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--- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-284bb45c-DEBUG"; +const uint8_t gitversion[19] = "DEV-19d545b2-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d646a8320..1eef1cfce 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index ca5cbe6f5..8d96a0ec6 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 49ea31da3..c8b15608b 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 023424e30..e65163229 100755 Binary files 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index b6a386e3a..c3ae17de7 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index 480277de5..fb27d4f37 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 6dce2bf93..da411ec0b 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 77d30f1f7..3dcb5e149 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-284bb45c-DEBUG \ No newline at end of file +DEV-19d545b2-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index def0508b6..d07ecaad1 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_9063299258885678089) { - out_9063299258885678089[0] = delta_x[0] + nom_x[0]; - out_9063299258885678089[1] = delta_x[1] + nom_x[1]; - out_9063299258885678089[2] = delta_x[2] + nom_x[2]; - out_9063299258885678089[3] = delta_x[3] + nom_x[3]; - out_9063299258885678089[4] = delta_x[4] + nom_x[4]; - out_9063299258885678089[5] = delta_x[5] + nom_x[5]; - out_9063299258885678089[6] = delta_x[6] + nom_x[6]; - out_9063299258885678089[7] = delta_x[7] + nom_x[7]; - out_9063299258885678089[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3831254278589076381) { + out_3831254278589076381[0] = delta_x[0] + nom_x[0]; + out_3831254278589076381[1] = delta_x[1] + nom_x[1]; + out_3831254278589076381[2] = delta_x[2] + nom_x[2]; + out_3831254278589076381[3] = delta_x[3] + nom_x[3]; + out_3831254278589076381[4] = delta_x[4] + nom_x[4]; + out_3831254278589076381[5] = delta_x[5] + nom_x[5]; + out_3831254278589076381[6] = delta_x[6] + nom_x[6]; + out_3831254278589076381[7] = delta_x[7] + nom_x[7]; + out_3831254278589076381[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5249330638840185569) { - out_5249330638840185569[0] = -nom_x[0] + true_x[0]; - out_5249330638840185569[1] = -nom_x[1] + true_x[1]; - out_5249330638840185569[2] = -nom_x[2] + true_x[2]; - out_5249330638840185569[3] = -nom_x[3] + true_x[3]; - out_5249330638840185569[4] = -nom_x[4] + true_x[4]; - out_5249330638840185569[5] = -nom_x[5] + true_x[5]; - out_5249330638840185569[6] = -nom_x[6] + true_x[6]; - out_5249330638840185569[7] = -nom_x[7] + true_x[7]; - out_5249330638840185569[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2600409940070229376) { + out_2600409940070229376[0] = -nom_x[0] + true_x[0]; + out_2600409940070229376[1] = -nom_x[1] + true_x[1]; + out_2600409940070229376[2] = -nom_x[2] + true_x[2]; + out_2600409940070229376[3] = -nom_x[3] + true_x[3]; + out_2600409940070229376[4] = -nom_x[4] + true_x[4]; + out_2600409940070229376[5] = -nom_x[5] + true_x[5]; + out_2600409940070229376[6] = -nom_x[6] + true_x[6]; + out_2600409940070229376[7] = -nom_x[7] + true_x[7]; + out_2600409940070229376[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6730506552132857878) { - out_6730506552132857878[0] = 1.0; - out_6730506552132857878[1] = 0.0; - out_6730506552132857878[2] = 0.0; - out_6730506552132857878[3] = 0.0; - out_6730506552132857878[4] = 0.0; - out_6730506552132857878[5] = 0.0; - out_6730506552132857878[6] = 0.0; - out_6730506552132857878[7] = 0.0; - out_6730506552132857878[8] = 0.0; - out_6730506552132857878[9] = 0.0; - out_6730506552132857878[10] = 1.0; - out_6730506552132857878[11] = 0.0; - out_6730506552132857878[12] = 0.0; - out_6730506552132857878[13] = 0.0; - out_6730506552132857878[14] = 0.0; - out_6730506552132857878[15] = 0.0; - out_6730506552132857878[16] = 0.0; - out_6730506552132857878[17] = 0.0; - out_6730506552132857878[18] = 0.0; - out_6730506552132857878[19] = 0.0; - out_6730506552132857878[20] = 1.0; - out_6730506552132857878[21] = 0.0; - out_6730506552132857878[22] = 0.0; - out_6730506552132857878[23] = 0.0; - out_6730506552132857878[24] = 0.0; - out_6730506552132857878[25] = 0.0; - out_6730506552132857878[26] = 0.0; - out_6730506552132857878[27] = 0.0; - out_6730506552132857878[28] = 0.0; - out_6730506552132857878[29] = 0.0; - out_6730506552132857878[30] = 1.0; - out_6730506552132857878[31] = 0.0; - out_6730506552132857878[32] = 0.0; - out_6730506552132857878[33] = 0.0; - out_6730506552132857878[34] = 0.0; - out_6730506552132857878[35] = 0.0; - out_6730506552132857878[36] = 0.0; - out_6730506552132857878[37] = 0.0; - out_6730506552132857878[38] = 0.0; - out_6730506552132857878[39] = 0.0; - out_6730506552132857878[40] = 1.0; - out_6730506552132857878[41] = 0.0; - out_6730506552132857878[42] = 0.0; - out_6730506552132857878[43] = 0.0; - out_6730506552132857878[44] = 0.0; - out_6730506552132857878[45] = 0.0; - out_6730506552132857878[46] = 0.0; - out_6730506552132857878[47] = 0.0; - out_6730506552132857878[48] = 0.0; - out_6730506552132857878[49] = 0.0; - out_6730506552132857878[50] = 1.0; - out_6730506552132857878[51] = 0.0; - out_6730506552132857878[52] = 0.0; - out_6730506552132857878[53] = 0.0; - out_6730506552132857878[54] = 0.0; - out_6730506552132857878[55] = 0.0; - out_6730506552132857878[56] = 0.0; - out_6730506552132857878[57] = 0.0; - out_6730506552132857878[58] = 0.0; - out_6730506552132857878[59] = 0.0; - out_6730506552132857878[60] = 1.0; - out_6730506552132857878[61] = 0.0; - out_6730506552132857878[62] = 0.0; - out_6730506552132857878[63] = 0.0; - out_6730506552132857878[64] = 0.0; - out_6730506552132857878[65] = 0.0; - out_6730506552132857878[66] = 0.0; - out_6730506552132857878[67] = 0.0; - out_6730506552132857878[68] = 0.0; - out_6730506552132857878[69] = 0.0; - out_6730506552132857878[70] = 1.0; - out_6730506552132857878[71] = 0.0; - out_6730506552132857878[72] = 0.0; - out_6730506552132857878[73] = 0.0; - out_6730506552132857878[74] = 0.0; - out_6730506552132857878[75] = 0.0; - out_6730506552132857878[76] = 0.0; - out_6730506552132857878[77] = 0.0; - out_6730506552132857878[78] = 0.0; - out_6730506552132857878[79] = 0.0; - out_6730506552132857878[80] = 1.0; +void H_mod_fun(double *state, double *out_1960169395562662079) { + out_1960169395562662079[0] = 1.0; + out_1960169395562662079[1] = 0.0; + out_1960169395562662079[2] = 0.0; + out_1960169395562662079[3] = 0.0; + out_1960169395562662079[4] = 0.0; + out_1960169395562662079[5] = 0.0; + out_1960169395562662079[6] = 0.0; + out_1960169395562662079[7] = 0.0; + out_1960169395562662079[8] = 0.0; + out_1960169395562662079[9] = 0.0; + out_1960169395562662079[10] = 1.0; + out_1960169395562662079[11] = 0.0; + out_1960169395562662079[12] = 0.0; + out_1960169395562662079[13] = 0.0; + out_1960169395562662079[14] = 0.0; + out_1960169395562662079[15] = 0.0; + out_1960169395562662079[16] = 0.0; + out_1960169395562662079[17] = 0.0; + out_1960169395562662079[18] = 0.0; + out_1960169395562662079[19] = 0.0; + out_1960169395562662079[20] = 1.0; + out_1960169395562662079[21] = 0.0; + out_1960169395562662079[22] = 0.0; + out_1960169395562662079[23] = 0.0; + out_1960169395562662079[24] = 0.0; + out_1960169395562662079[25] = 0.0; + out_1960169395562662079[26] = 0.0; + out_1960169395562662079[27] = 0.0; + out_1960169395562662079[28] = 0.0; + out_1960169395562662079[29] = 0.0; + out_1960169395562662079[30] = 1.0; + out_1960169395562662079[31] = 0.0; + out_1960169395562662079[32] = 0.0; + out_1960169395562662079[33] = 0.0; + out_1960169395562662079[34] = 0.0; + out_1960169395562662079[35] = 0.0; + out_1960169395562662079[36] = 0.0; + out_1960169395562662079[37] = 0.0; + out_1960169395562662079[38] = 0.0; + out_1960169395562662079[39] = 0.0; + out_1960169395562662079[40] = 1.0; + out_1960169395562662079[41] = 0.0; + out_1960169395562662079[42] = 0.0; + out_1960169395562662079[43] = 0.0; + out_1960169395562662079[44] = 0.0; + out_1960169395562662079[45] = 0.0; + out_1960169395562662079[46] = 0.0; + out_1960169395562662079[47] = 0.0; + out_1960169395562662079[48] = 0.0; + out_1960169395562662079[49] = 0.0; + out_1960169395562662079[50] = 1.0; + out_1960169395562662079[51] = 0.0; + out_1960169395562662079[52] = 0.0; + out_1960169395562662079[53] = 0.0; + out_1960169395562662079[54] = 0.0; + out_1960169395562662079[55] = 0.0; + out_1960169395562662079[56] = 0.0; + out_1960169395562662079[57] = 0.0; + out_1960169395562662079[58] = 0.0; + out_1960169395562662079[59] = 0.0; + out_1960169395562662079[60] = 1.0; + out_1960169395562662079[61] = 0.0; + out_1960169395562662079[62] = 0.0; + out_1960169395562662079[63] = 0.0; + out_1960169395562662079[64] = 0.0; + out_1960169395562662079[65] = 0.0; + out_1960169395562662079[66] = 0.0; + out_1960169395562662079[67] = 0.0; + out_1960169395562662079[68] = 0.0; + out_1960169395562662079[69] = 0.0; + out_1960169395562662079[70] = 1.0; + out_1960169395562662079[71] = 0.0; + out_1960169395562662079[72] = 0.0; + out_1960169395562662079[73] = 0.0; + out_1960169395562662079[74] = 0.0; + out_1960169395562662079[75] = 0.0; + out_1960169395562662079[76] = 0.0; + out_1960169395562662079[77] = 0.0; + out_1960169395562662079[78] = 0.0; + out_1960169395562662079[79] = 0.0; + out_1960169395562662079[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4022133726006847666) { - out_4022133726006847666[0] = state[0]; - out_4022133726006847666[1] = state[1]; - out_4022133726006847666[2] = state[2]; - out_4022133726006847666[3] = state[3]; - out_4022133726006847666[4] = state[4]; - out_4022133726006847666[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_4022133726006847666[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_4022133726006847666[7] = state[7]; - out_4022133726006847666[8] = state[8]; +void f_fun(double *state, double dt, double *out_5814026824526248658) { + out_5814026824526248658[0] = state[0]; + out_5814026824526248658[1] = state[1]; + out_5814026824526248658[2] = state[2]; + out_5814026824526248658[3] = state[3]; + out_5814026824526248658[4] = state[4]; + out_5814026824526248658[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_5814026824526248658[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_5814026824526248658[7] = state[7]; + out_5814026824526248658[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1291922867413743277) { - out_1291922867413743277[0] = 1; - out_1291922867413743277[1] = 0; - out_1291922867413743277[2] = 0; - out_1291922867413743277[3] = 0; - out_1291922867413743277[4] = 0; - out_1291922867413743277[5] = 0; - out_1291922867413743277[6] = 0; - out_1291922867413743277[7] = 0; - out_1291922867413743277[8] = 0; - out_1291922867413743277[9] = 0; - out_1291922867413743277[10] = 1; - out_1291922867413743277[11] = 0; - out_1291922867413743277[12] = 0; - out_1291922867413743277[13] = 0; - out_1291922867413743277[14] = 0; - out_1291922867413743277[15] = 0; - out_1291922867413743277[16] = 0; - out_1291922867413743277[17] = 0; - out_1291922867413743277[18] = 0; - out_1291922867413743277[19] = 0; - out_1291922867413743277[20] = 1; - out_1291922867413743277[21] = 0; - out_1291922867413743277[22] = 0; - out_1291922867413743277[23] = 0; - out_1291922867413743277[24] = 0; - out_1291922867413743277[25] = 0; - out_1291922867413743277[26] = 0; - out_1291922867413743277[27] = 0; - out_1291922867413743277[28] = 0; - out_1291922867413743277[29] = 0; - out_1291922867413743277[30] = 1; - out_1291922867413743277[31] = 0; - out_1291922867413743277[32] = 0; - out_1291922867413743277[33] = 0; - out_1291922867413743277[34] = 0; - out_1291922867413743277[35] = 0; - out_1291922867413743277[36] = 0; - out_1291922867413743277[37] = 0; - out_1291922867413743277[38] = 0; - out_1291922867413743277[39] = 0; - out_1291922867413743277[40] = 1; - out_1291922867413743277[41] = 0; - out_1291922867413743277[42] = 0; - out_1291922867413743277[43] = 0; - out_1291922867413743277[44] = 0; - out_1291922867413743277[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_1291922867413743277[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1291922867413743277[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1291922867413743277[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1291922867413743277[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_1291922867413743277[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1291922867413743277[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1291922867413743277[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1291922867413743277[53] = -9.8100000000000005*dt; - out_1291922867413743277[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_1291922867413743277[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1291922867413743277[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1291922867413743277[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1291922867413743277[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_1291922867413743277[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1291922867413743277[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_1291922867413743277[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1291922867413743277[62] = 0; - out_1291922867413743277[63] = 0; - out_1291922867413743277[64] = 0; - out_1291922867413743277[65] = 0; - out_1291922867413743277[66] = 0; - out_1291922867413743277[67] = 0; - out_1291922867413743277[68] = 0; - out_1291922867413743277[69] = 0; - out_1291922867413743277[70] = 1; - out_1291922867413743277[71] = 0; - out_1291922867413743277[72] = 0; - out_1291922867413743277[73] = 0; - out_1291922867413743277[74] = 0; - out_1291922867413743277[75] = 0; - out_1291922867413743277[76] = 0; - out_1291922867413743277[77] = 0; - out_1291922867413743277[78] = 0; - out_1291922867413743277[79] = 0; - out_1291922867413743277[80] = 1; +void F_fun(double *state, double dt, double *out_596946632886970600) { + out_596946632886970600[0] = 1; + out_596946632886970600[1] = 0; + out_596946632886970600[2] = 0; + out_596946632886970600[3] = 0; + out_596946632886970600[4] = 0; + out_596946632886970600[5] = 0; + out_596946632886970600[6] = 0; + out_596946632886970600[7] = 0; + out_596946632886970600[8] = 0; + out_596946632886970600[9] = 0; + out_596946632886970600[10] = 1; + out_596946632886970600[11] = 0; + out_596946632886970600[12] = 0; + out_596946632886970600[13] = 0; + out_596946632886970600[14] = 0; + out_596946632886970600[15] = 0; + out_596946632886970600[16] = 0; + out_596946632886970600[17] = 0; + out_596946632886970600[18] = 0; + out_596946632886970600[19] = 0; + out_596946632886970600[20] = 1; + out_596946632886970600[21] = 0; + out_596946632886970600[22] = 0; + out_596946632886970600[23] = 0; + out_596946632886970600[24] = 0; + out_596946632886970600[25] = 0; + out_596946632886970600[26] = 0; + out_596946632886970600[27] = 0; + out_596946632886970600[28] = 0; + out_596946632886970600[29] = 0; + out_596946632886970600[30] = 1; + out_596946632886970600[31] = 0; + out_596946632886970600[32] = 0; + out_596946632886970600[33] = 0; + out_596946632886970600[34] = 0; + out_596946632886970600[35] = 0; + out_596946632886970600[36] = 0; + out_596946632886970600[37] = 0; + out_596946632886970600[38] = 0; + out_596946632886970600[39] = 0; + out_596946632886970600[40] = 1; + out_596946632886970600[41] = 0; + out_596946632886970600[42] = 0; + out_596946632886970600[43] = 0; + out_596946632886970600[44] = 0; + out_596946632886970600[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_596946632886970600[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_596946632886970600[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_596946632886970600[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_596946632886970600[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_596946632886970600[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_596946632886970600[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_596946632886970600[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_596946632886970600[53] = -9.8100000000000005*dt; + out_596946632886970600[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_596946632886970600[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_596946632886970600[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_596946632886970600[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_596946632886970600[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_596946632886970600[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_596946632886970600[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_596946632886970600[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_596946632886970600[62] = 0; + out_596946632886970600[63] = 0; + out_596946632886970600[64] = 0; + out_596946632886970600[65] = 0; + out_596946632886970600[66] = 0; + out_596946632886970600[67] = 0; + out_596946632886970600[68] = 0; + out_596946632886970600[69] = 0; + out_596946632886970600[70] = 1; + out_596946632886970600[71] = 0; + out_596946632886970600[72] = 0; + out_596946632886970600[73] = 0; + out_596946632886970600[74] = 0; + out_596946632886970600[75] = 0; + out_596946632886970600[76] = 0; + out_596946632886970600[77] = 0; + out_596946632886970600[78] = 0; + out_596946632886970600[79] = 0; + out_596946632886970600[80] = 1; } -void h_25(double *state, double *unused, double *out_7640527507174277193) { - out_7640527507174277193[0] = state[6]; +void h_25(double *state, double *unused, double *out_6549462771998662423) { + out_6549462771998662423[0] = state[6]; } -void H_25(double *state, double *unused, double *out_3207525902143366201) { - out_3207525902143366201[0] = 0; - out_3207525902143366201[1] = 0; - out_3207525902143366201[2] = 0; - out_3207525902143366201[3] = 0; - out_3207525902143366201[4] = 0; - out_3207525902143366201[5] = 0; - out_3207525902143366201[6] = 1; - out_3207525902143366201[7] = 0; - out_3207525902143366201[8] = 0; +void H_25(double *state, double *unused, double *out_4945326686098262856) { + out_4945326686098262856[0] = 0; + out_4945326686098262856[1] = 0; + out_4945326686098262856[2] = 0; + out_4945326686098262856[3] = 0; + out_4945326686098262856[4] = 0; + out_4945326686098262856[5] = 0; + out_4945326686098262856[6] = 1; + out_4945326686098262856[7] = 0; + out_4945326686098262856[8] = 0; } -void h_24(double *state, double *unused, double *out_7298880785486689687) { - out_7298880785486689687[0] = state[4]; - out_7298880785486689687[1] = state[5]; +void h_24(double *state, double *unused, double *out_3025287820893037920) { + out_3025287820893037920[0] = state[4]; + out_3025287820893037920[1] = state[5]; } -void H_24(double *state, double *unused, double *out_350399696658956935) { - out_350399696658956935[0] = 0; - out_350399696658956935[1] = 0; - out_350399696658956935[2] = 0; - out_350399696658956935[3] = 0; - out_350399696658956935[4] = 1; - out_350399696658956935[5] = 0; - out_350399696658956935[6] = 0; - out_350399696658956935[7] = 0; - out_350399696658956935[8] = 0; - out_350399696658956935[9] = 0; - out_350399696658956935[10] = 0; - out_350399696658956935[11] = 0; - out_350399696658956935[12] = 0; - out_350399696658956935[13] = 0; - out_350399696658956935[14] = 1; - out_350399696658956935[15] = 0; - out_350399696658956935[16] = 0; - out_350399696658956935[17] = 0; +void H_24(double *state, double *unused, double *out_8927649837496030754) { + out_8927649837496030754[0] = 0; + out_8927649837496030754[1] = 0; + out_8927649837496030754[2] = 0; + out_8927649837496030754[3] = 0; + out_8927649837496030754[4] = 1; + out_8927649837496030754[5] = 0; + out_8927649837496030754[6] = 0; + out_8927649837496030754[7] = 0; + out_8927649837496030754[8] = 0; + out_8927649837496030754[9] = 0; + out_8927649837496030754[10] = 0; + out_8927649837496030754[11] = 0; + out_8927649837496030754[12] = 0; + out_8927649837496030754[13] = 0; + out_8927649837496030754[14] = 1; + out_8927649837496030754[15] = 0; + out_8927649837496030754[16] = 0; + out_8927649837496030754[17] = 0; } -void h_30(double *state, double *unused, double *out_7182326145015715531) { - out_7182326145015715531[0] = state[4]; +void h_30(double *state, double *unused, double *out_8259831773456866843) { + out_8259831773456866843[0] = state[4]; } -void H_30(double *state, double *unused, double *out_689192943636117574) { - out_689192943636117574[0] = 0; - out_689192943636117574[1] = 0; - out_689192943636117574[2] = 0; - out_689192943636117574[3] = 0; - out_689192943636117574[4] = 1; - out_689192943636117574[5] = 0; - out_689192943636117574[6] = 0; - out_689192943636117574[7] = 0; - out_689192943636117574[8] = 0; +void H_30(double *state, double *unused, double *out_2426993727591014229) { + out_2426993727591014229[0] = 0; + out_2426993727591014229[1] = 0; + out_2426993727591014229[2] = 0; + out_2426993727591014229[3] = 0; + out_2426993727591014229[4] = 1; + out_2426993727591014229[5] = 0; + out_2426993727591014229[6] = 0; + out_2426993727591014229[7] = 0; + out_2426993727591014229[8] = 0; } -void h_26(double *state, double *unused, double *out_2037436081900067994) { - out_2037436081900067994[0] = state[7]; +void h_26(double *state, double *unused, double *out_2693730589396356978) { + out_2693730589396356978[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6949029221017422425) { - out_6949029221017422425[0] = 0; - out_6949029221017422425[1] = 0; - out_6949029221017422425[2] = 0; - out_6949029221017422425[3] = 0; - out_6949029221017422425[4] = 0; - out_6949029221017422425[5] = 0; - out_6949029221017422425[6] = 0; - out_6949029221017422425[7] = 1; - out_6949029221017422425[8] = 0; +void H_26(double *state, double *unused, double *out_8686830004972319080) { + out_8686830004972319080[0] = 0; + out_8686830004972319080[1] = 0; + out_8686830004972319080[2] = 0; + out_8686830004972319080[3] = 0; + out_8686830004972319080[4] = 0; + out_8686830004972319080[5] = 0; + out_8686830004972319080[6] = 0; + out_8686830004972319080[7] = 1; + out_8686830004972319080[8] = 0; } -void h_27(double *state, double *unused, double *out_6184030537079166109) { - out_6184030537079166109[0] = state[3]; +void h_27(double *state, double *unused, double *out_1218913001142171261) { + out_1218913001142171261[0] = state[3]; } -void H_27(double *state, double *unused, double *out_1534401127547825643) { - out_1534401127547825643[0] = 0; - out_1534401127547825643[1] = 0; - out_1534401127547825643[2] = 0; - out_1534401127547825643[3] = 1; - out_1534401127547825643[4] = 0; - out_1534401127547825643[5] = 0; - out_1534401127547825643[6] = 0; - out_1534401127547825643[7] = 0; - out_1534401127547825643[8] = 0; +void H_27(double *state, double *unused, double *out_4601757039391439140) { + out_4601757039391439140[0] = 0; + out_4601757039391439140[1] = 0; + out_4601757039391439140[2] = 0; + out_4601757039391439140[3] = 1; + out_4601757039391439140[4] = 0; + out_4601757039391439140[5] = 0; + out_4601757039391439140[6] = 0; + out_4601757039391439140[7] = 0; + out_4601757039391439140[8] = 0; } -void h_29(double *state, double *unused, double *out_783284627601866385) { - out_783284627601866385[0] = state[1]; +void h_29(double *state, double *unused, double *out_3033924557621541896) { + out_3033924557621541896[0] = state[1]; } -void H_29(double *state, double *unused, double *out_178961599321725390) { - out_178961599321725390[0] = 0; - out_178961599321725390[1] = 1; - out_178961599321725390[2] = 0; - out_178961599321725390[3] = 0; - out_178961599321725390[4] = 0; - out_178961599321725390[5] = 0; - out_178961599321725390[6] = 0; - out_178961599321725390[7] = 0; - out_178961599321725390[8] = 0; +void H_29(double *state, double *unused, double *out_1916762383276622045) { + out_1916762383276622045[0] = 0; + out_1916762383276622045[1] = 1; + out_1916762383276622045[2] = 0; + out_1916762383276622045[3] = 0; + out_1916762383276622045[4] = 0; + out_1916762383276622045[5] = 0; + out_1916762383276622045[6] = 0; + out_1916762383276622045[7] = 0; + out_1916762383276622045[8] = 0; } -void h_28(double *state, double *unused, double *out_1182357269418320464) { - out_1182357269418320464[0] = state[0]; +void h_28(double *state, double *unused, double *out_1822228885818648778) { + out_1822228885818648778[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5261360616391255964) { - out_5261360616391255964[0] = 1; - out_5261360616391255964[1] = 0; - out_5261360616391255964[2] = 0; - out_5261360616391255964[3] = 0; - out_5261360616391255964[4] = 0; - out_5261360616391255964[5] = 0; - out_5261360616391255964[6] = 0; - out_5261360616391255964[7] = 0; - out_5261360616391255964[8] = 0; +void H_28(double *state, double *unused, double *out_6999161400346152619) { + out_6999161400346152619[0] = 1; + out_6999161400346152619[1] = 0; + out_6999161400346152619[2] = 0; + out_6999161400346152619[3] = 0; + out_6999161400346152619[4] = 0; + out_6999161400346152619[5] = 0; + out_6999161400346152619[6] = 0; + out_6999161400346152619[7] = 0; + out_6999161400346152619[8] = 0; } -void h_31(double *state, double *unused, double *out_3042951309714601982) { - out_3042951309714601982[0] = state[8]; +void h_31(double *state, double *unused, double *out_3980504990301998057) { + out_3980504990301998057[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3176879940266405773) { - out_3176879940266405773[0] = 0; - out_3176879940266405773[1] = 0; - out_3176879940266405773[2] = 0; - out_3176879940266405773[3] = 0; - out_3176879940266405773[4] = 0; - out_3176879940266405773[5] = 0; - out_3176879940266405773[6] = 0; - out_3176879940266405773[7] = 0; - out_3176879940266405773[8] = 1; +void H_31(double *state, double *unused, double *out_9133705966503881060) { + out_9133705966503881060[0] = 0; + out_9133705966503881060[1] = 0; + out_9133705966503881060[2] = 0; + out_9133705966503881060[3] = 0; + out_9133705966503881060[4] = 0; + out_9133705966503881060[5] = 0; + out_9133705966503881060[6] = 0; + out_9133705966503881060[7] = 0; + out_9133705966503881060[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_9063299258885678089) { - err_fun(nom_x, delta_x, out_9063299258885678089); +void car_err_fun(double *nom_x, double *delta_x, double *out_3831254278589076381) { + err_fun(nom_x, delta_x, out_3831254278589076381); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5249330638840185569) { - inv_err_fun(nom_x, true_x, out_5249330638840185569); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2600409940070229376) { + inv_err_fun(nom_x, true_x, out_2600409940070229376); } -void car_H_mod_fun(double *state, double *out_6730506552132857878) { - H_mod_fun(state, out_6730506552132857878); +void car_H_mod_fun(double *state, double *out_1960169395562662079) { + H_mod_fun(state, out_1960169395562662079); } -void car_f_fun(double *state, double dt, double *out_4022133726006847666) { - f_fun(state, dt, out_4022133726006847666); +void car_f_fun(double *state, double dt, double *out_5814026824526248658) { + f_fun(state, dt, out_5814026824526248658); } -void car_F_fun(double *state, double dt, double *out_1291922867413743277) { - F_fun(state, dt, out_1291922867413743277); +void car_F_fun(double *state, double dt, double *out_596946632886970600) { + F_fun(state, dt, out_596946632886970600); } -void car_h_25(double *state, double *unused, double *out_7640527507174277193) { - h_25(state, unused, out_7640527507174277193); +void car_h_25(double *state, double *unused, double *out_6549462771998662423) { + h_25(state, unused, out_6549462771998662423); } -void car_H_25(double *state, double *unused, double *out_3207525902143366201) { - H_25(state, unused, out_3207525902143366201); +void car_H_25(double *state, double *unused, double *out_4945326686098262856) { + H_25(state, unused, out_4945326686098262856); } -void car_h_24(double *state, double *unused, double *out_7298880785486689687) { - h_24(state, unused, out_7298880785486689687); +void car_h_24(double *state, double *unused, double *out_3025287820893037920) { + h_24(state, unused, out_3025287820893037920); } -void car_H_24(double *state, double *unused, double *out_350399696658956935) { - H_24(state, unused, out_350399696658956935); +void car_H_24(double *state, double *unused, double *out_8927649837496030754) { + H_24(state, unused, out_8927649837496030754); } -void car_h_30(double *state, double *unused, double *out_7182326145015715531) { - h_30(state, unused, out_7182326145015715531); +void car_h_30(double *state, double *unused, double *out_8259831773456866843) { + h_30(state, unused, out_8259831773456866843); } -void car_H_30(double *state, double *unused, double *out_689192943636117574) { - H_30(state, unused, out_689192943636117574); +void car_H_30(double *state, double *unused, double *out_2426993727591014229) { + H_30(state, unused, out_2426993727591014229); } -void car_h_26(double *state, double *unused, double *out_2037436081900067994) { - h_26(state, unused, out_2037436081900067994); +void car_h_26(double *state, double *unused, double *out_2693730589396356978) { + h_26(state, unused, out_2693730589396356978); } -void car_H_26(double *state, double *unused, double *out_6949029221017422425) { - H_26(state, unused, out_6949029221017422425); +void car_H_26(double *state, double *unused, double *out_8686830004972319080) { + H_26(state, unused, out_8686830004972319080); } -void car_h_27(double *state, double *unused, double *out_6184030537079166109) { - h_27(state, unused, out_6184030537079166109); +void car_h_27(double *state, double *unused, double *out_1218913001142171261) { + h_27(state, unused, out_1218913001142171261); } -void car_H_27(double *state, double *unused, double *out_1534401127547825643) { - H_27(state, unused, out_1534401127547825643); +void car_H_27(double *state, double *unused, double *out_4601757039391439140) { + H_27(state, unused, out_4601757039391439140); } -void car_h_29(double *state, double *unused, double *out_783284627601866385) { - h_29(state, unused, out_783284627601866385); +void car_h_29(double *state, double *unused, double *out_3033924557621541896) { + h_29(state, unused, out_3033924557621541896); } -void car_H_29(double *state, double *unused, double *out_178961599321725390) { - H_29(state, unused, out_178961599321725390); +void car_H_29(double *state, double *unused, double *out_1916762383276622045) { + H_29(state, unused, out_1916762383276622045); } -void car_h_28(double *state, double *unused, double *out_1182357269418320464) { - h_28(state, unused, out_1182357269418320464); +void car_h_28(double *state, double *unused, double *out_1822228885818648778) { + h_28(state, unused, out_1822228885818648778); } -void car_H_28(double *state, double *unused, double *out_5261360616391255964) { - H_28(state, unused, out_5261360616391255964); +void car_H_28(double *state, double *unused, double *out_6999161400346152619) { + H_28(state, unused, out_6999161400346152619); } -void car_h_31(double *state, double *unused, double *out_3042951309714601982) { - h_31(state, unused, out_3042951309714601982); +void car_h_31(double *state, double *unused, double *out_3980504990301998057) { + h_31(state, unused, out_3980504990301998057); } -void car_H_31(double *state, double *unused, double *out_3176879940266405773) { - H_31(state, unused, out_3176879940266405773); +void car_H_31(double *state, double *unused, double *out_9133705966503881060) { + H_31(state, unused, out_9133705966503881060); } 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 659bd8b2f..6a039ad42 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_9063299258885678089); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5249330638840185569); -void car_H_mod_fun(double *state, double *out_6730506552132857878); -void car_f_fun(double *state, double dt, double *out_4022133726006847666); -void car_F_fun(double *state, double dt, double *out_1291922867413743277); -void car_h_25(double *state, double *unused, double *out_7640527507174277193); -void car_H_25(double *state, double *unused, double *out_3207525902143366201); -void car_h_24(double *state, double *unused, double *out_7298880785486689687); -void car_H_24(double *state, double *unused, double *out_350399696658956935); -void car_h_30(double *state, double *unused, double *out_7182326145015715531); -void car_H_30(double *state, double *unused, double *out_689192943636117574); -void car_h_26(double *state, double *unused, double *out_2037436081900067994); -void car_H_26(double *state, double *unused, double *out_6949029221017422425); -void car_h_27(double *state, double *unused, double *out_6184030537079166109); -void car_H_27(double *state, double *unused, double *out_1534401127547825643); -void car_h_29(double *state, double *unused, double *out_783284627601866385); -void car_H_29(double *state, double *unused, double *out_178961599321725390); -void car_h_28(double *state, double *unused, double *out_1182357269418320464); -void car_H_28(double *state, double *unused, double *out_5261360616391255964); -void car_h_31(double *state, double *unused, double *out_3042951309714601982); -void car_H_31(double *state, double *unused, double *out_3176879940266405773); +void car_err_fun(double *nom_x, double *delta_x, double *out_3831254278589076381); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2600409940070229376); +void car_H_mod_fun(double *state, double *out_1960169395562662079); +void car_f_fun(double *state, double dt, double *out_5814026824526248658); +void car_F_fun(double *state, double dt, double *out_596946632886970600); +void car_h_25(double *state, double *unused, double *out_6549462771998662423); +void car_H_25(double *state, double *unused, double *out_4945326686098262856); +void car_h_24(double *state, double *unused, double *out_3025287820893037920); +void car_H_24(double *state, double *unused, double *out_8927649837496030754); +void car_h_30(double *state, double *unused, double *out_8259831773456866843); +void car_H_30(double *state, double *unused, double *out_2426993727591014229); +void car_h_26(double *state, double *unused, double *out_2693730589396356978); +void car_H_26(double *state, double *unused, double *out_8686830004972319080); +void car_h_27(double *state, double *unused, double *out_1218913001142171261); +void car_H_27(double *state, double *unused, double *out_4601757039391439140); +void car_h_29(double *state, double *unused, double *out_3033924557621541896); +void car_H_29(double *state, double *unused, double *out_1916762383276622045); +void car_h_28(double *state, double *unused, double *out_1822228885818648778); +void car_H_28(double *state, double *unused, double *out_6999161400346152619); +void car_h_31(double *state, double *unused, double *out_3980504990301998057); +void car_H_31(double *state, double *unused, double *out_9133705966503881060); 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 54ab0fc78..f1f550e12 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_5169544621376104769) { - out_5169544621376104769[0] = delta_x[0] + nom_x[0]; - out_5169544621376104769[1] = delta_x[1] + nom_x[1]; - out_5169544621376104769[2] = delta_x[2] + nom_x[2]; - out_5169544621376104769[3] = delta_x[3] + nom_x[3]; - out_5169544621376104769[4] = delta_x[4] + nom_x[4]; - out_5169544621376104769[5] = delta_x[5] + nom_x[5]; - out_5169544621376104769[6] = delta_x[6] + nom_x[6]; - out_5169544621376104769[7] = delta_x[7] + nom_x[7]; - out_5169544621376104769[8] = delta_x[8] + nom_x[8]; - out_5169544621376104769[9] = delta_x[9] + nom_x[9]; - out_5169544621376104769[10] = delta_x[10] + nom_x[10]; - out_5169544621376104769[11] = delta_x[11] + nom_x[11]; - out_5169544621376104769[12] = delta_x[12] + nom_x[12]; - out_5169544621376104769[13] = delta_x[13] + nom_x[13]; - out_5169544621376104769[14] = delta_x[14] + nom_x[14]; - out_5169544621376104769[15] = delta_x[15] + nom_x[15]; - out_5169544621376104769[16] = delta_x[16] + nom_x[16]; - out_5169544621376104769[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5896214411466158685) { + out_5896214411466158685[0] = delta_x[0] + nom_x[0]; + out_5896214411466158685[1] = delta_x[1] + nom_x[1]; + out_5896214411466158685[2] = delta_x[2] + nom_x[2]; + out_5896214411466158685[3] = delta_x[3] + nom_x[3]; + out_5896214411466158685[4] = delta_x[4] + nom_x[4]; + out_5896214411466158685[5] = delta_x[5] + nom_x[5]; + out_5896214411466158685[6] = delta_x[6] + nom_x[6]; + out_5896214411466158685[7] = delta_x[7] + nom_x[7]; + out_5896214411466158685[8] = delta_x[8] + nom_x[8]; + out_5896214411466158685[9] = delta_x[9] + nom_x[9]; + out_5896214411466158685[10] = delta_x[10] + nom_x[10]; + out_5896214411466158685[11] = delta_x[11] + nom_x[11]; + out_5896214411466158685[12] = delta_x[12] + nom_x[12]; + out_5896214411466158685[13] = delta_x[13] + nom_x[13]; + out_5896214411466158685[14] = delta_x[14] + nom_x[14]; + out_5896214411466158685[15] = delta_x[15] + nom_x[15]; + out_5896214411466158685[16] = delta_x[16] + nom_x[16]; + out_5896214411466158685[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5560919447530739345) { - out_5560919447530739345[0] = -nom_x[0] + true_x[0]; - out_5560919447530739345[1] = -nom_x[1] + true_x[1]; - out_5560919447530739345[2] = -nom_x[2] + true_x[2]; - out_5560919447530739345[3] = -nom_x[3] + true_x[3]; - out_5560919447530739345[4] = -nom_x[4] + true_x[4]; - out_5560919447530739345[5] = -nom_x[5] + true_x[5]; - out_5560919447530739345[6] = -nom_x[6] + true_x[6]; - out_5560919447530739345[7] = -nom_x[7] + true_x[7]; - out_5560919447530739345[8] = -nom_x[8] + true_x[8]; - out_5560919447530739345[9] = -nom_x[9] + true_x[9]; - out_5560919447530739345[10] = -nom_x[10] + true_x[10]; - out_5560919447530739345[11] = -nom_x[11] + true_x[11]; - out_5560919447530739345[12] = -nom_x[12] + true_x[12]; - out_5560919447530739345[13] = -nom_x[13] + true_x[13]; - out_5560919447530739345[14] = -nom_x[14] + true_x[14]; - out_5560919447530739345[15] = -nom_x[15] + true_x[15]; - out_5560919447530739345[16] = -nom_x[16] + true_x[16]; - out_5560919447530739345[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2659108696170388183) { + out_2659108696170388183[0] = -nom_x[0] + true_x[0]; + out_2659108696170388183[1] = -nom_x[1] + true_x[1]; + out_2659108696170388183[2] = -nom_x[2] + true_x[2]; + out_2659108696170388183[3] = -nom_x[3] + true_x[3]; + out_2659108696170388183[4] = -nom_x[4] + true_x[4]; + out_2659108696170388183[5] = -nom_x[5] + true_x[5]; + out_2659108696170388183[6] = -nom_x[6] + true_x[6]; + out_2659108696170388183[7] = -nom_x[7] + true_x[7]; + out_2659108696170388183[8] = -nom_x[8] + true_x[8]; + out_2659108696170388183[9] = -nom_x[9] + true_x[9]; + out_2659108696170388183[10] = -nom_x[10] + true_x[10]; + out_2659108696170388183[11] = -nom_x[11] + true_x[11]; + out_2659108696170388183[12] = -nom_x[12] + true_x[12]; + out_2659108696170388183[13] = -nom_x[13] + true_x[13]; + out_2659108696170388183[14] = -nom_x[14] + true_x[14]; + out_2659108696170388183[15] = -nom_x[15] + true_x[15]; + out_2659108696170388183[16] = -nom_x[16] + true_x[16]; + out_2659108696170388183[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_8932661143090135832) { - out_8932661143090135832[0] = 1.0; - out_8932661143090135832[1] = 0.0; - out_8932661143090135832[2] = 0.0; - out_8932661143090135832[3] = 0.0; - out_8932661143090135832[4] = 0.0; - out_8932661143090135832[5] = 0.0; - out_8932661143090135832[6] = 0.0; - out_8932661143090135832[7] = 0.0; - out_8932661143090135832[8] = 0.0; - out_8932661143090135832[9] = 0.0; - out_8932661143090135832[10] = 0.0; - out_8932661143090135832[11] = 0.0; - out_8932661143090135832[12] = 0.0; - out_8932661143090135832[13] = 0.0; - out_8932661143090135832[14] = 0.0; - out_8932661143090135832[15] = 0.0; - out_8932661143090135832[16] = 0.0; - out_8932661143090135832[17] = 0.0; - out_8932661143090135832[18] = 0.0; - out_8932661143090135832[19] = 1.0; - out_8932661143090135832[20] = 0.0; - out_8932661143090135832[21] = 0.0; - out_8932661143090135832[22] = 0.0; - out_8932661143090135832[23] = 0.0; - out_8932661143090135832[24] = 0.0; - out_8932661143090135832[25] = 0.0; - out_8932661143090135832[26] = 0.0; - out_8932661143090135832[27] = 0.0; - out_8932661143090135832[28] = 0.0; - out_8932661143090135832[29] = 0.0; - out_8932661143090135832[30] = 0.0; - out_8932661143090135832[31] = 0.0; - out_8932661143090135832[32] = 0.0; - out_8932661143090135832[33] = 0.0; - out_8932661143090135832[34] = 0.0; - out_8932661143090135832[35] = 0.0; - out_8932661143090135832[36] = 0.0; - out_8932661143090135832[37] = 0.0; - out_8932661143090135832[38] = 1.0; - out_8932661143090135832[39] = 0.0; - out_8932661143090135832[40] = 0.0; - out_8932661143090135832[41] = 0.0; - out_8932661143090135832[42] = 0.0; - out_8932661143090135832[43] = 0.0; - out_8932661143090135832[44] = 0.0; - out_8932661143090135832[45] = 0.0; - out_8932661143090135832[46] = 0.0; - out_8932661143090135832[47] = 0.0; - out_8932661143090135832[48] = 0.0; - out_8932661143090135832[49] = 0.0; - out_8932661143090135832[50] = 0.0; - out_8932661143090135832[51] = 0.0; - out_8932661143090135832[52] = 0.0; - out_8932661143090135832[53] = 0.0; - out_8932661143090135832[54] = 0.0; - out_8932661143090135832[55] = 0.0; - out_8932661143090135832[56] = 0.0; - out_8932661143090135832[57] = 1.0; - out_8932661143090135832[58] = 0.0; - out_8932661143090135832[59] = 0.0; - out_8932661143090135832[60] = 0.0; - out_8932661143090135832[61] = 0.0; - out_8932661143090135832[62] = 0.0; - out_8932661143090135832[63] = 0.0; - out_8932661143090135832[64] = 0.0; - out_8932661143090135832[65] = 0.0; - out_8932661143090135832[66] = 0.0; - out_8932661143090135832[67] = 0.0; - out_8932661143090135832[68] = 0.0; - out_8932661143090135832[69] = 0.0; - out_8932661143090135832[70] = 0.0; - out_8932661143090135832[71] = 0.0; - out_8932661143090135832[72] = 0.0; - out_8932661143090135832[73] = 0.0; - out_8932661143090135832[74] = 0.0; - out_8932661143090135832[75] = 0.0; - out_8932661143090135832[76] = 1.0; - out_8932661143090135832[77] = 0.0; - out_8932661143090135832[78] = 0.0; - out_8932661143090135832[79] = 0.0; - out_8932661143090135832[80] = 0.0; - out_8932661143090135832[81] = 0.0; - out_8932661143090135832[82] = 0.0; - out_8932661143090135832[83] = 0.0; - out_8932661143090135832[84] = 0.0; - out_8932661143090135832[85] = 0.0; - out_8932661143090135832[86] = 0.0; - out_8932661143090135832[87] = 0.0; - out_8932661143090135832[88] = 0.0; - out_8932661143090135832[89] = 0.0; - out_8932661143090135832[90] = 0.0; - out_8932661143090135832[91] = 0.0; - out_8932661143090135832[92] = 0.0; - out_8932661143090135832[93] = 0.0; - out_8932661143090135832[94] = 0.0; - out_8932661143090135832[95] = 1.0; - out_8932661143090135832[96] = 0.0; - out_8932661143090135832[97] = 0.0; - out_8932661143090135832[98] = 0.0; - out_8932661143090135832[99] = 0.0; - out_8932661143090135832[100] = 0.0; - out_8932661143090135832[101] = 0.0; - out_8932661143090135832[102] = 0.0; - out_8932661143090135832[103] = 0.0; - out_8932661143090135832[104] = 0.0; - out_8932661143090135832[105] = 0.0; - out_8932661143090135832[106] = 0.0; - out_8932661143090135832[107] = 0.0; - out_8932661143090135832[108] = 0.0; - out_8932661143090135832[109] = 0.0; - out_8932661143090135832[110] = 0.0; - out_8932661143090135832[111] = 0.0; - out_8932661143090135832[112] = 0.0; - out_8932661143090135832[113] = 0.0; - out_8932661143090135832[114] = 1.0; - out_8932661143090135832[115] = 0.0; - out_8932661143090135832[116] = 0.0; - out_8932661143090135832[117] = 0.0; - out_8932661143090135832[118] = 0.0; - out_8932661143090135832[119] = 0.0; - out_8932661143090135832[120] = 0.0; - out_8932661143090135832[121] = 0.0; - out_8932661143090135832[122] = 0.0; - out_8932661143090135832[123] = 0.0; - out_8932661143090135832[124] = 0.0; - out_8932661143090135832[125] = 0.0; - out_8932661143090135832[126] = 0.0; - out_8932661143090135832[127] = 0.0; - out_8932661143090135832[128] = 0.0; - out_8932661143090135832[129] = 0.0; - out_8932661143090135832[130] = 0.0; - out_8932661143090135832[131] = 0.0; - out_8932661143090135832[132] = 0.0; - out_8932661143090135832[133] = 1.0; - out_8932661143090135832[134] = 0.0; - out_8932661143090135832[135] = 0.0; - out_8932661143090135832[136] = 0.0; - out_8932661143090135832[137] = 0.0; - out_8932661143090135832[138] = 0.0; - out_8932661143090135832[139] = 0.0; - out_8932661143090135832[140] = 0.0; - out_8932661143090135832[141] = 0.0; - out_8932661143090135832[142] = 0.0; - out_8932661143090135832[143] = 0.0; - out_8932661143090135832[144] = 0.0; - out_8932661143090135832[145] = 0.0; - out_8932661143090135832[146] = 0.0; - out_8932661143090135832[147] = 0.0; - out_8932661143090135832[148] = 0.0; - out_8932661143090135832[149] = 0.0; - out_8932661143090135832[150] = 0.0; - out_8932661143090135832[151] = 0.0; - out_8932661143090135832[152] = 1.0; - out_8932661143090135832[153] = 0.0; - out_8932661143090135832[154] = 0.0; - out_8932661143090135832[155] = 0.0; - out_8932661143090135832[156] = 0.0; - out_8932661143090135832[157] = 0.0; - out_8932661143090135832[158] = 0.0; - out_8932661143090135832[159] = 0.0; - out_8932661143090135832[160] = 0.0; - out_8932661143090135832[161] = 0.0; - out_8932661143090135832[162] = 0.0; - out_8932661143090135832[163] = 0.0; - out_8932661143090135832[164] = 0.0; - out_8932661143090135832[165] = 0.0; - out_8932661143090135832[166] = 0.0; - out_8932661143090135832[167] = 0.0; - out_8932661143090135832[168] = 0.0; - out_8932661143090135832[169] = 0.0; - out_8932661143090135832[170] = 0.0; - out_8932661143090135832[171] = 1.0; - out_8932661143090135832[172] = 0.0; - out_8932661143090135832[173] = 0.0; - out_8932661143090135832[174] = 0.0; - out_8932661143090135832[175] = 0.0; - out_8932661143090135832[176] = 0.0; - out_8932661143090135832[177] = 0.0; - out_8932661143090135832[178] = 0.0; - out_8932661143090135832[179] = 0.0; - out_8932661143090135832[180] = 0.0; - out_8932661143090135832[181] = 0.0; - out_8932661143090135832[182] = 0.0; - out_8932661143090135832[183] = 0.0; - out_8932661143090135832[184] = 0.0; - out_8932661143090135832[185] = 0.0; - out_8932661143090135832[186] = 0.0; - out_8932661143090135832[187] = 0.0; - out_8932661143090135832[188] = 0.0; - out_8932661143090135832[189] = 0.0; - out_8932661143090135832[190] = 1.0; - out_8932661143090135832[191] = 0.0; - out_8932661143090135832[192] = 0.0; - out_8932661143090135832[193] = 0.0; - out_8932661143090135832[194] = 0.0; - out_8932661143090135832[195] = 0.0; - out_8932661143090135832[196] = 0.0; - out_8932661143090135832[197] = 0.0; - out_8932661143090135832[198] = 0.0; - out_8932661143090135832[199] = 0.0; - out_8932661143090135832[200] = 0.0; - out_8932661143090135832[201] = 0.0; - out_8932661143090135832[202] = 0.0; - out_8932661143090135832[203] = 0.0; - out_8932661143090135832[204] = 0.0; - out_8932661143090135832[205] = 0.0; - out_8932661143090135832[206] = 0.0; - out_8932661143090135832[207] = 0.0; - out_8932661143090135832[208] = 0.0; - out_8932661143090135832[209] = 1.0; - out_8932661143090135832[210] = 0.0; - out_8932661143090135832[211] = 0.0; - out_8932661143090135832[212] = 0.0; - out_8932661143090135832[213] = 0.0; - out_8932661143090135832[214] = 0.0; - out_8932661143090135832[215] = 0.0; - out_8932661143090135832[216] = 0.0; - out_8932661143090135832[217] = 0.0; - out_8932661143090135832[218] = 0.0; - out_8932661143090135832[219] = 0.0; - out_8932661143090135832[220] = 0.0; - out_8932661143090135832[221] = 0.0; - out_8932661143090135832[222] = 0.0; - out_8932661143090135832[223] = 0.0; - out_8932661143090135832[224] = 0.0; - out_8932661143090135832[225] = 0.0; - out_8932661143090135832[226] = 0.0; - out_8932661143090135832[227] = 0.0; - out_8932661143090135832[228] = 1.0; - out_8932661143090135832[229] = 0.0; - out_8932661143090135832[230] = 0.0; - out_8932661143090135832[231] = 0.0; - out_8932661143090135832[232] = 0.0; - out_8932661143090135832[233] = 0.0; - out_8932661143090135832[234] = 0.0; - out_8932661143090135832[235] = 0.0; - out_8932661143090135832[236] = 0.0; - out_8932661143090135832[237] = 0.0; - out_8932661143090135832[238] = 0.0; - out_8932661143090135832[239] = 0.0; - out_8932661143090135832[240] = 0.0; - out_8932661143090135832[241] = 0.0; - out_8932661143090135832[242] = 0.0; - out_8932661143090135832[243] = 0.0; - out_8932661143090135832[244] = 0.0; - out_8932661143090135832[245] = 0.0; - out_8932661143090135832[246] = 0.0; - out_8932661143090135832[247] = 1.0; - out_8932661143090135832[248] = 0.0; - out_8932661143090135832[249] = 0.0; - out_8932661143090135832[250] = 0.0; - out_8932661143090135832[251] = 0.0; - out_8932661143090135832[252] = 0.0; - out_8932661143090135832[253] = 0.0; - out_8932661143090135832[254] = 0.0; - out_8932661143090135832[255] = 0.0; - out_8932661143090135832[256] = 0.0; - out_8932661143090135832[257] = 0.0; - out_8932661143090135832[258] = 0.0; - out_8932661143090135832[259] = 0.0; - out_8932661143090135832[260] = 0.0; - out_8932661143090135832[261] = 0.0; - out_8932661143090135832[262] = 0.0; - out_8932661143090135832[263] = 0.0; - out_8932661143090135832[264] = 0.0; - out_8932661143090135832[265] = 0.0; - out_8932661143090135832[266] = 1.0; - out_8932661143090135832[267] = 0.0; - out_8932661143090135832[268] = 0.0; - out_8932661143090135832[269] = 0.0; - out_8932661143090135832[270] = 0.0; - out_8932661143090135832[271] = 0.0; - out_8932661143090135832[272] = 0.0; - out_8932661143090135832[273] = 0.0; - out_8932661143090135832[274] = 0.0; - out_8932661143090135832[275] = 0.0; - out_8932661143090135832[276] = 0.0; - out_8932661143090135832[277] = 0.0; - out_8932661143090135832[278] = 0.0; - out_8932661143090135832[279] = 0.0; - out_8932661143090135832[280] = 0.0; - out_8932661143090135832[281] = 0.0; - out_8932661143090135832[282] = 0.0; - out_8932661143090135832[283] = 0.0; - out_8932661143090135832[284] = 0.0; - out_8932661143090135832[285] = 1.0; - out_8932661143090135832[286] = 0.0; - out_8932661143090135832[287] = 0.0; - out_8932661143090135832[288] = 0.0; - out_8932661143090135832[289] = 0.0; - out_8932661143090135832[290] = 0.0; - out_8932661143090135832[291] = 0.0; - out_8932661143090135832[292] = 0.0; - out_8932661143090135832[293] = 0.0; - out_8932661143090135832[294] = 0.0; - out_8932661143090135832[295] = 0.0; - out_8932661143090135832[296] = 0.0; - out_8932661143090135832[297] = 0.0; - out_8932661143090135832[298] = 0.0; - out_8932661143090135832[299] = 0.0; - out_8932661143090135832[300] = 0.0; - out_8932661143090135832[301] = 0.0; - out_8932661143090135832[302] = 0.0; - out_8932661143090135832[303] = 0.0; - out_8932661143090135832[304] = 1.0; - out_8932661143090135832[305] = 0.0; - out_8932661143090135832[306] = 0.0; - out_8932661143090135832[307] = 0.0; - out_8932661143090135832[308] = 0.0; - out_8932661143090135832[309] = 0.0; - out_8932661143090135832[310] = 0.0; - out_8932661143090135832[311] = 0.0; - out_8932661143090135832[312] = 0.0; - out_8932661143090135832[313] = 0.0; - out_8932661143090135832[314] = 0.0; - out_8932661143090135832[315] = 0.0; - out_8932661143090135832[316] = 0.0; - out_8932661143090135832[317] = 0.0; - out_8932661143090135832[318] = 0.0; - out_8932661143090135832[319] = 0.0; - out_8932661143090135832[320] = 0.0; - out_8932661143090135832[321] = 0.0; - out_8932661143090135832[322] = 0.0; - out_8932661143090135832[323] = 1.0; +void H_mod_fun(double *state, double *out_7168960818524543120) { + out_7168960818524543120[0] = 1.0; + out_7168960818524543120[1] = 0.0; + out_7168960818524543120[2] = 0.0; + out_7168960818524543120[3] = 0.0; + out_7168960818524543120[4] = 0.0; + out_7168960818524543120[5] = 0.0; + out_7168960818524543120[6] = 0.0; + out_7168960818524543120[7] = 0.0; + out_7168960818524543120[8] = 0.0; + out_7168960818524543120[9] = 0.0; + out_7168960818524543120[10] = 0.0; + out_7168960818524543120[11] = 0.0; + out_7168960818524543120[12] = 0.0; + out_7168960818524543120[13] = 0.0; + out_7168960818524543120[14] = 0.0; + out_7168960818524543120[15] = 0.0; + out_7168960818524543120[16] = 0.0; + out_7168960818524543120[17] = 0.0; + out_7168960818524543120[18] = 0.0; + out_7168960818524543120[19] = 1.0; + out_7168960818524543120[20] = 0.0; + out_7168960818524543120[21] = 0.0; + out_7168960818524543120[22] = 0.0; + out_7168960818524543120[23] = 0.0; + out_7168960818524543120[24] = 0.0; + out_7168960818524543120[25] = 0.0; + out_7168960818524543120[26] = 0.0; + out_7168960818524543120[27] = 0.0; + out_7168960818524543120[28] = 0.0; + out_7168960818524543120[29] = 0.0; + out_7168960818524543120[30] = 0.0; + out_7168960818524543120[31] = 0.0; + out_7168960818524543120[32] = 0.0; + out_7168960818524543120[33] = 0.0; + out_7168960818524543120[34] = 0.0; + out_7168960818524543120[35] = 0.0; + out_7168960818524543120[36] = 0.0; + out_7168960818524543120[37] = 0.0; + out_7168960818524543120[38] = 1.0; + out_7168960818524543120[39] = 0.0; + out_7168960818524543120[40] = 0.0; + out_7168960818524543120[41] = 0.0; + out_7168960818524543120[42] = 0.0; + out_7168960818524543120[43] = 0.0; + out_7168960818524543120[44] = 0.0; + out_7168960818524543120[45] = 0.0; + out_7168960818524543120[46] = 0.0; + out_7168960818524543120[47] = 0.0; + out_7168960818524543120[48] = 0.0; + out_7168960818524543120[49] = 0.0; + out_7168960818524543120[50] = 0.0; + out_7168960818524543120[51] = 0.0; + out_7168960818524543120[52] = 0.0; + out_7168960818524543120[53] = 0.0; + out_7168960818524543120[54] = 0.0; + out_7168960818524543120[55] = 0.0; + out_7168960818524543120[56] = 0.0; + out_7168960818524543120[57] = 1.0; + out_7168960818524543120[58] = 0.0; + out_7168960818524543120[59] = 0.0; + out_7168960818524543120[60] = 0.0; + out_7168960818524543120[61] = 0.0; + out_7168960818524543120[62] = 0.0; + out_7168960818524543120[63] = 0.0; + out_7168960818524543120[64] = 0.0; + out_7168960818524543120[65] = 0.0; + out_7168960818524543120[66] = 0.0; + out_7168960818524543120[67] = 0.0; + out_7168960818524543120[68] = 0.0; + out_7168960818524543120[69] = 0.0; + out_7168960818524543120[70] = 0.0; + out_7168960818524543120[71] = 0.0; + out_7168960818524543120[72] = 0.0; + out_7168960818524543120[73] = 0.0; + out_7168960818524543120[74] = 0.0; + out_7168960818524543120[75] = 0.0; + out_7168960818524543120[76] = 1.0; + out_7168960818524543120[77] = 0.0; + out_7168960818524543120[78] = 0.0; + out_7168960818524543120[79] = 0.0; + out_7168960818524543120[80] = 0.0; + out_7168960818524543120[81] = 0.0; + out_7168960818524543120[82] = 0.0; + out_7168960818524543120[83] = 0.0; + out_7168960818524543120[84] = 0.0; + out_7168960818524543120[85] = 0.0; + out_7168960818524543120[86] = 0.0; + out_7168960818524543120[87] = 0.0; + out_7168960818524543120[88] = 0.0; + out_7168960818524543120[89] = 0.0; + out_7168960818524543120[90] = 0.0; + out_7168960818524543120[91] = 0.0; + out_7168960818524543120[92] = 0.0; + out_7168960818524543120[93] = 0.0; + out_7168960818524543120[94] = 0.0; + out_7168960818524543120[95] = 1.0; + out_7168960818524543120[96] = 0.0; + out_7168960818524543120[97] = 0.0; + out_7168960818524543120[98] = 0.0; + out_7168960818524543120[99] = 0.0; + out_7168960818524543120[100] = 0.0; + out_7168960818524543120[101] = 0.0; + out_7168960818524543120[102] = 0.0; + out_7168960818524543120[103] = 0.0; + out_7168960818524543120[104] = 0.0; + out_7168960818524543120[105] = 0.0; + out_7168960818524543120[106] = 0.0; + out_7168960818524543120[107] = 0.0; + out_7168960818524543120[108] = 0.0; + out_7168960818524543120[109] = 0.0; + out_7168960818524543120[110] = 0.0; + out_7168960818524543120[111] = 0.0; + out_7168960818524543120[112] = 0.0; + out_7168960818524543120[113] = 0.0; + out_7168960818524543120[114] = 1.0; + out_7168960818524543120[115] = 0.0; + out_7168960818524543120[116] = 0.0; + out_7168960818524543120[117] = 0.0; + out_7168960818524543120[118] = 0.0; + out_7168960818524543120[119] = 0.0; + out_7168960818524543120[120] = 0.0; + out_7168960818524543120[121] = 0.0; + out_7168960818524543120[122] = 0.0; + out_7168960818524543120[123] = 0.0; + out_7168960818524543120[124] = 0.0; + out_7168960818524543120[125] = 0.0; + out_7168960818524543120[126] = 0.0; + out_7168960818524543120[127] = 0.0; + out_7168960818524543120[128] = 0.0; + out_7168960818524543120[129] = 0.0; + out_7168960818524543120[130] = 0.0; + out_7168960818524543120[131] = 0.0; + out_7168960818524543120[132] = 0.0; + out_7168960818524543120[133] = 1.0; + out_7168960818524543120[134] = 0.0; + out_7168960818524543120[135] = 0.0; + out_7168960818524543120[136] = 0.0; + out_7168960818524543120[137] = 0.0; + out_7168960818524543120[138] = 0.0; + out_7168960818524543120[139] = 0.0; + out_7168960818524543120[140] = 0.0; + out_7168960818524543120[141] = 0.0; + out_7168960818524543120[142] = 0.0; + out_7168960818524543120[143] = 0.0; + out_7168960818524543120[144] = 0.0; + out_7168960818524543120[145] = 0.0; + out_7168960818524543120[146] = 0.0; + out_7168960818524543120[147] = 0.0; + out_7168960818524543120[148] = 0.0; + out_7168960818524543120[149] = 0.0; + out_7168960818524543120[150] = 0.0; + out_7168960818524543120[151] = 0.0; + out_7168960818524543120[152] = 1.0; + out_7168960818524543120[153] = 0.0; + out_7168960818524543120[154] = 0.0; + out_7168960818524543120[155] = 0.0; + out_7168960818524543120[156] = 0.0; + out_7168960818524543120[157] = 0.0; + out_7168960818524543120[158] = 0.0; + out_7168960818524543120[159] = 0.0; + out_7168960818524543120[160] = 0.0; + out_7168960818524543120[161] = 0.0; + out_7168960818524543120[162] = 0.0; + out_7168960818524543120[163] = 0.0; + out_7168960818524543120[164] = 0.0; + out_7168960818524543120[165] = 0.0; + out_7168960818524543120[166] = 0.0; + out_7168960818524543120[167] = 0.0; + out_7168960818524543120[168] = 0.0; + out_7168960818524543120[169] = 0.0; + out_7168960818524543120[170] = 0.0; + out_7168960818524543120[171] = 1.0; + out_7168960818524543120[172] = 0.0; + out_7168960818524543120[173] = 0.0; + out_7168960818524543120[174] = 0.0; + out_7168960818524543120[175] = 0.0; + out_7168960818524543120[176] = 0.0; + out_7168960818524543120[177] = 0.0; + out_7168960818524543120[178] = 0.0; + out_7168960818524543120[179] = 0.0; + out_7168960818524543120[180] = 0.0; + out_7168960818524543120[181] = 0.0; + out_7168960818524543120[182] = 0.0; + out_7168960818524543120[183] = 0.0; + out_7168960818524543120[184] = 0.0; + out_7168960818524543120[185] = 0.0; + out_7168960818524543120[186] = 0.0; + out_7168960818524543120[187] = 0.0; + out_7168960818524543120[188] = 0.0; + out_7168960818524543120[189] = 0.0; + out_7168960818524543120[190] = 1.0; + out_7168960818524543120[191] = 0.0; + out_7168960818524543120[192] = 0.0; + out_7168960818524543120[193] = 0.0; + out_7168960818524543120[194] = 0.0; + out_7168960818524543120[195] = 0.0; + out_7168960818524543120[196] = 0.0; + out_7168960818524543120[197] = 0.0; + out_7168960818524543120[198] = 0.0; + out_7168960818524543120[199] = 0.0; + out_7168960818524543120[200] = 0.0; + out_7168960818524543120[201] = 0.0; + out_7168960818524543120[202] = 0.0; + out_7168960818524543120[203] = 0.0; + out_7168960818524543120[204] = 0.0; + out_7168960818524543120[205] = 0.0; + out_7168960818524543120[206] = 0.0; + out_7168960818524543120[207] = 0.0; + out_7168960818524543120[208] = 0.0; + out_7168960818524543120[209] = 1.0; + out_7168960818524543120[210] = 0.0; + out_7168960818524543120[211] = 0.0; + out_7168960818524543120[212] = 0.0; + out_7168960818524543120[213] = 0.0; + out_7168960818524543120[214] = 0.0; + out_7168960818524543120[215] = 0.0; + out_7168960818524543120[216] = 0.0; + out_7168960818524543120[217] = 0.0; + out_7168960818524543120[218] = 0.0; + out_7168960818524543120[219] = 0.0; + out_7168960818524543120[220] = 0.0; + out_7168960818524543120[221] = 0.0; + out_7168960818524543120[222] = 0.0; + out_7168960818524543120[223] = 0.0; + out_7168960818524543120[224] = 0.0; + out_7168960818524543120[225] = 0.0; + out_7168960818524543120[226] = 0.0; + out_7168960818524543120[227] = 0.0; + out_7168960818524543120[228] = 1.0; + out_7168960818524543120[229] = 0.0; + out_7168960818524543120[230] = 0.0; + out_7168960818524543120[231] = 0.0; + out_7168960818524543120[232] = 0.0; + out_7168960818524543120[233] = 0.0; + out_7168960818524543120[234] = 0.0; + out_7168960818524543120[235] = 0.0; + out_7168960818524543120[236] = 0.0; + out_7168960818524543120[237] = 0.0; + out_7168960818524543120[238] = 0.0; + out_7168960818524543120[239] = 0.0; + out_7168960818524543120[240] = 0.0; + out_7168960818524543120[241] = 0.0; + out_7168960818524543120[242] = 0.0; + out_7168960818524543120[243] = 0.0; + out_7168960818524543120[244] = 0.0; + out_7168960818524543120[245] = 0.0; + out_7168960818524543120[246] = 0.0; + out_7168960818524543120[247] = 1.0; + out_7168960818524543120[248] = 0.0; + out_7168960818524543120[249] = 0.0; + out_7168960818524543120[250] = 0.0; + out_7168960818524543120[251] = 0.0; + out_7168960818524543120[252] = 0.0; + out_7168960818524543120[253] = 0.0; + out_7168960818524543120[254] = 0.0; + out_7168960818524543120[255] = 0.0; + out_7168960818524543120[256] = 0.0; + out_7168960818524543120[257] = 0.0; + out_7168960818524543120[258] = 0.0; + out_7168960818524543120[259] = 0.0; + out_7168960818524543120[260] = 0.0; + out_7168960818524543120[261] = 0.0; + out_7168960818524543120[262] = 0.0; + out_7168960818524543120[263] = 0.0; + out_7168960818524543120[264] = 0.0; + out_7168960818524543120[265] = 0.0; + out_7168960818524543120[266] = 1.0; + out_7168960818524543120[267] = 0.0; + out_7168960818524543120[268] = 0.0; + out_7168960818524543120[269] = 0.0; + out_7168960818524543120[270] = 0.0; + out_7168960818524543120[271] = 0.0; + out_7168960818524543120[272] = 0.0; + out_7168960818524543120[273] = 0.0; + out_7168960818524543120[274] = 0.0; + out_7168960818524543120[275] = 0.0; + out_7168960818524543120[276] = 0.0; + out_7168960818524543120[277] = 0.0; + out_7168960818524543120[278] = 0.0; + out_7168960818524543120[279] = 0.0; + out_7168960818524543120[280] = 0.0; + out_7168960818524543120[281] = 0.0; + out_7168960818524543120[282] = 0.0; + out_7168960818524543120[283] = 0.0; + out_7168960818524543120[284] = 0.0; + out_7168960818524543120[285] = 1.0; + out_7168960818524543120[286] = 0.0; + out_7168960818524543120[287] = 0.0; + out_7168960818524543120[288] = 0.0; + out_7168960818524543120[289] = 0.0; + out_7168960818524543120[290] = 0.0; + out_7168960818524543120[291] = 0.0; + out_7168960818524543120[292] = 0.0; + out_7168960818524543120[293] = 0.0; + out_7168960818524543120[294] = 0.0; + out_7168960818524543120[295] = 0.0; + out_7168960818524543120[296] = 0.0; + out_7168960818524543120[297] = 0.0; + out_7168960818524543120[298] = 0.0; + out_7168960818524543120[299] = 0.0; + out_7168960818524543120[300] = 0.0; + out_7168960818524543120[301] = 0.0; + out_7168960818524543120[302] = 0.0; + out_7168960818524543120[303] = 0.0; + out_7168960818524543120[304] = 1.0; + out_7168960818524543120[305] = 0.0; + out_7168960818524543120[306] = 0.0; + out_7168960818524543120[307] = 0.0; + out_7168960818524543120[308] = 0.0; + out_7168960818524543120[309] = 0.0; + out_7168960818524543120[310] = 0.0; + out_7168960818524543120[311] = 0.0; + out_7168960818524543120[312] = 0.0; + out_7168960818524543120[313] = 0.0; + out_7168960818524543120[314] = 0.0; + out_7168960818524543120[315] = 0.0; + out_7168960818524543120[316] = 0.0; + out_7168960818524543120[317] = 0.0; + out_7168960818524543120[318] = 0.0; + out_7168960818524543120[319] = 0.0; + out_7168960818524543120[320] = 0.0; + out_7168960818524543120[321] = 0.0; + out_7168960818524543120[322] = 0.0; + out_7168960818524543120[323] = 1.0; } -void f_fun(double *state, double dt, double *out_3609843023403364566) { - out_3609843023403364566[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_3609843023403364566[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_3609843023403364566[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_3609843023403364566[3] = dt*state[12] + state[3]; - out_3609843023403364566[4] = dt*state[13] + state[4]; - out_3609843023403364566[5] = dt*state[14] + state[5]; - out_3609843023403364566[6] = state[6]; - out_3609843023403364566[7] = state[7]; - out_3609843023403364566[8] = state[8]; - out_3609843023403364566[9] = state[9]; - out_3609843023403364566[10] = state[10]; - out_3609843023403364566[11] = state[11]; - out_3609843023403364566[12] = state[12]; - out_3609843023403364566[13] = state[13]; - out_3609843023403364566[14] = state[14]; - out_3609843023403364566[15] = state[15]; - out_3609843023403364566[16] = state[16]; - out_3609843023403364566[17] = state[17]; +void f_fun(double *state, double dt, double *out_5063918395653700509) { + out_5063918395653700509[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_5063918395653700509[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_5063918395653700509[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_5063918395653700509[3] = dt*state[12] + state[3]; + out_5063918395653700509[4] = dt*state[13] + state[4]; + out_5063918395653700509[5] = dt*state[14] + state[5]; + out_5063918395653700509[6] = state[6]; + out_5063918395653700509[7] = state[7]; + out_5063918395653700509[8] = state[8]; + out_5063918395653700509[9] = state[9]; + out_5063918395653700509[10] = state[10]; + out_5063918395653700509[11] = state[11]; + out_5063918395653700509[12] = state[12]; + out_5063918395653700509[13] = state[13]; + out_5063918395653700509[14] = state[14]; + out_5063918395653700509[15] = state[15]; + out_5063918395653700509[16] = state[16]; + out_5063918395653700509[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8950799816554095649) { - out_8950799816554095649[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_8950799816554095649[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_8950799816554095649[2] = 0; - out_8950799816554095649[3] = 0; - out_8950799816554095649[4] = 0; - out_8950799816554095649[5] = 0; - out_8950799816554095649[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_8950799816554095649[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_8950799816554095649[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_8950799816554095649[9] = 0; - out_8950799816554095649[10] = 0; - out_8950799816554095649[11] = 0; - out_8950799816554095649[12] = 0; - out_8950799816554095649[13] = 0; - out_8950799816554095649[14] = 0; - out_8950799816554095649[15] = 0; - out_8950799816554095649[16] = 0; - out_8950799816554095649[17] = 0; - out_8950799816554095649[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_8950799816554095649[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_8950799816554095649[20] = 0; - out_8950799816554095649[21] = 0; - out_8950799816554095649[22] = 0; - out_8950799816554095649[23] = 0; - out_8950799816554095649[24] = 0; - out_8950799816554095649[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_8950799816554095649[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_8950799816554095649[27] = 0; - out_8950799816554095649[28] = 0; - out_8950799816554095649[29] = 0; - out_8950799816554095649[30] = 0; - out_8950799816554095649[31] = 0; - out_8950799816554095649[32] = 0; - out_8950799816554095649[33] = 0; - out_8950799816554095649[34] = 0; - out_8950799816554095649[35] = 0; - out_8950799816554095649[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_8950799816554095649[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_8950799816554095649[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_8950799816554095649[39] = 0; - out_8950799816554095649[40] = 0; - out_8950799816554095649[41] = 0; - out_8950799816554095649[42] = 0; - out_8950799816554095649[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_8950799816554095649[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_8950799816554095649[45] = 0; - out_8950799816554095649[46] = 0; - out_8950799816554095649[47] = 0; - out_8950799816554095649[48] = 0; - out_8950799816554095649[49] = 0; - out_8950799816554095649[50] = 0; - out_8950799816554095649[51] = 0; - out_8950799816554095649[52] = 0; - out_8950799816554095649[53] = 0; - out_8950799816554095649[54] = 0; - out_8950799816554095649[55] = 0; - out_8950799816554095649[56] = 0; - out_8950799816554095649[57] = 1; - out_8950799816554095649[58] = 0; - out_8950799816554095649[59] = 0; - out_8950799816554095649[60] = 0; - out_8950799816554095649[61] = 0; - out_8950799816554095649[62] = 0; - out_8950799816554095649[63] = 0; - out_8950799816554095649[64] = 0; - out_8950799816554095649[65] = 0; - out_8950799816554095649[66] = dt; - out_8950799816554095649[67] = 0; - out_8950799816554095649[68] = 0; - out_8950799816554095649[69] = 0; - out_8950799816554095649[70] = 0; - out_8950799816554095649[71] = 0; - out_8950799816554095649[72] = 0; - out_8950799816554095649[73] = 0; - out_8950799816554095649[74] = 0; - out_8950799816554095649[75] = 0; - out_8950799816554095649[76] = 1; - out_8950799816554095649[77] = 0; - out_8950799816554095649[78] = 0; - out_8950799816554095649[79] = 0; - out_8950799816554095649[80] = 0; - out_8950799816554095649[81] = 0; - out_8950799816554095649[82] = 0; - out_8950799816554095649[83] = 0; - out_8950799816554095649[84] = 0; - out_8950799816554095649[85] = dt; - out_8950799816554095649[86] = 0; - out_8950799816554095649[87] = 0; - out_8950799816554095649[88] = 0; - out_8950799816554095649[89] = 0; - out_8950799816554095649[90] = 0; - out_8950799816554095649[91] = 0; - out_8950799816554095649[92] = 0; - out_8950799816554095649[93] = 0; - out_8950799816554095649[94] = 0; - out_8950799816554095649[95] = 1; - out_8950799816554095649[96] = 0; - out_8950799816554095649[97] = 0; - out_8950799816554095649[98] = 0; - out_8950799816554095649[99] = 0; - out_8950799816554095649[100] = 0; - out_8950799816554095649[101] = 0; - out_8950799816554095649[102] = 0; - out_8950799816554095649[103] = 0; - out_8950799816554095649[104] = dt; - out_8950799816554095649[105] = 0; - out_8950799816554095649[106] = 0; - out_8950799816554095649[107] = 0; - out_8950799816554095649[108] = 0; - out_8950799816554095649[109] = 0; - out_8950799816554095649[110] = 0; - out_8950799816554095649[111] = 0; - out_8950799816554095649[112] = 0; - out_8950799816554095649[113] = 0; - out_8950799816554095649[114] = 1; - out_8950799816554095649[115] = 0; - out_8950799816554095649[116] = 0; - out_8950799816554095649[117] = 0; - out_8950799816554095649[118] = 0; - out_8950799816554095649[119] = 0; - out_8950799816554095649[120] = 0; - out_8950799816554095649[121] = 0; - out_8950799816554095649[122] = 0; - out_8950799816554095649[123] = 0; - out_8950799816554095649[124] = 0; - out_8950799816554095649[125] = 0; - out_8950799816554095649[126] = 0; - out_8950799816554095649[127] = 0; - out_8950799816554095649[128] = 0; - out_8950799816554095649[129] = 0; - out_8950799816554095649[130] = 0; - out_8950799816554095649[131] = 0; - out_8950799816554095649[132] = 0; - out_8950799816554095649[133] = 1; - out_8950799816554095649[134] = 0; - out_8950799816554095649[135] = 0; - out_8950799816554095649[136] = 0; - out_8950799816554095649[137] = 0; - out_8950799816554095649[138] = 0; - out_8950799816554095649[139] = 0; - out_8950799816554095649[140] = 0; - out_8950799816554095649[141] = 0; - out_8950799816554095649[142] = 0; - out_8950799816554095649[143] = 0; - out_8950799816554095649[144] = 0; - out_8950799816554095649[145] = 0; - out_8950799816554095649[146] = 0; - out_8950799816554095649[147] = 0; - out_8950799816554095649[148] = 0; - out_8950799816554095649[149] = 0; - out_8950799816554095649[150] = 0; - out_8950799816554095649[151] = 0; - out_8950799816554095649[152] = 1; - out_8950799816554095649[153] = 0; - out_8950799816554095649[154] = 0; - out_8950799816554095649[155] = 0; - out_8950799816554095649[156] = 0; - out_8950799816554095649[157] = 0; - out_8950799816554095649[158] = 0; - out_8950799816554095649[159] = 0; - out_8950799816554095649[160] = 0; - out_8950799816554095649[161] = 0; - out_8950799816554095649[162] = 0; - out_8950799816554095649[163] = 0; - out_8950799816554095649[164] = 0; - out_8950799816554095649[165] = 0; - out_8950799816554095649[166] = 0; - out_8950799816554095649[167] = 0; - out_8950799816554095649[168] = 0; - out_8950799816554095649[169] = 0; - out_8950799816554095649[170] = 0; - out_8950799816554095649[171] = 1; - out_8950799816554095649[172] = 0; - out_8950799816554095649[173] = 0; - out_8950799816554095649[174] = 0; - out_8950799816554095649[175] = 0; - out_8950799816554095649[176] = 0; - out_8950799816554095649[177] = 0; - out_8950799816554095649[178] = 0; - out_8950799816554095649[179] = 0; - out_8950799816554095649[180] = 0; - out_8950799816554095649[181] = 0; - out_8950799816554095649[182] = 0; - out_8950799816554095649[183] = 0; - out_8950799816554095649[184] = 0; - out_8950799816554095649[185] = 0; - out_8950799816554095649[186] = 0; - out_8950799816554095649[187] = 0; - out_8950799816554095649[188] = 0; - out_8950799816554095649[189] = 0; - out_8950799816554095649[190] = 1; - out_8950799816554095649[191] = 0; - out_8950799816554095649[192] = 0; - out_8950799816554095649[193] = 0; - out_8950799816554095649[194] = 0; - out_8950799816554095649[195] = 0; - out_8950799816554095649[196] = 0; - out_8950799816554095649[197] = 0; - out_8950799816554095649[198] = 0; - out_8950799816554095649[199] = 0; - out_8950799816554095649[200] = 0; - out_8950799816554095649[201] = 0; - out_8950799816554095649[202] = 0; - out_8950799816554095649[203] = 0; - out_8950799816554095649[204] = 0; - out_8950799816554095649[205] = 0; - out_8950799816554095649[206] = 0; - out_8950799816554095649[207] = 0; - out_8950799816554095649[208] = 0; - out_8950799816554095649[209] = 1; - out_8950799816554095649[210] = 0; - out_8950799816554095649[211] = 0; - out_8950799816554095649[212] = 0; - out_8950799816554095649[213] = 0; - out_8950799816554095649[214] = 0; - out_8950799816554095649[215] = 0; - out_8950799816554095649[216] = 0; - out_8950799816554095649[217] = 0; - out_8950799816554095649[218] = 0; - out_8950799816554095649[219] = 0; - out_8950799816554095649[220] = 0; - out_8950799816554095649[221] = 0; - out_8950799816554095649[222] = 0; - out_8950799816554095649[223] = 0; - out_8950799816554095649[224] = 0; - out_8950799816554095649[225] = 0; - out_8950799816554095649[226] = 0; - out_8950799816554095649[227] = 0; - out_8950799816554095649[228] = 1; - out_8950799816554095649[229] = 0; - out_8950799816554095649[230] = 0; - out_8950799816554095649[231] = 0; - out_8950799816554095649[232] = 0; - out_8950799816554095649[233] = 0; - out_8950799816554095649[234] = 0; - out_8950799816554095649[235] = 0; - out_8950799816554095649[236] = 0; - out_8950799816554095649[237] = 0; - out_8950799816554095649[238] = 0; - out_8950799816554095649[239] = 0; - out_8950799816554095649[240] = 0; - out_8950799816554095649[241] = 0; - out_8950799816554095649[242] = 0; - out_8950799816554095649[243] = 0; - out_8950799816554095649[244] = 0; - out_8950799816554095649[245] = 0; - out_8950799816554095649[246] = 0; - out_8950799816554095649[247] = 1; - out_8950799816554095649[248] = 0; - out_8950799816554095649[249] = 0; - out_8950799816554095649[250] = 0; - out_8950799816554095649[251] = 0; - out_8950799816554095649[252] = 0; - out_8950799816554095649[253] = 0; - out_8950799816554095649[254] = 0; - out_8950799816554095649[255] = 0; - out_8950799816554095649[256] = 0; - out_8950799816554095649[257] = 0; - out_8950799816554095649[258] = 0; - out_8950799816554095649[259] = 0; - out_8950799816554095649[260] = 0; - out_8950799816554095649[261] = 0; - out_8950799816554095649[262] = 0; - out_8950799816554095649[263] = 0; - out_8950799816554095649[264] = 0; - out_8950799816554095649[265] = 0; - out_8950799816554095649[266] = 1; - out_8950799816554095649[267] = 0; - out_8950799816554095649[268] = 0; - out_8950799816554095649[269] = 0; - out_8950799816554095649[270] = 0; - out_8950799816554095649[271] = 0; - out_8950799816554095649[272] = 0; - out_8950799816554095649[273] = 0; - out_8950799816554095649[274] = 0; - out_8950799816554095649[275] = 0; - out_8950799816554095649[276] = 0; - out_8950799816554095649[277] = 0; - out_8950799816554095649[278] = 0; - out_8950799816554095649[279] = 0; - out_8950799816554095649[280] = 0; - out_8950799816554095649[281] = 0; - out_8950799816554095649[282] = 0; - out_8950799816554095649[283] = 0; - out_8950799816554095649[284] = 0; - out_8950799816554095649[285] = 1; - out_8950799816554095649[286] = 0; - out_8950799816554095649[287] = 0; - out_8950799816554095649[288] = 0; - out_8950799816554095649[289] = 0; - out_8950799816554095649[290] = 0; - out_8950799816554095649[291] = 0; - out_8950799816554095649[292] = 0; - out_8950799816554095649[293] = 0; - out_8950799816554095649[294] = 0; - out_8950799816554095649[295] = 0; - out_8950799816554095649[296] = 0; - out_8950799816554095649[297] = 0; - out_8950799816554095649[298] = 0; - out_8950799816554095649[299] = 0; - out_8950799816554095649[300] = 0; - out_8950799816554095649[301] = 0; - out_8950799816554095649[302] = 0; - out_8950799816554095649[303] = 0; - out_8950799816554095649[304] = 1; - out_8950799816554095649[305] = 0; - out_8950799816554095649[306] = 0; - out_8950799816554095649[307] = 0; - out_8950799816554095649[308] = 0; - out_8950799816554095649[309] = 0; - out_8950799816554095649[310] = 0; - out_8950799816554095649[311] = 0; - out_8950799816554095649[312] = 0; - out_8950799816554095649[313] = 0; - out_8950799816554095649[314] = 0; - out_8950799816554095649[315] = 0; - out_8950799816554095649[316] = 0; - out_8950799816554095649[317] = 0; - out_8950799816554095649[318] = 0; - out_8950799816554095649[319] = 0; - out_8950799816554095649[320] = 0; - out_8950799816554095649[321] = 0; - out_8950799816554095649[322] = 0; - out_8950799816554095649[323] = 1; +void F_fun(double *state, double dt, double *out_4470005302657516726) { + out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[2] = 0; + out_4470005302657516726[3] = 0; + out_4470005302657516726[4] = 0; + out_4470005302657516726[5] = 0; + out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[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_4470005302657516726[9] = 0; + out_4470005302657516726[10] = 0; + out_4470005302657516726[11] = 0; + out_4470005302657516726[12] = 0; + out_4470005302657516726[13] = 0; + out_4470005302657516726[14] = 0; + out_4470005302657516726[15] = 0; + out_4470005302657516726[16] = 0; + out_4470005302657516726[17] = 0; + out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[20] = 0; + out_4470005302657516726[21] = 0; + out_4470005302657516726[22] = 0; + out_4470005302657516726[23] = 0; + out_4470005302657516726[24] = 0; + out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[27] = 0; + out_4470005302657516726[28] = 0; + out_4470005302657516726[29] = 0; + out_4470005302657516726[30] = 0; + out_4470005302657516726[31] = 0; + out_4470005302657516726[32] = 0; + out_4470005302657516726[33] = 0; + out_4470005302657516726[34] = 0; + out_4470005302657516726[35] = 0; + out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[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_4470005302657516726[39] = 0; + out_4470005302657516726[40] = 0; + out_4470005302657516726[41] = 0; + out_4470005302657516726[42] = 0; + out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[45] = 0; + out_4470005302657516726[46] = 0; + out_4470005302657516726[47] = 0; + out_4470005302657516726[48] = 0; + out_4470005302657516726[49] = 0; + out_4470005302657516726[50] = 0; + out_4470005302657516726[51] = 0; + out_4470005302657516726[52] = 0; + out_4470005302657516726[53] = 0; + out_4470005302657516726[54] = 0; + out_4470005302657516726[55] = 0; + out_4470005302657516726[56] = 0; + out_4470005302657516726[57] = 1; + out_4470005302657516726[58] = 0; + out_4470005302657516726[59] = 0; + out_4470005302657516726[60] = 0; + out_4470005302657516726[61] = 0; + out_4470005302657516726[62] = 0; + out_4470005302657516726[63] = 0; + out_4470005302657516726[64] = 0; + out_4470005302657516726[65] = 0; + out_4470005302657516726[66] = dt; + out_4470005302657516726[67] = 0; + out_4470005302657516726[68] = 0; + out_4470005302657516726[69] = 0; + out_4470005302657516726[70] = 0; + out_4470005302657516726[71] = 0; + out_4470005302657516726[72] = 0; + out_4470005302657516726[73] = 0; + out_4470005302657516726[74] = 0; + out_4470005302657516726[75] = 0; + out_4470005302657516726[76] = 1; + out_4470005302657516726[77] = 0; + out_4470005302657516726[78] = 0; + out_4470005302657516726[79] = 0; + out_4470005302657516726[80] = 0; + out_4470005302657516726[81] = 0; + out_4470005302657516726[82] = 0; + out_4470005302657516726[83] = 0; + out_4470005302657516726[84] = 0; + out_4470005302657516726[85] = dt; + out_4470005302657516726[86] = 0; + out_4470005302657516726[87] = 0; + out_4470005302657516726[88] = 0; + out_4470005302657516726[89] = 0; + out_4470005302657516726[90] = 0; + out_4470005302657516726[91] = 0; + out_4470005302657516726[92] = 0; + out_4470005302657516726[93] = 0; + out_4470005302657516726[94] = 0; + out_4470005302657516726[95] = 1; + out_4470005302657516726[96] = 0; + out_4470005302657516726[97] = 0; + out_4470005302657516726[98] = 0; + out_4470005302657516726[99] = 0; + out_4470005302657516726[100] = 0; + out_4470005302657516726[101] = 0; + out_4470005302657516726[102] = 0; + out_4470005302657516726[103] = 0; + out_4470005302657516726[104] = dt; + out_4470005302657516726[105] = 0; + out_4470005302657516726[106] = 0; + out_4470005302657516726[107] = 0; + out_4470005302657516726[108] = 0; + out_4470005302657516726[109] = 0; + out_4470005302657516726[110] = 0; + out_4470005302657516726[111] = 0; + out_4470005302657516726[112] = 0; + out_4470005302657516726[113] = 0; + out_4470005302657516726[114] = 1; + out_4470005302657516726[115] = 0; + out_4470005302657516726[116] = 0; + out_4470005302657516726[117] = 0; + out_4470005302657516726[118] = 0; + out_4470005302657516726[119] = 0; + out_4470005302657516726[120] = 0; + out_4470005302657516726[121] = 0; + out_4470005302657516726[122] = 0; + out_4470005302657516726[123] = 0; + out_4470005302657516726[124] = 0; + out_4470005302657516726[125] = 0; + out_4470005302657516726[126] = 0; + out_4470005302657516726[127] = 0; + out_4470005302657516726[128] = 0; + out_4470005302657516726[129] = 0; + out_4470005302657516726[130] = 0; + out_4470005302657516726[131] = 0; + out_4470005302657516726[132] = 0; + out_4470005302657516726[133] = 1; + out_4470005302657516726[134] = 0; + out_4470005302657516726[135] = 0; + out_4470005302657516726[136] = 0; + out_4470005302657516726[137] = 0; + out_4470005302657516726[138] = 0; + out_4470005302657516726[139] = 0; + out_4470005302657516726[140] = 0; + out_4470005302657516726[141] = 0; + out_4470005302657516726[142] = 0; + out_4470005302657516726[143] = 0; + out_4470005302657516726[144] = 0; + out_4470005302657516726[145] = 0; + out_4470005302657516726[146] = 0; + out_4470005302657516726[147] = 0; + out_4470005302657516726[148] = 0; + out_4470005302657516726[149] = 0; + out_4470005302657516726[150] = 0; + out_4470005302657516726[151] = 0; + out_4470005302657516726[152] = 1; + out_4470005302657516726[153] = 0; + out_4470005302657516726[154] = 0; + out_4470005302657516726[155] = 0; + out_4470005302657516726[156] = 0; + out_4470005302657516726[157] = 0; + out_4470005302657516726[158] = 0; + out_4470005302657516726[159] = 0; + out_4470005302657516726[160] = 0; + out_4470005302657516726[161] = 0; + out_4470005302657516726[162] = 0; + out_4470005302657516726[163] = 0; + out_4470005302657516726[164] = 0; + out_4470005302657516726[165] = 0; + out_4470005302657516726[166] = 0; + out_4470005302657516726[167] = 0; + out_4470005302657516726[168] = 0; + out_4470005302657516726[169] = 0; + out_4470005302657516726[170] = 0; + out_4470005302657516726[171] = 1; + out_4470005302657516726[172] = 0; + out_4470005302657516726[173] = 0; + out_4470005302657516726[174] = 0; + out_4470005302657516726[175] = 0; + out_4470005302657516726[176] = 0; + out_4470005302657516726[177] = 0; + out_4470005302657516726[178] = 0; + out_4470005302657516726[179] = 0; + out_4470005302657516726[180] = 0; + out_4470005302657516726[181] = 0; + out_4470005302657516726[182] = 0; + out_4470005302657516726[183] = 0; + out_4470005302657516726[184] = 0; + out_4470005302657516726[185] = 0; + out_4470005302657516726[186] = 0; + out_4470005302657516726[187] = 0; + out_4470005302657516726[188] = 0; + out_4470005302657516726[189] = 0; + out_4470005302657516726[190] = 1; + out_4470005302657516726[191] = 0; + out_4470005302657516726[192] = 0; + out_4470005302657516726[193] = 0; + out_4470005302657516726[194] = 0; + out_4470005302657516726[195] = 0; + out_4470005302657516726[196] = 0; + out_4470005302657516726[197] = 0; + out_4470005302657516726[198] = 0; + out_4470005302657516726[199] = 0; + out_4470005302657516726[200] = 0; + out_4470005302657516726[201] = 0; + out_4470005302657516726[202] = 0; + out_4470005302657516726[203] = 0; + out_4470005302657516726[204] = 0; + out_4470005302657516726[205] = 0; + out_4470005302657516726[206] = 0; + out_4470005302657516726[207] = 0; + out_4470005302657516726[208] = 0; + out_4470005302657516726[209] = 1; + out_4470005302657516726[210] = 0; + out_4470005302657516726[211] = 0; + out_4470005302657516726[212] = 0; + out_4470005302657516726[213] = 0; + out_4470005302657516726[214] = 0; + out_4470005302657516726[215] = 0; + out_4470005302657516726[216] = 0; + out_4470005302657516726[217] = 0; + out_4470005302657516726[218] = 0; + out_4470005302657516726[219] = 0; + out_4470005302657516726[220] = 0; + out_4470005302657516726[221] = 0; + out_4470005302657516726[222] = 0; + out_4470005302657516726[223] = 0; + out_4470005302657516726[224] = 0; + out_4470005302657516726[225] = 0; + out_4470005302657516726[226] = 0; + out_4470005302657516726[227] = 0; + out_4470005302657516726[228] = 1; + out_4470005302657516726[229] = 0; + out_4470005302657516726[230] = 0; + out_4470005302657516726[231] = 0; + out_4470005302657516726[232] = 0; + out_4470005302657516726[233] = 0; + out_4470005302657516726[234] = 0; + out_4470005302657516726[235] = 0; + out_4470005302657516726[236] = 0; + out_4470005302657516726[237] = 0; + out_4470005302657516726[238] = 0; + out_4470005302657516726[239] = 0; + out_4470005302657516726[240] = 0; + out_4470005302657516726[241] = 0; + out_4470005302657516726[242] = 0; + out_4470005302657516726[243] = 0; + out_4470005302657516726[244] = 0; + out_4470005302657516726[245] = 0; + out_4470005302657516726[246] = 0; + out_4470005302657516726[247] = 1; + out_4470005302657516726[248] = 0; + out_4470005302657516726[249] = 0; + out_4470005302657516726[250] = 0; + out_4470005302657516726[251] = 0; + out_4470005302657516726[252] = 0; + out_4470005302657516726[253] = 0; + out_4470005302657516726[254] = 0; + out_4470005302657516726[255] = 0; + out_4470005302657516726[256] = 0; + out_4470005302657516726[257] = 0; + out_4470005302657516726[258] = 0; + out_4470005302657516726[259] = 0; + out_4470005302657516726[260] = 0; + out_4470005302657516726[261] = 0; + out_4470005302657516726[262] = 0; + out_4470005302657516726[263] = 0; + out_4470005302657516726[264] = 0; + out_4470005302657516726[265] = 0; + out_4470005302657516726[266] = 1; + out_4470005302657516726[267] = 0; + out_4470005302657516726[268] = 0; + out_4470005302657516726[269] = 0; + out_4470005302657516726[270] = 0; + out_4470005302657516726[271] = 0; + out_4470005302657516726[272] = 0; + out_4470005302657516726[273] = 0; + out_4470005302657516726[274] = 0; + out_4470005302657516726[275] = 0; + out_4470005302657516726[276] = 0; + out_4470005302657516726[277] = 0; + out_4470005302657516726[278] = 0; + out_4470005302657516726[279] = 0; + out_4470005302657516726[280] = 0; + out_4470005302657516726[281] = 0; + out_4470005302657516726[282] = 0; + out_4470005302657516726[283] = 0; + out_4470005302657516726[284] = 0; + out_4470005302657516726[285] = 1; + out_4470005302657516726[286] = 0; + out_4470005302657516726[287] = 0; + out_4470005302657516726[288] = 0; + out_4470005302657516726[289] = 0; + out_4470005302657516726[290] = 0; + out_4470005302657516726[291] = 0; + out_4470005302657516726[292] = 0; + out_4470005302657516726[293] = 0; + out_4470005302657516726[294] = 0; + out_4470005302657516726[295] = 0; + out_4470005302657516726[296] = 0; + out_4470005302657516726[297] = 0; + out_4470005302657516726[298] = 0; + out_4470005302657516726[299] = 0; + out_4470005302657516726[300] = 0; + out_4470005302657516726[301] = 0; + out_4470005302657516726[302] = 0; + out_4470005302657516726[303] = 0; + out_4470005302657516726[304] = 1; + out_4470005302657516726[305] = 0; + out_4470005302657516726[306] = 0; + out_4470005302657516726[307] = 0; + out_4470005302657516726[308] = 0; + out_4470005302657516726[309] = 0; + out_4470005302657516726[310] = 0; + out_4470005302657516726[311] = 0; + out_4470005302657516726[312] = 0; + out_4470005302657516726[313] = 0; + out_4470005302657516726[314] = 0; + out_4470005302657516726[315] = 0; + out_4470005302657516726[316] = 0; + out_4470005302657516726[317] = 0; + out_4470005302657516726[318] = 0; + out_4470005302657516726[319] = 0; + out_4470005302657516726[320] = 0; + out_4470005302657516726[321] = 0; + out_4470005302657516726[322] = 0; + out_4470005302657516726[323] = 1; } -void h_4(double *state, double *unused, double *out_7061694870208984097) { - out_7061694870208984097[0] = state[6] + state[9]; - out_7061694870208984097[1] = state[7] + state[10]; - out_7061694870208984097[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6574127459206923931) { + out_6574127459206923931[0] = state[6] + state[9]; + out_6574127459206923931[1] = state[7] + state[10]; + out_6574127459206923931[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4465290511533350274) { - out_4465290511533350274[0] = 0; - out_4465290511533350274[1] = 0; - out_4465290511533350274[2] = 0; - out_4465290511533350274[3] = 0; - out_4465290511533350274[4] = 0; - out_4465290511533350274[5] = 0; - out_4465290511533350274[6] = 1; - out_4465290511533350274[7] = 0; - out_4465290511533350274[8] = 0; - out_4465290511533350274[9] = 1; - out_4465290511533350274[10] = 0; - out_4465290511533350274[11] = 0; - out_4465290511533350274[12] = 0; - out_4465290511533350274[13] = 0; - out_4465290511533350274[14] = 0; - out_4465290511533350274[15] = 0; - out_4465290511533350274[16] = 0; - out_4465290511533350274[17] = 0; - out_4465290511533350274[18] = 0; - out_4465290511533350274[19] = 0; - out_4465290511533350274[20] = 0; - out_4465290511533350274[21] = 0; - out_4465290511533350274[22] = 0; - out_4465290511533350274[23] = 0; - out_4465290511533350274[24] = 0; - out_4465290511533350274[25] = 1; - out_4465290511533350274[26] = 0; - out_4465290511533350274[27] = 0; - out_4465290511533350274[28] = 1; - out_4465290511533350274[29] = 0; - out_4465290511533350274[30] = 0; - out_4465290511533350274[31] = 0; - out_4465290511533350274[32] = 0; - out_4465290511533350274[33] = 0; - out_4465290511533350274[34] = 0; - out_4465290511533350274[35] = 0; - out_4465290511533350274[36] = 0; - out_4465290511533350274[37] = 0; - out_4465290511533350274[38] = 0; - out_4465290511533350274[39] = 0; - out_4465290511533350274[40] = 0; - out_4465290511533350274[41] = 0; - out_4465290511533350274[42] = 0; - out_4465290511533350274[43] = 0; - out_4465290511533350274[44] = 1; - out_4465290511533350274[45] = 0; - out_4465290511533350274[46] = 0; - out_4465290511533350274[47] = 1; - out_4465290511533350274[48] = 0; - out_4465290511533350274[49] = 0; - out_4465290511533350274[50] = 0; - out_4465290511533350274[51] = 0; - out_4465290511533350274[52] = 0; - out_4465290511533350274[53] = 0; +void H_4(double *state, double *unused, double *out_8003561176394059243) { + out_8003561176394059243[0] = 0; + out_8003561176394059243[1] = 0; + out_8003561176394059243[2] = 0; + out_8003561176394059243[3] = 0; + out_8003561176394059243[4] = 0; + out_8003561176394059243[5] = 0; + out_8003561176394059243[6] = 1; + out_8003561176394059243[7] = 0; + out_8003561176394059243[8] = 0; + out_8003561176394059243[9] = 1; + out_8003561176394059243[10] = 0; + out_8003561176394059243[11] = 0; + out_8003561176394059243[12] = 0; + out_8003561176394059243[13] = 0; + out_8003561176394059243[14] = 0; + out_8003561176394059243[15] = 0; + out_8003561176394059243[16] = 0; + out_8003561176394059243[17] = 0; + out_8003561176394059243[18] = 0; + out_8003561176394059243[19] = 0; + out_8003561176394059243[20] = 0; + out_8003561176394059243[21] = 0; + out_8003561176394059243[22] = 0; + out_8003561176394059243[23] = 0; + out_8003561176394059243[24] = 0; + out_8003561176394059243[25] = 1; + out_8003561176394059243[26] = 0; + out_8003561176394059243[27] = 0; + out_8003561176394059243[28] = 1; + out_8003561176394059243[29] = 0; + out_8003561176394059243[30] = 0; + out_8003561176394059243[31] = 0; + out_8003561176394059243[32] = 0; + out_8003561176394059243[33] = 0; + out_8003561176394059243[34] = 0; + out_8003561176394059243[35] = 0; + out_8003561176394059243[36] = 0; + out_8003561176394059243[37] = 0; + out_8003561176394059243[38] = 0; + out_8003561176394059243[39] = 0; + out_8003561176394059243[40] = 0; + out_8003561176394059243[41] = 0; + out_8003561176394059243[42] = 0; + out_8003561176394059243[43] = 0; + out_8003561176394059243[44] = 1; + out_8003561176394059243[45] = 0; + out_8003561176394059243[46] = 0; + out_8003561176394059243[47] = 1; + out_8003561176394059243[48] = 0; + out_8003561176394059243[49] = 0; + out_8003561176394059243[50] = 0; + out_8003561176394059243[51] = 0; + out_8003561176394059243[52] = 0; + out_8003561176394059243[53] = 0; } -void h_10(double *state, double *unused, double *out_10860459686481955) { - out_10860459686481955[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_10860459686481955[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_10860459686481955[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_5886867664906462198) { + out_5886867664906462198[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5886867664906462198[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5886867664906462198[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_3271917644950253884) { - out_3271917644950253884[0] = 0; - out_3271917644950253884[1] = 9.8100000000000005*cos(state[1]); - out_3271917644950253884[2] = 0; - out_3271917644950253884[3] = 0; - out_3271917644950253884[4] = -state[8]; - out_3271917644950253884[5] = state[7]; - out_3271917644950253884[6] = 0; - out_3271917644950253884[7] = state[5]; - out_3271917644950253884[8] = -state[4]; - out_3271917644950253884[9] = 0; - out_3271917644950253884[10] = 0; - out_3271917644950253884[11] = 0; - out_3271917644950253884[12] = 1; - out_3271917644950253884[13] = 0; - out_3271917644950253884[14] = 0; - out_3271917644950253884[15] = 1; - out_3271917644950253884[16] = 0; - out_3271917644950253884[17] = 0; - out_3271917644950253884[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3271917644950253884[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3271917644950253884[20] = 0; - out_3271917644950253884[21] = state[8]; - out_3271917644950253884[22] = 0; - out_3271917644950253884[23] = -state[6]; - out_3271917644950253884[24] = -state[5]; - out_3271917644950253884[25] = 0; - out_3271917644950253884[26] = state[3]; - out_3271917644950253884[27] = 0; - out_3271917644950253884[28] = 0; - out_3271917644950253884[29] = 0; - out_3271917644950253884[30] = 0; - out_3271917644950253884[31] = 1; - out_3271917644950253884[32] = 0; - out_3271917644950253884[33] = 0; - out_3271917644950253884[34] = 1; - out_3271917644950253884[35] = 0; - out_3271917644950253884[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3271917644950253884[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3271917644950253884[38] = 0; - out_3271917644950253884[39] = -state[7]; - out_3271917644950253884[40] = state[6]; - out_3271917644950253884[41] = 0; - out_3271917644950253884[42] = state[4]; - out_3271917644950253884[43] = -state[3]; - out_3271917644950253884[44] = 0; - out_3271917644950253884[45] = 0; - out_3271917644950253884[46] = 0; - out_3271917644950253884[47] = 0; - out_3271917644950253884[48] = 0; - out_3271917644950253884[49] = 0; - out_3271917644950253884[50] = 1; - out_3271917644950253884[51] = 0; - out_3271917644950253884[52] = 0; - out_3271917644950253884[53] = 1; +void H_10(double *state, double *unused, double *out_6245929205097449476) { + out_6245929205097449476[0] = 0; + out_6245929205097449476[1] = 9.8100000000000005*cos(state[1]); + out_6245929205097449476[2] = 0; + out_6245929205097449476[3] = 0; + out_6245929205097449476[4] = -state[8]; + out_6245929205097449476[5] = state[7]; + out_6245929205097449476[6] = 0; + out_6245929205097449476[7] = state[5]; + out_6245929205097449476[8] = -state[4]; + out_6245929205097449476[9] = 0; + out_6245929205097449476[10] = 0; + out_6245929205097449476[11] = 0; + out_6245929205097449476[12] = 1; + out_6245929205097449476[13] = 0; + out_6245929205097449476[14] = 0; + out_6245929205097449476[15] = 1; + out_6245929205097449476[16] = 0; + out_6245929205097449476[17] = 0; + out_6245929205097449476[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6245929205097449476[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6245929205097449476[20] = 0; + out_6245929205097449476[21] = state[8]; + out_6245929205097449476[22] = 0; + out_6245929205097449476[23] = -state[6]; + out_6245929205097449476[24] = -state[5]; + out_6245929205097449476[25] = 0; + out_6245929205097449476[26] = state[3]; + out_6245929205097449476[27] = 0; + out_6245929205097449476[28] = 0; + out_6245929205097449476[29] = 0; + out_6245929205097449476[30] = 0; + out_6245929205097449476[31] = 1; + out_6245929205097449476[32] = 0; + out_6245929205097449476[33] = 0; + out_6245929205097449476[34] = 1; + out_6245929205097449476[35] = 0; + out_6245929205097449476[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6245929205097449476[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6245929205097449476[38] = 0; + out_6245929205097449476[39] = -state[7]; + out_6245929205097449476[40] = state[6]; + out_6245929205097449476[41] = 0; + out_6245929205097449476[42] = state[4]; + out_6245929205097449476[43] = -state[3]; + out_6245929205097449476[44] = 0; + out_6245929205097449476[45] = 0; + out_6245929205097449476[46] = 0; + out_6245929205097449476[47] = 0; + out_6245929205097449476[48] = 0; + out_6245929205097449476[49] = 0; + out_6245929205097449476[50] = 1; + out_6245929205097449476[51] = 0; + out_6245929205097449476[52] = 0; + out_6245929205097449476[53] = 1; } -void h_13(double *state, double *unused, double *out_1178992313314753128) { - out_1178992313314753128[0] = state[3]; - out_1178992313314753128[1] = state[4]; - out_1178992313314753128[2] = state[5]; +void h_13(double *state, double *unused, double *out_3309926433150949848) { + out_3309926433150949848[0] = state[3]; + out_3309926433150949848[1] = state[4]; + out_3309926433150949848[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7677564336865683075) { - out_7677564336865683075[0] = 0; - out_7677564336865683075[1] = 0; - out_7677564336865683075[2] = 0; - out_7677564336865683075[3] = 1; - out_7677564336865683075[4] = 0; - out_7677564336865683075[5] = 0; - out_7677564336865683075[6] = 0; - out_7677564336865683075[7] = 0; - out_7677564336865683075[8] = 0; - out_7677564336865683075[9] = 0; - out_7677564336865683075[10] = 0; - out_7677564336865683075[11] = 0; - out_7677564336865683075[12] = 0; - out_7677564336865683075[13] = 0; - out_7677564336865683075[14] = 0; - out_7677564336865683075[15] = 0; - out_7677564336865683075[16] = 0; - out_7677564336865683075[17] = 0; - out_7677564336865683075[18] = 0; - out_7677564336865683075[19] = 0; - out_7677564336865683075[20] = 0; - out_7677564336865683075[21] = 0; - out_7677564336865683075[22] = 1; - out_7677564336865683075[23] = 0; - out_7677564336865683075[24] = 0; - out_7677564336865683075[25] = 0; - out_7677564336865683075[26] = 0; - out_7677564336865683075[27] = 0; - out_7677564336865683075[28] = 0; - out_7677564336865683075[29] = 0; - out_7677564336865683075[30] = 0; - out_7677564336865683075[31] = 0; - out_7677564336865683075[32] = 0; - out_7677564336865683075[33] = 0; - out_7677564336865683075[34] = 0; - out_7677564336865683075[35] = 0; - out_7677564336865683075[36] = 0; - out_7677564336865683075[37] = 0; - out_7677564336865683075[38] = 0; - out_7677564336865683075[39] = 0; - out_7677564336865683075[40] = 0; - out_7677564336865683075[41] = 1; - out_7677564336865683075[42] = 0; - out_7677564336865683075[43] = 0; - out_7677564336865683075[44] = 0; - out_7677564336865683075[45] = 0; - out_7677564336865683075[46] = 0; - out_7677564336865683075[47] = 0; - out_7677564336865683075[48] = 0; - out_7677564336865683075[49] = 0; - out_7677564336865683075[50] = 0; - out_7677564336865683075[51] = 0; - out_7677564336865683075[52] = 0; - out_7677564336865683075[53] = 0; +void H_13(double *state, double *unused, double *out_2832551688998791444) { + out_2832551688998791444[0] = 0; + out_2832551688998791444[1] = 0; + out_2832551688998791444[2] = 0; + out_2832551688998791444[3] = 1; + out_2832551688998791444[4] = 0; + out_2832551688998791444[5] = 0; + out_2832551688998791444[6] = 0; + out_2832551688998791444[7] = 0; + out_2832551688998791444[8] = 0; + out_2832551688998791444[9] = 0; + out_2832551688998791444[10] = 0; + out_2832551688998791444[11] = 0; + out_2832551688998791444[12] = 0; + out_2832551688998791444[13] = 0; + out_2832551688998791444[14] = 0; + out_2832551688998791444[15] = 0; + out_2832551688998791444[16] = 0; + out_2832551688998791444[17] = 0; + out_2832551688998791444[18] = 0; + out_2832551688998791444[19] = 0; + out_2832551688998791444[20] = 0; + out_2832551688998791444[21] = 0; + out_2832551688998791444[22] = 1; + out_2832551688998791444[23] = 0; + out_2832551688998791444[24] = 0; + out_2832551688998791444[25] = 0; + out_2832551688998791444[26] = 0; + out_2832551688998791444[27] = 0; + out_2832551688998791444[28] = 0; + out_2832551688998791444[29] = 0; + out_2832551688998791444[30] = 0; + out_2832551688998791444[31] = 0; + out_2832551688998791444[32] = 0; + out_2832551688998791444[33] = 0; + out_2832551688998791444[34] = 0; + out_2832551688998791444[35] = 0; + out_2832551688998791444[36] = 0; + out_2832551688998791444[37] = 0; + out_2832551688998791444[38] = 0; + out_2832551688998791444[39] = 0; + out_2832551688998791444[40] = 0; + out_2832551688998791444[41] = 1; + out_2832551688998791444[42] = 0; + out_2832551688998791444[43] = 0; + out_2832551688998791444[44] = 0; + out_2832551688998791444[45] = 0; + out_2832551688998791444[46] = 0; + out_2832551688998791444[47] = 0; + out_2832551688998791444[48] = 0; + out_2832551688998791444[49] = 0; + out_2832551688998791444[50] = 0; + out_2832551688998791444[51] = 0; + out_2832551688998791444[52] = 0; + out_2832551688998791444[53] = 0; } -void h_14(double *state, double *unused, double *out_3940331790740833198) { - out_3940331790740833198[0] = state[6]; - out_3940331790740833198[1] = state[7]; - out_3940331790740833198[2] = state[8]; +void h_14(double *state, double *unused, double *out_8057772104425340564) { + out_8057772104425340564[0] = state[6]; + out_8057772104425340564[1] = state[7]; + out_8057772104425340564[2] = state[8]; } -void H_14(double *state, double *unused, double *out_8428531367872834803) { - out_8428531367872834803[0] = 0; - out_8428531367872834803[1] = 0; - out_8428531367872834803[2] = 0; - out_8428531367872834803[3] = 0; - out_8428531367872834803[4] = 0; - out_8428531367872834803[5] = 0; - out_8428531367872834803[6] = 1; - out_8428531367872834803[7] = 0; - out_8428531367872834803[8] = 0; - out_8428531367872834803[9] = 0; - out_8428531367872834803[10] = 0; - out_8428531367872834803[11] = 0; - out_8428531367872834803[12] = 0; - out_8428531367872834803[13] = 0; - out_8428531367872834803[14] = 0; - out_8428531367872834803[15] = 0; - out_8428531367872834803[16] = 0; - out_8428531367872834803[17] = 0; - out_8428531367872834803[18] = 0; - out_8428531367872834803[19] = 0; - out_8428531367872834803[20] = 0; - out_8428531367872834803[21] = 0; - out_8428531367872834803[22] = 0; - out_8428531367872834803[23] = 0; - out_8428531367872834803[24] = 0; - out_8428531367872834803[25] = 1; - out_8428531367872834803[26] = 0; - out_8428531367872834803[27] = 0; - out_8428531367872834803[28] = 0; - out_8428531367872834803[29] = 0; - out_8428531367872834803[30] = 0; - out_8428531367872834803[31] = 0; - out_8428531367872834803[32] = 0; - out_8428531367872834803[33] = 0; - out_8428531367872834803[34] = 0; - out_8428531367872834803[35] = 0; - out_8428531367872834803[36] = 0; - out_8428531367872834803[37] = 0; - out_8428531367872834803[38] = 0; - out_8428531367872834803[39] = 0; - out_8428531367872834803[40] = 0; - out_8428531367872834803[41] = 0; - out_8428531367872834803[42] = 0; - out_8428531367872834803[43] = 0; - out_8428531367872834803[44] = 1; - out_8428531367872834803[45] = 0; - out_8428531367872834803[46] = 0; - out_8428531367872834803[47] = 0; - out_8428531367872834803[48] = 0; - out_8428531367872834803[49] = 0; - out_8428531367872834803[50] = 0; - out_8428531367872834803[51] = 0; - out_8428531367872834803[52] = 0; - out_8428531367872834803[53] = 0; +void H_14(double *state, double *unused, double *out_6479942040976007844) { + out_6479942040976007844[0] = 0; + out_6479942040976007844[1] = 0; + out_6479942040976007844[2] = 0; + out_6479942040976007844[3] = 0; + out_6479942040976007844[4] = 0; + out_6479942040976007844[5] = 0; + out_6479942040976007844[6] = 1; + out_6479942040976007844[7] = 0; + out_6479942040976007844[8] = 0; + out_6479942040976007844[9] = 0; + out_6479942040976007844[10] = 0; + out_6479942040976007844[11] = 0; + out_6479942040976007844[12] = 0; + out_6479942040976007844[13] = 0; + out_6479942040976007844[14] = 0; + out_6479942040976007844[15] = 0; + out_6479942040976007844[16] = 0; + out_6479942040976007844[17] = 0; + out_6479942040976007844[18] = 0; + out_6479942040976007844[19] = 0; + out_6479942040976007844[20] = 0; + out_6479942040976007844[21] = 0; + out_6479942040976007844[22] = 0; + out_6479942040976007844[23] = 0; + out_6479942040976007844[24] = 0; + out_6479942040976007844[25] = 1; + out_6479942040976007844[26] = 0; + out_6479942040976007844[27] = 0; + out_6479942040976007844[28] = 0; + out_6479942040976007844[29] = 0; + out_6479942040976007844[30] = 0; + out_6479942040976007844[31] = 0; + out_6479942040976007844[32] = 0; + out_6479942040976007844[33] = 0; + out_6479942040976007844[34] = 0; + out_6479942040976007844[35] = 0; + out_6479942040976007844[36] = 0; + out_6479942040976007844[37] = 0; + out_6479942040976007844[38] = 0; + out_6479942040976007844[39] = 0; + out_6479942040976007844[40] = 0; + out_6479942040976007844[41] = 0; + out_6479942040976007844[42] = 0; + out_6479942040976007844[43] = 0; + out_6479942040976007844[44] = 1; + out_6479942040976007844[45] = 0; + out_6479942040976007844[46] = 0; + out_6479942040976007844[47] = 0; + out_6479942040976007844[48] = 0; + out_6479942040976007844[49] = 0; + out_6479942040976007844[50] = 0; + out_6479942040976007844[51] = 0; + out_6479942040976007844[52] = 0; + out_6479942040976007844[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_5169544621376104769) { - err_fun(nom_x, delta_x, out_5169544621376104769); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5896214411466158685) { + err_fun(nom_x, delta_x, out_5896214411466158685); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5560919447530739345) { - inv_err_fun(nom_x, true_x, out_5560919447530739345); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2659108696170388183) { + inv_err_fun(nom_x, true_x, out_2659108696170388183); } -void pose_H_mod_fun(double *state, double *out_8932661143090135832) { - H_mod_fun(state, out_8932661143090135832); +void pose_H_mod_fun(double *state, double *out_7168960818524543120) { + H_mod_fun(state, out_7168960818524543120); } -void pose_f_fun(double *state, double dt, double *out_3609843023403364566) { - f_fun(state, dt, out_3609843023403364566); +void pose_f_fun(double *state, double dt, double *out_5063918395653700509) { + f_fun(state, dt, out_5063918395653700509); } -void pose_F_fun(double *state, double dt, double *out_8950799816554095649) { - F_fun(state, dt, out_8950799816554095649); +void pose_F_fun(double *state, double dt, double *out_4470005302657516726) { + F_fun(state, dt, out_4470005302657516726); } -void pose_h_4(double *state, double *unused, double *out_7061694870208984097) { - h_4(state, unused, out_7061694870208984097); +void pose_h_4(double *state, double *unused, double *out_6574127459206923931) { + h_4(state, unused, out_6574127459206923931); } -void pose_H_4(double *state, double *unused, double *out_4465290511533350274) { - H_4(state, unused, out_4465290511533350274); +void pose_H_4(double *state, double *unused, double *out_8003561176394059243) { + H_4(state, unused, out_8003561176394059243); } -void pose_h_10(double *state, double *unused, double *out_10860459686481955) { - h_10(state, unused, out_10860459686481955); +void pose_h_10(double *state, double *unused, double *out_5886867664906462198) { + h_10(state, unused, out_5886867664906462198); } -void pose_H_10(double *state, double *unused, double *out_3271917644950253884) { - H_10(state, unused, out_3271917644950253884); +void pose_H_10(double *state, double *unused, double *out_6245929205097449476) { + H_10(state, unused, out_6245929205097449476); } -void pose_h_13(double *state, double *unused, double *out_1178992313314753128) { - h_13(state, unused, out_1178992313314753128); +void pose_h_13(double *state, double *unused, double *out_3309926433150949848) { + h_13(state, unused, out_3309926433150949848); } -void pose_H_13(double *state, double *unused, double *out_7677564336865683075) { - H_13(state, unused, out_7677564336865683075); +void pose_H_13(double *state, double *unused, double *out_2832551688998791444) { + H_13(state, unused, out_2832551688998791444); } -void pose_h_14(double *state, double *unused, double *out_3940331790740833198) { - h_14(state, unused, out_3940331790740833198); +void pose_h_14(double *state, double *unused, double *out_8057772104425340564) { + h_14(state, unused, out_8057772104425340564); } -void pose_H_14(double *state, double *unused, double *out_8428531367872834803) { - H_14(state, unused, out_8428531367872834803); +void pose_H_14(double *state, double *unused, double *out_6479942040976007844) { + H_14(state, unused, out_6479942040976007844); } 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 1ae1127a0..b11810a32 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_5169544621376104769); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5560919447530739345); -void pose_H_mod_fun(double *state, double *out_8932661143090135832); -void pose_f_fun(double *state, double dt, double *out_3609843023403364566); -void pose_F_fun(double *state, double dt, double *out_8950799816554095649); -void pose_h_4(double *state, double *unused, double *out_7061694870208984097); -void pose_H_4(double *state, double *unused, double *out_4465290511533350274); -void pose_h_10(double *state, double *unused, double *out_10860459686481955); -void pose_H_10(double *state, double *unused, double *out_3271917644950253884); -void pose_h_13(double *state, double *unused, double *out_1178992313314753128); -void pose_H_13(double *state, double *unused, double *out_7677564336865683075); -void pose_h_14(double *state, double *unused, double *out_3940331790740833198); -void pose_H_14(double *state, double *unused, double *out_8428531367872834803); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5896214411466158685); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2659108696170388183); +void pose_H_mod_fun(double *state, double *out_7168960818524543120); +void pose_f_fun(double *state, double dt, double *out_5063918395653700509); +void pose_F_fun(double *state, double dt, double *out_4470005302657516726); +void pose_h_4(double *state, double *unused, double *out_6574127459206923931); +void pose_H_4(double *state, double *unused, double *out_8003561176394059243); +void pose_h_10(double *state, double *unused, double *out_5886867664906462198); +void pose_H_10(double *state, double *unused, double *out_6245929205097449476); +void pose_h_13(double *state, double *unused, double *out_3309926433150949848); +void pose_H_13(double *state, double *unused, double *out_2832551688998791444); +void pose_h_14(double *state, double *unused, double *out_8057772104425340564); +void pose_H_14(double *state, double *unused, double *out_6479942040976007844); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 3ec5eba3a..ccb113eae 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index a33fd3d13..e6db95ee9 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index fc24a5a6e..e384720c9 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 95891f58c..e1b61ddd8 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 8cea5118b..41efb83a6 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git 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