diff --git a/common/libcommon.a b/common/libcommon.a index 6d7c02898..e6bbd26be 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index a72f2fe08..7daf18fab 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 4f78ab4e5..e59611b30 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index ab6dac4d6..a0bea8329 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index eb015af99..d1241d56d 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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--- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-2a5cb66b-DEBUG"; +const uint8_t gitversion[19] = "DEV-d5e40d3b-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index c602fc0b8..d9d9c98bf 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index cca1cf942..77d69dee7 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index e6fefcf98..77275f00c 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index f7ed187bc..ccb1bbce2 100755 Binary files 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index 88e8d246c..2c2790ab7 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index 4d4b97c3f..9f7fb2584 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 6993672bc..3c3dc1ad1 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 133a2143f..19b0e735c 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-2a5cb66b-DEBUG \ No newline at end of file +DEV-d5e40d3b-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index b14236f94..cdad8c0db 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_2092251631667009235) { - out_2092251631667009235[0] = delta_x[0] + nom_x[0]; - out_2092251631667009235[1] = delta_x[1] + nom_x[1]; - out_2092251631667009235[2] = delta_x[2] + nom_x[2]; - out_2092251631667009235[3] = delta_x[3] + nom_x[3]; - out_2092251631667009235[4] = delta_x[4] + nom_x[4]; - out_2092251631667009235[5] = delta_x[5] + nom_x[5]; - out_2092251631667009235[6] = delta_x[6] + nom_x[6]; - out_2092251631667009235[7] = delta_x[7] + nom_x[7]; - out_2092251631667009235[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6318981254884856825) { + out_6318981254884856825[0] = delta_x[0] + nom_x[0]; + out_6318981254884856825[1] = delta_x[1] + nom_x[1]; + out_6318981254884856825[2] = delta_x[2] + nom_x[2]; + out_6318981254884856825[3] = delta_x[3] + nom_x[3]; + out_6318981254884856825[4] = delta_x[4] + nom_x[4]; + out_6318981254884856825[5] = delta_x[5] + nom_x[5]; + out_6318981254884856825[6] = delta_x[6] + nom_x[6]; + out_6318981254884856825[7] = delta_x[7] + nom_x[7]; + out_6318981254884856825[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2300837471234553583) { - out_2300837471234553583[0] = -nom_x[0] + true_x[0]; - out_2300837471234553583[1] = -nom_x[1] + true_x[1]; - out_2300837471234553583[2] = -nom_x[2] + true_x[2]; - out_2300837471234553583[3] = -nom_x[3] + true_x[3]; - out_2300837471234553583[4] = -nom_x[4] + true_x[4]; - out_2300837471234553583[5] = -nom_x[5] + true_x[5]; - out_2300837471234553583[6] = -nom_x[6] + true_x[6]; - out_2300837471234553583[7] = -nom_x[7] + true_x[7]; - out_2300837471234553583[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6625913990707465652) { + out_6625913990707465652[0] = -nom_x[0] + true_x[0]; + out_6625913990707465652[1] = -nom_x[1] + true_x[1]; + out_6625913990707465652[2] = -nom_x[2] + true_x[2]; + out_6625913990707465652[3] = -nom_x[3] + true_x[3]; + out_6625913990707465652[4] = -nom_x[4] + true_x[4]; + out_6625913990707465652[5] = -nom_x[5] + true_x[5]; + out_6625913990707465652[6] = -nom_x[6] + true_x[6]; + out_6625913990707465652[7] = -nom_x[7] + true_x[7]; + out_6625913990707465652[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4027971756970364591) { - out_4027971756970364591[0] = 1.0; - out_4027971756970364591[1] = 0.0; - out_4027971756970364591[2] = 0.0; - out_4027971756970364591[3] = 0.0; - out_4027971756970364591[4] = 0.0; - out_4027971756970364591[5] = 0.0; - out_4027971756970364591[6] = 0.0; - out_4027971756970364591[7] = 0.0; - out_4027971756970364591[8] = 0.0; - out_4027971756970364591[9] = 0.0; - out_4027971756970364591[10] = 1.0; - out_4027971756970364591[11] = 0.0; - out_4027971756970364591[12] = 0.0; - out_4027971756970364591[13] = 0.0; - out_4027971756970364591[14] = 0.0; - out_4027971756970364591[15] = 0.0; - out_4027971756970364591[16] = 0.0; - out_4027971756970364591[17] = 0.0; - out_4027971756970364591[18] = 0.0; - out_4027971756970364591[19] = 0.0; - out_4027971756970364591[20] = 1.0; - out_4027971756970364591[21] = 0.0; - out_4027971756970364591[22] = 0.0; - out_4027971756970364591[23] = 0.0; - out_4027971756970364591[24] = 0.0; - out_4027971756970364591[25] = 0.0; - out_4027971756970364591[26] = 0.0; - out_4027971756970364591[27] = 0.0; - out_4027971756970364591[28] = 0.0; - out_4027971756970364591[29] = 0.0; - out_4027971756970364591[30] = 1.0; - out_4027971756970364591[31] = 0.0; - out_4027971756970364591[32] = 0.0; - out_4027971756970364591[33] = 0.0; - out_4027971756970364591[34] = 0.0; - out_4027971756970364591[35] = 0.0; - out_4027971756970364591[36] = 0.0; - out_4027971756970364591[37] = 0.0; - out_4027971756970364591[38] = 0.0; - out_4027971756970364591[39] = 0.0; - out_4027971756970364591[40] = 1.0; - out_4027971756970364591[41] = 0.0; - out_4027971756970364591[42] = 0.0; - out_4027971756970364591[43] = 0.0; - out_4027971756970364591[44] = 0.0; - out_4027971756970364591[45] = 0.0; - out_4027971756970364591[46] = 0.0; - out_4027971756970364591[47] = 0.0; - out_4027971756970364591[48] = 0.0; - out_4027971756970364591[49] = 0.0; - out_4027971756970364591[50] = 1.0; - out_4027971756970364591[51] = 0.0; - out_4027971756970364591[52] = 0.0; - out_4027971756970364591[53] = 0.0; - out_4027971756970364591[54] = 0.0; - out_4027971756970364591[55] = 0.0; - out_4027971756970364591[56] = 0.0; - out_4027971756970364591[57] = 0.0; - out_4027971756970364591[58] = 0.0; - out_4027971756970364591[59] = 0.0; - out_4027971756970364591[60] = 1.0; - out_4027971756970364591[61] = 0.0; - out_4027971756970364591[62] = 0.0; - out_4027971756970364591[63] = 0.0; - out_4027971756970364591[64] = 0.0; - out_4027971756970364591[65] = 0.0; - out_4027971756970364591[66] = 0.0; - out_4027971756970364591[67] = 0.0; - out_4027971756970364591[68] = 0.0; - out_4027971756970364591[69] = 0.0; - out_4027971756970364591[70] = 1.0; - out_4027971756970364591[71] = 0.0; - out_4027971756970364591[72] = 0.0; - out_4027971756970364591[73] = 0.0; - out_4027971756970364591[74] = 0.0; - out_4027971756970364591[75] = 0.0; - out_4027971756970364591[76] = 0.0; - out_4027971756970364591[77] = 0.0; - out_4027971756970364591[78] = 0.0; - out_4027971756970364591[79] = 0.0; - out_4027971756970364591[80] = 1.0; +void H_mod_fun(double *state, double *out_6152129630444976452) { + out_6152129630444976452[0] = 1.0; + out_6152129630444976452[1] = 0.0; + out_6152129630444976452[2] = 0.0; + out_6152129630444976452[3] = 0.0; + out_6152129630444976452[4] = 0.0; + out_6152129630444976452[5] = 0.0; + out_6152129630444976452[6] = 0.0; + out_6152129630444976452[7] = 0.0; + out_6152129630444976452[8] = 0.0; + out_6152129630444976452[9] = 0.0; + out_6152129630444976452[10] = 1.0; + out_6152129630444976452[11] = 0.0; + out_6152129630444976452[12] = 0.0; + out_6152129630444976452[13] = 0.0; + out_6152129630444976452[14] = 0.0; + out_6152129630444976452[15] = 0.0; + out_6152129630444976452[16] = 0.0; + out_6152129630444976452[17] = 0.0; + out_6152129630444976452[18] = 0.0; + out_6152129630444976452[19] = 0.0; + out_6152129630444976452[20] = 1.0; + out_6152129630444976452[21] = 0.0; + out_6152129630444976452[22] = 0.0; + out_6152129630444976452[23] = 0.0; + out_6152129630444976452[24] = 0.0; + out_6152129630444976452[25] = 0.0; + out_6152129630444976452[26] = 0.0; + out_6152129630444976452[27] = 0.0; + out_6152129630444976452[28] = 0.0; + out_6152129630444976452[29] = 0.0; + out_6152129630444976452[30] = 1.0; + out_6152129630444976452[31] = 0.0; + out_6152129630444976452[32] = 0.0; + out_6152129630444976452[33] = 0.0; + out_6152129630444976452[34] = 0.0; + out_6152129630444976452[35] = 0.0; + out_6152129630444976452[36] = 0.0; + out_6152129630444976452[37] = 0.0; + out_6152129630444976452[38] = 0.0; + out_6152129630444976452[39] = 0.0; + out_6152129630444976452[40] = 1.0; + out_6152129630444976452[41] = 0.0; + out_6152129630444976452[42] = 0.0; + out_6152129630444976452[43] = 0.0; + out_6152129630444976452[44] = 0.0; + out_6152129630444976452[45] = 0.0; + out_6152129630444976452[46] = 0.0; + out_6152129630444976452[47] = 0.0; + out_6152129630444976452[48] = 0.0; + out_6152129630444976452[49] = 0.0; + out_6152129630444976452[50] = 1.0; + out_6152129630444976452[51] = 0.0; + out_6152129630444976452[52] = 0.0; + out_6152129630444976452[53] = 0.0; + out_6152129630444976452[54] = 0.0; + out_6152129630444976452[55] = 0.0; + out_6152129630444976452[56] = 0.0; + out_6152129630444976452[57] = 0.0; + out_6152129630444976452[58] = 0.0; + out_6152129630444976452[59] = 0.0; + out_6152129630444976452[60] = 1.0; + out_6152129630444976452[61] = 0.0; + out_6152129630444976452[62] = 0.0; + out_6152129630444976452[63] = 0.0; + out_6152129630444976452[64] = 0.0; + out_6152129630444976452[65] = 0.0; + out_6152129630444976452[66] = 0.0; + out_6152129630444976452[67] = 0.0; + out_6152129630444976452[68] = 0.0; + out_6152129630444976452[69] = 0.0; + out_6152129630444976452[70] = 1.0; + out_6152129630444976452[71] = 0.0; + out_6152129630444976452[72] = 0.0; + out_6152129630444976452[73] = 0.0; + out_6152129630444976452[74] = 0.0; + out_6152129630444976452[75] = 0.0; + out_6152129630444976452[76] = 0.0; + out_6152129630444976452[77] = 0.0; + out_6152129630444976452[78] = 0.0; + out_6152129630444976452[79] = 0.0; + out_6152129630444976452[80] = 1.0; } -void f_fun(double *state, double dt, double *out_6249326857146976875) { - out_6249326857146976875[0] = state[0]; - out_6249326857146976875[1] = state[1]; - out_6249326857146976875[2] = state[2]; - out_6249326857146976875[3] = state[3]; - out_6249326857146976875[4] = state[4]; - out_6249326857146976875[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_6249326857146976875[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_6249326857146976875[7] = state[7]; - out_6249326857146976875[8] = state[8]; +void f_fun(double *state, double dt, double *out_6830787204701444163) { + out_6830787204701444163[0] = state[0]; + out_6830787204701444163[1] = state[1]; + out_6830787204701444163[2] = state[2]; + out_6830787204701444163[3] = state[3]; + out_6830787204701444163[4] = state[4]; + out_6830787204701444163[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_6830787204701444163[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_6830787204701444163[7] = state[7]; + out_6830787204701444163[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1875491097223459739) { - out_1875491097223459739[0] = 1; - out_1875491097223459739[1] = 0; - out_1875491097223459739[2] = 0; - out_1875491097223459739[3] = 0; - out_1875491097223459739[4] = 0; - out_1875491097223459739[5] = 0; - out_1875491097223459739[6] = 0; - out_1875491097223459739[7] = 0; - out_1875491097223459739[8] = 0; - out_1875491097223459739[9] = 0; - out_1875491097223459739[10] = 1; - out_1875491097223459739[11] = 0; - out_1875491097223459739[12] = 0; - out_1875491097223459739[13] = 0; - out_1875491097223459739[14] = 0; - out_1875491097223459739[15] = 0; - out_1875491097223459739[16] = 0; - out_1875491097223459739[17] = 0; - out_1875491097223459739[18] = 0; - out_1875491097223459739[19] = 0; - out_1875491097223459739[20] = 1; - out_1875491097223459739[21] = 0; - out_1875491097223459739[22] = 0; - out_1875491097223459739[23] = 0; - out_1875491097223459739[24] = 0; - out_1875491097223459739[25] = 0; - out_1875491097223459739[26] = 0; - out_1875491097223459739[27] = 0; - out_1875491097223459739[28] = 0; - out_1875491097223459739[29] = 0; - out_1875491097223459739[30] = 1; - out_1875491097223459739[31] = 0; - out_1875491097223459739[32] = 0; - out_1875491097223459739[33] = 0; - out_1875491097223459739[34] = 0; - out_1875491097223459739[35] = 0; - out_1875491097223459739[36] = 0; - out_1875491097223459739[37] = 0; - out_1875491097223459739[38] = 0; - out_1875491097223459739[39] = 0; - out_1875491097223459739[40] = 1; - out_1875491097223459739[41] = 0; - out_1875491097223459739[42] = 0; - out_1875491097223459739[43] = 0; - out_1875491097223459739[44] = 0; - out_1875491097223459739[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_1875491097223459739[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1875491097223459739[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1875491097223459739[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1875491097223459739[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_1875491097223459739[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1875491097223459739[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1875491097223459739[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1875491097223459739[53] = -9.8100000000000005*dt; - out_1875491097223459739[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_1875491097223459739[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1875491097223459739[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1875491097223459739[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1875491097223459739[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_1875491097223459739[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1875491097223459739[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_1875491097223459739[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1875491097223459739[62] = 0; - out_1875491097223459739[63] = 0; - out_1875491097223459739[64] = 0; - out_1875491097223459739[65] = 0; - out_1875491097223459739[66] = 0; - out_1875491097223459739[67] = 0; - out_1875491097223459739[68] = 0; - out_1875491097223459739[69] = 0; - out_1875491097223459739[70] = 1; - out_1875491097223459739[71] = 0; - out_1875491097223459739[72] = 0; - out_1875491097223459739[73] = 0; - out_1875491097223459739[74] = 0; - out_1875491097223459739[75] = 0; - out_1875491097223459739[76] = 0; - out_1875491097223459739[77] = 0; - out_1875491097223459739[78] = 0; - out_1875491097223459739[79] = 0; - out_1875491097223459739[80] = 1; +void F_fun(double *state, double dt, double *out_2889206061873137605) { + out_2889206061873137605[0] = 1; + out_2889206061873137605[1] = 0; + out_2889206061873137605[2] = 0; + out_2889206061873137605[3] = 0; + out_2889206061873137605[4] = 0; + out_2889206061873137605[5] = 0; + out_2889206061873137605[6] = 0; + out_2889206061873137605[7] = 0; + out_2889206061873137605[8] = 0; + out_2889206061873137605[9] = 0; + out_2889206061873137605[10] = 1; + out_2889206061873137605[11] = 0; + out_2889206061873137605[12] = 0; + out_2889206061873137605[13] = 0; + out_2889206061873137605[14] = 0; + out_2889206061873137605[15] = 0; + out_2889206061873137605[16] = 0; + out_2889206061873137605[17] = 0; + out_2889206061873137605[18] = 0; + out_2889206061873137605[19] = 0; + out_2889206061873137605[20] = 1; + out_2889206061873137605[21] = 0; + out_2889206061873137605[22] = 0; + out_2889206061873137605[23] = 0; + out_2889206061873137605[24] = 0; + out_2889206061873137605[25] = 0; + out_2889206061873137605[26] = 0; + out_2889206061873137605[27] = 0; + out_2889206061873137605[28] = 0; + out_2889206061873137605[29] = 0; + out_2889206061873137605[30] = 1; + out_2889206061873137605[31] = 0; + out_2889206061873137605[32] = 0; + out_2889206061873137605[33] = 0; + out_2889206061873137605[34] = 0; + out_2889206061873137605[35] = 0; + out_2889206061873137605[36] = 0; + out_2889206061873137605[37] = 0; + out_2889206061873137605[38] = 0; + out_2889206061873137605[39] = 0; + out_2889206061873137605[40] = 1; + out_2889206061873137605[41] = 0; + out_2889206061873137605[42] = 0; + out_2889206061873137605[43] = 0; + out_2889206061873137605[44] = 0; + out_2889206061873137605[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_2889206061873137605[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2889206061873137605[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2889206061873137605[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2889206061873137605[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_2889206061873137605[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2889206061873137605[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2889206061873137605[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2889206061873137605[53] = -9.8100000000000005*dt; + out_2889206061873137605[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_2889206061873137605[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2889206061873137605[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2889206061873137605[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2889206061873137605[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_2889206061873137605[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2889206061873137605[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_2889206061873137605[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2889206061873137605[62] = 0; + out_2889206061873137605[63] = 0; + out_2889206061873137605[64] = 0; + out_2889206061873137605[65] = 0; + out_2889206061873137605[66] = 0; + out_2889206061873137605[67] = 0; + out_2889206061873137605[68] = 0; + out_2889206061873137605[69] = 0; + out_2889206061873137605[70] = 1; + out_2889206061873137605[71] = 0; + out_2889206061873137605[72] = 0; + out_2889206061873137605[73] = 0; + out_2889206061873137605[74] = 0; + out_2889206061873137605[75] = 0; + out_2889206061873137605[76] = 0; + out_2889206061873137605[77] = 0; + out_2889206061873137605[78] = 0; + out_2889206061873137605[79] = 0; + out_2889206061873137605[80] = 1; } -void h_25(double *state, double *unused, double *out_5658454479721392301) { - out_5658454479721392301[0] = state[6]; +void h_25(double *state, double *unused, double *out_489826982790321982) { + out_489826982790321982[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8931663582155029431) { - out_8931663582155029431[0] = 0; - out_8931663582155029431[1] = 0; - out_8931663582155029431[2] = 0; - out_8931663582155029431[3] = 0; - out_8931663582155029431[4] = 0; - out_8931663582155029431[5] = 0; - out_8931663582155029431[6] = 1; - out_8931663582155029431[7] = 0; - out_8931663582155029431[8] = 0; +void H_25(double *state, double *unused, double *out_3101426217352337927) { + out_3101426217352337927[0] = 0; + out_3101426217352337927[1] = 0; + out_3101426217352337927[2] = 0; + out_3101426217352337927[3] = 0; + out_3101426217352337927[4] = 0; + out_3101426217352337927[5] = 0; + out_3101426217352337927[6] = 1; + out_3101426217352337927[7] = 0; + out_3101426217352337927[8] = 0; } -void h_24(double *state, double *unused, double *out_8388151047956984123) { - out_8388151047956984123[0] = state[4]; - out_8388151047956984123[1] = state[5]; +void h_24(double *state, double *unused, double *out_8333585936499166595) { + out_8333585936499166595[0] = state[4]; + out_8333585936499166595[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8535018277801169936) { - out_8535018277801169936[0] = 0; - out_8535018277801169936[1] = 0; - out_8535018277801169936[2] = 0; - out_8535018277801169936[3] = 0; - out_8535018277801169936[4] = 1; - out_8535018277801169936[5] = 0; - out_8535018277801169936[6] = 0; - out_8535018277801169936[7] = 0; - out_8535018277801169936[8] = 0; - out_8535018277801169936[9] = 0; - out_8535018277801169936[10] = 0; - out_8535018277801169936[11] = 0; - out_8535018277801169936[12] = 0; - out_8535018277801169936[13] = 0; - out_8535018277801169936[14] = 1; - out_8535018277801169936[15] = 0; - out_8535018277801169936[16] = 0; - out_8535018277801169936[17] = 0; +void H_24(double *state, double *unused, double *out_8374920500265350521) { + out_8374920500265350521[0] = 0; + out_8374920500265350521[1] = 0; + out_8374920500265350521[2] = 0; + out_8374920500265350521[3] = 0; + out_8374920500265350521[4] = 1; + out_8374920500265350521[5] = 0; + out_8374920500265350521[6] = 0; + out_8374920500265350521[7] = 0; + out_8374920500265350521[8] = 0; + out_8374920500265350521[9] = 0; + out_8374920500265350521[10] = 0; + out_8374920500265350521[11] = 0; + out_8374920500265350521[12] = 0; + out_8374920500265350521[13] = 0; + out_8374920500265350521[14] = 1; + out_8374920500265350521[15] = 0; + out_8374920500265350521[16] = 0; + out_8374920500265350521[17] = 0; } -void h_30(double *state, double *unused, double *out_2021004951467369951) { - out_2021004951467369951[0] = state[4]; +void h_30(double *state, double *unused, double *out_7403112512094201377) { + out_7403112512094201377[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6996747533047273558) { - out_6996747533047273558[0] = 0; - out_6996747533047273558[1] = 0; - out_6996747533047273558[2] = 0; - out_6996747533047273558[3] = 0; - out_6996747533047273558[4] = 1; - out_6996747533047273558[5] = 0; - out_6996747533047273558[6] = 0; - out_6996747533047273558[7] = 0; - out_6996747533047273558[8] = 0; +void H_30(double *state, double *unused, double *out_5619759175859586554) { + out_5619759175859586554[0] = 0; + out_5619759175859586554[1] = 0; + out_5619759175859586554[2] = 0; + out_5619759175859586554[3] = 0; + out_5619759175859586554[4] = 1; + out_5619759175859586554[5] = 0; + out_5619759175859586554[6] = 0; + out_5619759175859586554[7] = 0; + out_5619759175859586554[8] = 0; } -void h_26(double *state, double *unused, double *out_853261150391228214) { - out_853261150391228214[0] = state[7]; +void h_26(double *state, double *unused, double *out_6041958293954504594) { + out_6041958293954504594[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5190160263280973207) { - out_5190160263280973207[0] = 0; - out_5190160263280973207[1] = 0; - out_5190160263280973207[2] = 0; - out_5190160263280973207[3] = 0; - out_5190160263280973207[4] = 0; - out_5190160263280973207[5] = 0; - out_5190160263280973207[6] = 0; - out_5190160263280973207[7] = 1; - out_5190160263280973207[8] = 0; +void H_26(double *state, double *unused, double *out_640077101521718297) { + out_640077101521718297[0] = 0; + out_640077101521718297[1] = 0; + out_640077101521718297[2] = 0; + out_640077101521718297[3] = 0; + out_640077101521718297[4] = 0; + out_640077101521718297[5] = 0; + out_640077101521718297[6] = 0; + out_640077101521718297[7] = 1; + out_640077101521718297[8] = 0; } -void h_27(double *state, double *unused, double *out_9074727769370462317) { - out_9074727769370462317[0] = state[3]; +void h_27(double *state, double *unused, double *out_8492142189216518783) { + out_8492142189216518783[0] = state[3]; } -void H_27(double *state, double *unused, double *out_9171510844847698469) { - out_9171510844847698469[0] = 0; - out_9171510844847698469[1] = 0; - out_9171510844847698469[2] = 0; - out_9171510844847698469[3] = 1; - out_9171510844847698469[4] = 0; - out_9171510844847698469[5] = 0; - out_9171510844847698469[6] = 0; - out_9171510844847698469[7] = 0; - out_9171510844847698469[8] = 0; +void H_27(double *state, double *unused, double *out_3444995864059161643) { + out_3444995864059161643[0] = 0; + out_3444995864059161643[1] = 0; + out_3444995864059161643[2] = 0; + out_3444995864059161643[3] = 1; + out_3444995864059161643[4] = 0; + out_3444995864059161643[5] = 0; + out_3444995864059161643[6] = 0; + out_3444995864059161643[7] = 0; + out_3444995864059161643[8] = 0; } -void h_29(double *state, double *unused, double *out_5628340221843964391) { - out_5628340221843964391[0] = state[1]; +void h_29(double *state, double *unused, double *out_610869538462469598) { + out_610869538462469598[0] = state[1]; } -void H_29(double *state, double *unused, double *out_6486516188732881374) { - out_6486516188732881374[0] = 0; - out_6486516188732881374[1] = 1; - out_6486516188732881374[2] = 0; - out_6486516188732881374[3] = 0; - out_6486516188732881374[4] = 0; - out_6486516188732881374[5] = 0; - out_6486516188732881374[6] = 0; - out_6486516188732881374[7] = 0; - out_6486516188732881374[8] = 0; +void H_29(double *state, double *unused, double *out_6129990520173978738) { + out_6129990520173978738[0] = 0; + out_6129990520173978738[1] = 1; + out_6129990520173978738[2] = 0; + out_6129990520173978738[3] = 0; + out_6129990520173978738[4] = 0; + out_6129990520173978738[5] = 0; + out_6129990520173978738[6] = 0; + out_6129990520173978738[7] = 0; + out_6129990520173978738[8] = 0; } -void h_28(double *state, double *unused, double *out_4073054501709616672) { - out_4073054501709616672[0] = state[0]; +void h_28(double *state, double *unused, double *out_3490468921555673138) { + out_3490468921555673138[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6877828867907139668) { - out_6877828867907139668[0] = 1; - out_6877828867907139668[1] = 0; - out_6877828867907139668[2] = 0; - out_6877828867907139668[3] = 0; - out_6877828867907139668[4] = 0; - out_6877828867907139668[5] = 0; - out_6877828867907139668[6] = 0; - out_6877828867907139668[7] = 0; - out_6877828867907139668[8] = 0; +void H_28(double *state, double *unused, double *out_1047591503104448164) { + out_1047591503104448164[0] = 1; + out_1047591503104448164[1] = 0; + out_1047591503104448164[2] = 0; + out_1047591503104448164[3] = 0; + out_1047591503104448164[4] = 0; + out_1047591503104448164[5] = 0; + out_1047591503104448164[6] = 0; + out_1047591503104448164[7] = 0; + out_1047591503104448164[8] = 0; } -void h_31(double *state, double *unused, double *out_508659560249742002) { - out_508659560249742002[0] = state[8]; +void h_31(double *state, double *unused, double *out_1315479088578164838) { + out_1315479088578164838[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4563952161047621731) { - out_4563952161047621731[0] = 0; - out_4563952161047621731[1] = 0; - out_4563952161047621731[2] = 0; - out_4563952161047621731[3] = 0; - out_4563952161047621731[4] = 0; - out_4563952161047621731[5] = 0; - out_4563952161047621731[6] = 0; - out_4563952161047621731[7] = 0; - out_4563952161047621731[8] = 1; +void H_31(double *state, double *unused, double *out_1266285203755069773) { + out_1266285203755069773[0] = 0; + out_1266285203755069773[1] = 0; + out_1266285203755069773[2] = 0; + out_1266285203755069773[3] = 0; + out_1266285203755069773[4] = 0; + out_1266285203755069773[5] = 0; + out_1266285203755069773[6] = 0; + out_1266285203755069773[7] = 0; + out_1266285203755069773[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_2092251631667009235) { - err_fun(nom_x, delta_x, out_2092251631667009235); +void car_err_fun(double *nom_x, double *delta_x, double *out_6318981254884856825) { + err_fun(nom_x, delta_x, out_6318981254884856825); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2300837471234553583) { - inv_err_fun(nom_x, true_x, out_2300837471234553583); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6625913990707465652) { + inv_err_fun(nom_x, true_x, out_6625913990707465652); } -void car_H_mod_fun(double *state, double *out_4027971756970364591) { - H_mod_fun(state, out_4027971756970364591); +void car_H_mod_fun(double *state, double *out_6152129630444976452) { + H_mod_fun(state, out_6152129630444976452); } -void car_f_fun(double *state, double dt, double *out_6249326857146976875) { - f_fun(state, dt, out_6249326857146976875); +void car_f_fun(double *state, double dt, double *out_6830787204701444163) { + f_fun(state, dt, out_6830787204701444163); } -void car_F_fun(double *state, double dt, double *out_1875491097223459739) { - F_fun(state, dt, out_1875491097223459739); +void car_F_fun(double *state, double dt, double *out_2889206061873137605) { + F_fun(state, dt, out_2889206061873137605); } -void car_h_25(double *state, double *unused, double *out_5658454479721392301) { - h_25(state, unused, out_5658454479721392301); +void car_h_25(double *state, double *unused, double *out_489826982790321982) { + h_25(state, unused, out_489826982790321982); } -void car_H_25(double *state, double *unused, double *out_8931663582155029431) { - H_25(state, unused, out_8931663582155029431); +void car_H_25(double *state, double *unused, double *out_3101426217352337927) { + H_25(state, unused, out_3101426217352337927); } -void car_h_24(double *state, double *unused, double *out_8388151047956984123) { - h_24(state, unused, out_8388151047956984123); +void car_h_24(double *state, double *unused, double *out_8333585936499166595) { + h_24(state, unused, out_8333585936499166595); } -void car_H_24(double *state, double *unused, double *out_8535018277801169936) { - H_24(state, unused, out_8535018277801169936); +void car_H_24(double *state, double *unused, double *out_8374920500265350521) { + H_24(state, unused, out_8374920500265350521); } -void car_h_30(double *state, double *unused, double *out_2021004951467369951) { - h_30(state, unused, out_2021004951467369951); +void car_h_30(double *state, double *unused, double *out_7403112512094201377) { + h_30(state, unused, out_7403112512094201377); } -void car_H_30(double *state, double *unused, double *out_6996747533047273558) { - H_30(state, unused, out_6996747533047273558); +void car_H_30(double *state, double *unused, double *out_5619759175859586554) { + H_30(state, unused, out_5619759175859586554); } -void car_h_26(double *state, double *unused, double *out_853261150391228214) { - h_26(state, unused, out_853261150391228214); +void car_h_26(double *state, double *unused, double *out_6041958293954504594) { + h_26(state, unused, out_6041958293954504594); } -void car_H_26(double *state, double *unused, double *out_5190160263280973207) { - H_26(state, unused, out_5190160263280973207); +void car_H_26(double *state, double *unused, double *out_640077101521718297) { + H_26(state, unused, out_640077101521718297); } -void car_h_27(double *state, double *unused, double *out_9074727769370462317) { - h_27(state, unused, out_9074727769370462317); +void car_h_27(double *state, double *unused, double *out_8492142189216518783) { + h_27(state, unused, out_8492142189216518783); } -void car_H_27(double *state, double *unused, double *out_9171510844847698469) { - H_27(state, unused, out_9171510844847698469); +void car_H_27(double *state, double *unused, double *out_3444995864059161643) { + H_27(state, unused, out_3444995864059161643); } -void car_h_29(double *state, double *unused, double *out_5628340221843964391) { - h_29(state, unused, out_5628340221843964391); +void car_h_29(double *state, double *unused, double *out_610869538462469598) { + h_29(state, unused, out_610869538462469598); } -void car_H_29(double *state, double *unused, double *out_6486516188732881374) { - H_29(state, unused, out_6486516188732881374); +void car_H_29(double *state, double *unused, double *out_6129990520173978738) { + H_29(state, unused, out_6129990520173978738); } -void car_h_28(double *state, double *unused, double *out_4073054501709616672) { - h_28(state, unused, out_4073054501709616672); +void car_h_28(double *state, double *unused, double *out_3490468921555673138) { + h_28(state, unused, out_3490468921555673138); } -void car_H_28(double *state, double *unused, double *out_6877828867907139668) { - H_28(state, unused, out_6877828867907139668); +void car_H_28(double *state, double *unused, double *out_1047591503104448164) { + H_28(state, unused, out_1047591503104448164); } -void car_h_31(double *state, double *unused, double *out_508659560249742002) { - h_31(state, unused, out_508659560249742002); +void car_h_31(double *state, double *unused, double *out_1315479088578164838) { + h_31(state, unused, out_1315479088578164838); } -void car_H_31(double *state, double *unused, double *out_4563952161047621731) { - H_31(state, unused, out_4563952161047621731); +void car_H_31(double *state, double *unused, double *out_1266285203755069773) { + H_31(state, unused, out_1266285203755069773); } 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 19e8ad454..b1a21e9eb 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_2092251631667009235); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2300837471234553583); -void car_H_mod_fun(double *state, double *out_4027971756970364591); -void car_f_fun(double *state, double dt, double *out_6249326857146976875); -void car_F_fun(double *state, double dt, double *out_1875491097223459739); -void car_h_25(double *state, double *unused, double *out_5658454479721392301); -void car_H_25(double *state, double *unused, double *out_8931663582155029431); -void car_h_24(double *state, double *unused, double *out_8388151047956984123); -void car_H_24(double *state, double *unused, double *out_8535018277801169936); -void car_h_30(double *state, double *unused, double *out_2021004951467369951); -void car_H_30(double *state, double *unused, double *out_6996747533047273558); -void car_h_26(double *state, double *unused, double *out_853261150391228214); -void car_H_26(double *state, double *unused, double *out_5190160263280973207); -void car_h_27(double *state, double *unused, double *out_9074727769370462317); -void car_H_27(double *state, double *unused, double *out_9171510844847698469); -void car_h_29(double *state, double *unused, double *out_5628340221843964391); -void car_H_29(double *state, double *unused, double *out_6486516188732881374); -void car_h_28(double *state, double *unused, double *out_4073054501709616672); -void car_H_28(double *state, double *unused, double *out_6877828867907139668); -void car_h_31(double *state, double *unused, double *out_508659560249742002); -void car_H_31(double *state, double *unused, double *out_4563952161047621731); +void car_err_fun(double *nom_x, double *delta_x, double *out_6318981254884856825); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6625913990707465652); +void car_H_mod_fun(double *state, double *out_6152129630444976452); +void car_f_fun(double *state, double dt, double *out_6830787204701444163); +void car_F_fun(double *state, double dt, double *out_2889206061873137605); +void car_h_25(double *state, double *unused, double *out_489826982790321982); +void car_H_25(double *state, double *unused, double *out_3101426217352337927); +void car_h_24(double *state, double *unused, double *out_8333585936499166595); +void car_H_24(double *state, double *unused, double *out_8374920500265350521); +void car_h_30(double *state, double *unused, double *out_7403112512094201377); +void car_H_30(double *state, double *unused, double *out_5619759175859586554); +void car_h_26(double *state, double *unused, double *out_6041958293954504594); +void car_H_26(double *state, double *unused, double *out_640077101521718297); +void car_h_27(double *state, double *unused, double *out_8492142189216518783); +void car_H_27(double *state, double *unused, double *out_3444995864059161643); +void car_h_29(double *state, double *unused, double *out_610869538462469598); +void car_H_29(double *state, double *unused, double *out_6129990520173978738); +void car_h_28(double *state, double *unused, double *out_3490468921555673138); +void car_H_28(double *state, double *unused, double *out_1047591503104448164); +void car_h_31(double *state, double *unused, double *out_1315479088578164838); +void car_H_31(double *state, double *unused, double *out_1266285203755069773); 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 686a600bf..808387fee 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_7150506142011136089) { - out_7150506142011136089[0] = delta_x[0] + nom_x[0]; - out_7150506142011136089[1] = delta_x[1] + nom_x[1]; - out_7150506142011136089[2] = delta_x[2] + nom_x[2]; - out_7150506142011136089[3] = delta_x[3] + nom_x[3]; - out_7150506142011136089[4] = delta_x[4] + nom_x[4]; - out_7150506142011136089[5] = delta_x[5] + nom_x[5]; - out_7150506142011136089[6] = delta_x[6] + nom_x[6]; - out_7150506142011136089[7] = delta_x[7] + nom_x[7]; - out_7150506142011136089[8] = delta_x[8] + nom_x[8]; - out_7150506142011136089[9] = delta_x[9] + nom_x[9]; - out_7150506142011136089[10] = delta_x[10] + nom_x[10]; - out_7150506142011136089[11] = delta_x[11] + nom_x[11]; - out_7150506142011136089[12] = delta_x[12] + nom_x[12]; - out_7150506142011136089[13] = delta_x[13] + nom_x[13]; - out_7150506142011136089[14] = delta_x[14] + nom_x[14]; - out_7150506142011136089[15] = delta_x[15] + nom_x[15]; - out_7150506142011136089[16] = delta_x[16] + nom_x[16]; - out_7150506142011136089[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5567810526154209734) { + out_5567810526154209734[0] = delta_x[0] + nom_x[0]; + out_5567810526154209734[1] = delta_x[1] + nom_x[1]; + out_5567810526154209734[2] = delta_x[2] + nom_x[2]; + out_5567810526154209734[3] = delta_x[3] + nom_x[3]; + out_5567810526154209734[4] = delta_x[4] + nom_x[4]; + out_5567810526154209734[5] = delta_x[5] + nom_x[5]; + out_5567810526154209734[6] = delta_x[6] + nom_x[6]; + out_5567810526154209734[7] = delta_x[7] + nom_x[7]; + out_5567810526154209734[8] = delta_x[8] + nom_x[8]; + out_5567810526154209734[9] = delta_x[9] + nom_x[9]; + out_5567810526154209734[10] = delta_x[10] + nom_x[10]; + out_5567810526154209734[11] = delta_x[11] + nom_x[11]; + out_5567810526154209734[12] = delta_x[12] + nom_x[12]; + out_5567810526154209734[13] = delta_x[13] + nom_x[13]; + out_5567810526154209734[14] = delta_x[14] + nom_x[14]; + out_5567810526154209734[15] = delta_x[15] + nom_x[15]; + out_5567810526154209734[16] = delta_x[16] + nom_x[16]; + out_5567810526154209734[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4307514453378045812) { - out_4307514453378045812[0] = -nom_x[0] + true_x[0]; - out_4307514453378045812[1] = -nom_x[1] + true_x[1]; - out_4307514453378045812[2] = -nom_x[2] + true_x[2]; - out_4307514453378045812[3] = -nom_x[3] + true_x[3]; - out_4307514453378045812[4] = -nom_x[4] + true_x[4]; - out_4307514453378045812[5] = -nom_x[5] + true_x[5]; - out_4307514453378045812[6] = -nom_x[6] + true_x[6]; - out_4307514453378045812[7] = -nom_x[7] + true_x[7]; - out_4307514453378045812[8] = -nom_x[8] + true_x[8]; - out_4307514453378045812[9] = -nom_x[9] + true_x[9]; - out_4307514453378045812[10] = -nom_x[10] + true_x[10]; - out_4307514453378045812[11] = -nom_x[11] + true_x[11]; - out_4307514453378045812[12] = -nom_x[12] + true_x[12]; - out_4307514453378045812[13] = -nom_x[13] + true_x[13]; - out_4307514453378045812[14] = -nom_x[14] + true_x[14]; - out_4307514453378045812[15] = -nom_x[15] + true_x[15]; - out_4307514453378045812[16] = -nom_x[16] + true_x[16]; - out_4307514453378045812[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7908491346196944566) { + out_7908491346196944566[0] = -nom_x[0] + true_x[0]; + out_7908491346196944566[1] = -nom_x[1] + true_x[1]; + out_7908491346196944566[2] = -nom_x[2] + true_x[2]; + out_7908491346196944566[3] = -nom_x[3] + true_x[3]; + out_7908491346196944566[4] = -nom_x[4] + true_x[4]; + out_7908491346196944566[5] = -nom_x[5] + true_x[5]; + out_7908491346196944566[6] = -nom_x[6] + true_x[6]; + out_7908491346196944566[7] = -nom_x[7] + true_x[7]; + out_7908491346196944566[8] = -nom_x[8] + true_x[8]; + out_7908491346196944566[9] = -nom_x[9] + true_x[9]; + out_7908491346196944566[10] = -nom_x[10] + true_x[10]; + out_7908491346196944566[11] = -nom_x[11] + true_x[11]; + out_7908491346196944566[12] = -nom_x[12] + true_x[12]; + out_7908491346196944566[13] = -nom_x[13] + true_x[13]; + out_7908491346196944566[14] = -nom_x[14] + true_x[14]; + out_7908491346196944566[15] = -nom_x[15] + true_x[15]; + out_7908491346196944566[16] = -nom_x[16] + true_x[16]; + out_7908491346196944566[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_526209948270695177) { - out_526209948270695177[0] = 1.0; - out_526209948270695177[1] = 0.0; - out_526209948270695177[2] = 0.0; - out_526209948270695177[3] = 0.0; - out_526209948270695177[4] = 0.0; - out_526209948270695177[5] = 0.0; - out_526209948270695177[6] = 0.0; - out_526209948270695177[7] = 0.0; - out_526209948270695177[8] = 0.0; - out_526209948270695177[9] = 0.0; - out_526209948270695177[10] = 0.0; - out_526209948270695177[11] = 0.0; - out_526209948270695177[12] = 0.0; - out_526209948270695177[13] = 0.0; - out_526209948270695177[14] = 0.0; - out_526209948270695177[15] = 0.0; - out_526209948270695177[16] = 0.0; - out_526209948270695177[17] = 0.0; - out_526209948270695177[18] = 0.0; - out_526209948270695177[19] = 1.0; - out_526209948270695177[20] = 0.0; - out_526209948270695177[21] = 0.0; - out_526209948270695177[22] = 0.0; - out_526209948270695177[23] = 0.0; - out_526209948270695177[24] = 0.0; - out_526209948270695177[25] = 0.0; - out_526209948270695177[26] = 0.0; - out_526209948270695177[27] = 0.0; - out_526209948270695177[28] = 0.0; - out_526209948270695177[29] = 0.0; - out_526209948270695177[30] = 0.0; - out_526209948270695177[31] = 0.0; - out_526209948270695177[32] = 0.0; - out_526209948270695177[33] = 0.0; - out_526209948270695177[34] = 0.0; - out_526209948270695177[35] = 0.0; - out_526209948270695177[36] = 0.0; - out_526209948270695177[37] = 0.0; - out_526209948270695177[38] = 1.0; - out_526209948270695177[39] = 0.0; - out_526209948270695177[40] = 0.0; - out_526209948270695177[41] = 0.0; - out_526209948270695177[42] = 0.0; - out_526209948270695177[43] = 0.0; - out_526209948270695177[44] = 0.0; - out_526209948270695177[45] = 0.0; - out_526209948270695177[46] = 0.0; - out_526209948270695177[47] = 0.0; - out_526209948270695177[48] = 0.0; - out_526209948270695177[49] = 0.0; - out_526209948270695177[50] = 0.0; - out_526209948270695177[51] = 0.0; - out_526209948270695177[52] = 0.0; - out_526209948270695177[53] = 0.0; - out_526209948270695177[54] = 0.0; - out_526209948270695177[55] = 0.0; - out_526209948270695177[56] = 0.0; - out_526209948270695177[57] = 1.0; - out_526209948270695177[58] = 0.0; - out_526209948270695177[59] = 0.0; - out_526209948270695177[60] = 0.0; - out_526209948270695177[61] = 0.0; - out_526209948270695177[62] = 0.0; - out_526209948270695177[63] = 0.0; - out_526209948270695177[64] = 0.0; - out_526209948270695177[65] = 0.0; - out_526209948270695177[66] = 0.0; - out_526209948270695177[67] = 0.0; - out_526209948270695177[68] = 0.0; - out_526209948270695177[69] = 0.0; - out_526209948270695177[70] = 0.0; - out_526209948270695177[71] = 0.0; - out_526209948270695177[72] = 0.0; - out_526209948270695177[73] = 0.0; - out_526209948270695177[74] = 0.0; - out_526209948270695177[75] = 0.0; - out_526209948270695177[76] = 1.0; - out_526209948270695177[77] = 0.0; - out_526209948270695177[78] = 0.0; - out_526209948270695177[79] = 0.0; - out_526209948270695177[80] = 0.0; - out_526209948270695177[81] = 0.0; - out_526209948270695177[82] = 0.0; - out_526209948270695177[83] = 0.0; - out_526209948270695177[84] = 0.0; - out_526209948270695177[85] = 0.0; - out_526209948270695177[86] = 0.0; - out_526209948270695177[87] = 0.0; - out_526209948270695177[88] = 0.0; - out_526209948270695177[89] = 0.0; - out_526209948270695177[90] = 0.0; - out_526209948270695177[91] = 0.0; - out_526209948270695177[92] = 0.0; - out_526209948270695177[93] = 0.0; - out_526209948270695177[94] = 0.0; - out_526209948270695177[95] = 1.0; - out_526209948270695177[96] = 0.0; - out_526209948270695177[97] = 0.0; - out_526209948270695177[98] = 0.0; - out_526209948270695177[99] = 0.0; - out_526209948270695177[100] = 0.0; - out_526209948270695177[101] = 0.0; - out_526209948270695177[102] = 0.0; - out_526209948270695177[103] = 0.0; - out_526209948270695177[104] = 0.0; - out_526209948270695177[105] = 0.0; - out_526209948270695177[106] = 0.0; - out_526209948270695177[107] = 0.0; - out_526209948270695177[108] = 0.0; - out_526209948270695177[109] = 0.0; - out_526209948270695177[110] = 0.0; - out_526209948270695177[111] = 0.0; - out_526209948270695177[112] = 0.0; - out_526209948270695177[113] = 0.0; - out_526209948270695177[114] = 1.0; - out_526209948270695177[115] = 0.0; - out_526209948270695177[116] = 0.0; - out_526209948270695177[117] = 0.0; - out_526209948270695177[118] = 0.0; - out_526209948270695177[119] = 0.0; - out_526209948270695177[120] = 0.0; - out_526209948270695177[121] = 0.0; - out_526209948270695177[122] = 0.0; - out_526209948270695177[123] = 0.0; - out_526209948270695177[124] = 0.0; - out_526209948270695177[125] = 0.0; - out_526209948270695177[126] = 0.0; - out_526209948270695177[127] = 0.0; - out_526209948270695177[128] = 0.0; - out_526209948270695177[129] = 0.0; - out_526209948270695177[130] = 0.0; - out_526209948270695177[131] = 0.0; - out_526209948270695177[132] = 0.0; - out_526209948270695177[133] = 1.0; - out_526209948270695177[134] = 0.0; - out_526209948270695177[135] = 0.0; - out_526209948270695177[136] = 0.0; - out_526209948270695177[137] = 0.0; - out_526209948270695177[138] = 0.0; - out_526209948270695177[139] = 0.0; - out_526209948270695177[140] = 0.0; - out_526209948270695177[141] = 0.0; - out_526209948270695177[142] = 0.0; - out_526209948270695177[143] = 0.0; - out_526209948270695177[144] = 0.0; - out_526209948270695177[145] = 0.0; - out_526209948270695177[146] = 0.0; - out_526209948270695177[147] = 0.0; - out_526209948270695177[148] = 0.0; - out_526209948270695177[149] = 0.0; - out_526209948270695177[150] = 0.0; - out_526209948270695177[151] = 0.0; - out_526209948270695177[152] = 1.0; - out_526209948270695177[153] = 0.0; - out_526209948270695177[154] = 0.0; - out_526209948270695177[155] = 0.0; - out_526209948270695177[156] = 0.0; - out_526209948270695177[157] = 0.0; - out_526209948270695177[158] = 0.0; - out_526209948270695177[159] = 0.0; - out_526209948270695177[160] = 0.0; - out_526209948270695177[161] = 0.0; - out_526209948270695177[162] = 0.0; - out_526209948270695177[163] = 0.0; - out_526209948270695177[164] = 0.0; - out_526209948270695177[165] = 0.0; - out_526209948270695177[166] = 0.0; - out_526209948270695177[167] = 0.0; - out_526209948270695177[168] = 0.0; - out_526209948270695177[169] = 0.0; - out_526209948270695177[170] = 0.0; - out_526209948270695177[171] = 1.0; - out_526209948270695177[172] = 0.0; - out_526209948270695177[173] = 0.0; - out_526209948270695177[174] = 0.0; - out_526209948270695177[175] = 0.0; - out_526209948270695177[176] = 0.0; - out_526209948270695177[177] = 0.0; - out_526209948270695177[178] = 0.0; - out_526209948270695177[179] = 0.0; - out_526209948270695177[180] = 0.0; - out_526209948270695177[181] = 0.0; - out_526209948270695177[182] = 0.0; - out_526209948270695177[183] = 0.0; - out_526209948270695177[184] = 0.0; - out_526209948270695177[185] = 0.0; - out_526209948270695177[186] = 0.0; - out_526209948270695177[187] = 0.0; - out_526209948270695177[188] = 0.0; - out_526209948270695177[189] = 0.0; - out_526209948270695177[190] = 1.0; - out_526209948270695177[191] = 0.0; - out_526209948270695177[192] = 0.0; - out_526209948270695177[193] = 0.0; - out_526209948270695177[194] = 0.0; - out_526209948270695177[195] = 0.0; - out_526209948270695177[196] = 0.0; - out_526209948270695177[197] = 0.0; - out_526209948270695177[198] = 0.0; - out_526209948270695177[199] = 0.0; - out_526209948270695177[200] = 0.0; - out_526209948270695177[201] = 0.0; - out_526209948270695177[202] = 0.0; - out_526209948270695177[203] = 0.0; - out_526209948270695177[204] = 0.0; - out_526209948270695177[205] = 0.0; - out_526209948270695177[206] = 0.0; - out_526209948270695177[207] = 0.0; - out_526209948270695177[208] = 0.0; - out_526209948270695177[209] = 1.0; - out_526209948270695177[210] = 0.0; - out_526209948270695177[211] = 0.0; - out_526209948270695177[212] = 0.0; - out_526209948270695177[213] = 0.0; - out_526209948270695177[214] = 0.0; - out_526209948270695177[215] = 0.0; - out_526209948270695177[216] = 0.0; - out_526209948270695177[217] = 0.0; - out_526209948270695177[218] = 0.0; - out_526209948270695177[219] = 0.0; - out_526209948270695177[220] = 0.0; - out_526209948270695177[221] = 0.0; - out_526209948270695177[222] = 0.0; - out_526209948270695177[223] = 0.0; - out_526209948270695177[224] = 0.0; - out_526209948270695177[225] = 0.0; - out_526209948270695177[226] = 0.0; - out_526209948270695177[227] = 0.0; - out_526209948270695177[228] = 1.0; - out_526209948270695177[229] = 0.0; - out_526209948270695177[230] = 0.0; - out_526209948270695177[231] = 0.0; - out_526209948270695177[232] = 0.0; - out_526209948270695177[233] = 0.0; - out_526209948270695177[234] = 0.0; - out_526209948270695177[235] = 0.0; - out_526209948270695177[236] = 0.0; - out_526209948270695177[237] = 0.0; - out_526209948270695177[238] = 0.0; - out_526209948270695177[239] = 0.0; - out_526209948270695177[240] = 0.0; - out_526209948270695177[241] = 0.0; - out_526209948270695177[242] = 0.0; - out_526209948270695177[243] = 0.0; - out_526209948270695177[244] = 0.0; - out_526209948270695177[245] = 0.0; - out_526209948270695177[246] = 0.0; - out_526209948270695177[247] = 1.0; - out_526209948270695177[248] = 0.0; - out_526209948270695177[249] = 0.0; - out_526209948270695177[250] = 0.0; - out_526209948270695177[251] = 0.0; - out_526209948270695177[252] = 0.0; - out_526209948270695177[253] = 0.0; - out_526209948270695177[254] = 0.0; - out_526209948270695177[255] = 0.0; - out_526209948270695177[256] = 0.0; - out_526209948270695177[257] = 0.0; - out_526209948270695177[258] = 0.0; - out_526209948270695177[259] = 0.0; - out_526209948270695177[260] = 0.0; - out_526209948270695177[261] = 0.0; - out_526209948270695177[262] = 0.0; - out_526209948270695177[263] = 0.0; - out_526209948270695177[264] = 0.0; - out_526209948270695177[265] = 0.0; - out_526209948270695177[266] = 1.0; - out_526209948270695177[267] = 0.0; - out_526209948270695177[268] = 0.0; - out_526209948270695177[269] = 0.0; - out_526209948270695177[270] = 0.0; - out_526209948270695177[271] = 0.0; - out_526209948270695177[272] = 0.0; - out_526209948270695177[273] = 0.0; - out_526209948270695177[274] = 0.0; - out_526209948270695177[275] = 0.0; - out_526209948270695177[276] = 0.0; - out_526209948270695177[277] = 0.0; - out_526209948270695177[278] = 0.0; - out_526209948270695177[279] = 0.0; - out_526209948270695177[280] = 0.0; - out_526209948270695177[281] = 0.0; - out_526209948270695177[282] = 0.0; - out_526209948270695177[283] = 0.0; - out_526209948270695177[284] = 0.0; - out_526209948270695177[285] = 1.0; - out_526209948270695177[286] = 0.0; - out_526209948270695177[287] = 0.0; - out_526209948270695177[288] = 0.0; - out_526209948270695177[289] = 0.0; - out_526209948270695177[290] = 0.0; - out_526209948270695177[291] = 0.0; - out_526209948270695177[292] = 0.0; - out_526209948270695177[293] = 0.0; - out_526209948270695177[294] = 0.0; - out_526209948270695177[295] = 0.0; - out_526209948270695177[296] = 0.0; - out_526209948270695177[297] = 0.0; - out_526209948270695177[298] = 0.0; - out_526209948270695177[299] = 0.0; - out_526209948270695177[300] = 0.0; - out_526209948270695177[301] = 0.0; - out_526209948270695177[302] = 0.0; - out_526209948270695177[303] = 0.0; - out_526209948270695177[304] = 1.0; - out_526209948270695177[305] = 0.0; - out_526209948270695177[306] = 0.0; - out_526209948270695177[307] = 0.0; - out_526209948270695177[308] = 0.0; - out_526209948270695177[309] = 0.0; - out_526209948270695177[310] = 0.0; - out_526209948270695177[311] = 0.0; - out_526209948270695177[312] = 0.0; - out_526209948270695177[313] = 0.0; - out_526209948270695177[314] = 0.0; - out_526209948270695177[315] = 0.0; - out_526209948270695177[316] = 0.0; - out_526209948270695177[317] = 0.0; - out_526209948270695177[318] = 0.0; - out_526209948270695177[319] = 0.0; - out_526209948270695177[320] = 0.0; - out_526209948270695177[321] = 0.0; - out_526209948270695177[322] = 0.0; - out_526209948270695177[323] = 1.0; +void H_mod_fun(double *state, double *out_1058329813454059053) { + out_1058329813454059053[0] = 1.0; + out_1058329813454059053[1] = 0.0; + out_1058329813454059053[2] = 0.0; + out_1058329813454059053[3] = 0.0; + out_1058329813454059053[4] = 0.0; + out_1058329813454059053[5] = 0.0; + out_1058329813454059053[6] = 0.0; + out_1058329813454059053[7] = 0.0; + out_1058329813454059053[8] = 0.0; + out_1058329813454059053[9] = 0.0; + out_1058329813454059053[10] = 0.0; + out_1058329813454059053[11] = 0.0; + out_1058329813454059053[12] = 0.0; + out_1058329813454059053[13] = 0.0; + out_1058329813454059053[14] = 0.0; + out_1058329813454059053[15] = 0.0; + out_1058329813454059053[16] = 0.0; + out_1058329813454059053[17] = 0.0; + out_1058329813454059053[18] = 0.0; + out_1058329813454059053[19] = 1.0; + out_1058329813454059053[20] = 0.0; + out_1058329813454059053[21] = 0.0; + out_1058329813454059053[22] = 0.0; + out_1058329813454059053[23] = 0.0; + out_1058329813454059053[24] = 0.0; + out_1058329813454059053[25] = 0.0; + out_1058329813454059053[26] = 0.0; + out_1058329813454059053[27] = 0.0; + out_1058329813454059053[28] = 0.0; + out_1058329813454059053[29] = 0.0; + out_1058329813454059053[30] = 0.0; + out_1058329813454059053[31] = 0.0; + out_1058329813454059053[32] = 0.0; + out_1058329813454059053[33] = 0.0; + out_1058329813454059053[34] = 0.0; + out_1058329813454059053[35] = 0.0; + out_1058329813454059053[36] = 0.0; + out_1058329813454059053[37] = 0.0; + out_1058329813454059053[38] = 1.0; + out_1058329813454059053[39] = 0.0; + out_1058329813454059053[40] = 0.0; + out_1058329813454059053[41] = 0.0; + out_1058329813454059053[42] = 0.0; + out_1058329813454059053[43] = 0.0; + out_1058329813454059053[44] = 0.0; + out_1058329813454059053[45] = 0.0; + out_1058329813454059053[46] = 0.0; + out_1058329813454059053[47] = 0.0; + out_1058329813454059053[48] = 0.0; + out_1058329813454059053[49] = 0.0; + out_1058329813454059053[50] = 0.0; + out_1058329813454059053[51] = 0.0; + out_1058329813454059053[52] = 0.0; + out_1058329813454059053[53] = 0.0; + out_1058329813454059053[54] = 0.0; + out_1058329813454059053[55] = 0.0; + out_1058329813454059053[56] = 0.0; + out_1058329813454059053[57] = 1.0; + out_1058329813454059053[58] = 0.0; + out_1058329813454059053[59] = 0.0; + out_1058329813454059053[60] = 0.0; + out_1058329813454059053[61] = 0.0; + out_1058329813454059053[62] = 0.0; + out_1058329813454059053[63] = 0.0; + out_1058329813454059053[64] = 0.0; + out_1058329813454059053[65] = 0.0; + out_1058329813454059053[66] = 0.0; + out_1058329813454059053[67] = 0.0; + out_1058329813454059053[68] = 0.0; + out_1058329813454059053[69] = 0.0; + out_1058329813454059053[70] = 0.0; + out_1058329813454059053[71] = 0.0; + out_1058329813454059053[72] = 0.0; + out_1058329813454059053[73] = 0.0; + out_1058329813454059053[74] = 0.0; + out_1058329813454059053[75] = 0.0; + out_1058329813454059053[76] = 1.0; + out_1058329813454059053[77] = 0.0; + out_1058329813454059053[78] = 0.0; + out_1058329813454059053[79] = 0.0; + out_1058329813454059053[80] = 0.0; + out_1058329813454059053[81] = 0.0; + out_1058329813454059053[82] = 0.0; + out_1058329813454059053[83] = 0.0; + out_1058329813454059053[84] = 0.0; + out_1058329813454059053[85] = 0.0; + out_1058329813454059053[86] = 0.0; + out_1058329813454059053[87] = 0.0; + out_1058329813454059053[88] = 0.0; + out_1058329813454059053[89] = 0.0; + out_1058329813454059053[90] = 0.0; + out_1058329813454059053[91] = 0.0; + out_1058329813454059053[92] = 0.0; + out_1058329813454059053[93] = 0.0; + out_1058329813454059053[94] = 0.0; + out_1058329813454059053[95] = 1.0; + out_1058329813454059053[96] = 0.0; + out_1058329813454059053[97] = 0.0; + out_1058329813454059053[98] = 0.0; + out_1058329813454059053[99] = 0.0; + out_1058329813454059053[100] = 0.0; + out_1058329813454059053[101] = 0.0; + out_1058329813454059053[102] = 0.0; + out_1058329813454059053[103] = 0.0; + out_1058329813454059053[104] = 0.0; + out_1058329813454059053[105] = 0.0; + out_1058329813454059053[106] = 0.0; + out_1058329813454059053[107] = 0.0; + out_1058329813454059053[108] = 0.0; + out_1058329813454059053[109] = 0.0; + out_1058329813454059053[110] = 0.0; + out_1058329813454059053[111] = 0.0; + out_1058329813454059053[112] = 0.0; + out_1058329813454059053[113] = 0.0; + out_1058329813454059053[114] = 1.0; + out_1058329813454059053[115] = 0.0; + out_1058329813454059053[116] = 0.0; + out_1058329813454059053[117] = 0.0; + out_1058329813454059053[118] = 0.0; + out_1058329813454059053[119] = 0.0; + out_1058329813454059053[120] = 0.0; + out_1058329813454059053[121] = 0.0; + out_1058329813454059053[122] = 0.0; + out_1058329813454059053[123] = 0.0; + out_1058329813454059053[124] = 0.0; + out_1058329813454059053[125] = 0.0; + out_1058329813454059053[126] = 0.0; + out_1058329813454059053[127] = 0.0; + out_1058329813454059053[128] = 0.0; + out_1058329813454059053[129] = 0.0; + out_1058329813454059053[130] = 0.0; + out_1058329813454059053[131] = 0.0; + out_1058329813454059053[132] = 0.0; + out_1058329813454059053[133] = 1.0; + out_1058329813454059053[134] = 0.0; + out_1058329813454059053[135] = 0.0; + out_1058329813454059053[136] = 0.0; + out_1058329813454059053[137] = 0.0; + out_1058329813454059053[138] = 0.0; + out_1058329813454059053[139] = 0.0; + out_1058329813454059053[140] = 0.0; + out_1058329813454059053[141] = 0.0; + out_1058329813454059053[142] = 0.0; + out_1058329813454059053[143] = 0.0; + out_1058329813454059053[144] = 0.0; + out_1058329813454059053[145] = 0.0; + out_1058329813454059053[146] = 0.0; + out_1058329813454059053[147] = 0.0; + out_1058329813454059053[148] = 0.0; + out_1058329813454059053[149] = 0.0; + out_1058329813454059053[150] = 0.0; + out_1058329813454059053[151] = 0.0; + out_1058329813454059053[152] = 1.0; + out_1058329813454059053[153] = 0.0; + out_1058329813454059053[154] = 0.0; + out_1058329813454059053[155] = 0.0; + out_1058329813454059053[156] = 0.0; + out_1058329813454059053[157] = 0.0; + out_1058329813454059053[158] = 0.0; + out_1058329813454059053[159] = 0.0; + out_1058329813454059053[160] = 0.0; + out_1058329813454059053[161] = 0.0; + out_1058329813454059053[162] = 0.0; + out_1058329813454059053[163] = 0.0; + out_1058329813454059053[164] = 0.0; + out_1058329813454059053[165] = 0.0; + out_1058329813454059053[166] = 0.0; + out_1058329813454059053[167] = 0.0; + out_1058329813454059053[168] = 0.0; + out_1058329813454059053[169] = 0.0; + out_1058329813454059053[170] = 0.0; + out_1058329813454059053[171] = 1.0; + out_1058329813454059053[172] = 0.0; + out_1058329813454059053[173] = 0.0; + out_1058329813454059053[174] = 0.0; + out_1058329813454059053[175] = 0.0; + out_1058329813454059053[176] = 0.0; + out_1058329813454059053[177] = 0.0; + out_1058329813454059053[178] = 0.0; + out_1058329813454059053[179] = 0.0; + out_1058329813454059053[180] = 0.0; + out_1058329813454059053[181] = 0.0; + out_1058329813454059053[182] = 0.0; + out_1058329813454059053[183] = 0.0; + out_1058329813454059053[184] = 0.0; + out_1058329813454059053[185] = 0.0; + out_1058329813454059053[186] = 0.0; + out_1058329813454059053[187] = 0.0; + out_1058329813454059053[188] = 0.0; + out_1058329813454059053[189] = 0.0; + out_1058329813454059053[190] = 1.0; + out_1058329813454059053[191] = 0.0; + out_1058329813454059053[192] = 0.0; + out_1058329813454059053[193] = 0.0; + out_1058329813454059053[194] = 0.0; + out_1058329813454059053[195] = 0.0; + out_1058329813454059053[196] = 0.0; + out_1058329813454059053[197] = 0.0; + out_1058329813454059053[198] = 0.0; + out_1058329813454059053[199] = 0.0; + out_1058329813454059053[200] = 0.0; + out_1058329813454059053[201] = 0.0; + out_1058329813454059053[202] = 0.0; + out_1058329813454059053[203] = 0.0; + out_1058329813454059053[204] = 0.0; + out_1058329813454059053[205] = 0.0; + out_1058329813454059053[206] = 0.0; + out_1058329813454059053[207] = 0.0; + out_1058329813454059053[208] = 0.0; + out_1058329813454059053[209] = 1.0; + out_1058329813454059053[210] = 0.0; + out_1058329813454059053[211] = 0.0; + out_1058329813454059053[212] = 0.0; + out_1058329813454059053[213] = 0.0; + out_1058329813454059053[214] = 0.0; + out_1058329813454059053[215] = 0.0; + out_1058329813454059053[216] = 0.0; + out_1058329813454059053[217] = 0.0; + out_1058329813454059053[218] = 0.0; + out_1058329813454059053[219] = 0.0; + out_1058329813454059053[220] = 0.0; + out_1058329813454059053[221] = 0.0; + out_1058329813454059053[222] = 0.0; + out_1058329813454059053[223] = 0.0; + out_1058329813454059053[224] = 0.0; + out_1058329813454059053[225] = 0.0; + out_1058329813454059053[226] = 0.0; + out_1058329813454059053[227] = 0.0; + out_1058329813454059053[228] = 1.0; + out_1058329813454059053[229] = 0.0; + out_1058329813454059053[230] = 0.0; + out_1058329813454059053[231] = 0.0; + out_1058329813454059053[232] = 0.0; + out_1058329813454059053[233] = 0.0; + out_1058329813454059053[234] = 0.0; + out_1058329813454059053[235] = 0.0; + out_1058329813454059053[236] = 0.0; + out_1058329813454059053[237] = 0.0; + out_1058329813454059053[238] = 0.0; + out_1058329813454059053[239] = 0.0; + out_1058329813454059053[240] = 0.0; + out_1058329813454059053[241] = 0.0; + out_1058329813454059053[242] = 0.0; + out_1058329813454059053[243] = 0.0; + out_1058329813454059053[244] = 0.0; + out_1058329813454059053[245] = 0.0; + out_1058329813454059053[246] = 0.0; + out_1058329813454059053[247] = 1.0; + out_1058329813454059053[248] = 0.0; + out_1058329813454059053[249] = 0.0; + out_1058329813454059053[250] = 0.0; + out_1058329813454059053[251] = 0.0; + out_1058329813454059053[252] = 0.0; + out_1058329813454059053[253] = 0.0; + out_1058329813454059053[254] = 0.0; + out_1058329813454059053[255] = 0.0; + out_1058329813454059053[256] = 0.0; + out_1058329813454059053[257] = 0.0; + out_1058329813454059053[258] = 0.0; + out_1058329813454059053[259] = 0.0; + out_1058329813454059053[260] = 0.0; + out_1058329813454059053[261] = 0.0; + out_1058329813454059053[262] = 0.0; + out_1058329813454059053[263] = 0.0; + out_1058329813454059053[264] = 0.0; + out_1058329813454059053[265] = 0.0; + out_1058329813454059053[266] = 1.0; + out_1058329813454059053[267] = 0.0; + out_1058329813454059053[268] = 0.0; + out_1058329813454059053[269] = 0.0; + out_1058329813454059053[270] = 0.0; + out_1058329813454059053[271] = 0.0; + out_1058329813454059053[272] = 0.0; + out_1058329813454059053[273] = 0.0; + out_1058329813454059053[274] = 0.0; + out_1058329813454059053[275] = 0.0; + out_1058329813454059053[276] = 0.0; + out_1058329813454059053[277] = 0.0; + out_1058329813454059053[278] = 0.0; + out_1058329813454059053[279] = 0.0; + out_1058329813454059053[280] = 0.0; + out_1058329813454059053[281] = 0.0; + out_1058329813454059053[282] = 0.0; + out_1058329813454059053[283] = 0.0; + out_1058329813454059053[284] = 0.0; + out_1058329813454059053[285] = 1.0; + out_1058329813454059053[286] = 0.0; + out_1058329813454059053[287] = 0.0; + out_1058329813454059053[288] = 0.0; + out_1058329813454059053[289] = 0.0; + out_1058329813454059053[290] = 0.0; + out_1058329813454059053[291] = 0.0; + out_1058329813454059053[292] = 0.0; + out_1058329813454059053[293] = 0.0; + out_1058329813454059053[294] = 0.0; + out_1058329813454059053[295] = 0.0; + out_1058329813454059053[296] = 0.0; + out_1058329813454059053[297] = 0.0; + out_1058329813454059053[298] = 0.0; + out_1058329813454059053[299] = 0.0; + out_1058329813454059053[300] = 0.0; + out_1058329813454059053[301] = 0.0; + out_1058329813454059053[302] = 0.0; + out_1058329813454059053[303] = 0.0; + out_1058329813454059053[304] = 1.0; + out_1058329813454059053[305] = 0.0; + out_1058329813454059053[306] = 0.0; + out_1058329813454059053[307] = 0.0; + out_1058329813454059053[308] = 0.0; + out_1058329813454059053[309] = 0.0; + out_1058329813454059053[310] = 0.0; + out_1058329813454059053[311] = 0.0; + out_1058329813454059053[312] = 0.0; + out_1058329813454059053[313] = 0.0; + out_1058329813454059053[314] = 0.0; + out_1058329813454059053[315] = 0.0; + out_1058329813454059053[316] = 0.0; + out_1058329813454059053[317] = 0.0; + out_1058329813454059053[318] = 0.0; + out_1058329813454059053[319] = 0.0; + out_1058329813454059053[320] = 0.0; + out_1058329813454059053[321] = 0.0; + out_1058329813454059053[322] = 0.0; + out_1058329813454059053[323] = 1.0; } -void f_fun(double *state, double dt, double *out_826153410981652937) { - out_826153410981652937[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_826153410981652937[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_826153410981652937[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_826153410981652937[3] = dt*state[12] + state[3]; - out_826153410981652937[4] = dt*state[13] + state[4]; - out_826153410981652937[5] = dt*state[14] + state[5]; - out_826153410981652937[6] = state[6]; - out_826153410981652937[7] = state[7]; - out_826153410981652937[8] = state[8]; - out_826153410981652937[9] = state[9]; - out_826153410981652937[10] = state[10]; - out_826153410981652937[11] = state[11]; - out_826153410981652937[12] = state[12]; - out_826153410981652937[13] = state[13]; - out_826153410981652937[14] = state[14]; - out_826153410981652937[15] = state[15]; - out_826153410981652937[16] = state[16]; - out_826153410981652937[17] = state[17]; +void f_fun(double *state, double dt, double *out_6164632031260569200) { + out_6164632031260569200[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_6164632031260569200[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_6164632031260569200[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_6164632031260569200[3] = dt*state[12] + state[3]; + out_6164632031260569200[4] = dt*state[13] + state[4]; + out_6164632031260569200[5] = dt*state[14] + state[5]; + out_6164632031260569200[6] = state[6]; + out_6164632031260569200[7] = state[7]; + out_6164632031260569200[8] = state[8]; + out_6164632031260569200[9] = state[9]; + out_6164632031260569200[10] = state[10]; + out_6164632031260569200[11] = state[11]; + out_6164632031260569200[12] = state[12]; + out_6164632031260569200[13] = state[13]; + out_6164632031260569200[14] = state[14]; + out_6164632031260569200[15] = state[15]; + out_6164632031260569200[16] = state[16]; + out_6164632031260569200[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2504584572758712159) { - out_2504584572758712159[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_2504584572758712159[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_2504584572758712159[2] = 0; - out_2504584572758712159[3] = 0; - out_2504584572758712159[4] = 0; - out_2504584572758712159[5] = 0; - out_2504584572758712159[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_2504584572758712159[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_2504584572758712159[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_2504584572758712159[9] = 0; - out_2504584572758712159[10] = 0; - out_2504584572758712159[11] = 0; - out_2504584572758712159[12] = 0; - out_2504584572758712159[13] = 0; - out_2504584572758712159[14] = 0; - out_2504584572758712159[15] = 0; - out_2504584572758712159[16] = 0; - out_2504584572758712159[17] = 0; - out_2504584572758712159[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_2504584572758712159[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_2504584572758712159[20] = 0; - out_2504584572758712159[21] = 0; - out_2504584572758712159[22] = 0; - out_2504584572758712159[23] = 0; - out_2504584572758712159[24] = 0; - out_2504584572758712159[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_2504584572758712159[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_2504584572758712159[27] = 0; - out_2504584572758712159[28] = 0; - out_2504584572758712159[29] = 0; - out_2504584572758712159[30] = 0; - out_2504584572758712159[31] = 0; - out_2504584572758712159[32] = 0; - out_2504584572758712159[33] = 0; - out_2504584572758712159[34] = 0; - out_2504584572758712159[35] = 0; - out_2504584572758712159[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_2504584572758712159[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_2504584572758712159[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_2504584572758712159[39] = 0; - out_2504584572758712159[40] = 0; - out_2504584572758712159[41] = 0; - out_2504584572758712159[42] = 0; - out_2504584572758712159[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_2504584572758712159[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_2504584572758712159[45] = 0; - out_2504584572758712159[46] = 0; - out_2504584572758712159[47] = 0; - out_2504584572758712159[48] = 0; - out_2504584572758712159[49] = 0; - out_2504584572758712159[50] = 0; - out_2504584572758712159[51] = 0; - out_2504584572758712159[52] = 0; - out_2504584572758712159[53] = 0; - out_2504584572758712159[54] = 0; - out_2504584572758712159[55] = 0; - out_2504584572758712159[56] = 0; - out_2504584572758712159[57] = 1; - out_2504584572758712159[58] = 0; - out_2504584572758712159[59] = 0; - out_2504584572758712159[60] = 0; - out_2504584572758712159[61] = 0; - out_2504584572758712159[62] = 0; - out_2504584572758712159[63] = 0; - out_2504584572758712159[64] = 0; - out_2504584572758712159[65] = 0; - out_2504584572758712159[66] = dt; - out_2504584572758712159[67] = 0; - out_2504584572758712159[68] = 0; - out_2504584572758712159[69] = 0; - out_2504584572758712159[70] = 0; - out_2504584572758712159[71] = 0; - out_2504584572758712159[72] = 0; - out_2504584572758712159[73] = 0; - out_2504584572758712159[74] = 0; - out_2504584572758712159[75] = 0; - out_2504584572758712159[76] = 1; - out_2504584572758712159[77] = 0; - out_2504584572758712159[78] = 0; - out_2504584572758712159[79] = 0; - out_2504584572758712159[80] = 0; - out_2504584572758712159[81] = 0; - out_2504584572758712159[82] = 0; - out_2504584572758712159[83] = 0; - out_2504584572758712159[84] = 0; - out_2504584572758712159[85] = dt; - out_2504584572758712159[86] = 0; - out_2504584572758712159[87] = 0; - out_2504584572758712159[88] = 0; - out_2504584572758712159[89] = 0; - out_2504584572758712159[90] = 0; - out_2504584572758712159[91] = 0; - out_2504584572758712159[92] = 0; - out_2504584572758712159[93] = 0; - out_2504584572758712159[94] = 0; - out_2504584572758712159[95] = 1; - out_2504584572758712159[96] = 0; - out_2504584572758712159[97] = 0; - out_2504584572758712159[98] = 0; - out_2504584572758712159[99] = 0; - out_2504584572758712159[100] = 0; - out_2504584572758712159[101] = 0; - out_2504584572758712159[102] = 0; - out_2504584572758712159[103] = 0; - out_2504584572758712159[104] = dt; - out_2504584572758712159[105] = 0; - out_2504584572758712159[106] = 0; - out_2504584572758712159[107] = 0; - out_2504584572758712159[108] = 0; - out_2504584572758712159[109] = 0; - out_2504584572758712159[110] = 0; - out_2504584572758712159[111] = 0; - out_2504584572758712159[112] = 0; - out_2504584572758712159[113] = 0; - out_2504584572758712159[114] = 1; - out_2504584572758712159[115] = 0; - out_2504584572758712159[116] = 0; - out_2504584572758712159[117] = 0; - out_2504584572758712159[118] = 0; - out_2504584572758712159[119] = 0; - out_2504584572758712159[120] = 0; - out_2504584572758712159[121] = 0; - out_2504584572758712159[122] = 0; - out_2504584572758712159[123] = 0; - out_2504584572758712159[124] = 0; - out_2504584572758712159[125] = 0; - out_2504584572758712159[126] = 0; - out_2504584572758712159[127] = 0; - out_2504584572758712159[128] = 0; - out_2504584572758712159[129] = 0; - out_2504584572758712159[130] = 0; - out_2504584572758712159[131] = 0; - out_2504584572758712159[132] = 0; - out_2504584572758712159[133] = 1; - out_2504584572758712159[134] = 0; - out_2504584572758712159[135] = 0; - out_2504584572758712159[136] = 0; - out_2504584572758712159[137] = 0; - out_2504584572758712159[138] = 0; - out_2504584572758712159[139] = 0; - out_2504584572758712159[140] = 0; - out_2504584572758712159[141] = 0; - out_2504584572758712159[142] = 0; - out_2504584572758712159[143] = 0; - out_2504584572758712159[144] = 0; - out_2504584572758712159[145] = 0; - out_2504584572758712159[146] = 0; - out_2504584572758712159[147] = 0; - out_2504584572758712159[148] = 0; - out_2504584572758712159[149] = 0; - out_2504584572758712159[150] = 0; - out_2504584572758712159[151] = 0; - out_2504584572758712159[152] = 1; - out_2504584572758712159[153] = 0; - out_2504584572758712159[154] = 0; - out_2504584572758712159[155] = 0; - out_2504584572758712159[156] = 0; - out_2504584572758712159[157] = 0; - out_2504584572758712159[158] = 0; - out_2504584572758712159[159] = 0; - out_2504584572758712159[160] = 0; - out_2504584572758712159[161] = 0; - out_2504584572758712159[162] = 0; - out_2504584572758712159[163] = 0; - out_2504584572758712159[164] = 0; - out_2504584572758712159[165] = 0; - out_2504584572758712159[166] = 0; - out_2504584572758712159[167] = 0; - out_2504584572758712159[168] = 0; - out_2504584572758712159[169] = 0; - out_2504584572758712159[170] = 0; - out_2504584572758712159[171] = 1; - out_2504584572758712159[172] = 0; - out_2504584572758712159[173] = 0; - out_2504584572758712159[174] = 0; - out_2504584572758712159[175] = 0; - out_2504584572758712159[176] = 0; - out_2504584572758712159[177] = 0; - out_2504584572758712159[178] = 0; - out_2504584572758712159[179] = 0; - out_2504584572758712159[180] = 0; - out_2504584572758712159[181] = 0; - out_2504584572758712159[182] = 0; - out_2504584572758712159[183] = 0; - out_2504584572758712159[184] = 0; - out_2504584572758712159[185] = 0; - out_2504584572758712159[186] = 0; - out_2504584572758712159[187] = 0; - out_2504584572758712159[188] = 0; - out_2504584572758712159[189] = 0; - out_2504584572758712159[190] = 1; - out_2504584572758712159[191] = 0; - out_2504584572758712159[192] = 0; - out_2504584572758712159[193] = 0; - out_2504584572758712159[194] = 0; - out_2504584572758712159[195] = 0; - out_2504584572758712159[196] = 0; - out_2504584572758712159[197] = 0; - out_2504584572758712159[198] = 0; - out_2504584572758712159[199] = 0; - out_2504584572758712159[200] = 0; - out_2504584572758712159[201] = 0; - out_2504584572758712159[202] = 0; - out_2504584572758712159[203] = 0; - out_2504584572758712159[204] = 0; - out_2504584572758712159[205] = 0; - out_2504584572758712159[206] = 0; - out_2504584572758712159[207] = 0; - out_2504584572758712159[208] = 0; - out_2504584572758712159[209] = 1; - out_2504584572758712159[210] = 0; - out_2504584572758712159[211] = 0; - out_2504584572758712159[212] = 0; - out_2504584572758712159[213] = 0; - out_2504584572758712159[214] = 0; - out_2504584572758712159[215] = 0; - out_2504584572758712159[216] = 0; - out_2504584572758712159[217] = 0; - out_2504584572758712159[218] = 0; - out_2504584572758712159[219] = 0; - out_2504584572758712159[220] = 0; - out_2504584572758712159[221] = 0; - out_2504584572758712159[222] = 0; - out_2504584572758712159[223] = 0; - out_2504584572758712159[224] = 0; - out_2504584572758712159[225] = 0; - out_2504584572758712159[226] = 0; - out_2504584572758712159[227] = 0; - out_2504584572758712159[228] = 1; - out_2504584572758712159[229] = 0; - out_2504584572758712159[230] = 0; - out_2504584572758712159[231] = 0; - out_2504584572758712159[232] = 0; - out_2504584572758712159[233] = 0; - out_2504584572758712159[234] = 0; - out_2504584572758712159[235] = 0; - out_2504584572758712159[236] = 0; - out_2504584572758712159[237] = 0; - out_2504584572758712159[238] = 0; - out_2504584572758712159[239] = 0; - out_2504584572758712159[240] = 0; - out_2504584572758712159[241] = 0; - out_2504584572758712159[242] = 0; - out_2504584572758712159[243] = 0; - out_2504584572758712159[244] = 0; - out_2504584572758712159[245] = 0; - out_2504584572758712159[246] = 0; - out_2504584572758712159[247] = 1; - out_2504584572758712159[248] = 0; - out_2504584572758712159[249] = 0; - out_2504584572758712159[250] = 0; - out_2504584572758712159[251] = 0; - out_2504584572758712159[252] = 0; - out_2504584572758712159[253] = 0; - out_2504584572758712159[254] = 0; - out_2504584572758712159[255] = 0; - out_2504584572758712159[256] = 0; - out_2504584572758712159[257] = 0; - out_2504584572758712159[258] = 0; - out_2504584572758712159[259] = 0; - out_2504584572758712159[260] = 0; - out_2504584572758712159[261] = 0; - out_2504584572758712159[262] = 0; - out_2504584572758712159[263] = 0; - out_2504584572758712159[264] = 0; - out_2504584572758712159[265] = 0; - out_2504584572758712159[266] = 1; - out_2504584572758712159[267] = 0; - out_2504584572758712159[268] = 0; - out_2504584572758712159[269] = 0; - out_2504584572758712159[270] = 0; - out_2504584572758712159[271] = 0; - out_2504584572758712159[272] = 0; - out_2504584572758712159[273] = 0; - out_2504584572758712159[274] = 0; - out_2504584572758712159[275] = 0; - out_2504584572758712159[276] = 0; - out_2504584572758712159[277] = 0; - out_2504584572758712159[278] = 0; - out_2504584572758712159[279] = 0; - out_2504584572758712159[280] = 0; - out_2504584572758712159[281] = 0; - out_2504584572758712159[282] = 0; - out_2504584572758712159[283] = 0; - out_2504584572758712159[284] = 0; - out_2504584572758712159[285] = 1; - out_2504584572758712159[286] = 0; - out_2504584572758712159[287] = 0; - out_2504584572758712159[288] = 0; - out_2504584572758712159[289] = 0; - out_2504584572758712159[290] = 0; - out_2504584572758712159[291] = 0; - out_2504584572758712159[292] = 0; - out_2504584572758712159[293] = 0; - out_2504584572758712159[294] = 0; - out_2504584572758712159[295] = 0; - out_2504584572758712159[296] = 0; - out_2504584572758712159[297] = 0; - out_2504584572758712159[298] = 0; - out_2504584572758712159[299] = 0; - out_2504584572758712159[300] = 0; - out_2504584572758712159[301] = 0; - out_2504584572758712159[302] = 0; - out_2504584572758712159[303] = 0; - out_2504584572758712159[304] = 1; - out_2504584572758712159[305] = 0; - out_2504584572758712159[306] = 0; - out_2504584572758712159[307] = 0; - out_2504584572758712159[308] = 0; - out_2504584572758712159[309] = 0; - out_2504584572758712159[310] = 0; - out_2504584572758712159[311] = 0; - out_2504584572758712159[312] = 0; - out_2504584572758712159[313] = 0; - out_2504584572758712159[314] = 0; - out_2504584572758712159[315] = 0; - out_2504584572758712159[316] = 0; - out_2504584572758712159[317] = 0; - out_2504584572758712159[318] = 0; - out_2504584572758712159[319] = 0; - out_2504584572758712159[320] = 0; - out_2504584572758712159[321] = 0; - out_2504584572758712159[322] = 0; - out_2504584572758712159[323] = 1; +void F_fun(double *state, double dt, double *out_2115210801735647822) { + out_2115210801735647822[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_2115210801735647822[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_2115210801735647822[2] = 0; + out_2115210801735647822[3] = 0; + out_2115210801735647822[4] = 0; + out_2115210801735647822[5] = 0; + out_2115210801735647822[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_2115210801735647822[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_2115210801735647822[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_2115210801735647822[9] = 0; + out_2115210801735647822[10] = 0; + out_2115210801735647822[11] = 0; + out_2115210801735647822[12] = 0; + out_2115210801735647822[13] = 0; + out_2115210801735647822[14] = 0; + out_2115210801735647822[15] = 0; + out_2115210801735647822[16] = 0; + out_2115210801735647822[17] = 0; + out_2115210801735647822[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_2115210801735647822[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_2115210801735647822[20] = 0; + out_2115210801735647822[21] = 0; + out_2115210801735647822[22] = 0; + out_2115210801735647822[23] = 0; + out_2115210801735647822[24] = 0; + out_2115210801735647822[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_2115210801735647822[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_2115210801735647822[27] = 0; + out_2115210801735647822[28] = 0; + out_2115210801735647822[29] = 0; + out_2115210801735647822[30] = 0; + out_2115210801735647822[31] = 0; + out_2115210801735647822[32] = 0; + out_2115210801735647822[33] = 0; + out_2115210801735647822[34] = 0; + out_2115210801735647822[35] = 0; + out_2115210801735647822[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_2115210801735647822[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_2115210801735647822[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_2115210801735647822[39] = 0; + out_2115210801735647822[40] = 0; + out_2115210801735647822[41] = 0; + out_2115210801735647822[42] = 0; + out_2115210801735647822[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_2115210801735647822[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_2115210801735647822[45] = 0; + out_2115210801735647822[46] = 0; + out_2115210801735647822[47] = 0; + out_2115210801735647822[48] = 0; + out_2115210801735647822[49] = 0; + out_2115210801735647822[50] = 0; + out_2115210801735647822[51] = 0; + out_2115210801735647822[52] = 0; + out_2115210801735647822[53] = 0; + out_2115210801735647822[54] = 0; + out_2115210801735647822[55] = 0; + out_2115210801735647822[56] = 0; + out_2115210801735647822[57] = 1; + out_2115210801735647822[58] = 0; + out_2115210801735647822[59] = 0; + out_2115210801735647822[60] = 0; + out_2115210801735647822[61] = 0; + out_2115210801735647822[62] = 0; + out_2115210801735647822[63] = 0; + out_2115210801735647822[64] = 0; + out_2115210801735647822[65] = 0; + out_2115210801735647822[66] = dt; + out_2115210801735647822[67] = 0; + out_2115210801735647822[68] = 0; + out_2115210801735647822[69] = 0; + out_2115210801735647822[70] = 0; + out_2115210801735647822[71] = 0; + out_2115210801735647822[72] = 0; + out_2115210801735647822[73] = 0; + out_2115210801735647822[74] = 0; + out_2115210801735647822[75] = 0; + out_2115210801735647822[76] = 1; + out_2115210801735647822[77] = 0; + out_2115210801735647822[78] = 0; + out_2115210801735647822[79] = 0; + out_2115210801735647822[80] = 0; + out_2115210801735647822[81] = 0; + out_2115210801735647822[82] = 0; + out_2115210801735647822[83] = 0; + out_2115210801735647822[84] = 0; + out_2115210801735647822[85] = dt; + out_2115210801735647822[86] = 0; + out_2115210801735647822[87] = 0; + out_2115210801735647822[88] = 0; + out_2115210801735647822[89] = 0; + out_2115210801735647822[90] = 0; + out_2115210801735647822[91] = 0; + out_2115210801735647822[92] = 0; + out_2115210801735647822[93] = 0; + out_2115210801735647822[94] = 0; + out_2115210801735647822[95] = 1; + out_2115210801735647822[96] = 0; + out_2115210801735647822[97] = 0; + out_2115210801735647822[98] = 0; + out_2115210801735647822[99] = 0; + out_2115210801735647822[100] = 0; + out_2115210801735647822[101] = 0; + out_2115210801735647822[102] = 0; + out_2115210801735647822[103] = 0; + out_2115210801735647822[104] = dt; + out_2115210801735647822[105] = 0; + out_2115210801735647822[106] = 0; + out_2115210801735647822[107] = 0; + out_2115210801735647822[108] = 0; + out_2115210801735647822[109] = 0; + out_2115210801735647822[110] = 0; + out_2115210801735647822[111] = 0; + out_2115210801735647822[112] = 0; + out_2115210801735647822[113] = 0; + out_2115210801735647822[114] = 1; + out_2115210801735647822[115] = 0; + out_2115210801735647822[116] = 0; + out_2115210801735647822[117] = 0; + out_2115210801735647822[118] = 0; + out_2115210801735647822[119] = 0; + out_2115210801735647822[120] = 0; + out_2115210801735647822[121] = 0; + out_2115210801735647822[122] = 0; + out_2115210801735647822[123] = 0; + out_2115210801735647822[124] = 0; + out_2115210801735647822[125] = 0; + out_2115210801735647822[126] = 0; + out_2115210801735647822[127] = 0; + out_2115210801735647822[128] = 0; + out_2115210801735647822[129] = 0; + out_2115210801735647822[130] = 0; + out_2115210801735647822[131] = 0; + out_2115210801735647822[132] = 0; + out_2115210801735647822[133] = 1; + out_2115210801735647822[134] = 0; + out_2115210801735647822[135] = 0; + out_2115210801735647822[136] = 0; + out_2115210801735647822[137] = 0; + out_2115210801735647822[138] = 0; + out_2115210801735647822[139] = 0; + out_2115210801735647822[140] = 0; + out_2115210801735647822[141] = 0; + out_2115210801735647822[142] = 0; + out_2115210801735647822[143] = 0; + out_2115210801735647822[144] = 0; + out_2115210801735647822[145] = 0; + out_2115210801735647822[146] = 0; + out_2115210801735647822[147] = 0; + out_2115210801735647822[148] = 0; + out_2115210801735647822[149] = 0; + out_2115210801735647822[150] = 0; + out_2115210801735647822[151] = 0; + out_2115210801735647822[152] = 1; + out_2115210801735647822[153] = 0; + out_2115210801735647822[154] = 0; + out_2115210801735647822[155] = 0; + out_2115210801735647822[156] = 0; + out_2115210801735647822[157] = 0; + out_2115210801735647822[158] = 0; + out_2115210801735647822[159] = 0; + out_2115210801735647822[160] = 0; + out_2115210801735647822[161] = 0; + out_2115210801735647822[162] = 0; + out_2115210801735647822[163] = 0; + out_2115210801735647822[164] = 0; + out_2115210801735647822[165] = 0; + out_2115210801735647822[166] = 0; + out_2115210801735647822[167] = 0; + out_2115210801735647822[168] = 0; + out_2115210801735647822[169] = 0; + out_2115210801735647822[170] = 0; + out_2115210801735647822[171] = 1; + out_2115210801735647822[172] = 0; + out_2115210801735647822[173] = 0; + out_2115210801735647822[174] = 0; + out_2115210801735647822[175] = 0; + out_2115210801735647822[176] = 0; + out_2115210801735647822[177] = 0; + out_2115210801735647822[178] = 0; + out_2115210801735647822[179] = 0; + out_2115210801735647822[180] = 0; + out_2115210801735647822[181] = 0; + out_2115210801735647822[182] = 0; + out_2115210801735647822[183] = 0; + out_2115210801735647822[184] = 0; + out_2115210801735647822[185] = 0; + out_2115210801735647822[186] = 0; + out_2115210801735647822[187] = 0; + out_2115210801735647822[188] = 0; + out_2115210801735647822[189] = 0; + out_2115210801735647822[190] = 1; + out_2115210801735647822[191] = 0; + out_2115210801735647822[192] = 0; + out_2115210801735647822[193] = 0; + out_2115210801735647822[194] = 0; + out_2115210801735647822[195] = 0; + out_2115210801735647822[196] = 0; + out_2115210801735647822[197] = 0; + out_2115210801735647822[198] = 0; + out_2115210801735647822[199] = 0; + out_2115210801735647822[200] = 0; + out_2115210801735647822[201] = 0; + out_2115210801735647822[202] = 0; + out_2115210801735647822[203] = 0; + out_2115210801735647822[204] = 0; + out_2115210801735647822[205] = 0; + out_2115210801735647822[206] = 0; + out_2115210801735647822[207] = 0; + out_2115210801735647822[208] = 0; + out_2115210801735647822[209] = 1; + out_2115210801735647822[210] = 0; + out_2115210801735647822[211] = 0; + out_2115210801735647822[212] = 0; + out_2115210801735647822[213] = 0; + out_2115210801735647822[214] = 0; + out_2115210801735647822[215] = 0; + out_2115210801735647822[216] = 0; + out_2115210801735647822[217] = 0; + out_2115210801735647822[218] = 0; + out_2115210801735647822[219] = 0; + out_2115210801735647822[220] = 0; + out_2115210801735647822[221] = 0; + out_2115210801735647822[222] = 0; + out_2115210801735647822[223] = 0; + out_2115210801735647822[224] = 0; + out_2115210801735647822[225] = 0; + out_2115210801735647822[226] = 0; + out_2115210801735647822[227] = 0; + out_2115210801735647822[228] = 1; + out_2115210801735647822[229] = 0; + out_2115210801735647822[230] = 0; + out_2115210801735647822[231] = 0; + out_2115210801735647822[232] = 0; + out_2115210801735647822[233] = 0; + out_2115210801735647822[234] = 0; + out_2115210801735647822[235] = 0; + out_2115210801735647822[236] = 0; + out_2115210801735647822[237] = 0; + out_2115210801735647822[238] = 0; + out_2115210801735647822[239] = 0; + out_2115210801735647822[240] = 0; + out_2115210801735647822[241] = 0; + out_2115210801735647822[242] = 0; + out_2115210801735647822[243] = 0; + out_2115210801735647822[244] = 0; + out_2115210801735647822[245] = 0; + out_2115210801735647822[246] = 0; + out_2115210801735647822[247] = 1; + out_2115210801735647822[248] = 0; + out_2115210801735647822[249] = 0; + out_2115210801735647822[250] = 0; + out_2115210801735647822[251] = 0; + out_2115210801735647822[252] = 0; + out_2115210801735647822[253] = 0; + out_2115210801735647822[254] = 0; + out_2115210801735647822[255] = 0; + out_2115210801735647822[256] = 0; + out_2115210801735647822[257] = 0; + out_2115210801735647822[258] = 0; + out_2115210801735647822[259] = 0; + out_2115210801735647822[260] = 0; + out_2115210801735647822[261] = 0; + out_2115210801735647822[262] = 0; + out_2115210801735647822[263] = 0; + out_2115210801735647822[264] = 0; + out_2115210801735647822[265] = 0; + out_2115210801735647822[266] = 1; + out_2115210801735647822[267] = 0; + out_2115210801735647822[268] = 0; + out_2115210801735647822[269] = 0; + out_2115210801735647822[270] = 0; + out_2115210801735647822[271] = 0; + out_2115210801735647822[272] = 0; + out_2115210801735647822[273] = 0; + out_2115210801735647822[274] = 0; + out_2115210801735647822[275] = 0; + out_2115210801735647822[276] = 0; + out_2115210801735647822[277] = 0; + out_2115210801735647822[278] = 0; + out_2115210801735647822[279] = 0; + out_2115210801735647822[280] = 0; + out_2115210801735647822[281] = 0; + out_2115210801735647822[282] = 0; + out_2115210801735647822[283] = 0; + out_2115210801735647822[284] = 0; + out_2115210801735647822[285] = 1; + out_2115210801735647822[286] = 0; + out_2115210801735647822[287] = 0; + out_2115210801735647822[288] = 0; + out_2115210801735647822[289] = 0; + out_2115210801735647822[290] = 0; + out_2115210801735647822[291] = 0; + out_2115210801735647822[292] = 0; + out_2115210801735647822[293] = 0; + out_2115210801735647822[294] = 0; + out_2115210801735647822[295] = 0; + out_2115210801735647822[296] = 0; + out_2115210801735647822[297] = 0; + out_2115210801735647822[298] = 0; + out_2115210801735647822[299] = 0; + out_2115210801735647822[300] = 0; + out_2115210801735647822[301] = 0; + out_2115210801735647822[302] = 0; + out_2115210801735647822[303] = 0; + out_2115210801735647822[304] = 1; + out_2115210801735647822[305] = 0; + out_2115210801735647822[306] = 0; + out_2115210801735647822[307] = 0; + out_2115210801735647822[308] = 0; + out_2115210801735647822[309] = 0; + out_2115210801735647822[310] = 0; + out_2115210801735647822[311] = 0; + out_2115210801735647822[312] = 0; + out_2115210801735647822[313] = 0; + out_2115210801735647822[314] = 0; + out_2115210801735647822[315] = 0; + out_2115210801735647822[316] = 0; + out_2115210801735647822[317] = 0; + out_2115210801735647822[318] = 0; + out_2115210801735647822[319] = 0; + out_2115210801735647822[320] = 0; + out_2115210801735647822[321] = 0; + out_2115210801735647822[322] = 0; + out_2115210801735647822[323] = 1; } -void h_4(double *state, double *unused, double *out_7442480903303367172) { - out_7442480903303367172[0] = state[6] + state[9]; - out_7442480903303367172[1] = state[7] + state[10]; - out_7442480903303367172[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5340316977089833419) { + out_5340316977089833419[0] = state[6] + state[9]; + out_5340316977089833419[1] = state[7] + state[10]; + out_5340316977089833419[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3800432027061644430) { - out_3800432027061644430[0] = 0; - out_3800432027061644430[1] = 0; - out_3800432027061644430[2] = 0; - out_3800432027061644430[3] = 0; - out_3800432027061644430[4] = 0; - out_3800432027061644430[5] = 0; - out_3800432027061644430[6] = 1; - out_3800432027061644430[7] = 0; - out_3800432027061644430[8] = 0; - out_3800432027061644430[9] = 1; - out_3800432027061644430[10] = 0; - out_3800432027061644430[11] = 0; - out_3800432027061644430[12] = 0; - out_3800432027061644430[13] = 0; - out_3800432027061644430[14] = 0; - out_3800432027061644430[15] = 0; - out_3800432027061644430[16] = 0; - out_3800432027061644430[17] = 0; - out_3800432027061644430[18] = 0; - out_3800432027061644430[19] = 0; - out_3800432027061644430[20] = 0; - out_3800432027061644430[21] = 0; - out_3800432027061644430[22] = 0; - out_3800432027061644430[23] = 0; - out_3800432027061644430[24] = 0; - out_3800432027061644430[25] = 1; - out_3800432027061644430[26] = 0; - out_3800432027061644430[27] = 0; - out_3800432027061644430[28] = 1; - out_3800432027061644430[29] = 0; - out_3800432027061644430[30] = 0; - out_3800432027061644430[31] = 0; - out_3800432027061644430[32] = 0; - out_3800432027061644430[33] = 0; - out_3800432027061644430[34] = 0; - out_3800432027061644430[35] = 0; - out_3800432027061644430[36] = 0; - out_3800432027061644430[37] = 0; - out_3800432027061644430[38] = 0; - out_3800432027061644430[39] = 0; - out_3800432027061644430[40] = 0; - out_3800432027061644430[41] = 0; - out_3800432027061644430[42] = 0; - out_3800432027061644430[43] = 0; - out_3800432027061644430[44] = 1; - out_3800432027061644430[45] = 0; - out_3800432027061644430[46] = 0; - out_3800432027061644430[47] = 1; - out_3800432027061644430[48] = 0; - out_3800432027061644430[49] = 0; - out_3800432027061644430[50] = 0; - out_3800432027061644430[51] = 0; - out_3800432027061644430[52] = 0; - out_3800432027061644430[53] = 0; +void H_4(double *state, double *unused, double *out_4789751993297899668) { + out_4789751993297899668[0] = 0; + out_4789751993297899668[1] = 0; + out_4789751993297899668[2] = 0; + out_4789751993297899668[3] = 0; + out_4789751993297899668[4] = 0; + out_4789751993297899668[5] = 0; + out_4789751993297899668[6] = 1; + out_4789751993297899668[7] = 0; + out_4789751993297899668[8] = 0; + out_4789751993297899668[9] = 1; + out_4789751993297899668[10] = 0; + out_4789751993297899668[11] = 0; + out_4789751993297899668[12] = 0; + out_4789751993297899668[13] = 0; + out_4789751993297899668[14] = 0; + out_4789751993297899668[15] = 0; + out_4789751993297899668[16] = 0; + out_4789751993297899668[17] = 0; + out_4789751993297899668[18] = 0; + out_4789751993297899668[19] = 0; + out_4789751993297899668[20] = 0; + out_4789751993297899668[21] = 0; + out_4789751993297899668[22] = 0; + out_4789751993297899668[23] = 0; + out_4789751993297899668[24] = 0; + out_4789751993297899668[25] = 1; + out_4789751993297899668[26] = 0; + out_4789751993297899668[27] = 0; + out_4789751993297899668[28] = 1; + out_4789751993297899668[29] = 0; + out_4789751993297899668[30] = 0; + out_4789751993297899668[31] = 0; + out_4789751993297899668[32] = 0; + out_4789751993297899668[33] = 0; + out_4789751993297899668[34] = 0; + out_4789751993297899668[35] = 0; + out_4789751993297899668[36] = 0; + out_4789751993297899668[37] = 0; + out_4789751993297899668[38] = 0; + out_4789751993297899668[39] = 0; + out_4789751993297899668[40] = 0; + out_4789751993297899668[41] = 0; + out_4789751993297899668[42] = 0; + out_4789751993297899668[43] = 0; + out_4789751993297899668[44] = 1; + out_4789751993297899668[45] = 0; + out_4789751993297899668[46] = 0; + out_4789751993297899668[47] = 1; + out_4789751993297899668[48] = 0; + out_4789751993297899668[49] = 0; + out_4789751993297899668[50] = 0; + out_4789751993297899668[51] = 0; + out_4789751993297899668[52] = 0; + out_4789751993297899668[53] = 0; } -void h_10(double *state, double *unused, double *out_8932011361837519248) { - out_8932011361837519248[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8932011361837519248[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8932011361837519248[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_4503836725223465124) { + out_4503836725223465124[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_4503836725223465124[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_4503836725223465124[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_4464178208942290131) { - out_4464178208942290131[0] = 0; - out_4464178208942290131[1] = 9.8100000000000005*cos(state[1]); - out_4464178208942290131[2] = 0; - out_4464178208942290131[3] = 0; - out_4464178208942290131[4] = -state[8]; - out_4464178208942290131[5] = state[7]; - out_4464178208942290131[6] = 0; - out_4464178208942290131[7] = state[5]; - out_4464178208942290131[8] = -state[4]; - out_4464178208942290131[9] = 0; - out_4464178208942290131[10] = 0; - out_4464178208942290131[11] = 0; - out_4464178208942290131[12] = 1; - out_4464178208942290131[13] = 0; - out_4464178208942290131[14] = 0; - out_4464178208942290131[15] = 1; - out_4464178208942290131[16] = 0; - out_4464178208942290131[17] = 0; - out_4464178208942290131[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4464178208942290131[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4464178208942290131[20] = 0; - out_4464178208942290131[21] = state[8]; - out_4464178208942290131[22] = 0; - out_4464178208942290131[23] = -state[6]; - out_4464178208942290131[24] = -state[5]; - out_4464178208942290131[25] = 0; - out_4464178208942290131[26] = state[3]; - out_4464178208942290131[27] = 0; - out_4464178208942290131[28] = 0; - out_4464178208942290131[29] = 0; - out_4464178208942290131[30] = 0; - out_4464178208942290131[31] = 1; - out_4464178208942290131[32] = 0; - out_4464178208942290131[33] = 0; - out_4464178208942290131[34] = 1; - out_4464178208942290131[35] = 0; - out_4464178208942290131[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4464178208942290131[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4464178208942290131[38] = 0; - out_4464178208942290131[39] = -state[7]; - out_4464178208942290131[40] = state[6]; - out_4464178208942290131[41] = 0; - out_4464178208942290131[42] = state[4]; - out_4464178208942290131[43] = -state[3]; - out_4464178208942290131[44] = 0; - out_4464178208942290131[45] = 0; - out_4464178208942290131[46] = 0; - out_4464178208942290131[47] = 0; - out_4464178208942290131[48] = 0; - out_4464178208942290131[49] = 0; - out_4464178208942290131[50] = 1; - out_4464178208942290131[51] = 0; - out_4464178208942290131[52] = 0; - out_4464178208942290131[53] = 1; +void H_10(double *state, double *unused, double *out_8320315452592553094) { + out_8320315452592553094[0] = 0; + out_8320315452592553094[1] = 9.8100000000000005*cos(state[1]); + out_8320315452592553094[2] = 0; + out_8320315452592553094[3] = 0; + out_8320315452592553094[4] = -state[8]; + out_8320315452592553094[5] = state[7]; + out_8320315452592553094[6] = 0; + out_8320315452592553094[7] = state[5]; + out_8320315452592553094[8] = -state[4]; + out_8320315452592553094[9] = 0; + out_8320315452592553094[10] = 0; + out_8320315452592553094[11] = 0; + out_8320315452592553094[12] = 1; + out_8320315452592553094[13] = 0; + out_8320315452592553094[14] = 0; + out_8320315452592553094[15] = 1; + out_8320315452592553094[16] = 0; + out_8320315452592553094[17] = 0; + out_8320315452592553094[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8320315452592553094[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8320315452592553094[20] = 0; + out_8320315452592553094[21] = state[8]; + out_8320315452592553094[22] = 0; + out_8320315452592553094[23] = -state[6]; + out_8320315452592553094[24] = -state[5]; + out_8320315452592553094[25] = 0; + out_8320315452592553094[26] = state[3]; + out_8320315452592553094[27] = 0; + out_8320315452592553094[28] = 0; + out_8320315452592553094[29] = 0; + out_8320315452592553094[30] = 0; + out_8320315452592553094[31] = 1; + out_8320315452592553094[32] = 0; + out_8320315452592553094[33] = 0; + out_8320315452592553094[34] = 1; + out_8320315452592553094[35] = 0; + out_8320315452592553094[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8320315452592553094[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8320315452592553094[38] = 0; + out_8320315452592553094[39] = -state[7]; + out_8320315452592553094[40] = state[6]; + out_8320315452592553094[41] = 0; + out_8320315452592553094[42] = state[4]; + out_8320315452592553094[43] = -state[3]; + out_8320315452592553094[44] = 0; + out_8320315452592553094[45] = 0; + out_8320315452592553094[46] = 0; + out_8320315452592553094[47] = 0; + out_8320315452592553094[48] = 0; + out_8320315452592553094[49] = 0; + out_8320315452592553094[50] = 1; + out_8320315452592553094[51] = 0; + out_8320315452592553094[52] = 0; + out_8320315452592553094[53] = 1; } -void h_13(double *state, double *unused, double *out_6459110219088517442) { - out_6459110219088517442[0] = state[3]; - out_6459110219088517442[1] = state[4]; - out_6459110219088517442[2] = state[5]; +void h_13(double *state, double *unused, double *out_743896610209905980) { + out_743896610209905980[0] = state[3]; + out_743896610209905980[1] = state[4]; + out_743896610209905980[2] = state[5]; } -void H_13(double *state, double *unused, double *out_588158201729311629) { - out_588158201729311629[0] = 0; - out_588158201729311629[1] = 0; - out_588158201729311629[2] = 0; - out_588158201729311629[3] = 1; - out_588158201729311629[4] = 0; - out_588158201729311629[5] = 0; - out_588158201729311629[6] = 0; - out_588158201729311629[7] = 0; - out_588158201729311629[8] = 0; - out_588158201729311629[9] = 0; - out_588158201729311629[10] = 0; - out_588158201729311629[11] = 0; - out_588158201729311629[12] = 0; - out_588158201729311629[13] = 0; - out_588158201729311629[14] = 0; - out_588158201729311629[15] = 0; - out_588158201729311629[16] = 0; - out_588158201729311629[17] = 0; - out_588158201729311629[18] = 0; - out_588158201729311629[19] = 0; - out_588158201729311629[20] = 0; - out_588158201729311629[21] = 0; - out_588158201729311629[22] = 1; - out_588158201729311629[23] = 0; - out_588158201729311629[24] = 0; - out_588158201729311629[25] = 0; - out_588158201729311629[26] = 0; - out_588158201729311629[27] = 0; - out_588158201729311629[28] = 0; - out_588158201729311629[29] = 0; - out_588158201729311629[30] = 0; - out_588158201729311629[31] = 0; - out_588158201729311629[32] = 0; - out_588158201729311629[33] = 0; - out_588158201729311629[34] = 0; - out_588158201729311629[35] = 0; - out_588158201729311629[36] = 0; - out_588158201729311629[37] = 0; - out_588158201729311629[38] = 0; - out_588158201729311629[39] = 0; - out_588158201729311629[40] = 0; - out_588158201729311629[41] = 1; - out_588158201729311629[42] = 0; - out_588158201729311629[43] = 0; - out_588158201729311629[44] = 0; - out_588158201729311629[45] = 0; - out_588158201729311629[46] = 0; - out_588158201729311629[47] = 0; - out_588158201729311629[48] = 0; - out_588158201729311629[49] = 0; - out_588158201729311629[50] = 0; - out_588158201729311629[51] = 0; - out_588158201729311629[52] = 0; - out_588158201729311629[53] = 0; +void H_13(double *state, double *unused, double *out_1577478167965566867) { + out_1577478167965566867[0] = 0; + out_1577478167965566867[1] = 0; + out_1577478167965566867[2] = 0; + out_1577478167965566867[3] = 1; + out_1577478167965566867[4] = 0; + out_1577478167965566867[5] = 0; + out_1577478167965566867[6] = 0; + out_1577478167965566867[7] = 0; + out_1577478167965566867[8] = 0; + out_1577478167965566867[9] = 0; + out_1577478167965566867[10] = 0; + out_1577478167965566867[11] = 0; + out_1577478167965566867[12] = 0; + out_1577478167965566867[13] = 0; + out_1577478167965566867[14] = 0; + out_1577478167965566867[15] = 0; + out_1577478167965566867[16] = 0; + out_1577478167965566867[17] = 0; + out_1577478167965566867[18] = 0; + out_1577478167965566867[19] = 0; + out_1577478167965566867[20] = 0; + out_1577478167965566867[21] = 0; + out_1577478167965566867[22] = 1; + out_1577478167965566867[23] = 0; + out_1577478167965566867[24] = 0; + out_1577478167965566867[25] = 0; + out_1577478167965566867[26] = 0; + out_1577478167965566867[27] = 0; + out_1577478167965566867[28] = 0; + out_1577478167965566867[29] = 0; + out_1577478167965566867[30] = 0; + out_1577478167965566867[31] = 0; + out_1577478167965566867[32] = 0; + out_1577478167965566867[33] = 0; + out_1577478167965566867[34] = 0; + out_1577478167965566867[35] = 0; + out_1577478167965566867[36] = 0; + out_1577478167965566867[37] = 0; + out_1577478167965566867[38] = 0; + out_1577478167965566867[39] = 0; + out_1577478167965566867[40] = 0; + out_1577478167965566867[41] = 1; + out_1577478167965566867[42] = 0; + out_1577478167965566867[43] = 0; + out_1577478167965566867[44] = 0; + out_1577478167965566867[45] = 0; + out_1577478167965566867[46] = 0; + out_1577478167965566867[47] = 0; + out_1577478167965566867[48] = 0; + out_1577478167965566867[49] = 0; + out_1577478167965566867[50] = 0; + out_1577478167965566867[51] = 0; + out_1577478167965566867[52] = 0; + out_1577478167965566867[53] = 0; } -void h_14(double *state, double *unused, double *out_7025019117935111535) { - out_7025019117935111535[0] = state[6]; - out_7025019117935111535[1] = state[7]; - out_7025019117935111535[2] = state[8]; +void h_14(double *state, double *unused, double *out_2801914335576561864) { + out_2801914335576561864[0] = state[6]; + out_2801914335576561864[1] = state[7]; + out_2801914335576561864[2] = state[8]; } -void H_14(double *state, double *unused, double *out_162808829277840099) { - out_162808829277840099[0] = 0; - out_162808829277840099[1] = 0; - out_162808829277840099[2] = 0; - out_162808829277840099[3] = 0; - out_162808829277840099[4] = 0; - out_162808829277840099[5] = 0; - out_162808829277840099[6] = 1; - out_162808829277840099[7] = 0; - out_162808829277840099[8] = 0; - out_162808829277840099[9] = 0; - out_162808829277840099[10] = 0; - out_162808829277840099[11] = 0; - out_162808829277840099[12] = 0; - out_162808829277840099[13] = 0; - out_162808829277840099[14] = 0; - out_162808829277840099[15] = 0; - out_162808829277840099[16] = 0; - out_162808829277840099[17] = 0; - out_162808829277840099[18] = 0; - out_162808829277840099[19] = 0; - out_162808829277840099[20] = 0; - out_162808829277840099[21] = 0; - out_162808829277840099[22] = 0; - out_162808829277840099[23] = 0; - out_162808829277840099[24] = 0; - out_162808829277840099[25] = 1; - out_162808829277840099[26] = 0; - out_162808829277840099[27] = 0; - out_162808829277840099[28] = 0; - out_162808829277840099[29] = 0; - out_162808829277840099[30] = 0; - out_162808829277840099[31] = 0; - out_162808829277840099[32] = 0; - out_162808829277840099[33] = 0; - out_162808829277840099[34] = 0; - out_162808829277840099[35] = 0; - out_162808829277840099[36] = 0; - out_162808829277840099[37] = 0; - out_162808829277840099[38] = 0; - out_162808829277840099[39] = 0; - out_162808829277840099[40] = 0; - out_162808829277840099[41] = 0; - out_162808829277840099[42] = 0; - out_162808829277840099[43] = 0; - out_162808829277840099[44] = 1; - out_162808829277840099[45] = 0; - out_162808829277840099[46] = 0; - out_162808829277840099[47] = 0; - out_162808829277840099[48] = 0; - out_162808829277840099[49] = 0; - out_162808829277840099[50] = 0; - out_162808829277840099[51] = 0; - out_162808829277840099[52] = 0; - out_162808829277840099[53] = 0; +void H_14(double *state, double *unused, double *out_826511136958415139) { + out_826511136958415139[0] = 0; + out_826511136958415139[1] = 0; + out_826511136958415139[2] = 0; + out_826511136958415139[3] = 0; + out_826511136958415139[4] = 0; + out_826511136958415139[5] = 0; + out_826511136958415139[6] = 1; + out_826511136958415139[7] = 0; + out_826511136958415139[8] = 0; + out_826511136958415139[9] = 0; + out_826511136958415139[10] = 0; + out_826511136958415139[11] = 0; + out_826511136958415139[12] = 0; + out_826511136958415139[13] = 0; + out_826511136958415139[14] = 0; + out_826511136958415139[15] = 0; + out_826511136958415139[16] = 0; + out_826511136958415139[17] = 0; + out_826511136958415139[18] = 0; + out_826511136958415139[19] = 0; + out_826511136958415139[20] = 0; + out_826511136958415139[21] = 0; + out_826511136958415139[22] = 0; + out_826511136958415139[23] = 0; + out_826511136958415139[24] = 0; + out_826511136958415139[25] = 1; + out_826511136958415139[26] = 0; + out_826511136958415139[27] = 0; + out_826511136958415139[28] = 0; + out_826511136958415139[29] = 0; + out_826511136958415139[30] = 0; + out_826511136958415139[31] = 0; + out_826511136958415139[32] = 0; + out_826511136958415139[33] = 0; + out_826511136958415139[34] = 0; + out_826511136958415139[35] = 0; + out_826511136958415139[36] = 0; + out_826511136958415139[37] = 0; + out_826511136958415139[38] = 0; + out_826511136958415139[39] = 0; + out_826511136958415139[40] = 0; + out_826511136958415139[41] = 0; + out_826511136958415139[42] = 0; + out_826511136958415139[43] = 0; + out_826511136958415139[44] = 1; + out_826511136958415139[45] = 0; + out_826511136958415139[46] = 0; + out_826511136958415139[47] = 0; + out_826511136958415139[48] = 0; + out_826511136958415139[49] = 0; + out_826511136958415139[50] = 0; + out_826511136958415139[51] = 0; + out_826511136958415139[52] = 0; + out_826511136958415139[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_7150506142011136089) { - err_fun(nom_x, delta_x, out_7150506142011136089); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5567810526154209734) { + err_fun(nom_x, delta_x, out_5567810526154209734); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4307514453378045812) { - inv_err_fun(nom_x, true_x, out_4307514453378045812); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7908491346196944566) { + inv_err_fun(nom_x, true_x, out_7908491346196944566); } -void pose_H_mod_fun(double *state, double *out_526209948270695177) { - H_mod_fun(state, out_526209948270695177); +void pose_H_mod_fun(double *state, double *out_1058329813454059053) { + H_mod_fun(state, out_1058329813454059053); } -void pose_f_fun(double *state, double dt, double *out_826153410981652937) { - f_fun(state, dt, out_826153410981652937); +void pose_f_fun(double *state, double dt, double *out_6164632031260569200) { + f_fun(state, dt, out_6164632031260569200); } -void pose_F_fun(double *state, double dt, double *out_2504584572758712159) { - F_fun(state, dt, out_2504584572758712159); +void pose_F_fun(double *state, double dt, double *out_2115210801735647822) { + F_fun(state, dt, out_2115210801735647822); } -void pose_h_4(double *state, double *unused, double *out_7442480903303367172) { - h_4(state, unused, out_7442480903303367172); +void pose_h_4(double *state, double *unused, double *out_5340316977089833419) { + h_4(state, unused, out_5340316977089833419); } -void pose_H_4(double *state, double *unused, double *out_3800432027061644430) { - H_4(state, unused, out_3800432027061644430); +void pose_H_4(double *state, double *unused, double *out_4789751993297899668) { + H_4(state, unused, out_4789751993297899668); } -void pose_h_10(double *state, double *unused, double *out_8932011361837519248) { - h_10(state, unused, out_8932011361837519248); +void pose_h_10(double *state, double *unused, double *out_4503836725223465124) { + h_10(state, unused, out_4503836725223465124); } -void pose_H_10(double *state, double *unused, double *out_4464178208942290131) { - H_10(state, unused, out_4464178208942290131); +void pose_H_10(double *state, double *unused, double *out_8320315452592553094) { + H_10(state, unused, out_8320315452592553094); } -void pose_h_13(double *state, double *unused, double *out_6459110219088517442) { - h_13(state, unused, out_6459110219088517442); +void pose_h_13(double *state, double *unused, double *out_743896610209905980) { + h_13(state, unused, out_743896610209905980); } -void pose_H_13(double *state, double *unused, double *out_588158201729311629) { - H_13(state, unused, out_588158201729311629); +void pose_H_13(double *state, double *unused, double *out_1577478167965566867) { + H_13(state, unused, out_1577478167965566867); } -void pose_h_14(double *state, double *unused, double *out_7025019117935111535) { - h_14(state, unused, out_7025019117935111535); +void pose_h_14(double *state, double *unused, double *out_2801914335576561864) { + h_14(state, unused, out_2801914335576561864); } -void pose_H_14(double *state, double *unused, double *out_162808829277840099) { - H_14(state, unused, out_162808829277840099); +void pose_H_14(double *state, double *unused, double *out_826511136958415139) { + H_14(state, unused, out_826511136958415139); } 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 1595bf170..30208998b 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_7150506142011136089); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4307514453378045812); -void pose_H_mod_fun(double *state, double *out_526209948270695177); -void pose_f_fun(double *state, double dt, double *out_826153410981652937); -void pose_F_fun(double *state, double dt, double *out_2504584572758712159); -void pose_h_4(double *state, double *unused, double *out_7442480903303367172); -void pose_H_4(double *state, double *unused, double *out_3800432027061644430); -void pose_h_10(double *state, double *unused, double *out_8932011361837519248); -void pose_H_10(double *state, double *unused, double *out_4464178208942290131); -void pose_h_13(double *state, double *unused, double *out_6459110219088517442); -void pose_H_13(double *state, double *unused, double *out_588158201729311629); -void pose_h_14(double *state, double *unused, double *out_7025019117935111535); -void pose_H_14(double *state, double *unused, double *out_162808829277840099); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5567810526154209734); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7908491346196944566); +void pose_H_mod_fun(double *state, double *out_1058329813454059053); +void pose_f_fun(double *state, double dt, double *out_6164632031260569200); +void pose_F_fun(double *state, double dt, double *out_2115210801735647822); +void pose_h_4(double *state, double *unused, double *out_5340316977089833419); +void pose_H_4(double *state, double *unused, double *out_4789751993297899668); +void pose_h_10(double *state, double *unused, double *out_4503836725223465124); +void pose_H_10(double *state, double *unused, double *out_8320315452592553094); +void pose_h_13(double *state, double *unused, double *out_743896610209905980); +void pose_H_13(double *state, double *unused, double *out_1577478167965566867); +void pose_h_14(double *state, double *unused, double *out_2801914335576561864); +void pose_H_14(double *state, double *unused, double *out_826511136958415139); 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 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