From f857a55f59a32ca05099ec1788ff80e3fa9c731c Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Mon, 24 Aug 2026 22:11:36 -0500 Subject: [PATCH] Reapply build --- cereal/messaging/bridge | Bin 157760 -> 157760 bytes common/params_pyx.so | Bin 837976 -> 837976 bytes common/transformations/transformations.so | Bin 164200 -> 164200 bytes msgq_repo/msgq/ipc_pyx.so | Bin 257344 -> 257344 bytes msgq_repo/msgq/visionipc/visionipc_pyx.so | Bin 589192 -> 589192 bytes panda/board/obj/body_h7.bin.signed | Bin 108816 -> 108816 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 108680 -> 108680 bytes panda/board/obj/body_h7/main.elf | Bin 454660 -> 454660 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes .../obj/bootstub.panda_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes .../bootstub.panda_h7_can_ignition_only.bin | Bin 18784 -> 18784 bytes .../obj/bootstub.panda_h7_hkg_remote.bin | Bin 18784 -> 18784 bytes ....panda_h7_hkg_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes ...stub.panda_h7_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_hkg_remote.bin | Bin 11068 -> 11068 bytes ...tub.panda_hkg_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes ...ootstub.panda_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 94888 -> 94888 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 94752 -> 94752 bytes panda/board/obj/panda/main.elf | Bin 406052 -> 406052 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 94868 -> 94868 bytes .../obj/panda_can_ignition_only/bootstub.elf | Bin 100780 -> 100780 bytes .../obj/panda_can_ignition_only/main.bin | Bin 94732 -> 94732 bytes .../obj/panda_can_ignition_only/main.elf | Bin 405884 -> 405884 bytes panda/board/obj/panda_h7.bin.signed | Bin 116776 -> 116776 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 116640 -> 116640 bytes panda/board/obj/panda_h7/main.elf | Bin 498128 -> 498128 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 116756 -> 116756 bytes .../panda_h7_can_ignition_only/bootstub.elf | Bin 152748 -> 152748 bytes .../obj/panda_h7_can_ignition_only/main.bin | Bin 116620 -> 116620 bytes .../obj/panda_h7_can_ignition_only/main.elf | Bin 497972 -> 497972 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 116872 -> 116872 bytes .../obj/panda_h7_hkg_remote/bootstub.elf | Bin 152740 -> 152740 bytes panda/board/obj/panda_h7_hkg_remote/main.bin | Bin 116736 -> 116736 bytes panda/board/obj/panda_h7_hkg_remote/main.elf | Bin 498568 -> 498568 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 116864 -> 116864 bytes .../bootstub.elf | Bin 152760 -> 152760 bytes .../main.bin | Bin 116728 -> 116728 bytes .../main.elf | Bin 498444 -> 498444 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 116712 -> 116712 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 116576 -> 116576 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 498072 -> 498072 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 116692 -> 116692 bytes .../bootstub.elf | Bin 152756 -> 152756 bytes .../main.bin | Bin 116556 -> 116556 bytes .../main.elf | Bin 497912 -> 497912 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 94980 -> 94980 bytes panda/board/obj/panda_hkg_remote/bootstub.elf | Bin 100772 -> 100772 bytes panda/board/obj/panda_hkg_remote/main.bin | Bin 94844 -> 94844 bytes panda/board/obj/panda_hkg_remote/main.elf | Bin 406472 -> 406472 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 94972 -> 94972 bytes .../bootstub.elf | Bin 100792 -> 100792 bytes .../main.bin | Bin 94836 -> 94836 bytes .../main.elf | Bin 406328 -> 406328 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 110716 -> 110716 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 110580 -> 110580 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 462688 -> 462688 bytes panda/board/obj/panda_remote.bin.signed | Bin 94848 -> 94848 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 94712 -> 94712 bytes panda/board/obj/panda_remote/main.elf | Bin 406156 -> 406156 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 94828 -> 94828 bytes .../bootstub.elf | Bin 100788 -> 100788 bytes .../panda_remote_can_ignition_only/main.bin | Bin 94692 -> 94692 bytes .../panda_remote_can_ignition_only/main.elf | Bin 405984 -> 405984 bytes panda/board/obj/version | 2 +- rednose_repo/rednose/helpers/ekf_sym_pyx.so | Bin 402920 -> 402920 bytes .../c_generated_code/acados_ocp_solver_pyx.so | Bin 390928 -> 390928 bytes .../libacados_ocp_solver_lat.so | Bin 87760 -> 87760 bytes .../c_generated_code/acados_ocp_solver_pyx.so | Bin 390944 -> 390944 bytes .../libacados_ocp_solver_long.so | Bin 91048 -> 91048 bytes selfdrive/locationd/models/generated/car.cpp | 684 +++--- selfdrive/locationd/models/generated/car.h | 42 +- selfdrive/locationd/models/generated/car.os | Bin 281424 -> 281112 bytes .../locationd/models/generated/libcar.so | Bin 238632 -> 238632 bytes .../locationd/models/generated/libpose.so | Bin 234344 -> 234344 bytes selfdrive/locationd/models/generated/pose.cpp | 1938 ++++++++--------- selfdrive/locationd/models/generated/pose.h | 26 +- selfdrive/locationd/models/generated/pose.os | Bin 308888 -> 308568 bytes selfdrive/modeld/models/commonmodel_pyx.so | Bin 431968 -> 431968 bytes selfdrive/pandad/pandad | Bin 851232 -> 1205856 bytes selfdrive/pandad/pandad_api_impl.so | Bin 157656 -> 582944 bytes system/camerad/camerad | Bin 877424 -> 1232904 bytes system/loggerd/bootlog | Bin 683464 -> 1039192 bytes system/loggerd/encoderd | Bin 923424 -> 1278104 bytes system/loggerd/loggerd | Bin 858688 -> 1213536 bytes 97 files changed, 1347 insertions(+), 1347 deletions(-) diff --git a/cereal/messaging/bridge b/cereal/messaging/bridge index 3b87a0245b7402fd6c3a6f5884ec3e6d51c0793e..f6a1ccc1cdc29547f232dbbc07593a07a8559362 100755 GIT binary patch delta 8613 zcmc&(dw5humcLbrK!Snpgyg0ZlI|uz9zeQ7ke31p@)VeX_9uJog1OtW56H(u{&MWB 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static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_8339538066892951453) { - out_8339538066892951453[0] = delta_x[0] + nom_x[0]; - out_8339538066892951453[1] = delta_x[1] + nom_x[1]; - out_8339538066892951453[2] = delta_x[2] + nom_x[2]; - out_8339538066892951453[3] = delta_x[3] + nom_x[3]; - out_8339538066892951453[4] = delta_x[4] + nom_x[4]; - out_8339538066892951453[5] = delta_x[5] + nom_x[5]; - out_8339538066892951453[6] = delta_x[6] + nom_x[6]; - out_8339538066892951453[7] = delta_x[7] + nom_x[7]; - out_8339538066892951453[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7084348270501559549) { + out_7084348270501559549[0] = delta_x[0] + nom_x[0]; + out_7084348270501559549[1] = delta_x[1] + nom_x[1]; + out_7084348270501559549[2] = delta_x[2] + nom_x[2]; + out_7084348270501559549[3] = delta_x[3] + nom_x[3]; + out_7084348270501559549[4] = delta_x[4] + nom_x[4]; + out_7084348270501559549[5] = delta_x[5] + nom_x[5]; + out_7084348270501559549[6] = delta_x[6] + nom_x[6]; + out_7084348270501559549[7] = delta_x[7] + nom_x[7]; + out_7084348270501559549[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1869575881362213489) { - out_1869575881362213489[0] = -nom_x[0] + true_x[0]; - out_1869575881362213489[1] = -nom_x[1] + true_x[1]; - out_1869575881362213489[2] = -nom_x[2] + true_x[2]; - out_1869575881362213489[3] = -nom_x[3] + true_x[3]; - out_1869575881362213489[4] = -nom_x[4] + true_x[4]; - out_1869575881362213489[5] = -nom_x[5] + true_x[5]; - out_1869575881362213489[6] = -nom_x[6] + true_x[6]; - out_1869575881362213489[7] = -nom_x[7] + true_x[7]; - out_1869575881362213489[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_693097121251649199) { + out_693097121251649199[0] = -nom_x[0] + true_x[0]; + out_693097121251649199[1] = -nom_x[1] + true_x[1]; + out_693097121251649199[2] = -nom_x[2] + true_x[2]; + out_693097121251649199[3] = -nom_x[3] + true_x[3]; + out_693097121251649199[4] = -nom_x[4] + true_x[4]; + out_693097121251649199[5] = -nom_x[5] + true_x[5]; + out_693097121251649199[6] = -nom_x[6] + true_x[6]; + out_693097121251649199[7] = -nom_x[7] + true_x[7]; + out_693097121251649199[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4134445094065349854) { - out_4134445094065349854[0] = 1.0; - out_4134445094065349854[1] = 0.0; - out_4134445094065349854[2] = 0.0; - out_4134445094065349854[3] = 0.0; - out_4134445094065349854[4] = 0.0; - out_4134445094065349854[5] = 0.0; - out_4134445094065349854[6] = 0.0; - out_4134445094065349854[7] = 0.0; - out_4134445094065349854[8] = 0.0; - out_4134445094065349854[9] = 0.0; - out_4134445094065349854[10] = 1.0; - out_4134445094065349854[11] = 0.0; - out_4134445094065349854[12] = 0.0; - out_4134445094065349854[13] = 0.0; - out_4134445094065349854[14] = 0.0; - out_4134445094065349854[15] = 0.0; - out_4134445094065349854[16] = 0.0; - out_4134445094065349854[17] = 0.0; - out_4134445094065349854[18] = 0.0; - out_4134445094065349854[19] = 0.0; - out_4134445094065349854[20] = 1.0; - out_4134445094065349854[21] = 0.0; - out_4134445094065349854[22] = 0.0; - out_4134445094065349854[23] = 0.0; - out_4134445094065349854[24] = 0.0; - out_4134445094065349854[25] = 0.0; - out_4134445094065349854[26] = 0.0; - out_4134445094065349854[27] = 0.0; - out_4134445094065349854[28] = 0.0; - out_4134445094065349854[29] = 0.0; - out_4134445094065349854[30] = 1.0; - out_4134445094065349854[31] = 0.0; - out_4134445094065349854[32] = 0.0; - out_4134445094065349854[33] = 0.0; - out_4134445094065349854[34] = 0.0; - out_4134445094065349854[35] = 0.0; - out_4134445094065349854[36] = 0.0; - out_4134445094065349854[37] = 0.0; - out_4134445094065349854[38] = 0.0; - out_4134445094065349854[39] = 0.0; - out_4134445094065349854[40] = 1.0; - out_4134445094065349854[41] = 0.0; - out_4134445094065349854[42] = 0.0; - out_4134445094065349854[43] = 0.0; - out_4134445094065349854[44] = 0.0; - out_4134445094065349854[45] = 0.0; - out_4134445094065349854[46] = 0.0; - out_4134445094065349854[47] = 0.0; - out_4134445094065349854[48] = 0.0; - out_4134445094065349854[49] = 0.0; - out_4134445094065349854[50] = 1.0; - out_4134445094065349854[51] = 0.0; - out_4134445094065349854[52] = 0.0; - out_4134445094065349854[53] = 0.0; - out_4134445094065349854[54] = 0.0; - out_4134445094065349854[55] = 0.0; - out_4134445094065349854[56] = 0.0; - out_4134445094065349854[57] = 0.0; - out_4134445094065349854[58] = 0.0; - out_4134445094065349854[59] = 0.0; - out_4134445094065349854[60] = 1.0; - out_4134445094065349854[61] = 0.0; - out_4134445094065349854[62] = 0.0; - out_4134445094065349854[63] = 0.0; - out_4134445094065349854[64] = 0.0; - out_4134445094065349854[65] = 0.0; - out_4134445094065349854[66] = 0.0; - out_4134445094065349854[67] = 0.0; - out_4134445094065349854[68] = 0.0; - out_4134445094065349854[69] = 0.0; - out_4134445094065349854[70] = 1.0; - out_4134445094065349854[71] = 0.0; - out_4134445094065349854[72] = 0.0; - out_4134445094065349854[73] = 0.0; - out_4134445094065349854[74] = 0.0; - out_4134445094065349854[75] = 0.0; - out_4134445094065349854[76] = 0.0; - out_4134445094065349854[77] = 0.0; - out_4134445094065349854[78] = 0.0; - out_4134445094065349854[79] = 0.0; - out_4134445094065349854[80] = 1.0; +void H_mod_fun(double *state, double *out_1623843232183312219) { + out_1623843232183312219[0] = 1.0; + out_1623843232183312219[1] = 0.0; + out_1623843232183312219[2] = 0.0; + out_1623843232183312219[3] = 0.0; + out_1623843232183312219[4] = 0.0; + out_1623843232183312219[5] = 0.0; + out_1623843232183312219[6] = 0.0; + out_1623843232183312219[7] = 0.0; + out_1623843232183312219[8] = 0.0; + out_1623843232183312219[9] = 0.0; + out_1623843232183312219[10] = 1.0; + out_1623843232183312219[11] = 0.0; + out_1623843232183312219[12] = 0.0; + out_1623843232183312219[13] = 0.0; + out_1623843232183312219[14] = 0.0; + out_1623843232183312219[15] = 0.0; + out_1623843232183312219[16] = 0.0; + out_1623843232183312219[17] = 0.0; + out_1623843232183312219[18] = 0.0; + out_1623843232183312219[19] = 0.0; + out_1623843232183312219[20] = 1.0; + out_1623843232183312219[21] = 0.0; + out_1623843232183312219[22] = 0.0; + out_1623843232183312219[23] = 0.0; + out_1623843232183312219[24] = 0.0; + out_1623843232183312219[25] = 0.0; + out_1623843232183312219[26] = 0.0; + out_1623843232183312219[27] = 0.0; + out_1623843232183312219[28] = 0.0; + out_1623843232183312219[29] = 0.0; + out_1623843232183312219[30] = 1.0; + out_1623843232183312219[31] = 0.0; + out_1623843232183312219[32] = 0.0; + out_1623843232183312219[33] = 0.0; + out_1623843232183312219[34] = 0.0; + out_1623843232183312219[35] = 0.0; + out_1623843232183312219[36] = 0.0; + out_1623843232183312219[37] = 0.0; + out_1623843232183312219[38] = 0.0; + out_1623843232183312219[39] = 0.0; + out_1623843232183312219[40] = 1.0; + out_1623843232183312219[41] = 0.0; + out_1623843232183312219[42] = 0.0; + out_1623843232183312219[43] = 0.0; + out_1623843232183312219[44] = 0.0; + out_1623843232183312219[45] = 0.0; + out_1623843232183312219[46] = 0.0; + out_1623843232183312219[47] = 0.0; + out_1623843232183312219[48] = 0.0; + out_1623843232183312219[49] = 0.0; + out_1623843232183312219[50] = 1.0; + out_1623843232183312219[51] = 0.0; + out_1623843232183312219[52] = 0.0; + out_1623843232183312219[53] = 0.0; + out_1623843232183312219[54] = 0.0; + out_1623843232183312219[55] = 0.0; + out_1623843232183312219[56] = 0.0; + out_1623843232183312219[57] = 0.0; + out_1623843232183312219[58] = 0.0; + out_1623843232183312219[59] = 0.0; + out_1623843232183312219[60] = 1.0; + out_1623843232183312219[61] = 0.0; + out_1623843232183312219[62] = 0.0; + out_1623843232183312219[63] = 0.0; + out_1623843232183312219[64] = 0.0; + out_1623843232183312219[65] = 0.0; + out_1623843232183312219[66] = 0.0; + out_1623843232183312219[67] = 0.0; + out_1623843232183312219[68] = 0.0; + out_1623843232183312219[69] = 0.0; + out_1623843232183312219[70] = 1.0; + out_1623843232183312219[71] = 0.0; + out_1623843232183312219[72] = 0.0; + out_1623843232183312219[73] = 0.0; + out_1623843232183312219[74] = 0.0; + out_1623843232183312219[75] = 0.0; + out_1623843232183312219[76] = 0.0; + out_1623843232183312219[77] = 0.0; + out_1623843232183312219[78] = 0.0; + out_1623843232183312219[79] = 0.0; + out_1623843232183312219[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1187519494066628558) { - out_1187519494066628558[0] = state[0]; - out_1187519494066628558[1] = state[1]; - out_1187519494066628558[2] = state[2]; - out_1187519494066628558[3] = state[3]; - out_1187519494066628558[4] = state[4]; - out_1187519494066628558[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_1187519494066628558[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_1187519494066628558[7] = state[7]; - out_1187519494066628558[8] = state[8]; +void f_fun(double *state, double dt, double *out_1622952619636770739) { + out_1622952619636770739[0] = state[0]; + out_1622952619636770739[1] = state[1]; + out_1622952619636770739[2] = state[2]; + out_1622952619636770739[3] = state[3]; + out_1622952619636770739[4] = state[4]; + out_1622952619636770739[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_1622952619636770739[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_1622952619636770739[7] = state[7]; + out_1622952619636770739[8] = state[8]; } -void F_fun(double *state, double dt, double *out_638221139616797346) { - out_638221139616797346[0] = 1; - out_638221139616797346[1] = 0; - out_638221139616797346[2] = 0; - out_638221139616797346[3] = 0; - out_638221139616797346[4] = 0; - out_638221139616797346[5] = 0; - out_638221139616797346[6] = 0; - out_638221139616797346[7] = 0; - out_638221139616797346[8] = 0; - out_638221139616797346[9] = 0; - out_638221139616797346[10] = 1; - out_638221139616797346[11] = 0; - out_638221139616797346[12] = 0; - out_638221139616797346[13] = 0; - out_638221139616797346[14] = 0; - out_638221139616797346[15] = 0; - out_638221139616797346[16] = 0; - out_638221139616797346[17] = 0; - out_638221139616797346[18] = 0; - out_638221139616797346[19] = 0; - out_638221139616797346[20] = 1; - out_638221139616797346[21] = 0; - out_638221139616797346[22] = 0; - out_638221139616797346[23] = 0; - out_638221139616797346[24] = 0; - out_638221139616797346[25] = 0; - out_638221139616797346[26] = 0; - out_638221139616797346[27] = 0; - out_638221139616797346[28] = 0; - out_638221139616797346[29] = 0; - out_638221139616797346[30] = 1; - out_638221139616797346[31] = 0; - out_638221139616797346[32] = 0; - out_638221139616797346[33] = 0; - out_638221139616797346[34] = 0; - out_638221139616797346[35] = 0; - out_638221139616797346[36] = 0; - out_638221139616797346[37] = 0; - out_638221139616797346[38] = 0; - out_638221139616797346[39] = 0; - out_638221139616797346[40] = 1; - out_638221139616797346[41] = 0; - out_638221139616797346[42] = 0; - out_638221139616797346[43] = 0; - out_638221139616797346[44] = 0; - out_638221139616797346[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_638221139616797346[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_638221139616797346[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_638221139616797346[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_638221139616797346[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_638221139616797346[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_638221139616797346[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_638221139616797346[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_638221139616797346[53] = -9.8100000000000005*dt; - out_638221139616797346[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_638221139616797346[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_638221139616797346[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_638221139616797346[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_638221139616797346[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_638221139616797346[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_638221139616797346[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_638221139616797346[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_638221139616797346[62] = 0; - out_638221139616797346[63] = 0; - out_638221139616797346[64] = 0; - out_638221139616797346[65] = 0; - out_638221139616797346[66] = 0; - out_638221139616797346[67] = 0; - out_638221139616797346[68] = 0; - out_638221139616797346[69] = 0; - out_638221139616797346[70] = 1; - out_638221139616797346[71] = 0; - out_638221139616797346[72] = 0; - out_638221139616797346[73] = 0; - out_638221139616797346[74] = 0; - out_638221139616797346[75] = 0; - out_638221139616797346[76] = 0; - out_638221139616797346[77] = 0; - out_638221139616797346[78] = 0; - out_638221139616797346[79] = 0; - out_638221139616797346[80] = 1; +void F_fun(double *state, double dt, double *out_7142842168519911469) { + out_7142842168519911469[0] = 1; + out_7142842168519911469[1] = 0; + out_7142842168519911469[2] = 0; + out_7142842168519911469[3] = 0; + out_7142842168519911469[4] = 0; + out_7142842168519911469[5] = 0; + out_7142842168519911469[6] = 0; + out_7142842168519911469[7] = 0; + out_7142842168519911469[8] = 0; + out_7142842168519911469[9] = 0; + out_7142842168519911469[10] = 1; + out_7142842168519911469[11] = 0; + out_7142842168519911469[12] = 0; + out_7142842168519911469[13] = 0; + out_7142842168519911469[14] = 0; + out_7142842168519911469[15] = 0; + out_7142842168519911469[16] = 0; + out_7142842168519911469[17] = 0; + out_7142842168519911469[18] = 0; + out_7142842168519911469[19] = 0; + out_7142842168519911469[20] = 1; + out_7142842168519911469[21] = 0; + out_7142842168519911469[22] = 0; + out_7142842168519911469[23] = 0; + out_7142842168519911469[24] = 0; + out_7142842168519911469[25] = 0; + out_7142842168519911469[26] = 0; + out_7142842168519911469[27] = 0; + out_7142842168519911469[28] = 0; + out_7142842168519911469[29] = 0; + out_7142842168519911469[30] = 1; + out_7142842168519911469[31] = 0; + out_7142842168519911469[32] = 0; + out_7142842168519911469[33] = 0; + out_7142842168519911469[34] = 0; + out_7142842168519911469[35] = 0; + out_7142842168519911469[36] = 0; + out_7142842168519911469[37] = 0; + out_7142842168519911469[38] = 0; + out_7142842168519911469[39] = 0; + out_7142842168519911469[40] = 1; + out_7142842168519911469[41] = 0; + out_7142842168519911469[42] = 0; + out_7142842168519911469[43] = 0; + out_7142842168519911469[44] = 0; + out_7142842168519911469[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_7142842168519911469[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7142842168519911469[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7142842168519911469[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7142842168519911469[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_7142842168519911469[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7142842168519911469[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7142842168519911469[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7142842168519911469[53] = -9.8100000000000005*dt; + out_7142842168519911469[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_7142842168519911469[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7142842168519911469[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7142842168519911469[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7142842168519911469[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_7142842168519911469[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7142842168519911469[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_7142842168519911469[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7142842168519911469[62] = 0; + out_7142842168519911469[63] = 0; + out_7142842168519911469[64] = 0; + out_7142842168519911469[65] = 0; + out_7142842168519911469[66] = 0; + out_7142842168519911469[67] = 0; + out_7142842168519911469[68] = 0; + out_7142842168519911469[69] = 0; + out_7142842168519911469[70] = 1; + out_7142842168519911469[71] = 0; + out_7142842168519911469[72] = 0; + out_7142842168519911469[73] = 0; + out_7142842168519911469[74] = 0; + out_7142842168519911469[75] = 0; + out_7142842168519911469[76] = 0; + out_7142842168519911469[77] = 0; + out_7142842168519911469[78] = 0; + out_7142842168519911469[79] = 0; + out_7142842168519911469[80] = 1; } -void h_25(double *state, double *unused, double *out_6007362445110034756) { - out_6007362445110034756[0] = state[6]; +void h_25(double *state, double *unused, double *out_7699167154037203435) { + out_7699167154037203435[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5119110753731964525) { - out_5119110753731964525[0] = 0; - out_5119110753731964525[1] = 0; - out_5119110753731964525[2] = 0; - out_5119110753731964525[3] = 0; - out_5119110753731964525[4] = 0; - out_5119110753731964525[5] = 0; - out_5119110753731964525[6] = 1; - out_5119110753731964525[7] = 0; - out_5119110753731964525[8] = 0; +void H_25(double *state, double *unused, double *out_1899137417806179458) { + out_1899137417806179458[0] = 0; + out_1899137417806179458[1] = 0; + out_1899137417806179458[2] = 0; + out_1899137417806179458[3] = 0; + out_1899137417806179458[4] = 0; + out_1899137417806179458[5] = 0; + out_1899137417806179458[6] = 1; + out_1899137417806179458[7] = 0; + out_1899137417806179458[8] = 0; } -void h_24(double *state, double *unused, double *out_5449620096162801389) { - out_5449620096162801389[0] = state[4]; - out_5449620096162801389[1] = state[5]; +void h_24(double *state, double *unused, double *out_5775267180984789848) { + out_5775267180984789848[0] = state[4]; + out_5775267180984789848[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2946461154726464959) { - out_2946461154726464959[0] = 0; - out_2946461154726464959[1] = 0; - out_2946461154726464959[2] = 0; - out_2946461154726464959[3] = 0; - out_2946461154726464959[4] = 1; - out_2946461154726464959[5] = 0; - out_2946461154726464959[6] = 0; - out_2946461154726464959[7] = 0; - out_2946461154726464959[8] = 0; - out_2946461154726464959[9] = 0; - out_2946461154726464959[10] = 0; - out_2946461154726464959[11] = 0; - out_2946461154726464959[12] = 0; - out_2946461154726464959[13] = 0; - out_2946461154726464959[14] = 1; - out_2946461154726464959[15] = 0; - out_2946461154726464959[16] = 0; - out_2946461154726464959[17] = 0; +void H_24(double *state, double *unused, double *out_273512181199320108) { + out_273512181199320108[0] = 0; + out_273512181199320108[1] = 0; + out_273512181199320108[2] = 0; + out_273512181199320108[3] = 0; + out_273512181199320108[4] = 1; + out_273512181199320108[5] = 0; + out_273512181199320108[6] = 0; + out_273512181199320108[7] = 0; + out_273512181199320108[8] = 0; + out_273512181199320108[9] = 0; + out_273512181199320108[10] = 0; + out_273512181199320108[11] = 0; + out_273512181199320108[12] = 0; + out_273512181199320108[13] = 0; + out_273512181199320108[14] = 1; + out_273512181199320108[15] = 0; + out_273512181199320108[16] = 0; + out_273512181199320108[17] = 0; } -void h_30(double *state, double *unused, double *out_2369912916856012406) { - out_2369912916856012406[0] = state[4]; +void h_30(double *state, double *unused, double *out_940710322681338449) { + out_940710322681338449[0] = state[4]; } -void H_30(double *state, double *unused, double *out_7637443712239213152) { - out_7637443712239213152[0] = 0; - out_7637443712239213152[1] = 0; - out_7637443712239213152[2] = 0; - out_7637443712239213152[3] = 0; - out_7637443712239213152[4] = 1; - out_7637443712239213152[5] = 0; - out_7637443712239213152[6] = 0; - out_7637443712239213152[7] = 0; - out_7637443712239213152[8] = 0; +void H_30(double *state, double *unused, double *out_8815827759297796213) { + out_8815827759297796213[0] = 0; + out_8815827759297796213[1] = 0; + out_8815827759297796213[2] = 0; + out_8815827759297796213[3] = 0; + out_8815827759297796213[4] = 1; + out_8815827759297796213[5] = 0; + out_8815827759297796213[6] = 0; + out_8815827759297796213[7] = 0; + out_8815827759297796213[8] = 0; } -void h_26(double *state, double *unused, double *out_6836290203325307661) { - out_6836290203325307661[0] = state[7]; +void h_26(double *state, double *unused, double *out_1922794416016636561) { + out_1922794416016636561[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1377607434857908301) { - out_1377607434857908301[0] = 0; - out_1377607434857908301[1] = 0; - out_1377607434857908301[2] = 0; - out_1377607434857908301[3] = 0; - out_1377607434857908301[4] = 0; - out_1377607434857908301[5] = 0; - out_1377607434857908301[6] = 0; - out_1377607434857908301[7] = 1; - out_1377607434857908301[8] = 0; +void H_26(double *state, double *unused, double *out_1842365901067876766) { + out_1842365901067876766[0] = 0; + out_1842365901067876766[1] = 0; + out_1842365901067876766[2] = 0; + out_1842365901067876766[3] = 0; + out_1842365901067876766[4] = 0; + out_1842365901067876766[5] = 0; + out_1842365901067876766[6] = 0; + out_1842365901067876766[7] = 1; + out_1842365901067876766[8] = 0; } -void h_27(double *state, double *unused, double *out_2710474474758657570) { - out_2710474474758657570[0] = state[3]; +void h_27(double *state, double *unused, double *out_3098231746361013839) { + out_3098231746361013839[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8585706290286395247) { - out_8585706290286395247[0] = 0; - out_8585706290286395247[1] = 0; - out_8585706290286395247[2] = 0; - out_8585706290286395247[3] = 1; - out_8585706290286395247[4] = 0; - out_8585706290286395247[5] = 0; - out_8585706290286395247[6] = 0; - out_8585706290286395247[7] = 0; - out_8585706290286395247[8] = 0; +void H_27(double *state, double *unused, double *out_6641064447497371302) { + out_6641064447497371302[0] = 0; + out_6641064447497371302[1] = 0; + out_6641064447497371302[2] = 0; + out_6641064447497371302[3] = 1; + out_6641064447497371302[4] = 0; + out_6641064447497371302[5] = 0; + out_6641064447497371302[6] = 0; + out_6641064447497371302[7] = 0; + out_6641064447497371302[8] = 0; } -void h_29(double *state, double *unused, double *out_1542363084005055587) { - out_1542363084005055587[0] = state[1]; +void h_29(double *state, double *unused, double *out_539217781893008511) { + out_539217781893008511[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8147675056553605336) { - out_8147675056553605336[0] = 0; - out_8147675056553605336[1] = 1; - out_8147675056553605336[2] = 0; - out_8147675056553605336[3] = 0; - out_8147675056553605336[4] = 0; - out_8147675056553605336[5] = 0; - out_8147675056553605336[6] = 0; - out_8147675056553605336[7] = 0; - out_8147675056553605336[8] = 0; +void H_29(double *state, double *unused, double *out_4927701720627820269) { + out_4927701720627820269[0] = 0; + out_4927701720627820269[1] = 1; + out_4927701720627820269[2] = 0; + out_4927701720627820269[3] = 0; + out_4927701720627820269[4] = 0; + out_4927701720627820269[5] = 0; + out_4927701720627820269[6] = 0; + out_4927701720627820269[7] = 0; + out_4927701720627820269[8] = 0; } -void h_28(double *state, double *unused, double *out_7712147742419503215) { - out_7712147742419503215[0] = state[0]; +void h_28(double *state, double *unused, double *out_822702928747961705) { + out_822702928747961705[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3065276039484074762) { - out_3065276039484074762[0] = 1; - out_3065276039484074762[1] = 0; - out_3065276039484074762[2] = 0; - out_3065276039484074762[3] = 0; - out_3065276039484074762[4] = 0; - out_3065276039484074762[5] = 0; - out_3065276039484074762[6] = 0; - out_3065276039484074762[7] = 0; - out_3065276039484074762[8] = 0; +void H_28(double *state, double *unused, double *out_154697296441710305) { + out_154697296441710305[0] = 1; + out_154697296441710305[1] = 0; + out_154697296441710305[2] = 0; + out_154697296441710305[3] = 0; + out_154697296441710305[4] = 0; + out_154697296441710305[5] = 0; + out_154697296441710305[6] = 0; + out_154697296441710305[7] = 0; + out_154697296441710305[8] = 0; } -void h_31(double *state, double *unused, double *out_6282556507394540645) { - out_6282556507394540645[0] = state[8]; +void h_31(double *state, double *unused, double *out_6649273621392976317) { + out_6649273621392976317[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5149756715608924953) { - out_5149756715608924953[0] = 0; - out_5149756715608924953[1] = 0; - out_5149756715608924953[2] = 0; - out_5149756715608924953[3] = 0; - out_5149756715608924953[4] = 0; - out_5149756715608924953[5] = 0; - out_5149756715608924953[6] = 0; - out_5149756715608924953[7] = 0; - out_5149756715608924953[8] = 1; +void H_31(double *state, double *unused, double *out_1929783379683139886) { + out_1929783379683139886[0] = 0; + out_1929783379683139886[1] = 0; + out_1929783379683139886[2] = 0; + out_1929783379683139886[3] = 0; + out_1929783379683139886[4] = 0; + out_1929783379683139886[5] = 0; + out_1929783379683139886[6] = 0; + out_1929783379683139886[7] = 0; + out_1929783379683139886[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_8339538066892951453) { - err_fun(nom_x, delta_x, out_8339538066892951453); +void car_err_fun(double *nom_x, double *delta_x, double *out_7084348270501559549) { + err_fun(nom_x, delta_x, out_7084348270501559549); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1869575881362213489) { - inv_err_fun(nom_x, true_x, out_1869575881362213489); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_693097121251649199) { + inv_err_fun(nom_x, true_x, out_693097121251649199); } -void car_H_mod_fun(double *state, double *out_4134445094065349854) { - H_mod_fun(state, out_4134445094065349854); +void car_H_mod_fun(double *state, double *out_1623843232183312219) { + H_mod_fun(state, out_1623843232183312219); } -void car_f_fun(double *state, double dt, double *out_1187519494066628558) { - f_fun(state, dt, out_1187519494066628558); +void car_f_fun(double *state, double dt, double *out_1622952619636770739) { + f_fun(state, dt, out_1622952619636770739); } -void car_F_fun(double *state, double dt, double *out_638221139616797346) { - F_fun(state, dt, out_638221139616797346); +void car_F_fun(double *state, double dt, double *out_7142842168519911469) { + F_fun(state, dt, out_7142842168519911469); } -void car_h_25(double *state, double *unused, double *out_6007362445110034756) { - h_25(state, unused, out_6007362445110034756); +void car_h_25(double *state, double *unused, double *out_7699167154037203435) { + h_25(state, unused, out_7699167154037203435); } -void car_H_25(double *state, double *unused, double *out_5119110753731964525) { - H_25(state, unused, out_5119110753731964525); +void car_H_25(double *state, double *unused, double *out_1899137417806179458) { + H_25(state, unused, out_1899137417806179458); } -void car_h_24(double *state, double *unused, double *out_5449620096162801389) { - h_24(state, unused, out_5449620096162801389); +void car_h_24(double *state, double *unused, double *out_5775267180984789848) { + h_24(state, unused, out_5775267180984789848); } -void car_H_24(double *state, double *unused, double *out_2946461154726464959) { - H_24(state, unused, out_2946461154726464959); +void car_H_24(double *state, double *unused, double *out_273512181199320108) { + H_24(state, unused, out_273512181199320108); } -void car_h_30(double *state, double *unused, double *out_2369912916856012406) { - h_30(state, unused, out_2369912916856012406); +void car_h_30(double *state, double *unused, double *out_940710322681338449) { + h_30(state, unused, out_940710322681338449); } -void car_H_30(double *state, double *unused, double *out_7637443712239213152) { - H_30(state, unused, out_7637443712239213152); +void car_H_30(double *state, double *unused, double *out_8815827759297796213) { + H_30(state, unused, out_8815827759297796213); } -void car_h_26(double *state, double *unused, double *out_6836290203325307661) { - h_26(state, unused, out_6836290203325307661); +void car_h_26(double *state, double *unused, double *out_1922794416016636561) { + h_26(state, unused, out_1922794416016636561); } -void car_H_26(double *state, double *unused, double *out_1377607434857908301) { - H_26(state, unused, out_1377607434857908301); +void car_H_26(double *state, double *unused, double *out_1842365901067876766) { + H_26(state, unused, out_1842365901067876766); } -void car_h_27(double *state, double *unused, double *out_2710474474758657570) { - h_27(state, unused, out_2710474474758657570); +void car_h_27(double *state, double *unused, double *out_3098231746361013839) { + h_27(state, unused, out_3098231746361013839); } -void car_H_27(double *state, double *unused, double *out_8585706290286395247) { - H_27(state, unused, out_8585706290286395247); +void car_H_27(double *state, double *unused, double *out_6641064447497371302) { + H_27(state, unused, out_6641064447497371302); } -void car_h_29(double *state, double *unused, double *out_1542363084005055587) { - h_29(state, unused, out_1542363084005055587); +void car_h_29(double *state, double *unused, double *out_539217781893008511) { + h_29(state, unused, out_539217781893008511); } -void car_H_29(double *state, double *unused, double *out_8147675056553605336) { - H_29(state, unused, out_8147675056553605336); +void car_H_29(double *state, double *unused, double *out_4927701720627820269) { + H_29(state, unused, out_4927701720627820269); } -void car_h_28(double *state, double *unused, double *out_7712147742419503215) { - h_28(state, unused, out_7712147742419503215); +void car_h_28(double *state, double *unused, double *out_822702928747961705) { + h_28(state, unused, out_822702928747961705); } -void car_H_28(double *state, double *unused, double *out_3065276039484074762) { - H_28(state, unused, out_3065276039484074762); +void car_H_28(double *state, double *unused, double *out_154697296441710305) { + H_28(state, unused, out_154697296441710305); } -void car_h_31(double *state, double *unused, double *out_6282556507394540645) { - h_31(state, unused, out_6282556507394540645); +void car_h_31(double *state, double *unused, double *out_6649273621392976317) { + h_31(state, unused, out_6649273621392976317); } -void car_H_31(double *state, double *unused, double *out_5149756715608924953) { - H_31(state, unused, out_5149756715608924953); +void car_H_31(double *state, double *unused, double *out_1929783379683139886) { + H_31(state, unused, out_1929783379683139886); } 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 936795cdd..c7c58ce19 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_8339538066892951453); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1869575881362213489); -void car_H_mod_fun(double *state, double *out_4134445094065349854); -void car_f_fun(double *state, double dt, double *out_1187519494066628558); -void car_F_fun(double *state, double dt, double *out_638221139616797346); -void car_h_25(double *state, double *unused, double *out_6007362445110034756); -void car_H_25(double *state, double *unused, double *out_5119110753731964525); -void car_h_24(double *state, double *unused, double *out_5449620096162801389); -void car_H_24(double *state, double *unused, double *out_2946461154726464959); -void car_h_30(double *state, double *unused, double *out_2369912916856012406); -void car_H_30(double *state, double *unused, double *out_7637443712239213152); -void car_h_26(double *state, double *unused, double *out_6836290203325307661); -void car_H_26(double *state, double *unused, double *out_1377607434857908301); -void car_h_27(double *state, double *unused, double *out_2710474474758657570); -void car_H_27(double *state, double *unused, double *out_8585706290286395247); -void car_h_29(double *state, double *unused, double *out_1542363084005055587); -void car_H_29(double *state, double *unused, double *out_8147675056553605336); -void car_h_28(double *state, double *unused, double *out_7712147742419503215); -void car_H_28(double *state, double *unused, double *out_3065276039484074762); -void car_h_31(double *state, double *unused, double *out_6282556507394540645); -void car_H_31(double *state, double *unused, double *out_5149756715608924953); +void car_err_fun(double *nom_x, double *delta_x, double *out_7084348270501559549); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_693097121251649199); +void car_H_mod_fun(double *state, double *out_1623843232183312219); +void car_f_fun(double *state, double dt, double *out_1622952619636770739); +void car_F_fun(double *state, double dt, double *out_7142842168519911469); +void car_h_25(double *state, double *unused, double *out_7699167154037203435); +void car_H_25(double *state, double *unused, double *out_1899137417806179458); +void car_h_24(double *state, double *unused, double *out_5775267180984789848); +void car_H_24(double *state, double *unused, double *out_273512181199320108); +void car_h_30(double *state, double *unused, double *out_940710322681338449); +void car_H_30(double *state, double *unused, double *out_8815827759297796213); +void car_h_26(double *state, double *unused, double *out_1922794416016636561); +void car_H_26(double *state, double *unused, double *out_1842365901067876766); +void car_h_27(double *state, double *unused, double *out_3098231746361013839); +void car_H_27(double *state, double *unused, double *out_6641064447497371302); +void car_h_29(double *state, double *unused, double *out_539217781893008511); +void car_H_29(double *state, double *unused, double *out_4927701720627820269); +void car_h_28(double *state, double *unused, double *out_822702928747961705); +void car_H_28(double *state, double *unused, double *out_154697296441710305); +void car_h_31(double *state, double *unused, double *out_6649273621392976317); +void car_H_31(double *state, double *unused, double *out_1929783379683139886); 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/car.os b/selfdrive/locationd/models/generated/car.os index 6d7a588d979bc1d658c76c83aa50af79bbc155fb..763f6afba2a255ad7494525339cf7cf50c8d474a 100644 GIT binary patch delta 21840 zcmdU1e|%KcmCw8xAmA7#7)Xf0%xHixA|#d)&?u8iAs}i(DMp}eP-^3V8kB0Z0TRVF 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* * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_8230036097863094971) { - out_8230036097863094971[0] = delta_x[0] + nom_x[0]; - out_8230036097863094971[1] = delta_x[1] + nom_x[1]; - out_8230036097863094971[2] = delta_x[2] + nom_x[2]; - out_8230036097863094971[3] = delta_x[3] + nom_x[3]; - out_8230036097863094971[4] = delta_x[4] + nom_x[4]; - out_8230036097863094971[5] = delta_x[5] + nom_x[5]; - out_8230036097863094971[6] = delta_x[6] + nom_x[6]; - out_8230036097863094971[7] = delta_x[7] + nom_x[7]; - out_8230036097863094971[8] = delta_x[8] + nom_x[8]; - out_8230036097863094971[9] = delta_x[9] + nom_x[9]; - out_8230036097863094971[10] = delta_x[10] + nom_x[10]; - out_8230036097863094971[11] = delta_x[11] + nom_x[11]; - out_8230036097863094971[12] = delta_x[12] + nom_x[12]; - out_8230036097863094971[13] = delta_x[13] + nom_x[13]; - out_8230036097863094971[14] = delta_x[14] + nom_x[14]; - out_8230036097863094971[15] = delta_x[15] + nom_x[15]; - out_8230036097863094971[16] = delta_x[16] + nom_x[16]; - out_8230036097863094971[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2551549382290402050) { + out_2551549382290402050[0] = delta_x[0] + nom_x[0]; + out_2551549382290402050[1] = delta_x[1] + nom_x[1]; + out_2551549382290402050[2] = delta_x[2] + nom_x[2]; + out_2551549382290402050[3] = delta_x[3] + nom_x[3]; + out_2551549382290402050[4] = delta_x[4] + nom_x[4]; + out_2551549382290402050[5] = delta_x[5] + nom_x[5]; + out_2551549382290402050[6] = delta_x[6] + nom_x[6]; + out_2551549382290402050[7] = delta_x[7] + nom_x[7]; + out_2551549382290402050[8] = delta_x[8] + nom_x[8]; + out_2551549382290402050[9] = delta_x[9] + nom_x[9]; + out_2551549382290402050[10] = delta_x[10] + nom_x[10]; + out_2551549382290402050[11] = delta_x[11] + nom_x[11]; + out_2551549382290402050[12] = delta_x[12] + nom_x[12]; + out_2551549382290402050[13] = delta_x[13] + nom_x[13]; + out_2551549382290402050[14] = delta_x[14] + nom_x[14]; + out_2551549382290402050[15] = delta_x[15] + nom_x[15]; + out_2551549382290402050[16] = delta_x[16] + nom_x[16]; + out_2551549382290402050[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8741051770711475830) { - out_8741051770711475830[0] = -nom_x[0] + true_x[0]; - out_8741051770711475830[1] = -nom_x[1] + true_x[1]; - out_8741051770711475830[2] = -nom_x[2] + true_x[2]; - out_8741051770711475830[3] = -nom_x[3] + true_x[3]; - out_8741051770711475830[4] = -nom_x[4] + true_x[4]; - out_8741051770711475830[5] = -nom_x[5] + true_x[5]; - out_8741051770711475830[6] = -nom_x[6] + true_x[6]; - out_8741051770711475830[7] = -nom_x[7] + true_x[7]; - out_8741051770711475830[8] = -nom_x[8] + true_x[8]; - out_8741051770711475830[9] = -nom_x[9] + true_x[9]; - out_8741051770711475830[10] = -nom_x[10] + true_x[10]; - out_8741051770711475830[11] = -nom_x[11] + true_x[11]; - out_8741051770711475830[12] = -nom_x[12] + true_x[12]; - out_8741051770711475830[13] = -nom_x[13] + true_x[13]; - out_8741051770711475830[14] = -nom_x[14] + true_x[14]; - out_8741051770711475830[15] = -nom_x[15] + true_x[15]; - out_8741051770711475830[16] = -nom_x[16] + true_x[16]; - out_8741051770711475830[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3575109948453160374) { + out_3575109948453160374[0] = -nom_x[0] + true_x[0]; + out_3575109948453160374[1] = -nom_x[1] + true_x[1]; + out_3575109948453160374[2] = -nom_x[2] + true_x[2]; + out_3575109948453160374[3] = -nom_x[3] + true_x[3]; + out_3575109948453160374[4] = -nom_x[4] + true_x[4]; + out_3575109948453160374[5] = -nom_x[5] + true_x[5]; + out_3575109948453160374[6] = -nom_x[6] + true_x[6]; + out_3575109948453160374[7] = -nom_x[7] + true_x[7]; + out_3575109948453160374[8] = -nom_x[8] + true_x[8]; + out_3575109948453160374[9] = -nom_x[9] + true_x[9]; + out_3575109948453160374[10] = -nom_x[10] + true_x[10]; + out_3575109948453160374[11] = -nom_x[11] + true_x[11]; + out_3575109948453160374[12] = -nom_x[12] + true_x[12]; + out_3575109948453160374[13] = -nom_x[13] + true_x[13]; + out_3575109948453160374[14] = -nom_x[14] + true_x[14]; + out_3575109948453160374[15] = -nom_x[15] + true_x[15]; + out_3575109948453160374[16] = -nom_x[16] + true_x[16]; + out_3575109948453160374[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1900632188772248703) { - out_1900632188772248703[0] = 1.0; - out_1900632188772248703[1] = 0.0; - out_1900632188772248703[2] = 0.0; - out_1900632188772248703[3] = 0.0; - out_1900632188772248703[4] = 0.0; - out_1900632188772248703[5] = 0.0; - out_1900632188772248703[6] = 0.0; - out_1900632188772248703[7] = 0.0; - out_1900632188772248703[8] = 0.0; - out_1900632188772248703[9] = 0.0; - out_1900632188772248703[10] = 0.0; - out_1900632188772248703[11] = 0.0; - out_1900632188772248703[12] = 0.0; - out_1900632188772248703[13] = 0.0; - out_1900632188772248703[14] = 0.0; - out_1900632188772248703[15] = 0.0; - out_1900632188772248703[16] = 0.0; - out_1900632188772248703[17] = 0.0; - out_1900632188772248703[18] = 0.0; - out_1900632188772248703[19] = 1.0; - out_1900632188772248703[20] = 0.0; - out_1900632188772248703[21] = 0.0; - out_1900632188772248703[22] = 0.0; - out_1900632188772248703[23] = 0.0; - out_1900632188772248703[24] = 0.0; - out_1900632188772248703[25] = 0.0; - out_1900632188772248703[26] = 0.0; - out_1900632188772248703[27] = 0.0; - out_1900632188772248703[28] = 0.0; - out_1900632188772248703[29] = 0.0; - out_1900632188772248703[30] = 0.0; - out_1900632188772248703[31] = 0.0; - out_1900632188772248703[32] = 0.0; - out_1900632188772248703[33] = 0.0; - out_1900632188772248703[34] = 0.0; - out_1900632188772248703[35] = 0.0; - out_1900632188772248703[36] = 0.0; - out_1900632188772248703[37] = 0.0; - out_1900632188772248703[38] = 1.0; - out_1900632188772248703[39] = 0.0; - out_1900632188772248703[40] = 0.0; - out_1900632188772248703[41] = 0.0; - out_1900632188772248703[42] = 0.0; - out_1900632188772248703[43] = 0.0; - out_1900632188772248703[44] = 0.0; - out_1900632188772248703[45] = 0.0; - out_1900632188772248703[46] = 0.0; - out_1900632188772248703[47] = 0.0; - out_1900632188772248703[48] = 0.0; - out_1900632188772248703[49] = 0.0; - out_1900632188772248703[50] = 0.0; - out_1900632188772248703[51] = 0.0; - out_1900632188772248703[52] = 0.0; - out_1900632188772248703[53] = 0.0; - out_1900632188772248703[54] = 0.0; - out_1900632188772248703[55] = 0.0; - out_1900632188772248703[56] = 0.0; - out_1900632188772248703[57] = 1.0; - out_1900632188772248703[58] = 0.0; - out_1900632188772248703[59] = 0.0; - out_1900632188772248703[60] = 0.0; - out_1900632188772248703[61] = 0.0; - out_1900632188772248703[62] = 0.0; - out_1900632188772248703[63] = 0.0; - out_1900632188772248703[64] = 0.0; - out_1900632188772248703[65] = 0.0; - out_1900632188772248703[66] = 0.0; - out_1900632188772248703[67] = 0.0; - out_1900632188772248703[68] = 0.0; - out_1900632188772248703[69] = 0.0; - out_1900632188772248703[70] = 0.0; - out_1900632188772248703[71] = 0.0; - out_1900632188772248703[72] = 0.0; - out_1900632188772248703[73] = 0.0; - out_1900632188772248703[74] = 0.0; - out_1900632188772248703[75] = 0.0; - out_1900632188772248703[76] = 1.0; - out_1900632188772248703[77] = 0.0; - out_1900632188772248703[78] = 0.0; - out_1900632188772248703[79] = 0.0; - out_1900632188772248703[80] = 0.0; - out_1900632188772248703[81] = 0.0; - out_1900632188772248703[82] = 0.0; - out_1900632188772248703[83] = 0.0; - out_1900632188772248703[84] = 0.0; - out_1900632188772248703[85] = 0.0; - out_1900632188772248703[86] = 0.0; - out_1900632188772248703[87] = 0.0; - out_1900632188772248703[88] = 0.0; - out_1900632188772248703[89] = 0.0; - out_1900632188772248703[90] = 0.0; - out_1900632188772248703[91] = 0.0; - out_1900632188772248703[92] = 0.0; - out_1900632188772248703[93] = 0.0; - out_1900632188772248703[94] = 0.0; - out_1900632188772248703[95] = 1.0; - out_1900632188772248703[96] = 0.0; - out_1900632188772248703[97] = 0.0; - out_1900632188772248703[98] = 0.0; - out_1900632188772248703[99] = 0.0; - out_1900632188772248703[100] = 0.0; - out_1900632188772248703[101] = 0.0; - out_1900632188772248703[102] = 0.0; - out_1900632188772248703[103] = 0.0; - out_1900632188772248703[104] = 0.0; - out_1900632188772248703[105] = 0.0; - out_1900632188772248703[106] = 0.0; - out_1900632188772248703[107] = 0.0; - out_1900632188772248703[108] = 0.0; - out_1900632188772248703[109] = 0.0; - out_1900632188772248703[110] = 0.0; - out_1900632188772248703[111] = 0.0; - out_1900632188772248703[112] = 0.0; - out_1900632188772248703[113] = 0.0; - out_1900632188772248703[114] = 1.0; - out_1900632188772248703[115] = 0.0; - out_1900632188772248703[116] = 0.0; - out_1900632188772248703[117] = 0.0; - out_1900632188772248703[118] = 0.0; - out_1900632188772248703[119] = 0.0; - out_1900632188772248703[120] = 0.0; - out_1900632188772248703[121] = 0.0; - out_1900632188772248703[122] = 0.0; - out_1900632188772248703[123] = 0.0; - out_1900632188772248703[124] = 0.0; - out_1900632188772248703[125] = 0.0; - out_1900632188772248703[126] = 0.0; - out_1900632188772248703[127] = 0.0; - out_1900632188772248703[128] = 0.0; - out_1900632188772248703[129] = 0.0; - out_1900632188772248703[130] = 0.0; - out_1900632188772248703[131] = 0.0; - out_1900632188772248703[132] = 0.0; - out_1900632188772248703[133] = 1.0; - out_1900632188772248703[134] = 0.0; - out_1900632188772248703[135] = 0.0; - out_1900632188772248703[136] = 0.0; - out_1900632188772248703[137] = 0.0; - out_1900632188772248703[138] = 0.0; - out_1900632188772248703[139] = 0.0; - out_1900632188772248703[140] = 0.0; - out_1900632188772248703[141] = 0.0; - out_1900632188772248703[142] = 0.0; - out_1900632188772248703[143] = 0.0; - out_1900632188772248703[144] = 0.0; - out_1900632188772248703[145] = 0.0; - out_1900632188772248703[146] = 0.0; - out_1900632188772248703[147] = 0.0; - out_1900632188772248703[148] = 0.0; - out_1900632188772248703[149] = 0.0; - out_1900632188772248703[150] = 0.0; - out_1900632188772248703[151] = 0.0; - out_1900632188772248703[152] = 1.0; - out_1900632188772248703[153] = 0.0; - out_1900632188772248703[154] = 0.0; - out_1900632188772248703[155] = 0.0; - out_1900632188772248703[156] = 0.0; - out_1900632188772248703[157] = 0.0; - out_1900632188772248703[158] = 0.0; - out_1900632188772248703[159] = 0.0; - out_1900632188772248703[160] = 0.0; - out_1900632188772248703[161] = 0.0; - out_1900632188772248703[162] = 0.0; - out_1900632188772248703[163] = 0.0; - out_1900632188772248703[164] = 0.0; - out_1900632188772248703[165] = 0.0; - out_1900632188772248703[166] = 0.0; - out_1900632188772248703[167] = 0.0; - out_1900632188772248703[168] = 0.0; - out_1900632188772248703[169] = 0.0; - out_1900632188772248703[170] = 0.0; - out_1900632188772248703[171] = 1.0; - out_1900632188772248703[172] = 0.0; - out_1900632188772248703[173] = 0.0; - out_1900632188772248703[174] = 0.0; - out_1900632188772248703[175] = 0.0; - out_1900632188772248703[176] = 0.0; - out_1900632188772248703[177] = 0.0; - out_1900632188772248703[178] = 0.0; - out_1900632188772248703[179] = 0.0; - out_1900632188772248703[180] = 0.0; - out_1900632188772248703[181] = 0.0; - out_1900632188772248703[182] = 0.0; - out_1900632188772248703[183] = 0.0; - out_1900632188772248703[184] = 0.0; - out_1900632188772248703[185] = 0.0; - out_1900632188772248703[186] = 0.0; - out_1900632188772248703[187] = 0.0; - out_1900632188772248703[188] = 0.0; - out_1900632188772248703[189] = 0.0; - out_1900632188772248703[190] = 1.0; - out_1900632188772248703[191] = 0.0; - out_1900632188772248703[192] = 0.0; - out_1900632188772248703[193] = 0.0; - out_1900632188772248703[194] = 0.0; - out_1900632188772248703[195] = 0.0; - out_1900632188772248703[196] = 0.0; - out_1900632188772248703[197] = 0.0; - out_1900632188772248703[198] = 0.0; - out_1900632188772248703[199] = 0.0; - out_1900632188772248703[200] = 0.0; - out_1900632188772248703[201] = 0.0; - out_1900632188772248703[202] = 0.0; - out_1900632188772248703[203] = 0.0; - out_1900632188772248703[204] = 0.0; - out_1900632188772248703[205] = 0.0; - out_1900632188772248703[206] = 0.0; - out_1900632188772248703[207] = 0.0; - out_1900632188772248703[208] = 0.0; - out_1900632188772248703[209] = 1.0; - out_1900632188772248703[210] = 0.0; - out_1900632188772248703[211] = 0.0; - out_1900632188772248703[212] = 0.0; - out_1900632188772248703[213] = 0.0; - out_1900632188772248703[214] = 0.0; - out_1900632188772248703[215] = 0.0; - out_1900632188772248703[216] = 0.0; - out_1900632188772248703[217] = 0.0; - out_1900632188772248703[218] = 0.0; - out_1900632188772248703[219] = 0.0; - out_1900632188772248703[220] = 0.0; - out_1900632188772248703[221] = 0.0; - out_1900632188772248703[222] = 0.0; - out_1900632188772248703[223] = 0.0; - out_1900632188772248703[224] = 0.0; - out_1900632188772248703[225] = 0.0; - out_1900632188772248703[226] = 0.0; - out_1900632188772248703[227] = 0.0; - out_1900632188772248703[228] = 1.0; - out_1900632188772248703[229] = 0.0; - out_1900632188772248703[230] = 0.0; - out_1900632188772248703[231] = 0.0; - out_1900632188772248703[232] = 0.0; - out_1900632188772248703[233] = 0.0; - out_1900632188772248703[234] = 0.0; - out_1900632188772248703[235] = 0.0; - out_1900632188772248703[236] = 0.0; - out_1900632188772248703[237] = 0.0; - out_1900632188772248703[238] = 0.0; - out_1900632188772248703[239] = 0.0; - out_1900632188772248703[240] = 0.0; - out_1900632188772248703[241] = 0.0; - out_1900632188772248703[242] = 0.0; - out_1900632188772248703[243] = 0.0; - out_1900632188772248703[244] = 0.0; - out_1900632188772248703[245] = 0.0; - out_1900632188772248703[246] = 0.0; - out_1900632188772248703[247] = 1.0; - out_1900632188772248703[248] = 0.0; - out_1900632188772248703[249] = 0.0; - out_1900632188772248703[250] = 0.0; - out_1900632188772248703[251] = 0.0; - out_1900632188772248703[252] = 0.0; - out_1900632188772248703[253] = 0.0; - out_1900632188772248703[254] = 0.0; - out_1900632188772248703[255] = 0.0; - out_1900632188772248703[256] = 0.0; - out_1900632188772248703[257] = 0.0; - out_1900632188772248703[258] = 0.0; - out_1900632188772248703[259] = 0.0; - out_1900632188772248703[260] = 0.0; - out_1900632188772248703[261] = 0.0; - out_1900632188772248703[262] = 0.0; - out_1900632188772248703[263] = 0.0; - out_1900632188772248703[264] = 0.0; - out_1900632188772248703[265] = 0.0; - out_1900632188772248703[266] = 1.0; - out_1900632188772248703[267] = 0.0; - out_1900632188772248703[268] = 0.0; - out_1900632188772248703[269] = 0.0; - out_1900632188772248703[270] = 0.0; - out_1900632188772248703[271] = 0.0; - out_1900632188772248703[272] = 0.0; - out_1900632188772248703[273] = 0.0; - out_1900632188772248703[274] = 0.0; - out_1900632188772248703[275] = 0.0; - out_1900632188772248703[276] = 0.0; - out_1900632188772248703[277] = 0.0; - out_1900632188772248703[278] = 0.0; - out_1900632188772248703[279] = 0.0; - out_1900632188772248703[280] = 0.0; - out_1900632188772248703[281] = 0.0; - out_1900632188772248703[282] = 0.0; - out_1900632188772248703[283] = 0.0; - out_1900632188772248703[284] = 0.0; - out_1900632188772248703[285] = 1.0; - out_1900632188772248703[286] = 0.0; - out_1900632188772248703[287] = 0.0; - out_1900632188772248703[288] = 0.0; - out_1900632188772248703[289] = 0.0; - out_1900632188772248703[290] = 0.0; - out_1900632188772248703[291] = 0.0; - out_1900632188772248703[292] = 0.0; - out_1900632188772248703[293] = 0.0; - out_1900632188772248703[294] = 0.0; - out_1900632188772248703[295] = 0.0; - out_1900632188772248703[296] = 0.0; - out_1900632188772248703[297] = 0.0; - out_1900632188772248703[298] = 0.0; - out_1900632188772248703[299] = 0.0; - out_1900632188772248703[300] = 0.0; - out_1900632188772248703[301] = 0.0; - out_1900632188772248703[302] = 0.0; - out_1900632188772248703[303] = 0.0; - out_1900632188772248703[304] = 1.0; - out_1900632188772248703[305] = 0.0; - out_1900632188772248703[306] = 0.0; - out_1900632188772248703[307] = 0.0; - out_1900632188772248703[308] = 0.0; - out_1900632188772248703[309] = 0.0; - out_1900632188772248703[310] = 0.0; - out_1900632188772248703[311] = 0.0; - out_1900632188772248703[312] = 0.0; - out_1900632188772248703[313] = 0.0; - out_1900632188772248703[314] = 0.0; - out_1900632188772248703[315] = 0.0; - out_1900632188772248703[316] = 0.0; - out_1900632188772248703[317] = 0.0; - out_1900632188772248703[318] = 0.0; - out_1900632188772248703[319] = 0.0; - out_1900632188772248703[320] = 0.0; - out_1900632188772248703[321] = 0.0; - out_1900632188772248703[322] = 0.0; - out_1900632188772248703[323] = 1.0; +void H_mod_fun(double *state, double *out_2954011976512996711) { + out_2954011976512996711[0] = 1.0; + out_2954011976512996711[1] = 0.0; + out_2954011976512996711[2] = 0.0; + out_2954011976512996711[3] = 0.0; + out_2954011976512996711[4] = 0.0; + out_2954011976512996711[5] = 0.0; + out_2954011976512996711[6] = 0.0; + out_2954011976512996711[7] = 0.0; + out_2954011976512996711[8] = 0.0; + out_2954011976512996711[9] = 0.0; + out_2954011976512996711[10] = 0.0; + out_2954011976512996711[11] = 0.0; + out_2954011976512996711[12] = 0.0; + out_2954011976512996711[13] = 0.0; + out_2954011976512996711[14] = 0.0; + out_2954011976512996711[15] = 0.0; + out_2954011976512996711[16] = 0.0; + out_2954011976512996711[17] = 0.0; + out_2954011976512996711[18] = 0.0; + out_2954011976512996711[19] = 1.0; + out_2954011976512996711[20] = 0.0; + out_2954011976512996711[21] = 0.0; + out_2954011976512996711[22] = 0.0; + out_2954011976512996711[23] = 0.0; + out_2954011976512996711[24] = 0.0; + out_2954011976512996711[25] = 0.0; + out_2954011976512996711[26] = 0.0; + out_2954011976512996711[27] = 0.0; + out_2954011976512996711[28] = 0.0; + out_2954011976512996711[29] = 0.0; + out_2954011976512996711[30] = 0.0; + out_2954011976512996711[31] = 0.0; + out_2954011976512996711[32] = 0.0; + out_2954011976512996711[33] = 0.0; + out_2954011976512996711[34] = 0.0; + out_2954011976512996711[35] = 0.0; + out_2954011976512996711[36] = 0.0; + out_2954011976512996711[37] = 0.0; + out_2954011976512996711[38] = 1.0; + out_2954011976512996711[39] = 0.0; + out_2954011976512996711[40] = 0.0; + out_2954011976512996711[41] = 0.0; + out_2954011976512996711[42] = 0.0; + out_2954011976512996711[43] = 0.0; + out_2954011976512996711[44] = 0.0; + out_2954011976512996711[45] = 0.0; + out_2954011976512996711[46] = 0.0; + out_2954011976512996711[47] = 0.0; + out_2954011976512996711[48] = 0.0; + out_2954011976512996711[49] = 0.0; + out_2954011976512996711[50] = 0.0; + out_2954011976512996711[51] = 0.0; + out_2954011976512996711[52] = 0.0; + out_2954011976512996711[53] = 0.0; + out_2954011976512996711[54] = 0.0; + out_2954011976512996711[55] = 0.0; + out_2954011976512996711[56] = 0.0; + out_2954011976512996711[57] = 1.0; + out_2954011976512996711[58] = 0.0; + out_2954011976512996711[59] = 0.0; + out_2954011976512996711[60] = 0.0; + out_2954011976512996711[61] = 0.0; + out_2954011976512996711[62] = 0.0; + out_2954011976512996711[63] = 0.0; + out_2954011976512996711[64] = 0.0; + out_2954011976512996711[65] = 0.0; + out_2954011976512996711[66] = 0.0; + out_2954011976512996711[67] = 0.0; + out_2954011976512996711[68] = 0.0; + out_2954011976512996711[69] = 0.0; + out_2954011976512996711[70] = 0.0; + out_2954011976512996711[71] = 0.0; + out_2954011976512996711[72] = 0.0; + out_2954011976512996711[73] = 0.0; + out_2954011976512996711[74] = 0.0; + out_2954011976512996711[75] = 0.0; + out_2954011976512996711[76] = 1.0; + out_2954011976512996711[77] = 0.0; + out_2954011976512996711[78] = 0.0; + out_2954011976512996711[79] = 0.0; + out_2954011976512996711[80] = 0.0; + out_2954011976512996711[81] = 0.0; + out_2954011976512996711[82] = 0.0; + out_2954011976512996711[83] = 0.0; + out_2954011976512996711[84] = 0.0; + out_2954011976512996711[85] = 0.0; + out_2954011976512996711[86] = 0.0; + out_2954011976512996711[87] = 0.0; + out_2954011976512996711[88] = 0.0; + out_2954011976512996711[89] = 0.0; + out_2954011976512996711[90] = 0.0; + out_2954011976512996711[91] = 0.0; + out_2954011976512996711[92] = 0.0; + out_2954011976512996711[93] = 0.0; + out_2954011976512996711[94] = 0.0; + out_2954011976512996711[95] = 1.0; + out_2954011976512996711[96] = 0.0; + out_2954011976512996711[97] = 0.0; + out_2954011976512996711[98] = 0.0; + out_2954011976512996711[99] = 0.0; + out_2954011976512996711[100] = 0.0; + out_2954011976512996711[101] = 0.0; + out_2954011976512996711[102] = 0.0; + out_2954011976512996711[103] = 0.0; + out_2954011976512996711[104] = 0.0; + out_2954011976512996711[105] = 0.0; + out_2954011976512996711[106] = 0.0; + out_2954011976512996711[107] = 0.0; + out_2954011976512996711[108] = 0.0; + out_2954011976512996711[109] = 0.0; + out_2954011976512996711[110] = 0.0; + out_2954011976512996711[111] = 0.0; + out_2954011976512996711[112] = 0.0; + out_2954011976512996711[113] = 0.0; + out_2954011976512996711[114] = 1.0; + out_2954011976512996711[115] = 0.0; + out_2954011976512996711[116] = 0.0; + out_2954011976512996711[117] = 0.0; + out_2954011976512996711[118] = 0.0; + out_2954011976512996711[119] = 0.0; + out_2954011976512996711[120] = 0.0; + out_2954011976512996711[121] = 0.0; + out_2954011976512996711[122] = 0.0; + out_2954011976512996711[123] = 0.0; + out_2954011976512996711[124] = 0.0; + out_2954011976512996711[125] = 0.0; + out_2954011976512996711[126] = 0.0; + out_2954011976512996711[127] = 0.0; + out_2954011976512996711[128] = 0.0; + out_2954011976512996711[129] = 0.0; + out_2954011976512996711[130] = 0.0; + out_2954011976512996711[131] = 0.0; + out_2954011976512996711[132] = 0.0; + out_2954011976512996711[133] = 1.0; + out_2954011976512996711[134] = 0.0; + out_2954011976512996711[135] = 0.0; + out_2954011976512996711[136] = 0.0; + out_2954011976512996711[137] = 0.0; + out_2954011976512996711[138] = 0.0; + out_2954011976512996711[139] = 0.0; + out_2954011976512996711[140] = 0.0; + out_2954011976512996711[141] = 0.0; + out_2954011976512996711[142] = 0.0; + out_2954011976512996711[143] = 0.0; + out_2954011976512996711[144] = 0.0; + out_2954011976512996711[145] = 0.0; + out_2954011976512996711[146] = 0.0; + out_2954011976512996711[147] = 0.0; + out_2954011976512996711[148] = 0.0; + out_2954011976512996711[149] = 0.0; + out_2954011976512996711[150] = 0.0; + out_2954011976512996711[151] = 0.0; + out_2954011976512996711[152] = 1.0; + out_2954011976512996711[153] = 0.0; + out_2954011976512996711[154] = 0.0; + out_2954011976512996711[155] = 0.0; + out_2954011976512996711[156] = 0.0; + out_2954011976512996711[157] = 0.0; + out_2954011976512996711[158] = 0.0; + out_2954011976512996711[159] = 0.0; + out_2954011976512996711[160] = 0.0; + out_2954011976512996711[161] = 0.0; + out_2954011976512996711[162] = 0.0; + out_2954011976512996711[163] = 0.0; + out_2954011976512996711[164] = 0.0; + out_2954011976512996711[165] = 0.0; + out_2954011976512996711[166] = 0.0; + out_2954011976512996711[167] = 0.0; + out_2954011976512996711[168] = 0.0; + out_2954011976512996711[169] = 0.0; + out_2954011976512996711[170] = 0.0; + out_2954011976512996711[171] = 1.0; + out_2954011976512996711[172] = 0.0; + out_2954011976512996711[173] = 0.0; + out_2954011976512996711[174] = 0.0; + out_2954011976512996711[175] = 0.0; + out_2954011976512996711[176] = 0.0; + out_2954011976512996711[177] = 0.0; + out_2954011976512996711[178] = 0.0; + out_2954011976512996711[179] = 0.0; + out_2954011976512996711[180] = 0.0; + out_2954011976512996711[181] = 0.0; + out_2954011976512996711[182] = 0.0; + out_2954011976512996711[183] = 0.0; + out_2954011976512996711[184] = 0.0; + out_2954011976512996711[185] = 0.0; + out_2954011976512996711[186] = 0.0; + out_2954011976512996711[187] = 0.0; + out_2954011976512996711[188] = 0.0; + out_2954011976512996711[189] = 0.0; + out_2954011976512996711[190] = 1.0; + out_2954011976512996711[191] = 0.0; + out_2954011976512996711[192] = 0.0; + out_2954011976512996711[193] = 0.0; + out_2954011976512996711[194] = 0.0; + out_2954011976512996711[195] = 0.0; + out_2954011976512996711[196] = 0.0; + out_2954011976512996711[197] = 0.0; + out_2954011976512996711[198] = 0.0; + out_2954011976512996711[199] = 0.0; + out_2954011976512996711[200] = 0.0; + out_2954011976512996711[201] = 0.0; + out_2954011976512996711[202] = 0.0; + out_2954011976512996711[203] = 0.0; + out_2954011976512996711[204] = 0.0; + out_2954011976512996711[205] = 0.0; + out_2954011976512996711[206] = 0.0; + out_2954011976512996711[207] = 0.0; + out_2954011976512996711[208] = 0.0; + out_2954011976512996711[209] = 1.0; + out_2954011976512996711[210] = 0.0; + out_2954011976512996711[211] = 0.0; + out_2954011976512996711[212] = 0.0; + out_2954011976512996711[213] = 0.0; + out_2954011976512996711[214] = 0.0; + out_2954011976512996711[215] = 0.0; + out_2954011976512996711[216] = 0.0; + out_2954011976512996711[217] = 0.0; + out_2954011976512996711[218] = 0.0; + out_2954011976512996711[219] = 0.0; + out_2954011976512996711[220] = 0.0; + out_2954011976512996711[221] = 0.0; + out_2954011976512996711[222] = 0.0; + out_2954011976512996711[223] = 0.0; + out_2954011976512996711[224] = 0.0; + out_2954011976512996711[225] = 0.0; + out_2954011976512996711[226] = 0.0; + out_2954011976512996711[227] = 0.0; + out_2954011976512996711[228] = 1.0; + out_2954011976512996711[229] = 0.0; + out_2954011976512996711[230] = 0.0; + out_2954011976512996711[231] = 0.0; + out_2954011976512996711[232] = 0.0; + out_2954011976512996711[233] = 0.0; + out_2954011976512996711[234] = 0.0; + out_2954011976512996711[235] = 0.0; + out_2954011976512996711[236] = 0.0; + out_2954011976512996711[237] = 0.0; + out_2954011976512996711[238] = 0.0; + out_2954011976512996711[239] = 0.0; + out_2954011976512996711[240] = 0.0; + out_2954011976512996711[241] = 0.0; + out_2954011976512996711[242] = 0.0; + out_2954011976512996711[243] = 0.0; + out_2954011976512996711[244] = 0.0; + out_2954011976512996711[245] = 0.0; + out_2954011976512996711[246] = 0.0; + out_2954011976512996711[247] = 1.0; + out_2954011976512996711[248] = 0.0; + out_2954011976512996711[249] = 0.0; + out_2954011976512996711[250] = 0.0; + out_2954011976512996711[251] = 0.0; + out_2954011976512996711[252] = 0.0; + out_2954011976512996711[253] = 0.0; + out_2954011976512996711[254] = 0.0; + out_2954011976512996711[255] = 0.0; + out_2954011976512996711[256] = 0.0; + out_2954011976512996711[257] = 0.0; + out_2954011976512996711[258] = 0.0; + out_2954011976512996711[259] = 0.0; + out_2954011976512996711[260] = 0.0; + out_2954011976512996711[261] = 0.0; + out_2954011976512996711[262] = 0.0; + out_2954011976512996711[263] = 0.0; + out_2954011976512996711[264] = 0.0; + out_2954011976512996711[265] = 0.0; + out_2954011976512996711[266] = 1.0; + out_2954011976512996711[267] = 0.0; + out_2954011976512996711[268] = 0.0; + out_2954011976512996711[269] = 0.0; + out_2954011976512996711[270] = 0.0; + out_2954011976512996711[271] = 0.0; + out_2954011976512996711[272] = 0.0; + out_2954011976512996711[273] = 0.0; + out_2954011976512996711[274] = 0.0; + out_2954011976512996711[275] = 0.0; + out_2954011976512996711[276] = 0.0; + out_2954011976512996711[277] = 0.0; + out_2954011976512996711[278] = 0.0; + out_2954011976512996711[279] = 0.0; + out_2954011976512996711[280] = 0.0; + out_2954011976512996711[281] = 0.0; + out_2954011976512996711[282] = 0.0; + out_2954011976512996711[283] = 0.0; + out_2954011976512996711[284] = 0.0; + out_2954011976512996711[285] = 1.0; + out_2954011976512996711[286] = 0.0; + out_2954011976512996711[287] = 0.0; + out_2954011976512996711[288] = 0.0; + out_2954011976512996711[289] = 0.0; + out_2954011976512996711[290] = 0.0; + out_2954011976512996711[291] = 0.0; + out_2954011976512996711[292] = 0.0; + out_2954011976512996711[293] = 0.0; + out_2954011976512996711[294] = 0.0; + out_2954011976512996711[295] = 0.0; + out_2954011976512996711[296] = 0.0; + out_2954011976512996711[297] = 0.0; + out_2954011976512996711[298] = 0.0; + out_2954011976512996711[299] = 0.0; + out_2954011976512996711[300] = 0.0; + out_2954011976512996711[301] = 0.0; + out_2954011976512996711[302] = 0.0; + out_2954011976512996711[303] = 0.0; + out_2954011976512996711[304] = 1.0; + out_2954011976512996711[305] = 0.0; + out_2954011976512996711[306] = 0.0; + out_2954011976512996711[307] = 0.0; + out_2954011976512996711[308] = 0.0; + out_2954011976512996711[309] = 0.0; + out_2954011976512996711[310] = 0.0; + out_2954011976512996711[311] = 0.0; + out_2954011976512996711[312] = 0.0; + out_2954011976512996711[313] = 0.0; + out_2954011976512996711[314] = 0.0; + out_2954011976512996711[315] = 0.0; + out_2954011976512996711[316] = 0.0; + out_2954011976512996711[317] = 0.0; + out_2954011976512996711[318] = 0.0; + out_2954011976512996711[319] = 0.0; + out_2954011976512996711[320] = 0.0; + out_2954011976512996711[321] = 0.0; + out_2954011976512996711[322] = 0.0; + out_2954011976512996711[323] = 1.0; } -void f_fun(double *state, double dt, double *out_3077738493587277525) { - out_3077738493587277525[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_3077738493587277525[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_3077738493587277525[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_3077738493587277525[3] = dt*state[12] + state[3]; - out_3077738493587277525[4] = dt*state[13] + state[4]; - out_3077738493587277525[5] = dt*state[14] + state[5]; - out_3077738493587277525[6] = state[6]; - out_3077738493587277525[7] = state[7]; - out_3077738493587277525[8] = state[8]; - out_3077738493587277525[9] = state[9]; - out_3077738493587277525[10] = state[10]; - out_3077738493587277525[11] = state[11]; - out_3077738493587277525[12] = state[12]; - out_3077738493587277525[13] = state[13]; - out_3077738493587277525[14] = state[14]; - out_3077738493587277525[15] = state[15]; - out_3077738493587277525[16] = state[16]; - out_3077738493587277525[17] = state[17]; +void f_fun(double *state, double dt, double *out_4081841541460951824) { + out_4081841541460951824[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_4081841541460951824[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_4081841541460951824[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_4081841541460951824[3] = dt*state[12] + state[3]; + out_4081841541460951824[4] = dt*state[13] + state[4]; + out_4081841541460951824[5] = dt*state[14] + state[5]; + out_4081841541460951824[6] = state[6]; + out_4081841541460951824[7] = state[7]; + out_4081841541460951824[8] = state[8]; + out_4081841541460951824[9] = state[9]; + out_4081841541460951824[10] = state[10]; + out_4081841541460951824[11] = state[11]; + out_4081841541460951824[12] = state[12]; + out_4081841541460951824[13] = state[13]; + out_4081841541460951824[14] = state[14]; + out_4081841541460951824[15] = state[15]; + out_4081841541460951824[16] = state[16]; + out_4081841541460951824[17] = state[17]; } -void F_fun(double *state, double dt, double *out_474426866180563475) { - out_474426866180563475[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_474426866180563475[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_474426866180563475[2] = 0; - out_474426866180563475[3] = 0; - out_474426866180563475[4] = 0; - out_474426866180563475[5] = 0; - out_474426866180563475[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_474426866180563475[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_474426866180563475[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_474426866180563475[9] = 0; - out_474426866180563475[10] = 0; - out_474426866180563475[11] = 0; - out_474426866180563475[12] = 0; - out_474426866180563475[13] = 0; - out_474426866180563475[14] = 0; - out_474426866180563475[15] = 0; - out_474426866180563475[16] = 0; - out_474426866180563475[17] = 0; - out_474426866180563475[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_474426866180563475[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_474426866180563475[20] = 0; - out_474426866180563475[21] = 0; - out_474426866180563475[22] = 0; - out_474426866180563475[23] = 0; - out_474426866180563475[24] = 0; - out_474426866180563475[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_474426866180563475[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_474426866180563475[27] = 0; - out_474426866180563475[28] = 0; - out_474426866180563475[29] = 0; - out_474426866180563475[30] = 0; - out_474426866180563475[31] = 0; - out_474426866180563475[32] = 0; - out_474426866180563475[33] = 0; - out_474426866180563475[34] = 0; - out_474426866180563475[35] = 0; - out_474426866180563475[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_474426866180563475[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_474426866180563475[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_474426866180563475[39] = 0; - out_474426866180563475[40] = 0; - out_474426866180563475[41] = 0; - out_474426866180563475[42] = 0; - out_474426866180563475[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_474426866180563475[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_474426866180563475[45] = 0; - out_474426866180563475[46] = 0; - out_474426866180563475[47] = 0; - out_474426866180563475[48] = 0; - out_474426866180563475[49] = 0; - out_474426866180563475[50] = 0; - out_474426866180563475[51] = 0; - out_474426866180563475[52] = 0; - out_474426866180563475[53] = 0; - out_474426866180563475[54] = 0; - out_474426866180563475[55] = 0; - out_474426866180563475[56] = 0; - out_474426866180563475[57] = 1; - out_474426866180563475[58] = 0; - out_474426866180563475[59] = 0; - out_474426866180563475[60] = 0; - out_474426866180563475[61] = 0; - out_474426866180563475[62] = 0; - out_474426866180563475[63] = 0; - out_474426866180563475[64] = 0; - out_474426866180563475[65] = 0; - out_474426866180563475[66] = dt; - out_474426866180563475[67] = 0; - out_474426866180563475[68] = 0; - out_474426866180563475[69] = 0; - out_474426866180563475[70] = 0; - out_474426866180563475[71] = 0; - out_474426866180563475[72] = 0; - out_474426866180563475[73] = 0; - out_474426866180563475[74] = 0; - out_474426866180563475[75] = 0; - out_474426866180563475[76] = 1; - out_474426866180563475[77] = 0; - out_474426866180563475[78] = 0; - out_474426866180563475[79] = 0; - out_474426866180563475[80] = 0; - out_474426866180563475[81] = 0; - out_474426866180563475[82] = 0; - out_474426866180563475[83] = 0; - out_474426866180563475[84] = 0; - out_474426866180563475[85] = dt; - out_474426866180563475[86] = 0; - out_474426866180563475[87] = 0; - out_474426866180563475[88] = 0; - out_474426866180563475[89] = 0; - out_474426866180563475[90] = 0; - out_474426866180563475[91] = 0; - out_474426866180563475[92] = 0; - out_474426866180563475[93] = 0; - out_474426866180563475[94] = 0; - out_474426866180563475[95] = 1; - out_474426866180563475[96] = 0; - out_474426866180563475[97] = 0; - out_474426866180563475[98] = 0; - out_474426866180563475[99] = 0; - out_474426866180563475[100] = 0; - out_474426866180563475[101] = 0; - out_474426866180563475[102] = 0; - out_474426866180563475[103] = 0; - out_474426866180563475[104] = dt; - out_474426866180563475[105] = 0; - out_474426866180563475[106] = 0; - out_474426866180563475[107] = 0; - out_474426866180563475[108] = 0; - out_474426866180563475[109] = 0; - out_474426866180563475[110] = 0; - out_474426866180563475[111] = 0; - out_474426866180563475[112] = 0; - out_474426866180563475[113] = 0; - out_474426866180563475[114] = 1; - out_474426866180563475[115] = 0; - out_474426866180563475[116] = 0; - out_474426866180563475[117] = 0; - out_474426866180563475[118] = 0; - out_474426866180563475[119] = 0; - out_474426866180563475[120] = 0; - out_474426866180563475[121] = 0; - out_474426866180563475[122] = 0; - out_474426866180563475[123] = 0; - out_474426866180563475[124] = 0; - out_474426866180563475[125] = 0; - out_474426866180563475[126] = 0; - out_474426866180563475[127] = 0; - out_474426866180563475[128] = 0; - out_474426866180563475[129] = 0; - out_474426866180563475[130] = 0; - out_474426866180563475[131] = 0; - out_474426866180563475[132] = 0; - out_474426866180563475[133] = 1; - out_474426866180563475[134] = 0; - out_474426866180563475[135] = 0; - out_474426866180563475[136] = 0; - out_474426866180563475[137] = 0; - out_474426866180563475[138] = 0; - out_474426866180563475[139] = 0; - out_474426866180563475[140] = 0; - out_474426866180563475[141] = 0; - out_474426866180563475[142] = 0; - out_474426866180563475[143] = 0; - out_474426866180563475[144] = 0; - out_474426866180563475[145] = 0; - out_474426866180563475[146] = 0; - out_474426866180563475[147] = 0; - out_474426866180563475[148] = 0; - out_474426866180563475[149] = 0; - out_474426866180563475[150] = 0; - out_474426866180563475[151] = 0; - out_474426866180563475[152] = 1; - out_474426866180563475[153] = 0; - out_474426866180563475[154] = 0; - out_474426866180563475[155] = 0; - out_474426866180563475[156] = 0; - out_474426866180563475[157] = 0; - out_474426866180563475[158] = 0; - out_474426866180563475[159] = 0; - out_474426866180563475[160] = 0; - out_474426866180563475[161] = 0; - out_474426866180563475[162] = 0; - out_474426866180563475[163] = 0; - out_474426866180563475[164] = 0; - out_474426866180563475[165] = 0; - out_474426866180563475[166] = 0; - out_474426866180563475[167] = 0; - out_474426866180563475[168] = 0; - out_474426866180563475[169] = 0; - out_474426866180563475[170] = 0; - out_474426866180563475[171] = 1; - out_474426866180563475[172] = 0; - out_474426866180563475[173] = 0; - out_474426866180563475[174] = 0; - out_474426866180563475[175] = 0; - out_474426866180563475[176] = 0; - out_474426866180563475[177] = 0; - out_474426866180563475[178] = 0; - out_474426866180563475[179] = 0; - out_474426866180563475[180] = 0; - out_474426866180563475[181] = 0; - out_474426866180563475[182] = 0; - out_474426866180563475[183] = 0; - out_474426866180563475[184] = 0; - out_474426866180563475[185] = 0; - out_474426866180563475[186] = 0; - out_474426866180563475[187] = 0; - out_474426866180563475[188] = 0; - out_474426866180563475[189] = 0; - out_474426866180563475[190] = 1; - out_474426866180563475[191] = 0; - out_474426866180563475[192] = 0; - out_474426866180563475[193] = 0; - out_474426866180563475[194] = 0; - out_474426866180563475[195] = 0; - out_474426866180563475[196] = 0; - out_474426866180563475[197] = 0; - out_474426866180563475[198] = 0; - out_474426866180563475[199] = 0; - out_474426866180563475[200] = 0; - out_474426866180563475[201] = 0; - out_474426866180563475[202] = 0; - out_474426866180563475[203] = 0; - out_474426866180563475[204] = 0; - out_474426866180563475[205] = 0; - out_474426866180563475[206] = 0; - out_474426866180563475[207] = 0; - out_474426866180563475[208] = 0; - out_474426866180563475[209] = 1; - out_474426866180563475[210] = 0; - out_474426866180563475[211] = 0; - out_474426866180563475[212] = 0; - out_474426866180563475[213] = 0; - out_474426866180563475[214] = 0; - out_474426866180563475[215] = 0; - out_474426866180563475[216] = 0; - out_474426866180563475[217] = 0; - out_474426866180563475[218] = 0; - out_474426866180563475[219] = 0; - out_474426866180563475[220] = 0; - out_474426866180563475[221] = 0; - out_474426866180563475[222] = 0; - out_474426866180563475[223] = 0; - out_474426866180563475[224] = 0; - out_474426866180563475[225] = 0; - out_474426866180563475[226] = 0; - out_474426866180563475[227] = 0; - out_474426866180563475[228] = 1; - out_474426866180563475[229] = 0; - out_474426866180563475[230] = 0; - out_474426866180563475[231] = 0; - out_474426866180563475[232] = 0; - out_474426866180563475[233] = 0; - out_474426866180563475[234] = 0; - out_474426866180563475[235] = 0; - out_474426866180563475[236] = 0; - out_474426866180563475[237] = 0; - out_474426866180563475[238] = 0; - out_474426866180563475[239] = 0; - out_474426866180563475[240] = 0; - out_474426866180563475[241] = 0; - out_474426866180563475[242] = 0; - out_474426866180563475[243] = 0; - out_474426866180563475[244] = 0; - out_474426866180563475[245] = 0; - out_474426866180563475[246] = 0; - out_474426866180563475[247] = 1; - out_474426866180563475[248] = 0; - out_474426866180563475[249] = 0; - out_474426866180563475[250] = 0; - out_474426866180563475[251] = 0; - out_474426866180563475[252] = 0; - out_474426866180563475[253] = 0; - out_474426866180563475[254] = 0; - out_474426866180563475[255] = 0; - out_474426866180563475[256] = 0; - out_474426866180563475[257] = 0; - out_474426866180563475[258] = 0; - out_474426866180563475[259] = 0; - out_474426866180563475[260] = 0; - out_474426866180563475[261] = 0; - out_474426866180563475[262] = 0; - out_474426866180563475[263] = 0; - out_474426866180563475[264] = 0; - out_474426866180563475[265] = 0; - out_474426866180563475[266] = 1; - out_474426866180563475[267] = 0; - out_474426866180563475[268] = 0; - out_474426866180563475[269] = 0; - out_474426866180563475[270] = 0; - out_474426866180563475[271] = 0; - out_474426866180563475[272] = 0; - out_474426866180563475[273] = 0; - out_474426866180563475[274] = 0; - out_474426866180563475[275] = 0; - out_474426866180563475[276] = 0; - out_474426866180563475[277] = 0; - out_474426866180563475[278] = 0; - out_474426866180563475[279] = 0; - out_474426866180563475[280] = 0; - out_474426866180563475[281] = 0; - out_474426866180563475[282] = 0; - out_474426866180563475[283] = 0; - out_474426866180563475[284] = 0; - out_474426866180563475[285] = 1; - out_474426866180563475[286] = 0; - out_474426866180563475[287] = 0; - out_474426866180563475[288] = 0; - out_474426866180563475[289] = 0; - out_474426866180563475[290] = 0; - out_474426866180563475[291] = 0; - out_474426866180563475[292] = 0; - out_474426866180563475[293] = 0; - out_474426866180563475[294] = 0; - out_474426866180563475[295] = 0; - out_474426866180563475[296] = 0; - out_474426866180563475[297] = 0; - out_474426866180563475[298] = 0; - out_474426866180563475[299] = 0; - out_474426866180563475[300] = 0; - out_474426866180563475[301] = 0; - out_474426866180563475[302] = 0; - out_474426866180563475[303] = 0; - out_474426866180563475[304] = 1; - out_474426866180563475[305] = 0; - out_474426866180563475[306] = 0; - out_474426866180563475[307] = 0; - out_474426866180563475[308] = 0; - out_474426866180563475[309] = 0; - out_474426866180563475[310] = 0; - out_474426866180563475[311] = 0; - out_474426866180563475[312] = 0; - out_474426866180563475[313] = 0; - out_474426866180563475[314] = 0; - out_474426866180563475[315] = 0; - out_474426866180563475[316] = 0; - out_474426866180563475[317] = 0; - out_474426866180563475[318] = 0; - out_474426866180563475[319] = 0; - out_474426866180563475[320] = 0; - out_474426866180563475[321] = 0; - out_474426866180563475[322] = 0; - out_474426866180563475[323] = 1; +void F_fun(double *state, double dt, double *out_2326707394449301144) { + out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[2] = 0; + out_2326707394449301144[3] = 0; + out_2326707394449301144[4] = 0; + out_2326707394449301144[5] = 0; + out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[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_2326707394449301144[9] = 0; + out_2326707394449301144[10] = 0; + out_2326707394449301144[11] = 0; + out_2326707394449301144[12] = 0; + out_2326707394449301144[13] = 0; + out_2326707394449301144[14] = 0; + out_2326707394449301144[15] = 0; + out_2326707394449301144[16] = 0; + out_2326707394449301144[17] = 0; + out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[20] = 0; + out_2326707394449301144[21] = 0; + out_2326707394449301144[22] = 0; + out_2326707394449301144[23] = 0; + out_2326707394449301144[24] = 0; + out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[27] = 0; + out_2326707394449301144[28] = 0; + out_2326707394449301144[29] = 0; + out_2326707394449301144[30] = 0; + out_2326707394449301144[31] = 0; + out_2326707394449301144[32] = 0; + out_2326707394449301144[33] = 0; + out_2326707394449301144[34] = 0; + out_2326707394449301144[35] = 0; + out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[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_2326707394449301144[39] = 0; + out_2326707394449301144[40] = 0; + out_2326707394449301144[41] = 0; + out_2326707394449301144[42] = 0; + out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[45] = 0; + out_2326707394449301144[46] = 0; + out_2326707394449301144[47] = 0; + out_2326707394449301144[48] = 0; + out_2326707394449301144[49] = 0; + out_2326707394449301144[50] = 0; + out_2326707394449301144[51] = 0; + out_2326707394449301144[52] = 0; + out_2326707394449301144[53] = 0; + out_2326707394449301144[54] = 0; + out_2326707394449301144[55] = 0; + out_2326707394449301144[56] = 0; + out_2326707394449301144[57] = 1; + out_2326707394449301144[58] = 0; + out_2326707394449301144[59] = 0; + out_2326707394449301144[60] = 0; + out_2326707394449301144[61] = 0; + out_2326707394449301144[62] = 0; + out_2326707394449301144[63] = 0; + out_2326707394449301144[64] = 0; + out_2326707394449301144[65] = 0; + out_2326707394449301144[66] = dt; + out_2326707394449301144[67] = 0; + out_2326707394449301144[68] = 0; + out_2326707394449301144[69] = 0; + out_2326707394449301144[70] = 0; + out_2326707394449301144[71] = 0; + out_2326707394449301144[72] = 0; + out_2326707394449301144[73] = 0; + out_2326707394449301144[74] = 0; + out_2326707394449301144[75] = 0; + out_2326707394449301144[76] = 1; + out_2326707394449301144[77] = 0; + out_2326707394449301144[78] = 0; + out_2326707394449301144[79] = 0; + out_2326707394449301144[80] = 0; + out_2326707394449301144[81] = 0; + out_2326707394449301144[82] = 0; + out_2326707394449301144[83] = 0; + out_2326707394449301144[84] = 0; + out_2326707394449301144[85] = dt; + out_2326707394449301144[86] = 0; + out_2326707394449301144[87] = 0; + out_2326707394449301144[88] = 0; + out_2326707394449301144[89] = 0; + out_2326707394449301144[90] = 0; + out_2326707394449301144[91] = 0; + out_2326707394449301144[92] = 0; + out_2326707394449301144[93] = 0; + out_2326707394449301144[94] = 0; + out_2326707394449301144[95] = 1; + out_2326707394449301144[96] = 0; + out_2326707394449301144[97] = 0; + out_2326707394449301144[98] = 0; + out_2326707394449301144[99] = 0; + out_2326707394449301144[100] = 0; + out_2326707394449301144[101] = 0; + out_2326707394449301144[102] = 0; + out_2326707394449301144[103] = 0; + out_2326707394449301144[104] = dt; + out_2326707394449301144[105] = 0; + out_2326707394449301144[106] = 0; + out_2326707394449301144[107] = 0; + out_2326707394449301144[108] = 0; + out_2326707394449301144[109] = 0; + out_2326707394449301144[110] = 0; + out_2326707394449301144[111] = 0; + out_2326707394449301144[112] = 0; + out_2326707394449301144[113] = 0; + out_2326707394449301144[114] = 1; + out_2326707394449301144[115] = 0; + out_2326707394449301144[116] = 0; + out_2326707394449301144[117] = 0; + out_2326707394449301144[118] = 0; + out_2326707394449301144[119] = 0; + out_2326707394449301144[120] = 0; + out_2326707394449301144[121] = 0; + out_2326707394449301144[122] = 0; + out_2326707394449301144[123] = 0; + out_2326707394449301144[124] = 0; + out_2326707394449301144[125] = 0; + out_2326707394449301144[126] = 0; + out_2326707394449301144[127] = 0; + out_2326707394449301144[128] = 0; + out_2326707394449301144[129] = 0; + out_2326707394449301144[130] = 0; + out_2326707394449301144[131] = 0; + out_2326707394449301144[132] = 0; + out_2326707394449301144[133] = 1; + out_2326707394449301144[134] = 0; + out_2326707394449301144[135] = 0; + out_2326707394449301144[136] = 0; + out_2326707394449301144[137] = 0; + out_2326707394449301144[138] = 0; + out_2326707394449301144[139] = 0; + out_2326707394449301144[140] = 0; + out_2326707394449301144[141] = 0; + out_2326707394449301144[142] = 0; + out_2326707394449301144[143] = 0; + out_2326707394449301144[144] = 0; + out_2326707394449301144[145] = 0; + out_2326707394449301144[146] = 0; + out_2326707394449301144[147] = 0; + out_2326707394449301144[148] = 0; + out_2326707394449301144[149] = 0; + out_2326707394449301144[150] = 0; + out_2326707394449301144[151] = 0; + out_2326707394449301144[152] = 1; + out_2326707394449301144[153] = 0; + out_2326707394449301144[154] = 0; + out_2326707394449301144[155] = 0; + out_2326707394449301144[156] = 0; + out_2326707394449301144[157] = 0; + out_2326707394449301144[158] = 0; + out_2326707394449301144[159] = 0; + out_2326707394449301144[160] = 0; + out_2326707394449301144[161] = 0; + out_2326707394449301144[162] = 0; + out_2326707394449301144[163] = 0; + out_2326707394449301144[164] = 0; + out_2326707394449301144[165] = 0; + out_2326707394449301144[166] = 0; + out_2326707394449301144[167] = 0; + out_2326707394449301144[168] = 0; + out_2326707394449301144[169] = 0; + out_2326707394449301144[170] = 0; + out_2326707394449301144[171] = 1; + out_2326707394449301144[172] = 0; + out_2326707394449301144[173] = 0; + out_2326707394449301144[174] = 0; + out_2326707394449301144[175] = 0; + out_2326707394449301144[176] = 0; + out_2326707394449301144[177] = 0; + out_2326707394449301144[178] = 0; + out_2326707394449301144[179] = 0; + out_2326707394449301144[180] = 0; + out_2326707394449301144[181] = 0; + out_2326707394449301144[182] = 0; + out_2326707394449301144[183] = 0; + out_2326707394449301144[184] = 0; + out_2326707394449301144[185] = 0; + out_2326707394449301144[186] = 0; + out_2326707394449301144[187] = 0; + out_2326707394449301144[188] = 0; + out_2326707394449301144[189] = 0; + out_2326707394449301144[190] = 1; + out_2326707394449301144[191] = 0; + out_2326707394449301144[192] = 0; + out_2326707394449301144[193] = 0; + out_2326707394449301144[194] = 0; + out_2326707394449301144[195] = 0; + out_2326707394449301144[196] = 0; + out_2326707394449301144[197] = 0; + out_2326707394449301144[198] = 0; + out_2326707394449301144[199] = 0; + out_2326707394449301144[200] = 0; + out_2326707394449301144[201] = 0; + out_2326707394449301144[202] = 0; + out_2326707394449301144[203] = 0; + out_2326707394449301144[204] = 0; + out_2326707394449301144[205] = 0; + out_2326707394449301144[206] = 0; + out_2326707394449301144[207] = 0; + out_2326707394449301144[208] = 0; + out_2326707394449301144[209] = 1; + out_2326707394449301144[210] = 0; + out_2326707394449301144[211] = 0; + out_2326707394449301144[212] = 0; + out_2326707394449301144[213] = 0; + out_2326707394449301144[214] = 0; + out_2326707394449301144[215] = 0; + out_2326707394449301144[216] = 0; + out_2326707394449301144[217] = 0; + out_2326707394449301144[218] = 0; + out_2326707394449301144[219] = 0; + out_2326707394449301144[220] = 0; + out_2326707394449301144[221] = 0; + out_2326707394449301144[222] = 0; + out_2326707394449301144[223] = 0; + out_2326707394449301144[224] = 0; + out_2326707394449301144[225] = 0; + out_2326707394449301144[226] = 0; + out_2326707394449301144[227] = 0; + out_2326707394449301144[228] = 1; + out_2326707394449301144[229] = 0; + out_2326707394449301144[230] = 0; + out_2326707394449301144[231] = 0; + out_2326707394449301144[232] = 0; + out_2326707394449301144[233] = 0; + out_2326707394449301144[234] = 0; + out_2326707394449301144[235] = 0; + out_2326707394449301144[236] = 0; + out_2326707394449301144[237] = 0; + out_2326707394449301144[238] = 0; + out_2326707394449301144[239] = 0; + out_2326707394449301144[240] = 0; + out_2326707394449301144[241] = 0; + out_2326707394449301144[242] = 0; + out_2326707394449301144[243] = 0; + out_2326707394449301144[244] = 0; + out_2326707394449301144[245] = 0; + out_2326707394449301144[246] = 0; + out_2326707394449301144[247] = 1; + out_2326707394449301144[248] = 0; + out_2326707394449301144[249] = 0; + out_2326707394449301144[250] = 0; + out_2326707394449301144[251] = 0; + out_2326707394449301144[252] = 0; + out_2326707394449301144[253] = 0; + out_2326707394449301144[254] = 0; + out_2326707394449301144[255] = 0; + out_2326707394449301144[256] = 0; + out_2326707394449301144[257] = 0; + out_2326707394449301144[258] = 0; + out_2326707394449301144[259] = 0; + out_2326707394449301144[260] = 0; + out_2326707394449301144[261] = 0; + out_2326707394449301144[262] = 0; + out_2326707394449301144[263] = 0; + out_2326707394449301144[264] = 0; + out_2326707394449301144[265] = 0; + out_2326707394449301144[266] = 1; + out_2326707394449301144[267] = 0; + out_2326707394449301144[268] = 0; + out_2326707394449301144[269] = 0; + out_2326707394449301144[270] = 0; + out_2326707394449301144[271] = 0; + out_2326707394449301144[272] = 0; + out_2326707394449301144[273] = 0; + out_2326707394449301144[274] = 0; + out_2326707394449301144[275] = 0; + out_2326707394449301144[276] = 0; + out_2326707394449301144[277] = 0; + out_2326707394449301144[278] = 0; + out_2326707394449301144[279] = 0; + out_2326707394449301144[280] = 0; + out_2326707394449301144[281] = 0; + out_2326707394449301144[282] = 0; + out_2326707394449301144[283] = 0; + out_2326707394449301144[284] = 0; + out_2326707394449301144[285] = 1; + out_2326707394449301144[286] = 0; + out_2326707394449301144[287] = 0; + out_2326707394449301144[288] = 0; + out_2326707394449301144[289] = 0; + out_2326707394449301144[290] = 0; + out_2326707394449301144[291] = 0; + out_2326707394449301144[292] = 0; + out_2326707394449301144[293] = 0; + out_2326707394449301144[294] = 0; + out_2326707394449301144[295] = 0; + out_2326707394449301144[296] = 0; + out_2326707394449301144[297] = 0; + out_2326707394449301144[298] = 0; + out_2326707394449301144[299] = 0; + out_2326707394449301144[300] = 0; + out_2326707394449301144[301] = 0; + out_2326707394449301144[302] = 0; + out_2326707394449301144[303] = 0; + out_2326707394449301144[304] = 1; + out_2326707394449301144[305] = 0; + out_2326707394449301144[306] = 0; + out_2326707394449301144[307] = 0; + out_2326707394449301144[308] = 0; + out_2326707394449301144[309] = 0; + out_2326707394449301144[310] = 0; + out_2326707394449301144[311] = 0; + out_2326707394449301144[312] = 0; + out_2326707394449301144[313] = 0; + out_2326707394449301144[314] = 0; + out_2326707394449301144[315] = 0; + out_2326707394449301144[316] = 0; + out_2326707394449301144[317] = 0; + out_2326707394449301144[318] = 0; + out_2326707394449301144[319] = 0; + out_2326707394449301144[320] = 0; + out_2326707394449301144[321] = 0; + out_2326707394449301144[322] = 0; + out_2326707394449301144[323] = 1; } -void h_4(double *state, double *unused, double *out_616527671886839495) { - out_616527671886839495[0] = state[6] + state[9]; - out_616527671886839495[1] = state[7] + state[10]; - out_616527671886839495[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5242858642703077087) { + out_5242858642703077087[0] = state[6] + state[9]; + out_5242858642703077087[1] = state[7] + state[10]; + out_5242858642703077087[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_702684706889350599) { - out_702684706889350599[0] = 0; - out_702684706889350599[1] = 0; - out_702684706889350599[2] = 0; - out_702684706889350599[3] = 0; - out_702684706889350599[4] = 0; - out_702684706889350599[5] = 0; - out_702684706889350599[6] = 1; - out_702684706889350599[7] = 0; - out_702684706889350599[8] = 0; - out_702684706889350599[9] = 1; - out_702684706889350599[10] = 0; - out_702684706889350599[11] = 0; - out_702684706889350599[12] = 0; - out_702684706889350599[13] = 0; - out_702684706889350599[14] = 0; - out_702684706889350599[15] = 0; - out_702684706889350599[16] = 0; - out_702684706889350599[17] = 0; - out_702684706889350599[18] = 0; - out_702684706889350599[19] = 0; - out_702684706889350599[20] = 0; - out_702684706889350599[21] = 0; - out_702684706889350599[22] = 0; - out_702684706889350599[23] = 0; - out_702684706889350599[24] = 0; - out_702684706889350599[25] = 1; - out_702684706889350599[26] = 0; - out_702684706889350599[27] = 0; - out_702684706889350599[28] = 1; - out_702684706889350599[29] = 0; - out_702684706889350599[30] = 0; - out_702684706889350599[31] = 0; - out_702684706889350599[32] = 0; - out_702684706889350599[33] = 0; - out_702684706889350599[34] = 0; - out_702684706889350599[35] = 0; - out_702684706889350599[36] = 0; - out_702684706889350599[37] = 0; - out_702684706889350599[38] = 0; - out_702684706889350599[39] = 0; - out_702684706889350599[40] = 0; - out_702684706889350599[41] = 0; - out_702684706889350599[42] = 0; - out_702684706889350599[43] = 0; - out_702684706889350599[44] = 1; - out_702684706889350599[45] = 0; - out_702684706889350599[46] = 0; - out_702684706889350599[47] = 1; - out_702684706889350599[48] = 0; - out_702684706889350599[49] = 0; - out_702684706889350599[50] = 0; - out_702684706889350599[51] = 0; - out_702684706889350599[52] = 0; - out_702684706889350599[53] = 0; +void H_4(double *state, double *unused, double *out_1660615060416319653) { + out_1660615060416319653[0] = 0; + out_1660615060416319653[1] = 0; + out_1660615060416319653[2] = 0; + out_1660615060416319653[3] = 0; + out_1660615060416319653[4] = 0; + out_1660615060416319653[5] = 0; + out_1660615060416319653[6] = 1; + out_1660615060416319653[7] = 0; + out_1660615060416319653[8] = 0; + out_1660615060416319653[9] = 1; + out_1660615060416319653[10] = 0; + out_1660615060416319653[11] = 0; + out_1660615060416319653[12] = 0; + out_1660615060416319653[13] = 0; + out_1660615060416319653[14] = 0; + out_1660615060416319653[15] = 0; + out_1660615060416319653[16] = 0; + out_1660615060416319653[17] = 0; + out_1660615060416319653[18] = 0; + out_1660615060416319653[19] = 0; + out_1660615060416319653[20] = 0; + out_1660615060416319653[21] = 0; + out_1660615060416319653[22] = 0; + out_1660615060416319653[23] = 0; + out_1660615060416319653[24] = 0; + out_1660615060416319653[25] = 1; + out_1660615060416319653[26] = 0; + out_1660615060416319653[27] = 0; + out_1660615060416319653[28] = 1; + out_1660615060416319653[29] = 0; + out_1660615060416319653[30] = 0; + out_1660615060416319653[31] = 0; + out_1660615060416319653[32] = 0; + out_1660615060416319653[33] = 0; + out_1660615060416319653[34] = 0; + out_1660615060416319653[35] = 0; + out_1660615060416319653[36] = 0; + out_1660615060416319653[37] = 0; + out_1660615060416319653[38] = 0; + out_1660615060416319653[39] = 0; + out_1660615060416319653[40] = 0; + out_1660615060416319653[41] = 0; + out_1660615060416319653[42] = 0; + out_1660615060416319653[43] = 0; + out_1660615060416319653[44] = 1; + out_1660615060416319653[45] = 0; + out_1660615060416319653[46] = 0; + out_1660615060416319653[47] = 1; + out_1660615060416319653[48] = 0; + out_1660615060416319653[49] = 0; + out_1660615060416319653[50] = 0; + out_1660615060416319653[51] = 0; + out_1660615060416319653[52] = 0; + out_1660615060416319653[53] = 0; } -void h_10(double *state, double *unused, double *out_767369525646024651) { - out_767369525646024651[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_767369525646024651[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_767369525646024651[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_8287724405821980303) { + out_8287724405821980303[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8287724405821980303[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8287724405821980303[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_8347276505705953254) { - out_8347276505705953254[0] = 0; - out_8347276505705953254[1] = 9.8100000000000005*cos(state[1]); - out_8347276505705953254[2] = 0; - out_8347276505705953254[3] = 0; - out_8347276505705953254[4] = -state[8]; - out_8347276505705953254[5] = state[7]; - out_8347276505705953254[6] = 0; - out_8347276505705953254[7] = state[5]; - out_8347276505705953254[8] = -state[4]; - out_8347276505705953254[9] = 0; - out_8347276505705953254[10] = 0; - out_8347276505705953254[11] = 0; - out_8347276505705953254[12] = 1; - out_8347276505705953254[13] = 0; - out_8347276505705953254[14] = 0; - out_8347276505705953254[15] = 1; - out_8347276505705953254[16] = 0; - out_8347276505705953254[17] = 0; - out_8347276505705953254[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8347276505705953254[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8347276505705953254[20] = 0; - out_8347276505705953254[21] = state[8]; - out_8347276505705953254[22] = 0; - out_8347276505705953254[23] = -state[6]; - out_8347276505705953254[24] = -state[5]; - out_8347276505705953254[25] = 0; - out_8347276505705953254[26] = state[3]; - out_8347276505705953254[27] = 0; - out_8347276505705953254[28] = 0; - out_8347276505705953254[29] = 0; - out_8347276505705953254[30] = 0; - out_8347276505705953254[31] = 1; - out_8347276505705953254[32] = 0; - out_8347276505705953254[33] = 0; - out_8347276505705953254[34] = 1; - out_8347276505705953254[35] = 0; - out_8347276505705953254[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8347276505705953254[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8347276505705953254[38] = 0; - out_8347276505705953254[39] = -state[7]; - out_8347276505705953254[40] = state[6]; - out_8347276505705953254[41] = 0; - out_8347276505705953254[42] = state[4]; - out_8347276505705953254[43] = -state[3]; - out_8347276505705953254[44] = 0; - out_8347276505705953254[45] = 0; - out_8347276505705953254[46] = 0; - out_8347276505705953254[47] = 0; - out_8347276505705953254[48] = 0; - out_8347276505705953254[49] = 0; - out_8347276505705953254[50] = 1; - out_8347276505705953254[51] = 0; - out_8347276505705953254[52] = 0; - out_8347276505705953254[53] = 1; +void H_10(double *state, double *unused, double *out_8634670991932313772) { + out_8634670991932313772[0] = 0; + out_8634670991932313772[1] = 9.8100000000000005*cos(state[1]); + out_8634670991932313772[2] = 0; + out_8634670991932313772[3] = 0; + out_8634670991932313772[4] = -state[8]; + out_8634670991932313772[5] = state[7]; + out_8634670991932313772[6] = 0; + out_8634670991932313772[7] = state[5]; + out_8634670991932313772[8] = -state[4]; + out_8634670991932313772[9] = 0; + out_8634670991932313772[10] = 0; + out_8634670991932313772[11] = 0; + out_8634670991932313772[12] = 1; + out_8634670991932313772[13] = 0; + out_8634670991932313772[14] = 0; + out_8634670991932313772[15] = 1; + out_8634670991932313772[16] = 0; + out_8634670991932313772[17] = 0; + out_8634670991932313772[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8634670991932313772[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8634670991932313772[20] = 0; + out_8634670991932313772[21] = state[8]; + out_8634670991932313772[22] = 0; + out_8634670991932313772[23] = -state[6]; + out_8634670991932313772[24] = -state[5]; + out_8634670991932313772[25] = 0; + out_8634670991932313772[26] = state[3]; + out_8634670991932313772[27] = 0; + out_8634670991932313772[28] = 0; + out_8634670991932313772[29] = 0; + out_8634670991932313772[30] = 0; + out_8634670991932313772[31] = 1; + out_8634670991932313772[32] = 0; + out_8634670991932313772[33] = 0; + out_8634670991932313772[34] = 1; + out_8634670991932313772[35] = 0; + out_8634670991932313772[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8634670991932313772[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8634670991932313772[38] = 0; + out_8634670991932313772[39] = -state[7]; + out_8634670991932313772[40] = state[6]; + out_8634670991932313772[41] = 0; + out_8634670991932313772[42] = state[4]; + out_8634670991932313772[43] = -state[3]; + out_8634670991932313772[44] = 0; + out_8634670991932313772[45] = 0; + out_8634670991932313772[46] = 0; + out_8634670991932313772[47] = 0; + out_8634670991932313772[48] = 0; + out_8634670991932313772[49] = 0; + out_8634670991932313772[50] = 1; + out_8634670991932313772[51] = 0; + out_8634670991932313772[52] = 0; + out_8634670991932313772[53] = 1; } -void h_13(double *state, double *unused, double *out_7518652466578138352) { - out_7518652466578138352[0] = state[3]; - out_7518652466578138352[1] = state[4]; - out_7518652466578138352[2] = state[5]; +void h_13(double *state, double *unused, double *out_936388540160520926) { + out_936388540160520926[0] = state[3]; + out_936388540160520926[1] = state[4]; + out_936388540160520926[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2509589118442982202) { - out_2509589118442982202[0] = 0; - out_2509589118442982202[1] = 0; - out_2509589118442982202[2] = 0; - out_2509589118442982202[3] = 1; - out_2509589118442982202[4] = 0; - out_2509589118442982202[5] = 0; - out_2509589118442982202[6] = 0; - out_2509589118442982202[7] = 0; - out_2509589118442982202[8] = 0; - out_2509589118442982202[9] = 0; - out_2509589118442982202[10] = 0; - out_2509589118442982202[11] = 0; - out_2509589118442982202[12] = 0; - out_2509589118442982202[13] = 0; - out_2509589118442982202[14] = 0; - out_2509589118442982202[15] = 0; - out_2509589118442982202[16] = 0; - out_2509589118442982202[17] = 0; - out_2509589118442982202[18] = 0; - out_2509589118442982202[19] = 0; - out_2509589118442982202[20] = 0; - out_2509589118442982202[21] = 0; - out_2509589118442982202[22] = 1; - out_2509589118442982202[23] = 0; - out_2509589118442982202[24] = 0; - out_2509589118442982202[25] = 0; - out_2509589118442982202[26] = 0; - out_2509589118442982202[27] = 0; - out_2509589118442982202[28] = 0; - out_2509589118442982202[29] = 0; - out_2509589118442982202[30] = 0; - out_2509589118442982202[31] = 0; - out_2509589118442982202[32] = 0; - out_2509589118442982202[33] = 0; - out_2509589118442982202[34] = 0; - out_2509589118442982202[35] = 0; - out_2509589118442982202[36] = 0; - out_2509589118442982202[37] = 0; - out_2509589118442982202[38] = 0; - out_2509589118442982202[39] = 0; - out_2509589118442982202[40] = 0; - out_2509589118442982202[41] = 1; - out_2509589118442982202[42] = 0; - out_2509589118442982202[43] = 0; - out_2509589118442982202[44] = 0; - out_2509589118442982202[45] = 0; - out_2509589118442982202[46] = 0; - out_2509589118442982202[47] = 0; - out_2509589118442982202[48] = 0; - out_2509589118442982202[49] = 0; - out_2509589118442982202[50] = 0; - out_2509589118442982202[51] = 0; - out_2509589118442982202[52] = 0; - out_2509589118442982202[53] = 0; +void H_13(double *state, double *unused, double *out_4872888885748652454) { + out_4872888885748652454[0] = 0; + out_4872888885748652454[1] = 0; + out_4872888885748652454[2] = 0; + out_4872888885748652454[3] = 1; + out_4872888885748652454[4] = 0; + out_4872888885748652454[5] = 0; + out_4872888885748652454[6] = 0; + out_4872888885748652454[7] = 0; + out_4872888885748652454[8] = 0; + out_4872888885748652454[9] = 0; + out_4872888885748652454[10] = 0; + out_4872888885748652454[11] = 0; + out_4872888885748652454[12] = 0; + out_4872888885748652454[13] = 0; + out_4872888885748652454[14] = 0; + out_4872888885748652454[15] = 0; + out_4872888885748652454[16] = 0; + out_4872888885748652454[17] = 0; + out_4872888885748652454[18] = 0; + out_4872888885748652454[19] = 0; + out_4872888885748652454[20] = 0; + out_4872888885748652454[21] = 0; + out_4872888885748652454[22] = 1; + out_4872888885748652454[23] = 0; + out_4872888885748652454[24] = 0; + out_4872888885748652454[25] = 0; + out_4872888885748652454[26] = 0; + out_4872888885748652454[27] = 0; + out_4872888885748652454[28] = 0; + out_4872888885748652454[29] = 0; + out_4872888885748652454[30] = 0; + out_4872888885748652454[31] = 0; + out_4872888885748652454[32] = 0; + out_4872888885748652454[33] = 0; + out_4872888885748652454[34] = 0; + out_4872888885748652454[35] = 0; + out_4872888885748652454[36] = 0; + out_4872888885748652454[37] = 0; + out_4872888885748652454[38] = 0; + out_4872888885748652454[39] = 0; + out_4872888885748652454[40] = 0; + out_4872888885748652454[41] = 1; + out_4872888885748652454[42] = 0; + out_4872888885748652454[43] = 0; + out_4872888885748652454[44] = 0; + out_4872888885748652454[45] = 0; + out_4872888885748652454[46] = 0; + out_4872888885748652454[47] = 0; + out_4872888885748652454[48] = 0; + out_4872888885748652454[49] = 0; + out_4872888885748652454[50] = 0; + out_4872888885748652454[51] = 0; + out_4872888885748652454[52] = 0; + out_4872888885748652454[53] = 0; } -void h_14(double *state, double *unused, double *out_7727744869207997497) { - out_7727744869207997497[0] = state[6]; - out_7727744869207997497[1] = state[7]; - out_7727744869207997497[2] = state[8]; +void h_14(double *state, double *unused, double *out_3784911557802666238) { + out_3784911557802666238[0] = state[6]; + out_3784911557802666238[1] = state[7]; + out_3784911557802666238[2] = state[8]; } -void H_14(double *state, double *unused, double *out_8183830522169091023) { - out_8183830522169091023[0] = 0; - out_8183830522169091023[1] = 0; - out_8183830522169091023[2] = 0; - out_8183830522169091023[3] = 0; - out_8183830522169091023[4] = 0; - out_8183830522169091023[5] = 0; - out_8183830522169091023[6] = 1; - out_8183830522169091023[7] = 0; - out_8183830522169091023[8] = 0; - out_8183830522169091023[9] = 0; - out_8183830522169091023[10] = 0; - out_8183830522169091023[11] = 0; - out_8183830522169091023[12] = 0; - out_8183830522169091023[13] = 0; - out_8183830522169091023[14] = 0; - out_8183830522169091023[15] = 0; - out_8183830522169091023[16] = 0; - out_8183830522169091023[17] = 0; - out_8183830522169091023[18] = 0; - out_8183830522169091023[19] = 0; - out_8183830522169091023[20] = 0; - out_8183830522169091023[21] = 0; - out_8183830522169091023[22] = 0; - out_8183830522169091023[23] = 0; - out_8183830522169091023[24] = 0; - out_8183830522169091023[25] = 1; - out_8183830522169091023[26] = 0; - out_8183830522169091023[27] = 0; - out_8183830522169091023[28] = 0; - out_8183830522169091023[29] = 0; - out_8183830522169091023[30] = 0; - out_8183830522169091023[31] = 0; - out_8183830522169091023[32] = 0; - out_8183830522169091023[33] = 0; - out_8183830522169091023[34] = 0; - out_8183830522169091023[35] = 0; - out_8183830522169091023[36] = 0; - out_8183830522169091023[37] = 0; - out_8183830522169091023[38] = 0; - out_8183830522169091023[39] = 0; - out_8183830522169091023[40] = 0; - out_8183830522169091023[41] = 0; - out_8183830522169091023[42] = 0; - out_8183830522169091023[43] = 0; - out_8183830522169091023[44] = 1; - out_8183830522169091023[45] = 0; - out_8183830522169091023[46] = 0; - out_8183830522169091023[47] = 0; - out_8183830522169091023[48] = 0; - out_8183830522169091023[49] = 0; - out_8183830522169091023[50] = 0; - out_8183830522169091023[51] = 0; - out_8183830522169091023[52] = 0; - out_8183830522169091023[53] = 0; +void H_14(double *state, double *unused, double *out_5623855916755804182) { + out_5623855916755804182[0] = 0; + out_5623855916755804182[1] = 0; + out_5623855916755804182[2] = 0; + out_5623855916755804182[3] = 0; + out_5623855916755804182[4] = 0; + out_5623855916755804182[5] = 0; + out_5623855916755804182[6] = 1; + out_5623855916755804182[7] = 0; + out_5623855916755804182[8] = 0; + out_5623855916755804182[9] = 0; + out_5623855916755804182[10] = 0; + out_5623855916755804182[11] = 0; + out_5623855916755804182[12] = 0; + out_5623855916755804182[13] = 0; + out_5623855916755804182[14] = 0; + out_5623855916755804182[15] = 0; + out_5623855916755804182[16] = 0; + out_5623855916755804182[17] = 0; + out_5623855916755804182[18] = 0; + out_5623855916755804182[19] = 0; + out_5623855916755804182[20] = 0; + out_5623855916755804182[21] = 0; + out_5623855916755804182[22] = 0; + out_5623855916755804182[23] = 0; + out_5623855916755804182[24] = 0; + out_5623855916755804182[25] = 1; + out_5623855916755804182[26] = 0; + out_5623855916755804182[27] = 0; + out_5623855916755804182[28] = 0; + out_5623855916755804182[29] = 0; + out_5623855916755804182[30] = 0; + out_5623855916755804182[31] = 0; + out_5623855916755804182[32] = 0; + out_5623855916755804182[33] = 0; + out_5623855916755804182[34] = 0; + out_5623855916755804182[35] = 0; + out_5623855916755804182[36] = 0; + out_5623855916755804182[37] = 0; + out_5623855916755804182[38] = 0; + out_5623855916755804182[39] = 0; + out_5623855916755804182[40] = 0; + out_5623855916755804182[41] = 0; + out_5623855916755804182[42] = 0; + out_5623855916755804182[43] = 0; + out_5623855916755804182[44] = 1; + out_5623855916755804182[45] = 0; + out_5623855916755804182[46] = 0; + out_5623855916755804182[47] = 0; + out_5623855916755804182[48] = 0; + out_5623855916755804182[49] = 0; + out_5623855916755804182[50] = 0; + out_5623855916755804182[51] = 0; + out_5623855916755804182[52] = 0; + out_5623855916755804182[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_8230036097863094971) { - err_fun(nom_x, delta_x, out_8230036097863094971); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2551549382290402050) { + err_fun(nom_x, delta_x, out_2551549382290402050); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8741051770711475830) { - inv_err_fun(nom_x, true_x, out_8741051770711475830); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3575109948453160374) { + inv_err_fun(nom_x, true_x, out_3575109948453160374); } -void pose_H_mod_fun(double *state, double *out_1900632188772248703) { - H_mod_fun(state, out_1900632188772248703); +void pose_H_mod_fun(double *state, double *out_2954011976512996711) { + H_mod_fun(state, out_2954011976512996711); } -void pose_f_fun(double *state, double dt, double *out_3077738493587277525) { - f_fun(state, dt, out_3077738493587277525); +void pose_f_fun(double *state, double dt, double *out_4081841541460951824) { + f_fun(state, dt, out_4081841541460951824); } -void pose_F_fun(double *state, double dt, double *out_474426866180563475) { - F_fun(state, dt, out_474426866180563475); +void pose_F_fun(double *state, double dt, double *out_2326707394449301144) { + F_fun(state, dt, out_2326707394449301144); } -void pose_h_4(double *state, double *unused, double *out_616527671886839495) { - h_4(state, unused, out_616527671886839495); +void pose_h_4(double *state, double *unused, double *out_5242858642703077087) { + h_4(state, unused, out_5242858642703077087); } -void pose_H_4(double *state, double *unused, double *out_702684706889350599) { - H_4(state, unused, out_702684706889350599); +void pose_H_4(double *state, double *unused, double *out_1660615060416319653) { + H_4(state, unused, out_1660615060416319653); } -void pose_h_10(double *state, double *unused, double *out_767369525646024651) { - h_10(state, unused, out_767369525646024651); +void pose_h_10(double *state, double *unused, double *out_8287724405821980303) { + h_10(state, unused, out_8287724405821980303); } -void pose_H_10(double *state, double *unused, double *out_8347276505705953254) { - H_10(state, unused, out_8347276505705953254); +void pose_H_10(double *state, double *unused, double *out_8634670991932313772) { + H_10(state, unused, out_8634670991932313772); } -void pose_h_13(double *state, double *unused, double *out_7518652466578138352) { - h_13(state, unused, out_7518652466578138352); +void pose_h_13(double *state, double *unused, double *out_936388540160520926) { + h_13(state, unused, out_936388540160520926); } -void pose_H_13(double *state, double *unused, double *out_2509589118442982202) { - H_13(state, unused, out_2509589118442982202); +void pose_H_13(double *state, double *unused, double *out_4872888885748652454) { + H_13(state, unused, out_4872888885748652454); } -void pose_h_14(double *state, double *unused, double *out_7727744869207997497) { - h_14(state, unused, out_7727744869207997497); +void pose_h_14(double *state, double *unused, double *out_3784911557802666238) { + h_14(state, unused, out_3784911557802666238); } -void pose_H_14(double *state, double *unused, double *out_8183830522169091023) { - H_14(state, unused, out_8183830522169091023); +void pose_H_14(double *state, double *unused, double *out_5623855916755804182) { + H_14(state, unused, out_5623855916755804182); } 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 9763b17db..509eacadd 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_8230036097863094971); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8741051770711475830); -void pose_H_mod_fun(double *state, double *out_1900632188772248703); -void pose_f_fun(double *state, double dt, double *out_3077738493587277525); -void pose_F_fun(double *state, double dt, double *out_474426866180563475); -void pose_h_4(double *state, double *unused, double *out_616527671886839495); -void pose_H_4(double *state, double *unused, double *out_702684706889350599); -void pose_h_10(double *state, double *unused, double *out_767369525646024651); -void pose_H_10(double *state, double *unused, double *out_8347276505705953254); -void pose_h_13(double *state, double *unused, double *out_7518652466578138352); -void pose_H_13(double *state, double *unused, double *out_2509589118442982202); -void pose_h_14(double *state, double *unused, double *out_7727744869207997497); -void pose_H_14(double *state, double *unused, double *out_8183830522169091023); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2551549382290402050); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3575109948453160374); +void pose_H_mod_fun(double *state, double *out_2954011976512996711); +void pose_f_fun(double *state, double dt, double *out_4081841541460951824); +void pose_F_fun(double *state, double dt, double *out_2326707394449301144); +void pose_h_4(double *state, double *unused, double *out_5242858642703077087); +void pose_H_4(double *state, double *unused, double *out_1660615060416319653); +void pose_h_10(double *state, double *unused, double *out_8287724405821980303); +void pose_H_10(double *state, double *unused, double *out_8634670991932313772); +void pose_h_13(double *state, double *unused, double *out_936388540160520926); +void pose_H_13(double *state, double *unused, double *out_4872888885748652454); +void pose_h_14(double *state, double *unused, double *out_3784911557802666238); +void pose_H_14(double *state, double *unused, double *out_5623855916755804182); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/pose.os b/selfdrive/locationd/models/generated/pose.os index d32b2d3bba73f54fc75c806aeba72e1fba78cc77..b9449ef3d7548a54caf93e067b729c6c145e1572 100644 GIT binary patch delta 21715 zcmeHPe{j^*wa<6Ii-wrW0s%rAWw&BoD3xTTynrbtC3OI?h88u&00~4*A;4ydus|Ri 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