diff --git a/common/libcommon.a b/common/libcommon.a index acd6bcd5a..8d5b3ff37 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index 95d99f928..68631c98f 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 49f031069..a211aa66a 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 00fe4d62b..d6fca60e2 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 f5179f48c..530750600 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 53e5e6e5b..def638767 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 5b0e79416..7fcc530aa 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 9a46321e3..9926ff453 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index b48442e1a..71b6ce6a8 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index b48442e1a..71b6ce6a8 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index ff50e65de..2753b0abd 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 9a46321e3..9926ff453 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 50b239f78..11d206413 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-743ff679-DEBUG"; +const uint8_t gitversion[19] = "DEV-efdc4898-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 7da142e85..9f66f8c2e 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 1dd4a24b5..99fbee7a4 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 7e9286d7b..21f1a5126 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 fd07e049b..2d7c81b22 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 d8697af59..ff4bc0540 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 ae226c5c2..317c29188 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 33229b754..683de40ad 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 7da020d81..705aac424 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 3e2324256..e02f6806c 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 626a774c1..f9a3bd92f 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 d961172b4..23a92f878 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 f497ddef2..ed08316b9 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 2e2542c20..674b81081 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 f54c98011..4b0c84831 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 504bb1a5a..582d86338 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 7c44a8402..425514a77 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 a264c45a2..26dde6644 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 b3b63ec12..481692bf4 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 5b4c53607..049598468 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 be2760c4c..2c2c0fdf9 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 8406a40d4..00f88da0e 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-743ff679-DEBUG \ No newline at end of file +DEV-efdc4898-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 26ceedb43..db92055fd 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_6669412735228971409) { - out_6669412735228971409[0] = delta_x[0] + nom_x[0]; - out_6669412735228971409[1] = delta_x[1] + nom_x[1]; - out_6669412735228971409[2] = delta_x[2] + nom_x[2]; - out_6669412735228971409[3] = delta_x[3] + nom_x[3]; - out_6669412735228971409[4] = delta_x[4] + nom_x[4]; - out_6669412735228971409[5] = delta_x[5] + nom_x[5]; - out_6669412735228971409[6] = delta_x[6] + nom_x[6]; - out_6669412735228971409[7] = delta_x[7] + nom_x[7]; - out_6669412735228971409[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8558166113930061773) { + out_8558166113930061773[0] = delta_x[0] + nom_x[0]; + out_8558166113930061773[1] = delta_x[1] + nom_x[1]; + out_8558166113930061773[2] = delta_x[2] + nom_x[2]; + out_8558166113930061773[3] = delta_x[3] + nom_x[3]; + out_8558166113930061773[4] = delta_x[4] + nom_x[4]; + out_8558166113930061773[5] = delta_x[5] + nom_x[5]; + out_8558166113930061773[6] = delta_x[6] + nom_x[6]; + out_8558166113930061773[7] = delta_x[7] + nom_x[7]; + out_8558166113930061773[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6779967762183071907) { - out_6779967762183071907[0] = -nom_x[0] + true_x[0]; - out_6779967762183071907[1] = -nom_x[1] + true_x[1]; - out_6779967762183071907[2] = -nom_x[2] + true_x[2]; - out_6779967762183071907[3] = -nom_x[3] + true_x[3]; - out_6779967762183071907[4] = -nom_x[4] + true_x[4]; - out_6779967762183071907[5] = -nom_x[5] + true_x[5]; - out_6779967762183071907[6] = -nom_x[6] + true_x[6]; - out_6779967762183071907[7] = -nom_x[7] + true_x[7]; - out_6779967762183071907[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2269670274683655268) { + out_2269670274683655268[0] = -nom_x[0] + true_x[0]; + out_2269670274683655268[1] = -nom_x[1] + true_x[1]; + out_2269670274683655268[2] = -nom_x[2] + true_x[2]; + out_2269670274683655268[3] = -nom_x[3] + true_x[3]; + out_2269670274683655268[4] = -nom_x[4] + true_x[4]; + out_2269670274683655268[5] = -nom_x[5] + true_x[5]; + out_2269670274683655268[6] = -nom_x[6] + true_x[6]; + out_2269670274683655268[7] = -nom_x[7] + true_x[7]; + out_2269670274683655268[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6491699675187271682) { - out_6491699675187271682[0] = 1.0; - out_6491699675187271682[1] = 0.0; - out_6491699675187271682[2] = 0.0; - out_6491699675187271682[3] = 0.0; - out_6491699675187271682[4] = 0.0; - out_6491699675187271682[5] = 0.0; - out_6491699675187271682[6] = 0.0; - out_6491699675187271682[7] = 0.0; - out_6491699675187271682[8] = 0.0; - out_6491699675187271682[9] = 0.0; - out_6491699675187271682[10] = 1.0; - out_6491699675187271682[11] = 0.0; - out_6491699675187271682[12] = 0.0; - out_6491699675187271682[13] = 0.0; - out_6491699675187271682[14] = 0.0; - out_6491699675187271682[15] = 0.0; - out_6491699675187271682[16] = 0.0; - out_6491699675187271682[17] = 0.0; - out_6491699675187271682[18] = 0.0; - out_6491699675187271682[19] = 0.0; - out_6491699675187271682[20] = 1.0; - out_6491699675187271682[21] = 0.0; - out_6491699675187271682[22] = 0.0; - out_6491699675187271682[23] = 0.0; - out_6491699675187271682[24] = 0.0; - out_6491699675187271682[25] = 0.0; - out_6491699675187271682[26] = 0.0; - out_6491699675187271682[27] = 0.0; - out_6491699675187271682[28] = 0.0; - out_6491699675187271682[29] = 0.0; - out_6491699675187271682[30] = 1.0; - out_6491699675187271682[31] = 0.0; - out_6491699675187271682[32] = 0.0; - out_6491699675187271682[33] = 0.0; - out_6491699675187271682[34] = 0.0; - out_6491699675187271682[35] = 0.0; - out_6491699675187271682[36] = 0.0; - out_6491699675187271682[37] = 0.0; - out_6491699675187271682[38] = 0.0; - out_6491699675187271682[39] = 0.0; - out_6491699675187271682[40] = 1.0; - out_6491699675187271682[41] = 0.0; - out_6491699675187271682[42] = 0.0; - out_6491699675187271682[43] = 0.0; - out_6491699675187271682[44] = 0.0; - out_6491699675187271682[45] = 0.0; - out_6491699675187271682[46] = 0.0; - out_6491699675187271682[47] = 0.0; - out_6491699675187271682[48] = 0.0; - out_6491699675187271682[49] = 0.0; - out_6491699675187271682[50] = 1.0; - out_6491699675187271682[51] = 0.0; - out_6491699675187271682[52] = 0.0; - out_6491699675187271682[53] = 0.0; - out_6491699675187271682[54] = 0.0; - out_6491699675187271682[55] = 0.0; - out_6491699675187271682[56] = 0.0; - out_6491699675187271682[57] = 0.0; - out_6491699675187271682[58] = 0.0; - out_6491699675187271682[59] = 0.0; - out_6491699675187271682[60] = 1.0; - out_6491699675187271682[61] = 0.0; - out_6491699675187271682[62] = 0.0; - out_6491699675187271682[63] = 0.0; - out_6491699675187271682[64] = 0.0; - out_6491699675187271682[65] = 0.0; - out_6491699675187271682[66] = 0.0; - out_6491699675187271682[67] = 0.0; - out_6491699675187271682[68] = 0.0; - out_6491699675187271682[69] = 0.0; - out_6491699675187271682[70] = 1.0; - out_6491699675187271682[71] = 0.0; - out_6491699675187271682[72] = 0.0; - out_6491699675187271682[73] = 0.0; - out_6491699675187271682[74] = 0.0; - out_6491699675187271682[75] = 0.0; - out_6491699675187271682[76] = 0.0; - out_6491699675187271682[77] = 0.0; - out_6491699675187271682[78] = 0.0; - out_6491699675187271682[79] = 0.0; - out_6491699675187271682[80] = 1.0; +void H_mod_fun(double *state, double *out_6407701768448647232) { + out_6407701768448647232[0] = 1.0; + out_6407701768448647232[1] = 0.0; + out_6407701768448647232[2] = 0.0; + out_6407701768448647232[3] = 0.0; + out_6407701768448647232[4] = 0.0; + out_6407701768448647232[5] = 0.0; + out_6407701768448647232[6] = 0.0; + out_6407701768448647232[7] = 0.0; + out_6407701768448647232[8] = 0.0; + out_6407701768448647232[9] = 0.0; + out_6407701768448647232[10] = 1.0; + out_6407701768448647232[11] = 0.0; + out_6407701768448647232[12] = 0.0; + out_6407701768448647232[13] = 0.0; + out_6407701768448647232[14] = 0.0; + out_6407701768448647232[15] = 0.0; + out_6407701768448647232[16] = 0.0; + out_6407701768448647232[17] = 0.0; + out_6407701768448647232[18] = 0.0; + out_6407701768448647232[19] = 0.0; + out_6407701768448647232[20] = 1.0; + out_6407701768448647232[21] = 0.0; + out_6407701768448647232[22] = 0.0; + out_6407701768448647232[23] = 0.0; + out_6407701768448647232[24] = 0.0; + out_6407701768448647232[25] = 0.0; + out_6407701768448647232[26] = 0.0; + out_6407701768448647232[27] = 0.0; + out_6407701768448647232[28] = 0.0; + out_6407701768448647232[29] = 0.0; + out_6407701768448647232[30] = 1.0; + out_6407701768448647232[31] = 0.0; + out_6407701768448647232[32] = 0.0; + out_6407701768448647232[33] = 0.0; + out_6407701768448647232[34] = 0.0; + out_6407701768448647232[35] = 0.0; + out_6407701768448647232[36] = 0.0; + out_6407701768448647232[37] = 0.0; + out_6407701768448647232[38] = 0.0; + out_6407701768448647232[39] = 0.0; + out_6407701768448647232[40] = 1.0; + out_6407701768448647232[41] = 0.0; + out_6407701768448647232[42] = 0.0; + out_6407701768448647232[43] = 0.0; + out_6407701768448647232[44] = 0.0; + out_6407701768448647232[45] = 0.0; + out_6407701768448647232[46] = 0.0; + out_6407701768448647232[47] = 0.0; + out_6407701768448647232[48] = 0.0; + out_6407701768448647232[49] = 0.0; + out_6407701768448647232[50] = 1.0; + out_6407701768448647232[51] = 0.0; + out_6407701768448647232[52] = 0.0; + out_6407701768448647232[53] = 0.0; + out_6407701768448647232[54] = 0.0; + out_6407701768448647232[55] = 0.0; + out_6407701768448647232[56] = 0.0; + out_6407701768448647232[57] = 0.0; + out_6407701768448647232[58] = 0.0; + out_6407701768448647232[59] = 0.0; + out_6407701768448647232[60] = 1.0; + out_6407701768448647232[61] = 0.0; + out_6407701768448647232[62] = 0.0; + out_6407701768448647232[63] = 0.0; + out_6407701768448647232[64] = 0.0; + out_6407701768448647232[65] = 0.0; + out_6407701768448647232[66] = 0.0; + out_6407701768448647232[67] = 0.0; + out_6407701768448647232[68] = 0.0; + out_6407701768448647232[69] = 0.0; + out_6407701768448647232[70] = 1.0; + out_6407701768448647232[71] = 0.0; + out_6407701768448647232[72] = 0.0; + out_6407701768448647232[73] = 0.0; + out_6407701768448647232[74] = 0.0; + out_6407701768448647232[75] = 0.0; + out_6407701768448647232[76] = 0.0; + out_6407701768448647232[77] = 0.0; + out_6407701768448647232[78] = 0.0; + out_6407701768448647232[79] = 0.0; + out_6407701768448647232[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2858314681790673269) { - out_2858314681790673269[0] = state[0]; - out_2858314681790673269[1] = state[1]; - out_2858314681790673269[2] = state[2]; - out_2858314681790673269[3] = state[3]; - out_2858314681790673269[4] = state[4]; - out_2858314681790673269[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_2858314681790673269[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_2858314681790673269[7] = state[7]; - out_2858314681790673269[8] = state[8]; +void f_fun(double *state, double dt, double *out_648904423540471901) { + out_648904423540471901[0] = state[0]; + out_648904423540471901[1] = state[1]; + out_648904423540471901[2] = state[2]; + out_648904423540471901[3] = state[3]; + out_648904423540471901[4] = state[4]; + out_648904423540471901[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_648904423540471901[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_648904423540471901[7] = state[7]; + out_648904423540471901[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1519249616957804461) { - out_1519249616957804461[0] = 1; - out_1519249616957804461[1] = 0; - out_1519249616957804461[2] = 0; - out_1519249616957804461[3] = 0; - out_1519249616957804461[4] = 0; - out_1519249616957804461[5] = 0; - out_1519249616957804461[6] = 0; - out_1519249616957804461[7] = 0; - out_1519249616957804461[8] = 0; - out_1519249616957804461[9] = 0; - out_1519249616957804461[10] = 1; - out_1519249616957804461[11] = 0; - out_1519249616957804461[12] = 0; - out_1519249616957804461[13] = 0; - out_1519249616957804461[14] = 0; - out_1519249616957804461[15] = 0; - out_1519249616957804461[16] = 0; - out_1519249616957804461[17] = 0; - out_1519249616957804461[18] = 0; - out_1519249616957804461[19] = 0; - out_1519249616957804461[20] = 1; - out_1519249616957804461[21] = 0; - out_1519249616957804461[22] = 0; - out_1519249616957804461[23] = 0; - out_1519249616957804461[24] = 0; - out_1519249616957804461[25] = 0; - out_1519249616957804461[26] = 0; - out_1519249616957804461[27] = 0; - out_1519249616957804461[28] = 0; - out_1519249616957804461[29] = 0; - out_1519249616957804461[30] = 1; - out_1519249616957804461[31] = 0; - out_1519249616957804461[32] = 0; - out_1519249616957804461[33] = 0; - out_1519249616957804461[34] = 0; - out_1519249616957804461[35] = 0; - out_1519249616957804461[36] = 0; - out_1519249616957804461[37] = 0; - out_1519249616957804461[38] = 0; - out_1519249616957804461[39] = 0; - out_1519249616957804461[40] = 1; - out_1519249616957804461[41] = 0; - out_1519249616957804461[42] = 0; - out_1519249616957804461[43] = 0; - out_1519249616957804461[44] = 0; - out_1519249616957804461[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_1519249616957804461[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1519249616957804461[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1519249616957804461[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1519249616957804461[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_1519249616957804461[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1519249616957804461[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1519249616957804461[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1519249616957804461[53] = -9.8100000000000005*dt; - out_1519249616957804461[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_1519249616957804461[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1519249616957804461[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1519249616957804461[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1519249616957804461[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_1519249616957804461[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1519249616957804461[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_1519249616957804461[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1519249616957804461[62] = 0; - out_1519249616957804461[63] = 0; - out_1519249616957804461[64] = 0; - out_1519249616957804461[65] = 0; - out_1519249616957804461[66] = 0; - out_1519249616957804461[67] = 0; - out_1519249616957804461[68] = 0; - out_1519249616957804461[69] = 0; - out_1519249616957804461[70] = 1; - out_1519249616957804461[71] = 0; - out_1519249616957804461[72] = 0; - out_1519249616957804461[73] = 0; - out_1519249616957804461[74] = 0; - out_1519249616957804461[75] = 0; - out_1519249616957804461[76] = 0; - out_1519249616957804461[77] = 0; - out_1519249616957804461[78] = 0; - out_1519249616957804461[79] = 0; - out_1519249616957804461[80] = 1; +void F_fun(double *state, double dt, double *out_7503564954401744509) { + out_7503564954401744509[0] = 1; + out_7503564954401744509[1] = 0; + out_7503564954401744509[2] = 0; + out_7503564954401744509[3] = 0; + out_7503564954401744509[4] = 0; + out_7503564954401744509[5] = 0; + out_7503564954401744509[6] = 0; + out_7503564954401744509[7] = 0; + out_7503564954401744509[8] = 0; + out_7503564954401744509[9] = 0; + out_7503564954401744509[10] = 1; + out_7503564954401744509[11] = 0; + out_7503564954401744509[12] = 0; + out_7503564954401744509[13] = 0; + out_7503564954401744509[14] = 0; + out_7503564954401744509[15] = 0; + out_7503564954401744509[16] = 0; + out_7503564954401744509[17] = 0; + out_7503564954401744509[18] = 0; + out_7503564954401744509[19] = 0; + out_7503564954401744509[20] = 1; + out_7503564954401744509[21] = 0; + out_7503564954401744509[22] = 0; + out_7503564954401744509[23] = 0; + out_7503564954401744509[24] = 0; + out_7503564954401744509[25] = 0; + out_7503564954401744509[26] = 0; + out_7503564954401744509[27] = 0; + out_7503564954401744509[28] = 0; + out_7503564954401744509[29] = 0; + out_7503564954401744509[30] = 1; + out_7503564954401744509[31] = 0; + out_7503564954401744509[32] = 0; + out_7503564954401744509[33] = 0; + out_7503564954401744509[34] = 0; + out_7503564954401744509[35] = 0; + out_7503564954401744509[36] = 0; + out_7503564954401744509[37] = 0; + out_7503564954401744509[38] = 0; + out_7503564954401744509[39] = 0; + out_7503564954401744509[40] = 1; + out_7503564954401744509[41] = 0; + out_7503564954401744509[42] = 0; + out_7503564954401744509[43] = 0; + out_7503564954401744509[44] = 0; + out_7503564954401744509[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_7503564954401744509[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7503564954401744509[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7503564954401744509[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7503564954401744509[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_7503564954401744509[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7503564954401744509[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7503564954401744509[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7503564954401744509[53] = -9.8100000000000005*dt; + out_7503564954401744509[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_7503564954401744509[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7503564954401744509[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7503564954401744509[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7503564954401744509[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_7503564954401744509[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7503564954401744509[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_7503564954401744509[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7503564954401744509[62] = 0; + out_7503564954401744509[63] = 0; + out_7503564954401744509[64] = 0; + out_7503564954401744509[65] = 0; + out_7503564954401744509[66] = 0; + out_7503564954401744509[67] = 0; + out_7503564954401744509[68] = 0; + out_7503564954401744509[69] = 0; + out_7503564954401744509[70] = 1; + out_7503564954401744509[71] = 0; + out_7503564954401744509[72] = 0; + out_7503564954401744509[73] = 0; + out_7503564954401744509[74] = 0; + out_7503564954401744509[75] = 0; + out_7503564954401744509[76] = 0; + out_7503564954401744509[77] = 0; + out_7503564954401744509[78] = 0; + out_7503564954401744509[79] = 0; + out_7503564954401744509[80] = 1; } -void h_25(double *state, double *unused, double *out_7032479070992890953) { - out_7032479070992890953[0] = state[6]; +void h_25(double *state, double *unused, double *out_7864801379551668384) { + out_7864801379551668384[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2968651036541906534) { - out_2968651036541906534[0] = 0; - out_2968651036541906534[1] = 0; - out_2968651036541906534[2] = 0; - out_2968651036541906534[3] = 0; - out_2968651036541906534[4] = 0; - out_2968651036541906534[5] = 0; - out_2968651036541906534[6] = 1; - out_2968651036541906534[7] = 0; - out_2968651036541906534[8] = 0; +void H_25(double *state, double *unused, double *out_7135350480076239544) { + out_7135350480076239544[0] = 0; + out_7135350480076239544[1] = 0; + out_7135350480076239544[2] = 0; + out_7135350480076239544[3] = 0; + out_7135350480076239544[4] = 0; + out_7135350480076239544[5] = 0; + out_7135350480076239544[6] = 1; + out_7135350480076239544[7] = 0; + out_7135350480076239544[8] = 0; } -void h_24(double *state, double *unused, double *out_5672934374792452147) { - out_5672934374792452147[0] = state[4]; - out_5672934374792452147[1] = state[5]; +void h_24(double *state, double *unused, double *out_7538847613518647590) { + out_7538847613518647590[0] = state[4]; + out_7538847613518647590[1] = state[5]; } -void H_24(double *state, double *unused, double *out_5194358820520775096) { - out_5194358820520775096[0] = 0; - out_5194358820520775096[1] = 0; - out_5194358820520775096[2] = 0; - out_5194358820520775096[3] = 0; - out_5194358820520775096[4] = 1; - out_5194358820520775096[5] = 0; - out_5194358820520775096[6] = 0; - out_5194358820520775096[7] = 0; - out_5194358820520775096[8] = 0; - out_5194358820520775096[9] = 0; - out_5194358820520775096[10] = 0; - out_5194358820520775096[11] = 0; - out_5194358820520775096[12] = 0; - out_5194358820520775096[13] = 0; - out_5194358820520775096[14] = 1; - out_5194358820520775096[15] = 0; - out_5194358820520775096[16] = 0; - out_5194358820520775096[17] = 0; +void H_24(double *state, double *unused, double *out_3868719000644595752) { + out_3868719000644595752[0] = 0; + out_3868719000644595752[1] = 0; + out_3868719000644595752[2] = 0; + out_3868719000644595752[3] = 0; + out_3868719000644595752[4] = 1; + out_3868719000644595752[5] = 0; + out_3868719000644595752[6] = 0; + out_3868719000644595752[7] = 0; + out_3868719000644595752[8] = 0; + out_3868719000644595752[9] = 0; + out_3868719000644595752[10] = 0; + out_3868719000644595752[11] = 0; + out_3868719000644595752[12] = 0; + out_3868719000644595752[13] = 0; + out_3868719000644595752[14] = 1; + out_3868719000644595752[15] = 0; + out_3868719000644595752[16] = 0; + out_3868719000644595752[17] = 0; } -void h_30(double *state, double *unused, double *out_6875292402641761808) { - out_6875292402641761808[0] = state[4]; +void h_30(double *state, double *unused, double *out_8021988047902797529) { + out_8021988047902797529[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8561402695676028327) { - out_8561402695676028327[0] = 0; - out_8561402695676028327[1] = 0; - out_8561402695676028327[2] = 0; - out_8561402695676028327[3] = 0; - out_8561402695676028327[4] = 1; - out_8561402695676028327[5] = 0; - out_8561402695676028327[6] = 0; - out_8561402695676028327[7] = 0; - out_8561402695676028327[8] = 0; +void H_30(double *state, double *unused, double *out_6783697263505703874) { + out_6783697263505703874[0] = 0; + out_6783697263505703874[1] = 0; + out_6783697263505703874[2] = 0; + out_6783697263505703874[3] = 0; + out_6783697263505703874[4] = 1; + out_6783697263505703874[5] = 0; + out_6783697263505703874[6] = 0; + out_6783697263505703874[7] = 0; + out_6783697263505703874[8] = 0; } -void h_26(double *state, double *unused, double *out_5172410153653940662) { - out_5172410153653940662[0] = state[7]; +void h_26(double *state, double *unused, double *out_4978851268883674033) { + out_4978851268883674033[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6273177006302707135) { - out_6273177006302707135[0] = 0; - out_6273177006302707135[1] = 0; - out_6273177006302707135[2] = 0; - out_6273177006302707135[3] = 0; - out_6273177006302707135[4] = 0; - out_6273177006302707135[5] = 0; - out_6273177006302707135[6] = 0; - out_6273177006302707135[7] = 1; - out_6273177006302707135[8] = 0; +void H_26(double *state, double *unused, double *out_7569890274759255848) { + out_7569890274759255848[0] = 0; + out_7569890274759255848[1] = 0; + out_7569890274759255848[2] = 0; + out_7569890274759255848[3] = 0; + out_7569890274759255848[4] = 0; + out_7569890274759255848[5] = 0; + out_7569890274759255848[6] = 0; + out_7569890274759255848[7] = 1; + out_7569890274759255848[8] = 0; } -void h_27(double *state, double *unused, double *out_402664363435809860) { - out_402664363435809860[0] = state[3]; +void h_27(double *state, double *unused, double *out_5096858662817050777) { + out_5096858662817050777[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7710578066233098378) { - out_7710578066233098378[0] = 0; - out_7710578066233098378[1] = 0; - out_7710578066233098378[2] = 0; - out_7710578066233098378[3] = 1; - out_7710578066233098378[4] = 0; - out_7710578066233098378[5] = 0; - out_7710578066233098378[6] = 0; - out_7710578066233098378[7] = 0; - out_7710578066233098378[8] = 0; +void H_27(double *state, double *unused, double *out_9007291334689647091) { + out_9007291334689647091[0] = 0; + out_9007291334689647091[1] = 0; + out_9007291334689647091[2] = 0; + out_9007291334689647091[3] = 1; + out_9007291334689647091[4] = 0; + out_9007291334689647091[5] = 0; + out_9007291334689647091[6] = 0; + out_9007291334689647091[7] = 0; + out_9007291334689647091[8] = 0; } -void h_29(double *state, double *unused, double *out_7173499589786160796) { - out_7173499589786160796[0] = state[1]; +void h_29(double *state, double *unused, double *out_998555364537678913) { + out_998555364537678913[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8051171351361636143) { - out_8051171351361636143[0] = 0; - out_8051171351361636143[1] = 1; - out_8051171351361636143[2] = 0; - out_8051171351361636143[3] = 0; - out_8051171351361636143[4] = 0; - out_8051171351361636143[5] = 0; - out_8051171351361636143[6] = 0; - out_8051171351361636143[7] = 0; - out_8051171351361636143[8] = 0; +void H_29(double *state, double *unused, double *out_7293928607820096058) { + out_7293928607820096058[0] = 0; + out_7293928607820096058[1] = 1; + out_7293928607820096058[2] = 0; + out_7293928607820096058[3] = 0; + out_7293928607820096058[4] = 0; + out_7293928607820096058[5] = 0; + out_7293928607820096058[6] = 0; + out_7293928607820096058[7] = 0; + out_7293928607820096058[8] = 0; } -void h_28(double *state, double *unused, double *out_1346174216337472295) { - out_1346174216337472295[0] = state[0]; +void h_28(double *state, double *unused, double *out_8372706475564507366) { + out_8372706475564507366[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5313173705278384899) { - out_5313173705278384899[0] = 1; - out_5313173705278384899[1] = 0; - out_5313173705278384899[2] = 0; - out_5313173705278384899[3] = 0; - out_5313173705278384899[4] = 0; - out_5313173705278384899[5] = 0; - out_5313173705278384899[6] = 0; - out_5313173705278384899[7] = 0; - out_5313173705278384899[8] = 0; +void H_28(double *state, double *unused, double *out_9189185194324129307) { + out_9189185194324129307[0] = 1; + out_9189185194324129307[1] = 0; + out_9189185194324129307[2] = 0; + out_9189185194324129307[3] = 0; + out_9189185194324129307[4] = 0; + out_9189185194324129307[5] = 0; + out_9189185194324129307[6] = 0; + out_9189185194324129307[7] = 0; + out_9189185194324129307[8] = 0; } -void h_31(double *state, double *unused, double *out_6757285008708385064) { - out_6757285008708385064[0] = state[8]; +void h_31(double *state, double *unused, double *out_180008667128300757) { + out_180008667128300757[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2999296998418866962) { - out_2999296998418866962[0] = 0; - out_2999296998418866962[1] = 0; - out_2999296998418866962[2] = 0; - out_2999296998418866962[3] = 0; - out_2999296998418866962[4] = 0; - out_2999296998418866962[5] = 0; - out_2999296998418866962[6] = 0; - out_2999296998418866962[7] = 0; - out_2999296998418866962[8] = 1; +void H_31(double *state, double *unused, double *out_6943682172525904372) { + out_6943682172525904372[0] = 0; + out_6943682172525904372[1] = 0; + out_6943682172525904372[2] = 0; + out_6943682172525904372[3] = 0; + out_6943682172525904372[4] = 0; + out_6943682172525904372[5] = 0; + out_6943682172525904372[6] = 0; + out_6943682172525904372[7] = 0; + out_6943682172525904372[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_6669412735228971409) { - err_fun(nom_x, delta_x, out_6669412735228971409); +void car_err_fun(double *nom_x, double *delta_x, double *out_8558166113930061773) { + err_fun(nom_x, delta_x, out_8558166113930061773); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6779967762183071907) { - inv_err_fun(nom_x, true_x, out_6779967762183071907); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2269670274683655268) { + inv_err_fun(nom_x, true_x, out_2269670274683655268); } -void car_H_mod_fun(double *state, double *out_6491699675187271682) { - H_mod_fun(state, out_6491699675187271682); +void car_H_mod_fun(double *state, double *out_6407701768448647232) { + H_mod_fun(state, out_6407701768448647232); } -void car_f_fun(double *state, double dt, double *out_2858314681790673269) { - f_fun(state, dt, out_2858314681790673269); +void car_f_fun(double *state, double dt, double *out_648904423540471901) { + f_fun(state, dt, out_648904423540471901); } -void car_F_fun(double *state, double dt, double *out_1519249616957804461) { - F_fun(state, dt, out_1519249616957804461); +void car_F_fun(double *state, double dt, double *out_7503564954401744509) { + F_fun(state, dt, out_7503564954401744509); } -void car_h_25(double *state, double *unused, double *out_7032479070992890953) { - h_25(state, unused, out_7032479070992890953); +void car_h_25(double *state, double *unused, double *out_7864801379551668384) { + h_25(state, unused, out_7864801379551668384); } -void car_H_25(double *state, double *unused, double *out_2968651036541906534) { - H_25(state, unused, out_2968651036541906534); +void car_H_25(double *state, double *unused, double *out_7135350480076239544) { + H_25(state, unused, out_7135350480076239544); } -void car_h_24(double *state, double *unused, double *out_5672934374792452147) { - h_24(state, unused, out_5672934374792452147); +void car_h_24(double *state, double *unused, double *out_7538847613518647590) { + h_24(state, unused, out_7538847613518647590); } -void car_H_24(double *state, double *unused, double *out_5194358820520775096) { - H_24(state, unused, out_5194358820520775096); +void car_H_24(double *state, double *unused, double *out_3868719000644595752) { + H_24(state, unused, out_3868719000644595752); } -void car_h_30(double *state, double *unused, double *out_6875292402641761808) { - h_30(state, unused, out_6875292402641761808); +void car_h_30(double *state, double *unused, double *out_8021988047902797529) { + h_30(state, unused, out_8021988047902797529); } -void car_H_30(double *state, double *unused, double *out_8561402695676028327) { - H_30(state, unused, out_8561402695676028327); +void car_H_30(double *state, double *unused, double *out_6783697263505703874) { + H_30(state, unused, out_6783697263505703874); } -void car_h_26(double *state, double *unused, double *out_5172410153653940662) { - h_26(state, unused, out_5172410153653940662); +void car_h_26(double *state, double *unused, double *out_4978851268883674033) { + h_26(state, unused, out_4978851268883674033); } -void car_H_26(double *state, double *unused, double *out_6273177006302707135) { - H_26(state, unused, out_6273177006302707135); +void car_H_26(double *state, double *unused, double *out_7569890274759255848) { + H_26(state, unused, out_7569890274759255848); } -void car_h_27(double *state, double *unused, double *out_402664363435809860) { - h_27(state, unused, out_402664363435809860); +void car_h_27(double *state, double *unused, double *out_5096858662817050777) { + h_27(state, unused, out_5096858662817050777); } -void car_H_27(double *state, double *unused, double *out_7710578066233098378) { - H_27(state, unused, out_7710578066233098378); +void car_H_27(double *state, double *unused, double *out_9007291334689647091) { + H_27(state, unused, out_9007291334689647091); } -void car_h_29(double *state, double *unused, double *out_7173499589786160796) { - h_29(state, unused, out_7173499589786160796); +void car_h_29(double *state, double *unused, double *out_998555364537678913) { + h_29(state, unused, out_998555364537678913); } -void car_H_29(double *state, double *unused, double *out_8051171351361636143) { - H_29(state, unused, out_8051171351361636143); +void car_H_29(double *state, double *unused, double *out_7293928607820096058) { + H_29(state, unused, out_7293928607820096058); } -void car_h_28(double *state, double *unused, double *out_1346174216337472295) { - h_28(state, unused, out_1346174216337472295); +void car_h_28(double *state, double *unused, double *out_8372706475564507366) { + h_28(state, unused, out_8372706475564507366); } -void car_H_28(double *state, double *unused, double *out_5313173705278384899) { - H_28(state, unused, out_5313173705278384899); +void car_H_28(double *state, double *unused, double *out_9189185194324129307) { + H_28(state, unused, out_9189185194324129307); } -void car_h_31(double *state, double *unused, double *out_6757285008708385064) { - h_31(state, unused, out_6757285008708385064); +void car_h_31(double *state, double *unused, double *out_180008667128300757) { + h_31(state, unused, out_180008667128300757); } -void car_H_31(double *state, double *unused, double *out_2999296998418866962) { - H_31(state, unused, out_2999296998418866962); +void car_H_31(double *state, double *unused, double *out_6943682172525904372) { + H_31(state, unused, out_6943682172525904372); } 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 16e5a8d50..e7a04d78b 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_6669412735228971409); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6779967762183071907); -void car_H_mod_fun(double *state, double *out_6491699675187271682); -void car_f_fun(double *state, double dt, double *out_2858314681790673269); -void car_F_fun(double *state, double dt, double *out_1519249616957804461); -void car_h_25(double *state, double *unused, double *out_7032479070992890953); -void car_H_25(double *state, double *unused, double *out_2968651036541906534); -void car_h_24(double *state, double *unused, double *out_5672934374792452147); -void car_H_24(double *state, double *unused, double *out_5194358820520775096); -void car_h_30(double *state, double *unused, double *out_6875292402641761808); -void car_H_30(double *state, double *unused, double *out_8561402695676028327); -void car_h_26(double *state, double *unused, double *out_5172410153653940662); -void car_H_26(double *state, double *unused, double *out_6273177006302707135); -void car_h_27(double *state, double *unused, double *out_402664363435809860); -void car_H_27(double *state, double *unused, double *out_7710578066233098378); -void car_h_29(double *state, double *unused, double *out_7173499589786160796); -void car_H_29(double *state, double *unused, double *out_8051171351361636143); -void car_h_28(double *state, double *unused, double *out_1346174216337472295); -void car_H_28(double *state, double *unused, double *out_5313173705278384899); -void car_h_31(double *state, double *unused, double *out_6757285008708385064); -void car_H_31(double *state, double *unused, double *out_2999296998418866962); +void car_err_fun(double *nom_x, double *delta_x, double *out_8558166113930061773); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2269670274683655268); +void car_H_mod_fun(double *state, double *out_6407701768448647232); +void car_f_fun(double *state, double dt, double *out_648904423540471901); +void car_F_fun(double *state, double dt, double *out_7503564954401744509); +void car_h_25(double *state, double *unused, double *out_7864801379551668384); +void car_H_25(double *state, double *unused, double *out_7135350480076239544); +void car_h_24(double *state, double *unused, double *out_7538847613518647590); +void car_H_24(double *state, double *unused, double *out_3868719000644595752); +void car_h_30(double *state, double *unused, double *out_8021988047902797529); +void car_H_30(double *state, double *unused, double *out_6783697263505703874); +void car_h_26(double *state, double *unused, double *out_4978851268883674033); +void car_H_26(double *state, double *unused, double *out_7569890274759255848); +void car_h_27(double *state, double *unused, double *out_5096858662817050777); +void car_H_27(double *state, double *unused, double *out_9007291334689647091); +void car_h_29(double *state, double *unused, double *out_998555364537678913); +void car_H_29(double *state, double *unused, double *out_7293928607820096058); +void car_h_28(double *state, double *unused, double *out_8372706475564507366); +void car_H_28(double *state, double *unused, double *out_9189185194324129307); +void car_h_31(double *state, double *unused, double *out_180008667128300757); +void car_H_31(double *state, double *unused, double *out_6943682172525904372); 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 25c7df537..7f075b686 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_609976965150865312) { - out_609976965150865312[0] = delta_x[0] + nom_x[0]; - out_609976965150865312[1] = delta_x[1] + nom_x[1]; - out_609976965150865312[2] = delta_x[2] + nom_x[2]; - out_609976965150865312[3] = delta_x[3] + nom_x[3]; - out_609976965150865312[4] = delta_x[4] + nom_x[4]; - out_609976965150865312[5] = delta_x[5] + nom_x[5]; - out_609976965150865312[6] = delta_x[6] + nom_x[6]; - out_609976965150865312[7] = delta_x[7] + nom_x[7]; - out_609976965150865312[8] = delta_x[8] + nom_x[8]; - out_609976965150865312[9] = delta_x[9] + nom_x[9]; - out_609976965150865312[10] = delta_x[10] + nom_x[10]; - out_609976965150865312[11] = delta_x[11] + nom_x[11]; - out_609976965150865312[12] = delta_x[12] + nom_x[12]; - out_609976965150865312[13] = delta_x[13] + nom_x[13]; - out_609976965150865312[14] = delta_x[14] + nom_x[14]; - out_609976965150865312[15] = delta_x[15] + nom_x[15]; - out_609976965150865312[16] = delta_x[16] + nom_x[16]; - out_609976965150865312[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3524911542636248309) { + out_3524911542636248309[0] = delta_x[0] + nom_x[0]; + out_3524911542636248309[1] = delta_x[1] + nom_x[1]; + out_3524911542636248309[2] = delta_x[2] + nom_x[2]; + out_3524911542636248309[3] = delta_x[3] + nom_x[3]; + out_3524911542636248309[4] = delta_x[4] + nom_x[4]; + out_3524911542636248309[5] = delta_x[5] + nom_x[5]; + out_3524911542636248309[6] = delta_x[6] + nom_x[6]; + out_3524911542636248309[7] = delta_x[7] + nom_x[7]; + out_3524911542636248309[8] = delta_x[8] + nom_x[8]; + out_3524911542636248309[9] = delta_x[9] + nom_x[9]; + out_3524911542636248309[10] = delta_x[10] + nom_x[10]; + out_3524911542636248309[11] = delta_x[11] + nom_x[11]; + out_3524911542636248309[12] = delta_x[12] + nom_x[12]; + out_3524911542636248309[13] = delta_x[13] + nom_x[13]; + out_3524911542636248309[14] = delta_x[14] + nom_x[14]; + out_3524911542636248309[15] = delta_x[15] + nom_x[15]; + out_3524911542636248309[16] = delta_x[16] + nom_x[16]; + out_3524911542636248309[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8281732551506992950) { - out_8281732551506992950[0] = -nom_x[0] + true_x[0]; - out_8281732551506992950[1] = -nom_x[1] + true_x[1]; - out_8281732551506992950[2] = -nom_x[2] + true_x[2]; - out_8281732551506992950[3] = -nom_x[3] + true_x[3]; - out_8281732551506992950[4] = -nom_x[4] + true_x[4]; - out_8281732551506992950[5] = -nom_x[5] + true_x[5]; - out_8281732551506992950[6] = -nom_x[6] + true_x[6]; - out_8281732551506992950[7] = -nom_x[7] + true_x[7]; - out_8281732551506992950[8] = -nom_x[8] + true_x[8]; - out_8281732551506992950[9] = -nom_x[9] + true_x[9]; - out_8281732551506992950[10] = -nom_x[10] + true_x[10]; - out_8281732551506992950[11] = -nom_x[11] + true_x[11]; - out_8281732551506992950[12] = -nom_x[12] + true_x[12]; - out_8281732551506992950[13] = -nom_x[13] + true_x[13]; - out_8281732551506992950[14] = -nom_x[14] + true_x[14]; - out_8281732551506992950[15] = -nom_x[15] + true_x[15]; - out_8281732551506992950[16] = -nom_x[16] + true_x[16]; - out_8281732551506992950[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_9101758542759318568) { + out_9101758542759318568[0] = -nom_x[0] + true_x[0]; + out_9101758542759318568[1] = -nom_x[1] + true_x[1]; + out_9101758542759318568[2] = -nom_x[2] + true_x[2]; + out_9101758542759318568[3] = -nom_x[3] + true_x[3]; + out_9101758542759318568[4] = -nom_x[4] + true_x[4]; + out_9101758542759318568[5] = -nom_x[5] + true_x[5]; + out_9101758542759318568[6] = -nom_x[6] + true_x[6]; + out_9101758542759318568[7] = -nom_x[7] + true_x[7]; + out_9101758542759318568[8] = -nom_x[8] + true_x[8]; + out_9101758542759318568[9] = -nom_x[9] + true_x[9]; + out_9101758542759318568[10] = -nom_x[10] + true_x[10]; + out_9101758542759318568[11] = -nom_x[11] + true_x[11]; + out_9101758542759318568[12] = -nom_x[12] + true_x[12]; + out_9101758542759318568[13] = -nom_x[13] + true_x[13]; + out_9101758542759318568[14] = -nom_x[14] + true_x[14]; + out_9101758542759318568[15] = -nom_x[15] + true_x[15]; + out_9101758542759318568[16] = -nom_x[16] + true_x[16]; + out_9101758542759318568[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4168561321210011185) { - out_4168561321210011185[0] = 1.0; - out_4168561321210011185[1] = 0.0; - out_4168561321210011185[2] = 0.0; - out_4168561321210011185[3] = 0.0; - out_4168561321210011185[4] = 0.0; - out_4168561321210011185[5] = 0.0; - out_4168561321210011185[6] = 0.0; - out_4168561321210011185[7] = 0.0; - out_4168561321210011185[8] = 0.0; - out_4168561321210011185[9] = 0.0; - out_4168561321210011185[10] = 0.0; - out_4168561321210011185[11] = 0.0; - out_4168561321210011185[12] = 0.0; - out_4168561321210011185[13] = 0.0; - out_4168561321210011185[14] = 0.0; - out_4168561321210011185[15] = 0.0; - out_4168561321210011185[16] = 0.0; - out_4168561321210011185[17] = 0.0; - out_4168561321210011185[18] = 0.0; - out_4168561321210011185[19] = 1.0; - out_4168561321210011185[20] = 0.0; - out_4168561321210011185[21] = 0.0; - out_4168561321210011185[22] = 0.0; - out_4168561321210011185[23] = 0.0; - out_4168561321210011185[24] = 0.0; - out_4168561321210011185[25] = 0.0; - out_4168561321210011185[26] = 0.0; - out_4168561321210011185[27] = 0.0; - out_4168561321210011185[28] = 0.0; - out_4168561321210011185[29] = 0.0; - out_4168561321210011185[30] = 0.0; - out_4168561321210011185[31] = 0.0; - out_4168561321210011185[32] = 0.0; - out_4168561321210011185[33] = 0.0; - out_4168561321210011185[34] = 0.0; - out_4168561321210011185[35] = 0.0; - out_4168561321210011185[36] = 0.0; - out_4168561321210011185[37] = 0.0; - out_4168561321210011185[38] = 1.0; - out_4168561321210011185[39] = 0.0; - out_4168561321210011185[40] = 0.0; - out_4168561321210011185[41] = 0.0; - out_4168561321210011185[42] = 0.0; - out_4168561321210011185[43] = 0.0; - out_4168561321210011185[44] = 0.0; - out_4168561321210011185[45] = 0.0; - out_4168561321210011185[46] = 0.0; - out_4168561321210011185[47] = 0.0; - out_4168561321210011185[48] = 0.0; - out_4168561321210011185[49] = 0.0; - out_4168561321210011185[50] = 0.0; - out_4168561321210011185[51] = 0.0; - out_4168561321210011185[52] = 0.0; - out_4168561321210011185[53] = 0.0; - out_4168561321210011185[54] = 0.0; - out_4168561321210011185[55] = 0.0; - out_4168561321210011185[56] = 0.0; - out_4168561321210011185[57] = 1.0; - out_4168561321210011185[58] = 0.0; - out_4168561321210011185[59] = 0.0; - out_4168561321210011185[60] = 0.0; - out_4168561321210011185[61] = 0.0; - out_4168561321210011185[62] = 0.0; - out_4168561321210011185[63] = 0.0; - out_4168561321210011185[64] = 0.0; - out_4168561321210011185[65] = 0.0; - out_4168561321210011185[66] = 0.0; - out_4168561321210011185[67] = 0.0; - out_4168561321210011185[68] = 0.0; - out_4168561321210011185[69] = 0.0; - out_4168561321210011185[70] = 0.0; - out_4168561321210011185[71] = 0.0; - out_4168561321210011185[72] = 0.0; - out_4168561321210011185[73] = 0.0; - out_4168561321210011185[74] = 0.0; - out_4168561321210011185[75] = 0.0; - out_4168561321210011185[76] = 1.0; - out_4168561321210011185[77] = 0.0; - out_4168561321210011185[78] = 0.0; - out_4168561321210011185[79] = 0.0; - out_4168561321210011185[80] = 0.0; - out_4168561321210011185[81] = 0.0; - out_4168561321210011185[82] = 0.0; - out_4168561321210011185[83] = 0.0; - out_4168561321210011185[84] = 0.0; - out_4168561321210011185[85] = 0.0; - out_4168561321210011185[86] = 0.0; - out_4168561321210011185[87] = 0.0; - out_4168561321210011185[88] = 0.0; - out_4168561321210011185[89] = 0.0; - out_4168561321210011185[90] = 0.0; - out_4168561321210011185[91] = 0.0; - out_4168561321210011185[92] = 0.0; - out_4168561321210011185[93] = 0.0; - out_4168561321210011185[94] = 0.0; - out_4168561321210011185[95] = 1.0; - out_4168561321210011185[96] = 0.0; - out_4168561321210011185[97] = 0.0; - out_4168561321210011185[98] = 0.0; - out_4168561321210011185[99] = 0.0; - out_4168561321210011185[100] = 0.0; - out_4168561321210011185[101] = 0.0; - out_4168561321210011185[102] = 0.0; - out_4168561321210011185[103] = 0.0; - out_4168561321210011185[104] = 0.0; - out_4168561321210011185[105] = 0.0; - out_4168561321210011185[106] = 0.0; - out_4168561321210011185[107] = 0.0; - out_4168561321210011185[108] = 0.0; - out_4168561321210011185[109] = 0.0; - out_4168561321210011185[110] = 0.0; - out_4168561321210011185[111] = 0.0; - out_4168561321210011185[112] = 0.0; - out_4168561321210011185[113] = 0.0; - out_4168561321210011185[114] = 1.0; - out_4168561321210011185[115] = 0.0; - out_4168561321210011185[116] = 0.0; - out_4168561321210011185[117] = 0.0; - out_4168561321210011185[118] = 0.0; - out_4168561321210011185[119] = 0.0; - out_4168561321210011185[120] = 0.0; - out_4168561321210011185[121] = 0.0; - out_4168561321210011185[122] = 0.0; - out_4168561321210011185[123] = 0.0; - out_4168561321210011185[124] = 0.0; - out_4168561321210011185[125] = 0.0; - out_4168561321210011185[126] = 0.0; - out_4168561321210011185[127] = 0.0; - out_4168561321210011185[128] = 0.0; - out_4168561321210011185[129] = 0.0; - out_4168561321210011185[130] = 0.0; - out_4168561321210011185[131] = 0.0; - out_4168561321210011185[132] = 0.0; - out_4168561321210011185[133] = 1.0; - out_4168561321210011185[134] = 0.0; - out_4168561321210011185[135] = 0.0; - out_4168561321210011185[136] = 0.0; - out_4168561321210011185[137] = 0.0; - out_4168561321210011185[138] = 0.0; - out_4168561321210011185[139] = 0.0; - out_4168561321210011185[140] = 0.0; - out_4168561321210011185[141] = 0.0; - out_4168561321210011185[142] = 0.0; - out_4168561321210011185[143] = 0.0; - out_4168561321210011185[144] = 0.0; - out_4168561321210011185[145] = 0.0; - out_4168561321210011185[146] = 0.0; - out_4168561321210011185[147] = 0.0; - out_4168561321210011185[148] = 0.0; - out_4168561321210011185[149] = 0.0; - out_4168561321210011185[150] = 0.0; - out_4168561321210011185[151] = 0.0; - out_4168561321210011185[152] = 1.0; - out_4168561321210011185[153] = 0.0; - out_4168561321210011185[154] = 0.0; - out_4168561321210011185[155] = 0.0; - out_4168561321210011185[156] = 0.0; - out_4168561321210011185[157] = 0.0; - out_4168561321210011185[158] = 0.0; - out_4168561321210011185[159] = 0.0; - out_4168561321210011185[160] = 0.0; - out_4168561321210011185[161] = 0.0; - out_4168561321210011185[162] = 0.0; - out_4168561321210011185[163] = 0.0; - out_4168561321210011185[164] = 0.0; - out_4168561321210011185[165] = 0.0; - out_4168561321210011185[166] = 0.0; - out_4168561321210011185[167] = 0.0; - out_4168561321210011185[168] = 0.0; - out_4168561321210011185[169] = 0.0; - out_4168561321210011185[170] = 0.0; - out_4168561321210011185[171] = 1.0; - out_4168561321210011185[172] = 0.0; - out_4168561321210011185[173] = 0.0; - out_4168561321210011185[174] = 0.0; - out_4168561321210011185[175] = 0.0; - out_4168561321210011185[176] = 0.0; - out_4168561321210011185[177] = 0.0; - out_4168561321210011185[178] = 0.0; - out_4168561321210011185[179] = 0.0; - out_4168561321210011185[180] = 0.0; - out_4168561321210011185[181] = 0.0; - out_4168561321210011185[182] = 0.0; - out_4168561321210011185[183] = 0.0; - out_4168561321210011185[184] = 0.0; - out_4168561321210011185[185] = 0.0; - out_4168561321210011185[186] = 0.0; - out_4168561321210011185[187] = 0.0; - out_4168561321210011185[188] = 0.0; - out_4168561321210011185[189] = 0.0; - out_4168561321210011185[190] = 1.0; - out_4168561321210011185[191] = 0.0; - out_4168561321210011185[192] = 0.0; - out_4168561321210011185[193] = 0.0; - out_4168561321210011185[194] = 0.0; - out_4168561321210011185[195] = 0.0; - out_4168561321210011185[196] = 0.0; - out_4168561321210011185[197] = 0.0; - out_4168561321210011185[198] = 0.0; - out_4168561321210011185[199] = 0.0; - out_4168561321210011185[200] = 0.0; - out_4168561321210011185[201] = 0.0; - out_4168561321210011185[202] = 0.0; - out_4168561321210011185[203] = 0.0; - out_4168561321210011185[204] = 0.0; - out_4168561321210011185[205] = 0.0; - out_4168561321210011185[206] = 0.0; - out_4168561321210011185[207] = 0.0; - out_4168561321210011185[208] = 0.0; - out_4168561321210011185[209] = 1.0; - out_4168561321210011185[210] = 0.0; - out_4168561321210011185[211] = 0.0; - out_4168561321210011185[212] = 0.0; - out_4168561321210011185[213] = 0.0; - out_4168561321210011185[214] = 0.0; - out_4168561321210011185[215] = 0.0; - out_4168561321210011185[216] = 0.0; - out_4168561321210011185[217] = 0.0; - out_4168561321210011185[218] = 0.0; - out_4168561321210011185[219] = 0.0; - out_4168561321210011185[220] = 0.0; - out_4168561321210011185[221] = 0.0; - out_4168561321210011185[222] = 0.0; - out_4168561321210011185[223] = 0.0; - out_4168561321210011185[224] = 0.0; - out_4168561321210011185[225] = 0.0; - out_4168561321210011185[226] = 0.0; - out_4168561321210011185[227] = 0.0; - out_4168561321210011185[228] = 1.0; - out_4168561321210011185[229] = 0.0; - out_4168561321210011185[230] = 0.0; - out_4168561321210011185[231] = 0.0; - out_4168561321210011185[232] = 0.0; - out_4168561321210011185[233] = 0.0; - out_4168561321210011185[234] = 0.0; - out_4168561321210011185[235] = 0.0; - out_4168561321210011185[236] = 0.0; - out_4168561321210011185[237] = 0.0; - out_4168561321210011185[238] = 0.0; - out_4168561321210011185[239] = 0.0; - out_4168561321210011185[240] = 0.0; - out_4168561321210011185[241] = 0.0; - out_4168561321210011185[242] = 0.0; - out_4168561321210011185[243] = 0.0; - out_4168561321210011185[244] = 0.0; - out_4168561321210011185[245] = 0.0; - out_4168561321210011185[246] = 0.0; - out_4168561321210011185[247] = 1.0; - out_4168561321210011185[248] = 0.0; - out_4168561321210011185[249] = 0.0; - out_4168561321210011185[250] = 0.0; - out_4168561321210011185[251] = 0.0; - out_4168561321210011185[252] = 0.0; - out_4168561321210011185[253] = 0.0; - out_4168561321210011185[254] = 0.0; - out_4168561321210011185[255] = 0.0; - out_4168561321210011185[256] = 0.0; - out_4168561321210011185[257] = 0.0; - out_4168561321210011185[258] = 0.0; - out_4168561321210011185[259] = 0.0; - out_4168561321210011185[260] = 0.0; - out_4168561321210011185[261] = 0.0; - out_4168561321210011185[262] = 0.0; - out_4168561321210011185[263] = 0.0; - out_4168561321210011185[264] = 0.0; - out_4168561321210011185[265] = 0.0; - out_4168561321210011185[266] = 1.0; - out_4168561321210011185[267] = 0.0; - out_4168561321210011185[268] = 0.0; - out_4168561321210011185[269] = 0.0; - out_4168561321210011185[270] = 0.0; - out_4168561321210011185[271] = 0.0; - out_4168561321210011185[272] = 0.0; - out_4168561321210011185[273] = 0.0; - out_4168561321210011185[274] = 0.0; - out_4168561321210011185[275] = 0.0; - out_4168561321210011185[276] = 0.0; - out_4168561321210011185[277] = 0.0; - out_4168561321210011185[278] = 0.0; - out_4168561321210011185[279] = 0.0; - out_4168561321210011185[280] = 0.0; - out_4168561321210011185[281] = 0.0; - out_4168561321210011185[282] = 0.0; - out_4168561321210011185[283] = 0.0; - out_4168561321210011185[284] = 0.0; - out_4168561321210011185[285] = 1.0; - out_4168561321210011185[286] = 0.0; - out_4168561321210011185[287] = 0.0; - out_4168561321210011185[288] = 0.0; - out_4168561321210011185[289] = 0.0; - out_4168561321210011185[290] = 0.0; - out_4168561321210011185[291] = 0.0; - out_4168561321210011185[292] = 0.0; - out_4168561321210011185[293] = 0.0; - out_4168561321210011185[294] = 0.0; - out_4168561321210011185[295] = 0.0; - out_4168561321210011185[296] = 0.0; - out_4168561321210011185[297] = 0.0; - out_4168561321210011185[298] = 0.0; - out_4168561321210011185[299] = 0.0; - out_4168561321210011185[300] = 0.0; - out_4168561321210011185[301] = 0.0; - out_4168561321210011185[302] = 0.0; - out_4168561321210011185[303] = 0.0; - out_4168561321210011185[304] = 1.0; - out_4168561321210011185[305] = 0.0; - out_4168561321210011185[306] = 0.0; - out_4168561321210011185[307] = 0.0; - out_4168561321210011185[308] = 0.0; - out_4168561321210011185[309] = 0.0; - out_4168561321210011185[310] = 0.0; - out_4168561321210011185[311] = 0.0; - out_4168561321210011185[312] = 0.0; - out_4168561321210011185[313] = 0.0; - out_4168561321210011185[314] = 0.0; - out_4168561321210011185[315] = 0.0; - out_4168561321210011185[316] = 0.0; - out_4168561321210011185[317] = 0.0; - out_4168561321210011185[318] = 0.0; - out_4168561321210011185[319] = 0.0; - out_4168561321210011185[320] = 0.0; - out_4168561321210011185[321] = 0.0; - out_4168561321210011185[322] = 0.0; - out_4168561321210011185[323] = 1.0; +void H_mod_fun(double *state, double *out_202451455870783186) { + out_202451455870783186[0] = 1.0; + out_202451455870783186[1] = 0.0; + out_202451455870783186[2] = 0.0; + out_202451455870783186[3] = 0.0; + out_202451455870783186[4] = 0.0; + out_202451455870783186[5] = 0.0; + out_202451455870783186[6] = 0.0; + out_202451455870783186[7] = 0.0; + out_202451455870783186[8] = 0.0; + out_202451455870783186[9] = 0.0; + out_202451455870783186[10] = 0.0; + out_202451455870783186[11] = 0.0; + out_202451455870783186[12] = 0.0; + out_202451455870783186[13] = 0.0; + out_202451455870783186[14] = 0.0; + out_202451455870783186[15] = 0.0; + out_202451455870783186[16] = 0.0; + out_202451455870783186[17] = 0.0; + out_202451455870783186[18] = 0.0; + out_202451455870783186[19] = 1.0; + out_202451455870783186[20] = 0.0; + out_202451455870783186[21] = 0.0; + out_202451455870783186[22] = 0.0; + out_202451455870783186[23] = 0.0; + out_202451455870783186[24] = 0.0; + out_202451455870783186[25] = 0.0; + out_202451455870783186[26] = 0.0; + out_202451455870783186[27] = 0.0; + out_202451455870783186[28] = 0.0; + out_202451455870783186[29] = 0.0; + out_202451455870783186[30] = 0.0; + out_202451455870783186[31] = 0.0; + out_202451455870783186[32] = 0.0; + out_202451455870783186[33] = 0.0; + out_202451455870783186[34] = 0.0; + out_202451455870783186[35] = 0.0; + out_202451455870783186[36] = 0.0; + out_202451455870783186[37] = 0.0; + out_202451455870783186[38] = 1.0; + out_202451455870783186[39] = 0.0; + out_202451455870783186[40] = 0.0; + out_202451455870783186[41] = 0.0; + out_202451455870783186[42] = 0.0; + out_202451455870783186[43] = 0.0; + out_202451455870783186[44] = 0.0; + out_202451455870783186[45] = 0.0; + out_202451455870783186[46] = 0.0; + out_202451455870783186[47] = 0.0; + out_202451455870783186[48] = 0.0; + out_202451455870783186[49] = 0.0; + out_202451455870783186[50] = 0.0; + out_202451455870783186[51] = 0.0; + out_202451455870783186[52] = 0.0; + out_202451455870783186[53] = 0.0; + out_202451455870783186[54] = 0.0; + out_202451455870783186[55] = 0.0; + out_202451455870783186[56] = 0.0; + out_202451455870783186[57] = 1.0; + out_202451455870783186[58] = 0.0; + out_202451455870783186[59] = 0.0; + out_202451455870783186[60] = 0.0; + out_202451455870783186[61] = 0.0; + out_202451455870783186[62] = 0.0; + out_202451455870783186[63] = 0.0; + out_202451455870783186[64] = 0.0; + out_202451455870783186[65] = 0.0; + out_202451455870783186[66] = 0.0; + out_202451455870783186[67] = 0.0; + out_202451455870783186[68] = 0.0; + out_202451455870783186[69] = 0.0; + out_202451455870783186[70] = 0.0; + out_202451455870783186[71] = 0.0; + out_202451455870783186[72] = 0.0; + out_202451455870783186[73] = 0.0; + out_202451455870783186[74] = 0.0; + out_202451455870783186[75] = 0.0; + out_202451455870783186[76] = 1.0; + out_202451455870783186[77] = 0.0; + out_202451455870783186[78] = 0.0; + out_202451455870783186[79] = 0.0; + out_202451455870783186[80] = 0.0; + out_202451455870783186[81] = 0.0; + out_202451455870783186[82] = 0.0; + out_202451455870783186[83] = 0.0; + out_202451455870783186[84] = 0.0; + out_202451455870783186[85] = 0.0; + out_202451455870783186[86] = 0.0; + out_202451455870783186[87] = 0.0; + out_202451455870783186[88] = 0.0; + out_202451455870783186[89] = 0.0; + out_202451455870783186[90] = 0.0; + out_202451455870783186[91] = 0.0; + out_202451455870783186[92] = 0.0; + out_202451455870783186[93] = 0.0; + out_202451455870783186[94] = 0.0; + out_202451455870783186[95] = 1.0; + out_202451455870783186[96] = 0.0; + out_202451455870783186[97] = 0.0; + out_202451455870783186[98] = 0.0; + out_202451455870783186[99] = 0.0; + out_202451455870783186[100] = 0.0; + out_202451455870783186[101] = 0.0; + out_202451455870783186[102] = 0.0; + out_202451455870783186[103] = 0.0; + out_202451455870783186[104] = 0.0; + out_202451455870783186[105] = 0.0; + out_202451455870783186[106] = 0.0; + out_202451455870783186[107] = 0.0; + out_202451455870783186[108] = 0.0; + out_202451455870783186[109] = 0.0; + out_202451455870783186[110] = 0.0; + out_202451455870783186[111] = 0.0; + out_202451455870783186[112] = 0.0; + out_202451455870783186[113] = 0.0; + out_202451455870783186[114] = 1.0; + out_202451455870783186[115] = 0.0; + out_202451455870783186[116] = 0.0; + out_202451455870783186[117] = 0.0; + out_202451455870783186[118] = 0.0; + out_202451455870783186[119] = 0.0; + out_202451455870783186[120] = 0.0; + out_202451455870783186[121] = 0.0; + out_202451455870783186[122] = 0.0; + out_202451455870783186[123] = 0.0; + out_202451455870783186[124] = 0.0; + out_202451455870783186[125] = 0.0; + out_202451455870783186[126] = 0.0; + out_202451455870783186[127] = 0.0; + out_202451455870783186[128] = 0.0; + out_202451455870783186[129] = 0.0; + out_202451455870783186[130] = 0.0; + out_202451455870783186[131] = 0.0; + out_202451455870783186[132] = 0.0; + out_202451455870783186[133] = 1.0; + out_202451455870783186[134] = 0.0; + out_202451455870783186[135] = 0.0; + out_202451455870783186[136] = 0.0; + out_202451455870783186[137] = 0.0; + out_202451455870783186[138] = 0.0; + out_202451455870783186[139] = 0.0; + out_202451455870783186[140] = 0.0; + out_202451455870783186[141] = 0.0; + out_202451455870783186[142] = 0.0; + out_202451455870783186[143] = 0.0; + out_202451455870783186[144] = 0.0; + out_202451455870783186[145] = 0.0; + out_202451455870783186[146] = 0.0; + out_202451455870783186[147] = 0.0; + out_202451455870783186[148] = 0.0; + out_202451455870783186[149] = 0.0; + out_202451455870783186[150] = 0.0; + out_202451455870783186[151] = 0.0; + out_202451455870783186[152] = 1.0; + out_202451455870783186[153] = 0.0; + out_202451455870783186[154] = 0.0; + out_202451455870783186[155] = 0.0; + out_202451455870783186[156] = 0.0; + out_202451455870783186[157] = 0.0; + out_202451455870783186[158] = 0.0; + out_202451455870783186[159] = 0.0; + out_202451455870783186[160] = 0.0; + out_202451455870783186[161] = 0.0; + out_202451455870783186[162] = 0.0; + out_202451455870783186[163] = 0.0; + out_202451455870783186[164] = 0.0; + out_202451455870783186[165] = 0.0; + out_202451455870783186[166] = 0.0; + out_202451455870783186[167] = 0.0; + out_202451455870783186[168] = 0.0; + out_202451455870783186[169] = 0.0; + out_202451455870783186[170] = 0.0; + out_202451455870783186[171] = 1.0; + out_202451455870783186[172] = 0.0; + out_202451455870783186[173] = 0.0; + out_202451455870783186[174] = 0.0; + out_202451455870783186[175] = 0.0; + out_202451455870783186[176] = 0.0; + out_202451455870783186[177] = 0.0; + out_202451455870783186[178] = 0.0; + out_202451455870783186[179] = 0.0; + out_202451455870783186[180] = 0.0; + out_202451455870783186[181] = 0.0; + out_202451455870783186[182] = 0.0; + out_202451455870783186[183] = 0.0; + out_202451455870783186[184] = 0.0; + out_202451455870783186[185] = 0.0; + out_202451455870783186[186] = 0.0; + out_202451455870783186[187] = 0.0; + out_202451455870783186[188] = 0.0; + out_202451455870783186[189] = 0.0; + out_202451455870783186[190] = 1.0; + out_202451455870783186[191] = 0.0; + out_202451455870783186[192] = 0.0; + out_202451455870783186[193] = 0.0; + out_202451455870783186[194] = 0.0; + out_202451455870783186[195] = 0.0; + out_202451455870783186[196] = 0.0; + out_202451455870783186[197] = 0.0; + out_202451455870783186[198] = 0.0; + out_202451455870783186[199] = 0.0; + out_202451455870783186[200] = 0.0; + out_202451455870783186[201] = 0.0; + out_202451455870783186[202] = 0.0; + out_202451455870783186[203] = 0.0; + out_202451455870783186[204] = 0.0; + out_202451455870783186[205] = 0.0; + out_202451455870783186[206] = 0.0; + out_202451455870783186[207] = 0.0; + out_202451455870783186[208] = 0.0; + out_202451455870783186[209] = 1.0; + out_202451455870783186[210] = 0.0; + out_202451455870783186[211] = 0.0; + out_202451455870783186[212] = 0.0; + out_202451455870783186[213] = 0.0; + out_202451455870783186[214] = 0.0; + out_202451455870783186[215] = 0.0; + out_202451455870783186[216] = 0.0; + out_202451455870783186[217] = 0.0; + out_202451455870783186[218] = 0.0; + out_202451455870783186[219] = 0.0; + out_202451455870783186[220] = 0.0; + out_202451455870783186[221] = 0.0; + out_202451455870783186[222] = 0.0; + out_202451455870783186[223] = 0.0; + out_202451455870783186[224] = 0.0; + out_202451455870783186[225] = 0.0; + out_202451455870783186[226] = 0.0; + out_202451455870783186[227] = 0.0; + out_202451455870783186[228] = 1.0; + out_202451455870783186[229] = 0.0; + out_202451455870783186[230] = 0.0; + out_202451455870783186[231] = 0.0; + out_202451455870783186[232] = 0.0; + out_202451455870783186[233] = 0.0; + out_202451455870783186[234] = 0.0; + out_202451455870783186[235] = 0.0; + out_202451455870783186[236] = 0.0; + out_202451455870783186[237] = 0.0; + out_202451455870783186[238] = 0.0; + out_202451455870783186[239] = 0.0; + out_202451455870783186[240] = 0.0; + out_202451455870783186[241] = 0.0; + out_202451455870783186[242] = 0.0; + out_202451455870783186[243] = 0.0; + out_202451455870783186[244] = 0.0; + out_202451455870783186[245] = 0.0; + out_202451455870783186[246] = 0.0; + out_202451455870783186[247] = 1.0; + out_202451455870783186[248] = 0.0; + out_202451455870783186[249] = 0.0; + out_202451455870783186[250] = 0.0; + out_202451455870783186[251] = 0.0; + out_202451455870783186[252] = 0.0; + out_202451455870783186[253] = 0.0; + out_202451455870783186[254] = 0.0; + out_202451455870783186[255] = 0.0; + out_202451455870783186[256] = 0.0; + out_202451455870783186[257] = 0.0; + out_202451455870783186[258] = 0.0; + out_202451455870783186[259] = 0.0; + out_202451455870783186[260] = 0.0; + out_202451455870783186[261] = 0.0; + out_202451455870783186[262] = 0.0; + out_202451455870783186[263] = 0.0; + out_202451455870783186[264] = 0.0; + out_202451455870783186[265] = 0.0; + out_202451455870783186[266] = 1.0; + out_202451455870783186[267] = 0.0; + out_202451455870783186[268] = 0.0; + out_202451455870783186[269] = 0.0; + out_202451455870783186[270] = 0.0; + out_202451455870783186[271] = 0.0; + out_202451455870783186[272] = 0.0; + out_202451455870783186[273] = 0.0; + out_202451455870783186[274] = 0.0; + out_202451455870783186[275] = 0.0; + out_202451455870783186[276] = 0.0; + out_202451455870783186[277] = 0.0; + out_202451455870783186[278] = 0.0; + out_202451455870783186[279] = 0.0; + out_202451455870783186[280] = 0.0; + out_202451455870783186[281] = 0.0; + out_202451455870783186[282] = 0.0; + out_202451455870783186[283] = 0.0; + out_202451455870783186[284] = 0.0; + out_202451455870783186[285] = 1.0; + out_202451455870783186[286] = 0.0; + out_202451455870783186[287] = 0.0; + out_202451455870783186[288] = 0.0; + out_202451455870783186[289] = 0.0; + out_202451455870783186[290] = 0.0; + out_202451455870783186[291] = 0.0; + out_202451455870783186[292] = 0.0; + out_202451455870783186[293] = 0.0; + out_202451455870783186[294] = 0.0; + out_202451455870783186[295] = 0.0; + out_202451455870783186[296] = 0.0; + out_202451455870783186[297] = 0.0; + out_202451455870783186[298] = 0.0; + out_202451455870783186[299] = 0.0; + out_202451455870783186[300] = 0.0; + out_202451455870783186[301] = 0.0; + out_202451455870783186[302] = 0.0; + out_202451455870783186[303] = 0.0; + out_202451455870783186[304] = 1.0; + out_202451455870783186[305] = 0.0; + out_202451455870783186[306] = 0.0; + out_202451455870783186[307] = 0.0; + out_202451455870783186[308] = 0.0; + out_202451455870783186[309] = 0.0; + out_202451455870783186[310] = 0.0; + out_202451455870783186[311] = 0.0; + out_202451455870783186[312] = 0.0; + out_202451455870783186[313] = 0.0; + out_202451455870783186[314] = 0.0; + out_202451455870783186[315] = 0.0; + out_202451455870783186[316] = 0.0; + out_202451455870783186[317] = 0.0; + out_202451455870783186[318] = 0.0; + out_202451455870783186[319] = 0.0; + out_202451455870783186[320] = 0.0; + out_202451455870783186[321] = 0.0; + out_202451455870783186[322] = 0.0; + out_202451455870783186[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7595162637232814159) { - out_7595162637232814159[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_7595162637232814159[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_7595162637232814159[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_7595162637232814159[3] = dt*state[12] + state[3]; - out_7595162637232814159[4] = dt*state[13] + state[4]; - out_7595162637232814159[5] = dt*state[14] + state[5]; - out_7595162637232814159[6] = state[6]; - out_7595162637232814159[7] = state[7]; - out_7595162637232814159[8] = state[8]; - out_7595162637232814159[9] = state[9]; - out_7595162637232814159[10] = state[10]; - out_7595162637232814159[11] = state[11]; - out_7595162637232814159[12] = state[12]; - out_7595162637232814159[13] = state[13]; - out_7595162637232814159[14] = state[14]; - out_7595162637232814159[15] = state[15]; - out_7595162637232814159[16] = state[16]; - out_7595162637232814159[17] = state[17]; +void f_fun(double *state, double dt, double *out_3404078345216964699) { + out_3404078345216964699[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_3404078345216964699[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_3404078345216964699[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_3404078345216964699[3] = dt*state[12] + state[3]; + out_3404078345216964699[4] = dt*state[13] + state[4]; + out_3404078345216964699[5] = dt*state[14] + state[5]; + out_3404078345216964699[6] = state[6]; + out_3404078345216964699[7] = state[7]; + out_3404078345216964699[8] = state[8]; + out_3404078345216964699[9] = state[9]; + out_3404078345216964699[10] = state[10]; + out_3404078345216964699[11] = state[11]; + out_3404078345216964699[12] = state[12]; + out_3404078345216964699[13] = state[13]; + out_3404078345216964699[14] = state[14]; + out_3404078345216964699[15] = state[15]; + out_3404078345216964699[16] = state[16]; + out_3404078345216964699[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1091902965475609973) { - out_1091902965475609973[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_1091902965475609973[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_1091902965475609973[2] = 0; - out_1091902965475609973[3] = 0; - out_1091902965475609973[4] = 0; - out_1091902965475609973[5] = 0; - out_1091902965475609973[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_1091902965475609973[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_1091902965475609973[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_1091902965475609973[9] = 0; - out_1091902965475609973[10] = 0; - out_1091902965475609973[11] = 0; - out_1091902965475609973[12] = 0; - out_1091902965475609973[13] = 0; - out_1091902965475609973[14] = 0; - out_1091902965475609973[15] = 0; - out_1091902965475609973[16] = 0; - out_1091902965475609973[17] = 0; - out_1091902965475609973[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_1091902965475609973[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_1091902965475609973[20] = 0; - out_1091902965475609973[21] = 0; - out_1091902965475609973[22] = 0; - out_1091902965475609973[23] = 0; - out_1091902965475609973[24] = 0; - out_1091902965475609973[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_1091902965475609973[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_1091902965475609973[27] = 0; - out_1091902965475609973[28] = 0; - out_1091902965475609973[29] = 0; - out_1091902965475609973[30] = 0; - out_1091902965475609973[31] = 0; - out_1091902965475609973[32] = 0; - out_1091902965475609973[33] = 0; - out_1091902965475609973[34] = 0; - out_1091902965475609973[35] = 0; - out_1091902965475609973[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_1091902965475609973[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_1091902965475609973[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_1091902965475609973[39] = 0; - out_1091902965475609973[40] = 0; - out_1091902965475609973[41] = 0; - out_1091902965475609973[42] = 0; - out_1091902965475609973[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_1091902965475609973[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_1091902965475609973[45] = 0; - out_1091902965475609973[46] = 0; - out_1091902965475609973[47] = 0; - out_1091902965475609973[48] = 0; - out_1091902965475609973[49] = 0; - out_1091902965475609973[50] = 0; - out_1091902965475609973[51] = 0; - out_1091902965475609973[52] = 0; - out_1091902965475609973[53] = 0; - out_1091902965475609973[54] = 0; - out_1091902965475609973[55] = 0; - out_1091902965475609973[56] = 0; - out_1091902965475609973[57] = 1; - out_1091902965475609973[58] = 0; - out_1091902965475609973[59] = 0; - out_1091902965475609973[60] = 0; - out_1091902965475609973[61] = 0; - out_1091902965475609973[62] = 0; - out_1091902965475609973[63] = 0; - out_1091902965475609973[64] = 0; - out_1091902965475609973[65] = 0; - out_1091902965475609973[66] = dt; - out_1091902965475609973[67] = 0; - out_1091902965475609973[68] = 0; - out_1091902965475609973[69] = 0; - out_1091902965475609973[70] = 0; - out_1091902965475609973[71] = 0; - out_1091902965475609973[72] = 0; - out_1091902965475609973[73] = 0; - out_1091902965475609973[74] = 0; - out_1091902965475609973[75] = 0; - out_1091902965475609973[76] = 1; - out_1091902965475609973[77] = 0; - out_1091902965475609973[78] = 0; - out_1091902965475609973[79] = 0; - out_1091902965475609973[80] = 0; - out_1091902965475609973[81] = 0; - out_1091902965475609973[82] = 0; - out_1091902965475609973[83] = 0; - out_1091902965475609973[84] = 0; - out_1091902965475609973[85] = dt; - out_1091902965475609973[86] = 0; - out_1091902965475609973[87] = 0; - out_1091902965475609973[88] = 0; - out_1091902965475609973[89] = 0; - out_1091902965475609973[90] = 0; - out_1091902965475609973[91] = 0; - out_1091902965475609973[92] = 0; - out_1091902965475609973[93] = 0; - out_1091902965475609973[94] = 0; - out_1091902965475609973[95] = 1; - out_1091902965475609973[96] = 0; - out_1091902965475609973[97] = 0; - out_1091902965475609973[98] = 0; - out_1091902965475609973[99] = 0; - out_1091902965475609973[100] = 0; - out_1091902965475609973[101] = 0; - out_1091902965475609973[102] = 0; - out_1091902965475609973[103] = 0; - out_1091902965475609973[104] = dt; - out_1091902965475609973[105] = 0; - out_1091902965475609973[106] = 0; - out_1091902965475609973[107] = 0; - out_1091902965475609973[108] = 0; - out_1091902965475609973[109] = 0; - out_1091902965475609973[110] = 0; - out_1091902965475609973[111] = 0; - out_1091902965475609973[112] = 0; - out_1091902965475609973[113] = 0; - out_1091902965475609973[114] = 1; - out_1091902965475609973[115] = 0; - out_1091902965475609973[116] = 0; - out_1091902965475609973[117] = 0; - out_1091902965475609973[118] = 0; - out_1091902965475609973[119] = 0; - out_1091902965475609973[120] = 0; - out_1091902965475609973[121] = 0; - out_1091902965475609973[122] = 0; - out_1091902965475609973[123] = 0; - out_1091902965475609973[124] = 0; - out_1091902965475609973[125] = 0; - out_1091902965475609973[126] = 0; - out_1091902965475609973[127] = 0; - out_1091902965475609973[128] = 0; - out_1091902965475609973[129] = 0; - out_1091902965475609973[130] = 0; - out_1091902965475609973[131] = 0; - out_1091902965475609973[132] = 0; - out_1091902965475609973[133] = 1; - out_1091902965475609973[134] = 0; - out_1091902965475609973[135] = 0; - out_1091902965475609973[136] = 0; - out_1091902965475609973[137] = 0; - out_1091902965475609973[138] = 0; - out_1091902965475609973[139] = 0; - out_1091902965475609973[140] = 0; - out_1091902965475609973[141] = 0; - out_1091902965475609973[142] = 0; - out_1091902965475609973[143] = 0; - out_1091902965475609973[144] = 0; - out_1091902965475609973[145] = 0; - out_1091902965475609973[146] = 0; - out_1091902965475609973[147] = 0; - out_1091902965475609973[148] = 0; - out_1091902965475609973[149] = 0; - out_1091902965475609973[150] = 0; - out_1091902965475609973[151] = 0; - out_1091902965475609973[152] = 1; - out_1091902965475609973[153] = 0; - out_1091902965475609973[154] = 0; - out_1091902965475609973[155] = 0; - out_1091902965475609973[156] = 0; - out_1091902965475609973[157] = 0; - out_1091902965475609973[158] = 0; - out_1091902965475609973[159] = 0; - out_1091902965475609973[160] = 0; - out_1091902965475609973[161] = 0; - out_1091902965475609973[162] = 0; - out_1091902965475609973[163] = 0; - out_1091902965475609973[164] = 0; - out_1091902965475609973[165] = 0; - out_1091902965475609973[166] = 0; - out_1091902965475609973[167] = 0; - out_1091902965475609973[168] = 0; - out_1091902965475609973[169] = 0; - out_1091902965475609973[170] = 0; - out_1091902965475609973[171] = 1; - out_1091902965475609973[172] = 0; - out_1091902965475609973[173] = 0; - out_1091902965475609973[174] = 0; - out_1091902965475609973[175] = 0; - out_1091902965475609973[176] = 0; - out_1091902965475609973[177] = 0; - out_1091902965475609973[178] = 0; - out_1091902965475609973[179] = 0; - out_1091902965475609973[180] = 0; - out_1091902965475609973[181] = 0; - out_1091902965475609973[182] = 0; - out_1091902965475609973[183] = 0; - out_1091902965475609973[184] = 0; - out_1091902965475609973[185] = 0; - out_1091902965475609973[186] = 0; - out_1091902965475609973[187] = 0; - out_1091902965475609973[188] = 0; - out_1091902965475609973[189] = 0; - out_1091902965475609973[190] = 1; - out_1091902965475609973[191] = 0; - out_1091902965475609973[192] = 0; - out_1091902965475609973[193] = 0; - out_1091902965475609973[194] = 0; - out_1091902965475609973[195] = 0; - out_1091902965475609973[196] = 0; - out_1091902965475609973[197] = 0; - out_1091902965475609973[198] = 0; - out_1091902965475609973[199] = 0; - out_1091902965475609973[200] = 0; - out_1091902965475609973[201] = 0; - out_1091902965475609973[202] = 0; - out_1091902965475609973[203] = 0; - out_1091902965475609973[204] = 0; - out_1091902965475609973[205] = 0; - out_1091902965475609973[206] = 0; - out_1091902965475609973[207] = 0; - out_1091902965475609973[208] = 0; - out_1091902965475609973[209] = 1; - out_1091902965475609973[210] = 0; - out_1091902965475609973[211] = 0; - out_1091902965475609973[212] = 0; - out_1091902965475609973[213] = 0; - out_1091902965475609973[214] = 0; - out_1091902965475609973[215] = 0; - out_1091902965475609973[216] = 0; - out_1091902965475609973[217] = 0; - out_1091902965475609973[218] = 0; - out_1091902965475609973[219] = 0; - out_1091902965475609973[220] = 0; - out_1091902965475609973[221] = 0; - out_1091902965475609973[222] = 0; - out_1091902965475609973[223] = 0; - out_1091902965475609973[224] = 0; - out_1091902965475609973[225] = 0; - out_1091902965475609973[226] = 0; - out_1091902965475609973[227] = 0; - out_1091902965475609973[228] = 1; - out_1091902965475609973[229] = 0; - out_1091902965475609973[230] = 0; - out_1091902965475609973[231] = 0; - out_1091902965475609973[232] = 0; - out_1091902965475609973[233] = 0; - out_1091902965475609973[234] = 0; - out_1091902965475609973[235] = 0; - out_1091902965475609973[236] = 0; - out_1091902965475609973[237] = 0; - out_1091902965475609973[238] = 0; - out_1091902965475609973[239] = 0; - out_1091902965475609973[240] = 0; - out_1091902965475609973[241] = 0; - out_1091902965475609973[242] = 0; - out_1091902965475609973[243] = 0; - out_1091902965475609973[244] = 0; - out_1091902965475609973[245] = 0; - out_1091902965475609973[246] = 0; - out_1091902965475609973[247] = 1; - out_1091902965475609973[248] = 0; - out_1091902965475609973[249] = 0; - out_1091902965475609973[250] = 0; - out_1091902965475609973[251] = 0; - out_1091902965475609973[252] = 0; - out_1091902965475609973[253] = 0; - out_1091902965475609973[254] = 0; - out_1091902965475609973[255] = 0; - out_1091902965475609973[256] = 0; - out_1091902965475609973[257] = 0; - out_1091902965475609973[258] = 0; - out_1091902965475609973[259] = 0; - out_1091902965475609973[260] = 0; - out_1091902965475609973[261] = 0; - out_1091902965475609973[262] = 0; - out_1091902965475609973[263] = 0; - out_1091902965475609973[264] = 0; - out_1091902965475609973[265] = 0; - out_1091902965475609973[266] = 1; - out_1091902965475609973[267] = 0; - out_1091902965475609973[268] = 0; - out_1091902965475609973[269] = 0; - out_1091902965475609973[270] = 0; - out_1091902965475609973[271] = 0; - out_1091902965475609973[272] = 0; - out_1091902965475609973[273] = 0; - out_1091902965475609973[274] = 0; - out_1091902965475609973[275] = 0; - out_1091902965475609973[276] = 0; - out_1091902965475609973[277] = 0; - out_1091902965475609973[278] = 0; - out_1091902965475609973[279] = 0; - out_1091902965475609973[280] = 0; - out_1091902965475609973[281] = 0; - out_1091902965475609973[282] = 0; - out_1091902965475609973[283] = 0; - out_1091902965475609973[284] = 0; - out_1091902965475609973[285] = 1; - out_1091902965475609973[286] = 0; - out_1091902965475609973[287] = 0; - out_1091902965475609973[288] = 0; - out_1091902965475609973[289] = 0; - out_1091902965475609973[290] = 0; - out_1091902965475609973[291] = 0; - out_1091902965475609973[292] = 0; - out_1091902965475609973[293] = 0; - out_1091902965475609973[294] = 0; - out_1091902965475609973[295] = 0; - out_1091902965475609973[296] = 0; - out_1091902965475609973[297] = 0; - out_1091902965475609973[298] = 0; - out_1091902965475609973[299] = 0; - out_1091902965475609973[300] = 0; - out_1091902965475609973[301] = 0; - out_1091902965475609973[302] = 0; - out_1091902965475609973[303] = 0; - out_1091902965475609973[304] = 1; - out_1091902965475609973[305] = 0; - out_1091902965475609973[306] = 0; - out_1091902965475609973[307] = 0; - out_1091902965475609973[308] = 0; - out_1091902965475609973[309] = 0; - out_1091902965475609973[310] = 0; - out_1091902965475609973[311] = 0; - out_1091902965475609973[312] = 0; - out_1091902965475609973[313] = 0; - out_1091902965475609973[314] = 0; - out_1091902965475609973[315] = 0; - out_1091902965475609973[316] = 0; - out_1091902965475609973[317] = 0; - out_1091902965475609973[318] = 0; - out_1091902965475609973[319] = 0; - out_1091902965475609973[320] = 0; - out_1091902965475609973[321] = 0; - out_1091902965475609973[322] = 0; - out_1091902965475609973[323] = 1; +void F_fun(double *state, double dt, double *out_9161898751948597001) { + out_9161898751948597001[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_9161898751948597001[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_9161898751948597001[2] = 0; + out_9161898751948597001[3] = 0; + out_9161898751948597001[4] = 0; + out_9161898751948597001[5] = 0; + out_9161898751948597001[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_9161898751948597001[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_9161898751948597001[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_9161898751948597001[9] = 0; + out_9161898751948597001[10] = 0; + out_9161898751948597001[11] = 0; + out_9161898751948597001[12] = 0; + out_9161898751948597001[13] = 0; + out_9161898751948597001[14] = 0; + out_9161898751948597001[15] = 0; + out_9161898751948597001[16] = 0; + out_9161898751948597001[17] = 0; + out_9161898751948597001[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_9161898751948597001[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_9161898751948597001[20] = 0; + out_9161898751948597001[21] = 0; + out_9161898751948597001[22] = 0; + out_9161898751948597001[23] = 0; + out_9161898751948597001[24] = 0; + out_9161898751948597001[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_9161898751948597001[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_9161898751948597001[27] = 0; + out_9161898751948597001[28] = 0; + out_9161898751948597001[29] = 0; + out_9161898751948597001[30] = 0; + out_9161898751948597001[31] = 0; + out_9161898751948597001[32] = 0; + out_9161898751948597001[33] = 0; + out_9161898751948597001[34] = 0; + out_9161898751948597001[35] = 0; + out_9161898751948597001[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_9161898751948597001[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_9161898751948597001[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_9161898751948597001[39] = 0; + out_9161898751948597001[40] = 0; + out_9161898751948597001[41] = 0; + out_9161898751948597001[42] = 0; + out_9161898751948597001[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_9161898751948597001[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_9161898751948597001[45] = 0; + out_9161898751948597001[46] = 0; + out_9161898751948597001[47] = 0; + out_9161898751948597001[48] = 0; + out_9161898751948597001[49] = 0; + out_9161898751948597001[50] = 0; + out_9161898751948597001[51] = 0; + out_9161898751948597001[52] = 0; + out_9161898751948597001[53] = 0; + out_9161898751948597001[54] = 0; + out_9161898751948597001[55] = 0; + out_9161898751948597001[56] = 0; + out_9161898751948597001[57] = 1; + out_9161898751948597001[58] = 0; + out_9161898751948597001[59] = 0; + out_9161898751948597001[60] = 0; + out_9161898751948597001[61] = 0; + out_9161898751948597001[62] = 0; + out_9161898751948597001[63] = 0; + out_9161898751948597001[64] = 0; + out_9161898751948597001[65] = 0; + out_9161898751948597001[66] = dt; + out_9161898751948597001[67] = 0; + out_9161898751948597001[68] = 0; + out_9161898751948597001[69] = 0; + out_9161898751948597001[70] = 0; + out_9161898751948597001[71] = 0; + out_9161898751948597001[72] = 0; + out_9161898751948597001[73] = 0; + out_9161898751948597001[74] = 0; + out_9161898751948597001[75] = 0; + out_9161898751948597001[76] = 1; + out_9161898751948597001[77] = 0; + out_9161898751948597001[78] = 0; + out_9161898751948597001[79] = 0; + out_9161898751948597001[80] = 0; + out_9161898751948597001[81] = 0; + out_9161898751948597001[82] = 0; + out_9161898751948597001[83] = 0; + out_9161898751948597001[84] = 0; + out_9161898751948597001[85] = dt; + out_9161898751948597001[86] = 0; + out_9161898751948597001[87] = 0; + out_9161898751948597001[88] = 0; + out_9161898751948597001[89] = 0; + out_9161898751948597001[90] = 0; + out_9161898751948597001[91] = 0; + out_9161898751948597001[92] = 0; + out_9161898751948597001[93] = 0; + out_9161898751948597001[94] = 0; + out_9161898751948597001[95] = 1; + out_9161898751948597001[96] = 0; + out_9161898751948597001[97] = 0; + out_9161898751948597001[98] = 0; + out_9161898751948597001[99] = 0; + out_9161898751948597001[100] = 0; + out_9161898751948597001[101] = 0; + out_9161898751948597001[102] = 0; + out_9161898751948597001[103] = 0; + out_9161898751948597001[104] = dt; + out_9161898751948597001[105] = 0; + out_9161898751948597001[106] = 0; + out_9161898751948597001[107] = 0; + out_9161898751948597001[108] = 0; + out_9161898751948597001[109] = 0; + out_9161898751948597001[110] = 0; + out_9161898751948597001[111] = 0; + out_9161898751948597001[112] = 0; + out_9161898751948597001[113] = 0; + out_9161898751948597001[114] = 1; + out_9161898751948597001[115] = 0; + out_9161898751948597001[116] = 0; + out_9161898751948597001[117] = 0; + out_9161898751948597001[118] = 0; + out_9161898751948597001[119] = 0; + out_9161898751948597001[120] = 0; + out_9161898751948597001[121] = 0; + out_9161898751948597001[122] = 0; + out_9161898751948597001[123] = 0; + out_9161898751948597001[124] = 0; + out_9161898751948597001[125] = 0; + out_9161898751948597001[126] = 0; + out_9161898751948597001[127] = 0; + out_9161898751948597001[128] = 0; + out_9161898751948597001[129] = 0; + out_9161898751948597001[130] = 0; + out_9161898751948597001[131] = 0; + out_9161898751948597001[132] = 0; + out_9161898751948597001[133] = 1; + out_9161898751948597001[134] = 0; + out_9161898751948597001[135] = 0; + out_9161898751948597001[136] = 0; + out_9161898751948597001[137] = 0; + out_9161898751948597001[138] = 0; + out_9161898751948597001[139] = 0; + out_9161898751948597001[140] = 0; + out_9161898751948597001[141] = 0; + out_9161898751948597001[142] = 0; + out_9161898751948597001[143] = 0; + out_9161898751948597001[144] = 0; + out_9161898751948597001[145] = 0; + out_9161898751948597001[146] = 0; + out_9161898751948597001[147] = 0; + out_9161898751948597001[148] = 0; + out_9161898751948597001[149] = 0; + out_9161898751948597001[150] = 0; + out_9161898751948597001[151] = 0; + out_9161898751948597001[152] = 1; + out_9161898751948597001[153] = 0; + out_9161898751948597001[154] = 0; + out_9161898751948597001[155] = 0; + out_9161898751948597001[156] = 0; + out_9161898751948597001[157] = 0; + out_9161898751948597001[158] = 0; + out_9161898751948597001[159] = 0; + out_9161898751948597001[160] = 0; + out_9161898751948597001[161] = 0; + out_9161898751948597001[162] = 0; + out_9161898751948597001[163] = 0; + out_9161898751948597001[164] = 0; + out_9161898751948597001[165] = 0; + out_9161898751948597001[166] = 0; + out_9161898751948597001[167] = 0; + out_9161898751948597001[168] = 0; + out_9161898751948597001[169] = 0; + out_9161898751948597001[170] = 0; + out_9161898751948597001[171] = 1; + out_9161898751948597001[172] = 0; + out_9161898751948597001[173] = 0; + out_9161898751948597001[174] = 0; + out_9161898751948597001[175] = 0; + out_9161898751948597001[176] = 0; + out_9161898751948597001[177] = 0; + out_9161898751948597001[178] = 0; + out_9161898751948597001[179] = 0; + out_9161898751948597001[180] = 0; + out_9161898751948597001[181] = 0; + out_9161898751948597001[182] = 0; + out_9161898751948597001[183] = 0; + out_9161898751948597001[184] = 0; + out_9161898751948597001[185] = 0; + out_9161898751948597001[186] = 0; + out_9161898751948597001[187] = 0; + out_9161898751948597001[188] = 0; + out_9161898751948597001[189] = 0; + out_9161898751948597001[190] = 1; + out_9161898751948597001[191] = 0; + out_9161898751948597001[192] = 0; + out_9161898751948597001[193] = 0; + out_9161898751948597001[194] = 0; + out_9161898751948597001[195] = 0; + out_9161898751948597001[196] = 0; + out_9161898751948597001[197] = 0; + out_9161898751948597001[198] = 0; + out_9161898751948597001[199] = 0; + out_9161898751948597001[200] = 0; + out_9161898751948597001[201] = 0; + out_9161898751948597001[202] = 0; + out_9161898751948597001[203] = 0; + out_9161898751948597001[204] = 0; + out_9161898751948597001[205] = 0; + out_9161898751948597001[206] = 0; + out_9161898751948597001[207] = 0; + out_9161898751948597001[208] = 0; + out_9161898751948597001[209] = 1; + out_9161898751948597001[210] = 0; + out_9161898751948597001[211] = 0; + out_9161898751948597001[212] = 0; + out_9161898751948597001[213] = 0; + out_9161898751948597001[214] = 0; + out_9161898751948597001[215] = 0; + out_9161898751948597001[216] = 0; + out_9161898751948597001[217] = 0; + out_9161898751948597001[218] = 0; + out_9161898751948597001[219] = 0; + out_9161898751948597001[220] = 0; + out_9161898751948597001[221] = 0; + out_9161898751948597001[222] = 0; + out_9161898751948597001[223] = 0; + out_9161898751948597001[224] = 0; + out_9161898751948597001[225] = 0; + out_9161898751948597001[226] = 0; + out_9161898751948597001[227] = 0; + out_9161898751948597001[228] = 1; + out_9161898751948597001[229] = 0; + out_9161898751948597001[230] = 0; + out_9161898751948597001[231] = 0; + out_9161898751948597001[232] = 0; + out_9161898751948597001[233] = 0; + out_9161898751948597001[234] = 0; + out_9161898751948597001[235] = 0; + out_9161898751948597001[236] = 0; + out_9161898751948597001[237] = 0; + out_9161898751948597001[238] = 0; + out_9161898751948597001[239] = 0; + out_9161898751948597001[240] = 0; + out_9161898751948597001[241] = 0; + out_9161898751948597001[242] = 0; + out_9161898751948597001[243] = 0; + out_9161898751948597001[244] = 0; + out_9161898751948597001[245] = 0; + out_9161898751948597001[246] = 0; + out_9161898751948597001[247] = 1; + out_9161898751948597001[248] = 0; + out_9161898751948597001[249] = 0; + out_9161898751948597001[250] = 0; + out_9161898751948597001[251] = 0; + out_9161898751948597001[252] = 0; + out_9161898751948597001[253] = 0; + out_9161898751948597001[254] = 0; + out_9161898751948597001[255] = 0; + out_9161898751948597001[256] = 0; + out_9161898751948597001[257] = 0; + out_9161898751948597001[258] = 0; + out_9161898751948597001[259] = 0; + out_9161898751948597001[260] = 0; + out_9161898751948597001[261] = 0; + out_9161898751948597001[262] = 0; + out_9161898751948597001[263] = 0; + out_9161898751948597001[264] = 0; + out_9161898751948597001[265] = 0; + out_9161898751948597001[266] = 1; + out_9161898751948597001[267] = 0; + out_9161898751948597001[268] = 0; + out_9161898751948597001[269] = 0; + out_9161898751948597001[270] = 0; + out_9161898751948597001[271] = 0; + out_9161898751948597001[272] = 0; + out_9161898751948597001[273] = 0; + out_9161898751948597001[274] = 0; + out_9161898751948597001[275] = 0; + out_9161898751948597001[276] = 0; + out_9161898751948597001[277] = 0; + out_9161898751948597001[278] = 0; + out_9161898751948597001[279] = 0; + out_9161898751948597001[280] = 0; + out_9161898751948597001[281] = 0; + out_9161898751948597001[282] = 0; + out_9161898751948597001[283] = 0; + out_9161898751948597001[284] = 0; + out_9161898751948597001[285] = 1; + out_9161898751948597001[286] = 0; + out_9161898751948597001[287] = 0; + out_9161898751948597001[288] = 0; + out_9161898751948597001[289] = 0; + out_9161898751948597001[290] = 0; + out_9161898751948597001[291] = 0; + out_9161898751948597001[292] = 0; + out_9161898751948597001[293] = 0; + out_9161898751948597001[294] = 0; + out_9161898751948597001[295] = 0; + out_9161898751948597001[296] = 0; + out_9161898751948597001[297] = 0; + out_9161898751948597001[298] = 0; + out_9161898751948597001[299] = 0; + out_9161898751948597001[300] = 0; + out_9161898751948597001[301] = 0; + out_9161898751948597001[302] = 0; + out_9161898751948597001[303] = 0; + out_9161898751948597001[304] = 1; + out_9161898751948597001[305] = 0; + out_9161898751948597001[306] = 0; + out_9161898751948597001[307] = 0; + out_9161898751948597001[308] = 0; + out_9161898751948597001[309] = 0; + out_9161898751948597001[310] = 0; + out_9161898751948597001[311] = 0; + out_9161898751948597001[312] = 0; + out_9161898751948597001[313] = 0; + out_9161898751948597001[314] = 0; + out_9161898751948597001[315] = 0; + out_9161898751948597001[316] = 0; + out_9161898751948597001[317] = 0; + out_9161898751948597001[318] = 0; + out_9161898751948597001[319] = 0; + out_9161898751948597001[320] = 0; + out_9161898751948597001[321] = 0; + out_9161898751948597001[322] = 0; + out_9161898751948597001[323] = 1; } -void h_4(double *state, double *unused, double *out_4271893182613978797) { - out_4271893182613978797[0] = state[6] + state[9]; - out_4271893182613978797[1] = state[7] + state[10]; - out_4271893182613978797[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3298849734810867951) { + out_3298849734810867951[0] = state[6] + state[9]; + out_3298849734810867951[1] = state[7] + state[10]; + out_3298849734810867951[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_5265198332585855939) { - out_5265198332585855939[0] = 0; - out_5265198332585855939[1] = 0; - out_5265198332585855939[2] = 0; - out_5265198332585855939[3] = 0; - out_5265198332585855939[4] = 0; - out_5265198332585855939[5] = 0; - out_5265198332585855939[6] = 1; - out_5265198332585855939[7] = 0; - out_5265198332585855939[8] = 0; - out_5265198332585855939[9] = 1; - out_5265198332585855939[10] = 0; - out_5265198332585855939[11] = 0; - out_5265198332585855939[12] = 0; - out_5265198332585855939[13] = 0; - out_5265198332585855939[14] = 0; - out_5265198332585855939[15] = 0; - out_5265198332585855939[16] = 0; - out_5265198332585855939[17] = 0; - out_5265198332585855939[18] = 0; - out_5265198332585855939[19] = 0; - out_5265198332585855939[20] = 0; - out_5265198332585855939[21] = 0; - out_5265198332585855939[22] = 0; - out_5265198332585855939[23] = 0; - out_5265198332585855939[24] = 0; - out_5265198332585855939[25] = 1; - out_5265198332585855939[26] = 0; - out_5265198332585855939[27] = 0; - out_5265198332585855939[28] = 1; - out_5265198332585855939[29] = 0; - out_5265198332585855939[30] = 0; - out_5265198332585855939[31] = 0; - out_5265198332585855939[32] = 0; - out_5265198332585855939[33] = 0; - out_5265198332585855939[34] = 0; - out_5265198332585855939[35] = 0; - out_5265198332585855939[36] = 0; - out_5265198332585855939[37] = 0; - out_5265198332585855939[38] = 0; - out_5265198332585855939[39] = 0; - out_5265198332585855939[40] = 0; - out_5265198332585855939[41] = 0; - out_5265198332585855939[42] = 0; - out_5265198332585855939[43] = 0; - out_5265198332585855939[44] = 1; - out_5265198332585855939[45] = 0; - out_5265198332585855939[46] = 0; - out_5265198332585855939[47] = 1; - out_5265198332585855939[48] = 0; - out_5265198332585855939[49] = 0; - out_5265198332585855939[50] = 0; - out_5265198332585855939[51] = 0; - out_5265198332585855939[52] = 0; - out_5265198332585855939[53] = 0; +void H_4(double *state, double *unused, double *out_3476673534661732439) { + out_3476673534661732439[0] = 0; + out_3476673534661732439[1] = 0; + out_3476673534661732439[2] = 0; + out_3476673534661732439[3] = 0; + out_3476673534661732439[4] = 0; + out_3476673534661732439[5] = 0; + out_3476673534661732439[6] = 1; + out_3476673534661732439[7] = 0; + out_3476673534661732439[8] = 0; + out_3476673534661732439[9] = 1; + out_3476673534661732439[10] = 0; + out_3476673534661732439[11] = 0; + out_3476673534661732439[12] = 0; + out_3476673534661732439[13] = 0; + out_3476673534661732439[14] = 0; + out_3476673534661732439[15] = 0; + out_3476673534661732439[16] = 0; + out_3476673534661732439[17] = 0; + out_3476673534661732439[18] = 0; + out_3476673534661732439[19] = 0; + out_3476673534661732439[20] = 0; + out_3476673534661732439[21] = 0; + out_3476673534661732439[22] = 0; + out_3476673534661732439[23] = 0; + out_3476673534661732439[24] = 0; + out_3476673534661732439[25] = 1; + out_3476673534661732439[26] = 0; + out_3476673534661732439[27] = 0; + out_3476673534661732439[28] = 1; + out_3476673534661732439[29] = 0; + out_3476673534661732439[30] = 0; + out_3476673534661732439[31] = 0; + out_3476673534661732439[32] = 0; + out_3476673534661732439[33] = 0; + out_3476673534661732439[34] = 0; + out_3476673534661732439[35] = 0; + out_3476673534661732439[36] = 0; + out_3476673534661732439[37] = 0; + out_3476673534661732439[38] = 0; + out_3476673534661732439[39] = 0; + out_3476673534661732439[40] = 0; + out_3476673534661732439[41] = 0; + out_3476673534661732439[42] = 0; + out_3476673534661732439[43] = 0; + out_3476673534661732439[44] = 1; + out_3476673534661732439[45] = 0; + out_3476673534661732439[46] = 0; + out_3476673534661732439[47] = 1; + out_3476673534661732439[48] = 0; + out_3476673534661732439[49] = 0; + out_3476673534661732439[50] = 0; + out_3476673534661732439[51] = 0; + out_3476673534661732439[52] = 0; + out_3476673534661732439[53] = 0; } -void h_10(double *state, double *unused, double *out_6068675735727225828) { - out_6068675735727225828[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6068675735727225828[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6068675735727225828[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_1490778051551919602) { + out_1490778051551919602[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1490778051551919602[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1490778051551919602[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_4012474741247108873) { - out_4012474741247108873[0] = 0; - out_4012474741247108873[1] = 9.8100000000000005*cos(state[1]); - out_4012474741247108873[2] = 0; - out_4012474741247108873[3] = 0; - out_4012474741247108873[4] = -state[8]; - out_4012474741247108873[5] = state[7]; - out_4012474741247108873[6] = 0; - out_4012474741247108873[7] = state[5]; - out_4012474741247108873[8] = -state[4]; - out_4012474741247108873[9] = 0; - out_4012474741247108873[10] = 0; - out_4012474741247108873[11] = 0; - out_4012474741247108873[12] = 1; - out_4012474741247108873[13] = 0; - out_4012474741247108873[14] = 0; - out_4012474741247108873[15] = 1; - out_4012474741247108873[16] = 0; - out_4012474741247108873[17] = 0; - out_4012474741247108873[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4012474741247108873[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4012474741247108873[20] = 0; - out_4012474741247108873[21] = state[8]; - out_4012474741247108873[22] = 0; - out_4012474741247108873[23] = -state[6]; - out_4012474741247108873[24] = -state[5]; - out_4012474741247108873[25] = 0; - out_4012474741247108873[26] = state[3]; - out_4012474741247108873[27] = 0; - out_4012474741247108873[28] = 0; - out_4012474741247108873[29] = 0; - out_4012474741247108873[30] = 0; - out_4012474741247108873[31] = 1; - out_4012474741247108873[32] = 0; - out_4012474741247108873[33] = 0; - out_4012474741247108873[34] = 1; - out_4012474741247108873[35] = 0; - out_4012474741247108873[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4012474741247108873[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4012474741247108873[38] = 0; - out_4012474741247108873[39] = -state[7]; - out_4012474741247108873[40] = state[6]; - out_4012474741247108873[41] = 0; - out_4012474741247108873[42] = state[4]; - out_4012474741247108873[43] = -state[3]; - out_4012474741247108873[44] = 0; - out_4012474741247108873[45] = 0; - out_4012474741247108873[46] = 0; - out_4012474741247108873[47] = 0; - out_4012474741247108873[48] = 0; - out_4012474741247108873[49] = 0; - out_4012474741247108873[50] = 1; - out_4012474741247108873[51] = 0; - out_4012474741247108873[52] = 0; - out_4012474741247108873[53] = 1; +void H_10(double *state, double *unused, double *out_3065010150012391749) { + out_3065010150012391749[0] = 0; + out_3065010150012391749[1] = 9.8100000000000005*cos(state[1]); + out_3065010150012391749[2] = 0; + out_3065010150012391749[3] = 0; + out_3065010150012391749[4] = -state[8]; + out_3065010150012391749[5] = state[7]; + out_3065010150012391749[6] = 0; + out_3065010150012391749[7] = state[5]; + out_3065010150012391749[8] = -state[4]; + out_3065010150012391749[9] = 0; + out_3065010150012391749[10] = 0; + out_3065010150012391749[11] = 0; + out_3065010150012391749[12] = 1; + out_3065010150012391749[13] = 0; + out_3065010150012391749[14] = 0; + out_3065010150012391749[15] = 1; + out_3065010150012391749[16] = 0; + out_3065010150012391749[17] = 0; + out_3065010150012391749[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3065010150012391749[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3065010150012391749[20] = 0; + out_3065010150012391749[21] = state[8]; + out_3065010150012391749[22] = 0; + out_3065010150012391749[23] = -state[6]; + out_3065010150012391749[24] = -state[5]; + out_3065010150012391749[25] = 0; + out_3065010150012391749[26] = state[3]; + out_3065010150012391749[27] = 0; + out_3065010150012391749[28] = 0; + out_3065010150012391749[29] = 0; + out_3065010150012391749[30] = 0; + out_3065010150012391749[31] = 1; + out_3065010150012391749[32] = 0; + out_3065010150012391749[33] = 0; + out_3065010150012391749[34] = 1; + out_3065010150012391749[35] = 0; + out_3065010150012391749[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3065010150012391749[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3065010150012391749[38] = 0; + out_3065010150012391749[39] = -state[7]; + out_3065010150012391749[40] = state[6]; + out_3065010150012391749[41] = 0; + out_3065010150012391749[42] = state[4]; + out_3065010150012391749[43] = -state[3]; + out_3065010150012391749[44] = 0; + out_3065010150012391749[45] = 0; + out_3065010150012391749[46] = 0; + out_3065010150012391749[47] = 0; + out_3065010150012391749[48] = 0; + out_3065010150012391749[49] = 0; + out_3065010150012391749[50] = 1; + out_3065010150012391749[51] = 0; + out_3065010150012391749[52] = 0; + out_3065010150012391749[53] = 1; } -void h_13(double *state, double *unused, double *out_860321329376649767) { - out_860321329376649767[0] = state[3]; - out_860321329376649767[1] = state[4]; - out_860321329376649767[2] = state[5]; +void h_13(double *state, double *unused, double *out_2293000846655251698) { + out_2293000846655251698[0] = state[3]; + out_2293000846655251698[1] = state[4]; + out_2293000846655251698[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2052924507253523138) { - out_2052924507253523138[0] = 0; - out_2052924507253523138[1] = 0; - out_2052924507253523138[2] = 0; - out_2052924507253523138[3] = 1; - out_2052924507253523138[4] = 0; - out_2052924507253523138[5] = 0; - out_2052924507253523138[6] = 0; - out_2052924507253523138[7] = 0; - out_2052924507253523138[8] = 0; - out_2052924507253523138[9] = 0; - out_2052924507253523138[10] = 0; - out_2052924507253523138[11] = 0; - out_2052924507253523138[12] = 0; - out_2052924507253523138[13] = 0; - out_2052924507253523138[14] = 0; - out_2052924507253523138[15] = 0; - out_2052924507253523138[16] = 0; - out_2052924507253523138[17] = 0; - out_2052924507253523138[18] = 0; - out_2052924507253523138[19] = 0; - out_2052924507253523138[20] = 0; - out_2052924507253523138[21] = 0; - out_2052924507253523138[22] = 1; - out_2052924507253523138[23] = 0; - out_2052924507253523138[24] = 0; - out_2052924507253523138[25] = 0; - out_2052924507253523138[26] = 0; - out_2052924507253523138[27] = 0; - out_2052924507253523138[28] = 0; - out_2052924507253523138[29] = 0; - out_2052924507253523138[30] = 0; - out_2052924507253523138[31] = 0; - out_2052924507253523138[32] = 0; - out_2052924507253523138[33] = 0; - out_2052924507253523138[34] = 0; - out_2052924507253523138[35] = 0; - out_2052924507253523138[36] = 0; - out_2052924507253523138[37] = 0; - out_2052924507253523138[38] = 0; - out_2052924507253523138[39] = 0; - out_2052924507253523138[40] = 0; - out_2052924507253523138[41] = 1; - out_2052924507253523138[42] = 0; - out_2052924507253523138[43] = 0; - out_2052924507253523138[44] = 0; - out_2052924507253523138[45] = 0; - out_2052924507253523138[46] = 0; - out_2052924507253523138[47] = 0; - out_2052924507253523138[48] = 0; - out_2052924507253523138[49] = 0; - out_2052924507253523138[50] = 0; - out_2052924507253523138[51] = 0; - out_2052924507253523138[52] = 0; - out_2052924507253523138[53] = 0; +void H_13(double *state, double *unused, double *out_4133957673654968490) { + out_4133957673654968490[0] = 0; + out_4133957673654968490[1] = 0; + out_4133957673654968490[2] = 0; + out_4133957673654968490[3] = 1; + out_4133957673654968490[4] = 0; + out_4133957673654968490[5] = 0; + out_4133957673654968490[6] = 0; + out_4133957673654968490[7] = 0; + out_4133957673654968490[8] = 0; + out_4133957673654968490[9] = 0; + out_4133957673654968490[10] = 0; + out_4133957673654968490[11] = 0; + out_4133957673654968490[12] = 0; + out_4133957673654968490[13] = 0; + out_4133957673654968490[14] = 0; + out_4133957673654968490[15] = 0; + out_4133957673654968490[16] = 0; + out_4133957673654968490[17] = 0; + out_4133957673654968490[18] = 0; + out_4133957673654968490[19] = 0; + out_4133957673654968490[20] = 0; + out_4133957673654968490[21] = 0; + out_4133957673654968490[22] = 1; + out_4133957673654968490[23] = 0; + out_4133957673654968490[24] = 0; + out_4133957673654968490[25] = 0; + out_4133957673654968490[26] = 0; + out_4133957673654968490[27] = 0; + out_4133957673654968490[28] = 0; + out_4133957673654968490[29] = 0; + out_4133957673654968490[30] = 0; + out_4133957673654968490[31] = 0; + out_4133957673654968490[32] = 0; + out_4133957673654968490[33] = 0; + out_4133957673654968490[34] = 0; + out_4133957673654968490[35] = 0; + out_4133957673654968490[36] = 0; + out_4133957673654968490[37] = 0; + out_4133957673654968490[38] = 0; + out_4133957673654968490[39] = 0; + out_4133957673654968490[40] = 0; + out_4133957673654968490[41] = 1; + out_4133957673654968490[42] = 0; + out_4133957673654968490[43] = 0; + out_4133957673654968490[44] = 0; + out_4133957673654968490[45] = 0; + out_4133957673654968490[46] = 0; + out_4133957673654968490[47] = 0; + out_4133957673654968490[48] = 0; + out_4133957673654968490[49] = 0; + out_4133957673654968490[50] = 0; + out_4133957673654968490[51] = 0; + out_4133957673654968490[52] = 0; + out_4133957673654968490[53] = 0; } -void h_14(double *state, double *unused, double *out_5677441075365347292) { - out_5677441075365347292[0] = state[6]; - out_5677441075365347292[1] = state[7]; - out_5677441075365347292[2] = state[8]; +void h_14(double *state, double *unused, double *out_6732417031145183728) { + out_6732417031145183728[0] = state[6]; + out_6732417031145183728[1] = state[7]; + out_6732417031145183728[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1301957476246371410) { - out_1301957476246371410[0] = 0; - out_1301957476246371410[1] = 0; - out_1301957476246371410[2] = 0; - out_1301957476246371410[3] = 0; - out_1301957476246371410[4] = 0; - out_1301957476246371410[5] = 0; - out_1301957476246371410[6] = 1; - out_1301957476246371410[7] = 0; - out_1301957476246371410[8] = 0; - out_1301957476246371410[9] = 0; - out_1301957476246371410[10] = 0; - out_1301957476246371410[11] = 0; - out_1301957476246371410[12] = 0; - out_1301957476246371410[13] = 0; - out_1301957476246371410[14] = 0; - out_1301957476246371410[15] = 0; - out_1301957476246371410[16] = 0; - out_1301957476246371410[17] = 0; - out_1301957476246371410[18] = 0; - out_1301957476246371410[19] = 0; - out_1301957476246371410[20] = 0; - out_1301957476246371410[21] = 0; - out_1301957476246371410[22] = 0; - out_1301957476246371410[23] = 0; - out_1301957476246371410[24] = 0; - out_1301957476246371410[25] = 1; - out_1301957476246371410[26] = 0; - out_1301957476246371410[27] = 0; - out_1301957476246371410[28] = 0; - out_1301957476246371410[29] = 0; - out_1301957476246371410[30] = 0; - out_1301957476246371410[31] = 0; - out_1301957476246371410[32] = 0; - out_1301957476246371410[33] = 0; - out_1301957476246371410[34] = 0; - out_1301957476246371410[35] = 0; - out_1301957476246371410[36] = 0; - out_1301957476246371410[37] = 0; - out_1301957476246371410[38] = 0; - out_1301957476246371410[39] = 0; - out_1301957476246371410[40] = 0; - out_1301957476246371410[41] = 0; - out_1301957476246371410[42] = 0; - out_1301957476246371410[43] = 0; - out_1301957476246371410[44] = 1; - out_1301957476246371410[45] = 0; - out_1301957476246371410[46] = 0; - out_1301957476246371410[47] = 0; - out_1301957476246371410[48] = 0; - out_1301957476246371410[49] = 0; - out_1301957476246371410[50] = 0; - out_1301957476246371410[51] = 0; - out_1301957476246371410[52] = 0; - out_1301957476246371410[53] = 0; +void H_14(double *state, double *unused, double *out_486567321677752090) { + out_486567321677752090[0] = 0; + out_486567321677752090[1] = 0; + out_486567321677752090[2] = 0; + out_486567321677752090[3] = 0; + out_486567321677752090[4] = 0; + out_486567321677752090[5] = 0; + out_486567321677752090[6] = 1; + out_486567321677752090[7] = 0; + out_486567321677752090[8] = 0; + out_486567321677752090[9] = 0; + out_486567321677752090[10] = 0; + out_486567321677752090[11] = 0; + out_486567321677752090[12] = 0; + out_486567321677752090[13] = 0; + out_486567321677752090[14] = 0; + out_486567321677752090[15] = 0; + out_486567321677752090[16] = 0; + out_486567321677752090[17] = 0; + out_486567321677752090[18] = 0; + out_486567321677752090[19] = 0; + out_486567321677752090[20] = 0; + out_486567321677752090[21] = 0; + out_486567321677752090[22] = 0; + out_486567321677752090[23] = 0; + out_486567321677752090[24] = 0; + out_486567321677752090[25] = 1; + out_486567321677752090[26] = 0; + out_486567321677752090[27] = 0; + out_486567321677752090[28] = 0; + out_486567321677752090[29] = 0; + out_486567321677752090[30] = 0; + out_486567321677752090[31] = 0; + out_486567321677752090[32] = 0; + out_486567321677752090[33] = 0; + out_486567321677752090[34] = 0; + out_486567321677752090[35] = 0; + out_486567321677752090[36] = 0; + out_486567321677752090[37] = 0; + out_486567321677752090[38] = 0; + out_486567321677752090[39] = 0; + out_486567321677752090[40] = 0; + out_486567321677752090[41] = 0; + out_486567321677752090[42] = 0; + out_486567321677752090[43] = 0; + out_486567321677752090[44] = 1; + out_486567321677752090[45] = 0; + out_486567321677752090[46] = 0; + out_486567321677752090[47] = 0; + out_486567321677752090[48] = 0; + out_486567321677752090[49] = 0; + out_486567321677752090[50] = 0; + out_486567321677752090[51] = 0; + out_486567321677752090[52] = 0; + out_486567321677752090[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_609976965150865312) { - err_fun(nom_x, delta_x, out_609976965150865312); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3524911542636248309) { + err_fun(nom_x, delta_x, out_3524911542636248309); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8281732551506992950) { - inv_err_fun(nom_x, true_x, out_8281732551506992950); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_9101758542759318568) { + inv_err_fun(nom_x, true_x, out_9101758542759318568); } -void pose_H_mod_fun(double *state, double *out_4168561321210011185) { - H_mod_fun(state, out_4168561321210011185); +void pose_H_mod_fun(double *state, double *out_202451455870783186) { + H_mod_fun(state, out_202451455870783186); } -void pose_f_fun(double *state, double dt, double *out_7595162637232814159) { - f_fun(state, dt, out_7595162637232814159); +void pose_f_fun(double *state, double dt, double *out_3404078345216964699) { + f_fun(state, dt, out_3404078345216964699); } -void pose_F_fun(double *state, double dt, double *out_1091902965475609973) { - F_fun(state, dt, out_1091902965475609973); +void pose_F_fun(double *state, double dt, double *out_9161898751948597001) { + F_fun(state, dt, out_9161898751948597001); } -void pose_h_4(double *state, double *unused, double *out_4271893182613978797) { - h_4(state, unused, out_4271893182613978797); +void pose_h_4(double *state, double *unused, double *out_3298849734810867951) { + h_4(state, unused, out_3298849734810867951); } -void pose_H_4(double *state, double *unused, double *out_5265198332585855939) { - H_4(state, unused, out_5265198332585855939); +void pose_H_4(double *state, double *unused, double *out_3476673534661732439) { + H_4(state, unused, out_3476673534661732439); } -void pose_h_10(double *state, double *unused, double *out_6068675735727225828) { - h_10(state, unused, out_6068675735727225828); +void pose_h_10(double *state, double *unused, double *out_1490778051551919602) { + h_10(state, unused, out_1490778051551919602); } -void pose_H_10(double *state, double *unused, double *out_4012474741247108873) { - H_10(state, unused, out_4012474741247108873); +void pose_H_10(double *state, double *unused, double *out_3065010150012391749) { + H_10(state, unused, out_3065010150012391749); } -void pose_h_13(double *state, double *unused, double *out_860321329376649767) { - h_13(state, unused, out_860321329376649767); +void pose_h_13(double *state, double *unused, double *out_2293000846655251698) { + h_13(state, unused, out_2293000846655251698); } -void pose_H_13(double *state, double *unused, double *out_2052924507253523138) { - H_13(state, unused, out_2052924507253523138); +void pose_H_13(double *state, double *unused, double *out_4133957673654968490) { + H_13(state, unused, out_4133957673654968490); } -void pose_h_14(double *state, double *unused, double *out_5677441075365347292) { - h_14(state, unused, out_5677441075365347292); +void pose_h_14(double *state, double *unused, double *out_6732417031145183728) { + h_14(state, unused, out_6732417031145183728); } -void pose_H_14(double *state, double *unused, double *out_1301957476246371410) { - H_14(state, unused, out_1301957476246371410); +void pose_H_14(double *state, double *unused, double *out_486567321677752090) { + H_14(state, unused, out_486567321677752090); } 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 2a7524b7c..04132e762 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_609976965150865312); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8281732551506992950); -void pose_H_mod_fun(double *state, double *out_4168561321210011185); -void pose_f_fun(double *state, double dt, double *out_7595162637232814159); -void pose_F_fun(double *state, double dt, double *out_1091902965475609973); -void pose_h_4(double *state, double *unused, double *out_4271893182613978797); -void pose_H_4(double *state, double *unused, double *out_5265198332585855939); -void pose_h_10(double *state, double *unused, double *out_6068675735727225828); -void pose_H_10(double *state, double *unused, double *out_4012474741247108873); -void pose_h_13(double *state, double *unused, double *out_860321329376649767); -void pose_H_13(double *state, double *unused, double *out_2052924507253523138); -void pose_h_14(double *state, double *unused, double *out_5677441075365347292); -void pose_H_14(double *state, double *unused, double *out_1301957476246371410); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3524911542636248309); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_9101758542759318568); +void pose_H_mod_fun(double *state, double *out_202451455870783186); +void pose_f_fun(double *state, double dt, double *out_3404078345216964699); +void pose_F_fun(double *state, double dt, double *out_9161898751948597001); +void pose_h_4(double *state, double *unused, double *out_3298849734810867951); +void pose_H_4(double *state, double *unused, double *out_3476673534661732439); +void pose_h_10(double *state, double *unused, double *out_1490778051551919602); +void pose_H_10(double *state, double *unused, double *out_3065010150012391749); +void pose_h_13(double *state, double *unused, double *out_2293000846655251698); +void pose_H_13(double *state, double *unused, double *out_4133957673654968490); +void pose_h_14(double *state, double *unused, double *out_6732417031145183728); +void pose_H_14(double *state, double *unused, double *out_486567321677752090); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index ed4b717f3..84d9e1451 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 0cc5e4ef3..48ab86fa5 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 1ed37e468..e7be6a32d 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index cd2489dfe..efe46dd0f 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 2e1aeb0f1..1487c5120 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 8e8265c0a..4297efe84 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ