mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-01 05:33:49 +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_6509701153316274707) {
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out_6509701153316274707[0] = delta_x[0] + nom_x[0];
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out_6509701153316274707[1] = delta_x[1] + nom_x[1];
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out_6509701153316274707[2] = delta_x[2] + nom_x[2];
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out_6509701153316274707[3] = delta_x[3] + nom_x[3];
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out_6509701153316274707[4] = delta_x[4] + nom_x[4];
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out_6509701153316274707[5] = delta_x[5] + nom_x[5];
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out_6509701153316274707[6] = delta_x[6] + nom_x[6];
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out_6509701153316274707[7] = delta_x[7] + nom_x[7];
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out_6509701153316274707[8] = delta_x[8] + nom_x[8];
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out_6509701153316274707[9] = delta_x[9] + nom_x[9];
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out_6509701153316274707[10] = delta_x[10] + nom_x[10];
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out_6509701153316274707[11] = delta_x[11] + nom_x[11];
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out_6509701153316274707[12] = delta_x[12] + nom_x[12];
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out_6509701153316274707[13] = delta_x[13] + nom_x[13];
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out_6509701153316274707[14] = delta_x[14] + nom_x[14];
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out_6509701153316274707[15] = delta_x[15] + nom_x[15];
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out_6509701153316274707[16] = delta_x[16] + nom_x[16];
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out_6509701153316274707[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_5024581948518838202) {
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out_5024581948518838202[0] = -nom_x[0] + true_x[0];
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out_5024581948518838202[1] = -nom_x[1] + true_x[1];
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out_5024581948518838202[2] = -nom_x[2] + true_x[2];
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out_5024581948518838202[3] = -nom_x[3] + true_x[3];
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out_5024581948518838202[4] = -nom_x[4] + true_x[4];
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out_5024581948518838202[5] = -nom_x[5] + true_x[5];
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out_5024581948518838202[6] = -nom_x[6] + true_x[6];
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out_5024581948518838202[7] = -nom_x[7] + true_x[7];
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out_5024581948518838202[8] = -nom_x[8] + true_x[8];
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out_5024581948518838202[9] = -nom_x[9] + true_x[9];
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out_5024581948518838202[10] = -nom_x[10] + true_x[10];
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out_5024581948518838202[11] = -nom_x[11] + true_x[11];
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out_5024581948518838202[12] = -nom_x[12] + true_x[12];
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out_5024581948518838202[13] = -nom_x[13] + true_x[13];
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out_5024581948518838202[14] = -nom_x[14] + true_x[14];
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out_5024581948518838202[15] = -nom_x[15] + true_x[15];
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out_5024581948518838202[16] = -nom_x[16] + true_x[16];
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out_5024581948518838202[17] = -nom_x[17] + true_x[17];
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}
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void H_mod_fun(double *state, double *out_5452344764039935443) {
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out_5452344764039935443[0] = 1.0;
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out_5452344764039935443[1] = 0.0;
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out_5452344764039935443[2] = 0.0;
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out_5452344764039935443[3] = 0.0;
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out_5452344764039935443[4] = 0.0;
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out_5452344764039935443[5] = 0.0;
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out_5452344764039935443[6] = 0.0;
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out_5452344764039935443[7] = 0.0;
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out_5452344764039935443[8] = 0.0;
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out_5452344764039935443[9] = 0.0;
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out_5452344764039935443[10] = 0.0;
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out_5452344764039935443[11] = 0.0;
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out_5452344764039935443[12] = 0.0;
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out_5452344764039935443[13] = 0.0;
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out_5452344764039935443[14] = 0.0;
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out_5452344764039935443[15] = 0.0;
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out_5452344764039935443[16] = 0.0;
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out_5452344764039935443[17] = 0.0;
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out_5452344764039935443[18] = 0.0;
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out_5452344764039935443[19] = 1.0;
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out_5452344764039935443[20] = 0.0;
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out_5452344764039935443[21] = 0.0;
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out_5452344764039935443[22] = 0.0;
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out_5452344764039935443[23] = 0.0;
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out_5452344764039935443[24] = 0.0;
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out_5452344764039935443[25] = 0.0;
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out_5452344764039935443[26] = 0.0;
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out_5452344764039935443[27] = 0.0;
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out_5452344764039935443[28] = 0.0;
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out_5452344764039935443[29] = 0.0;
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out_5452344764039935443[30] = 0.0;
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out_5452344764039935443[31] = 0.0;
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out_5452344764039935443[32] = 0.0;
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out_5452344764039935443[33] = 0.0;
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out_5452344764039935443[34] = 0.0;
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out_5452344764039935443[35] = 0.0;
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out_5452344764039935443[36] = 0.0;
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out_5452344764039935443[37] = 0.0;
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out_5452344764039935443[38] = 1.0;
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out_5452344764039935443[39] = 0.0;
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out_5452344764039935443[40] = 0.0;
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out_5452344764039935443[41] = 0.0;
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out_5452344764039935443[42] = 0.0;
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out_5452344764039935443[43] = 0.0;
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out_5452344764039935443[44] = 0.0;
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out_5452344764039935443[45] = 0.0;
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out_5452344764039935443[46] = 0.0;
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out_5452344764039935443[47] = 0.0;
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out_5452344764039935443[48] = 0.0;
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out_5452344764039935443[49] = 0.0;
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out_5452344764039935443[50] = 0.0;
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out_5452344764039935443[51] = 0.0;
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out_5452344764039935443[52] = 0.0;
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out_5452344764039935443[53] = 0.0;
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out_5452344764039935443[54] = 0.0;
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out_5452344764039935443[55] = 0.0;
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out_5452344764039935443[56] = 0.0;
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out_5452344764039935443[57] = 1.0;
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out_5452344764039935443[58] = 0.0;
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out_5452344764039935443[59] = 0.0;
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out_5452344764039935443[60] = 0.0;
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out_5452344764039935443[61] = 0.0;
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out_5452344764039935443[62] = 0.0;
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out_5452344764039935443[63] = 0.0;
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out_5452344764039935443[64] = 0.0;
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out_5452344764039935443[65] = 0.0;
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out_5452344764039935443[66] = 0.0;
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out_5452344764039935443[67] = 0.0;
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out_5452344764039935443[68] = 0.0;
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out_5452344764039935443[69] = 0.0;
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out_5452344764039935443[70] = 0.0;
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out_5452344764039935443[71] = 0.0;
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out_5452344764039935443[72] = 0.0;
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out_5452344764039935443[73] = 0.0;
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out_5452344764039935443[74] = 0.0;
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out_5452344764039935443[75] = 0.0;
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out_5452344764039935443[76] = 1.0;
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out_5452344764039935443[77] = 0.0;
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out_5452344764039935443[78] = 0.0;
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out_5452344764039935443[79] = 0.0;
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out_5452344764039935443[80] = 0.0;
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out_5452344764039935443[81] = 0.0;
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out_5452344764039935443[82] = 0.0;
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out_5452344764039935443[83] = 0.0;
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out_5452344764039935443[84] = 0.0;
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out_5452344764039935443[85] = 0.0;
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out_5452344764039935443[86] = 0.0;
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out_5452344764039935443[87] = 0.0;
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out_5452344764039935443[88] = 0.0;
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out_5452344764039935443[89] = 0.0;
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out_5452344764039935443[90] = 0.0;
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out_5452344764039935443[91] = 0.0;
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out_5452344764039935443[92] = 0.0;
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out_5452344764039935443[93] = 0.0;
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out_5452344764039935443[94] = 0.0;
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out_5452344764039935443[95] = 1.0;
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out_5452344764039935443[96] = 0.0;
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out_5452344764039935443[97] = 0.0;
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out_5452344764039935443[98] = 0.0;
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out_5452344764039935443[99] = 0.0;
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out_5452344764039935443[100] = 0.0;
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out_5452344764039935443[101] = 0.0;
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out_5452344764039935443[102] = 0.0;
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out_5452344764039935443[103] = 0.0;
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out_5452344764039935443[104] = 0.0;
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out_5452344764039935443[105] = 0.0;
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out_5452344764039935443[106] = 0.0;
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out_5452344764039935443[107] = 0.0;
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out_5452344764039935443[108] = 0.0;
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out_5452344764039935443[109] = 0.0;
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out_5452344764039935443[110] = 0.0;
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out_5452344764039935443[111] = 0.0;
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out_5452344764039935443[112] = 0.0;
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out_5452344764039935443[113] = 0.0;
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out_5452344764039935443[114] = 1.0;
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out_5452344764039935443[115] = 0.0;
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out_5452344764039935443[116] = 0.0;
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out_5452344764039935443[117] = 0.0;
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out_5452344764039935443[118] = 0.0;
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out_5452344764039935443[119] = 0.0;
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out_5452344764039935443[120] = 0.0;
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out_5452344764039935443[121] = 0.0;
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out_5452344764039935443[122] = 0.0;
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out_5452344764039935443[123] = 0.0;
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out_5452344764039935443[124] = 0.0;
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out_5452344764039935443[125] = 0.0;
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out_5452344764039935443[126] = 0.0;
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out_5452344764039935443[127] = 0.0;
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out_5452344764039935443[128] = 0.0;
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out_5452344764039935443[129] = 0.0;
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out_5452344764039935443[130] = 0.0;
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out_5452344764039935443[131] = 0.0;
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out_5452344764039935443[132] = 0.0;
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out_5452344764039935443[133] = 1.0;
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out_5452344764039935443[134] = 0.0;
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out_5452344764039935443[135] = 0.0;
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out_5452344764039935443[136] = 0.0;
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out_5452344764039935443[137] = 0.0;
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out_5452344764039935443[138] = 0.0;
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out_5452344764039935443[139] = 0.0;
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out_5452344764039935443[140] = 0.0;
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out_5452344764039935443[141] = 0.0;
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out_5452344764039935443[142] = 0.0;
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out_5452344764039935443[143] = 0.0;
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out_5452344764039935443[144] = 0.0;
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out_5452344764039935443[145] = 0.0;
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out_5452344764039935443[146] = 0.0;
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out_5452344764039935443[147] = 0.0;
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out_5452344764039935443[148] = 0.0;
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out_5452344764039935443[149] = 0.0;
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out_5452344764039935443[150] = 0.0;
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out_5452344764039935443[151] = 0.0;
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out_5452344764039935443[152] = 1.0;
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out_5452344764039935443[153] = 0.0;
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out_5452344764039935443[154] = 0.0;
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out_5452344764039935443[155] = 0.0;
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out_5452344764039935443[156] = 0.0;
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out_5452344764039935443[157] = 0.0;
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out_5452344764039935443[158] = 0.0;
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out_5452344764039935443[159] = 0.0;
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out_5452344764039935443[160] = 0.0;
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out_5452344764039935443[161] = 0.0;
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out_5452344764039935443[162] = 0.0;
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out_5452344764039935443[163] = 0.0;
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out_5452344764039935443[164] = 0.0;
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out_5452344764039935443[165] = 0.0;
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out_5452344764039935443[166] = 0.0;
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out_5452344764039935443[167] = 0.0;
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out_5452344764039935443[168] = 0.0;
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out_5452344764039935443[169] = 0.0;
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out_5452344764039935443[170] = 0.0;
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out_5452344764039935443[171] = 1.0;
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out_5452344764039935443[172] = 0.0;
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out_5452344764039935443[173] = 0.0;
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out_5452344764039935443[174] = 0.0;
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out_5452344764039935443[175] = 0.0;
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out_5452344764039935443[176] = 0.0;
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out_5452344764039935443[177] = 0.0;
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out_5452344764039935443[178] = 0.0;
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out_5452344764039935443[179] = 0.0;
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out_5452344764039935443[180] = 0.0;
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out_5452344764039935443[181] = 0.0;
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out_5452344764039935443[182] = 0.0;
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out_5452344764039935443[183] = 0.0;
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out_5452344764039935443[184] = 0.0;
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out_5452344764039935443[185] = 0.0;
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out_5452344764039935443[186] = 0.0;
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out_5452344764039935443[187] = 0.0;
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out_5452344764039935443[188] = 0.0;
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out_5452344764039935443[189] = 0.0;
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out_5452344764039935443[190] = 1.0;
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out_5452344764039935443[191] = 0.0;
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out_5452344764039935443[192] = 0.0;
|
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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_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_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));
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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));
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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));
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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));
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|
out_1330240054865645952[27] = 0;
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|
out_1330240054865645952[28] = 0;
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|
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));
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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));
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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));
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out_1330240054865645952[39] = 0;
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out_1330240054865645952[40] = 0;
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out_1330240054865645952[41] = 0;
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out_1330240054865645952[42] = 0;
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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));
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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));
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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_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_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_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_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_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_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_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_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 <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) {
|
|
update<3, 3, 0>(in_x, in_P, h_13, H_13, NULL, in_z, in_R, in_ea, MAHA_THRESH_13);
|
|
}
|
|
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_6509701153316274707) {
|
|
err_fun(nom_x, delta_x, out_6509701153316274707);
|
|
}
|
|
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_5452344764039935443) {
|
|
H_mod_fun(state, out_5452344764039935443);
|
|
}
|
|
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_1330240054865645952) {
|
|
F_fun(state, dt, out_1330240054865645952);
|
|
}
|
|
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_4698183761985222836) {
|
|
H_4(state, unused, out_4698183761985222836);
|
|
}
|
|
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_2551013219564387251) {
|
|
H_10(state, unused, out_2551013219564387251);
|
|
}
|
|
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_1485909936652890035) {
|
|
H_13(state, unused, out_1485909936652890035);
|
|
}
|
|
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_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);
|
|
}
|
|
}
|
|
|
|
const EKF pose = {
|
|
.name = "pose",
|
|
.kinds = { 4, 10, 13, 14 },
|
|
.feature_kinds = { },
|
|
.f_fun = pose_f_fun,
|
|
.F_fun = pose_F_fun,
|
|
.err_fun = pose_err_fun,
|
|
.inv_err_fun = pose_inv_err_fun,
|
|
.H_mod_fun = pose_H_mod_fun,
|
|
.predict = pose_predict,
|
|
.hs = {
|
|
{ 4, pose_h_4 },
|
|
{ 10, pose_h_10 },
|
|
{ 13, pose_h_13 },
|
|
{ 14, pose_h_14 },
|
|
},
|
|
.Hs = {
|
|
{ 4, pose_H_4 },
|
|
{ 10, pose_H_10 },
|
|
{ 13, pose_H_13 },
|
|
{ 14, pose_H_14 },
|
|
},
|
|
.updates = {
|
|
{ 4, pose_update_4 },
|
|
{ 10, pose_update_10 },
|
|
{ 13, pose_update_13 },
|
|
{ 14, pose_update_14 },
|
|
},
|
|
.Hes = {
|
|
},
|
|
.sets = {
|
|
},
|
|
.extra_routines = {
|
|
},
|
|
};
|
|
|
|
ekf_lib_init(pose)
|