369220653896[119] = 0; - out_1412435369220653896[120] = 0; - out_1412435369220653896[121] = 0; - out_1412435369220653896[122] = 0; - out_1412435369220653896[123] = 0; - out_1412435369220653896[124] = 0; - out_1412435369220653896[125] = 0; - out_1412435369220653896[126] = 0; - out_1412435369220653896[127] = 0; - out_1412435369220653896[128] = 0; - out_1412435369220653896[129] = 0; - out_1412435369220653896[130] = 0; - out_1412435369220653896[131] = 0; - out_1412435369220653896[132] = 0; - out_1412435369220653896[133] = 1; - out_1412435369220653896[134] = 0; - out_1412435369220653896[135] = 0; - out_1412435369220653896[136] = 0; - out_1412435369220653896[137] = 0; - out_1412435369220653896[138] = 0; - out_1412435369220653896[139] = 0; - out_1412435369220653896[140] = 0; - out_1412435369220653896[141] = 0; - out_1412435369220653896[142] = 0; - out_1412435369220653896[143] = 0; - out_1412435369220653896[144] = 0; - out_1412435369220653896[145] = 0; - out_1412435369220653896[146] = 0; - out_1412435369220653896[147] = 0; - out_1412435369220653896[148] = 0; - out_1412435369220653896[149] = 0; - out_1412435369220653896[150] = 0; - out_1412435369220653896[151] = 0; - out_1412435369220653896[152] = 1; - out_1412435369220653896[153] = 0; - out_1412435369220653896[154] = 0; - out_1412435369220653896[155] = 0; - out_1412435369220653896[156] = 0; - out_1412435369220653896[157] = 0; - out_1412435369220653896[158] = 0; - out_1412435369220653896[159] = 0; - out_1412435369220653896[160] = 0; - out_1412435369220653896[161] = 0; - out_1412435369220653896[162] = 0; - out_1412435369220653896[163] = 0; - out_1412435369220653896[164] = 0; - out_1412435369220653896[165] = 0; - out_1412435369220653896[166] = 0; - out_1412435369220653896[167] = 0; - out_1412435369220653896[168] = 0; - out_1412435369220653896[169] = 0; - out_1412435369220653896[170] = 0; - out_1412435369220653896[171] = 1; - out_1412435369220653896[172] = 0; - out_1412435369220653896[173] = 0; - out_1412435369220653896[174] = 0; - out_1412435369220653896[175] = 0; - out_1412435369220653896[176] = 0; - out_1412435369220653896[177] = 0; - out_1412435369220653896[178] = 0; - out_1412435369220653896[179] = 0; - out_1412435369220653896[180] = 0; - out_1412435369220653896[181] = 0; - out_1412435369220653896[182] = 0; - out_1412435369220653896[183] = 0; - out_1412435369220653896[184] = 0; - out_1412435369220653896[185] = 0; - out_1412435369220653896[186] = 0; - out_1412435369220653896[187] = 0; - out_1412435369220653896[188] = 0; - out_1412435369220653896[189] = 0; - out_1412435369220653896[190] = 1; - out_1412435369220653896[191] = 0; - out_1412435369220653896[192] = 0; - out_1412435369220653896[193] = 0; - out_1412435369220653896[194] = 0; - out_1412435369220653896[195] = 0; - out_1412435369220653896[196] = 0; - out_1412435369220653896[197] = 0; - out_1412435369220653896[198] = 0; - out_1412435369220653896[199] = 0; - out_1412435369220653896[200] = 0; - out_1412435369220653896[201] = 0; - out_1412435369220653896[202] = 0; - out_1412435369220653896[203] = 0; - out_1412435369220653896[204] = 0; - out_1412435369220653896[205] = 0; - out_1412435369220653896[206] = 0; - out_1412435369220653896[207] = 0; - out_1412435369220653896[208] = 0; - out_1412435369220653896[209] = 1; - out_1412435369220653896[210] = 0; - out_1412435369220653896[211] = 0; - out_1412435369220653896[212] = 0; - out_1412435369220653896[213] = 0; - out_1412435369220653896[214] = 0; - out_1412435369220653896[215] = 0; - out_1412435369220653896[216] = 0; - out_1412435369220653896[217] = 0; - out_1412435369220653896[218] = 0; - out_1412435369220653896[219] = 0; - out_1412435369220653896[220] = 0; - out_1412435369220653896[221] = 0; - out_1412435369220653896[222] = 0; - out_1412435369220653896[223] = 0; - out_1412435369220653896[224] = 0; - out_1412435369220653896[225] = 0; - out_1412435369220653896[226] = 0; - out_1412435369220653896[227] = 0; - out_1412435369220653896[228] = 1; - out_1412435369220653896[229] = 0; - out_1412435369220653896[230] = 0; - out_1412435369220653896[231] = 0; - out_1412435369220653896[232] = 0; - out_1412435369220653896[233] = 0; - out_1412435369220653896[234] = 0; - out_1412435369220653896[235] = 0; - out_1412435369220653896[236] = 0; - out_1412435369220653896[237] = 0; - out_1412435369220653896[238] = 0; - out_1412435369220653896[239] = 0; - out_1412435369220653896[240] = 0; - out_1412435369220653896[241] = 0; - out_1412435369220653896[242] = 0; - out_1412435369220653896[243] = 0; - out_1412435369220653896[244] = 0; - out_1412435369220653896[245] = 0; - out_1412435369220653896[246] = 0; - out_1412435369220653896[247] = 1; - out_1412435369220653896[248] = 0; - out_1412435369220653896[249] = 0; - out_1412435369220653896[250] = 0; - out_1412435369220653896[251] = 0; - out_1412435369220653896[252] = 0; - out_1412435369220653896[253] = 0; - out_1412435369220653896[254] = 0; - out_1412435369220653896[255] = 0; - out_1412435369220653896[256] = 0; - out_1412435369220653896[257] = 0; - out_1412435369220653896[258] = 0; - out_1412435369220653896[259] = 0; - out_1412435369220653896[260] = 0; - out_1412435369220653896[261] = 0; - out_1412435369220653896[262] = 0; - out_1412435369220653896[263] = 0; - out_1412435369220653896[264] = 0; - out_1412435369220653896[265] = 0; - out_1412435369220653896[266] = 1; - out_1412435369220653896[267] = 0; - out_1412435369220653896[268] = 0; - out_1412435369220653896[269] = 0; - out_1412435369220653896[270] = 0; - out_1412435369220653896[271] = 0; - out_1412435369220653896[272] = 0; - out_1412435369220653896[273] = 0; - out_1412435369220653896[274] = 0; - out_1412435369220653896[275] = 0; - out_1412435369220653896[276] = 0; - out_1412435369220653896[277] = 0; - out_1412435369220653896[278] = 0; - out_1412435369220653896[279] = 0; - out_1412435369220653896[280] = 0; - out_1412435369220653896[281] = 0; - out_1412435369220653896[282] = 0; - out_1412435369220653896[283] = 0; - out_1412435369220653896[284] = 0; - out_1412435369220653896[285] = 1; - out_1412435369220653896[286] = 0; - out_1412435369220653896[287] = 0; - out_1412435369220653896[288] = 0; - out_1412435369220653896[289] = 0; - out_1412435369220653896[290] = 0; - out_1412435369220653896[291] = 0; - out_1412435369220653896[292] = 0; - out_1412435369220653896[293] = 0; - out_1412435369220653896[294] = 0; - out_1412435369220653896[295] = 0; - out_1412435369220653896[296] = 0; - out_1412435369220653896[297] = 0; - out_1412435369220653896[298] = 0; - out_1412435369220653896[299] = 0; - out_1412435369220653896[300] = 0; - out_1412435369220653896[301] = 0; - out_1412435369220653896[302] = 0; - out_1412435369220653896[303] = 0; - out_1412435369220653896[304] = 1; - out_1412435369220653896[305] = 0; - out_1412435369220653896[306] = 0; - out_1412435369220653896[307] = 0; - out_1412435369220653896[308] = 0; - out_1412435369220653896[309] = 0; - out_1412435369220653896[310] = 0; - out_1412435369220653896[311] = 0; - out_1412435369220653896[312] = 0; - out_1412435369220653896[313] = 0; - out_1412435369220653896[314] = 0; - out_1412435369220653896[315] = 0; - out_1412435369220653896[316] = 0; - out_1412435369220653896[317] = 0; - out_1412435369220653896[318] = 0; - out_1412435369220653896[319] = 0; - out_1412435369220653896[320] = 0; - out_1412435369220653896[321] = 0; - out_1412435369220653896[322] = 0; - out_1412435369220653896[323] = 1; +void F_fun(double *state, double dt, double *out_5745440695796585215) { + out_5745440695796585215[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_5745440695796585215[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_5745440695796585215[2] = 0; + out_5745440695796585215[3] = 0; + out_5745440695796585215[4] = 0; + out_5745440695796585215[5] = 0; + out_5745440695796585215[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_5745440695796585215[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_5745440695796585215[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_5745440695796585215[9] = 0; + out_5745440695796585215[10] = 0; + out_5745440695796585215[11] = 0; + out_5745440695796585215[12] = 0; + out_5745440695796585215[13] = 0; + out_5745440695796585215[14] = 0; + out_5745440695796585215[15] = 0; + out_5745440695796585215[16] = 0; + out_5745440695796585215[17] = 0; + out_5745440695796585215[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_5745440695796585215[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_5745440695796585215[20] = 0; + out_5745440695796585215[21] = 0; + out_5745440695796585215[22] = 0; + out_5745440695796585215[23] = 0; + out_5745440695796585215[24] = 0; + out_5745440695796585215[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_5745440695796585215[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_5745440695796585215[27] = 0; + out_5745440695796585215[28] = 0; + out_5745440695796585215[29] = 0; + out_5745440695796585215[30] = 0; + out_5745440695796585215[31] = 0; + out_5745440695796585215[32] = 0; + out_5745440695796585215[33] = 0; + out_5745440695796585215[34] = 0; + out_5745440695796585215[35] = 0; + out_5745440695796585215[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_5745440695796585215[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_5745440695796585215[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_5745440695796585215[39] = 0; + out_5745440695796585215[40] = 0; + out_5745440695796585215[41] = 0; + out_5745440695796585215[42] = 0; + out_5745440695796585215[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_5745440695796585215[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_5745440695796585215[45] = 0; + out_5745440695796585215[46] = 0; + out_5745440695796585215[47] = 0; + out_5745440695796585215[48] = 0; + out_5745440695796585215[49] = 0; + out_5745440695796585215[50] = 0; + out_5745440695796585215[51] = 0; + out_5745440695796585215[52] = 0; + out_5745440695796585215[53] = 0; + out_5745440695796585215[54] = 0; + out_5745440695796585215[55] = 0; + out_5745440695796585215[56] = 0; + out_5745440695796585215[57] = 1; + out_5745440695796585215[58] = 0; + out_5745440695796585215[59] = 0; + out_5745440695796585215[60] = 0; + out_5745440695796585215[61] = 0; + out_5745440695796585215[62] = 0; + out_5745440695796585215[63] = 0; + out_5745440695796585215[64] = 0; + out_5745440695796585215[65] = 0; + out_5745440695796585215[66] = dt; + out_5745440695796585215[67] = 0; + out_5745440695796585215[68] = 0; + out_5745440695796585215[69] = 0; + out_5745440695796585215[70] = 0; + out_5745440695796585215[71] = 0; + out_5745440695796585215[72] = 0; + out_5745440695796585215[73] = 0; + out_5745440695796585215[74] = 0; + out_5745440695796585215[75] = 0; + out_5745440695796585215[76] = 1; + out_5745440695796585215[77] = 0; + out_5745440695796585215[78] = 0; + out_5745440695796585215[79] = 0; + out_5745440695796585215[80] = 0; + out_5745440695796585215[81] = 0; + out_5745440695796585215[82] = 0; + out_5745440695796585215[83] = 0; + out_5745440695796585215[84] = 0; + out_5745440695796585215[85] = dt; + out_5745440695796585215[86] = 0; + out_5745440695796585215[87] = 0; + out_5745440695796585215[88] = 0; + out_5745440695796585215[89] = 0; + out_5745440695796585215[90] = 0; + out_5745440695796585215[91] = 0; + out_5745440695796585215[92] = 0; + out_5745440695796585215[93] = 0; + out_5745440695796585215[94] = 0; + out_5745440695796585215[95] = 1; + out_5745440695796585215[96] = 0; + out_5745440695796585215[97] = 0; + out_5745440695796585215[98] = 0; + out_5745440695796585215[99] = 0; + out_5745440695796585215[100] = 0; + out_5745440695796585215[101] = 0; + out_5745440695796585215[102] = 0; + out_5745440695796585215[103] = 0; + out_5745440695796585215[104] = dt; + out_5745440695796585215[105] = 0; + out_5745440695796585215[106] = 0; + out_5745440695796585215[107] = 0; + out_5745440695796585215[108] = 0; + out_5745440695796585215[109] = 0; + out_5745440695796585215[110] = 0; + out_5745440695796585215[111] = 0; + out_5745440695796585215[112] = 0; + out_5745440695796585215[113] = 0; + out_5745440695796585215[114] = 1; + out_5745440695796585215[115] = 0; + out_5745440695796585215[116] = 0; + out_5745440695796585215[117] = 0; + out_5745440695796585215[118] = 0; + out_5745440695796585215[119] = 0; + out_5745440695796585215[120] = 0; + out_5745440695796585215[121] = 0; + out_5745440695796585215[122] = 0; + out_5745440695796585215[123] = 0; + out_5745440695796585215[124] = 0; + out_5745440695796585215[125] = 0; + out_5745440695796585215[126] = 0; + out_5745440695796585215[127] = 0; + out_5745440695796585215[128] = 0; + out_5745440695796585215[129] = 0; + out_5745440695796585215[130] = 0; + out_5745440695796585215[131] = 0; + out_5745440695796585215[132] = 0; + out_5745440695796585215[133] = 1; + out_5745440695796585215[134] = 0; + out_5745440695796585215[135] = 0; + out_5745440695796585215[136] = 0; + out_5745440695796585215[137] = 0; + out_5745440695796585215[138] = 0; + out_5745440695796585215[139] = 0; + out_5745440695796585215[140] = 0; + out_5745440695796585215[141] = 0; + out_5745440695796585215[142] = 0; + out_5745440695796585215[143] = 0; + out_5745440695796585215[144] = 0; + out_5745440695796585215[145] = 0; + out_5745440695796585215[146] = 0; + out_5745440695796585215[147] = 0; + out_5745440695796585215[148] = 0; + out_5745440695796585215[149] = 0; + out_5745440695796585215[150] = 0; + out_5745440695796585215[151] = 0; + out_5745440695796585215[152] = 1; + out_5745440695796585215[153] = 0; + out_5745440695796585215[154] = 0; + out_5745440695796585215[155] = 0; + out_5745440695796585215[156] = 0; + out_5745440695796585215[157] = 0; + out_5745440695796585215[158] = 0; + out_5745440695796585215[159] = 0; + out_5745440695796585215[160] = 0; + out_5745440695796585215[161] = 0; + out_5745440695796585215[162] = 0; + out_5745440695796585215[163] = 0; + out_5745440695796585215[164] = 0; + out_5745440695796585215[165] = 0; + out_5745440695796585215[166] = 0; + out_5745440695796585215[167] = 0; + out_5745440695796585215[168] = 0; + out_5745440695796585215[169] = 0; + out_5745440695796585215[170] = 0; + out_5745440695796585215[171] = 1; + out_5745440695796585215[172] = 0; + out_5745440695796585215[173] = 0; + out_5745440695796585215[174] = 0; + out_5745440695796585215[175] = 0; + out_5745440695796585215[176] = 0; + out_5745440695796585215[177] = 0; + out_5745440695796585215[178] = 0; + out_5745440695796585215[179] = 0; + out_5745440695796585215[180] = 0; + out_5745440695796585215[181] = 0; + out_5745440695796585215[182] = 0; + out_5745440695796585215[183] = 0; + out_5745440695796585215[184] = 0; + out_5745440695796585215[185] = 0; + out_5745440695796585215[186] = 0; + out_5745440695796585215[187] = 0; + out_5745440695796585215[188] = 0; + out_5745440695796585215[189] = 0; + out_5745440695796585215[190] = 1; + out_5745440695796585215[191] = 0; + out_5745440695796585215[192] = 0; + out_5745440695796585215[193] = 0; + out_5745440695796585215[194] = 0; + out_5745440695796585215[195] = 0; + out_5745440695796585215[196] = 0; + out_5745440695796585215[197] = 0; + out_5745440695796585215[198] = 0; + out_5745440695796585215[199] = 0; + out_5745440695796585215[200] = 0; + out_5745440695796585215[201] = 0; + out_5745440695796585215[202] = 0; + out_5745440695796585215[203] = 0; + out_5745440695796585215[204] = 0; + out_5745440695796585215[205] = 0; + out_5745440695796585215[206] = 0; + out_5745440695796585215[207] = 0; + out_5745440695796585215[208] = 0; + out_5745440695796585215[209] = 1; + out_5745440695796585215[210] = 0; + out_5745440695796585215[211] = 0; + out_5745440695796585215[212] = 0; + out_5745440695796585215[213] = 0; + out_5745440695796585215[214] = 0; + out_5745440695796585215[215] = 0; + out_5745440695796585215[216] = 0; + out_5745440695796585215[217] = 0; + out_5745440695796585215[218] = 0; + out_5745440695796585215[219] = 0; + out_5745440695796585215[220] = 0; + out_5745440695796585215[221] = 0; + out_5745440695796585215[222] = 0; + out_5745440695796585215[223] = 0; + out_5745440695796585215[224] = 0; + out_5745440695796585215[225] = 0; + out_5745440695796585215[226] = 0; + out_5745440695796585215[227] = 0; + out_5745440695796585215[228] = 1; + out_5745440695796585215[229] = 0; + out_5745440695796585215[230] = 0; + out_5745440695796585215[231] = 0; + out_5745440695796585215[232] = 0; + out_5745440695796585215[233] = 0; + out_5745440695796585215[234] = 0; + out_5745440695796585215[235] = 0; + out_5745440695796585215[236] = 0; + out_5745440695796585215[237] = 0; + out_5745440695796585215[238] = 0; + out_5745440695796585215[239] = 0; + out_5745440695796585215[240] = 0; + out_5745440695796585215[241] = 0; + out_5745440695796585215[242] = 0; + out_5745440695796585215[243] = 0; + out_5745440695796585215[244] = 0; + out_5745440695796585215[245] = 0; + out_5745440695796585215[246] = 0; + out_5745440695796585215[247] = 1; + out_5745440695796585215[248] = 0; + out_5745440695796585215[249] = 0; + out_5745440695796585215[250] = 0; + out_5745440695796585215[251] = 0; + out_5745440695796585215[252] = 0; + out_5745440695796585215[253] = 0; + out_5745440695796585215[254] = 0; + out_5745440695796585215[255] = 0; + out_5745440695796585215[256] = 0; + out_5745440695796585215[257] = 0; + out_5745440695796585215[258] = 0; + out_5745440695796585215[259] = 0; + out_5745440695796585215[260] = 0; + out_5745440695796585215[261] = 0; + out_5745440695796585215[262] = 0; + out_5745440695796585215[263] = 0; + out_5745440695796585215[264] = 0; + out_5745440695796585215[265] = 0; + out_5745440695796585215[266] = 1; + out_5745440695796585215[267] = 0; + out_5745440695796585215[268] = 0; + out_5745440695796585215[269] = 0; + out_5745440695796585215[270] = 0; + out_5745440695796585215[271] = 0; + out_5745440695796585215[272] = 0; + out_5745440695796585215[273] = 0; + out_5745440695796585215[274] = 0; + out_5745440695796585215[275] = 0; + out_5745440695796585215[276] = 0; + out_5745440695796585215[277] = 0; + out_5745440695796585215[278] = 0; + out_5745440695796585215[279] = 0; + out_5745440695796585215[280] = 0; + out_5745440695796585215[281] = 0; + out_5745440695796585215[282] = 0; + out_5745440695796585215[283] = 0; + out_5745440695796585215[284] = 0; + out_5745440695796585215[285] = 1; + out_5745440695796585215[286] = 0; + out_5745440695796585215[287] = 0; + out_5745440695796585215[288] = 0; + out_5745440695796585215[289] = 0; + out_5745440695796585215[290] = 0; + out_5745440695796585215[291] = 0; + out_5745440695796585215[292] = 0; + out_5745440695796585215[293] = 0; + out_5745440695796585215[294] = 0; + out_5745440695796585215[295] = 0; + out_5745440695796585215[296] = 0; + out_5745440695796585215[297] = 0; + out_5745440695796585215[298] = 0; + out_5745440695796585215[299] = 0; + out_5745440695796585215[300] = 0; + out_5745440695796585215[301] = 0; + out_5745440695796585215[302] = 0; + out_5745440695796585215[303] = 0; + out_5745440695796585215[304] = 1; + out_5745440695796585215[305] = 0; + out_5745440695796585215[306] = 0; + out_5745440695796585215[307] = 0; + out_5745440695796585215[308] = 0; + out_5745440695796585215[309] = 0; + out_5745440695796585215[310] = 0; + out_5745440695796585215[311] = 0; + out_5745440695796585215[312] = 0; + out_5745440695796585215[313] = 0; + out_5745440695796585215[314] = 0; + out_5745440695796585215[315] = 0; + out_5745440695796585215[316] = 0; + out_5745440695796585215[317] = 0; + out_5745440695796585215[318] = 0; + out_5745440695796585215[319] = 0; + out_5745440695796585215[320] = 0; + out_5745440695796585215[321] = 0; + out_5745440695796585215[322] = 0; + out_5745440695796585215[323] = 1; } -void h_4(double *state, double *unused, double *out_7211674724064901455) { - out_7211674724064901455[0] = state[6] + state[9]; - out_7211674724064901455[1] = state[7] + state[10]; - out_7211674724064901455[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3972431218962943054) { + out_3972431218962943054[0] = state[6] + state[9]; + out_3972431218962943054[1] = state[7] + state[10]; + out_3972431218962943054[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8220924299755286163) { - out_8220924299755286163[0] = 0; - out_8220924299755286163[1] = 0; - out_8220924299755286163[2] = 0; - out_8220924299755286163[3] = 0; - out_8220924299755286163[4] = 0; - out_8220924299755286163[5] = 0; - out_8220924299755286163[6] = 1; - out_8220924299755286163[7] = 0; - out_8220924299755286163[8] = 0; - out_8220924299755286163[9] = 1; - out_8220924299755286163[10] = 0; - out_8220924299755286163[11] = 0; - out_8220924299755286163[12] = 0; - out_8220924299755286163[13] = 0; - out_8220924299755286163[14] = 0; - out_8220924299755286163[15] = 0; - out_8220924299755286163[16] = 0; - out_8220924299755286163[17] = 0; - out_8220924299755286163[18] = 0; - out_8220924299755286163[19] = 0; - out_8220924299755286163[20] = 0; - out_8220924299755286163[21] = 0; - out_8220924299755286163[22] = 0; - out_8220924299755286163[23] = 0; - out_8220924299755286163[24] = 0; - out_8220924299755286163[25] = 1; - out_8220924299755286163[26] = 0; - out_8220924299755286163[27] = 0; - out_8220924299755286163[28] = 1; - out_8220924299755286163[29] = 0; - out_8220924299755286163[30] = 0; - out_8220924299755286163[31] = 0; - out_8220924299755286163[32] = 0; - out_8220924299755286163[33] = 0; - out_8220924299755286163[34] = 0; - out_8220924299755286163[35] = 0; - out_8220924299755286163[36] = 0; - out_8220924299755286163[37] = 0; - out_8220924299755286163[38] = 0; - out_8220924299755286163[39] = 0; - out_8220924299755286163[40] = 0; - out_8220924299755286163[41] = 0; - out_8220924299755286163[42] = 0; - out_8220924299755286163[43] = 0; - out_8220924299755286163[44] = 1; - out_8220924299755286163[45] = 0; - out_8220924299755286163[46] = 0; - out_8220924299755286163[47] = 1; - out_8220924299755286163[48] = 0; - out_8220924299755286163[49] = 0; - out_8220924299755286163[50] = 0; - out_8220924299755286163[51] = 0; - out_8220924299755286163[52] = 0; - out_8220924299755286163[53] = 0; +void H_4(double *state, double *unused, double *out_7873422047717645729) { + out_7873422047717645729[0] = 0; + out_7873422047717645729[1] = 0; + out_7873422047717645729[2] = 0; + out_7873422047717645729[3] = 0; + out_7873422047717645729[4] = 0; + out_7873422047717645729[5] = 0; + out_7873422047717645729[6] = 1; + out_7873422047717645729[7] = 0; + out_7873422047717645729[8] = 0; + out_7873422047717645729[9] = 1; + out_7873422047717645729[10] = 0; + out_7873422047717645729[11] = 0; + out_7873422047717645729[12] = 0; + out_7873422047717645729[13] = 0; + out_7873422047717645729[14] = 0; + out_7873422047717645729[15] = 0; + out_7873422047717645729[16] = 0; + out_7873422047717645729[17] = 0; + out_7873422047717645729[18] = 0; + out_7873422047717645729[19] = 0; + out_7873422047717645729[20] = 0; + out_7873422047717645729[21] = 0; + out_7873422047717645729[22] = 0; + out_7873422047717645729[23] = 0; + out_7873422047717645729[24] = 0; + out_7873422047717645729[25] = 1; + out_7873422047717645729[26] = 0; + out_7873422047717645729[27] = 0; + out_7873422047717645729[28] = 1; + out_7873422047717645729[29] = 0; + out_7873422047717645729[30] = 0; + out_7873422047717645729[31] = 0; + out_7873422047717645729[32] = 0; + out_7873422047717645729[33] = 0; + out_7873422047717645729[34] = 0; + out_7873422047717645729[35] = 0; + out_7873422047717645729[36] = 0; + out_7873422047717645729[37] = 0; + out_7873422047717645729[38] = 0; + out_7873422047717645729[39] = 0; + out_7873422047717645729[40] = 0; + out_7873422047717645729[41] = 0; + out_7873422047717645729[42] = 0; + out_7873422047717645729[43] = 0; + out_7873422047717645729[44] = 1; + out_7873422047717645729[45] = 0; + out_7873422047717645729[46] = 0; + out_7873422047717645729[47] = 1; + out_7873422047717645729[48] = 0; + out_7873422047717645729[49] = 0; + out_7873422047717645729[50] = 0; + out_7873422047717645729[51] = 0; + out_7873422047717645729[52] = 0; + out_7873422047717645729[53] = 0; } -void h_10(double *state, double *unused, double *out_7091555343827122853) { - out_7091555343827122853[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7091555343827122853[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7091555343827122853[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_4525655768187115008) { + out_4525655768187115008[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_4525655768187115008[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_4525655768187115008[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_3357399461201359920) { - out_3357399461201359920[0] = 0; - out_3357399461201359920[1] = 9.8100000000000005*cos(state[1]); - out_3357399461201359920[2] = 0; - out_3357399461201359920[3] = 0; - out_3357399461201359920[4] = -state[8]; - out_3357399461201359920[5] = state[7]; - out_3357399461201359920[6] = 0; - out_3357399461201359920[7] = state[5]; - out_3357399461201359920[8] = -state[4]; - out_3357399461201359920[9] = 0; - out_3357399461201359920[10] = 0; - out_3357399461201359920[11] = 0; - out_3357399461201359920[12] = 1; - out_3357399461201359920[13] = 0; - out_3357399461201359920[14] = 0; - out_3357399461201359920[15] = 1; - out_3357399461201359920[16] = 0; - out_3357399461201359920[17] = 0; - out_3357399461201359920[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3357399461201359920[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3357399461201359920[20] = 0; - out_3357399461201359920[21] = state[8]; - out_3357399461201359920[22] = 0; - out_3357399461201359920[23] = -state[6]; - out_3357399461201359920[24] = -state[5]; - out_3357399461201359920[25] = 0; - out_3357399461201359920[26] = state[3]; - out_3357399461201359920[27] = 0; - out_3357399461201359920[28] = 0; - out_3357399461201359920[29] = 0; - out_3357399461201359920[30] = 0; - out_3357399461201359920[31] = 1; - out_3357399461201359920[32] = 0; - out_3357399461201359920[33] = 0; - out_3357399461201359920[34] = 1; - out_3357399461201359920[35] = 0; - out_3357399461201359920[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3357399461201359920[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3357399461201359920[38] = 0; - out_3357399461201359920[39] = -state[7]; - out_3357399461201359920[40] = state[6]; - out_3357399461201359920[41] = 0; - out_3357399461201359920[42] = state[4]; - out_3357399461201359920[43] = -state[3]; - out_3357399461201359920[44] = 0; - out_3357399461201359920[45] = 0; - out_3357399461201359920[46] = 0; - out_3357399461201359920[47] = 0; - out_3357399461201359920[48] = 0; - out_3357399461201359920[49] = 0; - out_3357399461201359920[50] = 1; - out_3357399461201359920[51] = 0; - out_3357399461201359920[52] = 0; - out_3357399461201359920[53] = 1; +void H_10(double *state, double *unused, double *out_456117981794075216) { + out_456117981794075216[0] = 0; + out_456117981794075216[1] = 9.8100000000000005*cos(state[1]); + out_456117981794075216[2] = 0; + out_456117981794075216[3] = 0; + out_456117981794075216[4] = -state[8]; + out_456117981794075216[5] = state[7]; + out_456117981794075216[6] = 0; + out_456117981794075216[7] = state[5]; + out_456117981794075216[8] = -state[4]; + out_456117981794075216[9] = 0; + out_456117981794075216[10] = 0; + out_456117981794075216[11] = 0; + out_456117981794075216[12] = 1; + out_456117981794075216[13] = 0; + out_456117981794075216[14] = 0; + out_456117981794075216[15] = 1; + out_456117981794075216[16] = 0; + out_456117981794075216[17] = 0; + out_456117981794075216[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_456117981794075216[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_456117981794075216[20] = 0; + out_456117981794075216[21] = state[8]; + out_456117981794075216[22] = 0; + out_456117981794075216[23] = -state[6]; + out_456117981794075216[24] = -state[5]; + out_456117981794075216[25] = 0; + out_456117981794075216[26] = state[3]; + out_456117981794075216[27] = 0; + out_456117981794075216[28] = 0; + out_456117981794075216[29] = 0; + out_456117981794075216[30] = 0; + out_456117981794075216[31] = 1; + out_456117981794075216[32] = 0; + out_456117981794075216[33] = 0; + out_456117981794075216[34] = 1; + out_456117981794075216[35] = 0; + out_456117981794075216[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_456117981794075216[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_456117981794075216[38] = 0; + out_456117981794075216[39] = -state[7]; + out_456117981794075216[40] = state[6]; + out_456117981794075216[41] = 0; + out_456117981794075216[42] = state[4]; + out_456117981794075216[43] = -state[3]; + out_456117981794075216[44] = 0; + out_456117981794075216[45] = 0; + out_456117981794075216[46] = 0; + out_456117981794075216[47] = 0; + out_456117981794075216[48] = 0; + out_456117981794075216[49] = 0; + out_456117981794075216[50] = 1; + out_456117981794075216[51] = 0; + out_456117981794075216[52] = 0; + out_456117981794075216[53] = 1; } -void h_13(double *state, double *unused, double *out_4463366606757688719) { - out_4463366606757688719[0] = state[3]; - out_4463366606757688719[1] = state[4]; - out_4463366606757688719[2] = state[5]; +void h_13(double *state, double *unused, double *out_37028039399378348) { + out_37028039399378348[0] = state[3]; + out_37028039399378348[1] = state[4]; + out_37028039399378348[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7013545948621932652) { - out_7013545948621932652[0] = 0; - out_7013545948621932652[1] = 0; - out_7013545948621932652[2] = 0; - out_7013545948621932652[3] = 1; - out_7013545948621932652[4] = 0; - out_7013545948621932652[5] = 0; - out_7013545948621932652[6] = 0; - out_7013545948621932652[7] = 0; - out_7013545948621932652[8] = 0; - out_7013545948621932652[9] = 0; - out_7013545948621932652[10] = 0; - out_7013545948621932652[11] = 0; - out_7013545948621932652[12] = 0; - out_7013545948621932652[13] = 0; - out_7013545948621932652[14] = 0; - out_7013545948621932652[15] = 0; - out_7013545948621932652[16] = 0; - out_7013545948621932652[17] = 0; - out_7013545948621932652[18] = 0; - out_7013545948621932652[19] = 0; - out_7013545948621932652[20] = 0; - out_7013545948621932652[21] = 0; - out_7013545948621932652[22] = 1; - out_7013545948621932652[23] = 0; - out_7013545948621932652[24] = 0; - out_7013545948621932652[25] = 0; - out_7013545948621932652[26] = 0; - out_7013545948621932652[27] = 0; - out_7013545948621932652[28] = 0; - out_7013545948621932652[29] = 0; - out_7013545948621932652[30] = 0; - out_7013545948621932652[31] = 0; - out_7013545948621932652[32] = 0; - out_7013545948621932652[33] = 0; - out_7013545948621932652[34] = 0; - out_7013545948621932652[35] = 0; - out_7013545948621932652[36] = 0; - out_7013545948621932652[37] = 0; - out_7013545948621932652[38] = 0; - out_7013545948621932652[39] = 0; - out_7013545948621932652[40] = 0; - out_7013545948621932652[41] = 1; - out_7013545948621932652[42] = 0; - out_7013545948621932652[43] = 0; - out_7013545948621932652[44] = 0; - out_7013545948621932652[45] = 0; - out_7013545948621932652[46] = 0; - out_7013545948621932652[47] = 0; - out_7013545948621932652[48] = 0; - out_7013545948621932652[49] = 0; - out_7013545948621932652[50] = 0; - out_7013545948621932652[51] = 0; - out_7013545948621932652[52] = 0; - out_7013545948621932652[53] = 0; +void H_13(double *state, double *unused, double *out_262790839400944800) { + out_262790839400944800[0] = 0; + out_262790839400944800[1] = 0; + out_262790839400944800[2] = 0; + out_262790839400944800[3] = 1; + out_262790839400944800[4] = 0; + out_262790839400944800[5] = 0; + out_262790839400944800[6] = 0; + out_262790839400944800[7] = 0; + out_262790839400944800[8] = 0; + out_262790839400944800[9] = 0; + out_262790839400944800[10] = 0; + out_262790839400944800[11] = 0; + out_262790839400944800[12] = 0; + out_262790839400944800[13] = 0; + out_262790839400944800[14] = 0; + out_262790839400944800[15] = 0; + out_262790839400944800[16] = 0; + out_262790839400944800[17] = 0; + out_262790839400944800[18] = 0; + out_262790839400944800[19] = 0; + out_262790839400944800[20] = 0; + out_262790839400944800[21] = 0; + out_262790839400944800[22] = 1; + out_262790839400944800[23] = 0; + out_262790839400944800[24] = 0; + out_262790839400944800[25] = 0; + out_262790839400944800[26] = 0; + out_262790839400944800[27] = 0; + out_262790839400944800[28] = 0; + out_262790839400944800[29] = 0; + out_262790839400944800[30] = 0; + out_262790839400944800[31] = 0; + out_262790839400944800[32] = 0; + out_262790839400944800[33] = 0; + out_262790839400944800[34] = 0; + out_262790839400944800[35] = 0; + out_262790839400944800[36] = 0; + out_262790839400944800[37] = 0; + out_262790839400944800[38] = 0; + out_262790839400944800[39] = 0; + out_262790839400944800[40] = 0; + out_262790839400944800[41] = 1; + out_262790839400944800[42] = 0; + out_262790839400944800[43] = 0; + out_262790839400944800[44] = 0; + out_262790839400944800[45] = 0; + out_262790839400944800[46] = 0; + out_262790839400944800[47] = 0; + out_262790839400944800[48] = 0; + out_262790839400944800[49] = 0; + out_262790839400944800[50] = 0; + out_262790839400944800[51] = 0; + out_262790839400944800[52] = 0; + out_262790839400944800[53] = 0; } -void h_14(double *state, double *unused, double *out_2594435200759890716) { - out_2594435200759890716[0] = state[6]; - out_2594435200759890716[1] = state[7]; - out_2594435200759890716[2] = state[8]; +void h_14(double *state, double *unused, double *out_8155163407200643054) { + out_8155163407200643054[0] = state[6]; + out_8155163407200643054[1] = state[7]; + out_8155163407200643054[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6262578917614780924) { - out_6262578917614780924[0] = 0; - out_6262578917614780924[1] = 0; - out_6262578917614780924[2] = 0; - out_6262578917614780924[3] = 0; - out_6262578917614780924[4] = 0; - out_6262578917614780924[5] = 0; - out_6262578917614780924[6] = 1; - out_6262578917614780924[7] = 0; - out_6262578917614780924[8] = 0; - out_6262578917614780924[9] = 0; - out_6262578917614780924[10] = 0; - out_6262578917614780924[11] = 0; - out_6262578917614780924[12] = 0; - out_6262578917614780924[13] = 0; - out_6262578917614780924[14] = 0; - out_6262578917614780924[15] = 0; - out_6262578917614780924[16] = 0; - out_6262578917614780924[17] = 0; - out_6262578917614780924[18] = 0; - out_6262578917614780924[19] = 0; - out_6262578917614780924[20] = 0; - out_6262578917614780924[21] = 0; - out_6262578917614780924[22] = 0; - out_6262578917614780924[23] = 0; - out_6262578917614780924[24] = 0; - out_6262578917614780924[25] = 1; - out_6262578917614780924[26] = 0; - out_6262578917614780924[27] = 0; - out_6262578917614780924[28] = 0; - out_6262578917614780924[29] = 0; - out_6262578917614780924[30] = 0; - out_6262578917614780924[31] = 0; - out_6262578917614780924[32] = 0; - out_6262578917614780924[33] = 0; - out_6262578917614780924[34] = 0; - out_6262578917614780924[35] = 0; - out_6262578917614780924[36] = 0; - out_6262578917614780924[37] = 0; - out_6262578917614780924[38] = 0; - out_6262578917614780924[39] = 0; - out_6262578917614780924[40] = 0; - out_6262578917614780924[41] = 0; - out_6262578917614780924[42] = 0; - out_6262578917614780924[43] = 0; - out_6262578917614780924[44] = 1; - out_6262578917614780924[45] = 0; - out_6262578917614780924[46] = 0; - out_6262578917614780924[47] = 0; - out_6262578917614780924[48] = 0; - out_6262578917614780924[49] = 0; - out_6262578917614780924[50] = 0; - out_6262578917614780924[51] = 0; - out_6262578917614780924[52] = 0; - out_6262578917614780924[53] = 0; +void H_14(double *state, double *unused, double *out_7490533593696533591) { + out_7490533593696533591[0] = 0; + out_7490533593696533591[1] = 0; + out_7490533593696533591[2] = 0; + out_7490533593696533591[3] = 0; + out_7490533593696533591[4] = 0; + out_7490533593696533591[5] = 0; + out_7490533593696533591[6] = 1; + out_7490533593696533591[7] = 0; + out_7490533593696533591[8] = 0; + out_7490533593696533591[9] = 0; + out_7490533593696533591[10] = 0; + out_7490533593696533591[11] = 0; + out_7490533593696533591[12] = 0; + out_7490533593696533591[13] = 0; + out_7490533593696533591[14] = 0; + out_7490533593696533591[15] = 0; + out_7490533593696533591[16] = 0; + out_7490533593696533591[17] = 0; + out_7490533593696533591[18] = 0; + out_7490533593696533591[19] = 0; + out_7490533593696533591[20] = 0; + out_7490533593696533591[21] = 0; + out_7490533593696533591[22] = 0; + out_7490533593696533591[23] = 0; + out_7490533593696533591[24] = 0; + out_7490533593696533591[25] = 1; + out_7490533593696533591[26] = 0; + out_7490533593696533591[27] = 0; + out_7490533593696533591[28] = 0; + out_7490533593696533591[29] = 0; + out_7490533593696533591[30] = 0; + out_7490533593696533591[31] = 0; + out_7490533593696533591[32] = 0; + out_7490533593696533591[33] = 0; + out_7490533593696533591[34] = 0; + out_7490533593696533591[35] = 0; + out_7490533593696533591[36] = 0; + out_7490533593696533591[37] = 0; + out_7490533593696533591[38] = 0; + out_7490533593696533591[39] = 0; + out_7490533593696533591[40] = 0; + out_7490533593696533591[41] = 0; + out_7490533593696533591[42] = 0; + out_7490533593696533591[43] = 0; + out_7490533593696533591[44] = 1; + out_7490533593696533591[45] = 0; + out_7490533593696533591[46] = 0; + out_7490533593696533591[47] = 0; + out_7490533593696533591[48] = 0; + out_7490533593696533591[49] = 0; + out_7490533593696533591[50] = 0; + out_7490533593696533591[51] = 0; + out_7490533593696533591[52] = 0; + out_7490533593696533591[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_4409321269442810496) { - err_fun(nom_x, delta_x, out_4409321269442810496); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6404612215142923466) { + err_fun(nom_x, delta_x, out_6404612215142923466); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3789556254182165506) { - inv_err_fun(nom_x, true_x, out_3789556254182165506); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8928511729536831732) { + inv_err_fun(nom_x, true_x, out_8928511729536831732); } -void pose_H_mod_fun(double *state, double *out_3068405914716205428) { - H_mod_fun(state, out_3068405914716205428); +void pose_H_mod_fun(double *state, double *out_6801514816147998315) { + H_mod_fun(state, out_6801514816147998315); } -void pose_f_fun(double *state, double dt, double *out_5515990809264108996) { - f_fun(state, dt, out_5515990809264108996); +void pose_f_fun(double *state, double dt, double *out_9011020625270980343) { + f_fun(state, dt, out_9011020625270980343); } -void pose_F_fun(double *state, double dt, double *out_1412435369220653896) { - F_fun(state, dt, out_1412435369220653896); +void pose_F_fun(double *state, double dt, double *out_5745440695796585215) { + F_fun(state, dt, out_5745440695796585215); } -void pose_h_4(double *state, double *unused, double *out_7211674724064901455) { - h_4(state, unused, out_7211674724064901455); +void pose_h_4(double *state, double *unused, double *out_3972431218962943054) { + h_4(state, unused, out_3972431218962943054); } -void pose_H_4(double *state, double *unused, double *out_8220924299755286163) { - H_4(state, unused, out_8220924299755286163); +void pose_H_4(double *state, double *unused, double *out_7873422047717645729) { + H_4(state, unused, out_7873422047717645729); } -void pose_h_10(double *state, double *unused, double *out_7091555343827122853) { - h_10(state, unused, out_7091555343827122853); +void pose_h_10(double *state, double *unused, double *out_4525655768187115008) { + h_10(state, unused, out_4525655768187115008); } -void pose_H_10(double *state, double *unused, double *out_3357399461201359920) { - H_10(state, unused, out_3357399461201359920); +void pose_H_10(double *state, double *unused, double *out_456117981794075216) { + H_10(state, unused, out_456117981794075216); } -void pose_h_13(double *state, double *unused, double *out_4463366606757688719) { - h_13(state, unused, out_4463366606757688719); +void pose_h_13(double *state, double *unused, double *out_37028039399378348) { + h_13(state, unused, out_37028039399378348); } -void pose_H_13(double *state, double *unused, double *out_7013545948621932652) { - H_13(state, unused, out_7013545948621932652); +void pose_H_13(double *state, double *unused, double *out_262790839400944800) { + H_13(state, unused, out_262790839400944800); } -void pose_h_14(double *state, double *unused, double *out_2594435200759890716) { - h_14(state, unused, out_2594435200759890716); +void pose_h_14(double *state, double *unused, double *out_8155163407200643054) { + h_14(state, unused, out_8155163407200643054); } -void pose_H_14(double *state, double *unused, double *out_6262578917614780924) { - H_14(state, unused, out_6262578917614780924); +void pose_H_14(double *state, double *unused, double *out_7490533593696533591) { + H_14(state, unused, out_7490533593696533591); } 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 4e3bcad58..41077ab93 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_4409321269442810496); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3789556254182165506); -void pose_H_mod_fun(double *state, double *out_3068405914716205428); -void pose_f_fun(double *state, double dt, double *out_5515990809264108996); -void pose_F_fun(double *state, double dt, double *out_1412435369220653896); -void pose_h_4(double *state, double *unused, double *out_7211674724064901455); -void pose_H_4(double *state, double *unused, double *out_8220924299755286163); -void pose_h_10(double *state, double *unused, double *out_7091555343827122853); -void pose_H_10(double *state, double *unused, double *out_3357399461201359920); -void pose_h_13(double *state, double *unused, double *out_4463366606757688719); -void pose_H_13(double *state, double *unused, double *out_7013545948621932652); -void pose_h_14(double *state, double *unused, double *out_2594435200759890716); -void pose_H_14(double *state, double *unused, double *out_6262578917614780924); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6404612215142923466); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8928511729536831732); +void pose_H_mod_fun(double *state, double *out_6801514816147998315); +void pose_f_fun(double *state, double dt, double *out_9011020625270980343); +void pose_F_fun(double *state, double dt, double *out_5745440695796585215); +void pose_h_4(double *state, double *unused, double *out_3972431218962943054); +void pose_H_4(double *state, double *unused, double *out_7873422047717645729); +void pose_h_10(double *state, double *unused, double *out_4525655768187115008); +void pose_H_10(double *state, double *unused, double *out_456117981794075216); +void pose_h_13(double *state, double *unused, double *out_37028039399378348); +void pose_H_13(double *state, double *unused, double *out_262790839400944800); +void pose_h_14(double *state, double *unused, double *out_8155163407200643054); +void pose_H_14(double *state, double *unused, double *out_7490533593696533591); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/pose.os b/selfdrive/locationd/models/generated/pose.os index d32b2d3bb..b9449ef3d 100644 Binary files a/selfdrive/locationd/models/generated/pose.os and b/selfdrive/locationd/models/generated/pose.os differ diff --git a/selfdrive/modeld/models/commonmodel_pyx.so b/selfdrive/modeld/models/commonmodel_pyx.so index edda0400c..0decb16cb 100755 Binary files a/selfdrive/modeld/models/commonmodel_pyx.so and b/selfdrive/modeld/models/commonmodel_pyx.so differ diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index f4cd6cb6b..76b072a49 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/pandad/pandad_api_impl.so b/selfdrive/pandad/pandad_api_impl.so index 5cff4089b..a8ebff594 100755 Binary files a/selfdrive/pandad/pandad_api_impl.so and b/selfdrive/pandad/pandad_api_impl.so differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 51fd93134..d5243c5f2 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index e545d97f9..7feafe55c 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 7045066ad..4b0a58891 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index fbbda7bed..5c53d90ea 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ