diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 9c6399f6f..4d588dc2c 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 cf6b013b6..822c4442f 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 80bc822da..1153df437 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 0ff3ce919..3e0b95fa1 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 dd5bda4e4..dd59d36d0 100755 Binary files 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differ diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index 15a44ab73..785cc20a1 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 758c77c07..077ed5a5e 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index 758c77c07..077ed5a5e 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin 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uint8_t gitversion[19] = "DEV-f22bcfee-DEBUG"; +const uint8_t gitversion[19] = "DEV-af08cca3-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 01b0c21be..fcce9a1e0 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 7bc726758..64c97445c 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 1b1d1f98c..61ca3f0e5 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 a7135d4d3..703f0621a 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_can_ignition_only.bin.signed 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a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 581169cd0..e42e19cde 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index cd7a10fc9..20486aa1e 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-f22bcfee-DEBUG \ No newline at end of file +DEV-af08cca3-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 2e3519afb..282f6fc18 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_3926092090457486519) { - out_3926092090457486519[0] = delta_x[0] + nom_x[0]; - out_3926092090457486519[1] = delta_x[1] + nom_x[1]; - out_3926092090457486519[2] = delta_x[2] + nom_x[2]; - out_3926092090457486519[3] = delta_x[3] + nom_x[3]; - out_3926092090457486519[4] = delta_x[4] + nom_x[4]; - out_3926092090457486519[5] = delta_x[5] + nom_x[5]; - out_3926092090457486519[6] = delta_x[6] + nom_x[6]; - out_3926092090457486519[7] = delta_x[7] + nom_x[7]; - out_3926092090457486519[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_1652310582198722037) { + out_1652310582198722037[0] = delta_x[0] + nom_x[0]; + out_1652310582198722037[1] = delta_x[1] + nom_x[1]; + out_1652310582198722037[2] = delta_x[2] + nom_x[2]; + out_1652310582198722037[3] = delta_x[3] + nom_x[3]; + out_1652310582198722037[4] = delta_x[4] + nom_x[4]; + out_1652310582198722037[5] = delta_x[5] + nom_x[5]; + out_1652310582198722037[6] = delta_x[6] + nom_x[6]; + out_1652310582198722037[7] = delta_x[7] + nom_x[7]; + out_1652310582198722037[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147) { - out_1042755756890972147[0] = -nom_x[0] + true_x[0]; - out_1042755756890972147[1] = -nom_x[1] + true_x[1]; - out_1042755756890972147[2] = -nom_x[2] + true_x[2]; - out_1042755756890972147[3] = -nom_x[3] + true_x[3]; - out_1042755756890972147[4] = -nom_x[4] + true_x[4]; - out_1042755756890972147[5] = -nom_x[5] + true_x[5]; - out_1042755756890972147[6] = -nom_x[6] + true_x[6]; - out_1042755756890972147[7] = -nom_x[7] + true_x[7]; - out_1042755756890972147[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6538795565187290674) { + out_6538795565187290674[0] = -nom_x[0] + true_x[0]; + out_6538795565187290674[1] = -nom_x[1] + true_x[1]; + out_6538795565187290674[2] = -nom_x[2] + true_x[2]; + out_6538795565187290674[3] = -nom_x[3] + true_x[3]; + out_6538795565187290674[4] = -nom_x[4] + true_x[4]; + out_6538795565187290674[5] = -nom_x[5] + true_x[5]; + out_6538795565187290674[6] = -nom_x[6] + true_x[6]; + out_6538795565187290674[7] = -nom_x[7] + true_x[7]; + out_6538795565187290674[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6362512350679995207) { - out_6362512350679995207[0] = 1.0; - out_6362512350679995207[1] = 0.0; - out_6362512350679995207[2] = 0.0; - out_6362512350679995207[3] = 0.0; - out_6362512350679995207[4] = 0.0; - out_6362512350679995207[5] = 0.0; - out_6362512350679995207[6] = 0.0; - out_6362512350679995207[7] = 0.0; - out_6362512350679995207[8] = 0.0; - out_6362512350679995207[9] = 0.0; - out_6362512350679995207[10] = 1.0; - out_6362512350679995207[11] = 0.0; - out_6362512350679995207[12] = 0.0; - out_6362512350679995207[13] = 0.0; - out_6362512350679995207[14] = 0.0; - out_6362512350679995207[15] = 0.0; - out_6362512350679995207[16] = 0.0; - out_6362512350679995207[17] = 0.0; - out_6362512350679995207[18] = 0.0; - out_6362512350679995207[19] = 0.0; - out_6362512350679995207[20] = 1.0; - out_6362512350679995207[21] = 0.0; - out_6362512350679995207[22] = 0.0; - out_6362512350679995207[23] = 0.0; - out_6362512350679995207[24] = 0.0; - out_6362512350679995207[25] = 0.0; - out_6362512350679995207[26] = 0.0; - out_6362512350679995207[27] = 0.0; - out_6362512350679995207[28] = 0.0; - out_6362512350679995207[29] = 0.0; - out_6362512350679995207[30] = 1.0; - out_6362512350679995207[31] = 0.0; - out_6362512350679995207[32] = 0.0; - out_6362512350679995207[33] = 0.0; - out_6362512350679995207[34] = 0.0; - out_6362512350679995207[35] = 0.0; - out_6362512350679995207[36] = 0.0; - out_6362512350679995207[37] = 0.0; - out_6362512350679995207[38] = 0.0; - out_6362512350679995207[39] = 0.0; - out_6362512350679995207[40] = 1.0; - out_6362512350679995207[41] = 0.0; - out_6362512350679995207[42] = 0.0; - out_6362512350679995207[43] = 0.0; - out_6362512350679995207[44] = 0.0; - out_6362512350679995207[45] = 0.0; - out_6362512350679995207[46] = 0.0; - out_6362512350679995207[47] = 0.0; - out_6362512350679995207[48] = 0.0; - out_6362512350679995207[49] = 0.0; - out_6362512350679995207[50] = 1.0; - out_6362512350679995207[51] = 0.0; - out_6362512350679995207[52] = 0.0; - out_6362512350679995207[53] = 0.0; - out_6362512350679995207[54] = 0.0; - out_6362512350679995207[55] = 0.0; - out_6362512350679995207[56] = 0.0; - out_6362512350679995207[57] = 0.0; - out_6362512350679995207[58] = 0.0; - out_6362512350679995207[59] = 0.0; - out_6362512350679995207[60] = 1.0; - out_6362512350679995207[61] = 0.0; - out_6362512350679995207[62] = 0.0; - out_6362512350679995207[63] = 0.0; - out_6362512350679995207[64] = 0.0; - out_6362512350679995207[65] = 0.0; - out_6362512350679995207[66] = 0.0; - out_6362512350679995207[67] = 0.0; - out_6362512350679995207[68] = 0.0; - out_6362512350679995207[69] = 0.0; - out_6362512350679995207[70] = 1.0; - out_6362512350679995207[71] = 0.0; - out_6362512350679995207[72] = 0.0; - out_6362512350679995207[73] = 0.0; - out_6362512350679995207[74] = 0.0; - out_6362512350679995207[75] = 0.0; - out_6362512350679995207[76] = 0.0; - out_6362512350679995207[77] = 0.0; - out_6362512350679995207[78] = 0.0; - out_6362512350679995207[79] = 0.0; - out_6362512350679995207[80] = 1.0; +void H_mod_fun(double *state, double *out_3583151765486342138) { + out_3583151765486342138[0] = 1.0; + out_3583151765486342138[1] = 0.0; + out_3583151765486342138[2] = 0.0; + out_3583151765486342138[3] = 0.0; + out_3583151765486342138[4] = 0.0; + out_3583151765486342138[5] = 0.0; + out_3583151765486342138[6] = 0.0; + out_3583151765486342138[7] = 0.0; + out_3583151765486342138[8] = 0.0; + out_3583151765486342138[9] = 0.0; + out_3583151765486342138[10] = 1.0; + out_3583151765486342138[11] = 0.0; + out_3583151765486342138[12] = 0.0; + out_3583151765486342138[13] = 0.0; + out_3583151765486342138[14] = 0.0; + out_3583151765486342138[15] = 0.0; + out_3583151765486342138[16] = 0.0; + out_3583151765486342138[17] = 0.0; + out_3583151765486342138[18] = 0.0; + out_3583151765486342138[19] = 0.0; + out_3583151765486342138[20] = 1.0; + out_3583151765486342138[21] = 0.0; + out_3583151765486342138[22] = 0.0; + out_3583151765486342138[23] = 0.0; + out_3583151765486342138[24] = 0.0; + out_3583151765486342138[25] = 0.0; + out_3583151765486342138[26] = 0.0; + out_3583151765486342138[27] = 0.0; + out_3583151765486342138[28] = 0.0; + out_3583151765486342138[29] = 0.0; + out_3583151765486342138[30] = 1.0; + out_3583151765486342138[31] = 0.0; + out_3583151765486342138[32] = 0.0; + out_3583151765486342138[33] = 0.0; + out_3583151765486342138[34] = 0.0; + out_3583151765486342138[35] = 0.0; + out_3583151765486342138[36] = 0.0; + out_3583151765486342138[37] = 0.0; + out_3583151765486342138[38] = 0.0; + out_3583151765486342138[39] = 0.0; + out_3583151765486342138[40] = 1.0; + out_3583151765486342138[41] = 0.0; + out_3583151765486342138[42] = 0.0; + out_3583151765486342138[43] = 0.0; + out_3583151765486342138[44] = 0.0; + out_3583151765486342138[45] = 0.0; + out_3583151765486342138[46] = 0.0; + out_3583151765486342138[47] = 0.0; + out_3583151765486342138[48] = 0.0; + out_3583151765486342138[49] = 0.0; + out_3583151765486342138[50] = 1.0; + out_3583151765486342138[51] = 0.0; + out_3583151765486342138[52] = 0.0; + out_3583151765486342138[53] = 0.0; + out_3583151765486342138[54] = 0.0; + out_3583151765486342138[55] = 0.0; + out_3583151765486342138[56] = 0.0; + out_3583151765486342138[57] = 0.0; + out_3583151765486342138[58] = 0.0; + out_3583151765486342138[59] = 0.0; + out_3583151765486342138[60] = 1.0; + out_3583151765486342138[61] = 0.0; + out_3583151765486342138[62] = 0.0; + out_3583151765486342138[63] = 0.0; + out_3583151765486342138[64] = 0.0; + out_3583151765486342138[65] = 0.0; + out_3583151765486342138[66] = 0.0; + out_3583151765486342138[67] = 0.0; + out_3583151765486342138[68] = 0.0; + out_3583151765486342138[69] = 0.0; + out_3583151765486342138[70] = 1.0; + out_3583151765486342138[71] = 0.0; + out_3583151765486342138[72] = 0.0; + out_3583151765486342138[73] = 0.0; + out_3583151765486342138[74] = 0.0; + out_3583151765486342138[75] = 0.0; + out_3583151765486342138[76] = 0.0; + out_3583151765486342138[77] = 0.0; + out_3583151765486342138[78] = 0.0; + out_3583151765486342138[79] = 0.0; + out_3583151765486342138[80] = 1.0; } -void f_fun(double *state, double dt, double *out_424859049759384026) { - out_424859049759384026[0] = state[0]; - out_424859049759384026[1] = state[1]; - out_424859049759384026[2] = state[2]; - out_424859049759384026[3] = state[3]; - out_424859049759384026[4] = state[4]; - out_424859049759384026[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_424859049759384026[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_424859049759384026[7] = state[7]; - out_424859049759384026[8] = state[8]; +void f_fun(double *state, double dt, double *out_4462415864665295440) { + out_4462415864665295440[0] = state[0]; + out_4462415864665295440[1] = state[1]; + out_4462415864665295440[2] = state[2]; + out_4462415864665295440[3] = state[3]; + out_4462415864665295440[4] = state[4]; + out_4462415864665295440[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_4462415864665295440[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_4462415864665295440[7] = state[7]; + out_4462415864665295440[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5354778108929478985) { - out_5354778108929478985[0] = 1; - out_5354778108929478985[1] = 0; - out_5354778108929478985[2] = 0; - out_5354778108929478985[3] = 0; - out_5354778108929478985[4] = 0; - out_5354778108929478985[5] = 0; - out_5354778108929478985[6] = 0; - out_5354778108929478985[7] = 0; - out_5354778108929478985[8] = 0; - out_5354778108929478985[9] = 0; - out_5354778108929478985[10] = 1; - out_5354778108929478985[11] = 0; - out_5354778108929478985[12] = 0; - out_5354778108929478985[13] = 0; - out_5354778108929478985[14] = 0; - out_5354778108929478985[15] = 0; - out_5354778108929478985[16] = 0; - out_5354778108929478985[17] = 0; - out_5354778108929478985[18] = 0; - out_5354778108929478985[19] = 0; - out_5354778108929478985[20] = 1; - out_5354778108929478985[21] = 0; - out_5354778108929478985[22] = 0; - out_5354778108929478985[23] = 0; - out_5354778108929478985[24] = 0; - out_5354778108929478985[25] = 0; - out_5354778108929478985[26] = 0; - out_5354778108929478985[27] = 0; - out_5354778108929478985[28] = 0; - out_5354778108929478985[29] = 0; - out_5354778108929478985[30] = 1; - out_5354778108929478985[31] = 0; - out_5354778108929478985[32] = 0; - out_5354778108929478985[33] = 0; - out_5354778108929478985[34] = 0; - out_5354778108929478985[35] = 0; - out_5354778108929478985[36] = 0; - out_5354778108929478985[37] = 0; - out_5354778108929478985[38] = 0; - out_5354778108929478985[39] = 0; - out_5354778108929478985[40] = 1; - out_5354778108929478985[41] = 0; - out_5354778108929478985[42] = 0; - out_5354778108929478985[43] = 0; - out_5354778108929478985[44] = 0; - out_5354778108929478985[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_5354778108929478985[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5354778108929478985[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5354778108929478985[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5354778108929478985[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_5354778108929478985[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5354778108929478985[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5354778108929478985[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5354778108929478985[53] = -9.8100000000000005*dt; - out_5354778108929478985[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_5354778108929478985[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5354778108929478985[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5354778108929478985[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5354778108929478985[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_5354778108929478985[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5354778108929478985[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_5354778108929478985[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5354778108929478985[62] = 0; - out_5354778108929478985[63] = 0; - out_5354778108929478985[64] = 0; - out_5354778108929478985[65] = 0; - out_5354778108929478985[66] = 0; - out_5354778108929478985[67] = 0; - out_5354778108929478985[68] = 0; - out_5354778108929478985[69] = 0; - out_5354778108929478985[70] = 1; - out_5354778108929478985[71] = 0; - out_5354778108929478985[72] = 0; - out_5354778108929478985[73] = 0; - out_5354778108929478985[74] = 0; - out_5354778108929478985[75] = 0; - out_5354778108929478985[76] = 0; - out_5354778108929478985[77] = 0; - out_5354778108929478985[78] = 0; - out_5354778108929478985[79] = 0; - out_5354778108929478985[80] = 1; +void F_fun(double *state, double dt, double *out_4975022356880268560) { + out_4975022356880268560[0] = 1; + out_4975022356880268560[1] = 0; + out_4975022356880268560[2] = 0; + out_4975022356880268560[3] = 0; + out_4975022356880268560[4] = 0; + out_4975022356880268560[5] = 0; + out_4975022356880268560[6] = 0; + out_4975022356880268560[7] = 0; + out_4975022356880268560[8] = 0; + out_4975022356880268560[9] = 0; + out_4975022356880268560[10] = 1; + out_4975022356880268560[11] = 0; + out_4975022356880268560[12] = 0; + out_4975022356880268560[13] = 0; + out_4975022356880268560[14] = 0; + out_4975022356880268560[15] = 0; + out_4975022356880268560[16] = 0; + out_4975022356880268560[17] = 0; + out_4975022356880268560[18] = 0; + out_4975022356880268560[19] = 0; + out_4975022356880268560[20] = 1; + out_4975022356880268560[21] = 0; + out_4975022356880268560[22] = 0; + out_4975022356880268560[23] = 0; + out_4975022356880268560[24] = 0; + out_4975022356880268560[25] = 0; + out_4975022356880268560[26] = 0; + out_4975022356880268560[27] = 0; + out_4975022356880268560[28] = 0; + out_4975022356880268560[29] = 0; + out_4975022356880268560[30] = 1; + out_4975022356880268560[31] = 0; + out_4975022356880268560[32] = 0; + out_4975022356880268560[33] = 0; + out_4975022356880268560[34] = 0; + out_4975022356880268560[35] = 0; + out_4975022356880268560[36] = 0; + out_4975022356880268560[37] = 0; + out_4975022356880268560[38] = 0; + out_4975022356880268560[39] = 0; + out_4975022356880268560[40] = 1; + out_4975022356880268560[41] = 0; + out_4975022356880268560[42] = 0; + out_4975022356880268560[43] = 0; + out_4975022356880268560[44] = 0; + out_4975022356880268560[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_4975022356880268560[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4975022356880268560[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4975022356880268560[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4975022356880268560[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_4975022356880268560[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4975022356880268560[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4975022356880268560[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4975022356880268560[53] = -9.8100000000000005*dt; + out_4975022356880268560[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_4975022356880268560[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4975022356880268560[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4975022356880268560[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4975022356880268560[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_4975022356880268560[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4975022356880268560[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_4975022356880268560[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4975022356880268560[62] = 0; + out_4975022356880268560[63] = 0; + out_4975022356880268560[64] = 0; + out_4975022356880268560[65] = 0; + out_4975022356880268560[66] = 0; + out_4975022356880268560[67] = 0; + out_4975022356880268560[68] = 0; + out_4975022356880268560[69] = 0; + out_4975022356880268560[70] = 1; + out_4975022356880268560[71] = 0; + out_4975022356880268560[72] = 0; + out_4975022356880268560[73] = 0; + out_4975022356880268560[74] = 0; + out_4975022356880268560[75] = 0; + out_4975022356880268560[76] = 0; + out_4975022356880268560[77] = 0; + out_4975022356880268560[78] = 0; + out_4975022356880268560[79] = 0; + out_4975022356880268560[80] = 1; } -void h_25(double *state, double *unused, double *out_2030817843873969747) { - out_2030817843873969747[0] = state[6]; +void h_25(double *state, double *unused, double *out_5568449590839033699) { + out_5568449590839033699[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8509671287957375619) { - out_8509671287957375619[0] = 0; - out_8509671287957375619[1] = 0; - out_8509671287957375619[2] = 0; - out_8509671287957375619[3] = 0; - out_8509671287957375619[4] = 0; - out_8509671287957375619[5] = 0; - out_8509671287957375619[6] = 1; - out_8509671287957375619[7] = 0; - out_8509671287957375619[8] = 0; +void H_25(double *state, double *unused, double *out_1320540059698322702) { + out_1320540059698322702[0] = 0; + out_1320540059698322702[1] = 0; + out_1320540059698322702[2] = 0; + out_1320540059698322702[3] = 0; + out_1320540059698322702[4] = 0; + out_1320540059698322702[5] = 0; + out_1320540059698322702[6] = 1; + out_1320540059698322702[7] = 0; + out_1320540059698322702[8] = 0; } -void h_24(double *state, double *unused, double *out_6573865906285076625) { - out_6573865906285076625[0] = state[4]; - out_6573865906285076625[1] = state[5]; +void h_24(double *state, double *unused, double *out_4360177424066538420) { + out_4360177424066538420[0] = state[4]; + out_4360177424066538420[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1855465829849189862) { - out_1855465829849189862[0] = 0; - out_1855465829849189862[1] = 0; - out_1855465829849189862[2] = 0; - out_1855465829849189862[3] = 0; - out_1855465829849189862[4] = 1; - out_1855465829849189862[5] = 0; - out_1855465829849189862[6] = 0; - out_1855465829849189862[7] = 0; - out_1855465829849189862[8] = 0; - out_1855465829849189862[9] = 0; - out_1855465829849189862[10] = 0; - out_1855465829849189862[11] = 0; - out_1855465829849189862[12] = 0; - out_1855465829849189862[13] = 0; - out_1855465829849189862[14] = 1; - out_1855465829849189862[15] = 0; - out_1855465829849189862[16] = 0; - out_1855465829849189862[17] = 0; +void H_24(double *state, double *unused, double *out_3497754483305472675) { + out_3497754483305472675[0] = 0; + out_3497754483305472675[1] = 0; + out_3497754483305472675[2] = 0; + out_3497754483305472675[3] = 0; + out_3497754483305472675[4] = 1; + out_3497754483305472675[5] = 0; + out_3497754483305472675[6] = 0; + out_3497754483305472675[7] = 0; + out_3497754483305472675[8] = 0; + out_3497754483305472675[9] = 0; + out_3497754483305472675[10] = 0; + out_3497754483305472675[11] = 0; + out_3497754483305472675[12] = 0; + out_3497754483305472675[13] = 0; + out_3497754483305472675[14] = 1; + out_3497754483305472675[15] = 0; + out_3497754483305472675[16] = 0; + out_3497754483305472675[17] = 0; } -void h_30(double *state, double *unused, double *out_8801653070224320683) { - out_8801653070224320683[0] = state[4]; +void h_30(double *state, double *unused, double *out_5115029226049845476) { + out_5115029226049845476[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8639010235100615689) { - out_8639010235100615689[0] = 0; - out_8639010235100615689[1] = 0; - out_8639010235100615689[2] = 0; - out_8639010235100615689[3] = 0; - out_8639010235100615689[4] = 1; - out_8639010235100615689[5] = 0; - out_8639010235100615689[6] = 0; - out_8639010235100615689[7] = 0; - out_8639010235100615689[8] = 0; +void H_30(double *state, double *unused, double *out_3838873018205571329) { + out_3838873018205571329[0] = 0; + out_3838873018205571329[1] = 0; + out_3838873018205571329[2] = 0; + out_3838873018205571329[3] = 0; + out_3838873018205571329[4] = 1; + out_3838873018205571329[5] = 0; + out_3838873018205571329[6] = 0; + out_3838873018205571329[7] = 0; + out_3838873018205571329[8] = 0; } -void h_26(double *state, double *unused, double *out_7111205235488639723) { - out_7111205235488639723[0] = state[7]; +void h_26(double *state, double *unused, double *out_4349745675652865375) { + out_4349745675652865375[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6195569466878119773) { - out_6195569466878119773[0] = 0; - out_6195569466878119773[1] = 0; - out_6195569466878119773[2] = 0; - out_6195569466878119773[3] = 0; - out_6195569466878119773[4] = 0; - out_6195569466878119773[5] = 0; - out_6195569466878119773[6] = 0; - out_6195569466878119773[7] = 1; - out_6195569466878119773[8] = 0; +void H_26(double *state, double *unused, double *out_2420963259175733522) { + out_2420963259175733522[0] = 0; + out_2420963259175733522[1] = 0; + out_2420963259175733522[2] = 0; + out_2420963259175733522[3] = 0; + out_2420963259175733522[4] = 0; + out_2420963259175733522[5] = 0; + out_2420963259175733522[6] = 0; + out_2420963259175733522[7] = 1; + out_2420963259175733522[8] = 0; } -void h_27(double *state, double *unused, double *out_3114072219241677790) { - out_3114072219241677790[0] = state[3]; +void h_27(double *state, double *unused, double *out_5875531779077452138) { + out_5875531779077452138[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7632970526808511016) { - out_7632970526808511016[0] = 0; - out_7632970526808511016[1] = 0; - out_7632970526808511016[2] = 0; - out_7632970526808511016[3] = 1; - out_7632970526808511016[4] = 0; - out_7632970526808511016[5] = 0; - out_7632970526808511016[6] = 0; - out_7632970526808511016[7] = 0; - out_7632970526808511016[8] = 0; +void H_27(double *state, double *unused, double *out_5381919582229710407) { + out_5381919582229710407[0] = 0; + out_5381919582229710407[1] = 0; + out_5381919582229710407[2] = 0; + out_5381919582229710407[3] = 1; + out_5381919582229710407[4] = 0; + out_5381919582229710407[5] = 0; + out_5381919582229710407[6] = 0; + out_5381919582229710407[7] = 0; + out_5381919582229710407[8] = 0; } -void h_29(double *state, double *unused, double *out_3799979802563475038) { - out_3799979802563475038[0] = state[1]; +void h_29(double *state, double *unused, double *out_5718345110726322993) { + out_5718345110726322993[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8128778890786223505) { - out_8128778890786223505[0] = 0; - out_8128778890786223505[1] = 1; - out_8128778890786223505[2] = 0; - out_8128778890786223505[3] = 0; - out_8128778890786223505[4] = 0; - out_8128778890786223505[5] = 0; - out_8128778890786223505[6] = 0; - out_8128778890786223505[7] = 0; - out_8128778890786223505[8] = 0; +void H_29(double *state, double *unused, double *out_2696924926114893312) { + out_2696924926114893312[0] = 0; + out_2696924926114893312[1] = 1; + out_2696924926114893312[2] = 0; + out_2696924926114893312[3] = 0; + out_2696924926114893312[4] = 0; + out_2696924926114893312[5] = 0; + out_2696924926114893312[6] = 0; + out_2696924926114893312[7] = 0; + out_2696924926114893312[8] = 0; } -void h_28(double *state, double *unused, double *out_2027345570885213463) { - out_2027345570885213463[0] = state[0]; +void h_28(double *state, double *unused, double *out_3983049612827258070) { + out_3983049612827258070[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5235566165853797537) { - out_5235566165853797537[0] = 1; - out_5235566165853797537[1] = 0; - out_5235566165853797537[2] = 0; - out_5235566165853797537[3] = 0; - out_5235566165853797537[4] = 0; - out_5235566165853797537[5] = 0; - out_5235566165853797537[6] = 0; - out_5235566165853797537[7] = 0; - out_5235566165853797537[8] = 0; +void H_28(double *state, double *unused, double *out_733294654549567061) { + out_733294654549567061[0] = 1; + out_733294654549567061[1] = 0; + out_733294654549567061[2] = 0; + out_733294654549567061[3] = 0; + out_733294654549567061[4] = 0; + out_733294654549567061[5] = 0; + out_733294654549567061[6] = 0; + out_733294654549567061[7] = 0; + out_733294654549567061[8] = 0; } -void h_31(double *state, double *unused, double *out_5732447412946702694) { - out_5732447412946702694[0] = state[8]; +void h_31(double *state, double *unused, double *out_4997021832116468732) { + out_4997021832116468732[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8479025326080415191) { - out_8479025326080415191[0] = 0; - out_8479025326080415191[1] = 0; - out_8479025326080415191[2] = 0; - out_8479025326080415191[3] = 0; - out_8479025326080415191[4] = 0; - out_8479025326080415191[5] = 0; - out_8479025326080415191[6] = 0; - out_8479025326080415191[7] = 0; - out_8479025326080415191[8] = 1; +void H_31(double *state, double *unused, double *out_3047171361409084998) { + out_3047171361409084998[0] = 0; + out_3047171361409084998[1] = 0; + out_3047171361409084998[2] = 0; + out_3047171361409084998[3] = 0; + out_3047171361409084998[4] = 0; + out_3047171361409084998[5] = 0; + out_3047171361409084998[6] = 0; + out_3047171361409084998[7] = 0; + out_3047171361409084998[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_3926092090457486519) { - err_fun(nom_x, delta_x, out_3926092090457486519); +void car_err_fun(double *nom_x, double *delta_x, double *out_1652310582198722037) { + err_fun(nom_x, delta_x, out_1652310582198722037); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147) { - inv_err_fun(nom_x, true_x, out_1042755756890972147); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6538795565187290674) { + inv_err_fun(nom_x, true_x, out_6538795565187290674); } -void car_H_mod_fun(double *state, double *out_6362512350679995207) { - H_mod_fun(state, out_6362512350679995207); +void car_H_mod_fun(double *state, double *out_3583151765486342138) { + H_mod_fun(state, out_3583151765486342138); } -void car_f_fun(double *state, double dt, double *out_424859049759384026) { - f_fun(state, dt, out_424859049759384026); +void car_f_fun(double *state, double dt, double *out_4462415864665295440) { + f_fun(state, dt, out_4462415864665295440); } -void car_F_fun(double *state, double dt, double *out_5354778108929478985) { - F_fun(state, dt, out_5354778108929478985); +void car_F_fun(double *state, double dt, double *out_4975022356880268560) { + F_fun(state, dt, out_4975022356880268560); } -void car_h_25(double *state, double *unused, double *out_2030817843873969747) { - h_25(state, unused, out_2030817843873969747); +void car_h_25(double *state, double *unused, double *out_5568449590839033699) { + h_25(state, unused, out_5568449590839033699); } -void car_H_25(double *state, double *unused, double *out_8509671287957375619) { - H_25(state, unused, out_8509671287957375619); +void car_H_25(double *state, double *unused, double *out_1320540059698322702) { + H_25(state, unused, out_1320540059698322702); } -void car_h_24(double *state, double *unused, double *out_6573865906285076625) { - h_24(state, unused, out_6573865906285076625); +void car_h_24(double *state, double *unused, double *out_4360177424066538420) { + h_24(state, unused, out_4360177424066538420); } -void car_H_24(double *state, double *unused, double *out_1855465829849189862) { - H_24(state, unused, out_1855465829849189862); +void car_H_24(double *state, double *unused, double *out_3497754483305472675) { + H_24(state, unused, out_3497754483305472675); } -void car_h_30(double *state, double *unused, double *out_8801653070224320683) { - h_30(state, unused, out_8801653070224320683); +void car_h_30(double *state, double *unused, double *out_5115029226049845476) { + h_30(state, unused, out_5115029226049845476); } -void car_H_30(double *state, double *unused, double *out_8639010235100615689) { - H_30(state, unused, out_8639010235100615689); +void car_H_30(double *state, double *unused, double *out_3838873018205571329) { + H_30(state, unused, out_3838873018205571329); } -void car_h_26(double *state, double *unused, double *out_7111205235488639723) { - h_26(state, unused, out_7111205235488639723); +void car_h_26(double *state, double *unused, double *out_4349745675652865375) { + h_26(state, unused, out_4349745675652865375); } -void car_H_26(double *state, double *unused, double *out_6195569466878119773) { - H_26(state, unused, out_6195569466878119773); +void car_H_26(double *state, double *unused, double *out_2420963259175733522) { + H_26(state, unused, out_2420963259175733522); } -void car_h_27(double *state, double *unused, double *out_3114072219241677790) { - h_27(state, unused, out_3114072219241677790); +void car_h_27(double *state, double *unused, double *out_5875531779077452138) { + h_27(state, unused, out_5875531779077452138); } -void car_H_27(double *state, double *unused, double *out_7632970526808511016) { - H_27(state, unused, out_7632970526808511016); +void car_H_27(double *state, double *unused, double *out_5381919582229710407) { + H_27(state, unused, out_5381919582229710407); } -void car_h_29(double *state, double *unused, double *out_3799979802563475038) { - h_29(state, unused, out_3799979802563475038); +void car_h_29(double *state, double *unused, double *out_5718345110726322993) { + h_29(state, unused, out_5718345110726322993); } -void car_H_29(double *state, double *unused, double *out_8128778890786223505) { - H_29(state, unused, out_8128778890786223505); +void car_H_29(double *state, double *unused, double *out_2696924926114893312) { + H_29(state, unused, out_2696924926114893312); } -void car_h_28(double *state, double *unused, double *out_2027345570885213463) { - h_28(state, unused, out_2027345570885213463); +void car_h_28(double *state, double *unused, double *out_3983049612827258070) { + h_28(state, unused, out_3983049612827258070); } -void car_H_28(double *state, double *unused, double *out_5235566165853797537) { - H_28(state, unused, out_5235566165853797537); +void car_H_28(double *state, double *unused, double *out_733294654549567061) { + H_28(state, unused, out_733294654549567061); } -void car_h_31(double *state, double *unused, double *out_5732447412946702694) { - h_31(state, unused, out_5732447412946702694); +void car_h_31(double *state, double *unused, double *out_4997021832116468732) { + h_31(state, unused, out_4997021832116468732); } -void car_H_31(double *state, double *unused, double *out_8479025326080415191) { - H_31(state, unused, out_8479025326080415191); +void car_H_31(double *state, double *unused, double *out_3047171361409084998) { + H_31(state, unused, out_3047171361409084998); } 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 8774376dc..9fd4ad994 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_3926092090457486519); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147); -void car_H_mod_fun(double *state, double *out_6362512350679995207); -void car_f_fun(double *state, double dt, double *out_424859049759384026); -void car_F_fun(double *state, double dt, double *out_5354778108929478985); -void car_h_25(double *state, double *unused, double *out_2030817843873969747); -void car_H_25(double *state, double *unused, double *out_8509671287957375619); -void car_h_24(double *state, double *unused, double *out_6573865906285076625); -void car_H_24(double *state, double *unused, double *out_1855465829849189862); -void car_h_30(double *state, double *unused, double *out_8801653070224320683); -void car_H_30(double *state, double *unused, double *out_8639010235100615689); -void car_h_26(double *state, double *unused, double *out_7111205235488639723); -void car_H_26(double *state, double *unused, double *out_6195569466878119773); -void car_h_27(double *state, double *unused, double *out_3114072219241677790); -void car_H_27(double *state, double *unused, double *out_7632970526808511016); -void car_h_29(double *state, double *unused, double *out_3799979802563475038); -void car_H_29(double *state, double *unused, double *out_8128778890786223505); -void car_h_28(double *state, double *unused, double *out_2027345570885213463); -void car_H_28(double *state, double *unused, double *out_5235566165853797537); -void car_h_31(double *state, double *unused, double *out_5732447412946702694); -void car_H_31(double *state, double *unused, double *out_8479025326080415191); +void car_err_fun(double *nom_x, double *delta_x, double *out_1652310582198722037); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6538795565187290674); +void car_H_mod_fun(double *state, double *out_3583151765486342138); +void car_f_fun(double *state, double dt, double *out_4462415864665295440); +void car_F_fun(double *state, double dt, double *out_4975022356880268560); +void car_h_25(double *state, double *unused, double *out_5568449590839033699); +void car_H_25(double *state, double *unused, double *out_1320540059698322702); +void car_h_24(double *state, double *unused, double *out_4360177424066538420); +void car_H_24(double *state, double *unused, double *out_3497754483305472675); +void car_h_30(double *state, double *unused, double *out_5115029226049845476); +void car_H_30(double *state, double *unused, double *out_3838873018205571329); +void car_h_26(double *state, double *unused, double *out_4349745675652865375); +void car_H_26(double *state, double *unused, double *out_2420963259175733522); +void car_h_27(double *state, double *unused, double *out_5875531779077452138); +void car_H_27(double *state, double *unused, double *out_5381919582229710407); +void car_h_29(double *state, double *unused, double *out_5718345110726322993); +void car_H_29(double *state, double *unused, double *out_2696924926114893312); +void car_h_28(double *state, double *unused, double *out_3983049612827258070); +void car_H_28(double *state, double *unused, double *out_733294654549567061); +void car_h_31(double *state, double *unused, double *out_4997021832116468732); +void car_H_31(double *state, double *unused, double *out_3047171361409084998); 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 d0a47f82f..d2448f9f1 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_6369833963809703045) { - out_6369833963809703045[0] = delta_x[0] + nom_x[0]; - out_6369833963809703045[1] = delta_x[1] + nom_x[1]; - out_6369833963809703045[2] = delta_x[2] + nom_x[2]; - out_6369833963809703045[3] = delta_x[3] + nom_x[3]; - out_6369833963809703045[4] = delta_x[4] + nom_x[4]; - out_6369833963809703045[5] = delta_x[5] + nom_x[5]; - out_6369833963809703045[6] = delta_x[6] + nom_x[6]; - out_6369833963809703045[7] = delta_x[7] + nom_x[7]; - out_6369833963809703045[8] = delta_x[8] + nom_x[8]; - out_6369833963809703045[9] = delta_x[9] + nom_x[9]; - out_6369833963809703045[10] = delta_x[10] + nom_x[10]; - out_6369833963809703045[11] = delta_x[11] + nom_x[11]; - out_6369833963809703045[12] = delta_x[12] + nom_x[12]; - out_6369833963809703045[13] = delta_x[13] + nom_x[13]; - out_6369833963809703045[14] = delta_x[14] + nom_x[14]; - out_6369833963809703045[15] = delta_x[15] + nom_x[15]; - out_6369833963809703045[16] = delta_x[16] + nom_x[16]; - out_6369833963809703045[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6509701153316274707) { + out_6509701153316274707[0] = delta_x[0] + nom_x[0]; + out_6509701153316274707[1] = delta_x[1] + nom_x[1]; + out_6509701153316274707[2] = delta_x[2] + nom_x[2]; + out_6509701153316274707[3] = delta_x[3] + nom_x[3]; + out_6509701153316274707[4] = delta_x[4] + nom_x[4]; + out_6509701153316274707[5] = delta_x[5] + nom_x[5]; + out_6509701153316274707[6] = delta_x[6] + nom_x[6]; + out_6509701153316274707[7] = delta_x[7] + nom_x[7]; + out_6509701153316274707[8] = delta_x[8] + nom_x[8]; + out_6509701153316274707[9] = delta_x[9] + nom_x[9]; + out_6509701153316274707[10] = delta_x[10] + nom_x[10]; + out_6509701153316274707[11] = delta_x[11] + nom_x[11]; + out_6509701153316274707[12] = delta_x[12] + nom_x[12]; + out_6509701153316274707[13] = delta_x[13] + nom_x[13]; + out_6509701153316274707[14] = delta_x[14] + nom_x[14]; + out_6509701153316274707[15] = delta_x[15] + nom_x[15]; + out_6509701153316274707[16] = delta_x[16] + nom_x[16]; + out_6509701153316274707[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4035234717988175099) { - out_4035234717988175099[0] = -nom_x[0] + true_x[0]; - out_4035234717988175099[1] = -nom_x[1] + true_x[1]; - out_4035234717988175099[2] = -nom_x[2] + true_x[2]; - out_4035234717988175099[3] = -nom_x[3] + true_x[3]; - out_4035234717988175099[4] = -nom_x[4] + true_x[4]; - out_4035234717988175099[5] = -nom_x[5] + true_x[5]; - out_4035234717988175099[6] = -nom_x[6] + true_x[6]; - out_4035234717988175099[7] = -nom_x[7] + true_x[7]; - out_4035234717988175099[8] = -nom_x[8] + true_x[8]; - out_4035234717988175099[9] = -nom_x[9] + true_x[9]; - out_4035234717988175099[10] = -nom_x[10] + true_x[10]; - out_4035234717988175099[11] = -nom_x[11] + true_x[11]; - out_4035234717988175099[12] = -nom_x[12] + true_x[12]; - out_4035234717988175099[13] = -nom_x[13] + true_x[13]; - out_4035234717988175099[14] = -nom_x[14] + true_x[14]; - out_4035234717988175099[15] = -nom_x[15] + true_x[15]; - out_4035234717988175099[16] = -nom_x[16] + true_x[16]; - out_4035234717988175099[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5024581948518838202) { + out_5024581948518838202[0] = -nom_x[0] + true_x[0]; + out_5024581948518838202[1] = -nom_x[1] + true_x[1]; + out_5024581948518838202[2] = -nom_x[2] + true_x[2]; + out_5024581948518838202[3] = -nom_x[3] + true_x[3]; + out_5024581948518838202[4] = -nom_x[4] + true_x[4]; + out_5024581948518838202[5] = -nom_x[5] + true_x[5]; + out_5024581948518838202[6] = -nom_x[6] + true_x[6]; + out_5024581948518838202[7] = -nom_x[7] + true_x[7]; + out_5024581948518838202[8] = -nom_x[8] + true_x[8]; + out_5024581948518838202[9] = -nom_x[9] + true_x[9]; + out_5024581948518838202[10] = -nom_x[10] + true_x[10]; + out_5024581948518838202[11] = -nom_x[11] + true_x[11]; + out_5024581948518838202[12] = -nom_x[12] + true_x[12]; + out_5024581948518838202[13] = -nom_x[13] + true_x[13]; + out_5024581948518838202[14] = -nom_x[14] + true_x[14]; + out_5024581948518838202[15] = -nom_x[15] + true_x[15]; + out_5024581948518838202[16] = -nom_x[16] + true_x[16]; + out_5024581948518838202[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1402865724321173492) { - out_1402865724321173492[0] = 1.0; - out_1402865724321173492[1] = 0.0; - out_1402865724321173492[2] = 0.0; - out_1402865724321173492[3] = 0.0; - out_1402865724321173492[4] = 0.0; - out_1402865724321173492[5] = 0.0; - out_1402865724321173492[6] = 0.0; - out_1402865724321173492[7] = 0.0; - out_1402865724321173492[8] = 0.0; - out_1402865724321173492[9] = 0.0; - out_1402865724321173492[10] = 0.0; - out_1402865724321173492[11] = 0.0; - out_1402865724321173492[12] = 0.0; - out_1402865724321173492[13] = 0.0; - out_1402865724321173492[14] = 0.0; - out_1402865724321173492[15] = 0.0; - out_1402865724321173492[16] = 0.0; - out_1402865724321173492[17] = 0.0; - out_1402865724321173492[18] = 0.0; - out_1402865724321173492[19] = 1.0; - out_1402865724321173492[20] = 0.0; - out_1402865724321173492[21] = 0.0; - out_1402865724321173492[22] = 0.0; - out_1402865724321173492[23] = 0.0; - out_1402865724321173492[24] = 0.0; - out_1402865724321173492[25] = 0.0; - out_1402865724321173492[26] = 0.0; - out_1402865724321173492[27] = 0.0; - out_1402865724321173492[28] = 0.0; - out_1402865724321173492[29] = 0.0; - out_1402865724321173492[30] = 0.0; - out_1402865724321173492[31] = 0.0; - out_1402865724321173492[32] = 0.0; - out_1402865724321173492[33] = 0.0; - out_1402865724321173492[34] = 0.0; - out_1402865724321173492[35] = 0.0; - out_1402865724321173492[36] = 0.0; - out_1402865724321173492[37] = 0.0; - out_1402865724321173492[38] = 1.0; - out_1402865724321173492[39] = 0.0; - out_1402865724321173492[40] = 0.0; - out_1402865724321173492[41] = 0.0; - out_1402865724321173492[42] = 0.0; - out_1402865724321173492[43] = 0.0; - out_1402865724321173492[44] = 0.0; - out_1402865724321173492[45] = 0.0; - out_1402865724321173492[46] = 0.0; - out_1402865724321173492[47] = 0.0; - out_1402865724321173492[48] = 0.0; - out_1402865724321173492[49] = 0.0; - out_1402865724321173492[50] = 0.0; - out_1402865724321173492[51] = 0.0; - out_1402865724321173492[52] = 0.0; - out_1402865724321173492[53] = 0.0; - out_1402865724321173492[54] = 0.0; - out_1402865724321173492[55] = 0.0; - out_1402865724321173492[56] = 0.0; - out_1402865724321173492[57] = 1.0; - out_1402865724321173492[58] = 0.0; - out_1402865724321173492[59] = 0.0; - out_1402865724321173492[60] = 0.0; - out_1402865724321173492[61] = 0.0; - out_1402865724321173492[62] = 0.0; - out_1402865724321173492[63] = 0.0; - out_1402865724321173492[64] = 0.0; - out_1402865724321173492[65] = 0.0; - out_1402865724321173492[66] = 0.0; - out_1402865724321173492[67] = 0.0; - out_1402865724321173492[68] = 0.0; - out_1402865724321173492[69] = 0.0; - out_1402865724321173492[70] = 0.0; - out_1402865724321173492[71] = 0.0; - out_1402865724321173492[72] = 0.0; - out_1402865724321173492[73] = 0.0; - out_1402865724321173492[74] = 0.0; - out_1402865724321173492[75] = 0.0; - out_1402865724321173492[76] = 1.0; - out_1402865724321173492[77] = 0.0; - out_1402865724321173492[78] = 0.0; - out_1402865724321173492[79] = 0.0; - out_1402865724321173492[80] = 0.0; - out_1402865724321173492[81] = 0.0; - out_1402865724321173492[82] = 0.0; - out_1402865724321173492[83] = 0.0; - out_1402865724321173492[84] = 0.0; - out_1402865724321173492[85] = 0.0; - out_1402865724321173492[86] = 0.0; - out_1402865724321173492[87] = 0.0; - out_1402865724321173492[88] = 0.0; - out_1402865724321173492[89] = 0.0; - out_1402865724321173492[90] = 0.0; - out_1402865724321173492[91] = 0.0; - out_1402865724321173492[92] = 0.0; - out_1402865724321173492[93] = 0.0; - out_1402865724321173492[94] = 0.0; - out_1402865724321173492[95] = 1.0; - out_1402865724321173492[96] = 0.0; - out_1402865724321173492[97] = 0.0; - out_1402865724321173492[98] = 0.0; - out_1402865724321173492[99] = 0.0; - out_1402865724321173492[100] = 0.0; - out_1402865724321173492[101] = 0.0; - out_1402865724321173492[102] = 0.0; - out_1402865724321173492[103] = 0.0; - out_1402865724321173492[104] = 0.0; - out_1402865724321173492[105] = 0.0; - out_1402865724321173492[106] = 0.0; - out_1402865724321173492[107] = 0.0; - out_1402865724321173492[108] = 0.0; - out_1402865724321173492[109] = 0.0; - out_1402865724321173492[110] = 0.0; - out_1402865724321173492[111] = 0.0; - out_1402865724321173492[112] = 0.0; - out_1402865724321173492[113] = 0.0; - out_1402865724321173492[114] = 1.0; - out_1402865724321173492[115] = 0.0; - out_1402865724321173492[116] = 0.0; - out_1402865724321173492[117] = 0.0; - out_1402865724321173492[118] = 0.0; - out_1402865724321173492[119] = 0.0; - out_1402865724321173492[120] = 0.0; - out_1402865724321173492[121] = 0.0; - out_1402865724321173492[122] = 0.0; - out_1402865724321173492[123] = 0.0; - out_1402865724321173492[124] = 0.0; - out_1402865724321173492[125] = 0.0; - out_1402865724321173492[126] = 0.0; - out_1402865724321173492[127] = 0.0; - out_1402865724321173492[128] = 0.0; - out_1402865724321173492[129] = 0.0; - out_1402865724321173492[130] = 0.0; - out_1402865724321173492[131] = 0.0; - out_1402865724321173492[132] = 0.0; - out_1402865724321173492[133] = 1.0; - out_1402865724321173492[134] = 0.0; - out_1402865724321173492[135] = 0.0; - out_1402865724321173492[136] = 0.0; - out_1402865724321173492[137] = 0.0; - out_1402865724321173492[138] = 0.0; - out_1402865724321173492[139] = 0.0; - out_1402865724321173492[140] = 0.0; - out_1402865724321173492[141] = 0.0; - out_1402865724321173492[142] = 0.0; - out_1402865724321173492[143] = 0.0; - out_1402865724321173492[144] = 0.0; - out_1402865724321173492[145] = 0.0; - out_1402865724321173492[146] = 0.0; - out_1402865724321173492[147] = 0.0; - out_1402865724321173492[148] = 0.0; - out_1402865724321173492[149] = 0.0; - out_1402865724321173492[150] = 0.0; - out_1402865724321173492[151] = 0.0; - out_1402865724321173492[152] = 1.0; - out_1402865724321173492[153] = 0.0; - out_1402865724321173492[154] = 0.0; - out_1402865724321173492[155] = 0.0; - out_1402865724321173492[156] = 0.0; - out_1402865724321173492[157] = 0.0; - out_1402865724321173492[158] = 0.0; - out_1402865724321173492[159] = 0.0; - out_1402865724321173492[160] = 0.0; - out_1402865724321173492[161] = 0.0; - out_1402865724321173492[162] = 0.0; - out_1402865724321173492[163] = 0.0; - out_1402865724321173492[164] = 0.0; - out_1402865724321173492[165] = 0.0; - out_1402865724321173492[166] = 0.0; - out_1402865724321173492[167] = 0.0; - out_1402865724321173492[168] = 0.0; - out_1402865724321173492[169] = 0.0; - out_1402865724321173492[170] = 0.0; - out_1402865724321173492[171] = 1.0; - out_1402865724321173492[172] = 0.0; - out_1402865724321173492[173] = 0.0; - out_1402865724321173492[174] = 0.0; - out_1402865724321173492[175] = 0.0; - out_1402865724321173492[176] = 0.0; - out_1402865724321173492[177] = 0.0; - out_1402865724321173492[178] = 0.0; - out_1402865724321173492[179] = 0.0; - out_1402865724321173492[180] = 0.0; - out_1402865724321173492[181] = 0.0; - out_1402865724321173492[182] = 0.0; - out_1402865724321173492[183] = 0.0; - out_1402865724321173492[184] = 0.0; - out_1402865724321173492[185] = 0.0; - out_1402865724321173492[186] = 0.0; - out_1402865724321173492[187] = 0.0; - out_1402865724321173492[188] = 0.0; - out_1402865724321173492[189] = 0.0; - out_1402865724321173492[190] = 1.0; - out_1402865724321173492[191] = 0.0; - out_1402865724321173492[192] = 0.0; - out_1402865724321173492[193] = 0.0; - out_1402865724321173492[194] = 0.0; - out_1402865724321173492[195] = 0.0; - out_1402865724321173492[196] = 0.0; - out_1402865724321173492[197] = 0.0; - out_1402865724321173492[198] = 0.0; - out_1402865724321173492[199] = 0.0; - out_1402865724321173492[200] = 0.0; - out_1402865724321173492[201] = 0.0; - out_1402865724321173492[202] = 0.0; - out_1402865724321173492[203] = 0.0; - out_1402865724321173492[204] = 0.0; - out_1402865724321173492[205] = 0.0; - out_1402865724321173492[206] = 0.0; - out_1402865724321173492[207] = 0.0; - out_1402865724321173492[208] = 0.0; - out_1402865724321173492[209] = 1.0; - out_1402865724321173492[210] = 0.0; - out_1402865724321173492[211] = 0.0; - out_1402865724321173492[212] = 0.0; - out_1402865724321173492[213] = 0.0; - out_1402865724321173492[214] = 0.0; - out_1402865724321173492[215] = 0.0; - out_1402865724321173492[216] = 0.0; - out_1402865724321173492[217] = 0.0; - out_1402865724321173492[218] = 0.0; - out_1402865724321173492[219] = 0.0; - out_1402865724321173492[220] = 0.0; - out_1402865724321173492[221] = 0.0; - out_1402865724321173492[222] = 0.0; - out_1402865724321173492[223] = 0.0; - out_1402865724321173492[224] = 0.0; - out_1402865724321173492[225] = 0.0; - out_1402865724321173492[226] = 0.0; - out_1402865724321173492[227] = 0.0; - out_1402865724321173492[228] = 1.0; - out_1402865724321173492[229] = 0.0; - out_1402865724321173492[230] = 0.0; - out_1402865724321173492[231] = 0.0; - out_1402865724321173492[232] = 0.0; - out_1402865724321173492[233] = 0.0; - out_1402865724321173492[234] = 0.0; - out_1402865724321173492[235] = 0.0; - out_1402865724321173492[236] = 0.0; - out_1402865724321173492[237] = 0.0; - out_1402865724321173492[238] = 0.0; - out_1402865724321173492[239] = 0.0; - out_1402865724321173492[240] = 0.0; - out_1402865724321173492[241] = 0.0; - out_1402865724321173492[242] = 0.0; - out_1402865724321173492[243] = 0.0; - out_1402865724321173492[244] = 0.0; - out_1402865724321173492[245] = 0.0; - out_1402865724321173492[246] = 0.0; - out_1402865724321173492[247] = 1.0; - out_1402865724321173492[248] = 0.0; - out_1402865724321173492[249] = 0.0; - out_1402865724321173492[250] = 0.0; - out_1402865724321173492[251] = 0.0; - out_1402865724321173492[252] = 0.0; - out_1402865724321173492[253] = 0.0; - out_1402865724321173492[254] = 0.0; - out_1402865724321173492[255] = 0.0; - out_1402865724321173492[256] = 0.0; - out_1402865724321173492[257] = 0.0; - out_1402865724321173492[258] = 0.0; - out_1402865724321173492[259] = 0.0; - out_1402865724321173492[260] = 0.0; - out_1402865724321173492[261] = 0.0; - out_1402865724321173492[262] = 0.0; - out_1402865724321173492[263] = 0.0; - out_1402865724321173492[264] = 0.0; - out_1402865724321173492[265] = 0.0; - out_1402865724321173492[266] = 1.0; - out_1402865724321173492[267] = 0.0; - out_1402865724321173492[268] = 0.0; - out_1402865724321173492[269] = 0.0; - out_1402865724321173492[270] = 0.0; - out_1402865724321173492[271] = 0.0; - out_1402865724321173492[272] = 0.0; - out_1402865724321173492[273] = 0.0; - out_1402865724321173492[274] = 0.0; - out_1402865724321173492[275] = 0.0; - out_1402865724321173492[276] = 0.0; - out_1402865724321173492[277] = 0.0; - out_1402865724321173492[278] = 0.0; - out_1402865724321173492[279] = 0.0; - out_1402865724321173492[280] = 0.0; - out_1402865724321173492[281] = 0.0; - out_1402865724321173492[282] = 0.0; - out_1402865724321173492[283] = 0.0; - out_1402865724321173492[284] = 0.0; - out_1402865724321173492[285] = 1.0; - out_1402865724321173492[286] = 0.0; - out_1402865724321173492[287] = 0.0; - out_1402865724321173492[288] = 0.0; - out_1402865724321173492[289] = 0.0; - out_1402865724321173492[290] = 0.0; - out_1402865724321173492[291] = 0.0; - out_1402865724321173492[292] = 0.0; - out_1402865724321173492[293] = 0.0; - out_1402865724321173492[294] = 0.0; - out_1402865724321173492[295] = 0.0; - out_1402865724321173492[296] = 0.0; - out_1402865724321173492[297] = 0.0; - out_1402865724321173492[298] = 0.0; - out_1402865724321173492[299] = 0.0; - out_1402865724321173492[300] = 0.0; - out_1402865724321173492[301] = 0.0; - out_1402865724321173492[302] = 0.0; - out_1402865724321173492[303] = 0.0; - out_1402865724321173492[304] = 1.0; - out_1402865724321173492[305] = 0.0; - out_1402865724321173492[306] = 0.0; - out_1402865724321173492[307] = 0.0; - out_1402865724321173492[308] = 0.0; - out_1402865724321173492[309] = 0.0; - out_1402865724321173492[310] = 0.0; - out_1402865724321173492[311] = 0.0; - out_1402865724321173492[312] = 0.0; - out_1402865724321173492[313] = 0.0; - out_1402865724321173492[314] = 0.0; - out_1402865724321173492[315] = 0.0; - out_1402865724321173492[316] = 0.0; - out_1402865724321173492[317] = 0.0; - out_1402865724321173492[318] = 0.0; - out_1402865724321173492[319] = 0.0; - out_1402865724321173492[320] = 0.0; - out_1402865724321173492[321] = 0.0; - out_1402865724321173492[322] = 0.0; - out_1402865724321173492[323] = 1.0; +void H_mod_fun(double *state, double *out_5452344764039935443) { + out_5452344764039935443[0] = 1.0; + out_5452344764039935443[1] = 0.0; + out_5452344764039935443[2] = 0.0; + out_5452344764039935443[3] = 0.0; + out_5452344764039935443[4] = 0.0; + out_5452344764039935443[5] = 0.0; + out_5452344764039935443[6] = 0.0; + out_5452344764039935443[7] = 0.0; + out_5452344764039935443[8] = 0.0; + out_5452344764039935443[9] = 0.0; + out_5452344764039935443[10] = 0.0; + out_5452344764039935443[11] = 0.0; + out_5452344764039935443[12] = 0.0; + out_5452344764039935443[13] = 0.0; + out_5452344764039935443[14] = 0.0; + out_5452344764039935443[15] = 0.0; + out_5452344764039935443[16] = 0.0; + out_5452344764039935443[17] = 0.0; + out_5452344764039935443[18] = 0.0; + out_5452344764039935443[19] = 1.0; + out_5452344764039935443[20] = 0.0; + out_5452344764039935443[21] = 0.0; + out_5452344764039935443[22] = 0.0; + out_5452344764039935443[23] = 0.0; + out_5452344764039935443[24] = 0.0; + out_5452344764039935443[25] = 0.0; + out_5452344764039935443[26] = 0.0; + out_5452344764039935443[27] = 0.0; + out_5452344764039935443[28] = 0.0; + out_5452344764039935443[29] = 0.0; + out_5452344764039935443[30] = 0.0; + out_5452344764039935443[31] = 0.0; + out_5452344764039935443[32] = 0.0; + out_5452344764039935443[33] = 0.0; + out_5452344764039935443[34] = 0.0; + out_5452344764039935443[35] = 0.0; + out_5452344764039935443[36] = 0.0; + out_5452344764039935443[37] = 0.0; + out_5452344764039935443[38] = 1.0; + out_5452344764039935443[39] = 0.0; + out_5452344764039935443[40] = 0.0; + out_5452344764039935443[41] = 0.0; + out_5452344764039935443[42] = 0.0; + out_5452344764039935443[43] = 0.0; + out_5452344764039935443[44] = 0.0; + out_5452344764039935443[45] = 0.0; + out_5452344764039935443[46] = 0.0; + out_5452344764039935443[47] = 0.0; + out_5452344764039935443[48] = 0.0; + out_5452344764039935443[49] = 0.0; + out_5452344764039935443[50] = 0.0; + out_5452344764039935443[51] = 0.0; + out_5452344764039935443[52] = 0.0; + out_5452344764039935443[53] = 0.0; + out_5452344764039935443[54] = 0.0; + out_5452344764039935443[55] = 0.0; + out_5452344764039935443[56] = 0.0; + out_5452344764039935443[57] = 1.0; + out_5452344764039935443[58] = 0.0; + out_5452344764039935443[59] = 0.0; + out_5452344764039935443[60] = 0.0; + out_5452344764039935443[61] = 0.0; + out_5452344764039935443[62] = 0.0; + out_5452344764039935443[63] = 0.0; + out_5452344764039935443[64] = 0.0; + out_5452344764039935443[65] = 0.0; + out_5452344764039935443[66] = 0.0; + out_5452344764039935443[67] = 0.0; + out_5452344764039935443[68] = 0.0; + out_5452344764039935443[69] = 0.0; + out_5452344764039935443[70] = 0.0; + out_5452344764039935443[71] = 0.0; + out_5452344764039935443[72] = 0.0; + out_5452344764039935443[73] = 0.0; + out_5452344764039935443[74] = 0.0; + out_5452344764039935443[75] = 0.0; + out_5452344764039935443[76] = 1.0; + out_5452344764039935443[77] = 0.0; + out_5452344764039935443[78] = 0.0; + out_5452344764039935443[79] = 0.0; + out_5452344764039935443[80] = 0.0; + out_5452344764039935443[81] = 0.0; + out_5452344764039935443[82] = 0.0; + out_5452344764039935443[83] = 0.0; + out_5452344764039935443[84] = 0.0; + out_5452344764039935443[85] = 0.0; + out_5452344764039935443[86] = 0.0; + out_5452344764039935443[87] = 0.0; + out_5452344764039935443[88] = 0.0; + out_5452344764039935443[89] = 0.0; + out_5452344764039935443[90] = 0.0; + out_5452344764039935443[91] = 0.0; + out_5452344764039935443[92] = 0.0; + out_5452344764039935443[93] = 0.0; + out_5452344764039935443[94] = 0.0; + out_5452344764039935443[95] = 1.0; + out_5452344764039935443[96] = 0.0; + out_5452344764039935443[97] = 0.0; + out_5452344764039935443[98] = 0.0; + out_5452344764039935443[99] = 0.0; + out_5452344764039935443[100] = 0.0; + out_5452344764039935443[101] = 0.0; + out_5452344764039935443[102] = 0.0; + out_5452344764039935443[103] = 0.0; + out_5452344764039935443[104] = 0.0; + out_5452344764039935443[105] = 0.0; + out_5452344764039935443[106] = 0.0; + out_5452344764039935443[107] = 0.0; + out_5452344764039935443[108] = 0.0; + out_5452344764039935443[109] = 0.0; + out_5452344764039935443[110] = 0.0; + out_5452344764039935443[111] = 0.0; + out_5452344764039935443[112] = 0.0; + out_5452344764039935443[113] = 0.0; + out_5452344764039935443[114] = 1.0; + out_5452344764039935443[115] = 0.0; + out_5452344764039935443[116] = 0.0; + out_5452344764039935443[117] = 0.0; + out_5452344764039935443[118] = 0.0; + out_5452344764039935443[119] = 0.0; + out_5452344764039935443[120] = 0.0; + out_5452344764039935443[121] = 0.0; + out_5452344764039935443[122] = 0.0; + out_5452344764039935443[123] = 0.0; + out_5452344764039935443[124] = 0.0; + out_5452344764039935443[125] = 0.0; + out_5452344764039935443[126] = 0.0; + out_5452344764039935443[127] = 0.0; + out_5452344764039935443[128] = 0.0; + out_5452344764039935443[129] = 0.0; + out_5452344764039935443[130] = 0.0; + out_5452344764039935443[131] = 0.0; + out_5452344764039935443[132] = 0.0; + out_5452344764039935443[133] = 1.0; + out_5452344764039935443[134] = 0.0; + out_5452344764039935443[135] = 0.0; + out_5452344764039935443[136] = 0.0; + out_5452344764039935443[137] = 0.0; + out_5452344764039935443[138] = 0.0; + out_5452344764039935443[139] = 0.0; + out_5452344764039935443[140] = 0.0; + out_5452344764039935443[141] = 0.0; + out_5452344764039935443[142] = 0.0; + out_5452344764039935443[143] = 0.0; + out_5452344764039935443[144] = 0.0; + out_5452344764039935443[145] = 0.0; + out_5452344764039935443[146] = 0.0; + out_5452344764039935443[147] = 0.0; + out_5452344764039935443[148] = 0.0; + out_5452344764039935443[149] = 0.0; + out_5452344764039935443[150] = 0.0; + out_5452344764039935443[151] = 0.0; + out_5452344764039935443[152] = 1.0; + out_5452344764039935443[153] = 0.0; + out_5452344764039935443[154] = 0.0; + out_5452344764039935443[155] = 0.0; + out_5452344764039935443[156] = 0.0; + out_5452344764039935443[157] = 0.0; + out_5452344764039935443[158] = 0.0; + out_5452344764039935443[159] = 0.0; + out_5452344764039935443[160] = 0.0; + out_5452344764039935443[161] = 0.0; + out_5452344764039935443[162] = 0.0; + out_5452344764039935443[163] = 0.0; + out_5452344764039935443[164] = 0.0; + out_5452344764039935443[165] = 0.0; + out_5452344764039935443[166] = 0.0; + out_5452344764039935443[167] = 0.0; + out_5452344764039935443[168] = 0.0; + out_5452344764039935443[169] = 0.0; + out_5452344764039935443[170] = 0.0; + out_5452344764039935443[171] = 1.0; + out_5452344764039935443[172] = 0.0; + out_5452344764039935443[173] = 0.0; + out_5452344764039935443[174] = 0.0; + out_5452344764039935443[175] = 0.0; + out_5452344764039935443[176] = 0.0; + out_5452344764039935443[177] = 0.0; + out_5452344764039935443[178] = 0.0; + out_5452344764039935443[179] = 0.0; + out_5452344764039935443[180] = 0.0; + out_5452344764039935443[181] = 0.0; + out_5452344764039935443[182] = 0.0; + out_5452344764039935443[183] = 0.0; + out_5452344764039935443[184] = 0.0; + out_5452344764039935443[185] = 0.0; + out_5452344764039935443[186] = 0.0; + out_5452344764039935443[187] = 0.0; + out_5452344764039935443[188] = 0.0; + out_5452344764039935443[189] = 0.0; + out_5452344764039935443[190] = 1.0; + out_5452344764039935443[191] = 0.0; + out_5452344764039935443[192] = 0.0; + out_5452344764039935443[193] = 0.0; + out_5452344764039935443[194] = 0.0; + out_5452344764039935443[195] = 0.0; + out_5452344764039935443[196] = 0.0; + out_5452344764039935443[197] = 0.0; + out_5452344764039935443[198] = 0.0; + out_5452344764039935443[199] = 0.0; + out_5452344764039935443[200] = 0.0; + out_5452344764039935443[201] = 0.0; + out_5452344764039935443[202] = 0.0; + out_5452344764039935443[203] = 0.0; + out_5452344764039935443[204] = 0.0; + out_5452344764039935443[205] = 0.0; + out_5452344764039935443[206] = 0.0; + out_5452344764039935443[207] = 0.0; + out_5452344764039935443[208] = 0.0; + out_5452344764039935443[209] = 1.0; + out_5452344764039935443[210] = 0.0; + out_5452344764039935443[211] = 0.0; + out_5452344764039935443[212] = 0.0; + out_5452344764039935443[213] = 0.0; + out_5452344764039935443[214] = 0.0; + out_5452344764039935443[215] = 0.0; + out_5452344764039935443[216] = 0.0; + out_5452344764039935443[217] = 0.0; + out_5452344764039935443[218] = 0.0; + out_5452344764039935443[219] = 0.0; + out_5452344764039935443[220] = 0.0; + out_5452344764039935443[221] = 0.0; + out_5452344764039935443[222] = 0.0; + out_5452344764039935443[223] = 0.0; + out_5452344764039935443[224] = 0.0; + out_5452344764039935443[225] = 0.0; + out_5452344764039935443[226] = 0.0; + out_5452344764039935443[227] = 0.0; + out_5452344764039935443[228] = 1.0; + out_5452344764039935443[229] = 0.0; + out_5452344764039935443[230] = 0.0; + out_5452344764039935443[231] = 0.0; + out_5452344764039935443[232] = 0.0; + out_5452344764039935443[233] = 0.0; + out_5452344764039935443[234] = 0.0; + out_5452344764039935443[235] = 0.0; + out_5452344764039935443[236] = 0.0; + out_5452344764039935443[237] = 0.0; + out_5452344764039935443[238] = 0.0; + out_5452344764039935443[239] = 0.0; + out_5452344764039935443[240] = 0.0; + out_5452344764039935443[241] = 0.0; + out_5452344764039935443[242] = 0.0; + out_5452344764039935443[243] = 0.0; + out_5452344764039935443[244] = 0.0; + out_5452344764039935443[245] = 0.0; + out_5452344764039935443[246] = 0.0; + out_5452344764039935443[247] = 1.0; + out_5452344764039935443[248] = 0.0; + out_5452344764039935443[249] = 0.0; + out_5452344764039935443[250] = 0.0; + out_5452344764039935443[251] = 0.0; + out_5452344764039935443[252] = 0.0; + out_5452344764039935443[253] = 0.0; + out_5452344764039935443[254] = 0.0; + out_5452344764039935443[255] = 0.0; + out_5452344764039935443[256] = 0.0; + out_5452344764039935443[257] = 0.0; + out_5452344764039935443[258] = 0.0; + out_5452344764039935443[259] = 0.0; + out_5452344764039935443[260] = 0.0; + out_5452344764039935443[261] = 0.0; + out_5452344764039935443[262] = 0.0; + out_5452344764039935443[263] = 0.0; + out_5452344764039935443[264] = 0.0; + out_5452344764039935443[265] = 0.0; + out_5452344764039935443[266] = 1.0; + out_5452344764039935443[267] = 0.0; + out_5452344764039935443[268] = 0.0; + out_5452344764039935443[269] = 0.0; + out_5452344764039935443[270] = 0.0; + out_5452344764039935443[271] = 0.0; + out_5452344764039935443[272] = 0.0; + out_5452344764039935443[273] = 0.0; + out_5452344764039935443[274] = 0.0; + out_5452344764039935443[275] = 0.0; + out_5452344764039935443[276] = 0.0; + out_5452344764039935443[277] = 0.0; + out_5452344764039935443[278] = 0.0; + out_5452344764039935443[279] = 0.0; + out_5452344764039935443[280] = 0.0; + out_5452344764039935443[281] = 0.0; + out_5452344764039935443[282] = 0.0; + out_5452344764039935443[283] = 0.0; + out_5452344764039935443[284] = 0.0; + out_5452344764039935443[285] = 1.0; + out_5452344764039935443[286] = 0.0; + out_5452344764039935443[287] = 0.0; + out_5452344764039935443[288] = 0.0; + out_5452344764039935443[289] = 0.0; + out_5452344764039935443[290] = 0.0; + out_5452344764039935443[291] = 0.0; + out_5452344764039935443[292] = 0.0; + out_5452344764039935443[293] = 0.0; + out_5452344764039935443[294] = 0.0; + out_5452344764039935443[295] = 0.0; + out_5452344764039935443[296] = 0.0; + out_5452344764039935443[297] = 0.0; + out_5452344764039935443[298] = 0.0; + out_5452344764039935443[299] = 0.0; + out_5452344764039935443[300] = 0.0; + out_5452344764039935443[301] = 0.0; + out_5452344764039935443[302] = 0.0; + out_5452344764039935443[303] = 0.0; + out_5452344764039935443[304] = 1.0; + out_5452344764039935443[305] = 0.0; + out_5452344764039935443[306] = 0.0; + out_5452344764039935443[307] = 0.0; + out_5452344764039935443[308] = 0.0; + out_5452344764039935443[309] = 0.0; + out_5452344764039935443[310] = 0.0; + out_5452344764039935443[311] = 0.0; + out_5452344764039935443[312] = 0.0; + out_5452344764039935443[313] = 0.0; + out_5452344764039935443[314] = 0.0; + out_5452344764039935443[315] = 0.0; + out_5452344764039935443[316] = 0.0; + out_5452344764039935443[317] = 0.0; + out_5452344764039935443[318] = 0.0; + out_5452344764039935443[319] = 0.0; + out_5452344764039935443[320] = 0.0; + out_5452344764039935443[321] = 0.0; + out_5452344764039935443[322] = 0.0; + out_5452344764039935443[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6035351479955239512) { - out_6035351479955239512[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_6035351479955239512[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_6035351479955239512[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_6035351479955239512[3] = dt*state[12] + state[3]; - out_6035351479955239512[4] = dt*state[13] + state[4]; - out_6035351479955239512[5] = dt*state[14] + state[5]; - out_6035351479955239512[6] = state[6]; - out_6035351479955239512[7] = state[7]; - out_6035351479955239512[8] = state[8]; - out_6035351479955239512[9] = state[9]; - out_6035351479955239512[10] = state[10]; - out_6035351479955239512[11] = state[11]; - out_6035351479955239512[12] = state[12]; - out_6035351479955239512[13] = state[13]; - out_6035351479955239512[14] = state[14]; - out_6035351479955239512[15] = state[15]; - out_6035351479955239512[16] = state[16]; - out_6035351479955239512[17] = state[17]; +void f_fun(double *state, double dt, double *out_4723013873422239853) { + out_4723013873422239853[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_4723013873422239853[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_4723013873422239853[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_4723013873422239853[3] = dt*state[12] + state[3]; + out_4723013873422239853[4] = dt*state[13] + state[4]; + out_4723013873422239853[5] = dt*state[14] + state[5]; + out_4723013873422239853[6] = state[6]; + out_4723013873422239853[7] = state[7]; + out_4723013873422239853[8] = state[8]; + out_4723013873422239853[9] = state[9]; + out_4723013873422239853[10] = state[10]; + out_4723013873422239853[11] = state[11]; + out_4723013873422239853[12] = state[12]; + out_4723013873422239853[13] = state[13]; + out_4723013873422239853[14] = state[14]; + out_4723013873422239853[15] = state[15]; + out_4723013873422239853[16] = state[16]; + out_4723013873422239853[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4841453483990746406) { - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[2] = 0; - out_4841453483990746406[3] = 0; - out_4841453483990746406[4] = 0; - out_4841453483990746406[5] = 0; - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[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_4841453483990746406[9] = 0; - out_4841453483990746406[10] = 0; - out_4841453483990746406[11] = 0; - out_4841453483990746406[12] = 0; - out_4841453483990746406[13] = 0; - out_4841453483990746406[14] = 0; - out_4841453483990746406[15] = 0; - out_4841453483990746406[16] = 0; - out_4841453483990746406[17] = 0; - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[20] = 0; - out_4841453483990746406[21] = 0; - out_4841453483990746406[22] = 0; - out_4841453483990746406[23] = 0; - out_4841453483990746406[24] = 0; - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[27] = 0; - out_4841453483990746406[28] = 0; - out_4841453483990746406[29] = 0; - out_4841453483990746406[30] = 0; - out_4841453483990746406[31] = 0; - out_4841453483990746406[32] = 0; - out_4841453483990746406[33] = 0; - out_4841453483990746406[34] = 0; - out_4841453483990746406[35] = 0; - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[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_4841453483990746406[39] = 0; - out_4841453483990746406[40] = 0; - out_4841453483990746406[41] = 0; - out_4841453483990746406[42] = 0; - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[45] = 0; - out_4841453483990746406[46] = 0; - out_4841453483990746406[47] = 0; - out_4841453483990746406[48] = 0; - out_4841453483990746406[49] = 0; - out_4841453483990746406[50] = 0; - out_4841453483990746406[51] = 0; - out_4841453483990746406[52] = 0; - out_4841453483990746406[53] = 0; - out_4841453483990746406[54] = 0; - out_4841453483990746406[55] = 0; - out_4841453483990746406[56] = 0; - out_4841453483990746406[57] = 1; - out_4841453483990746406[58] = 0; - out_4841453483990746406[59] = 0; - out_4841453483990746406[60] = 0; - out_4841453483990746406[61] = 0; - out_4841453483990746406[62] = 0; - out_4841453483990746406[63] = 0; - out_4841453483990746406[64] = 0; - out_4841453483990746406[65] = 0; - out_4841453483990746406[66] = dt; - out_4841453483990746406[67] = 0; - out_4841453483990746406[68] = 0; - out_4841453483990746406[69] = 0; - out_4841453483990746406[70] = 0; - out_4841453483990746406[71] = 0; - out_4841453483990746406[72] = 0; - out_4841453483990746406[73] = 0; - out_4841453483990746406[74] = 0; - out_4841453483990746406[75] = 0; - out_4841453483990746406[76] = 1; - out_4841453483990746406[77] = 0; - out_4841453483990746406[78] = 0; - out_4841453483990746406[79] = 0; - out_4841453483990746406[80] = 0; - out_4841453483990746406[81] = 0; - out_4841453483990746406[82] = 0; - out_4841453483990746406[83] = 0; - out_4841453483990746406[84] = 0; - out_4841453483990746406[85] = dt; - out_4841453483990746406[86] = 0; - out_4841453483990746406[87] = 0; - out_4841453483990746406[88] = 0; - out_4841453483990746406[89] = 0; - out_4841453483990746406[90] = 0; - out_4841453483990746406[91] = 0; - out_4841453483990746406[92] = 0; - out_4841453483990746406[93] = 0; - out_4841453483990746406[94] = 0; - out_4841453483990746406[95] = 1; - out_4841453483990746406[96] = 0; - out_4841453483990746406[97] = 0; - out_4841453483990746406[98] = 0; - out_4841453483990746406[99] = 0; - out_4841453483990746406[100] = 0; - out_4841453483990746406[101] = 0; - out_4841453483990746406[102] = 0; - out_4841453483990746406[103] = 0; - out_4841453483990746406[104] = dt; - out_4841453483990746406[105] = 0; - out_4841453483990746406[106] = 0; - out_4841453483990746406[107] = 0; - out_4841453483990746406[108] = 0; - out_4841453483990746406[109] = 0; - out_4841453483990746406[110] = 0; - out_4841453483990746406[111] = 0; - out_4841453483990746406[112] = 0; - out_4841453483990746406[113] = 0; - out_4841453483990746406[114] = 1; - out_4841453483990746406[115] = 0; - out_4841453483990746406[116] = 0; - out_4841453483990746406[117] = 0; - out_4841453483990746406[118] = 0; - out_4841453483990746406[119] = 0; - out_4841453483990746406[120] = 0; - out_4841453483990746406[121] = 0; - out_4841453483990746406[122] = 0; - out_4841453483990746406[123] = 0; - out_4841453483990746406[124] = 0; - out_4841453483990746406[125] = 0; - out_4841453483990746406[126] = 0; - out_4841453483990746406[127] = 0; - out_4841453483990746406[128] = 0; - out_4841453483990746406[129] = 0; - out_4841453483990746406[130] = 0; - out_4841453483990746406[131] = 0; - out_4841453483990746406[132] = 0; - out_4841453483990746406[133] = 1; - out_4841453483990746406[134] = 0; - out_4841453483990746406[135] = 0; - out_4841453483990746406[136] = 0; - out_4841453483990746406[137] = 0; - out_4841453483990746406[138] = 0; - out_4841453483990746406[139] = 0; - out_4841453483990746406[140] = 0; - out_4841453483990746406[141] = 0; - out_4841453483990746406[142] = 0; - out_4841453483990746406[143] = 0; - out_4841453483990746406[144] = 0; - out_4841453483990746406[145] = 0; - out_4841453483990746406[146] = 0; - out_4841453483990746406[147] = 0; - out_4841453483990746406[148] = 0; - out_4841453483990746406[149] = 0; - out_4841453483990746406[150] = 0; - out_4841453483990746406[151] = 0; - out_4841453483990746406[152] = 1; - out_4841453483990746406[153] = 0; - out_4841453483990746406[154] = 0; - out_4841453483990746406[155] = 0; - out_4841453483990746406[156] = 0; - out_4841453483990746406[157] = 0; - out_4841453483990746406[158] = 0; - out_4841453483990746406[159] = 0; - out_4841453483990746406[160] = 0; - out_4841453483990746406[161] = 0; - out_4841453483990746406[162] = 0; - out_4841453483990746406[163] = 0; - out_4841453483990746406[164] = 0; - out_4841453483990746406[165] = 0; - out_4841453483990746406[166] = 0; - out_4841453483990746406[167] = 0; - out_4841453483990746406[168] = 0; - out_4841453483990746406[169] = 0; - out_4841453483990746406[170] = 0; - out_4841453483990746406[171] = 1; - out_4841453483990746406[172] = 0; - out_4841453483990746406[173] = 0; - out_4841453483990746406[174] = 0; - out_4841453483990746406[175] = 0; - out_4841453483990746406[176] = 0; - out_4841453483990746406[177] = 0; - out_4841453483990746406[178] = 0; - out_4841453483990746406[179] = 0; - out_4841453483990746406[180] = 0; - out_4841453483990746406[181] = 0; - out_4841453483990746406[182] = 0; - out_4841453483990746406[183] = 0; - out_4841453483990746406[184] = 0; - out_4841453483990746406[185] = 0; - out_4841453483990746406[186] = 0; - out_4841453483990746406[187] = 0; - out_4841453483990746406[188] = 0; - out_4841453483990746406[189] = 0; - out_4841453483990746406[190] = 1; - out_4841453483990746406[191] = 0; - out_4841453483990746406[192] = 0; - out_4841453483990746406[193] = 0; - out_4841453483990746406[194] = 0; - out_4841453483990746406[195] = 0; - out_4841453483990746406[196] = 0; - out_4841453483990746406[197] = 0; - out_4841453483990746406[198] = 0; - out_4841453483990746406[199] = 0; - out_4841453483990746406[200] = 0; - out_4841453483990746406[201] = 0; - out_4841453483990746406[202] = 0; - out_4841453483990746406[203] = 0; - out_4841453483990746406[204] = 0; - out_4841453483990746406[205] = 0; - out_4841453483990746406[206] = 0; - out_4841453483990746406[207] = 0; - out_4841453483990746406[208] = 0; - out_4841453483990746406[209] = 1; - out_4841453483990746406[210] = 0; - out_4841453483990746406[211] = 0; - out_4841453483990746406[212] = 0; - out_4841453483990746406[213] = 0; - out_4841453483990746406[214] = 0; - out_4841453483990746406[215] = 0; - out_4841453483990746406[216] = 0; - out_4841453483990746406[217] = 0; - out_4841453483990746406[218] = 0; - out_4841453483990746406[219] = 0; - out_4841453483990746406[220] = 0; - out_4841453483990746406[221] = 0; - out_4841453483990746406[222] = 0; - out_4841453483990746406[223] = 0; - out_4841453483990746406[224] = 0; - out_4841453483990746406[225] = 0; - out_4841453483990746406[226] = 0; - out_4841453483990746406[227] = 0; - out_4841453483990746406[228] = 1; - out_4841453483990746406[229] = 0; - out_4841453483990746406[230] = 0; - out_4841453483990746406[231] = 0; - out_4841453483990746406[232] = 0; - out_4841453483990746406[233] = 0; - out_4841453483990746406[234] = 0; - out_4841453483990746406[235] = 0; - out_4841453483990746406[236] = 0; - out_4841453483990746406[237] = 0; - out_4841453483990746406[238] = 0; - out_4841453483990746406[239] = 0; - out_4841453483990746406[240] = 0; - out_4841453483990746406[241] = 0; - out_4841453483990746406[242] = 0; - out_4841453483990746406[243] = 0; - out_4841453483990746406[244] = 0; - out_4841453483990746406[245] = 0; - out_4841453483990746406[246] = 0; - out_4841453483990746406[247] = 1; - out_4841453483990746406[248] = 0; - out_4841453483990746406[249] = 0; - out_4841453483990746406[250] = 0; - out_4841453483990746406[251] = 0; - out_4841453483990746406[252] = 0; - out_4841453483990746406[253] = 0; - out_4841453483990746406[254] = 0; - out_4841453483990746406[255] = 0; - out_4841453483990746406[256] = 0; - out_4841453483990746406[257] = 0; - out_4841453483990746406[258] = 0; - out_4841453483990746406[259] = 0; - out_4841453483990746406[260] = 0; - out_4841453483990746406[261] = 0; - out_4841453483990746406[262] = 0; - out_4841453483990746406[263] = 0; - out_4841453483990746406[264] = 0; - out_4841453483990746406[265] = 0; - out_4841453483990746406[266] = 1; - out_4841453483990746406[267] = 0; - out_4841453483990746406[268] = 0; - out_4841453483990746406[269] = 0; - out_4841453483990746406[270] = 0; - out_4841453483990746406[271] = 0; - out_4841453483990746406[272] = 0; - out_4841453483990746406[273] = 0; - out_4841453483990746406[274] = 0; - out_4841453483990746406[275] = 0; - out_4841453483990746406[276] = 0; - out_4841453483990746406[277] = 0; - out_4841453483990746406[278] = 0; - out_4841453483990746406[279] = 0; - out_4841453483990746406[280] = 0; - out_4841453483990746406[281] = 0; - out_4841453483990746406[282] = 0; - out_4841453483990746406[283] = 0; - out_4841453483990746406[284] = 0; - out_4841453483990746406[285] = 1; - out_4841453483990746406[286] = 0; - out_4841453483990746406[287] = 0; - out_4841453483990746406[288] = 0; - out_4841453483990746406[289] = 0; - out_4841453483990746406[290] = 0; - out_4841453483990746406[291] = 0; - out_4841453483990746406[292] = 0; - out_4841453483990746406[293] = 0; - out_4841453483990746406[294] = 0; - out_4841453483990746406[295] = 0; - out_4841453483990746406[296] = 0; - out_4841453483990746406[297] = 0; - out_4841453483990746406[298] = 0; - out_4841453483990746406[299] = 0; - out_4841453483990746406[300] = 0; - out_4841453483990746406[301] = 0; - out_4841453483990746406[302] = 0; - out_4841453483990746406[303] = 0; - out_4841453483990746406[304] = 1; - out_4841453483990746406[305] = 0; - out_4841453483990746406[306] = 0; - out_4841453483990746406[307] = 0; - out_4841453483990746406[308] = 0; - out_4841453483990746406[309] = 0; - out_4841453483990746406[310] = 0; - out_4841453483990746406[311] = 0; - out_4841453483990746406[312] = 0; - out_4841453483990746406[313] = 0; - out_4841453483990746406[314] = 0; - out_4841453483990746406[315] = 0; - out_4841453483990746406[316] = 0; - out_4841453483990746406[317] = 0; - out_4841453483990746406[318] = 0; - out_4841453483990746406[319] = 0; - out_4841453483990746406[320] = 0; - out_4841453483990746406[321] = 0; - out_4841453483990746406[322] = 0; - out_4841453483990746406[323] = 1; +void F_fun(double *state, double dt, double *out_1330240054865645952) { + out_1330240054865645952[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_1330240054865645952[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_1330240054865645952[2] = 0; + out_1330240054865645952[3] = 0; + out_1330240054865645952[4] = 0; + out_1330240054865645952[5] = 0; + out_1330240054865645952[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_1330240054865645952[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_1330240054865645952[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_1330240054865645952[9] = 0; + out_1330240054865645952[10] = 0; + out_1330240054865645952[11] = 0; + out_1330240054865645952[12] = 0; + out_1330240054865645952[13] = 0; + out_1330240054865645952[14] = 0; + out_1330240054865645952[15] = 0; + out_1330240054865645952[16] = 0; + out_1330240054865645952[17] = 0; + out_1330240054865645952[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_1330240054865645952[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_1330240054865645952[20] = 0; + out_1330240054865645952[21] = 0; + out_1330240054865645952[22] = 0; + out_1330240054865645952[23] = 0; + out_1330240054865645952[24] = 0; + out_1330240054865645952[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_1330240054865645952[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_1330240054865645952[27] = 0; + out_1330240054865645952[28] = 0; + out_1330240054865645952[29] = 0; + out_1330240054865645952[30] = 0; + out_1330240054865645952[31] = 0; + out_1330240054865645952[32] = 0; + out_1330240054865645952[33] = 0; + out_1330240054865645952[34] = 0; + out_1330240054865645952[35] = 0; + out_1330240054865645952[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_1330240054865645952[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_1330240054865645952[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_1330240054865645952[39] = 0; + out_1330240054865645952[40] = 0; + out_1330240054865645952[41] = 0; + out_1330240054865645952[42] = 0; + out_1330240054865645952[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_1330240054865645952[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_1330240054865645952[45] = 0; + out_1330240054865645952[46] = 0; + out_1330240054865645952[47] = 0; + out_1330240054865645952[48] = 0; + out_1330240054865645952[49] = 0; + out_1330240054865645952[50] = 0; + out_1330240054865645952[51] = 0; + out_1330240054865645952[52] = 0; + out_1330240054865645952[53] = 0; + out_1330240054865645952[54] = 0; + out_1330240054865645952[55] = 0; + out_1330240054865645952[56] = 0; + out_1330240054865645952[57] = 1; + out_1330240054865645952[58] = 0; + out_1330240054865645952[59] = 0; + out_1330240054865645952[60] = 0; + out_1330240054865645952[61] = 0; + out_1330240054865645952[62] = 0; + out_1330240054865645952[63] = 0; + out_1330240054865645952[64] = 0; + out_1330240054865645952[65] = 0; + out_1330240054865645952[66] = dt; + out_1330240054865645952[67] = 0; + out_1330240054865645952[68] = 0; + out_1330240054865645952[69] = 0; + out_1330240054865645952[70] = 0; + out_1330240054865645952[71] = 0; + out_1330240054865645952[72] = 0; + out_1330240054865645952[73] = 0; + out_1330240054865645952[74] = 0; + out_1330240054865645952[75] = 0; + out_1330240054865645952[76] = 1; + out_1330240054865645952[77] = 0; + out_1330240054865645952[78] = 0; + out_1330240054865645952[79] = 0; + out_1330240054865645952[80] = 0; + out_1330240054865645952[81] = 0; + out_1330240054865645952[82] = 0; + out_1330240054865645952[83] = 0; + out_1330240054865645952[84] = 0; + out_1330240054865645952[85] = dt; + out_1330240054865645952[86] = 0; + out_1330240054865645952[87] = 0; + out_1330240054865645952[88] = 0; + out_1330240054865645952[89] = 0; + out_1330240054865645952[90] = 0; + out_1330240054865645952[91] = 0; + out_1330240054865645952[92] = 0; + out_1330240054865645952[93] = 0; + out_1330240054865645952[94] = 0; + out_1330240054865645952[95] = 1; + out_1330240054865645952[96] = 0; + out_1330240054865645952[97] = 0; + out_1330240054865645952[98] = 0; + out_1330240054865645952[99] = 0; + out_1330240054865645952[100] = 0; + out_1330240054865645952[101] = 0; + out_1330240054865645952[102] = 0; + out_1330240054865645952[103] = 0; + out_1330240054865645952[104] = dt; + out_1330240054865645952[105] = 0; + out_1330240054865645952[106] = 0; + out_1330240054865645952[107] = 0; + out_1330240054865645952[108] = 0; + out_1330240054865645952[109] = 0; + out_1330240054865645952[110] = 0; + out_1330240054865645952[111] = 0; + out_1330240054865645952[112] = 0; + out_1330240054865645952[113] = 0; + out_1330240054865645952[114] = 1; + out_1330240054865645952[115] = 0; + out_1330240054865645952[116] = 0; + out_1330240054865645952[117] = 0; + out_1330240054865645952[118] = 0; + out_1330240054865645952[119] = 0; + out_1330240054865645952[120] = 0; + out_1330240054865645952[121] = 0; + out_1330240054865645952[122] = 0; + out_1330240054865645952[123] = 0; + out_1330240054865645952[124] = 0; + out_1330240054865645952[125] = 0; + out_1330240054865645952[126] = 0; + out_1330240054865645952[127] = 0; + out_1330240054865645952[128] = 0; + out_1330240054865645952[129] = 0; + out_1330240054865645952[130] = 0; + out_1330240054865645952[131] = 0; + out_1330240054865645952[132] = 0; + out_1330240054865645952[133] = 1; + out_1330240054865645952[134] = 0; + out_1330240054865645952[135] = 0; + out_1330240054865645952[136] = 0; + out_1330240054865645952[137] = 0; + out_1330240054865645952[138] = 0; + out_1330240054865645952[139] = 0; + out_1330240054865645952[140] = 0; + out_1330240054865645952[141] = 0; + out_1330240054865645952[142] = 0; + out_1330240054865645952[143] = 0; + out_1330240054865645952[144] = 0; + out_1330240054865645952[145] = 0; + out_1330240054865645952[146] = 0; + out_1330240054865645952[147] = 0; + out_1330240054865645952[148] = 0; + out_1330240054865645952[149] = 0; + out_1330240054865645952[150] = 0; + out_1330240054865645952[151] = 0; + out_1330240054865645952[152] = 1; + out_1330240054865645952[153] = 0; + out_1330240054865645952[154] = 0; + out_1330240054865645952[155] = 0; + out_1330240054865645952[156] = 0; + out_1330240054865645952[157] = 0; + out_1330240054865645952[158] = 0; + out_1330240054865645952[159] = 0; + out_1330240054865645952[160] = 0; + out_1330240054865645952[161] = 0; + out_1330240054865645952[162] = 0; + out_1330240054865645952[163] = 0; + out_1330240054865645952[164] = 0; + out_1330240054865645952[165] = 0; + out_1330240054865645952[166] = 0; + out_1330240054865645952[167] = 0; + out_1330240054865645952[168] = 0; + out_1330240054865645952[169] = 0; + out_1330240054865645952[170] = 0; + out_1330240054865645952[171] = 1; + out_1330240054865645952[172] = 0; + out_1330240054865645952[173] = 0; + out_1330240054865645952[174] = 0; + out_1330240054865645952[175] = 0; + out_1330240054865645952[176] = 0; + out_1330240054865645952[177] = 0; + out_1330240054865645952[178] = 0; + out_1330240054865645952[179] = 0; + out_1330240054865645952[180] = 0; + out_1330240054865645952[181] = 0; + out_1330240054865645952[182] = 0; + out_1330240054865645952[183] = 0; + out_1330240054865645952[184] = 0; + out_1330240054865645952[185] = 0; + out_1330240054865645952[186] = 0; + out_1330240054865645952[187] = 0; + out_1330240054865645952[188] = 0; + out_1330240054865645952[189] = 0; + out_1330240054865645952[190] = 1; + out_1330240054865645952[191] = 0; + out_1330240054865645952[192] = 0; + out_1330240054865645952[193] = 0; + out_1330240054865645952[194] = 0; + out_1330240054865645952[195] = 0; + out_1330240054865645952[196] = 0; + out_1330240054865645952[197] = 0; + out_1330240054865645952[198] = 0; + out_1330240054865645952[199] = 0; + out_1330240054865645952[200] = 0; + out_1330240054865645952[201] = 0; + out_1330240054865645952[202] = 0; + out_1330240054865645952[203] = 0; + out_1330240054865645952[204] = 0; + out_1330240054865645952[205] = 0; + out_1330240054865645952[206] = 0; + out_1330240054865645952[207] = 0; + out_1330240054865645952[208] = 0; + out_1330240054865645952[209] = 1; + out_1330240054865645952[210] = 0; + out_1330240054865645952[211] = 0; + out_1330240054865645952[212] = 0; + out_1330240054865645952[213] = 0; + out_1330240054865645952[214] = 0; + out_1330240054865645952[215] = 0; + out_1330240054865645952[216] = 0; + out_1330240054865645952[217] = 0; + out_1330240054865645952[218] = 0; + out_1330240054865645952[219] = 0; + out_1330240054865645952[220] = 0; + out_1330240054865645952[221] = 0; + out_1330240054865645952[222] = 0; + out_1330240054865645952[223] = 0; + out_1330240054865645952[224] = 0; + out_1330240054865645952[225] = 0; + out_1330240054865645952[226] = 0; + out_1330240054865645952[227] = 0; + out_1330240054865645952[228] = 1; + out_1330240054865645952[229] = 0; + out_1330240054865645952[230] = 0; + out_1330240054865645952[231] = 0; + out_1330240054865645952[232] = 0; + out_1330240054865645952[233] = 0; + out_1330240054865645952[234] = 0; + out_1330240054865645952[235] = 0; + out_1330240054865645952[236] = 0; + out_1330240054865645952[237] = 0; + out_1330240054865645952[238] = 0; + out_1330240054865645952[239] = 0; + out_1330240054865645952[240] = 0; + out_1330240054865645952[241] = 0; + out_1330240054865645952[242] = 0; + out_1330240054865645952[243] = 0; + out_1330240054865645952[244] = 0; + out_1330240054865645952[245] = 0; + out_1330240054865645952[246] = 0; + out_1330240054865645952[247] = 1; + out_1330240054865645952[248] = 0; + out_1330240054865645952[249] = 0; + out_1330240054865645952[250] = 0; + out_1330240054865645952[251] = 0; + out_1330240054865645952[252] = 0; + out_1330240054865645952[253] = 0; + out_1330240054865645952[254] = 0; + out_1330240054865645952[255] = 0; + out_1330240054865645952[256] = 0; + out_1330240054865645952[257] = 0; + out_1330240054865645952[258] = 0; + out_1330240054865645952[259] = 0; + out_1330240054865645952[260] = 0; + out_1330240054865645952[261] = 0; + out_1330240054865645952[262] = 0; + out_1330240054865645952[263] = 0; + out_1330240054865645952[264] = 0; + out_1330240054865645952[265] = 0; + out_1330240054865645952[266] = 1; + out_1330240054865645952[267] = 0; + out_1330240054865645952[268] = 0; + out_1330240054865645952[269] = 0; + out_1330240054865645952[270] = 0; + out_1330240054865645952[271] = 0; + out_1330240054865645952[272] = 0; + out_1330240054865645952[273] = 0; + out_1330240054865645952[274] = 0; + out_1330240054865645952[275] = 0; + out_1330240054865645952[276] = 0; + out_1330240054865645952[277] = 0; + out_1330240054865645952[278] = 0; + out_1330240054865645952[279] = 0; + out_1330240054865645952[280] = 0; + out_1330240054865645952[281] = 0; + out_1330240054865645952[282] = 0; + out_1330240054865645952[283] = 0; + out_1330240054865645952[284] = 0; + out_1330240054865645952[285] = 1; + out_1330240054865645952[286] = 0; + out_1330240054865645952[287] = 0; + out_1330240054865645952[288] = 0; + out_1330240054865645952[289] = 0; + out_1330240054865645952[290] = 0; + out_1330240054865645952[291] = 0; + out_1330240054865645952[292] = 0; + out_1330240054865645952[293] = 0; + out_1330240054865645952[294] = 0; + out_1330240054865645952[295] = 0; + out_1330240054865645952[296] = 0; + out_1330240054865645952[297] = 0; + out_1330240054865645952[298] = 0; + out_1330240054865645952[299] = 0; + out_1330240054865645952[300] = 0; + out_1330240054865645952[301] = 0; + out_1330240054865645952[302] = 0; + out_1330240054865645952[303] = 0; + out_1330240054865645952[304] = 1; + out_1330240054865645952[305] = 0; + out_1330240054865645952[306] = 0; + out_1330240054865645952[307] = 0; + out_1330240054865645952[308] = 0; + out_1330240054865645952[309] = 0; + out_1330240054865645952[310] = 0; + out_1330240054865645952[311] = 0; + out_1330240054865645952[312] = 0; + out_1330240054865645952[313] = 0; + out_1330240054865645952[314] = 0; + out_1330240054865645952[315] = 0; + out_1330240054865645952[316] = 0; + out_1330240054865645952[317] = 0; + out_1330240054865645952[318] = 0; + out_1330240054865645952[319] = 0; + out_1330240054865645952[320] = 0; + out_1330240054865645952[321] = 0; + out_1330240054865645952[322] = 0; + out_1330240054865645952[323] = 1; } -void h_4(double *state, double *unused, double *out_3927517291904970746) { - out_3927517291904970746[0] = state[6] + state[9]; - out_3927517291904970746[1] = state[7] + state[10]; - out_3927517291904970746[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7146223790384861366) { + out_7146223790384861366[0] = state[6] + state[9]; + out_7146223790384861366[1] = state[7] + state[10]; + out_7146223790384861366[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_648704722266460885) { - out_648704722266460885[0] = 0; - out_648704722266460885[1] = 0; - out_648704722266460885[2] = 0; - out_648704722266460885[3] = 0; - out_648704722266460885[4] = 0; - out_648704722266460885[5] = 0; - out_648704722266460885[6] = 1; - out_648704722266460885[7] = 0; - out_648704722266460885[8] = 0; - out_648704722266460885[9] = 1; - out_648704722266460885[10] = 0; - out_648704722266460885[11] = 0; - out_648704722266460885[12] = 0; - out_648704722266460885[13] = 0; - out_648704722266460885[14] = 0; - out_648704722266460885[15] = 0; - out_648704722266460885[16] = 0; - out_648704722266460885[17] = 0; - out_648704722266460885[18] = 0; - out_648704722266460885[19] = 0; - out_648704722266460885[20] = 0; - out_648704722266460885[21] = 0; - out_648704722266460885[22] = 0; - out_648704722266460885[23] = 0; - out_648704722266460885[24] = 0; - out_648704722266460885[25] = 1; - out_648704722266460885[26] = 0; - out_648704722266460885[27] = 0; - out_648704722266460885[28] = 1; - out_648704722266460885[29] = 0; - out_648704722266460885[30] = 0; - out_648704722266460885[31] = 0; - out_648704722266460885[32] = 0; - out_648704722266460885[33] = 0; - out_648704722266460885[34] = 0; - out_648704722266460885[35] = 0; - out_648704722266460885[36] = 0; - out_648704722266460885[37] = 0; - out_648704722266460885[38] = 0; - out_648704722266460885[39] = 0; - out_648704722266460885[40] = 0; - out_648704722266460885[41] = 0; - out_648704722266460885[42] = 0; - out_648704722266460885[43] = 0; - out_648704722266460885[44] = 1; - out_648704722266460885[45] = 0; - out_648704722266460885[46] = 0; - out_648704722266460885[47] = 1; - out_648704722266460885[48] = 0; - out_648704722266460885[49] = 0; - out_648704722266460885[50] = 0; - out_648704722266460885[51] = 0; - out_648704722266460885[52] = 0; - out_648704722266460885[53] = 0; +void H_4(double *state, double *unused, double *out_4698183761985222836) { + out_4698183761985222836[0] = 0; + out_4698183761985222836[1] = 0; + out_4698183761985222836[2] = 0; + out_4698183761985222836[3] = 0; + out_4698183761985222836[4] = 0; + out_4698183761985222836[5] = 0; + out_4698183761985222836[6] = 1; + out_4698183761985222836[7] = 0; + out_4698183761985222836[8] = 0; + out_4698183761985222836[9] = 1; + out_4698183761985222836[10] = 0; + out_4698183761985222836[11] = 0; + out_4698183761985222836[12] = 0; + out_4698183761985222836[13] = 0; + out_4698183761985222836[14] = 0; + out_4698183761985222836[15] = 0; + out_4698183761985222836[16] = 0; + out_4698183761985222836[17] = 0; + out_4698183761985222836[18] = 0; + out_4698183761985222836[19] = 0; + out_4698183761985222836[20] = 0; + out_4698183761985222836[21] = 0; + out_4698183761985222836[22] = 0; + out_4698183761985222836[23] = 0; + out_4698183761985222836[24] = 0; + out_4698183761985222836[25] = 1; + out_4698183761985222836[26] = 0; + out_4698183761985222836[27] = 0; + out_4698183761985222836[28] = 1; + out_4698183761985222836[29] = 0; + out_4698183761985222836[30] = 0; + out_4698183761985222836[31] = 0; + out_4698183761985222836[32] = 0; + out_4698183761985222836[33] = 0; + out_4698183761985222836[34] = 0; + out_4698183761985222836[35] = 0; + out_4698183761985222836[36] = 0; + out_4698183761985222836[37] = 0; + out_4698183761985222836[38] = 0; + out_4698183761985222836[39] = 0; + out_4698183761985222836[40] = 0; + out_4698183761985222836[41] = 0; + out_4698183761985222836[42] = 0; + out_4698183761985222836[43] = 0; + out_4698183761985222836[44] = 1; + out_4698183761985222836[45] = 0; + out_4698183761985222836[46] = 0; + out_4698183761985222836[47] = 1; + out_4698183761985222836[48] = 0; + out_4698183761985222836[49] = 0; + out_4698183761985222836[50] = 0; + out_4698183761985222836[51] = 0; + out_4698183761985222836[52] = 0; + out_4698183761985222836[53] = 0; } -void h_10(double *state, double *unused, double *out_6439648934382479816) { - out_6439648934382479816[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6439648934382479816[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6439648934382479816[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_5881100932201706296) { + out_5881100932201706296[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5881100932201706296[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5881100932201706296[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_4788307442778779812) { - out_4788307442778779812[0] = 0; - out_4788307442778779812[1] = 9.8100000000000005*cos(state[1]); - out_4788307442778779812[2] = 0; - out_4788307442778779812[3] = 0; - out_4788307442778779812[4] = -state[8]; - out_4788307442778779812[5] = state[7]; - out_4788307442778779812[6] = 0; - out_4788307442778779812[7] = state[5]; - out_4788307442778779812[8] = -state[4]; - out_4788307442778779812[9] = 0; - out_4788307442778779812[10] = 0; - out_4788307442778779812[11] = 0; - out_4788307442778779812[12] = 1; - out_4788307442778779812[13] = 0; - out_4788307442778779812[14] = 0; - out_4788307442778779812[15] = 1; - out_4788307442778779812[16] = 0; - out_4788307442778779812[17] = 0; - out_4788307442778779812[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4788307442778779812[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4788307442778779812[20] = 0; - out_4788307442778779812[21] = state[8]; - out_4788307442778779812[22] = 0; - out_4788307442778779812[23] = -state[6]; - out_4788307442778779812[24] = -state[5]; - out_4788307442778779812[25] = 0; - out_4788307442778779812[26] = state[3]; - out_4788307442778779812[27] = 0; - out_4788307442778779812[28] = 0; - out_4788307442778779812[29] = 0; - out_4788307442778779812[30] = 0; - out_4788307442778779812[31] = 1; - out_4788307442778779812[32] = 0; - out_4788307442778779812[33] = 0; - out_4788307442778779812[34] = 1; - out_4788307442778779812[35] = 0; - out_4788307442778779812[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4788307442778779812[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4788307442778779812[38] = 0; - out_4788307442778779812[39] = -state[7]; - out_4788307442778779812[40] = state[6]; - out_4788307442778779812[41] = 0; - out_4788307442778779812[42] = state[4]; - out_4788307442778779812[43] = -state[3]; - out_4788307442778779812[44] = 0; - out_4788307442778779812[45] = 0; - out_4788307442778779812[46] = 0; - out_4788307442778779812[47] = 0; - out_4788307442778779812[48] = 0; - out_4788307442778779812[49] = 0; - out_4788307442778779812[50] = 1; - out_4788307442778779812[51] = 0; - out_4788307442778779812[52] = 0; - out_4788307442778779812[53] = 1; +void H_10(double *state, double *unused, double *out_2551013219564387251) { + out_2551013219564387251[0] = 0; + out_2551013219564387251[1] = 9.8100000000000005*cos(state[1]); + out_2551013219564387251[2] = 0; + out_2551013219564387251[3] = 0; + out_2551013219564387251[4] = -state[8]; + out_2551013219564387251[5] = state[7]; + out_2551013219564387251[6] = 0; + out_2551013219564387251[7] = state[5]; + out_2551013219564387251[8] = -state[4]; + out_2551013219564387251[9] = 0; + out_2551013219564387251[10] = 0; + out_2551013219564387251[11] = 0; + out_2551013219564387251[12] = 1; + out_2551013219564387251[13] = 0; + out_2551013219564387251[14] = 0; + out_2551013219564387251[15] = 1; + out_2551013219564387251[16] = 0; + out_2551013219564387251[17] = 0; + out_2551013219564387251[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2551013219564387251[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2551013219564387251[20] = 0; + out_2551013219564387251[21] = state[8]; + out_2551013219564387251[22] = 0; + out_2551013219564387251[23] = -state[6]; + out_2551013219564387251[24] = -state[5]; + out_2551013219564387251[25] = 0; + out_2551013219564387251[26] = state[3]; + out_2551013219564387251[27] = 0; + out_2551013219564387251[28] = 0; + out_2551013219564387251[29] = 0; + out_2551013219564387251[30] = 0; + out_2551013219564387251[31] = 1; + out_2551013219564387251[32] = 0; + out_2551013219564387251[33] = 0; + out_2551013219564387251[34] = 1; + out_2551013219564387251[35] = 0; + out_2551013219564387251[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2551013219564387251[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2551013219564387251[38] = 0; + out_2551013219564387251[39] = -state[7]; + out_2551013219564387251[40] = state[6]; + out_2551013219564387251[41] = 0; + out_2551013219564387251[42] = state[4]; + out_2551013219564387251[43] = -state[3]; + out_2551013219564387251[44] = 0; + out_2551013219564387251[45] = 0; + out_2551013219564387251[46] = 0; + out_2551013219564387251[47] = 0; + out_2551013219564387251[48] = 0; + out_2551013219564387251[49] = 0; + out_2551013219564387251[50] = 1; + out_2551013219564387251[51] = 0; + out_2551013219564387251[52] = 0; + out_2551013219564387251[53] = 1; } -void h_13(double *state, double *unused, double *out_7496824369401694209) { - out_7496824369401694209[0] = state[3]; - out_7496824369401694209[1] = state[4]; - out_7496824369401694209[2] = state[5]; +void h_13(double *state, double *unused, double *out_570188011276341522) { + out_570188011276341522[0] = state[3]; + out_570188011276341522[1] = state[4]; + out_570188011276341522[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4482460185568984909) { - out_4482460185568984909[0] = 0; - out_4482460185568984909[1] = 0; - out_4482460185568984909[2] = 0; - out_4482460185568984909[3] = 1; - out_4482460185568984909[4] = 0; - out_4482460185568984909[5] = 0; - out_4482460185568984909[6] = 0; - out_4482460185568984909[7] = 0; - out_4482460185568984909[8] = 0; - out_4482460185568984909[9] = 0; - out_4482460185568984909[10] = 0; - out_4482460185568984909[11] = 0; - out_4482460185568984909[12] = 0; - out_4482460185568984909[13] = 0; - out_4482460185568984909[14] = 0; - out_4482460185568984909[15] = 0; - out_4482460185568984909[16] = 0; - out_4482460185568984909[17] = 0; - out_4482460185568984909[18] = 0; - out_4482460185568984909[19] = 0; - out_4482460185568984909[20] = 0; - out_4482460185568984909[21] = 0; - out_4482460185568984909[22] = 1; - out_4482460185568984909[23] = 0; - out_4482460185568984909[24] = 0; - out_4482460185568984909[25] = 0; - out_4482460185568984909[26] = 0; - out_4482460185568984909[27] = 0; - out_4482460185568984909[28] = 0; - out_4482460185568984909[29] = 0; - out_4482460185568984909[30] = 0; - out_4482460185568984909[31] = 0; - out_4482460185568984909[32] = 0; - out_4482460185568984909[33] = 0; - out_4482460185568984909[34] = 0; - out_4482460185568984909[35] = 0; - out_4482460185568984909[36] = 0; - out_4482460185568984909[37] = 0; - out_4482460185568984909[38] = 0; - out_4482460185568984909[39] = 0; - out_4482460185568984909[40] = 0; - out_4482460185568984909[41] = 1; - out_4482460185568984909[42] = 0; - out_4482460185568984909[43] = 0; - out_4482460185568984909[44] = 0; - out_4482460185568984909[45] = 0; - out_4482460185568984909[46] = 0; - out_4482460185568984909[47] = 0; - out_4482460185568984909[48] = 0; - out_4482460185568984909[49] = 0; - out_4482460185568984909[50] = 0; - out_4482460185568984909[51] = 0; - out_4482460185568984909[52] = 0; - out_4482460185568984909[53] = 0; +void H_13(double *state, double *unused, double *out_1485909936652890035) { + out_1485909936652890035[0] = 0; + out_1485909936652890035[1] = 0; + out_1485909936652890035[2] = 0; + out_1485909936652890035[3] = 1; + out_1485909936652890035[4] = 0; + out_1485909936652890035[5] = 0; + out_1485909936652890035[6] = 0; + out_1485909936652890035[7] = 0; + out_1485909936652890035[8] = 0; + out_1485909936652890035[9] = 0; + out_1485909936652890035[10] = 0; + out_1485909936652890035[11] = 0; + out_1485909936652890035[12] = 0; + out_1485909936652890035[13] = 0; + out_1485909936652890035[14] = 0; + out_1485909936652890035[15] = 0; + out_1485909936652890035[16] = 0; + out_1485909936652890035[17] = 0; + out_1485909936652890035[18] = 0; + out_1485909936652890035[19] = 0; + out_1485909936652890035[20] = 0; + out_1485909936652890035[21] = 0; + out_1485909936652890035[22] = 1; + out_1485909936652890035[23] = 0; + out_1485909936652890035[24] = 0; + out_1485909936652890035[25] = 0; + out_1485909936652890035[26] = 0; + out_1485909936652890035[27] = 0; + out_1485909936652890035[28] = 0; + out_1485909936652890035[29] = 0; + out_1485909936652890035[30] = 0; + out_1485909936652890035[31] = 0; + out_1485909936652890035[32] = 0; + out_1485909936652890035[33] = 0; + out_1485909936652890035[34] = 0; + out_1485909936652890035[35] = 0; + out_1485909936652890035[36] = 0; + out_1485909936652890035[37] = 0; + out_1485909936652890035[38] = 0; + out_1485909936652890035[39] = 0; + out_1485909936652890035[40] = 0; + out_1485909936652890035[41] = 1; + out_1485909936652890035[42] = 0; + out_1485909936652890035[43] = 0; + out_1485909936652890035[44] = 0; + out_1485909936652890035[45] = 0; + out_1485909936652890035[46] = 0; + out_1485909936652890035[47] = 0; + out_1485909936652890035[48] = 0; + out_1485909936652890035[49] = 0; + out_1485909936652890035[50] = 0; + out_1485909936652890035[51] = 0; + out_1485909936652890035[52] = 0; + out_1485909936652890035[53] = 0; } -void h_14(double *state, double *unused, double *out_6785183211401772861) { - out_6785183211401772861[0] = state[6]; - out_6785183211401772861[1] = state[7]; - out_6785183211401772861[2] = state[8]; +void h_14(double *state, double *unused, double *out_2861709294921996625) { + out_2861709294921996625[0] = state[6]; + out_2861709294921996625[1] = state[7]; + out_2861709294921996625[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3731493154561833181) { - out_3731493154561833181[0] = 0; - out_3731493154561833181[1] = 0; - out_3731493154561833181[2] = 0; - out_3731493154561833181[3] = 0; - out_3731493154561833181[4] = 0; - out_3731493154561833181[5] = 0; - out_3731493154561833181[6] = 1; - out_3731493154561833181[7] = 0; - out_3731493154561833181[8] = 0; - out_3731493154561833181[9] = 0; - out_3731493154561833181[10] = 0; - out_3731493154561833181[11] = 0; - out_3731493154561833181[12] = 0; - out_3731493154561833181[13] = 0; - out_3731493154561833181[14] = 0; - out_3731493154561833181[15] = 0; - out_3731493154561833181[16] = 0; - out_3731493154561833181[17] = 0; - out_3731493154561833181[18] = 0; - out_3731493154561833181[19] = 0; - out_3731493154561833181[20] = 0; - out_3731493154561833181[21] = 0; - out_3731493154561833181[22] = 0; - out_3731493154561833181[23] = 0; - out_3731493154561833181[24] = 0; - out_3731493154561833181[25] = 1; - out_3731493154561833181[26] = 0; - out_3731493154561833181[27] = 0; - out_3731493154561833181[28] = 0; - out_3731493154561833181[29] = 0; - out_3731493154561833181[30] = 0; - out_3731493154561833181[31] = 0; - out_3731493154561833181[32] = 0; - out_3731493154561833181[33] = 0; - out_3731493154561833181[34] = 0; - out_3731493154561833181[35] = 0; - out_3731493154561833181[36] = 0; - out_3731493154561833181[37] = 0; - out_3731493154561833181[38] = 0; - out_3731493154561833181[39] = 0; - out_3731493154561833181[40] = 0; - out_3731493154561833181[41] = 0; - out_3731493154561833181[42] = 0; - out_3731493154561833181[43] = 0; - out_3731493154561833181[44] = 1; - out_3731493154561833181[45] = 0; - out_3731493154561833181[46] = 0; - out_3731493154561833181[47] = 0; - out_3731493154561833181[48] = 0; - out_3731493154561833181[49] = 0; - out_3731493154561833181[50] = 0; - out_3731493154561833181[51] = 0; - out_3731493154561833181[52] = 0; - out_3731493154561833181[53] = 0; +void H_14(double *state, double *unused, double *out_734942905645738307) { + out_734942905645738307[0] = 0; + out_734942905645738307[1] = 0; + out_734942905645738307[2] = 0; + out_734942905645738307[3] = 0; + out_734942905645738307[4] = 0; + out_734942905645738307[5] = 0; + out_734942905645738307[6] = 1; + out_734942905645738307[7] = 0; + out_734942905645738307[8] = 0; + out_734942905645738307[9] = 0; + out_734942905645738307[10] = 0; + out_734942905645738307[11] = 0; + out_734942905645738307[12] = 0; + out_734942905645738307[13] = 0; + out_734942905645738307[14] = 0; + out_734942905645738307[15] = 0; + out_734942905645738307[16] = 0; + out_734942905645738307[17] = 0; + out_734942905645738307[18] = 0; + out_734942905645738307[19] = 0; + out_734942905645738307[20] = 0; + out_734942905645738307[21] = 0; + out_734942905645738307[22] = 0; + out_734942905645738307[23] = 0; + out_734942905645738307[24] = 0; + out_734942905645738307[25] = 1; + out_734942905645738307[26] = 0; + out_734942905645738307[27] = 0; + out_734942905645738307[28] = 0; + out_734942905645738307[29] = 0; + out_734942905645738307[30] = 0; + out_734942905645738307[31] = 0; + out_734942905645738307[32] = 0; + out_734942905645738307[33] = 0; + out_734942905645738307[34] = 0; + out_734942905645738307[35] = 0; + out_734942905645738307[36] = 0; + out_734942905645738307[37] = 0; + out_734942905645738307[38] = 0; + out_734942905645738307[39] = 0; + out_734942905645738307[40] = 0; + out_734942905645738307[41] = 0; + out_734942905645738307[42] = 0; + out_734942905645738307[43] = 0; + out_734942905645738307[44] = 1; + out_734942905645738307[45] = 0; + out_734942905645738307[46] = 0; + out_734942905645738307[47] = 0; + out_734942905645738307[48] = 0; + out_734942905645738307[49] = 0; + out_734942905645738307[50] = 0; + out_734942905645738307[51] = 0; + out_734942905645738307[52] = 0; + out_734942905645738307[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_6369833963809703045) { - err_fun(nom_x, delta_x, out_6369833963809703045); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6509701153316274707) { + err_fun(nom_x, delta_x, out_6509701153316274707); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4035234717988175099) { - inv_err_fun(nom_x, true_x, out_4035234717988175099); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5024581948518838202) { + inv_err_fun(nom_x, true_x, out_5024581948518838202); } -void pose_H_mod_fun(double *state, double *out_1402865724321173492) { - H_mod_fun(state, out_1402865724321173492); +void pose_H_mod_fun(double *state, double *out_5452344764039935443) { + H_mod_fun(state, out_5452344764039935443); } -void pose_f_fun(double *state, double dt, double *out_6035351479955239512) { - f_fun(state, dt, out_6035351479955239512); +void pose_f_fun(double *state, double dt, double *out_4723013873422239853) { + f_fun(state, dt, out_4723013873422239853); } -void pose_F_fun(double *state, double dt, double *out_4841453483990746406) { - F_fun(state, dt, out_4841453483990746406); +void pose_F_fun(double *state, double dt, double *out_1330240054865645952) { + F_fun(state, dt, out_1330240054865645952); } -void pose_h_4(double *state, double *unused, double *out_3927517291904970746) { - h_4(state, unused, out_3927517291904970746); +void pose_h_4(double *state, double *unused, double *out_7146223790384861366) { + h_4(state, unused, out_7146223790384861366); } -void pose_H_4(double *state, double *unused, double *out_648704722266460885) { - H_4(state, unused, out_648704722266460885); +void pose_H_4(double *state, double *unused, double *out_4698183761985222836) { + H_4(state, unused, out_4698183761985222836); } -void pose_h_10(double *state, double *unused, double *out_6439648934382479816) { - h_10(state, unused, out_6439648934382479816); +void pose_h_10(double *state, double *unused, double *out_5881100932201706296) { + h_10(state, unused, out_5881100932201706296); } -void pose_H_10(double *state, double *unused, double *out_4788307442778779812) { - H_10(state, unused, out_4788307442778779812); +void pose_H_10(double *state, double *unused, double *out_2551013219564387251) { + H_10(state, unused, out_2551013219564387251); } -void pose_h_13(double *state, double *unused, double *out_7496824369401694209) { - h_13(state, unused, out_7496824369401694209); +void pose_h_13(double *state, double *unused, double *out_570188011276341522) { + h_13(state, unused, out_570188011276341522); } -void pose_H_13(double *state, double *unused, double *out_4482460185568984909) { - H_13(state, unused, out_4482460185568984909); +void pose_H_13(double *state, double *unused, double *out_1485909936652890035) { + H_13(state, unused, out_1485909936652890035); } -void pose_h_14(double *state, double *unused, double *out_6785183211401772861) { - h_14(state, unused, out_6785183211401772861); +void pose_h_14(double *state, double *unused, double *out_2861709294921996625) { + h_14(state, unused, out_2861709294921996625); } -void pose_H_14(double *state, double *unused, double *out_3731493154561833181) { - H_14(state, unused, out_3731493154561833181); +void pose_H_14(double *state, double *unused, double *out_734942905645738307) { + H_14(state, unused, out_734942905645738307); } 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 e99d96a4b..35ff2c18c 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_6369833963809703045); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4035234717988175099); -void pose_H_mod_fun(double *state, double *out_1402865724321173492); -void pose_f_fun(double *state, double dt, double *out_6035351479955239512); -void pose_F_fun(double *state, double dt, double *out_4841453483990746406); -void pose_h_4(double *state, double *unused, double *out_3927517291904970746); -void pose_H_4(double *state, double *unused, double *out_648704722266460885); -void pose_h_10(double *state, double *unused, double *out_6439648934382479816); -void pose_H_10(double *state, double *unused, double *out_4788307442778779812); -void pose_h_13(double *state, double *unused, double *out_7496824369401694209); -void pose_H_13(double *state, double *unused, double *out_4482460185568984909); -void pose_h_14(double *state, double *unused, double *out_6785183211401772861); -void pose_H_14(double *state, double *unused, double *out_3731493154561833181); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6509701153316274707); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5024581948518838202); +void pose_H_mod_fun(double *state, double *out_5452344764039935443); +void pose_f_fun(double *state, double dt, double *out_4723013873422239853); +void pose_F_fun(double *state, double dt, double *out_1330240054865645952); +void pose_h_4(double *state, double *unused, double *out_7146223790384861366); +void pose_H_4(double *state, double *unused, double *out_4698183761985222836); +void pose_h_10(double *state, double *unused, double *out_5881100932201706296); +void pose_H_10(double *state, double *unused, double *out_2551013219564387251); +void pose_h_13(double *state, double *unused, double *out_570188011276341522); +void pose_H_13(double *state, double *unused, double *out_1485909936652890035); +void pose_h_14(double *state, double *unused, double *out_2861709294921996625); +void pose_H_14(double *state, double *unused, double *out_734942905645738307); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file