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b/panda/board/obj/version @@ -1 +1 @@ -DEV-00895836-DEBUG \ No newline at end of file +DEV-3f6ccd10-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 2d7db025f..9cb4315d5 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_3464059133551141831) { - out_3464059133551141831[0] = delta_x[0] + nom_x[0]; - out_3464059133551141831[1] = delta_x[1] + nom_x[1]; - out_3464059133551141831[2] = delta_x[2] + nom_x[2]; - out_3464059133551141831[3] = delta_x[3] + nom_x[3]; - out_3464059133551141831[4] = delta_x[4] + nom_x[4]; - out_3464059133551141831[5] = delta_x[5] + nom_x[5]; - out_3464059133551141831[6] = delta_x[6] + nom_x[6]; - out_3464059133551141831[7] = delta_x[7] + nom_x[7]; - out_3464059133551141831[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_9188106750313616310) { + out_9188106750313616310[0] = delta_x[0] + nom_x[0]; + out_9188106750313616310[1] = delta_x[1] + nom_x[1]; + out_9188106750313616310[2] = delta_x[2] + nom_x[2]; + out_9188106750313616310[3] = delta_x[3] + nom_x[3]; + out_9188106750313616310[4] = delta_x[4] + nom_x[4]; + out_9188106750313616310[5] = delta_x[5] + nom_x[5]; + out_9188106750313616310[6] = delta_x[6] + nom_x[6]; + out_9188106750313616310[7] = delta_x[7] + nom_x[7]; + out_9188106750313616310[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163) { - out_3057034877580327163[0] = -nom_x[0] + true_x[0]; - out_3057034877580327163[1] = -nom_x[1] + true_x[1]; - out_3057034877580327163[2] = -nom_x[2] + true_x[2]; - out_3057034877580327163[3] = -nom_x[3] + true_x[3]; - out_3057034877580327163[4] = -nom_x[4] + true_x[4]; - out_3057034877580327163[5] = -nom_x[5] + true_x[5]; - out_3057034877580327163[6] = -nom_x[6] + true_x[6]; - out_3057034877580327163[7] = -nom_x[7] + true_x[7]; - out_3057034877580327163[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7483849663979101547) { + out_7483849663979101547[0] = -nom_x[0] + true_x[0]; + out_7483849663979101547[1] = -nom_x[1] + true_x[1]; + out_7483849663979101547[2] = -nom_x[2] + true_x[2]; + out_7483849663979101547[3] = -nom_x[3] + true_x[3]; + out_7483849663979101547[4] = -nom_x[4] + true_x[4]; + out_7483849663979101547[5] = -nom_x[5] + true_x[5]; + out_7483849663979101547[6] = -nom_x[6] + true_x[6]; + out_7483849663979101547[7] = -nom_x[7] + true_x[7]; + out_7483849663979101547[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1278642935192462594) { - out_1278642935192462594[0] = 1.0; - out_1278642935192462594[1] = 0.0; - out_1278642935192462594[2] = 0.0; - out_1278642935192462594[3] = 0.0; - out_1278642935192462594[4] = 0.0; - out_1278642935192462594[5] = 0.0; - out_1278642935192462594[6] = 0.0; - out_1278642935192462594[7] = 0.0; - out_1278642935192462594[8] = 0.0; - out_1278642935192462594[9] = 0.0; - out_1278642935192462594[10] = 1.0; - out_1278642935192462594[11] = 0.0; - out_1278642935192462594[12] = 0.0; - out_1278642935192462594[13] = 0.0; - out_1278642935192462594[14] = 0.0; - out_1278642935192462594[15] = 0.0; - out_1278642935192462594[16] = 0.0; - out_1278642935192462594[17] = 0.0; - out_1278642935192462594[18] = 0.0; - out_1278642935192462594[19] = 0.0; - out_1278642935192462594[20] = 1.0; - out_1278642935192462594[21] = 0.0; - out_1278642935192462594[22] = 0.0; - out_1278642935192462594[23] = 0.0; - out_1278642935192462594[24] = 0.0; - out_1278642935192462594[25] = 0.0; - out_1278642935192462594[26] = 0.0; - out_1278642935192462594[27] = 0.0; - out_1278642935192462594[28] = 0.0; - out_1278642935192462594[29] = 0.0; - out_1278642935192462594[30] = 1.0; - out_1278642935192462594[31] = 0.0; - out_1278642935192462594[32] = 0.0; - out_1278642935192462594[33] = 0.0; - out_1278642935192462594[34] = 0.0; - out_1278642935192462594[35] = 0.0; - out_1278642935192462594[36] = 0.0; - out_1278642935192462594[37] = 0.0; - out_1278642935192462594[38] = 0.0; - out_1278642935192462594[39] = 0.0; - out_1278642935192462594[40] = 1.0; - out_1278642935192462594[41] = 0.0; - out_1278642935192462594[42] = 0.0; - out_1278642935192462594[43] = 0.0; - out_1278642935192462594[44] = 0.0; - out_1278642935192462594[45] = 0.0; - out_1278642935192462594[46] = 0.0; - out_1278642935192462594[47] = 0.0; - out_1278642935192462594[48] = 0.0; - out_1278642935192462594[49] = 0.0; - out_1278642935192462594[50] = 1.0; - out_1278642935192462594[51] = 0.0; - out_1278642935192462594[52] = 0.0; - out_1278642935192462594[53] = 0.0; - out_1278642935192462594[54] = 0.0; - out_1278642935192462594[55] = 0.0; - out_1278642935192462594[56] = 0.0; - out_1278642935192462594[57] = 0.0; - out_1278642935192462594[58] = 0.0; - out_1278642935192462594[59] = 0.0; - out_1278642935192462594[60] = 1.0; - out_1278642935192462594[61] = 0.0; - out_1278642935192462594[62] = 0.0; - out_1278642935192462594[63] = 0.0; - out_1278642935192462594[64] = 0.0; - out_1278642935192462594[65] = 0.0; - out_1278642935192462594[66] = 0.0; - out_1278642935192462594[67] = 0.0; - out_1278642935192462594[68] = 0.0; - out_1278642935192462594[69] = 0.0; - out_1278642935192462594[70] = 1.0; - out_1278642935192462594[71] = 0.0; - out_1278642935192462594[72] = 0.0; - out_1278642935192462594[73] = 0.0; - out_1278642935192462594[74] = 0.0; - out_1278642935192462594[75] = 0.0; - out_1278642935192462594[76] = 0.0; - out_1278642935192462594[77] = 0.0; - out_1278642935192462594[78] = 0.0; - out_1278642935192462594[79] = 0.0; - out_1278642935192462594[80] = 1.0; +void H_mod_fun(double *state, double *out_8322118016658148449) { + out_8322118016658148449[0] = 1.0; + out_8322118016658148449[1] = 0.0; + out_8322118016658148449[2] = 0.0; + out_8322118016658148449[3] = 0.0; + out_8322118016658148449[4] = 0.0; + out_8322118016658148449[5] = 0.0; + out_8322118016658148449[6] = 0.0; + out_8322118016658148449[7] = 0.0; + out_8322118016658148449[8] = 0.0; + out_8322118016658148449[9] = 0.0; + out_8322118016658148449[10] = 1.0; + out_8322118016658148449[11] = 0.0; + out_8322118016658148449[12] = 0.0; + out_8322118016658148449[13] = 0.0; + out_8322118016658148449[14] = 0.0; + out_8322118016658148449[15] = 0.0; + out_8322118016658148449[16] = 0.0; + out_8322118016658148449[17] = 0.0; + out_8322118016658148449[18] = 0.0; + out_8322118016658148449[19] = 0.0; + out_8322118016658148449[20] = 1.0; + out_8322118016658148449[21] = 0.0; + out_8322118016658148449[22] = 0.0; + out_8322118016658148449[23] = 0.0; + out_8322118016658148449[24] = 0.0; + out_8322118016658148449[25] = 0.0; + out_8322118016658148449[26] = 0.0; + out_8322118016658148449[27] = 0.0; + out_8322118016658148449[28] = 0.0; + out_8322118016658148449[29] = 0.0; + out_8322118016658148449[30] = 1.0; + out_8322118016658148449[31] = 0.0; + out_8322118016658148449[32] = 0.0; + out_8322118016658148449[33] = 0.0; + out_8322118016658148449[34] = 0.0; + out_8322118016658148449[35] = 0.0; + out_8322118016658148449[36] = 0.0; + out_8322118016658148449[37] = 0.0; + out_8322118016658148449[38] = 0.0; + out_8322118016658148449[39] = 0.0; + out_8322118016658148449[40] = 1.0; + out_8322118016658148449[41] = 0.0; + out_8322118016658148449[42] = 0.0; + out_8322118016658148449[43] = 0.0; + out_8322118016658148449[44] = 0.0; + out_8322118016658148449[45] = 0.0; + out_8322118016658148449[46] = 0.0; + out_8322118016658148449[47] = 0.0; + out_8322118016658148449[48] = 0.0; + out_8322118016658148449[49] = 0.0; + out_8322118016658148449[50] = 1.0; + out_8322118016658148449[51] = 0.0; + out_8322118016658148449[52] = 0.0; + out_8322118016658148449[53] = 0.0; + out_8322118016658148449[54] = 0.0; + out_8322118016658148449[55] = 0.0; + out_8322118016658148449[56] = 0.0; + out_8322118016658148449[57] = 0.0; + out_8322118016658148449[58] = 0.0; + out_8322118016658148449[59] = 0.0; + out_8322118016658148449[60] = 1.0; + out_8322118016658148449[61] = 0.0; + out_8322118016658148449[62] = 0.0; + out_8322118016658148449[63] = 0.0; + out_8322118016658148449[64] = 0.0; + out_8322118016658148449[65] = 0.0; + out_8322118016658148449[66] = 0.0; + out_8322118016658148449[67] = 0.0; + out_8322118016658148449[68] = 0.0; + out_8322118016658148449[69] = 0.0; + out_8322118016658148449[70] = 1.0; + out_8322118016658148449[71] = 0.0; + out_8322118016658148449[72] = 0.0; + out_8322118016658148449[73] = 0.0; + out_8322118016658148449[74] = 0.0; + out_8322118016658148449[75] = 0.0; + out_8322118016658148449[76] = 0.0; + out_8322118016658148449[77] = 0.0; + out_8322118016658148449[78] = 0.0; + out_8322118016658148449[79] = 0.0; + out_8322118016658148449[80] = 1.0; } -void f_fun(double *state, double dt, double *out_258465026591330744) { - out_258465026591330744[0] = state[0]; - out_258465026591330744[1] = state[1]; - out_258465026591330744[2] = state[2]; - out_258465026591330744[3] = state[3]; - out_258465026591330744[4] = state[4]; - out_258465026591330744[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_258465026591330744[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_258465026591330744[7] = state[7]; - out_258465026591330744[8] = state[8]; +void f_fun(double *state, double dt, double *out_764867040202035176) { + out_764867040202035176[0] = state[0]; + out_764867040202035176[1] = state[1]; + out_764867040202035176[2] = state[2]; + out_764867040202035176[3] = state[3]; + out_764867040202035176[4] = state[4]; + out_764867040202035176[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_764867040202035176[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_764867040202035176[7] = state[7]; + out_764867040202035176[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5399477112920697267) { - out_5399477112920697267[0] = 1; - out_5399477112920697267[1] = 0; - out_5399477112920697267[2] = 0; - out_5399477112920697267[3] = 0; - out_5399477112920697267[4] = 0; - out_5399477112920697267[5] = 0; - out_5399477112920697267[6] = 0; - out_5399477112920697267[7] = 0; - out_5399477112920697267[8] = 0; - out_5399477112920697267[9] = 0; - out_5399477112920697267[10] = 1; - out_5399477112920697267[11] = 0; - out_5399477112920697267[12] = 0; - out_5399477112920697267[13] = 0; - out_5399477112920697267[14] = 0; - out_5399477112920697267[15] = 0; - out_5399477112920697267[16] = 0; - out_5399477112920697267[17] = 0; - out_5399477112920697267[18] = 0; - out_5399477112920697267[19] = 0; - out_5399477112920697267[20] = 1; - out_5399477112920697267[21] = 0; - out_5399477112920697267[22] = 0; - out_5399477112920697267[23] = 0; - out_5399477112920697267[24] = 0; - out_5399477112920697267[25] = 0; - out_5399477112920697267[26] = 0; - out_5399477112920697267[27] = 0; - out_5399477112920697267[28] = 0; - out_5399477112920697267[29] = 0; - out_5399477112920697267[30] = 1; - out_5399477112920697267[31] = 0; - out_5399477112920697267[32] = 0; - out_5399477112920697267[33] = 0; - out_5399477112920697267[34] = 0; - out_5399477112920697267[35] = 0; - out_5399477112920697267[36] = 0; - out_5399477112920697267[37] = 0; - out_5399477112920697267[38] = 0; - out_5399477112920697267[39] = 0; - out_5399477112920697267[40] = 1; - out_5399477112920697267[41] = 0; - out_5399477112920697267[42] = 0; - out_5399477112920697267[43] = 0; - out_5399477112920697267[44] = 0; - out_5399477112920697267[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_5399477112920697267[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5399477112920697267[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5399477112920697267[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5399477112920697267[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_5399477112920697267[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5399477112920697267[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5399477112920697267[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5399477112920697267[53] = -9.8100000000000005*dt; - out_5399477112920697267[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_5399477112920697267[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5399477112920697267[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5399477112920697267[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5399477112920697267[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_5399477112920697267[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5399477112920697267[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_5399477112920697267[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5399477112920697267[62] = 0; - out_5399477112920697267[63] = 0; - out_5399477112920697267[64] = 0; - out_5399477112920697267[65] = 0; - out_5399477112920697267[66] = 0; - out_5399477112920697267[67] = 0; - out_5399477112920697267[68] = 0; - out_5399477112920697267[69] = 0; - out_5399477112920697267[70] = 1; - out_5399477112920697267[71] = 0; - out_5399477112920697267[72] = 0; - out_5399477112920697267[73] = 0; - out_5399477112920697267[74] = 0; - out_5399477112920697267[75] = 0; - out_5399477112920697267[76] = 0; - out_5399477112920697267[77] = 0; - out_5399477112920697267[78] = 0; - out_5399477112920697267[79] = 0; - out_5399477112920697267[80] = 1; +void F_fun(double *state, double dt, double *out_3503154027384229832) { + out_3503154027384229832[0] = 1; + out_3503154027384229832[1] = 0; + out_3503154027384229832[2] = 0; + out_3503154027384229832[3] = 0; + out_3503154027384229832[4] = 0; + out_3503154027384229832[5] = 0; + out_3503154027384229832[6] = 0; + out_3503154027384229832[7] = 0; + out_3503154027384229832[8] = 0; + out_3503154027384229832[9] = 0; + out_3503154027384229832[10] = 1; + out_3503154027384229832[11] = 0; + out_3503154027384229832[12] = 0; + out_3503154027384229832[13] = 0; + out_3503154027384229832[14] = 0; + out_3503154027384229832[15] = 0; + out_3503154027384229832[16] = 0; + out_3503154027384229832[17] = 0; + out_3503154027384229832[18] = 0; + out_3503154027384229832[19] = 0; + out_3503154027384229832[20] = 1; + out_3503154027384229832[21] = 0; + out_3503154027384229832[22] = 0; + out_3503154027384229832[23] = 0; + out_3503154027384229832[24] = 0; + out_3503154027384229832[25] = 0; + out_3503154027384229832[26] = 0; + out_3503154027384229832[27] = 0; + out_3503154027384229832[28] = 0; + out_3503154027384229832[29] = 0; + out_3503154027384229832[30] = 1; + out_3503154027384229832[31] = 0; + out_3503154027384229832[32] = 0; + out_3503154027384229832[33] = 0; + out_3503154027384229832[34] = 0; + out_3503154027384229832[35] = 0; + out_3503154027384229832[36] = 0; + out_3503154027384229832[37] = 0; + out_3503154027384229832[38] = 0; + out_3503154027384229832[39] = 0; + out_3503154027384229832[40] = 1; + out_3503154027384229832[41] = 0; + out_3503154027384229832[42] = 0; + out_3503154027384229832[43] = 0; + out_3503154027384229832[44] = 0; + out_3503154027384229832[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_3503154027384229832[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3503154027384229832[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3503154027384229832[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3503154027384229832[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_3503154027384229832[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3503154027384229832[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3503154027384229832[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3503154027384229832[53] = -9.8100000000000005*dt; + out_3503154027384229832[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_3503154027384229832[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3503154027384229832[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3503154027384229832[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3503154027384229832[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_3503154027384229832[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3503154027384229832[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_3503154027384229832[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3503154027384229832[62] = 0; + out_3503154027384229832[63] = 0; + out_3503154027384229832[64] = 0; + out_3503154027384229832[65] = 0; + out_3503154027384229832[66] = 0; + out_3503154027384229832[67] = 0; + out_3503154027384229832[68] = 0; + out_3503154027384229832[69] = 0; + out_3503154027384229832[70] = 1; + out_3503154027384229832[71] = 0; + out_3503154027384229832[72] = 0; + out_3503154027384229832[73] = 0; + out_3503154027384229832[74] = 0; + out_3503154027384229832[75] = 0; + out_3503154027384229832[76] = 0; + out_3503154027384229832[77] = 0; + out_3503154027384229832[78] = 0; + out_3503154027384229832[79] = 0; + out_3503154027384229832[80] = 1; } -void h_25(double *state, double *unused, double *out_7067526126189904312) { - out_7067526126189904312[0] = state[6]; +void h_25(double *state, double *unused, double *out_8616684642006491626) { + out_8616684642006491626[0] = state[6]; } -void H_25(double *state, double *unused, double *out_7914545290719774643) { - out_7914545290719774643[0] = 0; - out_7914545290719774643[1] = 0; - out_7914545290719774643[2] = 0; - out_7914545290719774643[3] = 0; - out_7914545290719774643[4] = 0; - out_7914545290719774643[5] = 0; - out_7914545290719774643[6] = 1; - out_7914545290719774643[7] = 0; - out_7914545290719774643[8] = 0; +void H_25(double *state, double *unused, double *out_8659603401543260529) { + out_8659603401543260529[0] = 0; + out_8659603401543260529[1] = 0; + out_8659603401543260529[2] = 0; + out_8659603401543260529[3] = 0; + out_8659603401543260529[4] = 0; + out_8659603401543260529[5] = 0; + out_8659603401543260529[6] = 1; + out_8659603401543260529[7] = 0; + out_8659603401543260529[8] = 0; } -void h_24(double *state, double *unused, double *out_5828690765636070596) { - out_5828690765636070596[0] = state[4]; - out_5828690765636070596[1] = state[5]; +void h_24(double *state, double *unused, double *out_1016016545338744668) { + out_1016016545338744668[0] = state[4]; + out_1016016545338744668[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1260339832611588886) { - out_1260339832611588886[0] = 0; - out_1260339832611588886[1] = 0; - out_1260339832611588886[2] = 0; - out_1260339832611588886[3] = 0; - out_1260339832611588886[4] = 1; - out_1260339832611588886[5] = 0; - out_1260339832611588886[6] = 0; - out_1260339832611588886[7] = 0; - out_1260339832611588886[8] = 0; - out_1260339832611588886[9] = 0; - out_1260339832611588886[10] = 0; - out_1260339832611588886[11] = 0; - out_1260339832611588886[12] = 0; - out_1260339832611588886[13] = 0; - out_1260339832611588886[14] = 1; - out_1260339832611588886[15] = 0; - out_1260339832611588886[16] = 0; - out_1260339832611588886[17] = 0; +void H_24(double *state, double *unused, double *out_1012248264354120193) { + out_1012248264354120193[0] = 0; + out_1012248264354120193[1] = 0; + out_1012248264354120193[2] = 0; + out_1012248264354120193[3] = 0; + out_1012248264354120193[4] = 1; + out_1012248264354120193[5] = 0; + out_1012248264354120193[6] = 0; + out_1012248264354120193[7] = 0; + out_1012248264354120193[8] = 0; + out_1012248264354120193[9] = 0; + out_1012248264354120193[10] = 0; + out_1012248264354120193[11] = 0; + out_1012248264354120193[12] = 0; + out_1012248264354120193[13] = 0; + out_1012248264354120193[14] = 1; + out_1012248264354120193[15] = 0; + out_1012248264354120193[16] = 0; + out_1012248264354120193[17] = 0; } -void h_30(double *state, double *unused, double *out_2572974398256279399) { - out_2572974398256279399[0] = state[4]; +void h_30(double *state, double *unused, double *out_7791032536218648770) { + out_7791032536218648770[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6004502452862168775) { - out_6004502452862168775[0] = 0; - out_6004502452862168775[1] = 0; - out_6004502452862168775[2] = 0; - out_6004502452862168775[3] = 0; - out_6004502452862168775[4] = 1; - out_6004502452862168775[5] = 0; - out_6004502452862168775[6] = 0; - out_6004502452862168775[7] = 0; - out_6004502452862168775[8] = 0; +void H_30(double *state, double *unused, double *out_8788942348686500599) { + out_8788942348686500599[0] = 0; + out_8788942348686500599[1] = 0; + out_8788942348686500599[2] = 0; + out_8788942348686500599[3] = 0; + out_8788942348686500599[4] = 1; + out_8788942348686500599[5] = 0; + out_8788942348686500599[6] = 0; + out_8788942348686500599[7] = 0; + out_8788942348686500599[8] = 0; } -void h_26(double *state, double *unused, double *out_3176290282932756916) { - out_3176290282932756916[0] = state[7]; +void h_26(double *state, double *unused, double *out_2789359268557803125) { + out_2789359268557803125[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6790695464115720749) { - out_6790695464115720749[0] = 0; - out_6790695464115720749[1] = 0; - out_6790695464115720749[2] = 0; - out_6790695464115720749[3] = 0; - out_6790695464115720749[4] = 0; - out_6790695464115720749[5] = 0; - out_6790695464115720749[6] = 0; - out_6790695464115720749[7] = 1; - out_6790695464115720749[8] = 0; +void H_26(double *state, double *unused, double *out_8002749337432948625) { + out_8002749337432948625[0] = 0; + out_8002749337432948625[1] = 0; + out_8002749337432948625[2] = 0; + out_8002749337432948625[3] = 0; + out_8002749337432948625[4] = 0; + out_8002749337432948625[5] = 0; + out_8002749337432948625[6] = 0; + out_8002749337432948625[7] = 1; + out_8002749337432948625[8] = 0; } -void h_27(double *state, double *unused, double *out_7048987171797560597) { - out_7048987171797560597[0] = state[3]; +void h_27(double *state, double *unused, double *out_9220000526682969143) { + out_9220000526682969143[0] = state[3]; } -void H_27(double *state, double *unused, double *out_3829739141061743864) { - out_3829739141061743864[0] = 0; - out_3829739141061743864[1] = 0; - out_3829739141061743864[2] = 0; - out_3829739141061743864[3] = 1; - out_3829739141061743864[4] = 0; - out_3829739141061743864[5] = 0; - out_3829739141061743864[6] = 0; - out_3829739141061743864[7] = 0; - out_3829739141061743864[8] = 0; +void H_27(double *state, double *unused, double *out_7483038413222626106) { + out_7483038413222626106[0] = 0; + out_7483038413222626106[1] = 0; + out_7483038413222626106[2] = 0; + out_7483038413222626106[3] = 1; + out_7483038413222626106[4] = 0; + out_7483038413222626106[5] = 0; + out_7483038413222626106[6] = 0; + out_7483038413222626106[7] = 0; + out_7483038413222626106[8] = 0; } -void h_29(double *state, double *unused, double *out_3516484251157941834) { - out_3516484251157941834[0] = state[1]; +void h_29(double *state, double *unused, double *out_2449165300332618207) { + out_2449165300332618207[0] = state[1]; } -void H_29(double *state, double *unused, double *out_6514733797176560959) { - out_6514733797176560959[0] = 0; - out_6514733797176560959[1] = 1; - out_6514733797176560959[2] = 0; - out_6514733797176560959[3] = 0; - out_6514733797176560959[4] = 0; - out_6514733797176560959[5] = 0; - out_6514733797176560959[6] = 0; - out_6514733797176560959[7] = 0; - out_6514733797176560959[8] = 0; +void H_29(double *state, double *unused, double *out_8278711004372108415) { + out_8278711004372108415[0] = 0; + out_8278711004372108415[1] = 1; + out_8278711004372108415[2] = 0; + out_8278711004372108415[3] = 0; + out_8278711004372108415[4] = 0; + out_8278711004372108415[5] = 0; + out_8278711004372108415[6] = 0; + out_8278711004372108415[7] = 0; + out_8278711004372108415[8] = 0; } -void h_28(double *state, double *unused, double *out_6396083634251145374) { - out_6396083634251145374[0] = state[0]; +void h_28(double *state, double *unused, double *out_4225070279365736828) { + out_4225070279365736828[0] = state[0]; } -void H_28(double *state, double *unused, double *out_1432334780107030385) { - out_1432334780107030385[0] = 1; - out_1432334780107030385[1] = 0; - out_1432334780107030385[2] = 0; - out_1432334780107030385[3] = 0; - out_1432334780107030385[4] = 0; - out_1432334780107030385[5] = 0; - out_1432334780107030385[6] = 0; - out_1432334780107030385[7] = 0; - out_1432334780107030385[8] = 0; +void H_28(double *state, double *unused, double *out_5085634052267912627) { + out_5085634052267912627[0] = 1; + out_5085634052267912627[1] = 0; + out_5085634052267912627[2] = 0; + out_5085634052267912627[3] = 0; + out_5085634052267912627[4] = 0; + out_5085634052267912627[5] = 0; + out_5085634052267912627[6] = 0; + out_5085634052267912627[7] = 0; + out_5085634052267912627[8] = 0; } -void h_31(double *state, double *unused, double *out_3497945296765598119) { - out_3497945296765598119[0] = state[8]; +void h_31(double *state, double *unused, double *out_5668958651651006665) { + out_5668958651651006665[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6164487361882369273) { - out_6164487361882369273[0] = 0; - out_6164487361882369273[1] = 0; - out_6164487361882369273[2] = 0; - out_6164487361882369273[3] = 0; - out_6164487361882369273[4] = 0; - out_6164487361882369273[5] = 0; - out_6164487361882369273[6] = 0; - out_6164487361882369273[7] = 0; - out_6164487361882369273[8] = 1; +void H_31(double *state, double *unused, double *out_8628957439666300101) { + out_8628957439666300101[0] = 0; + out_8628957439666300101[1] = 0; + out_8628957439666300101[2] = 0; + out_8628957439666300101[3] = 0; + out_8628957439666300101[4] = 0; + out_8628957439666300101[5] = 0; + out_8628957439666300101[6] = 0; + out_8628957439666300101[7] = 0; + out_8628957439666300101[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_3464059133551141831) { - err_fun(nom_x, delta_x, out_3464059133551141831); +void car_err_fun(double *nom_x, double *delta_x, double *out_9188106750313616310) { + err_fun(nom_x, delta_x, out_9188106750313616310); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163) { - inv_err_fun(nom_x, true_x, out_3057034877580327163); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7483849663979101547) { + inv_err_fun(nom_x, true_x, out_7483849663979101547); } -void car_H_mod_fun(double *state, double *out_1278642935192462594) { - H_mod_fun(state, out_1278642935192462594); +void car_H_mod_fun(double *state, double *out_8322118016658148449) { + H_mod_fun(state, out_8322118016658148449); } -void car_f_fun(double *state, double dt, double *out_258465026591330744) { - f_fun(state, dt, out_258465026591330744); +void car_f_fun(double *state, double dt, double *out_764867040202035176) { + f_fun(state, dt, out_764867040202035176); } -void car_F_fun(double *state, double dt, double *out_5399477112920697267) { - F_fun(state, dt, out_5399477112920697267); +void car_F_fun(double *state, double dt, double *out_3503154027384229832) { + F_fun(state, dt, out_3503154027384229832); } -void car_h_25(double *state, double *unused, double *out_7067526126189904312) { - h_25(state, unused, out_7067526126189904312); +void car_h_25(double *state, double *unused, double *out_8616684642006491626) { + h_25(state, unused, out_8616684642006491626); } -void car_H_25(double *state, double *unused, double *out_7914545290719774643) { - H_25(state, unused, out_7914545290719774643); +void car_H_25(double *state, double *unused, double *out_8659603401543260529) { + H_25(state, unused, out_8659603401543260529); } -void car_h_24(double *state, double *unused, double *out_5828690765636070596) { - h_24(state, unused, out_5828690765636070596); +void car_h_24(double *state, double *unused, double *out_1016016545338744668) { + h_24(state, unused, out_1016016545338744668); } -void car_H_24(double *state, double *unused, double *out_1260339832611588886) { - H_24(state, unused, out_1260339832611588886); +void car_H_24(double *state, double *unused, double *out_1012248264354120193) { + H_24(state, unused, out_1012248264354120193); } -void car_h_30(double *state, double *unused, double *out_2572974398256279399) { - h_30(state, unused, out_2572974398256279399); +void car_h_30(double *state, double *unused, double *out_7791032536218648770) { + h_30(state, unused, out_7791032536218648770); } -void car_H_30(double *state, double *unused, double *out_6004502452862168775) { - H_30(state, unused, out_6004502452862168775); +void car_H_30(double *state, double *unused, double *out_8788942348686500599) { + H_30(state, unused, out_8788942348686500599); } -void car_h_26(double *state, double *unused, double *out_3176290282932756916) { - h_26(state, unused, out_3176290282932756916); +void car_h_26(double *state, double *unused, double *out_2789359268557803125) { + h_26(state, unused, out_2789359268557803125); } -void car_H_26(double *state, double *unused, double *out_6790695464115720749) { - H_26(state, unused, out_6790695464115720749); +void car_H_26(double *state, double *unused, double *out_8002749337432948625) { + H_26(state, unused, out_8002749337432948625); } -void car_h_27(double *state, double *unused, double *out_7048987171797560597) { - h_27(state, unused, out_7048987171797560597); +void car_h_27(double *state, double *unused, double *out_9220000526682969143) { + h_27(state, unused, out_9220000526682969143); } -void car_H_27(double *state, double *unused, double *out_3829739141061743864) { - H_27(state, unused, out_3829739141061743864); +void car_H_27(double *state, double *unused, double *out_7483038413222626106) { + H_27(state, unused, out_7483038413222626106); } -void car_h_29(double *state, double *unused, double *out_3516484251157941834) { - h_29(state, unused, out_3516484251157941834); +void car_h_29(double *state, double *unused, double *out_2449165300332618207) { + h_29(state, unused, out_2449165300332618207); } -void car_H_29(double *state, double *unused, double *out_6514733797176560959) { - H_29(state, unused, out_6514733797176560959); +void car_H_29(double *state, double *unused, double *out_8278711004372108415) { + H_29(state, unused, out_8278711004372108415); } -void car_h_28(double *state, double *unused, double *out_6396083634251145374) { - h_28(state, unused, out_6396083634251145374); +void car_h_28(double *state, double *unused, double *out_4225070279365736828) { + h_28(state, unused, out_4225070279365736828); } -void car_H_28(double *state, double *unused, double *out_1432334780107030385) { - H_28(state, unused, out_1432334780107030385); +void car_H_28(double *state, double *unused, double *out_5085634052267912627) { + H_28(state, unused, out_5085634052267912627); } -void car_h_31(double *state, double *unused, double *out_3497945296765598119) { - h_31(state, unused, out_3497945296765598119); +void car_h_31(double *state, double *unused, double *out_5668958651651006665) { + h_31(state, unused, out_5668958651651006665); } -void car_H_31(double *state, double *unused, double *out_6164487361882369273) { - H_31(state, unused, out_6164487361882369273); +void car_H_31(double *state, double *unused, double *out_8628957439666300101) { + H_31(state, unused, out_8628957439666300101); } 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 fd53aa950..049e523a5 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_3464059133551141831); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163); -void car_H_mod_fun(double *state, double *out_1278642935192462594); -void car_f_fun(double *state, double dt, double *out_258465026591330744); -void car_F_fun(double *state, double dt, double *out_5399477112920697267); -void car_h_25(double *state, double *unused, double *out_7067526126189904312); -void car_H_25(double *state, double *unused, double *out_7914545290719774643); -void car_h_24(double *state, double *unused, double *out_5828690765636070596); -void car_H_24(double *state, double *unused, double *out_1260339832611588886); -void car_h_30(double *state, double *unused, double *out_2572974398256279399); -void car_H_30(double *state, double *unused, double *out_6004502452862168775); -void car_h_26(double *state, double *unused, double *out_3176290282932756916); -void car_H_26(double *state, double *unused, double *out_6790695464115720749); -void car_h_27(double *state, double *unused, double *out_7048987171797560597); -void car_H_27(double *state, double *unused, double *out_3829739141061743864); -void car_h_29(double *state, double *unused, double *out_3516484251157941834); -void car_H_29(double *state, double *unused, double *out_6514733797176560959); -void car_h_28(double *state, double *unused, double *out_6396083634251145374); -void car_H_28(double *state, double *unused, double *out_1432334780107030385); -void car_h_31(double *state, double *unused, double *out_3497945296765598119); -void car_H_31(double *state, double *unused, double *out_6164487361882369273); +void car_err_fun(double *nom_x, double *delta_x, double *out_9188106750313616310); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7483849663979101547); +void car_H_mod_fun(double *state, double *out_8322118016658148449); +void car_f_fun(double *state, double dt, double *out_764867040202035176); +void car_F_fun(double *state, double dt, double *out_3503154027384229832); +void car_h_25(double *state, double *unused, double *out_8616684642006491626); +void car_H_25(double *state, double *unused, double *out_8659603401543260529); +void car_h_24(double *state, double *unused, double *out_1016016545338744668); +void car_H_24(double *state, double *unused, double *out_1012248264354120193); +void car_h_30(double *state, double *unused, double *out_7791032536218648770); +void car_H_30(double *state, double *unused, double *out_8788942348686500599); +void car_h_26(double *state, double *unused, double *out_2789359268557803125); +void car_H_26(double *state, double *unused, double *out_8002749337432948625); +void car_h_27(double *state, double *unused, double *out_9220000526682969143); +void car_H_27(double *state, double *unused, double *out_7483038413222626106); +void car_h_29(double *state, double *unused, double *out_2449165300332618207); +void car_H_29(double *state, double *unused, double *out_8278711004372108415); +void car_h_28(double *state, double *unused, double *out_4225070279365736828); +void car_H_28(double *state, double *unused, double *out_5085634052267912627); +void car_h_31(double *state, double *unused, double *out_5668958651651006665); +void car_H_31(double *state, double *unused, double *out_8628957439666300101); 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 665df3ad3..a8ff1af55 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_7431505958311813382) { - out_7431505958311813382[0] = delta_x[0] + nom_x[0]; - out_7431505958311813382[1] = delta_x[1] + nom_x[1]; - out_7431505958311813382[2] = delta_x[2] + nom_x[2]; - out_7431505958311813382[3] = delta_x[3] + nom_x[3]; - out_7431505958311813382[4] = delta_x[4] + nom_x[4]; - out_7431505958311813382[5] = delta_x[5] + nom_x[5]; - out_7431505958311813382[6] = delta_x[6] + nom_x[6]; - out_7431505958311813382[7] = delta_x[7] + nom_x[7]; - out_7431505958311813382[8] = delta_x[8] + nom_x[8]; - out_7431505958311813382[9] = delta_x[9] + nom_x[9]; - out_7431505958311813382[10] = delta_x[10] + nom_x[10]; - out_7431505958311813382[11] = delta_x[11] + nom_x[11]; - out_7431505958311813382[12] = delta_x[12] + nom_x[12]; - out_7431505958311813382[13] = delta_x[13] + nom_x[13]; - out_7431505958311813382[14] = delta_x[14] + nom_x[14]; - out_7431505958311813382[15] = delta_x[15] + nom_x[15]; - out_7431505958311813382[16] = delta_x[16] + nom_x[16]; - out_7431505958311813382[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_776419627085520882) { + out_776419627085520882[0] = delta_x[0] + nom_x[0]; + out_776419627085520882[1] = delta_x[1] + nom_x[1]; + out_776419627085520882[2] = delta_x[2] + nom_x[2]; + out_776419627085520882[3] = delta_x[3] + nom_x[3]; + out_776419627085520882[4] = delta_x[4] + nom_x[4]; + out_776419627085520882[5] = delta_x[5] + nom_x[5]; + out_776419627085520882[6] = delta_x[6] + nom_x[6]; + out_776419627085520882[7] = delta_x[7] + nom_x[7]; + out_776419627085520882[8] = delta_x[8] + nom_x[8]; + out_776419627085520882[9] = delta_x[9] + nom_x[9]; + out_776419627085520882[10] = delta_x[10] + nom_x[10]; + out_776419627085520882[11] = delta_x[11] + nom_x[11]; + out_776419627085520882[12] = delta_x[12] + nom_x[12]; + out_776419627085520882[13] = delta_x[13] + nom_x[13]; + out_776419627085520882[14] = delta_x[14] + nom_x[14]; + out_776419627085520882[15] = delta_x[15] + nom_x[15]; + out_776419627085520882[16] = delta_x[16] + nom_x[16]; + out_776419627085520882[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8551627000098797431) { - out_8551627000098797431[0] = -nom_x[0] + true_x[0]; - out_8551627000098797431[1] = -nom_x[1] + true_x[1]; - out_8551627000098797431[2] = -nom_x[2] + true_x[2]; - out_8551627000098797431[3] = -nom_x[3] + true_x[3]; - out_8551627000098797431[4] = -nom_x[4] + true_x[4]; - out_8551627000098797431[5] = -nom_x[5] + true_x[5]; - out_8551627000098797431[6] = -nom_x[6] + true_x[6]; - out_8551627000098797431[7] = -nom_x[7] + true_x[7]; - out_8551627000098797431[8] = -nom_x[8] + true_x[8]; - out_8551627000098797431[9] = -nom_x[9] + true_x[9]; - out_8551627000098797431[10] = -nom_x[10] + true_x[10]; - out_8551627000098797431[11] = -nom_x[11] + true_x[11]; - out_8551627000098797431[12] = -nom_x[12] + true_x[12]; - out_8551627000098797431[13] = -nom_x[13] + true_x[13]; - out_8551627000098797431[14] = -nom_x[14] + true_x[14]; - out_8551627000098797431[15] = -nom_x[15] + true_x[15]; - out_8551627000098797431[16] = -nom_x[16] + true_x[16]; - out_8551627000098797431[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3246049781621128423) { + out_3246049781621128423[0] = -nom_x[0] + true_x[0]; + out_3246049781621128423[1] = -nom_x[1] + true_x[1]; + out_3246049781621128423[2] = -nom_x[2] + true_x[2]; + out_3246049781621128423[3] = -nom_x[3] + true_x[3]; + out_3246049781621128423[4] = -nom_x[4] + true_x[4]; + out_3246049781621128423[5] = -nom_x[5] + true_x[5]; + out_3246049781621128423[6] = -nom_x[6] + true_x[6]; + out_3246049781621128423[7] = -nom_x[7] + true_x[7]; + out_3246049781621128423[8] = -nom_x[8] + true_x[8]; + out_3246049781621128423[9] = -nom_x[9] + true_x[9]; + out_3246049781621128423[10] = -nom_x[10] + true_x[10]; + out_3246049781621128423[11] = -nom_x[11] + true_x[11]; + out_3246049781621128423[12] = -nom_x[12] + true_x[12]; + out_3246049781621128423[13] = -nom_x[13] + true_x[13]; + out_3246049781621128423[14] = -nom_x[14] + true_x[14]; + out_3246049781621128423[15] = -nom_x[15] + true_x[15]; + out_3246049781621128423[16] = -nom_x[16] + true_x[16]; + out_3246049781621128423[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4284093078770863471) { - out_4284093078770863471[0] = 1.0; - out_4284093078770863471[1] = 0.0; - out_4284093078770863471[2] = 0.0; - out_4284093078770863471[3] = 0.0; - out_4284093078770863471[4] = 0.0; - out_4284093078770863471[5] = 0.0; - out_4284093078770863471[6] = 0.0; - out_4284093078770863471[7] = 0.0; - out_4284093078770863471[8] = 0.0; - out_4284093078770863471[9] = 0.0; - out_4284093078770863471[10] = 0.0; - out_4284093078770863471[11] = 0.0; - out_4284093078770863471[12] = 0.0; - out_4284093078770863471[13] = 0.0; - out_4284093078770863471[14] = 0.0; - out_4284093078770863471[15] = 0.0; - out_4284093078770863471[16] = 0.0; - out_4284093078770863471[17] = 0.0; - out_4284093078770863471[18] = 0.0; - out_4284093078770863471[19] = 1.0; - out_4284093078770863471[20] = 0.0; - out_4284093078770863471[21] = 0.0; - out_4284093078770863471[22] = 0.0; - out_4284093078770863471[23] = 0.0; - out_4284093078770863471[24] = 0.0; - out_4284093078770863471[25] = 0.0; - out_4284093078770863471[26] = 0.0; - out_4284093078770863471[27] = 0.0; - out_4284093078770863471[28] = 0.0; - out_4284093078770863471[29] = 0.0; - out_4284093078770863471[30] = 0.0; - out_4284093078770863471[31] = 0.0; - out_4284093078770863471[32] = 0.0; - out_4284093078770863471[33] = 0.0; - out_4284093078770863471[34] = 0.0; - out_4284093078770863471[35] = 0.0; - out_4284093078770863471[36] = 0.0; - out_4284093078770863471[37] = 0.0; - out_4284093078770863471[38] = 1.0; - out_4284093078770863471[39] = 0.0; - out_4284093078770863471[40] = 0.0; - out_4284093078770863471[41] = 0.0; - out_4284093078770863471[42] = 0.0; - out_4284093078770863471[43] = 0.0; - out_4284093078770863471[44] = 0.0; - out_4284093078770863471[45] = 0.0; - out_4284093078770863471[46] = 0.0; - out_4284093078770863471[47] = 0.0; - out_4284093078770863471[48] = 0.0; - out_4284093078770863471[49] = 0.0; - out_4284093078770863471[50] = 0.0; - out_4284093078770863471[51] = 0.0; - out_4284093078770863471[52] = 0.0; - out_4284093078770863471[53] = 0.0; - out_4284093078770863471[54] = 0.0; - out_4284093078770863471[55] = 0.0; - out_4284093078770863471[56] = 0.0; - out_4284093078770863471[57] = 1.0; - out_4284093078770863471[58] = 0.0; - out_4284093078770863471[59] = 0.0; - out_4284093078770863471[60] = 0.0; - out_4284093078770863471[61] = 0.0; - out_4284093078770863471[62] = 0.0; - out_4284093078770863471[63] = 0.0; - out_4284093078770863471[64] = 0.0; - out_4284093078770863471[65] = 0.0; - out_4284093078770863471[66] = 0.0; - out_4284093078770863471[67] = 0.0; - out_4284093078770863471[68] = 0.0; - out_4284093078770863471[69] = 0.0; - out_4284093078770863471[70] = 0.0; - out_4284093078770863471[71] = 0.0; - out_4284093078770863471[72] = 0.0; - out_4284093078770863471[73] = 0.0; - out_4284093078770863471[74] = 0.0; - out_4284093078770863471[75] = 0.0; - out_4284093078770863471[76] = 1.0; - out_4284093078770863471[77] = 0.0; - out_4284093078770863471[78] = 0.0; - out_4284093078770863471[79] = 0.0; - out_4284093078770863471[80] = 0.0; - out_4284093078770863471[81] = 0.0; - out_4284093078770863471[82] = 0.0; - out_4284093078770863471[83] = 0.0; - out_4284093078770863471[84] = 0.0; - out_4284093078770863471[85] = 0.0; - out_4284093078770863471[86] = 0.0; - out_4284093078770863471[87] = 0.0; - out_4284093078770863471[88] = 0.0; - out_4284093078770863471[89] = 0.0; - out_4284093078770863471[90] = 0.0; - out_4284093078770863471[91] = 0.0; - out_4284093078770863471[92] = 0.0; - out_4284093078770863471[93] = 0.0; - out_4284093078770863471[94] = 0.0; - out_4284093078770863471[95] = 1.0; - out_4284093078770863471[96] = 0.0; - out_4284093078770863471[97] = 0.0; - out_4284093078770863471[98] = 0.0; - out_4284093078770863471[99] = 0.0; - out_4284093078770863471[100] = 0.0; - out_4284093078770863471[101] = 0.0; - out_4284093078770863471[102] = 0.0; - out_4284093078770863471[103] = 0.0; - out_4284093078770863471[104] = 0.0; - out_4284093078770863471[105] = 0.0; - out_4284093078770863471[106] = 0.0; - out_4284093078770863471[107] = 0.0; - out_4284093078770863471[108] = 0.0; - out_4284093078770863471[109] = 0.0; - out_4284093078770863471[110] = 0.0; - out_4284093078770863471[111] = 0.0; - out_4284093078770863471[112] = 0.0; - out_4284093078770863471[113] = 0.0; - out_4284093078770863471[114] = 1.0; - out_4284093078770863471[115] = 0.0; - out_4284093078770863471[116] = 0.0; - out_4284093078770863471[117] = 0.0; - out_4284093078770863471[118] = 0.0; - out_4284093078770863471[119] = 0.0; - out_4284093078770863471[120] = 0.0; - out_4284093078770863471[121] = 0.0; - out_4284093078770863471[122] = 0.0; - out_4284093078770863471[123] = 0.0; - out_4284093078770863471[124] = 0.0; - out_4284093078770863471[125] = 0.0; - out_4284093078770863471[126] = 0.0; - out_4284093078770863471[127] = 0.0; - out_4284093078770863471[128] = 0.0; - out_4284093078770863471[129] = 0.0; - out_4284093078770863471[130] = 0.0; - out_4284093078770863471[131] = 0.0; - out_4284093078770863471[132] = 0.0; - out_4284093078770863471[133] = 1.0; - out_4284093078770863471[134] = 0.0; - out_4284093078770863471[135] = 0.0; - out_4284093078770863471[136] = 0.0; - out_4284093078770863471[137] = 0.0; - out_4284093078770863471[138] = 0.0; - out_4284093078770863471[139] = 0.0; - out_4284093078770863471[140] = 0.0; - out_4284093078770863471[141] = 0.0; - out_4284093078770863471[142] = 0.0; - out_4284093078770863471[143] = 0.0; - out_4284093078770863471[144] = 0.0; - out_4284093078770863471[145] = 0.0; - out_4284093078770863471[146] = 0.0; - out_4284093078770863471[147] = 0.0; - out_4284093078770863471[148] = 0.0; - out_4284093078770863471[149] = 0.0; - out_4284093078770863471[150] = 0.0; - out_4284093078770863471[151] = 0.0; - out_4284093078770863471[152] = 1.0; - out_4284093078770863471[153] = 0.0; - out_4284093078770863471[154] = 0.0; - out_4284093078770863471[155] = 0.0; - out_4284093078770863471[156] = 0.0; - out_4284093078770863471[157] = 0.0; - out_4284093078770863471[158] = 0.0; - out_4284093078770863471[159] = 0.0; - out_4284093078770863471[160] = 0.0; - out_4284093078770863471[161] = 0.0; - out_4284093078770863471[162] = 0.0; - out_4284093078770863471[163] = 0.0; - out_4284093078770863471[164] = 0.0; - out_4284093078770863471[165] = 0.0; - out_4284093078770863471[166] = 0.0; - out_4284093078770863471[167] = 0.0; - out_4284093078770863471[168] = 0.0; - out_4284093078770863471[169] = 0.0; - out_4284093078770863471[170] = 0.0; - out_4284093078770863471[171] = 1.0; - out_4284093078770863471[172] = 0.0; - out_4284093078770863471[173] = 0.0; - out_4284093078770863471[174] = 0.0; - out_4284093078770863471[175] = 0.0; - out_4284093078770863471[176] = 0.0; - out_4284093078770863471[177] = 0.0; - out_4284093078770863471[178] = 0.0; - out_4284093078770863471[179] = 0.0; - out_4284093078770863471[180] = 0.0; - out_4284093078770863471[181] = 0.0; - out_4284093078770863471[182] = 0.0; - out_4284093078770863471[183] = 0.0; - out_4284093078770863471[184] = 0.0; - out_4284093078770863471[185] = 0.0; - out_4284093078770863471[186] = 0.0; - out_4284093078770863471[187] = 0.0; - out_4284093078770863471[188] = 0.0; - out_4284093078770863471[189] = 0.0; - out_4284093078770863471[190] = 1.0; - out_4284093078770863471[191] = 0.0; - out_4284093078770863471[192] = 0.0; - out_4284093078770863471[193] = 0.0; - out_4284093078770863471[194] = 0.0; - out_4284093078770863471[195] = 0.0; - out_4284093078770863471[196] = 0.0; - out_4284093078770863471[197] = 0.0; - out_4284093078770863471[198] = 0.0; - out_4284093078770863471[199] = 0.0; - out_4284093078770863471[200] = 0.0; - out_4284093078770863471[201] = 0.0; - out_4284093078770863471[202] = 0.0; - out_4284093078770863471[203] = 0.0; - out_4284093078770863471[204] = 0.0; - out_4284093078770863471[205] = 0.0; - out_4284093078770863471[206] = 0.0; - out_4284093078770863471[207] = 0.0; - out_4284093078770863471[208] = 0.0; - out_4284093078770863471[209] = 1.0; - out_4284093078770863471[210] = 0.0; - out_4284093078770863471[211] = 0.0; - out_4284093078770863471[212] = 0.0; - out_4284093078770863471[213] = 0.0; - out_4284093078770863471[214] = 0.0; - out_4284093078770863471[215] = 0.0; - out_4284093078770863471[216] = 0.0; - out_4284093078770863471[217] = 0.0; - out_4284093078770863471[218] = 0.0; - out_4284093078770863471[219] = 0.0; - out_4284093078770863471[220] = 0.0; - out_4284093078770863471[221] = 0.0; - out_4284093078770863471[222] = 0.0; - out_4284093078770863471[223] = 0.0; - out_4284093078770863471[224] = 0.0; - out_4284093078770863471[225] = 0.0; - out_4284093078770863471[226] = 0.0; - out_4284093078770863471[227] = 0.0; - out_4284093078770863471[228] = 1.0; - out_4284093078770863471[229] = 0.0; - out_4284093078770863471[230] = 0.0; - out_4284093078770863471[231] = 0.0; - out_4284093078770863471[232] = 0.0; - out_4284093078770863471[233] = 0.0; - out_4284093078770863471[234] = 0.0; - out_4284093078770863471[235] = 0.0; - out_4284093078770863471[236] = 0.0; - out_4284093078770863471[237] = 0.0; - out_4284093078770863471[238] = 0.0; - out_4284093078770863471[239] = 0.0; - out_4284093078770863471[240] = 0.0; - out_4284093078770863471[241] = 0.0; - out_4284093078770863471[242] = 0.0; - out_4284093078770863471[243] = 0.0; - out_4284093078770863471[244] = 0.0; - out_4284093078770863471[245] = 0.0; - out_4284093078770863471[246] = 0.0; - out_4284093078770863471[247] = 1.0; - out_4284093078770863471[248] = 0.0; - out_4284093078770863471[249] = 0.0; - out_4284093078770863471[250] = 0.0; - out_4284093078770863471[251] = 0.0; - out_4284093078770863471[252] = 0.0; - out_4284093078770863471[253] = 0.0; - out_4284093078770863471[254] = 0.0; - out_4284093078770863471[255] = 0.0; - out_4284093078770863471[256] = 0.0; - out_4284093078770863471[257] = 0.0; - out_4284093078770863471[258] = 0.0; - out_4284093078770863471[259] = 0.0; - out_4284093078770863471[260] = 0.0; - out_4284093078770863471[261] = 0.0; - out_4284093078770863471[262] = 0.0; - out_4284093078770863471[263] = 0.0; - out_4284093078770863471[264] = 0.0; - out_4284093078770863471[265] = 0.0; - out_4284093078770863471[266] = 1.0; - out_4284093078770863471[267] = 0.0; - out_4284093078770863471[268] = 0.0; - out_4284093078770863471[269] = 0.0; - out_4284093078770863471[270] = 0.0; - out_4284093078770863471[271] = 0.0; - out_4284093078770863471[272] = 0.0; - out_4284093078770863471[273] = 0.0; - out_4284093078770863471[274] = 0.0; - out_4284093078770863471[275] = 0.0; - out_4284093078770863471[276] = 0.0; - out_4284093078770863471[277] = 0.0; - out_4284093078770863471[278] = 0.0; - out_4284093078770863471[279] = 0.0; - out_4284093078770863471[280] = 0.0; - out_4284093078770863471[281] = 0.0; - out_4284093078770863471[282] = 0.0; - out_4284093078770863471[283] = 0.0; - out_4284093078770863471[284] = 0.0; - out_4284093078770863471[285] = 1.0; - out_4284093078770863471[286] = 0.0; - out_4284093078770863471[287] = 0.0; - out_4284093078770863471[288] = 0.0; - out_4284093078770863471[289] = 0.0; - out_4284093078770863471[290] = 0.0; - out_4284093078770863471[291] = 0.0; - out_4284093078770863471[292] = 0.0; - out_4284093078770863471[293] = 0.0; - out_4284093078770863471[294] = 0.0; - out_4284093078770863471[295] = 0.0; - out_4284093078770863471[296] = 0.0; - out_4284093078770863471[297] = 0.0; - out_4284093078770863471[298] = 0.0; - out_4284093078770863471[299] = 0.0; - out_4284093078770863471[300] = 0.0; - out_4284093078770863471[301] = 0.0; - out_4284093078770863471[302] = 0.0; - out_4284093078770863471[303] = 0.0; - out_4284093078770863471[304] = 1.0; - out_4284093078770863471[305] = 0.0; - out_4284093078770863471[306] = 0.0; - out_4284093078770863471[307] = 0.0; - out_4284093078770863471[308] = 0.0; - out_4284093078770863471[309] = 0.0; - out_4284093078770863471[310] = 0.0; - out_4284093078770863471[311] = 0.0; - out_4284093078770863471[312] = 0.0; - out_4284093078770863471[313] = 0.0; - out_4284093078770863471[314] = 0.0; - out_4284093078770863471[315] = 0.0; - out_4284093078770863471[316] = 0.0; - out_4284093078770863471[317] = 0.0; - out_4284093078770863471[318] = 0.0; - out_4284093078770863471[319] = 0.0; - out_4284093078770863471[320] = 0.0; - out_4284093078770863471[321] = 0.0; - out_4284093078770863471[322] = 0.0; - out_4284093078770863471[323] = 1.0; +void H_mod_fun(double *state, double *out_5710430290201935803) { + out_5710430290201935803[0] = 1.0; + out_5710430290201935803[1] = 0.0; + out_5710430290201935803[2] = 0.0; + out_5710430290201935803[3] = 0.0; + out_5710430290201935803[4] = 0.0; + out_5710430290201935803[5] = 0.0; + out_5710430290201935803[6] = 0.0; + out_5710430290201935803[7] = 0.0; + out_5710430290201935803[8] = 0.0; + out_5710430290201935803[9] = 0.0; + out_5710430290201935803[10] = 0.0; + out_5710430290201935803[11] = 0.0; + out_5710430290201935803[12] = 0.0; + out_5710430290201935803[13] = 0.0; + out_5710430290201935803[14] = 0.0; + out_5710430290201935803[15] = 0.0; + out_5710430290201935803[16] = 0.0; + out_5710430290201935803[17] = 0.0; + out_5710430290201935803[18] = 0.0; + out_5710430290201935803[19] = 1.0; + out_5710430290201935803[20] = 0.0; + out_5710430290201935803[21] = 0.0; + out_5710430290201935803[22] = 0.0; + out_5710430290201935803[23] = 0.0; + out_5710430290201935803[24] = 0.0; + out_5710430290201935803[25] = 0.0; + out_5710430290201935803[26] = 0.0; + out_5710430290201935803[27] = 0.0; + out_5710430290201935803[28] = 0.0; + out_5710430290201935803[29] = 0.0; + out_5710430290201935803[30] = 0.0; + out_5710430290201935803[31] = 0.0; + out_5710430290201935803[32] = 0.0; + out_5710430290201935803[33] = 0.0; + out_5710430290201935803[34] = 0.0; + out_5710430290201935803[35] = 0.0; + out_5710430290201935803[36] = 0.0; + out_5710430290201935803[37] = 0.0; + out_5710430290201935803[38] = 1.0; + out_5710430290201935803[39] = 0.0; + out_5710430290201935803[40] = 0.0; + out_5710430290201935803[41] = 0.0; + out_5710430290201935803[42] = 0.0; + out_5710430290201935803[43] = 0.0; + out_5710430290201935803[44] = 0.0; + out_5710430290201935803[45] = 0.0; + out_5710430290201935803[46] = 0.0; + out_5710430290201935803[47] = 0.0; + out_5710430290201935803[48] = 0.0; + out_5710430290201935803[49] = 0.0; + out_5710430290201935803[50] = 0.0; + out_5710430290201935803[51] = 0.0; + out_5710430290201935803[52] = 0.0; + out_5710430290201935803[53] = 0.0; + out_5710430290201935803[54] = 0.0; + out_5710430290201935803[55] = 0.0; + out_5710430290201935803[56] = 0.0; + out_5710430290201935803[57] = 1.0; + out_5710430290201935803[58] = 0.0; + out_5710430290201935803[59] = 0.0; + out_5710430290201935803[60] = 0.0; + out_5710430290201935803[61] = 0.0; + out_5710430290201935803[62] = 0.0; + out_5710430290201935803[63] = 0.0; + out_5710430290201935803[64] = 0.0; + out_5710430290201935803[65] = 0.0; + out_5710430290201935803[66] = 0.0; + out_5710430290201935803[67] = 0.0; + out_5710430290201935803[68] = 0.0; + out_5710430290201935803[69] = 0.0; + out_5710430290201935803[70] = 0.0; + out_5710430290201935803[71] = 0.0; + out_5710430290201935803[72] = 0.0; + out_5710430290201935803[73] = 0.0; + out_5710430290201935803[74] = 0.0; + out_5710430290201935803[75] = 0.0; + out_5710430290201935803[76] = 1.0; + out_5710430290201935803[77] = 0.0; + out_5710430290201935803[78] = 0.0; + out_5710430290201935803[79] = 0.0; + out_5710430290201935803[80] = 0.0; + out_5710430290201935803[81] = 0.0; + out_5710430290201935803[82] = 0.0; + out_5710430290201935803[83] = 0.0; + out_5710430290201935803[84] = 0.0; + out_5710430290201935803[85] = 0.0; + out_5710430290201935803[86] = 0.0; + out_5710430290201935803[87] = 0.0; + out_5710430290201935803[88] = 0.0; + out_5710430290201935803[89] = 0.0; + out_5710430290201935803[90] = 0.0; + out_5710430290201935803[91] = 0.0; + out_5710430290201935803[92] = 0.0; + out_5710430290201935803[93] = 0.0; + out_5710430290201935803[94] = 0.0; + out_5710430290201935803[95] = 1.0; + out_5710430290201935803[96] = 0.0; + out_5710430290201935803[97] = 0.0; + out_5710430290201935803[98] = 0.0; + out_5710430290201935803[99] = 0.0; + out_5710430290201935803[100] = 0.0; + out_5710430290201935803[101] = 0.0; + out_5710430290201935803[102] = 0.0; + out_5710430290201935803[103] = 0.0; + out_5710430290201935803[104] = 0.0; + out_5710430290201935803[105] = 0.0; + out_5710430290201935803[106] = 0.0; + out_5710430290201935803[107] = 0.0; + out_5710430290201935803[108] = 0.0; + out_5710430290201935803[109] = 0.0; + out_5710430290201935803[110] = 0.0; + out_5710430290201935803[111] = 0.0; + out_5710430290201935803[112] = 0.0; + out_5710430290201935803[113] = 0.0; + out_5710430290201935803[114] = 1.0; + out_5710430290201935803[115] = 0.0; + out_5710430290201935803[116] = 0.0; + out_5710430290201935803[117] = 0.0; + out_5710430290201935803[118] = 0.0; + out_5710430290201935803[119] = 0.0; + out_5710430290201935803[120] = 0.0; + out_5710430290201935803[121] = 0.0; + out_5710430290201935803[122] = 0.0; + out_5710430290201935803[123] = 0.0; + out_5710430290201935803[124] = 0.0; + out_5710430290201935803[125] = 0.0; + out_5710430290201935803[126] = 0.0; + out_5710430290201935803[127] = 0.0; + out_5710430290201935803[128] = 0.0; + out_5710430290201935803[129] = 0.0; + out_5710430290201935803[130] = 0.0; + out_5710430290201935803[131] = 0.0; + out_5710430290201935803[132] = 0.0; + out_5710430290201935803[133] = 1.0; + out_5710430290201935803[134] = 0.0; + out_5710430290201935803[135] = 0.0; + out_5710430290201935803[136] = 0.0; + out_5710430290201935803[137] = 0.0; + out_5710430290201935803[138] = 0.0; + out_5710430290201935803[139] = 0.0; + out_5710430290201935803[140] = 0.0; + out_5710430290201935803[141] = 0.0; + out_5710430290201935803[142] = 0.0; + out_5710430290201935803[143] = 0.0; + out_5710430290201935803[144] = 0.0; + out_5710430290201935803[145] = 0.0; + out_5710430290201935803[146] = 0.0; + out_5710430290201935803[147] = 0.0; + out_5710430290201935803[148] = 0.0; + out_5710430290201935803[149] = 0.0; + out_5710430290201935803[150] = 0.0; + out_5710430290201935803[151] = 0.0; + out_5710430290201935803[152] = 1.0; + out_5710430290201935803[153] = 0.0; + out_5710430290201935803[154] = 0.0; + out_5710430290201935803[155] = 0.0; + out_5710430290201935803[156] = 0.0; + out_5710430290201935803[157] = 0.0; + out_5710430290201935803[158] = 0.0; + out_5710430290201935803[159] = 0.0; + out_5710430290201935803[160] = 0.0; + out_5710430290201935803[161] = 0.0; + out_5710430290201935803[162] = 0.0; + out_5710430290201935803[163] = 0.0; + out_5710430290201935803[164] = 0.0; + out_5710430290201935803[165] = 0.0; + out_5710430290201935803[166] = 0.0; + out_5710430290201935803[167] = 0.0; + out_5710430290201935803[168] = 0.0; + out_5710430290201935803[169] = 0.0; + out_5710430290201935803[170] = 0.0; + out_5710430290201935803[171] = 1.0; + out_5710430290201935803[172] = 0.0; + out_5710430290201935803[173] = 0.0; + out_5710430290201935803[174] = 0.0; + out_5710430290201935803[175] = 0.0; + out_5710430290201935803[176] = 0.0; + out_5710430290201935803[177] = 0.0; + out_5710430290201935803[178] = 0.0; + out_5710430290201935803[179] = 0.0; + out_5710430290201935803[180] = 0.0; + out_5710430290201935803[181] = 0.0; + out_5710430290201935803[182] = 0.0; + out_5710430290201935803[183] = 0.0; + out_5710430290201935803[184] = 0.0; + out_5710430290201935803[185] = 0.0; + out_5710430290201935803[186] = 0.0; + out_5710430290201935803[187] = 0.0; + out_5710430290201935803[188] = 0.0; + out_5710430290201935803[189] = 0.0; + out_5710430290201935803[190] = 1.0; + out_5710430290201935803[191] = 0.0; + out_5710430290201935803[192] = 0.0; + out_5710430290201935803[193] = 0.0; + out_5710430290201935803[194] = 0.0; + out_5710430290201935803[195] = 0.0; + out_5710430290201935803[196] = 0.0; + out_5710430290201935803[197] = 0.0; + out_5710430290201935803[198] = 0.0; + out_5710430290201935803[199] = 0.0; + out_5710430290201935803[200] = 0.0; + out_5710430290201935803[201] = 0.0; + out_5710430290201935803[202] = 0.0; + out_5710430290201935803[203] = 0.0; + out_5710430290201935803[204] = 0.0; + out_5710430290201935803[205] = 0.0; + out_5710430290201935803[206] = 0.0; + out_5710430290201935803[207] = 0.0; + out_5710430290201935803[208] = 0.0; + out_5710430290201935803[209] = 1.0; + out_5710430290201935803[210] = 0.0; + out_5710430290201935803[211] = 0.0; + out_5710430290201935803[212] = 0.0; + out_5710430290201935803[213] = 0.0; + out_5710430290201935803[214] = 0.0; + out_5710430290201935803[215] = 0.0; + out_5710430290201935803[216] = 0.0; + out_5710430290201935803[217] = 0.0; + out_5710430290201935803[218] = 0.0; + out_5710430290201935803[219] = 0.0; + out_5710430290201935803[220] = 0.0; + out_5710430290201935803[221] = 0.0; + out_5710430290201935803[222] = 0.0; + out_5710430290201935803[223] = 0.0; + out_5710430290201935803[224] = 0.0; + out_5710430290201935803[225] = 0.0; + out_5710430290201935803[226] = 0.0; + out_5710430290201935803[227] = 0.0; + out_5710430290201935803[228] = 1.0; + out_5710430290201935803[229] = 0.0; + out_5710430290201935803[230] = 0.0; + out_5710430290201935803[231] = 0.0; + out_5710430290201935803[232] = 0.0; + out_5710430290201935803[233] = 0.0; + out_5710430290201935803[234] = 0.0; + out_5710430290201935803[235] = 0.0; + out_5710430290201935803[236] = 0.0; + out_5710430290201935803[237] = 0.0; + out_5710430290201935803[238] = 0.0; + out_5710430290201935803[239] = 0.0; + out_5710430290201935803[240] = 0.0; + out_5710430290201935803[241] = 0.0; + out_5710430290201935803[242] = 0.0; + out_5710430290201935803[243] = 0.0; + out_5710430290201935803[244] = 0.0; + out_5710430290201935803[245] = 0.0; + out_5710430290201935803[246] = 0.0; + out_5710430290201935803[247] = 1.0; + out_5710430290201935803[248] = 0.0; + out_5710430290201935803[249] = 0.0; + out_5710430290201935803[250] = 0.0; + out_5710430290201935803[251] = 0.0; + out_5710430290201935803[252] = 0.0; + out_5710430290201935803[253] = 0.0; + out_5710430290201935803[254] = 0.0; + out_5710430290201935803[255] = 0.0; + out_5710430290201935803[256] = 0.0; + out_5710430290201935803[257] = 0.0; + out_5710430290201935803[258] = 0.0; + out_5710430290201935803[259] = 0.0; + out_5710430290201935803[260] = 0.0; + out_5710430290201935803[261] = 0.0; + out_5710430290201935803[262] = 0.0; + out_5710430290201935803[263] = 0.0; + out_5710430290201935803[264] = 0.0; + out_5710430290201935803[265] = 0.0; + out_5710430290201935803[266] = 1.0; + out_5710430290201935803[267] = 0.0; + out_5710430290201935803[268] = 0.0; + out_5710430290201935803[269] = 0.0; + out_5710430290201935803[270] = 0.0; + out_5710430290201935803[271] = 0.0; + out_5710430290201935803[272] = 0.0; + out_5710430290201935803[273] = 0.0; + out_5710430290201935803[274] = 0.0; + out_5710430290201935803[275] = 0.0; + out_5710430290201935803[276] = 0.0; + out_5710430290201935803[277] = 0.0; + out_5710430290201935803[278] = 0.0; + out_5710430290201935803[279] = 0.0; + out_5710430290201935803[280] = 0.0; + out_5710430290201935803[281] = 0.0; + out_5710430290201935803[282] = 0.0; + out_5710430290201935803[283] = 0.0; + out_5710430290201935803[284] = 0.0; + out_5710430290201935803[285] = 1.0; + out_5710430290201935803[286] = 0.0; + out_5710430290201935803[287] = 0.0; + out_5710430290201935803[288] = 0.0; + out_5710430290201935803[289] = 0.0; + out_5710430290201935803[290] = 0.0; + out_5710430290201935803[291] = 0.0; + out_5710430290201935803[292] = 0.0; + out_5710430290201935803[293] = 0.0; + out_5710430290201935803[294] = 0.0; + out_5710430290201935803[295] = 0.0; + out_5710430290201935803[296] = 0.0; + out_5710430290201935803[297] = 0.0; + out_5710430290201935803[298] = 0.0; + out_5710430290201935803[299] = 0.0; + out_5710430290201935803[300] = 0.0; + out_5710430290201935803[301] = 0.0; + out_5710430290201935803[302] = 0.0; + out_5710430290201935803[303] = 0.0; + out_5710430290201935803[304] = 1.0; + out_5710430290201935803[305] = 0.0; + out_5710430290201935803[306] = 0.0; + out_5710430290201935803[307] = 0.0; + out_5710430290201935803[308] = 0.0; + out_5710430290201935803[309] = 0.0; + out_5710430290201935803[310] = 0.0; + out_5710430290201935803[311] = 0.0; + out_5710430290201935803[312] = 0.0; + out_5710430290201935803[313] = 0.0; + out_5710430290201935803[314] = 0.0; + out_5710430290201935803[315] = 0.0; + out_5710430290201935803[316] = 0.0; + out_5710430290201935803[317] = 0.0; + out_5710430290201935803[318] = 0.0; + out_5710430290201935803[319] = 0.0; + out_5710430290201935803[320] = 0.0; + out_5710430290201935803[321] = 0.0; + out_5710430290201935803[322] = 0.0; + out_5710430290201935803[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6442140298881834415) { - out_6442140298881834415[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_6442140298881834415[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_6442140298881834415[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_6442140298881834415[3] = dt*state[12] + state[3]; - out_6442140298881834415[4] = dt*state[13] + state[4]; - out_6442140298881834415[5] = dt*state[14] + state[5]; - out_6442140298881834415[6] = state[6]; - out_6442140298881834415[7] = state[7]; - out_6442140298881834415[8] = state[8]; - out_6442140298881834415[9] = state[9]; - out_6442140298881834415[10] = state[10]; - out_6442140298881834415[11] = state[11]; - out_6442140298881834415[12] = state[12]; - out_6442140298881834415[13] = state[13]; - out_6442140298881834415[14] = state[14]; - out_6442140298881834415[15] = state[15]; - out_6442140298881834415[16] = state[16]; - out_6442140298881834415[17] = state[17]; +void f_fun(double *state, double dt, double *out_5795859550853760244) { + out_5795859550853760244[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_5795859550853760244[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_5795859550853760244[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_5795859550853760244[3] = dt*state[12] + state[3]; + out_5795859550853760244[4] = dt*state[13] + state[4]; + out_5795859550853760244[5] = dt*state[14] + state[5]; + out_5795859550853760244[6] = state[6]; + out_5795859550853760244[7] = state[7]; + out_5795859550853760244[8] = state[8]; + out_5795859550853760244[9] = state[9]; + out_5795859550853760244[10] = state[10]; + out_5795859550853760244[11] = state[11]; + out_5795859550853760244[12] = state[12]; + out_5795859550853760244[13] = state[13]; + out_5795859550853760244[14] = state[14]; + out_5795859550853760244[15] = state[15]; + out_5795859550853760244[16] = state[16]; + out_5795859550853760244[17] = state[17]; } -void F_fun(double *state, double dt, double *out_3934539972733810872) { - out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[2] = 0; - out_3934539972733810872[3] = 0; - out_3934539972733810872[4] = 0; - out_3934539972733810872[5] = 0; - out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[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_3934539972733810872[9] = 0; - out_3934539972733810872[10] = 0; - out_3934539972733810872[11] = 0; - out_3934539972733810872[12] = 0; - out_3934539972733810872[13] = 0; - out_3934539972733810872[14] = 0; - out_3934539972733810872[15] = 0; - out_3934539972733810872[16] = 0; - out_3934539972733810872[17] = 0; - out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[20] = 0; - out_3934539972733810872[21] = 0; - out_3934539972733810872[22] = 0; - out_3934539972733810872[23] = 0; - out_3934539972733810872[24] = 0; - out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[27] = 0; - out_3934539972733810872[28] = 0; - out_3934539972733810872[29] = 0; - out_3934539972733810872[30] = 0; - out_3934539972733810872[31] = 0; - out_3934539972733810872[32] = 0; - out_3934539972733810872[33] = 0; - out_3934539972733810872[34] = 0; - out_3934539972733810872[35] = 0; - out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[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_3934539972733810872[39] = 0; - out_3934539972733810872[40] = 0; - out_3934539972733810872[41] = 0; - out_3934539972733810872[42] = 0; - out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[45] = 0; - out_3934539972733810872[46] = 0; - out_3934539972733810872[47] = 0; - out_3934539972733810872[48] = 0; - out_3934539972733810872[49] = 0; - out_3934539972733810872[50] = 0; - out_3934539972733810872[51] = 0; - out_3934539972733810872[52] = 0; - out_3934539972733810872[53] = 0; - out_3934539972733810872[54] = 0; - out_3934539972733810872[55] = 0; - out_3934539972733810872[56] = 0; - out_3934539972733810872[57] = 1; - out_3934539972733810872[58] = 0; - out_3934539972733810872[59] = 0; - out_3934539972733810872[60] = 0; - out_3934539972733810872[61] = 0; - out_3934539972733810872[62] = 0; - out_3934539972733810872[63] = 0; - out_3934539972733810872[64] = 0; - out_3934539972733810872[65] = 0; - out_3934539972733810872[66] = dt; - out_3934539972733810872[67] = 0; - out_3934539972733810872[68] = 0; - out_3934539972733810872[69] = 0; - out_3934539972733810872[70] = 0; - out_3934539972733810872[71] = 0; - out_3934539972733810872[72] = 0; - out_3934539972733810872[73] = 0; - out_3934539972733810872[74] = 0; - out_3934539972733810872[75] = 0; - out_3934539972733810872[76] = 1; - out_3934539972733810872[77] = 0; - out_3934539972733810872[78] = 0; - out_3934539972733810872[79] = 0; - out_3934539972733810872[80] = 0; - out_3934539972733810872[81] = 0; - out_3934539972733810872[82] = 0; - out_3934539972733810872[83] = 0; - out_3934539972733810872[84] = 0; - out_3934539972733810872[85] = dt; - out_3934539972733810872[86] = 0; - out_3934539972733810872[87] = 0; - out_3934539972733810872[88] = 0; - out_3934539972733810872[89] = 0; - out_3934539972733810872[90] = 0; - out_3934539972733810872[91] = 0; - out_3934539972733810872[92] = 0; - out_3934539972733810872[93] = 0; - out_3934539972733810872[94] = 0; - out_3934539972733810872[95] = 1; - out_3934539972733810872[96] = 0; - out_3934539972733810872[97] = 0; - out_3934539972733810872[98] = 0; - out_3934539972733810872[99] = 0; - out_3934539972733810872[100] = 0; - out_3934539972733810872[101] = 0; - out_3934539972733810872[102] = 0; - out_3934539972733810872[103] = 0; - out_3934539972733810872[104] = dt; - out_3934539972733810872[105] = 0; - out_3934539972733810872[106] = 0; - out_3934539972733810872[107] = 0; - out_3934539972733810872[108] = 0; - out_3934539972733810872[109] = 0; - out_3934539972733810872[110] = 0; - out_3934539972733810872[111] = 0; - out_3934539972733810872[112] = 0; - out_3934539972733810872[113] = 0; - out_3934539972733810872[114] = 1; - out_3934539972733810872[115] = 0; - out_3934539972733810872[116] = 0; - out_3934539972733810872[117] = 0; - out_3934539972733810872[118] = 0; - out_3934539972733810872[119] = 0; - out_3934539972733810872[120] = 0; - out_3934539972733810872[121] = 0; - out_3934539972733810872[122] = 0; - out_3934539972733810872[123] = 0; - out_3934539972733810872[124] = 0; - out_3934539972733810872[125] = 0; - out_3934539972733810872[126] = 0; - out_3934539972733810872[127] = 0; - out_3934539972733810872[128] = 0; - out_3934539972733810872[129] = 0; - out_3934539972733810872[130] = 0; - out_3934539972733810872[131] = 0; - out_3934539972733810872[132] = 0; - out_3934539972733810872[133] = 1; - out_3934539972733810872[134] = 0; - out_3934539972733810872[135] = 0; - out_3934539972733810872[136] = 0; - out_3934539972733810872[137] = 0; - out_3934539972733810872[138] = 0; - out_3934539972733810872[139] = 0; - out_3934539972733810872[140] = 0; - out_3934539972733810872[141] = 0; - out_3934539972733810872[142] = 0; - out_3934539972733810872[143] = 0; - out_3934539972733810872[144] = 0; - out_3934539972733810872[145] = 0; - out_3934539972733810872[146] = 0; - out_3934539972733810872[147] = 0; - out_3934539972733810872[148] = 0; - out_3934539972733810872[149] = 0; - out_3934539972733810872[150] = 0; - out_3934539972733810872[151] = 0; - out_3934539972733810872[152] = 1; - out_3934539972733810872[153] = 0; - out_3934539972733810872[154] = 0; - out_3934539972733810872[155] = 0; - out_3934539972733810872[156] = 0; - out_3934539972733810872[157] = 0; - out_3934539972733810872[158] = 0; - out_3934539972733810872[159] = 0; - out_3934539972733810872[160] = 0; - out_3934539972733810872[161] = 0; - out_3934539972733810872[162] = 0; - out_3934539972733810872[163] = 0; - out_3934539972733810872[164] = 0; - out_3934539972733810872[165] = 0; - out_3934539972733810872[166] = 0; - out_3934539972733810872[167] = 0; - out_3934539972733810872[168] = 0; - out_3934539972733810872[169] = 0; - out_3934539972733810872[170] = 0; - out_3934539972733810872[171] = 1; - out_3934539972733810872[172] = 0; - out_3934539972733810872[173] = 0; - out_3934539972733810872[174] = 0; - out_3934539972733810872[175] = 0; - out_3934539972733810872[176] = 0; - out_3934539972733810872[177] = 0; - out_3934539972733810872[178] = 0; - out_3934539972733810872[179] = 0; - out_3934539972733810872[180] = 0; - out_3934539972733810872[181] = 0; - out_3934539972733810872[182] = 0; - out_3934539972733810872[183] = 0; - out_3934539972733810872[184] = 0; - out_3934539972733810872[185] = 0; - out_3934539972733810872[186] = 0; - out_3934539972733810872[187] = 0; - out_3934539972733810872[188] = 0; - out_3934539972733810872[189] = 0; - out_3934539972733810872[190] = 1; - out_3934539972733810872[191] = 0; - out_3934539972733810872[192] = 0; - out_3934539972733810872[193] = 0; - out_3934539972733810872[194] = 0; - out_3934539972733810872[195] = 0; - out_3934539972733810872[196] = 0; - out_3934539972733810872[197] = 0; - out_3934539972733810872[198] = 0; - out_3934539972733810872[199] = 0; - out_3934539972733810872[200] = 0; - out_3934539972733810872[201] = 0; - out_3934539972733810872[202] = 0; - out_3934539972733810872[203] = 0; - out_3934539972733810872[204] = 0; - out_3934539972733810872[205] = 0; - out_3934539972733810872[206] = 0; - out_3934539972733810872[207] = 0; - out_3934539972733810872[208] = 0; - out_3934539972733810872[209] = 1; - out_3934539972733810872[210] = 0; - out_3934539972733810872[211] = 0; - out_3934539972733810872[212] = 0; - out_3934539972733810872[213] = 0; - out_3934539972733810872[214] = 0; - out_3934539972733810872[215] = 0; - out_3934539972733810872[216] = 0; - out_3934539972733810872[217] = 0; - out_3934539972733810872[218] = 0; - out_3934539972733810872[219] = 0; - out_3934539972733810872[220] = 0; - out_3934539972733810872[221] = 0; - out_3934539972733810872[222] = 0; - out_3934539972733810872[223] = 0; - out_3934539972733810872[224] = 0; - out_3934539972733810872[225] = 0; - out_3934539972733810872[226] = 0; - out_3934539972733810872[227] = 0; - out_3934539972733810872[228] = 1; - out_3934539972733810872[229] = 0; - out_3934539972733810872[230] = 0; - out_3934539972733810872[231] = 0; - out_3934539972733810872[232] = 0; - out_3934539972733810872[233] = 0; - out_3934539972733810872[234] = 0; - out_3934539972733810872[235] = 0; - out_3934539972733810872[236] = 0; - out_3934539972733810872[237] = 0; - out_3934539972733810872[238] = 0; - out_3934539972733810872[239] = 0; - out_3934539972733810872[240] = 0; - out_3934539972733810872[241] = 0; - out_3934539972733810872[242] = 0; - out_3934539972733810872[243] = 0; - out_3934539972733810872[244] = 0; - out_3934539972733810872[245] = 0; - out_3934539972733810872[246] = 0; - out_3934539972733810872[247] = 1; - out_3934539972733810872[248] = 0; - out_3934539972733810872[249] = 0; - out_3934539972733810872[250] = 0; - out_3934539972733810872[251] = 0; - out_3934539972733810872[252] = 0; - out_3934539972733810872[253] = 0; - out_3934539972733810872[254] = 0; - out_3934539972733810872[255] = 0; - out_3934539972733810872[256] = 0; - out_3934539972733810872[257] = 0; - out_3934539972733810872[258] = 0; - out_3934539972733810872[259] = 0; - out_3934539972733810872[260] = 0; - out_3934539972733810872[261] = 0; - out_3934539972733810872[262] = 0; - out_3934539972733810872[263] = 0; - out_3934539972733810872[264] = 0; - out_3934539972733810872[265] = 0; - out_3934539972733810872[266] = 1; - out_3934539972733810872[267] = 0; - out_3934539972733810872[268] = 0; - out_3934539972733810872[269] = 0; - out_3934539972733810872[270] = 0; - out_3934539972733810872[271] = 0; - out_3934539972733810872[272] = 0; - out_3934539972733810872[273] = 0; - out_3934539972733810872[274] = 0; - out_3934539972733810872[275] = 0; - out_3934539972733810872[276] = 0; - out_3934539972733810872[277] = 0; - out_3934539972733810872[278] = 0; - out_3934539972733810872[279] = 0; - out_3934539972733810872[280] = 0; - out_3934539972733810872[281] = 0; - out_3934539972733810872[282] = 0; - out_3934539972733810872[283] = 0; - out_3934539972733810872[284] = 0; - out_3934539972733810872[285] = 1; - out_3934539972733810872[286] = 0; - out_3934539972733810872[287] = 0; - out_3934539972733810872[288] = 0; - out_3934539972733810872[289] = 0; - out_3934539972733810872[290] = 0; - out_3934539972733810872[291] = 0; - out_3934539972733810872[292] = 0; - out_3934539972733810872[293] = 0; - out_3934539972733810872[294] = 0; - out_3934539972733810872[295] = 0; - out_3934539972733810872[296] = 0; - out_3934539972733810872[297] = 0; - out_3934539972733810872[298] = 0; - out_3934539972733810872[299] = 0; - out_3934539972733810872[300] = 0; - out_3934539972733810872[301] = 0; - out_3934539972733810872[302] = 0; - out_3934539972733810872[303] = 0; - out_3934539972733810872[304] = 1; - out_3934539972733810872[305] = 0; - out_3934539972733810872[306] = 0; - out_3934539972733810872[307] = 0; - out_3934539972733810872[308] = 0; - out_3934539972733810872[309] = 0; - out_3934539972733810872[310] = 0; - out_3934539972733810872[311] = 0; - out_3934539972733810872[312] = 0; - out_3934539972733810872[313] = 0; - out_3934539972733810872[314] = 0; - out_3934539972733810872[315] = 0; - out_3934539972733810872[316] = 0; - out_3934539972733810872[317] = 0; - out_3934539972733810872[318] = 0; - out_3934539972733810872[319] = 0; - out_3934539972733810872[320] = 0; - out_3934539972733810872[321] = 0; - out_3934539972733810872[322] = 0; - out_3934539972733810872[323] = 1; +void F_fun(double *state, double dt, double *out_391118642873528758) { + out_391118642873528758[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_391118642873528758[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_391118642873528758[2] = 0; + out_391118642873528758[3] = 0; + out_391118642873528758[4] = 0; + out_391118642873528758[5] = 0; + out_391118642873528758[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_391118642873528758[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_391118642873528758[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_391118642873528758[9] = 0; + out_391118642873528758[10] = 0; + out_391118642873528758[11] = 0; + out_391118642873528758[12] = 0; + out_391118642873528758[13] = 0; + out_391118642873528758[14] = 0; + out_391118642873528758[15] = 0; + out_391118642873528758[16] = 0; + out_391118642873528758[17] = 0; + out_391118642873528758[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_391118642873528758[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_391118642873528758[20] = 0; + out_391118642873528758[21] = 0; + out_391118642873528758[22] = 0; + out_391118642873528758[23] = 0; + out_391118642873528758[24] = 0; + out_391118642873528758[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_391118642873528758[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_391118642873528758[27] = 0; + out_391118642873528758[28] = 0; + out_391118642873528758[29] = 0; + out_391118642873528758[30] = 0; + out_391118642873528758[31] = 0; + out_391118642873528758[32] = 0; + out_391118642873528758[33] = 0; + out_391118642873528758[34] = 0; + out_391118642873528758[35] = 0; + out_391118642873528758[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_391118642873528758[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_391118642873528758[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_391118642873528758[39] = 0; + out_391118642873528758[40] = 0; + out_391118642873528758[41] = 0; + out_391118642873528758[42] = 0; + out_391118642873528758[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_391118642873528758[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_391118642873528758[45] = 0; + out_391118642873528758[46] = 0; + out_391118642873528758[47] = 0; + out_391118642873528758[48] = 0; + out_391118642873528758[49] = 0; + out_391118642873528758[50] = 0; + out_391118642873528758[51] = 0; + out_391118642873528758[52] = 0; + out_391118642873528758[53] = 0; + out_391118642873528758[54] = 0; + out_391118642873528758[55] = 0; + out_391118642873528758[56] = 0; + out_391118642873528758[57] = 1; + out_391118642873528758[58] = 0; + out_391118642873528758[59] = 0; + out_391118642873528758[60] = 0; + out_391118642873528758[61] = 0; + out_391118642873528758[62] = 0; + out_391118642873528758[63] = 0; + out_391118642873528758[64] = 0; + out_391118642873528758[65] = 0; + out_391118642873528758[66] = dt; + out_391118642873528758[67] = 0; + out_391118642873528758[68] = 0; + out_391118642873528758[69] = 0; + out_391118642873528758[70] = 0; + out_391118642873528758[71] = 0; + out_391118642873528758[72] = 0; + out_391118642873528758[73] = 0; + out_391118642873528758[74] = 0; + out_391118642873528758[75] = 0; + out_391118642873528758[76] = 1; + out_391118642873528758[77] = 0; + out_391118642873528758[78] = 0; + out_391118642873528758[79] = 0; + out_391118642873528758[80] = 0; + out_391118642873528758[81] = 0; + out_391118642873528758[82] = 0; + out_391118642873528758[83] = 0; + out_391118642873528758[84] = 0; + out_391118642873528758[85] = dt; + out_391118642873528758[86] = 0; + out_391118642873528758[87] = 0; + out_391118642873528758[88] = 0; + out_391118642873528758[89] = 0; + out_391118642873528758[90] = 0; + out_391118642873528758[91] = 0; + out_391118642873528758[92] = 0; + out_391118642873528758[93] = 0; + out_391118642873528758[94] = 0; + out_391118642873528758[95] = 1; + out_391118642873528758[96] = 0; + out_391118642873528758[97] = 0; + out_391118642873528758[98] = 0; + out_391118642873528758[99] = 0; + out_391118642873528758[100] = 0; + out_391118642873528758[101] = 0; + out_391118642873528758[102] = 0; + out_391118642873528758[103] = 0; + out_391118642873528758[104] = dt; + out_391118642873528758[105] = 0; + out_391118642873528758[106] = 0; + out_391118642873528758[107] = 0; + out_391118642873528758[108] = 0; + out_391118642873528758[109] = 0; + out_391118642873528758[110] = 0; + out_391118642873528758[111] = 0; + out_391118642873528758[112] = 0; + out_391118642873528758[113] = 0; + out_391118642873528758[114] = 1; + out_391118642873528758[115] = 0; + out_391118642873528758[116] = 0; + out_391118642873528758[117] = 0; + out_391118642873528758[118] = 0; + out_391118642873528758[119] = 0; + out_391118642873528758[120] = 0; + out_391118642873528758[121] = 0; + out_391118642873528758[122] = 0; + out_391118642873528758[123] = 0; + out_391118642873528758[124] = 0; + out_391118642873528758[125] = 0; + out_391118642873528758[126] = 0; + out_391118642873528758[127] = 0; + out_391118642873528758[128] = 0; + out_391118642873528758[129] = 0; + out_391118642873528758[130] = 0; + out_391118642873528758[131] = 0; + out_391118642873528758[132] = 0; + out_391118642873528758[133] = 1; + out_391118642873528758[134] = 0; + out_391118642873528758[135] = 0; + out_391118642873528758[136] = 0; + out_391118642873528758[137] = 0; + out_391118642873528758[138] = 0; + out_391118642873528758[139] = 0; + out_391118642873528758[140] = 0; + out_391118642873528758[141] = 0; + out_391118642873528758[142] = 0; + out_391118642873528758[143] = 0; + out_391118642873528758[144] = 0; + out_391118642873528758[145] = 0; + out_391118642873528758[146] = 0; + out_391118642873528758[147] = 0; + out_391118642873528758[148] = 0; + out_391118642873528758[149] = 0; + out_391118642873528758[150] = 0; + out_391118642873528758[151] = 0; + out_391118642873528758[152] = 1; + out_391118642873528758[153] = 0; + out_391118642873528758[154] = 0; + out_391118642873528758[155] = 0; + out_391118642873528758[156] = 0; + out_391118642873528758[157] = 0; + out_391118642873528758[158] = 0; + out_391118642873528758[159] = 0; + out_391118642873528758[160] = 0; + out_391118642873528758[161] = 0; + out_391118642873528758[162] = 0; + out_391118642873528758[163] = 0; + out_391118642873528758[164] = 0; + out_391118642873528758[165] = 0; + out_391118642873528758[166] = 0; + out_391118642873528758[167] = 0; + out_391118642873528758[168] = 0; + out_391118642873528758[169] = 0; + out_391118642873528758[170] = 0; + out_391118642873528758[171] = 1; + out_391118642873528758[172] = 0; + out_391118642873528758[173] = 0; + out_391118642873528758[174] = 0; + out_391118642873528758[175] = 0; + out_391118642873528758[176] = 0; + out_391118642873528758[177] = 0; + out_391118642873528758[178] = 0; + out_391118642873528758[179] = 0; + out_391118642873528758[180] = 0; + out_391118642873528758[181] = 0; + out_391118642873528758[182] = 0; + out_391118642873528758[183] = 0; + out_391118642873528758[184] = 0; + out_391118642873528758[185] = 0; + out_391118642873528758[186] = 0; + out_391118642873528758[187] = 0; + out_391118642873528758[188] = 0; + out_391118642873528758[189] = 0; + out_391118642873528758[190] = 1; + out_391118642873528758[191] = 0; + out_391118642873528758[192] = 0; + out_391118642873528758[193] = 0; + out_391118642873528758[194] = 0; + out_391118642873528758[195] = 0; + out_391118642873528758[196] = 0; + out_391118642873528758[197] = 0; + out_391118642873528758[198] = 0; + out_391118642873528758[199] = 0; + out_391118642873528758[200] = 0; + out_391118642873528758[201] = 0; + out_391118642873528758[202] = 0; + out_391118642873528758[203] = 0; + out_391118642873528758[204] = 0; + out_391118642873528758[205] = 0; + out_391118642873528758[206] = 0; + out_391118642873528758[207] = 0; + out_391118642873528758[208] = 0; + out_391118642873528758[209] = 1; + out_391118642873528758[210] = 0; + out_391118642873528758[211] = 0; + out_391118642873528758[212] = 0; + out_391118642873528758[213] = 0; + out_391118642873528758[214] = 0; + out_391118642873528758[215] = 0; + out_391118642873528758[216] = 0; + out_391118642873528758[217] = 0; + out_391118642873528758[218] = 0; + out_391118642873528758[219] = 0; + out_391118642873528758[220] = 0; + out_391118642873528758[221] = 0; + out_391118642873528758[222] = 0; + out_391118642873528758[223] = 0; + out_391118642873528758[224] = 0; + out_391118642873528758[225] = 0; + out_391118642873528758[226] = 0; + out_391118642873528758[227] = 0; + out_391118642873528758[228] = 1; + out_391118642873528758[229] = 0; + out_391118642873528758[230] = 0; + out_391118642873528758[231] = 0; + out_391118642873528758[232] = 0; + out_391118642873528758[233] = 0; + out_391118642873528758[234] = 0; + out_391118642873528758[235] = 0; + out_391118642873528758[236] = 0; + out_391118642873528758[237] = 0; + out_391118642873528758[238] = 0; + out_391118642873528758[239] = 0; + out_391118642873528758[240] = 0; + out_391118642873528758[241] = 0; + out_391118642873528758[242] = 0; + out_391118642873528758[243] = 0; + out_391118642873528758[244] = 0; + out_391118642873528758[245] = 0; + out_391118642873528758[246] = 0; + out_391118642873528758[247] = 1; + out_391118642873528758[248] = 0; + out_391118642873528758[249] = 0; + out_391118642873528758[250] = 0; + out_391118642873528758[251] = 0; + out_391118642873528758[252] = 0; + out_391118642873528758[253] = 0; + out_391118642873528758[254] = 0; + out_391118642873528758[255] = 0; + out_391118642873528758[256] = 0; + out_391118642873528758[257] = 0; + out_391118642873528758[258] = 0; + out_391118642873528758[259] = 0; + out_391118642873528758[260] = 0; + out_391118642873528758[261] = 0; + out_391118642873528758[262] = 0; + out_391118642873528758[263] = 0; + out_391118642873528758[264] = 0; + out_391118642873528758[265] = 0; + out_391118642873528758[266] = 1; + out_391118642873528758[267] = 0; + out_391118642873528758[268] = 0; + out_391118642873528758[269] = 0; + out_391118642873528758[270] = 0; + out_391118642873528758[271] = 0; + out_391118642873528758[272] = 0; + out_391118642873528758[273] = 0; + out_391118642873528758[274] = 0; + out_391118642873528758[275] = 0; + out_391118642873528758[276] = 0; + out_391118642873528758[277] = 0; + out_391118642873528758[278] = 0; + out_391118642873528758[279] = 0; + out_391118642873528758[280] = 0; + out_391118642873528758[281] = 0; + out_391118642873528758[282] = 0; + out_391118642873528758[283] = 0; + out_391118642873528758[284] = 0; + out_391118642873528758[285] = 1; + out_391118642873528758[286] = 0; + out_391118642873528758[287] = 0; + out_391118642873528758[288] = 0; + out_391118642873528758[289] = 0; + out_391118642873528758[290] = 0; + out_391118642873528758[291] = 0; + out_391118642873528758[292] = 0; + out_391118642873528758[293] = 0; + out_391118642873528758[294] = 0; + out_391118642873528758[295] = 0; + out_391118642873528758[296] = 0; + out_391118642873528758[297] = 0; + out_391118642873528758[298] = 0; + out_391118642873528758[299] = 0; + out_391118642873528758[300] = 0; + out_391118642873528758[301] = 0; + out_391118642873528758[302] = 0; + out_391118642873528758[303] = 0; + out_391118642873528758[304] = 1; + out_391118642873528758[305] = 0; + out_391118642873528758[306] = 0; + out_391118642873528758[307] = 0; + out_391118642873528758[308] = 0; + out_391118642873528758[309] = 0; + out_391118642873528758[310] = 0; + out_391118642873528758[311] = 0; + out_391118642873528758[312] = 0; + out_391118642873528758[313] = 0; + out_391118642873528758[314] = 0; + out_391118642873528758[315] = 0; + out_391118642873528758[316] = 0; + out_391118642873528758[317] = 0; + out_391118642873528758[318] = 0; + out_391118642873528758[319] = 0; + out_391118642873528758[320] = 0; + out_391118642873528758[321] = 0; + out_391118642873528758[322] = 0; + out_391118642873528758[323] = 1; } -void h_4(double *state, double *unused, double *out_9108176221739377223) { - out_9108176221739377223[0] = state[6] + state[9]; - out_9108176221739377223[1] = state[7] + state[10]; - out_9108176221739377223[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3587574498855600647) { + out_3587574498855600647[0] = state[6] + state[9]; + out_3587574498855600647[1] = state[7] + state[10]; + out_3587574498855600647[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3529932076716150864) { - out_3529932076716150864[0] = 0; - out_3529932076716150864[1] = 0; - out_3529932076716150864[2] = 0; - out_3529932076716150864[3] = 0; - out_3529932076716150864[4] = 0; - out_3529932076716150864[5] = 0; - out_3529932076716150864[6] = 1; - out_3529932076716150864[7] = 0; - out_3529932076716150864[8] = 0; - out_3529932076716150864[9] = 1; - out_3529932076716150864[10] = 0; - out_3529932076716150864[11] = 0; - out_3529932076716150864[12] = 0; - out_3529932076716150864[13] = 0; - out_3529932076716150864[14] = 0; - out_3529932076716150864[15] = 0; - out_3529932076716150864[16] = 0; - out_3529932076716150864[17] = 0; - out_3529932076716150864[18] = 0; - out_3529932076716150864[19] = 0; - out_3529932076716150864[20] = 0; - out_3529932076716150864[21] = 0; - out_3529932076716150864[22] = 0; - out_3529932076716150864[23] = 0; - out_3529932076716150864[24] = 0; - out_3529932076716150864[25] = 1; - out_3529932076716150864[26] = 0; - out_3529932076716150864[27] = 0; - out_3529932076716150864[28] = 1; - out_3529932076716150864[29] = 0; - out_3529932076716150864[30] = 0; - out_3529932076716150864[31] = 0; - out_3529932076716150864[32] = 0; - out_3529932076716150864[33] = 0; - out_3529932076716150864[34] = 0; - out_3529932076716150864[35] = 0; - out_3529932076716150864[36] = 0; - out_3529932076716150864[37] = 0; - out_3529932076716150864[38] = 0; - out_3529932076716150864[39] = 0; - out_3529932076716150864[40] = 0; - out_3529932076716150864[41] = 0; - out_3529932076716150864[42] = 0; - out_3529932076716150864[43] = 0; - out_3529932076716150864[44] = 1; - out_3529932076716150864[45] = 0; - out_3529932076716150864[46] = 0; - out_3529932076716150864[47] = 1; - out_3529932076716150864[48] = 0; - out_3529932076716150864[49] = 0; - out_3529932076716150864[50] = 0; - out_3529932076716150864[51] = 0; - out_3529932076716150864[52] = 0; - out_3529932076716150864[53] = 0; +void H_4(double *state, double *unused, double *out_1095803253272619439) { + out_1095803253272619439[0] = 0; + out_1095803253272619439[1] = 0; + out_1095803253272619439[2] = 0; + out_1095803253272619439[3] = 0; + out_1095803253272619439[4] = 0; + out_1095803253272619439[5] = 0; + out_1095803253272619439[6] = 1; + out_1095803253272619439[7] = 0; + out_1095803253272619439[8] = 0; + out_1095803253272619439[9] = 1; + out_1095803253272619439[10] = 0; + out_1095803253272619439[11] = 0; + out_1095803253272619439[12] = 0; + out_1095803253272619439[13] = 0; + out_1095803253272619439[14] = 0; + out_1095803253272619439[15] = 0; + out_1095803253272619439[16] = 0; + out_1095803253272619439[17] = 0; + out_1095803253272619439[18] = 0; + out_1095803253272619439[19] = 0; + out_1095803253272619439[20] = 0; + out_1095803253272619439[21] = 0; + out_1095803253272619439[22] = 0; + out_1095803253272619439[23] = 0; + out_1095803253272619439[24] = 0; + out_1095803253272619439[25] = 1; + out_1095803253272619439[26] = 0; + out_1095803253272619439[27] = 0; + out_1095803253272619439[28] = 1; + out_1095803253272619439[29] = 0; + out_1095803253272619439[30] = 0; + out_1095803253272619439[31] = 0; + out_1095803253272619439[32] = 0; + out_1095803253272619439[33] = 0; + out_1095803253272619439[34] = 0; + out_1095803253272619439[35] = 0; + out_1095803253272619439[36] = 0; + out_1095803253272619439[37] = 0; + out_1095803253272619439[38] = 0; + out_1095803253272619439[39] = 0; + out_1095803253272619439[40] = 0; + out_1095803253272619439[41] = 0; + out_1095803253272619439[42] = 0; + out_1095803253272619439[43] = 0; + out_1095803253272619439[44] = 1; + out_1095803253272619439[45] = 0; + out_1095803253272619439[46] = 0; + out_1095803253272619439[47] = 1; + out_1095803253272619439[48] = 0; + out_1095803253272619439[49] = 0; + out_1095803253272619439[50] = 0; + out_1095803253272619439[51] = 0; + out_1095803253272619439[52] = 0; + out_1095803253272619439[53] = 0; } -void h_10(double *state, double *unused, double *out_7468804800035159097) { - out_7468804800035159097[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7468804800035159097[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7468804800035159097[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_5054997698151726674) { + out_5054997698151726674[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5054997698151726674[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5054997698151726674[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_3178743347505224989) { - out_3178743347505224989[0] = 0; - out_3178743347505224989[1] = 9.8100000000000005*cos(state[1]); - out_3178743347505224989[2] = 0; - out_3178743347505224989[3] = 0; - out_3178743347505224989[4] = -state[8]; - out_3178743347505224989[5] = state[7]; - out_3178743347505224989[6] = 0; - out_3178743347505224989[7] = state[5]; - out_3178743347505224989[8] = -state[4]; - out_3178743347505224989[9] = 0; - out_3178743347505224989[10] = 0; - out_3178743347505224989[11] = 0; - out_3178743347505224989[12] = 1; - out_3178743347505224989[13] = 0; - out_3178743347505224989[14] = 0; - out_3178743347505224989[15] = 1; - out_3178743347505224989[16] = 0; - out_3178743347505224989[17] = 0; - out_3178743347505224989[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3178743347505224989[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3178743347505224989[20] = 0; - out_3178743347505224989[21] = state[8]; - out_3178743347505224989[22] = 0; - out_3178743347505224989[23] = -state[6]; - out_3178743347505224989[24] = -state[5]; - out_3178743347505224989[25] = 0; - out_3178743347505224989[26] = state[3]; - out_3178743347505224989[27] = 0; - out_3178743347505224989[28] = 0; - out_3178743347505224989[29] = 0; - out_3178743347505224989[30] = 0; - out_3178743347505224989[31] = 1; - out_3178743347505224989[32] = 0; - out_3178743347505224989[33] = 0; - out_3178743347505224989[34] = 1; - out_3178743347505224989[35] = 0; - out_3178743347505224989[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3178743347505224989[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3178743347505224989[38] = 0; - out_3178743347505224989[39] = -state[7]; - out_3178743347505224989[40] = state[6]; - out_3178743347505224989[41] = 0; - out_3178743347505224989[42] = state[4]; - out_3178743347505224989[43] = -state[3]; - out_3178743347505224989[44] = 0; - out_3178743347505224989[45] = 0; - out_3178743347505224989[46] = 0; - out_3178743347505224989[47] = 0; - out_3178743347505224989[48] = 0; - out_3178743347505224989[49] = 0; - out_3178743347505224989[50] = 1; - out_3178743347505224989[51] = 0; - out_3178743347505224989[52] = 0; - out_3178743347505224989[53] = 1; +void H_10(double *state, double *unused, double *out_4117080739741493196) { + out_4117080739741493196[0] = 0; + out_4117080739741493196[1] = 9.8100000000000005*cos(state[1]); + out_4117080739741493196[2] = 0; + out_4117080739741493196[3] = 0; + out_4117080739741493196[4] = -state[8]; + out_4117080739741493196[5] = state[7]; + out_4117080739741493196[6] = 0; + out_4117080739741493196[7] = state[5]; + out_4117080739741493196[8] = -state[4]; + out_4117080739741493196[9] = 0; + out_4117080739741493196[10] = 0; + out_4117080739741493196[11] = 0; + out_4117080739741493196[12] = 1; + out_4117080739741493196[13] = 0; + out_4117080739741493196[14] = 0; + out_4117080739741493196[15] = 1; + out_4117080739741493196[16] = 0; + out_4117080739741493196[17] = 0; + out_4117080739741493196[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4117080739741493196[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4117080739741493196[20] = 0; + out_4117080739741493196[21] = state[8]; + out_4117080739741493196[22] = 0; + out_4117080739741493196[23] = -state[6]; + out_4117080739741493196[24] = -state[5]; + out_4117080739741493196[25] = 0; + out_4117080739741493196[26] = state[3]; + out_4117080739741493196[27] = 0; + out_4117080739741493196[28] = 0; + out_4117080739741493196[29] = 0; + out_4117080739741493196[30] = 0; + out_4117080739741493196[31] = 1; + out_4117080739741493196[32] = 0; + out_4117080739741493196[33] = 0; + out_4117080739741493196[34] = 1; + out_4117080739741493196[35] = 0; + out_4117080739741493196[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4117080739741493196[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4117080739741493196[38] = 0; + out_4117080739741493196[39] = -state[7]; + out_4117080739741493196[40] = state[6]; + out_4117080739741493196[41] = 0; + out_4117080739741493196[42] = state[4]; + out_4117080739741493196[43] = -state[3]; + out_4117080739741493196[44] = 0; + out_4117080739741493196[45] = 0; + out_4117080739741493196[46] = 0; + out_4117080739741493196[47] = 0; + out_4117080739741493196[48] = 0; + out_4117080739741493196[49] = 0; + out_4117080739741493196[50] = 1; + out_4117080739741493196[51] = 0; + out_4117080739741493196[52] = 0; + out_4117080739741493196[53] = 1; } -void h_13(double *state, double *unused, double *out_2582510020496882256) { - out_2582510020496882256[0] = state[3]; - out_2582510020496882256[1] = state[4]; - out_2582510020496882256[2] = state[5]; +void h_13(double *state, double *unused, double *out_3693365734857647821) { + out_3693365734857647821[0] = state[3]; + out_3693365734857647821[1] = state[4]; + out_3693365734857647821[2] = state[5]; } -void H_13(double *state, double *unused, double *out_317658251383818063) { - out_317658251383818063[0] = 0; - out_317658251383818063[1] = 0; - out_317658251383818063[2] = 0; - out_317658251383818063[3] = 1; - out_317658251383818063[4] = 0; - out_317658251383818063[5] = 0; - out_317658251383818063[6] = 0; - out_317658251383818063[7] = 0; - out_317658251383818063[8] = 0; - out_317658251383818063[9] = 0; - out_317658251383818063[10] = 0; - out_317658251383818063[11] = 0; - out_317658251383818063[12] = 0; - out_317658251383818063[13] = 0; - out_317658251383818063[14] = 0; - out_317658251383818063[15] = 0; - out_317658251383818063[16] = 0; - out_317658251383818063[17] = 0; - out_317658251383818063[18] = 0; - out_317658251383818063[19] = 0; - out_317658251383818063[20] = 0; - out_317658251383818063[21] = 0; - out_317658251383818063[22] = 1; - out_317658251383818063[23] = 0; - out_317658251383818063[24] = 0; - out_317658251383818063[25] = 0; - out_317658251383818063[26] = 0; - out_317658251383818063[27] = 0; - out_317658251383818063[28] = 0; - out_317658251383818063[29] = 0; - out_317658251383818063[30] = 0; - out_317658251383818063[31] = 0; - out_317658251383818063[32] = 0; - out_317658251383818063[33] = 0; - out_317658251383818063[34] = 0; - out_317658251383818063[35] = 0; - out_317658251383818063[36] = 0; - out_317658251383818063[37] = 0; - out_317658251383818063[38] = 0; - out_317658251383818063[39] = 0; - out_317658251383818063[40] = 0; - out_317658251383818063[41] = 1; - out_317658251383818063[42] = 0; - out_317658251383818063[43] = 0; - out_317658251383818063[44] = 0; - out_317658251383818063[45] = 0; - out_317658251383818063[46] = 0; - out_317658251383818063[47] = 0; - out_317658251383818063[48] = 0; - out_317658251383818063[49] = 0; - out_317658251383818063[50] = 0; - out_317658251383818063[51] = 0; - out_317658251383818063[52] = 0; - out_317658251383818063[53] = 0; +void H_13(double *state, double *unused, double *out_6514827955044081490) { + out_6514827955044081490[0] = 0; + out_6514827955044081490[1] = 0; + out_6514827955044081490[2] = 0; + out_6514827955044081490[3] = 1; + out_6514827955044081490[4] = 0; + out_6514827955044081490[5] = 0; + out_6514827955044081490[6] = 0; + out_6514827955044081490[7] = 0; + out_6514827955044081490[8] = 0; + out_6514827955044081490[9] = 0; + out_6514827955044081490[10] = 0; + out_6514827955044081490[11] = 0; + out_6514827955044081490[12] = 0; + out_6514827955044081490[13] = 0; + out_6514827955044081490[14] = 0; + out_6514827955044081490[15] = 0; + out_6514827955044081490[16] = 0; + out_6514827955044081490[17] = 0; + out_6514827955044081490[18] = 0; + out_6514827955044081490[19] = 0; + out_6514827955044081490[20] = 0; + out_6514827955044081490[21] = 0; + out_6514827955044081490[22] = 1; + out_6514827955044081490[23] = 0; + out_6514827955044081490[24] = 0; + out_6514827955044081490[25] = 0; + out_6514827955044081490[26] = 0; + out_6514827955044081490[27] = 0; + out_6514827955044081490[28] = 0; + out_6514827955044081490[29] = 0; + out_6514827955044081490[30] = 0; + out_6514827955044081490[31] = 0; + out_6514827955044081490[32] = 0; + out_6514827955044081490[33] = 0; + out_6514827955044081490[34] = 0; + out_6514827955044081490[35] = 0; + out_6514827955044081490[36] = 0; + out_6514827955044081490[37] = 0; + out_6514827955044081490[38] = 0; + out_6514827955044081490[39] = 0; + out_6514827955044081490[40] = 0; + out_6514827955044081490[41] = 1; + out_6514827955044081490[42] = 0; + out_6514827955044081490[43] = 0; + out_6514827955044081490[44] = 0; + out_6514827955044081490[45] = 0; + out_6514827955044081490[46] = 0; + out_6514827955044081490[47] = 0; + out_6514827955044081490[48] = 0; + out_6514827955044081490[49] = 0; + out_6514827955044081490[50] = 0; + out_6514827955044081490[51] = 0; + out_6514827955044081490[52] = 0; + out_6514827955044081490[53] = 0; } -void h_14(double *state, double *unused, double *out_7414566035535505034) { - out_7414566035535505034[0] = state[6]; - out_7414566035535505034[1] = state[7]; - out_7414566035535505034[2] = state[8]; +void h_14(double *state, double *unused, double *out_1461011669399451348) { + out_1461011669399451348[0] = state[6]; + out_1461011669399451348[1] = state[7]; + out_1461011669399451348[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6612720509011523160) { - out_6612720509011523160[0] = 0; - out_6612720509011523160[1] = 0; - out_6612720509011523160[2] = 0; - out_6612720509011523160[3] = 0; - out_6612720509011523160[4] = 0; - out_6612720509011523160[5] = 0; - out_6612720509011523160[6] = 1; - out_6612720509011523160[7] = 0; - out_6612720509011523160[8] = 0; - out_6612720509011523160[9] = 0; - out_6612720509011523160[10] = 0; - out_6612720509011523160[11] = 0; - out_6612720509011523160[12] = 0; - out_6612720509011523160[13] = 0; - out_6612720509011523160[14] = 0; - out_6612720509011523160[15] = 0; - out_6612720509011523160[16] = 0; - out_6612720509011523160[17] = 0; - out_6612720509011523160[18] = 0; - out_6612720509011523160[19] = 0; - out_6612720509011523160[20] = 0; - out_6612720509011523160[21] = 0; - out_6612720509011523160[22] = 0; - out_6612720509011523160[23] = 0; - out_6612720509011523160[24] = 0; - out_6612720509011523160[25] = 1; - out_6612720509011523160[26] = 0; - out_6612720509011523160[27] = 0; - out_6612720509011523160[28] = 0; - out_6612720509011523160[29] = 0; - out_6612720509011523160[30] = 0; - out_6612720509011523160[31] = 0; - out_6612720509011523160[32] = 0; - out_6612720509011523160[33] = 0; - out_6612720509011523160[34] = 0; - out_6612720509011523160[35] = 0; - out_6612720509011523160[36] = 0; - out_6612720509011523160[37] = 0; - out_6612720509011523160[38] = 0; - out_6612720509011523160[39] = 0; - out_6612720509011523160[40] = 0; - out_6612720509011523160[41] = 0; - out_6612720509011523160[42] = 0; - out_6612720509011523160[43] = 0; - out_6612720509011523160[44] = 1; - out_6612720509011523160[45] = 0; - out_6612720509011523160[46] = 0; - out_6612720509011523160[47] = 0; - out_6612720509011523160[48] = 0; - out_6612720509011523160[49] = 0; - out_6612720509011523160[50] = 0; - out_6612720509011523160[51] = 0; - out_6612720509011523160[52] = 0; - out_6612720509011523160[53] = 0; +void H_14(double *state, double *unused, double *out_2867437603066865090) { + out_2867437603066865090[0] = 0; + out_2867437603066865090[1] = 0; + out_2867437603066865090[2] = 0; + out_2867437603066865090[3] = 0; + out_2867437603066865090[4] = 0; + out_2867437603066865090[5] = 0; + out_2867437603066865090[6] = 1; + out_2867437603066865090[7] = 0; + out_2867437603066865090[8] = 0; + out_2867437603066865090[9] = 0; + out_2867437603066865090[10] = 0; + out_2867437603066865090[11] = 0; + out_2867437603066865090[12] = 0; + out_2867437603066865090[13] = 0; + out_2867437603066865090[14] = 0; + out_2867437603066865090[15] = 0; + out_2867437603066865090[16] = 0; + out_2867437603066865090[17] = 0; + out_2867437603066865090[18] = 0; + out_2867437603066865090[19] = 0; + out_2867437603066865090[20] = 0; + out_2867437603066865090[21] = 0; + out_2867437603066865090[22] = 0; + out_2867437603066865090[23] = 0; + out_2867437603066865090[24] = 0; + out_2867437603066865090[25] = 1; + out_2867437603066865090[26] = 0; + out_2867437603066865090[27] = 0; + out_2867437603066865090[28] = 0; + out_2867437603066865090[29] = 0; + out_2867437603066865090[30] = 0; + out_2867437603066865090[31] = 0; + out_2867437603066865090[32] = 0; + out_2867437603066865090[33] = 0; + out_2867437603066865090[34] = 0; + out_2867437603066865090[35] = 0; + out_2867437603066865090[36] = 0; + out_2867437603066865090[37] = 0; + out_2867437603066865090[38] = 0; + out_2867437603066865090[39] = 0; + out_2867437603066865090[40] = 0; + out_2867437603066865090[41] = 0; + out_2867437603066865090[42] = 0; + out_2867437603066865090[43] = 0; + out_2867437603066865090[44] = 1; + out_2867437603066865090[45] = 0; + out_2867437603066865090[46] = 0; + out_2867437603066865090[47] = 0; + out_2867437603066865090[48] = 0; + out_2867437603066865090[49] = 0; + out_2867437603066865090[50] = 0; + out_2867437603066865090[51] = 0; + out_2867437603066865090[52] = 0; + out_2867437603066865090[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_7431505958311813382) { - err_fun(nom_x, delta_x, out_7431505958311813382); +void pose_err_fun(double *nom_x, double *delta_x, double *out_776419627085520882) { + err_fun(nom_x, delta_x, out_776419627085520882); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8551627000098797431) { - inv_err_fun(nom_x, true_x, out_8551627000098797431); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3246049781621128423) { + inv_err_fun(nom_x, true_x, out_3246049781621128423); } -void pose_H_mod_fun(double *state, double *out_4284093078770863471) { - H_mod_fun(state, out_4284093078770863471); +void pose_H_mod_fun(double *state, double *out_5710430290201935803) { + H_mod_fun(state, out_5710430290201935803); } -void pose_f_fun(double *state, double dt, double *out_6442140298881834415) { - f_fun(state, dt, out_6442140298881834415); +void pose_f_fun(double *state, double dt, double *out_5795859550853760244) { + f_fun(state, dt, out_5795859550853760244); } -void pose_F_fun(double *state, double dt, double *out_3934539972733810872) { - F_fun(state, dt, out_3934539972733810872); +void pose_F_fun(double *state, double dt, double *out_391118642873528758) { + F_fun(state, dt, out_391118642873528758); } -void pose_h_4(double *state, double *unused, double *out_9108176221739377223) { - h_4(state, unused, out_9108176221739377223); +void pose_h_4(double *state, double *unused, double *out_3587574498855600647) { + h_4(state, unused, out_3587574498855600647); } -void pose_H_4(double *state, double *unused, double *out_3529932076716150864) { - H_4(state, unused, out_3529932076716150864); +void pose_H_4(double *state, double *unused, double *out_1095803253272619439) { + H_4(state, unused, out_1095803253272619439); } -void pose_h_10(double *state, double *unused, double *out_7468804800035159097) { - h_10(state, unused, out_7468804800035159097); +void pose_h_10(double *state, double *unused, double *out_5054997698151726674) { + h_10(state, unused, out_5054997698151726674); } -void pose_H_10(double *state, double *unused, double *out_3178743347505224989) { - H_10(state, unused, out_3178743347505224989); +void pose_H_10(double *state, double *unused, double *out_4117080739741493196) { + H_10(state, unused, out_4117080739741493196); } -void pose_h_13(double *state, double *unused, double *out_2582510020496882256) { - h_13(state, unused, out_2582510020496882256); +void pose_h_13(double *state, double *unused, double *out_3693365734857647821) { + h_13(state, unused, out_3693365734857647821); } -void pose_H_13(double *state, double *unused, double *out_317658251383818063) { - H_13(state, unused, out_317658251383818063); +void pose_H_13(double *state, double *unused, double *out_6514827955044081490) { + H_13(state, unused, out_6514827955044081490); } -void pose_h_14(double *state, double *unused, double *out_7414566035535505034) { - h_14(state, unused, out_7414566035535505034); +void pose_h_14(double *state, double *unused, double *out_1461011669399451348) { + h_14(state, unused, out_1461011669399451348); } -void pose_H_14(double *state, double *unused, double *out_6612720509011523160) { - H_14(state, unused, out_6612720509011523160); +void pose_H_14(double *state, double *unused, double *out_2867437603066865090) { + H_14(state, unused, out_2867437603066865090); } 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 0f64b2bd7..3d415a9a6 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_7431505958311813382); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8551627000098797431); -void pose_H_mod_fun(double *state, double *out_4284093078770863471); -void pose_f_fun(double *state, double dt, double *out_6442140298881834415); -void pose_F_fun(double *state, double dt, double *out_3934539972733810872); -void pose_h_4(double *state, double *unused, double *out_9108176221739377223); -void pose_H_4(double *state, double *unused, double *out_3529932076716150864); -void pose_h_10(double *state, double *unused, double *out_7468804800035159097); -void pose_H_10(double *state, double *unused, double *out_3178743347505224989); -void pose_h_13(double *state, double *unused, double *out_2582510020496882256); -void pose_H_13(double *state, double *unused, double *out_317658251383818063); -void pose_h_14(double *state, double *unused, double *out_7414566035535505034); -void pose_H_14(double *state, double *unused, double *out_6612720509011523160); +void pose_err_fun(double *nom_x, double *delta_x, double *out_776419627085520882); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3246049781621128423); +void pose_H_mod_fun(double *state, double *out_5710430290201935803); +void pose_f_fun(double *state, double dt, double *out_5795859550853760244); +void pose_F_fun(double *state, double dt, double *out_391118642873528758); +void pose_h_4(double *state, double *unused, double *out_3587574498855600647); +void pose_H_4(double *state, double *unused, double *out_1095803253272619439); +void pose_h_10(double *state, double *unused, double *out_5054997698151726674); +void pose_H_10(double *state, double *unused, double *out_4117080739741493196); +void pose_h_13(double *state, double *unused, double *out_3693365734857647821); +void pose_H_13(double *state, double *unused, double *out_6514827955044081490); +void pose_h_14(double *state, double *unused, double *out_1461011669399451348); +void pose_H_14(double *state, double *unused, double *out_2867437603066865090); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 23a1a95f2..df0c5a07e 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 1f17edd2f..553e3e107 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 31617c51b..a93a8ec64 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 2623e1e5e..e91d5ce66 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index bcfa5d19e..5a1c32259 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ