diff --git a/common/libcommon.a b/common/libcommon.a index 2e6f787d2..4f73c521f 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index 37f7be451..199fe2c0d 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index f6b0baef2..036205a06 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 2beb4cdeb..15c5091ae 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 b499dca52..5808f762b 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 51ec7c9b1..f2cf4ab27 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 9bf68a887..1a10bb68d 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 3aa56bb72..d77a157c3 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 0054262b4..53104d021 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 0054262b4..53104d021 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 89be1fae9..009c71817 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 3aa56bb72..d77a157c3 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 098de47cd..c09bc1190 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-601b8855-DEBUG"; +const uint8_t gitversion[19] = "DEV-da88d20b-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 576034169..e3b5536d9 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 49e0c6751..d668370d2 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 9fb3fc075..b2cc0fbc9 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 1f139b4e7..1283f33ae 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 3f574713d..6150ef29f 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 0e9a4c4f8..629840403 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 1cb125110..f58872d3c 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 bcbd75fba..bace8bfbb 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 9fd6e8250..2367d6123 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 11b00e7b6..01f4f007e 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 1461703f0..19750b8f0 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 121f4d372..15f72ffc9 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 57719677a..6e9b656b0 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 aab5d732f..750e10dc2 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 d8d199553..c4b2dd7dd 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 951d3d088..1c4bc90a3 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 e60a7bc98..24d6adbf8 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 cc31a45c3..136488b83 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 5d0212fe4..aeafd115b 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 f12fc28f2..1d4c8a6bf 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 e79812c8b..be1a6cd74 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-601b8855-DEBUG \ No newline at end of file +DEV-da88d20b-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 7a292ddf9..e16b8af41 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_4317163891516196670) { - out_4317163891516196670[0] = delta_x[0] + nom_x[0]; - out_4317163891516196670[1] = delta_x[1] + nom_x[1]; - out_4317163891516196670[2] = delta_x[2] + nom_x[2]; - out_4317163891516196670[3] = delta_x[3] + nom_x[3]; - out_4317163891516196670[4] = delta_x[4] + nom_x[4]; - out_4317163891516196670[5] = delta_x[5] + nom_x[5]; - out_4317163891516196670[6] = delta_x[6] + nom_x[6]; - out_4317163891516196670[7] = delta_x[7] + nom_x[7]; - out_4317163891516196670[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3568804456057098654) { + out_3568804456057098654[0] = delta_x[0] + nom_x[0]; + out_3568804456057098654[1] = delta_x[1] + nom_x[1]; + out_3568804456057098654[2] = delta_x[2] + nom_x[2]; + out_3568804456057098654[3] = delta_x[3] + nom_x[3]; + out_3568804456057098654[4] = delta_x[4] + nom_x[4]; + out_3568804456057098654[5] = delta_x[5] + nom_x[5]; + out_3568804456057098654[6] = delta_x[6] + nom_x[6]; + out_3568804456057098654[7] = delta_x[7] + nom_x[7]; + out_3568804456057098654[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8278424519720112087) { - out_8278424519720112087[0] = -nom_x[0] + true_x[0]; - out_8278424519720112087[1] = -nom_x[1] + true_x[1]; - out_8278424519720112087[2] = -nom_x[2] + true_x[2]; - out_8278424519720112087[3] = -nom_x[3] + true_x[3]; - out_8278424519720112087[4] = -nom_x[4] + true_x[4]; - out_8278424519720112087[5] = -nom_x[5] + true_x[5]; - out_8278424519720112087[6] = -nom_x[6] + true_x[6]; - out_8278424519720112087[7] = -nom_x[7] + true_x[7]; - out_8278424519720112087[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031) { + out_1840397183166108031[0] = -nom_x[0] + true_x[0]; + out_1840397183166108031[1] = -nom_x[1] + true_x[1]; + out_1840397183166108031[2] = -nom_x[2] + true_x[2]; + out_1840397183166108031[3] = -nom_x[3] + true_x[3]; + out_1840397183166108031[4] = -nom_x[4] + true_x[4]; + out_1840397183166108031[5] = -nom_x[5] + true_x[5]; + out_1840397183166108031[6] = -nom_x[6] + true_x[6]; + out_1840397183166108031[7] = -nom_x[7] + true_x[7]; + out_1840397183166108031[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_319627375497114494) { - out_319627375497114494[0] = 1.0; - out_319627375497114494[1] = 0.0; - out_319627375497114494[2] = 0.0; - out_319627375497114494[3] = 0.0; - out_319627375497114494[4] = 0.0; - out_319627375497114494[5] = 0.0; - out_319627375497114494[6] = 0.0; - out_319627375497114494[7] = 0.0; - out_319627375497114494[8] = 0.0; - out_319627375497114494[9] = 0.0; - out_319627375497114494[10] = 1.0; - out_319627375497114494[11] = 0.0; - out_319627375497114494[12] = 0.0; - out_319627375497114494[13] = 0.0; - out_319627375497114494[14] = 0.0; - out_319627375497114494[15] = 0.0; - out_319627375497114494[16] = 0.0; - out_319627375497114494[17] = 0.0; - out_319627375497114494[18] = 0.0; - out_319627375497114494[19] = 0.0; - out_319627375497114494[20] = 1.0; - out_319627375497114494[21] = 0.0; - out_319627375497114494[22] = 0.0; - out_319627375497114494[23] = 0.0; - out_319627375497114494[24] = 0.0; - out_319627375497114494[25] = 0.0; - out_319627375497114494[26] = 0.0; - out_319627375497114494[27] = 0.0; - out_319627375497114494[28] = 0.0; - out_319627375497114494[29] = 0.0; - out_319627375497114494[30] = 1.0; - out_319627375497114494[31] = 0.0; - out_319627375497114494[32] = 0.0; - out_319627375497114494[33] = 0.0; - out_319627375497114494[34] = 0.0; - out_319627375497114494[35] = 0.0; - out_319627375497114494[36] = 0.0; - out_319627375497114494[37] = 0.0; - out_319627375497114494[38] = 0.0; - out_319627375497114494[39] = 0.0; - out_319627375497114494[40] = 1.0; - out_319627375497114494[41] = 0.0; - out_319627375497114494[42] = 0.0; - out_319627375497114494[43] = 0.0; - out_319627375497114494[44] = 0.0; - out_319627375497114494[45] = 0.0; - out_319627375497114494[46] = 0.0; - out_319627375497114494[47] = 0.0; - out_319627375497114494[48] = 0.0; - out_319627375497114494[49] = 0.0; - out_319627375497114494[50] = 1.0; - out_319627375497114494[51] = 0.0; - out_319627375497114494[52] = 0.0; - out_319627375497114494[53] = 0.0; - out_319627375497114494[54] = 0.0; - out_319627375497114494[55] = 0.0; - out_319627375497114494[56] = 0.0; - out_319627375497114494[57] = 0.0; - out_319627375497114494[58] = 0.0; - out_319627375497114494[59] = 0.0; - out_319627375497114494[60] = 1.0; - out_319627375497114494[61] = 0.0; - out_319627375497114494[62] = 0.0; - out_319627375497114494[63] = 0.0; - out_319627375497114494[64] = 0.0; - out_319627375497114494[65] = 0.0; - out_319627375497114494[66] = 0.0; - out_319627375497114494[67] = 0.0; - out_319627375497114494[68] = 0.0; - out_319627375497114494[69] = 0.0; - out_319627375497114494[70] = 1.0; - out_319627375497114494[71] = 0.0; - out_319627375497114494[72] = 0.0; - out_319627375497114494[73] = 0.0; - out_319627375497114494[74] = 0.0; - out_319627375497114494[75] = 0.0; - out_319627375497114494[76] = 0.0; - out_319627375497114494[77] = 0.0; - out_319627375497114494[78] = 0.0; - out_319627375497114494[79] = 0.0; - out_319627375497114494[80] = 1.0; +void H_mod_fun(double *state, double *out_8921258435077713963) { + out_8921258435077713963[0] = 1.0; + out_8921258435077713963[1] = 0.0; + out_8921258435077713963[2] = 0.0; + out_8921258435077713963[3] = 0.0; + out_8921258435077713963[4] = 0.0; + out_8921258435077713963[5] = 0.0; + out_8921258435077713963[6] = 0.0; + out_8921258435077713963[7] = 0.0; + out_8921258435077713963[8] = 0.0; + out_8921258435077713963[9] = 0.0; + out_8921258435077713963[10] = 1.0; + out_8921258435077713963[11] = 0.0; + out_8921258435077713963[12] = 0.0; + out_8921258435077713963[13] = 0.0; + out_8921258435077713963[14] = 0.0; + out_8921258435077713963[15] = 0.0; + out_8921258435077713963[16] = 0.0; + out_8921258435077713963[17] = 0.0; + out_8921258435077713963[18] = 0.0; + out_8921258435077713963[19] = 0.0; + out_8921258435077713963[20] = 1.0; + out_8921258435077713963[21] = 0.0; + out_8921258435077713963[22] = 0.0; + out_8921258435077713963[23] = 0.0; + out_8921258435077713963[24] = 0.0; + out_8921258435077713963[25] = 0.0; + out_8921258435077713963[26] = 0.0; + out_8921258435077713963[27] = 0.0; + out_8921258435077713963[28] = 0.0; + out_8921258435077713963[29] = 0.0; + out_8921258435077713963[30] = 1.0; + out_8921258435077713963[31] = 0.0; + out_8921258435077713963[32] = 0.0; + out_8921258435077713963[33] = 0.0; + out_8921258435077713963[34] = 0.0; + out_8921258435077713963[35] = 0.0; + out_8921258435077713963[36] = 0.0; + out_8921258435077713963[37] = 0.0; + out_8921258435077713963[38] = 0.0; + out_8921258435077713963[39] = 0.0; + out_8921258435077713963[40] = 1.0; + out_8921258435077713963[41] = 0.0; + out_8921258435077713963[42] = 0.0; + out_8921258435077713963[43] = 0.0; + out_8921258435077713963[44] = 0.0; + out_8921258435077713963[45] = 0.0; + out_8921258435077713963[46] = 0.0; + out_8921258435077713963[47] = 0.0; + out_8921258435077713963[48] = 0.0; + out_8921258435077713963[49] = 0.0; + out_8921258435077713963[50] = 1.0; + out_8921258435077713963[51] = 0.0; + out_8921258435077713963[52] = 0.0; + out_8921258435077713963[53] = 0.0; + out_8921258435077713963[54] = 0.0; + out_8921258435077713963[55] = 0.0; + out_8921258435077713963[56] = 0.0; + out_8921258435077713963[57] = 0.0; + out_8921258435077713963[58] = 0.0; + out_8921258435077713963[59] = 0.0; + out_8921258435077713963[60] = 1.0; + out_8921258435077713963[61] = 0.0; + out_8921258435077713963[62] = 0.0; + out_8921258435077713963[63] = 0.0; + out_8921258435077713963[64] = 0.0; + out_8921258435077713963[65] = 0.0; + out_8921258435077713963[66] = 0.0; + out_8921258435077713963[67] = 0.0; + out_8921258435077713963[68] = 0.0; + out_8921258435077713963[69] = 0.0; + out_8921258435077713963[70] = 1.0; + out_8921258435077713963[71] = 0.0; + out_8921258435077713963[72] = 0.0; + out_8921258435077713963[73] = 0.0; + out_8921258435077713963[74] = 0.0; + out_8921258435077713963[75] = 0.0; + out_8921258435077713963[76] = 0.0; + out_8921258435077713963[77] = 0.0; + out_8921258435077713963[78] = 0.0; + out_8921258435077713963[79] = 0.0; + out_8921258435077713963[80] = 1.0; } -void f_fun(double *state, double dt, double *out_6613977481805234540) { - out_6613977481805234540[0] = state[0]; - out_6613977481805234540[1] = state[1]; - out_6613977481805234540[2] = state[2]; - out_6613977481805234540[3] = state[3]; - out_6613977481805234540[4] = state[4]; - out_6613977481805234540[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_6613977481805234540[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_6613977481805234540[7] = state[7]; - out_6613977481805234540[8] = state[8]; +void f_fun(double *state, double dt, double *out_3277027219914288776) { + out_3277027219914288776[0] = state[0]; + out_3277027219914288776[1] = state[1]; + out_3277027219914288776[2] = state[2]; + out_3277027219914288776[3] = state[3]; + out_3277027219914288776[4] = state[4]; + out_3277027219914288776[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_3277027219914288776[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_3277027219914288776[7] = state[7]; + out_3277027219914288776[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3393066705725541618) { - out_3393066705725541618[0] = 1; - out_3393066705725541618[1] = 0; - out_3393066705725541618[2] = 0; - out_3393066705725541618[3] = 0; - out_3393066705725541618[4] = 0; - out_3393066705725541618[5] = 0; - out_3393066705725541618[6] = 0; - out_3393066705725541618[7] = 0; - out_3393066705725541618[8] = 0; - out_3393066705725541618[9] = 0; - out_3393066705725541618[10] = 1; - out_3393066705725541618[11] = 0; - out_3393066705725541618[12] = 0; - out_3393066705725541618[13] = 0; - out_3393066705725541618[14] = 0; - out_3393066705725541618[15] = 0; - out_3393066705725541618[16] = 0; - out_3393066705725541618[17] = 0; - out_3393066705725541618[18] = 0; - out_3393066705725541618[19] = 0; - out_3393066705725541618[20] = 1; - out_3393066705725541618[21] = 0; - out_3393066705725541618[22] = 0; - out_3393066705725541618[23] = 0; - out_3393066705725541618[24] = 0; - out_3393066705725541618[25] = 0; - out_3393066705725541618[26] = 0; - out_3393066705725541618[27] = 0; - out_3393066705725541618[28] = 0; - out_3393066705725541618[29] = 0; - out_3393066705725541618[30] = 1; - out_3393066705725541618[31] = 0; - out_3393066705725541618[32] = 0; - out_3393066705725541618[33] = 0; - out_3393066705725541618[34] = 0; - out_3393066705725541618[35] = 0; - out_3393066705725541618[36] = 0; - out_3393066705725541618[37] = 0; - out_3393066705725541618[38] = 0; - out_3393066705725541618[39] = 0; - out_3393066705725541618[40] = 1; - out_3393066705725541618[41] = 0; - out_3393066705725541618[42] = 0; - out_3393066705725541618[43] = 0; - out_3393066705725541618[44] = 0; - out_3393066705725541618[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_3393066705725541618[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3393066705725541618[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3393066705725541618[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3393066705725541618[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_3393066705725541618[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3393066705725541618[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3393066705725541618[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3393066705725541618[53] = -9.8100000000000005*dt; - out_3393066705725541618[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_3393066705725541618[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3393066705725541618[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3393066705725541618[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3393066705725541618[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_3393066705725541618[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3393066705725541618[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_3393066705725541618[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3393066705725541618[62] = 0; - out_3393066705725541618[63] = 0; - out_3393066705725541618[64] = 0; - out_3393066705725541618[65] = 0; - out_3393066705725541618[66] = 0; - out_3393066705725541618[67] = 0; - out_3393066705725541618[68] = 0; - out_3393066705725541618[69] = 0; - out_3393066705725541618[70] = 1; - out_3393066705725541618[71] = 0; - out_3393066705725541618[72] = 0; - out_3393066705725541618[73] = 0; - out_3393066705725541618[74] = 0; - out_3393066705725541618[75] = 0; - out_3393066705725541618[76] = 0; - out_3393066705725541618[77] = 0; - out_3393066705725541618[78] = 0; - out_3393066705725541618[79] = 0; - out_3393066705725541618[80] = 1; +void F_fun(double *state, double dt, double *out_370955893725369602) { + out_370955893725369602[0] = 1; + out_370955893725369602[1] = 0; + out_370955893725369602[2] = 0; + out_370955893725369602[3] = 0; + out_370955893725369602[4] = 0; + out_370955893725369602[5] = 0; + out_370955893725369602[6] = 0; + out_370955893725369602[7] = 0; + out_370955893725369602[8] = 0; + out_370955893725369602[9] = 0; + out_370955893725369602[10] = 1; + out_370955893725369602[11] = 0; + out_370955893725369602[12] = 0; + out_370955893725369602[13] = 0; + out_370955893725369602[14] = 0; + out_370955893725369602[15] = 0; + out_370955893725369602[16] = 0; + out_370955893725369602[17] = 0; + out_370955893725369602[18] = 0; + out_370955893725369602[19] = 0; + out_370955893725369602[20] = 1; + out_370955893725369602[21] = 0; + out_370955893725369602[22] = 0; + out_370955893725369602[23] = 0; + out_370955893725369602[24] = 0; + out_370955893725369602[25] = 0; + out_370955893725369602[26] = 0; + out_370955893725369602[27] = 0; + out_370955893725369602[28] = 0; + out_370955893725369602[29] = 0; + out_370955893725369602[30] = 1; + out_370955893725369602[31] = 0; + out_370955893725369602[32] = 0; + out_370955893725369602[33] = 0; + out_370955893725369602[34] = 0; + out_370955893725369602[35] = 0; + out_370955893725369602[36] = 0; + out_370955893725369602[37] = 0; + out_370955893725369602[38] = 0; + out_370955893725369602[39] = 0; + out_370955893725369602[40] = 1; + out_370955893725369602[41] = 0; + out_370955893725369602[42] = 0; + out_370955893725369602[43] = 0; + out_370955893725369602[44] = 0; + out_370955893725369602[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_370955893725369602[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_370955893725369602[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_370955893725369602[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_370955893725369602[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_370955893725369602[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_370955893725369602[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_370955893725369602[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_370955893725369602[53] = -9.8100000000000005*dt; + out_370955893725369602[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_370955893725369602[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_370955893725369602[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_370955893725369602[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_370955893725369602[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_370955893725369602[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_370955893725369602[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_370955893725369602[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_370955893725369602[62] = 0; + out_370955893725369602[63] = 0; + out_370955893725369602[64] = 0; + out_370955893725369602[65] = 0; + out_370955893725369602[66] = 0; + out_370955893725369602[67] = 0; + out_370955893725369602[68] = 0; + out_370955893725369602[69] = 0; + out_370955893725369602[70] = 1; + out_370955893725369602[71] = 0; + out_370955893725369602[72] = 0; + out_370955893725369602[73] = 0; + out_370955893725369602[74] = 0; + out_370955893725369602[75] = 0; + out_370955893725369602[76] = 0; + out_370955893725369602[77] = 0; + out_370955893725369602[78] = 0; + out_370955893725369602[79] = 0; + out_370955893725369602[80] = 1; } -void h_25(double *state, double *unused, double *out_3694283988136956896) { - out_3694283988136956896[0] = state[6]; +void h_25(double *state, double *unused, double *out_8154090013633331696) { + out_8154090013633331696[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8933928472300199885) { - out_8933928472300199885[0] = 0; - out_8933928472300199885[1] = 0; - out_8933928472300199885[2] = 0; - out_8933928472300199885[3] = 0; - out_8933928472300199885[4] = 0; - out_8933928472300199885[5] = 0; - out_8933928472300199885[6] = 1; - out_8933928472300199885[7] = 0; - out_8933928472300199885[8] = 0; +void H_25(double *state, double *unused, double *out_8415923992877417251) { + out_8415923992877417251[0] = 0; + out_8415923992877417251[1] = 0; + out_8415923992877417251[2] = 0; + out_8415923992877417251[3] = 0; + out_8415923992877417251[4] = 0; + out_8415923992877417251[5] = 0; + out_8415923992877417251[6] = 1; + out_8415923992877417251[7] = 0; + out_8415923992877417251[8] = 0; } -void h_24(double *state, double *unused, double *out_878940354647202481) { - out_878940354647202481[0] = state[4]; - out_878940354647202481[1] = state[5]; +void h_24(double *state, double *unused, double *out_7351280482288278166) { + out_7351280482288278166[0] = state[4]; + out_7351280482288278166[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7287107817430483169) { - out_7287107817430483169[0] = 0; - out_7287107817430483169[1] = 0; - out_7287107817430483169[2] = 0; - out_7287107817430483169[3] = 0; - out_7287107817430483169[4] = 1; - out_7287107817430483169[5] = 0; - out_7287107817430483169[6] = 0; - out_7287107817430483169[7] = 0; - out_7287107817430483169[8] = 0; - out_7287107817430483169[9] = 0; - out_7287107817430483169[10] = 0; - out_7287107817430483169[11] = 0; - out_7287107817430483169[12] = 0; - out_7287107817430483169[13] = 0; - out_7287107817430483169[14] = 1; - out_7287107817430483169[15] = 0; - out_7287107817430483169[16] = 0; - out_7287107817430483169[17] = 0; +void H_24(double *state, double *unused, double *out_8301956961654820296) { + out_8301956961654820296[0] = 0; + out_8301956961654820296[1] = 0; + out_8301956961654820296[2] = 0; + out_8301956961654820296[3] = 0; + out_8301956961654820296[4] = 1; + out_8301956961654820296[5] = 0; + out_8301956961654820296[6] = 0; + out_8301956961654820296[7] = 0; + out_8301956961654820296[8] = 0; + out_8301956961654820296[9] = 0; + out_8301956961654820296[10] = 0; + out_8301956961654820296[11] = 0; + out_8301956961654820296[12] = 0; + out_8301956961654820296[13] = 0; + out_8301956961654820296[14] = 1; + out_8301956961654820296[15] = 0; + out_8301956961654820296[16] = 0; + out_8301956961654820296[17] = 0; } -void h_30(double *state, double *unused, double *out_9220341424687980009) { - out_9220341424687980009[0] = state[4]; +void h_30(double *state, double *unused, double *out_4292406537204830044) { + out_4292406537204830044[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2596125259917734976) { - out_2596125259917734976[0] = 0; - out_2596125259917734976[1] = 0; - out_2596125259917734976[2] = 0; - out_2596125259917734976[3] = 0; - out_2596125259917734976[4] = 1; - out_2596125259917734976[5] = 0; - out_2596125259917734976[6] = 0; - out_2596125259917734976[7] = 0; - out_2596125259917734976[8] = 0; +void H_30(double *state, double *unused, double *out_1499233651385800496) { + out_1499233651385800496[0] = 0; + out_1499233651385800496[1] = 0; + out_1499233651385800496[2] = 0; + out_1499233651385800496[3] = 0; + out_1499233651385800496[4] = 1; + out_1499233651385800496[5] = 0; + out_1499233651385800496[6] = 0; + out_1499233651385800496[7] = 0; + out_1499233651385800496[8] = 0; } -void h_26(double *state, double *unused, double *out_4022405810528928524) { - out_4022405810528928524[0] = state[7]; +void h_26(double *state, double *unused, double *out_7000316085453517212) { + out_7000316085453517212[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5192425153426143661) { - out_5192425153426143661[0] = 0; - out_5192425153426143661[1] = 0; - out_5192425153426143661[2] = 0; - out_5192425153426143661[3] = 0; - out_5192425153426143661[4] = 0; - out_5192425153426143661[5] = 0; - out_5192425153426143661[6] = 0; - out_5192425153426143661[7] = 1; - out_5192425153426143661[8] = 0; +void H_26(double *state, double *unused, double *out_6289316761958078141) { + out_6289316761958078141[0] = 0; + out_6289316761958078141[1] = 0; + out_6289316761958078141[2] = 0; + out_6289316761958078141[3] = 0; + out_6289316761958078141[4] = 0; + out_6289316761958078141[5] = 0; + out_6289316761958078141[6] = 0; + out_6289316761958078141[7] = 1; + out_6289316761958078141[8] = 0; } -void h_27(double *state, double *unused, double *out_4139954033073310033) { - out_4139954033073310033[0] = state[3]; +void h_27(double *state, double *unused, double *out_3964284714812858416) { + out_3964284714812858416[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4770888571718159887) { - out_4770888571718159887[0] = 0; - out_4770888571718159887[1] = 0; - out_4770888571718159887[2] = 0; - out_4770888571718159887[3] = 1; - out_4770888571718159887[4] = 0; - out_4770888571718159887[5] = 0; - out_4770888571718159887[6] = 0; - out_4770888571718159887[7] = 0; - out_4770888571718159887[8] = 0; +void H_27(double *state, double *unused, double *out_3673996963186225407) { + out_3673996963186225407[0] = 0; + out_3673996963186225407[1] = 0; + out_3673996963186225407[2] = 0; + out_3673996963186225407[3] = 1; + out_3673996963186225407[4] = 0; + out_3673996963186225407[5] = 0; + out_3673996963186225407[6] = 0; + out_3673996963186225407[7] = 0; + out_3673996963186225407[8] = 0; } -void h_29(double *state, double *unused, double *out_6621997328212873956) { - out_6621997328212873956[0] = state[1]; +void h_29(double *state, double *unused, double *out_3689090652528352527) { + out_3689090652528352527[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2085893915603342792) { - out_2085893915603342792[0] = 0; - out_2085893915603342792[1] = 1; - out_2085893915603342792[2] = 0; - out_2085893915603342792[3] = 0; - out_2085893915603342792[4] = 0; - out_2085893915603342792[5] = 0; - out_2085893915603342792[6] = 0; - out_2085893915603342792[7] = 0; - out_2085893915603342792[8] = 0; +void H_29(double *state, double *unused, double *out_989002307071408312) { + out_989002307071408312[0] = 0; + out_989002307071408312[1] = 1; + out_989002307071408312[2] = 0; + out_989002307071408312[3] = 0; + out_989002307071408312[4] = 0; + out_989002307071408312[5] = 0; + out_989002307071408312[6] = 0; + out_989002307071408312[7] = 0; + out_989002307071408312[8] = 0; } -void h_28(double *state, double *unused, double *out_8099632253155620528) { - out_8099632253155620528[0] = state[0]; +void h_28(double *state, double *unused, double *out_1914000772745856672) { + out_1914000772745856672[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7168292932672873366) { - out_7168292932672873366[0] = 1; - out_7168292932672873366[1] = 0; - out_7168292932672873366[2] = 0; - out_7168292932672873366[3] = 0; - out_7168292932672873366[4] = 0; - out_7168292932672873366[5] = 0; - out_7168292932672873366[6] = 0; - out_7168292932672873366[7] = 0; - out_7168292932672873366[8] = 0; +void H_28(double *state, double *unused, double *out_6071401324140938886) { + out_6071401324140938886[0] = 1; + out_6071401324140938886[1] = 0; + out_6071401324140938886[2] = 0; + out_6071401324140938886[3] = 0; + out_6071401324140938886[4] = 0; + out_6071401324140938886[5] = 0; + out_6071401324140938886[6] = 0; + out_6071401324140938886[7] = 0; + out_6071401324140938886[8] = 0; } -void h_31(double *state, double *unused, double *out_5443433296546894286) { - out_5443433296546894286[0] = state[8]; +void h_31(double *state, double *unused, double *out_8205050127743358283) { + out_8205050127743358283[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8964574434177160313) { - out_8964574434177160313[0] = 0; - out_8964574434177160313[1] = 0; - out_8964574434177160313[2] = 0; - out_8964574434177160313[3] = 0; - out_8964574434177160313[4] = 0; - out_8964574434177160313[5] = 0; - out_8964574434177160313[6] = 0; - out_8964574434177160313[7] = 0; - out_8964574434177160313[8] = 1; +void H_31(double *state, double *unused, double *out_8385278031000456823) { + out_8385278031000456823[0] = 0; + out_8385278031000456823[1] = 0; + out_8385278031000456823[2] = 0; + out_8385278031000456823[3] = 0; + out_8385278031000456823[4] = 0; + out_8385278031000456823[5] = 0; + out_8385278031000456823[6] = 0; + out_8385278031000456823[7] = 0; + out_8385278031000456823[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_4317163891516196670) { - err_fun(nom_x, delta_x, out_4317163891516196670); +void car_err_fun(double *nom_x, double *delta_x, double *out_3568804456057098654) { + err_fun(nom_x, delta_x, out_3568804456057098654); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8278424519720112087) { - inv_err_fun(nom_x, true_x, out_8278424519720112087); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031) { + inv_err_fun(nom_x, true_x, out_1840397183166108031); } -void car_H_mod_fun(double *state, double *out_319627375497114494) { - H_mod_fun(state, out_319627375497114494); +void car_H_mod_fun(double *state, double *out_8921258435077713963) { + H_mod_fun(state, out_8921258435077713963); } -void car_f_fun(double *state, double dt, double *out_6613977481805234540) { - f_fun(state, dt, out_6613977481805234540); +void car_f_fun(double *state, double dt, double *out_3277027219914288776) { + f_fun(state, dt, out_3277027219914288776); } -void car_F_fun(double *state, double dt, double *out_3393066705725541618) { - F_fun(state, dt, out_3393066705725541618); +void car_F_fun(double *state, double dt, double *out_370955893725369602) { + F_fun(state, dt, out_370955893725369602); } -void car_h_25(double *state, double *unused, double *out_3694283988136956896) { - h_25(state, unused, out_3694283988136956896); +void car_h_25(double *state, double *unused, double *out_8154090013633331696) { + h_25(state, unused, out_8154090013633331696); } -void car_H_25(double *state, double *unused, double *out_8933928472300199885) { - H_25(state, unused, out_8933928472300199885); +void car_H_25(double *state, double *unused, double *out_8415923992877417251) { + H_25(state, unused, out_8415923992877417251); } -void car_h_24(double *state, double *unused, double *out_878940354647202481) { - h_24(state, unused, out_878940354647202481); +void car_h_24(double *state, double *unused, double *out_7351280482288278166) { + h_24(state, unused, out_7351280482288278166); } -void car_H_24(double *state, double *unused, double *out_7287107817430483169) { - H_24(state, unused, out_7287107817430483169); +void car_H_24(double *state, double *unused, double *out_8301956961654820296) { + H_24(state, unused, out_8301956961654820296); } -void car_h_30(double *state, double *unused, double *out_9220341424687980009) { - h_30(state, unused, out_9220341424687980009); +void car_h_30(double *state, double *unused, double *out_4292406537204830044) { + h_30(state, unused, out_4292406537204830044); } -void car_H_30(double *state, double *unused, double *out_2596125259917734976) { - H_30(state, unused, out_2596125259917734976); +void car_H_30(double *state, double *unused, double *out_1499233651385800496) { + H_30(state, unused, out_1499233651385800496); } -void car_h_26(double *state, double *unused, double *out_4022405810528928524) { - h_26(state, unused, out_4022405810528928524); +void car_h_26(double *state, double *unused, double *out_7000316085453517212) { + h_26(state, unused, out_7000316085453517212); } -void car_H_26(double *state, double *unused, double *out_5192425153426143661) { - H_26(state, unused, out_5192425153426143661); +void car_H_26(double *state, double *unused, double *out_6289316761958078141) { + H_26(state, unused, out_6289316761958078141); } -void car_h_27(double *state, double *unused, double *out_4139954033073310033) { - h_27(state, unused, out_4139954033073310033); +void car_h_27(double *state, double *unused, double *out_3964284714812858416) { + h_27(state, unused, out_3964284714812858416); } -void car_H_27(double *state, double *unused, double *out_4770888571718159887) { - H_27(state, unused, out_4770888571718159887); +void car_H_27(double *state, double *unused, double *out_3673996963186225407) { + H_27(state, unused, out_3673996963186225407); } -void car_h_29(double *state, double *unused, double *out_6621997328212873956) { - h_29(state, unused, out_6621997328212873956); +void car_h_29(double *state, double *unused, double *out_3689090652528352527) { + h_29(state, unused, out_3689090652528352527); } -void car_H_29(double *state, double *unused, double *out_2085893915603342792) { - H_29(state, unused, out_2085893915603342792); +void car_H_29(double *state, double *unused, double *out_989002307071408312) { + H_29(state, unused, out_989002307071408312); } -void car_h_28(double *state, double *unused, double *out_8099632253155620528) { - h_28(state, unused, out_8099632253155620528); +void car_h_28(double *state, double *unused, double *out_1914000772745856672) { + h_28(state, unused, out_1914000772745856672); } -void car_H_28(double *state, double *unused, double *out_7168292932672873366) { - H_28(state, unused, out_7168292932672873366); +void car_H_28(double *state, double *unused, double *out_6071401324140938886) { + H_28(state, unused, out_6071401324140938886); } -void car_h_31(double *state, double *unused, double *out_5443433296546894286) { - h_31(state, unused, out_5443433296546894286); +void car_h_31(double *state, double *unused, double *out_8205050127743358283) { + h_31(state, unused, out_8205050127743358283); } -void car_H_31(double *state, double *unused, double *out_8964574434177160313) { - H_31(state, unused, out_8964574434177160313); +void car_H_31(double *state, double *unused, double *out_8385278031000456823) { + H_31(state, unused, out_8385278031000456823); } 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 64b707f79..655b5e1ae 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_4317163891516196670); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8278424519720112087); -void car_H_mod_fun(double *state, double *out_319627375497114494); -void car_f_fun(double *state, double dt, double *out_6613977481805234540); -void car_F_fun(double *state, double dt, double *out_3393066705725541618); -void car_h_25(double *state, double *unused, double *out_3694283988136956896); -void car_H_25(double *state, double *unused, double *out_8933928472300199885); -void car_h_24(double *state, double *unused, double *out_878940354647202481); -void car_H_24(double *state, double *unused, double *out_7287107817430483169); -void car_h_30(double *state, double *unused, double *out_9220341424687980009); -void car_H_30(double *state, double *unused, double *out_2596125259917734976); -void car_h_26(double *state, double *unused, double *out_4022405810528928524); -void car_H_26(double *state, double *unused, double *out_5192425153426143661); -void car_h_27(double *state, double *unused, double *out_4139954033073310033); -void car_H_27(double *state, double *unused, double *out_4770888571718159887); -void car_h_29(double *state, double *unused, double *out_6621997328212873956); -void car_H_29(double *state, double *unused, double *out_2085893915603342792); -void car_h_28(double *state, double *unused, double *out_8099632253155620528); -void car_H_28(double *state, double *unused, double *out_7168292932672873366); -void car_h_31(double *state, double *unused, double *out_5443433296546894286); -void car_H_31(double *state, double *unused, double *out_8964574434177160313); +void car_err_fun(double *nom_x, double *delta_x, double *out_3568804456057098654); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031); +void car_H_mod_fun(double *state, double *out_8921258435077713963); +void car_f_fun(double *state, double dt, double *out_3277027219914288776); +void car_F_fun(double *state, double dt, double *out_370955893725369602); +void car_h_25(double *state, double *unused, double *out_8154090013633331696); +void car_H_25(double *state, double *unused, double *out_8415923992877417251); +void car_h_24(double *state, double *unused, double *out_7351280482288278166); +void car_H_24(double *state, double *unused, double *out_8301956961654820296); +void car_h_30(double *state, double *unused, double *out_4292406537204830044); +void car_H_30(double *state, double *unused, double *out_1499233651385800496); +void car_h_26(double *state, double *unused, double *out_7000316085453517212); +void car_H_26(double *state, double *unused, double *out_6289316761958078141); +void car_h_27(double *state, double *unused, double *out_3964284714812858416); +void car_H_27(double *state, double *unused, double *out_3673996963186225407); +void car_h_29(double *state, double *unused, double *out_3689090652528352527); +void car_H_29(double *state, double *unused, double *out_989002307071408312); +void car_h_28(double *state, double *unused, double *out_1914000772745856672); +void car_H_28(double *state, double *unused, double *out_6071401324140938886); +void car_h_31(double *state, double *unused, double *out_8205050127743358283); +void car_H_31(double *state, double *unused, double *out_8385278031000456823); 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 b797cbcc9..c62883fa7 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_2276930388742637984) { - out_2276930388742637984[0] = delta_x[0] + nom_x[0]; - out_2276930388742637984[1] = delta_x[1] + nom_x[1]; - out_2276930388742637984[2] = delta_x[2] + nom_x[2]; - out_2276930388742637984[3] = delta_x[3] + nom_x[3]; - out_2276930388742637984[4] = delta_x[4] + nom_x[4]; - out_2276930388742637984[5] = delta_x[5] + nom_x[5]; - out_2276930388742637984[6] = delta_x[6] + nom_x[6]; - out_2276930388742637984[7] = delta_x[7] + nom_x[7]; - out_2276930388742637984[8] = delta_x[8] + nom_x[8]; - out_2276930388742637984[9] = delta_x[9] + nom_x[9]; - out_2276930388742637984[10] = delta_x[10] + nom_x[10]; - out_2276930388742637984[11] = delta_x[11] + nom_x[11]; - out_2276930388742637984[12] = delta_x[12] + nom_x[12]; - out_2276930388742637984[13] = delta_x[13] + nom_x[13]; - out_2276930388742637984[14] = delta_x[14] + nom_x[14]; - out_2276930388742637984[15] = delta_x[15] + nom_x[15]; - out_2276930388742637984[16] = delta_x[16] + nom_x[16]; - out_2276930388742637984[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3667758909157266385) { + out_3667758909157266385[0] = delta_x[0] + nom_x[0]; + out_3667758909157266385[1] = delta_x[1] + nom_x[1]; + out_3667758909157266385[2] = delta_x[2] + nom_x[2]; + out_3667758909157266385[3] = delta_x[3] + nom_x[3]; + out_3667758909157266385[4] = delta_x[4] + nom_x[4]; + out_3667758909157266385[5] = delta_x[5] + nom_x[5]; + out_3667758909157266385[6] = delta_x[6] + nom_x[6]; + out_3667758909157266385[7] = delta_x[7] + nom_x[7]; + out_3667758909157266385[8] = delta_x[8] + nom_x[8]; + out_3667758909157266385[9] = delta_x[9] + nom_x[9]; + out_3667758909157266385[10] = delta_x[10] + nom_x[10]; + out_3667758909157266385[11] = delta_x[11] + nom_x[11]; + out_3667758909157266385[12] = delta_x[12] + nom_x[12]; + out_3667758909157266385[13] = delta_x[13] + nom_x[13]; + out_3667758909157266385[14] = delta_x[14] + nom_x[14]; + out_3667758909157266385[15] = delta_x[15] + nom_x[15]; + out_3667758909157266385[16] = delta_x[16] + nom_x[16]; + out_3667758909157266385[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5553036191683273841) { - out_5553036191683273841[0] = -nom_x[0] + true_x[0]; - out_5553036191683273841[1] = -nom_x[1] + true_x[1]; - out_5553036191683273841[2] = -nom_x[2] + true_x[2]; - out_5553036191683273841[3] = -nom_x[3] + true_x[3]; - out_5553036191683273841[4] = -nom_x[4] + true_x[4]; - out_5553036191683273841[5] = -nom_x[5] + true_x[5]; - out_5553036191683273841[6] = -nom_x[6] + true_x[6]; - out_5553036191683273841[7] = -nom_x[7] + true_x[7]; - out_5553036191683273841[8] = -nom_x[8] + true_x[8]; - out_5553036191683273841[9] = -nom_x[9] + true_x[9]; - out_5553036191683273841[10] = -nom_x[10] + true_x[10]; - out_5553036191683273841[11] = -nom_x[11] + true_x[11]; - out_5553036191683273841[12] = -nom_x[12] + true_x[12]; - out_5553036191683273841[13] = -nom_x[13] + true_x[13]; - out_5553036191683273841[14] = -nom_x[14] + true_x[14]; - out_5553036191683273841[15] = -nom_x[15] + true_x[15]; - out_5553036191683273841[16] = -nom_x[16] + true_x[16]; - out_5553036191683273841[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3255008687637156165) { + out_3255008687637156165[0] = -nom_x[0] + true_x[0]; + out_3255008687637156165[1] = -nom_x[1] + true_x[1]; + out_3255008687637156165[2] = -nom_x[2] + true_x[2]; + out_3255008687637156165[3] = -nom_x[3] + true_x[3]; + out_3255008687637156165[4] = -nom_x[4] + true_x[4]; + out_3255008687637156165[5] = -nom_x[5] + true_x[5]; + out_3255008687637156165[6] = -nom_x[6] + true_x[6]; + out_3255008687637156165[7] = -nom_x[7] + true_x[7]; + out_3255008687637156165[8] = -nom_x[8] + true_x[8]; + out_3255008687637156165[9] = -nom_x[9] + true_x[9]; + out_3255008687637156165[10] = -nom_x[10] + true_x[10]; + out_3255008687637156165[11] = -nom_x[11] + true_x[11]; + out_3255008687637156165[12] = -nom_x[12] + true_x[12]; + out_3255008687637156165[13] = -nom_x[13] + true_x[13]; + out_3255008687637156165[14] = -nom_x[14] + true_x[14]; + out_3255008687637156165[15] = -nom_x[15] + true_x[15]; + out_3255008687637156165[16] = -nom_x[16] + true_x[16]; + out_3255008687637156165[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_9138325999640393464) { - out_9138325999640393464[0] = 1.0; - out_9138325999640393464[1] = 0.0; - out_9138325999640393464[2] = 0.0; - out_9138325999640393464[3] = 0.0; - out_9138325999640393464[4] = 0.0; - out_9138325999640393464[5] = 0.0; - out_9138325999640393464[6] = 0.0; - out_9138325999640393464[7] = 0.0; - out_9138325999640393464[8] = 0.0; - out_9138325999640393464[9] = 0.0; - out_9138325999640393464[10] = 0.0; - out_9138325999640393464[11] = 0.0; - out_9138325999640393464[12] = 0.0; - out_9138325999640393464[13] = 0.0; - out_9138325999640393464[14] = 0.0; - out_9138325999640393464[15] = 0.0; - out_9138325999640393464[16] = 0.0; - out_9138325999640393464[17] = 0.0; - out_9138325999640393464[18] = 0.0; - out_9138325999640393464[19] = 1.0; - out_9138325999640393464[20] = 0.0; - out_9138325999640393464[21] = 0.0; - out_9138325999640393464[22] = 0.0; - out_9138325999640393464[23] = 0.0; - out_9138325999640393464[24] = 0.0; - out_9138325999640393464[25] = 0.0; - out_9138325999640393464[26] = 0.0; - out_9138325999640393464[27] = 0.0; - out_9138325999640393464[28] = 0.0; - out_9138325999640393464[29] = 0.0; - out_9138325999640393464[30] = 0.0; - out_9138325999640393464[31] = 0.0; - out_9138325999640393464[32] = 0.0; - out_9138325999640393464[33] = 0.0; - out_9138325999640393464[34] = 0.0; - out_9138325999640393464[35] = 0.0; - out_9138325999640393464[36] = 0.0; - out_9138325999640393464[37] = 0.0; - out_9138325999640393464[38] = 1.0; - out_9138325999640393464[39] = 0.0; - out_9138325999640393464[40] = 0.0; - out_9138325999640393464[41] = 0.0; - out_9138325999640393464[42] = 0.0; - out_9138325999640393464[43] = 0.0; - out_9138325999640393464[44] = 0.0; - out_9138325999640393464[45] = 0.0; - out_9138325999640393464[46] = 0.0; - out_9138325999640393464[47] = 0.0; - out_9138325999640393464[48] = 0.0; - out_9138325999640393464[49] = 0.0; - out_9138325999640393464[50] = 0.0; - out_9138325999640393464[51] = 0.0; - out_9138325999640393464[52] = 0.0; - out_9138325999640393464[53] = 0.0; - out_9138325999640393464[54] = 0.0; - out_9138325999640393464[55] = 0.0; - out_9138325999640393464[56] = 0.0; - out_9138325999640393464[57] = 1.0; - out_9138325999640393464[58] = 0.0; - out_9138325999640393464[59] = 0.0; - out_9138325999640393464[60] = 0.0; - out_9138325999640393464[61] = 0.0; - out_9138325999640393464[62] = 0.0; - out_9138325999640393464[63] = 0.0; - out_9138325999640393464[64] = 0.0; - out_9138325999640393464[65] = 0.0; - out_9138325999640393464[66] = 0.0; - out_9138325999640393464[67] = 0.0; - out_9138325999640393464[68] = 0.0; - out_9138325999640393464[69] = 0.0; - out_9138325999640393464[70] = 0.0; - out_9138325999640393464[71] = 0.0; - out_9138325999640393464[72] = 0.0; - out_9138325999640393464[73] = 0.0; - out_9138325999640393464[74] = 0.0; - out_9138325999640393464[75] = 0.0; - out_9138325999640393464[76] = 1.0; - out_9138325999640393464[77] = 0.0; - out_9138325999640393464[78] = 0.0; - out_9138325999640393464[79] = 0.0; - out_9138325999640393464[80] = 0.0; - out_9138325999640393464[81] = 0.0; - out_9138325999640393464[82] = 0.0; - out_9138325999640393464[83] = 0.0; - out_9138325999640393464[84] = 0.0; - out_9138325999640393464[85] = 0.0; - out_9138325999640393464[86] = 0.0; - out_9138325999640393464[87] = 0.0; - out_9138325999640393464[88] = 0.0; - out_9138325999640393464[89] = 0.0; - out_9138325999640393464[90] = 0.0; - out_9138325999640393464[91] = 0.0; - out_9138325999640393464[92] = 0.0; - out_9138325999640393464[93] = 0.0; - out_9138325999640393464[94] = 0.0; - out_9138325999640393464[95] = 1.0; - out_9138325999640393464[96] = 0.0; - out_9138325999640393464[97] = 0.0; - out_9138325999640393464[98] = 0.0; - out_9138325999640393464[99] = 0.0; - out_9138325999640393464[100] = 0.0; - out_9138325999640393464[101] = 0.0; - out_9138325999640393464[102] = 0.0; - out_9138325999640393464[103] = 0.0; - out_9138325999640393464[104] = 0.0; - out_9138325999640393464[105] = 0.0; - out_9138325999640393464[106] = 0.0; - out_9138325999640393464[107] = 0.0; - out_9138325999640393464[108] = 0.0; - out_9138325999640393464[109] = 0.0; - out_9138325999640393464[110] = 0.0; - out_9138325999640393464[111] = 0.0; - out_9138325999640393464[112] = 0.0; - out_9138325999640393464[113] = 0.0; - out_9138325999640393464[114] = 1.0; - out_9138325999640393464[115] = 0.0; - out_9138325999640393464[116] = 0.0; - out_9138325999640393464[117] = 0.0; - out_9138325999640393464[118] = 0.0; - out_9138325999640393464[119] = 0.0; - out_9138325999640393464[120] = 0.0; - out_9138325999640393464[121] = 0.0; - out_9138325999640393464[122] = 0.0; - out_9138325999640393464[123] = 0.0; - out_9138325999640393464[124] = 0.0; - out_9138325999640393464[125] = 0.0; - out_9138325999640393464[126] = 0.0; - out_9138325999640393464[127] = 0.0; - out_9138325999640393464[128] = 0.0; - out_9138325999640393464[129] = 0.0; - out_9138325999640393464[130] = 0.0; - out_9138325999640393464[131] = 0.0; - out_9138325999640393464[132] = 0.0; - out_9138325999640393464[133] = 1.0; - out_9138325999640393464[134] = 0.0; - out_9138325999640393464[135] = 0.0; - out_9138325999640393464[136] = 0.0; - out_9138325999640393464[137] = 0.0; - out_9138325999640393464[138] = 0.0; - out_9138325999640393464[139] = 0.0; - out_9138325999640393464[140] = 0.0; - out_9138325999640393464[141] = 0.0; - out_9138325999640393464[142] = 0.0; - out_9138325999640393464[143] = 0.0; - out_9138325999640393464[144] = 0.0; - out_9138325999640393464[145] = 0.0; - out_9138325999640393464[146] = 0.0; - out_9138325999640393464[147] = 0.0; - out_9138325999640393464[148] = 0.0; - out_9138325999640393464[149] = 0.0; - out_9138325999640393464[150] = 0.0; - out_9138325999640393464[151] = 0.0; - out_9138325999640393464[152] = 1.0; - out_9138325999640393464[153] = 0.0; - out_9138325999640393464[154] = 0.0; - out_9138325999640393464[155] = 0.0; - out_9138325999640393464[156] = 0.0; - out_9138325999640393464[157] = 0.0; - out_9138325999640393464[158] = 0.0; - out_9138325999640393464[159] = 0.0; - out_9138325999640393464[160] = 0.0; - out_9138325999640393464[161] = 0.0; - out_9138325999640393464[162] = 0.0; - out_9138325999640393464[163] = 0.0; - out_9138325999640393464[164] = 0.0; - out_9138325999640393464[165] = 0.0; - out_9138325999640393464[166] = 0.0; - out_9138325999640393464[167] = 0.0; - out_9138325999640393464[168] = 0.0; - out_9138325999640393464[169] = 0.0; - out_9138325999640393464[170] = 0.0; - out_9138325999640393464[171] = 1.0; - out_9138325999640393464[172] = 0.0; - out_9138325999640393464[173] = 0.0; - out_9138325999640393464[174] = 0.0; - out_9138325999640393464[175] = 0.0; - out_9138325999640393464[176] = 0.0; - out_9138325999640393464[177] = 0.0; - out_9138325999640393464[178] = 0.0; - out_9138325999640393464[179] = 0.0; - out_9138325999640393464[180] = 0.0; - out_9138325999640393464[181] = 0.0; - out_9138325999640393464[182] = 0.0; - out_9138325999640393464[183] = 0.0; - out_9138325999640393464[184] = 0.0; - out_9138325999640393464[185] = 0.0; - out_9138325999640393464[186] = 0.0; - out_9138325999640393464[187] = 0.0; - out_9138325999640393464[188] = 0.0; - out_9138325999640393464[189] = 0.0; - out_9138325999640393464[190] = 1.0; - out_9138325999640393464[191] = 0.0; - out_9138325999640393464[192] = 0.0; - out_9138325999640393464[193] = 0.0; - out_9138325999640393464[194] = 0.0; - out_9138325999640393464[195] = 0.0; - out_9138325999640393464[196] = 0.0; - out_9138325999640393464[197] = 0.0; - out_9138325999640393464[198] = 0.0; - out_9138325999640393464[199] = 0.0; - out_9138325999640393464[200] = 0.0; - out_9138325999640393464[201] = 0.0; - out_9138325999640393464[202] = 0.0; - out_9138325999640393464[203] = 0.0; - out_9138325999640393464[204] = 0.0; - out_9138325999640393464[205] = 0.0; - out_9138325999640393464[206] = 0.0; - out_9138325999640393464[207] = 0.0; - out_9138325999640393464[208] = 0.0; - out_9138325999640393464[209] = 1.0; - out_9138325999640393464[210] = 0.0; - out_9138325999640393464[211] = 0.0; - out_9138325999640393464[212] = 0.0; - out_9138325999640393464[213] = 0.0; - out_9138325999640393464[214] = 0.0; - out_9138325999640393464[215] = 0.0; - out_9138325999640393464[216] = 0.0; - out_9138325999640393464[217] = 0.0; - out_9138325999640393464[218] = 0.0; - out_9138325999640393464[219] = 0.0; - out_9138325999640393464[220] = 0.0; - out_9138325999640393464[221] = 0.0; - out_9138325999640393464[222] = 0.0; - out_9138325999640393464[223] = 0.0; - out_9138325999640393464[224] = 0.0; - out_9138325999640393464[225] = 0.0; - out_9138325999640393464[226] = 0.0; - out_9138325999640393464[227] = 0.0; - out_9138325999640393464[228] = 1.0; - out_9138325999640393464[229] = 0.0; - out_9138325999640393464[230] = 0.0; - out_9138325999640393464[231] = 0.0; - out_9138325999640393464[232] = 0.0; - out_9138325999640393464[233] = 0.0; - out_9138325999640393464[234] = 0.0; - out_9138325999640393464[235] = 0.0; - out_9138325999640393464[236] = 0.0; - out_9138325999640393464[237] = 0.0; - out_9138325999640393464[238] = 0.0; - out_9138325999640393464[239] = 0.0; - out_9138325999640393464[240] = 0.0; - out_9138325999640393464[241] = 0.0; - out_9138325999640393464[242] = 0.0; - out_9138325999640393464[243] = 0.0; - out_9138325999640393464[244] = 0.0; - out_9138325999640393464[245] = 0.0; - out_9138325999640393464[246] = 0.0; - out_9138325999640393464[247] = 1.0; - out_9138325999640393464[248] = 0.0; - out_9138325999640393464[249] = 0.0; - out_9138325999640393464[250] = 0.0; - out_9138325999640393464[251] = 0.0; - out_9138325999640393464[252] = 0.0; - out_9138325999640393464[253] = 0.0; - out_9138325999640393464[254] = 0.0; - out_9138325999640393464[255] = 0.0; - out_9138325999640393464[256] = 0.0; - out_9138325999640393464[257] = 0.0; - out_9138325999640393464[258] = 0.0; - out_9138325999640393464[259] = 0.0; - out_9138325999640393464[260] = 0.0; - out_9138325999640393464[261] = 0.0; - out_9138325999640393464[262] = 0.0; - out_9138325999640393464[263] = 0.0; - out_9138325999640393464[264] = 0.0; - out_9138325999640393464[265] = 0.0; - out_9138325999640393464[266] = 1.0; - out_9138325999640393464[267] = 0.0; - out_9138325999640393464[268] = 0.0; - out_9138325999640393464[269] = 0.0; - out_9138325999640393464[270] = 0.0; - out_9138325999640393464[271] = 0.0; - out_9138325999640393464[272] = 0.0; - out_9138325999640393464[273] = 0.0; - out_9138325999640393464[274] = 0.0; - out_9138325999640393464[275] = 0.0; - out_9138325999640393464[276] = 0.0; - out_9138325999640393464[277] = 0.0; - out_9138325999640393464[278] = 0.0; - out_9138325999640393464[279] = 0.0; - out_9138325999640393464[280] = 0.0; - out_9138325999640393464[281] = 0.0; - out_9138325999640393464[282] = 0.0; - out_9138325999640393464[283] = 0.0; - out_9138325999640393464[284] = 0.0; - out_9138325999640393464[285] = 1.0; - out_9138325999640393464[286] = 0.0; - out_9138325999640393464[287] = 0.0; - out_9138325999640393464[288] = 0.0; - out_9138325999640393464[289] = 0.0; - out_9138325999640393464[290] = 0.0; - out_9138325999640393464[291] = 0.0; - out_9138325999640393464[292] = 0.0; - out_9138325999640393464[293] = 0.0; - out_9138325999640393464[294] = 0.0; - out_9138325999640393464[295] = 0.0; - out_9138325999640393464[296] = 0.0; - out_9138325999640393464[297] = 0.0; - out_9138325999640393464[298] = 0.0; - out_9138325999640393464[299] = 0.0; - out_9138325999640393464[300] = 0.0; - out_9138325999640393464[301] = 0.0; - out_9138325999640393464[302] = 0.0; - out_9138325999640393464[303] = 0.0; - out_9138325999640393464[304] = 1.0; - out_9138325999640393464[305] = 0.0; - out_9138325999640393464[306] = 0.0; - out_9138325999640393464[307] = 0.0; - out_9138325999640393464[308] = 0.0; - out_9138325999640393464[309] = 0.0; - out_9138325999640393464[310] = 0.0; - out_9138325999640393464[311] = 0.0; - out_9138325999640393464[312] = 0.0; - out_9138325999640393464[313] = 0.0; - out_9138325999640393464[314] = 0.0; - out_9138325999640393464[315] = 0.0; - out_9138325999640393464[316] = 0.0; - out_9138325999640393464[317] = 0.0; - out_9138325999640393464[318] = 0.0; - out_9138325999640393464[319] = 0.0; - out_9138325999640393464[320] = 0.0; - out_9138325999640393464[321] = 0.0; - out_9138325999640393464[322] = 0.0; - out_9138325999640393464[323] = 1.0; +void H_mod_fun(double *state, double *out_1678148223451849404) { + out_1678148223451849404[0] = 1.0; + out_1678148223451849404[1] = 0.0; + out_1678148223451849404[2] = 0.0; + out_1678148223451849404[3] = 0.0; + out_1678148223451849404[4] = 0.0; + out_1678148223451849404[5] = 0.0; + out_1678148223451849404[6] = 0.0; + out_1678148223451849404[7] = 0.0; + out_1678148223451849404[8] = 0.0; + out_1678148223451849404[9] = 0.0; + out_1678148223451849404[10] = 0.0; + out_1678148223451849404[11] = 0.0; + out_1678148223451849404[12] = 0.0; + out_1678148223451849404[13] = 0.0; + out_1678148223451849404[14] = 0.0; + out_1678148223451849404[15] = 0.0; + out_1678148223451849404[16] = 0.0; + out_1678148223451849404[17] = 0.0; + out_1678148223451849404[18] = 0.0; + out_1678148223451849404[19] = 1.0; + out_1678148223451849404[20] = 0.0; + out_1678148223451849404[21] = 0.0; + out_1678148223451849404[22] = 0.0; + out_1678148223451849404[23] = 0.0; + out_1678148223451849404[24] = 0.0; + out_1678148223451849404[25] = 0.0; + out_1678148223451849404[26] = 0.0; + out_1678148223451849404[27] = 0.0; + out_1678148223451849404[28] = 0.0; + out_1678148223451849404[29] = 0.0; + out_1678148223451849404[30] = 0.0; + out_1678148223451849404[31] = 0.0; + out_1678148223451849404[32] = 0.0; + out_1678148223451849404[33] = 0.0; + out_1678148223451849404[34] = 0.0; + out_1678148223451849404[35] = 0.0; + out_1678148223451849404[36] = 0.0; + out_1678148223451849404[37] = 0.0; + out_1678148223451849404[38] = 1.0; + out_1678148223451849404[39] = 0.0; + out_1678148223451849404[40] = 0.0; + out_1678148223451849404[41] = 0.0; + out_1678148223451849404[42] = 0.0; + out_1678148223451849404[43] = 0.0; + out_1678148223451849404[44] = 0.0; + out_1678148223451849404[45] = 0.0; + out_1678148223451849404[46] = 0.0; + out_1678148223451849404[47] = 0.0; + out_1678148223451849404[48] = 0.0; + out_1678148223451849404[49] = 0.0; + out_1678148223451849404[50] = 0.0; + out_1678148223451849404[51] = 0.0; + out_1678148223451849404[52] = 0.0; + out_1678148223451849404[53] = 0.0; + out_1678148223451849404[54] = 0.0; + out_1678148223451849404[55] = 0.0; + out_1678148223451849404[56] = 0.0; + out_1678148223451849404[57] = 1.0; + out_1678148223451849404[58] = 0.0; + out_1678148223451849404[59] = 0.0; + out_1678148223451849404[60] = 0.0; + out_1678148223451849404[61] = 0.0; + out_1678148223451849404[62] = 0.0; + out_1678148223451849404[63] = 0.0; + out_1678148223451849404[64] = 0.0; + out_1678148223451849404[65] = 0.0; + out_1678148223451849404[66] = 0.0; + out_1678148223451849404[67] = 0.0; + out_1678148223451849404[68] = 0.0; + out_1678148223451849404[69] = 0.0; + out_1678148223451849404[70] = 0.0; + out_1678148223451849404[71] = 0.0; + out_1678148223451849404[72] = 0.0; + out_1678148223451849404[73] = 0.0; + out_1678148223451849404[74] = 0.0; + out_1678148223451849404[75] = 0.0; + out_1678148223451849404[76] = 1.0; + out_1678148223451849404[77] = 0.0; + out_1678148223451849404[78] = 0.0; + out_1678148223451849404[79] = 0.0; + out_1678148223451849404[80] = 0.0; + out_1678148223451849404[81] = 0.0; + out_1678148223451849404[82] = 0.0; + out_1678148223451849404[83] = 0.0; + out_1678148223451849404[84] = 0.0; + out_1678148223451849404[85] = 0.0; + out_1678148223451849404[86] = 0.0; + out_1678148223451849404[87] = 0.0; + out_1678148223451849404[88] = 0.0; + out_1678148223451849404[89] = 0.0; + out_1678148223451849404[90] = 0.0; + out_1678148223451849404[91] = 0.0; + out_1678148223451849404[92] = 0.0; + out_1678148223451849404[93] = 0.0; + out_1678148223451849404[94] = 0.0; + out_1678148223451849404[95] = 1.0; + out_1678148223451849404[96] = 0.0; + out_1678148223451849404[97] = 0.0; + out_1678148223451849404[98] = 0.0; + out_1678148223451849404[99] = 0.0; + out_1678148223451849404[100] = 0.0; + out_1678148223451849404[101] = 0.0; + out_1678148223451849404[102] = 0.0; + out_1678148223451849404[103] = 0.0; + out_1678148223451849404[104] = 0.0; + out_1678148223451849404[105] = 0.0; + out_1678148223451849404[106] = 0.0; + out_1678148223451849404[107] = 0.0; + out_1678148223451849404[108] = 0.0; + out_1678148223451849404[109] = 0.0; + out_1678148223451849404[110] = 0.0; + out_1678148223451849404[111] = 0.0; + out_1678148223451849404[112] = 0.0; + out_1678148223451849404[113] = 0.0; + out_1678148223451849404[114] = 1.0; + out_1678148223451849404[115] = 0.0; + out_1678148223451849404[116] = 0.0; + out_1678148223451849404[117] = 0.0; + out_1678148223451849404[118] = 0.0; + out_1678148223451849404[119] = 0.0; + out_1678148223451849404[120] = 0.0; + out_1678148223451849404[121] = 0.0; + out_1678148223451849404[122] = 0.0; + out_1678148223451849404[123] = 0.0; + out_1678148223451849404[124] = 0.0; + out_1678148223451849404[125] = 0.0; + out_1678148223451849404[126] = 0.0; + out_1678148223451849404[127] = 0.0; + out_1678148223451849404[128] = 0.0; + out_1678148223451849404[129] = 0.0; + out_1678148223451849404[130] = 0.0; + out_1678148223451849404[131] = 0.0; + out_1678148223451849404[132] = 0.0; + out_1678148223451849404[133] = 1.0; + out_1678148223451849404[134] = 0.0; + out_1678148223451849404[135] = 0.0; + out_1678148223451849404[136] = 0.0; + out_1678148223451849404[137] = 0.0; + out_1678148223451849404[138] = 0.0; + out_1678148223451849404[139] = 0.0; + out_1678148223451849404[140] = 0.0; + out_1678148223451849404[141] = 0.0; + out_1678148223451849404[142] = 0.0; + out_1678148223451849404[143] = 0.0; + out_1678148223451849404[144] = 0.0; + out_1678148223451849404[145] = 0.0; + out_1678148223451849404[146] = 0.0; + out_1678148223451849404[147] = 0.0; + out_1678148223451849404[148] = 0.0; + out_1678148223451849404[149] = 0.0; + out_1678148223451849404[150] = 0.0; + out_1678148223451849404[151] = 0.0; + out_1678148223451849404[152] = 1.0; + out_1678148223451849404[153] = 0.0; + out_1678148223451849404[154] = 0.0; + out_1678148223451849404[155] = 0.0; + out_1678148223451849404[156] = 0.0; + out_1678148223451849404[157] = 0.0; + out_1678148223451849404[158] = 0.0; + out_1678148223451849404[159] = 0.0; + out_1678148223451849404[160] = 0.0; + out_1678148223451849404[161] = 0.0; + out_1678148223451849404[162] = 0.0; + out_1678148223451849404[163] = 0.0; + out_1678148223451849404[164] = 0.0; + out_1678148223451849404[165] = 0.0; + out_1678148223451849404[166] = 0.0; + out_1678148223451849404[167] = 0.0; + out_1678148223451849404[168] = 0.0; + out_1678148223451849404[169] = 0.0; + out_1678148223451849404[170] = 0.0; + out_1678148223451849404[171] = 1.0; + out_1678148223451849404[172] = 0.0; + out_1678148223451849404[173] = 0.0; + out_1678148223451849404[174] = 0.0; + out_1678148223451849404[175] = 0.0; + out_1678148223451849404[176] = 0.0; + out_1678148223451849404[177] = 0.0; + out_1678148223451849404[178] = 0.0; + out_1678148223451849404[179] = 0.0; + out_1678148223451849404[180] = 0.0; + out_1678148223451849404[181] = 0.0; + out_1678148223451849404[182] = 0.0; + out_1678148223451849404[183] = 0.0; + out_1678148223451849404[184] = 0.0; + out_1678148223451849404[185] = 0.0; + out_1678148223451849404[186] = 0.0; + out_1678148223451849404[187] = 0.0; + out_1678148223451849404[188] = 0.0; + out_1678148223451849404[189] = 0.0; + out_1678148223451849404[190] = 1.0; + out_1678148223451849404[191] = 0.0; + out_1678148223451849404[192] = 0.0; + out_1678148223451849404[193] = 0.0; + out_1678148223451849404[194] = 0.0; + out_1678148223451849404[195] = 0.0; + out_1678148223451849404[196] = 0.0; + out_1678148223451849404[197] = 0.0; + out_1678148223451849404[198] = 0.0; + out_1678148223451849404[199] = 0.0; + out_1678148223451849404[200] = 0.0; + out_1678148223451849404[201] = 0.0; + out_1678148223451849404[202] = 0.0; + out_1678148223451849404[203] = 0.0; + out_1678148223451849404[204] = 0.0; + out_1678148223451849404[205] = 0.0; + out_1678148223451849404[206] = 0.0; + out_1678148223451849404[207] = 0.0; + out_1678148223451849404[208] = 0.0; + out_1678148223451849404[209] = 1.0; + out_1678148223451849404[210] = 0.0; + out_1678148223451849404[211] = 0.0; + out_1678148223451849404[212] = 0.0; + out_1678148223451849404[213] = 0.0; + out_1678148223451849404[214] = 0.0; + out_1678148223451849404[215] = 0.0; + out_1678148223451849404[216] = 0.0; + out_1678148223451849404[217] = 0.0; + out_1678148223451849404[218] = 0.0; + out_1678148223451849404[219] = 0.0; + out_1678148223451849404[220] = 0.0; + out_1678148223451849404[221] = 0.0; + out_1678148223451849404[222] = 0.0; + out_1678148223451849404[223] = 0.0; + out_1678148223451849404[224] = 0.0; + out_1678148223451849404[225] = 0.0; + out_1678148223451849404[226] = 0.0; + out_1678148223451849404[227] = 0.0; + out_1678148223451849404[228] = 1.0; + out_1678148223451849404[229] = 0.0; + out_1678148223451849404[230] = 0.0; + out_1678148223451849404[231] = 0.0; + out_1678148223451849404[232] = 0.0; + out_1678148223451849404[233] = 0.0; + out_1678148223451849404[234] = 0.0; + out_1678148223451849404[235] = 0.0; + out_1678148223451849404[236] = 0.0; + out_1678148223451849404[237] = 0.0; + out_1678148223451849404[238] = 0.0; + out_1678148223451849404[239] = 0.0; + out_1678148223451849404[240] = 0.0; + out_1678148223451849404[241] = 0.0; + out_1678148223451849404[242] = 0.0; + out_1678148223451849404[243] = 0.0; + out_1678148223451849404[244] = 0.0; + out_1678148223451849404[245] = 0.0; + out_1678148223451849404[246] = 0.0; + out_1678148223451849404[247] = 1.0; + out_1678148223451849404[248] = 0.0; + out_1678148223451849404[249] = 0.0; + out_1678148223451849404[250] = 0.0; + out_1678148223451849404[251] = 0.0; + out_1678148223451849404[252] = 0.0; + out_1678148223451849404[253] = 0.0; + out_1678148223451849404[254] = 0.0; + out_1678148223451849404[255] = 0.0; + out_1678148223451849404[256] = 0.0; + out_1678148223451849404[257] = 0.0; + out_1678148223451849404[258] = 0.0; + out_1678148223451849404[259] = 0.0; + out_1678148223451849404[260] = 0.0; + out_1678148223451849404[261] = 0.0; + out_1678148223451849404[262] = 0.0; + out_1678148223451849404[263] = 0.0; + out_1678148223451849404[264] = 0.0; + out_1678148223451849404[265] = 0.0; + out_1678148223451849404[266] = 1.0; + out_1678148223451849404[267] = 0.0; + out_1678148223451849404[268] = 0.0; + out_1678148223451849404[269] = 0.0; + out_1678148223451849404[270] = 0.0; + out_1678148223451849404[271] = 0.0; + out_1678148223451849404[272] = 0.0; + out_1678148223451849404[273] = 0.0; + out_1678148223451849404[274] = 0.0; + out_1678148223451849404[275] = 0.0; + out_1678148223451849404[276] = 0.0; + out_1678148223451849404[277] = 0.0; + out_1678148223451849404[278] = 0.0; + out_1678148223451849404[279] = 0.0; + out_1678148223451849404[280] = 0.0; + out_1678148223451849404[281] = 0.0; + out_1678148223451849404[282] = 0.0; + out_1678148223451849404[283] = 0.0; + out_1678148223451849404[284] = 0.0; + out_1678148223451849404[285] = 1.0; + out_1678148223451849404[286] = 0.0; + out_1678148223451849404[287] = 0.0; + out_1678148223451849404[288] = 0.0; + out_1678148223451849404[289] = 0.0; + out_1678148223451849404[290] = 0.0; + out_1678148223451849404[291] = 0.0; + out_1678148223451849404[292] = 0.0; + out_1678148223451849404[293] = 0.0; + out_1678148223451849404[294] = 0.0; + out_1678148223451849404[295] = 0.0; + out_1678148223451849404[296] = 0.0; + out_1678148223451849404[297] = 0.0; + out_1678148223451849404[298] = 0.0; + out_1678148223451849404[299] = 0.0; + out_1678148223451849404[300] = 0.0; + out_1678148223451849404[301] = 0.0; + out_1678148223451849404[302] = 0.0; + out_1678148223451849404[303] = 0.0; + out_1678148223451849404[304] = 1.0; + out_1678148223451849404[305] = 0.0; + out_1678148223451849404[306] = 0.0; + out_1678148223451849404[307] = 0.0; + out_1678148223451849404[308] = 0.0; + out_1678148223451849404[309] = 0.0; + out_1678148223451849404[310] = 0.0; + out_1678148223451849404[311] = 0.0; + out_1678148223451849404[312] = 0.0; + out_1678148223451849404[313] = 0.0; + out_1678148223451849404[314] = 0.0; + out_1678148223451849404[315] = 0.0; + out_1678148223451849404[316] = 0.0; + out_1678148223451849404[317] = 0.0; + out_1678148223451849404[318] = 0.0; + out_1678148223451849404[319] = 0.0; + out_1678148223451849404[320] = 0.0; + out_1678148223451849404[321] = 0.0; + out_1678148223451849404[322] = 0.0; + out_1678148223451849404[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1147502803036589913) { - out_1147502803036589913[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_1147502803036589913[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_1147502803036589913[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_1147502803036589913[3] = dt*state[12] + state[3]; - out_1147502803036589913[4] = dt*state[13] + state[4]; - out_1147502803036589913[5] = dt*state[14] + state[5]; - out_1147502803036589913[6] = state[6]; - out_1147502803036589913[7] = state[7]; - out_1147502803036589913[8] = state[8]; - out_1147502803036589913[9] = state[9]; - out_1147502803036589913[10] = state[10]; - out_1147502803036589913[11] = state[11]; - out_1147502803036589913[12] = state[12]; - out_1147502803036589913[13] = state[13]; - out_1147502803036589913[14] = state[14]; - out_1147502803036589913[15] = state[15]; - out_1147502803036589913[16] = state[16]; - out_1147502803036589913[17] = state[17]; +void f_fun(double *state, double dt, double *out_4390690219844123460) { + out_4390690219844123460[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_4390690219844123460[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_4390690219844123460[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_4390690219844123460[3] = dt*state[12] + state[3]; + out_4390690219844123460[4] = dt*state[13] + state[4]; + out_4390690219844123460[5] = dt*state[14] + state[5]; + out_4390690219844123460[6] = state[6]; + out_4390690219844123460[7] = state[7]; + out_4390690219844123460[8] = state[8]; + out_4390690219844123460[9] = state[9]; + out_4390690219844123460[10] = state[10]; + out_4390690219844123460[11] = state[11]; + out_4390690219844123460[12] = state[12]; + out_4390690219844123460[13] = state[13]; + out_4390690219844123460[14] = state[14]; + out_4390690219844123460[15] = state[15]; + out_4390690219844123460[16] = state[16]; + out_4390690219844123460[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5222045031026609980) { - out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[2] = 0; - out_5222045031026609980[3] = 0; - out_5222045031026609980[4] = 0; - out_5222045031026609980[5] = 0; - out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[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_5222045031026609980[9] = 0; - out_5222045031026609980[10] = 0; - out_5222045031026609980[11] = 0; - out_5222045031026609980[12] = 0; - out_5222045031026609980[13] = 0; - out_5222045031026609980[14] = 0; - out_5222045031026609980[15] = 0; - out_5222045031026609980[16] = 0; - out_5222045031026609980[17] = 0; - out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[20] = 0; - out_5222045031026609980[21] = 0; - out_5222045031026609980[22] = 0; - out_5222045031026609980[23] = 0; - out_5222045031026609980[24] = 0; - out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[27] = 0; - out_5222045031026609980[28] = 0; - out_5222045031026609980[29] = 0; - out_5222045031026609980[30] = 0; - out_5222045031026609980[31] = 0; - out_5222045031026609980[32] = 0; - out_5222045031026609980[33] = 0; - out_5222045031026609980[34] = 0; - out_5222045031026609980[35] = 0; - out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[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_5222045031026609980[39] = 0; - out_5222045031026609980[40] = 0; - out_5222045031026609980[41] = 0; - out_5222045031026609980[42] = 0; - out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[45] = 0; - out_5222045031026609980[46] = 0; - out_5222045031026609980[47] = 0; - out_5222045031026609980[48] = 0; - out_5222045031026609980[49] = 0; - out_5222045031026609980[50] = 0; - out_5222045031026609980[51] = 0; - out_5222045031026609980[52] = 0; - out_5222045031026609980[53] = 0; - out_5222045031026609980[54] = 0; - out_5222045031026609980[55] = 0; - out_5222045031026609980[56] = 0; - out_5222045031026609980[57] = 1; - out_5222045031026609980[58] = 0; - out_5222045031026609980[59] = 0; - out_5222045031026609980[60] = 0; - out_5222045031026609980[61] = 0; - out_5222045031026609980[62] = 0; - out_5222045031026609980[63] = 0; - out_5222045031026609980[64] = 0; - out_5222045031026609980[65] = 0; - out_5222045031026609980[66] = dt; - out_5222045031026609980[67] = 0; - out_5222045031026609980[68] = 0; - out_5222045031026609980[69] = 0; - out_5222045031026609980[70] = 0; - out_5222045031026609980[71] = 0; - out_5222045031026609980[72] = 0; - out_5222045031026609980[73] = 0; - out_5222045031026609980[74] = 0; - out_5222045031026609980[75] = 0; - out_5222045031026609980[76] = 1; - out_5222045031026609980[77] = 0; - out_5222045031026609980[78] = 0; - out_5222045031026609980[79] = 0; - out_5222045031026609980[80] = 0; - out_5222045031026609980[81] = 0; - out_5222045031026609980[82] = 0; - out_5222045031026609980[83] = 0; - out_5222045031026609980[84] = 0; - out_5222045031026609980[85] = dt; - out_5222045031026609980[86] = 0; - out_5222045031026609980[87] = 0; - out_5222045031026609980[88] = 0; - out_5222045031026609980[89] = 0; - out_5222045031026609980[90] = 0; - out_5222045031026609980[91] = 0; - out_5222045031026609980[92] = 0; - out_5222045031026609980[93] = 0; - out_5222045031026609980[94] = 0; - out_5222045031026609980[95] = 1; - out_5222045031026609980[96] = 0; - out_5222045031026609980[97] = 0; - out_5222045031026609980[98] = 0; - out_5222045031026609980[99] = 0; - out_5222045031026609980[100] = 0; - out_5222045031026609980[101] = 0; - out_5222045031026609980[102] = 0; - out_5222045031026609980[103] = 0; - out_5222045031026609980[104] = dt; - out_5222045031026609980[105] = 0; - out_5222045031026609980[106] = 0; - out_5222045031026609980[107] = 0; - out_5222045031026609980[108] = 0; - out_5222045031026609980[109] = 0; - out_5222045031026609980[110] = 0; - out_5222045031026609980[111] = 0; - out_5222045031026609980[112] = 0; - out_5222045031026609980[113] = 0; - out_5222045031026609980[114] = 1; - out_5222045031026609980[115] = 0; - out_5222045031026609980[116] = 0; - out_5222045031026609980[117] = 0; - out_5222045031026609980[118] = 0; - out_5222045031026609980[119] = 0; - out_5222045031026609980[120] = 0; - out_5222045031026609980[121] = 0; - out_5222045031026609980[122] = 0; - out_5222045031026609980[123] = 0; - out_5222045031026609980[124] = 0; - out_5222045031026609980[125] = 0; - out_5222045031026609980[126] = 0; - out_5222045031026609980[127] = 0; - out_5222045031026609980[128] = 0; - out_5222045031026609980[129] = 0; - out_5222045031026609980[130] = 0; - out_5222045031026609980[131] = 0; - out_5222045031026609980[132] = 0; - out_5222045031026609980[133] = 1; - out_5222045031026609980[134] = 0; - out_5222045031026609980[135] = 0; - out_5222045031026609980[136] = 0; - out_5222045031026609980[137] = 0; - out_5222045031026609980[138] = 0; - out_5222045031026609980[139] = 0; - out_5222045031026609980[140] = 0; - out_5222045031026609980[141] = 0; - out_5222045031026609980[142] = 0; - out_5222045031026609980[143] = 0; - out_5222045031026609980[144] = 0; - out_5222045031026609980[145] = 0; - out_5222045031026609980[146] = 0; - out_5222045031026609980[147] = 0; - out_5222045031026609980[148] = 0; - out_5222045031026609980[149] = 0; - out_5222045031026609980[150] = 0; - out_5222045031026609980[151] = 0; - out_5222045031026609980[152] = 1; - out_5222045031026609980[153] = 0; - out_5222045031026609980[154] = 0; - out_5222045031026609980[155] = 0; - out_5222045031026609980[156] = 0; - out_5222045031026609980[157] = 0; - out_5222045031026609980[158] = 0; - out_5222045031026609980[159] = 0; - out_5222045031026609980[160] = 0; - out_5222045031026609980[161] = 0; - out_5222045031026609980[162] = 0; - out_5222045031026609980[163] = 0; - out_5222045031026609980[164] = 0; - out_5222045031026609980[165] = 0; - out_5222045031026609980[166] = 0; - out_5222045031026609980[167] = 0; - out_5222045031026609980[168] = 0; - out_5222045031026609980[169] = 0; - out_5222045031026609980[170] = 0; - out_5222045031026609980[171] = 1; - out_5222045031026609980[172] = 0; - out_5222045031026609980[173] = 0; - out_5222045031026609980[174] = 0; - out_5222045031026609980[175] = 0; - out_5222045031026609980[176] = 0; - out_5222045031026609980[177] = 0; - out_5222045031026609980[178] = 0; - out_5222045031026609980[179] = 0; - out_5222045031026609980[180] = 0; - out_5222045031026609980[181] = 0; - out_5222045031026609980[182] = 0; - out_5222045031026609980[183] = 0; - out_5222045031026609980[184] = 0; - out_5222045031026609980[185] = 0; - out_5222045031026609980[186] = 0; - out_5222045031026609980[187] = 0; - out_5222045031026609980[188] = 0; - out_5222045031026609980[189] = 0; - out_5222045031026609980[190] = 1; - out_5222045031026609980[191] = 0; - out_5222045031026609980[192] = 0; - out_5222045031026609980[193] = 0; - out_5222045031026609980[194] = 0; - out_5222045031026609980[195] = 0; - out_5222045031026609980[196] = 0; - out_5222045031026609980[197] = 0; - out_5222045031026609980[198] = 0; - out_5222045031026609980[199] = 0; - out_5222045031026609980[200] = 0; - out_5222045031026609980[201] = 0; - out_5222045031026609980[202] = 0; - out_5222045031026609980[203] = 0; - out_5222045031026609980[204] = 0; - out_5222045031026609980[205] = 0; - out_5222045031026609980[206] = 0; - out_5222045031026609980[207] = 0; - out_5222045031026609980[208] = 0; - out_5222045031026609980[209] = 1; - out_5222045031026609980[210] = 0; - out_5222045031026609980[211] = 0; - out_5222045031026609980[212] = 0; - out_5222045031026609980[213] = 0; - out_5222045031026609980[214] = 0; - out_5222045031026609980[215] = 0; - out_5222045031026609980[216] = 0; - out_5222045031026609980[217] = 0; - out_5222045031026609980[218] = 0; - out_5222045031026609980[219] = 0; - out_5222045031026609980[220] = 0; - out_5222045031026609980[221] = 0; - out_5222045031026609980[222] = 0; - out_5222045031026609980[223] = 0; - out_5222045031026609980[224] = 0; - out_5222045031026609980[225] = 0; - out_5222045031026609980[226] = 0; - out_5222045031026609980[227] = 0; - out_5222045031026609980[228] = 1; - out_5222045031026609980[229] = 0; - out_5222045031026609980[230] = 0; - out_5222045031026609980[231] = 0; - out_5222045031026609980[232] = 0; - out_5222045031026609980[233] = 0; - out_5222045031026609980[234] = 0; - out_5222045031026609980[235] = 0; - out_5222045031026609980[236] = 0; - out_5222045031026609980[237] = 0; - out_5222045031026609980[238] = 0; - out_5222045031026609980[239] = 0; - out_5222045031026609980[240] = 0; - out_5222045031026609980[241] = 0; - out_5222045031026609980[242] = 0; - out_5222045031026609980[243] = 0; - out_5222045031026609980[244] = 0; - out_5222045031026609980[245] = 0; - out_5222045031026609980[246] = 0; - out_5222045031026609980[247] = 1; - out_5222045031026609980[248] = 0; - out_5222045031026609980[249] = 0; - out_5222045031026609980[250] = 0; - out_5222045031026609980[251] = 0; - out_5222045031026609980[252] = 0; - out_5222045031026609980[253] = 0; - out_5222045031026609980[254] = 0; - out_5222045031026609980[255] = 0; - out_5222045031026609980[256] = 0; - out_5222045031026609980[257] = 0; - out_5222045031026609980[258] = 0; - out_5222045031026609980[259] = 0; - out_5222045031026609980[260] = 0; - out_5222045031026609980[261] = 0; - out_5222045031026609980[262] = 0; - out_5222045031026609980[263] = 0; - out_5222045031026609980[264] = 0; - out_5222045031026609980[265] = 0; - out_5222045031026609980[266] = 1; - out_5222045031026609980[267] = 0; - out_5222045031026609980[268] = 0; - out_5222045031026609980[269] = 0; - out_5222045031026609980[270] = 0; - out_5222045031026609980[271] = 0; - out_5222045031026609980[272] = 0; - out_5222045031026609980[273] = 0; - out_5222045031026609980[274] = 0; - out_5222045031026609980[275] = 0; - out_5222045031026609980[276] = 0; - out_5222045031026609980[277] = 0; - out_5222045031026609980[278] = 0; - out_5222045031026609980[279] = 0; - out_5222045031026609980[280] = 0; - out_5222045031026609980[281] = 0; - out_5222045031026609980[282] = 0; - out_5222045031026609980[283] = 0; - out_5222045031026609980[284] = 0; - out_5222045031026609980[285] = 1; - out_5222045031026609980[286] = 0; - out_5222045031026609980[287] = 0; - out_5222045031026609980[288] = 0; - out_5222045031026609980[289] = 0; - out_5222045031026609980[290] = 0; - out_5222045031026609980[291] = 0; - out_5222045031026609980[292] = 0; - out_5222045031026609980[293] = 0; - out_5222045031026609980[294] = 0; - out_5222045031026609980[295] = 0; - out_5222045031026609980[296] = 0; - out_5222045031026609980[297] = 0; - out_5222045031026609980[298] = 0; - out_5222045031026609980[299] = 0; - out_5222045031026609980[300] = 0; - out_5222045031026609980[301] = 0; - out_5222045031026609980[302] = 0; - out_5222045031026609980[303] = 0; - out_5222045031026609980[304] = 1; - out_5222045031026609980[305] = 0; - out_5222045031026609980[306] = 0; - out_5222045031026609980[307] = 0; - out_5222045031026609980[308] = 0; - out_5222045031026609980[309] = 0; - out_5222045031026609980[310] = 0; - out_5222045031026609980[311] = 0; - out_5222045031026609980[312] = 0; - out_5222045031026609980[313] = 0; - out_5222045031026609980[314] = 0; - out_5222045031026609980[315] = 0; - out_5222045031026609980[316] = 0; - out_5222045031026609980[317] = 0; - out_5222045031026609980[318] = 0; - out_5222045031026609980[319] = 0; - out_5222045031026609980[320] = 0; - out_5222045031026609980[321] = 0; - out_5222045031026609980[322] = 0; - out_5222045031026609980[323] = 1; +void F_fun(double *state, double dt, double *out_5251920544283288288) { + out_5251920544283288288[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_5251920544283288288[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_5251920544283288288[2] = 0; + out_5251920544283288288[3] = 0; + out_5251920544283288288[4] = 0; + out_5251920544283288288[5] = 0; + out_5251920544283288288[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_5251920544283288288[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_5251920544283288288[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_5251920544283288288[9] = 0; + out_5251920544283288288[10] = 0; + out_5251920544283288288[11] = 0; + out_5251920544283288288[12] = 0; + out_5251920544283288288[13] = 0; + out_5251920544283288288[14] = 0; + out_5251920544283288288[15] = 0; + out_5251920544283288288[16] = 0; + out_5251920544283288288[17] = 0; + out_5251920544283288288[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_5251920544283288288[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_5251920544283288288[20] = 0; + out_5251920544283288288[21] = 0; + out_5251920544283288288[22] = 0; + out_5251920544283288288[23] = 0; + out_5251920544283288288[24] = 0; + out_5251920544283288288[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_5251920544283288288[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_5251920544283288288[27] = 0; + out_5251920544283288288[28] = 0; + out_5251920544283288288[29] = 0; + out_5251920544283288288[30] = 0; + out_5251920544283288288[31] = 0; + out_5251920544283288288[32] = 0; + out_5251920544283288288[33] = 0; + out_5251920544283288288[34] = 0; + out_5251920544283288288[35] = 0; + out_5251920544283288288[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_5251920544283288288[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_5251920544283288288[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_5251920544283288288[39] = 0; + out_5251920544283288288[40] = 0; + out_5251920544283288288[41] = 0; + out_5251920544283288288[42] = 0; + out_5251920544283288288[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_5251920544283288288[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_5251920544283288288[45] = 0; + out_5251920544283288288[46] = 0; + out_5251920544283288288[47] = 0; + out_5251920544283288288[48] = 0; + out_5251920544283288288[49] = 0; + out_5251920544283288288[50] = 0; + out_5251920544283288288[51] = 0; + out_5251920544283288288[52] = 0; + out_5251920544283288288[53] = 0; + out_5251920544283288288[54] = 0; + out_5251920544283288288[55] = 0; + out_5251920544283288288[56] = 0; + out_5251920544283288288[57] = 1; + out_5251920544283288288[58] = 0; + out_5251920544283288288[59] = 0; + out_5251920544283288288[60] = 0; + out_5251920544283288288[61] = 0; + out_5251920544283288288[62] = 0; + out_5251920544283288288[63] = 0; + out_5251920544283288288[64] = 0; + out_5251920544283288288[65] = 0; + out_5251920544283288288[66] = dt; + out_5251920544283288288[67] = 0; + out_5251920544283288288[68] = 0; + out_5251920544283288288[69] = 0; + out_5251920544283288288[70] = 0; + out_5251920544283288288[71] = 0; + out_5251920544283288288[72] = 0; + out_5251920544283288288[73] = 0; + out_5251920544283288288[74] = 0; + out_5251920544283288288[75] = 0; + out_5251920544283288288[76] = 1; + out_5251920544283288288[77] = 0; + out_5251920544283288288[78] = 0; + out_5251920544283288288[79] = 0; + out_5251920544283288288[80] = 0; + out_5251920544283288288[81] = 0; + out_5251920544283288288[82] = 0; + out_5251920544283288288[83] = 0; + out_5251920544283288288[84] = 0; + out_5251920544283288288[85] = dt; + out_5251920544283288288[86] = 0; + out_5251920544283288288[87] = 0; + out_5251920544283288288[88] = 0; + out_5251920544283288288[89] = 0; + out_5251920544283288288[90] = 0; + out_5251920544283288288[91] = 0; + out_5251920544283288288[92] = 0; + out_5251920544283288288[93] = 0; + out_5251920544283288288[94] = 0; + out_5251920544283288288[95] = 1; + out_5251920544283288288[96] = 0; + out_5251920544283288288[97] = 0; + out_5251920544283288288[98] = 0; + out_5251920544283288288[99] = 0; + out_5251920544283288288[100] = 0; + out_5251920544283288288[101] = 0; + out_5251920544283288288[102] = 0; + out_5251920544283288288[103] = 0; + out_5251920544283288288[104] = dt; + out_5251920544283288288[105] = 0; + out_5251920544283288288[106] = 0; + out_5251920544283288288[107] = 0; + out_5251920544283288288[108] = 0; + out_5251920544283288288[109] = 0; + out_5251920544283288288[110] = 0; + out_5251920544283288288[111] = 0; + out_5251920544283288288[112] = 0; + out_5251920544283288288[113] = 0; + out_5251920544283288288[114] = 1; + out_5251920544283288288[115] = 0; + out_5251920544283288288[116] = 0; + out_5251920544283288288[117] = 0; + out_5251920544283288288[118] = 0; + out_5251920544283288288[119] = 0; + out_5251920544283288288[120] = 0; + out_5251920544283288288[121] = 0; + out_5251920544283288288[122] = 0; + out_5251920544283288288[123] = 0; + out_5251920544283288288[124] = 0; + out_5251920544283288288[125] = 0; + out_5251920544283288288[126] = 0; + out_5251920544283288288[127] = 0; + out_5251920544283288288[128] = 0; + out_5251920544283288288[129] = 0; + out_5251920544283288288[130] = 0; + out_5251920544283288288[131] = 0; + out_5251920544283288288[132] = 0; + out_5251920544283288288[133] = 1; + out_5251920544283288288[134] = 0; + out_5251920544283288288[135] = 0; + out_5251920544283288288[136] = 0; + out_5251920544283288288[137] = 0; + out_5251920544283288288[138] = 0; + out_5251920544283288288[139] = 0; + out_5251920544283288288[140] = 0; + out_5251920544283288288[141] = 0; + out_5251920544283288288[142] = 0; + out_5251920544283288288[143] = 0; + out_5251920544283288288[144] = 0; + out_5251920544283288288[145] = 0; + out_5251920544283288288[146] = 0; + out_5251920544283288288[147] = 0; + out_5251920544283288288[148] = 0; + out_5251920544283288288[149] = 0; + out_5251920544283288288[150] = 0; + out_5251920544283288288[151] = 0; + out_5251920544283288288[152] = 1; + out_5251920544283288288[153] = 0; + out_5251920544283288288[154] = 0; + out_5251920544283288288[155] = 0; + out_5251920544283288288[156] = 0; + out_5251920544283288288[157] = 0; + out_5251920544283288288[158] = 0; + out_5251920544283288288[159] = 0; + out_5251920544283288288[160] = 0; + out_5251920544283288288[161] = 0; + out_5251920544283288288[162] = 0; + out_5251920544283288288[163] = 0; + out_5251920544283288288[164] = 0; + out_5251920544283288288[165] = 0; + out_5251920544283288288[166] = 0; + out_5251920544283288288[167] = 0; + out_5251920544283288288[168] = 0; + out_5251920544283288288[169] = 0; + out_5251920544283288288[170] = 0; + out_5251920544283288288[171] = 1; + out_5251920544283288288[172] = 0; + out_5251920544283288288[173] = 0; + out_5251920544283288288[174] = 0; + out_5251920544283288288[175] = 0; + out_5251920544283288288[176] = 0; + out_5251920544283288288[177] = 0; + out_5251920544283288288[178] = 0; + out_5251920544283288288[179] = 0; + out_5251920544283288288[180] = 0; + out_5251920544283288288[181] = 0; + out_5251920544283288288[182] = 0; + out_5251920544283288288[183] = 0; + out_5251920544283288288[184] = 0; + out_5251920544283288288[185] = 0; + out_5251920544283288288[186] = 0; + out_5251920544283288288[187] = 0; + out_5251920544283288288[188] = 0; + out_5251920544283288288[189] = 0; + out_5251920544283288288[190] = 1; + out_5251920544283288288[191] = 0; + out_5251920544283288288[192] = 0; + out_5251920544283288288[193] = 0; + out_5251920544283288288[194] = 0; + out_5251920544283288288[195] = 0; + out_5251920544283288288[196] = 0; + out_5251920544283288288[197] = 0; + out_5251920544283288288[198] = 0; + out_5251920544283288288[199] = 0; + out_5251920544283288288[200] = 0; + out_5251920544283288288[201] = 0; + out_5251920544283288288[202] = 0; + out_5251920544283288288[203] = 0; + out_5251920544283288288[204] = 0; + out_5251920544283288288[205] = 0; + out_5251920544283288288[206] = 0; + out_5251920544283288288[207] = 0; + out_5251920544283288288[208] = 0; + out_5251920544283288288[209] = 1; + out_5251920544283288288[210] = 0; + out_5251920544283288288[211] = 0; + out_5251920544283288288[212] = 0; + out_5251920544283288288[213] = 0; + out_5251920544283288288[214] = 0; + out_5251920544283288288[215] = 0; + out_5251920544283288288[216] = 0; + out_5251920544283288288[217] = 0; + out_5251920544283288288[218] = 0; + out_5251920544283288288[219] = 0; + out_5251920544283288288[220] = 0; + out_5251920544283288288[221] = 0; + out_5251920544283288288[222] = 0; + out_5251920544283288288[223] = 0; + out_5251920544283288288[224] = 0; + out_5251920544283288288[225] = 0; + out_5251920544283288288[226] = 0; + out_5251920544283288288[227] = 0; + out_5251920544283288288[228] = 1; + out_5251920544283288288[229] = 0; + out_5251920544283288288[230] = 0; + out_5251920544283288288[231] = 0; + out_5251920544283288288[232] = 0; + out_5251920544283288288[233] = 0; + out_5251920544283288288[234] = 0; + out_5251920544283288288[235] = 0; + out_5251920544283288288[236] = 0; + out_5251920544283288288[237] = 0; + out_5251920544283288288[238] = 0; + out_5251920544283288288[239] = 0; + out_5251920544283288288[240] = 0; + out_5251920544283288288[241] = 0; + out_5251920544283288288[242] = 0; + out_5251920544283288288[243] = 0; + out_5251920544283288288[244] = 0; + out_5251920544283288288[245] = 0; + out_5251920544283288288[246] = 0; + out_5251920544283288288[247] = 1; + out_5251920544283288288[248] = 0; + out_5251920544283288288[249] = 0; + out_5251920544283288288[250] = 0; + out_5251920544283288288[251] = 0; + out_5251920544283288288[252] = 0; + out_5251920544283288288[253] = 0; + out_5251920544283288288[254] = 0; + out_5251920544283288288[255] = 0; + out_5251920544283288288[256] = 0; + out_5251920544283288288[257] = 0; + out_5251920544283288288[258] = 0; + out_5251920544283288288[259] = 0; + out_5251920544283288288[260] = 0; + out_5251920544283288288[261] = 0; + out_5251920544283288288[262] = 0; + out_5251920544283288288[263] = 0; + out_5251920544283288288[264] = 0; + out_5251920544283288288[265] = 0; + out_5251920544283288288[266] = 1; + out_5251920544283288288[267] = 0; + out_5251920544283288288[268] = 0; + out_5251920544283288288[269] = 0; + out_5251920544283288288[270] = 0; + out_5251920544283288288[271] = 0; + out_5251920544283288288[272] = 0; + out_5251920544283288288[273] = 0; + out_5251920544283288288[274] = 0; + out_5251920544283288288[275] = 0; + out_5251920544283288288[276] = 0; + out_5251920544283288288[277] = 0; + out_5251920544283288288[278] = 0; + out_5251920544283288288[279] = 0; + out_5251920544283288288[280] = 0; + out_5251920544283288288[281] = 0; + out_5251920544283288288[282] = 0; + out_5251920544283288288[283] = 0; + out_5251920544283288288[284] = 0; + out_5251920544283288288[285] = 1; + out_5251920544283288288[286] = 0; + out_5251920544283288288[287] = 0; + out_5251920544283288288[288] = 0; + out_5251920544283288288[289] = 0; + out_5251920544283288288[290] = 0; + out_5251920544283288288[291] = 0; + out_5251920544283288288[292] = 0; + out_5251920544283288288[293] = 0; + out_5251920544283288288[294] = 0; + out_5251920544283288288[295] = 0; + out_5251920544283288288[296] = 0; + out_5251920544283288288[297] = 0; + out_5251920544283288288[298] = 0; + out_5251920544283288288[299] = 0; + out_5251920544283288288[300] = 0; + out_5251920544283288288[301] = 0; + out_5251920544283288288[302] = 0; + out_5251920544283288288[303] = 0; + out_5251920544283288288[304] = 1; + out_5251920544283288288[305] = 0; + out_5251920544283288288[306] = 0; + out_5251920544283288288[307] = 0; + out_5251920544283288288[308] = 0; + out_5251920544283288288[309] = 0; + out_5251920544283288288[310] = 0; + out_5251920544283288288[311] = 0; + out_5251920544283288288[312] = 0; + out_5251920544283288288[313] = 0; + out_5251920544283288288[314] = 0; + out_5251920544283288288[315] = 0; + out_5251920544283288288[316] = 0; + out_5251920544283288288[317] = 0; + out_5251920544283288288[318] = 0; + out_5251920544283288288[319] = 0; + out_5251920544283288288[320] = 0; + out_5251920544283288288[321] = 0; + out_5251920544283288288[322] = 0; + out_5251920544283288288[323] = 1; } -void h_4(double *state, double *unused, double *out_9011768275853426182) { - out_9011768275853426182[0] = state[6] + state[9]; - out_9011768275853426182[1] = state[7] + state[10]; - out_9011768275853426182[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2086181486544094617) { + out_2086181486544094617[0] = state[6] + state[9]; + out_2086181486544094617[1] = state[7] + state[10]; + out_2086181486544094617[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3460336267317199431) { - out_3460336267317199431[0] = 0; - out_3460336267317199431[1] = 0; - out_3460336267317199431[2] = 0; - out_3460336267317199431[3] = 0; - out_3460336267317199431[4] = 0; - out_3460336267317199431[5] = 0; - out_3460336267317199431[6] = 1; - out_3460336267317199431[7] = 0; - out_3460336267317199431[8] = 0; - out_3460336267317199431[9] = 1; - out_3460336267317199431[10] = 0; - out_3460336267317199431[11] = 0; - out_3460336267317199431[12] = 0; - out_3460336267317199431[13] = 0; - out_3460336267317199431[14] = 0; - out_3460336267317199431[15] = 0; - out_3460336267317199431[16] = 0; - out_3460336267317199431[17] = 0; - out_3460336267317199431[18] = 0; - out_3460336267317199431[19] = 0; - out_3460336267317199431[20] = 0; - out_3460336267317199431[21] = 0; - out_3460336267317199431[22] = 0; - out_3460336267317199431[23] = 0; - out_3460336267317199431[24] = 0; - out_3460336267317199431[25] = 1; - out_3460336267317199431[26] = 0; - out_3460336267317199431[27] = 0; - out_3460336267317199431[28] = 1; - out_3460336267317199431[29] = 0; - out_3460336267317199431[30] = 0; - out_3460336267317199431[31] = 0; - out_3460336267317199431[32] = 0; - out_3460336267317199431[33] = 0; - out_3460336267317199431[34] = 0; - out_3460336267317199431[35] = 0; - out_3460336267317199431[36] = 0; - out_3460336267317199431[37] = 0; - out_3460336267317199431[38] = 0; - out_3460336267317199431[39] = 0; - out_3460336267317199431[40] = 0; - out_3460336267317199431[41] = 0; - out_3460336267317199431[42] = 0; - out_3460336267317199431[43] = 0; - out_3460336267317199431[44] = 1; - out_3460336267317199431[45] = 0; - out_3460336267317199431[46] = 0; - out_3460336267317199431[47] = 1; - out_3460336267317199431[48] = 0; - out_3460336267317199431[49] = 0; - out_3460336267317199431[50] = 0; - out_3460336267317199431[51] = 0; - out_3460336267317199431[52] = 0; - out_3460336267317199431[53] = 0; +void H_4(double *state, double *unused, double *out_141550502454447457) { + out_141550502454447457[0] = 0; + out_141550502454447457[1] = 0; + out_141550502454447457[2] = 0; + out_141550502454447457[3] = 0; + out_141550502454447457[4] = 0; + out_141550502454447457[5] = 0; + out_141550502454447457[6] = 1; + out_141550502454447457[7] = 0; + out_141550502454447457[8] = 0; + out_141550502454447457[9] = 1; + out_141550502454447457[10] = 0; + out_141550502454447457[11] = 0; + out_141550502454447457[12] = 0; + out_141550502454447457[13] = 0; + out_141550502454447457[14] = 0; + out_141550502454447457[15] = 0; + out_141550502454447457[16] = 0; + out_141550502454447457[17] = 0; + out_141550502454447457[18] = 0; + out_141550502454447457[19] = 0; + out_141550502454447457[20] = 0; + out_141550502454447457[21] = 0; + out_141550502454447457[22] = 0; + out_141550502454447457[23] = 0; + out_141550502454447457[24] = 0; + out_141550502454447457[25] = 1; + out_141550502454447457[26] = 0; + out_141550502454447457[27] = 0; + out_141550502454447457[28] = 1; + out_141550502454447457[29] = 0; + out_141550502454447457[30] = 0; + out_141550502454447457[31] = 0; + out_141550502454447457[32] = 0; + out_141550502454447457[33] = 0; + out_141550502454447457[34] = 0; + out_141550502454447457[35] = 0; + out_141550502454447457[36] = 0; + out_141550502454447457[37] = 0; + out_141550502454447457[38] = 0; + out_141550502454447457[39] = 0; + out_141550502454447457[40] = 0; + out_141550502454447457[41] = 0; + out_141550502454447457[42] = 0; + out_141550502454447457[43] = 0; + out_141550502454447457[44] = 1; + out_141550502454447457[45] = 0; + out_141550502454447457[46] = 0; + out_141550502454447457[47] = 1; + out_141550502454447457[48] = 0; + out_141550502454447457[49] = 0; + out_141550502454447457[50] = 0; + out_141550502454447457[51] = 0; + out_141550502454447457[52] = 0; + out_141550502454447457[53] = 0; } -void h_10(double *state, double *unused, double *out_678012550926290311) { - out_678012550926290311[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_678012550926290311[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_678012550926290311[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_2304974017593414723) { + out_2304974017593414723[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2304974017593414723[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2304974017593414723[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_4795577018961183743) { - out_4795577018961183743[0] = 0; - out_4795577018961183743[1] = 9.8100000000000005*cos(state[1]); - out_4795577018961183743[2] = 0; - out_4795577018961183743[3] = 0; - out_4795577018961183743[4] = -state[8]; - out_4795577018961183743[5] = state[7]; - out_4795577018961183743[6] = 0; - out_4795577018961183743[7] = state[5]; - out_4795577018961183743[8] = -state[4]; - out_4795577018961183743[9] = 0; - out_4795577018961183743[10] = 0; - out_4795577018961183743[11] = 0; - out_4795577018961183743[12] = 1; - out_4795577018961183743[13] = 0; - out_4795577018961183743[14] = 0; - out_4795577018961183743[15] = 1; - out_4795577018961183743[16] = 0; - out_4795577018961183743[17] = 0; - out_4795577018961183743[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4795577018961183743[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4795577018961183743[20] = 0; - out_4795577018961183743[21] = state[8]; - out_4795577018961183743[22] = 0; - out_4795577018961183743[23] = -state[6]; - out_4795577018961183743[24] = -state[5]; - out_4795577018961183743[25] = 0; - out_4795577018961183743[26] = state[3]; - out_4795577018961183743[27] = 0; - out_4795577018961183743[28] = 0; - out_4795577018961183743[29] = 0; - out_4795577018961183743[30] = 0; - out_4795577018961183743[31] = 1; - out_4795577018961183743[32] = 0; - out_4795577018961183743[33] = 0; - out_4795577018961183743[34] = 1; - out_4795577018961183743[35] = 0; - out_4795577018961183743[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4795577018961183743[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4795577018961183743[38] = 0; - out_4795577018961183743[39] = -state[7]; - out_4795577018961183743[40] = state[6]; - out_4795577018961183743[41] = 0; - out_4795577018961183743[42] = state[4]; - out_4795577018961183743[43] = -state[3]; - out_4795577018961183743[44] = 0; - out_4795577018961183743[45] = 0; - out_4795577018961183743[46] = 0; - out_4795577018961183743[47] = 0; - out_4795577018961183743[48] = 0; - out_4795577018961183743[49] = 0; - out_4795577018961183743[50] = 1; - out_4795577018961183743[51] = 0; - out_4795577018961183743[52] = 0; - out_4795577018961183743[53] = 1; +void H_10(double *state, double *unused, double *out_521311265061217175) { + out_521311265061217175[0] = 0; + out_521311265061217175[1] = 9.8100000000000005*cos(state[1]); + out_521311265061217175[2] = 0; + out_521311265061217175[3] = 0; + out_521311265061217175[4] = -state[8]; + out_521311265061217175[5] = state[7]; + out_521311265061217175[6] = 0; + out_521311265061217175[7] = state[5]; + out_521311265061217175[8] = -state[4]; + out_521311265061217175[9] = 0; + out_521311265061217175[10] = 0; + out_521311265061217175[11] = 0; + out_521311265061217175[12] = 1; + out_521311265061217175[13] = 0; + out_521311265061217175[14] = 0; + out_521311265061217175[15] = 1; + out_521311265061217175[16] = 0; + out_521311265061217175[17] = 0; + out_521311265061217175[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_521311265061217175[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_521311265061217175[20] = 0; + out_521311265061217175[21] = state[8]; + out_521311265061217175[22] = 0; + out_521311265061217175[23] = -state[6]; + out_521311265061217175[24] = -state[5]; + out_521311265061217175[25] = 0; + out_521311265061217175[26] = state[3]; + out_521311265061217175[27] = 0; + out_521311265061217175[28] = 0; + out_521311265061217175[29] = 0; + out_521311265061217175[30] = 0; + out_521311265061217175[31] = 1; + out_521311265061217175[32] = 0; + out_521311265061217175[33] = 0; + out_521311265061217175[34] = 1; + out_521311265061217175[35] = 0; + out_521311265061217175[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_521311265061217175[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_521311265061217175[38] = 0; + out_521311265061217175[39] = -state[7]; + out_521311265061217175[40] = state[6]; + out_521311265061217175[41] = 0; + out_521311265061217175[42] = state[4]; + out_521311265061217175[43] = -state[3]; + out_521311265061217175[44] = 0; + out_521311265061217175[45] = 0; + out_521311265061217175[46] = 0; + out_521311265061217175[47] = 0; + out_521311265061217175[48] = 0; + out_521311265061217175[49] = 0; + out_521311265061217175[50] = 1; + out_521311265061217175[51] = 0; + out_521311265061217175[52] = 0; + out_521311265061217175[53] = 1; } -void h_13(double *state, double *unused, double *out_7050071971782529116) { - out_7050071971782529116[0] = state[3]; - out_7050071971782529116[1] = state[4]; - out_7050071971782529116[2] = state[5]; +void h_13(double *state, double *unused, double *out_6563098082746675966) { + out_6563098082746675966[0] = state[3]; + out_6563098082746675966[1] = state[4]; + out_6563098082746675966[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6672610092649532232) { - out_6672610092649532232[0] = 0; - out_6672610092649532232[1] = 0; - out_6672610092649532232[2] = 0; - out_6672610092649532232[3] = 1; - out_6672610092649532232[4] = 0; - out_6672610092649532232[5] = 0; - out_6672610092649532232[6] = 0; - out_6672610092649532232[7] = 0; - out_6672610092649532232[8] = 0; - out_6672610092649532232[9] = 0; - out_6672610092649532232[10] = 0; - out_6672610092649532232[11] = 0; - out_6672610092649532232[12] = 0; - out_6672610092649532232[13] = 0; - out_6672610092649532232[14] = 0; - out_6672610092649532232[15] = 0; - out_6672610092649532232[16] = 0; - out_6672610092649532232[17] = 0; - out_6672610092649532232[18] = 0; - out_6672610092649532232[19] = 0; - out_6672610092649532232[20] = 0; - out_6672610092649532232[21] = 0; - out_6672610092649532232[22] = 1; - out_6672610092649532232[23] = 0; - out_6672610092649532232[24] = 0; - out_6672610092649532232[25] = 0; - out_6672610092649532232[26] = 0; - out_6672610092649532232[27] = 0; - out_6672610092649532232[28] = 0; - out_6672610092649532232[29] = 0; - out_6672610092649532232[30] = 0; - out_6672610092649532232[31] = 0; - out_6672610092649532232[32] = 0; - out_6672610092649532232[33] = 0; - out_6672610092649532232[34] = 0; - out_6672610092649532232[35] = 0; - out_6672610092649532232[36] = 0; - out_6672610092649532232[37] = 0; - out_6672610092649532232[38] = 0; - out_6672610092649532232[39] = 0; - out_6672610092649532232[40] = 0; - out_6672610092649532232[41] = 1; - out_6672610092649532232[42] = 0; - out_6672610092649532232[43] = 0; - out_6672610092649532232[44] = 0; - out_6672610092649532232[45] = 0; - out_6672610092649532232[46] = 0; - out_6672610092649532232[47] = 0; - out_6672610092649532232[48] = 0; - out_6672610092649532232[49] = 0; - out_6672610092649532232[50] = 0; - out_6672610092649532232[51] = 0; - out_6672610092649532232[52] = 0; - out_6672610092649532232[53] = 0; +void H_13(double *state, double *unused, double *out_3070723322877885344) { + out_3070723322877885344[0] = 0; + out_3070723322877885344[1] = 0; + out_3070723322877885344[2] = 0; + out_3070723322877885344[3] = 1; + out_3070723322877885344[4] = 0; + out_3070723322877885344[5] = 0; + out_3070723322877885344[6] = 0; + out_3070723322877885344[7] = 0; + out_3070723322877885344[8] = 0; + out_3070723322877885344[9] = 0; + out_3070723322877885344[10] = 0; + out_3070723322877885344[11] = 0; + out_3070723322877885344[12] = 0; + out_3070723322877885344[13] = 0; + out_3070723322877885344[14] = 0; + out_3070723322877885344[15] = 0; + out_3070723322877885344[16] = 0; + out_3070723322877885344[17] = 0; + out_3070723322877885344[18] = 0; + out_3070723322877885344[19] = 0; + out_3070723322877885344[20] = 0; + out_3070723322877885344[21] = 0; + out_3070723322877885344[22] = 1; + out_3070723322877885344[23] = 0; + out_3070723322877885344[24] = 0; + out_3070723322877885344[25] = 0; + out_3070723322877885344[26] = 0; + out_3070723322877885344[27] = 0; + out_3070723322877885344[28] = 0; + out_3070723322877885344[29] = 0; + out_3070723322877885344[30] = 0; + out_3070723322877885344[31] = 0; + out_3070723322877885344[32] = 0; + out_3070723322877885344[33] = 0; + out_3070723322877885344[34] = 0; + out_3070723322877885344[35] = 0; + out_3070723322877885344[36] = 0; + out_3070723322877885344[37] = 0; + out_3070723322877885344[38] = 0; + out_3070723322877885344[39] = 0; + out_3070723322877885344[40] = 0; + out_3070723322877885344[41] = 1; + out_3070723322877885344[42] = 0; + out_3070723322877885344[43] = 0; + out_3070723322877885344[44] = 0; + out_3070723322877885344[45] = 0; + out_3070723322877885344[46] = 0; + out_3070723322877885344[47] = 0; + out_3070723322877885344[48] = 0; + out_3070723322877885344[49] = 0; + out_3070723322877885344[50] = 0; + out_3070723322877885344[51] = 0; + out_3070723322877885344[52] = 0; + out_3070723322877885344[53] = 0; } -void h_14(double *state, double *unused, double *out_2771996280971910329) { - out_2771996280971910329[0] = state[6]; - out_2771996280971910329[1] = state[7]; - out_2771996280971910329[2] = state[8]; +void h_14(double *state, double *unused, double *out_4832039927491863335) { + out_4832039927491863335[0] = state[6]; + out_4832039927491863335[1] = state[7]; + out_4832039927491863335[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7423577123656683960) { - out_7423577123656683960[0] = 0; - out_7423577123656683960[1] = 0; - out_7423577123656683960[2] = 0; - out_7423577123656683960[3] = 0; - out_7423577123656683960[4] = 0; - out_7423577123656683960[5] = 0; - out_7423577123656683960[6] = 1; - out_7423577123656683960[7] = 0; - out_7423577123656683960[8] = 0; - out_7423577123656683960[9] = 0; - out_7423577123656683960[10] = 0; - out_7423577123656683960[11] = 0; - out_7423577123656683960[12] = 0; - out_7423577123656683960[13] = 0; - out_7423577123656683960[14] = 0; - out_7423577123656683960[15] = 0; - out_7423577123656683960[16] = 0; - out_7423577123656683960[17] = 0; - out_7423577123656683960[18] = 0; - out_7423577123656683960[19] = 0; - out_7423577123656683960[20] = 0; - out_7423577123656683960[21] = 0; - out_7423577123656683960[22] = 0; - out_7423577123656683960[23] = 0; - out_7423577123656683960[24] = 0; - out_7423577123656683960[25] = 1; - out_7423577123656683960[26] = 0; - out_7423577123656683960[27] = 0; - out_7423577123656683960[28] = 0; - out_7423577123656683960[29] = 0; - out_7423577123656683960[30] = 0; - out_7423577123656683960[31] = 0; - out_7423577123656683960[32] = 0; - out_7423577123656683960[33] = 0; - out_7423577123656683960[34] = 0; - out_7423577123656683960[35] = 0; - out_7423577123656683960[36] = 0; - out_7423577123656683960[37] = 0; - out_7423577123656683960[38] = 0; - out_7423577123656683960[39] = 0; - out_7423577123656683960[40] = 0; - out_7423577123656683960[41] = 0; - out_7423577123656683960[42] = 0; - out_7423577123656683960[43] = 0; - out_7423577123656683960[44] = 1; - out_7423577123656683960[45] = 0; - out_7423577123656683960[46] = 0; - out_7423577123656683960[47] = 0; - out_7423577123656683960[48] = 0; - out_7423577123656683960[49] = 0; - out_7423577123656683960[50] = 0; - out_7423577123656683960[51] = 0; - out_7423577123656683960[52] = 0; - out_7423577123656683960[53] = 0; +void H_14(double *state, double *unused, double *out_3821690353885037072) { + out_3821690353885037072[0] = 0; + out_3821690353885037072[1] = 0; + out_3821690353885037072[2] = 0; + out_3821690353885037072[3] = 0; + out_3821690353885037072[4] = 0; + out_3821690353885037072[5] = 0; + out_3821690353885037072[6] = 1; + out_3821690353885037072[7] = 0; + out_3821690353885037072[8] = 0; + out_3821690353885037072[9] = 0; + out_3821690353885037072[10] = 0; + out_3821690353885037072[11] = 0; + out_3821690353885037072[12] = 0; + out_3821690353885037072[13] = 0; + out_3821690353885037072[14] = 0; + out_3821690353885037072[15] = 0; + out_3821690353885037072[16] = 0; + out_3821690353885037072[17] = 0; + out_3821690353885037072[18] = 0; + out_3821690353885037072[19] = 0; + out_3821690353885037072[20] = 0; + out_3821690353885037072[21] = 0; + out_3821690353885037072[22] = 0; + out_3821690353885037072[23] = 0; + out_3821690353885037072[24] = 0; + out_3821690353885037072[25] = 1; + out_3821690353885037072[26] = 0; + out_3821690353885037072[27] = 0; + out_3821690353885037072[28] = 0; + out_3821690353885037072[29] = 0; + out_3821690353885037072[30] = 0; + out_3821690353885037072[31] = 0; + out_3821690353885037072[32] = 0; + out_3821690353885037072[33] = 0; + out_3821690353885037072[34] = 0; + out_3821690353885037072[35] = 0; + out_3821690353885037072[36] = 0; + out_3821690353885037072[37] = 0; + out_3821690353885037072[38] = 0; + out_3821690353885037072[39] = 0; + out_3821690353885037072[40] = 0; + out_3821690353885037072[41] = 0; + out_3821690353885037072[42] = 0; + out_3821690353885037072[43] = 0; + out_3821690353885037072[44] = 1; + out_3821690353885037072[45] = 0; + out_3821690353885037072[46] = 0; + out_3821690353885037072[47] = 0; + out_3821690353885037072[48] = 0; + out_3821690353885037072[49] = 0; + out_3821690353885037072[50] = 0; + out_3821690353885037072[51] = 0; + out_3821690353885037072[52] = 0; + out_3821690353885037072[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_2276930388742637984) { - err_fun(nom_x, delta_x, out_2276930388742637984); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3667758909157266385) { + err_fun(nom_x, delta_x, out_3667758909157266385); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5553036191683273841) { - inv_err_fun(nom_x, true_x, out_5553036191683273841); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3255008687637156165) { + inv_err_fun(nom_x, true_x, out_3255008687637156165); } -void pose_H_mod_fun(double *state, double *out_9138325999640393464) { - H_mod_fun(state, out_9138325999640393464); +void pose_H_mod_fun(double *state, double *out_1678148223451849404) { + H_mod_fun(state, out_1678148223451849404); } -void pose_f_fun(double *state, double dt, double *out_1147502803036589913) { - f_fun(state, dt, out_1147502803036589913); +void pose_f_fun(double *state, double dt, double *out_4390690219844123460) { + f_fun(state, dt, out_4390690219844123460); } -void pose_F_fun(double *state, double dt, double *out_5222045031026609980) { - F_fun(state, dt, out_5222045031026609980); +void pose_F_fun(double *state, double dt, double *out_5251920544283288288) { + F_fun(state, dt, out_5251920544283288288); } -void pose_h_4(double *state, double *unused, double *out_9011768275853426182) { - h_4(state, unused, out_9011768275853426182); +void pose_h_4(double *state, double *unused, double *out_2086181486544094617) { + h_4(state, unused, out_2086181486544094617); } -void pose_H_4(double *state, double *unused, double *out_3460336267317199431) { - H_4(state, unused, out_3460336267317199431); +void pose_H_4(double *state, double *unused, double *out_141550502454447457) { + H_4(state, unused, out_141550502454447457); } -void pose_h_10(double *state, double *unused, double *out_678012550926290311) { - h_10(state, unused, out_678012550926290311); +void pose_h_10(double *state, double *unused, double *out_2304974017593414723) { + h_10(state, unused, out_2304974017593414723); } -void pose_H_10(double *state, double *unused, double *out_4795577018961183743) { - H_10(state, unused, out_4795577018961183743); +void pose_H_10(double *state, double *unused, double *out_521311265061217175) { + H_10(state, unused, out_521311265061217175); } -void pose_h_13(double *state, double *unused, double *out_7050071971782529116) { - h_13(state, unused, out_7050071971782529116); +void pose_h_13(double *state, double *unused, double *out_6563098082746675966) { + h_13(state, unused, out_6563098082746675966); } -void pose_H_13(double *state, double *unused, double *out_6672610092649532232) { - H_13(state, unused, out_6672610092649532232); +void pose_H_13(double *state, double *unused, double *out_3070723322877885344) { + H_13(state, unused, out_3070723322877885344); } -void pose_h_14(double *state, double *unused, double *out_2771996280971910329) { - h_14(state, unused, out_2771996280971910329); +void pose_h_14(double *state, double *unused, double *out_4832039927491863335) { + h_14(state, unused, out_4832039927491863335); } -void pose_H_14(double *state, double *unused, double *out_7423577123656683960) { - H_14(state, unused, out_7423577123656683960); +void pose_H_14(double *state, double *unused, double *out_3821690353885037072) { + H_14(state, unused, out_3821690353885037072); } 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 32bd08025..d6c8c6159 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_2276930388742637984); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5553036191683273841); -void pose_H_mod_fun(double *state, double *out_9138325999640393464); -void pose_f_fun(double *state, double dt, double *out_1147502803036589913); -void pose_F_fun(double *state, double dt, double *out_5222045031026609980); -void pose_h_4(double *state, double *unused, double *out_9011768275853426182); -void pose_H_4(double *state, double *unused, double *out_3460336267317199431); -void pose_h_10(double *state, double *unused, double *out_678012550926290311); -void pose_H_10(double *state, double *unused, double *out_4795577018961183743); -void pose_h_13(double *state, double *unused, double *out_7050071971782529116); -void pose_H_13(double *state, double *unused, double *out_6672610092649532232); -void pose_h_14(double *state, double *unused, double *out_2771996280971910329); -void pose_H_14(double *state, double *unused, double *out_7423577123656683960); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3667758909157266385); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3255008687637156165); +void pose_H_mod_fun(double *state, double *out_1678148223451849404); +void pose_f_fun(double *state, double dt, double *out_4390690219844123460); +void pose_F_fun(double *state, double dt, double *out_5251920544283288288); +void pose_h_4(double *state, double *unused, double *out_2086181486544094617); +void pose_H_4(double *state, double *unused, double *out_141550502454447457); +void pose_h_10(double *state, double *unused, double *out_2304974017593414723); +void pose_H_10(double *state, double *unused, double *out_521311265061217175); +void pose_h_13(double *state, double *unused, double *out_6563098082746675966); +void pose_H_13(double *state, double *unused, double *out_3070723322877885344); +void pose_h_14(double *state, double *unused, double *out_4832039927491863335); +void pose_H_14(double *state, double *unused, double *out_3821690353885037072); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 284d2c35d..a730076d4 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 38f87a30c..268fca898 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index eb8329d51..a14fc1e58 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index b733a06c4..890117fb4 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 867d1e4b9..31cd8ac54 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 73342f706..cacd5a9e3 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ