diff --git a/cereal/libcereal.a b/cereal/libcereal.a index 8f5522550..cf9990eb6 100644 Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ diff --git a/cereal/log.capnp b/cereal/log.capnp index bdfa81f30..48e3a6784 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2179,6 +2179,7 @@ struct DriverStateV2 { rightBlinkProb @8 :Float32; sunglassesProb @9 :Float32; phoneProb @13 :Float32; + sleepProb @14 :Float32; notReadyProbDEPRECATED @12 :List(Float32); occludedProbDEPRECATED @10 :Float32; readyProbDEPRECATED @11 :List(Float32); diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 897f76d7a..44190fd61 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 20f155f02..c8711e089 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 854a006c7..5acd8465a 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 068ed19e8..2b48a4ca5 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 962cec3f8..1ad369834 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 aa4711f2e..f78f5ab16 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 2e06cf6ed..8c4ecbdc7 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 2e06cf6ed..8c4ecbdc7 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 93364aeaf..64b1cc54c 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 aa4711f2e..f78f5ab16 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 a26f3af8b..e29c0c3d0 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-01bd291b-DEBUG"; +const uint8_t gitversion[19] = "DEV-8e8225b6-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d6435c90b..0c64f8a71 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 cd8d77ec2..001e31245 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 96e0b433d..d4a062229 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 62fc79fd0..4766d8e9a 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 22ff9d1eb..2f82c65fd 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 bffab83d3..2d10af3c9 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 f85fed869..0b0f5f7e4 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 5995c30d0..f8aca9717 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 1a11b6337..5217ac5a7 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 69f8229cf..42d7a63c8 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 b5ec6b87b..86ed24b92 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 1fde21778..b8d1f17f9 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 63295bc6d..093eb4543 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 bdaea494d..0a516681a 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 709fc5fde..549bb6f88 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 a3fc811f5..8eb6a162f 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 258d1f769..47147ada4 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 86b060e2e..e3330d440 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 83bd42e07..c2ff5cede 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 2cd3853d8..2b47835aa 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 18a86a2cf..689135c5f 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-01bd291b-DEBUG \ No newline at end of file +DEV-8e8225b6-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 5ff6c7837..9c42d6799 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_575866575379183764) { - out_575866575379183764[0] = delta_x[0] + nom_x[0]; - out_575866575379183764[1] = delta_x[1] + nom_x[1]; - out_575866575379183764[2] = delta_x[2] + nom_x[2]; - out_575866575379183764[3] = delta_x[3] + nom_x[3]; - out_575866575379183764[4] = delta_x[4] + nom_x[4]; - out_575866575379183764[5] = delta_x[5] + nom_x[5]; - out_575866575379183764[6] = delta_x[6] + nom_x[6]; - out_575866575379183764[7] = delta_x[7] + nom_x[7]; - out_575866575379183764[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2503888728252844227) { + out_2503888728252844227[0] = delta_x[0] + nom_x[0]; + out_2503888728252844227[1] = delta_x[1] + nom_x[1]; + out_2503888728252844227[2] = delta_x[2] + nom_x[2]; + out_2503888728252844227[3] = delta_x[3] + nom_x[3]; + out_2503888728252844227[4] = delta_x[4] + nom_x[4]; + out_2503888728252844227[5] = delta_x[5] + nom_x[5]; + out_2503888728252844227[6] = delta_x[6] + nom_x[6]; + out_2503888728252844227[7] = delta_x[7] + nom_x[7]; + out_2503888728252844227[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5616167858322380498) { - out_5616167858322380498[0] = -nom_x[0] + true_x[0]; - out_5616167858322380498[1] = -nom_x[1] + true_x[1]; - out_5616167858322380498[2] = -nom_x[2] + true_x[2]; - out_5616167858322380498[3] = -nom_x[3] + true_x[3]; - out_5616167858322380498[4] = -nom_x[4] + true_x[4]; - out_5616167858322380498[5] = -nom_x[5] + true_x[5]; - out_5616167858322380498[6] = -nom_x[6] + true_x[6]; - out_5616167858322380498[7] = -nom_x[7] + true_x[7]; - out_5616167858322380498[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3671647430606809601) { + out_3671647430606809601[0] = -nom_x[0] + true_x[0]; + out_3671647430606809601[1] = -nom_x[1] + true_x[1]; + out_3671647430606809601[2] = -nom_x[2] + true_x[2]; + out_3671647430606809601[3] = -nom_x[3] + true_x[3]; + out_3671647430606809601[4] = -nom_x[4] + true_x[4]; + out_3671647430606809601[5] = -nom_x[5] + true_x[5]; + out_3671647430606809601[6] = -nom_x[6] + true_x[6]; + out_3671647430606809601[7] = -nom_x[7] + true_x[7]; + out_3671647430606809601[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6639538403135995006) { - out_6639538403135995006[0] = 1.0; - out_6639538403135995006[1] = 0.0; - out_6639538403135995006[2] = 0.0; - out_6639538403135995006[3] = 0.0; - out_6639538403135995006[4] = 0.0; - out_6639538403135995006[5] = 0.0; - out_6639538403135995006[6] = 0.0; - out_6639538403135995006[7] = 0.0; - out_6639538403135995006[8] = 0.0; - out_6639538403135995006[9] = 0.0; - out_6639538403135995006[10] = 1.0; - out_6639538403135995006[11] = 0.0; - out_6639538403135995006[12] = 0.0; - out_6639538403135995006[13] = 0.0; - out_6639538403135995006[14] = 0.0; - out_6639538403135995006[15] = 0.0; - out_6639538403135995006[16] = 0.0; - out_6639538403135995006[17] = 0.0; - out_6639538403135995006[18] = 0.0; - out_6639538403135995006[19] = 0.0; - out_6639538403135995006[20] = 1.0; - out_6639538403135995006[21] = 0.0; - out_6639538403135995006[22] = 0.0; - out_6639538403135995006[23] = 0.0; - out_6639538403135995006[24] = 0.0; - out_6639538403135995006[25] = 0.0; - out_6639538403135995006[26] = 0.0; - out_6639538403135995006[27] = 0.0; - out_6639538403135995006[28] = 0.0; - out_6639538403135995006[29] = 0.0; - out_6639538403135995006[30] = 1.0; - out_6639538403135995006[31] = 0.0; - out_6639538403135995006[32] = 0.0; - out_6639538403135995006[33] = 0.0; - out_6639538403135995006[34] = 0.0; - out_6639538403135995006[35] = 0.0; - out_6639538403135995006[36] = 0.0; - out_6639538403135995006[37] = 0.0; - out_6639538403135995006[38] = 0.0; - out_6639538403135995006[39] = 0.0; - out_6639538403135995006[40] = 1.0; - out_6639538403135995006[41] = 0.0; - out_6639538403135995006[42] = 0.0; - out_6639538403135995006[43] = 0.0; - out_6639538403135995006[44] = 0.0; - out_6639538403135995006[45] = 0.0; - out_6639538403135995006[46] = 0.0; - out_6639538403135995006[47] = 0.0; - out_6639538403135995006[48] = 0.0; - out_6639538403135995006[49] = 0.0; - out_6639538403135995006[50] = 1.0; - out_6639538403135995006[51] = 0.0; - out_6639538403135995006[52] = 0.0; - out_6639538403135995006[53] = 0.0; - out_6639538403135995006[54] = 0.0; - out_6639538403135995006[55] = 0.0; - out_6639538403135995006[56] = 0.0; - out_6639538403135995006[57] = 0.0; - out_6639538403135995006[58] = 0.0; - out_6639538403135995006[59] = 0.0; - out_6639538403135995006[60] = 1.0; - out_6639538403135995006[61] = 0.0; - out_6639538403135995006[62] = 0.0; - out_6639538403135995006[63] = 0.0; - out_6639538403135995006[64] = 0.0; - out_6639538403135995006[65] = 0.0; - out_6639538403135995006[66] = 0.0; - out_6639538403135995006[67] = 0.0; - out_6639538403135995006[68] = 0.0; - out_6639538403135995006[69] = 0.0; - out_6639538403135995006[70] = 1.0; - out_6639538403135995006[71] = 0.0; - out_6639538403135995006[72] = 0.0; - out_6639538403135995006[73] = 0.0; - out_6639538403135995006[74] = 0.0; - out_6639538403135995006[75] = 0.0; - out_6639538403135995006[76] = 0.0; - out_6639538403135995006[77] = 0.0; - out_6639538403135995006[78] = 0.0; - out_6639538403135995006[79] = 0.0; - out_6639538403135995006[80] = 1.0; +void H_mod_fun(double *state, double *out_3172612914634759799) { + out_3172612914634759799[0] = 1.0; + out_3172612914634759799[1] = 0.0; + out_3172612914634759799[2] = 0.0; + out_3172612914634759799[3] = 0.0; + out_3172612914634759799[4] = 0.0; + out_3172612914634759799[5] = 0.0; + out_3172612914634759799[6] = 0.0; + out_3172612914634759799[7] = 0.0; + out_3172612914634759799[8] = 0.0; + out_3172612914634759799[9] = 0.0; + out_3172612914634759799[10] = 1.0; + out_3172612914634759799[11] = 0.0; + out_3172612914634759799[12] = 0.0; + out_3172612914634759799[13] = 0.0; + out_3172612914634759799[14] = 0.0; + out_3172612914634759799[15] = 0.0; + out_3172612914634759799[16] = 0.0; + out_3172612914634759799[17] = 0.0; + out_3172612914634759799[18] = 0.0; + out_3172612914634759799[19] = 0.0; + out_3172612914634759799[20] = 1.0; + out_3172612914634759799[21] = 0.0; + out_3172612914634759799[22] = 0.0; + out_3172612914634759799[23] = 0.0; + out_3172612914634759799[24] = 0.0; + out_3172612914634759799[25] = 0.0; + out_3172612914634759799[26] = 0.0; + out_3172612914634759799[27] = 0.0; + out_3172612914634759799[28] = 0.0; + out_3172612914634759799[29] = 0.0; + out_3172612914634759799[30] = 1.0; + out_3172612914634759799[31] = 0.0; + out_3172612914634759799[32] = 0.0; + out_3172612914634759799[33] = 0.0; + out_3172612914634759799[34] = 0.0; + out_3172612914634759799[35] = 0.0; + out_3172612914634759799[36] = 0.0; + out_3172612914634759799[37] = 0.0; + out_3172612914634759799[38] = 0.0; + out_3172612914634759799[39] = 0.0; + out_3172612914634759799[40] = 1.0; + out_3172612914634759799[41] = 0.0; + out_3172612914634759799[42] = 0.0; + out_3172612914634759799[43] = 0.0; + out_3172612914634759799[44] = 0.0; + out_3172612914634759799[45] = 0.0; + out_3172612914634759799[46] = 0.0; + out_3172612914634759799[47] = 0.0; + out_3172612914634759799[48] = 0.0; + out_3172612914634759799[49] = 0.0; + out_3172612914634759799[50] = 1.0; + out_3172612914634759799[51] = 0.0; + out_3172612914634759799[52] = 0.0; + out_3172612914634759799[53] = 0.0; + out_3172612914634759799[54] = 0.0; + out_3172612914634759799[55] = 0.0; + out_3172612914634759799[56] = 0.0; + out_3172612914634759799[57] = 0.0; + out_3172612914634759799[58] = 0.0; + out_3172612914634759799[59] = 0.0; + out_3172612914634759799[60] = 1.0; + out_3172612914634759799[61] = 0.0; + out_3172612914634759799[62] = 0.0; + out_3172612914634759799[63] = 0.0; + out_3172612914634759799[64] = 0.0; + out_3172612914634759799[65] = 0.0; + out_3172612914634759799[66] = 0.0; + out_3172612914634759799[67] = 0.0; + out_3172612914634759799[68] = 0.0; + out_3172612914634759799[69] = 0.0; + out_3172612914634759799[70] = 1.0; + out_3172612914634759799[71] = 0.0; + out_3172612914634759799[72] = 0.0; + out_3172612914634759799[73] = 0.0; + out_3172612914634759799[74] = 0.0; + out_3172612914634759799[75] = 0.0; + out_3172612914634759799[76] = 0.0; + out_3172612914634759799[77] = 0.0; + out_3172612914634759799[78] = 0.0; + out_3172612914634759799[79] = 0.0; + out_3172612914634759799[80] = 1.0; } -void f_fun(double *state, double dt, double *out_6721417124249708482) { - out_6721417124249708482[0] = state[0]; - out_6721417124249708482[1] = state[1]; - out_6721417124249708482[2] = state[2]; - out_6721417124249708482[3] = state[3]; - out_6721417124249708482[4] = state[4]; - out_6721417124249708482[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_6721417124249708482[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_6721417124249708482[7] = state[7]; - out_6721417124249708482[8] = state[8]; +void f_fun(double *state, double dt, double *out_7316960543418142517) { + out_7316960543418142517[0] = state[0]; + out_7316960543418142517[1] = state[1]; + out_7316960543418142517[2] = state[2]; + out_7316960543418142517[3] = state[3]; + out_7316960543418142517[4] = state[4]; + out_7316960543418142517[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_7316960543418142517[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_7316960543418142517[7] = state[7]; + out_7316960543418142517[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2916284287213904038) { - out_2916284287213904038[0] = 1; - out_2916284287213904038[1] = 0; - out_2916284287213904038[2] = 0; - out_2916284287213904038[3] = 0; - out_2916284287213904038[4] = 0; - out_2916284287213904038[5] = 0; - out_2916284287213904038[6] = 0; - out_2916284287213904038[7] = 0; - out_2916284287213904038[8] = 0; - out_2916284287213904038[9] = 0; - out_2916284287213904038[10] = 1; - out_2916284287213904038[11] = 0; - out_2916284287213904038[12] = 0; - out_2916284287213904038[13] = 0; - out_2916284287213904038[14] = 0; - out_2916284287213904038[15] = 0; - out_2916284287213904038[16] = 0; - out_2916284287213904038[17] = 0; - out_2916284287213904038[18] = 0; - out_2916284287213904038[19] = 0; - out_2916284287213904038[20] = 1; - out_2916284287213904038[21] = 0; - out_2916284287213904038[22] = 0; - out_2916284287213904038[23] = 0; - out_2916284287213904038[24] = 0; - out_2916284287213904038[25] = 0; - out_2916284287213904038[26] = 0; - out_2916284287213904038[27] = 0; - out_2916284287213904038[28] = 0; - out_2916284287213904038[29] = 0; - out_2916284287213904038[30] = 1; - out_2916284287213904038[31] = 0; - out_2916284287213904038[32] = 0; - out_2916284287213904038[33] = 0; - out_2916284287213904038[34] = 0; - out_2916284287213904038[35] = 0; - out_2916284287213904038[36] = 0; - out_2916284287213904038[37] = 0; - out_2916284287213904038[38] = 0; - out_2916284287213904038[39] = 0; - out_2916284287213904038[40] = 1; - out_2916284287213904038[41] = 0; - out_2916284287213904038[42] = 0; - out_2916284287213904038[43] = 0; - out_2916284287213904038[44] = 0; - out_2916284287213904038[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_2916284287213904038[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2916284287213904038[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2916284287213904038[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2916284287213904038[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_2916284287213904038[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2916284287213904038[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2916284287213904038[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2916284287213904038[53] = -9.8100000000000005*dt; - out_2916284287213904038[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_2916284287213904038[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2916284287213904038[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2916284287213904038[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2916284287213904038[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_2916284287213904038[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2916284287213904038[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_2916284287213904038[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2916284287213904038[62] = 0; - out_2916284287213904038[63] = 0; - out_2916284287213904038[64] = 0; - out_2916284287213904038[65] = 0; - out_2916284287213904038[66] = 0; - out_2916284287213904038[67] = 0; - out_2916284287213904038[68] = 0; - out_2916284287213904038[69] = 0; - out_2916284287213904038[70] = 1; - out_2916284287213904038[71] = 0; - out_2916284287213904038[72] = 0; - out_2916284287213904038[73] = 0; - out_2916284287213904038[74] = 0; - out_2916284287213904038[75] = 0; - out_2916284287213904038[76] = 0; - out_2916284287213904038[77] = 0; - out_2916284287213904038[78] = 0; - out_2916284287213904038[79] = 0; - out_2916284287213904038[80] = 1; +void F_fun(double *state, double dt, double *out_1492910262171570578) { + out_1492910262171570578[0] = 1; + out_1492910262171570578[1] = 0; + out_1492910262171570578[2] = 0; + out_1492910262171570578[3] = 0; + out_1492910262171570578[4] = 0; + out_1492910262171570578[5] = 0; + out_1492910262171570578[6] = 0; + out_1492910262171570578[7] = 0; + out_1492910262171570578[8] = 0; + out_1492910262171570578[9] = 0; + out_1492910262171570578[10] = 1; + out_1492910262171570578[11] = 0; + out_1492910262171570578[12] = 0; + out_1492910262171570578[13] = 0; + out_1492910262171570578[14] = 0; + out_1492910262171570578[15] = 0; + out_1492910262171570578[16] = 0; + out_1492910262171570578[17] = 0; + out_1492910262171570578[18] = 0; + out_1492910262171570578[19] = 0; + out_1492910262171570578[20] = 1; + out_1492910262171570578[21] = 0; + out_1492910262171570578[22] = 0; + out_1492910262171570578[23] = 0; + out_1492910262171570578[24] = 0; + out_1492910262171570578[25] = 0; + out_1492910262171570578[26] = 0; + out_1492910262171570578[27] = 0; + out_1492910262171570578[28] = 0; + out_1492910262171570578[29] = 0; + out_1492910262171570578[30] = 1; + out_1492910262171570578[31] = 0; + out_1492910262171570578[32] = 0; + out_1492910262171570578[33] = 0; + out_1492910262171570578[34] = 0; + out_1492910262171570578[35] = 0; + out_1492910262171570578[36] = 0; + out_1492910262171570578[37] = 0; + out_1492910262171570578[38] = 0; + out_1492910262171570578[39] = 0; + out_1492910262171570578[40] = 1; + out_1492910262171570578[41] = 0; + out_1492910262171570578[42] = 0; + out_1492910262171570578[43] = 0; + out_1492910262171570578[44] = 0; + out_1492910262171570578[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_1492910262171570578[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1492910262171570578[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1492910262171570578[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1492910262171570578[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_1492910262171570578[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1492910262171570578[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1492910262171570578[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1492910262171570578[53] = -9.8100000000000005*dt; + out_1492910262171570578[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_1492910262171570578[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1492910262171570578[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1492910262171570578[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1492910262171570578[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_1492910262171570578[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1492910262171570578[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_1492910262171570578[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1492910262171570578[62] = 0; + out_1492910262171570578[63] = 0; + out_1492910262171570578[64] = 0; + out_1492910262171570578[65] = 0; + out_1492910262171570578[66] = 0; + out_1492910262171570578[67] = 0; + out_1492910262171570578[68] = 0; + out_1492910262171570578[69] = 0; + out_1492910262171570578[70] = 1; + out_1492910262171570578[71] = 0; + out_1492910262171570578[72] = 0; + out_1492910262171570578[73] = 0; + out_1492910262171570578[74] = 0; + out_1492910262171570578[75] = 0; + out_1492910262171570578[76] = 0; + out_1492910262171570578[77] = 0; + out_1492910262171570578[78] = 0; + out_1492910262171570578[79] = 0; + out_1492910262171570578[80] = 1; } -void h_25(double *state, double *unused, double *out_2044795451145406261) { - out_2044795451145406261[0] = state[6]; +void h_25(double *state, double *unused, double *out_595544251427276973) { + out_595544251427276973[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8284225020584064933) { - out_8284225020584064933[0] = 0; - out_8284225020584064933[1] = 0; - out_8284225020584064933[2] = 0; - out_8284225020584064933[3] = 0; - out_8284225020584064933[4] = 0; - out_8284225020584064933[5] = 0; - out_8284225020584064933[6] = 1; - out_8284225020584064933[7] = 0; - out_8284225020584064933[8] = 0; +void H_25(double *state, double *unused, double *out_350435724010605349) { + out_350435724010605349[0] = 0; + out_350435724010605349[1] = 0; + out_350435724010605349[2] = 0; + out_350435724010605349[3] = 0; + out_350435724010605349[4] = 0; + out_350435724010605349[5] = 0; + out_350435724010605349[6] = 1; + out_350435724010605349[7] = 0; + out_350435724010605349[8] = 0; } -void h_24(double *state, double *unused, double *out_1441131931248447039) { - out_1441131931248447039[0] = state[4]; - out_1441131931248447039[1] = state[5]; +void h_24(double *state, double *unused, double *out_2954294579100300160) { + out_2954294579100300160[0] = state[4]; + out_2954294579100300160[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4726299421781741797) { - out_4726299421781741797[0] = 0; - out_4726299421781741797[1] = 0; - out_4726299421781741797[2] = 0; - out_4726299421781741797[3] = 0; - out_4726299421781741797[4] = 1; - out_4726299421781741797[5] = 0; - out_4726299421781741797[6] = 0; - out_4726299421781741797[7] = 0; - out_4726299421781741797[8] = 0; - out_4726299421781741797[9] = 0; - out_4726299421781741797[10] = 0; - out_4726299421781741797[11] = 0; - out_4726299421781741797[12] = 0; - out_4726299421781741797[13] = 0; - out_4726299421781741797[14] = 1; - out_4726299421781741797[15] = 0; - out_4726299421781741797[16] = 0; - out_4726299421781741797[17] = 0; +void H_24(double *state, double *unused, double *out_3207489874791717787) { + out_3207489874791717787[0] = 0; + out_3207489874791717787[1] = 0; + out_3207489874791717787[2] = 0; + out_3207489874791717787[3] = 0; + out_3207489874791717787[4] = 1; + out_3207489874791717787[5] = 0; + out_3207489874791717787[6] = 0; + out_3207489874791717787[7] = 0; + out_3207489874791717787[8] = 0; + out_3207489874791717787[9] = 0; + out_3207489874791717787[10] = 0; + out_3207489874791717787[11] = 0; + out_3207489874791717787[12] = 0; + out_3207489874791717787[13] = 0; + out_3207489874791717787[14] = 1; + out_3207489874791717787[15] = 0; + out_3207489874791717787[16] = 0; + out_3207489874791717787[17] = 0; } -void h_30(double *state, double *unused, double *out_8638683365743472914) { - out_8638683365743472914[0] = state[4]; +void h_30(double *state, double *unused, double *out_4457227727855778625) { + out_4457227727855778625[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8413563967727305003) { - out_8413563967727305003[0] = 0; - out_8413563967727305003[1] = 0; - out_8413563967727305003[2] = 0; - out_8413563967727305003[3] = 0; - out_8413563967727305003[4] = 1; - out_8413563967727305003[5] = 0; - out_8413563967727305003[6] = 0; - out_8413563967727305003[7] = 0; - out_8413563967727305003[8] = 0; +void H_30(double *state, double *unused, double *out_2167897234496643278) { + out_2167897234496643278[0] = 0; + out_2167897234496643278[1] = 0; + out_2167897234496643278[2] = 0; + out_2167897234496643278[3] = 0; + out_2167897234496643278[4] = 1; + out_2167897234496643278[5] = 0; + out_2167897234496643278[6] = 0; + out_2167897234496643278[7] = 0; + out_2167897234496643278[8] = 0; } -void h_26(double *state, double *unused, double *out_989338192432138572) { - out_989338192432138572[0] = state[7]; +void h_26(double *state, double *unused, double *out_6778606859599551480) { + out_6778606859599551480[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6421015734251430459) { - out_6421015734251430459[0] = 0; - out_6421015734251430459[1] = 0; - out_6421015734251430459[2] = 0; - out_6421015734251430459[3] = 0; - out_6421015734251430459[4] = 0; - out_6421015734251430459[5] = 0; - out_6421015734251430459[6] = 0; - out_6421015734251430459[7] = 1; - out_6421015734251430459[8] = 0; +void H_26(double *state, double *unused, double *out_4091939042884661573) { + out_4091939042884661573[0] = 0; + out_4091939042884661573[1] = 0; + out_4091939042884661573[2] = 0; + out_4091939042884661573[3] = 0; + out_4091939042884661573[4] = 0; + out_4091939042884661573[5] = 0; + out_4091939042884661573[6] = 0; + out_4091939042884661573[7] = 1; + out_4091939042884661573[8] = 0; } -void h_27(double *state, double *unused, double *out_7375345222001897423) { - out_7375345222001897423[0] = state[3]; +void h_27(double *state, double *unused, double *out_2871073069040329107) { + out_2871073069040329107[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7858416794181821702) { - out_7858416794181821702[0] = 0; - out_7858416794181821702[1] = 0; - out_7858416794181821702[2] = 0; - out_7858416794181821702[3] = 1; - out_7858416794181821702[4] = 0; - out_7858416794181821702[5] = 0; - out_7858416794181821702[6] = 0; - out_7858416794181821702[7] = 0; - out_7858416794181821702[8] = 0; +void H_27(double *state, double *unused, double *out_4391491305680586495) { + out_4391491305680586495[0] = 0; + out_4391491305680586495[1] = 0; + out_4391491305680586495[2] = 0; + out_4391491305680586495[3] = 1; + out_4391491305680586495[4] = 0; + out_4391491305680586495[5] = 0; + out_4391491305680586495[6] = 0; + out_4391491305680586495[7] = 0; + out_4391491305680586495[8] = 0; } -void h_29(double *state, double *unused, double *out_4806387440305233057) { - out_4806387440305233057[0] = state[1]; +void h_29(double *state, double *unused, double *out_8987843078192927346) { + out_8987843078192927346[0] = state[1]; } -void H_29(double *state, double *unused, double *out_6145054067312270669) { - out_6145054067312270669[0] = 0; - out_6145054067312270669[1] = 1; - out_6145054067312270669[2] = 0; - out_6145054067312270669[3] = 0; - out_6145054067312270669[4] = 0; - out_6145054067312270669[5] = 0; - out_6145054067312270669[6] = 0; - out_6145054067312270669[7] = 0; - out_6145054067312270669[8] = 0; +void H_29(double *state, double *unused, double *out_2678128578811035462) { + out_2678128578811035462[0] = 0; + out_2678128578811035462[1] = 1; + out_2678128578811035462[2] = 0; + out_2678128578811035462[3] = 0; + out_2678128578811035462[4] = 0; + out_2678128578811035462[5] = 0; + out_2678128578811035462[6] = 0; + out_2678128578811035462[7] = 0; + out_2678128578811035462[8] = 0; } -void h_28(double *state, double *unused, double *out_6025091355491401381) { - out_6025091355491401381[0] = state[0]; +void h_28(double *state, double *unused, double *out_3384751652918718147) { + out_3384751652918718147[0] = state[0]; } -void H_28(double *state, double *unused, double *out_8108684338877596920) { - out_8108684338877596920[0] = 1; - out_8108684338877596920[1] = 0; - out_8108684338877596920[2] = 0; - out_8108684338877596920[3] = 0; - out_8108684338877596920[4] = 0; - out_8108684338877596920[5] = 0; - out_8108684338877596920[6] = 0; - out_8108684338877596920[7] = 0; - out_8108684338877596920[8] = 0; +void H_28(double *state, double *unused, double *out_2404270438258495112) { + out_2404270438258495112[0] = 1; + out_2404270438258495112[1] = 0; + out_2404270438258495112[2] = 0; + out_2404270438258495112[3] = 0; + out_2404270438258495112[4] = 0; + out_2404270438258495112[5] = 0; + out_2404270438258495112[6] = 0; + out_2404270438258495112[7] = 0; + out_2404270438258495112[8] = 0; } -void h_31(double *state, double *unused, double *out_2208042107618306896) { - out_2208042107618306896[0] = state[8]; +void h_31(double *state, double *unused, double *out_1973413530269387393) { + out_1973413530269387393[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8253579058707104505) { - out_8253579058707104505[0] = 0; - out_8253579058707104505[1] = 0; - out_8253579058707104505[2] = 0; - out_8253579058707104505[3] = 0; - out_8253579058707104505[4] = 0; - out_8253579058707104505[5] = 0; - out_8253579058707104505[6] = 0; - out_8253579058707104505[7] = 0; - out_8253579058707104505[8] = 1; +void H_31(double *state, double *unused, double *out_4718147145118013049) { + out_4718147145118013049[0] = 0; + out_4718147145118013049[1] = 0; + out_4718147145118013049[2] = 0; + out_4718147145118013049[3] = 0; + out_4718147145118013049[4] = 0; + out_4718147145118013049[5] = 0; + out_4718147145118013049[6] = 0; + out_4718147145118013049[7] = 0; + out_4718147145118013049[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_575866575379183764) { - err_fun(nom_x, delta_x, out_575866575379183764); +void car_err_fun(double *nom_x, double *delta_x, double *out_2503888728252844227) { + err_fun(nom_x, delta_x, out_2503888728252844227); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5616167858322380498) { - inv_err_fun(nom_x, true_x, out_5616167858322380498); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3671647430606809601) { + inv_err_fun(nom_x, true_x, out_3671647430606809601); } -void car_H_mod_fun(double *state, double *out_6639538403135995006) { - H_mod_fun(state, out_6639538403135995006); +void car_H_mod_fun(double *state, double *out_3172612914634759799) { + H_mod_fun(state, out_3172612914634759799); } -void car_f_fun(double *state, double dt, double *out_6721417124249708482) { - f_fun(state, dt, out_6721417124249708482); +void car_f_fun(double *state, double dt, double *out_7316960543418142517) { + f_fun(state, dt, out_7316960543418142517); } -void car_F_fun(double *state, double dt, double *out_2916284287213904038) { - F_fun(state, dt, out_2916284287213904038); +void car_F_fun(double *state, double dt, double *out_1492910262171570578) { + F_fun(state, dt, out_1492910262171570578); } -void car_h_25(double *state, double *unused, double *out_2044795451145406261) { - h_25(state, unused, out_2044795451145406261); +void car_h_25(double *state, double *unused, double *out_595544251427276973) { + h_25(state, unused, out_595544251427276973); } -void car_H_25(double *state, double *unused, double *out_8284225020584064933) { - H_25(state, unused, out_8284225020584064933); +void car_H_25(double *state, double *unused, double *out_350435724010605349) { + H_25(state, unused, out_350435724010605349); } -void car_h_24(double *state, double *unused, double *out_1441131931248447039) { - h_24(state, unused, out_1441131931248447039); +void car_h_24(double *state, double *unused, double *out_2954294579100300160) { + h_24(state, unused, out_2954294579100300160); } -void car_H_24(double *state, double *unused, double *out_4726299421781741797) { - H_24(state, unused, out_4726299421781741797); +void car_H_24(double *state, double *unused, double *out_3207489874791717787) { + H_24(state, unused, out_3207489874791717787); } -void car_h_30(double *state, double *unused, double *out_8638683365743472914) { - h_30(state, unused, out_8638683365743472914); +void car_h_30(double *state, double *unused, double *out_4457227727855778625) { + h_30(state, unused, out_4457227727855778625); } -void car_H_30(double *state, double *unused, double *out_8413563967727305003) { - H_30(state, unused, out_8413563967727305003); +void car_H_30(double *state, double *unused, double *out_2167897234496643278) { + H_30(state, unused, out_2167897234496643278); } -void car_h_26(double *state, double *unused, double *out_989338192432138572) { - h_26(state, unused, out_989338192432138572); +void car_h_26(double *state, double *unused, double *out_6778606859599551480) { + h_26(state, unused, out_6778606859599551480); } -void car_H_26(double *state, double *unused, double *out_6421015734251430459) { - H_26(state, unused, out_6421015734251430459); +void car_H_26(double *state, double *unused, double *out_4091939042884661573) { + H_26(state, unused, out_4091939042884661573); } -void car_h_27(double *state, double *unused, double *out_7375345222001897423) { - h_27(state, unused, out_7375345222001897423); +void car_h_27(double *state, double *unused, double *out_2871073069040329107) { + h_27(state, unused, out_2871073069040329107); } -void car_H_27(double *state, double *unused, double *out_7858416794181821702) { - H_27(state, unused, out_7858416794181821702); +void car_H_27(double *state, double *unused, double *out_4391491305680586495) { + H_27(state, unused, out_4391491305680586495); } -void car_h_29(double *state, double *unused, double *out_4806387440305233057) { - h_29(state, unused, out_4806387440305233057); +void car_h_29(double *state, double *unused, double *out_8987843078192927346) { + h_29(state, unused, out_8987843078192927346); } -void car_H_29(double *state, double *unused, double *out_6145054067312270669) { - H_29(state, unused, out_6145054067312270669); +void car_H_29(double *state, double *unused, double *out_2678128578811035462) { + H_29(state, unused, out_2678128578811035462); } -void car_h_28(double *state, double *unused, double *out_6025091355491401381) { - h_28(state, unused, out_6025091355491401381); +void car_h_28(double *state, double *unused, double *out_3384751652918718147) { + h_28(state, unused, out_3384751652918718147); } -void car_H_28(double *state, double *unused, double *out_8108684338877596920) { - H_28(state, unused, out_8108684338877596920); +void car_H_28(double *state, double *unused, double *out_2404270438258495112) { + H_28(state, unused, out_2404270438258495112); } -void car_h_31(double *state, double *unused, double *out_2208042107618306896) { - h_31(state, unused, out_2208042107618306896); +void car_h_31(double *state, double *unused, double *out_1973413530269387393) { + h_31(state, unused, out_1973413530269387393); } -void car_H_31(double *state, double *unused, double *out_8253579058707104505) { - H_31(state, unused, out_8253579058707104505); +void car_H_31(double *state, double *unused, double *out_4718147145118013049) { + H_31(state, unused, out_4718147145118013049); } 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 5c08a725d..a493c571e 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_575866575379183764); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5616167858322380498); -void car_H_mod_fun(double *state, double *out_6639538403135995006); -void car_f_fun(double *state, double dt, double *out_6721417124249708482); -void car_F_fun(double *state, double dt, double *out_2916284287213904038); -void car_h_25(double *state, double *unused, double *out_2044795451145406261); -void car_H_25(double *state, double *unused, double *out_8284225020584064933); -void car_h_24(double *state, double *unused, double *out_1441131931248447039); -void car_H_24(double *state, double *unused, double *out_4726299421781741797); -void car_h_30(double *state, double *unused, double *out_8638683365743472914); -void car_H_30(double *state, double *unused, double *out_8413563967727305003); -void car_h_26(double *state, double *unused, double *out_989338192432138572); -void car_H_26(double *state, double *unused, double *out_6421015734251430459); -void car_h_27(double *state, double *unused, double *out_7375345222001897423); -void car_H_27(double *state, double *unused, double *out_7858416794181821702); -void car_h_29(double *state, double *unused, double *out_4806387440305233057); -void car_H_29(double *state, double *unused, double *out_6145054067312270669); -void car_h_28(double *state, double *unused, double *out_6025091355491401381); -void car_H_28(double *state, double *unused, double *out_8108684338877596920); -void car_h_31(double *state, double *unused, double *out_2208042107618306896); -void car_H_31(double *state, double *unused, double *out_8253579058707104505); +void car_err_fun(double *nom_x, double *delta_x, double *out_2503888728252844227); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3671647430606809601); +void car_H_mod_fun(double *state, double *out_3172612914634759799); +void car_f_fun(double *state, double dt, double *out_7316960543418142517); +void car_F_fun(double *state, double dt, double *out_1492910262171570578); +void car_h_25(double *state, double *unused, double *out_595544251427276973); +void car_H_25(double *state, double *unused, double *out_350435724010605349); +void car_h_24(double *state, double *unused, double *out_2954294579100300160); +void car_H_24(double *state, double *unused, double *out_3207489874791717787); +void car_h_30(double *state, double *unused, double *out_4457227727855778625); +void car_H_30(double *state, double *unused, double *out_2167897234496643278); +void car_h_26(double *state, double *unused, double *out_6778606859599551480); +void car_H_26(double *state, double *unused, double *out_4091939042884661573); +void car_h_27(double *state, double *unused, double *out_2871073069040329107); +void car_H_27(double *state, double *unused, double *out_4391491305680586495); +void car_h_29(double *state, double *unused, double *out_8987843078192927346); +void car_H_29(double *state, double *unused, double *out_2678128578811035462); +void car_h_28(double *state, double *unused, double *out_3384751652918718147); +void car_H_28(double *state, double *unused, double *out_2404270438258495112); +void car_h_31(double *state, double *unused, double *out_1973413530269387393); +void car_H_31(double *state, double *unused, double *out_4718147145118013049); 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 749d3bf03..8fb6b422c 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_8315489890310503187) { - out_8315489890310503187[0] = delta_x[0] + nom_x[0]; - out_8315489890310503187[1] = delta_x[1] + nom_x[1]; - out_8315489890310503187[2] = delta_x[2] + nom_x[2]; - out_8315489890310503187[3] = delta_x[3] + nom_x[3]; - out_8315489890310503187[4] = delta_x[4] + nom_x[4]; - out_8315489890310503187[5] = delta_x[5] + nom_x[5]; - out_8315489890310503187[6] = delta_x[6] + nom_x[6]; - out_8315489890310503187[7] = delta_x[7] + nom_x[7]; - out_8315489890310503187[8] = delta_x[8] + nom_x[8]; - out_8315489890310503187[9] = delta_x[9] + nom_x[9]; - out_8315489890310503187[10] = delta_x[10] + nom_x[10]; - out_8315489890310503187[11] = delta_x[11] + nom_x[11]; - out_8315489890310503187[12] = delta_x[12] + nom_x[12]; - out_8315489890310503187[13] = delta_x[13] + nom_x[13]; - out_8315489890310503187[14] = delta_x[14] + nom_x[14]; - out_8315489890310503187[15] = delta_x[15] + nom_x[15]; - out_8315489890310503187[16] = delta_x[16] + nom_x[16]; - out_8315489890310503187[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6989025868442055132) { + out_6989025868442055132[0] = delta_x[0] + nom_x[0]; + out_6989025868442055132[1] = delta_x[1] + nom_x[1]; + out_6989025868442055132[2] = delta_x[2] + nom_x[2]; + out_6989025868442055132[3] = delta_x[3] + nom_x[3]; + out_6989025868442055132[4] = delta_x[4] + nom_x[4]; + out_6989025868442055132[5] = delta_x[5] + nom_x[5]; + out_6989025868442055132[6] = delta_x[6] + nom_x[6]; + out_6989025868442055132[7] = delta_x[7] + nom_x[7]; + out_6989025868442055132[8] = delta_x[8] + nom_x[8]; + out_6989025868442055132[9] = delta_x[9] + nom_x[9]; + out_6989025868442055132[10] = delta_x[10] + nom_x[10]; + out_6989025868442055132[11] = delta_x[11] + nom_x[11]; + out_6989025868442055132[12] = delta_x[12] + nom_x[12]; + out_6989025868442055132[13] = delta_x[13] + nom_x[13]; + out_6989025868442055132[14] = delta_x[14] + nom_x[14]; + out_6989025868442055132[15] = delta_x[15] + nom_x[15]; + out_6989025868442055132[16] = delta_x[16] + nom_x[16]; + out_6989025868442055132[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6008596051390826841) { - out_6008596051390826841[0] = -nom_x[0] + true_x[0]; - out_6008596051390826841[1] = -nom_x[1] + true_x[1]; - out_6008596051390826841[2] = -nom_x[2] + true_x[2]; - out_6008596051390826841[3] = -nom_x[3] + true_x[3]; - out_6008596051390826841[4] = -nom_x[4] + true_x[4]; - out_6008596051390826841[5] = -nom_x[5] + true_x[5]; - out_6008596051390826841[6] = -nom_x[6] + true_x[6]; - out_6008596051390826841[7] = -nom_x[7] + true_x[7]; - out_6008596051390826841[8] = -nom_x[8] + true_x[8]; - out_6008596051390826841[9] = -nom_x[9] + true_x[9]; - out_6008596051390826841[10] = -nom_x[10] + true_x[10]; - out_6008596051390826841[11] = -nom_x[11] + true_x[11]; - out_6008596051390826841[12] = -nom_x[12] + true_x[12]; - out_6008596051390826841[13] = -nom_x[13] + true_x[13]; - out_6008596051390826841[14] = -nom_x[14] + true_x[14]; - out_6008596051390826841[15] = -nom_x[15] + true_x[15]; - out_6008596051390826841[16] = -nom_x[16] + true_x[16]; - out_6008596051390826841[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3172938755845140042) { + out_3172938755845140042[0] = -nom_x[0] + true_x[0]; + out_3172938755845140042[1] = -nom_x[1] + true_x[1]; + out_3172938755845140042[2] = -nom_x[2] + true_x[2]; + out_3172938755845140042[3] = -nom_x[3] + true_x[3]; + out_3172938755845140042[4] = -nom_x[4] + true_x[4]; + out_3172938755845140042[5] = -nom_x[5] + true_x[5]; + out_3172938755845140042[6] = -nom_x[6] + true_x[6]; + out_3172938755845140042[7] = -nom_x[7] + true_x[7]; + out_3172938755845140042[8] = -nom_x[8] + true_x[8]; + out_3172938755845140042[9] = -nom_x[9] + true_x[9]; + out_3172938755845140042[10] = -nom_x[10] + true_x[10]; + out_3172938755845140042[11] = -nom_x[11] + true_x[11]; + out_3172938755845140042[12] = -nom_x[12] + true_x[12]; + out_3172938755845140042[13] = -nom_x[13] + true_x[13]; + out_3172938755845140042[14] = -nom_x[14] + true_x[14]; + out_3172938755845140042[15] = -nom_x[15] + true_x[15]; + out_3172938755845140042[16] = -nom_x[16] + true_x[16]; + out_3172938755845140042[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5634677350720166788) { - out_5634677350720166788[0] = 1.0; - out_5634677350720166788[1] = 0.0; - out_5634677350720166788[2] = 0.0; - out_5634677350720166788[3] = 0.0; - out_5634677350720166788[4] = 0.0; - out_5634677350720166788[5] = 0.0; - out_5634677350720166788[6] = 0.0; - out_5634677350720166788[7] = 0.0; - out_5634677350720166788[8] = 0.0; - out_5634677350720166788[9] = 0.0; - out_5634677350720166788[10] = 0.0; - out_5634677350720166788[11] = 0.0; - out_5634677350720166788[12] = 0.0; - out_5634677350720166788[13] = 0.0; - out_5634677350720166788[14] = 0.0; - out_5634677350720166788[15] = 0.0; - out_5634677350720166788[16] = 0.0; - out_5634677350720166788[17] = 0.0; - out_5634677350720166788[18] = 0.0; - out_5634677350720166788[19] = 1.0; - out_5634677350720166788[20] = 0.0; - out_5634677350720166788[21] = 0.0; - out_5634677350720166788[22] = 0.0; - out_5634677350720166788[23] = 0.0; - out_5634677350720166788[24] = 0.0; - out_5634677350720166788[25] = 0.0; - out_5634677350720166788[26] = 0.0; - out_5634677350720166788[27] = 0.0; - out_5634677350720166788[28] = 0.0; - out_5634677350720166788[29] = 0.0; - out_5634677350720166788[30] = 0.0; - out_5634677350720166788[31] = 0.0; - out_5634677350720166788[32] = 0.0; - out_5634677350720166788[33] = 0.0; - out_5634677350720166788[34] = 0.0; - out_5634677350720166788[35] = 0.0; - out_5634677350720166788[36] = 0.0; - out_5634677350720166788[37] = 0.0; - out_5634677350720166788[38] = 1.0; - out_5634677350720166788[39] = 0.0; - out_5634677350720166788[40] = 0.0; - out_5634677350720166788[41] = 0.0; - out_5634677350720166788[42] = 0.0; - out_5634677350720166788[43] = 0.0; - out_5634677350720166788[44] = 0.0; - out_5634677350720166788[45] = 0.0; - out_5634677350720166788[46] = 0.0; - out_5634677350720166788[47] = 0.0; - out_5634677350720166788[48] = 0.0; - out_5634677350720166788[49] = 0.0; - out_5634677350720166788[50] = 0.0; - out_5634677350720166788[51] = 0.0; - out_5634677350720166788[52] = 0.0; - out_5634677350720166788[53] = 0.0; - out_5634677350720166788[54] = 0.0; - out_5634677350720166788[55] = 0.0; - out_5634677350720166788[56] = 0.0; - out_5634677350720166788[57] = 1.0; - out_5634677350720166788[58] = 0.0; - out_5634677350720166788[59] = 0.0; - out_5634677350720166788[60] = 0.0; - out_5634677350720166788[61] = 0.0; - out_5634677350720166788[62] = 0.0; - out_5634677350720166788[63] = 0.0; - out_5634677350720166788[64] = 0.0; - out_5634677350720166788[65] = 0.0; - out_5634677350720166788[66] = 0.0; - out_5634677350720166788[67] = 0.0; - out_5634677350720166788[68] = 0.0; - out_5634677350720166788[69] = 0.0; - out_5634677350720166788[70] = 0.0; - out_5634677350720166788[71] = 0.0; - out_5634677350720166788[72] = 0.0; - out_5634677350720166788[73] = 0.0; - out_5634677350720166788[74] = 0.0; - out_5634677350720166788[75] = 0.0; - out_5634677350720166788[76] = 1.0; - out_5634677350720166788[77] = 0.0; - out_5634677350720166788[78] = 0.0; - out_5634677350720166788[79] = 0.0; - out_5634677350720166788[80] = 0.0; - out_5634677350720166788[81] = 0.0; - out_5634677350720166788[82] = 0.0; - out_5634677350720166788[83] = 0.0; - out_5634677350720166788[84] = 0.0; - out_5634677350720166788[85] = 0.0; - out_5634677350720166788[86] = 0.0; - out_5634677350720166788[87] = 0.0; - out_5634677350720166788[88] = 0.0; - out_5634677350720166788[89] = 0.0; - out_5634677350720166788[90] = 0.0; - out_5634677350720166788[91] = 0.0; - out_5634677350720166788[92] = 0.0; - out_5634677350720166788[93] = 0.0; - out_5634677350720166788[94] = 0.0; - out_5634677350720166788[95] = 1.0; - out_5634677350720166788[96] = 0.0; - out_5634677350720166788[97] = 0.0; - out_5634677350720166788[98] = 0.0; - out_5634677350720166788[99] = 0.0; - out_5634677350720166788[100] = 0.0; - out_5634677350720166788[101] = 0.0; - out_5634677350720166788[102] = 0.0; - out_5634677350720166788[103] = 0.0; - out_5634677350720166788[104] = 0.0; - out_5634677350720166788[105] = 0.0; - out_5634677350720166788[106] = 0.0; - out_5634677350720166788[107] = 0.0; - out_5634677350720166788[108] = 0.0; - out_5634677350720166788[109] = 0.0; - out_5634677350720166788[110] = 0.0; - out_5634677350720166788[111] = 0.0; - out_5634677350720166788[112] = 0.0; - out_5634677350720166788[113] = 0.0; - out_5634677350720166788[114] = 1.0; - out_5634677350720166788[115] = 0.0; - out_5634677350720166788[116] = 0.0; - out_5634677350720166788[117] = 0.0; - out_5634677350720166788[118] = 0.0; - out_5634677350720166788[119] = 0.0; - out_5634677350720166788[120] = 0.0; - out_5634677350720166788[121] = 0.0; - out_5634677350720166788[122] = 0.0; - out_5634677350720166788[123] = 0.0; - out_5634677350720166788[124] = 0.0; - out_5634677350720166788[125] = 0.0; - out_5634677350720166788[126] = 0.0; - out_5634677350720166788[127] = 0.0; - out_5634677350720166788[128] = 0.0; - out_5634677350720166788[129] = 0.0; - out_5634677350720166788[130] = 0.0; - out_5634677350720166788[131] = 0.0; - out_5634677350720166788[132] = 0.0; - out_5634677350720166788[133] = 1.0; - out_5634677350720166788[134] = 0.0; - out_5634677350720166788[135] = 0.0; - out_5634677350720166788[136] = 0.0; - out_5634677350720166788[137] = 0.0; - out_5634677350720166788[138] = 0.0; - out_5634677350720166788[139] = 0.0; - out_5634677350720166788[140] = 0.0; - out_5634677350720166788[141] = 0.0; - out_5634677350720166788[142] = 0.0; - out_5634677350720166788[143] = 0.0; - out_5634677350720166788[144] = 0.0; - out_5634677350720166788[145] = 0.0; - out_5634677350720166788[146] = 0.0; - out_5634677350720166788[147] = 0.0; - out_5634677350720166788[148] = 0.0; - out_5634677350720166788[149] = 0.0; - out_5634677350720166788[150] = 0.0; - out_5634677350720166788[151] = 0.0; - out_5634677350720166788[152] = 1.0; - out_5634677350720166788[153] = 0.0; - out_5634677350720166788[154] = 0.0; - out_5634677350720166788[155] = 0.0; - out_5634677350720166788[156] = 0.0; - out_5634677350720166788[157] = 0.0; - out_5634677350720166788[158] = 0.0; - out_5634677350720166788[159] = 0.0; - out_5634677350720166788[160] = 0.0; - out_5634677350720166788[161] = 0.0; - out_5634677350720166788[162] = 0.0; - out_5634677350720166788[163] = 0.0; - out_5634677350720166788[164] = 0.0; - out_5634677350720166788[165] = 0.0; - out_5634677350720166788[166] = 0.0; - out_5634677350720166788[167] = 0.0; - out_5634677350720166788[168] = 0.0; - out_5634677350720166788[169] = 0.0; - out_5634677350720166788[170] = 0.0; - out_5634677350720166788[171] = 1.0; - out_5634677350720166788[172] = 0.0; - out_5634677350720166788[173] = 0.0; - out_5634677350720166788[174] = 0.0; - out_5634677350720166788[175] = 0.0; - out_5634677350720166788[176] = 0.0; - out_5634677350720166788[177] = 0.0; - out_5634677350720166788[178] = 0.0; - out_5634677350720166788[179] = 0.0; - out_5634677350720166788[180] = 0.0; - out_5634677350720166788[181] = 0.0; - out_5634677350720166788[182] = 0.0; - out_5634677350720166788[183] = 0.0; - out_5634677350720166788[184] = 0.0; - out_5634677350720166788[185] = 0.0; - out_5634677350720166788[186] = 0.0; - out_5634677350720166788[187] = 0.0; - out_5634677350720166788[188] = 0.0; - out_5634677350720166788[189] = 0.0; - out_5634677350720166788[190] = 1.0; - out_5634677350720166788[191] = 0.0; - out_5634677350720166788[192] = 0.0; - out_5634677350720166788[193] = 0.0; - out_5634677350720166788[194] = 0.0; - out_5634677350720166788[195] = 0.0; - out_5634677350720166788[196] = 0.0; - out_5634677350720166788[197] = 0.0; - out_5634677350720166788[198] = 0.0; - out_5634677350720166788[199] = 0.0; - out_5634677350720166788[200] = 0.0; - out_5634677350720166788[201] = 0.0; - out_5634677350720166788[202] = 0.0; - out_5634677350720166788[203] = 0.0; - out_5634677350720166788[204] = 0.0; - out_5634677350720166788[205] = 0.0; - out_5634677350720166788[206] = 0.0; - out_5634677350720166788[207] = 0.0; - out_5634677350720166788[208] = 0.0; - out_5634677350720166788[209] = 1.0; - out_5634677350720166788[210] = 0.0; - out_5634677350720166788[211] = 0.0; - out_5634677350720166788[212] = 0.0; - out_5634677350720166788[213] = 0.0; - out_5634677350720166788[214] = 0.0; - out_5634677350720166788[215] = 0.0; - out_5634677350720166788[216] = 0.0; - out_5634677350720166788[217] = 0.0; - out_5634677350720166788[218] = 0.0; - out_5634677350720166788[219] = 0.0; - out_5634677350720166788[220] = 0.0; - out_5634677350720166788[221] = 0.0; - out_5634677350720166788[222] = 0.0; - out_5634677350720166788[223] = 0.0; - out_5634677350720166788[224] = 0.0; - out_5634677350720166788[225] = 0.0; - out_5634677350720166788[226] = 0.0; - out_5634677350720166788[227] = 0.0; - out_5634677350720166788[228] = 1.0; - out_5634677350720166788[229] = 0.0; - out_5634677350720166788[230] = 0.0; - out_5634677350720166788[231] = 0.0; - out_5634677350720166788[232] = 0.0; - out_5634677350720166788[233] = 0.0; - out_5634677350720166788[234] = 0.0; - out_5634677350720166788[235] = 0.0; - out_5634677350720166788[236] = 0.0; - out_5634677350720166788[237] = 0.0; - out_5634677350720166788[238] = 0.0; - out_5634677350720166788[239] = 0.0; - out_5634677350720166788[240] = 0.0; - out_5634677350720166788[241] = 0.0; - out_5634677350720166788[242] = 0.0; - out_5634677350720166788[243] = 0.0; - out_5634677350720166788[244] = 0.0; - out_5634677350720166788[245] = 0.0; - out_5634677350720166788[246] = 0.0; - out_5634677350720166788[247] = 1.0; - out_5634677350720166788[248] = 0.0; - out_5634677350720166788[249] = 0.0; - out_5634677350720166788[250] = 0.0; - out_5634677350720166788[251] = 0.0; - out_5634677350720166788[252] = 0.0; - out_5634677350720166788[253] = 0.0; - out_5634677350720166788[254] = 0.0; - out_5634677350720166788[255] = 0.0; - out_5634677350720166788[256] = 0.0; - out_5634677350720166788[257] = 0.0; - out_5634677350720166788[258] = 0.0; - out_5634677350720166788[259] = 0.0; - out_5634677350720166788[260] = 0.0; - out_5634677350720166788[261] = 0.0; - out_5634677350720166788[262] = 0.0; - out_5634677350720166788[263] = 0.0; - out_5634677350720166788[264] = 0.0; - out_5634677350720166788[265] = 0.0; - out_5634677350720166788[266] = 1.0; - out_5634677350720166788[267] = 0.0; - out_5634677350720166788[268] = 0.0; - out_5634677350720166788[269] = 0.0; - out_5634677350720166788[270] = 0.0; - out_5634677350720166788[271] = 0.0; - out_5634677350720166788[272] = 0.0; - out_5634677350720166788[273] = 0.0; - out_5634677350720166788[274] = 0.0; - out_5634677350720166788[275] = 0.0; - out_5634677350720166788[276] = 0.0; - out_5634677350720166788[277] = 0.0; - out_5634677350720166788[278] = 0.0; - out_5634677350720166788[279] = 0.0; - out_5634677350720166788[280] = 0.0; - out_5634677350720166788[281] = 0.0; - out_5634677350720166788[282] = 0.0; - out_5634677350720166788[283] = 0.0; - out_5634677350720166788[284] = 0.0; - out_5634677350720166788[285] = 1.0; - out_5634677350720166788[286] = 0.0; - out_5634677350720166788[287] = 0.0; - out_5634677350720166788[288] = 0.0; - out_5634677350720166788[289] = 0.0; - out_5634677350720166788[290] = 0.0; - out_5634677350720166788[291] = 0.0; - out_5634677350720166788[292] = 0.0; - out_5634677350720166788[293] = 0.0; - out_5634677350720166788[294] = 0.0; - out_5634677350720166788[295] = 0.0; - out_5634677350720166788[296] = 0.0; - out_5634677350720166788[297] = 0.0; - out_5634677350720166788[298] = 0.0; - out_5634677350720166788[299] = 0.0; - out_5634677350720166788[300] = 0.0; - out_5634677350720166788[301] = 0.0; - out_5634677350720166788[302] = 0.0; - out_5634677350720166788[303] = 0.0; - out_5634677350720166788[304] = 1.0; - out_5634677350720166788[305] = 0.0; - out_5634677350720166788[306] = 0.0; - out_5634677350720166788[307] = 0.0; - out_5634677350720166788[308] = 0.0; - out_5634677350720166788[309] = 0.0; - out_5634677350720166788[310] = 0.0; - out_5634677350720166788[311] = 0.0; - out_5634677350720166788[312] = 0.0; - out_5634677350720166788[313] = 0.0; - out_5634677350720166788[314] = 0.0; - out_5634677350720166788[315] = 0.0; - out_5634677350720166788[316] = 0.0; - out_5634677350720166788[317] = 0.0; - out_5634677350720166788[318] = 0.0; - out_5634677350720166788[319] = 0.0; - out_5634677350720166788[320] = 0.0; - out_5634677350720166788[321] = 0.0; - out_5634677350720166788[322] = 0.0; - out_5634677350720166788[323] = 1.0; +void H_mod_fun(double *state, double *out_3225867917449183727) { + out_3225867917449183727[0] = 1.0; + out_3225867917449183727[1] = 0.0; + out_3225867917449183727[2] = 0.0; + out_3225867917449183727[3] = 0.0; + out_3225867917449183727[4] = 0.0; + out_3225867917449183727[5] = 0.0; + out_3225867917449183727[6] = 0.0; + out_3225867917449183727[7] = 0.0; + out_3225867917449183727[8] = 0.0; + out_3225867917449183727[9] = 0.0; + out_3225867917449183727[10] = 0.0; + out_3225867917449183727[11] = 0.0; + out_3225867917449183727[12] = 0.0; + out_3225867917449183727[13] = 0.0; + out_3225867917449183727[14] = 0.0; + out_3225867917449183727[15] = 0.0; + out_3225867917449183727[16] = 0.0; + out_3225867917449183727[17] = 0.0; + out_3225867917449183727[18] = 0.0; + out_3225867917449183727[19] = 1.0; + out_3225867917449183727[20] = 0.0; + out_3225867917449183727[21] = 0.0; + out_3225867917449183727[22] = 0.0; + out_3225867917449183727[23] = 0.0; + out_3225867917449183727[24] = 0.0; + out_3225867917449183727[25] = 0.0; + out_3225867917449183727[26] = 0.0; + out_3225867917449183727[27] = 0.0; + out_3225867917449183727[28] = 0.0; + out_3225867917449183727[29] = 0.0; + out_3225867917449183727[30] = 0.0; + out_3225867917449183727[31] = 0.0; + out_3225867917449183727[32] = 0.0; + out_3225867917449183727[33] = 0.0; + out_3225867917449183727[34] = 0.0; + out_3225867917449183727[35] = 0.0; + out_3225867917449183727[36] = 0.0; + out_3225867917449183727[37] = 0.0; + out_3225867917449183727[38] = 1.0; + out_3225867917449183727[39] = 0.0; + out_3225867917449183727[40] = 0.0; + out_3225867917449183727[41] = 0.0; + out_3225867917449183727[42] = 0.0; + out_3225867917449183727[43] = 0.0; + out_3225867917449183727[44] = 0.0; + out_3225867917449183727[45] = 0.0; + out_3225867917449183727[46] = 0.0; + out_3225867917449183727[47] = 0.0; + out_3225867917449183727[48] = 0.0; + out_3225867917449183727[49] = 0.0; + out_3225867917449183727[50] = 0.0; + out_3225867917449183727[51] = 0.0; + out_3225867917449183727[52] = 0.0; + out_3225867917449183727[53] = 0.0; + out_3225867917449183727[54] = 0.0; + out_3225867917449183727[55] = 0.0; + out_3225867917449183727[56] = 0.0; + out_3225867917449183727[57] = 1.0; + out_3225867917449183727[58] = 0.0; + out_3225867917449183727[59] = 0.0; + out_3225867917449183727[60] = 0.0; + out_3225867917449183727[61] = 0.0; + out_3225867917449183727[62] = 0.0; + out_3225867917449183727[63] = 0.0; + out_3225867917449183727[64] = 0.0; + out_3225867917449183727[65] = 0.0; + out_3225867917449183727[66] = 0.0; + out_3225867917449183727[67] = 0.0; + out_3225867917449183727[68] = 0.0; + out_3225867917449183727[69] = 0.0; + out_3225867917449183727[70] = 0.0; + out_3225867917449183727[71] = 0.0; + out_3225867917449183727[72] = 0.0; + out_3225867917449183727[73] = 0.0; + out_3225867917449183727[74] = 0.0; + out_3225867917449183727[75] = 0.0; + out_3225867917449183727[76] = 1.0; + out_3225867917449183727[77] = 0.0; + out_3225867917449183727[78] = 0.0; + out_3225867917449183727[79] = 0.0; + out_3225867917449183727[80] = 0.0; + out_3225867917449183727[81] = 0.0; + out_3225867917449183727[82] = 0.0; + out_3225867917449183727[83] = 0.0; + out_3225867917449183727[84] = 0.0; + out_3225867917449183727[85] = 0.0; + out_3225867917449183727[86] = 0.0; + out_3225867917449183727[87] = 0.0; + out_3225867917449183727[88] = 0.0; + out_3225867917449183727[89] = 0.0; + out_3225867917449183727[90] = 0.0; + out_3225867917449183727[91] = 0.0; + out_3225867917449183727[92] = 0.0; + out_3225867917449183727[93] = 0.0; + out_3225867917449183727[94] = 0.0; + out_3225867917449183727[95] = 1.0; + out_3225867917449183727[96] = 0.0; + out_3225867917449183727[97] = 0.0; + out_3225867917449183727[98] = 0.0; + out_3225867917449183727[99] = 0.0; + out_3225867917449183727[100] = 0.0; + out_3225867917449183727[101] = 0.0; + out_3225867917449183727[102] = 0.0; + out_3225867917449183727[103] = 0.0; + out_3225867917449183727[104] = 0.0; + out_3225867917449183727[105] = 0.0; + out_3225867917449183727[106] = 0.0; + out_3225867917449183727[107] = 0.0; + out_3225867917449183727[108] = 0.0; + out_3225867917449183727[109] = 0.0; + out_3225867917449183727[110] = 0.0; + out_3225867917449183727[111] = 0.0; + out_3225867917449183727[112] = 0.0; + out_3225867917449183727[113] = 0.0; + out_3225867917449183727[114] = 1.0; + out_3225867917449183727[115] = 0.0; + out_3225867917449183727[116] = 0.0; + out_3225867917449183727[117] = 0.0; + out_3225867917449183727[118] = 0.0; + out_3225867917449183727[119] = 0.0; + out_3225867917449183727[120] = 0.0; + out_3225867917449183727[121] = 0.0; + out_3225867917449183727[122] = 0.0; + out_3225867917449183727[123] = 0.0; + out_3225867917449183727[124] = 0.0; + out_3225867917449183727[125] = 0.0; + out_3225867917449183727[126] = 0.0; + out_3225867917449183727[127] = 0.0; + out_3225867917449183727[128] = 0.0; + out_3225867917449183727[129] = 0.0; + out_3225867917449183727[130] = 0.0; + out_3225867917449183727[131] = 0.0; + out_3225867917449183727[132] = 0.0; + out_3225867917449183727[133] = 1.0; + out_3225867917449183727[134] = 0.0; + out_3225867917449183727[135] = 0.0; + out_3225867917449183727[136] = 0.0; + out_3225867917449183727[137] = 0.0; + out_3225867917449183727[138] = 0.0; + out_3225867917449183727[139] = 0.0; + out_3225867917449183727[140] = 0.0; + out_3225867917449183727[141] = 0.0; + out_3225867917449183727[142] = 0.0; + out_3225867917449183727[143] = 0.0; + out_3225867917449183727[144] = 0.0; + out_3225867917449183727[145] = 0.0; + out_3225867917449183727[146] = 0.0; + out_3225867917449183727[147] = 0.0; + out_3225867917449183727[148] = 0.0; + out_3225867917449183727[149] = 0.0; + out_3225867917449183727[150] = 0.0; + out_3225867917449183727[151] = 0.0; + out_3225867917449183727[152] = 1.0; + out_3225867917449183727[153] = 0.0; + out_3225867917449183727[154] = 0.0; + out_3225867917449183727[155] = 0.0; + out_3225867917449183727[156] = 0.0; + out_3225867917449183727[157] = 0.0; + out_3225867917449183727[158] = 0.0; + out_3225867917449183727[159] = 0.0; + out_3225867917449183727[160] = 0.0; + out_3225867917449183727[161] = 0.0; + out_3225867917449183727[162] = 0.0; + out_3225867917449183727[163] = 0.0; + out_3225867917449183727[164] = 0.0; + out_3225867917449183727[165] = 0.0; + out_3225867917449183727[166] = 0.0; + out_3225867917449183727[167] = 0.0; + out_3225867917449183727[168] = 0.0; + out_3225867917449183727[169] = 0.0; + out_3225867917449183727[170] = 0.0; + out_3225867917449183727[171] = 1.0; + out_3225867917449183727[172] = 0.0; + out_3225867917449183727[173] = 0.0; + out_3225867917449183727[174] = 0.0; + out_3225867917449183727[175] = 0.0; + out_3225867917449183727[176] = 0.0; + out_3225867917449183727[177] = 0.0; + out_3225867917449183727[178] = 0.0; + out_3225867917449183727[179] = 0.0; + out_3225867917449183727[180] = 0.0; + out_3225867917449183727[181] = 0.0; + out_3225867917449183727[182] = 0.0; + out_3225867917449183727[183] = 0.0; + out_3225867917449183727[184] = 0.0; + out_3225867917449183727[185] = 0.0; + out_3225867917449183727[186] = 0.0; + out_3225867917449183727[187] = 0.0; + out_3225867917449183727[188] = 0.0; + out_3225867917449183727[189] = 0.0; + out_3225867917449183727[190] = 1.0; + out_3225867917449183727[191] = 0.0; + out_3225867917449183727[192] = 0.0; + out_3225867917449183727[193] = 0.0; + out_3225867917449183727[194] = 0.0; + out_3225867917449183727[195] = 0.0; + out_3225867917449183727[196] = 0.0; + out_3225867917449183727[197] = 0.0; + out_3225867917449183727[198] = 0.0; + out_3225867917449183727[199] = 0.0; + out_3225867917449183727[200] = 0.0; + out_3225867917449183727[201] = 0.0; + out_3225867917449183727[202] = 0.0; + out_3225867917449183727[203] = 0.0; + out_3225867917449183727[204] = 0.0; + out_3225867917449183727[205] = 0.0; + out_3225867917449183727[206] = 0.0; + out_3225867917449183727[207] = 0.0; + out_3225867917449183727[208] = 0.0; + out_3225867917449183727[209] = 1.0; + out_3225867917449183727[210] = 0.0; + out_3225867917449183727[211] = 0.0; + out_3225867917449183727[212] = 0.0; + out_3225867917449183727[213] = 0.0; + out_3225867917449183727[214] = 0.0; + out_3225867917449183727[215] = 0.0; + out_3225867917449183727[216] = 0.0; + out_3225867917449183727[217] = 0.0; + out_3225867917449183727[218] = 0.0; + out_3225867917449183727[219] = 0.0; + out_3225867917449183727[220] = 0.0; + out_3225867917449183727[221] = 0.0; + out_3225867917449183727[222] = 0.0; + out_3225867917449183727[223] = 0.0; + out_3225867917449183727[224] = 0.0; + out_3225867917449183727[225] = 0.0; + out_3225867917449183727[226] = 0.0; + out_3225867917449183727[227] = 0.0; + out_3225867917449183727[228] = 1.0; + out_3225867917449183727[229] = 0.0; + out_3225867917449183727[230] = 0.0; + out_3225867917449183727[231] = 0.0; + out_3225867917449183727[232] = 0.0; + out_3225867917449183727[233] = 0.0; + out_3225867917449183727[234] = 0.0; + out_3225867917449183727[235] = 0.0; + out_3225867917449183727[236] = 0.0; + out_3225867917449183727[237] = 0.0; + out_3225867917449183727[238] = 0.0; + out_3225867917449183727[239] = 0.0; + out_3225867917449183727[240] = 0.0; + out_3225867917449183727[241] = 0.0; + out_3225867917449183727[242] = 0.0; + out_3225867917449183727[243] = 0.0; + out_3225867917449183727[244] = 0.0; + out_3225867917449183727[245] = 0.0; + out_3225867917449183727[246] = 0.0; + out_3225867917449183727[247] = 1.0; + out_3225867917449183727[248] = 0.0; + out_3225867917449183727[249] = 0.0; + out_3225867917449183727[250] = 0.0; + out_3225867917449183727[251] = 0.0; + out_3225867917449183727[252] = 0.0; + out_3225867917449183727[253] = 0.0; + out_3225867917449183727[254] = 0.0; + out_3225867917449183727[255] = 0.0; + out_3225867917449183727[256] = 0.0; + out_3225867917449183727[257] = 0.0; + out_3225867917449183727[258] = 0.0; + out_3225867917449183727[259] = 0.0; + out_3225867917449183727[260] = 0.0; + out_3225867917449183727[261] = 0.0; + out_3225867917449183727[262] = 0.0; + out_3225867917449183727[263] = 0.0; + out_3225867917449183727[264] = 0.0; + out_3225867917449183727[265] = 0.0; + out_3225867917449183727[266] = 1.0; + out_3225867917449183727[267] = 0.0; + out_3225867917449183727[268] = 0.0; + out_3225867917449183727[269] = 0.0; + out_3225867917449183727[270] = 0.0; + out_3225867917449183727[271] = 0.0; + out_3225867917449183727[272] = 0.0; + out_3225867917449183727[273] = 0.0; + out_3225867917449183727[274] = 0.0; + out_3225867917449183727[275] = 0.0; + out_3225867917449183727[276] = 0.0; + out_3225867917449183727[277] = 0.0; + out_3225867917449183727[278] = 0.0; + out_3225867917449183727[279] = 0.0; + out_3225867917449183727[280] = 0.0; + out_3225867917449183727[281] = 0.0; + out_3225867917449183727[282] = 0.0; + out_3225867917449183727[283] = 0.0; + out_3225867917449183727[284] = 0.0; + out_3225867917449183727[285] = 1.0; + out_3225867917449183727[286] = 0.0; + out_3225867917449183727[287] = 0.0; + out_3225867917449183727[288] = 0.0; + out_3225867917449183727[289] = 0.0; + out_3225867917449183727[290] = 0.0; + out_3225867917449183727[291] = 0.0; + out_3225867917449183727[292] = 0.0; + out_3225867917449183727[293] = 0.0; + out_3225867917449183727[294] = 0.0; + out_3225867917449183727[295] = 0.0; + out_3225867917449183727[296] = 0.0; + out_3225867917449183727[297] = 0.0; + out_3225867917449183727[298] = 0.0; + out_3225867917449183727[299] = 0.0; + out_3225867917449183727[300] = 0.0; + out_3225867917449183727[301] = 0.0; + out_3225867917449183727[302] = 0.0; + out_3225867917449183727[303] = 0.0; + out_3225867917449183727[304] = 1.0; + out_3225867917449183727[305] = 0.0; + out_3225867917449183727[306] = 0.0; + out_3225867917449183727[307] = 0.0; + out_3225867917449183727[308] = 0.0; + out_3225867917449183727[309] = 0.0; + out_3225867917449183727[310] = 0.0; + out_3225867917449183727[311] = 0.0; + out_3225867917449183727[312] = 0.0; + out_3225867917449183727[313] = 0.0; + out_3225867917449183727[314] = 0.0; + out_3225867917449183727[315] = 0.0; + out_3225867917449183727[316] = 0.0; + out_3225867917449183727[317] = 0.0; + out_3225867917449183727[318] = 0.0; + out_3225867917449183727[319] = 0.0; + out_3225867917449183727[320] = 0.0; + out_3225867917449183727[321] = 0.0; + out_3225867917449183727[322] = 0.0; + out_3225867917449183727[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5401222257802876036) { - out_5401222257802876036[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_5401222257802876036[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_5401222257802876036[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_5401222257802876036[3] = dt*state[12] + state[3]; - out_5401222257802876036[4] = dt*state[13] + state[4]; - out_5401222257802876036[5] = dt*state[14] + state[5]; - out_5401222257802876036[6] = state[6]; - out_5401222257802876036[7] = state[7]; - out_5401222257802876036[8] = state[8]; - out_5401222257802876036[9] = state[9]; - out_5401222257802876036[10] = state[10]; - out_5401222257802876036[11] = state[11]; - out_5401222257802876036[12] = state[12]; - out_5401222257802876036[13] = state[13]; - out_5401222257802876036[14] = state[14]; - out_5401222257802876036[15] = state[15]; - out_5401222257802876036[16] = state[16]; - out_5401222257802876036[17] = state[17]; +void f_fun(double *state, double dt, double *out_2533972772359230172) { + out_2533972772359230172[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_2533972772359230172[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_2533972772359230172[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_2533972772359230172[3] = dt*state[12] + state[3]; + out_2533972772359230172[4] = dt*state[13] + state[4]; + out_2533972772359230172[5] = dt*state[14] + state[5]; + out_2533972772359230172[6] = state[6]; + out_2533972772359230172[7] = state[7]; + out_2533972772359230172[8] = state[8]; + out_2533972772359230172[9] = state[9]; + out_2533972772359230172[10] = state[10]; + out_2533972772359230172[11] = state[11]; + out_2533972772359230172[12] = state[12]; + out_2533972772359230172[13] = state[13]; + out_2533972772359230172[14] = state[14]; + out_2533972772359230172[15] = state[15]; + out_2533972772359230172[16] = state[16]; + out_2533972772359230172[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1313183186567530475) { - out_1313183186567530475[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_1313183186567530475[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_1313183186567530475[2] = 0; - out_1313183186567530475[3] = 0; - out_1313183186567530475[4] = 0; - out_1313183186567530475[5] = 0; - out_1313183186567530475[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_1313183186567530475[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_1313183186567530475[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_1313183186567530475[9] = 0; - out_1313183186567530475[10] = 0; - out_1313183186567530475[11] = 0; - out_1313183186567530475[12] = 0; - out_1313183186567530475[13] = 0; - out_1313183186567530475[14] = 0; - out_1313183186567530475[15] = 0; - out_1313183186567530475[16] = 0; - out_1313183186567530475[17] = 0; - out_1313183186567530475[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_1313183186567530475[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_1313183186567530475[20] = 0; - out_1313183186567530475[21] = 0; - out_1313183186567530475[22] = 0; - out_1313183186567530475[23] = 0; - out_1313183186567530475[24] = 0; - out_1313183186567530475[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_1313183186567530475[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_1313183186567530475[27] = 0; - out_1313183186567530475[28] = 0; - out_1313183186567530475[29] = 0; - out_1313183186567530475[30] = 0; - out_1313183186567530475[31] = 0; - out_1313183186567530475[32] = 0; - out_1313183186567530475[33] = 0; - out_1313183186567530475[34] = 0; - out_1313183186567530475[35] = 0; - out_1313183186567530475[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_1313183186567530475[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_1313183186567530475[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_1313183186567530475[39] = 0; - out_1313183186567530475[40] = 0; - out_1313183186567530475[41] = 0; - out_1313183186567530475[42] = 0; - out_1313183186567530475[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_1313183186567530475[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_1313183186567530475[45] = 0; - out_1313183186567530475[46] = 0; - out_1313183186567530475[47] = 0; - out_1313183186567530475[48] = 0; - out_1313183186567530475[49] = 0; - out_1313183186567530475[50] = 0; - out_1313183186567530475[51] = 0; - out_1313183186567530475[52] = 0; - out_1313183186567530475[53] = 0; - out_1313183186567530475[54] = 0; - out_1313183186567530475[55] = 0; - out_1313183186567530475[56] = 0; - out_1313183186567530475[57] = 1; - out_1313183186567530475[58] = 0; - out_1313183186567530475[59] = 0; - out_1313183186567530475[60] = 0; - out_1313183186567530475[61] = 0; - out_1313183186567530475[62] = 0; - out_1313183186567530475[63] = 0; - out_1313183186567530475[64] = 0; - out_1313183186567530475[65] = 0; - out_1313183186567530475[66] = dt; - out_1313183186567530475[67] = 0; - out_1313183186567530475[68] = 0; - out_1313183186567530475[69] = 0; - out_1313183186567530475[70] = 0; - out_1313183186567530475[71] = 0; - out_1313183186567530475[72] = 0; - out_1313183186567530475[73] = 0; - out_1313183186567530475[74] = 0; - out_1313183186567530475[75] = 0; - out_1313183186567530475[76] = 1; - out_1313183186567530475[77] = 0; - out_1313183186567530475[78] = 0; - out_1313183186567530475[79] = 0; - out_1313183186567530475[80] = 0; - out_1313183186567530475[81] = 0; - out_1313183186567530475[82] = 0; - out_1313183186567530475[83] = 0; - out_1313183186567530475[84] = 0; - out_1313183186567530475[85] = dt; - out_1313183186567530475[86] = 0; - out_1313183186567530475[87] = 0; - out_1313183186567530475[88] = 0; - out_1313183186567530475[89] = 0; - out_1313183186567530475[90] = 0; - out_1313183186567530475[91] = 0; - out_1313183186567530475[92] = 0; - out_1313183186567530475[93] = 0; - out_1313183186567530475[94] = 0; - out_1313183186567530475[95] = 1; - out_1313183186567530475[96] = 0; - out_1313183186567530475[97] = 0; - out_1313183186567530475[98] = 0; - out_1313183186567530475[99] = 0; - out_1313183186567530475[100] = 0; - out_1313183186567530475[101] = 0; - out_1313183186567530475[102] = 0; - out_1313183186567530475[103] = 0; - out_1313183186567530475[104] = dt; - out_1313183186567530475[105] = 0; - out_1313183186567530475[106] = 0; - out_1313183186567530475[107] = 0; - out_1313183186567530475[108] = 0; - out_1313183186567530475[109] = 0; - out_1313183186567530475[110] = 0; - out_1313183186567530475[111] = 0; - out_1313183186567530475[112] = 0; - out_1313183186567530475[113] = 0; - out_1313183186567530475[114] = 1; - out_1313183186567530475[115] = 0; - out_1313183186567530475[116] = 0; - out_1313183186567530475[117] = 0; - out_1313183186567530475[118] = 0; - out_1313183186567530475[119] = 0; - out_1313183186567530475[120] = 0; - out_1313183186567530475[121] = 0; - out_1313183186567530475[122] = 0; - out_1313183186567530475[123] = 0; - out_1313183186567530475[124] = 0; - out_1313183186567530475[125] = 0; - out_1313183186567530475[126] = 0; - out_1313183186567530475[127] = 0; - out_1313183186567530475[128] = 0; - out_1313183186567530475[129] = 0; - out_1313183186567530475[130] = 0; - out_1313183186567530475[131] = 0; - out_1313183186567530475[132] = 0; - out_1313183186567530475[133] = 1; - out_1313183186567530475[134] = 0; - out_1313183186567530475[135] = 0; - out_1313183186567530475[136] = 0; - out_1313183186567530475[137] = 0; - out_1313183186567530475[138] = 0; - out_1313183186567530475[139] = 0; - out_1313183186567530475[140] = 0; - out_1313183186567530475[141] = 0; - out_1313183186567530475[142] = 0; - out_1313183186567530475[143] = 0; - out_1313183186567530475[144] = 0; - out_1313183186567530475[145] = 0; - out_1313183186567530475[146] = 0; - out_1313183186567530475[147] = 0; - out_1313183186567530475[148] = 0; - out_1313183186567530475[149] = 0; - out_1313183186567530475[150] = 0; - out_1313183186567530475[151] = 0; - out_1313183186567530475[152] = 1; - out_1313183186567530475[153] = 0; - out_1313183186567530475[154] = 0; - out_1313183186567530475[155] = 0; - out_1313183186567530475[156] = 0; - out_1313183186567530475[157] = 0; - out_1313183186567530475[158] = 0; - out_1313183186567530475[159] = 0; - out_1313183186567530475[160] = 0; - out_1313183186567530475[161] = 0; - out_1313183186567530475[162] = 0; - out_1313183186567530475[163] = 0; - out_1313183186567530475[164] = 0; - out_1313183186567530475[165] = 0; - out_1313183186567530475[166] = 0; - out_1313183186567530475[167] = 0; - out_1313183186567530475[168] = 0; - out_1313183186567530475[169] = 0; - out_1313183186567530475[170] = 0; - out_1313183186567530475[171] = 1; - out_1313183186567530475[172] = 0; - out_1313183186567530475[173] = 0; - out_1313183186567530475[174] = 0; - out_1313183186567530475[175] = 0; - out_1313183186567530475[176] = 0; - out_1313183186567530475[177] = 0; - out_1313183186567530475[178] = 0; - out_1313183186567530475[179] = 0; - out_1313183186567530475[180] = 0; - out_1313183186567530475[181] = 0; - out_1313183186567530475[182] = 0; - out_1313183186567530475[183] = 0; - out_1313183186567530475[184] = 0; - out_1313183186567530475[185] = 0; - out_1313183186567530475[186] = 0; - out_1313183186567530475[187] = 0; - out_1313183186567530475[188] = 0; - out_1313183186567530475[189] = 0; - out_1313183186567530475[190] = 1; - out_1313183186567530475[191] = 0; - out_1313183186567530475[192] = 0; - out_1313183186567530475[193] = 0; - out_1313183186567530475[194] = 0; - out_1313183186567530475[195] = 0; - out_1313183186567530475[196] = 0; - out_1313183186567530475[197] = 0; - out_1313183186567530475[198] = 0; - out_1313183186567530475[199] = 0; - out_1313183186567530475[200] = 0; - out_1313183186567530475[201] = 0; - out_1313183186567530475[202] = 0; - out_1313183186567530475[203] = 0; - out_1313183186567530475[204] = 0; - out_1313183186567530475[205] = 0; - out_1313183186567530475[206] = 0; - out_1313183186567530475[207] = 0; - out_1313183186567530475[208] = 0; - out_1313183186567530475[209] = 1; - out_1313183186567530475[210] = 0; - out_1313183186567530475[211] = 0; - out_1313183186567530475[212] = 0; - out_1313183186567530475[213] = 0; - out_1313183186567530475[214] = 0; - out_1313183186567530475[215] = 0; - out_1313183186567530475[216] = 0; - out_1313183186567530475[217] = 0; - out_1313183186567530475[218] = 0; - out_1313183186567530475[219] = 0; - out_1313183186567530475[220] = 0; - out_1313183186567530475[221] = 0; - out_1313183186567530475[222] = 0; - out_1313183186567530475[223] = 0; - out_1313183186567530475[224] = 0; - out_1313183186567530475[225] = 0; - out_1313183186567530475[226] = 0; - out_1313183186567530475[227] = 0; - out_1313183186567530475[228] = 1; - out_1313183186567530475[229] = 0; - out_1313183186567530475[230] = 0; - out_1313183186567530475[231] = 0; - out_1313183186567530475[232] = 0; - out_1313183186567530475[233] = 0; - out_1313183186567530475[234] = 0; - out_1313183186567530475[235] = 0; - out_1313183186567530475[236] = 0; - out_1313183186567530475[237] = 0; - out_1313183186567530475[238] = 0; - out_1313183186567530475[239] = 0; - out_1313183186567530475[240] = 0; - out_1313183186567530475[241] = 0; - out_1313183186567530475[242] = 0; - out_1313183186567530475[243] = 0; - out_1313183186567530475[244] = 0; - out_1313183186567530475[245] = 0; - out_1313183186567530475[246] = 0; - out_1313183186567530475[247] = 1; - out_1313183186567530475[248] = 0; - out_1313183186567530475[249] = 0; - out_1313183186567530475[250] = 0; - out_1313183186567530475[251] = 0; - out_1313183186567530475[252] = 0; - out_1313183186567530475[253] = 0; - out_1313183186567530475[254] = 0; - out_1313183186567530475[255] = 0; - out_1313183186567530475[256] = 0; - out_1313183186567530475[257] = 0; - out_1313183186567530475[258] = 0; - out_1313183186567530475[259] = 0; - out_1313183186567530475[260] = 0; - out_1313183186567530475[261] = 0; - out_1313183186567530475[262] = 0; - out_1313183186567530475[263] = 0; - out_1313183186567530475[264] = 0; - out_1313183186567530475[265] = 0; - out_1313183186567530475[266] = 1; - out_1313183186567530475[267] = 0; - out_1313183186567530475[268] = 0; - out_1313183186567530475[269] = 0; - out_1313183186567530475[270] = 0; - out_1313183186567530475[271] = 0; - out_1313183186567530475[272] = 0; - out_1313183186567530475[273] = 0; - out_1313183186567530475[274] = 0; - out_1313183186567530475[275] = 0; - out_1313183186567530475[276] = 0; - out_1313183186567530475[277] = 0; - out_1313183186567530475[278] = 0; - out_1313183186567530475[279] = 0; - out_1313183186567530475[280] = 0; - out_1313183186567530475[281] = 0; - out_1313183186567530475[282] = 0; - out_1313183186567530475[283] = 0; - out_1313183186567530475[284] = 0; - out_1313183186567530475[285] = 1; - out_1313183186567530475[286] = 0; - out_1313183186567530475[287] = 0; - out_1313183186567530475[288] = 0; - out_1313183186567530475[289] = 0; - out_1313183186567530475[290] = 0; - out_1313183186567530475[291] = 0; - out_1313183186567530475[292] = 0; - out_1313183186567530475[293] = 0; - out_1313183186567530475[294] = 0; - out_1313183186567530475[295] = 0; - out_1313183186567530475[296] = 0; - out_1313183186567530475[297] = 0; - out_1313183186567530475[298] = 0; - out_1313183186567530475[299] = 0; - out_1313183186567530475[300] = 0; - out_1313183186567530475[301] = 0; - out_1313183186567530475[302] = 0; - out_1313183186567530475[303] = 0; - out_1313183186567530475[304] = 1; - out_1313183186567530475[305] = 0; - out_1313183186567530475[306] = 0; - out_1313183186567530475[307] = 0; - out_1313183186567530475[308] = 0; - out_1313183186567530475[309] = 0; - out_1313183186567530475[310] = 0; - out_1313183186567530475[311] = 0; - out_1313183186567530475[312] = 0; - out_1313183186567530475[313] = 0; - out_1313183186567530475[314] = 0; - out_1313183186567530475[315] = 0; - out_1313183186567530475[316] = 0; - out_1313183186567530475[317] = 0; - out_1313183186567530475[318] = 0; - out_1313183186567530475[319] = 0; - out_1313183186567530475[320] = 0; - out_1313183186567530475[321] = 0; - out_1313183186567530475[322] = 0; - out_1313183186567530475[323] = 1; +void F_fun(double *state, double dt, double *out_3663800095301942537) { + out_3663800095301942537[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_3663800095301942537[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_3663800095301942537[2] = 0; + out_3663800095301942537[3] = 0; + out_3663800095301942537[4] = 0; + out_3663800095301942537[5] = 0; + out_3663800095301942537[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_3663800095301942537[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_3663800095301942537[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_3663800095301942537[9] = 0; + out_3663800095301942537[10] = 0; + out_3663800095301942537[11] = 0; + out_3663800095301942537[12] = 0; + out_3663800095301942537[13] = 0; + out_3663800095301942537[14] = 0; + out_3663800095301942537[15] = 0; + out_3663800095301942537[16] = 0; + out_3663800095301942537[17] = 0; + out_3663800095301942537[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_3663800095301942537[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_3663800095301942537[20] = 0; + out_3663800095301942537[21] = 0; + out_3663800095301942537[22] = 0; + out_3663800095301942537[23] = 0; + out_3663800095301942537[24] = 0; + out_3663800095301942537[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_3663800095301942537[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_3663800095301942537[27] = 0; + out_3663800095301942537[28] = 0; + out_3663800095301942537[29] = 0; + out_3663800095301942537[30] = 0; + out_3663800095301942537[31] = 0; + out_3663800095301942537[32] = 0; + out_3663800095301942537[33] = 0; + out_3663800095301942537[34] = 0; + out_3663800095301942537[35] = 0; + out_3663800095301942537[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_3663800095301942537[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_3663800095301942537[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_3663800095301942537[39] = 0; + out_3663800095301942537[40] = 0; + out_3663800095301942537[41] = 0; + out_3663800095301942537[42] = 0; + out_3663800095301942537[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_3663800095301942537[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_3663800095301942537[45] = 0; + out_3663800095301942537[46] = 0; + out_3663800095301942537[47] = 0; + out_3663800095301942537[48] = 0; + out_3663800095301942537[49] = 0; + out_3663800095301942537[50] = 0; + out_3663800095301942537[51] = 0; + out_3663800095301942537[52] = 0; + out_3663800095301942537[53] = 0; + out_3663800095301942537[54] = 0; + out_3663800095301942537[55] = 0; + out_3663800095301942537[56] = 0; + out_3663800095301942537[57] = 1; + out_3663800095301942537[58] = 0; + out_3663800095301942537[59] = 0; + out_3663800095301942537[60] = 0; + out_3663800095301942537[61] = 0; + out_3663800095301942537[62] = 0; + out_3663800095301942537[63] = 0; + out_3663800095301942537[64] = 0; + out_3663800095301942537[65] = 0; + out_3663800095301942537[66] = dt; + out_3663800095301942537[67] = 0; + out_3663800095301942537[68] = 0; + out_3663800095301942537[69] = 0; + out_3663800095301942537[70] = 0; + out_3663800095301942537[71] = 0; + out_3663800095301942537[72] = 0; + out_3663800095301942537[73] = 0; + out_3663800095301942537[74] = 0; + out_3663800095301942537[75] = 0; + out_3663800095301942537[76] = 1; + out_3663800095301942537[77] = 0; + out_3663800095301942537[78] = 0; + out_3663800095301942537[79] = 0; + out_3663800095301942537[80] = 0; + out_3663800095301942537[81] = 0; + out_3663800095301942537[82] = 0; + out_3663800095301942537[83] = 0; + out_3663800095301942537[84] = 0; + out_3663800095301942537[85] = dt; + out_3663800095301942537[86] = 0; + out_3663800095301942537[87] = 0; + out_3663800095301942537[88] = 0; + out_3663800095301942537[89] = 0; + out_3663800095301942537[90] = 0; + out_3663800095301942537[91] = 0; + out_3663800095301942537[92] = 0; + out_3663800095301942537[93] = 0; + out_3663800095301942537[94] = 0; + out_3663800095301942537[95] = 1; + out_3663800095301942537[96] = 0; + out_3663800095301942537[97] = 0; + out_3663800095301942537[98] = 0; + out_3663800095301942537[99] = 0; + out_3663800095301942537[100] = 0; + out_3663800095301942537[101] = 0; + out_3663800095301942537[102] = 0; + out_3663800095301942537[103] = 0; + out_3663800095301942537[104] = dt; + out_3663800095301942537[105] = 0; + out_3663800095301942537[106] = 0; + out_3663800095301942537[107] = 0; + out_3663800095301942537[108] = 0; + out_3663800095301942537[109] = 0; + out_3663800095301942537[110] = 0; + out_3663800095301942537[111] = 0; + out_3663800095301942537[112] = 0; + out_3663800095301942537[113] = 0; + out_3663800095301942537[114] = 1; + out_3663800095301942537[115] = 0; + out_3663800095301942537[116] = 0; + out_3663800095301942537[117] = 0; + out_3663800095301942537[118] = 0; + out_3663800095301942537[119] = 0; + out_3663800095301942537[120] = 0; + out_3663800095301942537[121] = 0; + out_3663800095301942537[122] = 0; + out_3663800095301942537[123] = 0; + out_3663800095301942537[124] = 0; + out_3663800095301942537[125] = 0; + out_3663800095301942537[126] = 0; + out_3663800095301942537[127] = 0; + out_3663800095301942537[128] = 0; + out_3663800095301942537[129] = 0; + out_3663800095301942537[130] = 0; + out_3663800095301942537[131] = 0; + out_3663800095301942537[132] = 0; + out_3663800095301942537[133] = 1; + out_3663800095301942537[134] = 0; + out_3663800095301942537[135] = 0; + out_3663800095301942537[136] = 0; + out_3663800095301942537[137] = 0; + out_3663800095301942537[138] = 0; + out_3663800095301942537[139] = 0; + out_3663800095301942537[140] = 0; + out_3663800095301942537[141] = 0; + out_3663800095301942537[142] = 0; + out_3663800095301942537[143] = 0; + out_3663800095301942537[144] = 0; + out_3663800095301942537[145] = 0; + out_3663800095301942537[146] = 0; + out_3663800095301942537[147] = 0; + out_3663800095301942537[148] = 0; + out_3663800095301942537[149] = 0; + out_3663800095301942537[150] = 0; + out_3663800095301942537[151] = 0; + out_3663800095301942537[152] = 1; + out_3663800095301942537[153] = 0; + out_3663800095301942537[154] = 0; + out_3663800095301942537[155] = 0; + out_3663800095301942537[156] = 0; + out_3663800095301942537[157] = 0; + out_3663800095301942537[158] = 0; + out_3663800095301942537[159] = 0; + out_3663800095301942537[160] = 0; + out_3663800095301942537[161] = 0; + out_3663800095301942537[162] = 0; + out_3663800095301942537[163] = 0; + out_3663800095301942537[164] = 0; + out_3663800095301942537[165] = 0; + out_3663800095301942537[166] = 0; + out_3663800095301942537[167] = 0; + out_3663800095301942537[168] = 0; + out_3663800095301942537[169] = 0; + out_3663800095301942537[170] = 0; + out_3663800095301942537[171] = 1; + out_3663800095301942537[172] = 0; + out_3663800095301942537[173] = 0; + out_3663800095301942537[174] = 0; + out_3663800095301942537[175] = 0; + out_3663800095301942537[176] = 0; + out_3663800095301942537[177] = 0; + out_3663800095301942537[178] = 0; + out_3663800095301942537[179] = 0; + out_3663800095301942537[180] = 0; + out_3663800095301942537[181] = 0; + out_3663800095301942537[182] = 0; + out_3663800095301942537[183] = 0; + out_3663800095301942537[184] = 0; + out_3663800095301942537[185] = 0; + out_3663800095301942537[186] = 0; + out_3663800095301942537[187] = 0; + out_3663800095301942537[188] = 0; + out_3663800095301942537[189] = 0; + out_3663800095301942537[190] = 1; + out_3663800095301942537[191] = 0; + out_3663800095301942537[192] = 0; + out_3663800095301942537[193] = 0; + out_3663800095301942537[194] = 0; + out_3663800095301942537[195] = 0; + out_3663800095301942537[196] = 0; + out_3663800095301942537[197] = 0; + out_3663800095301942537[198] = 0; + out_3663800095301942537[199] = 0; + out_3663800095301942537[200] = 0; + out_3663800095301942537[201] = 0; + out_3663800095301942537[202] = 0; + out_3663800095301942537[203] = 0; + out_3663800095301942537[204] = 0; + out_3663800095301942537[205] = 0; + out_3663800095301942537[206] = 0; + out_3663800095301942537[207] = 0; + out_3663800095301942537[208] = 0; + out_3663800095301942537[209] = 1; + out_3663800095301942537[210] = 0; + out_3663800095301942537[211] = 0; + out_3663800095301942537[212] = 0; + out_3663800095301942537[213] = 0; + out_3663800095301942537[214] = 0; + out_3663800095301942537[215] = 0; + out_3663800095301942537[216] = 0; + out_3663800095301942537[217] = 0; + out_3663800095301942537[218] = 0; + out_3663800095301942537[219] = 0; + out_3663800095301942537[220] = 0; + out_3663800095301942537[221] = 0; + out_3663800095301942537[222] = 0; + out_3663800095301942537[223] = 0; + out_3663800095301942537[224] = 0; + out_3663800095301942537[225] = 0; + out_3663800095301942537[226] = 0; + out_3663800095301942537[227] = 0; + out_3663800095301942537[228] = 1; + out_3663800095301942537[229] = 0; + out_3663800095301942537[230] = 0; + out_3663800095301942537[231] = 0; + out_3663800095301942537[232] = 0; + out_3663800095301942537[233] = 0; + out_3663800095301942537[234] = 0; + out_3663800095301942537[235] = 0; + out_3663800095301942537[236] = 0; + out_3663800095301942537[237] = 0; + out_3663800095301942537[238] = 0; + out_3663800095301942537[239] = 0; + out_3663800095301942537[240] = 0; + out_3663800095301942537[241] = 0; + out_3663800095301942537[242] = 0; + out_3663800095301942537[243] = 0; + out_3663800095301942537[244] = 0; + out_3663800095301942537[245] = 0; + out_3663800095301942537[246] = 0; + out_3663800095301942537[247] = 1; + out_3663800095301942537[248] = 0; + out_3663800095301942537[249] = 0; + out_3663800095301942537[250] = 0; + out_3663800095301942537[251] = 0; + out_3663800095301942537[252] = 0; + out_3663800095301942537[253] = 0; + out_3663800095301942537[254] = 0; + out_3663800095301942537[255] = 0; + out_3663800095301942537[256] = 0; + out_3663800095301942537[257] = 0; + out_3663800095301942537[258] = 0; + out_3663800095301942537[259] = 0; + out_3663800095301942537[260] = 0; + out_3663800095301942537[261] = 0; + out_3663800095301942537[262] = 0; + out_3663800095301942537[263] = 0; + out_3663800095301942537[264] = 0; + out_3663800095301942537[265] = 0; + out_3663800095301942537[266] = 1; + out_3663800095301942537[267] = 0; + out_3663800095301942537[268] = 0; + out_3663800095301942537[269] = 0; + out_3663800095301942537[270] = 0; + out_3663800095301942537[271] = 0; + out_3663800095301942537[272] = 0; + out_3663800095301942537[273] = 0; + out_3663800095301942537[274] = 0; + out_3663800095301942537[275] = 0; + out_3663800095301942537[276] = 0; + out_3663800095301942537[277] = 0; + out_3663800095301942537[278] = 0; + out_3663800095301942537[279] = 0; + out_3663800095301942537[280] = 0; + out_3663800095301942537[281] = 0; + out_3663800095301942537[282] = 0; + out_3663800095301942537[283] = 0; + out_3663800095301942537[284] = 0; + out_3663800095301942537[285] = 1; + out_3663800095301942537[286] = 0; + out_3663800095301942537[287] = 0; + out_3663800095301942537[288] = 0; + out_3663800095301942537[289] = 0; + out_3663800095301942537[290] = 0; + out_3663800095301942537[291] = 0; + out_3663800095301942537[292] = 0; + out_3663800095301942537[293] = 0; + out_3663800095301942537[294] = 0; + out_3663800095301942537[295] = 0; + out_3663800095301942537[296] = 0; + out_3663800095301942537[297] = 0; + out_3663800095301942537[298] = 0; + out_3663800095301942537[299] = 0; + out_3663800095301942537[300] = 0; + out_3663800095301942537[301] = 0; + out_3663800095301942537[302] = 0; + out_3663800095301942537[303] = 0; + out_3663800095301942537[304] = 1; + out_3663800095301942537[305] = 0; + out_3663800095301942537[306] = 0; + out_3663800095301942537[307] = 0; + out_3663800095301942537[308] = 0; + out_3663800095301942537[309] = 0; + out_3663800095301942537[310] = 0; + out_3663800095301942537[311] = 0; + out_3663800095301942537[312] = 0; + out_3663800095301942537[313] = 0; + out_3663800095301942537[314] = 0; + out_3663800095301942537[315] = 0; + out_3663800095301942537[316] = 0; + out_3663800095301942537[317] = 0; + out_3663800095301942537[318] = 0; + out_3663800095301942537[319] = 0; + out_3663800095301942537[320] = 0; + out_3663800095301942537[321] = 0; + out_3663800095301942537[322] = 0; + out_3663800095301942537[323] = 1; } -void h_4(double *state, double *unused, double *out_717943751669182438) { - out_717943751669182438[0] = state[6] + state[9]; - out_717943751669182438[1] = state[7] + state[10]; - out_717943751669182438[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_223446469702120852) { + out_223446469702120852[0] = state[6] + state[9]; + out_223446469702120852[1] = state[7] + state[10]; + out_223446469702120852[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_7659548337950304093) { - out_7659548337950304093[0] = 0; - out_7659548337950304093[1] = 0; - out_7659548337950304093[2] = 0; - out_7659548337950304093[3] = 0; - out_7659548337950304093[4] = 0; - out_7659548337950304093[5] = 0; - out_7659548337950304093[6] = 1; - out_7659548337950304093[7] = 0; - out_7659548337950304093[8] = 0; - out_7659548337950304093[9] = 1; - out_7659548337950304093[10] = 0; - out_7659548337950304093[11] = 0; - out_7659548337950304093[12] = 0; - out_7659548337950304093[13] = 0; - out_7659548337950304093[14] = 0; - out_7659548337950304093[15] = 0; - out_7659548337950304093[16] = 0; - out_7659548337950304093[17] = 0; - out_7659548337950304093[18] = 0; - out_7659548337950304093[19] = 0; - out_7659548337950304093[20] = 0; - out_7659548337950304093[21] = 0; - out_7659548337950304093[22] = 0; - out_7659548337950304093[23] = 0; - out_7659548337950304093[24] = 0; - out_7659548337950304093[25] = 1; - out_7659548337950304093[26] = 0; - out_7659548337950304093[27] = 0; - out_7659548337950304093[28] = 1; - out_7659548337950304093[29] = 0; - out_7659548337950304093[30] = 0; - out_7659548337950304093[31] = 0; - out_7659548337950304093[32] = 0; - out_7659548337950304093[33] = 0; - out_7659548337950304093[34] = 0; - out_7659548337950304093[35] = 0; - out_7659548337950304093[36] = 0; - out_7659548337950304093[37] = 0; - out_7659548337950304093[38] = 0; - out_7659548337950304093[39] = 0; - out_7659548337950304093[40] = 0; - out_7659548337950304093[41] = 0; - out_7659548337950304093[42] = 0; - out_7659548337950304093[43] = 0; - out_7659548337950304093[44] = 1; - out_7659548337950304093[45] = 0; - out_7659548337950304093[46] = 0; - out_7659548337950304093[47] = 1; - out_7659548337950304093[48] = 0; - out_7659548337950304093[49] = 0; - out_7659548337950304093[50] = 0; - out_7659548337950304093[51] = 0; - out_7659548337950304093[52] = 0; - out_7659548337950304093[53] = 0; +void H_4(double *state, double *unused, double *out_4324406006264935836) { + out_4324406006264935836[0] = 0; + out_4324406006264935836[1] = 0; + out_4324406006264935836[2] = 0; + out_4324406006264935836[3] = 0; + out_4324406006264935836[4] = 0; + out_4324406006264935836[5] = 0; + out_4324406006264935836[6] = 1; + out_4324406006264935836[7] = 0; + out_4324406006264935836[8] = 0; + out_4324406006264935836[9] = 1; + out_4324406006264935836[10] = 0; + out_4324406006264935836[11] = 0; + out_4324406006264935836[12] = 0; + out_4324406006264935836[13] = 0; + out_4324406006264935836[14] = 0; + out_4324406006264935836[15] = 0; + out_4324406006264935836[16] = 0; + out_4324406006264935836[17] = 0; + out_4324406006264935836[18] = 0; + out_4324406006264935836[19] = 0; + out_4324406006264935836[20] = 0; + out_4324406006264935836[21] = 0; + out_4324406006264935836[22] = 0; + out_4324406006264935836[23] = 0; + out_4324406006264935836[24] = 0; + out_4324406006264935836[25] = 1; + out_4324406006264935836[26] = 0; + out_4324406006264935836[27] = 0; + out_4324406006264935836[28] = 1; + out_4324406006264935836[29] = 0; + out_4324406006264935836[30] = 0; + out_4324406006264935836[31] = 0; + out_4324406006264935836[32] = 0; + out_4324406006264935836[33] = 0; + out_4324406006264935836[34] = 0; + out_4324406006264935836[35] = 0; + out_4324406006264935836[36] = 0; + out_4324406006264935836[37] = 0; + out_4324406006264935836[38] = 0; + out_4324406006264935836[39] = 0; + out_4324406006264935836[40] = 0; + out_4324406006264935836[41] = 0; + out_4324406006264935836[42] = 0; + out_4324406006264935836[43] = 0; + out_4324406006264935836[44] = 1; + out_4324406006264935836[45] = 0; + out_4324406006264935836[46] = 0; + out_4324406006264935836[47] = 1; + out_4324406006264935836[48] = 0; + out_4324406006264935836[49] = 0; + out_4324406006264935836[50] = 0; + out_4324406006264935836[51] = 0; + out_4324406006264935836[52] = 0; + out_4324406006264935836[53] = 0; } -void h_10(double *state, double *unused, double *out_5351201218378086589) { - out_5351201218378086589[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5351201218378086589[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5351201218378086589[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_2753848967308463071) { + out_2753848967308463071[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2753848967308463071[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2753848967308463071[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_5063285185285945841) { - out_5063285185285945841[0] = 0; - out_5063285185285945841[1] = 9.8100000000000005*cos(state[1]); - out_5063285185285945841[2] = 0; - out_5063285185285945841[3] = 0; - out_5063285185285945841[4] = -state[8]; - out_5063285185285945841[5] = state[7]; - out_5063285185285945841[6] = 0; - out_5063285185285945841[7] = state[5]; - out_5063285185285945841[8] = -state[4]; - out_5063285185285945841[9] = 0; - out_5063285185285945841[10] = 0; - out_5063285185285945841[11] = 0; - out_5063285185285945841[12] = 1; - out_5063285185285945841[13] = 0; - out_5063285185285945841[14] = 0; - out_5063285185285945841[15] = 1; - out_5063285185285945841[16] = 0; - out_5063285185285945841[17] = 0; - out_5063285185285945841[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5063285185285945841[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5063285185285945841[20] = 0; - out_5063285185285945841[21] = state[8]; - out_5063285185285945841[22] = 0; - out_5063285185285945841[23] = -state[6]; - out_5063285185285945841[24] = -state[5]; - out_5063285185285945841[25] = 0; - out_5063285185285945841[26] = state[3]; - out_5063285185285945841[27] = 0; - out_5063285185285945841[28] = 0; - out_5063285185285945841[29] = 0; - out_5063285185285945841[30] = 0; - out_5063285185285945841[31] = 1; - out_5063285185285945841[32] = 0; - out_5063285185285945841[33] = 0; - out_5063285185285945841[34] = 1; - out_5063285185285945841[35] = 0; - out_5063285185285945841[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5063285185285945841[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5063285185285945841[38] = 0; - out_5063285185285945841[39] = -state[7]; - out_5063285185285945841[40] = state[6]; - out_5063285185285945841[41] = 0; - out_5063285185285945841[42] = state[4]; - out_5063285185285945841[43] = -state[3]; - out_5063285185285945841[44] = 0; - out_5063285185285945841[45] = 0; - out_5063285185285945841[46] = 0; - out_5063285185285945841[47] = 0; - out_5063285185285945841[48] = 0; - out_5063285185285945841[49] = 0; - out_5063285185285945841[50] = 1; - out_5063285185285945841[51] = 0; - out_5063285185285945841[52] = 0; - out_5063285185285945841[53] = 1; +void H_10(double *state, double *unused, double *out_1159288756680005657) { + out_1159288756680005657[0] = 0; + out_1159288756680005657[1] = 9.8100000000000005*cos(state[1]); + out_1159288756680005657[2] = 0; + out_1159288756680005657[3] = 0; + out_1159288756680005657[4] = -state[8]; + out_1159288756680005657[5] = state[7]; + out_1159288756680005657[6] = 0; + out_1159288756680005657[7] = state[5]; + out_1159288756680005657[8] = -state[4]; + out_1159288756680005657[9] = 0; + out_1159288756680005657[10] = 0; + out_1159288756680005657[11] = 0; + out_1159288756680005657[12] = 1; + out_1159288756680005657[13] = 0; + out_1159288756680005657[14] = 0; + out_1159288756680005657[15] = 1; + out_1159288756680005657[16] = 0; + out_1159288756680005657[17] = 0; + out_1159288756680005657[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1159288756680005657[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1159288756680005657[20] = 0; + out_1159288756680005657[21] = state[8]; + out_1159288756680005657[22] = 0; + out_1159288756680005657[23] = -state[6]; + out_1159288756680005657[24] = -state[5]; + out_1159288756680005657[25] = 0; + out_1159288756680005657[26] = state[3]; + out_1159288756680005657[27] = 0; + out_1159288756680005657[28] = 0; + out_1159288756680005657[29] = 0; + out_1159288756680005657[30] = 0; + out_1159288756680005657[31] = 1; + out_1159288756680005657[32] = 0; + out_1159288756680005657[33] = 0; + out_1159288756680005657[34] = 1; + out_1159288756680005657[35] = 0; + out_1159288756680005657[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1159288756680005657[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1159288756680005657[38] = 0; + out_1159288756680005657[39] = -state[7]; + out_1159288756680005657[40] = state[6]; + out_1159288756680005657[41] = 0; + out_1159288756680005657[42] = state[4]; + out_1159288756680005657[43] = -state[3]; + out_1159288756680005657[44] = 0; + out_1159288756680005657[45] = 0; + out_1159288756680005657[46] = 0; + out_1159288756680005657[47] = 0; + out_1159288756680005657[48] = 0; + out_1159288756680005657[49] = 0; + out_1159288756680005657[50] = 1; + out_1159288756680005657[51] = 0; + out_1159288756680005657[52] = 0; + out_1159288756680005657[53] = 1; } -void h_13(double *state, double *unused, double *out_8511287818621351769) { - out_8511287818621351769[0] = state[3]; - out_8511287818621351769[1] = state[4]; - out_8511287818621351769[2] = state[5]; +void h_13(double *state, double *unused, double *out_4379566868646893753) { + out_4379566868646893753[0] = state[3]; + out_4379566868646893753[1] = state[4]; + out_4379566868646893753[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4447274512617971292) { - out_4447274512617971292[0] = 0; - out_4447274512617971292[1] = 0; - out_4447274512617971292[2] = 0; - out_4447274512617971292[3] = 1; - out_4447274512617971292[4] = 0; - out_4447274512617971292[5] = 0; - out_4447274512617971292[6] = 0; - out_4447274512617971292[7] = 0; - out_4447274512617971292[8] = 0; - out_4447274512617971292[9] = 0; - out_4447274512617971292[10] = 0; - out_4447274512617971292[11] = 0; - out_4447274512617971292[12] = 0; - out_4447274512617971292[13] = 0; - out_4447274512617971292[14] = 0; - out_4447274512617971292[15] = 0; - out_4447274512617971292[16] = 0; - out_4447274512617971292[17] = 0; - out_4447274512617971292[18] = 0; - out_4447274512617971292[19] = 0; - out_4447274512617971292[20] = 0; - out_4447274512617971292[21] = 0; - out_4447274512617971292[22] = 1; - out_4447274512617971292[23] = 0; - out_4447274512617971292[24] = 0; - out_4447274512617971292[25] = 0; - out_4447274512617971292[26] = 0; - out_4447274512617971292[27] = 0; - out_4447274512617971292[28] = 0; - out_4447274512617971292[29] = 0; - out_4447274512617971292[30] = 0; - out_4447274512617971292[31] = 0; - out_4447274512617971292[32] = 0; - out_4447274512617971292[33] = 0; - out_4447274512617971292[34] = 0; - out_4447274512617971292[35] = 0; - out_4447274512617971292[36] = 0; - out_4447274512617971292[37] = 0; - out_4447274512617971292[38] = 0; - out_4447274512617971292[39] = 0; - out_4447274512617971292[40] = 0; - out_4447274512617971292[41] = 1; - out_4447274512617971292[42] = 0; - out_4447274512617971292[43] = 0; - out_4447274512617971292[44] = 0; - out_4447274512617971292[45] = 0; - out_4447274512617971292[46] = 0; - out_4447274512617971292[47] = 0; - out_4447274512617971292[48] = 0; - out_4447274512617971292[49] = 0; - out_4447274512617971292[50] = 0; - out_4447274512617971292[51] = 0; - out_4447274512617971292[52] = 0; - out_4447274512617971292[53] = 0; +void H_13(double *state, double *unused, double *out_8158161469567459860) { + out_8158161469567459860[0] = 0; + out_8158161469567459860[1] = 0; + out_8158161469567459860[2] = 0; + out_8158161469567459860[3] = 1; + out_8158161469567459860[4] = 0; + out_8158161469567459860[5] = 0; + out_8158161469567459860[6] = 0; + out_8158161469567459860[7] = 0; + out_8158161469567459860[8] = 0; + out_8158161469567459860[9] = 0; + out_8158161469567459860[10] = 0; + out_8158161469567459860[11] = 0; + out_8158161469567459860[12] = 0; + out_8158161469567459860[13] = 0; + out_8158161469567459860[14] = 0; + out_8158161469567459860[15] = 0; + out_8158161469567459860[16] = 0; + out_8158161469567459860[17] = 0; + out_8158161469567459860[18] = 0; + out_8158161469567459860[19] = 0; + out_8158161469567459860[20] = 0; + out_8158161469567459860[21] = 0; + out_8158161469567459860[22] = 1; + out_8158161469567459860[23] = 0; + out_8158161469567459860[24] = 0; + out_8158161469567459860[25] = 0; + out_8158161469567459860[26] = 0; + out_8158161469567459860[27] = 0; + out_8158161469567459860[28] = 0; + out_8158161469567459860[29] = 0; + out_8158161469567459860[30] = 0; + out_8158161469567459860[31] = 0; + out_8158161469567459860[32] = 0; + out_8158161469567459860[33] = 0; + out_8158161469567459860[34] = 0; + out_8158161469567459860[35] = 0; + out_8158161469567459860[36] = 0; + out_8158161469567459860[37] = 0; + out_8158161469567459860[38] = 0; + out_8158161469567459860[39] = 0; + out_8158161469567459860[40] = 0; + out_8158161469567459860[41] = 1; + out_8158161469567459860[42] = 0; + out_8158161469567459860[43] = 0; + out_8158161469567459860[44] = 0; + out_8158161469567459860[45] = 0; + out_8158161469567459860[46] = 0; + out_8158161469567459860[47] = 0; + out_8158161469567459860[48] = 0; + out_8158161469567459860[49] = 0; + out_8158161469567459860[50] = 0; + out_8158161469567459860[51] = 0; + out_8158161469567459860[52] = 0; + out_8158161469567459860[53] = 0; } -void h_14(double *state, double *unused, double *out_7796170631529448638) { - out_7796170631529448638[0] = state[6]; - out_7796170631529448638[1] = state[7]; - out_7796170631529448638[2] = state[8]; +void h_14(double *state, double *unused, double *out_8438977474921151403) { + out_8438977474921151403[0] = state[6]; + out_8438977474921151403[1] = state[7]; + out_8438977474921151403[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3696307481610819564) { - out_3696307481610819564[0] = 0; - out_3696307481610819564[1] = 0; - out_3696307481610819564[2] = 0; - out_3696307481610819564[3] = 0; - out_3696307481610819564[4] = 0; - out_3696307481610819564[5] = 0; - out_3696307481610819564[6] = 1; - out_3696307481610819564[7] = 0; - out_3696307481610819564[8] = 0; - out_3696307481610819564[9] = 0; - out_3696307481610819564[10] = 0; - out_3696307481610819564[11] = 0; - out_3696307481610819564[12] = 0; - out_3696307481610819564[13] = 0; - out_3696307481610819564[14] = 0; - out_3696307481610819564[15] = 0; - out_3696307481610819564[16] = 0; - out_3696307481610819564[17] = 0; - out_3696307481610819564[18] = 0; - out_3696307481610819564[19] = 0; - out_3696307481610819564[20] = 0; - out_3696307481610819564[21] = 0; - out_3696307481610819564[22] = 0; - out_3696307481610819564[23] = 0; - out_3696307481610819564[24] = 0; - out_3696307481610819564[25] = 1; - out_3696307481610819564[26] = 0; - out_3696307481610819564[27] = 0; - out_3696307481610819564[28] = 0; - out_3696307481610819564[29] = 0; - out_3696307481610819564[30] = 0; - out_3696307481610819564[31] = 0; - out_3696307481610819564[32] = 0; - out_3696307481610819564[33] = 0; - out_3696307481610819564[34] = 0; - out_3696307481610819564[35] = 0; - out_3696307481610819564[36] = 0; - out_3696307481610819564[37] = 0; - out_3696307481610819564[38] = 0; - out_3696307481610819564[39] = 0; - out_3696307481610819564[40] = 0; - out_3696307481610819564[41] = 0; - out_3696307481610819564[42] = 0; - out_3696307481610819564[43] = 0; - out_3696307481610819564[44] = 1; - out_3696307481610819564[45] = 0; - out_3696307481610819564[46] = 0; - out_3696307481610819564[47] = 0; - out_3696307481610819564[48] = 0; - out_3696307481610819564[49] = 0; - out_3696307481610819564[50] = 0; - out_3696307481610819564[51] = 0; - out_3696307481610819564[52] = 0; - out_3696307481610819564[53] = 0; +void H_14(double *state, double *unused, double *out_7407194438560308132) { + out_7407194438560308132[0] = 0; + out_7407194438560308132[1] = 0; + out_7407194438560308132[2] = 0; + out_7407194438560308132[3] = 0; + out_7407194438560308132[4] = 0; + out_7407194438560308132[5] = 0; + out_7407194438560308132[6] = 1; + out_7407194438560308132[7] = 0; + out_7407194438560308132[8] = 0; + out_7407194438560308132[9] = 0; + out_7407194438560308132[10] = 0; + out_7407194438560308132[11] = 0; + out_7407194438560308132[12] = 0; + out_7407194438560308132[13] = 0; + out_7407194438560308132[14] = 0; + out_7407194438560308132[15] = 0; + out_7407194438560308132[16] = 0; + out_7407194438560308132[17] = 0; + out_7407194438560308132[18] = 0; + out_7407194438560308132[19] = 0; + out_7407194438560308132[20] = 0; + out_7407194438560308132[21] = 0; + out_7407194438560308132[22] = 0; + out_7407194438560308132[23] = 0; + out_7407194438560308132[24] = 0; + out_7407194438560308132[25] = 1; + out_7407194438560308132[26] = 0; + out_7407194438560308132[27] = 0; + out_7407194438560308132[28] = 0; + out_7407194438560308132[29] = 0; + out_7407194438560308132[30] = 0; + out_7407194438560308132[31] = 0; + out_7407194438560308132[32] = 0; + out_7407194438560308132[33] = 0; + out_7407194438560308132[34] = 0; + out_7407194438560308132[35] = 0; + out_7407194438560308132[36] = 0; + out_7407194438560308132[37] = 0; + out_7407194438560308132[38] = 0; + out_7407194438560308132[39] = 0; + out_7407194438560308132[40] = 0; + out_7407194438560308132[41] = 0; + out_7407194438560308132[42] = 0; + out_7407194438560308132[43] = 0; + out_7407194438560308132[44] = 1; + out_7407194438560308132[45] = 0; + out_7407194438560308132[46] = 0; + out_7407194438560308132[47] = 0; + out_7407194438560308132[48] = 0; + out_7407194438560308132[49] = 0; + out_7407194438560308132[50] = 0; + out_7407194438560308132[51] = 0; + out_7407194438560308132[52] = 0; + out_7407194438560308132[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_8315489890310503187) { - err_fun(nom_x, delta_x, out_8315489890310503187); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6989025868442055132) { + err_fun(nom_x, delta_x, out_6989025868442055132); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6008596051390826841) { - inv_err_fun(nom_x, true_x, out_6008596051390826841); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3172938755845140042) { + inv_err_fun(nom_x, true_x, out_3172938755845140042); } -void pose_H_mod_fun(double *state, double *out_5634677350720166788) { - H_mod_fun(state, out_5634677350720166788); +void pose_H_mod_fun(double *state, double *out_3225867917449183727) { + H_mod_fun(state, out_3225867917449183727); } -void pose_f_fun(double *state, double dt, double *out_5401222257802876036) { - f_fun(state, dt, out_5401222257802876036); +void pose_f_fun(double *state, double dt, double *out_2533972772359230172) { + f_fun(state, dt, out_2533972772359230172); } -void pose_F_fun(double *state, double dt, double *out_1313183186567530475) { - F_fun(state, dt, out_1313183186567530475); +void pose_F_fun(double *state, double dt, double *out_3663800095301942537) { + F_fun(state, dt, out_3663800095301942537); } -void pose_h_4(double *state, double *unused, double *out_717943751669182438) { - h_4(state, unused, out_717943751669182438); +void pose_h_4(double *state, double *unused, double *out_223446469702120852) { + h_4(state, unused, out_223446469702120852); } -void pose_H_4(double *state, double *unused, double *out_7659548337950304093) { - H_4(state, unused, out_7659548337950304093); +void pose_H_4(double *state, double *unused, double *out_4324406006264935836) { + H_4(state, unused, out_4324406006264935836); } -void pose_h_10(double *state, double *unused, double *out_5351201218378086589) { - h_10(state, unused, out_5351201218378086589); +void pose_h_10(double *state, double *unused, double *out_2753848967308463071) { + h_10(state, unused, out_2753848967308463071); } -void pose_H_10(double *state, double *unused, double *out_5063285185285945841) { - H_10(state, unused, out_5063285185285945841); +void pose_H_10(double *state, double *unused, double *out_1159288756680005657) { + H_10(state, unused, out_1159288756680005657); } -void pose_h_13(double *state, double *unused, double *out_8511287818621351769) { - h_13(state, unused, out_8511287818621351769); +void pose_h_13(double *state, double *unused, double *out_4379566868646893753) { + h_13(state, unused, out_4379566868646893753); } -void pose_H_13(double *state, double *unused, double *out_4447274512617971292) { - H_13(state, unused, out_4447274512617971292); +void pose_H_13(double *state, double *unused, double *out_8158161469567459860) { + H_13(state, unused, out_8158161469567459860); } -void pose_h_14(double *state, double *unused, double *out_7796170631529448638) { - h_14(state, unused, out_7796170631529448638); +void pose_h_14(double *state, double *unused, double *out_8438977474921151403) { + h_14(state, unused, out_8438977474921151403); } -void pose_H_14(double *state, double *unused, double *out_3696307481610819564) { - H_14(state, unused, out_3696307481610819564); +void pose_H_14(double *state, double *unused, double *out_7407194438560308132) { + H_14(state, unused, out_7407194438560308132); } 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 a5b74a750..7d7de395c 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_8315489890310503187); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6008596051390826841); -void pose_H_mod_fun(double *state, double *out_5634677350720166788); -void pose_f_fun(double *state, double dt, double *out_5401222257802876036); -void pose_F_fun(double *state, double dt, double *out_1313183186567530475); -void pose_h_4(double *state, double *unused, double *out_717943751669182438); -void pose_H_4(double *state, double *unused, double *out_7659548337950304093); -void pose_h_10(double *state, double *unused, double *out_5351201218378086589); -void pose_H_10(double *state, double *unused, double *out_5063285185285945841); -void pose_h_13(double *state, double *unused, double *out_8511287818621351769); -void pose_H_13(double *state, double *unused, double *out_4447274512617971292); -void pose_h_14(double *state, double *unused, double *out_7796170631529448638); -void pose_H_14(double *state, double *unused, double *out_3696307481610819564); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6989025868442055132); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3172938755845140042); +void pose_H_mod_fun(double *state, double *out_3225867917449183727); +void pose_f_fun(double *state, double dt, double *out_2533972772359230172); +void pose_F_fun(double *state, double dt, double *out_3663800095301942537); +void pose_h_4(double *state, double *unused, double *out_223446469702120852); +void pose_H_4(double *state, double *unused, double *out_4324406006264935836); +void pose_h_10(double *state, double *unused, double *out_2753848967308463071); +void pose_H_10(double *state, double *unused, double *out_1159288756680005657); +void pose_h_13(double *state, double *unused, double *out_4379566868646893753); +void pose_H_13(double *state, double *unused, double *out_8158161469567459860); +void pose_h_14(double *state, double *unused, double *out_8438977474921151403); +void pose_H_14(double *state, double *unused, double *out_7407194438560308132); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py index bb10168bb..4a79e9ff5 100644 --- a/selfdrive/modeld/compile_warp.py +++ b/selfdrive/modeld/compile_warp.py @@ -66,7 +66,7 @@ def dm_warp_pkl_path(w, h): return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl' -def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad): +def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None): w_dst, h_dst = dst_shape h_src, w_src = src_shape @@ -81,11 +81,19 @@ def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad) src_x = src_x / src_w src_y = src_y / src_w - x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int') - y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int') + x_round = Tensor.round(src_x) + y_round = Tensor.round(src_y) + x_nn_clipped = x_round.clip(0, w_src - 1).cast('int') + y_nn_clipped = y_round.clip(0, h_src - 1).cast('int') idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped - return src_flat[idx] + sampled = src_flat[idx] + if border_fill_val is None: + return sampled + + in_bounds = ((x_round >= 0) & (x_round <= w_src - 1) & + (y_round >= 0) & (y_round <= h_src - 1)).cast(sampled.dtype) + return sampled * in_bounds + Tensor(border_fill_val, dtype=sampled.dtype) * (1 - in_bounds) def frames_to_tensor(frames, model_w, model_h): @@ -152,7 +160,9 @@ def make_warp_dm(cam_w, cam_h, dm_w, dm_h): def warp_dm(input_frame, M_inv): M_inv = M_inv.to(Device.DEFAULT) - result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w) + result = warp_perspective_tinygrad( + input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=16 + ).reshape(-1, dm_h * dm_w) return result return warp_dm diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 4bfd43a02..e4cb61a6c 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -80,6 +80,11 @@ def parse_model_output(model_output): parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:]) for key in ['face_prob', 'left_eye_prob', 'right_eye_prob', 'left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']: parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}']) + sleep_key = f'sleep_prob_{ds_suffix}' + if sleep_key in model_output: + parsed[sleep_key] = sigmoid(model_output[sleep_key]) + else: + parsed[sleep_key] = np.zeros((1, 1), dtype=np.float32) return parsed @@ -95,6 +100,7 @@ def fill_driver_data(msg, model_output, ds_suffix): msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item() msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item() msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item() + msg.sleepProb = model_output[f'sleep_prob_{ds_suffix}'][0, 0].item() def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float): diff --git a/selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl b/selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl index 0c50645e9..4fbd2db4c 100644 Binary files a/selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl and b/selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl differ diff --git a/selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl b/selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl index 748354f27..315c40c46 100644 Binary files a/selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl and b/selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl differ diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 7d59ce24e..873c74b77 100644 Binary files a/selfdrive/modeld/models/dmonitoring_model.onnx and b/selfdrive/modeld/models/dmonitoring_model.onnx differ diff --git a/selfdrive/modeld/models/dmonitoring_model_metadata.pkl b/selfdrive/modeld/models/dmonitoring_model_metadata.pkl index 71e4b289c..9aad8d4df 100644 Binary files a/selfdrive/modeld/models/dmonitoring_model_metadata.pkl and b/selfdrive/modeld/models/dmonitoring_model_metadata.pkl differ diff --git a/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl b/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl index 299065b59..9d126a2b8 100644 Binary files a/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl and b/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl differ diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index 0761b3460..b8cd03147 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -57,7 +57,7 @@ class DRIVER_MONITOR_SETTINGS: self._YAW_MIN_OFFSET = -0.0246 self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1 - self._DCAM_UNCERTAIN_RESET_COUNT = int(20 / self._DT_DMON) + self._DCAM_UNCERTAIN_RESET_COUNT = int(2 / self._DT_DMON) self._POSESTD_THRESHOLD = 0.3 self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 887cf6f4a..46d4d55d4 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/tinygrad_repo/examples/openpilot/compile3.py b/tinygrad_repo/examples/openpilot/compile3.py index 109bf8a3f..3955c7292 100644 --- a/tinygrad_repo/examples/openpilot/compile3.py +++ b/tinygrad_repo/examples/openpilot/compile3.py @@ -1,4 +1,5 @@ import os, sys, pickle, time, re +from pathlib import Path import numpy as np if "FLOAT16" not in os.environ: os.environ["FLOAT16"] = "1" if "IMAGE" not in os.environ: os.environ["IMAGE"] = "2" @@ -131,7 +132,8 @@ def bench(run, inputs): run(**inputs).numpy() if __name__ == "__main__": - onnx_file = fetch(OPENPILOT_MODEL) + local_onnx = Path(OPENPILOT_MODEL).expanduser() + onnx_file = str(local_onnx if local_onnx.exists() else fetch(OPENPILOT_MODEL)) inputs, outputs = compile(onnx_file) with open(OUTPUT, "rb") as f: pickle_loaded = pickle.load(f)