Comma Device
1197 lines
68 KiB
C++
1197 lines
68 KiB
C++
#include "pose.h"
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namespace {
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#define DIM 18
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#define EDIM 18
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#define MEDIM 18
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typedef void (*Hfun)(double *, double *, double *);
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const static double MAHA_THRESH_4 = 7.814727903251177;
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const static double MAHA_THRESH_10 = 7.814727903251177;
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const static double MAHA_THRESH_13 = 7.814727903251177;
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const static double MAHA_THRESH_14 = 7.814727903251177;
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/******************************************************************************
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* Code generated with SymPy 1.14.0 *
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* *
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* See http://www.sympy.org/ for more information. *
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_2580540694739946519) {
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out_2580540694739946519[0] = delta_x[0] + nom_x[0];
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out_2580540694739946519[1] = delta_x[1] + nom_x[1];
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out_2580540694739946519[2] = delta_x[2] + nom_x[2];
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out_2580540694739946519[3] = delta_x[3] + nom_x[3];
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out_2580540694739946519[4] = delta_x[4] + nom_x[4];
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out_2580540694739946519[5] = delta_x[5] + nom_x[5];
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out_2580540694739946519[6] = delta_x[6] + nom_x[6];
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out_2580540694739946519[7] = delta_x[7] + nom_x[7];
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out_2580540694739946519[8] = delta_x[8] + nom_x[8];
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out_2580540694739946519[9] = delta_x[9] + nom_x[9];
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out_2580540694739946519[10] = delta_x[10] + nom_x[10];
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out_2580540694739946519[11] = delta_x[11] + nom_x[11];
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out_2580540694739946519[12] = delta_x[12] + nom_x[12];
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out_2580540694739946519[13] = delta_x[13] + nom_x[13];
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out_2580540694739946519[14] = delta_x[14] + nom_x[14];
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out_2580540694739946519[15] = delta_x[15] + nom_x[15];
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out_2580540694739946519[16] = delta_x[16] + nom_x[16];
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out_2580540694739946519[17] = delta_x[17] + nom_x[17];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_5357096832042119822) {
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out_5357096832042119822[0] = -nom_x[0] + true_x[0];
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out_5357096832042119822[1] = -nom_x[1] + true_x[1];
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out_5357096832042119822[2] = -nom_x[2] + true_x[2];
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out_5357096832042119822[3] = -nom_x[3] + true_x[3];
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out_5357096832042119822[4] = -nom_x[4] + true_x[4];
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out_5357096832042119822[5] = -nom_x[5] + true_x[5];
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out_5357096832042119822[6] = -nom_x[6] + true_x[6];
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out_5357096832042119822[7] = -nom_x[7] + true_x[7];
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out_5357096832042119822[8] = -nom_x[8] + true_x[8];
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out_5357096832042119822[9] = -nom_x[9] + true_x[9];
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out_5357096832042119822[10] = -nom_x[10] + true_x[10];
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out_5357096832042119822[11] = -nom_x[11] + true_x[11];
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out_5357096832042119822[12] = -nom_x[12] + true_x[12];
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out_5357096832042119822[13] = -nom_x[13] + true_x[13];
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out_5357096832042119822[14] = -nom_x[14] + true_x[14];
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out_5357096832042119822[15] = -nom_x[15] + true_x[15];
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out_5357096832042119822[16] = -nom_x[16] + true_x[16];
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out_5357096832042119822[17] = -nom_x[17] + true_x[17];
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}
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void H_mod_fun(double *state, double *out_7228847589067930749) {
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out_7228847589067930749[0] = 1.0;
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out_7228847589067930749[1] = 0.0;
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out_7228847589067930749[2] = 0.0;
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out_7228847589067930749[3] = 0.0;
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out_7228847589067930749[4] = 0.0;
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out_7228847589067930749[5] = 0.0;
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out_7228847589067930749[6] = 0.0;
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out_7228847589067930749[7] = 0.0;
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out_7228847589067930749[8] = 0.0;
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out_7228847589067930749[9] = 0.0;
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out_7228847589067930749[10] = 0.0;
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out_7228847589067930749[11] = 0.0;
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out_7228847589067930749[12] = 0.0;
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out_7228847589067930749[13] = 0.0;
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out_7228847589067930749[14] = 0.0;
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out_7228847589067930749[15] = 0.0;
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out_7228847589067930749[16] = 0.0;
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out_7228847589067930749[17] = 0.0;
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out_7228847589067930749[18] = 0.0;
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out_7228847589067930749[19] = 1.0;
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out_7228847589067930749[20] = 0.0;
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out_7228847589067930749[21] = 0.0;
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out_7228847589067930749[22] = 0.0;
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out_7228847589067930749[23] = 0.0;
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out_7228847589067930749[24] = 0.0;
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out_7228847589067930749[25] = 0.0;
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out_7228847589067930749[26] = 0.0;
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out_7228847589067930749[27] = 0.0;
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out_7228847589067930749[28] = 0.0;
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out_7228847589067930749[29] = 0.0;
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out_7228847589067930749[30] = 0.0;
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out_7228847589067930749[31] = 0.0;
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out_7228847589067930749[32] = 0.0;
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out_7228847589067930749[33] = 0.0;
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out_7228847589067930749[34] = 0.0;
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out_7228847589067930749[35] = 0.0;
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out_7228847589067930749[36] = 0.0;
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out_7228847589067930749[37] = 0.0;
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out_7228847589067930749[38] = 1.0;
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out_7228847589067930749[39] = 0.0;
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out_7228847589067930749[40] = 0.0;
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out_7228847589067930749[41] = 0.0;
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out_7228847589067930749[42] = 0.0;
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out_7228847589067930749[43] = 0.0;
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out_7228847589067930749[44] = 0.0;
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out_7228847589067930749[45] = 0.0;
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out_7228847589067930749[46] = 0.0;
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out_7228847589067930749[47] = 0.0;
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out_7228847589067930749[48] = 0.0;
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out_7228847589067930749[49] = 0.0;
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out_7228847589067930749[50] = 0.0;
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out_7228847589067930749[51] = 0.0;
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out_7228847589067930749[52] = 0.0;
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out_7228847589067930749[53] = 0.0;
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out_7228847589067930749[54] = 0.0;
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out_7228847589067930749[55] = 0.0;
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out_7228847589067930749[56] = 0.0;
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out_7228847589067930749[57] = 1.0;
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out_7228847589067930749[58] = 0.0;
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out_7228847589067930749[59] = 0.0;
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out_7228847589067930749[60] = 0.0;
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out_7228847589067930749[61] = 0.0;
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out_7228847589067930749[62] = 0.0;
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out_7228847589067930749[63] = 0.0;
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out_7228847589067930749[64] = 0.0;
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out_7228847589067930749[65] = 0.0;
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out_7228847589067930749[66] = 0.0;
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out_7228847589067930749[67] = 0.0;
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out_7228847589067930749[68] = 0.0;
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out_7228847589067930749[69] = 0.0;
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out_7228847589067930749[70] = 0.0;
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out_7228847589067930749[71] = 0.0;
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out_7228847589067930749[72] = 0.0;
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out_7228847589067930749[73] = 0.0;
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out_7228847589067930749[74] = 0.0;
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out_7228847589067930749[75] = 0.0;
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out_7228847589067930749[76] = 1.0;
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out_7228847589067930749[77] = 0.0;
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out_7228847589067930749[78] = 0.0;
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out_7228847589067930749[79] = 0.0;
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out_7228847589067930749[80] = 0.0;
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out_7228847589067930749[81] = 0.0;
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out_7228847589067930749[82] = 0.0;
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out_7228847589067930749[83] = 0.0;
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out_7228847589067930749[84] = 0.0;
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out_7228847589067930749[85] = 0.0;
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out_7228847589067930749[86] = 0.0;
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out_7228847589067930749[87] = 0.0;
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out_7228847589067930749[88] = 0.0;
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out_7228847589067930749[89] = 0.0;
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out_7228847589067930749[90] = 0.0;
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out_7228847589067930749[91] = 0.0;
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out_7228847589067930749[92] = 0.0;
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out_7228847589067930749[93] = 0.0;
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out_7228847589067930749[94] = 0.0;
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out_7228847589067930749[95] = 1.0;
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out_7228847589067930749[96] = 0.0;
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out_7228847589067930749[97] = 0.0;
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out_7228847589067930749[98] = 0.0;
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out_7228847589067930749[99] = 0.0;
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out_7228847589067930749[100] = 0.0;
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out_7228847589067930749[101] = 0.0;
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out_7228847589067930749[102] = 0.0;
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out_7228847589067930749[103] = 0.0;
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out_7228847589067930749[104] = 0.0;
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out_7228847589067930749[105] = 0.0;
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out_7228847589067930749[106] = 0.0;
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out_7228847589067930749[107] = 0.0;
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out_7228847589067930749[108] = 0.0;
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out_7228847589067930749[109] = 0.0;
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out_7228847589067930749[110] = 0.0;
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out_7228847589067930749[111] = 0.0;
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out_7228847589067930749[112] = 0.0;
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out_7228847589067930749[113] = 0.0;
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out_7228847589067930749[114] = 1.0;
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out_7228847589067930749[115] = 0.0;
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out_7228847589067930749[116] = 0.0;
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out_7228847589067930749[117] = 0.0;
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out_7228847589067930749[118] = 0.0;
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out_7228847589067930749[119] = 0.0;
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out_7228847589067930749[120] = 0.0;
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out_7228847589067930749[121] = 0.0;
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out_7228847589067930749[122] = 0.0;
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out_7228847589067930749[123] = 0.0;
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out_7228847589067930749[124] = 0.0;
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out_7228847589067930749[125] = 0.0;
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out_7228847589067930749[126] = 0.0;
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out_7228847589067930749[127] = 0.0;
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out_7228847589067930749[128] = 0.0;
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out_7228847589067930749[129] = 0.0;
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out_7228847589067930749[130] = 0.0;
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out_7228847589067930749[131] = 0.0;
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out_7228847589067930749[132] = 0.0;
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out_7228847589067930749[133] = 1.0;
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out_7228847589067930749[134] = 0.0;
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out_7228847589067930749[135] = 0.0;
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out_7228847589067930749[136] = 0.0;
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out_7228847589067930749[137] = 0.0;
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out_7228847589067930749[138] = 0.0;
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out_7228847589067930749[139] = 0.0;
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out_7228847589067930749[140] = 0.0;
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out_7228847589067930749[141] = 0.0;
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out_7228847589067930749[142] = 0.0;
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out_7228847589067930749[143] = 0.0;
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out_7228847589067930749[144] = 0.0;
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out_7228847589067930749[145] = 0.0;
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out_7228847589067930749[146] = 0.0;
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out_7228847589067930749[147] = 0.0;
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out_7228847589067930749[148] = 0.0;
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out_7228847589067930749[149] = 0.0;
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out_7228847589067930749[150] = 0.0;
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out_7228847589067930749[151] = 0.0;
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out_7228847589067930749[152] = 1.0;
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out_7228847589067930749[153] = 0.0;
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out_7228847589067930749[154] = 0.0;
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out_7228847589067930749[155] = 0.0;
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out_7228847589067930749[156] = 0.0;
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out_7228847589067930749[157] = 0.0;
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out_7228847589067930749[158] = 0.0;
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out_7228847589067930749[159] = 0.0;
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out_7228847589067930749[160] = 0.0;
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out_7228847589067930749[161] = 0.0;
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out_7228847589067930749[162] = 0.0;
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out_7228847589067930749[163] = 0.0;
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out_7228847589067930749[164] = 0.0;
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out_7228847589067930749[165] = 0.0;
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out_7228847589067930749[166] = 0.0;
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out_7228847589067930749[167] = 0.0;
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out_7228847589067930749[168] = 0.0;
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out_7228847589067930749[169] = 0.0;
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out_7228847589067930749[170] = 0.0;
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out_7228847589067930749[171] = 1.0;
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out_7228847589067930749[172] = 0.0;
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out_7228847589067930749[173] = 0.0;
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out_7228847589067930749[174] = 0.0;
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out_7228847589067930749[175] = 0.0;
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out_7228847589067930749[176] = 0.0;
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out_7228847589067930749[177] = 0.0;
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out_7228847589067930749[178] = 0.0;
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out_7228847589067930749[179] = 0.0;
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out_7228847589067930749[180] = 0.0;
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out_7228847589067930749[181] = 0.0;
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out_7228847589067930749[182] = 0.0;
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out_7228847589067930749[183] = 0.0;
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out_7228847589067930749[184] = 0.0;
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out_7228847589067930749[185] = 0.0;
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out_7228847589067930749[186] = 0.0;
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out_7228847589067930749[187] = 0.0;
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out_7228847589067930749[188] = 0.0;
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out_7228847589067930749[189] = 0.0;
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out_7228847589067930749[190] = 1.0;
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out_7228847589067930749[191] = 0.0;
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out_7228847589067930749[192] = 0.0;
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out_7228847589067930749[193] = 0.0;
|
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out_7228847589067930749[194] = 0.0;
|
|
out_7228847589067930749[195] = 0.0;
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|
out_7228847589067930749[196] = 0.0;
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|
out_7228847589067930749[197] = 0.0;
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|
out_7228847589067930749[198] = 0.0;
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|
out_7228847589067930749[199] = 0.0;
|
|
out_7228847589067930749[200] = 0.0;
|
|
out_7228847589067930749[201] = 0.0;
|
|
out_7228847589067930749[202] = 0.0;
|
|
out_7228847589067930749[203] = 0.0;
|
|
out_7228847589067930749[204] = 0.0;
|
|
out_7228847589067930749[205] = 0.0;
|
|
out_7228847589067930749[206] = 0.0;
|
|
out_7228847589067930749[207] = 0.0;
|
|
out_7228847589067930749[208] = 0.0;
|
|
out_7228847589067930749[209] = 1.0;
|
|
out_7228847589067930749[210] = 0.0;
|
|
out_7228847589067930749[211] = 0.0;
|
|
out_7228847589067930749[212] = 0.0;
|
|
out_7228847589067930749[213] = 0.0;
|
|
out_7228847589067930749[214] = 0.0;
|
|
out_7228847589067930749[215] = 0.0;
|
|
out_7228847589067930749[216] = 0.0;
|
|
out_7228847589067930749[217] = 0.0;
|
|
out_7228847589067930749[218] = 0.0;
|
|
out_7228847589067930749[219] = 0.0;
|
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out_7228847589067930749[220] = 0.0;
|
|
out_7228847589067930749[221] = 0.0;
|
|
out_7228847589067930749[222] = 0.0;
|
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out_7228847589067930749[223] = 0.0;
|
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out_7228847589067930749[224] = 0.0;
|
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out_7228847589067930749[225] = 0.0;
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out_7228847589067930749[226] = 0.0;
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out_7228847589067930749[227] = 0.0;
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out_7228847589067930749[228] = 1.0;
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out_7228847589067930749[229] = 0.0;
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out_7228847589067930749[230] = 0.0;
|
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out_7228847589067930749[231] = 0.0;
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out_7228847589067930749[232] = 0.0;
|
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out_7228847589067930749[233] = 0.0;
|
|
out_7228847589067930749[234] = 0.0;
|
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out_7228847589067930749[235] = 0.0;
|
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out_7228847589067930749[236] = 0.0;
|
|
out_7228847589067930749[237] = 0.0;
|
|
out_7228847589067930749[238] = 0.0;
|
|
out_7228847589067930749[239] = 0.0;
|
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out_7228847589067930749[240] = 0.0;
|
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out_7228847589067930749[241] = 0.0;
|
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out_7228847589067930749[242] = 0.0;
|
|
out_7228847589067930749[243] = 0.0;
|
|
out_7228847589067930749[244] = 0.0;
|
|
out_7228847589067930749[245] = 0.0;
|
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out_7228847589067930749[246] = 0.0;
|
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out_7228847589067930749[247] = 1.0;
|
|
out_7228847589067930749[248] = 0.0;
|
|
out_7228847589067930749[249] = 0.0;
|
|
out_7228847589067930749[250] = 0.0;
|
|
out_7228847589067930749[251] = 0.0;
|
|
out_7228847589067930749[252] = 0.0;
|
|
out_7228847589067930749[253] = 0.0;
|
|
out_7228847589067930749[254] = 0.0;
|
|
out_7228847589067930749[255] = 0.0;
|
|
out_7228847589067930749[256] = 0.0;
|
|
out_7228847589067930749[257] = 0.0;
|
|
out_7228847589067930749[258] = 0.0;
|
|
out_7228847589067930749[259] = 0.0;
|
|
out_7228847589067930749[260] = 0.0;
|
|
out_7228847589067930749[261] = 0.0;
|
|
out_7228847589067930749[262] = 0.0;
|
|
out_7228847589067930749[263] = 0.0;
|
|
out_7228847589067930749[264] = 0.0;
|
|
out_7228847589067930749[265] = 0.0;
|
|
out_7228847589067930749[266] = 1.0;
|
|
out_7228847589067930749[267] = 0.0;
|
|
out_7228847589067930749[268] = 0.0;
|
|
out_7228847589067930749[269] = 0.0;
|
|
out_7228847589067930749[270] = 0.0;
|
|
out_7228847589067930749[271] = 0.0;
|
|
out_7228847589067930749[272] = 0.0;
|
|
out_7228847589067930749[273] = 0.0;
|
|
out_7228847589067930749[274] = 0.0;
|
|
out_7228847589067930749[275] = 0.0;
|
|
out_7228847589067930749[276] = 0.0;
|
|
out_7228847589067930749[277] = 0.0;
|
|
out_7228847589067930749[278] = 0.0;
|
|
out_7228847589067930749[279] = 0.0;
|
|
out_7228847589067930749[280] = 0.0;
|
|
out_7228847589067930749[281] = 0.0;
|
|
out_7228847589067930749[282] = 0.0;
|
|
out_7228847589067930749[283] = 0.0;
|
|
out_7228847589067930749[284] = 0.0;
|
|
out_7228847589067930749[285] = 1.0;
|
|
out_7228847589067930749[286] = 0.0;
|
|
out_7228847589067930749[287] = 0.0;
|
|
out_7228847589067930749[288] = 0.0;
|
|
out_7228847589067930749[289] = 0.0;
|
|
out_7228847589067930749[290] = 0.0;
|
|
out_7228847589067930749[291] = 0.0;
|
|
out_7228847589067930749[292] = 0.0;
|
|
out_7228847589067930749[293] = 0.0;
|
|
out_7228847589067930749[294] = 0.0;
|
|
out_7228847589067930749[295] = 0.0;
|
|
out_7228847589067930749[296] = 0.0;
|
|
out_7228847589067930749[297] = 0.0;
|
|
out_7228847589067930749[298] = 0.0;
|
|
out_7228847589067930749[299] = 0.0;
|
|
out_7228847589067930749[300] = 0.0;
|
|
out_7228847589067930749[301] = 0.0;
|
|
out_7228847589067930749[302] = 0.0;
|
|
out_7228847589067930749[303] = 0.0;
|
|
out_7228847589067930749[304] = 1.0;
|
|
out_7228847589067930749[305] = 0.0;
|
|
out_7228847589067930749[306] = 0.0;
|
|
out_7228847589067930749[307] = 0.0;
|
|
out_7228847589067930749[308] = 0.0;
|
|
out_7228847589067930749[309] = 0.0;
|
|
out_7228847589067930749[310] = 0.0;
|
|
out_7228847589067930749[311] = 0.0;
|
|
out_7228847589067930749[312] = 0.0;
|
|
out_7228847589067930749[313] = 0.0;
|
|
out_7228847589067930749[314] = 0.0;
|
|
out_7228847589067930749[315] = 0.0;
|
|
out_7228847589067930749[316] = 0.0;
|
|
out_7228847589067930749[317] = 0.0;
|
|
out_7228847589067930749[318] = 0.0;
|
|
out_7228847589067930749[319] = 0.0;
|
|
out_7228847589067930749[320] = 0.0;
|
|
out_7228847589067930749[321] = 0.0;
|
|
out_7228847589067930749[322] = 0.0;
|
|
out_7228847589067930749[323] = 1.0;
|
|
}
|
|
void f_fun(double *state, double dt, double *out_8526672508847459198) {
|
|
out_8526672508847459198[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_8526672508847459198[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_8526672508847459198[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_8526672508847459198[3] = dt*state[12] + state[3];
|
|
out_8526672508847459198[4] = dt*state[13] + state[4];
|
|
out_8526672508847459198[5] = dt*state[14] + state[5];
|
|
out_8526672508847459198[6] = state[6];
|
|
out_8526672508847459198[7] = state[7];
|
|
out_8526672508847459198[8] = state[8];
|
|
out_8526672508847459198[9] = state[9];
|
|
out_8526672508847459198[10] = state[10];
|
|
out_8526672508847459198[11] = state[11];
|
|
out_8526672508847459198[12] = state[12];
|
|
out_8526672508847459198[13] = state[13];
|
|
out_8526672508847459198[14] = state[14];
|
|
out_8526672508847459198[15] = state[15];
|
|
out_8526672508847459198[16] = state[16];
|
|
out_8526672508847459198[17] = state[17];
|
|
}
|
|
void F_fun(double *state, double dt, double *out_4769745432950749149) {
|
|
out_4769745432950749149[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_4769745432950749149[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_4769745432950749149[2] = 0;
|
|
out_4769745432950749149[3] = 0;
|
|
out_4769745432950749149[4] = 0;
|
|
out_4769745432950749149[5] = 0;
|
|
out_4769745432950749149[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_4769745432950749149[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_4769745432950749149[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2));
|
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out_4769745432950749149[9] = 0;
|
|
out_4769745432950749149[10] = 0;
|
|
out_4769745432950749149[11] = 0;
|
|
out_4769745432950749149[12] = 0;
|
|
out_4769745432950749149[13] = 0;
|
|
out_4769745432950749149[14] = 0;
|
|
out_4769745432950749149[15] = 0;
|
|
out_4769745432950749149[16] = 0;
|
|
out_4769745432950749149[17] = 0;
|
|
out_4769745432950749149[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
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out_4769745432950749149[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_4769745432950749149[20] = 0;
|
|
out_4769745432950749149[21] = 0;
|
|
out_4769745432950749149[22] = 0;
|
|
out_4769745432950749149[23] = 0;
|
|
out_4769745432950749149[24] = 0;
|
|
out_4769745432950749149[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
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out_4769745432950749149[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2));
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|
out_4769745432950749149[27] = 0;
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|
out_4769745432950749149[28] = 0;
|
|
out_4769745432950749149[29] = 0;
|
|
out_4769745432950749149[30] = 0;
|
|
out_4769745432950749149[31] = 0;
|
|
out_4769745432950749149[32] = 0;
|
|
out_4769745432950749149[33] = 0;
|
|
out_4769745432950749149[34] = 0;
|
|
out_4769745432950749149[35] = 0;
|
|
out_4769745432950749149[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
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out_4769745432950749149[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
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out_4769745432950749149[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
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out_4769745432950749149[39] = 0;
|
|
out_4769745432950749149[40] = 0;
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|
out_4769745432950749149[41] = 0;
|
|
out_4769745432950749149[42] = 0;
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out_4769745432950749149[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
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out_4769745432950749149[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2));
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out_4769745432950749149[45] = 0;
|
|
out_4769745432950749149[46] = 0;
|
|
out_4769745432950749149[47] = 0;
|
|
out_4769745432950749149[48] = 0;
|
|
out_4769745432950749149[49] = 0;
|
|
out_4769745432950749149[50] = 0;
|
|
out_4769745432950749149[51] = 0;
|
|
out_4769745432950749149[52] = 0;
|
|
out_4769745432950749149[53] = 0;
|
|
out_4769745432950749149[54] = 0;
|
|
out_4769745432950749149[55] = 0;
|
|
out_4769745432950749149[56] = 0;
|
|
out_4769745432950749149[57] = 1;
|
|
out_4769745432950749149[58] = 0;
|
|
out_4769745432950749149[59] = 0;
|
|
out_4769745432950749149[60] = 0;
|
|
out_4769745432950749149[61] = 0;
|
|
out_4769745432950749149[62] = 0;
|
|
out_4769745432950749149[63] = 0;
|
|
out_4769745432950749149[64] = 0;
|
|
out_4769745432950749149[65] = 0;
|
|
out_4769745432950749149[66] = dt;
|
|
out_4769745432950749149[67] = 0;
|
|
out_4769745432950749149[68] = 0;
|
|
out_4769745432950749149[69] = 0;
|
|
out_4769745432950749149[70] = 0;
|
|
out_4769745432950749149[71] = 0;
|
|
out_4769745432950749149[72] = 0;
|
|
out_4769745432950749149[73] = 0;
|
|
out_4769745432950749149[74] = 0;
|
|
out_4769745432950749149[75] = 0;
|
|
out_4769745432950749149[76] = 1;
|
|
out_4769745432950749149[77] = 0;
|
|
out_4769745432950749149[78] = 0;
|
|
out_4769745432950749149[79] = 0;
|
|
out_4769745432950749149[80] = 0;
|
|
out_4769745432950749149[81] = 0;
|
|
out_4769745432950749149[82] = 0;
|
|
out_4769745432950749149[83] = 0;
|
|
out_4769745432950749149[84] = 0;
|
|
out_4769745432950749149[85] = dt;
|
|
out_4769745432950749149[86] = 0;
|
|
out_4769745432950749149[87] = 0;
|
|
out_4769745432950749149[88] = 0;
|
|
out_4769745432950749149[89] = 0;
|
|
out_4769745432950749149[90] = 0;
|
|
out_4769745432950749149[91] = 0;
|
|
out_4769745432950749149[92] = 0;
|
|
out_4769745432950749149[93] = 0;
|
|
out_4769745432950749149[94] = 0;
|
|
out_4769745432950749149[95] = 1;
|
|
out_4769745432950749149[96] = 0;
|
|
out_4769745432950749149[97] = 0;
|
|
out_4769745432950749149[98] = 0;
|
|
out_4769745432950749149[99] = 0;
|
|
out_4769745432950749149[100] = 0;
|
|
out_4769745432950749149[101] = 0;
|
|
out_4769745432950749149[102] = 0;
|
|
out_4769745432950749149[103] = 0;
|
|
out_4769745432950749149[104] = dt;
|
|
out_4769745432950749149[105] = 0;
|
|
out_4769745432950749149[106] = 0;
|
|
out_4769745432950749149[107] = 0;
|
|
out_4769745432950749149[108] = 0;
|
|
out_4769745432950749149[109] = 0;
|
|
out_4769745432950749149[110] = 0;
|
|
out_4769745432950749149[111] = 0;
|
|
out_4769745432950749149[112] = 0;
|
|
out_4769745432950749149[113] = 0;
|
|
out_4769745432950749149[114] = 1;
|
|
out_4769745432950749149[115] = 0;
|
|
out_4769745432950749149[116] = 0;
|
|
out_4769745432950749149[117] = 0;
|
|
out_4769745432950749149[118] = 0;
|
|
out_4769745432950749149[119] = 0;
|
|
out_4769745432950749149[120] = 0;
|
|
out_4769745432950749149[121] = 0;
|
|
out_4769745432950749149[122] = 0;
|
|
out_4769745432950749149[123] = 0;
|
|
out_4769745432950749149[124] = 0;
|
|
out_4769745432950749149[125] = 0;
|
|
out_4769745432950749149[126] = 0;
|
|
out_4769745432950749149[127] = 0;
|
|
out_4769745432950749149[128] = 0;
|
|
out_4769745432950749149[129] = 0;
|
|
out_4769745432950749149[130] = 0;
|
|
out_4769745432950749149[131] = 0;
|
|
out_4769745432950749149[132] = 0;
|
|
out_4769745432950749149[133] = 1;
|
|
out_4769745432950749149[134] = 0;
|
|
out_4769745432950749149[135] = 0;
|
|
out_4769745432950749149[136] = 0;
|
|
out_4769745432950749149[137] = 0;
|
|
out_4769745432950749149[138] = 0;
|
|
out_4769745432950749149[139] = 0;
|
|
out_4769745432950749149[140] = 0;
|
|
out_4769745432950749149[141] = 0;
|
|
out_4769745432950749149[142] = 0;
|
|
out_4769745432950749149[143] = 0;
|
|
out_4769745432950749149[144] = 0;
|
|
out_4769745432950749149[145] = 0;
|
|
out_4769745432950749149[146] = 0;
|
|
out_4769745432950749149[147] = 0;
|
|
out_4769745432950749149[148] = 0;
|
|
out_4769745432950749149[149] = 0;
|
|
out_4769745432950749149[150] = 0;
|
|
out_4769745432950749149[151] = 0;
|
|
out_4769745432950749149[152] = 1;
|
|
out_4769745432950749149[153] = 0;
|
|
out_4769745432950749149[154] = 0;
|
|
out_4769745432950749149[155] = 0;
|
|
out_4769745432950749149[156] = 0;
|
|
out_4769745432950749149[157] = 0;
|
|
out_4769745432950749149[158] = 0;
|
|
out_4769745432950749149[159] = 0;
|
|
out_4769745432950749149[160] = 0;
|
|
out_4769745432950749149[161] = 0;
|
|
out_4769745432950749149[162] = 0;
|
|
out_4769745432950749149[163] = 0;
|
|
out_4769745432950749149[164] = 0;
|
|
out_4769745432950749149[165] = 0;
|
|
out_4769745432950749149[166] = 0;
|
|
out_4769745432950749149[167] = 0;
|
|
out_4769745432950749149[168] = 0;
|
|
out_4769745432950749149[169] = 0;
|
|
out_4769745432950749149[170] = 0;
|
|
out_4769745432950749149[171] = 1;
|
|
out_4769745432950749149[172] = 0;
|
|
out_4769745432950749149[173] = 0;
|
|
out_4769745432950749149[174] = 0;
|
|
out_4769745432950749149[175] = 0;
|
|
out_4769745432950749149[176] = 0;
|
|
out_4769745432950749149[177] = 0;
|
|
out_4769745432950749149[178] = 0;
|
|
out_4769745432950749149[179] = 0;
|
|
out_4769745432950749149[180] = 0;
|
|
out_4769745432950749149[181] = 0;
|
|
out_4769745432950749149[182] = 0;
|
|
out_4769745432950749149[183] = 0;
|
|
out_4769745432950749149[184] = 0;
|
|
out_4769745432950749149[185] = 0;
|
|
out_4769745432950749149[186] = 0;
|
|
out_4769745432950749149[187] = 0;
|
|
out_4769745432950749149[188] = 0;
|
|
out_4769745432950749149[189] = 0;
|
|
out_4769745432950749149[190] = 1;
|
|
out_4769745432950749149[191] = 0;
|
|
out_4769745432950749149[192] = 0;
|
|
out_4769745432950749149[193] = 0;
|
|
out_4769745432950749149[194] = 0;
|
|
out_4769745432950749149[195] = 0;
|
|
out_4769745432950749149[196] = 0;
|
|
out_4769745432950749149[197] = 0;
|
|
out_4769745432950749149[198] = 0;
|
|
out_4769745432950749149[199] = 0;
|
|
out_4769745432950749149[200] = 0;
|
|
out_4769745432950749149[201] = 0;
|
|
out_4769745432950749149[202] = 0;
|
|
out_4769745432950749149[203] = 0;
|
|
out_4769745432950749149[204] = 0;
|
|
out_4769745432950749149[205] = 0;
|
|
out_4769745432950749149[206] = 0;
|
|
out_4769745432950749149[207] = 0;
|
|
out_4769745432950749149[208] = 0;
|
|
out_4769745432950749149[209] = 1;
|
|
out_4769745432950749149[210] = 0;
|
|
out_4769745432950749149[211] = 0;
|
|
out_4769745432950749149[212] = 0;
|
|
out_4769745432950749149[213] = 0;
|
|
out_4769745432950749149[214] = 0;
|
|
out_4769745432950749149[215] = 0;
|
|
out_4769745432950749149[216] = 0;
|
|
out_4769745432950749149[217] = 0;
|
|
out_4769745432950749149[218] = 0;
|
|
out_4769745432950749149[219] = 0;
|
|
out_4769745432950749149[220] = 0;
|
|
out_4769745432950749149[221] = 0;
|
|
out_4769745432950749149[222] = 0;
|
|
out_4769745432950749149[223] = 0;
|
|
out_4769745432950749149[224] = 0;
|
|
out_4769745432950749149[225] = 0;
|
|
out_4769745432950749149[226] = 0;
|
|
out_4769745432950749149[227] = 0;
|
|
out_4769745432950749149[228] = 1;
|
|
out_4769745432950749149[229] = 0;
|
|
out_4769745432950749149[230] = 0;
|
|
out_4769745432950749149[231] = 0;
|
|
out_4769745432950749149[232] = 0;
|
|
out_4769745432950749149[233] = 0;
|
|
out_4769745432950749149[234] = 0;
|
|
out_4769745432950749149[235] = 0;
|
|
out_4769745432950749149[236] = 0;
|
|
out_4769745432950749149[237] = 0;
|
|
out_4769745432950749149[238] = 0;
|
|
out_4769745432950749149[239] = 0;
|
|
out_4769745432950749149[240] = 0;
|
|
out_4769745432950749149[241] = 0;
|
|
out_4769745432950749149[242] = 0;
|
|
out_4769745432950749149[243] = 0;
|
|
out_4769745432950749149[244] = 0;
|
|
out_4769745432950749149[245] = 0;
|
|
out_4769745432950749149[246] = 0;
|
|
out_4769745432950749149[247] = 1;
|
|
out_4769745432950749149[248] = 0;
|
|
out_4769745432950749149[249] = 0;
|
|
out_4769745432950749149[250] = 0;
|
|
out_4769745432950749149[251] = 0;
|
|
out_4769745432950749149[252] = 0;
|
|
out_4769745432950749149[253] = 0;
|
|
out_4769745432950749149[254] = 0;
|
|
out_4769745432950749149[255] = 0;
|
|
out_4769745432950749149[256] = 0;
|
|
out_4769745432950749149[257] = 0;
|
|
out_4769745432950749149[258] = 0;
|
|
out_4769745432950749149[259] = 0;
|
|
out_4769745432950749149[260] = 0;
|
|
out_4769745432950749149[261] = 0;
|
|
out_4769745432950749149[262] = 0;
|
|
out_4769745432950749149[263] = 0;
|
|
out_4769745432950749149[264] = 0;
|
|
out_4769745432950749149[265] = 0;
|
|
out_4769745432950749149[266] = 1;
|
|
out_4769745432950749149[267] = 0;
|
|
out_4769745432950749149[268] = 0;
|
|
out_4769745432950749149[269] = 0;
|
|
out_4769745432950749149[270] = 0;
|
|
out_4769745432950749149[271] = 0;
|
|
out_4769745432950749149[272] = 0;
|
|
out_4769745432950749149[273] = 0;
|
|
out_4769745432950749149[274] = 0;
|
|
out_4769745432950749149[275] = 0;
|
|
out_4769745432950749149[276] = 0;
|
|
out_4769745432950749149[277] = 0;
|
|
out_4769745432950749149[278] = 0;
|
|
out_4769745432950749149[279] = 0;
|
|
out_4769745432950749149[280] = 0;
|
|
out_4769745432950749149[281] = 0;
|
|
out_4769745432950749149[282] = 0;
|
|
out_4769745432950749149[283] = 0;
|
|
out_4769745432950749149[284] = 0;
|
|
out_4769745432950749149[285] = 1;
|
|
out_4769745432950749149[286] = 0;
|
|
out_4769745432950749149[287] = 0;
|
|
out_4769745432950749149[288] = 0;
|
|
out_4769745432950749149[289] = 0;
|
|
out_4769745432950749149[290] = 0;
|
|
out_4769745432950749149[291] = 0;
|
|
out_4769745432950749149[292] = 0;
|
|
out_4769745432950749149[293] = 0;
|
|
out_4769745432950749149[294] = 0;
|
|
out_4769745432950749149[295] = 0;
|
|
out_4769745432950749149[296] = 0;
|
|
out_4769745432950749149[297] = 0;
|
|
out_4769745432950749149[298] = 0;
|
|
out_4769745432950749149[299] = 0;
|
|
out_4769745432950749149[300] = 0;
|
|
out_4769745432950749149[301] = 0;
|
|
out_4769745432950749149[302] = 0;
|
|
out_4769745432950749149[303] = 0;
|
|
out_4769745432950749149[304] = 1;
|
|
out_4769745432950749149[305] = 0;
|
|
out_4769745432950749149[306] = 0;
|
|
out_4769745432950749149[307] = 0;
|
|
out_4769745432950749149[308] = 0;
|
|
out_4769745432950749149[309] = 0;
|
|
out_4769745432950749149[310] = 0;
|
|
out_4769745432950749149[311] = 0;
|
|
out_4769745432950749149[312] = 0;
|
|
out_4769745432950749149[313] = 0;
|
|
out_4769745432950749149[314] = 0;
|
|
out_4769745432950749149[315] = 0;
|
|
out_4769745432950749149[316] = 0;
|
|
out_4769745432950749149[317] = 0;
|
|
out_4769745432950749149[318] = 0;
|
|
out_4769745432950749149[319] = 0;
|
|
out_4769745432950749149[320] = 0;
|
|
out_4769745432950749149[321] = 0;
|
|
out_4769745432950749149[322] = 0;
|
|
out_4769745432950749149[323] = 1;
|
|
}
|
|
void h_4(double *state, double *unused, double *out_6566956173213773055) {
|
|
out_6566956173213773055[0] = state[6] + state[9];
|
|
out_6566956173213773055[1] = state[7] + state[10];
|
|
out_6566956173213773055[2] = state[8] + state[11];
|
|
}
|
|
void H_4(double *state, double *unused, double *out_2076329204028850014) {
|
|
out_2076329204028850014[0] = 0;
|
|
out_2076329204028850014[1] = 0;
|
|
out_2076329204028850014[2] = 0;
|
|
out_2076329204028850014[3] = 0;
|
|
out_2076329204028850014[4] = 0;
|
|
out_2076329204028850014[5] = 0;
|
|
out_2076329204028850014[6] = 1;
|
|
out_2076329204028850014[7] = 0;
|
|
out_2076329204028850014[8] = 0;
|
|
out_2076329204028850014[9] = 1;
|
|
out_2076329204028850014[10] = 0;
|
|
out_2076329204028850014[11] = 0;
|
|
out_2076329204028850014[12] = 0;
|
|
out_2076329204028850014[13] = 0;
|
|
out_2076329204028850014[14] = 0;
|
|
out_2076329204028850014[15] = 0;
|
|
out_2076329204028850014[16] = 0;
|
|
out_2076329204028850014[17] = 0;
|
|
out_2076329204028850014[18] = 0;
|
|
out_2076329204028850014[19] = 0;
|
|
out_2076329204028850014[20] = 0;
|
|
out_2076329204028850014[21] = 0;
|
|
out_2076329204028850014[22] = 0;
|
|
out_2076329204028850014[23] = 0;
|
|
out_2076329204028850014[24] = 0;
|
|
out_2076329204028850014[25] = 1;
|
|
out_2076329204028850014[26] = 0;
|
|
out_2076329204028850014[27] = 0;
|
|
out_2076329204028850014[28] = 1;
|
|
out_2076329204028850014[29] = 0;
|
|
out_2076329204028850014[30] = 0;
|
|
out_2076329204028850014[31] = 0;
|
|
out_2076329204028850014[32] = 0;
|
|
out_2076329204028850014[33] = 0;
|
|
out_2076329204028850014[34] = 0;
|
|
out_2076329204028850014[35] = 0;
|
|
out_2076329204028850014[36] = 0;
|
|
out_2076329204028850014[37] = 0;
|
|
out_2076329204028850014[38] = 0;
|
|
out_2076329204028850014[39] = 0;
|
|
out_2076329204028850014[40] = 0;
|
|
out_2076329204028850014[41] = 0;
|
|
out_2076329204028850014[42] = 0;
|
|
out_2076329204028850014[43] = 0;
|
|
out_2076329204028850014[44] = 1;
|
|
out_2076329204028850014[45] = 0;
|
|
out_2076329204028850014[46] = 0;
|
|
out_2076329204028850014[47] = 1;
|
|
out_2076329204028850014[48] = 0;
|
|
out_2076329204028850014[49] = 0;
|
|
out_2076329204028850014[50] = 0;
|
|
out_2076329204028850014[51] = 0;
|
|
out_2076329204028850014[52] = 0;
|
|
out_2076329204028850014[53] = 0;
|
|
}
|
|
void h_10(double *state, double *unused, double *out_6519103870371093687) {
|
|
out_6519103870371093687[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15];
|
|
out_6519103870371093687[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16];
|
|
out_6519103870371093687[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_1454480582190579456) {
|
|
out_1454480582190579456[0] = 0;
|
|
out_1454480582190579456[1] = 9.8100000000000005*cos(state[1]);
|
|
out_1454480582190579456[2] = 0;
|
|
out_1454480582190579456[3] = 0;
|
|
out_1454480582190579456[4] = -state[8];
|
|
out_1454480582190579456[5] = state[7];
|
|
out_1454480582190579456[6] = 0;
|
|
out_1454480582190579456[7] = state[5];
|
|
out_1454480582190579456[8] = -state[4];
|
|
out_1454480582190579456[9] = 0;
|
|
out_1454480582190579456[10] = 0;
|
|
out_1454480582190579456[11] = 0;
|
|
out_1454480582190579456[12] = 1;
|
|
out_1454480582190579456[13] = 0;
|
|
out_1454480582190579456[14] = 0;
|
|
out_1454480582190579456[15] = 1;
|
|
out_1454480582190579456[16] = 0;
|
|
out_1454480582190579456[17] = 0;
|
|
out_1454480582190579456[18] = -9.8100000000000005*cos(state[0])*cos(state[1]);
|
|
out_1454480582190579456[19] = 9.8100000000000005*sin(state[0])*sin(state[1]);
|
|
out_1454480582190579456[20] = 0;
|
|
out_1454480582190579456[21] = state[8];
|
|
out_1454480582190579456[22] = 0;
|
|
out_1454480582190579456[23] = -state[6];
|
|
out_1454480582190579456[24] = -state[5];
|
|
out_1454480582190579456[25] = 0;
|
|
out_1454480582190579456[26] = state[3];
|
|
out_1454480582190579456[27] = 0;
|
|
out_1454480582190579456[28] = 0;
|
|
out_1454480582190579456[29] = 0;
|
|
out_1454480582190579456[30] = 0;
|
|
out_1454480582190579456[31] = 1;
|
|
out_1454480582190579456[32] = 0;
|
|
out_1454480582190579456[33] = 0;
|
|
out_1454480582190579456[34] = 1;
|
|
out_1454480582190579456[35] = 0;
|
|
out_1454480582190579456[36] = 9.8100000000000005*sin(state[0])*cos(state[1]);
|
|
out_1454480582190579456[37] = 9.8100000000000005*sin(state[1])*cos(state[0]);
|
|
out_1454480582190579456[38] = 0;
|
|
out_1454480582190579456[39] = -state[7];
|
|
out_1454480582190579456[40] = state[6];
|
|
out_1454480582190579456[41] = 0;
|
|
out_1454480582190579456[42] = state[4];
|
|
out_1454480582190579456[43] = -state[3];
|
|
out_1454480582190579456[44] = 0;
|
|
out_1454480582190579456[45] = 0;
|
|
out_1454480582190579456[46] = 0;
|
|
out_1454480582190579456[47] = 0;
|
|
out_1454480582190579456[48] = 0;
|
|
out_1454480582190579456[49] = 0;
|
|
out_1454480582190579456[50] = 1;
|
|
out_1454480582190579456[51] = 0;
|
|
out_1454480582190579456[52] = 0;
|
|
out_1454480582190579456[53] = 1;
|
|
}
|
|
void h_13(double *state, double *unused, double *out_8545332083251637040) {
|
|
out_8545332083251637040[0] = state[3];
|
|
out_8545332083251637040[1] = state[4];
|
|
out_8545332083251637040[2] = state[5];
|
|
}
|
|
void H_13(double *state, double *unused, double *out_1135944621303482787) {
|
|
out_1135944621303482787[0] = 0;
|
|
out_1135944621303482787[1] = 0;
|
|
out_1135944621303482787[2] = 0;
|
|
out_1135944621303482787[3] = 1;
|
|
out_1135944621303482787[4] = 0;
|
|
out_1135944621303482787[5] = 0;
|
|
out_1135944621303482787[6] = 0;
|
|
out_1135944621303482787[7] = 0;
|
|
out_1135944621303482787[8] = 0;
|
|
out_1135944621303482787[9] = 0;
|
|
out_1135944621303482787[10] = 0;
|
|
out_1135944621303482787[11] = 0;
|
|
out_1135944621303482787[12] = 0;
|
|
out_1135944621303482787[13] = 0;
|
|
out_1135944621303482787[14] = 0;
|
|
out_1135944621303482787[15] = 0;
|
|
out_1135944621303482787[16] = 0;
|
|
out_1135944621303482787[17] = 0;
|
|
out_1135944621303482787[18] = 0;
|
|
out_1135944621303482787[19] = 0;
|
|
out_1135944621303482787[20] = 0;
|
|
out_1135944621303482787[21] = 0;
|
|
out_1135944621303482787[22] = 1;
|
|
out_1135944621303482787[23] = 0;
|
|
out_1135944621303482787[24] = 0;
|
|
out_1135944621303482787[25] = 0;
|
|
out_1135944621303482787[26] = 0;
|
|
out_1135944621303482787[27] = 0;
|
|
out_1135944621303482787[28] = 0;
|
|
out_1135944621303482787[29] = 0;
|
|
out_1135944621303482787[30] = 0;
|
|
out_1135944621303482787[31] = 0;
|
|
out_1135944621303482787[32] = 0;
|
|
out_1135944621303482787[33] = 0;
|
|
out_1135944621303482787[34] = 0;
|
|
out_1135944621303482787[35] = 0;
|
|
out_1135944621303482787[36] = 0;
|
|
out_1135944621303482787[37] = 0;
|
|
out_1135944621303482787[38] = 0;
|
|
out_1135944621303482787[39] = 0;
|
|
out_1135944621303482787[40] = 0;
|
|
out_1135944621303482787[41] = 1;
|
|
out_1135944621303482787[42] = 0;
|
|
out_1135944621303482787[43] = 0;
|
|
out_1135944621303482787[44] = 0;
|
|
out_1135944621303482787[45] = 0;
|
|
out_1135944621303482787[46] = 0;
|
|
out_1135944621303482787[47] = 0;
|
|
out_1135944621303482787[48] = 0;
|
|
out_1135944621303482787[49] = 0;
|
|
out_1135944621303482787[50] = 0;
|
|
out_1135944621303482787[51] = 0;
|
|
out_1135944621303482787[52] = 0;
|
|
out_1135944621303482787[53] = 0;
|
|
}
|
|
void h_14(double *state, double *unused, double *out_529654494281334242) {
|
|
out_529654494281334242[0] = state[6];
|
|
out_529654494281334242[1] = state[7];
|
|
out_529654494281334242[2] = state[8];
|
|
}
|
|
void H_14(double *state, double *unused, double *out_2511445730673733613) {
|
|
out_2511445730673733613[0] = 0;
|
|
out_2511445730673733613[1] = 0;
|
|
out_2511445730673733613[2] = 0;
|
|
out_2511445730673733613[3] = 0;
|
|
out_2511445730673733613[4] = 0;
|
|
out_2511445730673733613[5] = 0;
|
|
out_2511445730673733613[6] = 1;
|
|
out_2511445730673733613[7] = 0;
|
|
out_2511445730673733613[8] = 0;
|
|
out_2511445730673733613[9] = 0;
|
|
out_2511445730673733613[10] = 0;
|
|
out_2511445730673733613[11] = 0;
|
|
out_2511445730673733613[12] = 0;
|
|
out_2511445730673733613[13] = 0;
|
|
out_2511445730673733613[14] = 0;
|
|
out_2511445730673733613[15] = 0;
|
|
out_2511445730673733613[16] = 0;
|
|
out_2511445730673733613[17] = 0;
|
|
out_2511445730673733613[18] = 0;
|
|
out_2511445730673733613[19] = 0;
|
|
out_2511445730673733613[20] = 0;
|
|
out_2511445730673733613[21] = 0;
|
|
out_2511445730673733613[22] = 0;
|
|
out_2511445730673733613[23] = 0;
|
|
out_2511445730673733613[24] = 0;
|
|
out_2511445730673733613[25] = 1;
|
|
out_2511445730673733613[26] = 0;
|
|
out_2511445730673733613[27] = 0;
|
|
out_2511445730673733613[28] = 0;
|
|
out_2511445730673733613[29] = 0;
|
|
out_2511445730673733613[30] = 0;
|
|
out_2511445730673733613[31] = 0;
|
|
out_2511445730673733613[32] = 0;
|
|
out_2511445730673733613[33] = 0;
|
|
out_2511445730673733613[34] = 0;
|
|
out_2511445730673733613[35] = 0;
|
|
out_2511445730673733613[36] = 0;
|
|
out_2511445730673733613[37] = 0;
|
|
out_2511445730673733613[38] = 0;
|
|
out_2511445730673733613[39] = 0;
|
|
out_2511445730673733613[40] = 0;
|
|
out_2511445730673733613[41] = 0;
|
|
out_2511445730673733613[42] = 0;
|
|
out_2511445730673733613[43] = 0;
|
|
out_2511445730673733613[44] = 1;
|
|
out_2511445730673733613[45] = 0;
|
|
out_2511445730673733613[46] = 0;
|
|
out_2511445730673733613[47] = 0;
|
|
out_2511445730673733613[48] = 0;
|
|
out_2511445730673733613[49] = 0;
|
|
out_2511445730673733613[50] = 0;
|
|
out_2511445730673733613[51] = 0;
|
|
out_2511445730673733613[52] = 0;
|
|
out_2511445730673733613[53] = 0;
|
|
}
|
|
#include <eigen3/Eigen/Dense>
|
|
#include <iostream>
|
|
|
|
typedef Eigen::Matrix<double, DIM, DIM, Eigen::RowMajor> DDM;
|
|
typedef Eigen::Matrix<double, EDIM, EDIM, Eigen::RowMajor> EEM;
|
|
typedef Eigen::Matrix<double, DIM, EDIM, Eigen::RowMajor> DEM;
|
|
|
|
void predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
|
typedef Eigen::Matrix<double, MEDIM, MEDIM, Eigen::RowMajor> RRM;
|
|
|
|
double nx[DIM] = {0};
|
|
double in_F[EDIM*EDIM] = {0};
|
|
|
|
// functions from sympy
|
|
f_fun(in_x, dt, nx);
|
|
F_fun(in_x, dt, in_F);
|
|
|
|
|
|
EEM F(in_F);
|
|
EEM P(in_P);
|
|
EEM Q(in_Q);
|
|
|
|
RRM F_main = F.topLeftCorner(MEDIM, MEDIM);
|
|
P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose();
|
|
P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM);
|
|
P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose();
|
|
|
|
P = P + dt*Q;
|
|
|
|
// copy out state
|
|
memcpy(in_x, nx, DIM * sizeof(double));
|
|
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
|
|
}
|
|
|
|
// note: extra_args dim only correct when null space projecting
|
|
// otherwise 1
|
|
template <int ZDIM, int EADIM, bool MAHA_TEST>
|
|
void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) {
|
|
typedef Eigen::Matrix<double, ZDIM, ZDIM, Eigen::RowMajor> ZZM;
|
|
typedef Eigen::Matrix<double, ZDIM, DIM, Eigen::RowMajor> ZDM;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, EDIM, Eigen::RowMajor> XEM;
|
|
//typedef Eigen::Matrix<double, EDIM, ZDIM, Eigen::RowMajor> EZM;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> X1M;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> XXM;
|
|
|
|
double in_hx[ZDIM] = {0};
|
|
double in_H[ZDIM * DIM] = {0};
|
|
double in_H_mod[EDIM * DIM] = {0};
|
|
double delta_x[EDIM] = {0};
|
|
double x_new[DIM] = {0};
|
|
|
|
|
|
// state x, P
|
|
Eigen::Matrix<double, ZDIM, 1> z(in_z);
|
|
EEM P(in_P);
|
|
ZZM pre_R(in_R);
|
|
|
|
// functions from sympy
|
|
h_fun(in_x, in_ea, in_hx);
|
|
H_fun(in_x, in_ea, in_H);
|
|
ZDM pre_H(in_H);
|
|
|
|
// get y (y = z - hx)
|
|
Eigen::Matrix<double, ZDIM, 1> pre_y(in_hx); pre_y = z - pre_y;
|
|
X1M y; XXM H; XXM R;
|
|
if (Hea_fun){
|
|
typedef Eigen::Matrix<double, ZDIM, EADIM, Eigen::RowMajor> ZAM;
|
|
double in_Hea[ZDIM * EADIM] = {0};
|
|
Hea_fun(in_x, in_ea, in_Hea);
|
|
ZAM Hea(in_Hea);
|
|
XXM A = Hea.transpose().fullPivLu().kernel();
|
|
|
|
|
|
y = A.transpose() * pre_y;
|
|
H = A.transpose() * pre_H;
|
|
R = A.transpose() * pre_R * A;
|
|
} else {
|
|
y = pre_y;
|
|
H = pre_H;
|
|
R = pre_R;
|
|
}
|
|
// get modified H
|
|
H_mod_fun(in_x, in_H_mod);
|
|
DEM H_mod(in_H_mod);
|
|
XEM H_err = H * H_mod;
|
|
|
|
// Do mahalobis distance test
|
|
if (MAHA_TEST){
|
|
XXM a = (H_err * P * H_err.transpose() + R).inverse();
|
|
double maha_dist = y.transpose() * a * y;
|
|
if (maha_dist > MAHA_THRESHOLD){
|
|
R = 1.0e16 * R;
|
|
}
|
|
}
|
|
|
|
// Outlier resilient weighting
|
|
double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum());
|
|
|
|
// kalman gains and I_KH
|
|
XXM S = ((H_err * P) * H_err.transpose()) + R/weight;
|
|
XEM KT = S.fullPivLu().solve(H_err * P.transpose());
|
|
//EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE?
|
|
//EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose();
|
|
//std::cout << "Here is the matrix rot:\n" << K << std::endl;
|
|
EEM I_KH = Eigen::Matrix<double, EDIM, EDIM>::Identity() - (KT.transpose() * H_err);
|
|
|
|
// update state by injecting dx
|
|
Eigen::Matrix<double, EDIM, 1> dx(delta_x);
|
|
dx = (KT.transpose() * y);
|
|
memcpy(delta_x, dx.data(), EDIM * sizeof(double));
|
|
err_fun(in_x, delta_x, x_new);
|
|
Eigen::Matrix<double, DIM, 1> x(x_new);
|
|
|
|
// update cov
|
|
P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT);
|
|
|
|
// copy out state
|
|
memcpy(in_x, x.data(), DIM * sizeof(double));
|
|
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
|
|
memcpy(in_z, y.data(), y.rows() * sizeof(double));
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
extern "C" {
|
|
|
|
void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_4, H_4, NULL, in_z, in_R, in_ea, MAHA_THRESH_4);
|
|
}
|
|
void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_10, H_10, NULL, in_z, in_R, in_ea, MAHA_THRESH_10);
|
|
}
|
|
void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_13, H_13, NULL, in_z, in_R, in_ea, MAHA_THRESH_13);
|
|
}
|
|
void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14);
|
|
}
|
|
void pose_err_fun(double *nom_x, double *delta_x, double *out_2580540694739946519) {
|
|
err_fun(nom_x, delta_x, out_2580540694739946519);
|
|
}
|
|
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5357096832042119822) {
|
|
inv_err_fun(nom_x, true_x, out_5357096832042119822);
|
|
}
|
|
void pose_H_mod_fun(double *state, double *out_7228847589067930749) {
|
|
H_mod_fun(state, out_7228847589067930749);
|
|
}
|
|
void pose_f_fun(double *state, double dt, double *out_8526672508847459198) {
|
|
f_fun(state, dt, out_8526672508847459198);
|
|
}
|
|
void pose_F_fun(double *state, double dt, double *out_4769745432950749149) {
|
|
F_fun(state, dt, out_4769745432950749149);
|
|
}
|
|
void pose_h_4(double *state, double *unused, double *out_6566956173213773055) {
|
|
h_4(state, unused, out_6566956173213773055);
|
|
}
|
|
void pose_H_4(double *state, double *unused, double *out_2076329204028850014) {
|
|
H_4(state, unused, out_2076329204028850014);
|
|
}
|
|
void pose_h_10(double *state, double *unused, double *out_6519103870371093687) {
|
|
h_10(state, unused, out_6519103870371093687);
|
|
}
|
|
void pose_H_10(double *state, double *unused, double *out_1454480582190579456) {
|
|
H_10(state, unused, out_1454480582190579456);
|
|
}
|
|
void pose_h_13(double *state, double *unused, double *out_8545332083251637040) {
|
|
h_13(state, unused, out_8545332083251637040);
|
|
}
|
|
void pose_H_13(double *state, double *unused, double *out_1135944621303482787) {
|
|
H_13(state, unused, out_1135944621303482787);
|
|
}
|
|
void pose_h_14(double *state, double *unused, double *out_529654494281334242) {
|
|
h_14(state, unused, out_529654494281334242);
|
|
}
|
|
void pose_H_14(double *state, double *unused, double *out_2511445730673733613) {
|
|
H_14(state, unused, out_2511445730673733613);
|
|
}
|
|
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
|
predict(in_x, in_P, in_Q, dt);
|
|
}
|
|
}
|
|
|
|
const EKF pose = {
|
|
.name = "pose",
|
|
.kinds = { 4, 10, 13, 14 },
|
|
.feature_kinds = { },
|
|
.f_fun = pose_f_fun,
|
|
.F_fun = pose_F_fun,
|
|
.err_fun = pose_err_fun,
|
|
.inv_err_fun = pose_inv_err_fun,
|
|
.H_mod_fun = pose_H_mod_fun,
|
|
.predict = pose_predict,
|
|
.hs = {
|
|
{ 4, pose_h_4 },
|
|
{ 10, pose_h_10 },
|
|
{ 13, pose_h_13 },
|
|
{ 14, pose_h_14 },
|
|
},
|
|
.Hs = {
|
|
{ 4, pose_H_4 },
|
|
{ 10, pose_H_10 },
|
|
{ 13, pose_H_13 },
|
|
{ 14, pose_H_14 },
|
|
},
|
|
.updates = {
|
|
{ 4, pose_update_4 },
|
|
{ 10, pose_update_10 },
|
|
{ 13, pose_update_13 },
|
|
{ 14, pose_update_14 },
|
|
},
|
|
.Hes = {
|
|
},
|
|
.sets = {
|
|
},
|
|
.extra_routines = {
|
|
},
|
|
};
|
|
|
|
ekf_lib_init(pose)
|