diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 9c8c92816..14b1ed5e0 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 2dcd3ac3c..a0b14794c 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 286299a56..021de4b4d 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 7d6977580..7da6c1261 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 412be3a83..6f885f79f 100755 Binary files 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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 b21b290a2..e668364c5 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 91b5253cc..2e7c32963 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-0c7d259e-DEBUG"; +const uint8_t gitversion[19] = "DEV-a1225b4b-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 7e00a5790..72f869b14 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 d8167d56d..fcfda0ead 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 ad6dbb719..247a2df67 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 d04c7c0f7..44f26c38e 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 1669ecd8d..9e08c984b 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 599d9d90e..4a53138e2 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 155f2681d..cc98d8d70 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 2f0258e87..a489a784c 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 c08ed13f2..3aa397dfd 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 b1250ae17..24f6958ce 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 8126771ce..9b858036a 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 8fe65949f..aad7e6069 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 23f12969e..e858e098a 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 48fde4410..5859b33e5 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 ba572275a..411bc0fbc 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 7b75975b8..5a8519a8c 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 cf7f396e5..f126964db 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 1b9528208..a9143e037 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 dd8ecb12e..14aa25aaf 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 3fb4f35b6..24d3b9ee7 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 806270017..c882c4906 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-0c7d259e-DEBUG \ No newline at end of file +DEV-a1225b4b-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 66a7f99cf..5734d5ad3 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_4530123797725818472) { - out_4530123797725818472[0] = delta_x[0] + nom_x[0]; - out_4530123797725818472[1] = delta_x[1] + nom_x[1]; - out_4530123797725818472[2] = delta_x[2] + nom_x[2]; - out_4530123797725818472[3] = delta_x[3] + nom_x[3]; - out_4530123797725818472[4] = delta_x[4] + nom_x[4]; - out_4530123797725818472[5] = delta_x[5] + nom_x[5]; - out_4530123797725818472[6] = delta_x[6] + nom_x[6]; - out_4530123797725818472[7] = delta_x[7] + nom_x[7]; - out_4530123797725818472[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8235846690843231890) { + out_8235846690843231890[0] = delta_x[0] + nom_x[0]; + out_8235846690843231890[1] = delta_x[1] + nom_x[1]; + out_8235846690843231890[2] = delta_x[2] + nom_x[2]; + out_8235846690843231890[3] = delta_x[3] + nom_x[3]; + out_8235846690843231890[4] = delta_x[4] + nom_x[4]; + out_8235846690843231890[5] = delta_x[5] + nom_x[5]; + out_8235846690843231890[6] = delta_x[6] + nom_x[6]; + out_8235846690843231890[7] = delta_x[7] + nom_x[7]; + out_8235846690843231890[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8174571641545541533) { - out_8174571641545541533[0] = -nom_x[0] + true_x[0]; - out_8174571641545541533[1] = -nom_x[1] + true_x[1]; - out_8174571641545541533[2] = -nom_x[2] + true_x[2]; - out_8174571641545541533[3] = -nom_x[3] + true_x[3]; - out_8174571641545541533[4] = -nom_x[4] + true_x[4]; - out_8174571641545541533[5] = -nom_x[5] + true_x[5]; - out_8174571641545541533[6] = -nom_x[6] + true_x[6]; - out_8174571641545541533[7] = -nom_x[7] + true_x[7]; - out_8174571641545541533[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4073537797462342510) { + out_4073537797462342510[0] = -nom_x[0] + true_x[0]; + out_4073537797462342510[1] = -nom_x[1] + true_x[1]; + out_4073537797462342510[2] = -nom_x[2] + true_x[2]; + out_4073537797462342510[3] = -nom_x[3] + true_x[3]; + out_4073537797462342510[4] = -nom_x[4] + true_x[4]; + out_4073537797462342510[5] = -nom_x[5] + true_x[5]; + out_4073537797462342510[6] = -nom_x[6] + true_x[6]; + out_4073537797462342510[7] = -nom_x[7] + true_x[7]; + out_4073537797462342510[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1010343532093577119) { - out_1010343532093577119[0] = 1.0; - out_1010343532093577119[1] = 0.0; - out_1010343532093577119[2] = 0.0; - out_1010343532093577119[3] = 0.0; - out_1010343532093577119[4] = 0.0; - out_1010343532093577119[5] = 0.0; - out_1010343532093577119[6] = 0.0; - out_1010343532093577119[7] = 0.0; - out_1010343532093577119[8] = 0.0; - out_1010343532093577119[9] = 0.0; - out_1010343532093577119[10] = 1.0; - out_1010343532093577119[11] = 0.0; - out_1010343532093577119[12] = 0.0; - out_1010343532093577119[13] = 0.0; - out_1010343532093577119[14] = 0.0; - out_1010343532093577119[15] = 0.0; - out_1010343532093577119[16] = 0.0; - out_1010343532093577119[17] = 0.0; - out_1010343532093577119[18] = 0.0; - out_1010343532093577119[19] = 0.0; - out_1010343532093577119[20] = 1.0; - out_1010343532093577119[21] = 0.0; - out_1010343532093577119[22] = 0.0; - out_1010343532093577119[23] = 0.0; - out_1010343532093577119[24] = 0.0; - out_1010343532093577119[25] = 0.0; - out_1010343532093577119[26] = 0.0; - out_1010343532093577119[27] = 0.0; - out_1010343532093577119[28] = 0.0; - out_1010343532093577119[29] = 0.0; - out_1010343532093577119[30] = 1.0; - out_1010343532093577119[31] = 0.0; - out_1010343532093577119[32] = 0.0; - out_1010343532093577119[33] = 0.0; - out_1010343532093577119[34] = 0.0; - out_1010343532093577119[35] = 0.0; - out_1010343532093577119[36] = 0.0; - out_1010343532093577119[37] = 0.0; - out_1010343532093577119[38] = 0.0; - out_1010343532093577119[39] = 0.0; - out_1010343532093577119[40] = 1.0; - out_1010343532093577119[41] = 0.0; - out_1010343532093577119[42] = 0.0; - out_1010343532093577119[43] = 0.0; - out_1010343532093577119[44] = 0.0; - out_1010343532093577119[45] = 0.0; - out_1010343532093577119[46] = 0.0; - out_1010343532093577119[47] = 0.0; - out_1010343532093577119[48] = 0.0; - out_1010343532093577119[49] = 0.0; - out_1010343532093577119[50] = 1.0; - out_1010343532093577119[51] = 0.0; - out_1010343532093577119[52] = 0.0; - out_1010343532093577119[53] = 0.0; - out_1010343532093577119[54] = 0.0; - out_1010343532093577119[55] = 0.0; - out_1010343532093577119[56] = 0.0; - out_1010343532093577119[57] = 0.0; - out_1010343532093577119[58] = 0.0; - out_1010343532093577119[59] = 0.0; - out_1010343532093577119[60] = 1.0; - out_1010343532093577119[61] = 0.0; - out_1010343532093577119[62] = 0.0; - out_1010343532093577119[63] = 0.0; - out_1010343532093577119[64] = 0.0; - out_1010343532093577119[65] = 0.0; - out_1010343532093577119[66] = 0.0; - out_1010343532093577119[67] = 0.0; - out_1010343532093577119[68] = 0.0; - out_1010343532093577119[69] = 0.0; - out_1010343532093577119[70] = 1.0; - out_1010343532093577119[71] = 0.0; - out_1010343532093577119[72] = 0.0; - out_1010343532093577119[73] = 0.0; - out_1010343532093577119[74] = 0.0; - out_1010343532093577119[75] = 0.0; - out_1010343532093577119[76] = 0.0; - out_1010343532093577119[77] = 0.0; - out_1010343532093577119[78] = 0.0; - out_1010343532093577119[79] = 0.0; - out_1010343532093577119[80] = 1.0; +void H_mod_fun(double *state, double *out_1939718218409672785) { + out_1939718218409672785[0] = 1.0; + out_1939718218409672785[1] = 0.0; + out_1939718218409672785[2] = 0.0; + out_1939718218409672785[3] = 0.0; + out_1939718218409672785[4] = 0.0; + out_1939718218409672785[5] = 0.0; + out_1939718218409672785[6] = 0.0; + out_1939718218409672785[7] = 0.0; + out_1939718218409672785[8] = 0.0; + out_1939718218409672785[9] = 0.0; + out_1939718218409672785[10] = 1.0; + out_1939718218409672785[11] = 0.0; + out_1939718218409672785[12] = 0.0; + out_1939718218409672785[13] = 0.0; + out_1939718218409672785[14] = 0.0; + out_1939718218409672785[15] = 0.0; + out_1939718218409672785[16] = 0.0; + out_1939718218409672785[17] = 0.0; + out_1939718218409672785[18] = 0.0; + out_1939718218409672785[19] = 0.0; + out_1939718218409672785[20] = 1.0; + out_1939718218409672785[21] = 0.0; + out_1939718218409672785[22] = 0.0; + out_1939718218409672785[23] = 0.0; + out_1939718218409672785[24] = 0.0; + out_1939718218409672785[25] = 0.0; + out_1939718218409672785[26] = 0.0; + out_1939718218409672785[27] = 0.0; + out_1939718218409672785[28] = 0.0; + out_1939718218409672785[29] = 0.0; + out_1939718218409672785[30] = 1.0; + out_1939718218409672785[31] = 0.0; + out_1939718218409672785[32] = 0.0; + out_1939718218409672785[33] = 0.0; + out_1939718218409672785[34] = 0.0; + out_1939718218409672785[35] = 0.0; + out_1939718218409672785[36] = 0.0; + out_1939718218409672785[37] = 0.0; + out_1939718218409672785[38] = 0.0; + out_1939718218409672785[39] = 0.0; + out_1939718218409672785[40] = 1.0; + out_1939718218409672785[41] = 0.0; + out_1939718218409672785[42] = 0.0; + out_1939718218409672785[43] = 0.0; + out_1939718218409672785[44] = 0.0; + out_1939718218409672785[45] = 0.0; + out_1939718218409672785[46] = 0.0; + out_1939718218409672785[47] = 0.0; + out_1939718218409672785[48] = 0.0; + out_1939718218409672785[49] = 0.0; + out_1939718218409672785[50] = 1.0; + out_1939718218409672785[51] = 0.0; + out_1939718218409672785[52] = 0.0; + out_1939718218409672785[53] = 0.0; + out_1939718218409672785[54] = 0.0; + out_1939718218409672785[55] = 0.0; + out_1939718218409672785[56] = 0.0; + out_1939718218409672785[57] = 0.0; + out_1939718218409672785[58] = 0.0; + out_1939718218409672785[59] = 0.0; + out_1939718218409672785[60] = 1.0; + out_1939718218409672785[61] = 0.0; + out_1939718218409672785[62] = 0.0; + out_1939718218409672785[63] = 0.0; + out_1939718218409672785[64] = 0.0; + out_1939718218409672785[65] = 0.0; + out_1939718218409672785[66] = 0.0; + out_1939718218409672785[67] = 0.0; + out_1939718218409672785[68] = 0.0; + out_1939718218409672785[69] = 0.0; + out_1939718218409672785[70] = 1.0; + out_1939718218409672785[71] = 0.0; + out_1939718218409672785[72] = 0.0; + out_1939718218409672785[73] = 0.0; + out_1939718218409672785[74] = 0.0; + out_1939718218409672785[75] = 0.0; + out_1939718218409672785[76] = 0.0; + out_1939718218409672785[77] = 0.0; + out_1939718218409672785[78] = 0.0; + out_1939718218409672785[79] = 0.0; + out_1939718218409672785[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8102414924978153817) { - out_8102414924978153817[0] = state[0]; - out_8102414924978153817[1] = state[1]; - out_8102414924978153817[2] = state[2]; - out_8102414924978153817[3] = state[3]; - out_8102414924978153817[4] = state[4]; - out_8102414924978153817[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_8102414924978153817[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_8102414924978153817[7] = state[7]; - out_8102414924978153817[8] = state[8]; +void f_fun(double *state, double dt, double *out_3926727015556538206) { + out_3926727015556538206[0] = state[0]; + out_3926727015556538206[1] = state[1]; + out_3926727015556538206[2] = state[2]; + out_3926727015556538206[3] = state[3]; + out_3926727015556538206[4] = state[4]; + out_3926727015556538206[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_3926727015556538206[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_3926727015556538206[7] = state[7]; + out_3926727015556538206[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1635199146977261472) { - out_1635199146977261472[0] = 1; - out_1635199146977261472[1] = 0; - out_1635199146977261472[2] = 0; - out_1635199146977261472[3] = 0; - out_1635199146977261472[4] = 0; - out_1635199146977261472[5] = 0; - out_1635199146977261472[6] = 0; - out_1635199146977261472[7] = 0; - out_1635199146977261472[8] = 0; - out_1635199146977261472[9] = 0; - out_1635199146977261472[10] = 1; - out_1635199146977261472[11] = 0; - out_1635199146977261472[12] = 0; - out_1635199146977261472[13] = 0; - out_1635199146977261472[14] = 0; - out_1635199146977261472[15] = 0; - out_1635199146977261472[16] = 0; - out_1635199146977261472[17] = 0; - out_1635199146977261472[18] = 0; - out_1635199146977261472[19] = 0; - out_1635199146977261472[20] = 1; - out_1635199146977261472[21] = 0; - out_1635199146977261472[22] = 0; - out_1635199146977261472[23] = 0; - out_1635199146977261472[24] = 0; - out_1635199146977261472[25] = 0; - out_1635199146977261472[26] = 0; - out_1635199146977261472[27] = 0; - out_1635199146977261472[28] = 0; - out_1635199146977261472[29] = 0; - out_1635199146977261472[30] = 1; - out_1635199146977261472[31] = 0; - out_1635199146977261472[32] = 0; - out_1635199146977261472[33] = 0; - out_1635199146977261472[34] = 0; - out_1635199146977261472[35] = 0; - out_1635199146977261472[36] = 0; - out_1635199146977261472[37] = 0; - out_1635199146977261472[38] = 0; - out_1635199146977261472[39] = 0; - out_1635199146977261472[40] = 1; - out_1635199146977261472[41] = 0; - out_1635199146977261472[42] = 0; - out_1635199146977261472[43] = 0; - out_1635199146977261472[44] = 0; - out_1635199146977261472[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_1635199146977261472[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1635199146977261472[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1635199146977261472[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1635199146977261472[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_1635199146977261472[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1635199146977261472[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1635199146977261472[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1635199146977261472[53] = -9.8100000000000005*dt; - out_1635199146977261472[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_1635199146977261472[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1635199146977261472[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1635199146977261472[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1635199146977261472[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_1635199146977261472[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1635199146977261472[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_1635199146977261472[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1635199146977261472[62] = 0; - out_1635199146977261472[63] = 0; - out_1635199146977261472[64] = 0; - out_1635199146977261472[65] = 0; - out_1635199146977261472[66] = 0; - out_1635199146977261472[67] = 0; - out_1635199146977261472[68] = 0; - out_1635199146977261472[69] = 0; - out_1635199146977261472[70] = 1; - out_1635199146977261472[71] = 0; - out_1635199146977261472[72] = 0; - out_1635199146977261472[73] = 0; - out_1635199146977261472[74] = 0; - out_1635199146977261472[75] = 0; - out_1635199146977261472[76] = 0; - out_1635199146977261472[77] = 0; - out_1635199146977261472[78] = 0; - out_1635199146977261472[79] = 0; - out_1635199146977261472[80] = 1; +void F_fun(double *state, double dt, double *out_2236832154434567522) { + out_2236832154434567522[0] = 1; + out_2236832154434567522[1] = 0; + out_2236832154434567522[2] = 0; + out_2236832154434567522[3] = 0; + out_2236832154434567522[4] = 0; + out_2236832154434567522[5] = 0; + out_2236832154434567522[6] = 0; + out_2236832154434567522[7] = 0; + out_2236832154434567522[8] = 0; + out_2236832154434567522[9] = 0; + out_2236832154434567522[10] = 1; + out_2236832154434567522[11] = 0; + out_2236832154434567522[12] = 0; + out_2236832154434567522[13] = 0; + out_2236832154434567522[14] = 0; + out_2236832154434567522[15] = 0; + out_2236832154434567522[16] = 0; + out_2236832154434567522[17] = 0; + out_2236832154434567522[18] = 0; + out_2236832154434567522[19] = 0; + out_2236832154434567522[20] = 1; + out_2236832154434567522[21] = 0; + out_2236832154434567522[22] = 0; + out_2236832154434567522[23] = 0; + out_2236832154434567522[24] = 0; + out_2236832154434567522[25] = 0; + out_2236832154434567522[26] = 0; + out_2236832154434567522[27] = 0; + out_2236832154434567522[28] = 0; + out_2236832154434567522[29] = 0; + out_2236832154434567522[30] = 1; + out_2236832154434567522[31] = 0; + out_2236832154434567522[32] = 0; + out_2236832154434567522[33] = 0; + out_2236832154434567522[34] = 0; + out_2236832154434567522[35] = 0; + out_2236832154434567522[36] = 0; + out_2236832154434567522[37] = 0; + out_2236832154434567522[38] = 0; + out_2236832154434567522[39] = 0; + out_2236832154434567522[40] = 1; + out_2236832154434567522[41] = 0; + out_2236832154434567522[42] = 0; + out_2236832154434567522[43] = 0; + out_2236832154434567522[44] = 0; + out_2236832154434567522[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_2236832154434567522[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2236832154434567522[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2236832154434567522[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2236832154434567522[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_2236832154434567522[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2236832154434567522[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2236832154434567522[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2236832154434567522[53] = -9.8100000000000005*dt; + out_2236832154434567522[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_2236832154434567522[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2236832154434567522[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2236832154434567522[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2236832154434567522[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_2236832154434567522[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2236832154434567522[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_2236832154434567522[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2236832154434567522[62] = 0; + out_2236832154434567522[63] = 0; + out_2236832154434567522[64] = 0; + out_2236832154434567522[65] = 0; + out_2236832154434567522[66] = 0; + out_2236832154434567522[67] = 0; + out_2236832154434567522[68] = 0; + out_2236832154434567522[69] = 0; + out_2236832154434567522[70] = 1; + out_2236832154434567522[71] = 0; + out_2236832154434567522[72] = 0; + out_2236832154434567522[73] = 0; + out_2236832154434567522[74] = 0; + out_2236832154434567522[75] = 0; + out_2236832154434567522[76] = 0; + out_2236832154434567522[77] = 0; + out_2236832154434567522[78] = 0; + out_2236832154434567522[79] = 0; + out_2236832154434567522[80] = 1; } -void h_25(double *state, double *unused, double *out_7182033227359772288) { - out_7182033227359772288[0] = state[6]; +void h_25(double *state, double *unused, double *out_3928584535156480826) { + out_3928584535156480826[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6910994500880282686) { - out_6910994500880282686[0] = 0; - out_6910994500880282686[1] = 0; - out_6910994500880282686[2] = 0; - out_6910994500880282686[3] = 0; - out_6910994500880282686[4] = 0; - out_6910994500880282686[5] = 0; - out_6910994500880282686[6] = 1; - out_6910994500880282686[7] = 0; - out_6910994500880282686[8] = 0; +void H_25(double *state, double *unused, double *out_6843410043594337625) { + out_6843410043594337625[0] = 0; + out_6843410043594337625[1] = 0; + out_6843410043594337625[2] = 0; + out_6843410043594337625[3] = 0; + out_6843410043594337625[4] = 0; + out_6843410043594337625[5] = 0; + out_6843410043594337625[6] = 1; + out_6843410043594337625[7] = 0; + out_6843410043594337625[8] = 0; } -void h_24(double *state, double *unused, double *out_8844123752507495678) { - out_8844123752507495678[0] = state[4]; - out_8844123752507495678[1] = state[5]; +void h_24(double *state, double *unused, double *out_3301920948150113080) { + out_3301920948150113080[0] = state[4]; + out_3301920948150113080[1] = state[5]; } -void H_24(double *state, double *unused, double *out_9166842576004100315) { - out_9166842576004100315[0] = 0; - out_9166842576004100315[1] = 0; - out_9166842576004100315[2] = 0; - out_9166842576004100315[3] = 0; - out_9166842576004100315[4] = 1; - out_9166842576004100315[5] = 0; - out_9166842576004100315[6] = 0; - out_9166842576004100315[7] = 0; - out_9166842576004100315[8] = 0; - out_9166842576004100315[9] = 0; - out_9166842576004100315[10] = 0; - out_9166842576004100315[11] = 0; - out_9166842576004100315[12] = 0; - out_9166842576004100315[13] = 0; - out_9166842576004100315[14] = 1; - out_9166842576004100315[15] = 0; - out_9166842576004100315[16] = 0; - out_9166842576004100315[17] = 0; +void H_24(double *state, double *unused, double *out_599264549394378695) { + out_599264549394378695[0] = 0; + out_599264549394378695[1] = 0; + out_599264549394378695[2] = 0; + out_599264549394378695[3] = 0; + out_599264549394378695[4] = 1; + out_599264549394378695[5] = 0; + out_599264549394378695[6] = 0; + out_599264549394378695[7] = 0; + out_599264549394378695[8] = 0; + out_599264549394378695[9] = 0; + out_599264549394378695[10] = 0; + out_599264549394378695[11] = 0; + out_599264549394378695[12] = 0; + out_599264549394378695[13] = 0; + out_599264549394378695[14] = 1; + out_599264549394378695[15] = 0; + out_599264549394378695[16] = 0; + out_599264549394378695[17] = 0; } -void h_30(double *state, double *unused, double *out_6906839165075266399) { - out_6906839165075266399[0] = state[4]; +void h_30(double *state, double *unused, double *out_3653390472871974937) { + out_3653390472871974937[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2383298170752674488) { - out_2383298170752674488[0] = 0; - out_2383298170752674488[1] = 0; - out_2383298170752674488[2] = 0; - out_2383298170752674488[3] = 0; - out_2383298170752674488[4] = 1; - out_2383298170752674488[5] = 0; - out_2383298170752674488[6] = 0; - out_2383298170752674488[7] = 0; - out_2383298170752674488[8] = 0; +void H_30(double *state, double *unused, double *out_2315713713466729427) { + out_2315713713466729427[0] = 0; + out_2315713713466729427[1] = 0; + out_2315713713466729427[2] = 0; + out_2315713713466729427[3] = 0; + out_2315713713466729427[4] = 1; + out_2315713713466729427[5] = 0; + out_2315713713466729427[6] = 0; + out_2315713713466729427[7] = 0; + out_2315713713466729427[8] = 0; } -void h_26(double *state, double *unused, double *out_6538231640973439572) { - out_6538231640973439572[0] = state[7]; +void h_26(double *state, double *unused, double *out_2566663824515510610) { + out_2566663824515510610[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3169491182006226462) { - out_3169491182006226462[0] = 0; - out_3169491182006226462[1] = 0; - out_3169491182006226462[2] = 0; - out_3169491182006226462[3] = 0; - out_3169491182006226462[4] = 0; - out_3169491182006226462[5] = 0; - out_3169491182006226462[6] = 0; - out_3169491182006226462[7] = 1; - out_3169491182006226462[8] = 0; +void H_26(double *state, double *unused, double *out_3101906724720281401) { + out_3101906724720281401[0] = 0; + out_3101906724720281401[1] = 0; + out_3101906724720281401[2] = 0; + out_3101906724720281401[3] = 0; + out_3101906724720281401[4] = 0; + out_3101906724720281401[5] = 0; + out_3101906724720281401[6] = 0; + out_3101906724720281401[7] = 1; + out_3101906724720281401[8] = 0; } -void h_27(double *state, double *unused, double *out_8125543080261434723) { - out_8125543080261434723[0] = state[3]; +void h_27(double *state, double *unused, double *out_1949700952402234262) { + out_1949700952402234262[0] = state[3]; } -void H_27(double *state, double *unused, double *out_208534858952249577) { - out_208534858952249577[0] = 0; - out_208534858952249577[1] = 0; - out_208534858952249577[2] = 0; - out_208534858952249577[3] = 1; - out_208534858952249577[4] = 0; - out_208534858952249577[5] = 0; - out_208534858952249577[6] = 0; - out_208534858952249577[7] = 0; - out_208534858952249577[8] = 0; +void H_27(double *state, double *unused, double *out_140950401666304516) { + out_140950401666304516[0] = 0; + out_140950401666304516[1] = 0; + out_140950401666304516[2] = 0; + out_140950401666304516[3] = 1; + out_140950401666304516[4] = 0; + out_140950401666304516[5] = 0; + out_140950401666304516[6] = 0; + out_140950401666304516[7] = 0; + out_140950401666304516[8] = 0; } -void h_29(double *state, double *unused, double *out_7850349017976928834) { - out_7850349017976928834[0] = state[1]; +void h_29(double *state, double *unused, double *out_8537528878878529425) { + out_8537528878878529425[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2893529515067066672) { - out_2893529515067066672[0] = 0; - out_2893529515067066672[1] = 1; - out_2893529515067066672[2] = 0; - out_2893529515067066672[3] = 0; - out_2893529515067066672[4] = 0; - out_2893529515067066672[5] = 0; - out_2893529515067066672[6] = 0; - out_2893529515067066672[7] = 0; - out_2893529515067066672[8] = 0; +void H_29(double *state, double *unused, double *out_2825945057781121611) { + out_2825945057781121611[0] = 0; + out_2825945057781121611[1] = 1; + out_2825945057781121611[2] = 0; + out_2825945057781121611[3] = 0; + out_2825945057781121611[4] = 0; + out_2825945057781121611[5] = 0; + out_2825945057781121611[6] = 0; + out_2825945057781121611[7] = 0; + out_2825945057781121611[8] = 0; } -void h_28(double *state, double *unused, double *out_3123869812600589078) { - out_3123869812600589078[0] = state[0]; +void h_28(double *state, double *unused, double *out_6571886981858342576) { + out_6571886981858342576[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2188869502002463902) { - out_2188869502002463902[0] = 1; - out_2188869502002463902[1] = 0; - out_2188869502002463902[2] = 0; - out_2188869502002463902[3] = 0; - out_2188869502002463902[4] = 0; - out_2188869502002463902[5] = 0; - out_2188869502002463902[6] = 0; - out_2188869502002463902[7] = 0; - out_2188869502002463902[8] = 0; +void H_28(double *state, double *unused, double *out_4789575329346447862) { + out_4789575329346447862[0] = 1; + out_4789575329346447862[1] = 0; + out_4789575329346447862[2] = 0; + out_4789575329346447862[3] = 0; + out_4789575329346447862[4] = 0; + out_4789575329346447862[5] = 0; + out_4789575329346447862[6] = 0; + out_4789575329346447862[7] = 0; + out_4789575329346447862[8] = 0; } -void h_31(double *state, double *unused, double *out_6770159118416154415) { - out_6770159118416154415[0] = state[8]; +void h_31(double *state, double *unused, double *out_4711292941562061058) { + out_4711292941562061058[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2543283079772874986) { - out_2543283079772874986[0] = 0; - out_2543283079772874986[1] = 0; - out_2543283079772874986[2] = 0; - out_2543283079772874986[3] = 0; - out_2543283079772874986[4] = 0; - out_2543283079772874986[5] = 0; - out_2543283079772874986[6] = 0; - out_2543283079772874986[7] = 0; - out_2543283079772874986[8] = 1; +void H_31(double *state, double *unused, double *out_2475698622486929925) { + out_2475698622486929925[0] = 0; + out_2475698622486929925[1] = 0; + out_2475698622486929925[2] = 0; + out_2475698622486929925[3] = 0; + out_2475698622486929925[4] = 0; + out_2475698622486929925[5] = 0; + out_2475698622486929925[6] = 0; + out_2475698622486929925[7] = 0; + out_2475698622486929925[8] = 1; } #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_4530123797725818472) { - err_fun(nom_x, delta_x, out_4530123797725818472); +void car_err_fun(double *nom_x, double *delta_x, double *out_8235846690843231890) { + err_fun(nom_x, delta_x, out_8235846690843231890); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8174571641545541533) { - inv_err_fun(nom_x, true_x, out_8174571641545541533); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4073537797462342510) { + inv_err_fun(nom_x, true_x, out_4073537797462342510); } -void car_H_mod_fun(double *state, double *out_1010343532093577119) { - H_mod_fun(state, out_1010343532093577119); +void car_H_mod_fun(double *state, double *out_1939718218409672785) { + H_mod_fun(state, out_1939718218409672785); } -void car_f_fun(double *state, double dt, double *out_8102414924978153817) { - f_fun(state, dt, out_8102414924978153817); +void car_f_fun(double *state, double dt, double *out_3926727015556538206) { + f_fun(state, dt, out_3926727015556538206); } -void car_F_fun(double *state, double dt, double *out_1635199146977261472) { - F_fun(state, dt, out_1635199146977261472); +void car_F_fun(double *state, double dt, double *out_2236832154434567522) { + F_fun(state, dt, out_2236832154434567522); } -void car_h_25(double *state, double *unused, double *out_7182033227359772288) { - h_25(state, unused, out_7182033227359772288); +void car_h_25(double *state, double *unused, double *out_3928584535156480826) { + h_25(state, unused, out_3928584535156480826); } -void car_H_25(double *state, double *unused, double *out_6910994500880282686) { - H_25(state, unused, out_6910994500880282686); +void car_H_25(double *state, double *unused, double *out_6843410043594337625) { + H_25(state, unused, out_6843410043594337625); } -void car_h_24(double *state, double *unused, double *out_8844123752507495678) { - h_24(state, unused, out_8844123752507495678); +void car_h_24(double *state, double *unused, double *out_3301920948150113080) { + h_24(state, unused, out_3301920948150113080); } -void car_H_24(double *state, double *unused, double *out_9166842576004100315) { - H_24(state, unused, out_9166842576004100315); +void car_H_24(double *state, double *unused, double *out_599264549394378695) { + H_24(state, unused, out_599264549394378695); } -void car_h_30(double *state, double *unused, double *out_6906839165075266399) { - h_30(state, unused, out_6906839165075266399); +void car_h_30(double *state, double *unused, double *out_3653390472871974937) { + h_30(state, unused, out_3653390472871974937); } -void car_H_30(double *state, double *unused, double *out_2383298170752674488) { - H_30(state, unused, out_2383298170752674488); +void car_H_30(double *state, double *unused, double *out_2315713713466729427) { + H_30(state, unused, out_2315713713466729427); } -void car_h_26(double *state, double *unused, double *out_6538231640973439572) { - h_26(state, unused, out_6538231640973439572); +void car_h_26(double *state, double *unused, double *out_2566663824515510610) { + h_26(state, unused, out_2566663824515510610); } -void car_H_26(double *state, double *unused, double *out_3169491182006226462) { - H_26(state, unused, out_3169491182006226462); +void car_H_26(double *state, double *unused, double *out_3101906724720281401) { + H_26(state, unused, out_3101906724720281401); } -void car_h_27(double *state, double *unused, double *out_8125543080261434723) { - h_27(state, unused, out_8125543080261434723); +void car_h_27(double *state, double *unused, double *out_1949700952402234262) { + h_27(state, unused, out_1949700952402234262); } -void car_H_27(double *state, double *unused, double *out_208534858952249577) { - H_27(state, unused, out_208534858952249577); +void car_H_27(double *state, double *unused, double *out_140950401666304516) { + H_27(state, unused, out_140950401666304516); } -void car_h_29(double *state, double *unused, double *out_7850349017976928834) { - h_29(state, unused, out_7850349017976928834); +void car_h_29(double *state, double *unused, double *out_8537528878878529425) { + h_29(state, unused, out_8537528878878529425); } -void car_H_29(double *state, double *unused, double *out_2893529515067066672) { - H_29(state, unused, out_2893529515067066672); +void car_H_29(double *state, double *unused, double *out_2825945057781121611) { + H_29(state, unused, out_2825945057781121611); } -void car_h_28(double *state, double *unused, double *out_3123869812600589078) { - h_28(state, unused, out_3123869812600589078); +void car_h_28(double *state, double *unused, double *out_6571886981858342576) { + h_28(state, unused, out_6571886981858342576); } -void car_H_28(double *state, double *unused, double *out_2188869502002463902) { - H_28(state, unused, out_2188869502002463902); +void car_H_28(double *state, double *unused, double *out_4789575329346447862) { + H_28(state, unused, out_4789575329346447862); } -void car_h_31(double *state, double *unused, double *out_6770159118416154415) { - h_31(state, unused, out_6770159118416154415); +void car_h_31(double *state, double *unused, double *out_4711292941562061058) { + h_31(state, unused, out_4711292941562061058); } -void car_H_31(double *state, double *unused, double *out_2543283079772874986) { - H_31(state, unused, out_2543283079772874986); +void car_H_31(double *state, double *unused, double *out_2475698622486929925) { + H_31(state, unused, out_2475698622486929925); } 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 a6f984b3b..048a14570 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_4530123797725818472); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8174571641545541533); -void car_H_mod_fun(double *state, double *out_1010343532093577119); -void car_f_fun(double *state, double dt, double *out_8102414924978153817); -void car_F_fun(double *state, double dt, double *out_1635199146977261472); -void car_h_25(double *state, double *unused, double *out_7182033227359772288); -void car_H_25(double *state, double *unused, double *out_6910994500880282686); -void car_h_24(double *state, double *unused, double *out_8844123752507495678); -void car_H_24(double *state, double *unused, double *out_9166842576004100315); -void car_h_30(double *state, double *unused, double *out_6906839165075266399); -void car_H_30(double *state, double *unused, double *out_2383298170752674488); -void car_h_26(double *state, double *unused, double *out_6538231640973439572); -void car_H_26(double *state, double *unused, double *out_3169491182006226462); -void car_h_27(double *state, double *unused, double *out_8125543080261434723); -void car_H_27(double *state, double *unused, double *out_208534858952249577); -void car_h_29(double *state, double *unused, double *out_7850349017976928834); -void car_H_29(double *state, double *unused, double *out_2893529515067066672); -void car_h_28(double *state, double *unused, double *out_3123869812600589078); -void car_H_28(double *state, double *unused, double *out_2188869502002463902); -void car_h_31(double *state, double *unused, double *out_6770159118416154415); -void car_H_31(double *state, double *unused, double *out_2543283079772874986); +void car_err_fun(double *nom_x, double *delta_x, double *out_8235846690843231890); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4073537797462342510); +void car_H_mod_fun(double *state, double *out_1939718218409672785); +void car_f_fun(double *state, double dt, double *out_3926727015556538206); +void car_F_fun(double *state, double dt, double *out_2236832154434567522); +void car_h_25(double *state, double *unused, double *out_3928584535156480826); +void car_H_25(double *state, double *unused, double *out_6843410043594337625); +void car_h_24(double *state, double *unused, double *out_3301920948150113080); +void car_H_24(double *state, double *unused, double *out_599264549394378695); +void car_h_30(double *state, double *unused, double *out_3653390472871974937); +void car_H_30(double *state, double *unused, double *out_2315713713466729427); +void car_h_26(double *state, double *unused, double *out_2566663824515510610); +void car_H_26(double *state, double *unused, double *out_3101906724720281401); +void car_h_27(double *state, double *unused, double *out_1949700952402234262); +void car_H_27(double *state, double *unused, double *out_140950401666304516); +void car_h_29(double *state, double *unused, double *out_8537528878878529425); +void car_H_29(double *state, double *unused, double *out_2825945057781121611); +void car_h_28(double *state, double *unused, double *out_6571886981858342576); +void car_H_28(double *state, double *unused, double *out_4789575329346447862); +void car_h_31(double *state, double *unused, double *out_4711292941562061058); +void car_H_31(double *state, double *unused, double *out_2475698622486929925); void car_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 35d8bae49..d183d00ed 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_1903969700519405728) { - out_1903969700519405728[0] = delta_x[0] + nom_x[0]; - out_1903969700519405728[1] = delta_x[1] + nom_x[1]; - out_1903969700519405728[2] = delta_x[2] + nom_x[2]; - out_1903969700519405728[3] = delta_x[3] + nom_x[3]; - out_1903969700519405728[4] = delta_x[4] + nom_x[4]; - out_1903969700519405728[5] = delta_x[5] + nom_x[5]; - out_1903969700519405728[6] = delta_x[6] + nom_x[6]; - out_1903969700519405728[7] = delta_x[7] + nom_x[7]; - out_1903969700519405728[8] = delta_x[8] + nom_x[8]; - out_1903969700519405728[9] = delta_x[9] + nom_x[9]; - out_1903969700519405728[10] = delta_x[10] + nom_x[10]; - out_1903969700519405728[11] = delta_x[11] + nom_x[11]; - out_1903969700519405728[12] = delta_x[12] + nom_x[12]; - out_1903969700519405728[13] = delta_x[13] + nom_x[13]; - out_1903969700519405728[14] = delta_x[14] + nom_x[14]; - out_1903969700519405728[15] = delta_x[15] + nom_x[15]; - out_1903969700519405728[16] = delta_x[16] + nom_x[16]; - out_1903969700519405728[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7099155186075195158) { + out_7099155186075195158[0] = delta_x[0] + nom_x[0]; + out_7099155186075195158[1] = delta_x[1] + nom_x[1]; + out_7099155186075195158[2] = delta_x[2] + nom_x[2]; + out_7099155186075195158[3] = delta_x[3] + nom_x[3]; + out_7099155186075195158[4] = delta_x[4] + nom_x[4]; + out_7099155186075195158[5] = delta_x[5] + nom_x[5]; + out_7099155186075195158[6] = delta_x[6] + nom_x[6]; + out_7099155186075195158[7] = delta_x[7] + nom_x[7]; + out_7099155186075195158[8] = delta_x[8] + nom_x[8]; + out_7099155186075195158[9] = delta_x[9] + nom_x[9]; + out_7099155186075195158[10] = delta_x[10] + nom_x[10]; + out_7099155186075195158[11] = delta_x[11] + nom_x[11]; + out_7099155186075195158[12] = delta_x[12] + nom_x[12]; + out_7099155186075195158[13] = delta_x[13] + nom_x[13]; + out_7099155186075195158[14] = delta_x[14] + nom_x[14]; + out_7099155186075195158[15] = delta_x[15] + nom_x[15]; + out_7099155186075195158[16] = delta_x[16] + nom_x[16]; + out_7099155186075195158[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3362098330798648840) { - out_3362098330798648840[0] = -nom_x[0] + true_x[0]; - out_3362098330798648840[1] = -nom_x[1] + true_x[1]; - out_3362098330798648840[2] = -nom_x[2] + true_x[2]; - out_3362098330798648840[3] = -nom_x[3] + true_x[3]; - out_3362098330798648840[4] = -nom_x[4] + true_x[4]; - out_3362098330798648840[5] = -nom_x[5] + true_x[5]; - out_3362098330798648840[6] = -nom_x[6] + true_x[6]; - out_3362098330798648840[7] = -nom_x[7] + true_x[7]; - out_3362098330798648840[8] = -nom_x[8] + true_x[8]; - out_3362098330798648840[9] = -nom_x[9] + true_x[9]; - out_3362098330798648840[10] = -nom_x[10] + true_x[10]; - out_3362098330798648840[11] = -nom_x[11] + true_x[11]; - out_3362098330798648840[12] = -nom_x[12] + true_x[12]; - out_3362098330798648840[13] = -nom_x[13] + true_x[13]; - out_3362098330798648840[14] = -nom_x[14] + true_x[14]; - out_3362098330798648840[15] = -nom_x[15] + true_x[15]; - out_3362098330798648840[16] = -nom_x[16] + true_x[16]; - out_3362098330798648840[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2441097136385557776) { + out_2441097136385557776[0] = -nom_x[0] + true_x[0]; + out_2441097136385557776[1] = -nom_x[1] + true_x[1]; + out_2441097136385557776[2] = -nom_x[2] + true_x[2]; + out_2441097136385557776[3] = -nom_x[3] + true_x[3]; + out_2441097136385557776[4] = -nom_x[4] + true_x[4]; + out_2441097136385557776[5] = -nom_x[5] + true_x[5]; + out_2441097136385557776[6] = -nom_x[6] + true_x[6]; + out_2441097136385557776[7] = -nom_x[7] + true_x[7]; + out_2441097136385557776[8] = -nom_x[8] + true_x[8]; + out_2441097136385557776[9] = -nom_x[9] + true_x[9]; + out_2441097136385557776[10] = -nom_x[10] + true_x[10]; + out_2441097136385557776[11] = -nom_x[11] + true_x[11]; + out_2441097136385557776[12] = -nom_x[12] + true_x[12]; + out_2441097136385557776[13] = -nom_x[13] + true_x[13]; + out_2441097136385557776[14] = -nom_x[14] + true_x[14]; + out_2441097136385557776[15] = -nom_x[15] + true_x[15]; + out_2441097136385557776[16] = -nom_x[16] + true_x[16]; + out_2441097136385557776[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3822470159260117769) { - out_3822470159260117769[0] = 1.0; - out_3822470159260117769[1] = 0.0; - out_3822470159260117769[2] = 0.0; - out_3822470159260117769[3] = 0.0; - out_3822470159260117769[4] = 0.0; - out_3822470159260117769[5] = 0.0; - out_3822470159260117769[6] = 0.0; - out_3822470159260117769[7] = 0.0; - out_3822470159260117769[8] = 0.0; - out_3822470159260117769[9] = 0.0; - out_3822470159260117769[10] = 0.0; - out_3822470159260117769[11] = 0.0; - out_3822470159260117769[12] = 0.0; - out_3822470159260117769[13] = 0.0; - out_3822470159260117769[14] = 0.0; - out_3822470159260117769[15] = 0.0; - out_3822470159260117769[16] = 0.0; - out_3822470159260117769[17] = 0.0; - out_3822470159260117769[18] = 0.0; - out_3822470159260117769[19] = 1.0; - out_3822470159260117769[20] = 0.0; - out_3822470159260117769[21] = 0.0; - out_3822470159260117769[22] = 0.0; - out_3822470159260117769[23] = 0.0; - out_3822470159260117769[24] = 0.0; - out_3822470159260117769[25] = 0.0; - out_3822470159260117769[26] = 0.0; - out_3822470159260117769[27] = 0.0; - out_3822470159260117769[28] = 0.0; - out_3822470159260117769[29] = 0.0; - out_3822470159260117769[30] = 0.0; - out_3822470159260117769[31] = 0.0; - out_3822470159260117769[32] = 0.0; - out_3822470159260117769[33] = 0.0; - out_3822470159260117769[34] = 0.0; - out_3822470159260117769[35] = 0.0; - out_3822470159260117769[36] = 0.0; - out_3822470159260117769[37] = 0.0; - out_3822470159260117769[38] = 1.0; - out_3822470159260117769[39] = 0.0; - out_3822470159260117769[40] = 0.0; - out_3822470159260117769[41] = 0.0; - out_3822470159260117769[42] = 0.0; - out_3822470159260117769[43] = 0.0; - out_3822470159260117769[44] = 0.0; - out_3822470159260117769[45] = 0.0; - out_3822470159260117769[46] = 0.0; - out_3822470159260117769[47] = 0.0; - out_3822470159260117769[48] = 0.0; - out_3822470159260117769[49] = 0.0; - out_3822470159260117769[50] = 0.0; - out_3822470159260117769[51] = 0.0; - out_3822470159260117769[52] = 0.0; - out_3822470159260117769[53] = 0.0; - out_3822470159260117769[54] = 0.0; - out_3822470159260117769[55] = 0.0; - out_3822470159260117769[56] = 0.0; - out_3822470159260117769[57] = 1.0; - out_3822470159260117769[58] = 0.0; - out_3822470159260117769[59] = 0.0; - out_3822470159260117769[60] = 0.0; - out_3822470159260117769[61] = 0.0; - out_3822470159260117769[62] = 0.0; - out_3822470159260117769[63] = 0.0; - out_3822470159260117769[64] = 0.0; - out_3822470159260117769[65] = 0.0; - out_3822470159260117769[66] = 0.0; - out_3822470159260117769[67] = 0.0; - out_3822470159260117769[68] = 0.0; - out_3822470159260117769[69] = 0.0; - out_3822470159260117769[70] = 0.0; - out_3822470159260117769[71] = 0.0; - out_3822470159260117769[72] = 0.0; - out_3822470159260117769[73] = 0.0; - out_3822470159260117769[74] = 0.0; - out_3822470159260117769[75] = 0.0; - out_3822470159260117769[76] = 1.0; - out_3822470159260117769[77] = 0.0; - out_3822470159260117769[78] = 0.0; - out_3822470159260117769[79] = 0.0; - out_3822470159260117769[80] = 0.0; - out_3822470159260117769[81] = 0.0; - out_3822470159260117769[82] = 0.0; - out_3822470159260117769[83] = 0.0; - out_3822470159260117769[84] = 0.0; - out_3822470159260117769[85] = 0.0; - out_3822470159260117769[86] = 0.0; - out_3822470159260117769[87] = 0.0; - out_3822470159260117769[88] = 0.0; - out_3822470159260117769[89] = 0.0; - out_3822470159260117769[90] = 0.0; - out_3822470159260117769[91] = 0.0; - out_3822470159260117769[92] = 0.0; - out_3822470159260117769[93] = 0.0; - out_3822470159260117769[94] = 0.0; - out_3822470159260117769[95] = 1.0; - out_3822470159260117769[96] = 0.0; - out_3822470159260117769[97] = 0.0; - out_3822470159260117769[98] = 0.0; - out_3822470159260117769[99] = 0.0; - out_3822470159260117769[100] = 0.0; - out_3822470159260117769[101] = 0.0; - out_3822470159260117769[102] = 0.0; - out_3822470159260117769[103] = 0.0; - out_3822470159260117769[104] = 0.0; - out_3822470159260117769[105] = 0.0; - out_3822470159260117769[106] = 0.0; - out_3822470159260117769[107] = 0.0; - out_3822470159260117769[108] = 0.0; - out_3822470159260117769[109] = 0.0; - out_3822470159260117769[110] = 0.0; - out_3822470159260117769[111] = 0.0; - out_3822470159260117769[112] = 0.0; - out_3822470159260117769[113] = 0.0; - out_3822470159260117769[114] = 1.0; - out_3822470159260117769[115] = 0.0; - out_3822470159260117769[116] = 0.0; - out_3822470159260117769[117] = 0.0; - out_3822470159260117769[118] = 0.0; - out_3822470159260117769[119] = 0.0; - out_3822470159260117769[120] = 0.0; - out_3822470159260117769[121] = 0.0; - out_3822470159260117769[122] = 0.0; - out_3822470159260117769[123] = 0.0; - out_3822470159260117769[124] = 0.0; - out_3822470159260117769[125] = 0.0; - out_3822470159260117769[126] = 0.0; - out_3822470159260117769[127] = 0.0; - out_3822470159260117769[128] = 0.0; - out_3822470159260117769[129] = 0.0; - out_3822470159260117769[130] = 0.0; - out_3822470159260117769[131] = 0.0; - out_3822470159260117769[132] = 0.0; - out_3822470159260117769[133] = 1.0; - out_3822470159260117769[134] = 0.0; - out_3822470159260117769[135] = 0.0; - out_3822470159260117769[136] = 0.0; - out_3822470159260117769[137] = 0.0; - out_3822470159260117769[138] = 0.0; - out_3822470159260117769[139] = 0.0; - out_3822470159260117769[140] = 0.0; - out_3822470159260117769[141] = 0.0; - out_3822470159260117769[142] = 0.0; - out_3822470159260117769[143] = 0.0; - out_3822470159260117769[144] = 0.0; - out_3822470159260117769[145] = 0.0; - out_3822470159260117769[146] = 0.0; - out_3822470159260117769[147] = 0.0; - out_3822470159260117769[148] = 0.0; - out_3822470159260117769[149] = 0.0; - out_3822470159260117769[150] = 0.0; - out_3822470159260117769[151] = 0.0; - out_3822470159260117769[152] = 1.0; - out_3822470159260117769[153] = 0.0; - out_3822470159260117769[154] = 0.0; - out_3822470159260117769[155] = 0.0; - out_3822470159260117769[156] = 0.0; - out_3822470159260117769[157] = 0.0; - out_3822470159260117769[158] = 0.0; - out_3822470159260117769[159] = 0.0; - out_3822470159260117769[160] = 0.0; - out_3822470159260117769[161] = 0.0; - out_3822470159260117769[162] = 0.0; - out_3822470159260117769[163] = 0.0; - out_3822470159260117769[164] = 0.0; - out_3822470159260117769[165] = 0.0; - out_3822470159260117769[166] = 0.0; - out_3822470159260117769[167] = 0.0; - out_3822470159260117769[168] = 0.0; - out_3822470159260117769[169] = 0.0; - out_3822470159260117769[170] = 0.0; - out_3822470159260117769[171] = 1.0; - out_3822470159260117769[172] = 0.0; - out_3822470159260117769[173] = 0.0; - out_3822470159260117769[174] = 0.0; - out_3822470159260117769[175] = 0.0; - out_3822470159260117769[176] = 0.0; - out_3822470159260117769[177] = 0.0; - out_3822470159260117769[178] = 0.0; - out_3822470159260117769[179] = 0.0; - out_3822470159260117769[180] = 0.0; - out_3822470159260117769[181] = 0.0; - out_3822470159260117769[182] = 0.0; - out_3822470159260117769[183] = 0.0; - out_3822470159260117769[184] = 0.0; - out_3822470159260117769[185] = 0.0; - out_3822470159260117769[186] = 0.0; - out_3822470159260117769[187] = 0.0; - out_3822470159260117769[188] = 0.0; - out_3822470159260117769[189] = 0.0; - out_3822470159260117769[190] = 1.0; - out_3822470159260117769[191] = 0.0; - out_3822470159260117769[192] = 0.0; - out_3822470159260117769[193] = 0.0; - out_3822470159260117769[194] = 0.0; - out_3822470159260117769[195] = 0.0; - out_3822470159260117769[196] = 0.0; - out_3822470159260117769[197] = 0.0; - out_3822470159260117769[198] = 0.0; - out_3822470159260117769[199] = 0.0; - out_3822470159260117769[200] = 0.0; - out_3822470159260117769[201] = 0.0; - out_3822470159260117769[202] = 0.0; - out_3822470159260117769[203] = 0.0; - out_3822470159260117769[204] = 0.0; - out_3822470159260117769[205] = 0.0; - out_3822470159260117769[206] = 0.0; - out_3822470159260117769[207] = 0.0; - out_3822470159260117769[208] = 0.0; - out_3822470159260117769[209] = 1.0; - out_3822470159260117769[210] = 0.0; - out_3822470159260117769[211] = 0.0; - out_3822470159260117769[212] = 0.0; - out_3822470159260117769[213] = 0.0; - out_3822470159260117769[214] = 0.0; - out_3822470159260117769[215] = 0.0; - out_3822470159260117769[216] = 0.0; - out_3822470159260117769[217] = 0.0; - out_3822470159260117769[218] = 0.0; - out_3822470159260117769[219] = 0.0; - out_3822470159260117769[220] = 0.0; - out_3822470159260117769[221] = 0.0; - out_3822470159260117769[222] = 0.0; - out_3822470159260117769[223] = 0.0; - out_3822470159260117769[224] = 0.0; - out_3822470159260117769[225] = 0.0; - out_3822470159260117769[226] = 0.0; - out_3822470159260117769[227] = 0.0; - out_3822470159260117769[228] = 1.0; - out_3822470159260117769[229] = 0.0; - out_3822470159260117769[230] = 0.0; - out_3822470159260117769[231] = 0.0; - out_3822470159260117769[232] = 0.0; - out_3822470159260117769[233] = 0.0; - out_3822470159260117769[234] = 0.0; - out_3822470159260117769[235] = 0.0; - out_3822470159260117769[236] = 0.0; - out_3822470159260117769[237] = 0.0; - out_3822470159260117769[238] = 0.0; - out_3822470159260117769[239] = 0.0; - out_3822470159260117769[240] = 0.0; - out_3822470159260117769[241] = 0.0; - out_3822470159260117769[242] = 0.0; - out_3822470159260117769[243] = 0.0; - out_3822470159260117769[244] = 0.0; - out_3822470159260117769[245] = 0.0; - out_3822470159260117769[246] = 0.0; - out_3822470159260117769[247] = 1.0; - out_3822470159260117769[248] = 0.0; - out_3822470159260117769[249] = 0.0; - out_3822470159260117769[250] = 0.0; - out_3822470159260117769[251] = 0.0; - out_3822470159260117769[252] = 0.0; - out_3822470159260117769[253] = 0.0; - out_3822470159260117769[254] = 0.0; - out_3822470159260117769[255] = 0.0; - out_3822470159260117769[256] = 0.0; - out_3822470159260117769[257] = 0.0; - out_3822470159260117769[258] = 0.0; - out_3822470159260117769[259] = 0.0; - out_3822470159260117769[260] = 0.0; - out_3822470159260117769[261] = 0.0; - out_3822470159260117769[262] = 0.0; - out_3822470159260117769[263] = 0.0; - out_3822470159260117769[264] = 0.0; - out_3822470159260117769[265] = 0.0; - out_3822470159260117769[266] = 1.0; - out_3822470159260117769[267] = 0.0; - out_3822470159260117769[268] = 0.0; - out_3822470159260117769[269] = 0.0; - out_3822470159260117769[270] = 0.0; - out_3822470159260117769[271] = 0.0; - out_3822470159260117769[272] = 0.0; - out_3822470159260117769[273] = 0.0; - out_3822470159260117769[274] = 0.0; - out_3822470159260117769[275] = 0.0; - out_3822470159260117769[276] = 0.0; - out_3822470159260117769[277] = 0.0; - out_3822470159260117769[278] = 0.0; - out_3822470159260117769[279] = 0.0; - out_3822470159260117769[280] = 0.0; - out_3822470159260117769[281] = 0.0; - out_3822470159260117769[282] = 0.0; - out_3822470159260117769[283] = 0.0; - out_3822470159260117769[284] = 0.0; - out_3822470159260117769[285] = 1.0; - out_3822470159260117769[286] = 0.0; - out_3822470159260117769[287] = 0.0; - out_3822470159260117769[288] = 0.0; - out_3822470159260117769[289] = 0.0; - out_3822470159260117769[290] = 0.0; - out_3822470159260117769[291] = 0.0; - out_3822470159260117769[292] = 0.0; - out_3822470159260117769[293] = 0.0; - out_3822470159260117769[294] = 0.0; - out_3822470159260117769[295] = 0.0; - out_3822470159260117769[296] = 0.0; - out_3822470159260117769[297] = 0.0; - out_3822470159260117769[298] = 0.0; - out_3822470159260117769[299] = 0.0; - out_3822470159260117769[300] = 0.0; - out_3822470159260117769[301] = 0.0; - out_3822470159260117769[302] = 0.0; - out_3822470159260117769[303] = 0.0; - out_3822470159260117769[304] = 1.0; - out_3822470159260117769[305] = 0.0; - out_3822470159260117769[306] = 0.0; - out_3822470159260117769[307] = 0.0; - out_3822470159260117769[308] = 0.0; - out_3822470159260117769[309] = 0.0; - out_3822470159260117769[310] = 0.0; - out_3822470159260117769[311] = 0.0; - out_3822470159260117769[312] = 0.0; - out_3822470159260117769[313] = 0.0; - out_3822470159260117769[314] = 0.0; - out_3822470159260117769[315] = 0.0; - out_3822470159260117769[316] = 0.0; - out_3822470159260117769[317] = 0.0; - out_3822470159260117769[318] = 0.0; - out_3822470159260117769[319] = 0.0; - out_3822470159260117769[320] = 0.0; - out_3822470159260117769[321] = 0.0; - out_3822470159260117769[322] = 0.0; - out_3822470159260117769[323] = 1.0; +void H_mod_fun(double *state, double *out_3208607372720185681) { + out_3208607372720185681[0] = 1.0; + out_3208607372720185681[1] = 0.0; + out_3208607372720185681[2] = 0.0; + out_3208607372720185681[3] = 0.0; + out_3208607372720185681[4] = 0.0; + out_3208607372720185681[5] = 0.0; + out_3208607372720185681[6] = 0.0; + out_3208607372720185681[7] = 0.0; + out_3208607372720185681[8] = 0.0; + out_3208607372720185681[9] = 0.0; + out_3208607372720185681[10] = 0.0; + out_3208607372720185681[11] = 0.0; + out_3208607372720185681[12] = 0.0; + out_3208607372720185681[13] = 0.0; + out_3208607372720185681[14] = 0.0; + out_3208607372720185681[15] = 0.0; + out_3208607372720185681[16] = 0.0; + out_3208607372720185681[17] = 0.0; + out_3208607372720185681[18] = 0.0; + out_3208607372720185681[19] = 1.0; + out_3208607372720185681[20] = 0.0; + out_3208607372720185681[21] = 0.0; + out_3208607372720185681[22] = 0.0; + out_3208607372720185681[23] = 0.0; + out_3208607372720185681[24] = 0.0; + out_3208607372720185681[25] = 0.0; + out_3208607372720185681[26] = 0.0; + out_3208607372720185681[27] = 0.0; + out_3208607372720185681[28] = 0.0; + out_3208607372720185681[29] = 0.0; + out_3208607372720185681[30] = 0.0; + out_3208607372720185681[31] = 0.0; + out_3208607372720185681[32] = 0.0; + out_3208607372720185681[33] = 0.0; + out_3208607372720185681[34] = 0.0; + out_3208607372720185681[35] = 0.0; + out_3208607372720185681[36] = 0.0; + out_3208607372720185681[37] = 0.0; + out_3208607372720185681[38] = 1.0; + out_3208607372720185681[39] = 0.0; + out_3208607372720185681[40] = 0.0; + out_3208607372720185681[41] = 0.0; + out_3208607372720185681[42] = 0.0; + out_3208607372720185681[43] = 0.0; + out_3208607372720185681[44] = 0.0; + out_3208607372720185681[45] = 0.0; + out_3208607372720185681[46] = 0.0; + out_3208607372720185681[47] = 0.0; + out_3208607372720185681[48] = 0.0; + out_3208607372720185681[49] = 0.0; + out_3208607372720185681[50] = 0.0; + out_3208607372720185681[51] = 0.0; + out_3208607372720185681[52] = 0.0; + out_3208607372720185681[53] = 0.0; + out_3208607372720185681[54] = 0.0; + out_3208607372720185681[55] = 0.0; + out_3208607372720185681[56] = 0.0; + out_3208607372720185681[57] = 1.0; + out_3208607372720185681[58] = 0.0; + out_3208607372720185681[59] = 0.0; + out_3208607372720185681[60] = 0.0; + out_3208607372720185681[61] = 0.0; + out_3208607372720185681[62] = 0.0; + out_3208607372720185681[63] = 0.0; + out_3208607372720185681[64] = 0.0; + out_3208607372720185681[65] = 0.0; + out_3208607372720185681[66] = 0.0; + out_3208607372720185681[67] = 0.0; + out_3208607372720185681[68] = 0.0; + out_3208607372720185681[69] = 0.0; + out_3208607372720185681[70] = 0.0; + out_3208607372720185681[71] = 0.0; + out_3208607372720185681[72] = 0.0; + out_3208607372720185681[73] = 0.0; + out_3208607372720185681[74] = 0.0; + out_3208607372720185681[75] = 0.0; + out_3208607372720185681[76] = 1.0; + out_3208607372720185681[77] = 0.0; + out_3208607372720185681[78] = 0.0; + out_3208607372720185681[79] = 0.0; + out_3208607372720185681[80] = 0.0; + out_3208607372720185681[81] = 0.0; + out_3208607372720185681[82] = 0.0; + out_3208607372720185681[83] = 0.0; + out_3208607372720185681[84] = 0.0; + out_3208607372720185681[85] = 0.0; + out_3208607372720185681[86] = 0.0; + out_3208607372720185681[87] = 0.0; + out_3208607372720185681[88] = 0.0; + out_3208607372720185681[89] = 0.0; + out_3208607372720185681[90] = 0.0; + out_3208607372720185681[91] = 0.0; + out_3208607372720185681[92] = 0.0; + out_3208607372720185681[93] = 0.0; + out_3208607372720185681[94] = 0.0; + out_3208607372720185681[95] = 1.0; + out_3208607372720185681[96] = 0.0; + out_3208607372720185681[97] = 0.0; + out_3208607372720185681[98] = 0.0; + out_3208607372720185681[99] = 0.0; + out_3208607372720185681[100] = 0.0; + out_3208607372720185681[101] = 0.0; + out_3208607372720185681[102] = 0.0; + out_3208607372720185681[103] = 0.0; + out_3208607372720185681[104] = 0.0; + out_3208607372720185681[105] = 0.0; + out_3208607372720185681[106] = 0.0; + out_3208607372720185681[107] = 0.0; + out_3208607372720185681[108] = 0.0; + out_3208607372720185681[109] = 0.0; + out_3208607372720185681[110] = 0.0; + out_3208607372720185681[111] = 0.0; + out_3208607372720185681[112] = 0.0; + out_3208607372720185681[113] = 0.0; + out_3208607372720185681[114] = 1.0; + out_3208607372720185681[115] = 0.0; + out_3208607372720185681[116] = 0.0; + out_3208607372720185681[117] = 0.0; + out_3208607372720185681[118] = 0.0; + out_3208607372720185681[119] = 0.0; + out_3208607372720185681[120] = 0.0; + out_3208607372720185681[121] = 0.0; + out_3208607372720185681[122] = 0.0; + out_3208607372720185681[123] = 0.0; + out_3208607372720185681[124] = 0.0; + out_3208607372720185681[125] = 0.0; + out_3208607372720185681[126] = 0.0; + out_3208607372720185681[127] = 0.0; + out_3208607372720185681[128] = 0.0; + out_3208607372720185681[129] = 0.0; + out_3208607372720185681[130] = 0.0; + out_3208607372720185681[131] = 0.0; + out_3208607372720185681[132] = 0.0; + out_3208607372720185681[133] = 1.0; + out_3208607372720185681[134] = 0.0; + out_3208607372720185681[135] = 0.0; + out_3208607372720185681[136] = 0.0; + out_3208607372720185681[137] = 0.0; + out_3208607372720185681[138] = 0.0; + out_3208607372720185681[139] = 0.0; + out_3208607372720185681[140] = 0.0; + out_3208607372720185681[141] = 0.0; + out_3208607372720185681[142] = 0.0; + out_3208607372720185681[143] = 0.0; + out_3208607372720185681[144] = 0.0; + out_3208607372720185681[145] = 0.0; + out_3208607372720185681[146] = 0.0; + out_3208607372720185681[147] = 0.0; + out_3208607372720185681[148] = 0.0; + out_3208607372720185681[149] = 0.0; + out_3208607372720185681[150] = 0.0; + out_3208607372720185681[151] = 0.0; + out_3208607372720185681[152] = 1.0; + out_3208607372720185681[153] = 0.0; + out_3208607372720185681[154] = 0.0; + out_3208607372720185681[155] = 0.0; + out_3208607372720185681[156] = 0.0; + out_3208607372720185681[157] = 0.0; + out_3208607372720185681[158] = 0.0; + out_3208607372720185681[159] = 0.0; + out_3208607372720185681[160] = 0.0; + out_3208607372720185681[161] = 0.0; + out_3208607372720185681[162] = 0.0; + out_3208607372720185681[163] = 0.0; + out_3208607372720185681[164] = 0.0; + out_3208607372720185681[165] = 0.0; + out_3208607372720185681[166] = 0.0; + out_3208607372720185681[167] = 0.0; + out_3208607372720185681[168] = 0.0; + out_3208607372720185681[169] = 0.0; + out_3208607372720185681[170] = 0.0; + out_3208607372720185681[171] = 1.0; + out_3208607372720185681[172] = 0.0; + out_3208607372720185681[173] = 0.0; + out_3208607372720185681[174] = 0.0; + out_3208607372720185681[175] = 0.0; + out_3208607372720185681[176] = 0.0; + out_3208607372720185681[177] = 0.0; + out_3208607372720185681[178] = 0.0; + out_3208607372720185681[179] = 0.0; + out_3208607372720185681[180] = 0.0; + out_3208607372720185681[181] = 0.0; + out_3208607372720185681[182] = 0.0; + out_3208607372720185681[183] = 0.0; + out_3208607372720185681[184] = 0.0; + out_3208607372720185681[185] = 0.0; + out_3208607372720185681[186] = 0.0; + out_3208607372720185681[187] = 0.0; + out_3208607372720185681[188] = 0.0; + out_3208607372720185681[189] = 0.0; + out_3208607372720185681[190] = 1.0; + out_3208607372720185681[191] = 0.0; + out_3208607372720185681[192] = 0.0; + out_3208607372720185681[193] = 0.0; + out_3208607372720185681[194] = 0.0; + out_3208607372720185681[195] = 0.0; + out_3208607372720185681[196] = 0.0; + out_3208607372720185681[197] = 0.0; + out_3208607372720185681[198] = 0.0; + out_3208607372720185681[199] = 0.0; + out_3208607372720185681[200] = 0.0; + out_3208607372720185681[201] = 0.0; + out_3208607372720185681[202] = 0.0; + out_3208607372720185681[203] = 0.0; + out_3208607372720185681[204] = 0.0; + out_3208607372720185681[205] = 0.0; + out_3208607372720185681[206] = 0.0; + out_3208607372720185681[207] = 0.0; + out_3208607372720185681[208] = 0.0; + out_3208607372720185681[209] = 1.0; + out_3208607372720185681[210] = 0.0; + out_3208607372720185681[211] = 0.0; + out_3208607372720185681[212] = 0.0; + out_3208607372720185681[213] = 0.0; + out_3208607372720185681[214] = 0.0; + out_3208607372720185681[215] = 0.0; + out_3208607372720185681[216] = 0.0; + out_3208607372720185681[217] = 0.0; + out_3208607372720185681[218] = 0.0; + out_3208607372720185681[219] = 0.0; + out_3208607372720185681[220] = 0.0; + out_3208607372720185681[221] = 0.0; + out_3208607372720185681[222] = 0.0; + out_3208607372720185681[223] = 0.0; + out_3208607372720185681[224] = 0.0; + out_3208607372720185681[225] = 0.0; + out_3208607372720185681[226] = 0.0; + out_3208607372720185681[227] = 0.0; + out_3208607372720185681[228] = 1.0; + out_3208607372720185681[229] = 0.0; + out_3208607372720185681[230] = 0.0; + out_3208607372720185681[231] = 0.0; + out_3208607372720185681[232] = 0.0; + out_3208607372720185681[233] = 0.0; + out_3208607372720185681[234] = 0.0; + out_3208607372720185681[235] = 0.0; + out_3208607372720185681[236] = 0.0; + out_3208607372720185681[237] = 0.0; + out_3208607372720185681[238] = 0.0; + out_3208607372720185681[239] = 0.0; + out_3208607372720185681[240] = 0.0; + out_3208607372720185681[241] = 0.0; + out_3208607372720185681[242] = 0.0; + out_3208607372720185681[243] = 0.0; + out_3208607372720185681[244] = 0.0; + out_3208607372720185681[245] = 0.0; + out_3208607372720185681[246] = 0.0; + out_3208607372720185681[247] = 1.0; + out_3208607372720185681[248] = 0.0; + out_3208607372720185681[249] = 0.0; + out_3208607372720185681[250] = 0.0; + out_3208607372720185681[251] = 0.0; + out_3208607372720185681[252] = 0.0; + out_3208607372720185681[253] = 0.0; + out_3208607372720185681[254] = 0.0; + out_3208607372720185681[255] = 0.0; + out_3208607372720185681[256] = 0.0; + out_3208607372720185681[257] = 0.0; + out_3208607372720185681[258] = 0.0; + out_3208607372720185681[259] = 0.0; + out_3208607372720185681[260] = 0.0; + out_3208607372720185681[261] = 0.0; + out_3208607372720185681[262] = 0.0; + out_3208607372720185681[263] = 0.0; + out_3208607372720185681[264] = 0.0; + out_3208607372720185681[265] = 0.0; + out_3208607372720185681[266] = 1.0; + out_3208607372720185681[267] = 0.0; + out_3208607372720185681[268] = 0.0; + out_3208607372720185681[269] = 0.0; + out_3208607372720185681[270] = 0.0; + out_3208607372720185681[271] = 0.0; + out_3208607372720185681[272] = 0.0; + out_3208607372720185681[273] = 0.0; + out_3208607372720185681[274] = 0.0; + out_3208607372720185681[275] = 0.0; + out_3208607372720185681[276] = 0.0; + out_3208607372720185681[277] = 0.0; + out_3208607372720185681[278] = 0.0; + out_3208607372720185681[279] = 0.0; + out_3208607372720185681[280] = 0.0; + out_3208607372720185681[281] = 0.0; + out_3208607372720185681[282] = 0.0; + out_3208607372720185681[283] = 0.0; + out_3208607372720185681[284] = 0.0; + out_3208607372720185681[285] = 1.0; + out_3208607372720185681[286] = 0.0; + out_3208607372720185681[287] = 0.0; + out_3208607372720185681[288] = 0.0; + out_3208607372720185681[289] = 0.0; + out_3208607372720185681[290] = 0.0; + out_3208607372720185681[291] = 0.0; + out_3208607372720185681[292] = 0.0; + out_3208607372720185681[293] = 0.0; + out_3208607372720185681[294] = 0.0; + out_3208607372720185681[295] = 0.0; + out_3208607372720185681[296] = 0.0; + out_3208607372720185681[297] = 0.0; + out_3208607372720185681[298] = 0.0; + out_3208607372720185681[299] = 0.0; + out_3208607372720185681[300] = 0.0; + out_3208607372720185681[301] = 0.0; + out_3208607372720185681[302] = 0.0; + out_3208607372720185681[303] = 0.0; + out_3208607372720185681[304] = 1.0; + out_3208607372720185681[305] = 0.0; + out_3208607372720185681[306] = 0.0; + out_3208607372720185681[307] = 0.0; + out_3208607372720185681[308] = 0.0; + out_3208607372720185681[309] = 0.0; + out_3208607372720185681[310] = 0.0; + out_3208607372720185681[311] = 0.0; + out_3208607372720185681[312] = 0.0; + out_3208607372720185681[313] = 0.0; + out_3208607372720185681[314] = 0.0; + out_3208607372720185681[315] = 0.0; + out_3208607372720185681[316] = 0.0; + out_3208607372720185681[317] = 0.0; + out_3208607372720185681[318] = 0.0; + out_3208607372720185681[319] = 0.0; + out_3208607372720185681[320] = 0.0; + out_3208607372720185681[321] = 0.0; + out_3208607372720185681[322] = 0.0; + out_3208607372720185681[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4539628665192259779) { - out_4539628665192259779[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_4539628665192259779[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_4539628665192259779[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_4539628665192259779[3] = dt*state[12] + state[3]; - out_4539628665192259779[4] = dt*state[13] + state[4]; - out_4539628665192259779[5] = dt*state[14] + state[5]; - out_4539628665192259779[6] = state[6]; - out_4539628665192259779[7] = state[7]; - out_4539628665192259779[8] = state[8]; - out_4539628665192259779[9] = state[9]; - out_4539628665192259779[10] = state[10]; - out_4539628665192259779[11] = state[11]; - out_4539628665192259779[12] = state[12]; - out_4539628665192259779[13] = state[13]; - out_4539628665192259779[14] = state[14]; - out_4539628665192259779[15] = state[15]; - out_4539628665192259779[16] = state[16]; - out_4539628665192259779[17] = state[17]; +void f_fun(double *state, double dt, double *out_6464550598295734542) { + out_6464550598295734542[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_6464550598295734542[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_6464550598295734542[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_6464550598295734542[3] = dt*state[12] + state[3]; + out_6464550598295734542[4] = dt*state[13] + state[4]; + out_6464550598295734542[5] = dt*state[14] + state[5]; + out_6464550598295734542[6] = state[6]; + out_6464550598295734542[7] = state[7]; + out_6464550598295734542[8] = state[8]; + out_6464550598295734542[9] = state[9]; + out_6464550598295734542[10] = state[10]; + out_6464550598295734542[11] = state[11]; + out_6464550598295734542[12] = state[12]; + out_6464550598295734542[13] = state[13]; + out_6464550598295734542[14] = state[14]; + out_6464550598295734542[15] = state[15]; + out_6464550598295734542[16] = state[16]; + out_6464550598295734542[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4279109943705499799) { - out_4279109943705499799[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_4279109943705499799[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_4279109943705499799[2] = 0; - out_4279109943705499799[3] = 0; - out_4279109943705499799[4] = 0; - out_4279109943705499799[5] = 0; - out_4279109943705499799[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_4279109943705499799[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_4279109943705499799[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_4279109943705499799[9] = 0; - out_4279109943705499799[10] = 0; - out_4279109943705499799[11] = 0; - out_4279109943705499799[12] = 0; - out_4279109943705499799[13] = 0; - out_4279109943705499799[14] = 0; - out_4279109943705499799[15] = 0; - out_4279109943705499799[16] = 0; - out_4279109943705499799[17] = 0; - out_4279109943705499799[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_4279109943705499799[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_4279109943705499799[20] = 0; - out_4279109943705499799[21] = 0; - out_4279109943705499799[22] = 0; - out_4279109943705499799[23] = 0; - out_4279109943705499799[24] = 0; - out_4279109943705499799[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_4279109943705499799[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_4279109943705499799[27] = 0; - out_4279109943705499799[28] = 0; - out_4279109943705499799[29] = 0; - out_4279109943705499799[30] = 0; - out_4279109943705499799[31] = 0; - out_4279109943705499799[32] = 0; - out_4279109943705499799[33] = 0; - out_4279109943705499799[34] = 0; - out_4279109943705499799[35] = 0; - out_4279109943705499799[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_4279109943705499799[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_4279109943705499799[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_4279109943705499799[39] = 0; - out_4279109943705499799[40] = 0; - out_4279109943705499799[41] = 0; - out_4279109943705499799[42] = 0; - out_4279109943705499799[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_4279109943705499799[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_4279109943705499799[45] = 0; - out_4279109943705499799[46] = 0; - out_4279109943705499799[47] = 0; - out_4279109943705499799[48] = 0; - out_4279109943705499799[49] = 0; - out_4279109943705499799[50] = 0; - out_4279109943705499799[51] = 0; - out_4279109943705499799[52] = 0; - out_4279109943705499799[53] = 0; - out_4279109943705499799[54] = 0; - out_4279109943705499799[55] = 0; - out_4279109943705499799[56] = 0; - out_4279109943705499799[57] = 1; - out_4279109943705499799[58] = 0; - out_4279109943705499799[59] = 0; - out_4279109943705499799[60] = 0; - out_4279109943705499799[61] = 0; - out_4279109943705499799[62] = 0; - out_4279109943705499799[63] = 0; - out_4279109943705499799[64] = 0; - out_4279109943705499799[65] = 0; - out_4279109943705499799[66] = dt; - out_4279109943705499799[67] = 0; - out_4279109943705499799[68] = 0; - out_4279109943705499799[69] = 0; - out_4279109943705499799[70] = 0; - out_4279109943705499799[71] = 0; - out_4279109943705499799[72] = 0; - out_4279109943705499799[73] = 0; - out_4279109943705499799[74] = 0; - out_4279109943705499799[75] = 0; - out_4279109943705499799[76] = 1; - out_4279109943705499799[77] = 0; - out_4279109943705499799[78] = 0; - out_4279109943705499799[79] = 0; - out_4279109943705499799[80] = 0; - out_4279109943705499799[81] = 0; - out_4279109943705499799[82] = 0; - out_4279109943705499799[83] = 0; - out_4279109943705499799[84] = 0; - out_4279109943705499799[85] = dt; - out_4279109943705499799[86] = 0; - out_4279109943705499799[87] = 0; - out_4279109943705499799[88] = 0; - out_4279109943705499799[89] = 0; - out_4279109943705499799[90] = 0; - out_4279109943705499799[91] = 0; - out_4279109943705499799[92] = 0; - out_4279109943705499799[93] = 0; - out_4279109943705499799[94] = 0; - out_4279109943705499799[95] = 1; - out_4279109943705499799[96] = 0; - out_4279109943705499799[97] = 0; - out_4279109943705499799[98] = 0; - out_4279109943705499799[99] = 0; - out_4279109943705499799[100] = 0; - out_4279109943705499799[101] = 0; - out_4279109943705499799[102] = 0; - out_4279109943705499799[103] = 0; - out_4279109943705499799[104] = dt; - out_4279109943705499799[105] = 0; - out_4279109943705499799[106] = 0; - out_4279109943705499799[107] = 0; - out_4279109943705499799[108] = 0; - out_4279109943705499799[109] = 0; - out_4279109943705499799[110] = 0; - out_4279109943705499799[111] = 0; - out_4279109943705499799[112] = 0; - out_4279109943705499799[113] = 0; - out_4279109943705499799[114] = 1; - out_4279109943705499799[115] = 0; - out_4279109943705499799[116] = 0; - out_4279109943705499799[117] = 0; - out_4279109943705499799[118] = 0; - out_4279109943705499799[119] = 0; - out_4279109943705499799[120] = 0; - out_4279109943705499799[121] = 0; - out_4279109943705499799[122] = 0; - out_4279109943705499799[123] = 0; - out_4279109943705499799[124] = 0; - out_4279109943705499799[125] = 0; - out_4279109943705499799[126] = 0; - out_4279109943705499799[127] = 0; - out_4279109943705499799[128] = 0; - out_4279109943705499799[129] = 0; - out_4279109943705499799[130] = 0; - out_4279109943705499799[131] = 0; - out_4279109943705499799[132] = 0; - out_4279109943705499799[133] = 1; - out_4279109943705499799[134] = 0; - out_4279109943705499799[135] = 0; - out_4279109943705499799[136] = 0; - out_4279109943705499799[137] = 0; - out_4279109943705499799[138] = 0; - out_4279109943705499799[139] = 0; - out_4279109943705499799[140] = 0; - out_4279109943705499799[141] = 0; - out_4279109943705499799[142] = 0; - out_4279109943705499799[143] = 0; - out_4279109943705499799[144] = 0; - out_4279109943705499799[145] = 0; - out_4279109943705499799[146] = 0; - out_4279109943705499799[147] = 0; - out_4279109943705499799[148] = 0; - out_4279109943705499799[149] = 0; - out_4279109943705499799[150] = 0; - out_4279109943705499799[151] = 0; - out_4279109943705499799[152] = 1; - out_4279109943705499799[153] = 0; - out_4279109943705499799[154] = 0; - out_4279109943705499799[155] = 0; - out_4279109943705499799[156] = 0; - out_4279109943705499799[157] = 0; - out_4279109943705499799[158] = 0; - out_4279109943705499799[159] = 0; - out_4279109943705499799[160] = 0; - out_4279109943705499799[161] = 0; - out_4279109943705499799[162] = 0; - out_4279109943705499799[163] = 0; - out_4279109943705499799[164] = 0; - out_4279109943705499799[165] = 0; - out_4279109943705499799[166] = 0; - out_4279109943705499799[167] = 0; - out_4279109943705499799[168] = 0; - out_4279109943705499799[169] = 0; - out_4279109943705499799[170] = 0; - out_4279109943705499799[171] = 1; - out_4279109943705499799[172] = 0; - out_4279109943705499799[173] = 0; - out_4279109943705499799[174] = 0; - out_4279109943705499799[175] = 0; - out_4279109943705499799[176] = 0; - out_4279109943705499799[177] = 0; - out_4279109943705499799[178] = 0; - out_4279109943705499799[179] = 0; - out_4279109943705499799[180] = 0; - out_4279109943705499799[181] = 0; - out_4279109943705499799[182] = 0; - out_4279109943705499799[183] = 0; - out_4279109943705499799[184] = 0; - out_4279109943705499799[185] = 0; - out_4279109943705499799[186] = 0; - out_4279109943705499799[187] = 0; - out_4279109943705499799[188] = 0; - out_4279109943705499799[189] = 0; - out_4279109943705499799[190] = 1; - out_4279109943705499799[191] = 0; - out_4279109943705499799[192] = 0; - out_4279109943705499799[193] = 0; - out_4279109943705499799[194] = 0; - out_4279109943705499799[195] = 0; - out_4279109943705499799[196] = 0; - out_4279109943705499799[197] = 0; - out_4279109943705499799[198] = 0; - out_4279109943705499799[199] = 0; - out_4279109943705499799[200] = 0; - out_4279109943705499799[201] = 0; - out_4279109943705499799[202] = 0; - out_4279109943705499799[203] = 0; - out_4279109943705499799[204] = 0; - out_4279109943705499799[205] = 0; - out_4279109943705499799[206] = 0; - out_4279109943705499799[207] = 0; - out_4279109943705499799[208] = 0; - out_4279109943705499799[209] = 1; - out_4279109943705499799[210] = 0; - out_4279109943705499799[211] = 0; - out_4279109943705499799[212] = 0; - out_4279109943705499799[213] = 0; - out_4279109943705499799[214] = 0; - out_4279109943705499799[215] = 0; - out_4279109943705499799[216] = 0; - out_4279109943705499799[217] = 0; - out_4279109943705499799[218] = 0; - out_4279109943705499799[219] = 0; - out_4279109943705499799[220] = 0; - out_4279109943705499799[221] = 0; - out_4279109943705499799[222] = 0; - out_4279109943705499799[223] = 0; - out_4279109943705499799[224] = 0; - out_4279109943705499799[225] = 0; - out_4279109943705499799[226] = 0; - out_4279109943705499799[227] = 0; - out_4279109943705499799[228] = 1; - out_4279109943705499799[229] = 0; - out_4279109943705499799[230] = 0; - out_4279109943705499799[231] = 0; - out_4279109943705499799[232] = 0; - out_4279109943705499799[233] = 0; - out_4279109943705499799[234] = 0; - out_4279109943705499799[235] = 0; - out_4279109943705499799[236] = 0; - out_4279109943705499799[237] = 0; - out_4279109943705499799[238] = 0; - out_4279109943705499799[239] = 0; - out_4279109943705499799[240] = 0; - out_4279109943705499799[241] = 0; - out_4279109943705499799[242] = 0; - out_4279109943705499799[243] = 0; - out_4279109943705499799[244] = 0; - out_4279109943705499799[245] = 0; - out_4279109943705499799[246] = 0; - out_4279109943705499799[247] = 1; - out_4279109943705499799[248] = 0; - out_4279109943705499799[249] = 0; - out_4279109943705499799[250] = 0; - out_4279109943705499799[251] = 0; - out_4279109943705499799[252] = 0; - out_4279109943705499799[253] = 0; - out_4279109943705499799[254] = 0; - out_4279109943705499799[255] = 0; - out_4279109943705499799[256] = 0; - out_4279109943705499799[257] = 0; - out_4279109943705499799[258] = 0; - out_4279109943705499799[259] = 0; - out_4279109943705499799[260] = 0; - out_4279109943705499799[261] = 0; - out_4279109943705499799[262] = 0; - out_4279109943705499799[263] = 0; - out_4279109943705499799[264] = 0; - out_4279109943705499799[265] = 0; - out_4279109943705499799[266] = 1; - out_4279109943705499799[267] = 0; - out_4279109943705499799[268] = 0; - out_4279109943705499799[269] = 0; - out_4279109943705499799[270] = 0; - out_4279109943705499799[271] = 0; - out_4279109943705499799[272] = 0; - out_4279109943705499799[273] = 0; - out_4279109943705499799[274] = 0; - out_4279109943705499799[275] = 0; - out_4279109943705499799[276] = 0; - out_4279109943705499799[277] = 0; - out_4279109943705499799[278] = 0; - out_4279109943705499799[279] = 0; - out_4279109943705499799[280] = 0; - out_4279109943705499799[281] = 0; - out_4279109943705499799[282] = 0; - out_4279109943705499799[283] = 0; - out_4279109943705499799[284] = 0; - out_4279109943705499799[285] = 1; - out_4279109943705499799[286] = 0; - out_4279109943705499799[287] = 0; - out_4279109943705499799[288] = 0; - out_4279109943705499799[289] = 0; - out_4279109943705499799[290] = 0; - out_4279109943705499799[291] = 0; - out_4279109943705499799[292] = 0; - out_4279109943705499799[293] = 0; - out_4279109943705499799[294] = 0; - out_4279109943705499799[295] = 0; - out_4279109943705499799[296] = 0; - out_4279109943705499799[297] = 0; - out_4279109943705499799[298] = 0; - out_4279109943705499799[299] = 0; - out_4279109943705499799[300] = 0; - out_4279109943705499799[301] = 0; - out_4279109943705499799[302] = 0; - out_4279109943705499799[303] = 0; - out_4279109943705499799[304] = 1; - out_4279109943705499799[305] = 0; - out_4279109943705499799[306] = 0; - out_4279109943705499799[307] = 0; - out_4279109943705499799[308] = 0; - out_4279109943705499799[309] = 0; - out_4279109943705499799[310] = 0; - out_4279109943705499799[311] = 0; - out_4279109943705499799[312] = 0; - out_4279109943705499799[313] = 0; - out_4279109943705499799[314] = 0; - out_4279109943705499799[315] = 0; - out_4279109943705499799[316] = 0; - out_4279109943705499799[317] = 0; - out_4279109943705499799[318] = 0; - out_4279109943705499799[319] = 0; - out_4279109943705499799[320] = 0; - out_4279109943705499799[321] = 0; - out_4279109943705499799[322] = 0; - out_4279109943705499799[323] = 1; +void F_fun(double *state, double dt, double *out_4669200903438633107) { + out_4669200903438633107[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_4669200903438633107[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_4669200903438633107[2] = 0; + out_4669200903438633107[3] = 0; + out_4669200903438633107[4] = 0; + out_4669200903438633107[5] = 0; + out_4669200903438633107[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_4669200903438633107[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_4669200903438633107[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_4669200903438633107[9] = 0; + out_4669200903438633107[10] = 0; + out_4669200903438633107[11] = 0; + out_4669200903438633107[12] = 0; + out_4669200903438633107[13] = 0; + out_4669200903438633107[14] = 0; + out_4669200903438633107[15] = 0; + out_4669200903438633107[16] = 0; + out_4669200903438633107[17] = 0; + out_4669200903438633107[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_4669200903438633107[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_4669200903438633107[20] = 0; + out_4669200903438633107[21] = 0; + out_4669200903438633107[22] = 0; + out_4669200903438633107[23] = 0; + out_4669200903438633107[24] = 0; + out_4669200903438633107[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_4669200903438633107[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_4669200903438633107[27] = 0; + out_4669200903438633107[28] = 0; + out_4669200903438633107[29] = 0; + out_4669200903438633107[30] = 0; + out_4669200903438633107[31] = 0; + out_4669200903438633107[32] = 0; + out_4669200903438633107[33] = 0; + out_4669200903438633107[34] = 0; + out_4669200903438633107[35] = 0; + out_4669200903438633107[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_4669200903438633107[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_4669200903438633107[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_4669200903438633107[39] = 0; + out_4669200903438633107[40] = 0; + out_4669200903438633107[41] = 0; + out_4669200903438633107[42] = 0; + out_4669200903438633107[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_4669200903438633107[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_4669200903438633107[45] = 0; + out_4669200903438633107[46] = 0; + out_4669200903438633107[47] = 0; + out_4669200903438633107[48] = 0; + out_4669200903438633107[49] = 0; + out_4669200903438633107[50] = 0; + out_4669200903438633107[51] = 0; + out_4669200903438633107[52] = 0; + out_4669200903438633107[53] = 0; + out_4669200903438633107[54] = 0; + out_4669200903438633107[55] = 0; + out_4669200903438633107[56] = 0; + out_4669200903438633107[57] = 1; + out_4669200903438633107[58] = 0; + out_4669200903438633107[59] = 0; + out_4669200903438633107[60] = 0; + out_4669200903438633107[61] = 0; + out_4669200903438633107[62] = 0; + out_4669200903438633107[63] = 0; + out_4669200903438633107[64] = 0; + out_4669200903438633107[65] = 0; + out_4669200903438633107[66] = dt; + out_4669200903438633107[67] = 0; + out_4669200903438633107[68] = 0; + out_4669200903438633107[69] = 0; + out_4669200903438633107[70] = 0; + out_4669200903438633107[71] = 0; + out_4669200903438633107[72] = 0; + out_4669200903438633107[73] = 0; + out_4669200903438633107[74] = 0; + out_4669200903438633107[75] = 0; + out_4669200903438633107[76] = 1; + out_4669200903438633107[77] = 0; + out_4669200903438633107[78] = 0; + out_4669200903438633107[79] = 0; + out_4669200903438633107[80] = 0; + out_4669200903438633107[81] = 0; + out_4669200903438633107[82] = 0; + out_4669200903438633107[83] = 0; + out_4669200903438633107[84] = 0; + out_4669200903438633107[85] = dt; + out_4669200903438633107[86] = 0; + out_4669200903438633107[87] = 0; + out_4669200903438633107[88] = 0; + out_4669200903438633107[89] = 0; + out_4669200903438633107[90] = 0; + out_4669200903438633107[91] = 0; + out_4669200903438633107[92] = 0; + out_4669200903438633107[93] = 0; + out_4669200903438633107[94] = 0; + out_4669200903438633107[95] = 1; + out_4669200903438633107[96] = 0; + out_4669200903438633107[97] = 0; + out_4669200903438633107[98] = 0; + out_4669200903438633107[99] = 0; + out_4669200903438633107[100] = 0; + out_4669200903438633107[101] = 0; + out_4669200903438633107[102] = 0; + out_4669200903438633107[103] = 0; + out_4669200903438633107[104] = dt; + out_4669200903438633107[105] = 0; + out_4669200903438633107[106] = 0; + out_4669200903438633107[107] = 0; + out_4669200903438633107[108] = 0; + out_4669200903438633107[109] = 0; + out_4669200903438633107[110] = 0; + out_4669200903438633107[111] = 0; + out_4669200903438633107[112] = 0; + out_4669200903438633107[113] = 0; + out_4669200903438633107[114] = 1; + out_4669200903438633107[115] = 0; + out_4669200903438633107[116] = 0; + out_4669200903438633107[117] = 0; + out_4669200903438633107[118] = 0; + out_4669200903438633107[119] = 0; + out_4669200903438633107[120] = 0; + out_4669200903438633107[121] = 0; + out_4669200903438633107[122] = 0; + out_4669200903438633107[123] = 0; + out_4669200903438633107[124] = 0; + out_4669200903438633107[125] = 0; + out_4669200903438633107[126] = 0; + out_4669200903438633107[127] = 0; + out_4669200903438633107[128] = 0; + out_4669200903438633107[129] = 0; + out_4669200903438633107[130] = 0; + out_4669200903438633107[131] = 0; + out_4669200903438633107[132] = 0; + out_4669200903438633107[133] = 1; + out_4669200903438633107[134] = 0; + out_4669200903438633107[135] = 0; + out_4669200903438633107[136] = 0; + out_4669200903438633107[137] = 0; + out_4669200903438633107[138] = 0; + out_4669200903438633107[139] = 0; + out_4669200903438633107[140] = 0; + out_4669200903438633107[141] = 0; + out_4669200903438633107[142] = 0; + out_4669200903438633107[143] = 0; + out_4669200903438633107[144] = 0; + out_4669200903438633107[145] = 0; + out_4669200903438633107[146] = 0; + out_4669200903438633107[147] = 0; + out_4669200903438633107[148] = 0; + out_4669200903438633107[149] = 0; + out_4669200903438633107[150] = 0; + out_4669200903438633107[151] = 0; + out_4669200903438633107[152] = 1; + out_4669200903438633107[153] = 0; + out_4669200903438633107[154] = 0; + out_4669200903438633107[155] = 0; + out_4669200903438633107[156] = 0; + out_4669200903438633107[157] = 0; + out_4669200903438633107[158] = 0; + out_4669200903438633107[159] = 0; + out_4669200903438633107[160] = 0; + out_4669200903438633107[161] = 0; + out_4669200903438633107[162] = 0; + out_4669200903438633107[163] = 0; + out_4669200903438633107[164] = 0; + out_4669200903438633107[165] = 0; + out_4669200903438633107[166] = 0; + out_4669200903438633107[167] = 0; + out_4669200903438633107[168] = 0; + out_4669200903438633107[169] = 0; + out_4669200903438633107[170] = 0; + out_4669200903438633107[171] = 1; + out_4669200903438633107[172] = 0; + out_4669200903438633107[173] = 0; + out_4669200903438633107[174] = 0; + out_4669200903438633107[175] = 0; + out_4669200903438633107[176] = 0; + out_4669200903438633107[177] = 0; + out_4669200903438633107[178] = 0; + out_4669200903438633107[179] = 0; + out_4669200903438633107[180] = 0; + out_4669200903438633107[181] = 0; + out_4669200903438633107[182] = 0; + out_4669200903438633107[183] = 0; + out_4669200903438633107[184] = 0; + out_4669200903438633107[185] = 0; + out_4669200903438633107[186] = 0; + out_4669200903438633107[187] = 0; + out_4669200903438633107[188] = 0; + out_4669200903438633107[189] = 0; + out_4669200903438633107[190] = 1; + out_4669200903438633107[191] = 0; + out_4669200903438633107[192] = 0; + out_4669200903438633107[193] = 0; + out_4669200903438633107[194] = 0; + out_4669200903438633107[195] = 0; + out_4669200903438633107[196] = 0; + out_4669200903438633107[197] = 0; + out_4669200903438633107[198] = 0; + out_4669200903438633107[199] = 0; + out_4669200903438633107[200] = 0; + out_4669200903438633107[201] = 0; + out_4669200903438633107[202] = 0; + out_4669200903438633107[203] = 0; + out_4669200903438633107[204] = 0; + out_4669200903438633107[205] = 0; + out_4669200903438633107[206] = 0; + out_4669200903438633107[207] = 0; + out_4669200903438633107[208] = 0; + out_4669200903438633107[209] = 1; + out_4669200903438633107[210] = 0; + out_4669200903438633107[211] = 0; + out_4669200903438633107[212] = 0; + out_4669200903438633107[213] = 0; + out_4669200903438633107[214] = 0; + out_4669200903438633107[215] = 0; + out_4669200903438633107[216] = 0; + out_4669200903438633107[217] = 0; + out_4669200903438633107[218] = 0; + out_4669200903438633107[219] = 0; + out_4669200903438633107[220] = 0; + out_4669200903438633107[221] = 0; + out_4669200903438633107[222] = 0; + out_4669200903438633107[223] = 0; + out_4669200903438633107[224] = 0; + out_4669200903438633107[225] = 0; + out_4669200903438633107[226] = 0; + out_4669200903438633107[227] = 0; + out_4669200903438633107[228] = 1; + out_4669200903438633107[229] = 0; + out_4669200903438633107[230] = 0; + out_4669200903438633107[231] = 0; + out_4669200903438633107[232] = 0; + out_4669200903438633107[233] = 0; + out_4669200903438633107[234] = 0; + out_4669200903438633107[235] = 0; + out_4669200903438633107[236] = 0; + out_4669200903438633107[237] = 0; + out_4669200903438633107[238] = 0; + out_4669200903438633107[239] = 0; + out_4669200903438633107[240] = 0; + out_4669200903438633107[241] = 0; + out_4669200903438633107[242] = 0; + out_4669200903438633107[243] = 0; + out_4669200903438633107[244] = 0; + out_4669200903438633107[245] = 0; + out_4669200903438633107[246] = 0; + out_4669200903438633107[247] = 1; + out_4669200903438633107[248] = 0; + out_4669200903438633107[249] = 0; + out_4669200903438633107[250] = 0; + out_4669200903438633107[251] = 0; + out_4669200903438633107[252] = 0; + out_4669200903438633107[253] = 0; + out_4669200903438633107[254] = 0; + out_4669200903438633107[255] = 0; + out_4669200903438633107[256] = 0; + out_4669200903438633107[257] = 0; + out_4669200903438633107[258] = 0; + out_4669200903438633107[259] = 0; + out_4669200903438633107[260] = 0; + out_4669200903438633107[261] = 0; + out_4669200903438633107[262] = 0; + out_4669200903438633107[263] = 0; + out_4669200903438633107[264] = 0; + out_4669200903438633107[265] = 0; + out_4669200903438633107[266] = 1; + out_4669200903438633107[267] = 0; + out_4669200903438633107[268] = 0; + out_4669200903438633107[269] = 0; + out_4669200903438633107[270] = 0; + out_4669200903438633107[271] = 0; + out_4669200903438633107[272] = 0; + out_4669200903438633107[273] = 0; + out_4669200903438633107[274] = 0; + out_4669200903438633107[275] = 0; + out_4669200903438633107[276] = 0; + out_4669200903438633107[277] = 0; + out_4669200903438633107[278] = 0; + out_4669200903438633107[279] = 0; + out_4669200903438633107[280] = 0; + out_4669200903438633107[281] = 0; + out_4669200903438633107[282] = 0; + out_4669200903438633107[283] = 0; + out_4669200903438633107[284] = 0; + out_4669200903438633107[285] = 1; + out_4669200903438633107[286] = 0; + out_4669200903438633107[287] = 0; + out_4669200903438633107[288] = 0; + out_4669200903438633107[289] = 0; + out_4669200903438633107[290] = 0; + out_4669200903438633107[291] = 0; + out_4669200903438633107[292] = 0; + out_4669200903438633107[293] = 0; + out_4669200903438633107[294] = 0; + out_4669200903438633107[295] = 0; + out_4669200903438633107[296] = 0; + out_4669200903438633107[297] = 0; + out_4669200903438633107[298] = 0; + out_4669200903438633107[299] = 0; + out_4669200903438633107[300] = 0; + out_4669200903438633107[301] = 0; + out_4669200903438633107[302] = 0; + out_4669200903438633107[303] = 0; + out_4669200903438633107[304] = 1; + out_4669200903438633107[305] = 0; + out_4669200903438633107[306] = 0; + out_4669200903438633107[307] = 0; + out_4669200903438633107[308] = 0; + out_4669200903438633107[309] = 0; + out_4669200903438633107[310] = 0; + out_4669200903438633107[311] = 0; + out_4669200903438633107[312] = 0; + out_4669200903438633107[313] = 0; + out_4669200903438633107[314] = 0; + out_4669200903438633107[315] = 0; + out_4669200903438633107[316] = 0; + out_4669200903438633107[317] = 0; + out_4669200903438633107[318] = 0; + out_4669200903438633107[319] = 0; + out_4669200903438633107[320] = 0; + out_4669200903438633107[321] = 0; + out_4669200903438633107[322] = 0; + out_4669200903438633107[323] = 1; } -void h_4(double *state, double *unused, double *out_4468827944582346069) { - out_4468827944582346069[0] = state[6] + state[9]; - out_4468827944582346069[1] = state[7] + state[10]; - out_4468827944582346069[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5330802774113093904) { + out_5330802774113093904[0] = state[6] + state[9]; + out_5330802774113093904[1] = state[7] + state[10]; + out_5330802774113093904[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4576631161314830376) { - out_4576631161314830376[0] = 0; - out_4576631161314830376[1] = 0; - out_4576631161314830376[2] = 0; - out_4576631161314830376[3] = 0; - out_4576631161314830376[4] = 0; - out_4576631161314830376[5] = 0; - out_4576631161314830376[6] = 1; - out_4576631161314830376[7] = 0; - out_4576631161314830376[8] = 0; - out_4576631161314830376[9] = 1; - out_4576631161314830376[10] = 0; - out_4576631161314830376[11] = 0; - out_4576631161314830376[12] = 0; - out_4576631161314830376[13] = 0; - out_4576631161314830376[14] = 0; - out_4576631161314830376[15] = 0; - out_4576631161314830376[16] = 0; - out_4576631161314830376[17] = 0; - out_4576631161314830376[18] = 0; - out_4576631161314830376[19] = 0; - out_4576631161314830376[20] = 0; - out_4576631161314830376[21] = 0; - out_4576631161314830376[22] = 0; - out_4576631161314830376[23] = 0; - out_4576631161314830376[24] = 0; - out_4576631161314830376[25] = 1; - out_4576631161314830376[26] = 0; - out_4576631161314830376[27] = 0; - out_4576631161314830376[28] = 1; - out_4576631161314830376[29] = 0; - out_4576631161314830376[30] = 0; - out_4576631161314830376[31] = 0; - out_4576631161314830376[32] = 0; - out_4576631161314830376[33] = 0; - out_4576631161314830376[34] = 0; - out_4576631161314830376[35] = 0; - out_4576631161314830376[36] = 0; - out_4576631161314830376[37] = 0; - out_4576631161314830376[38] = 0; - out_4576631161314830376[39] = 0; - out_4576631161314830376[40] = 0; - out_4576631161314830376[41] = 0; - out_4576631161314830376[42] = 0; - out_4576631161314830376[43] = 0; - out_4576631161314830376[44] = 1; - out_4576631161314830376[45] = 0; - out_4576631161314830376[46] = 0; - out_4576631161314830376[47] = 1; - out_4576631161314830376[48] = 0; - out_4576631161314830376[49] = 0; - out_4576631161314830376[50] = 0; - out_4576631161314830376[51] = 0; - out_4576631161314830376[52] = 0; - out_4576631161314830376[53] = 0; +void H_4(double *state, double *unused, double *out_2454446370665473074) { + out_2454446370665473074[0] = 0; + out_2454446370665473074[1] = 0; + out_2454446370665473074[2] = 0; + out_2454446370665473074[3] = 0; + out_2454446370665473074[4] = 0; + out_2454446370665473074[5] = 0; + out_2454446370665473074[6] = 1; + out_2454446370665473074[7] = 0; + out_2454446370665473074[8] = 0; + out_2454446370665473074[9] = 1; + out_2454446370665473074[10] = 0; + out_2454446370665473074[11] = 0; + out_2454446370665473074[12] = 0; + out_2454446370665473074[13] = 0; + out_2454446370665473074[14] = 0; + out_2454446370665473074[15] = 0; + out_2454446370665473074[16] = 0; + out_2454446370665473074[17] = 0; + out_2454446370665473074[18] = 0; + out_2454446370665473074[19] = 0; + out_2454446370665473074[20] = 0; + out_2454446370665473074[21] = 0; + out_2454446370665473074[22] = 0; + out_2454446370665473074[23] = 0; + out_2454446370665473074[24] = 0; + out_2454446370665473074[25] = 1; + out_2454446370665473074[26] = 0; + out_2454446370665473074[27] = 0; + out_2454446370665473074[28] = 1; + out_2454446370665473074[29] = 0; + out_2454446370665473074[30] = 0; + out_2454446370665473074[31] = 0; + out_2454446370665473074[32] = 0; + out_2454446370665473074[33] = 0; + out_2454446370665473074[34] = 0; + out_2454446370665473074[35] = 0; + out_2454446370665473074[36] = 0; + out_2454446370665473074[37] = 0; + out_2454446370665473074[38] = 0; + out_2454446370665473074[39] = 0; + out_2454446370665473074[40] = 0; + out_2454446370665473074[41] = 0; + out_2454446370665473074[42] = 0; + out_2454446370665473074[43] = 0; + out_2454446370665473074[44] = 1; + out_2454446370665473074[45] = 0; + out_2454446370665473074[46] = 0; + out_2454446370665473074[47] = 1; + out_2454446370665473074[48] = 0; + out_2454446370665473074[49] = 0; + out_2454446370665473074[50] = 0; + out_2454446370665473074[51] = 0; + out_2454446370665473074[52] = 0; + out_2454446370665473074[53] = 0; } -void h_10(double *state, double *unused, double *out_7687610123346311094) { - out_7687610123346311094[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7687610123346311094[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7687610123346311094[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_6487917254077376695) { + out_6487917254077376695[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6487917254077376695[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6487917254077376695[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_1094040887207712728) { - out_1094040887207712728[0] = 0; - out_1094040887207712728[1] = 9.8100000000000005*cos(state[1]); - out_1094040887207712728[2] = 0; - out_1094040887207712728[3] = 0; - out_1094040887207712728[4] = -state[8]; - out_1094040887207712728[5] = state[7]; - out_1094040887207712728[6] = 0; - out_1094040887207712728[7] = state[5]; - out_1094040887207712728[8] = -state[4]; - out_1094040887207712728[9] = 0; - out_1094040887207712728[10] = 0; - out_1094040887207712728[11] = 0; - out_1094040887207712728[12] = 1; - out_1094040887207712728[13] = 0; - out_1094040887207712728[14] = 0; - out_1094040887207712728[15] = 1; - out_1094040887207712728[16] = 0; - out_1094040887207712728[17] = 0; - out_1094040887207712728[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1094040887207712728[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1094040887207712728[20] = 0; - out_1094040887207712728[21] = state[8]; - out_1094040887207712728[22] = 0; - out_1094040887207712728[23] = -state[6]; - out_1094040887207712728[24] = -state[5]; - out_1094040887207712728[25] = 0; - out_1094040887207712728[26] = state[3]; - out_1094040887207712728[27] = 0; - out_1094040887207712728[28] = 0; - out_1094040887207712728[29] = 0; - out_1094040887207712728[30] = 0; - out_1094040887207712728[31] = 1; - out_1094040887207712728[32] = 0; - out_1094040887207712728[33] = 0; - out_1094040887207712728[34] = 1; - out_1094040887207712728[35] = 0; - out_1094040887207712728[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1094040887207712728[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1094040887207712728[38] = 0; - out_1094040887207712728[39] = -state[7]; - out_1094040887207712728[40] = state[6]; - out_1094040887207712728[41] = 0; - out_1094040887207712728[42] = state[4]; - out_1094040887207712728[43] = -state[3]; - out_1094040887207712728[44] = 0; - out_1094040887207712728[45] = 0; - out_1094040887207712728[46] = 0; - out_1094040887207712728[47] = 0; - out_1094040887207712728[48] = 0; - out_1094040887207712728[49] = 0; - out_1094040887207712728[50] = 1; - out_1094040887207712728[51] = 0; - out_1094040887207712728[52] = 0; - out_1094040887207712728[53] = 1; +void H_10(double *state, double *unused, double *out_63197332932821273) { + out_63197332932821273[0] = 0; + out_63197332932821273[1] = 9.8100000000000005*cos(state[1]); + out_63197332932821273[2] = 0; + out_63197332932821273[3] = 0; + out_63197332932821273[4] = -state[8]; + out_63197332932821273[5] = state[7]; + out_63197332932821273[6] = 0; + out_63197332932821273[7] = state[5]; + out_63197332932821273[8] = -state[4]; + out_63197332932821273[9] = 0; + out_63197332932821273[10] = 0; + out_63197332932821273[11] = 0; + out_63197332932821273[12] = 1; + out_63197332932821273[13] = 0; + out_63197332932821273[14] = 0; + out_63197332932821273[15] = 1; + out_63197332932821273[16] = 0; + out_63197332932821273[17] = 0; + out_63197332932821273[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_63197332932821273[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_63197332932821273[20] = 0; + out_63197332932821273[21] = state[8]; + out_63197332932821273[22] = 0; + out_63197332932821273[23] = -state[6]; + out_63197332932821273[24] = -state[5]; + out_63197332932821273[25] = 0; + out_63197332932821273[26] = state[3]; + out_63197332932821273[27] = 0; + out_63197332932821273[28] = 0; + out_63197332932821273[29] = 0; + out_63197332932821273[30] = 0; + out_63197332932821273[31] = 1; + out_63197332932821273[32] = 0; + out_63197332932821273[33] = 0; + out_63197332932821273[34] = 1; + out_63197332932821273[35] = 0; + out_63197332932821273[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_63197332932821273[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_63197332932821273[38] = 0; + out_63197332932821273[39] = -state[7]; + out_63197332932821273[40] = state[6]; + out_63197332932821273[41] = 0; + out_63197332932821273[42] = state[4]; + out_63197332932821273[43] = -state[3]; + out_63197332932821273[44] = 0; + out_63197332932821273[45] = 0; + out_63197332932821273[46] = 0; + out_63197332932821273[47] = 0; + out_63197332932821273[48] = 0; + out_63197332932821273[49] = 0; + out_63197332932821273[50] = 1; + out_63197332932821273[51] = 0; + out_63197332932821273[52] = 0; + out_63197332932821273[53] = 1; } -void h_13(double *state, double *unused, double *out_649951466656749498) { - out_649951466656749498[0] = state[3]; - out_649951466656749498[1] = state[4]; - out_649951466656749498[2] = state[5]; +void h_13(double *state, double *unused, double *out_7869262712734505763) { + out_7869262712734505763[0] = state[3]; + out_7869262712734505763[1] = state[4]; + out_7869262712734505763[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6259481704078020311) { - out_6259481704078020311[0] = 0; - out_6259481704078020311[1] = 0; - out_6259481704078020311[2] = 0; - out_6259481704078020311[3] = 1; - out_6259481704078020311[4] = 0; - out_6259481704078020311[5] = 0; - out_6259481704078020311[6] = 0; - out_6259481704078020311[7] = 0; - out_6259481704078020311[8] = 0; - out_6259481704078020311[9] = 0; - out_6259481704078020311[10] = 0; - out_6259481704078020311[11] = 0; - out_6259481704078020311[12] = 0; - out_6259481704078020311[13] = 0; - out_6259481704078020311[14] = 0; - out_6259481704078020311[15] = 0; - out_6259481704078020311[16] = 0; - out_6259481704078020311[17] = 0; - out_6259481704078020311[18] = 0; - out_6259481704078020311[19] = 0; - out_6259481704078020311[20] = 0; - out_6259481704078020311[21] = 0; - out_6259481704078020311[22] = 1; - out_6259481704078020311[23] = 0; - out_6259481704078020311[24] = 0; - out_6259481704078020311[25] = 0; - out_6259481704078020311[26] = 0; - out_6259481704078020311[27] = 0; - out_6259481704078020311[28] = 0; - out_6259481704078020311[29] = 0; - out_6259481704078020311[30] = 0; - out_6259481704078020311[31] = 0; - out_6259481704078020311[32] = 0; - out_6259481704078020311[33] = 0; - out_6259481704078020311[34] = 0; - out_6259481704078020311[35] = 0; - out_6259481704078020311[36] = 0; - out_6259481704078020311[37] = 0; - out_6259481704078020311[38] = 0; - out_6259481704078020311[39] = 0; - out_6259481704078020311[40] = 0; - out_6259481704078020311[41] = 1; - out_6259481704078020311[42] = 0; - out_6259481704078020311[43] = 0; - out_6259481704078020311[44] = 0; - out_6259481704078020311[45] = 0; - out_6259481704078020311[46] = 0; - out_6259481704078020311[47] = 0; - out_6259481704078020311[48] = 0; - out_6259481704078020311[49] = 0; - out_6259481704078020311[50] = 0; - out_6259481704078020311[51] = 0; - out_6259481704078020311[52] = 0; - out_6259481704078020311[53] = 0; +void H_13(double *state, double *unused, double *out_5156184837651227855) { + out_5156184837651227855[0] = 0; + out_5156184837651227855[1] = 0; + out_5156184837651227855[2] = 0; + out_5156184837651227855[3] = 1; + out_5156184837651227855[4] = 0; + out_5156184837651227855[5] = 0; + out_5156184837651227855[6] = 0; + out_5156184837651227855[7] = 0; + out_5156184837651227855[8] = 0; + out_5156184837651227855[9] = 0; + out_5156184837651227855[10] = 0; + out_5156184837651227855[11] = 0; + out_5156184837651227855[12] = 0; + out_5156184837651227855[13] = 0; + out_5156184837651227855[14] = 0; + out_5156184837651227855[15] = 0; + out_5156184837651227855[16] = 0; + out_5156184837651227855[17] = 0; + out_5156184837651227855[18] = 0; + out_5156184837651227855[19] = 0; + out_5156184837651227855[20] = 0; + out_5156184837651227855[21] = 0; + out_5156184837651227855[22] = 1; + out_5156184837651227855[23] = 0; + out_5156184837651227855[24] = 0; + out_5156184837651227855[25] = 0; + out_5156184837651227855[26] = 0; + out_5156184837651227855[27] = 0; + out_5156184837651227855[28] = 0; + out_5156184837651227855[29] = 0; + out_5156184837651227855[30] = 0; + out_5156184837651227855[31] = 0; + out_5156184837651227855[32] = 0; + out_5156184837651227855[33] = 0; + out_5156184837651227855[34] = 0; + out_5156184837651227855[35] = 0; + out_5156184837651227855[36] = 0; + out_5156184837651227855[37] = 0; + out_5156184837651227855[38] = 0; + out_5156184837651227855[39] = 0; + out_5156184837651227855[40] = 0; + out_5156184837651227855[41] = 1; + out_5156184837651227855[42] = 0; + out_5156184837651227855[43] = 0; + out_5156184837651227855[44] = 0; + out_5156184837651227855[45] = 0; + out_5156184837651227855[46] = 0; + out_5156184837651227855[47] = 0; + out_5156184837651227855[48] = 0; + out_5156184837651227855[49] = 0; + out_5156184837651227855[50] = 0; + out_5156184837651227855[51] = 0; + out_5156184837651227855[52] = 0; + out_5156184837651227855[53] = 0; } -void h_14(double *state, double *unused, double *out_5063684233320489319) { - out_5063684233320489319[0] = state[6]; - out_5063684233320489319[1] = state[7]; - out_5063684233320489319[2] = state[8]; +void h_14(double *state, double *unused, double *out_3486024826794941099) { + out_3486024826794941099[0] = state[6]; + out_3486024826794941099[1] = state[7]; + out_3486024826794941099[2] = state[8]; } -void H_14(double *state, double *unused, double *out_8539872017654314905) { - out_8539872017654314905[0] = 0; - out_8539872017654314905[1] = 0; - out_8539872017654314905[2] = 0; - out_8539872017654314905[3] = 0; - out_8539872017654314905[4] = 0; - out_8539872017654314905[5] = 0; - out_8539872017654314905[6] = 1; - out_8539872017654314905[7] = 0; - out_8539872017654314905[8] = 0; - out_8539872017654314905[9] = 0; - out_8539872017654314905[10] = 0; - out_8539872017654314905[11] = 0; - out_8539872017654314905[12] = 0; - out_8539872017654314905[13] = 0; - out_8539872017654314905[14] = 0; - out_8539872017654314905[15] = 0; - out_8539872017654314905[16] = 0; - out_8539872017654314905[17] = 0; - out_8539872017654314905[18] = 0; - out_8539872017654314905[19] = 0; - out_8539872017654314905[20] = 0; - out_8539872017654314905[21] = 0; - out_8539872017654314905[22] = 0; - out_8539872017654314905[23] = 0; - out_8539872017654314905[24] = 0; - out_8539872017654314905[25] = 1; - out_8539872017654314905[26] = 0; - out_8539872017654314905[27] = 0; - out_8539872017654314905[28] = 0; - out_8539872017654314905[29] = 0; - out_8539872017654314905[30] = 0; - out_8539872017654314905[31] = 0; - out_8539872017654314905[32] = 0; - out_8539872017654314905[33] = 0; - out_8539872017654314905[34] = 0; - out_8539872017654314905[35] = 0; - out_8539872017654314905[36] = 0; - out_8539872017654314905[37] = 0; - out_8539872017654314905[38] = 0; - out_8539872017654314905[39] = 0; - out_8539872017654314905[40] = 0; - out_8539872017654314905[41] = 0; - out_8539872017654314905[42] = 0; - out_8539872017654314905[43] = 0; - out_8539872017654314905[44] = 1; - out_8539872017654314905[45] = 0; - out_8539872017654314905[46] = 0; - out_8539872017654314905[47] = 0; - out_8539872017654314905[48] = 0; - out_8539872017654314905[49] = 0; - out_8539872017654314905[50] = 0; - out_8539872017654314905[51] = 0; - out_8539872017654314905[52] = 0; - out_8539872017654314905[53] = 0; +void H_14(double *state, double *unused, double *out_5537234802960845370) { + out_5537234802960845370[0] = 0; + out_5537234802960845370[1] = 0; + out_5537234802960845370[2] = 0; + out_5537234802960845370[3] = 0; + out_5537234802960845370[4] = 0; + out_5537234802960845370[5] = 0; + out_5537234802960845370[6] = 1; + out_5537234802960845370[7] = 0; + out_5537234802960845370[8] = 0; + out_5537234802960845370[9] = 0; + out_5537234802960845370[10] = 0; + out_5537234802960845370[11] = 0; + out_5537234802960845370[12] = 0; + out_5537234802960845370[13] = 0; + out_5537234802960845370[14] = 0; + out_5537234802960845370[15] = 0; + out_5537234802960845370[16] = 0; + out_5537234802960845370[17] = 0; + out_5537234802960845370[18] = 0; + out_5537234802960845370[19] = 0; + out_5537234802960845370[20] = 0; + out_5537234802960845370[21] = 0; + out_5537234802960845370[22] = 0; + out_5537234802960845370[23] = 0; + out_5537234802960845370[24] = 0; + out_5537234802960845370[25] = 1; + out_5537234802960845370[26] = 0; + out_5537234802960845370[27] = 0; + out_5537234802960845370[28] = 0; + out_5537234802960845370[29] = 0; + out_5537234802960845370[30] = 0; + out_5537234802960845370[31] = 0; + out_5537234802960845370[32] = 0; + out_5537234802960845370[33] = 0; + out_5537234802960845370[34] = 0; + out_5537234802960845370[35] = 0; + out_5537234802960845370[36] = 0; + out_5537234802960845370[37] = 0; + out_5537234802960845370[38] = 0; + out_5537234802960845370[39] = 0; + out_5537234802960845370[40] = 0; + out_5537234802960845370[41] = 0; + out_5537234802960845370[42] = 0; + out_5537234802960845370[43] = 0; + out_5537234802960845370[44] = 1; + out_5537234802960845370[45] = 0; + out_5537234802960845370[46] = 0; + out_5537234802960845370[47] = 0; + out_5537234802960845370[48] = 0; + out_5537234802960845370[49] = 0; + out_5537234802960845370[50] = 0; + out_5537234802960845370[51] = 0; + out_5537234802960845370[52] = 0; + out_5537234802960845370[53] = 0; } #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_1903969700519405728) { - err_fun(nom_x, delta_x, out_1903969700519405728); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7099155186075195158) { + err_fun(nom_x, delta_x, out_7099155186075195158); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3362098330798648840) { - inv_err_fun(nom_x, true_x, out_3362098330798648840); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2441097136385557776) { + inv_err_fun(nom_x, true_x, out_2441097136385557776); } -void pose_H_mod_fun(double *state, double *out_3822470159260117769) { - H_mod_fun(state, out_3822470159260117769); +void pose_H_mod_fun(double *state, double *out_3208607372720185681) { + H_mod_fun(state, out_3208607372720185681); } -void pose_f_fun(double *state, double dt, double *out_4539628665192259779) { - f_fun(state, dt, out_4539628665192259779); +void pose_f_fun(double *state, double dt, double *out_6464550598295734542) { + f_fun(state, dt, out_6464550598295734542); } -void pose_F_fun(double *state, double dt, double *out_4279109943705499799) { - F_fun(state, dt, out_4279109943705499799); +void pose_F_fun(double *state, double dt, double *out_4669200903438633107) { + F_fun(state, dt, out_4669200903438633107); } -void pose_h_4(double *state, double *unused, double *out_4468827944582346069) { - h_4(state, unused, out_4468827944582346069); +void pose_h_4(double *state, double *unused, double *out_5330802774113093904) { + h_4(state, unused, out_5330802774113093904); } -void pose_H_4(double *state, double *unused, double *out_4576631161314830376) { - H_4(state, unused, out_4576631161314830376); +void pose_H_4(double *state, double *unused, double *out_2454446370665473074) { + H_4(state, unused, out_2454446370665473074); } -void pose_h_10(double *state, double *unused, double *out_7687610123346311094) { - h_10(state, unused, out_7687610123346311094); +void pose_h_10(double *state, double *unused, double *out_6487917254077376695) { + h_10(state, unused, out_6487917254077376695); } -void pose_H_10(double *state, double *unused, double *out_1094040887207712728) { - H_10(state, unused, out_1094040887207712728); +void pose_H_10(double *state, double *unused, double *out_63197332932821273) { + H_10(state, unused, out_63197332932821273); } -void pose_h_13(double *state, double *unused, double *out_649951466656749498) { - h_13(state, unused, out_649951466656749498); +void pose_h_13(double *state, double *unused, double *out_7869262712734505763) { + h_13(state, unused, out_7869262712734505763); } -void pose_H_13(double *state, double *unused, double *out_6259481704078020311) { - H_13(state, unused, out_6259481704078020311); +void pose_H_13(double *state, double *unused, double *out_5156184837651227855) { + H_13(state, unused, out_5156184837651227855); } -void pose_h_14(double *state, double *unused, double *out_5063684233320489319) { - h_14(state, unused, out_5063684233320489319); +void pose_h_14(double *state, double *unused, double *out_3486024826794941099) { + h_14(state, unused, out_3486024826794941099); } -void pose_H_14(double *state, double *unused, double *out_8539872017654314905) { - H_14(state, unused, out_8539872017654314905); +void pose_H_14(double *state, double *unused, double *out_5537234802960845370) { + H_14(state, unused, out_5537234802960845370); } 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 331d8e84b..6b46ae8f2 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_1903969700519405728); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3362098330798648840); -void pose_H_mod_fun(double *state, double *out_3822470159260117769); -void pose_f_fun(double *state, double dt, double *out_4539628665192259779); -void pose_F_fun(double *state, double dt, double *out_4279109943705499799); -void pose_h_4(double *state, double *unused, double *out_4468827944582346069); -void pose_H_4(double *state, double *unused, double *out_4576631161314830376); -void pose_h_10(double *state, double *unused, double *out_7687610123346311094); -void pose_H_10(double *state, double *unused, double *out_1094040887207712728); -void pose_h_13(double *state, double *unused, double *out_649951466656749498); -void pose_H_13(double *state, double *unused, double *out_6259481704078020311); -void pose_h_14(double *state, double *unused, double *out_5063684233320489319); -void pose_H_14(double *state, double *unused, double *out_8539872017654314905); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7099155186075195158); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2441097136385557776); +void pose_H_mod_fun(double *state, double *out_3208607372720185681); +void pose_f_fun(double *state, double dt, double *out_6464550598295734542); +void pose_F_fun(double *state, double dt, double *out_4669200903438633107); +void pose_h_4(double *state, double *unused, double *out_5330802774113093904); +void pose_H_4(double *state, double *unused, double *out_2454446370665473074); +void pose_h_10(double *state, double *unused, double *out_6487917254077376695); +void pose_H_10(double *state, double *unused, double *out_63197332932821273); +void pose_h_13(double *state, double *unused, double *out_7869262712734505763); +void pose_H_13(double *state, double *unused, double *out_5156184837651227855); +void pose_h_14(double *state, double *unused, double *out_3486024826794941099); +void pose_H_14(double *state, double *unused, double *out_5537234802960845370); void pose_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 851ed5ecb..8aa17c0e8 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ