diff --git a/cereal/libcereal.a b/cereal/libcereal.a index ff25759b..47d4e4b3 100644 Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ diff --git a/cereal/libsocketmaster.a b/cereal/libsocketmaster.a index 0c1e2da2..a426641d 100644 Binary files a/cereal/libsocketmaster.a and b/cereal/libsocketmaster.a differ diff --git a/cereal/messaging/bridge b/cereal/messaging/bridge index a6ec07d4..c5e4cb8e 100755 Binary files a/cereal/messaging/bridge and b/cereal/messaging/bridge differ diff --git a/common/libcommon.a b/common/libcommon.a index 4c6dc857..caf26e0f 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index c0a97149..0556c5b0 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/msgq_repo/msgq/ipc_pyx.so b/msgq_repo/msgq/ipc_pyx.so index aae7ea17..32468b47 100755 Binary files a/msgq_repo/msgq/ipc_pyx.so and b/msgq_repo/msgq/ipc_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 491ce0d2..93518842 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 3495aa43..2163dba4 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 06466228..3bebaeca 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 6e7e8253..6d94c0ee 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 42cc9a85..2d198d3f 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 8b8d3c20..033c898d 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index f1be2c4e..a4b65cb0 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index f1be2c4e..a4b65cb0 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index e5b4971e..704fd358 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 8b8d3c20..033c898d 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 4d9982d2..bc99ea9a 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-ad948aa9-DEBUG"; +const uint8_t gitversion[19] = "DEV-5ddabfcc-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index ce406e43..cdaddbda 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 349a5123..5d0339cd 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index ed7299b7..f77e8624 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 62ba4f0d..34edba1e 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index cc9665bb..9d601a8b 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index b28bc64b..e04a0a49 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 5ca12018..95b3776a 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index f765122b..b3e70a3d 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 3e013fa4..ec180c0f 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 89c554dc..ac08666d 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 2aaff35e..2e1cfa4c 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 228ef2b2..c90c4c60 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 5dbea9d9..3d7acff3 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 38bc47fa..49aa43f0 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 30a17132..1d58dc64 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 41d11117..e4cbad61 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 7805d457..26786628 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index a0ede4b9..454a115f 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index d5d55aac..f4c8889e 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 308f84b9..c31562fd 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 230301a3..daefc99a 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-ad948aa9-DEBUG \ No newline at end of file +DEV-5ddabfcc-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index b86e5a56..537aeabb 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_2843212773844661672) { - out_2843212773844661672[0] = delta_x[0] + nom_x[0]; - out_2843212773844661672[1] = delta_x[1] + nom_x[1]; - out_2843212773844661672[2] = delta_x[2] + nom_x[2]; - out_2843212773844661672[3] = delta_x[3] + nom_x[3]; - out_2843212773844661672[4] = delta_x[4] + nom_x[4]; - out_2843212773844661672[5] = delta_x[5] + nom_x[5]; - out_2843212773844661672[6] = delta_x[6] + nom_x[6]; - out_2843212773844661672[7] = delta_x[7] + nom_x[7]; - out_2843212773844661672[8] = delta_x[8] + nom_x[8]; - out_2843212773844661672[9] = delta_x[9] + nom_x[9]; - out_2843212773844661672[10] = delta_x[10] + nom_x[10]; - out_2843212773844661672[11] = delta_x[11] + nom_x[11]; - out_2843212773844661672[12] = delta_x[12] + nom_x[12]; - out_2843212773844661672[13] = delta_x[13] + nom_x[13]; - out_2843212773844661672[14] = delta_x[14] + nom_x[14]; - out_2843212773844661672[15] = delta_x[15] + nom_x[15]; - out_2843212773844661672[16] = delta_x[16] + nom_x[16]; - out_2843212773844661672[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_9191542510053319957) { + out_9191542510053319957[0] = delta_x[0] + nom_x[0]; + out_9191542510053319957[1] = delta_x[1] + nom_x[1]; + out_9191542510053319957[2] = delta_x[2] + nom_x[2]; + out_9191542510053319957[3] = delta_x[3] + nom_x[3]; + out_9191542510053319957[4] = delta_x[4] + nom_x[4]; + out_9191542510053319957[5] = delta_x[5] + nom_x[5]; + out_9191542510053319957[6] = delta_x[6] + nom_x[6]; + out_9191542510053319957[7] = delta_x[7] + nom_x[7]; + out_9191542510053319957[8] = delta_x[8] + nom_x[8]; + out_9191542510053319957[9] = delta_x[9] + nom_x[9]; + out_9191542510053319957[10] = delta_x[10] + nom_x[10]; + out_9191542510053319957[11] = delta_x[11] + nom_x[11]; + out_9191542510053319957[12] = delta_x[12] + nom_x[12]; + out_9191542510053319957[13] = delta_x[13] + nom_x[13]; + out_9191542510053319957[14] = delta_x[14] + nom_x[14]; + out_9191542510053319957[15] = delta_x[15] + nom_x[15]; + out_9191542510053319957[16] = delta_x[16] + nom_x[16]; + out_9191542510053319957[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2943105406875713938) { - out_2943105406875713938[0] = -nom_x[0] + true_x[0]; - out_2943105406875713938[1] = -nom_x[1] + true_x[1]; - out_2943105406875713938[2] = -nom_x[2] + true_x[2]; - out_2943105406875713938[3] = -nom_x[3] + true_x[3]; - out_2943105406875713938[4] = -nom_x[4] + true_x[4]; - out_2943105406875713938[5] = -nom_x[5] + true_x[5]; - out_2943105406875713938[6] = -nom_x[6] + true_x[6]; - out_2943105406875713938[7] = -nom_x[7] + true_x[7]; - out_2943105406875713938[8] = -nom_x[8] + true_x[8]; - out_2943105406875713938[9] = -nom_x[9] + true_x[9]; - out_2943105406875713938[10] = -nom_x[10] + true_x[10]; - out_2943105406875713938[11] = -nom_x[11] + true_x[11]; - out_2943105406875713938[12] = -nom_x[12] + true_x[12]; - out_2943105406875713938[13] = -nom_x[13] + true_x[13]; - out_2943105406875713938[14] = -nom_x[14] + true_x[14]; - out_2943105406875713938[15] = -nom_x[15] + true_x[15]; - out_2943105406875713938[16] = -nom_x[16] + true_x[16]; - out_2943105406875713938[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3004969772891744590) { + out_3004969772891744590[0] = -nom_x[0] + true_x[0]; + out_3004969772891744590[1] = -nom_x[1] + true_x[1]; + out_3004969772891744590[2] = -nom_x[2] + true_x[2]; + out_3004969772891744590[3] = -nom_x[3] + true_x[3]; + out_3004969772891744590[4] = -nom_x[4] + true_x[4]; + out_3004969772891744590[5] = -nom_x[5] + true_x[5]; + out_3004969772891744590[6] = -nom_x[6] + true_x[6]; + out_3004969772891744590[7] = -nom_x[7] + true_x[7]; + out_3004969772891744590[8] = -nom_x[8] + true_x[8]; + out_3004969772891744590[9] = -nom_x[9] + true_x[9]; + out_3004969772891744590[10] = -nom_x[10] + true_x[10]; + out_3004969772891744590[11] = -nom_x[11] + true_x[11]; + out_3004969772891744590[12] = -nom_x[12] + true_x[12]; + out_3004969772891744590[13] = -nom_x[13] + true_x[13]; + out_3004969772891744590[14] = -nom_x[14] + true_x[14]; + out_3004969772891744590[15] = -nom_x[15] + true_x[15]; + out_3004969772891744590[16] = -nom_x[16] + true_x[16]; + out_3004969772891744590[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_2147512711416992695) { - out_2147512711416992695[0] = 1.0; - out_2147512711416992695[1] = 0.0; - out_2147512711416992695[2] = 0.0; - out_2147512711416992695[3] = 0.0; - out_2147512711416992695[4] = 0.0; - out_2147512711416992695[5] = 0.0; - out_2147512711416992695[6] = 0.0; - out_2147512711416992695[7] = 0.0; - out_2147512711416992695[8] = 0.0; - out_2147512711416992695[9] = 0.0; - out_2147512711416992695[10] = 0.0; - out_2147512711416992695[11] = 0.0; - out_2147512711416992695[12] = 0.0; - out_2147512711416992695[13] = 0.0; - out_2147512711416992695[14] = 0.0; - out_2147512711416992695[15] = 0.0; - out_2147512711416992695[16] = 0.0; - out_2147512711416992695[17] = 0.0; - out_2147512711416992695[18] = 0.0; - out_2147512711416992695[19] = 1.0; - out_2147512711416992695[20] = 0.0; - out_2147512711416992695[21] = 0.0; - out_2147512711416992695[22] = 0.0; - out_2147512711416992695[23] = 0.0; - out_2147512711416992695[24] = 0.0; - out_2147512711416992695[25] = 0.0; - out_2147512711416992695[26] = 0.0; - out_2147512711416992695[27] = 0.0; - out_2147512711416992695[28] = 0.0; - out_2147512711416992695[29] = 0.0; - out_2147512711416992695[30] = 0.0; - out_2147512711416992695[31] = 0.0; - out_2147512711416992695[32] = 0.0; - out_2147512711416992695[33] = 0.0; - out_2147512711416992695[34] = 0.0; - out_2147512711416992695[35] = 0.0; - out_2147512711416992695[36] = 0.0; - out_2147512711416992695[37] = 0.0; - out_2147512711416992695[38] = 1.0; - out_2147512711416992695[39] = 0.0; - out_2147512711416992695[40] = 0.0; - out_2147512711416992695[41] = 0.0; - out_2147512711416992695[42] = 0.0; - out_2147512711416992695[43] = 0.0; - out_2147512711416992695[44] = 0.0; - out_2147512711416992695[45] = 0.0; - out_2147512711416992695[46] = 0.0; - out_2147512711416992695[47] = 0.0; - out_2147512711416992695[48] = 0.0; - out_2147512711416992695[49] = 0.0; - out_2147512711416992695[50] = 0.0; - out_2147512711416992695[51] = 0.0; - out_2147512711416992695[52] = 0.0; - out_2147512711416992695[53] = 0.0; - out_2147512711416992695[54] = 0.0; - out_2147512711416992695[55] = 0.0; - out_2147512711416992695[56] = 0.0; - out_2147512711416992695[57] = 1.0; - out_2147512711416992695[58] = 0.0; - out_2147512711416992695[59] = 0.0; - out_2147512711416992695[60] = 0.0; - out_2147512711416992695[61] = 0.0; - out_2147512711416992695[62] = 0.0; - out_2147512711416992695[63] = 0.0; - out_2147512711416992695[64] = 0.0; - out_2147512711416992695[65] = 0.0; - out_2147512711416992695[66] = 0.0; - out_2147512711416992695[67] = 0.0; - out_2147512711416992695[68] = 0.0; - out_2147512711416992695[69] = 0.0; - out_2147512711416992695[70] = 0.0; - out_2147512711416992695[71] = 0.0; - out_2147512711416992695[72] = 0.0; - out_2147512711416992695[73] = 0.0; - out_2147512711416992695[74] = 0.0; - out_2147512711416992695[75] = 0.0; - out_2147512711416992695[76] = 1.0; - out_2147512711416992695[77] = 0.0; - out_2147512711416992695[78] = 0.0; - out_2147512711416992695[79] = 0.0; - out_2147512711416992695[80] = 0.0; - out_2147512711416992695[81] = 0.0; - out_2147512711416992695[82] = 0.0; - out_2147512711416992695[83] = 0.0; - out_2147512711416992695[84] = 0.0; - out_2147512711416992695[85] = 0.0; - out_2147512711416992695[86] = 0.0; - out_2147512711416992695[87] = 0.0; - out_2147512711416992695[88] = 0.0; - out_2147512711416992695[89] = 0.0; - out_2147512711416992695[90] = 0.0; - out_2147512711416992695[91] = 0.0; - out_2147512711416992695[92] = 0.0; - out_2147512711416992695[93] = 0.0; - out_2147512711416992695[94] = 0.0; - out_2147512711416992695[95] = 1.0; - out_2147512711416992695[96] = 0.0; - out_2147512711416992695[97] = 0.0; - out_2147512711416992695[98] = 0.0; - out_2147512711416992695[99] = 0.0; - out_2147512711416992695[100] = 0.0; - out_2147512711416992695[101] = 0.0; - out_2147512711416992695[102] = 0.0; - out_2147512711416992695[103] = 0.0; - out_2147512711416992695[104] = 0.0; - out_2147512711416992695[105] = 0.0; - out_2147512711416992695[106] = 0.0; - out_2147512711416992695[107] = 0.0; - out_2147512711416992695[108] = 0.0; - out_2147512711416992695[109] = 0.0; - out_2147512711416992695[110] = 0.0; - out_2147512711416992695[111] = 0.0; - out_2147512711416992695[112] = 0.0; - out_2147512711416992695[113] = 0.0; - out_2147512711416992695[114] = 1.0; - out_2147512711416992695[115] = 0.0; - out_2147512711416992695[116] = 0.0; - out_2147512711416992695[117] = 0.0; - out_2147512711416992695[118] = 0.0; - out_2147512711416992695[119] = 0.0; - out_2147512711416992695[120] = 0.0; - out_2147512711416992695[121] = 0.0; - out_2147512711416992695[122] = 0.0; - out_2147512711416992695[123] = 0.0; - out_2147512711416992695[124] = 0.0; - out_2147512711416992695[125] = 0.0; - out_2147512711416992695[126] = 0.0; - out_2147512711416992695[127] = 0.0; - out_2147512711416992695[128] = 0.0; - out_2147512711416992695[129] = 0.0; - out_2147512711416992695[130] = 0.0; - out_2147512711416992695[131] = 0.0; - out_2147512711416992695[132] = 0.0; - out_2147512711416992695[133] = 1.0; - out_2147512711416992695[134] = 0.0; - out_2147512711416992695[135] = 0.0; - out_2147512711416992695[136] = 0.0; - out_2147512711416992695[137] = 0.0; - out_2147512711416992695[138] = 0.0; - out_2147512711416992695[139] = 0.0; - out_2147512711416992695[140] = 0.0; - out_2147512711416992695[141] = 0.0; - out_2147512711416992695[142] = 0.0; - out_2147512711416992695[143] = 0.0; - out_2147512711416992695[144] = 0.0; - out_2147512711416992695[145] = 0.0; - out_2147512711416992695[146] = 0.0; - out_2147512711416992695[147] = 0.0; - out_2147512711416992695[148] = 0.0; - out_2147512711416992695[149] = 0.0; - out_2147512711416992695[150] = 0.0; - out_2147512711416992695[151] = 0.0; - out_2147512711416992695[152] = 1.0; - out_2147512711416992695[153] = 0.0; - out_2147512711416992695[154] = 0.0; - out_2147512711416992695[155] = 0.0; - out_2147512711416992695[156] = 0.0; - out_2147512711416992695[157] = 0.0; - out_2147512711416992695[158] = 0.0; - out_2147512711416992695[159] = 0.0; - out_2147512711416992695[160] = 0.0; - out_2147512711416992695[161] = 0.0; - out_2147512711416992695[162] = 0.0; - out_2147512711416992695[163] = 0.0; - out_2147512711416992695[164] = 0.0; - out_2147512711416992695[165] = 0.0; - out_2147512711416992695[166] = 0.0; - out_2147512711416992695[167] = 0.0; - out_2147512711416992695[168] = 0.0; - out_2147512711416992695[169] = 0.0; - out_2147512711416992695[170] = 0.0; - out_2147512711416992695[171] = 1.0; - out_2147512711416992695[172] = 0.0; - out_2147512711416992695[173] = 0.0; - out_2147512711416992695[174] = 0.0; - out_2147512711416992695[175] = 0.0; - out_2147512711416992695[176] = 0.0; - out_2147512711416992695[177] = 0.0; - out_2147512711416992695[178] = 0.0; - out_2147512711416992695[179] = 0.0; - out_2147512711416992695[180] = 0.0; - out_2147512711416992695[181] = 0.0; - out_2147512711416992695[182] = 0.0; - out_2147512711416992695[183] = 0.0; - out_2147512711416992695[184] = 0.0; - out_2147512711416992695[185] = 0.0; - out_2147512711416992695[186] = 0.0; - out_2147512711416992695[187] = 0.0; - out_2147512711416992695[188] = 0.0; - out_2147512711416992695[189] = 0.0; - out_2147512711416992695[190] = 1.0; - out_2147512711416992695[191] = 0.0; - out_2147512711416992695[192] = 0.0; - out_2147512711416992695[193] = 0.0; - out_2147512711416992695[194] = 0.0; - out_2147512711416992695[195] = 0.0; - out_2147512711416992695[196] = 0.0; - out_2147512711416992695[197] = 0.0; - out_2147512711416992695[198] = 0.0; - out_2147512711416992695[199] = 0.0; - out_2147512711416992695[200] = 0.0; - out_2147512711416992695[201] = 0.0; - out_2147512711416992695[202] = 0.0; - out_2147512711416992695[203] = 0.0; - out_2147512711416992695[204] = 0.0; - out_2147512711416992695[205] = 0.0; - out_2147512711416992695[206] = 0.0; - out_2147512711416992695[207] = 0.0; - out_2147512711416992695[208] = 0.0; - out_2147512711416992695[209] = 1.0; - out_2147512711416992695[210] = 0.0; - out_2147512711416992695[211] = 0.0; - out_2147512711416992695[212] = 0.0; - out_2147512711416992695[213] = 0.0; - out_2147512711416992695[214] = 0.0; - out_2147512711416992695[215] = 0.0; - out_2147512711416992695[216] = 0.0; - out_2147512711416992695[217] = 0.0; - out_2147512711416992695[218] = 0.0; - out_2147512711416992695[219] = 0.0; - out_2147512711416992695[220] = 0.0; - out_2147512711416992695[221] = 0.0; - out_2147512711416992695[222] = 0.0; - out_2147512711416992695[223] = 0.0; - out_2147512711416992695[224] = 0.0; - out_2147512711416992695[225] = 0.0; - out_2147512711416992695[226] = 0.0; - out_2147512711416992695[227] = 0.0; - out_2147512711416992695[228] = 1.0; - out_2147512711416992695[229] = 0.0; - out_2147512711416992695[230] = 0.0; - out_2147512711416992695[231] = 0.0; - out_2147512711416992695[232] = 0.0; - out_2147512711416992695[233] = 0.0; - out_2147512711416992695[234] = 0.0; - out_2147512711416992695[235] = 0.0; - out_2147512711416992695[236] = 0.0; - out_2147512711416992695[237] = 0.0; - out_2147512711416992695[238] = 0.0; - out_2147512711416992695[239] = 0.0; - out_2147512711416992695[240] = 0.0; - out_2147512711416992695[241] = 0.0; - out_2147512711416992695[242] = 0.0; - out_2147512711416992695[243] = 0.0; - out_2147512711416992695[244] = 0.0; - out_2147512711416992695[245] = 0.0; - out_2147512711416992695[246] = 0.0; - out_2147512711416992695[247] = 1.0; - out_2147512711416992695[248] = 0.0; - out_2147512711416992695[249] = 0.0; - out_2147512711416992695[250] = 0.0; - out_2147512711416992695[251] = 0.0; - out_2147512711416992695[252] = 0.0; - out_2147512711416992695[253] = 0.0; - out_2147512711416992695[254] = 0.0; - out_2147512711416992695[255] = 0.0; - out_2147512711416992695[256] = 0.0; - out_2147512711416992695[257] = 0.0; - out_2147512711416992695[258] = 0.0; - out_2147512711416992695[259] = 0.0; - out_2147512711416992695[260] = 0.0; - out_2147512711416992695[261] = 0.0; - out_2147512711416992695[262] = 0.0; - out_2147512711416992695[263] = 0.0; - out_2147512711416992695[264] = 0.0; - out_2147512711416992695[265] = 0.0; - out_2147512711416992695[266] = 1.0; - out_2147512711416992695[267] = 0.0; - out_2147512711416992695[268] = 0.0; - out_2147512711416992695[269] = 0.0; - out_2147512711416992695[270] = 0.0; - out_2147512711416992695[271] = 0.0; - out_2147512711416992695[272] = 0.0; - out_2147512711416992695[273] = 0.0; - out_2147512711416992695[274] = 0.0; - out_2147512711416992695[275] = 0.0; - out_2147512711416992695[276] = 0.0; - out_2147512711416992695[277] = 0.0; - out_2147512711416992695[278] = 0.0; - out_2147512711416992695[279] = 0.0; - out_2147512711416992695[280] = 0.0; - out_2147512711416992695[281] = 0.0; - out_2147512711416992695[282] = 0.0; - out_2147512711416992695[283] = 0.0; - out_2147512711416992695[284] = 0.0; - out_2147512711416992695[285] = 1.0; - out_2147512711416992695[286] = 0.0; - out_2147512711416992695[287] = 0.0; - out_2147512711416992695[288] = 0.0; - out_2147512711416992695[289] = 0.0; - out_2147512711416992695[290] = 0.0; - out_2147512711416992695[291] = 0.0; - out_2147512711416992695[292] = 0.0; - out_2147512711416992695[293] = 0.0; - out_2147512711416992695[294] = 0.0; - out_2147512711416992695[295] = 0.0; - out_2147512711416992695[296] = 0.0; - out_2147512711416992695[297] = 0.0; - out_2147512711416992695[298] = 0.0; - out_2147512711416992695[299] = 0.0; - out_2147512711416992695[300] = 0.0; - out_2147512711416992695[301] = 0.0; - out_2147512711416992695[302] = 0.0; - out_2147512711416992695[303] = 0.0; - out_2147512711416992695[304] = 1.0; - out_2147512711416992695[305] = 0.0; - out_2147512711416992695[306] = 0.0; - out_2147512711416992695[307] = 0.0; - out_2147512711416992695[308] = 0.0; - out_2147512711416992695[309] = 0.0; - out_2147512711416992695[310] = 0.0; - out_2147512711416992695[311] = 0.0; - out_2147512711416992695[312] = 0.0; - out_2147512711416992695[313] = 0.0; - out_2147512711416992695[314] = 0.0; - out_2147512711416992695[315] = 0.0; - out_2147512711416992695[316] = 0.0; - out_2147512711416992695[317] = 0.0; - out_2147512711416992695[318] = 0.0; - out_2147512711416992695[319] = 0.0; - out_2147512711416992695[320] = 0.0; - out_2147512711416992695[321] = 0.0; - out_2147512711416992695[322] = 0.0; - out_2147512711416992695[323] = 1.0; +void H_mod_fun(double *state, double *out_7359357434108742810) { + out_7359357434108742810[0] = 1.0; + out_7359357434108742810[1] = 0.0; + out_7359357434108742810[2] = 0.0; + out_7359357434108742810[3] = 0.0; + out_7359357434108742810[4] = 0.0; + out_7359357434108742810[5] = 0.0; + out_7359357434108742810[6] = 0.0; + out_7359357434108742810[7] = 0.0; + out_7359357434108742810[8] = 0.0; + out_7359357434108742810[9] = 0.0; + out_7359357434108742810[10] = 0.0; + out_7359357434108742810[11] = 0.0; + out_7359357434108742810[12] = 0.0; + out_7359357434108742810[13] = 0.0; + out_7359357434108742810[14] = 0.0; + out_7359357434108742810[15] = 0.0; + out_7359357434108742810[16] = 0.0; + out_7359357434108742810[17] = 0.0; + out_7359357434108742810[18] = 0.0; + out_7359357434108742810[19] = 1.0; + out_7359357434108742810[20] = 0.0; + out_7359357434108742810[21] = 0.0; + out_7359357434108742810[22] = 0.0; + out_7359357434108742810[23] = 0.0; + out_7359357434108742810[24] = 0.0; + out_7359357434108742810[25] = 0.0; + out_7359357434108742810[26] = 0.0; + out_7359357434108742810[27] = 0.0; + out_7359357434108742810[28] = 0.0; + out_7359357434108742810[29] = 0.0; + out_7359357434108742810[30] = 0.0; + out_7359357434108742810[31] = 0.0; + out_7359357434108742810[32] = 0.0; + out_7359357434108742810[33] = 0.0; + out_7359357434108742810[34] = 0.0; + out_7359357434108742810[35] = 0.0; + out_7359357434108742810[36] = 0.0; + out_7359357434108742810[37] = 0.0; + out_7359357434108742810[38] = 1.0; + out_7359357434108742810[39] = 0.0; + out_7359357434108742810[40] = 0.0; + out_7359357434108742810[41] = 0.0; + out_7359357434108742810[42] = 0.0; + out_7359357434108742810[43] = 0.0; + out_7359357434108742810[44] = 0.0; + out_7359357434108742810[45] = 0.0; + out_7359357434108742810[46] = 0.0; + out_7359357434108742810[47] = 0.0; + out_7359357434108742810[48] = 0.0; + out_7359357434108742810[49] = 0.0; + out_7359357434108742810[50] = 0.0; + out_7359357434108742810[51] = 0.0; + out_7359357434108742810[52] = 0.0; + out_7359357434108742810[53] = 0.0; + out_7359357434108742810[54] = 0.0; + out_7359357434108742810[55] = 0.0; + out_7359357434108742810[56] = 0.0; + out_7359357434108742810[57] = 1.0; + out_7359357434108742810[58] = 0.0; + out_7359357434108742810[59] = 0.0; + out_7359357434108742810[60] = 0.0; + out_7359357434108742810[61] = 0.0; + out_7359357434108742810[62] = 0.0; + out_7359357434108742810[63] = 0.0; + out_7359357434108742810[64] = 0.0; + out_7359357434108742810[65] = 0.0; + out_7359357434108742810[66] = 0.0; + out_7359357434108742810[67] = 0.0; + out_7359357434108742810[68] = 0.0; + out_7359357434108742810[69] = 0.0; + out_7359357434108742810[70] = 0.0; + out_7359357434108742810[71] = 0.0; + out_7359357434108742810[72] = 0.0; + out_7359357434108742810[73] = 0.0; + out_7359357434108742810[74] = 0.0; + out_7359357434108742810[75] = 0.0; + out_7359357434108742810[76] = 1.0; + out_7359357434108742810[77] = 0.0; + out_7359357434108742810[78] = 0.0; + out_7359357434108742810[79] = 0.0; + out_7359357434108742810[80] = 0.0; + out_7359357434108742810[81] = 0.0; + out_7359357434108742810[82] = 0.0; + out_7359357434108742810[83] = 0.0; + out_7359357434108742810[84] = 0.0; + out_7359357434108742810[85] = 0.0; + out_7359357434108742810[86] = 0.0; + out_7359357434108742810[87] = 0.0; + out_7359357434108742810[88] = 0.0; + out_7359357434108742810[89] = 0.0; + out_7359357434108742810[90] = 0.0; + out_7359357434108742810[91] = 0.0; + out_7359357434108742810[92] = 0.0; + out_7359357434108742810[93] = 0.0; + out_7359357434108742810[94] = 0.0; + out_7359357434108742810[95] = 1.0; + out_7359357434108742810[96] = 0.0; + out_7359357434108742810[97] = 0.0; + out_7359357434108742810[98] = 0.0; + out_7359357434108742810[99] = 0.0; + out_7359357434108742810[100] = 0.0; + out_7359357434108742810[101] = 0.0; + out_7359357434108742810[102] = 0.0; + out_7359357434108742810[103] = 0.0; + out_7359357434108742810[104] = 0.0; + out_7359357434108742810[105] = 0.0; + out_7359357434108742810[106] = 0.0; + out_7359357434108742810[107] = 0.0; + out_7359357434108742810[108] = 0.0; + out_7359357434108742810[109] = 0.0; + out_7359357434108742810[110] = 0.0; + out_7359357434108742810[111] = 0.0; + out_7359357434108742810[112] = 0.0; + out_7359357434108742810[113] = 0.0; + out_7359357434108742810[114] = 1.0; + out_7359357434108742810[115] = 0.0; + out_7359357434108742810[116] = 0.0; + out_7359357434108742810[117] = 0.0; + out_7359357434108742810[118] = 0.0; + out_7359357434108742810[119] = 0.0; + out_7359357434108742810[120] = 0.0; + out_7359357434108742810[121] = 0.0; + out_7359357434108742810[122] = 0.0; + out_7359357434108742810[123] = 0.0; + out_7359357434108742810[124] = 0.0; + out_7359357434108742810[125] = 0.0; + out_7359357434108742810[126] = 0.0; + out_7359357434108742810[127] = 0.0; + out_7359357434108742810[128] = 0.0; + out_7359357434108742810[129] = 0.0; + out_7359357434108742810[130] = 0.0; + out_7359357434108742810[131] = 0.0; + out_7359357434108742810[132] = 0.0; + out_7359357434108742810[133] = 1.0; + out_7359357434108742810[134] = 0.0; + out_7359357434108742810[135] = 0.0; + out_7359357434108742810[136] = 0.0; + out_7359357434108742810[137] = 0.0; + out_7359357434108742810[138] = 0.0; + out_7359357434108742810[139] = 0.0; + out_7359357434108742810[140] = 0.0; + out_7359357434108742810[141] = 0.0; + out_7359357434108742810[142] = 0.0; + out_7359357434108742810[143] = 0.0; + out_7359357434108742810[144] = 0.0; + out_7359357434108742810[145] = 0.0; + out_7359357434108742810[146] = 0.0; + out_7359357434108742810[147] = 0.0; + out_7359357434108742810[148] = 0.0; + out_7359357434108742810[149] = 0.0; + out_7359357434108742810[150] = 0.0; + out_7359357434108742810[151] = 0.0; + out_7359357434108742810[152] = 1.0; + out_7359357434108742810[153] = 0.0; + out_7359357434108742810[154] = 0.0; + out_7359357434108742810[155] = 0.0; + out_7359357434108742810[156] = 0.0; + out_7359357434108742810[157] = 0.0; + out_7359357434108742810[158] = 0.0; + out_7359357434108742810[159] = 0.0; + out_7359357434108742810[160] = 0.0; + out_7359357434108742810[161] = 0.0; + out_7359357434108742810[162] = 0.0; + out_7359357434108742810[163] = 0.0; + out_7359357434108742810[164] = 0.0; + out_7359357434108742810[165] = 0.0; + out_7359357434108742810[166] = 0.0; + out_7359357434108742810[167] = 0.0; + out_7359357434108742810[168] = 0.0; + out_7359357434108742810[169] = 0.0; + out_7359357434108742810[170] = 0.0; + out_7359357434108742810[171] = 1.0; + out_7359357434108742810[172] = 0.0; + out_7359357434108742810[173] = 0.0; + out_7359357434108742810[174] = 0.0; + out_7359357434108742810[175] = 0.0; + out_7359357434108742810[176] = 0.0; + out_7359357434108742810[177] = 0.0; + out_7359357434108742810[178] = 0.0; + out_7359357434108742810[179] = 0.0; + out_7359357434108742810[180] = 0.0; + out_7359357434108742810[181] = 0.0; + out_7359357434108742810[182] = 0.0; + out_7359357434108742810[183] = 0.0; + out_7359357434108742810[184] = 0.0; + out_7359357434108742810[185] = 0.0; + out_7359357434108742810[186] = 0.0; + out_7359357434108742810[187] = 0.0; + out_7359357434108742810[188] = 0.0; + out_7359357434108742810[189] = 0.0; + out_7359357434108742810[190] = 1.0; + out_7359357434108742810[191] = 0.0; + out_7359357434108742810[192] = 0.0; + out_7359357434108742810[193] = 0.0; + out_7359357434108742810[194] = 0.0; + out_7359357434108742810[195] = 0.0; + out_7359357434108742810[196] = 0.0; + out_7359357434108742810[197] = 0.0; + out_7359357434108742810[198] = 0.0; + out_7359357434108742810[199] = 0.0; + out_7359357434108742810[200] = 0.0; + out_7359357434108742810[201] = 0.0; + out_7359357434108742810[202] = 0.0; + out_7359357434108742810[203] = 0.0; + out_7359357434108742810[204] = 0.0; + out_7359357434108742810[205] = 0.0; + out_7359357434108742810[206] = 0.0; + out_7359357434108742810[207] = 0.0; + out_7359357434108742810[208] = 0.0; + out_7359357434108742810[209] = 1.0; + out_7359357434108742810[210] = 0.0; + out_7359357434108742810[211] = 0.0; + out_7359357434108742810[212] = 0.0; + out_7359357434108742810[213] = 0.0; + out_7359357434108742810[214] = 0.0; + out_7359357434108742810[215] = 0.0; + out_7359357434108742810[216] = 0.0; + out_7359357434108742810[217] = 0.0; + out_7359357434108742810[218] = 0.0; + out_7359357434108742810[219] = 0.0; + out_7359357434108742810[220] = 0.0; + out_7359357434108742810[221] = 0.0; + out_7359357434108742810[222] = 0.0; + out_7359357434108742810[223] = 0.0; + out_7359357434108742810[224] = 0.0; + out_7359357434108742810[225] = 0.0; + out_7359357434108742810[226] = 0.0; + out_7359357434108742810[227] = 0.0; + out_7359357434108742810[228] = 1.0; + out_7359357434108742810[229] = 0.0; + out_7359357434108742810[230] = 0.0; + out_7359357434108742810[231] = 0.0; + out_7359357434108742810[232] = 0.0; + out_7359357434108742810[233] = 0.0; + out_7359357434108742810[234] = 0.0; + out_7359357434108742810[235] = 0.0; + out_7359357434108742810[236] = 0.0; + out_7359357434108742810[237] = 0.0; + out_7359357434108742810[238] = 0.0; + out_7359357434108742810[239] = 0.0; + out_7359357434108742810[240] = 0.0; + out_7359357434108742810[241] = 0.0; + out_7359357434108742810[242] = 0.0; + out_7359357434108742810[243] = 0.0; + out_7359357434108742810[244] = 0.0; + out_7359357434108742810[245] = 0.0; + out_7359357434108742810[246] = 0.0; + out_7359357434108742810[247] = 1.0; + out_7359357434108742810[248] = 0.0; + out_7359357434108742810[249] = 0.0; + out_7359357434108742810[250] = 0.0; + out_7359357434108742810[251] = 0.0; + out_7359357434108742810[252] = 0.0; + out_7359357434108742810[253] = 0.0; + out_7359357434108742810[254] = 0.0; + out_7359357434108742810[255] = 0.0; + out_7359357434108742810[256] = 0.0; + out_7359357434108742810[257] = 0.0; + out_7359357434108742810[258] = 0.0; + out_7359357434108742810[259] = 0.0; + out_7359357434108742810[260] = 0.0; + out_7359357434108742810[261] = 0.0; + out_7359357434108742810[262] = 0.0; + out_7359357434108742810[263] = 0.0; + out_7359357434108742810[264] = 0.0; + out_7359357434108742810[265] = 0.0; + out_7359357434108742810[266] = 1.0; + out_7359357434108742810[267] = 0.0; + out_7359357434108742810[268] = 0.0; + out_7359357434108742810[269] = 0.0; + out_7359357434108742810[270] = 0.0; + out_7359357434108742810[271] = 0.0; + out_7359357434108742810[272] = 0.0; + out_7359357434108742810[273] = 0.0; + out_7359357434108742810[274] = 0.0; + out_7359357434108742810[275] = 0.0; + out_7359357434108742810[276] = 0.0; + out_7359357434108742810[277] = 0.0; + out_7359357434108742810[278] = 0.0; + out_7359357434108742810[279] = 0.0; + out_7359357434108742810[280] = 0.0; + out_7359357434108742810[281] = 0.0; + out_7359357434108742810[282] = 0.0; + out_7359357434108742810[283] = 0.0; + out_7359357434108742810[284] = 0.0; + out_7359357434108742810[285] = 1.0; + out_7359357434108742810[286] = 0.0; + out_7359357434108742810[287] = 0.0; + out_7359357434108742810[288] = 0.0; + out_7359357434108742810[289] = 0.0; + out_7359357434108742810[290] = 0.0; + out_7359357434108742810[291] = 0.0; + out_7359357434108742810[292] = 0.0; + out_7359357434108742810[293] = 0.0; + out_7359357434108742810[294] = 0.0; + out_7359357434108742810[295] = 0.0; + out_7359357434108742810[296] = 0.0; + out_7359357434108742810[297] = 0.0; + out_7359357434108742810[298] = 0.0; + out_7359357434108742810[299] = 0.0; + out_7359357434108742810[300] = 0.0; + out_7359357434108742810[301] = 0.0; + out_7359357434108742810[302] = 0.0; + out_7359357434108742810[303] = 0.0; + out_7359357434108742810[304] = 1.0; + out_7359357434108742810[305] = 0.0; + out_7359357434108742810[306] = 0.0; + out_7359357434108742810[307] = 0.0; + out_7359357434108742810[308] = 0.0; + out_7359357434108742810[309] = 0.0; + out_7359357434108742810[310] = 0.0; + out_7359357434108742810[311] = 0.0; + out_7359357434108742810[312] = 0.0; + out_7359357434108742810[313] = 0.0; + out_7359357434108742810[314] = 0.0; + out_7359357434108742810[315] = 0.0; + out_7359357434108742810[316] = 0.0; + out_7359357434108742810[317] = 0.0; + out_7359357434108742810[318] = 0.0; + out_7359357434108742810[319] = 0.0; + out_7359357434108742810[320] = 0.0; + out_7359357434108742810[321] = 0.0; + out_7359357434108742810[322] = 0.0; + out_7359357434108742810[323] = 1.0; } -void f_fun(double *state, double dt, double *out_9076294150866414245) { - out_9076294150866414245[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_9076294150866414245[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_9076294150866414245[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_9076294150866414245[3] = dt*state[12] + state[3]; - out_9076294150866414245[4] = dt*state[13] + state[4]; - out_9076294150866414245[5] = dt*state[14] + state[5]; - out_9076294150866414245[6] = state[6]; - out_9076294150866414245[7] = state[7]; - out_9076294150866414245[8] = state[8]; - out_9076294150866414245[9] = state[9]; - out_9076294150866414245[10] = state[10]; - out_9076294150866414245[11] = state[11]; - out_9076294150866414245[12] = state[12]; - out_9076294150866414245[13] = state[13]; - out_9076294150866414245[14] = state[14]; - out_9076294150866414245[15] = state[15]; - out_9076294150866414245[16] = state[16]; - out_9076294150866414245[17] = state[17]; +void f_fun(double *state, double dt, double *out_729710836783527414) { + out_729710836783527414[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_729710836783527414[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_729710836783527414[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_729710836783527414[3] = dt*state[12] + state[3]; + out_729710836783527414[4] = dt*state[13] + state[4]; + out_729710836783527414[5] = dt*state[14] + state[5]; + out_729710836783527414[6] = state[6]; + out_729710836783527414[7] = state[7]; + out_729710836783527414[8] = state[8]; + out_729710836783527414[9] = state[9]; + out_729710836783527414[10] = state[10]; + out_729710836783527414[11] = state[11]; + out_729710836783527414[12] = state[12]; + out_729710836783527414[13] = state[13]; + out_729710836783527414[14] = state[14]; + out_729710836783527414[15] = state[15]; + out_729710836783527414[16] = state[16]; + out_729710836783527414[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4995496673877862289) { - out_4995496673877862289[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_4995496673877862289[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_4995496673877862289[2] = 0; - out_4995496673877862289[3] = 0; - out_4995496673877862289[4] = 0; - out_4995496673877862289[5] = 0; - out_4995496673877862289[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_4995496673877862289[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_4995496673877862289[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_4995496673877862289[9] = 0; - out_4995496673877862289[10] = 0; - out_4995496673877862289[11] = 0; - out_4995496673877862289[12] = 0; - out_4995496673877862289[13] = 0; - out_4995496673877862289[14] = 0; - out_4995496673877862289[15] = 0; - out_4995496673877862289[16] = 0; - out_4995496673877862289[17] = 0; - out_4995496673877862289[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_4995496673877862289[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_4995496673877862289[20] = 0; - out_4995496673877862289[21] = 0; - out_4995496673877862289[22] = 0; - out_4995496673877862289[23] = 0; - out_4995496673877862289[24] = 0; - out_4995496673877862289[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_4995496673877862289[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_4995496673877862289[27] = 0; - out_4995496673877862289[28] = 0; - out_4995496673877862289[29] = 0; - out_4995496673877862289[30] = 0; - out_4995496673877862289[31] = 0; - out_4995496673877862289[32] = 0; - out_4995496673877862289[33] = 0; - out_4995496673877862289[34] = 0; - out_4995496673877862289[35] = 0; - out_4995496673877862289[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_4995496673877862289[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_4995496673877862289[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_4995496673877862289[39] = 0; - out_4995496673877862289[40] = 0; - out_4995496673877862289[41] = 0; - out_4995496673877862289[42] = 0; - out_4995496673877862289[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_4995496673877862289[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_4995496673877862289[45] = 0; - out_4995496673877862289[46] = 0; - out_4995496673877862289[47] = 0; - out_4995496673877862289[48] = 0; - out_4995496673877862289[49] = 0; - out_4995496673877862289[50] = 0; - out_4995496673877862289[51] = 0; - out_4995496673877862289[52] = 0; - out_4995496673877862289[53] = 0; - out_4995496673877862289[54] = 0; - out_4995496673877862289[55] = 0; - out_4995496673877862289[56] = 0; - out_4995496673877862289[57] = 1; - out_4995496673877862289[58] = 0; - out_4995496673877862289[59] = 0; - out_4995496673877862289[60] = 0; - out_4995496673877862289[61] = 0; - out_4995496673877862289[62] = 0; - out_4995496673877862289[63] = 0; - out_4995496673877862289[64] = 0; - out_4995496673877862289[65] = 0; - out_4995496673877862289[66] = dt; - out_4995496673877862289[67] = 0; - out_4995496673877862289[68] = 0; - out_4995496673877862289[69] = 0; - out_4995496673877862289[70] = 0; - out_4995496673877862289[71] = 0; - out_4995496673877862289[72] = 0; - out_4995496673877862289[73] = 0; - out_4995496673877862289[74] = 0; - out_4995496673877862289[75] = 0; - out_4995496673877862289[76] = 1; - out_4995496673877862289[77] = 0; - out_4995496673877862289[78] = 0; - out_4995496673877862289[79] = 0; - out_4995496673877862289[80] = 0; - out_4995496673877862289[81] = 0; - out_4995496673877862289[82] = 0; - out_4995496673877862289[83] = 0; - out_4995496673877862289[84] = 0; - out_4995496673877862289[85] = dt; - out_4995496673877862289[86] = 0; - out_4995496673877862289[87] = 0; - out_4995496673877862289[88] = 0; - out_4995496673877862289[89] = 0; - out_4995496673877862289[90] = 0; - out_4995496673877862289[91] = 0; - out_4995496673877862289[92] = 0; - out_4995496673877862289[93] = 0; - out_4995496673877862289[94] = 0; - out_4995496673877862289[95] = 1; - out_4995496673877862289[96] = 0; - out_4995496673877862289[97] = 0; - out_4995496673877862289[98] = 0; - out_4995496673877862289[99] = 0; - out_4995496673877862289[100] = 0; - out_4995496673877862289[101] = 0; - out_4995496673877862289[102] = 0; - out_4995496673877862289[103] = 0; - out_4995496673877862289[104] = dt; - out_4995496673877862289[105] = 0; - out_4995496673877862289[106] = 0; - out_4995496673877862289[107] = 0; - out_4995496673877862289[108] = 0; - out_4995496673877862289[109] = 0; - out_4995496673877862289[110] = 0; - out_4995496673877862289[111] = 0; - out_4995496673877862289[112] = 0; - out_4995496673877862289[113] = 0; - out_4995496673877862289[114] = 1; - out_4995496673877862289[115] = 0; - out_4995496673877862289[116] = 0; - out_4995496673877862289[117] = 0; - out_4995496673877862289[118] = 0; - out_4995496673877862289[119] = 0; - out_4995496673877862289[120] = 0; - out_4995496673877862289[121] = 0; - out_4995496673877862289[122] = 0; - out_4995496673877862289[123] = 0; - out_4995496673877862289[124] = 0; - out_4995496673877862289[125] = 0; - out_4995496673877862289[126] = 0; - out_4995496673877862289[127] = 0; - out_4995496673877862289[128] = 0; - out_4995496673877862289[129] = 0; - out_4995496673877862289[130] = 0; - out_4995496673877862289[131] = 0; - out_4995496673877862289[132] = 0; - out_4995496673877862289[133] = 1; - out_4995496673877862289[134] = 0; - out_4995496673877862289[135] = 0; - out_4995496673877862289[136] = 0; - out_4995496673877862289[137] = 0; - out_4995496673877862289[138] = 0; - out_4995496673877862289[139] = 0; - out_4995496673877862289[140] = 0; - out_4995496673877862289[141] = 0; - out_4995496673877862289[142] = 0; - out_4995496673877862289[143] = 0; - out_4995496673877862289[144] = 0; - out_4995496673877862289[145] = 0; - out_4995496673877862289[146] = 0; - out_4995496673877862289[147] = 0; - out_4995496673877862289[148] = 0; - out_4995496673877862289[149] = 0; - out_4995496673877862289[150] = 0; - out_4995496673877862289[151] = 0; - out_4995496673877862289[152] = 1; - out_4995496673877862289[153] = 0; - out_4995496673877862289[154] = 0; - out_4995496673877862289[155] = 0; - out_4995496673877862289[156] = 0; - out_4995496673877862289[157] = 0; - out_4995496673877862289[158] = 0; - out_4995496673877862289[159] = 0; - out_4995496673877862289[160] = 0; - out_4995496673877862289[161] = 0; - out_4995496673877862289[162] = 0; - out_4995496673877862289[163] = 0; - out_4995496673877862289[164] = 0; - out_4995496673877862289[165] = 0; - out_4995496673877862289[166] = 0; - out_4995496673877862289[167] = 0; - out_4995496673877862289[168] = 0; - out_4995496673877862289[169] = 0; - out_4995496673877862289[170] = 0; - out_4995496673877862289[171] = 1; - out_4995496673877862289[172] = 0; - out_4995496673877862289[173] = 0; - out_4995496673877862289[174] = 0; - out_4995496673877862289[175] = 0; - out_4995496673877862289[176] = 0; - out_4995496673877862289[177] = 0; - out_4995496673877862289[178] = 0; - out_4995496673877862289[179] = 0; - out_4995496673877862289[180] = 0; - out_4995496673877862289[181] = 0; - out_4995496673877862289[182] = 0; - out_4995496673877862289[183] = 0; - out_4995496673877862289[184] = 0; - out_4995496673877862289[185] = 0; - out_4995496673877862289[186] = 0; - out_4995496673877862289[187] = 0; - out_4995496673877862289[188] = 0; - out_4995496673877862289[189] = 0; - out_4995496673877862289[190] = 1; - out_4995496673877862289[191] = 0; - out_4995496673877862289[192] = 0; - out_4995496673877862289[193] = 0; - out_4995496673877862289[194] = 0; - out_4995496673877862289[195] = 0; - out_4995496673877862289[196] = 0; - out_4995496673877862289[197] = 0; - out_4995496673877862289[198] = 0; - out_4995496673877862289[199] = 0; - out_4995496673877862289[200] = 0; - out_4995496673877862289[201] = 0; - out_4995496673877862289[202] = 0; - out_4995496673877862289[203] = 0; - out_4995496673877862289[204] = 0; - out_4995496673877862289[205] = 0; - out_4995496673877862289[206] = 0; - out_4995496673877862289[207] = 0; - out_4995496673877862289[208] = 0; - out_4995496673877862289[209] = 1; - out_4995496673877862289[210] = 0; - out_4995496673877862289[211] = 0; - out_4995496673877862289[212] = 0; - out_4995496673877862289[213] = 0; - out_4995496673877862289[214] = 0; - out_4995496673877862289[215] = 0; - out_4995496673877862289[216] = 0; - out_4995496673877862289[217] = 0; - out_4995496673877862289[218] = 0; - out_4995496673877862289[219] = 0; - out_4995496673877862289[220] = 0; - out_4995496673877862289[221] = 0; - out_4995496673877862289[222] = 0; - out_4995496673877862289[223] = 0; - out_4995496673877862289[224] = 0; - out_4995496673877862289[225] = 0; - out_4995496673877862289[226] = 0; - out_4995496673877862289[227] = 0; - out_4995496673877862289[228] = 1; - out_4995496673877862289[229] = 0; - out_4995496673877862289[230] = 0; - out_4995496673877862289[231] = 0; - out_4995496673877862289[232] = 0; - out_4995496673877862289[233] = 0; - out_4995496673877862289[234] = 0; - out_4995496673877862289[235] = 0; - out_4995496673877862289[236] = 0; - out_4995496673877862289[237] = 0; - out_4995496673877862289[238] = 0; - out_4995496673877862289[239] = 0; - out_4995496673877862289[240] = 0; - out_4995496673877862289[241] = 0; - out_4995496673877862289[242] = 0; - out_4995496673877862289[243] = 0; - out_4995496673877862289[244] = 0; - out_4995496673877862289[245] = 0; - out_4995496673877862289[246] = 0; - out_4995496673877862289[247] = 1; - out_4995496673877862289[248] = 0; - out_4995496673877862289[249] = 0; - out_4995496673877862289[250] = 0; - out_4995496673877862289[251] = 0; - out_4995496673877862289[252] = 0; - out_4995496673877862289[253] = 0; - out_4995496673877862289[254] = 0; - out_4995496673877862289[255] = 0; - out_4995496673877862289[256] = 0; - out_4995496673877862289[257] = 0; - out_4995496673877862289[258] = 0; - out_4995496673877862289[259] = 0; - out_4995496673877862289[260] = 0; - out_4995496673877862289[261] = 0; - out_4995496673877862289[262] = 0; - out_4995496673877862289[263] = 0; - out_4995496673877862289[264] = 0; - out_4995496673877862289[265] = 0; - out_4995496673877862289[266] = 1; - out_4995496673877862289[267] = 0; - out_4995496673877862289[268] = 0; - out_4995496673877862289[269] = 0; - out_4995496673877862289[270] = 0; - out_4995496673877862289[271] = 0; - out_4995496673877862289[272] = 0; - out_4995496673877862289[273] = 0; - out_4995496673877862289[274] = 0; - out_4995496673877862289[275] = 0; - out_4995496673877862289[276] = 0; - out_4995496673877862289[277] = 0; - out_4995496673877862289[278] = 0; - out_4995496673877862289[279] = 0; - out_4995496673877862289[280] = 0; - out_4995496673877862289[281] = 0; - out_4995496673877862289[282] = 0; - out_4995496673877862289[283] = 0; - out_4995496673877862289[284] = 0; - out_4995496673877862289[285] = 1; - out_4995496673877862289[286] = 0; - out_4995496673877862289[287] = 0; - out_4995496673877862289[288] = 0; - out_4995496673877862289[289] = 0; - out_4995496673877862289[290] = 0; - out_4995496673877862289[291] = 0; - out_4995496673877862289[292] = 0; - out_4995496673877862289[293] = 0; - out_4995496673877862289[294] = 0; - out_4995496673877862289[295] = 0; - out_4995496673877862289[296] = 0; - out_4995496673877862289[297] = 0; - out_4995496673877862289[298] = 0; - out_4995496673877862289[299] = 0; - out_4995496673877862289[300] = 0; - out_4995496673877862289[301] = 0; - out_4995496673877862289[302] = 0; - out_4995496673877862289[303] = 0; - out_4995496673877862289[304] = 1; - out_4995496673877862289[305] = 0; - out_4995496673877862289[306] = 0; - out_4995496673877862289[307] = 0; - out_4995496673877862289[308] = 0; - out_4995496673877862289[309] = 0; - out_4995496673877862289[310] = 0; - out_4995496673877862289[311] = 0; - out_4995496673877862289[312] = 0; - out_4995496673877862289[313] = 0; - out_4995496673877862289[314] = 0; - out_4995496673877862289[315] = 0; - out_4995496673877862289[316] = 0; - out_4995496673877862289[317] = 0; - out_4995496673877862289[318] = 0; - out_4995496673877862289[319] = 0; - out_4995496673877862289[320] = 0; - out_4995496673877862289[321] = 0; - out_4995496673877862289[322] = 0; - out_4995496673877862289[323] = 1; +void F_fun(double *state, double dt, double *out_8499021045100499940) { + out_8499021045100499940[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_8499021045100499940[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_8499021045100499940[2] = 0; + out_8499021045100499940[3] = 0; + out_8499021045100499940[4] = 0; + out_8499021045100499940[5] = 0; + out_8499021045100499940[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_8499021045100499940[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_8499021045100499940[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8499021045100499940[9] = 0; + out_8499021045100499940[10] = 0; + out_8499021045100499940[11] = 0; + out_8499021045100499940[12] = 0; + out_8499021045100499940[13] = 0; + out_8499021045100499940[14] = 0; + out_8499021045100499940[15] = 0; + out_8499021045100499940[16] = 0; + out_8499021045100499940[17] = 0; + out_8499021045100499940[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8499021045100499940[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_8499021045100499940[20] = 0; + out_8499021045100499940[21] = 0; + out_8499021045100499940[22] = 0; + out_8499021045100499940[23] = 0; + out_8499021045100499940[24] = 0; + out_8499021045100499940[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8499021045100499940[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8499021045100499940[27] = 0; + out_8499021045100499940[28] = 0; + out_8499021045100499940[29] = 0; + out_8499021045100499940[30] = 0; + out_8499021045100499940[31] = 0; + out_8499021045100499940[32] = 0; + out_8499021045100499940[33] = 0; + out_8499021045100499940[34] = 0; + out_8499021045100499940[35] = 0; + out_8499021045100499940[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8499021045100499940[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8499021045100499940[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8499021045100499940[39] = 0; + out_8499021045100499940[40] = 0; + out_8499021045100499940[41] = 0; + out_8499021045100499940[42] = 0; + out_8499021045100499940[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8499021045100499940[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_8499021045100499940[45] = 0; + out_8499021045100499940[46] = 0; + out_8499021045100499940[47] = 0; + out_8499021045100499940[48] = 0; + out_8499021045100499940[49] = 0; + out_8499021045100499940[50] = 0; + out_8499021045100499940[51] = 0; + out_8499021045100499940[52] = 0; + out_8499021045100499940[53] = 0; + out_8499021045100499940[54] = 0; + out_8499021045100499940[55] = 0; + out_8499021045100499940[56] = 0; + out_8499021045100499940[57] = 1; + out_8499021045100499940[58] = 0; + out_8499021045100499940[59] = 0; + out_8499021045100499940[60] = 0; + out_8499021045100499940[61] = 0; + out_8499021045100499940[62] = 0; + out_8499021045100499940[63] = 0; + out_8499021045100499940[64] = 0; + out_8499021045100499940[65] = 0; + out_8499021045100499940[66] = dt; + out_8499021045100499940[67] = 0; + out_8499021045100499940[68] = 0; + out_8499021045100499940[69] = 0; + out_8499021045100499940[70] = 0; + out_8499021045100499940[71] = 0; + out_8499021045100499940[72] = 0; + out_8499021045100499940[73] = 0; + out_8499021045100499940[74] = 0; + out_8499021045100499940[75] = 0; + out_8499021045100499940[76] = 1; + out_8499021045100499940[77] = 0; + out_8499021045100499940[78] = 0; + out_8499021045100499940[79] = 0; + out_8499021045100499940[80] = 0; + out_8499021045100499940[81] = 0; + out_8499021045100499940[82] = 0; + out_8499021045100499940[83] = 0; + out_8499021045100499940[84] = 0; + out_8499021045100499940[85] = dt; + out_8499021045100499940[86] = 0; + out_8499021045100499940[87] = 0; + out_8499021045100499940[88] = 0; + out_8499021045100499940[89] = 0; + out_8499021045100499940[90] = 0; + out_8499021045100499940[91] = 0; + out_8499021045100499940[92] = 0; + out_8499021045100499940[93] = 0; + out_8499021045100499940[94] = 0; + out_8499021045100499940[95] = 1; + out_8499021045100499940[96] = 0; + out_8499021045100499940[97] = 0; + out_8499021045100499940[98] = 0; + out_8499021045100499940[99] = 0; + out_8499021045100499940[100] = 0; + out_8499021045100499940[101] = 0; + out_8499021045100499940[102] = 0; + out_8499021045100499940[103] = 0; + out_8499021045100499940[104] = dt; + out_8499021045100499940[105] = 0; + out_8499021045100499940[106] = 0; + out_8499021045100499940[107] = 0; + out_8499021045100499940[108] = 0; + out_8499021045100499940[109] = 0; + out_8499021045100499940[110] = 0; + out_8499021045100499940[111] = 0; + out_8499021045100499940[112] = 0; + out_8499021045100499940[113] = 0; + out_8499021045100499940[114] = 1; + out_8499021045100499940[115] = 0; + out_8499021045100499940[116] = 0; + out_8499021045100499940[117] = 0; + out_8499021045100499940[118] = 0; + out_8499021045100499940[119] = 0; + out_8499021045100499940[120] = 0; + out_8499021045100499940[121] = 0; + out_8499021045100499940[122] = 0; + out_8499021045100499940[123] = 0; + out_8499021045100499940[124] = 0; + out_8499021045100499940[125] = 0; + out_8499021045100499940[126] = 0; + out_8499021045100499940[127] = 0; + out_8499021045100499940[128] = 0; + out_8499021045100499940[129] = 0; + out_8499021045100499940[130] = 0; + out_8499021045100499940[131] = 0; + out_8499021045100499940[132] = 0; + out_8499021045100499940[133] = 1; + out_8499021045100499940[134] = 0; + out_8499021045100499940[135] = 0; + out_8499021045100499940[136] = 0; + out_8499021045100499940[137] = 0; + out_8499021045100499940[138] = 0; + out_8499021045100499940[139] = 0; + out_8499021045100499940[140] = 0; + out_8499021045100499940[141] = 0; + out_8499021045100499940[142] = 0; + out_8499021045100499940[143] = 0; + out_8499021045100499940[144] = 0; + out_8499021045100499940[145] = 0; + out_8499021045100499940[146] = 0; + out_8499021045100499940[147] = 0; + out_8499021045100499940[148] = 0; + out_8499021045100499940[149] = 0; + out_8499021045100499940[150] = 0; + out_8499021045100499940[151] = 0; + out_8499021045100499940[152] = 1; + out_8499021045100499940[153] = 0; + out_8499021045100499940[154] = 0; + out_8499021045100499940[155] = 0; + out_8499021045100499940[156] = 0; + out_8499021045100499940[157] = 0; + out_8499021045100499940[158] = 0; + out_8499021045100499940[159] = 0; + out_8499021045100499940[160] = 0; + out_8499021045100499940[161] = 0; + out_8499021045100499940[162] = 0; + out_8499021045100499940[163] = 0; + out_8499021045100499940[164] = 0; + out_8499021045100499940[165] = 0; + out_8499021045100499940[166] = 0; + out_8499021045100499940[167] = 0; + out_8499021045100499940[168] = 0; + out_8499021045100499940[169] = 0; + out_8499021045100499940[170] = 0; + out_8499021045100499940[171] = 1; + out_8499021045100499940[172] = 0; + out_8499021045100499940[173] = 0; + out_8499021045100499940[174] = 0; + out_8499021045100499940[175] = 0; + out_8499021045100499940[176] = 0; + out_8499021045100499940[177] = 0; + out_8499021045100499940[178] = 0; + out_8499021045100499940[179] = 0; + out_8499021045100499940[180] = 0; + out_8499021045100499940[181] = 0; + out_8499021045100499940[182] = 0; + out_8499021045100499940[183] = 0; + out_8499021045100499940[184] = 0; + out_8499021045100499940[185] = 0; + out_8499021045100499940[186] = 0; + out_8499021045100499940[187] = 0; + out_8499021045100499940[188] = 0; + out_8499021045100499940[189] = 0; + out_8499021045100499940[190] = 1; + out_8499021045100499940[191] = 0; + out_8499021045100499940[192] = 0; + out_8499021045100499940[193] = 0; + out_8499021045100499940[194] = 0; + out_8499021045100499940[195] = 0; + out_8499021045100499940[196] = 0; + out_8499021045100499940[197] = 0; + out_8499021045100499940[198] = 0; + out_8499021045100499940[199] = 0; + out_8499021045100499940[200] = 0; + out_8499021045100499940[201] = 0; + out_8499021045100499940[202] = 0; + out_8499021045100499940[203] = 0; + out_8499021045100499940[204] = 0; + out_8499021045100499940[205] = 0; + out_8499021045100499940[206] = 0; + out_8499021045100499940[207] = 0; + out_8499021045100499940[208] = 0; + out_8499021045100499940[209] = 1; + out_8499021045100499940[210] = 0; + out_8499021045100499940[211] = 0; + out_8499021045100499940[212] = 0; + out_8499021045100499940[213] = 0; + out_8499021045100499940[214] = 0; + out_8499021045100499940[215] = 0; + out_8499021045100499940[216] = 0; + out_8499021045100499940[217] = 0; + out_8499021045100499940[218] = 0; + out_8499021045100499940[219] = 0; + out_8499021045100499940[220] = 0; + out_8499021045100499940[221] = 0; + out_8499021045100499940[222] = 0; + out_8499021045100499940[223] = 0; + out_8499021045100499940[224] = 0; + out_8499021045100499940[225] = 0; + out_8499021045100499940[226] = 0; + out_8499021045100499940[227] = 0; + out_8499021045100499940[228] = 1; + out_8499021045100499940[229] = 0; + out_8499021045100499940[230] = 0; + out_8499021045100499940[231] = 0; + out_8499021045100499940[232] = 0; + out_8499021045100499940[233] = 0; + out_8499021045100499940[234] = 0; + out_8499021045100499940[235] = 0; + out_8499021045100499940[236] = 0; + out_8499021045100499940[237] = 0; + out_8499021045100499940[238] = 0; + out_8499021045100499940[239] = 0; + out_8499021045100499940[240] = 0; + out_8499021045100499940[241] = 0; + out_8499021045100499940[242] = 0; + out_8499021045100499940[243] = 0; + out_8499021045100499940[244] = 0; + out_8499021045100499940[245] = 0; + out_8499021045100499940[246] = 0; + out_8499021045100499940[247] = 1; + out_8499021045100499940[248] = 0; + out_8499021045100499940[249] = 0; + out_8499021045100499940[250] = 0; + out_8499021045100499940[251] = 0; + out_8499021045100499940[252] = 0; + out_8499021045100499940[253] = 0; + out_8499021045100499940[254] = 0; + out_8499021045100499940[255] = 0; + out_8499021045100499940[256] = 0; + out_8499021045100499940[257] = 0; + out_8499021045100499940[258] = 0; + out_8499021045100499940[259] = 0; + out_8499021045100499940[260] = 0; + out_8499021045100499940[261] = 0; + out_8499021045100499940[262] = 0; + out_8499021045100499940[263] = 0; + out_8499021045100499940[264] = 0; + out_8499021045100499940[265] = 0; + out_8499021045100499940[266] = 1; + out_8499021045100499940[267] = 0; + out_8499021045100499940[268] = 0; + out_8499021045100499940[269] = 0; + out_8499021045100499940[270] = 0; + out_8499021045100499940[271] = 0; + out_8499021045100499940[272] = 0; + out_8499021045100499940[273] = 0; + out_8499021045100499940[274] = 0; + out_8499021045100499940[275] = 0; + out_8499021045100499940[276] = 0; + out_8499021045100499940[277] = 0; + out_8499021045100499940[278] = 0; + out_8499021045100499940[279] = 0; + out_8499021045100499940[280] = 0; + out_8499021045100499940[281] = 0; + out_8499021045100499940[282] = 0; + out_8499021045100499940[283] = 0; + out_8499021045100499940[284] = 0; + out_8499021045100499940[285] = 1; + out_8499021045100499940[286] = 0; + out_8499021045100499940[287] = 0; + out_8499021045100499940[288] = 0; + out_8499021045100499940[289] = 0; + out_8499021045100499940[290] = 0; + out_8499021045100499940[291] = 0; + out_8499021045100499940[292] = 0; + out_8499021045100499940[293] = 0; + out_8499021045100499940[294] = 0; + out_8499021045100499940[295] = 0; + out_8499021045100499940[296] = 0; + out_8499021045100499940[297] = 0; + out_8499021045100499940[298] = 0; + out_8499021045100499940[299] = 0; + out_8499021045100499940[300] = 0; + out_8499021045100499940[301] = 0; + out_8499021045100499940[302] = 0; + out_8499021045100499940[303] = 0; + out_8499021045100499940[304] = 1; + out_8499021045100499940[305] = 0; + out_8499021045100499940[306] = 0; + out_8499021045100499940[307] = 0; + out_8499021045100499940[308] = 0; + out_8499021045100499940[309] = 0; + out_8499021045100499940[310] = 0; + out_8499021045100499940[311] = 0; + out_8499021045100499940[312] = 0; + out_8499021045100499940[313] = 0; + out_8499021045100499940[314] = 0; + out_8499021045100499940[315] = 0; + out_8499021045100499940[316] = 0; + out_8499021045100499940[317] = 0; + out_8499021045100499940[318] = 0; + out_8499021045100499940[319] = 0; + out_8499021045100499940[320] = 0; + out_8499021045100499940[321] = 0; + out_8499021045100499940[322] = 0; + out_8499021045100499940[323] = 1; } -void h_4(double *state, double *unused, double *out_7356118181286553510) { - out_7356118181286553510[0] = state[6] + state[9]; - out_7356118181286553510[1] = state[7] + state[10]; - out_7356118181286553510[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1075969755128808186) { + out_1075969755128808186[0] = state[6] + state[9]; + out_1075969755128808186[1] = state[7] + state[10]; + out_1075969755128808186[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3967211437323289556) { - out_3967211437323289556[0] = 0; - out_3967211437323289556[1] = 0; - out_3967211437323289556[2] = 0; - out_3967211437323289556[3] = 0; - out_3967211437323289556[4] = 0; - out_3967211437323289556[5] = 0; - out_3967211437323289556[6] = 1; - out_3967211437323289556[7] = 0; - out_3967211437323289556[8] = 0; - out_3967211437323289556[9] = 1; - out_3967211437323289556[10] = 0; - out_3967211437323289556[11] = 0; - out_3967211437323289556[12] = 0; - out_3967211437323289556[13] = 0; - out_3967211437323289556[14] = 0; - out_3967211437323289556[15] = 0; - out_3967211437323289556[16] = 0; - out_3967211437323289556[17] = 0; - out_3967211437323289556[18] = 0; - out_3967211437323289556[19] = 0; - out_3967211437323289556[20] = 0; - out_3967211437323289556[21] = 0; - out_3967211437323289556[22] = 0; - out_3967211437323289556[23] = 0; - out_3967211437323289556[24] = 0; - out_3967211437323289556[25] = 1; - out_3967211437323289556[26] = 0; - out_3967211437323289556[27] = 0; - out_3967211437323289556[28] = 1; - out_3967211437323289556[29] = 0; - out_3967211437323289556[30] = 0; - out_3967211437323289556[31] = 0; - out_3967211437323289556[32] = 0; - out_3967211437323289556[33] = 0; - out_3967211437323289556[34] = 0; - out_3967211437323289556[35] = 0; - out_3967211437323289556[36] = 0; - out_3967211437323289556[37] = 0; - out_3967211437323289556[38] = 0; - out_3967211437323289556[39] = 0; - out_3967211437323289556[40] = 0; - out_3967211437323289556[41] = 0; - out_3967211437323289556[42] = 0; - out_3967211437323289556[43] = 0; - out_3967211437323289556[44] = 1; - out_3967211437323289556[45] = 0; - out_3967211437323289556[46] = 0; - out_3967211437323289556[47] = 1; - out_3967211437323289556[48] = 0; - out_3967211437323289556[49] = 0; - out_3967211437323289556[50] = 0; - out_3967211437323289556[51] = 0; - out_3967211437323289556[52] = 0; - out_3967211437323289556[53] = 0; +void H_4(double *state, double *unused, double *out_5239304832848850085) { + out_5239304832848850085[0] = 0; + out_5239304832848850085[1] = 0; + out_5239304832848850085[2] = 0; + out_5239304832848850085[3] = 0; + out_5239304832848850085[4] = 0; + out_5239304832848850085[5] = 0; + out_5239304832848850085[6] = 1; + out_5239304832848850085[7] = 0; + out_5239304832848850085[8] = 0; + out_5239304832848850085[9] = 1; + out_5239304832848850085[10] = 0; + out_5239304832848850085[11] = 0; + out_5239304832848850085[12] = 0; + out_5239304832848850085[13] = 0; + out_5239304832848850085[14] = 0; + out_5239304832848850085[15] = 0; + out_5239304832848850085[16] = 0; + out_5239304832848850085[17] = 0; + out_5239304832848850085[18] = 0; + out_5239304832848850085[19] = 0; + out_5239304832848850085[20] = 0; + out_5239304832848850085[21] = 0; + out_5239304832848850085[22] = 0; + out_5239304832848850085[23] = 0; + out_5239304832848850085[24] = 0; + out_5239304832848850085[25] = 1; + out_5239304832848850085[26] = 0; + out_5239304832848850085[27] = 0; + out_5239304832848850085[28] = 1; + out_5239304832848850085[29] = 0; + out_5239304832848850085[30] = 0; + out_5239304832848850085[31] = 0; + out_5239304832848850085[32] = 0; + out_5239304832848850085[33] = 0; + out_5239304832848850085[34] = 0; + out_5239304832848850085[35] = 0; + out_5239304832848850085[36] = 0; + out_5239304832848850085[37] = 0; + out_5239304832848850085[38] = 0; + out_5239304832848850085[39] = 0; + out_5239304832848850085[40] = 0; + out_5239304832848850085[41] = 0; + out_5239304832848850085[42] = 0; + out_5239304832848850085[43] = 0; + out_5239304832848850085[44] = 1; + out_5239304832848850085[45] = 0; + out_5239304832848850085[46] = 0; + out_5239304832848850085[47] = 1; + out_5239304832848850085[48] = 0; + out_5239304832848850085[49] = 0; + out_5239304832848850085[50] = 0; + out_5239304832848850085[51] = 0; + out_5239304832848850085[52] = 0; + out_5239304832848850085[53] = 0; } -void h_10(double *state, double *unused, double *out_320685202434969677) { - out_320685202434969677[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_320685202434969677[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_320685202434969677[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_4050058798394118968) { + out_4050058798394118968[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_4050058798394118968[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_4050058798394118968[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_156638784834038850) { - out_156638784834038850[0] = 0; - out_156638784834038850[1] = 9.8100000000000005*cos(state[1]); - out_156638784834038850[2] = 0; - out_156638784834038850[3] = 0; - out_156638784834038850[4] = -state[8]; - out_156638784834038850[5] = state[7]; - out_156638784834038850[6] = 0; - out_156638784834038850[7] = state[5]; - out_156638784834038850[8] = -state[4]; - out_156638784834038850[9] = 0; - out_156638784834038850[10] = 0; - out_156638784834038850[11] = 0; - out_156638784834038850[12] = 1; - out_156638784834038850[13] = 0; - out_156638784834038850[14] = 0; - out_156638784834038850[15] = 1; - out_156638784834038850[16] = 0; - out_156638784834038850[17] = 0; - out_156638784834038850[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_156638784834038850[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_156638784834038850[20] = 0; - out_156638784834038850[21] = state[8]; - out_156638784834038850[22] = 0; - out_156638784834038850[23] = -state[6]; - out_156638784834038850[24] = -state[5]; - out_156638784834038850[25] = 0; - out_156638784834038850[26] = state[3]; - out_156638784834038850[27] = 0; - out_156638784834038850[28] = 0; - out_156638784834038850[29] = 0; - out_156638784834038850[30] = 0; - out_156638784834038850[31] = 1; - out_156638784834038850[32] = 0; - out_156638784834038850[33] = 0; - out_156638784834038850[34] = 1; - out_156638784834038850[35] = 0; - out_156638784834038850[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_156638784834038850[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_156638784834038850[38] = 0; - out_156638784834038850[39] = -state[7]; - out_156638784834038850[40] = state[6]; - out_156638784834038850[41] = 0; - out_156638784834038850[42] = state[4]; - out_156638784834038850[43] = -state[3]; - out_156638784834038850[44] = 0; - out_156638784834038850[45] = 0; - out_156638784834038850[46] = 0; - out_156638784834038850[47] = 0; - out_156638784834038850[48] = 0; - out_156638784834038850[49] = 0; - out_156638784834038850[50] = 1; - out_156638784834038850[51] = 0; - out_156638784834038850[52] = 0; - out_156638784834038850[53] = 1; +void H_10(double *state, double *unused, double *out_3614267989921698938) { + out_3614267989921698938[0] = 0; + out_3614267989921698938[1] = 9.8100000000000005*cos(state[1]); + out_3614267989921698938[2] = 0; + out_3614267989921698938[3] = 0; + out_3614267989921698938[4] = -state[8]; + out_3614267989921698938[5] = state[7]; + out_3614267989921698938[6] = 0; + out_3614267989921698938[7] = state[5]; + out_3614267989921698938[8] = -state[4]; + out_3614267989921698938[9] = 0; + out_3614267989921698938[10] = 0; + out_3614267989921698938[11] = 0; + out_3614267989921698938[12] = 1; + out_3614267989921698938[13] = 0; + out_3614267989921698938[14] = 0; + out_3614267989921698938[15] = 1; + out_3614267989921698938[16] = 0; + out_3614267989921698938[17] = 0; + out_3614267989921698938[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3614267989921698938[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3614267989921698938[20] = 0; + out_3614267989921698938[21] = state[8]; + out_3614267989921698938[22] = 0; + out_3614267989921698938[23] = -state[6]; + out_3614267989921698938[24] = -state[5]; + out_3614267989921698938[25] = 0; + out_3614267989921698938[26] = state[3]; + out_3614267989921698938[27] = 0; + out_3614267989921698938[28] = 0; + out_3614267989921698938[29] = 0; + out_3614267989921698938[30] = 0; + out_3614267989921698938[31] = 1; + out_3614267989921698938[32] = 0; + out_3614267989921698938[33] = 0; + out_3614267989921698938[34] = 1; + out_3614267989921698938[35] = 0; + out_3614267989921698938[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3614267989921698938[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3614267989921698938[38] = 0; + out_3614267989921698938[39] = -state[7]; + out_3614267989921698938[40] = state[6]; + out_3614267989921698938[41] = 0; + out_3614267989921698938[42] = state[4]; + out_3614267989921698938[43] = -state[3]; + out_3614267989921698938[44] = 0; + out_3614267989921698938[45] = 0; + out_3614267989921698938[46] = 0; + out_3614267989921698938[47] = 0; + out_3614267989921698938[48] = 0; + out_3614267989921698938[49] = 0; + out_3614267989921698938[50] = 1; + out_3614267989921698938[51] = 0; + out_3614267989921698938[52] = 0; + out_3614267989921698938[53] = 1; } -void h_13(double *state, double *unused, double *out_4281107234856404284) { - out_4281107234856404284[0] = state[3]; - out_4281107234856404284[1] = state[4]; - out_4281107234856404284[2] = state[5]; +void h_13(double *state, double *unused, double *out_9106371473023855959) { + out_9106371473023855959[0] = state[3]; + out_9106371473023855959[1] = state[4]; + out_9106371473023855959[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7800966900625813580) { - out_7800966900625813580[0] = 0; - out_7800966900625813580[1] = 0; - out_7800966900625813580[2] = 0; - out_7800966900625813580[3] = 1; - out_7800966900625813580[4] = 0; - out_7800966900625813580[5] = 0; - out_7800966900625813580[6] = 0; - out_7800966900625813580[7] = 0; - out_7800966900625813580[8] = 0; - out_7800966900625813580[9] = 0; - out_7800966900625813580[10] = 0; - out_7800966900625813580[11] = 0; - out_7800966900625813580[12] = 0; - out_7800966900625813580[13] = 0; - out_7800966900625813580[14] = 0; - out_7800966900625813580[15] = 0; - out_7800966900625813580[16] = 0; - out_7800966900625813580[17] = 0; - out_7800966900625813580[18] = 0; - out_7800966900625813580[19] = 0; - out_7800966900625813580[20] = 0; - out_7800966900625813580[21] = 0; - out_7800966900625813580[22] = 1; - out_7800966900625813580[23] = 0; - out_7800966900625813580[24] = 0; - out_7800966900625813580[25] = 0; - out_7800966900625813580[26] = 0; - out_7800966900625813580[27] = 0; - out_7800966900625813580[28] = 0; - out_7800966900625813580[29] = 0; - out_7800966900625813580[30] = 0; - out_7800966900625813580[31] = 0; - out_7800966900625813580[32] = 0; - out_7800966900625813580[33] = 0; - out_7800966900625813580[34] = 0; - out_7800966900625813580[35] = 0; - out_7800966900625813580[36] = 0; - out_7800966900625813580[37] = 0; - out_7800966900625813580[38] = 0; - out_7800966900625813580[39] = 0; - out_7800966900625813580[40] = 0; - out_7800966900625813580[41] = 1; - out_7800966900625813580[42] = 0; - out_7800966900625813580[43] = 0; - out_7800966900625813580[44] = 0; - out_7800966900625813580[45] = 0; - out_7800966900625813580[46] = 0; - out_7800966900625813580[47] = 0; - out_7800966900625813580[48] = 0; - out_7800966900625813580[49] = 0; - out_7800966900625813580[50] = 0; - out_7800966900625813580[51] = 0; - out_7800966900625813580[52] = 0; - out_7800966900625813580[53] = 0; +void H_13(double *state, double *unused, double *out_8451578658181182886) { + out_8451578658181182886[0] = 0; + out_8451578658181182886[1] = 0; + out_8451578658181182886[2] = 0; + out_8451578658181182886[3] = 1; + out_8451578658181182886[4] = 0; + out_8451578658181182886[5] = 0; + out_8451578658181182886[6] = 0; + out_8451578658181182886[7] = 0; + out_8451578658181182886[8] = 0; + out_8451578658181182886[9] = 0; + out_8451578658181182886[10] = 0; + out_8451578658181182886[11] = 0; + out_8451578658181182886[12] = 0; + out_8451578658181182886[13] = 0; + out_8451578658181182886[14] = 0; + out_8451578658181182886[15] = 0; + out_8451578658181182886[16] = 0; + out_8451578658181182886[17] = 0; + out_8451578658181182886[18] = 0; + out_8451578658181182886[19] = 0; + out_8451578658181182886[20] = 0; + out_8451578658181182886[21] = 0; + out_8451578658181182886[22] = 1; + out_8451578658181182886[23] = 0; + out_8451578658181182886[24] = 0; + out_8451578658181182886[25] = 0; + out_8451578658181182886[26] = 0; + out_8451578658181182886[27] = 0; + out_8451578658181182886[28] = 0; + out_8451578658181182886[29] = 0; + out_8451578658181182886[30] = 0; + out_8451578658181182886[31] = 0; + out_8451578658181182886[32] = 0; + out_8451578658181182886[33] = 0; + out_8451578658181182886[34] = 0; + out_8451578658181182886[35] = 0; + out_8451578658181182886[36] = 0; + out_8451578658181182886[37] = 0; + out_8451578658181182886[38] = 0; + out_8451578658181182886[39] = 0; + out_8451578658181182886[40] = 0; + out_8451578658181182886[41] = 1; + out_8451578658181182886[42] = 0; + out_8451578658181182886[43] = 0; + out_8451578658181182886[44] = 0; + out_8451578658181182886[45] = 0; + out_8451578658181182886[46] = 0; + out_8451578658181182886[47] = 0; + out_8451578658181182886[48] = 0; + out_8451578658181182886[49] = 0; + out_8451578658181182886[50] = 0; + out_8451578658181182886[51] = 0; + out_8451578658181182886[52] = 0; + out_8451578658181182886[53] = 0; } -void h_14(double *state, double *unused, double *out_3917712072833752253) { - out_3917712072833752253[0] = state[6]; - out_3917712072833752253[1] = state[7]; - out_3917712072833752253[2] = state[8]; +void h_14(double *state, double *unused, double *out_4347596682095509082) { + out_4347596682095509082[0] = state[6]; + out_4347596682095509082[1] = state[7]; + out_4347596682095509082[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7049999869618661852) { - out_7049999869618661852[0] = 0; - out_7049999869618661852[1] = 0; - out_7049999869618661852[2] = 0; - out_7049999869618661852[3] = 0; - out_7049999869618661852[4] = 0; - out_7049999869618661852[5] = 0; - out_7049999869618661852[6] = 1; - out_7049999869618661852[7] = 0; - out_7049999869618661852[8] = 0; - out_7049999869618661852[9] = 0; - out_7049999869618661852[10] = 0; - out_7049999869618661852[11] = 0; - out_7049999869618661852[12] = 0; - out_7049999869618661852[13] = 0; - out_7049999869618661852[14] = 0; - out_7049999869618661852[15] = 0; - out_7049999869618661852[16] = 0; - out_7049999869618661852[17] = 0; - out_7049999869618661852[18] = 0; - out_7049999869618661852[19] = 0; - out_7049999869618661852[20] = 0; - out_7049999869618661852[21] = 0; - out_7049999869618661852[22] = 0; - out_7049999869618661852[23] = 0; - out_7049999869618661852[24] = 0; - out_7049999869618661852[25] = 1; - out_7049999869618661852[26] = 0; - out_7049999869618661852[27] = 0; - out_7049999869618661852[28] = 0; - out_7049999869618661852[29] = 0; - out_7049999869618661852[30] = 0; - out_7049999869618661852[31] = 0; - out_7049999869618661852[32] = 0; - out_7049999869618661852[33] = 0; - out_7049999869618661852[34] = 0; - out_7049999869618661852[35] = 0; - out_7049999869618661852[36] = 0; - out_7049999869618661852[37] = 0; - out_7049999869618661852[38] = 0; - out_7049999869618661852[39] = 0; - out_7049999869618661852[40] = 0; - out_7049999869618661852[41] = 0; - out_7049999869618661852[42] = 0; - out_7049999869618661852[43] = 0; - out_7049999869618661852[44] = 1; - out_7049999869618661852[45] = 0; - out_7049999869618661852[46] = 0; - out_7049999869618661852[47] = 0; - out_7049999869618661852[48] = 0; - out_7049999869618661852[49] = 0; - out_7049999869618661852[50] = 0; - out_7049999869618661852[51] = 0; - out_7049999869618661852[52] = 0; - out_7049999869618661852[53] = 0; +void H_14(double *state, double *unused, double *out_9202545689188334614) { + out_9202545689188334614[0] = 0; + out_9202545689188334614[1] = 0; + out_9202545689188334614[2] = 0; + out_9202545689188334614[3] = 0; + out_9202545689188334614[4] = 0; + out_9202545689188334614[5] = 0; + out_9202545689188334614[6] = 1; + out_9202545689188334614[7] = 0; + out_9202545689188334614[8] = 0; + out_9202545689188334614[9] = 0; + out_9202545689188334614[10] = 0; + out_9202545689188334614[11] = 0; + out_9202545689188334614[12] = 0; + out_9202545689188334614[13] = 0; + out_9202545689188334614[14] = 0; + out_9202545689188334614[15] = 0; + out_9202545689188334614[16] = 0; + out_9202545689188334614[17] = 0; + out_9202545689188334614[18] = 0; + out_9202545689188334614[19] = 0; + out_9202545689188334614[20] = 0; + out_9202545689188334614[21] = 0; + out_9202545689188334614[22] = 0; + out_9202545689188334614[23] = 0; + out_9202545689188334614[24] = 0; + out_9202545689188334614[25] = 1; + out_9202545689188334614[26] = 0; + out_9202545689188334614[27] = 0; + out_9202545689188334614[28] = 0; + out_9202545689188334614[29] = 0; + out_9202545689188334614[30] = 0; + out_9202545689188334614[31] = 0; + out_9202545689188334614[32] = 0; + out_9202545689188334614[33] = 0; + out_9202545689188334614[34] = 0; + out_9202545689188334614[35] = 0; + out_9202545689188334614[36] = 0; + out_9202545689188334614[37] = 0; + out_9202545689188334614[38] = 0; + out_9202545689188334614[39] = 0; + out_9202545689188334614[40] = 0; + out_9202545689188334614[41] = 0; + out_9202545689188334614[42] = 0; + out_9202545689188334614[43] = 0; + out_9202545689188334614[44] = 1; + out_9202545689188334614[45] = 0; + out_9202545689188334614[46] = 0; + out_9202545689188334614[47] = 0; + out_9202545689188334614[48] = 0; + out_9202545689188334614[49] = 0; + out_9202545689188334614[50] = 0; + out_9202545689188334614[51] = 0; + out_9202545689188334614[52] = 0; + out_9202545689188334614[53] = 0; } #include #include @@ -1113,44 +1113,44 @@ void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, doub void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14); } -void pose_err_fun(double *nom_x, double *delta_x, double *out_2843212773844661672) { - err_fun(nom_x, delta_x, out_2843212773844661672); +void pose_err_fun(double *nom_x, double *delta_x, double *out_9191542510053319957) { + err_fun(nom_x, delta_x, out_9191542510053319957); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2943105406875713938) { - inv_err_fun(nom_x, true_x, out_2943105406875713938); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3004969772891744590) { + inv_err_fun(nom_x, true_x, out_3004969772891744590); } -void pose_H_mod_fun(double *state, double *out_2147512711416992695) { - H_mod_fun(state, out_2147512711416992695); +void pose_H_mod_fun(double *state, double *out_7359357434108742810) { + H_mod_fun(state, out_7359357434108742810); } -void pose_f_fun(double *state, double dt, double *out_9076294150866414245) { - f_fun(state, dt, out_9076294150866414245); +void pose_f_fun(double *state, double dt, double *out_729710836783527414) { + f_fun(state, dt, out_729710836783527414); } -void pose_F_fun(double *state, double dt, double *out_4995496673877862289) { - F_fun(state, dt, out_4995496673877862289); +void pose_F_fun(double *state, double dt, double *out_8499021045100499940) { + F_fun(state, dt, out_8499021045100499940); } -void pose_h_4(double *state, double *unused, double *out_7356118181286553510) { - h_4(state, unused, out_7356118181286553510); +void pose_h_4(double *state, double *unused, double *out_1075969755128808186) { + h_4(state, unused, out_1075969755128808186); } -void pose_H_4(double *state, double *unused, double *out_3967211437323289556) { - H_4(state, unused, out_3967211437323289556); +void pose_H_4(double *state, double *unused, double *out_5239304832848850085) { + H_4(state, unused, out_5239304832848850085); } -void pose_h_10(double *state, double *unused, double *out_320685202434969677) { - h_10(state, unused, out_320685202434969677); +void pose_h_10(double *state, double *unused, double *out_4050058798394118968) { + h_10(state, unused, out_4050058798394118968); } -void pose_H_10(double *state, double *unused, double *out_156638784834038850) { - H_10(state, unused, out_156638784834038850); +void pose_H_10(double *state, double *unused, double *out_3614267989921698938) { + H_10(state, unused, out_3614267989921698938); } -void pose_h_13(double *state, double *unused, double *out_4281107234856404284) { - h_13(state, unused, out_4281107234856404284); +void pose_h_13(double *state, double *unused, double *out_9106371473023855959) { + h_13(state, unused, out_9106371473023855959); } -void pose_H_13(double *state, double *unused, double *out_7800966900625813580) { - H_13(state, unused, out_7800966900625813580); +void pose_H_13(double *state, double *unused, double *out_8451578658181182886) { + H_13(state, unused, out_8451578658181182886); } -void pose_h_14(double *state, double *unused, double *out_3917712072833752253) { - h_14(state, unused, out_3917712072833752253); +void pose_h_14(double *state, double *unused, double *out_4347596682095509082) { + h_14(state, unused, out_4347596682095509082); } -void pose_H_14(double *state, double *unused, double *out_7049999869618661852) { - H_14(state, unused, out_7049999869618661852); +void pose_H_14(double *state, double *unused, double *out_9202545689188334614) { + H_14(state, unused, out_9202545689188334614); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/pose.h b/selfdrive/locationd/models/generated/pose.h index 9d722376..a85bb844 100644 --- a/selfdrive/locationd/models/generated/pose.h +++ b/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_2843212773844661672); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2943105406875713938); -void pose_H_mod_fun(double *state, double *out_2147512711416992695); -void pose_f_fun(double *state, double dt, double *out_9076294150866414245); -void pose_F_fun(double *state, double dt, double *out_4995496673877862289); -void pose_h_4(double *state, double *unused, double *out_7356118181286553510); -void pose_H_4(double *state, double *unused, double *out_3967211437323289556); -void pose_h_10(double *state, double *unused, double *out_320685202434969677); -void pose_H_10(double *state, double *unused, double *out_156638784834038850); -void pose_h_13(double *state, double *unused, double *out_4281107234856404284); -void pose_H_13(double *state, double *unused, double *out_7800966900625813580); -void pose_h_14(double *state, double *unused, double *out_3917712072833752253); -void pose_H_14(double *state, double *unused, double *out_7049999869618661852); +void pose_err_fun(double *nom_x, double *delta_x, double *out_9191542510053319957); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3004969772891744590); +void pose_H_mod_fun(double *state, double *out_7359357434108742810); +void pose_f_fun(double *state, double dt, double *out_729710836783527414); +void pose_F_fun(double *state, double dt, double *out_8499021045100499940); +void pose_h_4(double *state, double *unused, double *out_1075969755128808186); +void pose_H_4(double *state, double *unused, double *out_5239304832848850085); +void pose_h_10(double *state, double *unused, double *out_4050058798394118968); +void pose_H_10(double *state, double *unused, double *out_3614267989921698938); +void pose_h_13(double *state, double *unused, double *out_9106371473023855959); +void pose_H_13(double *state, double *unused, double *out_8451578658181182886); +void pose_h_14(double *state, double *unused, double *out_4347596682095509082); +void pose_H_14(double *state, double *unused, double *out_9202545689188334614); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 85cc292e..522a009e 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index d4c09ea8..a619857d 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index ac7bd595..ec912efb 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 8f855f98..30374847 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index b81fd416..6a6f04dc 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 80896893..50e4dc6e 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ