From d646413db395a7e65e9891e6ce79165dfb4ff18b Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Tue, 1 Sep 2026 09:42:54 -0500 Subject: [PATCH] build --- panda/board/obj/body_h7.bin.signed | Bin 114916 -> 114916 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 114780 -> 114780 bytes panda/board/obj/body_h7/main.elf | Bin 472032 -> 472032 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes .../obj/bootstub.panda_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes .../bootstub.panda_h7_can_ignition_only.bin | Bin 18784 -> 18784 bytes .../obj/bootstub.panda_h7_hkg_remote.bin | Bin 18784 -> 18784 bytes ....panda_h7_hkg_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes ...stub.panda_h7_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_hkg_remote.bin | Bin 11068 -> 11068 bytes ...tub.panda_hkg_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes ...ootstub.panda_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 100552 -> 100552 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 100416 -> 100416 bytes panda/board/obj/panda/main.elf | Bin 418248 -> 418248 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 100532 -> 100532 bytes .../obj/panda_can_ignition_only/bootstub.elf | Bin 100780 -> 100780 bytes .../obj/panda_can_ignition_only/main.bin | Bin 100396 -> 100396 bytes .../obj/panda_can_ignition_only/main.elf | Bin 418084 -> 418084 bytes panda/board/obj/panda_h7.bin.signed | Bin 122844 -> 122844 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 122708 -> 122708 bytes panda/board/obj/panda_h7/main.elf | Bin 515464 -> 515464 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 122824 -> 122824 bytes .../panda_h7_can_ignition_only/bootstub.elf | Bin 152748 -> 152748 bytes .../obj/panda_h7_can_ignition_only/main.bin | Bin 122688 -> 122688 bytes .../obj/panda_h7_can_ignition_only/main.elf | Bin 515312 -> 515312 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 122944 -> 122944 bytes .../obj/panda_h7_hkg_remote/bootstub.elf | Bin 152740 -> 152740 bytes panda/board/obj/panda_h7_hkg_remote/main.bin | Bin 122808 -> 122808 bytes panda/board/obj/panda_h7_hkg_remote/main.elf | Bin 515904 -> 515904 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 122936 -> 122936 bytes .../bootstub.elf | Bin 152760 -> 152760 bytes .../main.bin | Bin 122800 -> 122800 bytes .../main.elf | Bin 515780 -> 515780 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 122780 -> 122780 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 122644 -> 122644 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 515408 -> 515408 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 122760 -> 122760 bytes .../bootstub.elf | Bin 152756 -> 152756 bytes .../main.bin | Bin 122624 -> 122624 bytes .../main.elf | Bin 515252 -> 515252 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 100644 -> 100644 bytes panda/board/obj/panda_hkg_remote/bootstub.elf | Bin 100772 -> 100772 bytes panda/board/obj/panda_hkg_remote/main.bin | Bin 100508 -> 100508 bytes panda/board/obj/panda_hkg_remote/main.elf | Bin 418668 -> 418668 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 100636 -> 100636 bytes .../bootstub.elf | Bin 100792 -> 100792 bytes .../main.bin | Bin 100500 -> 100500 bytes .../main.elf | Bin 418524 -> 418524 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 116816 -> 116816 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 116680 -> 116680 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 475900 -> 475900 bytes panda/board/obj/panda_remote.bin.signed | Bin 100512 -> 100512 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 100376 -> 100376 bytes panda/board/obj/panda_remote/main.elf | Bin 418352 -> 418352 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 100492 -> 100492 bytes .../bootstub.elf | Bin 100788 -> 100788 bytes .../panda_remote_can_ignition_only/main.bin | Bin 100356 -> 100356 bytes .../panda_remote_can_ignition_only/main.elf | Bin 418180 -> 418180 bytes panda/board/obj/version | 2 +- selfdrive/locationd/models/generated/car.cpp | 684 +++--- selfdrive/locationd/models/generated/car.h | 42 +- selfdrive/locationd/models/generated/pose.cpp | 1938 ++++++++--------- selfdrive/locationd/models/generated/pose.h | 26 +- 76 files changed, 1347 insertions(+), 1347 deletions(-) diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 41f696689724f49cc2fee391739c4fa1cb60883d..2df8999ee8778d0224eb5755c296acb35ff78312 100644 GIT binary patch delta 200 zcmaFT$o`~}eFFz4BjaXHPSq1i3mh02930M`Ib+8F1|a?kM+OE3AZ~D&HB-`lbHGIb z362zlv}DUP%e2iIFaKPtw>;{oeRfeZL)g+@*}GOJx7Rq{i=FybBTiYE&Be&+%KLs* zCkgTTXwNg|wM*JB&8wS`KJT}9)26fgm~#(*QFTqIUsaU6>eucXv9oh!6!|JIaIc*> zbxX*kc^xM&sD5hFso-1f9`4L5e=BnN`n100V2jo_-o5u8$@kA|ytVT~Y#5^)0M!Rn AU;qFB delta 169 zcmV;a09OCxfd}M)2e1eU0RXcJ2_?vr=Flp$SkVX=2sC6lWM(*GF|%mt{MLVSQGKKy zDg6{F{h8_fSu mBsfwG(vmIHEYq4Zezs@)WCUU+AZ7+)79eKbp7E2d!U_P{A|em~ delta 63 zcmaFxT;{=ZnGGD0j0~GOB~?#Me)d3XbHqaq2@aDK%ak;WB*W&6pY0hx8G)Dyh?#+y O1&CRpF diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 9d77ceb0755e6e2e2b4556be3dcd95bd69c99fd7..50df289202f003ef746072c7dd2ecb1afe574172 100755 GIT binary patch delta 34 qcmdlJwkK?ZubNp(pJ3|A*Zo9oo}u>b(nc?*gF delta 34 qcmdlJwkK?ZubQAqie*ZgMUtVei>p(pJ3|A*Zo9oo}u>b(i=?hf= diff --git a/panda/board/obj/bootstub.panda_can_ignition_only.bin b/panda/board/obj/bootstub.panda_can_ignition_only.bin index 9d77ceb0755e6e2e2b4556be3dcd95bd69c99fd7..50df289202f003ef746072c7dd2ecb1afe574172 100755 GIT binary patch delta 34 qcmdlJwkK?ZubNp(pJ3|A*Zo9oo}u>b(nc?*gF delta 34 qcmdlJwkK?ZubQAqie*ZgMUtVei>p(pJ3|A*Zo9oo}u>b(i=?hf= diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index fd88223a4d889d0c45b35cae11571b0bdf8a1c6f..4ad76d2cf7a575e2e6bcf4bd5b246313e2715814 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$94Q8A$(CuBX`3fHpJxRCcEkx` delta 23 fcmaDbiSfZC#tog$940B2DQOl-hMOlkpJxRCbma*w diff --git a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin index fd88223a4d889d0c45b35cae11571b0bdf8a1c6f..4ad76d2cf7a575e2e6bcf4bd5b246313e2715814 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$94Q8A$(CuBX`3fHpJxRCcEkx` delta 23 fcmaDbiSfZC#tog$940B2DQOl-hMOlkpJxRCbma*w diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin index fd88223a4d889d0c45b35cae11571b0bdf8a1c6f..4ad76d2cf7a575e2e6bcf4bd5b246313e2715814 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$94Q8A$(CuBX`3fHpJxRCcEkx` delta 23 fcmaDbiSfZC#tog$940B2DQOl-hMOlkpJxRCbma*w diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin index fd88223a4d889d0c45b35cae11571b0bdf8a1c6f..4ad76d2cf7a575e2e6bcf4bd5b246313e2715814 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$94Q8A$(CuBX`3fHpJxRCcEkx` delta 23 fcmaDbiSfZC#tog$940B2DQOl-hMOlkpJxRCbma*w diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index fd88223a4d889d0c45b35cae11571b0bdf8a1c6f..4ad76d2cf7a575e2e6bcf4bd5b246313e2715814 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$94Q8A$(CuBX`3fHpJxRCcEkx` delta 23 fcmaDbiSfZC#tog$940B2DQOl-hMOlkpJxRCbma*w diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index fd88223a4d889d0c45b35cae11571b0bdf8a1c6f..4ad76d2cf7a575e2e6bcf4bd5b246313e2715814 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$94Q8A$(CuBX`3fHpJxRCcEkx` delta 23 fcmaDbiSfZC#tog$940B2DQOl-hMOlkpJxRCbma*w diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 9d77ceb0755e6e2e2b4556be3dcd95bd69c99fd7..50df289202f003ef746072c7dd2ecb1afe574172 100755 GIT binary patch delta 34 qcmdlJwkK?ZubNp(pJ3|A*Zo9oo}u>b(nc?*gF delta 34 qcmdlJwkK?ZubQAqie*ZgMUtVei>p(pJ3|A*Zo9oo}u>b(i=?hf= diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index 9d77ceb0755e6e2e2b4556be3dcd95bd69c99fd7..50df289202f003ef746072c7dd2ecb1afe574172 100755 GIT binary patch delta 34 qcmdlJwkK?ZubNp(pJ3|A*Zo9oo}u>b(nc?*gF delta 34 qcmdlJwkK?ZubQAqie*ZgMUtVei>p(pJ3|A*Zo9oo}u>b(i=?hf= diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 47557a2def0e434c2635a5d8b332f2f3dd5ec7f9..2b99bbaf54fe25f83fce040da76a36956f69a348 100755 GIT binary patch delta 21 ccmZq4ZOPrR*MK9%AT8N4%`$ECQG@-g0AT?Lj{pDw delta 21 ccmZq4ZOPrR*MP$$#WE$$BFS*`QG@-g0AC^qS^xk5 diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 9d77ceb0755e6e2e2b4556be3dcd95bd69c99fd7..50df289202f003ef746072c7dd2ecb1afe574172 100755 GIT binary patch delta 34 qcmdlJwkK?ZubNp(pJ3|A*Zo9oo}u>b(nc?*gF delta 34 qcmdlJwkK?ZubQAqie*ZgMUtVei>p(pJ3|A*Zo9oo}u>b(i=?hf= diff --git a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin index 9d77ceb0755e6e2e2b4556be3dcd95bd69c99fd7..50df289202f003ef746072c7dd2ecb1afe574172 100755 GIT binary patch delta 34 qcmdlJwkK?ZubNp(pJ3|A*Zo9oo}u>b(nc?*gF delta 34 qcmdlJwkK?ZubQAqie*ZgMUtVei>p(pJ3|A*Zo9oo}u>b(i=?hf= diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 656592e62..be36d6982 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-4d9df8b1-DEBUG"; +const uint8_t gitversion[19] = "DEV-d0fc9f9f-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 9d34d8070285ac01a46f74cbd1e7bdf41ac32b8c..6ec5b0fb67231f0be03a9ca64b0e68f94bd4bb68 100644 GIT binary patch delta 200 zcmV;(05|{0kp{?-2C(!80Rgl12l=xipg;fsKtRpR%sv1B00000pg;fs$Uy)AAVB~C 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MAHA_THRESH_31); } -void car_err_fun(double *nom_x, double *delta_x, double *out_7251302496478371121) { - err_fun(nom_x, delta_x, out_7251302496478371121); +void car_err_fun(double *nom_x, double *delta_x, double *out_1090979798261761109) { + err_fun(nom_x, delta_x, out_1090979798261761109); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7757777920139399450) { - inv_err_fun(nom_x, true_x, out_7757777920139399450); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5039703447688746133) { + inv_err_fun(nom_x, true_x, out_5039703447688746133); } -void car_H_mod_fun(double *state, double *out_5994192809213785164) { - H_mod_fun(state, out_5994192809213785164); +void car_H_mod_fun(double *state, double *out_3925450346960244372) { + H_mod_fun(state, out_3925450346960244372); } -void car_f_fun(double *state, double dt, double *out_5541966606958472992) { - f_fun(state, dt, out_5541966606958472992); +void car_f_fun(double *state, double dt, double *out_5857249667330785024) { + f_fun(state, dt, out_5857249667330785024); } -void car_F_fun(double *state, double dt, double *out_3805616153551932316) { - F_fun(state, dt, out_3805616153551932316); +void car_F_fun(double *state, double dt, double *out_9115802330220690696) { + F_fun(state, dt, out_9115802330220690696); } -void car_h_25(double *state, double *unused, double *out_4112076348506573484) { - h_25(state, unused, out_4112076348506573484); +void car_h_25(double *state, double *unused, double *out_5135803252423599804) { + h_25(state, unused, out_5135803252423599804); } -void car_H_25(double *state, double *unused, double *out_2471212159224293487) { - H_25(state, unused, out_2471212159224293487); +void car_H_25(double *state, double *unused, double *out_5267737878951992865) { + H_25(state, unused, out_5267737878951992865); } -void car_h_24(double *state, double *unused, double *out_2715398695630647729) { - h_24(state, unused, out_2715398695630647729); +void car_h_24(double *state, double *unused, double *out_511115109570268580) { + h_24(state, unused, out_511115109570268580); } -void car_H_24(double *state, double *unused, double *out_1086713439578029649) { - H_24(state, unused, out_1086713439578029649); +void car_H_24(double *state, double *unused, double *out_8432496867791049717) { + H_24(state, unused, out_8432496867791049717); } -void car_h_30(double *state, double *unused, double *out_3954889680155444339) { - h_30(state, unused, out_3954889680155444339); +void car_h_30(double *state, double *unused, double *out_5547675564465279371) { + h_30(state, unused, out_5547675564465279371); } -void car_H_30(double *state, double *unused, double *out_4445478182267323268) { - H_30(state, unused, out_4445478182267323268); +void car_H_30(double *state, double *unused, double *out_1648952462539623890) { + H_30(state, unused, out_1648952462539623890); } -void car_h_26(double *state, double *unused, double *out_1046783587505401306) { - h_26(state, unused, out_1046783587505401306); +void car_h_26(double *state, double *unused, double *out_8360227667735132754) { + h_26(state, unused, out_8360227667735132754); } -void car_H_26(double *state, double *unused, double *out_6212715478098349711) { - H_26(state, unused, out_6212715478098349711); +void car_H_26(double *state, double *unused, double *out_9009241197826049089) { + H_26(state, unused, out_9009241197826049089); } -void car_h_27(double *state, double *unused, double *out_1075290297062240799) { - h_27(state, unused, out_1075290297062240799); +void car_h_27(double *state, double *unused, double *out_742482235135115284) { + h_27(state, unused, out_742482235135115284); } -void car_H_27(double *state, double *unused, double *out_2270714870466898357) { - H_27(state, unused, out_2270714870466898357); +void car_H_27(double *state, double *unused, double *out_525810849260801021) { + H_27(state, unused, out_525810849260801021); } -void car_h_29(double *state, double *unused, double *out_5695544929288110137) { - h_29(state, unused, out_5695544929288110137); +void car_h_29(double *state, double *unused, double *out_7897395241583426600) { + h_29(state, unused, out_7897395241583426600); } -void car_H_29(double *state, double *unused, double *out_4955709526581715452) { - H_29(state, unused, out_4955709526581715452); +void car_H_29(double *state, double *unused, double *out_2239173576130352054) { + H_29(state, unused, out_2239173576130352054); } -void car_h_28(double *state, double *unused, double *out_131780444160578364) { - h_28(state, unused, out_131780444160578364); +void car_h_28(double *state, double *unused, double *out_2070069868134738099) { + h_28(state, unused, out_2070069868134738099); } -void car_H_28(double *state, double *unused, double *out_4525046873472183250) { - H_28(state, unused, out_4525046873472183250); +void car_H_28(double *state, double *unused, double *out_7321572593199882628) { + H_28(state, unused, out_7321572593199882628); } -void car_h_31(double *state, double *unused, double *out_3836882286222067595) { - h_31(state, unused, out_3836882286222067595); +void car_h_31(double *state, double *unused, double *out_5281323076644254775) { + h_31(state, unused, out_5281323076644254775); } -void car_H_31(double *state, double *unused, double *out_2440566197347333059) { - H_31(state, unused, out_2440566197347333059); +void car_H_31(double *state, double *unused, double *out_5237091917075032437) { + H_31(state, unused, out_5237091917075032437); } 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 0affad20d..e5016283e 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_7251302496478371121); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7757777920139399450); -void car_H_mod_fun(double *state, double *out_5994192809213785164); -void car_f_fun(double *state, double dt, double *out_5541966606958472992); -void car_F_fun(double *state, double dt, double *out_3805616153551932316); -void car_h_25(double *state, double *unused, double *out_4112076348506573484); -void car_H_25(double *state, double *unused, double *out_2471212159224293487); -void car_h_24(double *state, double *unused, double *out_2715398695630647729); -void car_H_24(double *state, double *unused, double *out_1086713439578029649); -void car_h_30(double *state, double *unused, double *out_3954889680155444339); -void car_H_30(double *state, double *unused, double *out_4445478182267323268); -void car_h_26(double *state, double *unused, double *out_1046783587505401306); -void car_H_26(double *state, double *unused, double *out_6212715478098349711); -void car_h_27(double *state, double *unused, double *out_1075290297062240799); -void car_H_27(double *state, double *unused, double *out_2270714870466898357); -void car_h_29(double *state, double *unused, double *out_5695544929288110137); -void car_H_29(double *state, double *unused, double *out_4955709526581715452); -void car_h_28(double *state, double *unused, double *out_131780444160578364); -void car_H_28(double *state, double *unused, double *out_4525046873472183250); -void car_h_31(double *state, double *unused, double *out_3836882286222067595); -void car_H_31(double *state, double *unused, double *out_2440566197347333059); +void car_err_fun(double *nom_x, double *delta_x, double *out_1090979798261761109); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5039703447688746133); +void car_H_mod_fun(double *state, double *out_3925450346960244372); +void car_f_fun(double *state, double dt, double *out_5857249667330785024); +void car_F_fun(double *state, double dt, double *out_9115802330220690696); +void car_h_25(double *state, double *unused, double *out_5135803252423599804); +void car_H_25(double *state, double *unused, double *out_5267737878951992865); +void car_h_24(double *state, double *unused, double *out_511115109570268580); +void car_H_24(double *state, double *unused, double *out_8432496867791049717); +void car_h_30(double *state, double *unused, double *out_5547675564465279371); +void car_H_30(double *state, double *unused, double *out_1648952462539623890); +void car_h_26(double *state, double *unused, double *out_8360227667735132754); +void car_H_26(double *state, double *unused, double *out_9009241197826049089); +void car_h_27(double *state, double *unused, double *out_742482235135115284); +void car_H_27(double *state, double *unused, double *out_525810849260801021); +void car_h_29(double *state, double *unused, double *out_7897395241583426600); +void car_H_29(double *state, double *unused, double *out_2239173576130352054); +void car_h_28(double *state, double *unused, double *out_2070069868134738099); +void car_H_28(double *state, double *unused, double *out_7321572593199882628); +void car_h_31(double *state, double *unused, double *out_5281323076644254775); +void car_H_31(double *state, double *unused, double *out_5237091917075032437); 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 421dd6b97..fb7757b72 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_2717418772724129561) { - out_2717418772724129561[0] = delta_x[0] + nom_x[0]; - out_2717418772724129561[1] = delta_x[1] + nom_x[1]; - out_2717418772724129561[2] = delta_x[2] + nom_x[2]; - out_2717418772724129561[3] = delta_x[3] + nom_x[3]; - out_2717418772724129561[4] = delta_x[4] + nom_x[4]; - out_2717418772724129561[5] = delta_x[5] + nom_x[5]; - out_2717418772724129561[6] = delta_x[6] + nom_x[6]; - out_2717418772724129561[7] = delta_x[7] + nom_x[7]; - out_2717418772724129561[8] = delta_x[8] + nom_x[8]; - out_2717418772724129561[9] = delta_x[9] + nom_x[9]; - out_2717418772724129561[10] = delta_x[10] + nom_x[10]; - out_2717418772724129561[11] = delta_x[11] + nom_x[11]; - out_2717418772724129561[12] = delta_x[12] + nom_x[12]; - out_2717418772724129561[13] = delta_x[13] + nom_x[13]; - out_2717418772724129561[14] = delta_x[14] + nom_x[14]; - out_2717418772724129561[15] = delta_x[15] + nom_x[15]; - out_2717418772724129561[16] = delta_x[16] + nom_x[16]; - out_2717418772724129561[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5866923855832820417) { + out_5866923855832820417[0] = delta_x[0] + nom_x[0]; + out_5866923855832820417[1] = delta_x[1] + nom_x[1]; + out_5866923855832820417[2] = delta_x[2] + nom_x[2]; + out_5866923855832820417[3] = delta_x[3] + nom_x[3]; + out_5866923855832820417[4] = delta_x[4] + nom_x[4]; + out_5866923855832820417[5] = delta_x[5] + nom_x[5]; + out_5866923855832820417[6] = delta_x[6] + nom_x[6]; + out_5866923855832820417[7] = delta_x[7] + nom_x[7]; + out_5866923855832820417[8] = delta_x[8] + nom_x[8]; + out_5866923855832820417[9] = delta_x[9] + nom_x[9]; + out_5866923855832820417[10] = delta_x[10] + nom_x[10]; + out_5866923855832820417[11] = delta_x[11] + nom_x[11]; + out_5866923855832820417[12] = delta_x[12] + nom_x[12]; + out_5866923855832820417[13] = delta_x[13] + nom_x[13]; + out_5866923855832820417[14] = delta_x[14] + nom_x[14]; + out_5866923855832820417[15] = delta_x[15] + nom_x[15]; + out_5866923855832820417[16] = delta_x[16] + nom_x[16]; + out_5866923855832820417[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6564594974930648805) { - out_6564594974930648805[0] = -nom_x[0] + true_x[0]; - out_6564594974930648805[1] = -nom_x[1] + true_x[1]; - out_6564594974930648805[2] = -nom_x[2] + true_x[2]; - out_6564594974930648805[3] = -nom_x[3] + true_x[3]; - out_6564594974930648805[4] = -nom_x[4] + true_x[4]; - out_6564594974930648805[5] = -nom_x[5] + true_x[5]; - out_6564594974930648805[6] = -nom_x[6] + true_x[6]; - out_6564594974930648805[7] = -nom_x[7] + true_x[7]; - out_6564594974930648805[8] = -nom_x[8] + true_x[8]; - out_6564594974930648805[9] = -nom_x[9] + true_x[9]; - out_6564594974930648805[10] = -nom_x[10] + true_x[10]; - out_6564594974930648805[11] = -nom_x[11] + true_x[11]; - out_6564594974930648805[12] = -nom_x[12] + true_x[12]; - out_6564594974930648805[13] = -nom_x[13] + true_x[13]; - out_6564594974930648805[14] = -nom_x[14] + true_x[14]; - out_6564594974930648805[15] = -nom_x[15] + true_x[15]; - out_6564594974930648805[16] = -nom_x[16] + true_x[16]; - out_6564594974930648805[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7354374655466778507) { + out_7354374655466778507[0] = -nom_x[0] + true_x[0]; + out_7354374655466778507[1] = -nom_x[1] + true_x[1]; + out_7354374655466778507[2] = -nom_x[2] + true_x[2]; + out_7354374655466778507[3] = -nom_x[3] + true_x[3]; + out_7354374655466778507[4] = -nom_x[4] + true_x[4]; + out_7354374655466778507[5] = -nom_x[5] + true_x[5]; + out_7354374655466778507[6] = -nom_x[6] + true_x[6]; + out_7354374655466778507[7] = -nom_x[7] + true_x[7]; + out_7354374655466778507[8] = -nom_x[8] + true_x[8]; + out_7354374655466778507[9] = -nom_x[9] + true_x[9]; + out_7354374655466778507[10] = -nom_x[10] + true_x[10]; + out_7354374655466778507[11] = -nom_x[11] + true_x[11]; + out_7354374655466778507[12] = -nom_x[12] + true_x[12]; + out_7354374655466778507[13] = -nom_x[13] + true_x[13]; + out_7354374655466778507[14] = -nom_x[14] + true_x[14]; + out_7354374655466778507[15] = -nom_x[15] + true_x[15]; + out_7354374655466778507[16] = -nom_x[16] + true_x[16]; + out_7354374655466778507[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_500884218142268447) { - out_500884218142268447[0] = 1.0; - out_500884218142268447[1] = 0.0; - out_500884218142268447[2] = 0.0; - out_500884218142268447[3] = 0.0; - out_500884218142268447[4] = 0.0; - out_500884218142268447[5] = 0.0; - out_500884218142268447[6] = 0.0; - out_500884218142268447[7] = 0.0; - out_500884218142268447[8] = 0.0; - out_500884218142268447[9] = 0.0; - out_500884218142268447[10] = 0.0; - out_500884218142268447[11] = 0.0; - out_500884218142268447[12] = 0.0; - out_500884218142268447[13] = 0.0; - out_500884218142268447[14] = 0.0; - out_500884218142268447[15] = 0.0; - out_500884218142268447[16] = 0.0; - out_500884218142268447[17] = 0.0; - out_500884218142268447[18] = 0.0; - out_500884218142268447[19] = 1.0; - out_500884218142268447[20] = 0.0; - out_500884218142268447[21] = 0.0; - out_500884218142268447[22] = 0.0; - out_500884218142268447[23] = 0.0; - out_500884218142268447[24] = 0.0; - out_500884218142268447[25] = 0.0; - out_500884218142268447[26] = 0.0; - out_500884218142268447[27] = 0.0; - out_500884218142268447[28] = 0.0; - out_500884218142268447[29] = 0.0; - out_500884218142268447[30] = 0.0; - out_500884218142268447[31] = 0.0; - out_500884218142268447[32] = 0.0; - out_500884218142268447[33] = 0.0; - out_500884218142268447[34] = 0.0; - out_500884218142268447[35] = 0.0; - out_500884218142268447[36] = 0.0; - out_500884218142268447[37] = 0.0; - out_500884218142268447[38] = 1.0; - out_500884218142268447[39] = 0.0; - out_500884218142268447[40] = 0.0; - out_500884218142268447[41] = 0.0; - out_500884218142268447[42] = 0.0; - out_500884218142268447[43] = 0.0; - out_500884218142268447[44] = 0.0; - out_500884218142268447[45] = 0.0; - out_500884218142268447[46] = 0.0; - out_500884218142268447[47] = 0.0; - out_500884218142268447[48] = 0.0; - out_500884218142268447[49] = 0.0; - out_500884218142268447[50] = 0.0; - out_500884218142268447[51] = 0.0; - out_500884218142268447[52] = 0.0; - out_500884218142268447[53] = 0.0; - out_500884218142268447[54] = 0.0; - out_500884218142268447[55] = 0.0; - out_500884218142268447[56] = 0.0; - out_500884218142268447[57] = 1.0; - out_500884218142268447[58] = 0.0; - out_500884218142268447[59] = 0.0; - out_500884218142268447[60] = 0.0; - out_500884218142268447[61] = 0.0; - out_500884218142268447[62] = 0.0; - out_500884218142268447[63] = 0.0; - out_500884218142268447[64] = 0.0; - out_500884218142268447[65] = 0.0; - out_500884218142268447[66] = 0.0; - out_500884218142268447[67] = 0.0; - out_500884218142268447[68] = 0.0; - out_500884218142268447[69] = 0.0; - out_500884218142268447[70] = 0.0; - out_500884218142268447[71] = 0.0; - out_500884218142268447[72] = 0.0; - out_500884218142268447[73] = 0.0; - out_500884218142268447[74] = 0.0; - out_500884218142268447[75] = 0.0; - out_500884218142268447[76] = 1.0; - out_500884218142268447[77] = 0.0; - out_500884218142268447[78] = 0.0; - out_500884218142268447[79] = 0.0; - out_500884218142268447[80] = 0.0; - out_500884218142268447[81] = 0.0; - out_500884218142268447[82] = 0.0; - out_500884218142268447[83] = 0.0; - out_500884218142268447[84] = 0.0; - out_500884218142268447[85] = 0.0; - out_500884218142268447[86] = 0.0; - out_500884218142268447[87] = 0.0; - out_500884218142268447[88] = 0.0; - out_500884218142268447[89] = 0.0; - out_500884218142268447[90] = 0.0; - out_500884218142268447[91] = 0.0; - out_500884218142268447[92] = 0.0; - out_500884218142268447[93] = 0.0; - out_500884218142268447[94] = 0.0; - out_500884218142268447[95] = 1.0; - out_500884218142268447[96] = 0.0; - out_500884218142268447[97] = 0.0; - out_500884218142268447[98] = 0.0; - out_500884218142268447[99] = 0.0; - out_500884218142268447[100] = 0.0; - out_500884218142268447[101] = 0.0; - out_500884218142268447[102] = 0.0; - out_500884218142268447[103] = 0.0; - out_500884218142268447[104] = 0.0; - out_500884218142268447[105] = 0.0; - out_500884218142268447[106] = 0.0; - out_500884218142268447[107] = 0.0; - out_500884218142268447[108] = 0.0; - out_500884218142268447[109] = 0.0; - out_500884218142268447[110] = 0.0; - out_500884218142268447[111] = 0.0; - out_500884218142268447[112] = 0.0; - out_500884218142268447[113] = 0.0; - out_500884218142268447[114] = 1.0; - out_500884218142268447[115] = 0.0; - out_500884218142268447[116] = 0.0; - out_500884218142268447[117] = 0.0; - out_500884218142268447[118] = 0.0; - out_500884218142268447[119] = 0.0; - out_500884218142268447[120] = 0.0; - out_500884218142268447[121] = 0.0; - out_500884218142268447[122] = 0.0; - out_500884218142268447[123] = 0.0; - out_500884218142268447[124] = 0.0; - out_500884218142268447[125] = 0.0; - out_500884218142268447[126] = 0.0; - out_500884218142268447[127] = 0.0; - out_500884218142268447[128] = 0.0; - out_500884218142268447[129] = 0.0; - out_500884218142268447[130] = 0.0; - out_500884218142268447[131] = 0.0; - out_500884218142268447[132] = 0.0; - out_500884218142268447[133] = 1.0; - out_500884218142268447[134] = 0.0; - out_500884218142268447[135] = 0.0; - out_500884218142268447[136] = 0.0; - out_500884218142268447[137] = 0.0; - out_500884218142268447[138] = 0.0; - out_500884218142268447[139] = 0.0; - out_500884218142268447[140] = 0.0; - out_500884218142268447[141] = 0.0; - out_500884218142268447[142] = 0.0; - out_500884218142268447[143] = 0.0; - out_500884218142268447[144] = 0.0; - out_500884218142268447[145] = 0.0; - out_500884218142268447[146] = 0.0; - out_500884218142268447[147] = 0.0; - out_500884218142268447[148] = 0.0; - out_500884218142268447[149] = 0.0; - out_500884218142268447[150] = 0.0; - out_500884218142268447[151] = 0.0; - out_500884218142268447[152] = 1.0; - out_500884218142268447[153] = 0.0; - out_500884218142268447[154] = 0.0; - out_500884218142268447[155] = 0.0; - out_500884218142268447[156] = 0.0; - out_500884218142268447[157] = 0.0; - out_500884218142268447[158] = 0.0; - out_500884218142268447[159] = 0.0; - out_500884218142268447[160] = 0.0; - out_500884218142268447[161] = 0.0; - out_500884218142268447[162] = 0.0; - out_500884218142268447[163] = 0.0; - out_500884218142268447[164] = 0.0; - out_500884218142268447[165] = 0.0; - out_500884218142268447[166] = 0.0; - out_500884218142268447[167] = 0.0; - out_500884218142268447[168] = 0.0; - out_500884218142268447[169] = 0.0; - out_500884218142268447[170] = 0.0; - out_500884218142268447[171] = 1.0; - out_500884218142268447[172] = 0.0; - out_500884218142268447[173] = 0.0; - out_500884218142268447[174] = 0.0; - out_500884218142268447[175] = 0.0; - out_500884218142268447[176] = 0.0; - out_500884218142268447[177] = 0.0; - out_500884218142268447[178] = 0.0; - out_500884218142268447[179] = 0.0; - out_500884218142268447[180] = 0.0; - out_500884218142268447[181] = 0.0; - out_500884218142268447[182] = 0.0; - out_500884218142268447[183] = 0.0; - out_500884218142268447[184] = 0.0; - out_500884218142268447[185] = 0.0; - out_500884218142268447[186] = 0.0; - out_500884218142268447[187] = 0.0; - out_500884218142268447[188] = 0.0; - out_500884218142268447[189] = 0.0; - out_500884218142268447[190] = 1.0; - out_500884218142268447[191] = 0.0; - out_500884218142268447[192] = 0.0; - out_500884218142268447[193] = 0.0; - out_500884218142268447[194] = 0.0; - out_500884218142268447[195] = 0.0; - out_500884218142268447[196] = 0.0; - out_500884218142268447[197] = 0.0; - out_500884218142268447[198] = 0.0; - out_500884218142268447[199] = 0.0; - out_500884218142268447[200] = 0.0; - out_500884218142268447[201] = 0.0; - out_500884218142268447[202] = 0.0; - out_500884218142268447[203] = 0.0; - out_500884218142268447[204] = 0.0; - out_500884218142268447[205] = 0.0; - out_500884218142268447[206] = 0.0; - out_500884218142268447[207] = 0.0; - out_500884218142268447[208] = 0.0; - out_500884218142268447[209] = 1.0; - out_500884218142268447[210] = 0.0; - out_500884218142268447[211] = 0.0; - out_500884218142268447[212] = 0.0; - out_500884218142268447[213] = 0.0; - out_500884218142268447[214] = 0.0; - out_500884218142268447[215] = 0.0; - out_500884218142268447[216] = 0.0; - out_500884218142268447[217] = 0.0; - out_500884218142268447[218] = 0.0; - out_500884218142268447[219] = 0.0; - out_500884218142268447[220] = 0.0; - out_500884218142268447[221] = 0.0; - out_500884218142268447[222] = 0.0; - out_500884218142268447[223] = 0.0; - out_500884218142268447[224] = 0.0; - out_500884218142268447[225] = 0.0; - out_500884218142268447[226] = 0.0; - out_500884218142268447[227] = 0.0; - out_500884218142268447[228] = 1.0; - out_500884218142268447[229] = 0.0; - out_500884218142268447[230] = 0.0; - out_500884218142268447[231] = 0.0; - out_500884218142268447[232] = 0.0; - out_500884218142268447[233] = 0.0; - out_500884218142268447[234] = 0.0; - out_500884218142268447[235] = 0.0; - out_500884218142268447[236] = 0.0; - out_500884218142268447[237] = 0.0; - out_500884218142268447[238] = 0.0; - out_500884218142268447[239] = 0.0; - out_500884218142268447[240] = 0.0; - out_500884218142268447[241] = 0.0; - out_500884218142268447[242] = 0.0; - out_500884218142268447[243] = 0.0; - out_500884218142268447[244] = 0.0; - out_500884218142268447[245] = 0.0; - out_500884218142268447[246] = 0.0; - out_500884218142268447[247] = 1.0; - out_500884218142268447[248] = 0.0; - out_500884218142268447[249] = 0.0; - out_500884218142268447[250] = 0.0; - out_500884218142268447[251] = 0.0; - out_500884218142268447[252] = 0.0; - out_500884218142268447[253] = 0.0; - out_500884218142268447[254] = 0.0; - out_500884218142268447[255] = 0.0; - out_500884218142268447[256] = 0.0; - out_500884218142268447[257] = 0.0; - out_500884218142268447[258] = 0.0; - out_500884218142268447[259] = 0.0; - out_500884218142268447[260] = 0.0; - out_500884218142268447[261] = 0.0; - out_500884218142268447[262] = 0.0; - out_500884218142268447[263] = 0.0; - out_500884218142268447[264] = 0.0; - out_500884218142268447[265] = 0.0; - out_500884218142268447[266] = 1.0; - out_500884218142268447[267] = 0.0; - out_500884218142268447[268] = 0.0; - out_500884218142268447[269] = 0.0; - out_500884218142268447[270] = 0.0; - out_500884218142268447[271] = 0.0; - out_500884218142268447[272] = 0.0; - out_500884218142268447[273] = 0.0; - out_500884218142268447[274] = 0.0; - out_500884218142268447[275] = 0.0; - out_500884218142268447[276] = 0.0; - out_500884218142268447[277] = 0.0; - out_500884218142268447[278] = 0.0; - out_500884218142268447[279] = 0.0; - out_500884218142268447[280] = 0.0; - out_500884218142268447[281] = 0.0; - out_500884218142268447[282] = 0.0; - out_500884218142268447[283] = 0.0; - out_500884218142268447[284] = 0.0; - out_500884218142268447[285] = 1.0; - out_500884218142268447[286] = 0.0; - out_500884218142268447[287] = 0.0; - out_500884218142268447[288] = 0.0; - out_500884218142268447[289] = 0.0; - out_500884218142268447[290] = 0.0; - out_500884218142268447[291] = 0.0; - out_500884218142268447[292] = 0.0; - out_500884218142268447[293] = 0.0; - out_500884218142268447[294] = 0.0; - out_500884218142268447[295] = 0.0; - out_500884218142268447[296] = 0.0; - out_500884218142268447[297] = 0.0; - out_500884218142268447[298] = 0.0; - out_500884218142268447[299] = 0.0; - out_500884218142268447[300] = 0.0; - out_500884218142268447[301] = 0.0; - out_500884218142268447[302] = 0.0; - out_500884218142268447[303] = 0.0; - out_500884218142268447[304] = 1.0; - out_500884218142268447[305] = 0.0; - out_500884218142268447[306] = 0.0; - out_500884218142268447[307] = 0.0; - out_500884218142268447[308] = 0.0; - out_500884218142268447[309] = 0.0; - out_500884218142268447[310] = 0.0; - out_500884218142268447[311] = 0.0; - out_500884218142268447[312] = 0.0; - out_500884218142268447[313] = 0.0; - out_500884218142268447[314] = 0.0; - out_500884218142268447[315] = 0.0; - out_500884218142268447[316] = 0.0; - out_500884218142268447[317] = 0.0; - out_500884218142268447[318] = 0.0; - out_500884218142268447[319] = 0.0; - out_500884218142268447[320] = 0.0; - out_500884218142268447[321] = 0.0; - out_500884218142268447[322] = 0.0; - out_500884218142268447[323] = 1.0; +void H_mod_fun(double *state, double *out_5435820587083186523) { + out_5435820587083186523[0] = 1.0; + out_5435820587083186523[1] = 0.0; + out_5435820587083186523[2] = 0.0; + out_5435820587083186523[3] = 0.0; + out_5435820587083186523[4] = 0.0; + out_5435820587083186523[5] = 0.0; + out_5435820587083186523[6] = 0.0; + out_5435820587083186523[7] = 0.0; + out_5435820587083186523[8] = 0.0; + out_5435820587083186523[9] = 0.0; + out_5435820587083186523[10] = 0.0; + out_5435820587083186523[11] = 0.0; + out_5435820587083186523[12] = 0.0; + out_5435820587083186523[13] = 0.0; + out_5435820587083186523[14] = 0.0; + out_5435820587083186523[15] = 0.0; + out_5435820587083186523[16] = 0.0; + out_5435820587083186523[17] = 0.0; + out_5435820587083186523[18] = 0.0; + out_5435820587083186523[19] = 1.0; + out_5435820587083186523[20] = 0.0; + out_5435820587083186523[21] = 0.0; + out_5435820587083186523[22] = 0.0; + out_5435820587083186523[23] = 0.0; + out_5435820587083186523[24] = 0.0; + out_5435820587083186523[25] = 0.0; + out_5435820587083186523[26] = 0.0; + out_5435820587083186523[27] = 0.0; + out_5435820587083186523[28] = 0.0; + out_5435820587083186523[29] = 0.0; + out_5435820587083186523[30] = 0.0; + out_5435820587083186523[31] = 0.0; + out_5435820587083186523[32] = 0.0; + out_5435820587083186523[33] = 0.0; + out_5435820587083186523[34] = 0.0; + out_5435820587083186523[35] = 0.0; + out_5435820587083186523[36] = 0.0; + out_5435820587083186523[37] = 0.0; + out_5435820587083186523[38] = 1.0; + out_5435820587083186523[39] = 0.0; + out_5435820587083186523[40] = 0.0; + out_5435820587083186523[41] = 0.0; + out_5435820587083186523[42] = 0.0; + out_5435820587083186523[43] = 0.0; + out_5435820587083186523[44] = 0.0; + out_5435820587083186523[45] = 0.0; + out_5435820587083186523[46] = 0.0; + out_5435820587083186523[47] = 0.0; + out_5435820587083186523[48] = 0.0; + out_5435820587083186523[49] = 0.0; + out_5435820587083186523[50] = 0.0; + out_5435820587083186523[51] = 0.0; + out_5435820587083186523[52] = 0.0; + out_5435820587083186523[53] = 0.0; + out_5435820587083186523[54] = 0.0; + out_5435820587083186523[55] = 0.0; + out_5435820587083186523[56] = 0.0; + out_5435820587083186523[57] = 1.0; + out_5435820587083186523[58] = 0.0; + out_5435820587083186523[59] = 0.0; + out_5435820587083186523[60] = 0.0; + out_5435820587083186523[61] = 0.0; + out_5435820587083186523[62] = 0.0; + out_5435820587083186523[63] = 0.0; + out_5435820587083186523[64] = 0.0; + out_5435820587083186523[65] = 0.0; + out_5435820587083186523[66] = 0.0; + out_5435820587083186523[67] = 0.0; + out_5435820587083186523[68] = 0.0; + out_5435820587083186523[69] = 0.0; + out_5435820587083186523[70] = 0.0; + out_5435820587083186523[71] = 0.0; + out_5435820587083186523[72] = 0.0; + out_5435820587083186523[73] = 0.0; + out_5435820587083186523[74] = 0.0; + out_5435820587083186523[75] = 0.0; + out_5435820587083186523[76] = 1.0; + out_5435820587083186523[77] = 0.0; + out_5435820587083186523[78] = 0.0; + out_5435820587083186523[79] = 0.0; + out_5435820587083186523[80] = 0.0; + out_5435820587083186523[81] = 0.0; + out_5435820587083186523[82] = 0.0; + out_5435820587083186523[83] = 0.0; + out_5435820587083186523[84] = 0.0; + out_5435820587083186523[85] = 0.0; + out_5435820587083186523[86] = 0.0; + out_5435820587083186523[87] = 0.0; + out_5435820587083186523[88] = 0.0; + out_5435820587083186523[89] = 0.0; + out_5435820587083186523[90] = 0.0; + out_5435820587083186523[91] = 0.0; + out_5435820587083186523[92] = 0.0; + out_5435820587083186523[93] = 0.0; + out_5435820587083186523[94] = 0.0; + out_5435820587083186523[95] = 1.0; + out_5435820587083186523[96] = 0.0; + out_5435820587083186523[97] = 0.0; + out_5435820587083186523[98] = 0.0; + out_5435820587083186523[99] = 0.0; + out_5435820587083186523[100] = 0.0; + out_5435820587083186523[101] = 0.0; + out_5435820587083186523[102] = 0.0; + out_5435820587083186523[103] = 0.0; + out_5435820587083186523[104] = 0.0; + out_5435820587083186523[105] = 0.0; + out_5435820587083186523[106] = 0.0; + out_5435820587083186523[107] = 0.0; + out_5435820587083186523[108] = 0.0; + out_5435820587083186523[109] = 0.0; + out_5435820587083186523[110] = 0.0; + out_5435820587083186523[111] = 0.0; + out_5435820587083186523[112] = 0.0; + out_5435820587083186523[113] = 0.0; + out_5435820587083186523[114] = 1.0; + out_5435820587083186523[115] = 0.0; + out_5435820587083186523[116] = 0.0; + out_5435820587083186523[117] = 0.0; + out_5435820587083186523[118] = 0.0; + out_5435820587083186523[119] = 0.0; + out_5435820587083186523[120] = 0.0; + out_5435820587083186523[121] = 0.0; + out_5435820587083186523[122] = 0.0; + out_5435820587083186523[123] = 0.0; + out_5435820587083186523[124] = 0.0; + out_5435820587083186523[125] = 0.0; + out_5435820587083186523[126] = 0.0; + out_5435820587083186523[127] = 0.0; + out_5435820587083186523[128] = 0.0; + out_5435820587083186523[129] = 0.0; + out_5435820587083186523[130] = 0.0; + out_5435820587083186523[131] = 0.0; + out_5435820587083186523[132] = 0.0; + out_5435820587083186523[133] = 1.0; + out_5435820587083186523[134] = 0.0; + out_5435820587083186523[135] = 0.0; + out_5435820587083186523[136] = 0.0; + out_5435820587083186523[137] = 0.0; + out_5435820587083186523[138] = 0.0; + out_5435820587083186523[139] = 0.0; + out_5435820587083186523[140] = 0.0; + out_5435820587083186523[141] = 0.0; + out_5435820587083186523[142] = 0.0; + out_5435820587083186523[143] = 0.0; + out_5435820587083186523[144] = 0.0; + out_5435820587083186523[145] = 0.0; + out_5435820587083186523[146] = 0.0; + out_5435820587083186523[147] = 0.0; + out_5435820587083186523[148] = 0.0; + out_5435820587083186523[149] = 0.0; + out_5435820587083186523[150] = 0.0; + out_5435820587083186523[151] = 0.0; + out_5435820587083186523[152] = 1.0; + out_5435820587083186523[153] = 0.0; + out_5435820587083186523[154] = 0.0; + out_5435820587083186523[155] = 0.0; + out_5435820587083186523[156] = 0.0; + out_5435820587083186523[157] = 0.0; + out_5435820587083186523[158] = 0.0; + out_5435820587083186523[159] = 0.0; + out_5435820587083186523[160] = 0.0; + out_5435820587083186523[161] = 0.0; + out_5435820587083186523[162] = 0.0; + out_5435820587083186523[163] = 0.0; + out_5435820587083186523[164] = 0.0; + out_5435820587083186523[165] = 0.0; + out_5435820587083186523[166] = 0.0; + out_5435820587083186523[167] = 0.0; + out_5435820587083186523[168] = 0.0; + out_5435820587083186523[169] = 0.0; + out_5435820587083186523[170] = 0.0; + out_5435820587083186523[171] = 1.0; + out_5435820587083186523[172] = 0.0; + out_5435820587083186523[173] = 0.0; + out_5435820587083186523[174] = 0.0; + out_5435820587083186523[175] = 0.0; + out_5435820587083186523[176] = 0.0; + out_5435820587083186523[177] = 0.0; + out_5435820587083186523[178] = 0.0; + out_5435820587083186523[179] = 0.0; + out_5435820587083186523[180] = 0.0; + out_5435820587083186523[181] = 0.0; + out_5435820587083186523[182] = 0.0; + out_5435820587083186523[183] = 0.0; + out_5435820587083186523[184] = 0.0; + out_5435820587083186523[185] = 0.0; + out_5435820587083186523[186] = 0.0; + out_5435820587083186523[187] = 0.0; + out_5435820587083186523[188] = 0.0; + out_5435820587083186523[189] = 0.0; + out_5435820587083186523[190] = 1.0; + out_5435820587083186523[191] = 0.0; + out_5435820587083186523[192] = 0.0; + out_5435820587083186523[193] = 0.0; + out_5435820587083186523[194] = 0.0; + out_5435820587083186523[195] = 0.0; + out_5435820587083186523[196] = 0.0; + out_5435820587083186523[197] = 0.0; + out_5435820587083186523[198] = 0.0; + out_5435820587083186523[199] = 0.0; + out_5435820587083186523[200] = 0.0; + out_5435820587083186523[201] = 0.0; + out_5435820587083186523[202] = 0.0; + out_5435820587083186523[203] = 0.0; + out_5435820587083186523[204] = 0.0; + out_5435820587083186523[205] = 0.0; + out_5435820587083186523[206] = 0.0; + out_5435820587083186523[207] = 0.0; + out_5435820587083186523[208] = 0.0; + out_5435820587083186523[209] = 1.0; + out_5435820587083186523[210] = 0.0; + out_5435820587083186523[211] = 0.0; + out_5435820587083186523[212] = 0.0; + out_5435820587083186523[213] = 0.0; + out_5435820587083186523[214] = 0.0; + out_5435820587083186523[215] = 0.0; + out_5435820587083186523[216] = 0.0; + out_5435820587083186523[217] = 0.0; + out_5435820587083186523[218] = 0.0; + out_5435820587083186523[219] = 0.0; + out_5435820587083186523[220] = 0.0; + out_5435820587083186523[221] = 0.0; + out_5435820587083186523[222] = 0.0; + out_5435820587083186523[223] = 0.0; + out_5435820587083186523[224] = 0.0; + out_5435820587083186523[225] = 0.0; + out_5435820587083186523[226] = 0.0; + out_5435820587083186523[227] = 0.0; + out_5435820587083186523[228] = 1.0; + out_5435820587083186523[229] = 0.0; + out_5435820587083186523[230] = 0.0; + out_5435820587083186523[231] = 0.0; + out_5435820587083186523[232] = 0.0; + out_5435820587083186523[233] = 0.0; + out_5435820587083186523[234] = 0.0; + out_5435820587083186523[235] = 0.0; + out_5435820587083186523[236] = 0.0; + out_5435820587083186523[237] = 0.0; + out_5435820587083186523[238] = 0.0; + out_5435820587083186523[239] = 0.0; + out_5435820587083186523[240] = 0.0; + out_5435820587083186523[241] = 0.0; + out_5435820587083186523[242] = 0.0; + out_5435820587083186523[243] = 0.0; + out_5435820587083186523[244] = 0.0; + out_5435820587083186523[245] = 0.0; + out_5435820587083186523[246] = 0.0; + out_5435820587083186523[247] = 1.0; + out_5435820587083186523[248] = 0.0; + out_5435820587083186523[249] = 0.0; + out_5435820587083186523[250] = 0.0; + out_5435820587083186523[251] = 0.0; + out_5435820587083186523[252] = 0.0; + out_5435820587083186523[253] = 0.0; + out_5435820587083186523[254] = 0.0; + out_5435820587083186523[255] = 0.0; + out_5435820587083186523[256] = 0.0; + out_5435820587083186523[257] = 0.0; + out_5435820587083186523[258] = 0.0; + out_5435820587083186523[259] = 0.0; + out_5435820587083186523[260] = 0.0; + out_5435820587083186523[261] = 0.0; + out_5435820587083186523[262] = 0.0; + out_5435820587083186523[263] = 0.0; + out_5435820587083186523[264] = 0.0; + out_5435820587083186523[265] = 0.0; + out_5435820587083186523[266] = 1.0; + out_5435820587083186523[267] = 0.0; + out_5435820587083186523[268] = 0.0; + out_5435820587083186523[269] = 0.0; + out_5435820587083186523[270] = 0.0; + out_5435820587083186523[271] = 0.0; + out_5435820587083186523[272] = 0.0; + out_5435820587083186523[273] = 0.0; + out_5435820587083186523[274] = 0.0; + out_5435820587083186523[275] = 0.0; + out_5435820587083186523[276] = 0.0; + out_5435820587083186523[277] = 0.0; + out_5435820587083186523[278] = 0.0; + out_5435820587083186523[279] = 0.0; + out_5435820587083186523[280] = 0.0; + out_5435820587083186523[281] = 0.0; + out_5435820587083186523[282] = 0.0; + out_5435820587083186523[283] = 0.0; + out_5435820587083186523[284] = 0.0; + out_5435820587083186523[285] = 1.0; + out_5435820587083186523[286] = 0.0; + out_5435820587083186523[287] = 0.0; + out_5435820587083186523[288] = 0.0; + out_5435820587083186523[289] = 0.0; + out_5435820587083186523[290] = 0.0; + out_5435820587083186523[291] = 0.0; + out_5435820587083186523[292] = 0.0; + out_5435820587083186523[293] = 0.0; + out_5435820587083186523[294] = 0.0; + out_5435820587083186523[295] = 0.0; + out_5435820587083186523[296] = 0.0; + out_5435820587083186523[297] = 0.0; + out_5435820587083186523[298] = 0.0; + out_5435820587083186523[299] = 0.0; + out_5435820587083186523[300] = 0.0; + out_5435820587083186523[301] = 0.0; + out_5435820587083186523[302] = 0.0; + out_5435820587083186523[303] = 0.0; + out_5435820587083186523[304] = 1.0; + out_5435820587083186523[305] = 0.0; + out_5435820587083186523[306] = 0.0; + out_5435820587083186523[307] = 0.0; + out_5435820587083186523[308] = 0.0; + out_5435820587083186523[309] = 0.0; + out_5435820587083186523[310] = 0.0; + out_5435820587083186523[311] = 0.0; + out_5435820587083186523[312] = 0.0; + out_5435820587083186523[313] = 0.0; + out_5435820587083186523[314] = 0.0; + out_5435820587083186523[315] = 0.0; + out_5435820587083186523[316] = 0.0; + out_5435820587083186523[317] = 0.0; + out_5435820587083186523[318] = 0.0; + out_5435820587083186523[319] = 0.0; + out_5435820587083186523[320] = 0.0; + out_5435820587083186523[321] = 0.0; + out_5435820587083186523[322] = 0.0; + out_5435820587083186523[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4066820228930702403) { - out_4066820228930702403[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_4066820228930702403[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_4066820228930702403[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_4066820228930702403[3] = dt*state[12] + state[3]; - out_4066820228930702403[4] = dt*state[13] + state[4]; - out_4066820228930702403[5] = dt*state[14] + state[5]; - out_4066820228930702403[6] = state[6]; - out_4066820228930702403[7] = state[7]; - out_4066820228930702403[8] = state[8]; - out_4066820228930702403[9] = state[9]; - out_4066820228930702403[10] = state[10]; - out_4066820228930702403[11] = state[11]; - out_4066820228930702403[12] = state[12]; - out_4066820228930702403[13] = state[13]; - out_4066820228930702403[14] = state[14]; - out_4066820228930702403[15] = state[15]; - out_4066820228930702403[16] = state[16]; - out_4066820228930702403[17] = state[17]; +void f_fun(double *state, double dt, double *out_5089910609496554967) { + out_5089910609496554967[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_5089910609496554967[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_5089910609496554967[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_5089910609496554967[3] = dt*state[12] + state[3]; + out_5089910609496554967[4] = dt*state[13] + state[4]; + out_5089910609496554967[5] = dt*state[14] + state[5]; + out_5089910609496554967[6] = state[6]; + out_5089910609496554967[7] = state[7]; + out_5089910609496554967[8] = state[8]; + out_5089910609496554967[9] = state[9]; + out_5089910609496554967[10] = state[10]; + out_5089910609496554967[11] = state[11]; + out_5089910609496554967[12] = state[12]; + out_5089910609496554967[13] = state[13]; + out_5089910609496554967[14] = state[14]; + out_5089910609496554967[15] = state[15]; + out_5089910609496554967[16] = state[16]; + out_5089910609496554967[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4990161262598215268) { - out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[2] = 0; - out_4990161262598215268[3] = 0; - out_4990161262598215268[4] = 0; - out_4990161262598215268[5] = 0; - out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[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_4990161262598215268[9] = 0; - out_4990161262598215268[10] = 0; - out_4990161262598215268[11] = 0; - out_4990161262598215268[12] = 0; - out_4990161262598215268[13] = 0; - out_4990161262598215268[14] = 0; - out_4990161262598215268[15] = 0; - out_4990161262598215268[16] = 0; - out_4990161262598215268[17] = 0; - out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[20] = 0; - out_4990161262598215268[21] = 0; - out_4990161262598215268[22] = 0; - out_4990161262598215268[23] = 0; - out_4990161262598215268[24] = 0; - out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[27] = 0; - out_4990161262598215268[28] = 0; - out_4990161262598215268[29] = 0; - out_4990161262598215268[30] = 0; - out_4990161262598215268[31] = 0; - out_4990161262598215268[32] = 0; - out_4990161262598215268[33] = 0; - out_4990161262598215268[34] = 0; - out_4990161262598215268[35] = 0; - out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[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_4990161262598215268[39] = 0; - out_4990161262598215268[40] = 0; - out_4990161262598215268[41] = 0; - out_4990161262598215268[42] = 0; - out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[45] = 0; - out_4990161262598215268[46] = 0; - out_4990161262598215268[47] = 0; - out_4990161262598215268[48] = 0; - out_4990161262598215268[49] = 0; - out_4990161262598215268[50] = 0; - out_4990161262598215268[51] = 0; - out_4990161262598215268[52] = 0; - out_4990161262598215268[53] = 0; - out_4990161262598215268[54] = 0; - out_4990161262598215268[55] = 0; - out_4990161262598215268[56] = 0; - out_4990161262598215268[57] = 1; - out_4990161262598215268[58] = 0; - out_4990161262598215268[59] = 0; - out_4990161262598215268[60] = 0; - out_4990161262598215268[61] = 0; - out_4990161262598215268[62] = 0; - out_4990161262598215268[63] = 0; - out_4990161262598215268[64] = 0; - out_4990161262598215268[65] = 0; - out_4990161262598215268[66] = dt; - out_4990161262598215268[67] = 0; - out_4990161262598215268[68] = 0; - out_4990161262598215268[69] = 0; - out_4990161262598215268[70] = 0; - out_4990161262598215268[71] = 0; - out_4990161262598215268[72] = 0; - out_4990161262598215268[73] = 0; - out_4990161262598215268[74] = 0; - out_4990161262598215268[75] = 0; - out_4990161262598215268[76] = 1; - out_4990161262598215268[77] = 0; - out_4990161262598215268[78] = 0; - out_4990161262598215268[79] = 0; - out_4990161262598215268[80] = 0; - out_4990161262598215268[81] = 0; - out_4990161262598215268[82] = 0; - out_4990161262598215268[83] = 0; - out_4990161262598215268[84] = 0; - out_4990161262598215268[85] = dt; - out_4990161262598215268[86] = 0; - out_4990161262598215268[87] = 0; - out_4990161262598215268[88] = 0; - out_4990161262598215268[89] = 0; - out_4990161262598215268[90] = 0; - out_4990161262598215268[91] = 0; - out_4990161262598215268[92] = 0; - out_4990161262598215268[93] = 0; - out_4990161262598215268[94] = 0; - out_4990161262598215268[95] = 1; - out_4990161262598215268[96] = 0; - out_4990161262598215268[97] = 0; - out_4990161262598215268[98] = 0; - out_4990161262598215268[99] = 0; - out_4990161262598215268[100] = 0; - out_4990161262598215268[101] = 0; - out_4990161262598215268[102] = 0; - out_4990161262598215268[103] = 0; - out_4990161262598215268[104] = dt; - out_4990161262598215268[105] = 0; - out_4990161262598215268[106] = 0; - out_4990161262598215268[107] = 0; - out_4990161262598215268[108] = 0; - out_4990161262598215268[109] = 0; - out_4990161262598215268[110] = 0; - out_4990161262598215268[111] = 0; - out_4990161262598215268[112] = 0; - out_4990161262598215268[113] = 0; - out_4990161262598215268[114] = 1; - out_4990161262598215268[115] = 0; - out_4990161262598215268[116] = 0; - out_4990161262598215268[117] = 0; - out_4990161262598215268[118] = 0; - out_4990161262598215268[119] = 0; - out_4990161262598215268[120] = 0; - out_4990161262598215268[121] = 0; - out_4990161262598215268[122] = 0; - out_4990161262598215268[123] = 0; - out_4990161262598215268[124] = 0; - out_4990161262598215268[125] = 0; - out_4990161262598215268[126] = 0; - out_4990161262598215268[127] = 0; - out_4990161262598215268[128] = 0; - out_4990161262598215268[129] = 0; - out_4990161262598215268[130] = 0; - out_4990161262598215268[131] = 0; - out_4990161262598215268[132] = 0; - out_4990161262598215268[133] = 1; - out_4990161262598215268[134] = 0; - out_4990161262598215268[135] = 0; - out_4990161262598215268[136] = 0; - out_4990161262598215268[137] = 0; - out_4990161262598215268[138] = 0; - out_4990161262598215268[139] = 0; - out_4990161262598215268[140] = 0; - out_4990161262598215268[141] = 0; - out_4990161262598215268[142] = 0; - out_4990161262598215268[143] = 0; - out_4990161262598215268[144] = 0; - out_4990161262598215268[145] = 0; - out_4990161262598215268[146] = 0; - out_4990161262598215268[147] = 0; - out_4990161262598215268[148] = 0; - out_4990161262598215268[149] = 0; - out_4990161262598215268[150] = 0; - out_4990161262598215268[151] = 0; - out_4990161262598215268[152] = 1; - out_4990161262598215268[153] = 0; - out_4990161262598215268[154] = 0; - out_4990161262598215268[155] = 0; - out_4990161262598215268[156] = 0; - out_4990161262598215268[157] = 0; - out_4990161262598215268[158] = 0; - out_4990161262598215268[159] = 0; - out_4990161262598215268[160] = 0; - out_4990161262598215268[161] = 0; - out_4990161262598215268[162] = 0; - out_4990161262598215268[163] = 0; - out_4990161262598215268[164] = 0; - out_4990161262598215268[165] = 0; - out_4990161262598215268[166] = 0; - out_4990161262598215268[167] = 0; - out_4990161262598215268[168] = 0; - out_4990161262598215268[169] = 0; - out_4990161262598215268[170] = 0; - out_4990161262598215268[171] = 1; - out_4990161262598215268[172] = 0; - out_4990161262598215268[173] = 0; - out_4990161262598215268[174] = 0; - out_4990161262598215268[175] = 0; - out_4990161262598215268[176] = 0; - out_4990161262598215268[177] = 0; - out_4990161262598215268[178] = 0; - out_4990161262598215268[179] = 0; - out_4990161262598215268[180] = 0; - out_4990161262598215268[181] = 0; - out_4990161262598215268[182] = 0; - out_4990161262598215268[183] = 0; - out_4990161262598215268[184] = 0; - out_4990161262598215268[185] = 0; - out_4990161262598215268[186] = 0; - out_4990161262598215268[187] = 0; - out_4990161262598215268[188] = 0; - out_4990161262598215268[189] = 0; - out_4990161262598215268[190] = 1; - out_4990161262598215268[191] = 0; - out_4990161262598215268[192] = 0; - out_4990161262598215268[193] = 0; - out_4990161262598215268[194] = 0; - out_4990161262598215268[195] = 0; - out_4990161262598215268[196] = 0; - out_4990161262598215268[197] = 0; - out_4990161262598215268[198] = 0; - out_4990161262598215268[199] = 0; - out_4990161262598215268[200] = 0; - out_4990161262598215268[201] = 0; - out_4990161262598215268[202] = 0; - out_4990161262598215268[203] = 0; - out_4990161262598215268[204] = 0; - out_4990161262598215268[205] = 0; - out_4990161262598215268[206] = 0; - out_4990161262598215268[207] = 0; - out_4990161262598215268[208] = 0; - out_4990161262598215268[209] = 1; - out_4990161262598215268[210] = 0; - out_4990161262598215268[211] = 0; - out_4990161262598215268[212] = 0; - out_4990161262598215268[213] = 0; - out_4990161262598215268[214] = 0; - out_4990161262598215268[215] = 0; - out_4990161262598215268[216] = 0; - out_4990161262598215268[217] = 0; - out_4990161262598215268[218] = 0; - out_4990161262598215268[219] = 0; - out_4990161262598215268[220] = 0; - out_4990161262598215268[221] = 0; - out_4990161262598215268[222] = 0; - out_4990161262598215268[223] = 0; - out_4990161262598215268[224] = 0; - out_4990161262598215268[225] = 0; - out_4990161262598215268[226] = 0; - out_4990161262598215268[227] = 0; - out_4990161262598215268[228] = 1; - out_4990161262598215268[229] = 0; - out_4990161262598215268[230] = 0; - out_4990161262598215268[231] = 0; - out_4990161262598215268[232] = 0; - out_4990161262598215268[233] = 0; - out_4990161262598215268[234] = 0; - out_4990161262598215268[235] = 0; - out_4990161262598215268[236] = 0; - out_4990161262598215268[237] = 0; - out_4990161262598215268[238] = 0; - out_4990161262598215268[239] = 0; - out_4990161262598215268[240] = 0; - out_4990161262598215268[241] = 0; - out_4990161262598215268[242] = 0; - out_4990161262598215268[243] = 0; - out_4990161262598215268[244] = 0; - out_4990161262598215268[245] = 0; - out_4990161262598215268[246] = 0; - out_4990161262598215268[247] = 1; - out_4990161262598215268[248] = 0; - out_4990161262598215268[249] = 0; - out_4990161262598215268[250] = 0; - out_4990161262598215268[251] = 0; - out_4990161262598215268[252] = 0; - out_4990161262598215268[253] = 0; - out_4990161262598215268[254] = 0; - out_4990161262598215268[255] = 0; - out_4990161262598215268[256] = 0; - out_4990161262598215268[257] = 0; - out_4990161262598215268[258] = 0; - out_4990161262598215268[259] = 0; - out_4990161262598215268[260] = 0; - out_4990161262598215268[261] = 0; - out_4990161262598215268[262] = 0; - out_4990161262598215268[263] = 0; - out_4990161262598215268[264] = 0; - out_4990161262598215268[265] = 0; - out_4990161262598215268[266] = 1; - out_4990161262598215268[267] = 0; - out_4990161262598215268[268] = 0; - out_4990161262598215268[269] = 0; - out_4990161262598215268[270] = 0; - out_4990161262598215268[271] = 0; - out_4990161262598215268[272] = 0; - out_4990161262598215268[273] = 0; - out_4990161262598215268[274] = 0; - out_4990161262598215268[275] = 0; - out_4990161262598215268[276] = 0; - out_4990161262598215268[277] = 0; - out_4990161262598215268[278] = 0; - out_4990161262598215268[279] = 0; - out_4990161262598215268[280] = 0; - out_4990161262598215268[281] = 0; - out_4990161262598215268[282] = 0; - out_4990161262598215268[283] = 0; - out_4990161262598215268[284] = 0; - out_4990161262598215268[285] = 1; - out_4990161262598215268[286] = 0; - out_4990161262598215268[287] = 0; - out_4990161262598215268[288] = 0; - out_4990161262598215268[289] = 0; - out_4990161262598215268[290] = 0; - out_4990161262598215268[291] = 0; - out_4990161262598215268[292] = 0; - out_4990161262598215268[293] = 0; - out_4990161262598215268[294] = 0; - out_4990161262598215268[295] = 0; - out_4990161262598215268[296] = 0; - out_4990161262598215268[297] = 0; - out_4990161262598215268[298] = 0; - out_4990161262598215268[299] = 0; - out_4990161262598215268[300] = 0; - out_4990161262598215268[301] = 0; - out_4990161262598215268[302] = 0; - out_4990161262598215268[303] = 0; - out_4990161262598215268[304] = 1; - out_4990161262598215268[305] = 0; - out_4990161262598215268[306] = 0; - out_4990161262598215268[307] = 0; - out_4990161262598215268[308] = 0; - out_4990161262598215268[309] = 0; - out_4990161262598215268[310] = 0; - out_4990161262598215268[311] = 0; - out_4990161262598215268[312] = 0; - out_4990161262598215268[313] = 0; - out_4990161262598215268[314] = 0; - out_4990161262598215268[315] = 0; - out_4990161262598215268[316] = 0; - out_4990161262598215268[317] = 0; - out_4990161262598215268[318] = 0; - out_4990161262598215268[319] = 0; - out_4990161262598215268[320] = 0; - out_4990161262598215268[321] = 0; - out_4990161262598215268[322] = 0; - out_4990161262598215268[323] = 1; +void F_fun(double *state, double dt, double *out_7337888639276922507) { + out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[2] = 0; + out_7337888639276922507[3] = 0; + out_7337888639276922507[4] = 0; + out_7337888639276922507[5] = 0; + out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[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_7337888639276922507[9] = 0; + out_7337888639276922507[10] = 0; + out_7337888639276922507[11] = 0; + out_7337888639276922507[12] = 0; + out_7337888639276922507[13] = 0; + out_7337888639276922507[14] = 0; + out_7337888639276922507[15] = 0; + out_7337888639276922507[16] = 0; + out_7337888639276922507[17] = 0; + out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[20] = 0; + out_7337888639276922507[21] = 0; + out_7337888639276922507[22] = 0; + out_7337888639276922507[23] = 0; + out_7337888639276922507[24] = 0; + out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[27] = 0; + out_7337888639276922507[28] = 0; + out_7337888639276922507[29] = 0; + out_7337888639276922507[30] = 0; + out_7337888639276922507[31] = 0; + out_7337888639276922507[32] = 0; + out_7337888639276922507[33] = 0; + out_7337888639276922507[34] = 0; + out_7337888639276922507[35] = 0; + out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[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_7337888639276922507[39] = 0; + out_7337888639276922507[40] = 0; + out_7337888639276922507[41] = 0; + out_7337888639276922507[42] = 0; + out_7337888639276922507[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_7337888639276922507[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_7337888639276922507[45] = 0; + out_7337888639276922507[46] = 0; + out_7337888639276922507[47] = 0; + out_7337888639276922507[48] = 0; + out_7337888639276922507[49] = 0; + out_7337888639276922507[50] = 0; + out_7337888639276922507[51] = 0; + out_7337888639276922507[52] = 0; + out_7337888639276922507[53] = 0; + out_7337888639276922507[54] = 0; + out_7337888639276922507[55] = 0; + out_7337888639276922507[56] = 0; + out_7337888639276922507[57] = 1; + out_7337888639276922507[58] = 0; + out_7337888639276922507[59] = 0; + out_7337888639276922507[60] = 0; + out_7337888639276922507[61] = 0; + out_7337888639276922507[62] = 0; + out_7337888639276922507[63] = 0; + out_7337888639276922507[64] = 0; + out_7337888639276922507[65] = 0; + out_7337888639276922507[66] = dt; + out_7337888639276922507[67] = 0; + out_7337888639276922507[68] = 0; + out_7337888639276922507[69] = 0; + out_7337888639276922507[70] = 0; + out_7337888639276922507[71] = 0; + out_7337888639276922507[72] = 0; + out_7337888639276922507[73] = 0; + out_7337888639276922507[74] = 0; + out_7337888639276922507[75] = 0; + out_7337888639276922507[76] = 1; + out_7337888639276922507[77] = 0; + out_7337888639276922507[78] = 0; + out_7337888639276922507[79] = 0; + out_7337888639276922507[80] = 0; + out_7337888639276922507[81] = 0; + out_7337888639276922507[82] = 0; + out_7337888639276922507[83] = 0; + out_7337888639276922507[84] = 0; + out_7337888639276922507[85] = dt; + out_7337888639276922507[86] = 0; + out_7337888639276922507[87] = 0; + out_7337888639276922507[88] = 0; + out_7337888639276922507[89] = 0; + out_7337888639276922507[90] = 0; + out_7337888639276922507[91] = 0; + out_7337888639276922507[92] = 0; + out_7337888639276922507[93] = 0; + out_7337888639276922507[94] = 0; + out_7337888639276922507[95] = 1; + out_7337888639276922507[96] = 0; + out_7337888639276922507[97] = 0; + out_7337888639276922507[98] = 0; + out_7337888639276922507[99] = 0; + out_7337888639276922507[100] = 0; + out_7337888639276922507[101] = 0; + out_7337888639276922507[102] = 0; + out_7337888639276922507[103] = 0; + out_7337888639276922507[104] = dt; + out_7337888639276922507[105] = 0; + out_7337888639276922507[106] = 0; + out_7337888639276922507[107] = 0; + out_7337888639276922507[108] = 0; + out_7337888639276922507[109] = 0; + out_7337888639276922507[110] = 0; + out_7337888639276922507[111] = 0; + out_7337888639276922507[112] = 0; + out_7337888639276922507[113] = 0; + out_7337888639276922507[114] = 1; + out_7337888639276922507[115] = 0; + out_7337888639276922507[116] = 0; + out_7337888639276922507[117] = 0; + out_7337888639276922507[118] = 0; + out_7337888639276922507[119] = 0; + out_7337888639276922507[120] = 0; + out_7337888639276922507[121] = 0; + out_7337888639276922507[122] = 0; + out_7337888639276922507[123] = 0; + out_7337888639276922507[124] = 0; + out_7337888639276922507[125] = 0; + out_7337888639276922507[126] = 0; + out_7337888639276922507[127] = 0; + out_7337888639276922507[128] = 0; + out_7337888639276922507[129] = 0; + out_7337888639276922507[130] = 0; + out_7337888639276922507[131] = 0; + out_7337888639276922507[132] = 0; + out_7337888639276922507[133] = 1; + out_7337888639276922507[134] = 0; + out_7337888639276922507[135] = 0; + out_7337888639276922507[136] = 0; + out_7337888639276922507[137] = 0; + out_7337888639276922507[138] = 0; + out_7337888639276922507[139] = 0; + out_7337888639276922507[140] = 0; + out_7337888639276922507[141] = 0; + out_7337888639276922507[142] = 0; + out_7337888639276922507[143] = 0; + out_7337888639276922507[144] = 0; + out_7337888639276922507[145] = 0; + out_7337888639276922507[146] = 0; + out_7337888639276922507[147] = 0; + out_7337888639276922507[148] = 0; + out_7337888639276922507[149] = 0; + out_7337888639276922507[150] = 0; + out_7337888639276922507[151] = 0; + out_7337888639276922507[152] = 1; + out_7337888639276922507[153] = 0; + out_7337888639276922507[154] = 0; + out_7337888639276922507[155] = 0; + out_7337888639276922507[156] = 0; + out_7337888639276922507[157] = 0; + out_7337888639276922507[158] = 0; + out_7337888639276922507[159] = 0; + out_7337888639276922507[160] = 0; + out_7337888639276922507[161] = 0; + out_7337888639276922507[162] = 0; + out_7337888639276922507[163] = 0; + out_7337888639276922507[164] = 0; + out_7337888639276922507[165] = 0; + out_7337888639276922507[166] = 0; + out_7337888639276922507[167] = 0; + out_7337888639276922507[168] = 0; + out_7337888639276922507[169] = 0; + out_7337888639276922507[170] = 0; + out_7337888639276922507[171] = 1; + out_7337888639276922507[172] = 0; + out_7337888639276922507[173] = 0; + out_7337888639276922507[174] = 0; + out_7337888639276922507[175] = 0; + out_7337888639276922507[176] = 0; + out_7337888639276922507[177] = 0; + out_7337888639276922507[178] = 0; + out_7337888639276922507[179] = 0; + out_7337888639276922507[180] = 0; + out_7337888639276922507[181] = 0; + out_7337888639276922507[182] = 0; + out_7337888639276922507[183] = 0; + out_7337888639276922507[184] = 0; + out_7337888639276922507[185] = 0; + out_7337888639276922507[186] = 0; + out_7337888639276922507[187] = 0; + out_7337888639276922507[188] = 0; + out_7337888639276922507[189] = 0; + out_7337888639276922507[190] = 1; + out_7337888639276922507[191] = 0; + out_7337888639276922507[192] = 0; + out_7337888639276922507[193] = 0; + out_7337888639276922507[194] = 0; + out_7337888639276922507[195] = 0; + out_7337888639276922507[196] = 0; + out_7337888639276922507[197] = 0; + out_7337888639276922507[198] = 0; + out_7337888639276922507[199] = 0; + out_7337888639276922507[200] = 0; + out_7337888639276922507[201] = 0; + out_7337888639276922507[202] = 0; + out_7337888639276922507[203] = 0; + out_7337888639276922507[204] = 0; + out_7337888639276922507[205] = 0; + out_7337888639276922507[206] = 0; + out_7337888639276922507[207] = 0; + out_7337888639276922507[208] = 0; + out_7337888639276922507[209] = 1; + out_7337888639276922507[210] = 0; + out_7337888639276922507[211] = 0; + out_7337888639276922507[212] = 0; + out_7337888639276922507[213] = 0; + out_7337888639276922507[214] = 0; + out_7337888639276922507[215] = 0; + out_7337888639276922507[216] = 0; + out_7337888639276922507[217] = 0; + out_7337888639276922507[218] = 0; + out_7337888639276922507[219] = 0; + out_7337888639276922507[220] = 0; + out_7337888639276922507[221] = 0; + out_7337888639276922507[222] = 0; + out_7337888639276922507[223] = 0; + out_7337888639276922507[224] = 0; + out_7337888639276922507[225] = 0; + out_7337888639276922507[226] = 0; + out_7337888639276922507[227] = 0; + out_7337888639276922507[228] = 1; + out_7337888639276922507[229] = 0; + out_7337888639276922507[230] = 0; + out_7337888639276922507[231] = 0; + out_7337888639276922507[232] = 0; + out_7337888639276922507[233] = 0; + out_7337888639276922507[234] = 0; + out_7337888639276922507[235] = 0; + out_7337888639276922507[236] = 0; + out_7337888639276922507[237] = 0; + out_7337888639276922507[238] = 0; + out_7337888639276922507[239] = 0; + out_7337888639276922507[240] = 0; + out_7337888639276922507[241] = 0; + out_7337888639276922507[242] = 0; + out_7337888639276922507[243] = 0; + out_7337888639276922507[244] = 0; + out_7337888639276922507[245] = 0; + out_7337888639276922507[246] = 0; + out_7337888639276922507[247] = 1; + out_7337888639276922507[248] = 0; + out_7337888639276922507[249] = 0; + out_7337888639276922507[250] = 0; + out_7337888639276922507[251] = 0; + out_7337888639276922507[252] = 0; + out_7337888639276922507[253] = 0; + out_7337888639276922507[254] = 0; + out_7337888639276922507[255] = 0; + out_7337888639276922507[256] = 0; + out_7337888639276922507[257] = 0; + out_7337888639276922507[258] = 0; + out_7337888639276922507[259] = 0; + out_7337888639276922507[260] = 0; + out_7337888639276922507[261] = 0; + out_7337888639276922507[262] = 0; + out_7337888639276922507[263] = 0; + out_7337888639276922507[264] = 0; + out_7337888639276922507[265] = 0; + out_7337888639276922507[266] = 1; + out_7337888639276922507[267] = 0; + out_7337888639276922507[268] = 0; + out_7337888639276922507[269] = 0; + out_7337888639276922507[270] = 0; + out_7337888639276922507[271] = 0; + out_7337888639276922507[272] = 0; + out_7337888639276922507[273] = 0; + out_7337888639276922507[274] = 0; + out_7337888639276922507[275] = 0; + out_7337888639276922507[276] = 0; + out_7337888639276922507[277] = 0; + out_7337888639276922507[278] = 0; + out_7337888639276922507[279] = 0; + out_7337888639276922507[280] = 0; + out_7337888639276922507[281] = 0; + out_7337888639276922507[282] = 0; + out_7337888639276922507[283] = 0; + out_7337888639276922507[284] = 0; + out_7337888639276922507[285] = 1; + out_7337888639276922507[286] = 0; + out_7337888639276922507[287] = 0; + out_7337888639276922507[288] = 0; + out_7337888639276922507[289] = 0; + out_7337888639276922507[290] = 0; + out_7337888639276922507[291] = 0; + out_7337888639276922507[292] = 0; + out_7337888639276922507[293] = 0; + out_7337888639276922507[294] = 0; + out_7337888639276922507[295] = 0; + out_7337888639276922507[296] = 0; + out_7337888639276922507[297] = 0; + out_7337888639276922507[298] = 0; + out_7337888639276922507[299] = 0; + out_7337888639276922507[300] = 0; + out_7337888639276922507[301] = 0; + out_7337888639276922507[302] = 0; + out_7337888639276922507[303] = 0; + out_7337888639276922507[304] = 1; + out_7337888639276922507[305] = 0; + out_7337888639276922507[306] = 0; + out_7337888639276922507[307] = 0; + out_7337888639276922507[308] = 0; + out_7337888639276922507[309] = 0; + out_7337888639276922507[310] = 0; + out_7337888639276922507[311] = 0; + out_7337888639276922507[312] = 0; + out_7337888639276922507[313] = 0; + out_7337888639276922507[314] = 0; + out_7337888639276922507[315] = 0; + out_7337888639276922507[316] = 0; + out_7337888639276922507[317] = 0; + out_7337888639276922507[318] = 0; + out_7337888639276922507[319] = 0; + out_7337888639276922507[320] = 0; + out_7337888639276922507[321] = 0; + out_7337888639276922507[322] = 0; + out_7337888639276922507[323] = 1; } -void h_4(double *state, double *unused, double *out_6356659530746877918) { - out_6356659530746877918[0] = state[6] + state[9]; - out_6356659530746877918[1] = state[7] + state[10]; - out_6356659530746877918[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2944115722558364854) { + out_2944115722558364854[0] = state[6] + state[9]; + out_2944115722558364854[1] = state[7] + state[10]; + out_2944115722558364854[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_9001498189509461827) { - out_9001498189509461827[0] = 0; - out_9001498189509461827[1] = 0; - out_9001498189509461827[2] = 0; - out_9001498189509461827[3] = 0; - out_9001498189509461827[4] = 0; - out_9001498189509461827[5] = 0; - out_9001498189509461827[6] = 1; - out_9001498189509461827[7] = 0; - out_9001498189509461827[8] = 0; - out_9001498189509461827[9] = 1; - out_9001498189509461827[10] = 0; - out_9001498189509461827[11] = 0; - out_9001498189509461827[12] = 0; - out_9001498189509461827[13] = 0; - out_9001498189509461827[14] = 0; - out_9001498189509461827[15] = 0; - out_9001498189509461827[16] = 0; - out_9001498189509461827[17] = 0; - out_9001498189509461827[18] = 0; - out_9001498189509461827[19] = 0; - out_9001498189509461827[20] = 0; - out_9001498189509461827[21] = 0; - out_9001498189509461827[22] = 0; - out_9001498189509461827[23] = 0; - out_9001498189509461827[24] = 0; - out_9001498189509461827[25] = 1; - out_9001498189509461827[26] = 0; - out_9001498189509461827[27] = 0; - out_9001498189509461827[28] = 1; - out_9001498189509461827[29] = 0; - out_9001498189509461827[30] = 0; - out_9001498189509461827[31] = 0; - out_9001498189509461827[32] = 0; - out_9001498189509461827[33] = 0; - out_9001498189509461827[34] = 0; - out_9001498189509461827[35] = 0; - out_9001498189509461827[36] = 0; - out_9001498189509461827[37] = 0; - out_9001498189509461827[38] = 0; - out_9001498189509461827[39] = 0; - out_9001498189509461827[40] = 0; - out_9001498189509461827[41] = 0; - out_9001498189509461827[42] = 0; - out_9001498189509461827[43] = 0; - out_9001498189509461827[44] = 1; - out_9001498189509461827[45] = 0; - out_9001498189509461827[46] = 0; - out_9001498189509461827[47] = 1; - out_9001498189509461827[48] = 0; - out_9001498189509461827[49] = 0; - out_9001498189509461827[50] = 0; - out_9001498189509461827[51] = 0; - out_9001498189509461827[52] = 0; - out_9001498189509461827[53] = 0; +void H_4(double *state, double *unused, double *out_2235410685981716499) { + out_2235410685981716499[0] = 0; + out_2235410685981716499[1] = 0; + out_2235410685981716499[2] = 0; + out_2235410685981716499[3] = 0; + out_2235410685981716499[4] = 0; + out_2235410685981716499[5] = 0; + out_2235410685981716499[6] = 1; + out_2235410685981716499[7] = 0; + out_2235410685981716499[8] = 0; + out_2235410685981716499[9] = 1; + out_2235410685981716499[10] = 0; + out_2235410685981716499[11] = 0; + out_2235410685981716499[12] = 0; + out_2235410685981716499[13] = 0; + out_2235410685981716499[14] = 0; + out_2235410685981716499[15] = 0; + out_2235410685981716499[16] = 0; + out_2235410685981716499[17] = 0; + out_2235410685981716499[18] = 0; + out_2235410685981716499[19] = 0; + out_2235410685981716499[20] = 0; + out_2235410685981716499[21] = 0; + out_2235410685981716499[22] = 0; + out_2235410685981716499[23] = 0; + out_2235410685981716499[24] = 0; + out_2235410685981716499[25] = 1; + out_2235410685981716499[26] = 0; + out_2235410685981716499[27] = 0; + out_2235410685981716499[28] = 1; + out_2235410685981716499[29] = 0; + out_2235410685981716499[30] = 0; + out_2235410685981716499[31] = 0; + out_2235410685981716499[32] = 0; + out_2235410685981716499[33] = 0; + out_2235410685981716499[34] = 0; + out_2235410685981716499[35] = 0; + out_2235410685981716499[36] = 0; + out_2235410685981716499[37] = 0; + out_2235410685981716499[38] = 0; + out_2235410685981716499[39] = 0; + out_2235410685981716499[40] = 0; + out_2235410685981716499[41] = 0; + out_2235410685981716499[42] = 0; + out_2235410685981716499[43] = 0; + out_2235410685981716499[44] = 1; + out_2235410685981716499[45] = 0; + out_2235410685981716499[46] = 0; + out_2235410685981716499[47] = 1; + out_2235410685981716499[48] = 0; + out_2235410685981716499[49] = 0; + out_2235410685981716499[50] = 0; + out_2235410685981716499[51] = 0; + out_2235410685981716499[52] = 0; + out_2235410685981716499[53] = 0; } -void h_10(double *state, double *unused, double *out_4540118139912947621) { - out_4540118139912947621[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_4540118139912947621[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_4540118139912947621[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_5480980924344673221) { + out_5480980924344673221[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5480980924344673221[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5480980924344673221[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_2609551212551183976) { - out_2609551212551183976[0] = 0; - out_2609551212551183976[1] = 9.8100000000000005*cos(state[1]); - out_2609551212551183976[2] = 0; - out_2609551212551183976[3] = 0; - out_2609551212551183976[4] = -state[8]; - out_2609551212551183976[5] = state[7]; - out_2609551212551183976[6] = 0; - out_2609551212551183976[7] = state[5]; - out_2609551212551183976[8] = -state[4]; - out_2609551212551183976[9] = 0; - out_2609551212551183976[10] = 0; - out_2609551212551183976[11] = 0; - out_2609551212551183976[12] = 1; - out_2609551212551183976[13] = 0; - out_2609551212551183976[14] = 0; - out_2609551212551183976[15] = 1; - out_2609551212551183976[16] = 0; - out_2609551212551183976[17] = 0; - out_2609551212551183976[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2609551212551183976[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2609551212551183976[20] = 0; - out_2609551212551183976[21] = state[8]; - out_2609551212551183976[22] = 0; - out_2609551212551183976[23] = -state[6]; - out_2609551212551183976[24] = -state[5]; - out_2609551212551183976[25] = 0; - out_2609551212551183976[26] = state[3]; - out_2609551212551183976[27] = 0; - out_2609551212551183976[28] = 0; - out_2609551212551183976[29] = 0; - out_2609551212551183976[30] = 0; - out_2609551212551183976[31] = 1; - out_2609551212551183976[32] = 0; - out_2609551212551183976[33] = 0; - out_2609551212551183976[34] = 1; - out_2609551212551183976[35] = 0; - out_2609551212551183976[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2609551212551183976[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2609551212551183976[38] = 0; - out_2609551212551183976[39] = -state[7]; - out_2609551212551183976[40] = state[6]; - out_2609551212551183976[41] = 0; - out_2609551212551183976[42] = state[4]; - out_2609551212551183976[43] = -state[3]; - out_2609551212551183976[44] = 0; - out_2609551212551183976[45] = 0; - out_2609551212551183976[46] = 0; - out_2609551212551183976[47] = 0; - out_2609551212551183976[48] = 0; - out_2609551212551183976[49] = 0; - out_2609551212551183976[50] = 1; - out_2609551212551183976[51] = 0; - out_2609551212551183976[52] = 0; - out_2609551212551183976[53] = 1; +void H_10(double *state, double *unused, double *out_6151696322213561701) { + out_6151696322213561701[0] = 0; + out_6151696322213561701[1] = 9.8100000000000005*cos(state[1]); + out_6151696322213561701[2] = 0; + out_6151696322213561701[3] = 0; + out_6151696322213561701[4] = -state[8]; + out_6151696322213561701[5] = state[7]; + out_6151696322213561701[6] = 0; + out_6151696322213561701[7] = state[5]; + out_6151696322213561701[8] = -state[4]; + out_6151696322213561701[9] = 0; + out_6151696322213561701[10] = 0; + out_6151696322213561701[11] = 0; + out_6151696322213561701[12] = 1; + out_6151696322213561701[13] = 0; + out_6151696322213561701[14] = 0; + out_6151696322213561701[15] = 1; + out_6151696322213561701[16] = 0; + out_6151696322213561701[17] = 0; + out_6151696322213561701[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6151696322213561701[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6151696322213561701[20] = 0; + out_6151696322213561701[21] = state[8]; + out_6151696322213561701[22] = 0; + out_6151696322213561701[23] = -state[6]; + out_6151696322213561701[24] = -state[5]; + out_6151696322213561701[25] = 0; + out_6151696322213561701[26] = state[3]; + out_6151696322213561701[27] = 0; + out_6151696322213561701[28] = 0; + out_6151696322213561701[29] = 0; + out_6151696322213561701[30] = 0; + out_6151696322213561701[31] = 1; + out_6151696322213561701[32] = 0; + out_6151696322213561701[33] = 0; + out_6151696322213561701[34] = 1; + out_6151696322213561701[35] = 0; + out_6151696322213561701[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6151696322213561701[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6151696322213561701[38] = 0; + out_6151696322213561701[39] = -state[7]; + out_6151696322213561701[40] = state[6]; + out_6151696322213561701[41] = 0; + out_6151696322213561701[42] = state[4]; + out_6151696322213561701[43] = -state[3]; + out_6151696322213561701[44] = 0; + out_6151696322213561701[45] = 0; + out_6151696322213561701[46] = 0; + out_6151696322213561701[47] = 0; + out_6151696322213561701[48] = 0; + out_6151696322213561701[49] = 0; + out_6151696322213561701[50] = 1; + out_6151696322213561701[51] = 0; + out_6151696322213561701[52] = 0; + out_6151696322213561701[53] = 1; } -void h_13(double *state, double *unused, double *out_8965537497810380637) { - out_8965537497810380637[0] = state[3]; - out_8965537497810380637[1] = state[4]; - out_8965537497810380637[2] = state[5]; +void h_13(double *state, double *unused, double *out_1838073821593632587) { + out_1838073821593632587[0] = state[3]; + out_1838073821593632587[1] = state[4]; + out_1838073821593632587[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6232972058867756988) { - out_6232972058867756988[0] = 0; - out_6232972058867756988[1] = 0; - out_6232972058867756988[2] = 0; - out_6232972058867756988[3] = 1; - out_6232972058867756988[4] = 0; - out_6232972058867756988[5] = 0; - out_6232972058867756988[6] = 0; - out_6232972058867756988[7] = 0; - out_6232972058867756988[8] = 0; - out_6232972058867756988[9] = 0; - out_6232972058867756988[10] = 0; - out_6232972058867756988[11] = 0; - out_6232972058867756988[12] = 0; - out_6232972058867756988[13] = 0; - out_6232972058867756988[14] = 0; - out_6232972058867756988[15] = 0; - out_6232972058867756988[16] = 0; - out_6232972058867756988[17] = 0; - out_6232972058867756988[18] = 0; - out_6232972058867756988[19] = 0; - out_6232972058867756988[20] = 0; - out_6232972058867756988[21] = 0; - out_6232972058867756988[22] = 1; - out_6232972058867756988[23] = 0; - out_6232972058867756988[24] = 0; - out_6232972058867756988[25] = 0; - out_6232972058867756988[26] = 0; - out_6232972058867756988[27] = 0; - out_6232972058867756988[28] = 0; - out_6232972058867756988[29] = 0; - out_6232972058867756988[30] = 0; - out_6232972058867756988[31] = 0; - out_6232972058867756988[32] = 0; - out_6232972058867756988[33] = 0; - out_6232972058867756988[34] = 0; - out_6232972058867756988[35] = 0; - out_6232972058867756988[36] = 0; - out_6232972058867756988[37] = 0; - out_6232972058867756988[38] = 0; - out_6232972058867756988[39] = 0; - out_6232972058867756988[40] = 0; - out_6232972058867756988[41] = 1; - out_6232972058867756988[42] = 0; - out_6232972058867756988[43] = 0; - out_6232972058867756988[44] = 0; - out_6232972058867756988[45] = 0; - out_6232972058867756988[46] = 0; - out_6232972058867756988[47] = 0; - out_6232972058867756988[48] = 0; - out_6232972058867756988[49] = 0; - out_6232972058867756988[50] = 0; - out_6232972058867756988[51] = 0; - out_6232972058867756988[52] = 0; - out_6232972058867756988[53] = 0; +void H_13(double *state, double *unused, double *out_8600702179411134188) { + out_8600702179411134188[0] = 0; + out_8600702179411134188[1] = 0; + out_8600702179411134188[2] = 0; + out_8600702179411134188[3] = 1; + out_8600702179411134188[4] = 0; + out_8600702179411134188[5] = 0; + out_8600702179411134188[6] = 0; + out_8600702179411134188[7] = 0; + out_8600702179411134188[8] = 0; + out_8600702179411134188[9] = 0; + out_8600702179411134188[10] = 0; + out_8600702179411134188[11] = 0; + out_8600702179411134188[12] = 0; + out_8600702179411134188[13] = 0; + out_8600702179411134188[14] = 0; + out_8600702179411134188[15] = 0; + out_8600702179411134188[16] = 0; + out_8600702179411134188[17] = 0; + out_8600702179411134188[18] = 0; + out_8600702179411134188[19] = 0; + out_8600702179411134188[20] = 0; + out_8600702179411134188[21] = 0; + out_8600702179411134188[22] = 1; + out_8600702179411134188[23] = 0; + out_8600702179411134188[24] = 0; + out_8600702179411134188[25] = 0; + out_8600702179411134188[26] = 0; + out_8600702179411134188[27] = 0; + out_8600702179411134188[28] = 0; + out_8600702179411134188[29] = 0; + out_8600702179411134188[30] = 0; + out_8600702179411134188[31] = 0; + out_8600702179411134188[32] = 0; + out_8600702179411134188[33] = 0; + out_8600702179411134188[34] = 0; + out_8600702179411134188[35] = 0; + out_8600702179411134188[36] = 0; + out_8600702179411134188[37] = 0; + out_8600702179411134188[38] = 0; + out_8600702179411134188[39] = 0; + out_8600702179411134188[40] = 0; + out_8600702179411134188[41] = 1; + out_8600702179411134188[42] = 0; + out_8600702179411134188[43] = 0; + out_8600702179411134188[44] = 0; + out_8600702179411134188[45] = 0; + out_8600702179411134188[46] = 0; + out_8600702179411134188[47] = 0; + out_8600702179411134188[48] = 0; + out_8600702179411134188[49] = 0; + out_8600702179411134188[50] = 0; + out_8600702179411134188[51] = 0; + out_8600702179411134188[52] = 0; + out_8600702179411134188[53] = 0; } -void h_14(double *state, double *unused, double *out_6865363732186478618) { - out_6865363732186478618[0] = state[6]; - out_6865363732186478618[1] = state[7]; - out_6865363732186478618[2] = state[8]; +void h_14(double *state, double *unused, double *out_7366225133021847841) { + out_7366225133021847841[0] = state[6]; + out_7366225133021847841[1] = state[7]; + out_7366225133021847841[2] = state[8]; } -void H_14(double *state, double *unused, double *out_8566381662864578228) { - out_8566381662864578228[0] = 0; - out_8566381662864578228[1] = 0; - out_8566381662864578228[2] = 0; - out_8566381662864578228[3] = 0; - out_8566381662864578228[4] = 0; - out_8566381662864578228[5] = 0; - out_8566381662864578228[6] = 1; - out_8566381662864578228[7] = 0; - out_8566381662864578228[8] = 0; - out_8566381662864578228[9] = 0; - out_8566381662864578228[10] = 0; - out_8566381662864578228[11] = 0; - out_8566381662864578228[12] = 0; - out_8566381662864578228[13] = 0; - out_8566381662864578228[14] = 0; - out_8566381662864578228[15] = 0; - out_8566381662864578228[16] = 0; - out_8566381662864578228[17] = 0; - out_8566381662864578228[18] = 0; - out_8566381662864578228[19] = 0; - out_8566381662864578228[20] = 0; - out_8566381662864578228[21] = 0; - out_8566381662864578228[22] = 0; - out_8566381662864578228[23] = 0; - out_8566381662864578228[24] = 0; - out_8566381662864578228[25] = 1; - out_8566381662864578228[26] = 0; - out_8566381662864578228[27] = 0; - out_8566381662864578228[28] = 0; - out_8566381662864578228[29] = 0; - out_8566381662864578228[30] = 0; - out_8566381662864578228[31] = 0; - out_8566381662864578228[32] = 0; - out_8566381662864578228[33] = 0; - out_8566381662864578228[34] = 0; - out_8566381662864578228[35] = 0; - out_8566381662864578228[36] = 0; - out_8566381662864578228[37] = 0; - out_8566381662864578228[38] = 0; - out_8566381662864578228[39] = 0; - out_8566381662864578228[40] = 0; - out_8566381662864578228[41] = 0; - out_8566381662864578228[42] = 0; - out_8566381662864578228[43] = 0; - out_8566381662864578228[44] = 1; - out_8566381662864578228[45] = 0; - out_8566381662864578228[46] = 0; - out_8566381662864578228[47] = 0; - out_8566381662864578228[48] = 0; - out_8566381662864578228[49] = 0; - out_8566381662864578228[50] = 0; - out_8566381662864578228[51] = 0; - out_8566381662864578228[52] = 0; - out_8566381662864578228[53] = 0; +void H_14(double *state, double *unused, double *out_6198651542321201028) { + out_6198651542321201028[0] = 0; + out_6198651542321201028[1] = 0; + out_6198651542321201028[2] = 0; + out_6198651542321201028[3] = 0; + out_6198651542321201028[4] = 0; + out_6198651542321201028[5] = 0; + out_6198651542321201028[6] = 1; + out_6198651542321201028[7] = 0; + out_6198651542321201028[8] = 0; + out_6198651542321201028[9] = 0; + out_6198651542321201028[10] = 0; + out_6198651542321201028[11] = 0; + out_6198651542321201028[12] = 0; + out_6198651542321201028[13] = 0; + out_6198651542321201028[14] = 0; + out_6198651542321201028[15] = 0; + out_6198651542321201028[16] = 0; + out_6198651542321201028[17] = 0; + out_6198651542321201028[18] = 0; + out_6198651542321201028[19] = 0; + out_6198651542321201028[20] = 0; + out_6198651542321201028[21] = 0; + out_6198651542321201028[22] = 0; + out_6198651542321201028[23] = 0; + out_6198651542321201028[24] = 0; + out_6198651542321201028[25] = 1; + out_6198651542321201028[26] = 0; + out_6198651542321201028[27] = 0; + out_6198651542321201028[28] = 0; + out_6198651542321201028[29] = 0; + out_6198651542321201028[30] = 0; + out_6198651542321201028[31] = 0; + out_6198651542321201028[32] = 0; + out_6198651542321201028[33] = 0; + out_6198651542321201028[34] = 0; + out_6198651542321201028[35] = 0; + out_6198651542321201028[36] = 0; + out_6198651542321201028[37] = 0; + out_6198651542321201028[38] = 0; + out_6198651542321201028[39] = 0; + out_6198651542321201028[40] = 0; + out_6198651542321201028[41] = 0; + out_6198651542321201028[42] = 0; + out_6198651542321201028[43] = 0; + out_6198651542321201028[44] = 1; + out_6198651542321201028[45] = 0; + out_6198651542321201028[46] = 0; + out_6198651542321201028[47] = 0; + out_6198651542321201028[48] = 0; + out_6198651542321201028[49] = 0; + out_6198651542321201028[50] = 0; + out_6198651542321201028[51] = 0; + out_6198651542321201028[52] = 0; + out_6198651542321201028[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_2717418772724129561) { - err_fun(nom_x, delta_x, out_2717418772724129561); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5866923855832820417) { + err_fun(nom_x, delta_x, out_5866923855832820417); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6564594974930648805) { - inv_err_fun(nom_x, true_x, out_6564594974930648805); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7354374655466778507) { + inv_err_fun(nom_x, true_x, out_7354374655466778507); } -void pose_H_mod_fun(double *state, double *out_500884218142268447) { - H_mod_fun(state, out_500884218142268447); +void pose_H_mod_fun(double *state, double *out_5435820587083186523) { + H_mod_fun(state, out_5435820587083186523); } -void pose_f_fun(double *state, double dt, double *out_4066820228930702403) { - f_fun(state, dt, out_4066820228930702403); +void pose_f_fun(double *state, double dt, double *out_5089910609496554967) { + f_fun(state, dt, out_5089910609496554967); } -void pose_F_fun(double *state, double dt, double *out_4990161262598215268) { - F_fun(state, dt, out_4990161262598215268); +void pose_F_fun(double *state, double dt, double *out_7337888639276922507) { + F_fun(state, dt, out_7337888639276922507); } -void pose_h_4(double *state, double *unused, double *out_6356659530746877918) { - h_4(state, unused, out_6356659530746877918); +void pose_h_4(double *state, double *unused, double *out_2944115722558364854) { + h_4(state, unused, out_2944115722558364854); } -void pose_H_4(double *state, double *unused, double *out_9001498189509461827) { - H_4(state, unused, out_9001498189509461827); +void pose_H_4(double *state, double *unused, double *out_2235410685981716499) { + H_4(state, unused, out_2235410685981716499); } -void pose_h_10(double *state, double *unused, double *out_4540118139912947621) { - h_10(state, unused, out_4540118139912947621); +void pose_h_10(double *state, double *unused, double *out_5480980924344673221) { + h_10(state, unused, out_5480980924344673221); } -void pose_H_10(double *state, double *unused, double *out_2609551212551183976) { - H_10(state, unused, out_2609551212551183976); +void pose_H_10(double *state, double *unused, double *out_6151696322213561701) { + H_10(state, unused, out_6151696322213561701); } -void pose_h_13(double *state, double *unused, double *out_8965537497810380637) { - h_13(state, unused, out_8965537497810380637); +void pose_h_13(double *state, double *unused, double *out_1838073821593632587) { + h_13(state, unused, out_1838073821593632587); } -void pose_H_13(double *state, double *unused, double *out_6232972058867756988) { - H_13(state, unused, out_6232972058867756988); +void pose_H_13(double *state, double *unused, double *out_8600702179411134188) { + H_13(state, unused, out_8600702179411134188); } -void pose_h_14(double *state, double *unused, double *out_6865363732186478618) { - h_14(state, unused, out_6865363732186478618); +void pose_h_14(double *state, double *unused, double *out_7366225133021847841) { + h_14(state, unused, out_7366225133021847841); } -void pose_H_14(double *state, double *unused, double *out_8566381662864578228) { - H_14(state, unused, out_8566381662864578228); +void pose_H_14(double *state, double *unused, double *out_6198651542321201028) { + H_14(state, unused, out_6198651542321201028); } 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 35c082995..fcb10a7b4 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_2717418772724129561); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6564594974930648805); -void pose_H_mod_fun(double *state, double *out_500884218142268447); -void pose_f_fun(double *state, double dt, double *out_4066820228930702403); -void pose_F_fun(double *state, double dt, double *out_4990161262598215268); -void pose_h_4(double *state, double *unused, double *out_6356659530746877918); -void pose_H_4(double *state, double *unused, double *out_9001498189509461827); -void pose_h_10(double *state, double *unused, double *out_4540118139912947621); -void pose_H_10(double *state, double *unused, double *out_2609551212551183976); -void pose_h_13(double *state, double *unused, double *out_8965537497810380637); -void pose_H_13(double *state, double *unused, double *out_6232972058867756988); -void pose_h_14(double *state, double *unused, double *out_6865363732186478618); -void pose_H_14(double *state, double *unused, double *out_8566381662864578228); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5866923855832820417); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7354374655466778507); +void pose_H_mod_fun(double *state, double *out_5435820587083186523); +void pose_f_fun(double *state, double dt, double *out_5089910609496554967); +void pose_F_fun(double *state, double dt, double *out_7337888639276922507); +void pose_h_4(double *state, double *unused, double *out_2944115722558364854); +void pose_H_4(double *state, double *unused, double *out_2235410685981716499); +void pose_h_10(double *state, double *unused, double *out_5480980924344673221); +void pose_H_10(double *state, double *unused, double *out_6151696322213561701); +void pose_h_13(double *state, double *unused, double *out_1838073821593632587); +void pose_H_13(double *state, double *unused, double *out_8600702179411134188); +void pose_h_14(double *state, double *unused, double *out_7366225133021847841); +void pose_H_14(double *state, double *unused, double *out_6198651542321201028); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file