diff --git a/common/libcommon.a b/common/libcommon.a index 105341c9c..8a358ed04 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index f3170b12c..3b74c033d 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index a7852dad2..6ef3d5d49 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 9077e14b9..f6ad652c7 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index d1997b54b..cdba3d2bc 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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--- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-40b54686-DEBUG"; +const uint8_t gitversion[19] = "DEV-1c2627e1-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index e4b0ec237..8c7e19210 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 66c931720..c6a021ea0 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 fb7ab3010..6e3b8aa16 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 a6129222e..e60d411f3 100755 Binary files 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index 2dc7ace51..85c6d9fa8 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 d6eb79b48..fa38b7aa3 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 0c7fe731f..32c2b625d 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 278031df7..e50b83211 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-40b54686-DEBUG \ No newline at end of file +DEV-1c2627e1-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 8bf20639b..ed3428a85 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_4213074370852160810) { - out_4213074370852160810[0] = delta_x[0] + nom_x[0]; - out_4213074370852160810[1] = delta_x[1] + nom_x[1]; - out_4213074370852160810[2] = delta_x[2] + nom_x[2]; - out_4213074370852160810[3] = delta_x[3] + nom_x[3]; - out_4213074370852160810[4] = delta_x[4] + nom_x[4]; - out_4213074370852160810[5] = delta_x[5] + nom_x[5]; - out_4213074370852160810[6] = delta_x[6] + nom_x[6]; - out_4213074370852160810[7] = delta_x[7] + nom_x[7]; - out_4213074370852160810[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_287802830867790833) { + out_287802830867790833[0] = delta_x[0] + nom_x[0]; + out_287802830867790833[1] = delta_x[1] + nom_x[1]; + out_287802830867790833[2] = delta_x[2] + nom_x[2]; + out_287802830867790833[3] = delta_x[3] + nom_x[3]; + out_287802830867790833[4] = delta_x[4] + nom_x[4]; + out_287802830867790833[5] = delta_x[5] + nom_x[5]; + out_287802830867790833[6] = delta_x[6] + nom_x[6]; + out_287802830867790833[7] = delta_x[7] + nom_x[7]; + out_287802830867790833[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4007900572103243439) { - out_4007900572103243439[0] = -nom_x[0] + true_x[0]; - out_4007900572103243439[1] = -nom_x[1] + true_x[1]; - out_4007900572103243439[2] = -nom_x[2] + true_x[2]; - out_4007900572103243439[3] = -nom_x[3] + true_x[3]; - out_4007900572103243439[4] = -nom_x[4] + true_x[4]; - out_4007900572103243439[5] = -nom_x[5] + true_x[5]; - out_4007900572103243439[6] = -nom_x[6] + true_x[6]; - out_4007900572103243439[7] = -nom_x[7] + true_x[7]; - out_4007900572103243439[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1374850324761980275) { + out_1374850324761980275[0] = -nom_x[0] + true_x[0]; + out_1374850324761980275[1] = -nom_x[1] + true_x[1]; + out_1374850324761980275[2] = -nom_x[2] + true_x[2]; + out_1374850324761980275[3] = -nom_x[3] + true_x[3]; + out_1374850324761980275[4] = -nom_x[4] + true_x[4]; + out_1374850324761980275[5] = -nom_x[5] + true_x[5]; + out_1374850324761980275[6] = -nom_x[6] + true_x[6]; + out_1374850324761980275[7] = -nom_x[7] + true_x[7]; + out_1374850324761980275[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8824637158619611629) { - out_8824637158619611629[0] = 1.0; - out_8824637158619611629[1] = 0.0; - out_8824637158619611629[2] = 0.0; - out_8824637158619611629[3] = 0.0; - out_8824637158619611629[4] = 0.0; - out_8824637158619611629[5] = 0.0; - out_8824637158619611629[6] = 0.0; - out_8824637158619611629[7] = 0.0; - out_8824637158619611629[8] = 0.0; - out_8824637158619611629[9] = 0.0; - out_8824637158619611629[10] = 1.0; - out_8824637158619611629[11] = 0.0; - out_8824637158619611629[12] = 0.0; - out_8824637158619611629[13] = 0.0; - out_8824637158619611629[14] = 0.0; - out_8824637158619611629[15] = 0.0; - out_8824637158619611629[16] = 0.0; - out_8824637158619611629[17] = 0.0; - out_8824637158619611629[18] = 0.0; - out_8824637158619611629[19] = 0.0; - out_8824637158619611629[20] = 1.0; - out_8824637158619611629[21] = 0.0; - out_8824637158619611629[22] = 0.0; - out_8824637158619611629[23] = 0.0; - out_8824637158619611629[24] = 0.0; - out_8824637158619611629[25] = 0.0; - out_8824637158619611629[26] = 0.0; - out_8824637158619611629[27] = 0.0; - out_8824637158619611629[28] = 0.0; - out_8824637158619611629[29] = 0.0; - out_8824637158619611629[30] = 1.0; - out_8824637158619611629[31] = 0.0; - out_8824637158619611629[32] = 0.0; - out_8824637158619611629[33] = 0.0; - out_8824637158619611629[34] = 0.0; - out_8824637158619611629[35] = 0.0; - out_8824637158619611629[36] = 0.0; - out_8824637158619611629[37] = 0.0; - out_8824637158619611629[38] = 0.0; - out_8824637158619611629[39] = 0.0; - out_8824637158619611629[40] = 1.0; - out_8824637158619611629[41] = 0.0; - out_8824637158619611629[42] = 0.0; - out_8824637158619611629[43] = 0.0; - out_8824637158619611629[44] = 0.0; - out_8824637158619611629[45] = 0.0; - out_8824637158619611629[46] = 0.0; - out_8824637158619611629[47] = 0.0; - out_8824637158619611629[48] = 0.0; - out_8824637158619611629[49] = 0.0; - out_8824637158619611629[50] = 1.0; - out_8824637158619611629[51] = 0.0; - out_8824637158619611629[52] = 0.0; - out_8824637158619611629[53] = 0.0; - out_8824637158619611629[54] = 0.0; - out_8824637158619611629[55] = 0.0; - out_8824637158619611629[56] = 0.0; - out_8824637158619611629[57] = 0.0; - out_8824637158619611629[58] = 0.0; - out_8824637158619611629[59] = 0.0; - out_8824637158619611629[60] = 1.0; - out_8824637158619611629[61] = 0.0; - out_8824637158619611629[62] = 0.0; - out_8824637158619611629[63] = 0.0; - out_8824637158619611629[64] = 0.0; - out_8824637158619611629[65] = 0.0; - out_8824637158619611629[66] = 0.0; - out_8824637158619611629[67] = 0.0; - out_8824637158619611629[68] = 0.0; - out_8824637158619611629[69] = 0.0; - out_8824637158619611629[70] = 1.0; - out_8824637158619611629[71] = 0.0; - out_8824637158619611629[72] = 0.0; - out_8824637158619611629[73] = 0.0; - out_8824637158619611629[74] = 0.0; - out_8824637158619611629[75] = 0.0; - out_8824637158619611629[76] = 0.0; - out_8824637158619611629[77] = 0.0; - out_8824637158619611629[78] = 0.0; - out_8824637158619611629[79] = 0.0; - out_8824637158619611629[80] = 1.0; +void H_mod_fun(double *state, double *out_6646352482882938111) { + out_6646352482882938111[0] = 1.0; + out_6646352482882938111[1] = 0.0; + out_6646352482882938111[2] = 0.0; + out_6646352482882938111[3] = 0.0; + out_6646352482882938111[4] = 0.0; + out_6646352482882938111[5] = 0.0; + out_6646352482882938111[6] = 0.0; + out_6646352482882938111[7] = 0.0; + out_6646352482882938111[8] = 0.0; + out_6646352482882938111[9] = 0.0; + out_6646352482882938111[10] = 1.0; + out_6646352482882938111[11] = 0.0; + out_6646352482882938111[12] = 0.0; + out_6646352482882938111[13] = 0.0; + out_6646352482882938111[14] = 0.0; + out_6646352482882938111[15] = 0.0; + out_6646352482882938111[16] = 0.0; + out_6646352482882938111[17] = 0.0; + out_6646352482882938111[18] = 0.0; + out_6646352482882938111[19] = 0.0; + out_6646352482882938111[20] = 1.0; + out_6646352482882938111[21] = 0.0; + out_6646352482882938111[22] = 0.0; + out_6646352482882938111[23] = 0.0; + out_6646352482882938111[24] = 0.0; + out_6646352482882938111[25] = 0.0; + out_6646352482882938111[26] = 0.0; + out_6646352482882938111[27] = 0.0; + out_6646352482882938111[28] = 0.0; + out_6646352482882938111[29] = 0.0; + out_6646352482882938111[30] = 1.0; + out_6646352482882938111[31] = 0.0; + out_6646352482882938111[32] = 0.0; + out_6646352482882938111[33] = 0.0; + out_6646352482882938111[34] = 0.0; + out_6646352482882938111[35] = 0.0; + out_6646352482882938111[36] = 0.0; + out_6646352482882938111[37] = 0.0; + out_6646352482882938111[38] = 0.0; + out_6646352482882938111[39] = 0.0; + out_6646352482882938111[40] = 1.0; + out_6646352482882938111[41] = 0.0; + out_6646352482882938111[42] = 0.0; + out_6646352482882938111[43] = 0.0; + out_6646352482882938111[44] = 0.0; + out_6646352482882938111[45] = 0.0; + out_6646352482882938111[46] = 0.0; + out_6646352482882938111[47] = 0.0; + out_6646352482882938111[48] = 0.0; + out_6646352482882938111[49] = 0.0; + out_6646352482882938111[50] = 1.0; + out_6646352482882938111[51] = 0.0; + out_6646352482882938111[52] = 0.0; + out_6646352482882938111[53] = 0.0; + out_6646352482882938111[54] = 0.0; + out_6646352482882938111[55] = 0.0; + out_6646352482882938111[56] = 0.0; + out_6646352482882938111[57] = 0.0; + out_6646352482882938111[58] = 0.0; + out_6646352482882938111[59] = 0.0; + out_6646352482882938111[60] = 1.0; + out_6646352482882938111[61] = 0.0; + out_6646352482882938111[62] = 0.0; + out_6646352482882938111[63] = 0.0; + out_6646352482882938111[64] = 0.0; + out_6646352482882938111[65] = 0.0; + out_6646352482882938111[66] = 0.0; + out_6646352482882938111[67] = 0.0; + out_6646352482882938111[68] = 0.0; + out_6646352482882938111[69] = 0.0; + out_6646352482882938111[70] = 1.0; + out_6646352482882938111[71] = 0.0; + out_6646352482882938111[72] = 0.0; + out_6646352482882938111[73] = 0.0; + out_6646352482882938111[74] = 0.0; + out_6646352482882938111[75] = 0.0; + out_6646352482882938111[76] = 0.0; + out_6646352482882938111[77] = 0.0; + out_6646352482882938111[78] = 0.0; + out_6646352482882938111[79] = 0.0; + out_6646352482882938111[80] = 1.0; } -void f_fun(double *state, double dt, double *out_7248181046558172931) { - out_7248181046558172931[0] = state[0]; - out_7248181046558172931[1] = state[1]; - out_7248181046558172931[2] = state[2]; - out_7248181046558172931[3] = state[3]; - out_7248181046558172931[4] = state[4]; - out_7248181046558172931[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_7248181046558172931[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_7248181046558172931[7] = state[7]; - out_7248181046558172931[8] = state[8]; +void f_fun(double *state, double dt, double *out_2311726086880249539) { + out_2311726086880249539[0] = state[0]; + out_2311726086880249539[1] = state[1]; + out_2311726086880249539[2] = state[2]; + out_2311726086880249539[3] = state[3]; + out_2311726086880249539[4] = state[4]; + out_2311726086880249539[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_2311726086880249539[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_2311726086880249539[7] = state[7]; + out_2311726086880249539[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1901673215728667839) { - out_1901673215728667839[0] = 1; - out_1901673215728667839[1] = 0; - out_1901673215728667839[2] = 0; - out_1901673215728667839[3] = 0; - out_1901673215728667839[4] = 0; - out_1901673215728667839[5] = 0; - out_1901673215728667839[6] = 0; - out_1901673215728667839[7] = 0; - out_1901673215728667839[8] = 0; - out_1901673215728667839[9] = 0; - out_1901673215728667839[10] = 1; - out_1901673215728667839[11] = 0; - out_1901673215728667839[12] = 0; - out_1901673215728667839[13] = 0; - out_1901673215728667839[14] = 0; - out_1901673215728667839[15] = 0; - out_1901673215728667839[16] = 0; - out_1901673215728667839[17] = 0; - out_1901673215728667839[18] = 0; - out_1901673215728667839[19] = 0; - out_1901673215728667839[20] = 1; - out_1901673215728667839[21] = 0; - out_1901673215728667839[22] = 0; - out_1901673215728667839[23] = 0; - out_1901673215728667839[24] = 0; - out_1901673215728667839[25] = 0; - out_1901673215728667839[26] = 0; - out_1901673215728667839[27] = 0; - out_1901673215728667839[28] = 0; - out_1901673215728667839[29] = 0; - out_1901673215728667839[30] = 1; - out_1901673215728667839[31] = 0; - out_1901673215728667839[32] = 0; - out_1901673215728667839[33] = 0; - out_1901673215728667839[34] = 0; - out_1901673215728667839[35] = 0; - out_1901673215728667839[36] = 0; - out_1901673215728667839[37] = 0; - out_1901673215728667839[38] = 0; - out_1901673215728667839[39] = 0; - out_1901673215728667839[40] = 1; - out_1901673215728667839[41] = 0; - out_1901673215728667839[42] = 0; - out_1901673215728667839[43] = 0; - out_1901673215728667839[44] = 0; - out_1901673215728667839[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_1901673215728667839[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1901673215728667839[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1901673215728667839[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1901673215728667839[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_1901673215728667839[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1901673215728667839[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1901673215728667839[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1901673215728667839[53] = -9.8100000000000005*dt; - out_1901673215728667839[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_1901673215728667839[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1901673215728667839[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1901673215728667839[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1901673215728667839[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_1901673215728667839[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1901673215728667839[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_1901673215728667839[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1901673215728667839[62] = 0; - out_1901673215728667839[63] = 0; - out_1901673215728667839[64] = 0; - out_1901673215728667839[65] = 0; - out_1901673215728667839[66] = 0; - out_1901673215728667839[67] = 0; - out_1901673215728667839[68] = 0; - out_1901673215728667839[69] = 0; - out_1901673215728667839[70] = 1; - out_1901673215728667839[71] = 0; - out_1901673215728667839[72] = 0; - out_1901673215728667839[73] = 0; - out_1901673215728667839[74] = 0; - out_1901673215728667839[75] = 0; - out_1901673215728667839[76] = 0; - out_1901673215728667839[77] = 0; - out_1901673215728667839[78] = 0; - out_1901673215728667839[79] = 0; - out_1901673215728667839[80] = 1; +void F_fun(double *state, double dt, double *out_1431608970589135594) { + out_1431608970589135594[0] = 1; + out_1431608970589135594[1] = 0; + out_1431608970589135594[2] = 0; + out_1431608970589135594[3] = 0; + out_1431608970589135594[4] = 0; + out_1431608970589135594[5] = 0; + out_1431608970589135594[6] = 0; + out_1431608970589135594[7] = 0; + out_1431608970589135594[8] = 0; + out_1431608970589135594[9] = 0; + out_1431608970589135594[10] = 1; + out_1431608970589135594[11] = 0; + out_1431608970589135594[12] = 0; + out_1431608970589135594[13] = 0; + out_1431608970589135594[14] = 0; + out_1431608970589135594[15] = 0; + out_1431608970589135594[16] = 0; + out_1431608970589135594[17] = 0; + out_1431608970589135594[18] = 0; + out_1431608970589135594[19] = 0; + out_1431608970589135594[20] = 1; + out_1431608970589135594[21] = 0; + out_1431608970589135594[22] = 0; + out_1431608970589135594[23] = 0; + out_1431608970589135594[24] = 0; + out_1431608970589135594[25] = 0; + out_1431608970589135594[26] = 0; + out_1431608970589135594[27] = 0; + out_1431608970589135594[28] = 0; + out_1431608970589135594[29] = 0; + out_1431608970589135594[30] = 1; + out_1431608970589135594[31] = 0; + out_1431608970589135594[32] = 0; + out_1431608970589135594[33] = 0; + out_1431608970589135594[34] = 0; + out_1431608970589135594[35] = 0; + out_1431608970589135594[36] = 0; + out_1431608970589135594[37] = 0; + out_1431608970589135594[38] = 0; + out_1431608970589135594[39] = 0; + out_1431608970589135594[40] = 1; + out_1431608970589135594[41] = 0; + out_1431608970589135594[42] = 0; + out_1431608970589135594[43] = 0; + out_1431608970589135594[44] = 0; + out_1431608970589135594[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_1431608970589135594[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1431608970589135594[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1431608970589135594[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1431608970589135594[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_1431608970589135594[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1431608970589135594[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1431608970589135594[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1431608970589135594[53] = -9.8100000000000005*dt; + out_1431608970589135594[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_1431608970589135594[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1431608970589135594[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1431608970589135594[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1431608970589135594[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_1431608970589135594[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1431608970589135594[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_1431608970589135594[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1431608970589135594[62] = 0; + out_1431608970589135594[63] = 0; + out_1431608970589135594[64] = 0; + out_1431608970589135594[65] = 0; + out_1431608970589135594[66] = 0; + out_1431608970589135594[67] = 0; + out_1431608970589135594[68] = 0; + out_1431608970589135594[69] = 0; + out_1431608970589135594[70] = 1; + out_1431608970589135594[71] = 0; + out_1431608970589135594[72] = 0; + out_1431608970589135594[73] = 0; + out_1431608970589135594[74] = 0; + out_1431608970589135594[75] = 0; + out_1431608970589135594[76] = 0; + out_1431608970589135594[77] = 0; + out_1431608970589135594[78] = 0; + out_1431608970589135594[79] = 0; + out_1431608970589135594[80] = 1; } -void h_25(double *state, double *unused, double *out_141170775012007602) { - out_141170775012007602[0] = state[6]; +void h_25(double *state, double *unused, double *out_4297991490361286945) { + out_4297991490361286945[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4718415089905275147) { - out_4718415089905275147[0] = 0; - out_4718415089905275147[1] = 0; - out_4718415089905275147[2] = 0; - out_4718415089905275147[3] = 0; - out_4718415089905275147[4] = 0; - out_4718415089905275147[5] = 0; - out_4718415089905275147[6] = 1; - out_4718415089905275147[7] = 0; - out_4718415089905275147[8] = 0; +void H_25(double *state, double *unused, double *out_7005560747898744396) { + out_7005560747898744396[0] = 0; + out_7005560747898744396[1] = 0; + out_7005560747898744396[2] = 0; + out_7005560747898744396[3] = 0; + out_7005560747898744396[4] = 0; + out_7005560747898744396[5] = 0; + out_7005560747898744396[6] = 1; + out_7005560747898744396[7] = 0; + out_7005560747898744396[8] = 0; } -void h_24(double *state, double *unused, double *out_6127458511898671622) { - out_6127458511898671622[0] = state[4]; - out_6127458511898671622[1] = state[5]; +void h_24(double *state, double *unused, double *out_806466490562007731) { + out_806466490562007731[0] = state[4]; + out_806466490562007731[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2541200666298125174) { - out_2541200666298125174[0] = 0; - out_2541200666298125174[1] = 0; - out_2541200666298125174[2] = 0; - out_2541200666298125174[3] = 0; - out_2541200666298125174[4] = 1; - out_2541200666298125174[5] = 0; - out_2541200666298125174[6] = 0; - out_2541200666298125174[7] = 0; - out_2541200666298125174[8] = 0; - out_2541200666298125174[9] = 0; - out_2541200666298125174[10] = 0; - out_2541200666298125174[11] = 0; - out_2541200666298125174[12] = 0; - out_2541200666298125174[13] = 0; - out_2541200666298125174[14] = 1; - out_2541200666298125174[15] = 0; - out_2541200666298125174[16] = 0; - out_2541200666298125174[17] = 0; +void H_24(double *state, double *unused, double *out_4832911148893244830) { + out_4832911148893244830[0] = 0; + out_4832911148893244830[1] = 0; + out_4832911148893244830[2] = 0; + out_4832911148893244830[3] = 0; + out_4832911148893244830[4] = 1; + out_4832911148893244830[5] = 0; + out_4832911148893244830[6] = 0; + out_4832911148893244830[7] = 0; + out_4832911148893244830[8] = 0; + out_4832911148893244830[9] = 0; + out_4832911148893244830[10] = 0; + out_4832911148893244830[11] = 0; + out_4832911148893244830[12] = 0; + out_4832911148893244830[13] = 0; + out_4832911148893244830[14] = 1; + out_4832911148893244830[15] = 0; + out_4832911148893244830[16] = 0; + out_4832911148893244830[17] = 0; } -void h_30(double *state, double *unused, double *out_4296825053779108162) { - out_4296825053779108162[0] = state[4]; +void h_30(double *state, double *unused, double *out_7377917356997913735) { + out_7377917356997913735[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2200082131398026520) { - out_2200082131398026520[0] = 0; - out_2200082131398026520[1] = 0; - out_2200082131398026520[2] = 0; - out_2200082131398026520[3] = 0; - out_2200082131398026520[4] = 1; - out_2200082131398026520[5] = 0; - out_2200082131398026520[6] = 0; - out_2200082131398026520[7] = 0; - out_2200082131398026520[8] = 0; +void H_30(double *state, double *unused, double *out_8922850367303558593) { + out_8922850367303558593[0] = 0; + out_8922850367303558593[1] = 0; + out_8922850367303558593[2] = 0; + out_8922850367303558593[3] = 0; + out_8922850367303558593[4] = 1; + out_8922850367303558593[5] = 0; + out_8922850367303558593[6] = 0; + out_8922850367303558593[7] = 0; + out_8922850367303558593[8] = 0; } -void h_26(double *state, double *unused, double *out_5968496148460696103) { - out_5968496148460696103[0] = state[7]; +void h_26(double *state, double *unused, double *out_5726959480825607318) { + out_5726959480825607318[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8459918408779331371) { - out_8459918408779331371[0] = 0; - out_8459918408779331371[1] = 0; - out_8459918408779331371[2] = 0; - out_8459918408779331371[3] = 0; - out_8459918408779331371[4] = 0; - out_8459918408779331371[5] = 0; - out_8459918408779331371[6] = 0; - out_8459918408779331371[7] = 1; - out_8459918408779331371[8] = 0; +void H_26(double *state, double *unused, double *out_3264057429024688172) { + out_3264057429024688172[0] = 0; + out_3264057429024688172[1] = 0; + out_3264057429024688172[2] = 0; + out_3264057429024688172[3] = 0; + out_3264057429024688172[4] = 0; + out_3264057429024688172[5] = 0; + out_3264057429024688172[6] = 0; + out_3264057429024688172[7] = 1; + out_3264057429024688172[8] = 0; } -void h_27(double *state, double *unused, double *out_4860502492648838043) { - out_4860502492648838043[0] = state[3]; +void h_27(double *state, double *unused, double *out_703681777299558700) { + out_703681777299558700[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7025869341876243360) { - out_7025869341876243360[0] = 0; - out_7025869341876243360[1] = 0; - out_7025869341876243360[2] = 0; - out_7025869341876243360[3] = 1; - out_7025869341876243360[4] = 0; - out_7025869341876243360[5] = 0; - out_7025869341876243360[6] = 0; - out_7025869341876243360[7] = 0; - out_7025869341876243360[8] = 0; +void H_27(double *state, double *unused, double *out_7349130394605568112) { + out_7349130394605568112[0] = 0; + out_7349130394605568112[1] = 0; + out_7349130394605568112[2] = 0; + out_7349130394605568112[3] = 1; + out_7349130394605568112[4] = 0; + out_7349130394605568112[5] = 0; + out_7349130394605568112[6] = 0; + out_7349130394605568112[7] = 0; + out_7349130394605568112[8] = 0; } -void h_29(double *state, double *unused, double *out_1910332733701512893) { - out_1910332733701512893[0] = state[1]; +void h_29(double *state, double *unused, double *out_4341131305553581050) { + out_4341131305553581050[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8735880075718491161) { - out_8735880075718491161[0] = 0; - out_8735880075718491161[1] = 1; - out_8735880075718491161[2] = 0; - out_8735880075718491161[3] = 0; - out_8735880075718491161[4] = 0; - out_8735880075718491161[5] = 0; - out_8735880075718491161[6] = 0; - out_8735880075718491161[7] = 0; - out_8735880075718491161[8] = 0; +void H_29(double *state, double *unused, double *out_8412619022989166409) { + out_8412619022989166409[0] = 0; + out_8412619022989166409[1] = 1; + out_8412619022989166409[2] = 0; + out_8412619022989166409[3] = 0; + out_8412619022989166409[4] = 0; + out_8412619022989166409[5] = 0; + out_8412619022989166409[6] = 0; + out_8412619022989166409[7] = 0; + out_8412619022989166409[8] = 0; } -void h_28(double *state, double *unused, double *out_4414832447712484906) { - out_4414832447712484906[0] = state[0]; +void h_28(double *state, double *unused, double *out_8946752832143995776) { + out_8946752832143995776[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6772249804153164910) { - out_6772249804153164910[0] = 1; - out_6772249804153164910[1] = 0; - out_6772249804153164910[2] = 0; - out_6772249804153164910[3] = 0; - out_6772249804153164910[4] = 0; - out_6772249804153164910[5] = 0; - out_6772249804153164910[6] = 0; - out_6772249804153164910[7] = 0; - out_6772249804153164910[8] = 0; +void H_28(double *state, double *unused, double *out_4951726033650854633) { + out_4951726033650854633[0] = 1; + out_4951726033650854633[1] = 0; + out_4951726033650854633[2] = 0; + out_4951726033650854633[3] = 0; + out_4951726033650854633[4] = 0; + out_4951726033650854633[5] = 0; + out_4951726033650854633[6] = 0; + out_4951726033650854633[7] = 0; + out_4951726033650854633[8] = 0; } -void h_31(double *state, double *unused, double *out_1309460617616875565) { - out_1309460617616875565[0] = state[8]; +void h_31(double *state, double *unused, double *out_3465273766459385496) { + out_3465273766459385496[0] = state[8]; } -void H_31(double *state, double *unused, double *out_9086126511012682847) { - out_9086126511012682847[0] = 0; - out_9086126511012682847[1] = 0; - out_9086126511012682847[2] = 0; - out_9086126511012682847[3] = 0; - out_9086126511012682847[4] = 0; - out_9086126511012682847[5] = 0; - out_9086126511012682847[6] = 0; - out_9086126511012682847[7] = 0; - out_9086126511012682847[8] = 1; +void H_31(double *state, double *unused, double *out_2637849326791336696) { + out_2637849326791336696[0] = 0; + out_2637849326791336696[1] = 0; + out_2637849326791336696[2] = 0; + out_2637849326791336696[3] = 0; + out_2637849326791336696[4] = 0; + out_2637849326791336696[5] = 0; + out_2637849326791336696[6] = 0; + out_2637849326791336696[7] = 0; + out_2637849326791336696[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_4213074370852160810) { - err_fun(nom_x, delta_x, out_4213074370852160810); +void car_err_fun(double *nom_x, double *delta_x, double *out_287802830867790833) { + err_fun(nom_x, delta_x, out_287802830867790833); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4007900572103243439) { - inv_err_fun(nom_x, true_x, out_4007900572103243439); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1374850324761980275) { + inv_err_fun(nom_x, true_x, out_1374850324761980275); } -void car_H_mod_fun(double *state, double *out_8824637158619611629) { - H_mod_fun(state, out_8824637158619611629); +void car_H_mod_fun(double *state, double *out_6646352482882938111) { + H_mod_fun(state, out_6646352482882938111); } -void car_f_fun(double *state, double dt, double *out_7248181046558172931) { - f_fun(state, dt, out_7248181046558172931); +void car_f_fun(double *state, double dt, double *out_2311726086880249539) { + f_fun(state, dt, out_2311726086880249539); } -void car_F_fun(double *state, double dt, double *out_1901673215728667839) { - F_fun(state, dt, out_1901673215728667839); +void car_F_fun(double *state, double dt, double *out_1431608970589135594) { + F_fun(state, dt, out_1431608970589135594); } -void car_h_25(double *state, double *unused, double *out_141170775012007602) { - h_25(state, unused, out_141170775012007602); +void car_h_25(double *state, double *unused, double *out_4297991490361286945) { + h_25(state, unused, out_4297991490361286945); } -void car_H_25(double *state, double *unused, double *out_4718415089905275147) { - H_25(state, unused, out_4718415089905275147); +void car_H_25(double *state, double *unused, double *out_7005560747898744396) { + H_25(state, unused, out_7005560747898744396); } -void car_h_24(double *state, double *unused, double *out_6127458511898671622) { - h_24(state, unused, out_6127458511898671622); +void car_h_24(double *state, double *unused, double *out_806466490562007731) { + h_24(state, unused, out_806466490562007731); } -void car_H_24(double *state, double *unused, double *out_2541200666298125174) { - H_24(state, unused, out_2541200666298125174); +void car_H_24(double *state, double *unused, double *out_4832911148893244830) { + H_24(state, unused, out_4832911148893244830); } -void car_h_30(double *state, double *unused, double *out_4296825053779108162) { - h_30(state, unused, out_4296825053779108162); +void car_h_30(double *state, double *unused, double *out_7377917356997913735) { + h_30(state, unused, out_7377917356997913735); } -void car_H_30(double *state, double *unused, double *out_2200082131398026520) { - H_30(state, unused, out_2200082131398026520); +void car_H_30(double *state, double *unused, double *out_8922850367303558593) { + H_30(state, unused, out_8922850367303558593); } -void car_h_26(double *state, double *unused, double *out_5968496148460696103) { - h_26(state, unused, out_5968496148460696103); +void car_h_26(double *state, double *unused, double *out_5726959480825607318) { + h_26(state, unused, out_5726959480825607318); } -void car_H_26(double *state, double *unused, double *out_8459918408779331371) { - H_26(state, unused, out_8459918408779331371); +void car_H_26(double *state, double *unused, double *out_3264057429024688172) { + H_26(state, unused, out_3264057429024688172); } -void car_h_27(double *state, double *unused, double *out_4860502492648838043) { - h_27(state, unused, out_4860502492648838043); +void car_h_27(double *state, double *unused, double *out_703681777299558700) { + h_27(state, unused, out_703681777299558700); } -void car_H_27(double *state, double *unused, double *out_7025869341876243360) { - H_27(state, unused, out_7025869341876243360); +void car_H_27(double *state, double *unused, double *out_7349130394605568112) { + H_27(state, unused, out_7349130394605568112); } -void car_h_29(double *state, double *unused, double *out_1910332733701512893) { - h_29(state, unused, out_1910332733701512893); +void car_h_29(double *state, double *unused, double *out_4341131305553581050) { + h_29(state, unused, out_4341131305553581050); } -void car_H_29(double *state, double *unused, double *out_8735880075718491161) { - H_29(state, unused, out_8735880075718491161); +void car_H_29(double *state, double *unused, double *out_8412619022989166409) { + H_29(state, unused, out_8412619022989166409); } -void car_h_28(double *state, double *unused, double *out_4414832447712484906) { - h_28(state, unused, out_4414832447712484906); +void car_h_28(double *state, double *unused, double *out_8946752832143995776) { + h_28(state, unused, out_8946752832143995776); } -void car_H_28(double *state, double *unused, double *out_6772249804153164910) { - H_28(state, unused, out_6772249804153164910); +void car_H_28(double *state, double *unused, double *out_4951726033650854633) { + H_28(state, unused, out_4951726033650854633); } -void car_h_31(double *state, double *unused, double *out_1309460617616875565) { - h_31(state, unused, out_1309460617616875565); +void car_h_31(double *state, double *unused, double *out_3465273766459385496) { + h_31(state, unused, out_3465273766459385496); } -void car_H_31(double *state, double *unused, double *out_9086126511012682847) { - H_31(state, unused, out_9086126511012682847); +void car_H_31(double *state, double *unused, double *out_2637849326791336696) { + H_31(state, unused, out_2637849326791336696); } 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 ba7818d35..b291aed70 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_4213074370852160810); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4007900572103243439); -void car_H_mod_fun(double *state, double *out_8824637158619611629); -void car_f_fun(double *state, double dt, double *out_7248181046558172931); -void car_F_fun(double *state, double dt, double *out_1901673215728667839); -void car_h_25(double *state, double *unused, double *out_141170775012007602); -void car_H_25(double *state, double *unused, double *out_4718415089905275147); -void car_h_24(double *state, double *unused, double *out_6127458511898671622); -void car_H_24(double *state, double *unused, double *out_2541200666298125174); -void car_h_30(double *state, double *unused, double *out_4296825053779108162); -void car_H_30(double *state, double *unused, double *out_2200082131398026520); -void car_h_26(double *state, double *unused, double *out_5968496148460696103); -void car_H_26(double *state, double *unused, double *out_8459918408779331371); -void car_h_27(double *state, double *unused, double *out_4860502492648838043); -void car_H_27(double *state, double *unused, double *out_7025869341876243360); -void car_h_29(double *state, double *unused, double *out_1910332733701512893); -void car_H_29(double *state, double *unused, double *out_8735880075718491161); -void car_h_28(double *state, double *unused, double *out_4414832447712484906); -void car_H_28(double *state, double *unused, double *out_6772249804153164910); -void car_h_31(double *state, double *unused, double *out_1309460617616875565); -void car_H_31(double *state, double *unused, double *out_9086126511012682847); +void car_err_fun(double *nom_x, double *delta_x, double *out_287802830867790833); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1374850324761980275); +void car_H_mod_fun(double *state, double *out_6646352482882938111); +void car_f_fun(double *state, double dt, double *out_2311726086880249539); +void car_F_fun(double *state, double dt, double *out_1431608970589135594); +void car_h_25(double *state, double *unused, double *out_4297991490361286945); +void car_H_25(double *state, double *unused, double *out_7005560747898744396); +void car_h_24(double *state, double *unused, double *out_806466490562007731); +void car_H_24(double *state, double *unused, double *out_4832911148893244830); +void car_h_30(double *state, double *unused, double *out_7377917356997913735); +void car_H_30(double *state, double *unused, double *out_8922850367303558593); +void car_h_26(double *state, double *unused, double *out_5726959480825607318); +void car_H_26(double *state, double *unused, double *out_3264057429024688172); +void car_h_27(double *state, double *unused, double *out_703681777299558700); +void car_H_27(double *state, double *unused, double *out_7349130394605568112); +void car_h_29(double *state, double *unused, double *out_4341131305553581050); +void car_H_29(double *state, double *unused, double *out_8412619022989166409); +void car_h_28(double *state, double *unused, double *out_8946752832143995776); +void car_H_28(double *state, double *unused, double *out_4951726033650854633); +void car_h_31(double *state, double *unused, double *out_3465273766459385496); +void car_H_31(double *state, double *unused, double *out_2637849326791336696); 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 ba05dbad7..d391de627 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_6408835186344628642) { - out_6408835186344628642[0] = delta_x[0] + nom_x[0]; - out_6408835186344628642[1] = delta_x[1] + nom_x[1]; - out_6408835186344628642[2] = delta_x[2] + nom_x[2]; - out_6408835186344628642[3] = delta_x[3] + nom_x[3]; - out_6408835186344628642[4] = delta_x[4] + nom_x[4]; - out_6408835186344628642[5] = delta_x[5] + nom_x[5]; - out_6408835186344628642[6] = delta_x[6] + nom_x[6]; - out_6408835186344628642[7] = delta_x[7] + nom_x[7]; - out_6408835186344628642[8] = delta_x[8] + nom_x[8]; - out_6408835186344628642[9] = delta_x[9] + nom_x[9]; - out_6408835186344628642[10] = delta_x[10] + nom_x[10]; - out_6408835186344628642[11] = delta_x[11] + nom_x[11]; - out_6408835186344628642[12] = delta_x[12] + nom_x[12]; - out_6408835186344628642[13] = delta_x[13] + nom_x[13]; - out_6408835186344628642[14] = delta_x[14] + nom_x[14]; - out_6408835186344628642[15] = delta_x[15] + nom_x[15]; - out_6408835186344628642[16] = delta_x[16] + nom_x[16]; - out_6408835186344628642[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_1773490464841058211) { + out_1773490464841058211[0] = delta_x[0] + nom_x[0]; + out_1773490464841058211[1] = delta_x[1] + nom_x[1]; + out_1773490464841058211[2] = delta_x[2] + nom_x[2]; + out_1773490464841058211[3] = delta_x[3] + nom_x[3]; + out_1773490464841058211[4] = delta_x[4] + nom_x[4]; + out_1773490464841058211[5] = delta_x[5] + nom_x[5]; + out_1773490464841058211[6] = delta_x[6] + nom_x[6]; + out_1773490464841058211[7] = delta_x[7] + nom_x[7]; + out_1773490464841058211[8] = delta_x[8] + nom_x[8]; + out_1773490464841058211[9] = delta_x[9] + nom_x[9]; + out_1773490464841058211[10] = delta_x[10] + nom_x[10]; + out_1773490464841058211[11] = delta_x[11] + nom_x[11]; + out_1773490464841058211[12] = delta_x[12] + nom_x[12]; + out_1773490464841058211[13] = delta_x[13] + nom_x[13]; + out_1773490464841058211[14] = delta_x[14] + nom_x[14]; + out_1773490464841058211[15] = delta_x[15] + nom_x[15]; + out_1773490464841058211[16] = delta_x[16] + nom_x[16]; + out_1773490464841058211[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4488020327469491521) { - out_4488020327469491521[0] = -nom_x[0] + true_x[0]; - out_4488020327469491521[1] = -nom_x[1] + true_x[1]; - out_4488020327469491521[2] = -nom_x[2] + true_x[2]; - out_4488020327469491521[3] = -nom_x[3] + true_x[3]; - out_4488020327469491521[4] = -nom_x[4] + true_x[4]; - out_4488020327469491521[5] = -nom_x[5] + true_x[5]; - out_4488020327469491521[6] = -nom_x[6] + true_x[6]; - out_4488020327469491521[7] = -nom_x[7] + true_x[7]; - out_4488020327469491521[8] = -nom_x[8] + true_x[8]; - out_4488020327469491521[9] = -nom_x[9] + true_x[9]; - out_4488020327469491521[10] = -nom_x[10] + true_x[10]; - out_4488020327469491521[11] = -nom_x[11] + true_x[11]; - out_4488020327469491521[12] = -nom_x[12] + true_x[12]; - out_4488020327469491521[13] = -nom_x[13] + true_x[13]; - out_4488020327469491521[14] = -nom_x[14] + true_x[14]; - out_4488020327469491521[15] = -nom_x[15] + true_x[15]; - out_4488020327469491521[16] = -nom_x[16] + true_x[16]; - out_4488020327469491521[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3370820179269337821) { + out_3370820179269337821[0] = -nom_x[0] + true_x[0]; + out_3370820179269337821[1] = -nom_x[1] + true_x[1]; + out_3370820179269337821[2] = -nom_x[2] + true_x[2]; + out_3370820179269337821[3] = -nom_x[3] + true_x[3]; + out_3370820179269337821[4] = -nom_x[4] + true_x[4]; + out_3370820179269337821[5] = -nom_x[5] + true_x[5]; + out_3370820179269337821[6] = -nom_x[6] + true_x[6]; + out_3370820179269337821[7] = -nom_x[7] + true_x[7]; + out_3370820179269337821[8] = -nom_x[8] + true_x[8]; + out_3370820179269337821[9] = -nom_x[9] + true_x[9]; + out_3370820179269337821[10] = -nom_x[10] + true_x[10]; + out_3370820179269337821[11] = -nom_x[11] + true_x[11]; + out_3370820179269337821[12] = -nom_x[12] + true_x[12]; + out_3370820179269337821[13] = -nom_x[13] + true_x[13]; + out_3370820179269337821[14] = -nom_x[14] + true_x[14]; + out_3370820179269337821[15] = -nom_x[15] + true_x[15]; + out_3370820179269337821[16] = -nom_x[16] + true_x[16]; + out_3370820179269337821[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_8565439984289443181) { - out_8565439984289443181[0] = 1.0; - out_8565439984289443181[1] = 0.0; - out_8565439984289443181[2] = 0.0; - out_8565439984289443181[3] = 0.0; - out_8565439984289443181[4] = 0.0; - out_8565439984289443181[5] = 0.0; - out_8565439984289443181[6] = 0.0; - out_8565439984289443181[7] = 0.0; - out_8565439984289443181[8] = 0.0; - out_8565439984289443181[9] = 0.0; - out_8565439984289443181[10] = 0.0; - out_8565439984289443181[11] = 0.0; - out_8565439984289443181[12] = 0.0; - out_8565439984289443181[13] = 0.0; - out_8565439984289443181[14] = 0.0; - out_8565439984289443181[15] = 0.0; - out_8565439984289443181[16] = 0.0; - out_8565439984289443181[17] = 0.0; - out_8565439984289443181[18] = 0.0; - out_8565439984289443181[19] = 1.0; - out_8565439984289443181[20] = 0.0; - out_8565439984289443181[21] = 0.0; - out_8565439984289443181[22] = 0.0; - out_8565439984289443181[23] = 0.0; - out_8565439984289443181[24] = 0.0; - out_8565439984289443181[25] = 0.0; - out_8565439984289443181[26] = 0.0; - out_8565439984289443181[27] = 0.0; - out_8565439984289443181[28] = 0.0; - out_8565439984289443181[29] = 0.0; - out_8565439984289443181[30] = 0.0; - out_8565439984289443181[31] = 0.0; - out_8565439984289443181[32] = 0.0; - out_8565439984289443181[33] = 0.0; - out_8565439984289443181[34] = 0.0; - out_8565439984289443181[35] = 0.0; - out_8565439984289443181[36] = 0.0; - out_8565439984289443181[37] = 0.0; - out_8565439984289443181[38] = 1.0; - out_8565439984289443181[39] = 0.0; - out_8565439984289443181[40] = 0.0; - out_8565439984289443181[41] = 0.0; - out_8565439984289443181[42] = 0.0; - out_8565439984289443181[43] = 0.0; - out_8565439984289443181[44] = 0.0; - out_8565439984289443181[45] = 0.0; - out_8565439984289443181[46] = 0.0; - out_8565439984289443181[47] = 0.0; - out_8565439984289443181[48] = 0.0; - out_8565439984289443181[49] = 0.0; - out_8565439984289443181[50] = 0.0; - out_8565439984289443181[51] = 0.0; - out_8565439984289443181[52] = 0.0; - out_8565439984289443181[53] = 0.0; - out_8565439984289443181[54] = 0.0; - out_8565439984289443181[55] = 0.0; - out_8565439984289443181[56] = 0.0; - out_8565439984289443181[57] = 1.0; - out_8565439984289443181[58] = 0.0; - out_8565439984289443181[59] = 0.0; - out_8565439984289443181[60] = 0.0; - out_8565439984289443181[61] = 0.0; - out_8565439984289443181[62] = 0.0; - out_8565439984289443181[63] = 0.0; - out_8565439984289443181[64] = 0.0; - out_8565439984289443181[65] = 0.0; - out_8565439984289443181[66] = 0.0; - out_8565439984289443181[67] = 0.0; - out_8565439984289443181[68] = 0.0; - out_8565439984289443181[69] = 0.0; - out_8565439984289443181[70] = 0.0; - out_8565439984289443181[71] = 0.0; - out_8565439984289443181[72] = 0.0; - out_8565439984289443181[73] = 0.0; - out_8565439984289443181[74] = 0.0; - out_8565439984289443181[75] = 0.0; - out_8565439984289443181[76] = 1.0; - out_8565439984289443181[77] = 0.0; - out_8565439984289443181[78] = 0.0; - out_8565439984289443181[79] = 0.0; - out_8565439984289443181[80] = 0.0; - out_8565439984289443181[81] = 0.0; - out_8565439984289443181[82] = 0.0; - out_8565439984289443181[83] = 0.0; - out_8565439984289443181[84] = 0.0; - out_8565439984289443181[85] = 0.0; - out_8565439984289443181[86] = 0.0; - out_8565439984289443181[87] = 0.0; - out_8565439984289443181[88] = 0.0; - out_8565439984289443181[89] = 0.0; - out_8565439984289443181[90] = 0.0; - out_8565439984289443181[91] = 0.0; - out_8565439984289443181[92] = 0.0; - out_8565439984289443181[93] = 0.0; - out_8565439984289443181[94] = 0.0; - out_8565439984289443181[95] = 1.0; - out_8565439984289443181[96] = 0.0; - out_8565439984289443181[97] = 0.0; - out_8565439984289443181[98] = 0.0; - out_8565439984289443181[99] = 0.0; - out_8565439984289443181[100] = 0.0; - out_8565439984289443181[101] = 0.0; - out_8565439984289443181[102] = 0.0; - out_8565439984289443181[103] = 0.0; - out_8565439984289443181[104] = 0.0; - out_8565439984289443181[105] = 0.0; - out_8565439984289443181[106] = 0.0; - out_8565439984289443181[107] = 0.0; - out_8565439984289443181[108] = 0.0; - out_8565439984289443181[109] = 0.0; - out_8565439984289443181[110] = 0.0; - out_8565439984289443181[111] = 0.0; - out_8565439984289443181[112] = 0.0; - out_8565439984289443181[113] = 0.0; - out_8565439984289443181[114] = 1.0; - out_8565439984289443181[115] = 0.0; - out_8565439984289443181[116] = 0.0; - out_8565439984289443181[117] = 0.0; - out_8565439984289443181[118] = 0.0; - out_8565439984289443181[119] = 0.0; - out_8565439984289443181[120] = 0.0; - out_8565439984289443181[121] = 0.0; - out_8565439984289443181[122] = 0.0; - out_8565439984289443181[123] = 0.0; - out_8565439984289443181[124] = 0.0; - out_8565439984289443181[125] = 0.0; - out_8565439984289443181[126] = 0.0; - out_8565439984289443181[127] = 0.0; - out_8565439984289443181[128] = 0.0; - out_8565439984289443181[129] = 0.0; - out_8565439984289443181[130] = 0.0; - out_8565439984289443181[131] = 0.0; - out_8565439984289443181[132] = 0.0; - out_8565439984289443181[133] = 1.0; - out_8565439984289443181[134] = 0.0; - out_8565439984289443181[135] = 0.0; - out_8565439984289443181[136] = 0.0; - out_8565439984289443181[137] = 0.0; - out_8565439984289443181[138] = 0.0; - out_8565439984289443181[139] = 0.0; - out_8565439984289443181[140] = 0.0; - out_8565439984289443181[141] = 0.0; - out_8565439984289443181[142] = 0.0; - out_8565439984289443181[143] = 0.0; - out_8565439984289443181[144] = 0.0; - out_8565439984289443181[145] = 0.0; - out_8565439984289443181[146] = 0.0; - out_8565439984289443181[147] = 0.0; - out_8565439984289443181[148] = 0.0; - out_8565439984289443181[149] = 0.0; - out_8565439984289443181[150] = 0.0; - out_8565439984289443181[151] = 0.0; - out_8565439984289443181[152] = 1.0; - out_8565439984289443181[153] = 0.0; - out_8565439984289443181[154] = 0.0; - out_8565439984289443181[155] = 0.0; - out_8565439984289443181[156] = 0.0; - out_8565439984289443181[157] = 0.0; - out_8565439984289443181[158] = 0.0; - out_8565439984289443181[159] = 0.0; - out_8565439984289443181[160] = 0.0; - out_8565439984289443181[161] = 0.0; - out_8565439984289443181[162] = 0.0; - out_8565439984289443181[163] = 0.0; - out_8565439984289443181[164] = 0.0; - out_8565439984289443181[165] = 0.0; - out_8565439984289443181[166] = 0.0; - out_8565439984289443181[167] = 0.0; - out_8565439984289443181[168] = 0.0; - out_8565439984289443181[169] = 0.0; - out_8565439984289443181[170] = 0.0; - out_8565439984289443181[171] = 1.0; - out_8565439984289443181[172] = 0.0; - out_8565439984289443181[173] = 0.0; - out_8565439984289443181[174] = 0.0; - out_8565439984289443181[175] = 0.0; - out_8565439984289443181[176] = 0.0; - out_8565439984289443181[177] = 0.0; - out_8565439984289443181[178] = 0.0; - out_8565439984289443181[179] = 0.0; - out_8565439984289443181[180] = 0.0; - out_8565439984289443181[181] = 0.0; - out_8565439984289443181[182] = 0.0; - out_8565439984289443181[183] = 0.0; - out_8565439984289443181[184] = 0.0; - out_8565439984289443181[185] = 0.0; - out_8565439984289443181[186] = 0.0; - out_8565439984289443181[187] = 0.0; - out_8565439984289443181[188] = 0.0; - out_8565439984289443181[189] = 0.0; - out_8565439984289443181[190] = 1.0; - out_8565439984289443181[191] = 0.0; - out_8565439984289443181[192] = 0.0; - out_8565439984289443181[193] = 0.0; - out_8565439984289443181[194] = 0.0; - out_8565439984289443181[195] = 0.0; - out_8565439984289443181[196] = 0.0; - out_8565439984289443181[197] = 0.0; - out_8565439984289443181[198] = 0.0; - out_8565439984289443181[199] = 0.0; - out_8565439984289443181[200] = 0.0; - out_8565439984289443181[201] = 0.0; - out_8565439984289443181[202] = 0.0; - out_8565439984289443181[203] = 0.0; - out_8565439984289443181[204] = 0.0; - out_8565439984289443181[205] = 0.0; - out_8565439984289443181[206] = 0.0; - out_8565439984289443181[207] = 0.0; - out_8565439984289443181[208] = 0.0; - out_8565439984289443181[209] = 1.0; - out_8565439984289443181[210] = 0.0; - out_8565439984289443181[211] = 0.0; - out_8565439984289443181[212] = 0.0; - out_8565439984289443181[213] = 0.0; - out_8565439984289443181[214] = 0.0; - out_8565439984289443181[215] = 0.0; - out_8565439984289443181[216] = 0.0; - out_8565439984289443181[217] = 0.0; - out_8565439984289443181[218] = 0.0; - out_8565439984289443181[219] = 0.0; - out_8565439984289443181[220] = 0.0; - out_8565439984289443181[221] = 0.0; - out_8565439984289443181[222] = 0.0; - out_8565439984289443181[223] = 0.0; - out_8565439984289443181[224] = 0.0; - out_8565439984289443181[225] = 0.0; - out_8565439984289443181[226] = 0.0; - out_8565439984289443181[227] = 0.0; - out_8565439984289443181[228] = 1.0; - out_8565439984289443181[229] = 0.0; - out_8565439984289443181[230] = 0.0; - out_8565439984289443181[231] = 0.0; - out_8565439984289443181[232] = 0.0; - out_8565439984289443181[233] = 0.0; - out_8565439984289443181[234] = 0.0; - out_8565439984289443181[235] = 0.0; - out_8565439984289443181[236] = 0.0; - out_8565439984289443181[237] = 0.0; - out_8565439984289443181[238] = 0.0; - out_8565439984289443181[239] = 0.0; - out_8565439984289443181[240] = 0.0; - out_8565439984289443181[241] = 0.0; - out_8565439984289443181[242] = 0.0; - out_8565439984289443181[243] = 0.0; - out_8565439984289443181[244] = 0.0; - out_8565439984289443181[245] = 0.0; - out_8565439984289443181[246] = 0.0; - out_8565439984289443181[247] = 1.0; - out_8565439984289443181[248] = 0.0; - out_8565439984289443181[249] = 0.0; - out_8565439984289443181[250] = 0.0; - out_8565439984289443181[251] = 0.0; - out_8565439984289443181[252] = 0.0; - out_8565439984289443181[253] = 0.0; - out_8565439984289443181[254] = 0.0; - out_8565439984289443181[255] = 0.0; - out_8565439984289443181[256] = 0.0; - out_8565439984289443181[257] = 0.0; - out_8565439984289443181[258] = 0.0; - out_8565439984289443181[259] = 0.0; - out_8565439984289443181[260] = 0.0; - out_8565439984289443181[261] = 0.0; - out_8565439984289443181[262] = 0.0; - out_8565439984289443181[263] = 0.0; - out_8565439984289443181[264] = 0.0; - out_8565439984289443181[265] = 0.0; - out_8565439984289443181[266] = 1.0; - out_8565439984289443181[267] = 0.0; - out_8565439984289443181[268] = 0.0; - out_8565439984289443181[269] = 0.0; - out_8565439984289443181[270] = 0.0; - out_8565439984289443181[271] = 0.0; - out_8565439984289443181[272] = 0.0; - out_8565439984289443181[273] = 0.0; - out_8565439984289443181[274] = 0.0; - out_8565439984289443181[275] = 0.0; - out_8565439984289443181[276] = 0.0; - out_8565439984289443181[277] = 0.0; - out_8565439984289443181[278] = 0.0; - out_8565439984289443181[279] = 0.0; - out_8565439984289443181[280] = 0.0; - out_8565439984289443181[281] = 0.0; - out_8565439984289443181[282] = 0.0; - out_8565439984289443181[283] = 0.0; - out_8565439984289443181[284] = 0.0; - out_8565439984289443181[285] = 1.0; - out_8565439984289443181[286] = 0.0; - out_8565439984289443181[287] = 0.0; - out_8565439984289443181[288] = 0.0; - out_8565439984289443181[289] = 0.0; - out_8565439984289443181[290] = 0.0; - out_8565439984289443181[291] = 0.0; - out_8565439984289443181[292] = 0.0; - out_8565439984289443181[293] = 0.0; - out_8565439984289443181[294] = 0.0; - out_8565439984289443181[295] = 0.0; - out_8565439984289443181[296] = 0.0; - out_8565439984289443181[297] = 0.0; - out_8565439984289443181[298] = 0.0; - out_8565439984289443181[299] = 0.0; - out_8565439984289443181[300] = 0.0; - out_8565439984289443181[301] = 0.0; - out_8565439984289443181[302] = 0.0; - out_8565439984289443181[303] = 0.0; - out_8565439984289443181[304] = 1.0; - out_8565439984289443181[305] = 0.0; - out_8565439984289443181[306] = 0.0; - out_8565439984289443181[307] = 0.0; - out_8565439984289443181[308] = 0.0; - out_8565439984289443181[309] = 0.0; - out_8565439984289443181[310] = 0.0; - out_8565439984289443181[311] = 0.0; - out_8565439984289443181[312] = 0.0; - out_8565439984289443181[313] = 0.0; - out_8565439984289443181[314] = 0.0; - out_8565439984289443181[315] = 0.0; - out_8565439984289443181[316] = 0.0; - out_8565439984289443181[317] = 0.0; - out_8565439984289443181[318] = 0.0; - out_8565439984289443181[319] = 0.0; - out_8565439984289443181[320] = 0.0; - out_8565439984289443181[321] = 0.0; - out_8565439984289443181[322] = 0.0; - out_8565439984289443181[323] = 1.0; +void H_mod_fun(double *state, double *out_8103172798179963867) { + out_8103172798179963867[0] = 1.0; + out_8103172798179963867[1] = 0.0; + out_8103172798179963867[2] = 0.0; + out_8103172798179963867[3] = 0.0; + out_8103172798179963867[4] = 0.0; + out_8103172798179963867[5] = 0.0; + out_8103172798179963867[6] = 0.0; + out_8103172798179963867[7] = 0.0; + out_8103172798179963867[8] = 0.0; + out_8103172798179963867[9] = 0.0; + out_8103172798179963867[10] = 0.0; + out_8103172798179963867[11] = 0.0; + out_8103172798179963867[12] = 0.0; + out_8103172798179963867[13] = 0.0; + out_8103172798179963867[14] = 0.0; + out_8103172798179963867[15] = 0.0; + out_8103172798179963867[16] = 0.0; + out_8103172798179963867[17] = 0.0; + out_8103172798179963867[18] = 0.0; + out_8103172798179963867[19] = 1.0; + out_8103172798179963867[20] = 0.0; + out_8103172798179963867[21] = 0.0; + out_8103172798179963867[22] = 0.0; + out_8103172798179963867[23] = 0.0; + out_8103172798179963867[24] = 0.0; + out_8103172798179963867[25] = 0.0; + out_8103172798179963867[26] = 0.0; + out_8103172798179963867[27] = 0.0; + out_8103172798179963867[28] = 0.0; + out_8103172798179963867[29] = 0.0; + out_8103172798179963867[30] = 0.0; + out_8103172798179963867[31] = 0.0; + out_8103172798179963867[32] = 0.0; + out_8103172798179963867[33] = 0.0; + out_8103172798179963867[34] = 0.0; + out_8103172798179963867[35] = 0.0; + out_8103172798179963867[36] = 0.0; + out_8103172798179963867[37] = 0.0; + out_8103172798179963867[38] = 1.0; + out_8103172798179963867[39] = 0.0; + out_8103172798179963867[40] = 0.0; + out_8103172798179963867[41] = 0.0; + out_8103172798179963867[42] = 0.0; + out_8103172798179963867[43] = 0.0; + out_8103172798179963867[44] = 0.0; + out_8103172798179963867[45] = 0.0; + out_8103172798179963867[46] = 0.0; + out_8103172798179963867[47] = 0.0; + out_8103172798179963867[48] = 0.0; + out_8103172798179963867[49] = 0.0; + out_8103172798179963867[50] = 0.0; + out_8103172798179963867[51] = 0.0; + out_8103172798179963867[52] = 0.0; + out_8103172798179963867[53] = 0.0; + out_8103172798179963867[54] = 0.0; + out_8103172798179963867[55] = 0.0; + out_8103172798179963867[56] = 0.0; + out_8103172798179963867[57] = 1.0; + out_8103172798179963867[58] = 0.0; + out_8103172798179963867[59] = 0.0; + out_8103172798179963867[60] = 0.0; + out_8103172798179963867[61] = 0.0; + out_8103172798179963867[62] = 0.0; + out_8103172798179963867[63] = 0.0; + out_8103172798179963867[64] = 0.0; + out_8103172798179963867[65] = 0.0; + out_8103172798179963867[66] = 0.0; + out_8103172798179963867[67] = 0.0; + out_8103172798179963867[68] = 0.0; + out_8103172798179963867[69] = 0.0; + out_8103172798179963867[70] = 0.0; + out_8103172798179963867[71] = 0.0; + out_8103172798179963867[72] = 0.0; + out_8103172798179963867[73] = 0.0; + out_8103172798179963867[74] = 0.0; + out_8103172798179963867[75] = 0.0; + out_8103172798179963867[76] = 1.0; + out_8103172798179963867[77] = 0.0; + out_8103172798179963867[78] = 0.0; + out_8103172798179963867[79] = 0.0; + out_8103172798179963867[80] = 0.0; + out_8103172798179963867[81] = 0.0; + out_8103172798179963867[82] = 0.0; + out_8103172798179963867[83] = 0.0; + out_8103172798179963867[84] = 0.0; + out_8103172798179963867[85] = 0.0; + out_8103172798179963867[86] = 0.0; + out_8103172798179963867[87] = 0.0; + out_8103172798179963867[88] = 0.0; + out_8103172798179963867[89] = 0.0; + out_8103172798179963867[90] = 0.0; + out_8103172798179963867[91] = 0.0; + out_8103172798179963867[92] = 0.0; + out_8103172798179963867[93] = 0.0; + out_8103172798179963867[94] = 0.0; + out_8103172798179963867[95] = 1.0; + out_8103172798179963867[96] = 0.0; + out_8103172798179963867[97] = 0.0; + out_8103172798179963867[98] = 0.0; + out_8103172798179963867[99] = 0.0; + out_8103172798179963867[100] = 0.0; + out_8103172798179963867[101] = 0.0; + out_8103172798179963867[102] = 0.0; + out_8103172798179963867[103] = 0.0; + out_8103172798179963867[104] = 0.0; + out_8103172798179963867[105] = 0.0; + out_8103172798179963867[106] = 0.0; + out_8103172798179963867[107] = 0.0; + out_8103172798179963867[108] = 0.0; + out_8103172798179963867[109] = 0.0; + out_8103172798179963867[110] = 0.0; + out_8103172798179963867[111] = 0.0; + out_8103172798179963867[112] = 0.0; + out_8103172798179963867[113] = 0.0; + out_8103172798179963867[114] = 1.0; + out_8103172798179963867[115] = 0.0; + out_8103172798179963867[116] = 0.0; + out_8103172798179963867[117] = 0.0; + out_8103172798179963867[118] = 0.0; + out_8103172798179963867[119] = 0.0; + out_8103172798179963867[120] = 0.0; + out_8103172798179963867[121] = 0.0; + out_8103172798179963867[122] = 0.0; + out_8103172798179963867[123] = 0.0; + out_8103172798179963867[124] = 0.0; + out_8103172798179963867[125] = 0.0; + out_8103172798179963867[126] = 0.0; + out_8103172798179963867[127] = 0.0; + out_8103172798179963867[128] = 0.0; + out_8103172798179963867[129] = 0.0; + out_8103172798179963867[130] = 0.0; + out_8103172798179963867[131] = 0.0; + out_8103172798179963867[132] = 0.0; + out_8103172798179963867[133] = 1.0; + out_8103172798179963867[134] = 0.0; + out_8103172798179963867[135] = 0.0; + out_8103172798179963867[136] = 0.0; + out_8103172798179963867[137] = 0.0; + out_8103172798179963867[138] = 0.0; + out_8103172798179963867[139] = 0.0; + out_8103172798179963867[140] = 0.0; + out_8103172798179963867[141] = 0.0; + out_8103172798179963867[142] = 0.0; + out_8103172798179963867[143] = 0.0; + out_8103172798179963867[144] = 0.0; + out_8103172798179963867[145] = 0.0; + out_8103172798179963867[146] = 0.0; + out_8103172798179963867[147] = 0.0; + out_8103172798179963867[148] = 0.0; + out_8103172798179963867[149] = 0.0; + out_8103172798179963867[150] = 0.0; + out_8103172798179963867[151] = 0.0; + out_8103172798179963867[152] = 1.0; + out_8103172798179963867[153] = 0.0; + out_8103172798179963867[154] = 0.0; + out_8103172798179963867[155] = 0.0; + out_8103172798179963867[156] = 0.0; + out_8103172798179963867[157] = 0.0; + out_8103172798179963867[158] = 0.0; + out_8103172798179963867[159] = 0.0; + out_8103172798179963867[160] = 0.0; + out_8103172798179963867[161] = 0.0; + out_8103172798179963867[162] = 0.0; + out_8103172798179963867[163] = 0.0; + out_8103172798179963867[164] = 0.0; + out_8103172798179963867[165] = 0.0; + out_8103172798179963867[166] = 0.0; + out_8103172798179963867[167] = 0.0; + out_8103172798179963867[168] = 0.0; + out_8103172798179963867[169] = 0.0; + out_8103172798179963867[170] = 0.0; + out_8103172798179963867[171] = 1.0; + out_8103172798179963867[172] = 0.0; + out_8103172798179963867[173] = 0.0; + out_8103172798179963867[174] = 0.0; + out_8103172798179963867[175] = 0.0; + out_8103172798179963867[176] = 0.0; + out_8103172798179963867[177] = 0.0; + out_8103172798179963867[178] = 0.0; + out_8103172798179963867[179] = 0.0; + out_8103172798179963867[180] = 0.0; + out_8103172798179963867[181] = 0.0; + out_8103172798179963867[182] = 0.0; + out_8103172798179963867[183] = 0.0; + out_8103172798179963867[184] = 0.0; + out_8103172798179963867[185] = 0.0; + out_8103172798179963867[186] = 0.0; + out_8103172798179963867[187] = 0.0; + out_8103172798179963867[188] = 0.0; + out_8103172798179963867[189] = 0.0; + out_8103172798179963867[190] = 1.0; + out_8103172798179963867[191] = 0.0; + out_8103172798179963867[192] = 0.0; + out_8103172798179963867[193] = 0.0; + out_8103172798179963867[194] = 0.0; + out_8103172798179963867[195] = 0.0; + out_8103172798179963867[196] = 0.0; + out_8103172798179963867[197] = 0.0; + out_8103172798179963867[198] = 0.0; + out_8103172798179963867[199] = 0.0; + out_8103172798179963867[200] = 0.0; + out_8103172798179963867[201] = 0.0; + out_8103172798179963867[202] = 0.0; + out_8103172798179963867[203] = 0.0; + out_8103172798179963867[204] = 0.0; + out_8103172798179963867[205] = 0.0; + out_8103172798179963867[206] = 0.0; + out_8103172798179963867[207] = 0.0; + out_8103172798179963867[208] = 0.0; + out_8103172798179963867[209] = 1.0; + out_8103172798179963867[210] = 0.0; + out_8103172798179963867[211] = 0.0; + out_8103172798179963867[212] = 0.0; + out_8103172798179963867[213] = 0.0; + out_8103172798179963867[214] = 0.0; + out_8103172798179963867[215] = 0.0; + out_8103172798179963867[216] = 0.0; + out_8103172798179963867[217] = 0.0; + out_8103172798179963867[218] = 0.0; + out_8103172798179963867[219] = 0.0; + out_8103172798179963867[220] = 0.0; + out_8103172798179963867[221] = 0.0; + out_8103172798179963867[222] = 0.0; + out_8103172798179963867[223] = 0.0; + out_8103172798179963867[224] = 0.0; + out_8103172798179963867[225] = 0.0; + out_8103172798179963867[226] = 0.0; + out_8103172798179963867[227] = 0.0; + out_8103172798179963867[228] = 1.0; + out_8103172798179963867[229] = 0.0; + out_8103172798179963867[230] = 0.0; + out_8103172798179963867[231] = 0.0; + out_8103172798179963867[232] = 0.0; + out_8103172798179963867[233] = 0.0; + out_8103172798179963867[234] = 0.0; + out_8103172798179963867[235] = 0.0; + out_8103172798179963867[236] = 0.0; + out_8103172798179963867[237] = 0.0; + out_8103172798179963867[238] = 0.0; + out_8103172798179963867[239] = 0.0; + out_8103172798179963867[240] = 0.0; + out_8103172798179963867[241] = 0.0; + out_8103172798179963867[242] = 0.0; + out_8103172798179963867[243] = 0.0; + out_8103172798179963867[244] = 0.0; + out_8103172798179963867[245] = 0.0; + out_8103172798179963867[246] = 0.0; + out_8103172798179963867[247] = 1.0; + out_8103172798179963867[248] = 0.0; + out_8103172798179963867[249] = 0.0; + out_8103172798179963867[250] = 0.0; + out_8103172798179963867[251] = 0.0; + out_8103172798179963867[252] = 0.0; + out_8103172798179963867[253] = 0.0; + out_8103172798179963867[254] = 0.0; + out_8103172798179963867[255] = 0.0; + out_8103172798179963867[256] = 0.0; + out_8103172798179963867[257] = 0.0; + out_8103172798179963867[258] = 0.0; + out_8103172798179963867[259] = 0.0; + out_8103172798179963867[260] = 0.0; + out_8103172798179963867[261] = 0.0; + out_8103172798179963867[262] = 0.0; + out_8103172798179963867[263] = 0.0; + out_8103172798179963867[264] = 0.0; + out_8103172798179963867[265] = 0.0; + out_8103172798179963867[266] = 1.0; + out_8103172798179963867[267] = 0.0; + out_8103172798179963867[268] = 0.0; + out_8103172798179963867[269] = 0.0; + out_8103172798179963867[270] = 0.0; + out_8103172798179963867[271] = 0.0; + out_8103172798179963867[272] = 0.0; + out_8103172798179963867[273] = 0.0; + out_8103172798179963867[274] = 0.0; + out_8103172798179963867[275] = 0.0; + out_8103172798179963867[276] = 0.0; + out_8103172798179963867[277] = 0.0; + out_8103172798179963867[278] = 0.0; + out_8103172798179963867[279] = 0.0; + out_8103172798179963867[280] = 0.0; + out_8103172798179963867[281] = 0.0; + out_8103172798179963867[282] = 0.0; + out_8103172798179963867[283] = 0.0; + out_8103172798179963867[284] = 0.0; + out_8103172798179963867[285] = 1.0; + out_8103172798179963867[286] = 0.0; + out_8103172798179963867[287] = 0.0; + out_8103172798179963867[288] = 0.0; + out_8103172798179963867[289] = 0.0; + out_8103172798179963867[290] = 0.0; + out_8103172798179963867[291] = 0.0; + out_8103172798179963867[292] = 0.0; + out_8103172798179963867[293] = 0.0; + out_8103172798179963867[294] = 0.0; + out_8103172798179963867[295] = 0.0; + out_8103172798179963867[296] = 0.0; + out_8103172798179963867[297] = 0.0; + out_8103172798179963867[298] = 0.0; + out_8103172798179963867[299] = 0.0; + out_8103172798179963867[300] = 0.0; + out_8103172798179963867[301] = 0.0; + out_8103172798179963867[302] = 0.0; + out_8103172798179963867[303] = 0.0; + out_8103172798179963867[304] = 1.0; + out_8103172798179963867[305] = 0.0; + out_8103172798179963867[306] = 0.0; + out_8103172798179963867[307] = 0.0; + out_8103172798179963867[308] = 0.0; + out_8103172798179963867[309] = 0.0; + out_8103172798179963867[310] = 0.0; + out_8103172798179963867[311] = 0.0; + out_8103172798179963867[312] = 0.0; + out_8103172798179963867[313] = 0.0; + out_8103172798179963867[314] = 0.0; + out_8103172798179963867[315] = 0.0; + out_8103172798179963867[316] = 0.0; + out_8103172798179963867[317] = 0.0; + out_8103172798179963867[318] = 0.0; + out_8103172798179963867[319] = 0.0; + out_8103172798179963867[320] = 0.0; + out_8103172798179963867[321] = 0.0; + out_8103172798179963867[322] = 0.0; + out_8103172798179963867[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4570281413344882742) { - out_4570281413344882742[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_4570281413344882742[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_4570281413344882742[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_4570281413344882742[3] = dt*state[12] + state[3]; - out_4570281413344882742[4] = dt*state[13] + state[4]; - out_4570281413344882742[5] = dt*state[14] + state[5]; - out_4570281413344882742[6] = state[6]; - out_4570281413344882742[7] = state[7]; - out_4570281413344882742[8] = state[8]; - out_4570281413344882742[9] = state[9]; - out_4570281413344882742[10] = state[10]; - out_4570281413344882742[11] = state[11]; - out_4570281413344882742[12] = state[12]; - out_4570281413344882742[13] = state[13]; - out_4570281413344882742[14] = state[14]; - out_4570281413344882742[15] = state[15]; - out_4570281413344882742[16] = state[16]; - out_4570281413344882742[17] = state[17]; +void f_fun(double *state, double dt, double *out_4130745264458481066) { + out_4130745264458481066[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_4130745264458481066[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_4130745264458481066[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_4130745264458481066[3] = dt*state[12] + state[3]; + out_4130745264458481066[4] = dt*state[13] + state[4]; + out_4130745264458481066[5] = dt*state[14] + state[5]; + out_4130745264458481066[6] = state[6]; + out_4130745264458481066[7] = state[7]; + out_4130745264458481066[8] = state[8]; + out_4130745264458481066[9] = state[9]; + out_4130745264458481066[10] = state[10]; + out_4130745264458481066[11] = state[11]; + out_4130745264458481066[12] = state[12]; + out_4130745264458481066[13] = state[13]; + out_4130745264458481066[14] = state[14]; + out_4130745264458481066[15] = state[15]; + out_4130745264458481066[16] = state[16]; + out_4130745264458481066[17] = state[17]; } -void F_fun(double *state, double dt, double *out_3886745905040610692) { - out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[2] = 0; - out_3886745905040610692[3] = 0; - out_3886745905040610692[4] = 0; - out_3886745905040610692[5] = 0; - out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[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_3886745905040610692[9] = 0; - out_3886745905040610692[10] = 0; - out_3886745905040610692[11] = 0; - out_3886745905040610692[12] = 0; - out_3886745905040610692[13] = 0; - out_3886745905040610692[14] = 0; - out_3886745905040610692[15] = 0; - out_3886745905040610692[16] = 0; - out_3886745905040610692[17] = 0; - out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[20] = 0; - out_3886745905040610692[21] = 0; - out_3886745905040610692[22] = 0; - out_3886745905040610692[23] = 0; - out_3886745905040610692[24] = 0; - out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[27] = 0; - out_3886745905040610692[28] = 0; - out_3886745905040610692[29] = 0; - out_3886745905040610692[30] = 0; - out_3886745905040610692[31] = 0; - out_3886745905040610692[32] = 0; - out_3886745905040610692[33] = 0; - out_3886745905040610692[34] = 0; - out_3886745905040610692[35] = 0; - out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[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_3886745905040610692[39] = 0; - out_3886745905040610692[40] = 0; - out_3886745905040610692[41] = 0; - out_3886745905040610692[42] = 0; - out_3886745905040610692[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_3886745905040610692[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_3886745905040610692[45] = 0; - out_3886745905040610692[46] = 0; - out_3886745905040610692[47] = 0; - out_3886745905040610692[48] = 0; - out_3886745905040610692[49] = 0; - out_3886745905040610692[50] = 0; - out_3886745905040610692[51] = 0; - out_3886745905040610692[52] = 0; - out_3886745905040610692[53] = 0; - out_3886745905040610692[54] = 0; - out_3886745905040610692[55] = 0; - out_3886745905040610692[56] = 0; - out_3886745905040610692[57] = 1; - out_3886745905040610692[58] = 0; - out_3886745905040610692[59] = 0; - out_3886745905040610692[60] = 0; - out_3886745905040610692[61] = 0; - out_3886745905040610692[62] = 0; - out_3886745905040610692[63] = 0; - out_3886745905040610692[64] = 0; - out_3886745905040610692[65] = 0; - out_3886745905040610692[66] = dt; - out_3886745905040610692[67] = 0; - out_3886745905040610692[68] = 0; - out_3886745905040610692[69] = 0; - out_3886745905040610692[70] = 0; - out_3886745905040610692[71] = 0; - out_3886745905040610692[72] = 0; - out_3886745905040610692[73] = 0; - out_3886745905040610692[74] = 0; - out_3886745905040610692[75] = 0; - out_3886745905040610692[76] = 1; - out_3886745905040610692[77] = 0; - out_3886745905040610692[78] = 0; - out_3886745905040610692[79] = 0; - out_3886745905040610692[80] = 0; - out_3886745905040610692[81] = 0; - out_3886745905040610692[82] = 0; - out_3886745905040610692[83] = 0; - out_3886745905040610692[84] = 0; - out_3886745905040610692[85] = dt; - out_3886745905040610692[86] = 0; - out_3886745905040610692[87] = 0; - out_3886745905040610692[88] = 0; - out_3886745905040610692[89] = 0; - out_3886745905040610692[90] = 0; - out_3886745905040610692[91] = 0; - out_3886745905040610692[92] = 0; - out_3886745905040610692[93] = 0; - out_3886745905040610692[94] = 0; - out_3886745905040610692[95] = 1; - out_3886745905040610692[96] = 0; - out_3886745905040610692[97] = 0; - out_3886745905040610692[98] = 0; - out_3886745905040610692[99] = 0; - out_3886745905040610692[100] = 0; - out_3886745905040610692[101] = 0; - out_3886745905040610692[102] = 0; - out_3886745905040610692[103] = 0; - out_3886745905040610692[104] = dt; - out_3886745905040610692[105] = 0; - out_3886745905040610692[106] = 0; - out_3886745905040610692[107] = 0; - out_3886745905040610692[108] = 0; - out_3886745905040610692[109] = 0; - out_3886745905040610692[110] = 0; - out_3886745905040610692[111] = 0; - out_3886745905040610692[112] = 0; - out_3886745905040610692[113] = 0; - out_3886745905040610692[114] = 1; - out_3886745905040610692[115] = 0; - out_3886745905040610692[116] = 0; - out_3886745905040610692[117] = 0; - out_3886745905040610692[118] = 0; - out_3886745905040610692[119] = 0; - out_3886745905040610692[120] = 0; - out_3886745905040610692[121] = 0; - out_3886745905040610692[122] = 0; - out_3886745905040610692[123] = 0; - out_3886745905040610692[124] = 0; - out_3886745905040610692[125] = 0; - out_3886745905040610692[126] = 0; - out_3886745905040610692[127] = 0; - out_3886745905040610692[128] = 0; - out_3886745905040610692[129] = 0; - out_3886745905040610692[130] = 0; - out_3886745905040610692[131] = 0; - out_3886745905040610692[132] = 0; - out_3886745905040610692[133] = 1; - out_3886745905040610692[134] = 0; - out_3886745905040610692[135] = 0; - out_3886745905040610692[136] = 0; - out_3886745905040610692[137] = 0; - out_3886745905040610692[138] = 0; - out_3886745905040610692[139] = 0; - out_3886745905040610692[140] = 0; - out_3886745905040610692[141] = 0; - out_3886745905040610692[142] = 0; - out_3886745905040610692[143] = 0; - out_3886745905040610692[144] = 0; - out_3886745905040610692[145] = 0; - out_3886745905040610692[146] = 0; - out_3886745905040610692[147] = 0; - out_3886745905040610692[148] = 0; - out_3886745905040610692[149] = 0; - out_3886745905040610692[150] = 0; - out_3886745905040610692[151] = 0; - out_3886745905040610692[152] = 1; - out_3886745905040610692[153] = 0; - out_3886745905040610692[154] = 0; - out_3886745905040610692[155] = 0; - out_3886745905040610692[156] = 0; - out_3886745905040610692[157] = 0; - out_3886745905040610692[158] = 0; - out_3886745905040610692[159] = 0; - out_3886745905040610692[160] = 0; - out_3886745905040610692[161] = 0; - out_3886745905040610692[162] = 0; - out_3886745905040610692[163] = 0; - out_3886745905040610692[164] = 0; - out_3886745905040610692[165] = 0; - out_3886745905040610692[166] = 0; - out_3886745905040610692[167] = 0; - out_3886745905040610692[168] = 0; - out_3886745905040610692[169] = 0; - out_3886745905040610692[170] = 0; - out_3886745905040610692[171] = 1; - out_3886745905040610692[172] = 0; - out_3886745905040610692[173] = 0; - out_3886745905040610692[174] = 0; - out_3886745905040610692[175] = 0; - out_3886745905040610692[176] = 0; - out_3886745905040610692[177] = 0; - out_3886745905040610692[178] = 0; - out_3886745905040610692[179] = 0; - out_3886745905040610692[180] = 0; - out_3886745905040610692[181] = 0; - out_3886745905040610692[182] = 0; - out_3886745905040610692[183] = 0; - out_3886745905040610692[184] = 0; - out_3886745905040610692[185] = 0; - out_3886745905040610692[186] = 0; - out_3886745905040610692[187] = 0; - out_3886745905040610692[188] = 0; - out_3886745905040610692[189] = 0; - out_3886745905040610692[190] = 1; - out_3886745905040610692[191] = 0; - out_3886745905040610692[192] = 0; - out_3886745905040610692[193] = 0; - out_3886745905040610692[194] = 0; - out_3886745905040610692[195] = 0; - out_3886745905040610692[196] = 0; - out_3886745905040610692[197] = 0; - out_3886745905040610692[198] = 0; - out_3886745905040610692[199] = 0; - out_3886745905040610692[200] = 0; - out_3886745905040610692[201] = 0; - out_3886745905040610692[202] = 0; - out_3886745905040610692[203] = 0; - out_3886745905040610692[204] = 0; - out_3886745905040610692[205] = 0; - out_3886745905040610692[206] = 0; - out_3886745905040610692[207] = 0; - out_3886745905040610692[208] = 0; - out_3886745905040610692[209] = 1; - out_3886745905040610692[210] = 0; - out_3886745905040610692[211] = 0; - out_3886745905040610692[212] = 0; - out_3886745905040610692[213] = 0; - out_3886745905040610692[214] = 0; - out_3886745905040610692[215] = 0; - out_3886745905040610692[216] = 0; - out_3886745905040610692[217] = 0; - out_3886745905040610692[218] = 0; - out_3886745905040610692[219] = 0; - out_3886745905040610692[220] = 0; - out_3886745905040610692[221] = 0; - out_3886745905040610692[222] = 0; - out_3886745905040610692[223] = 0; - out_3886745905040610692[224] = 0; - out_3886745905040610692[225] = 0; - out_3886745905040610692[226] = 0; - out_3886745905040610692[227] = 0; - out_3886745905040610692[228] = 1; - out_3886745905040610692[229] = 0; - out_3886745905040610692[230] = 0; - out_3886745905040610692[231] = 0; - out_3886745905040610692[232] = 0; - out_3886745905040610692[233] = 0; - out_3886745905040610692[234] = 0; - out_3886745905040610692[235] = 0; - out_3886745905040610692[236] = 0; - out_3886745905040610692[237] = 0; - out_3886745905040610692[238] = 0; - out_3886745905040610692[239] = 0; - out_3886745905040610692[240] = 0; - out_3886745905040610692[241] = 0; - out_3886745905040610692[242] = 0; - out_3886745905040610692[243] = 0; - out_3886745905040610692[244] = 0; - out_3886745905040610692[245] = 0; - out_3886745905040610692[246] = 0; - out_3886745905040610692[247] = 1; - out_3886745905040610692[248] = 0; - out_3886745905040610692[249] = 0; - out_3886745905040610692[250] = 0; - out_3886745905040610692[251] = 0; - out_3886745905040610692[252] = 0; - out_3886745905040610692[253] = 0; - out_3886745905040610692[254] = 0; - out_3886745905040610692[255] = 0; - out_3886745905040610692[256] = 0; - out_3886745905040610692[257] = 0; - out_3886745905040610692[258] = 0; - out_3886745905040610692[259] = 0; - out_3886745905040610692[260] = 0; - out_3886745905040610692[261] = 0; - out_3886745905040610692[262] = 0; - out_3886745905040610692[263] = 0; - out_3886745905040610692[264] = 0; - out_3886745905040610692[265] = 0; - out_3886745905040610692[266] = 1; - out_3886745905040610692[267] = 0; - out_3886745905040610692[268] = 0; - out_3886745905040610692[269] = 0; - out_3886745905040610692[270] = 0; - out_3886745905040610692[271] = 0; - out_3886745905040610692[272] = 0; - out_3886745905040610692[273] = 0; - out_3886745905040610692[274] = 0; - out_3886745905040610692[275] = 0; - out_3886745905040610692[276] = 0; - out_3886745905040610692[277] = 0; - out_3886745905040610692[278] = 0; - out_3886745905040610692[279] = 0; - out_3886745905040610692[280] = 0; - out_3886745905040610692[281] = 0; - out_3886745905040610692[282] = 0; - out_3886745905040610692[283] = 0; - out_3886745905040610692[284] = 0; - out_3886745905040610692[285] = 1; - out_3886745905040610692[286] = 0; - out_3886745905040610692[287] = 0; - out_3886745905040610692[288] = 0; - out_3886745905040610692[289] = 0; - out_3886745905040610692[290] = 0; - out_3886745905040610692[291] = 0; - out_3886745905040610692[292] = 0; - out_3886745905040610692[293] = 0; - out_3886745905040610692[294] = 0; - out_3886745905040610692[295] = 0; - out_3886745905040610692[296] = 0; - out_3886745905040610692[297] = 0; - out_3886745905040610692[298] = 0; - out_3886745905040610692[299] = 0; - out_3886745905040610692[300] = 0; - out_3886745905040610692[301] = 0; - out_3886745905040610692[302] = 0; - out_3886745905040610692[303] = 0; - out_3886745905040610692[304] = 1; - out_3886745905040610692[305] = 0; - out_3886745905040610692[306] = 0; - out_3886745905040610692[307] = 0; - out_3886745905040610692[308] = 0; - out_3886745905040610692[309] = 0; - out_3886745905040610692[310] = 0; - out_3886745905040610692[311] = 0; - out_3886745905040610692[312] = 0; - out_3886745905040610692[313] = 0; - out_3886745905040610692[314] = 0; - out_3886745905040610692[315] = 0; - out_3886745905040610692[316] = 0; - out_3886745905040610692[317] = 0; - out_3886745905040610692[318] = 0; - out_3886745905040610692[319] = 0; - out_3886745905040610692[320] = 0; - out_3886745905040610692[321] = 0; - out_3886745905040610692[322] = 0; - out_3886745905040610692[323] = 1; +void F_fun(double *state, double dt, double *out_8817991526926240656) { + out_8817991526926240656[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_8817991526926240656[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_8817991526926240656[2] = 0; + out_8817991526926240656[3] = 0; + out_8817991526926240656[4] = 0; + out_8817991526926240656[5] = 0; + out_8817991526926240656[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_8817991526926240656[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_8817991526926240656[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_8817991526926240656[9] = 0; + out_8817991526926240656[10] = 0; + out_8817991526926240656[11] = 0; + out_8817991526926240656[12] = 0; + out_8817991526926240656[13] = 0; + out_8817991526926240656[14] = 0; + out_8817991526926240656[15] = 0; + out_8817991526926240656[16] = 0; + out_8817991526926240656[17] = 0; + out_8817991526926240656[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_8817991526926240656[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_8817991526926240656[20] = 0; + out_8817991526926240656[21] = 0; + out_8817991526926240656[22] = 0; + out_8817991526926240656[23] = 0; + out_8817991526926240656[24] = 0; + out_8817991526926240656[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_8817991526926240656[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_8817991526926240656[27] = 0; + out_8817991526926240656[28] = 0; + out_8817991526926240656[29] = 0; + out_8817991526926240656[30] = 0; + out_8817991526926240656[31] = 0; + out_8817991526926240656[32] = 0; + out_8817991526926240656[33] = 0; + out_8817991526926240656[34] = 0; + out_8817991526926240656[35] = 0; + out_8817991526926240656[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_8817991526926240656[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_8817991526926240656[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_8817991526926240656[39] = 0; + out_8817991526926240656[40] = 0; + out_8817991526926240656[41] = 0; + out_8817991526926240656[42] = 0; + out_8817991526926240656[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_8817991526926240656[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_8817991526926240656[45] = 0; + out_8817991526926240656[46] = 0; + out_8817991526926240656[47] = 0; + out_8817991526926240656[48] = 0; + out_8817991526926240656[49] = 0; + out_8817991526926240656[50] = 0; + out_8817991526926240656[51] = 0; + out_8817991526926240656[52] = 0; + out_8817991526926240656[53] = 0; + out_8817991526926240656[54] = 0; + out_8817991526926240656[55] = 0; + out_8817991526926240656[56] = 0; + out_8817991526926240656[57] = 1; + out_8817991526926240656[58] = 0; + out_8817991526926240656[59] = 0; + out_8817991526926240656[60] = 0; + out_8817991526926240656[61] = 0; + out_8817991526926240656[62] = 0; + out_8817991526926240656[63] = 0; + out_8817991526926240656[64] = 0; + out_8817991526926240656[65] = 0; + out_8817991526926240656[66] = dt; + out_8817991526926240656[67] = 0; + out_8817991526926240656[68] = 0; + out_8817991526926240656[69] = 0; + out_8817991526926240656[70] = 0; + out_8817991526926240656[71] = 0; + out_8817991526926240656[72] = 0; + out_8817991526926240656[73] = 0; + out_8817991526926240656[74] = 0; + out_8817991526926240656[75] = 0; + out_8817991526926240656[76] = 1; + out_8817991526926240656[77] = 0; + out_8817991526926240656[78] = 0; + out_8817991526926240656[79] = 0; + out_8817991526926240656[80] = 0; + out_8817991526926240656[81] = 0; + out_8817991526926240656[82] = 0; + out_8817991526926240656[83] = 0; + out_8817991526926240656[84] = 0; + out_8817991526926240656[85] = dt; + out_8817991526926240656[86] = 0; + out_8817991526926240656[87] = 0; + out_8817991526926240656[88] = 0; + out_8817991526926240656[89] = 0; + out_8817991526926240656[90] = 0; + out_8817991526926240656[91] = 0; + out_8817991526926240656[92] = 0; + out_8817991526926240656[93] = 0; + out_8817991526926240656[94] = 0; + out_8817991526926240656[95] = 1; + out_8817991526926240656[96] = 0; + out_8817991526926240656[97] = 0; + out_8817991526926240656[98] = 0; + out_8817991526926240656[99] = 0; + out_8817991526926240656[100] = 0; + out_8817991526926240656[101] = 0; + out_8817991526926240656[102] = 0; + out_8817991526926240656[103] = 0; + out_8817991526926240656[104] = dt; + out_8817991526926240656[105] = 0; + out_8817991526926240656[106] = 0; + out_8817991526926240656[107] = 0; + out_8817991526926240656[108] = 0; + out_8817991526926240656[109] = 0; + out_8817991526926240656[110] = 0; + out_8817991526926240656[111] = 0; + out_8817991526926240656[112] = 0; + out_8817991526926240656[113] = 0; + out_8817991526926240656[114] = 1; + out_8817991526926240656[115] = 0; + out_8817991526926240656[116] = 0; + out_8817991526926240656[117] = 0; + out_8817991526926240656[118] = 0; + out_8817991526926240656[119] = 0; + out_8817991526926240656[120] = 0; + out_8817991526926240656[121] = 0; + out_8817991526926240656[122] = 0; + out_8817991526926240656[123] = 0; + out_8817991526926240656[124] = 0; + out_8817991526926240656[125] = 0; + out_8817991526926240656[126] = 0; + out_8817991526926240656[127] = 0; + out_8817991526926240656[128] = 0; + out_8817991526926240656[129] = 0; + out_8817991526926240656[130] = 0; + out_8817991526926240656[131] = 0; + out_8817991526926240656[132] = 0; + out_8817991526926240656[133] = 1; + out_8817991526926240656[134] = 0; + out_8817991526926240656[135] = 0; + out_8817991526926240656[136] = 0; + out_8817991526926240656[137] = 0; + out_8817991526926240656[138] = 0; + out_8817991526926240656[139] = 0; + out_8817991526926240656[140] = 0; + out_8817991526926240656[141] = 0; + out_8817991526926240656[142] = 0; + out_8817991526926240656[143] = 0; + out_8817991526926240656[144] = 0; + out_8817991526926240656[145] = 0; + out_8817991526926240656[146] = 0; + out_8817991526926240656[147] = 0; + out_8817991526926240656[148] = 0; + out_8817991526926240656[149] = 0; + out_8817991526926240656[150] = 0; + out_8817991526926240656[151] = 0; + out_8817991526926240656[152] = 1; + out_8817991526926240656[153] = 0; + out_8817991526926240656[154] = 0; + out_8817991526926240656[155] = 0; + out_8817991526926240656[156] = 0; + out_8817991526926240656[157] = 0; + out_8817991526926240656[158] = 0; + out_8817991526926240656[159] = 0; + out_8817991526926240656[160] = 0; + out_8817991526926240656[161] = 0; + out_8817991526926240656[162] = 0; + out_8817991526926240656[163] = 0; + out_8817991526926240656[164] = 0; + out_8817991526926240656[165] = 0; + out_8817991526926240656[166] = 0; + out_8817991526926240656[167] = 0; + out_8817991526926240656[168] = 0; + out_8817991526926240656[169] = 0; + out_8817991526926240656[170] = 0; + out_8817991526926240656[171] = 1; + out_8817991526926240656[172] = 0; + out_8817991526926240656[173] = 0; + out_8817991526926240656[174] = 0; + out_8817991526926240656[175] = 0; + out_8817991526926240656[176] = 0; + out_8817991526926240656[177] = 0; + out_8817991526926240656[178] = 0; + out_8817991526926240656[179] = 0; + out_8817991526926240656[180] = 0; + out_8817991526926240656[181] = 0; + out_8817991526926240656[182] = 0; + out_8817991526926240656[183] = 0; + out_8817991526926240656[184] = 0; + out_8817991526926240656[185] = 0; + out_8817991526926240656[186] = 0; + out_8817991526926240656[187] = 0; + out_8817991526926240656[188] = 0; + out_8817991526926240656[189] = 0; + out_8817991526926240656[190] = 1; + out_8817991526926240656[191] = 0; + out_8817991526926240656[192] = 0; + out_8817991526926240656[193] = 0; + out_8817991526926240656[194] = 0; + out_8817991526926240656[195] = 0; + out_8817991526926240656[196] = 0; + out_8817991526926240656[197] = 0; + out_8817991526926240656[198] = 0; + out_8817991526926240656[199] = 0; + out_8817991526926240656[200] = 0; + out_8817991526926240656[201] = 0; + out_8817991526926240656[202] = 0; + out_8817991526926240656[203] = 0; + out_8817991526926240656[204] = 0; + out_8817991526926240656[205] = 0; + out_8817991526926240656[206] = 0; + out_8817991526926240656[207] = 0; + out_8817991526926240656[208] = 0; + out_8817991526926240656[209] = 1; + out_8817991526926240656[210] = 0; + out_8817991526926240656[211] = 0; + out_8817991526926240656[212] = 0; + out_8817991526926240656[213] = 0; + out_8817991526926240656[214] = 0; + out_8817991526926240656[215] = 0; + out_8817991526926240656[216] = 0; + out_8817991526926240656[217] = 0; + out_8817991526926240656[218] = 0; + out_8817991526926240656[219] = 0; + out_8817991526926240656[220] = 0; + out_8817991526926240656[221] = 0; + out_8817991526926240656[222] = 0; + out_8817991526926240656[223] = 0; + out_8817991526926240656[224] = 0; + out_8817991526926240656[225] = 0; + out_8817991526926240656[226] = 0; + out_8817991526926240656[227] = 0; + out_8817991526926240656[228] = 1; + out_8817991526926240656[229] = 0; + out_8817991526926240656[230] = 0; + out_8817991526926240656[231] = 0; + out_8817991526926240656[232] = 0; + out_8817991526926240656[233] = 0; + out_8817991526926240656[234] = 0; + out_8817991526926240656[235] = 0; + out_8817991526926240656[236] = 0; + out_8817991526926240656[237] = 0; + out_8817991526926240656[238] = 0; + out_8817991526926240656[239] = 0; + out_8817991526926240656[240] = 0; + out_8817991526926240656[241] = 0; + out_8817991526926240656[242] = 0; + out_8817991526926240656[243] = 0; + out_8817991526926240656[244] = 0; + out_8817991526926240656[245] = 0; + out_8817991526926240656[246] = 0; + out_8817991526926240656[247] = 1; + out_8817991526926240656[248] = 0; + out_8817991526926240656[249] = 0; + out_8817991526926240656[250] = 0; + out_8817991526926240656[251] = 0; + out_8817991526926240656[252] = 0; + out_8817991526926240656[253] = 0; + out_8817991526926240656[254] = 0; + out_8817991526926240656[255] = 0; + out_8817991526926240656[256] = 0; + out_8817991526926240656[257] = 0; + out_8817991526926240656[258] = 0; + out_8817991526926240656[259] = 0; + out_8817991526926240656[260] = 0; + out_8817991526926240656[261] = 0; + out_8817991526926240656[262] = 0; + out_8817991526926240656[263] = 0; + out_8817991526926240656[264] = 0; + out_8817991526926240656[265] = 0; + out_8817991526926240656[266] = 1; + out_8817991526926240656[267] = 0; + out_8817991526926240656[268] = 0; + out_8817991526926240656[269] = 0; + out_8817991526926240656[270] = 0; + out_8817991526926240656[271] = 0; + out_8817991526926240656[272] = 0; + out_8817991526926240656[273] = 0; + out_8817991526926240656[274] = 0; + out_8817991526926240656[275] = 0; + out_8817991526926240656[276] = 0; + out_8817991526926240656[277] = 0; + out_8817991526926240656[278] = 0; + out_8817991526926240656[279] = 0; + out_8817991526926240656[280] = 0; + out_8817991526926240656[281] = 0; + out_8817991526926240656[282] = 0; + out_8817991526926240656[283] = 0; + out_8817991526926240656[284] = 0; + out_8817991526926240656[285] = 1; + out_8817991526926240656[286] = 0; + out_8817991526926240656[287] = 0; + out_8817991526926240656[288] = 0; + out_8817991526926240656[289] = 0; + out_8817991526926240656[290] = 0; + out_8817991526926240656[291] = 0; + out_8817991526926240656[292] = 0; + out_8817991526926240656[293] = 0; + out_8817991526926240656[294] = 0; + out_8817991526926240656[295] = 0; + out_8817991526926240656[296] = 0; + out_8817991526926240656[297] = 0; + out_8817991526926240656[298] = 0; + out_8817991526926240656[299] = 0; + out_8817991526926240656[300] = 0; + out_8817991526926240656[301] = 0; + out_8817991526926240656[302] = 0; + out_8817991526926240656[303] = 0; + out_8817991526926240656[304] = 1; + out_8817991526926240656[305] = 0; + out_8817991526926240656[306] = 0; + out_8817991526926240656[307] = 0; + out_8817991526926240656[308] = 0; + out_8817991526926240656[309] = 0; + out_8817991526926240656[310] = 0; + out_8817991526926240656[311] = 0; + out_8817991526926240656[312] = 0; + out_8817991526926240656[313] = 0; + out_8817991526926240656[314] = 0; + out_8817991526926240656[315] = 0; + out_8817991526926240656[316] = 0; + out_8817991526926240656[317] = 0; + out_8817991526926240656[318] = 0; + out_8817991526926240656[319] = 0; + out_8817991526926240656[320] = 0; + out_8817991526926240656[321] = 0; + out_8817991526926240656[322] = 0; + out_8817991526926240656[323] = 1; } -void h_4(double *state, double *unused, double *out_1874588168802752989) { - out_1874588168802752989[0] = state[6] + state[9]; - out_1874588168802752989[1] = state[7] + state[10]; - out_1874588168802752989[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7394028133800952799) { + out_7394028133800952799[0] = state[6] + state[9]; + out_7394028133800952799[1] = state[7] + state[10]; + out_7394028133800952799[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_6745741258383146320) { - out_6745741258383146320[0] = 0; - out_6745741258383146320[1] = 0; - out_6745741258383146320[2] = 0; - out_6745741258383146320[3] = 0; - out_6745741258383146320[4] = 0; - out_6745741258383146320[5] = 0; - out_6745741258383146320[6] = 1; - out_6745741258383146320[7] = 0; - out_6745741258383146320[8] = 0; - out_6745741258383146320[9] = 1; - out_6745741258383146320[10] = 0; - out_6745741258383146320[11] = 0; - out_6745741258383146320[12] = 0; - out_6745741258383146320[13] = 0; - out_6745741258383146320[14] = 0; - out_6745741258383146320[15] = 0; - out_6745741258383146320[16] = 0; - out_6745741258383146320[17] = 0; - out_6745741258383146320[18] = 0; - out_6745741258383146320[19] = 0; - out_6745741258383146320[20] = 0; - out_6745741258383146320[21] = 0; - out_6745741258383146320[22] = 0; - out_6745741258383146320[23] = 0; - out_6745741258383146320[24] = 0; - out_6745741258383146320[25] = 1; - out_6745741258383146320[26] = 0; - out_6745741258383146320[27] = 0; - out_6745741258383146320[28] = 1; - out_6745741258383146320[29] = 0; - out_6745741258383146320[30] = 0; - out_6745741258383146320[31] = 0; - out_6745741258383146320[32] = 0; - out_6745741258383146320[33] = 0; - out_6745741258383146320[34] = 0; - out_6745741258383146320[35] = 0; - out_6745741258383146320[36] = 0; - out_6745741258383146320[37] = 0; - out_6745741258383146320[38] = 0; - out_6745741258383146320[39] = 0; - out_6745741258383146320[40] = 0; - out_6745741258383146320[41] = 0; - out_6745741258383146320[42] = 0; - out_6745741258383146320[43] = 0; - out_6745741258383146320[44] = 1; - out_6745741258383146320[45] = 0; - out_6745741258383146320[46] = 0; - out_6745741258383146320[47] = 1; - out_6745741258383146320[48] = 0; - out_6745741258383146320[49] = 0; - out_6745741258383146320[50] = 0; - out_6745741258383146320[51] = 0; - out_6745741258383146320[52] = 0; - out_6745741258383146320[53] = 0; +void H_4(double *state, double *unused, double *out_6283474072273667006) { + out_6283474072273667006[0] = 0; + out_6283474072273667006[1] = 0; + out_6283474072273667006[2] = 0; + out_6283474072273667006[3] = 0; + out_6283474072273667006[4] = 0; + out_6283474072273667006[5] = 0; + out_6283474072273667006[6] = 1; + out_6283474072273667006[7] = 0; + out_6283474072273667006[8] = 0; + out_6283474072273667006[9] = 1; + out_6283474072273667006[10] = 0; + out_6283474072273667006[11] = 0; + out_6283474072273667006[12] = 0; + out_6283474072273667006[13] = 0; + out_6283474072273667006[14] = 0; + out_6283474072273667006[15] = 0; + out_6283474072273667006[16] = 0; + out_6283474072273667006[17] = 0; + out_6283474072273667006[18] = 0; + out_6283474072273667006[19] = 0; + out_6283474072273667006[20] = 0; + out_6283474072273667006[21] = 0; + out_6283474072273667006[22] = 0; + out_6283474072273667006[23] = 0; + out_6283474072273667006[24] = 0; + out_6283474072273667006[25] = 1; + out_6283474072273667006[26] = 0; + out_6283474072273667006[27] = 0; + out_6283474072273667006[28] = 1; + out_6283474072273667006[29] = 0; + out_6283474072273667006[30] = 0; + out_6283474072273667006[31] = 0; + out_6283474072273667006[32] = 0; + out_6283474072273667006[33] = 0; + out_6283474072273667006[34] = 0; + out_6283474072273667006[35] = 0; + out_6283474072273667006[36] = 0; + out_6283474072273667006[37] = 0; + out_6283474072273667006[38] = 0; + out_6283474072273667006[39] = 0; + out_6283474072273667006[40] = 0; + out_6283474072273667006[41] = 0; + out_6283474072273667006[42] = 0; + out_6283474072273667006[43] = 0; + out_6283474072273667006[44] = 1; + out_6283474072273667006[45] = 0; + out_6283474072273667006[46] = 0; + out_6283474072273667006[47] = 1; + out_6283474072273667006[48] = 0; + out_6283474072273667006[49] = 0; + out_6283474072273667006[50] = 0; + out_6283474072273667006[51] = 0; + out_6283474072273667006[52] = 0; + out_6283474072273667006[53] = 0; } -void h_10(double *state, double *unused, double *out_904127136794521345) { - out_904127136794521345[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_904127136794521345[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_904127136794521345[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_1632777674839787006) { + out_1632777674839787006[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1632777674839787006[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1632777674839787006[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_138933893569938853) { - out_138933893569938853[0] = 0; - out_138933893569938853[1] = 9.8100000000000005*cos(state[1]); - out_138933893569938853[2] = 0; - out_138933893569938853[3] = 0; - out_138933893569938853[4] = -state[8]; - out_138933893569938853[5] = state[7]; - out_138933893569938853[6] = 0; - out_138933893569938853[7] = state[5]; - out_138933893569938853[8] = -state[4]; - out_138933893569938853[9] = 0; - out_138933893569938853[10] = 0; - out_138933893569938853[11] = 0; - out_138933893569938853[12] = 1; - out_138933893569938853[13] = 0; - out_138933893569938853[14] = 0; - out_138933893569938853[15] = 1; - out_138933893569938853[16] = 0; - out_138933893569938853[17] = 0; - out_138933893569938853[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_138933893569938853[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_138933893569938853[20] = 0; - out_138933893569938853[21] = state[8]; - out_138933893569938853[22] = 0; - out_138933893569938853[23] = -state[6]; - out_138933893569938853[24] = -state[5]; - out_138933893569938853[25] = 0; - out_138933893569938853[26] = state[3]; - out_138933893569938853[27] = 0; - out_138933893569938853[28] = 0; - out_138933893569938853[29] = 0; - out_138933893569938853[30] = 0; - out_138933893569938853[31] = 1; - out_138933893569938853[32] = 0; - out_138933893569938853[33] = 0; - out_138933893569938853[34] = 1; - out_138933893569938853[35] = 0; - out_138933893569938853[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_138933893569938853[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_138933893569938853[38] = 0; - out_138933893569938853[39] = -state[7]; - out_138933893569938853[40] = state[6]; - out_138933893569938853[41] = 0; - out_138933893569938853[42] = state[4]; - out_138933893569938853[43] = -state[3]; - out_138933893569938853[44] = 0; - out_138933893569938853[45] = 0; - out_138933893569938853[46] = 0; - out_138933893569938853[47] = 0; - out_138933893569938853[48] = 0; - out_138933893569938853[49] = 0; - out_138933893569938853[50] = 1; - out_138933893569938853[51] = 0; - out_138933893569938853[52] = 0; - out_138933893569938853[53] = 1; +void H_10(double *state, double *unused, double *out_761013637887660448) { + out_761013637887660448[0] = 0; + out_761013637887660448[1] = 9.8100000000000005*cos(state[1]); + out_761013637887660448[2] = 0; + out_761013637887660448[3] = 0; + out_761013637887660448[4] = -state[8]; + out_761013637887660448[5] = state[7]; + out_761013637887660448[6] = 0; + out_761013637887660448[7] = state[5]; + out_761013637887660448[8] = -state[4]; + out_761013637887660448[9] = 0; + out_761013637887660448[10] = 0; + out_761013637887660448[11] = 0; + out_761013637887660448[12] = 1; + out_761013637887660448[13] = 0; + out_761013637887660448[14] = 0; + out_761013637887660448[15] = 1; + out_761013637887660448[16] = 0; + out_761013637887660448[17] = 0; + out_761013637887660448[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_761013637887660448[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_761013637887660448[20] = 0; + out_761013637887660448[21] = state[8]; + out_761013637887660448[22] = 0; + out_761013637887660448[23] = -state[6]; + out_761013637887660448[24] = -state[5]; + out_761013637887660448[25] = 0; + out_761013637887660448[26] = state[3]; + out_761013637887660448[27] = 0; + out_761013637887660448[28] = 0; + out_761013637887660448[29] = 0; + out_761013637887660448[30] = 0; + out_761013637887660448[31] = 1; + out_761013637887660448[32] = 0; + out_761013637887660448[33] = 0; + out_761013637887660448[34] = 1; + out_761013637887660448[35] = 0; + out_761013637887660448[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_761013637887660448[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_761013637887660448[38] = 0; + out_761013637887660448[39] = -state[7]; + out_761013637887660448[40] = state[6]; + out_761013637887660448[41] = 0; + out_761013637887660448[42] = state[4]; + out_761013637887660448[43] = -state[3]; + out_761013637887660448[44] = 0; + out_761013637887660448[45] = 0; + out_761013637887660448[46] = 0; + out_761013637887660448[47] = 0; + out_761013637887660448[48] = 0; + out_761013637887660448[49] = 0; + out_761013637887660448[50] = 1; + out_761013637887660448[51] = 0; + out_761013637887660448[52] = 0; + out_761013637887660448[53] = 1; } -void h_13(double *state, double *unused, double *out_5867467314771514899) { - out_5867467314771514899[0] = state[3]; - out_5867467314771514899[1] = state[4]; - out_5867467314771514899[2] = state[5]; +void h_13(double *state, double *unused, double *out_4603793361074312483) { + out_4603793361074312483[0] = state[3]; + out_4603793361074312483[1] = state[4]; + out_4603793361074312483[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8488728989994072495) { - out_8488728989994072495[0] = 0; - out_8488728989994072495[1] = 0; - out_8488728989994072495[2] = 0; - out_8488728989994072495[3] = 1; - out_8488728989994072495[4] = 0; - out_8488728989994072495[5] = 0; - out_8488728989994072495[6] = 0; - out_8488728989994072495[7] = 0; - out_8488728989994072495[8] = 0; - out_8488728989994072495[9] = 0; - out_8488728989994072495[10] = 0; - out_8488728989994072495[11] = 0; - out_8488728989994072495[12] = 0; - out_8488728989994072495[13] = 0; - out_8488728989994072495[14] = 0; - out_8488728989994072495[15] = 0; - out_8488728989994072495[16] = 0; - out_8488728989994072495[17] = 0; - out_8488728989994072495[18] = 0; - out_8488728989994072495[19] = 0; - out_8488728989994072495[20] = 0; - out_8488728989994072495[21] = 0; - out_8488728989994072495[22] = 1; - out_8488728989994072495[23] = 0; - out_8488728989994072495[24] = 0; - out_8488728989994072495[25] = 0; - out_8488728989994072495[26] = 0; - out_8488728989994072495[27] = 0; - out_8488728989994072495[28] = 0; - out_8488728989994072495[29] = 0; - out_8488728989994072495[30] = 0; - out_8488728989994072495[31] = 0; - out_8488728989994072495[32] = 0; - out_8488728989994072495[33] = 0; - out_8488728989994072495[34] = 0; - out_8488728989994072495[35] = 0; - out_8488728989994072495[36] = 0; - out_8488728989994072495[37] = 0; - out_8488728989994072495[38] = 0; - out_8488728989994072495[39] = 0; - out_8488728989994072495[40] = 0; - out_8488728989994072495[41] = 1; - out_8488728989994072495[42] = 0; - out_8488728989994072495[43] = 0; - out_8488728989994072495[44] = 0; - out_8488728989994072495[45] = 0; - out_8488728989994072495[46] = 0; - out_8488728989994072495[47] = 0; - out_8488728989994072495[48] = 0; - out_8488728989994072495[49] = 0; - out_8488728989994072495[50] = 0; - out_8488728989994072495[51] = 0; - out_8488728989994072495[52] = 0; - out_8488728989994072495[53] = 0; +void H_13(double *state, double *unused, double *out_8950996176103551809) { + out_8950996176103551809[0] = 0; + out_8950996176103551809[1] = 0; + out_8950996176103551809[2] = 0; + out_8950996176103551809[3] = 1; + out_8950996176103551809[4] = 0; + out_8950996176103551809[5] = 0; + out_8950996176103551809[6] = 0; + out_8950996176103551809[7] = 0; + out_8950996176103551809[8] = 0; + out_8950996176103551809[9] = 0; + out_8950996176103551809[10] = 0; + out_8950996176103551809[11] = 0; + out_8950996176103551809[12] = 0; + out_8950996176103551809[13] = 0; + out_8950996176103551809[14] = 0; + out_8950996176103551809[15] = 0; + out_8950996176103551809[16] = 0; + out_8950996176103551809[17] = 0; + out_8950996176103551809[18] = 0; + out_8950996176103551809[19] = 0; + out_8950996176103551809[20] = 0; + out_8950996176103551809[21] = 0; + out_8950996176103551809[22] = 1; + out_8950996176103551809[23] = 0; + out_8950996176103551809[24] = 0; + out_8950996176103551809[25] = 0; + out_8950996176103551809[26] = 0; + out_8950996176103551809[27] = 0; + out_8950996176103551809[28] = 0; + out_8950996176103551809[29] = 0; + out_8950996176103551809[30] = 0; + out_8950996176103551809[31] = 0; + out_8950996176103551809[32] = 0; + out_8950996176103551809[33] = 0; + out_8950996176103551809[34] = 0; + out_8950996176103551809[35] = 0; + out_8950996176103551809[36] = 0; + out_8950996176103551809[37] = 0; + out_8950996176103551809[38] = 0; + out_8950996176103551809[39] = 0; + out_8950996176103551809[40] = 0; + out_8950996176103551809[41] = 1; + out_8950996176103551809[42] = 0; + out_8950996176103551809[43] = 0; + out_8950996176103551809[44] = 0; + out_8950996176103551809[45] = 0; + out_8950996176103551809[46] = 0; + out_8950996176103551809[47] = 0; + out_8950996176103551809[48] = 0; + out_8950996176103551809[49] = 0; + out_8950996176103551809[50] = 0; + out_8950996176103551809[51] = 0; + out_8950996176103551809[52] = 0; + out_8950996176103551809[53] = 0; } -void h_14(double *state, double *unused, double *out_6345221351211143880) { - out_6345221351211143880[0] = state[6]; - out_6345221351211143880[1] = state[7]; - out_6345221351211143880[2] = state[8]; +void h_14(double *state, double *unused, double *out_5241449068668224266) { + out_5241449068668224266[0] = state[6]; + out_5241449068668224266[1] = state[7]; + out_5241449068668224266[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3662952826087774024) { - out_3662952826087774024[0] = 0; - out_3662952826087774024[1] = 0; - out_3662952826087774024[2] = 0; - out_3662952826087774024[3] = 0; - out_3662952826087774024[4] = 0; - out_3662952826087774024[5] = 0; - out_3662952826087774024[6] = 1; - out_3662952826087774024[7] = 0; - out_3662952826087774024[8] = 0; - out_3662952826087774024[9] = 0; - out_3662952826087774024[10] = 0; - out_3662952826087774024[11] = 0; - out_3662952826087774024[12] = 0; - out_3662952826087774024[13] = 0; - out_3662952826087774024[14] = 0; - out_3662952826087774024[15] = 0; - out_3662952826087774024[16] = 0; - out_3662952826087774024[17] = 0; - out_3662952826087774024[18] = 0; - out_3662952826087774024[19] = 0; - out_3662952826087774024[20] = 0; - out_3662952826087774024[21] = 0; - out_3662952826087774024[22] = 0; - out_3662952826087774024[23] = 0; - out_3662952826087774024[24] = 0; - out_3662952826087774024[25] = 1; - out_3662952826087774024[26] = 0; - out_3662952826087774024[27] = 0; - out_3662952826087774024[28] = 0; - out_3662952826087774024[29] = 0; - out_3662952826087774024[30] = 0; - out_3662952826087774024[31] = 0; - out_3662952826087774024[32] = 0; - out_3662952826087774024[33] = 0; - out_3662952826087774024[34] = 0; - out_3662952826087774024[35] = 0; - out_3662952826087774024[36] = 0; - out_3662952826087774024[37] = 0; - out_3662952826087774024[38] = 0; - out_3662952826087774024[39] = 0; - out_3662952826087774024[40] = 0; - out_3662952826087774024[41] = 0; - out_3662952826087774024[42] = 0; - out_3662952826087774024[43] = 0; - out_3662952826087774024[44] = 1; - out_3662952826087774024[45] = 0; - out_3662952826087774024[46] = 0; - out_3662952826087774024[47] = 0; - out_3662952826087774024[48] = 0; - out_3662952826087774024[49] = 0; - out_3662952826087774024[50] = 0; - out_3662952826087774024[51] = 0; - out_3662952826087774024[52] = 0; - out_3662952826087774024[53] = 0; +void H_14(double *state, double *unused, double *out_3200685639978294710) { + out_3200685639978294710[0] = 0; + out_3200685639978294710[1] = 0; + out_3200685639978294710[2] = 0; + out_3200685639978294710[3] = 0; + out_3200685639978294710[4] = 0; + out_3200685639978294710[5] = 0; + out_3200685639978294710[6] = 1; + out_3200685639978294710[7] = 0; + out_3200685639978294710[8] = 0; + out_3200685639978294710[9] = 0; + out_3200685639978294710[10] = 0; + out_3200685639978294710[11] = 0; + out_3200685639978294710[12] = 0; + out_3200685639978294710[13] = 0; + out_3200685639978294710[14] = 0; + out_3200685639978294710[15] = 0; + out_3200685639978294710[16] = 0; + out_3200685639978294710[17] = 0; + out_3200685639978294710[18] = 0; + out_3200685639978294710[19] = 0; + out_3200685639978294710[20] = 0; + out_3200685639978294710[21] = 0; + out_3200685639978294710[22] = 0; + out_3200685639978294710[23] = 0; + out_3200685639978294710[24] = 0; + out_3200685639978294710[25] = 1; + out_3200685639978294710[26] = 0; + out_3200685639978294710[27] = 0; + out_3200685639978294710[28] = 0; + out_3200685639978294710[29] = 0; + out_3200685639978294710[30] = 0; + out_3200685639978294710[31] = 0; + out_3200685639978294710[32] = 0; + out_3200685639978294710[33] = 0; + out_3200685639978294710[34] = 0; + out_3200685639978294710[35] = 0; + out_3200685639978294710[36] = 0; + out_3200685639978294710[37] = 0; + out_3200685639978294710[38] = 0; + out_3200685639978294710[39] = 0; + out_3200685639978294710[40] = 0; + out_3200685639978294710[41] = 0; + out_3200685639978294710[42] = 0; + out_3200685639978294710[43] = 0; + out_3200685639978294710[44] = 1; + out_3200685639978294710[45] = 0; + out_3200685639978294710[46] = 0; + out_3200685639978294710[47] = 0; + out_3200685639978294710[48] = 0; + out_3200685639978294710[49] = 0; + out_3200685639978294710[50] = 0; + out_3200685639978294710[51] = 0; + out_3200685639978294710[52] = 0; + out_3200685639978294710[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_6408835186344628642) { - err_fun(nom_x, delta_x, out_6408835186344628642); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1773490464841058211) { + err_fun(nom_x, delta_x, out_1773490464841058211); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4488020327469491521) { - inv_err_fun(nom_x, true_x, out_4488020327469491521); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3370820179269337821) { + inv_err_fun(nom_x, true_x, out_3370820179269337821); } -void pose_H_mod_fun(double *state, double *out_8565439984289443181) { - H_mod_fun(state, out_8565439984289443181); +void pose_H_mod_fun(double *state, double *out_8103172798179963867) { + H_mod_fun(state, out_8103172798179963867); } -void pose_f_fun(double *state, double dt, double *out_4570281413344882742) { - f_fun(state, dt, out_4570281413344882742); +void pose_f_fun(double *state, double dt, double *out_4130745264458481066) { + f_fun(state, dt, out_4130745264458481066); } -void pose_F_fun(double *state, double dt, double *out_3886745905040610692) { - F_fun(state, dt, out_3886745905040610692); +void pose_F_fun(double *state, double dt, double *out_8817991526926240656) { + F_fun(state, dt, out_8817991526926240656); } -void pose_h_4(double *state, double *unused, double *out_1874588168802752989) { - h_4(state, unused, out_1874588168802752989); +void pose_h_4(double *state, double *unused, double *out_7394028133800952799) { + h_4(state, unused, out_7394028133800952799); } -void pose_H_4(double *state, double *unused, double *out_6745741258383146320) { - H_4(state, unused, out_6745741258383146320); +void pose_H_4(double *state, double *unused, double *out_6283474072273667006) { + H_4(state, unused, out_6283474072273667006); } -void pose_h_10(double *state, double *unused, double *out_904127136794521345) { - h_10(state, unused, out_904127136794521345); +void pose_h_10(double *state, double *unused, double *out_1632777674839787006) { + h_10(state, unused, out_1632777674839787006); } -void pose_H_10(double *state, double *unused, double *out_138933893569938853) { - H_10(state, unused, out_138933893569938853); +void pose_H_10(double *state, double *unused, double *out_761013637887660448) { + H_10(state, unused, out_761013637887660448); } -void pose_h_13(double *state, double *unused, double *out_5867467314771514899) { - h_13(state, unused, out_5867467314771514899); +void pose_h_13(double *state, double *unused, double *out_4603793361074312483) { + h_13(state, unused, out_4603793361074312483); } -void pose_H_13(double *state, double *unused, double *out_8488728989994072495) { - H_13(state, unused, out_8488728989994072495); +void pose_H_13(double *state, double *unused, double *out_8950996176103551809) { + H_13(state, unused, out_8950996176103551809); } -void pose_h_14(double *state, double *unused, double *out_6345221351211143880) { - h_14(state, unused, out_6345221351211143880); +void pose_h_14(double *state, double *unused, double *out_5241449068668224266) { + h_14(state, unused, out_5241449068668224266); } -void pose_H_14(double *state, double *unused, double *out_3662952826087774024) { - H_14(state, unused, out_3662952826087774024); +void pose_H_14(double *state, double *unused, double *out_3200685639978294710) { + H_14(state, unused, out_3200685639978294710); } 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 ff1e6b1c6..56ea7356f 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_6408835186344628642); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4488020327469491521); -void pose_H_mod_fun(double *state, double *out_8565439984289443181); -void pose_f_fun(double *state, double dt, double *out_4570281413344882742); -void pose_F_fun(double *state, double dt, double *out_3886745905040610692); -void pose_h_4(double *state, double *unused, double *out_1874588168802752989); -void pose_H_4(double *state, double *unused, double *out_6745741258383146320); -void pose_h_10(double *state, double *unused, double *out_904127136794521345); -void pose_H_10(double *state, double *unused, double *out_138933893569938853); -void pose_h_13(double *state, double *unused, double *out_5867467314771514899); -void pose_H_13(double *state, double *unused, double *out_8488728989994072495); -void pose_h_14(double *state, double *unused, double *out_6345221351211143880); -void pose_H_14(double *state, double *unused, double *out_3662952826087774024); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1773490464841058211); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3370820179269337821); +void pose_H_mod_fun(double *state, double *out_8103172798179963867); +void pose_f_fun(double *state, double dt, double *out_4130745264458481066); +void pose_F_fun(double *state, double dt, double *out_8817991526926240656); +void pose_h_4(double *state, double *unused, double *out_7394028133800952799); +void pose_H_4(double *state, double *unused, double *out_6283474072273667006); +void pose_h_10(double *state, double *unused, double *out_1632777674839787006); +void pose_H_10(double *state, double *unused, double *out_761013637887660448); +void pose_h_13(double *state, double *unused, double *out_4603793361074312483); +void pose_H_13(double *state, double *unused, double *out_8950996176103551809); +void pose_h_14(double *state, double *unused, double *out_5241449068668224266); +void pose_H_14(double *state, double *unused, double *out_3200685639978294710); 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 ccb113eae..d293640c0 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index fa66fff9a..e4a0c2484 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 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