diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index c40b20cae2..495b3085e6 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index bb506bfc1b..fd221b2850 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 10653faceb..55c34b6784 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 0b4c995e97..913debeacd 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 1dc569d62e..5756733954 100755 Binary 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differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 86072535a1..fc49547bfc 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index 86072535a1..fc49547bfc 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 9bfc86efd6..3f5c5b974c 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 86072535a1..fc49547bfc 100755 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a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 1f24760bed..141d2f9843 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_5579271098234299589) { - out_5579271098234299589[0] = delta_x[0] + nom_x[0]; - out_5579271098234299589[1] = delta_x[1] + nom_x[1]; - out_5579271098234299589[2] = delta_x[2] + nom_x[2]; - out_5579271098234299589[3] = delta_x[3] + nom_x[3]; - out_5579271098234299589[4] = delta_x[4] + nom_x[4]; - out_5579271098234299589[5] = delta_x[5] + nom_x[5]; - out_5579271098234299589[6] = delta_x[6] + nom_x[6]; - out_5579271098234299589[7] = delta_x[7] + nom_x[7]; - out_5579271098234299589[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6314153535178174931) { + out_6314153535178174931[0] = delta_x[0] + nom_x[0]; + out_6314153535178174931[1] = delta_x[1] + nom_x[1]; + out_6314153535178174931[2] = delta_x[2] + nom_x[2]; + out_6314153535178174931[3] = delta_x[3] + nom_x[3]; + out_6314153535178174931[4] = delta_x[4] + nom_x[4]; + out_6314153535178174931[5] = delta_x[5] + nom_x[5]; + out_6314153535178174931[6] = delta_x[6] + nom_x[6]; + out_6314153535178174931[7] = delta_x[7] + nom_x[7]; + out_6314153535178174931[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8879118943542071452) { - out_8879118943542071452[0] = -nom_x[0] + true_x[0]; - out_8879118943542071452[1] = -nom_x[1] + true_x[1]; - out_8879118943542071452[2] = -nom_x[2] + true_x[2]; - out_8879118943542071452[3] = -nom_x[3] + true_x[3]; - out_8879118943542071452[4] = -nom_x[4] + true_x[4]; - out_8879118943542071452[5] = -nom_x[5] + true_x[5]; - out_8879118943542071452[6] = -nom_x[6] + true_x[6]; - out_8879118943542071452[7] = -nom_x[7] + true_x[7]; - out_8879118943542071452[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7049921009392106379) { + out_7049921009392106379[0] = -nom_x[0] + true_x[0]; + out_7049921009392106379[1] = -nom_x[1] + true_x[1]; + out_7049921009392106379[2] = -nom_x[2] + true_x[2]; + out_7049921009392106379[3] = -nom_x[3] + true_x[3]; + out_7049921009392106379[4] = -nom_x[4] + true_x[4]; + out_7049921009392106379[5] = -nom_x[5] + true_x[5]; + out_7049921009392106379[6] = -nom_x[6] + true_x[6]; + out_7049921009392106379[7] = -nom_x[7] + true_x[7]; + out_7049921009392106379[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4346759063564356553) { - out_4346759063564356553[0] = 1.0; - out_4346759063564356553[1] = 0.0; - out_4346759063564356553[2] = 0.0; - out_4346759063564356553[3] = 0.0; - out_4346759063564356553[4] = 0.0; - out_4346759063564356553[5] = 0.0; - out_4346759063564356553[6] = 0.0; - out_4346759063564356553[7] = 0.0; - out_4346759063564356553[8] = 0.0; - out_4346759063564356553[9] = 0.0; - out_4346759063564356553[10] = 1.0; - out_4346759063564356553[11] = 0.0; - out_4346759063564356553[12] = 0.0; - out_4346759063564356553[13] = 0.0; - out_4346759063564356553[14] = 0.0; - out_4346759063564356553[15] = 0.0; - out_4346759063564356553[16] = 0.0; - out_4346759063564356553[17] = 0.0; - out_4346759063564356553[18] = 0.0; - out_4346759063564356553[19] = 0.0; - out_4346759063564356553[20] = 1.0; - out_4346759063564356553[21] = 0.0; - out_4346759063564356553[22] = 0.0; - out_4346759063564356553[23] = 0.0; - out_4346759063564356553[24] = 0.0; - out_4346759063564356553[25] = 0.0; - out_4346759063564356553[26] = 0.0; - out_4346759063564356553[27] = 0.0; - out_4346759063564356553[28] = 0.0; - out_4346759063564356553[29] = 0.0; - out_4346759063564356553[30] = 1.0; - out_4346759063564356553[31] = 0.0; - out_4346759063564356553[32] = 0.0; - out_4346759063564356553[33] = 0.0; - out_4346759063564356553[34] = 0.0; - out_4346759063564356553[35] = 0.0; - out_4346759063564356553[36] = 0.0; - out_4346759063564356553[37] = 0.0; - out_4346759063564356553[38] = 0.0; - out_4346759063564356553[39] = 0.0; - out_4346759063564356553[40] = 1.0; - out_4346759063564356553[41] = 0.0; - out_4346759063564356553[42] = 0.0; - out_4346759063564356553[43] = 0.0; - out_4346759063564356553[44] = 0.0; - out_4346759063564356553[45] = 0.0; - out_4346759063564356553[46] = 0.0; - out_4346759063564356553[47] = 0.0; - out_4346759063564356553[48] = 0.0; - out_4346759063564356553[49] = 0.0; - out_4346759063564356553[50] = 1.0; - out_4346759063564356553[51] = 0.0; - out_4346759063564356553[52] = 0.0; - out_4346759063564356553[53] = 0.0; - out_4346759063564356553[54] = 0.0; - out_4346759063564356553[55] = 0.0; - out_4346759063564356553[56] = 0.0; - out_4346759063564356553[57] = 0.0; - out_4346759063564356553[58] = 0.0; - out_4346759063564356553[59] = 0.0; - out_4346759063564356553[60] = 1.0; - out_4346759063564356553[61] = 0.0; - out_4346759063564356553[62] = 0.0; - out_4346759063564356553[63] = 0.0; - out_4346759063564356553[64] = 0.0; - out_4346759063564356553[65] = 0.0; - out_4346759063564356553[66] = 0.0; - out_4346759063564356553[67] = 0.0; - out_4346759063564356553[68] = 0.0; - out_4346759063564356553[69] = 0.0; - out_4346759063564356553[70] = 1.0; - out_4346759063564356553[71] = 0.0; - out_4346759063564356553[72] = 0.0; - out_4346759063564356553[73] = 0.0; - out_4346759063564356553[74] = 0.0; - out_4346759063564356553[75] = 0.0; - out_4346759063564356553[76] = 0.0; - out_4346759063564356553[77] = 0.0; - out_4346759063564356553[78] = 0.0; - out_4346759063564356553[79] = 0.0; - out_4346759063564356553[80] = 1.0; +void H_mod_fun(double *state, double *out_9070114660809295187) { + out_9070114660809295187[0] = 1.0; + out_9070114660809295187[1] = 0.0; + out_9070114660809295187[2] = 0.0; + out_9070114660809295187[3] = 0.0; + out_9070114660809295187[4] = 0.0; + out_9070114660809295187[5] = 0.0; + out_9070114660809295187[6] = 0.0; + out_9070114660809295187[7] = 0.0; + out_9070114660809295187[8] = 0.0; + out_9070114660809295187[9] = 0.0; + out_9070114660809295187[10] = 1.0; + out_9070114660809295187[11] = 0.0; + out_9070114660809295187[12] = 0.0; + out_9070114660809295187[13] = 0.0; + out_9070114660809295187[14] = 0.0; + out_9070114660809295187[15] = 0.0; + out_9070114660809295187[16] = 0.0; + out_9070114660809295187[17] = 0.0; + out_9070114660809295187[18] = 0.0; + out_9070114660809295187[19] = 0.0; + out_9070114660809295187[20] = 1.0; + out_9070114660809295187[21] = 0.0; + out_9070114660809295187[22] = 0.0; + out_9070114660809295187[23] = 0.0; + out_9070114660809295187[24] = 0.0; + out_9070114660809295187[25] = 0.0; + out_9070114660809295187[26] = 0.0; + out_9070114660809295187[27] = 0.0; + out_9070114660809295187[28] = 0.0; + out_9070114660809295187[29] = 0.0; + out_9070114660809295187[30] = 1.0; + out_9070114660809295187[31] = 0.0; + out_9070114660809295187[32] = 0.0; + out_9070114660809295187[33] = 0.0; + out_9070114660809295187[34] = 0.0; + out_9070114660809295187[35] = 0.0; + out_9070114660809295187[36] = 0.0; + out_9070114660809295187[37] = 0.0; + out_9070114660809295187[38] = 0.0; + out_9070114660809295187[39] = 0.0; + out_9070114660809295187[40] = 1.0; + out_9070114660809295187[41] = 0.0; + out_9070114660809295187[42] = 0.0; + out_9070114660809295187[43] = 0.0; + out_9070114660809295187[44] = 0.0; + out_9070114660809295187[45] = 0.0; + out_9070114660809295187[46] = 0.0; + out_9070114660809295187[47] = 0.0; + out_9070114660809295187[48] = 0.0; + out_9070114660809295187[49] = 0.0; + out_9070114660809295187[50] = 1.0; + out_9070114660809295187[51] = 0.0; + out_9070114660809295187[52] = 0.0; + out_9070114660809295187[53] = 0.0; + out_9070114660809295187[54] = 0.0; + out_9070114660809295187[55] = 0.0; + out_9070114660809295187[56] = 0.0; + out_9070114660809295187[57] = 0.0; + out_9070114660809295187[58] = 0.0; + out_9070114660809295187[59] = 0.0; + out_9070114660809295187[60] = 1.0; + out_9070114660809295187[61] = 0.0; + out_9070114660809295187[62] = 0.0; + out_9070114660809295187[63] = 0.0; + out_9070114660809295187[64] = 0.0; + out_9070114660809295187[65] = 0.0; + out_9070114660809295187[66] = 0.0; + out_9070114660809295187[67] = 0.0; + out_9070114660809295187[68] = 0.0; + out_9070114660809295187[69] = 0.0; + out_9070114660809295187[70] = 1.0; + out_9070114660809295187[71] = 0.0; + out_9070114660809295187[72] = 0.0; + out_9070114660809295187[73] = 0.0; + out_9070114660809295187[74] = 0.0; + out_9070114660809295187[75] = 0.0; + out_9070114660809295187[76] = 0.0; + out_9070114660809295187[77] = 0.0; + out_9070114660809295187[78] = 0.0; + out_9070114660809295187[79] = 0.0; + out_9070114660809295187[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8401415236153157083) { - out_8401415236153157083[0] = state[0]; - out_8401415236153157083[1] = state[1]; - out_8401415236153157083[2] = state[2]; - out_8401415236153157083[3] = state[3]; - out_8401415236153157083[4] = state[4]; - out_8401415236153157083[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_8401415236153157083[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_8401415236153157083[7] = state[7]; - out_8401415236153157083[8] = state[8]; +void f_fun(double *state, double dt, double *out_7847765386725654972) { + out_7847765386725654972[0] = state[0]; + out_7847765386725654972[1] = state[1]; + out_7847765386725654972[2] = state[2]; + out_7847765386725654972[3] = state[3]; + out_7847765386725654972[4] = state[4]; + out_7847765386725654972[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_7847765386725654972[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_7847765386725654972[7] = state[7]; + out_7847765386725654972[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1973239055632703499) { - out_1973239055632703499[0] = 1; - out_1973239055632703499[1] = 0; - out_1973239055632703499[2] = 0; - out_1973239055632703499[3] = 0; - out_1973239055632703499[4] = 0; - out_1973239055632703499[5] = 0; - out_1973239055632703499[6] = 0; - out_1973239055632703499[7] = 0; - out_1973239055632703499[8] = 0; - out_1973239055632703499[9] = 0; - out_1973239055632703499[10] = 1; - out_1973239055632703499[11] = 0; - out_1973239055632703499[12] = 0; - out_1973239055632703499[13] = 0; - out_1973239055632703499[14] = 0; - out_1973239055632703499[15] = 0; - out_1973239055632703499[16] = 0; - out_1973239055632703499[17] = 0; - out_1973239055632703499[18] = 0; - out_1973239055632703499[19] = 0; - out_1973239055632703499[20] = 1; - out_1973239055632703499[21] = 0; - out_1973239055632703499[22] = 0; - out_1973239055632703499[23] = 0; - out_1973239055632703499[24] = 0; - out_1973239055632703499[25] = 0; - out_1973239055632703499[26] = 0; - out_1973239055632703499[27] = 0; - out_1973239055632703499[28] = 0; - out_1973239055632703499[29] = 0; - out_1973239055632703499[30] = 1; - out_1973239055632703499[31] = 0; - out_1973239055632703499[32] = 0; - out_1973239055632703499[33] = 0; - out_1973239055632703499[34] = 0; - out_1973239055632703499[35] = 0; - out_1973239055632703499[36] = 0; - out_1973239055632703499[37] = 0; - out_1973239055632703499[38] = 0; - out_1973239055632703499[39] = 0; - out_1973239055632703499[40] = 1; - out_1973239055632703499[41] = 0; - out_1973239055632703499[42] = 0; - out_1973239055632703499[43] = 0; - out_1973239055632703499[44] = 0; - out_1973239055632703499[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_1973239055632703499[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1973239055632703499[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1973239055632703499[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1973239055632703499[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_1973239055632703499[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1973239055632703499[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1973239055632703499[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1973239055632703499[53] = -9.8100000000000005*dt; - out_1973239055632703499[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_1973239055632703499[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1973239055632703499[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1973239055632703499[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1973239055632703499[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_1973239055632703499[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1973239055632703499[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_1973239055632703499[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1973239055632703499[62] = 0; - out_1973239055632703499[63] = 0; - out_1973239055632703499[64] = 0; - out_1973239055632703499[65] = 0; - out_1973239055632703499[66] = 0; - out_1973239055632703499[67] = 0; - out_1973239055632703499[68] = 0; - out_1973239055632703499[69] = 0; - out_1973239055632703499[70] = 1; - out_1973239055632703499[71] = 0; - out_1973239055632703499[72] = 0; - out_1973239055632703499[73] = 0; - out_1973239055632703499[74] = 0; - out_1973239055632703499[75] = 0; - out_1973239055632703499[76] = 0; - out_1973239055632703499[77] = 0; - out_1973239055632703499[78] = 0; - out_1973239055632703499[79] = 0; - out_1973239055632703499[80] = 1; +void F_fun(double *state, double dt, double *out_6490326381461081645) { + out_6490326381461081645[0] = 1; + out_6490326381461081645[1] = 0; + out_6490326381461081645[2] = 0; + out_6490326381461081645[3] = 0; + out_6490326381461081645[4] = 0; + out_6490326381461081645[5] = 0; + out_6490326381461081645[6] = 0; + out_6490326381461081645[7] = 0; + out_6490326381461081645[8] = 0; + out_6490326381461081645[9] = 0; + out_6490326381461081645[10] = 1; + out_6490326381461081645[11] = 0; + out_6490326381461081645[12] = 0; + out_6490326381461081645[13] = 0; + out_6490326381461081645[14] = 0; + out_6490326381461081645[15] = 0; + out_6490326381461081645[16] = 0; + out_6490326381461081645[17] = 0; + out_6490326381461081645[18] = 0; + out_6490326381461081645[19] = 0; + out_6490326381461081645[20] = 1; + out_6490326381461081645[21] = 0; + out_6490326381461081645[22] = 0; + out_6490326381461081645[23] = 0; + out_6490326381461081645[24] = 0; + out_6490326381461081645[25] = 0; + out_6490326381461081645[26] = 0; + out_6490326381461081645[27] = 0; + out_6490326381461081645[28] = 0; + out_6490326381461081645[29] = 0; + out_6490326381461081645[30] = 1; + out_6490326381461081645[31] = 0; + out_6490326381461081645[32] = 0; + out_6490326381461081645[33] = 0; + out_6490326381461081645[34] = 0; + out_6490326381461081645[35] = 0; + out_6490326381461081645[36] = 0; + out_6490326381461081645[37] = 0; + out_6490326381461081645[38] = 0; + out_6490326381461081645[39] = 0; + out_6490326381461081645[40] = 1; + out_6490326381461081645[41] = 0; + out_6490326381461081645[42] = 0; + out_6490326381461081645[43] = 0; + out_6490326381461081645[44] = 0; + out_6490326381461081645[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_6490326381461081645[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6490326381461081645[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6490326381461081645[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6490326381461081645[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_6490326381461081645[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6490326381461081645[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6490326381461081645[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6490326381461081645[53] = -9.8100000000000005*dt; + out_6490326381461081645[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_6490326381461081645[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6490326381461081645[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6490326381461081645[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6490326381461081645[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_6490326381461081645[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6490326381461081645[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_6490326381461081645[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6490326381461081645[62] = 0; + out_6490326381461081645[63] = 0; + out_6490326381461081645[64] = 0; + out_6490326381461081645[65] = 0; + out_6490326381461081645[66] = 0; + out_6490326381461081645[67] = 0; + out_6490326381461081645[68] = 0; + out_6490326381461081645[69] = 0; + out_6490326381461081645[70] = 1; + out_6490326381461081645[71] = 0; + out_6490326381461081645[72] = 0; + out_6490326381461081645[73] = 0; + out_6490326381461081645[74] = 0; + out_6490326381461081645[75] = 0; + out_6490326381461081645[76] = 0; + out_6490326381461081645[77] = 0; + out_6490326381461081645[78] = 0; + out_6490326381461081645[79] = 0; + out_6490326381461081645[80] = 1; } -void h_25(double *state, double *unused, double *out_7709444436246576106) { - out_7709444436246576106[0] = state[6]; +void h_25(double *state, double *unused, double *out_258705256034994534) { + out_258705256034994534[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4906796784232957826) { - out_4906796784232957826[0] = 0; - out_4906796784232957826[1] = 0; - out_4906796784232957826[2] = 0; - out_4906796784232957826[3] = 0; - out_4906796784232957826[4] = 0; - out_4906796784232957826[5] = 0; - out_4906796784232957826[6] = 1; - out_4906796784232957826[7] = 0; - out_4906796784232957826[8] = 0; +void H_25(double *state, double *unused, double *out_123073565102942050) { + out_123073565102942050[0] = 0; + out_123073565102942050[1] = 0; + out_123073565102942050[2] = 0; + out_123073565102942050[3] = 0; + out_123073565102942050[4] = 0; + out_123073565102942050[5] = 0; + out_123073565102942050[6] = 1; + out_123073565102942050[7] = 0; + out_123073565102942050[8] = 0; } -void h_24(double *state, double *unused, double *out_8161953024412082811) { - out_8161953024412082811[0] = state[4]; - out_8161953024412082811[1] = state[5]; +void h_24(double *state, double *unused, double *out_5989007342487248666) { + out_5989007342487248666[0] = state[4]; + out_5989007342487248666[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6319825032271366663) { - out_6319825032271366663[0] = 0; - out_6319825032271366663[1] = 0; - out_6319825032271366663[2] = 0; - out_6319825032271366663[3] = 0; - out_6319825032271366663[4] = 1; - out_6319825032271366663[5] = 0; - out_6319825032271366663[6] = 0; - out_6319825032271366663[7] = 0; - out_6319825032271366663[8] = 0; - out_6319825032271366663[9] = 0; - out_6319825032271366663[10] = 0; - out_6319825032271366663[11] = 0; - out_6319825032271366663[12] = 0; - out_6319825032271366663[13] = 0; - out_6319825032271366663[14] = 1; - out_6319825032271366663[15] = 0; - out_6319825032271366663[16] = 0; - out_6319825032271366663[17] = 0; +void H_24(double *state, double *unused, double *out_4869582892069451084) { + out_4869582892069451084[0] = 0; + out_4869582892069451084[1] = 0; + out_4869582892069451084[2] = 0; + out_4869582892069451084[3] = 0; + out_4869582892069451084[4] = 1; + out_4869582892069451084[5] = 0; + out_4869582892069451084[6] = 0; + out_4869582892069451084[7] = 0; + out_4869582892069451084[8] = 0; + out_4869582892069451084[9] = 0; + out_4869582892069451084[10] = 0; + out_4869582892069451084[11] = 0; + out_4869582892069451084[12] = 0; + out_4869582892069451084[13] = 0; + out_4869582892069451084[14] = 1; + out_4869582892069451084[15] = 0; + out_4869582892069451084[16] = 0; + out_4869582892069451084[17] = 0; } -void h_30(double *state, double *unused, double *out_8890419815179839294) { - out_8890419815179839294[0] = state[4]; +void h_30(double *state, double *unused, double *out_179991132081170203) { + out_179991132081170203[0] = state[4]; } -void H_30(double *state, double *unused, double *out_7425129742740206453) { - out_7425129742740206453[0] = 0; - out_7425129742740206453[1] = 0; - out_7425129742740206453[2] = 0; - out_7425129742740206453[3] = 0; - out_7425129742740206453[4] = 1; - out_7425129742740206453[5] = 0; - out_7425129742740206453[6] = 0; - out_7425129742740206453[7] = 0; - out_7425129742740206453[8] = 0; +void H_30(double *state, double *unused, double *out_6793616776388674705) { + out_6793616776388674705[0] = 0; + out_6793616776388674705[1] = 0; + out_6793616776388674705[2] = 0; + out_6793616776388674705[3] = 0; + out_6793616776388674705[4] = 1; + out_6793616776388674705[5] = 0; + out_6793616776388674705[6] = 0; + out_6793616776388674705[7] = 0; + out_6793616776388674705[8] = 0; } -void h_26(double *state, double *unused, double *out_8798474113368893512) { - out_8798474113368893512[0] = state[7]; +void h_26(double *state, double *unused, double *out_4821682135579675442) { + out_4821682135579675442[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1165293465358901602) { - out_1165293465358901602[0] = 0; - out_1165293465358901602[1] = 0; - out_1165293465358901602[2] = 0; - out_1165293465358901602[3] = 0; - out_1165293465358901602[4] = 0; - out_1165293465358901602[5] = 0; - out_1165293465358901602[6] = 0; - out_1165293465358901602[7] = 1; - out_1165293465358901602[8] = 0; +void H_26(double *state, double *unused, double *out_3181452404657858551) { + out_3181452404657858551[0] = 0; + out_3181452404657858551[1] = 0; + out_3181452404657858551[2] = 0; + out_3181452404657858551[3] = 0; + out_3181452404657858551[4] = 0; + out_3181452404657858551[5] = 0; + out_3181452404657858551[6] = 0; + out_3181452404657858551[7] = 1; + out_3181452404657858551[8] = 0; } -void h_27(double *state, double *unused, double *out_4672658384802243421) { - out_4672658384802243421[0] = state[3]; +void h_27(double *state, double *unused, double *out_5260378523695840179) { + out_5260378523695840179[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8798020259785401946) { - out_8798020259785401946[0] = 0; - out_8798020259785401946[1] = 0; - out_8798020259785401946[2] = 0; - out_8798020259785401946[3] = 1; - out_8798020259785401946[4] = 0; - out_8798020259785401946[5] = 0; - out_8798020259785401946[6] = 0; - out_8798020259785401946[7] = 0; - out_8798020259785401946[8] = 0; +void H_27(double *state, double *unused, double *out_4618853464588249794) { + out_4618853464588249794[0] = 0; + out_4618853464588249794[1] = 0; + out_4618853464588249794[2] = 0; + out_4618853464588249794[3] = 1; + out_4618853464588249794[4] = 0; + out_4618853464588249794[5] = 0; + out_4618853464588249794[6] = 0; + out_4618853464588249794[7] = 0; + out_4618853464588249794[8] = 0; } -void h_29(double *state, double *unused, double *out_4214457022643681759) { - out_4214457022643681759[0] = state[1]; +void h_29(double *state, double *unused, double *out_5535572585980346068) { + out_5535572585980346068[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7935361087054598637) { - out_7935361087054598637[0] = 0; - out_7935361087054598637[1] = 1; - out_7935361087054598637[2] = 0; - out_7935361087054598637[3] = 0; - out_7935361087054598637[4] = 0; - out_7935361087054598637[5] = 0; - out_7935361087054598637[6] = 0; - out_7935361087054598637[7] = 0; - out_7935361087054598637[8] = 0; +void H_29(double *state, double *unused, double *out_2905490737718698761) { + out_2905490737718698761[0] = 0; + out_2905490737718698761[1] = 1; + out_2905490737718698761[2] = 0; + out_2905490737718698761[3] = 0; + out_2905490737718698761[4] = 0; + out_2905490737718698761[5] = 0; + out_2905490737718698761[6] = 0; + out_2905490737718698761[7] = 0; + out_2905490737718698761[8] = 0; } -void h_28(double *state, double *unused, double *out_8772412421246462550) { - out_8772412421246462550[0] = state[0]; +void h_28(double *state, double *unused, double *out_4092634722619698442) { + out_4092634722619698442[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2852962069985068063) { - out_2852962069985068063[0] = 1; - out_2852962069985068063[1] = 0; - out_2852962069985068063[2] = 0; - out_2852962069985068063[3] = 0; - out_2852962069985068063[4] = 0; - out_2852962069985068063[5] = 0; - out_2852962069985068063[6] = 0; - out_2852962069985068063[7] = 0; - out_2852962069985068063[8] = 0; +void H_28(double *state, double *unused, double *out_2176908279350831813) { + out_2176908279350831813[0] = 1; + out_2176908279350831813[1] = 0; + out_2176908279350831813[2] = 0; + out_2176908279350831813[3] = 0; + out_2176908279350831813[4] = 0; + out_2176908279350831813[5] = 0; + out_2176908279350831813[6] = 0; + out_2176908279350831813[7] = 0; + out_2176908279350831813[8] = 0; } -void h_31(double *state, double *unused, double *out_7434250373962070217) { - out_7434250373962070217[0] = state[8]; +void h_31(double *state, double *unused, double *out_1709336648663877701) { + out_1709336648663877701[0] = state[8]; } -void H_31(double *state, double *unused, double *out_539085363125550126) { - out_539085363125550126[0] = 0; - out_539085363125550126[1] = 0; - out_539085363125550126[2] = 0; - out_539085363125550126[3] = 0; - out_539085363125550126[4] = 0; - out_539085363125550126[5] = 0; - out_539085363125550126[6] = 0; - out_539085363125550126[7] = 0; - out_539085363125550126[8] = 1; +void H_31(double *state, double *unused, double *out_6953601685408875203) { + out_6953601685408875203[0] = 0; + out_6953601685408875203[1] = 0; + out_6953601685408875203[2] = 0; + out_6953601685408875203[3] = 0; + out_6953601685408875203[4] = 0; + out_6953601685408875203[5] = 0; + out_6953601685408875203[6] = 0; + out_6953601685408875203[7] = 0; + out_6953601685408875203[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_5579271098234299589) { - err_fun(nom_x, delta_x, out_5579271098234299589); +void car_err_fun(double *nom_x, double *delta_x, double *out_6314153535178174931) { + err_fun(nom_x, delta_x, out_6314153535178174931); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8879118943542071452) { - inv_err_fun(nom_x, true_x, out_8879118943542071452); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7049921009392106379) { + inv_err_fun(nom_x, true_x, out_7049921009392106379); } -void car_H_mod_fun(double *state, double *out_4346759063564356553) { - H_mod_fun(state, out_4346759063564356553); +void car_H_mod_fun(double *state, double *out_9070114660809295187) { + H_mod_fun(state, out_9070114660809295187); } -void car_f_fun(double *state, double dt, double *out_8401415236153157083) { - f_fun(state, dt, out_8401415236153157083); +void car_f_fun(double *state, double dt, double *out_7847765386725654972) { + f_fun(state, dt, out_7847765386725654972); } -void car_F_fun(double *state, double dt, double *out_1973239055632703499) { - F_fun(state, dt, out_1973239055632703499); +void car_F_fun(double *state, double dt, double *out_6490326381461081645) { + F_fun(state, dt, out_6490326381461081645); } -void car_h_25(double *state, double *unused, double *out_7709444436246576106) { - h_25(state, unused, out_7709444436246576106); +void car_h_25(double *state, double *unused, double *out_258705256034994534) { + h_25(state, unused, out_258705256034994534); } -void car_H_25(double *state, double *unused, double *out_4906796784232957826) { - H_25(state, unused, out_4906796784232957826); +void car_H_25(double *state, double *unused, double *out_123073565102942050) { + H_25(state, unused, out_123073565102942050); } -void car_h_24(double *state, double *unused, double *out_8161953024412082811) { - h_24(state, unused, out_8161953024412082811); +void car_h_24(double *state, double *unused, double *out_5989007342487248666) { + h_24(state, unused, out_5989007342487248666); } -void car_H_24(double *state, double *unused, double *out_6319825032271366663) { - H_24(state, unused, out_6319825032271366663); +void car_H_24(double *state, double *unused, double *out_4869582892069451084) { + H_24(state, unused, out_4869582892069451084); } -void car_h_30(double *state, double *unused, double *out_8890419815179839294) { - h_30(state, unused, out_8890419815179839294); +void car_h_30(double *state, double *unused, double *out_179991132081170203) { + h_30(state, unused, out_179991132081170203); } -void car_H_30(double *state, double *unused, double *out_7425129742740206453) { - H_30(state, unused, out_7425129742740206453); +void car_H_30(double *state, double *unused, double *out_6793616776388674705) { + H_30(state, unused, out_6793616776388674705); } -void car_h_26(double *state, double *unused, double *out_8798474113368893512) { - h_26(state, unused, out_8798474113368893512); +void car_h_26(double *state, double *unused, double *out_4821682135579675442) { + h_26(state, unused, out_4821682135579675442); } -void car_H_26(double *state, double *unused, double *out_1165293465358901602) { - H_26(state, unused, out_1165293465358901602); +void car_H_26(double *state, double *unused, double *out_3181452404657858551) { + H_26(state, unused, out_3181452404657858551); } -void car_h_27(double *state, double *unused, double *out_4672658384802243421) { - h_27(state, unused, out_4672658384802243421); +void car_h_27(double *state, double *unused, double *out_5260378523695840179) { + h_27(state, unused, out_5260378523695840179); } -void car_H_27(double *state, double *unused, double *out_8798020259785401946) { - H_27(state, unused, out_8798020259785401946); +void car_H_27(double *state, double *unused, double *out_4618853464588249794) { + H_27(state, unused, out_4618853464588249794); } -void car_h_29(double *state, double *unused, double *out_4214457022643681759) { - h_29(state, unused, out_4214457022643681759); +void car_h_29(double *state, double *unused, double *out_5535572585980346068) { + h_29(state, unused, out_5535572585980346068); } -void car_H_29(double *state, double *unused, double *out_7935361087054598637) { - H_29(state, unused, out_7935361087054598637); +void car_H_29(double *state, double *unused, double *out_2905490737718698761) { + H_29(state, unused, out_2905490737718698761); } -void car_h_28(double *state, double *unused, double *out_8772412421246462550) { - h_28(state, unused, out_8772412421246462550); +void car_h_28(double *state, double *unused, double *out_4092634722619698442) { + h_28(state, unused, out_4092634722619698442); } -void car_H_28(double *state, double *unused, double *out_2852962069985068063) { - H_28(state, unused, out_2852962069985068063); +void car_H_28(double *state, double *unused, double *out_2176908279350831813) { + H_28(state, unused, out_2176908279350831813); } -void car_h_31(double *state, double *unused, double *out_7434250373962070217) { - h_31(state, unused, out_7434250373962070217); +void car_h_31(double *state, double *unused, double *out_1709336648663877701) { + h_31(state, unused, out_1709336648663877701); } -void car_H_31(double *state, double *unused, double *out_539085363125550126) { - H_31(state, unused, out_539085363125550126); +void car_H_31(double *state, double *unused, double *out_6953601685408875203) { + H_31(state, unused, out_6953601685408875203); } 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 a31e93155e..96371e6dc6 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_5579271098234299589); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8879118943542071452); -void car_H_mod_fun(double *state, double *out_4346759063564356553); -void car_f_fun(double *state, double dt, double *out_8401415236153157083); -void car_F_fun(double *state, double dt, double *out_1973239055632703499); -void car_h_25(double *state, double *unused, double *out_7709444436246576106); -void car_H_25(double *state, double *unused, double *out_4906796784232957826); -void car_h_24(double *state, double *unused, double *out_8161953024412082811); -void car_H_24(double *state, double *unused, double *out_6319825032271366663); -void car_h_30(double *state, double *unused, double *out_8890419815179839294); -void car_H_30(double *state, double *unused, double *out_7425129742740206453); -void car_h_26(double *state, double *unused, double *out_8798474113368893512); -void car_H_26(double *state, double *unused, double *out_1165293465358901602); -void car_h_27(double *state, double *unused, double *out_4672658384802243421); -void car_H_27(double *state, double *unused, double *out_8798020259785401946); -void car_h_29(double *state, double *unused, double *out_4214457022643681759); -void car_H_29(double *state, double *unused, double *out_7935361087054598637); -void car_h_28(double *state, double *unused, double *out_8772412421246462550); -void car_H_28(double *state, double *unused, double *out_2852962069985068063); -void car_h_31(double *state, double *unused, double *out_7434250373962070217); -void car_H_31(double *state, double *unused, double *out_539085363125550126); +void car_err_fun(double *nom_x, double *delta_x, double *out_6314153535178174931); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7049921009392106379); +void car_H_mod_fun(double *state, double *out_9070114660809295187); +void car_f_fun(double *state, double dt, double *out_7847765386725654972); +void car_F_fun(double *state, double dt, double *out_6490326381461081645); +void car_h_25(double *state, double *unused, double *out_258705256034994534); +void car_H_25(double *state, double *unused, double *out_123073565102942050); +void car_h_24(double *state, double *unused, double *out_5989007342487248666); +void car_H_24(double *state, double *unused, double *out_4869582892069451084); +void car_h_30(double *state, double *unused, double *out_179991132081170203); +void car_H_30(double *state, double *unused, double *out_6793616776388674705); +void car_h_26(double *state, double *unused, double *out_4821682135579675442); +void car_H_26(double *state, double *unused, double *out_3181452404657858551); +void car_h_27(double *state, double *unused, double *out_5260378523695840179); +void car_H_27(double *state, double *unused, double *out_4618853464588249794); +void car_h_29(double *state, double *unused, double *out_5535572585980346068); +void car_H_29(double *state, double *unused, double *out_2905490737718698761); +void car_h_28(double *state, double *unused, double *out_4092634722619698442); +void car_H_28(double *state, double *unused, double *out_2176908279350831813); +void car_h_31(double *state, double *unused, double *out_1709336648663877701); +void car_H_31(double *state, double *unused, double *out_6953601685408875203); 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 faa975d0c5..8c823827e7 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_5010206230741134473) { - out_5010206230741134473[0] = delta_x[0] + nom_x[0]; - out_5010206230741134473[1] = delta_x[1] + nom_x[1]; - out_5010206230741134473[2] = delta_x[2] + nom_x[2]; - out_5010206230741134473[3] = delta_x[3] + nom_x[3]; - out_5010206230741134473[4] = delta_x[4] + nom_x[4]; - out_5010206230741134473[5] = delta_x[5] + nom_x[5]; - out_5010206230741134473[6] = delta_x[6] + nom_x[6]; - out_5010206230741134473[7] = delta_x[7] + nom_x[7]; - out_5010206230741134473[8] = delta_x[8] + nom_x[8]; - out_5010206230741134473[9] = delta_x[9] + nom_x[9]; - out_5010206230741134473[10] = delta_x[10] + nom_x[10]; - out_5010206230741134473[11] = delta_x[11] + nom_x[11]; - out_5010206230741134473[12] = delta_x[12] + nom_x[12]; - out_5010206230741134473[13] = delta_x[13] + nom_x[13]; - out_5010206230741134473[14] = delta_x[14] + nom_x[14]; - out_5010206230741134473[15] = delta_x[15] + nom_x[15]; - out_5010206230741134473[16] = delta_x[16] + nom_x[16]; - out_5010206230741134473[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_1227579335886564773) { + out_1227579335886564773[0] = delta_x[0] + nom_x[0]; + out_1227579335886564773[1] = delta_x[1] + nom_x[1]; + out_1227579335886564773[2] = delta_x[2] + nom_x[2]; + out_1227579335886564773[3] = delta_x[3] + nom_x[3]; + out_1227579335886564773[4] = delta_x[4] + nom_x[4]; + out_1227579335886564773[5] = delta_x[5] + nom_x[5]; + out_1227579335886564773[6] = delta_x[6] + nom_x[6]; + out_1227579335886564773[7] = delta_x[7] + nom_x[7]; + out_1227579335886564773[8] = delta_x[8] + nom_x[8]; + out_1227579335886564773[9] = delta_x[9] + nom_x[9]; + out_1227579335886564773[10] = delta_x[10] + nom_x[10]; + out_1227579335886564773[11] = delta_x[11] + nom_x[11]; + out_1227579335886564773[12] = delta_x[12] + nom_x[12]; + out_1227579335886564773[13] = delta_x[13] + nom_x[13]; + out_1227579335886564773[14] = delta_x[14] + nom_x[14]; + out_1227579335886564773[15] = delta_x[15] + nom_x[15]; + out_1227579335886564773[16] = delta_x[16] + nom_x[16]; + out_1227579335886564773[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1188067782326305394) { - out_1188067782326305394[0] = -nom_x[0] + true_x[0]; - out_1188067782326305394[1] = -nom_x[1] + true_x[1]; - out_1188067782326305394[2] = -nom_x[2] + true_x[2]; - out_1188067782326305394[3] = -nom_x[3] + true_x[3]; - out_1188067782326305394[4] = -nom_x[4] + true_x[4]; - out_1188067782326305394[5] = -nom_x[5] + true_x[5]; - out_1188067782326305394[6] = -nom_x[6] + true_x[6]; - out_1188067782326305394[7] = -nom_x[7] + true_x[7]; - out_1188067782326305394[8] = -nom_x[8] + true_x[8]; - out_1188067782326305394[9] = -nom_x[9] + true_x[9]; - out_1188067782326305394[10] = -nom_x[10] + true_x[10]; - out_1188067782326305394[11] = -nom_x[11] + true_x[11]; - out_1188067782326305394[12] = -nom_x[12] + true_x[12]; - out_1188067782326305394[13] = -nom_x[13] + true_x[13]; - out_1188067782326305394[14] = -nom_x[14] + true_x[14]; - out_1188067782326305394[15] = -nom_x[15] + true_x[15]; - out_1188067782326305394[16] = -nom_x[16] + true_x[16]; - out_1188067782326305394[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7708296302708828001) { + out_7708296302708828001[0] = -nom_x[0] + true_x[0]; + out_7708296302708828001[1] = -nom_x[1] + true_x[1]; + out_7708296302708828001[2] = -nom_x[2] + true_x[2]; + out_7708296302708828001[3] = -nom_x[3] + true_x[3]; + out_7708296302708828001[4] = -nom_x[4] + true_x[4]; + out_7708296302708828001[5] = -nom_x[5] + true_x[5]; + out_7708296302708828001[6] = -nom_x[6] + true_x[6]; + out_7708296302708828001[7] = -nom_x[7] + true_x[7]; + out_7708296302708828001[8] = -nom_x[8] + true_x[8]; + out_7708296302708828001[9] = -nom_x[9] + true_x[9]; + out_7708296302708828001[10] = -nom_x[10] + true_x[10]; + out_7708296302708828001[11] = -nom_x[11] + true_x[11]; + out_7708296302708828001[12] = -nom_x[12] + true_x[12]; + out_7708296302708828001[13] = -nom_x[13] + true_x[13]; + out_7708296302708828001[14] = -nom_x[14] + true_x[14]; + out_7708296302708828001[15] = -nom_x[15] + true_x[15]; + out_7708296302708828001[16] = -nom_x[16] + true_x[16]; + out_7708296302708828001[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7990211645421290333) { - out_7990211645421290333[0] = 1.0; - out_7990211645421290333[1] = 0.0; - out_7990211645421290333[2] = 0.0; - out_7990211645421290333[3] = 0.0; - out_7990211645421290333[4] = 0.0; - out_7990211645421290333[5] = 0.0; - out_7990211645421290333[6] = 0.0; - out_7990211645421290333[7] = 0.0; - out_7990211645421290333[8] = 0.0; - out_7990211645421290333[9] = 0.0; - out_7990211645421290333[10] = 0.0; - out_7990211645421290333[11] = 0.0; - out_7990211645421290333[12] = 0.0; - out_7990211645421290333[13] = 0.0; - out_7990211645421290333[14] = 0.0; - out_7990211645421290333[15] = 0.0; - out_7990211645421290333[16] = 0.0; - out_7990211645421290333[17] = 0.0; - out_7990211645421290333[18] = 0.0; - out_7990211645421290333[19] = 1.0; - out_7990211645421290333[20] = 0.0; - out_7990211645421290333[21] = 0.0; - out_7990211645421290333[22] = 0.0; - out_7990211645421290333[23] = 0.0; - out_7990211645421290333[24] = 0.0; - out_7990211645421290333[25] = 0.0; - out_7990211645421290333[26] = 0.0; - out_7990211645421290333[27] = 0.0; - out_7990211645421290333[28] = 0.0; - out_7990211645421290333[29] = 0.0; - out_7990211645421290333[30] = 0.0; - out_7990211645421290333[31] = 0.0; - out_7990211645421290333[32] = 0.0; - out_7990211645421290333[33] = 0.0; - out_7990211645421290333[34] = 0.0; - out_7990211645421290333[35] = 0.0; - out_7990211645421290333[36] = 0.0; - out_7990211645421290333[37] = 0.0; - out_7990211645421290333[38] = 1.0; - out_7990211645421290333[39] = 0.0; - out_7990211645421290333[40] = 0.0; - out_7990211645421290333[41] = 0.0; - out_7990211645421290333[42] = 0.0; - out_7990211645421290333[43] = 0.0; - out_7990211645421290333[44] = 0.0; - out_7990211645421290333[45] = 0.0; - out_7990211645421290333[46] = 0.0; - out_7990211645421290333[47] = 0.0; - out_7990211645421290333[48] = 0.0; - out_7990211645421290333[49] = 0.0; - out_7990211645421290333[50] = 0.0; - out_7990211645421290333[51] = 0.0; - out_7990211645421290333[52] = 0.0; - out_7990211645421290333[53] = 0.0; - out_7990211645421290333[54] = 0.0; - out_7990211645421290333[55] = 0.0; - out_7990211645421290333[56] = 0.0; - out_7990211645421290333[57] = 1.0; - out_7990211645421290333[58] = 0.0; - out_7990211645421290333[59] = 0.0; - out_7990211645421290333[60] = 0.0; - out_7990211645421290333[61] = 0.0; - out_7990211645421290333[62] = 0.0; - out_7990211645421290333[63] = 0.0; - out_7990211645421290333[64] = 0.0; - out_7990211645421290333[65] = 0.0; - out_7990211645421290333[66] = 0.0; - out_7990211645421290333[67] = 0.0; - out_7990211645421290333[68] = 0.0; - out_7990211645421290333[69] = 0.0; - out_7990211645421290333[70] = 0.0; - out_7990211645421290333[71] = 0.0; - out_7990211645421290333[72] = 0.0; - out_7990211645421290333[73] = 0.0; - out_7990211645421290333[74] = 0.0; - out_7990211645421290333[75] = 0.0; - out_7990211645421290333[76] = 1.0; - out_7990211645421290333[77] = 0.0; - out_7990211645421290333[78] = 0.0; - out_7990211645421290333[79] = 0.0; - out_7990211645421290333[80] = 0.0; - out_7990211645421290333[81] = 0.0; - out_7990211645421290333[82] = 0.0; - out_7990211645421290333[83] = 0.0; - out_7990211645421290333[84] = 0.0; - out_7990211645421290333[85] = 0.0; - out_7990211645421290333[86] = 0.0; - out_7990211645421290333[87] = 0.0; - out_7990211645421290333[88] = 0.0; - out_7990211645421290333[89] = 0.0; - out_7990211645421290333[90] = 0.0; - out_7990211645421290333[91] = 0.0; - out_7990211645421290333[92] = 0.0; - out_7990211645421290333[93] = 0.0; - out_7990211645421290333[94] = 0.0; - out_7990211645421290333[95] = 1.0; - out_7990211645421290333[96] = 0.0; - out_7990211645421290333[97] = 0.0; - out_7990211645421290333[98] = 0.0; - out_7990211645421290333[99] = 0.0; - out_7990211645421290333[100] = 0.0; - out_7990211645421290333[101] = 0.0; - out_7990211645421290333[102] = 0.0; - out_7990211645421290333[103] = 0.0; - out_7990211645421290333[104] = 0.0; - out_7990211645421290333[105] = 0.0; - out_7990211645421290333[106] = 0.0; - out_7990211645421290333[107] = 0.0; - out_7990211645421290333[108] = 0.0; - out_7990211645421290333[109] = 0.0; - out_7990211645421290333[110] = 0.0; - out_7990211645421290333[111] = 0.0; - out_7990211645421290333[112] = 0.0; - out_7990211645421290333[113] = 0.0; - out_7990211645421290333[114] = 1.0; - out_7990211645421290333[115] = 0.0; - out_7990211645421290333[116] = 0.0; - out_7990211645421290333[117] = 0.0; - out_7990211645421290333[118] = 0.0; - out_7990211645421290333[119] = 0.0; - out_7990211645421290333[120] = 0.0; - out_7990211645421290333[121] = 0.0; - out_7990211645421290333[122] = 0.0; - out_7990211645421290333[123] = 0.0; - out_7990211645421290333[124] = 0.0; - out_7990211645421290333[125] = 0.0; - out_7990211645421290333[126] = 0.0; - out_7990211645421290333[127] = 0.0; - out_7990211645421290333[128] = 0.0; - out_7990211645421290333[129] = 0.0; - out_7990211645421290333[130] = 0.0; - out_7990211645421290333[131] = 0.0; - out_7990211645421290333[132] = 0.0; - out_7990211645421290333[133] = 1.0; - out_7990211645421290333[134] = 0.0; - out_7990211645421290333[135] = 0.0; - out_7990211645421290333[136] = 0.0; - out_7990211645421290333[137] = 0.0; - out_7990211645421290333[138] = 0.0; - out_7990211645421290333[139] = 0.0; - out_7990211645421290333[140] = 0.0; - out_7990211645421290333[141] = 0.0; - out_7990211645421290333[142] = 0.0; - out_7990211645421290333[143] = 0.0; - out_7990211645421290333[144] = 0.0; - out_7990211645421290333[145] = 0.0; - out_7990211645421290333[146] = 0.0; - out_7990211645421290333[147] = 0.0; - out_7990211645421290333[148] = 0.0; - out_7990211645421290333[149] = 0.0; - out_7990211645421290333[150] = 0.0; - out_7990211645421290333[151] = 0.0; - out_7990211645421290333[152] = 1.0; - out_7990211645421290333[153] = 0.0; - out_7990211645421290333[154] = 0.0; - out_7990211645421290333[155] = 0.0; - out_7990211645421290333[156] = 0.0; - out_7990211645421290333[157] = 0.0; - out_7990211645421290333[158] = 0.0; - out_7990211645421290333[159] = 0.0; - out_7990211645421290333[160] = 0.0; - out_7990211645421290333[161] = 0.0; - out_7990211645421290333[162] = 0.0; - out_7990211645421290333[163] = 0.0; - out_7990211645421290333[164] = 0.0; - out_7990211645421290333[165] = 0.0; - out_7990211645421290333[166] = 0.0; - out_7990211645421290333[167] = 0.0; - out_7990211645421290333[168] = 0.0; - out_7990211645421290333[169] = 0.0; - out_7990211645421290333[170] = 0.0; - out_7990211645421290333[171] = 1.0; - out_7990211645421290333[172] = 0.0; - out_7990211645421290333[173] = 0.0; - out_7990211645421290333[174] = 0.0; - out_7990211645421290333[175] = 0.0; - out_7990211645421290333[176] = 0.0; - out_7990211645421290333[177] = 0.0; - out_7990211645421290333[178] = 0.0; - out_7990211645421290333[179] = 0.0; - out_7990211645421290333[180] = 0.0; - out_7990211645421290333[181] = 0.0; - out_7990211645421290333[182] = 0.0; - out_7990211645421290333[183] = 0.0; - out_7990211645421290333[184] = 0.0; - out_7990211645421290333[185] = 0.0; - out_7990211645421290333[186] = 0.0; - out_7990211645421290333[187] = 0.0; - out_7990211645421290333[188] = 0.0; - out_7990211645421290333[189] = 0.0; - out_7990211645421290333[190] = 1.0; - out_7990211645421290333[191] = 0.0; - out_7990211645421290333[192] = 0.0; - out_7990211645421290333[193] = 0.0; - out_7990211645421290333[194] = 0.0; - out_7990211645421290333[195] = 0.0; - out_7990211645421290333[196] = 0.0; - out_7990211645421290333[197] = 0.0; - out_7990211645421290333[198] = 0.0; - out_7990211645421290333[199] = 0.0; - out_7990211645421290333[200] = 0.0; - out_7990211645421290333[201] = 0.0; - out_7990211645421290333[202] = 0.0; - out_7990211645421290333[203] = 0.0; - out_7990211645421290333[204] = 0.0; - out_7990211645421290333[205] = 0.0; - out_7990211645421290333[206] = 0.0; - out_7990211645421290333[207] = 0.0; - out_7990211645421290333[208] = 0.0; - out_7990211645421290333[209] = 1.0; - out_7990211645421290333[210] = 0.0; - out_7990211645421290333[211] = 0.0; - out_7990211645421290333[212] = 0.0; - out_7990211645421290333[213] = 0.0; - out_7990211645421290333[214] = 0.0; - out_7990211645421290333[215] = 0.0; - out_7990211645421290333[216] = 0.0; - out_7990211645421290333[217] = 0.0; - out_7990211645421290333[218] = 0.0; - out_7990211645421290333[219] = 0.0; - out_7990211645421290333[220] = 0.0; - out_7990211645421290333[221] = 0.0; - out_7990211645421290333[222] = 0.0; - out_7990211645421290333[223] = 0.0; - out_7990211645421290333[224] = 0.0; - out_7990211645421290333[225] = 0.0; - out_7990211645421290333[226] = 0.0; - out_7990211645421290333[227] = 0.0; - out_7990211645421290333[228] = 1.0; - out_7990211645421290333[229] = 0.0; - out_7990211645421290333[230] = 0.0; - out_7990211645421290333[231] = 0.0; - out_7990211645421290333[232] = 0.0; - out_7990211645421290333[233] = 0.0; - out_7990211645421290333[234] = 0.0; - out_7990211645421290333[235] = 0.0; - out_7990211645421290333[236] = 0.0; - out_7990211645421290333[237] = 0.0; - out_7990211645421290333[238] = 0.0; - out_7990211645421290333[239] = 0.0; - out_7990211645421290333[240] = 0.0; - out_7990211645421290333[241] = 0.0; - out_7990211645421290333[242] = 0.0; - out_7990211645421290333[243] = 0.0; - out_7990211645421290333[244] = 0.0; - out_7990211645421290333[245] = 0.0; - out_7990211645421290333[246] = 0.0; - out_7990211645421290333[247] = 1.0; - out_7990211645421290333[248] = 0.0; - out_7990211645421290333[249] = 0.0; - out_7990211645421290333[250] = 0.0; - out_7990211645421290333[251] = 0.0; - out_7990211645421290333[252] = 0.0; - out_7990211645421290333[253] = 0.0; - out_7990211645421290333[254] = 0.0; - out_7990211645421290333[255] = 0.0; - out_7990211645421290333[256] = 0.0; - out_7990211645421290333[257] = 0.0; - out_7990211645421290333[258] = 0.0; - out_7990211645421290333[259] = 0.0; - out_7990211645421290333[260] = 0.0; - out_7990211645421290333[261] = 0.0; - out_7990211645421290333[262] = 0.0; - out_7990211645421290333[263] = 0.0; - out_7990211645421290333[264] = 0.0; - out_7990211645421290333[265] = 0.0; - out_7990211645421290333[266] = 1.0; - out_7990211645421290333[267] = 0.0; - out_7990211645421290333[268] = 0.0; - out_7990211645421290333[269] = 0.0; - out_7990211645421290333[270] = 0.0; - out_7990211645421290333[271] = 0.0; - out_7990211645421290333[272] = 0.0; - out_7990211645421290333[273] = 0.0; - out_7990211645421290333[274] = 0.0; - out_7990211645421290333[275] = 0.0; - out_7990211645421290333[276] = 0.0; - out_7990211645421290333[277] = 0.0; - out_7990211645421290333[278] = 0.0; - out_7990211645421290333[279] = 0.0; - out_7990211645421290333[280] = 0.0; - out_7990211645421290333[281] = 0.0; - out_7990211645421290333[282] = 0.0; - out_7990211645421290333[283] = 0.0; - out_7990211645421290333[284] = 0.0; - out_7990211645421290333[285] = 1.0; - out_7990211645421290333[286] = 0.0; - out_7990211645421290333[287] = 0.0; - out_7990211645421290333[288] = 0.0; - out_7990211645421290333[289] = 0.0; - out_7990211645421290333[290] = 0.0; - out_7990211645421290333[291] = 0.0; - out_7990211645421290333[292] = 0.0; - out_7990211645421290333[293] = 0.0; - out_7990211645421290333[294] = 0.0; - out_7990211645421290333[295] = 0.0; - out_7990211645421290333[296] = 0.0; - out_7990211645421290333[297] = 0.0; - out_7990211645421290333[298] = 0.0; - out_7990211645421290333[299] = 0.0; - out_7990211645421290333[300] = 0.0; - out_7990211645421290333[301] = 0.0; - out_7990211645421290333[302] = 0.0; - out_7990211645421290333[303] = 0.0; - out_7990211645421290333[304] = 1.0; - out_7990211645421290333[305] = 0.0; - out_7990211645421290333[306] = 0.0; - out_7990211645421290333[307] = 0.0; - out_7990211645421290333[308] = 0.0; - out_7990211645421290333[309] = 0.0; - out_7990211645421290333[310] = 0.0; - out_7990211645421290333[311] = 0.0; - out_7990211645421290333[312] = 0.0; - out_7990211645421290333[313] = 0.0; - out_7990211645421290333[314] = 0.0; - out_7990211645421290333[315] = 0.0; - out_7990211645421290333[316] = 0.0; - out_7990211645421290333[317] = 0.0; - out_7990211645421290333[318] = 0.0; - out_7990211645421290333[319] = 0.0; - out_7990211645421290333[320] = 0.0; - out_7990211645421290333[321] = 0.0; - out_7990211645421290333[322] = 0.0; - out_7990211645421290333[323] = 1.0; +void H_mod_fun(double *state, double *out_145151651698479708) { + out_145151651698479708[0] = 1.0; + out_145151651698479708[1] = 0.0; + out_145151651698479708[2] = 0.0; + out_145151651698479708[3] = 0.0; + out_145151651698479708[4] = 0.0; + out_145151651698479708[5] = 0.0; + out_145151651698479708[6] = 0.0; + out_145151651698479708[7] = 0.0; + out_145151651698479708[8] = 0.0; + out_145151651698479708[9] = 0.0; + out_145151651698479708[10] = 0.0; + out_145151651698479708[11] = 0.0; + out_145151651698479708[12] = 0.0; + out_145151651698479708[13] = 0.0; + out_145151651698479708[14] = 0.0; + out_145151651698479708[15] = 0.0; + out_145151651698479708[16] = 0.0; + out_145151651698479708[17] = 0.0; + out_145151651698479708[18] = 0.0; + out_145151651698479708[19] = 1.0; + out_145151651698479708[20] = 0.0; + out_145151651698479708[21] = 0.0; + out_145151651698479708[22] = 0.0; + out_145151651698479708[23] = 0.0; + out_145151651698479708[24] = 0.0; + out_145151651698479708[25] = 0.0; + out_145151651698479708[26] = 0.0; + out_145151651698479708[27] = 0.0; + out_145151651698479708[28] = 0.0; + out_145151651698479708[29] = 0.0; + out_145151651698479708[30] = 0.0; + out_145151651698479708[31] = 0.0; + out_145151651698479708[32] = 0.0; + out_145151651698479708[33] = 0.0; + out_145151651698479708[34] = 0.0; + out_145151651698479708[35] = 0.0; + out_145151651698479708[36] = 0.0; + out_145151651698479708[37] = 0.0; + out_145151651698479708[38] = 1.0; + out_145151651698479708[39] = 0.0; + out_145151651698479708[40] = 0.0; + out_145151651698479708[41] = 0.0; + out_145151651698479708[42] = 0.0; + out_145151651698479708[43] = 0.0; + out_145151651698479708[44] = 0.0; + out_145151651698479708[45] = 0.0; + out_145151651698479708[46] = 0.0; + out_145151651698479708[47] = 0.0; + out_145151651698479708[48] = 0.0; + out_145151651698479708[49] = 0.0; + out_145151651698479708[50] = 0.0; + out_145151651698479708[51] = 0.0; + out_145151651698479708[52] = 0.0; + out_145151651698479708[53] = 0.0; + out_145151651698479708[54] = 0.0; + out_145151651698479708[55] = 0.0; + out_145151651698479708[56] = 0.0; + out_145151651698479708[57] = 1.0; + out_145151651698479708[58] = 0.0; + out_145151651698479708[59] = 0.0; + out_145151651698479708[60] = 0.0; + out_145151651698479708[61] = 0.0; + out_145151651698479708[62] = 0.0; + out_145151651698479708[63] = 0.0; + out_145151651698479708[64] = 0.0; + out_145151651698479708[65] = 0.0; + out_145151651698479708[66] = 0.0; + out_145151651698479708[67] = 0.0; + out_145151651698479708[68] = 0.0; + out_145151651698479708[69] = 0.0; + out_145151651698479708[70] = 0.0; + out_145151651698479708[71] = 0.0; + out_145151651698479708[72] = 0.0; + out_145151651698479708[73] = 0.0; + out_145151651698479708[74] = 0.0; + out_145151651698479708[75] = 0.0; + out_145151651698479708[76] = 1.0; + out_145151651698479708[77] = 0.0; + out_145151651698479708[78] = 0.0; + out_145151651698479708[79] = 0.0; + out_145151651698479708[80] = 0.0; + out_145151651698479708[81] = 0.0; + out_145151651698479708[82] = 0.0; + out_145151651698479708[83] = 0.0; + out_145151651698479708[84] = 0.0; + out_145151651698479708[85] = 0.0; + out_145151651698479708[86] = 0.0; + out_145151651698479708[87] = 0.0; + out_145151651698479708[88] = 0.0; + out_145151651698479708[89] = 0.0; + out_145151651698479708[90] = 0.0; + out_145151651698479708[91] = 0.0; + out_145151651698479708[92] = 0.0; + out_145151651698479708[93] = 0.0; + out_145151651698479708[94] = 0.0; + out_145151651698479708[95] = 1.0; + out_145151651698479708[96] = 0.0; + out_145151651698479708[97] = 0.0; + out_145151651698479708[98] = 0.0; + out_145151651698479708[99] = 0.0; + out_145151651698479708[100] = 0.0; + out_145151651698479708[101] = 0.0; + out_145151651698479708[102] = 0.0; + out_145151651698479708[103] = 0.0; + out_145151651698479708[104] = 0.0; + out_145151651698479708[105] = 0.0; + out_145151651698479708[106] = 0.0; + out_145151651698479708[107] = 0.0; + out_145151651698479708[108] = 0.0; + out_145151651698479708[109] = 0.0; + out_145151651698479708[110] = 0.0; + out_145151651698479708[111] = 0.0; + out_145151651698479708[112] = 0.0; + out_145151651698479708[113] = 0.0; + out_145151651698479708[114] = 1.0; + out_145151651698479708[115] = 0.0; + out_145151651698479708[116] = 0.0; + out_145151651698479708[117] = 0.0; + out_145151651698479708[118] = 0.0; + out_145151651698479708[119] = 0.0; + out_145151651698479708[120] = 0.0; + out_145151651698479708[121] = 0.0; + out_145151651698479708[122] = 0.0; + out_145151651698479708[123] = 0.0; + out_145151651698479708[124] = 0.0; + out_145151651698479708[125] = 0.0; + out_145151651698479708[126] = 0.0; + out_145151651698479708[127] = 0.0; + out_145151651698479708[128] = 0.0; + out_145151651698479708[129] = 0.0; + out_145151651698479708[130] = 0.0; + out_145151651698479708[131] = 0.0; + out_145151651698479708[132] = 0.0; + out_145151651698479708[133] = 1.0; + out_145151651698479708[134] = 0.0; + out_145151651698479708[135] = 0.0; + out_145151651698479708[136] = 0.0; + out_145151651698479708[137] = 0.0; + out_145151651698479708[138] = 0.0; + out_145151651698479708[139] = 0.0; + out_145151651698479708[140] = 0.0; + out_145151651698479708[141] = 0.0; + out_145151651698479708[142] = 0.0; + out_145151651698479708[143] = 0.0; + out_145151651698479708[144] = 0.0; + out_145151651698479708[145] = 0.0; + out_145151651698479708[146] = 0.0; + out_145151651698479708[147] = 0.0; + out_145151651698479708[148] = 0.0; + out_145151651698479708[149] = 0.0; + out_145151651698479708[150] = 0.0; + out_145151651698479708[151] = 0.0; + out_145151651698479708[152] = 1.0; + out_145151651698479708[153] = 0.0; + out_145151651698479708[154] = 0.0; + out_145151651698479708[155] = 0.0; + out_145151651698479708[156] = 0.0; + out_145151651698479708[157] = 0.0; + out_145151651698479708[158] = 0.0; + out_145151651698479708[159] = 0.0; + out_145151651698479708[160] = 0.0; + out_145151651698479708[161] = 0.0; + out_145151651698479708[162] = 0.0; + out_145151651698479708[163] = 0.0; + out_145151651698479708[164] = 0.0; + out_145151651698479708[165] = 0.0; + out_145151651698479708[166] = 0.0; + out_145151651698479708[167] = 0.0; + out_145151651698479708[168] = 0.0; + out_145151651698479708[169] = 0.0; + out_145151651698479708[170] = 0.0; + out_145151651698479708[171] = 1.0; + out_145151651698479708[172] = 0.0; + out_145151651698479708[173] = 0.0; + out_145151651698479708[174] = 0.0; + out_145151651698479708[175] = 0.0; + out_145151651698479708[176] = 0.0; + out_145151651698479708[177] = 0.0; + out_145151651698479708[178] = 0.0; + out_145151651698479708[179] = 0.0; + out_145151651698479708[180] = 0.0; + out_145151651698479708[181] = 0.0; + out_145151651698479708[182] = 0.0; + out_145151651698479708[183] = 0.0; + out_145151651698479708[184] = 0.0; + out_145151651698479708[185] = 0.0; + out_145151651698479708[186] = 0.0; + out_145151651698479708[187] = 0.0; + out_145151651698479708[188] = 0.0; + out_145151651698479708[189] = 0.0; + out_145151651698479708[190] = 1.0; + out_145151651698479708[191] = 0.0; + out_145151651698479708[192] = 0.0; + out_145151651698479708[193] = 0.0; + out_145151651698479708[194] = 0.0; + out_145151651698479708[195] = 0.0; + out_145151651698479708[196] = 0.0; + out_145151651698479708[197] = 0.0; + out_145151651698479708[198] = 0.0; + out_145151651698479708[199] = 0.0; + out_145151651698479708[200] = 0.0; + out_145151651698479708[201] = 0.0; + out_145151651698479708[202] = 0.0; + out_145151651698479708[203] = 0.0; + out_145151651698479708[204] = 0.0; + out_145151651698479708[205] = 0.0; + out_145151651698479708[206] = 0.0; + out_145151651698479708[207] = 0.0; + out_145151651698479708[208] = 0.0; + out_145151651698479708[209] = 1.0; + out_145151651698479708[210] = 0.0; + out_145151651698479708[211] = 0.0; + out_145151651698479708[212] = 0.0; + out_145151651698479708[213] = 0.0; + out_145151651698479708[214] = 0.0; + out_145151651698479708[215] = 0.0; + out_145151651698479708[216] = 0.0; + out_145151651698479708[217] = 0.0; + out_145151651698479708[218] = 0.0; + out_145151651698479708[219] = 0.0; + out_145151651698479708[220] = 0.0; + out_145151651698479708[221] = 0.0; + out_145151651698479708[222] = 0.0; + out_145151651698479708[223] = 0.0; + out_145151651698479708[224] = 0.0; + out_145151651698479708[225] = 0.0; + out_145151651698479708[226] = 0.0; + out_145151651698479708[227] = 0.0; + out_145151651698479708[228] = 1.0; + out_145151651698479708[229] = 0.0; + out_145151651698479708[230] = 0.0; + out_145151651698479708[231] = 0.0; + out_145151651698479708[232] = 0.0; + out_145151651698479708[233] = 0.0; + out_145151651698479708[234] = 0.0; + out_145151651698479708[235] = 0.0; + out_145151651698479708[236] = 0.0; + out_145151651698479708[237] = 0.0; + out_145151651698479708[238] = 0.0; + out_145151651698479708[239] = 0.0; + out_145151651698479708[240] = 0.0; + out_145151651698479708[241] = 0.0; + out_145151651698479708[242] = 0.0; + out_145151651698479708[243] = 0.0; + out_145151651698479708[244] = 0.0; + out_145151651698479708[245] = 0.0; + out_145151651698479708[246] = 0.0; + out_145151651698479708[247] = 1.0; + out_145151651698479708[248] = 0.0; + out_145151651698479708[249] = 0.0; + out_145151651698479708[250] = 0.0; + out_145151651698479708[251] = 0.0; + out_145151651698479708[252] = 0.0; + out_145151651698479708[253] = 0.0; + out_145151651698479708[254] = 0.0; + out_145151651698479708[255] = 0.0; + out_145151651698479708[256] = 0.0; + out_145151651698479708[257] = 0.0; + out_145151651698479708[258] = 0.0; + out_145151651698479708[259] = 0.0; + out_145151651698479708[260] = 0.0; + out_145151651698479708[261] = 0.0; + out_145151651698479708[262] = 0.0; + out_145151651698479708[263] = 0.0; + out_145151651698479708[264] = 0.0; + out_145151651698479708[265] = 0.0; + out_145151651698479708[266] = 1.0; + out_145151651698479708[267] = 0.0; + out_145151651698479708[268] = 0.0; + out_145151651698479708[269] = 0.0; + out_145151651698479708[270] = 0.0; + out_145151651698479708[271] = 0.0; + out_145151651698479708[272] = 0.0; + out_145151651698479708[273] = 0.0; + out_145151651698479708[274] = 0.0; + out_145151651698479708[275] = 0.0; + out_145151651698479708[276] = 0.0; + out_145151651698479708[277] = 0.0; + out_145151651698479708[278] = 0.0; + out_145151651698479708[279] = 0.0; + out_145151651698479708[280] = 0.0; + out_145151651698479708[281] = 0.0; + out_145151651698479708[282] = 0.0; + out_145151651698479708[283] = 0.0; + out_145151651698479708[284] = 0.0; + out_145151651698479708[285] = 1.0; + out_145151651698479708[286] = 0.0; + out_145151651698479708[287] = 0.0; + out_145151651698479708[288] = 0.0; + out_145151651698479708[289] = 0.0; + out_145151651698479708[290] = 0.0; + out_145151651698479708[291] = 0.0; + out_145151651698479708[292] = 0.0; + out_145151651698479708[293] = 0.0; + out_145151651698479708[294] = 0.0; + out_145151651698479708[295] = 0.0; + out_145151651698479708[296] = 0.0; + out_145151651698479708[297] = 0.0; + out_145151651698479708[298] = 0.0; + out_145151651698479708[299] = 0.0; + out_145151651698479708[300] = 0.0; + out_145151651698479708[301] = 0.0; + out_145151651698479708[302] = 0.0; + out_145151651698479708[303] = 0.0; + out_145151651698479708[304] = 1.0; + out_145151651698479708[305] = 0.0; + out_145151651698479708[306] = 0.0; + out_145151651698479708[307] = 0.0; + out_145151651698479708[308] = 0.0; + out_145151651698479708[309] = 0.0; + out_145151651698479708[310] = 0.0; + out_145151651698479708[311] = 0.0; + out_145151651698479708[312] = 0.0; + out_145151651698479708[313] = 0.0; + out_145151651698479708[314] = 0.0; + out_145151651698479708[315] = 0.0; + out_145151651698479708[316] = 0.0; + out_145151651698479708[317] = 0.0; + out_145151651698479708[318] = 0.0; + out_145151651698479708[319] = 0.0; + out_145151651698479708[320] = 0.0; + out_145151651698479708[321] = 0.0; + out_145151651698479708[322] = 0.0; + out_145151651698479708[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2076252175851799438) { - out_2076252175851799438[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); - out_2076252175851799438[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); - out_2076252175851799438[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); - out_2076252175851799438[3] = dt*state[12] + state[3]; - out_2076252175851799438[4] = dt*state[13] + state[4]; - out_2076252175851799438[5] = dt*state[14] + state[5]; - out_2076252175851799438[6] = state[6]; - out_2076252175851799438[7] = state[7]; - out_2076252175851799438[8] = state[8]; - out_2076252175851799438[9] = state[9]; - out_2076252175851799438[10] = state[10]; - out_2076252175851799438[11] = state[11]; - out_2076252175851799438[12] = state[12]; - out_2076252175851799438[13] = state[13]; - out_2076252175851799438[14] = state[14]; - out_2076252175851799438[15] = state[15]; - out_2076252175851799438[16] = state[16]; - out_2076252175851799438[17] = state[17]; +void f_fun(double *state, double dt, double *out_6753877240357292479) { + out_6753877240357292479[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_6753877240357292479[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_6753877240357292479[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_6753877240357292479[3] = dt*state[12] + state[3]; + out_6753877240357292479[4] = dt*state[13] + state[4]; + out_6753877240357292479[5] = dt*state[14] + state[5]; + out_6753877240357292479[6] = state[6]; + out_6753877240357292479[7] = state[7]; + out_6753877240357292479[8] = state[8]; + out_6753877240357292479[9] = state[9]; + out_6753877240357292479[10] = state[10]; + out_6753877240357292479[11] = state[11]; + out_6753877240357292479[12] = state[12]; + out_6753877240357292479[13] = state[13]; + out_6753877240357292479[14] = state[14]; + out_6753877240357292479[15] = state[15]; + out_6753877240357292479[16] = state[16]; + out_6753877240357292479[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5637265960027517094) { - out_5637265960027517094[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5637265960027517094[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5637265960027517094[2] = 0; - out_5637265960027517094[3] = 0; - out_5637265960027517094[4] = 0; - out_5637265960027517094[5] = 0; - out_5637265960027517094[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5637265960027517094[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5637265960027517094[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5637265960027517094[9] = 0; - out_5637265960027517094[10] = 0; - out_5637265960027517094[11] = 0; - out_5637265960027517094[12] = 0; - out_5637265960027517094[13] = 0; - out_5637265960027517094[14] = 0; - out_5637265960027517094[15] = 0; - out_5637265960027517094[16] = 0; - out_5637265960027517094[17] = 0; - out_5637265960027517094[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5637265960027517094[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5637265960027517094[20] = 0; - out_5637265960027517094[21] = 0; - out_5637265960027517094[22] = 0; - out_5637265960027517094[23] = 0; - out_5637265960027517094[24] = 0; - out_5637265960027517094[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5637265960027517094[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5637265960027517094[27] = 0; - out_5637265960027517094[28] = 0; - out_5637265960027517094[29] = 0; - out_5637265960027517094[30] = 0; - out_5637265960027517094[31] = 0; - out_5637265960027517094[32] = 0; - out_5637265960027517094[33] = 0; - out_5637265960027517094[34] = 0; - out_5637265960027517094[35] = 0; - out_5637265960027517094[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5637265960027517094[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5637265960027517094[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5637265960027517094[39] = 0; - out_5637265960027517094[40] = 0; - out_5637265960027517094[41] = 0; - out_5637265960027517094[42] = 0; - out_5637265960027517094[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5637265960027517094[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5637265960027517094[45] = 0; - out_5637265960027517094[46] = 0; - out_5637265960027517094[47] = 0; - out_5637265960027517094[48] = 0; - out_5637265960027517094[49] = 0; - out_5637265960027517094[50] = 0; - out_5637265960027517094[51] = 0; - out_5637265960027517094[52] = 0; - out_5637265960027517094[53] = 0; - out_5637265960027517094[54] = 0; - out_5637265960027517094[55] = 0; - out_5637265960027517094[56] = 0; - out_5637265960027517094[57] = 1; - out_5637265960027517094[58] = 0; - out_5637265960027517094[59] = 0; - out_5637265960027517094[60] = 0; - out_5637265960027517094[61] = 0; - out_5637265960027517094[62] = 0; - out_5637265960027517094[63] = 0; - out_5637265960027517094[64] = 0; - out_5637265960027517094[65] = 0; - out_5637265960027517094[66] = dt; - out_5637265960027517094[67] = 0; - out_5637265960027517094[68] = 0; - out_5637265960027517094[69] = 0; - out_5637265960027517094[70] = 0; - out_5637265960027517094[71] = 0; - out_5637265960027517094[72] = 0; - out_5637265960027517094[73] = 0; - out_5637265960027517094[74] = 0; - out_5637265960027517094[75] = 0; - out_5637265960027517094[76] = 1; - out_5637265960027517094[77] = 0; - out_5637265960027517094[78] = 0; - out_5637265960027517094[79] = 0; - out_5637265960027517094[80] = 0; - out_5637265960027517094[81] = 0; - out_5637265960027517094[82] = 0; - out_5637265960027517094[83] = 0; - out_5637265960027517094[84] = 0; - out_5637265960027517094[85] = dt; - out_5637265960027517094[86] = 0; - out_5637265960027517094[87] = 0; - out_5637265960027517094[88] = 0; - out_5637265960027517094[89] = 0; - out_5637265960027517094[90] = 0; - out_5637265960027517094[91] = 0; - out_5637265960027517094[92] = 0; - out_5637265960027517094[93] = 0; - out_5637265960027517094[94] = 0; - out_5637265960027517094[95] = 1; - out_5637265960027517094[96] = 0; - out_5637265960027517094[97] = 0; - out_5637265960027517094[98] = 0; - out_5637265960027517094[99] = 0; - out_5637265960027517094[100] = 0; - out_5637265960027517094[101] = 0; - out_5637265960027517094[102] = 0; - out_5637265960027517094[103] = 0; - out_5637265960027517094[104] = dt; - out_5637265960027517094[105] = 0; - out_5637265960027517094[106] = 0; - out_5637265960027517094[107] = 0; - out_5637265960027517094[108] = 0; - out_5637265960027517094[109] = 0; - out_5637265960027517094[110] = 0; - out_5637265960027517094[111] = 0; - out_5637265960027517094[112] = 0; - out_5637265960027517094[113] = 0; - out_5637265960027517094[114] = 1; - out_5637265960027517094[115] = 0; - out_5637265960027517094[116] = 0; - out_5637265960027517094[117] = 0; - out_5637265960027517094[118] = 0; - out_5637265960027517094[119] = 0; - out_5637265960027517094[120] = 0; - out_5637265960027517094[121] = 0; - out_5637265960027517094[122] = 0; - out_5637265960027517094[123] = 0; - out_5637265960027517094[124] = 0; - out_5637265960027517094[125] = 0; - out_5637265960027517094[126] = 0; - out_5637265960027517094[127] = 0; - out_5637265960027517094[128] = 0; - out_5637265960027517094[129] = 0; - out_5637265960027517094[130] = 0; - out_5637265960027517094[131] = 0; - out_5637265960027517094[132] = 0; - out_5637265960027517094[133] = 1; - out_5637265960027517094[134] = 0; - out_5637265960027517094[135] = 0; - out_5637265960027517094[136] = 0; - out_5637265960027517094[137] = 0; - out_5637265960027517094[138] = 0; - out_5637265960027517094[139] = 0; - out_5637265960027517094[140] = 0; - out_5637265960027517094[141] = 0; - out_5637265960027517094[142] = 0; - out_5637265960027517094[143] = 0; - out_5637265960027517094[144] = 0; - out_5637265960027517094[145] = 0; - out_5637265960027517094[146] = 0; - out_5637265960027517094[147] = 0; - out_5637265960027517094[148] = 0; - out_5637265960027517094[149] = 0; - out_5637265960027517094[150] = 0; - out_5637265960027517094[151] = 0; - out_5637265960027517094[152] = 1; - out_5637265960027517094[153] = 0; - out_5637265960027517094[154] = 0; - out_5637265960027517094[155] = 0; - out_5637265960027517094[156] = 0; - out_5637265960027517094[157] = 0; - out_5637265960027517094[158] = 0; - out_5637265960027517094[159] = 0; - out_5637265960027517094[160] = 0; - out_5637265960027517094[161] = 0; - out_5637265960027517094[162] = 0; - out_5637265960027517094[163] = 0; - out_5637265960027517094[164] = 0; - out_5637265960027517094[165] = 0; - out_5637265960027517094[166] = 0; - out_5637265960027517094[167] = 0; - out_5637265960027517094[168] = 0; - out_5637265960027517094[169] = 0; - out_5637265960027517094[170] = 0; - out_5637265960027517094[171] = 1; - out_5637265960027517094[172] = 0; - out_5637265960027517094[173] = 0; - out_5637265960027517094[174] = 0; - out_5637265960027517094[175] = 0; - out_5637265960027517094[176] = 0; - out_5637265960027517094[177] = 0; - out_5637265960027517094[178] = 0; - out_5637265960027517094[179] = 0; - out_5637265960027517094[180] = 0; - out_5637265960027517094[181] = 0; - out_5637265960027517094[182] = 0; - out_5637265960027517094[183] = 0; - out_5637265960027517094[184] = 0; - out_5637265960027517094[185] = 0; - out_5637265960027517094[186] = 0; - out_5637265960027517094[187] = 0; - out_5637265960027517094[188] = 0; - out_5637265960027517094[189] = 0; - out_5637265960027517094[190] = 1; - out_5637265960027517094[191] = 0; - out_5637265960027517094[192] = 0; - out_5637265960027517094[193] = 0; - out_5637265960027517094[194] = 0; - out_5637265960027517094[195] = 0; - out_5637265960027517094[196] = 0; - out_5637265960027517094[197] = 0; - out_5637265960027517094[198] = 0; - out_5637265960027517094[199] = 0; - out_5637265960027517094[200] = 0; - out_5637265960027517094[201] = 0; - out_5637265960027517094[202] = 0; - out_5637265960027517094[203] = 0; - out_5637265960027517094[204] = 0; - out_5637265960027517094[205] = 0; - out_5637265960027517094[206] = 0; - out_5637265960027517094[207] = 0; - out_5637265960027517094[208] = 0; - out_5637265960027517094[209] = 1; - out_5637265960027517094[210] = 0; - out_5637265960027517094[211] = 0; - out_5637265960027517094[212] = 0; - out_5637265960027517094[213] = 0; - out_5637265960027517094[214] = 0; - out_5637265960027517094[215] = 0; - out_5637265960027517094[216] = 0; - out_5637265960027517094[217] = 0; - out_5637265960027517094[218] = 0; - out_5637265960027517094[219] = 0; - out_5637265960027517094[220] = 0; - out_5637265960027517094[221] = 0; - out_5637265960027517094[222] = 0; - out_5637265960027517094[223] = 0; - out_5637265960027517094[224] = 0; - out_5637265960027517094[225] = 0; - out_5637265960027517094[226] = 0; - out_5637265960027517094[227] = 0; - out_5637265960027517094[228] = 1; - out_5637265960027517094[229] = 0; - out_5637265960027517094[230] = 0; - out_5637265960027517094[231] = 0; - out_5637265960027517094[232] = 0; - out_5637265960027517094[233] = 0; - out_5637265960027517094[234] = 0; - out_5637265960027517094[235] = 0; - out_5637265960027517094[236] = 0; - out_5637265960027517094[237] = 0; - out_5637265960027517094[238] = 0; - out_5637265960027517094[239] = 0; - out_5637265960027517094[240] = 0; - out_5637265960027517094[241] = 0; - out_5637265960027517094[242] = 0; - out_5637265960027517094[243] = 0; - out_5637265960027517094[244] = 0; - out_5637265960027517094[245] = 0; - out_5637265960027517094[246] = 0; - out_5637265960027517094[247] = 1; - out_5637265960027517094[248] = 0; - out_5637265960027517094[249] = 0; - out_5637265960027517094[250] = 0; - out_5637265960027517094[251] = 0; - out_5637265960027517094[252] = 0; - out_5637265960027517094[253] = 0; - out_5637265960027517094[254] = 0; - out_5637265960027517094[255] = 0; - out_5637265960027517094[256] = 0; - out_5637265960027517094[257] = 0; - out_5637265960027517094[258] = 0; - out_5637265960027517094[259] = 0; - out_5637265960027517094[260] = 0; - out_5637265960027517094[261] = 0; - out_5637265960027517094[262] = 0; - out_5637265960027517094[263] = 0; - out_5637265960027517094[264] = 0; - out_5637265960027517094[265] = 0; - out_5637265960027517094[266] = 1; - out_5637265960027517094[267] = 0; - out_5637265960027517094[268] = 0; - out_5637265960027517094[269] = 0; - out_5637265960027517094[270] = 0; - out_5637265960027517094[271] = 0; - out_5637265960027517094[272] = 0; - out_5637265960027517094[273] = 0; - out_5637265960027517094[274] = 0; - out_5637265960027517094[275] = 0; - out_5637265960027517094[276] = 0; - out_5637265960027517094[277] = 0; - out_5637265960027517094[278] = 0; - out_5637265960027517094[279] = 0; - out_5637265960027517094[280] = 0; - out_5637265960027517094[281] = 0; - out_5637265960027517094[282] = 0; - out_5637265960027517094[283] = 0; - out_5637265960027517094[284] = 0; - out_5637265960027517094[285] = 1; - out_5637265960027517094[286] = 0; - out_5637265960027517094[287] = 0; - out_5637265960027517094[288] = 0; - out_5637265960027517094[289] = 0; - out_5637265960027517094[290] = 0; - out_5637265960027517094[291] = 0; - out_5637265960027517094[292] = 0; - out_5637265960027517094[293] = 0; - out_5637265960027517094[294] = 0; - out_5637265960027517094[295] = 0; - out_5637265960027517094[296] = 0; - out_5637265960027517094[297] = 0; - out_5637265960027517094[298] = 0; - out_5637265960027517094[299] = 0; - out_5637265960027517094[300] = 0; - out_5637265960027517094[301] = 0; - out_5637265960027517094[302] = 0; - out_5637265960027517094[303] = 0; - out_5637265960027517094[304] = 1; - out_5637265960027517094[305] = 0; - out_5637265960027517094[306] = 0; - out_5637265960027517094[307] = 0; - out_5637265960027517094[308] = 0; - out_5637265960027517094[309] = 0; - out_5637265960027517094[310] = 0; - out_5637265960027517094[311] = 0; - out_5637265960027517094[312] = 0; - out_5637265960027517094[313] = 0; - out_5637265960027517094[314] = 0; - out_5637265960027517094[315] = 0; - out_5637265960027517094[316] = 0; - out_5637265960027517094[317] = 0; - out_5637265960027517094[318] = 0; - out_5637265960027517094[319] = 0; - out_5637265960027517094[320] = 0; - out_5637265960027517094[321] = 0; - out_5637265960027517094[322] = 0; - out_5637265960027517094[323] = 1; +void F_fun(double *state, double dt, double *out_48451545294533288) { + out_48451545294533288[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_48451545294533288[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_48451545294533288[2] = 0; + out_48451545294533288[3] = 0; + out_48451545294533288[4] = 0; + out_48451545294533288[5] = 0; + out_48451545294533288[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_48451545294533288[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_48451545294533288[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_48451545294533288[9] = 0; + out_48451545294533288[10] = 0; + out_48451545294533288[11] = 0; + out_48451545294533288[12] = 0; + out_48451545294533288[13] = 0; + out_48451545294533288[14] = 0; + out_48451545294533288[15] = 0; + out_48451545294533288[16] = 0; + out_48451545294533288[17] = 0; + out_48451545294533288[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_48451545294533288[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_48451545294533288[20] = 0; + out_48451545294533288[21] = 0; + out_48451545294533288[22] = 0; + out_48451545294533288[23] = 0; + out_48451545294533288[24] = 0; + out_48451545294533288[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_48451545294533288[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_48451545294533288[27] = 0; + out_48451545294533288[28] = 0; + out_48451545294533288[29] = 0; + out_48451545294533288[30] = 0; + out_48451545294533288[31] = 0; + out_48451545294533288[32] = 0; + out_48451545294533288[33] = 0; + out_48451545294533288[34] = 0; + out_48451545294533288[35] = 0; + out_48451545294533288[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_48451545294533288[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_48451545294533288[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_48451545294533288[39] = 0; + out_48451545294533288[40] = 0; + out_48451545294533288[41] = 0; + out_48451545294533288[42] = 0; + out_48451545294533288[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_48451545294533288[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_48451545294533288[45] = 0; + out_48451545294533288[46] = 0; + out_48451545294533288[47] = 0; + out_48451545294533288[48] = 0; + out_48451545294533288[49] = 0; + out_48451545294533288[50] = 0; + out_48451545294533288[51] = 0; + out_48451545294533288[52] = 0; + out_48451545294533288[53] = 0; + out_48451545294533288[54] = 0; + out_48451545294533288[55] = 0; + out_48451545294533288[56] = 0; + out_48451545294533288[57] = 1; + out_48451545294533288[58] = 0; + out_48451545294533288[59] = 0; + out_48451545294533288[60] = 0; + out_48451545294533288[61] = 0; + out_48451545294533288[62] = 0; + out_48451545294533288[63] = 0; + out_48451545294533288[64] = 0; + out_48451545294533288[65] = 0; + out_48451545294533288[66] = dt; + out_48451545294533288[67] = 0; + out_48451545294533288[68] = 0; + out_48451545294533288[69] = 0; + out_48451545294533288[70] = 0; + out_48451545294533288[71] = 0; + out_48451545294533288[72] = 0; + out_48451545294533288[73] = 0; + out_48451545294533288[74] = 0; + out_48451545294533288[75] = 0; + out_48451545294533288[76] = 1; + out_48451545294533288[77] = 0; + out_48451545294533288[78] = 0; + out_48451545294533288[79] = 0; + out_48451545294533288[80] = 0; + out_48451545294533288[81] = 0; + out_48451545294533288[82] = 0; + out_48451545294533288[83] = 0; + out_48451545294533288[84] = 0; + out_48451545294533288[85] = dt; + out_48451545294533288[86] = 0; + out_48451545294533288[87] = 0; + out_48451545294533288[88] = 0; + out_48451545294533288[89] = 0; + out_48451545294533288[90] = 0; + out_48451545294533288[91] = 0; + out_48451545294533288[92] = 0; + out_48451545294533288[93] = 0; + out_48451545294533288[94] = 0; + out_48451545294533288[95] = 1; + out_48451545294533288[96] = 0; + out_48451545294533288[97] = 0; + out_48451545294533288[98] = 0; + out_48451545294533288[99] = 0; + out_48451545294533288[100] = 0; + out_48451545294533288[101] = 0; + out_48451545294533288[102] = 0; + out_48451545294533288[103] = 0; + out_48451545294533288[104] = dt; + out_48451545294533288[105] = 0; + out_48451545294533288[106] = 0; + out_48451545294533288[107] = 0; + out_48451545294533288[108] = 0; + out_48451545294533288[109] = 0; + out_48451545294533288[110] = 0; + out_48451545294533288[111] = 0; + out_48451545294533288[112] = 0; + out_48451545294533288[113] = 0; + out_48451545294533288[114] = 1; + out_48451545294533288[115] = 0; + out_48451545294533288[116] = 0; + out_48451545294533288[117] = 0; + out_48451545294533288[118] = 0; + out_48451545294533288[119] = 0; + out_48451545294533288[120] = 0; + out_48451545294533288[121] = 0; + out_48451545294533288[122] = 0; + out_48451545294533288[123] = 0; + out_48451545294533288[124] = 0; + out_48451545294533288[125] = 0; + out_48451545294533288[126] = 0; + out_48451545294533288[127] = 0; + out_48451545294533288[128] = 0; + out_48451545294533288[129] = 0; + out_48451545294533288[130] = 0; + out_48451545294533288[131] = 0; + out_48451545294533288[132] = 0; + out_48451545294533288[133] = 1; + out_48451545294533288[134] = 0; + out_48451545294533288[135] = 0; + out_48451545294533288[136] = 0; + out_48451545294533288[137] = 0; + out_48451545294533288[138] = 0; + out_48451545294533288[139] = 0; + out_48451545294533288[140] = 0; + out_48451545294533288[141] = 0; + out_48451545294533288[142] = 0; + out_48451545294533288[143] = 0; + out_48451545294533288[144] = 0; + out_48451545294533288[145] = 0; + out_48451545294533288[146] = 0; + out_48451545294533288[147] = 0; + out_48451545294533288[148] = 0; + out_48451545294533288[149] = 0; + out_48451545294533288[150] = 0; + out_48451545294533288[151] = 0; + out_48451545294533288[152] = 1; + out_48451545294533288[153] = 0; + out_48451545294533288[154] = 0; + out_48451545294533288[155] = 0; + out_48451545294533288[156] = 0; + out_48451545294533288[157] = 0; + out_48451545294533288[158] = 0; + out_48451545294533288[159] = 0; + out_48451545294533288[160] = 0; + out_48451545294533288[161] = 0; + out_48451545294533288[162] = 0; + out_48451545294533288[163] = 0; + out_48451545294533288[164] = 0; + out_48451545294533288[165] = 0; + out_48451545294533288[166] = 0; + out_48451545294533288[167] = 0; + out_48451545294533288[168] = 0; + out_48451545294533288[169] = 0; + out_48451545294533288[170] = 0; + out_48451545294533288[171] = 1; + out_48451545294533288[172] = 0; + out_48451545294533288[173] = 0; + out_48451545294533288[174] = 0; + out_48451545294533288[175] = 0; + out_48451545294533288[176] = 0; + out_48451545294533288[177] = 0; + out_48451545294533288[178] = 0; + out_48451545294533288[179] = 0; + out_48451545294533288[180] = 0; + out_48451545294533288[181] = 0; + out_48451545294533288[182] = 0; + out_48451545294533288[183] = 0; + out_48451545294533288[184] = 0; + out_48451545294533288[185] = 0; + out_48451545294533288[186] = 0; + out_48451545294533288[187] = 0; + out_48451545294533288[188] = 0; + out_48451545294533288[189] = 0; + out_48451545294533288[190] = 1; + out_48451545294533288[191] = 0; + out_48451545294533288[192] = 0; + out_48451545294533288[193] = 0; + out_48451545294533288[194] = 0; + out_48451545294533288[195] = 0; + out_48451545294533288[196] = 0; + out_48451545294533288[197] = 0; + out_48451545294533288[198] = 0; + out_48451545294533288[199] = 0; + out_48451545294533288[200] = 0; + out_48451545294533288[201] = 0; + out_48451545294533288[202] = 0; + out_48451545294533288[203] = 0; + out_48451545294533288[204] = 0; + out_48451545294533288[205] = 0; + out_48451545294533288[206] = 0; + out_48451545294533288[207] = 0; + out_48451545294533288[208] = 0; + out_48451545294533288[209] = 1; + out_48451545294533288[210] = 0; + out_48451545294533288[211] = 0; + out_48451545294533288[212] = 0; + out_48451545294533288[213] = 0; + out_48451545294533288[214] = 0; + out_48451545294533288[215] = 0; + out_48451545294533288[216] = 0; + out_48451545294533288[217] = 0; + out_48451545294533288[218] = 0; + out_48451545294533288[219] = 0; + out_48451545294533288[220] = 0; + out_48451545294533288[221] = 0; + out_48451545294533288[222] = 0; + out_48451545294533288[223] = 0; + out_48451545294533288[224] = 0; + out_48451545294533288[225] = 0; + out_48451545294533288[226] = 0; + out_48451545294533288[227] = 0; + out_48451545294533288[228] = 1; + out_48451545294533288[229] = 0; + out_48451545294533288[230] = 0; + out_48451545294533288[231] = 0; + out_48451545294533288[232] = 0; + out_48451545294533288[233] = 0; + out_48451545294533288[234] = 0; + out_48451545294533288[235] = 0; + out_48451545294533288[236] = 0; + out_48451545294533288[237] = 0; + out_48451545294533288[238] = 0; + out_48451545294533288[239] = 0; + out_48451545294533288[240] = 0; + out_48451545294533288[241] = 0; + out_48451545294533288[242] = 0; + out_48451545294533288[243] = 0; + out_48451545294533288[244] = 0; + out_48451545294533288[245] = 0; + out_48451545294533288[246] = 0; + out_48451545294533288[247] = 1; + out_48451545294533288[248] = 0; + out_48451545294533288[249] = 0; + out_48451545294533288[250] = 0; + out_48451545294533288[251] = 0; + out_48451545294533288[252] = 0; + out_48451545294533288[253] = 0; + out_48451545294533288[254] = 0; + out_48451545294533288[255] = 0; + out_48451545294533288[256] = 0; + out_48451545294533288[257] = 0; + out_48451545294533288[258] = 0; + out_48451545294533288[259] = 0; + out_48451545294533288[260] = 0; + out_48451545294533288[261] = 0; + out_48451545294533288[262] = 0; + out_48451545294533288[263] = 0; + out_48451545294533288[264] = 0; + out_48451545294533288[265] = 0; + out_48451545294533288[266] = 1; + out_48451545294533288[267] = 0; + out_48451545294533288[268] = 0; + out_48451545294533288[269] = 0; + out_48451545294533288[270] = 0; + out_48451545294533288[271] = 0; + out_48451545294533288[272] = 0; + out_48451545294533288[273] = 0; + out_48451545294533288[274] = 0; + out_48451545294533288[275] = 0; + out_48451545294533288[276] = 0; + out_48451545294533288[277] = 0; + out_48451545294533288[278] = 0; + out_48451545294533288[279] = 0; + out_48451545294533288[280] = 0; + out_48451545294533288[281] = 0; + out_48451545294533288[282] = 0; + out_48451545294533288[283] = 0; + out_48451545294533288[284] = 0; + out_48451545294533288[285] = 1; + out_48451545294533288[286] = 0; + out_48451545294533288[287] = 0; + out_48451545294533288[288] = 0; + out_48451545294533288[289] = 0; + out_48451545294533288[290] = 0; + out_48451545294533288[291] = 0; + out_48451545294533288[292] = 0; + out_48451545294533288[293] = 0; + out_48451545294533288[294] = 0; + out_48451545294533288[295] = 0; + out_48451545294533288[296] = 0; + out_48451545294533288[297] = 0; + out_48451545294533288[298] = 0; + out_48451545294533288[299] = 0; + out_48451545294533288[300] = 0; + out_48451545294533288[301] = 0; + out_48451545294533288[302] = 0; + out_48451545294533288[303] = 0; + out_48451545294533288[304] = 1; + out_48451545294533288[305] = 0; + out_48451545294533288[306] = 0; + out_48451545294533288[307] = 0; + out_48451545294533288[308] = 0; + out_48451545294533288[309] = 0; + out_48451545294533288[310] = 0; + out_48451545294533288[311] = 0; + out_48451545294533288[312] = 0; + out_48451545294533288[313] = 0; + out_48451545294533288[314] = 0; + out_48451545294533288[315] = 0; + out_48451545294533288[316] = 0; + out_48451545294533288[317] = 0; + out_48451545294533288[318] = 0; + out_48451545294533288[319] = 0; + out_48451545294533288[320] = 0; + out_48451545294533288[321] = 0; + out_48451545294533288[322] = 0; + out_48451545294533288[323] = 1; } -void h_4(double *state, double *unused, double *out_4126661282704422428) { - out_4126661282704422428[0] = state[6] + state[9]; - out_4126661282704422428[1] = state[7] + state[10]; - out_4126661282704422428[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_711207782401779392) { + out_711207782401779392[0] = state[6] + state[9]; + out_711207782401779392[1] = state[7] + state[10]; + out_711207782401779392[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_7236050643366577726) { - out_7236050643366577726[0] = 0; - out_7236050643366577726[1] = 0; - out_7236050643366577726[2] = 0; - out_7236050643366577726[3] = 0; - out_7236050643366577726[4] = 0; - out_7236050643366577726[5] = 0; - out_7236050643366577726[6] = 1; - out_7236050643366577726[7] = 0; - out_7236050643366577726[8] = 0; - out_7236050643366577726[9] = 1; - out_7236050643366577726[10] = 0; - out_7236050643366577726[11] = 0; - out_7236050643366577726[12] = 0; - out_7236050643366577726[13] = 0; - out_7236050643366577726[14] = 0; - out_7236050643366577726[15] = 0; - out_7236050643366577726[16] = 0; - out_7236050643366577726[17] = 0; - out_7236050643366577726[18] = 0; - out_7236050643366577726[19] = 0; - out_7236050643366577726[20] = 0; - out_7236050643366577726[21] = 0; - out_7236050643366577726[22] = 0; - out_7236050643366577726[23] = 0; - out_7236050643366577726[24] = 0; - out_7236050643366577726[25] = 1; - out_7236050643366577726[26] = 0; - out_7236050643366577726[27] = 0; - out_7236050643366577726[28] = 1; - out_7236050643366577726[29] = 0; - out_7236050643366577726[30] = 0; - out_7236050643366577726[31] = 0; - out_7236050643366577726[32] = 0; - out_7236050643366577726[33] = 0; - out_7236050643366577726[34] = 0; - out_7236050643366577726[35] = 0; - out_7236050643366577726[36] = 0; - out_7236050643366577726[37] = 0; - out_7236050643366577726[38] = 0; - out_7236050643366577726[39] = 0; - out_7236050643366577726[40] = 0; - out_7236050643366577726[41] = 0; - out_7236050643366577726[42] = 0; - out_7236050643366577726[43] = 0; - out_7236050643366577726[44] = 1; - out_7236050643366577726[45] = 0; - out_7236050643366577726[46] = 0; - out_7236050643366577726[47] = 1; - out_7236050643366577726[48] = 0; - out_7236050643366577726[49] = 0; - out_7236050643366577726[50] = 0; - out_7236050643366577726[51] = 0; - out_7236050643366577726[52] = 0; - out_7236050643366577726[53] = 0; +void H_4(double *state, double *unused, double *out_6437019938278623926) { + out_6437019938278623926[0] = 0; + out_6437019938278623926[1] = 0; + out_6437019938278623926[2] = 0; + out_6437019938278623926[3] = 0; + out_6437019938278623926[4] = 0; + out_6437019938278623926[5] = 0; + out_6437019938278623926[6] = 1; + out_6437019938278623926[7] = 0; + out_6437019938278623926[8] = 0; + out_6437019938278623926[9] = 1; + out_6437019938278623926[10] = 0; + out_6437019938278623926[11] = 0; + out_6437019938278623926[12] = 0; + out_6437019938278623926[13] = 0; + out_6437019938278623926[14] = 0; + out_6437019938278623926[15] = 0; + out_6437019938278623926[16] = 0; + out_6437019938278623926[17] = 0; + out_6437019938278623926[18] = 0; + out_6437019938278623926[19] = 0; + out_6437019938278623926[20] = 0; + out_6437019938278623926[21] = 0; + out_6437019938278623926[22] = 0; + out_6437019938278623926[23] = 0; + out_6437019938278623926[24] = 0; + out_6437019938278623926[25] = 1; + out_6437019938278623926[26] = 0; + out_6437019938278623926[27] = 0; + out_6437019938278623926[28] = 1; + out_6437019938278623926[29] = 0; + out_6437019938278623926[30] = 0; + out_6437019938278623926[31] = 0; + out_6437019938278623926[32] = 0; + out_6437019938278623926[33] = 0; + out_6437019938278623926[34] = 0; + out_6437019938278623926[35] = 0; + out_6437019938278623926[36] = 0; + out_6437019938278623926[37] = 0; + out_6437019938278623926[38] = 0; + out_6437019938278623926[39] = 0; + out_6437019938278623926[40] = 0; + out_6437019938278623926[41] = 0; + out_6437019938278623926[42] = 0; + out_6437019938278623926[43] = 0; + out_6437019938278623926[44] = 1; + out_6437019938278623926[45] = 0; + out_6437019938278623926[46] = 0; + out_6437019938278623926[47] = 1; + out_6437019938278623926[48] = 0; + out_6437019938278623926[49] = 0; + out_6437019938278623926[50] = 0; + out_6437019938278623926[51] = 0; + out_6437019938278623926[52] = 0; + out_6437019938278623926[53] = 0; } -void h_10(double *state, double *unused, double *out_8418525422339329003) { - out_8418525422339329003[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8418525422339329003[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8418525422339329003[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; +void h_10(double *state, double *unused, double *out_2942660564170460979) { + out_2942660564170460979[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2942660564170460979[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2942660564170460979[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_7705227448246336422) { - out_7705227448246336422[0] = 0; - out_7705227448246336422[1] = 9.8100000000000005*cos(state[1]); - out_7705227448246336422[2] = 0; - out_7705227448246336422[3] = 0; - out_7705227448246336422[4] = -state[8]; - out_7705227448246336422[5] = state[7]; - out_7705227448246336422[6] = 0; - out_7705227448246336422[7] = state[5]; - out_7705227448246336422[8] = -state[4]; - out_7705227448246336422[9] = 0; - out_7705227448246336422[10] = 0; - out_7705227448246336422[11] = 0; - out_7705227448246336422[12] = 1; - out_7705227448246336422[13] = 0; - out_7705227448246336422[14] = 0; - out_7705227448246336422[15] = 1; - out_7705227448246336422[16] = 0; - out_7705227448246336422[17] = 0; - out_7705227448246336422[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_7705227448246336422[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_7705227448246336422[20] = 0; - out_7705227448246336422[21] = state[8]; - out_7705227448246336422[22] = 0; - out_7705227448246336422[23] = -state[6]; - out_7705227448246336422[24] = -state[5]; - out_7705227448246336422[25] = 0; - out_7705227448246336422[26] = state[3]; - out_7705227448246336422[27] = 0; - out_7705227448246336422[28] = 0; - out_7705227448246336422[29] = 0; - out_7705227448246336422[30] = 0; - out_7705227448246336422[31] = 1; - out_7705227448246336422[32] = 0; - out_7705227448246336422[33] = 0; - out_7705227448246336422[34] = 1; - out_7705227448246336422[35] = 0; - out_7705227448246336422[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_7705227448246336422[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_7705227448246336422[38] = 0; - out_7705227448246336422[39] = -state[7]; - out_7705227448246336422[40] = state[6]; - out_7705227448246336422[41] = 0; - out_7705227448246336422[42] = state[4]; - out_7705227448246336422[43] = -state[3]; - out_7705227448246336422[44] = 0; - out_7705227448246336422[45] = 0; - out_7705227448246336422[46] = 0; - out_7705227448246336422[47] = 0; - out_7705227448246336422[48] = 0; - out_7705227448246336422[49] = 0; - out_7705227448246336422[50] = 1; - out_7705227448246336422[51] = 0; - out_7705227448246336422[52] = 0; - out_7705227448246336422[53] = 1; +void H_10(double *state, double *unused, double *out_7753365329259358525) { + out_7753365329259358525[0] = 0; + out_7753365329259358525[1] = 9.8100000000000005*cos(state[1]); + out_7753365329259358525[2] = 0; + out_7753365329259358525[3] = 0; + out_7753365329259358525[4] = -state[8]; + out_7753365329259358525[5] = state[7]; + out_7753365329259358525[6] = 0; + out_7753365329259358525[7] = state[5]; + out_7753365329259358525[8] = -state[4]; + out_7753365329259358525[9] = 0; + out_7753365329259358525[10] = 0; + out_7753365329259358525[11] = 0; + out_7753365329259358525[12] = 1; + out_7753365329259358525[13] = 0; + out_7753365329259358525[14] = 0; + out_7753365329259358525[15] = 1; + out_7753365329259358525[16] = 0; + out_7753365329259358525[17] = 0; + out_7753365329259358525[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_7753365329259358525[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_7753365329259358525[20] = 0; + out_7753365329259358525[21] = state[8]; + out_7753365329259358525[22] = 0; + out_7753365329259358525[23] = -state[6]; + out_7753365329259358525[24] = -state[5]; + out_7753365329259358525[25] = 0; + out_7753365329259358525[26] = state[3]; + out_7753365329259358525[27] = 0; + out_7753365329259358525[28] = 0; + out_7753365329259358525[29] = 0; + out_7753365329259358525[30] = 0; + out_7753365329259358525[31] = 1; + out_7753365329259358525[32] = 0; + out_7753365329259358525[33] = 0; + out_7753365329259358525[34] = 1; + out_7753365329259358525[35] = 0; + out_7753365329259358525[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_7753365329259358525[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_7753365329259358525[38] = 0; + out_7753365329259358525[39] = -state[7]; + out_7753365329259358525[40] = state[6]; + out_7753365329259358525[41] = 0; + out_7753365329259358525[42] = state[4]; + out_7753365329259358525[43] = -state[3]; + out_7753365329259358525[44] = 0; + out_7753365329259358525[45] = 0; + out_7753365329259358525[46] = 0; + out_7753365329259358525[47] = 0; + out_7753365329259358525[48] = 0; + out_7753365329259358525[49] = 0; + out_7753365329259358525[50] = 1; + out_7753365329259358525[51] = 0; + out_7753365329259358525[52] = 0; + out_7753365329259358525[53] = 1; } -void h_13(double *state, double *unused, double *out_1137889379193769762) { - out_1137889379193769762[0] = state[3]; - out_1137889379193769762[1] = state[4]; - out_1137889379193769762[2] = state[5]; +void h_13(double *state, double *unused, double *out_2914132243760424113) { + out_2914132243760424113[0] = state[3]; + out_2914132243760424113[1] = state[4]; + out_2914132243760424113[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4023776818034244925) { - out_4023776818034244925[0] = 0; - out_4023776818034244925[1] = 0; - out_4023776818034244925[2] = 0; - out_4023776818034244925[3] = 1; - out_4023776818034244925[4] = 0; - out_4023776818034244925[5] = 0; - out_4023776818034244925[6] = 0; - out_4023776818034244925[7] = 0; - out_4023776818034244925[8] = 0; - out_4023776818034244925[9] = 0; - out_4023776818034244925[10] = 0; - out_4023776818034244925[11] = 0; - out_4023776818034244925[12] = 0; - out_4023776818034244925[13] = 0; - out_4023776818034244925[14] = 0; - out_4023776818034244925[15] = 0; - out_4023776818034244925[16] = 0; - out_4023776818034244925[17] = 0; - out_4023776818034244925[18] = 0; - out_4023776818034244925[19] = 0; - out_4023776818034244925[20] = 0; - out_4023776818034244925[21] = 0; - out_4023776818034244925[22] = 1; - out_4023776818034244925[23] = 0; - out_4023776818034244925[24] = 0; - out_4023776818034244925[25] = 0; - out_4023776818034244925[26] = 0; - out_4023776818034244925[27] = 0; - out_4023776818034244925[28] = 0; - out_4023776818034244925[29] = 0; - out_4023776818034244925[30] = 0; - out_4023776818034244925[31] = 0; - out_4023776818034244925[32] = 0; - out_4023776818034244925[33] = 0; - out_4023776818034244925[34] = 0; - out_4023776818034244925[35] = 0; - out_4023776818034244925[36] = 0; - out_4023776818034244925[37] = 0; - out_4023776818034244925[38] = 0; - out_4023776818034244925[39] = 0; - out_4023776818034244925[40] = 0; - out_4023776818034244925[41] = 1; - out_4023776818034244925[42] = 0; - out_4023776818034244925[43] = 0; - out_4023776818034244925[44] = 0; - out_4023776818034244925[45] = 0; - out_4023776818034244925[46] = 0; - out_4023776818034244925[47] = 0; - out_4023776818034244925[48] = 0; - out_4023776818034244925[49] = 0; - out_4023776818034244925[50] = 0; - out_4023776818034244925[51] = 0; - out_4023776818034244925[52] = 0; - out_4023776818034244925[53] = 0; +void H_13(double *state, double *unused, double *out_3224746112946291125) { + out_3224746112946291125[0] = 0; + out_3224746112946291125[1] = 0; + out_3224746112946291125[2] = 0; + out_3224746112946291125[3] = 1; + out_3224746112946291125[4] = 0; + out_3224746112946291125[5] = 0; + out_3224746112946291125[6] = 0; + out_3224746112946291125[7] = 0; + out_3224746112946291125[8] = 0; + out_3224746112946291125[9] = 0; + out_3224746112946291125[10] = 0; + out_3224746112946291125[11] = 0; + out_3224746112946291125[12] = 0; + out_3224746112946291125[13] = 0; + out_3224746112946291125[14] = 0; + out_3224746112946291125[15] = 0; + out_3224746112946291125[16] = 0; + out_3224746112946291125[17] = 0; + out_3224746112946291125[18] = 0; + out_3224746112946291125[19] = 0; + out_3224746112946291125[20] = 0; + out_3224746112946291125[21] = 0; + out_3224746112946291125[22] = 1; + out_3224746112946291125[23] = 0; + out_3224746112946291125[24] = 0; + out_3224746112946291125[25] = 0; + out_3224746112946291125[26] = 0; + out_3224746112946291125[27] = 0; + out_3224746112946291125[28] = 0; + out_3224746112946291125[29] = 0; + out_3224746112946291125[30] = 0; + out_3224746112946291125[31] = 0; + out_3224746112946291125[32] = 0; + out_3224746112946291125[33] = 0; + out_3224746112946291125[34] = 0; + out_3224746112946291125[35] = 0; + out_3224746112946291125[36] = 0; + out_3224746112946291125[37] = 0; + out_3224746112946291125[38] = 0; + out_3224746112946291125[39] = 0; + out_3224746112946291125[40] = 0; + out_3224746112946291125[41] = 1; + out_3224746112946291125[42] = 0; + out_3224746112946291125[43] = 0; + out_3224746112946291125[44] = 0; + out_3224746112946291125[45] = 0; + out_3224746112946291125[46] = 0; + out_3224746112946291125[47] = 0; + out_3224746112946291125[48] = 0; + out_3224746112946291125[49] = 0; + out_3224746112946291125[50] = 0; + out_3224746112946291125[51] = 0; + out_3224746112946291125[52] = 0; + out_3224746112946291125[53] = 0; } -void h_14(double *state, double *unused, double *out_3946282764828343143) { - out_3946282764828343143[0] = state[6]; - out_3946282764828343143[1] = state[7]; - out_3946282764828343143[2] = state[8]; +void h_14(double *state, double *unused, double *out_677306400367602538) { + out_677306400367602538[0] = state[6]; + out_677306400367602538[1] = state[7]; + out_677306400367602538[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3272809787027093197) { - out_3272809787027093197[0] = 0; - out_3272809787027093197[1] = 0; - out_3272809787027093197[2] = 0; - out_3272809787027093197[3] = 0; - out_3272809787027093197[4] = 0; - out_3272809787027093197[5] = 0; - out_3272809787027093197[6] = 1; - out_3272809787027093197[7] = 0; - out_3272809787027093197[8] = 0; - out_3272809787027093197[9] = 0; - out_3272809787027093197[10] = 0; - out_3272809787027093197[11] = 0; - out_3272809787027093197[12] = 0; - out_3272809787027093197[13] = 0; - out_3272809787027093197[14] = 0; - out_3272809787027093197[15] = 0; - out_3272809787027093197[16] = 0; - out_3272809787027093197[17] = 0; - out_3272809787027093197[18] = 0; - out_3272809787027093197[19] = 0; - out_3272809787027093197[20] = 0; - out_3272809787027093197[21] = 0; - out_3272809787027093197[22] = 0; - out_3272809787027093197[23] = 0; - out_3272809787027093197[24] = 0; - out_3272809787027093197[25] = 1; - out_3272809787027093197[26] = 0; - out_3272809787027093197[27] = 0; - out_3272809787027093197[28] = 0; - out_3272809787027093197[29] = 0; - out_3272809787027093197[30] = 0; - out_3272809787027093197[31] = 0; - out_3272809787027093197[32] = 0; - out_3272809787027093197[33] = 0; - out_3272809787027093197[34] = 0; - out_3272809787027093197[35] = 0; - out_3272809787027093197[36] = 0; - out_3272809787027093197[37] = 0; - out_3272809787027093197[38] = 0; - out_3272809787027093197[39] = 0; - out_3272809787027093197[40] = 0; - out_3272809787027093197[41] = 0; - out_3272809787027093197[42] = 0; - out_3272809787027093197[43] = 0; - out_3272809787027093197[44] = 1; - out_3272809787027093197[45] = 0; - out_3272809787027093197[46] = 0; - out_3272809787027093197[47] = 0; - out_3272809787027093197[48] = 0; - out_3272809787027093197[49] = 0; - out_3272809787027093197[50] = 0; - out_3272809787027093197[51] = 0; - out_3272809787027093197[52] = 0; - out_3272809787027093197[53] = 0; +void H_14(double *state, double *unused, double *out_2473779081939139397) { + out_2473779081939139397[0] = 0; + out_2473779081939139397[1] = 0; + out_2473779081939139397[2] = 0; + out_2473779081939139397[3] = 0; + out_2473779081939139397[4] = 0; + out_2473779081939139397[5] = 0; + out_2473779081939139397[6] = 1; + out_2473779081939139397[7] = 0; + out_2473779081939139397[8] = 0; + out_2473779081939139397[9] = 0; + out_2473779081939139397[10] = 0; + out_2473779081939139397[11] = 0; + out_2473779081939139397[12] = 0; + out_2473779081939139397[13] = 0; + out_2473779081939139397[14] = 0; + out_2473779081939139397[15] = 0; + out_2473779081939139397[16] = 0; + out_2473779081939139397[17] = 0; + out_2473779081939139397[18] = 0; + out_2473779081939139397[19] = 0; + out_2473779081939139397[20] = 0; + out_2473779081939139397[21] = 0; + out_2473779081939139397[22] = 0; + out_2473779081939139397[23] = 0; + out_2473779081939139397[24] = 0; + out_2473779081939139397[25] = 1; + out_2473779081939139397[26] = 0; + out_2473779081939139397[27] = 0; + out_2473779081939139397[28] = 0; + out_2473779081939139397[29] = 0; + out_2473779081939139397[30] = 0; + out_2473779081939139397[31] = 0; + out_2473779081939139397[32] = 0; + out_2473779081939139397[33] = 0; + out_2473779081939139397[34] = 0; + out_2473779081939139397[35] = 0; + out_2473779081939139397[36] = 0; + out_2473779081939139397[37] = 0; + out_2473779081939139397[38] = 0; + out_2473779081939139397[39] = 0; + out_2473779081939139397[40] = 0; + out_2473779081939139397[41] = 0; + out_2473779081939139397[42] = 0; + out_2473779081939139397[43] = 0; + out_2473779081939139397[44] = 1; + out_2473779081939139397[45] = 0; + out_2473779081939139397[46] = 0; + out_2473779081939139397[47] = 0; + out_2473779081939139397[48] = 0; + out_2473779081939139397[49] = 0; + out_2473779081939139397[50] = 0; + out_2473779081939139397[51] = 0; + out_2473779081939139397[52] = 0; + out_2473779081939139397[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_5010206230741134473) { - err_fun(nom_x, delta_x, out_5010206230741134473); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1227579335886564773) { + err_fun(nom_x, delta_x, out_1227579335886564773); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1188067782326305394) { - inv_err_fun(nom_x, true_x, out_1188067782326305394); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7708296302708828001) { + inv_err_fun(nom_x, true_x, out_7708296302708828001); } -void pose_H_mod_fun(double *state, double *out_7990211645421290333) { - H_mod_fun(state, out_7990211645421290333); +void pose_H_mod_fun(double *state, double *out_145151651698479708) { + H_mod_fun(state, out_145151651698479708); } -void pose_f_fun(double *state, double dt, double *out_2076252175851799438) { - f_fun(state, dt, out_2076252175851799438); +void pose_f_fun(double *state, double dt, double *out_6753877240357292479) { + f_fun(state, dt, out_6753877240357292479); } -void pose_F_fun(double *state, double dt, double *out_5637265960027517094) { - F_fun(state, dt, out_5637265960027517094); +void pose_F_fun(double *state, double dt, double *out_48451545294533288) { + F_fun(state, dt, out_48451545294533288); } -void pose_h_4(double *state, double *unused, double *out_4126661282704422428) { - h_4(state, unused, out_4126661282704422428); +void pose_h_4(double *state, double *unused, double *out_711207782401779392) { + h_4(state, unused, out_711207782401779392); } -void pose_H_4(double *state, double *unused, double *out_7236050643366577726) { - H_4(state, unused, out_7236050643366577726); +void pose_H_4(double *state, double *unused, double *out_6437019938278623926) { + H_4(state, unused, out_6437019938278623926); } -void pose_h_10(double *state, double *unused, double *out_8418525422339329003) { - h_10(state, unused, out_8418525422339329003); +void pose_h_10(double *state, double *unused, double *out_2942660564170460979) { + h_10(state, unused, out_2942660564170460979); } -void pose_H_10(double *state, double *unused, double *out_7705227448246336422) { - H_10(state, unused, out_7705227448246336422); +void pose_H_10(double *state, double *unused, double *out_7753365329259358525) { + H_10(state, unused, out_7753365329259358525); } -void pose_h_13(double *state, double *unused, double *out_1137889379193769762) { - h_13(state, unused, out_1137889379193769762); +void pose_h_13(double *state, double *unused, double *out_2914132243760424113) { + h_13(state, unused, out_2914132243760424113); } -void pose_H_13(double *state, double *unused, double *out_4023776818034244925) { - H_13(state, unused, out_4023776818034244925); +void pose_H_13(double *state, double *unused, double *out_3224746112946291125) { + H_13(state, unused, out_3224746112946291125); } -void pose_h_14(double *state, double *unused, double *out_3946282764828343143) { - h_14(state, unused, out_3946282764828343143); +void pose_h_14(double *state, double *unused, double *out_677306400367602538) { + h_14(state, unused, out_677306400367602538); } -void pose_H_14(double *state, double *unused, double *out_3272809787027093197) { - H_14(state, unused, out_3272809787027093197); +void pose_H_14(double *state, double *unused, double *out_2473779081939139397) { + H_14(state, unused, out_2473779081939139397); } 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 9e6be8858a..54b20c0ce6 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_5010206230741134473); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1188067782326305394); -void pose_H_mod_fun(double *state, double *out_7990211645421290333); -void pose_f_fun(double *state, double dt, double *out_2076252175851799438); -void pose_F_fun(double *state, double dt, double *out_5637265960027517094); -void pose_h_4(double *state, double *unused, double *out_4126661282704422428); -void pose_H_4(double *state, double *unused, double *out_7236050643366577726); -void pose_h_10(double *state, double *unused, double *out_8418525422339329003); -void pose_H_10(double *state, double *unused, double *out_7705227448246336422); -void pose_h_13(double *state, double *unused, double *out_1137889379193769762); -void pose_H_13(double *state, double *unused, double *out_4023776818034244925); -void pose_h_14(double *state, double *unused, double *out_3946282764828343143); -void pose_H_14(double *state, double *unused, double *out_3272809787027093197); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1227579335886564773); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7708296302708828001); +void pose_H_mod_fun(double *state, double *out_145151651698479708); +void pose_f_fun(double *state, double dt, double *out_6753877240357292479); +void pose_F_fun(double *state, double dt, double *out_48451545294533288); +void pose_h_4(double *state, double *unused, double *out_711207782401779392); +void pose_H_4(double *state, double *unused, double *out_6437019938278623926); +void pose_h_10(double *state, double *unused, double *out_2942660564170460979); +void pose_H_10(double *state, double *unused, double *out_7753365329259358525); +void pose_h_13(double *state, double *unused, double *out_2914132243760424113); +void pose_H_13(double *state, double *unused, double *out_3224746112946291125); +void pose_h_14(double *state, double *unused, double *out_677306400367602538); +void pose_H_14(double *state, double *unused, double *out_2473779081939139397); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file