diff --git a/common/libcommon.a b/common/libcommon.a index 674f63f11..5bc67ee34 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index e5ae227c9..08ba0a148 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 705148086..c81b2f31b 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 3d8cbace4..9029d0e2a 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 3fb475250..9c408bb01 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 3d837b7ef..411d898da 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 344cefeb9..885ff8a3d 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 9c43a1662..50d5b5736 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-0c4ec652-DEBUG"; +const uint8_t gitversion[19] = "DEV-be77164d-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 5813177a6..d462e2a3d 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 262efc66b..064b9254c 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 6269a92fe..a46410512 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 d7850e367..523215014 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 7ecf84689..b50f76d15 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and 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a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index f704a4252..d9105de82 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index c001c3e2c..773b48a9a 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index aea355fc4..24eb605d0 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index acdc4790b..4c8a51213 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 601be9d26..88b87d627 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 6963e4f05..4b44dc3f3 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index abba53262..e3982c10d 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index af9c7d403..7c73c5dd2 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 64b827d59..a10423670 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 2cd5b4333..379ccd6de 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 6c0ce0d41..6cc8726e5 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 affe4be57..dc29a6b48 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-0c4ec652-DEBUG \ No newline at end of file +DEV-be77164d-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 7861ea336..3f0a7442f 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_4898271858899960872) { - out_4898271858899960872[0] = delta_x[0] + nom_x[0]; - out_4898271858899960872[1] = delta_x[1] + nom_x[1]; - out_4898271858899960872[2] = delta_x[2] + nom_x[2]; - out_4898271858899960872[3] = delta_x[3] + nom_x[3]; - out_4898271858899960872[4] = delta_x[4] + nom_x[4]; - out_4898271858899960872[5] = delta_x[5] + nom_x[5]; - out_4898271858899960872[6] = delta_x[6] + nom_x[6]; - out_4898271858899960872[7] = delta_x[7] + nom_x[7]; - out_4898271858899960872[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_700264796655131929) { + out_700264796655131929[0] = delta_x[0] + nom_x[0]; + out_700264796655131929[1] = delta_x[1] + nom_x[1]; + out_700264796655131929[2] = delta_x[2] + nom_x[2]; + out_700264796655131929[3] = delta_x[3] + nom_x[3]; + out_700264796655131929[4] = delta_x[4] + nom_x[4]; + out_700264796655131929[5] = delta_x[5] + nom_x[5]; + out_700264796655131929[6] = delta_x[6] + nom_x[6]; + out_700264796655131929[7] = delta_x[7] + nom_x[7]; + out_700264796655131929[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6923660614592572242) { - out_6923660614592572242[0] = -nom_x[0] + true_x[0]; - out_6923660614592572242[1] = -nom_x[1] + true_x[1]; - out_6923660614592572242[2] = -nom_x[2] + true_x[2]; - out_6923660614592572242[3] = -nom_x[3] + true_x[3]; - out_6923660614592572242[4] = -nom_x[4] + true_x[4]; - out_6923660614592572242[5] = -nom_x[5] + true_x[5]; - out_6923660614592572242[6] = -nom_x[6] + true_x[6]; - out_6923660614592572242[7] = -nom_x[7] + true_x[7]; - out_6923660614592572242[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_107082048498982835) { + out_107082048498982835[0] = -nom_x[0] + true_x[0]; + out_107082048498982835[1] = -nom_x[1] + true_x[1]; + out_107082048498982835[2] = -nom_x[2] + true_x[2]; + out_107082048498982835[3] = -nom_x[3] + true_x[3]; + out_107082048498982835[4] = -nom_x[4] + true_x[4]; + out_107082048498982835[5] = -nom_x[5] + true_x[5]; + out_107082048498982835[6] = -nom_x[6] + true_x[6]; + out_107082048498982835[7] = -nom_x[7] + true_x[7]; + out_107082048498982835[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_2317713943645087999) { - out_2317713943645087999[0] = 1.0; - out_2317713943645087999[1] = 0.0; - out_2317713943645087999[2] = 0.0; - out_2317713943645087999[3] = 0.0; - out_2317713943645087999[4] = 0.0; - out_2317713943645087999[5] = 0.0; - out_2317713943645087999[6] = 0.0; - out_2317713943645087999[7] = 0.0; - out_2317713943645087999[8] = 0.0; - out_2317713943645087999[9] = 0.0; - out_2317713943645087999[10] = 1.0; - out_2317713943645087999[11] = 0.0; - out_2317713943645087999[12] = 0.0; - out_2317713943645087999[13] = 0.0; - out_2317713943645087999[14] = 0.0; - out_2317713943645087999[15] = 0.0; - out_2317713943645087999[16] = 0.0; - out_2317713943645087999[17] = 0.0; - out_2317713943645087999[18] = 0.0; - out_2317713943645087999[19] = 0.0; - out_2317713943645087999[20] = 1.0; - out_2317713943645087999[21] = 0.0; - out_2317713943645087999[22] = 0.0; - out_2317713943645087999[23] = 0.0; - out_2317713943645087999[24] = 0.0; - out_2317713943645087999[25] = 0.0; - out_2317713943645087999[26] = 0.0; - out_2317713943645087999[27] = 0.0; - out_2317713943645087999[28] = 0.0; - out_2317713943645087999[29] = 0.0; - out_2317713943645087999[30] = 1.0; - out_2317713943645087999[31] = 0.0; - out_2317713943645087999[32] = 0.0; - out_2317713943645087999[33] = 0.0; - out_2317713943645087999[34] = 0.0; - out_2317713943645087999[35] = 0.0; - out_2317713943645087999[36] = 0.0; - out_2317713943645087999[37] = 0.0; - out_2317713943645087999[38] = 0.0; - out_2317713943645087999[39] = 0.0; - out_2317713943645087999[40] = 1.0; - out_2317713943645087999[41] = 0.0; - out_2317713943645087999[42] = 0.0; - out_2317713943645087999[43] = 0.0; - out_2317713943645087999[44] = 0.0; - out_2317713943645087999[45] = 0.0; - out_2317713943645087999[46] = 0.0; - out_2317713943645087999[47] = 0.0; - out_2317713943645087999[48] = 0.0; - out_2317713943645087999[49] = 0.0; - out_2317713943645087999[50] = 1.0; - out_2317713943645087999[51] = 0.0; - out_2317713943645087999[52] = 0.0; - out_2317713943645087999[53] = 0.0; - out_2317713943645087999[54] = 0.0; - out_2317713943645087999[55] = 0.0; - out_2317713943645087999[56] = 0.0; - out_2317713943645087999[57] = 0.0; - out_2317713943645087999[58] = 0.0; - out_2317713943645087999[59] = 0.0; - out_2317713943645087999[60] = 1.0; - out_2317713943645087999[61] = 0.0; - out_2317713943645087999[62] = 0.0; - out_2317713943645087999[63] = 0.0; - out_2317713943645087999[64] = 0.0; - out_2317713943645087999[65] = 0.0; - out_2317713943645087999[66] = 0.0; - out_2317713943645087999[67] = 0.0; - out_2317713943645087999[68] = 0.0; - out_2317713943645087999[69] = 0.0; - out_2317713943645087999[70] = 1.0; - out_2317713943645087999[71] = 0.0; - out_2317713943645087999[72] = 0.0; - out_2317713943645087999[73] = 0.0; - out_2317713943645087999[74] = 0.0; - out_2317713943645087999[75] = 0.0; - out_2317713943645087999[76] = 0.0; - out_2317713943645087999[77] = 0.0; - out_2317713943645087999[78] = 0.0; - out_2317713943645087999[79] = 0.0; - out_2317713943645087999[80] = 1.0; +void H_mod_fun(double *state, double *out_7423992576013844798) { + out_7423992576013844798[0] = 1.0; + out_7423992576013844798[1] = 0.0; + out_7423992576013844798[2] = 0.0; + out_7423992576013844798[3] = 0.0; + out_7423992576013844798[4] = 0.0; + out_7423992576013844798[5] = 0.0; + out_7423992576013844798[6] = 0.0; + out_7423992576013844798[7] = 0.0; + out_7423992576013844798[8] = 0.0; + out_7423992576013844798[9] = 0.0; + out_7423992576013844798[10] = 1.0; + out_7423992576013844798[11] = 0.0; + out_7423992576013844798[12] = 0.0; + out_7423992576013844798[13] = 0.0; + out_7423992576013844798[14] = 0.0; + out_7423992576013844798[15] = 0.0; + out_7423992576013844798[16] = 0.0; + out_7423992576013844798[17] = 0.0; + out_7423992576013844798[18] = 0.0; + out_7423992576013844798[19] = 0.0; + out_7423992576013844798[20] = 1.0; + out_7423992576013844798[21] = 0.0; + out_7423992576013844798[22] = 0.0; + out_7423992576013844798[23] = 0.0; + out_7423992576013844798[24] = 0.0; + out_7423992576013844798[25] = 0.0; + out_7423992576013844798[26] = 0.0; + out_7423992576013844798[27] = 0.0; + out_7423992576013844798[28] = 0.0; + out_7423992576013844798[29] = 0.0; + out_7423992576013844798[30] = 1.0; + out_7423992576013844798[31] = 0.0; + out_7423992576013844798[32] = 0.0; + out_7423992576013844798[33] = 0.0; + out_7423992576013844798[34] = 0.0; + out_7423992576013844798[35] = 0.0; + out_7423992576013844798[36] = 0.0; + out_7423992576013844798[37] = 0.0; + out_7423992576013844798[38] = 0.0; + out_7423992576013844798[39] = 0.0; + out_7423992576013844798[40] = 1.0; + out_7423992576013844798[41] = 0.0; + out_7423992576013844798[42] = 0.0; + out_7423992576013844798[43] = 0.0; + out_7423992576013844798[44] = 0.0; + out_7423992576013844798[45] = 0.0; + out_7423992576013844798[46] = 0.0; + out_7423992576013844798[47] = 0.0; + out_7423992576013844798[48] = 0.0; + out_7423992576013844798[49] = 0.0; + out_7423992576013844798[50] = 1.0; + out_7423992576013844798[51] = 0.0; + out_7423992576013844798[52] = 0.0; + out_7423992576013844798[53] = 0.0; + out_7423992576013844798[54] = 0.0; + out_7423992576013844798[55] = 0.0; + out_7423992576013844798[56] = 0.0; + out_7423992576013844798[57] = 0.0; + out_7423992576013844798[58] = 0.0; + out_7423992576013844798[59] = 0.0; + out_7423992576013844798[60] = 1.0; + out_7423992576013844798[61] = 0.0; + out_7423992576013844798[62] = 0.0; + out_7423992576013844798[63] = 0.0; + out_7423992576013844798[64] = 0.0; + out_7423992576013844798[65] = 0.0; + out_7423992576013844798[66] = 0.0; + out_7423992576013844798[67] = 0.0; + out_7423992576013844798[68] = 0.0; + out_7423992576013844798[69] = 0.0; + out_7423992576013844798[70] = 1.0; + out_7423992576013844798[71] = 0.0; + out_7423992576013844798[72] = 0.0; + out_7423992576013844798[73] = 0.0; + out_7423992576013844798[74] = 0.0; + out_7423992576013844798[75] = 0.0; + out_7423992576013844798[76] = 0.0; + out_7423992576013844798[77] = 0.0; + out_7423992576013844798[78] = 0.0; + out_7423992576013844798[79] = 0.0; + out_7423992576013844798[80] = 1.0; } -void f_fun(double *state, double dt, double *out_7025688067405742044) { - out_7025688067405742044[0] = state[0]; - out_7025688067405742044[1] = state[1]; - out_7025688067405742044[2] = state[2]; - out_7025688067405742044[3] = state[3]; - out_7025688067405742044[4] = state[4]; - out_7025688067405742044[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_7025688067405742044[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_7025688067405742044[7] = state[7]; - out_7025688067405742044[8] = state[8]; +void f_fun(double *state, double dt, double *out_1496483947477544324) { + out_1496483947477544324[0] = state[0]; + out_1496483947477544324[1] = state[1]; + out_1496483947477544324[2] = state[2]; + out_1496483947477544324[3] = state[3]; + out_1496483947477544324[4] = state[4]; + out_1496483947477544324[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_1496483947477544324[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_1496483947477544324[7] = state[7]; + out_1496483947477544324[8] = state[8]; } -void F_fun(double *state, double dt, double *out_8992610323869343845) { - out_8992610323869343845[0] = 1; - out_8992610323869343845[1] = 0; - out_8992610323869343845[2] = 0; - out_8992610323869343845[3] = 0; - out_8992610323869343845[4] = 0; - out_8992610323869343845[5] = 0; - out_8992610323869343845[6] = 0; - out_8992610323869343845[7] = 0; - out_8992610323869343845[8] = 0; - out_8992610323869343845[9] = 0; - out_8992610323869343845[10] = 1; - out_8992610323869343845[11] = 0; - out_8992610323869343845[12] = 0; - out_8992610323869343845[13] = 0; - out_8992610323869343845[14] = 0; - out_8992610323869343845[15] = 0; - out_8992610323869343845[16] = 0; - out_8992610323869343845[17] = 0; - out_8992610323869343845[18] = 0; - out_8992610323869343845[19] = 0; - out_8992610323869343845[20] = 1; - out_8992610323869343845[21] = 0; - out_8992610323869343845[22] = 0; - out_8992610323869343845[23] = 0; - out_8992610323869343845[24] = 0; - out_8992610323869343845[25] = 0; - out_8992610323869343845[26] = 0; - out_8992610323869343845[27] = 0; - out_8992610323869343845[28] = 0; - out_8992610323869343845[29] = 0; - out_8992610323869343845[30] = 1; - out_8992610323869343845[31] = 0; - out_8992610323869343845[32] = 0; - out_8992610323869343845[33] = 0; - out_8992610323869343845[34] = 0; - out_8992610323869343845[35] = 0; - out_8992610323869343845[36] = 0; - out_8992610323869343845[37] = 0; - out_8992610323869343845[38] = 0; - out_8992610323869343845[39] = 0; - out_8992610323869343845[40] = 1; - out_8992610323869343845[41] = 0; - out_8992610323869343845[42] = 0; - out_8992610323869343845[43] = 0; - out_8992610323869343845[44] = 0; - out_8992610323869343845[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_8992610323869343845[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8992610323869343845[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8992610323869343845[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8992610323869343845[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_8992610323869343845[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8992610323869343845[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8992610323869343845[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8992610323869343845[53] = -9.8100000000000005*dt; - out_8992610323869343845[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_8992610323869343845[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8992610323869343845[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8992610323869343845[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8992610323869343845[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_8992610323869343845[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8992610323869343845[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_8992610323869343845[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8992610323869343845[62] = 0; - out_8992610323869343845[63] = 0; - out_8992610323869343845[64] = 0; - out_8992610323869343845[65] = 0; - out_8992610323869343845[66] = 0; - out_8992610323869343845[67] = 0; - out_8992610323869343845[68] = 0; - out_8992610323869343845[69] = 0; - out_8992610323869343845[70] = 1; - out_8992610323869343845[71] = 0; - out_8992610323869343845[72] = 0; - out_8992610323869343845[73] = 0; - out_8992610323869343845[74] = 0; - out_8992610323869343845[75] = 0; - out_8992610323869343845[76] = 0; - out_8992610323869343845[77] = 0; - out_8992610323869343845[78] = 0; - out_8992610323869343845[79] = 0; - out_8992610323869343845[80] = 1; +void F_fun(double *state, double dt, double *out_5799168133787523639) { + out_5799168133787523639[0] = 1; + out_5799168133787523639[1] = 0; + out_5799168133787523639[2] = 0; + out_5799168133787523639[3] = 0; + out_5799168133787523639[4] = 0; + out_5799168133787523639[5] = 0; + out_5799168133787523639[6] = 0; + out_5799168133787523639[7] = 0; + out_5799168133787523639[8] = 0; + out_5799168133787523639[9] = 0; + out_5799168133787523639[10] = 1; + out_5799168133787523639[11] = 0; + out_5799168133787523639[12] = 0; + out_5799168133787523639[13] = 0; + out_5799168133787523639[14] = 0; + out_5799168133787523639[15] = 0; + out_5799168133787523639[16] = 0; + out_5799168133787523639[17] = 0; + out_5799168133787523639[18] = 0; + out_5799168133787523639[19] = 0; + out_5799168133787523639[20] = 1; + out_5799168133787523639[21] = 0; + out_5799168133787523639[22] = 0; + out_5799168133787523639[23] = 0; + out_5799168133787523639[24] = 0; + out_5799168133787523639[25] = 0; + out_5799168133787523639[26] = 0; + out_5799168133787523639[27] = 0; + out_5799168133787523639[28] = 0; + out_5799168133787523639[29] = 0; + out_5799168133787523639[30] = 1; + out_5799168133787523639[31] = 0; + out_5799168133787523639[32] = 0; + out_5799168133787523639[33] = 0; + out_5799168133787523639[34] = 0; + out_5799168133787523639[35] = 0; + out_5799168133787523639[36] = 0; + out_5799168133787523639[37] = 0; + out_5799168133787523639[38] = 0; + out_5799168133787523639[39] = 0; + out_5799168133787523639[40] = 1; + out_5799168133787523639[41] = 0; + out_5799168133787523639[42] = 0; + out_5799168133787523639[43] = 0; + out_5799168133787523639[44] = 0; + out_5799168133787523639[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_5799168133787523639[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5799168133787523639[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5799168133787523639[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5799168133787523639[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_5799168133787523639[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5799168133787523639[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5799168133787523639[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5799168133787523639[53] = -9.8100000000000005*dt; + out_5799168133787523639[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_5799168133787523639[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5799168133787523639[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5799168133787523639[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5799168133787523639[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_5799168133787523639[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5799168133787523639[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_5799168133787523639[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5799168133787523639[62] = 0; + out_5799168133787523639[63] = 0; + out_5799168133787523639[64] = 0; + out_5799168133787523639[65] = 0; + out_5799168133787523639[66] = 0; + out_5799168133787523639[67] = 0; + out_5799168133787523639[68] = 0; + out_5799168133787523639[69] = 0; + out_5799168133787523639[70] = 1; + out_5799168133787523639[71] = 0; + out_5799168133787523639[72] = 0; + out_5799168133787523639[73] = 0; + out_5799168133787523639[74] = 0; + out_5799168133787523639[75] = 0; + out_5799168133787523639[76] = 0; + out_5799168133787523639[77] = 0; + out_5799168133787523639[78] = 0; + out_5799168133787523639[79] = 0; + out_5799168133787523639[80] = 1; } -void h_25(double *state, double *unused, double *out_659508963430133761) { - out_659508963430133761[0] = state[6]; +void h_25(double *state, double *unused, double *out_4510188062326144511) { + out_4510188062326144511[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5411732216437484507) { - out_5411732216437484507[0] = 0; - out_5411732216437484507[1] = 0; - out_5411732216437484507[2] = 0; - out_5411732216437484507[3] = 0; - out_5411732216437484507[4] = 0; - out_5411732216437484507[5] = 0; - out_5411732216437484507[6] = 1; - out_5411732216437484507[7] = 0; - out_5411732216437484507[8] = 0; +void H_25(double *state, double *unused, double *out_1340165284045423799) { + out_1340165284045423799[0] = 0; + out_1340165284045423799[1] = 0; + out_1340165284045423799[2] = 0; + out_1340165284045423799[3] = 0; + out_1340165284045423799[4] = 0; + out_1340165284045423799[5] = 0; + out_1340165284045423799[6] = 1; + out_1340165284045423799[7] = 0; + out_1340165284045423799[8] = 0; } -void h_24(double *state, double *unused, double *out_2182025158618031287) { - out_2182025158618031287[0] = state[4]; - out_2182025158618031287[1] = state[5]; +void h_24(double *state, double *unused, double *out_9153409952546890921) { + out_9153409952546890921[0] = state[4]; + out_9153409952546890921[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6824760464475893344) { - out_6824760464475893344[0] = 0; - out_6824760464475893344[1] = 0; - out_6824760464475893344[2] = 0; - out_6824760464475893344[3] = 0; - out_6824760464475893344[4] = 1; - out_6824760464475893344[5] = 0; - out_6824760464475893344[6] = 0; - out_6824760464475893344[7] = 0; - out_6824760464475893344[8] = 0; - out_6824760464475893344[9] = 0; - out_6824760464475893344[10] = 0; - out_6824760464475893344[11] = 0; - out_6824760464475893344[12] = 0; - out_6824760464475893344[13] = 0; - out_6824760464475893344[14] = 1; - out_6824760464475893344[15] = 0; - out_6824760464475893344[16] = 0; - out_6824760464475893344[17] = 0; +void H_24(double *state, double *unused, double *out_4898090882847746935) { + out_4898090882847746935[0] = 0; + out_4898090882847746935[1] = 0; + out_4898090882847746935[2] = 0; + out_4898090882847746935[3] = 0; + out_4898090882847746935[4] = 1; + out_4898090882847746935[5] = 0; + out_4898090882847746935[6] = 0; + out_4898090882847746935[7] = 0; + out_4898090882847746935[8] = 0; + out_4898090882847746935[9] = 0; + out_4898090882847746935[10] = 0; + out_4898090882847746935[11] = 0; + out_4898090882847746935[12] = 0; + out_4898090882847746935[13] = 0; + out_4898090882847746935[14] = 1; + out_4898090882847746935[15] = 0; + out_4898090882847746935[16] = 0; + out_4898090882847746935[17] = 0; } -void h_30(double *state, double *unused, double *out_3607234953785618722) { - out_3607234953785618722[0] = state[4]; +void h_30(double *state, double *unused, double *out_3253077194494527930) { + out_3253077194494527930[0] = state[4]; } -void H_30(double *state, double *unused, double *out_7930065174944733134) { - out_7930065174944733134[0] = 0; - out_7930065174944733134[1] = 0; - out_7930065174944733134[2] = 0; - out_7930065174944733134[3] = 0; - out_7930065174944733134[4] = 1; - out_7930065174944733134[5] = 0; - out_7930065174944733134[6] = 0; - out_7930065174944733134[7] = 0; - out_7930065174944733134[8] = 0; +void H_30(double *state, double *unused, double *out_3858498242552672426) { + out_3858498242552672426[0] = 0; + out_3858498242552672426[1] = 0; + out_3858498242552672426[2] = 0; + out_3858498242552672426[3] = 0; + out_3858498242552672426[4] = 1; + out_3858498242552672426[5] = 0; + out_3858498242552672426[6] = 0; + out_3858498242552672426[7] = 0; + out_3858498242552672426[8] = 0; } -void h_26(double *state, double *unused, double *out_6419787057055472105) { - out_6419787057055472105[0] = state[7]; +void h_26(double *state, double *unused, double *out_3957832291759693581) { + out_3957832291759693581[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1670228897563428283) { - out_1670228897563428283[0] = 0; - out_1670228897563428283[1] = 0; - out_1670228897563428283[2] = 0; - out_1670228897563428283[3] = 0; - out_1670228897563428283[4] = 0; - out_1670228897563428283[5] = 0; - out_1670228897563428283[6] = 0; - out_1670228897563428283[7] = 1; - out_1670228897563428283[8] = 0; +void H_26(double *state, double *unused, double *out_2401338034828632425) { + out_2401338034828632425[0] = 0; + out_2401338034828632425[1] = 0; + out_2401338034828632425[2] = 0; + out_2401338034828632425[3] = 0; + out_2401338034828632425[4] = 0; + out_2401338034828632425[5] = 0; + out_2401338034828632425[6] = 0; + out_2401338034828632425[7] = 1; + out_2401338034828632425[8] = 0; } -void h_27(double *state, double *unused, double *out_1197958375544545365) { - out_1197958375544545365[0] = state[3]; +void h_27(double *state, double *unused, double *out_8058270523824692017) { + out_8058270523824692017[0] = state[3]; } -void H_27(double *state, double *unused, double *out_5755301863144308223) { - out_5755301863144308223[0] = 0; - out_5755301863144308223[1] = 0; - out_5755301863144308223[2] = 0; - out_5755301863144308223[3] = 1; - out_5755301863144308223[4] = 0; - out_5755301863144308223[5] = 0; - out_5755301863144308223[6] = 0; - out_5755301863144308223[7] = 0; - out_5755301863144308223[8] = 0; +void H_27(double *state, double *unused, double *out_1683734930752247515) { + out_1683734930752247515[0] = 0; + out_1683734930752247515[1] = 0; + out_1683734930752247515[2] = 0; + out_1683734930752247515[3] = 1; + out_1683734930752247515[4] = 0; + out_1683734930752247515[5] = 0; + out_1683734930752247515[6] = 0; + out_1683734930752247515[7] = 0; + out_1683734930752247515[8] = 0; } -void h_29(double *state, double *unused, double *out_8608908221446464367) { - out_8608908221446464367[0] = state[1]; +void h_29(double *state, double *unused, double *out_4420820995570669667) { + out_4420820995570669667[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8440296519259125318) { - out_8440296519259125318[0] = 0; - out_8440296519259125318[1] = 1; - out_8440296519259125318[2] = 0; - out_8440296519259125318[3] = 0; - out_8440296519259125318[4] = 0; - out_8440296519259125318[5] = 0; - out_8440296519259125318[6] = 0; - out_8440296519259125318[7] = 0; - out_8440296519259125318[8] = 0; +void H_29(double *state, double *unused, double *out_4368729586867064610) { + out_4368729586867064610[0] = 0; + out_4368729586867064610[1] = 1; + out_4368729586867064610[2] = 0; + out_4368729586867064610[3] = 0; + out_4368729586867064610[4] = 0; + out_4368729586867064610[5] = 0; + out_4368729586867064610[6] = 0; + out_4368729586867064610[7] = 0; + out_4368729586867064610[8] = 0; } -void h_28(double *state, double *unused, double *out_7519878544324146961) { - out_7519878544324146961[0] = state[0]; +void h_28(double *state, double *unused, double *out_7076186430489393905) { + out_7076186430489393905[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3357897502189594744) { - out_3357897502189594744[0] = 1; - out_3357897502189594744[1] = 0; - out_3357897502189594744[2] = 0; - out_3357897502189594744[3] = 0; - out_3357897502189594744[4] = 0; - out_3357897502189594744[5] = 0; - out_3357897502189594744[6] = 0; - out_3357897502189594744[7] = 0; - out_3357897502189594744[8] = 0; +void H_28(double *state, double *unused, double *out_713669430202465964) { + out_713669430202465964[0] = 1; + out_713669430202465964[1] = 0; + out_713669430202465964[2] = 0; + out_713669430202465964[3] = 0; + out_713669430202465964[4] = 0; + out_713669430202465964[5] = 0; + out_713669430202465964[6] = 0; + out_713669430202465964[7] = 0; + out_713669430202465964[8] = 0; } -void h_31(double *state, double *unused, double *out_7221763687323915424) { - out_7221763687323915424[0] = state[8]; +void h_31(double *state, double *unused, double *out_8265185813124548370) { + out_8265185813124548370[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1044020795330076807) { - out_1044020795330076807[0] = 0; - out_1044020795330076807[1] = 0; - out_1044020795330076807[2] = 0; - out_1044020795330076807[3] = 0; - out_1044020795330076807[4] = 0; - out_1044020795330076807[5] = 0; - out_1044020795330076807[6] = 0; - out_1044020795330076807[7] = 0; - out_1044020795330076807[8] = 1; +void H_31(double *state, double *unused, double *out_3027546137061983901) { + out_3027546137061983901[0] = 0; + out_3027546137061983901[1] = 0; + out_3027546137061983901[2] = 0; + out_3027546137061983901[3] = 0; + out_3027546137061983901[4] = 0; + out_3027546137061983901[5] = 0; + out_3027546137061983901[6] = 0; + out_3027546137061983901[7] = 0; + out_3027546137061983901[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_4898271858899960872) { - err_fun(nom_x, delta_x, out_4898271858899960872); +void car_err_fun(double *nom_x, double *delta_x, double *out_700264796655131929) { + err_fun(nom_x, delta_x, out_700264796655131929); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6923660614592572242) { - inv_err_fun(nom_x, true_x, out_6923660614592572242); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_107082048498982835) { + inv_err_fun(nom_x, true_x, out_107082048498982835); } -void car_H_mod_fun(double *state, double *out_2317713943645087999) { - H_mod_fun(state, out_2317713943645087999); +void car_H_mod_fun(double *state, double *out_7423992576013844798) { + H_mod_fun(state, out_7423992576013844798); } -void car_f_fun(double *state, double dt, double *out_7025688067405742044) { - f_fun(state, dt, out_7025688067405742044); +void car_f_fun(double *state, double dt, double *out_1496483947477544324) { + f_fun(state, dt, out_1496483947477544324); } -void car_F_fun(double *state, double dt, double *out_8992610323869343845) { - F_fun(state, dt, out_8992610323869343845); +void car_F_fun(double *state, double dt, double *out_5799168133787523639) { + F_fun(state, dt, out_5799168133787523639); } -void car_h_25(double *state, double *unused, double *out_659508963430133761) { - h_25(state, unused, out_659508963430133761); +void car_h_25(double *state, double *unused, double *out_4510188062326144511) { + h_25(state, unused, out_4510188062326144511); } -void car_H_25(double *state, double *unused, double *out_5411732216437484507) { - H_25(state, unused, out_5411732216437484507); +void car_H_25(double *state, double *unused, double *out_1340165284045423799) { + H_25(state, unused, out_1340165284045423799); } -void car_h_24(double *state, double *unused, double *out_2182025158618031287) { - h_24(state, unused, out_2182025158618031287); +void car_h_24(double *state, double *unused, double *out_9153409952546890921) { + h_24(state, unused, out_9153409952546890921); } -void car_H_24(double *state, double *unused, double *out_6824760464475893344) { - H_24(state, unused, out_6824760464475893344); +void car_H_24(double *state, double *unused, double *out_4898090882847746935) { + H_24(state, unused, out_4898090882847746935); } -void car_h_30(double *state, double *unused, double *out_3607234953785618722) { - h_30(state, unused, out_3607234953785618722); +void car_h_30(double *state, double *unused, double *out_3253077194494527930) { + h_30(state, unused, out_3253077194494527930); } -void car_H_30(double *state, double *unused, double *out_7930065174944733134) { - H_30(state, unused, out_7930065174944733134); +void car_H_30(double *state, double *unused, double *out_3858498242552672426) { + H_30(state, unused, out_3858498242552672426); } -void car_h_26(double *state, double *unused, double *out_6419787057055472105) { - h_26(state, unused, out_6419787057055472105); +void car_h_26(double *state, double *unused, double *out_3957832291759693581) { + h_26(state, unused, out_3957832291759693581); } -void car_H_26(double *state, double *unused, double *out_1670228897563428283) { - H_26(state, unused, out_1670228897563428283); +void car_H_26(double *state, double *unused, double *out_2401338034828632425) { + H_26(state, unused, out_2401338034828632425); } -void car_h_27(double *state, double *unused, double *out_1197958375544545365) { - h_27(state, unused, out_1197958375544545365); +void car_h_27(double *state, double *unused, double *out_8058270523824692017) { + h_27(state, unused, out_8058270523824692017); } -void car_H_27(double *state, double *unused, double *out_5755301863144308223) { - H_27(state, unused, out_5755301863144308223); +void car_H_27(double *state, double *unused, double *out_1683734930752247515) { + H_27(state, unused, out_1683734930752247515); } -void car_h_29(double *state, double *unused, double *out_8608908221446464367) { - h_29(state, unused, out_8608908221446464367); +void car_h_29(double *state, double *unused, double *out_4420820995570669667) { + h_29(state, unused, out_4420820995570669667); } -void car_H_29(double *state, double *unused, double *out_8440296519259125318) { - H_29(state, unused, out_8440296519259125318); +void car_H_29(double *state, double *unused, double *out_4368729586867064610) { + H_29(state, unused, out_4368729586867064610); } -void car_h_28(double *state, double *unused, double *out_7519878544324146961) { - h_28(state, unused, out_7519878544324146961); +void car_h_28(double *state, double *unused, double *out_7076186430489393905) { + h_28(state, unused, out_7076186430489393905); } -void car_H_28(double *state, double *unused, double *out_3357897502189594744) { - H_28(state, unused, out_3357897502189594744); +void car_H_28(double *state, double *unused, double *out_713669430202465964) { + H_28(state, unused, out_713669430202465964); } -void car_h_31(double *state, double *unused, double *out_7221763687323915424) { - h_31(state, unused, out_7221763687323915424); +void car_h_31(double *state, double *unused, double *out_8265185813124548370) { + h_31(state, unused, out_8265185813124548370); } -void car_H_31(double *state, double *unused, double *out_1044020795330076807) { - H_31(state, unused, out_1044020795330076807); +void car_H_31(double *state, double *unused, double *out_3027546137061983901) { + H_31(state, unused, out_3027546137061983901); } 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 e35a739cc..cf47097ce 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_4898271858899960872); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6923660614592572242); -void car_H_mod_fun(double *state, double *out_2317713943645087999); -void car_f_fun(double *state, double dt, double *out_7025688067405742044); -void car_F_fun(double *state, double dt, double *out_8992610323869343845); -void car_h_25(double *state, double *unused, double *out_659508963430133761); -void car_H_25(double *state, double *unused, double *out_5411732216437484507); -void car_h_24(double *state, double *unused, double *out_2182025158618031287); -void car_H_24(double *state, double *unused, double *out_6824760464475893344); -void car_h_30(double *state, double *unused, double *out_3607234953785618722); -void car_H_30(double *state, double *unused, double *out_7930065174944733134); -void car_h_26(double *state, double *unused, double *out_6419787057055472105); -void car_H_26(double *state, double *unused, double *out_1670228897563428283); -void car_h_27(double *state, double *unused, double *out_1197958375544545365); -void car_H_27(double *state, double *unused, double *out_5755301863144308223); -void car_h_29(double *state, double *unused, double *out_8608908221446464367); -void car_H_29(double *state, double *unused, double *out_8440296519259125318); -void car_h_28(double *state, double *unused, double *out_7519878544324146961); -void car_H_28(double *state, double *unused, double *out_3357897502189594744); -void car_h_31(double *state, double *unused, double *out_7221763687323915424); -void car_H_31(double *state, double *unused, double *out_1044020795330076807); +void car_err_fun(double *nom_x, double *delta_x, double *out_700264796655131929); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_107082048498982835); +void car_H_mod_fun(double *state, double *out_7423992576013844798); +void car_f_fun(double *state, double dt, double *out_1496483947477544324); +void car_F_fun(double *state, double dt, double *out_5799168133787523639); +void car_h_25(double *state, double *unused, double *out_4510188062326144511); +void car_H_25(double *state, double *unused, double *out_1340165284045423799); +void car_h_24(double *state, double *unused, double *out_9153409952546890921); +void car_H_24(double *state, double *unused, double *out_4898090882847746935); +void car_h_30(double *state, double *unused, double *out_3253077194494527930); +void car_H_30(double *state, double *unused, double *out_3858498242552672426); +void car_h_26(double *state, double *unused, double *out_3957832291759693581); +void car_H_26(double *state, double *unused, double *out_2401338034828632425); +void car_h_27(double *state, double *unused, double *out_8058270523824692017); +void car_H_27(double *state, double *unused, double *out_1683734930752247515); +void car_h_29(double *state, double *unused, double *out_4420820995570669667); +void car_H_29(double *state, double *unused, double *out_4368729586867064610); +void car_h_28(double *state, double *unused, double *out_7076186430489393905); +void car_H_28(double *state, double *unused, double *out_713669430202465964); +void car_h_31(double *state, double *unused, double *out_8265185813124548370); +void car_H_31(double *state, double *unused, double *out_3027546137061983901); 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 dd752eca2..01cb0c915 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_6656022622757342812) { - out_6656022622757342812[0] = delta_x[0] + nom_x[0]; - out_6656022622757342812[1] = delta_x[1] + nom_x[1]; - out_6656022622757342812[2] = delta_x[2] + nom_x[2]; - out_6656022622757342812[3] = delta_x[3] + nom_x[3]; - out_6656022622757342812[4] = delta_x[4] + nom_x[4]; - out_6656022622757342812[5] = delta_x[5] + nom_x[5]; - out_6656022622757342812[6] = delta_x[6] + nom_x[6]; - out_6656022622757342812[7] = delta_x[7] + nom_x[7]; - out_6656022622757342812[8] = delta_x[8] + nom_x[8]; - out_6656022622757342812[9] = delta_x[9] + nom_x[9]; - out_6656022622757342812[10] = delta_x[10] + nom_x[10]; - out_6656022622757342812[11] = delta_x[11] + nom_x[11]; - out_6656022622757342812[12] = delta_x[12] + nom_x[12]; - out_6656022622757342812[13] = delta_x[13] + nom_x[13]; - out_6656022622757342812[14] = delta_x[14] + nom_x[14]; - out_6656022622757342812[15] = delta_x[15] + nom_x[15]; - out_6656022622757342812[16] = delta_x[16] + nom_x[16]; - out_6656022622757342812[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5792379923597347601) { + out_5792379923597347601[0] = delta_x[0] + nom_x[0]; + out_5792379923597347601[1] = delta_x[1] + nom_x[1]; + out_5792379923597347601[2] = delta_x[2] + nom_x[2]; + out_5792379923597347601[3] = delta_x[3] + nom_x[3]; + out_5792379923597347601[4] = delta_x[4] + nom_x[4]; + out_5792379923597347601[5] = delta_x[5] + nom_x[5]; + out_5792379923597347601[6] = delta_x[6] + nom_x[6]; + out_5792379923597347601[7] = delta_x[7] + nom_x[7]; + out_5792379923597347601[8] = delta_x[8] + nom_x[8]; + out_5792379923597347601[9] = delta_x[9] + nom_x[9]; + out_5792379923597347601[10] = delta_x[10] + nom_x[10]; + out_5792379923597347601[11] = delta_x[11] + nom_x[11]; + out_5792379923597347601[12] = delta_x[12] + nom_x[12]; + out_5792379923597347601[13] = delta_x[13] + nom_x[13]; + out_5792379923597347601[14] = delta_x[14] + nom_x[14]; + out_5792379923597347601[15] = delta_x[15] + nom_x[15]; + out_5792379923597347601[16] = delta_x[16] + nom_x[16]; + out_5792379923597347601[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5165337953826908445) { - out_5165337953826908445[0] = -nom_x[0] + true_x[0]; - out_5165337953826908445[1] = -nom_x[1] + true_x[1]; - out_5165337953826908445[2] = -nom_x[2] + true_x[2]; - out_5165337953826908445[3] = -nom_x[3] + true_x[3]; - out_5165337953826908445[4] = -nom_x[4] + true_x[4]; - out_5165337953826908445[5] = -nom_x[5] + true_x[5]; - out_5165337953826908445[6] = -nom_x[6] + true_x[6]; - out_5165337953826908445[7] = -nom_x[7] + true_x[7]; - out_5165337953826908445[8] = -nom_x[8] + true_x[8]; - out_5165337953826908445[9] = -nom_x[9] + true_x[9]; - out_5165337953826908445[10] = -nom_x[10] + true_x[10]; - out_5165337953826908445[11] = -nom_x[11] + true_x[11]; - out_5165337953826908445[12] = -nom_x[12] + true_x[12]; - out_5165337953826908445[13] = -nom_x[13] + true_x[13]; - out_5165337953826908445[14] = -nom_x[14] + true_x[14]; - out_5165337953826908445[15] = -nom_x[15] + true_x[15]; - out_5165337953826908445[16] = -nom_x[16] + true_x[16]; - out_5165337953826908445[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3127222841440964837) { + out_3127222841440964837[0] = -nom_x[0] + true_x[0]; + out_3127222841440964837[1] = -nom_x[1] + true_x[1]; + out_3127222841440964837[2] = -nom_x[2] + true_x[2]; + out_3127222841440964837[3] = -nom_x[3] + true_x[3]; + out_3127222841440964837[4] = -nom_x[4] + true_x[4]; + out_3127222841440964837[5] = -nom_x[5] + true_x[5]; + out_3127222841440964837[6] = -nom_x[6] + true_x[6]; + out_3127222841440964837[7] = -nom_x[7] + true_x[7]; + out_3127222841440964837[8] = -nom_x[8] + true_x[8]; + out_3127222841440964837[9] = -nom_x[9] + true_x[9]; + out_3127222841440964837[10] = -nom_x[10] + true_x[10]; + out_3127222841440964837[11] = -nom_x[11] + true_x[11]; + out_3127222841440964837[12] = -nom_x[12] + true_x[12]; + out_3127222841440964837[13] = -nom_x[13] + true_x[13]; + out_3127222841440964837[14] = -nom_x[14] + true_x[14]; + out_3127222841440964837[15] = -nom_x[15] + true_x[15]; + out_3127222841440964837[16] = -nom_x[16] + true_x[16]; + out_3127222841440964837[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5190446458913695382) { - out_5190446458913695382[0] = 1.0; - out_5190446458913695382[1] = 0.0; - out_5190446458913695382[2] = 0.0; - out_5190446458913695382[3] = 0.0; - out_5190446458913695382[4] = 0.0; - out_5190446458913695382[5] = 0.0; - out_5190446458913695382[6] = 0.0; - out_5190446458913695382[7] = 0.0; - out_5190446458913695382[8] = 0.0; - out_5190446458913695382[9] = 0.0; - out_5190446458913695382[10] = 0.0; - out_5190446458913695382[11] = 0.0; - out_5190446458913695382[12] = 0.0; - out_5190446458913695382[13] = 0.0; - out_5190446458913695382[14] = 0.0; - out_5190446458913695382[15] = 0.0; - out_5190446458913695382[16] = 0.0; - out_5190446458913695382[17] = 0.0; - out_5190446458913695382[18] = 0.0; - out_5190446458913695382[19] = 1.0; - out_5190446458913695382[20] = 0.0; - out_5190446458913695382[21] = 0.0; - out_5190446458913695382[22] = 0.0; - out_5190446458913695382[23] = 0.0; - out_5190446458913695382[24] = 0.0; - out_5190446458913695382[25] = 0.0; - out_5190446458913695382[26] = 0.0; - out_5190446458913695382[27] = 0.0; - out_5190446458913695382[28] = 0.0; - out_5190446458913695382[29] = 0.0; - out_5190446458913695382[30] = 0.0; - out_5190446458913695382[31] = 0.0; - out_5190446458913695382[32] = 0.0; - out_5190446458913695382[33] = 0.0; - out_5190446458913695382[34] = 0.0; - out_5190446458913695382[35] = 0.0; - out_5190446458913695382[36] = 0.0; - out_5190446458913695382[37] = 0.0; - out_5190446458913695382[38] = 1.0; - out_5190446458913695382[39] = 0.0; - out_5190446458913695382[40] = 0.0; - out_5190446458913695382[41] = 0.0; - out_5190446458913695382[42] = 0.0; - out_5190446458913695382[43] = 0.0; - out_5190446458913695382[44] = 0.0; - out_5190446458913695382[45] = 0.0; - out_5190446458913695382[46] = 0.0; - out_5190446458913695382[47] = 0.0; - out_5190446458913695382[48] = 0.0; - out_5190446458913695382[49] = 0.0; - out_5190446458913695382[50] = 0.0; - out_5190446458913695382[51] = 0.0; - out_5190446458913695382[52] = 0.0; - out_5190446458913695382[53] = 0.0; - out_5190446458913695382[54] = 0.0; - out_5190446458913695382[55] = 0.0; - out_5190446458913695382[56] = 0.0; - out_5190446458913695382[57] = 1.0; - out_5190446458913695382[58] = 0.0; - out_5190446458913695382[59] = 0.0; - out_5190446458913695382[60] = 0.0; - out_5190446458913695382[61] = 0.0; - out_5190446458913695382[62] = 0.0; - out_5190446458913695382[63] = 0.0; - out_5190446458913695382[64] = 0.0; - out_5190446458913695382[65] = 0.0; - out_5190446458913695382[66] = 0.0; - out_5190446458913695382[67] = 0.0; - out_5190446458913695382[68] = 0.0; - out_5190446458913695382[69] = 0.0; - out_5190446458913695382[70] = 0.0; - out_5190446458913695382[71] = 0.0; - out_5190446458913695382[72] = 0.0; - out_5190446458913695382[73] = 0.0; - out_5190446458913695382[74] = 0.0; - out_5190446458913695382[75] = 0.0; - out_5190446458913695382[76] = 1.0; - out_5190446458913695382[77] = 0.0; - out_5190446458913695382[78] = 0.0; - out_5190446458913695382[79] = 0.0; - out_5190446458913695382[80] = 0.0; - out_5190446458913695382[81] = 0.0; - out_5190446458913695382[82] = 0.0; - out_5190446458913695382[83] = 0.0; - out_5190446458913695382[84] = 0.0; - out_5190446458913695382[85] = 0.0; - out_5190446458913695382[86] = 0.0; - out_5190446458913695382[87] = 0.0; - out_5190446458913695382[88] = 0.0; - out_5190446458913695382[89] = 0.0; - out_5190446458913695382[90] = 0.0; - out_5190446458913695382[91] = 0.0; - out_5190446458913695382[92] = 0.0; - out_5190446458913695382[93] = 0.0; - out_5190446458913695382[94] = 0.0; - out_5190446458913695382[95] = 1.0; - out_5190446458913695382[96] = 0.0; - out_5190446458913695382[97] = 0.0; - out_5190446458913695382[98] = 0.0; - out_5190446458913695382[99] = 0.0; - out_5190446458913695382[100] = 0.0; - out_5190446458913695382[101] = 0.0; - out_5190446458913695382[102] = 0.0; - out_5190446458913695382[103] = 0.0; - out_5190446458913695382[104] = 0.0; - out_5190446458913695382[105] = 0.0; - out_5190446458913695382[106] = 0.0; - out_5190446458913695382[107] = 0.0; - out_5190446458913695382[108] = 0.0; - out_5190446458913695382[109] = 0.0; - out_5190446458913695382[110] = 0.0; - out_5190446458913695382[111] = 0.0; - out_5190446458913695382[112] = 0.0; - out_5190446458913695382[113] = 0.0; - out_5190446458913695382[114] = 1.0; - out_5190446458913695382[115] = 0.0; - out_5190446458913695382[116] = 0.0; - out_5190446458913695382[117] = 0.0; - out_5190446458913695382[118] = 0.0; - out_5190446458913695382[119] = 0.0; - out_5190446458913695382[120] = 0.0; - out_5190446458913695382[121] = 0.0; - out_5190446458913695382[122] = 0.0; - out_5190446458913695382[123] = 0.0; - out_5190446458913695382[124] = 0.0; - out_5190446458913695382[125] = 0.0; - out_5190446458913695382[126] = 0.0; - out_5190446458913695382[127] = 0.0; - out_5190446458913695382[128] = 0.0; - out_5190446458913695382[129] = 0.0; - out_5190446458913695382[130] = 0.0; - out_5190446458913695382[131] = 0.0; - out_5190446458913695382[132] = 0.0; - out_5190446458913695382[133] = 1.0; - out_5190446458913695382[134] = 0.0; - out_5190446458913695382[135] = 0.0; - out_5190446458913695382[136] = 0.0; - out_5190446458913695382[137] = 0.0; - out_5190446458913695382[138] = 0.0; - out_5190446458913695382[139] = 0.0; - out_5190446458913695382[140] = 0.0; - out_5190446458913695382[141] = 0.0; - out_5190446458913695382[142] = 0.0; - out_5190446458913695382[143] = 0.0; - out_5190446458913695382[144] = 0.0; - out_5190446458913695382[145] = 0.0; - out_5190446458913695382[146] = 0.0; - out_5190446458913695382[147] = 0.0; - out_5190446458913695382[148] = 0.0; - out_5190446458913695382[149] = 0.0; - out_5190446458913695382[150] = 0.0; - out_5190446458913695382[151] = 0.0; - out_5190446458913695382[152] = 1.0; - out_5190446458913695382[153] = 0.0; - out_5190446458913695382[154] = 0.0; - out_5190446458913695382[155] = 0.0; - out_5190446458913695382[156] = 0.0; - out_5190446458913695382[157] = 0.0; - out_5190446458913695382[158] = 0.0; - out_5190446458913695382[159] = 0.0; - out_5190446458913695382[160] = 0.0; - out_5190446458913695382[161] = 0.0; - out_5190446458913695382[162] = 0.0; - out_5190446458913695382[163] = 0.0; - out_5190446458913695382[164] = 0.0; - out_5190446458913695382[165] = 0.0; - out_5190446458913695382[166] = 0.0; - out_5190446458913695382[167] = 0.0; - out_5190446458913695382[168] = 0.0; - out_5190446458913695382[169] = 0.0; - out_5190446458913695382[170] = 0.0; - out_5190446458913695382[171] = 1.0; - out_5190446458913695382[172] = 0.0; - out_5190446458913695382[173] = 0.0; - out_5190446458913695382[174] = 0.0; - out_5190446458913695382[175] = 0.0; - out_5190446458913695382[176] = 0.0; - out_5190446458913695382[177] = 0.0; - out_5190446458913695382[178] = 0.0; - out_5190446458913695382[179] = 0.0; - out_5190446458913695382[180] = 0.0; - out_5190446458913695382[181] = 0.0; - out_5190446458913695382[182] = 0.0; - out_5190446458913695382[183] = 0.0; - out_5190446458913695382[184] = 0.0; - out_5190446458913695382[185] = 0.0; - out_5190446458913695382[186] = 0.0; - out_5190446458913695382[187] = 0.0; - out_5190446458913695382[188] = 0.0; - out_5190446458913695382[189] = 0.0; - out_5190446458913695382[190] = 1.0; - out_5190446458913695382[191] = 0.0; - out_5190446458913695382[192] = 0.0; - out_5190446458913695382[193] = 0.0; - out_5190446458913695382[194] = 0.0; - out_5190446458913695382[195] = 0.0; - out_5190446458913695382[196] = 0.0; - out_5190446458913695382[197] = 0.0; - out_5190446458913695382[198] = 0.0; - out_5190446458913695382[199] = 0.0; - out_5190446458913695382[200] = 0.0; - out_5190446458913695382[201] = 0.0; - out_5190446458913695382[202] = 0.0; - out_5190446458913695382[203] = 0.0; - out_5190446458913695382[204] = 0.0; - out_5190446458913695382[205] = 0.0; - out_5190446458913695382[206] = 0.0; - out_5190446458913695382[207] = 0.0; - out_5190446458913695382[208] = 0.0; - out_5190446458913695382[209] = 1.0; - out_5190446458913695382[210] = 0.0; - out_5190446458913695382[211] = 0.0; - out_5190446458913695382[212] = 0.0; - out_5190446458913695382[213] = 0.0; - out_5190446458913695382[214] = 0.0; - out_5190446458913695382[215] = 0.0; - out_5190446458913695382[216] = 0.0; - out_5190446458913695382[217] = 0.0; - out_5190446458913695382[218] = 0.0; - out_5190446458913695382[219] = 0.0; - out_5190446458913695382[220] = 0.0; - out_5190446458913695382[221] = 0.0; - out_5190446458913695382[222] = 0.0; - out_5190446458913695382[223] = 0.0; - out_5190446458913695382[224] = 0.0; - out_5190446458913695382[225] = 0.0; - out_5190446458913695382[226] = 0.0; - out_5190446458913695382[227] = 0.0; - out_5190446458913695382[228] = 1.0; - out_5190446458913695382[229] = 0.0; - out_5190446458913695382[230] = 0.0; - out_5190446458913695382[231] = 0.0; - out_5190446458913695382[232] = 0.0; - out_5190446458913695382[233] = 0.0; - out_5190446458913695382[234] = 0.0; - out_5190446458913695382[235] = 0.0; - out_5190446458913695382[236] = 0.0; - out_5190446458913695382[237] = 0.0; - out_5190446458913695382[238] = 0.0; - out_5190446458913695382[239] = 0.0; - out_5190446458913695382[240] = 0.0; - out_5190446458913695382[241] = 0.0; - out_5190446458913695382[242] = 0.0; - out_5190446458913695382[243] = 0.0; - out_5190446458913695382[244] = 0.0; - out_5190446458913695382[245] = 0.0; - out_5190446458913695382[246] = 0.0; - out_5190446458913695382[247] = 1.0; - out_5190446458913695382[248] = 0.0; - out_5190446458913695382[249] = 0.0; - out_5190446458913695382[250] = 0.0; - out_5190446458913695382[251] = 0.0; - out_5190446458913695382[252] = 0.0; - out_5190446458913695382[253] = 0.0; - out_5190446458913695382[254] = 0.0; - out_5190446458913695382[255] = 0.0; - out_5190446458913695382[256] = 0.0; - out_5190446458913695382[257] = 0.0; - out_5190446458913695382[258] = 0.0; - out_5190446458913695382[259] = 0.0; - out_5190446458913695382[260] = 0.0; - out_5190446458913695382[261] = 0.0; - out_5190446458913695382[262] = 0.0; - out_5190446458913695382[263] = 0.0; - out_5190446458913695382[264] = 0.0; - out_5190446458913695382[265] = 0.0; - out_5190446458913695382[266] = 1.0; - out_5190446458913695382[267] = 0.0; - out_5190446458913695382[268] = 0.0; - out_5190446458913695382[269] = 0.0; - out_5190446458913695382[270] = 0.0; - out_5190446458913695382[271] = 0.0; - out_5190446458913695382[272] = 0.0; - out_5190446458913695382[273] = 0.0; - out_5190446458913695382[274] = 0.0; - out_5190446458913695382[275] = 0.0; - out_5190446458913695382[276] = 0.0; - out_5190446458913695382[277] = 0.0; - out_5190446458913695382[278] = 0.0; - out_5190446458913695382[279] = 0.0; - out_5190446458913695382[280] = 0.0; - out_5190446458913695382[281] = 0.0; - out_5190446458913695382[282] = 0.0; - out_5190446458913695382[283] = 0.0; - out_5190446458913695382[284] = 0.0; - out_5190446458913695382[285] = 1.0; - out_5190446458913695382[286] = 0.0; - out_5190446458913695382[287] = 0.0; - out_5190446458913695382[288] = 0.0; - out_5190446458913695382[289] = 0.0; - out_5190446458913695382[290] = 0.0; - out_5190446458913695382[291] = 0.0; - out_5190446458913695382[292] = 0.0; - out_5190446458913695382[293] = 0.0; - out_5190446458913695382[294] = 0.0; - out_5190446458913695382[295] = 0.0; - out_5190446458913695382[296] = 0.0; - out_5190446458913695382[297] = 0.0; - out_5190446458913695382[298] = 0.0; - out_5190446458913695382[299] = 0.0; - out_5190446458913695382[300] = 0.0; - out_5190446458913695382[301] = 0.0; - out_5190446458913695382[302] = 0.0; - out_5190446458913695382[303] = 0.0; - out_5190446458913695382[304] = 1.0; - out_5190446458913695382[305] = 0.0; - out_5190446458913695382[306] = 0.0; - out_5190446458913695382[307] = 0.0; - out_5190446458913695382[308] = 0.0; - out_5190446458913695382[309] = 0.0; - out_5190446458913695382[310] = 0.0; - out_5190446458913695382[311] = 0.0; - out_5190446458913695382[312] = 0.0; - out_5190446458913695382[313] = 0.0; - out_5190446458913695382[314] = 0.0; - out_5190446458913695382[315] = 0.0; - out_5190446458913695382[316] = 0.0; - out_5190446458913695382[317] = 0.0; - out_5190446458913695382[318] = 0.0; - out_5190446458913695382[319] = 0.0; - out_5190446458913695382[320] = 0.0; - out_5190446458913695382[321] = 0.0; - out_5190446458913695382[322] = 0.0; - out_5190446458913695382[323] = 1.0; +void H_mod_fun(double *state, double *out_1474962527938332194) { + out_1474962527938332194[0] = 1.0; + out_1474962527938332194[1] = 0.0; + out_1474962527938332194[2] = 0.0; + out_1474962527938332194[3] = 0.0; + out_1474962527938332194[4] = 0.0; + out_1474962527938332194[5] = 0.0; + out_1474962527938332194[6] = 0.0; + out_1474962527938332194[7] = 0.0; + out_1474962527938332194[8] = 0.0; + out_1474962527938332194[9] = 0.0; + out_1474962527938332194[10] = 0.0; + out_1474962527938332194[11] = 0.0; + out_1474962527938332194[12] = 0.0; + out_1474962527938332194[13] = 0.0; + out_1474962527938332194[14] = 0.0; + out_1474962527938332194[15] = 0.0; + out_1474962527938332194[16] = 0.0; + out_1474962527938332194[17] = 0.0; + out_1474962527938332194[18] = 0.0; + out_1474962527938332194[19] = 1.0; + out_1474962527938332194[20] = 0.0; + out_1474962527938332194[21] = 0.0; + out_1474962527938332194[22] = 0.0; + out_1474962527938332194[23] = 0.0; + out_1474962527938332194[24] = 0.0; + out_1474962527938332194[25] = 0.0; + out_1474962527938332194[26] = 0.0; + out_1474962527938332194[27] = 0.0; + out_1474962527938332194[28] = 0.0; + out_1474962527938332194[29] = 0.0; + out_1474962527938332194[30] = 0.0; + out_1474962527938332194[31] = 0.0; + out_1474962527938332194[32] = 0.0; + out_1474962527938332194[33] = 0.0; + out_1474962527938332194[34] = 0.0; + out_1474962527938332194[35] = 0.0; + out_1474962527938332194[36] = 0.0; + out_1474962527938332194[37] = 0.0; + out_1474962527938332194[38] = 1.0; + out_1474962527938332194[39] = 0.0; + out_1474962527938332194[40] = 0.0; + out_1474962527938332194[41] = 0.0; + out_1474962527938332194[42] = 0.0; + out_1474962527938332194[43] = 0.0; + out_1474962527938332194[44] = 0.0; + out_1474962527938332194[45] = 0.0; + out_1474962527938332194[46] = 0.0; + out_1474962527938332194[47] = 0.0; + out_1474962527938332194[48] = 0.0; + out_1474962527938332194[49] = 0.0; + out_1474962527938332194[50] = 0.0; + out_1474962527938332194[51] = 0.0; + out_1474962527938332194[52] = 0.0; + out_1474962527938332194[53] = 0.0; + out_1474962527938332194[54] = 0.0; + out_1474962527938332194[55] = 0.0; + out_1474962527938332194[56] = 0.0; + out_1474962527938332194[57] = 1.0; + out_1474962527938332194[58] = 0.0; + out_1474962527938332194[59] = 0.0; + out_1474962527938332194[60] = 0.0; + out_1474962527938332194[61] = 0.0; + out_1474962527938332194[62] = 0.0; + out_1474962527938332194[63] = 0.0; + out_1474962527938332194[64] = 0.0; + out_1474962527938332194[65] = 0.0; + out_1474962527938332194[66] = 0.0; + out_1474962527938332194[67] = 0.0; + out_1474962527938332194[68] = 0.0; + out_1474962527938332194[69] = 0.0; + out_1474962527938332194[70] = 0.0; + out_1474962527938332194[71] = 0.0; + out_1474962527938332194[72] = 0.0; + out_1474962527938332194[73] = 0.0; + out_1474962527938332194[74] = 0.0; + out_1474962527938332194[75] = 0.0; + out_1474962527938332194[76] = 1.0; + out_1474962527938332194[77] = 0.0; + out_1474962527938332194[78] = 0.0; + out_1474962527938332194[79] = 0.0; + out_1474962527938332194[80] = 0.0; + out_1474962527938332194[81] = 0.0; + out_1474962527938332194[82] = 0.0; + out_1474962527938332194[83] = 0.0; + out_1474962527938332194[84] = 0.0; + out_1474962527938332194[85] = 0.0; + out_1474962527938332194[86] = 0.0; + out_1474962527938332194[87] = 0.0; + out_1474962527938332194[88] = 0.0; + out_1474962527938332194[89] = 0.0; + out_1474962527938332194[90] = 0.0; + out_1474962527938332194[91] = 0.0; + out_1474962527938332194[92] = 0.0; + out_1474962527938332194[93] = 0.0; + out_1474962527938332194[94] = 0.0; + out_1474962527938332194[95] = 1.0; + out_1474962527938332194[96] = 0.0; + out_1474962527938332194[97] = 0.0; + out_1474962527938332194[98] = 0.0; + out_1474962527938332194[99] = 0.0; + out_1474962527938332194[100] = 0.0; + out_1474962527938332194[101] = 0.0; + out_1474962527938332194[102] = 0.0; + out_1474962527938332194[103] = 0.0; + out_1474962527938332194[104] = 0.0; + out_1474962527938332194[105] = 0.0; + out_1474962527938332194[106] = 0.0; + out_1474962527938332194[107] = 0.0; + out_1474962527938332194[108] = 0.0; + out_1474962527938332194[109] = 0.0; + out_1474962527938332194[110] = 0.0; + out_1474962527938332194[111] = 0.0; + out_1474962527938332194[112] = 0.0; + out_1474962527938332194[113] = 0.0; + out_1474962527938332194[114] = 1.0; + out_1474962527938332194[115] = 0.0; + out_1474962527938332194[116] = 0.0; + out_1474962527938332194[117] = 0.0; + out_1474962527938332194[118] = 0.0; + out_1474962527938332194[119] = 0.0; + out_1474962527938332194[120] = 0.0; + out_1474962527938332194[121] = 0.0; + out_1474962527938332194[122] = 0.0; + out_1474962527938332194[123] = 0.0; + out_1474962527938332194[124] = 0.0; + out_1474962527938332194[125] = 0.0; + out_1474962527938332194[126] = 0.0; + out_1474962527938332194[127] = 0.0; + out_1474962527938332194[128] = 0.0; + out_1474962527938332194[129] = 0.0; + out_1474962527938332194[130] = 0.0; + out_1474962527938332194[131] = 0.0; + out_1474962527938332194[132] = 0.0; + out_1474962527938332194[133] = 1.0; + out_1474962527938332194[134] = 0.0; + out_1474962527938332194[135] = 0.0; + out_1474962527938332194[136] = 0.0; + out_1474962527938332194[137] = 0.0; + out_1474962527938332194[138] = 0.0; + out_1474962527938332194[139] = 0.0; + out_1474962527938332194[140] = 0.0; + out_1474962527938332194[141] = 0.0; + out_1474962527938332194[142] = 0.0; + out_1474962527938332194[143] = 0.0; + out_1474962527938332194[144] = 0.0; + out_1474962527938332194[145] = 0.0; + out_1474962527938332194[146] = 0.0; + out_1474962527938332194[147] = 0.0; + out_1474962527938332194[148] = 0.0; + out_1474962527938332194[149] = 0.0; + out_1474962527938332194[150] = 0.0; + out_1474962527938332194[151] = 0.0; + out_1474962527938332194[152] = 1.0; + out_1474962527938332194[153] = 0.0; + out_1474962527938332194[154] = 0.0; + out_1474962527938332194[155] = 0.0; + out_1474962527938332194[156] = 0.0; + out_1474962527938332194[157] = 0.0; + out_1474962527938332194[158] = 0.0; + out_1474962527938332194[159] = 0.0; + out_1474962527938332194[160] = 0.0; + out_1474962527938332194[161] = 0.0; + out_1474962527938332194[162] = 0.0; + out_1474962527938332194[163] = 0.0; + out_1474962527938332194[164] = 0.0; + out_1474962527938332194[165] = 0.0; + out_1474962527938332194[166] = 0.0; + out_1474962527938332194[167] = 0.0; + out_1474962527938332194[168] = 0.0; + out_1474962527938332194[169] = 0.0; + out_1474962527938332194[170] = 0.0; + out_1474962527938332194[171] = 1.0; + out_1474962527938332194[172] = 0.0; + out_1474962527938332194[173] = 0.0; + out_1474962527938332194[174] = 0.0; + out_1474962527938332194[175] = 0.0; + out_1474962527938332194[176] = 0.0; + out_1474962527938332194[177] = 0.0; + out_1474962527938332194[178] = 0.0; + out_1474962527938332194[179] = 0.0; + out_1474962527938332194[180] = 0.0; + out_1474962527938332194[181] = 0.0; + out_1474962527938332194[182] = 0.0; + out_1474962527938332194[183] = 0.0; + out_1474962527938332194[184] = 0.0; + out_1474962527938332194[185] = 0.0; + out_1474962527938332194[186] = 0.0; + out_1474962527938332194[187] = 0.0; + out_1474962527938332194[188] = 0.0; + out_1474962527938332194[189] = 0.0; + out_1474962527938332194[190] = 1.0; + out_1474962527938332194[191] = 0.0; + out_1474962527938332194[192] = 0.0; + out_1474962527938332194[193] = 0.0; + out_1474962527938332194[194] = 0.0; + out_1474962527938332194[195] = 0.0; + out_1474962527938332194[196] = 0.0; + out_1474962527938332194[197] = 0.0; + out_1474962527938332194[198] = 0.0; + out_1474962527938332194[199] = 0.0; + out_1474962527938332194[200] = 0.0; + out_1474962527938332194[201] = 0.0; + out_1474962527938332194[202] = 0.0; + out_1474962527938332194[203] = 0.0; + out_1474962527938332194[204] = 0.0; + out_1474962527938332194[205] = 0.0; + out_1474962527938332194[206] = 0.0; + out_1474962527938332194[207] = 0.0; + out_1474962527938332194[208] = 0.0; + out_1474962527938332194[209] = 1.0; + out_1474962527938332194[210] = 0.0; + out_1474962527938332194[211] = 0.0; + out_1474962527938332194[212] = 0.0; + out_1474962527938332194[213] = 0.0; + out_1474962527938332194[214] = 0.0; + out_1474962527938332194[215] = 0.0; + out_1474962527938332194[216] = 0.0; + out_1474962527938332194[217] = 0.0; + out_1474962527938332194[218] = 0.0; + out_1474962527938332194[219] = 0.0; + out_1474962527938332194[220] = 0.0; + out_1474962527938332194[221] = 0.0; + out_1474962527938332194[222] = 0.0; + out_1474962527938332194[223] = 0.0; + out_1474962527938332194[224] = 0.0; + out_1474962527938332194[225] = 0.0; + out_1474962527938332194[226] = 0.0; + out_1474962527938332194[227] = 0.0; + out_1474962527938332194[228] = 1.0; + out_1474962527938332194[229] = 0.0; + out_1474962527938332194[230] = 0.0; + out_1474962527938332194[231] = 0.0; + out_1474962527938332194[232] = 0.0; + out_1474962527938332194[233] = 0.0; + out_1474962527938332194[234] = 0.0; + out_1474962527938332194[235] = 0.0; + out_1474962527938332194[236] = 0.0; + out_1474962527938332194[237] = 0.0; + out_1474962527938332194[238] = 0.0; + out_1474962527938332194[239] = 0.0; + out_1474962527938332194[240] = 0.0; + out_1474962527938332194[241] = 0.0; + out_1474962527938332194[242] = 0.0; + out_1474962527938332194[243] = 0.0; + out_1474962527938332194[244] = 0.0; + out_1474962527938332194[245] = 0.0; + out_1474962527938332194[246] = 0.0; + out_1474962527938332194[247] = 1.0; + out_1474962527938332194[248] = 0.0; + out_1474962527938332194[249] = 0.0; + out_1474962527938332194[250] = 0.0; + out_1474962527938332194[251] = 0.0; + out_1474962527938332194[252] = 0.0; + out_1474962527938332194[253] = 0.0; + out_1474962527938332194[254] = 0.0; + out_1474962527938332194[255] = 0.0; + out_1474962527938332194[256] = 0.0; + out_1474962527938332194[257] = 0.0; + out_1474962527938332194[258] = 0.0; + out_1474962527938332194[259] = 0.0; + out_1474962527938332194[260] = 0.0; + out_1474962527938332194[261] = 0.0; + out_1474962527938332194[262] = 0.0; + out_1474962527938332194[263] = 0.0; + out_1474962527938332194[264] = 0.0; + out_1474962527938332194[265] = 0.0; + out_1474962527938332194[266] = 1.0; + out_1474962527938332194[267] = 0.0; + out_1474962527938332194[268] = 0.0; + out_1474962527938332194[269] = 0.0; + out_1474962527938332194[270] = 0.0; + out_1474962527938332194[271] = 0.0; + out_1474962527938332194[272] = 0.0; + out_1474962527938332194[273] = 0.0; + out_1474962527938332194[274] = 0.0; + out_1474962527938332194[275] = 0.0; + out_1474962527938332194[276] = 0.0; + out_1474962527938332194[277] = 0.0; + out_1474962527938332194[278] = 0.0; + out_1474962527938332194[279] = 0.0; + out_1474962527938332194[280] = 0.0; + out_1474962527938332194[281] = 0.0; + out_1474962527938332194[282] = 0.0; + out_1474962527938332194[283] = 0.0; + out_1474962527938332194[284] = 0.0; + out_1474962527938332194[285] = 1.0; + out_1474962527938332194[286] = 0.0; + out_1474962527938332194[287] = 0.0; + out_1474962527938332194[288] = 0.0; + out_1474962527938332194[289] = 0.0; + out_1474962527938332194[290] = 0.0; + out_1474962527938332194[291] = 0.0; + out_1474962527938332194[292] = 0.0; + out_1474962527938332194[293] = 0.0; + out_1474962527938332194[294] = 0.0; + out_1474962527938332194[295] = 0.0; + out_1474962527938332194[296] = 0.0; + out_1474962527938332194[297] = 0.0; + out_1474962527938332194[298] = 0.0; + out_1474962527938332194[299] = 0.0; + out_1474962527938332194[300] = 0.0; + out_1474962527938332194[301] = 0.0; + out_1474962527938332194[302] = 0.0; + out_1474962527938332194[303] = 0.0; + out_1474962527938332194[304] = 1.0; + out_1474962527938332194[305] = 0.0; + out_1474962527938332194[306] = 0.0; + out_1474962527938332194[307] = 0.0; + out_1474962527938332194[308] = 0.0; + out_1474962527938332194[309] = 0.0; + out_1474962527938332194[310] = 0.0; + out_1474962527938332194[311] = 0.0; + out_1474962527938332194[312] = 0.0; + out_1474962527938332194[313] = 0.0; + out_1474962527938332194[314] = 0.0; + out_1474962527938332194[315] = 0.0; + out_1474962527938332194[316] = 0.0; + out_1474962527938332194[317] = 0.0; + out_1474962527938332194[318] = 0.0; + out_1474962527938332194[319] = 0.0; + out_1474962527938332194[320] = 0.0; + out_1474962527938332194[321] = 0.0; + out_1474962527938332194[322] = 0.0; + out_1474962527938332194[323] = 1.0; } -void f_fun(double *state, double dt, double *out_337750480546902101) { - out_337750480546902101[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_337750480546902101[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_337750480546902101[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_337750480546902101[3] = dt*state[12] + state[3]; - out_337750480546902101[4] = dt*state[13] + state[4]; - out_337750480546902101[5] = dt*state[14] + state[5]; - out_337750480546902101[6] = state[6]; - out_337750480546902101[7] = state[7]; - out_337750480546902101[8] = state[8]; - out_337750480546902101[9] = state[9]; - out_337750480546902101[10] = state[10]; - out_337750480546902101[11] = state[11]; - out_337750480546902101[12] = state[12]; - out_337750480546902101[13] = state[13]; - out_337750480546902101[14] = state[14]; - out_337750480546902101[15] = state[15]; - out_337750480546902101[16] = state[16]; - out_337750480546902101[17] = state[17]; +void f_fun(double *state, double dt, double *out_8107096558916273409) { + out_8107096558916273409[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_8107096558916273409[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_8107096558916273409[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_8107096558916273409[3] = dt*state[12] + state[3]; + out_8107096558916273409[4] = dt*state[13] + state[4]; + out_8107096558916273409[5] = dt*state[14] + state[5]; + out_8107096558916273409[6] = state[6]; + out_8107096558916273409[7] = state[7]; + out_8107096558916273409[8] = state[8]; + out_8107096558916273409[9] = state[9]; + out_8107096558916273409[10] = state[10]; + out_8107096558916273409[11] = state[11]; + out_8107096558916273409[12] = state[12]; + out_8107096558916273409[13] = state[13]; + out_8107096558916273409[14] = state[14]; + out_8107096558916273409[15] = state[15]; + out_8107096558916273409[16] = state[16]; + out_8107096558916273409[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1252525263334667707) { - out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[2] = 0; - out_1252525263334667707[3] = 0; - out_1252525263334667707[4] = 0; - out_1252525263334667707[5] = 0; - out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[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_1252525263334667707[9] = 0; - out_1252525263334667707[10] = 0; - out_1252525263334667707[11] = 0; - out_1252525263334667707[12] = 0; - out_1252525263334667707[13] = 0; - out_1252525263334667707[14] = 0; - out_1252525263334667707[15] = 0; - out_1252525263334667707[16] = 0; - out_1252525263334667707[17] = 0; - out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[20] = 0; - out_1252525263334667707[21] = 0; - out_1252525263334667707[22] = 0; - out_1252525263334667707[23] = 0; - out_1252525263334667707[24] = 0; - out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[27] = 0; - out_1252525263334667707[28] = 0; - out_1252525263334667707[29] = 0; - out_1252525263334667707[30] = 0; - out_1252525263334667707[31] = 0; - out_1252525263334667707[32] = 0; - out_1252525263334667707[33] = 0; - out_1252525263334667707[34] = 0; - out_1252525263334667707[35] = 0; - out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[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_1252525263334667707[39] = 0; - out_1252525263334667707[40] = 0; - out_1252525263334667707[41] = 0; - out_1252525263334667707[42] = 0; - out_1252525263334667707[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_1252525263334667707[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_1252525263334667707[45] = 0; - out_1252525263334667707[46] = 0; - out_1252525263334667707[47] = 0; - out_1252525263334667707[48] = 0; - out_1252525263334667707[49] = 0; - out_1252525263334667707[50] = 0; - out_1252525263334667707[51] = 0; - out_1252525263334667707[52] = 0; - out_1252525263334667707[53] = 0; - out_1252525263334667707[54] = 0; - out_1252525263334667707[55] = 0; - out_1252525263334667707[56] = 0; - out_1252525263334667707[57] = 1; - out_1252525263334667707[58] = 0; - out_1252525263334667707[59] = 0; - out_1252525263334667707[60] = 0; - out_1252525263334667707[61] = 0; - out_1252525263334667707[62] = 0; - out_1252525263334667707[63] = 0; - out_1252525263334667707[64] = 0; - out_1252525263334667707[65] = 0; - out_1252525263334667707[66] = dt; - out_1252525263334667707[67] = 0; - out_1252525263334667707[68] = 0; - out_1252525263334667707[69] = 0; - out_1252525263334667707[70] = 0; - out_1252525263334667707[71] = 0; - out_1252525263334667707[72] = 0; - out_1252525263334667707[73] = 0; - out_1252525263334667707[74] = 0; - out_1252525263334667707[75] = 0; - out_1252525263334667707[76] = 1; - out_1252525263334667707[77] = 0; - out_1252525263334667707[78] = 0; - out_1252525263334667707[79] = 0; - out_1252525263334667707[80] = 0; - out_1252525263334667707[81] = 0; - out_1252525263334667707[82] = 0; - out_1252525263334667707[83] = 0; - out_1252525263334667707[84] = 0; - out_1252525263334667707[85] = dt; - out_1252525263334667707[86] = 0; - out_1252525263334667707[87] = 0; - out_1252525263334667707[88] = 0; - out_1252525263334667707[89] = 0; - out_1252525263334667707[90] = 0; - out_1252525263334667707[91] = 0; - out_1252525263334667707[92] = 0; - out_1252525263334667707[93] = 0; - out_1252525263334667707[94] = 0; - out_1252525263334667707[95] = 1; - out_1252525263334667707[96] = 0; - out_1252525263334667707[97] = 0; - out_1252525263334667707[98] = 0; - out_1252525263334667707[99] = 0; - out_1252525263334667707[100] = 0; - out_1252525263334667707[101] = 0; - out_1252525263334667707[102] = 0; - out_1252525263334667707[103] = 0; - out_1252525263334667707[104] = dt; - out_1252525263334667707[105] = 0; - out_1252525263334667707[106] = 0; - out_1252525263334667707[107] = 0; - out_1252525263334667707[108] = 0; - out_1252525263334667707[109] = 0; - out_1252525263334667707[110] = 0; - out_1252525263334667707[111] = 0; - out_1252525263334667707[112] = 0; - out_1252525263334667707[113] = 0; - out_1252525263334667707[114] = 1; - out_1252525263334667707[115] = 0; - out_1252525263334667707[116] = 0; - out_1252525263334667707[117] = 0; - out_1252525263334667707[118] = 0; - out_1252525263334667707[119] = 0; - out_1252525263334667707[120] = 0; - out_1252525263334667707[121] = 0; - out_1252525263334667707[122] = 0; - out_1252525263334667707[123] = 0; - out_1252525263334667707[124] = 0; - out_1252525263334667707[125] = 0; - out_1252525263334667707[126] = 0; - out_1252525263334667707[127] = 0; - out_1252525263334667707[128] = 0; - out_1252525263334667707[129] = 0; - out_1252525263334667707[130] = 0; - out_1252525263334667707[131] = 0; - out_1252525263334667707[132] = 0; - out_1252525263334667707[133] = 1; - out_1252525263334667707[134] = 0; - out_1252525263334667707[135] = 0; - out_1252525263334667707[136] = 0; - out_1252525263334667707[137] = 0; - out_1252525263334667707[138] = 0; - out_1252525263334667707[139] = 0; - out_1252525263334667707[140] = 0; - out_1252525263334667707[141] = 0; - out_1252525263334667707[142] = 0; - out_1252525263334667707[143] = 0; - out_1252525263334667707[144] = 0; - out_1252525263334667707[145] = 0; - out_1252525263334667707[146] = 0; - out_1252525263334667707[147] = 0; - out_1252525263334667707[148] = 0; - out_1252525263334667707[149] = 0; - out_1252525263334667707[150] = 0; - out_1252525263334667707[151] = 0; - out_1252525263334667707[152] = 1; - out_1252525263334667707[153] = 0; - out_1252525263334667707[154] = 0; - out_1252525263334667707[155] = 0; - out_1252525263334667707[156] = 0; - out_1252525263334667707[157] = 0; - out_1252525263334667707[158] = 0; - out_1252525263334667707[159] = 0; - out_1252525263334667707[160] = 0; - out_1252525263334667707[161] = 0; - out_1252525263334667707[162] = 0; - out_1252525263334667707[163] = 0; - out_1252525263334667707[164] = 0; - out_1252525263334667707[165] = 0; - out_1252525263334667707[166] = 0; - out_1252525263334667707[167] = 0; - out_1252525263334667707[168] = 0; - out_1252525263334667707[169] = 0; - out_1252525263334667707[170] = 0; - out_1252525263334667707[171] = 1; - out_1252525263334667707[172] = 0; - out_1252525263334667707[173] = 0; - out_1252525263334667707[174] = 0; - out_1252525263334667707[175] = 0; - out_1252525263334667707[176] = 0; - out_1252525263334667707[177] = 0; - out_1252525263334667707[178] = 0; - out_1252525263334667707[179] = 0; - out_1252525263334667707[180] = 0; - out_1252525263334667707[181] = 0; - out_1252525263334667707[182] = 0; - out_1252525263334667707[183] = 0; - out_1252525263334667707[184] = 0; - out_1252525263334667707[185] = 0; - out_1252525263334667707[186] = 0; - out_1252525263334667707[187] = 0; - out_1252525263334667707[188] = 0; - out_1252525263334667707[189] = 0; - out_1252525263334667707[190] = 1; - out_1252525263334667707[191] = 0; - out_1252525263334667707[192] = 0; - out_1252525263334667707[193] = 0; - out_1252525263334667707[194] = 0; - out_1252525263334667707[195] = 0; - out_1252525263334667707[196] = 0; - out_1252525263334667707[197] = 0; - out_1252525263334667707[198] = 0; - out_1252525263334667707[199] = 0; - out_1252525263334667707[200] = 0; - out_1252525263334667707[201] = 0; - out_1252525263334667707[202] = 0; - out_1252525263334667707[203] = 0; - out_1252525263334667707[204] = 0; - out_1252525263334667707[205] = 0; - out_1252525263334667707[206] = 0; - out_1252525263334667707[207] = 0; - out_1252525263334667707[208] = 0; - out_1252525263334667707[209] = 1; - out_1252525263334667707[210] = 0; - out_1252525263334667707[211] = 0; - out_1252525263334667707[212] = 0; - out_1252525263334667707[213] = 0; - out_1252525263334667707[214] = 0; - out_1252525263334667707[215] = 0; - out_1252525263334667707[216] = 0; - out_1252525263334667707[217] = 0; - out_1252525263334667707[218] = 0; - out_1252525263334667707[219] = 0; - out_1252525263334667707[220] = 0; - out_1252525263334667707[221] = 0; - out_1252525263334667707[222] = 0; - out_1252525263334667707[223] = 0; - out_1252525263334667707[224] = 0; - out_1252525263334667707[225] = 0; - out_1252525263334667707[226] = 0; - out_1252525263334667707[227] = 0; - out_1252525263334667707[228] = 1; - out_1252525263334667707[229] = 0; - out_1252525263334667707[230] = 0; - out_1252525263334667707[231] = 0; - out_1252525263334667707[232] = 0; - out_1252525263334667707[233] = 0; - out_1252525263334667707[234] = 0; - out_1252525263334667707[235] = 0; - out_1252525263334667707[236] = 0; - out_1252525263334667707[237] = 0; - out_1252525263334667707[238] = 0; - out_1252525263334667707[239] = 0; - out_1252525263334667707[240] = 0; - out_1252525263334667707[241] = 0; - out_1252525263334667707[242] = 0; - out_1252525263334667707[243] = 0; - out_1252525263334667707[244] = 0; - out_1252525263334667707[245] = 0; - out_1252525263334667707[246] = 0; - out_1252525263334667707[247] = 1; - out_1252525263334667707[248] = 0; - out_1252525263334667707[249] = 0; - out_1252525263334667707[250] = 0; - out_1252525263334667707[251] = 0; - out_1252525263334667707[252] = 0; - out_1252525263334667707[253] = 0; - out_1252525263334667707[254] = 0; - out_1252525263334667707[255] = 0; - out_1252525263334667707[256] = 0; - out_1252525263334667707[257] = 0; - out_1252525263334667707[258] = 0; - out_1252525263334667707[259] = 0; - out_1252525263334667707[260] = 0; - out_1252525263334667707[261] = 0; - out_1252525263334667707[262] = 0; - out_1252525263334667707[263] = 0; - out_1252525263334667707[264] = 0; - out_1252525263334667707[265] = 0; - out_1252525263334667707[266] = 1; - out_1252525263334667707[267] = 0; - out_1252525263334667707[268] = 0; - out_1252525263334667707[269] = 0; - out_1252525263334667707[270] = 0; - out_1252525263334667707[271] = 0; - out_1252525263334667707[272] = 0; - out_1252525263334667707[273] = 0; - out_1252525263334667707[274] = 0; - out_1252525263334667707[275] = 0; - out_1252525263334667707[276] = 0; - out_1252525263334667707[277] = 0; - out_1252525263334667707[278] = 0; - out_1252525263334667707[279] = 0; - out_1252525263334667707[280] = 0; - out_1252525263334667707[281] = 0; - out_1252525263334667707[282] = 0; - out_1252525263334667707[283] = 0; - out_1252525263334667707[284] = 0; - out_1252525263334667707[285] = 1; - out_1252525263334667707[286] = 0; - out_1252525263334667707[287] = 0; - out_1252525263334667707[288] = 0; - out_1252525263334667707[289] = 0; - out_1252525263334667707[290] = 0; - out_1252525263334667707[291] = 0; - out_1252525263334667707[292] = 0; - out_1252525263334667707[293] = 0; - out_1252525263334667707[294] = 0; - out_1252525263334667707[295] = 0; - out_1252525263334667707[296] = 0; - out_1252525263334667707[297] = 0; - out_1252525263334667707[298] = 0; - out_1252525263334667707[299] = 0; - out_1252525263334667707[300] = 0; - out_1252525263334667707[301] = 0; - out_1252525263334667707[302] = 0; - out_1252525263334667707[303] = 0; - out_1252525263334667707[304] = 1; - out_1252525263334667707[305] = 0; - out_1252525263334667707[306] = 0; - out_1252525263334667707[307] = 0; - out_1252525263334667707[308] = 0; - out_1252525263334667707[309] = 0; - out_1252525263334667707[310] = 0; - out_1252525263334667707[311] = 0; - out_1252525263334667707[312] = 0; - out_1252525263334667707[313] = 0; - out_1252525263334667707[314] = 0; - out_1252525263334667707[315] = 0; - out_1252525263334667707[316] = 0; - out_1252525263334667707[317] = 0; - out_1252525263334667707[318] = 0; - out_1252525263334667707[319] = 0; - out_1252525263334667707[320] = 0; - out_1252525263334667707[321] = 0; - out_1252525263334667707[322] = 0; - out_1252525263334667707[323] = 1; +void F_fun(double *state, double dt, double *out_3803993622350295832) { + out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[2] = 0; + out_3803993622350295832[3] = 0; + out_3803993622350295832[4] = 0; + out_3803993622350295832[5] = 0; + out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[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_3803993622350295832[9] = 0; + out_3803993622350295832[10] = 0; + out_3803993622350295832[11] = 0; + out_3803993622350295832[12] = 0; + out_3803993622350295832[13] = 0; + out_3803993622350295832[14] = 0; + out_3803993622350295832[15] = 0; + out_3803993622350295832[16] = 0; + out_3803993622350295832[17] = 0; + out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[20] = 0; + out_3803993622350295832[21] = 0; + out_3803993622350295832[22] = 0; + out_3803993622350295832[23] = 0; + out_3803993622350295832[24] = 0; + out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[27] = 0; + out_3803993622350295832[28] = 0; + out_3803993622350295832[29] = 0; + out_3803993622350295832[30] = 0; + out_3803993622350295832[31] = 0; + out_3803993622350295832[32] = 0; + out_3803993622350295832[33] = 0; + out_3803993622350295832[34] = 0; + out_3803993622350295832[35] = 0; + out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[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_3803993622350295832[39] = 0; + out_3803993622350295832[40] = 0; + out_3803993622350295832[41] = 0; + out_3803993622350295832[42] = 0; + out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[45] = 0; + out_3803993622350295832[46] = 0; + out_3803993622350295832[47] = 0; + out_3803993622350295832[48] = 0; + out_3803993622350295832[49] = 0; + out_3803993622350295832[50] = 0; + out_3803993622350295832[51] = 0; + out_3803993622350295832[52] = 0; + out_3803993622350295832[53] = 0; + out_3803993622350295832[54] = 0; + out_3803993622350295832[55] = 0; + out_3803993622350295832[56] = 0; + out_3803993622350295832[57] = 1; + out_3803993622350295832[58] = 0; + out_3803993622350295832[59] = 0; + out_3803993622350295832[60] = 0; + out_3803993622350295832[61] = 0; + out_3803993622350295832[62] = 0; + out_3803993622350295832[63] = 0; + out_3803993622350295832[64] = 0; + out_3803993622350295832[65] = 0; + out_3803993622350295832[66] = dt; + out_3803993622350295832[67] = 0; + out_3803993622350295832[68] = 0; + out_3803993622350295832[69] = 0; + out_3803993622350295832[70] = 0; + out_3803993622350295832[71] = 0; + out_3803993622350295832[72] = 0; + out_3803993622350295832[73] = 0; + out_3803993622350295832[74] = 0; + out_3803993622350295832[75] = 0; + out_3803993622350295832[76] = 1; + out_3803993622350295832[77] = 0; + out_3803993622350295832[78] = 0; + out_3803993622350295832[79] = 0; + out_3803993622350295832[80] = 0; + out_3803993622350295832[81] = 0; + out_3803993622350295832[82] = 0; + out_3803993622350295832[83] = 0; + out_3803993622350295832[84] = 0; + out_3803993622350295832[85] = dt; + out_3803993622350295832[86] = 0; + out_3803993622350295832[87] = 0; + out_3803993622350295832[88] = 0; + out_3803993622350295832[89] = 0; + out_3803993622350295832[90] = 0; + out_3803993622350295832[91] = 0; + out_3803993622350295832[92] = 0; + out_3803993622350295832[93] = 0; + out_3803993622350295832[94] = 0; + out_3803993622350295832[95] = 1; + out_3803993622350295832[96] = 0; + out_3803993622350295832[97] = 0; + out_3803993622350295832[98] = 0; + out_3803993622350295832[99] = 0; + out_3803993622350295832[100] = 0; + out_3803993622350295832[101] = 0; + out_3803993622350295832[102] = 0; + out_3803993622350295832[103] = 0; + out_3803993622350295832[104] = dt; + out_3803993622350295832[105] = 0; + out_3803993622350295832[106] = 0; + out_3803993622350295832[107] = 0; + out_3803993622350295832[108] = 0; + out_3803993622350295832[109] = 0; + out_3803993622350295832[110] = 0; + out_3803993622350295832[111] = 0; + out_3803993622350295832[112] = 0; + out_3803993622350295832[113] = 0; + out_3803993622350295832[114] = 1; + out_3803993622350295832[115] = 0; + out_3803993622350295832[116] = 0; + out_3803993622350295832[117] = 0; + out_3803993622350295832[118] = 0; + out_3803993622350295832[119] = 0; + out_3803993622350295832[120] = 0; + out_3803993622350295832[121] = 0; + out_3803993622350295832[122] = 0; + out_3803993622350295832[123] = 0; + out_3803993622350295832[124] = 0; + out_3803993622350295832[125] = 0; + out_3803993622350295832[126] = 0; + out_3803993622350295832[127] = 0; + out_3803993622350295832[128] = 0; + out_3803993622350295832[129] = 0; + out_3803993622350295832[130] = 0; + out_3803993622350295832[131] = 0; + out_3803993622350295832[132] = 0; + out_3803993622350295832[133] = 1; + out_3803993622350295832[134] = 0; + out_3803993622350295832[135] = 0; + out_3803993622350295832[136] = 0; + out_3803993622350295832[137] = 0; + out_3803993622350295832[138] = 0; + out_3803993622350295832[139] = 0; + out_3803993622350295832[140] = 0; + out_3803993622350295832[141] = 0; + out_3803993622350295832[142] = 0; + out_3803993622350295832[143] = 0; + out_3803993622350295832[144] = 0; + out_3803993622350295832[145] = 0; + out_3803993622350295832[146] = 0; + out_3803993622350295832[147] = 0; + out_3803993622350295832[148] = 0; + out_3803993622350295832[149] = 0; + out_3803993622350295832[150] = 0; + out_3803993622350295832[151] = 0; + out_3803993622350295832[152] = 1; + out_3803993622350295832[153] = 0; + out_3803993622350295832[154] = 0; + out_3803993622350295832[155] = 0; + out_3803993622350295832[156] = 0; + out_3803993622350295832[157] = 0; + out_3803993622350295832[158] = 0; + out_3803993622350295832[159] = 0; + out_3803993622350295832[160] = 0; + out_3803993622350295832[161] = 0; + out_3803993622350295832[162] = 0; + out_3803993622350295832[163] = 0; + out_3803993622350295832[164] = 0; + out_3803993622350295832[165] = 0; + out_3803993622350295832[166] = 0; + out_3803993622350295832[167] = 0; + out_3803993622350295832[168] = 0; + out_3803993622350295832[169] = 0; + out_3803993622350295832[170] = 0; + out_3803993622350295832[171] = 1; + out_3803993622350295832[172] = 0; + out_3803993622350295832[173] = 0; + out_3803993622350295832[174] = 0; + out_3803993622350295832[175] = 0; + out_3803993622350295832[176] = 0; + out_3803993622350295832[177] = 0; + out_3803993622350295832[178] = 0; + out_3803993622350295832[179] = 0; + out_3803993622350295832[180] = 0; + out_3803993622350295832[181] = 0; + out_3803993622350295832[182] = 0; + out_3803993622350295832[183] = 0; + out_3803993622350295832[184] = 0; + out_3803993622350295832[185] = 0; + out_3803993622350295832[186] = 0; + out_3803993622350295832[187] = 0; + out_3803993622350295832[188] = 0; + out_3803993622350295832[189] = 0; + out_3803993622350295832[190] = 1; + out_3803993622350295832[191] = 0; + out_3803993622350295832[192] = 0; + out_3803993622350295832[193] = 0; + out_3803993622350295832[194] = 0; + out_3803993622350295832[195] = 0; + out_3803993622350295832[196] = 0; + out_3803993622350295832[197] = 0; + out_3803993622350295832[198] = 0; + out_3803993622350295832[199] = 0; + out_3803993622350295832[200] = 0; + out_3803993622350295832[201] = 0; + out_3803993622350295832[202] = 0; + out_3803993622350295832[203] = 0; + out_3803993622350295832[204] = 0; + out_3803993622350295832[205] = 0; + out_3803993622350295832[206] = 0; + out_3803993622350295832[207] = 0; + out_3803993622350295832[208] = 0; + out_3803993622350295832[209] = 1; + out_3803993622350295832[210] = 0; + out_3803993622350295832[211] = 0; + out_3803993622350295832[212] = 0; + out_3803993622350295832[213] = 0; + out_3803993622350295832[214] = 0; + out_3803993622350295832[215] = 0; + out_3803993622350295832[216] = 0; + out_3803993622350295832[217] = 0; + out_3803993622350295832[218] = 0; + out_3803993622350295832[219] = 0; + out_3803993622350295832[220] = 0; + out_3803993622350295832[221] = 0; + out_3803993622350295832[222] = 0; + out_3803993622350295832[223] = 0; + out_3803993622350295832[224] = 0; + out_3803993622350295832[225] = 0; + out_3803993622350295832[226] = 0; + out_3803993622350295832[227] = 0; + out_3803993622350295832[228] = 1; + out_3803993622350295832[229] = 0; + out_3803993622350295832[230] = 0; + out_3803993622350295832[231] = 0; + out_3803993622350295832[232] = 0; + out_3803993622350295832[233] = 0; + out_3803993622350295832[234] = 0; + out_3803993622350295832[235] = 0; + out_3803993622350295832[236] = 0; + out_3803993622350295832[237] = 0; + out_3803993622350295832[238] = 0; + out_3803993622350295832[239] = 0; + out_3803993622350295832[240] = 0; + out_3803993622350295832[241] = 0; + out_3803993622350295832[242] = 0; + out_3803993622350295832[243] = 0; + out_3803993622350295832[244] = 0; + out_3803993622350295832[245] = 0; + out_3803993622350295832[246] = 0; + out_3803993622350295832[247] = 1; + out_3803993622350295832[248] = 0; + out_3803993622350295832[249] = 0; + out_3803993622350295832[250] = 0; + out_3803993622350295832[251] = 0; + out_3803993622350295832[252] = 0; + out_3803993622350295832[253] = 0; + out_3803993622350295832[254] = 0; + out_3803993622350295832[255] = 0; + out_3803993622350295832[256] = 0; + out_3803993622350295832[257] = 0; + out_3803993622350295832[258] = 0; + out_3803993622350295832[259] = 0; + out_3803993622350295832[260] = 0; + out_3803993622350295832[261] = 0; + out_3803993622350295832[262] = 0; + out_3803993622350295832[263] = 0; + out_3803993622350295832[264] = 0; + out_3803993622350295832[265] = 0; + out_3803993622350295832[266] = 1; + out_3803993622350295832[267] = 0; + out_3803993622350295832[268] = 0; + out_3803993622350295832[269] = 0; + out_3803993622350295832[270] = 0; + out_3803993622350295832[271] = 0; + out_3803993622350295832[272] = 0; + out_3803993622350295832[273] = 0; + out_3803993622350295832[274] = 0; + out_3803993622350295832[275] = 0; + out_3803993622350295832[276] = 0; + out_3803993622350295832[277] = 0; + out_3803993622350295832[278] = 0; + out_3803993622350295832[279] = 0; + out_3803993622350295832[280] = 0; + out_3803993622350295832[281] = 0; + out_3803993622350295832[282] = 0; + out_3803993622350295832[283] = 0; + out_3803993622350295832[284] = 0; + out_3803993622350295832[285] = 1; + out_3803993622350295832[286] = 0; + out_3803993622350295832[287] = 0; + out_3803993622350295832[288] = 0; + out_3803993622350295832[289] = 0; + out_3803993622350295832[290] = 0; + out_3803993622350295832[291] = 0; + out_3803993622350295832[292] = 0; + out_3803993622350295832[293] = 0; + out_3803993622350295832[294] = 0; + out_3803993622350295832[295] = 0; + out_3803993622350295832[296] = 0; + out_3803993622350295832[297] = 0; + out_3803993622350295832[298] = 0; + out_3803993622350295832[299] = 0; + out_3803993622350295832[300] = 0; + out_3803993622350295832[301] = 0; + out_3803993622350295832[302] = 0; + out_3803993622350295832[303] = 0; + out_3803993622350295832[304] = 1; + out_3803993622350295832[305] = 0; + out_3803993622350295832[306] = 0; + out_3803993622350295832[307] = 0; + out_3803993622350295832[308] = 0; + out_3803993622350295832[309] = 0; + out_3803993622350295832[310] = 0; + out_3803993622350295832[311] = 0; + out_3803993622350295832[312] = 0; + out_3803993622350295832[313] = 0; + out_3803993622350295832[314] = 0; + out_3803993622350295832[315] = 0; + out_3803993622350295832[316] = 0; + out_3803993622350295832[317] = 0; + out_3803993622350295832[318] = 0; + out_3803993622350295832[319] = 0; + out_3803993622350295832[320] = 0; + out_3803993622350295832[321] = 0; + out_3803993622350295832[322] = 0; + out_3803993622350295832[323] = 1; } -void h_4(double *state, double *unused, double *out_1011967617642247994) { - out_1011967617642247994[0] = state[6] + state[9]; - out_1011967617642247994[1] = state[7] + state[10]; - out_1011967617642247994[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2415773389544840251) { + out_2415773389544840251[0] = state[6] + state[9]; + out_2415773389544840251[1] = state[7] + state[10]; + out_2415773389544840251[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_7408215808043897513) { - out_7408215808043897513[0] = 0; - out_7408215808043897513[1] = 0; - out_7408215808043897513[2] = 0; - out_7408215808043897513[3] = 0; - out_7408215808043897513[4] = 0; - out_7408215808043897513[5] = 0; - out_7408215808043897513[6] = 1; - out_7408215808043897513[7] = 0; - out_7408215808043897513[8] = 0; - out_7408215808043897513[9] = 1; - out_7408215808043897513[10] = 0; - out_7408215808043897513[11] = 0; - out_7408215808043897513[12] = 0; - out_7408215808043897513[13] = 0; - out_7408215808043897513[14] = 0; - out_7408215808043897513[15] = 0; - out_7408215808043897513[16] = 0; - out_7408215808043897513[17] = 0; - out_7408215808043897513[18] = 0; - out_7408215808043897513[19] = 0; - out_7408215808043897513[20] = 0; - out_7408215808043897513[21] = 0; - out_7408215808043897513[22] = 0; - out_7408215808043897513[23] = 0; - out_7408215808043897513[24] = 0; - out_7408215808043897513[25] = 1; - out_7408215808043897513[26] = 0; - out_7408215808043897513[27] = 0; - out_7408215808043897513[28] = 1; - out_7408215808043897513[29] = 0; - out_7408215808043897513[30] = 0; - out_7408215808043897513[31] = 0; - out_7408215808043897513[32] = 0; - out_7408215808043897513[33] = 0; - out_7408215808043897513[34] = 0; - out_7408215808043897513[35] = 0; - out_7408215808043897513[36] = 0; - out_7408215808043897513[37] = 0; - out_7408215808043897513[38] = 0; - out_7408215808043897513[39] = 0; - out_7408215808043897513[40] = 0; - out_7408215808043897513[41] = 0; - out_7408215808043897513[42] = 0; - out_7408215808043897513[43] = 0; - out_7408215808043897513[44] = 1; - out_7408215808043897513[45] = 0; - out_7408215808043897513[46] = 0; - out_7408215808043897513[47] = 1; - out_7408215808043897513[48] = 0; - out_7408215808043897513[49] = 0; - out_7408215808043897513[50] = 0; - out_7408215808043897513[51] = 0; - out_7408215808043897513[52] = 0; - out_7408215808043897513[53] = 0; +void H_4(double *state, double *unused, double *out_4675372429039802218) { + out_4675372429039802218[0] = 0; + out_4675372429039802218[1] = 0; + out_4675372429039802218[2] = 0; + out_4675372429039802218[3] = 0; + out_4675372429039802218[4] = 0; + out_4675372429039802218[5] = 0; + out_4675372429039802218[6] = 1; + out_4675372429039802218[7] = 0; + out_4675372429039802218[8] = 0; + out_4675372429039802218[9] = 1; + out_4675372429039802218[10] = 0; + out_4675372429039802218[11] = 0; + out_4675372429039802218[12] = 0; + out_4675372429039802218[13] = 0; + out_4675372429039802218[14] = 0; + out_4675372429039802218[15] = 0; + out_4675372429039802218[16] = 0; + out_4675372429039802218[17] = 0; + out_4675372429039802218[18] = 0; + out_4675372429039802218[19] = 0; + out_4675372429039802218[20] = 0; + out_4675372429039802218[21] = 0; + out_4675372429039802218[22] = 0; + out_4675372429039802218[23] = 0; + out_4675372429039802218[24] = 0; + out_4675372429039802218[25] = 1; + out_4675372429039802218[26] = 0; + out_4675372429039802218[27] = 0; + out_4675372429039802218[28] = 1; + out_4675372429039802218[29] = 0; + out_4675372429039802218[30] = 0; + out_4675372429039802218[31] = 0; + out_4675372429039802218[32] = 0; + out_4675372429039802218[33] = 0; + out_4675372429039802218[34] = 0; + out_4675372429039802218[35] = 0; + out_4675372429039802218[36] = 0; + out_4675372429039802218[37] = 0; + out_4675372429039802218[38] = 0; + out_4675372429039802218[39] = 0; + out_4675372429039802218[40] = 0; + out_4675372429039802218[41] = 0; + out_4675372429039802218[42] = 0; + out_4675372429039802218[43] = 0; + out_4675372429039802218[44] = 1; + out_4675372429039802218[45] = 0; + out_4675372429039802218[46] = 0; + out_4675372429039802218[47] = 1; + out_4675372429039802218[48] = 0; + out_4675372429039802218[49] = 0; + out_4675372429039802218[50] = 0; + out_4675372429039802218[51] = 0; + out_4675372429039802218[52] = 0; + out_4675372429039802218[53] = 0; } -void h_10(double *state, double *unused, double *out_511164501586373249) { - out_511164501586373249[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_511164501586373249[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_511164501586373249[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_2790393475270154159) { + out_2790393475270154159[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2790393475270154159[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2790393475270154159[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_8712555441471564813) { - out_8712555441471564813[0] = 0; - out_8712555441471564813[1] = 9.8100000000000005*cos(state[1]); - out_8712555441471564813[2] = 0; - out_8712555441471564813[3] = 0; - out_8712555441471564813[4] = -state[8]; - out_8712555441471564813[5] = state[7]; - out_8712555441471564813[6] = 0; - out_8712555441471564813[7] = state[5]; - out_8712555441471564813[8] = -state[4]; - out_8712555441471564813[9] = 0; - out_8712555441471564813[10] = 0; - out_8712555441471564813[11] = 0; - out_8712555441471564813[12] = 1; - out_8712555441471564813[13] = 0; - out_8712555441471564813[14] = 0; - out_8712555441471564813[15] = 1; - out_8712555441471564813[16] = 0; - out_8712555441471564813[17] = 0; - out_8712555441471564813[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8712555441471564813[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8712555441471564813[20] = 0; - out_8712555441471564813[21] = state[8]; - out_8712555441471564813[22] = 0; - out_8712555441471564813[23] = -state[6]; - out_8712555441471564813[24] = -state[5]; - out_8712555441471564813[25] = 0; - out_8712555441471564813[26] = state[3]; - out_8712555441471564813[27] = 0; - out_8712555441471564813[28] = 0; - out_8712555441471564813[29] = 0; - out_8712555441471564813[30] = 0; - out_8712555441471564813[31] = 1; - out_8712555441471564813[32] = 0; - out_8712555441471564813[33] = 0; - out_8712555441471564813[34] = 1; - out_8712555441471564813[35] = 0; - out_8712555441471564813[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8712555441471564813[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8712555441471564813[38] = 0; - out_8712555441471564813[39] = -state[7]; - out_8712555441471564813[40] = state[6]; - out_8712555441471564813[41] = 0; - out_8712555441471564813[42] = state[4]; - out_8712555441471564813[43] = -state[3]; - out_8712555441471564813[44] = 0; - out_8712555441471564813[45] = 0; - out_8712555441471564813[46] = 0; - out_8712555441471564813[47] = 0; - out_8712555441471564813[48] = 0; - out_8712555441471564813[49] = 0; - out_8712555441471564813[50] = 1; - out_8712555441471564813[51] = 0; - out_8712555441471564813[52] = 0; - out_8712555441471564813[53] = 1; +void H_10(double *state, double *unused, double *out_6532362201945156818) { + out_6532362201945156818[0] = 0; + out_6532362201945156818[1] = 9.8100000000000005*cos(state[1]); + out_6532362201945156818[2] = 0; + out_6532362201945156818[3] = 0; + out_6532362201945156818[4] = -state[8]; + out_6532362201945156818[5] = state[7]; + out_6532362201945156818[6] = 0; + out_6532362201945156818[7] = state[5]; + out_6532362201945156818[8] = -state[4]; + out_6532362201945156818[9] = 0; + out_6532362201945156818[10] = 0; + out_6532362201945156818[11] = 0; + out_6532362201945156818[12] = 1; + out_6532362201945156818[13] = 0; + out_6532362201945156818[14] = 0; + out_6532362201945156818[15] = 1; + out_6532362201945156818[16] = 0; + out_6532362201945156818[17] = 0; + out_6532362201945156818[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6532362201945156818[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6532362201945156818[20] = 0; + out_6532362201945156818[21] = state[8]; + out_6532362201945156818[22] = 0; + out_6532362201945156818[23] = -state[6]; + out_6532362201945156818[24] = -state[5]; + out_6532362201945156818[25] = 0; + out_6532362201945156818[26] = state[3]; + out_6532362201945156818[27] = 0; + out_6532362201945156818[28] = 0; + out_6532362201945156818[29] = 0; + out_6532362201945156818[30] = 0; + out_6532362201945156818[31] = 1; + out_6532362201945156818[32] = 0; + out_6532362201945156818[33] = 0; + out_6532362201945156818[34] = 1; + out_6532362201945156818[35] = 0; + out_6532362201945156818[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6532362201945156818[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6532362201945156818[38] = 0; + out_6532362201945156818[39] = -state[7]; + out_6532362201945156818[40] = state[6]; + out_6532362201945156818[41] = 0; + out_6532362201945156818[42] = state[4]; + out_6532362201945156818[43] = -state[3]; + out_6532362201945156818[44] = 0; + out_6532362201945156818[45] = 0; + out_6532362201945156818[46] = 0; + out_6532362201945156818[47] = 0; + out_6532362201945156818[48] = 0; + out_6532362201945156818[49] = 0; + out_6532362201945156818[50] = 1; + out_6532362201945156818[51] = 0; + out_6532362201945156818[52] = 0; + out_6532362201945156818[53] = 1; } -void h_13(double *state, double *unused, double *out_6347656539957505651) { - out_6347656539957505651[0] = state[3]; - out_6347656539957505651[1] = state[4]; - out_6347656539957505651[2] = state[5]; +void h_13(double *state, double *unused, double *out_7195971841206647407) { + out_7195971841206647407[0] = state[3]; + out_7195971841206647407[1] = state[4]; + out_7195971841206647407[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7826254440333321302) { - out_7826254440333321302[0] = 0; - out_7826254440333321302[1] = 0; - out_7826254440333321302[2] = 0; - out_7826254440333321302[3] = 1; - out_7826254440333321302[4] = 0; - out_7826254440333321302[5] = 0; - out_7826254440333321302[6] = 0; - out_7826254440333321302[7] = 0; - out_7826254440333321302[8] = 0; - out_7826254440333321302[9] = 0; - out_7826254440333321302[10] = 0; - out_7826254440333321302[11] = 0; - out_7826254440333321302[12] = 0; - out_7826254440333321302[13] = 0; - out_7826254440333321302[14] = 0; - out_7826254440333321302[15] = 0; - out_7826254440333321302[16] = 0; - out_7826254440333321302[17] = 0; - out_7826254440333321302[18] = 0; - out_7826254440333321302[19] = 0; - out_7826254440333321302[20] = 0; - out_7826254440333321302[21] = 0; - out_7826254440333321302[22] = 1; - out_7826254440333321302[23] = 0; - out_7826254440333321302[24] = 0; - out_7826254440333321302[25] = 0; - out_7826254440333321302[26] = 0; - out_7826254440333321302[27] = 0; - out_7826254440333321302[28] = 0; - out_7826254440333321302[29] = 0; - out_7826254440333321302[30] = 0; - out_7826254440333321302[31] = 0; - out_7826254440333321302[32] = 0; - out_7826254440333321302[33] = 0; - out_7826254440333321302[34] = 0; - out_7826254440333321302[35] = 0; - out_7826254440333321302[36] = 0; - out_7826254440333321302[37] = 0; - out_7826254440333321302[38] = 0; - out_7826254440333321302[39] = 0; - out_7826254440333321302[40] = 0; - out_7826254440333321302[41] = 1; - out_7826254440333321302[42] = 0; - out_7826254440333321302[43] = 0; - out_7826254440333321302[44] = 0; - out_7826254440333321302[45] = 0; - out_7826254440333321302[46] = 0; - out_7826254440333321302[47] = 0; - out_7826254440333321302[48] = 0; - out_7826254440333321302[49] = 0; - out_7826254440333321302[50] = 0; - out_7826254440333321302[51] = 0; - out_7826254440333321302[52] = 0; - out_7826254440333321302[53] = 0; +void H_13(double *state, double *unused, double *out_2935258779276898711) { + out_2935258779276898711[0] = 0; + out_2935258779276898711[1] = 0; + out_2935258779276898711[2] = 0; + out_2935258779276898711[3] = 1; + out_2935258779276898711[4] = 0; + out_2935258779276898711[5] = 0; + out_2935258779276898711[6] = 0; + out_2935258779276898711[7] = 0; + out_2935258779276898711[8] = 0; + out_2935258779276898711[9] = 0; + out_2935258779276898711[10] = 0; + out_2935258779276898711[11] = 0; + out_2935258779276898711[12] = 0; + out_2935258779276898711[13] = 0; + out_2935258779276898711[14] = 0; + out_2935258779276898711[15] = 0; + out_2935258779276898711[16] = 0; + out_2935258779276898711[17] = 0; + out_2935258779276898711[18] = 0; + out_2935258779276898711[19] = 0; + out_2935258779276898711[20] = 0; + out_2935258779276898711[21] = 0; + out_2935258779276898711[22] = 1; + out_2935258779276898711[23] = 0; + out_2935258779276898711[24] = 0; + out_2935258779276898711[25] = 0; + out_2935258779276898711[26] = 0; + out_2935258779276898711[27] = 0; + out_2935258779276898711[28] = 0; + out_2935258779276898711[29] = 0; + out_2935258779276898711[30] = 0; + out_2935258779276898711[31] = 0; + out_2935258779276898711[32] = 0; + out_2935258779276898711[33] = 0; + out_2935258779276898711[34] = 0; + out_2935258779276898711[35] = 0; + out_2935258779276898711[36] = 0; + out_2935258779276898711[37] = 0; + out_2935258779276898711[38] = 0; + out_2935258779276898711[39] = 0; + out_2935258779276898711[40] = 0; + out_2935258779276898711[41] = 1; + out_2935258779276898711[42] = 0; + out_2935258779276898711[43] = 0; + out_2935258779276898711[44] = 0; + out_2935258779276898711[45] = 0; + out_2935258779276898711[46] = 0; + out_2935258779276898711[47] = 0; + out_2935258779276898711[48] = 0; + out_2935258779276898711[49] = 0; + out_2935258779276898711[50] = 0; + out_2935258779276898711[51] = 0; + out_2935258779276898711[52] = 0; + out_2935258779276898711[53] = 0; } -void h_14(double *state, double *unused, double *out_251978956082886222) { - out_251978956082886222[0] = state[6]; - out_251978956082886222[1] = state[7]; - out_251978956082886222[2] = state[8]; +void h_14(double *state, double *unused, double *out_6081561149972683319) { + out_6081561149972683319[0] = state[6]; + out_6081561149972683319[1] = state[7]; + out_6081561149972683319[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7075287409326169574) { - out_7075287409326169574[0] = 0; - out_7075287409326169574[1] = 0; - out_7075287409326169574[2] = 0; - out_7075287409326169574[3] = 0; - out_7075287409326169574[4] = 0; - out_7075287409326169574[5] = 0; - out_7075287409326169574[6] = 1; - out_7075287409326169574[7] = 0; - out_7075287409326169574[8] = 0; - out_7075287409326169574[9] = 0; - out_7075287409326169574[10] = 0; - out_7075287409326169574[11] = 0; - out_7075287409326169574[12] = 0; - out_7075287409326169574[13] = 0; - out_7075287409326169574[14] = 0; - out_7075287409326169574[15] = 0; - out_7075287409326169574[16] = 0; - out_7075287409326169574[17] = 0; - out_7075287409326169574[18] = 0; - out_7075287409326169574[19] = 0; - out_7075287409326169574[20] = 0; - out_7075287409326169574[21] = 0; - out_7075287409326169574[22] = 0; - out_7075287409326169574[23] = 0; - out_7075287409326169574[24] = 0; - out_7075287409326169574[25] = 1; - out_7075287409326169574[26] = 0; - out_7075287409326169574[27] = 0; - out_7075287409326169574[28] = 0; - out_7075287409326169574[29] = 0; - out_7075287409326169574[30] = 0; - out_7075287409326169574[31] = 0; - out_7075287409326169574[32] = 0; - out_7075287409326169574[33] = 0; - out_7075287409326169574[34] = 0; - out_7075287409326169574[35] = 0; - out_7075287409326169574[36] = 0; - out_7075287409326169574[37] = 0; - out_7075287409326169574[38] = 0; - out_7075287409326169574[39] = 0; - out_7075287409326169574[40] = 0; - out_7075287409326169574[41] = 0; - out_7075287409326169574[42] = 0; - out_7075287409326169574[43] = 0; - out_7075287409326169574[44] = 1; - out_7075287409326169574[45] = 0; - out_7075287409326169574[46] = 0; - out_7075287409326169574[47] = 0; - out_7075287409326169574[48] = 0; - out_7075287409326169574[49] = 0; - out_7075287409326169574[50] = 0; - out_7075287409326169574[51] = 0; - out_7075287409326169574[52] = 0; - out_7075287409326169574[53] = 0; +void H_14(double *state, double *unused, double *out_712131572700317689) { + out_712131572700317689[0] = 0; + out_712131572700317689[1] = 0; + out_712131572700317689[2] = 0; + out_712131572700317689[3] = 0; + out_712131572700317689[4] = 0; + out_712131572700317689[5] = 0; + out_712131572700317689[6] = 1; + out_712131572700317689[7] = 0; + out_712131572700317689[8] = 0; + out_712131572700317689[9] = 0; + out_712131572700317689[10] = 0; + out_712131572700317689[11] = 0; + out_712131572700317689[12] = 0; + out_712131572700317689[13] = 0; + out_712131572700317689[14] = 0; + out_712131572700317689[15] = 0; + out_712131572700317689[16] = 0; + out_712131572700317689[17] = 0; + out_712131572700317689[18] = 0; + out_712131572700317689[19] = 0; + out_712131572700317689[20] = 0; + out_712131572700317689[21] = 0; + out_712131572700317689[22] = 0; + out_712131572700317689[23] = 0; + out_712131572700317689[24] = 0; + out_712131572700317689[25] = 1; + out_712131572700317689[26] = 0; + out_712131572700317689[27] = 0; + out_712131572700317689[28] = 0; + out_712131572700317689[29] = 0; + out_712131572700317689[30] = 0; + out_712131572700317689[31] = 0; + out_712131572700317689[32] = 0; + out_712131572700317689[33] = 0; + out_712131572700317689[34] = 0; + out_712131572700317689[35] = 0; + out_712131572700317689[36] = 0; + out_712131572700317689[37] = 0; + out_712131572700317689[38] = 0; + out_712131572700317689[39] = 0; + out_712131572700317689[40] = 0; + out_712131572700317689[41] = 0; + out_712131572700317689[42] = 0; + out_712131572700317689[43] = 0; + out_712131572700317689[44] = 1; + out_712131572700317689[45] = 0; + out_712131572700317689[46] = 0; + out_712131572700317689[47] = 0; + out_712131572700317689[48] = 0; + out_712131572700317689[49] = 0; + out_712131572700317689[50] = 0; + out_712131572700317689[51] = 0; + out_712131572700317689[52] = 0; + out_712131572700317689[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_6656022622757342812) { - err_fun(nom_x, delta_x, out_6656022622757342812); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5792379923597347601) { + err_fun(nom_x, delta_x, out_5792379923597347601); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5165337953826908445) { - inv_err_fun(nom_x, true_x, out_5165337953826908445); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3127222841440964837) { + inv_err_fun(nom_x, true_x, out_3127222841440964837); } -void pose_H_mod_fun(double *state, double *out_5190446458913695382) { - H_mod_fun(state, out_5190446458913695382); +void pose_H_mod_fun(double *state, double *out_1474962527938332194) { + H_mod_fun(state, out_1474962527938332194); } -void pose_f_fun(double *state, double dt, double *out_337750480546902101) { - f_fun(state, dt, out_337750480546902101); +void pose_f_fun(double *state, double dt, double *out_8107096558916273409) { + f_fun(state, dt, out_8107096558916273409); } -void pose_F_fun(double *state, double dt, double *out_1252525263334667707) { - F_fun(state, dt, out_1252525263334667707); +void pose_F_fun(double *state, double dt, double *out_3803993622350295832) { + F_fun(state, dt, out_3803993622350295832); } -void pose_h_4(double *state, double *unused, double *out_1011967617642247994) { - h_4(state, unused, out_1011967617642247994); +void pose_h_4(double *state, double *unused, double *out_2415773389544840251) { + h_4(state, unused, out_2415773389544840251); } -void pose_H_4(double *state, double *unused, double *out_7408215808043897513) { - H_4(state, unused, out_7408215808043897513); +void pose_H_4(double *state, double *unused, double *out_4675372429039802218) { + H_4(state, unused, out_4675372429039802218); } -void pose_h_10(double *state, double *unused, double *out_511164501586373249) { - h_10(state, unused, out_511164501586373249); +void pose_h_10(double *state, double *unused, double *out_2790393475270154159) { + h_10(state, unused, out_2790393475270154159); } -void pose_H_10(double *state, double *unused, double *out_8712555441471564813) { - H_10(state, unused, out_8712555441471564813); +void pose_H_10(double *state, double *unused, double *out_6532362201945156818) { + H_10(state, unused, out_6532362201945156818); } -void pose_h_13(double *state, double *unused, double *out_6347656539957505651) { - h_13(state, unused, out_6347656539957505651); +void pose_h_13(double *state, double *unused, double *out_7195971841206647407) { + h_13(state, unused, out_7195971841206647407); } -void pose_H_13(double *state, double *unused, double *out_7826254440333321302) { - H_13(state, unused, out_7826254440333321302); +void pose_H_13(double *state, double *unused, double *out_2935258779276898711) { + H_13(state, unused, out_2935258779276898711); } -void pose_h_14(double *state, double *unused, double *out_251978956082886222) { - h_14(state, unused, out_251978956082886222); +void pose_h_14(double *state, double *unused, double *out_6081561149972683319) { + h_14(state, unused, out_6081561149972683319); } -void pose_H_14(double *state, double *unused, double *out_7075287409326169574) { - H_14(state, unused, out_7075287409326169574); +void pose_H_14(double *state, double *unused, double *out_712131572700317689) { + H_14(state, unused, out_712131572700317689); } 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 0fd36a287..3427a6c6d 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_6656022622757342812); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5165337953826908445); -void pose_H_mod_fun(double *state, double *out_5190446458913695382); -void pose_f_fun(double *state, double dt, double *out_337750480546902101); -void pose_F_fun(double *state, double dt, double *out_1252525263334667707); -void pose_h_4(double *state, double *unused, double *out_1011967617642247994); -void pose_H_4(double *state, double *unused, double *out_7408215808043897513); -void pose_h_10(double *state, double *unused, double *out_511164501586373249); -void pose_H_10(double *state, double *unused, double *out_8712555441471564813); -void pose_h_13(double *state, double *unused, double *out_6347656539957505651); -void pose_H_13(double *state, double *unused, double *out_7826254440333321302); -void pose_h_14(double *state, double *unused, double *out_251978956082886222); -void pose_H_14(double *state, double *unused, double *out_7075287409326169574); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5792379923597347601); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3127222841440964837); +void pose_H_mod_fun(double *state, double *out_1474962527938332194); +void pose_f_fun(double *state, double dt, double *out_8107096558916273409); +void pose_F_fun(double *state, double dt, double *out_3803993622350295832); +void pose_h_4(double *state, double *unused, double *out_2415773389544840251); +void pose_H_4(double *state, double *unused, double *out_4675372429039802218); +void pose_h_10(double *state, double *unused, double *out_2790393475270154159); +void pose_H_10(double *state, double *unused, double *out_6532362201945156818); +void pose_h_13(double *state, double *unused, double *out_7195971841206647407); +void pose_H_13(double *state, double *unused, double *out_2935258779276898711); +void pose_h_14(double *state, double *unused, double *out_6081561149972683319); +void pose_H_14(double *state, double *unused, double *out_712131572700317689); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 7bfa6e918..aab66cb20 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 6fb44c14b..a2f4b07e8 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 20fefe21e..79c0c76e6 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index c4edcf4bd..201c2569b 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index e6bfa674a..3b214be59 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 89e7db1d0..c47e608ca 100755 Binary files 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