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a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 22a332116..7d607d164 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-87b9fd5b-DEBUG"; +const uint8_t gitversion[19] = "DEV-05331a78-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index bfaed1892..fa44921f7 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 df77708a8..cd376056d 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 b5fe95962..352e971cb 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf 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and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index be9167e96..6554f8bb3 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 372fb4119..64b751685 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 6743b4741..fa37b4096 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-87b9fd5b-DEBUG \ No newline at end of file +DEV-05331a78-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index ca764e88f..4aa300cda 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_395710906661730109) { - out_395710906661730109[0] = delta_x[0] + nom_x[0]; - out_395710906661730109[1] = delta_x[1] + nom_x[1]; - out_395710906661730109[2] = delta_x[2] + nom_x[2]; - out_395710906661730109[3] = delta_x[3] + nom_x[3]; - out_395710906661730109[4] = delta_x[4] + nom_x[4]; - out_395710906661730109[5] = delta_x[5] + nom_x[5]; - out_395710906661730109[6] = delta_x[6] + nom_x[6]; - out_395710906661730109[7] = delta_x[7] + nom_x[7]; - out_395710906661730109[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5232047554535600109) { + out_5232047554535600109[0] = delta_x[0] + nom_x[0]; + out_5232047554535600109[1] = delta_x[1] + nom_x[1]; + out_5232047554535600109[2] = delta_x[2] + nom_x[2]; + out_5232047554535600109[3] = delta_x[3] + nom_x[3]; + out_5232047554535600109[4] = delta_x[4] + nom_x[4]; + out_5232047554535600109[5] = delta_x[5] + nom_x[5]; + out_5232047554535600109[6] = delta_x[6] + nom_x[6]; + out_5232047554535600109[7] = delta_x[7] + nom_x[7]; + out_5232047554535600109[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6370952191766860566) { - out_6370952191766860566[0] = -nom_x[0] + true_x[0]; - out_6370952191766860566[1] = -nom_x[1] + true_x[1]; - out_6370952191766860566[2] = -nom_x[2] + true_x[2]; - out_6370952191766860566[3] = -nom_x[3] + true_x[3]; - out_6370952191766860566[4] = -nom_x[4] + true_x[4]; - out_6370952191766860566[5] = -nom_x[5] + true_x[5]; - out_6370952191766860566[6] = -nom_x[6] + true_x[6]; - out_6370952191766860566[7] = -nom_x[7] + true_x[7]; - out_6370952191766860566[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5926361318328117466) { + out_5926361318328117466[0] = -nom_x[0] + true_x[0]; + out_5926361318328117466[1] = -nom_x[1] + true_x[1]; + out_5926361318328117466[2] = -nom_x[2] + true_x[2]; + out_5926361318328117466[3] = -nom_x[3] + true_x[3]; + out_5926361318328117466[4] = -nom_x[4] + true_x[4]; + out_5926361318328117466[5] = -nom_x[5] + true_x[5]; + out_5926361318328117466[6] = -nom_x[6] + true_x[6]; + out_5926361318328117466[7] = -nom_x[7] + true_x[7]; + out_5926361318328117466[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8610422609060100183) { - out_8610422609060100183[0] = 1.0; - out_8610422609060100183[1] = 0.0; - out_8610422609060100183[2] = 0.0; - out_8610422609060100183[3] = 0.0; - out_8610422609060100183[4] = 0.0; - out_8610422609060100183[5] = 0.0; - out_8610422609060100183[6] = 0.0; - out_8610422609060100183[7] = 0.0; - out_8610422609060100183[8] = 0.0; - out_8610422609060100183[9] = 0.0; - out_8610422609060100183[10] = 1.0; - out_8610422609060100183[11] = 0.0; - out_8610422609060100183[12] = 0.0; - out_8610422609060100183[13] = 0.0; - out_8610422609060100183[14] = 0.0; - out_8610422609060100183[15] = 0.0; - out_8610422609060100183[16] = 0.0; - out_8610422609060100183[17] = 0.0; - out_8610422609060100183[18] = 0.0; - out_8610422609060100183[19] = 0.0; - out_8610422609060100183[20] = 1.0; - out_8610422609060100183[21] = 0.0; - out_8610422609060100183[22] = 0.0; - out_8610422609060100183[23] = 0.0; - out_8610422609060100183[24] = 0.0; - out_8610422609060100183[25] = 0.0; - out_8610422609060100183[26] = 0.0; - out_8610422609060100183[27] = 0.0; - out_8610422609060100183[28] = 0.0; - out_8610422609060100183[29] = 0.0; - out_8610422609060100183[30] = 1.0; - out_8610422609060100183[31] = 0.0; - out_8610422609060100183[32] = 0.0; - out_8610422609060100183[33] = 0.0; - out_8610422609060100183[34] = 0.0; - out_8610422609060100183[35] = 0.0; - out_8610422609060100183[36] = 0.0; - out_8610422609060100183[37] = 0.0; - out_8610422609060100183[38] = 0.0; - out_8610422609060100183[39] = 0.0; - out_8610422609060100183[40] = 1.0; - out_8610422609060100183[41] = 0.0; - out_8610422609060100183[42] = 0.0; - out_8610422609060100183[43] = 0.0; - out_8610422609060100183[44] = 0.0; - out_8610422609060100183[45] = 0.0; - out_8610422609060100183[46] = 0.0; - out_8610422609060100183[47] = 0.0; - out_8610422609060100183[48] = 0.0; - out_8610422609060100183[49] = 0.0; - out_8610422609060100183[50] = 1.0; - out_8610422609060100183[51] = 0.0; - out_8610422609060100183[52] = 0.0; - out_8610422609060100183[53] = 0.0; - out_8610422609060100183[54] = 0.0; - out_8610422609060100183[55] = 0.0; - out_8610422609060100183[56] = 0.0; - out_8610422609060100183[57] = 0.0; - out_8610422609060100183[58] = 0.0; - out_8610422609060100183[59] = 0.0; - out_8610422609060100183[60] = 1.0; - out_8610422609060100183[61] = 0.0; - out_8610422609060100183[62] = 0.0; - out_8610422609060100183[63] = 0.0; - out_8610422609060100183[64] = 0.0; - out_8610422609060100183[65] = 0.0; - out_8610422609060100183[66] = 0.0; - out_8610422609060100183[67] = 0.0; - out_8610422609060100183[68] = 0.0; - out_8610422609060100183[69] = 0.0; - out_8610422609060100183[70] = 1.0; - out_8610422609060100183[71] = 0.0; - out_8610422609060100183[72] = 0.0; - out_8610422609060100183[73] = 0.0; - out_8610422609060100183[74] = 0.0; - out_8610422609060100183[75] = 0.0; - out_8610422609060100183[76] = 0.0; - out_8610422609060100183[77] = 0.0; - out_8610422609060100183[78] = 0.0; - out_8610422609060100183[79] = 0.0; - out_8610422609060100183[80] = 1.0; +void H_mod_fun(double *state, double *out_8663045025294862621) { + out_8663045025294862621[0] = 1.0; + out_8663045025294862621[1] = 0.0; + out_8663045025294862621[2] = 0.0; + out_8663045025294862621[3] = 0.0; + out_8663045025294862621[4] = 0.0; + out_8663045025294862621[5] = 0.0; + out_8663045025294862621[6] = 0.0; + out_8663045025294862621[7] = 0.0; + out_8663045025294862621[8] = 0.0; + out_8663045025294862621[9] = 0.0; + out_8663045025294862621[10] = 1.0; + out_8663045025294862621[11] = 0.0; + out_8663045025294862621[12] = 0.0; + out_8663045025294862621[13] = 0.0; + out_8663045025294862621[14] = 0.0; + out_8663045025294862621[15] = 0.0; + out_8663045025294862621[16] = 0.0; + out_8663045025294862621[17] = 0.0; + out_8663045025294862621[18] = 0.0; + out_8663045025294862621[19] = 0.0; + out_8663045025294862621[20] = 1.0; + out_8663045025294862621[21] = 0.0; + out_8663045025294862621[22] = 0.0; + out_8663045025294862621[23] = 0.0; + out_8663045025294862621[24] = 0.0; + out_8663045025294862621[25] = 0.0; + out_8663045025294862621[26] = 0.0; + out_8663045025294862621[27] = 0.0; + out_8663045025294862621[28] = 0.0; + out_8663045025294862621[29] = 0.0; + out_8663045025294862621[30] = 1.0; + out_8663045025294862621[31] = 0.0; + out_8663045025294862621[32] = 0.0; + out_8663045025294862621[33] = 0.0; + out_8663045025294862621[34] = 0.0; + out_8663045025294862621[35] = 0.0; + out_8663045025294862621[36] = 0.0; + out_8663045025294862621[37] = 0.0; + out_8663045025294862621[38] = 0.0; + out_8663045025294862621[39] = 0.0; + out_8663045025294862621[40] = 1.0; + out_8663045025294862621[41] = 0.0; + out_8663045025294862621[42] = 0.0; + out_8663045025294862621[43] = 0.0; + out_8663045025294862621[44] = 0.0; + out_8663045025294862621[45] = 0.0; + out_8663045025294862621[46] = 0.0; + out_8663045025294862621[47] = 0.0; + out_8663045025294862621[48] = 0.0; + out_8663045025294862621[49] = 0.0; + out_8663045025294862621[50] = 1.0; + out_8663045025294862621[51] = 0.0; + out_8663045025294862621[52] = 0.0; + out_8663045025294862621[53] = 0.0; + out_8663045025294862621[54] = 0.0; + out_8663045025294862621[55] = 0.0; + out_8663045025294862621[56] = 0.0; + out_8663045025294862621[57] = 0.0; + out_8663045025294862621[58] = 0.0; + out_8663045025294862621[59] = 0.0; + out_8663045025294862621[60] = 1.0; + out_8663045025294862621[61] = 0.0; + out_8663045025294862621[62] = 0.0; + out_8663045025294862621[63] = 0.0; + out_8663045025294862621[64] = 0.0; + out_8663045025294862621[65] = 0.0; + out_8663045025294862621[66] = 0.0; + out_8663045025294862621[67] = 0.0; + out_8663045025294862621[68] = 0.0; + out_8663045025294862621[69] = 0.0; + out_8663045025294862621[70] = 1.0; + out_8663045025294862621[71] = 0.0; + out_8663045025294862621[72] = 0.0; + out_8663045025294862621[73] = 0.0; + out_8663045025294862621[74] = 0.0; + out_8663045025294862621[75] = 0.0; + out_8663045025294862621[76] = 0.0; + out_8663045025294862621[77] = 0.0; + out_8663045025294862621[78] = 0.0; + out_8663045025294862621[79] = 0.0; + out_8663045025294862621[80] = 1.0; } -void f_fun(double *state, double dt, double *out_7209711513462721716) { - out_7209711513462721716[0] = state[0]; - out_7209711513462721716[1] = state[1]; - out_7209711513462721716[2] = state[2]; - out_7209711513462721716[3] = state[3]; - out_7209711513462721716[4] = state[4]; - out_7209711513462721716[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_7209711513462721716[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_7209711513462721716[7] = state[7]; - out_7209711513462721716[8] = state[8]; +void f_fun(double *state, double dt, double *out_4712382669747920854) { + out_4712382669747920854[0] = state[0]; + out_4712382669747920854[1] = state[1]; + out_4712382669747920854[2] = state[2]; + out_4712382669747920854[3] = state[3]; + out_4712382669747920854[4] = state[4]; + out_4712382669747920854[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_4712382669747920854[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_4712382669747920854[7] = state[7]; + out_4712382669747920854[8] = state[8]; } -void F_fun(double *state, double dt, double *out_832953036043329844) { - out_832953036043329844[0] = 1; - out_832953036043329844[1] = 0; - out_832953036043329844[2] = 0; - out_832953036043329844[3] = 0; - out_832953036043329844[4] = 0; - out_832953036043329844[5] = 0; - out_832953036043329844[6] = 0; - out_832953036043329844[7] = 0; - out_832953036043329844[8] = 0; - out_832953036043329844[9] = 0; - out_832953036043329844[10] = 1; - out_832953036043329844[11] = 0; - out_832953036043329844[12] = 0; - out_832953036043329844[13] = 0; - out_832953036043329844[14] = 0; - out_832953036043329844[15] = 0; - out_832953036043329844[16] = 0; - out_832953036043329844[17] = 0; - out_832953036043329844[18] = 0; - out_832953036043329844[19] = 0; - out_832953036043329844[20] = 1; - out_832953036043329844[21] = 0; - out_832953036043329844[22] = 0; - out_832953036043329844[23] = 0; - out_832953036043329844[24] = 0; - out_832953036043329844[25] = 0; - out_832953036043329844[26] = 0; - out_832953036043329844[27] = 0; - out_832953036043329844[28] = 0; - out_832953036043329844[29] = 0; - out_832953036043329844[30] = 1; - out_832953036043329844[31] = 0; - out_832953036043329844[32] = 0; - out_832953036043329844[33] = 0; - out_832953036043329844[34] = 0; - out_832953036043329844[35] = 0; - out_832953036043329844[36] = 0; - out_832953036043329844[37] = 0; - out_832953036043329844[38] = 0; - out_832953036043329844[39] = 0; - out_832953036043329844[40] = 1; - out_832953036043329844[41] = 0; - out_832953036043329844[42] = 0; - out_832953036043329844[43] = 0; - out_832953036043329844[44] = 0; - out_832953036043329844[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_832953036043329844[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_832953036043329844[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_832953036043329844[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_832953036043329844[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_832953036043329844[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_832953036043329844[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_832953036043329844[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_832953036043329844[53] = -9.8100000000000005*dt; - out_832953036043329844[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_832953036043329844[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_832953036043329844[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_832953036043329844[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_832953036043329844[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_832953036043329844[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_832953036043329844[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_832953036043329844[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_832953036043329844[62] = 0; - out_832953036043329844[63] = 0; - out_832953036043329844[64] = 0; - out_832953036043329844[65] = 0; - out_832953036043329844[66] = 0; - out_832953036043329844[67] = 0; - out_832953036043329844[68] = 0; - out_832953036043329844[69] = 0; - out_832953036043329844[70] = 1; - out_832953036043329844[71] = 0; - out_832953036043329844[72] = 0; - out_832953036043329844[73] = 0; - out_832953036043329844[74] = 0; - out_832953036043329844[75] = 0; - out_832953036043329844[76] = 0; - out_832953036043329844[77] = 0; - out_832953036043329844[78] = 0; - out_832953036043329844[79] = 0; - out_832953036043329844[80] = 1; +void F_fun(double *state, double dt, double *out_6132820248099245599) { + out_6132820248099245599[0] = 1; + out_6132820248099245599[1] = 0; + out_6132820248099245599[2] = 0; + out_6132820248099245599[3] = 0; + out_6132820248099245599[4] = 0; + out_6132820248099245599[5] = 0; + out_6132820248099245599[6] = 0; + out_6132820248099245599[7] = 0; + out_6132820248099245599[8] = 0; + out_6132820248099245599[9] = 0; + out_6132820248099245599[10] = 1; + out_6132820248099245599[11] = 0; + out_6132820248099245599[12] = 0; + out_6132820248099245599[13] = 0; + out_6132820248099245599[14] = 0; + out_6132820248099245599[15] = 0; + out_6132820248099245599[16] = 0; + out_6132820248099245599[17] = 0; + out_6132820248099245599[18] = 0; + out_6132820248099245599[19] = 0; + out_6132820248099245599[20] = 1; + out_6132820248099245599[21] = 0; + out_6132820248099245599[22] = 0; + out_6132820248099245599[23] = 0; + out_6132820248099245599[24] = 0; + out_6132820248099245599[25] = 0; + out_6132820248099245599[26] = 0; + out_6132820248099245599[27] = 0; + out_6132820248099245599[28] = 0; + out_6132820248099245599[29] = 0; + out_6132820248099245599[30] = 1; + out_6132820248099245599[31] = 0; + out_6132820248099245599[32] = 0; + out_6132820248099245599[33] = 0; + out_6132820248099245599[34] = 0; + out_6132820248099245599[35] = 0; + out_6132820248099245599[36] = 0; + out_6132820248099245599[37] = 0; + out_6132820248099245599[38] = 0; + out_6132820248099245599[39] = 0; + out_6132820248099245599[40] = 1; + out_6132820248099245599[41] = 0; + out_6132820248099245599[42] = 0; + out_6132820248099245599[43] = 0; + out_6132820248099245599[44] = 0; + out_6132820248099245599[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_6132820248099245599[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6132820248099245599[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6132820248099245599[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6132820248099245599[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_6132820248099245599[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6132820248099245599[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6132820248099245599[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6132820248099245599[53] = -9.8100000000000005*dt; + out_6132820248099245599[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_6132820248099245599[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6132820248099245599[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6132820248099245599[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6132820248099245599[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_6132820248099245599[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6132820248099245599[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_6132820248099245599[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6132820248099245599[62] = 0; + out_6132820248099245599[63] = 0; + out_6132820248099245599[64] = 0; + out_6132820248099245599[65] = 0; + out_6132820248099245599[66] = 0; + out_6132820248099245599[67] = 0; + out_6132820248099245599[68] = 0; + out_6132820248099245599[69] = 0; + out_6132820248099245599[70] = 1; + out_6132820248099245599[71] = 0; + out_6132820248099245599[72] = 0; + out_6132820248099245599[73] = 0; + out_6132820248099245599[74] = 0; + out_6132820248099245599[75] = 0; + out_6132820248099245599[76] = 0; + out_6132820248099245599[77] = 0; + out_6132820248099245599[78] = 0; + out_6132820248099245599[79] = 0; + out_6132820248099245599[80] = 1; } -void h_25(double *state, double *unused, double *out_6217004965884737485) { - out_6217004965884737485[0] = state[6]; +void h_25(double *state, double *unused, double *out_8954572363719808224) { + out_8954572363719808224[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2113399649170070232) { - out_2113399649170070232[0] = 0; - out_2113399649170070232[1] = 0; - out_2113399649170070232[2] = 0; - out_2113399649170070232[3] = 0; - out_2113399649170070232[4] = 0; - out_2113399649170070232[5] = 0; - out_2113399649170070232[6] = 1; - out_2113399649170070232[7] = 0; - out_2113399649170070232[8] = 0; +void H_25(double *state, double *unused, double *out_6260718398425197318) { + out_6260718398425197318[0] = 0; + out_6260718398425197318[1] = 0; + out_6260718398425197318[2] = 0; + out_6260718398425197318[3] = 0; + out_6260718398425197318[4] = 0; + out_6260718398425197318[5] = 0; + out_6260718398425197318[6] = 1; + out_6260718398425197318[7] = 0; + out_6260718398425197318[8] = 0; } -void h_24(double *state, double *unused, double *out_724420575405524496) { - out_724420575405524496[0] = state[4]; - out_724420575405524496[1] = state[5]; +void h_24(double *state, double *unused, double *out_573451915361062774) { + out_573451915361062774[0] = state[4]; + out_573451915361062774[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2755415215857636620) { - out_2755415215857636620[0] = 0; - out_2755415215857636620[1] = 0; - out_2755415215857636620[2] = 0; - out_2755415215857636620[3] = 0; - out_2755415215857636620[4] = 1; - out_2755415215857636620[5] = 0; - out_2755415215857636620[6] = 0; - out_2755415215857636620[7] = 0; - out_2755415215857636620[8] = 0; - out_2755415215857636620[9] = 0; - out_2755415215857636620[10] = 0; - out_2755415215857636620[11] = 0; - out_2755415215857636620[12] = 0; - out_2755415215857636620[13] = 0; - out_2755415215857636620[14] = 1; - out_2755415215857636620[15] = 0; - out_2755415215857636620[16] = 0; - out_2755415215857636620[17] = 0; +void H_24(double *state, double *unused, double *out_8433367997430696884) { + out_8433367997430696884[0] = 0; + out_8433367997430696884[1] = 0; + out_8433367997430696884[2] = 0; + out_8433367997430696884[3] = 0; + out_8433367997430696884[4] = 1; + out_8433367997430696884[5] = 0; + out_8433367997430696884[6] = 0; + out_8433367997430696884[7] = 0; + out_8433367997430696884[8] = 0; + out_8433367997430696884[9] = 0; + out_8433367997430696884[10] = 0; + out_8433367997430696884[11] = 0; + out_8433367997430696884[12] = 0; + out_8433367997430696884[13] = 0; + out_8433367997430696884[14] = 1; + out_8433367997430696884[15] = 0; + out_8433367997430696884[16] = 0; + out_8433367997430696884[17] = 0; } -void h_30(double *state, double *unused, double *out_5458903881474463195) { - out_5458903881474463195[0] = state[4]; +void h_30(double *state, double *unused, double *out_995511028726003400) { + out_995511028726003400[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2414296680957537966) { - out_2414296680957537966[0] = 0; - out_2414296680957537966[1] = 0; - out_2414296680957537966[2] = 0; - out_2414296680957537966[3] = 0; - out_2414296680957537966[4] = 1; - out_2414296680957537966[5] = 0; - out_2414296680957537966[6] = 0; - out_2414296680957537966[7] = 0; - out_2414296680957537966[8] = 0; +void H_30(double *state, double *unused, double *out_655971943066419437) { + out_655971943066419437[0] = 0; + out_655971943066419437[1] = 0; + out_655971943066419437[2] = 0; + out_655971943066419437[3] = 0; + out_655971943066419437[4] = 1; + out_655971943066419437[5] = 0; + out_655971943066419437[6] = 0; + out_655971943066419437[7] = 0; + out_655971943066419437[8] = 0; } -void h_26(double *state, double *unused, double *out_7645972956349057858) { - out_7645972956349057858[0] = state[7]; +void h_26(double *state, double *unused, double *out_8430654463154704213) { + out_8430654463154704213[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1628103669703985992) { - out_1628103669703985992[0] = 0; - out_1628103669703985992[1] = 0; - out_1628103669703985992[2] = 0; - out_1628103669703985992[3] = 0; - out_1628103669703985992[4] = 0; - out_1628103669703985992[5] = 0; - out_1628103669703985992[6] = 0; - out_1628103669703985992[7] = 1; - out_1628103669703985992[8] = 0; +void H_26(double *state, double *unused, double *out_8444522356410298074) { + out_8444522356410298074[0] = 0; + out_8444522356410298074[1] = 0; + out_8444522356410298074[2] = 0; + out_8444522356410298074[3] = 0; + out_8444522356410298074[4] = 0; + out_8444522356410298074[5] = 0; + out_8444522356410298074[6] = 0; + out_8444522356410298074[7] = 1; + out_8444522356410298074[8] = 0; } -void h_27(double *state, double *unused, double *out_2579304498381259655) { - out_2579304498381259655[0] = state[3]; +void h_27(double *state, double *unused, double *out_8548661857088080957) { + out_8548661857088080957[0] = state[3]; } -void H_27(double *state, double *unused, double *out_190702609773594749) { - out_190702609773594749[0] = 0; - out_190702609773594749[1] = 0; - out_190702609773594749[2] = 0; - out_190702609773594749[3] = 1; - out_190702609773594749[4] = 0; - out_190702609773594749[5] = 0; - out_190702609773594749[6] = 0; - out_190702609773594749[7] = 0; - out_190702609773594749[8] = 0; +void H_27(double *state, double *unused, double *out_1518791368734005474) { + out_1518791368734005474[0] = 0; + out_1518791368734005474[1] = 0; + out_1518791368734005474[2] = 0; + out_1518791368734005474[3] = 1; + out_1518791368734005474[4] = 0; + out_1518791368734005474[5] = 0; + out_1518791368734005474[6] = 0; + out_1518791368734005474[7] = 0; + out_1518791368734005474[8] = 0; } -void h_29(double *state, double *unused, double *out_7986166924574242776) { - out_7986166924574242776[0] = state[1]; +void h_29(double *state, double *unused, double *out_589055427595770225) { + out_589055427595770225[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1904065336643145782) { - out_1904065336643145782[0] = 0; - out_1904065336643145782[1] = 1; - out_1904065336643145782[2] = 0; - out_1904065336643145782[3] = 0; - out_1904065336643145782[4] = 0; - out_1904065336643145782[5] = 0; - out_1904065336643145782[6] = 0; - out_1904065336643145782[7] = 0; - out_1904065336643145782[8] = 0; +void H_29(double *state, double *unused, double *out_3232154095603556507) { + out_3232154095603556507[0] = 0; + out_3232154095603556507[1] = 1; + out_3232154095603556507[2] = 0; + out_3232154095603556507[3] = 0; + out_3232154095603556507[4] = 0; + out_3232154095603556507[5] = 0; + out_3232154095603556507[6] = 0; + out_3232154095603556507[7] = 0; + out_3232154095603556507[8] = 0; } -void h_28(double *state, double *unused, double *out_3819737019032589491) { - out_3819737019032589491[0] = state[0]; +void h_28(double *state, double *unused, double *out_7867012193673341893) { + out_7867012193673341893[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6986464353712676356) { - out_6986464353712676356[0] = 1; - out_6986464353712676356[1] = 0; - out_6986464353712676356[2] = 0; - out_6986464353712676356[3] = 0; - out_6986464353712676356[4] = 0; - out_6986464353712676356[5] = 0; - out_6986464353712676356[6] = 0; - out_6986464353712676356[7] = 0; - out_6986464353712676356[8] = 0; +void H_28(double *state, double *unused, double *out_8314553112673087081) { + out_8314553112673087081[0] = 1; + out_8314553112673087081[1] = 0; + out_8314553112673087081[2] = 0; + out_8314553112673087081[3] = 0; + out_8314553112673087081[4] = 0; + out_8314553112673087081[5] = 0; + out_8314553112673087081[6] = 0; + out_8314553112673087081[7] = 0; + out_8314553112673087081[8] = 0; } -void h_31(double *state, double *unused, double *out_6059818297533608340) { - out_6059818297533608340[0] = state[8]; +void h_31(double *state, double *unused, double *out_2027016737343401600) { + out_2027016737343401600[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2254311771937337468) { - out_2254311771937337468[0] = 0; - out_2254311771937337468[1] = 0; - out_2254311771937337468[2] = 0; - out_2254311771937337468[3] = 0; - out_2254311771937337468[4] = 0; - out_2254311771937337468[5] = 0; - out_2254311771937337468[6] = 0; - out_2254311771937337468[7] = 0; - out_2254311771937337468[8] = 1; +void H_31(double *state, double *unused, double *out_6230072436548236890) { + out_6230072436548236890[0] = 0; + out_6230072436548236890[1] = 0; + out_6230072436548236890[2] = 0; + out_6230072436548236890[3] = 0; + out_6230072436548236890[4] = 0; + out_6230072436548236890[5] = 0; + out_6230072436548236890[6] = 0; + out_6230072436548236890[7] = 0; + out_6230072436548236890[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_395710906661730109) { - err_fun(nom_x, delta_x, out_395710906661730109); +void car_err_fun(double *nom_x, double *delta_x, double *out_5232047554535600109) { + err_fun(nom_x, delta_x, out_5232047554535600109); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6370952191766860566) { - inv_err_fun(nom_x, true_x, out_6370952191766860566); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5926361318328117466) { + inv_err_fun(nom_x, true_x, out_5926361318328117466); } -void car_H_mod_fun(double *state, double *out_8610422609060100183) { - H_mod_fun(state, out_8610422609060100183); +void car_H_mod_fun(double *state, double *out_8663045025294862621) { + H_mod_fun(state, out_8663045025294862621); } -void car_f_fun(double *state, double dt, double *out_7209711513462721716) { - f_fun(state, dt, out_7209711513462721716); +void car_f_fun(double *state, double dt, double *out_4712382669747920854) { + f_fun(state, dt, out_4712382669747920854); } -void car_F_fun(double *state, double dt, double *out_832953036043329844) { - F_fun(state, dt, out_832953036043329844); +void car_F_fun(double *state, double dt, double *out_6132820248099245599) { + F_fun(state, dt, out_6132820248099245599); } -void car_h_25(double *state, double *unused, double *out_6217004965884737485) { - h_25(state, unused, out_6217004965884737485); +void car_h_25(double *state, double *unused, double *out_8954572363719808224) { + h_25(state, unused, out_8954572363719808224); } -void car_H_25(double *state, double *unused, double *out_2113399649170070232) { - H_25(state, unused, out_2113399649170070232); +void car_H_25(double *state, double *unused, double *out_6260718398425197318) { + H_25(state, unused, out_6260718398425197318); } -void car_h_24(double *state, double *unused, double *out_724420575405524496) { - h_24(state, unused, out_724420575405524496); +void car_h_24(double *state, double *unused, double *out_573451915361062774) { + h_24(state, unused, out_573451915361062774); } -void car_H_24(double *state, double *unused, double *out_2755415215857636620) { - H_24(state, unused, out_2755415215857636620); +void car_H_24(double *state, double *unused, double *out_8433367997430696884) { + H_24(state, unused, out_8433367997430696884); } -void car_h_30(double *state, double *unused, double *out_5458903881474463195) { - h_30(state, unused, out_5458903881474463195); +void car_h_30(double *state, double *unused, double *out_995511028726003400) { + h_30(state, unused, out_995511028726003400); } -void car_H_30(double *state, double *unused, double *out_2414296680957537966) { - H_30(state, unused, out_2414296680957537966); +void car_H_30(double *state, double *unused, double *out_655971943066419437) { + H_30(state, unused, out_655971943066419437); } -void car_h_26(double *state, double *unused, double *out_7645972956349057858) { - h_26(state, unused, out_7645972956349057858); +void car_h_26(double *state, double *unused, double *out_8430654463154704213) { + h_26(state, unused, out_8430654463154704213); } -void car_H_26(double *state, double *unused, double *out_1628103669703985992) { - H_26(state, unused, out_1628103669703985992); +void car_H_26(double *state, double *unused, double *out_8444522356410298074) { + H_26(state, unused, out_8444522356410298074); } -void car_h_27(double *state, double *unused, double *out_2579304498381259655) { - h_27(state, unused, out_2579304498381259655); +void car_h_27(double *state, double *unused, double *out_8548661857088080957) { + h_27(state, unused, out_8548661857088080957); } -void car_H_27(double *state, double *unused, double *out_190702609773594749) { - H_27(state, unused, out_190702609773594749); +void car_H_27(double *state, double *unused, double *out_1518791368734005474) { + H_27(state, unused, out_1518791368734005474); } -void car_h_29(double *state, double *unused, double *out_7986166924574242776) { - h_29(state, unused, out_7986166924574242776); +void car_h_29(double *state, double *unused, double *out_589055427595770225) { + h_29(state, unused, out_589055427595770225); } -void car_H_29(double *state, double *unused, double *out_1904065336643145782) { - H_29(state, unused, out_1904065336643145782); +void car_H_29(double *state, double *unused, double *out_3232154095603556507) { + H_29(state, unused, out_3232154095603556507); } -void car_h_28(double *state, double *unused, double *out_3819737019032589491) { - h_28(state, unused, out_3819737019032589491); +void car_h_28(double *state, double *unused, double *out_7867012193673341893) { + h_28(state, unused, out_7867012193673341893); } -void car_H_28(double *state, double *unused, double *out_6986464353712676356) { - H_28(state, unused, out_6986464353712676356); +void car_H_28(double *state, double *unused, double *out_8314553112673087081) { + H_28(state, unused, out_8314553112673087081); } -void car_h_31(double *state, double *unused, double *out_6059818297533608340) { - h_31(state, unused, out_6059818297533608340); +void car_h_31(double *state, double *unused, double *out_2027016737343401600) { + h_31(state, unused, out_2027016737343401600); } -void car_H_31(double *state, double *unused, double *out_2254311771937337468) { - H_31(state, unused, out_2254311771937337468); +void car_H_31(double *state, double *unused, double *out_6230072436548236890) { + H_31(state, unused, out_6230072436548236890); } 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 a8745b522..822c39660 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_395710906661730109); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6370952191766860566); -void car_H_mod_fun(double *state, double *out_8610422609060100183); -void car_f_fun(double *state, double dt, double *out_7209711513462721716); -void car_F_fun(double *state, double dt, double *out_832953036043329844); -void car_h_25(double *state, double *unused, double *out_6217004965884737485); -void car_H_25(double *state, double *unused, double *out_2113399649170070232); -void car_h_24(double *state, double *unused, double *out_724420575405524496); -void car_H_24(double *state, double *unused, double *out_2755415215857636620); -void car_h_30(double *state, double *unused, double *out_5458903881474463195); -void car_H_30(double *state, double *unused, double *out_2414296680957537966); -void car_h_26(double *state, double *unused, double *out_7645972956349057858); -void car_H_26(double *state, double *unused, double *out_1628103669703985992); -void car_h_27(double *state, double *unused, double *out_2579304498381259655); -void car_H_27(double *state, double *unused, double *out_190702609773594749); -void car_h_29(double *state, double *unused, double *out_7986166924574242776); -void car_H_29(double *state, double *unused, double *out_1904065336643145782); -void car_h_28(double *state, double *unused, double *out_3819737019032589491); -void car_H_28(double *state, double *unused, double *out_6986464353712676356); -void car_h_31(double *state, double *unused, double *out_6059818297533608340); -void car_H_31(double *state, double *unused, double *out_2254311771937337468); +void car_err_fun(double *nom_x, double *delta_x, double *out_5232047554535600109); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5926361318328117466); +void car_H_mod_fun(double *state, double *out_8663045025294862621); +void car_f_fun(double *state, double dt, double *out_4712382669747920854); +void car_F_fun(double *state, double dt, double *out_6132820248099245599); +void car_h_25(double *state, double *unused, double *out_8954572363719808224); +void car_H_25(double *state, double *unused, double *out_6260718398425197318); +void car_h_24(double *state, double *unused, double *out_573451915361062774); +void car_H_24(double *state, double *unused, double *out_8433367997430696884); +void car_h_30(double *state, double *unused, double *out_995511028726003400); +void car_H_30(double *state, double *unused, double *out_655971943066419437); +void car_h_26(double *state, double *unused, double *out_8430654463154704213); +void car_H_26(double *state, double *unused, double *out_8444522356410298074); +void car_h_27(double *state, double *unused, double *out_8548661857088080957); +void car_H_27(double *state, double *unused, double *out_1518791368734005474); +void car_h_29(double *state, double *unused, double *out_589055427595770225); +void car_H_29(double *state, double *unused, double *out_3232154095603556507); +void car_h_28(double *state, double *unused, double *out_7867012193673341893); +void car_H_28(double *state, double *unused, double *out_8314553112673087081); +void car_h_31(double *state, double *unused, double *out_2027016737343401600); +void car_H_31(double *state, double *unused, double *out_6230072436548236890); 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 565724cd0..b03c81f4f 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_3597460724364137401) { - out_3597460724364137401[0] = delta_x[0] + nom_x[0]; - out_3597460724364137401[1] = delta_x[1] + nom_x[1]; - out_3597460724364137401[2] = delta_x[2] + nom_x[2]; - out_3597460724364137401[3] = delta_x[3] + nom_x[3]; - out_3597460724364137401[4] = delta_x[4] + nom_x[4]; - out_3597460724364137401[5] = delta_x[5] + nom_x[5]; - out_3597460724364137401[6] = delta_x[6] + nom_x[6]; - out_3597460724364137401[7] = delta_x[7] + nom_x[7]; - out_3597460724364137401[8] = delta_x[8] + nom_x[8]; - out_3597460724364137401[9] = delta_x[9] + nom_x[9]; - out_3597460724364137401[10] = delta_x[10] + nom_x[10]; - out_3597460724364137401[11] = delta_x[11] + nom_x[11]; - out_3597460724364137401[12] = delta_x[12] + nom_x[12]; - out_3597460724364137401[13] = delta_x[13] + nom_x[13]; - out_3597460724364137401[14] = delta_x[14] + nom_x[14]; - out_3597460724364137401[15] = delta_x[15] + nom_x[15]; - out_3597460724364137401[16] = delta_x[16] + nom_x[16]; - out_3597460724364137401[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4038237010904669995) { + out_4038237010904669995[0] = delta_x[0] + nom_x[0]; + out_4038237010904669995[1] = delta_x[1] + nom_x[1]; + out_4038237010904669995[2] = delta_x[2] + nom_x[2]; + out_4038237010904669995[3] = delta_x[3] + nom_x[3]; + out_4038237010904669995[4] = delta_x[4] + nom_x[4]; + out_4038237010904669995[5] = delta_x[5] + nom_x[5]; + out_4038237010904669995[6] = delta_x[6] + nom_x[6]; + out_4038237010904669995[7] = delta_x[7] + nom_x[7]; + out_4038237010904669995[8] = delta_x[8] + nom_x[8]; + out_4038237010904669995[9] = delta_x[9] + nom_x[9]; + out_4038237010904669995[10] = delta_x[10] + nom_x[10]; + out_4038237010904669995[11] = delta_x[11] + nom_x[11]; + out_4038237010904669995[12] = delta_x[12] + nom_x[12]; + out_4038237010904669995[13] = delta_x[13] + nom_x[13]; + out_4038237010904669995[14] = delta_x[14] + nom_x[14]; + out_4038237010904669995[15] = delta_x[15] + nom_x[15]; + out_4038237010904669995[16] = delta_x[16] + nom_x[16]; + out_4038237010904669995[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1062002485999931142) { - out_1062002485999931142[0] = -nom_x[0] + true_x[0]; - out_1062002485999931142[1] = -nom_x[1] + true_x[1]; - out_1062002485999931142[2] = -nom_x[2] + true_x[2]; - out_1062002485999931142[3] = -nom_x[3] + true_x[3]; - out_1062002485999931142[4] = -nom_x[4] + true_x[4]; - out_1062002485999931142[5] = -nom_x[5] + true_x[5]; - out_1062002485999931142[6] = -nom_x[6] + true_x[6]; - out_1062002485999931142[7] = -nom_x[7] + true_x[7]; - out_1062002485999931142[8] = -nom_x[8] + true_x[8]; - out_1062002485999931142[9] = -nom_x[9] + true_x[9]; - out_1062002485999931142[10] = -nom_x[10] + true_x[10]; - out_1062002485999931142[11] = -nom_x[11] + true_x[11]; - out_1062002485999931142[12] = -nom_x[12] + true_x[12]; - out_1062002485999931142[13] = -nom_x[13] + true_x[13]; - out_1062002485999931142[14] = -nom_x[14] + true_x[14]; - out_1062002485999931142[15] = -nom_x[15] + true_x[15]; - out_1062002485999931142[16] = -nom_x[16] + true_x[16]; - out_1062002485999931142[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2572217743337337909) { + out_2572217743337337909[0] = -nom_x[0] + true_x[0]; + out_2572217743337337909[1] = -nom_x[1] + true_x[1]; + out_2572217743337337909[2] = -nom_x[2] + true_x[2]; + out_2572217743337337909[3] = -nom_x[3] + true_x[3]; + out_2572217743337337909[4] = -nom_x[4] + true_x[4]; + out_2572217743337337909[5] = -nom_x[5] + true_x[5]; + out_2572217743337337909[6] = -nom_x[6] + true_x[6]; + out_2572217743337337909[7] = -nom_x[7] + true_x[7]; + out_2572217743337337909[8] = -nom_x[8] + true_x[8]; + out_2572217743337337909[9] = -nom_x[9] + true_x[9]; + out_2572217743337337909[10] = -nom_x[10] + true_x[10]; + out_2572217743337337909[11] = -nom_x[11] + true_x[11]; + out_2572217743337337909[12] = -nom_x[12] + true_x[12]; + out_2572217743337337909[13] = -nom_x[13] + true_x[13]; + out_2572217743337337909[14] = -nom_x[14] + true_x[14]; + out_2572217743337337909[15] = -nom_x[15] + true_x[15]; + out_2572217743337337909[16] = -nom_x[16] + true_x[16]; + out_2572217743337337909[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4662972867475177241) { - out_4662972867475177241[0] = 1.0; - out_4662972867475177241[1] = 0.0; - out_4662972867475177241[2] = 0.0; - out_4662972867475177241[3] = 0.0; - out_4662972867475177241[4] = 0.0; - out_4662972867475177241[5] = 0.0; - out_4662972867475177241[6] = 0.0; - out_4662972867475177241[7] = 0.0; - out_4662972867475177241[8] = 0.0; - out_4662972867475177241[9] = 0.0; - out_4662972867475177241[10] = 0.0; - out_4662972867475177241[11] = 0.0; - out_4662972867475177241[12] = 0.0; - out_4662972867475177241[13] = 0.0; - out_4662972867475177241[14] = 0.0; - out_4662972867475177241[15] = 0.0; - out_4662972867475177241[16] = 0.0; - out_4662972867475177241[17] = 0.0; - out_4662972867475177241[18] = 0.0; - out_4662972867475177241[19] = 1.0; - out_4662972867475177241[20] = 0.0; - out_4662972867475177241[21] = 0.0; - out_4662972867475177241[22] = 0.0; - out_4662972867475177241[23] = 0.0; - out_4662972867475177241[24] = 0.0; - out_4662972867475177241[25] = 0.0; - out_4662972867475177241[26] = 0.0; - out_4662972867475177241[27] = 0.0; - out_4662972867475177241[28] = 0.0; - out_4662972867475177241[29] = 0.0; - out_4662972867475177241[30] = 0.0; - out_4662972867475177241[31] = 0.0; - out_4662972867475177241[32] = 0.0; - out_4662972867475177241[33] = 0.0; - out_4662972867475177241[34] = 0.0; - out_4662972867475177241[35] = 0.0; - out_4662972867475177241[36] = 0.0; - out_4662972867475177241[37] = 0.0; - out_4662972867475177241[38] = 1.0; - out_4662972867475177241[39] = 0.0; - out_4662972867475177241[40] = 0.0; - out_4662972867475177241[41] = 0.0; - out_4662972867475177241[42] = 0.0; - out_4662972867475177241[43] = 0.0; - out_4662972867475177241[44] = 0.0; - out_4662972867475177241[45] = 0.0; - out_4662972867475177241[46] = 0.0; - out_4662972867475177241[47] = 0.0; - out_4662972867475177241[48] = 0.0; - out_4662972867475177241[49] = 0.0; - out_4662972867475177241[50] = 0.0; - out_4662972867475177241[51] = 0.0; - out_4662972867475177241[52] = 0.0; - out_4662972867475177241[53] = 0.0; - out_4662972867475177241[54] = 0.0; - out_4662972867475177241[55] = 0.0; - out_4662972867475177241[56] = 0.0; - out_4662972867475177241[57] = 1.0; - out_4662972867475177241[58] = 0.0; - out_4662972867475177241[59] = 0.0; - out_4662972867475177241[60] = 0.0; - out_4662972867475177241[61] = 0.0; - out_4662972867475177241[62] = 0.0; - out_4662972867475177241[63] = 0.0; - out_4662972867475177241[64] = 0.0; - out_4662972867475177241[65] = 0.0; - out_4662972867475177241[66] = 0.0; - out_4662972867475177241[67] = 0.0; - out_4662972867475177241[68] = 0.0; - out_4662972867475177241[69] = 0.0; - out_4662972867475177241[70] = 0.0; - out_4662972867475177241[71] = 0.0; - out_4662972867475177241[72] = 0.0; - out_4662972867475177241[73] = 0.0; - out_4662972867475177241[74] = 0.0; - out_4662972867475177241[75] = 0.0; - out_4662972867475177241[76] = 1.0; - out_4662972867475177241[77] = 0.0; - out_4662972867475177241[78] = 0.0; - out_4662972867475177241[79] = 0.0; - out_4662972867475177241[80] = 0.0; - out_4662972867475177241[81] = 0.0; - out_4662972867475177241[82] = 0.0; - out_4662972867475177241[83] = 0.0; - out_4662972867475177241[84] = 0.0; - out_4662972867475177241[85] = 0.0; - out_4662972867475177241[86] = 0.0; - out_4662972867475177241[87] = 0.0; - out_4662972867475177241[88] = 0.0; - out_4662972867475177241[89] = 0.0; - out_4662972867475177241[90] = 0.0; - out_4662972867475177241[91] = 0.0; - out_4662972867475177241[92] = 0.0; - out_4662972867475177241[93] = 0.0; - out_4662972867475177241[94] = 0.0; - out_4662972867475177241[95] = 1.0; - out_4662972867475177241[96] = 0.0; - out_4662972867475177241[97] = 0.0; - out_4662972867475177241[98] = 0.0; - out_4662972867475177241[99] = 0.0; - out_4662972867475177241[100] = 0.0; - out_4662972867475177241[101] = 0.0; - out_4662972867475177241[102] = 0.0; - out_4662972867475177241[103] = 0.0; - out_4662972867475177241[104] = 0.0; - out_4662972867475177241[105] = 0.0; - out_4662972867475177241[106] = 0.0; - out_4662972867475177241[107] = 0.0; - out_4662972867475177241[108] = 0.0; - out_4662972867475177241[109] = 0.0; - out_4662972867475177241[110] = 0.0; - out_4662972867475177241[111] = 0.0; - out_4662972867475177241[112] = 0.0; - out_4662972867475177241[113] = 0.0; - out_4662972867475177241[114] = 1.0; - out_4662972867475177241[115] = 0.0; - out_4662972867475177241[116] = 0.0; - out_4662972867475177241[117] = 0.0; - out_4662972867475177241[118] = 0.0; - out_4662972867475177241[119] = 0.0; - out_4662972867475177241[120] = 0.0; - out_4662972867475177241[121] = 0.0; - out_4662972867475177241[122] = 0.0; - out_4662972867475177241[123] = 0.0; - out_4662972867475177241[124] = 0.0; - out_4662972867475177241[125] = 0.0; - out_4662972867475177241[126] = 0.0; - out_4662972867475177241[127] = 0.0; - out_4662972867475177241[128] = 0.0; - out_4662972867475177241[129] = 0.0; - out_4662972867475177241[130] = 0.0; - out_4662972867475177241[131] = 0.0; - out_4662972867475177241[132] = 0.0; - out_4662972867475177241[133] = 1.0; - out_4662972867475177241[134] = 0.0; - out_4662972867475177241[135] = 0.0; - out_4662972867475177241[136] = 0.0; - out_4662972867475177241[137] = 0.0; - out_4662972867475177241[138] = 0.0; - out_4662972867475177241[139] = 0.0; - out_4662972867475177241[140] = 0.0; - out_4662972867475177241[141] = 0.0; - out_4662972867475177241[142] = 0.0; - out_4662972867475177241[143] = 0.0; - out_4662972867475177241[144] = 0.0; - out_4662972867475177241[145] = 0.0; - out_4662972867475177241[146] = 0.0; - out_4662972867475177241[147] = 0.0; - out_4662972867475177241[148] = 0.0; - out_4662972867475177241[149] = 0.0; - out_4662972867475177241[150] = 0.0; - out_4662972867475177241[151] = 0.0; - out_4662972867475177241[152] = 1.0; - out_4662972867475177241[153] = 0.0; - out_4662972867475177241[154] = 0.0; - out_4662972867475177241[155] = 0.0; - out_4662972867475177241[156] = 0.0; - out_4662972867475177241[157] = 0.0; - out_4662972867475177241[158] = 0.0; - out_4662972867475177241[159] = 0.0; - out_4662972867475177241[160] = 0.0; - out_4662972867475177241[161] = 0.0; - out_4662972867475177241[162] = 0.0; - out_4662972867475177241[163] = 0.0; - out_4662972867475177241[164] = 0.0; - out_4662972867475177241[165] = 0.0; - out_4662972867475177241[166] = 0.0; - out_4662972867475177241[167] = 0.0; - out_4662972867475177241[168] = 0.0; - out_4662972867475177241[169] = 0.0; - out_4662972867475177241[170] = 0.0; - out_4662972867475177241[171] = 1.0; - out_4662972867475177241[172] = 0.0; - out_4662972867475177241[173] = 0.0; - out_4662972867475177241[174] = 0.0; - out_4662972867475177241[175] = 0.0; - out_4662972867475177241[176] = 0.0; - out_4662972867475177241[177] = 0.0; - out_4662972867475177241[178] = 0.0; - out_4662972867475177241[179] = 0.0; - out_4662972867475177241[180] = 0.0; - out_4662972867475177241[181] = 0.0; - out_4662972867475177241[182] = 0.0; - out_4662972867475177241[183] = 0.0; - out_4662972867475177241[184] = 0.0; - out_4662972867475177241[185] = 0.0; - out_4662972867475177241[186] = 0.0; - out_4662972867475177241[187] = 0.0; - out_4662972867475177241[188] = 0.0; - out_4662972867475177241[189] = 0.0; - out_4662972867475177241[190] = 1.0; - out_4662972867475177241[191] = 0.0; - out_4662972867475177241[192] = 0.0; - out_4662972867475177241[193] = 0.0; - out_4662972867475177241[194] = 0.0; - out_4662972867475177241[195] = 0.0; - out_4662972867475177241[196] = 0.0; - out_4662972867475177241[197] = 0.0; - out_4662972867475177241[198] = 0.0; - out_4662972867475177241[199] = 0.0; - out_4662972867475177241[200] = 0.0; - out_4662972867475177241[201] = 0.0; - out_4662972867475177241[202] = 0.0; - out_4662972867475177241[203] = 0.0; - out_4662972867475177241[204] = 0.0; - out_4662972867475177241[205] = 0.0; - out_4662972867475177241[206] = 0.0; - out_4662972867475177241[207] = 0.0; - out_4662972867475177241[208] = 0.0; - out_4662972867475177241[209] = 1.0; - out_4662972867475177241[210] = 0.0; - out_4662972867475177241[211] = 0.0; - out_4662972867475177241[212] = 0.0; - out_4662972867475177241[213] = 0.0; - out_4662972867475177241[214] = 0.0; - out_4662972867475177241[215] = 0.0; - out_4662972867475177241[216] = 0.0; - out_4662972867475177241[217] = 0.0; - out_4662972867475177241[218] = 0.0; - out_4662972867475177241[219] = 0.0; - out_4662972867475177241[220] = 0.0; - out_4662972867475177241[221] = 0.0; - out_4662972867475177241[222] = 0.0; - out_4662972867475177241[223] = 0.0; - out_4662972867475177241[224] = 0.0; - out_4662972867475177241[225] = 0.0; - out_4662972867475177241[226] = 0.0; - out_4662972867475177241[227] = 0.0; - out_4662972867475177241[228] = 1.0; - out_4662972867475177241[229] = 0.0; - out_4662972867475177241[230] = 0.0; - out_4662972867475177241[231] = 0.0; - out_4662972867475177241[232] = 0.0; - out_4662972867475177241[233] = 0.0; - out_4662972867475177241[234] = 0.0; - out_4662972867475177241[235] = 0.0; - out_4662972867475177241[236] = 0.0; - out_4662972867475177241[237] = 0.0; - out_4662972867475177241[238] = 0.0; - out_4662972867475177241[239] = 0.0; - out_4662972867475177241[240] = 0.0; - out_4662972867475177241[241] = 0.0; - out_4662972867475177241[242] = 0.0; - out_4662972867475177241[243] = 0.0; - out_4662972867475177241[244] = 0.0; - out_4662972867475177241[245] = 0.0; - out_4662972867475177241[246] = 0.0; - out_4662972867475177241[247] = 1.0; - out_4662972867475177241[248] = 0.0; - out_4662972867475177241[249] = 0.0; - out_4662972867475177241[250] = 0.0; - out_4662972867475177241[251] = 0.0; - out_4662972867475177241[252] = 0.0; - out_4662972867475177241[253] = 0.0; - out_4662972867475177241[254] = 0.0; - out_4662972867475177241[255] = 0.0; - out_4662972867475177241[256] = 0.0; - out_4662972867475177241[257] = 0.0; - out_4662972867475177241[258] = 0.0; - out_4662972867475177241[259] = 0.0; - out_4662972867475177241[260] = 0.0; - out_4662972867475177241[261] = 0.0; - out_4662972867475177241[262] = 0.0; - out_4662972867475177241[263] = 0.0; - out_4662972867475177241[264] = 0.0; - out_4662972867475177241[265] = 0.0; - out_4662972867475177241[266] = 1.0; - out_4662972867475177241[267] = 0.0; - out_4662972867475177241[268] = 0.0; - out_4662972867475177241[269] = 0.0; - out_4662972867475177241[270] = 0.0; - out_4662972867475177241[271] = 0.0; - out_4662972867475177241[272] = 0.0; - out_4662972867475177241[273] = 0.0; - out_4662972867475177241[274] = 0.0; - out_4662972867475177241[275] = 0.0; - out_4662972867475177241[276] = 0.0; - out_4662972867475177241[277] = 0.0; - out_4662972867475177241[278] = 0.0; - out_4662972867475177241[279] = 0.0; - out_4662972867475177241[280] = 0.0; - out_4662972867475177241[281] = 0.0; - out_4662972867475177241[282] = 0.0; - out_4662972867475177241[283] = 0.0; - out_4662972867475177241[284] = 0.0; - out_4662972867475177241[285] = 1.0; - out_4662972867475177241[286] = 0.0; - out_4662972867475177241[287] = 0.0; - out_4662972867475177241[288] = 0.0; - out_4662972867475177241[289] = 0.0; - out_4662972867475177241[290] = 0.0; - out_4662972867475177241[291] = 0.0; - out_4662972867475177241[292] = 0.0; - out_4662972867475177241[293] = 0.0; - out_4662972867475177241[294] = 0.0; - out_4662972867475177241[295] = 0.0; - out_4662972867475177241[296] = 0.0; - out_4662972867475177241[297] = 0.0; - out_4662972867475177241[298] = 0.0; - out_4662972867475177241[299] = 0.0; - out_4662972867475177241[300] = 0.0; - out_4662972867475177241[301] = 0.0; - out_4662972867475177241[302] = 0.0; - out_4662972867475177241[303] = 0.0; - out_4662972867475177241[304] = 1.0; - out_4662972867475177241[305] = 0.0; - out_4662972867475177241[306] = 0.0; - out_4662972867475177241[307] = 0.0; - out_4662972867475177241[308] = 0.0; - out_4662972867475177241[309] = 0.0; - out_4662972867475177241[310] = 0.0; - out_4662972867475177241[311] = 0.0; - out_4662972867475177241[312] = 0.0; - out_4662972867475177241[313] = 0.0; - out_4662972867475177241[314] = 0.0; - out_4662972867475177241[315] = 0.0; - out_4662972867475177241[316] = 0.0; - out_4662972867475177241[317] = 0.0; - out_4662972867475177241[318] = 0.0; - out_4662972867475177241[319] = 0.0; - out_4662972867475177241[320] = 0.0; - out_4662972867475177241[321] = 0.0; - out_4662972867475177241[322] = 0.0; - out_4662972867475177241[323] = 1.0; +void H_mod_fun(double *state, double *out_362240871876916223) { + out_362240871876916223[0] = 1.0; + out_362240871876916223[1] = 0.0; + out_362240871876916223[2] = 0.0; + out_362240871876916223[3] = 0.0; + out_362240871876916223[4] = 0.0; + out_362240871876916223[5] = 0.0; + out_362240871876916223[6] = 0.0; + out_362240871876916223[7] = 0.0; + out_362240871876916223[8] = 0.0; + out_362240871876916223[9] = 0.0; + out_362240871876916223[10] = 0.0; + out_362240871876916223[11] = 0.0; + out_362240871876916223[12] = 0.0; + out_362240871876916223[13] = 0.0; + out_362240871876916223[14] = 0.0; + out_362240871876916223[15] = 0.0; + out_362240871876916223[16] = 0.0; + out_362240871876916223[17] = 0.0; + out_362240871876916223[18] = 0.0; + out_362240871876916223[19] = 1.0; + out_362240871876916223[20] = 0.0; + out_362240871876916223[21] = 0.0; + out_362240871876916223[22] = 0.0; + out_362240871876916223[23] = 0.0; + out_362240871876916223[24] = 0.0; + out_362240871876916223[25] = 0.0; + out_362240871876916223[26] = 0.0; + out_362240871876916223[27] = 0.0; + out_362240871876916223[28] = 0.0; + out_362240871876916223[29] = 0.0; + out_362240871876916223[30] = 0.0; + out_362240871876916223[31] = 0.0; + out_362240871876916223[32] = 0.0; + out_362240871876916223[33] = 0.0; + out_362240871876916223[34] = 0.0; + out_362240871876916223[35] = 0.0; + out_362240871876916223[36] = 0.0; + out_362240871876916223[37] = 0.0; + out_362240871876916223[38] = 1.0; + out_362240871876916223[39] = 0.0; + out_362240871876916223[40] = 0.0; + out_362240871876916223[41] = 0.0; + out_362240871876916223[42] = 0.0; + out_362240871876916223[43] = 0.0; + out_362240871876916223[44] = 0.0; + out_362240871876916223[45] = 0.0; + out_362240871876916223[46] = 0.0; + out_362240871876916223[47] = 0.0; + out_362240871876916223[48] = 0.0; + out_362240871876916223[49] = 0.0; + out_362240871876916223[50] = 0.0; + out_362240871876916223[51] = 0.0; + out_362240871876916223[52] = 0.0; + out_362240871876916223[53] = 0.0; + out_362240871876916223[54] = 0.0; + out_362240871876916223[55] = 0.0; + out_362240871876916223[56] = 0.0; + out_362240871876916223[57] = 1.0; + out_362240871876916223[58] = 0.0; + out_362240871876916223[59] = 0.0; + out_362240871876916223[60] = 0.0; + out_362240871876916223[61] = 0.0; + out_362240871876916223[62] = 0.0; + out_362240871876916223[63] = 0.0; + out_362240871876916223[64] = 0.0; + out_362240871876916223[65] = 0.0; + out_362240871876916223[66] = 0.0; + out_362240871876916223[67] = 0.0; + out_362240871876916223[68] = 0.0; + out_362240871876916223[69] = 0.0; + out_362240871876916223[70] = 0.0; + out_362240871876916223[71] = 0.0; + out_362240871876916223[72] = 0.0; + out_362240871876916223[73] = 0.0; + out_362240871876916223[74] = 0.0; + out_362240871876916223[75] = 0.0; + out_362240871876916223[76] = 1.0; + out_362240871876916223[77] = 0.0; + out_362240871876916223[78] = 0.0; + out_362240871876916223[79] = 0.0; + out_362240871876916223[80] = 0.0; + out_362240871876916223[81] = 0.0; + out_362240871876916223[82] = 0.0; + out_362240871876916223[83] = 0.0; + out_362240871876916223[84] = 0.0; + out_362240871876916223[85] = 0.0; + out_362240871876916223[86] = 0.0; + out_362240871876916223[87] = 0.0; + out_362240871876916223[88] = 0.0; + out_362240871876916223[89] = 0.0; + out_362240871876916223[90] = 0.0; + out_362240871876916223[91] = 0.0; + out_362240871876916223[92] = 0.0; + out_362240871876916223[93] = 0.0; + out_362240871876916223[94] = 0.0; + out_362240871876916223[95] = 1.0; + out_362240871876916223[96] = 0.0; + out_362240871876916223[97] = 0.0; + out_362240871876916223[98] = 0.0; + out_362240871876916223[99] = 0.0; + out_362240871876916223[100] = 0.0; + out_362240871876916223[101] = 0.0; + out_362240871876916223[102] = 0.0; + out_362240871876916223[103] = 0.0; + out_362240871876916223[104] = 0.0; + out_362240871876916223[105] = 0.0; + out_362240871876916223[106] = 0.0; + out_362240871876916223[107] = 0.0; + out_362240871876916223[108] = 0.0; + out_362240871876916223[109] = 0.0; + out_362240871876916223[110] = 0.0; + out_362240871876916223[111] = 0.0; + out_362240871876916223[112] = 0.0; + out_362240871876916223[113] = 0.0; + out_362240871876916223[114] = 1.0; + out_362240871876916223[115] = 0.0; + out_362240871876916223[116] = 0.0; + out_362240871876916223[117] = 0.0; + out_362240871876916223[118] = 0.0; + out_362240871876916223[119] = 0.0; + out_362240871876916223[120] = 0.0; + out_362240871876916223[121] = 0.0; + out_362240871876916223[122] = 0.0; + out_362240871876916223[123] = 0.0; + out_362240871876916223[124] = 0.0; + out_362240871876916223[125] = 0.0; + out_362240871876916223[126] = 0.0; + out_362240871876916223[127] = 0.0; + out_362240871876916223[128] = 0.0; + out_362240871876916223[129] = 0.0; + out_362240871876916223[130] = 0.0; + out_362240871876916223[131] = 0.0; + out_362240871876916223[132] = 0.0; + out_362240871876916223[133] = 1.0; + out_362240871876916223[134] = 0.0; + out_362240871876916223[135] = 0.0; + out_362240871876916223[136] = 0.0; + out_362240871876916223[137] = 0.0; + out_362240871876916223[138] = 0.0; + out_362240871876916223[139] = 0.0; + out_362240871876916223[140] = 0.0; + out_362240871876916223[141] = 0.0; + out_362240871876916223[142] = 0.0; + out_362240871876916223[143] = 0.0; + out_362240871876916223[144] = 0.0; + out_362240871876916223[145] = 0.0; + out_362240871876916223[146] = 0.0; + out_362240871876916223[147] = 0.0; + out_362240871876916223[148] = 0.0; + out_362240871876916223[149] = 0.0; + out_362240871876916223[150] = 0.0; + out_362240871876916223[151] = 0.0; + out_362240871876916223[152] = 1.0; + out_362240871876916223[153] = 0.0; + out_362240871876916223[154] = 0.0; + out_362240871876916223[155] = 0.0; + out_362240871876916223[156] = 0.0; + out_362240871876916223[157] = 0.0; + out_362240871876916223[158] = 0.0; + out_362240871876916223[159] = 0.0; + out_362240871876916223[160] = 0.0; + out_362240871876916223[161] = 0.0; + out_362240871876916223[162] = 0.0; + out_362240871876916223[163] = 0.0; + out_362240871876916223[164] = 0.0; + out_362240871876916223[165] = 0.0; + out_362240871876916223[166] = 0.0; + out_362240871876916223[167] = 0.0; + out_362240871876916223[168] = 0.0; + out_362240871876916223[169] = 0.0; + out_362240871876916223[170] = 0.0; + out_362240871876916223[171] = 1.0; + out_362240871876916223[172] = 0.0; + out_362240871876916223[173] = 0.0; + out_362240871876916223[174] = 0.0; + out_362240871876916223[175] = 0.0; + out_362240871876916223[176] = 0.0; + out_362240871876916223[177] = 0.0; + out_362240871876916223[178] = 0.0; + out_362240871876916223[179] = 0.0; + out_362240871876916223[180] = 0.0; + out_362240871876916223[181] = 0.0; + out_362240871876916223[182] = 0.0; + out_362240871876916223[183] = 0.0; + out_362240871876916223[184] = 0.0; + out_362240871876916223[185] = 0.0; + out_362240871876916223[186] = 0.0; + out_362240871876916223[187] = 0.0; + out_362240871876916223[188] = 0.0; + out_362240871876916223[189] = 0.0; + out_362240871876916223[190] = 1.0; + out_362240871876916223[191] = 0.0; + out_362240871876916223[192] = 0.0; + out_362240871876916223[193] = 0.0; + out_362240871876916223[194] = 0.0; + out_362240871876916223[195] = 0.0; + out_362240871876916223[196] = 0.0; + out_362240871876916223[197] = 0.0; + out_362240871876916223[198] = 0.0; + out_362240871876916223[199] = 0.0; + out_362240871876916223[200] = 0.0; + out_362240871876916223[201] = 0.0; + out_362240871876916223[202] = 0.0; + out_362240871876916223[203] = 0.0; + out_362240871876916223[204] = 0.0; + out_362240871876916223[205] = 0.0; + out_362240871876916223[206] = 0.0; + out_362240871876916223[207] = 0.0; + out_362240871876916223[208] = 0.0; + out_362240871876916223[209] = 1.0; + out_362240871876916223[210] = 0.0; + out_362240871876916223[211] = 0.0; + out_362240871876916223[212] = 0.0; + out_362240871876916223[213] = 0.0; + out_362240871876916223[214] = 0.0; + out_362240871876916223[215] = 0.0; + out_362240871876916223[216] = 0.0; + out_362240871876916223[217] = 0.0; + out_362240871876916223[218] = 0.0; + out_362240871876916223[219] = 0.0; + out_362240871876916223[220] = 0.0; + out_362240871876916223[221] = 0.0; + out_362240871876916223[222] = 0.0; + out_362240871876916223[223] = 0.0; + out_362240871876916223[224] = 0.0; + out_362240871876916223[225] = 0.0; + out_362240871876916223[226] = 0.0; + out_362240871876916223[227] = 0.0; + out_362240871876916223[228] = 1.0; + out_362240871876916223[229] = 0.0; + out_362240871876916223[230] = 0.0; + out_362240871876916223[231] = 0.0; + out_362240871876916223[232] = 0.0; + out_362240871876916223[233] = 0.0; + out_362240871876916223[234] = 0.0; + out_362240871876916223[235] = 0.0; + out_362240871876916223[236] = 0.0; + out_362240871876916223[237] = 0.0; + out_362240871876916223[238] = 0.0; + out_362240871876916223[239] = 0.0; + out_362240871876916223[240] = 0.0; + out_362240871876916223[241] = 0.0; + out_362240871876916223[242] = 0.0; + out_362240871876916223[243] = 0.0; + out_362240871876916223[244] = 0.0; + out_362240871876916223[245] = 0.0; + out_362240871876916223[246] = 0.0; + out_362240871876916223[247] = 1.0; + out_362240871876916223[248] = 0.0; + out_362240871876916223[249] = 0.0; + out_362240871876916223[250] = 0.0; + out_362240871876916223[251] = 0.0; + out_362240871876916223[252] = 0.0; + out_362240871876916223[253] = 0.0; + out_362240871876916223[254] = 0.0; + out_362240871876916223[255] = 0.0; + out_362240871876916223[256] = 0.0; + out_362240871876916223[257] = 0.0; + out_362240871876916223[258] = 0.0; + out_362240871876916223[259] = 0.0; + out_362240871876916223[260] = 0.0; + out_362240871876916223[261] = 0.0; + out_362240871876916223[262] = 0.0; + out_362240871876916223[263] = 0.0; + out_362240871876916223[264] = 0.0; + out_362240871876916223[265] = 0.0; + out_362240871876916223[266] = 1.0; + out_362240871876916223[267] = 0.0; + out_362240871876916223[268] = 0.0; + out_362240871876916223[269] = 0.0; + out_362240871876916223[270] = 0.0; + out_362240871876916223[271] = 0.0; + out_362240871876916223[272] = 0.0; + out_362240871876916223[273] = 0.0; + out_362240871876916223[274] = 0.0; + out_362240871876916223[275] = 0.0; + out_362240871876916223[276] = 0.0; + out_362240871876916223[277] = 0.0; + out_362240871876916223[278] = 0.0; + out_362240871876916223[279] = 0.0; + out_362240871876916223[280] = 0.0; + out_362240871876916223[281] = 0.0; + out_362240871876916223[282] = 0.0; + out_362240871876916223[283] = 0.0; + out_362240871876916223[284] = 0.0; + out_362240871876916223[285] = 1.0; + out_362240871876916223[286] = 0.0; + out_362240871876916223[287] = 0.0; + out_362240871876916223[288] = 0.0; + out_362240871876916223[289] = 0.0; + out_362240871876916223[290] = 0.0; + out_362240871876916223[291] = 0.0; + out_362240871876916223[292] = 0.0; + out_362240871876916223[293] = 0.0; + out_362240871876916223[294] = 0.0; + out_362240871876916223[295] = 0.0; + out_362240871876916223[296] = 0.0; + out_362240871876916223[297] = 0.0; + out_362240871876916223[298] = 0.0; + out_362240871876916223[299] = 0.0; + out_362240871876916223[300] = 0.0; + out_362240871876916223[301] = 0.0; + out_362240871876916223[302] = 0.0; + out_362240871876916223[303] = 0.0; + out_362240871876916223[304] = 1.0; + out_362240871876916223[305] = 0.0; + out_362240871876916223[306] = 0.0; + out_362240871876916223[307] = 0.0; + out_362240871876916223[308] = 0.0; + out_362240871876916223[309] = 0.0; + out_362240871876916223[310] = 0.0; + out_362240871876916223[311] = 0.0; + out_362240871876916223[312] = 0.0; + out_362240871876916223[313] = 0.0; + out_362240871876916223[314] = 0.0; + out_362240871876916223[315] = 0.0; + out_362240871876916223[316] = 0.0; + out_362240871876916223[317] = 0.0; + out_362240871876916223[318] = 0.0; + out_362240871876916223[319] = 0.0; + out_362240871876916223[320] = 0.0; + out_362240871876916223[321] = 0.0; + out_362240871876916223[322] = 0.0; + out_362240871876916223[323] = 1.0; } -void f_fun(double *state, double dt, double *out_3840229658681249647) { - out_3840229658681249647[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_3840229658681249647[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_3840229658681249647[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_3840229658681249647[3] = dt*state[12] + state[3]; - out_3840229658681249647[4] = dt*state[13] + state[4]; - out_3840229658681249647[5] = dt*state[14] + state[5]; - out_3840229658681249647[6] = state[6]; - out_3840229658681249647[7] = state[7]; - out_3840229658681249647[8] = state[8]; - out_3840229658681249647[9] = state[9]; - out_3840229658681249647[10] = state[10]; - out_3840229658681249647[11] = state[11]; - out_3840229658681249647[12] = state[12]; - out_3840229658681249647[13] = state[13]; - out_3840229658681249647[14] = state[14]; - out_3840229658681249647[15] = state[15]; - out_3840229658681249647[16] = state[16]; - out_3840229658681249647[17] = state[17]; +void f_fun(double *state, double dt, double *out_844759421205290898) { + out_844759421205290898[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_844759421205290898[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_844759421205290898[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_844759421205290898[3] = dt*state[12] + state[3]; + out_844759421205290898[4] = dt*state[13] + state[4]; + out_844759421205290898[5] = dt*state[14] + state[5]; + out_844759421205290898[6] = state[6]; + out_844759421205290898[7] = state[7]; + out_844759421205290898[8] = state[8]; + out_844759421205290898[9] = state[9]; + out_844759421205290898[10] = state[10]; + out_844759421205290898[11] = state[11]; + out_844759421205290898[12] = state[12]; + out_844759421205290898[13] = state[13]; + out_844759421205290898[14] = state[14]; + out_844759421205290898[15] = state[15]; + out_844759421205290898[16] = state[16]; + out_844759421205290898[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8220635292339759608) { - out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[2] = 0; - out_8220635292339759608[3] = 0; - out_8220635292339759608[4] = 0; - out_8220635292339759608[5] = 0; - out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[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_8220635292339759608[9] = 0; - out_8220635292339759608[10] = 0; - out_8220635292339759608[11] = 0; - out_8220635292339759608[12] = 0; - out_8220635292339759608[13] = 0; - out_8220635292339759608[14] = 0; - out_8220635292339759608[15] = 0; - out_8220635292339759608[16] = 0; - out_8220635292339759608[17] = 0; - out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[20] = 0; - out_8220635292339759608[21] = 0; - out_8220635292339759608[22] = 0; - out_8220635292339759608[23] = 0; - out_8220635292339759608[24] = 0; - out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[27] = 0; - out_8220635292339759608[28] = 0; - out_8220635292339759608[29] = 0; - out_8220635292339759608[30] = 0; - out_8220635292339759608[31] = 0; - out_8220635292339759608[32] = 0; - out_8220635292339759608[33] = 0; - out_8220635292339759608[34] = 0; - out_8220635292339759608[35] = 0; - out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[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_8220635292339759608[39] = 0; - out_8220635292339759608[40] = 0; - out_8220635292339759608[41] = 0; - out_8220635292339759608[42] = 0; - out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[45] = 0; - out_8220635292339759608[46] = 0; - out_8220635292339759608[47] = 0; - out_8220635292339759608[48] = 0; - out_8220635292339759608[49] = 0; - out_8220635292339759608[50] = 0; - out_8220635292339759608[51] = 0; - out_8220635292339759608[52] = 0; - out_8220635292339759608[53] = 0; - out_8220635292339759608[54] = 0; - out_8220635292339759608[55] = 0; - out_8220635292339759608[56] = 0; - out_8220635292339759608[57] = 1; - out_8220635292339759608[58] = 0; - out_8220635292339759608[59] = 0; - out_8220635292339759608[60] = 0; - out_8220635292339759608[61] = 0; - out_8220635292339759608[62] = 0; - out_8220635292339759608[63] = 0; - out_8220635292339759608[64] = 0; - out_8220635292339759608[65] = 0; - out_8220635292339759608[66] = dt; - out_8220635292339759608[67] = 0; - out_8220635292339759608[68] = 0; - out_8220635292339759608[69] = 0; - out_8220635292339759608[70] = 0; - out_8220635292339759608[71] = 0; - out_8220635292339759608[72] = 0; - out_8220635292339759608[73] = 0; - out_8220635292339759608[74] = 0; - out_8220635292339759608[75] = 0; - out_8220635292339759608[76] = 1; - out_8220635292339759608[77] = 0; - out_8220635292339759608[78] = 0; - out_8220635292339759608[79] = 0; - out_8220635292339759608[80] = 0; - out_8220635292339759608[81] = 0; - out_8220635292339759608[82] = 0; - out_8220635292339759608[83] = 0; - out_8220635292339759608[84] = 0; - out_8220635292339759608[85] = dt; - out_8220635292339759608[86] = 0; - out_8220635292339759608[87] = 0; - out_8220635292339759608[88] = 0; - out_8220635292339759608[89] = 0; - out_8220635292339759608[90] = 0; - out_8220635292339759608[91] = 0; - out_8220635292339759608[92] = 0; - out_8220635292339759608[93] = 0; - out_8220635292339759608[94] = 0; - out_8220635292339759608[95] = 1; - out_8220635292339759608[96] = 0; - out_8220635292339759608[97] = 0; - out_8220635292339759608[98] = 0; - out_8220635292339759608[99] = 0; - out_8220635292339759608[100] = 0; - out_8220635292339759608[101] = 0; - out_8220635292339759608[102] = 0; - out_8220635292339759608[103] = 0; - out_8220635292339759608[104] = dt; - out_8220635292339759608[105] = 0; - out_8220635292339759608[106] = 0; - out_8220635292339759608[107] = 0; - out_8220635292339759608[108] = 0; - out_8220635292339759608[109] = 0; - out_8220635292339759608[110] = 0; - out_8220635292339759608[111] = 0; - out_8220635292339759608[112] = 0; - out_8220635292339759608[113] = 0; - out_8220635292339759608[114] = 1; - out_8220635292339759608[115] = 0; - out_8220635292339759608[116] = 0; - out_8220635292339759608[117] = 0; - out_8220635292339759608[118] = 0; - out_8220635292339759608[119] = 0; - out_8220635292339759608[120] = 0; - out_8220635292339759608[121] = 0; - out_8220635292339759608[122] = 0; - out_8220635292339759608[123] = 0; - out_8220635292339759608[124] = 0; - out_8220635292339759608[125] = 0; - out_8220635292339759608[126] = 0; - out_8220635292339759608[127] = 0; - out_8220635292339759608[128] = 0; - out_8220635292339759608[129] = 0; - out_8220635292339759608[130] = 0; - out_8220635292339759608[131] = 0; - out_8220635292339759608[132] = 0; - out_8220635292339759608[133] = 1; - out_8220635292339759608[134] = 0; - out_8220635292339759608[135] = 0; - out_8220635292339759608[136] = 0; - out_8220635292339759608[137] = 0; - out_8220635292339759608[138] = 0; - out_8220635292339759608[139] = 0; - out_8220635292339759608[140] = 0; - out_8220635292339759608[141] = 0; - out_8220635292339759608[142] = 0; - out_8220635292339759608[143] = 0; - out_8220635292339759608[144] = 0; - out_8220635292339759608[145] = 0; - out_8220635292339759608[146] = 0; - out_8220635292339759608[147] = 0; - out_8220635292339759608[148] = 0; - out_8220635292339759608[149] = 0; - out_8220635292339759608[150] = 0; - out_8220635292339759608[151] = 0; - out_8220635292339759608[152] = 1; - out_8220635292339759608[153] = 0; - out_8220635292339759608[154] = 0; - out_8220635292339759608[155] = 0; - out_8220635292339759608[156] = 0; - out_8220635292339759608[157] = 0; - out_8220635292339759608[158] = 0; - out_8220635292339759608[159] = 0; - out_8220635292339759608[160] = 0; - out_8220635292339759608[161] = 0; - out_8220635292339759608[162] = 0; - out_8220635292339759608[163] = 0; - out_8220635292339759608[164] = 0; - out_8220635292339759608[165] = 0; - out_8220635292339759608[166] = 0; - out_8220635292339759608[167] = 0; - out_8220635292339759608[168] = 0; - out_8220635292339759608[169] = 0; - out_8220635292339759608[170] = 0; - out_8220635292339759608[171] = 1; - out_8220635292339759608[172] = 0; - out_8220635292339759608[173] = 0; - out_8220635292339759608[174] = 0; - out_8220635292339759608[175] = 0; - out_8220635292339759608[176] = 0; - out_8220635292339759608[177] = 0; - out_8220635292339759608[178] = 0; - out_8220635292339759608[179] = 0; - out_8220635292339759608[180] = 0; - out_8220635292339759608[181] = 0; - out_8220635292339759608[182] = 0; - out_8220635292339759608[183] = 0; - out_8220635292339759608[184] = 0; - out_8220635292339759608[185] = 0; - out_8220635292339759608[186] = 0; - out_8220635292339759608[187] = 0; - out_8220635292339759608[188] = 0; - out_8220635292339759608[189] = 0; - out_8220635292339759608[190] = 1; - out_8220635292339759608[191] = 0; - out_8220635292339759608[192] = 0; - out_8220635292339759608[193] = 0; - out_8220635292339759608[194] = 0; - out_8220635292339759608[195] = 0; - out_8220635292339759608[196] = 0; - out_8220635292339759608[197] = 0; - out_8220635292339759608[198] = 0; - out_8220635292339759608[199] = 0; - out_8220635292339759608[200] = 0; - out_8220635292339759608[201] = 0; - out_8220635292339759608[202] = 0; - out_8220635292339759608[203] = 0; - out_8220635292339759608[204] = 0; - out_8220635292339759608[205] = 0; - out_8220635292339759608[206] = 0; - out_8220635292339759608[207] = 0; - out_8220635292339759608[208] = 0; - out_8220635292339759608[209] = 1; - out_8220635292339759608[210] = 0; - out_8220635292339759608[211] = 0; - out_8220635292339759608[212] = 0; - out_8220635292339759608[213] = 0; - out_8220635292339759608[214] = 0; - out_8220635292339759608[215] = 0; - out_8220635292339759608[216] = 0; - out_8220635292339759608[217] = 0; - out_8220635292339759608[218] = 0; - out_8220635292339759608[219] = 0; - out_8220635292339759608[220] = 0; - out_8220635292339759608[221] = 0; - out_8220635292339759608[222] = 0; - out_8220635292339759608[223] = 0; - out_8220635292339759608[224] = 0; - out_8220635292339759608[225] = 0; - out_8220635292339759608[226] = 0; - out_8220635292339759608[227] = 0; - out_8220635292339759608[228] = 1; - out_8220635292339759608[229] = 0; - out_8220635292339759608[230] = 0; - out_8220635292339759608[231] = 0; - out_8220635292339759608[232] = 0; - out_8220635292339759608[233] = 0; - out_8220635292339759608[234] = 0; - out_8220635292339759608[235] = 0; - out_8220635292339759608[236] = 0; - out_8220635292339759608[237] = 0; - out_8220635292339759608[238] = 0; - out_8220635292339759608[239] = 0; - out_8220635292339759608[240] = 0; - out_8220635292339759608[241] = 0; - out_8220635292339759608[242] = 0; - out_8220635292339759608[243] = 0; - out_8220635292339759608[244] = 0; - out_8220635292339759608[245] = 0; - out_8220635292339759608[246] = 0; - out_8220635292339759608[247] = 1; - out_8220635292339759608[248] = 0; - out_8220635292339759608[249] = 0; - out_8220635292339759608[250] = 0; - out_8220635292339759608[251] = 0; - out_8220635292339759608[252] = 0; - out_8220635292339759608[253] = 0; - out_8220635292339759608[254] = 0; - out_8220635292339759608[255] = 0; - out_8220635292339759608[256] = 0; - out_8220635292339759608[257] = 0; - out_8220635292339759608[258] = 0; - out_8220635292339759608[259] = 0; - out_8220635292339759608[260] = 0; - out_8220635292339759608[261] = 0; - out_8220635292339759608[262] = 0; - out_8220635292339759608[263] = 0; - out_8220635292339759608[264] = 0; - out_8220635292339759608[265] = 0; - out_8220635292339759608[266] = 1; - out_8220635292339759608[267] = 0; - out_8220635292339759608[268] = 0; - out_8220635292339759608[269] = 0; - out_8220635292339759608[270] = 0; - out_8220635292339759608[271] = 0; - out_8220635292339759608[272] = 0; - out_8220635292339759608[273] = 0; - out_8220635292339759608[274] = 0; - out_8220635292339759608[275] = 0; - out_8220635292339759608[276] = 0; - out_8220635292339759608[277] = 0; - out_8220635292339759608[278] = 0; - out_8220635292339759608[279] = 0; - out_8220635292339759608[280] = 0; - out_8220635292339759608[281] = 0; - out_8220635292339759608[282] = 0; - out_8220635292339759608[283] = 0; - out_8220635292339759608[284] = 0; - out_8220635292339759608[285] = 1; - out_8220635292339759608[286] = 0; - out_8220635292339759608[287] = 0; - out_8220635292339759608[288] = 0; - out_8220635292339759608[289] = 0; - out_8220635292339759608[290] = 0; - out_8220635292339759608[291] = 0; - out_8220635292339759608[292] = 0; - out_8220635292339759608[293] = 0; - out_8220635292339759608[294] = 0; - out_8220635292339759608[295] = 0; - out_8220635292339759608[296] = 0; - out_8220635292339759608[297] = 0; - out_8220635292339759608[298] = 0; - out_8220635292339759608[299] = 0; - out_8220635292339759608[300] = 0; - out_8220635292339759608[301] = 0; - out_8220635292339759608[302] = 0; - out_8220635292339759608[303] = 0; - out_8220635292339759608[304] = 1; - out_8220635292339759608[305] = 0; - out_8220635292339759608[306] = 0; - out_8220635292339759608[307] = 0; - out_8220635292339759608[308] = 0; - out_8220635292339759608[309] = 0; - out_8220635292339759608[310] = 0; - out_8220635292339759608[311] = 0; - out_8220635292339759608[312] = 0; - out_8220635292339759608[313] = 0; - out_8220635292339759608[314] = 0; - out_8220635292339759608[315] = 0; - out_8220635292339759608[316] = 0; - out_8220635292339759608[317] = 0; - out_8220635292339759608[318] = 0; - out_8220635292339759608[319] = 0; - out_8220635292339759608[320] = 0; - out_8220635292339759608[321] = 0; - out_8220635292339759608[322] = 0; - out_8220635292339759608[323] = 1; +void F_fun(double *state, double dt, double *out_3409614379123282877) { + out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[2] = 0; + out_3409614379123282877[3] = 0; + out_3409614379123282877[4] = 0; + out_3409614379123282877[5] = 0; + out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[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_3409614379123282877[9] = 0; + out_3409614379123282877[10] = 0; + out_3409614379123282877[11] = 0; + out_3409614379123282877[12] = 0; + out_3409614379123282877[13] = 0; + out_3409614379123282877[14] = 0; + out_3409614379123282877[15] = 0; + out_3409614379123282877[16] = 0; + out_3409614379123282877[17] = 0; + out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[20] = 0; + out_3409614379123282877[21] = 0; + out_3409614379123282877[22] = 0; + out_3409614379123282877[23] = 0; + out_3409614379123282877[24] = 0; + out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[27] = 0; + out_3409614379123282877[28] = 0; + out_3409614379123282877[29] = 0; + out_3409614379123282877[30] = 0; + out_3409614379123282877[31] = 0; + out_3409614379123282877[32] = 0; + out_3409614379123282877[33] = 0; + out_3409614379123282877[34] = 0; + out_3409614379123282877[35] = 0; + out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[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_3409614379123282877[39] = 0; + out_3409614379123282877[40] = 0; + out_3409614379123282877[41] = 0; + out_3409614379123282877[42] = 0; + out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[45] = 0; + out_3409614379123282877[46] = 0; + out_3409614379123282877[47] = 0; + out_3409614379123282877[48] = 0; + out_3409614379123282877[49] = 0; + out_3409614379123282877[50] = 0; + out_3409614379123282877[51] = 0; + out_3409614379123282877[52] = 0; + out_3409614379123282877[53] = 0; + out_3409614379123282877[54] = 0; + out_3409614379123282877[55] = 0; + out_3409614379123282877[56] = 0; + out_3409614379123282877[57] = 1; + out_3409614379123282877[58] = 0; + out_3409614379123282877[59] = 0; + out_3409614379123282877[60] = 0; + out_3409614379123282877[61] = 0; + out_3409614379123282877[62] = 0; + out_3409614379123282877[63] = 0; + out_3409614379123282877[64] = 0; + out_3409614379123282877[65] = 0; + out_3409614379123282877[66] = dt; + out_3409614379123282877[67] = 0; + out_3409614379123282877[68] = 0; + out_3409614379123282877[69] = 0; + out_3409614379123282877[70] = 0; + out_3409614379123282877[71] = 0; + out_3409614379123282877[72] = 0; + out_3409614379123282877[73] = 0; + out_3409614379123282877[74] = 0; + out_3409614379123282877[75] = 0; + out_3409614379123282877[76] = 1; + out_3409614379123282877[77] = 0; + out_3409614379123282877[78] = 0; + out_3409614379123282877[79] = 0; + out_3409614379123282877[80] = 0; + out_3409614379123282877[81] = 0; + out_3409614379123282877[82] = 0; + out_3409614379123282877[83] = 0; + out_3409614379123282877[84] = 0; + out_3409614379123282877[85] = dt; + out_3409614379123282877[86] = 0; + out_3409614379123282877[87] = 0; + out_3409614379123282877[88] = 0; + out_3409614379123282877[89] = 0; + out_3409614379123282877[90] = 0; + out_3409614379123282877[91] = 0; + out_3409614379123282877[92] = 0; + out_3409614379123282877[93] = 0; + out_3409614379123282877[94] = 0; + out_3409614379123282877[95] = 1; + out_3409614379123282877[96] = 0; + out_3409614379123282877[97] = 0; + out_3409614379123282877[98] = 0; + out_3409614379123282877[99] = 0; + out_3409614379123282877[100] = 0; + out_3409614379123282877[101] = 0; + out_3409614379123282877[102] = 0; + out_3409614379123282877[103] = 0; + out_3409614379123282877[104] = dt; + out_3409614379123282877[105] = 0; + out_3409614379123282877[106] = 0; + out_3409614379123282877[107] = 0; + out_3409614379123282877[108] = 0; + out_3409614379123282877[109] = 0; + out_3409614379123282877[110] = 0; + out_3409614379123282877[111] = 0; + out_3409614379123282877[112] = 0; + out_3409614379123282877[113] = 0; + out_3409614379123282877[114] = 1; + out_3409614379123282877[115] = 0; + out_3409614379123282877[116] = 0; + out_3409614379123282877[117] = 0; + out_3409614379123282877[118] = 0; + out_3409614379123282877[119] = 0; + out_3409614379123282877[120] = 0; + out_3409614379123282877[121] = 0; + out_3409614379123282877[122] = 0; + out_3409614379123282877[123] = 0; + out_3409614379123282877[124] = 0; + out_3409614379123282877[125] = 0; + out_3409614379123282877[126] = 0; + out_3409614379123282877[127] = 0; + out_3409614379123282877[128] = 0; + out_3409614379123282877[129] = 0; + out_3409614379123282877[130] = 0; + out_3409614379123282877[131] = 0; + out_3409614379123282877[132] = 0; + out_3409614379123282877[133] = 1; + out_3409614379123282877[134] = 0; + out_3409614379123282877[135] = 0; + out_3409614379123282877[136] = 0; + out_3409614379123282877[137] = 0; + out_3409614379123282877[138] = 0; + out_3409614379123282877[139] = 0; + out_3409614379123282877[140] = 0; + out_3409614379123282877[141] = 0; + out_3409614379123282877[142] = 0; + out_3409614379123282877[143] = 0; + out_3409614379123282877[144] = 0; + out_3409614379123282877[145] = 0; + out_3409614379123282877[146] = 0; + out_3409614379123282877[147] = 0; + out_3409614379123282877[148] = 0; + out_3409614379123282877[149] = 0; + out_3409614379123282877[150] = 0; + out_3409614379123282877[151] = 0; + out_3409614379123282877[152] = 1; + out_3409614379123282877[153] = 0; + out_3409614379123282877[154] = 0; + out_3409614379123282877[155] = 0; + out_3409614379123282877[156] = 0; + out_3409614379123282877[157] = 0; + out_3409614379123282877[158] = 0; + out_3409614379123282877[159] = 0; + out_3409614379123282877[160] = 0; + out_3409614379123282877[161] = 0; + out_3409614379123282877[162] = 0; + out_3409614379123282877[163] = 0; + out_3409614379123282877[164] = 0; + out_3409614379123282877[165] = 0; + out_3409614379123282877[166] = 0; + out_3409614379123282877[167] = 0; + out_3409614379123282877[168] = 0; + out_3409614379123282877[169] = 0; + out_3409614379123282877[170] = 0; + out_3409614379123282877[171] = 1; + out_3409614379123282877[172] = 0; + out_3409614379123282877[173] = 0; + out_3409614379123282877[174] = 0; + out_3409614379123282877[175] = 0; + out_3409614379123282877[176] = 0; + out_3409614379123282877[177] = 0; + out_3409614379123282877[178] = 0; + out_3409614379123282877[179] = 0; + out_3409614379123282877[180] = 0; + out_3409614379123282877[181] = 0; + out_3409614379123282877[182] = 0; + out_3409614379123282877[183] = 0; + out_3409614379123282877[184] = 0; + out_3409614379123282877[185] = 0; + out_3409614379123282877[186] = 0; + out_3409614379123282877[187] = 0; + out_3409614379123282877[188] = 0; + out_3409614379123282877[189] = 0; + out_3409614379123282877[190] = 1; + out_3409614379123282877[191] = 0; + out_3409614379123282877[192] = 0; + out_3409614379123282877[193] = 0; + out_3409614379123282877[194] = 0; + out_3409614379123282877[195] = 0; + out_3409614379123282877[196] = 0; + out_3409614379123282877[197] = 0; + out_3409614379123282877[198] = 0; + out_3409614379123282877[199] = 0; + out_3409614379123282877[200] = 0; + out_3409614379123282877[201] = 0; + out_3409614379123282877[202] = 0; + out_3409614379123282877[203] = 0; + out_3409614379123282877[204] = 0; + out_3409614379123282877[205] = 0; + out_3409614379123282877[206] = 0; + out_3409614379123282877[207] = 0; + out_3409614379123282877[208] = 0; + out_3409614379123282877[209] = 1; + out_3409614379123282877[210] = 0; + out_3409614379123282877[211] = 0; + out_3409614379123282877[212] = 0; + out_3409614379123282877[213] = 0; + out_3409614379123282877[214] = 0; + out_3409614379123282877[215] = 0; + out_3409614379123282877[216] = 0; + out_3409614379123282877[217] = 0; + out_3409614379123282877[218] = 0; + out_3409614379123282877[219] = 0; + out_3409614379123282877[220] = 0; + out_3409614379123282877[221] = 0; + out_3409614379123282877[222] = 0; + out_3409614379123282877[223] = 0; + out_3409614379123282877[224] = 0; + out_3409614379123282877[225] = 0; + out_3409614379123282877[226] = 0; + out_3409614379123282877[227] = 0; + out_3409614379123282877[228] = 1; + out_3409614379123282877[229] = 0; + out_3409614379123282877[230] = 0; + out_3409614379123282877[231] = 0; + out_3409614379123282877[232] = 0; + out_3409614379123282877[233] = 0; + out_3409614379123282877[234] = 0; + out_3409614379123282877[235] = 0; + out_3409614379123282877[236] = 0; + out_3409614379123282877[237] = 0; + out_3409614379123282877[238] = 0; + out_3409614379123282877[239] = 0; + out_3409614379123282877[240] = 0; + out_3409614379123282877[241] = 0; + out_3409614379123282877[242] = 0; + out_3409614379123282877[243] = 0; + out_3409614379123282877[244] = 0; + out_3409614379123282877[245] = 0; + out_3409614379123282877[246] = 0; + out_3409614379123282877[247] = 1; + out_3409614379123282877[248] = 0; + out_3409614379123282877[249] = 0; + out_3409614379123282877[250] = 0; + out_3409614379123282877[251] = 0; + out_3409614379123282877[252] = 0; + out_3409614379123282877[253] = 0; + out_3409614379123282877[254] = 0; + out_3409614379123282877[255] = 0; + out_3409614379123282877[256] = 0; + out_3409614379123282877[257] = 0; + out_3409614379123282877[258] = 0; + out_3409614379123282877[259] = 0; + out_3409614379123282877[260] = 0; + out_3409614379123282877[261] = 0; + out_3409614379123282877[262] = 0; + out_3409614379123282877[263] = 0; + out_3409614379123282877[264] = 0; + out_3409614379123282877[265] = 0; + out_3409614379123282877[266] = 1; + out_3409614379123282877[267] = 0; + out_3409614379123282877[268] = 0; + out_3409614379123282877[269] = 0; + out_3409614379123282877[270] = 0; + out_3409614379123282877[271] = 0; + out_3409614379123282877[272] = 0; + out_3409614379123282877[273] = 0; + out_3409614379123282877[274] = 0; + out_3409614379123282877[275] = 0; + out_3409614379123282877[276] = 0; + out_3409614379123282877[277] = 0; + out_3409614379123282877[278] = 0; + out_3409614379123282877[279] = 0; + out_3409614379123282877[280] = 0; + out_3409614379123282877[281] = 0; + out_3409614379123282877[282] = 0; + out_3409614379123282877[283] = 0; + out_3409614379123282877[284] = 0; + out_3409614379123282877[285] = 1; + out_3409614379123282877[286] = 0; + out_3409614379123282877[287] = 0; + out_3409614379123282877[288] = 0; + out_3409614379123282877[289] = 0; + out_3409614379123282877[290] = 0; + out_3409614379123282877[291] = 0; + out_3409614379123282877[292] = 0; + out_3409614379123282877[293] = 0; + out_3409614379123282877[294] = 0; + out_3409614379123282877[295] = 0; + out_3409614379123282877[296] = 0; + out_3409614379123282877[297] = 0; + out_3409614379123282877[298] = 0; + out_3409614379123282877[299] = 0; + out_3409614379123282877[300] = 0; + out_3409614379123282877[301] = 0; + out_3409614379123282877[302] = 0; + out_3409614379123282877[303] = 0; + out_3409614379123282877[304] = 1; + out_3409614379123282877[305] = 0; + out_3409614379123282877[306] = 0; + out_3409614379123282877[307] = 0; + out_3409614379123282877[308] = 0; + out_3409614379123282877[309] = 0; + out_3409614379123282877[310] = 0; + out_3409614379123282877[311] = 0; + out_3409614379123282877[312] = 0; + out_3409614379123282877[313] = 0; + out_3409614379123282877[314] = 0; + out_3409614379123282877[315] = 0; + out_3409614379123282877[316] = 0; + out_3409614379123282877[317] = 0; + out_3409614379123282877[318] = 0; + out_3409614379123282877[319] = 0; + out_3409614379123282877[320] = 0; + out_3409614379123282877[321] = 0; + out_3409614379123282877[322] = 0; + out_3409614379123282877[323] = 1; } -void h_4(double *state, double *unused, double *out_2097936204583725179) { - out_2097936204583725179[0] = state[6] + state[9]; - out_2097936204583725179[1] = state[7] + state[10]; - out_2097936204583725179[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3761995773053554002) { + out_3761995773053554002[0] = state[6] + state[9]; + out_3761995773053554002[1] = state[7] + state[10]; + out_3761995773053554002[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4839409540176553033) { - out_4839409540176553033[0] = 0; - out_4839409540176553033[1] = 0; - out_4839409540176553033[2] = 0; - out_4839409540176553033[3] = 0; - out_4839409540176553033[4] = 0; - out_4839409540176553033[5] = 0; - out_4839409540176553033[6] = 1; - out_4839409540176553033[7] = 0; - out_4839409540176553033[8] = 0; - out_4839409540176553033[9] = 1; - out_4839409540176553033[10] = 0; - out_4839409540176553033[11] = 0; - out_4839409540176553033[12] = 0; - out_4839409540176553033[13] = 0; - out_4839409540176553033[14] = 0; - out_4839409540176553033[15] = 0; - out_4839409540176553033[16] = 0; - out_4839409540176553033[17] = 0; - out_4839409540176553033[18] = 0; - out_4839409540176553033[19] = 0; - out_4839409540176553033[20] = 0; - out_4839409540176553033[21] = 0; - out_4839409540176553033[22] = 0; - out_4839409540176553033[23] = 0; - out_4839409540176553033[24] = 0; - out_4839409540176553033[25] = 1; - out_4839409540176553033[26] = 0; - out_4839409540176553033[27] = 0; - out_4839409540176553033[28] = 1; - out_4839409540176553033[29] = 0; - out_4839409540176553033[30] = 0; - out_4839409540176553033[31] = 0; - out_4839409540176553033[32] = 0; - out_4839409540176553033[33] = 0; - out_4839409540176553033[34] = 0; - out_4839409540176553033[35] = 0; - out_4839409540176553033[36] = 0; - out_4839409540176553033[37] = 0; - out_4839409540176553033[38] = 0; - out_4839409540176553033[39] = 0; - out_4839409540176553033[40] = 0; - out_4839409540176553033[41] = 0; - out_4839409540176553033[42] = 0; - out_4839409540176553033[43] = 0; - out_4839409540176553033[44] = 1; - out_4839409540176553033[45] = 0; - out_4839409540176553033[46] = 0; - out_4839409540176553033[47] = 1; - out_4839409540176553033[48] = 0; - out_4839409540176553033[49] = 0; - out_4839409540176553033[50] = 0; - out_4839409540176553033[51] = 0; - out_4839409540176553033[52] = 0; - out_4839409540176553033[53] = 0; +void H_4(double *state, double *unused, double *out_4790277513162164512) { + out_4790277513162164512[0] = 0; + out_4790277513162164512[1] = 0; + out_4790277513162164512[2] = 0; + out_4790277513162164512[3] = 0; + out_4790277513162164512[4] = 0; + out_4790277513162164512[5] = 0; + out_4790277513162164512[6] = 1; + out_4790277513162164512[7] = 0; + out_4790277513162164512[8] = 0; + out_4790277513162164512[9] = 1; + out_4790277513162164512[10] = 0; + out_4790277513162164512[11] = 0; + out_4790277513162164512[12] = 0; + out_4790277513162164512[13] = 0; + out_4790277513162164512[14] = 0; + out_4790277513162164512[15] = 0; + out_4790277513162164512[16] = 0; + out_4790277513162164512[17] = 0; + out_4790277513162164512[18] = 0; + out_4790277513162164512[19] = 0; + out_4790277513162164512[20] = 0; + out_4790277513162164512[21] = 0; + out_4790277513162164512[22] = 0; + out_4790277513162164512[23] = 0; + out_4790277513162164512[24] = 0; + out_4790277513162164512[25] = 1; + out_4790277513162164512[26] = 0; + out_4790277513162164512[27] = 0; + out_4790277513162164512[28] = 1; + out_4790277513162164512[29] = 0; + out_4790277513162164512[30] = 0; + out_4790277513162164512[31] = 0; + out_4790277513162164512[32] = 0; + out_4790277513162164512[33] = 0; + out_4790277513162164512[34] = 0; + out_4790277513162164512[35] = 0; + out_4790277513162164512[36] = 0; + out_4790277513162164512[37] = 0; + out_4790277513162164512[38] = 0; + out_4790277513162164512[39] = 0; + out_4790277513162164512[40] = 0; + out_4790277513162164512[41] = 0; + out_4790277513162164512[42] = 0; + out_4790277513162164512[43] = 0; + out_4790277513162164512[44] = 1; + out_4790277513162164512[45] = 0; + out_4790277513162164512[46] = 0; + out_4790277513162164512[47] = 1; + out_4790277513162164512[48] = 0; + out_4790277513162164512[49] = 0; + out_4790277513162164512[50] = 0; + out_4790277513162164512[51] = 0; + out_4790277513162164512[52] = 0; + out_4790277513162164512[53] = 0; } -void h_10(double *state, double *unused, double *out_29444642201375045) { - out_29444642201375045[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_29444642201375045[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_29444642201375045[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_1433439433765456745) { + out_1433439433765456745[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1433439433765456745[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1433439433765456745[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_1070049335288984001) { - out_1070049335288984001[0] = 0; - out_1070049335288984001[1] = 9.8100000000000005*cos(state[1]); - out_1070049335288984001[2] = 0; - out_1070049335288984001[3] = 0; - out_1070049335288984001[4] = -state[8]; - out_1070049335288984001[5] = state[7]; - out_1070049335288984001[6] = 0; - out_1070049335288984001[7] = state[5]; - out_1070049335288984001[8] = -state[4]; - out_1070049335288984001[9] = 0; - out_1070049335288984001[10] = 0; - out_1070049335288984001[11] = 0; - out_1070049335288984001[12] = 1; - out_1070049335288984001[13] = 0; - out_1070049335288984001[14] = 0; - out_1070049335288984001[15] = 1; - out_1070049335288984001[16] = 0; - out_1070049335288984001[17] = 0; - out_1070049335288984001[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1070049335288984001[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1070049335288984001[20] = 0; - out_1070049335288984001[21] = state[8]; - out_1070049335288984001[22] = 0; - out_1070049335288984001[23] = -state[6]; - out_1070049335288984001[24] = -state[5]; - out_1070049335288984001[25] = 0; - out_1070049335288984001[26] = state[3]; - out_1070049335288984001[27] = 0; - out_1070049335288984001[28] = 0; - out_1070049335288984001[29] = 0; - out_1070049335288984001[30] = 0; - out_1070049335288984001[31] = 1; - out_1070049335288984001[32] = 0; - out_1070049335288984001[33] = 0; - out_1070049335288984001[34] = 1; - out_1070049335288984001[35] = 0; - out_1070049335288984001[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1070049335288984001[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1070049335288984001[38] = 0; - out_1070049335288984001[39] = -state[7]; - out_1070049335288984001[40] = state[6]; - out_1070049335288984001[41] = 0; - out_1070049335288984001[42] = state[4]; - out_1070049335288984001[43] = -state[3]; - out_1070049335288984001[44] = 0; - out_1070049335288984001[45] = 0; - out_1070049335288984001[46] = 0; - out_1070049335288984001[47] = 0; - out_1070049335288984001[48] = 0; - out_1070049335288984001[49] = 0; - out_1070049335288984001[50] = 1; - out_1070049335288984001[51] = 0; - out_1070049335288984001[52] = 0; - out_1070049335288984001[53] = 1; +void H_10(double *state, double *unused, double *out_2492873908575038793) { + out_2492873908575038793[0] = 0; + out_2492873908575038793[1] = 9.8100000000000005*cos(state[1]); + out_2492873908575038793[2] = 0; + out_2492873908575038793[3] = 0; + out_2492873908575038793[4] = -state[8]; + out_2492873908575038793[5] = state[7]; + out_2492873908575038793[6] = 0; + out_2492873908575038793[7] = state[5]; + out_2492873908575038793[8] = -state[4]; + out_2492873908575038793[9] = 0; + out_2492873908575038793[10] = 0; + out_2492873908575038793[11] = 0; + out_2492873908575038793[12] = 1; + out_2492873908575038793[13] = 0; + out_2492873908575038793[14] = 0; + out_2492873908575038793[15] = 1; + out_2492873908575038793[16] = 0; + out_2492873908575038793[17] = 0; + out_2492873908575038793[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2492873908575038793[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2492873908575038793[20] = 0; + out_2492873908575038793[21] = state[8]; + out_2492873908575038793[22] = 0; + out_2492873908575038793[23] = -state[6]; + out_2492873908575038793[24] = -state[5]; + out_2492873908575038793[25] = 0; + out_2492873908575038793[26] = state[3]; + out_2492873908575038793[27] = 0; + out_2492873908575038793[28] = 0; + out_2492873908575038793[29] = 0; + out_2492873908575038793[30] = 0; + out_2492873908575038793[31] = 1; + out_2492873908575038793[32] = 0; + out_2492873908575038793[33] = 0; + out_2492873908575038793[34] = 1; + out_2492873908575038793[35] = 0; + out_2492873908575038793[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2492873908575038793[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2492873908575038793[38] = 0; + out_2492873908575038793[39] = -state[7]; + out_2492873908575038793[40] = state[6]; + out_2492873908575038793[41] = 0; + out_2492873908575038793[42] = state[4]; + out_2492873908575038793[43] = -state[3]; + out_2492873908575038793[44] = 0; + out_2492873908575038793[45] = 0; + out_2492873908575038793[46] = 0; + out_2492873908575038793[47] = 0; + out_2492873908575038793[48] = 0; + out_2492873908575038793[49] = 0; + out_2492873908575038793[50] = 1; + out_2492873908575038793[51] = 0; + out_2492873908575038793[52] = 0; + out_2492873908575038793[53] = 1; } -void h_13(double *state, double *unused, double *out_61045813616994293) { - out_61045813616994293[0] = state[3]; - out_61045813616994293[1] = state[4]; - out_61045813616994293[2] = state[5]; +void h_13(double *state, double *unused, double *out_7701755112567992010) { + out_7701755112567992010[0] = state[3]; + out_7701755112567992010[1] = state[4]; + out_7701755112567992010[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8051683365508885834) { - out_8051683365508885834[0] = 0; - out_8051683365508885834[1] = 0; - out_8051683365508885834[2] = 0; - out_8051683365508885834[3] = 1; - out_8051683365508885834[4] = 0; - out_8051683365508885834[5] = 0; - out_8051683365508885834[6] = 0; - out_8051683365508885834[7] = 0; - out_8051683365508885834[8] = 0; - out_8051683365508885834[9] = 0; - out_8051683365508885834[10] = 0; - out_8051683365508885834[11] = 0; - out_8051683365508885834[12] = 0; - out_8051683365508885834[13] = 0; - out_8051683365508885834[14] = 0; - out_8051683365508885834[15] = 0; - out_8051683365508885834[16] = 0; - out_8051683365508885834[17] = 0; - out_8051683365508885834[18] = 0; - out_8051683365508885834[19] = 0; - out_8051683365508885834[20] = 0; - out_8051683365508885834[21] = 0; - out_8051683365508885834[22] = 1; - out_8051683365508885834[23] = 0; - out_8051683365508885834[24] = 0; - out_8051683365508885834[25] = 0; - out_8051683365508885834[26] = 0; - out_8051683365508885834[27] = 0; - out_8051683365508885834[28] = 0; - out_8051683365508885834[29] = 0; - out_8051683365508885834[30] = 0; - out_8051683365508885834[31] = 0; - out_8051683365508885834[32] = 0; - out_8051683365508885834[33] = 0; - out_8051683365508885834[34] = 0; - out_8051683365508885834[35] = 0; - out_8051683365508885834[36] = 0; - out_8051683365508885834[37] = 0; - out_8051683365508885834[38] = 0; - out_8051683365508885834[39] = 0; - out_8051683365508885834[40] = 0; - out_8051683365508885834[41] = 1; - out_8051683365508885834[42] = 0; - out_8051683365508885834[43] = 0; - out_8051683365508885834[44] = 0; - out_8051683365508885834[45] = 0; - out_8051683365508885834[46] = 0; - out_8051683365508885834[47] = 0; - out_8051683365508885834[48] = 0; - out_8051683365508885834[49] = 0; - out_8051683365508885834[50] = 0; - out_8051683365508885834[51] = 0; - out_8051683365508885834[52] = 0; - out_8051683365508885834[53] = 0; +void H_13(double *state, double *unused, double *out_8002551338494497313) { + out_8002551338494497313[0] = 0; + out_8002551338494497313[1] = 0; + out_8002551338494497313[2] = 0; + out_8002551338494497313[3] = 1; + out_8002551338494497313[4] = 0; + out_8002551338494497313[5] = 0; + out_8002551338494497313[6] = 0; + out_8002551338494497313[7] = 0; + out_8002551338494497313[8] = 0; + out_8002551338494497313[9] = 0; + out_8002551338494497313[10] = 0; + out_8002551338494497313[11] = 0; + out_8002551338494497313[12] = 0; + out_8002551338494497313[13] = 0; + out_8002551338494497313[14] = 0; + out_8002551338494497313[15] = 0; + out_8002551338494497313[16] = 0; + out_8002551338494497313[17] = 0; + out_8002551338494497313[18] = 0; + out_8002551338494497313[19] = 0; + out_8002551338494497313[20] = 0; + out_8002551338494497313[21] = 0; + out_8002551338494497313[22] = 1; + out_8002551338494497313[23] = 0; + out_8002551338494497313[24] = 0; + out_8002551338494497313[25] = 0; + out_8002551338494497313[26] = 0; + out_8002551338494497313[27] = 0; + out_8002551338494497313[28] = 0; + out_8002551338494497313[29] = 0; + out_8002551338494497313[30] = 0; + out_8002551338494497313[31] = 0; + out_8002551338494497313[32] = 0; + out_8002551338494497313[33] = 0; + out_8002551338494497313[34] = 0; + out_8002551338494497313[35] = 0; + out_8002551338494497313[36] = 0; + out_8002551338494497313[37] = 0; + out_8002551338494497313[38] = 0; + out_8002551338494497313[39] = 0; + out_8002551338494497313[40] = 0; + out_8002551338494497313[41] = 1; + out_8002551338494497313[42] = 0; + out_8002551338494497313[43] = 0; + out_8002551338494497313[44] = 0; + out_8002551338494497313[45] = 0; + out_8002551338494497313[46] = 0; + out_8002551338494497313[47] = 0; + out_8002551338494497313[48] = 0; + out_8002551338494497313[49] = 0; + out_8002551338494497313[50] = 0; + out_8002551338494497313[51] = 0; + out_8002551338494497313[52] = 0; + out_8002551338494497313[53] = 0; } -void h_14(double *state, double *unused, double *out_8545162578881105562) { - out_8545162578881105562[0] = state[6]; - out_8545162578881105562[1] = state[7]; - out_8545162578881105562[2] = state[8]; +void h_14(double *state, double *unused, double *out_3517024732190759371) { + out_3517024732190759371[0] = state[6]; + out_3517024732190759371[1] = state[7]; + out_3517024732190759371[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4404293013531669434) { - out_4404293013531669434[0] = 0; - out_4404293013531669434[1] = 0; - out_4404293013531669434[2] = 0; - out_4404293013531669434[3] = 0; - out_4404293013531669434[4] = 0; - out_4404293013531669434[5] = 0; - out_4404293013531669434[6] = 1; - out_4404293013531669434[7] = 0; - out_4404293013531669434[8] = 0; - out_4404293013531669434[9] = 0; - out_4404293013531669434[10] = 0; - out_4404293013531669434[11] = 0; - out_4404293013531669434[12] = 0; - out_4404293013531669434[13] = 0; - out_4404293013531669434[14] = 0; - out_4404293013531669434[15] = 0; - out_4404293013531669434[16] = 0; - out_4404293013531669434[17] = 0; - out_4404293013531669434[18] = 0; - out_4404293013531669434[19] = 0; - out_4404293013531669434[20] = 0; - out_4404293013531669434[21] = 0; - out_4404293013531669434[22] = 0; - out_4404293013531669434[23] = 0; - out_4404293013531669434[24] = 0; - out_4404293013531669434[25] = 1; - out_4404293013531669434[26] = 0; - out_4404293013531669434[27] = 0; - out_4404293013531669434[28] = 0; - out_4404293013531669434[29] = 0; - out_4404293013531669434[30] = 0; - out_4404293013531669434[31] = 0; - out_4404293013531669434[32] = 0; - out_4404293013531669434[33] = 0; - out_4404293013531669434[34] = 0; - out_4404293013531669434[35] = 0; - out_4404293013531669434[36] = 0; - out_4404293013531669434[37] = 0; - out_4404293013531669434[38] = 0; - out_4404293013531669434[39] = 0; - out_4404293013531669434[40] = 0; - out_4404293013531669434[41] = 0; - out_4404293013531669434[42] = 0; - out_4404293013531669434[43] = 0; - out_4404293013531669434[44] = 1; - out_4404293013531669434[45] = 0; - out_4404293013531669434[46] = 0; - out_4404293013531669434[47] = 0; - out_4404293013531669434[48] = 0; - out_4404293013531669434[49] = 0; - out_4404293013531669434[50] = 0; - out_4404293013531669434[51] = 0; - out_4404293013531669434[52] = 0; - out_4404293013531669434[53] = 0; +void H_14(double *state, double *unused, double *out_1707489080866792216) { + out_1707489080866792216[0] = 0; + out_1707489080866792216[1] = 0; + out_1707489080866792216[2] = 0; + out_1707489080866792216[3] = 0; + out_1707489080866792216[4] = 0; + out_1707489080866792216[5] = 0; + out_1707489080866792216[6] = 1; + out_1707489080866792216[7] = 0; + out_1707489080866792216[8] = 0; + out_1707489080866792216[9] = 0; + out_1707489080866792216[10] = 0; + out_1707489080866792216[11] = 0; + out_1707489080866792216[12] = 0; + out_1707489080866792216[13] = 0; + out_1707489080866792216[14] = 0; + out_1707489080866792216[15] = 0; + out_1707489080866792216[16] = 0; + out_1707489080866792216[17] = 0; + out_1707489080866792216[18] = 0; + out_1707489080866792216[19] = 0; + out_1707489080866792216[20] = 0; + out_1707489080866792216[21] = 0; + out_1707489080866792216[22] = 0; + out_1707489080866792216[23] = 0; + out_1707489080866792216[24] = 0; + out_1707489080866792216[25] = 1; + out_1707489080866792216[26] = 0; + out_1707489080866792216[27] = 0; + out_1707489080866792216[28] = 0; + out_1707489080866792216[29] = 0; + out_1707489080866792216[30] = 0; + out_1707489080866792216[31] = 0; + out_1707489080866792216[32] = 0; + out_1707489080866792216[33] = 0; + out_1707489080866792216[34] = 0; + out_1707489080866792216[35] = 0; + out_1707489080866792216[36] = 0; + out_1707489080866792216[37] = 0; + out_1707489080866792216[38] = 0; + out_1707489080866792216[39] = 0; + out_1707489080866792216[40] = 0; + out_1707489080866792216[41] = 0; + out_1707489080866792216[42] = 0; + out_1707489080866792216[43] = 0; + out_1707489080866792216[44] = 1; + out_1707489080866792216[45] = 0; + out_1707489080866792216[46] = 0; + out_1707489080866792216[47] = 0; + out_1707489080866792216[48] = 0; + out_1707489080866792216[49] = 0; + out_1707489080866792216[50] = 0; + out_1707489080866792216[51] = 0; + out_1707489080866792216[52] = 0; + out_1707489080866792216[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_3597460724364137401) { - err_fun(nom_x, delta_x, out_3597460724364137401); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4038237010904669995) { + err_fun(nom_x, delta_x, out_4038237010904669995); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1062002485999931142) { - inv_err_fun(nom_x, true_x, out_1062002485999931142); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2572217743337337909) { + inv_err_fun(nom_x, true_x, out_2572217743337337909); } -void pose_H_mod_fun(double *state, double *out_4662972867475177241) { - H_mod_fun(state, out_4662972867475177241); +void pose_H_mod_fun(double *state, double *out_362240871876916223) { + H_mod_fun(state, out_362240871876916223); } -void pose_f_fun(double *state, double dt, double *out_3840229658681249647) { - f_fun(state, dt, out_3840229658681249647); +void pose_f_fun(double *state, double dt, double *out_844759421205290898) { + f_fun(state, dt, out_844759421205290898); } -void pose_F_fun(double *state, double dt, double *out_8220635292339759608) { - F_fun(state, dt, out_8220635292339759608); +void pose_F_fun(double *state, double dt, double *out_3409614379123282877) { + F_fun(state, dt, out_3409614379123282877); } -void pose_h_4(double *state, double *unused, double *out_2097936204583725179) { - h_4(state, unused, out_2097936204583725179); +void pose_h_4(double *state, double *unused, double *out_3761995773053554002) { + h_4(state, unused, out_3761995773053554002); } -void pose_H_4(double *state, double *unused, double *out_4839409540176553033) { - H_4(state, unused, out_4839409540176553033); +void pose_H_4(double *state, double *unused, double *out_4790277513162164512) { + H_4(state, unused, out_4790277513162164512); } -void pose_h_10(double *state, double *unused, double *out_29444642201375045) { - h_10(state, unused, out_29444642201375045); +void pose_h_10(double *state, double *unused, double *out_1433439433765456745) { + h_10(state, unused, out_1433439433765456745); } -void pose_H_10(double *state, double *unused, double *out_1070049335288984001) { - H_10(state, unused, out_1070049335288984001); +void pose_H_10(double *state, double *unused, double *out_2492873908575038793) { + H_10(state, unused, out_2492873908575038793); } -void pose_h_13(double *state, double *unused, double *out_61045813616994293) { - h_13(state, unused, out_61045813616994293); +void pose_h_13(double *state, double *unused, double *out_7701755112567992010) { + h_13(state, unused, out_7701755112567992010); } -void pose_H_13(double *state, double *unused, double *out_8051683365508885834) { - H_13(state, unused, out_8051683365508885834); +void pose_H_13(double *state, double *unused, double *out_8002551338494497313) { + H_13(state, unused, out_8002551338494497313); } -void pose_h_14(double *state, double *unused, double *out_8545162578881105562) { - h_14(state, unused, out_8545162578881105562); +void pose_h_14(double *state, double *unused, double *out_3517024732190759371) { + h_14(state, unused, out_3517024732190759371); } -void pose_H_14(double *state, double *unused, double *out_4404293013531669434) { - H_14(state, unused, out_4404293013531669434); +void pose_H_14(double *state, double *unused, double *out_1707489080866792216) { + H_14(state, unused, out_1707489080866792216); } 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 36a57ae50..af3f0c622 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_3597460724364137401); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1062002485999931142); -void pose_H_mod_fun(double *state, double *out_4662972867475177241); -void pose_f_fun(double *state, double dt, double *out_3840229658681249647); -void pose_F_fun(double *state, double dt, double *out_8220635292339759608); -void pose_h_4(double *state, double *unused, double *out_2097936204583725179); -void pose_H_4(double *state, double *unused, double *out_4839409540176553033); -void pose_h_10(double *state, double *unused, double *out_29444642201375045); -void pose_H_10(double *state, double *unused, double *out_1070049335288984001); -void pose_h_13(double *state, double *unused, double *out_61045813616994293); -void pose_H_13(double *state, double *unused, double *out_8051683365508885834); -void pose_h_14(double *state, double *unused, double *out_8545162578881105562); -void pose_H_14(double *state, double *unused, double *out_4404293013531669434); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4038237010904669995); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2572217743337337909); +void pose_H_mod_fun(double *state, double *out_362240871876916223); +void pose_f_fun(double *state, double dt, double *out_844759421205290898); +void pose_F_fun(double *state, double dt, double *out_3409614379123282877); +void pose_h_4(double *state, double *unused, double *out_3761995773053554002); +void pose_H_4(double *state, double *unused, double *out_4790277513162164512); +void pose_h_10(double *state, double *unused, double *out_1433439433765456745); +void pose_H_10(double *state, double *unused, double *out_2492873908575038793); +void pose_h_13(double *state, double *unused, double *out_7701755112567992010); +void pose_H_13(double *state, double *unused, double *out_8002551338494497313); +void pose_h_14(double *state, double *unused, double *out_3517024732190759371); +void pose_H_14(double *state, double *unused, double *out_1707489080866792216); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file