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a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 09eb54a3f..10900ab2b 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-526f8e00-DEBUG"; +const uint8_t gitversion[19] = "DEV-50e1c1d3-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 19cf2c0d0..3d32134f0 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index a1b9b8be6..fa0b7fe89 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 0901f8b1c..fff9ecff6 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf 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and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index 33df5a6f8..abc7f6d51 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 20fa5fd5f..802927083 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 013cc721b..23a1c8855 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-526f8e00-DEBUG \ No newline at end of file +DEV-50e1c1d3-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index ebc7777ce..e100ee298 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_4175267327343220067) { - out_4175267327343220067[0] = delta_x[0] + nom_x[0]; - out_4175267327343220067[1] = delta_x[1] + nom_x[1]; - out_4175267327343220067[2] = delta_x[2] + nom_x[2]; - out_4175267327343220067[3] = delta_x[3] + nom_x[3]; - out_4175267327343220067[4] = delta_x[4] + nom_x[4]; - out_4175267327343220067[5] = delta_x[5] + nom_x[5]; - out_4175267327343220067[6] = delta_x[6] + nom_x[6]; - out_4175267327343220067[7] = delta_x[7] + nom_x[7]; - out_4175267327343220067[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3441370810429516799) { + out_3441370810429516799[0] = delta_x[0] + nom_x[0]; + out_3441370810429516799[1] = delta_x[1] + nom_x[1]; + out_3441370810429516799[2] = delta_x[2] + nom_x[2]; + out_3441370810429516799[3] = delta_x[3] + nom_x[3]; + out_3441370810429516799[4] = delta_x[4] + nom_x[4]; + out_3441370810429516799[5] = delta_x[5] + nom_x[5]; + out_3441370810429516799[6] = delta_x[6] + nom_x[6]; + out_3441370810429516799[7] = delta_x[7] + nom_x[7]; + out_3441370810429516799[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8001717605441520298) { - out_8001717605441520298[0] = -nom_x[0] + true_x[0]; - out_8001717605441520298[1] = -nom_x[1] + true_x[1]; - out_8001717605441520298[2] = -nom_x[2] + true_x[2]; - out_8001717605441520298[3] = -nom_x[3] + true_x[3]; - out_8001717605441520298[4] = -nom_x[4] + true_x[4]; - out_8001717605441520298[5] = -nom_x[5] + true_x[5]; - out_8001717605441520298[6] = -nom_x[6] + true_x[6]; - out_8001717605441520298[7] = -nom_x[7] + true_x[7]; - out_8001717605441520298[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1747596067924150076) { + out_1747596067924150076[0] = -nom_x[0] + true_x[0]; + out_1747596067924150076[1] = -nom_x[1] + true_x[1]; + out_1747596067924150076[2] = -nom_x[2] + true_x[2]; + out_1747596067924150076[3] = -nom_x[3] + true_x[3]; + out_1747596067924150076[4] = -nom_x[4] + true_x[4]; + out_1747596067924150076[5] = -nom_x[5] + true_x[5]; + out_1747596067924150076[6] = -nom_x[6] + true_x[6]; + out_1747596067924150076[7] = -nom_x[7] + true_x[7]; + out_1747596067924150076[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7971983971871194008) { - out_7971983971871194008[0] = 1.0; - out_7971983971871194008[1] = 0.0; - out_7971983971871194008[2] = 0.0; - out_7971983971871194008[3] = 0.0; - out_7971983971871194008[4] = 0.0; - out_7971983971871194008[5] = 0.0; - out_7971983971871194008[6] = 0.0; - out_7971983971871194008[7] = 0.0; - out_7971983971871194008[8] = 0.0; - out_7971983971871194008[9] = 0.0; - out_7971983971871194008[10] = 1.0; - out_7971983971871194008[11] = 0.0; - out_7971983971871194008[12] = 0.0; - out_7971983971871194008[13] = 0.0; - out_7971983971871194008[14] = 0.0; - out_7971983971871194008[15] = 0.0; - out_7971983971871194008[16] = 0.0; - out_7971983971871194008[17] = 0.0; - out_7971983971871194008[18] = 0.0; - out_7971983971871194008[19] = 0.0; - out_7971983971871194008[20] = 1.0; - out_7971983971871194008[21] = 0.0; - out_7971983971871194008[22] = 0.0; - out_7971983971871194008[23] = 0.0; - out_7971983971871194008[24] = 0.0; - out_7971983971871194008[25] = 0.0; - out_7971983971871194008[26] = 0.0; - out_7971983971871194008[27] = 0.0; - out_7971983971871194008[28] = 0.0; - out_7971983971871194008[29] = 0.0; - out_7971983971871194008[30] = 1.0; - out_7971983971871194008[31] = 0.0; - out_7971983971871194008[32] = 0.0; - out_7971983971871194008[33] = 0.0; - out_7971983971871194008[34] = 0.0; - out_7971983971871194008[35] = 0.0; - out_7971983971871194008[36] = 0.0; - out_7971983971871194008[37] = 0.0; - out_7971983971871194008[38] = 0.0; - out_7971983971871194008[39] = 0.0; - out_7971983971871194008[40] = 1.0; - out_7971983971871194008[41] = 0.0; - out_7971983971871194008[42] = 0.0; - out_7971983971871194008[43] = 0.0; - out_7971983971871194008[44] = 0.0; - out_7971983971871194008[45] = 0.0; - out_7971983971871194008[46] = 0.0; - out_7971983971871194008[47] = 0.0; - out_7971983971871194008[48] = 0.0; - out_7971983971871194008[49] = 0.0; - out_7971983971871194008[50] = 1.0; - out_7971983971871194008[51] = 0.0; - out_7971983971871194008[52] = 0.0; - out_7971983971871194008[53] = 0.0; - out_7971983971871194008[54] = 0.0; - out_7971983971871194008[55] = 0.0; - out_7971983971871194008[56] = 0.0; - out_7971983971871194008[57] = 0.0; - out_7971983971871194008[58] = 0.0; - out_7971983971871194008[59] = 0.0; - out_7971983971871194008[60] = 1.0; - out_7971983971871194008[61] = 0.0; - out_7971983971871194008[62] = 0.0; - out_7971983971871194008[63] = 0.0; - out_7971983971871194008[64] = 0.0; - out_7971983971871194008[65] = 0.0; - out_7971983971871194008[66] = 0.0; - out_7971983971871194008[67] = 0.0; - out_7971983971871194008[68] = 0.0; - out_7971983971871194008[69] = 0.0; - out_7971983971871194008[70] = 1.0; - out_7971983971871194008[71] = 0.0; - out_7971983971871194008[72] = 0.0; - out_7971983971871194008[73] = 0.0; - out_7971983971871194008[74] = 0.0; - out_7971983971871194008[75] = 0.0; - out_7971983971871194008[76] = 0.0; - out_7971983971871194008[77] = 0.0; - out_7971983971871194008[78] = 0.0; - out_7971983971871194008[79] = 0.0; - out_7971983971871194008[80] = 1.0; +void H_mod_fun(double *state, double *out_5211544030531521198) { + out_5211544030531521198[0] = 1.0; + out_5211544030531521198[1] = 0.0; + out_5211544030531521198[2] = 0.0; + out_5211544030531521198[3] = 0.0; + out_5211544030531521198[4] = 0.0; + out_5211544030531521198[5] = 0.0; + out_5211544030531521198[6] = 0.0; + out_5211544030531521198[7] = 0.0; + out_5211544030531521198[8] = 0.0; + out_5211544030531521198[9] = 0.0; + out_5211544030531521198[10] = 1.0; + out_5211544030531521198[11] = 0.0; + out_5211544030531521198[12] = 0.0; + out_5211544030531521198[13] = 0.0; + out_5211544030531521198[14] = 0.0; + out_5211544030531521198[15] = 0.0; + out_5211544030531521198[16] = 0.0; + out_5211544030531521198[17] = 0.0; + out_5211544030531521198[18] = 0.0; + out_5211544030531521198[19] = 0.0; + out_5211544030531521198[20] = 1.0; + out_5211544030531521198[21] = 0.0; + out_5211544030531521198[22] = 0.0; + out_5211544030531521198[23] = 0.0; + out_5211544030531521198[24] = 0.0; + out_5211544030531521198[25] = 0.0; + out_5211544030531521198[26] = 0.0; + out_5211544030531521198[27] = 0.0; + out_5211544030531521198[28] = 0.0; + out_5211544030531521198[29] = 0.0; + out_5211544030531521198[30] = 1.0; + out_5211544030531521198[31] = 0.0; + out_5211544030531521198[32] = 0.0; + out_5211544030531521198[33] = 0.0; + out_5211544030531521198[34] = 0.0; + out_5211544030531521198[35] = 0.0; + out_5211544030531521198[36] = 0.0; + out_5211544030531521198[37] = 0.0; + out_5211544030531521198[38] = 0.0; + out_5211544030531521198[39] = 0.0; + out_5211544030531521198[40] = 1.0; + out_5211544030531521198[41] = 0.0; + out_5211544030531521198[42] = 0.0; + out_5211544030531521198[43] = 0.0; + out_5211544030531521198[44] = 0.0; + out_5211544030531521198[45] = 0.0; + out_5211544030531521198[46] = 0.0; + out_5211544030531521198[47] = 0.0; + out_5211544030531521198[48] = 0.0; + out_5211544030531521198[49] = 0.0; + out_5211544030531521198[50] = 1.0; + out_5211544030531521198[51] = 0.0; + out_5211544030531521198[52] = 0.0; + out_5211544030531521198[53] = 0.0; + out_5211544030531521198[54] = 0.0; + out_5211544030531521198[55] = 0.0; + out_5211544030531521198[56] = 0.0; + out_5211544030531521198[57] = 0.0; + out_5211544030531521198[58] = 0.0; + out_5211544030531521198[59] = 0.0; + out_5211544030531521198[60] = 1.0; + out_5211544030531521198[61] = 0.0; + out_5211544030531521198[62] = 0.0; + out_5211544030531521198[63] = 0.0; + out_5211544030531521198[64] = 0.0; + out_5211544030531521198[65] = 0.0; + out_5211544030531521198[66] = 0.0; + out_5211544030531521198[67] = 0.0; + out_5211544030531521198[68] = 0.0; + out_5211544030531521198[69] = 0.0; + out_5211544030531521198[70] = 1.0; + out_5211544030531521198[71] = 0.0; + out_5211544030531521198[72] = 0.0; + out_5211544030531521198[73] = 0.0; + out_5211544030531521198[74] = 0.0; + out_5211544030531521198[75] = 0.0; + out_5211544030531521198[76] = 0.0; + out_5211544030531521198[77] = 0.0; + out_5211544030531521198[78] = 0.0; + out_5211544030531521198[79] = 0.0; + out_5211544030531521198[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1960663178760025601) { - out_1960663178760025601[0] = state[0]; - out_1960663178760025601[1] = state[1]; - out_1960663178760025601[2] = state[2]; - out_1960663178760025601[3] = state[3]; - out_1960663178760025601[4] = state[4]; - out_1960663178760025601[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_1960663178760025601[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_1960663178760025601[7] = state[7]; - out_1960663178760025601[8] = state[8]; +void f_fun(double *state, double dt, double *out_3273966994803944680) { + out_3273966994803944680[0] = state[0]; + out_3273966994803944680[1] = state[1]; + out_3273966994803944680[2] = state[2]; + out_3273966994803944680[3] = state[3]; + out_3273966994803944680[4] = state[4]; + out_3273966994803944680[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_3273966994803944680[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_3273966994803944680[7] = state[7]; + out_3273966994803944680[8] = state[8]; } -void F_fun(double *state, double dt, double *out_893498683805935900) { - out_893498683805935900[0] = 1; - out_893498683805935900[1] = 0; - out_893498683805935900[2] = 0; - out_893498683805935900[3] = 0; - out_893498683805935900[4] = 0; - out_893498683805935900[5] = 0; - out_893498683805935900[6] = 0; - out_893498683805935900[7] = 0; - out_893498683805935900[8] = 0; - out_893498683805935900[9] = 0; - out_893498683805935900[10] = 1; - out_893498683805935900[11] = 0; - out_893498683805935900[12] = 0; - out_893498683805935900[13] = 0; - out_893498683805935900[14] = 0; - out_893498683805935900[15] = 0; - out_893498683805935900[16] = 0; - out_893498683805935900[17] = 0; - out_893498683805935900[18] = 0; - out_893498683805935900[19] = 0; - out_893498683805935900[20] = 1; - out_893498683805935900[21] = 0; - out_893498683805935900[22] = 0; - out_893498683805935900[23] = 0; - out_893498683805935900[24] = 0; - out_893498683805935900[25] = 0; - out_893498683805935900[26] = 0; - out_893498683805935900[27] = 0; - out_893498683805935900[28] = 0; - out_893498683805935900[29] = 0; - out_893498683805935900[30] = 1; - out_893498683805935900[31] = 0; - out_893498683805935900[32] = 0; - out_893498683805935900[33] = 0; - out_893498683805935900[34] = 0; - out_893498683805935900[35] = 0; - out_893498683805935900[36] = 0; - out_893498683805935900[37] = 0; - out_893498683805935900[38] = 0; - out_893498683805935900[39] = 0; - out_893498683805935900[40] = 1; - out_893498683805935900[41] = 0; - out_893498683805935900[42] = 0; - out_893498683805935900[43] = 0; - out_893498683805935900[44] = 0; - out_893498683805935900[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_893498683805935900[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_893498683805935900[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_893498683805935900[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_893498683805935900[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_893498683805935900[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_893498683805935900[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_893498683805935900[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_893498683805935900[53] = -9.8100000000000005*dt; - out_893498683805935900[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_893498683805935900[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_893498683805935900[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_893498683805935900[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_893498683805935900[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_893498683805935900[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_893498683805935900[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_893498683805935900[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_893498683805935900[62] = 0; - out_893498683805935900[63] = 0; - out_893498683805935900[64] = 0; - out_893498683805935900[65] = 0; - out_893498683805935900[66] = 0; - out_893498683805935900[67] = 0; - out_893498683805935900[68] = 0; - out_893498683805935900[69] = 0; - out_893498683805935900[70] = 1; - out_893498683805935900[71] = 0; - out_893498683805935900[72] = 0; - out_893498683805935900[73] = 0; - out_893498683805935900[74] = 0; - out_893498683805935900[75] = 0; - out_893498683805935900[76] = 0; - out_893498683805935900[77] = 0; - out_893498683805935900[78] = 0; - out_893498683805935900[79] = 0; - out_893498683805935900[80] = 1; +void F_fun(double *state, double dt, double *out_3584498956988590310) { + out_3584498956988590310[0] = 1; + out_3584498956988590310[1] = 0; + out_3584498956988590310[2] = 0; + out_3584498956988590310[3] = 0; + out_3584498956988590310[4] = 0; + out_3584498956988590310[5] = 0; + out_3584498956988590310[6] = 0; + out_3584498956988590310[7] = 0; + out_3584498956988590310[8] = 0; + out_3584498956988590310[9] = 0; + out_3584498956988590310[10] = 1; + out_3584498956988590310[11] = 0; + out_3584498956988590310[12] = 0; + out_3584498956988590310[13] = 0; + out_3584498956988590310[14] = 0; + out_3584498956988590310[15] = 0; + out_3584498956988590310[16] = 0; + out_3584498956988590310[17] = 0; + out_3584498956988590310[18] = 0; + out_3584498956988590310[19] = 0; + out_3584498956988590310[20] = 1; + out_3584498956988590310[21] = 0; + out_3584498956988590310[22] = 0; + out_3584498956988590310[23] = 0; + out_3584498956988590310[24] = 0; + out_3584498956988590310[25] = 0; + out_3584498956988590310[26] = 0; + out_3584498956988590310[27] = 0; + out_3584498956988590310[28] = 0; + out_3584498956988590310[29] = 0; + out_3584498956988590310[30] = 1; + out_3584498956988590310[31] = 0; + out_3584498956988590310[32] = 0; + out_3584498956988590310[33] = 0; + out_3584498956988590310[34] = 0; + out_3584498956988590310[35] = 0; + out_3584498956988590310[36] = 0; + out_3584498956988590310[37] = 0; + out_3584498956988590310[38] = 0; + out_3584498956988590310[39] = 0; + out_3584498956988590310[40] = 1; + out_3584498956988590310[41] = 0; + out_3584498956988590310[42] = 0; + out_3584498956988590310[43] = 0; + out_3584498956988590310[44] = 0; + out_3584498956988590310[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_3584498956988590310[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3584498956988590310[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3584498956988590310[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3584498956988590310[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_3584498956988590310[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3584498956988590310[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3584498956988590310[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3584498956988590310[53] = -9.8100000000000005*dt; + out_3584498956988590310[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_3584498956988590310[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3584498956988590310[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3584498956988590310[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3584498956988590310[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_3584498956988590310[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3584498956988590310[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_3584498956988590310[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3584498956988590310[62] = 0; + out_3584498956988590310[63] = 0; + out_3584498956988590310[64] = 0; + out_3584498956988590310[65] = 0; + out_3584498956988590310[66] = 0; + out_3584498956988590310[67] = 0; + out_3584498956988590310[68] = 0; + out_3584498956988590310[69] = 0; + out_3584498956988590310[70] = 1; + out_3584498956988590310[71] = 0; + out_3584498956988590310[72] = 0; + out_3584498956988590310[73] = 0; + out_3584498956988590310[74] = 0; + out_3584498956988590310[75] = 0; + out_3584498956988590310[76] = 0; + out_3584498956988590310[77] = 0; + out_3584498956988590310[78] = 0; + out_3584498956988590310[79] = 0; + out_3584498956988590310[80] = 1; } -void h_25(double *state, double *unused, double *out_3235092958161781685) { - out_3235092958161781685[0] = state[6]; +void h_25(double *state, double *unused, double *out_1500665077942884314) { + out_1500665077942884314[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4449003321881702331) { - out_4449003321881702331[0] = 0; - out_4449003321881702331[1] = 0; - out_4449003321881702331[2] = 0; - out_4449003321881702331[3] = 0; - out_4449003321881702331[4] = 0; - out_4449003321881702331[5] = 0; - out_4449003321881702331[6] = 1; - out_4449003321881702331[7] = 0; - out_4449003321881702331[8] = 0; +void H_25(double *state, double *unused, double *out_8734592669176886346) { + out_8734592669176886346[0] = 0; + out_8734592669176886346[1] = 0; + out_8734592669176886346[2] = 0; + out_8734592669176886346[3] = 0; + out_8734592669176886346[4] = 0; + out_8734592669176886346[5] = 0; + out_8734592669176886346[6] = 1; + out_8734592669176886346[7] = 0; + out_8734592669176886346[8] = 0; } -void h_24(double *state, double *unused, double *out_5426063249126145013) { - out_5426063249126145013[0] = state[4]; - out_5426063249126145013[1] = state[5]; +void h_24(double *state, double *unused, double *out_8867867868219610133) { + out_8867867868219610133[0] = state[4]; + out_8867867868219610133[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4845648626235561826) { - out_4845648626235561826[0] = 0; - out_4845648626235561826[1] = 0; - out_4845648626235561826[2] = 0; - out_4845648626235561826[3] = 0; - out_4845648626235561826[4] = 1; - out_4845648626235561826[5] = 0; - out_4845648626235561826[6] = 0; - out_4845648626235561826[7] = 0; - out_4845648626235561826[8] = 0; - out_4845648626235561826[9] = 0; - out_4845648626235561826[10] = 0; - out_4845648626235561826[11] = 0; - out_4845648626235561826[12] = 0; - out_4845648626235561826[13] = 0; - out_4845648626235561826[14] = 1; - out_4845648626235561826[15] = 0; - out_4845648626235561826[16] = 0; - out_4845648626235561826[17] = 0; +void H_24(double *state, double *unused, double *out_5176667070374563210) { + out_5176667070374563210[0] = 0; + out_5176667070374563210[1] = 0; + out_5176667070374563210[2] = 0; + out_5176667070374563210[3] = 0; + out_5176667070374563210[4] = 1; + out_5176667070374563210[5] = 0; + out_5176667070374563210[6] = 0; + out_5176667070374563210[7] = 0; + out_5176667070374563210[8] = 0; + out_5176667070374563210[9] = 0; + out_5176667070374563210[10] = 0; + out_5176667070374563210[11] = 0; + out_5176667070374563210[12] = 0; + out_5176667070374563210[13] = 0; + out_5176667070374563210[14] = 1; + out_5176667070374563210[15] = 0; + out_5176667070374563210[16] = 0; + out_5176667070374563210[17] = 0; } -void h_30(double *state, double *unused, double *out_9056203919707109802) { - out_9056203919707109802[0] = state[4]; +void h_30(double *state, double *unused, double *out_6184127634480483313) { + out_6184127634480483313[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1930670363374453704) { - out_1930670363374453704[0] = 0; - out_1930670363374453704[1] = 0; - out_1930670363374453704[2] = 0; - out_1930670363374453704[3] = 0; - out_1930670363374453704[4] = 1; - out_1930670363374453704[5] = 0; - out_1930670363374453704[6] = 0; - out_1930670363374453704[7] = 0; - out_1930670363374453704[8] = 0; +void H_30(double *state, double *unused, double *out_1817902327685269591) { + out_1817902327685269591[0] = 0; + out_1817902327685269591[1] = 0; + out_1817902327685269591[2] = 0; + out_1817902327685269591[3] = 0; + out_1817902327685269591[4] = 1; + out_1817902327685269591[5] = 0; + out_1817902327685269591[6] = 0; + out_1817902327685269591[7] = 0; + out_1817902327685269591[8] = 0; } -void h_26(double *state, double *unused, double *out_6243651816437256419) { - out_6243651816437256419[0] = state[7]; +void h_26(double *state, double *unused, double *out_3579722313671785662) { + out_3579722313671785662[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8190506640755758555) { - out_8190506640755758555[0] = 0; - out_8190506640755758555[1] = 0; - out_8190506640755758555[2] = 0; - out_8190506640755758555[3] = 0; - out_8190506640755758555[4] = 0; - out_8190506640755758555[5] = 0; - out_8190506640755758555[6] = 0; - out_8190506640755758555[7] = 1; - out_8190506640755758555[8] = 0; +void H_26(double *state, double *unused, double *out_5970648085658609046) { + out_5970648085658609046[0] = 0; + out_5970648085658609046[1] = 0; + out_5970648085658609046[2] = 0; + out_5970648085658609046[3] = 0; + out_5970648085658609046[4] = 0; + out_5970648085658609046[5] = 0; + out_5970648085658609046[6] = 0; + out_5970648085658609046[7] = 1; + out_5970648085658609046[8] = 0; } -void h_27(double *state, double *unused, double *out_3838408842838259202) { - out_3838408842838259202[0] = state[3]; +void h_27(double *state, double *unused, double *out_4755159644016162940) { + out_4755159644016162940[0] = state[3]; } -void H_27(double *state, double *unused, double *out_292923707809489513) { - out_292923707809489513[0] = 0; - out_292923707809489513[1] = 0; - out_292923707809489513[2] = 0; - out_292923707809489513[3] = 1; - out_292923707809489513[4] = 0; - out_292923707809489513[5] = 0; - out_292923707809489513[6] = 0; - out_292923707809489513[7] = 0; - out_292923707809489513[8] = 0; +void H_27(double *state, double *unused, double *out_3992665639485694502) { + out_3992665639485694502[0] = 0; + out_3992665639485694502[1] = 0; + out_3992665639485694502[2] = 0; + out_3992665639485694502[3] = 1; + out_3992665639485694502[4] = 0; + out_3992665639485694502[5] = 0; + out_3992665639485694502[6] = 0; + out_3992665639485694502[7] = 0; + out_3992665639485694502[8] = 0; } -void h_29(double *state, double *unused, double *out_259894455441112662) { - out_259894455441112662[0] = state[1]; +void h_29(double *state, double *unused, double *out_5051706952974846792) { + out_5051706952974846792[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1420439019060061520) { - out_1420439019060061520[0] = 0; - out_1420439019060061520[1] = 1; - out_1420439019060061520[2] = 0; - out_1420439019060061520[3] = 0; - out_1420439019060061520[4] = 0; - out_1420439019060061520[5] = 0; - out_1420439019060061520[6] = 0; - out_1420439019060061520[7] = 0; - out_1420439019060061520[8] = 0; +void H_29(double *state, double *unused, double *out_1307670983370877407) { + out_1307670983370877407[0] = 0; + out_1307670983370877407[1] = 1; + out_1307670983370877407[2] = 0; + out_1307670983370877407[3] = 0; + out_1307670983370877407[4] = 0; + out_1307670983370877407[5] = 0; + out_1307670983370877407[6] = 0; + out_1307670983370877407[7] = 0; + out_1307670983370877407[8] = 0; } -void h_28(double *state, double *unused, double *out_5143560329168581563) { - out_5143560329168581563[0] = state[0]; +void h_28(double *state, double *unused, double *out_2479630826403110806) { + out_2479630826403110806[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6502838036129592094) { - out_6502838036129592094[0] = 1; - out_6502838036129592094[1] = 0; - out_6502838036129592094[2] = 0; - out_6502838036129592094[3] = 0; - out_6502838036129592094[4] = 0; - out_6502838036129592094[5] = 0; - out_6502838036129592094[6] = 0; - out_6502838036129592094[7] = 0; - out_6502838036129592094[8] = 0; +void H_28(double *state, double *unused, double *out_6390070000440407981) { + out_6390070000440407981[0] = 1; + out_6390070000440407981[1] = 0; + out_6390070000440407981[2] = 0; + out_6390070000440407981[3] = 0; + out_6390070000440407981[4] = 0; + out_6390070000440407981[5] = 0; + out_6390070000440407981[6] = 0; + out_6390070000440407981[7] = 0; + out_6390070000440407981[8] = 0; } -void h_31(double *state, double *unused, double *out_2959898895877275796) { - out_2959898895877275796[0] = state[8]; +void h_31(double *state, double *unused, double *out_2361018398485617338) { + out_2361018398485617338[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4418357360004741903) { - out_4418357360004741903[0] = 0; - out_4418357360004741903[1] = 0; - out_4418357360004741903[2] = 0; - out_4418357360004741903[3] = 0; - out_4418357360004741903[4] = 0; - out_4418357360004741903[5] = 0; - out_4418357360004741903[6] = 0; - out_4418357360004741903[7] = 0; - out_4418357360004741903[8] = 1; +void H_31(double *state, double *unused, double *out_8703946707299925918) { + out_8703946707299925918[0] = 0; + out_8703946707299925918[1] = 0; + out_8703946707299925918[2] = 0; + out_8703946707299925918[3] = 0; + out_8703946707299925918[4] = 0; + out_8703946707299925918[5] = 0; + out_8703946707299925918[6] = 0; + out_8703946707299925918[7] = 0; + out_8703946707299925918[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_4175267327343220067) { - err_fun(nom_x, delta_x, out_4175267327343220067); +void car_err_fun(double *nom_x, double *delta_x, double *out_3441370810429516799) { + err_fun(nom_x, delta_x, out_3441370810429516799); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8001717605441520298) { - inv_err_fun(nom_x, true_x, out_8001717605441520298); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1747596067924150076) { + inv_err_fun(nom_x, true_x, out_1747596067924150076); } -void car_H_mod_fun(double *state, double *out_7971983971871194008) { - H_mod_fun(state, out_7971983971871194008); +void car_H_mod_fun(double *state, double *out_5211544030531521198) { + H_mod_fun(state, out_5211544030531521198); } -void car_f_fun(double *state, double dt, double *out_1960663178760025601) { - f_fun(state, dt, out_1960663178760025601); +void car_f_fun(double *state, double dt, double *out_3273966994803944680) { + f_fun(state, dt, out_3273966994803944680); } -void car_F_fun(double *state, double dt, double *out_893498683805935900) { - F_fun(state, dt, out_893498683805935900); +void car_F_fun(double *state, double dt, double *out_3584498956988590310) { + F_fun(state, dt, out_3584498956988590310); } -void car_h_25(double *state, double *unused, double *out_3235092958161781685) { - h_25(state, unused, out_3235092958161781685); +void car_h_25(double *state, double *unused, double *out_1500665077942884314) { + h_25(state, unused, out_1500665077942884314); } -void car_H_25(double *state, double *unused, double *out_4449003321881702331) { - H_25(state, unused, out_4449003321881702331); +void car_H_25(double *state, double *unused, double *out_8734592669176886346) { + H_25(state, unused, out_8734592669176886346); } -void car_h_24(double *state, double *unused, double *out_5426063249126145013) { - h_24(state, unused, out_5426063249126145013); +void car_h_24(double *state, double *unused, double *out_8867867868219610133) { + h_24(state, unused, out_8867867868219610133); } -void car_H_24(double *state, double *unused, double *out_4845648626235561826) { - H_24(state, unused, out_4845648626235561826); +void car_H_24(double *state, double *unused, double *out_5176667070374563210) { + H_24(state, unused, out_5176667070374563210); } -void car_h_30(double *state, double *unused, double *out_9056203919707109802) { - h_30(state, unused, out_9056203919707109802); +void car_h_30(double *state, double *unused, double *out_6184127634480483313) { + h_30(state, unused, out_6184127634480483313); } -void car_H_30(double *state, double *unused, double *out_1930670363374453704) { - H_30(state, unused, out_1930670363374453704); +void car_H_30(double *state, double *unused, double *out_1817902327685269591) { + H_30(state, unused, out_1817902327685269591); } -void car_h_26(double *state, double *unused, double *out_6243651816437256419) { - h_26(state, unused, out_6243651816437256419); +void car_h_26(double *state, double *unused, double *out_3579722313671785662) { + h_26(state, unused, out_3579722313671785662); } -void car_H_26(double *state, double *unused, double *out_8190506640755758555) { - H_26(state, unused, out_8190506640755758555); +void car_H_26(double *state, double *unused, double *out_5970648085658609046) { + H_26(state, unused, out_5970648085658609046); } -void car_h_27(double *state, double *unused, double *out_3838408842838259202) { - h_27(state, unused, out_3838408842838259202); +void car_h_27(double *state, double *unused, double *out_4755159644016162940) { + h_27(state, unused, out_4755159644016162940); } -void car_H_27(double *state, double *unused, double *out_292923707809489513) { - H_27(state, unused, out_292923707809489513); +void car_H_27(double *state, double *unused, double *out_3992665639485694502) { + H_27(state, unused, out_3992665639485694502); } -void car_h_29(double *state, double *unused, double *out_259894455441112662) { - h_29(state, unused, out_259894455441112662); +void car_h_29(double *state, double *unused, double *out_5051706952974846792) { + h_29(state, unused, out_5051706952974846792); } -void car_H_29(double *state, double *unused, double *out_1420439019060061520) { - H_29(state, unused, out_1420439019060061520); +void car_H_29(double *state, double *unused, double *out_1307670983370877407) { + H_29(state, unused, out_1307670983370877407); } -void car_h_28(double *state, double *unused, double *out_5143560329168581563) { - h_28(state, unused, out_5143560329168581563); +void car_h_28(double *state, double *unused, double *out_2479630826403110806) { + h_28(state, unused, out_2479630826403110806); } -void car_H_28(double *state, double *unused, double *out_6502838036129592094) { - H_28(state, unused, out_6502838036129592094); +void car_H_28(double *state, double *unused, double *out_6390070000440407981) { + H_28(state, unused, out_6390070000440407981); } -void car_h_31(double *state, double *unused, double *out_2959898895877275796) { - h_31(state, unused, out_2959898895877275796); +void car_h_31(double *state, double *unused, double *out_2361018398485617338) { + h_31(state, unused, out_2361018398485617338); } -void car_H_31(double *state, double *unused, double *out_4418357360004741903) { - H_31(state, unused, out_4418357360004741903); +void car_H_31(double *state, double *unused, double *out_8703946707299925918) { + H_31(state, unused, out_8703946707299925918); } 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 bebdb88ba..ffa0f7b99 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_4175267327343220067); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8001717605441520298); -void car_H_mod_fun(double *state, double *out_7971983971871194008); -void car_f_fun(double *state, double dt, double *out_1960663178760025601); -void car_F_fun(double *state, double dt, double *out_893498683805935900); -void car_h_25(double *state, double *unused, double *out_3235092958161781685); -void car_H_25(double *state, double *unused, double *out_4449003321881702331); -void car_h_24(double *state, double *unused, double *out_5426063249126145013); -void car_H_24(double *state, double *unused, double *out_4845648626235561826); -void car_h_30(double *state, double *unused, double *out_9056203919707109802); -void car_H_30(double *state, double *unused, double *out_1930670363374453704); -void car_h_26(double *state, double *unused, double *out_6243651816437256419); -void car_H_26(double *state, double *unused, double *out_8190506640755758555); -void car_h_27(double *state, double *unused, double *out_3838408842838259202); -void car_H_27(double *state, double *unused, double *out_292923707809489513); -void car_h_29(double *state, double *unused, double *out_259894455441112662); -void car_H_29(double *state, double *unused, double *out_1420439019060061520); -void car_h_28(double *state, double *unused, double *out_5143560329168581563); -void car_H_28(double *state, double *unused, double *out_6502838036129592094); -void car_h_31(double *state, double *unused, double *out_2959898895877275796); -void car_H_31(double *state, double *unused, double *out_4418357360004741903); +void car_err_fun(double *nom_x, double *delta_x, double *out_3441370810429516799); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1747596067924150076); +void car_H_mod_fun(double *state, double *out_5211544030531521198); +void car_f_fun(double *state, double dt, double *out_3273966994803944680); +void car_F_fun(double *state, double dt, double *out_3584498956988590310); +void car_h_25(double *state, double *unused, double *out_1500665077942884314); +void car_H_25(double *state, double *unused, double *out_8734592669176886346); +void car_h_24(double *state, double *unused, double *out_8867867868219610133); +void car_H_24(double *state, double *unused, double *out_5176667070374563210); +void car_h_30(double *state, double *unused, double *out_6184127634480483313); +void car_H_30(double *state, double *unused, double *out_1817902327685269591); +void car_h_26(double *state, double *unused, double *out_3579722313671785662); +void car_H_26(double *state, double *unused, double *out_5970648085658609046); +void car_h_27(double *state, double *unused, double *out_4755159644016162940); +void car_H_27(double *state, double *unused, double *out_3992665639485694502); +void car_h_29(double *state, double *unused, double *out_5051706952974846792); +void car_H_29(double *state, double *unused, double *out_1307670983370877407); +void car_h_28(double *state, double *unused, double *out_2479630826403110806); +void car_H_28(double *state, double *unused, double *out_6390070000440407981); +void car_h_31(double *state, double *unused, double *out_2361018398485617338); +void car_H_31(double *state, double *unused, double *out_8703946707299925918); 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 b9b421d90..4f8af96c2 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_2182435369834896236) { - out_2182435369834896236[0] = delta_x[0] + nom_x[0]; - out_2182435369834896236[1] = delta_x[1] + nom_x[1]; - out_2182435369834896236[2] = delta_x[2] + nom_x[2]; - out_2182435369834896236[3] = delta_x[3] + nom_x[3]; - out_2182435369834896236[4] = delta_x[4] + nom_x[4]; - out_2182435369834896236[5] = delta_x[5] + nom_x[5]; - out_2182435369834896236[6] = delta_x[6] + nom_x[6]; - out_2182435369834896236[7] = delta_x[7] + nom_x[7]; - out_2182435369834896236[8] = delta_x[8] + nom_x[8]; - out_2182435369834896236[9] = delta_x[9] + nom_x[9]; - out_2182435369834896236[10] = delta_x[10] + nom_x[10]; - out_2182435369834896236[11] = delta_x[11] + nom_x[11]; - out_2182435369834896236[12] = delta_x[12] + nom_x[12]; - out_2182435369834896236[13] = delta_x[13] + nom_x[13]; - out_2182435369834896236[14] = delta_x[14] + nom_x[14]; - out_2182435369834896236[15] = delta_x[15] + nom_x[15]; - out_2182435369834896236[16] = delta_x[16] + nom_x[16]; - out_2182435369834896236[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3059462324026594541) { + out_3059462324026594541[0] = delta_x[0] + nom_x[0]; + out_3059462324026594541[1] = delta_x[1] + nom_x[1]; + out_3059462324026594541[2] = delta_x[2] + nom_x[2]; + out_3059462324026594541[3] = delta_x[3] + nom_x[3]; + out_3059462324026594541[4] = delta_x[4] + nom_x[4]; + out_3059462324026594541[5] = delta_x[5] + nom_x[5]; + out_3059462324026594541[6] = delta_x[6] + nom_x[6]; + out_3059462324026594541[7] = delta_x[7] + nom_x[7]; + out_3059462324026594541[8] = delta_x[8] + nom_x[8]; + out_3059462324026594541[9] = delta_x[9] + nom_x[9]; + out_3059462324026594541[10] = delta_x[10] + nom_x[10]; + out_3059462324026594541[11] = delta_x[11] + nom_x[11]; + out_3059462324026594541[12] = delta_x[12] + nom_x[12]; + out_3059462324026594541[13] = delta_x[13] + nom_x[13]; + out_3059462324026594541[14] = delta_x[14] + nom_x[14]; + out_3059462324026594541[15] = delta_x[15] + nom_x[15]; + out_3059462324026594541[16] = delta_x[16] + nom_x[16]; + out_3059462324026594541[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2883166859334089197) { - out_2883166859334089197[0] = -nom_x[0] + true_x[0]; - out_2883166859334089197[1] = -nom_x[1] + true_x[1]; - out_2883166859334089197[2] = -nom_x[2] + true_x[2]; - out_2883166859334089197[3] = -nom_x[3] + true_x[3]; - out_2883166859334089197[4] = -nom_x[4] + true_x[4]; - out_2883166859334089197[5] = -nom_x[5] + true_x[5]; - out_2883166859334089197[6] = -nom_x[6] + true_x[6]; - out_2883166859334089197[7] = -nom_x[7] + true_x[7]; - out_2883166859334089197[8] = -nom_x[8] + true_x[8]; - out_2883166859334089197[9] = -nom_x[9] + true_x[9]; - out_2883166859334089197[10] = -nom_x[10] + true_x[10]; - out_2883166859334089197[11] = -nom_x[11] + true_x[11]; - out_2883166859334089197[12] = -nom_x[12] + true_x[12]; - out_2883166859334089197[13] = -nom_x[13] + true_x[13]; - out_2883166859334089197[14] = -nom_x[14] + true_x[14]; - out_2883166859334089197[15] = -nom_x[15] + true_x[15]; - out_2883166859334089197[16] = -nom_x[16] + true_x[16]; - out_2883166859334089197[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7293350812574481008) { + out_7293350812574481008[0] = -nom_x[0] + true_x[0]; + out_7293350812574481008[1] = -nom_x[1] + true_x[1]; + out_7293350812574481008[2] = -nom_x[2] + true_x[2]; + out_7293350812574481008[3] = -nom_x[3] + true_x[3]; + out_7293350812574481008[4] = -nom_x[4] + true_x[4]; + out_7293350812574481008[5] = -nom_x[5] + true_x[5]; + out_7293350812574481008[6] = -nom_x[6] + true_x[6]; + out_7293350812574481008[7] = -nom_x[7] + true_x[7]; + out_7293350812574481008[8] = -nom_x[8] + true_x[8]; + out_7293350812574481008[9] = -nom_x[9] + true_x[9]; + out_7293350812574481008[10] = -nom_x[10] + true_x[10]; + out_7293350812574481008[11] = -nom_x[11] + true_x[11]; + out_7293350812574481008[12] = -nom_x[12] + true_x[12]; + out_7293350812574481008[13] = -nom_x[13] + true_x[13]; + out_7293350812574481008[14] = -nom_x[14] + true_x[14]; + out_7293350812574481008[15] = -nom_x[15] + true_x[15]; + out_7293350812574481008[16] = -nom_x[16] + true_x[16]; + out_7293350812574481008[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_671491409411989589) { - out_671491409411989589[0] = 1.0; - out_671491409411989589[1] = 0.0; - out_671491409411989589[2] = 0.0; - out_671491409411989589[3] = 0.0; - out_671491409411989589[4] = 0.0; - out_671491409411989589[5] = 0.0; - out_671491409411989589[6] = 0.0; - out_671491409411989589[7] = 0.0; - out_671491409411989589[8] = 0.0; - out_671491409411989589[9] = 0.0; - out_671491409411989589[10] = 0.0; - out_671491409411989589[11] = 0.0; - out_671491409411989589[12] = 0.0; - out_671491409411989589[13] = 0.0; - out_671491409411989589[14] = 0.0; - out_671491409411989589[15] = 0.0; - out_671491409411989589[16] = 0.0; - out_671491409411989589[17] = 0.0; - out_671491409411989589[18] = 0.0; - out_671491409411989589[19] = 1.0; - out_671491409411989589[20] = 0.0; - out_671491409411989589[21] = 0.0; - out_671491409411989589[22] = 0.0; - out_671491409411989589[23] = 0.0; - out_671491409411989589[24] = 0.0; - out_671491409411989589[25] = 0.0; - out_671491409411989589[26] = 0.0; - out_671491409411989589[27] = 0.0; - out_671491409411989589[28] = 0.0; - out_671491409411989589[29] = 0.0; - out_671491409411989589[30] = 0.0; - out_671491409411989589[31] = 0.0; - out_671491409411989589[32] = 0.0; - out_671491409411989589[33] = 0.0; - out_671491409411989589[34] = 0.0; - out_671491409411989589[35] = 0.0; - out_671491409411989589[36] = 0.0; - out_671491409411989589[37] = 0.0; - out_671491409411989589[38] = 1.0; - out_671491409411989589[39] = 0.0; - out_671491409411989589[40] = 0.0; - out_671491409411989589[41] = 0.0; - out_671491409411989589[42] = 0.0; - out_671491409411989589[43] = 0.0; - out_671491409411989589[44] = 0.0; - out_671491409411989589[45] = 0.0; - out_671491409411989589[46] = 0.0; - out_671491409411989589[47] = 0.0; - out_671491409411989589[48] = 0.0; - out_671491409411989589[49] = 0.0; - out_671491409411989589[50] = 0.0; - out_671491409411989589[51] = 0.0; - out_671491409411989589[52] = 0.0; - out_671491409411989589[53] = 0.0; - out_671491409411989589[54] = 0.0; - out_671491409411989589[55] = 0.0; - out_671491409411989589[56] = 0.0; - out_671491409411989589[57] = 1.0; - out_671491409411989589[58] = 0.0; - out_671491409411989589[59] = 0.0; - out_671491409411989589[60] = 0.0; - out_671491409411989589[61] = 0.0; - out_671491409411989589[62] = 0.0; - out_671491409411989589[63] = 0.0; - out_671491409411989589[64] = 0.0; - out_671491409411989589[65] = 0.0; - out_671491409411989589[66] = 0.0; - out_671491409411989589[67] = 0.0; - out_671491409411989589[68] = 0.0; - out_671491409411989589[69] = 0.0; - out_671491409411989589[70] = 0.0; - out_671491409411989589[71] = 0.0; - out_671491409411989589[72] = 0.0; - out_671491409411989589[73] = 0.0; - out_671491409411989589[74] = 0.0; - out_671491409411989589[75] = 0.0; - out_671491409411989589[76] = 1.0; - out_671491409411989589[77] = 0.0; - out_671491409411989589[78] = 0.0; - out_671491409411989589[79] = 0.0; - out_671491409411989589[80] = 0.0; - out_671491409411989589[81] = 0.0; - out_671491409411989589[82] = 0.0; - out_671491409411989589[83] = 0.0; - out_671491409411989589[84] = 0.0; - out_671491409411989589[85] = 0.0; - out_671491409411989589[86] = 0.0; - out_671491409411989589[87] = 0.0; - out_671491409411989589[88] = 0.0; - out_671491409411989589[89] = 0.0; - out_671491409411989589[90] = 0.0; - out_671491409411989589[91] = 0.0; - out_671491409411989589[92] = 0.0; - out_671491409411989589[93] = 0.0; - out_671491409411989589[94] = 0.0; - out_671491409411989589[95] = 1.0; - out_671491409411989589[96] = 0.0; - out_671491409411989589[97] = 0.0; - out_671491409411989589[98] = 0.0; - out_671491409411989589[99] = 0.0; - out_671491409411989589[100] = 0.0; - out_671491409411989589[101] = 0.0; - out_671491409411989589[102] = 0.0; - out_671491409411989589[103] = 0.0; - out_671491409411989589[104] = 0.0; - out_671491409411989589[105] = 0.0; - out_671491409411989589[106] = 0.0; - out_671491409411989589[107] = 0.0; - out_671491409411989589[108] = 0.0; - out_671491409411989589[109] = 0.0; - out_671491409411989589[110] = 0.0; - out_671491409411989589[111] = 0.0; - out_671491409411989589[112] = 0.0; - out_671491409411989589[113] = 0.0; - out_671491409411989589[114] = 1.0; - out_671491409411989589[115] = 0.0; - out_671491409411989589[116] = 0.0; - out_671491409411989589[117] = 0.0; - out_671491409411989589[118] = 0.0; - out_671491409411989589[119] = 0.0; - out_671491409411989589[120] = 0.0; - out_671491409411989589[121] = 0.0; - out_671491409411989589[122] = 0.0; - out_671491409411989589[123] = 0.0; - out_671491409411989589[124] = 0.0; - out_671491409411989589[125] = 0.0; - out_671491409411989589[126] = 0.0; - out_671491409411989589[127] = 0.0; - out_671491409411989589[128] = 0.0; - out_671491409411989589[129] = 0.0; - out_671491409411989589[130] = 0.0; - out_671491409411989589[131] = 0.0; - out_671491409411989589[132] = 0.0; - out_671491409411989589[133] = 1.0; - out_671491409411989589[134] = 0.0; - out_671491409411989589[135] = 0.0; - out_671491409411989589[136] = 0.0; - out_671491409411989589[137] = 0.0; - out_671491409411989589[138] = 0.0; - out_671491409411989589[139] = 0.0; - out_671491409411989589[140] = 0.0; - out_671491409411989589[141] = 0.0; - out_671491409411989589[142] = 0.0; - out_671491409411989589[143] = 0.0; - out_671491409411989589[144] = 0.0; - out_671491409411989589[145] = 0.0; - out_671491409411989589[146] = 0.0; - out_671491409411989589[147] = 0.0; - out_671491409411989589[148] = 0.0; - out_671491409411989589[149] = 0.0; - out_671491409411989589[150] = 0.0; - out_671491409411989589[151] = 0.0; - out_671491409411989589[152] = 1.0; - out_671491409411989589[153] = 0.0; - out_671491409411989589[154] = 0.0; - out_671491409411989589[155] = 0.0; - out_671491409411989589[156] = 0.0; - out_671491409411989589[157] = 0.0; - out_671491409411989589[158] = 0.0; - out_671491409411989589[159] = 0.0; - out_671491409411989589[160] = 0.0; - out_671491409411989589[161] = 0.0; - out_671491409411989589[162] = 0.0; - out_671491409411989589[163] = 0.0; - out_671491409411989589[164] = 0.0; - out_671491409411989589[165] = 0.0; - out_671491409411989589[166] = 0.0; - out_671491409411989589[167] = 0.0; - out_671491409411989589[168] = 0.0; - out_671491409411989589[169] = 0.0; - out_671491409411989589[170] = 0.0; - out_671491409411989589[171] = 1.0; - out_671491409411989589[172] = 0.0; - out_671491409411989589[173] = 0.0; - out_671491409411989589[174] = 0.0; - out_671491409411989589[175] = 0.0; - out_671491409411989589[176] = 0.0; - out_671491409411989589[177] = 0.0; - out_671491409411989589[178] = 0.0; - out_671491409411989589[179] = 0.0; - out_671491409411989589[180] = 0.0; - out_671491409411989589[181] = 0.0; - out_671491409411989589[182] = 0.0; - out_671491409411989589[183] = 0.0; - out_671491409411989589[184] = 0.0; - out_671491409411989589[185] = 0.0; - out_671491409411989589[186] = 0.0; - out_671491409411989589[187] = 0.0; - out_671491409411989589[188] = 0.0; - out_671491409411989589[189] = 0.0; - out_671491409411989589[190] = 1.0; - out_671491409411989589[191] = 0.0; - out_671491409411989589[192] = 0.0; - out_671491409411989589[193] = 0.0; - out_671491409411989589[194] = 0.0; - out_671491409411989589[195] = 0.0; - out_671491409411989589[196] = 0.0; - out_671491409411989589[197] = 0.0; - out_671491409411989589[198] = 0.0; - out_671491409411989589[199] = 0.0; - out_671491409411989589[200] = 0.0; - out_671491409411989589[201] = 0.0; - out_671491409411989589[202] = 0.0; - out_671491409411989589[203] = 0.0; - out_671491409411989589[204] = 0.0; - out_671491409411989589[205] = 0.0; - out_671491409411989589[206] = 0.0; - out_671491409411989589[207] = 0.0; - out_671491409411989589[208] = 0.0; - out_671491409411989589[209] = 1.0; - out_671491409411989589[210] = 0.0; - out_671491409411989589[211] = 0.0; - out_671491409411989589[212] = 0.0; - out_671491409411989589[213] = 0.0; - out_671491409411989589[214] = 0.0; - out_671491409411989589[215] = 0.0; - out_671491409411989589[216] = 0.0; - out_671491409411989589[217] = 0.0; - out_671491409411989589[218] = 0.0; - out_671491409411989589[219] = 0.0; - out_671491409411989589[220] = 0.0; - out_671491409411989589[221] = 0.0; - out_671491409411989589[222] = 0.0; - out_671491409411989589[223] = 0.0; - out_671491409411989589[224] = 0.0; - out_671491409411989589[225] = 0.0; - out_671491409411989589[226] = 0.0; - out_671491409411989589[227] = 0.0; - out_671491409411989589[228] = 1.0; - out_671491409411989589[229] = 0.0; - out_671491409411989589[230] = 0.0; - out_671491409411989589[231] = 0.0; - out_671491409411989589[232] = 0.0; - out_671491409411989589[233] = 0.0; - out_671491409411989589[234] = 0.0; - out_671491409411989589[235] = 0.0; - out_671491409411989589[236] = 0.0; - out_671491409411989589[237] = 0.0; - out_671491409411989589[238] = 0.0; - out_671491409411989589[239] = 0.0; - out_671491409411989589[240] = 0.0; - out_671491409411989589[241] = 0.0; - out_671491409411989589[242] = 0.0; - out_671491409411989589[243] = 0.0; - out_671491409411989589[244] = 0.0; - out_671491409411989589[245] = 0.0; - out_671491409411989589[246] = 0.0; - out_671491409411989589[247] = 1.0; - out_671491409411989589[248] = 0.0; - out_671491409411989589[249] = 0.0; - out_671491409411989589[250] = 0.0; - out_671491409411989589[251] = 0.0; - out_671491409411989589[252] = 0.0; - out_671491409411989589[253] = 0.0; - out_671491409411989589[254] = 0.0; - out_671491409411989589[255] = 0.0; - out_671491409411989589[256] = 0.0; - out_671491409411989589[257] = 0.0; - out_671491409411989589[258] = 0.0; - out_671491409411989589[259] = 0.0; - out_671491409411989589[260] = 0.0; - out_671491409411989589[261] = 0.0; - out_671491409411989589[262] = 0.0; - out_671491409411989589[263] = 0.0; - out_671491409411989589[264] = 0.0; - out_671491409411989589[265] = 0.0; - out_671491409411989589[266] = 1.0; - out_671491409411989589[267] = 0.0; - out_671491409411989589[268] = 0.0; - out_671491409411989589[269] = 0.0; - out_671491409411989589[270] = 0.0; - out_671491409411989589[271] = 0.0; - out_671491409411989589[272] = 0.0; - out_671491409411989589[273] = 0.0; - out_671491409411989589[274] = 0.0; - out_671491409411989589[275] = 0.0; - out_671491409411989589[276] = 0.0; - out_671491409411989589[277] = 0.0; - out_671491409411989589[278] = 0.0; - out_671491409411989589[279] = 0.0; - out_671491409411989589[280] = 0.0; - out_671491409411989589[281] = 0.0; - out_671491409411989589[282] = 0.0; - out_671491409411989589[283] = 0.0; - out_671491409411989589[284] = 0.0; - out_671491409411989589[285] = 1.0; - out_671491409411989589[286] = 0.0; - out_671491409411989589[287] = 0.0; - out_671491409411989589[288] = 0.0; - out_671491409411989589[289] = 0.0; - out_671491409411989589[290] = 0.0; - out_671491409411989589[291] = 0.0; - out_671491409411989589[292] = 0.0; - out_671491409411989589[293] = 0.0; - out_671491409411989589[294] = 0.0; - out_671491409411989589[295] = 0.0; - out_671491409411989589[296] = 0.0; - out_671491409411989589[297] = 0.0; - out_671491409411989589[298] = 0.0; - out_671491409411989589[299] = 0.0; - out_671491409411989589[300] = 0.0; - out_671491409411989589[301] = 0.0; - out_671491409411989589[302] = 0.0; - out_671491409411989589[303] = 0.0; - out_671491409411989589[304] = 1.0; - out_671491409411989589[305] = 0.0; - out_671491409411989589[306] = 0.0; - out_671491409411989589[307] = 0.0; - out_671491409411989589[308] = 0.0; - out_671491409411989589[309] = 0.0; - out_671491409411989589[310] = 0.0; - out_671491409411989589[311] = 0.0; - out_671491409411989589[312] = 0.0; - out_671491409411989589[313] = 0.0; - out_671491409411989589[314] = 0.0; - out_671491409411989589[315] = 0.0; - out_671491409411989589[316] = 0.0; - out_671491409411989589[317] = 0.0; - out_671491409411989589[318] = 0.0; - out_671491409411989589[319] = 0.0; - out_671491409411989589[320] = 0.0; - out_671491409411989589[321] = 0.0; - out_671491409411989589[322] = 0.0; - out_671491409411989589[323] = 1.0; +void H_mod_fun(double *state, double *out_1219845042234673490) { + out_1219845042234673490[0] = 1.0; + out_1219845042234673490[1] = 0.0; + out_1219845042234673490[2] = 0.0; + out_1219845042234673490[3] = 0.0; + out_1219845042234673490[4] = 0.0; + out_1219845042234673490[5] = 0.0; + out_1219845042234673490[6] = 0.0; + out_1219845042234673490[7] = 0.0; + out_1219845042234673490[8] = 0.0; + out_1219845042234673490[9] = 0.0; + out_1219845042234673490[10] = 0.0; + out_1219845042234673490[11] = 0.0; + out_1219845042234673490[12] = 0.0; + out_1219845042234673490[13] = 0.0; + out_1219845042234673490[14] = 0.0; + out_1219845042234673490[15] = 0.0; + out_1219845042234673490[16] = 0.0; + out_1219845042234673490[17] = 0.0; + out_1219845042234673490[18] = 0.0; + out_1219845042234673490[19] = 1.0; + out_1219845042234673490[20] = 0.0; + out_1219845042234673490[21] = 0.0; + out_1219845042234673490[22] = 0.0; + out_1219845042234673490[23] = 0.0; + out_1219845042234673490[24] = 0.0; + out_1219845042234673490[25] = 0.0; + out_1219845042234673490[26] = 0.0; + out_1219845042234673490[27] = 0.0; + out_1219845042234673490[28] = 0.0; + out_1219845042234673490[29] = 0.0; + out_1219845042234673490[30] = 0.0; + out_1219845042234673490[31] = 0.0; + out_1219845042234673490[32] = 0.0; + out_1219845042234673490[33] = 0.0; + out_1219845042234673490[34] = 0.0; + out_1219845042234673490[35] = 0.0; + out_1219845042234673490[36] = 0.0; + out_1219845042234673490[37] = 0.0; + out_1219845042234673490[38] = 1.0; + out_1219845042234673490[39] = 0.0; + out_1219845042234673490[40] = 0.0; + out_1219845042234673490[41] = 0.0; + out_1219845042234673490[42] = 0.0; + out_1219845042234673490[43] = 0.0; + out_1219845042234673490[44] = 0.0; + out_1219845042234673490[45] = 0.0; + out_1219845042234673490[46] = 0.0; + out_1219845042234673490[47] = 0.0; + out_1219845042234673490[48] = 0.0; + out_1219845042234673490[49] = 0.0; + out_1219845042234673490[50] = 0.0; + out_1219845042234673490[51] = 0.0; + out_1219845042234673490[52] = 0.0; + out_1219845042234673490[53] = 0.0; + out_1219845042234673490[54] = 0.0; + out_1219845042234673490[55] = 0.0; + out_1219845042234673490[56] = 0.0; + out_1219845042234673490[57] = 1.0; + out_1219845042234673490[58] = 0.0; + out_1219845042234673490[59] = 0.0; + out_1219845042234673490[60] = 0.0; + out_1219845042234673490[61] = 0.0; + out_1219845042234673490[62] = 0.0; + out_1219845042234673490[63] = 0.0; + out_1219845042234673490[64] = 0.0; + out_1219845042234673490[65] = 0.0; + out_1219845042234673490[66] = 0.0; + out_1219845042234673490[67] = 0.0; + out_1219845042234673490[68] = 0.0; + out_1219845042234673490[69] = 0.0; + out_1219845042234673490[70] = 0.0; + out_1219845042234673490[71] = 0.0; + out_1219845042234673490[72] = 0.0; + out_1219845042234673490[73] = 0.0; + out_1219845042234673490[74] = 0.0; + out_1219845042234673490[75] = 0.0; + out_1219845042234673490[76] = 1.0; + out_1219845042234673490[77] = 0.0; + out_1219845042234673490[78] = 0.0; + out_1219845042234673490[79] = 0.0; + out_1219845042234673490[80] = 0.0; + out_1219845042234673490[81] = 0.0; + out_1219845042234673490[82] = 0.0; + out_1219845042234673490[83] = 0.0; + out_1219845042234673490[84] = 0.0; + out_1219845042234673490[85] = 0.0; + out_1219845042234673490[86] = 0.0; + out_1219845042234673490[87] = 0.0; + out_1219845042234673490[88] = 0.0; + out_1219845042234673490[89] = 0.0; + out_1219845042234673490[90] = 0.0; + out_1219845042234673490[91] = 0.0; + out_1219845042234673490[92] = 0.0; + out_1219845042234673490[93] = 0.0; + out_1219845042234673490[94] = 0.0; + out_1219845042234673490[95] = 1.0; + out_1219845042234673490[96] = 0.0; + out_1219845042234673490[97] = 0.0; + out_1219845042234673490[98] = 0.0; + out_1219845042234673490[99] = 0.0; + out_1219845042234673490[100] = 0.0; + out_1219845042234673490[101] = 0.0; + out_1219845042234673490[102] = 0.0; + out_1219845042234673490[103] = 0.0; + out_1219845042234673490[104] = 0.0; + out_1219845042234673490[105] = 0.0; + out_1219845042234673490[106] = 0.0; + out_1219845042234673490[107] = 0.0; + out_1219845042234673490[108] = 0.0; + out_1219845042234673490[109] = 0.0; + out_1219845042234673490[110] = 0.0; + out_1219845042234673490[111] = 0.0; + out_1219845042234673490[112] = 0.0; + out_1219845042234673490[113] = 0.0; + out_1219845042234673490[114] = 1.0; + out_1219845042234673490[115] = 0.0; + out_1219845042234673490[116] = 0.0; + out_1219845042234673490[117] = 0.0; + out_1219845042234673490[118] = 0.0; + out_1219845042234673490[119] = 0.0; + out_1219845042234673490[120] = 0.0; + out_1219845042234673490[121] = 0.0; + out_1219845042234673490[122] = 0.0; + out_1219845042234673490[123] = 0.0; + out_1219845042234673490[124] = 0.0; + out_1219845042234673490[125] = 0.0; + out_1219845042234673490[126] = 0.0; + out_1219845042234673490[127] = 0.0; + out_1219845042234673490[128] = 0.0; + out_1219845042234673490[129] = 0.0; + out_1219845042234673490[130] = 0.0; + out_1219845042234673490[131] = 0.0; + out_1219845042234673490[132] = 0.0; + out_1219845042234673490[133] = 1.0; + out_1219845042234673490[134] = 0.0; + out_1219845042234673490[135] = 0.0; + out_1219845042234673490[136] = 0.0; + out_1219845042234673490[137] = 0.0; + out_1219845042234673490[138] = 0.0; + out_1219845042234673490[139] = 0.0; + out_1219845042234673490[140] = 0.0; + out_1219845042234673490[141] = 0.0; + out_1219845042234673490[142] = 0.0; + out_1219845042234673490[143] = 0.0; + out_1219845042234673490[144] = 0.0; + out_1219845042234673490[145] = 0.0; + out_1219845042234673490[146] = 0.0; + out_1219845042234673490[147] = 0.0; + out_1219845042234673490[148] = 0.0; + out_1219845042234673490[149] = 0.0; + out_1219845042234673490[150] = 0.0; + out_1219845042234673490[151] = 0.0; + out_1219845042234673490[152] = 1.0; + out_1219845042234673490[153] = 0.0; + out_1219845042234673490[154] = 0.0; + out_1219845042234673490[155] = 0.0; + out_1219845042234673490[156] = 0.0; + out_1219845042234673490[157] = 0.0; + out_1219845042234673490[158] = 0.0; + out_1219845042234673490[159] = 0.0; + out_1219845042234673490[160] = 0.0; + out_1219845042234673490[161] = 0.0; + out_1219845042234673490[162] = 0.0; + out_1219845042234673490[163] = 0.0; + out_1219845042234673490[164] = 0.0; + out_1219845042234673490[165] = 0.0; + out_1219845042234673490[166] = 0.0; + out_1219845042234673490[167] = 0.0; + out_1219845042234673490[168] = 0.0; + out_1219845042234673490[169] = 0.0; + out_1219845042234673490[170] = 0.0; + out_1219845042234673490[171] = 1.0; + out_1219845042234673490[172] = 0.0; + out_1219845042234673490[173] = 0.0; + out_1219845042234673490[174] = 0.0; + out_1219845042234673490[175] = 0.0; + out_1219845042234673490[176] = 0.0; + out_1219845042234673490[177] = 0.0; + out_1219845042234673490[178] = 0.0; + out_1219845042234673490[179] = 0.0; + out_1219845042234673490[180] = 0.0; + out_1219845042234673490[181] = 0.0; + out_1219845042234673490[182] = 0.0; + out_1219845042234673490[183] = 0.0; + out_1219845042234673490[184] = 0.0; + out_1219845042234673490[185] = 0.0; + out_1219845042234673490[186] = 0.0; + out_1219845042234673490[187] = 0.0; + out_1219845042234673490[188] = 0.0; + out_1219845042234673490[189] = 0.0; + out_1219845042234673490[190] = 1.0; + out_1219845042234673490[191] = 0.0; + out_1219845042234673490[192] = 0.0; + out_1219845042234673490[193] = 0.0; + out_1219845042234673490[194] = 0.0; + out_1219845042234673490[195] = 0.0; + out_1219845042234673490[196] = 0.0; + out_1219845042234673490[197] = 0.0; + out_1219845042234673490[198] = 0.0; + out_1219845042234673490[199] = 0.0; + out_1219845042234673490[200] = 0.0; + out_1219845042234673490[201] = 0.0; + out_1219845042234673490[202] = 0.0; + out_1219845042234673490[203] = 0.0; + out_1219845042234673490[204] = 0.0; + out_1219845042234673490[205] = 0.0; + out_1219845042234673490[206] = 0.0; + out_1219845042234673490[207] = 0.0; + out_1219845042234673490[208] = 0.0; + out_1219845042234673490[209] = 1.0; + out_1219845042234673490[210] = 0.0; + out_1219845042234673490[211] = 0.0; + out_1219845042234673490[212] = 0.0; + out_1219845042234673490[213] = 0.0; + out_1219845042234673490[214] = 0.0; + out_1219845042234673490[215] = 0.0; + out_1219845042234673490[216] = 0.0; + out_1219845042234673490[217] = 0.0; + out_1219845042234673490[218] = 0.0; + out_1219845042234673490[219] = 0.0; + out_1219845042234673490[220] = 0.0; + out_1219845042234673490[221] = 0.0; + out_1219845042234673490[222] = 0.0; + out_1219845042234673490[223] = 0.0; + out_1219845042234673490[224] = 0.0; + out_1219845042234673490[225] = 0.0; + out_1219845042234673490[226] = 0.0; + out_1219845042234673490[227] = 0.0; + out_1219845042234673490[228] = 1.0; + out_1219845042234673490[229] = 0.0; + out_1219845042234673490[230] = 0.0; + out_1219845042234673490[231] = 0.0; + out_1219845042234673490[232] = 0.0; + out_1219845042234673490[233] = 0.0; + out_1219845042234673490[234] = 0.0; + out_1219845042234673490[235] = 0.0; + out_1219845042234673490[236] = 0.0; + out_1219845042234673490[237] = 0.0; + out_1219845042234673490[238] = 0.0; + out_1219845042234673490[239] = 0.0; + out_1219845042234673490[240] = 0.0; + out_1219845042234673490[241] = 0.0; + out_1219845042234673490[242] = 0.0; + out_1219845042234673490[243] = 0.0; + out_1219845042234673490[244] = 0.0; + out_1219845042234673490[245] = 0.0; + out_1219845042234673490[246] = 0.0; + out_1219845042234673490[247] = 1.0; + out_1219845042234673490[248] = 0.0; + out_1219845042234673490[249] = 0.0; + out_1219845042234673490[250] = 0.0; + out_1219845042234673490[251] = 0.0; + out_1219845042234673490[252] = 0.0; + out_1219845042234673490[253] = 0.0; + out_1219845042234673490[254] = 0.0; + out_1219845042234673490[255] = 0.0; + out_1219845042234673490[256] = 0.0; + out_1219845042234673490[257] = 0.0; + out_1219845042234673490[258] = 0.0; + out_1219845042234673490[259] = 0.0; + out_1219845042234673490[260] = 0.0; + out_1219845042234673490[261] = 0.0; + out_1219845042234673490[262] = 0.0; + out_1219845042234673490[263] = 0.0; + out_1219845042234673490[264] = 0.0; + out_1219845042234673490[265] = 0.0; + out_1219845042234673490[266] = 1.0; + out_1219845042234673490[267] = 0.0; + out_1219845042234673490[268] = 0.0; + out_1219845042234673490[269] = 0.0; + out_1219845042234673490[270] = 0.0; + out_1219845042234673490[271] = 0.0; + out_1219845042234673490[272] = 0.0; + out_1219845042234673490[273] = 0.0; + out_1219845042234673490[274] = 0.0; + out_1219845042234673490[275] = 0.0; + out_1219845042234673490[276] = 0.0; + out_1219845042234673490[277] = 0.0; + out_1219845042234673490[278] = 0.0; + out_1219845042234673490[279] = 0.0; + out_1219845042234673490[280] = 0.0; + out_1219845042234673490[281] = 0.0; + out_1219845042234673490[282] = 0.0; + out_1219845042234673490[283] = 0.0; + out_1219845042234673490[284] = 0.0; + out_1219845042234673490[285] = 1.0; + out_1219845042234673490[286] = 0.0; + out_1219845042234673490[287] = 0.0; + out_1219845042234673490[288] = 0.0; + out_1219845042234673490[289] = 0.0; + out_1219845042234673490[290] = 0.0; + out_1219845042234673490[291] = 0.0; + out_1219845042234673490[292] = 0.0; + out_1219845042234673490[293] = 0.0; + out_1219845042234673490[294] = 0.0; + out_1219845042234673490[295] = 0.0; + out_1219845042234673490[296] = 0.0; + out_1219845042234673490[297] = 0.0; + out_1219845042234673490[298] = 0.0; + out_1219845042234673490[299] = 0.0; + out_1219845042234673490[300] = 0.0; + out_1219845042234673490[301] = 0.0; + out_1219845042234673490[302] = 0.0; + out_1219845042234673490[303] = 0.0; + out_1219845042234673490[304] = 1.0; + out_1219845042234673490[305] = 0.0; + out_1219845042234673490[306] = 0.0; + out_1219845042234673490[307] = 0.0; + out_1219845042234673490[308] = 0.0; + out_1219845042234673490[309] = 0.0; + out_1219845042234673490[310] = 0.0; + out_1219845042234673490[311] = 0.0; + out_1219845042234673490[312] = 0.0; + out_1219845042234673490[313] = 0.0; + out_1219845042234673490[314] = 0.0; + out_1219845042234673490[315] = 0.0; + out_1219845042234673490[316] = 0.0; + out_1219845042234673490[317] = 0.0; + out_1219845042234673490[318] = 0.0; + out_1219845042234673490[319] = 0.0; + out_1219845042234673490[320] = 0.0; + out_1219845042234673490[321] = 0.0; + out_1219845042234673490[322] = 0.0; + out_1219845042234673490[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7919031781502386377) { - out_7919031781502386377[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_7919031781502386377[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_7919031781502386377[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_7919031781502386377[3] = dt*state[12] + state[3]; - out_7919031781502386377[4] = dt*state[13] + state[4]; - out_7919031781502386377[5] = dt*state[14] + state[5]; - out_7919031781502386377[6] = state[6]; - out_7919031781502386377[7] = state[7]; - out_7919031781502386377[8] = state[8]; - out_7919031781502386377[9] = state[9]; - out_7919031781502386377[10] = state[10]; - out_7919031781502386377[11] = state[11]; - out_7919031781502386377[12] = state[12]; - out_7919031781502386377[13] = state[13]; - out_7919031781502386377[14] = state[14]; - out_7919031781502386377[15] = state[15]; - out_7919031781502386377[16] = state[16]; - out_7919031781502386377[17] = state[17]; +void f_fun(double *state, double dt, double *out_6142826586467809321) { + out_6142826586467809321[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_6142826586467809321[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_6142826586467809321[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_6142826586467809321[3] = dt*state[12] + state[3]; + out_6142826586467809321[4] = dt*state[13] + state[4]; + out_6142826586467809321[5] = dt*state[14] + state[5]; + out_6142826586467809321[6] = state[6]; + out_6142826586467809321[7] = state[7]; + out_6142826586467809321[8] = state[8]; + out_6142826586467809321[9] = state[9]; + out_6142826586467809321[10] = state[10]; + out_6142826586467809321[11] = state[11]; + out_6142826586467809321[12] = state[12]; + out_6142826586467809321[13] = state[13]; + out_6142826586467809321[14] = state[14]; + out_6142826586467809321[15] = state[15]; + out_6142826586467809321[16] = state[16]; + out_6142826586467809321[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7380360880106775220) { - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[2] = 0; - out_7380360880106775220[3] = 0; - out_7380360880106775220[4] = 0; - out_7380360880106775220[5] = 0; - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[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_7380360880106775220[9] = 0; - out_7380360880106775220[10] = 0; - out_7380360880106775220[11] = 0; - out_7380360880106775220[12] = 0; - out_7380360880106775220[13] = 0; - out_7380360880106775220[14] = 0; - out_7380360880106775220[15] = 0; - out_7380360880106775220[16] = 0; - out_7380360880106775220[17] = 0; - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[20] = 0; - out_7380360880106775220[21] = 0; - out_7380360880106775220[22] = 0; - out_7380360880106775220[23] = 0; - out_7380360880106775220[24] = 0; - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[27] = 0; - out_7380360880106775220[28] = 0; - out_7380360880106775220[29] = 0; - out_7380360880106775220[30] = 0; - out_7380360880106775220[31] = 0; - out_7380360880106775220[32] = 0; - out_7380360880106775220[33] = 0; - out_7380360880106775220[34] = 0; - out_7380360880106775220[35] = 0; - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[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_7380360880106775220[39] = 0; - out_7380360880106775220[40] = 0; - out_7380360880106775220[41] = 0; - out_7380360880106775220[42] = 0; - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[45] = 0; - out_7380360880106775220[46] = 0; - out_7380360880106775220[47] = 0; - out_7380360880106775220[48] = 0; - out_7380360880106775220[49] = 0; - out_7380360880106775220[50] = 0; - out_7380360880106775220[51] = 0; - out_7380360880106775220[52] = 0; - out_7380360880106775220[53] = 0; - out_7380360880106775220[54] = 0; - out_7380360880106775220[55] = 0; - out_7380360880106775220[56] = 0; - out_7380360880106775220[57] = 1; - out_7380360880106775220[58] = 0; - out_7380360880106775220[59] = 0; - out_7380360880106775220[60] = 0; - out_7380360880106775220[61] = 0; - out_7380360880106775220[62] = 0; - out_7380360880106775220[63] = 0; - out_7380360880106775220[64] = 0; - out_7380360880106775220[65] = 0; - out_7380360880106775220[66] = dt; - out_7380360880106775220[67] = 0; - out_7380360880106775220[68] = 0; - out_7380360880106775220[69] = 0; - out_7380360880106775220[70] = 0; - out_7380360880106775220[71] = 0; - out_7380360880106775220[72] = 0; - out_7380360880106775220[73] = 0; - out_7380360880106775220[74] = 0; - out_7380360880106775220[75] = 0; - out_7380360880106775220[76] = 1; - out_7380360880106775220[77] = 0; - out_7380360880106775220[78] = 0; - out_7380360880106775220[79] = 0; - out_7380360880106775220[80] = 0; - out_7380360880106775220[81] = 0; - out_7380360880106775220[82] = 0; - out_7380360880106775220[83] = 0; - out_7380360880106775220[84] = 0; - out_7380360880106775220[85] = dt; - out_7380360880106775220[86] = 0; - out_7380360880106775220[87] = 0; - out_7380360880106775220[88] = 0; - out_7380360880106775220[89] = 0; - out_7380360880106775220[90] = 0; - out_7380360880106775220[91] = 0; - out_7380360880106775220[92] = 0; - out_7380360880106775220[93] = 0; - out_7380360880106775220[94] = 0; - out_7380360880106775220[95] = 1; - out_7380360880106775220[96] = 0; - out_7380360880106775220[97] = 0; - out_7380360880106775220[98] = 0; - out_7380360880106775220[99] = 0; - out_7380360880106775220[100] = 0; - out_7380360880106775220[101] = 0; - out_7380360880106775220[102] = 0; - out_7380360880106775220[103] = 0; - out_7380360880106775220[104] = dt; - out_7380360880106775220[105] = 0; - out_7380360880106775220[106] = 0; - out_7380360880106775220[107] = 0; - out_7380360880106775220[108] = 0; - out_7380360880106775220[109] = 0; - out_7380360880106775220[110] = 0; - out_7380360880106775220[111] = 0; - out_7380360880106775220[112] = 0; - out_7380360880106775220[113] = 0; - out_7380360880106775220[114] = 1; - out_7380360880106775220[115] = 0; - out_7380360880106775220[116] = 0; - out_7380360880106775220[117] = 0; - out_7380360880106775220[118] = 0; - out_7380360880106775220[119] = 0; - out_7380360880106775220[120] = 0; - out_7380360880106775220[121] = 0; - out_7380360880106775220[122] = 0; - out_7380360880106775220[123] = 0; - out_7380360880106775220[124] = 0; - out_7380360880106775220[125] = 0; - out_7380360880106775220[126] = 0; - out_7380360880106775220[127] = 0; - out_7380360880106775220[128] = 0; - out_7380360880106775220[129] = 0; - out_7380360880106775220[130] = 0; - out_7380360880106775220[131] = 0; - out_7380360880106775220[132] = 0; - out_7380360880106775220[133] = 1; - out_7380360880106775220[134] = 0; - out_7380360880106775220[135] = 0; - out_7380360880106775220[136] = 0; - out_7380360880106775220[137] = 0; - out_7380360880106775220[138] = 0; - out_7380360880106775220[139] = 0; - out_7380360880106775220[140] = 0; - out_7380360880106775220[141] = 0; - out_7380360880106775220[142] = 0; - out_7380360880106775220[143] = 0; - out_7380360880106775220[144] = 0; - out_7380360880106775220[145] = 0; - out_7380360880106775220[146] = 0; - out_7380360880106775220[147] = 0; - out_7380360880106775220[148] = 0; - out_7380360880106775220[149] = 0; - out_7380360880106775220[150] = 0; - out_7380360880106775220[151] = 0; - out_7380360880106775220[152] = 1; - out_7380360880106775220[153] = 0; - out_7380360880106775220[154] = 0; - out_7380360880106775220[155] = 0; - out_7380360880106775220[156] = 0; - out_7380360880106775220[157] = 0; - out_7380360880106775220[158] = 0; - out_7380360880106775220[159] = 0; - out_7380360880106775220[160] = 0; - out_7380360880106775220[161] = 0; - out_7380360880106775220[162] = 0; - out_7380360880106775220[163] = 0; - out_7380360880106775220[164] = 0; - out_7380360880106775220[165] = 0; - out_7380360880106775220[166] = 0; - out_7380360880106775220[167] = 0; - out_7380360880106775220[168] = 0; - out_7380360880106775220[169] = 0; - out_7380360880106775220[170] = 0; - out_7380360880106775220[171] = 1; - out_7380360880106775220[172] = 0; - out_7380360880106775220[173] = 0; - out_7380360880106775220[174] = 0; - out_7380360880106775220[175] = 0; - out_7380360880106775220[176] = 0; - out_7380360880106775220[177] = 0; - out_7380360880106775220[178] = 0; - out_7380360880106775220[179] = 0; - out_7380360880106775220[180] = 0; - out_7380360880106775220[181] = 0; - out_7380360880106775220[182] = 0; - out_7380360880106775220[183] = 0; - out_7380360880106775220[184] = 0; - out_7380360880106775220[185] = 0; - out_7380360880106775220[186] = 0; - out_7380360880106775220[187] = 0; - out_7380360880106775220[188] = 0; - out_7380360880106775220[189] = 0; - out_7380360880106775220[190] = 1; - out_7380360880106775220[191] = 0; - out_7380360880106775220[192] = 0; - out_7380360880106775220[193] = 0; - out_7380360880106775220[194] = 0; - out_7380360880106775220[195] = 0; - out_7380360880106775220[196] = 0; - out_7380360880106775220[197] = 0; - out_7380360880106775220[198] = 0; - out_7380360880106775220[199] = 0; - out_7380360880106775220[200] = 0; - out_7380360880106775220[201] = 0; - out_7380360880106775220[202] = 0; - out_7380360880106775220[203] = 0; - out_7380360880106775220[204] = 0; - out_7380360880106775220[205] = 0; - out_7380360880106775220[206] = 0; - out_7380360880106775220[207] = 0; - out_7380360880106775220[208] = 0; - out_7380360880106775220[209] = 1; - out_7380360880106775220[210] = 0; - out_7380360880106775220[211] = 0; - out_7380360880106775220[212] = 0; - out_7380360880106775220[213] = 0; - out_7380360880106775220[214] = 0; - out_7380360880106775220[215] = 0; - out_7380360880106775220[216] = 0; - out_7380360880106775220[217] = 0; - out_7380360880106775220[218] = 0; - out_7380360880106775220[219] = 0; - out_7380360880106775220[220] = 0; - out_7380360880106775220[221] = 0; - out_7380360880106775220[222] = 0; - out_7380360880106775220[223] = 0; - out_7380360880106775220[224] = 0; - out_7380360880106775220[225] = 0; - out_7380360880106775220[226] = 0; - out_7380360880106775220[227] = 0; - out_7380360880106775220[228] = 1; - out_7380360880106775220[229] = 0; - out_7380360880106775220[230] = 0; - out_7380360880106775220[231] = 0; - out_7380360880106775220[232] = 0; - out_7380360880106775220[233] = 0; - out_7380360880106775220[234] = 0; - out_7380360880106775220[235] = 0; - out_7380360880106775220[236] = 0; - out_7380360880106775220[237] = 0; - out_7380360880106775220[238] = 0; - out_7380360880106775220[239] = 0; - out_7380360880106775220[240] = 0; - out_7380360880106775220[241] = 0; - out_7380360880106775220[242] = 0; - out_7380360880106775220[243] = 0; - out_7380360880106775220[244] = 0; - out_7380360880106775220[245] = 0; - out_7380360880106775220[246] = 0; - out_7380360880106775220[247] = 1; - out_7380360880106775220[248] = 0; - out_7380360880106775220[249] = 0; - out_7380360880106775220[250] = 0; - out_7380360880106775220[251] = 0; - out_7380360880106775220[252] = 0; - out_7380360880106775220[253] = 0; - out_7380360880106775220[254] = 0; - out_7380360880106775220[255] = 0; - out_7380360880106775220[256] = 0; - out_7380360880106775220[257] = 0; - out_7380360880106775220[258] = 0; - out_7380360880106775220[259] = 0; - out_7380360880106775220[260] = 0; - out_7380360880106775220[261] = 0; - out_7380360880106775220[262] = 0; - out_7380360880106775220[263] = 0; - out_7380360880106775220[264] = 0; - out_7380360880106775220[265] = 0; - out_7380360880106775220[266] = 1; - out_7380360880106775220[267] = 0; - out_7380360880106775220[268] = 0; - out_7380360880106775220[269] = 0; - out_7380360880106775220[270] = 0; - out_7380360880106775220[271] = 0; - out_7380360880106775220[272] = 0; - out_7380360880106775220[273] = 0; - out_7380360880106775220[274] = 0; - out_7380360880106775220[275] = 0; - out_7380360880106775220[276] = 0; - out_7380360880106775220[277] = 0; - out_7380360880106775220[278] = 0; - out_7380360880106775220[279] = 0; - out_7380360880106775220[280] = 0; - out_7380360880106775220[281] = 0; - out_7380360880106775220[282] = 0; - out_7380360880106775220[283] = 0; - out_7380360880106775220[284] = 0; - out_7380360880106775220[285] = 1; - out_7380360880106775220[286] = 0; - out_7380360880106775220[287] = 0; - out_7380360880106775220[288] = 0; - out_7380360880106775220[289] = 0; - out_7380360880106775220[290] = 0; - out_7380360880106775220[291] = 0; - out_7380360880106775220[292] = 0; - out_7380360880106775220[293] = 0; - out_7380360880106775220[294] = 0; - out_7380360880106775220[295] = 0; - out_7380360880106775220[296] = 0; - out_7380360880106775220[297] = 0; - out_7380360880106775220[298] = 0; - out_7380360880106775220[299] = 0; - out_7380360880106775220[300] = 0; - out_7380360880106775220[301] = 0; - out_7380360880106775220[302] = 0; - out_7380360880106775220[303] = 0; - out_7380360880106775220[304] = 1; - out_7380360880106775220[305] = 0; - out_7380360880106775220[306] = 0; - out_7380360880106775220[307] = 0; - out_7380360880106775220[308] = 0; - out_7380360880106775220[309] = 0; - out_7380360880106775220[310] = 0; - out_7380360880106775220[311] = 0; - out_7380360880106775220[312] = 0; - out_7380360880106775220[313] = 0; - out_7380360880106775220[314] = 0; - out_7380360880106775220[315] = 0; - out_7380360880106775220[316] = 0; - out_7380360880106775220[317] = 0; - out_7380360880106775220[318] = 0; - out_7380360880106775220[319] = 0; - out_7380360880106775220[320] = 0; - out_7380360880106775220[321] = 0; - out_7380360880106775220[322] = 0; - out_7380360880106775220[323] = 1; +void F_fun(double *state, double dt, double *out_8396239383595830029) { + out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[2] = 0; + out_8396239383595830029[3] = 0; + out_8396239383595830029[4] = 0; + out_8396239383595830029[5] = 0; + out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[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_8396239383595830029[9] = 0; + out_8396239383595830029[10] = 0; + out_8396239383595830029[11] = 0; + out_8396239383595830029[12] = 0; + out_8396239383595830029[13] = 0; + out_8396239383595830029[14] = 0; + out_8396239383595830029[15] = 0; + out_8396239383595830029[16] = 0; + out_8396239383595830029[17] = 0; + out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[20] = 0; + out_8396239383595830029[21] = 0; + out_8396239383595830029[22] = 0; + out_8396239383595830029[23] = 0; + out_8396239383595830029[24] = 0; + out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[27] = 0; + out_8396239383595830029[28] = 0; + out_8396239383595830029[29] = 0; + out_8396239383595830029[30] = 0; + out_8396239383595830029[31] = 0; + out_8396239383595830029[32] = 0; + out_8396239383595830029[33] = 0; + out_8396239383595830029[34] = 0; + out_8396239383595830029[35] = 0; + out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[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_8396239383595830029[39] = 0; + out_8396239383595830029[40] = 0; + out_8396239383595830029[41] = 0; + out_8396239383595830029[42] = 0; + out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[45] = 0; + out_8396239383595830029[46] = 0; + out_8396239383595830029[47] = 0; + out_8396239383595830029[48] = 0; + out_8396239383595830029[49] = 0; + out_8396239383595830029[50] = 0; + out_8396239383595830029[51] = 0; + out_8396239383595830029[52] = 0; + out_8396239383595830029[53] = 0; + out_8396239383595830029[54] = 0; + out_8396239383595830029[55] = 0; + out_8396239383595830029[56] = 0; + out_8396239383595830029[57] = 1; + out_8396239383595830029[58] = 0; + out_8396239383595830029[59] = 0; + out_8396239383595830029[60] = 0; + out_8396239383595830029[61] = 0; + out_8396239383595830029[62] = 0; + out_8396239383595830029[63] = 0; + out_8396239383595830029[64] = 0; + out_8396239383595830029[65] = 0; + out_8396239383595830029[66] = dt; + out_8396239383595830029[67] = 0; + out_8396239383595830029[68] = 0; + out_8396239383595830029[69] = 0; + out_8396239383595830029[70] = 0; + out_8396239383595830029[71] = 0; + out_8396239383595830029[72] = 0; + out_8396239383595830029[73] = 0; + out_8396239383595830029[74] = 0; + out_8396239383595830029[75] = 0; + out_8396239383595830029[76] = 1; + out_8396239383595830029[77] = 0; + out_8396239383595830029[78] = 0; + out_8396239383595830029[79] = 0; + out_8396239383595830029[80] = 0; + out_8396239383595830029[81] = 0; + out_8396239383595830029[82] = 0; + out_8396239383595830029[83] = 0; + out_8396239383595830029[84] = 0; + out_8396239383595830029[85] = dt; + out_8396239383595830029[86] = 0; + out_8396239383595830029[87] = 0; + out_8396239383595830029[88] = 0; + out_8396239383595830029[89] = 0; + out_8396239383595830029[90] = 0; + out_8396239383595830029[91] = 0; + out_8396239383595830029[92] = 0; + out_8396239383595830029[93] = 0; + out_8396239383595830029[94] = 0; + out_8396239383595830029[95] = 1; + out_8396239383595830029[96] = 0; + out_8396239383595830029[97] = 0; + out_8396239383595830029[98] = 0; + out_8396239383595830029[99] = 0; + out_8396239383595830029[100] = 0; + out_8396239383595830029[101] = 0; + out_8396239383595830029[102] = 0; + out_8396239383595830029[103] = 0; + out_8396239383595830029[104] = dt; + out_8396239383595830029[105] = 0; + out_8396239383595830029[106] = 0; + out_8396239383595830029[107] = 0; + out_8396239383595830029[108] = 0; + out_8396239383595830029[109] = 0; + out_8396239383595830029[110] = 0; + out_8396239383595830029[111] = 0; + out_8396239383595830029[112] = 0; + out_8396239383595830029[113] = 0; + out_8396239383595830029[114] = 1; + out_8396239383595830029[115] = 0; + out_8396239383595830029[116] = 0; + out_8396239383595830029[117] = 0; + out_8396239383595830029[118] = 0; + out_8396239383595830029[119] = 0; + out_8396239383595830029[120] = 0; + out_8396239383595830029[121] = 0; + out_8396239383595830029[122] = 0; + out_8396239383595830029[123] = 0; + out_8396239383595830029[124] = 0; + out_8396239383595830029[125] = 0; + out_8396239383595830029[126] = 0; + out_8396239383595830029[127] = 0; + out_8396239383595830029[128] = 0; + out_8396239383595830029[129] = 0; + out_8396239383595830029[130] = 0; + out_8396239383595830029[131] = 0; + out_8396239383595830029[132] = 0; + out_8396239383595830029[133] = 1; + out_8396239383595830029[134] = 0; + out_8396239383595830029[135] = 0; + out_8396239383595830029[136] = 0; + out_8396239383595830029[137] = 0; + out_8396239383595830029[138] = 0; + out_8396239383595830029[139] = 0; + out_8396239383595830029[140] = 0; + out_8396239383595830029[141] = 0; + out_8396239383595830029[142] = 0; + out_8396239383595830029[143] = 0; + out_8396239383595830029[144] = 0; + out_8396239383595830029[145] = 0; + out_8396239383595830029[146] = 0; + out_8396239383595830029[147] = 0; + out_8396239383595830029[148] = 0; + out_8396239383595830029[149] = 0; + out_8396239383595830029[150] = 0; + out_8396239383595830029[151] = 0; + out_8396239383595830029[152] = 1; + out_8396239383595830029[153] = 0; + out_8396239383595830029[154] = 0; + out_8396239383595830029[155] = 0; + out_8396239383595830029[156] = 0; + out_8396239383595830029[157] = 0; + out_8396239383595830029[158] = 0; + out_8396239383595830029[159] = 0; + out_8396239383595830029[160] = 0; + out_8396239383595830029[161] = 0; + out_8396239383595830029[162] = 0; + out_8396239383595830029[163] = 0; + out_8396239383595830029[164] = 0; + out_8396239383595830029[165] = 0; + out_8396239383595830029[166] = 0; + out_8396239383595830029[167] = 0; + out_8396239383595830029[168] = 0; + out_8396239383595830029[169] = 0; + out_8396239383595830029[170] = 0; + out_8396239383595830029[171] = 1; + out_8396239383595830029[172] = 0; + out_8396239383595830029[173] = 0; + out_8396239383595830029[174] = 0; + out_8396239383595830029[175] = 0; + out_8396239383595830029[176] = 0; + out_8396239383595830029[177] = 0; + out_8396239383595830029[178] = 0; + out_8396239383595830029[179] = 0; + out_8396239383595830029[180] = 0; + out_8396239383595830029[181] = 0; + out_8396239383595830029[182] = 0; + out_8396239383595830029[183] = 0; + out_8396239383595830029[184] = 0; + out_8396239383595830029[185] = 0; + out_8396239383595830029[186] = 0; + out_8396239383595830029[187] = 0; + out_8396239383595830029[188] = 0; + out_8396239383595830029[189] = 0; + out_8396239383595830029[190] = 1; + out_8396239383595830029[191] = 0; + out_8396239383595830029[192] = 0; + out_8396239383595830029[193] = 0; + out_8396239383595830029[194] = 0; + out_8396239383595830029[195] = 0; + out_8396239383595830029[196] = 0; + out_8396239383595830029[197] = 0; + out_8396239383595830029[198] = 0; + out_8396239383595830029[199] = 0; + out_8396239383595830029[200] = 0; + out_8396239383595830029[201] = 0; + out_8396239383595830029[202] = 0; + out_8396239383595830029[203] = 0; + out_8396239383595830029[204] = 0; + out_8396239383595830029[205] = 0; + out_8396239383595830029[206] = 0; + out_8396239383595830029[207] = 0; + out_8396239383595830029[208] = 0; + out_8396239383595830029[209] = 1; + out_8396239383595830029[210] = 0; + out_8396239383595830029[211] = 0; + out_8396239383595830029[212] = 0; + out_8396239383595830029[213] = 0; + out_8396239383595830029[214] = 0; + out_8396239383595830029[215] = 0; + out_8396239383595830029[216] = 0; + out_8396239383595830029[217] = 0; + out_8396239383595830029[218] = 0; + out_8396239383595830029[219] = 0; + out_8396239383595830029[220] = 0; + out_8396239383595830029[221] = 0; + out_8396239383595830029[222] = 0; + out_8396239383595830029[223] = 0; + out_8396239383595830029[224] = 0; + out_8396239383595830029[225] = 0; + out_8396239383595830029[226] = 0; + out_8396239383595830029[227] = 0; + out_8396239383595830029[228] = 1; + out_8396239383595830029[229] = 0; + out_8396239383595830029[230] = 0; + out_8396239383595830029[231] = 0; + out_8396239383595830029[232] = 0; + out_8396239383595830029[233] = 0; + out_8396239383595830029[234] = 0; + out_8396239383595830029[235] = 0; + out_8396239383595830029[236] = 0; + out_8396239383595830029[237] = 0; + out_8396239383595830029[238] = 0; + out_8396239383595830029[239] = 0; + out_8396239383595830029[240] = 0; + out_8396239383595830029[241] = 0; + out_8396239383595830029[242] = 0; + out_8396239383595830029[243] = 0; + out_8396239383595830029[244] = 0; + out_8396239383595830029[245] = 0; + out_8396239383595830029[246] = 0; + out_8396239383595830029[247] = 1; + out_8396239383595830029[248] = 0; + out_8396239383595830029[249] = 0; + out_8396239383595830029[250] = 0; + out_8396239383595830029[251] = 0; + out_8396239383595830029[252] = 0; + out_8396239383595830029[253] = 0; + out_8396239383595830029[254] = 0; + out_8396239383595830029[255] = 0; + out_8396239383595830029[256] = 0; + out_8396239383595830029[257] = 0; + out_8396239383595830029[258] = 0; + out_8396239383595830029[259] = 0; + out_8396239383595830029[260] = 0; + out_8396239383595830029[261] = 0; + out_8396239383595830029[262] = 0; + out_8396239383595830029[263] = 0; + out_8396239383595830029[264] = 0; + out_8396239383595830029[265] = 0; + out_8396239383595830029[266] = 1; + out_8396239383595830029[267] = 0; + out_8396239383595830029[268] = 0; + out_8396239383595830029[269] = 0; + out_8396239383595830029[270] = 0; + out_8396239383595830029[271] = 0; + out_8396239383595830029[272] = 0; + out_8396239383595830029[273] = 0; + out_8396239383595830029[274] = 0; + out_8396239383595830029[275] = 0; + out_8396239383595830029[276] = 0; + out_8396239383595830029[277] = 0; + out_8396239383595830029[278] = 0; + out_8396239383595830029[279] = 0; + out_8396239383595830029[280] = 0; + out_8396239383595830029[281] = 0; + out_8396239383595830029[282] = 0; + out_8396239383595830029[283] = 0; + out_8396239383595830029[284] = 0; + out_8396239383595830029[285] = 1; + out_8396239383595830029[286] = 0; + out_8396239383595830029[287] = 0; + out_8396239383595830029[288] = 0; + out_8396239383595830029[289] = 0; + out_8396239383595830029[290] = 0; + out_8396239383595830029[291] = 0; + out_8396239383595830029[292] = 0; + out_8396239383595830029[293] = 0; + out_8396239383595830029[294] = 0; + out_8396239383595830029[295] = 0; + out_8396239383595830029[296] = 0; + out_8396239383595830029[297] = 0; + out_8396239383595830029[298] = 0; + out_8396239383595830029[299] = 0; + out_8396239383595830029[300] = 0; + out_8396239383595830029[301] = 0; + out_8396239383595830029[302] = 0; + out_8396239383595830029[303] = 0; + out_8396239383595830029[304] = 1; + out_8396239383595830029[305] = 0; + out_8396239383595830029[306] = 0; + out_8396239383595830029[307] = 0; + out_8396239383595830029[308] = 0; + out_8396239383595830029[309] = 0; + out_8396239383595830029[310] = 0; + out_8396239383595830029[311] = 0; + out_8396239383595830029[312] = 0; + out_8396239383595830029[313] = 0; + out_8396239383595830029[314] = 0; + out_8396239383595830029[315] = 0; + out_8396239383595830029[316] = 0; + out_8396239383595830029[317] = 0; + out_8396239383595830029[318] = 0; + out_8396239383595830029[319] = 0; + out_8396239383595830029[320] = 0; + out_8396239383595830029[321] = 0; + out_8396239383595830029[322] = 0; + out_8396239383595830029[323] = 1; } -void h_4(double *state, double *unused, double *out_4702057929225754412) { - out_4702057929225754412[0] = state[6] + state[9]; - out_4702057929225754412[1] = state[7] + state[10]; - out_4702057929225754412[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1811902591494823997) { + out_1811902591494823997[0] = state[6] + state[9]; + out_1811902591494823997[1] = state[7] + state[10]; + out_1811902591494823997[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3100315800431917983) { - out_3100315800431917983[0] = 0; - out_3100315800431917983[1] = 0; - out_3100315800431917983[2] = 0; - out_3100315800431917983[3] = 0; - out_3100315800431917983[4] = 0; - out_3100315800431917983[5] = 0; - out_3100315800431917983[6] = 1; - out_3100315800431917983[7] = 0; - out_3100315800431917983[8] = 0; - out_3100315800431917983[9] = 1; - out_3100315800431917983[10] = 0; - out_3100315800431917983[11] = 0; - out_3100315800431917983[12] = 0; - out_3100315800431917983[13] = 0; - out_3100315800431917983[14] = 0; - out_3100315800431917983[15] = 0; - out_3100315800431917983[16] = 0; - out_3100315800431917983[17] = 0; - out_3100315800431917983[18] = 0; - out_3100315800431917983[19] = 0; - out_3100315800431917983[20] = 0; - out_3100315800431917983[21] = 0; - out_3100315800431917983[22] = 0; - out_3100315800431917983[23] = 0; - out_3100315800431917983[24] = 0; - out_3100315800431917983[25] = 1; - out_3100315800431917983[26] = 0; - out_3100315800431917983[27] = 0; - out_3100315800431917983[28] = 1; - out_3100315800431917983[29] = 0; - out_3100315800431917983[30] = 0; - out_3100315800431917983[31] = 0; - out_3100315800431917983[32] = 0; - out_3100315800431917983[33] = 0; - out_3100315800431917983[34] = 0; - out_3100315800431917983[35] = 0; - out_3100315800431917983[36] = 0; - out_3100315800431917983[37] = 0; - out_3100315800431917983[38] = 0; - out_3100315800431917983[39] = 0; - out_3100315800431917983[40] = 0; - out_3100315800431917983[41] = 0; - out_3100315800431917983[42] = 0; - out_3100315800431917983[43] = 0; - out_3100315800431917983[44] = 1; - out_3100315800431917983[45] = 0; - out_3100315800431917983[46] = 0; - out_3100315800431917983[47] = 1; - out_3100315800431917983[48] = 0; - out_3100315800431917983[49] = 0; - out_3100315800431917983[50] = 0; - out_3100315800431917983[51] = 0; - out_3100315800431917983[52] = 0; - out_3100315800431917983[53] = 0; +void H_4(double *state, double *unused, double *out_599853683671623371) { + out_599853683671623371[0] = 0; + out_599853683671623371[1] = 0; + out_599853683671623371[2] = 0; + out_599853683671623371[3] = 0; + out_599853683671623371[4] = 0; + out_599853683671623371[5] = 0; + out_599853683671623371[6] = 1; + out_599853683671623371[7] = 0; + out_599853683671623371[8] = 0; + out_599853683671623371[9] = 1; + out_599853683671623371[10] = 0; + out_599853683671623371[11] = 0; + out_599853683671623371[12] = 0; + out_599853683671623371[13] = 0; + out_599853683671623371[14] = 0; + out_599853683671623371[15] = 0; + out_599853683671623371[16] = 0; + out_599853683671623371[17] = 0; + out_599853683671623371[18] = 0; + out_599853683671623371[19] = 0; + out_599853683671623371[20] = 0; + out_599853683671623371[21] = 0; + out_599853683671623371[22] = 0; + out_599853683671623371[23] = 0; + out_599853683671623371[24] = 0; + out_599853683671623371[25] = 1; + out_599853683671623371[26] = 0; + out_599853683671623371[27] = 0; + out_599853683671623371[28] = 1; + out_599853683671623371[29] = 0; + out_599853683671623371[30] = 0; + out_599853683671623371[31] = 0; + out_599853683671623371[32] = 0; + out_599853683671623371[33] = 0; + out_599853683671623371[34] = 0; + out_599853683671623371[35] = 0; + out_599853683671623371[36] = 0; + out_599853683671623371[37] = 0; + out_599853683671623371[38] = 0; + out_599853683671623371[39] = 0; + out_599853683671623371[40] = 0; + out_599853683671623371[41] = 0; + out_599853683671623371[42] = 0; + out_599853683671623371[43] = 0; + out_599853683671623371[44] = 1; + out_599853683671623371[45] = 0; + out_599853683671623371[46] = 0; + out_599853683671623371[47] = 1; + out_599853683671623371[48] = 0; + out_599853683671623371[49] = 0; + out_599853683671623371[50] = 0; + out_599853683671623371[51] = 0; + out_599853683671623371[52] = 0; + out_599853683671623371[53] = 0; } -void h_10(double *state, double *unused, double *out_1901997026290432130) { - out_1901997026290432130[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1901997026290432130[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1901997026290432130[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_8987115705540323441) { + out_8987115705540323441[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8987115705540323441[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8987115705540323441[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_5200655737232907775) { - out_5200655737232907775[0] = 0; - out_5200655737232907775[1] = 9.8100000000000005*cos(state[1]); - out_5200655737232907775[2] = 0; - out_5200655737232907775[3] = 0; - out_5200655737232907775[4] = -state[8]; - out_5200655737232907775[5] = state[7]; - out_5200655737232907775[6] = 0; - out_5200655737232907775[7] = state[5]; - out_5200655737232907775[8] = -state[4]; - out_5200655737232907775[9] = 0; - out_5200655737232907775[10] = 0; - out_5200655737232907775[11] = 0; - out_5200655737232907775[12] = 1; - out_5200655737232907775[13] = 0; - out_5200655737232907775[14] = 0; - out_5200655737232907775[15] = 1; - out_5200655737232907775[16] = 0; - out_5200655737232907775[17] = 0; - out_5200655737232907775[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5200655737232907775[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5200655737232907775[20] = 0; - out_5200655737232907775[21] = state[8]; - out_5200655737232907775[22] = 0; - out_5200655737232907775[23] = -state[6]; - out_5200655737232907775[24] = -state[5]; - out_5200655737232907775[25] = 0; - out_5200655737232907775[26] = state[3]; - out_5200655737232907775[27] = 0; - out_5200655737232907775[28] = 0; - out_5200655737232907775[29] = 0; - out_5200655737232907775[30] = 0; - out_5200655737232907775[31] = 1; - out_5200655737232907775[32] = 0; - out_5200655737232907775[33] = 0; - out_5200655737232907775[34] = 1; - out_5200655737232907775[35] = 0; - out_5200655737232907775[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5200655737232907775[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5200655737232907775[38] = 0; - out_5200655737232907775[39] = -state[7]; - out_5200655737232907775[40] = state[6]; - out_5200655737232907775[41] = 0; - out_5200655737232907775[42] = state[4]; - out_5200655737232907775[43] = -state[3]; - out_5200655737232907775[44] = 0; - out_5200655737232907775[45] = 0; - out_5200655737232907775[46] = 0; - out_5200655737232907775[47] = 0; - out_5200655737232907775[48] = 0; - out_5200655737232907775[49] = 0; - out_5200655737232907775[50] = 1; - out_5200655737232907775[51] = 0; - out_5200655737232907775[52] = 0; - out_5200655737232907775[53] = 1; +void H_10(double *state, double *unused, double *out_4430606342081287306) { + out_4430606342081287306[0] = 0; + out_4430606342081287306[1] = 9.8100000000000005*cos(state[1]); + out_4430606342081287306[2] = 0; + out_4430606342081287306[3] = 0; + out_4430606342081287306[4] = -state[8]; + out_4430606342081287306[5] = state[7]; + out_4430606342081287306[6] = 0; + out_4430606342081287306[7] = state[5]; + out_4430606342081287306[8] = -state[4]; + out_4430606342081287306[9] = 0; + out_4430606342081287306[10] = 0; + out_4430606342081287306[11] = 0; + out_4430606342081287306[12] = 1; + out_4430606342081287306[13] = 0; + out_4430606342081287306[14] = 0; + out_4430606342081287306[15] = 1; + out_4430606342081287306[16] = 0; + out_4430606342081287306[17] = 0; + out_4430606342081287306[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4430606342081287306[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4430606342081287306[20] = 0; + out_4430606342081287306[21] = state[8]; + out_4430606342081287306[22] = 0; + out_4430606342081287306[23] = -state[6]; + out_4430606342081287306[24] = -state[5]; + out_4430606342081287306[25] = 0; + out_4430606342081287306[26] = state[3]; + out_4430606342081287306[27] = 0; + out_4430606342081287306[28] = 0; + out_4430606342081287306[29] = 0; + out_4430606342081287306[30] = 0; + out_4430606342081287306[31] = 1; + out_4430606342081287306[32] = 0; + out_4430606342081287306[33] = 0; + out_4430606342081287306[34] = 1; + out_4430606342081287306[35] = 0; + out_4430606342081287306[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4430606342081287306[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4430606342081287306[38] = 0; + out_4430606342081287306[39] = -state[7]; + out_4430606342081287306[40] = state[6]; + out_4430606342081287306[41] = 0; + out_4430606342081287306[42] = state[4]; + out_4430606342081287306[43] = -state[3]; + out_4430606342081287306[44] = 0; + out_4430606342081287306[45] = 0; + out_4430606342081287306[46] = 0; + out_4430606342081287306[47] = 0; + out_4430606342081287306[48] = 0; + out_4430606342081287306[49] = 0; + out_4430606342081287306[50] = 1; + out_4430606342081287306[51] = 0; + out_4430606342081287306[52] = 0; + out_4430606342081287306[53] = 1; } -void h_13(double *state, double *unused, double *out_6749072148499604094) { - out_6749072148499604094[0] = state[3]; - out_6749072148499604094[1] = state[4]; - out_6749072148499604094[2] = state[5]; +void h_13(double *state, double *unused, double *out_745002374354712655) { + out_745002374354712655[0] = state[3]; + out_745002374354712655[1] = state[4]; + out_745002374354712655[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6312589625764250784) { - out_6312589625764250784[0] = 0; - out_6312589625764250784[1] = 0; - out_6312589625764250784[2] = 0; - out_6312589625764250784[3] = 1; - out_6312589625764250784[4] = 0; - out_6312589625764250784[5] = 0; - out_6312589625764250784[6] = 0; - out_6312589625764250784[7] = 0; - out_6312589625764250784[8] = 0; - out_6312589625764250784[9] = 0; - out_6312589625764250784[10] = 0; - out_6312589625764250784[11] = 0; - out_6312589625764250784[12] = 0; - out_6312589625764250784[13] = 0; - out_6312589625764250784[14] = 0; - out_6312589625764250784[15] = 0; - out_6312589625764250784[16] = 0; - out_6312589625764250784[17] = 0; - out_6312589625764250784[18] = 0; - out_6312589625764250784[19] = 0; - out_6312589625764250784[20] = 0; - out_6312589625764250784[21] = 0; - out_6312589625764250784[22] = 1; - out_6312589625764250784[23] = 0; - out_6312589625764250784[24] = 0; - out_6312589625764250784[25] = 0; - out_6312589625764250784[26] = 0; - out_6312589625764250784[27] = 0; - out_6312589625764250784[28] = 0; - out_6312589625764250784[29] = 0; - out_6312589625764250784[30] = 0; - out_6312589625764250784[31] = 0; - out_6312589625764250784[32] = 0; - out_6312589625764250784[33] = 0; - out_6312589625764250784[34] = 0; - out_6312589625764250784[35] = 0; - out_6312589625764250784[36] = 0; - out_6312589625764250784[37] = 0; - out_6312589625764250784[38] = 0; - out_6312589625764250784[39] = 0; - out_6312589625764250784[40] = 0; - out_6312589625764250784[41] = 1; - out_6312589625764250784[42] = 0; - out_6312589625764250784[43] = 0; - out_6312589625764250784[44] = 0; - out_6312589625764250784[45] = 0; - out_6312589625764250784[46] = 0; - out_6312589625764250784[47] = 0; - out_6312589625764250784[48] = 0; - out_6312589625764250784[49] = 0; - out_6312589625764250784[50] = 0; - out_6312589625764250784[51] = 0; - out_6312589625764250784[52] = 0; - out_6312589625764250784[53] = 0; +void H_13(double *state, double *unused, double *out_4433609146974147395) { + out_4433609146974147395[0] = 0; + out_4433609146974147395[1] = 0; + out_4433609146974147395[2] = 0; + out_4433609146974147395[3] = 1; + out_4433609146974147395[4] = 0; + out_4433609146974147395[5] = 0; + out_4433609146974147395[6] = 0; + out_4433609146974147395[7] = 0; + out_4433609146974147395[8] = 0; + out_4433609146974147395[9] = 0; + out_4433609146974147395[10] = 0; + out_4433609146974147395[11] = 0; + out_4433609146974147395[12] = 0; + out_4433609146974147395[13] = 0; + out_4433609146974147395[14] = 0; + out_4433609146974147395[15] = 0; + out_4433609146974147395[16] = 0; + out_4433609146974147395[17] = 0; + out_4433609146974147395[18] = 0; + out_4433609146974147395[19] = 0; + out_4433609146974147395[20] = 0; + out_4433609146974147395[21] = 0; + out_4433609146974147395[22] = 1; + out_4433609146974147395[23] = 0; + out_4433609146974147395[24] = 0; + out_4433609146974147395[25] = 0; + out_4433609146974147395[26] = 0; + out_4433609146974147395[27] = 0; + out_4433609146974147395[28] = 0; + out_4433609146974147395[29] = 0; + out_4433609146974147395[30] = 0; + out_4433609146974147395[31] = 0; + out_4433609146974147395[32] = 0; + out_4433609146974147395[33] = 0; + out_4433609146974147395[34] = 0; + out_4433609146974147395[35] = 0; + out_4433609146974147395[36] = 0; + out_4433609146974147395[37] = 0; + out_4433609146974147395[38] = 0; + out_4433609146974147395[39] = 0; + out_4433609146974147395[40] = 0; + out_4433609146974147395[41] = 1; + out_4433609146974147395[42] = 0; + out_4433609146974147395[43] = 0; + out_4433609146974147395[44] = 0; + out_4433609146974147395[45] = 0; + out_4433609146974147395[46] = 0; + out_4433609146974147395[47] = 0; + out_4433609146974147395[48] = 0; + out_4433609146974147395[49] = 0; + out_4433609146974147395[50] = 0; + out_4433609146974147395[51] = 0; + out_4433609146974147395[52] = 0; + out_4433609146974147395[53] = 0; } -void h_14(double *state, double *unused, double *out_7677380843386584152) { - out_7677380843386584152[0] = state[6]; - out_7677380843386584152[1] = state[7]; - out_7677380843386584152[2] = state[8]; +void h_14(double *state, double *unused, double *out_7578055683598024511) { + out_7578055683598024511[0] = state[6]; + out_7578055683598024511[1] = state[7]; + out_7578055683598024511[2] = state[8]; } -void H_14(double *state, double *unused, double *out_17527368136545687) { - out_17527368136545687[0] = 0; - out_17527368136545687[1] = 0; - out_17527368136545687[2] = 0; - out_17527368136545687[3] = 0; - out_17527368136545687[4] = 0; - out_17527368136545687[5] = 0; - out_17527368136545687[6] = 1; - out_17527368136545687[7] = 0; - out_17527368136545687[8] = 0; - out_17527368136545687[9] = 0; - out_17527368136545687[10] = 0; - out_17527368136545687[11] = 0; - out_17527368136545687[12] = 0; - out_17527368136545687[13] = 0; - out_17527368136545687[14] = 0; - out_17527368136545687[15] = 0; - out_17527368136545687[16] = 0; - out_17527368136545687[17] = 0; - out_17527368136545687[18] = 0; - out_17527368136545687[19] = 0; - out_17527368136545687[20] = 0; - out_17527368136545687[21] = 0; - out_17527368136545687[22] = 0; - out_17527368136545687[23] = 0; - out_17527368136545687[24] = 0; - out_17527368136545687[25] = 1; - out_17527368136545687[26] = 0; - out_17527368136545687[27] = 0; - out_17527368136545687[28] = 0; - out_17527368136545687[29] = 0; - out_17527368136545687[30] = 0; - out_17527368136545687[31] = 0; - out_17527368136545687[32] = 0; - out_17527368136545687[33] = 0; - out_17527368136545687[34] = 0; - out_17527368136545687[35] = 0; - out_17527368136545687[36] = 0; - out_17527368136545687[37] = 0; - out_17527368136545687[38] = 0; - out_17527368136545687[39] = 0; - out_17527368136545687[40] = 0; - out_17527368136545687[41] = 0; - out_17527368136545687[42] = 0; - out_17527368136545687[43] = 0; - out_17527368136545687[44] = 1; - out_17527368136545687[45] = 0; - out_17527368136545687[46] = 0; - out_17527368136545687[47] = 0; - out_17527368136545687[48] = 0; - out_17527368136545687[49] = 0; - out_17527368136545687[50] = 0; - out_17527368136545687[51] = 0; - out_17527368136545687[52] = 0; - out_17527368136545687[53] = 0; +void H_14(double *state, double *unused, double *out_3682642115966995667) { + out_3682642115966995667[0] = 0; + out_3682642115966995667[1] = 0; + out_3682642115966995667[2] = 0; + out_3682642115966995667[3] = 0; + out_3682642115966995667[4] = 0; + out_3682642115966995667[5] = 0; + out_3682642115966995667[6] = 1; + out_3682642115966995667[7] = 0; + out_3682642115966995667[8] = 0; + out_3682642115966995667[9] = 0; + out_3682642115966995667[10] = 0; + out_3682642115966995667[11] = 0; + out_3682642115966995667[12] = 0; + out_3682642115966995667[13] = 0; + out_3682642115966995667[14] = 0; + out_3682642115966995667[15] = 0; + out_3682642115966995667[16] = 0; + out_3682642115966995667[17] = 0; + out_3682642115966995667[18] = 0; + out_3682642115966995667[19] = 0; + out_3682642115966995667[20] = 0; + out_3682642115966995667[21] = 0; + out_3682642115966995667[22] = 0; + out_3682642115966995667[23] = 0; + out_3682642115966995667[24] = 0; + out_3682642115966995667[25] = 1; + out_3682642115966995667[26] = 0; + out_3682642115966995667[27] = 0; + out_3682642115966995667[28] = 0; + out_3682642115966995667[29] = 0; + out_3682642115966995667[30] = 0; + out_3682642115966995667[31] = 0; + out_3682642115966995667[32] = 0; + out_3682642115966995667[33] = 0; + out_3682642115966995667[34] = 0; + out_3682642115966995667[35] = 0; + out_3682642115966995667[36] = 0; + out_3682642115966995667[37] = 0; + out_3682642115966995667[38] = 0; + out_3682642115966995667[39] = 0; + out_3682642115966995667[40] = 0; + out_3682642115966995667[41] = 0; + out_3682642115966995667[42] = 0; + out_3682642115966995667[43] = 0; + out_3682642115966995667[44] = 1; + out_3682642115966995667[45] = 0; + out_3682642115966995667[46] = 0; + out_3682642115966995667[47] = 0; + out_3682642115966995667[48] = 0; + out_3682642115966995667[49] = 0; + out_3682642115966995667[50] = 0; + out_3682642115966995667[51] = 0; + out_3682642115966995667[52] = 0; + out_3682642115966995667[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_2182435369834896236) { - err_fun(nom_x, delta_x, out_2182435369834896236); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3059462324026594541) { + err_fun(nom_x, delta_x, out_3059462324026594541); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2883166859334089197) { - inv_err_fun(nom_x, true_x, out_2883166859334089197); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7293350812574481008) { + inv_err_fun(nom_x, true_x, out_7293350812574481008); } -void pose_H_mod_fun(double *state, double *out_671491409411989589) { - H_mod_fun(state, out_671491409411989589); +void pose_H_mod_fun(double *state, double *out_1219845042234673490) { + H_mod_fun(state, out_1219845042234673490); } -void pose_f_fun(double *state, double dt, double *out_7919031781502386377) { - f_fun(state, dt, out_7919031781502386377); +void pose_f_fun(double *state, double dt, double *out_6142826586467809321) { + f_fun(state, dt, out_6142826586467809321); } -void pose_F_fun(double *state, double dt, double *out_7380360880106775220) { - F_fun(state, dt, out_7380360880106775220); +void pose_F_fun(double *state, double dt, double *out_8396239383595830029) { + F_fun(state, dt, out_8396239383595830029); } -void pose_h_4(double *state, double *unused, double *out_4702057929225754412) { - h_4(state, unused, out_4702057929225754412); +void pose_h_4(double *state, double *unused, double *out_1811902591494823997) { + h_4(state, unused, out_1811902591494823997); } -void pose_H_4(double *state, double *unused, double *out_3100315800431917983) { - H_4(state, unused, out_3100315800431917983); +void pose_H_4(double *state, double *unused, double *out_599853683671623371) { + H_4(state, unused, out_599853683671623371); } -void pose_h_10(double *state, double *unused, double *out_1901997026290432130) { - h_10(state, unused, out_1901997026290432130); +void pose_h_10(double *state, double *unused, double *out_8987115705540323441) { + h_10(state, unused, out_8987115705540323441); } -void pose_H_10(double *state, double *unused, double *out_5200655737232907775) { - H_10(state, unused, out_5200655737232907775); +void pose_H_10(double *state, double *unused, double *out_4430606342081287306) { + H_10(state, unused, out_4430606342081287306); } -void pose_h_13(double *state, double *unused, double *out_6749072148499604094) { - h_13(state, unused, out_6749072148499604094); +void pose_h_13(double *state, double *unused, double *out_745002374354712655) { + h_13(state, unused, out_745002374354712655); } -void pose_H_13(double *state, double *unused, double *out_6312589625764250784) { - H_13(state, unused, out_6312589625764250784); +void pose_H_13(double *state, double *unused, double *out_4433609146974147395) { + H_13(state, unused, out_4433609146974147395); } -void pose_h_14(double *state, double *unused, double *out_7677380843386584152) { - h_14(state, unused, out_7677380843386584152); +void pose_h_14(double *state, double *unused, double *out_7578055683598024511) { + h_14(state, unused, out_7578055683598024511); } -void pose_H_14(double *state, double *unused, double *out_17527368136545687) { - H_14(state, unused, out_17527368136545687); +void pose_H_14(double *state, double *unused, double *out_3682642115966995667) { + H_14(state, unused, out_3682642115966995667); } 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 f3e7e5d0f..3123faeb0 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_2182435369834896236); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2883166859334089197); -void pose_H_mod_fun(double *state, double *out_671491409411989589); -void pose_f_fun(double *state, double dt, double *out_7919031781502386377); -void pose_F_fun(double *state, double dt, double *out_7380360880106775220); -void pose_h_4(double *state, double *unused, double *out_4702057929225754412); -void pose_H_4(double *state, double *unused, double *out_3100315800431917983); -void pose_h_10(double *state, double *unused, double *out_1901997026290432130); -void pose_H_10(double *state, double *unused, double *out_5200655737232907775); -void pose_h_13(double *state, double *unused, double *out_6749072148499604094); -void pose_H_13(double *state, double *unused, double *out_6312589625764250784); -void pose_h_14(double *state, double *unused, double *out_7677380843386584152); -void pose_H_14(double *state, double *unused, double *out_17527368136545687); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3059462324026594541); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7293350812574481008); +void pose_H_mod_fun(double *state, double *out_1219845042234673490); +void pose_f_fun(double *state, double dt, double *out_6142826586467809321); +void pose_F_fun(double *state, double dt, double *out_8396239383595830029); +void pose_h_4(double *state, double *unused, double *out_1811902591494823997); +void pose_H_4(double *state, double *unused, double *out_599853683671623371); +void pose_h_10(double *state, double *unused, double *out_8987115705540323441); +void pose_H_10(double *state, double *unused, double *out_4430606342081287306); +void pose_h_13(double *state, double *unused, double *out_745002374354712655); +void pose_H_13(double *state, double *unused, double *out_4433609146974147395); +void pose_h_14(double *state, double *unused, double *out_7578055683598024511); +void pose_H_14(double *state, double *unused, double *out_3682642115966995667); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file