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a/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf and b/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 648ac0c2a6..8c39b78117 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-1db1ff9b-DEBUG \ No newline at end of file +DEV-d3ec77b0-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index b1935d20ca..1f24760bed 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_5552049021186220575) { - out_5552049021186220575[0] = delta_x[0] + nom_x[0]; - out_5552049021186220575[1] = delta_x[1] + nom_x[1]; - out_5552049021186220575[2] = delta_x[2] + nom_x[2]; - out_5552049021186220575[3] = delta_x[3] + nom_x[3]; - out_5552049021186220575[4] = delta_x[4] + nom_x[4]; - out_5552049021186220575[5] = delta_x[5] + nom_x[5]; - out_5552049021186220575[6] = delta_x[6] + nom_x[6]; - out_5552049021186220575[7] = delta_x[7] + nom_x[7]; - out_5552049021186220575[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5579271098234299589) { + out_5579271098234299589[0] = delta_x[0] + nom_x[0]; + out_5579271098234299589[1] = delta_x[1] + nom_x[1]; + out_5579271098234299589[2] = delta_x[2] + nom_x[2]; + out_5579271098234299589[3] = delta_x[3] + nom_x[3]; + out_5579271098234299589[4] = delta_x[4] + nom_x[4]; + out_5579271098234299589[5] = delta_x[5] + nom_x[5]; + out_5579271098234299589[6] = delta_x[6] + nom_x[6]; + out_5579271098234299589[7] = delta_x[7] + nom_x[7]; + out_5579271098234299589[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_590150806491182217) { - out_590150806491182217[0] = -nom_x[0] + true_x[0]; - out_590150806491182217[1] = -nom_x[1] + true_x[1]; - out_590150806491182217[2] = -nom_x[2] + true_x[2]; - out_590150806491182217[3] = -nom_x[3] + true_x[3]; - out_590150806491182217[4] = -nom_x[4] + true_x[4]; - out_590150806491182217[5] = -nom_x[5] + true_x[5]; - out_590150806491182217[6] = -nom_x[6] + true_x[6]; - out_590150806491182217[7] = -nom_x[7] + true_x[7]; - out_590150806491182217[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8879118943542071452) { + out_8879118943542071452[0] = -nom_x[0] + true_x[0]; + out_8879118943542071452[1] = -nom_x[1] + true_x[1]; + out_8879118943542071452[2] = -nom_x[2] + true_x[2]; + out_8879118943542071452[3] = -nom_x[3] + true_x[3]; + out_8879118943542071452[4] = -nom_x[4] + true_x[4]; + out_8879118943542071452[5] = -nom_x[5] + true_x[5]; + out_8879118943542071452[6] = -nom_x[6] + true_x[6]; + out_8879118943542071452[7] = -nom_x[7] + true_x[7]; + out_8879118943542071452[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_462982770310503507) { - out_462982770310503507[0] = 1.0; - out_462982770310503507[1] = 0.0; - out_462982770310503507[2] = 0.0; - out_462982770310503507[3] = 0.0; - out_462982770310503507[4] = 0.0; - out_462982770310503507[5] = 0.0; - out_462982770310503507[6] = 0.0; - out_462982770310503507[7] = 0.0; - out_462982770310503507[8] = 0.0; - out_462982770310503507[9] = 0.0; - out_462982770310503507[10] = 1.0; - out_462982770310503507[11] = 0.0; - out_462982770310503507[12] = 0.0; - out_462982770310503507[13] = 0.0; - out_462982770310503507[14] = 0.0; - out_462982770310503507[15] = 0.0; - out_462982770310503507[16] = 0.0; - out_462982770310503507[17] = 0.0; - out_462982770310503507[18] = 0.0; - out_462982770310503507[19] = 0.0; - out_462982770310503507[20] = 1.0; - out_462982770310503507[21] = 0.0; - out_462982770310503507[22] = 0.0; - out_462982770310503507[23] = 0.0; - out_462982770310503507[24] = 0.0; - out_462982770310503507[25] = 0.0; - out_462982770310503507[26] = 0.0; - out_462982770310503507[27] = 0.0; - out_462982770310503507[28] = 0.0; - out_462982770310503507[29] = 0.0; - out_462982770310503507[30] = 1.0; - out_462982770310503507[31] = 0.0; - out_462982770310503507[32] = 0.0; - out_462982770310503507[33] = 0.0; - out_462982770310503507[34] = 0.0; - out_462982770310503507[35] = 0.0; - out_462982770310503507[36] = 0.0; - out_462982770310503507[37] = 0.0; - out_462982770310503507[38] = 0.0; - out_462982770310503507[39] = 0.0; - out_462982770310503507[40] = 1.0; - out_462982770310503507[41] = 0.0; - out_462982770310503507[42] = 0.0; - out_462982770310503507[43] = 0.0; - out_462982770310503507[44] = 0.0; - out_462982770310503507[45] = 0.0; - out_462982770310503507[46] = 0.0; - out_462982770310503507[47] = 0.0; - out_462982770310503507[48] = 0.0; - out_462982770310503507[49] = 0.0; - out_462982770310503507[50] = 1.0; - out_462982770310503507[51] = 0.0; - out_462982770310503507[52] = 0.0; - out_462982770310503507[53] = 0.0; - out_462982770310503507[54] = 0.0; - out_462982770310503507[55] = 0.0; - out_462982770310503507[56] = 0.0; - out_462982770310503507[57] = 0.0; - out_462982770310503507[58] = 0.0; - out_462982770310503507[59] = 0.0; - out_462982770310503507[60] = 1.0; - out_462982770310503507[61] = 0.0; - out_462982770310503507[62] = 0.0; - out_462982770310503507[63] = 0.0; - out_462982770310503507[64] = 0.0; - out_462982770310503507[65] = 0.0; - out_462982770310503507[66] = 0.0; - out_462982770310503507[67] = 0.0; - out_462982770310503507[68] = 0.0; - out_462982770310503507[69] = 0.0; - out_462982770310503507[70] = 1.0; - out_462982770310503507[71] = 0.0; - out_462982770310503507[72] = 0.0; - out_462982770310503507[73] = 0.0; - out_462982770310503507[74] = 0.0; - out_462982770310503507[75] = 0.0; - out_462982770310503507[76] = 0.0; - out_462982770310503507[77] = 0.0; - out_462982770310503507[78] = 0.0; - out_462982770310503507[79] = 0.0; - out_462982770310503507[80] = 1.0; +void H_mod_fun(double *state, double *out_4346759063564356553) { + out_4346759063564356553[0] = 1.0; + out_4346759063564356553[1] = 0.0; + out_4346759063564356553[2] = 0.0; + out_4346759063564356553[3] = 0.0; + out_4346759063564356553[4] = 0.0; + out_4346759063564356553[5] = 0.0; + out_4346759063564356553[6] = 0.0; + out_4346759063564356553[7] = 0.0; + out_4346759063564356553[8] = 0.0; + out_4346759063564356553[9] = 0.0; + out_4346759063564356553[10] = 1.0; + out_4346759063564356553[11] = 0.0; + out_4346759063564356553[12] = 0.0; + out_4346759063564356553[13] = 0.0; + out_4346759063564356553[14] = 0.0; + out_4346759063564356553[15] = 0.0; + out_4346759063564356553[16] = 0.0; + out_4346759063564356553[17] = 0.0; + out_4346759063564356553[18] = 0.0; + out_4346759063564356553[19] = 0.0; + out_4346759063564356553[20] = 1.0; + out_4346759063564356553[21] = 0.0; + out_4346759063564356553[22] = 0.0; + out_4346759063564356553[23] = 0.0; + out_4346759063564356553[24] = 0.0; + out_4346759063564356553[25] = 0.0; + out_4346759063564356553[26] = 0.0; + out_4346759063564356553[27] = 0.0; + out_4346759063564356553[28] = 0.0; + out_4346759063564356553[29] = 0.0; + out_4346759063564356553[30] = 1.0; + out_4346759063564356553[31] = 0.0; + out_4346759063564356553[32] = 0.0; + out_4346759063564356553[33] = 0.0; + out_4346759063564356553[34] = 0.0; + out_4346759063564356553[35] = 0.0; + out_4346759063564356553[36] = 0.0; + out_4346759063564356553[37] = 0.0; + out_4346759063564356553[38] = 0.0; + out_4346759063564356553[39] = 0.0; + out_4346759063564356553[40] = 1.0; + out_4346759063564356553[41] = 0.0; + out_4346759063564356553[42] = 0.0; + out_4346759063564356553[43] = 0.0; + out_4346759063564356553[44] = 0.0; + out_4346759063564356553[45] = 0.0; + out_4346759063564356553[46] = 0.0; + out_4346759063564356553[47] = 0.0; + out_4346759063564356553[48] = 0.0; + out_4346759063564356553[49] = 0.0; + out_4346759063564356553[50] = 1.0; + out_4346759063564356553[51] = 0.0; + out_4346759063564356553[52] = 0.0; + out_4346759063564356553[53] = 0.0; + out_4346759063564356553[54] = 0.0; + out_4346759063564356553[55] = 0.0; + out_4346759063564356553[56] = 0.0; + out_4346759063564356553[57] = 0.0; + out_4346759063564356553[58] = 0.0; + out_4346759063564356553[59] = 0.0; + out_4346759063564356553[60] = 1.0; + out_4346759063564356553[61] = 0.0; + out_4346759063564356553[62] = 0.0; + out_4346759063564356553[63] = 0.0; + out_4346759063564356553[64] = 0.0; + out_4346759063564356553[65] = 0.0; + out_4346759063564356553[66] = 0.0; + out_4346759063564356553[67] = 0.0; + out_4346759063564356553[68] = 0.0; + out_4346759063564356553[69] = 0.0; + out_4346759063564356553[70] = 1.0; + out_4346759063564356553[71] = 0.0; + out_4346759063564356553[72] = 0.0; + out_4346759063564356553[73] = 0.0; + out_4346759063564356553[74] = 0.0; + out_4346759063564356553[75] = 0.0; + out_4346759063564356553[76] = 0.0; + out_4346759063564356553[77] = 0.0; + out_4346759063564356553[78] = 0.0; + out_4346759063564356553[79] = 0.0; + out_4346759063564356553[80] = 1.0; } -void f_fun(double *state, double dt, double *out_169833714219358489) { - out_169833714219358489[0] = state[0]; - out_169833714219358489[1] = state[1]; - out_169833714219358489[2] = state[2]; - out_169833714219358489[3] = state[3]; - out_169833714219358489[4] = state[4]; - out_169833714219358489[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_169833714219358489[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_169833714219358489[7] = state[7]; - out_169833714219358489[8] = state[8]; +void f_fun(double *state, double dt, double *out_8401415236153157083) { + out_8401415236153157083[0] = state[0]; + out_8401415236153157083[1] = state[1]; + out_8401415236153157083[2] = state[2]; + out_8401415236153157083[3] = state[3]; + out_8401415236153157083[4] = state[4]; + out_8401415236153157083[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_8401415236153157083[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_8401415236153157083[7] = state[7]; + out_8401415236153157083[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3869384383894482819) { - out_3869384383894482819[0] = 1; - out_3869384383894482819[1] = 0; - out_3869384383894482819[2] = 0; - out_3869384383894482819[3] = 0; - out_3869384383894482819[4] = 0; - out_3869384383894482819[5] = 0; - out_3869384383894482819[6] = 0; - out_3869384383894482819[7] = 0; - out_3869384383894482819[8] = 0; - out_3869384383894482819[9] = 0; - out_3869384383894482819[10] = 1; - out_3869384383894482819[11] = 0; - out_3869384383894482819[12] = 0; - out_3869384383894482819[13] = 0; - out_3869384383894482819[14] = 0; - out_3869384383894482819[15] = 0; - out_3869384383894482819[16] = 0; - out_3869384383894482819[17] = 0; - out_3869384383894482819[18] = 0; - out_3869384383894482819[19] = 0; - out_3869384383894482819[20] = 1; - out_3869384383894482819[21] = 0; - out_3869384383894482819[22] = 0; - out_3869384383894482819[23] = 0; - out_3869384383894482819[24] = 0; - out_3869384383894482819[25] = 0; - out_3869384383894482819[26] = 0; - out_3869384383894482819[27] = 0; - out_3869384383894482819[28] = 0; - out_3869384383894482819[29] = 0; - out_3869384383894482819[30] = 1; - out_3869384383894482819[31] = 0; - out_3869384383894482819[32] = 0; - out_3869384383894482819[33] = 0; - out_3869384383894482819[34] = 0; - out_3869384383894482819[35] = 0; - out_3869384383894482819[36] = 0; - out_3869384383894482819[37] = 0; - out_3869384383894482819[38] = 0; - out_3869384383894482819[39] = 0; - out_3869384383894482819[40] = 1; - out_3869384383894482819[41] = 0; - out_3869384383894482819[42] = 0; - out_3869384383894482819[43] = 0; - out_3869384383894482819[44] = 0; - out_3869384383894482819[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_3869384383894482819[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3869384383894482819[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3869384383894482819[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3869384383894482819[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_3869384383894482819[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3869384383894482819[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3869384383894482819[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3869384383894482819[53] = -9.8100000000000005*dt; - out_3869384383894482819[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_3869384383894482819[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3869384383894482819[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3869384383894482819[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3869384383894482819[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_3869384383894482819[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3869384383894482819[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_3869384383894482819[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3869384383894482819[62] = 0; - out_3869384383894482819[63] = 0; - out_3869384383894482819[64] = 0; - out_3869384383894482819[65] = 0; - out_3869384383894482819[66] = 0; - out_3869384383894482819[67] = 0; - out_3869384383894482819[68] = 0; - out_3869384383894482819[69] = 0; - out_3869384383894482819[70] = 1; - out_3869384383894482819[71] = 0; - out_3869384383894482819[72] = 0; - out_3869384383894482819[73] = 0; - out_3869384383894482819[74] = 0; - out_3869384383894482819[75] = 0; - out_3869384383894482819[76] = 0; - out_3869384383894482819[77] = 0; - out_3869384383894482819[78] = 0; - out_3869384383894482819[79] = 0; - out_3869384383894482819[80] = 1; +void F_fun(double *state, double dt, double *out_1973239055632703499) { + out_1973239055632703499[0] = 1; + out_1973239055632703499[1] = 0; + out_1973239055632703499[2] = 0; + out_1973239055632703499[3] = 0; + out_1973239055632703499[4] = 0; + out_1973239055632703499[5] = 0; + out_1973239055632703499[6] = 0; + out_1973239055632703499[7] = 0; + out_1973239055632703499[8] = 0; + out_1973239055632703499[9] = 0; + out_1973239055632703499[10] = 1; + out_1973239055632703499[11] = 0; + out_1973239055632703499[12] = 0; + out_1973239055632703499[13] = 0; + out_1973239055632703499[14] = 0; + out_1973239055632703499[15] = 0; + out_1973239055632703499[16] = 0; + out_1973239055632703499[17] = 0; + out_1973239055632703499[18] = 0; + out_1973239055632703499[19] = 0; + out_1973239055632703499[20] = 1; + out_1973239055632703499[21] = 0; + out_1973239055632703499[22] = 0; + out_1973239055632703499[23] = 0; + out_1973239055632703499[24] = 0; + out_1973239055632703499[25] = 0; + out_1973239055632703499[26] = 0; + out_1973239055632703499[27] = 0; + out_1973239055632703499[28] = 0; + out_1973239055632703499[29] = 0; + out_1973239055632703499[30] = 1; + out_1973239055632703499[31] = 0; + out_1973239055632703499[32] = 0; + out_1973239055632703499[33] = 0; + out_1973239055632703499[34] = 0; + out_1973239055632703499[35] = 0; + out_1973239055632703499[36] = 0; + out_1973239055632703499[37] = 0; + out_1973239055632703499[38] = 0; + out_1973239055632703499[39] = 0; + out_1973239055632703499[40] = 1; + out_1973239055632703499[41] = 0; + out_1973239055632703499[42] = 0; + out_1973239055632703499[43] = 0; + out_1973239055632703499[44] = 0; + out_1973239055632703499[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_1973239055632703499[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1973239055632703499[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1973239055632703499[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1973239055632703499[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_1973239055632703499[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1973239055632703499[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1973239055632703499[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1973239055632703499[53] = -9.8100000000000005*dt; + out_1973239055632703499[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_1973239055632703499[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1973239055632703499[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1973239055632703499[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1973239055632703499[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_1973239055632703499[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1973239055632703499[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_1973239055632703499[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1973239055632703499[62] = 0; + out_1973239055632703499[63] = 0; + out_1973239055632703499[64] = 0; + out_1973239055632703499[65] = 0; + out_1973239055632703499[66] = 0; + out_1973239055632703499[67] = 0; + out_1973239055632703499[68] = 0; + out_1973239055632703499[69] = 0; + out_1973239055632703499[70] = 1; + out_1973239055632703499[71] = 0; + out_1973239055632703499[72] = 0; + out_1973239055632703499[73] = 0; + out_1973239055632703499[74] = 0; + out_1973239055632703499[75] = 0; + out_1973239055632703499[76] = 0; + out_1973239055632703499[77] = 0; + out_1973239055632703499[78] = 0; + out_1973239055632703499[79] = 0; + out_1973239055632703499[80] = 1; } -void h_25(double *state, double *unused, double *out_3087348870251025033) { - out_3087348870251025033[0] = state[6]; +void h_25(double *state, double *unused, double *out_7709444436246576106) { + out_7709444436246576106[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8790573077486810872) { - out_8790573077486810872[0] = 0; - out_8790573077486810872[1] = 0; - out_8790573077486810872[2] = 0; - out_8790573077486810872[3] = 0; - out_8790573077486810872[4] = 0; - out_8790573077486810872[5] = 0; - out_8790573077486810872[6] = 1; - out_8790573077486810872[7] = 0; - out_8790573077486810872[8] = 0; +void H_25(double *state, double *unused, double *out_4906796784232957826) { + out_4906796784232957826[0] = 0; + out_4906796784232957826[1] = 0; + out_4906796784232957826[2] = 0; + out_4906796784232957826[3] = 0; + out_4906796784232957826[4] = 0; + out_4906796784232957826[5] = 0; + out_4906796784232957826[6] = 1; + out_4906796784232957826[7] = 0; + out_4906796784232957826[8] = 0; } -void h_24(double *state, double *unused, double *out_6915008056190712895) { - out_6915008056190712895[0] = state[4]; - out_6915008056190712895[1] = state[5]; +void h_24(double *state, double *unused, double *out_8161953024412082811) { + out_8161953024412082811[0] = state[4]; + out_8161953024412082811[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6617923478481311306) { - out_6617923478481311306[0] = 0; - out_6617923478481311306[1] = 0; - out_6617923478481311306[2] = 0; - out_6617923478481311306[3] = 0; - out_6617923478481311306[4] = 1; - out_6617923478481311306[5] = 0; - out_6617923478481311306[6] = 0; - out_6617923478481311306[7] = 0; - out_6617923478481311306[8] = 0; - out_6617923478481311306[9] = 0; - out_6617923478481311306[10] = 0; - out_6617923478481311306[11] = 0; - out_6617923478481311306[12] = 0; - out_6617923478481311306[13] = 0; - out_6617923478481311306[14] = 1; - out_6617923478481311306[15] = 0; - out_6617923478481311306[16] = 0; - out_6617923478481311306[17] = 0; +void H_24(double *state, double *unused, double *out_6319825032271366663) { + out_6319825032271366663[0] = 0; + out_6319825032271366663[1] = 0; + out_6319825032271366663[2] = 0; + out_6319825032271366663[3] = 0; + out_6319825032271366663[4] = 1; + out_6319825032271366663[5] = 0; + out_6319825032271366663[6] = 0; + out_6319825032271366663[7] = 0; + out_6319825032271366663[8] = 0; + out_6319825032271366663[9] = 0; + out_6319825032271366663[10] = 0; + out_6319825032271366663[11] = 0; + out_6319825032271366663[12] = 0; + out_6319825032271366663[13] = 0; + out_6319825032271366663[14] = 1; + out_6319825032271366663[15] = 0; + out_6319825032271366663[16] = 0; + out_6319825032271366663[17] = 0; } -void h_30(double *state, double *unused, double *out_3500479056225270130) { - out_3500479056225270130[0] = state[4]; +void h_30(double *state, double *unused, double *out_8890419815179839294) { + out_8890419815179839294[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2739480654731123989) { - out_2739480654731123989[0] = 0; - out_2739480654731123989[1] = 0; - out_2739480654731123989[2] = 0; - out_2739480654731123989[3] = 0; - out_2739480654731123989[4] = 1; - out_2739480654731123989[5] = 0; - out_2739480654731123989[6] = 0; - out_2739480654731123989[7] = 0; - out_2739480654731123989[8] = 0; +void H_30(double *state, double *unused, double *out_7425129742740206453) { + out_7425129742740206453[0] = 0; + out_7425129742740206453[1] = 0; + out_7425129742740206453[2] = 0; + out_7425129742740206453[3] = 0; + out_7425129742740206453[4] = 1; + out_7425129742740206453[5] = 0; + out_7425129742740206453[6] = 0; + out_7425129742740206453[7] = 0; + out_7425129742740206453[8] = 0; } -void h_26(double *state, double *unused, double *out_2897163171548792613) { - out_2897163171548792613[0] = state[7]; +void h_26(double *state, double *unused, double *out_8798474113368893512) { + out_8798474113368893512[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5049069758612754648) { - out_5049069758612754648[0] = 0; - out_5049069758612754648[1] = 0; - out_5049069758612754648[2] = 0; - out_5049069758612754648[3] = 0; - out_5049069758612754648[4] = 0; - out_5049069758612754648[5] = 0; - out_5049069758612754648[6] = 0; - out_5049069758612754648[7] = 1; - out_5049069758612754648[8] = 0; +void H_26(double *state, double *unused, double *out_1165293465358901602) { + out_1165293465358901602[0] = 0; + out_1165293465358901602[1] = 0; + out_1165293465358901602[2] = 0; + out_1165293465358901602[3] = 0; + out_1165293465358901602[4] = 0; + out_1165293465358901602[5] = 0; + out_1165293465358901602[6] = 0; + out_1165293465358901602[7] = 1; + out_1165293465358901602[8] = 0; } -void h_27(double *state, double *unused, double *out_5691754191059722684) { - out_5691754191059722684[0] = state[3]; +void h_27(double *state, double *unused, double *out_4672658384802243421) { + out_4672658384802243421[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4914243966531548900) { - out_4914243966531548900[0] = 0; - out_4914243966531548900[1] = 0; - out_4914243966531548900[2] = 0; - out_4914243966531548900[3] = 1; - out_4914243966531548900[4] = 0; - out_4914243966531548900[5] = 0; - out_4914243966531548900[6] = 0; - out_4914243966531548900[7] = 0; - out_4914243966531548900[8] = 0; +void H_27(double *state, double *unused, double *out_8798020259785401946) { + out_8798020259785401946[0] = 0; + out_8798020259785401946[1] = 0; + out_8798020259785401946[2] = 0; + out_8798020259785401946[3] = 1; + out_8798020259785401946[4] = 0; + out_8798020259785401946[5] = 0; + out_8798020259785401946[6] = 0; + out_8798020259785401946[7] = 0; + out_8798020259785401946[8] = 0; } -void h_29(double *state, double *unused, double *out_8502152323886115775) { - out_8502152323886115775[0] = state[1]; +void h_29(double *state, double *unused, double *out_4214457022643681759) { + out_4214457022643681759[0] = state[1]; } -void H_29(double *state, double *unused, double *out_6627606693401099933) { - out_6627606693401099933[0] = 0; - out_6627606693401099933[1] = 1; - out_6627606693401099933[2] = 0; - out_6627606693401099933[3] = 0; - out_6627606693401099933[4] = 0; - out_6627606693401099933[5] = 0; - out_6627606693401099933[6] = 0; - out_6627606693401099933[7] = 0; - out_6627606693401099933[8] = 0; +void H_29(double *state, double *unused, double *out_7935361087054598637) { + out_7935361087054598637[0] = 0; + out_7935361087054598637[1] = 1; + out_7935361087054598637[2] = 0; + out_7935361087054598637[3] = 0; + out_7935361087054598637[4] = 0; + out_7935361087054598637[5] = 0; + out_7935361087054598637[6] = 0; + out_7935361087054598637[7] = 0; + out_7935361087054598637[8] = 0; } -void h_28(double *state, double *unused, double *out_7413122646763798369) { - out_7413122646763798369[0] = state[0]; +void h_28(double *state, double *unused, double *out_8772412421246462550) { + out_8772412421246462550[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6736738363238921109) { - out_6736738363238921109[0] = 1; - out_6736738363238921109[1] = 0; - out_6736738363238921109[2] = 0; - out_6736738363238921109[3] = 0; - out_6736738363238921109[4] = 0; - out_6736738363238921109[5] = 0; - out_6736738363238921109[6] = 0; - out_6736738363238921109[7] = 0; - out_6736738363238921109[8] = 0; +void H_28(double *state, double *unused, double *out_2852962069985068063) { + out_2852962069985068063[0] = 1; + out_2852962069985068063[1] = 0; + out_2852962069985068063[2] = 0; + out_2852962069985068063[3] = 0; + out_2852962069985068063[4] = 0; + out_2852962069985068063[5] = 0; + out_2852962069985068063[6] = 0; + out_2852962069985068063[7] = 0; + out_2852962069985068063[8] = 0; } -void h_31(double *state, double *unused, double *out_2930162201899895888) { - out_2930162201899895888[0] = state[8]; +void h_31(double *state, double *unused, double *out_7434250373962070217) { + out_7434250373962070217[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8821219039363771300) { - out_8821219039363771300[0] = 0; - out_8821219039363771300[1] = 0; - out_8821219039363771300[2] = 0; - out_8821219039363771300[3] = 0; - out_8821219039363771300[4] = 0; - out_8821219039363771300[5] = 0; - out_8821219039363771300[6] = 0; - out_8821219039363771300[7] = 0; - out_8821219039363771300[8] = 1; +void H_31(double *state, double *unused, double *out_539085363125550126) { + out_539085363125550126[0] = 0; + out_539085363125550126[1] = 0; + out_539085363125550126[2] = 0; + out_539085363125550126[3] = 0; + out_539085363125550126[4] = 0; + out_539085363125550126[5] = 0; + out_539085363125550126[6] = 0; + out_539085363125550126[7] = 0; + out_539085363125550126[8] = 1; } #include #include @@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); } -void car_err_fun(double *nom_x, double *delta_x, double *out_5552049021186220575) { - err_fun(nom_x, delta_x, out_5552049021186220575); +void car_err_fun(double *nom_x, double *delta_x, double *out_5579271098234299589) { + err_fun(nom_x, delta_x, out_5579271098234299589); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_590150806491182217) { - inv_err_fun(nom_x, true_x, out_590150806491182217); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8879118943542071452) { + inv_err_fun(nom_x, true_x, out_8879118943542071452); } -void car_H_mod_fun(double *state, double *out_462982770310503507) { - H_mod_fun(state, out_462982770310503507); +void car_H_mod_fun(double *state, double *out_4346759063564356553) { + H_mod_fun(state, out_4346759063564356553); } -void car_f_fun(double *state, double dt, double *out_169833714219358489) { - f_fun(state, dt, out_169833714219358489); +void car_f_fun(double *state, double dt, double *out_8401415236153157083) { + f_fun(state, dt, out_8401415236153157083); } -void car_F_fun(double *state, double dt, double *out_3869384383894482819) { - F_fun(state, dt, out_3869384383894482819); +void car_F_fun(double *state, double dt, double *out_1973239055632703499) { + F_fun(state, dt, out_1973239055632703499); } -void car_h_25(double *state, double *unused, double *out_3087348870251025033) { - h_25(state, unused, out_3087348870251025033); +void car_h_25(double *state, double *unused, double *out_7709444436246576106) { + h_25(state, unused, out_7709444436246576106); } -void car_H_25(double *state, double *unused, double *out_8790573077486810872) { - H_25(state, unused, out_8790573077486810872); +void car_H_25(double *state, double *unused, double *out_4906796784232957826) { + H_25(state, unused, out_4906796784232957826); } -void car_h_24(double *state, double *unused, double *out_6915008056190712895) { - h_24(state, unused, out_6915008056190712895); +void car_h_24(double *state, double *unused, double *out_8161953024412082811) { + h_24(state, unused, out_8161953024412082811); } -void car_H_24(double *state, double *unused, double *out_6617923478481311306) { - H_24(state, unused, out_6617923478481311306); +void car_H_24(double *state, double *unused, double *out_6319825032271366663) { + H_24(state, unused, out_6319825032271366663); } -void car_h_30(double *state, double *unused, double *out_3500479056225270130) { - h_30(state, unused, out_3500479056225270130); +void car_h_30(double *state, double *unused, double *out_8890419815179839294) { + h_30(state, unused, out_8890419815179839294); } -void car_H_30(double *state, double *unused, double *out_2739480654731123989) { - H_30(state, unused, out_2739480654731123989); +void car_H_30(double *state, double *unused, double *out_7425129742740206453) { + H_30(state, unused, out_7425129742740206453); } -void car_h_26(double *state, double *unused, double *out_2897163171548792613) { - h_26(state, unused, out_2897163171548792613); +void car_h_26(double *state, double *unused, double *out_8798474113368893512) { + h_26(state, unused, out_8798474113368893512); } -void car_H_26(double *state, double *unused, double *out_5049069758612754648) { - H_26(state, unused, out_5049069758612754648); +void car_H_26(double *state, double *unused, double *out_1165293465358901602) { + H_26(state, unused, out_1165293465358901602); } -void car_h_27(double *state, double *unused, double *out_5691754191059722684) { - h_27(state, unused, out_5691754191059722684); +void car_h_27(double *state, double *unused, double *out_4672658384802243421) { + h_27(state, unused, out_4672658384802243421); } -void car_H_27(double *state, double *unused, double *out_4914243966531548900) { - H_27(state, unused, out_4914243966531548900); +void car_H_27(double *state, double *unused, double *out_8798020259785401946) { + H_27(state, unused, out_8798020259785401946); } -void car_h_29(double *state, double *unused, double *out_8502152323886115775) { - h_29(state, unused, out_8502152323886115775); +void car_h_29(double *state, double *unused, double *out_4214457022643681759) { + h_29(state, unused, out_4214457022643681759); } -void car_H_29(double *state, double *unused, double *out_6627606693401099933) { - H_29(state, unused, out_6627606693401099933); +void car_H_29(double *state, double *unused, double *out_7935361087054598637) { + H_29(state, unused, out_7935361087054598637); } -void car_h_28(double *state, double *unused, double *out_7413122646763798369) { - h_28(state, unused, out_7413122646763798369); +void car_h_28(double *state, double *unused, double *out_8772412421246462550) { + h_28(state, unused, out_8772412421246462550); } -void car_H_28(double *state, double *unused, double *out_6736738363238921109) { - H_28(state, unused, out_6736738363238921109); +void car_H_28(double *state, double *unused, double *out_2852962069985068063) { + H_28(state, unused, out_2852962069985068063); } -void car_h_31(double *state, double *unused, double *out_2930162201899895888) { - h_31(state, unused, out_2930162201899895888); +void car_h_31(double *state, double *unused, double *out_7434250373962070217) { + h_31(state, unused, out_7434250373962070217); } -void car_H_31(double *state, double *unused, double *out_8821219039363771300) { - H_31(state, unused, out_8821219039363771300); +void car_H_31(double *state, double *unused, double *out_539085363125550126) { + H_31(state, unused, out_539085363125550126); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index 063854210f..a31e93155e 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_5552049021186220575); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_590150806491182217); -void car_H_mod_fun(double *state, double *out_462982770310503507); -void car_f_fun(double *state, double dt, double *out_169833714219358489); -void car_F_fun(double *state, double dt, double *out_3869384383894482819); -void car_h_25(double *state, double *unused, double *out_3087348870251025033); -void car_H_25(double *state, double *unused, double *out_8790573077486810872); -void car_h_24(double *state, double *unused, double *out_6915008056190712895); -void car_H_24(double *state, double *unused, double *out_6617923478481311306); -void car_h_30(double *state, double *unused, double *out_3500479056225270130); -void car_H_30(double *state, double *unused, double *out_2739480654731123989); -void car_h_26(double *state, double *unused, double *out_2897163171548792613); -void car_H_26(double *state, double *unused, double *out_5049069758612754648); -void car_h_27(double *state, double *unused, double *out_5691754191059722684); -void car_H_27(double *state, double *unused, double *out_4914243966531548900); -void car_h_29(double *state, double *unused, double *out_8502152323886115775); -void car_H_29(double *state, double *unused, double *out_6627606693401099933); -void car_h_28(double *state, double *unused, double *out_7413122646763798369); -void car_H_28(double *state, double *unused, double *out_6736738363238921109); -void car_h_31(double *state, double *unused, double *out_2930162201899895888); -void car_H_31(double *state, double *unused, double *out_8821219039363771300); +void car_err_fun(double *nom_x, double *delta_x, double *out_5579271098234299589); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8879118943542071452); +void car_H_mod_fun(double *state, double *out_4346759063564356553); +void car_f_fun(double *state, double dt, double *out_8401415236153157083); +void car_F_fun(double *state, double dt, double *out_1973239055632703499); +void car_h_25(double *state, double *unused, double *out_7709444436246576106); +void car_H_25(double *state, double *unused, double *out_4906796784232957826); +void car_h_24(double *state, double *unused, double *out_8161953024412082811); +void car_H_24(double *state, double *unused, double *out_6319825032271366663); +void car_h_30(double *state, double *unused, double *out_8890419815179839294); +void car_H_30(double *state, double *unused, double *out_7425129742740206453); +void car_h_26(double *state, double *unused, double *out_8798474113368893512); +void car_H_26(double *state, double *unused, double *out_1165293465358901602); +void car_h_27(double *state, double *unused, double *out_4672658384802243421); +void car_H_27(double *state, double *unused, double *out_8798020259785401946); +void car_h_29(double *state, double *unused, double *out_4214457022643681759); +void car_H_29(double *state, double *unused, double *out_7935361087054598637); +void car_h_28(double *state, double *unused, double *out_8772412421246462550); +void car_H_28(double *state, double *unused, double *out_2852962069985068063); +void car_h_31(double *state, double *unused, double *out_7434250373962070217); +void car_H_31(double *state, double *unused, double *out_539085363125550126); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 9eed9558ff..faa975d0c5 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_8294180210607547219) { - out_8294180210607547219[0] = delta_x[0] + nom_x[0]; - out_8294180210607547219[1] = delta_x[1] + nom_x[1]; - out_8294180210607547219[2] = delta_x[2] + nom_x[2]; - out_8294180210607547219[3] = delta_x[3] + nom_x[3]; - out_8294180210607547219[4] = delta_x[4] + nom_x[4]; - out_8294180210607547219[5] = delta_x[5] + nom_x[5]; - out_8294180210607547219[6] = delta_x[6] + nom_x[6]; - out_8294180210607547219[7] = delta_x[7] + nom_x[7]; - out_8294180210607547219[8] = delta_x[8] + nom_x[8]; - out_8294180210607547219[9] = delta_x[9] + nom_x[9]; - out_8294180210607547219[10] = delta_x[10] + nom_x[10]; - out_8294180210607547219[11] = delta_x[11] + nom_x[11]; - out_8294180210607547219[12] = delta_x[12] + nom_x[12]; - out_8294180210607547219[13] = delta_x[13] + nom_x[13]; - out_8294180210607547219[14] = delta_x[14] + nom_x[14]; - out_8294180210607547219[15] = delta_x[15] + nom_x[15]; - out_8294180210607547219[16] = delta_x[16] + nom_x[16]; - out_8294180210607547219[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5010206230741134473) { + out_5010206230741134473[0] = delta_x[0] + nom_x[0]; + out_5010206230741134473[1] = delta_x[1] + nom_x[1]; + out_5010206230741134473[2] = delta_x[2] + nom_x[2]; + out_5010206230741134473[3] = delta_x[3] + nom_x[3]; + out_5010206230741134473[4] = delta_x[4] + nom_x[4]; + out_5010206230741134473[5] = delta_x[5] + nom_x[5]; + out_5010206230741134473[6] = delta_x[6] + nom_x[6]; + out_5010206230741134473[7] = delta_x[7] + nom_x[7]; + out_5010206230741134473[8] = delta_x[8] + nom_x[8]; + out_5010206230741134473[9] = delta_x[9] + nom_x[9]; + out_5010206230741134473[10] = delta_x[10] + nom_x[10]; + out_5010206230741134473[11] = delta_x[11] + nom_x[11]; + out_5010206230741134473[12] = delta_x[12] + nom_x[12]; + out_5010206230741134473[13] = delta_x[13] + nom_x[13]; + out_5010206230741134473[14] = delta_x[14] + nom_x[14]; + out_5010206230741134473[15] = delta_x[15] + nom_x[15]; + out_5010206230741134473[16] = delta_x[16] + nom_x[16]; + out_5010206230741134473[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8330596021821018044) { - out_8330596021821018044[0] = -nom_x[0] + true_x[0]; - out_8330596021821018044[1] = -nom_x[1] + true_x[1]; - out_8330596021821018044[2] = -nom_x[2] + true_x[2]; - out_8330596021821018044[3] = -nom_x[3] + true_x[3]; - out_8330596021821018044[4] = -nom_x[4] + true_x[4]; - out_8330596021821018044[5] = -nom_x[5] + true_x[5]; - out_8330596021821018044[6] = -nom_x[6] + true_x[6]; - out_8330596021821018044[7] = -nom_x[7] + true_x[7]; - out_8330596021821018044[8] = -nom_x[8] + true_x[8]; - out_8330596021821018044[9] = -nom_x[9] + true_x[9]; - out_8330596021821018044[10] = -nom_x[10] + true_x[10]; - out_8330596021821018044[11] = -nom_x[11] + true_x[11]; - out_8330596021821018044[12] = -nom_x[12] + true_x[12]; - out_8330596021821018044[13] = -nom_x[13] + true_x[13]; - out_8330596021821018044[14] = -nom_x[14] + true_x[14]; - out_8330596021821018044[15] = -nom_x[15] + true_x[15]; - out_8330596021821018044[16] = -nom_x[16] + true_x[16]; - out_8330596021821018044[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1188067782326305394) { + out_1188067782326305394[0] = -nom_x[0] + true_x[0]; + out_1188067782326305394[1] = -nom_x[1] + true_x[1]; + out_1188067782326305394[2] = -nom_x[2] + true_x[2]; + out_1188067782326305394[3] = -nom_x[3] + true_x[3]; + out_1188067782326305394[4] = -nom_x[4] + true_x[4]; + out_1188067782326305394[5] = -nom_x[5] + true_x[5]; + out_1188067782326305394[6] = -nom_x[6] + true_x[6]; + out_1188067782326305394[7] = -nom_x[7] + true_x[7]; + out_1188067782326305394[8] = -nom_x[8] + true_x[8]; + out_1188067782326305394[9] = -nom_x[9] + true_x[9]; + out_1188067782326305394[10] = -nom_x[10] + true_x[10]; + out_1188067782326305394[11] = -nom_x[11] + true_x[11]; + out_1188067782326305394[12] = -nom_x[12] + true_x[12]; + out_1188067782326305394[13] = -nom_x[13] + true_x[13]; + out_1188067782326305394[14] = -nom_x[14] + true_x[14]; + out_1188067782326305394[15] = -nom_x[15] + true_x[15]; + out_1188067782326305394[16] = -nom_x[16] + true_x[16]; + out_1188067782326305394[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_534058243187542804) { - out_534058243187542804[0] = 1.0; - out_534058243187542804[1] = 0.0; - out_534058243187542804[2] = 0.0; - out_534058243187542804[3] = 0.0; - out_534058243187542804[4] = 0.0; - out_534058243187542804[5] = 0.0; - out_534058243187542804[6] = 0.0; - out_534058243187542804[7] = 0.0; - out_534058243187542804[8] = 0.0; - out_534058243187542804[9] = 0.0; - out_534058243187542804[10] = 0.0; - out_534058243187542804[11] = 0.0; - out_534058243187542804[12] = 0.0; - out_534058243187542804[13] = 0.0; - out_534058243187542804[14] = 0.0; - out_534058243187542804[15] = 0.0; - out_534058243187542804[16] = 0.0; - out_534058243187542804[17] = 0.0; - out_534058243187542804[18] = 0.0; - out_534058243187542804[19] = 1.0; - out_534058243187542804[20] = 0.0; - out_534058243187542804[21] = 0.0; - out_534058243187542804[22] = 0.0; - out_534058243187542804[23] = 0.0; - out_534058243187542804[24] = 0.0; - out_534058243187542804[25] = 0.0; - out_534058243187542804[26] = 0.0; - out_534058243187542804[27] = 0.0; - out_534058243187542804[28] = 0.0; - out_534058243187542804[29] = 0.0; - out_534058243187542804[30] = 0.0; - out_534058243187542804[31] = 0.0; - out_534058243187542804[32] = 0.0; - out_534058243187542804[33] = 0.0; - out_534058243187542804[34] = 0.0; - out_534058243187542804[35] = 0.0; - out_534058243187542804[36] = 0.0; - out_534058243187542804[37] = 0.0; - out_534058243187542804[38] = 1.0; - out_534058243187542804[39] = 0.0; - out_534058243187542804[40] = 0.0; - out_534058243187542804[41] = 0.0; - out_534058243187542804[42] = 0.0; - out_534058243187542804[43] = 0.0; - out_534058243187542804[44] = 0.0; - out_534058243187542804[45] = 0.0; - out_534058243187542804[46] = 0.0; - out_534058243187542804[47] = 0.0; - out_534058243187542804[48] = 0.0; - out_534058243187542804[49] = 0.0; - out_534058243187542804[50] = 0.0; - out_534058243187542804[51] = 0.0; - out_534058243187542804[52] = 0.0; - out_534058243187542804[53] = 0.0; - out_534058243187542804[54] = 0.0; - out_534058243187542804[55] = 0.0; - out_534058243187542804[56] = 0.0; - out_534058243187542804[57] = 1.0; - out_534058243187542804[58] = 0.0; - out_534058243187542804[59] = 0.0; - out_534058243187542804[60] = 0.0; - out_534058243187542804[61] = 0.0; - out_534058243187542804[62] = 0.0; - out_534058243187542804[63] = 0.0; - out_534058243187542804[64] = 0.0; - out_534058243187542804[65] = 0.0; - out_534058243187542804[66] = 0.0; - out_534058243187542804[67] = 0.0; - out_534058243187542804[68] = 0.0; - out_534058243187542804[69] = 0.0; - out_534058243187542804[70] = 0.0; - out_534058243187542804[71] = 0.0; - out_534058243187542804[72] = 0.0; - out_534058243187542804[73] = 0.0; - out_534058243187542804[74] = 0.0; - out_534058243187542804[75] = 0.0; - out_534058243187542804[76] = 1.0; - out_534058243187542804[77] = 0.0; - out_534058243187542804[78] = 0.0; - out_534058243187542804[79] = 0.0; - out_534058243187542804[80] = 0.0; - out_534058243187542804[81] = 0.0; - out_534058243187542804[82] = 0.0; - out_534058243187542804[83] = 0.0; - out_534058243187542804[84] = 0.0; - out_534058243187542804[85] = 0.0; - out_534058243187542804[86] = 0.0; - out_534058243187542804[87] = 0.0; - out_534058243187542804[88] = 0.0; - out_534058243187542804[89] = 0.0; - out_534058243187542804[90] = 0.0; - out_534058243187542804[91] = 0.0; - out_534058243187542804[92] = 0.0; - out_534058243187542804[93] = 0.0; - out_534058243187542804[94] = 0.0; - out_534058243187542804[95] = 1.0; - out_534058243187542804[96] = 0.0; - out_534058243187542804[97] = 0.0; - out_534058243187542804[98] = 0.0; - out_534058243187542804[99] = 0.0; - out_534058243187542804[100] = 0.0; - out_534058243187542804[101] = 0.0; - out_534058243187542804[102] = 0.0; - out_534058243187542804[103] = 0.0; - out_534058243187542804[104] = 0.0; - out_534058243187542804[105] = 0.0; - out_534058243187542804[106] = 0.0; - out_534058243187542804[107] = 0.0; - out_534058243187542804[108] = 0.0; - out_534058243187542804[109] = 0.0; - out_534058243187542804[110] = 0.0; - out_534058243187542804[111] = 0.0; - out_534058243187542804[112] = 0.0; - out_534058243187542804[113] = 0.0; - out_534058243187542804[114] = 1.0; - out_534058243187542804[115] = 0.0; - out_534058243187542804[116] = 0.0; - out_534058243187542804[117] = 0.0; - out_534058243187542804[118] = 0.0; - out_534058243187542804[119] = 0.0; - out_534058243187542804[120] = 0.0; - out_534058243187542804[121] = 0.0; - out_534058243187542804[122] = 0.0; - out_534058243187542804[123] = 0.0; - out_534058243187542804[124] = 0.0; - out_534058243187542804[125] = 0.0; - out_534058243187542804[126] = 0.0; - out_534058243187542804[127] = 0.0; - out_534058243187542804[128] = 0.0; - out_534058243187542804[129] = 0.0; - out_534058243187542804[130] = 0.0; - out_534058243187542804[131] = 0.0; - out_534058243187542804[132] = 0.0; - out_534058243187542804[133] = 1.0; - out_534058243187542804[134] = 0.0; - out_534058243187542804[135] = 0.0; - out_534058243187542804[136] = 0.0; - out_534058243187542804[137] = 0.0; - out_534058243187542804[138] = 0.0; - out_534058243187542804[139] = 0.0; - out_534058243187542804[140] = 0.0; - out_534058243187542804[141] = 0.0; - out_534058243187542804[142] = 0.0; - out_534058243187542804[143] = 0.0; - out_534058243187542804[144] = 0.0; - out_534058243187542804[145] = 0.0; - out_534058243187542804[146] = 0.0; - out_534058243187542804[147] = 0.0; - out_534058243187542804[148] = 0.0; - out_534058243187542804[149] = 0.0; - out_534058243187542804[150] = 0.0; - out_534058243187542804[151] = 0.0; - out_534058243187542804[152] = 1.0; - out_534058243187542804[153] = 0.0; - out_534058243187542804[154] = 0.0; - out_534058243187542804[155] = 0.0; - out_534058243187542804[156] = 0.0; - out_534058243187542804[157] = 0.0; - out_534058243187542804[158] = 0.0; - out_534058243187542804[159] = 0.0; - out_534058243187542804[160] = 0.0; - out_534058243187542804[161] = 0.0; - out_534058243187542804[162] = 0.0; - out_534058243187542804[163] = 0.0; - out_534058243187542804[164] = 0.0; - out_534058243187542804[165] = 0.0; - out_534058243187542804[166] = 0.0; - out_534058243187542804[167] = 0.0; - out_534058243187542804[168] = 0.0; - out_534058243187542804[169] = 0.0; - out_534058243187542804[170] = 0.0; - out_534058243187542804[171] = 1.0; - out_534058243187542804[172] = 0.0; - out_534058243187542804[173] = 0.0; - out_534058243187542804[174] = 0.0; - out_534058243187542804[175] = 0.0; - out_534058243187542804[176] = 0.0; - out_534058243187542804[177] = 0.0; - out_534058243187542804[178] = 0.0; - out_534058243187542804[179] = 0.0; - out_534058243187542804[180] = 0.0; - out_534058243187542804[181] = 0.0; - out_534058243187542804[182] = 0.0; - out_534058243187542804[183] = 0.0; - out_534058243187542804[184] = 0.0; - out_534058243187542804[185] = 0.0; - out_534058243187542804[186] = 0.0; - out_534058243187542804[187] = 0.0; - out_534058243187542804[188] = 0.0; - out_534058243187542804[189] = 0.0; - out_534058243187542804[190] = 1.0; - out_534058243187542804[191] = 0.0; - out_534058243187542804[192] = 0.0; - out_534058243187542804[193] = 0.0; - out_534058243187542804[194] = 0.0; - out_534058243187542804[195] = 0.0; - out_534058243187542804[196] = 0.0; - out_534058243187542804[197] = 0.0; - out_534058243187542804[198] = 0.0; - out_534058243187542804[199] = 0.0; - out_534058243187542804[200] = 0.0; - out_534058243187542804[201] = 0.0; - out_534058243187542804[202] = 0.0; - out_534058243187542804[203] = 0.0; - out_534058243187542804[204] = 0.0; - out_534058243187542804[205] = 0.0; - out_534058243187542804[206] = 0.0; - out_534058243187542804[207] = 0.0; - out_534058243187542804[208] = 0.0; - out_534058243187542804[209] = 1.0; - out_534058243187542804[210] = 0.0; - out_534058243187542804[211] = 0.0; - out_534058243187542804[212] = 0.0; - out_534058243187542804[213] = 0.0; - out_534058243187542804[214] = 0.0; - out_534058243187542804[215] = 0.0; - out_534058243187542804[216] = 0.0; - out_534058243187542804[217] = 0.0; - out_534058243187542804[218] = 0.0; - out_534058243187542804[219] = 0.0; - out_534058243187542804[220] = 0.0; - out_534058243187542804[221] = 0.0; - out_534058243187542804[222] = 0.0; - out_534058243187542804[223] = 0.0; - out_534058243187542804[224] = 0.0; - out_534058243187542804[225] = 0.0; - out_534058243187542804[226] = 0.0; - out_534058243187542804[227] = 0.0; - out_534058243187542804[228] = 1.0; - out_534058243187542804[229] = 0.0; - out_534058243187542804[230] = 0.0; - out_534058243187542804[231] = 0.0; - out_534058243187542804[232] = 0.0; - out_534058243187542804[233] = 0.0; - out_534058243187542804[234] = 0.0; - out_534058243187542804[235] = 0.0; - out_534058243187542804[236] = 0.0; - out_534058243187542804[237] = 0.0; - out_534058243187542804[238] = 0.0; - out_534058243187542804[239] = 0.0; - out_534058243187542804[240] = 0.0; - out_534058243187542804[241] = 0.0; - out_534058243187542804[242] = 0.0; - out_534058243187542804[243] = 0.0; - out_534058243187542804[244] = 0.0; - out_534058243187542804[245] = 0.0; - out_534058243187542804[246] = 0.0; - out_534058243187542804[247] = 1.0; - out_534058243187542804[248] = 0.0; - out_534058243187542804[249] = 0.0; - out_534058243187542804[250] = 0.0; - out_534058243187542804[251] = 0.0; - out_534058243187542804[252] = 0.0; - out_534058243187542804[253] = 0.0; - out_534058243187542804[254] = 0.0; - out_534058243187542804[255] = 0.0; - out_534058243187542804[256] = 0.0; - out_534058243187542804[257] = 0.0; - out_534058243187542804[258] = 0.0; - out_534058243187542804[259] = 0.0; - out_534058243187542804[260] = 0.0; - out_534058243187542804[261] = 0.0; - out_534058243187542804[262] = 0.0; - out_534058243187542804[263] = 0.0; - out_534058243187542804[264] = 0.0; - out_534058243187542804[265] = 0.0; - out_534058243187542804[266] = 1.0; - out_534058243187542804[267] = 0.0; - out_534058243187542804[268] = 0.0; - out_534058243187542804[269] = 0.0; - out_534058243187542804[270] = 0.0; - out_534058243187542804[271] = 0.0; - out_534058243187542804[272] = 0.0; - out_534058243187542804[273] = 0.0; - out_534058243187542804[274] = 0.0; - out_534058243187542804[275] = 0.0; - out_534058243187542804[276] = 0.0; - out_534058243187542804[277] = 0.0; - out_534058243187542804[278] = 0.0; - out_534058243187542804[279] = 0.0; - out_534058243187542804[280] = 0.0; - out_534058243187542804[281] = 0.0; - out_534058243187542804[282] = 0.0; - out_534058243187542804[283] = 0.0; - out_534058243187542804[284] = 0.0; - out_534058243187542804[285] = 1.0; - out_534058243187542804[286] = 0.0; - out_534058243187542804[287] = 0.0; - out_534058243187542804[288] = 0.0; - out_534058243187542804[289] = 0.0; - out_534058243187542804[290] = 0.0; - out_534058243187542804[291] = 0.0; - out_534058243187542804[292] = 0.0; - out_534058243187542804[293] = 0.0; - out_534058243187542804[294] = 0.0; - out_534058243187542804[295] = 0.0; - out_534058243187542804[296] = 0.0; - out_534058243187542804[297] = 0.0; - out_534058243187542804[298] = 0.0; - out_534058243187542804[299] = 0.0; - out_534058243187542804[300] = 0.0; - out_534058243187542804[301] = 0.0; - out_534058243187542804[302] = 0.0; - out_534058243187542804[303] = 0.0; - out_534058243187542804[304] = 1.0; - out_534058243187542804[305] = 0.0; - out_534058243187542804[306] = 0.0; - out_534058243187542804[307] = 0.0; - out_534058243187542804[308] = 0.0; - out_534058243187542804[309] = 0.0; - out_534058243187542804[310] = 0.0; - out_534058243187542804[311] = 0.0; - out_534058243187542804[312] = 0.0; - out_534058243187542804[313] = 0.0; - out_534058243187542804[314] = 0.0; - out_534058243187542804[315] = 0.0; - out_534058243187542804[316] = 0.0; - out_534058243187542804[317] = 0.0; - out_534058243187542804[318] = 0.0; - out_534058243187542804[319] = 0.0; - out_534058243187542804[320] = 0.0; - out_534058243187542804[321] = 0.0; - out_534058243187542804[322] = 0.0; - out_534058243187542804[323] = 1.0; +void H_mod_fun(double *state, double *out_7990211645421290333) { + out_7990211645421290333[0] = 1.0; + out_7990211645421290333[1] = 0.0; + out_7990211645421290333[2] = 0.0; + out_7990211645421290333[3] = 0.0; + out_7990211645421290333[4] = 0.0; + out_7990211645421290333[5] = 0.0; + out_7990211645421290333[6] = 0.0; + out_7990211645421290333[7] = 0.0; + out_7990211645421290333[8] = 0.0; + out_7990211645421290333[9] = 0.0; + out_7990211645421290333[10] = 0.0; + out_7990211645421290333[11] = 0.0; + out_7990211645421290333[12] = 0.0; + out_7990211645421290333[13] = 0.0; + out_7990211645421290333[14] = 0.0; + out_7990211645421290333[15] = 0.0; + out_7990211645421290333[16] = 0.0; + out_7990211645421290333[17] = 0.0; + out_7990211645421290333[18] = 0.0; + out_7990211645421290333[19] = 1.0; + out_7990211645421290333[20] = 0.0; + out_7990211645421290333[21] = 0.0; + out_7990211645421290333[22] = 0.0; + out_7990211645421290333[23] = 0.0; + out_7990211645421290333[24] = 0.0; + out_7990211645421290333[25] = 0.0; + out_7990211645421290333[26] = 0.0; + out_7990211645421290333[27] = 0.0; + out_7990211645421290333[28] = 0.0; + out_7990211645421290333[29] = 0.0; + out_7990211645421290333[30] = 0.0; + out_7990211645421290333[31] = 0.0; + out_7990211645421290333[32] = 0.0; + out_7990211645421290333[33] = 0.0; + out_7990211645421290333[34] = 0.0; + out_7990211645421290333[35] = 0.0; + out_7990211645421290333[36] = 0.0; + out_7990211645421290333[37] = 0.0; + out_7990211645421290333[38] = 1.0; + out_7990211645421290333[39] = 0.0; + out_7990211645421290333[40] = 0.0; + out_7990211645421290333[41] = 0.0; + out_7990211645421290333[42] = 0.0; + out_7990211645421290333[43] = 0.0; + out_7990211645421290333[44] = 0.0; + out_7990211645421290333[45] = 0.0; + out_7990211645421290333[46] = 0.0; + out_7990211645421290333[47] = 0.0; + out_7990211645421290333[48] = 0.0; + out_7990211645421290333[49] = 0.0; + out_7990211645421290333[50] = 0.0; + out_7990211645421290333[51] = 0.0; + out_7990211645421290333[52] = 0.0; + out_7990211645421290333[53] = 0.0; + out_7990211645421290333[54] = 0.0; + out_7990211645421290333[55] = 0.0; + out_7990211645421290333[56] = 0.0; + out_7990211645421290333[57] = 1.0; + out_7990211645421290333[58] = 0.0; + out_7990211645421290333[59] = 0.0; + out_7990211645421290333[60] = 0.0; + out_7990211645421290333[61] = 0.0; + out_7990211645421290333[62] = 0.0; + out_7990211645421290333[63] = 0.0; + out_7990211645421290333[64] = 0.0; + out_7990211645421290333[65] = 0.0; + out_7990211645421290333[66] = 0.0; + out_7990211645421290333[67] = 0.0; + out_7990211645421290333[68] = 0.0; + out_7990211645421290333[69] = 0.0; + out_7990211645421290333[70] = 0.0; + out_7990211645421290333[71] = 0.0; + out_7990211645421290333[72] = 0.0; + out_7990211645421290333[73] = 0.0; + out_7990211645421290333[74] = 0.0; + out_7990211645421290333[75] = 0.0; + out_7990211645421290333[76] = 1.0; + out_7990211645421290333[77] = 0.0; + out_7990211645421290333[78] = 0.0; + out_7990211645421290333[79] = 0.0; + out_7990211645421290333[80] = 0.0; + out_7990211645421290333[81] = 0.0; + out_7990211645421290333[82] = 0.0; + out_7990211645421290333[83] = 0.0; + out_7990211645421290333[84] = 0.0; + out_7990211645421290333[85] = 0.0; + out_7990211645421290333[86] = 0.0; + out_7990211645421290333[87] = 0.0; + out_7990211645421290333[88] = 0.0; + out_7990211645421290333[89] = 0.0; + out_7990211645421290333[90] = 0.0; + out_7990211645421290333[91] = 0.0; + out_7990211645421290333[92] = 0.0; + out_7990211645421290333[93] = 0.0; + out_7990211645421290333[94] = 0.0; + out_7990211645421290333[95] = 1.0; + out_7990211645421290333[96] = 0.0; + out_7990211645421290333[97] = 0.0; + out_7990211645421290333[98] = 0.0; + out_7990211645421290333[99] = 0.0; + out_7990211645421290333[100] = 0.0; + out_7990211645421290333[101] = 0.0; + out_7990211645421290333[102] = 0.0; + out_7990211645421290333[103] = 0.0; + out_7990211645421290333[104] = 0.0; + out_7990211645421290333[105] = 0.0; + out_7990211645421290333[106] = 0.0; + out_7990211645421290333[107] = 0.0; + out_7990211645421290333[108] = 0.0; + out_7990211645421290333[109] = 0.0; + out_7990211645421290333[110] = 0.0; + out_7990211645421290333[111] = 0.0; + out_7990211645421290333[112] = 0.0; + out_7990211645421290333[113] = 0.0; + out_7990211645421290333[114] = 1.0; + out_7990211645421290333[115] = 0.0; + out_7990211645421290333[116] = 0.0; + out_7990211645421290333[117] = 0.0; + out_7990211645421290333[118] = 0.0; + out_7990211645421290333[119] = 0.0; + out_7990211645421290333[120] = 0.0; + out_7990211645421290333[121] = 0.0; + out_7990211645421290333[122] = 0.0; + out_7990211645421290333[123] = 0.0; + out_7990211645421290333[124] = 0.0; + out_7990211645421290333[125] = 0.0; + out_7990211645421290333[126] = 0.0; + out_7990211645421290333[127] = 0.0; + out_7990211645421290333[128] = 0.0; + out_7990211645421290333[129] = 0.0; + out_7990211645421290333[130] = 0.0; + out_7990211645421290333[131] = 0.0; + out_7990211645421290333[132] = 0.0; + out_7990211645421290333[133] = 1.0; + out_7990211645421290333[134] = 0.0; + out_7990211645421290333[135] = 0.0; + out_7990211645421290333[136] = 0.0; + out_7990211645421290333[137] = 0.0; + out_7990211645421290333[138] = 0.0; + out_7990211645421290333[139] = 0.0; + out_7990211645421290333[140] = 0.0; + out_7990211645421290333[141] = 0.0; + out_7990211645421290333[142] = 0.0; + out_7990211645421290333[143] = 0.0; + out_7990211645421290333[144] = 0.0; + out_7990211645421290333[145] = 0.0; + out_7990211645421290333[146] = 0.0; + out_7990211645421290333[147] = 0.0; + out_7990211645421290333[148] = 0.0; + out_7990211645421290333[149] = 0.0; + out_7990211645421290333[150] = 0.0; + out_7990211645421290333[151] = 0.0; + out_7990211645421290333[152] = 1.0; + out_7990211645421290333[153] = 0.0; + out_7990211645421290333[154] = 0.0; + out_7990211645421290333[155] = 0.0; + out_7990211645421290333[156] = 0.0; + out_7990211645421290333[157] = 0.0; + out_7990211645421290333[158] = 0.0; + out_7990211645421290333[159] = 0.0; + out_7990211645421290333[160] = 0.0; + out_7990211645421290333[161] = 0.0; + out_7990211645421290333[162] = 0.0; + out_7990211645421290333[163] = 0.0; + out_7990211645421290333[164] = 0.0; + out_7990211645421290333[165] = 0.0; + out_7990211645421290333[166] = 0.0; + out_7990211645421290333[167] = 0.0; + out_7990211645421290333[168] = 0.0; + out_7990211645421290333[169] = 0.0; + out_7990211645421290333[170] = 0.0; + out_7990211645421290333[171] = 1.0; + out_7990211645421290333[172] = 0.0; + out_7990211645421290333[173] = 0.0; + out_7990211645421290333[174] = 0.0; + out_7990211645421290333[175] = 0.0; + out_7990211645421290333[176] = 0.0; + out_7990211645421290333[177] = 0.0; + out_7990211645421290333[178] = 0.0; + out_7990211645421290333[179] = 0.0; + out_7990211645421290333[180] = 0.0; + out_7990211645421290333[181] = 0.0; + out_7990211645421290333[182] = 0.0; + out_7990211645421290333[183] = 0.0; + out_7990211645421290333[184] = 0.0; + out_7990211645421290333[185] = 0.0; + out_7990211645421290333[186] = 0.0; + out_7990211645421290333[187] = 0.0; + out_7990211645421290333[188] = 0.0; + out_7990211645421290333[189] = 0.0; + out_7990211645421290333[190] = 1.0; + out_7990211645421290333[191] = 0.0; + out_7990211645421290333[192] = 0.0; + out_7990211645421290333[193] = 0.0; + out_7990211645421290333[194] = 0.0; + out_7990211645421290333[195] = 0.0; + out_7990211645421290333[196] = 0.0; + out_7990211645421290333[197] = 0.0; + out_7990211645421290333[198] = 0.0; + out_7990211645421290333[199] = 0.0; + out_7990211645421290333[200] = 0.0; + out_7990211645421290333[201] = 0.0; + out_7990211645421290333[202] = 0.0; + out_7990211645421290333[203] = 0.0; + out_7990211645421290333[204] = 0.0; + out_7990211645421290333[205] = 0.0; + out_7990211645421290333[206] = 0.0; + out_7990211645421290333[207] = 0.0; + out_7990211645421290333[208] = 0.0; + out_7990211645421290333[209] = 1.0; + out_7990211645421290333[210] = 0.0; + out_7990211645421290333[211] = 0.0; + out_7990211645421290333[212] = 0.0; + out_7990211645421290333[213] = 0.0; + out_7990211645421290333[214] = 0.0; + out_7990211645421290333[215] = 0.0; + out_7990211645421290333[216] = 0.0; + out_7990211645421290333[217] = 0.0; + out_7990211645421290333[218] = 0.0; + out_7990211645421290333[219] = 0.0; + out_7990211645421290333[220] = 0.0; + out_7990211645421290333[221] = 0.0; + out_7990211645421290333[222] = 0.0; + out_7990211645421290333[223] = 0.0; + out_7990211645421290333[224] = 0.0; + out_7990211645421290333[225] = 0.0; + out_7990211645421290333[226] = 0.0; + out_7990211645421290333[227] = 0.0; + out_7990211645421290333[228] = 1.0; + out_7990211645421290333[229] = 0.0; + out_7990211645421290333[230] = 0.0; + out_7990211645421290333[231] = 0.0; + out_7990211645421290333[232] = 0.0; + out_7990211645421290333[233] = 0.0; + out_7990211645421290333[234] = 0.0; + out_7990211645421290333[235] = 0.0; + out_7990211645421290333[236] = 0.0; + out_7990211645421290333[237] = 0.0; + out_7990211645421290333[238] = 0.0; + out_7990211645421290333[239] = 0.0; + out_7990211645421290333[240] = 0.0; + out_7990211645421290333[241] = 0.0; + out_7990211645421290333[242] = 0.0; + out_7990211645421290333[243] = 0.0; + out_7990211645421290333[244] = 0.0; + out_7990211645421290333[245] = 0.0; + out_7990211645421290333[246] = 0.0; + out_7990211645421290333[247] = 1.0; + out_7990211645421290333[248] = 0.0; + out_7990211645421290333[249] = 0.0; + out_7990211645421290333[250] = 0.0; + out_7990211645421290333[251] = 0.0; + out_7990211645421290333[252] = 0.0; + out_7990211645421290333[253] = 0.0; + out_7990211645421290333[254] = 0.0; + out_7990211645421290333[255] = 0.0; + out_7990211645421290333[256] = 0.0; + out_7990211645421290333[257] = 0.0; + out_7990211645421290333[258] = 0.0; + out_7990211645421290333[259] = 0.0; + out_7990211645421290333[260] = 0.0; + out_7990211645421290333[261] = 0.0; + out_7990211645421290333[262] = 0.0; + out_7990211645421290333[263] = 0.0; + out_7990211645421290333[264] = 0.0; + out_7990211645421290333[265] = 0.0; + out_7990211645421290333[266] = 1.0; + out_7990211645421290333[267] = 0.0; + out_7990211645421290333[268] = 0.0; + out_7990211645421290333[269] = 0.0; + out_7990211645421290333[270] = 0.0; + out_7990211645421290333[271] = 0.0; + out_7990211645421290333[272] = 0.0; + out_7990211645421290333[273] = 0.0; + out_7990211645421290333[274] = 0.0; + out_7990211645421290333[275] = 0.0; + out_7990211645421290333[276] = 0.0; + out_7990211645421290333[277] = 0.0; + out_7990211645421290333[278] = 0.0; + out_7990211645421290333[279] = 0.0; + out_7990211645421290333[280] = 0.0; + out_7990211645421290333[281] = 0.0; + out_7990211645421290333[282] = 0.0; + out_7990211645421290333[283] = 0.0; + out_7990211645421290333[284] = 0.0; + out_7990211645421290333[285] = 1.0; + out_7990211645421290333[286] = 0.0; + out_7990211645421290333[287] = 0.0; + out_7990211645421290333[288] = 0.0; + out_7990211645421290333[289] = 0.0; + out_7990211645421290333[290] = 0.0; + out_7990211645421290333[291] = 0.0; + out_7990211645421290333[292] = 0.0; + out_7990211645421290333[293] = 0.0; + out_7990211645421290333[294] = 0.0; + out_7990211645421290333[295] = 0.0; + out_7990211645421290333[296] = 0.0; + out_7990211645421290333[297] = 0.0; + out_7990211645421290333[298] = 0.0; + out_7990211645421290333[299] = 0.0; + out_7990211645421290333[300] = 0.0; + out_7990211645421290333[301] = 0.0; + out_7990211645421290333[302] = 0.0; + out_7990211645421290333[303] = 0.0; + out_7990211645421290333[304] = 1.0; + out_7990211645421290333[305] = 0.0; + out_7990211645421290333[306] = 0.0; + out_7990211645421290333[307] = 0.0; + out_7990211645421290333[308] = 0.0; + out_7990211645421290333[309] = 0.0; + out_7990211645421290333[310] = 0.0; + out_7990211645421290333[311] = 0.0; + out_7990211645421290333[312] = 0.0; + out_7990211645421290333[313] = 0.0; + out_7990211645421290333[314] = 0.0; + out_7990211645421290333[315] = 0.0; + out_7990211645421290333[316] = 0.0; + out_7990211645421290333[317] = 0.0; + out_7990211645421290333[318] = 0.0; + out_7990211645421290333[319] = 0.0; + out_7990211645421290333[320] = 0.0; + out_7990211645421290333[321] = 0.0; + out_7990211645421290333[322] = 0.0; + out_7990211645421290333[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2535209606058579312) { - out_2535209606058579312[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_2535209606058579312[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_2535209606058579312[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_2535209606058579312[3] = dt*state[12] + state[3]; - out_2535209606058579312[4] = dt*state[13] + state[4]; - out_2535209606058579312[5] = dt*state[14] + state[5]; - out_2535209606058579312[6] = state[6]; - out_2535209606058579312[7] = state[7]; - out_2535209606058579312[8] = state[8]; - out_2535209606058579312[9] = state[9]; - out_2535209606058579312[10] = state[10]; - out_2535209606058579312[11] = state[11]; - out_2535209606058579312[12] = state[12]; - out_2535209606058579312[13] = state[13]; - out_2535209606058579312[14] = state[14]; - out_2535209606058579312[15] = state[15]; - out_2535209606058579312[16] = state[16]; - out_2535209606058579312[17] = state[17]; +void f_fun(double *state, double dt, double *out_2076252175851799438) { + out_2076252175851799438[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_2076252175851799438[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_2076252175851799438[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_2076252175851799438[3] = dt*state[12] + state[3]; + out_2076252175851799438[4] = dt*state[13] + state[4]; + out_2076252175851799438[5] = dt*state[14] + state[5]; + out_2076252175851799438[6] = state[6]; + out_2076252175851799438[7] = state[7]; + out_2076252175851799438[8] = state[8]; + out_2076252175851799438[9] = state[9]; + out_2076252175851799438[10] = state[10]; + out_2076252175851799438[11] = state[11]; + out_2076252175851799438[12] = state[12]; + out_2076252175851799438[13] = state[13]; + out_2076252175851799438[14] = state[14]; + out_2076252175851799438[15] = state[15]; + out_2076252175851799438[16] = state[16]; + out_2076252175851799438[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4915847086962688884) { - out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[2] = 0; - out_4915847086962688884[3] = 0; - out_4915847086962688884[4] = 0; - out_4915847086962688884[5] = 0; - out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[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_4915847086962688884[9] = 0; - out_4915847086962688884[10] = 0; - out_4915847086962688884[11] = 0; - out_4915847086962688884[12] = 0; - out_4915847086962688884[13] = 0; - out_4915847086962688884[14] = 0; - out_4915847086962688884[15] = 0; - out_4915847086962688884[16] = 0; - out_4915847086962688884[17] = 0; - out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[20] = 0; - out_4915847086962688884[21] = 0; - out_4915847086962688884[22] = 0; - out_4915847086962688884[23] = 0; - out_4915847086962688884[24] = 0; - out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[27] = 0; - out_4915847086962688884[28] = 0; - out_4915847086962688884[29] = 0; - out_4915847086962688884[30] = 0; - out_4915847086962688884[31] = 0; - out_4915847086962688884[32] = 0; - out_4915847086962688884[33] = 0; - out_4915847086962688884[34] = 0; - out_4915847086962688884[35] = 0; - out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[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_4915847086962688884[39] = 0; - out_4915847086962688884[40] = 0; - out_4915847086962688884[41] = 0; - out_4915847086962688884[42] = 0; - out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[45] = 0; - out_4915847086962688884[46] = 0; - out_4915847086962688884[47] = 0; - out_4915847086962688884[48] = 0; - out_4915847086962688884[49] = 0; - out_4915847086962688884[50] = 0; - out_4915847086962688884[51] = 0; - out_4915847086962688884[52] = 0; - out_4915847086962688884[53] = 0; - out_4915847086962688884[54] = 0; - out_4915847086962688884[55] = 0; - out_4915847086962688884[56] = 0; - out_4915847086962688884[57] = 1; - out_4915847086962688884[58] = 0; - out_4915847086962688884[59] = 0; - out_4915847086962688884[60] = 0; - out_4915847086962688884[61] = 0; - out_4915847086962688884[62] = 0; - out_4915847086962688884[63] = 0; - out_4915847086962688884[64] = 0; - out_4915847086962688884[65] = 0; - out_4915847086962688884[66] = dt; - out_4915847086962688884[67] = 0; - out_4915847086962688884[68] = 0; - out_4915847086962688884[69] = 0; - out_4915847086962688884[70] = 0; - out_4915847086962688884[71] = 0; - out_4915847086962688884[72] = 0; - out_4915847086962688884[73] = 0; - out_4915847086962688884[74] = 0; - out_4915847086962688884[75] = 0; - out_4915847086962688884[76] = 1; - out_4915847086962688884[77] = 0; - out_4915847086962688884[78] = 0; - out_4915847086962688884[79] = 0; - out_4915847086962688884[80] = 0; - out_4915847086962688884[81] = 0; - out_4915847086962688884[82] = 0; - out_4915847086962688884[83] = 0; - out_4915847086962688884[84] = 0; - out_4915847086962688884[85] = dt; - out_4915847086962688884[86] = 0; - out_4915847086962688884[87] = 0; - out_4915847086962688884[88] = 0; - out_4915847086962688884[89] = 0; - out_4915847086962688884[90] = 0; - out_4915847086962688884[91] = 0; - out_4915847086962688884[92] = 0; - out_4915847086962688884[93] = 0; - out_4915847086962688884[94] = 0; - out_4915847086962688884[95] = 1; - out_4915847086962688884[96] = 0; - out_4915847086962688884[97] = 0; - out_4915847086962688884[98] = 0; - out_4915847086962688884[99] = 0; - out_4915847086962688884[100] = 0; - out_4915847086962688884[101] = 0; - out_4915847086962688884[102] = 0; - out_4915847086962688884[103] = 0; - out_4915847086962688884[104] = dt; - out_4915847086962688884[105] = 0; - out_4915847086962688884[106] = 0; - out_4915847086962688884[107] = 0; - out_4915847086962688884[108] = 0; - out_4915847086962688884[109] = 0; - out_4915847086962688884[110] = 0; - out_4915847086962688884[111] = 0; - out_4915847086962688884[112] = 0; - out_4915847086962688884[113] = 0; - out_4915847086962688884[114] = 1; - out_4915847086962688884[115] = 0; - out_4915847086962688884[116] = 0; - out_4915847086962688884[117] = 0; - out_4915847086962688884[118] = 0; - out_4915847086962688884[119] = 0; - out_4915847086962688884[120] = 0; - out_4915847086962688884[121] = 0; - out_4915847086962688884[122] = 0; - out_4915847086962688884[123] = 0; - out_4915847086962688884[124] = 0; - out_4915847086962688884[125] = 0; - out_4915847086962688884[126] = 0; - out_4915847086962688884[127] = 0; - out_4915847086962688884[128] = 0; - out_4915847086962688884[129] = 0; - out_4915847086962688884[130] = 0; - out_4915847086962688884[131] = 0; - out_4915847086962688884[132] = 0; - out_4915847086962688884[133] = 1; - out_4915847086962688884[134] = 0; - out_4915847086962688884[135] = 0; - out_4915847086962688884[136] = 0; - out_4915847086962688884[137] = 0; - out_4915847086962688884[138] = 0; - out_4915847086962688884[139] = 0; - out_4915847086962688884[140] = 0; - out_4915847086962688884[141] = 0; - out_4915847086962688884[142] = 0; - out_4915847086962688884[143] = 0; - out_4915847086962688884[144] = 0; - out_4915847086962688884[145] = 0; - out_4915847086962688884[146] = 0; - out_4915847086962688884[147] = 0; - out_4915847086962688884[148] = 0; - out_4915847086962688884[149] = 0; - out_4915847086962688884[150] = 0; - out_4915847086962688884[151] = 0; - out_4915847086962688884[152] = 1; - out_4915847086962688884[153] = 0; - out_4915847086962688884[154] = 0; - out_4915847086962688884[155] = 0; - out_4915847086962688884[156] = 0; - out_4915847086962688884[157] = 0; - out_4915847086962688884[158] = 0; - out_4915847086962688884[159] = 0; - out_4915847086962688884[160] = 0; - out_4915847086962688884[161] = 0; - out_4915847086962688884[162] = 0; - out_4915847086962688884[163] = 0; - out_4915847086962688884[164] = 0; - out_4915847086962688884[165] = 0; - out_4915847086962688884[166] = 0; - out_4915847086962688884[167] = 0; - out_4915847086962688884[168] = 0; - out_4915847086962688884[169] = 0; - out_4915847086962688884[170] = 0; - out_4915847086962688884[171] = 1; - out_4915847086962688884[172] = 0; - out_4915847086962688884[173] = 0; - out_4915847086962688884[174] = 0; - out_4915847086962688884[175] = 0; - out_4915847086962688884[176] = 0; - out_4915847086962688884[177] = 0; - out_4915847086962688884[178] = 0; - out_4915847086962688884[179] = 0; - out_4915847086962688884[180] = 0; - out_4915847086962688884[181] = 0; - out_4915847086962688884[182] = 0; - out_4915847086962688884[183] = 0; - out_4915847086962688884[184] = 0; - out_4915847086962688884[185] = 0; - out_4915847086962688884[186] = 0; - out_4915847086962688884[187] = 0; - out_4915847086962688884[188] = 0; - out_4915847086962688884[189] = 0; - out_4915847086962688884[190] = 1; - out_4915847086962688884[191] = 0; - out_4915847086962688884[192] = 0; - out_4915847086962688884[193] = 0; - out_4915847086962688884[194] = 0; - out_4915847086962688884[195] = 0; - out_4915847086962688884[196] = 0; - out_4915847086962688884[197] = 0; - out_4915847086962688884[198] = 0; - out_4915847086962688884[199] = 0; - out_4915847086962688884[200] = 0; - out_4915847086962688884[201] = 0; - out_4915847086962688884[202] = 0; - out_4915847086962688884[203] = 0; - out_4915847086962688884[204] = 0; - out_4915847086962688884[205] = 0; - out_4915847086962688884[206] = 0; - out_4915847086962688884[207] = 0; - out_4915847086962688884[208] = 0; - out_4915847086962688884[209] = 1; - out_4915847086962688884[210] = 0; - out_4915847086962688884[211] = 0; - out_4915847086962688884[212] = 0; - out_4915847086962688884[213] = 0; - out_4915847086962688884[214] = 0; - out_4915847086962688884[215] = 0; - out_4915847086962688884[216] = 0; - out_4915847086962688884[217] = 0; - out_4915847086962688884[218] = 0; - out_4915847086962688884[219] = 0; - out_4915847086962688884[220] = 0; - out_4915847086962688884[221] = 0; - out_4915847086962688884[222] = 0; - out_4915847086962688884[223] = 0; - out_4915847086962688884[224] = 0; - out_4915847086962688884[225] = 0; - out_4915847086962688884[226] = 0; - out_4915847086962688884[227] = 0; - out_4915847086962688884[228] = 1; - out_4915847086962688884[229] = 0; - out_4915847086962688884[230] = 0; - out_4915847086962688884[231] = 0; - out_4915847086962688884[232] = 0; - out_4915847086962688884[233] = 0; - out_4915847086962688884[234] = 0; - out_4915847086962688884[235] = 0; - out_4915847086962688884[236] = 0; - out_4915847086962688884[237] = 0; - out_4915847086962688884[238] = 0; - out_4915847086962688884[239] = 0; - out_4915847086962688884[240] = 0; - out_4915847086962688884[241] = 0; - out_4915847086962688884[242] = 0; - out_4915847086962688884[243] = 0; - out_4915847086962688884[244] = 0; - out_4915847086962688884[245] = 0; - out_4915847086962688884[246] = 0; - out_4915847086962688884[247] = 1; - out_4915847086962688884[248] = 0; - out_4915847086962688884[249] = 0; - out_4915847086962688884[250] = 0; - out_4915847086962688884[251] = 0; - out_4915847086962688884[252] = 0; - out_4915847086962688884[253] = 0; - out_4915847086962688884[254] = 0; - out_4915847086962688884[255] = 0; - out_4915847086962688884[256] = 0; - out_4915847086962688884[257] = 0; - out_4915847086962688884[258] = 0; - out_4915847086962688884[259] = 0; - out_4915847086962688884[260] = 0; - out_4915847086962688884[261] = 0; - out_4915847086962688884[262] = 0; - out_4915847086962688884[263] = 0; - out_4915847086962688884[264] = 0; - out_4915847086962688884[265] = 0; - out_4915847086962688884[266] = 1; - out_4915847086962688884[267] = 0; - out_4915847086962688884[268] = 0; - out_4915847086962688884[269] = 0; - out_4915847086962688884[270] = 0; - out_4915847086962688884[271] = 0; - out_4915847086962688884[272] = 0; - out_4915847086962688884[273] = 0; - out_4915847086962688884[274] = 0; - out_4915847086962688884[275] = 0; - out_4915847086962688884[276] = 0; - out_4915847086962688884[277] = 0; - out_4915847086962688884[278] = 0; - out_4915847086962688884[279] = 0; - out_4915847086962688884[280] = 0; - out_4915847086962688884[281] = 0; - out_4915847086962688884[282] = 0; - out_4915847086962688884[283] = 0; - out_4915847086962688884[284] = 0; - out_4915847086962688884[285] = 1; - out_4915847086962688884[286] = 0; - out_4915847086962688884[287] = 0; - out_4915847086962688884[288] = 0; - out_4915847086962688884[289] = 0; - out_4915847086962688884[290] = 0; - out_4915847086962688884[291] = 0; - out_4915847086962688884[292] = 0; - out_4915847086962688884[293] = 0; - out_4915847086962688884[294] = 0; - out_4915847086962688884[295] = 0; - out_4915847086962688884[296] = 0; - out_4915847086962688884[297] = 0; - out_4915847086962688884[298] = 0; - out_4915847086962688884[299] = 0; - out_4915847086962688884[300] = 0; - out_4915847086962688884[301] = 0; - out_4915847086962688884[302] = 0; - out_4915847086962688884[303] = 0; - out_4915847086962688884[304] = 1; - out_4915847086962688884[305] = 0; - out_4915847086962688884[306] = 0; - out_4915847086962688884[307] = 0; - out_4915847086962688884[308] = 0; - out_4915847086962688884[309] = 0; - out_4915847086962688884[310] = 0; - out_4915847086962688884[311] = 0; - out_4915847086962688884[312] = 0; - out_4915847086962688884[313] = 0; - out_4915847086962688884[314] = 0; - out_4915847086962688884[315] = 0; - out_4915847086962688884[316] = 0; - out_4915847086962688884[317] = 0; - out_4915847086962688884[318] = 0; - out_4915847086962688884[319] = 0; - out_4915847086962688884[320] = 0; - out_4915847086962688884[321] = 0; - out_4915847086962688884[322] = 0; - out_4915847086962688884[323] = 1; +void F_fun(double *state, double dt, double *out_5637265960027517094) { + out_5637265960027517094[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_5637265960027517094[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_5637265960027517094[2] = 0; + out_5637265960027517094[3] = 0; + out_5637265960027517094[4] = 0; + out_5637265960027517094[5] = 0; + out_5637265960027517094[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_5637265960027517094[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_5637265960027517094[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_5637265960027517094[9] = 0; + out_5637265960027517094[10] = 0; + out_5637265960027517094[11] = 0; + out_5637265960027517094[12] = 0; + out_5637265960027517094[13] = 0; + out_5637265960027517094[14] = 0; + out_5637265960027517094[15] = 0; + out_5637265960027517094[16] = 0; + out_5637265960027517094[17] = 0; + out_5637265960027517094[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_5637265960027517094[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_5637265960027517094[20] = 0; + out_5637265960027517094[21] = 0; + out_5637265960027517094[22] = 0; + out_5637265960027517094[23] = 0; + out_5637265960027517094[24] = 0; + out_5637265960027517094[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_5637265960027517094[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_5637265960027517094[27] = 0; + out_5637265960027517094[28] = 0; + out_5637265960027517094[29] = 0; + out_5637265960027517094[30] = 0; + out_5637265960027517094[31] = 0; + out_5637265960027517094[32] = 0; + out_5637265960027517094[33] = 0; + out_5637265960027517094[34] = 0; + out_5637265960027517094[35] = 0; + out_5637265960027517094[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_5637265960027517094[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_5637265960027517094[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_5637265960027517094[39] = 0; + out_5637265960027517094[40] = 0; + out_5637265960027517094[41] = 0; + out_5637265960027517094[42] = 0; + out_5637265960027517094[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_5637265960027517094[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_5637265960027517094[45] = 0; + out_5637265960027517094[46] = 0; + out_5637265960027517094[47] = 0; + out_5637265960027517094[48] = 0; + out_5637265960027517094[49] = 0; + out_5637265960027517094[50] = 0; + out_5637265960027517094[51] = 0; + out_5637265960027517094[52] = 0; + out_5637265960027517094[53] = 0; + out_5637265960027517094[54] = 0; + out_5637265960027517094[55] = 0; + out_5637265960027517094[56] = 0; + out_5637265960027517094[57] = 1; + out_5637265960027517094[58] = 0; + out_5637265960027517094[59] = 0; + out_5637265960027517094[60] = 0; + out_5637265960027517094[61] = 0; + out_5637265960027517094[62] = 0; + out_5637265960027517094[63] = 0; + out_5637265960027517094[64] = 0; + out_5637265960027517094[65] = 0; + out_5637265960027517094[66] = dt; + out_5637265960027517094[67] = 0; + out_5637265960027517094[68] = 0; + out_5637265960027517094[69] = 0; + out_5637265960027517094[70] = 0; + out_5637265960027517094[71] = 0; + out_5637265960027517094[72] = 0; + out_5637265960027517094[73] = 0; + out_5637265960027517094[74] = 0; + out_5637265960027517094[75] = 0; + out_5637265960027517094[76] = 1; + out_5637265960027517094[77] = 0; + out_5637265960027517094[78] = 0; + out_5637265960027517094[79] = 0; + out_5637265960027517094[80] = 0; + out_5637265960027517094[81] = 0; + out_5637265960027517094[82] = 0; + out_5637265960027517094[83] = 0; + out_5637265960027517094[84] = 0; + out_5637265960027517094[85] = dt; + out_5637265960027517094[86] = 0; + out_5637265960027517094[87] = 0; + out_5637265960027517094[88] = 0; + out_5637265960027517094[89] = 0; + out_5637265960027517094[90] = 0; + out_5637265960027517094[91] = 0; + out_5637265960027517094[92] = 0; + out_5637265960027517094[93] = 0; + out_5637265960027517094[94] = 0; + out_5637265960027517094[95] = 1; + out_5637265960027517094[96] = 0; + out_5637265960027517094[97] = 0; + out_5637265960027517094[98] = 0; + out_5637265960027517094[99] = 0; + out_5637265960027517094[100] = 0; + out_5637265960027517094[101] = 0; + out_5637265960027517094[102] = 0; + out_5637265960027517094[103] = 0; + out_5637265960027517094[104] = dt; + out_5637265960027517094[105] = 0; + out_5637265960027517094[106] = 0; + out_5637265960027517094[107] = 0; + out_5637265960027517094[108] = 0; + out_5637265960027517094[109] = 0; + out_5637265960027517094[110] = 0; + out_5637265960027517094[111] = 0; + out_5637265960027517094[112] = 0; + out_5637265960027517094[113] = 0; + out_5637265960027517094[114] = 1; + out_5637265960027517094[115] = 0; + out_5637265960027517094[116] = 0; + out_5637265960027517094[117] = 0; + out_5637265960027517094[118] = 0; + out_5637265960027517094[119] = 0; + out_5637265960027517094[120] = 0; + out_5637265960027517094[121] = 0; + out_5637265960027517094[122] = 0; + out_5637265960027517094[123] = 0; + out_5637265960027517094[124] = 0; + out_5637265960027517094[125] = 0; + out_5637265960027517094[126] = 0; + out_5637265960027517094[127] = 0; + out_5637265960027517094[128] = 0; + out_5637265960027517094[129] = 0; + out_5637265960027517094[130] = 0; + out_5637265960027517094[131] = 0; + out_5637265960027517094[132] = 0; + out_5637265960027517094[133] = 1; + out_5637265960027517094[134] = 0; + out_5637265960027517094[135] = 0; + out_5637265960027517094[136] = 0; + out_5637265960027517094[137] = 0; + out_5637265960027517094[138] = 0; + out_5637265960027517094[139] = 0; + out_5637265960027517094[140] = 0; + out_5637265960027517094[141] = 0; + out_5637265960027517094[142] = 0; + out_5637265960027517094[143] = 0; + out_5637265960027517094[144] = 0; + out_5637265960027517094[145] = 0; + out_5637265960027517094[146] = 0; + out_5637265960027517094[147] = 0; + out_5637265960027517094[148] = 0; + out_5637265960027517094[149] = 0; + out_5637265960027517094[150] = 0; + out_5637265960027517094[151] = 0; + out_5637265960027517094[152] = 1; + out_5637265960027517094[153] = 0; + out_5637265960027517094[154] = 0; + out_5637265960027517094[155] = 0; + out_5637265960027517094[156] = 0; + out_5637265960027517094[157] = 0; + out_5637265960027517094[158] = 0; + out_5637265960027517094[159] = 0; + out_5637265960027517094[160] = 0; + out_5637265960027517094[161] = 0; + out_5637265960027517094[162] = 0; + out_5637265960027517094[163] = 0; + out_5637265960027517094[164] = 0; + out_5637265960027517094[165] = 0; + out_5637265960027517094[166] = 0; + out_5637265960027517094[167] = 0; + out_5637265960027517094[168] = 0; + out_5637265960027517094[169] = 0; + out_5637265960027517094[170] = 0; + out_5637265960027517094[171] = 1; + out_5637265960027517094[172] = 0; + out_5637265960027517094[173] = 0; + out_5637265960027517094[174] = 0; + out_5637265960027517094[175] = 0; + out_5637265960027517094[176] = 0; + out_5637265960027517094[177] = 0; + out_5637265960027517094[178] = 0; + out_5637265960027517094[179] = 0; + out_5637265960027517094[180] = 0; + out_5637265960027517094[181] = 0; + out_5637265960027517094[182] = 0; + out_5637265960027517094[183] = 0; + out_5637265960027517094[184] = 0; + out_5637265960027517094[185] = 0; + out_5637265960027517094[186] = 0; + out_5637265960027517094[187] = 0; + out_5637265960027517094[188] = 0; + out_5637265960027517094[189] = 0; + out_5637265960027517094[190] = 1; + out_5637265960027517094[191] = 0; + out_5637265960027517094[192] = 0; + out_5637265960027517094[193] = 0; + out_5637265960027517094[194] = 0; + out_5637265960027517094[195] = 0; + out_5637265960027517094[196] = 0; + out_5637265960027517094[197] = 0; + out_5637265960027517094[198] = 0; + out_5637265960027517094[199] = 0; + out_5637265960027517094[200] = 0; + out_5637265960027517094[201] = 0; + out_5637265960027517094[202] = 0; + out_5637265960027517094[203] = 0; + out_5637265960027517094[204] = 0; + out_5637265960027517094[205] = 0; + out_5637265960027517094[206] = 0; + out_5637265960027517094[207] = 0; + out_5637265960027517094[208] = 0; + out_5637265960027517094[209] = 1; + out_5637265960027517094[210] = 0; + out_5637265960027517094[211] = 0; + out_5637265960027517094[212] = 0; + out_5637265960027517094[213] = 0; + out_5637265960027517094[214] = 0; + out_5637265960027517094[215] = 0; + out_5637265960027517094[216] = 0; + out_5637265960027517094[217] = 0; + out_5637265960027517094[218] = 0; + out_5637265960027517094[219] = 0; + out_5637265960027517094[220] = 0; + out_5637265960027517094[221] = 0; + out_5637265960027517094[222] = 0; + out_5637265960027517094[223] = 0; + out_5637265960027517094[224] = 0; + out_5637265960027517094[225] = 0; + out_5637265960027517094[226] = 0; + out_5637265960027517094[227] = 0; + out_5637265960027517094[228] = 1; + out_5637265960027517094[229] = 0; + out_5637265960027517094[230] = 0; + out_5637265960027517094[231] = 0; + out_5637265960027517094[232] = 0; + out_5637265960027517094[233] = 0; + out_5637265960027517094[234] = 0; + out_5637265960027517094[235] = 0; + out_5637265960027517094[236] = 0; + out_5637265960027517094[237] = 0; + out_5637265960027517094[238] = 0; + out_5637265960027517094[239] = 0; + out_5637265960027517094[240] = 0; + out_5637265960027517094[241] = 0; + out_5637265960027517094[242] = 0; + out_5637265960027517094[243] = 0; + out_5637265960027517094[244] = 0; + out_5637265960027517094[245] = 0; + out_5637265960027517094[246] = 0; + out_5637265960027517094[247] = 1; + out_5637265960027517094[248] = 0; + out_5637265960027517094[249] = 0; + out_5637265960027517094[250] = 0; + out_5637265960027517094[251] = 0; + out_5637265960027517094[252] = 0; + out_5637265960027517094[253] = 0; + out_5637265960027517094[254] = 0; + out_5637265960027517094[255] = 0; + out_5637265960027517094[256] = 0; + out_5637265960027517094[257] = 0; + out_5637265960027517094[258] = 0; + out_5637265960027517094[259] = 0; + out_5637265960027517094[260] = 0; + out_5637265960027517094[261] = 0; + out_5637265960027517094[262] = 0; + out_5637265960027517094[263] = 0; + out_5637265960027517094[264] = 0; + out_5637265960027517094[265] = 0; + out_5637265960027517094[266] = 1; + out_5637265960027517094[267] = 0; + out_5637265960027517094[268] = 0; + out_5637265960027517094[269] = 0; + out_5637265960027517094[270] = 0; + out_5637265960027517094[271] = 0; + out_5637265960027517094[272] = 0; + out_5637265960027517094[273] = 0; + out_5637265960027517094[274] = 0; + out_5637265960027517094[275] = 0; + out_5637265960027517094[276] = 0; + out_5637265960027517094[277] = 0; + out_5637265960027517094[278] = 0; + out_5637265960027517094[279] = 0; + out_5637265960027517094[280] = 0; + out_5637265960027517094[281] = 0; + out_5637265960027517094[282] = 0; + out_5637265960027517094[283] = 0; + out_5637265960027517094[284] = 0; + out_5637265960027517094[285] = 1; + out_5637265960027517094[286] = 0; + out_5637265960027517094[287] = 0; + out_5637265960027517094[288] = 0; + out_5637265960027517094[289] = 0; + out_5637265960027517094[290] = 0; + out_5637265960027517094[291] = 0; + out_5637265960027517094[292] = 0; + out_5637265960027517094[293] = 0; + out_5637265960027517094[294] = 0; + out_5637265960027517094[295] = 0; + out_5637265960027517094[296] = 0; + out_5637265960027517094[297] = 0; + out_5637265960027517094[298] = 0; + out_5637265960027517094[299] = 0; + out_5637265960027517094[300] = 0; + out_5637265960027517094[301] = 0; + out_5637265960027517094[302] = 0; + out_5637265960027517094[303] = 0; + out_5637265960027517094[304] = 1; + out_5637265960027517094[305] = 0; + out_5637265960027517094[306] = 0; + out_5637265960027517094[307] = 0; + out_5637265960027517094[308] = 0; + out_5637265960027517094[309] = 0; + out_5637265960027517094[310] = 0; + out_5637265960027517094[311] = 0; + out_5637265960027517094[312] = 0; + out_5637265960027517094[313] = 0; + out_5637265960027517094[314] = 0; + out_5637265960027517094[315] = 0; + out_5637265960027517094[316] = 0; + out_5637265960027517094[317] = 0; + out_5637265960027517094[318] = 0; + out_5637265960027517094[319] = 0; + out_5637265960027517094[320] = 0; + out_5637265960027517094[321] = 0; + out_5637265960027517094[322] = 0; + out_5637265960027517094[323] = 1; } -void h_4(double *state, double *unused, double *out_4566450913648834974) { - out_4566450913648834974[0] = state[6] + state[9]; - out_4566450913648834974[1] = state[7] + state[10]; - out_4566450913648834974[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_4126661282704422428) { + out_4126661282704422428[0] = state[6] + state[9]; + out_4126661282704422428[1] = state[7] + state[10]; + out_4126661282704422428[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8478926176726141688) { - out_8478926176726141688[0] = 0; - out_8478926176726141688[1] = 0; - out_8478926176726141688[2] = 0; - out_8478926176726141688[3] = 0; - out_8478926176726141688[4] = 0; - out_8478926176726141688[5] = 0; - out_8478926176726141688[6] = 1; - out_8478926176726141688[7] = 0; - out_8478926176726141688[8] = 0; - out_8478926176726141688[9] = 1; - out_8478926176726141688[10] = 0; - out_8478926176726141688[11] = 0; - out_8478926176726141688[12] = 0; - out_8478926176726141688[13] = 0; - out_8478926176726141688[14] = 0; - out_8478926176726141688[15] = 0; - out_8478926176726141688[16] = 0; - out_8478926176726141688[17] = 0; - out_8478926176726141688[18] = 0; - out_8478926176726141688[19] = 0; - out_8478926176726141688[20] = 0; - out_8478926176726141688[21] = 0; - out_8478926176726141688[22] = 0; - out_8478926176726141688[23] = 0; - out_8478926176726141688[24] = 0; - out_8478926176726141688[25] = 1; - out_8478926176726141688[26] = 0; - out_8478926176726141688[27] = 0; - out_8478926176726141688[28] = 1; - out_8478926176726141688[29] = 0; - out_8478926176726141688[30] = 0; - out_8478926176726141688[31] = 0; - out_8478926176726141688[32] = 0; - out_8478926176726141688[33] = 0; - out_8478926176726141688[34] = 0; - out_8478926176726141688[35] = 0; - out_8478926176726141688[36] = 0; - out_8478926176726141688[37] = 0; - out_8478926176726141688[38] = 0; - out_8478926176726141688[39] = 0; - out_8478926176726141688[40] = 0; - out_8478926176726141688[41] = 0; - out_8478926176726141688[42] = 0; - out_8478926176726141688[43] = 0; - out_8478926176726141688[44] = 1; - out_8478926176726141688[45] = 0; - out_8478926176726141688[46] = 0; - out_8478926176726141688[47] = 1; - out_8478926176726141688[48] = 0; - out_8478926176726141688[49] = 0; - out_8478926176726141688[50] = 0; - out_8478926176726141688[51] = 0; - out_8478926176726141688[52] = 0; - out_8478926176726141688[53] = 0; +void H_4(double *state, double *unused, double *out_7236050643366577726) { + out_7236050643366577726[0] = 0; + out_7236050643366577726[1] = 0; + out_7236050643366577726[2] = 0; + out_7236050643366577726[3] = 0; + out_7236050643366577726[4] = 0; + out_7236050643366577726[5] = 0; + out_7236050643366577726[6] = 1; + out_7236050643366577726[7] = 0; + out_7236050643366577726[8] = 0; + out_7236050643366577726[9] = 1; + out_7236050643366577726[10] = 0; + out_7236050643366577726[11] = 0; + out_7236050643366577726[12] = 0; + out_7236050643366577726[13] = 0; + out_7236050643366577726[14] = 0; + out_7236050643366577726[15] = 0; + out_7236050643366577726[16] = 0; + out_7236050643366577726[17] = 0; + out_7236050643366577726[18] = 0; + out_7236050643366577726[19] = 0; + out_7236050643366577726[20] = 0; + out_7236050643366577726[21] = 0; + out_7236050643366577726[22] = 0; + out_7236050643366577726[23] = 0; + out_7236050643366577726[24] = 0; + out_7236050643366577726[25] = 1; + out_7236050643366577726[26] = 0; + out_7236050643366577726[27] = 0; + out_7236050643366577726[28] = 1; + out_7236050643366577726[29] = 0; + out_7236050643366577726[30] = 0; + out_7236050643366577726[31] = 0; + out_7236050643366577726[32] = 0; + out_7236050643366577726[33] = 0; + out_7236050643366577726[34] = 0; + out_7236050643366577726[35] = 0; + out_7236050643366577726[36] = 0; + out_7236050643366577726[37] = 0; + out_7236050643366577726[38] = 0; + out_7236050643366577726[39] = 0; + out_7236050643366577726[40] = 0; + out_7236050643366577726[41] = 0; + out_7236050643366577726[42] = 0; + out_7236050643366577726[43] = 0; + out_7236050643366577726[44] = 1; + out_7236050643366577726[45] = 0; + out_7236050643366577726[46] = 0; + out_7236050643366577726[47] = 1; + out_7236050643366577726[48] = 0; + out_7236050643366577726[49] = 0; + out_7236050643366577726[50] = 0; + out_7236050643366577726[51] = 0; + out_7236050643366577726[52] = 0; + out_7236050643366577726[53] = 0; } -void h_10(double *state, double *unused, double *out_7539996529410954195) { - out_7539996529410954195[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7539996529410954195[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7539996529410954195[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_8418525422339329003) { + out_8418525422339329003[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8418525422339329003[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8418525422339329003[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_8508433762584458121) { - out_8508433762584458121[0] = 0; - out_8508433762584458121[1] = 9.8100000000000005*cos(state[1]); - out_8508433762584458121[2] = 0; - out_8508433762584458121[3] = 0; - out_8508433762584458121[4] = -state[8]; - out_8508433762584458121[5] = state[7]; - out_8508433762584458121[6] = 0; - out_8508433762584458121[7] = state[5]; - out_8508433762584458121[8] = -state[4]; - out_8508433762584458121[9] = 0; - out_8508433762584458121[10] = 0; - out_8508433762584458121[11] = 0; - out_8508433762584458121[12] = 1; - out_8508433762584458121[13] = 0; - out_8508433762584458121[14] = 0; - out_8508433762584458121[15] = 1; - out_8508433762584458121[16] = 0; - out_8508433762584458121[17] = 0; - out_8508433762584458121[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8508433762584458121[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8508433762584458121[20] = 0; - out_8508433762584458121[21] = state[8]; - out_8508433762584458121[22] = 0; - out_8508433762584458121[23] = -state[6]; - out_8508433762584458121[24] = -state[5]; - out_8508433762584458121[25] = 0; - out_8508433762584458121[26] = state[3]; - out_8508433762584458121[27] = 0; - out_8508433762584458121[28] = 0; - out_8508433762584458121[29] = 0; - out_8508433762584458121[30] = 0; - out_8508433762584458121[31] = 1; - out_8508433762584458121[32] = 0; - out_8508433762584458121[33] = 0; - out_8508433762584458121[34] = 1; - out_8508433762584458121[35] = 0; - out_8508433762584458121[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8508433762584458121[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8508433762584458121[38] = 0; - out_8508433762584458121[39] = -state[7]; - out_8508433762584458121[40] = state[6]; - out_8508433762584458121[41] = 0; - out_8508433762584458121[42] = state[4]; - out_8508433762584458121[43] = -state[3]; - out_8508433762584458121[44] = 0; - out_8508433762584458121[45] = 0; - out_8508433762584458121[46] = 0; - out_8508433762584458121[47] = 0; - out_8508433762584458121[48] = 0; - out_8508433762584458121[49] = 0; - out_8508433762584458121[50] = 1; - out_8508433762584458121[51] = 0; - out_8508433762584458121[52] = 0; - out_8508433762584458121[53] = 1; +void H_10(double *state, double *unused, double *out_7705227448246336422) { + out_7705227448246336422[0] = 0; + out_7705227448246336422[1] = 9.8100000000000005*cos(state[1]); + out_7705227448246336422[2] = 0; + out_7705227448246336422[3] = 0; + out_7705227448246336422[4] = -state[8]; + out_7705227448246336422[5] = state[7]; + out_7705227448246336422[6] = 0; + out_7705227448246336422[7] = state[5]; + out_7705227448246336422[8] = -state[4]; + out_7705227448246336422[9] = 0; + out_7705227448246336422[10] = 0; + out_7705227448246336422[11] = 0; + out_7705227448246336422[12] = 1; + out_7705227448246336422[13] = 0; + out_7705227448246336422[14] = 0; + out_7705227448246336422[15] = 1; + out_7705227448246336422[16] = 0; + out_7705227448246336422[17] = 0; + out_7705227448246336422[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_7705227448246336422[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_7705227448246336422[20] = 0; + out_7705227448246336422[21] = state[8]; + out_7705227448246336422[22] = 0; + out_7705227448246336422[23] = -state[6]; + out_7705227448246336422[24] = -state[5]; + out_7705227448246336422[25] = 0; + out_7705227448246336422[26] = state[3]; + out_7705227448246336422[27] = 0; + out_7705227448246336422[28] = 0; + out_7705227448246336422[29] = 0; + out_7705227448246336422[30] = 0; + out_7705227448246336422[31] = 1; + out_7705227448246336422[32] = 0; + out_7705227448246336422[33] = 0; + out_7705227448246336422[34] = 1; + out_7705227448246336422[35] = 0; + out_7705227448246336422[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_7705227448246336422[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_7705227448246336422[38] = 0; + out_7705227448246336422[39] = -state[7]; + out_7705227448246336422[40] = state[6]; + out_7705227448246336422[41] = 0; + out_7705227448246336422[42] = state[4]; + out_7705227448246336422[43] = -state[3]; + out_7705227448246336422[44] = 0; + out_7705227448246336422[45] = 0; + out_7705227448246336422[46] = 0; + out_7705227448246336422[47] = 0; + out_7705227448246336422[48] = 0; + out_7705227448246336422[49] = 0; + out_7705227448246336422[50] = 1; + out_7705227448246336422[51] = 0; + out_7705227448246336422[52] = 0; + out_7705227448246336422[53] = 1; } -void h_13(double *state, double *unused, double *out_4338527865886089826) { - out_4338527865886089826[0] = state[3]; - out_4338527865886089826[1] = state[4]; - out_4338527865886089826[2] = state[5]; +void h_13(double *state, double *unused, double *out_1137889379193769762) { + out_1137889379193769762[0] = state[3]; + out_1137889379193769762[1] = state[4]; + out_1137889379193769762[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6755544071651077127) { - out_6755544071651077127[0] = 0; - out_6755544071651077127[1] = 0; - out_6755544071651077127[2] = 0; - out_6755544071651077127[3] = 1; - out_6755544071651077127[4] = 0; - out_6755544071651077127[5] = 0; - out_6755544071651077127[6] = 0; - out_6755544071651077127[7] = 0; - out_6755544071651077127[8] = 0; - out_6755544071651077127[9] = 0; - out_6755544071651077127[10] = 0; - out_6755544071651077127[11] = 0; - out_6755544071651077127[12] = 0; - out_6755544071651077127[13] = 0; - out_6755544071651077127[14] = 0; - out_6755544071651077127[15] = 0; - out_6755544071651077127[16] = 0; - out_6755544071651077127[17] = 0; - out_6755544071651077127[18] = 0; - out_6755544071651077127[19] = 0; - out_6755544071651077127[20] = 0; - out_6755544071651077127[21] = 0; - out_6755544071651077127[22] = 1; - out_6755544071651077127[23] = 0; - out_6755544071651077127[24] = 0; - out_6755544071651077127[25] = 0; - out_6755544071651077127[26] = 0; - out_6755544071651077127[27] = 0; - out_6755544071651077127[28] = 0; - out_6755544071651077127[29] = 0; - out_6755544071651077127[30] = 0; - out_6755544071651077127[31] = 0; - out_6755544071651077127[32] = 0; - out_6755544071651077127[33] = 0; - out_6755544071651077127[34] = 0; - out_6755544071651077127[35] = 0; - out_6755544071651077127[36] = 0; - out_6755544071651077127[37] = 0; - out_6755544071651077127[38] = 0; - out_6755544071651077127[39] = 0; - out_6755544071651077127[40] = 0; - out_6755544071651077127[41] = 1; - out_6755544071651077127[42] = 0; - out_6755544071651077127[43] = 0; - out_6755544071651077127[44] = 0; - out_6755544071651077127[45] = 0; - out_6755544071651077127[46] = 0; - out_6755544071651077127[47] = 0; - out_6755544071651077127[48] = 0; - out_6755544071651077127[49] = 0; - out_6755544071651077127[50] = 0; - out_6755544071651077127[51] = 0; - out_6755544071651077127[52] = 0; - out_6755544071651077127[53] = 0; +void H_13(double *state, double *unused, double *out_4023776818034244925) { + out_4023776818034244925[0] = 0; + out_4023776818034244925[1] = 0; + out_4023776818034244925[2] = 0; + out_4023776818034244925[3] = 1; + out_4023776818034244925[4] = 0; + out_4023776818034244925[5] = 0; + out_4023776818034244925[6] = 0; + out_4023776818034244925[7] = 0; + out_4023776818034244925[8] = 0; + out_4023776818034244925[9] = 0; + out_4023776818034244925[10] = 0; + out_4023776818034244925[11] = 0; + out_4023776818034244925[12] = 0; + out_4023776818034244925[13] = 0; + out_4023776818034244925[14] = 0; + out_4023776818034244925[15] = 0; + out_4023776818034244925[16] = 0; + out_4023776818034244925[17] = 0; + out_4023776818034244925[18] = 0; + out_4023776818034244925[19] = 0; + out_4023776818034244925[20] = 0; + out_4023776818034244925[21] = 0; + out_4023776818034244925[22] = 1; + out_4023776818034244925[23] = 0; + out_4023776818034244925[24] = 0; + out_4023776818034244925[25] = 0; + out_4023776818034244925[26] = 0; + out_4023776818034244925[27] = 0; + out_4023776818034244925[28] = 0; + out_4023776818034244925[29] = 0; + out_4023776818034244925[30] = 0; + out_4023776818034244925[31] = 0; + out_4023776818034244925[32] = 0; + out_4023776818034244925[33] = 0; + out_4023776818034244925[34] = 0; + out_4023776818034244925[35] = 0; + out_4023776818034244925[36] = 0; + out_4023776818034244925[37] = 0; + out_4023776818034244925[38] = 0; + out_4023776818034244925[39] = 0; + out_4023776818034244925[40] = 0; + out_4023776818034244925[41] = 1; + out_4023776818034244925[42] = 0; + out_4023776818034244925[43] = 0; + out_4023776818034244925[44] = 0; + out_4023776818034244925[45] = 0; + out_4023776818034244925[46] = 0; + out_4023776818034244925[47] = 0; + out_4023776818034244925[48] = 0; + out_4023776818034244925[49] = 0; + out_4023776818034244925[50] = 0; + out_4023776818034244925[51] = 0; + out_4023776818034244925[52] = 0; + out_4023776818034244925[53] = 0; } -void h_14(double *state, double *unused, double *out_8691716025455276110) { - out_8691716025455276110[0] = state[6]; - out_8691716025455276110[1] = state[7]; - out_8691716025455276110[2] = state[8]; +void h_14(double *state, double *unused, double *out_3946282764828343143) { + out_3946282764828343143[0] = state[6]; + out_3946282764828343143[1] = state[7]; + out_3946282764828343143[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6004577040643925399) { - out_6004577040643925399[0] = 0; - out_6004577040643925399[1] = 0; - out_6004577040643925399[2] = 0; - out_6004577040643925399[3] = 0; - out_6004577040643925399[4] = 0; - out_6004577040643925399[5] = 0; - out_6004577040643925399[6] = 1; - out_6004577040643925399[7] = 0; - out_6004577040643925399[8] = 0; - out_6004577040643925399[9] = 0; - out_6004577040643925399[10] = 0; - out_6004577040643925399[11] = 0; - out_6004577040643925399[12] = 0; - out_6004577040643925399[13] = 0; - out_6004577040643925399[14] = 0; - out_6004577040643925399[15] = 0; - out_6004577040643925399[16] = 0; - out_6004577040643925399[17] = 0; - out_6004577040643925399[18] = 0; - out_6004577040643925399[19] = 0; - out_6004577040643925399[20] = 0; - out_6004577040643925399[21] = 0; - out_6004577040643925399[22] = 0; - out_6004577040643925399[23] = 0; - out_6004577040643925399[24] = 0; - out_6004577040643925399[25] = 1; - out_6004577040643925399[26] = 0; - out_6004577040643925399[27] = 0; - out_6004577040643925399[28] = 0; - out_6004577040643925399[29] = 0; - out_6004577040643925399[30] = 0; - out_6004577040643925399[31] = 0; - out_6004577040643925399[32] = 0; - out_6004577040643925399[33] = 0; - out_6004577040643925399[34] = 0; - out_6004577040643925399[35] = 0; - out_6004577040643925399[36] = 0; - out_6004577040643925399[37] = 0; - out_6004577040643925399[38] = 0; - out_6004577040643925399[39] = 0; - out_6004577040643925399[40] = 0; - out_6004577040643925399[41] = 0; - out_6004577040643925399[42] = 0; - out_6004577040643925399[43] = 0; - out_6004577040643925399[44] = 1; - out_6004577040643925399[45] = 0; - out_6004577040643925399[46] = 0; - out_6004577040643925399[47] = 0; - out_6004577040643925399[48] = 0; - out_6004577040643925399[49] = 0; - out_6004577040643925399[50] = 0; - out_6004577040643925399[51] = 0; - out_6004577040643925399[52] = 0; - out_6004577040643925399[53] = 0; +void H_14(double *state, double *unused, double *out_3272809787027093197) { + out_3272809787027093197[0] = 0; + out_3272809787027093197[1] = 0; + out_3272809787027093197[2] = 0; + out_3272809787027093197[3] = 0; + out_3272809787027093197[4] = 0; + out_3272809787027093197[5] = 0; + out_3272809787027093197[6] = 1; + out_3272809787027093197[7] = 0; + out_3272809787027093197[8] = 0; + out_3272809787027093197[9] = 0; + out_3272809787027093197[10] = 0; + out_3272809787027093197[11] = 0; + out_3272809787027093197[12] = 0; + out_3272809787027093197[13] = 0; + out_3272809787027093197[14] = 0; + out_3272809787027093197[15] = 0; + out_3272809787027093197[16] = 0; + out_3272809787027093197[17] = 0; + out_3272809787027093197[18] = 0; + out_3272809787027093197[19] = 0; + out_3272809787027093197[20] = 0; + out_3272809787027093197[21] = 0; + out_3272809787027093197[22] = 0; + out_3272809787027093197[23] = 0; + out_3272809787027093197[24] = 0; + out_3272809787027093197[25] = 1; + out_3272809787027093197[26] = 0; + out_3272809787027093197[27] = 0; + out_3272809787027093197[28] = 0; + out_3272809787027093197[29] = 0; + out_3272809787027093197[30] = 0; + out_3272809787027093197[31] = 0; + out_3272809787027093197[32] = 0; + out_3272809787027093197[33] = 0; + out_3272809787027093197[34] = 0; + out_3272809787027093197[35] = 0; + out_3272809787027093197[36] = 0; + out_3272809787027093197[37] = 0; + out_3272809787027093197[38] = 0; + out_3272809787027093197[39] = 0; + out_3272809787027093197[40] = 0; + out_3272809787027093197[41] = 0; + out_3272809787027093197[42] = 0; + out_3272809787027093197[43] = 0; + out_3272809787027093197[44] = 1; + out_3272809787027093197[45] = 0; + out_3272809787027093197[46] = 0; + out_3272809787027093197[47] = 0; + out_3272809787027093197[48] = 0; + out_3272809787027093197[49] = 0; + out_3272809787027093197[50] = 0; + out_3272809787027093197[51] = 0; + out_3272809787027093197[52] = 0; + out_3272809787027093197[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_8294180210607547219) { - err_fun(nom_x, delta_x, out_8294180210607547219); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5010206230741134473) { + err_fun(nom_x, delta_x, out_5010206230741134473); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8330596021821018044) { - inv_err_fun(nom_x, true_x, out_8330596021821018044); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1188067782326305394) { + inv_err_fun(nom_x, true_x, out_1188067782326305394); } -void pose_H_mod_fun(double *state, double *out_534058243187542804) { - H_mod_fun(state, out_534058243187542804); +void pose_H_mod_fun(double *state, double *out_7990211645421290333) { + H_mod_fun(state, out_7990211645421290333); } -void pose_f_fun(double *state, double dt, double *out_2535209606058579312) { - f_fun(state, dt, out_2535209606058579312); +void pose_f_fun(double *state, double dt, double *out_2076252175851799438) { + f_fun(state, dt, out_2076252175851799438); } -void pose_F_fun(double *state, double dt, double *out_4915847086962688884) { - F_fun(state, dt, out_4915847086962688884); +void pose_F_fun(double *state, double dt, double *out_5637265960027517094) { + F_fun(state, dt, out_5637265960027517094); } -void pose_h_4(double *state, double *unused, double *out_4566450913648834974) { - h_4(state, unused, out_4566450913648834974); +void pose_h_4(double *state, double *unused, double *out_4126661282704422428) { + h_4(state, unused, out_4126661282704422428); } -void pose_H_4(double *state, double *unused, double *out_8478926176726141688) { - H_4(state, unused, out_8478926176726141688); +void pose_H_4(double *state, double *unused, double *out_7236050643366577726) { + H_4(state, unused, out_7236050643366577726); } -void pose_h_10(double *state, double *unused, double *out_7539996529410954195) { - h_10(state, unused, out_7539996529410954195); +void pose_h_10(double *state, double *unused, double *out_8418525422339329003) { + h_10(state, unused, out_8418525422339329003); } -void pose_H_10(double *state, double *unused, double *out_8508433762584458121) { - H_10(state, unused, out_8508433762584458121); +void pose_H_10(double *state, double *unused, double *out_7705227448246336422) { + H_10(state, unused, out_7705227448246336422); } -void pose_h_13(double *state, double *unused, double *out_4338527865886089826) { - h_13(state, unused, out_4338527865886089826); +void pose_h_13(double *state, double *unused, double *out_1137889379193769762) { + h_13(state, unused, out_1137889379193769762); } -void pose_H_13(double *state, double *unused, double *out_6755544071651077127) { - H_13(state, unused, out_6755544071651077127); +void pose_H_13(double *state, double *unused, double *out_4023776818034244925) { + H_13(state, unused, out_4023776818034244925); } -void pose_h_14(double *state, double *unused, double *out_8691716025455276110) { - h_14(state, unused, out_8691716025455276110); +void pose_h_14(double *state, double *unused, double *out_3946282764828343143) { + h_14(state, unused, out_3946282764828343143); } -void pose_H_14(double *state, double *unused, double *out_6004577040643925399) { - H_14(state, unused, out_6004577040643925399); +void pose_H_14(double *state, double *unused, double *out_3272809787027093197) { + H_14(state, unused, out_3272809787027093197); } 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 0b019cf857..9e6be8858a 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_8294180210607547219); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8330596021821018044); -void pose_H_mod_fun(double *state, double *out_534058243187542804); -void pose_f_fun(double *state, double dt, double *out_2535209606058579312); -void pose_F_fun(double *state, double dt, double *out_4915847086962688884); -void pose_h_4(double *state, double *unused, double *out_4566450913648834974); -void pose_H_4(double *state, double *unused, double *out_8478926176726141688); -void pose_h_10(double *state, double *unused, double *out_7539996529410954195); -void pose_H_10(double *state, double *unused, double *out_8508433762584458121); -void pose_h_13(double *state, double *unused, double *out_4338527865886089826); -void pose_H_13(double *state, double *unused, double *out_6755544071651077127); -void pose_h_14(double *state, double *unused, double *out_8691716025455276110); -void pose_H_14(double *state, double *unused, double *out_6004577040643925399); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5010206230741134473); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1188067782326305394); +void pose_H_mod_fun(double *state, double *out_7990211645421290333); +void pose_f_fun(double *state, double dt, double *out_2076252175851799438); +void pose_F_fun(double *state, double dt, double *out_5637265960027517094); +void pose_h_4(double *state, double *unused, double *out_4126661282704422428); +void pose_H_4(double *state, double *unused, double *out_7236050643366577726); +void pose_h_10(double *state, double *unused, double *out_8418525422339329003); +void pose_H_10(double *state, double *unused, double *out_7705227448246336422); +void pose_h_13(double *state, double *unused, double *out_1137889379193769762); +void pose_H_13(double *state, double *unused, double *out_4023776818034244925); +void pose_h_14(double *state, double *unused, double *out_3946282764828343143); +void pose_H_14(double *state, double *unused, double *out_3272809787027093197); 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 7bdc821fb2..6fc41f0af4 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 8cbd86511f..d32f2edf4f 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 89a6a0c254..24b6b3df58 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index a501078596..3f9d5cdf22 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 46221850da..ef838d5e28 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ