diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 5be6fbf6a..c974f22f0 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 78ffa6614..5f47bb42c 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 f7a9a73fa..a3a8bd894 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 386dd15a9..2fd78ad73 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index df2c7597e..48287ef58 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 7f56261f7..e0e951f49 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index dfdb4dc7c..cd3612f87 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index dfdb4dc7c..cd3612f87 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 591f0e1da..a255df607 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 7f56261f7..e0e951f49 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 d2fc3794d..e847792fe 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-f777e71c-DEBUG"; +const uint8_t gitversion[19] = "DEV-de32851c-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 98962b04e..d00552505 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 0614ad139..d20082a45 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 528524b53..de54dcc76 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 233782230..0501b50b5 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 c66f739dc..8e3b85566 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index e64339a13..7b3fbf7f3 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index e86b65872..35309ab1a 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index b1764891e..c0c179426 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 0f43e3ec1..f20c84b4c 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 4220f6b22..9f9516959 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 a5c214544..96fdcf20e 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 7adb5dbd9..9bdb11cf8 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 e1ba05973..9bf7ebab8 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 51d6a880f..7498b77cb 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 15852a19b..0f013bb46 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 5809bc094..2b2545bcf 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 d4a005057..4451aac7a 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 43cb5b66d..1c213d4b4 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 1462e8a81..a943bf650 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 9712f244e..a0c4dc4fb 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 2ba40e275..5015d472f 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-f777e71c-DEBUG \ No newline at end of file +DEV-de32851c-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index daa68e63d..d0bcec8bf 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_2644531489535461779) { - out_2644531489535461779[0] = delta_x[0] + nom_x[0]; - out_2644531489535461779[1] = delta_x[1] + nom_x[1]; - out_2644531489535461779[2] = delta_x[2] + nom_x[2]; - out_2644531489535461779[3] = delta_x[3] + nom_x[3]; - out_2644531489535461779[4] = delta_x[4] + nom_x[4]; - out_2644531489535461779[5] = delta_x[5] + nom_x[5]; - out_2644531489535461779[6] = delta_x[6] + nom_x[6]; - out_2644531489535461779[7] = delta_x[7] + nom_x[7]; - out_2644531489535461779[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2890366190982855796) { + out_2890366190982855796[0] = delta_x[0] + nom_x[0]; + out_2890366190982855796[1] = delta_x[1] + nom_x[1]; + out_2890366190982855796[2] = delta_x[2] + nom_x[2]; + out_2890366190982855796[3] = delta_x[3] + nom_x[3]; + out_2890366190982855796[4] = delta_x[4] + nom_x[4]; + out_2890366190982855796[5] = delta_x[5] + nom_x[5]; + out_2890366190982855796[6] = delta_x[6] + nom_x[6]; + out_2890366190982855796[7] = delta_x[7] + nom_x[7]; + out_2890366190982855796[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1100504365402285318) { - out_1100504365402285318[0] = -nom_x[0] + true_x[0]; - out_1100504365402285318[1] = -nom_x[1] + true_x[1]; - out_1100504365402285318[2] = -nom_x[2] + true_x[2]; - out_1100504365402285318[3] = -nom_x[3] + true_x[3]; - out_1100504365402285318[4] = -nom_x[4] + true_x[4]; - out_1100504365402285318[5] = -nom_x[5] + true_x[5]; - out_1100504365402285318[6] = -nom_x[6] + true_x[6]; - out_1100504365402285318[7] = -nom_x[7] + true_x[7]; - out_1100504365402285318[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1959709052486962483) { + out_1959709052486962483[0] = -nom_x[0] + true_x[0]; + out_1959709052486962483[1] = -nom_x[1] + true_x[1]; + out_1959709052486962483[2] = -nom_x[2] + true_x[2]; + out_1959709052486962483[3] = -nom_x[3] + true_x[3]; + out_1959709052486962483[4] = -nom_x[4] + true_x[4]; + out_1959709052486962483[5] = -nom_x[5] + true_x[5]; + out_1959709052486962483[6] = -nom_x[6] + true_x[6]; + out_1959709052486962483[7] = -nom_x[7] + true_x[7]; + out_1959709052486962483[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6242485690446211568) { - out_6242485690446211568[0] = 1.0; - out_6242485690446211568[1] = 0.0; - out_6242485690446211568[2] = 0.0; - out_6242485690446211568[3] = 0.0; - out_6242485690446211568[4] = 0.0; - out_6242485690446211568[5] = 0.0; - out_6242485690446211568[6] = 0.0; - out_6242485690446211568[7] = 0.0; - out_6242485690446211568[8] = 0.0; - out_6242485690446211568[9] = 0.0; - out_6242485690446211568[10] = 1.0; - out_6242485690446211568[11] = 0.0; - out_6242485690446211568[12] = 0.0; - out_6242485690446211568[13] = 0.0; - out_6242485690446211568[14] = 0.0; - out_6242485690446211568[15] = 0.0; - out_6242485690446211568[16] = 0.0; - out_6242485690446211568[17] = 0.0; - out_6242485690446211568[18] = 0.0; - out_6242485690446211568[19] = 0.0; - out_6242485690446211568[20] = 1.0; - out_6242485690446211568[21] = 0.0; - out_6242485690446211568[22] = 0.0; - out_6242485690446211568[23] = 0.0; - out_6242485690446211568[24] = 0.0; - out_6242485690446211568[25] = 0.0; - out_6242485690446211568[26] = 0.0; - out_6242485690446211568[27] = 0.0; - out_6242485690446211568[28] = 0.0; - out_6242485690446211568[29] = 0.0; - out_6242485690446211568[30] = 1.0; - out_6242485690446211568[31] = 0.0; - out_6242485690446211568[32] = 0.0; - out_6242485690446211568[33] = 0.0; - out_6242485690446211568[34] = 0.0; - out_6242485690446211568[35] = 0.0; - out_6242485690446211568[36] = 0.0; - out_6242485690446211568[37] = 0.0; - out_6242485690446211568[38] = 0.0; - out_6242485690446211568[39] = 0.0; - out_6242485690446211568[40] = 1.0; - out_6242485690446211568[41] = 0.0; - out_6242485690446211568[42] = 0.0; - out_6242485690446211568[43] = 0.0; - out_6242485690446211568[44] = 0.0; - out_6242485690446211568[45] = 0.0; - out_6242485690446211568[46] = 0.0; - out_6242485690446211568[47] = 0.0; - out_6242485690446211568[48] = 0.0; - out_6242485690446211568[49] = 0.0; - out_6242485690446211568[50] = 1.0; - out_6242485690446211568[51] = 0.0; - out_6242485690446211568[52] = 0.0; - out_6242485690446211568[53] = 0.0; - out_6242485690446211568[54] = 0.0; - out_6242485690446211568[55] = 0.0; - out_6242485690446211568[56] = 0.0; - out_6242485690446211568[57] = 0.0; - out_6242485690446211568[58] = 0.0; - out_6242485690446211568[59] = 0.0; - out_6242485690446211568[60] = 1.0; - out_6242485690446211568[61] = 0.0; - out_6242485690446211568[62] = 0.0; - out_6242485690446211568[63] = 0.0; - out_6242485690446211568[64] = 0.0; - out_6242485690446211568[65] = 0.0; - out_6242485690446211568[66] = 0.0; - out_6242485690446211568[67] = 0.0; - out_6242485690446211568[68] = 0.0; - out_6242485690446211568[69] = 0.0; - out_6242485690446211568[70] = 1.0; - out_6242485690446211568[71] = 0.0; - out_6242485690446211568[72] = 0.0; - out_6242485690446211568[73] = 0.0; - out_6242485690446211568[74] = 0.0; - out_6242485690446211568[75] = 0.0; - out_6242485690446211568[76] = 0.0; - out_6242485690446211568[77] = 0.0; - out_6242485690446211568[78] = 0.0; - out_6242485690446211568[79] = 0.0; - out_6242485690446211568[80] = 1.0; +void H_mod_fun(double *state, double *out_6359487390859137765) { + out_6359487390859137765[0] = 1.0; + out_6359487390859137765[1] = 0.0; + out_6359487390859137765[2] = 0.0; + out_6359487390859137765[3] = 0.0; + out_6359487390859137765[4] = 0.0; + out_6359487390859137765[5] = 0.0; + out_6359487390859137765[6] = 0.0; + out_6359487390859137765[7] = 0.0; + out_6359487390859137765[8] = 0.0; + out_6359487390859137765[9] = 0.0; + out_6359487390859137765[10] = 1.0; + out_6359487390859137765[11] = 0.0; + out_6359487390859137765[12] = 0.0; + out_6359487390859137765[13] = 0.0; + out_6359487390859137765[14] = 0.0; + out_6359487390859137765[15] = 0.0; + out_6359487390859137765[16] = 0.0; + out_6359487390859137765[17] = 0.0; + out_6359487390859137765[18] = 0.0; + out_6359487390859137765[19] = 0.0; + out_6359487390859137765[20] = 1.0; + out_6359487390859137765[21] = 0.0; + out_6359487390859137765[22] = 0.0; + out_6359487390859137765[23] = 0.0; + out_6359487390859137765[24] = 0.0; + out_6359487390859137765[25] = 0.0; + out_6359487390859137765[26] = 0.0; + out_6359487390859137765[27] = 0.0; + out_6359487390859137765[28] = 0.0; + out_6359487390859137765[29] = 0.0; + out_6359487390859137765[30] = 1.0; + out_6359487390859137765[31] = 0.0; + out_6359487390859137765[32] = 0.0; + out_6359487390859137765[33] = 0.0; + out_6359487390859137765[34] = 0.0; + out_6359487390859137765[35] = 0.0; + out_6359487390859137765[36] = 0.0; + out_6359487390859137765[37] = 0.0; + out_6359487390859137765[38] = 0.0; + out_6359487390859137765[39] = 0.0; + out_6359487390859137765[40] = 1.0; + out_6359487390859137765[41] = 0.0; + out_6359487390859137765[42] = 0.0; + out_6359487390859137765[43] = 0.0; + out_6359487390859137765[44] = 0.0; + out_6359487390859137765[45] = 0.0; + out_6359487390859137765[46] = 0.0; + out_6359487390859137765[47] = 0.0; + out_6359487390859137765[48] = 0.0; + out_6359487390859137765[49] = 0.0; + out_6359487390859137765[50] = 1.0; + out_6359487390859137765[51] = 0.0; + out_6359487390859137765[52] = 0.0; + out_6359487390859137765[53] = 0.0; + out_6359487390859137765[54] = 0.0; + out_6359487390859137765[55] = 0.0; + out_6359487390859137765[56] = 0.0; + out_6359487390859137765[57] = 0.0; + out_6359487390859137765[58] = 0.0; + out_6359487390859137765[59] = 0.0; + out_6359487390859137765[60] = 1.0; + out_6359487390859137765[61] = 0.0; + out_6359487390859137765[62] = 0.0; + out_6359487390859137765[63] = 0.0; + out_6359487390859137765[64] = 0.0; + out_6359487390859137765[65] = 0.0; + out_6359487390859137765[66] = 0.0; + out_6359487390859137765[67] = 0.0; + out_6359487390859137765[68] = 0.0; + out_6359487390859137765[69] = 0.0; + out_6359487390859137765[70] = 1.0; + out_6359487390859137765[71] = 0.0; + out_6359487390859137765[72] = 0.0; + out_6359487390859137765[73] = 0.0; + out_6359487390859137765[74] = 0.0; + out_6359487390859137765[75] = 0.0; + out_6359487390859137765[76] = 0.0; + out_6359487390859137765[77] = 0.0; + out_6359487390859137765[78] = 0.0; + out_6359487390859137765[79] = 0.0; + out_6359487390859137765[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3248907569765849539) { - out_3248907569765849539[0] = state[0]; - out_3248907569765849539[1] = state[1]; - out_3248907569765849539[2] = state[2]; - out_3248907569765849539[3] = state[3]; - out_3248907569765849539[4] = state[4]; - out_3248907569765849539[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_3248907569765849539[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_3248907569765849539[7] = state[7]; - out_3248907569765849539[8] = state[8]; +void f_fun(double *state, double dt, double *out_8640471225264056008) { + out_8640471225264056008[0] = state[0]; + out_8640471225264056008[1] = state[1]; + out_8640471225264056008[2] = state[2]; + out_8640471225264056008[3] = state[3]; + out_8640471225264056008[4] = state[4]; + out_8640471225264056008[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_8640471225264056008[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_8640471225264056008[7] = state[7]; + out_8640471225264056008[8] = state[8]; } -void F_fun(double *state, double dt, double *out_8360719243632448897) { - out_8360719243632448897[0] = 1; - out_8360719243632448897[1] = 0; - out_8360719243632448897[2] = 0; - out_8360719243632448897[3] = 0; - out_8360719243632448897[4] = 0; - out_8360719243632448897[5] = 0; - out_8360719243632448897[6] = 0; - out_8360719243632448897[7] = 0; - out_8360719243632448897[8] = 0; - out_8360719243632448897[9] = 0; - out_8360719243632448897[10] = 1; - out_8360719243632448897[11] = 0; - out_8360719243632448897[12] = 0; - out_8360719243632448897[13] = 0; - out_8360719243632448897[14] = 0; - out_8360719243632448897[15] = 0; - out_8360719243632448897[16] = 0; - out_8360719243632448897[17] = 0; - out_8360719243632448897[18] = 0; - out_8360719243632448897[19] = 0; - out_8360719243632448897[20] = 1; - out_8360719243632448897[21] = 0; - out_8360719243632448897[22] = 0; - out_8360719243632448897[23] = 0; - out_8360719243632448897[24] = 0; - out_8360719243632448897[25] = 0; - out_8360719243632448897[26] = 0; - out_8360719243632448897[27] = 0; - out_8360719243632448897[28] = 0; - out_8360719243632448897[29] = 0; - out_8360719243632448897[30] = 1; - out_8360719243632448897[31] = 0; - out_8360719243632448897[32] = 0; - out_8360719243632448897[33] = 0; - out_8360719243632448897[34] = 0; - out_8360719243632448897[35] = 0; - out_8360719243632448897[36] = 0; - out_8360719243632448897[37] = 0; - out_8360719243632448897[38] = 0; - out_8360719243632448897[39] = 0; - out_8360719243632448897[40] = 1; - out_8360719243632448897[41] = 0; - out_8360719243632448897[42] = 0; - out_8360719243632448897[43] = 0; - out_8360719243632448897[44] = 0; - out_8360719243632448897[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_8360719243632448897[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8360719243632448897[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8360719243632448897[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8360719243632448897[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_8360719243632448897[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8360719243632448897[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8360719243632448897[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8360719243632448897[53] = -9.8100000000000005*dt; - out_8360719243632448897[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_8360719243632448897[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8360719243632448897[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8360719243632448897[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8360719243632448897[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_8360719243632448897[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8360719243632448897[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_8360719243632448897[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8360719243632448897[62] = 0; - out_8360719243632448897[63] = 0; - out_8360719243632448897[64] = 0; - out_8360719243632448897[65] = 0; - out_8360719243632448897[66] = 0; - out_8360719243632448897[67] = 0; - out_8360719243632448897[68] = 0; - out_8360719243632448897[69] = 0; - out_8360719243632448897[70] = 1; - out_8360719243632448897[71] = 0; - out_8360719243632448897[72] = 0; - out_8360719243632448897[73] = 0; - out_8360719243632448897[74] = 0; - out_8360719243632448897[75] = 0; - out_8360719243632448897[76] = 0; - out_8360719243632448897[77] = 0; - out_8360719243632448897[78] = 0; - out_8360719243632448897[79] = 0; - out_8360719243632448897[80] = 1; +void F_fun(double *state, double dt, double *out_7019142443099520017) { + out_7019142443099520017[0] = 1; + out_7019142443099520017[1] = 0; + out_7019142443099520017[2] = 0; + out_7019142443099520017[3] = 0; + out_7019142443099520017[4] = 0; + out_7019142443099520017[5] = 0; + out_7019142443099520017[6] = 0; + out_7019142443099520017[7] = 0; + out_7019142443099520017[8] = 0; + out_7019142443099520017[9] = 0; + out_7019142443099520017[10] = 1; + out_7019142443099520017[11] = 0; + out_7019142443099520017[12] = 0; + out_7019142443099520017[13] = 0; + out_7019142443099520017[14] = 0; + out_7019142443099520017[15] = 0; + out_7019142443099520017[16] = 0; + out_7019142443099520017[17] = 0; + out_7019142443099520017[18] = 0; + out_7019142443099520017[19] = 0; + out_7019142443099520017[20] = 1; + out_7019142443099520017[21] = 0; + out_7019142443099520017[22] = 0; + out_7019142443099520017[23] = 0; + out_7019142443099520017[24] = 0; + out_7019142443099520017[25] = 0; + out_7019142443099520017[26] = 0; + out_7019142443099520017[27] = 0; + out_7019142443099520017[28] = 0; + out_7019142443099520017[29] = 0; + out_7019142443099520017[30] = 1; + out_7019142443099520017[31] = 0; + out_7019142443099520017[32] = 0; + out_7019142443099520017[33] = 0; + out_7019142443099520017[34] = 0; + out_7019142443099520017[35] = 0; + out_7019142443099520017[36] = 0; + out_7019142443099520017[37] = 0; + out_7019142443099520017[38] = 0; + out_7019142443099520017[39] = 0; + out_7019142443099520017[40] = 1; + out_7019142443099520017[41] = 0; + out_7019142443099520017[42] = 0; + out_7019142443099520017[43] = 0; + out_7019142443099520017[44] = 0; + out_7019142443099520017[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_7019142443099520017[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7019142443099520017[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7019142443099520017[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7019142443099520017[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_7019142443099520017[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7019142443099520017[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7019142443099520017[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7019142443099520017[53] = -9.8100000000000005*dt; + out_7019142443099520017[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_7019142443099520017[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7019142443099520017[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7019142443099520017[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7019142443099520017[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_7019142443099520017[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7019142443099520017[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_7019142443099520017[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7019142443099520017[62] = 0; + out_7019142443099520017[63] = 0; + out_7019142443099520017[64] = 0; + out_7019142443099520017[65] = 0; + out_7019142443099520017[66] = 0; + out_7019142443099520017[67] = 0; + out_7019142443099520017[68] = 0; + out_7019142443099520017[69] = 0; + out_7019142443099520017[70] = 1; + out_7019142443099520017[71] = 0; + out_7019142443099520017[72] = 0; + out_7019142443099520017[73] = 0; + out_7019142443099520017[74] = 0; + out_7019142443099520017[75] = 0; + out_7019142443099520017[76] = 0; + out_7019142443099520017[77] = 0; + out_7019142443099520017[78] = 0; + out_7019142443099520017[79] = 0; + out_7019142443099520017[80] = 1; } -void h_25(double *state, double *unused, double *out_8500141102228074854) { - out_8500141102228074854[0] = state[6]; +void h_25(double *state, double *unused, double *out_1253470904109969861) { + out_1253470904109969861[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2719505040456719891) { - out_2719505040456719891[0] = 0; - out_2719505040456719891[1] = 0; - out_2719505040456719891[2] = 0; - out_2719505040456719891[3] = 0; - out_2719505040456719891[4] = 0; - out_2719505040456719891[5] = 0; - out_2719505040456719891[6] = 1; - out_2719505040456719891[7] = 0; - out_2719505040456719891[8] = 0; +void H_25(double *state, double *unused, double *out_7183564857665749011) { + out_7183564857665749011[0] = 0; + out_7183564857665749011[1] = 0; + out_7183564857665749011[2] = 0; + out_7183564857665749011[3] = 0; + out_7183564857665749011[4] = 0; + out_7183564857665749011[5] = 0; + out_7183564857665749011[6] = 1; + out_7183564857665749011[7] = 0; + out_7183564857665749011[8] = 0; } -void h_24(double *state, double *unused, double *out_7897313667940812561) { - out_7897313667940812561[0] = state[4]; - out_7897313667940812561[1] = state[5]; +void h_24(double *state, double *unused, double *out_2962653407625604630) { + out_2962653407625604630[0] = state[4]; + out_2962653407625604630[1] = state[5]; } -void H_24(double *state, double *unused, double *out_838420558345603245) { - out_838420558345603245[0] = 0; - out_838420558345603245[1] = 0; - out_838420558345603245[2] = 0; - out_838420558345603245[3] = 0; - out_838420558345603245[4] = 1; - out_838420558345603245[5] = 0; - out_838420558345603245[6] = 0; - out_838420558345603245[7] = 0; - out_838420558345603245[8] = 0; - out_838420558345603245[9] = 0; - out_838420558345603245[10] = 0; - out_838420558345603245[11] = 0; - out_838420558345603245[12] = 0; - out_838420558345603245[13] = 0; - out_838420558345603245[14] = 1; - out_838420558345603245[15] = 0; - out_838420558345603245[16] = 0; - out_838420558345603245[17] = 0; +void H_24(double *state, double *unused, double *out_5135958713882120408) { + out_5135958713882120408[0] = 0; + out_5135958713882120408[1] = 0; + out_5135958713882120408[2] = 0; + out_5135958713882120408[3] = 0; + out_5135958713882120408[4] = 1; + out_5135958713882120408[5] = 0; + out_5135958713882120408[6] = 0; + out_5135958713882120408[7] = 0; + out_5135958713882120408[8] = 0; + out_5135958713882120408[9] = 0; + out_5135958713882120408[10] = 0; + out_5135958713882120408[11] = 0; + out_5135958713882120408[12] = 0; + out_5135958713882120408[13] = 0; + out_5135958713882120408[14] = 1; + out_5135958713882120408[15] = 0; + out_5135958713882120408[16] = 0; + out_5135958713882120408[17] = 0; } -void h_30(double *state, double *unused, double *out_808885686797625580) { - out_808885686797625580[0] = state[4]; +void h_30(double *state, double *unused, double *out_2100381110359636395) { + out_2100381110359636395[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4197185301034896864) { - out_4197185301034896864[0] = 0; - out_4197185301034896864[1] = 0; - out_4197185301034896864[2] = 0; - out_4197185301034896864[3] = 0; - out_4197185301034896864[4] = 1; - out_4197185301034896864[5] = 0; - out_4197185301034896864[6] = 0; - out_4197185301034896864[7] = 0; - out_4197185301034896864[8] = 0; +void H_30(double *state, double *unused, double *out_4665231899158500384) { + out_4665231899158500384[0] = 0; + out_4665231899158500384[1] = 0; + out_4665231899158500384[2] = 0; + out_4665231899158500384[3] = 0; + out_4665231899158500384[4] = 1; + out_4665231899158500384[5] = 0; + out_4665231899158500384[6] = 0; + out_4665231899158500384[7] = 0; + out_4665231899158500384[8] = 0; } -void h_26(double *state, double *unused, double *out_4192787580863220065) { - out_4192787580863220065[0] = state[7]; +void h_26(double *state, double *unused, double *out_8346832167819809863) { + out_8346832167819809863[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6461008359330776115) { - out_6461008359330776115[0] = 0; - out_6461008359330776115[1] = 0; - out_6461008359330776115[2] = 0; - out_6461008359330776115[3] = 0; - out_6461008359330776115[4] = 0; - out_6461008359330776115[5] = 0; - out_6461008359330776115[6] = 0; - out_6461008359330776115[7] = 1; - out_6461008359330776115[8] = 0; +void H_26(double *state, double *unused, double *out_7521675897169746381) { + out_7521675897169746381[0] = 0; + out_7521675897169746381[1] = 0; + out_7521675897169746381[2] = 0; + out_7521675897169746381[3] = 0; + out_7521675897169746381[4] = 0; + out_7521675897169746381[5] = 0; + out_7521675897169746381[6] = 0; + out_7521675897169746381[7] = 1; + out_7521675897169746381[8] = 0; } -void h_27(double *state, double *unused, double *out_5889273078412295556) { - out_5889273078412295556[0] = state[3]; +void h_27(double *state, double *unused, double *out_4290256955554302546) { + out_4290256955554302546[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2022421989234471953) { - out_2022421989234471953[0] = 0; - out_2022421989234471953[1] = 0; - out_2022421989234471953[2] = 0; - out_2022421989234471953[3] = 1; - out_2022421989234471953[4] = 0; - out_2022421989234471953[5] = 0; - out_2022421989234471953[6] = 0; - out_2022421989234471953[7] = 0; - out_2022421989234471953[8] = 0; +void H_27(double *state, double *unused, double *out_6839995210958925295) { + out_6839995210958925295[0] = 0; + out_6839995210958925295[1] = 0; + out_6839995210958925295[2] = 0; + out_6839995210958925295[3] = 1; + out_6839995210958925295[4] = 0; + out_6839995210958925295[5] = 0; + out_6839995210958925295[6] = 0; + out_6839995210958925295[7] = 0; + out_6839995210958925295[8] = 0; } -void h_29(double *state, double *unused, double *out_5810558954458471225) { - out_5810558954458471225[0] = state[1]; +void h_29(double *state, double *unused, double *out_6695928353906360745) { + out_6695928353906360745[0] = state[1]; } -void H_29(double *state, double *unused, double *out_4707416645349289048) { - out_4707416645349289048[0] = 0; - out_4707416645349289048[1] = 1; - out_4707416645349289048[2] = 0; - out_4707416645349289048[3] = 0; - out_4707416645349289048[4] = 0; - out_4707416645349289048[5] = 0; - out_4707416645349289048[6] = 0; - out_4707416645349289048[7] = 0; - out_4707416645349289048[8] = 0; +void H_29(double *state, double *unused, double *out_4155000554844108200) { + out_4155000554844108200[0] = 0; + out_4155000554844108200[1] = 1; + out_4155000554844108200[2] = 0; + out_4155000554844108200[3] = 0; + out_4155000554844108200[4] = 0; + out_4155000554844108200[5] = 0; + out_4155000554844108200[6] = 0; + out_4155000554844108200[7] = 0; + out_4155000554844108200[8] = 0; } -void h_28(double *state, double *unused, double *out_926893080731002324) { - out_926893080731002324[0] = state[0]; +void h_28(double *state, double *unused, double *out_8173563278849107317) { + out_8173563278849107317[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4773339754704609654) { - out_4773339754704609654[0] = 1; - out_4773339754704609654[1] = 0; - out_4773339754704609654[2] = 0; - out_4773339754704609654[3] = 0; - out_4773339754704609654[4] = 0; - out_4773339754704609654[5] = 0; - out_4773339754704609654[6] = 0; - out_4773339754704609654[7] = 0; - out_4773339754704609654[8] = 0; +void H_28(double *state, double *unused, double *out_9209344501795912842) { + out_9209344501795912842[0] = 1; + out_9209344501795912842[1] = 0; + out_9209344501795912842[2] = 0; + out_9209344501795912842[3] = 0; + out_9209344501795912842[4] = 0; + out_9209344501795912842[5] = 0; + out_9209344501795912842[6] = 0; + out_9209344501795912842[7] = 0; + out_9209344501795912842[8] = 0; } -void h_31(double *state, double *unused, double *out_2974083665677051741) { - out_2974083665677051741[0] = state[8]; +void h_31(double *state, double *unused, double *out_5517364322240381075) { + out_5517364322240381075[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2688859078579759463) { - out_2688859078579759463[0] = 0; - out_2688859078579759463[1] = 0; - out_2688859078579759463[2] = 0; - out_2688859078579759463[3] = 0; - out_2688859078579759463[4] = 0; - out_2688859078579759463[5] = 0; - out_2688859078579759463[6] = 0; - out_2688859078579759463[7] = 0; - out_2688859078579759463[8] = 1; +void H_31(double *state, double *unused, double *out_6895467794936394905) { + out_6895467794936394905[0] = 0; + out_6895467794936394905[1] = 0; + out_6895467794936394905[2] = 0; + out_6895467794936394905[3] = 0; + out_6895467794936394905[4] = 0; + out_6895467794936394905[5] = 0; + out_6895467794936394905[6] = 0; + out_6895467794936394905[7] = 0; + out_6895467794936394905[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_2644531489535461779) { - err_fun(nom_x, delta_x, out_2644531489535461779); +void car_err_fun(double *nom_x, double *delta_x, double *out_2890366190982855796) { + err_fun(nom_x, delta_x, out_2890366190982855796); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1100504365402285318) { - inv_err_fun(nom_x, true_x, out_1100504365402285318); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1959709052486962483) { + inv_err_fun(nom_x, true_x, out_1959709052486962483); } -void car_H_mod_fun(double *state, double *out_6242485690446211568) { - H_mod_fun(state, out_6242485690446211568); +void car_H_mod_fun(double *state, double *out_6359487390859137765) { + H_mod_fun(state, out_6359487390859137765); } -void car_f_fun(double *state, double dt, double *out_3248907569765849539) { - f_fun(state, dt, out_3248907569765849539); +void car_f_fun(double *state, double dt, double *out_8640471225264056008) { + f_fun(state, dt, out_8640471225264056008); } -void car_F_fun(double *state, double dt, double *out_8360719243632448897) { - F_fun(state, dt, out_8360719243632448897); +void car_F_fun(double *state, double dt, double *out_7019142443099520017) { + F_fun(state, dt, out_7019142443099520017); } -void car_h_25(double *state, double *unused, double *out_8500141102228074854) { - h_25(state, unused, out_8500141102228074854); +void car_h_25(double *state, double *unused, double *out_1253470904109969861) { + h_25(state, unused, out_1253470904109969861); } -void car_H_25(double *state, double *unused, double *out_2719505040456719891) { - H_25(state, unused, out_2719505040456719891); +void car_H_25(double *state, double *unused, double *out_7183564857665749011) { + H_25(state, unused, out_7183564857665749011); } -void car_h_24(double *state, double *unused, double *out_7897313667940812561) { - h_24(state, unused, out_7897313667940812561); +void car_h_24(double *state, double *unused, double *out_2962653407625604630) { + h_24(state, unused, out_2962653407625604630); } -void car_H_24(double *state, double *unused, double *out_838420558345603245) { - H_24(state, unused, out_838420558345603245); +void car_H_24(double *state, double *unused, double *out_5135958713882120408) { + H_24(state, unused, out_5135958713882120408); } -void car_h_30(double *state, double *unused, double *out_808885686797625580) { - h_30(state, unused, out_808885686797625580); +void car_h_30(double *state, double *unused, double *out_2100381110359636395) { + h_30(state, unused, out_2100381110359636395); } -void car_H_30(double *state, double *unused, double *out_4197185301034896864) { - H_30(state, unused, out_4197185301034896864); +void car_H_30(double *state, double *unused, double *out_4665231899158500384) { + H_30(state, unused, out_4665231899158500384); } -void car_h_26(double *state, double *unused, double *out_4192787580863220065) { - h_26(state, unused, out_4192787580863220065); +void car_h_26(double *state, double *unused, double *out_8346832167819809863) { + h_26(state, unused, out_8346832167819809863); } -void car_H_26(double *state, double *unused, double *out_6461008359330776115) { - H_26(state, unused, out_6461008359330776115); +void car_H_26(double *state, double *unused, double *out_7521675897169746381) { + H_26(state, unused, out_7521675897169746381); } -void car_h_27(double *state, double *unused, double *out_5889273078412295556) { - h_27(state, unused, out_5889273078412295556); +void car_h_27(double *state, double *unused, double *out_4290256955554302546) { + h_27(state, unused, out_4290256955554302546); } -void car_H_27(double *state, double *unused, double *out_2022421989234471953) { - H_27(state, unused, out_2022421989234471953); +void car_H_27(double *state, double *unused, double *out_6839995210958925295) { + H_27(state, unused, out_6839995210958925295); } -void car_h_29(double *state, double *unused, double *out_5810558954458471225) { - h_29(state, unused, out_5810558954458471225); +void car_h_29(double *state, double *unused, double *out_6695928353906360745) { + h_29(state, unused, out_6695928353906360745); } -void car_H_29(double *state, double *unused, double *out_4707416645349289048) { - H_29(state, unused, out_4707416645349289048); +void car_H_29(double *state, double *unused, double *out_4155000554844108200) { + H_29(state, unused, out_4155000554844108200); } -void car_h_28(double *state, double *unused, double *out_926893080731002324) { - h_28(state, unused, out_926893080731002324); +void car_h_28(double *state, double *unused, double *out_8173563278849107317) { + h_28(state, unused, out_8173563278849107317); } -void car_H_28(double *state, double *unused, double *out_4773339754704609654) { - H_28(state, unused, out_4773339754704609654); +void car_H_28(double *state, double *unused, double *out_9209344501795912842) { + H_28(state, unused, out_9209344501795912842); } -void car_h_31(double *state, double *unused, double *out_2974083665677051741) { - h_31(state, unused, out_2974083665677051741); +void car_h_31(double *state, double *unused, double *out_5517364322240381075) { + h_31(state, unused, out_5517364322240381075); } -void car_H_31(double *state, double *unused, double *out_2688859078579759463) { - H_31(state, unused, out_2688859078579759463); +void car_H_31(double *state, double *unused, double *out_6895467794936394905) { + H_31(state, unused, out_6895467794936394905); } 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 b4d317879..f66c43cac 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_2644531489535461779); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1100504365402285318); -void car_H_mod_fun(double *state, double *out_6242485690446211568); -void car_f_fun(double *state, double dt, double *out_3248907569765849539); -void car_F_fun(double *state, double dt, double *out_8360719243632448897); -void car_h_25(double *state, double *unused, double *out_8500141102228074854); -void car_H_25(double *state, double *unused, double *out_2719505040456719891); -void car_h_24(double *state, double *unused, double *out_7897313667940812561); -void car_H_24(double *state, double *unused, double *out_838420558345603245); -void car_h_30(double *state, double *unused, double *out_808885686797625580); -void car_H_30(double *state, double *unused, double *out_4197185301034896864); -void car_h_26(double *state, double *unused, double *out_4192787580863220065); -void car_H_26(double *state, double *unused, double *out_6461008359330776115); -void car_h_27(double *state, double *unused, double *out_5889273078412295556); -void car_H_27(double *state, double *unused, double *out_2022421989234471953); -void car_h_29(double *state, double *unused, double *out_5810558954458471225); -void car_H_29(double *state, double *unused, double *out_4707416645349289048); -void car_h_28(double *state, double *unused, double *out_926893080731002324); -void car_H_28(double *state, double *unused, double *out_4773339754704609654); -void car_h_31(double *state, double *unused, double *out_2974083665677051741); -void car_H_31(double *state, double *unused, double *out_2688859078579759463); +void car_err_fun(double *nom_x, double *delta_x, double *out_2890366190982855796); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1959709052486962483); +void car_H_mod_fun(double *state, double *out_6359487390859137765); +void car_f_fun(double *state, double dt, double *out_8640471225264056008); +void car_F_fun(double *state, double dt, double *out_7019142443099520017); +void car_h_25(double *state, double *unused, double *out_1253470904109969861); +void car_H_25(double *state, double *unused, double *out_7183564857665749011); +void car_h_24(double *state, double *unused, double *out_2962653407625604630); +void car_H_24(double *state, double *unused, double *out_5135958713882120408); +void car_h_30(double *state, double *unused, double *out_2100381110359636395); +void car_H_30(double *state, double *unused, double *out_4665231899158500384); +void car_h_26(double *state, double *unused, double *out_8346832167819809863); +void car_H_26(double *state, double *unused, double *out_7521675897169746381); +void car_h_27(double *state, double *unused, double *out_4290256955554302546); +void car_H_27(double *state, double *unused, double *out_6839995210958925295); +void car_h_29(double *state, double *unused, double *out_6695928353906360745); +void car_H_29(double *state, double *unused, double *out_4155000554844108200); +void car_h_28(double *state, double *unused, double *out_8173563278849107317); +void car_H_28(double *state, double *unused, double *out_9209344501795912842); +void car_h_31(double *state, double *unused, double *out_5517364322240381075); +void car_H_31(double *state, double *unused, double *out_6895467794936394905); 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 0f3435165..8ae6a1350 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_5518524982420716050) { - out_5518524982420716050[0] = delta_x[0] + nom_x[0]; - out_5518524982420716050[1] = delta_x[1] + nom_x[1]; - out_5518524982420716050[2] = delta_x[2] + nom_x[2]; - out_5518524982420716050[3] = delta_x[3] + nom_x[3]; - out_5518524982420716050[4] = delta_x[4] + nom_x[4]; - out_5518524982420716050[5] = delta_x[5] + nom_x[5]; - out_5518524982420716050[6] = delta_x[6] + nom_x[6]; - out_5518524982420716050[7] = delta_x[7] + nom_x[7]; - out_5518524982420716050[8] = delta_x[8] + nom_x[8]; - out_5518524982420716050[9] = delta_x[9] + nom_x[9]; - out_5518524982420716050[10] = delta_x[10] + nom_x[10]; - out_5518524982420716050[11] = delta_x[11] + nom_x[11]; - out_5518524982420716050[12] = delta_x[12] + nom_x[12]; - out_5518524982420716050[13] = delta_x[13] + nom_x[13]; - out_5518524982420716050[14] = delta_x[14] + nom_x[14]; - out_5518524982420716050[15] = delta_x[15] + nom_x[15]; - out_5518524982420716050[16] = delta_x[16] + nom_x[16]; - out_5518524982420716050[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5925269994359157710) { + out_5925269994359157710[0] = delta_x[0] + nom_x[0]; + out_5925269994359157710[1] = delta_x[1] + nom_x[1]; + out_5925269994359157710[2] = delta_x[2] + nom_x[2]; + out_5925269994359157710[3] = delta_x[3] + nom_x[3]; + out_5925269994359157710[4] = delta_x[4] + nom_x[4]; + out_5925269994359157710[5] = delta_x[5] + nom_x[5]; + out_5925269994359157710[6] = delta_x[6] + nom_x[6]; + out_5925269994359157710[7] = delta_x[7] + nom_x[7]; + out_5925269994359157710[8] = delta_x[8] + nom_x[8]; + out_5925269994359157710[9] = delta_x[9] + nom_x[9]; + out_5925269994359157710[10] = delta_x[10] + nom_x[10]; + out_5925269994359157710[11] = delta_x[11] + nom_x[11]; + out_5925269994359157710[12] = delta_x[12] + nom_x[12]; + out_5925269994359157710[13] = delta_x[13] + nom_x[13]; + out_5925269994359157710[14] = delta_x[14] + nom_x[14]; + out_5925269994359157710[15] = delta_x[15] + nom_x[15]; + out_5925269994359157710[16] = delta_x[16] + nom_x[16]; + out_5925269994359157710[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4331401110135306651) { - out_4331401110135306651[0] = -nom_x[0] + true_x[0]; - out_4331401110135306651[1] = -nom_x[1] + true_x[1]; - out_4331401110135306651[2] = -nom_x[2] + true_x[2]; - out_4331401110135306651[3] = -nom_x[3] + true_x[3]; - out_4331401110135306651[4] = -nom_x[4] + true_x[4]; - out_4331401110135306651[5] = -nom_x[5] + true_x[5]; - out_4331401110135306651[6] = -nom_x[6] + true_x[6]; - out_4331401110135306651[7] = -nom_x[7] + true_x[7]; - out_4331401110135306651[8] = -nom_x[8] + true_x[8]; - out_4331401110135306651[9] = -nom_x[9] + true_x[9]; - out_4331401110135306651[10] = -nom_x[10] + true_x[10]; - out_4331401110135306651[11] = -nom_x[11] + true_x[11]; - out_4331401110135306651[12] = -nom_x[12] + true_x[12]; - out_4331401110135306651[13] = -nom_x[13] + true_x[13]; - out_4331401110135306651[14] = -nom_x[14] + true_x[14]; - out_4331401110135306651[15] = -nom_x[15] + true_x[15]; - out_4331401110135306651[16] = -nom_x[16] + true_x[16]; - out_4331401110135306651[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5867765456190971358) { + out_5867765456190971358[0] = -nom_x[0] + true_x[0]; + out_5867765456190971358[1] = -nom_x[1] + true_x[1]; + out_5867765456190971358[2] = -nom_x[2] + true_x[2]; + out_5867765456190971358[3] = -nom_x[3] + true_x[3]; + out_5867765456190971358[4] = -nom_x[4] + true_x[4]; + out_5867765456190971358[5] = -nom_x[5] + true_x[5]; + out_5867765456190971358[6] = -nom_x[6] + true_x[6]; + out_5867765456190971358[7] = -nom_x[7] + true_x[7]; + out_5867765456190971358[8] = -nom_x[8] + true_x[8]; + out_5867765456190971358[9] = -nom_x[9] + true_x[9]; + out_5867765456190971358[10] = -nom_x[10] + true_x[10]; + out_5867765456190971358[11] = -nom_x[11] + true_x[11]; + out_5867765456190971358[12] = -nom_x[12] + true_x[12]; + out_5867765456190971358[13] = -nom_x[13] + true_x[13]; + out_5867765456190971358[14] = -nom_x[14] + true_x[14]; + out_5867765456190971358[15] = -nom_x[15] + true_x[15]; + out_5867765456190971358[16] = -nom_x[16] + true_x[16]; + out_5867765456190971358[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3835336694818914681) { - out_3835336694818914681[0] = 1.0; - out_3835336694818914681[1] = 0.0; - out_3835336694818914681[2] = 0.0; - out_3835336694818914681[3] = 0.0; - out_3835336694818914681[4] = 0.0; - out_3835336694818914681[5] = 0.0; - out_3835336694818914681[6] = 0.0; - out_3835336694818914681[7] = 0.0; - out_3835336694818914681[8] = 0.0; - out_3835336694818914681[9] = 0.0; - out_3835336694818914681[10] = 0.0; - out_3835336694818914681[11] = 0.0; - out_3835336694818914681[12] = 0.0; - out_3835336694818914681[13] = 0.0; - out_3835336694818914681[14] = 0.0; - out_3835336694818914681[15] = 0.0; - out_3835336694818914681[16] = 0.0; - out_3835336694818914681[17] = 0.0; - out_3835336694818914681[18] = 0.0; - out_3835336694818914681[19] = 1.0; - out_3835336694818914681[20] = 0.0; - out_3835336694818914681[21] = 0.0; - out_3835336694818914681[22] = 0.0; - out_3835336694818914681[23] = 0.0; - out_3835336694818914681[24] = 0.0; - out_3835336694818914681[25] = 0.0; - out_3835336694818914681[26] = 0.0; - out_3835336694818914681[27] = 0.0; - out_3835336694818914681[28] = 0.0; - out_3835336694818914681[29] = 0.0; - out_3835336694818914681[30] = 0.0; - out_3835336694818914681[31] = 0.0; - out_3835336694818914681[32] = 0.0; - out_3835336694818914681[33] = 0.0; - out_3835336694818914681[34] = 0.0; - out_3835336694818914681[35] = 0.0; - out_3835336694818914681[36] = 0.0; - out_3835336694818914681[37] = 0.0; - out_3835336694818914681[38] = 1.0; - out_3835336694818914681[39] = 0.0; - out_3835336694818914681[40] = 0.0; - out_3835336694818914681[41] = 0.0; - out_3835336694818914681[42] = 0.0; - out_3835336694818914681[43] = 0.0; - out_3835336694818914681[44] = 0.0; - out_3835336694818914681[45] = 0.0; - out_3835336694818914681[46] = 0.0; - out_3835336694818914681[47] = 0.0; - out_3835336694818914681[48] = 0.0; - out_3835336694818914681[49] = 0.0; - out_3835336694818914681[50] = 0.0; - out_3835336694818914681[51] = 0.0; - out_3835336694818914681[52] = 0.0; - out_3835336694818914681[53] = 0.0; - out_3835336694818914681[54] = 0.0; - out_3835336694818914681[55] = 0.0; - out_3835336694818914681[56] = 0.0; - out_3835336694818914681[57] = 1.0; - out_3835336694818914681[58] = 0.0; - out_3835336694818914681[59] = 0.0; - out_3835336694818914681[60] = 0.0; - out_3835336694818914681[61] = 0.0; - out_3835336694818914681[62] = 0.0; - out_3835336694818914681[63] = 0.0; - out_3835336694818914681[64] = 0.0; - out_3835336694818914681[65] = 0.0; - out_3835336694818914681[66] = 0.0; - out_3835336694818914681[67] = 0.0; - out_3835336694818914681[68] = 0.0; - out_3835336694818914681[69] = 0.0; - out_3835336694818914681[70] = 0.0; - out_3835336694818914681[71] = 0.0; - out_3835336694818914681[72] = 0.0; - out_3835336694818914681[73] = 0.0; - out_3835336694818914681[74] = 0.0; - out_3835336694818914681[75] = 0.0; - out_3835336694818914681[76] = 1.0; - out_3835336694818914681[77] = 0.0; - out_3835336694818914681[78] = 0.0; - out_3835336694818914681[79] = 0.0; - out_3835336694818914681[80] = 0.0; - out_3835336694818914681[81] = 0.0; - out_3835336694818914681[82] = 0.0; - out_3835336694818914681[83] = 0.0; - out_3835336694818914681[84] = 0.0; - out_3835336694818914681[85] = 0.0; - out_3835336694818914681[86] = 0.0; - out_3835336694818914681[87] = 0.0; - out_3835336694818914681[88] = 0.0; - out_3835336694818914681[89] = 0.0; - out_3835336694818914681[90] = 0.0; - out_3835336694818914681[91] = 0.0; - out_3835336694818914681[92] = 0.0; - out_3835336694818914681[93] = 0.0; - out_3835336694818914681[94] = 0.0; - out_3835336694818914681[95] = 1.0; - out_3835336694818914681[96] = 0.0; - out_3835336694818914681[97] = 0.0; - out_3835336694818914681[98] = 0.0; - out_3835336694818914681[99] = 0.0; - out_3835336694818914681[100] = 0.0; - out_3835336694818914681[101] = 0.0; - out_3835336694818914681[102] = 0.0; - out_3835336694818914681[103] = 0.0; - out_3835336694818914681[104] = 0.0; - out_3835336694818914681[105] = 0.0; - out_3835336694818914681[106] = 0.0; - out_3835336694818914681[107] = 0.0; - out_3835336694818914681[108] = 0.0; - out_3835336694818914681[109] = 0.0; - out_3835336694818914681[110] = 0.0; - out_3835336694818914681[111] = 0.0; - out_3835336694818914681[112] = 0.0; - out_3835336694818914681[113] = 0.0; - out_3835336694818914681[114] = 1.0; - out_3835336694818914681[115] = 0.0; - out_3835336694818914681[116] = 0.0; - out_3835336694818914681[117] = 0.0; - out_3835336694818914681[118] = 0.0; - out_3835336694818914681[119] = 0.0; - out_3835336694818914681[120] = 0.0; - out_3835336694818914681[121] = 0.0; - out_3835336694818914681[122] = 0.0; - out_3835336694818914681[123] = 0.0; - out_3835336694818914681[124] = 0.0; - out_3835336694818914681[125] = 0.0; - out_3835336694818914681[126] = 0.0; - out_3835336694818914681[127] = 0.0; - out_3835336694818914681[128] = 0.0; - out_3835336694818914681[129] = 0.0; - out_3835336694818914681[130] = 0.0; - out_3835336694818914681[131] = 0.0; - out_3835336694818914681[132] = 0.0; - out_3835336694818914681[133] = 1.0; - out_3835336694818914681[134] = 0.0; - out_3835336694818914681[135] = 0.0; - out_3835336694818914681[136] = 0.0; - out_3835336694818914681[137] = 0.0; - out_3835336694818914681[138] = 0.0; - out_3835336694818914681[139] = 0.0; - out_3835336694818914681[140] = 0.0; - out_3835336694818914681[141] = 0.0; - out_3835336694818914681[142] = 0.0; - out_3835336694818914681[143] = 0.0; - out_3835336694818914681[144] = 0.0; - out_3835336694818914681[145] = 0.0; - out_3835336694818914681[146] = 0.0; - out_3835336694818914681[147] = 0.0; - out_3835336694818914681[148] = 0.0; - out_3835336694818914681[149] = 0.0; - out_3835336694818914681[150] = 0.0; - out_3835336694818914681[151] = 0.0; - out_3835336694818914681[152] = 1.0; - out_3835336694818914681[153] = 0.0; - out_3835336694818914681[154] = 0.0; - out_3835336694818914681[155] = 0.0; - out_3835336694818914681[156] = 0.0; - out_3835336694818914681[157] = 0.0; - out_3835336694818914681[158] = 0.0; - out_3835336694818914681[159] = 0.0; - out_3835336694818914681[160] = 0.0; - out_3835336694818914681[161] = 0.0; - out_3835336694818914681[162] = 0.0; - out_3835336694818914681[163] = 0.0; - out_3835336694818914681[164] = 0.0; - out_3835336694818914681[165] = 0.0; - out_3835336694818914681[166] = 0.0; - out_3835336694818914681[167] = 0.0; - out_3835336694818914681[168] = 0.0; - out_3835336694818914681[169] = 0.0; - out_3835336694818914681[170] = 0.0; - out_3835336694818914681[171] = 1.0; - out_3835336694818914681[172] = 0.0; - out_3835336694818914681[173] = 0.0; - out_3835336694818914681[174] = 0.0; - out_3835336694818914681[175] = 0.0; - out_3835336694818914681[176] = 0.0; - out_3835336694818914681[177] = 0.0; - out_3835336694818914681[178] = 0.0; - out_3835336694818914681[179] = 0.0; - out_3835336694818914681[180] = 0.0; - out_3835336694818914681[181] = 0.0; - out_3835336694818914681[182] = 0.0; - out_3835336694818914681[183] = 0.0; - out_3835336694818914681[184] = 0.0; - out_3835336694818914681[185] = 0.0; - out_3835336694818914681[186] = 0.0; - out_3835336694818914681[187] = 0.0; - out_3835336694818914681[188] = 0.0; - out_3835336694818914681[189] = 0.0; - out_3835336694818914681[190] = 1.0; - out_3835336694818914681[191] = 0.0; - out_3835336694818914681[192] = 0.0; - out_3835336694818914681[193] = 0.0; - out_3835336694818914681[194] = 0.0; - out_3835336694818914681[195] = 0.0; - out_3835336694818914681[196] = 0.0; - out_3835336694818914681[197] = 0.0; - out_3835336694818914681[198] = 0.0; - out_3835336694818914681[199] = 0.0; - out_3835336694818914681[200] = 0.0; - out_3835336694818914681[201] = 0.0; - out_3835336694818914681[202] = 0.0; - out_3835336694818914681[203] = 0.0; - out_3835336694818914681[204] = 0.0; - out_3835336694818914681[205] = 0.0; - out_3835336694818914681[206] = 0.0; - out_3835336694818914681[207] = 0.0; - out_3835336694818914681[208] = 0.0; - out_3835336694818914681[209] = 1.0; - out_3835336694818914681[210] = 0.0; - out_3835336694818914681[211] = 0.0; - out_3835336694818914681[212] = 0.0; - out_3835336694818914681[213] = 0.0; - out_3835336694818914681[214] = 0.0; - out_3835336694818914681[215] = 0.0; - out_3835336694818914681[216] = 0.0; - out_3835336694818914681[217] = 0.0; - out_3835336694818914681[218] = 0.0; - out_3835336694818914681[219] = 0.0; - out_3835336694818914681[220] = 0.0; - out_3835336694818914681[221] = 0.0; - out_3835336694818914681[222] = 0.0; - out_3835336694818914681[223] = 0.0; - out_3835336694818914681[224] = 0.0; - out_3835336694818914681[225] = 0.0; - out_3835336694818914681[226] = 0.0; - out_3835336694818914681[227] = 0.0; - out_3835336694818914681[228] = 1.0; - out_3835336694818914681[229] = 0.0; - out_3835336694818914681[230] = 0.0; - out_3835336694818914681[231] = 0.0; - out_3835336694818914681[232] = 0.0; - out_3835336694818914681[233] = 0.0; - out_3835336694818914681[234] = 0.0; - out_3835336694818914681[235] = 0.0; - out_3835336694818914681[236] = 0.0; - out_3835336694818914681[237] = 0.0; - out_3835336694818914681[238] = 0.0; - out_3835336694818914681[239] = 0.0; - out_3835336694818914681[240] = 0.0; - out_3835336694818914681[241] = 0.0; - out_3835336694818914681[242] = 0.0; - out_3835336694818914681[243] = 0.0; - out_3835336694818914681[244] = 0.0; - out_3835336694818914681[245] = 0.0; - out_3835336694818914681[246] = 0.0; - out_3835336694818914681[247] = 1.0; - out_3835336694818914681[248] = 0.0; - out_3835336694818914681[249] = 0.0; - out_3835336694818914681[250] = 0.0; - out_3835336694818914681[251] = 0.0; - out_3835336694818914681[252] = 0.0; - out_3835336694818914681[253] = 0.0; - out_3835336694818914681[254] = 0.0; - out_3835336694818914681[255] = 0.0; - out_3835336694818914681[256] = 0.0; - out_3835336694818914681[257] = 0.0; - out_3835336694818914681[258] = 0.0; - out_3835336694818914681[259] = 0.0; - out_3835336694818914681[260] = 0.0; - out_3835336694818914681[261] = 0.0; - out_3835336694818914681[262] = 0.0; - out_3835336694818914681[263] = 0.0; - out_3835336694818914681[264] = 0.0; - out_3835336694818914681[265] = 0.0; - out_3835336694818914681[266] = 1.0; - out_3835336694818914681[267] = 0.0; - out_3835336694818914681[268] = 0.0; - out_3835336694818914681[269] = 0.0; - out_3835336694818914681[270] = 0.0; - out_3835336694818914681[271] = 0.0; - out_3835336694818914681[272] = 0.0; - out_3835336694818914681[273] = 0.0; - out_3835336694818914681[274] = 0.0; - out_3835336694818914681[275] = 0.0; - out_3835336694818914681[276] = 0.0; - out_3835336694818914681[277] = 0.0; - out_3835336694818914681[278] = 0.0; - out_3835336694818914681[279] = 0.0; - out_3835336694818914681[280] = 0.0; - out_3835336694818914681[281] = 0.0; - out_3835336694818914681[282] = 0.0; - out_3835336694818914681[283] = 0.0; - out_3835336694818914681[284] = 0.0; - out_3835336694818914681[285] = 1.0; - out_3835336694818914681[286] = 0.0; - out_3835336694818914681[287] = 0.0; - out_3835336694818914681[288] = 0.0; - out_3835336694818914681[289] = 0.0; - out_3835336694818914681[290] = 0.0; - out_3835336694818914681[291] = 0.0; - out_3835336694818914681[292] = 0.0; - out_3835336694818914681[293] = 0.0; - out_3835336694818914681[294] = 0.0; - out_3835336694818914681[295] = 0.0; - out_3835336694818914681[296] = 0.0; - out_3835336694818914681[297] = 0.0; - out_3835336694818914681[298] = 0.0; - out_3835336694818914681[299] = 0.0; - out_3835336694818914681[300] = 0.0; - out_3835336694818914681[301] = 0.0; - out_3835336694818914681[302] = 0.0; - out_3835336694818914681[303] = 0.0; - out_3835336694818914681[304] = 1.0; - out_3835336694818914681[305] = 0.0; - out_3835336694818914681[306] = 0.0; - out_3835336694818914681[307] = 0.0; - out_3835336694818914681[308] = 0.0; - out_3835336694818914681[309] = 0.0; - out_3835336694818914681[310] = 0.0; - out_3835336694818914681[311] = 0.0; - out_3835336694818914681[312] = 0.0; - out_3835336694818914681[313] = 0.0; - out_3835336694818914681[314] = 0.0; - out_3835336694818914681[315] = 0.0; - out_3835336694818914681[316] = 0.0; - out_3835336694818914681[317] = 0.0; - out_3835336694818914681[318] = 0.0; - out_3835336694818914681[319] = 0.0; - out_3835336694818914681[320] = 0.0; - out_3835336694818914681[321] = 0.0; - out_3835336694818914681[322] = 0.0; - out_3835336694818914681[323] = 1.0; +void H_mod_fun(double *state, double *out_4243397435317467221) { + out_4243397435317467221[0] = 1.0; + out_4243397435317467221[1] = 0.0; + out_4243397435317467221[2] = 0.0; + out_4243397435317467221[3] = 0.0; + out_4243397435317467221[4] = 0.0; + out_4243397435317467221[5] = 0.0; + out_4243397435317467221[6] = 0.0; + out_4243397435317467221[7] = 0.0; + out_4243397435317467221[8] = 0.0; + out_4243397435317467221[9] = 0.0; + out_4243397435317467221[10] = 0.0; + out_4243397435317467221[11] = 0.0; + out_4243397435317467221[12] = 0.0; + out_4243397435317467221[13] = 0.0; + out_4243397435317467221[14] = 0.0; + out_4243397435317467221[15] = 0.0; + out_4243397435317467221[16] = 0.0; + out_4243397435317467221[17] = 0.0; + out_4243397435317467221[18] = 0.0; + out_4243397435317467221[19] = 1.0; + out_4243397435317467221[20] = 0.0; + out_4243397435317467221[21] = 0.0; + out_4243397435317467221[22] = 0.0; + out_4243397435317467221[23] = 0.0; + out_4243397435317467221[24] = 0.0; + out_4243397435317467221[25] = 0.0; + out_4243397435317467221[26] = 0.0; + out_4243397435317467221[27] = 0.0; + out_4243397435317467221[28] = 0.0; + out_4243397435317467221[29] = 0.0; + out_4243397435317467221[30] = 0.0; + out_4243397435317467221[31] = 0.0; + out_4243397435317467221[32] = 0.0; + out_4243397435317467221[33] = 0.0; + out_4243397435317467221[34] = 0.0; + out_4243397435317467221[35] = 0.0; + out_4243397435317467221[36] = 0.0; + out_4243397435317467221[37] = 0.0; + out_4243397435317467221[38] = 1.0; + out_4243397435317467221[39] = 0.0; + out_4243397435317467221[40] = 0.0; + out_4243397435317467221[41] = 0.0; + out_4243397435317467221[42] = 0.0; + out_4243397435317467221[43] = 0.0; + out_4243397435317467221[44] = 0.0; + out_4243397435317467221[45] = 0.0; + out_4243397435317467221[46] = 0.0; + out_4243397435317467221[47] = 0.0; + out_4243397435317467221[48] = 0.0; + out_4243397435317467221[49] = 0.0; + out_4243397435317467221[50] = 0.0; + out_4243397435317467221[51] = 0.0; + out_4243397435317467221[52] = 0.0; + out_4243397435317467221[53] = 0.0; + out_4243397435317467221[54] = 0.0; + out_4243397435317467221[55] = 0.0; + out_4243397435317467221[56] = 0.0; + out_4243397435317467221[57] = 1.0; + out_4243397435317467221[58] = 0.0; + out_4243397435317467221[59] = 0.0; + out_4243397435317467221[60] = 0.0; + out_4243397435317467221[61] = 0.0; + out_4243397435317467221[62] = 0.0; + out_4243397435317467221[63] = 0.0; + out_4243397435317467221[64] = 0.0; + out_4243397435317467221[65] = 0.0; + out_4243397435317467221[66] = 0.0; + out_4243397435317467221[67] = 0.0; + out_4243397435317467221[68] = 0.0; + out_4243397435317467221[69] = 0.0; + out_4243397435317467221[70] = 0.0; + out_4243397435317467221[71] = 0.0; + out_4243397435317467221[72] = 0.0; + out_4243397435317467221[73] = 0.0; + out_4243397435317467221[74] = 0.0; + out_4243397435317467221[75] = 0.0; + out_4243397435317467221[76] = 1.0; + out_4243397435317467221[77] = 0.0; + out_4243397435317467221[78] = 0.0; + out_4243397435317467221[79] = 0.0; + out_4243397435317467221[80] = 0.0; + out_4243397435317467221[81] = 0.0; + out_4243397435317467221[82] = 0.0; + out_4243397435317467221[83] = 0.0; + out_4243397435317467221[84] = 0.0; + out_4243397435317467221[85] = 0.0; + out_4243397435317467221[86] = 0.0; + out_4243397435317467221[87] = 0.0; + out_4243397435317467221[88] = 0.0; + out_4243397435317467221[89] = 0.0; + out_4243397435317467221[90] = 0.0; + out_4243397435317467221[91] = 0.0; + out_4243397435317467221[92] = 0.0; + out_4243397435317467221[93] = 0.0; + out_4243397435317467221[94] = 0.0; + out_4243397435317467221[95] = 1.0; + out_4243397435317467221[96] = 0.0; + out_4243397435317467221[97] = 0.0; + out_4243397435317467221[98] = 0.0; + out_4243397435317467221[99] = 0.0; + out_4243397435317467221[100] = 0.0; + out_4243397435317467221[101] = 0.0; + out_4243397435317467221[102] = 0.0; + out_4243397435317467221[103] = 0.0; + out_4243397435317467221[104] = 0.0; + out_4243397435317467221[105] = 0.0; + out_4243397435317467221[106] = 0.0; + out_4243397435317467221[107] = 0.0; + out_4243397435317467221[108] = 0.0; + out_4243397435317467221[109] = 0.0; + out_4243397435317467221[110] = 0.0; + out_4243397435317467221[111] = 0.0; + out_4243397435317467221[112] = 0.0; + out_4243397435317467221[113] = 0.0; + out_4243397435317467221[114] = 1.0; + out_4243397435317467221[115] = 0.0; + out_4243397435317467221[116] = 0.0; + out_4243397435317467221[117] = 0.0; + out_4243397435317467221[118] = 0.0; + out_4243397435317467221[119] = 0.0; + out_4243397435317467221[120] = 0.0; + out_4243397435317467221[121] = 0.0; + out_4243397435317467221[122] = 0.0; + out_4243397435317467221[123] = 0.0; + out_4243397435317467221[124] = 0.0; + out_4243397435317467221[125] = 0.0; + out_4243397435317467221[126] = 0.0; + out_4243397435317467221[127] = 0.0; + out_4243397435317467221[128] = 0.0; + out_4243397435317467221[129] = 0.0; + out_4243397435317467221[130] = 0.0; + out_4243397435317467221[131] = 0.0; + out_4243397435317467221[132] = 0.0; + out_4243397435317467221[133] = 1.0; + out_4243397435317467221[134] = 0.0; + out_4243397435317467221[135] = 0.0; + out_4243397435317467221[136] = 0.0; + out_4243397435317467221[137] = 0.0; + out_4243397435317467221[138] = 0.0; + out_4243397435317467221[139] = 0.0; + out_4243397435317467221[140] = 0.0; + out_4243397435317467221[141] = 0.0; + out_4243397435317467221[142] = 0.0; + out_4243397435317467221[143] = 0.0; + out_4243397435317467221[144] = 0.0; + out_4243397435317467221[145] = 0.0; + out_4243397435317467221[146] = 0.0; + out_4243397435317467221[147] = 0.0; + out_4243397435317467221[148] = 0.0; + out_4243397435317467221[149] = 0.0; + out_4243397435317467221[150] = 0.0; + out_4243397435317467221[151] = 0.0; + out_4243397435317467221[152] = 1.0; + out_4243397435317467221[153] = 0.0; + out_4243397435317467221[154] = 0.0; + out_4243397435317467221[155] = 0.0; + out_4243397435317467221[156] = 0.0; + out_4243397435317467221[157] = 0.0; + out_4243397435317467221[158] = 0.0; + out_4243397435317467221[159] = 0.0; + out_4243397435317467221[160] = 0.0; + out_4243397435317467221[161] = 0.0; + out_4243397435317467221[162] = 0.0; + out_4243397435317467221[163] = 0.0; + out_4243397435317467221[164] = 0.0; + out_4243397435317467221[165] = 0.0; + out_4243397435317467221[166] = 0.0; + out_4243397435317467221[167] = 0.0; + out_4243397435317467221[168] = 0.0; + out_4243397435317467221[169] = 0.0; + out_4243397435317467221[170] = 0.0; + out_4243397435317467221[171] = 1.0; + out_4243397435317467221[172] = 0.0; + out_4243397435317467221[173] = 0.0; + out_4243397435317467221[174] = 0.0; + out_4243397435317467221[175] = 0.0; + out_4243397435317467221[176] = 0.0; + out_4243397435317467221[177] = 0.0; + out_4243397435317467221[178] = 0.0; + out_4243397435317467221[179] = 0.0; + out_4243397435317467221[180] = 0.0; + out_4243397435317467221[181] = 0.0; + out_4243397435317467221[182] = 0.0; + out_4243397435317467221[183] = 0.0; + out_4243397435317467221[184] = 0.0; + out_4243397435317467221[185] = 0.0; + out_4243397435317467221[186] = 0.0; + out_4243397435317467221[187] = 0.0; + out_4243397435317467221[188] = 0.0; + out_4243397435317467221[189] = 0.0; + out_4243397435317467221[190] = 1.0; + out_4243397435317467221[191] = 0.0; + out_4243397435317467221[192] = 0.0; + out_4243397435317467221[193] = 0.0; + out_4243397435317467221[194] = 0.0; + out_4243397435317467221[195] = 0.0; + out_4243397435317467221[196] = 0.0; + out_4243397435317467221[197] = 0.0; + out_4243397435317467221[198] = 0.0; + out_4243397435317467221[199] = 0.0; + out_4243397435317467221[200] = 0.0; + out_4243397435317467221[201] = 0.0; + out_4243397435317467221[202] = 0.0; + out_4243397435317467221[203] = 0.0; + out_4243397435317467221[204] = 0.0; + out_4243397435317467221[205] = 0.0; + out_4243397435317467221[206] = 0.0; + out_4243397435317467221[207] = 0.0; + out_4243397435317467221[208] = 0.0; + out_4243397435317467221[209] = 1.0; + out_4243397435317467221[210] = 0.0; + out_4243397435317467221[211] = 0.0; + out_4243397435317467221[212] = 0.0; + out_4243397435317467221[213] = 0.0; + out_4243397435317467221[214] = 0.0; + out_4243397435317467221[215] = 0.0; + out_4243397435317467221[216] = 0.0; + out_4243397435317467221[217] = 0.0; + out_4243397435317467221[218] = 0.0; + out_4243397435317467221[219] = 0.0; + out_4243397435317467221[220] = 0.0; + out_4243397435317467221[221] = 0.0; + out_4243397435317467221[222] = 0.0; + out_4243397435317467221[223] = 0.0; + out_4243397435317467221[224] = 0.0; + out_4243397435317467221[225] = 0.0; + out_4243397435317467221[226] = 0.0; + out_4243397435317467221[227] = 0.0; + out_4243397435317467221[228] = 1.0; + out_4243397435317467221[229] = 0.0; + out_4243397435317467221[230] = 0.0; + out_4243397435317467221[231] = 0.0; + out_4243397435317467221[232] = 0.0; + out_4243397435317467221[233] = 0.0; + out_4243397435317467221[234] = 0.0; + out_4243397435317467221[235] = 0.0; + out_4243397435317467221[236] = 0.0; + out_4243397435317467221[237] = 0.0; + out_4243397435317467221[238] = 0.0; + out_4243397435317467221[239] = 0.0; + out_4243397435317467221[240] = 0.0; + out_4243397435317467221[241] = 0.0; + out_4243397435317467221[242] = 0.0; + out_4243397435317467221[243] = 0.0; + out_4243397435317467221[244] = 0.0; + out_4243397435317467221[245] = 0.0; + out_4243397435317467221[246] = 0.0; + out_4243397435317467221[247] = 1.0; + out_4243397435317467221[248] = 0.0; + out_4243397435317467221[249] = 0.0; + out_4243397435317467221[250] = 0.0; + out_4243397435317467221[251] = 0.0; + out_4243397435317467221[252] = 0.0; + out_4243397435317467221[253] = 0.0; + out_4243397435317467221[254] = 0.0; + out_4243397435317467221[255] = 0.0; + out_4243397435317467221[256] = 0.0; + out_4243397435317467221[257] = 0.0; + out_4243397435317467221[258] = 0.0; + out_4243397435317467221[259] = 0.0; + out_4243397435317467221[260] = 0.0; + out_4243397435317467221[261] = 0.0; + out_4243397435317467221[262] = 0.0; + out_4243397435317467221[263] = 0.0; + out_4243397435317467221[264] = 0.0; + out_4243397435317467221[265] = 0.0; + out_4243397435317467221[266] = 1.0; + out_4243397435317467221[267] = 0.0; + out_4243397435317467221[268] = 0.0; + out_4243397435317467221[269] = 0.0; + out_4243397435317467221[270] = 0.0; + out_4243397435317467221[271] = 0.0; + out_4243397435317467221[272] = 0.0; + out_4243397435317467221[273] = 0.0; + out_4243397435317467221[274] = 0.0; + out_4243397435317467221[275] = 0.0; + out_4243397435317467221[276] = 0.0; + out_4243397435317467221[277] = 0.0; + out_4243397435317467221[278] = 0.0; + out_4243397435317467221[279] = 0.0; + out_4243397435317467221[280] = 0.0; + out_4243397435317467221[281] = 0.0; + out_4243397435317467221[282] = 0.0; + out_4243397435317467221[283] = 0.0; + out_4243397435317467221[284] = 0.0; + out_4243397435317467221[285] = 1.0; + out_4243397435317467221[286] = 0.0; + out_4243397435317467221[287] = 0.0; + out_4243397435317467221[288] = 0.0; + out_4243397435317467221[289] = 0.0; + out_4243397435317467221[290] = 0.0; + out_4243397435317467221[291] = 0.0; + out_4243397435317467221[292] = 0.0; + out_4243397435317467221[293] = 0.0; + out_4243397435317467221[294] = 0.0; + out_4243397435317467221[295] = 0.0; + out_4243397435317467221[296] = 0.0; + out_4243397435317467221[297] = 0.0; + out_4243397435317467221[298] = 0.0; + out_4243397435317467221[299] = 0.0; + out_4243397435317467221[300] = 0.0; + out_4243397435317467221[301] = 0.0; + out_4243397435317467221[302] = 0.0; + out_4243397435317467221[303] = 0.0; + out_4243397435317467221[304] = 1.0; + out_4243397435317467221[305] = 0.0; + out_4243397435317467221[306] = 0.0; + out_4243397435317467221[307] = 0.0; + out_4243397435317467221[308] = 0.0; + out_4243397435317467221[309] = 0.0; + out_4243397435317467221[310] = 0.0; + out_4243397435317467221[311] = 0.0; + out_4243397435317467221[312] = 0.0; + out_4243397435317467221[313] = 0.0; + out_4243397435317467221[314] = 0.0; + out_4243397435317467221[315] = 0.0; + out_4243397435317467221[316] = 0.0; + out_4243397435317467221[317] = 0.0; + out_4243397435317467221[318] = 0.0; + out_4243397435317467221[319] = 0.0; + out_4243397435317467221[320] = 0.0; + out_4243397435317467221[321] = 0.0; + out_4243397435317467221[322] = 0.0; + out_4243397435317467221[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4487166249411202898) { - out_4487166249411202898[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_4487166249411202898[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_4487166249411202898[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_4487166249411202898[3] = dt*state[12] + state[3]; - out_4487166249411202898[4] = dt*state[13] + state[4]; - out_4487166249411202898[5] = dt*state[14] + state[5]; - out_4487166249411202898[6] = state[6]; - out_4487166249411202898[7] = state[7]; - out_4487166249411202898[8] = state[8]; - out_4487166249411202898[9] = state[9]; - out_4487166249411202898[10] = state[10]; - out_4487166249411202898[11] = state[11]; - out_4487166249411202898[12] = state[12]; - out_4487166249411202898[13] = state[13]; - out_4487166249411202898[14] = state[14]; - out_4487166249411202898[15] = state[15]; - out_4487166249411202898[16] = state[16]; - out_4487166249411202898[17] = state[17]; +void f_fun(double *state, double dt, double *out_5333365637221194880) { + out_5333365637221194880[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_5333365637221194880[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_5333365637221194880[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_5333365637221194880[3] = dt*state[12] + state[3]; + out_5333365637221194880[4] = dt*state[13] + state[4]; + out_5333365637221194880[5] = dt*state[14] + state[5]; + out_5333365637221194880[6] = state[6]; + out_5333365637221194880[7] = state[7]; + out_5333365637221194880[8] = state[8]; + out_5333365637221194880[9] = state[9]; + out_5333365637221194880[10] = state[10]; + out_5333365637221194880[11] = state[11]; + out_5333365637221194880[12] = state[12]; + out_5333365637221194880[13] = state[13]; + out_5333365637221194880[14] = state[14]; + out_5333365637221194880[15] = state[15]; + out_5333365637221194880[16] = state[16]; + out_5333365637221194880[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5041909296412759665) { - out_5041909296412759665[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_5041909296412759665[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_5041909296412759665[2] = 0; - out_5041909296412759665[3] = 0; - out_5041909296412759665[4] = 0; - out_5041909296412759665[5] = 0; - out_5041909296412759665[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_5041909296412759665[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_5041909296412759665[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_5041909296412759665[9] = 0; - out_5041909296412759665[10] = 0; - out_5041909296412759665[11] = 0; - out_5041909296412759665[12] = 0; - out_5041909296412759665[13] = 0; - out_5041909296412759665[14] = 0; - out_5041909296412759665[15] = 0; - out_5041909296412759665[16] = 0; - out_5041909296412759665[17] = 0; - out_5041909296412759665[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_5041909296412759665[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_5041909296412759665[20] = 0; - out_5041909296412759665[21] = 0; - out_5041909296412759665[22] = 0; - out_5041909296412759665[23] = 0; - out_5041909296412759665[24] = 0; - out_5041909296412759665[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_5041909296412759665[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_5041909296412759665[27] = 0; - out_5041909296412759665[28] = 0; - out_5041909296412759665[29] = 0; - out_5041909296412759665[30] = 0; - out_5041909296412759665[31] = 0; - out_5041909296412759665[32] = 0; - out_5041909296412759665[33] = 0; - out_5041909296412759665[34] = 0; - out_5041909296412759665[35] = 0; - out_5041909296412759665[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_5041909296412759665[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_5041909296412759665[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_5041909296412759665[39] = 0; - out_5041909296412759665[40] = 0; - out_5041909296412759665[41] = 0; - out_5041909296412759665[42] = 0; - out_5041909296412759665[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_5041909296412759665[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_5041909296412759665[45] = 0; - out_5041909296412759665[46] = 0; - out_5041909296412759665[47] = 0; - out_5041909296412759665[48] = 0; - out_5041909296412759665[49] = 0; - out_5041909296412759665[50] = 0; - out_5041909296412759665[51] = 0; - out_5041909296412759665[52] = 0; - out_5041909296412759665[53] = 0; - out_5041909296412759665[54] = 0; - out_5041909296412759665[55] = 0; - out_5041909296412759665[56] = 0; - out_5041909296412759665[57] = 1; - out_5041909296412759665[58] = 0; - out_5041909296412759665[59] = 0; - out_5041909296412759665[60] = 0; - out_5041909296412759665[61] = 0; - out_5041909296412759665[62] = 0; - out_5041909296412759665[63] = 0; - out_5041909296412759665[64] = 0; - out_5041909296412759665[65] = 0; - out_5041909296412759665[66] = dt; - out_5041909296412759665[67] = 0; - out_5041909296412759665[68] = 0; - out_5041909296412759665[69] = 0; - out_5041909296412759665[70] = 0; - out_5041909296412759665[71] = 0; - out_5041909296412759665[72] = 0; - out_5041909296412759665[73] = 0; - out_5041909296412759665[74] = 0; - out_5041909296412759665[75] = 0; - out_5041909296412759665[76] = 1; - out_5041909296412759665[77] = 0; - out_5041909296412759665[78] = 0; - out_5041909296412759665[79] = 0; - out_5041909296412759665[80] = 0; - out_5041909296412759665[81] = 0; - out_5041909296412759665[82] = 0; - out_5041909296412759665[83] = 0; - out_5041909296412759665[84] = 0; - out_5041909296412759665[85] = dt; - out_5041909296412759665[86] = 0; - out_5041909296412759665[87] = 0; - out_5041909296412759665[88] = 0; - out_5041909296412759665[89] = 0; - out_5041909296412759665[90] = 0; - out_5041909296412759665[91] = 0; - out_5041909296412759665[92] = 0; - out_5041909296412759665[93] = 0; - out_5041909296412759665[94] = 0; - out_5041909296412759665[95] = 1; - out_5041909296412759665[96] = 0; - out_5041909296412759665[97] = 0; - out_5041909296412759665[98] = 0; - out_5041909296412759665[99] = 0; - out_5041909296412759665[100] = 0; - out_5041909296412759665[101] = 0; - out_5041909296412759665[102] = 0; - out_5041909296412759665[103] = 0; - out_5041909296412759665[104] = dt; - out_5041909296412759665[105] = 0; - out_5041909296412759665[106] = 0; - out_5041909296412759665[107] = 0; - out_5041909296412759665[108] = 0; - out_5041909296412759665[109] = 0; - out_5041909296412759665[110] = 0; - out_5041909296412759665[111] = 0; - out_5041909296412759665[112] = 0; - out_5041909296412759665[113] = 0; - out_5041909296412759665[114] = 1; - out_5041909296412759665[115] = 0; - out_5041909296412759665[116] = 0; - out_5041909296412759665[117] = 0; - out_5041909296412759665[118] = 0; - out_5041909296412759665[119] = 0; - out_5041909296412759665[120] = 0; - out_5041909296412759665[121] = 0; - out_5041909296412759665[122] = 0; - out_5041909296412759665[123] = 0; - out_5041909296412759665[124] = 0; - out_5041909296412759665[125] = 0; - out_5041909296412759665[126] = 0; - out_5041909296412759665[127] = 0; - out_5041909296412759665[128] = 0; - out_5041909296412759665[129] = 0; - out_5041909296412759665[130] = 0; - out_5041909296412759665[131] = 0; - out_5041909296412759665[132] = 0; - out_5041909296412759665[133] = 1; - out_5041909296412759665[134] = 0; - out_5041909296412759665[135] = 0; - out_5041909296412759665[136] = 0; - out_5041909296412759665[137] = 0; - out_5041909296412759665[138] = 0; - out_5041909296412759665[139] = 0; - out_5041909296412759665[140] = 0; - out_5041909296412759665[141] = 0; - out_5041909296412759665[142] = 0; - out_5041909296412759665[143] = 0; - out_5041909296412759665[144] = 0; - out_5041909296412759665[145] = 0; - out_5041909296412759665[146] = 0; - out_5041909296412759665[147] = 0; - out_5041909296412759665[148] = 0; - out_5041909296412759665[149] = 0; - out_5041909296412759665[150] = 0; - out_5041909296412759665[151] = 0; - out_5041909296412759665[152] = 1; - out_5041909296412759665[153] = 0; - out_5041909296412759665[154] = 0; - out_5041909296412759665[155] = 0; - out_5041909296412759665[156] = 0; - out_5041909296412759665[157] = 0; - out_5041909296412759665[158] = 0; - out_5041909296412759665[159] = 0; - out_5041909296412759665[160] = 0; - out_5041909296412759665[161] = 0; - out_5041909296412759665[162] = 0; - out_5041909296412759665[163] = 0; - out_5041909296412759665[164] = 0; - out_5041909296412759665[165] = 0; - out_5041909296412759665[166] = 0; - out_5041909296412759665[167] = 0; - out_5041909296412759665[168] = 0; - out_5041909296412759665[169] = 0; - out_5041909296412759665[170] = 0; - out_5041909296412759665[171] = 1; - out_5041909296412759665[172] = 0; - out_5041909296412759665[173] = 0; - out_5041909296412759665[174] = 0; - out_5041909296412759665[175] = 0; - out_5041909296412759665[176] = 0; - out_5041909296412759665[177] = 0; - out_5041909296412759665[178] = 0; - out_5041909296412759665[179] = 0; - out_5041909296412759665[180] = 0; - out_5041909296412759665[181] = 0; - out_5041909296412759665[182] = 0; - out_5041909296412759665[183] = 0; - out_5041909296412759665[184] = 0; - out_5041909296412759665[185] = 0; - out_5041909296412759665[186] = 0; - out_5041909296412759665[187] = 0; - out_5041909296412759665[188] = 0; - out_5041909296412759665[189] = 0; - out_5041909296412759665[190] = 1; - out_5041909296412759665[191] = 0; - out_5041909296412759665[192] = 0; - out_5041909296412759665[193] = 0; - out_5041909296412759665[194] = 0; - out_5041909296412759665[195] = 0; - out_5041909296412759665[196] = 0; - out_5041909296412759665[197] = 0; - out_5041909296412759665[198] = 0; - out_5041909296412759665[199] = 0; - out_5041909296412759665[200] = 0; - out_5041909296412759665[201] = 0; - out_5041909296412759665[202] = 0; - out_5041909296412759665[203] = 0; - out_5041909296412759665[204] = 0; - out_5041909296412759665[205] = 0; - out_5041909296412759665[206] = 0; - out_5041909296412759665[207] = 0; - out_5041909296412759665[208] = 0; - out_5041909296412759665[209] = 1; - out_5041909296412759665[210] = 0; - out_5041909296412759665[211] = 0; - out_5041909296412759665[212] = 0; - out_5041909296412759665[213] = 0; - out_5041909296412759665[214] = 0; - out_5041909296412759665[215] = 0; - out_5041909296412759665[216] = 0; - out_5041909296412759665[217] = 0; - out_5041909296412759665[218] = 0; - out_5041909296412759665[219] = 0; - out_5041909296412759665[220] = 0; - out_5041909296412759665[221] = 0; - out_5041909296412759665[222] = 0; - out_5041909296412759665[223] = 0; - out_5041909296412759665[224] = 0; - out_5041909296412759665[225] = 0; - out_5041909296412759665[226] = 0; - out_5041909296412759665[227] = 0; - out_5041909296412759665[228] = 1; - out_5041909296412759665[229] = 0; - out_5041909296412759665[230] = 0; - out_5041909296412759665[231] = 0; - out_5041909296412759665[232] = 0; - out_5041909296412759665[233] = 0; - out_5041909296412759665[234] = 0; - out_5041909296412759665[235] = 0; - out_5041909296412759665[236] = 0; - out_5041909296412759665[237] = 0; - out_5041909296412759665[238] = 0; - out_5041909296412759665[239] = 0; - out_5041909296412759665[240] = 0; - out_5041909296412759665[241] = 0; - out_5041909296412759665[242] = 0; - out_5041909296412759665[243] = 0; - out_5041909296412759665[244] = 0; - out_5041909296412759665[245] = 0; - out_5041909296412759665[246] = 0; - out_5041909296412759665[247] = 1; - out_5041909296412759665[248] = 0; - out_5041909296412759665[249] = 0; - out_5041909296412759665[250] = 0; - out_5041909296412759665[251] = 0; - out_5041909296412759665[252] = 0; - out_5041909296412759665[253] = 0; - out_5041909296412759665[254] = 0; - out_5041909296412759665[255] = 0; - out_5041909296412759665[256] = 0; - out_5041909296412759665[257] = 0; - out_5041909296412759665[258] = 0; - out_5041909296412759665[259] = 0; - out_5041909296412759665[260] = 0; - out_5041909296412759665[261] = 0; - out_5041909296412759665[262] = 0; - out_5041909296412759665[263] = 0; - out_5041909296412759665[264] = 0; - out_5041909296412759665[265] = 0; - out_5041909296412759665[266] = 1; - out_5041909296412759665[267] = 0; - out_5041909296412759665[268] = 0; - out_5041909296412759665[269] = 0; - out_5041909296412759665[270] = 0; - out_5041909296412759665[271] = 0; - out_5041909296412759665[272] = 0; - out_5041909296412759665[273] = 0; - out_5041909296412759665[274] = 0; - out_5041909296412759665[275] = 0; - out_5041909296412759665[276] = 0; - out_5041909296412759665[277] = 0; - out_5041909296412759665[278] = 0; - out_5041909296412759665[279] = 0; - out_5041909296412759665[280] = 0; - out_5041909296412759665[281] = 0; - out_5041909296412759665[282] = 0; - out_5041909296412759665[283] = 0; - out_5041909296412759665[284] = 0; - out_5041909296412759665[285] = 1; - out_5041909296412759665[286] = 0; - out_5041909296412759665[287] = 0; - out_5041909296412759665[288] = 0; - out_5041909296412759665[289] = 0; - out_5041909296412759665[290] = 0; - out_5041909296412759665[291] = 0; - out_5041909296412759665[292] = 0; - out_5041909296412759665[293] = 0; - out_5041909296412759665[294] = 0; - out_5041909296412759665[295] = 0; - out_5041909296412759665[296] = 0; - out_5041909296412759665[297] = 0; - out_5041909296412759665[298] = 0; - out_5041909296412759665[299] = 0; - out_5041909296412759665[300] = 0; - out_5041909296412759665[301] = 0; - out_5041909296412759665[302] = 0; - out_5041909296412759665[303] = 0; - out_5041909296412759665[304] = 1; - out_5041909296412759665[305] = 0; - out_5041909296412759665[306] = 0; - out_5041909296412759665[307] = 0; - out_5041909296412759665[308] = 0; - out_5041909296412759665[309] = 0; - out_5041909296412759665[310] = 0; - out_5041909296412759665[311] = 0; - out_5041909296412759665[312] = 0; - out_5041909296412759665[313] = 0; - out_5041909296412759665[314] = 0; - out_5041909296412759665[315] = 0; - out_5041909296412759665[316] = 0; - out_5041909296412759665[317] = 0; - out_5041909296412759665[318] = 0; - out_5041909296412759665[319] = 0; - out_5041909296412759665[320] = 0; - out_5041909296412759665[321] = 0; - out_5041909296412759665[322] = 0; - out_5041909296412759665[323] = 1; +void F_fun(double *state, double dt, double *out_8848460606148442442) { + out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[2] = 0; + out_8848460606148442442[3] = 0; + out_8848460606148442442[4] = 0; + out_8848460606148442442[5] = 0; + out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[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_8848460606148442442[9] = 0; + out_8848460606148442442[10] = 0; + out_8848460606148442442[11] = 0; + out_8848460606148442442[12] = 0; + out_8848460606148442442[13] = 0; + out_8848460606148442442[14] = 0; + out_8848460606148442442[15] = 0; + out_8848460606148442442[16] = 0; + out_8848460606148442442[17] = 0; + out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[20] = 0; + out_8848460606148442442[21] = 0; + out_8848460606148442442[22] = 0; + out_8848460606148442442[23] = 0; + out_8848460606148442442[24] = 0; + out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[27] = 0; + out_8848460606148442442[28] = 0; + out_8848460606148442442[29] = 0; + out_8848460606148442442[30] = 0; + out_8848460606148442442[31] = 0; + out_8848460606148442442[32] = 0; + out_8848460606148442442[33] = 0; + out_8848460606148442442[34] = 0; + out_8848460606148442442[35] = 0; + out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[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_8848460606148442442[39] = 0; + out_8848460606148442442[40] = 0; + out_8848460606148442442[41] = 0; + out_8848460606148442442[42] = 0; + out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[45] = 0; + out_8848460606148442442[46] = 0; + out_8848460606148442442[47] = 0; + out_8848460606148442442[48] = 0; + out_8848460606148442442[49] = 0; + out_8848460606148442442[50] = 0; + out_8848460606148442442[51] = 0; + out_8848460606148442442[52] = 0; + out_8848460606148442442[53] = 0; + out_8848460606148442442[54] = 0; + out_8848460606148442442[55] = 0; + out_8848460606148442442[56] = 0; + out_8848460606148442442[57] = 1; + out_8848460606148442442[58] = 0; + out_8848460606148442442[59] = 0; + out_8848460606148442442[60] = 0; + out_8848460606148442442[61] = 0; + out_8848460606148442442[62] = 0; + out_8848460606148442442[63] = 0; + out_8848460606148442442[64] = 0; + out_8848460606148442442[65] = 0; + out_8848460606148442442[66] = dt; + out_8848460606148442442[67] = 0; + out_8848460606148442442[68] = 0; + out_8848460606148442442[69] = 0; + out_8848460606148442442[70] = 0; + out_8848460606148442442[71] = 0; + out_8848460606148442442[72] = 0; + out_8848460606148442442[73] = 0; + out_8848460606148442442[74] = 0; + out_8848460606148442442[75] = 0; + out_8848460606148442442[76] = 1; + out_8848460606148442442[77] = 0; + out_8848460606148442442[78] = 0; + out_8848460606148442442[79] = 0; + out_8848460606148442442[80] = 0; + out_8848460606148442442[81] = 0; + out_8848460606148442442[82] = 0; + out_8848460606148442442[83] = 0; + out_8848460606148442442[84] = 0; + out_8848460606148442442[85] = dt; + out_8848460606148442442[86] = 0; + out_8848460606148442442[87] = 0; + out_8848460606148442442[88] = 0; + out_8848460606148442442[89] = 0; + out_8848460606148442442[90] = 0; + out_8848460606148442442[91] = 0; + out_8848460606148442442[92] = 0; + out_8848460606148442442[93] = 0; + out_8848460606148442442[94] = 0; + out_8848460606148442442[95] = 1; + out_8848460606148442442[96] = 0; + out_8848460606148442442[97] = 0; + out_8848460606148442442[98] = 0; + out_8848460606148442442[99] = 0; + out_8848460606148442442[100] = 0; + out_8848460606148442442[101] = 0; + out_8848460606148442442[102] = 0; + out_8848460606148442442[103] = 0; + out_8848460606148442442[104] = dt; + out_8848460606148442442[105] = 0; + out_8848460606148442442[106] = 0; + out_8848460606148442442[107] = 0; + out_8848460606148442442[108] = 0; + out_8848460606148442442[109] = 0; + out_8848460606148442442[110] = 0; + out_8848460606148442442[111] = 0; + out_8848460606148442442[112] = 0; + out_8848460606148442442[113] = 0; + out_8848460606148442442[114] = 1; + out_8848460606148442442[115] = 0; + out_8848460606148442442[116] = 0; + out_8848460606148442442[117] = 0; + out_8848460606148442442[118] = 0; + out_8848460606148442442[119] = 0; + out_8848460606148442442[120] = 0; + out_8848460606148442442[121] = 0; + out_8848460606148442442[122] = 0; + out_8848460606148442442[123] = 0; + out_8848460606148442442[124] = 0; + out_8848460606148442442[125] = 0; + out_8848460606148442442[126] = 0; + out_8848460606148442442[127] = 0; + out_8848460606148442442[128] = 0; + out_8848460606148442442[129] = 0; + out_8848460606148442442[130] = 0; + out_8848460606148442442[131] = 0; + out_8848460606148442442[132] = 0; + out_8848460606148442442[133] = 1; + out_8848460606148442442[134] = 0; + out_8848460606148442442[135] = 0; + out_8848460606148442442[136] = 0; + out_8848460606148442442[137] = 0; + out_8848460606148442442[138] = 0; + out_8848460606148442442[139] = 0; + out_8848460606148442442[140] = 0; + out_8848460606148442442[141] = 0; + out_8848460606148442442[142] = 0; + out_8848460606148442442[143] = 0; + out_8848460606148442442[144] = 0; + out_8848460606148442442[145] = 0; + out_8848460606148442442[146] = 0; + out_8848460606148442442[147] = 0; + out_8848460606148442442[148] = 0; + out_8848460606148442442[149] = 0; + out_8848460606148442442[150] = 0; + out_8848460606148442442[151] = 0; + out_8848460606148442442[152] = 1; + out_8848460606148442442[153] = 0; + out_8848460606148442442[154] = 0; + out_8848460606148442442[155] = 0; + out_8848460606148442442[156] = 0; + out_8848460606148442442[157] = 0; + out_8848460606148442442[158] = 0; + out_8848460606148442442[159] = 0; + out_8848460606148442442[160] = 0; + out_8848460606148442442[161] = 0; + out_8848460606148442442[162] = 0; + out_8848460606148442442[163] = 0; + out_8848460606148442442[164] = 0; + out_8848460606148442442[165] = 0; + out_8848460606148442442[166] = 0; + out_8848460606148442442[167] = 0; + out_8848460606148442442[168] = 0; + out_8848460606148442442[169] = 0; + out_8848460606148442442[170] = 0; + out_8848460606148442442[171] = 1; + out_8848460606148442442[172] = 0; + out_8848460606148442442[173] = 0; + out_8848460606148442442[174] = 0; + out_8848460606148442442[175] = 0; + out_8848460606148442442[176] = 0; + out_8848460606148442442[177] = 0; + out_8848460606148442442[178] = 0; + out_8848460606148442442[179] = 0; + out_8848460606148442442[180] = 0; + out_8848460606148442442[181] = 0; + out_8848460606148442442[182] = 0; + out_8848460606148442442[183] = 0; + out_8848460606148442442[184] = 0; + out_8848460606148442442[185] = 0; + out_8848460606148442442[186] = 0; + out_8848460606148442442[187] = 0; + out_8848460606148442442[188] = 0; + out_8848460606148442442[189] = 0; + out_8848460606148442442[190] = 1; + out_8848460606148442442[191] = 0; + out_8848460606148442442[192] = 0; + out_8848460606148442442[193] = 0; + out_8848460606148442442[194] = 0; + out_8848460606148442442[195] = 0; + out_8848460606148442442[196] = 0; + out_8848460606148442442[197] = 0; + out_8848460606148442442[198] = 0; + out_8848460606148442442[199] = 0; + out_8848460606148442442[200] = 0; + out_8848460606148442442[201] = 0; + out_8848460606148442442[202] = 0; + out_8848460606148442442[203] = 0; + out_8848460606148442442[204] = 0; + out_8848460606148442442[205] = 0; + out_8848460606148442442[206] = 0; + out_8848460606148442442[207] = 0; + out_8848460606148442442[208] = 0; + out_8848460606148442442[209] = 1; + out_8848460606148442442[210] = 0; + out_8848460606148442442[211] = 0; + out_8848460606148442442[212] = 0; + out_8848460606148442442[213] = 0; + out_8848460606148442442[214] = 0; + out_8848460606148442442[215] = 0; + out_8848460606148442442[216] = 0; + out_8848460606148442442[217] = 0; + out_8848460606148442442[218] = 0; + out_8848460606148442442[219] = 0; + out_8848460606148442442[220] = 0; + out_8848460606148442442[221] = 0; + out_8848460606148442442[222] = 0; + out_8848460606148442442[223] = 0; + out_8848460606148442442[224] = 0; + out_8848460606148442442[225] = 0; + out_8848460606148442442[226] = 0; + out_8848460606148442442[227] = 0; + out_8848460606148442442[228] = 1; + out_8848460606148442442[229] = 0; + out_8848460606148442442[230] = 0; + out_8848460606148442442[231] = 0; + out_8848460606148442442[232] = 0; + out_8848460606148442442[233] = 0; + out_8848460606148442442[234] = 0; + out_8848460606148442442[235] = 0; + out_8848460606148442442[236] = 0; + out_8848460606148442442[237] = 0; + out_8848460606148442442[238] = 0; + out_8848460606148442442[239] = 0; + out_8848460606148442442[240] = 0; + out_8848460606148442442[241] = 0; + out_8848460606148442442[242] = 0; + out_8848460606148442442[243] = 0; + out_8848460606148442442[244] = 0; + out_8848460606148442442[245] = 0; + out_8848460606148442442[246] = 0; + out_8848460606148442442[247] = 1; + out_8848460606148442442[248] = 0; + out_8848460606148442442[249] = 0; + out_8848460606148442442[250] = 0; + out_8848460606148442442[251] = 0; + out_8848460606148442442[252] = 0; + out_8848460606148442442[253] = 0; + out_8848460606148442442[254] = 0; + out_8848460606148442442[255] = 0; + out_8848460606148442442[256] = 0; + out_8848460606148442442[257] = 0; + out_8848460606148442442[258] = 0; + out_8848460606148442442[259] = 0; + out_8848460606148442442[260] = 0; + out_8848460606148442442[261] = 0; + out_8848460606148442442[262] = 0; + out_8848460606148442442[263] = 0; + out_8848460606148442442[264] = 0; + out_8848460606148442442[265] = 0; + out_8848460606148442442[266] = 1; + out_8848460606148442442[267] = 0; + out_8848460606148442442[268] = 0; + out_8848460606148442442[269] = 0; + out_8848460606148442442[270] = 0; + out_8848460606148442442[271] = 0; + out_8848460606148442442[272] = 0; + out_8848460606148442442[273] = 0; + out_8848460606148442442[274] = 0; + out_8848460606148442442[275] = 0; + out_8848460606148442442[276] = 0; + out_8848460606148442442[277] = 0; + out_8848460606148442442[278] = 0; + out_8848460606148442442[279] = 0; + out_8848460606148442442[280] = 0; + out_8848460606148442442[281] = 0; + out_8848460606148442442[282] = 0; + out_8848460606148442442[283] = 0; + out_8848460606148442442[284] = 0; + out_8848460606148442442[285] = 1; + out_8848460606148442442[286] = 0; + out_8848460606148442442[287] = 0; + out_8848460606148442442[288] = 0; + out_8848460606148442442[289] = 0; + out_8848460606148442442[290] = 0; + out_8848460606148442442[291] = 0; + out_8848460606148442442[292] = 0; + out_8848460606148442442[293] = 0; + out_8848460606148442442[294] = 0; + out_8848460606148442442[295] = 0; + out_8848460606148442442[296] = 0; + out_8848460606148442442[297] = 0; + out_8848460606148442442[298] = 0; + out_8848460606148442442[299] = 0; + out_8848460606148442442[300] = 0; + out_8848460606148442442[301] = 0; + out_8848460606148442442[302] = 0; + out_8848460606148442442[303] = 0; + out_8848460606148442442[304] = 1; + out_8848460606148442442[305] = 0; + out_8848460606148442442[306] = 0; + out_8848460606148442442[307] = 0; + out_8848460606148442442[308] = 0; + out_8848460606148442442[309] = 0; + out_8848460606148442442[310] = 0; + out_8848460606148442442[311] = 0; + out_8848460606148442442[312] = 0; + out_8848460606148442442[313] = 0; + out_8848460606148442442[314] = 0; + out_8848460606148442442[315] = 0; + out_8848460606148442442[316] = 0; + out_8848460606148442442[317] = 0; + out_8848460606148442442[318] = 0; + out_8848460606148442442[319] = 0; + out_8848460606148442442[320] = 0; + out_8848460606148442442[321] = 0; + out_8848460606148442442[322] = 0; + out_8848460606148442442[323] = 1; } -void h_4(double *state, double *unused, double *out_6410794677621402397) { - out_6410794677621402397[0] = state[6] + state[9]; - out_6410794677621402397[1] = state[7] + state[10]; - out_6410794677621402397[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2926038800219696097) { + out_2926038800219696097[0] = state[6] + state[9]; + out_2926038800219696097[1] = state[7] + state[10]; + out_2926038800219696097[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_7109558773609863934) { - out_7109558773609863934[0] = 0; - out_7109558773609863934[1] = 0; - out_7109558773609863934[2] = 0; - out_7109558773609863934[3] = 0; - out_7109558773609863934[4] = 0; - out_7109558773609863934[5] = 0; - out_7109558773609863934[6] = 1; - out_7109558773609863934[7] = 0; - out_7109558773609863934[8] = 0; - out_7109558773609863934[9] = 1; - out_7109558773609863934[10] = 0; - out_7109558773609863934[11] = 0; - out_7109558773609863934[12] = 0; - out_7109558773609863934[13] = 0; - out_7109558773609863934[14] = 0; - out_7109558773609863934[15] = 0; - out_7109558773609863934[16] = 0; - out_7109558773609863934[17] = 0; - out_7109558773609863934[18] = 0; - out_7109558773609863934[19] = 0; - out_7109558773609863934[20] = 0; - out_7109558773609863934[21] = 0; - out_7109558773609863934[22] = 0; - out_7109558773609863934[23] = 0; - out_7109558773609863934[24] = 0; - out_7109558773609863934[25] = 1; - out_7109558773609863934[26] = 0; - out_7109558773609863934[27] = 0; - out_7109558773609863934[28] = 1; - out_7109558773609863934[29] = 0; - out_7109558773609863934[30] = 0; - out_7109558773609863934[31] = 0; - out_7109558773609863934[32] = 0; - out_7109558773609863934[33] = 0; - out_7109558773609863934[34] = 0; - out_7109558773609863934[35] = 0; - out_7109558773609863934[36] = 0; - out_7109558773609863934[37] = 0; - out_7109558773609863934[38] = 0; - out_7109558773609863934[39] = 0; - out_7109558773609863934[40] = 0; - out_7109558773609863934[41] = 0; - out_7109558773609863934[42] = 0; - out_7109558773609863934[43] = 0; - out_7109558773609863934[44] = 1; - out_7109558773609863934[45] = 0; - out_7109558773609863934[46] = 0; - out_7109558773609863934[47] = 1; - out_7109558773609863934[48] = 0; - out_7109558773609863934[49] = 0; - out_7109558773609863934[50] = 0; - out_7109558773609863934[51] = 0; - out_7109558773609863934[52] = 0; - out_7109558773609863934[53] = 0; +void H_4(double *state, double *unused, double *out_9050828253353003660) { + out_9050828253353003660[0] = 0; + out_9050828253353003660[1] = 0; + out_9050828253353003660[2] = 0; + out_9050828253353003660[3] = 0; + out_9050828253353003660[4] = 0; + out_9050828253353003660[5] = 0; + out_9050828253353003660[6] = 1; + out_9050828253353003660[7] = 0; + out_9050828253353003660[8] = 0; + out_9050828253353003660[9] = 1; + out_9050828253353003660[10] = 0; + out_9050828253353003660[11] = 0; + out_9050828253353003660[12] = 0; + out_9050828253353003660[13] = 0; + out_9050828253353003660[14] = 0; + out_9050828253353003660[15] = 0; + out_9050828253353003660[16] = 0; + out_9050828253353003660[17] = 0; + out_9050828253353003660[18] = 0; + out_9050828253353003660[19] = 0; + out_9050828253353003660[20] = 0; + out_9050828253353003660[21] = 0; + out_9050828253353003660[22] = 0; + out_9050828253353003660[23] = 0; + out_9050828253353003660[24] = 0; + out_9050828253353003660[25] = 1; + out_9050828253353003660[26] = 0; + out_9050828253353003660[27] = 0; + out_9050828253353003660[28] = 1; + out_9050828253353003660[29] = 0; + out_9050828253353003660[30] = 0; + out_9050828253353003660[31] = 0; + out_9050828253353003660[32] = 0; + out_9050828253353003660[33] = 0; + out_9050828253353003660[34] = 0; + out_9050828253353003660[35] = 0; + out_9050828253353003660[36] = 0; + out_9050828253353003660[37] = 0; + out_9050828253353003660[38] = 0; + out_9050828253353003660[39] = 0; + out_9050828253353003660[40] = 0; + out_9050828253353003660[41] = 0; + out_9050828253353003660[42] = 0; + out_9050828253353003660[43] = 0; + out_9050828253353003660[44] = 1; + out_9050828253353003660[45] = 0; + out_9050828253353003660[46] = 0; + out_9050828253353003660[47] = 1; + out_9050828253353003660[48] = 0; + out_9050828253353003660[49] = 0; + out_9050828253353003660[50] = 0; + out_9050828253353003660[51] = 0; + out_9050828253353003660[52] = 0; + out_9050828253353003660[53] = 0; } -void h_10(double *state, double *unused, double *out_7278806369328538184) { - out_7278806369328538184[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7278806369328538184[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7278806369328538184[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_3754295376293318230) { + out_3754295376293318230[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_3754295376293318230[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_3754295376293318230[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_6138938714751040661) { - out_6138938714751040661[0] = 0; - out_6138938714751040661[1] = 9.8100000000000005*cos(state[1]); - out_6138938714751040661[2] = 0; - out_6138938714751040661[3] = 0; - out_6138938714751040661[4] = -state[8]; - out_6138938714751040661[5] = state[7]; - out_6138938714751040661[6] = 0; - out_6138938714751040661[7] = state[5]; - out_6138938714751040661[8] = -state[4]; - out_6138938714751040661[9] = 0; - out_6138938714751040661[10] = 0; - out_6138938714751040661[11] = 0; - out_6138938714751040661[12] = 1; - out_6138938714751040661[13] = 0; - out_6138938714751040661[14] = 0; - out_6138938714751040661[15] = 1; - out_6138938714751040661[16] = 0; - out_6138938714751040661[17] = 0; - out_6138938714751040661[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6138938714751040661[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6138938714751040661[20] = 0; - out_6138938714751040661[21] = state[8]; - out_6138938714751040661[22] = 0; - out_6138938714751040661[23] = -state[6]; - out_6138938714751040661[24] = -state[5]; - out_6138938714751040661[25] = 0; - out_6138938714751040661[26] = state[3]; - out_6138938714751040661[27] = 0; - out_6138938714751040661[28] = 0; - out_6138938714751040661[29] = 0; - out_6138938714751040661[30] = 0; - out_6138938714751040661[31] = 1; - out_6138938714751040661[32] = 0; - out_6138938714751040661[33] = 0; - out_6138938714751040661[34] = 1; - out_6138938714751040661[35] = 0; - out_6138938714751040661[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6138938714751040661[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6138938714751040661[38] = 0; - out_6138938714751040661[39] = -state[7]; - out_6138938714751040661[40] = state[6]; - out_6138938714751040661[41] = 0; - out_6138938714751040661[42] = state[4]; - out_6138938714751040661[43] = -state[3]; - out_6138938714751040661[44] = 0; - out_6138938714751040661[45] = 0; - out_6138938714751040661[46] = 0; - out_6138938714751040661[47] = 0; - out_6138938714751040661[48] = 0; - out_6138938714751040661[49] = 0; - out_6138938714751040661[50] = 1; - out_6138938714751040661[51] = 0; - out_6138938714751040661[52] = 0; - out_6138938714751040661[53] = 1; +void H_10(double *state, double *unused, double *out_2912584995031240051) { + out_2912584995031240051[0] = 0; + out_2912584995031240051[1] = 9.8100000000000005*cos(state[1]); + out_2912584995031240051[2] = 0; + out_2912584995031240051[3] = 0; + out_2912584995031240051[4] = -state[8]; + out_2912584995031240051[5] = state[7]; + out_2912584995031240051[6] = 0; + out_2912584995031240051[7] = state[5]; + out_2912584995031240051[8] = -state[4]; + out_2912584995031240051[9] = 0; + out_2912584995031240051[10] = 0; + out_2912584995031240051[11] = 0; + out_2912584995031240051[12] = 1; + out_2912584995031240051[13] = 0; + out_2912584995031240051[14] = 0; + out_2912584995031240051[15] = 1; + out_2912584995031240051[16] = 0; + out_2912584995031240051[17] = 0; + out_2912584995031240051[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2912584995031240051[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2912584995031240051[20] = 0; + out_2912584995031240051[21] = state[8]; + out_2912584995031240051[22] = 0; + out_2912584995031240051[23] = -state[6]; + out_2912584995031240051[24] = -state[5]; + out_2912584995031240051[25] = 0; + out_2912584995031240051[26] = state[3]; + out_2912584995031240051[27] = 0; + out_2912584995031240051[28] = 0; + out_2912584995031240051[29] = 0; + out_2912584995031240051[30] = 0; + out_2912584995031240051[31] = 1; + out_2912584995031240051[32] = 0; + out_2912584995031240051[33] = 0; + out_2912584995031240051[34] = 1; + out_2912584995031240051[35] = 0; + out_2912584995031240051[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2912584995031240051[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2912584995031240051[38] = 0; + out_2912584995031240051[39] = -state[7]; + out_2912584995031240051[40] = state[6]; + out_2912584995031240051[41] = 0; + out_2912584995031240051[42] = state[4]; + out_2912584995031240051[43] = -state[3]; + out_2912584995031240051[44] = 0; + out_2912584995031240051[45] = 0; + out_2912584995031240051[46] = 0; + out_2912584995031240051[47] = 0; + out_2912584995031240051[48] = 0; + out_2912584995031240051[49] = 0; + out_2912584995031240051[50] = 1; + out_2912584995031240051[51] = 0; + out_2912584995031240051[52] = 0; + out_2912584995031240051[53] = 1; } -void h_13(double *state, double *unused, double *out_8268474279687789459) { - out_8268474279687789459[0] = state[3]; - out_8268474279687789459[1] = state[4]; - out_8268474279687789459[2] = state[5]; +void h_13(double *state, double *unused, double *out_4089270074398195787) { + out_4089270074398195787[0] = state[3]; + out_4089270074398195787[1] = state[4]; + out_4089270074398195787[2] = state[5]; } -void H_13(double *state, double *unused, double *out_3897284948277531133) { - out_3897284948277531133[0] = 0; - out_3897284948277531133[1] = 0; - out_3897284948277531133[2] = 0; - out_3897284948277531133[3] = 1; - out_3897284948277531133[4] = 0; - out_3897284948277531133[5] = 0; - out_3897284948277531133[6] = 0; - out_3897284948277531133[7] = 0; - out_3897284948277531133[8] = 0; - out_3897284948277531133[9] = 0; - out_3897284948277531133[10] = 0; - out_3897284948277531133[11] = 0; - out_3897284948277531133[12] = 0; - out_3897284948277531133[13] = 0; - out_3897284948277531133[14] = 0; - out_3897284948277531133[15] = 0; - out_3897284948277531133[16] = 0; - out_3897284948277531133[17] = 0; - out_3897284948277531133[18] = 0; - out_3897284948277531133[19] = 0; - out_3897284948277531133[20] = 0; - out_3897284948277531133[21] = 0; - out_3897284948277531133[22] = 1; - out_3897284948277531133[23] = 0; - out_3897284948277531133[24] = 0; - out_3897284948277531133[25] = 0; - out_3897284948277531133[26] = 0; - out_3897284948277531133[27] = 0; - out_3897284948277531133[28] = 0; - out_3897284948277531133[29] = 0; - out_3897284948277531133[30] = 0; - out_3897284948277531133[31] = 0; - out_3897284948277531133[32] = 0; - out_3897284948277531133[33] = 0; - out_3897284948277531133[34] = 0; - out_3897284948277531133[35] = 0; - out_3897284948277531133[36] = 0; - out_3897284948277531133[37] = 0; - out_3897284948277531133[38] = 0; - out_3897284948277531133[39] = 0; - out_3897284948277531133[40] = 0; - out_3897284948277531133[41] = 1; - out_3897284948277531133[42] = 0; - out_3897284948277531133[43] = 0; - out_3897284948277531133[44] = 0; - out_3897284948277531133[45] = 0; - out_3897284948277531133[46] = 0; - out_3897284948277531133[47] = 0; - out_3897284948277531133[48] = 0; - out_3897284948277531133[49] = 0; - out_3897284948277531133[50] = 0; - out_3897284948277531133[51] = 0; - out_3897284948277531133[52] = 0; - out_3897284948277531133[53] = 0; +void H_13(double *state, double *unused, double *out_5838554428020670859) { + out_5838554428020670859[0] = 0; + out_5838554428020670859[1] = 0; + out_5838554428020670859[2] = 0; + out_5838554428020670859[3] = 1; + out_5838554428020670859[4] = 0; + out_5838554428020670859[5] = 0; + out_5838554428020670859[6] = 0; + out_5838554428020670859[7] = 0; + out_5838554428020670859[8] = 0; + out_5838554428020670859[9] = 0; + out_5838554428020670859[10] = 0; + out_5838554428020670859[11] = 0; + out_5838554428020670859[12] = 0; + out_5838554428020670859[13] = 0; + out_5838554428020670859[14] = 0; + out_5838554428020670859[15] = 0; + out_5838554428020670859[16] = 0; + out_5838554428020670859[17] = 0; + out_5838554428020670859[18] = 0; + out_5838554428020670859[19] = 0; + out_5838554428020670859[20] = 0; + out_5838554428020670859[21] = 0; + out_5838554428020670859[22] = 1; + out_5838554428020670859[23] = 0; + out_5838554428020670859[24] = 0; + out_5838554428020670859[25] = 0; + out_5838554428020670859[26] = 0; + out_5838554428020670859[27] = 0; + out_5838554428020670859[28] = 0; + out_5838554428020670859[29] = 0; + out_5838554428020670859[30] = 0; + out_5838554428020670859[31] = 0; + out_5838554428020670859[32] = 0; + out_5838554428020670859[33] = 0; + out_5838554428020670859[34] = 0; + out_5838554428020670859[35] = 0; + out_5838554428020670859[36] = 0; + out_5838554428020670859[37] = 0; + out_5838554428020670859[38] = 0; + out_5838554428020670859[39] = 0; + out_5838554428020670859[40] = 0; + out_5838554428020670859[41] = 1; + out_5838554428020670859[42] = 0; + out_5838554428020670859[43] = 0; + out_5838554428020670859[44] = 0; + out_5838554428020670859[45] = 0; + out_5838554428020670859[46] = 0; + out_5838554428020670859[47] = 0; + out_5838554428020670859[48] = 0; + out_5838554428020670859[49] = 0; + out_5838554428020670859[50] = 0; + out_5838554428020670859[51] = 0; + out_5838554428020670859[52] = 0; + out_5838554428020670859[53] = 0; } -void h_14(double *state, double *unused, double *out_6172142331242380649) { - out_6172142331242380649[0] = state[6]; - out_6172142331242380649[1] = state[7]; - out_6172142331242380649[2] = state[8]; +void h_14(double *state, double *unused, double *out_9176020735288104700) { + out_9176020735288104700[0] = state[6]; + out_9176020735288104700[1] = state[7]; + out_9176020735288104700[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3146317917270379405) { - out_3146317917270379405[0] = 0; - out_3146317917270379405[1] = 0; - out_3146317917270379405[2] = 0; - out_3146317917270379405[3] = 0; - out_3146317917270379405[4] = 0; - out_3146317917270379405[5] = 0; - out_3146317917270379405[6] = 1; - out_3146317917270379405[7] = 0; - out_3146317917270379405[8] = 0; - out_3146317917270379405[9] = 0; - out_3146317917270379405[10] = 0; - out_3146317917270379405[11] = 0; - out_3146317917270379405[12] = 0; - out_3146317917270379405[13] = 0; - out_3146317917270379405[14] = 0; - out_3146317917270379405[15] = 0; - out_3146317917270379405[16] = 0; - out_3146317917270379405[17] = 0; - out_3146317917270379405[18] = 0; - out_3146317917270379405[19] = 0; - out_3146317917270379405[20] = 0; - out_3146317917270379405[21] = 0; - out_3146317917270379405[22] = 0; - out_3146317917270379405[23] = 0; - out_3146317917270379405[24] = 0; - out_3146317917270379405[25] = 1; - out_3146317917270379405[26] = 0; - out_3146317917270379405[27] = 0; - out_3146317917270379405[28] = 0; - out_3146317917270379405[29] = 0; - out_3146317917270379405[30] = 0; - out_3146317917270379405[31] = 0; - out_3146317917270379405[32] = 0; - out_3146317917270379405[33] = 0; - out_3146317917270379405[34] = 0; - out_3146317917270379405[35] = 0; - out_3146317917270379405[36] = 0; - out_3146317917270379405[37] = 0; - out_3146317917270379405[38] = 0; - out_3146317917270379405[39] = 0; - out_3146317917270379405[40] = 0; - out_3146317917270379405[41] = 0; - out_3146317917270379405[42] = 0; - out_3146317917270379405[43] = 0; - out_3146317917270379405[44] = 1; - out_3146317917270379405[45] = 0; - out_3146317917270379405[46] = 0; - out_3146317917270379405[47] = 0; - out_3146317917270379405[48] = 0; - out_3146317917270379405[49] = 0; - out_3146317917270379405[50] = 0; - out_3146317917270379405[51] = 0; - out_3146317917270379405[52] = 0; - out_3146317917270379405[53] = 0; +void H_14(double *state, double *unused, double *out_5087587397013519131) { + out_5087587397013519131[0] = 0; + out_5087587397013519131[1] = 0; + out_5087587397013519131[2] = 0; + out_5087587397013519131[3] = 0; + out_5087587397013519131[4] = 0; + out_5087587397013519131[5] = 0; + out_5087587397013519131[6] = 1; + out_5087587397013519131[7] = 0; + out_5087587397013519131[8] = 0; + out_5087587397013519131[9] = 0; + out_5087587397013519131[10] = 0; + out_5087587397013519131[11] = 0; + out_5087587397013519131[12] = 0; + out_5087587397013519131[13] = 0; + out_5087587397013519131[14] = 0; + out_5087587397013519131[15] = 0; + out_5087587397013519131[16] = 0; + out_5087587397013519131[17] = 0; + out_5087587397013519131[18] = 0; + out_5087587397013519131[19] = 0; + out_5087587397013519131[20] = 0; + out_5087587397013519131[21] = 0; + out_5087587397013519131[22] = 0; + out_5087587397013519131[23] = 0; + out_5087587397013519131[24] = 0; + out_5087587397013519131[25] = 1; + out_5087587397013519131[26] = 0; + out_5087587397013519131[27] = 0; + out_5087587397013519131[28] = 0; + out_5087587397013519131[29] = 0; + out_5087587397013519131[30] = 0; + out_5087587397013519131[31] = 0; + out_5087587397013519131[32] = 0; + out_5087587397013519131[33] = 0; + out_5087587397013519131[34] = 0; + out_5087587397013519131[35] = 0; + out_5087587397013519131[36] = 0; + out_5087587397013519131[37] = 0; + out_5087587397013519131[38] = 0; + out_5087587397013519131[39] = 0; + out_5087587397013519131[40] = 0; + out_5087587397013519131[41] = 0; + out_5087587397013519131[42] = 0; + out_5087587397013519131[43] = 0; + out_5087587397013519131[44] = 1; + out_5087587397013519131[45] = 0; + out_5087587397013519131[46] = 0; + out_5087587397013519131[47] = 0; + out_5087587397013519131[48] = 0; + out_5087587397013519131[49] = 0; + out_5087587397013519131[50] = 0; + out_5087587397013519131[51] = 0; + out_5087587397013519131[52] = 0; + out_5087587397013519131[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_5518524982420716050) { - err_fun(nom_x, delta_x, out_5518524982420716050); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5925269994359157710) { + err_fun(nom_x, delta_x, out_5925269994359157710); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4331401110135306651) { - inv_err_fun(nom_x, true_x, out_4331401110135306651); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5867765456190971358) { + inv_err_fun(nom_x, true_x, out_5867765456190971358); } -void pose_H_mod_fun(double *state, double *out_3835336694818914681) { - H_mod_fun(state, out_3835336694818914681); +void pose_H_mod_fun(double *state, double *out_4243397435317467221) { + H_mod_fun(state, out_4243397435317467221); } -void pose_f_fun(double *state, double dt, double *out_4487166249411202898) { - f_fun(state, dt, out_4487166249411202898); +void pose_f_fun(double *state, double dt, double *out_5333365637221194880) { + f_fun(state, dt, out_5333365637221194880); } -void pose_F_fun(double *state, double dt, double *out_5041909296412759665) { - F_fun(state, dt, out_5041909296412759665); +void pose_F_fun(double *state, double dt, double *out_8848460606148442442) { + F_fun(state, dt, out_8848460606148442442); } -void pose_h_4(double *state, double *unused, double *out_6410794677621402397) { - h_4(state, unused, out_6410794677621402397); +void pose_h_4(double *state, double *unused, double *out_2926038800219696097) { + h_4(state, unused, out_2926038800219696097); } -void pose_H_4(double *state, double *unused, double *out_7109558773609863934) { - H_4(state, unused, out_7109558773609863934); +void pose_H_4(double *state, double *unused, double *out_9050828253353003660) { + H_4(state, unused, out_9050828253353003660); } -void pose_h_10(double *state, double *unused, double *out_7278806369328538184) { - h_10(state, unused, out_7278806369328538184); +void pose_h_10(double *state, double *unused, double *out_3754295376293318230) { + h_10(state, unused, out_3754295376293318230); } -void pose_H_10(double *state, double *unused, double *out_6138938714751040661) { - H_10(state, unused, out_6138938714751040661); +void pose_H_10(double *state, double *unused, double *out_2912584995031240051) { + H_10(state, unused, out_2912584995031240051); } -void pose_h_13(double *state, double *unused, double *out_8268474279687789459) { - h_13(state, unused, out_8268474279687789459); +void pose_h_13(double *state, double *unused, double *out_4089270074398195787) { + h_13(state, unused, out_4089270074398195787); } -void pose_H_13(double *state, double *unused, double *out_3897284948277531133) { - H_13(state, unused, out_3897284948277531133); +void pose_H_13(double *state, double *unused, double *out_5838554428020670859) { + H_13(state, unused, out_5838554428020670859); } -void pose_h_14(double *state, double *unused, double *out_6172142331242380649) { - h_14(state, unused, out_6172142331242380649); +void pose_h_14(double *state, double *unused, double *out_9176020735288104700) { + h_14(state, unused, out_9176020735288104700); } -void pose_H_14(double *state, double *unused, double *out_3146317917270379405) { - H_14(state, unused, out_3146317917270379405); +void pose_H_14(double *state, double *unused, double *out_5087587397013519131) { + H_14(state, unused, out_5087587397013519131); } 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 b99101110..a54f5ca99 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_5518524982420716050); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4331401110135306651); -void pose_H_mod_fun(double *state, double *out_3835336694818914681); -void pose_f_fun(double *state, double dt, double *out_4487166249411202898); -void pose_F_fun(double *state, double dt, double *out_5041909296412759665); -void pose_h_4(double *state, double *unused, double *out_6410794677621402397); -void pose_H_4(double *state, double *unused, double *out_7109558773609863934); -void pose_h_10(double *state, double *unused, double *out_7278806369328538184); -void pose_H_10(double *state, double *unused, double *out_6138938714751040661); -void pose_h_13(double *state, double *unused, double *out_8268474279687789459); -void pose_H_13(double *state, double *unused, double *out_3897284948277531133); -void pose_h_14(double *state, double *unused, double *out_6172142331242380649); -void pose_H_14(double *state, double *unused, double *out_3146317917270379405); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5925269994359157710); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5867765456190971358); +void pose_H_mod_fun(double *state, double *out_4243397435317467221); +void pose_f_fun(double *state, double dt, double *out_5333365637221194880); +void pose_F_fun(double *state, double dt, double *out_8848460606148442442); +void pose_h_4(double *state, double *unused, double *out_2926038800219696097); +void pose_H_4(double *state, double *unused, double *out_9050828253353003660); +void pose_h_10(double *state, double *unused, double *out_3754295376293318230); +void pose_H_10(double *state, double *unused, double *out_2912584995031240051); +void pose_h_13(double *state, double *unused, double *out_4089270074398195787); +void pose_H_13(double *state, double *unused, double *out_5838554428020670859); +void pose_h_14(double *state, double *unused, double *out_9176020735288104700); +void pose_H_14(double *state, double *unused, double *out_5087587397013519131); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 174c4fc69..4ce83cf19 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ