mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-25 19:22:05 +08:00
StarPilot Build Bot
1197 lines
68 KiB
C++
1197 lines
68 KiB
C++
#include "pose.h"
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namespace {
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#define DIM 18
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#define EDIM 18
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#define MEDIM 18
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typedef void (*Hfun)(double *, double *, double *);
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const static double MAHA_THRESH_4 = 7.814727903251177;
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const static double MAHA_THRESH_10 = 7.814727903251177;
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const static double MAHA_THRESH_13 = 7.814727903251177;
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const static double MAHA_THRESH_14 = 7.814727903251177;
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/******************************************************************************
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* Code generated with SymPy 1.14.0 *
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* *
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* See http://www.sympy.org/ for more information. *
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_3361967793306967310) {
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out_3361967793306967310[0] = delta_x[0] + nom_x[0];
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out_3361967793306967310[1] = delta_x[1] + nom_x[1];
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out_3361967793306967310[2] = delta_x[2] + nom_x[2];
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out_3361967793306967310[3] = delta_x[3] + nom_x[3];
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out_3361967793306967310[4] = delta_x[4] + nom_x[4];
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out_3361967793306967310[5] = delta_x[5] + nom_x[5];
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out_3361967793306967310[6] = delta_x[6] + nom_x[6];
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out_3361967793306967310[7] = delta_x[7] + nom_x[7];
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out_3361967793306967310[8] = delta_x[8] + nom_x[8];
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out_3361967793306967310[9] = delta_x[9] + nom_x[9];
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out_3361967793306967310[10] = delta_x[10] + nom_x[10];
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out_3361967793306967310[11] = delta_x[11] + nom_x[11];
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out_3361967793306967310[12] = delta_x[12] + nom_x[12];
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out_3361967793306967310[13] = delta_x[13] + nom_x[13];
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out_3361967793306967310[14] = delta_x[14] + nom_x[14];
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out_3361967793306967310[15] = delta_x[15] + nom_x[15];
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out_3361967793306967310[16] = delta_x[16] + nom_x[16];
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out_3361967793306967310[17] = delta_x[17] + nom_x[17];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_7875339861862151788) {
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out_7875339861862151788[0] = -nom_x[0] + true_x[0];
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out_7875339861862151788[1] = -nom_x[1] + true_x[1];
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out_7875339861862151788[2] = -nom_x[2] + true_x[2];
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out_7875339861862151788[3] = -nom_x[3] + true_x[3];
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out_7875339861862151788[4] = -nom_x[4] + true_x[4];
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out_7875339861862151788[5] = -nom_x[5] + true_x[5];
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out_7875339861862151788[6] = -nom_x[6] + true_x[6];
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out_7875339861862151788[7] = -nom_x[7] + true_x[7];
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out_7875339861862151788[8] = -nom_x[8] + true_x[8];
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out_7875339861862151788[9] = -nom_x[9] + true_x[9];
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out_7875339861862151788[10] = -nom_x[10] + true_x[10];
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out_7875339861862151788[11] = -nom_x[11] + true_x[11];
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out_7875339861862151788[12] = -nom_x[12] + true_x[12];
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out_7875339861862151788[13] = -nom_x[13] + true_x[13];
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out_7875339861862151788[14] = -nom_x[14] + true_x[14];
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out_7875339861862151788[15] = -nom_x[15] + true_x[15];
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out_7875339861862151788[16] = -nom_x[16] + true_x[16];
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out_7875339861862151788[17] = -nom_x[17] + true_x[17];
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}
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void H_mod_fun(double *state, double *out_7246333483137394761) {
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out_7246333483137394761[0] = 1.0;
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out_7246333483137394761[1] = 0.0;
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out_7246333483137394761[2] = 0.0;
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out_7246333483137394761[3] = 0.0;
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out_7246333483137394761[4] = 0.0;
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out_7246333483137394761[5] = 0.0;
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out_7246333483137394761[6] = 0.0;
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out_7246333483137394761[7] = 0.0;
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out_7246333483137394761[8] = 0.0;
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out_7246333483137394761[9] = 0.0;
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out_7246333483137394761[10] = 0.0;
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out_7246333483137394761[11] = 0.0;
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out_7246333483137394761[12] = 0.0;
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out_7246333483137394761[13] = 0.0;
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out_7246333483137394761[14] = 0.0;
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out_7246333483137394761[15] = 0.0;
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out_7246333483137394761[16] = 0.0;
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out_7246333483137394761[17] = 0.0;
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out_7246333483137394761[18] = 0.0;
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out_7246333483137394761[19] = 1.0;
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out_7246333483137394761[20] = 0.0;
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out_7246333483137394761[21] = 0.0;
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out_7246333483137394761[22] = 0.0;
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out_7246333483137394761[23] = 0.0;
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out_7246333483137394761[24] = 0.0;
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out_7246333483137394761[25] = 0.0;
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out_7246333483137394761[26] = 0.0;
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out_7246333483137394761[27] = 0.0;
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out_7246333483137394761[28] = 0.0;
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out_7246333483137394761[29] = 0.0;
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out_7246333483137394761[30] = 0.0;
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out_7246333483137394761[31] = 0.0;
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out_7246333483137394761[32] = 0.0;
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out_7246333483137394761[33] = 0.0;
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out_7246333483137394761[34] = 0.0;
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out_7246333483137394761[35] = 0.0;
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out_7246333483137394761[36] = 0.0;
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out_7246333483137394761[37] = 0.0;
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out_7246333483137394761[38] = 1.0;
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out_7246333483137394761[39] = 0.0;
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out_7246333483137394761[40] = 0.0;
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out_7246333483137394761[41] = 0.0;
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out_7246333483137394761[42] = 0.0;
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out_7246333483137394761[43] = 0.0;
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out_7246333483137394761[44] = 0.0;
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out_7246333483137394761[45] = 0.0;
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out_7246333483137394761[46] = 0.0;
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out_7246333483137394761[47] = 0.0;
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out_7246333483137394761[48] = 0.0;
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out_7246333483137394761[49] = 0.0;
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out_7246333483137394761[50] = 0.0;
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out_7246333483137394761[51] = 0.0;
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out_7246333483137394761[52] = 0.0;
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out_7246333483137394761[53] = 0.0;
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out_7246333483137394761[54] = 0.0;
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out_7246333483137394761[55] = 0.0;
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out_7246333483137394761[56] = 0.0;
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out_7246333483137394761[57] = 1.0;
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out_7246333483137394761[58] = 0.0;
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out_7246333483137394761[59] = 0.0;
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out_7246333483137394761[60] = 0.0;
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out_7246333483137394761[61] = 0.0;
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out_7246333483137394761[62] = 0.0;
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out_7246333483137394761[63] = 0.0;
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out_7246333483137394761[64] = 0.0;
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out_7246333483137394761[65] = 0.0;
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out_7246333483137394761[66] = 0.0;
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out_7246333483137394761[67] = 0.0;
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out_7246333483137394761[68] = 0.0;
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out_7246333483137394761[69] = 0.0;
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out_7246333483137394761[70] = 0.0;
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out_7246333483137394761[71] = 0.0;
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out_7246333483137394761[72] = 0.0;
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out_7246333483137394761[73] = 0.0;
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out_7246333483137394761[74] = 0.0;
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out_7246333483137394761[75] = 0.0;
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out_7246333483137394761[76] = 1.0;
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out_7246333483137394761[77] = 0.0;
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out_7246333483137394761[78] = 0.0;
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out_7246333483137394761[79] = 0.0;
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out_7246333483137394761[80] = 0.0;
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out_7246333483137394761[81] = 0.0;
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out_7246333483137394761[82] = 0.0;
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out_7246333483137394761[83] = 0.0;
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out_7246333483137394761[84] = 0.0;
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out_7246333483137394761[85] = 0.0;
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out_7246333483137394761[86] = 0.0;
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out_7246333483137394761[87] = 0.0;
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out_7246333483137394761[88] = 0.0;
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out_7246333483137394761[89] = 0.0;
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out_7246333483137394761[90] = 0.0;
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out_7246333483137394761[91] = 0.0;
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out_7246333483137394761[92] = 0.0;
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out_7246333483137394761[93] = 0.0;
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out_7246333483137394761[94] = 0.0;
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out_7246333483137394761[95] = 1.0;
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out_7246333483137394761[96] = 0.0;
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out_7246333483137394761[97] = 0.0;
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out_7246333483137394761[98] = 0.0;
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out_7246333483137394761[99] = 0.0;
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out_7246333483137394761[100] = 0.0;
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out_7246333483137394761[101] = 0.0;
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out_7246333483137394761[102] = 0.0;
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out_7246333483137394761[103] = 0.0;
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out_7246333483137394761[104] = 0.0;
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out_7246333483137394761[105] = 0.0;
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out_7246333483137394761[106] = 0.0;
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out_7246333483137394761[107] = 0.0;
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out_7246333483137394761[108] = 0.0;
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out_7246333483137394761[109] = 0.0;
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out_7246333483137394761[110] = 0.0;
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out_7246333483137394761[111] = 0.0;
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out_7246333483137394761[112] = 0.0;
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out_7246333483137394761[113] = 0.0;
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out_7246333483137394761[114] = 1.0;
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out_7246333483137394761[115] = 0.0;
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out_7246333483137394761[116] = 0.0;
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out_7246333483137394761[117] = 0.0;
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out_7246333483137394761[118] = 0.0;
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out_7246333483137394761[119] = 0.0;
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out_7246333483137394761[120] = 0.0;
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out_7246333483137394761[121] = 0.0;
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out_7246333483137394761[122] = 0.0;
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out_7246333483137394761[123] = 0.0;
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out_7246333483137394761[124] = 0.0;
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out_7246333483137394761[125] = 0.0;
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out_7246333483137394761[126] = 0.0;
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out_7246333483137394761[127] = 0.0;
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out_7246333483137394761[128] = 0.0;
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out_7246333483137394761[129] = 0.0;
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out_7246333483137394761[130] = 0.0;
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out_7246333483137394761[131] = 0.0;
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out_7246333483137394761[132] = 0.0;
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out_7246333483137394761[133] = 1.0;
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out_7246333483137394761[134] = 0.0;
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out_7246333483137394761[135] = 0.0;
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out_7246333483137394761[136] = 0.0;
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out_7246333483137394761[137] = 0.0;
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out_7246333483137394761[138] = 0.0;
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out_7246333483137394761[139] = 0.0;
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out_7246333483137394761[140] = 0.0;
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out_7246333483137394761[141] = 0.0;
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out_7246333483137394761[142] = 0.0;
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out_7246333483137394761[143] = 0.0;
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out_7246333483137394761[144] = 0.0;
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out_7246333483137394761[145] = 0.0;
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out_7246333483137394761[146] = 0.0;
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out_7246333483137394761[147] = 0.0;
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out_7246333483137394761[148] = 0.0;
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out_7246333483137394761[149] = 0.0;
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out_7246333483137394761[150] = 0.0;
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out_7246333483137394761[151] = 0.0;
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out_7246333483137394761[152] = 1.0;
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out_7246333483137394761[153] = 0.0;
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out_7246333483137394761[154] = 0.0;
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out_7246333483137394761[155] = 0.0;
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out_7246333483137394761[156] = 0.0;
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out_7246333483137394761[157] = 0.0;
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out_7246333483137394761[158] = 0.0;
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out_7246333483137394761[159] = 0.0;
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out_7246333483137394761[160] = 0.0;
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out_7246333483137394761[161] = 0.0;
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out_7246333483137394761[162] = 0.0;
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out_7246333483137394761[163] = 0.0;
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out_7246333483137394761[164] = 0.0;
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out_7246333483137394761[165] = 0.0;
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out_7246333483137394761[166] = 0.0;
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out_7246333483137394761[167] = 0.0;
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out_7246333483137394761[168] = 0.0;
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out_7246333483137394761[169] = 0.0;
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out_7246333483137394761[170] = 0.0;
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out_7246333483137394761[171] = 1.0;
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out_7246333483137394761[172] = 0.0;
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out_7246333483137394761[173] = 0.0;
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out_7246333483137394761[174] = 0.0;
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out_7246333483137394761[175] = 0.0;
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out_7246333483137394761[176] = 0.0;
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out_7246333483137394761[177] = 0.0;
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out_7246333483137394761[178] = 0.0;
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out_7246333483137394761[179] = 0.0;
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out_7246333483137394761[180] = 0.0;
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out_7246333483137394761[181] = 0.0;
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out_7246333483137394761[182] = 0.0;
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out_7246333483137394761[183] = 0.0;
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out_7246333483137394761[184] = 0.0;
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out_7246333483137394761[185] = 0.0;
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|
out_7246333483137394761[186] = 0.0;
|
|
out_7246333483137394761[187] = 0.0;
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|
out_7246333483137394761[188] = 0.0;
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out_7246333483137394761[189] = 0.0;
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out_7246333483137394761[190] = 1.0;
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out_7246333483137394761[191] = 0.0;
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|
out_7246333483137394761[192] = 0.0;
|
|
out_7246333483137394761[193] = 0.0;
|
|
out_7246333483137394761[194] = 0.0;
|
|
out_7246333483137394761[195] = 0.0;
|
|
out_7246333483137394761[196] = 0.0;
|
|
out_7246333483137394761[197] = 0.0;
|
|
out_7246333483137394761[198] = 0.0;
|
|
out_7246333483137394761[199] = 0.0;
|
|
out_7246333483137394761[200] = 0.0;
|
|
out_7246333483137394761[201] = 0.0;
|
|
out_7246333483137394761[202] = 0.0;
|
|
out_7246333483137394761[203] = 0.0;
|
|
out_7246333483137394761[204] = 0.0;
|
|
out_7246333483137394761[205] = 0.0;
|
|
out_7246333483137394761[206] = 0.0;
|
|
out_7246333483137394761[207] = 0.0;
|
|
out_7246333483137394761[208] = 0.0;
|
|
out_7246333483137394761[209] = 1.0;
|
|
out_7246333483137394761[210] = 0.0;
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out_7246333483137394761[211] = 0.0;
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|
out_7246333483137394761[212] = 0.0;
|
|
out_7246333483137394761[213] = 0.0;
|
|
out_7246333483137394761[214] = 0.0;
|
|
out_7246333483137394761[215] = 0.0;
|
|
out_7246333483137394761[216] = 0.0;
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|
out_7246333483137394761[217] = 0.0;
|
|
out_7246333483137394761[218] = 0.0;
|
|
out_7246333483137394761[219] = 0.0;
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|
out_7246333483137394761[220] = 0.0;
|
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out_7246333483137394761[221] = 0.0;
|
|
out_7246333483137394761[222] = 0.0;
|
|
out_7246333483137394761[223] = 0.0;
|
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out_7246333483137394761[224] = 0.0;
|
|
out_7246333483137394761[225] = 0.0;
|
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out_7246333483137394761[226] = 0.0;
|
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out_7246333483137394761[227] = 0.0;
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|
out_7246333483137394761[228] = 1.0;
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out_7246333483137394761[229] = 0.0;
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out_7246333483137394761[230] = 0.0;
|
|
out_7246333483137394761[231] = 0.0;
|
|
out_7246333483137394761[232] = 0.0;
|
|
out_7246333483137394761[233] = 0.0;
|
|
out_7246333483137394761[234] = 0.0;
|
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out_7246333483137394761[235] = 0.0;
|
|
out_7246333483137394761[236] = 0.0;
|
|
out_7246333483137394761[237] = 0.0;
|
|
out_7246333483137394761[238] = 0.0;
|
|
out_7246333483137394761[239] = 0.0;
|
|
out_7246333483137394761[240] = 0.0;
|
|
out_7246333483137394761[241] = 0.0;
|
|
out_7246333483137394761[242] = 0.0;
|
|
out_7246333483137394761[243] = 0.0;
|
|
out_7246333483137394761[244] = 0.0;
|
|
out_7246333483137394761[245] = 0.0;
|
|
out_7246333483137394761[246] = 0.0;
|
|
out_7246333483137394761[247] = 1.0;
|
|
out_7246333483137394761[248] = 0.0;
|
|
out_7246333483137394761[249] = 0.0;
|
|
out_7246333483137394761[250] = 0.0;
|
|
out_7246333483137394761[251] = 0.0;
|
|
out_7246333483137394761[252] = 0.0;
|
|
out_7246333483137394761[253] = 0.0;
|
|
out_7246333483137394761[254] = 0.0;
|
|
out_7246333483137394761[255] = 0.0;
|
|
out_7246333483137394761[256] = 0.0;
|
|
out_7246333483137394761[257] = 0.0;
|
|
out_7246333483137394761[258] = 0.0;
|
|
out_7246333483137394761[259] = 0.0;
|
|
out_7246333483137394761[260] = 0.0;
|
|
out_7246333483137394761[261] = 0.0;
|
|
out_7246333483137394761[262] = 0.0;
|
|
out_7246333483137394761[263] = 0.0;
|
|
out_7246333483137394761[264] = 0.0;
|
|
out_7246333483137394761[265] = 0.0;
|
|
out_7246333483137394761[266] = 1.0;
|
|
out_7246333483137394761[267] = 0.0;
|
|
out_7246333483137394761[268] = 0.0;
|
|
out_7246333483137394761[269] = 0.0;
|
|
out_7246333483137394761[270] = 0.0;
|
|
out_7246333483137394761[271] = 0.0;
|
|
out_7246333483137394761[272] = 0.0;
|
|
out_7246333483137394761[273] = 0.0;
|
|
out_7246333483137394761[274] = 0.0;
|
|
out_7246333483137394761[275] = 0.0;
|
|
out_7246333483137394761[276] = 0.0;
|
|
out_7246333483137394761[277] = 0.0;
|
|
out_7246333483137394761[278] = 0.0;
|
|
out_7246333483137394761[279] = 0.0;
|
|
out_7246333483137394761[280] = 0.0;
|
|
out_7246333483137394761[281] = 0.0;
|
|
out_7246333483137394761[282] = 0.0;
|
|
out_7246333483137394761[283] = 0.0;
|
|
out_7246333483137394761[284] = 0.0;
|
|
out_7246333483137394761[285] = 1.0;
|
|
out_7246333483137394761[286] = 0.0;
|
|
out_7246333483137394761[287] = 0.0;
|
|
out_7246333483137394761[288] = 0.0;
|
|
out_7246333483137394761[289] = 0.0;
|
|
out_7246333483137394761[290] = 0.0;
|
|
out_7246333483137394761[291] = 0.0;
|
|
out_7246333483137394761[292] = 0.0;
|
|
out_7246333483137394761[293] = 0.0;
|
|
out_7246333483137394761[294] = 0.0;
|
|
out_7246333483137394761[295] = 0.0;
|
|
out_7246333483137394761[296] = 0.0;
|
|
out_7246333483137394761[297] = 0.0;
|
|
out_7246333483137394761[298] = 0.0;
|
|
out_7246333483137394761[299] = 0.0;
|
|
out_7246333483137394761[300] = 0.0;
|
|
out_7246333483137394761[301] = 0.0;
|
|
out_7246333483137394761[302] = 0.0;
|
|
out_7246333483137394761[303] = 0.0;
|
|
out_7246333483137394761[304] = 1.0;
|
|
out_7246333483137394761[305] = 0.0;
|
|
out_7246333483137394761[306] = 0.0;
|
|
out_7246333483137394761[307] = 0.0;
|
|
out_7246333483137394761[308] = 0.0;
|
|
out_7246333483137394761[309] = 0.0;
|
|
out_7246333483137394761[310] = 0.0;
|
|
out_7246333483137394761[311] = 0.0;
|
|
out_7246333483137394761[312] = 0.0;
|
|
out_7246333483137394761[313] = 0.0;
|
|
out_7246333483137394761[314] = 0.0;
|
|
out_7246333483137394761[315] = 0.0;
|
|
out_7246333483137394761[316] = 0.0;
|
|
out_7246333483137394761[317] = 0.0;
|
|
out_7246333483137394761[318] = 0.0;
|
|
out_7246333483137394761[319] = 0.0;
|
|
out_7246333483137394761[320] = 0.0;
|
|
out_7246333483137394761[321] = 0.0;
|
|
out_7246333483137394761[322] = 0.0;
|
|
out_7246333483137394761[323] = 1.0;
|
|
}
|
|
void f_fun(double *state, double dt, double *out_4257952219025692833) {
|
|
out_4257952219025692833[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_4257952219025692833[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_4257952219025692833[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_4257952219025692833[3] = dt*state[12] + state[3];
|
|
out_4257952219025692833[4] = dt*state[13] + state[4];
|
|
out_4257952219025692833[5] = dt*state[14] + state[5];
|
|
out_4257952219025692833[6] = state[6];
|
|
out_4257952219025692833[7] = state[7];
|
|
out_4257952219025692833[8] = state[8];
|
|
out_4257952219025692833[9] = state[9];
|
|
out_4257952219025692833[10] = state[10];
|
|
out_4257952219025692833[11] = state[11];
|
|
out_4257952219025692833[12] = state[12];
|
|
out_4257952219025692833[13] = state[13];
|
|
out_4257952219025692833[14] = state[14];
|
|
out_4257952219025692833[15] = state[15];
|
|
out_4257952219025692833[16] = state[16];
|
|
out_4257952219025692833[17] = state[17];
|
|
}
|
|
void F_fun(double *state, double dt, double *out_8053693544595325883) {
|
|
out_8053693544595325883[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_8053693544595325883[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_8053693544595325883[2] = 0;
|
|
out_8053693544595325883[3] = 0;
|
|
out_8053693544595325883[4] = 0;
|
|
out_8053693544595325883[5] = 0;
|
|
out_8053693544595325883[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_8053693544595325883[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));
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out_8053693544595325883[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));
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out_8053693544595325883[9] = 0;
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out_8053693544595325883[10] = 0;
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out_8053693544595325883[11] = 0;
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out_8053693544595325883[12] = 0;
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out_8053693544595325883[13] = 0;
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out_8053693544595325883[14] = 0;
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out_8053693544595325883[15] = 0;
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out_8053693544595325883[16] = 0;
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out_8053693544595325883[17] = 0;
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out_8053693544595325883[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));
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out_8053693544595325883[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));
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out_8053693544595325883[20] = 0;
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out_8053693544595325883[21] = 0;
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out_8053693544595325883[22] = 0;
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out_8053693544595325883[23] = 0;
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out_8053693544595325883[24] = 0;
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out_8053693544595325883[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));
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out_8053693544595325883[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));
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out_8053693544595325883[27] = 0;
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out_8053693544595325883[28] = 0;
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out_8053693544595325883[29] = 0;
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out_8053693544595325883[30] = 0;
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out_8053693544595325883[31] = 0;
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out_8053693544595325883[32] = 0;
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out_8053693544595325883[33] = 0;
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out_8053693544595325883[34] = 0;
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out_8053693544595325883[35] = 0;
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out_8053693544595325883[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));
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out_8053693544595325883[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));
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out_8053693544595325883[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));
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out_8053693544595325883[39] = 0;
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out_8053693544595325883[40] = 0;
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out_8053693544595325883[41] = 0;
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out_8053693544595325883[42] = 0;
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out_8053693544595325883[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));
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out_8053693544595325883[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_8053693544595325883[45] = 0;
|
|
out_8053693544595325883[46] = 0;
|
|
out_8053693544595325883[47] = 0;
|
|
out_8053693544595325883[48] = 0;
|
|
out_8053693544595325883[49] = 0;
|
|
out_8053693544595325883[50] = 0;
|
|
out_8053693544595325883[51] = 0;
|
|
out_8053693544595325883[52] = 0;
|
|
out_8053693544595325883[53] = 0;
|
|
out_8053693544595325883[54] = 0;
|
|
out_8053693544595325883[55] = 0;
|
|
out_8053693544595325883[56] = 0;
|
|
out_8053693544595325883[57] = 1;
|
|
out_8053693544595325883[58] = 0;
|
|
out_8053693544595325883[59] = 0;
|
|
out_8053693544595325883[60] = 0;
|
|
out_8053693544595325883[61] = 0;
|
|
out_8053693544595325883[62] = 0;
|
|
out_8053693544595325883[63] = 0;
|
|
out_8053693544595325883[64] = 0;
|
|
out_8053693544595325883[65] = 0;
|
|
out_8053693544595325883[66] = dt;
|
|
out_8053693544595325883[67] = 0;
|
|
out_8053693544595325883[68] = 0;
|
|
out_8053693544595325883[69] = 0;
|
|
out_8053693544595325883[70] = 0;
|
|
out_8053693544595325883[71] = 0;
|
|
out_8053693544595325883[72] = 0;
|
|
out_8053693544595325883[73] = 0;
|
|
out_8053693544595325883[74] = 0;
|
|
out_8053693544595325883[75] = 0;
|
|
out_8053693544595325883[76] = 1;
|
|
out_8053693544595325883[77] = 0;
|
|
out_8053693544595325883[78] = 0;
|
|
out_8053693544595325883[79] = 0;
|
|
out_8053693544595325883[80] = 0;
|
|
out_8053693544595325883[81] = 0;
|
|
out_8053693544595325883[82] = 0;
|
|
out_8053693544595325883[83] = 0;
|
|
out_8053693544595325883[84] = 0;
|
|
out_8053693544595325883[85] = dt;
|
|
out_8053693544595325883[86] = 0;
|
|
out_8053693544595325883[87] = 0;
|
|
out_8053693544595325883[88] = 0;
|
|
out_8053693544595325883[89] = 0;
|
|
out_8053693544595325883[90] = 0;
|
|
out_8053693544595325883[91] = 0;
|
|
out_8053693544595325883[92] = 0;
|
|
out_8053693544595325883[93] = 0;
|
|
out_8053693544595325883[94] = 0;
|
|
out_8053693544595325883[95] = 1;
|
|
out_8053693544595325883[96] = 0;
|
|
out_8053693544595325883[97] = 0;
|
|
out_8053693544595325883[98] = 0;
|
|
out_8053693544595325883[99] = 0;
|
|
out_8053693544595325883[100] = 0;
|
|
out_8053693544595325883[101] = 0;
|
|
out_8053693544595325883[102] = 0;
|
|
out_8053693544595325883[103] = 0;
|
|
out_8053693544595325883[104] = dt;
|
|
out_8053693544595325883[105] = 0;
|
|
out_8053693544595325883[106] = 0;
|
|
out_8053693544595325883[107] = 0;
|
|
out_8053693544595325883[108] = 0;
|
|
out_8053693544595325883[109] = 0;
|
|
out_8053693544595325883[110] = 0;
|
|
out_8053693544595325883[111] = 0;
|
|
out_8053693544595325883[112] = 0;
|
|
out_8053693544595325883[113] = 0;
|
|
out_8053693544595325883[114] = 1;
|
|
out_8053693544595325883[115] = 0;
|
|
out_8053693544595325883[116] = 0;
|
|
out_8053693544595325883[117] = 0;
|
|
out_8053693544595325883[118] = 0;
|
|
out_8053693544595325883[119] = 0;
|
|
out_8053693544595325883[120] = 0;
|
|
out_8053693544595325883[121] = 0;
|
|
out_8053693544595325883[122] = 0;
|
|
out_8053693544595325883[123] = 0;
|
|
out_8053693544595325883[124] = 0;
|
|
out_8053693544595325883[125] = 0;
|
|
out_8053693544595325883[126] = 0;
|
|
out_8053693544595325883[127] = 0;
|
|
out_8053693544595325883[128] = 0;
|
|
out_8053693544595325883[129] = 0;
|
|
out_8053693544595325883[130] = 0;
|
|
out_8053693544595325883[131] = 0;
|
|
out_8053693544595325883[132] = 0;
|
|
out_8053693544595325883[133] = 1;
|
|
out_8053693544595325883[134] = 0;
|
|
out_8053693544595325883[135] = 0;
|
|
out_8053693544595325883[136] = 0;
|
|
out_8053693544595325883[137] = 0;
|
|
out_8053693544595325883[138] = 0;
|
|
out_8053693544595325883[139] = 0;
|
|
out_8053693544595325883[140] = 0;
|
|
out_8053693544595325883[141] = 0;
|
|
out_8053693544595325883[142] = 0;
|
|
out_8053693544595325883[143] = 0;
|
|
out_8053693544595325883[144] = 0;
|
|
out_8053693544595325883[145] = 0;
|
|
out_8053693544595325883[146] = 0;
|
|
out_8053693544595325883[147] = 0;
|
|
out_8053693544595325883[148] = 0;
|
|
out_8053693544595325883[149] = 0;
|
|
out_8053693544595325883[150] = 0;
|
|
out_8053693544595325883[151] = 0;
|
|
out_8053693544595325883[152] = 1;
|
|
out_8053693544595325883[153] = 0;
|
|
out_8053693544595325883[154] = 0;
|
|
out_8053693544595325883[155] = 0;
|
|
out_8053693544595325883[156] = 0;
|
|
out_8053693544595325883[157] = 0;
|
|
out_8053693544595325883[158] = 0;
|
|
out_8053693544595325883[159] = 0;
|
|
out_8053693544595325883[160] = 0;
|
|
out_8053693544595325883[161] = 0;
|
|
out_8053693544595325883[162] = 0;
|
|
out_8053693544595325883[163] = 0;
|
|
out_8053693544595325883[164] = 0;
|
|
out_8053693544595325883[165] = 0;
|
|
out_8053693544595325883[166] = 0;
|
|
out_8053693544595325883[167] = 0;
|
|
out_8053693544595325883[168] = 0;
|
|
out_8053693544595325883[169] = 0;
|
|
out_8053693544595325883[170] = 0;
|
|
out_8053693544595325883[171] = 1;
|
|
out_8053693544595325883[172] = 0;
|
|
out_8053693544595325883[173] = 0;
|
|
out_8053693544595325883[174] = 0;
|
|
out_8053693544595325883[175] = 0;
|
|
out_8053693544595325883[176] = 0;
|
|
out_8053693544595325883[177] = 0;
|
|
out_8053693544595325883[178] = 0;
|
|
out_8053693544595325883[179] = 0;
|
|
out_8053693544595325883[180] = 0;
|
|
out_8053693544595325883[181] = 0;
|
|
out_8053693544595325883[182] = 0;
|
|
out_8053693544595325883[183] = 0;
|
|
out_8053693544595325883[184] = 0;
|
|
out_8053693544595325883[185] = 0;
|
|
out_8053693544595325883[186] = 0;
|
|
out_8053693544595325883[187] = 0;
|
|
out_8053693544595325883[188] = 0;
|
|
out_8053693544595325883[189] = 0;
|
|
out_8053693544595325883[190] = 1;
|
|
out_8053693544595325883[191] = 0;
|
|
out_8053693544595325883[192] = 0;
|
|
out_8053693544595325883[193] = 0;
|
|
out_8053693544595325883[194] = 0;
|
|
out_8053693544595325883[195] = 0;
|
|
out_8053693544595325883[196] = 0;
|
|
out_8053693544595325883[197] = 0;
|
|
out_8053693544595325883[198] = 0;
|
|
out_8053693544595325883[199] = 0;
|
|
out_8053693544595325883[200] = 0;
|
|
out_8053693544595325883[201] = 0;
|
|
out_8053693544595325883[202] = 0;
|
|
out_8053693544595325883[203] = 0;
|
|
out_8053693544595325883[204] = 0;
|
|
out_8053693544595325883[205] = 0;
|
|
out_8053693544595325883[206] = 0;
|
|
out_8053693544595325883[207] = 0;
|
|
out_8053693544595325883[208] = 0;
|
|
out_8053693544595325883[209] = 1;
|
|
out_8053693544595325883[210] = 0;
|
|
out_8053693544595325883[211] = 0;
|
|
out_8053693544595325883[212] = 0;
|
|
out_8053693544595325883[213] = 0;
|
|
out_8053693544595325883[214] = 0;
|
|
out_8053693544595325883[215] = 0;
|
|
out_8053693544595325883[216] = 0;
|
|
out_8053693544595325883[217] = 0;
|
|
out_8053693544595325883[218] = 0;
|
|
out_8053693544595325883[219] = 0;
|
|
out_8053693544595325883[220] = 0;
|
|
out_8053693544595325883[221] = 0;
|
|
out_8053693544595325883[222] = 0;
|
|
out_8053693544595325883[223] = 0;
|
|
out_8053693544595325883[224] = 0;
|
|
out_8053693544595325883[225] = 0;
|
|
out_8053693544595325883[226] = 0;
|
|
out_8053693544595325883[227] = 0;
|
|
out_8053693544595325883[228] = 1;
|
|
out_8053693544595325883[229] = 0;
|
|
out_8053693544595325883[230] = 0;
|
|
out_8053693544595325883[231] = 0;
|
|
out_8053693544595325883[232] = 0;
|
|
out_8053693544595325883[233] = 0;
|
|
out_8053693544595325883[234] = 0;
|
|
out_8053693544595325883[235] = 0;
|
|
out_8053693544595325883[236] = 0;
|
|
out_8053693544595325883[237] = 0;
|
|
out_8053693544595325883[238] = 0;
|
|
out_8053693544595325883[239] = 0;
|
|
out_8053693544595325883[240] = 0;
|
|
out_8053693544595325883[241] = 0;
|
|
out_8053693544595325883[242] = 0;
|
|
out_8053693544595325883[243] = 0;
|
|
out_8053693544595325883[244] = 0;
|
|
out_8053693544595325883[245] = 0;
|
|
out_8053693544595325883[246] = 0;
|
|
out_8053693544595325883[247] = 1;
|
|
out_8053693544595325883[248] = 0;
|
|
out_8053693544595325883[249] = 0;
|
|
out_8053693544595325883[250] = 0;
|
|
out_8053693544595325883[251] = 0;
|
|
out_8053693544595325883[252] = 0;
|
|
out_8053693544595325883[253] = 0;
|
|
out_8053693544595325883[254] = 0;
|
|
out_8053693544595325883[255] = 0;
|
|
out_8053693544595325883[256] = 0;
|
|
out_8053693544595325883[257] = 0;
|
|
out_8053693544595325883[258] = 0;
|
|
out_8053693544595325883[259] = 0;
|
|
out_8053693544595325883[260] = 0;
|
|
out_8053693544595325883[261] = 0;
|
|
out_8053693544595325883[262] = 0;
|
|
out_8053693544595325883[263] = 0;
|
|
out_8053693544595325883[264] = 0;
|
|
out_8053693544595325883[265] = 0;
|
|
out_8053693544595325883[266] = 1;
|
|
out_8053693544595325883[267] = 0;
|
|
out_8053693544595325883[268] = 0;
|
|
out_8053693544595325883[269] = 0;
|
|
out_8053693544595325883[270] = 0;
|
|
out_8053693544595325883[271] = 0;
|
|
out_8053693544595325883[272] = 0;
|
|
out_8053693544595325883[273] = 0;
|
|
out_8053693544595325883[274] = 0;
|
|
out_8053693544595325883[275] = 0;
|
|
out_8053693544595325883[276] = 0;
|
|
out_8053693544595325883[277] = 0;
|
|
out_8053693544595325883[278] = 0;
|
|
out_8053693544595325883[279] = 0;
|
|
out_8053693544595325883[280] = 0;
|
|
out_8053693544595325883[281] = 0;
|
|
out_8053693544595325883[282] = 0;
|
|
out_8053693544595325883[283] = 0;
|
|
out_8053693544595325883[284] = 0;
|
|
out_8053693544595325883[285] = 1;
|
|
out_8053693544595325883[286] = 0;
|
|
out_8053693544595325883[287] = 0;
|
|
out_8053693544595325883[288] = 0;
|
|
out_8053693544595325883[289] = 0;
|
|
out_8053693544595325883[290] = 0;
|
|
out_8053693544595325883[291] = 0;
|
|
out_8053693544595325883[292] = 0;
|
|
out_8053693544595325883[293] = 0;
|
|
out_8053693544595325883[294] = 0;
|
|
out_8053693544595325883[295] = 0;
|
|
out_8053693544595325883[296] = 0;
|
|
out_8053693544595325883[297] = 0;
|
|
out_8053693544595325883[298] = 0;
|
|
out_8053693544595325883[299] = 0;
|
|
out_8053693544595325883[300] = 0;
|
|
out_8053693544595325883[301] = 0;
|
|
out_8053693544595325883[302] = 0;
|
|
out_8053693544595325883[303] = 0;
|
|
out_8053693544595325883[304] = 1;
|
|
out_8053693544595325883[305] = 0;
|
|
out_8053693544595325883[306] = 0;
|
|
out_8053693544595325883[307] = 0;
|
|
out_8053693544595325883[308] = 0;
|
|
out_8053693544595325883[309] = 0;
|
|
out_8053693544595325883[310] = 0;
|
|
out_8053693544595325883[311] = 0;
|
|
out_8053693544595325883[312] = 0;
|
|
out_8053693544595325883[313] = 0;
|
|
out_8053693544595325883[314] = 0;
|
|
out_8053693544595325883[315] = 0;
|
|
out_8053693544595325883[316] = 0;
|
|
out_8053693544595325883[317] = 0;
|
|
out_8053693544595325883[318] = 0;
|
|
out_8053693544595325883[319] = 0;
|
|
out_8053693544595325883[320] = 0;
|
|
out_8053693544595325883[321] = 0;
|
|
out_8053693544595325883[322] = 0;
|
|
out_8053693544595325883[323] = 1;
|
|
}
|
|
void h_4(double *state, double *unused, double *out_8529365476343691696) {
|
|
out_8529365476343691696[0] = state[6] + state[9];
|
|
out_8529365476343691696[1] = state[7] + state[10];
|
|
out_8529365476343691696[2] = state[8] + state[11];
|
|
}
|
|
void H_4(double *state, double *unused, double *out_6047892205533076120) {
|
|
out_6047892205533076120[0] = 0;
|
|
out_6047892205533076120[1] = 0;
|
|
out_6047892205533076120[2] = 0;
|
|
out_6047892205533076120[3] = 0;
|
|
out_6047892205533076120[4] = 0;
|
|
out_6047892205533076120[5] = 0;
|
|
out_6047892205533076120[6] = 1;
|
|
out_6047892205533076120[7] = 0;
|
|
out_6047892205533076120[8] = 0;
|
|
out_6047892205533076120[9] = 1;
|
|
out_6047892205533076120[10] = 0;
|
|
out_6047892205533076120[11] = 0;
|
|
out_6047892205533076120[12] = 0;
|
|
out_6047892205533076120[13] = 0;
|
|
out_6047892205533076120[14] = 0;
|
|
out_6047892205533076120[15] = 0;
|
|
out_6047892205533076120[16] = 0;
|
|
out_6047892205533076120[17] = 0;
|
|
out_6047892205533076120[18] = 0;
|
|
out_6047892205533076120[19] = 0;
|
|
out_6047892205533076120[20] = 0;
|
|
out_6047892205533076120[21] = 0;
|
|
out_6047892205533076120[22] = 0;
|
|
out_6047892205533076120[23] = 0;
|
|
out_6047892205533076120[24] = 0;
|
|
out_6047892205533076120[25] = 1;
|
|
out_6047892205533076120[26] = 0;
|
|
out_6047892205533076120[27] = 0;
|
|
out_6047892205533076120[28] = 1;
|
|
out_6047892205533076120[29] = 0;
|
|
out_6047892205533076120[30] = 0;
|
|
out_6047892205533076120[31] = 0;
|
|
out_6047892205533076120[32] = 0;
|
|
out_6047892205533076120[33] = 0;
|
|
out_6047892205533076120[34] = 0;
|
|
out_6047892205533076120[35] = 0;
|
|
out_6047892205533076120[36] = 0;
|
|
out_6047892205533076120[37] = 0;
|
|
out_6047892205533076120[38] = 0;
|
|
out_6047892205533076120[39] = 0;
|
|
out_6047892205533076120[40] = 0;
|
|
out_6047892205533076120[41] = 0;
|
|
out_6047892205533076120[42] = 0;
|
|
out_6047892205533076120[43] = 0;
|
|
out_6047892205533076120[44] = 1;
|
|
out_6047892205533076120[45] = 0;
|
|
out_6047892205533076120[46] = 0;
|
|
out_6047892205533076120[47] = 1;
|
|
out_6047892205533076120[48] = 0;
|
|
out_6047892205533076120[49] = 0;
|
|
out_6047892205533076120[50] = 0;
|
|
out_6047892205533076120[51] = 0;
|
|
out_6047892205533076120[52] = 0;
|
|
out_6047892205533076120[53] = 0;
|
|
}
|
|
void h_10(double *state, double *unused, double *out_4520142148577176948) {
|
|
out_4520142148577176948[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15];
|
|
out_4520142148577176948[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16];
|
|
out_4520142148577176948[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_3464631693564984737) {
|
|
out_3464631693564984737[0] = 0;
|
|
out_3464631693564984737[1] = 9.8100000000000005*cos(state[1]);
|
|
out_3464631693564984737[2] = 0;
|
|
out_3464631693564984737[3] = 0;
|
|
out_3464631693564984737[4] = -state[8];
|
|
out_3464631693564984737[5] = state[7];
|
|
out_3464631693564984737[6] = 0;
|
|
out_3464631693564984737[7] = state[5];
|
|
out_3464631693564984737[8] = -state[4];
|
|
out_3464631693564984737[9] = 0;
|
|
out_3464631693564984737[10] = 0;
|
|
out_3464631693564984737[11] = 0;
|
|
out_3464631693564984737[12] = 1;
|
|
out_3464631693564984737[13] = 0;
|
|
out_3464631693564984737[14] = 0;
|
|
out_3464631693564984737[15] = 1;
|
|
out_3464631693564984737[16] = 0;
|
|
out_3464631693564984737[17] = 0;
|
|
out_3464631693564984737[18] = -9.8100000000000005*cos(state[0])*cos(state[1]);
|
|
out_3464631693564984737[19] = 9.8100000000000005*sin(state[0])*sin(state[1]);
|
|
out_3464631693564984737[20] = 0;
|
|
out_3464631693564984737[21] = state[8];
|
|
out_3464631693564984737[22] = 0;
|
|
out_3464631693564984737[23] = -state[6];
|
|
out_3464631693564984737[24] = -state[5];
|
|
out_3464631693564984737[25] = 0;
|
|
out_3464631693564984737[26] = state[3];
|
|
out_3464631693564984737[27] = 0;
|
|
out_3464631693564984737[28] = 0;
|
|
out_3464631693564984737[29] = 0;
|
|
out_3464631693564984737[30] = 0;
|
|
out_3464631693564984737[31] = 1;
|
|
out_3464631693564984737[32] = 0;
|
|
out_3464631693564984737[33] = 0;
|
|
out_3464631693564984737[34] = 1;
|
|
out_3464631693564984737[35] = 0;
|
|
out_3464631693564984737[36] = 9.8100000000000005*sin(state[0])*cos(state[1]);
|
|
out_3464631693564984737[37] = 9.8100000000000005*sin(state[1])*cos(state[0]);
|
|
out_3464631693564984737[38] = 0;
|
|
out_3464631693564984737[39] = -state[7];
|
|
out_3464631693564984737[40] = state[6];
|
|
out_3464631693564984737[41] = 0;
|
|
out_3464631693564984737[42] = state[4];
|
|
out_3464631693564984737[43] = -state[3];
|
|
out_3464631693564984737[44] = 0;
|
|
out_3464631693564984737[45] = 0;
|
|
out_3464631693564984737[46] = 0;
|
|
out_3464631693564984737[47] = 0;
|
|
out_3464631693564984737[48] = 0;
|
|
out_3464631693564984737[49] = 0;
|
|
out_3464631693564984737[50] = 1;
|
|
out_3464631693564984737[51] = 0;
|
|
out_3464631693564984737[52] = 0;
|
|
out_3464631693564984737[53] = 1;
|
|
}
|
|
void h_13(double *state, double *unused, double *out_5667716827714087134) {
|
|
out_5667716827714087134[0] = state[3];
|
|
out_5667716827714087134[1] = state[4];
|
|
out_5667716827714087134[2] = state[5];
|
|
}
|
|
void H_13(double *state, double *unused, double *out_2835618380200743319) {
|
|
out_2835618380200743319[0] = 0;
|
|
out_2835618380200743319[1] = 0;
|
|
out_2835618380200743319[2] = 0;
|
|
out_2835618380200743319[3] = 1;
|
|
out_2835618380200743319[4] = 0;
|
|
out_2835618380200743319[5] = 0;
|
|
out_2835618380200743319[6] = 0;
|
|
out_2835618380200743319[7] = 0;
|
|
out_2835618380200743319[8] = 0;
|
|
out_2835618380200743319[9] = 0;
|
|
out_2835618380200743319[10] = 0;
|
|
out_2835618380200743319[11] = 0;
|
|
out_2835618380200743319[12] = 0;
|
|
out_2835618380200743319[13] = 0;
|
|
out_2835618380200743319[14] = 0;
|
|
out_2835618380200743319[15] = 0;
|
|
out_2835618380200743319[16] = 0;
|
|
out_2835618380200743319[17] = 0;
|
|
out_2835618380200743319[18] = 0;
|
|
out_2835618380200743319[19] = 0;
|
|
out_2835618380200743319[20] = 0;
|
|
out_2835618380200743319[21] = 0;
|
|
out_2835618380200743319[22] = 1;
|
|
out_2835618380200743319[23] = 0;
|
|
out_2835618380200743319[24] = 0;
|
|
out_2835618380200743319[25] = 0;
|
|
out_2835618380200743319[26] = 0;
|
|
out_2835618380200743319[27] = 0;
|
|
out_2835618380200743319[28] = 0;
|
|
out_2835618380200743319[29] = 0;
|
|
out_2835618380200743319[30] = 0;
|
|
out_2835618380200743319[31] = 0;
|
|
out_2835618380200743319[32] = 0;
|
|
out_2835618380200743319[33] = 0;
|
|
out_2835618380200743319[34] = 0;
|
|
out_2835618380200743319[35] = 0;
|
|
out_2835618380200743319[36] = 0;
|
|
out_2835618380200743319[37] = 0;
|
|
out_2835618380200743319[38] = 0;
|
|
out_2835618380200743319[39] = 0;
|
|
out_2835618380200743319[40] = 0;
|
|
out_2835618380200743319[41] = 1;
|
|
out_2835618380200743319[42] = 0;
|
|
out_2835618380200743319[43] = 0;
|
|
out_2835618380200743319[44] = 0;
|
|
out_2835618380200743319[45] = 0;
|
|
out_2835618380200743319[46] = 0;
|
|
out_2835618380200743319[47] = 0;
|
|
out_2835618380200743319[48] = 0;
|
|
out_2835618380200743319[49] = 0;
|
|
out_2835618380200743319[50] = 0;
|
|
out_2835618380200743319[51] = 0;
|
|
out_2835618380200743319[52] = 0;
|
|
out_2835618380200743319[53] = 0;
|
|
}
|
|
void h_14(double *state, double *unused, double *out_883582777045090799) {
|
|
out_883582777045090799[0] = state[6];
|
|
out_883582777045090799[1] = state[7];
|
|
out_883582777045090799[2] = state[8];
|
|
}
|
|
void H_14(double *state, double *unused, double *out_2084651349193591591) {
|
|
out_2084651349193591591[0] = 0;
|
|
out_2084651349193591591[1] = 0;
|
|
out_2084651349193591591[2] = 0;
|
|
out_2084651349193591591[3] = 0;
|
|
out_2084651349193591591[4] = 0;
|
|
out_2084651349193591591[5] = 0;
|
|
out_2084651349193591591[6] = 1;
|
|
out_2084651349193591591[7] = 0;
|
|
out_2084651349193591591[8] = 0;
|
|
out_2084651349193591591[9] = 0;
|
|
out_2084651349193591591[10] = 0;
|
|
out_2084651349193591591[11] = 0;
|
|
out_2084651349193591591[12] = 0;
|
|
out_2084651349193591591[13] = 0;
|
|
out_2084651349193591591[14] = 0;
|
|
out_2084651349193591591[15] = 0;
|
|
out_2084651349193591591[16] = 0;
|
|
out_2084651349193591591[17] = 0;
|
|
out_2084651349193591591[18] = 0;
|
|
out_2084651349193591591[19] = 0;
|
|
out_2084651349193591591[20] = 0;
|
|
out_2084651349193591591[21] = 0;
|
|
out_2084651349193591591[22] = 0;
|
|
out_2084651349193591591[23] = 0;
|
|
out_2084651349193591591[24] = 0;
|
|
out_2084651349193591591[25] = 1;
|
|
out_2084651349193591591[26] = 0;
|
|
out_2084651349193591591[27] = 0;
|
|
out_2084651349193591591[28] = 0;
|
|
out_2084651349193591591[29] = 0;
|
|
out_2084651349193591591[30] = 0;
|
|
out_2084651349193591591[31] = 0;
|
|
out_2084651349193591591[32] = 0;
|
|
out_2084651349193591591[33] = 0;
|
|
out_2084651349193591591[34] = 0;
|
|
out_2084651349193591591[35] = 0;
|
|
out_2084651349193591591[36] = 0;
|
|
out_2084651349193591591[37] = 0;
|
|
out_2084651349193591591[38] = 0;
|
|
out_2084651349193591591[39] = 0;
|
|
out_2084651349193591591[40] = 0;
|
|
out_2084651349193591591[41] = 0;
|
|
out_2084651349193591591[42] = 0;
|
|
out_2084651349193591591[43] = 0;
|
|
out_2084651349193591591[44] = 1;
|
|
out_2084651349193591591[45] = 0;
|
|
out_2084651349193591591[46] = 0;
|
|
out_2084651349193591591[47] = 0;
|
|
out_2084651349193591591[48] = 0;
|
|
out_2084651349193591591[49] = 0;
|
|
out_2084651349193591591[50] = 0;
|
|
out_2084651349193591591[51] = 0;
|
|
out_2084651349193591591[52] = 0;
|
|
out_2084651349193591591[53] = 0;
|
|
}
|
|
#include <eigen3/Eigen/Dense>
|
|
#include <iostream>
|
|
|
|
typedef Eigen::Matrix<double, DIM, DIM, Eigen::RowMajor> DDM;
|
|
typedef Eigen::Matrix<double, EDIM, EDIM, Eigen::RowMajor> EEM;
|
|
typedef Eigen::Matrix<double, DIM, EDIM, Eigen::RowMajor> DEM;
|
|
|
|
void predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
|
typedef Eigen::Matrix<double, MEDIM, MEDIM, Eigen::RowMajor> RRM;
|
|
|
|
double nx[DIM] = {0};
|
|
double in_F[EDIM*EDIM] = {0};
|
|
|
|
// functions from sympy
|
|
f_fun(in_x, dt, nx);
|
|
F_fun(in_x, dt, in_F);
|
|
|
|
|
|
EEM F(in_F);
|
|
EEM P(in_P);
|
|
EEM Q(in_Q);
|
|
|
|
RRM F_main = F.topLeftCorner(MEDIM, MEDIM);
|
|
P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose();
|
|
P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM);
|
|
P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose();
|
|
|
|
P = P + dt*Q;
|
|
|
|
// copy out state
|
|
memcpy(in_x, nx, DIM * sizeof(double));
|
|
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
|
|
}
|
|
|
|
// note: extra_args dim only correct when null space projecting
|
|
// otherwise 1
|
|
template <int ZDIM, int EADIM, bool MAHA_TEST>
|
|
void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) {
|
|
typedef Eigen::Matrix<double, ZDIM, ZDIM, Eigen::RowMajor> ZZM;
|
|
typedef Eigen::Matrix<double, ZDIM, DIM, Eigen::RowMajor> ZDM;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, EDIM, Eigen::RowMajor> XEM;
|
|
//typedef Eigen::Matrix<double, EDIM, ZDIM, Eigen::RowMajor> EZM;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> X1M;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> XXM;
|
|
|
|
double in_hx[ZDIM] = {0};
|
|
double in_H[ZDIM * DIM] = {0};
|
|
double in_H_mod[EDIM * DIM] = {0};
|
|
double delta_x[EDIM] = {0};
|
|
double x_new[DIM] = {0};
|
|
|
|
|
|
// state x, P
|
|
Eigen::Matrix<double, ZDIM, 1> z(in_z);
|
|
EEM P(in_P);
|
|
ZZM pre_R(in_R);
|
|
|
|
// functions from sympy
|
|
h_fun(in_x, in_ea, in_hx);
|
|
H_fun(in_x, in_ea, in_H);
|
|
ZDM pre_H(in_H);
|
|
|
|
// get y (y = z - hx)
|
|
Eigen::Matrix<double, ZDIM, 1> pre_y(in_hx); pre_y = z - pre_y;
|
|
X1M y; XXM H; XXM R;
|
|
if (Hea_fun){
|
|
typedef Eigen::Matrix<double, ZDIM, EADIM, Eigen::RowMajor> ZAM;
|
|
double in_Hea[ZDIM * EADIM] = {0};
|
|
Hea_fun(in_x, in_ea, in_Hea);
|
|
ZAM Hea(in_Hea);
|
|
XXM A = Hea.transpose().fullPivLu().kernel();
|
|
|
|
|
|
y = A.transpose() * pre_y;
|
|
H = A.transpose() * pre_H;
|
|
R = A.transpose() * pre_R * A;
|
|
} else {
|
|
y = pre_y;
|
|
H = pre_H;
|
|
R = pre_R;
|
|
}
|
|
// get modified H
|
|
H_mod_fun(in_x, in_H_mod);
|
|
DEM H_mod(in_H_mod);
|
|
XEM H_err = H * H_mod;
|
|
|
|
// Do mahalobis distance test
|
|
if (MAHA_TEST){
|
|
XXM a = (H_err * P * H_err.transpose() + R).inverse();
|
|
double maha_dist = y.transpose() * a * y;
|
|
if (maha_dist > MAHA_THRESHOLD){
|
|
R = 1.0e16 * R;
|
|
}
|
|
}
|
|
|
|
// Outlier resilient weighting
|
|
double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum());
|
|
|
|
// kalman gains and I_KH
|
|
XXM S = ((H_err * P) * H_err.transpose()) + R/weight;
|
|
XEM KT = S.fullPivLu().solve(H_err * P.transpose());
|
|
//EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE?
|
|
//EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose();
|
|
//std::cout << "Here is the matrix rot:\n" << K << std::endl;
|
|
EEM I_KH = Eigen::Matrix<double, EDIM, EDIM>::Identity() - (KT.transpose() * H_err);
|
|
|
|
// update state by injecting dx
|
|
Eigen::Matrix<double, EDIM, 1> dx(delta_x);
|
|
dx = (KT.transpose() * y);
|
|
memcpy(delta_x, dx.data(), EDIM * sizeof(double));
|
|
err_fun(in_x, delta_x, x_new);
|
|
Eigen::Matrix<double, DIM, 1> x(x_new);
|
|
|
|
// update cov
|
|
P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT);
|
|
|
|
// copy out state
|
|
memcpy(in_x, x.data(), DIM * sizeof(double));
|
|
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
|
|
memcpy(in_z, y.data(), y.rows() * sizeof(double));
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
extern "C" {
|
|
|
|
void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_4, H_4, NULL, in_z, in_R, in_ea, MAHA_THRESH_4);
|
|
}
|
|
void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_10, H_10, NULL, in_z, in_R, in_ea, MAHA_THRESH_10);
|
|
}
|
|
void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
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update<3, 3, 0>(in_x, in_P, h_13, H_13, NULL, in_z, in_R, in_ea, MAHA_THRESH_13);
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}
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void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
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update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14);
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}
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void pose_err_fun(double *nom_x, double *delta_x, double *out_3361967793306967310) {
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err_fun(nom_x, delta_x, out_3361967793306967310);
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}
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void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7875339861862151788) {
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inv_err_fun(nom_x, true_x, out_7875339861862151788);
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}
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void pose_H_mod_fun(double *state, double *out_7246333483137394761) {
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H_mod_fun(state, out_7246333483137394761);
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}
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void pose_f_fun(double *state, double dt, double *out_4257952219025692833) {
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f_fun(state, dt, out_4257952219025692833);
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}
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void pose_F_fun(double *state, double dt, double *out_8053693544595325883) {
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F_fun(state, dt, out_8053693544595325883);
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}
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void pose_h_4(double *state, double *unused, double *out_8529365476343691696) {
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h_4(state, unused, out_8529365476343691696);
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}
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void pose_H_4(double *state, double *unused, double *out_6047892205533076120) {
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H_4(state, unused, out_6047892205533076120);
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}
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void pose_h_10(double *state, double *unused, double *out_4520142148577176948) {
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h_10(state, unused, out_4520142148577176948);
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}
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void pose_H_10(double *state, double *unused, double *out_3464631693564984737) {
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H_10(state, unused, out_3464631693564984737);
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}
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void pose_h_13(double *state, double *unused, double *out_5667716827714087134) {
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h_13(state, unused, out_5667716827714087134);
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}
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void pose_H_13(double *state, double *unused, double *out_2835618380200743319) {
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H_13(state, unused, out_2835618380200743319);
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}
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void pose_h_14(double *state, double *unused, double *out_883582777045090799) {
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h_14(state, unused, out_883582777045090799);
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|
}
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void pose_H_14(double *state, double *unused, double *out_2084651349193591591) {
|
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H_14(state, unused, out_2084651349193591591);
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}
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void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) {
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predict(in_x, in_P, in_Q, dt);
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}
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}
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|
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const EKF pose = {
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.name = "pose",
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.kinds = { 4, 10, 13, 14 },
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.feature_kinds = { },
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.f_fun = pose_f_fun,
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.F_fun = pose_F_fun,
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|
.err_fun = pose_err_fun,
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.inv_err_fun = pose_inv_err_fun,
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|
.H_mod_fun = pose_H_mod_fun,
|
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.predict = pose_predict,
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.hs = {
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{ 4, pose_h_4 },
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{ 10, pose_h_10 },
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{ 13, pose_h_13 },
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{ 14, pose_h_14 },
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},
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|
.Hs = {
|
|
{ 4, pose_H_4 },
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|
{ 10, pose_H_10 },
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{ 13, pose_H_13 },
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|
{ 14, pose_H_14 },
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|
},
|
|
.updates = {
|
|
{ 4, pose_update_4 },
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|
{ 10, pose_update_10 },
|
|
{ 13, pose_update_13 },
|
|
{ 14, pose_update_14 },
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|
},
|
|
.Hes = {
|
|
},
|
|
.sets = {
|
|
},
|
|
.extra_routines = {
|
|
},
|
|
};
|
|
|
|
ekf_lib_init(pose)
|