diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 4a7a86891..11f6e7f2a 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 fb7eb54ea..af054d334 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 8bab6277a..496d219d6 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 8a6302517..bf8b6a5d6 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 e9fd1a086..0474cd0c4 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 3a48b4f4f..9dabdd754 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 594c65da1..6424e8bc8 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 594c65da1..6424e8bc8 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index f7b1fa31d..1195980d7 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 3a48b4f4f..9dabdd754 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 ff25e0ffe..54a7e38ff 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-6ca397b8-DEBUG"; +const uint8_t gitversion[19] = "DEV-cdca40f0-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 1edf4504a..4ccbd5aac 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 14f2ab468..741c522a6 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 6af7e6dfe..3b9b9b3ac 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 75ffdd70e..81e006245 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 28c3fcfd0..a82d4dd5e 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 10abf3286..586c37fe1 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 f7928f5b6..a58cf3aa8 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 ee946c43f..2bccd812c 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 7ff7b44ed..f284181cf 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 fcf88312c..dea455830 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 72a5d3cc8..731f13f84 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 83783ce10..766499ad5 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 5f8aeb51d..0b53d1187 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 7c4fc0367..35e96b98a 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 47d51977c..0ad6cce08 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 9aac1142b..c6d0fdcd4 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 e68c61b0d..0ccb76b0b 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 9a92e44a5..acd33f778 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 12b33fe69..4e5a8782f 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 144b460cf..369b116b4 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 734ddc00a..bf9d44d97 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-6ca397b8-DEBUG \ No newline at end of file +DEV-cdca40f0-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index a8617b9e4..db42cd5f4 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_4770141140221383025) { - out_4770141140221383025[0] = delta_x[0] + nom_x[0]; - out_4770141140221383025[1] = delta_x[1] + nom_x[1]; - out_4770141140221383025[2] = delta_x[2] + nom_x[2]; - out_4770141140221383025[3] = delta_x[3] + nom_x[3]; - out_4770141140221383025[4] = delta_x[4] + nom_x[4]; - out_4770141140221383025[5] = delta_x[5] + nom_x[5]; - out_4770141140221383025[6] = delta_x[6] + nom_x[6]; - out_4770141140221383025[7] = delta_x[7] + nom_x[7]; - out_4770141140221383025[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_4413943037710355540) { + out_4413943037710355540[0] = delta_x[0] + nom_x[0]; + out_4413943037710355540[1] = delta_x[1] + nom_x[1]; + out_4413943037710355540[2] = delta_x[2] + nom_x[2]; + out_4413943037710355540[3] = delta_x[3] + nom_x[3]; + out_4413943037710355540[4] = delta_x[4] + nom_x[4]; + out_4413943037710355540[5] = delta_x[5] + nom_x[5]; + out_4413943037710355540[6] = delta_x[6] + nom_x[6]; + out_4413943037710355540[7] = delta_x[7] + nom_x[7]; + out_4413943037710355540[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8267480455965364332) { - out_8267480455965364332[0] = -nom_x[0] + true_x[0]; - out_8267480455965364332[1] = -nom_x[1] + true_x[1]; - out_8267480455965364332[2] = -nom_x[2] + true_x[2]; - out_8267480455965364332[3] = -nom_x[3] + true_x[3]; - out_8267480455965364332[4] = -nom_x[4] + true_x[4]; - out_8267480455965364332[5] = -nom_x[5] + true_x[5]; - out_8267480455965364332[6] = -nom_x[6] + true_x[6]; - out_8267480455965364332[7] = -nom_x[7] + true_x[7]; - out_8267480455965364332[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_896653973664715101) { + out_896653973664715101[0] = -nom_x[0] + true_x[0]; + out_896653973664715101[1] = -nom_x[1] + true_x[1]; + out_896653973664715101[2] = -nom_x[2] + true_x[2]; + out_896653973664715101[3] = -nom_x[3] + true_x[3]; + out_896653973664715101[4] = -nom_x[4] + true_x[4]; + out_896653973664715101[5] = -nom_x[5] + true_x[5]; + out_896653973664715101[6] = -nom_x[6] + true_x[6]; + out_896653973664715101[7] = -nom_x[7] + true_x[7]; + out_896653973664715101[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4700437164455479144) { - out_4700437164455479144[0] = 1.0; - out_4700437164455479144[1] = 0.0; - out_4700437164455479144[2] = 0.0; - out_4700437164455479144[3] = 0.0; - out_4700437164455479144[4] = 0.0; - out_4700437164455479144[5] = 0.0; - out_4700437164455479144[6] = 0.0; - out_4700437164455479144[7] = 0.0; - out_4700437164455479144[8] = 0.0; - out_4700437164455479144[9] = 0.0; - out_4700437164455479144[10] = 1.0; - out_4700437164455479144[11] = 0.0; - out_4700437164455479144[12] = 0.0; - out_4700437164455479144[13] = 0.0; - out_4700437164455479144[14] = 0.0; - out_4700437164455479144[15] = 0.0; - out_4700437164455479144[16] = 0.0; - out_4700437164455479144[17] = 0.0; - out_4700437164455479144[18] = 0.0; - out_4700437164455479144[19] = 0.0; - out_4700437164455479144[20] = 1.0; - out_4700437164455479144[21] = 0.0; - out_4700437164455479144[22] = 0.0; - out_4700437164455479144[23] = 0.0; - out_4700437164455479144[24] = 0.0; - out_4700437164455479144[25] = 0.0; - out_4700437164455479144[26] = 0.0; - out_4700437164455479144[27] = 0.0; - out_4700437164455479144[28] = 0.0; - out_4700437164455479144[29] = 0.0; - out_4700437164455479144[30] = 1.0; - out_4700437164455479144[31] = 0.0; - out_4700437164455479144[32] = 0.0; - out_4700437164455479144[33] = 0.0; - out_4700437164455479144[34] = 0.0; - out_4700437164455479144[35] = 0.0; - out_4700437164455479144[36] = 0.0; - out_4700437164455479144[37] = 0.0; - out_4700437164455479144[38] = 0.0; - out_4700437164455479144[39] = 0.0; - out_4700437164455479144[40] = 1.0; - out_4700437164455479144[41] = 0.0; - out_4700437164455479144[42] = 0.0; - out_4700437164455479144[43] = 0.0; - out_4700437164455479144[44] = 0.0; - out_4700437164455479144[45] = 0.0; - out_4700437164455479144[46] = 0.0; - out_4700437164455479144[47] = 0.0; - out_4700437164455479144[48] = 0.0; - out_4700437164455479144[49] = 0.0; - out_4700437164455479144[50] = 1.0; - out_4700437164455479144[51] = 0.0; - out_4700437164455479144[52] = 0.0; - out_4700437164455479144[53] = 0.0; - out_4700437164455479144[54] = 0.0; - out_4700437164455479144[55] = 0.0; - out_4700437164455479144[56] = 0.0; - out_4700437164455479144[57] = 0.0; - out_4700437164455479144[58] = 0.0; - out_4700437164455479144[59] = 0.0; - out_4700437164455479144[60] = 1.0; - out_4700437164455479144[61] = 0.0; - out_4700437164455479144[62] = 0.0; - out_4700437164455479144[63] = 0.0; - out_4700437164455479144[64] = 0.0; - out_4700437164455479144[65] = 0.0; - out_4700437164455479144[66] = 0.0; - out_4700437164455479144[67] = 0.0; - out_4700437164455479144[68] = 0.0; - out_4700437164455479144[69] = 0.0; - out_4700437164455479144[70] = 1.0; - out_4700437164455479144[71] = 0.0; - out_4700437164455479144[72] = 0.0; - out_4700437164455479144[73] = 0.0; - out_4700437164455479144[74] = 0.0; - out_4700437164455479144[75] = 0.0; - out_4700437164455479144[76] = 0.0; - out_4700437164455479144[77] = 0.0; - out_4700437164455479144[78] = 0.0; - out_4700437164455479144[79] = 0.0; - out_4700437164455479144[80] = 1.0; +void H_mod_fun(double *state, double *out_5267188789104253679) { + out_5267188789104253679[0] = 1.0; + out_5267188789104253679[1] = 0.0; + out_5267188789104253679[2] = 0.0; + out_5267188789104253679[3] = 0.0; + out_5267188789104253679[4] = 0.0; + out_5267188789104253679[5] = 0.0; + out_5267188789104253679[6] = 0.0; + out_5267188789104253679[7] = 0.0; + out_5267188789104253679[8] = 0.0; + out_5267188789104253679[9] = 0.0; + out_5267188789104253679[10] = 1.0; + out_5267188789104253679[11] = 0.0; + out_5267188789104253679[12] = 0.0; + out_5267188789104253679[13] = 0.0; + out_5267188789104253679[14] = 0.0; + out_5267188789104253679[15] = 0.0; + out_5267188789104253679[16] = 0.0; + out_5267188789104253679[17] = 0.0; + out_5267188789104253679[18] = 0.0; + out_5267188789104253679[19] = 0.0; + out_5267188789104253679[20] = 1.0; + out_5267188789104253679[21] = 0.0; + out_5267188789104253679[22] = 0.0; + out_5267188789104253679[23] = 0.0; + out_5267188789104253679[24] = 0.0; + out_5267188789104253679[25] = 0.0; + out_5267188789104253679[26] = 0.0; + out_5267188789104253679[27] = 0.0; + out_5267188789104253679[28] = 0.0; + out_5267188789104253679[29] = 0.0; + out_5267188789104253679[30] = 1.0; + out_5267188789104253679[31] = 0.0; + out_5267188789104253679[32] = 0.0; + out_5267188789104253679[33] = 0.0; + out_5267188789104253679[34] = 0.0; + out_5267188789104253679[35] = 0.0; + out_5267188789104253679[36] = 0.0; + out_5267188789104253679[37] = 0.0; + out_5267188789104253679[38] = 0.0; + out_5267188789104253679[39] = 0.0; + out_5267188789104253679[40] = 1.0; + out_5267188789104253679[41] = 0.0; + out_5267188789104253679[42] = 0.0; + out_5267188789104253679[43] = 0.0; + out_5267188789104253679[44] = 0.0; + out_5267188789104253679[45] = 0.0; + out_5267188789104253679[46] = 0.0; + out_5267188789104253679[47] = 0.0; + out_5267188789104253679[48] = 0.0; + out_5267188789104253679[49] = 0.0; + out_5267188789104253679[50] = 1.0; + out_5267188789104253679[51] = 0.0; + out_5267188789104253679[52] = 0.0; + out_5267188789104253679[53] = 0.0; + out_5267188789104253679[54] = 0.0; + out_5267188789104253679[55] = 0.0; + out_5267188789104253679[56] = 0.0; + out_5267188789104253679[57] = 0.0; + out_5267188789104253679[58] = 0.0; + out_5267188789104253679[59] = 0.0; + out_5267188789104253679[60] = 1.0; + out_5267188789104253679[61] = 0.0; + out_5267188789104253679[62] = 0.0; + out_5267188789104253679[63] = 0.0; + out_5267188789104253679[64] = 0.0; + out_5267188789104253679[65] = 0.0; + out_5267188789104253679[66] = 0.0; + out_5267188789104253679[67] = 0.0; + out_5267188789104253679[68] = 0.0; + out_5267188789104253679[69] = 0.0; + out_5267188789104253679[70] = 1.0; + out_5267188789104253679[71] = 0.0; + out_5267188789104253679[72] = 0.0; + out_5267188789104253679[73] = 0.0; + out_5267188789104253679[74] = 0.0; + out_5267188789104253679[75] = 0.0; + out_5267188789104253679[76] = 0.0; + out_5267188789104253679[77] = 0.0; + out_5267188789104253679[78] = 0.0; + out_5267188789104253679[79] = 0.0; + out_5267188789104253679[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2370248777466162255) { - out_2370248777466162255[0] = state[0]; - out_2370248777466162255[1] = state[1]; - out_2370248777466162255[2] = state[2]; - out_2370248777466162255[3] = state[3]; - out_2370248777466162255[4] = state[4]; - out_2370248777466162255[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_2370248777466162255[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_2370248777466162255[7] = state[7]; - out_2370248777466162255[8] = state[8]; +void f_fun(double *state, double dt, double *out_1590758894307502735) { + out_1590758894307502735[0] = state[0]; + out_1590758894307502735[1] = state[1]; + out_1590758894307502735[2] = state[2]; + out_1590758894307502735[3] = state[3]; + out_1590758894307502735[4] = state[4]; + out_1590758894307502735[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_1590758894307502735[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_1590758894307502735[7] = state[7]; + out_1590758894307502735[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7809506053810665802) { - out_7809506053810665802[0] = 1; - out_7809506053810665802[1] = 0; - out_7809506053810665802[2] = 0; - out_7809506053810665802[3] = 0; - out_7809506053810665802[4] = 0; - out_7809506053810665802[5] = 0; - out_7809506053810665802[6] = 0; - out_7809506053810665802[7] = 0; - out_7809506053810665802[8] = 0; - out_7809506053810665802[9] = 0; - out_7809506053810665802[10] = 1; - out_7809506053810665802[11] = 0; - out_7809506053810665802[12] = 0; - out_7809506053810665802[13] = 0; - out_7809506053810665802[14] = 0; - out_7809506053810665802[15] = 0; - out_7809506053810665802[16] = 0; - out_7809506053810665802[17] = 0; - out_7809506053810665802[18] = 0; - out_7809506053810665802[19] = 0; - out_7809506053810665802[20] = 1; - out_7809506053810665802[21] = 0; - out_7809506053810665802[22] = 0; - out_7809506053810665802[23] = 0; - out_7809506053810665802[24] = 0; - out_7809506053810665802[25] = 0; - out_7809506053810665802[26] = 0; - out_7809506053810665802[27] = 0; - out_7809506053810665802[28] = 0; - out_7809506053810665802[29] = 0; - out_7809506053810665802[30] = 1; - out_7809506053810665802[31] = 0; - out_7809506053810665802[32] = 0; - out_7809506053810665802[33] = 0; - out_7809506053810665802[34] = 0; - out_7809506053810665802[35] = 0; - out_7809506053810665802[36] = 0; - out_7809506053810665802[37] = 0; - out_7809506053810665802[38] = 0; - out_7809506053810665802[39] = 0; - out_7809506053810665802[40] = 1; - out_7809506053810665802[41] = 0; - out_7809506053810665802[42] = 0; - out_7809506053810665802[43] = 0; - out_7809506053810665802[44] = 0; - out_7809506053810665802[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_7809506053810665802[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7809506053810665802[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7809506053810665802[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7809506053810665802[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_7809506053810665802[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7809506053810665802[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7809506053810665802[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7809506053810665802[53] = -9.8100000000000005*dt; - out_7809506053810665802[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_7809506053810665802[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7809506053810665802[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7809506053810665802[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7809506053810665802[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_7809506053810665802[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7809506053810665802[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_7809506053810665802[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7809506053810665802[62] = 0; - out_7809506053810665802[63] = 0; - out_7809506053810665802[64] = 0; - out_7809506053810665802[65] = 0; - out_7809506053810665802[66] = 0; - out_7809506053810665802[67] = 0; - out_7809506053810665802[68] = 0; - out_7809506053810665802[69] = 0; - out_7809506053810665802[70] = 1; - out_7809506053810665802[71] = 0; - out_7809506053810665802[72] = 0; - out_7809506053810665802[73] = 0; - out_7809506053810665802[74] = 0; - out_7809506053810665802[75] = 0; - out_7809506053810665802[76] = 0; - out_7809506053810665802[77] = 0; - out_7809506053810665802[78] = 0; - out_7809506053810665802[79] = 0; - out_7809506053810665802[80] = 1; +void F_fun(double *state, double dt, double *out_4932077017586128960) { + out_4932077017586128960[0] = 1; + out_4932077017586128960[1] = 0; + out_4932077017586128960[2] = 0; + out_4932077017586128960[3] = 0; + out_4932077017586128960[4] = 0; + out_4932077017586128960[5] = 0; + out_4932077017586128960[6] = 0; + out_4932077017586128960[7] = 0; + out_4932077017586128960[8] = 0; + out_4932077017586128960[9] = 0; + out_4932077017586128960[10] = 1; + out_4932077017586128960[11] = 0; + out_4932077017586128960[12] = 0; + out_4932077017586128960[13] = 0; + out_4932077017586128960[14] = 0; + out_4932077017586128960[15] = 0; + out_4932077017586128960[16] = 0; + out_4932077017586128960[17] = 0; + out_4932077017586128960[18] = 0; + out_4932077017586128960[19] = 0; + out_4932077017586128960[20] = 1; + out_4932077017586128960[21] = 0; + out_4932077017586128960[22] = 0; + out_4932077017586128960[23] = 0; + out_4932077017586128960[24] = 0; + out_4932077017586128960[25] = 0; + out_4932077017586128960[26] = 0; + out_4932077017586128960[27] = 0; + out_4932077017586128960[28] = 0; + out_4932077017586128960[29] = 0; + out_4932077017586128960[30] = 1; + out_4932077017586128960[31] = 0; + out_4932077017586128960[32] = 0; + out_4932077017586128960[33] = 0; + out_4932077017586128960[34] = 0; + out_4932077017586128960[35] = 0; + out_4932077017586128960[36] = 0; + out_4932077017586128960[37] = 0; + out_4932077017586128960[38] = 0; + out_4932077017586128960[39] = 0; + out_4932077017586128960[40] = 1; + out_4932077017586128960[41] = 0; + out_4932077017586128960[42] = 0; + out_4932077017586128960[43] = 0; + out_4932077017586128960[44] = 0; + out_4932077017586128960[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_4932077017586128960[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4932077017586128960[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4932077017586128960[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4932077017586128960[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_4932077017586128960[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4932077017586128960[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4932077017586128960[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4932077017586128960[53] = -9.8100000000000005*dt; + out_4932077017586128960[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_4932077017586128960[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4932077017586128960[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4932077017586128960[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4932077017586128960[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_4932077017586128960[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4932077017586128960[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_4932077017586128960[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4932077017586128960[62] = 0; + out_4932077017586128960[63] = 0; + out_4932077017586128960[64] = 0; + out_4932077017586128960[65] = 0; + out_4932077017586128960[66] = 0; + out_4932077017586128960[67] = 0; + out_4932077017586128960[68] = 0; + out_4932077017586128960[69] = 0; + out_4932077017586128960[70] = 1; + out_4932077017586128960[71] = 0; + out_4932077017586128960[72] = 0; + out_4932077017586128960[73] = 0; + out_4932077017586128960[74] = 0; + out_4932077017586128960[75] = 0; + out_4932077017586128960[76] = 0; + out_4932077017586128960[77] = 0; + out_4932077017586128960[78] = 0; + out_4932077017586128960[79] = 0; + out_4932077017586128960[80] = 1; } -void h_25(double *state, double *unused, double *out_2714863388055632273) { - out_2714863388055632273[0] = state[6]; +void h_25(double *state, double *unused, double *out_2151142981028497358) { + out_2151142981028497358[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5824968876280212667) { - out_5824968876280212667[0] = 0; - out_5824968876280212667[1] = 0; - out_5824968876280212667[2] = 0; - out_5824968876280212667[3] = 0; - out_5824968876280212667[4] = 0; - out_5824968876280212667[5] = 0; - out_5824968876280212667[6] = 1; - out_5824968876280212667[7] = 0; - out_5824968876280212667[8] = 0; +void H_25(double *state, double *unused, double *out_5796040611085329032) { + out_5796040611085329032[0] = 0; + out_5796040611085329032[1] = 0; + out_5796040611085329032[2] = 0; + out_5796040611085329032[3] = 0; + out_5796040611085329032[4] = 0; + out_5796040611085329032[5] = 0; + out_5796040611085329032[6] = 1; + out_5796040611085329032[7] = 0; + out_5796040611085329032[8] = 0; } -void h_24(double *state, double *unused, double *out_8643275185285187003) { - out_8643275185285187003[0] = state[4]; - out_8643275185285187003[1] = state[5]; +void h_24(double *state, double *unused, double *out_7809478958388963293) { + out_7809478958388963293[0] = state[4]; + out_7809478958388963293[1] = state[5]; } -void H_24(double *state, double *unused, double *out_3403096309788982558) { - out_3403096309788982558[0] = 0; - out_3403096309788982558[1] = 0; - out_3403096309788982558[2] = 0; - out_3403096309788982558[3] = 0; - out_3403096309788982558[4] = 1; - out_3403096309788982558[5] = 0; - out_3403096309788982558[6] = 0; - out_3403096309788982558[7] = 0; - out_3403096309788982558[8] = 0; - out_3403096309788982558[9] = 0; - out_3403096309788982558[10] = 0; - out_3403096309788982558[11] = 0; - out_3403096309788982558[12] = 0; - out_3403096309788982558[13] = 0; - out_3403096309788982558[14] = 1; - out_3403096309788982558[15] = 0; - out_3403096309788982558[16] = 0; - out_3403096309788982558[17] = 0; +void H_24(double *state, double *unused, double *out_1813717459687561134) { + out_1813717459687561134[0] = 0; + out_1813717459687561134[1] = 0; + out_1813717459687561134[2] = 0; + out_1813717459687561134[3] = 0; + out_1813717459687561134[4] = 1; + out_1813717459687561134[5] = 0; + out_1813717459687561134[6] = 0; + out_1813717459687561134[7] = 0; + out_1813717459687561134[8] = 0; + out_1813717459687561134[9] = 0; + out_1813717459687561134[10] = 0; + out_1813717459687561134[11] = 0; + out_1813717459687561134[12] = 0; + out_1813717459687561134[13] = 0; + out_1813717459687561134[14] = 1; + out_1813717459687561134[15] = 0; + out_1813717459687561134[16] = 0; + out_1813717459687561134[17] = 0; } -void h_30(double *state, double *unused, double *out_4165494780684515440) { - out_4165494780684515440[0] = state[4]; +void h_30(double *state, double *unused, double *out_8921978207378848294) { + out_8921978207378848294[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8094078867301730751) { - out_8094078867301730751[0] = 0; - out_8094078867301730751[1] = 0; - out_8094078867301730751[2] = 0; - out_8094078867301730751[3] = 0; - out_8094078867301730751[4] = 1; - out_8094078867301730751[5] = 0; - out_8094078867301730751[6] = 0; - out_8094078867301730751[7] = 0; - out_8094078867301730751[8] = 0; +void H_30(double *state, double *unused, double *out_5734013121132605829) { + out_5734013121132605829[0] = 0; + out_5734013121132605829[1] = 0; + out_5734013121132605829[2] = 0; + out_5734013121132605829[3] = 0; + out_5734013121132605829[4] = 1; + out_5734013121132605829[5] = 0; + out_5734013121132605829[6] = 0; + out_5734013121132605829[7] = 0; + out_5734013121132605829[8] = 0; } -void h_26(double *state, double *unused, double *out_749221491035445424) { - out_749221491035445424[0] = state[7]; +void h_26(double *state, double *unused, double *out_3355877023318338429) { + out_3355877023318338429[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8880271878555282725) { - out_8880271878555282725[0] = 0; - out_8880271878555282725[1] = 0; - out_8880271878555282725[2] = 0; - out_8880271878555282725[3] = 0; - out_8880271878555282725[4] = 0; - out_8880271878555282725[5] = 0; - out_8880271878555282725[6] = 0; - out_8880271878555282725[7] = 1; - out_8880271878555282725[8] = 0; +void H_26(double *state, double *unused, double *out_6452894675195640936) { + out_6452894675195640936[0] = 0; + out_6452894675195640936[1] = 0; + out_6452894675195640936[2] = 0; + out_6452894675195640936[3] = 0; + out_6452894675195640936[4] = 0; + out_6452894675195640936[5] = 0; + out_6452894675195640936[6] = 0; + out_6452894675195640936[7] = 1; + out_6452894675195640936[8] = 0; } -void h_27(double *state, double *unused, double *out_8472848302049370229) { - out_8472848302049370229[0] = state[3]; +void h_27(double *state, double *unused, double *out_6869400431411979084) { + out_6869400431411979084[0] = state[3]; } -void H_27(double *state, double *unused, double *out_5919315555501305840) { - out_5919315555501305840[0] = 0; - out_5919315555501305840[1] = 0; - out_5919315555501305840[2] = 0; - out_5919315555501305840[3] = 1; - out_5919315555501305840[4] = 0; - out_5919315555501305840[5] = 0; - out_5919315555501305840[6] = 0; - out_5919315555501305840[7] = 0; - out_5919315555501305840[8] = 0; +void H_27(double *state, double *unused, double *out_7908776432933030740) { + out_7908776432933030740[0] = 0; + out_7908776432933030740[1] = 0; + out_7908776432933030740[2] = 0; + out_7908776432933030740[3] = 1; + out_7908776432933030740[4] = 0; + out_7908776432933030740[5] = 0; + out_7908776432933030740[6] = 0; + out_7908776432933030740[7] = 0; + out_7908776432933030740[8] = 0; } -void h_29(double *state, double *unused, double *out_836178486976330205) { - out_836178486976330205[0] = state[1]; +void h_29(double *state, double *unused, double *out_3696070991543523347) { + out_3696070991543523347[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8604310211616122935) { - out_8604310211616122935[0] = 0; - out_8604310211616122935[1] = 1; - out_8604310211616122935[2] = 0; - out_8604310211616122935[3] = 0; - out_8604310211616122935[4] = 0; - out_8604310211616122935[5] = 0; - out_8604310211616122935[6] = 0; - out_8604310211616122935[7] = 0; - out_8604310211616122935[8] = 0; +void H_29(double *state, double *unused, double *out_5223781776818213645) { + out_5223781776818213645[0] = 0; + out_5223781776818213645[1] = 1; + out_5223781776818213645[2] = 0; + out_5223781776818213645[3] = 0; + out_5223781776818213645[4] = 0; + out_5223781776818213645[5] = 0; + out_5223781776818213645[6] = 0; + out_5223781776818213645[7] = 0; + out_5223781776818213645[8] = 0; } -void h_28(double *state, double *unused, double *out_5838057092722024830) { - out_5838057092722024830[0] = state[0]; +void h_28(double *state, double *unused, double *out_6575670374636726887) { + out_6575670374636726887[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7878803590528102430) { - out_7878803590528102430[0] = 1; - out_7878803590528102430[1] = 0; - out_7878803590528102430[2] = 0; - out_7878803590528102430[3] = 0; - out_7878803590528102430[4] = 0; - out_7878803590528102430[5] = 0; - out_7878803590528102430[6] = 0; - out_7878803590528102430[7] = 0; - out_7878803590528102430[8] = 0; +void H_28(double *state, double *unused, double *out_8140563279821807397) { + out_8140563279821807397[0] = 1; + out_8140563279821807397[1] = 0; + out_8140563279821807397[2] = 0; + out_8140563279821807397[3] = 0; + out_8140563279821807397[4] = 0; + out_8140563279821807397[5] = 0; + out_8140563279821807397[6] = 0; + out_8140563279821807397[7] = 0; + out_8140563279821807397[8] = 0; } -void h_31(double *state, double *unused, double *out_5711256312889543433) { - out_5711256312889543433[0] = state[8]; +void h_31(double *state, double *unused, double *out_5612122275792175083) { + out_5612122275792175083[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8254063776321931249) { - out_8254063776321931249[0] = 0; - out_8254063776321931249[1] = 0; - out_8254063776321931249[2] = 0; - out_8254063776321931249[3] = 0; - out_8254063776321931249[4] = 0; - out_8254063776321931249[5] = 0; - out_8254063776321931249[6] = 0; - out_8254063776321931249[7] = 0; - out_8254063776321931249[8] = 1; +void H_31(double *state, double *unused, double *out_5826686572962289460) { + out_5826686572962289460[0] = 0; + out_5826686572962289460[1] = 0; + out_5826686572962289460[2] = 0; + out_5826686572962289460[3] = 0; + out_5826686572962289460[4] = 0; + out_5826686572962289460[5] = 0; + out_5826686572962289460[6] = 0; + out_5826686572962289460[7] = 0; + out_5826686572962289460[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_4770141140221383025) { - err_fun(nom_x, delta_x, out_4770141140221383025); +void car_err_fun(double *nom_x, double *delta_x, double *out_4413943037710355540) { + err_fun(nom_x, delta_x, out_4413943037710355540); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8267480455965364332) { - inv_err_fun(nom_x, true_x, out_8267480455965364332); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_896653973664715101) { + inv_err_fun(nom_x, true_x, out_896653973664715101); } -void car_H_mod_fun(double *state, double *out_4700437164455479144) { - H_mod_fun(state, out_4700437164455479144); +void car_H_mod_fun(double *state, double *out_5267188789104253679) { + H_mod_fun(state, out_5267188789104253679); } -void car_f_fun(double *state, double dt, double *out_2370248777466162255) { - f_fun(state, dt, out_2370248777466162255); +void car_f_fun(double *state, double dt, double *out_1590758894307502735) { + f_fun(state, dt, out_1590758894307502735); } -void car_F_fun(double *state, double dt, double *out_7809506053810665802) { - F_fun(state, dt, out_7809506053810665802); +void car_F_fun(double *state, double dt, double *out_4932077017586128960) { + F_fun(state, dt, out_4932077017586128960); } -void car_h_25(double *state, double *unused, double *out_2714863388055632273) { - h_25(state, unused, out_2714863388055632273); +void car_h_25(double *state, double *unused, double *out_2151142981028497358) { + h_25(state, unused, out_2151142981028497358); } -void car_H_25(double *state, double *unused, double *out_5824968876280212667) { - H_25(state, unused, out_5824968876280212667); +void car_H_25(double *state, double *unused, double *out_5796040611085329032) { + H_25(state, unused, out_5796040611085329032); } -void car_h_24(double *state, double *unused, double *out_8643275185285187003) { - h_24(state, unused, out_8643275185285187003); +void car_h_24(double *state, double *unused, double *out_7809478958388963293) { + h_24(state, unused, out_7809478958388963293); } -void car_H_24(double *state, double *unused, double *out_3403096309788982558) { - H_24(state, unused, out_3403096309788982558); +void car_H_24(double *state, double *unused, double *out_1813717459687561134) { + H_24(state, unused, out_1813717459687561134); } -void car_h_30(double *state, double *unused, double *out_4165494780684515440) { - h_30(state, unused, out_4165494780684515440); +void car_h_30(double *state, double *unused, double *out_8921978207378848294) { + h_30(state, unused, out_8921978207378848294); } -void car_H_30(double *state, double *unused, double *out_8094078867301730751) { - H_30(state, unused, out_8094078867301730751); +void car_H_30(double *state, double *unused, double *out_5734013121132605829) { + H_30(state, unused, out_5734013121132605829); } -void car_h_26(double *state, double *unused, double *out_749221491035445424) { - h_26(state, unused, out_749221491035445424); +void car_h_26(double *state, double *unused, double *out_3355877023318338429) { + h_26(state, unused, out_3355877023318338429); } -void car_H_26(double *state, double *unused, double *out_8880271878555282725) { - H_26(state, unused, out_8880271878555282725); +void car_H_26(double *state, double *unused, double *out_6452894675195640936) { + H_26(state, unused, out_6452894675195640936); } -void car_h_27(double *state, double *unused, double *out_8472848302049370229) { - h_27(state, unused, out_8472848302049370229); +void car_h_27(double *state, double *unused, double *out_6869400431411979084) { + h_27(state, unused, out_6869400431411979084); } -void car_H_27(double *state, double *unused, double *out_5919315555501305840) { - H_27(state, unused, out_5919315555501305840); +void car_H_27(double *state, double *unused, double *out_7908776432933030740) { + H_27(state, unused, out_7908776432933030740); } -void car_h_29(double *state, double *unused, double *out_836178486976330205) { - h_29(state, unused, out_836178486976330205); +void car_h_29(double *state, double *unused, double *out_3696070991543523347) { + h_29(state, unused, out_3696070991543523347); } -void car_H_29(double *state, double *unused, double *out_8604310211616122935) { - H_29(state, unused, out_8604310211616122935); +void car_H_29(double *state, double *unused, double *out_5223781776818213645) { + H_29(state, unused, out_5223781776818213645); } -void car_h_28(double *state, double *unused, double *out_5838057092722024830) { - h_28(state, unused, out_5838057092722024830); +void car_h_28(double *state, double *unused, double *out_6575670374636726887) { + h_28(state, unused, out_6575670374636726887); } -void car_H_28(double *state, double *unused, double *out_7878803590528102430) { - H_28(state, unused, out_7878803590528102430); +void car_H_28(double *state, double *unused, double *out_8140563279821807397) { + H_28(state, unused, out_8140563279821807397); } -void car_h_31(double *state, double *unused, double *out_5711256312889543433) { - h_31(state, unused, out_5711256312889543433); +void car_h_31(double *state, double *unused, double *out_5612122275792175083) { + h_31(state, unused, out_5612122275792175083); } -void car_H_31(double *state, double *unused, double *out_8254063776321931249) { - H_31(state, unused, out_8254063776321931249); +void car_H_31(double *state, double *unused, double *out_5826686572962289460) { + H_31(state, unused, out_5826686572962289460); } 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 2056f7caa..f7c94acee 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_4770141140221383025); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8267480455965364332); -void car_H_mod_fun(double *state, double *out_4700437164455479144); -void car_f_fun(double *state, double dt, double *out_2370248777466162255); -void car_F_fun(double *state, double dt, double *out_7809506053810665802); -void car_h_25(double *state, double *unused, double *out_2714863388055632273); -void car_H_25(double *state, double *unused, double *out_5824968876280212667); -void car_h_24(double *state, double *unused, double *out_8643275185285187003); -void car_H_24(double *state, double *unused, double *out_3403096309788982558); -void car_h_30(double *state, double *unused, double *out_4165494780684515440); -void car_H_30(double *state, double *unused, double *out_8094078867301730751); -void car_h_26(double *state, double *unused, double *out_749221491035445424); -void car_H_26(double *state, double *unused, double *out_8880271878555282725); -void car_h_27(double *state, double *unused, double *out_8472848302049370229); -void car_H_27(double *state, double *unused, double *out_5919315555501305840); -void car_h_29(double *state, double *unused, double *out_836178486976330205); -void car_H_29(double *state, double *unused, double *out_8604310211616122935); -void car_h_28(double *state, double *unused, double *out_5838057092722024830); -void car_H_28(double *state, double *unused, double *out_7878803590528102430); -void car_h_31(double *state, double *unused, double *out_5711256312889543433); -void car_H_31(double *state, double *unused, double *out_8254063776321931249); +void car_err_fun(double *nom_x, double *delta_x, double *out_4413943037710355540); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_896653973664715101); +void car_H_mod_fun(double *state, double *out_5267188789104253679); +void car_f_fun(double *state, double dt, double *out_1590758894307502735); +void car_F_fun(double *state, double dt, double *out_4932077017586128960); +void car_h_25(double *state, double *unused, double *out_2151142981028497358); +void car_H_25(double *state, double *unused, double *out_5796040611085329032); +void car_h_24(double *state, double *unused, double *out_7809478958388963293); +void car_H_24(double *state, double *unused, double *out_1813717459687561134); +void car_h_30(double *state, double *unused, double *out_8921978207378848294); +void car_H_30(double *state, double *unused, double *out_5734013121132605829); +void car_h_26(double *state, double *unused, double *out_3355877023318338429); +void car_H_26(double *state, double *unused, double *out_6452894675195640936); +void car_h_27(double *state, double *unused, double *out_6869400431411979084); +void car_H_27(double *state, double *unused, double *out_7908776432933030740); +void car_h_29(double *state, double *unused, double *out_3696070991543523347); +void car_H_29(double *state, double *unused, double *out_5223781776818213645); +void car_h_28(double *state, double *unused, double *out_6575670374636726887); +void car_H_28(double *state, double *unused, double *out_8140563279821807397); +void car_h_31(double *state, double *unused, double *out_5612122275792175083); +void car_H_31(double *state, double *unused, double *out_5826686572962289460); 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 83d283799..1d45af591 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_2755267697534836281) { - out_2755267697534836281[0] = delta_x[0] + nom_x[0]; - out_2755267697534836281[1] = delta_x[1] + nom_x[1]; - out_2755267697534836281[2] = delta_x[2] + nom_x[2]; - out_2755267697534836281[3] = delta_x[3] + nom_x[3]; - out_2755267697534836281[4] = delta_x[4] + nom_x[4]; - out_2755267697534836281[5] = delta_x[5] + nom_x[5]; - out_2755267697534836281[6] = delta_x[6] + nom_x[6]; - out_2755267697534836281[7] = delta_x[7] + nom_x[7]; - out_2755267697534836281[8] = delta_x[8] + nom_x[8]; - out_2755267697534836281[9] = delta_x[9] + nom_x[9]; - out_2755267697534836281[10] = delta_x[10] + nom_x[10]; - out_2755267697534836281[11] = delta_x[11] + nom_x[11]; - out_2755267697534836281[12] = delta_x[12] + nom_x[12]; - out_2755267697534836281[13] = delta_x[13] + nom_x[13]; - out_2755267697534836281[14] = delta_x[14] + nom_x[14]; - out_2755267697534836281[15] = delta_x[15] + nom_x[15]; - out_2755267697534836281[16] = delta_x[16] + nom_x[16]; - out_2755267697534836281[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_8743902382867857614) { + out_8743902382867857614[0] = delta_x[0] + nom_x[0]; + out_8743902382867857614[1] = delta_x[1] + nom_x[1]; + out_8743902382867857614[2] = delta_x[2] + nom_x[2]; + out_8743902382867857614[3] = delta_x[3] + nom_x[3]; + out_8743902382867857614[4] = delta_x[4] + nom_x[4]; + out_8743902382867857614[5] = delta_x[5] + nom_x[5]; + out_8743902382867857614[6] = delta_x[6] + nom_x[6]; + out_8743902382867857614[7] = delta_x[7] + nom_x[7]; + out_8743902382867857614[8] = delta_x[8] + nom_x[8]; + out_8743902382867857614[9] = delta_x[9] + nom_x[9]; + out_8743902382867857614[10] = delta_x[10] + nom_x[10]; + out_8743902382867857614[11] = delta_x[11] + nom_x[11]; + out_8743902382867857614[12] = delta_x[12] + nom_x[12]; + out_8743902382867857614[13] = delta_x[13] + nom_x[13]; + out_8743902382867857614[14] = delta_x[14] + nom_x[14]; + out_8743902382867857614[15] = delta_x[15] + nom_x[15]; + out_8743902382867857614[16] = delta_x[16] + nom_x[16]; + out_8743902382867857614[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4688414877314135206) { - out_4688414877314135206[0] = -nom_x[0] + true_x[0]; - out_4688414877314135206[1] = -nom_x[1] + true_x[1]; - out_4688414877314135206[2] = -nom_x[2] + true_x[2]; - out_4688414877314135206[3] = -nom_x[3] + true_x[3]; - out_4688414877314135206[4] = -nom_x[4] + true_x[4]; - out_4688414877314135206[5] = -nom_x[5] + true_x[5]; - out_4688414877314135206[6] = -nom_x[6] + true_x[6]; - out_4688414877314135206[7] = -nom_x[7] + true_x[7]; - out_4688414877314135206[8] = -nom_x[8] + true_x[8]; - out_4688414877314135206[9] = -nom_x[9] + true_x[9]; - out_4688414877314135206[10] = -nom_x[10] + true_x[10]; - out_4688414877314135206[11] = -nom_x[11] + true_x[11]; - out_4688414877314135206[12] = -nom_x[12] + true_x[12]; - out_4688414877314135206[13] = -nom_x[13] + true_x[13]; - out_4688414877314135206[14] = -nom_x[14] + true_x[14]; - out_4688414877314135206[15] = -nom_x[15] + true_x[15]; - out_4688414877314135206[16] = -nom_x[16] + true_x[16]; - out_4688414877314135206[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3636694381902544351) { + out_3636694381902544351[0] = -nom_x[0] + true_x[0]; + out_3636694381902544351[1] = -nom_x[1] + true_x[1]; + out_3636694381902544351[2] = -nom_x[2] + true_x[2]; + out_3636694381902544351[3] = -nom_x[3] + true_x[3]; + out_3636694381902544351[4] = -nom_x[4] + true_x[4]; + out_3636694381902544351[5] = -nom_x[5] + true_x[5]; + out_3636694381902544351[6] = -nom_x[6] + true_x[6]; + out_3636694381902544351[7] = -nom_x[7] + true_x[7]; + out_3636694381902544351[8] = -nom_x[8] + true_x[8]; + out_3636694381902544351[9] = -nom_x[9] + true_x[9]; + out_3636694381902544351[10] = -nom_x[10] + true_x[10]; + out_3636694381902544351[11] = -nom_x[11] + true_x[11]; + out_3636694381902544351[12] = -nom_x[12] + true_x[12]; + out_3636694381902544351[13] = -nom_x[13] + true_x[13]; + out_3636694381902544351[14] = -nom_x[14] + true_x[14]; + out_3636694381902544351[15] = -nom_x[15] + true_x[15]; + out_3636694381902544351[16] = -nom_x[16] + true_x[16]; + out_3636694381902544351[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7837152669402150713) { - out_7837152669402150713[0] = 1.0; - out_7837152669402150713[1] = 0.0; - out_7837152669402150713[2] = 0.0; - out_7837152669402150713[3] = 0.0; - out_7837152669402150713[4] = 0.0; - out_7837152669402150713[5] = 0.0; - out_7837152669402150713[6] = 0.0; - out_7837152669402150713[7] = 0.0; - out_7837152669402150713[8] = 0.0; - out_7837152669402150713[9] = 0.0; - out_7837152669402150713[10] = 0.0; - out_7837152669402150713[11] = 0.0; - out_7837152669402150713[12] = 0.0; - out_7837152669402150713[13] = 0.0; - out_7837152669402150713[14] = 0.0; - out_7837152669402150713[15] = 0.0; - out_7837152669402150713[16] = 0.0; - out_7837152669402150713[17] = 0.0; - out_7837152669402150713[18] = 0.0; - out_7837152669402150713[19] = 1.0; - out_7837152669402150713[20] = 0.0; - out_7837152669402150713[21] = 0.0; - out_7837152669402150713[22] = 0.0; - out_7837152669402150713[23] = 0.0; - out_7837152669402150713[24] = 0.0; - out_7837152669402150713[25] = 0.0; - out_7837152669402150713[26] = 0.0; - out_7837152669402150713[27] = 0.0; - out_7837152669402150713[28] = 0.0; - out_7837152669402150713[29] = 0.0; - out_7837152669402150713[30] = 0.0; - out_7837152669402150713[31] = 0.0; - out_7837152669402150713[32] = 0.0; - out_7837152669402150713[33] = 0.0; - out_7837152669402150713[34] = 0.0; - out_7837152669402150713[35] = 0.0; - out_7837152669402150713[36] = 0.0; - out_7837152669402150713[37] = 0.0; - out_7837152669402150713[38] = 1.0; - out_7837152669402150713[39] = 0.0; - out_7837152669402150713[40] = 0.0; - out_7837152669402150713[41] = 0.0; - out_7837152669402150713[42] = 0.0; - out_7837152669402150713[43] = 0.0; - out_7837152669402150713[44] = 0.0; - out_7837152669402150713[45] = 0.0; - out_7837152669402150713[46] = 0.0; - out_7837152669402150713[47] = 0.0; - out_7837152669402150713[48] = 0.0; - out_7837152669402150713[49] = 0.0; - out_7837152669402150713[50] = 0.0; - out_7837152669402150713[51] = 0.0; - out_7837152669402150713[52] = 0.0; - out_7837152669402150713[53] = 0.0; - out_7837152669402150713[54] = 0.0; - out_7837152669402150713[55] = 0.0; - out_7837152669402150713[56] = 0.0; - out_7837152669402150713[57] = 1.0; - out_7837152669402150713[58] = 0.0; - out_7837152669402150713[59] = 0.0; - out_7837152669402150713[60] = 0.0; - out_7837152669402150713[61] = 0.0; - out_7837152669402150713[62] = 0.0; - out_7837152669402150713[63] = 0.0; - out_7837152669402150713[64] = 0.0; - out_7837152669402150713[65] = 0.0; - out_7837152669402150713[66] = 0.0; - out_7837152669402150713[67] = 0.0; - out_7837152669402150713[68] = 0.0; - out_7837152669402150713[69] = 0.0; - out_7837152669402150713[70] = 0.0; - out_7837152669402150713[71] = 0.0; - out_7837152669402150713[72] = 0.0; - out_7837152669402150713[73] = 0.0; - out_7837152669402150713[74] = 0.0; - out_7837152669402150713[75] = 0.0; - out_7837152669402150713[76] = 1.0; - out_7837152669402150713[77] = 0.0; - out_7837152669402150713[78] = 0.0; - out_7837152669402150713[79] = 0.0; - out_7837152669402150713[80] = 0.0; - out_7837152669402150713[81] = 0.0; - out_7837152669402150713[82] = 0.0; - out_7837152669402150713[83] = 0.0; - out_7837152669402150713[84] = 0.0; - out_7837152669402150713[85] = 0.0; - out_7837152669402150713[86] = 0.0; - out_7837152669402150713[87] = 0.0; - out_7837152669402150713[88] = 0.0; - out_7837152669402150713[89] = 0.0; - out_7837152669402150713[90] = 0.0; - out_7837152669402150713[91] = 0.0; - out_7837152669402150713[92] = 0.0; - out_7837152669402150713[93] = 0.0; - out_7837152669402150713[94] = 0.0; - out_7837152669402150713[95] = 1.0; - out_7837152669402150713[96] = 0.0; - out_7837152669402150713[97] = 0.0; - out_7837152669402150713[98] = 0.0; - out_7837152669402150713[99] = 0.0; - out_7837152669402150713[100] = 0.0; - out_7837152669402150713[101] = 0.0; - out_7837152669402150713[102] = 0.0; - out_7837152669402150713[103] = 0.0; - out_7837152669402150713[104] = 0.0; - out_7837152669402150713[105] = 0.0; - out_7837152669402150713[106] = 0.0; - out_7837152669402150713[107] = 0.0; - out_7837152669402150713[108] = 0.0; - out_7837152669402150713[109] = 0.0; - out_7837152669402150713[110] = 0.0; - out_7837152669402150713[111] = 0.0; - out_7837152669402150713[112] = 0.0; - out_7837152669402150713[113] = 0.0; - out_7837152669402150713[114] = 1.0; - out_7837152669402150713[115] = 0.0; - out_7837152669402150713[116] = 0.0; - out_7837152669402150713[117] = 0.0; - out_7837152669402150713[118] = 0.0; - out_7837152669402150713[119] = 0.0; - out_7837152669402150713[120] = 0.0; - out_7837152669402150713[121] = 0.0; - out_7837152669402150713[122] = 0.0; - out_7837152669402150713[123] = 0.0; - out_7837152669402150713[124] = 0.0; - out_7837152669402150713[125] = 0.0; - out_7837152669402150713[126] = 0.0; - out_7837152669402150713[127] = 0.0; - out_7837152669402150713[128] = 0.0; - out_7837152669402150713[129] = 0.0; - out_7837152669402150713[130] = 0.0; - out_7837152669402150713[131] = 0.0; - out_7837152669402150713[132] = 0.0; - out_7837152669402150713[133] = 1.0; - out_7837152669402150713[134] = 0.0; - out_7837152669402150713[135] = 0.0; - out_7837152669402150713[136] = 0.0; - out_7837152669402150713[137] = 0.0; - out_7837152669402150713[138] = 0.0; - out_7837152669402150713[139] = 0.0; - out_7837152669402150713[140] = 0.0; - out_7837152669402150713[141] = 0.0; - out_7837152669402150713[142] = 0.0; - out_7837152669402150713[143] = 0.0; - out_7837152669402150713[144] = 0.0; - out_7837152669402150713[145] = 0.0; - out_7837152669402150713[146] = 0.0; - out_7837152669402150713[147] = 0.0; - out_7837152669402150713[148] = 0.0; - out_7837152669402150713[149] = 0.0; - out_7837152669402150713[150] = 0.0; - out_7837152669402150713[151] = 0.0; - out_7837152669402150713[152] = 1.0; - out_7837152669402150713[153] = 0.0; - out_7837152669402150713[154] = 0.0; - out_7837152669402150713[155] = 0.0; - out_7837152669402150713[156] = 0.0; - out_7837152669402150713[157] = 0.0; - out_7837152669402150713[158] = 0.0; - out_7837152669402150713[159] = 0.0; - out_7837152669402150713[160] = 0.0; - out_7837152669402150713[161] = 0.0; - out_7837152669402150713[162] = 0.0; - out_7837152669402150713[163] = 0.0; - out_7837152669402150713[164] = 0.0; - out_7837152669402150713[165] = 0.0; - out_7837152669402150713[166] = 0.0; - out_7837152669402150713[167] = 0.0; - out_7837152669402150713[168] = 0.0; - out_7837152669402150713[169] = 0.0; - out_7837152669402150713[170] = 0.0; - out_7837152669402150713[171] = 1.0; - out_7837152669402150713[172] = 0.0; - out_7837152669402150713[173] = 0.0; - out_7837152669402150713[174] = 0.0; - out_7837152669402150713[175] = 0.0; - out_7837152669402150713[176] = 0.0; - out_7837152669402150713[177] = 0.0; - out_7837152669402150713[178] = 0.0; - out_7837152669402150713[179] = 0.0; - out_7837152669402150713[180] = 0.0; - out_7837152669402150713[181] = 0.0; - out_7837152669402150713[182] = 0.0; - out_7837152669402150713[183] = 0.0; - out_7837152669402150713[184] = 0.0; - out_7837152669402150713[185] = 0.0; - out_7837152669402150713[186] = 0.0; - out_7837152669402150713[187] = 0.0; - out_7837152669402150713[188] = 0.0; - out_7837152669402150713[189] = 0.0; - out_7837152669402150713[190] = 1.0; - out_7837152669402150713[191] = 0.0; - out_7837152669402150713[192] = 0.0; - out_7837152669402150713[193] = 0.0; - out_7837152669402150713[194] = 0.0; - out_7837152669402150713[195] = 0.0; - out_7837152669402150713[196] = 0.0; - out_7837152669402150713[197] = 0.0; - out_7837152669402150713[198] = 0.0; - out_7837152669402150713[199] = 0.0; - out_7837152669402150713[200] = 0.0; - out_7837152669402150713[201] = 0.0; - out_7837152669402150713[202] = 0.0; - out_7837152669402150713[203] = 0.0; - out_7837152669402150713[204] = 0.0; - out_7837152669402150713[205] = 0.0; - out_7837152669402150713[206] = 0.0; - out_7837152669402150713[207] = 0.0; - out_7837152669402150713[208] = 0.0; - out_7837152669402150713[209] = 1.0; - out_7837152669402150713[210] = 0.0; - out_7837152669402150713[211] = 0.0; - out_7837152669402150713[212] = 0.0; - out_7837152669402150713[213] = 0.0; - out_7837152669402150713[214] = 0.0; - out_7837152669402150713[215] = 0.0; - out_7837152669402150713[216] = 0.0; - out_7837152669402150713[217] = 0.0; - out_7837152669402150713[218] = 0.0; - out_7837152669402150713[219] = 0.0; - out_7837152669402150713[220] = 0.0; - out_7837152669402150713[221] = 0.0; - out_7837152669402150713[222] = 0.0; - out_7837152669402150713[223] = 0.0; - out_7837152669402150713[224] = 0.0; - out_7837152669402150713[225] = 0.0; - out_7837152669402150713[226] = 0.0; - out_7837152669402150713[227] = 0.0; - out_7837152669402150713[228] = 1.0; - out_7837152669402150713[229] = 0.0; - out_7837152669402150713[230] = 0.0; - out_7837152669402150713[231] = 0.0; - out_7837152669402150713[232] = 0.0; - out_7837152669402150713[233] = 0.0; - out_7837152669402150713[234] = 0.0; - out_7837152669402150713[235] = 0.0; - out_7837152669402150713[236] = 0.0; - out_7837152669402150713[237] = 0.0; - out_7837152669402150713[238] = 0.0; - out_7837152669402150713[239] = 0.0; - out_7837152669402150713[240] = 0.0; - out_7837152669402150713[241] = 0.0; - out_7837152669402150713[242] = 0.0; - out_7837152669402150713[243] = 0.0; - out_7837152669402150713[244] = 0.0; - out_7837152669402150713[245] = 0.0; - out_7837152669402150713[246] = 0.0; - out_7837152669402150713[247] = 1.0; - out_7837152669402150713[248] = 0.0; - out_7837152669402150713[249] = 0.0; - out_7837152669402150713[250] = 0.0; - out_7837152669402150713[251] = 0.0; - out_7837152669402150713[252] = 0.0; - out_7837152669402150713[253] = 0.0; - out_7837152669402150713[254] = 0.0; - out_7837152669402150713[255] = 0.0; - out_7837152669402150713[256] = 0.0; - out_7837152669402150713[257] = 0.0; - out_7837152669402150713[258] = 0.0; - out_7837152669402150713[259] = 0.0; - out_7837152669402150713[260] = 0.0; - out_7837152669402150713[261] = 0.0; - out_7837152669402150713[262] = 0.0; - out_7837152669402150713[263] = 0.0; - out_7837152669402150713[264] = 0.0; - out_7837152669402150713[265] = 0.0; - out_7837152669402150713[266] = 1.0; - out_7837152669402150713[267] = 0.0; - out_7837152669402150713[268] = 0.0; - out_7837152669402150713[269] = 0.0; - out_7837152669402150713[270] = 0.0; - out_7837152669402150713[271] = 0.0; - out_7837152669402150713[272] = 0.0; - out_7837152669402150713[273] = 0.0; - out_7837152669402150713[274] = 0.0; - out_7837152669402150713[275] = 0.0; - out_7837152669402150713[276] = 0.0; - out_7837152669402150713[277] = 0.0; - out_7837152669402150713[278] = 0.0; - out_7837152669402150713[279] = 0.0; - out_7837152669402150713[280] = 0.0; - out_7837152669402150713[281] = 0.0; - out_7837152669402150713[282] = 0.0; - out_7837152669402150713[283] = 0.0; - out_7837152669402150713[284] = 0.0; - out_7837152669402150713[285] = 1.0; - out_7837152669402150713[286] = 0.0; - out_7837152669402150713[287] = 0.0; - out_7837152669402150713[288] = 0.0; - out_7837152669402150713[289] = 0.0; - out_7837152669402150713[290] = 0.0; - out_7837152669402150713[291] = 0.0; - out_7837152669402150713[292] = 0.0; - out_7837152669402150713[293] = 0.0; - out_7837152669402150713[294] = 0.0; - out_7837152669402150713[295] = 0.0; - out_7837152669402150713[296] = 0.0; - out_7837152669402150713[297] = 0.0; - out_7837152669402150713[298] = 0.0; - out_7837152669402150713[299] = 0.0; - out_7837152669402150713[300] = 0.0; - out_7837152669402150713[301] = 0.0; - out_7837152669402150713[302] = 0.0; - out_7837152669402150713[303] = 0.0; - out_7837152669402150713[304] = 1.0; - out_7837152669402150713[305] = 0.0; - out_7837152669402150713[306] = 0.0; - out_7837152669402150713[307] = 0.0; - out_7837152669402150713[308] = 0.0; - out_7837152669402150713[309] = 0.0; - out_7837152669402150713[310] = 0.0; - out_7837152669402150713[311] = 0.0; - out_7837152669402150713[312] = 0.0; - out_7837152669402150713[313] = 0.0; - out_7837152669402150713[314] = 0.0; - out_7837152669402150713[315] = 0.0; - out_7837152669402150713[316] = 0.0; - out_7837152669402150713[317] = 0.0; - out_7837152669402150713[318] = 0.0; - out_7837152669402150713[319] = 0.0; - out_7837152669402150713[320] = 0.0; - out_7837152669402150713[321] = 0.0; - out_7837152669402150713[322] = 0.0; - out_7837152669402150713[323] = 1.0; +void H_mod_fun(double *state, double *out_2152190311268096506) { + out_2152190311268096506[0] = 1.0; + out_2152190311268096506[1] = 0.0; + out_2152190311268096506[2] = 0.0; + out_2152190311268096506[3] = 0.0; + out_2152190311268096506[4] = 0.0; + out_2152190311268096506[5] = 0.0; + out_2152190311268096506[6] = 0.0; + out_2152190311268096506[7] = 0.0; + out_2152190311268096506[8] = 0.0; + out_2152190311268096506[9] = 0.0; + out_2152190311268096506[10] = 0.0; + out_2152190311268096506[11] = 0.0; + out_2152190311268096506[12] = 0.0; + out_2152190311268096506[13] = 0.0; + out_2152190311268096506[14] = 0.0; + out_2152190311268096506[15] = 0.0; + out_2152190311268096506[16] = 0.0; + out_2152190311268096506[17] = 0.0; + out_2152190311268096506[18] = 0.0; + out_2152190311268096506[19] = 1.0; + out_2152190311268096506[20] = 0.0; + out_2152190311268096506[21] = 0.0; + out_2152190311268096506[22] = 0.0; + out_2152190311268096506[23] = 0.0; + out_2152190311268096506[24] = 0.0; + out_2152190311268096506[25] = 0.0; + out_2152190311268096506[26] = 0.0; + out_2152190311268096506[27] = 0.0; + out_2152190311268096506[28] = 0.0; + out_2152190311268096506[29] = 0.0; + out_2152190311268096506[30] = 0.0; + out_2152190311268096506[31] = 0.0; + out_2152190311268096506[32] = 0.0; + out_2152190311268096506[33] = 0.0; + out_2152190311268096506[34] = 0.0; + out_2152190311268096506[35] = 0.0; + out_2152190311268096506[36] = 0.0; + out_2152190311268096506[37] = 0.0; + out_2152190311268096506[38] = 1.0; + out_2152190311268096506[39] = 0.0; + out_2152190311268096506[40] = 0.0; + out_2152190311268096506[41] = 0.0; + out_2152190311268096506[42] = 0.0; + out_2152190311268096506[43] = 0.0; + out_2152190311268096506[44] = 0.0; + out_2152190311268096506[45] = 0.0; + out_2152190311268096506[46] = 0.0; + out_2152190311268096506[47] = 0.0; + out_2152190311268096506[48] = 0.0; + out_2152190311268096506[49] = 0.0; + out_2152190311268096506[50] = 0.0; + out_2152190311268096506[51] = 0.0; + out_2152190311268096506[52] = 0.0; + out_2152190311268096506[53] = 0.0; + out_2152190311268096506[54] = 0.0; + out_2152190311268096506[55] = 0.0; + out_2152190311268096506[56] = 0.0; + out_2152190311268096506[57] = 1.0; + out_2152190311268096506[58] = 0.0; + out_2152190311268096506[59] = 0.0; + out_2152190311268096506[60] = 0.0; + out_2152190311268096506[61] = 0.0; + out_2152190311268096506[62] = 0.0; + out_2152190311268096506[63] = 0.0; + out_2152190311268096506[64] = 0.0; + out_2152190311268096506[65] = 0.0; + out_2152190311268096506[66] = 0.0; + out_2152190311268096506[67] = 0.0; + out_2152190311268096506[68] = 0.0; + out_2152190311268096506[69] = 0.0; + out_2152190311268096506[70] = 0.0; + out_2152190311268096506[71] = 0.0; + out_2152190311268096506[72] = 0.0; + out_2152190311268096506[73] = 0.0; + out_2152190311268096506[74] = 0.0; + out_2152190311268096506[75] = 0.0; + out_2152190311268096506[76] = 1.0; + out_2152190311268096506[77] = 0.0; + out_2152190311268096506[78] = 0.0; + out_2152190311268096506[79] = 0.0; + out_2152190311268096506[80] = 0.0; + out_2152190311268096506[81] = 0.0; + out_2152190311268096506[82] = 0.0; + out_2152190311268096506[83] = 0.0; + out_2152190311268096506[84] = 0.0; + out_2152190311268096506[85] = 0.0; + out_2152190311268096506[86] = 0.0; + out_2152190311268096506[87] = 0.0; + out_2152190311268096506[88] = 0.0; + out_2152190311268096506[89] = 0.0; + out_2152190311268096506[90] = 0.0; + out_2152190311268096506[91] = 0.0; + out_2152190311268096506[92] = 0.0; + out_2152190311268096506[93] = 0.0; + out_2152190311268096506[94] = 0.0; + out_2152190311268096506[95] = 1.0; + out_2152190311268096506[96] = 0.0; + out_2152190311268096506[97] = 0.0; + out_2152190311268096506[98] = 0.0; + out_2152190311268096506[99] = 0.0; + out_2152190311268096506[100] = 0.0; + out_2152190311268096506[101] = 0.0; + out_2152190311268096506[102] = 0.0; + out_2152190311268096506[103] = 0.0; + out_2152190311268096506[104] = 0.0; + out_2152190311268096506[105] = 0.0; + out_2152190311268096506[106] = 0.0; + out_2152190311268096506[107] = 0.0; + out_2152190311268096506[108] = 0.0; + out_2152190311268096506[109] = 0.0; + out_2152190311268096506[110] = 0.0; + out_2152190311268096506[111] = 0.0; + out_2152190311268096506[112] = 0.0; + out_2152190311268096506[113] = 0.0; + out_2152190311268096506[114] = 1.0; + out_2152190311268096506[115] = 0.0; + out_2152190311268096506[116] = 0.0; + out_2152190311268096506[117] = 0.0; + out_2152190311268096506[118] = 0.0; + out_2152190311268096506[119] = 0.0; + out_2152190311268096506[120] = 0.0; + out_2152190311268096506[121] = 0.0; + out_2152190311268096506[122] = 0.0; + out_2152190311268096506[123] = 0.0; + out_2152190311268096506[124] = 0.0; + out_2152190311268096506[125] = 0.0; + out_2152190311268096506[126] = 0.0; + out_2152190311268096506[127] = 0.0; + out_2152190311268096506[128] = 0.0; + out_2152190311268096506[129] = 0.0; + out_2152190311268096506[130] = 0.0; + out_2152190311268096506[131] = 0.0; + out_2152190311268096506[132] = 0.0; + out_2152190311268096506[133] = 1.0; + out_2152190311268096506[134] = 0.0; + out_2152190311268096506[135] = 0.0; + out_2152190311268096506[136] = 0.0; + out_2152190311268096506[137] = 0.0; + out_2152190311268096506[138] = 0.0; + out_2152190311268096506[139] = 0.0; + out_2152190311268096506[140] = 0.0; + out_2152190311268096506[141] = 0.0; + out_2152190311268096506[142] = 0.0; + out_2152190311268096506[143] = 0.0; + out_2152190311268096506[144] = 0.0; + out_2152190311268096506[145] = 0.0; + out_2152190311268096506[146] = 0.0; + out_2152190311268096506[147] = 0.0; + out_2152190311268096506[148] = 0.0; + out_2152190311268096506[149] = 0.0; + out_2152190311268096506[150] = 0.0; + out_2152190311268096506[151] = 0.0; + out_2152190311268096506[152] = 1.0; + out_2152190311268096506[153] = 0.0; + out_2152190311268096506[154] = 0.0; + out_2152190311268096506[155] = 0.0; + out_2152190311268096506[156] = 0.0; + out_2152190311268096506[157] = 0.0; + out_2152190311268096506[158] = 0.0; + out_2152190311268096506[159] = 0.0; + out_2152190311268096506[160] = 0.0; + out_2152190311268096506[161] = 0.0; + out_2152190311268096506[162] = 0.0; + out_2152190311268096506[163] = 0.0; + out_2152190311268096506[164] = 0.0; + out_2152190311268096506[165] = 0.0; + out_2152190311268096506[166] = 0.0; + out_2152190311268096506[167] = 0.0; + out_2152190311268096506[168] = 0.0; + out_2152190311268096506[169] = 0.0; + out_2152190311268096506[170] = 0.0; + out_2152190311268096506[171] = 1.0; + out_2152190311268096506[172] = 0.0; + out_2152190311268096506[173] = 0.0; + out_2152190311268096506[174] = 0.0; + out_2152190311268096506[175] = 0.0; + out_2152190311268096506[176] = 0.0; + out_2152190311268096506[177] = 0.0; + out_2152190311268096506[178] = 0.0; + out_2152190311268096506[179] = 0.0; + out_2152190311268096506[180] = 0.0; + out_2152190311268096506[181] = 0.0; + out_2152190311268096506[182] = 0.0; + out_2152190311268096506[183] = 0.0; + out_2152190311268096506[184] = 0.0; + out_2152190311268096506[185] = 0.0; + out_2152190311268096506[186] = 0.0; + out_2152190311268096506[187] = 0.0; + out_2152190311268096506[188] = 0.0; + out_2152190311268096506[189] = 0.0; + out_2152190311268096506[190] = 1.0; + out_2152190311268096506[191] = 0.0; + out_2152190311268096506[192] = 0.0; + out_2152190311268096506[193] = 0.0; + out_2152190311268096506[194] = 0.0; + out_2152190311268096506[195] = 0.0; + out_2152190311268096506[196] = 0.0; + out_2152190311268096506[197] = 0.0; + out_2152190311268096506[198] = 0.0; + out_2152190311268096506[199] = 0.0; + out_2152190311268096506[200] = 0.0; + out_2152190311268096506[201] = 0.0; + out_2152190311268096506[202] = 0.0; + out_2152190311268096506[203] = 0.0; + out_2152190311268096506[204] = 0.0; + out_2152190311268096506[205] = 0.0; + out_2152190311268096506[206] = 0.0; + out_2152190311268096506[207] = 0.0; + out_2152190311268096506[208] = 0.0; + out_2152190311268096506[209] = 1.0; + out_2152190311268096506[210] = 0.0; + out_2152190311268096506[211] = 0.0; + out_2152190311268096506[212] = 0.0; + out_2152190311268096506[213] = 0.0; + out_2152190311268096506[214] = 0.0; + out_2152190311268096506[215] = 0.0; + out_2152190311268096506[216] = 0.0; + out_2152190311268096506[217] = 0.0; + out_2152190311268096506[218] = 0.0; + out_2152190311268096506[219] = 0.0; + out_2152190311268096506[220] = 0.0; + out_2152190311268096506[221] = 0.0; + out_2152190311268096506[222] = 0.0; + out_2152190311268096506[223] = 0.0; + out_2152190311268096506[224] = 0.0; + out_2152190311268096506[225] = 0.0; + out_2152190311268096506[226] = 0.0; + out_2152190311268096506[227] = 0.0; + out_2152190311268096506[228] = 1.0; + out_2152190311268096506[229] = 0.0; + out_2152190311268096506[230] = 0.0; + out_2152190311268096506[231] = 0.0; + out_2152190311268096506[232] = 0.0; + out_2152190311268096506[233] = 0.0; + out_2152190311268096506[234] = 0.0; + out_2152190311268096506[235] = 0.0; + out_2152190311268096506[236] = 0.0; + out_2152190311268096506[237] = 0.0; + out_2152190311268096506[238] = 0.0; + out_2152190311268096506[239] = 0.0; + out_2152190311268096506[240] = 0.0; + out_2152190311268096506[241] = 0.0; + out_2152190311268096506[242] = 0.0; + out_2152190311268096506[243] = 0.0; + out_2152190311268096506[244] = 0.0; + out_2152190311268096506[245] = 0.0; + out_2152190311268096506[246] = 0.0; + out_2152190311268096506[247] = 1.0; + out_2152190311268096506[248] = 0.0; + out_2152190311268096506[249] = 0.0; + out_2152190311268096506[250] = 0.0; + out_2152190311268096506[251] = 0.0; + out_2152190311268096506[252] = 0.0; + out_2152190311268096506[253] = 0.0; + out_2152190311268096506[254] = 0.0; + out_2152190311268096506[255] = 0.0; + out_2152190311268096506[256] = 0.0; + out_2152190311268096506[257] = 0.0; + out_2152190311268096506[258] = 0.0; + out_2152190311268096506[259] = 0.0; + out_2152190311268096506[260] = 0.0; + out_2152190311268096506[261] = 0.0; + out_2152190311268096506[262] = 0.0; + out_2152190311268096506[263] = 0.0; + out_2152190311268096506[264] = 0.0; + out_2152190311268096506[265] = 0.0; + out_2152190311268096506[266] = 1.0; + out_2152190311268096506[267] = 0.0; + out_2152190311268096506[268] = 0.0; + out_2152190311268096506[269] = 0.0; + out_2152190311268096506[270] = 0.0; + out_2152190311268096506[271] = 0.0; + out_2152190311268096506[272] = 0.0; + out_2152190311268096506[273] = 0.0; + out_2152190311268096506[274] = 0.0; + out_2152190311268096506[275] = 0.0; + out_2152190311268096506[276] = 0.0; + out_2152190311268096506[277] = 0.0; + out_2152190311268096506[278] = 0.0; + out_2152190311268096506[279] = 0.0; + out_2152190311268096506[280] = 0.0; + out_2152190311268096506[281] = 0.0; + out_2152190311268096506[282] = 0.0; + out_2152190311268096506[283] = 0.0; + out_2152190311268096506[284] = 0.0; + out_2152190311268096506[285] = 1.0; + out_2152190311268096506[286] = 0.0; + out_2152190311268096506[287] = 0.0; + out_2152190311268096506[288] = 0.0; + out_2152190311268096506[289] = 0.0; + out_2152190311268096506[290] = 0.0; + out_2152190311268096506[291] = 0.0; + out_2152190311268096506[292] = 0.0; + out_2152190311268096506[293] = 0.0; + out_2152190311268096506[294] = 0.0; + out_2152190311268096506[295] = 0.0; + out_2152190311268096506[296] = 0.0; + out_2152190311268096506[297] = 0.0; + out_2152190311268096506[298] = 0.0; + out_2152190311268096506[299] = 0.0; + out_2152190311268096506[300] = 0.0; + out_2152190311268096506[301] = 0.0; + out_2152190311268096506[302] = 0.0; + out_2152190311268096506[303] = 0.0; + out_2152190311268096506[304] = 1.0; + out_2152190311268096506[305] = 0.0; + out_2152190311268096506[306] = 0.0; + out_2152190311268096506[307] = 0.0; + out_2152190311268096506[308] = 0.0; + out_2152190311268096506[309] = 0.0; + out_2152190311268096506[310] = 0.0; + out_2152190311268096506[311] = 0.0; + out_2152190311268096506[312] = 0.0; + out_2152190311268096506[313] = 0.0; + out_2152190311268096506[314] = 0.0; + out_2152190311268096506[315] = 0.0; + out_2152190311268096506[316] = 0.0; + out_2152190311268096506[317] = 0.0; + out_2152190311268096506[318] = 0.0; + out_2152190311268096506[319] = 0.0; + out_2152190311268096506[320] = 0.0; + out_2152190311268096506[321] = 0.0; + out_2152190311268096506[322] = 0.0; + out_2152190311268096506[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8293850048606202954) { - out_8293850048606202954[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_8293850048606202954[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_8293850048606202954[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_8293850048606202954[3] = dt*state[12] + state[3]; - out_8293850048606202954[4] = dt*state[13] + state[4]; - out_8293850048606202954[5] = dt*state[14] + state[5]; - out_8293850048606202954[6] = state[6]; - out_8293850048606202954[7] = state[7]; - out_8293850048606202954[8] = state[8]; - out_8293850048606202954[9] = state[9]; - out_8293850048606202954[10] = state[10]; - out_8293850048606202954[11] = state[11]; - out_8293850048606202954[12] = state[12]; - out_8293850048606202954[13] = state[13]; - out_8293850048606202954[14] = state[14]; - out_8293850048606202954[15] = state[15]; - out_8293850048606202954[16] = state[16]; - out_8293850048606202954[17] = state[17]; +void f_fun(double *state, double dt, double *out_5042547316032857663) { + out_5042547316032857663[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_5042547316032857663[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_5042547316032857663[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_5042547316032857663[3] = dt*state[12] + state[3]; + out_5042547316032857663[4] = dt*state[13] + state[4]; + out_5042547316032857663[5] = dt*state[14] + state[5]; + out_5042547316032857663[6] = state[6]; + out_5042547316032857663[7] = state[7]; + out_5042547316032857663[8] = state[8]; + out_5042547316032857663[9] = state[9]; + out_5042547316032857663[10] = state[10]; + out_5042547316032857663[11] = state[11]; + out_5042547316032857663[12] = state[12]; + out_5042547316032857663[13] = state[13]; + out_5042547316032857663[14] = state[14]; + out_5042547316032857663[15] = state[15]; + out_5042547316032857663[16] = state[16]; + out_5042547316032857663[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1277983044864762150) { - out_1277983044864762150[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_1277983044864762150[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_1277983044864762150[2] = 0; - out_1277983044864762150[3] = 0; - out_1277983044864762150[4] = 0; - out_1277983044864762150[5] = 0; - out_1277983044864762150[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_1277983044864762150[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_1277983044864762150[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_1277983044864762150[9] = 0; - out_1277983044864762150[10] = 0; - out_1277983044864762150[11] = 0; - out_1277983044864762150[12] = 0; - out_1277983044864762150[13] = 0; - out_1277983044864762150[14] = 0; - out_1277983044864762150[15] = 0; - out_1277983044864762150[16] = 0; - out_1277983044864762150[17] = 0; - out_1277983044864762150[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_1277983044864762150[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_1277983044864762150[20] = 0; - out_1277983044864762150[21] = 0; - out_1277983044864762150[22] = 0; - out_1277983044864762150[23] = 0; - out_1277983044864762150[24] = 0; - out_1277983044864762150[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_1277983044864762150[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_1277983044864762150[27] = 0; - out_1277983044864762150[28] = 0; - out_1277983044864762150[29] = 0; - out_1277983044864762150[30] = 0; - out_1277983044864762150[31] = 0; - out_1277983044864762150[32] = 0; - out_1277983044864762150[33] = 0; - out_1277983044864762150[34] = 0; - out_1277983044864762150[35] = 0; - out_1277983044864762150[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_1277983044864762150[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_1277983044864762150[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_1277983044864762150[39] = 0; - out_1277983044864762150[40] = 0; - out_1277983044864762150[41] = 0; - out_1277983044864762150[42] = 0; - out_1277983044864762150[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_1277983044864762150[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_1277983044864762150[45] = 0; - out_1277983044864762150[46] = 0; - out_1277983044864762150[47] = 0; - out_1277983044864762150[48] = 0; - out_1277983044864762150[49] = 0; - out_1277983044864762150[50] = 0; - out_1277983044864762150[51] = 0; - out_1277983044864762150[52] = 0; - out_1277983044864762150[53] = 0; - out_1277983044864762150[54] = 0; - out_1277983044864762150[55] = 0; - out_1277983044864762150[56] = 0; - out_1277983044864762150[57] = 1; - out_1277983044864762150[58] = 0; - out_1277983044864762150[59] = 0; - out_1277983044864762150[60] = 0; - out_1277983044864762150[61] = 0; - out_1277983044864762150[62] = 0; - out_1277983044864762150[63] = 0; - out_1277983044864762150[64] = 0; - out_1277983044864762150[65] = 0; - out_1277983044864762150[66] = dt; - out_1277983044864762150[67] = 0; - out_1277983044864762150[68] = 0; - out_1277983044864762150[69] = 0; - out_1277983044864762150[70] = 0; - out_1277983044864762150[71] = 0; - out_1277983044864762150[72] = 0; - out_1277983044864762150[73] = 0; - out_1277983044864762150[74] = 0; - out_1277983044864762150[75] = 0; - out_1277983044864762150[76] = 1; - out_1277983044864762150[77] = 0; - out_1277983044864762150[78] = 0; - out_1277983044864762150[79] = 0; - out_1277983044864762150[80] = 0; - out_1277983044864762150[81] = 0; - out_1277983044864762150[82] = 0; - out_1277983044864762150[83] = 0; - out_1277983044864762150[84] = 0; - out_1277983044864762150[85] = dt; - out_1277983044864762150[86] = 0; - out_1277983044864762150[87] = 0; - out_1277983044864762150[88] = 0; - out_1277983044864762150[89] = 0; - out_1277983044864762150[90] = 0; - out_1277983044864762150[91] = 0; - out_1277983044864762150[92] = 0; - out_1277983044864762150[93] = 0; - out_1277983044864762150[94] = 0; - out_1277983044864762150[95] = 1; - out_1277983044864762150[96] = 0; - out_1277983044864762150[97] = 0; - out_1277983044864762150[98] = 0; - out_1277983044864762150[99] = 0; - out_1277983044864762150[100] = 0; - out_1277983044864762150[101] = 0; - out_1277983044864762150[102] = 0; - out_1277983044864762150[103] = 0; - out_1277983044864762150[104] = dt; - out_1277983044864762150[105] = 0; - out_1277983044864762150[106] = 0; - out_1277983044864762150[107] = 0; - out_1277983044864762150[108] = 0; - out_1277983044864762150[109] = 0; - out_1277983044864762150[110] = 0; - out_1277983044864762150[111] = 0; - out_1277983044864762150[112] = 0; - out_1277983044864762150[113] = 0; - out_1277983044864762150[114] = 1; - out_1277983044864762150[115] = 0; - out_1277983044864762150[116] = 0; - out_1277983044864762150[117] = 0; - out_1277983044864762150[118] = 0; - out_1277983044864762150[119] = 0; - out_1277983044864762150[120] = 0; - out_1277983044864762150[121] = 0; - out_1277983044864762150[122] = 0; - out_1277983044864762150[123] = 0; - out_1277983044864762150[124] = 0; - out_1277983044864762150[125] = 0; - out_1277983044864762150[126] = 0; - out_1277983044864762150[127] = 0; - out_1277983044864762150[128] = 0; - out_1277983044864762150[129] = 0; - out_1277983044864762150[130] = 0; - out_1277983044864762150[131] = 0; - out_1277983044864762150[132] = 0; - out_1277983044864762150[133] = 1; - out_1277983044864762150[134] = 0; - out_1277983044864762150[135] = 0; - out_1277983044864762150[136] = 0; - out_1277983044864762150[137] = 0; - out_1277983044864762150[138] = 0; - out_1277983044864762150[139] = 0; - out_1277983044864762150[140] = 0; - out_1277983044864762150[141] = 0; - out_1277983044864762150[142] = 0; - out_1277983044864762150[143] = 0; - out_1277983044864762150[144] = 0; - out_1277983044864762150[145] = 0; - out_1277983044864762150[146] = 0; - out_1277983044864762150[147] = 0; - out_1277983044864762150[148] = 0; - out_1277983044864762150[149] = 0; - out_1277983044864762150[150] = 0; - out_1277983044864762150[151] = 0; - out_1277983044864762150[152] = 1; - out_1277983044864762150[153] = 0; - out_1277983044864762150[154] = 0; - out_1277983044864762150[155] = 0; - out_1277983044864762150[156] = 0; - out_1277983044864762150[157] = 0; - out_1277983044864762150[158] = 0; - out_1277983044864762150[159] = 0; - out_1277983044864762150[160] = 0; - out_1277983044864762150[161] = 0; - out_1277983044864762150[162] = 0; - out_1277983044864762150[163] = 0; - out_1277983044864762150[164] = 0; - out_1277983044864762150[165] = 0; - out_1277983044864762150[166] = 0; - out_1277983044864762150[167] = 0; - out_1277983044864762150[168] = 0; - out_1277983044864762150[169] = 0; - out_1277983044864762150[170] = 0; - out_1277983044864762150[171] = 1; - out_1277983044864762150[172] = 0; - out_1277983044864762150[173] = 0; - out_1277983044864762150[174] = 0; - out_1277983044864762150[175] = 0; - out_1277983044864762150[176] = 0; - out_1277983044864762150[177] = 0; - out_1277983044864762150[178] = 0; - out_1277983044864762150[179] = 0; - out_1277983044864762150[180] = 0; - out_1277983044864762150[181] = 0; - out_1277983044864762150[182] = 0; - out_1277983044864762150[183] = 0; - out_1277983044864762150[184] = 0; - out_1277983044864762150[185] = 0; - out_1277983044864762150[186] = 0; - out_1277983044864762150[187] = 0; - out_1277983044864762150[188] = 0; - out_1277983044864762150[189] = 0; - out_1277983044864762150[190] = 1; - out_1277983044864762150[191] = 0; - out_1277983044864762150[192] = 0; - out_1277983044864762150[193] = 0; - out_1277983044864762150[194] = 0; - out_1277983044864762150[195] = 0; - out_1277983044864762150[196] = 0; - out_1277983044864762150[197] = 0; - out_1277983044864762150[198] = 0; - out_1277983044864762150[199] = 0; - out_1277983044864762150[200] = 0; - out_1277983044864762150[201] = 0; - out_1277983044864762150[202] = 0; - out_1277983044864762150[203] = 0; - out_1277983044864762150[204] = 0; - out_1277983044864762150[205] = 0; - out_1277983044864762150[206] = 0; - out_1277983044864762150[207] = 0; - out_1277983044864762150[208] = 0; - out_1277983044864762150[209] = 1; - out_1277983044864762150[210] = 0; - out_1277983044864762150[211] = 0; - out_1277983044864762150[212] = 0; - out_1277983044864762150[213] = 0; - out_1277983044864762150[214] = 0; - out_1277983044864762150[215] = 0; - out_1277983044864762150[216] = 0; - out_1277983044864762150[217] = 0; - out_1277983044864762150[218] = 0; - out_1277983044864762150[219] = 0; - out_1277983044864762150[220] = 0; - out_1277983044864762150[221] = 0; - out_1277983044864762150[222] = 0; - out_1277983044864762150[223] = 0; - out_1277983044864762150[224] = 0; - out_1277983044864762150[225] = 0; - out_1277983044864762150[226] = 0; - out_1277983044864762150[227] = 0; - out_1277983044864762150[228] = 1; - out_1277983044864762150[229] = 0; - out_1277983044864762150[230] = 0; - out_1277983044864762150[231] = 0; - out_1277983044864762150[232] = 0; - out_1277983044864762150[233] = 0; - out_1277983044864762150[234] = 0; - out_1277983044864762150[235] = 0; - out_1277983044864762150[236] = 0; - out_1277983044864762150[237] = 0; - out_1277983044864762150[238] = 0; - out_1277983044864762150[239] = 0; - out_1277983044864762150[240] = 0; - out_1277983044864762150[241] = 0; - out_1277983044864762150[242] = 0; - out_1277983044864762150[243] = 0; - out_1277983044864762150[244] = 0; - out_1277983044864762150[245] = 0; - out_1277983044864762150[246] = 0; - out_1277983044864762150[247] = 1; - out_1277983044864762150[248] = 0; - out_1277983044864762150[249] = 0; - out_1277983044864762150[250] = 0; - out_1277983044864762150[251] = 0; - out_1277983044864762150[252] = 0; - out_1277983044864762150[253] = 0; - out_1277983044864762150[254] = 0; - out_1277983044864762150[255] = 0; - out_1277983044864762150[256] = 0; - out_1277983044864762150[257] = 0; - out_1277983044864762150[258] = 0; - out_1277983044864762150[259] = 0; - out_1277983044864762150[260] = 0; - out_1277983044864762150[261] = 0; - out_1277983044864762150[262] = 0; - out_1277983044864762150[263] = 0; - out_1277983044864762150[264] = 0; - out_1277983044864762150[265] = 0; - out_1277983044864762150[266] = 1; - out_1277983044864762150[267] = 0; - out_1277983044864762150[268] = 0; - out_1277983044864762150[269] = 0; - out_1277983044864762150[270] = 0; - out_1277983044864762150[271] = 0; - out_1277983044864762150[272] = 0; - out_1277983044864762150[273] = 0; - out_1277983044864762150[274] = 0; - out_1277983044864762150[275] = 0; - out_1277983044864762150[276] = 0; - out_1277983044864762150[277] = 0; - out_1277983044864762150[278] = 0; - out_1277983044864762150[279] = 0; - out_1277983044864762150[280] = 0; - out_1277983044864762150[281] = 0; - out_1277983044864762150[282] = 0; - out_1277983044864762150[283] = 0; - out_1277983044864762150[284] = 0; - out_1277983044864762150[285] = 1; - out_1277983044864762150[286] = 0; - out_1277983044864762150[287] = 0; - out_1277983044864762150[288] = 0; - out_1277983044864762150[289] = 0; - out_1277983044864762150[290] = 0; - out_1277983044864762150[291] = 0; - out_1277983044864762150[292] = 0; - out_1277983044864762150[293] = 0; - out_1277983044864762150[294] = 0; - out_1277983044864762150[295] = 0; - out_1277983044864762150[296] = 0; - out_1277983044864762150[297] = 0; - out_1277983044864762150[298] = 0; - out_1277983044864762150[299] = 0; - out_1277983044864762150[300] = 0; - out_1277983044864762150[301] = 0; - out_1277983044864762150[302] = 0; - out_1277983044864762150[303] = 0; - out_1277983044864762150[304] = 1; - out_1277983044864762150[305] = 0; - out_1277983044864762150[306] = 0; - out_1277983044864762150[307] = 0; - out_1277983044864762150[308] = 0; - out_1277983044864762150[309] = 0; - out_1277983044864762150[310] = 0; - out_1277983044864762150[311] = 0; - out_1277983044864762150[312] = 0; - out_1277983044864762150[313] = 0; - out_1277983044864762150[314] = 0; - out_1277983044864762150[315] = 0; - out_1277983044864762150[316] = 0; - out_1277983044864762150[317] = 0; - out_1277983044864762150[318] = 0; - out_1277983044864762150[319] = 0; - out_1277983044864762150[320] = 0; - out_1277983044864762150[321] = 0; - out_1277983044864762150[322] = 0; - out_1277983044864762150[323] = 1; +void F_fun(double *state, double dt, double *out_6708996175305477877) { + out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[2] = 0; + out_6708996175305477877[3] = 0; + out_6708996175305477877[4] = 0; + out_6708996175305477877[5] = 0; + out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[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_6708996175305477877[9] = 0; + out_6708996175305477877[10] = 0; + out_6708996175305477877[11] = 0; + out_6708996175305477877[12] = 0; + out_6708996175305477877[13] = 0; + out_6708996175305477877[14] = 0; + out_6708996175305477877[15] = 0; + out_6708996175305477877[16] = 0; + out_6708996175305477877[17] = 0; + out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[20] = 0; + out_6708996175305477877[21] = 0; + out_6708996175305477877[22] = 0; + out_6708996175305477877[23] = 0; + out_6708996175305477877[24] = 0; + out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[27] = 0; + out_6708996175305477877[28] = 0; + out_6708996175305477877[29] = 0; + out_6708996175305477877[30] = 0; + out_6708996175305477877[31] = 0; + out_6708996175305477877[32] = 0; + out_6708996175305477877[33] = 0; + out_6708996175305477877[34] = 0; + out_6708996175305477877[35] = 0; + out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[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_6708996175305477877[39] = 0; + out_6708996175305477877[40] = 0; + out_6708996175305477877[41] = 0; + out_6708996175305477877[42] = 0; + out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[45] = 0; + out_6708996175305477877[46] = 0; + out_6708996175305477877[47] = 0; + out_6708996175305477877[48] = 0; + out_6708996175305477877[49] = 0; + out_6708996175305477877[50] = 0; + out_6708996175305477877[51] = 0; + out_6708996175305477877[52] = 0; + out_6708996175305477877[53] = 0; + out_6708996175305477877[54] = 0; + out_6708996175305477877[55] = 0; + out_6708996175305477877[56] = 0; + out_6708996175305477877[57] = 1; + out_6708996175305477877[58] = 0; + out_6708996175305477877[59] = 0; + out_6708996175305477877[60] = 0; + out_6708996175305477877[61] = 0; + out_6708996175305477877[62] = 0; + out_6708996175305477877[63] = 0; + out_6708996175305477877[64] = 0; + out_6708996175305477877[65] = 0; + out_6708996175305477877[66] = dt; + out_6708996175305477877[67] = 0; + out_6708996175305477877[68] = 0; + out_6708996175305477877[69] = 0; + out_6708996175305477877[70] = 0; + out_6708996175305477877[71] = 0; + out_6708996175305477877[72] = 0; + out_6708996175305477877[73] = 0; + out_6708996175305477877[74] = 0; + out_6708996175305477877[75] = 0; + out_6708996175305477877[76] = 1; + out_6708996175305477877[77] = 0; + out_6708996175305477877[78] = 0; + out_6708996175305477877[79] = 0; + out_6708996175305477877[80] = 0; + out_6708996175305477877[81] = 0; + out_6708996175305477877[82] = 0; + out_6708996175305477877[83] = 0; + out_6708996175305477877[84] = 0; + out_6708996175305477877[85] = dt; + out_6708996175305477877[86] = 0; + out_6708996175305477877[87] = 0; + out_6708996175305477877[88] = 0; + out_6708996175305477877[89] = 0; + out_6708996175305477877[90] = 0; + out_6708996175305477877[91] = 0; + out_6708996175305477877[92] = 0; + out_6708996175305477877[93] = 0; + out_6708996175305477877[94] = 0; + out_6708996175305477877[95] = 1; + out_6708996175305477877[96] = 0; + out_6708996175305477877[97] = 0; + out_6708996175305477877[98] = 0; + out_6708996175305477877[99] = 0; + out_6708996175305477877[100] = 0; + out_6708996175305477877[101] = 0; + out_6708996175305477877[102] = 0; + out_6708996175305477877[103] = 0; + out_6708996175305477877[104] = dt; + out_6708996175305477877[105] = 0; + out_6708996175305477877[106] = 0; + out_6708996175305477877[107] = 0; + out_6708996175305477877[108] = 0; + out_6708996175305477877[109] = 0; + out_6708996175305477877[110] = 0; + out_6708996175305477877[111] = 0; + out_6708996175305477877[112] = 0; + out_6708996175305477877[113] = 0; + out_6708996175305477877[114] = 1; + out_6708996175305477877[115] = 0; + out_6708996175305477877[116] = 0; + out_6708996175305477877[117] = 0; + out_6708996175305477877[118] = 0; + out_6708996175305477877[119] = 0; + out_6708996175305477877[120] = 0; + out_6708996175305477877[121] = 0; + out_6708996175305477877[122] = 0; + out_6708996175305477877[123] = 0; + out_6708996175305477877[124] = 0; + out_6708996175305477877[125] = 0; + out_6708996175305477877[126] = 0; + out_6708996175305477877[127] = 0; + out_6708996175305477877[128] = 0; + out_6708996175305477877[129] = 0; + out_6708996175305477877[130] = 0; + out_6708996175305477877[131] = 0; + out_6708996175305477877[132] = 0; + out_6708996175305477877[133] = 1; + out_6708996175305477877[134] = 0; + out_6708996175305477877[135] = 0; + out_6708996175305477877[136] = 0; + out_6708996175305477877[137] = 0; + out_6708996175305477877[138] = 0; + out_6708996175305477877[139] = 0; + out_6708996175305477877[140] = 0; + out_6708996175305477877[141] = 0; + out_6708996175305477877[142] = 0; + out_6708996175305477877[143] = 0; + out_6708996175305477877[144] = 0; + out_6708996175305477877[145] = 0; + out_6708996175305477877[146] = 0; + out_6708996175305477877[147] = 0; + out_6708996175305477877[148] = 0; + out_6708996175305477877[149] = 0; + out_6708996175305477877[150] = 0; + out_6708996175305477877[151] = 0; + out_6708996175305477877[152] = 1; + out_6708996175305477877[153] = 0; + out_6708996175305477877[154] = 0; + out_6708996175305477877[155] = 0; + out_6708996175305477877[156] = 0; + out_6708996175305477877[157] = 0; + out_6708996175305477877[158] = 0; + out_6708996175305477877[159] = 0; + out_6708996175305477877[160] = 0; + out_6708996175305477877[161] = 0; + out_6708996175305477877[162] = 0; + out_6708996175305477877[163] = 0; + out_6708996175305477877[164] = 0; + out_6708996175305477877[165] = 0; + out_6708996175305477877[166] = 0; + out_6708996175305477877[167] = 0; + out_6708996175305477877[168] = 0; + out_6708996175305477877[169] = 0; + out_6708996175305477877[170] = 0; + out_6708996175305477877[171] = 1; + out_6708996175305477877[172] = 0; + out_6708996175305477877[173] = 0; + out_6708996175305477877[174] = 0; + out_6708996175305477877[175] = 0; + out_6708996175305477877[176] = 0; + out_6708996175305477877[177] = 0; + out_6708996175305477877[178] = 0; + out_6708996175305477877[179] = 0; + out_6708996175305477877[180] = 0; + out_6708996175305477877[181] = 0; + out_6708996175305477877[182] = 0; + out_6708996175305477877[183] = 0; + out_6708996175305477877[184] = 0; + out_6708996175305477877[185] = 0; + out_6708996175305477877[186] = 0; + out_6708996175305477877[187] = 0; + out_6708996175305477877[188] = 0; + out_6708996175305477877[189] = 0; + out_6708996175305477877[190] = 1; + out_6708996175305477877[191] = 0; + out_6708996175305477877[192] = 0; + out_6708996175305477877[193] = 0; + out_6708996175305477877[194] = 0; + out_6708996175305477877[195] = 0; + out_6708996175305477877[196] = 0; + out_6708996175305477877[197] = 0; + out_6708996175305477877[198] = 0; + out_6708996175305477877[199] = 0; + out_6708996175305477877[200] = 0; + out_6708996175305477877[201] = 0; + out_6708996175305477877[202] = 0; + out_6708996175305477877[203] = 0; + out_6708996175305477877[204] = 0; + out_6708996175305477877[205] = 0; + out_6708996175305477877[206] = 0; + out_6708996175305477877[207] = 0; + out_6708996175305477877[208] = 0; + out_6708996175305477877[209] = 1; + out_6708996175305477877[210] = 0; + out_6708996175305477877[211] = 0; + out_6708996175305477877[212] = 0; + out_6708996175305477877[213] = 0; + out_6708996175305477877[214] = 0; + out_6708996175305477877[215] = 0; + out_6708996175305477877[216] = 0; + out_6708996175305477877[217] = 0; + out_6708996175305477877[218] = 0; + out_6708996175305477877[219] = 0; + out_6708996175305477877[220] = 0; + out_6708996175305477877[221] = 0; + out_6708996175305477877[222] = 0; + out_6708996175305477877[223] = 0; + out_6708996175305477877[224] = 0; + out_6708996175305477877[225] = 0; + out_6708996175305477877[226] = 0; + out_6708996175305477877[227] = 0; + out_6708996175305477877[228] = 1; + out_6708996175305477877[229] = 0; + out_6708996175305477877[230] = 0; + out_6708996175305477877[231] = 0; + out_6708996175305477877[232] = 0; + out_6708996175305477877[233] = 0; + out_6708996175305477877[234] = 0; + out_6708996175305477877[235] = 0; + out_6708996175305477877[236] = 0; + out_6708996175305477877[237] = 0; + out_6708996175305477877[238] = 0; + out_6708996175305477877[239] = 0; + out_6708996175305477877[240] = 0; + out_6708996175305477877[241] = 0; + out_6708996175305477877[242] = 0; + out_6708996175305477877[243] = 0; + out_6708996175305477877[244] = 0; + out_6708996175305477877[245] = 0; + out_6708996175305477877[246] = 0; + out_6708996175305477877[247] = 1; + out_6708996175305477877[248] = 0; + out_6708996175305477877[249] = 0; + out_6708996175305477877[250] = 0; + out_6708996175305477877[251] = 0; + out_6708996175305477877[252] = 0; + out_6708996175305477877[253] = 0; + out_6708996175305477877[254] = 0; + out_6708996175305477877[255] = 0; + out_6708996175305477877[256] = 0; + out_6708996175305477877[257] = 0; + out_6708996175305477877[258] = 0; + out_6708996175305477877[259] = 0; + out_6708996175305477877[260] = 0; + out_6708996175305477877[261] = 0; + out_6708996175305477877[262] = 0; + out_6708996175305477877[263] = 0; + out_6708996175305477877[264] = 0; + out_6708996175305477877[265] = 0; + out_6708996175305477877[266] = 1; + out_6708996175305477877[267] = 0; + out_6708996175305477877[268] = 0; + out_6708996175305477877[269] = 0; + out_6708996175305477877[270] = 0; + out_6708996175305477877[271] = 0; + out_6708996175305477877[272] = 0; + out_6708996175305477877[273] = 0; + out_6708996175305477877[274] = 0; + out_6708996175305477877[275] = 0; + out_6708996175305477877[276] = 0; + out_6708996175305477877[277] = 0; + out_6708996175305477877[278] = 0; + out_6708996175305477877[279] = 0; + out_6708996175305477877[280] = 0; + out_6708996175305477877[281] = 0; + out_6708996175305477877[282] = 0; + out_6708996175305477877[283] = 0; + out_6708996175305477877[284] = 0; + out_6708996175305477877[285] = 1; + out_6708996175305477877[286] = 0; + out_6708996175305477877[287] = 0; + out_6708996175305477877[288] = 0; + out_6708996175305477877[289] = 0; + out_6708996175305477877[290] = 0; + out_6708996175305477877[291] = 0; + out_6708996175305477877[292] = 0; + out_6708996175305477877[293] = 0; + out_6708996175305477877[294] = 0; + out_6708996175305477877[295] = 0; + out_6708996175305477877[296] = 0; + out_6708996175305477877[297] = 0; + out_6708996175305477877[298] = 0; + out_6708996175305477877[299] = 0; + out_6708996175305477877[300] = 0; + out_6708996175305477877[301] = 0; + out_6708996175305477877[302] = 0; + out_6708996175305477877[303] = 0; + out_6708996175305477877[304] = 1; + out_6708996175305477877[305] = 0; + out_6708996175305477877[306] = 0; + out_6708996175305477877[307] = 0; + out_6708996175305477877[308] = 0; + out_6708996175305477877[309] = 0; + out_6708996175305477877[310] = 0; + out_6708996175305477877[311] = 0; + out_6708996175305477877[312] = 0; + out_6708996175305477877[313] = 0; + out_6708996175305477877[314] = 0; + out_6708996175305477877[315] = 0; + out_6708996175305477877[316] = 0; + out_6708996175305477877[317] = 0; + out_6708996175305477877[318] = 0; + out_6708996175305477877[319] = 0; + out_6708996175305477877[320] = 0; + out_6708996175305477877[321] = 0; + out_6708996175305477877[322] = 0; + out_6708996175305477877[323] = 1; } -void h_4(double *state, double *unused, double *out_6167073772337384283) { - out_6167073772337384283[0] = state[6] + state[9]; - out_6167073772337384283[1] = state[7] + state[10]; - out_6167073772337384283[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3603221658780671100) { + out_3603221658780671100[0] = state[6] + state[9]; + out_3603221658780671100[1] = state[7] + state[10]; + out_3603221658780671100[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4761509597555442182) { - out_4761509597555442182[0] = 0; - out_4761509597555442182[1] = 0; - out_4761509597555442182[2] = 0; - out_4761509597555442182[3] = 0; - out_4761509597555442182[4] = 0; - out_4761509597555442182[5] = 0; - out_4761509597555442182[6] = 1; - out_4761509597555442182[7] = 0; - out_4761509597555442182[8] = 0; - out_4761509597555442182[9] = 1; - out_4761509597555442182[10] = 0; - out_4761509597555442182[11] = 0; - out_4761509597555442182[12] = 0; - out_4761509597555442182[13] = 0; - out_4761509597555442182[14] = 0; - out_4761509597555442182[15] = 0; - out_4761509597555442182[16] = 0; - out_4761509597555442182[17] = 0; - out_4761509597555442182[18] = 0; - out_4761509597555442182[19] = 0; - out_4761509597555442182[20] = 0; - out_4761509597555442182[21] = 0; - out_4761509597555442182[22] = 0; - out_4761509597555442182[23] = 0; - out_4761509597555442182[24] = 0; - out_4761509597555442182[25] = 1; - out_4761509597555442182[26] = 0; - out_4761509597555442182[27] = 0; - out_4761509597555442182[28] = 1; - out_4761509597555442182[29] = 0; - out_4761509597555442182[30] = 0; - out_4761509597555442182[31] = 0; - out_4761509597555442182[32] = 0; - out_4761509597555442182[33] = 0; - out_4761509597555442182[34] = 0; - out_4761509597555442182[35] = 0; - out_4761509597555442182[36] = 0; - out_4761509597555442182[37] = 0; - out_4761509597555442182[38] = 0; - out_4761509597555442182[39] = 0; - out_4761509597555442182[40] = 0; - out_4761509597555442182[41] = 0; - out_4761509597555442182[42] = 0; - out_4761509597555442182[43] = 0; - out_4761509597555442182[44] = 1; - out_4761509597555442182[45] = 0; - out_4761509597555442182[46] = 0; - out_4761509597555442182[47] = 1; - out_4761509597555442182[48] = 0; - out_4761509597555442182[49] = 0; - out_4761509597555442182[50] = 0; - out_4761509597555442182[51] = 0; - out_4761509597555442182[52] = 0; - out_4761509597555442182[53] = 0; +void H_4(double *state, double *unused, double *out_7556357530358465972) { + out_7556357530358465972[0] = 0; + out_7556357530358465972[1] = 0; + out_7556357530358465972[2] = 0; + out_7556357530358465972[3] = 0; + out_7556357530358465972[4] = 0; + out_7556357530358465972[5] = 0; + out_7556357530358465972[6] = 1; + out_7556357530358465972[7] = 0; + out_7556357530358465972[8] = 0; + out_7556357530358465972[9] = 1; + out_7556357530358465972[10] = 0; + out_7556357530358465972[11] = 0; + out_7556357530358465972[12] = 0; + out_7556357530358465972[13] = 0; + out_7556357530358465972[14] = 0; + out_7556357530358465972[15] = 0; + out_7556357530358465972[16] = 0; + out_7556357530358465972[17] = 0; + out_7556357530358465972[18] = 0; + out_7556357530358465972[19] = 0; + out_7556357530358465972[20] = 0; + out_7556357530358465972[21] = 0; + out_7556357530358465972[22] = 0; + out_7556357530358465972[23] = 0; + out_7556357530358465972[24] = 0; + out_7556357530358465972[25] = 1; + out_7556357530358465972[26] = 0; + out_7556357530358465972[27] = 0; + out_7556357530358465972[28] = 1; + out_7556357530358465972[29] = 0; + out_7556357530358465972[30] = 0; + out_7556357530358465972[31] = 0; + out_7556357530358465972[32] = 0; + out_7556357530358465972[33] = 0; + out_7556357530358465972[34] = 0; + out_7556357530358465972[35] = 0; + out_7556357530358465972[36] = 0; + out_7556357530358465972[37] = 0; + out_7556357530358465972[38] = 0; + out_7556357530358465972[39] = 0; + out_7556357530358465972[40] = 0; + out_7556357530358465972[41] = 0; + out_7556357530358465972[42] = 0; + out_7556357530358465972[43] = 0; + out_7556357530358465972[44] = 1; + out_7556357530358465972[45] = 0; + out_7556357530358465972[46] = 0; + out_7556357530358465972[47] = 1; + out_7556357530358465972[48] = 0; + out_7556357530358465972[49] = 0; + out_7556357530358465972[50] = 0; + out_7556357530358465972[51] = 0; + out_7556357530358465972[52] = 0; + out_7556357530358465972[53] = 0; } -void h_10(double *state, double *unused, double *out_3137948981903642358) { - out_3137948981903642358[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3137948981903642358[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3137948981903642358[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_8258563454346399047) { + out_8258563454346399047[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8258563454346399047[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8258563454346399047[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_6455930617601822676) { - out_6455930617601822676[0] = 0; - out_6455930617601822676[1] = 9.8100000000000005*cos(state[1]); - out_6455930617601822676[2] = 0; - out_6455930617601822676[3] = 0; - out_6455930617601822676[4] = -state[8]; - out_6455930617601822676[5] = state[7]; - out_6455930617601822676[6] = 0; - out_6455930617601822676[7] = state[5]; - out_6455930617601822676[8] = -state[4]; - out_6455930617601822676[9] = 0; - out_6455930617601822676[10] = 0; - out_6455930617601822676[11] = 0; - out_6455930617601822676[12] = 1; - out_6455930617601822676[13] = 0; - out_6455930617601822676[14] = 0; - out_6455930617601822676[15] = 1; - out_6455930617601822676[16] = 0; - out_6455930617601822676[17] = 0; - out_6455930617601822676[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6455930617601822676[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6455930617601822676[20] = 0; - out_6455930617601822676[21] = state[8]; - out_6455930617601822676[22] = 0; - out_6455930617601822676[23] = -state[6]; - out_6455930617601822676[24] = -state[5]; - out_6455930617601822676[25] = 0; - out_6455930617601822676[26] = state[3]; - out_6455930617601822676[27] = 0; - out_6455930617601822676[28] = 0; - out_6455930617601822676[29] = 0; - out_6455930617601822676[30] = 0; - out_6455930617601822676[31] = 1; - out_6455930617601822676[32] = 0; - out_6455930617601822676[33] = 0; - out_6455930617601822676[34] = 1; - out_6455930617601822676[35] = 0; - out_6455930617601822676[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6455930617601822676[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6455930617601822676[38] = 0; - out_6455930617601822676[39] = -state[7]; - out_6455930617601822676[40] = state[6]; - out_6455930617601822676[41] = 0; - out_6455930617601822676[42] = state[4]; - out_6455930617601822676[43] = -state[3]; - out_6455930617601822676[44] = 0; - out_6455930617601822676[45] = 0; - out_6455930617601822676[46] = 0; - out_6455930617601822676[47] = 0; - out_6455930617601822676[48] = 0; - out_6455930617601822676[49] = 0; - out_6455930617601822676[50] = 1; - out_6455930617601822676[51] = 0; - out_6455930617601822676[52] = 0; - out_6455930617601822676[53] = 1; +void H_10(double *state, double *unused, double *out_2735534763065741146) { + out_2735534763065741146[0] = 0; + out_2735534763065741146[1] = 9.8100000000000005*cos(state[1]); + out_2735534763065741146[2] = 0; + out_2735534763065741146[3] = 0; + out_2735534763065741146[4] = -state[8]; + out_2735534763065741146[5] = state[7]; + out_2735534763065741146[6] = 0; + out_2735534763065741146[7] = state[5]; + out_2735534763065741146[8] = -state[4]; + out_2735534763065741146[9] = 0; + out_2735534763065741146[10] = 0; + out_2735534763065741146[11] = 0; + out_2735534763065741146[12] = 1; + out_2735534763065741146[13] = 0; + out_2735534763065741146[14] = 0; + out_2735534763065741146[15] = 1; + out_2735534763065741146[16] = 0; + out_2735534763065741146[17] = 0; + out_2735534763065741146[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2735534763065741146[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2735534763065741146[20] = 0; + out_2735534763065741146[21] = state[8]; + out_2735534763065741146[22] = 0; + out_2735534763065741146[23] = -state[6]; + out_2735534763065741146[24] = -state[5]; + out_2735534763065741146[25] = 0; + out_2735534763065741146[26] = state[3]; + out_2735534763065741146[27] = 0; + out_2735534763065741146[28] = 0; + out_2735534763065741146[29] = 0; + out_2735534763065741146[30] = 0; + out_2735534763065741146[31] = 1; + out_2735534763065741146[32] = 0; + out_2735534763065741146[33] = 0; + out_2735534763065741146[34] = 1; + out_2735534763065741146[35] = 0; + out_2735534763065741146[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2735534763065741146[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2735534763065741146[38] = 0; + out_2735534763065741146[39] = -state[7]; + out_2735534763065741146[40] = state[6]; + out_2735534763065741146[41] = 0; + out_2735534763065741146[42] = state[4]; + out_2735534763065741146[43] = -state[3]; + out_2735534763065741146[44] = 0; + out_2735534763065741146[45] = 0; + out_2735534763065741146[46] = 0; + out_2735534763065741146[47] = 0; + out_2735534763065741146[48] = 0; + out_2735534763065741146[49] = 0; + out_2735534763065741146[50] = 1; + out_2735534763065741146[51] = 0; + out_2735534763065741146[52] = 0; + out_2735534763065741146[53] = 1; } -void h_13(double *state, double *unused, double *out_1578870771935541941) { - out_1578870771935541941[0] = state[3]; - out_1578870771935541941[1] = state[4]; - out_1578870771935541941[2] = state[5]; +void h_13(double *state, double *unused, double *out_7576910815427407655) { + out_7576910815427407655[0] = state[3]; + out_7576910815427407655[1] = state[4]; + out_7576910815427407655[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7973783422887774983) { - out_7973783422887774983[0] = 0; - out_7973783422887774983[1] = 0; - out_7973783422887774983[2] = 0; - out_7973783422887774983[3] = 1; - out_7973783422887774983[4] = 0; - out_7973783422887774983[5] = 0; - out_7973783422887774983[6] = 0; - out_7973783422887774983[7] = 0; - out_7973783422887774983[8] = 0; - out_7973783422887774983[9] = 0; - out_7973783422887774983[10] = 0; - out_7973783422887774983[11] = 0; - out_7973783422887774983[12] = 0; - out_7973783422887774983[13] = 0; - out_7973783422887774983[14] = 0; - out_7973783422887774983[15] = 0; - out_7973783422887774983[16] = 0; - out_7973783422887774983[17] = 0; - out_7973783422887774983[18] = 0; - out_7973783422887774983[19] = 0; - out_7973783422887774983[20] = 0; - out_7973783422887774983[21] = 0; - out_7973783422887774983[22] = 1; - out_7973783422887774983[23] = 0; - out_7973783422887774983[24] = 0; - out_7973783422887774983[25] = 0; - out_7973783422887774983[26] = 0; - out_7973783422887774983[27] = 0; - out_7973783422887774983[28] = 0; - out_7973783422887774983[29] = 0; - out_7973783422887774983[30] = 0; - out_7973783422887774983[31] = 0; - out_7973783422887774983[32] = 0; - out_7973783422887774983[33] = 0; - out_7973783422887774983[34] = 0; - out_7973783422887774983[35] = 0; - out_7973783422887774983[36] = 0; - out_7973783422887774983[37] = 0; - out_7973783422887774983[38] = 0; - out_7973783422887774983[39] = 0; - out_7973783422887774983[40] = 0; - out_7973783422887774983[41] = 1; - out_7973783422887774983[42] = 0; - out_7973783422887774983[43] = 0; - out_7973783422887774983[44] = 0; - out_7973783422887774983[45] = 0; - out_7973783422887774983[46] = 0; - out_7973783422887774983[47] = 0; - out_7973783422887774983[48] = 0; - out_7973783422887774983[49] = 0; - out_7973783422887774983[50] = 0; - out_7973783422887774983[51] = 0; - out_7973783422887774983[52] = 0; - out_7973783422887774983[53] = 0; +void H_13(double *state, double *unused, double *out_4344083705026133171) { + out_4344083705026133171[0] = 0; + out_4344083705026133171[1] = 0; + out_4344083705026133171[2] = 0; + out_4344083705026133171[3] = 1; + out_4344083705026133171[4] = 0; + out_4344083705026133171[5] = 0; + out_4344083705026133171[6] = 0; + out_4344083705026133171[7] = 0; + out_4344083705026133171[8] = 0; + out_4344083705026133171[9] = 0; + out_4344083705026133171[10] = 0; + out_4344083705026133171[11] = 0; + out_4344083705026133171[12] = 0; + out_4344083705026133171[13] = 0; + out_4344083705026133171[14] = 0; + out_4344083705026133171[15] = 0; + out_4344083705026133171[16] = 0; + out_4344083705026133171[17] = 0; + out_4344083705026133171[18] = 0; + out_4344083705026133171[19] = 0; + out_4344083705026133171[20] = 0; + out_4344083705026133171[21] = 0; + out_4344083705026133171[22] = 1; + out_4344083705026133171[23] = 0; + out_4344083705026133171[24] = 0; + out_4344083705026133171[25] = 0; + out_4344083705026133171[26] = 0; + out_4344083705026133171[27] = 0; + out_4344083705026133171[28] = 0; + out_4344083705026133171[29] = 0; + out_4344083705026133171[30] = 0; + out_4344083705026133171[31] = 0; + out_4344083705026133171[32] = 0; + out_4344083705026133171[33] = 0; + out_4344083705026133171[34] = 0; + out_4344083705026133171[35] = 0; + out_4344083705026133171[36] = 0; + out_4344083705026133171[37] = 0; + out_4344083705026133171[38] = 0; + out_4344083705026133171[39] = 0; + out_4344083705026133171[40] = 0; + out_4344083705026133171[41] = 1; + out_4344083705026133171[42] = 0; + out_4344083705026133171[43] = 0; + out_4344083705026133171[44] = 0; + out_4344083705026133171[45] = 0; + out_4344083705026133171[46] = 0; + out_4344083705026133171[47] = 0; + out_4344083705026133171[48] = 0; + out_4344083705026133171[49] = 0; + out_4344083705026133171[50] = 0; + out_4344083705026133171[51] = 0; + out_4344083705026133171[52] = 0; + out_4344083705026133171[53] = 0; } -void h_14(double *state, double *unused, double *out_7672211974709550584) { - out_7672211974709550584[0] = state[6]; - out_7672211974709550584[1] = state[7]; - out_7672211974709550584[2] = state[8]; +void h_14(double *state, double *unused, double *out_984451843965455601) { + out_984451843965455601[0] = state[6]; + out_984451843965455601[1] = state[7]; + out_984451843965455601[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4326393070910558583) { - out_4326393070910558583[0] = 0; - out_4326393070910558583[1] = 0; - out_4326393070910558583[2] = 0; - out_4326393070910558583[3] = 0; - out_4326393070910558583[4] = 0; - out_4326393070910558583[5] = 0; - out_4326393070910558583[6] = 1; - out_4326393070910558583[7] = 0; - out_4326393070910558583[8] = 0; - out_4326393070910558583[9] = 0; - out_4326393070910558583[10] = 0; - out_4326393070910558583[11] = 0; - out_4326393070910558583[12] = 0; - out_4326393070910558583[13] = 0; - out_4326393070910558583[14] = 0; - out_4326393070910558583[15] = 0; - out_4326393070910558583[16] = 0; - out_4326393070910558583[17] = 0; - out_4326393070910558583[18] = 0; - out_4326393070910558583[19] = 0; - out_4326393070910558583[20] = 0; - out_4326393070910558583[21] = 0; - out_4326393070910558583[22] = 0; - out_4326393070910558583[23] = 0; - out_4326393070910558583[24] = 0; - out_4326393070910558583[25] = 1; - out_4326393070910558583[26] = 0; - out_4326393070910558583[27] = 0; - out_4326393070910558583[28] = 0; - out_4326393070910558583[29] = 0; - out_4326393070910558583[30] = 0; - out_4326393070910558583[31] = 0; - out_4326393070910558583[32] = 0; - out_4326393070910558583[33] = 0; - out_4326393070910558583[34] = 0; - out_4326393070910558583[35] = 0; - out_4326393070910558583[36] = 0; - out_4326393070910558583[37] = 0; - out_4326393070910558583[38] = 0; - out_4326393070910558583[39] = 0; - out_4326393070910558583[40] = 0; - out_4326393070910558583[41] = 0; - out_4326393070910558583[42] = 0; - out_4326393070910558583[43] = 0; - out_4326393070910558583[44] = 1; - out_4326393070910558583[45] = 0; - out_4326393070910558583[46] = 0; - out_4326393070910558583[47] = 0; - out_4326393070910558583[48] = 0; - out_4326393070910558583[49] = 0; - out_4326393070910558583[50] = 0; - out_4326393070910558583[51] = 0; - out_4326393070910558583[52] = 0; - out_4326393070910558583[53] = 0; +void H_14(double *state, double *unused, double *out_7807598111055713348) { + out_7807598111055713348[0] = 0; + out_7807598111055713348[1] = 0; + out_7807598111055713348[2] = 0; + out_7807598111055713348[3] = 0; + out_7807598111055713348[4] = 0; + out_7807598111055713348[5] = 0; + out_7807598111055713348[6] = 1; + out_7807598111055713348[7] = 0; + out_7807598111055713348[8] = 0; + out_7807598111055713348[9] = 0; + out_7807598111055713348[10] = 0; + out_7807598111055713348[11] = 0; + out_7807598111055713348[12] = 0; + out_7807598111055713348[13] = 0; + out_7807598111055713348[14] = 0; + out_7807598111055713348[15] = 0; + out_7807598111055713348[16] = 0; + out_7807598111055713348[17] = 0; + out_7807598111055713348[18] = 0; + out_7807598111055713348[19] = 0; + out_7807598111055713348[20] = 0; + out_7807598111055713348[21] = 0; + out_7807598111055713348[22] = 0; + out_7807598111055713348[23] = 0; + out_7807598111055713348[24] = 0; + out_7807598111055713348[25] = 1; + out_7807598111055713348[26] = 0; + out_7807598111055713348[27] = 0; + out_7807598111055713348[28] = 0; + out_7807598111055713348[29] = 0; + out_7807598111055713348[30] = 0; + out_7807598111055713348[31] = 0; + out_7807598111055713348[32] = 0; + out_7807598111055713348[33] = 0; + out_7807598111055713348[34] = 0; + out_7807598111055713348[35] = 0; + out_7807598111055713348[36] = 0; + out_7807598111055713348[37] = 0; + out_7807598111055713348[38] = 0; + out_7807598111055713348[39] = 0; + out_7807598111055713348[40] = 0; + out_7807598111055713348[41] = 0; + out_7807598111055713348[42] = 0; + out_7807598111055713348[43] = 0; + out_7807598111055713348[44] = 1; + out_7807598111055713348[45] = 0; + out_7807598111055713348[46] = 0; + out_7807598111055713348[47] = 0; + out_7807598111055713348[48] = 0; + out_7807598111055713348[49] = 0; + out_7807598111055713348[50] = 0; + out_7807598111055713348[51] = 0; + out_7807598111055713348[52] = 0; + out_7807598111055713348[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_2755267697534836281) { - err_fun(nom_x, delta_x, out_2755267697534836281); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8743902382867857614) { + err_fun(nom_x, delta_x, out_8743902382867857614); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4688414877314135206) { - inv_err_fun(nom_x, true_x, out_4688414877314135206); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3636694381902544351) { + inv_err_fun(nom_x, true_x, out_3636694381902544351); } -void pose_H_mod_fun(double *state, double *out_7837152669402150713) { - H_mod_fun(state, out_7837152669402150713); +void pose_H_mod_fun(double *state, double *out_2152190311268096506) { + H_mod_fun(state, out_2152190311268096506); } -void pose_f_fun(double *state, double dt, double *out_8293850048606202954) { - f_fun(state, dt, out_8293850048606202954); +void pose_f_fun(double *state, double dt, double *out_5042547316032857663) { + f_fun(state, dt, out_5042547316032857663); } -void pose_F_fun(double *state, double dt, double *out_1277983044864762150) { - F_fun(state, dt, out_1277983044864762150); +void pose_F_fun(double *state, double dt, double *out_6708996175305477877) { + F_fun(state, dt, out_6708996175305477877); } -void pose_h_4(double *state, double *unused, double *out_6167073772337384283) { - h_4(state, unused, out_6167073772337384283); +void pose_h_4(double *state, double *unused, double *out_3603221658780671100) { + h_4(state, unused, out_3603221658780671100); } -void pose_H_4(double *state, double *unused, double *out_4761509597555442182) { - H_4(state, unused, out_4761509597555442182); +void pose_H_4(double *state, double *unused, double *out_7556357530358465972) { + H_4(state, unused, out_7556357530358465972); } -void pose_h_10(double *state, double *unused, double *out_3137948981903642358) { - h_10(state, unused, out_3137948981903642358); +void pose_h_10(double *state, double *unused, double *out_8258563454346399047) { + h_10(state, unused, out_8258563454346399047); } -void pose_H_10(double *state, double *unused, double *out_6455930617601822676) { - H_10(state, unused, out_6455930617601822676); +void pose_H_10(double *state, double *unused, double *out_2735534763065741146) { + H_10(state, unused, out_2735534763065741146); } -void pose_h_13(double *state, double *unused, double *out_1578870771935541941) { - h_13(state, unused, out_1578870771935541941); +void pose_h_13(double *state, double *unused, double *out_7576910815427407655) { + h_13(state, unused, out_7576910815427407655); } -void pose_H_13(double *state, double *unused, double *out_7973783422887774983) { - H_13(state, unused, out_7973783422887774983); +void pose_H_13(double *state, double *unused, double *out_4344083705026133171) { + H_13(state, unused, out_4344083705026133171); } -void pose_h_14(double *state, double *unused, double *out_7672211974709550584) { - h_14(state, unused, out_7672211974709550584); +void pose_h_14(double *state, double *unused, double *out_984451843965455601) { + h_14(state, unused, out_984451843965455601); } -void pose_H_14(double *state, double *unused, double *out_4326393070910558583) { - H_14(state, unused, out_4326393070910558583); +void pose_H_14(double *state, double *unused, double *out_7807598111055713348) { + H_14(state, unused, out_7807598111055713348); } 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 615d1233b..01c56a2e5 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_2755267697534836281); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4688414877314135206); -void pose_H_mod_fun(double *state, double *out_7837152669402150713); -void pose_f_fun(double *state, double dt, double *out_8293850048606202954); -void pose_F_fun(double *state, double dt, double *out_1277983044864762150); -void pose_h_4(double *state, double *unused, double *out_6167073772337384283); -void pose_H_4(double *state, double *unused, double *out_4761509597555442182); -void pose_h_10(double *state, double *unused, double *out_3137948981903642358); -void pose_H_10(double *state, double *unused, double *out_6455930617601822676); -void pose_h_13(double *state, double *unused, double *out_1578870771935541941); -void pose_H_13(double *state, double *unused, double *out_7973783422887774983); -void pose_h_14(double *state, double *unused, double *out_7672211974709550584); -void pose_H_14(double *state, double *unused, double *out_4326393070910558583); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8743902382867857614); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3636694381902544351); +void pose_H_mod_fun(double *state, double *out_2152190311268096506); +void pose_f_fun(double *state, double dt, double *out_5042547316032857663); +void pose_F_fun(double *state, double dt, double *out_6708996175305477877); +void pose_h_4(double *state, double *unused, double *out_3603221658780671100); +void pose_H_4(double *state, double *unused, double *out_7556357530358465972); +void pose_h_10(double *state, double *unused, double *out_8258563454346399047); +void pose_H_10(double *state, double *unused, double *out_2735534763065741146); +void pose_h_13(double *state, double *unused, double *out_7576910815427407655); +void pose_H_13(double *state, double *unused, double *out_4344083705026133171); +void pose_h_14(double *state, double *unused, double *out_984451843965455601); +void pose_H_14(double *state, double *unused, double *out_7807598111055713348); 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/onroad/starpilot/navigation_card.py b/selfdrive/ui/onroad/starpilot/navigation_card.py index 26609122f..1d02d10b0 100644 --- a/selfdrive/ui/onroad/starpilot/navigation_card.py +++ b/selfdrive/ui/onroad/starpilot/navigation_card.py @@ -168,6 +168,9 @@ class NavigationCardRenderer(Widget): if not self._enabled: return + if not (ui_state.params.get("NavDestination") or ""): + return + raw_state = ui_state.params_memory.get("NavInstructionState") or {} if isinstance(raw_state, str): try: diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc index 0e18d94b4..6ebb87867 100644 --- a/selfdrive/ui/qt/onroad/hud.cc +++ b/selfdrive/ui/qt/onroad/hud.cc @@ -107,6 +107,10 @@ void HudRenderer::updateState(const UIState &s) { return; } + if (params.get("NavDestination").empty()) { + return; + } + const std::string nav_state_raw = params_memory.get("NavInstructionState"); if (nav_state_raw.empty()) { return; diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc index 4ac1ff42f..44be2dfb1 100644 --- a/selfdrive/ui/qt/onroad/onroad_home.cc +++ b/selfdrive/ui/qt/onroad/onroad_home.cc @@ -114,6 +114,7 @@ void OnroadWindow::paintEvent(QPaintEvent *event) { void OnroadWindow::mousePressEvent(QMouseEvent* mouseEvent) { if (nvg->handleHudPress(mouseEvent->pos())) { + grabMouse(); mouseEvent->accept(); return; } @@ -129,7 +130,12 @@ void OnroadWindow::mousePressEvent(QMouseEvent* mouseEvent) { } void OnroadWindow::mouseReleaseEvent(QMouseEvent* mouseEvent) { - if (nvg->handleHudRelease(mouseEvent->pos())) { + const bool handled = nvg->handleHudRelease(mouseEvent->pos()); + if (QWidget::mouseGrabber() == this) { + releaseMouse(); + } + + if (handled) { mouseEvent->accept(); return; } diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 06e06148e..7d8a8e881 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/tools/replay/fake_nav_demo.py b/tools/replay/fake_nav_demo.py index 03b3a032d..d2e56fab6 100644 --- a/tools/replay/fake_nav_demo.py +++ b/tools/replay/fake_nav_demo.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import argparse +import json import time from itertools import cycle @@ -154,6 +155,15 @@ def build_route(pm: messaging.PubMaster) -> None: pm.send("navRoute", msg) +def build_destination(scenario: dict) -> dict: + return { + "place_name": str(scenario["primary"]), + "latitude": float(ROUTE_COORDS[-1]["latitude"]), + "longitude": float(ROUTE_COORDS[-1]["longitude"]), + "routeId": "fake-nav-demo", + } + + def main() -> None: parser = argparse.ArgumentParser(description="Publish fake navigation instructions for desktop onroad replay.") parser.add_argument("--hold-seconds", type=float, default=3.0, help="How long each maneuver stays active.") @@ -161,6 +171,7 @@ def main() -> None: args = parser.parse_args() pm = messaging.PubMaster(["navInstruction", "navRoute"]) + params = Params() params_memory = Params(memory=True) try: params_memory.put_bool("NavInstructionCollapsed", False) @@ -169,6 +180,7 @@ def main() -> None: scenario_cycle = cycle(SCENARIOS) current = next(scenario_cycle) + params.put("NavDestination", json.dumps(build_destination(current))) next_switch = time.monotonic() + args.hold_seconds print(f"showing: {current['type']} / {current['modifier']} -> {current['next_type']} / {current['next_modifier']}", flush=True) @@ -177,6 +189,7 @@ def main() -> None: now = time.monotonic() if now >= next_switch: current = next(scenario_cycle) + params.put("NavDestination", json.dumps(build_destination(current))) next_switch = now + args.hold_seconds print(f"showing: {current['type']} / {current['modifier']} -> {current['next_type']} / {current['next_modifier']}", flush=True) @@ -185,6 +198,7 @@ def main() -> None: build_route(pm) time.sleep(args.publish_interval) finally: + params.remove("NavDestination") params_memory.remove("NavInstructionState") try: params_memory.remove("NavInstructionCollapsed")