diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index f366e9a28..dd7a86df5 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index a7ae07b8d..f85cade5e 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index cbc985631..aad778fae 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index d04237d0b..273c39fa4 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index b8a3bd9b0..5fbf88837 100755 Binary files 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b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 8ef6f93bf..496501c60 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 25e7bb531..03c9cc0ed 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-609ba6cf-DEBUG"; +const uint8_t gitversion[19] = "DEV-45038112-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index bd4dda352..d072b7983 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index ca323ecf1..9ee906c29 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 337455992..1cb686474 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 9d2e1f186..ee1a24cd3 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 1399a67a5..f7a5cabe2 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index af3c8d06f..f82020a88 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 1d686a269..bbef3c64d 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index 2832b8bc0..9eb6fae53 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 017a0cf31..651a7b823 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 8ce07f53b..4770f25e8 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 25227c54c..7609fed90 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index aa9d6504c..ea3f0cee8 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 3961ba4f4..9eff3c2b7 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 1086148e3..9a3128598 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 1a707de10..1286bf23c 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index dffa64010..77d072f36 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index e686246ab..0bcbd92c6 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 418930728..e7c425388 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 37dc91181..2286eec2e 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 6229791dd..ac2b1c5d3 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 3d0932734..82ab6b768 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-609ba6cf-DEBUG \ No newline at end of file +DEV-45038112-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 8e2f54209..3f0e7d585 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_1814247348247547720) { - out_1814247348247547720[0] = delta_x[0] + nom_x[0]; - out_1814247348247547720[1] = delta_x[1] + nom_x[1]; - out_1814247348247547720[2] = delta_x[2] + nom_x[2]; - out_1814247348247547720[3] = delta_x[3] + nom_x[3]; - out_1814247348247547720[4] = delta_x[4] + nom_x[4]; - out_1814247348247547720[5] = delta_x[5] + nom_x[5]; - out_1814247348247547720[6] = delta_x[6] + nom_x[6]; - out_1814247348247547720[7] = delta_x[7] + nom_x[7]; - out_1814247348247547720[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5320341998124928693) { + out_5320341998124928693[0] = delta_x[0] + nom_x[0]; + out_5320341998124928693[1] = delta_x[1] + nom_x[1]; + out_5320341998124928693[2] = delta_x[2] + nom_x[2]; + out_5320341998124928693[3] = delta_x[3] + nom_x[3]; + out_5320341998124928693[4] = delta_x[4] + nom_x[4]; + out_5320341998124928693[5] = delta_x[5] + nom_x[5]; + out_5320341998124928693[6] = delta_x[6] + nom_x[6]; + out_5320341998124928693[7] = delta_x[7] + nom_x[7]; + out_5320341998124928693[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2896416663387818009) { - out_2896416663387818009[0] = -nom_x[0] + true_x[0]; - out_2896416663387818009[1] = -nom_x[1] + true_x[1]; - out_2896416663387818009[2] = -nom_x[2] + true_x[2]; - out_2896416663387818009[3] = -nom_x[3] + true_x[3]; - out_2896416663387818009[4] = -nom_x[4] + true_x[4]; - out_2896416663387818009[5] = -nom_x[5] + true_x[5]; - out_2896416663387818009[6] = -nom_x[6] + true_x[6]; - out_2896416663387818009[7] = -nom_x[7] + true_x[7]; - out_2896416663387818009[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_864421799547270951) { + out_864421799547270951[0] = -nom_x[0] + true_x[0]; + out_864421799547270951[1] = -nom_x[1] + true_x[1]; + out_864421799547270951[2] = -nom_x[2] + true_x[2]; + out_864421799547270951[3] = -nom_x[3] + true_x[3]; + out_864421799547270951[4] = -nom_x[4] + true_x[4]; + out_864421799547270951[5] = -nom_x[5] + true_x[5]; + out_864421799547270951[6] = -nom_x[6] + true_x[6]; + out_864421799547270951[7] = -nom_x[7] + true_x[7]; + out_864421799547270951[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_3833245775098430450) { - out_3833245775098430450[0] = 1.0; - out_3833245775098430450[1] = 0.0; - out_3833245775098430450[2] = 0.0; - out_3833245775098430450[3] = 0.0; - out_3833245775098430450[4] = 0.0; - out_3833245775098430450[5] = 0.0; - out_3833245775098430450[6] = 0.0; - out_3833245775098430450[7] = 0.0; - out_3833245775098430450[8] = 0.0; - out_3833245775098430450[9] = 0.0; - out_3833245775098430450[10] = 1.0; - out_3833245775098430450[11] = 0.0; - out_3833245775098430450[12] = 0.0; - out_3833245775098430450[13] = 0.0; - out_3833245775098430450[14] = 0.0; - out_3833245775098430450[15] = 0.0; - out_3833245775098430450[16] = 0.0; - out_3833245775098430450[17] = 0.0; - out_3833245775098430450[18] = 0.0; - out_3833245775098430450[19] = 0.0; - out_3833245775098430450[20] = 1.0; - out_3833245775098430450[21] = 0.0; - out_3833245775098430450[22] = 0.0; - out_3833245775098430450[23] = 0.0; - out_3833245775098430450[24] = 0.0; - out_3833245775098430450[25] = 0.0; - out_3833245775098430450[26] = 0.0; - out_3833245775098430450[27] = 0.0; - out_3833245775098430450[28] = 0.0; - out_3833245775098430450[29] = 0.0; - out_3833245775098430450[30] = 1.0; - out_3833245775098430450[31] = 0.0; - out_3833245775098430450[32] = 0.0; - out_3833245775098430450[33] = 0.0; - out_3833245775098430450[34] = 0.0; - out_3833245775098430450[35] = 0.0; - out_3833245775098430450[36] = 0.0; - out_3833245775098430450[37] = 0.0; - out_3833245775098430450[38] = 0.0; - out_3833245775098430450[39] = 0.0; - out_3833245775098430450[40] = 1.0; - out_3833245775098430450[41] = 0.0; - out_3833245775098430450[42] = 0.0; - out_3833245775098430450[43] = 0.0; - out_3833245775098430450[44] = 0.0; - out_3833245775098430450[45] = 0.0; - out_3833245775098430450[46] = 0.0; - out_3833245775098430450[47] = 0.0; - out_3833245775098430450[48] = 0.0; - out_3833245775098430450[49] = 0.0; - out_3833245775098430450[50] = 1.0; - out_3833245775098430450[51] = 0.0; - out_3833245775098430450[52] = 0.0; - out_3833245775098430450[53] = 0.0; - out_3833245775098430450[54] = 0.0; - out_3833245775098430450[55] = 0.0; - out_3833245775098430450[56] = 0.0; - out_3833245775098430450[57] = 0.0; - out_3833245775098430450[58] = 0.0; - out_3833245775098430450[59] = 0.0; - out_3833245775098430450[60] = 1.0; - out_3833245775098430450[61] = 0.0; - out_3833245775098430450[62] = 0.0; - out_3833245775098430450[63] = 0.0; - out_3833245775098430450[64] = 0.0; - out_3833245775098430450[65] = 0.0; - out_3833245775098430450[66] = 0.0; - out_3833245775098430450[67] = 0.0; - out_3833245775098430450[68] = 0.0; - out_3833245775098430450[69] = 0.0; - out_3833245775098430450[70] = 1.0; - out_3833245775098430450[71] = 0.0; - out_3833245775098430450[72] = 0.0; - out_3833245775098430450[73] = 0.0; - out_3833245775098430450[74] = 0.0; - out_3833245775098430450[75] = 0.0; - out_3833245775098430450[76] = 0.0; - out_3833245775098430450[77] = 0.0; - out_3833245775098430450[78] = 0.0; - out_3833245775098430450[79] = 0.0; - out_3833245775098430450[80] = 1.0; +void H_mod_fun(double *state, double *out_3451790410312107701) { + out_3451790410312107701[0] = 1.0; + out_3451790410312107701[1] = 0.0; + out_3451790410312107701[2] = 0.0; + out_3451790410312107701[3] = 0.0; + out_3451790410312107701[4] = 0.0; + out_3451790410312107701[5] = 0.0; + out_3451790410312107701[6] = 0.0; + out_3451790410312107701[7] = 0.0; + out_3451790410312107701[8] = 0.0; + out_3451790410312107701[9] = 0.0; + out_3451790410312107701[10] = 1.0; + out_3451790410312107701[11] = 0.0; + out_3451790410312107701[12] = 0.0; + out_3451790410312107701[13] = 0.0; + out_3451790410312107701[14] = 0.0; + out_3451790410312107701[15] = 0.0; + out_3451790410312107701[16] = 0.0; + out_3451790410312107701[17] = 0.0; + out_3451790410312107701[18] = 0.0; + out_3451790410312107701[19] = 0.0; + out_3451790410312107701[20] = 1.0; + out_3451790410312107701[21] = 0.0; + out_3451790410312107701[22] = 0.0; + out_3451790410312107701[23] = 0.0; + out_3451790410312107701[24] = 0.0; + out_3451790410312107701[25] = 0.0; + out_3451790410312107701[26] = 0.0; + out_3451790410312107701[27] = 0.0; + out_3451790410312107701[28] = 0.0; + out_3451790410312107701[29] = 0.0; + out_3451790410312107701[30] = 1.0; + out_3451790410312107701[31] = 0.0; + out_3451790410312107701[32] = 0.0; + out_3451790410312107701[33] = 0.0; + out_3451790410312107701[34] = 0.0; + out_3451790410312107701[35] = 0.0; + out_3451790410312107701[36] = 0.0; + out_3451790410312107701[37] = 0.0; + out_3451790410312107701[38] = 0.0; + out_3451790410312107701[39] = 0.0; + out_3451790410312107701[40] = 1.0; + out_3451790410312107701[41] = 0.0; + out_3451790410312107701[42] = 0.0; + out_3451790410312107701[43] = 0.0; + out_3451790410312107701[44] = 0.0; + out_3451790410312107701[45] = 0.0; + out_3451790410312107701[46] = 0.0; + out_3451790410312107701[47] = 0.0; + out_3451790410312107701[48] = 0.0; + out_3451790410312107701[49] = 0.0; + out_3451790410312107701[50] = 1.0; + out_3451790410312107701[51] = 0.0; + out_3451790410312107701[52] = 0.0; + out_3451790410312107701[53] = 0.0; + out_3451790410312107701[54] = 0.0; + out_3451790410312107701[55] = 0.0; + out_3451790410312107701[56] = 0.0; + out_3451790410312107701[57] = 0.0; + out_3451790410312107701[58] = 0.0; + out_3451790410312107701[59] = 0.0; + out_3451790410312107701[60] = 1.0; + out_3451790410312107701[61] = 0.0; + out_3451790410312107701[62] = 0.0; + out_3451790410312107701[63] = 0.0; + out_3451790410312107701[64] = 0.0; + out_3451790410312107701[65] = 0.0; + out_3451790410312107701[66] = 0.0; + out_3451790410312107701[67] = 0.0; + out_3451790410312107701[68] = 0.0; + out_3451790410312107701[69] = 0.0; + out_3451790410312107701[70] = 1.0; + out_3451790410312107701[71] = 0.0; + out_3451790410312107701[72] = 0.0; + out_3451790410312107701[73] = 0.0; + out_3451790410312107701[74] = 0.0; + out_3451790410312107701[75] = 0.0; + out_3451790410312107701[76] = 0.0; + out_3451790410312107701[77] = 0.0; + out_3451790410312107701[78] = 0.0; + out_3451790410312107701[79] = 0.0; + out_3451790410312107701[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3477590770207651617) { - out_3477590770207651617[0] = state[0]; - out_3477590770207651617[1] = state[1]; - out_3477590770207651617[2] = state[2]; - out_3477590770207651617[3] = state[3]; - out_3477590770207651617[4] = state[4]; - out_3477590770207651617[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_3477590770207651617[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_3477590770207651617[7] = state[7]; - out_3477590770207651617[8] = state[8]; +void f_fun(double *state, double dt, double *out_4081593184001938296) { + out_4081593184001938296[0] = state[0]; + out_4081593184001938296[1] = state[1]; + out_4081593184001938296[2] = state[2]; + out_4081593184001938296[3] = state[3]; + out_4081593184001938296[4] = state[4]; + out_4081593184001938296[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_4081593184001938296[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_4081593184001938296[7] = state[7]; + out_4081593184001938296[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3058811064297665734) { - out_3058811064297665734[0] = 1; - out_3058811064297665734[1] = 0; - out_3058811064297665734[2] = 0; - out_3058811064297665734[3] = 0; - out_3058811064297665734[4] = 0; - out_3058811064297665734[5] = 0; - out_3058811064297665734[6] = 0; - out_3058811064297665734[7] = 0; - out_3058811064297665734[8] = 0; - out_3058811064297665734[9] = 0; - out_3058811064297665734[10] = 1; - out_3058811064297665734[11] = 0; - out_3058811064297665734[12] = 0; - out_3058811064297665734[13] = 0; - out_3058811064297665734[14] = 0; - out_3058811064297665734[15] = 0; - out_3058811064297665734[16] = 0; - out_3058811064297665734[17] = 0; - out_3058811064297665734[18] = 0; - out_3058811064297665734[19] = 0; - out_3058811064297665734[20] = 1; - out_3058811064297665734[21] = 0; - out_3058811064297665734[22] = 0; - out_3058811064297665734[23] = 0; - out_3058811064297665734[24] = 0; - out_3058811064297665734[25] = 0; - out_3058811064297665734[26] = 0; - out_3058811064297665734[27] = 0; - out_3058811064297665734[28] = 0; - out_3058811064297665734[29] = 0; - out_3058811064297665734[30] = 1; - out_3058811064297665734[31] = 0; - out_3058811064297665734[32] = 0; - out_3058811064297665734[33] = 0; - out_3058811064297665734[34] = 0; - out_3058811064297665734[35] = 0; - out_3058811064297665734[36] = 0; - out_3058811064297665734[37] = 0; - out_3058811064297665734[38] = 0; - out_3058811064297665734[39] = 0; - out_3058811064297665734[40] = 1; - out_3058811064297665734[41] = 0; - out_3058811064297665734[42] = 0; - out_3058811064297665734[43] = 0; - out_3058811064297665734[44] = 0; - out_3058811064297665734[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_3058811064297665734[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3058811064297665734[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3058811064297665734[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3058811064297665734[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_3058811064297665734[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3058811064297665734[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3058811064297665734[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3058811064297665734[53] = -9.8100000000000005*dt; - out_3058811064297665734[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_3058811064297665734[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3058811064297665734[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3058811064297665734[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3058811064297665734[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_3058811064297665734[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3058811064297665734[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_3058811064297665734[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3058811064297665734[62] = 0; - out_3058811064297665734[63] = 0; - out_3058811064297665734[64] = 0; - out_3058811064297665734[65] = 0; - out_3058811064297665734[66] = 0; - out_3058811064297665734[67] = 0; - out_3058811064297665734[68] = 0; - out_3058811064297665734[69] = 0; - out_3058811064297665734[70] = 1; - out_3058811064297665734[71] = 0; - out_3058811064297665734[72] = 0; - out_3058811064297665734[73] = 0; - out_3058811064297665734[74] = 0; - out_3058811064297665734[75] = 0; - out_3058811064297665734[76] = 0; - out_3058811064297665734[77] = 0; - out_3058811064297665734[78] = 0; - out_3058811064297665734[79] = 0; - out_3058811064297665734[80] = 1; +void F_fun(double *state, double dt, double *out_6533608797065389332) { + out_6533608797065389332[0] = 1; + out_6533608797065389332[1] = 0; + out_6533608797065389332[2] = 0; + out_6533608797065389332[3] = 0; + out_6533608797065389332[4] = 0; + out_6533608797065389332[5] = 0; + out_6533608797065389332[6] = 0; + out_6533608797065389332[7] = 0; + out_6533608797065389332[8] = 0; + out_6533608797065389332[9] = 0; + out_6533608797065389332[10] = 1; + out_6533608797065389332[11] = 0; + out_6533608797065389332[12] = 0; + out_6533608797065389332[13] = 0; + out_6533608797065389332[14] = 0; + out_6533608797065389332[15] = 0; + out_6533608797065389332[16] = 0; + out_6533608797065389332[17] = 0; + out_6533608797065389332[18] = 0; + out_6533608797065389332[19] = 0; + out_6533608797065389332[20] = 1; + out_6533608797065389332[21] = 0; + out_6533608797065389332[22] = 0; + out_6533608797065389332[23] = 0; + out_6533608797065389332[24] = 0; + out_6533608797065389332[25] = 0; + out_6533608797065389332[26] = 0; + out_6533608797065389332[27] = 0; + out_6533608797065389332[28] = 0; + out_6533608797065389332[29] = 0; + out_6533608797065389332[30] = 1; + out_6533608797065389332[31] = 0; + out_6533608797065389332[32] = 0; + out_6533608797065389332[33] = 0; + out_6533608797065389332[34] = 0; + out_6533608797065389332[35] = 0; + out_6533608797065389332[36] = 0; + out_6533608797065389332[37] = 0; + out_6533608797065389332[38] = 0; + out_6533608797065389332[39] = 0; + out_6533608797065389332[40] = 1; + out_6533608797065389332[41] = 0; + out_6533608797065389332[42] = 0; + out_6533608797065389332[43] = 0; + out_6533608797065389332[44] = 0; + out_6533608797065389332[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_6533608797065389332[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6533608797065389332[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6533608797065389332[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6533608797065389332[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_6533608797065389332[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6533608797065389332[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6533608797065389332[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6533608797065389332[53] = -9.8100000000000005*dt; + out_6533608797065389332[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_6533608797065389332[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6533608797065389332[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6533608797065389332[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6533608797065389332[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_6533608797065389332[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6533608797065389332[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_6533608797065389332[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6533608797065389332[62] = 0; + out_6533608797065389332[63] = 0; + out_6533608797065389332[64] = 0; + out_6533608797065389332[65] = 0; + out_6533608797065389332[66] = 0; + out_6533608797065389332[67] = 0; + out_6533608797065389332[68] = 0; + out_6533608797065389332[69] = 0; + out_6533608797065389332[70] = 1; + out_6533608797065389332[71] = 0; + out_6533608797065389332[72] = 0; + out_6533608797065389332[73] = 0; + out_6533608797065389332[74] = 0; + out_6533608797065389332[75] = 0; + out_6533608797065389332[76] = 0; + out_6533608797065389332[77] = 0; + out_6533608797065389332[78] = 0; + out_6533608797065389332[79] = 0; + out_6533608797065389332[80] = 1; } -void h_25(double *state, double *unused, double *out_845892813044312576) { - out_845892813044312576[0] = state[6]; +void h_25(double *state, double *unused, double *out_1286712737219592117) { + out_1286712737219592117[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6744590887944551998) { - out_6744590887944551998[0] = 0; - out_6744590887944551998[1] = 0; - out_6744590887944551998[2] = 0; - out_6744590887944551998[3] = 0; - out_6744590887944551998[4] = 0; - out_6744590887944551998[5] = 0; - out_6744590887944551998[6] = 1; - out_6744590887944551998[7] = 0; - out_6744590887944551998[8] = 0; +void H_25(double *state, double *unused, double *out_71190239677383976) { + out_71190239677383976[0] = 0; + out_71190239677383976[1] = 0; + out_71190239677383976[2] = 0; + out_71190239677383976[3] = 0; + out_71190239677383976[4] = 0; + out_71190239677383976[5] = 0; + out_71190239677383976[6] = 1; + out_71190239677383976[7] = 0; + out_71190239677383976[8] = 0; } -void h_24(double *state, double *unused, double *out_410909672515548225) { - out_410909672515548225[0] = state[4]; - out_410909672515548225[1] = state[5]; +void h_24(double *state, double *unused, double *out_4020914257266522617) { + out_4020914257266522617[0] = state[4]; + out_4020914257266522617[1] = state[5]; } -void H_24(double *state, double *unused, double *out_673800745732374895) { - out_673800745732374895[0] = 0; - out_673800745732374895[1] = 0; - out_673800745732374895[2] = 0; - out_673800745732374895[3] = 0; - out_673800745732374895[4] = 1; - out_673800745732374895[5] = 0; - out_673800745732374895[6] = 0; - out_673800745732374895[7] = 0; - out_673800745732374895[8] = 0; - out_673800745732374895[9] = 0; - out_673800745732374895[10] = 0; - out_673800745732374895[11] = 0; - out_673800745732374895[12] = 0; - out_673800745732374895[13] = 0; - out_673800745732374895[14] = 1; - out_673800745732374895[15] = 0; - out_673800745732374895[16] = 0; - out_673800745732374895[17] = 0; +void H_24(double *state, double *unused, double *out_3629115838479707112) { + out_3629115838479707112[0] = 0; + out_3629115838479707112[1] = 0; + out_3629115838479707112[2] = 0; + out_3629115838479707112[3] = 0; + out_3629115838479707112[4] = 1; + out_3629115838479707112[5] = 0; + out_3629115838479707112[6] = 0; + out_3629115838479707112[7] = 0; + out_3629115838479707112[8] = 0; + out_3629115838479707112[9] = 0; + out_3629115838479707112[10] = 0; + out_3629115838479707112[11] = 0; + out_3629115838479707112[12] = 0; + out_3629115838479707112[13] = 0; + out_3629115838479707112[14] = 1; + out_3629115838479707112[15] = 0; + out_3629115838479707112[16] = 0; + out_3629115838479707112[17] = 0; } -void h_30(double *state, double *unused, double *out_8727165463798361761) { - out_8727165463798361761[0] = state[4]; +void h_30(double *state, double *unused, double *out_1561906799504098006) { + out_1561906799504098006[0] = state[4]; } -void H_30(double *state, double *unused, double *out_7174456855637391420) { - out_7174456855637391420[0] = 0; - out_7174456855637391420[1] = 0; - out_7174456855637391420[2] = 0; - out_7174456855637391420[3] = 0; - out_7174456855637391420[4] = 1; - out_7174456855637391420[5] = 0; - out_7174456855637391420[6] = 0; - out_7174456855637391420[7] = 0; - out_7174456855637391420[8] = 0; +void H_30(double *state, double *unused, double *out_4456506090450224222) { + out_4456506090450224222[0] = 0; + out_4456506090450224222[1] = 0; + out_4456506090450224222[2] = 0; + out_4456506090450224222[3] = 0; + out_4456506090450224222[4] = 1; + out_4456506090450224222[5] = 0; + out_4456506090450224222[6] = 0; + out_4456506090450224222[7] = 0; + out_4456506090450224222[8] = 0; } -void h_26(double *state, double *unused, double *out_2811534710064499425) { - out_2811534710064499425[0] = state[7]; +void h_26(double *state, double *unused, double *out_7458636612936378436) { + out_7458636612936378436[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7960649866890943394) { - out_7960649866890943394[0] = 0; - out_7960649866890943394[1] = 0; - out_7960649866890943394[2] = 0; - out_7960649866890943394[3] = 0; - out_7960649866890943394[4] = 0; - out_7960649866890943394[5] = 0; - out_7960649866890943394[6] = 0; - out_7960649866890943394[7] = 1; - out_7960649866890943394[8] = 0; +void H_26(double *state, double *unused, double *out_3670313079196672248) { + out_3670313079196672248[0] = 0; + out_3670313079196672248[1] = 0; + out_3670313079196672248[2] = 0; + out_3670313079196672248[3] = 0; + out_3670313079196672248[4] = 0; + out_3670313079196672248[5] = 0; + out_3670313079196672248[6] = 0; + out_3670313079196672248[7] = 1; + out_3670313079196672248[8] = 0; } -void h_27(double *state, double *unused, double *out_4116487184636980656) { - out_4116487184636980656[0] = state[3]; +void h_27(double *state, double *unused, double *out_2766640841793939077) { + out_2766640841793939077[0] = state[3]; } -void H_27(double *state, double *unused, double *out_9048693146888216979) { - out_9048693146888216979[0] = 0; - out_9048693146888216979[1] = 0; - out_9048693146888216979[2] = 0; - out_9048693146888216979[3] = 1; - out_9048693146888216979[4] = 0; - out_9048693146888216979[5] = 0; - out_9048693146888216979[6] = 0; - out_9048693146888216979[7] = 0; - out_9048693146888216979[8] = 0; +void H_27(double *state, double *unused, double *out_2232912019266281005) { + out_2232912019266281005[0] = 0; + out_2232912019266281005[1] = 0; + out_2232912019266281005[2] = 0; + out_2232912019266281005[3] = 1; + out_2232912019266281005[4] = 0; + out_2232912019266281005[5] = 0; + out_2232912019266281005[6] = 0; + out_2232912019266281005[7] = 0; + out_2232912019266281005[8] = 0; } -void h_29(double *state, double *unused, double *out_1915699176115514220) { - out_1915699176115514220[0] = state[1]; +void h_29(double *state, double *unused, double *out_6371076442889912105) { + out_6371076442889912105[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7684688199951783604) { - out_7684688199951783604[0] = 0; - out_7684688199951783604[1] = 1; - out_7684688199951783604[2] = 0; - out_7684688199951783604[3] = 0; - out_7684688199951783604[4] = 0; - out_7684688199951783604[5] = 0; - out_7684688199951783604[6] = 0; - out_7684688199951783604[7] = 0; - out_7684688199951783604[8] = 0; +void H_29(double *state, double *unused, double *out_3946274746135832038) { + out_3946274746135832038[0] = 0; + out_3946274746135832038[1] = 1; + out_3946274746135832038[2] = 0; + out_3946274746135832038[3] = 0; + out_3946274746135832038[4] = 0; + out_3946274746135832038[5] = 0; + out_3946274746135832038[6] = 0; + out_3946274746135832038[7] = 0; + out_3946274746135832038[8] = 0; } -void h_28(double *state, double *unused, double *out_6496658557271199005) { - out_6496658557271199005[0] = state[0]; +void h_28(double *state, double *unused, double *out_7768314109454784722) { + out_7768314109454784722[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2602289182882253030) { - out_2602289182882253030[0] = 1; - out_2602289182882253030[1] = 0; - out_2602289182882253030[2] = 0; - out_2602289182882253030[3] = 0; - out_2602289182882253030[4] = 0; - out_2602289182882253030[5] = 0; - out_2602289182882253030[6] = 0; - out_2602289182882253030[7] = 0; - out_2602289182882253030[8] = 0; +void H_28(double *state, double *unused, double *out_1982644474570505787) { + out_1982644474570505787[0] = 1; + out_1982644474570505787[1] = 0; + out_1982644474570505787[2] = 0; + out_1982644474570505787[3] = 0; + out_1982644474570505787[4] = 0; + out_1982644474570505787[5] = 0; + out_1982644474570505787[6] = 0; + out_1982644474570505787[7] = 0; + out_1982644474570505787[8] = 0; } -void h_31(double *state, double *unused, double *out_9104190579401499048) { - out_9104190579401499048[0] = state[8]; +void h_31(double *state, double *unused, double *out_8520153859771417615) { + out_8520153859771417615[0] = state[8]; } -void H_31(double *state, double *unused, double *out_7334441764657591918) { - out_7334441764657591918[0] = 0; - out_7334441764657591918[1] = 0; - out_7334441764657591918[2] = 0; - out_7334441764657591918[3] = 0; - out_7334441764657591918[4] = 0; - out_7334441764657591918[5] = 0; - out_7334441764657591918[6] = 0; - out_7334441764657591918[7] = 0; - out_7334441764657591918[8] = 1; +void H_31(double *state, double *unused, double *out_4296521181430023724) { + out_4296521181430023724[0] = 0; + out_4296521181430023724[1] = 0; + out_4296521181430023724[2] = 0; + out_4296521181430023724[3] = 0; + out_4296521181430023724[4] = 0; + out_4296521181430023724[5] = 0; + out_4296521181430023724[6] = 0; + out_4296521181430023724[7] = 0; + out_4296521181430023724[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_1814247348247547720) { - err_fun(nom_x, delta_x, out_1814247348247547720); +void car_err_fun(double *nom_x, double *delta_x, double *out_5320341998124928693) { + err_fun(nom_x, delta_x, out_5320341998124928693); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2896416663387818009) { - inv_err_fun(nom_x, true_x, out_2896416663387818009); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_864421799547270951) { + inv_err_fun(nom_x, true_x, out_864421799547270951); } -void car_H_mod_fun(double *state, double *out_3833245775098430450) { - H_mod_fun(state, out_3833245775098430450); +void car_H_mod_fun(double *state, double *out_3451790410312107701) { + H_mod_fun(state, out_3451790410312107701); } -void car_f_fun(double *state, double dt, double *out_3477590770207651617) { - f_fun(state, dt, out_3477590770207651617); +void car_f_fun(double *state, double dt, double *out_4081593184001938296) { + f_fun(state, dt, out_4081593184001938296); } -void car_F_fun(double *state, double dt, double *out_3058811064297665734) { - F_fun(state, dt, out_3058811064297665734); +void car_F_fun(double *state, double dt, double *out_6533608797065389332) { + F_fun(state, dt, out_6533608797065389332); } -void car_h_25(double *state, double *unused, double *out_845892813044312576) { - h_25(state, unused, out_845892813044312576); +void car_h_25(double *state, double *unused, double *out_1286712737219592117) { + h_25(state, unused, out_1286712737219592117); } -void car_H_25(double *state, double *unused, double *out_6744590887944551998) { - H_25(state, unused, out_6744590887944551998); +void car_H_25(double *state, double *unused, double *out_71190239677383976) { + H_25(state, unused, out_71190239677383976); } -void car_h_24(double *state, double *unused, double *out_410909672515548225) { - h_24(state, unused, out_410909672515548225); +void car_h_24(double *state, double *unused, double *out_4020914257266522617) { + h_24(state, unused, out_4020914257266522617); } -void car_H_24(double *state, double *unused, double *out_673800745732374895) { - H_24(state, unused, out_673800745732374895); +void car_H_24(double *state, double *unused, double *out_3629115838479707112) { + H_24(state, unused, out_3629115838479707112); } -void car_h_30(double *state, double *unused, double *out_8727165463798361761) { - h_30(state, unused, out_8727165463798361761); +void car_h_30(double *state, double *unused, double *out_1561906799504098006) { + h_30(state, unused, out_1561906799504098006); } -void car_H_30(double *state, double *unused, double *out_7174456855637391420) { - H_30(state, unused, out_7174456855637391420); +void car_H_30(double *state, double *unused, double *out_4456506090450224222) { + H_30(state, unused, out_4456506090450224222); } -void car_h_26(double *state, double *unused, double *out_2811534710064499425) { - h_26(state, unused, out_2811534710064499425); +void car_h_26(double *state, double *unused, double *out_7458636612936378436) { + h_26(state, unused, out_7458636612936378436); } -void car_H_26(double *state, double *unused, double *out_7960649866890943394) { - H_26(state, unused, out_7960649866890943394); +void car_H_26(double *state, double *unused, double *out_3670313079196672248) { + H_26(state, unused, out_3670313079196672248); } -void car_h_27(double *state, double *unused, double *out_4116487184636980656) { - h_27(state, unused, out_4116487184636980656); +void car_h_27(double *state, double *unused, double *out_2766640841793939077) { + h_27(state, unused, out_2766640841793939077); } -void car_H_27(double *state, double *unused, double *out_9048693146888216979) { - H_27(state, unused, out_9048693146888216979); +void car_H_27(double *state, double *unused, double *out_2232912019266281005) { + H_27(state, unused, out_2232912019266281005); } -void car_h_29(double *state, double *unused, double *out_1915699176115514220) { - h_29(state, unused, out_1915699176115514220); +void car_h_29(double *state, double *unused, double *out_6371076442889912105) { + h_29(state, unused, out_6371076442889912105); } -void car_H_29(double *state, double *unused, double *out_7684688199951783604) { - H_29(state, unused, out_7684688199951783604); +void car_H_29(double *state, double *unused, double *out_3946274746135832038) { + H_29(state, unused, out_3946274746135832038); } -void car_h_28(double *state, double *unused, double *out_6496658557271199005) { - h_28(state, unused, out_6496658557271199005); +void car_h_28(double *state, double *unused, double *out_7768314109454784722) { + h_28(state, unused, out_7768314109454784722); } -void car_H_28(double *state, double *unused, double *out_2602289182882253030) { - H_28(state, unused, out_2602289182882253030); +void car_H_28(double *state, double *unused, double *out_1982644474570505787) { + H_28(state, unused, out_1982644474570505787); } -void car_h_31(double *state, double *unused, double *out_9104190579401499048) { - h_31(state, unused, out_9104190579401499048); +void car_h_31(double *state, double *unused, double *out_8520153859771417615) { + h_31(state, unused, out_8520153859771417615); } -void car_H_31(double *state, double *unused, double *out_7334441764657591918) { - H_31(state, unused, out_7334441764657591918); +void car_H_31(double *state, double *unused, double *out_4296521181430023724) { + H_31(state, unused, out_4296521181430023724); } 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 287894747..b7ad82a8e 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_1814247348247547720); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2896416663387818009); -void car_H_mod_fun(double *state, double *out_3833245775098430450); -void car_f_fun(double *state, double dt, double *out_3477590770207651617); -void car_F_fun(double *state, double dt, double *out_3058811064297665734); -void car_h_25(double *state, double *unused, double *out_845892813044312576); -void car_H_25(double *state, double *unused, double *out_6744590887944551998); -void car_h_24(double *state, double *unused, double *out_410909672515548225); -void car_H_24(double *state, double *unused, double *out_673800745732374895); -void car_h_30(double *state, double *unused, double *out_8727165463798361761); -void car_H_30(double *state, double *unused, double *out_7174456855637391420); -void car_h_26(double *state, double *unused, double *out_2811534710064499425); -void car_H_26(double *state, double *unused, double *out_7960649866890943394); -void car_h_27(double *state, double *unused, double *out_4116487184636980656); -void car_H_27(double *state, double *unused, double *out_9048693146888216979); -void car_h_29(double *state, double *unused, double *out_1915699176115514220); -void car_H_29(double *state, double *unused, double *out_7684688199951783604); -void car_h_28(double *state, double *unused, double *out_6496658557271199005); -void car_H_28(double *state, double *unused, double *out_2602289182882253030); -void car_h_31(double *state, double *unused, double *out_9104190579401499048); -void car_H_31(double *state, double *unused, double *out_7334441764657591918); +void car_err_fun(double *nom_x, double *delta_x, double *out_5320341998124928693); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_864421799547270951); +void car_H_mod_fun(double *state, double *out_3451790410312107701); +void car_f_fun(double *state, double dt, double *out_4081593184001938296); +void car_F_fun(double *state, double dt, double *out_6533608797065389332); +void car_h_25(double *state, double *unused, double *out_1286712737219592117); +void car_H_25(double *state, double *unused, double *out_71190239677383976); +void car_h_24(double *state, double *unused, double *out_4020914257266522617); +void car_H_24(double *state, double *unused, double *out_3629115838479707112); +void car_h_30(double *state, double *unused, double *out_1561906799504098006); +void car_H_30(double *state, double *unused, double *out_4456506090450224222); +void car_h_26(double *state, double *unused, double *out_7458636612936378436); +void car_H_26(double *state, double *unused, double *out_3670313079196672248); +void car_h_27(double *state, double *unused, double *out_2766640841793939077); +void car_H_27(double *state, double *unused, double *out_2232912019266281005); +void car_h_29(double *state, double *unused, double *out_6371076442889912105); +void car_H_29(double *state, double *unused, double *out_3946274746135832038); +void car_h_28(double *state, double *unused, double *out_7768314109454784722); +void car_H_28(double *state, double *unused, double *out_1982644474570505787); +void car_h_31(double *state, double *unused, double *out_8520153859771417615); +void car_H_31(double *state, double *unused, double *out_4296521181430023724); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 57dd42f8a..d258886f4 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_1608596609641417580) { - out_1608596609641417580[0] = delta_x[0] + nom_x[0]; - out_1608596609641417580[1] = delta_x[1] + nom_x[1]; - out_1608596609641417580[2] = delta_x[2] + nom_x[2]; - out_1608596609641417580[3] = delta_x[3] + nom_x[3]; - out_1608596609641417580[4] = delta_x[4] + nom_x[4]; - out_1608596609641417580[5] = delta_x[5] + nom_x[5]; - out_1608596609641417580[6] = delta_x[6] + nom_x[6]; - out_1608596609641417580[7] = delta_x[7] + nom_x[7]; - out_1608596609641417580[8] = delta_x[8] + nom_x[8]; - out_1608596609641417580[9] = delta_x[9] + nom_x[9]; - out_1608596609641417580[10] = delta_x[10] + nom_x[10]; - out_1608596609641417580[11] = delta_x[11] + nom_x[11]; - out_1608596609641417580[12] = delta_x[12] + nom_x[12]; - out_1608596609641417580[13] = delta_x[13] + nom_x[13]; - out_1608596609641417580[14] = delta_x[14] + nom_x[14]; - out_1608596609641417580[15] = delta_x[15] + nom_x[15]; - out_1608596609641417580[16] = delta_x[16] + nom_x[16]; - out_1608596609641417580[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4091115333149920439) { + out_4091115333149920439[0] = delta_x[0] + nom_x[0]; + out_4091115333149920439[1] = delta_x[1] + nom_x[1]; + out_4091115333149920439[2] = delta_x[2] + nom_x[2]; + out_4091115333149920439[3] = delta_x[3] + nom_x[3]; + out_4091115333149920439[4] = delta_x[4] + nom_x[4]; + out_4091115333149920439[5] = delta_x[5] + nom_x[5]; + out_4091115333149920439[6] = delta_x[6] + nom_x[6]; + out_4091115333149920439[7] = delta_x[7] + nom_x[7]; + out_4091115333149920439[8] = delta_x[8] + nom_x[8]; + out_4091115333149920439[9] = delta_x[9] + nom_x[9]; + out_4091115333149920439[10] = delta_x[10] + nom_x[10]; + out_4091115333149920439[11] = delta_x[11] + nom_x[11]; + out_4091115333149920439[12] = delta_x[12] + nom_x[12]; + out_4091115333149920439[13] = delta_x[13] + nom_x[13]; + out_4091115333149920439[14] = delta_x[14] + nom_x[14]; + out_4091115333149920439[15] = delta_x[15] + nom_x[15]; + out_4091115333149920439[16] = delta_x[16] + nom_x[16]; + out_4091115333149920439[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1300195658449584630) { - out_1300195658449584630[0] = -nom_x[0] + true_x[0]; - out_1300195658449584630[1] = -nom_x[1] + true_x[1]; - out_1300195658449584630[2] = -nom_x[2] + true_x[2]; - out_1300195658449584630[3] = -nom_x[3] + true_x[3]; - out_1300195658449584630[4] = -nom_x[4] + true_x[4]; - out_1300195658449584630[5] = -nom_x[5] + true_x[5]; - out_1300195658449584630[6] = -nom_x[6] + true_x[6]; - out_1300195658449584630[7] = -nom_x[7] + true_x[7]; - out_1300195658449584630[8] = -nom_x[8] + true_x[8]; - out_1300195658449584630[9] = -nom_x[9] + true_x[9]; - out_1300195658449584630[10] = -nom_x[10] + true_x[10]; - out_1300195658449584630[11] = -nom_x[11] + true_x[11]; - out_1300195658449584630[12] = -nom_x[12] + true_x[12]; - out_1300195658449584630[13] = -nom_x[13] + true_x[13]; - out_1300195658449584630[14] = -nom_x[14] + true_x[14]; - out_1300195658449584630[15] = -nom_x[15] + true_x[15]; - out_1300195658449584630[16] = -nom_x[16] + true_x[16]; - out_1300195658449584630[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6264186140300305590) { + out_6264186140300305590[0] = -nom_x[0] + true_x[0]; + out_6264186140300305590[1] = -nom_x[1] + true_x[1]; + out_6264186140300305590[2] = -nom_x[2] + true_x[2]; + out_6264186140300305590[3] = -nom_x[3] + true_x[3]; + out_6264186140300305590[4] = -nom_x[4] + true_x[4]; + out_6264186140300305590[5] = -nom_x[5] + true_x[5]; + out_6264186140300305590[6] = -nom_x[6] + true_x[6]; + out_6264186140300305590[7] = -nom_x[7] + true_x[7]; + out_6264186140300305590[8] = -nom_x[8] + true_x[8]; + out_6264186140300305590[9] = -nom_x[9] + true_x[9]; + out_6264186140300305590[10] = -nom_x[10] + true_x[10]; + out_6264186140300305590[11] = -nom_x[11] + true_x[11]; + out_6264186140300305590[12] = -nom_x[12] + true_x[12]; + out_6264186140300305590[13] = -nom_x[13] + true_x[13]; + out_6264186140300305590[14] = -nom_x[14] + true_x[14]; + out_6264186140300305590[15] = -nom_x[15] + true_x[15]; + out_6264186140300305590[16] = -nom_x[16] + true_x[16]; + out_6264186140300305590[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4243197136101237079) { - out_4243197136101237079[0] = 1.0; - out_4243197136101237079[1] = 0.0; - out_4243197136101237079[2] = 0.0; - out_4243197136101237079[3] = 0.0; - out_4243197136101237079[4] = 0.0; - out_4243197136101237079[5] = 0.0; - out_4243197136101237079[6] = 0.0; - out_4243197136101237079[7] = 0.0; - out_4243197136101237079[8] = 0.0; - out_4243197136101237079[9] = 0.0; - out_4243197136101237079[10] = 0.0; - out_4243197136101237079[11] = 0.0; - out_4243197136101237079[12] = 0.0; - out_4243197136101237079[13] = 0.0; - out_4243197136101237079[14] = 0.0; - out_4243197136101237079[15] = 0.0; - out_4243197136101237079[16] = 0.0; - out_4243197136101237079[17] = 0.0; - out_4243197136101237079[18] = 0.0; - out_4243197136101237079[19] = 1.0; - out_4243197136101237079[20] = 0.0; - out_4243197136101237079[21] = 0.0; - out_4243197136101237079[22] = 0.0; - out_4243197136101237079[23] = 0.0; - out_4243197136101237079[24] = 0.0; - out_4243197136101237079[25] = 0.0; - out_4243197136101237079[26] = 0.0; - out_4243197136101237079[27] = 0.0; - out_4243197136101237079[28] = 0.0; - out_4243197136101237079[29] = 0.0; - out_4243197136101237079[30] = 0.0; - out_4243197136101237079[31] = 0.0; - out_4243197136101237079[32] = 0.0; - out_4243197136101237079[33] = 0.0; - out_4243197136101237079[34] = 0.0; - out_4243197136101237079[35] = 0.0; - out_4243197136101237079[36] = 0.0; - out_4243197136101237079[37] = 0.0; - out_4243197136101237079[38] = 1.0; - out_4243197136101237079[39] = 0.0; - out_4243197136101237079[40] = 0.0; - out_4243197136101237079[41] = 0.0; - out_4243197136101237079[42] = 0.0; - out_4243197136101237079[43] = 0.0; - out_4243197136101237079[44] = 0.0; - out_4243197136101237079[45] = 0.0; - out_4243197136101237079[46] = 0.0; - out_4243197136101237079[47] = 0.0; - out_4243197136101237079[48] = 0.0; - out_4243197136101237079[49] = 0.0; - out_4243197136101237079[50] = 0.0; - out_4243197136101237079[51] = 0.0; - out_4243197136101237079[52] = 0.0; - out_4243197136101237079[53] = 0.0; - out_4243197136101237079[54] = 0.0; - out_4243197136101237079[55] = 0.0; - out_4243197136101237079[56] = 0.0; - out_4243197136101237079[57] = 1.0; - out_4243197136101237079[58] = 0.0; - out_4243197136101237079[59] = 0.0; - out_4243197136101237079[60] = 0.0; - out_4243197136101237079[61] = 0.0; - out_4243197136101237079[62] = 0.0; - out_4243197136101237079[63] = 0.0; - out_4243197136101237079[64] = 0.0; - out_4243197136101237079[65] = 0.0; - out_4243197136101237079[66] = 0.0; - out_4243197136101237079[67] = 0.0; - out_4243197136101237079[68] = 0.0; - out_4243197136101237079[69] = 0.0; - out_4243197136101237079[70] = 0.0; - out_4243197136101237079[71] = 0.0; - out_4243197136101237079[72] = 0.0; - out_4243197136101237079[73] = 0.0; - out_4243197136101237079[74] = 0.0; - out_4243197136101237079[75] = 0.0; - out_4243197136101237079[76] = 1.0; - out_4243197136101237079[77] = 0.0; - out_4243197136101237079[78] = 0.0; - out_4243197136101237079[79] = 0.0; - out_4243197136101237079[80] = 0.0; - out_4243197136101237079[81] = 0.0; - out_4243197136101237079[82] = 0.0; - out_4243197136101237079[83] = 0.0; - out_4243197136101237079[84] = 0.0; - out_4243197136101237079[85] = 0.0; - out_4243197136101237079[86] = 0.0; - out_4243197136101237079[87] = 0.0; - out_4243197136101237079[88] = 0.0; - out_4243197136101237079[89] = 0.0; - out_4243197136101237079[90] = 0.0; - out_4243197136101237079[91] = 0.0; - out_4243197136101237079[92] = 0.0; - out_4243197136101237079[93] = 0.0; - out_4243197136101237079[94] = 0.0; - out_4243197136101237079[95] = 1.0; - out_4243197136101237079[96] = 0.0; - out_4243197136101237079[97] = 0.0; - out_4243197136101237079[98] = 0.0; - out_4243197136101237079[99] = 0.0; - out_4243197136101237079[100] = 0.0; - out_4243197136101237079[101] = 0.0; - out_4243197136101237079[102] = 0.0; - out_4243197136101237079[103] = 0.0; - out_4243197136101237079[104] = 0.0; - out_4243197136101237079[105] = 0.0; - out_4243197136101237079[106] = 0.0; - out_4243197136101237079[107] = 0.0; - out_4243197136101237079[108] = 0.0; - out_4243197136101237079[109] = 0.0; - out_4243197136101237079[110] = 0.0; - out_4243197136101237079[111] = 0.0; - out_4243197136101237079[112] = 0.0; - out_4243197136101237079[113] = 0.0; - out_4243197136101237079[114] = 1.0; - out_4243197136101237079[115] = 0.0; - out_4243197136101237079[116] = 0.0; - out_4243197136101237079[117] = 0.0; - out_4243197136101237079[118] = 0.0; - out_4243197136101237079[119] = 0.0; - out_4243197136101237079[120] = 0.0; - out_4243197136101237079[121] = 0.0; - out_4243197136101237079[122] = 0.0; - out_4243197136101237079[123] = 0.0; - out_4243197136101237079[124] = 0.0; - out_4243197136101237079[125] = 0.0; - out_4243197136101237079[126] = 0.0; - out_4243197136101237079[127] = 0.0; - out_4243197136101237079[128] = 0.0; - out_4243197136101237079[129] = 0.0; - out_4243197136101237079[130] = 0.0; - out_4243197136101237079[131] = 0.0; - out_4243197136101237079[132] = 0.0; - out_4243197136101237079[133] = 1.0; - out_4243197136101237079[134] = 0.0; - out_4243197136101237079[135] = 0.0; - out_4243197136101237079[136] = 0.0; - out_4243197136101237079[137] = 0.0; - out_4243197136101237079[138] = 0.0; - out_4243197136101237079[139] = 0.0; - out_4243197136101237079[140] = 0.0; - out_4243197136101237079[141] = 0.0; - out_4243197136101237079[142] = 0.0; - out_4243197136101237079[143] = 0.0; - out_4243197136101237079[144] = 0.0; - out_4243197136101237079[145] = 0.0; - out_4243197136101237079[146] = 0.0; - out_4243197136101237079[147] = 0.0; - out_4243197136101237079[148] = 0.0; - out_4243197136101237079[149] = 0.0; - out_4243197136101237079[150] = 0.0; - out_4243197136101237079[151] = 0.0; - out_4243197136101237079[152] = 1.0; - out_4243197136101237079[153] = 0.0; - out_4243197136101237079[154] = 0.0; - out_4243197136101237079[155] = 0.0; - out_4243197136101237079[156] = 0.0; - out_4243197136101237079[157] = 0.0; - out_4243197136101237079[158] = 0.0; - out_4243197136101237079[159] = 0.0; - out_4243197136101237079[160] = 0.0; - out_4243197136101237079[161] = 0.0; - out_4243197136101237079[162] = 0.0; - out_4243197136101237079[163] = 0.0; - out_4243197136101237079[164] = 0.0; - out_4243197136101237079[165] = 0.0; - out_4243197136101237079[166] = 0.0; - out_4243197136101237079[167] = 0.0; - out_4243197136101237079[168] = 0.0; - out_4243197136101237079[169] = 0.0; - out_4243197136101237079[170] = 0.0; - out_4243197136101237079[171] = 1.0; - out_4243197136101237079[172] = 0.0; - out_4243197136101237079[173] = 0.0; - out_4243197136101237079[174] = 0.0; - out_4243197136101237079[175] = 0.0; - out_4243197136101237079[176] = 0.0; - out_4243197136101237079[177] = 0.0; - out_4243197136101237079[178] = 0.0; - out_4243197136101237079[179] = 0.0; - out_4243197136101237079[180] = 0.0; - out_4243197136101237079[181] = 0.0; - out_4243197136101237079[182] = 0.0; - out_4243197136101237079[183] = 0.0; - out_4243197136101237079[184] = 0.0; - out_4243197136101237079[185] = 0.0; - out_4243197136101237079[186] = 0.0; - out_4243197136101237079[187] = 0.0; - out_4243197136101237079[188] = 0.0; - out_4243197136101237079[189] = 0.0; - out_4243197136101237079[190] = 1.0; - out_4243197136101237079[191] = 0.0; - out_4243197136101237079[192] = 0.0; - out_4243197136101237079[193] = 0.0; - out_4243197136101237079[194] = 0.0; - out_4243197136101237079[195] = 0.0; - out_4243197136101237079[196] = 0.0; - out_4243197136101237079[197] = 0.0; - out_4243197136101237079[198] = 0.0; - out_4243197136101237079[199] = 0.0; - out_4243197136101237079[200] = 0.0; - out_4243197136101237079[201] = 0.0; - out_4243197136101237079[202] = 0.0; - out_4243197136101237079[203] = 0.0; - out_4243197136101237079[204] = 0.0; - out_4243197136101237079[205] = 0.0; - out_4243197136101237079[206] = 0.0; - out_4243197136101237079[207] = 0.0; - out_4243197136101237079[208] = 0.0; - out_4243197136101237079[209] = 1.0; - out_4243197136101237079[210] = 0.0; - out_4243197136101237079[211] = 0.0; - out_4243197136101237079[212] = 0.0; - out_4243197136101237079[213] = 0.0; - out_4243197136101237079[214] = 0.0; - out_4243197136101237079[215] = 0.0; - out_4243197136101237079[216] = 0.0; - out_4243197136101237079[217] = 0.0; - out_4243197136101237079[218] = 0.0; - out_4243197136101237079[219] = 0.0; - out_4243197136101237079[220] = 0.0; - out_4243197136101237079[221] = 0.0; - out_4243197136101237079[222] = 0.0; - out_4243197136101237079[223] = 0.0; - out_4243197136101237079[224] = 0.0; - out_4243197136101237079[225] = 0.0; - out_4243197136101237079[226] = 0.0; - out_4243197136101237079[227] = 0.0; - out_4243197136101237079[228] = 1.0; - out_4243197136101237079[229] = 0.0; - out_4243197136101237079[230] = 0.0; - out_4243197136101237079[231] = 0.0; - out_4243197136101237079[232] = 0.0; - out_4243197136101237079[233] = 0.0; - out_4243197136101237079[234] = 0.0; - out_4243197136101237079[235] = 0.0; - out_4243197136101237079[236] = 0.0; - out_4243197136101237079[237] = 0.0; - out_4243197136101237079[238] = 0.0; - out_4243197136101237079[239] = 0.0; - out_4243197136101237079[240] = 0.0; - out_4243197136101237079[241] = 0.0; - out_4243197136101237079[242] = 0.0; - out_4243197136101237079[243] = 0.0; - out_4243197136101237079[244] = 0.0; - out_4243197136101237079[245] = 0.0; - out_4243197136101237079[246] = 0.0; - out_4243197136101237079[247] = 1.0; - out_4243197136101237079[248] = 0.0; - out_4243197136101237079[249] = 0.0; - out_4243197136101237079[250] = 0.0; - out_4243197136101237079[251] = 0.0; - out_4243197136101237079[252] = 0.0; - out_4243197136101237079[253] = 0.0; - out_4243197136101237079[254] = 0.0; - out_4243197136101237079[255] = 0.0; - out_4243197136101237079[256] = 0.0; - out_4243197136101237079[257] = 0.0; - out_4243197136101237079[258] = 0.0; - out_4243197136101237079[259] = 0.0; - out_4243197136101237079[260] = 0.0; - out_4243197136101237079[261] = 0.0; - out_4243197136101237079[262] = 0.0; - out_4243197136101237079[263] = 0.0; - out_4243197136101237079[264] = 0.0; - out_4243197136101237079[265] = 0.0; - out_4243197136101237079[266] = 1.0; - out_4243197136101237079[267] = 0.0; - out_4243197136101237079[268] = 0.0; - out_4243197136101237079[269] = 0.0; - out_4243197136101237079[270] = 0.0; - out_4243197136101237079[271] = 0.0; - out_4243197136101237079[272] = 0.0; - out_4243197136101237079[273] = 0.0; - out_4243197136101237079[274] = 0.0; - out_4243197136101237079[275] = 0.0; - out_4243197136101237079[276] = 0.0; - out_4243197136101237079[277] = 0.0; - out_4243197136101237079[278] = 0.0; - out_4243197136101237079[279] = 0.0; - out_4243197136101237079[280] = 0.0; - out_4243197136101237079[281] = 0.0; - out_4243197136101237079[282] = 0.0; - out_4243197136101237079[283] = 0.0; - out_4243197136101237079[284] = 0.0; - out_4243197136101237079[285] = 1.0; - out_4243197136101237079[286] = 0.0; - out_4243197136101237079[287] = 0.0; - out_4243197136101237079[288] = 0.0; - out_4243197136101237079[289] = 0.0; - out_4243197136101237079[290] = 0.0; - out_4243197136101237079[291] = 0.0; - out_4243197136101237079[292] = 0.0; - out_4243197136101237079[293] = 0.0; - out_4243197136101237079[294] = 0.0; - out_4243197136101237079[295] = 0.0; - out_4243197136101237079[296] = 0.0; - out_4243197136101237079[297] = 0.0; - out_4243197136101237079[298] = 0.0; - out_4243197136101237079[299] = 0.0; - out_4243197136101237079[300] = 0.0; - out_4243197136101237079[301] = 0.0; - out_4243197136101237079[302] = 0.0; - out_4243197136101237079[303] = 0.0; - out_4243197136101237079[304] = 1.0; - out_4243197136101237079[305] = 0.0; - out_4243197136101237079[306] = 0.0; - out_4243197136101237079[307] = 0.0; - out_4243197136101237079[308] = 0.0; - out_4243197136101237079[309] = 0.0; - out_4243197136101237079[310] = 0.0; - out_4243197136101237079[311] = 0.0; - out_4243197136101237079[312] = 0.0; - out_4243197136101237079[313] = 0.0; - out_4243197136101237079[314] = 0.0; - out_4243197136101237079[315] = 0.0; - out_4243197136101237079[316] = 0.0; - out_4243197136101237079[317] = 0.0; - out_4243197136101237079[318] = 0.0; - out_4243197136101237079[319] = 0.0; - out_4243197136101237079[320] = 0.0; - out_4243197136101237079[321] = 0.0; - out_4243197136101237079[322] = 0.0; - out_4243197136101237079[323] = 1.0; +void H_mod_fun(double *state, double *out_4881048693765674271) { + out_4881048693765674271[0] = 1.0; + out_4881048693765674271[1] = 0.0; + out_4881048693765674271[2] = 0.0; + out_4881048693765674271[3] = 0.0; + out_4881048693765674271[4] = 0.0; + out_4881048693765674271[5] = 0.0; + out_4881048693765674271[6] = 0.0; + out_4881048693765674271[7] = 0.0; + out_4881048693765674271[8] = 0.0; + out_4881048693765674271[9] = 0.0; + out_4881048693765674271[10] = 0.0; + out_4881048693765674271[11] = 0.0; + out_4881048693765674271[12] = 0.0; + out_4881048693765674271[13] = 0.0; + out_4881048693765674271[14] = 0.0; + out_4881048693765674271[15] = 0.0; + out_4881048693765674271[16] = 0.0; + out_4881048693765674271[17] = 0.0; + out_4881048693765674271[18] = 0.0; + out_4881048693765674271[19] = 1.0; + out_4881048693765674271[20] = 0.0; + out_4881048693765674271[21] = 0.0; + out_4881048693765674271[22] = 0.0; + out_4881048693765674271[23] = 0.0; + out_4881048693765674271[24] = 0.0; + out_4881048693765674271[25] = 0.0; + out_4881048693765674271[26] = 0.0; + out_4881048693765674271[27] = 0.0; + out_4881048693765674271[28] = 0.0; + out_4881048693765674271[29] = 0.0; + out_4881048693765674271[30] = 0.0; + out_4881048693765674271[31] = 0.0; + out_4881048693765674271[32] = 0.0; + out_4881048693765674271[33] = 0.0; + out_4881048693765674271[34] = 0.0; + out_4881048693765674271[35] = 0.0; + out_4881048693765674271[36] = 0.0; + out_4881048693765674271[37] = 0.0; + out_4881048693765674271[38] = 1.0; + out_4881048693765674271[39] = 0.0; + out_4881048693765674271[40] = 0.0; + out_4881048693765674271[41] = 0.0; + out_4881048693765674271[42] = 0.0; + out_4881048693765674271[43] = 0.0; + out_4881048693765674271[44] = 0.0; + out_4881048693765674271[45] = 0.0; + out_4881048693765674271[46] = 0.0; + out_4881048693765674271[47] = 0.0; + out_4881048693765674271[48] = 0.0; + out_4881048693765674271[49] = 0.0; + out_4881048693765674271[50] = 0.0; + out_4881048693765674271[51] = 0.0; + out_4881048693765674271[52] = 0.0; + out_4881048693765674271[53] = 0.0; + out_4881048693765674271[54] = 0.0; + out_4881048693765674271[55] = 0.0; + out_4881048693765674271[56] = 0.0; + out_4881048693765674271[57] = 1.0; + out_4881048693765674271[58] = 0.0; + out_4881048693765674271[59] = 0.0; + out_4881048693765674271[60] = 0.0; + out_4881048693765674271[61] = 0.0; + out_4881048693765674271[62] = 0.0; + out_4881048693765674271[63] = 0.0; + out_4881048693765674271[64] = 0.0; + out_4881048693765674271[65] = 0.0; + out_4881048693765674271[66] = 0.0; + out_4881048693765674271[67] = 0.0; + out_4881048693765674271[68] = 0.0; + out_4881048693765674271[69] = 0.0; + out_4881048693765674271[70] = 0.0; + out_4881048693765674271[71] = 0.0; + out_4881048693765674271[72] = 0.0; + out_4881048693765674271[73] = 0.0; + out_4881048693765674271[74] = 0.0; + out_4881048693765674271[75] = 0.0; + out_4881048693765674271[76] = 1.0; + out_4881048693765674271[77] = 0.0; + out_4881048693765674271[78] = 0.0; + out_4881048693765674271[79] = 0.0; + out_4881048693765674271[80] = 0.0; + out_4881048693765674271[81] = 0.0; + out_4881048693765674271[82] = 0.0; + out_4881048693765674271[83] = 0.0; + out_4881048693765674271[84] = 0.0; + out_4881048693765674271[85] = 0.0; + out_4881048693765674271[86] = 0.0; + out_4881048693765674271[87] = 0.0; + out_4881048693765674271[88] = 0.0; + out_4881048693765674271[89] = 0.0; + out_4881048693765674271[90] = 0.0; + out_4881048693765674271[91] = 0.0; + out_4881048693765674271[92] = 0.0; + out_4881048693765674271[93] = 0.0; + out_4881048693765674271[94] = 0.0; + out_4881048693765674271[95] = 1.0; + out_4881048693765674271[96] = 0.0; + out_4881048693765674271[97] = 0.0; + out_4881048693765674271[98] = 0.0; + out_4881048693765674271[99] = 0.0; + out_4881048693765674271[100] = 0.0; + out_4881048693765674271[101] = 0.0; + out_4881048693765674271[102] = 0.0; + out_4881048693765674271[103] = 0.0; + out_4881048693765674271[104] = 0.0; + out_4881048693765674271[105] = 0.0; + out_4881048693765674271[106] = 0.0; + out_4881048693765674271[107] = 0.0; + out_4881048693765674271[108] = 0.0; + out_4881048693765674271[109] = 0.0; + out_4881048693765674271[110] = 0.0; + out_4881048693765674271[111] = 0.0; + out_4881048693765674271[112] = 0.0; + out_4881048693765674271[113] = 0.0; + out_4881048693765674271[114] = 1.0; + out_4881048693765674271[115] = 0.0; + out_4881048693765674271[116] = 0.0; + out_4881048693765674271[117] = 0.0; + out_4881048693765674271[118] = 0.0; + out_4881048693765674271[119] = 0.0; + out_4881048693765674271[120] = 0.0; + out_4881048693765674271[121] = 0.0; + out_4881048693765674271[122] = 0.0; + out_4881048693765674271[123] = 0.0; + out_4881048693765674271[124] = 0.0; + out_4881048693765674271[125] = 0.0; + out_4881048693765674271[126] = 0.0; + out_4881048693765674271[127] = 0.0; + out_4881048693765674271[128] = 0.0; + out_4881048693765674271[129] = 0.0; + out_4881048693765674271[130] = 0.0; + out_4881048693765674271[131] = 0.0; + out_4881048693765674271[132] = 0.0; + out_4881048693765674271[133] = 1.0; + out_4881048693765674271[134] = 0.0; + out_4881048693765674271[135] = 0.0; + out_4881048693765674271[136] = 0.0; + out_4881048693765674271[137] = 0.0; + out_4881048693765674271[138] = 0.0; + out_4881048693765674271[139] = 0.0; + out_4881048693765674271[140] = 0.0; + out_4881048693765674271[141] = 0.0; + out_4881048693765674271[142] = 0.0; + out_4881048693765674271[143] = 0.0; + out_4881048693765674271[144] = 0.0; + out_4881048693765674271[145] = 0.0; + out_4881048693765674271[146] = 0.0; + out_4881048693765674271[147] = 0.0; + out_4881048693765674271[148] = 0.0; + out_4881048693765674271[149] = 0.0; + out_4881048693765674271[150] = 0.0; + out_4881048693765674271[151] = 0.0; + out_4881048693765674271[152] = 1.0; + out_4881048693765674271[153] = 0.0; + out_4881048693765674271[154] = 0.0; + out_4881048693765674271[155] = 0.0; + out_4881048693765674271[156] = 0.0; + out_4881048693765674271[157] = 0.0; + out_4881048693765674271[158] = 0.0; + out_4881048693765674271[159] = 0.0; + out_4881048693765674271[160] = 0.0; + out_4881048693765674271[161] = 0.0; + out_4881048693765674271[162] = 0.0; + out_4881048693765674271[163] = 0.0; + out_4881048693765674271[164] = 0.0; + out_4881048693765674271[165] = 0.0; + out_4881048693765674271[166] = 0.0; + out_4881048693765674271[167] = 0.0; + out_4881048693765674271[168] = 0.0; + out_4881048693765674271[169] = 0.0; + out_4881048693765674271[170] = 0.0; + out_4881048693765674271[171] = 1.0; + out_4881048693765674271[172] = 0.0; + out_4881048693765674271[173] = 0.0; + out_4881048693765674271[174] = 0.0; + out_4881048693765674271[175] = 0.0; + out_4881048693765674271[176] = 0.0; + out_4881048693765674271[177] = 0.0; + out_4881048693765674271[178] = 0.0; + out_4881048693765674271[179] = 0.0; + out_4881048693765674271[180] = 0.0; + out_4881048693765674271[181] = 0.0; + out_4881048693765674271[182] = 0.0; + out_4881048693765674271[183] = 0.0; + out_4881048693765674271[184] = 0.0; + out_4881048693765674271[185] = 0.0; + out_4881048693765674271[186] = 0.0; + out_4881048693765674271[187] = 0.0; + out_4881048693765674271[188] = 0.0; + out_4881048693765674271[189] = 0.0; + out_4881048693765674271[190] = 1.0; + out_4881048693765674271[191] = 0.0; + out_4881048693765674271[192] = 0.0; + out_4881048693765674271[193] = 0.0; + out_4881048693765674271[194] = 0.0; + out_4881048693765674271[195] = 0.0; + out_4881048693765674271[196] = 0.0; + out_4881048693765674271[197] = 0.0; + out_4881048693765674271[198] = 0.0; + out_4881048693765674271[199] = 0.0; + out_4881048693765674271[200] = 0.0; + out_4881048693765674271[201] = 0.0; + out_4881048693765674271[202] = 0.0; + out_4881048693765674271[203] = 0.0; + out_4881048693765674271[204] = 0.0; + out_4881048693765674271[205] = 0.0; + out_4881048693765674271[206] = 0.0; + out_4881048693765674271[207] = 0.0; + out_4881048693765674271[208] = 0.0; + out_4881048693765674271[209] = 1.0; + out_4881048693765674271[210] = 0.0; + out_4881048693765674271[211] = 0.0; + out_4881048693765674271[212] = 0.0; + out_4881048693765674271[213] = 0.0; + out_4881048693765674271[214] = 0.0; + out_4881048693765674271[215] = 0.0; + out_4881048693765674271[216] = 0.0; + out_4881048693765674271[217] = 0.0; + out_4881048693765674271[218] = 0.0; + out_4881048693765674271[219] = 0.0; + out_4881048693765674271[220] = 0.0; + out_4881048693765674271[221] = 0.0; + out_4881048693765674271[222] = 0.0; + out_4881048693765674271[223] = 0.0; + out_4881048693765674271[224] = 0.0; + out_4881048693765674271[225] = 0.0; + out_4881048693765674271[226] = 0.0; + out_4881048693765674271[227] = 0.0; + out_4881048693765674271[228] = 1.0; + out_4881048693765674271[229] = 0.0; + out_4881048693765674271[230] = 0.0; + out_4881048693765674271[231] = 0.0; + out_4881048693765674271[232] = 0.0; + out_4881048693765674271[233] = 0.0; + out_4881048693765674271[234] = 0.0; + out_4881048693765674271[235] = 0.0; + out_4881048693765674271[236] = 0.0; + out_4881048693765674271[237] = 0.0; + out_4881048693765674271[238] = 0.0; + out_4881048693765674271[239] = 0.0; + out_4881048693765674271[240] = 0.0; + out_4881048693765674271[241] = 0.0; + out_4881048693765674271[242] = 0.0; + out_4881048693765674271[243] = 0.0; + out_4881048693765674271[244] = 0.0; + out_4881048693765674271[245] = 0.0; + out_4881048693765674271[246] = 0.0; + out_4881048693765674271[247] = 1.0; + out_4881048693765674271[248] = 0.0; + out_4881048693765674271[249] = 0.0; + out_4881048693765674271[250] = 0.0; + out_4881048693765674271[251] = 0.0; + out_4881048693765674271[252] = 0.0; + out_4881048693765674271[253] = 0.0; + out_4881048693765674271[254] = 0.0; + out_4881048693765674271[255] = 0.0; + out_4881048693765674271[256] = 0.0; + out_4881048693765674271[257] = 0.0; + out_4881048693765674271[258] = 0.0; + out_4881048693765674271[259] = 0.0; + out_4881048693765674271[260] = 0.0; + out_4881048693765674271[261] = 0.0; + out_4881048693765674271[262] = 0.0; + out_4881048693765674271[263] = 0.0; + out_4881048693765674271[264] = 0.0; + out_4881048693765674271[265] = 0.0; + out_4881048693765674271[266] = 1.0; + out_4881048693765674271[267] = 0.0; + out_4881048693765674271[268] = 0.0; + out_4881048693765674271[269] = 0.0; + out_4881048693765674271[270] = 0.0; + out_4881048693765674271[271] = 0.0; + out_4881048693765674271[272] = 0.0; + out_4881048693765674271[273] = 0.0; + out_4881048693765674271[274] = 0.0; + out_4881048693765674271[275] = 0.0; + out_4881048693765674271[276] = 0.0; + out_4881048693765674271[277] = 0.0; + out_4881048693765674271[278] = 0.0; + out_4881048693765674271[279] = 0.0; + out_4881048693765674271[280] = 0.0; + out_4881048693765674271[281] = 0.0; + out_4881048693765674271[282] = 0.0; + out_4881048693765674271[283] = 0.0; + out_4881048693765674271[284] = 0.0; + out_4881048693765674271[285] = 1.0; + out_4881048693765674271[286] = 0.0; + out_4881048693765674271[287] = 0.0; + out_4881048693765674271[288] = 0.0; + out_4881048693765674271[289] = 0.0; + out_4881048693765674271[290] = 0.0; + out_4881048693765674271[291] = 0.0; + out_4881048693765674271[292] = 0.0; + out_4881048693765674271[293] = 0.0; + out_4881048693765674271[294] = 0.0; + out_4881048693765674271[295] = 0.0; + out_4881048693765674271[296] = 0.0; + out_4881048693765674271[297] = 0.0; + out_4881048693765674271[298] = 0.0; + out_4881048693765674271[299] = 0.0; + out_4881048693765674271[300] = 0.0; + out_4881048693765674271[301] = 0.0; + out_4881048693765674271[302] = 0.0; + out_4881048693765674271[303] = 0.0; + out_4881048693765674271[304] = 1.0; + out_4881048693765674271[305] = 0.0; + out_4881048693765674271[306] = 0.0; + out_4881048693765674271[307] = 0.0; + out_4881048693765674271[308] = 0.0; + out_4881048693765674271[309] = 0.0; + out_4881048693765674271[310] = 0.0; + out_4881048693765674271[311] = 0.0; + out_4881048693765674271[312] = 0.0; + out_4881048693765674271[313] = 0.0; + out_4881048693765674271[314] = 0.0; + out_4881048693765674271[315] = 0.0; + out_4881048693765674271[316] = 0.0; + out_4881048693765674271[317] = 0.0; + out_4881048693765674271[318] = 0.0; + out_4881048693765674271[319] = 0.0; + out_4881048693765674271[320] = 0.0; + out_4881048693765674271[321] = 0.0; + out_4881048693765674271[322] = 0.0; + out_4881048693765674271[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5843270271854622054) { - out_5843270271854622054[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_5843270271854622054[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_5843270271854622054[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_5843270271854622054[3] = dt*state[12] + state[3]; - out_5843270271854622054[4] = dt*state[13] + state[4]; - out_5843270271854622054[5] = dt*state[14] + state[5]; - out_5843270271854622054[6] = state[6]; - out_5843270271854622054[7] = state[7]; - out_5843270271854622054[8] = state[8]; - out_5843270271854622054[9] = state[9]; - out_5843270271854622054[10] = state[10]; - out_5843270271854622054[11] = state[11]; - out_5843270271854622054[12] = state[12]; - out_5843270271854622054[13] = state[13]; - out_5843270271854622054[14] = state[14]; - out_5843270271854622054[15] = state[15]; - out_5843270271854622054[16] = state[16]; - out_5843270271854622054[17] = state[17]; +void f_fun(double *state, double dt, double *out_2074460560152714132) { + out_2074460560152714132[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_2074460560152714132[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_2074460560152714132[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_2074460560152714132[3] = dt*state[12] + state[3]; + out_2074460560152714132[4] = dt*state[13] + state[4]; + out_2074460560152714132[5] = dt*state[14] + state[5]; + out_2074460560152714132[6] = state[6]; + out_2074460560152714132[7] = state[7]; + out_2074460560152714132[8] = state[8]; + out_2074460560152714132[9] = state[9]; + out_2074460560152714132[10] = state[10]; + out_2074460560152714132[11] = state[11]; + out_2074460560152714132[12] = state[12]; + out_2074460560152714132[13] = state[13]; + out_2074460560152714132[14] = state[14]; + out_2074460560152714132[15] = state[15]; + out_2074460560152714132[16] = state[16]; + out_2074460560152714132[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1867205219410655269) { - out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[2] = 0; - out_1867205219410655269[3] = 0; - out_1867205219410655269[4] = 0; - out_1867205219410655269[5] = 0; - out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[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_1867205219410655269[9] = 0; - out_1867205219410655269[10] = 0; - out_1867205219410655269[11] = 0; - out_1867205219410655269[12] = 0; - out_1867205219410655269[13] = 0; - out_1867205219410655269[14] = 0; - out_1867205219410655269[15] = 0; - out_1867205219410655269[16] = 0; - out_1867205219410655269[17] = 0; - out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[20] = 0; - out_1867205219410655269[21] = 0; - out_1867205219410655269[22] = 0; - out_1867205219410655269[23] = 0; - out_1867205219410655269[24] = 0; - out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[27] = 0; - out_1867205219410655269[28] = 0; - out_1867205219410655269[29] = 0; - out_1867205219410655269[30] = 0; - out_1867205219410655269[31] = 0; - out_1867205219410655269[32] = 0; - out_1867205219410655269[33] = 0; - out_1867205219410655269[34] = 0; - out_1867205219410655269[35] = 0; - out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[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_1867205219410655269[39] = 0; - out_1867205219410655269[40] = 0; - out_1867205219410655269[41] = 0; - out_1867205219410655269[42] = 0; - out_1867205219410655269[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_1867205219410655269[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_1867205219410655269[45] = 0; - out_1867205219410655269[46] = 0; - out_1867205219410655269[47] = 0; - out_1867205219410655269[48] = 0; - out_1867205219410655269[49] = 0; - out_1867205219410655269[50] = 0; - out_1867205219410655269[51] = 0; - out_1867205219410655269[52] = 0; - out_1867205219410655269[53] = 0; - out_1867205219410655269[54] = 0; - out_1867205219410655269[55] = 0; - out_1867205219410655269[56] = 0; - out_1867205219410655269[57] = 1; - out_1867205219410655269[58] = 0; - out_1867205219410655269[59] = 0; - out_1867205219410655269[60] = 0; - out_1867205219410655269[61] = 0; - out_1867205219410655269[62] = 0; - out_1867205219410655269[63] = 0; - out_1867205219410655269[64] = 0; - out_1867205219410655269[65] = 0; - out_1867205219410655269[66] = dt; - out_1867205219410655269[67] = 0; - out_1867205219410655269[68] = 0; - out_1867205219410655269[69] = 0; - out_1867205219410655269[70] = 0; - out_1867205219410655269[71] = 0; - out_1867205219410655269[72] = 0; - out_1867205219410655269[73] = 0; - out_1867205219410655269[74] = 0; - out_1867205219410655269[75] = 0; - out_1867205219410655269[76] = 1; - out_1867205219410655269[77] = 0; - out_1867205219410655269[78] = 0; - out_1867205219410655269[79] = 0; - out_1867205219410655269[80] = 0; - out_1867205219410655269[81] = 0; - out_1867205219410655269[82] = 0; - out_1867205219410655269[83] = 0; - out_1867205219410655269[84] = 0; - out_1867205219410655269[85] = dt; - out_1867205219410655269[86] = 0; - out_1867205219410655269[87] = 0; - out_1867205219410655269[88] = 0; - out_1867205219410655269[89] = 0; - out_1867205219410655269[90] = 0; - out_1867205219410655269[91] = 0; - out_1867205219410655269[92] = 0; - out_1867205219410655269[93] = 0; - out_1867205219410655269[94] = 0; - out_1867205219410655269[95] = 1; - out_1867205219410655269[96] = 0; - out_1867205219410655269[97] = 0; - out_1867205219410655269[98] = 0; - out_1867205219410655269[99] = 0; - out_1867205219410655269[100] = 0; - out_1867205219410655269[101] = 0; - out_1867205219410655269[102] = 0; - out_1867205219410655269[103] = 0; - out_1867205219410655269[104] = dt; - out_1867205219410655269[105] = 0; - out_1867205219410655269[106] = 0; - out_1867205219410655269[107] = 0; - out_1867205219410655269[108] = 0; - out_1867205219410655269[109] = 0; - out_1867205219410655269[110] = 0; - out_1867205219410655269[111] = 0; - out_1867205219410655269[112] = 0; - out_1867205219410655269[113] = 0; - out_1867205219410655269[114] = 1; - out_1867205219410655269[115] = 0; - out_1867205219410655269[116] = 0; - out_1867205219410655269[117] = 0; - out_1867205219410655269[118] = 0; - out_1867205219410655269[119] = 0; - out_1867205219410655269[120] = 0; - out_1867205219410655269[121] = 0; - out_1867205219410655269[122] = 0; - out_1867205219410655269[123] = 0; - out_1867205219410655269[124] = 0; - out_1867205219410655269[125] = 0; - out_1867205219410655269[126] = 0; - out_1867205219410655269[127] = 0; - out_1867205219410655269[128] = 0; - out_1867205219410655269[129] = 0; - out_1867205219410655269[130] = 0; - out_1867205219410655269[131] = 0; - out_1867205219410655269[132] = 0; - out_1867205219410655269[133] = 1; - out_1867205219410655269[134] = 0; - out_1867205219410655269[135] = 0; - out_1867205219410655269[136] = 0; - out_1867205219410655269[137] = 0; - out_1867205219410655269[138] = 0; - out_1867205219410655269[139] = 0; - out_1867205219410655269[140] = 0; - out_1867205219410655269[141] = 0; - out_1867205219410655269[142] = 0; - out_1867205219410655269[143] = 0; - out_1867205219410655269[144] = 0; - out_1867205219410655269[145] = 0; - out_1867205219410655269[146] = 0; - out_1867205219410655269[147] = 0; - out_1867205219410655269[148] = 0; - out_1867205219410655269[149] = 0; - out_1867205219410655269[150] = 0; - out_1867205219410655269[151] = 0; - out_1867205219410655269[152] = 1; - out_1867205219410655269[153] = 0; - out_1867205219410655269[154] = 0; - out_1867205219410655269[155] = 0; - out_1867205219410655269[156] = 0; - out_1867205219410655269[157] = 0; - out_1867205219410655269[158] = 0; - out_1867205219410655269[159] = 0; - out_1867205219410655269[160] = 0; - out_1867205219410655269[161] = 0; - out_1867205219410655269[162] = 0; - out_1867205219410655269[163] = 0; - out_1867205219410655269[164] = 0; - out_1867205219410655269[165] = 0; - out_1867205219410655269[166] = 0; - out_1867205219410655269[167] = 0; - out_1867205219410655269[168] = 0; - out_1867205219410655269[169] = 0; - out_1867205219410655269[170] = 0; - out_1867205219410655269[171] = 1; - out_1867205219410655269[172] = 0; - out_1867205219410655269[173] = 0; - out_1867205219410655269[174] = 0; - out_1867205219410655269[175] = 0; - out_1867205219410655269[176] = 0; - out_1867205219410655269[177] = 0; - out_1867205219410655269[178] = 0; - out_1867205219410655269[179] = 0; - out_1867205219410655269[180] = 0; - out_1867205219410655269[181] = 0; - out_1867205219410655269[182] = 0; - out_1867205219410655269[183] = 0; - out_1867205219410655269[184] = 0; - out_1867205219410655269[185] = 0; - out_1867205219410655269[186] = 0; - out_1867205219410655269[187] = 0; - out_1867205219410655269[188] = 0; - out_1867205219410655269[189] = 0; - out_1867205219410655269[190] = 1; - out_1867205219410655269[191] = 0; - out_1867205219410655269[192] = 0; - out_1867205219410655269[193] = 0; - out_1867205219410655269[194] = 0; - out_1867205219410655269[195] = 0; - out_1867205219410655269[196] = 0; - out_1867205219410655269[197] = 0; - out_1867205219410655269[198] = 0; - out_1867205219410655269[199] = 0; - out_1867205219410655269[200] = 0; - out_1867205219410655269[201] = 0; - out_1867205219410655269[202] = 0; - out_1867205219410655269[203] = 0; - out_1867205219410655269[204] = 0; - out_1867205219410655269[205] = 0; - out_1867205219410655269[206] = 0; - out_1867205219410655269[207] = 0; - out_1867205219410655269[208] = 0; - out_1867205219410655269[209] = 1; - out_1867205219410655269[210] = 0; - out_1867205219410655269[211] = 0; - out_1867205219410655269[212] = 0; - out_1867205219410655269[213] = 0; - out_1867205219410655269[214] = 0; - out_1867205219410655269[215] = 0; - out_1867205219410655269[216] = 0; - out_1867205219410655269[217] = 0; - out_1867205219410655269[218] = 0; - out_1867205219410655269[219] = 0; - out_1867205219410655269[220] = 0; - out_1867205219410655269[221] = 0; - out_1867205219410655269[222] = 0; - out_1867205219410655269[223] = 0; - out_1867205219410655269[224] = 0; - out_1867205219410655269[225] = 0; - out_1867205219410655269[226] = 0; - out_1867205219410655269[227] = 0; - out_1867205219410655269[228] = 1; - out_1867205219410655269[229] = 0; - out_1867205219410655269[230] = 0; - out_1867205219410655269[231] = 0; - out_1867205219410655269[232] = 0; - out_1867205219410655269[233] = 0; - out_1867205219410655269[234] = 0; - out_1867205219410655269[235] = 0; - out_1867205219410655269[236] = 0; - out_1867205219410655269[237] = 0; - out_1867205219410655269[238] = 0; - out_1867205219410655269[239] = 0; - out_1867205219410655269[240] = 0; - out_1867205219410655269[241] = 0; - out_1867205219410655269[242] = 0; - out_1867205219410655269[243] = 0; - out_1867205219410655269[244] = 0; - out_1867205219410655269[245] = 0; - out_1867205219410655269[246] = 0; - out_1867205219410655269[247] = 1; - out_1867205219410655269[248] = 0; - out_1867205219410655269[249] = 0; - out_1867205219410655269[250] = 0; - out_1867205219410655269[251] = 0; - out_1867205219410655269[252] = 0; - out_1867205219410655269[253] = 0; - out_1867205219410655269[254] = 0; - out_1867205219410655269[255] = 0; - out_1867205219410655269[256] = 0; - out_1867205219410655269[257] = 0; - out_1867205219410655269[258] = 0; - out_1867205219410655269[259] = 0; - out_1867205219410655269[260] = 0; - out_1867205219410655269[261] = 0; - out_1867205219410655269[262] = 0; - out_1867205219410655269[263] = 0; - out_1867205219410655269[264] = 0; - out_1867205219410655269[265] = 0; - out_1867205219410655269[266] = 1; - out_1867205219410655269[267] = 0; - out_1867205219410655269[268] = 0; - out_1867205219410655269[269] = 0; - out_1867205219410655269[270] = 0; - out_1867205219410655269[271] = 0; - out_1867205219410655269[272] = 0; - out_1867205219410655269[273] = 0; - out_1867205219410655269[274] = 0; - out_1867205219410655269[275] = 0; - out_1867205219410655269[276] = 0; - out_1867205219410655269[277] = 0; - out_1867205219410655269[278] = 0; - out_1867205219410655269[279] = 0; - out_1867205219410655269[280] = 0; - out_1867205219410655269[281] = 0; - out_1867205219410655269[282] = 0; - out_1867205219410655269[283] = 0; - out_1867205219410655269[284] = 0; - out_1867205219410655269[285] = 1; - out_1867205219410655269[286] = 0; - out_1867205219410655269[287] = 0; - out_1867205219410655269[288] = 0; - out_1867205219410655269[289] = 0; - out_1867205219410655269[290] = 0; - out_1867205219410655269[291] = 0; - out_1867205219410655269[292] = 0; - out_1867205219410655269[293] = 0; - out_1867205219410655269[294] = 0; - out_1867205219410655269[295] = 0; - out_1867205219410655269[296] = 0; - out_1867205219410655269[297] = 0; - out_1867205219410655269[298] = 0; - out_1867205219410655269[299] = 0; - out_1867205219410655269[300] = 0; - out_1867205219410655269[301] = 0; - out_1867205219410655269[302] = 0; - out_1867205219410655269[303] = 0; - out_1867205219410655269[304] = 1; - out_1867205219410655269[305] = 0; - out_1867205219410655269[306] = 0; - out_1867205219410655269[307] = 0; - out_1867205219410655269[308] = 0; - out_1867205219410655269[309] = 0; - out_1867205219410655269[310] = 0; - out_1867205219410655269[311] = 0; - out_1867205219410655269[312] = 0; - out_1867205219410655269[313] = 0; - out_1867205219410655269[314] = 0; - out_1867205219410655269[315] = 0; - out_1867205219410655269[316] = 0; - out_1867205219410655269[317] = 0; - out_1867205219410655269[318] = 0; - out_1867205219410655269[319] = 0; - out_1867205219410655269[320] = 0; - out_1867205219410655269[321] = 0; - out_1867205219410655269[322] = 0; - out_1867205219410655269[323] = 1; +void F_fun(double *state, double dt, double *out_2950416268004545311) { + out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[2] = 0; + out_2950416268004545311[3] = 0; + out_2950416268004545311[4] = 0; + out_2950416268004545311[5] = 0; + out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[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_2950416268004545311[9] = 0; + out_2950416268004545311[10] = 0; + out_2950416268004545311[11] = 0; + out_2950416268004545311[12] = 0; + out_2950416268004545311[13] = 0; + out_2950416268004545311[14] = 0; + out_2950416268004545311[15] = 0; + out_2950416268004545311[16] = 0; + out_2950416268004545311[17] = 0; + out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[20] = 0; + out_2950416268004545311[21] = 0; + out_2950416268004545311[22] = 0; + out_2950416268004545311[23] = 0; + out_2950416268004545311[24] = 0; + out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[27] = 0; + out_2950416268004545311[28] = 0; + out_2950416268004545311[29] = 0; + out_2950416268004545311[30] = 0; + out_2950416268004545311[31] = 0; + out_2950416268004545311[32] = 0; + out_2950416268004545311[33] = 0; + out_2950416268004545311[34] = 0; + out_2950416268004545311[35] = 0; + out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[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_2950416268004545311[39] = 0; + out_2950416268004545311[40] = 0; + out_2950416268004545311[41] = 0; + out_2950416268004545311[42] = 0; + out_2950416268004545311[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_2950416268004545311[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_2950416268004545311[45] = 0; + out_2950416268004545311[46] = 0; + out_2950416268004545311[47] = 0; + out_2950416268004545311[48] = 0; + out_2950416268004545311[49] = 0; + out_2950416268004545311[50] = 0; + out_2950416268004545311[51] = 0; + out_2950416268004545311[52] = 0; + out_2950416268004545311[53] = 0; + out_2950416268004545311[54] = 0; + out_2950416268004545311[55] = 0; + out_2950416268004545311[56] = 0; + out_2950416268004545311[57] = 1; + out_2950416268004545311[58] = 0; + out_2950416268004545311[59] = 0; + out_2950416268004545311[60] = 0; + out_2950416268004545311[61] = 0; + out_2950416268004545311[62] = 0; + out_2950416268004545311[63] = 0; + out_2950416268004545311[64] = 0; + out_2950416268004545311[65] = 0; + out_2950416268004545311[66] = dt; + out_2950416268004545311[67] = 0; + out_2950416268004545311[68] = 0; + out_2950416268004545311[69] = 0; + out_2950416268004545311[70] = 0; + out_2950416268004545311[71] = 0; + out_2950416268004545311[72] = 0; + out_2950416268004545311[73] = 0; + out_2950416268004545311[74] = 0; + out_2950416268004545311[75] = 0; + out_2950416268004545311[76] = 1; + out_2950416268004545311[77] = 0; + out_2950416268004545311[78] = 0; + out_2950416268004545311[79] = 0; + out_2950416268004545311[80] = 0; + out_2950416268004545311[81] = 0; + out_2950416268004545311[82] = 0; + out_2950416268004545311[83] = 0; + out_2950416268004545311[84] = 0; + out_2950416268004545311[85] = dt; + out_2950416268004545311[86] = 0; + out_2950416268004545311[87] = 0; + out_2950416268004545311[88] = 0; + out_2950416268004545311[89] = 0; + out_2950416268004545311[90] = 0; + out_2950416268004545311[91] = 0; + out_2950416268004545311[92] = 0; + out_2950416268004545311[93] = 0; + out_2950416268004545311[94] = 0; + out_2950416268004545311[95] = 1; + out_2950416268004545311[96] = 0; + out_2950416268004545311[97] = 0; + out_2950416268004545311[98] = 0; + out_2950416268004545311[99] = 0; + out_2950416268004545311[100] = 0; + out_2950416268004545311[101] = 0; + out_2950416268004545311[102] = 0; + out_2950416268004545311[103] = 0; + out_2950416268004545311[104] = dt; + out_2950416268004545311[105] = 0; + out_2950416268004545311[106] = 0; + out_2950416268004545311[107] = 0; + out_2950416268004545311[108] = 0; + out_2950416268004545311[109] = 0; + out_2950416268004545311[110] = 0; + out_2950416268004545311[111] = 0; + out_2950416268004545311[112] = 0; + out_2950416268004545311[113] = 0; + out_2950416268004545311[114] = 1; + out_2950416268004545311[115] = 0; + out_2950416268004545311[116] = 0; + out_2950416268004545311[117] = 0; + out_2950416268004545311[118] = 0; + out_2950416268004545311[119] = 0; + out_2950416268004545311[120] = 0; + out_2950416268004545311[121] = 0; + out_2950416268004545311[122] = 0; + out_2950416268004545311[123] = 0; + out_2950416268004545311[124] = 0; + out_2950416268004545311[125] = 0; + out_2950416268004545311[126] = 0; + out_2950416268004545311[127] = 0; + out_2950416268004545311[128] = 0; + out_2950416268004545311[129] = 0; + out_2950416268004545311[130] = 0; + out_2950416268004545311[131] = 0; + out_2950416268004545311[132] = 0; + out_2950416268004545311[133] = 1; + out_2950416268004545311[134] = 0; + out_2950416268004545311[135] = 0; + out_2950416268004545311[136] = 0; + out_2950416268004545311[137] = 0; + out_2950416268004545311[138] = 0; + out_2950416268004545311[139] = 0; + out_2950416268004545311[140] = 0; + out_2950416268004545311[141] = 0; + out_2950416268004545311[142] = 0; + out_2950416268004545311[143] = 0; + out_2950416268004545311[144] = 0; + out_2950416268004545311[145] = 0; + out_2950416268004545311[146] = 0; + out_2950416268004545311[147] = 0; + out_2950416268004545311[148] = 0; + out_2950416268004545311[149] = 0; + out_2950416268004545311[150] = 0; + out_2950416268004545311[151] = 0; + out_2950416268004545311[152] = 1; + out_2950416268004545311[153] = 0; + out_2950416268004545311[154] = 0; + out_2950416268004545311[155] = 0; + out_2950416268004545311[156] = 0; + out_2950416268004545311[157] = 0; + out_2950416268004545311[158] = 0; + out_2950416268004545311[159] = 0; + out_2950416268004545311[160] = 0; + out_2950416268004545311[161] = 0; + out_2950416268004545311[162] = 0; + out_2950416268004545311[163] = 0; + out_2950416268004545311[164] = 0; + out_2950416268004545311[165] = 0; + out_2950416268004545311[166] = 0; + out_2950416268004545311[167] = 0; + out_2950416268004545311[168] = 0; + out_2950416268004545311[169] = 0; + out_2950416268004545311[170] = 0; + out_2950416268004545311[171] = 1; + out_2950416268004545311[172] = 0; + out_2950416268004545311[173] = 0; + out_2950416268004545311[174] = 0; + out_2950416268004545311[175] = 0; + out_2950416268004545311[176] = 0; + out_2950416268004545311[177] = 0; + out_2950416268004545311[178] = 0; + out_2950416268004545311[179] = 0; + out_2950416268004545311[180] = 0; + out_2950416268004545311[181] = 0; + out_2950416268004545311[182] = 0; + out_2950416268004545311[183] = 0; + out_2950416268004545311[184] = 0; + out_2950416268004545311[185] = 0; + out_2950416268004545311[186] = 0; + out_2950416268004545311[187] = 0; + out_2950416268004545311[188] = 0; + out_2950416268004545311[189] = 0; + out_2950416268004545311[190] = 1; + out_2950416268004545311[191] = 0; + out_2950416268004545311[192] = 0; + out_2950416268004545311[193] = 0; + out_2950416268004545311[194] = 0; + out_2950416268004545311[195] = 0; + out_2950416268004545311[196] = 0; + out_2950416268004545311[197] = 0; + out_2950416268004545311[198] = 0; + out_2950416268004545311[199] = 0; + out_2950416268004545311[200] = 0; + out_2950416268004545311[201] = 0; + out_2950416268004545311[202] = 0; + out_2950416268004545311[203] = 0; + out_2950416268004545311[204] = 0; + out_2950416268004545311[205] = 0; + out_2950416268004545311[206] = 0; + out_2950416268004545311[207] = 0; + out_2950416268004545311[208] = 0; + out_2950416268004545311[209] = 1; + out_2950416268004545311[210] = 0; + out_2950416268004545311[211] = 0; + out_2950416268004545311[212] = 0; + out_2950416268004545311[213] = 0; + out_2950416268004545311[214] = 0; + out_2950416268004545311[215] = 0; + out_2950416268004545311[216] = 0; + out_2950416268004545311[217] = 0; + out_2950416268004545311[218] = 0; + out_2950416268004545311[219] = 0; + out_2950416268004545311[220] = 0; + out_2950416268004545311[221] = 0; + out_2950416268004545311[222] = 0; + out_2950416268004545311[223] = 0; + out_2950416268004545311[224] = 0; + out_2950416268004545311[225] = 0; + out_2950416268004545311[226] = 0; + out_2950416268004545311[227] = 0; + out_2950416268004545311[228] = 1; + out_2950416268004545311[229] = 0; + out_2950416268004545311[230] = 0; + out_2950416268004545311[231] = 0; + out_2950416268004545311[232] = 0; + out_2950416268004545311[233] = 0; + out_2950416268004545311[234] = 0; + out_2950416268004545311[235] = 0; + out_2950416268004545311[236] = 0; + out_2950416268004545311[237] = 0; + out_2950416268004545311[238] = 0; + out_2950416268004545311[239] = 0; + out_2950416268004545311[240] = 0; + out_2950416268004545311[241] = 0; + out_2950416268004545311[242] = 0; + out_2950416268004545311[243] = 0; + out_2950416268004545311[244] = 0; + out_2950416268004545311[245] = 0; + out_2950416268004545311[246] = 0; + out_2950416268004545311[247] = 1; + out_2950416268004545311[248] = 0; + out_2950416268004545311[249] = 0; + out_2950416268004545311[250] = 0; + out_2950416268004545311[251] = 0; + out_2950416268004545311[252] = 0; + out_2950416268004545311[253] = 0; + out_2950416268004545311[254] = 0; + out_2950416268004545311[255] = 0; + out_2950416268004545311[256] = 0; + out_2950416268004545311[257] = 0; + out_2950416268004545311[258] = 0; + out_2950416268004545311[259] = 0; + out_2950416268004545311[260] = 0; + out_2950416268004545311[261] = 0; + out_2950416268004545311[262] = 0; + out_2950416268004545311[263] = 0; + out_2950416268004545311[264] = 0; + out_2950416268004545311[265] = 0; + out_2950416268004545311[266] = 1; + out_2950416268004545311[267] = 0; + out_2950416268004545311[268] = 0; + out_2950416268004545311[269] = 0; + out_2950416268004545311[270] = 0; + out_2950416268004545311[271] = 0; + out_2950416268004545311[272] = 0; + out_2950416268004545311[273] = 0; + out_2950416268004545311[274] = 0; + out_2950416268004545311[275] = 0; + out_2950416268004545311[276] = 0; + out_2950416268004545311[277] = 0; + out_2950416268004545311[278] = 0; + out_2950416268004545311[279] = 0; + out_2950416268004545311[280] = 0; + out_2950416268004545311[281] = 0; + out_2950416268004545311[282] = 0; + out_2950416268004545311[283] = 0; + out_2950416268004545311[284] = 0; + out_2950416268004545311[285] = 1; + out_2950416268004545311[286] = 0; + out_2950416268004545311[287] = 0; + out_2950416268004545311[288] = 0; + out_2950416268004545311[289] = 0; + out_2950416268004545311[290] = 0; + out_2950416268004545311[291] = 0; + out_2950416268004545311[292] = 0; + out_2950416268004545311[293] = 0; + out_2950416268004545311[294] = 0; + out_2950416268004545311[295] = 0; + out_2950416268004545311[296] = 0; + out_2950416268004545311[297] = 0; + out_2950416268004545311[298] = 0; + out_2950416268004545311[299] = 0; + out_2950416268004545311[300] = 0; + out_2950416268004545311[301] = 0; + out_2950416268004545311[302] = 0; + out_2950416268004545311[303] = 0; + out_2950416268004545311[304] = 1; + out_2950416268004545311[305] = 0; + out_2950416268004545311[306] = 0; + out_2950416268004545311[307] = 0; + out_2950416268004545311[308] = 0; + out_2950416268004545311[309] = 0; + out_2950416268004545311[310] = 0; + out_2950416268004545311[311] = 0; + out_2950416268004545311[312] = 0; + out_2950416268004545311[313] = 0; + out_2950416268004545311[314] = 0; + out_2950416268004545311[315] = 0; + out_2950416268004545311[316] = 0; + out_2950416268004545311[317] = 0; + out_2950416268004545311[318] = 0; + out_2950416268004545311[319] = 0; + out_2950416268004545311[320] = 0; + out_2950416268004545311[321] = 0; + out_2950416268004545311[322] = 0; + out_2950416268004545311[323] = 1; } -void h_4(double *state, double *unused, double *out_980464455538860381) { - out_980464455538860381[0] = state[6] + state[9]; - out_980464455538860381[1] = state[7] + state[10]; - out_980464455538860381[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7825885472463858534) { + out_7825885472463858534[0] = state[6] + state[9]; + out_7825885472463858534[1] = state[7] + state[10]; + out_7825885472463858534[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_471389926257329507) { - out_471389926257329507[0] = 0; - out_471389926257329507[1] = 0; - out_471389926257329507[2] = 0; - out_471389926257329507[3] = 0; - out_471389926257329507[4] = 0; - out_471389926257329507[5] = 0; - out_471389926257329507[6] = 1; - out_471389926257329507[7] = 0; - out_471389926257329507[8] = 0; - out_471389926257329507[9] = 1; - out_471389926257329507[10] = 0; - out_471389926257329507[11] = 0; - out_471389926257329507[12] = 0; - out_471389926257329507[13] = 0; - out_471389926257329507[14] = 0; - out_471389926257329507[15] = 0; - out_471389926257329507[16] = 0; - out_471389926257329507[17] = 0; - out_471389926257329507[18] = 0; - out_471389926257329507[19] = 0; - out_471389926257329507[20] = 0; - out_471389926257329507[21] = 0; - out_471389926257329507[22] = 0; - out_471389926257329507[23] = 0; - out_471389926257329507[24] = 0; - out_471389926257329507[25] = 1; - out_471389926257329507[26] = 0; - out_471389926257329507[27] = 0; - out_471389926257329507[28] = 1; - out_471389926257329507[29] = 0; - out_471389926257329507[30] = 0; - out_471389926257329507[31] = 0; - out_471389926257329507[32] = 0; - out_471389926257329507[33] = 0; - out_471389926257329507[34] = 0; - out_471389926257329507[35] = 0; - out_471389926257329507[36] = 0; - out_471389926257329507[37] = 0; - out_471389926257329507[38] = 0; - out_471389926257329507[39] = 0; - out_471389926257329507[40] = 0; - out_471389926257329507[41] = 0; - out_471389926257329507[42] = 0; - out_471389926257329507[43] = 0; - out_471389926257329507[44] = 1; - out_471389926257329507[45] = 0; - out_471389926257329507[46] = 0; - out_471389926257329507[47] = 1; - out_471389926257329507[48] = 0; - out_471389926257329507[49] = 0; - out_471389926257329507[50] = 0; - out_471389926257329507[51] = 0; - out_471389926257329507[52] = 0; - out_471389926257329507[53] = 0; +void H_4(double *state, double *unused, double *out_3220493145206738279) { + out_3220493145206738279[0] = 0; + out_3220493145206738279[1] = 0; + out_3220493145206738279[2] = 0; + out_3220493145206738279[3] = 0; + out_3220493145206738279[4] = 0; + out_3220493145206738279[5] = 0; + out_3220493145206738279[6] = 1; + out_3220493145206738279[7] = 0; + out_3220493145206738279[8] = 0; + out_3220493145206738279[9] = 1; + out_3220493145206738279[10] = 0; + out_3220493145206738279[11] = 0; + out_3220493145206738279[12] = 0; + out_3220493145206738279[13] = 0; + out_3220493145206738279[14] = 0; + out_3220493145206738279[15] = 0; + out_3220493145206738279[16] = 0; + out_3220493145206738279[17] = 0; + out_3220493145206738279[18] = 0; + out_3220493145206738279[19] = 0; + out_3220493145206738279[20] = 0; + out_3220493145206738279[21] = 0; + out_3220493145206738279[22] = 0; + out_3220493145206738279[23] = 0; + out_3220493145206738279[24] = 0; + out_3220493145206738279[25] = 1; + out_3220493145206738279[26] = 0; + out_3220493145206738279[27] = 0; + out_3220493145206738279[28] = 1; + out_3220493145206738279[29] = 0; + out_3220493145206738279[30] = 0; + out_3220493145206738279[31] = 0; + out_3220493145206738279[32] = 0; + out_3220493145206738279[33] = 0; + out_3220493145206738279[34] = 0; + out_3220493145206738279[35] = 0; + out_3220493145206738279[36] = 0; + out_3220493145206738279[37] = 0; + out_3220493145206738279[38] = 0; + out_3220493145206738279[39] = 0; + out_3220493145206738279[40] = 0; + out_3220493145206738279[41] = 0; + out_3220493145206738279[42] = 0; + out_3220493145206738279[43] = 0; + out_3220493145206738279[44] = 1; + out_3220493145206738279[45] = 0; + out_3220493145206738279[46] = 0; + out_3220493145206738279[47] = 1; + out_3220493145206738279[48] = 0; + out_3220493145206738279[49] = 0; + out_3220493145206738279[50] = 0; + out_3220493145206738279[51] = 0; + out_3220493145206738279[52] = 0; + out_3220493145206738279[53] = 0; } -void h_10(double *state, double *unused, double *out_5036026826105273660) { - out_5036026826105273660[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5036026826105273660[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5036026826105273660[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_6806037226153200611) { + out_6806037226153200611[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6806037226153200611[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6806037226153200611[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_6410218509014697900) { - out_6410218509014697900[0] = 0; - out_6410218509014697900[1] = 9.8100000000000005*cos(state[1]); - out_6410218509014697900[2] = 0; - out_6410218509014697900[3] = 0; - out_6410218509014697900[4] = -state[8]; - out_6410218509014697900[5] = state[7]; - out_6410218509014697900[6] = 0; - out_6410218509014697900[7] = state[5]; - out_6410218509014697900[8] = -state[4]; - out_6410218509014697900[9] = 0; - out_6410218509014697900[10] = 0; - out_6410218509014697900[11] = 0; - out_6410218509014697900[12] = 1; - out_6410218509014697900[13] = 0; - out_6410218509014697900[14] = 0; - out_6410218509014697900[15] = 1; - out_6410218509014697900[16] = 0; - out_6410218509014697900[17] = 0; - out_6410218509014697900[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6410218509014697900[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6410218509014697900[20] = 0; - out_6410218509014697900[21] = state[8]; - out_6410218509014697900[22] = 0; - out_6410218509014697900[23] = -state[6]; - out_6410218509014697900[24] = -state[5]; - out_6410218509014697900[25] = 0; - out_6410218509014697900[26] = state[3]; - out_6410218509014697900[27] = 0; - out_6410218509014697900[28] = 0; - out_6410218509014697900[29] = 0; - out_6410218509014697900[30] = 0; - out_6410218509014697900[31] = 1; - out_6410218509014697900[32] = 0; - out_6410218509014697900[33] = 0; - out_6410218509014697900[34] = 1; - out_6410218509014697900[35] = 0; - out_6410218509014697900[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6410218509014697900[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6410218509014697900[38] = 0; - out_6410218509014697900[39] = -state[7]; - out_6410218509014697900[40] = state[6]; - out_6410218509014697900[41] = 0; - out_6410218509014697900[42] = state[4]; - out_6410218509014697900[43] = -state[3]; - out_6410218509014697900[44] = 0; - out_6410218509014697900[45] = 0; - out_6410218509014697900[46] = 0; - out_6410218509014697900[47] = 0; - out_6410218509014697900[48] = 0; - out_6410218509014697900[49] = 0; - out_6410218509014697900[50] = 1; - out_6410218509014697900[51] = 0; - out_6410218509014697900[52] = 0; - out_6410218509014697900[53] = 1; +void H_10(double *state, double *unused, double *out_3332311375343894911) { + out_3332311375343894911[0] = 0; + out_3332311375343894911[1] = 9.8100000000000005*cos(state[1]); + out_3332311375343894911[2] = 0; + out_3332311375343894911[3] = 0; + out_3332311375343894911[4] = -state[8]; + out_3332311375343894911[5] = state[7]; + out_3332311375343894911[6] = 0; + out_3332311375343894911[7] = state[5]; + out_3332311375343894911[8] = -state[4]; + out_3332311375343894911[9] = 0; + out_3332311375343894911[10] = 0; + out_3332311375343894911[11] = 0; + out_3332311375343894911[12] = 1; + out_3332311375343894911[13] = 0; + out_3332311375343894911[14] = 0; + out_3332311375343894911[15] = 1; + out_3332311375343894911[16] = 0; + out_3332311375343894911[17] = 0; + out_3332311375343894911[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3332311375343894911[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3332311375343894911[20] = 0; + out_3332311375343894911[21] = state[8]; + out_3332311375343894911[22] = 0; + out_3332311375343894911[23] = -state[6]; + out_3332311375343894911[24] = -state[5]; + out_3332311375343894911[25] = 0; + out_3332311375343894911[26] = state[3]; + out_3332311375343894911[27] = 0; + out_3332311375343894911[28] = 0; + out_3332311375343894911[29] = 0; + out_3332311375343894911[30] = 0; + out_3332311375343894911[31] = 1; + out_3332311375343894911[32] = 0; + out_3332311375343894911[33] = 0; + out_3332311375343894911[34] = 1; + out_3332311375343894911[35] = 0; + out_3332311375343894911[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3332311375343894911[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3332311375343894911[38] = 0; + out_3332311375343894911[39] = -state[7]; + out_3332311375343894911[40] = state[6]; + out_3332311375343894911[41] = 0; + out_3332311375343894911[42] = state[4]; + out_3332311375343894911[43] = -state[3]; + out_3332311375343894911[44] = 0; + out_3332311375343894911[45] = 0; + out_3332311375343894911[46] = 0; + out_3332311375343894911[47] = 0; + out_3332311375343894911[48] = 0; + out_3332311375343894911[49] = 0; + out_3332311375343894911[50] = 1; + out_3332311375343894911[51] = 0; + out_3332311375343894911[52] = 0; + out_3332311375343894911[53] = 1; } -void h_13(double *state, double *unused, double *out_1633683833944592611) { - out_1633683833944592611[0] = state[3]; - out_1633683833944592611[1] = state[4]; - out_1633683833944592611[2] = state[5]; +void h_13(double *state, double *unused, double *out_6113289319154753757) { + out_6113289319154753757[0] = state[3]; + out_6113289319154753757[1] = state[4]; + out_6113289319154753757[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7139241282059371422) { - out_7139241282059371422[0] = 0; - out_7139241282059371422[1] = 0; - out_7139241282059371422[2] = 0; - out_7139241282059371422[3] = 1; - out_7139241282059371422[4] = 0; - out_7139241282059371422[5] = 0; - out_7139241282059371422[6] = 0; - out_7139241282059371422[7] = 0; - out_7139241282059371422[8] = 0; - out_7139241282059371422[9] = 0; - out_7139241282059371422[10] = 0; - out_7139241282059371422[11] = 0; - out_7139241282059371422[12] = 0; - out_7139241282059371422[13] = 0; - out_7139241282059371422[14] = 0; - out_7139241282059371422[15] = 0; - out_7139241282059371422[16] = 0; - out_7139241282059371422[17] = 0; - out_7139241282059371422[18] = 0; - out_7139241282059371422[19] = 0; - out_7139241282059371422[20] = 0; - out_7139241282059371422[21] = 0; - out_7139241282059371422[22] = 1; - out_7139241282059371422[23] = 0; - out_7139241282059371422[24] = 0; - out_7139241282059371422[25] = 0; - out_7139241282059371422[26] = 0; - out_7139241282059371422[27] = 0; - out_7139241282059371422[28] = 0; - out_7139241282059371422[29] = 0; - out_7139241282059371422[30] = 0; - out_7139241282059371422[31] = 0; - out_7139241282059371422[32] = 0; - out_7139241282059371422[33] = 0; - out_7139241282059371422[34] = 0; - out_7139241282059371422[35] = 0; - out_7139241282059371422[36] = 0; - out_7139241282059371422[37] = 0; - out_7139241282059371422[38] = 0; - out_7139241282059371422[39] = 0; - out_7139241282059371422[40] = 0; - out_7139241282059371422[41] = 1; - out_7139241282059371422[42] = 0; - out_7139241282059371422[43] = 0; - out_7139241282059371422[44] = 0; - out_7139241282059371422[45] = 0; - out_7139241282059371422[46] = 0; - out_7139241282059371422[47] = 0; - out_7139241282059371422[48] = 0; - out_7139241282059371422[49] = 0; - out_7139241282059371422[50] = 0; - out_7139241282059371422[51] = 0; - out_7139241282059371422[52] = 0; - out_7139241282059371422[53] = 0; +void H_13(double *state, double *unused, double *out_8219319874405478) { + out_8219319874405478[0] = 0; + out_8219319874405478[1] = 0; + out_8219319874405478[2] = 0; + out_8219319874405478[3] = 1; + out_8219319874405478[4] = 0; + out_8219319874405478[5] = 0; + out_8219319874405478[6] = 0; + out_8219319874405478[7] = 0; + out_8219319874405478[8] = 0; + out_8219319874405478[9] = 0; + out_8219319874405478[10] = 0; + out_8219319874405478[11] = 0; + out_8219319874405478[12] = 0; + out_8219319874405478[13] = 0; + out_8219319874405478[14] = 0; + out_8219319874405478[15] = 0; + out_8219319874405478[16] = 0; + out_8219319874405478[17] = 0; + out_8219319874405478[18] = 0; + out_8219319874405478[19] = 0; + out_8219319874405478[20] = 0; + out_8219319874405478[21] = 0; + out_8219319874405478[22] = 1; + out_8219319874405478[23] = 0; + out_8219319874405478[24] = 0; + out_8219319874405478[25] = 0; + out_8219319874405478[26] = 0; + out_8219319874405478[27] = 0; + out_8219319874405478[28] = 0; + out_8219319874405478[29] = 0; + out_8219319874405478[30] = 0; + out_8219319874405478[31] = 0; + out_8219319874405478[32] = 0; + out_8219319874405478[33] = 0; + out_8219319874405478[34] = 0; + out_8219319874405478[35] = 0; + out_8219319874405478[36] = 0; + out_8219319874405478[37] = 0; + out_8219319874405478[38] = 0; + out_8219319874405478[39] = 0; + out_8219319874405478[40] = 0; + out_8219319874405478[41] = 1; + out_8219319874405478[42] = 0; + out_8219319874405478[43] = 0; + out_8219319874405478[44] = 0; + out_8219319874405478[45] = 0; + out_8219319874405478[46] = 0; + out_8219319874405478[47] = 0; + out_8219319874405478[48] = 0; + out_8219319874405478[49] = 0; + out_8219319874405478[50] = 0; + out_8219319874405478[51] = 0; + out_8219319874405478[52] = 0; + out_8219319874405478[53] = 0; } -void h_14(double *state, double *unused, double *out_8904836124963581929) { - out_8904836124963581929[0] = state[6]; - out_8904836124963581929[1] = state[7]; - out_8904836124963581929[2] = state[8]; +void h_14(double *state, double *unused, double *out_6792742952256744963) { + out_6792742952256744963[0] = state[6]; + out_6792742952256744963[1] = state[7]; + out_6792742952256744963[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3491850930082155022) { - out_3491850930082155022[0] = 0; - out_3491850930082155022[1] = 0; - out_3491850930082155022[2] = 0; - out_3491850930082155022[3] = 0; - out_3491850930082155022[4] = 0; - out_3491850930082155022[5] = 0; - out_3491850930082155022[6] = 1; - out_3491850930082155022[7] = 0; - out_3491850930082155022[8] = 0; - out_3491850930082155022[9] = 0; - out_3491850930082155022[10] = 0; - out_3491850930082155022[11] = 0; - out_3491850930082155022[12] = 0; - out_3491850930082155022[13] = 0; - out_3491850930082155022[14] = 0; - out_3491850930082155022[15] = 0; - out_3491850930082155022[16] = 0; - out_3491850930082155022[17] = 0; - out_3491850930082155022[18] = 0; - out_3491850930082155022[19] = 0; - out_3491850930082155022[20] = 0; - out_3491850930082155022[21] = 0; - out_3491850930082155022[22] = 0; - out_3491850930082155022[23] = 0; - out_3491850930082155022[24] = 0; - out_3491850930082155022[25] = 1; - out_3491850930082155022[26] = 0; - out_3491850930082155022[27] = 0; - out_3491850930082155022[28] = 0; - out_3491850930082155022[29] = 0; - out_3491850930082155022[30] = 0; - out_3491850930082155022[31] = 0; - out_3491850930082155022[32] = 0; - out_3491850930082155022[33] = 0; - out_3491850930082155022[34] = 0; - out_3491850930082155022[35] = 0; - out_3491850930082155022[36] = 0; - out_3491850930082155022[37] = 0; - out_3491850930082155022[38] = 0; - out_3491850930082155022[39] = 0; - out_3491850930082155022[40] = 0; - out_3491850930082155022[41] = 0; - out_3491850930082155022[42] = 0; - out_3491850930082155022[43] = 0; - out_3491850930082155022[44] = 1; - out_3491850930082155022[45] = 0; - out_3491850930082155022[46] = 0; - out_3491850930082155022[47] = 0; - out_3491850930082155022[48] = 0; - out_3491850930082155022[49] = 0; - out_3491850930082155022[50] = 0; - out_3491850930082155022[51] = 0; - out_3491850930082155022[52] = 0; - out_3491850930082155022[53] = 0; +void H_14(double *state, double *unused, double *out_742747711132746250) { + out_742747711132746250[0] = 0; + out_742747711132746250[1] = 0; + out_742747711132746250[2] = 0; + out_742747711132746250[3] = 0; + out_742747711132746250[4] = 0; + out_742747711132746250[5] = 0; + out_742747711132746250[6] = 1; + out_742747711132746250[7] = 0; + out_742747711132746250[8] = 0; + out_742747711132746250[9] = 0; + out_742747711132746250[10] = 0; + out_742747711132746250[11] = 0; + out_742747711132746250[12] = 0; + out_742747711132746250[13] = 0; + out_742747711132746250[14] = 0; + out_742747711132746250[15] = 0; + out_742747711132746250[16] = 0; + out_742747711132746250[17] = 0; + out_742747711132746250[18] = 0; + out_742747711132746250[19] = 0; + out_742747711132746250[20] = 0; + out_742747711132746250[21] = 0; + out_742747711132746250[22] = 0; + out_742747711132746250[23] = 0; + out_742747711132746250[24] = 0; + out_742747711132746250[25] = 1; + out_742747711132746250[26] = 0; + out_742747711132746250[27] = 0; + out_742747711132746250[28] = 0; + out_742747711132746250[29] = 0; + out_742747711132746250[30] = 0; + out_742747711132746250[31] = 0; + out_742747711132746250[32] = 0; + out_742747711132746250[33] = 0; + out_742747711132746250[34] = 0; + out_742747711132746250[35] = 0; + out_742747711132746250[36] = 0; + out_742747711132746250[37] = 0; + out_742747711132746250[38] = 0; + out_742747711132746250[39] = 0; + out_742747711132746250[40] = 0; + out_742747711132746250[41] = 0; + out_742747711132746250[42] = 0; + out_742747711132746250[43] = 0; + out_742747711132746250[44] = 1; + out_742747711132746250[45] = 0; + out_742747711132746250[46] = 0; + out_742747711132746250[47] = 0; + out_742747711132746250[48] = 0; + out_742747711132746250[49] = 0; + out_742747711132746250[50] = 0; + out_742747711132746250[51] = 0; + out_742747711132746250[52] = 0; + out_742747711132746250[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_1608596609641417580) { - err_fun(nom_x, delta_x, out_1608596609641417580); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4091115333149920439) { + err_fun(nom_x, delta_x, out_4091115333149920439); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1300195658449584630) { - inv_err_fun(nom_x, true_x, out_1300195658449584630); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6264186140300305590) { + inv_err_fun(nom_x, true_x, out_6264186140300305590); } -void pose_H_mod_fun(double *state, double *out_4243197136101237079) { - H_mod_fun(state, out_4243197136101237079); +void pose_H_mod_fun(double *state, double *out_4881048693765674271) { + H_mod_fun(state, out_4881048693765674271); } -void pose_f_fun(double *state, double dt, double *out_5843270271854622054) { - f_fun(state, dt, out_5843270271854622054); +void pose_f_fun(double *state, double dt, double *out_2074460560152714132) { + f_fun(state, dt, out_2074460560152714132); } -void pose_F_fun(double *state, double dt, double *out_1867205219410655269) { - F_fun(state, dt, out_1867205219410655269); +void pose_F_fun(double *state, double dt, double *out_2950416268004545311) { + F_fun(state, dt, out_2950416268004545311); } -void pose_h_4(double *state, double *unused, double *out_980464455538860381) { - h_4(state, unused, out_980464455538860381); +void pose_h_4(double *state, double *unused, double *out_7825885472463858534) { + h_4(state, unused, out_7825885472463858534); } -void pose_H_4(double *state, double *unused, double *out_471389926257329507) { - H_4(state, unused, out_471389926257329507); +void pose_H_4(double *state, double *unused, double *out_3220493145206738279) { + H_4(state, unused, out_3220493145206738279); } -void pose_h_10(double *state, double *unused, double *out_5036026826105273660) { - h_10(state, unused, out_5036026826105273660); +void pose_h_10(double *state, double *unused, double *out_6806037226153200611) { + h_10(state, unused, out_6806037226153200611); } -void pose_H_10(double *state, double *unused, double *out_6410218509014697900) { - H_10(state, unused, out_6410218509014697900); +void pose_H_10(double *state, double *unused, double *out_3332311375343894911) { + H_10(state, unused, out_3332311375343894911); } -void pose_h_13(double *state, double *unused, double *out_1633683833944592611) { - h_13(state, unused, out_1633683833944592611); +void pose_h_13(double *state, double *unused, double *out_6113289319154753757) { + h_13(state, unused, out_6113289319154753757); } -void pose_H_13(double *state, double *unused, double *out_7139241282059371422) { - H_13(state, unused, out_7139241282059371422); +void pose_H_13(double *state, double *unused, double *out_8219319874405478) { + H_13(state, unused, out_8219319874405478); } -void pose_h_14(double *state, double *unused, double *out_8904836124963581929) { - h_14(state, unused, out_8904836124963581929); +void pose_h_14(double *state, double *unused, double *out_6792742952256744963) { + h_14(state, unused, out_6792742952256744963); } -void pose_H_14(double *state, double *unused, double *out_3491850930082155022) { - H_14(state, unused, out_3491850930082155022); +void pose_H_14(double *state, double *unused, double *out_742747711132746250) { + H_14(state, unused, out_742747711132746250); } 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 eac212cf0..62f50e301 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_1608596609641417580); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1300195658449584630); -void pose_H_mod_fun(double *state, double *out_4243197136101237079); -void pose_f_fun(double *state, double dt, double *out_5843270271854622054); -void pose_F_fun(double *state, double dt, double *out_1867205219410655269); -void pose_h_4(double *state, double *unused, double *out_980464455538860381); -void pose_H_4(double *state, double *unused, double *out_471389926257329507); -void pose_h_10(double *state, double *unused, double *out_5036026826105273660); -void pose_H_10(double *state, double *unused, double *out_6410218509014697900); -void pose_h_13(double *state, double *unused, double *out_1633683833944592611); -void pose_H_13(double *state, double *unused, double *out_7139241282059371422); -void pose_h_14(double *state, double *unused, double *out_8904836124963581929); -void pose_H_14(double *state, double *unused, double *out_3491850930082155022); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4091115333149920439); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6264186140300305590); +void pose_H_mod_fun(double *state, double *out_4881048693765674271); +void pose_f_fun(double *state, double dt, double *out_2074460560152714132); +void pose_F_fun(double *state, double dt, double *out_2950416268004545311); +void pose_h_4(double *state, double *unused, double *out_7825885472463858534); +void pose_H_4(double *state, double *unused, double *out_3220493145206738279); +void pose_h_10(double *state, double *unused, double *out_6806037226153200611); +void pose_H_10(double *state, double *unused, double *out_3332311375343894911); +void pose_h_13(double *state, double *unused, double *out_6113289319154753757); +void pose_H_13(double *state, double *unused, double *out_8219319874405478); +void pose_h_14(double *state, double *unused, double *out_6792742952256744963); +void pose_H_14(double *state, double *unused, double *out_742747711132746250); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index b11060199..fb6a345b5 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ