diff --git a/opendbc_repo/opendbc/safety/modes/gm.h b/opendbc_repo/opendbc/safety/modes/gm.h index f365f9166..55f4306af 100644 --- a/opendbc_repo/opendbc/safety/modes/gm.h +++ b/opendbc_repo/opendbc/safety/modes/gm.h @@ -587,6 +587,17 @@ static safety_config gm_init(uint16_t param) { {0x184, 2, 8, .check_relay = false}, // camera bus {0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false}, {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus + static const CanMsg GM_CAM_LONG_ASCM_INT_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, {0x3D1, 0, 8, .check_relay = false}, // pt bus + {0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus + {0x184, 2, 8, .check_relay = true}, // camera bus + {0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false}, + {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus + static const CanMsg GM_CAM_LONG_NO_CAMERA_ASCM_INT_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x315, 0, 5, .check_relay = false}, {0x2CB, 0, 8, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, // pt bus + {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, + {0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus + {0x184, 2, 8, .check_relay = false}, // camera bus + {0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false}, + {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus static RxCheck gm_rx_checks[] = { @@ -617,6 +628,18 @@ static safety_config gm_init(uint16_t param) { {0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false}, {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus + static const CanMsg GM_CAM_ASCM_INT_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, // pt bus + {0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus + {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true}, // camera bus + {0x200, 0, 6, .check_relay = false}, + {0x1E1, 0, 7, .check_relay = false}, + {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus + static const CanMsg GM_CAM_VOLT_AUTO_HOLD_ASCM_INT_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, {0x315, 0, 5, .check_relay = true}, // pt bus + {0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus + {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true}, // camera bus + {0x200, 0, 6, .check_relay = false}, + {0x1E1, 0, 7, .check_relay = false}, + {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus static const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, // pt bus {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = false}, // camera bus @@ -641,6 +664,20 @@ static safety_config gm_init(uint16_t param) { {0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false}, {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus + static const CanMsg GM_CAM_NO_CAMERA_ASCM_INT_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, // pt bus + {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, + {0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus + {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = false}, // camera bus + {0x200, 0, 6, .check_relay = false}, + {0x1E1, 0, 7, .check_relay = false}, + {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus + static const CanMsg GM_CAM_NO_CAMERA_VOLT_AUTO_HOLD_ASCM_INT_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, {0x315, 0, 5, .check_relay = false}, // pt bus + {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, + {0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus + {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = false}, // camera bus + {0x200, 0, 6, .check_relay = false}, + {0x1E1, 0, 7, .check_relay = false}, + {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus static RxCheck gm_no_acc_rx_checks[] = { GM_COMMON_RX_CHECKS @@ -759,22 +796,42 @@ static safety_config gm_init(uint16_t param) { } } else if (gm_cam_long) { if (gm_no_camera) { - ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_NO_CAMERA_TX_MSGS); + if (gm_ascm_int) { + ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_NO_CAMERA_ASCM_INT_TX_MSGS); + } else { + ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_NO_CAMERA_TX_MSGS); + } } else { - ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS); + if (gm_ascm_int) { + ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_ASCM_INT_TX_MSGS); + } else { + ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS); + } } } else { if (gm_volt_auto_hold && gm_sdgm) { ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_VOLT_AUTO_HOLD_TX_MSGS); } else if (gm_no_camera) { if (gm_volt_auto_hold) { - ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_VOLT_AUTO_HOLD_TX_MSGS); + if (gm_ascm_int) { + ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_VOLT_AUTO_HOLD_ASCM_INT_TX_MSGS); + } else { + ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_VOLT_AUTO_HOLD_TX_MSGS); + } + } else if (gm_ascm_int) { + ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_ASCM_INT_TX_MSGS); } else { ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_TX_MSGS); } } else { if (gm_volt_auto_hold) { - ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_VOLT_AUTO_HOLD_TX_MSGS); + if (gm_ascm_int) { + ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_VOLT_AUTO_HOLD_ASCM_INT_TX_MSGS); + } else { + ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_VOLT_AUTO_HOLD_TX_MSGS); + } + } else if (gm_ascm_int) { + ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_ASCM_INT_TX_MSGS); } else { ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS); } diff --git a/opendbc_repo/opendbc/safety/tests/test_gm.py b/opendbc_repo/opendbc/safety/tests/test_gm.py index b0fb7a6da..9e91b0950 100755 --- a/opendbc_repo/opendbc/safety/tests/test_gm.py +++ b/opendbc_repo/opendbc/safety/tests/test_gm.py @@ -307,6 +307,35 @@ def test_gm_ascm_int_long_no_accel_pos_uses_stock_cam_rx_checks(): assert safety.safety_config_valid() +def test_gm_ascm_int_allows_radar_status_tx_only_on_ascm_int_paths(): + safety = libsafety_py.libsafety + radar_status_msgs = ( + (0xA1, 7), + (0x306, 8), + (0x308, 7), + (0x310, 2), + ) + camera_modes = ( + GMSafetyFlags.HW_CAM, + GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_NO_CAMERA, + GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED, + GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_NO_CAMERA | GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED, + GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG, + GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG | GMSafetyFlags.FLAG_GM_NO_CAMERA, + ) + + for mode in camera_modes: + safety.set_safety_hooks(CarParams.SafetyModel.gm, mode) + safety.init_tests() + for addr, length in radar_status_msgs: + assert not safety.safety_tx_hook(common.make_msg(1, addr, length)) + + safety.set_safety_hooks(CarParams.SafetyModel.gm, mode | GMSafetyFlags.HW_ASCM_INT) + safety.init_tests() + for addr, length in radar_status_msgs: + assert safety.safety_tx_hook(common.make_msg(1, addr, length)) + + class TestGmCameraEVSafety(GmCameraAccEVRegenMixin, TestGmCameraSafety, TestGmEVSafetyBase): pass diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 2fccdf24c..5c8d77570 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 32e8211fa..4e4acbe43 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 9fecc8b1a..fe6cfcd27 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gitversion[19] = "DEV-2c2d8b86-DEBUG"; +const uint8_t gitversion[19] = "DEV-0bc009f8-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 47fc09fce..969620a6d 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index dd31747b0..824f0dd5c 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index e5c9f2760..79509576b 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 63fdf634e..646be6d78 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed 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a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 8c9636de9..15232f370 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 56518207f..c90cdef23 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index c7652c1bf..2d6eafa18 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index da8cada02..386ea8645 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-2c2d8b86-DEBUG \ No newline at end of file +DEV-0bc009f8-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 02f0f5a19..d6fbe5b6d 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_7228457580426239955) { - out_7228457580426239955[0] = delta_x[0] + nom_x[0]; - out_7228457580426239955[1] = delta_x[1] + nom_x[1]; - out_7228457580426239955[2] = delta_x[2] + nom_x[2]; - out_7228457580426239955[3] = delta_x[3] + nom_x[3]; - out_7228457580426239955[4] = delta_x[4] + nom_x[4]; - out_7228457580426239955[5] = delta_x[5] + nom_x[5]; - out_7228457580426239955[6] = delta_x[6] + nom_x[6]; - out_7228457580426239955[7] = delta_x[7] + nom_x[7]; - out_7228457580426239955[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8297833156591934141) { + out_8297833156591934141[0] = delta_x[0] + nom_x[0]; + out_8297833156591934141[1] = delta_x[1] + nom_x[1]; + out_8297833156591934141[2] = delta_x[2] + nom_x[2]; + out_8297833156591934141[3] = delta_x[3] + nom_x[3]; + out_8297833156591934141[4] = delta_x[4] + nom_x[4]; + out_8297833156591934141[5] = delta_x[5] + nom_x[5]; + out_8297833156591934141[6] = delta_x[6] + nom_x[6]; + out_8297833156591934141[7] = delta_x[7] + nom_x[7]; + out_8297833156591934141[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1737471906525172971) { - out_1737471906525172971[0] = -nom_x[0] + true_x[0]; - out_1737471906525172971[1] = -nom_x[1] + true_x[1]; - out_1737471906525172971[2] = -nom_x[2] + true_x[2]; - out_1737471906525172971[3] = -nom_x[3] + true_x[3]; - out_1737471906525172971[4] = -nom_x[4] + true_x[4]; - out_1737471906525172971[5] = -nom_x[5] + true_x[5]; - out_1737471906525172971[6] = -nom_x[6] + true_x[6]; - out_1737471906525172971[7] = -nom_x[7] + true_x[7]; - out_1737471906525172971[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5141050122927326429) { + out_5141050122927326429[0] = -nom_x[0] + true_x[0]; + out_5141050122927326429[1] = -nom_x[1] + true_x[1]; + out_5141050122927326429[2] = -nom_x[2] + true_x[2]; + out_5141050122927326429[3] = -nom_x[3] + true_x[3]; + out_5141050122927326429[4] = -nom_x[4] + true_x[4]; + out_5141050122927326429[5] = -nom_x[5] + true_x[5]; + out_5141050122927326429[6] = -nom_x[6] + true_x[6]; + out_5141050122927326429[7] = -nom_x[7] + true_x[7]; + out_5141050122927326429[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_2159575818972962605) { - out_2159575818972962605[0] = 1.0; - out_2159575818972962605[1] = 0.0; - out_2159575818972962605[2] = 0.0; - out_2159575818972962605[3] = 0.0; - out_2159575818972962605[4] = 0.0; - out_2159575818972962605[5] = 0.0; - out_2159575818972962605[6] = 0.0; - out_2159575818972962605[7] = 0.0; - out_2159575818972962605[8] = 0.0; - out_2159575818972962605[9] = 0.0; - out_2159575818972962605[10] = 1.0; - out_2159575818972962605[11] = 0.0; - out_2159575818972962605[12] = 0.0; - out_2159575818972962605[13] = 0.0; - out_2159575818972962605[14] = 0.0; - out_2159575818972962605[15] = 0.0; - out_2159575818972962605[16] = 0.0; - out_2159575818972962605[17] = 0.0; - out_2159575818972962605[18] = 0.0; - out_2159575818972962605[19] = 0.0; - out_2159575818972962605[20] = 1.0; - out_2159575818972962605[21] = 0.0; - out_2159575818972962605[22] = 0.0; - out_2159575818972962605[23] = 0.0; - out_2159575818972962605[24] = 0.0; - out_2159575818972962605[25] = 0.0; - out_2159575818972962605[26] = 0.0; - out_2159575818972962605[27] = 0.0; - out_2159575818972962605[28] = 0.0; - out_2159575818972962605[29] = 0.0; - out_2159575818972962605[30] = 1.0; - out_2159575818972962605[31] = 0.0; - out_2159575818972962605[32] = 0.0; - out_2159575818972962605[33] = 0.0; - out_2159575818972962605[34] = 0.0; - out_2159575818972962605[35] = 0.0; - out_2159575818972962605[36] = 0.0; - out_2159575818972962605[37] = 0.0; - out_2159575818972962605[38] = 0.0; - out_2159575818972962605[39] = 0.0; - out_2159575818972962605[40] = 1.0; - out_2159575818972962605[41] = 0.0; - out_2159575818972962605[42] = 0.0; - out_2159575818972962605[43] = 0.0; - out_2159575818972962605[44] = 0.0; - out_2159575818972962605[45] = 0.0; - out_2159575818972962605[46] = 0.0; - out_2159575818972962605[47] = 0.0; - out_2159575818972962605[48] = 0.0; - out_2159575818972962605[49] = 0.0; - out_2159575818972962605[50] = 1.0; - out_2159575818972962605[51] = 0.0; - out_2159575818972962605[52] = 0.0; - out_2159575818972962605[53] = 0.0; - out_2159575818972962605[54] = 0.0; - out_2159575818972962605[55] = 0.0; - out_2159575818972962605[56] = 0.0; - out_2159575818972962605[57] = 0.0; - out_2159575818972962605[58] = 0.0; - out_2159575818972962605[59] = 0.0; - out_2159575818972962605[60] = 1.0; - out_2159575818972962605[61] = 0.0; - out_2159575818972962605[62] = 0.0; - out_2159575818972962605[63] = 0.0; - out_2159575818972962605[64] = 0.0; - out_2159575818972962605[65] = 0.0; - out_2159575818972962605[66] = 0.0; - out_2159575818972962605[67] = 0.0; - out_2159575818972962605[68] = 0.0; - out_2159575818972962605[69] = 0.0; - out_2159575818972962605[70] = 1.0; - out_2159575818972962605[71] = 0.0; - out_2159575818972962605[72] = 0.0; - out_2159575818972962605[73] = 0.0; - out_2159575818972962605[74] = 0.0; - out_2159575818972962605[75] = 0.0; - out_2159575818972962605[76] = 0.0; - out_2159575818972962605[77] = 0.0; - out_2159575818972962605[78] = 0.0; - out_2159575818972962605[79] = 0.0; - out_2159575818972962605[80] = 1.0; +void H_mod_fun(double *state, double *out_3136124430455300167) { + out_3136124430455300167[0] = 1.0; + out_3136124430455300167[1] = 0.0; + out_3136124430455300167[2] = 0.0; + out_3136124430455300167[3] = 0.0; + out_3136124430455300167[4] = 0.0; + out_3136124430455300167[5] = 0.0; + out_3136124430455300167[6] = 0.0; + out_3136124430455300167[7] = 0.0; + out_3136124430455300167[8] = 0.0; + out_3136124430455300167[9] = 0.0; + out_3136124430455300167[10] = 1.0; + out_3136124430455300167[11] = 0.0; + out_3136124430455300167[12] = 0.0; + out_3136124430455300167[13] = 0.0; + out_3136124430455300167[14] = 0.0; + out_3136124430455300167[15] = 0.0; + out_3136124430455300167[16] = 0.0; + out_3136124430455300167[17] = 0.0; + out_3136124430455300167[18] = 0.0; + out_3136124430455300167[19] = 0.0; + out_3136124430455300167[20] = 1.0; + out_3136124430455300167[21] = 0.0; + out_3136124430455300167[22] = 0.0; + out_3136124430455300167[23] = 0.0; + out_3136124430455300167[24] = 0.0; + out_3136124430455300167[25] = 0.0; + out_3136124430455300167[26] = 0.0; + out_3136124430455300167[27] = 0.0; + out_3136124430455300167[28] = 0.0; + out_3136124430455300167[29] = 0.0; + out_3136124430455300167[30] = 1.0; + out_3136124430455300167[31] = 0.0; + out_3136124430455300167[32] = 0.0; + out_3136124430455300167[33] = 0.0; + out_3136124430455300167[34] = 0.0; + out_3136124430455300167[35] = 0.0; + out_3136124430455300167[36] = 0.0; + out_3136124430455300167[37] = 0.0; + out_3136124430455300167[38] = 0.0; + out_3136124430455300167[39] = 0.0; + out_3136124430455300167[40] = 1.0; + out_3136124430455300167[41] = 0.0; + out_3136124430455300167[42] = 0.0; + out_3136124430455300167[43] = 0.0; + out_3136124430455300167[44] = 0.0; + out_3136124430455300167[45] = 0.0; + out_3136124430455300167[46] = 0.0; + out_3136124430455300167[47] = 0.0; + out_3136124430455300167[48] = 0.0; + out_3136124430455300167[49] = 0.0; + out_3136124430455300167[50] = 1.0; + out_3136124430455300167[51] = 0.0; + out_3136124430455300167[52] = 0.0; + out_3136124430455300167[53] = 0.0; + out_3136124430455300167[54] = 0.0; + out_3136124430455300167[55] = 0.0; + out_3136124430455300167[56] = 0.0; + out_3136124430455300167[57] = 0.0; + out_3136124430455300167[58] = 0.0; + out_3136124430455300167[59] = 0.0; + out_3136124430455300167[60] = 1.0; + out_3136124430455300167[61] = 0.0; + out_3136124430455300167[62] = 0.0; + out_3136124430455300167[63] = 0.0; + out_3136124430455300167[64] = 0.0; + out_3136124430455300167[65] = 0.0; + out_3136124430455300167[66] = 0.0; + out_3136124430455300167[67] = 0.0; + out_3136124430455300167[68] = 0.0; + out_3136124430455300167[69] = 0.0; + out_3136124430455300167[70] = 1.0; + out_3136124430455300167[71] = 0.0; + out_3136124430455300167[72] = 0.0; + out_3136124430455300167[73] = 0.0; + out_3136124430455300167[74] = 0.0; + out_3136124430455300167[75] = 0.0; + out_3136124430455300167[76] = 0.0; + out_3136124430455300167[77] = 0.0; + out_3136124430455300167[78] = 0.0; + out_3136124430455300167[79] = 0.0; + out_3136124430455300167[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1819714955702057293) { - out_1819714955702057293[0] = state[0]; - out_1819714955702057293[1] = state[1]; - out_1819714955702057293[2] = state[2]; - out_1819714955702057293[3] = state[3]; - out_1819714955702057293[4] = state[4]; - out_1819714955702057293[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_1819714955702057293[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_1819714955702057293[7] = state[7]; - out_1819714955702057293[8] = state[8]; +void f_fun(double *state, double dt, double *out_1448995956687043074) { + out_1448995956687043074[0] = state[0]; + out_1448995956687043074[1] = state[1]; + out_1448995956687043074[2] = state[2]; + out_1448995956687043074[3] = state[3]; + out_1448995956687043074[4] = state[4]; + out_1448995956687043074[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_1448995956687043074[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_1448995956687043074[7] = state[7]; + out_1448995956687043074[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5560137472532626832) { - out_5560137472532626832[0] = 1; - out_5560137472532626832[1] = 0; - out_5560137472532626832[2] = 0; - out_5560137472532626832[3] = 0; - out_5560137472532626832[4] = 0; - out_5560137472532626832[5] = 0; - out_5560137472532626832[6] = 0; - out_5560137472532626832[7] = 0; - out_5560137472532626832[8] = 0; - out_5560137472532626832[9] = 0; - out_5560137472532626832[10] = 1; - out_5560137472532626832[11] = 0; - out_5560137472532626832[12] = 0; - out_5560137472532626832[13] = 0; - out_5560137472532626832[14] = 0; - out_5560137472532626832[15] = 0; - out_5560137472532626832[16] = 0; - out_5560137472532626832[17] = 0; - out_5560137472532626832[18] = 0; - out_5560137472532626832[19] = 0; - out_5560137472532626832[20] = 1; - out_5560137472532626832[21] = 0; - out_5560137472532626832[22] = 0; - out_5560137472532626832[23] = 0; - out_5560137472532626832[24] = 0; - out_5560137472532626832[25] = 0; - out_5560137472532626832[26] = 0; - out_5560137472532626832[27] = 0; - out_5560137472532626832[28] = 0; - out_5560137472532626832[29] = 0; - out_5560137472532626832[30] = 1; - out_5560137472532626832[31] = 0; - out_5560137472532626832[32] = 0; - out_5560137472532626832[33] = 0; - out_5560137472532626832[34] = 0; - out_5560137472532626832[35] = 0; - out_5560137472532626832[36] = 0; - out_5560137472532626832[37] = 0; - out_5560137472532626832[38] = 0; - out_5560137472532626832[39] = 0; - out_5560137472532626832[40] = 1; - out_5560137472532626832[41] = 0; - out_5560137472532626832[42] = 0; - out_5560137472532626832[43] = 0; - out_5560137472532626832[44] = 0; - out_5560137472532626832[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_5560137472532626832[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5560137472532626832[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5560137472532626832[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5560137472532626832[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_5560137472532626832[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5560137472532626832[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5560137472532626832[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5560137472532626832[53] = -9.8100000000000005*dt; - out_5560137472532626832[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_5560137472532626832[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5560137472532626832[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5560137472532626832[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5560137472532626832[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_5560137472532626832[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5560137472532626832[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_5560137472532626832[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5560137472532626832[62] = 0; - out_5560137472532626832[63] = 0; - out_5560137472532626832[64] = 0; - out_5560137472532626832[65] = 0; - out_5560137472532626832[66] = 0; - out_5560137472532626832[67] = 0; - out_5560137472532626832[68] = 0; - out_5560137472532626832[69] = 0; - out_5560137472532626832[70] = 1; - out_5560137472532626832[71] = 0; - out_5560137472532626832[72] = 0; - out_5560137472532626832[73] = 0; - out_5560137472532626832[74] = 0; - out_5560137472532626832[75] = 0; - out_5560137472532626832[76] = 0; - out_5560137472532626832[77] = 0; - out_5560137472532626832[78] = 0; - out_5560137472532626832[79] = 0; - out_5560137472532626832[80] = 1; +void F_fun(double *state, double dt, double *out_8554411337332249015) { + out_8554411337332249015[0] = 1; + out_8554411337332249015[1] = 0; + out_8554411337332249015[2] = 0; + out_8554411337332249015[3] = 0; + out_8554411337332249015[4] = 0; + out_8554411337332249015[5] = 0; + out_8554411337332249015[6] = 0; + out_8554411337332249015[7] = 0; + out_8554411337332249015[8] = 0; + out_8554411337332249015[9] = 0; + out_8554411337332249015[10] = 1; + out_8554411337332249015[11] = 0; + out_8554411337332249015[12] = 0; + out_8554411337332249015[13] = 0; + out_8554411337332249015[14] = 0; + out_8554411337332249015[15] = 0; + out_8554411337332249015[16] = 0; + out_8554411337332249015[17] = 0; + out_8554411337332249015[18] = 0; + out_8554411337332249015[19] = 0; + out_8554411337332249015[20] = 1; + out_8554411337332249015[21] = 0; + out_8554411337332249015[22] = 0; + out_8554411337332249015[23] = 0; + out_8554411337332249015[24] = 0; + out_8554411337332249015[25] = 0; + out_8554411337332249015[26] = 0; + out_8554411337332249015[27] = 0; + out_8554411337332249015[28] = 0; + out_8554411337332249015[29] = 0; + out_8554411337332249015[30] = 1; + out_8554411337332249015[31] = 0; + out_8554411337332249015[32] = 0; + out_8554411337332249015[33] = 0; + out_8554411337332249015[34] = 0; + out_8554411337332249015[35] = 0; + out_8554411337332249015[36] = 0; + out_8554411337332249015[37] = 0; + out_8554411337332249015[38] = 0; + out_8554411337332249015[39] = 0; + out_8554411337332249015[40] = 1; + out_8554411337332249015[41] = 0; + out_8554411337332249015[42] = 0; + out_8554411337332249015[43] = 0; + out_8554411337332249015[44] = 0; + out_8554411337332249015[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_8554411337332249015[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8554411337332249015[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8554411337332249015[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8554411337332249015[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_8554411337332249015[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8554411337332249015[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8554411337332249015[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8554411337332249015[53] = -9.8100000000000005*dt; + out_8554411337332249015[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_8554411337332249015[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8554411337332249015[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8554411337332249015[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8554411337332249015[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_8554411337332249015[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8554411337332249015[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_8554411337332249015[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8554411337332249015[62] = 0; + out_8554411337332249015[63] = 0; + out_8554411337332249015[64] = 0; + out_8554411337332249015[65] = 0; + out_8554411337332249015[66] = 0; + out_8554411337332249015[67] = 0; + out_8554411337332249015[68] = 0; + out_8554411337332249015[69] = 0; + out_8554411337332249015[70] = 1; + out_8554411337332249015[71] = 0; + out_8554411337332249015[72] = 0; + out_8554411337332249015[73] = 0; + out_8554411337332249015[74] = 0; + out_8554411337332249015[75] = 0; + out_8554411337332249015[76] = 0; + out_8554411337332249015[77] = 0; + out_8554411337332249015[78] = 0; + out_8554411337332249015[79] = 0; + out_8554411337332249015[80] = 1; } -void h_25(double *state, double *unused, double *out_3269510566889334287) { - out_3269510566889334287[0] = state[6]; +void h_25(double *state, double *unused, double *out_5109543262436323086) { + out_5109543262436323086[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5144733109508563382) { - out_5144733109508563382[0] = 0; - out_5144733109508563382[1] = 0; - out_5144733109508563382[2] = 0; - out_5144733109508563382[3] = 0; - out_5144733109508563382[4] = 0; - out_5144733109508563382[5] = 0; - out_5144733109508563382[6] = 1; - out_5144733109508563382[7] = 0; - out_5144733109508563382[8] = 0; +void H_25(double *state, double *unused, double *out_3972534066578099913) { + out_3972534066578099913[0] = 0; + out_3972534066578099913[1] = 0; + out_3972534066578099913[2] = 0; + out_3972534066578099913[3] = 0; + out_3972534066578099913[4] = 0; + out_3972534066578099913[5] = 0; + out_3972534066578099913[6] = 1; + out_3972534066578099913[7] = 0; + out_3972534066578099913[8] = 0; } -void h_24(double *state, double *unused, double *out_2726228600494227622) { - out_2726228600494227622[0] = state[4]; - out_2726228600494227622[1] = state[5]; +void h_24(double *state, double *unused, double *out_4829050840884247589) { + out_4829050840884247589[0] = state[4]; + out_4829050840884247589[1] = state[5]; } -void H_24(double *state, double *unused, double *out_9127056260906331280) { - out_9127056260906331280[0] = 0; - out_9127056260906331280[1] = 0; - out_9127056260906331280[2] = 0; - out_9127056260906331280[3] = 0; - out_9127056260906331280[4] = 1; - out_9127056260906331280[5] = 0; - out_9127056260906331280[6] = 0; - out_9127056260906331280[7] = 0; - out_9127056260906331280[8] = 0; - out_9127056260906331280[9] = 0; - out_9127056260906331280[10] = 0; - out_9127056260906331280[11] = 0; - out_9127056260906331280[12] = 0; - out_9127056260906331280[13] = 0; - out_9127056260906331280[14] = 1; - out_9127056260906331280[15] = 0; - out_9127056260906331280[16] = 0; - out_9127056260906331280[17] = 0; +void H_24(double *state, double *unused, double *out_7530459665380423049) { + out_7530459665380423049[0] = 0; + out_7530459665380423049[1] = 0; + out_7530459665380423049[2] = 0; + out_7530459665380423049[3] = 0; + out_7530459665380423049[4] = 1; + out_7530459665380423049[5] = 0; + out_7530459665380423049[6] = 0; + out_7530459665380423049[7] = 0; + out_7530459665380423049[8] = 0; + out_7530459665380423049[9] = 0; + out_7530459665380423049[10] = 0; + out_7530459665380423049[11] = 0; + out_7530459665380423049[12] = 0; + out_7530459665380423049[13] = 0; + out_7530459665380423049[14] = 1; + out_7530459665380423049[15] = 0; + out_7530459665380423049[16] = 0; + out_7530459665380423049[17] = 0; } -void h_30(double *state, double *unused, double *out_6537356030101675445) { - out_6537356030101675445[0] = state[4]; +void h_30(double *state, double *unused, double *out_5876642047024340205) { + out_5876642047024340205[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2626400151001314755) { - out_2626400151001314755[0] = 0; - out_2626400151001314755[1] = 0; - out_2626400151001314755[2] = 0; - out_2626400151001314755[3] = 0; - out_2626400151001314755[4] = 1; - out_2626400151001314755[5] = 0; - out_2626400151001314755[6] = 0; - out_2626400151001314755[7] = 0; - out_2626400151001314755[8] = 0; +void H_30(double *state, double *unused, double *out_3843195119434859843) { + out_3843195119434859843[0] = 0; + out_3843195119434859843[1] = 0; + out_3843195119434859843[2] = 0; + out_3843195119434859843[3] = 0; + out_3843195119434859843[4] = 1; + out_3843195119434859843[5] = 0; + out_3843195119434859843[6] = 0; + out_3843195119434859843[7] = 0; + out_3843195119434859843[8] = 0; } -void h_26(double *state, double *unused, double *out_4474244609179175358) { - out_4474244609179175358[0] = state[7]; +void h_26(double *state, double *unused, double *out_874968779363494560) { + out_874968779363494560[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1840207139747762781) { - out_1840207139747762781[0] = 0; - out_1840207139747762781[1] = 0; - out_1840207139747762781[2] = 0; - out_1840207139747762781[3] = 0; - out_1840207139747762781[4] = 0; - out_1840207139747762781[5] = 0; - out_1840207139747762781[6] = 0; - out_1840207139747762781[7] = 1; - out_1840207139747762781[8] = 0; +void H_26(double *state, double *unused, double *out_231030747704043689) { + out_231030747704043689[0] = 0; + out_231030747704043689[1] = 0; + out_231030747704043689[2] = 0; + out_231030747704043689[3] = 0; + out_231030747704043689[4] = 0; + out_231030747704043689[5] = 0; + out_231030747704043689[6] = 0; + out_231030747704043689[7] = 1; + out_231030747704043689[8] = 0; } -void h_27(double *state, double *unused, double *out_4356237215245798614) { - out_4356237215245798614[0] = state[3]; +void h_27(double *state, double *unused, double *out_107869994775477441) { + out_107869994775477441[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4801163462801739666) { - out_4801163462801739666[0] = 0; - out_4801163462801739666[1] = 0; - out_4801163462801739666[2] = 0; - out_4801163462801739666[3] = 1; - out_4801163462801739666[4] = 0; - out_4801163462801739666[5] = 0; - out_4801163462801739666[6] = 0; - out_4801163462801739666[7] = 0; - out_4801163462801739666[8] = 0; +void H_27(double *state, double *unused, double *out_1668431807634434932) { + out_1668431807634434932[0] = 0; + out_1668431807634434932[1] = 0; + out_1668431807634434932[2] = 0; + out_1668431807634434932[3] = 1; + out_1668431807634434932[4] = 0; + out_1668431807634434932[5] = 0; + out_1668431807634434932[6] = 0; + out_1668431807634434932[7] = 0; + out_1668431807634434932[8] = 0; } -void h_29(double *state, double *unused, double *out_5593846177200013010) { - out_5593846177200013010[0] = state[1]; +void h_29(double *state, double *unused, double *out_2839855995580007520) { + out_2839855995580007520[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2116168806686922571) { - out_2116168806686922571[0] = 0; - out_2116168806686922571[1] = 1; - out_2116168806686922571[2] = 0; - out_2116168806686922571[3] = 0; - out_2116168806686922571[4] = 0; - out_2116168806686922571[5] = 0; - out_2116168806686922571[6] = 0; - out_2116168806686922571[7] = 0; - out_2116168806686922571[8] = 0; +void H_29(double *state, double *unused, double *out_4353426463749252027) { + out_4353426463749252027[0] = 0; + out_4353426463749252027[1] = 1; + out_4353426463749252027[2] = 0; + out_4353426463749252027[3] = 0; + out_4353426463749252027[4] = 0; + out_4353426463749252027[5] = 0; + out_4353426463749252027[6] = 0; + out_4353426463749252027[7] = 0; + out_4353426463749252027[8] = 0; } -void h_28(double *state, double *unused, double *out_6655363424035052189) { - out_6655363424035052189[0] = state[0]; +void h_28(double *state, double *unused, double *out_1051379847677139876) { + out_1051379847677139876[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7198567823756453145) { - out_7198567823756453145[0] = 1; - out_7198567823756453145[1] = 0; - out_7198567823756453145[2] = 0; - out_7198567823756453145[3] = 0; - out_7198567823756453145[4] = 0; - out_7198567823756453145[5] = 0; - out_7198567823756453145[6] = 0; - out_7198567823756453145[7] = 0; - out_7198567823756453145[8] = 0; +void H_28(double *state, double *unused, double *out_6317056735314578278) { + out_6317056735314578278[0] = 1; + out_6317056735314578278[1] = 0; + out_6317056735314578278[2] = 0; + out_6317056735314578278[3] = 0; + out_6317056735314578278[4] = 0; + out_6317056735314578278[5] = 0; + out_6317056735314578278[6] = 0; + out_6317056735314578278[7] = 0; + out_6317056735314578278[8] = 0; } -void h_31(double *state, double *unused, double *out_8813639528518401468) { - out_8813639528518401468[0] = state[8]; +void h_31(double *state, double *unused, double *out_2653721994384349355) { + out_2653721994384349355[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8934299543093580534) { - out_8934299543093580534[0] = 0; - out_8934299543093580534[1] = 0; - out_8934299543093580534[2] = 0; - out_8934299543093580534[3] = 0; - out_8934299543093580534[4] = 0; - out_8934299543093580534[5] = 0; - out_8934299543093580534[6] = 0; - out_8934299543093580534[7] = 0; - out_8934299543093580534[8] = 1; +void H_31(double *state, double *unused, double *out_4003180028455060341) { + out_4003180028455060341[0] = 0; + out_4003180028455060341[1] = 0; + out_4003180028455060341[2] = 0; + out_4003180028455060341[3] = 0; + out_4003180028455060341[4] = 0; + out_4003180028455060341[5] = 0; + out_4003180028455060341[6] = 0; + out_4003180028455060341[7] = 0; + out_4003180028455060341[8] = 1; } #include #include @@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); } -void car_err_fun(double *nom_x, double *delta_x, double *out_7228457580426239955) { - err_fun(nom_x, delta_x, out_7228457580426239955); +void car_err_fun(double *nom_x, double *delta_x, double *out_8297833156591934141) { + err_fun(nom_x, delta_x, out_8297833156591934141); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1737471906525172971) { - inv_err_fun(nom_x, true_x, out_1737471906525172971); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5141050122927326429) { + inv_err_fun(nom_x, true_x, out_5141050122927326429); } -void car_H_mod_fun(double *state, double *out_2159575818972962605) { - H_mod_fun(state, out_2159575818972962605); +void car_H_mod_fun(double *state, double *out_3136124430455300167) { + H_mod_fun(state, out_3136124430455300167); } -void car_f_fun(double *state, double dt, double *out_1819714955702057293) { - f_fun(state, dt, out_1819714955702057293); +void car_f_fun(double *state, double dt, double *out_1448995956687043074) { + f_fun(state, dt, out_1448995956687043074); } -void car_F_fun(double *state, double dt, double *out_5560137472532626832) { - F_fun(state, dt, out_5560137472532626832); +void car_F_fun(double *state, double dt, double *out_8554411337332249015) { + F_fun(state, dt, out_8554411337332249015); } -void car_h_25(double *state, double *unused, double *out_3269510566889334287) { - h_25(state, unused, out_3269510566889334287); +void car_h_25(double *state, double *unused, double *out_5109543262436323086) { + h_25(state, unused, out_5109543262436323086); } -void car_H_25(double *state, double *unused, double *out_5144733109508563382) { - H_25(state, unused, out_5144733109508563382); +void car_H_25(double *state, double *unused, double *out_3972534066578099913) { + H_25(state, unused, out_3972534066578099913); } -void car_h_24(double *state, double *unused, double *out_2726228600494227622) { - h_24(state, unused, out_2726228600494227622); +void car_h_24(double *state, double *unused, double *out_4829050840884247589) { + h_24(state, unused, out_4829050840884247589); } -void car_H_24(double *state, double *unused, double *out_9127056260906331280) { - H_24(state, unused, out_9127056260906331280); +void car_H_24(double *state, double *unused, double *out_7530459665380423049) { + H_24(state, unused, out_7530459665380423049); } -void car_h_30(double *state, double *unused, double *out_6537356030101675445) { - h_30(state, unused, out_6537356030101675445); +void car_h_30(double *state, double *unused, double *out_5876642047024340205) { + h_30(state, unused, out_5876642047024340205); } -void car_H_30(double *state, double *unused, double *out_2626400151001314755) { - H_30(state, unused, out_2626400151001314755); +void car_H_30(double *state, double *unused, double *out_3843195119434859843) { + H_30(state, unused, out_3843195119434859843); } -void car_h_26(double *state, double *unused, double *out_4474244609179175358) { - h_26(state, unused, out_4474244609179175358); +void car_h_26(double *state, double *unused, double *out_874968779363494560) { + h_26(state, unused, out_874968779363494560); } -void car_H_26(double *state, double *unused, double *out_1840207139747762781) { - H_26(state, unused, out_1840207139747762781); +void car_H_26(double *state, double *unused, double *out_231030747704043689) { + H_26(state, unused, out_231030747704043689); } -void car_h_27(double *state, double *unused, double *out_4356237215245798614) { - h_27(state, unused, out_4356237215245798614); +void car_h_27(double *state, double *unused, double *out_107869994775477441) { + h_27(state, unused, out_107869994775477441); } -void car_H_27(double *state, double *unused, double *out_4801163462801739666) { - H_27(state, unused, out_4801163462801739666); +void car_H_27(double *state, double *unused, double *out_1668431807634434932) { + H_27(state, unused, out_1668431807634434932); } -void car_h_29(double *state, double *unused, double *out_5593846177200013010) { - h_29(state, unused, out_5593846177200013010); +void car_h_29(double *state, double *unused, double *out_2839855995580007520) { + h_29(state, unused, out_2839855995580007520); } -void car_H_29(double *state, double *unused, double *out_2116168806686922571) { - H_29(state, unused, out_2116168806686922571); +void car_H_29(double *state, double *unused, double *out_4353426463749252027) { + H_29(state, unused, out_4353426463749252027); } -void car_h_28(double *state, double *unused, double *out_6655363424035052189) { - h_28(state, unused, out_6655363424035052189); +void car_h_28(double *state, double *unused, double *out_1051379847677139876) { + h_28(state, unused, out_1051379847677139876); } -void car_H_28(double *state, double *unused, double *out_7198567823756453145) { - H_28(state, unused, out_7198567823756453145); +void car_H_28(double *state, double *unused, double *out_6317056735314578278) { + H_28(state, unused, out_6317056735314578278); } -void car_h_31(double *state, double *unused, double *out_8813639528518401468) { - h_31(state, unused, out_8813639528518401468); +void car_h_31(double *state, double *unused, double *out_2653721994384349355) { + h_31(state, unused, out_2653721994384349355); } -void car_H_31(double *state, double *unused, double *out_8934299543093580534) { - H_31(state, unused, out_8934299543093580534); +void car_H_31(double *state, double *unused, double *out_4003180028455060341) { + H_31(state, unused, out_4003180028455060341); } 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 eb4cddda9..df3505bc9 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_7228457580426239955); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1737471906525172971); -void car_H_mod_fun(double *state, double *out_2159575818972962605); -void car_f_fun(double *state, double dt, double *out_1819714955702057293); -void car_F_fun(double *state, double dt, double *out_5560137472532626832); -void car_h_25(double *state, double *unused, double *out_3269510566889334287); -void car_H_25(double *state, double *unused, double *out_5144733109508563382); -void car_h_24(double *state, double *unused, double *out_2726228600494227622); -void car_H_24(double *state, double *unused, double *out_9127056260906331280); -void car_h_30(double *state, double *unused, double *out_6537356030101675445); -void car_H_30(double *state, double *unused, double *out_2626400151001314755); -void car_h_26(double *state, double *unused, double *out_4474244609179175358); -void car_H_26(double *state, double *unused, double *out_1840207139747762781); -void car_h_27(double *state, double *unused, double *out_4356237215245798614); -void car_H_27(double *state, double *unused, double *out_4801163462801739666); -void car_h_29(double *state, double *unused, double *out_5593846177200013010); -void car_H_29(double *state, double *unused, double *out_2116168806686922571); -void car_h_28(double *state, double *unused, double *out_6655363424035052189); -void car_H_28(double *state, double *unused, double *out_7198567823756453145); -void car_h_31(double *state, double *unused, double *out_8813639528518401468); -void car_H_31(double *state, double *unused, double *out_8934299543093580534); +void car_err_fun(double *nom_x, double *delta_x, double *out_8297833156591934141); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5141050122927326429); +void car_H_mod_fun(double *state, double *out_3136124430455300167); +void car_f_fun(double *state, double dt, double *out_1448995956687043074); +void car_F_fun(double *state, double dt, double *out_8554411337332249015); +void car_h_25(double *state, double *unused, double *out_5109543262436323086); +void car_H_25(double *state, double *unused, double *out_3972534066578099913); +void car_h_24(double *state, double *unused, double *out_4829050840884247589); +void car_H_24(double *state, double *unused, double *out_7530459665380423049); +void car_h_30(double *state, double *unused, double *out_5876642047024340205); +void car_H_30(double *state, double *unused, double *out_3843195119434859843); +void car_h_26(double *state, double *unused, double *out_874968779363494560); +void car_H_26(double *state, double *unused, double *out_231030747704043689); +void car_h_27(double *state, double *unused, double *out_107869994775477441); +void car_H_27(double *state, double *unused, double *out_1668431807634434932); +void car_h_29(double *state, double *unused, double *out_2839855995580007520); +void car_H_29(double *state, double *unused, double *out_4353426463749252027); +void car_h_28(double *state, double *unused, double *out_1051379847677139876); +void car_H_28(double *state, double *unused, double *out_6317056735314578278); +void car_h_31(double *state, double *unused, double *out_2653721994384349355); +void car_H_31(double *state, double *unused, double *out_4003180028455060341); 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 1387e9dc5..6a59dd5c4 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_4423077432163082570) { - out_4423077432163082570[0] = delta_x[0] + nom_x[0]; - out_4423077432163082570[1] = delta_x[1] + nom_x[1]; - out_4423077432163082570[2] = delta_x[2] + nom_x[2]; - out_4423077432163082570[3] = delta_x[3] + nom_x[3]; - out_4423077432163082570[4] = delta_x[4] + nom_x[4]; - out_4423077432163082570[5] = delta_x[5] + nom_x[5]; - out_4423077432163082570[6] = delta_x[6] + nom_x[6]; - out_4423077432163082570[7] = delta_x[7] + nom_x[7]; - out_4423077432163082570[8] = delta_x[8] + nom_x[8]; - out_4423077432163082570[9] = delta_x[9] + nom_x[9]; - out_4423077432163082570[10] = delta_x[10] + nom_x[10]; - out_4423077432163082570[11] = delta_x[11] + nom_x[11]; - out_4423077432163082570[12] = delta_x[12] + nom_x[12]; - out_4423077432163082570[13] = delta_x[13] + nom_x[13]; - out_4423077432163082570[14] = delta_x[14] + nom_x[14]; - out_4423077432163082570[15] = delta_x[15] + nom_x[15]; - out_4423077432163082570[16] = delta_x[16] + nom_x[16]; - out_4423077432163082570[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4890483987619646593) { + out_4890483987619646593[0] = delta_x[0] + nom_x[0]; + out_4890483987619646593[1] = delta_x[1] + nom_x[1]; + out_4890483987619646593[2] = delta_x[2] + nom_x[2]; + out_4890483987619646593[3] = delta_x[3] + nom_x[3]; + out_4890483987619646593[4] = delta_x[4] + nom_x[4]; + out_4890483987619646593[5] = delta_x[5] + nom_x[5]; + out_4890483987619646593[6] = delta_x[6] + nom_x[6]; + out_4890483987619646593[7] = delta_x[7] + nom_x[7]; + out_4890483987619646593[8] = delta_x[8] + nom_x[8]; + out_4890483987619646593[9] = delta_x[9] + nom_x[9]; + out_4890483987619646593[10] = delta_x[10] + nom_x[10]; + out_4890483987619646593[11] = delta_x[11] + nom_x[11]; + out_4890483987619646593[12] = delta_x[12] + nom_x[12]; + out_4890483987619646593[13] = delta_x[13] + nom_x[13]; + out_4890483987619646593[14] = delta_x[14] + nom_x[14]; + out_4890483987619646593[15] = delta_x[15] + nom_x[15]; + out_4890483987619646593[16] = delta_x[16] + nom_x[16]; + out_4890483987619646593[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3066625947211960781) { - out_3066625947211960781[0] = -nom_x[0] + true_x[0]; - out_3066625947211960781[1] = -nom_x[1] + true_x[1]; - out_3066625947211960781[2] = -nom_x[2] + true_x[2]; - out_3066625947211960781[3] = -nom_x[3] + true_x[3]; - out_3066625947211960781[4] = -nom_x[4] + true_x[4]; - out_3066625947211960781[5] = -nom_x[5] + true_x[5]; - out_3066625947211960781[6] = -nom_x[6] + true_x[6]; - out_3066625947211960781[7] = -nom_x[7] + true_x[7]; - out_3066625947211960781[8] = -nom_x[8] + true_x[8]; - out_3066625947211960781[9] = -nom_x[9] + true_x[9]; - out_3066625947211960781[10] = -nom_x[10] + true_x[10]; - out_3066625947211960781[11] = -nom_x[11] + true_x[11]; - out_3066625947211960781[12] = -nom_x[12] + true_x[12]; - out_3066625947211960781[13] = -nom_x[13] + true_x[13]; - out_3066625947211960781[14] = -nom_x[14] + true_x[14]; - out_3066625947211960781[15] = -nom_x[15] + true_x[15]; - out_3066625947211960781[16] = -nom_x[16] + true_x[16]; - out_3066625947211960781[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8601483282449025419) { + out_8601483282449025419[0] = -nom_x[0] + true_x[0]; + out_8601483282449025419[1] = -nom_x[1] + true_x[1]; + out_8601483282449025419[2] = -nom_x[2] + true_x[2]; + out_8601483282449025419[3] = -nom_x[3] + true_x[3]; + out_8601483282449025419[4] = -nom_x[4] + true_x[4]; + out_8601483282449025419[5] = -nom_x[5] + true_x[5]; + out_8601483282449025419[6] = -nom_x[6] + true_x[6]; + out_8601483282449025419[7] = -nom_x[7] + true_x[7]; + out_8601483282449025419[8] = -nom_x[8] + true_x[8]; + out_8601483282449025419[9] = -nom_x[9] + true_x[9]; + out_8601483282449025419[10] = -nom_x[10] + true_x[10]; + out_8601483282449025419[11] = -nom_x[11] + true_x[11]; + out_8601483282449025419[12] = -nom_x[12] + true_x[12]; + out_8601483282449025419[13] = -nom_x[13] + true_x[13]; + out_8601483282449025419[14] = -nom_x[14] + true_x[14]; + out_8601483282449025419[15] = -nom_x[15] + true_x[15]; + out_8601483282449025419[16] = -nom_x[16] + true_x[16]; + out_8601483282449025419[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7899193355677302719) { - out_7899193355677302719[0] = 1.0; - out_7899193355677302719[1] = 0.0; - out_7899193355677302719[2] = 0.0; - out_7899193355677302719[3] = 0.0; - out_7899193355677302719[4] = 0.0; - out_7899193355677302719[5] = 0.0; - out_7899193355677302719[6] = 0.0; - out_7899193355677302719[7] = 0.0; - out_7899193355677302719[8] = 0.0; - out_7899193355677302719[9] = 0.0; - out_7899193355677302719[10] = 0.0; - out_7899193355677302719[11] = 0.0; - out_7899193355677302719[12] = 0.0; - out_7899193355677302719[13] = 0.0; - out_7899193355677302719[14] = 0.0; - out_7899193355677302719[15] = 0.0; - out_7899193355677302719[16] = 0.0; - out_7899193355677302719[17] = 0.0; - out_7899193355677302719[18] = 0.0; - out_7899193355677302719[19] = 1.0; - out_7899193355677302719[20] = 0.0; - out_7899193355677302719[21] = 0.0; - out_7899193355677302719[22] = 0.0; - out_7899193355677302719[23] = 0.0; - out_7899193355677302719[24] = 0.0; - out_7899193355677302719[25] = 0.0; - out_7899193355677302719[26] = 0.0; - out_7899193355677302719[27] = 0.0; - out_7899193355677302719[28] = 0.0; - out_7899193355677302719[29] = 0.0; - out_7899193355677302719[30] = 0.0; - out_7899193355677302719[31] = 0.0; - out_7899193355677302719[32] = 0.0; - out_7899193355677302719[33] = 0.0; - out_7899193355677302719[34] = 0.0; - out_7899193355677302719[35] = 0.0; - out_7899193355677302719[36] = 0.0; - out_7899193355677302719[37] = 0.0; - out_7899193355677302719[38] = 1.0; - out_7899193355677302719[39] = 0.0; - out_7899193355677302719[40] = 0.0; - out_7899193355677302719[41] = 0.0; - out_7899193355677302719[42] = 0.0; - out_7899193355677302719[43] = 0.0; - out_7899193355677302719[44] = 0.0; - out_7899193355677302719[45] = 0.0; - out_7899193355677302719[46] = 0.0; - out_7899193355677302719[47] = 0.0; - out_7899193355677302719[48] = 0.0; - out_7899193355677302719[49] = 0.0; - out_7899193355677302719[50] = 0.0; - out_7899193355677302719[51] = 0.0; - out_7899193355677302719[52] = 0.0; - out_7899193355677302719[53] = 0.0; - out_7899193355677302719[54] = 0.0; - out_7899193355677302719[55] = 0.0; - out_7899193355677302719[56] = 0.0; - out_7899193355677302719[57] = 1.0; - out_7899193355677302719[58] = 0.0; - out_7899193355677302719[59] = 0.0; - out_7899193355677302719[60] = 0.0; - out_7899193355677302719[61] = 0.0; - out_7899193355677302719[62] = 0.0; - out_7899193355677302719[63] = 0.0; - out_7899193355677302719[64] = 0.0; - out_7899193355677302719[65] = 0.0; - out_7899193355677302719[66] = 0.0; - out_7899193355677302719[67] = 0.0; - out_7899193355677302719[68] = 0.0; - out_7899193355677302719[69] = 0.0; - out_7899193355677302719[70] = 0.0; - out_7899193355677302719[71] = 0.0; - out_7899193355677302719[72] = 0.0; - out_7899193355677302719[73] = 0.0; - out_7899193355677302719[74] = 0.0; - out_7899193355677302719[75] = 0.0; - out_7899193355677302719[76] = 1.0; - out_7899193355677302719[77] = 0.0; - out_7899193355677302719[78] = 0.0; - out_7899193355677302719[79] = 0.0; - out_7899193355677302719[80] = 0.0; - out_7899193355677302719[81] = 0.0; - out_7899193355677302719[82] = 0.0; - out_7899193355677302719[83] = 0.0; - out_7899193355677302719[84] = 0.0; - out_7899193355677302719[85] = 0.0; - out_7899193355677302719[86] = 0.0; - out_7899193355677302719[87] = 0.0; - out_7899193355677302719[88] = 0.0; - out_7899193355677302719[89] = 0.0; - out_7899193355677302719[90] = 0.0; - out_7899193355677302719[91] = 0.0; - out_7899193355677302719[92] = 0.0; - out_7899193355677302719[93] = 0.0; - out_7899193355677302719[94] = 0.0; - out_7899193355677302719[95] = 1.0; - out_7899193355677302719[96] = 0.0; - out_7899193355677302719[97] = 0.0; - out_7899193355677302719[98] = 0.0; - out_7899193355677302719[99] = 0.0; - out_7899193355677302719[100] = 0.0; - out_7899193355677302719[101] = 0.0; - out_7899193355677302719[102] = 0.0; - out_7899193355677302719[103] = 0.0; - out_7899193355677302719[104] = 0.0; - out_7899193355677302719[105] = 0.0; - out_7899193355677302719[106] = 0.0; - out_7899193355677302719[107] = 0.0; - out_7899193355677302719[108] = 0.0; - out_7899193355677302719[109] = 0.0; - out_7899193355677302719[110] = 0.0; - out_7899193355677302719[111] = 0.0; - out_7899193355677302719[112] = 0.0; - out_7899193355677302719[113] = 0.0; - out_7899193355677302719[114] = 1.0; - out_7899193355677302719[115] = 0.0; - out_7899193355677302719[116] = 0.0; - out_7899193355677302719[117] = 0.0; - out_7899193355677302719[118] = 0.0; - out_7899193355677302719[119] = 0.0; - out_7899193355677302719[120] = 0.0; - out_7899193355677302719[121] = 0.0; - out_7899193355677302719[122] = 0.0; - out_7899193355677302719[123] = 0.0; - out_7899193355677302719[124] = 0.0; - out_7899193355677302719[125] = 0.0; - out_7899193355677302719[126] = 0.0; - out_7899193355677302719[127] = 0.0; - out_7899193355677302719[128] = 0.0; - out_7899193355677302719[129] = 0.0; - out_7899193355677302719[130] = 0.0; - out_7899193355677302719[131] = 0.0; - out_7899193355677302719[132] = 0.0; - out_7899193355677302719[133] = 1.0; - out_7899193355677302719[134] = 0.0; - out_7899193355677302719[135] = 0.0; - out_7899193355677302719[136] = 0.0; - out_7899193355677302719[137] = 0.0; - out_7899193355677302719[138] = 0.0; - out_7899193355677302719[139] = 0.0; - out_7899193355677302719[140] = 0.0; - out_7899193355677302719[141] = 0.0; - out_7899193355677302719[142] = 0.0; - out_7899193355677302719[143] = 0.0; - out_7899193355677302719[144] = 0.0; - out_7899193355677302719[145] = 0.0; - out_7899193355677302719[146] = 0.0; - out_7899193355677302719[147] = 0.0; - out_7899193355677302719[148] = 0.0; - out_7899193355677302719[149] = 0.0; - out_7899193355677302719[150] = 0.0; - out_7899193355677302719[151] = 0.0; - out_7899193355677302719[152] = 1.0; - out_7899193355677302719[153] = 0.0; - out_7899193355677302719[154] = 0.0; - out_7899193355677302719[155] = 0.0; - out_7899193355677302719[156] = 0.0; - out_7899193355677302719[157] = 0.0; - out_7899193355677302719[158] = 0.0; - out_7899193355677302719[159] = 0.0; - out_7899193355677302719[160] = 0.0; - out_7899193355677302719[161] = 0.0; - out_7899193355677302719[162] = 0.0; - out_7899193355677302719[163] = 0.0; - out_7899193355677302719[164] = 0.0; - out_7899193355677302719[165] = 0.0; - out_7899193355677302719[166] = 0.0; - out_7899193355677302719[167] = 0.0; - out_7899193355677302719[168] = 0.0; - out_7899193355677302719[169] = 0.0; - out_7899193355677302719[170] = 0.0; - out_7899193355677302719[171] = 1.0; - out_7899193355677302719[172] = 0.0; - out_7899193355677302719[173] = 0.0; - out_7899193355677302719[174] = 0.0; - out_7899193355677302719[175] = 0.0; - out_7899193355677302719[176] = 0.0; - out_7899193355677302719[177] = 0.0; - out_7899193355677302719[178] = 0.0; - out_7899193355677302719[179] = 0.0; - out_7899193355677302719[180] = 0.0; - out_7899193355677302719[181] = 0.0; - out_7899193355677302719[182] = 0.0; - out_7899193355677302719[183] = 0.0; - out_7899193355677302719[184] = 0.0; - out_7899193355677302719[185] = 0.0; - out_7899193355677302719[186] = 0.0; - out_7899193355677302719[187] = 0.0; - out_7899193355677302719[188] = 0.0; - out_7899193355677302719[189] = 0.0; - out_7899193355677302719[190] = 1.0; - out_7899193355677302719[191] = 0.0; - out_7899193355677302719[192] = 0.0; - out_7899193355677302719[193] = 0.0; - out_7899193355677302719[194] = 0.0; - out_7899193355677302719[195] = 0.0; - out_7899193355677302719[196] = 0.0; - out_7899193355677302719[197] = 0.0; - out_7899193355677302719[198] = 0.0; - out_7899193355677302719[199] = 0.0; - out_7899193355677302719[200] = 0.0; - out_7899193355677302719[201] = 0.0; - out_7899193355677302719[202] = 0.0; - out_7899193355677302719[203] = 0.0; - out_7899193355677302719[204] = 0.0; - out_7899193355677302719[205] = 0.0; - out_7899193355677302719[206] = 0.0; - out_7899193355677302719[207] = 0.0; - out_7899193355677302719[208] = 0.0; - out_7899193355677302719[209] = 1.0; - out_7899193355677302719[210] = 0.0; - out_7899193355677302719[211] = 0.0; - out_7899193355677302719[212] = 0.0; - out_7899193355677302719[213] = 0.0; - out_7899193355677302719[214] = 0.0; - out_7899193355677302719[215] = 0.0; - out_7899193355677302719[216] = 0.0; - out_7899193355677302719[217] = 0.0; - out_7899193355677302719[218] = 0.0; - out_7899193355677302719[219] = 0.0; - out_7899193355677302719[220] = 0.0; - out_7899193355677302719[221] = 0.0; - out_7899193355677302719[222] = 0.0; - out_7899193355677302719[223] = 0.0; - out_7899193355677302719[224] = 0.0; - out_7899193355677302719[225] = 0.0; - out_7899193355677302719[226] = 0.0; - out_7899193355677302719[227] = 0.0; - out_7899193355677302719[228] = 1.0; - out_7899193355677302719[229] = 0.0; - out_7899193355677302719[230] = 0.0; - out_7899193355677302719[231] = 0.0; - out_7899193355677302719[232] = 0.0; - out_7899193355677302719[233] = 0.0; - out_7899193355677302719[234] = 0.0; - out_7899193355677302719[235] = 0.0; - out_7899193355677302719[236] = 0.0; - out_7899193355677302719[237] = 0.0; - out_7899193355677302719[238] = 0.0; - out_7899193355677302719[239] = 0.0; - out_7899193355677302719[240] = 0.0; - out_7899193355677302719[241] = 0.0; - out_7899193355677302719[242] = 0.0; - out_7899193355677302719[243] = 0.0; - out_7899193355677302719[244] = 0.0; - out_7899193355677302719[245] = 0.0; - out_7899193355677302719[246] = 0.0; - out_7899193355677302719[247] = 1.0; - out_7899193355677302719[248] = 0.0; - out_7899193355677302719[249] = 0.0; - out_7899193355677302719[250] = 0.0; - out_7899193355677302719[251] = 0.0; - out_7899193355677302719[252] = 0.0; - out_7899193355677302719[253] = 0.0; - out_7899193355677302719[254] = 0.0; - out_7899193355677302719[255] = 0.0; - out_7899193355677302719[256] = 0.0; - out_7899193355677302719[257] = 0.0; - out_7899193355677302719[258] = 0.0; - out_7899193355677302719[259] = 0.0; - out_7899193355677302719[260] = 0.0; - out_7899193355677302719[261] = 0.0; - out_7899193355677302719[262] = 0.0; - out_7899193355677302719[263] = 0.0; - out_7899193355677302719[264] = 0.0; - out_7899193355677302719[265] = 0.0; - out_7899193355677302719[266] = 1.0; - out_7899193355677302719[267] = 0.0; - out_7899193355677302719[268] = 0.0; - out_7899193355677302719[269] = 0.0; - out_7899193355677302719[270] = 0.0; - out_7899193355677302719[271] = 0.0; - out_7899193355677302719[272] = 0.0; - out_7899193355677302719[273] = 0.0; - out_7899193355677302719[274] = 0.0; - out_7899193355677302719[275] = 0.0; - out_7899193355677302719[276] = 0.0; - out_7899193355677302719[277] = 0.0; - out_7899193355677302719[278] = 0.0; - out_7899193355677302719[279] = 0.0; - out_7899193355677302719[280] = 0.0; - out_7899193355677302719[281] = 0.0; - out_7899193355677302719[282] = 0.0; - out_7899193355677302719[283] = 0.0; - out_7899193355677302719[284] = 0.0; - out_7899193355677302719[285] = 1.0; - out_7899193355677302719[286] = 0.0; - out_7899193355677302719[287] = 0.0; - out_7899193355677302719[288] = 0.0; - out_7899193355677302719[289] = 0.0; - out_7899193355677302719[290] = 0.0; - out_7899193355677302719[291] = 0.0; - out_7899193355677302719[292] = 0.0; - out_7899193355677302719[293] = 0.0; - out_7899193355677302719[294] = 0.0; - out_7899193355677302719[295] = 0.0; - out_7899193355677302719[296] = 0.0; - out_7899193355677302719[297] = 0.0; - out_7899193355677302719[298] = 0.0; - out_7899193355677302719[299] = 0.0; - out_7899193355677302719[300] = 0.0; - out_7899193355677302719[301] = 0.0; - out_7899193355677302719[302] = 0.0; - out_7899193355677302719[303] = 0.0; - out_7899193355677302719[304] = 1.0; - out_7899193355677302719[305] = 0.0; - out_7899193355677302719[306] = 0.0; - out_7899193355677302719[307] = 0.0; - out_7899193355677302719[308] = 0.0; - out_7899193355677302719[309] = 0.0; - out_7899193355677302719[310] = 0.0; - out_7899193355677302719[311] = 0.0; - out_7899193355677302719[312] = 0.0; - out_7899193355677302719[313] = 0.0; - out_7899193355677302719[314] = 0.0; - out_7899193355677302719[315] = 0.0; - out_7899193355677302719[316] = 0.0; - out_7899193355677302719[317] = 0.0; - out_7899193355677302719[318] = 0.0; - out_7899193355677302719[319] = 0.0; - out_7899193355677302719[320] = 0.0; - out_7899193355677302719[321] = 0.0; - out_7899193355677302719[322] = 0.0; - out_7899193355677302719[323] = 1.0; +void H_mod_fun(double *state, double *out_998439548454101499) { + out_998439548454101499[0] = 1.0; + out_998439548454101499[1] = 0.0; + out_998439548454101499[2] = 0.0; + out_998439548454101499[3] = 0.0; + out_998439548454101499[4] = 0.0; + out_998439548454101499[5] = 0.0; + out_998439548454101499[6] = 0.0; + out_998439548454101499[7] = 0.0; + out_998439548454101499[8] = 0.0; + out_998439548454101499[9] = 0.0; + out_998439548454101499[10] = 0.0; + out_998439548454101499[11] = 0.0; + out_998439548454101499[12] = 0.0; + out_998439548454101499[13] = 0.0; + out_998439548454101499[14] = 0.0; + out_998439548454101499[15] = 0.0; + out_998439548454101499[16] = 0.0; + out_998439548454101499[17] = 0.0; + out_998439548454101499[18] = 0.0; + out_998439548454101499[19] = 1.0; + out_998439548454101499[20] = 0.0; + out_998439548454101499[21] = 0.0; + out_998439548454101499[22] = 0.0; + out_998439548454101499[23] = 0.0; + out_998439548454101499[24] = 0.0; + out_998439548454101499[25] = 0.0; + out_998439548454101499[26] = 0.0; + out_998439548454101499[27] = 0.0; + out_998439548454101499[28] = 0.0; + out_998439548454101499[29] = 0.0; + out_998439548454101499[30] = 0.0; + out_998439548454101499[31] = 0.0; + out_998439548454101499[32] = 0.0; + out_998439548454101499[33] = 0.0; + out_998439548454101499[34] = 0.0; + out_998439548454101499[35] = 0.0; + out_998439548454101499[36] = 0.0; + out_998439548454101499[37] = 0.0; + out_998439548454101499[38] = 1.0; + out_998439548454101499[39] = 0.0; + out_998439548454101499[40] = 0.0; + out_998439548454101499[41] = 0.0; + out_998439548454101499[42] = 0.0; + out_998439548454101499[43] = 0.0; + out_998439548454101499[44] = 0.0; + out_998439548454101499[45] = 0.0; + out_998439548454101499[46] = 0.0; + out_998439548454101499[47] = 0.0; + out_998439548454101499[48] = 0.0; + out_998439548454101499[49] = 0.0; + out_998439548454101499[50] = 0.0; + out_998439548454101499[51] = 0.0; + out_998439548454101499[52] = 0.0; + out_998439548454101499[53] = 0.0; + out_998439548454101499[54] = 0.0; + out_998439548454101499[55] = 0.0; + out_998439548454101499[56] = 0.0; + out_998439548454101499[57] = 1.0; + out_998439548454101499[58] = 0.0; + out_998439548454101499[59] = 0.0; + out_998439548454101499[60] = 0.0; + out_998439548454101499[61] = 0.0; + out_998439548454101499[62] = 0.0; + out_998439548454101499[63] = 0.0; + out_998439548454101499[64] = 0.0; + out_998439548454101499[65] = 0.0; + out_998439548454101499[66] = 0.0; + out_998439548454101499[67] = 0.0; + out_998439548454101499[68] = 0.0; + out_998439548454101499[69] = 0.0; + out_998439548454101499[70] = 0.0; + out_998439548454101499[71] = 0.0; + out_998439548454101499[72] = 0.0; + out_998439548454101499[73] = 0.0; + out_998439548454101499[74] = 0.0; + out_998439548454101499[75] = 0.0; + out_998439548454101499[76] = 1.0; + out_998439548454101499[77] = 0.0; + out_998439548454101499[78] = 0.0; + out_998439548454101499[79] = 0.0; + out_998439548454101499[80] = 0.0; + out_998439548454101499[81] = 0.0; + out_998439548454101499[82] = 0.0; + out_998439548454101499[83] = 0.0; + out_998439548454101499[84] = 0.0; + out_998439548454101499[85] = 0.0; + out_998439548454101499[86] = 0.0; + out_998439548454101499[87] = 0.0; + out_998439548454101499[88] = 0.0; + out_998439548454101499[89] = 0.0; + out_998439548454101499[90] = 0.0; + out_998439548454101499[91] = 0.0; + out_998439548454101499[92] = 0.0; + out_998439548454101499[93] = 0.0; + out_998439548454101499[94] = 0.0; + out_998439548454101499[95] = 1.0; + out_998439548454101499[96] = 0.0; + out_998439548454101499[97] = 0.0; + out_998439548454101499[98] = 0.0; + out_998439548454101499[99] = 0.0; + out_998439548454101499[100] = 0.0; + out_998439548454101499[101] = 0.0; + out_998439548454101499[102] = 0.0; + out_998439548454101499[103] = 0.0; + out_998439548454101499[104] = 0.0; + out_998439548454101499[105] = 0.0; + out_998439548454101499[106] = 0.0; + out_998439548454101499[107] = 0.0; + out_998439548454101499[108] = 0.0; + out_998439548454101499[109] = 0.0; + out_998439548454101499[110] = 0.0; + out_998439548454101499[111] = 0.0; + out_998439548454101499[112] = 0.0; + out_998439548454101499[113] = 0.0; + out_998439548454101499[114] = 1.0; + out_998439548454101499[115] = 0.0; + out_998439548454101499[116] = 0.0; + out_998439548454101499[117] = 0.0; + out_998439548454101499[118] = 0.0; + out_998439548454101499[119] = 0.0; + out_998439548454101499[120] = 0.0; + out_998439548454101499[121] = 0.0; + out_998439548454101499[122] = 0.0; + out_998439548454101499[123] = 0.0; + out_998439548454101499[124] = 0.0; + out_998439548454101499[125] = 0.0; + out_998439548454101499[126] = 0.0; + out_998439548454101499[127] = 0.0; + out_998439548454101499[128] = 0.0; + out_998439548454101499[129] = 0.0; + out_998439548454101499[130] = 0.0; + out_998439548454101499[131] = 0.0; + out_998439548454101499[132] = 0.0; + out_998439548454101499[133] = 1.0; + out_998439548454101499[134] = 0.0; + out_998439548454101499[135] = 0.0; + out_998439548454101499[136] = 0.0; + out_998439548454101499[137] = 0.0; + out_998439548454101499[138] = 0.0; + out_998439548454101499[139] = 0.0; + out_998439548454101499[140] = 0.0; + out_998439548454101499[141] = 0.0; + out_998439548454101499[142] = 0.0; + out_998439548454101499[143] = 0.0; + out_998439548454101499[144] = 0.0; + out_998439548454101499[145] = 0.0; + out_998439548454101499[146] = 0.0; + out_998439548454101499[147] = 0.0; + out_998439548454101499[148] = 0.0; + out_998439548454101499[149] = 0.0; + out_998439548454101499[150] = 0.0; + out_998439548454101499[151] = 0.0; + out_998439548454101499[152] = 1.0; + out_998439548454101499[153] = 0.0; + out_998439548454101499[154] = 0.0; + out_998439548454101499[155] = 0.0; + out_998439548454101499[156] = 0.0; + out_998439548454101499[157] = 0.0; + out_998439548454101499[158] = 0.0; + out_998439548454101499[159] = 0.0; + out_998439548454101499[160] = 0.0; + out_998439548454101499[161] = 0.0; + out_998439548454101499[162] = 0.0; + out_998439548454101499[163] = 0.0; + out_998439548454101499[164] = 0.0; + out_998439548454101499[165] = 0.0; + out_998439548454101499[166] = 0.0; + out_998439548454101499[167] = 0.0; + out_998439548454101499[168] = 0.0; + out_998439548454101499[169] = 0.0; + out_998439548454101499[170] = 0.0; + out_998439548454101499[171] = 1.0; + out_998439548454101499[172] = 0.0; + out_998439548454101499[173] = 0.0; + out_998439548454101499[174] = 0.0; + out_998439548454101499[175] = 0.0; + out_998439548454101499[176] = 0.0; + out_998439548454101499[177] = 0.0; + out_998439548454101499[178] = 0.0; + out_998439548454101499[179] = 0.0; + out_998439548454101499[180] = 0.0; + out_998439548454101499[181] = 0.0; + out_998439548454101499[182] = 0.0; + out_998439548454101499[183] = 0.0; + out_998439548454101499[184] = 0.0; + out_998439548454101499[185] = 0.0; + out_998439548454101499[186] = 0.0; + out_998439548454101499[187] = 0.0; + out_998439548454101499[188] = 0.0; + out_998439548454101499[189] = 0.0; + out_998439548454101499[190] = 1.0; + out_998439548454101499[191] = 0.0; + out_998439548454101499[192] = 0.0; + out_998439548454101499[193] = 0.0; + out_998439548454101499[194] = 0.0; + out_998439548454101499[195] = 0.0; + out_998439548454101499[196] = 0.0; + out_998439548454101499[197] = 0.0; + out_998439548454101499[198] = 0.0; + out_998439548454101499[199] = 0.0; + out_998439548454101499[200] = 0.0; + out_998439548454101499[201] = 0.0; + out_998439548454101499[202] = 0.0; + out_998439548454101499[203] = 0.0; + out_998439548454101499[204] = 0.0; + out_998439548454101499[205] = 0.0; + out_998439548454101499[206] = 0.0; + out_998439548454101499[207] = 0.0; + out_998439548454101499[208] = 0.0; + out_998439548454101499[209] = 1.0; + out_998439548454101499[210] = 0.0; + out_998439548454101499[211] = 0.0; + out_998439548454101499[212] = 0.0; + out_998439548454101499[213] = 0.0; + out_998439548454101499[214] = 0.0; + out_998439548454101499[215] = 0.0; + out_998439548454101499[216] = 0.0; + out_998439548454101499[217] = 0.0; + out_998439548454101499[218] = 0.0; + out_998439548454101499[219] = 0.0; + out_998439548454101499[220] = 0.0; + out_998439548454101499[221] = 0.0; + out_998439548454101499[222] = 0.0; + out_998439548454101499[223] = 0.0; + out_998439548454101499[224] = 0.0; + out_998439548454101499[225] = 0.0; + out_998439548454101499[226] = 0.0; + out_998439548454101499[227] = 0.0; + out_998439548454101499[228] = 1.0; + out_998439548454101499[229] = 0.0; + out_998439548454101499[230] = 0.0; + out_998439548454101499[231] = 0.0; + out_998439548454101499[232] = 0.0; + out_998439548454101499[233] = 0.0; + out_998439548454101499[234] = 0.0; + out_998439548454101499[235] = 0.0; + out_998439548454101499[236] = 0.0; + out_998439548454101499[237] = 0.0; + out_998439548454101499[238] = 0.0; + out_998439548454101499[239] = 0.0; + out_998439548454101499[240] = 0.0; + out_998439548454101499[241] = 0.0; + out_998439548454101499[242] = 0.0; + out_998439548454101499[243] = 0.0; + out_998439548454101499[244] = 0.0; + out_998439548454101499[245] = 0.0; + out_998439548454101499[246] = 0.0; + out_998439548454101499[247] = 1.0; + out_998439548454101499[248] = 0.0; + out_998439548454101499[249] = 0.0; + out_998439548454101499[250] = 0.0; + out_998439548454101499[251] = 0.0; + out_998439548454101499[252] = 0.0; + out_998439548454101499[253] = 0.0; + out_998439548454101499[254] = 0.0; + out_998439548454101499[255] = 0.0; + out_998439548454101499[256] = 0.0; + out_998439548454101499[257] = 0.0; + out_998439548454101499[258] = 0.0; + out_998439548454101499[259] = 0.0; + out_998439548454101499[260] = 0.0; + out_998439548454101499[261] = 0.0; + out_998439548454101499[262] = 0.0; + out_998439548454101499[263] = 0.0; + out_998439548454101499[264] = 0.0; + out_998439548454101499[265] = 0.0; + out_998439548454101499[266] = 1.0; + out_998439548454101499[267] = 0.0; + out_998439548454101499[268] = 0.0; + out_998439548454101499[269] = 0.0; + out_998439548454101499[270] = 0.0; + out_998439548454101499[271] = 0.0; + out_998439548454101499[272] = 0.0; + out_998439548454101499[273] = 0.0; + out_998439548454101499[274] = 0.0; + out_998439548454101499[275] = 0.0; + out_998439548454101499[276] = 0.0; + out_998439548454101499[277] = 0.0; + out_998439548454101499[278] = 0.0; + out_998439548454101499[279] = 0.0; + out_998439548454101499[280] = 0.0; + out_998439548454101499[281] = 0.0; + out_998439548454101499[282] = 0.0; + out_998439548454101499[283] = 0.0; + out_998439548454101499[284] = 0.0; + out_998439548454101499[285] = 1.0; + out_998439548454101499[286] = 0.0; + out_998439548454101499[287] = 0.0; + out_998439548454101499[288] = 0.0; + out_998439548454101499[289] = 0.0; + out_998439548454101499[290] = 0.0; + out_998439548454101499[291] = 0.0; + out_998439548454101499[292] = 0.0; + out_998439548454101499[293] = 0.0; + out_998439548454101499[294] = 0.0; + out_998439548454101499[295] = 0.0; + out_998439548454101499[296] = 0.0; + out_998439548454101499[297] = 0.0; + out_998439548454101499[298] = 0.0; + out_998439548454101499[299] = 0.0; + out_998439548454101499[300] = 0.0; + out_998439548454101499[301] = 0.0; + out_998439548454101499[302] = 0.0; + out_998439548454101499[303] = 0.0; + out_998439548454101499[304] = 1.0; + out_998439548454101499[305] = 0.0; + out_998439548454101499[306] = 0.0; + out_998439548454101499[307] = 0.0; + out_998439548454101499[308] = 0.0; + out_998439548454101499[309] = 0.0; + out_998439548454101499[310] = 0.0; + out_998439548454101499[311] = 0.0; + out_998439548454101499[312] = 0.0; + out_998439548454101499[313] = 0.0; + out_998439548454101499[314] = 0.0; + out_998439548454101499[315] = 0.0; + out_998439548454101499[316] = 0.0; + out_998439548454101499[317] = 0.0; + out_998439548454101499[318] = 0.0; + out_998439548454101499[319] = 0.0; + out_998439548454101499[320] = 0.0; + out_998439548454101499[321] = 0.0; + out_998439548454101499[322] = 0.0; + out_998439548454101499[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1767716959874096227) { - out_1767716959874096227[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_1767716959874096227[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_1767716959874096227[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_1767716959874096227[3] = dt*state[12] + state[3]; - out_1767716959874096227[4] = dt*state[13] + state[4]; - out_1767716959874096227[5] = dt*state[14] + state[5]; - out_1767716959874096227[6] = state[6]; - out_1767716959874096227[7] = state[7]; - out_1767716959874096227[8] = state[8]; - out_1767716959874096227[9] = state[9]; - out_1767716959874096227[10] = state[10]; - out_1767716959874096227[11] = state[11]; - out_1767716959874096227[12] = state[12]; - out_1767716959874096227[13] = state[13]; - out_1767716959874096227[14] = state[14]; - out_1767716959874096227[15] = state[15]; - out_1767716959874096227[16] = state[16]; - out_1767716959874096227[17] = state[17]; +void f_fun(double *state, double dt, double *out_8602115666091671706) { + out_8602115666091671706[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_8602115666091671706[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_8602115666091671706[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_8602115666091671706[3] = dt*state[12] + state[3]; + out_8602115666091671706[4] = dt*state[13] + state[4]; + out_8602115666091671706[5] = dt*state[14] + state[5]; + out_8602115666091671706[6] = state[6]; + out_8602115666091671706[7] = state[7]; + out_8602115666091671706[8] = state[8]; + out_8602115666091671706[9] = state[9]; + out_8602115666091671706[10] = state[10]; + out_8602115666091671706[11] = state[11]; + out_8602115666091671706[12] = state[12]; + out_8602115666091671706[13] = state[13]; + out_8602115666091671706[14] = state[14]; + out_8602115666091671706[15] = state[15]; + out_8602115666091671706[16] = state[16]; + out_8602115666091671706[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5946100134082923473) { - out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[2] = 0; - out_5946100134082923473[3] = 0; - out_5946100134082923473[4] = 0; - out_5946100134082923473[5] = 0; - out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[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_5946100134082923473[9] = 0; - out_5946100134082923473[10] = 0; - out_5946100134082923473[11] = 0; - out_5946100134082923473[12] = 0; - out_5946100134082923473[13] = 0; - out_5946100134082923473[14] = 0; - out_5946100134082923473[15] = 0; - out_5946100134082923473[16] = 0; - out_5946100134082923473[17] = 0; - out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[20] = 0; - out_5946100134082923473[21] = 0; - out_5946100134082923473[22] = 0; - out_5946100134082923473[23] = 0; - out_5946100134082923473[24] = 0; - out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[27] = 0; - out_5946100134082923473[28] = 0; - out_5946100134082923473[29] = 0; - out_5946100134082923473[30] = 0; - out_5946100134082923473[31] = 0; - out_5946100134082923473[32] = 0; - out_5946100134082923473[33] = 0; - out_5946100134082923473[34] = 0; - out_5946100134082923473[35] = 0; - out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[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_5946100134082923473[39] = 0; - out_5946100134082923473[40] = 0; - out_5946100134082923473[41] = 0; - out_5946100134082923473[42] = 0; - out_5946100134082923473[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_5946100134082923473[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_5946100134082923473[45] = 0; - out_5946100134082923473[46] = 0; - out_5946100134082923473[47] = 0; - out_5946100134082923473[48] = 0; - out_5946100134082923473[49] = 0; - out_5946100134082923473[50] = 0; - out_5946100134082923473[51] = 0; - out_5946100134082923473[52] = 0; - out_5946100134082923473[53] = 0; - out_5946100134082923473[54] = 0; - out_5946100134082923473[55] = 0; - out_5946100134082923473[56] = 0; - out_5946100134082923473[57] = 1; - out_5946100134082923473[58] = 0; - out_5946100134082923473[59] = 0; - out_5946100134082923473[60] = 0; - out_5946100134082923473[61] = 0; - out_5946100134082923473[62] = 0; - out_5946100134082923473[63] = 0; - out_5946100134082923473[64] = 0; - out_5946100134082923473[65] = 0; - out_5946100134082923473[66] = dt; - out_5946100134082923473[67] = 0; - out_5946100134082923473[68] = 0; - out_5946100134082923473[69] = 0; - out_5946100134082923473[70] = 0; - out_5946100134082923473[71] = 0; - out_5946100134082923473[72] = 0; - out_5946100134082923473[73] = 0; - out_5946100134082923473[74] = 0; - out_5946100134082923473[75] = 0; - out_5946100134082923473[76] = 1; - out_5946100134082923473[77] = 0; - out_5946100134082923473[78] = 0; - out_5946100134082923473[79] = 0; - out_5946100134082923473[80] = 0; - out_5946100134082923473[81] = 0; - out_5946100134082923473[82] = 0; - out_5946100134082923473[83] = 0; - out_5946100134082923473[84] = 0; - out_5946100134082923473[85] = dt; - out_5946100134082923473[86] = 0; - out_5946100134082923473[87] = 0; - out_5946100134082923473[88] = 0; - out_5946100134082923473[89] = 0; - out_5946100134082923473[90] = 0; - out_5946100134082923473[91] = 0; - out_5946100134082923473[92] = 0; - out_5946100134082923473[93] = 0; - out_5946100134082923473[94] = 0; - out_5946100134082923473[95] = 1; - out_5946100134082923473[96] = 0; - out_5946100134082923473[97] = 0; - out_5946100134082923473[98] = 0; - out_5946100134082923473[99] = 0; - out_5946100134082923473[100] = 0; - out_5946100134082923473[101] = 0; - out_5946100134082923473[102] = 0; - out_5946100134082923473[103] = 0; - out_5946100134082923473[104] = dt; - out_5946100134082923473[105] = 0; - out_5946100134082923473[106] = 0; - out_5946100134082923473[107] = 0; - out_5946100134082923473[108] = 0; - out_5946100134082923473[109] = 0; - out_5946100134082923473[110] = 0; - out_5946100134082923473[111] = 0; - out_5946100134082923473[112] = 0; - out_5946100134082923473[113] = 0; - out_5946100134082923473[114] = 1; - out_5946100134082923473[115] = 0; - out_5946100134082923473[116] = 0; - out_5946100134082923473[117] = 0; - out_5946100134082923473[118] = 0; - out_5946100134082923473[119] = 0; - out_5946100134082923473[120] = 0; - out_5946100134082923473[121] = 0; - out_5946100134082923473[122] = 0; - out_5946100134082923473[123] = 0; - out_5946100134082923473[124] = 0; - out_5946100134082923473[125] = 0; - out_5946100134082923473[126] = 0; - out_5946100134082923473[127] = 0; - out_5946100134082923473[128] = 0; - out_5946100134082923473[129] = 0; - out_5946100134082923473[130] = 0; - out_5946100134082923473[131] = 0; - out_5946100134082923473[132] = 0; - out_5946100134082923473[133] = 1; - out_5946100134082923473[134] = 0; - out_5946100134082923473[135] = 0; - out_5946100134082923473[136] = 0; - out_5946100134082923473[137] = 0; - out_5946100134082923473[138] = 0; - out_5946100134082923473[139] = 0; - out_5946100134082923473[140] = 0; - out_5946100134082923473[141] = 0; - out_5946100134082923473[142] = 0; - out_5946100134082923473[143] = 0; - out_5946100134082923473[144] = 0; - out_5946100134082923473[145] = 0; - out_5946100134082923473[146] = 0; - out_5946100134082923473[147] = 0; - out_5946100134082923473[148] = 0; - out_5946100134082923473[149] = 0; - out_5946100134082923473[150] = 0; - out_5946100134082923473[151] = 0; - out_5946100134082923473[152] = 1; - out_5946100134082923473[153] = 0; - out_5946100134082923473[154] = 0; - out_5946100134082923473[155] = 0; - out_5946100134082923473[156] = 0; - out_5946100134082923473[157] = 0; - out_5946100134082923473[158] = 0; - out_5946100134082923473[159] = 0; - out_5946100134082923473[160] = 0; - out_5946100134082923473[161] = 0; - out_5946100134082923473[162] = 0; - out_5946100134082923473[163] = 0; - out_5946100134082923473[164] = 0; - out_5946100134082923473[165] = 0; - out_5946100134082923473[166] = 0; - out_5946100134082923473[167] = 0; - out_5946100134082923473[168] = 0; - out_5946100134082923473[169] = 0; - out_5946100134082923473[170] = 0; - out_5946100134082923473[171] = 1; - out_5946100134082923473[172] = 0; - out_5946100134082923473[173] = 0; - out_5946100134082923473[174] = 0; - out_5946100134082923473[175] = 0; - out_5946100134082923473[176] = 0; - out_5946100134082923473[177] = 0; - out_5946100134082923473[178] = 0; - out_5946100134082923473[179] = 0; - out_5946100134082923473[180] = 0; - out_5946100134082923473[181] = 0; - out_5946100134082923473[182] = 0; - out_5946100134082923473[183] = 0; - out_5946100134082923473[184] = 0; - out_5946100134082923473[185] = 0; - out_5946100134082923473[186] = 0; - out_5946100134082923473[187] = 0; - out_5946100134082923473[188] = 0; - out_5946100134082923473[189] = 0; - out_5946100134082923473[190] = 1; - out_5946100134082923473[191] = 0; - out_5946100134082923473[192] = 0; - out_5946100134082923473[193] = 0; - out_5946100134082923473[194] = 0; - out_5946100134082923473[195] = 0; - out_5946100134082923473[196] = 0; - out_5946100134082923473[197] = 0; - out_5946100134082923473[198] = 0; - out_5946100134082923473[199] = 0; - out_5946100134082923473[200] = 0; - out_5946100134082923473[201] = 0; - out_5946100134082923473[202] = 0; - out_5946100134082923473[203] = 0; - out_5946100134082923473[204] = 0; - out_5946100134082923473[205] = 0; - out_5946100134082923473[206] = 0; - out_5946100134082923473[207] = 0; - out_5946100134082923473[208] = 0; - out_5946100134082923473[209] = 1; - out_5946100134082923473[210] = 0; - out_5946100134082923473[211] = 0; - out_5946100134082923473[212] = 0; - out_5946100134082923473[213] = 0; - out_5946100134082923473[214] = 0; - out_5946100134082923473[215] = 0; - out_5946100134082923473[216] = 0; - out_5946100134082923473[217] = 0; - out_5946100134082923473[218] = 0; - out_5946100134082923473[219] = 0; - out_5946100134082923473[220] = 0; - out_5946100134082923473[221] = 0; - out_5946100134082923473[222] = 0; - out_5946100134082923473[223] = 0; - out_5946100134082923473[224] = 0; - out_5946100134082923473[225] = 0; - out_5946100134082923473[226] = 0; - out_5946100134082923473[227] = 0; - out_5946100134082923473[228] = 1; - out_5946100134082923473[229] = 0; - out_5946100134082923473[230] = 0; - out_5946100134082923473[231] = 0; - out_5946100134082923473[232] = 0; - out_5946100134082923473[233] = 0; - out_5946100134082923473[234] = 0; - out_5946100134082923473[235] = 0; - out_5946100134082923473[236] = 0; - out_5946100134082923473[237] = 0; - out_5946100134082923473[238] = 0; - out_5946100134082923473[239] = 0; - out_5946100134082923473[240] = 0; - out_5946100134082923473[241] = 0; - out_5946100134082923473[242] = 0; - out_5946100134082923473[243] = 0; - out_5946100134082923473[244] = 0; - out_5946100134082923473[245] = 0; - out_5946100134082923473[246] = 0; - out_5946100134082923473[247] = 1; - out_5946100134082923473[248] = 0; - out_5946100134082923473[249] = 0; - out_5946100134082923473[250] = 0; - out_5946100134082923473[251] = 0; - out_5946100134082923473[252] = 0; - out_5946100134082923473[253] = 0; - out_5946100134082923473[254] = 0; - out_5946100134082923473[255] = 0; - out_5946100134082923473[256] = 0; - out_5946100134082923473[257] = 0; - out_5946100134082923473[258] = 0; - out_5946100134082923473[259] = 0; - out_5946100134082923473[260] = 0; - out_5946100134082923473[261] = 0; - out_5946100134082923473[262] = 0; - out_5946100134082923473[263] = 0; - out_5946100134082923473[264] = 0; - out_5946100134082923473[265] = 0; - out_5946100134082923473[266] = 1; - out_5946100134082923473[267] = 0; - out_5946100134082923473[268] = 0; - out_5946100134082923473[269] = 0; - out_5946100134082923473[270] = 0; - out_5946100134082923473[271] = 0; - out_5946100134082923473[272] = 0; - out_5946100134082923473[273] = 0; - out_5946100134082923473[274] = 0; - out_5946100134082923473[275] = 0; - out_5946100134082923473[276] = 0; - out_5946100134082923473[277] = 0; - out_5946100134082923473[278] = 0; - out_5946100134082923473[279] = 0; - out_5946100134082923473[280] = 0; - out_5946100134082923473[281] = 0; - out_5946100134082923473[282] = 0; - out_5946100134082923473[283] = 0; - out_5946100134082923473[284] = 0; - out_5946100134082923473[285] = 1; - out_5946100134082923473[286] = 0; - out_5946100134082923473[287] = 0; - out_5946100134082923473[288] = 0; - out_5946100134082923473[289] = 0; - out_5946100134082923473[290] = 0; - out_5946100134082923473[291] = 0; - out_5946100134082923473[292] = 0; - out_5946100134082923473[293] = 0; - out_5946100134082923473[294] = 0; - out_5946100134082923473[295] = 0; - out_5946100134082923473[296] = 0; - out_5946100134082923473[297] = 0; - out_5946100134082923473[298] = 0; - out_5946100134082923473[299] = 0; - out_5946100134082923473[300] = 0; - out_5946100134082923473[301] = 0; - out_5946100134082923473[302] = 0; - out_5946100134082923473[303] = 0; - out_5946100134082923473[304] = 1; - out_5946100134082923473[305] = 0; - out_5946100134082923473[306] = 0; - out_5946100134082923473[307] = 0; - out_5946100134082923473[308] = 0; - out_5946100134082923473[309] = 0; - out_5946100134082923473[310] = 0; - out_5946100134082923473[311] = 0; - out_5946100134082923473[312] = 0; - out_5946100134082923473[313] = 0; - out_5946100134082923473[314] = 0; - out_5946100134082923473[315] = 0; - out_5946100134082923473[316] = 0; - out_5946100134082923473[317] = 0; - out_5946100134082923473[318] = 0; - out_5946100134082923473[319] = 0; - out_5946100134082923473[320] = 0; - out_5946100134082923473[321] = 0; - out_5946100134082923473[322] = 0; - out_5946100134082923473[323] = 1; +void F_fun(double *state, double dt, double *out_2374776546689160763) { + out_2374776546689160763[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_2374776546689160763[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_2374776546689160763[2] = 0; + out_2374776546689160763[3] = 0; + out_2374776546689160763[4] = 0; + out_2374776546689160763[5] = 0; + out_2374776546689160763[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_2374776546689160763[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_2374776546689160763[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_2374776546689160763[9] = 0; + out_2374776546689160763[10] = 0; + out_2374776546689160763[11] = 0; + out_2374776546689160763[12] = 0; + out_2374776546689160763[13] = 0; + out_2374776546689160763[14] = 0; + out_2374776546689160763[15] = 0; + out_2374776546689160763[16] = 0; + out_2374776546689160763[17] = 0; + out_2374776546689160763[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_2374776546689160763[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_2374776546689160763[20] = 0; + out_2374776546689160763[21] = 0; + out_2374776546689160763[22] = 0; + out_2374776546689160763[23] = 0; + out_2374776546689160763[24] = 0; + out_2374776546689160763[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_2374776546689160763[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_2374776546689160763[27] = 0; + out_2374776546689160763[28] = 0; + out_2374776546689160763[29] = 0; + out_2374776546689160763[30] = 0; + out_2374776546689160763[31] = 0; + out_2374776546689160763[32] = 0; + out_2374776546689160763[33] = 0; + out_2374776546689160763[34] = 0; + out_2374776546689160763[35] = 0; + out_2374776546689160763[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_2374776546689160763[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_2374776546689160763[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_2374776546689160763[39] = 0; + out_2374776546689160763[40] = 0; + out_2374776546689160763[41] = 0; + out_2374776546689160763[42] = 0; + out_2374776546689160763[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_2374776546689160763[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_2374776546689160763[45] = 0; + out_2374776546689160763[46] = 0; + out_2374776546689160763[47] = 0; + out_2374776546689160763[48] = 0; + out_2374776546689160763[49] = 0; + out_2374776546689160763[50] = 0; + out_2374776546689160763[51] = 0; + out_2374776546689160763[52] = 0; + out_2374776546689160763[53] = 0; + out_2374776546689160763[54] = 0; + out_2374776546689160763[55] = 0; + out_2374776546689160763[56] = 0; + out_2374776546689160763[57] = 1; + out_2374776546689160763[58] = 0; + out_2374776546689160763[59] = 0; + out_2374776546689160763[60] = 0; + out_2374776546689160763[61] = 0; + out_2374776546689160763[62] = 0; + out_2374776546689160763[63] = 0; + out_2374776546689160763[64] = 0; + out_2374776546689160763[65] = 0; + out_2374776546689160763[66] = dt; + out_2374776546689160763[67] = 0; + out_2374776546689160763[68] = 0; + out_2374776546689160763[69] = 0; + out_2374776546689160763[70] = 0; + out_2374776546689160763[71] = 0; + out_2374776546689160763[72] = 0; + out_2374776546689160763[73] = 0; + out_2374776546689160763[74] = 0; + out_2374776546689160763[75] = 0; + out_2374776546689160763[76] = 1; + out_2374776546689160763[77] = 0; + out_2374776546689160763[78] = 0; + out_2374776546689160763[79] = 0; + out_2374776546689160763[80] = 0; + out_2374776546689160763[81] = 0; + out_2374776546689160763[82] = 0; + out_2374776546689160763[83] = 0; + out_2374776546689160763[84] = 0; + out_2374776546689160763[85] = dt; + out_2374776546689160763[86] = 0; + out_2374776546689160763[87] = 0; + out_2374776546689160763[88] = 0; + out_2374776546689160763[89] = 0; + out_2374776546689160763[90] = 0; + out_2374776546689160763[91] = 0; + out_2374776546689160763[92] = 0; + out_2374776546689160763[93] = 0; + out_2374776546689160763[94] = 0; + out_2374776546689160763[95] = 1; + out_2374776546689160763[96] = 0; + out_2374776546689160763[97] = 0; + out_2374776546689160763[98] = 0; + out_2374776546689160763[99] = 0; + out_2374776546689160763[100] = 0; + out_2374776546689160763[101] = 0; + out_2374776546689160763[102] = 0; + out_2374776546689160763[103] = 0; + out_2374776546689160763[104] = dt; + out_2374776546689160763[105] = 0; + out_2374776546689160763[106] = 0; + out_2374776546689160763[107] = 0; + out_2374776546689160763[108] = 0; + out_2374776546689160763[109] = 0; + out_2374776546689160763[110] = 0; + out_2374776546689160763[111] = 0; + out_2374776546689160763[112] = 0; + out_2374776546689160763[113] = 0; + out_2374776546689160763[114] = 1; + out_2374776546689160763[115] = 0; + out_2374776546689160763[116] = 0; + out_2374776546689160763[117] = 0; + out_2374776546689160763[118] = 0; + out_2374776546689160763[119] = 0; + out_2374776546689160763[120] = 0; + out_2374776546689160763[121] = 0; + out_2374776546689160763[122] = 0; + out_2374776546689160763[123] = 0; + out_2374776546689160763[124] = 0; + out_2374776546689160763[125] = 0; + out_2374776546689160763[126] = 0; + out_2374776546689160763[127] = 0; + out_2374776546689160763[128] = 0; + out_2374776546689160763[129] = 0; + out_2374776546689160763[130] = 0; + out_2374776546689160763[131] = 0; + out_2374776546689160763[132] = 0; + out_2374776546689160763[133] = 1; + out_2374776546689160763[134] = 0; + out_2374776546689160763[135] = 0; + out_2374776546689160763[136] = 0; + out_2374776546689160763[137] = 0; + out_2374776546689160763[138] = 0; + out_2374776546689160763[139] = 0; + out_2374776546689160763[140] = 0; + out_2374776546689160763[141] = 0; + out_2374776546689160763[142] = 0; + out_2374776546689160763[143] = 0; + out_2374776546689160763[144] = 0; + out_2374776546689160763[145] = 0; + out_2374776546689160763[146] = 0; + out_2374776546689160763[147] = 0; + out_2374776546689160763[148] = 0; + out_2374776546689160763[149] = 0; + out_2374776546689160763[150] = 0; + out_2374776546689160763[151] = 0; + out_2374776546689160763[152] = 1; + out_2374776546689160763[153] = 0; + out_2374776546689160763[154] = 0; + out_2374776546689160763[155] = 0; + out_2374776546689160763[156] = 0; + out_2374776546689160763[157] = 0; + out_2374776546689160763[158] = 0; + out_2374776546689160763[159] = 0; + out_2374776546689160763[160] = 0; + out_2374776546689160763[161] = 0; + out_2374776546689160763[162] = 0; + out_2374776546689160763[163] = 0; + out_2374776546689160763[164] = 0; + out_2374776546689160763[165] = 0; + out_2374776546689160763[166] = 0; + out_2374776546689160763[167] = 0; + out_2374776546689160763[168] = 0; + out_2374776546689160763[169] = 0; + out_2374776546689160763[170] = 0; + out_2374776546689160763[171] = 1; + out_2374776546689160763[172] = 0; + out_2374776546689160763[173] = 0; + out_2374776546689160763[174] = 0; + out_2374776546689160763[175] = 0; + out_2374776546689160763[176] = 0; + out_2374776546689160763[177] = 0; + out_2374776546689160763[178] = 0; + out_2374776546689160763[179] = 0; + out_2374776546689160763[180] = 0; + out_2374776546689160763[181] = 0; + out_2374776546689160763[182] = 0; + out_2374776546689160763[183] = 0; + out_2374776546689160763[184] = 0; + out_2374776546689160763[185] = 0; + out_2374776546689160763[186] = 0; + out_2374776546689160763[187] = 0; + out_2374776546689160763[188] = 0; + out_2374776546689160763[189] = 0; + out_2374776546689160763[190] = 1; + out_2374776546689160763[191] = 0; + out_2374776546689160763[192] = 0; + out_2374776546689160763[193] = 0; + out_2374776546689160763[194] = 0; + out_2374776546689160763[195] = 0; + out_2374776546689160763[196] = 0; + out_2374776546689160763[197] = 0; + out_2374776546689160763[198] = 0; + out_2374776546689160763[199] = 0; + out_2374776546689160763[200] = 0; + out_2374776546689160763[201] = 0; + out_2374776546689160763[202] = 0; + out_2374776546689160763[203] = 0; + out_2374776546689160763[204] = 0; + out_2374776546689160763[205] = 0; + out_2374776546689160763[206] = 0; + out_2374776546689160763[207] = 0; + out_2374776546689160763[208] = 0; + out_2374776546689160763[209] = 1; + out_2374776546689160763[210] = 0; + out_2374776546689160763[211] = 0; + out_2374776546689160763[212] = 0; + out_2374776546689160763[213] = 0; + out_2374776546689160763[214] = 0; + out_2374776546689160763[215] = 0; + out_2374776546689160763[216] = 0; + out_2374776546689160763[217] = 0; + out_2374776546689160763[218] = 0; + out_2374776546689160763[219] = 0; + out_2374776546689160763[220] = 0; + out_2374776546689160763[221] = 0; + out_2374776546689160763[222] = 0; + out_2374776546689160763[223] = 0; + out_2374776546689160763[224] = 0; + out_2374776546689160763[225] = 0; + out_2374776546689160763[226] = 0; + out_2374776546689160763[227] = 0; + out_2374776546689160763[228] = 1; + out_2374776546689160763[229] = 0; + out_2374776546689160763[230] = 0; + out_2374776546689160763[231] = 0; + out_2374776546689160763[232] = 0; + out_2374776546689160763[233] = 0; + out_2374776546689160763[234] = 0; + out_2374776546689160763[235] = 0; + out_2374776546689160763[236] = 0; + out_2374776546689160763[237] = 0; + out_2374776546689160763[238] = 0; + out_2374776546689160763[239] = 0; + out_2374776546689160763[240] = 0; + out_2374776546689160763[241] = 0; + out_2374776546689160763[242] = 0; + out_2374776546689160763[243] = 0; + out_2374776546689160763[244] = 0; + out_2374776546689160763[245] = 0; + out_2374776546689160763[246] = 0; + out_2374776546689160763[247] = 1; + out_2374776546689160763[248] = 0; + out_2374776546689160763[249] = 0; + out_2374776546689160763[250] = 0; + out_2374776546689160763[251] = 0; + out_2374776546689160763[252] = 0; + out_2374776546689160763[253] = 0; + out_2374776546689160763[254] = 0; + out_2374776546689160763[255] = 0; + out_2374776546689160763[256] = 0; + out_2374776546689160763[257] = 0; + out_2374776546689160763[258] = 0; + out_2374776546689160763[259] = 0; + out_2374776546689160763[260] = 0; + out_2374776546689160763[261] = 0; + out_2374776546689160763[262] = 0; + out_2374776546689160763[263] = 0; + out_2374776546689160763[264] = 0; + out_2374776546689160763[265] = 0; + out_2374776546689160763[266] = 1; + out_2374776546689160763[267] = 0; + out_2374776546689160763[268] = 0; + out_2374776546689160763[269] = 0; + out_2374776546689160763[270] = 0; + out_2374776546689160763[271] = 0; + out_2374776546689160763[272] = 0; + out_2374776546689160763[273] = 0; + out_2374776546689160763[274] = 0; + out_2374776546689160763[275] = 0; + out_2374776546689160763[276] = 0; + out_2374776546689160763[277] = 0; + out_2374776546689160763[278] = 0; + out_2374776546689160763[279] = 0; + out_2374776546689160763[280] = 0; + out_2374776546689160763[281] = 0; + out_2374776546689160763[282] = 0; + out_2374776546689160763[283] = 0; + out_2374776546689160763[284] = 0; + out_2374776546689160763[285] = 1; + out_2374776546689160763[286] = 0; + out_2374776546689160763[287] = 0; + out_2374776546689160763[288] = 0; + out_2374776546689160763[289] = 0; + out_2374776546689160763[290] = 0; + out_2374776546689160763[291] = 0; + out_2374776546689160763[292] = 0; + out_2374776546689160763[293] = 0; + out_2374776546689160763[294] = 0; + out_2374776546689160763[295] = 0; + out_2374776546689160763[296] = 0; + out_2374776546689160763[297] = 0; + out_2374776546689160763[298] = 0; + out_2374776546689160763[299] = 0; + out_2374776546689160763[300] = 0; + out_2374776546689160763[301] = 0; + out_2374776546689160763[302] = 0; + out_2374776546689160763[303] = 0; + out_2374776546689160763[304] = 1; + out_2374776546689160763[305] = 0; + out_2374776546689160763[306] = 0; + out_2374776546689160763[307] = 0; + out_2374776546689160763[308] = 0; + out_2374776546689160763[309] = 0; + out_2374776546689160763[310] = 0; + out_2374776546689160763[311] = 0; + out_2374776546689160763[312] = 0; + out_2374776546689160763[313] = 0; + out_2374776546689160763[314] = 0; + out_2374776546689160763[315] = 0; + out_2374776546689160763[316] = 0; + out_2374776546689160763[317] = 0; + out_2374776546689160763[318] = 0; + out_2374776546689160763[319] = 0; + out_2374776546689160763[320] = 0; + out_2374776546689160763[321] = 0; + out_2374776546689160763[322] = 0; + out_2374776546689160763[323] = 1; } -void h_4(double *state, double *unused, double *out_7895468860031348123) { - out_7895468860031348123[0] = state[6] + state[9]; - out_7895468860031348123[1] = state[7] + state[10]; - out_7895468860031348123[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3610197400448725788) { + out_3610197400448725788[0] = state[6] + state[9]; + out_3610197400448725788[1] = state[7] + state[10]; + out_3610197400448725788[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4699468911280290176) { - out_4699468911280290176[0] = 0; - out_4699468911280290176[1] = 0; - out_4699468911280290176[2] = 0; - out_4699468911280290176[3] = 0; - out_4699468911280290176[4] = 0; - out_4699468911280290176[5] = 0; - out_4699468911280290176[6] = 1; - out_4699468911280290176[7] = 0; - out_4699468911280290176[8] = 0; - out_4699468911280290176[9] = 1; - out_4699468911280290176[10] = 0; - out_4699468911280290176[11] = 0; - out_4699468911280290176[12] = 0; - out_4699468911280290176[13] = 0; - out_4699468911280290176[14] = 0; - out_4699468911280290176[15] = 0; - out_4699468911280290176[16] = 0; - out_4699468911280290176[17] = 0; - out_4699468911280290176[18] = 0; - out_4699468911280290176[19] = 0; - out_4699468911280290176[20] = 0; - out_4699468911280290176[21] = 0; - out_4699468911280290176[22] = 0; - out_4699468911280290176[23] = 0; - out_4699468911280290176[24] = 0; - out_4699468911280290176[25] = 1; - out_4699468911280290176[26] = 0; - out_4699468911280290176[27] = 0; - out_4699468911280290176[28] = 1; - out_4699468911280290176[29] = 0; - out_4699468911280290176[30] = 0; - out_4699468911280290176[31] = 0; - out_4699468911280290176[32] = 0; - out_4699468911280290176[33] = 0; - out_4699468911280290176[34] = 0; - out_4699468911280290176[35] = 0; - out_4699468911280290176[36] = 0; - out_4699468911280290176[37] = 0; - out_4699468911280290176[38] = 0; - out_4699468911280290176[39] = 0; - out_4699468911280290176[40] = 0; - out_4699468911280290176[41] = 0; - out_4699468911280290176[42] = 0; - out_4699468911280290176[43] = 0; - out_4699468911280290176[44] = 1; - out_4699468911280290176[45] = 0; - out_4699468911280290176[46] = 0; - out_4699468911280290176[47] = 1; - out_4699468911280290176[48] = 0; - out_4699468911280290176[49] = 0; - out_4699468911280290176[50] = 0; - out_4699468911280290176[51] = 0; - out_4699468911280290176[52] = 0; - out_4699468911280290176[53] = 0; +void H_4(double *state, double *unused, double *out_3341399300644519511) { + out_3341399300644519511[0] = 0; + out_3341399300644519511[1] = 0; + out_3341399300644519511[2] = 0; + out_3341399300644519511[3] = 0; + out_3341399300644519511[4] = 0; + out_3341399300644519511[5] = 0; + out_3341399300644519511[6] = 1; + out_3341399300644519511[7] = 0; + out_3341399300644519511[8] = 0; + out_3341399300644519511[9] = 1; + out_3341399300644519511[10] = 0; + out_3341399300644519511[11] = 0; + out_3341399300644519511[12] = 0; + out_3341399300644519511[13] = 0; + out_3341399300644519511[14] = 0; + out_3341399300644519511[15] = 0; + out_3341399300644519511[16] = 0; + out_3341399300644519511[17] = 0; + out_3341399300644519511[18] = 0; + out_3341399300644519511[19] = 0; + out_3341399300644519511[20] = 0; + out_3341399300644519511[21] = 0; + out_3341399300644519511[22] = 0; + out_3341399300644519511[23] = 0; + out_3341399300644519511[24] = 0; + out_3341399300644519511[25] = 1; + out_3341399300644519511[26] = 0; + out_3341399300644519511[27] = 0; + out_3341399300644519511[28] = 1; + out_3341399300644519511[29] = 0; + out_3341399300644519511[30] = 0; + out_3341399300644519511[31] = 0; + out_3341399300644519511[32] = 0; + out_3341399300644519511[33] = 0; + out_3341399300644519511[34] = 0; + out_3341399300644519511[35] = 0; + out_3341399300644519511[36] = 0; + out_3341399300644519511[37] = 0; + out_3341399300644519511[38] = 0; + out_3341399300644519511[39] = 0; + out_3341399300644519511[40] = 0; + out_3341399300644519511[41] = 0; + out_3341399300644519511[42] = 0; + out_3341399300644519511[43] = 0; + out_3341399300644519511[44] = 1; + out_3341399300644519511[45] = 0; + out_3341399300644519511[46] = 0; + out_3341399300644519511[47] = 1; + out_3341399300644519511[48] = 0; + out_3341399300644519511[49] = 0; + out_3341399300644519511[50] = 0; + out_3341399300644519511[51] = 0; + out_3341399300644519511[52] = 0; + out_3341399300644519511[53] = 0; } -void h_10(double *state, double *unused, double *out_7051420194440758803) { - out_7051420194440758803[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7051420194440758803[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7051420194440758803[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_7074632649049224399) { + out_7074632649049224399[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7074632649049224399[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7074632649049224399[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_181799554460224071) { - out_181799554460224071[0] = 0; - out_181799554460224071[1] = 9.8100000000000005*cos(state[1]); - out_181799554460224071[2] = 0; - out_181799554460224071[3] = 0; - out_181799554460224071[4] = -state[8]; - out_181799554460224071[5] = state[7]; - out_181799554460224071[6] = 0; - out_181799554460224071[7] = state[5]; - out_181799554460224071[8] = -state[4]; - out_181799554460224071[9] = 0; - out_181799554460224071[10] = 0; - out_181799554460224071[11] = 0; - out_181799554460224071[12] = 1; - out_181799554460224071[13] = 0; - out_181799554460224071[14] = 0; - out_181799554460224071[15] = 1; - out_181799554460224071[16] = 0; - out_181799554460224071[17] = 0; - out_181799554460224071[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_181799554460224071[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_181799554460224071[20] = 0; - out_181799554460224071[21] = state[8]; - out_181799554460224071[22] = 0; - out_181799554460224071[23] = -state[6]; - out_181799554460224071[24] = -state[5]; - out_181799554460224071[25] = 0; - out_181799554460224071[26] = state[3]; - out_181799554460224071[27] = 0; - out_181799554460224071[28] = 0; - out_181799554460224071[29] = 0; - out_181799554460224071[30] = 0; - out_181799554460224071[31] = 1; - out_181799554460224071[32] = 0; - out_181799554460224071[33] = 0; - out_181799554460224071[34] = 1; - out_181799554460224071[35] = 0; - out_181799554460224071[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_181799554460224071[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_181799554460224071[38] = 0; - out_181799554460224071[39] = -state[7]; - out_181799554460224071[40] = state[6]; - out_181799554460224071[41] = 0; - out_181799554460224071[42] = state[4]; - out_181799554460224071[43] = -state[3]; - out_181799554460224071[44] = 0; - out_181799554460224071[45] = 0; - out_181799554460224071[46] = 0; - out_181799554460224071[47] = 0; - out_181799554460224071[48] = 0; - out_181799554460224071[49] = 0; - out_181799554460224071[50] = 1; - out_181799554460224071[51] = 0; - out_181799554460224071[52] = 0; - out_181799554460224071[53] = 1; +void H_10(double *state, double *unused, double *out_2352139524921342803) { + out_2352139524921342803[0] = 0; + out_2352139524921342803[1] = 9.8100000000000005*cos(state[1]); + out_2352139524921342803[2] = 0; + out_2352139524921342803[3] = 0; + out_2352139524921342803[4] = -state[8]; + out_2352139524921342803[5] = state[7]; + out_2352139524921342803[6] = 0; + out_2352139524921342803[7] = state[5]; + out_2352139524921342803[8] = -state[4]; + out_2352139524921342803[9] = 0; + out_2352139524921342803[10] = 0; + out_2352139524921342803[11] = 0; + out_2352139524921342803[12] = 1; + out_2352139524921342803[13] = 0; + out_2352139524921342803[14] = 0; + out_2352139524921342803[15] = 1; + out_2352139524921342803[16] = 0; + out_2352139524921342803[17] = 0; + out_2352139524921342803[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2352139524921342803[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2352139524921342803[20] = 0; + out_2352139524921342803[21] = state[8]; + out_2352139524921342803[22] = 0; + out_2352139524921342803[23] = -state[6]; + out_2352139524921342803[24] = -state[5]; + out_2352139524921342803[25] = 0; + out_2352139524921342803[26] = state[3]; + out_2352139524921342803[27] = 0; + out_2352139524921342803[28] = 0; + out_2352139524921342803[29] = 0; + out_2352139524921342803[30] = 0; + out_2352139524921342803[31] = 1; + out_2352139524921342803[32] = 0; + out_2352139524921342803[33] = 0; + out_2352139524921342803[34] = 1; + out_2352139524921342803[35] = 0; + out_2352139524921342803[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2352139524921342803[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2352139524921342803[38] = 0; + out_2352139524921342803[39] = -state[7]; + out_2352139524921342803[40] = state[6]; + out_2352139524921342803[41] = 0; + out_2352139524921342803[42] = state[4]; + out_2352139524921342803[43] = -state[3]; + out_2352139524921342803[44] = 0; + out_2352139524921342803[45] = 0; + out_2352139524921342803[46] = 0; + out_2352139524921342803[47] = 0; + out_2352139524921342803[48] = 0; + out_2352139524921342803[49] = 0; + out_2352139524921342803[50] = 1; + out_2352139524921342803[51] = 0; + out_2352139524921342803[52] = 0; + out_2352139524921342803[53] = 1; } -void h_13(double *state, double *unused, double *out_1850536561694260921) { - out_1850536561694260921[0] = state[3]; - out_1850536561694260921[1] = state[4]; - out_1850536561694260921[2] = state[5]; +void h_13(double *state, double *unused, double *out_4134075991249929964) { + out_4134075991249929964[0] = state[3]; + out_4134075991249929964[1] = state[4]; + out_4134075991249929964[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7911742736612622977) { - out_7911742736612622977[0] = 0; - out_7911742736612622977[1] = 0; - out_7911742736612622977[2] = 0; - out_7911742736612622977[3] = 1; - out_7911742736612622977[4] = 0; - out_7911742736612622977[5] = 0; - out_7911742736612622977[6] = 0; - out_7911742736612622977[7] = 0; - out_7911742736612622977[8] = 0; - out_7911742736612622977[9] = 0; - out_7911742736612622977[10] = 0; - out_7911742736612622977[11] = 0; - out_7911742736612622977[12] = 0; - out_7911742736612622977[13] = 0; - out_7911742736612622977[14] = 0; - out_7911742736612622977[15] = 0; - out_7911742736612622977[16] = 0; - out_7911742736612622977[17] = 0; - out_7911742736612622977[18] = 0; - out_7911742736612622977[19] = 0; - out_7911742736612622977[20] = 0; - out_7911742736612622977[21] = 0; - out_7911742736612622977[22] = 1; - out_7911742736612622977[23] = 0; - out_7911742736612622977[24] = 0; - out_7911742736612622977[25] = 0; - out_7911742736612622977[26] = 0; - out_7911742736612622977[27] = 0; - out_7911742736612622977[28] = 0; - out_7911742736612622977[29] = 0; - out_7911742736612622977[30] = 0; - out_7911742736612622977[31] = 0; - out_7911742736612622977[32] = 0; - out_7911742736612622977[33] = 0; - out_7911742736612622977[34] = 0; - out_7911742736612622977[35] = 0; - out_7911742736612622977[36] = 0; - out_7911742736612622977[37] = 0; - out_7911742736612622977[38] = 0; - out_7911742736612622977[39] = 0; - out_7911742736612622977[40] = 0; - out_7911742736612622977[41] = 1; - out_7911742736612622977[42] = 0; - out_7911742736612622977[43] = 0; - out_7911742736612622977[44] = 0; - out_7911742736612622977[45] = 0; - out_7911742736612622977[46] = 0; - out_7911742736612622977[47] = 0; - out_7911742736612622977[48] = 0; - out_7911742736612622977[49] = 0; - out_7911742736612622977[50] = 0; - out_7911742736612622977[51] = 0; - out_7911742736612622977[52] = 0; - out_7911742736612622977[53] = 0; +void H_13(double *state, double *unused, double *out_7494713564748331176) { + out_7494713564748331176[0] = 0; + out_7494713564748331176[1] = 0; + out_7494713564748331176[2] = 0; + out_7494713564748331176[3] = 1; + out_7494713564748331176[4] = 0; + out_7494713564748331176[5] = 0; + out_7494713564748331176[6] = 0; + out_7494713564748331176[7] = 0; + out_7494713564748331176[8] = 0; + out_7494713564748331176[9] = 0; + out_7494713564748331176[10] = 0; + out_7494713564748331176[11] = 0; + out_7494713564748331176[12] = 0; + out_7494713564748331176[13] = 0; + out_7494713564748331176[14] = 0; + out_7494713564748331176[15] = 0; + out_7494713564748331176[16] = 0; + out_7494713564748331176[17] = 0; + out_7494713564748331176[18] = 0; + out_7494713564748331176[19] = 0; + out_7494713564748331176[20] = 0; + out_7494713564748331176[21] = 0; + out_7494713564748331176[22] = 1; + out_7494713564748331176[23] = 0; + out_7494713564748331176[24] = 0; + out_7494713564748331176[25] = 0; + out_7494713564748331176[26] = 0; + out_7494713564748331176[27] = 0; + out_7494713564748331176[28] = 0; + out_7494713564748331176[29] = 0; + out_7494713564748331176[30] = 0; + out_7494713564748331176[31] = 0; + out_7494713564748331176[32] = 0; + out_7494713564748331176[33] = 0; + out_7494713564748331176[34] = 0; + out_7494713564748331176[35] = 0; + out_7494713564748331176[36] = 0; + out_7494713564748331176[37] = 0; + out_7494713564748331176[38] = 0; + out_7494713564748331176[39] = 0; + out_7494713564748331176[40] = 0; + out_7494713564748331176[41] = 1; + out_7494713564748331176[42] = 0; + out_7494713564748331176[43] = 0; + out_7494713564748331176[44] = 0; + out_7494713564748331176[45] = 0; + out_7494713564748331176[46] = 0; + out_7494713564748331176[47] = 0; + out_7494713564748331176[48] = 0; + out_7494713564748331176[49] = 0; + out_7494713564748331176[50] = 0; + out_7494713564748331176[51] = 0; + out_7494713564748331176[52] = 0; + out_7494713564748331176[53] = 0; } -void h_14(double *state, double *unused, double *out_8940417508633322111) { - out_8940417508633322111[0] = state[6]; - out_8940417508633322111[1] = state[7]; - out_8940417508633322111[2] = state[8]; +void h_14(double *state, double *unused, double *out_7088367226319057364) { + out_7088367226319057364[0] = state[6]; + out_7088367226319057364[1] = state[7]; + out_7088367226319057364[2] = state[8]; } -void H_14(double *state, double *unused, double *out_8662709767619774705) { - out_8662709767619774705[0] = 0; - out_8662709767619774705[1] = 0; - out_8662709767619774705[2] = 0; - out_8662709767619774705[3] = 0; - out_8662709767619774705[4] = 0; - out_8662709767619774705[5] = 0; - out_8662709767619774705[6] = 1; - out_8662709767619774705[7] = 0; - out_8662709767619774705[8] = 0; - out_8662709767619774705[9] = 0; - out_8662709767619774705[10] = 0; - out_8662709767619774705[11] = 0; - out_8662709767619774705[12] = 0; - out_8662709767619774705[13] = 0; - out_8662709767619774705[14] = 0; - out_8662709767619774705[15] = 0; - out_8662709767619774705[16] = 0; - out_8662709767619774705[17] = 0; - out_8662709767619774705[18] = 0; - out_8662709767619774705[19] = 0; - out_8662709767619774705[20] = 0; - out_8662709767619774705[21] = 0; - out_8662709767619774705[22] = 0; - out_8662709767619774705[23] = 0; - out_8662709767619774705[24] = 0; - out_8662709767619774705[25] = 1; - out_8662709767619774705[26] = 0; - out_8662709767619774705[27] = 0; - out_8662709767619774705[28] = 0; - out_8662709767619774705[29] = 0; - out_8662709767619774705[30] = 0; - out_8662709767619774705[31] = 0; - out_8662709767619774705[32] = 0; - out_8662709767619774705[33] = 0; - out_8662709767619774705[34] = 0; - out_8662709767619774705[35] = 0; - out_8662709767619774705[36] = 0; - out_8662709767619774705[37] = 0; - out_8662709767619774705[38] = 0; - out_8662709767619774705[39] = 0; - out_8662709767619774705[40] = 0; - out_8662709767619774705[41] = 0; - out_8662709767619774705[42] = 0; - out_8662709767619774705[43] = 0; - out_8662709767619774705[44] = 1; - out_8662709767619774705[45] = 0; - out_8662709767619774705[46] = 0; - out_8662709767619774705[47] = 0; - out_8662709767619774705[48] = 0; - out_8662709767619774705[49] = 0; - out_8662709767619774705[50] = 0; - out_8662709767619774705[51] = 0; - out_8662709767619774705[52] = 0; - out_8662709767619774705[53] = 0; +void H_14(double *state, double *unused, double *out_258610868349147215) { + out_258610868349147215[0] = 0; + out_258610868349147215[1] = 0; + out_258610868349147215[2] = 0; + out_258610868349147215[3] = 0; + out_258610868349147215[4] = 0; + out_258610868349147215[5] = 0; + out_258610868349147215[6] = 1; + out_258610868349147215[7] = 0; + out_258610868349147215[8] = 0; + out_258610868349147215[9] = 0; + out_258610868349147215[10] = 0; + out_258610868349147215[11] = 0; + out_258610868349147215[12] = 0; + out_258610868349147215[13] = 0; + out_258610868349147215[14] = 0; + out_258610868349147215[15] = 0; + out_258610868349147215[16] = 0; + out_258610868349147215[17] = 0; + out_258610868349147215[18] = 0; + out_258610868349147215[19] = 0; + out_258610868349147215[20] = 0; + out_258610868349147215[21] = 0; + out_258610868349147215[22] = 0; + out_258610868349147215[23] = 0; + out_258610868349147215[24] = 0; + out_258610868349147215[25] = 1; + out_258610868349147215[26] = 0; + out_258610868349147215[27] = 0; + out_258610868349147215[28] = 0; + out_258610868349147215[29] = 0; + out_258610868349147215[30] = 0; + out_258610868349147215[31] = 0; + out_258610868349147215[32] = 0; + out_258610868349147215[33] = 0; + out_258610868349147215[34] = 0; + out_258610868349147215[35] = 0; + out_258610868349147215[36] = 0; + out_258610868349147215[37] = 0; + out_258610868349147215[38] = 0; + out_258610868349147215[39] = 0; + out_258610868349147215[40] = 0; + out_258610868349147215[41] = 0; + out_258610868349147215[42] = 0; + out_258610868349147215[43] = 0; + out_258610868349147215[44] = 1; + out_258610868349147215[45] = 0; + out_258610868349147215[46] = 0; + out_258610868349147215[47] = 0; + out_258610868349147215[48] = 0; + out_258610868349147215[49] = 0; + out_258610868349147215[50] = 0; + out_258610868349147215[51] = 0; + out_258610868349147215[52] = 0; + out_258610868349147215[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_4423077432163082570) { - err_fun(nom_x, delta_x, out_4423077432163082570); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4890483987619646593) { + err_fun(nom_x, delta_x, out_4890483987619646593); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3066625947211960781) { - inv_err_fun(nom_x, true_x, out_3066625947211960781); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8601483282449025419) { + inv_err_fun(nom_x, true_x, out_8601483282449025419); } -void pose_H_mod_fun(double *state, double *out_7899193355677302719) { - H_mod_fun(state, out_7899193355677302719); +void pose_H_mod_fun(double *state, double *out_998439548454101499) { + H_mod_fun(state, out_998439548454101499); } -void pose_f_fun(double *state, double dt, double *out_1767716959874096227) { - f_fun(state, dt, out_1767716959874096227); +void pose_f_fun(double *state, double dt, double *out_8602115666091671706) { + f_fun(state, dt, out_8602115666091671706); } -void pose_F_fun(double *state, double dt, double *out_5946100134082923473) { - F_fun(state, dt, out_5946100134082923473); +void pose_F_fun(double *state, double dt, double *out_2374776546689160763) { + F_fun(state, dt, out_2374776546689160763); } -void pose_h_4(double *state, double *unused, double *out_7895468860031348123) { - h_4(state, unused, out_7895468860031348123); +void pose_h_4(double *state, double *unused, double *out_3610197400448725788) { + h_4(state, unused, out_3610197400448725788); } -void pose_H_4(double *state, double *unused, double *out_4699468911280290176) { - H_4(state, unused, out_4699468911280290176); +void pose_H_4(double *state, double *unused, double *out_3341399300644519511) { + H_4(state, unused, out_3341399300644519511); } -void pose_h_10(double *state, double *unused, double *out_7051420194440758803) { - h_10(state, unused, out_7051420194440758803); +void pose_h_10(double *state, double *unused, double *out_7074632649049224399) { + h_10(state, unused, out_7074632649049224399); } -void pose_H_10(double *state, double *unused, double *out_181799554460224071) { - H_10(state, unused, out_181799554460224071); +void pose_H_10(double *state, double *unused, double *out_2352139524921342803) { + H_10(state, unused, out_2352139524921342803); } -void pose_h_13(double *state, double *unused, double *out_1850536561694260921) { - h_13(state, unused, out_1850536561694260921); +void pose_h_13(double *state, double *unused, double *out_4134075991249929964) { + h_13(state, unused, out_4134075991249929964); } -void pose_H_13(double *state, double *unused, double *out_7911742736612622977) { - H_13(state, unused, out_7911742736612622977); +void pose_H_13(double *state, double *unused, double *out_7494713564748331176) { + H_13(state, unused, out_7494713564748331176); } -void pose_h_14(double *state, double *unused, double *out_8940417508633322111) { - h_14(state, unused, out_8940417508633322111); +void pose_h_14(double *state, double *unused, double *out_7088367226319057364) { + h_14(state, unused, out_7088367226319057364); } -void pose_H_14(double *state, double *unused, double *out_8662709767619774705) { - H_14(state, unused, out_8662709767619774705); +void pose_H_14(double *state, double *unused, double *out_258610868349147215) { + H_14(state, unused, out_258610868349147215); } 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 32ee44d32..1873b6b43 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_4423077432163082570); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3066625947211960781); -void pose_H_mod_fun(double *state, double *out_7899193355677302719); -void pose_f_fun(double *state, double dt, double *out_1767716959874096227); -void pose_F_fun(double *state, double dt, double *out_5946100134082923473); -void pose_h_4(double *state, double *unused, double *out_7895468860031348123); -void pose_H_4(double *state, double *unused, double *out_4699468911280290176); -void pose_h_10(double *state, double *unused, double *out_7051420194440758803); -void pose_H_10(double *state, double *unused, double *out_181799554460224071); -void pose_h_13(double *state, double *unused, double *out_1850536561694260921); -void pose_H_13(double *state, double *unused, double *out_7911742736612622977); -void pose_h_14(double *state, double *unused, double *out_8940417508633322111); -void pose_H_14(double *state, double *unused, double *out_8662709767619774705); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4890483987619646593); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8601483282449025419); +void pose_H_mod_fun(double *state, double *out_998439548454101499); +void pose_f_fun(double *state, double dt, double *out_8602115666091671706); +void pose_F_fun(double *state, double dt, double *out_2374776546689160763); +void pose_h_4(double *state, double *unused, double *out_3610197400448725788); +void pose_H_4(double *state, double *unused, double *out_3341399300644519511); +void pose_h_10(double *state, double *unused, double *out_7074632649049224399); +void pose_H_10(double *state, double *unused, double *out_2352139524921342803); +void pose_h_13(double *state, double *unused, double *out_4134075991249929964); +void pose_H_13(double *state, double *unused, double *out_7494713564748331176); +void pose_h_14(double *state, double *unused, double *out_7088367226319057364); +void pose_H_14(double *state, double *unused, double *out_258610868349147215); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 38455c5e6..5ee999791 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ