diff --git a/common/libcommon.a b/common/libcommon.a index 5bc67ee34..d9abaa650 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index 08ba0a148..bec91ba81 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 14b1ed5e0..f366e9a28 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index a0b14794c..a7ae07b8d 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 021de4b4d..cbc985631 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 2f3cc37a9..824706d6b 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index e668364c5..8ef6f93bf 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 2e7c32963..25e7bb531 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-a1225b4b-DEBUG"; +const uint8_t gitversion[19] = "DEV-609ba6cf-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 72f869b14..bd4dda352 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 fcfda0ead..ca323ecf1 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 247a2df67..337455992 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 44f26c38e..9d2e1f186 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_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 9e08c984b..1399a67a5 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and 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a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 24f6958ce..8ce07f53b 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 9b858036a..25227c54c 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index aad7e6069..aa9d6504c 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index e858e098a..3961ba4f4 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 5859b33e5..1086148e3 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 411bc0fbc..1a707de10 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 5a8519a8c..dffa64010 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index f126964db..e686246ab 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index a9143e037..418930728 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 14aa25aaf..37dc91181 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 24d3b9ee7..6229791dd 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index c882c4906..3d0932734 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-a1225b4b-DEBUG \ No newline at end of file +DEV-609ba6cf-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 5734d5ad3..8e2f54209 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_8235846690843231890) { - out_8235846690843231890[0] = delta_x[0] + nom_x[0]; - out_8235846690843231890[1] = delta_x[1] + nom_x[1]; - out_8235846690843231890[2] = delta_x[2] + nom_x[2]; - out_8235846690843231890[3] = delta_x[3] + nom_x[3]; - out_8235846690843231890[4] = delta_x[4] + nom_x[4]; - out_8235846690843231890[5] = delta_x[5] + nom_x[5]; - out_8235846690843231890[6] = delta_x[6] + nom_x[6]; - out_8235846690843231890[7] = delta_x[7] + nom_x[7]; - out_8235846690843231890[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_1814247348247547720) { + out_1814247348247547720[0] = delta_x[0] + nom_x[0]; + out_1814247348247547720[1] = delta_x[1] + nom_x[1]; + out_1814247348247547720[2] = delta_x[2] + nom_x[2]; + out_1814247348247547720[3] = delta_x[3] + nom_x[3]; + out_1814247348247547720[4] = delta_x[4] + nom_x[4]; + out_1814247348247547720[5] = delta_x[5] + nom_x[5]; + out_1814247348247547720[6] = delta_x[6] + nom_x[6]; + out_1814247348247547720[7] = delta_x[7] + nom_x[7]; + out_1814247348247547720[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4073537797462342510) { - out_4073537797462342510[0] = -nom_x[0] + true_x[0]; - out_4073537797462342510[1] = -nom_x[1] + true_x[1]; - out_4073537797462342510[2] = -nom_x[2] + true_x[2]; - out_4073537797462342510[3] = -nom_x[3] + true_x[3]; - out_4073537797462342510[4] = -nom_x[4] + true_x[4]; - out_4073537797462342510[5] = -nom_x[5] + true_x[5]; - out_4073537797462342510[6] = -nom_x[6] + true_x[6]; - out_4073537797462342510[7] = -nom_x[7] + true_x[7]; - out_4073537797462342510[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2896416663387818009) { + out_2896416663387818009[0] = -nom_x[0] + true_x[0]; + out_2896416663387818009[1] = -nom_x[1] + true_x[1]; + out_2896416663387818009[2] = -nom_x[2] + true_x[2]; + out_2896416663387818009[3] = -nom_x[3] + true_x[3]; + out_2896416663387818009[4] = -nom_x[4] + true_x[4]; + out_2896416663387818009[5] = -nom_x[5] + true_x[5]; + out_2896416663387818009[6] = -nom_x[6] + true_x[6]; + out_2896416663387818009[7] = -nom_x[7] + true_x[7]; + out_2896416663387818009[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1939718218409672785) { - out_1939718218409672785[0] = 1.0; - out_1939718218409672785[1] = 0.0; - out_1939718218409672785[2] = 0.0; - out_1939718218409672785[3] = 0.0; - out_1939718218409672785[4] = 0.0; - out_1939718218409672785[5] = 0.0; - out_1939718218409672785[6] = 0.0; - out_1939718218409672785[7] = 0.0; - out_1939718218409672785[8] = 0.0; - out_1939718218409672785[9] = 0.0; - out_1939718218409672785[10] = 1.0; - out_1939718218409672785[11] = 0.0; - out_1939718218409672785[12] = 0.0; - out_1939718218409672785[13] = 0.0; - out_1939718218409672785[14] = 0.0; - out_1939718218409672785[15] = 0.0; - out_1939718218409672785[16] = 0.0; - out_1939718218409672785[17] = 0.0; - out_1939718218409672785[18] = 0.0; - out_1939718218409672785[19] = 0.0; - out_1939718218409672785[20] = 1.0; - out_1939718218409672785[21] = 0.0; - out_1939718218409672785[22] = 0.0; - out_1939718218409672785[23] = 0.0; - out_1939718218409672785[24] = 0.0; - out_1939718218409672785[25] = 0.0; - out_1939718218409672785[26] = 0.0; - out_1939718218409672785[27] = 0.0; - out_1939718218409672785[28] = 0.0; - out_1939718218409672785[29] = 0.0; - out_1939718218409672785[30] = 1.0; - out_1939718218409672785[31] = 0.0; - out_1939718218409672785[32] = 0.0; - out_1939718218409672785[33] = 0.0; - out_1939718218409672785[34] = 0.0; - out_1939718218409672785[35] = 0.0; - out_1939718218409672785[36] = 0.0; - out_1939718218409672785[37] = 0.0; - out_1939718218409672785[38] = 0.0; - out_1939718218409672785[39] = 0.0; - out_1939718218409672785[40] = 1.0; - out_1939718218409672785[41] = 0.0; - out_1939718218409672785[42] = 0.0; - out_1939718218409672785[43] = 0.0; - out_1939718218409672785[44] = 0.0; - out_1939718218409672785[45] = 0.0; - out_1939718218409672785[46] = 0.0; - out_1939718218409672785[47] = 0.0; - out_1939718218409672785[48] = 0.0; - out_1939718218409672785[49] = 0.0; - out_1939718218409672785[50] = 1.0; - out_1939718218409672785[51] = 0.0; - out_1939718218409672785[52] = 0.0; - out_1939718218409672785[53] = 0.0; - out_1939718218409672785[54] = 0.0; - out_1939718218409672785[55] = 0.0; - out_1939718218409672785[56] = 0.0; - out_1939718218409672785[57] = 0.0; - out_1939718218409672785[58] = 0.0; - out_1939718218409672785[59] = 0.0; - out_1939718218409672785[60] = 1.0; - out_1939718218409672785[61] = 0.0; - out_1939718218409672785[62] = 0.0; - out_1939718218409672785[63] = 0.0; - out_1939718218409672785[64] = 0.0; - out_1939718218409672785[65] = 0.0; - out_1939718218409672785[66] = 0.0; - out_1939718218409672785[67] = 0.0; - out_1939718218409672785[68] = 0.0; - out_1939718218409672785[69] = 0.0; - out_1939718218409672785[70] = 1.0; - out_1939718218409672785[71] = 0.0; - out_1939718218409672785[72] = 0.0; - out_1939718218409672785[73] = 0.0; - out_1939718218409672785[74] = 0.0; - out_1939718218409672785[75] = 0.0; - out_1939718218409672785[76] = 0.0; - out_1939718218409672785[77] = 0.0; - out_1939718218409672785[78] = 0.0; - out_1939718218409672785[79] = 0.0; - out_1939718218409672785[80] = 1.0; +void H_mod_fun(double *state, double *out_3833245775098430450) { + out_3833245775098430450[0] = 1.0; + out_3833245775098430450[1] = 0.0; + out_3833245775098430450[2] = 0.0; + out_3833245775098430450[3] = 0.0; + out_3833245775098430450[4] = 0.0; + out_3833245775098430450[5] = 0.0; + out_3833245775098430450[6] = 0.0; + out_3833245775098430450[7] = 0.0; + out_3833245775098430450[8] = 0.0; + out_3833245775098430450[9] = 0.0; + out_3833245775098430450[10] = 1.0; + out_3833245775098430450[11] = 0.0; + out_3833245775098430450[12] = 0.0; + out_3833245775098430450[13] = 0.0; + out_3833245775098430450[14] = 0.0; + out_3833245775098430450[15] = 0.0; + out_3833245775098430450[16] = 0.0; + out_3833245775098430450[17] = 0.0; + out_3833245775098430450[18] = 0.0; + out_3833245775098430450[19] = 0.0; + out_3833245775098430450[20] = 1.0; + out_3833245775098430450[21] = 0.0; + out_3833245775098430450[22] = 0.0; + out_3833245775098430450[23] = 0.0; + out_3833245775098430450[24] = 0.0; + out_3833245775098430450[25] = 0.0; + out_3833245775098430450[26] = 0.0; + out_3833245775098430450[27] = 0.0; + out_3833245775098430450[28] = 0.0; + out_3833245775098430450[29] = 0.0; + out_3833245775098430450[30] = 1.0; + out_3833245775098430450[31] = 0.0; + out_3833245775098430450[32] = 0.0; + out_3833245775098430450[33] = 0.0; + out_3833245775098430450[34] = 0.0; + out_3833245775098430450[35] = 0.0; + out_3833245775098430450[36] = 0.0; + out_3833245775098430450[37] = 0.0; + out_3833245775098430450[38] = 0.0; + out_3833245775098430450[39] = 0.0; + out_3833245775098430450[40] = 1.0; + out_3833245775098430450[41] = 0.0; + out_3833245775098430450[42] = 0.0; + out_3833245775098430450[43] = 0.0; + out_3833245775098430450[44] = 0.0; + out_3833245775098430450[45] = 0.0; + out_3833245775098430450[46] = 0.0; + out_3833245775098430450[47] = 0.0; + out_3833245775098430450[48] = 0.0; + out_3833245775098430450[49] = 0.0; + out_3833245775098430450[50] = 1.0; + out_3833245775098430450[51] = 0.0; + out_3833245775098430450[52] = 0.0; + out_3833245775098430450[53] = 0.0; + out_3833245775098430450[54] = 0.0; + out_3833245775098430450[55] = 0.0; + out_3833245775098430450[56] = 0.0; + out_3833245775098430450[57] = 0.0; + out_3833245775098430450[58] = 0.0; + out_3833245775098430450[59] = 0.0; + out_3833245775098430450[60] = 1.0; + out_3833245775098430450[61] = 0.0; + out_3833245775098430450[62] = 0.0; + out_3833245775098430450[63] = 0.0; + out_3833245775098430450[64] = 0.0; + out_3833245775098430450[65] = 0.0; + out_3833245775098430450[66] = 0.0; + out_3833245775098430450[67] = 0.0; + out_3833245775098430450[68] = 0.0; + out_3833245775098430450[69] = 0.0; + out_3833245775098430450[70] = 1.0; + out_3833245775098430450[71] = 0.0; + out_3833245775098430450[72] = 0.0; + out_3833245775098430450[73] = 0.0; + out_3833245775098430450[74] = 0.0; + out_3833245775098430450[75] = 0.0; + out_3833245775098430450[76] = 0.0; + out_3833245775098430450[77] = 0.0; + out_3833245775098430450[78] = 0.0; + out_3833245775098430450[79] = 0.0; + out_3833245775098430450[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3926727015556538206) { - out_3926727015556538206[0] = state[0]; - out_3926727015556538206[1] = state[1]; - out_3926727015556538206[2] = state[2]; - out_3926727015556538206[3] = state[3]; - out_3926727015556538206[4] = state[4]; - out_3926727015556538206[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_3926727015556538206[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_3926727015556538206[7] = state[7]; - out_3926727015556538206[8] = state[8]; +void f_fun(double *state, double dt, double *out_3477590770207651617) { + out_3477590770207651617[0] = state[0]; + out_3477590770207651617[1] = state[1]; + out_3477590770207651617[2] = state[2]; + out_3477590770207651617[3] = state[3]; + out_3477590770207651617[4] = state[4]; + out_3477590770207651617[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_3477590770207651617[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_3477590770207651617[7] = state[7]; + out_3477590770207651617[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2236832154434567522) { - out_2236832154434567522[0] = 1; - out_2236832154434567522[1] = 0; - out_2236832154434567522[2] = 0; - out_2236832154434567522[3] = 0; - out_2236832154434567522[4] = 0; - out_2236832154434567522[5] = 0; - out_2236832154434567522[6] = 0; - out_2236832154434567522[7] = 0; - out_2236832154434567522[8] = 0; - out_2236832154434567522[9] = 0; - out_2236832154434567522[10] = 1; - out_2236832154434567522[11] = 0; - out_2236832154434567522[12] = 0; - out_2236832154434567522[13] = 0; - out_2236832154434567522[14] = 0; - out_2236832154434567522[15] = 0; - out_2236832154434567522[16] = 0; - out_2236832154434567522[17] = 0; - out_2236832154434567522[18] = 0; - out_2236832154434567522[19] = 0; - out_2236832154434567522[20] = 1; - out_2236832154434567522[21] = 0; - out_2236832154434567522[22] = 0; - out_2236832154434567522[23] = 0; - out_2236832154434567522[24] = 0; - out_2236832154434567522[25] = 0; - out_2236832154434567522[26] = 0; - out_2236832154434567522[27] = 0; - out_2236832154434567522[28] = 0; - out_2236832154434567522[29] = 0; - out_2236832154434567522[30] = 1; - out_2236832154434567522[31] = 0; - out_2236832154434567522[32] = 0; - out_2236832154434567522[33] = 0; - out_2236832154434567522[34] = 0; - out_2236832154434567522[35] = 0; - out_2236832154434567522[36] = 0; - out_2236832154434567522[37] = 0; - out_2236832154434567522[38] = 0; - out_2236832154434567522[39] = 0; - out_2236832154434567522[40] = 1; - out_2236832154434567522[41] = 0; - out_2236832154434567522[42] = 0; - out_2236832154434567522[43] = 0; - out_2236832154434567522[44] = 0; - out_2236832154434567522[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_2236832154434567522[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2236832154434567522[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2236832154434567522[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2236832154434567522[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_2236832154434567522[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2236832154434567522[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2236832154434567522[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2236832154434567522[53] = -9.8100000000000005*dt; - out_2236832154434567522[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_2236832154434567522[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2236832154434567522[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2236832154434567522[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2236832154434567522[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_2236832154434567522[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2236832154434567522[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_2236832154434567522[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2236832154434567522[62] = 0; - out_2236832154434567522[63] = 0; - out_2236832154434567522[64] = 0; - out_2236832154434567522[65] = 0; - out_2236832154434567522[66] = 0; - out_2236832154434567522[67] = 0; - out_2236832154434567522[68] = 0; - out_2236832154434567522[69] = 0; - out_2236832154434567522[70] = 1; - out_2236832154434567522[71] = 0; - out_2236832154434567522[72] = 0; - out_2236832154434567522[73] = 0; - out_2236832154434567522[74] = 0; - out_2236832154434567522[75] = 0; - out_2236832154434567522[76] = 0; - out_2236832154434567522[77] = 0; - out_2236832154434567522[78] = 0; - out_2236832154434567522[79] = 0; - out_2236832154434567522[80] = 1; +void F_fun(double *state, double dt, double *out_3058811064297665734) { + out_3058811064297665734[0] = 1; + out_3058811064297665734[1] = 0; + out_3058811064297665734[2] = 0; + out_3058811064297665734[3] = 0; + out_3058811064297665734[4] = 0; + out_3058811064297665734[5] = 0; + out_3058811064297665734[6] = 0; + out_3058811064297665734[7] = 0; + out_3058811064297665734[8] = 0; + out_3058811064297665734[9] = 0; + out_3058811064297665734[10] = 1; + out_3058811064297665734[11] = 0; + out_3058811064297665734[12] = 0; + out_3058811064297665734[13] = 0; + out_3058811064297665734[14] = 0; + out_3058811064297665734[15] = 0; + out_3058811064297665734[16] = 0; + out_3058811064297665734[17] = 0; + out_3058811064297665734[18] = 0; + out_3058811064297665734[19] = 0; + out_3058811064297665734[20] = 1; + out_3058811064297665734[21] = 0; + out_3058811064297665734[22] = 0; + out_3058811064297665734[23] = 0; + out_3058811064297665734[24] = 0; + out_3058811064297665734[25] = 0; + out_3058811064297665734[26] = 0; + out_3058811064297665734[27] = 0; + out_3058811064297665734[28] = 0; + out_3058811064297665734[29] = 0; + out_3058811064297665734[30] = 1; + out_3058811064297665734[31] = 0; + out_3058811064297665734[32] = 0; + out_3058811064297665734[33] = 0; + out_3058811064297665734[34] = 0; + out_3058811064297665734[35] = 0; + out_3058811064297665734[36] = 0; + out_3058811064297665734[37] = 0; + out_3058811064297665734[38] = 0; + out_3058811064297665734[39] = 0; + out_3058811064297665734[40] = 1; + out_3058811064297665734[41] = 0; + out_3058811064297665734[42] = 0; + out_3058811064297665734[43] = 0; + out_3058811064297665734[44] = 0; + out_3058811064297665734[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_3058811064297665734[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3058811064297665734[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3058811064297665734[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3058811064297665734[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_3058811064297665734[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3058811064297665734[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3058811064297665734[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3058811064297665734[53] = -9.8100000000000005*dt; + out_3058811064297665734[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_3058811064297665734[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3058811064297665734[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3058811064297665734[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3058811064297665734[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_3058811064297665734[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3058811064297665734[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_3058811064297665734[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3058811064297665734[62] = 0; + out_3058811064297665734[63] = 0; + out_3058811064297665734[64] = 0; + out_3058811064297665734[65] = 0; + out_3058811064297665734[66] = 0; + out_3058811064297665734[67] = 0; + out_3058811064297665734[68] = 0; + out_3058811064297665734[69] = 0; + out_3058811064297665734[70] = 1; + out_3058811064297665734[71] = 0; + out_3058811064297665734[72] = 0; + out_3058811064297665734[73] = 0; + out_3058811064297665734[74] = 0; + out_3058811064297665734[75] = 0; + out_3058811064297665734[76] = 0; + out_3058811064297665734[77] = 0; + out_3058811064297665734[78] = 0; + out_3058811064297665734[79] = 0; + out_3058811064297665734[80] = 1; } -void h_25(double *state, double *unused, double *out_3928584535156480826) { - out_3928584535156480826[0] = state[6]; +void h_25(double *state, double *unused, double *out_845892813044312576) { + out_845892813044312576[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6843410043594337625) { - out_6843410043594337625[0] = 0; - out_6843410043594337625[1] = 0; - out_6843410043594337625[2] = 0; - out_6843410043594337625[3] = 0; - out_6843410043594337625[4] = 0; - out_6843410043594337625[5] = 0; - out_6843410043594337625[6] = 1; - out_6843410043594337625[7] = 0; - out_6843410043594337625[8] = 0; +void H_25(double *state, double *unused, double *out_6744590887944551998) { + out_6744590887944551998[0] = 0; + out_6744590887944551998[1] = 0; + out_6744590887944551998[2] = 0; + out_6744590887944551998[3] = 0; + out_6744590887944551998[4] = 0; + out_6744590887944551998[5] = 0; + out_6744590887944551998[6] = 1; + out_6744590887944551998[7] = 0; + out_6744590887944551998[8] = 0; } -void h_24(double *state, double *unused, double *out_3301920948150113080) { - out_3301920948150113080[0] = state[4]; - out_3301920948150113080[1] = state[5]; +void h_24(double *state, double *unused, double *out_410909672515548225) { + out_410909672515548225[0] = state[4]; + out_410909672515548225[1] = state[5]; } -void H_24(double *state, double *unused, double *out_599264549394378695) { - out_599264549394378695[0] = 0; - out_599264549394378695[1] = 0; - out_599264549394378695[2] = 0; - out_599264549394378695[3] = 0; - out_599264549394378695[4] = 1; - out_599264549394378695[5] = 0; - out_599264549394378695[6] = 0; - out_599264549394378695[7] = 0; - out_599264549394378695[8] = 0; - out_599264549394378695[9] = 0; - out_599264549394378695[10] = 0; - out_599264549394378695[11] = 0; - out_599264549394378695[12] = 0; - out_599264549394378695[13] = 0; - out_599264549394378695[14] = 1; - out_599264549394378695[15] = 0; - out_599264549394378695[16] = 0; - out_599264549394378695[17] = 0; +void H_24(double *state, double *unused, double *out_673800745732374895) { + out_673800745732374895[0] = 0; + out_673800745732374895[1] = 0; + out_673800745732374895[2] = 0; + out_673800745732374895[3] = 0; + out_673800745732374895[4] = 1; + out_673800745732374895[5] = 0; + out_673800745732374895[6] = 0; + out_673800745732374895[7] = 0; + out_673800745732374895[8] = 0; + out_673800745732374895[9] = 0; + out_673800745732374895[10] = 0; + out_673800745732374895[11] = 0; + out_673800745732374895[12] = 0; + out_673800745732374895[13] = 0; + out_673800745732374895[14] = 1; + out_673800745732374895[15] = 0; + out_673800745732374895[16] = 0; + out_673800745732374895[17] = 0; } -void h_30(double *state, double *unused, double *out_3653390472871974937) { - out_3653390472871974937[0] = state[4]; +void h_30(double *state, double *unused, double *out_8727165463798361761) { + out_8727165463798361761[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2315713713466729427) { - out_2315713713466729427[0] = 0; - out_2315713713466729427[1] = 0; - out_2315713713466729427[2] = 0; - out_2315713713466729427[3] = 0; - out_2315713713466729427[4] = 1; - out_2315713713466729427[5] = 0; - out_2315713713466729427[6] = 0; - out_2315713713466729427[7] = 0; - out_2315713713466729427[8] = 0; +void H_30(double *state, double *unused, double *out_7174456855637391420) { + out_7174456855637391420[0] = 0; + out_7174456855637391420[1] = 0; + out_7174456855637391420[2] = 0; + out_7174456855637391420[3] = 0; + out_7174456855637391420[4] = 1; + out_7174456855637391420[5] = 0; + out_7174456855637391420[6] = 0; + out_7174456855637391420[7] = 0; + out_7174456855637391420[8] = 0; } -void h_26(double *state, double *unused, double *out_2566663824515510610) { - out_2566663824515510610[0] = state[7]; +void h_26(double *state, double *unused, double *out_2811534710064499425) { + out_2811534710064499425[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3101906724720281401) { - out_3101906724720281401[0] = 0; - out_3101906724720281401[1] = 0; - out_3101906724720281401[2] = 0; - out_3101906724720281401[3] = 0; - out_3101906724720281401[4] = 0; - out_3101906724720281401[5] = 0; - out_3101906724720281401[6] = 0; - out_3101906724720281401[7] = 1; - out_3101906724720281401[8] = 0; +void H_26(double *state, double *unused, double *out_7960649866890943394) { + out_7960649866890943394[0] = 0; + out_7960649866890943394[1] = 0; + out_7960649866890943394[2] = 0; + out_7960649866890943394[3] = 0; + out_7960649866890943394[4] = 0; + out_7960649866890943394[5] = 0; + out_7960649866890943394[6] = 0; + out_7960649866890943394[7] = 1; + out_7960649866890943394[8] = 0; } -void h_27(double *state, double *unused, double *out_1949700952402234262) { - out_1949700952402234262[0] = state[3]; +void h_27(double *state, double *unused, double *out_4116487184636980656) { + out_4116487184636980656[0] = state[3]; } -void H_27(double *state, double *unused, double *out_140950401666304516) { - out_140950401666304516[0] = 0; - out_140950401666304516[1] = 0; - out_140950401666304516[2] = 0; - out_140950401666304516[3] = 1; - out_140950401666304516[4] = 0; - out_140950401666304516[5] = 0; - out_140950401666304516[6] = 0; - out_140950401666304516[7] = 0; - out_140950401666304516[8] = 0; +void H_27(double *state, double *unused, double *out_9048693146888216979) { + out_9048693146888216979[0] = 0; + out_9048693146888216979[1] = 0; + out_9048693146888216979[2] = 0; + out_9048693146888216979[3] = 1; + out_9048693146888216979[4] = 0; + out_9048693146888216979[5] = 0; + out_9048693146888216979[6] = 0; + out_9048693146888216979[7] = 0; + out_9048693146888216979[8] = 0; } -void h_29(double *state, double *unused, double *out_8537528878878529425) { - out_8537528878878529425[0] = state[1]; +void h_29(double *state, double *unused, double *out_1915699176115514220) { + out_1915699176115514220[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2825945057781121611) { - out_2825945057781121611[0] = 0; - out_2825945057781121611[1] = 1; - out_2825945057781121611[2] = 0; - out_2825945057781121611[3] = 0; - out_2825945057781121611[4] = 0; - out_2825945057781121611[5] = 0; - out_2825945057781121611[6] = 0; - out_2825945057781121611[7] = 0; - out_2825945057781121611[8] = 0; +void H_29(double *state, double *unused, double *out_7684688199951783604) { + out_7684688199951783604[0] = 0; + out_7684688199951783604[1] = 1; + out_7684688199951783604[2] = 0; + out_7684688199951783604[3] = 0; + out_7684688199951783604[4] = 0; + out_7684688199951783604[5] = 0; + out_7684688199951783604[6] = 0; + out_7684688199951783604[7] = 0; + out_7684688199951783604[8] = 0; } -void h_28(double *state, double *unused, double *out_6571886981858342576) { - out_6571886981858342576[0] = state[0]; +void h_28(double *state, double *unused, double *out_6496658557271199005) { + out_6496658557271199005[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4789575329346447862) { - out_4789575329346447862[0] = 1; - out_4789575329346447862[1] = 0; - out_4789575329346447862[2] = 0; - out_4789575329346447862[3] = 0; - out_4789575329346447862[4] = 0; - out_4789575329346447862[5] = 0; - out_4789575329346447862[6] = 0; - out_4789575329346447862[7] = 0; - out_4789575329346447862[8] = 0; +void H_28(double *state, double *unused, double *out_2602289182882253030) { + out_2602289182882253030[0] = 1; + out_2602289182882253030[1] = 0; + out_2602289182882253030[2] = 0; + out_2602289182882253030[3] = 0; + out_2602289182882253030[4] = 0; + out_2602289182882253030[5] = 0; + out_2602289182882253030[6] = 0; + out_2602289182882253030[7] = 0; + out_2602289182882253030[8] = 0; } -void h_31(double *state, double *unused, double *out_4711292941562061058) { - out_4711292941562061058[0] = state[8]; +void h_31(double *state, double *unused, double *out_9104190579401499048) { + out_9104190579401499048[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2475698622486929925) { - out_2475698622486929925[0] = 0; - out_2475698622486929925[1] = 0; - out_2475698622486929925[2] = 0; - out_2475698622486929925[3] = 0; - out_2475698622486929925[4] = 0; - out_2475698622486929925[5] = 0; - out_2475698622486929925[6] = 0; - out_2475698622486929925[7] = 0; - out_2475698622486929925[8] = 1; +void H_31(double *state, double *unused, double *out_7334441764657591918) { + out_7334441764657591918[0] = 0; + out_7334441764657591918[1] = 0; + out_7334441764657591918[2] = 0; + out_7334441764657591918[3] = 0; + out_7334441764657591918[4] = 0; + out_7334441764657591918[5] = 0; + out_7334441764657591918[6] = 0; + out_7334441764657591918[7] = 0; + out_7334441764657591918[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_8235846690843231890) { - err_fun(nom_x, delta_x, out_8235846690843231890); +void car_err_fun(double *nom_x, double *delta_x, double *out_1814247348247547720) { + err_fun(nom_x, delta_x, out_1814247348247547720); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4073537797462342510) { - inv_err_fun(nom_x, true_x, out_4073537797462342510); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2896416663387818009) { + inv_err_fun(nom_x, true_x, out_2896416663387818009); } -void car_H_mod_fun(double *state, double *out_1939718218409672785) { - H_mod_fun(state, out_1939718218409672785); +void car_H_mod_fun(double *state, double *out_3833245775098430450) { + H_mod_fun(state, out_3833245775098430450); } -void car_f_fun(double *state, double dt, double *out_3926727015556538206) { - f_fun(state, dt, out_3926727015556538206); +void car_f_fun(double *state, double dt, double *out_3477590770207651617) { + f_fun(state, dt, out_3477590770207651617); } -void car_F_fun(double *state, double dt, double *out_2236832154434567522) { - F_fun(state, dt, out_2236832154434567522); +void car_F_fun(double *state, double dt, double *out_3058811064297665734) { + F_fun(state, dt, out_3058811064297665734); } -void car_h_25(double *state, double *unused, double *out_3928584535156480826) { - h_25(state, unused, out_3928584535156480826); +void car_h_25(double *state, double *unused, double *out_845892813044312576) { + h_25(state, unused, out_845892813044312576); } -void car_H_25(double *state, double *unused, double *out_6843410043594337625) { - H_25(state, unused, out_6843410043594337625); +void car_H_25(double *state, double *unused, double *out_6744590887944551998) { + H_25(state, unused, out_6744590887944551998); } -void car_h_24(double *state, double *unused, double *out_3301920948150113080) { - h_24(state, unused, out_3301920948150113080); +void car_h_24(double *state, double *unused, double *out_410909672515548225) { + h_24(state, unused, out_410909672515548225); } -void car_H_24(double *state, double *unused, double *out_599264549394378695) { - H_24(state, unused, out_599264549394378695); +void car_H_24(double *state, double *unused, double *out_673800745732374895) { + H_24(state, unused, out_673800745732374895); } -void car_h_30(double *state, double *unused, double *out_3653390472871974937) { - h_30(state, unused, out_3653390472871974937); +void car_h_30(double *state, double *unused, double *out_8727165463798361761) { + h_30(state, unused, out_8727165463798361761); } -void car_H_30(double *state, double *unused, double *out_2315713713466729427) { - H_30(state, unused, out_2315713713466729427); +void car_H_30(double *state, double *unused, double *out_7174456855637391420) { + H_30(state, unused, out_7174456855637391420); } -void car_h_26(double *state, double *unused, double *out_2566663824515510610) { - h_26(state, unused, out_2566663824515510610); +void car_h_26(double *state, double *unused, double *out_2811534710064499425) { + h_26(state, unused, out_2811534710064499425); } -void car_H_26(double *state, double *unused, double *out_3101906724720281401) { - H_26(state, unused, out_3101906724720281401); +void car_H_26(double *state, double *unused, double *out_7960649866890943394) { + H_26(state, unused, out_7960649866890943394); } -void car_h_27(double *state, double *unused, double *out_1949700952402234262) { - h_27(state, unused, out_1949700952402234262); +void car_h_27(double *state, double *unused, double *out_4116487184636980656) { + h_27(state, unused, out_4116487184636980656); } -void car_H_27(double *state, double *unused, double *out_140950401666304516) { - H_27(state, unused, out_140950401666304516); +void car_H_27(double *state, double *unused, double *out_9048693146888216979) { + H_27(state, unused, out_9048693146888216979); } -void car_h_29(double *state, double *unused, double *out_8537528878878529425) { - h_29(state, unused, out_8537528878878529425); +void car_h_29(double *state, double *unused, double *out_1915699176115514220) { + h_29(state, unused, out_1915699176115514220); } -void car_H_29(double *state, double *unused, double *out_2825945057781121611) { - H_29(state, unused, out_2825945057781121611); +void car_H_29(double *state, double *unused, double *out_7684688199951783604) { + H_29(state, unused, out_7684688199951783604); } -void car_h_28(double *state, double *unused, double *out_6571886981858342576) { - h_28(state, unused, out_6571886981858342576); +void car_h_28(double *state, double *unused, double *out_6496658557271199005) { + h_28(state, unused, out_6496658557271199005); } -void car_H_28(double *state, double *unused, double *out_4789575329346447862) { - H_28(state, unused, out_4789575329346447862); +void car_H_28(double *state, double *unused, double *out_2602289182882253030) { + H_28(state, unused, out_2602289182882253030); } -void car_h_31(double *state, double *unused, double *out_4711292941562061058) { - h_31(state, unused, out_4711292941562061058); +void car_h_31(double *state, double *unused, double *out_9104190579401499048) { + h_31(state, unused, out_9104190579401499048); } -void car_H_31(double *state, double *unused, double *out_2475698622486929925) { - H_31(state, unused, out_2475698622486929925); +void car_H_31(double *state, double *unused, double *out_7334441764657591918) { + H_31(state, unused, out_7334441764657591918); } 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 048a14570..287894747 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_8235846690843231890); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4073537797462342510); -void car_H_mod_fun(double *state, double *out_1939718218409672785); -void car_f_fun(double *state, double dt, double *out_3926727015556538206); -void car_F_fun(double *state, double dt, double *out_2236832154434567522); -void car_h_25(double *state, double *unused, double *out_3928584535156480826); -void car_H_25(double *state, double *unused, double *out_6843410043594337625); -void car_h_24(double *state, double *unused, double *out_3301920948150113080); -void car_H_24(double *state, double *unused, double *out_599264549394378695); -void car_h_30(double *state, double *unused, double *out_3653390472871974937); -void car_H_30(double *state, double *unused, double *out_2315713713466729427); -void car_h_26(double *state, double *unused, double *out_2566663824515510610); -void car_H_26(double *state, double *unused, double *out_3101906724720281401); -void car_h_27(double *state, double *unused, double *out_1949700952402234262); -void car_H_27(double *state, double *unused, double *out_140950401666304516); -void car_h_29(double *state, double *unused, double *out_8537528878878529425); -void car_H_29(double *state, double *unused, double *out_2825945057781121611); -void car_h_28(double *state, double *unused, double *out_6571886981858342576); -void car_H_28(double *state, double *unused, double *out_4789575329346447862); -void car_h_31(double *state, double *unused, double *out_4711292941562061058); -void car_H_31(double *state, double *unused, double *out_2475698622486929925); +void car_err_fun(double *nom_x, double *delta_x, double *out_1814247348247547720); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2896416663387818009); +void car_H_mod_fun(double *state, double *out_3833245775098430450); +void car_f_fun(double *state, double dt, double *out_3477590770207651617); +void car_F_fun(double *state, double dt, double *out_3058811064297665734); +void car_h_25(double *state, double *unused, double *out_845892813044312576); +void car_H_25(double *state, double *unused, double *out_6744590887944551998); +void car_h_24(double *state, double *unused, double *out_410909672515548225); +void car_H_24(double *state, double *unused, double *out_673800745732374895); +void car_h_30(double *state, double *unused, double *out_8727165463798361761); +void car_H_30(double *state, double *unused, double *out_7174456855637391420); +void car_h_26(double *state, double *unused, double *out_2811534710064499425); +void car_H_26(double *state, double *unused, double *out_7960649866890943394); +void car_h_27(double *state, double *unused, double *out_4116487184636980656); +void car_H_27(double *state, double *unused, double *out_9048693146888216979); +void car_h_29(double *state, double *unused, double *out_1915699176115514220); +void car_H_29(double *state, double *unused, double *out_7684688199951783604); +void car_h_28(double *state, double *unused, double *out_6496658557271199005); +void car_H_28(double *state, double *unused, double *out_2602289182882253030); +void car_h_31(double *state, double *unused, double *out_9104190579401499048); +void car_H_31(double *state, double *unused, double *out_7334441764657591918); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index d183d00ed..57dd42f8a 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_7099155186075195158) { - out_7099155186075195158[0] = delta_x[0] + nom_x[0]; - out_7099155186075195158[1] = delta_x[1] + nom_x[1]; - out_7099155186075195158[2] = delta_x[2] + nom_x[2]; - out_7099155186075195158[3] = delta_x[3] + nom_x[3]; - out_7099155186075195158[4] = delta_x[4] + nom_x[4]; - out_7099155186075195158[5] = delta_x[5] + nom_x[5]; - out_7099155186075195158[6] = delta_x[6] + nom_x[6]; - out_7099155186075195158[7] = delta_x[7] + nom_x[7]; - out_7099155186075195158[8] = delta_x[8] + nom_x[8]; - out_7099155186075195158[9] = delta_x[9] + nom_x[9]; - out_7099155186075195158[10] = delta_x[10] + nom_x[10]; - out_7099155186075195158[11] = delta_x[11] + nom_x[11]; - out_7099155186075195158[12] = delta_x[12] + nom_x[12]; - out_7099155186075195158[13] = delta_x[13] + nom_x[13]; - out_7099155186075195158[14] = delta_x[14] + nom_x[14]; - out_7099155186075195158[15] = delta_x[15] + nom_x[15]; - out_7099155186075195158[16] = delta_x[16] + nom_x[16]; - out_7099155186075195158[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_1608596609641417580) { + out_1608596609641417580[0] = delta_x[0] + nom_x[0]; + out_1608596609641417580[1] = delta_x[1] + nom_x[1]; + out_1608596609641417580[2] = delta_x[2] + nom_x[2]; + out_1608596609641417580[3] = delta_x[3] + nom_x[3]; + out_1608596609641417580[4] = delta_x[4] + nom_x[4]; + out_1608596609641417580[5] = delta_x[5] + nom_x[5]; + out_1608596609641417580[6] = delta_x[6] + nom_x[6]; + out_1608596609641417580[7] = delta_x[7] + nom_x[7]; + out_1608596609641417580[8] = delta_x[8] + nom_x[8]; + out_1608596609641417580[9] = delta_x[9] + nom_x[9]; + out_1608596609641417580[10] = delta_x[10] + nom_x[10]; + out_1608596609641417580[11] = delta_x[11] + nom_x[11]; + out_1608596609641417580[12] = delta_x[12] + nom_x[12]; + out_1608596609641417580[13] = delta_x[13] + nom_x[13]; + out_1608596609641417580[14] = delta_x[14] + nom_x[14]; + out_1608596609641417580[15] = delta_x[15] + nom_x[15]; + out_1608596609641417580[16] = delta_x[16] + nom_x[16]; + out_1608596609641417580[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2441097136385557776) { - out_2441097136385557776[0] = -nom_x[0] + true_x[0]; - out_2441097136385557776[1] = -nom_x[1] + true_x[1]; - out_2441097136385557776[2] = -nom_x[2] + true_x[2]; - out_2441097136385557776[3] = -nom_x[3] + true_x[3]; - out_2441097136385557776[4] = -nom_x[4] + true_x[4]; - out_2441097136385557776[5] = -nom_x[5] + true_x[5]; - out_2441097136385557776[6] = -nom_x[6] + true_x[6]; - out_2441097136385557776[7] = -nom_x[7] + true_x[7]; - out_2441097136385557776[8] = -nom_x[8] + true_x[8]; - out_2441097136385557776[9] = -nom_x[9] + true_x[9]; - out_2441097136385557776[10] = -nom_x[10] + true_x[10]; - out_2441097136385557776[11] = -nom_x[11] + true_x[11]; - out_2441097136385557776[12] = -nom_x[12] + true_x[12]; - out_2441097136385557776[13] = -nom_x[13] + true_x[13]; - out_2441097136385557776[14] = -nom_x[14] + true_x[14]; - out_2441097136385557776[15] = -nom_x[15] + true_x[15]; - out_2441097136385557776[16] = -nom_x[16] + true_x[16]; - out_2441097136385557776[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1300195658449584630) { + out_1300195658449584630[0] = -nom_x[0] + true_x[0]; + out_1300195658449584630[1] = -nom_x[1] + true_x[1]; + out_1300195658449584630[2] = -nom_x[2] + true_x[2]; + out_1300195658449584630[3] = -nom_x[3] + true_x[3]; + out_1300195658449584630[4] = -nom_x[4] + true_x[4]; + out_1300195658449584630[5] = -nom_x[5] + true_x[5]; + out_1300195658449584630[6] = -nom_x[6] + true_x[6]; + out_1300195658449584630[7] = -nom_x[7] + true_x[7]; + out_1300195658449584630[8] = -nom_x[8] + true_x[8]; + out_1300195658449584630[9] = -nom_x[9] + true_x[9]; + out_1300195658449584630[10] = -nom_x[10] + true_x[10]; + out_1300195658449584630[11] = -nom_x[11] + true_x[11]; + out_1300195658449584630[12] = -nom_x[12] + true_x[12]; + out_1300195658449584630[13] = -nom_x[13] + true_x[13]; + out_1300195658449584630[14] = -nom_x[14] + true_x[14]; + out_1300195658449584630[15] = -nom_x[15] + true_x[15]; + out_1300195658449584630[16] = -nom_x[16] + true_x[16]; + out_1300195658449584630[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3208607372720185681) { - out_3208607372720185681[0] = 1.0; - out_3208607372720185681[1] = 0.0; - out_3208607372720185681[2] = 0.0; - out_3208607372720185681[3] = 0.0; - out_3208607372720185681[4] = 0.0; - out_3208607372720185681[5] = 0.0; - out_3208607372720185681[6] = 0.0; - out_3208607372720185681[7] = 0.0; - out_3208607372720185681[8] = 0.0; - out_3208607372720185681[9] = 0.0; - out_3208607372720185681[10] = 0.0; - out_3208607372720185681[11] = 0.0; - out_3208607372720185681[12] = 0.0; - out_3208607372720185681[13] = 0.0; - out_3208607372720185681[14] = 0.0; - out_3208607372720185681[15] = 0.0; - out_3208607372720185681[16] = 0.0; - out_3208607372720185681[17] = 0.0; - out_3208607372720185681[18] = 0.0; - out_3208607372720185681[19] = 1.0; - out_3208607372720185681[20] = 0.0; - out_3208607372720185681[21] = 0.0; - out_3208607372720185681[22] = 0.0; - out_3208607372720185681[23] = 0.0; - out_3208607372720185681[24] = 0.0; - out_3208607372720185681[25] = 0.0; - out_3208607372720185681[26] = 0.0; - out_3208607372720185681[27] = 0.0; - out_3208607372720185681[28] = 0.0; - out_3208607372720185681[29] = 0.0; - out_3208607372720185681[30] = 0.0; - out_3208607372720185681[31] = 0.0; - out_3208607372720185681[32] = 0.0; - out_3208607372720185681[33] = 0.0; - out_3208607372720185681[34] = 0.0; - out_3208607372720185681[35] = 0.0; - out_3208607372720185681[36] = 0.0; - out_3208607372720185681[37] = 0.0; - out_3208607372720185681[38] = 1.0; - out_3208607372720185681[39] = 0.0; - out_3208607372720185681[40] = 0.0; - out_3208607372720185681[41] = 0.0; - out_3208607372720185681[42] = 0.0; - out_3208607372720185681[43] = 0.0; - out_3208607372720185681[44] = 0.0; - out_3208607372720185681[45] = 0.0; - out_3208607372720185681[46] = 0.0; - out_3208607372720185681[47] = 0.0; - out_3208607372720185681[48] = 0.0; - out_3208607372720185681[49] = 0.0; - out_3208607372720185681[50] = 0.0; - out_3208607372720185681[51] = 0.0; - out_3208607372720185681[52] = 0.0; - out_3208607372720185681[53] = 0.0; - out_3208607372720185681[54] = 0.0; - out_3208607372720185681[55] = 0.0; - out_3208607372720185681[56] = 0.0; - out_3208607372720185681[57] = 1.0; - out_3208607372720185681[58] = 0.0; - out_3208607372720185681[59] = 0.0; - out_3208607372720185681[60] = 0.0; - out_3208607372720185681[61] = 0.0; - out_3208607372720185681[62] = 0.0; - out_3208607372720185681[63] = 0.0; - out_3208607372720185681[64] = 0.0; - out_3208607372720185681[65] = 0.0; - out_3208607372720185681[66] = 0.0; - out_3208607372720185681[67] = 0.0; - out_3208607372720185681[68] = 0.0; - out_3208607372720185681[69] = 0.0; - out_3208607372720185681[70] = 0.0; - out_3208607372720185681[71] = 0.0; - out_3208607372720185681[72] = 0.0; - out_3208607372720185681[73] = 0.0; - out_3208607372720185681[74] = 0.0; - out_3208607372720185681[75] = 0.0; - out_3208607372720185681[76] = 1.0; - out_3208607372720185681[77] = 0.0; - out_3208607372720185681[78] = 0.0; - out_3208607372720185681[79] = 0.0; - out_3208607372720185681[80] = 0.0; - out_3208607372720185681[81] = 0.0; - out_3208607372720185681[82] = 0.0; - out_3208607372720185681[83] = 0.0; - out_3208607372720185681[84] = 0.0; - out_3208607372720185681[85] = 0.0; - out_3208607372720185681[86] = 0.0; - out_3208607372720185681[87] = 0.0; - out_3208607372720185681[88] = 0.0; - out_3208607372720185681[89] = 0.0; - out_3208607372720185681[90] = 0.0; - out_3208607372720185681[91] = 0.0; - out_3208607372720185681[92] = 0.0; - out_3208607372720185681[93] = 0.0; - out_3208607372720185681[94] = 0.0; - out_3208607372720185681[95] = 1.0; - out_3208607372720185681[96] = 0.0; - out_3208607372720185681[97] = 0.0; - out_3208607372720185681[98] = 0.0; - out_3208607372720185681[99] = 0.0; - out_3208607372720185681[100] = 0.0; - out_3208607372720185681[101] = 0.0; - out_3208607372720185681[102] = 0.0; - out_3208607372720185681[103] = 0.0; - out_3208607372720185681[104] = 0.0; - out_3208607372720185681[105] = 0.0; - out_3208607372720185681[106] = 0.0; - out_3208607372720185681[107] = 0.0; - out_3208607372720185681[108] = 0.0; - out_3208607372720185681[109] = 0.0; - out_3208607372720185681[110] = 0.0; - out_3208607372720185681[111] = 0.0; - out_3208607372720185681[112] = 0.0; - out_3208607372720185681[113] = 0.0; - out_3208607372720185681[114] = 1.0; - out_3208607372720185681[115] = 0.0; - out_3208607372720185681[116] = 0.0; - out_3208607372720185681[117] = 0.0; - out_3208607372720185681[118] = 0.0; - out_3208607372720185681[119] = 0.0; - out_3208607372720185681[120] = 0.0; - out_3208607372720185681[121] = 0.0; - out_3208607372720185681[122] = 0.0; - out_3208607372720185681[123] = 0.0; - out_3208607372720185681[124] = 0.0; - out_3208607372720185681[125] = 0.0; - out_3208607372720185681[126] = 0.0; - out_3208607372720185681[127] = 0.0; - out_3208607372720185681[128] = 0.0; - out_3208607372720185681[129] = 0.0; - out_3208607372720185681[130] = 0.0; - out_3208607372720185681[131] = 0.0; - out_3208607372720185681[132] = 0.0; - out_3208607372720185681[133] = 1.0; - out_3208607372720185681[134] = 0.0; - out_3208607372720185681[135] = 0.0; - out_3208607372720185681[136] = 0.0; - out_3208607372720185681[137] = 0.0; - out_3208607372720185681[138] = 0.0; - out_3208607372720185681[139] = 0.0; - out_3208607372720185681[140] = 0.0; - out_3208607372720185681[141] = 0.0; - out_3208607372720185681[142] = 0.0; - out_3208607372720185681[143] = 0.0; - out_3208607372720185681[144] = 0.0; - out_3208607372720185681[145] = 0.0; - out_3208607372720185681[146] = 0.0; - out_3208607372720185681[147] = 0.0; - out_3208607372720185681[148] = 0.0; - out_3208607372720185681[149] = 0.0; - out_3208607372720185681[150] = 0.0; - out_3208607372720185681[151] = 0.0; - out_3208607372720185681[152] = 1.0; - out_3208607372720185681[153] = 0.0; - out_3208607372720185681[154] = 0.0; - out_3208607372720185681[155] = 0.0; - out_3208607372720185681[156] = 0.0; - out_3208607372720185681[157] = 0.0; - out_3208607372720185681[158] = 0.0; - out_3208607372720185681[159] = 0.0; - out_3208607372720185681[160] = 0.0; - out_3208607372720185681[161] = 0.0; - out_3208607372720185681[162] = 0.0; - out_3208607372720185681[163] = 0.0; - out_3208607372720185681[164] = 0.0; - out_3208607372720185681[165] = 0.0; - out_3208607372720185681[166] = 0.0; - out_3208607372720185681[167] = 0.0; - out_3208607372720185681[168] = 0.0; - out_3208607372720185681[169] = 0.0; - out_3208607372720185681[170] = 0.0; - out_3208607372720185681[171] = 1.0; - out_3208607372720185681[172] = 0.0; - out_3208607372720185681[173] = 0.0; - out_3208607372720185681[174] = 0.0; - out_3208607372720185681[175] = 0.0; - out_3208607372720185681[176] = 0.0; - out_3208607372720185681[177] = 0.0; - out_3208607372720185681[178] = 0.0; - out_3208607372720185681[179] = 0.0; - out_3208607372720185681[180] = 0.0; - out_3208607372720185681[181] = 0.0; - out_3208607372720185681[182] = 0.0; - out_3208607372720185681[183] = 0.0; - out_3208607372720185681[184] = 0.0; - out_3208607372720185681[185] = 0.0; - out_3208607372720185681[186] = 0.0; - out_3208607372720185681[187] = 0.0; - out_3208607372720185681[188] = 0.0; - out_3208607372720185681[189] = 0.0; - out_3208607372720185681[190] = 1.0; - out_3208607372720185681[191] = 0.0; - out_3208607372720185681[192] = 0.0; - out_3208607372720185681[193] = 0.0; - out_3208607372720185681[194] = 0.0; - out_3208607372720185681[195] = 0.0; - out_3208607372720185681[196] = 0.0; - out_3208607372720185681[197] = 0.0; - out_3208607372720185681[198] = 0.0; - out_3208607372720185681[199] = 0.0; - out_3208607372720185681[200] = 0.0; - out_3208607372720185681[201] = 0.0; - out_3208607372720185681[202] = 0.0; - out_3208607372720185681[203] = 0.0; - out_3208607372720185681[204] = 0.0; - out_3208607372720185681[205] = 0.0; - out_3208607372720185681[206] = 0.0; - out_3208607372720185681[207] = 0.0; - out_3208607372720185681[208] = 0.0; - out_3208607372720185681[209] = 1.0; - out_3208607372720185681[210] = 0.0; - out_3208607372720185681[211] = 0.0; - out_3208607372720185681[212] = 0.0; - out_3208607372720185681[213] = 0.0; - out_3208607372720185681[214] = 0.0; - out_3208607372720185681[215] = 0.0; - out_3208607372720185681[216] = 0.0; - out_3208607372720185681[217] = 0.0; - out_3208607372720185681[218] = 0.0; - out_3208607372720185681[219] = 0.0; - out_3208607372720185681[220] = 0.0; - out_3208607372720185681[221] = 0.0; - out_3208607372720185681[222] = 0.0; - out_3208607372720185681[223] = 0.0; - out_3208607372720185681[224] = 0.0; - out_3208607372720185681[225] = 0.0; - out_3208607372720185681[226] = 0.0; - out_3208607372720185681[227] = 0.0; - out_3208607372720185681[228] = 1.0; - out_3208607372720185681[229] = 0.0; - out_3208607372720185681[230] = 0.0; - out_3208607372720185681[231] = 0.0; - out_3208607372720185681[232] = 0.0; - out_3208607372720185681[233] = 0.0; - out_3208607372720185681[234] = 0.0; - out_3208607372720185681[235] = 0.0; - out_3208607372720185681[236] = 0.0; - out_3208607372720185681[237] = 0.0; - out_3208607372720185681[238] = 0.0; - out_3208607372720185681[239] = 0.0; - out_3208607372720185681[240] = 0.0; - out_3208607372720185681[241] = 0.0; - out_3208607372720185681[242] = 0.0; - out_3208607372720185681[243] = 0.0; - out_3208607372720185681[244] = 0.0; - out_3208607372720185681[245] = 0.0; - out_3208607372720185681[246] = 0.0; - out_3208607372720185681[247] = 1.0; - out_3208607372720185681[248] = 0.0; - out_3208607372720185681[249] = 0.0; - out_3208607372720185681[250] = 0.0; - out_3208607372720185681[251] = 0.0; - out_3208607372720185681[252] = 0.0; - out_3208607372720185681[253] = 0.0; - out_3208607372720185681[254] = 0.0; - out_3208607372720185681[255] = 0.0; - out_3208607372720185681[256] = 0.0; - out_3208607372720185681[257] = 0.0; - out_3208607372720185681[258] = 0.0; - out_3208607372720185681[259] = 0.0; - out_3208607372720185681[260] = 0.0; - out_3208607372720185681[261] = 0.0; - out_3208607372720185681[262] = 0.0; - out_3208607372720185681[263] = 0.0; - out_3208607372720185681[264] = 0.0; - out_3208607372720185681[265] = 0.0; - out_3208607372720185681[266] = 1.0; - out_3208607372720185681[267] = 0.0; - out_3208607372720185681[268] = 0.0; - out_3208607372720185681[269] = 0.0; - out_3208607372720185681[270] = 0.0; - out_3208607372720185681[271] = 0.0; - out_3208607372720185681[272] = 0.0; - out_3208607372720185681[273] = 0.0; - out_3208607372720185681[274] = 0.0; - out_3208607372720185681[275] = 0.0; - out_3208607372720185681[276] = 0.0; - out_3208607372720185681[277] = 0.0; - out_3208607372720185681[278] = 0.0; - out_3208607372720185681[279] = 0.0; - out_3208607372720185681[280] = 0.0; - out_3208607372720185681[281] = 0.0; - out_3208607372720185681[282] = 0.0; - out_3208607372720185681[283] = 0.0; - out_3208607372720185681[284] = 0.0; - out_3208607372720185681[285] = 1.0; - out_3208607372720185681[286] = 0.0; - out_3208607372720185681[287] = 0.0; - out_3208607372720185681[288] = 0.0; - out_3208607372720185681[289] = 0.0; - out_3208607372720185681[290] = 0.0; - out_3208607372720185681[291] = 0.0; - out_3208607372720185681[292] = 0.0; - out_3208607372720185681[293] = 0.0; - out_3208607372720185681[294] = 0.0; - out_3208607372720185681[295] = 0.0; - out_3208607372720185681[296] = 0.0; - out_3208607372720185681[297] = 0.0; - out_3208607372720185681[298] = 0.0; - out_3208607372720185681[299] = 0.0; - out_3208607372720185681[300] = 0.0; - out_3208607372720185681[301] = 0.0; - out_3208607372720185681[302] = 0.0; - out_3208607372720185681[303] = 0.0; - out_3208607372720185681[304] = 1.0; - out_3208607372720185681[305] = 0.0; - out_3208607372720185681[306] = 0.0; - out_3208607372720185681[307] = 0.0; - out_3208607372720185681[308] = 0.0; - out_3208607372720185681[309] = 0.0; - out_3208607372720185681[310] = 0.0; - out_3208607372720185681[311] = 0.0; - out_3208607372720185681[312] = 0.0; - out_3208607372720185681[313] = 0.0; - out_3208607372720185681[314] = 0.0; - out_3208607372720185681[315] = 0.0; - out_3208607372720185681[316] = 0.0; - out_3208607372720185681[317] = 0.0; - out_3208607372720185681[318] = 0.0; - out_3208607372720185681[319] = 0.0; - out_3208607372720185681[320] = 0.0; - out_3208607372720185681[321] = 0.0; - out_3208607372720185681[322] = 0.0; - out_3208607372720185681[323] = 1.0; +void H_mod_fun(double *state, double *out_4243197136101237079) { + out_4243197136101237079[0] = 1.0; + out_4243197136101237079[1] = 0.0; + out_4243197136101237079[2] = 0.0; + out_4243197136101237079[3] = 0.0; + out_4243197136101237079[4] = 0.0; + out_4243197136101237079[5] = 0.0; + out_4243197136101237079[6] = 0.0; + out_4243197136101237079[7] = 0.0; + out_4243197136101237079[8] = 0.0; + out_4243197136101237079[9] = 0.0; + out_4243197136101237079[10] = 0.0; + out_4243197136101237079[11] = 0.0; + out_4243197136101237079[12] = 0.0; + out_4243197136101237079[13] = 0.0; + out_4243197136101237079[14] = 0.0; + out_4243197136101237079[15] = 0.0; + out_4243197136101237079[16] = 0.0; + out_4243197136101237079[17] = 0.0; + out_4243197136101237079[18] = 0.0; + out_4243197136101237079[19] = 1.0; + out_4243197136101237079[20] = 0.0; + out_4243197136101237079[21] = 0.0; + out_4243197136101237079[22] = 0.0; + out_4243197136101237079[23] = 0.0; + out_4243197136101237079[24] = 0.0; + out_4243197136101237079[25] = 0.0; + out_4243197136101237079[26] = 0.0; + out_4243197136101237079[27] = 0.0; + out_4243197136101237079[28] = 0.0; + out_4243197136101237079[29] = 0.0; + out_4243197136101237079[30] = 0.0; + out_4243197136101237079[31] = 0.0; + out_4243197136101237079[32] = 0.0; + out_4243197136101237079[33] = 0.0; + out_4243197136101237079[34] = 0.0; + out_4243197136101237079[35] = 0.0; + out_4243197136101237079[36] = 0.0; + out_4243197136101237079[37] = 0.0; + out_4243197136101237079[38] = 1.0; + out_4243197136101237079[39] = 0.0; + out_4243197136101237079[40] = 0.0; + out_4243197136101237079[41] = 0.0; + out_4243197136101237079[42] = 0.0; + out_4243197136101237079[43] = 0.0; + out_4243197136101237079[44] = 0.0; + out_4243197136101237079[45] = 0.0; + out_4243197136101237079[46] = 0.0; + out_4243197136101237079[47] = 0.0; + out_4243197136101237079[48] = 0.0; + out_4243197136101237079[49] = 0.0; + out_4243197136101237079[50] = 0.0; + out_4243197136101237079[51] = 0.0; + out_4243197136101237079[52] = 0.0; + out_4243197136101237079[53] = 0.0; + out_4243197136101237079[54] = 0.0; + out_4243197136101237079[55] = 0.0; + out_4243197136101237079[56] = 0.0; + out_4243197136101237079[57] = 1.0; + out_4243197136101237079[58] = 0.0; + out_4243197136101237079[59] = 0.0; + out_4243197136101237079[60] = 0.0; + out_4243197136101237079[61] = 0.0; + out_4243197136101237079[62] = 0.0; + out_4243197136101237079[63] = 0.0; + out_4243197136101237079[64] = 0.0; + out_4243197136101237079[65] = 0.0; + out_4243197136101237079[66] = 0.0; + out_4243197136101237079[67] = 0.0; + out_4243197136101237079[68] = 0.0; + out_4243197136101237079[69] = 0.0; + out_4243197136101237079[70] = 0.0; + out_4243197136101237079[71] = 0.0; + out_4243197136101237079[72] = 0.0; + out_4243197136101237079[73] = 0.0; + out_4243197136101237079[74] = 0.0; + out_4243197136101237079[75] = 0.0; + out_4243197136101237079[76] = 1.0; + out_4243197136101237079[77] = 0.0; + out_4243197136101237079[78] = 0.0; + out_4243197136101237079[79] = 0.0; + out_4243197136101237079[80] = 0.0; + out_4243197136101237079[81] = 0.0; + out_4243197136101237079[82] = 0.0; + out_4243197136101237079[83] = 0.0; + out_4243197136101237079[84] = 0.0; + out_4243197136101237079[85] = 0.0; + out_4243197136101237079[86] = 0.0; + out_4243197136101237079[87] = 0.0; + out_4243197136101237079[88] = 0.0; + out_4243197136101237079[89] = 0.0; + out_4243197136101237079[90] = 0.0; + out_4243197136101237079[91] = 0.0; + out_4243197136101237079[92] = 0.0; + out_4243197136101237079[93] = 0.0; + out_4243197136101237079[94] = 0.0; + out_4243197136101237079[95] = 1.0; + out_4243197136101237079[96] = 0.0; + out_4243197136101237079[97] = 0.0; + out_4243197136101237079[98] = 0.0; + out_4243197136101237079[99] = 0.0; + out_4243197136101237079[100] = 0.0; + out_4243197136101237079[101] = 0.0; + out_4243197136101237079[102] = 0.0; + out_4243197136101237079[103] = 0.0; + out_4243197136101237079[104] = 0.0; + out_4243197136101237079[105] = 0.0; + out_4243197136101237079[106] = 0.0; + out_4243197136101237079[107] = 0.0; + out_4243197136101237079[108] = 0.0; + out_4243197136101237079[109] = 0.0; + out_4243197136101237079[110] = 0.0; + out_4243197136101237079[111] = 0.0; + out_4243197136101237079[112] = 0.0; + out_4243197136101237079[113] = 0.0; + out_4243197136101237079[114] = 1.0; + out_4243197136101237079[115] = 0.0; + out_4243197136101237079[116] = 0.0; + out_4243197136101237079[117] = 0.0; + out_4243197136101237079[118] = 0.0; + out_4243197136101237079[119] = 0.0; + out_4243197136101237079[120] = 0.0; + out_4243197136101237079[121] = 0.0; + out_4243197136101237079[122] = 0.0; + out_4243197136101237079[123] = 0.0; + out_4243197136101237079[124] = 0.0; + out_4243197136101237079[125] = 0.0; + out_4243197136101237079[126] = 0.0; + out_4243197136101237079[127] = 0.0; + out_4243197136101237079[128] = 0.0; + out_4243197136101237079[129] = 0.0; + out_4243197136101237079[130] = 0.0; + out_4243197136101237079[131] = 0.0; + out_4243197136101237079[132] = 0.0; + out_4243197136101237079[133] = 1.0; + out_4243197136101237079[134] = 0.0; + out_4243197136101237079[135] = 0.0; + out_4243197136101237079[136] = 0.0; + out_4243197136101237079[137] = 0.0; + out_4243197136101237079[138] = 0.0; + out_4243197136101237079[139] = 0.0; + out_4243197136101237079[140] = 0.0; + out_4243197136101237079[141] = 0.0; + out_4243197136101237079[142] = 0.0; + out_4243197136101237079[143] = 0.0; + out_4243197136101237079[144] = 0.0; + out_4243197136101237079[145] = 0.0; + out_4243197136101237079[146] = 0.0; + out_4243197136101237079[147] = 0.0; + out_4243197136101237079[148] = 0.0; + out_4243197136101237079[149] = 0.0; + out_4243197136101237079[150] = 0.0; + out_4243197136101237079[151] = 0.0; + out_4243197136101237079[152] = 1.0; + out_4243197136101237079[153] = 0.0; + out_4243197136101237079[154] = 0.0; + out_4243197136101237079[155] = 0.0; + out_4243197136101237079[156] = 0.0; + out_4243197136101237079[157] = 0.0; + out_4243197136101237079[158] = 0.0; + out_4243197136101237079[159] = 0.0; + out_4243197136101237079[160] = 0.0; + out_4243197136101237079[161] = 0.0; + out_4243197136101237079[162] = 0.0; + out_4243197136101237079[163] = 0.0; + out_4243197136101237079[164] = 0.0; + out_4243197136101237079[165] = 0.0; + out_4243197136101237079[166] = 0.0; + out_4243197136101237079[167] = 0.0; + out_4243197136101237079[168] = 0.0; + out_4243197136101237079[169] = 0.0; + out_4243197136101237079[170] = 0.0; + out_4243197136101237079[171] = 1.0; + out_4243197136101237079[172] = 0.0; + out_4243197136101237079[173] = 0.0; + out_4243197136101237079[174] = 0.0; + out_4243197136101237079[175] = 0.0; + out_4243197136101237079[176] = 0.0; + out_4243197136101237079[177] = 0.0; + out_4243197136101237079[178] = 0.0; + out_4243197136101237079[179] = 0.0; + out_4243197136101237079[180] = 0.0; + out_4243197136101237079[181] = 0.0; + out_4243197136101237079[182] = 0.0; + out_4243197136101237079[183] = 0.0; + out_4243197136101237079[184] = 0.0; + out_4243197136101237079[185] = 0.0; + out_4243197136101237079[186] = 0.0; + out_4243197136101237079[187] = 0.0; + out_4243197136101237079[188] = 0.0; + out_4243197136101237079[189] = 0.0; + out_4243197136101237079[190] = 1.0; + out_4243197136101237079[191] = 0.0; + out_4243197136101237079[192] = 0.0; + out_4243197136101237079[193] = 0.0; + out_4243197136101237079[194] = 0.0; + out_4243197136101237079[195] = 0.0; + out_4243197136101237079[196] = 0.0; + out_4243197136101237079[197] = 0.0; + out_4243197136101237079[198] = 0.0; + out_4243197136101237079[199] = 0.0; + out_4243197136101237079[200] = 0.0; + out_4243197136101237079[201] = 0.0; + out_4243197136101237079[202] = 0.0; + out_4243197136101237079[203] = 0.0; + out_4243197136101237079[204] = 0.0; + out_4243197136101237079[205] = 0.0; + out_4243197136101237079[206] = 0.0; + out_4243197136101237079[207] = 0.0; + out_4243197136101237079[208] = 0.0; + out_4243197136101237079[209] = 1.0; + out_4243197136101237079[210] = 0.0; + out_4243197136101237079[211] = 0.0; + out_4243197136101237079[212] = 0.0; + out_4243197136101237079[213] = 0.0; + out_4243197136101237079[214] = 0.0; + out_4243197136101237079[215] = 0.0; + out_4243197136101237079[216] = 0.0; + out_4243197136101237079[217] = 0.0; + out_4243197136101237079[218] = 0.0; + out_4243197136101237079[219] = 0.0; + out_4243197136101237079[220] = 0.0; + out_4243197136101237079[221] = 0.0; + out_4243197136101237079[222] = 0.0; + out_4243197136101237079[223] = 0.0; + out_4243197136101237079[224] = 0.0; + out_4243197136101237079[225] = 0.0; + out_4243197136101237079[226] = 0.0; + out_4243197136101237079[227] = 0.0; + out_4243197136101237079[228] = 1.0; + out_4243197136101237079[229] = 0.0; + out_4243197136101237079[230] = 0.0; + out_4243197136101237079[231] = 0.0; + out_4243197136101237079[232] = 0.0; + out_4243197136101237079[233] = 0.0; + out_4243197136101237079[234] = 0.0; + out_4243197136101237079[235] = 0.0; + out_4243197136101237079[236] = 0.0; + out_4243197136101237079[237] = 0.0; + out_4243197136101237079[238] = 0.0; + out_4243197136101237079[239] = 0.0; + out_4243197136101237079[240] = 0.0; + out_4243197136101237079[241] = 0.0; + out_4243197136101237079[242] = 0.0; + out_4243197136101237079[243] = 0.0; + out_4243197136101237079[244] = 0.0; + out_4243197136101237079[245] = 0.0; + out_4243197136101237079[246] = 0.0; + out_4243197136101237079[247] = 1.0; + out_4243197136101237079[248] = 0.0; + out_4243197136101237079[249] = 0.0; + out_4243197136101237079[250] = 0.0; + out_4243197136101237079[251] = 0.0; + out_4243197136101237079[252] = 0.0; + out_4243197136101237079[253] = 0.0; + out_4243197136101237079[254] = 0.0; + out_4243197136101237079[255] = 0.0; + out_4243197136101237079[256] = 0.0; + out_4243197136101237079[257] = 0.0; + out_4243197136101237079[258] = 0.0; + out_4243197136101237079[259] = 0.0; + out_4243197136101237079[260] = 0.0; + out_4243197136101237079[261] = 0.0; + out_4243197136101237079[262] = 0.0; + out_4243197136101237079[263] = 0.0; + out_4243197136101237079[264] = 0.0; + out_4243197136101237079[265] = 0.0; + out_4243197136101237079[266] = 1.0; + out_4243197136101237079[267] = 0.0; + out_4243197136101237079[268] = 0.0; + out_4243197136101237079[269] = 0.0; + out_4243197136101237079[270] = 0.0; + out_4243197136101237079[271] = 0.0; + out_4243197136101237079[272] = 0.0; + out_4243197136101237079[273] = 0.0; + out_4243197136101237079[274] = 0.0; + out_4243197136101237079[275] = 0.0; + out_4243197136101237079[276] = 0.0; + out_4243197136101237079[277] = 0.0; + out_4243197136101237079[278] = 0.0; + out_4243197136101237079[279] = 0.0; + out_4243197136101237079[280] = 0.0; + out_4243197136101237079[281] = 0.0; + out_4243197136101237079[282] = 0.0; + out_4243197136101237079[283] = 0.0; + out_4243197136101237079[284] = 0.0; + out_4243197136101237079[285] = 1.0; + out_4243197136101237079[286] = 0.0; + out_4243197136101237079[287] = 0.0; + out_4243197136101237079[288] = 0.0; + out_4243197136101237079[289] = 0.0; + out_4243197136101237079[290] = 0.0; + out_4243197136101237079[291] = 0.0; + out_4243197136101237079[292] = 0.0; + out_4243197136101237079[293] = 0.0; + out_4243197136101237079[294] = 0.0; + out_4243197136101237079[295] = 0.0; + out_4243197136101237079[296] = 0.0; + out_4243197136101237079[297] = 0.0; + out_4243197136101237079[298] = 0.0; + out_4243197136101237079[299] = 0.0; + out_4243197136101237079[300] = 0.0; + out_4243197136101237079[301] = 0.0; + out_4243197136101237079[302] = 0.0; + out_4243197136101237079[303] = 0.0; + out_4243197136101237079[304] = 1.0; + out_4243197136101237079[305] = 0.0; + out_4243197136101237079[306] = 0.0; + out_4243197136101237079[307] = 0.0; + out_4243197136101237079[308] = 0.0; + out_4243197136101237079[309] = 0.0; + out_4243197136101237079[310] = 0.0; + out_4243197136101237079[311] = 0.0; + out_4243197136101237079[312] = 0.0; + out_4243197136101237079[313] = 0.0; + out_4243197136101237079[314] = 0.0; + out_4243197136101237079[315] = 0.0; + out_4243197136101237079[316] = 0.0; + out_4243197136101237079[317] = 0.0; + out_4243197136101237079[318] = 0.0; + out_4243197136101237079[319] = 0.0; + out_4243197136101237079[320] = 0.0; + out_4243197136101237079[321] = 0.0; + out_4243197136101237079[322] = 0.0; + out_4243197136101237079[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6464550598295734542) { - out_6464550598295734542[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_6464550598295734542[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_6464550598295734542[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_6464550598295734542[3] = dt*state[12] + state[3]; - out_6464550598295734542[4] = dt*state[13] + state[4]; - out_6464550598295734542[5] = dt*state[14] + state[5]; - out_6464550598295734542[6] = state[6]; - out_6464550598295734542[7] = state[7]; - out_6464550598295734542[8] = state[8]; - out_6464550598295734542[9] = state[9]; - out_6464550598295734542[10] = state[10]; - out_6464550598295734542[11] = state[11]; - out_6464550598295734542[12] = state[12]; - out_6464550598295734542[13] = state[13]; - out_6464550598295734542[14] = state[14]; - out_6464550598295734542[15] = state[15]; - out_6464550598295734542[16] = state[16]; - out_6464550598295734542[17] = state[17]; +void f_fun(double *state, double dt, double *out_5843270271854622054) { + out_5843270271854622054[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_5843270271854622054[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_5843270271854622054[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_5843270271854622054[3] = dt*state[12] + state[3]; + out_5843270271854622054[4] = dt*state[13] + state[4]; + out_5843270271854622054[5] = dt*state[14] + state[5]; + out_5843270271854622054[6] = state[6]; + out_5843270271854622054[7] = state[7]; + out_5843270271854622054[8] = state[8]; + out_5843270271854622054[9] = state[9]; + out_5843270271854622054[10] = state[10]; + out_5843270271854622054[11] = state[11]; + out_5843270271854622054[12] = state[12]; + out_5843270271854622054[13] = state[13]; + out_5843270271854622054[14] = state[14]; + out_5843270271854622054[15] = state[15]; + out_5843270271854622054[16] = state[16]; + out_5843270271854622054[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4669200903438633107) { - out_4669200903438633107[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_4669200903438633107[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_4669200903438633107[2] = 0; - out_4669200903438633107[3] = 0; - out_4669200903438633107[4] = 0; - out_4669200903438633107[5] = 0; - out_4669200903438633107[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_4669200903438633107[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_4669200903438633107[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_4669200903438633107[9] = 0; - out_4669200903438633107[10] = 0; - out_4669200903438633107[11] = 0; - out_4669200903438633107[12] = 0; - out_4669200903438633107[13] = 0; - out_4669200903438633107[14] = 0; - out_4669200903438633107[15] = 0; - out_4669200903438633107[16] = 0; - out_4669200903438633107[17] = 0; - out_4669200903438633107[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_4669200903438633107[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_4669200903438633107[20] = 0; - out_4669200903438633107[21] = 0; - out_4669200903438633107[22] = 0; - out_4669200903438633107[23] = 0; - out_4669200903438633107[24] = 0; - out_4669200903438633107[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_4669200903438633107[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_4669200903438633107[27] = 0; - out_4669200903438633107[28] = 0; - out_4669200903438633107[29] = 0; - out_4669200903438633107[30] = 0; - out_4669200903438633107[31] = 0; - out_4669200903438633107[32] = 0; - out_4669200903438633107[33] = 0; - out_4669200903438633107[34] = 0; - out_4669200903438633107[35] = 0; - out_4669200903438633107[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_4669200903438633107[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_4669200903438633107[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_4669200903438633107[39] = 0; - out_4669200903438633107[40] = 0; - out_4669200903438633107[41] = 0; - out_4669200903438633107[42] = 0; - out_4669200903438633107[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_4669200903438633107[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_4669200903438633107[45] = 0; - out_4669200903438633107[46] = 0; - out_4669200903438633107[47] = 0; - out_4669200903438633107[48] = 0; - out_4669200903438633107[49] = 0; - out_4669200903438633107[50] = 0; - out_4669200903438633107[51] = 0; - out_4669200903438633107[52] = 0; - out_4669200903438633107[53] = 0; - out_4669200903438633107[54] = 0; - out_4669200903438633107[55] = 0; - out_4669200903438633107[56] = 0; - out_4669200903438633107[57] = 1; - out_4669200903438633107[58] = 0; - out_4669200903438633107[59] = 0; - out_4669200903438633107[60] = 0; - out_4669200903438633107[61] = 0; - out_4669200903438633107[62] = 0; - out_4669200903438633107[63] = 0; - out_4669200903438633107[64] = 0; - out_4669200903438633107[65] = 0; - out_4669200903438633107[66] = dt; - out_4669200903438633107[67] = 0; - out_4669200903438633107[68] = 0; - out_4669200903438633107[69] = 0; - out_4669200903438633107[70] = 0; - out_4669200903438633107[71] = 0; - out_4669200903438633107[72] = 0; - out_4669200903438633107[73] = 0; - out_4669200903438633107[74] = 0; - out_4669200903438633107[75] = 0; - out_4669200903438633107[76] = 1; - out_4669200903438633107[77] = 0; - out_4669200903438633107[78] = 0; - out_4669200903438633107[79] = 0; - out_4669200903438633107[80] = 0; - out_4669200903438633107[81] = 0; - out_4669200903438633107[82] = 0; - out_4669200903438633107[83] = 0; - out_4669200903438633107[84] = 0; - out_4669200903438633107[85] = dt; - out_4669200903438633107[86] = 0; - out_4669200903438633107[87] = 0; - out_4669200903438633107[88] = 0; - out_4669200903438633107[89] = 0; - out_4669200903438633107[90] = 0; - out_4669200903438633107[91] = 0; - out_4669200903438633107[92] = 0; - out_4669200903438633107[93] = 0; - out_4669200903438633107[94] = 0; - out_4669200903438633107[95] = 1; - out_4669200903438633107[96] = 0; - out_4669200903438633107[97] = 0; - out_4669200903438633107[98] = 0; - out_4669200903438633107[99] = 0; - out_4669200903438633107[100] = 0; - out_4669200903438633107[101] = 0; - out_4669200903438633107[102] = 0; - out_4669200903438633107[103] = 0; - out_4669200903438633107[104] = dt; - out_4669200903438633107[105] = 0; - out_4669200903438633107[106] = 0; - out_4669200903438633107[107] = 0; - out_4669200903438633107[108] = 0; - out_4669200903438633107[109] = 0; - out_4669200903438633107[110] = 0; - out_4669200903438633107[111] = 0; - out_4669200903438633107[112] = 0; - out_4669200903438633107[113] = 0; - out_4669200903438633107[114] = 1; - out_4669200903438633107[115] = 0; - out_4669200903438633107[116] = 0; - out_4669200903438633107[117] = 0; - out_4669200903438633107[118] = 0; - out_4669200903438633107[119] = 0; - out_4669200903438633107[120] = 0; - out_4669200903438633107[121] = 0; - out_4669200903438633107[122] = 0; - out_4669200903438633107[123] = 0; - out_4669200903438633107[124] = 0; - out_4669200903438633107[125] = 0; - out_4669200903438633107[126] = 0; - out_4669200903438633107[127] = 0; - out_4669200903438633107[128] = 0; - out_4669200903438633107[129] = 0; - out_4669200903438633107[130] = 0; - out_4669200903438633107[131] = 0; - out_4669200903438633107[132] = 0; - out_4669200903438633107[133] = 1; - out_4669200903438633107[134] = 0; - out_4669200903438633107[135] = 0; - out_4669200903438633107[136] = 0; - out_4669200903438633107[137] = 0; - out_4669200903438633107[138] = 0; - out_4669200903438633107[139] = 0; - out_4669200903438633107[140] = 0; - out_4669200903438633107[141] = 0; - out_4669200903438633107[142] = 0; - out_4669200903438633107[143] = 0; - out_4669200903438633107[144] = 0; - out_4669200903438633107[145] = 0; - out_4669200903438633107[146] = 0; - out_4669200903438633107[147] = 0; - out_4669200903438633107[148] = 0; - out_4669200903438633107[149] = 0; - out_4669200903438633107[150] = 0; - out_4669200903438633107[151] = 0; - out_4669200903438633107[152] = 1; - out_4669200903438633107[153] = 0; - out_4669200903438633107[154] = 0; - out_4669200903438633107[155] = 0; - out_4669200903438633107[156] = 0; - out_4669200903438633107[157] = 0; - out_4669200903438633107[158] = 0; - out_4669200903438633107[159] = 0; - out_4669200903438633107[160] = 0; - out_4669200903438633107[161] = 0; - out_4669200903438633107[162] = 0; - out_4669200903438633107[163] = 0; - out_4669200903438633107[164] = 0; - out_4669200903438633107[165] = 0; - out_4669200903438633107[166] = 0; - out_4669200903438633107[167] = 0; - out_4669200903438633107[168] = 0; - out_4669200903438633107[169] = 0; - out_4669200903438633107[170] = 0; - out_4669200903438633107[171] = 1; - out_4669200903438633107[172] = 0; - out_4669200903438633107[173] = 0; - out_4669200903438633107[174] = 0; - out_4669200903438633107[175] = 0; - out_4669200903438633107[176] = 0; - out_4669200903438633107[177] = 0; - out_4669200903438633107[178] = 0; - out_4669200903438633107[179] = 0; - out_4669200903438633107[180] = 0; - out_4669200903438633107[181] = 0; - out_4669200903438633107[182] = 0; - out_4669200903438633107[183] = 0; - out_4669200903438633107[184] = 0; - out_4669200903438633107[185] = 0; - out_4669200903438633107[186] = 0; - out_4669200903438633107[187] = 0; - out_4669200903438633107[188] = 0; - out_4669200903438633107[189] = 0; - out_4669200903438633107[190] = 1; - out_4669200903438633107[191] = 0; - out_4669200903438633107[192] = 0; - out_4669200903438633107[193] = 0; - out_4669200903438633107[194] = 0; - out_4669200903438633107[195] = 0; - out_4669200903438633107[196] = 0; - out_4669200903438633107[197] = 0; - out_4669200903438633107[198] = 0; - out_4669200903438633107[199] = 0; - out_4669200903438633107[200] = 0; - out_4669200903438633107[201] = 0; - out_4669200903438633107[202] = 0; - out_4669200903438633107[203] = 0; - out_4669200903438633107[204] = 0; - out_4669200903438633107[205] = 0; - out_4669200903438633107[206] = 0; - out_4669200903438633107[207] = 0; - out_4669200903438633107[208] = 0; - out_4669200903438633107[209] = 1; - out_4669200903438633107[210] = 0; - out_4669200903438633107[211] = 0; - out_4669200903438633107[212] = 0; - out_4669200903438633107[213] = 0; - out_4669200903438633107[214] = 0; - out_4669200903438633107[215] = 0; - out_4669200903438633107[216] = 0; - out_4669200903438633107[217] = 0; - out_4669200903438633107[218] = 0; - out_4669200903438633107[219] = 0; - out_4669200903438633107[220] = 0; - out_4669200903438633107[221] = 0; - out_4669200903438633107[222] = 0; - out_4669200903438633107[223] = 0; - out_4669200903438633107[224] = 0; - out_4669200903438633107[225] = 0; - out_4669200903438633107[226] = 0; - out_4669200903438633107[227] = 0; - out_4669200903438633107[228] = 1; - out_4669200903438633107[229] = 0; - out_4669200903438633107[230] = 0; - out_4669200903438633107[231] = 0; - out_4669200903438633107[232] = 0; - out_4669200903438633107[233] = 0; - out_4669200903438633107[234] = 0; - out_4669200903438633107[235] = 0; - out_4669200903438633107[236] = 0; - out_4669200903438633107[237] = 0; - out_4669200903438633107[238] = 0; - out_4669200903438633107[239] = 0; - out_4669200903438633107[240] = 0; - out_4669200903438633107[241] = 0; - out_4669200903438633107[242] = 0; - out_4669200903438633107[243] = 0; - out_4669200903438633107[244] = 0; - out_4669200903438633107[245] = 0; - out_4669200903438633107[246] = 0; - out_4669200903438633107[247] = 1; - out_4669200903438633107[248] = 0; - out_4669200903438633107[249] = 0; - out_4669200903438633107[250] = 0; - out_4669200903438633107[251] = 0; - out_4669200903438633107[252] = 0; - out_4669200903438633107[253] = 0; - out_4669200903438633107[254] = 0; - out_4669200903438633107[255] = 0; - out_4669200903438633107[256] = 0; - out_4669200903438633107[257] = 0; - out_4669200903438633107[258] = 0; - out_4669200903438633107[259] = 0; - out_4669200903438633107[260] = 0; - out_4669200903438633107[261] = 0; - out_4669200903438633107[262] = 0; - out_4669200903438633107[263] = 0; - out_4669200903438633107[264] = 0; - out_4669200903438633107[265] = 0; - out_4669200903438633107[266] = 1; - out_4669200903438633107[267] = 0; - out_4669200903438633107[268] = 0; - out_4669200903438633107[269] = 0; - out_4669200903438633107[270] = 0; - out_4669200903438633107[271] = 0; - out_4669200903438633107[272] = 0; - out_4669200903438633107[273] = 0; - out_4669200903438633107[274] = 0; - out_4669200903438633107[275] = 0; - out_4669200903438633107[276] = 0; - out_4669200903438633107[277] = 0; - out_4669200903438633107[278] = 0; - out_4669200903438633107[279] = 0; - out_4669200903438633107[280] = 0; - out_4669200903438633107[281] = 0; - out_4669200903438633107[282] = 0; - out_4669200903438633107[283] = 0; - out_4669200903438633107[284] = 0; - out_4669200903438633107[285] = 1; - out_4669200903438633107[286] = 0; - out_4669200903438633107[287] = 0; - out_4669200903438633107[288] = 0; - out_4669200903438633107[289] = 0; - out_4669200903438633107[290] = 0; - out_4669200903438633107[291] = 0; - out_4669200903438633107[292] = 0; - out_4669200903438633107[293] = 0; - out_4669200903438633107[294] = 0; - out_4669200903438633107[295] = 0; - out_4669200903438633107[296] = 0; - out_4669200903438633107[297] = 0; - out_4669200903438633107[298] = 0; - out_4669200903438633107[299] = 0; - out_4669200903438633107[300] = 0; - out_4669200903438633107[301] = 0; - out_4669200903438633107[302] = 0; - out_4669200903438633107[303] = 0; - out_4669200903438633107[304] = 1; - out_4669200903438633107[305] = 0; - out_4669200903438633107[306] = 0; - out_4669200903438633107[307] = 0; - out_4669200903438633107[308] = 0; - out_4669200903438633107[309] = 0; - out_4669200903438633107[310] = 0; - out_4669200903438633107[311] = 0; - out_4669200903438633107[312] = 0; - out_4669200903438633107[313] = 0; - out_4669200903438633107[314] = 0; - out_4669200903438633107[315] = 0; - out_4669200903438633107[316] = 0; - out_4669200903438633107[317] = 0; - out_4669200903438633107[318] = 0; - out_4669200903438633107[319] = 0; - out_4669200903438633107[320] = 0; - out_4669200903438633107[321] = 0; - out_4669200903438633107[322] = 0; - out_4669200903438633107[323] = 1; +void F_fun(double *state, double dt, double *out_1867205219410655269) { + out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[2] = 0; + out_1867205219410655269[3] = 0; + out_1867205219410655269[4] = 0; + out_1867205219410655269[5] = 0; + out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[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_1867205219410655269[9] = 0; + out_1867205219410655269[10] = 0; + out_1867205219410655269[11] = 0; + out_1867205219410655269[12] = 0; + out_1867205219410655269[13] = 0; + out_1867205219410655269[14] = 0; + out_1867205219410655269[15] = 0; + out_1867205219410655269[16] = 0; + out_1867205219410655269[17] = 0; + out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[20] = 0; + out_1867205219410655269[21] = 0; + out_1867205219410655269[22] = 0; + out_1867205219410655269[23] = 0; + out_1867205219410655269[24] = 0; + out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[27] = 0; + out_1867205219410655269[28] = 0; + out_1867205219410655269[29] = 0; + out_1867205219410655269[30] = 0; + out_1867205219410655269[31] = 0; + out_1867205219410655269[32] = 0; + out_1867205219410655269[33] = 0; + out_1867205219410655269[34] = 0; + out_1867205219410655269[35] = 0; + out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[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_1867205219410655269[39] = 0; + out_1867205219410655269[40] = 0; + out_1867205219410655269[41] = 0; + out_1867205219410655269[42] = 0; + out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[45] = 0; + out_1867205219410655269[46] = 0; + out_1867205219410655269[47] = 0; + out_1867205219410655269[48] = 0; + out_1867205219410655269[49] = 0; + out_1867205219410655269[50] = 0; + out_1867205219410655269[51] = 0; + out_1867205219410655269[52] = 0; + out_1867205219410655269[53] = 0; + out_1867205219410655269[54] = 0; + out_1867205219410655269[55] = 0; + out_1867205219410655269[56] = 0; + out_1867205219410655269[57] = 1; + out_1867205219410655269[58] = 0; + out_1867205219410655269[59] = 0; + out_1867205219410655269[60] = 0; + out_1867205219410655269[61] = 0; + out_1867205219410655269[62] = 0; + out_1867205219410655269[63] = 0; + out_1867205219410655269[64] = 0; + out_1867205219410655269[65] = 0; + out_1867205219410655269[66] = dt; + out_1867205219410655269[67] = 0; + out_1867205219410655269[68] = 0; + out_1867205219410655269[69] = 0; + out_1867205219410655269[70] = 0; + out_1867205219410655269[71] = 0; + out_1867205219410655269[72] = 0; + out_1867205219410655269[73] = 0; + out_1867205219410655269[74] = 0; + out_1867205219410655269[75] = 0; + out_1867205219410655269[76] = 1; + out_1867205219410655269[77] = 0; + out_1867205219410655269[78] = 0; + out_1867205219410655269[79] = 0; + out_1867205219410655269[80] = 0; + out_1867205219410655269[81] = 0; + out_1867205219410655269[82] = 0; + out_1867205219410655269[83] = 0; + out_1867205219410655269[84] = 0; + out_1867205219410655269[85] = dt; + out_1867205219410655269[86] = 0; + out_1867205219410655269[87] = 0; + out_1867205219410655269[88] = 0; + out_1867205219410655269[89] = 0; + out_1867205219410655269[90] = 0; + out_1867205219410655269[91] = 0; + out_1867205219410655269[92] = 0; + out_1867205219410655269[93] = 0; + out_1867205219410655269[94] = 0; + out_1867205219410655269[95] = 1; + out_1867205219410655269[96] = 0; + out_1867205219410655269[97] = 0; + out_1867205219410655269[98] = 0; + out_1867205219410655269[99] = 0; + out_1867205219410655269[100] = 0; + out_1867205219410655269[101] = 0; + out_1867205219410655269[102] = 0; + out_1867205219410655269[103] = 0; + out_1867205219410655269[104] = dt; + out_1867205219410655269[105] = 0; + out_1867205219410655269[106] = 0; + out_1867205219410655269[107] = 0; + out_1867205219410655269[108] = 0; + out_1867205219410655269[109] = 0; + out_1867205219410655269[110] = 0; + out_1867205219410655269[111] = 0; + out_1867205219410655269[112] = 0; + out_1867205219410655269[113] = 0; + out_1867205219410655269[114] = 1; + out_1867205219410655269[115] = 0; + out_1867205219410655269[116] = 0; + out_1867205219410655269[117] = 0; + out_1867205219410655269[118] = 0; + out_1867205219410655269[119] = 0; + out_1867205219410655269[120] = 0; + out_1867205219410655269[121] = 0; + out_1867205219410655269[122] = 0; + out_1867205219410655269[123] = 0; + out_1867205219410655269[124] = 0; + out_1867205219410655269[125] = 0; + out_1867205219410655269[126] = 0; + out_1867205219410655269[127] = 0; + out_1867205219410655269[128] = 0; + out_1867205219410655269[129] = 0; + out_1867205219410655269[130] = 0; + out_1867205219410655269[131] = 0; + out_1867205219410655269[132] = 0; + out_1867205219410655269[133] = 1; + out_1867205219410655269[134] = 0; + out_1867205219410655269[135] = 0; + out_1867205219410655269[136] = 0; + out_1867205219410655269[137] = 0; + out_1867205219410655269[138] = 0; + out_1867205219410655269[139] = 0; + out_1867205219410655269[140] = 0; + out_1867205219410655269[141] = 0; + out_1867205219410655269[142] = 0; + out_1867205219410655269[143] = 0; + out_1867205219410655269[144] = 0; + out_1867205219410655269[145] = 0; + out_1867205219410655269[146] = 0; + out_1867205219410655269[147] = 0; + out_1867205219410655269[148] = 0; + out_1867205219410655269[149] = 0; + out_1867205219410655269[150] = 0; + out_1867205219410655269[151] = 0; + out_1867205219410655269[152] = 1; + out_1867205219410655269[153] = 0; + out_1867205219410655269[154] = 0; + out_1867205219410655269[155] = 0; + out_1867205219410655269[156] = 0; + out_1867205219410655269[157] = 0; + out_1867205219410655269[158] = 0; + out_1867205219410655269[159] = 0; + out_1867205219410655269[160] = 0; + out_1867205219410655269[161] = 0; + out_1867205219410655269[162] = 0; + out_1867205219410655269[163] = 0; + out_1867205219410655269[164] = 0; + out_1867205219410655269[165] = 0; + out_1867205219410655269[166] = 0; + out_1867205219410655269[167] = 0; + out_1867205219410655269[168] = 0; + out_1867205219410655269[169] = 0; + out_1867205219410655269[170] = 0; + out_1867205219410655269[171] = 1; + out_1867205219410655269[172] = 0; + out_1867205219410655269[173] = 0; + out_1867205219410655269[174] = 0; + out_1867205219410655269[175] = 0; + out_1867205219410655269[176] = 0; + out_1867205219410655269[177] = 0; + out_1867205219410655269[178] = 0; + out_1867205219410655269[179] = 0; + out_1867205219410655269[180] = 0; + out_1867205219410655269[181] = 0; + out_1867205219410655269[182] = 0; + out_1867205219410655269[183] = 0; + out_1867205219410655269[184] = 0; + out_1867205219410655269[185] = 0; + out_1867205219410655269[186] = 0; + out_1867205219410655269[187] = 0; + out_1867205219410655269[188] = 0; + out_1867205219410655269[189] = 0; + out_1867205219410655269[190] = 1; + out_1867205219410655269[191] = 0; + out_1867205219410655269[192] = 0; + out_1867205219410655269[193] = 0; + out_1867205219410655269[194] = 0; + out_1867205219410655269[195] = 0; + out_1867205219410655269[196] = 0; + out_1867205219410655269[197] = 0; + out_1867205219410655269[198] = 0; + out_1867205219410655269[199] = 0; + out_1867205219410655269[200] = 0; + out_1867205219410655269[201] = 0; + out_1867205219410655269[202] = 0; + out_1867205219410655269[203] = 0; + out_1867205219410655269[204] = 0; + out_1867205219410655269[205] = 0; + out_1867205219410655269[206] = 0; + out_1867205219410655269[207] = 0; + out_1867205219410655269[208] = 0; + out_1867205219410655269[209] = 1; + out_1867205219410655269[210] = 0; + out_1867205219410655269[211] = 0; + out_1867205219410655269[212] = 0; + out_1867205219410655269[213] = 0; + out_1867205219410655269[214] = 0; + out_1867205219410655269[215] = 0; + out_1867205219410655269[216] = 0; + out_1867205219410655269[217] = 0; + out_1867205219410655269[218] = 0; + out_1867205219410655269[219] = 0; + out_1867205219410655269[220] = 0; + out_1867205219410655269[221] = 0; + out_1867205219410655269[222] = 0; + out_1867205219410655269[223] = 0; + out_1867205219410655269[224] = 0; + out_1867205219410655269[225] = 0; + out_1867205219410655269[226] = 0; + out_1867205219410655269[227] = 0; + out_1867205219410655269[228] = 1; + out_1867205219410655269[229] = 0; + out_1867205219410655269[230] = 0; + out_1867205219410655269[231] = 0; + out_1867205219410655269[232] = 0; + out_1867205219410655269[233] = 0; + out_1867205219410655269[234] = 0; + out_1867205219410655269[235] = 0; + out_1867205219410655269[236] = 0; + out_1867205219410655269[237] = 0; + out_1867205219410655269[238] = 0; + out_1867205219410655269[239] = 0; + out_1867205219410655269[240] = 0; + out_1867205219410655269[241] = 0; + out_1867205219410655269[242] = 0; + out_1867205219410655269[243] = 0; + out_1867205219410655269[244] = 0; + out_1867205219410655269[245] = 0; + out_1867205219410655269[246] = 0; + out_1867205219410655269[247] = 1; + out_1867205219410655269[248] = 0; + out_1867205219410655269[249] = 0; + out_1867205219410655269[250] = 0; + out_1867205219410655269[251] = 0; + out_1867205219410655269[252] = 0; + out_1867205219410655269[253] = 0; + out_1867205219410655269[254] = 0; + out_1867205219410655269[255] = 0; + out_1867205219410655269[256] = 0; + out_1867205219410655269[257] = 0; + out_1867205219410655269[258] = 0; + out_1867205219410655269[259] = 0; + out_1867205219410655269[260] = 0; + out_1867205219410655269[261] = 0; + out_1867205219410655269[262] = 0; + out_1867205219410655269[263] = 0; + out_1867205219410655269[264] = 0; + out_1867205219410655269[265] = 0; + out_1867205219410655269[266] = 1; + out_1867205219410655269[267] = 0; + out_1867205219410655269[268] = 0; + out_1867205219410655269[269] = 0; + out_1867205219410655269[270] = 0; + out_1867205219410655269[271] = 0; + out_1867205219410655269[272] = 0; + out_1867205219410655269[273] = 0; + out_1867205219410655269[274] = 0; + out_1867205219410655269[275] = 0; + out_1867205219410655269[276] = 0; + out_1867205219410655269[277] = 0; + out_1867205219410655269[278] = 0; + out_1867205219410655269[279] = 0; + out_1867205219410655269[280] = 0; + out_1867205219410655269[281] = 0; + out_1867205219410655269[282] = 0; + out_1867205219410655269[283] = 0; + out_1867205219410655269[284] = 0; + out_1867205219410655269[285] = 1; + out_1867205219410655269[286] = 0; + out_1867205219410655269[287] = 0; + out_1867205219410655269[288] = 0; + out_1867205219410655269[289] = 0; + out_1867205219410655269[290] = 0; + out_1867205219410655269[291] = 0; + out_1867205219410655269[292] = 0; + out_1867205219410655269[293] = 0; + out_1867205219410655269[294] = 0; + out_1867205219410655269[295] = 0; + out_1867205219410655269[296] = 0; + out_1867205219410655269[297] = 0; + out_1867205219410655269[298] = 0; + out_1867205219410655269[299] = 0; + out_1867205219410655269[300] = 0; + out_1867205219410655269[301] = 0; + out_1867205219410655269[302] = 0; + out_1867205219410655269[303] = 0; + out_1867205219410655269[304] = 1; + out_1867205219410655269[305] = 0; + out_1867205219410655269[306] = 0; + out_1867205219410655269[307] = 0; + out_1867205219410655269[308] = 0; + out_1867205219410655269[309] = 0; + out_1867205219410655269[310] = 0; + out_1867205219410655269[311] = 0; + out_1867205219410655269[312] = 0; + out_1867205219410655269[313] = 0; + out_1867205219410655269[314] = 0; + out_1867205219410655269[315] = 0; + out_1867205219410655269[316] = 0; + out_1867205219410655269[317] = 0; + out_1867205219410655269[318] = 0; + out_1867205219410655269[319] = 0; + out_1867205219410655269[320] = 0; + out_1867205219410655269[321] = 0; + out_1867205219410655269[322] = 0; + out_1867205219410655269[323] = 1; } -void h_4(double *state, double *unused, double *out_5330802774113093904) { - out_5330802774113093904[0] = state[6] + state[9]; - out_5330802774113093904[1] = state[7] + state[10]; - out_5330802774113093904[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_980464455538860381) { + out_980464455538860381[0] = state[6] + state[9]; + out_980464455538860381[1] = state[7] + state[10]; + out_980464455538860381[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_2454446370665473074) { - out_2454446370665473074[0] = 0; - out_2454446370665473074[1] = 0; - out_2454446370665473074[2] = 0; - out_2454446370665473074[3] = 0; - out_2454446370665473074[4] = 0; - out_2454446370665473074[5] = 0; - out_2454446370665473074[6] = 1; - out_2454446370665473074[7] = 0; - out_2454446370665473074[8] = 0; - out_2454446370665473074[9] = 1; - out_2454446370665473074[10] = 0; - out_2454446370665473074[11] = 0; - out_2454446370665473074[12] = 0; - out_2454446370665473074[13] = 0; - out_2454446370665473074[14] = 0; - out_2454446370665473074[15] = 0; - out_2454446370665473074[16] = 0; - out_2454446370665473074[17] = 0; - out_2454446370665473074[18] = 0; - out_2454446370665473074[19] = 0; - out_2454446370665473074[20] = 0; - out_2454446370665473074[21] = 0; - out_2454446370665473074[22] = 0; - out_2454446370665473074[23] = 0; - out_2454446370665473074[24] = 0; - out_2454446370665473074[25] = 1; - out_2454446370665473074[26] = 0; - out_2454446370665473074[27] = 0; - out_2454446370665473074[28] = 1; - out_2454446370665473074[29] = 0; - out_2454446370665473074[30] = 0; - out_2454446370665473074[31] = 0; - out_2454446370665473074[32] = 0; - out_2454446370665473074[33] = 0; - out_2454446370665473074[34] = 0; - out_2454446370665473074[35] = 0; - out_2454446370665473074[36] = 0; - out_2454446370665473074[37] = 0; - out_2454446370665473074[38] = 0; - out_2454446370665473074[39] = 0; - out_2454446370665473074[40] = 0; - out_2454446370665473074[41] = 0; - out_2454446370665473074[42] = 0; - out_2454446370665473074[43] = 0; - out_2454446370665473074[44] = 1; - out_2454446370665473074[45] = 0; - out_2454446370665473074[46] = 0; - out_2454446370665473074[47] = 1; - out_2454446370665473074[48] = 0; - out_2454446370665473074[49] = 0; - out_2454446370665473074[50] = 0; - out_2454446370665473074[51] = 0; - out_2454446370665473074[52] = 0; - out_2454446370665473074[53] = 0; +void H_4(double *state, double *unused, double *out_471389926257329507) { + out_471389926257329507[0] = 0; + out_471389926257329507[1] = 0; + out_471389926257329507[2] = 0; + out_471389926257329507[3] = 0; + out_471389926257329507[4] = 0; + out_471389926257329507[5] = 0; + out_471389926257329507[6] = 1; + out_471389926257329507[7] = 0; + out_471389926257329507[8] = 0; + out_471389926257329507[9] = 1; + out_471389926257329507[10] = 0; + out_471389926257329507[11] = 0; + out_471389926257329507[12] = 0; + out_471389926257329507[13] = 0; + out_471389926257329507[14] = 0; + out_471389926257329507[15] = 0; + out_471389926257329507[16] = 0; + out_471389926257329507[17] = 0; + out_471389926257329507[18] = 0; + out_471389926257329507[19] = 0; + out_471389926257329507[20] = 0; + out_471389926257329507[21] = 0; + out_471389926257329507[22] = 0; + out_471389926257329507[23] = 0; + out_471389926257329507[24] = 0; + out_471389926257329507[25] = 1; + out_471389926257329507[26] = 0; + out_471389926257329507[27] = 0; + out_471389926257329507[28] = 1; + out_471389926257329507[29] = 0; + out_471389926257329507[30] = 0; + out_471389926257329507[31] = 0; + out_471389926257329507[32] = 0; + out_471389926257329507[33] = 0; + out_471389926257329507[34] = 0; + out_471389926257329507[35] = 0; + out_471389926257329507[36] = 0; + out_471389926257329507[37] = 0; + out_471389926257329507[38] = 0; + out_471389926257329507[39] = 0; + out_471389926257329507[40] = 0; + out_471389926257329507[41] = 0; + out_471389926257329507[42] = 0; + out_471389926257329507[43] = 0; + out_471389926257329507[44] = 1; + out_471389926257329507[45] = 0; + out_471389926257329507[46] = 0; + out_471389926257329507[47] = 1; + out_471389926257329507[48] = 0; + out_471389926257329507[49] = 0; + out_471389926257329507[50] = 0; + out_471389926257329507[51] = 0; + out_471389926257329507[52] = 0; + out_471389926257329507[53] = 0; } -void h_10(double *state, double *unused, double *out_6487917254077376695) { - out_6487917254077376695[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6487917254077376695[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6487917254077376695[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_5036026826105273660) { + out_5036026826105273660[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5036026826105273660[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5036026826105273660[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_63197332932821273) { - out_63197332932821273[0] = 0; - out_63197332932821273[1] = 9.8100000000000005*cos(state[1]); - out_63197332932821273[2] = 0; - out_63197332932821273[3] = 0; - out_63197332932821273[4] = -state[8]; - out_63197332932821273[5] = state[7]; - out_63197332932821273[6] = 0; - out_63197332932821273[7] = state[5]; - out_63197332932821273[8] = -state[4]; - out_63197332932821273[9] = 0; - out_63197332932821273[10] = 0; - out_63197332932821273[11] = 0; - out_63197332932821273[12] = 1; - out_63197332932821273[13] = 0; - out_63197332932821273[14] = 0; - out_63197332932821273[15] = 1; - out_63197332932821273[16] = 0; - out_63197332932821273[17] = 0; - out_63197332932821273[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_63197332932821273[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_63197332932821273[20] = 0; - out_63197332932821273[21] = state[8]; - out_63197332932821273[22] = 0; - out_63197332932821273[23] = -state[6]; - out_63197332932821273[24] = -state[5]; - out_63197332932821273[25] = 0; - out_63197332932821273[26] = state[3]; - out_63197332932821273[27] = 0; - out_63197332932821273[28] = 0; - out_63197332932821273[29] = 0; - out_63197332932821273[30] = 0; - out_63197332932821273[31] = 1; - out_63197332932821273[32] = 0; - out_63197332932821273[33] = 0; - out_63197332932821273[34] = 1; - out_63197332932821273[35] = 0; - out_63197332932821273[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_63197332932821273[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_63197332932821273[38] = 0; - out_63197332932821273[39] = -state[7]; - out_63197332932821273[40] = state[6]; - out_63197332932821273[41] = 0; - out_63197332932821273[42] = state[4]; - out_63197332932821273[43] = -state[3]; - out_63197332932821273[44] = 0; - out_63197332932821273[45] = 0; - out_63197332932821273[46] = 0; - out_63197332932821273[47] = 0; - out_63197332932821273[48] = 0; - out_63197332932821273[49] = 0; - out_63197332932821273[50] = 1; - out_63197332932821273[51] = 0; - out_63197332932821273[52] = 0; - out_63197332932821273[53] = 1; +void H_10(double *state, double *unused, double *out_6410218509014697900) { + out_6410218509014697900[0] = 0; + out_6410218509014697900[1] = 9.8100000000000005*cos(state[1]); + out_6410218509014697900[2] = 0; + out_6410218509014697900[3] = 0; + out_6410218509014697900[4] = -state[8]; + out_6410218509014697900[5] = state[7]; + out_6410218509014697900[6] = 0; + out_6410218509014697900[7] = state[5]; + out_6410218509014697900[8] = -state[4]; + out_6410218509014697900[9] = 0; + out_6410218509014697900[10] = 0; + out_6410218509014697900[11] = 0; + out_6410218509014697900[12] = 1; + out_6410218509014697900[13] = 0; + out_6410218509014697900[14] = 0; + out_6410218509014697900[15] = 1; + out_6410218509014697900[16] = 0; + out_6410218509014697900[17] = 0; + out_6410218509014697900[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6410218509014697900[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6410218509014697900[20] = 0; + out_6410218509014697900[21] = state[8]; + out_6410218509014697900[22] = 0; + out_6410218509014697900[23] = -state[6]; + out_6410218509014697900[24] = -state[5]; + out_6410218509014697900[25] = 0; + out_6410218509014697900[26] = state[3]; + out_6410218509014697900[27] = 0; + out_6410218509014697900[28] = 0; + out_6410218509014697900[29] = 0; + out_6410218509014697900[30] = 0; + out_6410218509014697900[31] = 1; + out_6410218509014697900[32] = 0; + out_6410218509014697900[33] = 0; + out_6410218509014697900[34] = 1; + out_6410218509014697900[35] = 0; + out_6410218509014697900[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6410218509014697900[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6410218509014697900[38] = 0; + out_6410218509014697900[39] = -state[7]; + out_6410218509014697900[40] = state[6]; + out_6410218509014697900[41] = 0; + out_6410218509014697900[42] = state[4]; + out_6410218509014697900[43] = -state[3]; + out_6410218509014697900[44] = 0; + out_6410218509014697900[45] = 0; + out_6410218509014697900[46] = 0; + out_6410218509014697900[47] = 0; + out_6410218509014697900[48] = 0; + out_6410218509014697900[49] = 0; + out_6410218509014697900[50] = 1; + out_6410218509014697900[51] = 0; + out_6410218509014697900[52] = 0; + out_6410218509014697900[53] = 1; } -void h_13(double *state, double *unused, double *out_7869262712734505763) { - out_7869262712734505763[0] = state[3]; - out_7869262712734505763[1] = state[4]; - out_7869262712734505763[2] = state[5]; +void h_13(double *state, double *unused, double *out_1633683833944592611) { + out_1633683833944592611[0] = state[3]; + out_1633683833944592611[1] = state[4]; + out_1633683833944592611[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5156184837651227855) { - out_5156184837651227855[0] = 0; - out_5156184837651227855[1] = 0; - out_5156184837651227855[2] = 0; - out_5156184837651227855[3] = 1; - out_5156184837651227855[4] = 0; - out_5156184837651227855[5] = 0; - out_5156184837651227855[6] = 0; - out_5156184837651227855[7] = 0; - out_5156184837651227855[8] = 0; - out_5156184837651227855[9] = 0; - out_5156184837651227855[10] = 0; - out_5156184837651227855[11] = 0; - out_5156184837651227855[12] = 0; - out_5156184837651227855[13] = 0; - out_5156184837651227855[14] = 0; - out_5156184837651227855[15] = 0; - out_5156184837651227855[16] = 0; - out_5156184837651227855[17] = 0; - out_5156184837651227855[18] = 0; - out_5156184837651227855[19] = 0; - out_5156184837651227855[20] = 0; - out_5156184837651227855[21] = 0; - out_5156184837651227855[22] = 1; - out_5156184837651227855[23] = 0; - out_5156184837651227855[24] = 0; - out_5156184837651227855[25] = 0; - out_5156184837651227855[26] = 0; - out_5156184837651227855[27] = 0; - out_5156184837651227855[28] = 0; - out_5156184837651227855[29] = 0; - out_5156184837651227855[30] = 0; - out_5156184837651227855[31] = 0; - out_5156184837651227855[32] = 0; - out_5156184837651227855[33] = 0; - out_5156184837651227855[34] = 0; - out_5156184837651227855[35] = 0; - out_5156184837651227855[36] = 0; - out_5156184837651227855[37] = 0; - out_5156184837651227855[38] = 0; - out_5156184837651227855[39] = 0; - out_5156184837651227855[40] = 0; - out_5156184837651227855[41] = 1; - out_5156184837651227855[42] = 0; - out_5156184837651227855[43] = 0; - out_5156184837651227855[44] = 0; - out_5156184837651227855[45] = 0; - out_5156184837651227855[46] = 0; - out_5156184837651227855[47] = 0; - out_5156184837651227855[48] = 0; - out_5156184837651227855[49] = 0; - out_5156184837651227855[50] = 0; - out_5156184837651227855[51] = 0; - out_5156184837651227855[52] = 0; - out_5156184837651227855[53] = 0; +void H_13(double *state, double *unused, double *out_7139241282059371422) { + out_7139241282059371422[0] = 0; + out_7139241282059371422[1] = 0; + out_7139241282059371422[2] = 0; + out_7139241282059371422[3] = 1; + out_7139241282059371422[4] = 0; + out_7139241282059371422[5] = 0; + out_7139241282059371422[6] = 0; + out_7139241282059371422[7] = 0; + out_7139241282059371422[8] = 0; + out_7139241282059371422[9] = 0; + out_7139241282059371422[10] = 0; + out_7139241282059371422[11] = 0; + out_7139241282059371422[12] = 0; + out_7139241282059371422[13] = 0; + out_7139241282059371422[14] = 0; + out_7139241282059371422[15] = 0; + out_7139241282059371422[16] = 0; + out_7139241282059371422[17] = 0; + out_7139241282059371422[18] = 0; + out_7139241282059371422[19] = 0; + out_7139241282059371422[20] = 0; + out_7139241282059371422[21] = 0; + out_7139241282059371422[22] = 1; + out_7139241282059371422[23] = 0; + out_7139241282059371422[24] = 0; + out_7139241282059371422[25] = 0; + out_7139241282059371422[26] = 0; + out_7139241282059371422[27] = 0; + out_7139241282059371422[28] = 0; + out_7139241282059371422[29] = 0; + out_7139241282059371422[30] = 0; + out_7139241282059371422[31] = 0; + out_7139241282059371422[32] = 0; + out_7139241282059371422[33] = 0; + out_7139241282059371422[34] = 0; + out_7139241282059371422[35] = 0; + out_7139241282059371422[36] = 0; + out_7139241282059371422[37] = 0; + out_7139241282059371422[38] = 0; + out_7139241282059371422[39] = 0; + out_7139241282059371422[40] = 0; + out_7139241282059371422[41] = 1; + out_7139241282059371422[42] = 0; + out_7139241282059371422[43] = 0; + out_7139241282059371422[44] = 0; + out_7139241282059371422[45] = 0; + out_7139241282059371422[46] = 0; + out_7139241282059371422[47] = 0; + out_7139241282059371422[48] = 0; + out_7139241282059371422[49] = 0; + out_7139241282059371422[50] = 0; + out_7139241282059371422[51] = 0; + out_7139241282059371422[52] = 0; + out_7139241282059371422[53] = 0; } -void h_14(double *state, double *unused, double *out_3486024826794941099) { - out_3486024826794941099[0] = state[6]; - out_3486024826794941099[1] = state[7]; - out_3486024826794941099[2] = state[8]; +void h_14(double *state, double *unused, double *out_8904836124963581929) { + out_8904836124963581929[0] = state[6]; + out_8904836124963581929[1] = state[7]; + out_8904836124963581929[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5537234802960845370) { - out_5537234802960845370[0] = 0; - out_5537234802960845370[1] = 0; - out_5537234802960845370[2] = 0; - out_5537234802960845370[3] = 0; - out_5537234802960845370[4] = 0; - out_5537234802960845370[5] = 0; - out_5537234802960845370[6] = 1; - out_5537234802960845370[7] = 0; - out_5537234802960845370[8] = 0; - out_5537234802960845370[9] = 0; - out_5537234802960845370[10] = 0; - out_5537234802960845370[11] = 0; - out_5537234802960845370[12] = 0; - out_5537234802960845370[13] = 0; - out_5537234802960845370[14] = 0; - out_5537234802960845370[15] = 0; - out_5537234802960845370[16] = 0; - out_5537234802960845370[17] = 0; - out_5537234802960845370[18] = 0; - out_5537234802960845370[19] = 0; - out_5537234802960845370[20] = 0; - out_5537234802960845370[21] = 0; - out_5537234802960845370[22] = 0; - out_5537234802960845370[23] = 0; - out_5537234802960845370[24] = 0; - out_5537234802960845370[25] = 1; - out_5537234802960845370[26] = 0; - out_5537234802960845370[27] = 0; - out_5537234802960845370[28] = 0; - out_5537234802960845370[29] = 0; - out_5537234802960845370[30] = 0; - out_5537234802960845370[31] = 0; - out_5537234802960845370[32] = 0; - out_5537234802960845370[33] = 0; - out_5537234802960845370[34] = 0; - out_5537234802960845370[35] = 0; - out_5537234802960845370[36] = 0; - out_5537234802960845370[37] = 0; - out_5537234802960845370[38] = 0; - out_5537234802960845370[39] = 0; - out_5537234802960845370[40] = 0; - out_5537234802960845370[41] = 0; - out_5537234802960845370[42] = 0; - out_5537234802960845370[43] = 0; - out_5537234802960845370[44] = 1; - out_5537234802960845370[45] = 0; - out_5537234802960845370[46] = 0; - out_5537234802960845370[47] = 0; - out_5537234802960845370[48] = 0; - out_5537234802960845370[49] = 0; - out_5537234802960845370[50] = 0; - out_5537234802960845370[51] = 0; - out_5537234802960845370[52] = 0; - out_5537234802960845370[53] = 0; +void H_14(double *state, double *unused, double *out_3491850930082155022) { + out_3491850930082155022[0] = 0; + out_3491850930082155022[1] = 0; + out_3491850930082155022[2] = 0; + out_3491850930082155022[3] = 0; + out_3491850930082155022[4] = 0; + out_3491850930082155022[5] = 0; + out_3491850930082155022[6] = 1; + out_3491850930082155022[7] = 0; + out_3491850930082155022[8] = 0; + out_3491850930082155022[9] = 0; + out_3491850930082155022[10] = 0; + out_3491850930082155022[11] = 0; + out_3491850930082155022[12] = 0; + out_3491850930082155022[13] = 0; + out_3491850930082155022[14] = 0; + out_3491850930082155022[15] = 0; + out_3491850930082155022[16] = 0; + out_3491850930082155022[17] = 0; + out_3491850930082155022[18] = 0; + out_3491850930082155022[19] = 0; + out_3491850930082155022[20] = 0; + out_3491850930082155022[21] = 0; + out_3491850930082155022[22] = 0; + out_3491850930082155022[23] = 0; + out_3491850930082155022[24] = 0; + out_3491850930082155022[25] = 1; + out_3491850930082155022[26] = 0; + out_3491850930082155022[27] = 0; + out_3491850930082155022[28] = 0; + out_3491850930082155022[29] = 0; + out_3491850930082155022[30] = 0; + out_3491850930082155022[31] = 0; + out_3491850930082155022[32] = 0; + out_3491850930082155022[33] = 0; + out_3491850930082155022[34] = 0; + out_3491850930082155022[35] = 0; + out_3491850930082155022[36] = 0; + out_3491850930082155022[37] = 0; + out_3491850930082155022[38] = 0; + out_3491850930082155022[39] = 0; + out_3491850930082155022[40] = 0; + out_3491850930082155022[41] = 0; + out_3491850930082155022[42] = 0; + out_3491850930082155022[43] = 0; + out_3491850930082155022[44] = 1; + out_3491850930082155022[45] = 0; + out_3491850930082155022[46] = 0; + out_3491850930082155022[47] = 0; + out_3491850930082155022[48] = 0; + out_3491850930082155022[49] = 0; + out_3491850930082155022[50] = 0; + out_3491850930082155022[51] = 0; + out_3491850930082155022[52] = 0; + out_3491850930082155022[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_7099155186075195158) { - err_fun(nom_x, delta_x, out_7099155186075195158); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1608596609641417580) { + err_fun(nom_x, delta_x, out_1608596609641417580); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2441097136385557776) { - inv_err_fun(nom_x, true_x, out_2441097136385557776); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1300195658449584630) { + inv_err_fun(nom_x, true_x, out_1300195658449584630); } -void pose_H_mod_fun(double *state, double *out_3208607372720185681) { - H_mod_fun(state, out_3208607372720185681); +void pose_H_mod_fun(double *state, double *out_4243197136101237079) { + H_mod_fun(state, out_4243197136101237079); } -void pose_f_fun(double *state, double dt, double *out_6464550598295734542) { - f_fun(state, dt, out_6464550598295734542); +void pose_f_fun(double *state, double dt, double *out_5843270271854622054) { + f_fun(state, dt, out_5843270271854622054); } -void pose_F_fun(double *state, double dt, double *out_4669200903438633107) { - F_fun(state, dt, out_4669200903438633107); +void pose_F_fun(double *state, double dt, double *out_1867205219410655269) { + F_fun(state, dt, out_1867205219410655269); } -void pose_h_4(double *state, double *unused, double *out_5330802774113093904) { - h_4(state, unused, out_5330802774113093904); +void pose_h_4(double *state, double *unused, double *out_980464455538860381) { + h_4(state, unused, out_980464455538860381); } -void pose_H_4(double *state, double *unused, double *out_2454446370665473074) { - H_4(state, unused, out_2454446370665473074); +void pose_H_4(double *state, double *unused, double *out_471389926257329507) { + H_4(state, unused, out_471389926257329507); } -void pose_h_10(double *state, double *unused, double *out_6487917254077376695) { - h_10(state, unused, out_6487917254077376695); +void pose_h_10(double *state, double *unused, double *out_5036026826105273660) { + h_10(state, unused, out_5036026826105273660); } -void pose_H_10(double *state, double *unused, double *out_63197332932821273) { - H_10(state, unused, out_63197332932821273); +void pose_H_10(double *state, double *unused, double *out_6410218509014697900) { + H_10(state, unused, out_6410218509014697900); } -void pose_h_13(double *state, double *unused, double *out_7869262712734505763) { - h_13(state, unused, out_7869262712734505763); +void pose_h_13(double *state, double *unused, double *out_1633683833944592611) { + h_13(state, unused, out_1633683833944592611); } -void pose_H_13(double *state, double *unused, double *out_5156184837651227855) { - H_13(state, unused, out_5156184837651227855); +void pose_H_13(double *state, double *unused, double *out_7139241282059371422) { + H_13(state, unused, out_7139241282059371422); } -void pose_h_14(double *state, double *unused, double *out_3486024826794941099) { - h_14(state, unused, out_3486024826794941099); +void pose_h_14(double *state, double *unused, double *out_8904836124963581929) { + h_14(state, unused, out_8904836124963581929); } -void pose_H_14(double *state, double *unused, double *out_5537234802960845370) { - H_14(state, unused, out_5537234802960845370); +void pose_H_14(double *state, double *unused, double *out_3491850930082155022) { + H_14(state, unused, out_3491850930082155022); } 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 6b46ae8f2..eac212cf0 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_7099155186075195158); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2441097136385557776); -void pose_H_mod_fun(double *state, double *out_3208607372720185681); -void pose_f_fun(double *state, double dt, double *out_6464550598295734542); -void pose_F_fun(double *state, double dt, double *out_4669200903438633107); -void pose_h_4(double *state, double *unused, double *out_5330802774113093904); -void pose_H_4(double *state, double *unused, double *out_2454446370665473074); -void pose_h_10(double *state, double *unused, double *out_6487917254077376695); -void pose_H_10(double *state, double *unused, double *out_63197332932821273); -void pose_h_13(double *state, double *unused, double *out_7869262712734505763); -void pose_H_13(double *state, double *unused, double *out_5156184837651227855); -void pose_h_14(double *state, double *unused, double *out_3486024826794941099); -void pose_H_14(double *state, double *unused, double *out_5537234802960845370); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1608596609641417580); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1300195658449584630); +void pose_H_mod_fun(double *state, double *out_4243197136101237079); +void pose_f_fun(double *state, double dt, double *out_5843270271854622054); +void pose_F_fun(double *state, double dt, double *out_1867205219410655269); +void pose_h_4(double *state, double *unused, double *out_980464455538860381); +void pose_H_4(double *state, double *unused, double *out_471389926257329507); +void pose_h_10(double *state, double *unused, double *out_5036026826105273660); +void pose_H_10(double *state, double *unused, double *out_6410218509014697900); +void pose_h_13(double *state, double *unused, double *out_1633683833944592611); +void pose_H_13(double *state, double *unused, double *out_7139241282059371422); +void pose_h_14(double *state, double *unused, double *out_8904836124963581929); +void pose_H_14(double *state, double *unused, double *out_3491850930082155022); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index aab66cb20..3a0aeef22 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 8aa17c0e8..b11060199 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 79c0c76e6..e74e76b05 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 201c2569b..33308c61f 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 3b214be59..879107871 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index c47e608ca..cba93fcf2 100755 Binary files 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