diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index f37ce3af2..b7f7c56ca 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 b8cd9a695..37739e860 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 83a352859..e2a3ef2b7 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 664b87c1a..3de97c4f3 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 0b50cef34..734ea0b51 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 f0787f320..e2fecc10d 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 a56229954..03147a318 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 a56229954..03147a318 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 c88cb23ae..e998a859b 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 f0787f320..e2fecc10d 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 c1defd2ee..fbb315dba 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-7a3c1ede-DEBUG"; +const uint8_t gitversion[19] = "DEV-1d77de2f-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d7821f4a0..2cd5a7c89 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 b3e041a86..4170aa10e 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 ecbc25ff7..c307b2e8b 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 c39e833ec..5dcc89af7 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 90289f428..76193eb81 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 7810a1299..d393fdabe 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 55472eb60..97717adce 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 98ebb767f..d9a498712 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 48744fc47..7b93d1afe 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 fe3edfc17..a63b5c6e1 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 dc8b411db..07e14bea9 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 08dbe7b35..f1db254d4 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 b7229ae4e..c79c68a98 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 596e10e51..2b6256158 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 9e08a84fa..1f36828aa 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 4b36cfbea..3d021df92 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 086bcda1a..999d5b84f 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 7439b620e..50aac26b9 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 8f43db9ba..02e23d9a4 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 81f59ad8c..df76b10ed 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 17aba18b1..dcd8f3f6f 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-7a3c1ede-DEBUG \ No newline at end of file +DEV-1d77de2f-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index b18fc5101..2d08b0e53 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_6972961942535496334) { - out_6972961942535496334[0] = delta_x[0] + nom_x[0]; - out_6972961942535496334[1] = delta_x[1] + nom_x[1]; - out_6972961942535496334[2] = delta_x[2] + nom_x[2]; - out_6972961942535496334[3] = delta_x[3] + nom_x[3]; - out_6972961942535496334[4] = delta_x[4] + nom_x[4]; - out_6972961942535496334[5] = delta_x[5] + nom_x[5]; - out_6972961942535496334[6] = delta_x[6] + nom_x[6]; - out_6972961942535496334[7] = delta_x[7] + nom_x[7]; - out_6972961942535496334[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_787387508528698300) { + out_787387508528698300[0] = delta_x[0] + nom_x[0]; + out_787387508528698300[1] = delta_x[1] + nom_x[1]; + out_787387508528698300[2] = delta_x[2] + nom_x[2]; + out_787387508528698300[3] = delta_x[3] + nom_x[3]; + out_787387508528698300[4] = delta_x[4] + nom_x[4]; + out_787387508528698300[5] = delta_x[5] + nom_x[5]; + out_787387508528698300[6] = delta_x[6] + nom_x[6]; + out_787387508528698300[7] = delta_x[7] + nom_x[7]; + out_787387508528698300[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626) { - out_2104979621458798626[0] = -nom_x[0] + true_x[0]; - out_2104979621458798626[1] = -nom_x[1] + true_x[1]; - out_2104979621458798626[2] = -nom_x[2] + true_x[2]; - out_2104979621458798626[3] = -nom_x[3] + true_x[3]; - out_2104979621458798626[4] = -nom_x[4] + true_x[4]; - out_2104979621458798626[5] = -nom_x[5] + true_x[5]; - out_2104979621458798626[6] = -nom_x[6] + true_x[6]; - out_2104979621458798626[7] = -nom_x[7] + true_x[7]; - out_2104979621458798626[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4326351974821968285) { + out_4326351974821968285[0] = -nom_x[0] + true_x[0]; + out_4326351974821968285[1] = -nom_x[1] + true_x[1]; + out_4326351974821968285[2] = -nom_x[2] + true_x[2]; + out_4326351974821968285[3] = -nom_x[3] + true_x[3]; + out_4326351974821968285[4] = -nom_x[4] + true_x[4]; + out_4326351974821968285[5] = -nom_x[5] + true_x[5]; + out_4326351974821968285[6] = -nom_x[6] + true_x[6]; + out_4326351974821968285[7] = -nom_x[7] + true_x[7]; + out_4326351974821968285[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_2779658660641459178) { - out_2779658660641459178[0] = 1.0; - out_2779658660641459178[1] = 0.0; - out_2779658660641459178[2] = 0.0; - out_2779658660641459178[3] = 0.0; - out_2779658660641459178[4] = 0.0; - out_2779658660641459178[5] = 0.0; - out_2779658660641459178[6] = 0.0; - out_2779658660641459178[7] = 0.0; - out_2779658660641459178[8] = 0.0; - out_2779658660641459178[9] = 0.0; - out_2779658660641459178[10] = 1.0; - out_2779658660641459178[11] = 0.0; - out_2779658660641459178[12] = 0.0; - out_2779658660641459178[13] = 0.0; - out_2779658660641459178[14] = 0.0; - out_2779658660641459178[15] = 0.0; - out_2779658660641459178[16] = 0.0; - out_2779658660641459178[17] = 0.0; - out_2779658660641459178[18] = 0.0; - out_2779658660641459178[19] = 0.0; - out_2779658660641459178[20] = 1.0; - out_2779658660641459178[21] = 0.0; - out_2779658660641459178[22] = 0.0; - out_2779658660641459178[23] = 0.0; - out_2779658660641459178[24] = 0.0; - out_2779658660641459178[25] = 0.0; - out_2779658660641459178[26] = 0.0; - out_2779658660641459178[27] = 0.0; - out_2779658660641459178[28] = 0.0; - out_2779658660641459178[29] = 0.0; - out_2779658660641459178[30] = 1.0; - out_2779658660641459178[31] = 0.0; - out_2779658660641459178[32] = 0.0; - out_2779658660641459178[33] = 0.0; - out_2779658660641459178[34] = 0.0; - out_2779658660641459178[35] = 0.0; - out_2779658660641459178[36] = 0.0; - out_2779658660641459178[37] = 0.0; - out_2779658660641459178[38] = 0.0; - out_2779658660641459178[39] = 0.0; - out_2779658660641459178[40] = 1.0; - out_2779658660641459178[41] = 0.0; - out_2779658660641459178[42] = 0.0; - out_2779658660641459178[43] = 0.0; - out_2779658660641459178[44] = 0.0; - out_2779658660641459178[45] = 0.0; - out_2779658660641459178[46] = 0.0; - out_2779658660641459178[47] = 0.0; - out_2779658660641459178[48] = 0.0; - out_2779658660641459178[49] = 0.0; - out_2779658660641459178[50] = 1.0; - out_2779658660641459178[51] = 0.0; - out_2779658660641459178[52] = 0.0; - out_2779658660641459178[53] = 0.0; - out_2779658660641459178[54] = 0.0; - out_2779658660641459178[55] = 0.0; - out_2779658660641459178[56] = 0.0; - out_2779658660641459178[57] = 0.0; - out_2779658660641459178[58] = 0.0; - out_2779658660641459178[59] = 0.0; - out_2779658660641459178[60] = 1.0; - out_2779658660641459178[61] = 0.0; - out_2779658660641459178[62] = 0.0; - out_2779658660641459178[63] = 0.0; - out_2779658660641459178[64] = 0.0; - out_2779658660641459178[65] = 0.0; - out_2779658660641459178[66] = 0.0; - out_2779658660641459178[67] = 0.0; - out_2779658660641459178[68] = 0.0; - out_2779658660641459178[69] = 0.0; - out_2779658660641459178[70] = 1.0; - out_2779658660641459178[71] = 0.0; - out_2779658660641459178[72] = 0.0; - out_2779658660641459178[73] = 0.0; - out_2779658660641459178[74] = 0.0; - out_2779658660641459178[75] = 0.0; - out_2779658660641459178[76] = 0.0; - out_2779658660641459178[77] = 0.0; - out_2779658660641459178[78] = 0.0; - out_2779658660641459178[79] = 0.0; - out_2779658660641459178[80] = 1.0; +void H_mod_fun(double *state, double *out_253192225752308971) { + out_253192225752308971[0] = 1.0; + out_253192225752308971[1] = 0.0; + out_253192225752308971[2] = 0.0; + out_253192225752308971[3] = 0.0; + out_253192225752308971[4] = 0.0; + out_253192225752308971[5] = 0.0; + out_253192225752308971[6] = 0.0; + out_253192225752308971[7] = 0.0; + out_253192225752308971[8] = 0.0; + out_253192225752308971[9] = 0.0; + out_253192225752308971[10] = 1.0; + out_253192225752308971[11] = 0.0; + out_253192225752308971[12] = 0.0; + out_253192225752308971[13] = 0.0; + out_253192225752308971[14] = 0.0; + out_253192225752308971[15] = 0.0; + out_253192225752308971[16] = 0.0; + out_253192225752308971[17] = 0.0; + out_253192225752308971[18] = 0.0; + out_253192225752308971[19] = 0.0; + out_253192225752308971[20] = 1.0; + out_253192225752308971[21] = 0.0; + out_253192225752308971[22] = 0.0; + out_253192225752308971[23] = 0.0; + out_253192225752308971[24] = 0.0; + out_253192225752308971[25] = 0.0; + out_253192225752308971[26] = 0.0; + out_253192225752308971[27] = 0.0; + out_253192225752308971[28] = 0.0; + out_253192225752308971[29] = 0.0; + out_253192225752308971[30] = 1.0; + out_253192225752308971[31] = 0.0; + out_253192225752308971[32] = 0.0; + out_253192225752308971[33] = 0.0; + out_253192225752308971[34] = 0.0; + out_253192225752308971[35] = 0.0; + out_253192225752308971[36] = 0.0; + out_253192225752308971[37] = 0.0; + out_253192225752308971[38] = 0.0; + out_253192225752308971[39] = 0.0; + out_253192225752308971[40] = 1.0; + out_253192225752308971[41] = 0.0; + out_253192225752308971[42] = 0.0; + out_253192225752308971[43] = 0.0; + out_253192225752308971[44] = 0.0; + out_253192225752308971[45] = 0.0; + out_253192225752308971[46] = 0.0; + out_253192225752308971[47] = 0.0; + out_253192225752308971[48] = 0.0; + out_253192225752308971[49] = 0.0; + out_253192225752308971[50] = 1.0; + out_253192225752308971[51] = 0.0; + out_253192225752308971[52] = 0.0; + out_253192225752308971[53] = 0.0; + out_253192225752308971[54] = 0.0; + out_253192225752308971[55] = 0.0; + out_253192225752308971[56] = 0.0; + out_253192225752308971[57] = 0.0; + out_253192225752308971[58] = 0.0; + out_253192225752308971[59] = 0.0; + out_253192225752308971[60] = 1.0; + out_253192225752308971[61] = 0.0; + out_253192225752308971[62] = 0.0; + out_253192225752308971[63] = 0.0; + out_253192225752308971[64] = 0.0; + out_253192225752308971[65] = 0.0; + out_253192225752308971[66] = 0.0; + out_253192225752308971[67] = 0.0; + out_253192225752308971[68] = 0.0; + out_253192225752308971[69] = 0.0; + out_253192225752308971[70] = 1.0; + out_253192225752308971[71] = 0.0; + out_253192225752308971[72] = 0.0; + out_253192225752308971[73] = 0.0; + out_253192225752308971[74] = 0.0; + out_253192225752308971[75] = 0.0; + out_253192225752308971[76] = 0.0; + out_253192225752308971[77] = 0.0; + out_253192225752308971[78] = 0.0; + out_253192225752308971[79] = 0.0; + out_253192225752308971[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1847838116479859502) { - out_1847838116479859502[0] = state[0]; - out_1847838116479859502[1] = state[1]; - out_1847838116479859502[2] = state[2]; - out_1847838116479859502[3] = state[3]; - out_1847838116479859502[4] = state[4]; - out_1847838116479859502[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_1847838116479859502[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_1847838116479859502[7] = state[7]; - out_1847838116479859502[8] = state[8]; +void f_fun(double *state, double dt, double *out_7053536604478710960) { + out_7053536604478710960[0] = state[0]; + out_7053536604478710960[1] = state[1]; + out_7053536604478710960[2] = state[2]; + out_7053536604478710960[3] = state[3]; + out_7053536604478710960[4] = state[4]; + out_7053536604478710960[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_7053536604478710960[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_7053536604478710960[7] = state[7]; + out_7053536604478710960[8] = state[8]; } -void F_fun(double *state, double dt, double *out_8278586360493195906) { - out_8278586360493195906[0] = 1; - out_8278586360493195906[1] = 0; - out_8278586360493195906[2] = 0; - out_8278586360493195906[3] = 0; - out_8278586360493195906[4] = 0; - out_8278586360493195906[5] = 0; - out_8278586360493195906[6] = 0; - out_8278586360493195906[7] = 0; - out_8278586360493195906[8] = 0; - out_8278586360493195906[9] = 0; - out_8278586360493195906[10] = 1; - out_8278586360493195906[11] = 0; - out_8278586360493195906[12] = 0; - out_8278586360493195906[13] = 0; - out_8278586360493195906[14] = 0; - out_8278586360493195906[15] = 0; - out_8278586360493195906[16] = 0; - out_8278586360493195906[17] = 0; - out_8278586360493195906[18] = 0; - out_8278586360493195906[19] = 0; - out_8278586360493195906[20] = 1; - out_8278586360493195906[21] = 0; - out_8278586360493195906[22] = 0; - out_8278586360493195906[23] = 0; - out_8278586360493195906[24] = 0; - out_8278586360493195906[25] = 0; - out_8278586360493195906[26] = 0; - out_8278586360493195906[27] = 0; - out_8278586360493195906[28] = 0; - out_8278586360493195906[29] = 0; - out_8278586360493195906[30] = 1; - out_8278586360493195906[31] = 0; - out_8278586360493195906[32] = 0; - out_8278586360493195906[33] = 0; - out_8278586360493195906[34] = 0; - out_8278586360493195906[35] = 0; - out_8278586360493195906[36] = 0; - out_8278586360493195906[37] = 0; - out_8278586360493195906[38] = 0; - out_8278586360493195906[39] = 0; - out_8278586360493195906[40] = 1; - out_8278586360493195906[41] = 0; - out_8278586360493195906[42] = 0; - out_8278586360493195906[43] = 0; - out_8278586360493195906[44] = 0; - out_8278586360493195906[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_8278586360493195906[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8278586360493195906[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8278586360493195906[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8278586360493195906[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_8278586360493195906[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8278586360493195906[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8278586360493195906[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8278586360493195906[53] = -9.8100000000000005*dt; - out_8278586360493195906[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_8278586360493195906[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8278586360493195906[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8278586360493195906[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8278586360493195906[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_8278586360493195906[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8278586360493195906[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_8278586360493195906[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8278586360493195906[62] = 0; - out_8278586360493195906[63] = 0; - out_8278586360493195906[64] = 0; - out_8278586360493195906[65] = 0; - out_8278586360493195906[66] = 0; - out_8278586360493195906[67] = 0; - out_8278586360493195906[68] = 0; - out_8278586360493195906[69] = 0; - out_8278586360493195906[70] = 1; - out_8278586360493195906[71] = 0; - out_8278586360493195906[72] = 0; - out_8278586360493195906[73] = 0; - out_8278586360493195906[74] = 0; - out_8278586360493195906[75] = 0; - out_8278586360493195906[76] = 0; - out_8278586360493195906[77] = 0; - out_8278586360493195906[78] = 0; - out_8278586360493195906[79] = 0; - out_8278586360493195906[80] = 1; +void F_fun(double *state, double dt, double *out_1214429005669720164) { + out_1214429005669720164[0] = 1; + out_1214429005669720164[1] = 0; + out_1214429005669720164[2] = 0; + out_1214429005669720164[3] = 0; + out_1214429005669720164[4] = 0; + out_1214429005669720164[5] = 0; + out_1214429005669720164[6] = 0; + out_1214429005669720164[7] = 0; + out_1214429005669720164[8] = 0; + out_1214429005669720164[9] = 0; + out_1214429005669720164[10] = 1; + out_1214429005669720164[11] = 0; + out_1214429005669720164[12] = 0; + out_1214429005669720164[13] = 0; + out_1214429005669720164[14] = 0; + out_1214429005669720164[15] = 0; + out_1214429005669720164[16] = 0; + out_1214429005669720164[17] = 0; + out_1214429005669720164[18] = 0; + out_1214429005669720164[19] = 0; + out_1214429005669720164[20] = 1; + out_1214429005669720164[21] = 0; + out_1214429005669720164[22] = 0; + out_1214429005669720164[23] = 0; + out_1214429005669720164[24] = 0; + out_1214429005669720164[25] = 0; + out_1214429005669720164[26] = 0; + out_1214429005669720164[27] = 0; + out_1214429005669720164[28] = 0; + out_1214429005669720164[29] = 0; + out_1214429005669720164[30] = 1; + out_1214429005669720164[31] = 0; + out_1214429005669720164[32] = 0; + out_1214429005669720164[33] = 0; + out_1214429005669720164[34] = 0; + out_1214429005669720164[35] = 0; + out_1214429005669720164[36] = 0; + out_1214429005669720164[37] = 0; + out_1214429005669720164[38] = 0; + out_1214429005669720164[39] = 0; + out_1214429005669720164[40] = 1; + out_1214429005669720164[41] = 0; + out_1214429005669720164[42] = 0; + out_1214429005669720164[43] = 0; + out_1214429005669720164[44] = 0; + out_1214429005669720164[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_1214429005669720164[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1214429005669720164[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1214429005669720164[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1214429005669720164[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_1214429005669720164[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1214429005669720164[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1214429005669720164[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1214429005669720164[53] = -9.8100000000000005*dt; + out_1214429005669720164[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_1214429005669720164[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1214429005669720164[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1214429005669720164[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1214429005669720164[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_1214429005669720164[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1214429005669720164[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_1214429005669720164[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1214429005669720164[62] = 0; + out_1214429005669720164[63] = 0; + out_1214429005669720164[64] = 0; + out_1214429005669720164[65] = 0; + out_1214429005669720164[66] = 0; + out_1214429005669720164[67] = 0; + out_1214429005669720164[68] = 0; + out_1214429005669720164[69] = 0; + out_1214429005669720164[70] = 1; + out_1214429005669720164[71] = 0; + out_1214429005669720164[72] = 0; + out_1214429005669720164[73] = 0; + out_1214429005669720164[74] = 0; + out_1214429005669720164[75] = 0; + out_1214429005669720164[76] = 0; + out_1214429005669720164[77] = 0; + out_1214429005669720164[78] = 0; + out_1214429005669720164[79] = 0; + out_1214429005669720164[80] = 1; } -void h_25(double *state, double *unused, double *out_4623448408360880072) { - out_4623448408360880072[0] = state[6]; +void h_25(double *state, double *unused, double *out_3464829860448870764) { + out_3464829860448870764[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2013210898559251929) { - out_2013210898559251929[0] = 0; - out_2013210898559251929[1] = 0; - out_2013210898559251929[2] = 0; - out_2013210898559251929[3] = 0; - out_2013210898559251929[4] = 0; - out_2013210898559251929[5] = 0; - out_2013210898559251929[6] = 1; - out_2013210898559251929[7] = 0; - out_2013210898559251929[8] = 0; +void H_25(double *state, double *unused, double *out_9000363622045005408) { + out_9000363622045005408[0] = 0; + out_9000363622045005408[1] = 0; + out_9000363622045005408[2] = 0; + out_9000363622045005408[3] = 0; + out_9000363622045005408[4] = 0; + out_9000363622045005408[5] = 0; + out_9000363622045005408[6] = 1; + out_9000363622045005408[7] = 0; + out_9000363622045005408[8] = 0; } -void h_24(double *state, double *unused, double *out_5136059034754269087) { - out_5136059034754269087[0] = state[4]; - out_5136059034754269087[1] = state[5]; +void h_24(double *state, double *unused, double *out_4762731858686047091) { + out_4762731858686047091[0] = state[4]; + out_4762731858686047091[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7286705181472264523) { - out_7286705181472264523[0] = 0; - out_7286705181472264523[1] = 0; - out_7286705181472264523[2] = 0; - out_7286705181472264523[3] = 0; - out_7286705181472264523[4] = 1; - out_7286705181472264523[5] = 0; - out_7286705181472264523[6] = 0; - out_7286705181472264523[7] = 0; - out_7286705181472264523[8] = 0; - out_7286705181472264523[9] = 0; - out_7286705181472264523[10] = 0; - out_7286705181472264523[11] = 0; - out_7286705181472264523[12] = 0; - out_7286705181472264523[13] = 0; - out_7286705181472264523[14] = 1; - out_7286705181472264523[15] = 0; - out_7286705181472264523[16] = 0; - out_7286705181472264523[17] = 0; +void H_24(double *state, double *unused, double *out_6827714023039505842) { + out_6827714023039505842[0] = 0; + out_6827714023039505842[1] = 0; + out_6827714023039505842[2] = 0; + out_6827714023039505842[3] = 0; + out_6827714023039505842[4] = 1; + out_6827714023039505842[5] = 0; + out_6827714023039505842[6] = 0; + out_6827714023039505842[7] = 0; + out_6827714023039505842[8] = 0; + out_6827714023039505842[9] = 0; + out_6827714023039505842[10] = 0; + out_6827714023039505842[11] = 0; + out_6827714023039505842[12] = 0; + out_6827714023039505842[13] = 0; + out_6827714023039505842[14] = 1; + out_6827714023039505842[15] = 0; + out_6827714023039505842[16] = 0; + out_6827714023039505842[17] = 0; } -void h_30(double *state, double *unused, double *out_5183418188630129660) { - out_5183418188630129660[0] = state[4]; +void h_30(double *state, double *unused, double *out_3738386096537115206) { + out_3738386096537115206[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2514485431568356269) { - out_2514485431568356269[0] = 0; - out_2514485431568356269[1] = 0; - out_2514485431568356269[2] = 0; - out_2514485431568356269[3] = 0; - out_2514485431568356269[4] = 1; - out_2514485431568356269[5] = 0; - out_2514485431568356269[6] = 0; - out_2514485431568356269[7] = 0; - out_2514485431568356269[8] = 0; +void H_30(double *state, double *unused, double *out_6928047493157297581) { + out_6928047493157297581[0] = 0; + out_6928047493157297581[1] = 0; + out_6928047493157297581[2] = 0; + out_6928047493157297581[3] = 0; + out_6928047493157297581[4] = 1; + out_6928047493157297581[5] = 0; + out_6928047493157297581[6] = 0; + out_6928047493157297581[7] = 0; + out_6928047493157297581[8] = 0; } -void h_26(double *state, double *unused, double *out_8220204240074462345) { - out_8220204240074462345[0] = state[7]; +void h_26(double *state, double *unused, double *out_3696757337891585607) { + out_3696757337891585607[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1728292420314804295) { - out_1728292420314804295[0] = 0; - out_1728292420314804295[1] = 0; - out_1728292420314804295[2] = 0; - out_1728292420314804295[3] = 0; - out_1728292420314804295[4] = 0; - out_1728292420314804295[5] = 0; - out_1728292420314804295[6] = 0; - out_1728292420314804295[7] = 1; - out_1728292420314804295[8] = 0; +void H_26(double *state, double *unused, double *out_6141854481903745607) { + out_6141854481903745607[0] = 0; + out_6141854481903745607[1] = 0; + out_6141854481903745607[2] = 0; + out_6141854481903745607[3] = 0; + out_6141854481903745607[4] = 0; + out_6141854481903745607[5] = 0; + out_6141854481903745607[6] = 0; + out_6141854481903745607[7] = 1; + out_6141854481903745607[8] = 0; } -void h_27(double *state, double *unused, double *out_6443570481160411950) { - out_6443570481160411950[0] = state[3]; +void h_27(double *state, double *unused, double *out_8319345477692799991) { + out_8319345477692799991[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4689248743368781180) { - out_4689248743368781180[0] = 0; - out_4689248743368781180[1] = 0; - out_4689248743368781180[2] = 0; - out_4689248743368781180[3] = 1; - out_4689248743368781180[4] = 0; - out_4689248743368781180[5] = 0; - out_4689248743368781180[6] = 0; - out_4689248743368781180[7] = 0; - out_4689248743368781180[8] = 0; +void H_27(double *state, double *unused, double *out_4704453421973354364) { + out_4704453421973354364[0] = 0; + out_4704453421973354364[1] = 0; + out_4704453421973354364[2] = 0; + out_4704453421973354364[3] = 1; + out_4704453421973354364[4] = 0; + out_4704453421973354364[5] = 0; + out_4704453421973354364[6] = 0; + out_4704453421973354364[7] = 0; + out_4704453421973354364[8] = 0; } -void h_29(double *state, double *unused, double *out_4239908335728467225) { - out_4239908335728467225[0] = state[1]; +void h_29(double *state, double *unused, double *out_6118557469171333555) { + out_6118557469171333555[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2004254087253964085) { - out_2004254087253964085[0] = 0; - out_2004254087253964085[1] = 1; - out_2004254087253964085[2] = 0; - out_2004254087253964085[3] = 0; - out_2004254087253964085[4] = 0; - out_2004254087253964085[5] = 0; - out_2004254087253964085[6] = 0; - out_2004254087253964085[7] = 0; - out_2004254087253964085[8] = 0; +void H_29(double *state, double *unused, double *out_6417816148842905397) { + out_6417816148842905397[0] = 0; + out_6417816148842905397[1] = 1; + out_6417816148842905397[2] = 0; + out_6417816148842905397[3] = 0; + out_6417816148842905397[4] = 0; + out_6417816148842905397[5] = 0; + out_6417816148842905397[6] = 0; + out_6417816148842905397[7] = 0; + out_6417816148842905397[8] = 0; } -void h_28(double *state, double *unused, double *out_8966387541104806981) { - out_8966387541104806981[0] = state[0]; +void h_28(double *state, double *unused, double *out_5845834754773091117) { + out_5845834754773091117[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7086653104323494659) { - out_7086653104323494659[0] = 1; - out_7086653104323494659[1] = 0; - out_7086653104323494659[2] = 0; - out_7086653104323494659[3] = 0; - out_7086653104323494659[4] = 0; - out_7086653104323494659[5] = 0; - out_7086653104323494659[6] = 0; - out_7086653104323494659[7] = 0; - out_7086653104323494659[8] = 0; +void H_28(double *state, double *unused, double *out_6946528907797115645) { + out_6946528907797115645[0] = 1; + out_6946528907797115645[1] = 0; + out_6946528907797115645[2] = 0; + out_6946528907797115645[3] = 0; + out_6946528907797115645[4] = 0; + out_6946528907797115645[5] = 0; + out_6946528907797115645[6] = 0; + out_6946528907797115645[7] = 0; + out_6946528907797115645[8] = 0; } -void h_31(double *state, double *unused, double *out_8508687616659686337) { - out_8508687616659686337[0] = state[8]; +void h_31(double *state, double *unused, double *out_3122998066027424399) { + out_3122998066027424399[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2354500522548155771) { - out_2354500522548155771[0] = 0; - out_2354500522548155771[1] = 0; - out_2354500522548155771[2] = 0; - out_2354500522548155771[3] = 0; - out_2354500522548155771[4] = 0; - out_2354500522548155771[5] = 0; - out_2354500522548155771[6] = 0; - out_2354500522548155771[7] = 0; - out_2354500522548155771[8] = 1; +void H_31(double *state, double *unused, double *out_6768062584137097083) { + out_6768062584137097083[0] = 0; + out_6768062584137097083[1] = 0; + out_6768062584137097083[2] = 0; + out_6768062584137097083[3] = 0; + out_6768062584137097083[4] = 0; + out_6768062584137097083[5] = 0; + out_6768062584137097083[6] = 0; + out_6768062584137097083[7] = 0; + out_6768062584137097083[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_6972961942535496334) { - err_fun(nom_x, delta_x, out_6972961942535496334); +void car_err_fun(double *nom_x, double *delta_x, double *out_787387508528698300) { + err_fun(nom_x, delta_x, out_787387508528698300); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626) { - inv_err_fun(nom_x, true_x, out_2104979621458798626); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4326351974821968285) { + inv_err_fun(nom_x, true_x, out_4326351974821968285); } -void car_H_mod_fun(double *state, double *out_2779658660641459178) { - H_mod_fun(state, out_2779658660641459178); +void car_H_mod_fun(double *state, double *out_253192225752308971) { + H_mod_fun(state, out_253192225752308971); } -void car_f_fun(double *state, double dt, double *out_1847838116479859502) { - f_fun(state, dt, out_1847838116479859502); +void car_f_fun(double *state, double dt, double *out_7053536604478710960) { + f_fun(state, dt, out_7053536604478710960); } -void car_F_fun(double *state, double dt, double *out_8278586360493195906) { - F_fun(state, dt, out_8278586360493195906); +void car_F_fun(double *state, double dt, double *out_1214429005669720164) { + F_fun(state, dt, out_1214429005669720164); } -void car_h_25(double *state, double *unused, double *out_4623448408360880072) { - h_25(state, unused, out_4623448408360880072); +void car_h_25(double *state, double *unused, double *out_3464829860448870764) { + h_25(state, unused, out_3464829860448870764); } -void car_H_25(double *state, double *unused, double *out_2013210898559251929) { - H_25(state, unused, out_2013210898559251929); +void car_H_25(double *state, double *unused, double *out_9000363622045005408) { + H_25(state, unused, out_9000363622045005408); } -void car_h_24(double *state, double *unused, double *out_5136059034754269087) { - h_24(state, unused, out_5136059034754269087); +void car_h_24(double *state, double *unused, double *out_4762731858686047091) { + h_24(state, unused, out_4762731858686047091); } -void car_H_24(double *state, double *unused, double *out_7286705181472264523) { - H_24(state, unused, out_7286705181472264523); +void car_H_24(double *state, double *unused, double *out_6827714023039505842) { + H_24(state, unused, out_6827714023039505842); } -void car_h_30(double *state, double *unused, double *out_5183418188630129660) { - h_30(state, unused, out_5183418188630129660); +void car_h_30(double *state, double *unused, double *out_3738386096537115206) { + h_30(state, unused, out_3738386096537115206); } -void car_H_30(double *state, double *unused, double *out_2514485431568356269) { - H_30(state, unused, out_2514485431568356269); +void car_H_30(double *state, double *unused, double *out_6928047493157297581) { + H_30(state, unused, out_6928047493157297581); } -void car_h_26(double *state, double *unused, double *out_8220204240074462345) { - h_26(state, unused, out_8220204240074462345); +void car_h_26(double *state, double *unused, double *out_3696757337891585607) { + h_26(state, unused, out_3696757337891585607); } -void car_H_26(double *state, double *unused, double *out_1728292420314804295) { - H_26(state, unused, out_1728292420314804295); +void car_H_26(double *state, double *unused, double *out_6141854481903745607) { + H_26(state, unused, out_6141854481903745607); } -void car_h_27(double *state, double *unused, double *out_6443570481160411950) { - h_27(state, unused, out_6443570481160411950); +void car_h_27(double *state, double *unused, double *out_8319345477692799991) { + h_27(state, unused, out_8319345477692799991); } -void car_H_27(double *state, double *unused, double *out_4689248743368781180) { - H_27(state, unused, out_4689248743368781180); +void car_H_27(double *state, double *unused, double *out_4704453421973354364) { + H_27(state, unused, out_4704453421973354364); } -void car_h_29(double *state, double *unused, double *out_4239908335728467225) { - h_29(state, unused, out_4239908335728467225); +void car_h_29(double *state, double *unused, double *out_6118557469171333555) { + h_29(state, unused, out_6118557469171333555); } -void car_H_29(double *state, double *unused, double *out_2004254087253964085) { - H_29(state, unused, out_2004254087253964085); +void car_H_29(double *state, double *unused, double *out_6417816148842905397) { + H_29(state, unused, out_6417816148842905397); } -void car_h_28(double *state, double *unused, double *out_8966387541104806981) { - h_28(state, unused, out_8966387541104806981); +void car_h_28(double *state, double *unused, double *out_5845834754773091117) { + h_28(state, unused, out_5845834754773091117); } -void car_H_28(double *state, double *unused, double *out_7086653104323494659) { - H_28(state, unused, out_7086653104323494659); +void car_H_28(double *state, double *unused, double *out_6946528907797115645) { + H_28(state, unused, out_6946528907797115645); } -void car_h_31(double *state, double *unused, double *out_8508687616659686337) { - h_31(state, unused, out_8508687616659686337); +void car_h_31(double *state, double *unused, double *out_3122998066027424399) { + h_31(state, unused, out_3122998066027424399); } -void car_H_31(double *state, double *unused, double *out_2354500522548155771) { - H_31(state, unused, out_2354500522548155771); +void car_H_31(double *state, double *unused, double *out_6768062584137097083) { + H_31(state, unused, out_6768062584137097083); } 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 62b93ded1..22b80d742 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_6972961942535496334); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626); -void car_H_mod_fun(double *state, double *out_2779658660641459178); -void car_f_fun(double *state, double dt, double *out_1847838116479859502); -void car_F_fun(double *state, double dt, double *out_8278586360493195906); -void car_h_25(double *state, double *unused, double *out_4623448408360880072); -void car_H_25(double *state, double *unused, double *out_2013210898559251929); -void car_h_24(double *state, double *unused, double *out_5136059034754269087); -void car_H_24(double *state, double *unused, double *out_7286705181472264523); -void car_h_30(double *state, double *unused, double *out_5183418188630129660); -void car_H_30(double *state, double *unused, double *out_2514485431568356269); -void car_h_26(double *state, double *unused, double *out_8220204240074462345); -void car_H_26(double *state, double *unused, double *out_1728292420314804295); -void car_h_27(double *state, double *unused, double *out_6443570481160411950); -void car_H_27(double *state, double *unused, double *out_4689248743368781180); -void car_h_29(double *state, double *unused, double *out_4239908335728467225); -void car_H_29(double *state, double *unused, double *out_2004254087253964085); -void car_h_28(double *state, double *unused, double *out_8966387541104806981); -void car_H_28(double *state, double *unused, double *out_7086653104323494659); -void car_h_31(double *state, double *unused, double *out_8508687616659686337); -void car_H_31(double *state, double *unused, double *out_2354500522548155771); +void car_err_fun(double *nom_x, double *delta_x, double *out_787387508528698300); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4326351974821968285); +void car_H_mod_fun(double *state, double *out_253192225752308971); +void car_f_fun(double *state, double dt, double *out_7053536604478710960); +void car_F_fun(double *state, double dt, double *out_1214429005669720164); +void car_h_25(double *state, double *unused, double *out_3464829860448870764); +void car_H_25(double *state, double *unused, double *out_9000363622045005408); +void car_h_24(double *state, double *unused, double *out_4762731858686047091); +void car_H_24(double *state, double *unused, double *out_6827714023039505842); +void car_h_30(double *state, double *unused, double *out_3738386096537115206); +void car_H_30(double *state, double *unused, double *out_6928047493157297581); +void car_h_26(double *state, double *unused, double *out_3696757337891585607); +void car_H_26(double *state, double *unused, double *out_6141854481903745607); +void car_h_27(double *state, double *unused, double *out_8319345477692799991); +void car_H_27(double *state, double *unused, double *out_4704453421973354364); +void car_h_29(double *state, double *unused, double *out_6118557469171333555); +void car_H_29(double *state, double *unused, double *out_6417816148842905397); +void car_h_28(double *state, double *unused, double *out_5845834754773091117); +void car_H_28(double *state, double *unused, double *out_6946528907797115645); +void car_h_31(double *state, double *unused, double *out_3122998066027424399); +void car_H_31(double *state, double *unused, double *out_6768062584137097083); 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 3c8eb5bc3..5a0421edc 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_1493079546624007114) { - out_1493079546624007114[0] = delta_x[0] + nom_x[0]; - out_1493079546624007114[1] = delta_x[1] + nom_x[1]; - out_1493079546624007114[2] = delta_x[2] + nom_x[2]; - out_1493079546624007114[3] = delta_x[3] + nom_x[3]; - out_1493079546624007114[4] = delta_x[4] + nom_x[4]; - out_1493079546624007114[5] = delta_x[5] + nom_x[5]; - out_1493079546624007114[6] = delta_x[6] + nom_x[6]; - out_1493079546624007114[7] = delta_x[7] + nom_x[7]; - out_1493079546624007114[8] = delta_x[8] + nom_x[8]; - out_1493079546624007114[9] = delta_x[9] + nom_x[9]; - out_1493079546624007114[10] = delta_x[10] + nom_x[10]; - out_1493079546624007114[11] = delta_x[11] + nom_x[11]; - out_1493079546624007114[12] = delta_x[12] + nom_x[12]; - out_1493079546624007114[13] = delta_x[13] + nom_x[13]; - out_1493079546624007114[14] = delta_x[14] + nom_x[14]; - out_1493079546624007114[15] = delta_x[15] + nom_x[15]; - out_1493079546624007114[16] = delta_x[16] + nom_x[16]; - out_1493079546624007114[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2495962770948129313) { + out_2495962770948129313[0] = delta_x[0] + nom_x[0]; + out_2495962770948129313[1] = delta_x[1] + nom_x[1]; + out_2495962770948129313[2] = delta_x[2] + nom_x[2]; + out_2495962770948129313[3] = delta_x[3] + nom_x[3]; + out_2495962770948129313[4] = delta_x[4] + nom_x[4]; + out_2495962770948129313[5] = delta_x[5] + nom_x[5]; + out_2495962770948129313[6] = delta_x[6] + nom_x[6]; + out_2495962770948129313[7] = delta_x[7] + nom_x[7]; + out_2495962770948129313[8] = delta_x[8] + nom_x[8]; + out_2495962770948129313[9] = delta_x[9] + nom_x[9]; + out_2495962770948129313[10] = delta_x[10] + nom_x[10]; + out_2495962770948129313[11] = delta_x[11] + nom_x[11]; + out_2495962770948129313[12] = delta_x[12] + nom_x[12]; + out_2495962770948129313[13] = delta_x[13] + nom_x[13]; + out_2495962770948129313[14] = delta_x[14] + nom_x[14]; + out_2495962770948129313[15] = delta_x[15] + nom_x[15]; + out_2495962770948129313[16] = delta_x[16] + nom_x[16]; + out_2495962770948129313[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4580499654968994478) { - out_4580499654968994478[0] = -nom_x[0] + true_x[0]; - out_4580499654968994478[1] = -nom_x[1] + true_x[1]; - out_4580499654968994478[2] = -nom_x[2] + true_x[2]; - out_4580499654968994478[3] = -nom_x[3] + true_x[3]; - out_4580499654968994478[4] = -nom_x[4] + true_x[4]; - out_4580499654968994478[5] = -nom_x[5] + true_x[5]; - out_4580499654968994478[6] = -nom_x[6] + true_x[6]; - out_4580499654968994478[7] = -nom_x[7] + true_x[7]; - out_4580499654968994478[8] = -nom_x[8] + true_x[8]; - out_4580499654968994478[9] = -nom_x[9] + true_x[9]; - out_4580499654968994478[10] = -nom_x[10] + true_x[10]; - out_4580499654968994478[11] = -nom_x[11] + true_x[11]; - out_4580499654968994478[12] = -nom_x[12] + true_x[12]; - out_4580499654968994478[13] = -nom_x[13] + true_x[13]; - out_4580499654968994478[14] = -nom_x[14] + true_x[14]; - out_4580499654968994478[15] = -nom_x[15] + true_x[15]; - out_4580499654968994478[16] = -nom_x[16] + true_x[16]; - out_4580499654968994478[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_17617025005773203) { + out_17617025005773203[0] = -nom_x[0] + true_x[0]; + out_17617025005773203[1] = -nom_x[1] + true_x[1]; + out_17617025005773203[2] = -nom_x[2] + true_x[2]; + out_17617025005773203[3] = -nom_x[3] + true_x[3]; + out_17617025005773203[4] = -nom_x[4] + true_x[4]; + out_17617025005773203[5] = -nom_x[5] + true_x[5]; + out_17617025005773203[6] = -nom_x[6] + true_x[6]; + out_17617025005773203[7] = -nom_x[7] + true_x[7]; + out_17617025005773203[8] = -nom_x[8] + true_x[8]; + out_17617025005773203[9] = -nom_x[9] + true_x[9]; + out_17617025005773203[10] = -nom_x[10] + true_x[10]; + out_17617025005773203[11] = -nom_x[11] + true_x[11]; + out_17617025005773203[12] = -nom_x[12] + true_x[12]; + out_17617025005773203[13] = -nom_x[13] + true_x[13]; + out_17617025005773203[14] = -nom_x[14] + true_x[14]; + out_17617025005773203[15] = -nom_x[15] + true_x[15]; + out_17617025005773203[16] = -nom_x[16] + true_x[16]; + out_17617025005773203[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_8273119377234766952) { - out_8273119377234766952[0] = 1.0; - out_8273119377234766952[1] = 0.0; - out_8273119377234766952[2] = 0.0; - out_8273119377234766952[3] = 0.0; - out_8273119377234766952[4] = 0.0; - out_8273119377234766952[5] = 0.0; - out_8273119377234766952[6] = 0.0; - out_8273119377234766952[7] = 0.0; - out_8273119377234766952[8] = 0.0; - out_8273119377234766952[9] = 0.0; - out_8273119377234766952[10] = 0.0; - out_8273119377234766952[11] = 0.0; - out_8273119377234766952[12] = 0.0; - out_8273119377234766952[13] = 0.0; - out_8273119377234766952[14] = 0.0; - out_8273119377234766952[15] = 0.0; - out_8273119377234766952[16] = 0.0; - out_8273119377234766952[17] = 0.0; - out_8273119377234766952[18] = 0.0; - out_8273119377234766952[19] = 1.0; - out_8273119377234766952[20] = 0.0; - out_8273119377234766952[21] = 0.0; - out_8273119377234766952[22] = 0.0; - out_8273119377234766952[23] = 0.0; - out_8273119377234766952[24] = 0.0; - out_8273119377234766952[25] = 0.0; - out_8273119377234766952[26] = 0.0; - out_8273119377234766952[27] = 0.0; - out_8273119377234766952[28] = 0.0; - out_8273119377234766952[29] = 0.0; - out_8273119377234766952[30] = 0.0; - out_8273119377234766952[31] = 0.0; - out_8273119377234766952[32] = 0.0; - out_8273119377234766952[33] = 0.0; - out_8273119377234766952[34] = 0.0; - out_8273119377234766952[35] = 0.0; - out_8273119377234766952[36] = 0.0; - out_8273119377234766952[37] = 0.0; - out_8273119377234766952[38] = 1.0; - out_8273119377234766952[39] = 0.0; - out_8273119377234766952[40] = 0.0; - out_8273119377234766952[41] = 0.0; - out_8273119377234766952[42] = 0.0; - out_8273119377234766952[43] = 0.0; - out_8273119377234766952[44] = 0.0; - out_8273119377234766952[45] = 0.0; - out_8273119377234766952[46] = 0.0; - out_8273119377234766952[47] = 0.0; - out_8273119377234766952[48] = 0.0; - out_8273119377234766952[49] = 0.0; - out_8273119377234766952[50] = 0.0; - out_8273119377234766952[51] = 0.0; - out_8273119377234766952[52] = 0.0; - out_8273119377234766952[53] = 0.0; - out_8273119377234766952[54] = 0.0; - out_8273119377234766952[55] = 0.0; - out_8273119377234766952[56] = 0.0; - out_8273119377234766952[57] = 1.0; - out_8273119377234766952[58] = 0.0; - out_8273119377234766952[59] = 0.0; - out_8273119377234766952[60] = 0.0; - out_8273119377234766952[61] = 0.0; - out_8273119377234766952[62] = 0.0; - out_8273119377234766952[63] = 0.0; - out_8273119377234766952[64] = 0.0; - out_8273119377234766952[65] = 0.0; - out_8273119377234766952[66] = 0.0; - out_8273119377234766952[67] = 0.0; - out_8273119377234766952[68] = 0.0; - out_8273119377234766952[69] = 0.0; - out_8273119377234766952[70] = 0.0; - out_8273119377234766952[71] = 0.0; - out_8273119377234766952[72] = 0.0; - out_8273119377234766952[73] = 0.0; - out_8273119377234766952[74] = 0.0; - out_8273119377234766952[75] = 0.0; - out_8273119377234766952[76] = 1.0; - out_8273119377234766952[77] = 0.0; - out_8273119377234766952[78] = 0.0; - out_8273119377234766952[79] = 0.0; - out_8273119377234766952[80] = 0.0; - out_8273119377234766952[81] = 0.0; - out_8273119377234766952[82] = 0.0; - out_8273119377234766952[83] = 0.0; - out_8273119377234766952[84] = 0.0; - out_8273119377234766952[85] = 0.0; - out_8273119377234766952[86] = 0.0; - out_8273119377234766952[87] = 0.0; - out_8273119377234766952[88] = 0.0; - out_8273119377234766952[89] = 0.0; - out_8273119377234766952[90] = 0.0; - out_8273119377234766952[91] = 0.0; - out_8273119377234766952[92] = 0.0; - out_8273119377234766952[93] = 0.0; - out_8273119377234766952[94] = 0.0; - out_8273119377234766952[95] = 1.0; - out_8273119377234766952[96] = 0.0; - out_8273119377234766952[97] = 0.0; - out_8273119377234766952[98] = 0.0; - out_8273119377234766952[99] = 0.0; - out_8273119377234766952[100] = 0.0; - out_8273119377234766952[101] = 0.0; - out_8273119377234766952[102] = 0.0; - out_8273119377234766952[103] = 0.0; - out_8273119377234766952[104] = 0.0; - out_8273119377234766952[105] = 0.0; - out_8273119377234766952[106] = 0.0; - out_8273119377234766952[107] = 0.0; - out_8273119377234766952[108] = 0.0; - out_8273119377234766952[109] = 0.0; - out_8273119377234766952[110] = 0.0; - out_8273119377234766952[111] = 0.0; - out_8273119377234766952[112] = 0.0; - out_8273119377234766952[113] = 0.0; - out_8273119377234766952[114] = 1.0; - out_8273119377234766952[115] = 0.0; - out_8273119377234766952[116] = 0.0; - out_8273119377234766952[117] = 0.0; - out_8273119377234766952[118] = 0.0; - out_8273119377234766952[119] = 0.0; - out_8273119377234766952[120] = 0.0; - out_8273119377234766952[121] = 0.0; - out_8273119377234766952[122] = 0.0; - out_8273119377234766952[123] = 0.0; - out_8273119377234766952[124] = 0.0; - out_8273119377234766952[125] = 0.0; - out_8273119377234766952[126] = 0.0; - out_8273119377234766952[127] = 0.0; - out_8273119377234766952[128] = 0.0; - out_8273119377234766952[129] = 0.0; - out_8273119377234766952[130] = 0.0; - out_8273119377234766952[131] = 0.0; - out_8273119377234766952[132] = 0.0; - out_8273119377234766952[133] = 1.0; - out_8273119377234766952[134] = 0.0; - out_8273119377234766952[135] = 0.0; - out_8273119377234766952[136] = 0.0; - out_8273119377234766952[137] = 0.0; - out_8273119377234766952[138] = 0.0; - out_8273119377234766952[139] = 0.0; - out_8273119377234766952[140] = 0.0; - out_8273119377234766952[141] = 0.0; - out_8273119377234766952[142] = 0.0; - out_8273119377234766952[143] = 0.0; - out_8273119377234766952[144] = 0.0; - out_8273119377234766952[145] = 0.0; - out_8273119377234766952[146] = 0.0; - out_8273119377234766952[147] = 0.0; - out_8273119377234766952[148] = 0.0; - out_8273119377234766952[149] = 0.0; - out_8273119377234766952[150] = 0.0; - out_8273119377234766952[151] = 0.0; - out_8273119377234766952[152] = 1.0; - out_8273119377234766952[153] = 0.0; - out_8273119377234766952[154] = 0.0; - out_8273119377234766952[155] = 0.0; - out_8273119377234766952[156] = 0.0; - out_8273119377234766952[157] = 0.0; - out_8273119377234766952[158] = 0.0; - out_8273119377234766952[159] = 0.0; - out_8273119377234766952[160] = 0.0; - out_8273119377234766952[161] = 0.0; - out_8273119377234766952[162] = 0.0; - out_8273119377234766952[163] = 0.0; - out_8273119377234766952[164] = 0.0; - out_8273119377234766952[165] = 0.0; - out_8273119377234766952[166] = 0.0; - out_8273119377234766952[167] = 0.0; - out_8273119377234766952[168] = 0.0; - out_8273119377234766952[169] = 0.0; - out_8273119377234766952[170] = 0.0; - out_8273119377234766952[171] = 1.0; - out_8273119377234766952[172] = 0.0; - out_8273119377234766952[173] = 0.0; - out_8273119377234766952[174] = 0.0; - out_8273119377234766952[175] = 0.0; - out_8273119377234766952[176] = 0.0; - out_8273119377234766952[177] = 0.0; - out_8273119377234766952[178] = 0.0; - out_8273119377234766952[179] = 0.0; - out_8273119377234766952[180] = 0.0; - out_8273119377234766952[181] = 0.0; - out_8273119377234766952[182] = 0.0; - out_8273119377234766952[183] = 0.0; - out_8273119377234766952[184] = 0.0; - out_8273119377234766952[185] = 0.0; - out_8273119377234766952[186] = 0.0; - out_8273119377234766952[187] = 0.0; - out_8273119377234766952[188] = 0.0; - out_8273119377234766952[189] = 0.0; - out_8273119377234766952[190] = 1.0; - out_8273119377234766952[191] = 0.0; - out_8273119377234766952[192] = 0.0; - out_8273119377234766952[193] = 0.0; - out_8273119377234766952[194] = 0.0; - out_8273119377234766952[195] = 0.0; - out_8273119377234766952[196] = 0.0; - out_8273119377234766952[197] = 0.0; - out_8273119377234766952[198] = 0.0; - out_8273119377234766952[199] = 0.0; - out_8273119377234766952[200] = 0.0; - out_8273119377234766952[201] = 0.0; - out_8273119377234766952[202] = 0.0; - out_8273119377234766952[203] = 0.0; - out_8273119377234766952[204] = 0.0; - out_8273119377234766952[205] = 0.0; - out_8273119377234766952[206] = 0.0; - out_8273119377234766952[207] = 0.0; - out_8273119377234766952[208] = 0.0; - out_8273119377234766952[209] = 1.0; - out_8273119377234766952[210] = 0.0; - out_8273119377234766952[211] = 0.0; - out_8273119377234766952[212] = 0.0; - out_8273119377234766952[213] = 0.0; - out_8273119377234766952[214] = 0.0; - out_8273119377234766952[215] = 0.0; - out_8273119377234766952[216] = 0.0; - out_8273119377234766952[217] = 0.0; - out_8273119377234766952[218] = 0.0; - out_8273119377234766952[219] = 0.0; - out_8273119377234766952[220] = 0.0; - out_8273119377234766952[221] = 0.0; - out_8273119377234766952[222] = 0.0; - out_8273119377234766952[223] = 0.0; - out_8273119377234766952[224] = 0.0; - out_8273119377234766952[225] = 0.0; - out_8273119377234766952[226] = 0.0; - out_8273119377234766952[227] = 0.0; - out_8273119377234766952[228] = 1.0; - out_8273119377234766952[229] = 0.0; - out_8273119377234766952[230] = 0.0; - out_8273119377234766952[231] = 0.0; - out_8273119377234766952[232] = 0.0; - out_8273119377234766952[233] = 0.0; - out_8273119377234766952[234] = 0.0; - out_8273119377234766952[235] = 0.0; - out_8273119377234766952[236] = 0.0; - out_8273119377234766952[237] = 0.0; - out_8273119377234766952[238] = 0.0; - out_8273119377234766952[239] = 0.0; - out_8273119377234766952[240] = 0.0; - out_8273119377234766952[241] = 0.0; - out_8273119377234766952[242] = 0.0; - out_8273119377234766952[243] = 0.0; - out_8273119377234766952[244] = 0.0; - out_8273119377234766952[245] = 0.0; - out_8273119377234766952[246] = 0.0; - out_8273119377234766952[247] = 1.0; - out_8273119377234766952[248] = 0.0; - out_8273119377234766952[249] = 0.0; - out_8273119377234766952[250] = 0.0; - out_8273119377234766952[251] = 0.0; - out_8273119377234766952[252] = 0.0; - out_8273119377234766952[253] = 0.0; - out_8273119377234766952[254] = 0.0; - out_8273119377234766952[255] = 0.0; - out_8273119377234766952[256] = 0.0; - out_8273119377234766952[257] = 0.0; - out_8273119377234766952[258] = 0.0; - out_8273119377234766952[259] = 0.0; - out_8273119377234766952[260] = 0.0; - out_8273119377234766952[261] = 0.0; - out_8273119377234766952[262] = 0.0; - out_8273119377234766952[263] = 0.0; - out_8273119377234766952[264] = 0.0; - out_8273119377234766952[265] = 0.0; - out_8273119377234766952[266] = 1.0; - out_8273119377234766952[267] = 0.0; - out_8273119377234766952[268] = 0.0; - out_8273119377234766952[269] = 0.0; - out_8273119377234766952[270] = 0.0; - out_8273119377234766952[271] = 0.0; - out_8273119377234766952[272] = 0.0; - out_8273119377234766952[273] = 0.0; - out_8273119377234766952[274] = 0.0; - out_8273119377234766952[275] = 0.0; - out_8273119377234766952[276] = 0.0; - out_8273119377234766952[277] = 0.0; - out_8273119377234766952[278] = 0.0; - out_8273119377234766952[279] = 0.0; - out_8273119377234766952[280] = 0.0; - out_8273119377234766952[281] = 0.0; - out_8273119377234766952[282] = 0.0; - out_8273119377234766952[283] = 0.0; - out_8273119377234766952[284] = 0.0; - out_8273119377234766952[285] = 1.0; - out_8273119377234766952[286] = 0.0; - out_8273119377234766952[287] = 0.0; - out_8273119377234766952[288] = 0.0; - out_8273119377234766952[289] = 0.0; - out_8273119377234766952[290] = 0.0; - out_8273119377234766952[291] = 0.0; - out_8273119377234766952[292] = 0.0; - out_8273119377234766952[293] = 0.0; - out_8273119377234766952[294] = 0.0; - out_8273119377234766952[295] = 0.0; - out_8273119377234766952[296] = 0.0; - out_8273119377234766952[297] = 0.0; - out_8273119377234766952[298] = 0.0; - out_8273119377234766952[299] = 0.0; - out_8273119377234766952[300] = 0.0; - out_8273119377234766952[301] = 0.0; - out_8273119377234766952[302] = 0.0; - out_8273119377234766952[303] = 0.0; - out_8273119377234766952[304] = 1.0; - out_8273119377234766952[305] = 0.0; - out_8273119377234766952[306] = 0.0; - out_8273119377234766952[307] = 0.0; - out_8273119377234766952[308] = 0.0; - out_8273119377234766952[309] = 0.0; - out_8273119377234766952[310] = 0.0; - out_8273119377234766952[311] = 0.0; - out_8273119377234766952[312] = 0.0; - out_8273119377234766952[313] = 0.0; - out_8273119377234766952[314] = 0.0; - out_8273119377234766952[315] = 0.0; - out_8273119377234766952[316] = 0.0; - out_8273119377234766952[317] = 0.0; - out_8273119377234766952[318] = 0.0; - out_8273119377234766952[319] = 0.0; - out_8273119377234766952[320] = 0.0; - out_8273119377234766952[321] = 0.0; - out_8273119377234766952[322] = 0.0; - out_8273119377234766952[323] = 1.0; +void H_mod_fun(double *state, double *out_8533106360868564993) { + out_8533106360868564993[0] = 1.0; + out_8533106360868564993[1] = 0.0; + out_8533106360868564993[2] = 0.0; + out_8533106360868564993[3] = 0.0; + out_8533106360868564993[4] = 0.0; + out_8533106360868564993[5] = 0.0; + out_8533106360868564993[6] = 0.0; + out_8533106360868564993[7] = 0.0; + out_8533106360868564993[8] = 0.0; + out_8533106360868564993[9] = 0.0; + out_8533106360868564993[10] = 0.0; + out_8533106360868564993[11] = 0.0; + out_8533106360868564993[12] = 0.0; + out_8533106360868564993[13] = 0.0; + out_8533106360868564993[14] = 0.0; + out_8533106360868564993[15] = 0.0; + out_8533106360868564993[16] = 0.0; + out_8533106360868564993[17] = 0.0; + out_8533106360868564993[18] = 0.0; + out_8533106360868564993[19] = 1.0; + out_8533106360868564993[20] = 0.0; + out_8533106360868564993[21] = 0.0; + out_8533106360868564993[22] = 0.0; + out_8533106360868564993[23] = 0.0; + out_8533106360868564993[24] = 0.0; + out_8533106360868564993[25] = 0.0; + out_8533106360868564993[26] = 0.0; + out_8533106360868564993[27] = 0.0; + out_8533106360868564993[28] = 0.0; + out_8533106360868564993[29] = 0.0; + out_8533106360868564993[30] = 0.0; + out_8533106360868564993[31] = 0.0; + out_8533106360868564993[32] = 0.0; + out_8533106360868564993[33] = 0.0; + out_8533106360868564993[34] = 0.0; + out_8533106360868564993[35] = 0.0; + out_8533106360868564993[36] = 0.0; + out_8533106360868564993[37] = 0.0; + out_8533106360868564993[38] = 1.0; + out_8533106360868564993[39] = 0.0; + out_8533106360868564993[40] = 0.0; + out_8533106360868564993[41] = 0.0; + out_8533106360868564993[42] = 0.0; + out_8533106360868564993[43] = 0.0; + out_8533106360868564993[44] = 0.0; + out_8533106360868564993[45] = 0.0; + out_8533106360868564993[46] = 0.0; + out_8533106360868564993[47] = 0.0; + out_8533106360868564993[48] = 0.0; + out_8533106360868564993[49] = 0.0; + out_8533106360868564993[50] = 0.0; + out_8533106360868564993[51] = 0.0; + out_8533106360868564993[52] = 0.0; + out_8533106360868564993[53] = 0.0; + out_8533106360868564993[54] = 0.0; + out_8533106360868564993[55] = 0.0; + out_8533106360868564993[56] = 0.0; + out_8533106360868564993[57] = 1.0; + out_8533106360868564993[58] = 0.0; + out_8533106360868564993[59] = 0.0; + out_8533106360868564993[60] = 0.0; + out_8533106360868564993[61] = 0.0; + out_8533106360868564993[62] = 0.0; + out_8533106360868564993[63] = 0.0; + out_8533106360868564993[64] = 0.0; + out_8533106360868564993[65] = 0.0; + out_8533106360868564993[66] = 0.0; + out_8533106360868564993[67] = 0.0; + out_8533106360868564993[68] = 0.0; + out_8533106360868564993[69] = 0.0; + out_8533106360868564993[70] = 0.0; + out_8533106360868564993[71] = 0.0; + out_8533106360868564993[72] = 0.0; + out_8533106360868564993[73] = 0.0; + out_8533106360868564993[74] = 0.0; + out_8533106360868564993[75] = 0.0; + out_8533106360868564993[76] = 1.0; + out_8533106360868564993[77] = 0.0; + out_8533106360868564993[78] = 0.0; + out_8533106360868564993[79] = 0.0; + out_8533106360868564993[80] = 0.0; + out_8533106360868564993[81] = 0.0; + out_8533106360868564993[82] = 0.0; + out_8533106360868564993[83] = 0.0; + out_8533106360868564993[84] = 0.0; + out_8533106360868564993[85] = 0.0; + out_8533106360868564993[86] = 0.0; + out_8533106360868564993[87] = 0.0; + out_8533106360868564993[88] = 0.0; + out_8533106360868564993[89] = 0.0; + out_8533106360868564993[90] = 0.0; + out_8533106360868564993[91] = 0.0; + out_8533106360868564993[92] = 0.0; + out_8533106360868564993[93] = 0.0; + out_8533106360868564993[94] = 0.0; + out_8533106360868564993[95] = 1.0; + out_8533106360868564993[96] = 0.0; + out_8533106360868564993[97] = 0.0; + out_8533106360868564993[98] = 0.0; + out_8533106360868564993[99] = 0.0; + out_8533106360868564993[100] = 0.0; + out_8533106360868564993[101] = 0.0; + out_8533106360868564993[102] = 0.0; + out_8533106360868564993[103] = 0.0; + out_8533106360868564993[104] = 0.0; + out_8533106360868564993[105] = 0.0; + out_8533106360868564993[106] = 0.0; + out_8533106360868564993[107] = 0.0; + out_8533106360868564993[108] = 0.0; + out_8533106360868564993[109] = 0.0; + out_8533106360868564993[110] = 0.0; + out_8533106360868564993[111] = 0.0; + out_8533106360868564993[112] = 0.0; + out_8533106360868564993[113] = 0.0; + out_8533106360868564993[114] = 1.0; + out_8533106360868564993[115] = 0.0; + out_8533106360868564993[116] = 0.0; + out_8533106360868564993[117] = 0.0; + out_8533106360868564993[118] = 0.0; + out_8533106360868564993[119] = 0.0; + out_8533106360868564993[120] = 0.0; + out_8533106360868564993[121] = 0.0; + out_8533106360868564993[122] = 0.0; + out_8533106360868564993[123] = 0.0; + out_8533106360868564993[124] = 0.0; + out_8533106360868564993[125] = 0.0; + out_8533106360868564993[126] = 0.0; + out_8533106360868564993[127] = 0.0; + out_8533106360868564993[128] = 0.0; + out_8533106360868564993[129] = 0.0; + out_8533106360868564993[130] = 0.0; + out_8533106360868564993[131] = 0.0; + out_8533106360868564993[132] = 0.0; + out_8533106360868564993[133] = 1.0; + out_8533106360868564993[134] = 0.0; + out_8533106360868564993[135] = 0.0; + out_8533106360868564993[136] = 0.0; + out_8533106360868564993[137] = 0.0; + out_8533106360868564993[138] = 0.0; + out_8533106360868564993[139] = 0.0; + out_8533106360868564993[140] = 0.0; + out_8533106360868564993[141] = 0.0; + out_8533106360868564993[142] = 0.0; + out_8533106360868564993[143] = 0.0; + out_8533106360868564993[144] = 0.0; + out_8533106360868564993[145] = 0.0; + out_8533106360868564993[146] = 0.0; + out_8533106360868564993[147] = 0.0; + out_8533106360868564993[148] = 0.0; + out_8533106360868564993[149] = 0.0; + out_8533106360868564993[150] = 0.0; + out_8533106360868564993[151] = 0.0; + out_8533106360868564993[152] = 1.0; + out_8533106360868564993[153] = 0.0; + out_8533106360868564993[154] = 0.0; + out_8533106360868564993[155] = 0.0; + out_8533106360868564993[156] = 0.0; + out_8533106360868564993[157] = 0.0; + out_8533106360868564993[158] = 0.0; + out_8533106360868564993[159] = 0.0; + out_8533106360868564993[160] = 0.0; + out_8533106360868564993[161] = 0.0; + out_8533106360868564993[162] = 0.0; + out_8533106360868564993[163] = 0.0; + out_8533106360868564993[164] = 0.0; + out_8533106360868564993[165] = 0.0; + out_8533106360868564993[166] = 0.0; + out_8533106360868564993[167] = 0.0; + out_8533106360868564993[168] = 0.0; + out_8533106360868564993[169] = 0.0; + out_8533106360868564993[170] = 0.0; + out_8533106360868564993[171] = 1.0; + out_8533106360868564993[172] = 0.0; + out_8533106360868564993[173] = 0.0; + out_8533106360868564993[174] = 0.0; + out_8533106360868564993[175] = 0.0; + out_8533106360868564993[176] = 0.0; + out_8533106360868564993[177] = 0.0; + out_8533106360868564993[178] = 0.0; + out_8533106360868564993[179] = 0.0; + out_8533106360868564993[180] = 0.0; + out_8533106360868564993[181] = 0.0; + out_8533106360868564993[182] = 0.0; + out_8533106360868564993[183] = 0.0; + out_8533106360868564993[184] = 0.0; + out_8533106360868564993[185] = 0.0; + out_8533106360868564993[186] = 0.0; + out_8533106360868564993[187] = 0.0; + out_8533106360868564993[188] = 0.0; + out_8533106360868564993[189] = 0.0; + out_8533106360868564993[190] = 1.0; + out_8533106360868564993[191] = 0.0; + out_8533106360868564993[192] = 0.0; + out_8533106360868564993[193] = 0.0; + out_8533106360868564993[194] = 0.0; + out_8533106360868564993[195] = 0.0; + out_8533106360868564993[196] = 0.0; + out_8533106360868564993[197] = 0.0; + out_8533106360868564993[198] = 0.0; + out_8533106360868564993[199] = 0.0; + out_8533106360868564993[200] = 0.0; + out_8533106360868564993[201] = 0.0; + out_8533106360868564993[202] = 0.0; + out_8533106360868564993[203] = 0.0; + out_8533106360868564993[204] = 0.0; + out_8533106360868564993[205] = 0.0; + out_8533106360868564993[206] = 0.0; + out_8533106360868564993[207] = 0.0; + out_8533106360868564993[208] = 0.0; + out_8533106360868564993[209] = 1.0; + out_8533106360868564993[210] = 0.0; + out_8533106360868564993[211] = 0.0; + out_8533106360868564993[212] = 0.0; + out_8533106360868564993[213] = 0.0; + out_8533106360868564993[214] = 0.0; + out_8533106360868564993[215] = 0.0; + out_8533106360868564993[216] = 0.0; + out_8533106360868564993[217] = 0.0; + out_8533106360868564993[218] = 0.0; + out_8533106360868564993[219] = 0.0; + out_8533106360868564993[220] = 0.0; + out_8533106360868564993[221] = 0.0; + out_8533106360868564993[222] = 0.0; + out_8533106360868564993[223] = 0.0; + out_8533106360868564993[224] = 0.0; + out_8533106360868564993[225] = 0.0; + out_8533106360868564993[226] = 0.0; + out_8533106360868564993[227] = 0.0; + out_8533106360868564993[228] = 1.0; + out_8533106360868564993[229] = 0.0; + out_8533106360868564993[230] = 0.0; + out_8533106360868564993[231] = 0.0; + out_8533106360868564993[232] = 0.0; + out_8533106360868564993[233] = 0.0; + out_8533106360868564993[234] = 0.0; + out_8533106360868564993[235] = 0.0; + out_8533106360868564993[236] = 0.0; + out_8533106360868564993[237] = 0.0; + out_8533106360868564993[238] = 0.0; + out_8533106360868564993[239] = 0.0; + out_8533106360868564993[240] = 0.0; + out_8533106360868564993[241] = 0.0; + out_8533106360868564993[242] = 0.0; + out_8533106360868564993[243] = 0.0; + out_8533106360868564993[244] = 0.0; + out_8533106360868564993[245] = 0.0; + out_8533106360868564993[246] = 0.0; + out_8533106360868564993[247] = 1.0; + out_8533106360868564993[248] = 0.0; + out_8533106360868564993[249] = 0.0; + out_8533106360868564993[250] = 0.0; + out_8533106360868564993[251] = 0.0; + out_8533106360868564993[252] = 0.0; + out_8533106360868564993[253] = 0.0; + out_8533106360868564993[254] = 0.0; + out_8533106360868564993[255] = 0.0; + out_8533106360868564993[256] = 0.0; + out_8533106360868564993[257] = 0.0; + out_8533106360868564993[258] = 0.0; + out_8533106360868564993[259] = 0.0; + out_8533106360868564993[260] = 0.0; + out_8533106360868564993[261] = 0.0; + out_8533106360868564993[262] = 0.0; + out_8533106360868564993[263] = 0.0; + out_8533106360868564993[264] = 0.0; + out_8533106360868564993[265] = 0.0; + out_8533106360868564993[266] = 1.0; + out_8533106360868564993[267] = 0.0; + out_8533106360868564993[268] = 0.0; + out_8533106360868564993[269] = 0.0; + out_8533106360868564993[270] = 0.0; + out_8533106360868564993[271] = 0.0; + out_8533106360868564993[272] = 0.0; + out_8533106360868564993[273] = 0.0; + out_8533106360868564993[274] = 0.0; + out_8533106360868564993[275] = 0.0; + out_8533106360868564993[276] = 0.0; + out_8533106360868564993[277] = 0.0; + out_8533106360868564993[278] = 0.0; + out_8533106360868564993[279] = 0.0; + out_8533106360868564993[280] = 0.0; + out_8533106360868564993[281] = 0.0; + out_8533106360868564993[282] = 0.0; + out_8533106360868564993[283] = 0.0; + out_8533106360868564993[284] = 0.0; + out_8533106360868564993[285] = 1.0; + out_8533106360868564993[286] = 0.0; + out_8533106360868564993[287] = 0.0; + out_8533106360868564993[288] = 0.0; + out_8533106360868564993[289] = 0.0; + out_8533106360868564993[290] = 0.0; + out_8533106360868564993[291] = 0.0; + out_8533106360868564993[292] = 0.0; + out_8533106360868564993[293] = 0.0; + out_8533106360868564993[294] = 0.0; + out_8533106360868564993[295] = 0.0; + out_8533106360868564993[296] = 0.0; + out_8533106360868564993[297] = 0.0; + out_8533106360868564993[298] = 0.0; + out_8533106360868564993[299] = 0.0; + out_8533106360868564993[300] = 0.0; + out_8533106360868564993[301] = 0.0; + out_8533106360868564993[302] = 0.0; + out_8533106360868564993[303] = 0.0; + out_8533106360868564993[304] = 1.0; + out_8533106360868564993[305] = 0.0; + out_8533106360868564993[306] = 0.0; + out_8533106360868564993[307] = 0.0; + out_8533106360868564993[308] = 0.0; + out_8533106360868564993[309] = 0.0; + out_8533106360868564993[310] = 0.0; + out_8533106360868564993[311] = 0.0; + out_8533106360868564993[312] = 0.0; + out_8533106360868564993[313] = 0.0; + out_8533106360868564993[314] = 0.0; + out_8533106360868564993[315] = 0.0; + out_8533106360868564993[316] = 0.0; + out_8533106360868564993[317] = 0.0; + out_8533106360868564993[318] = 0.0; + out_8533106360868564993[319] = 0.0; + out_8533106360868564993[320] = 0.0; + out_8533106360868564993[321] = 0.0; + out_8533106360868564993[322] = 0.0; + out_8533106360868564993[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2742900412262200056) { - out_2742900412262200056[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_2742900412262200056[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_2742900412262200056[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_2742900412262200056[3] = dt*state[12] + state[3]; - out_2742900412262200056[4] = dt*state[13] + state[4]; - out_2742900412262200056[5] = dt*state[14] + state[5]; - out_2742900412262200056[6] = state[6]; - out_2742900412262200056[7] = state[7]; - out_2742900412262200056[8] = state[8]; - out_2742900412262200056[9] = state[9]; - out_2742900412262200056[10] = state[10]; - out_2742900412262200056[11] = state[11]; - out_2742900412262200056[12] = state[12]; - out_2742900412262200056[13] = state[13]; - out_2742900412262200056[14] = state[14]; - out_2742900412262200056[15] = state[15]; - out_2742900412262200056[16] = state[16]; - out_2742900412262200056[17] = state[17]; +void f_fun(double *state, double dt, double *out_5731605766251141681) { + out_5731605766251141681[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_5731605766251141681[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_5731605766251141681[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_5731605766251141681[3] = dt*state[12] + state[3]; + out_5731605766251141681[4] = dt*state[13] + state[4]; + out_5731605766251141681[5] = dt*state[14] + state[5]; + out_5731605766251141681[6] = state[6]; + out_5731605766251141681[7] = state[7]; + out_5731605766251141681[8] = state[8]; + out_5731605766251141681[9] = state[9]; + out_5731605766251141681[10] = state[10]; + out_5731605766251141681[11] = state[11]; + out_5731605766251141681[12] = state[12]; + out_5731605766251141681[13] = state[13]; + out_5731605766251141681[14] = state[14]; + out_5731605766251141681[15] = state[15]; + out_5731605766251141681[16] = state[16]; + out_5731605766251141681[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1250059419478269226) { - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[2] = 0; - out_1250059419478269226[3] = 0; - out_1250059419478269226[4] = 0; - out_1250059419478269226[5] = 0; - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[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_1250059419478269226[9] = 0; - out_1250059419478269226[10] = 0; - out_1250059419478269226[11] = 0; - out_1250059419478269226[12] = 0; - out_1250059419478269226[13] = 0; - out_1250059419478269226[14] = 0; - out_1250059419478269226[15] = 0; - out_1250059419478269226[16] = 0; - out_1250059419478269226[17] = 0; - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[20] = 0; - out_1250059419478269226[21] = 0; - out_1250059419478269226[22] = 0; - out_1250059419478269226[23] = 0; - out_1250059419478269226[24] = 0; - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[27] = 0; - out_1250059419478269226[28] = 0; - out_1250059419478269226[29] = 0; - out_1250059419478269226[30] = 0; - out_1250059419478269226[31] = 0; - out_1250059419478269226[32] = 0; - out_1250059419478269226[33] = 0; - out_1250059419478269226[34] = 0; - out_1250059419478269226[35] = 0; - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[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_1250059419478269226[39] = 0; - out_1250059419478269226[40] = 0; - out_1250059419478269226[41] = 0; - out_1250059419478269226[42] = 0; - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[45] = 0; - out_1250059419478269226[46] = 0; - out_1250059419478269226[47] = 0; - out_1250059419478269226[48] = 0; - out_1250059419478269226[49] = 0; - out_1250059419478269226[50] = 0; - out_1250059419478269226[51] = 0; - out_1250059419478269226[52] = 0; - out_1250059419478269226[53] = 0; - out_1250059419478269226[54] = 0; - out_1250059419478269226[55] = 0; - out_1250059419478269226[56] = 0; - out_1250059419478269226[57] = 1; - out_1250059419478269226[58] = 0; - out_1250059419478269226[59] = 0; - out_1250059419478269226[60] = 0; - out_1250059419478269226[61] = 0; - out_1250059419478269226[62] = 0; - out_1250059419478269226[63] = 0; - out_1250059419478269226[64] = 0; - out_1250059419478269226[65] = 0; - out_1250059419478269226[66] = dt; - out_1250059419478269226[67] = 0; - out_1250059419478269226[68] = 0; - out_1250059419478269226[69] = 0; - out_1250059419478269226[70] = 0; - out_1250059419478269226[71] = 0; - out_1250059419478269226[72] = 0; - out_1250059419478269226[73] = 0; - out_1250059419478269226[74] = 0; - out_1250059419478269226[75] = 0; - out_1250059419478269226[76] = 1; - out_1250059419478269226[77] = 0; - out_1250059419478269226[78] = 0; - out_1250059419478269226[79] = 0; - out_1250059419478269226[80] = 0; - out_1250059419478269226[81] = 0; - out_1250059419478269226[82] = 0; - out_1250059419478269226[83] = 0; - out_1250059419478269226[84] = 0; - out_1250059419478269226[85] = dt; - out_1250059419478269226[86] = 0; - out_1250059419478269226[87] = 0; - out_1250059419478269226[88] = 0; - out_1250059419478269226[89] = 0; - out_1250059419478269226[90] = 0; - out_1250059419478269226[91] = 0; - out_1250059419478269226[92] = 0; - out_1250059419478269226[93] = 0; - out_1250059419478269226[94] = 0; - out_1250059419478269226[95] = 1; - out_1250059419478269226[96] = 0; - out_1250059419478269226[97] = 0; - out_1250059419478269226[98] = 0; - out_1250059419478269226[99] = 0; - out_1250059419478269226[100] = 0; - out_1250059419478269226[101] = 0; - out_1250059419478269226[102] = 0; - out_1250059419478269226[103] = 0; - out_1250059419478269226[104] = dt; - out_1250059419478269226[105] = 0; - out_1250059419478269226[106] = 0; - out_1250059419478269226[107] = 0; - out_1250059419478269226[108] = 0; - out_1250059419478269226[109] = 0; - out_1250059419478269226[110] = 0; - out_1250059419478269226[111] = 0; - out_1250059419478269226[112] = 0; - out_1250059419478269226[113] = 0; - out_1250059419478269226[114] = 1; - out_1250059419478269226[115] = 0; - out_1250059419478269226[116] = 0; - out_1250059419478269226[117] = 0; - out_1250059419478269226[118] = 0; - out_1250059419478269226[119] = 0; - out_1250059419478269226[120] = 0; - out_1250059419478269226[121] = 0; - out_1250059419478269226[122] = 0; - out_1250059419478269226[123] = 0; - out_1250059419478269226[124] = 0; - out_1250059419478269226[125] = 0; - out_1250059419478269226[126] = 0; - out_1250059419478269226[127] = 0; - out_1250059419478269226[128] = 0; - out_1250059419478269226[129] = 0; - out_1250059419478269226[130] = 0; - out_1250059419478269226[131] = 0; - out_1250059419478269226[132] = 0; - out_1250059419478269226[133] = 1; - out_1250059419478269226[134] = 0; - out_1250059419478269226[135] = 0; - out_1250059419478269226[136] = 0; - out_1250059419478269226[137] = 0; - out_1250059419478269226[138] = 0; - out_1250059419478269226[139] = 0; - out_1250059419478269226[140] = 0; - out_1250059419478269226[141] = 0; - out_1250059419478269226[142] = 0; - out_1250059419478269226[143] = 0; - out_1250059419478269226[144] = 0; - out_1250059419478269226[145] = 0; - out_1250059419478269226[146] = 0; - out_1250059419478269226[147] = 0; - out_1250059419478269226[148] = 0; - out_1250059419478269226[149] = 0; - out_1250059419478269226[150] = 0; - out_1250059419478269226[151] = 0; - out_1250059419478269226[152] = 1; - out_1250059419478269226[153] = 0; - out_1250059419478269226[154] = 0; - out_1250059419478269226[155] = 0; - out_1250059419478269226[156] = 0; - out_1250059419478269226[157] = 0; - out_1250059419478269226[158] = 0; - out_1250059419478269226[159] = 0; - out_1250059419478269226[160] = 0; - out_1250059419478269226[161] = 0; - out_1250059419478269226[162] = 0; - out_1250059419478269226[163] = 0; - out_1250059419478269226[164] = 0; - out_1250059419478269226[165] = 0; - out_1250059419478269226[166] = 0; - out_1250059419478269226[167] = 0; - out_1250059419478269226[168] = 0; - out_1250059419478269226[169] = 0; - out_1250059419478269226[170] = 0; - out_1250059419478269226[171] = 1; - out_1250059419478269226[172] = 0; - out_1250059419478269226[173] = 0; - out_1250059419478269226[174] = 0; - out_1250059419478269226[175] = 0; - out_1250059419478269226[176] = 0; - out_1250059419478269226[177] = 0; - out_1250059419478269226[178] = 0; - out_1250059419478269226[179] = 0; - out_1250059419478269226[180] = 0; - out_1250059419478269226[181] = 0; - out_1250059419478269226[182] = 0; - out_1250059419478269226[183] = 0; - out_1250059419478269226[184] = 0; - out_1250059419478269226[185] = 0; - out_1250059419478269226[186] = 0; - out_1250059419478269226[187] = 0; - out_1250059419478269226[188] = 0; - out_1250059419478269226[189] = 0; - out_1250059419478269226[190] = 1; - out_1250059419478269226[191] = 0; - out_1250059419478269226[192] = 0; - out_1250059419478269226[193] = 0; - out_1250059419478269226[194] = 0; - out_1250059419478269226[195] = 0; - out_1250059419478269226[196] = 0; - out_1250059419478269226[197] = 0; - out_1250059419478269226[198] = 0; - out_1250059419478269226[199] = 0; - out_1250059419478269226[200] = 0; - out_1250059419478269226[201] = 0; - out_1250059419478269226[202] = 0; - out_1250059419478269226[203] = 0; - out_1250059419478269226[204] = 0; - out_1250059419478269226[205] = 0; - out_1250059419478269226[206] = 0; - out_1250059419478269226[207] = 0; - out_1250059419478269226[208] = 0; - out_1250059419478269226[209] = 1; - out_1250059419478269226[210] = 0; - out_1250059419478269226[211] = 0; - out_1250059419478269226[212] = 0; - out_1250059419478269226[213] = 0; - out_1250059419478269226[214] = 0; - out_1250059419478269226[215] = 0; - out_1250059419478269226[216] = 0; - out_1250059419478269226[217] = 0; - out_1250059419478269226[218] = 0; - out_1250059419478269226[219] = 0; - out_1250059419478269226[220] = 0; - out_1250059419478269226[221] = 0; - out_1250059419478269226[222] = 0; - out_1250059419478269226[223] = 0; - out_1250059419478269226[224] = 0; - out_1250059419478269226[225] = 0; - out_1250059419478269226[226] = 0; - out_1250059419478269226[227] = 0; - out_1250059419478269226[228] = 1; - out_1250059419478269226[229] = 0; - out_1250059419478269226[230] = 0; - out_1250059419478269226[231] = 0; - out_1250059419478269226[232] = 0; - out_1250059419478269226[233] = 0; - out_1250059419478269226[234] = 0; - out_1250059419478269226[235] = 0; - out_1250059419478269226[236] = 0; - out_1250059419478269226[237] = 0; - out_1250059419478269226[238] = 0; - out_1250059419478269226[239] = 0; - out_1250059419478269226[240] = 0; - out_1250059419478269226[241] = 0; - out_1250059419478269226[242] = 0; - out_1250059419478269226[243] = 0; - out_1250059419478269226[244] = 0; - out_1250059419478269226[245] = 0; - out_1250059419478269226[246] = 0; - out_1250059419478269226[247] = 1; - out_1250059419478269226[248] = 0; - out_1250059419478269226[249] = 0; - out_1250059419478269226[250] = 0; - out_1250059419478269226[251] = 0; - out_1250059419478269226[252] = 0; - out_1250059419478269226[253] = 0; - out_1250059419478269226[254] = 0; - out_1250059419478269226[255] = 0; - out_1250059419478269226[256] = 0; - out_1250059419478269226[257] = 0; - out_1250059419478269226[258] = 0; - out_1250059419478269226[259] = 0; - out_1250059419478269226[260] = 0; - out_1250059419478269226[261] = 0; - out_1250059419478269226[262] = 0; - out_1250059419478269226[263] = 0; - out_1250059419478269226[264] = 0; - out_1250059419478269226[265] = 0; - out_1250059419478269226[266] = 1; - out_1250059419478269226[267] = 0; - out_1250059419478269226[268] = 0; - out_1250059419478269226[269] = 0; - out_1250059419478269226[270] = 0; - out_1250059419478269226[271] = 0; - out_1250059419478269226[272] = 0; - out_1250059419478269226[273] = 0; - out_1250059419478269226[274] = 0; - out_1250059419478269226[275] = 0; - out_1250059419478269226[276] = 0; - out_1250059419478269226[277] = 0; - out_1250059419478269226[278] = 0; - out_1250059419478269226[279] = 0; - out_1250059419478269226[280] = 0; - out_1250059419478269226[281] = 0; - out_1250059419478269226[282] = 0; - out_1250059419478269226[283] = 0; - out_1250059419478269226[284] = 0; - out_1250059419478269226[285] = 1; - out_1250059419478269226[286] = 0; - out_1250059419478269226[287] = 0; - out_1250059419478269226[288] = 0; - out_1250059419478269226[289] = 0; - out_1250059419478269226[290] = 0; - out_1250059419478269226[291] = 0; - out_1250059419478269226[292] = 0; - out_1250059419478269226[293] = 0; - out_1250059419478269226[294] = 0; - out_1250059419478269226[295] = 0; - out_1250059419478269226[296] = 0; - out_1250059419478269226[297] = 0; - out_1250059419478269226[298] = 0; - out_1250059419478269226[299] = 0; - out_1250059419478269226[300] = 0; - out_1250059419478269226[301] = 0; - out_1250059419478269226[302] = 0; - out_1250059419478269226[303] = 0; - out_1250059419478269226[304] = 1; - out_1250059419478269226[305] = 0; - out_1250059419478269226[306] = 0; - out_1250059419478269226[307] = 0; - out_1250059419478269226[308] = 0; - out_1250059419478269226[309] = 0; - out_1250059419478269226[310] = 0; - out_1250059419478269226[311] = 0; - out_1250059419478269226[312] = 0; - out_1250059419478269226[313] = 0; - out_1250059419478269226[314] = 0; - out_1250059419478269226[315] = 0; - out_1250059419478269226[316] = 0; - out_1250059419478269226[317] = 0; - out_1250059419478269226[318] = 0; - out_1250059419478269226[319] = 0; - out_1250059419478269226[320] = 0; - out_1250059419478269226[321] = 0; - out_1250059419478269226[322] = 0; - out_1250059419478269226[323] = 1; +void F_fun(double *state, double dt, double *out_3989820231164300868) { + out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[2] = 0; + out_3989820231164300868[3] = 0; + out_3989820231164300868[4] = 0; + out_3989820231164300868[5] = 0; + out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[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_3989820231164300868[9] = 0; + out_3989820231164300868[10] = 0; + out_3989820231164300868[11] = 0; + out_3989820231164300868[12] = 0; + out_3989820231164300868[13] = 0; + out_3989820231164300868[14] = 0; + out_3989820231164300868[15] = 0; + out_3989820231164300868[16] = 0; + out_3989820231164300868[17] = 0; + out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[20] = 0; + out_3989820231164300868[21] = 0; + out_3989820231164300868[22] = 0; + out_3989820231164300868[23] = 0; + out_3989820231164300868[24] = 0; + out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[27] = 0; + out_3989820231164300868[28] = 0; + out_3989820231164300868[29] = 0; + out_3989820231164300868[30] = 0; + out_3989820231164300868[31] = 0; + out_3989820231164300868[32] = 0; + out_3989820231164300868[33] = 0; + out_3989820231164300868[34] = 0; + out_3989820231164300868[35] = 0; + out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[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_3989820231164300868[39] = 0; + out_3989820231164300868[40] = 0; + out_3989820231164300868[41] = 0; + out_3989820231164300868[42] = 0; + out_3989820231164300868[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_3989820231164300868[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_3989820231164300868[45] = 0; + out_3989820231164300868[46] = 0; + out_3989820231164300868[47] = 0; + out_3989820231164300868[48] = 0; + out_3989820231164300868[49] = 0; + out_3989820231164300868[50] = 0; + out_3989820231164300868[51] = 0; + out_3989820231164300868[52] = 0; + out_3989820231164300868[53] = 0; + out_3989820231164300868[54] = 0; + out_3989820231164300868[55] = 0; + out_3989820231164300868[56] = 0; + out_3989820231164300868[57] = 1; + out_3989820231164300868[58] = 0; + out_3989820231164300868[59] = 0; + out_3989820231164300868[60] = 0; + out_3989820231164300868[61] = 0; + out_3989820231164300868[62] = 0; + out_3989820231164300868[63] = 0; + out_3989820231164300868[64] = 0; + out_3989820231164300868[65] = 0; + out_3989820231164300868[66] = dt; + out_3989820231164300868[67] = 0; + out_3989820231164300868[68] = 0; + out_3989820231164300868[69] = 0; + out_3989820231164300868[70] = 0; + out_3989820231164300868[71] = 0; + out_3989820231164300868[72] = 0; + out_3989820231164300868[73] = 0; + out_3989820231164300868[74] = 0; + out_3989820231164300868[75] = 0; + out_3989820231164300868[76] = 1; + out_3989820231164300868[77] = 0; + out_3989820231164300868[78] = 0; + out_3989820231164300868[79] = 0; + out_3989820231164300868[80] = 0; + out_3989820231164300868[81] = 0; + out_3989820231164300868[82] = 0; + out_3989820231164300868[83] = 0; + out_3989820231164300868[84] = 0; + out_3989820231164300868[85] = dt; + out_3989820231164300868[86] = 0; + out_3989820231164300868[87] = 0; + out_3989820231164300868[88] = 0; + out_3989820231164300868[89] = 0; + out_3989820231164300868[90] = 0; + out_3989820231164300868[91] = 0; + out_3989820231164300868[92] = 0; + out_3989820231164300868[93] = 0; + out_3989820231164300868[94] = 0; + out_3989820231164300868[95] = 1; + out_3989820231164300868[96] = 0; + out_3989820231164300868[97] = 0; + out_3989820231164300868[98] = 0; + out_3989820231164300868[99] = 0; + out_3989820231164300868[100] = 0; + out_3989820231164300868[101] = 0; + out_3989820231164300868[102] = 0; + out_3989820231164300868[103] = 0; + out_3989820231164300868[104] = dt; + out_3989820231164300868[105] = 0; + out_3989820231164300868[106] = 0; + out_3989820231164300868[107] = 0; + out_3989820231164300868[108] = 0; + out_3989820231164300868[109] = 0; + out_3989820231164300868[110] = 0; + out_3989820231164300868[111] = 0; + out_3989820231164300868[112] = 0; + out_3989820231164300868[113] = 0; + out_3989820231164300868[114] = 1; + out_3989820231164300868[115] = 0; + out_3989820231164300868[116] = 0; + out_3989820231164300868[117] = 0; + out_3989820231164300868[118] = 0; + out_3989820231164300868[119] = 0; + out_3989820231164300868[120] = 0; + out_3989820231164300868[121] = 0; + out_3989820231164300868[122] = 0; + out_3989820231164300868[123] = 0; + out_3989820231164300868[124] = 0; + out_3989820231164300868[125] = 0; + out_3989820231164300868[126] = 0; + out_3989820231164300868[127] = 0; + out_3989820231164300868[128] = 0; + out_3989820231164300868[129] = 0; + out_3989820231164300868[130] = 0; + out_3989820231164300868[131] = 0; + out_3989820231164300868[132] = 0; + out_3989820231164300868[133] = 1; + out_3989820231164300868[134] = 0; + out_3989820231164300868[135] = 0; + out_3989820231164300868[136] = 0; + out_3989820231164300868[137] = 0; + out_3989820231164300868[138] = 0; + out_3989820231164300868[139] = 0; + out_3989820231164300868[140] = 0; + out_3989820231164300868[141] = 0; + out_3989820231164300868[142] = 0; + out_3989820231164300868[143] = 0; + out_3989820231164300868[144] = 0; + out_3989820231164300868[145] = 0; + out_3989820231164300868[146] = 0; + out_3989820231164300868[147] = 0; + out_3989820231164300868[148] = 0; + out_3989820231164300868[149] = 0; + out_3989820231164300868[150] = 0; + out_3989820231164300868[151] = 0; + out_3989820231164300868[152] = 1; + out_3989820231164300868[153] = 0; + out_3989820231164300868[154] = 0; + out_3989820231164300868[155] = 0; + out_3989820231164300868[156] = 0; + out_3989820231164300868[157] = 0; + out_3989820231164300868[158] = 0; + out_3989820231164300868[159] = 0; + out_3989820231164300868[160] = 0; + out_3989820231164300868[161] = 0; + out_3989820231164300868[162] = 0; + out_3989820231164300868[163] = 0; + out_3989820231164300868[164] = 0; + out_3989820231164300868[165] = 0; + out_3989820231164300868[166] = 0; + out_3989820231164300868[167] = 0; + out_3989820231164300868[168] = 0; + out_3989820231164300868[169] = 0; + out_3989820231164300868[170] = 0; + out_3989820231164300868[171] = 1; + out_3989820231164300868[172] = 0; + out_3989820231164300868[173] = 0; + out_3989820231164300868[174] = 0; + out_3989820231164300868[175] = 0; + out_3989820231164300868[176] = 0; + out_3989820231164300868[177] = 0; + out_3989820231164300868[178] = 0; + out_3989820231164300868[179] = 0; + out_3989820231164300868[180] = 0; + out_3989820231164300868[181] = 0; + out_3989820231164300868[182] = 0; + out_3989820231164300868[183] = 0; + out_3989820231164300868[184] = 0; + out_3989820231164300868[185] = 0; + out_3989820231164300868[186] = 0; + out_3989820231164300868[187] = 0; + out_3989820231164300868[188] = 0; + out_3989820231164300868[189] = 0; + out_3989820231164300868[190] = 1; + out_3989820231164300868[191] = 0; + out_3989820231164300868[192] = 0; + out_3989820231164300868[193] = 0; + out_3989820231164300868[194] = 0; + out_3989820231164300868[195] = 0; + out_3989820231164300868[196] = 0; + out_3989820231164300868[197] = 0; + out_3989820231164300868[198] = 0; + out_3989820231164300868[199] = 0; + out_3989820231164300868[200] = 0; + out_3989820231164300868[201] = 0; + out_3989820231164300868[202] = 0; + out_3989820231164300868[203] = 0; + out_3989820231164300868[204] = 0; + out_3989820231164300868[205] = 0; + out_3989820231164300868[206] = 0; + out_3989820231164300868[207] = 0; + out_3989820231164300868[208] = 0; + out_3989820231164300868[209] = 1; + out_3989820231164300868[210] = 0; + out_3989820231164300868[211] = 0; + out_3989820231164300868[212] = 0; + out_3989820231164300868[213] = 0; + out_3989820231164300868[214] = 0; + out_3989820231164300868[215] = 0; + out_3989820231164300868[216] = 0; + out_3989820231164300868[217] = 0; + out_3989820231164300868[218] = 0; + out_3989820231164300868[219] = 0; + out_3989820231164300868[220] = 0; + out_3989820231164300868[221] = 0; + out_3989820231164300868[222] = 0; + out_3989820231164300868[223] = 0; + out_3989820231164300868[224] = 0; + out_3989820231164300868[225] = 0; + out_3989820231164300868[226] = 0; + out_3989820231164300868[227] = 0; + out_3989820231164300868[228] = 1; + out_3989820231164300868[229] = 0; + out_3989820231164300868[230] = 0; + out_3989820231164300868[231] = 0; + out_3989820231164300868[232] = 0; + out_3989820231164300868[233] = 0; + out_3989820231164300868[234] = 0; + out_3989820231164300868[235] = 0; + out_3989820231164300868[236] = 0; + out_3989820231164300868[237] = 0; + out_3989820231164300868[238] = 0; + out_3989820231164300868[239] = 0; + out_3989820231164300868[240] = 0; + out_3989820231164300868[241] = 0; + out_3989820231164300868[242] = 0; + out_3989820231164300868[243] = 0; + out_3989820231164300868[244] = 0; + out_3989820231164300868[245] = 0; + out_3989820231164300868[246] = 0; + out_3989820231164300868[247] = 1; + out_3989820231164300868[248] = 0; + out_3989820231164300868[249] = 0; + out_3989820231164300868[250] = 0; + out_3989820231164300868[251] = 0; + out_3989820231164300868[252] = 0; + out_3989820231164300868[253] = 0; + out_3989820231164300868[254] = 0; + out_3989820231164300868[255] = 0; + out_3989820231164300868[256] = 0; + out_3989820231164300868[257] = 0; + out_3989820231164300868[258] = 0; + out_3989820231164300868[259] = 0; + out_3989820231164300868[260] = 0; + out_3989820231164300868[261] = 0; + out_3989820231164300868[262] = 0; + out_3989820231164300868[263] = 0; + out_3989820231164300868[264] = 0; + out_3989820231164300868[265] = 0; + out_3989820231164300868[266] = 1; + out_3989820231164300868[267] = 0; + out_3989820231164300868[268] = 0; + out_3989820231164300868[269] = 0; + out_3989820231164300868[270] = 0; + out_3989820231164300868[271] = 0; + out_3989820231164300868[272] = 0; + out_3989820231164300868[273] = 0; + out_3989820231164300868[274] = 0; + out_3989820231164300868[275] = 0; + out_3989820231164300868[276] = 0; + out_3989820231164300868[277] = 0; + out_3989820231164300868[278] = 0; + out_3989820231164300868[279] = 0; + out_3989820231164300868[280] = 0; + out_3989820231164300868[281] = 0; + out_3989820231164300868[282] = 0; + out_3989820231164300868[283] = 0; + out_3989820231164300868[284] = 0; + out_3989820231164300868[285] = 1; + out_3989820231164300868[286] = 0; + out_3989820231164300868[287] = 0; + out_3989820231164300868[288] = 0; + out_3989820231164300868[289] = 0; + out_3989820231164300868[290] = 0; + out_3989820231164300868[291] = 0; + out_3989820231164300868[292] = 0; + out_3989820231164300868[293] = 0; + out_3989820231164300868[294] = 0; + out_3989820231164300868[295] = 0; + out_3989820231164300868[296] = 0; + out_3989820231164300868[297] = 0; + out_3989820231164300868[298] = 0; + out_3989820231164300868[299] = 0; + out_3989820231164300868[300] = 0; + out_3989820231164300868[301] = 0; + out_3989820231164300868[302] = 0; + out_3989820231164300868[303] = 0; + out_3989820231164300868[304] = 1; + out_3989820231164300868[305] = 0; + out_3989820231164300868[306] = 0; + out_3989820231164300868[307] = 0; + out_3989820231164300868[308] = 0; + out_3989820231164300868[309] = 0; + out_3989820231164300868[310] = 0; + out_3989820231164300868[311] = 0; + out_3989820231164300868[312] = 0; + out_3989820231164300868[313] = 0; + out_3989820231164300868[314] = 0; + out_3989820231164300868[315] = 0; + out_3989820231164300868[316] = 0; + out_3989820231164300868[317] = 0; + out_3989820231164300868[318] = 0; + out_3989820231164300868[319] = 0; + out_3989820231164300868[320] = 0; + out_3989820231164300868[321] = 0; + out_3989820231164300868[322] = 0; + out_3989820231164300868[323] = 1; } -void h_4(double *state, double *unused, double *out_6706399028598537324) { - out_6706399028598537324[0] = state[6] + state[9]; - out_6706399028598537324[1] = state[7] + state[10]; - out_6706399028598537324[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_4946255089901338531) { + out_4946255089901338531[0] = state[6] + state[9]; + out_4946255089901338531[1] = state[7] + state[10]; + out_4946255089901338531[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1435428464391795526) { - out_1435428464391795526[0] = 0; - out_1435428464391795526[1] = 0; - out_1435428464391795526[2] = 0; - out_1435428464391795526[3] = 0; - out_1435428464391795526[4] = 0; - out_1435428464391795526[5] = 0; - out_1435428464391795526[6] = 1; - out_1435428464391795526[7] = 0; - out_1435428464391795526[8] = 0; - out_1435428464391795526[9] = 1; - out_1435428464391795526[10] = 0; - out_1435428464391795526[11] = 0; - out_1435428464391795526[12] = 0; - out_1435428464391795526[13] = 0; - out_1435428464391795526[14] = 0; - out_1435428464391795526[15] = 0; - out_1435428464391795526[16] = 0; - out_1435428464391795526[17] = 0; - out_1435428464391795526[18] = 0; - out_1435428464391795526[19] = 0; - out_1435428464391795526[20] = 0; - out_1435428464391795526[21] = 0; - out_1435428464391795526[22] = 0; - out_1435428464391795526[23] = 0; - out_1435428464391795526[24] = 0; - out_1435428464391795526[25] = 1; - out_1435428464391795526[26] = 0; - out_1435428464391795526[27] = 0; - out_1435428464391795526[28] = 1; - out_1435428464391795526[29] = 0; - out_1435428464391795526[30] = 0; - out_1435428464391795526[31] = 0; - out_1435428464391795526[32] = 0; - out_1435428464391795526[33] = 0; - out_1435428464391795526[34] = 0; - out_1435428464391795526[35] = 0; - out_1435428464391795526[36] = 0; - out_1435428464391795526[37] = 0; - out_1435428464391795526[38] = 0; - out_1435428464391795526[39] = 0; - out_1435428464391795526[40] = 0; - out_1435428464391795526[41] = 0; - out_1435428464391795526[42] = 0; - out_1435428464391795526[43] = 0; - out_1435428464391795526[44] = 1; - out_1435428464391795526[45] = 0; - out_1435428464391795526[46] = 0; - out_1435428464391795526[47] = 1; - out_1435428464391795526[48] = 0; - out_1435428464391795526[49] = 0; - out_1435428464391795526[50] = 0; - out_1435428464391795526[51] = 0; - out_1435428464391795526[52] = 0; - out_1435428464391795526[53] = 0; +void H_4(double *state, double *unused, double *out_8715690230958088519) { + out_8715690230958088519[0] = 0; + out_8715690230958088519[1] = 0; + out_8715690230958088519[2] = 0; + out_8715690230958088519[3] = 0; + out_8715690230958088519[4] = 0; + out_8715690230958088519[5] = 0; + out_8715690230958088519[6] = 1; + out_8715690230958088519[7] = 0; + out_8715690230958088519[8] = 0; + out_8715690230958088519[9] = 1; + out_8715690230958088519[10] = 0; + out_8715690230958088519[11] = 0; + out_8715690230958088519[12] = 0; + out_8715690230958088519[13] = 0; + out_8715690230958088519[14] = 0; + out_8715690230958088519[15] = 0; + out_8715690230958088519[16] = 0; + out_8715690230958088519[17] = 0; + out_8715690230958088519[18] = 0; + out_8715690230958088519[19] = 0; + out_8715690230958088519[20] = 0; + out_8715690230958088519[21] = 0; + out_8715690230958088519[22] = 0; + out_8715690230958088519[23] = 0; + out_8715690230958088519[24] = 0; + out_8715690230958088519[25] = 1; + out_8715690230958088519[26] = 0; + out_8715690230958088519[27] = 0; + out_8715690230958088519[28] = 1; + out_8715690230958088519[29] = 0; + out_8715690230958088519[30] = 0; + out_8715690230958088519[31] = 0; + out_8715690230958088519[32] = 0; + out_8715690230958088519[33] = 0; + out_8715690230958088519[34] = 0; + out_8715690230958088519[35] = 0; + out_8715690230958088519[36] = 0; + out_8715690230958088519[37] = 0; + out_8715690230958088519[38] = 0; + out_8715690230958088519[39] = 0; + out_8715690230958088519[40] = 0; + out_8715690230958088519[41] = 0; + out_8715690230958088519[42] = 0; + out_8715690230958088519[43] = 0; + out_8715690230958088519[44] = 1; + out_8715690230958088519[45] = 0; + out_8715690230958088519[46] = 0; + out_8715690230958088519[47] = 1; + out_8715690230958088519[48] = 0; + out_8715690230958088519[49] = 0; + out_8715690230958088519[50] = 0; + out_8715690230958088519[51] = 0; + out_8715690230958088519[52] = 0; + out_8715690230958088519[53] = 0; } -void h_10(double *state, double *unused, double *out_3193952299746834757) { - out_3193952299746834757[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3193952299746834757[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3193952299746834757[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_1122773854384552196) { + out_1122773854384552196[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1122773854384552196[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1122773854384552196[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_1464924797507750077) { - out_1464924797507750077[0] = 0; - out_1464924797507750077[1] = 9.8100000000000005*cos(state[1]); - out_1464924797507750077[2] = 0; - out_1464924797507750077[3] = 0; - out_1464924797507750077[4] = -state[8]; - out_1464924797507750077[5] = state[7]; - out_1464924797507750077[6] = 0; - out_1464924797507750077[7] = state[5]; - out_1464924797507750077[8] = -state[4]; - out_1464924797507750077[9] = 0; - out_1464924797507750077[10] = 0; - out_1464924797507750077[11] = 0; - out_1464924797507750077[12] = 1; - out_1464924797507750077[13] = 0; - out_1464924797507750077[14] = 0; - out_1464924797507750077[15] = 1; - out_1464924797507750077[16] = 0; - out_1464924797507750077[17] = 0; - out_1464924797507750077[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1464924797507750077[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1464924797507750077[20] = 0; - out_1464924797507750077[21] = state[8]; - out_1464924797507750077[22] = 0; - out_1464924797507750077[23] = -state[6]; - out_1464924797507750077[24] = -state[5]; - out_1464924797507750077[25] = 0; - out_1464924797507750077[26] = state[3]; - out_1464924797507750077[27] = 0; - out_1464924797507750077[28] = 0; - out_1464924797507750077[29] = 0; - out_1464924797507750077[30] = 0; - out_1464924797507750077[31] = 1; - out_1464924797507750077[32] = 0; - out_1464924797507750077[33] = 0; - out_1464924797507750077[34] = 1; - out_1464924797507750077[35] = 0; - out_1464924797507750077[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1464924797507750077[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1464924797507750077[38] = 0; - out_1464924797507750077[39] = -state[7]; - out_1464924797507750077[40] = state[6]; - out_1464924797507750077[41] = 0; - out_1464924797507750077[42] = state[4]; - out_1464924797507750077[43] = -state[3]; - out_1464924797507750077[44] = 0; - out_1464924797507750077[45] = 0; - out_1464924797507750077[46] = 0; - out_1464924797507750077[47] = 0; - out_1464924797507750077[48] = 0; - out_1464924797507750077[49] = 0; - out_1464924797507750077[50] = 1; - out_1464924797507750077[51] = 0; - out_1464924797507750077[52] = 0; - out_1464924797507750077[53] = 1; +void H_10(double *state, double *unused, double *out_5712996006774124697) { + out_5712996006774124697[0] = 0; + out_5712996006774124697[1] = 9.8100000000000005*cos(state[1]); + out_5712996006774124697[2] = 0; + out_5712996006774124697[3] = 0; + out_5712996006774124697[4] = -state[8]; + out_5712996006774124697[5] = state[7]; + out_5712996006774124697[6] = 0; + out_5712996006774124697[7] = state[5]; + out_5712996006774124697[8] = -state[4]; + out_5712996006774124697[9] = 0; + out_5712996006774124697[10] = 0; + out_5712996006774124697[11] = 0; + out_5712996006774124697[12] = 1; + out_5712996006774124697[13] = 0; + out_5712996006774124697[14] = 0; + out_5712996006774124697[15] = 1; + out_5712996006774124697[16] = 0; + out_5712996006774124697[17] = 0; + out_5712996006774124697[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5712996006774124697[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5712996006774124697[20] = 0; + out_5712996006774124697[21] = state[8]; + out_5712996006774124697[22] = 0; + out_5712996006774124697[23] = -state[6]; + out_5712996006774124697[24] = -state[5]; + out_5712996006774124697[25] = 0; + out_5712996006774124697[26] = state[3]; + out_5712996006774124697[27] = 0; + out_5712996006774124697[28] = 0; + out_5712996006774124697[29] = 0; + out_5712996006774124697[30] = 0; + out_5712996006774124697[31] = 1; + out_5712996006774124697[32] = 0; + out_5712996006774124697[33] = 0; + out_5712996006774124697[34] = 1; + out_5712996006774124697[35] = 0; + out_5712996006774124697[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5712996006774124697[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5712996006774124697[38] = 0; + out_5712996006774124697[39] = -state[7]; + out_5712996006774124697[40] = state[6]; + out_5712996006774124697[41] = 0; + out_5712996006774124697[42] = state[4]; + out_5712996006774124697[43] = -state[3]; + out_5712996006774124697[44] = 0; + out_5712996006774124697[45] = 0; + out_5712996006774124697[46] = 0; + out_5712996006774124697[47] = 0; + out_5712996006774124697[48] = 0; + out_5712996006774124697[49] = 0; + out_5712996006774124697[50] = 1; + out_5712996006774124697[51] = 0; + out_5712996006774124697[52] = 0; + out_5712996006774124697[53] = 1; } -void h_13(double *state, double *unused, double *out_7802893222450228438) { - out_7802893222450228438[0] = state[3]; - out_7802893222450228438[1] = state[4]; - out_7802893222450228438[2] = state[5]; +void h_13(double *state, double *unused, double *out_1411072044725156723) { + out_1411072044725156723[0] = state[3]; + out_1411072044725156723[1] = state[4]; + out_1411072044725156723[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1776845360940537275) { - out_1776845360940537275[0] = 0; - out_1776845360940537275[1] = 0; - out_1776845360940537275[2] = 0; - out_1776845360940537275[3] = 1; - out_1776845360940537275[4] = 0; - out_1776845360940537275[5] = 0; - out_1776845360940537275[6] = 0; - out_1776845360940537275[7] = 0; - out_1776845360940537275[8] = 0; - out_1776845360940537275[9] = 0; - out_1776845360940537275[10] = 0; - out_1776845360940537275[11] = 0; - out_1776845360940537275[12] = 0; - out_1776845360940537275[13] = 0; - out_1776845360940537275[14] = 0; - out_1776845360940537275[15] = 0; - out_1776845360940537275[16] = 0; - out_1776845360940537275[17] = 0; - out_1776845360940537275[18] = 0; - out_1776845360940537275[19] = 0; - out_1776845360940537275[20] = 0; - out_1776845360940537275[21] = 0; - out_1776845360940537275[22] = 1; - out_1776845360940537275[23] = 0; - out_1776845360940537275[24] = 0; - out_1776845360940537275[25] = 0; - out_1776845360940537275[26] = 0; - out_1776845360940537275[27] = 0; - out_1776845360940537275[28] = 0; - out_1776845360940537275[29] = 0; - out_1776845360940537275[30] = 0; - out_1776845360940537275[31] = 0; - out_1776845360940537275[32] = 0; - out_1776845360940537275[33] = 0; - out_1776845360940537275[34] = 0; - out_1776845360940537275[35] = 0; - out_1776845360940537275[36] = 0; - out_1776845360940537275[37] = 0; - out_1776845360940537275[38] = 0; - out_1776845360940537275[39] = 0; - out_1776845360940537275[40] = 0; - out_1776845360940537275[41] = 1; - out_1776845360940537275[42] = 0; - out_1776845360940537275[43] = 0; - out_1776845360940537275[44] = 0; - out_1776845360940537275[45] = 0; - out_1776845360940537275[46] = 0; - out_1776845360940537275[47] = 0; - out_1776845360940537275[48] = 0; - out_1776845360940537275[49] = 0; - out_1776845360940537275[50] = 0; - out_1776845360940537275[51] = 0; - out_1776845360940537275[52] = 0; - out_1776845360940537275[53] = 0; +void H_13(double *state, double *unused, double *out_5503416405625755718) { + out_5503416405625755718[0] = 0; + out_5503416405625755718[1] = 0; + out_5503416405625755718[2] = 0; + out_5503416405625755718[3] = 1; + out_5503416405625755718[4] = 0; + out_5503416405625755718[5] = 0; + out_5503416405625755718[6] = 0; + out_5503416405625755718[7] = 0; + out_5503416405625755718[8] = 0; + out_5503416405625755718[9] = 0; + out_5503416405625755718[10] = 0; + out_5503416405625755718[11] = 0; + out_5503416405625755718[12] = 0; + out_5503416405625755718[13] = 0; + out_5503416405625755718[14] = 0; + out_5503416405625755718[15] = 0; + out_5503416405625755718[16] = 0; + out_5503416405625755718[17] = 0; + out_5503416405625755718[18] = 0; + out_5503416405625755718[19] = 0; + out_5503416405625755718[20] = 0; + out_5503416405625755718[21] = 0; + out_5503416405625755718[22] = 1; + out_5503416405625755718[23] = 0; + out_5503416405625755718[24] = 0; + out_5503416405625755718[25] = 0; + out_5503416405625755718[26] = 0; + out_5503416405625755718[27] = 0; + out_5503416405625755718[28] = 0; + out_5503416405625755718[29] = 0; + out_5503416405625755718[30] = 0; + out_5503416405625755718[31] = 0; + out_5503416405625755718[32] = 0; + out_5503416405625755718[33] = 0; + out_5503416405625755718[34] = 0; + out_5503416405625755718[35] = 0; + out_5503416405625755718[36] = 0; + out_5503416405625755718[37] = 0; + out_5503416405625755718[38] = 0; + out_5503416405625755718[39] = 0; + out_5503416405625755718[40] = 0; + out_5503416405625755718[41] = 1; + out_5503416405625755718[42] = 0; + out_5503416405625755718[43] = 0; + out_5503416405625755718[44] = 0; + out_5503416405625755718[45] = 0; + out_5503416405625755718[46] = 0; + out_5503416405625755718[47] = 0; + out_5503416405625755718[48] = 0; + out_5503416405625755718[49] = 0; + out_5503416405625755718[50] = 0; + out_5503416405625755718[51] = 0; + out_5503416405625755718[52] = 0; + out_5503416405625755718[53] = 0; } -void h_14(double *state, double *unused, double *out_7652212324095214333) { - out_7652212324095214333[0] = state[6]; - out_7652212324095214333[1] = state[7]; - out_7652212324095214333[2] = state[8]; +void h_14(double *state, double *unused, double *out_2642104827226322779) { + out_2642104827226322779[0] = state[6]; + out_2642104827226322779[1] = state[7]; + out_2642104827226322779[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2527812391947689003) { - out_2527812391947689003[0] = 0; - out_2527812391947689003[1] = 0; - out_2527812391947689003[2] = 0; - out_2527812391947689003[3] = 0; - out_2527812391947689003[4] = 0; - out_2527812391947689003[5] = 0; - out_2527812391947689003[6] = 1; - out_2527812391947689003[7] = 0; - out_2527812391947689003[8] = 0; - out_2527812391947689003[9] = 0; - out_2527812391947689003[10] = 0; - out_2527812391947689003[11] = 0; - out_2527812391947689003[12] = 0; - out_2527812391947689003[13] = 0; - out_2527812391947689003[14] = 0; - out_2527812391947689003[15] = 0; - out_2527812391947689003[16] = 0; - out_2527812391947689003[17] = 0; - out_2527812391947689003[18] = 0; - out_2527812391947689003[19] = 0; - out_2527812391947689003[20] = 0; - out_2527812391947689003[21] = 0; - out_2527812391947689003[22] = 0; - out_2527812391947689003[23] = 0; - out_2527812391947689003[24] = 0; - out_2527812391947689003[25] = 1; - out_2527812391947689003[26] = 0; - out_2527812391947689003[27] = 0; - out_2527812391947689003[28] = 0; - out_2527812391947689003[29] = 0; - out_2527812391947689003[30] = 0; - out_2527812391947689003[31] = 0; - out_2527812391947689003[32] = 0; - out_2527812391947689003[33] = 0; - out_2527812391947689003[34] = 0; - out_2527812391947689003[35] = 0; - out_2527812391947689003[36] = 0; - out_2527812391947689003[37] = 0; - out_2527812391947689003[38] = 0; - out_2527812391947689003[39] = 0; - out_2527812391947689003[40] = 0; - out_2527812391947689003[41] = 0; - out_2527812391947689003[42] = 0; - out_2527812391947689003[43] = 0; - out_2527812391947689003[44] = 1; - out_2527812391947689003[45] = 0; - out_2527812391947689003[46] = 0; - out_2527812391947689003[47] = 0; - out_2527812391947689003[48] = 0; - out_2527812391947689003[49] = 0; - out_2527812391947689003[50] = 0; - out_2527812391947689003[51] = 0; - out_2527812391947689003[52] = 0; - out_2527812391947689003[53] = 0; +void H_14(double *state, double *unused, double *out_2249908027471722673) { + out_2249908027471722673[0] = 0; + out_2249908027471722673[1] = 0; + out_2249908027471722673[2] = 0; + out_2249908027471722673[3] = 0; + out_2249908027471722673[4] = 0; + out_2249908027471722673[5] = 0; + out_2249908027471722673[6] = 1; + out_2249908027471722673[7] = 0; + out_2249908027471722673[8] = 0; + out_2249908027471722673[9] = 0; + out_2249908027471722673[10] = 0; + out_2249908027471722673[11] = 0; + out_2249908027471722673[12] = 0; + out_2249908027471722673[13] = 0; + out_2249908027471722673[14] = 0; + out_2249908027471722673[15] = 0; + out_2249908027471722673[16] = 0; + out_2249908027471722673[17] = 0; + out_2249908027471722673[18] = 0; + out_2249908027471722673[19] = 0; + out_2249908027471722673[20] = 0; + out_2249908027471722673[21] = 0; + out_2249908027471722673[22] = 0; + out_2249908027471722673[23] = 0; + out_2249908027471722673[24] = 0; + out_2249908027471722673[25] = 1; + out_2249908027471722673[26] = 0; + out_2249908027471722673[27] = 0; + out_2249908027471722673[28] = 0; + out_2249908027471722673[29] = 0; + out_2249908027471722673[30] = 0; + out_2249908027471722673[31] = 0; + out_2249908027471722673[32] = 0; + out_2249908027471722673[33] = 0; + out_2249908027471722673[34] = 0; + out_2249908027471722673[35] = 0; + out_2249908027471722673[36] = 0; + out_2249908027471722673[37] = 0; + out_2249908027471722673[38] = 0; + out_2249908027471722673[39] = 0; + out_2249908027471722673[40] = 0; + out_2249908027471722673[41] = 0; + out_2249908027471722673[42] = 0; + out_2249908027471722673[43] = 0; + out_2249908027471722673[44] = 1; + out_2249908027471722673[45] = 0; + out_2249908027471722673[46] = 0; + out_2249908027471722673[47] = 0; + out_2249908027471722673[48] = 0; + out_2249908027471722673[49] = 0; + out_2249908027471722673[50] = 0; + out_2249908027471722673[51] = 0; + out_2249908027471722673[52] = 0; + out_2249908027471722673[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_1493079546624007114) { - err_fun(nom_x, delta_x, out_1493079546624007114); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2495962770948129313) { + err_fun(nom_x, delta_x, out_2495962770948129313); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4580499654968994478) { - inv_err_fun(nom_x, true_x, out_4580499654968994478); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_17617025005773203) { + inv_err_fun(nom_x, true_x, out_17617025005773203); } -void pose_H_mod_fun(double *state, double *out_8273119377234766952) { - H_mod_fun(state, out_8273119377234766952); +void pose_H_mod_fun(double *state, double *out_8533106360868564993) { + H_mod_fun(state, out_8533106360868564993); } -void pose_f_fun(double *state, double dt, double *out_2742900412262200056) { - f_fun(state, dt, out_2742900412262200056); +void pose_f_fun(double *state, double dt, double *out_5731605766251141681) { + f_fun(state, dt, out_5731605766251141681); } -void pose_F_fun(double *state, double dt, double *out_1250059419478269226) { - F_fun(state, dt, out_1250059419478269226); +void pose_F_fun(double *state, double dt, double *out_3989820231164300868) { + F_fun(state, dt, out_3989820231164300868); } -void pose_h_4(double *state, double *unused, double *out_6706399028598537324) { - h_4(state, unused, out_6706399028598537324); +void pose_h_4(double *state, double *unused, double *out_4946255089901338531) { + h_4(state, unused, out_4946255089901338531); } -void pose_H_4(double *state, double *unused, double *out_1435428464391795526) { - H_4(state, unused, out_1435428464391795526); +void pose_H_4(double *state, double *unused, double *out_8715690230958088519) { + H_4(state, unused, out_8715690230958088519); } -void pose_h_10(double *state, double *unused, double *out_3193952299746834757) { - h_10(state, unused, out_3193952299746834757); +void pose_h_10(double *state, double *unused, double *out_1122773854384552196) { + h_10(state, unused, out_1122773854384552196); } -void pose_H_10(double *state, double *unused, double *out_1464924797507750077) { - H_10(state, unused, out_1464924797507750077); +void pose_H_10(double *state, double *unused, double *out_5712996006774124697) { + H_10(state, unused, out_5712996006774124697); } -void pose_h_13(double *state, double *unused, double *out_7802893222450228438) { - h_13(state, unused, out_7802893222450228438); +void pose_h_13(double *state, double *unused, double *out_1411072044725156723) { + h_13(state, unused, out_1411072044725156723); } -void pose_H_13(double *state, double *unused, double *out_1776845360940537275) { - H_13(state, unused, out_1776845360940537275); +void pose_H_13(double *state, double *unused, double *out_5503416405625755718) { + H_13(state, unused, out_5503416405625755718); } -void pose_h_14(double *state, double *unused, double *out_7652212324095214333) { - h_14(state, unused, out_7652212324095214333); +void pose_h_14(double *state, double *unused, double *out_2642104827226322779) { + h_14(state, unused, out_2642104827226322779); } -void pose_H_14(double *state, double *unused, double *out_2527812391947689003) { - H_14(state, unused, out_2527812391947689003); +void pose_H_14(double *state, double *unused, double *out_2249908027471722673) { + H_14(state, unused, out_2249908027471722673); } 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 e8f2d43f8..2931f6768 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_1493079546624007114); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4580499654968994478); -void pose_H_mod_fun(double *state, double *out_8273119377234766952); -void pose_f_fun(double *state, double dt, double *out_2742900412262200056); -void pose_F_fun(double *state, double dt, double *out_1250059419478269226); -void pose_h_4(double *state, double *unused, double *out_6706399028598537324); -void pose_H_4(double *state, double *unused, double *out_1435428464391795526); -void pose_h_10(double *state, double *unused, double *out_3193952299746834757); -void pose_H_10(double *state, double *unused, double *out_1464924797507750077); -void pose_h_13(double *state, double *unused, double *out_7802893222450228438); -void pose_H_13(double *state, double *unused, double *out_1776845360940537275); -void pose_h_14(double *state, double *unused, double *out_7652212324095214333); -void pose_H_14(double *state, double *unused, double *out_2527812391947689003); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2495962770948129313); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_17617025005773203); +void pose_H_mod_fun(double *state, double *out_8533106360868564993); +void pose_f_fun(double *state, double dt, double *out_5731605766251141681); +void pose_F_fun(double *state, double dt, double *out_3989820231164300868); +void pose_h_4(double *state, double *unused, double *out_4946255089901338531); +void pose_H_4(double *state, double *unused, double *out_8715690230958088519); +void pose_h_10(double *state, double *unused, double *out_1122773854384552196); +void pose_H_10(double *state, double *unused, double *out_5712996006774124697); +void pose_h_13(double *state, double *unused, double *out_1411072044725156723); +void pose_H_13(double *state, double *unused, double *out_5503416405625755718); +void pose_h_14(double *state, double *unused, double *out_2642104827226322779); +void pose_H_14(double *state, double *unused, double *out_2249908027471722673); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index cf37260e2..60d687a13 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ