diff --git a/openpilot/cereal/gen/cpp/custom.capnp.c++ b/openpilot/cereal/gen/cpp/custom.capnp.c++ index 4f9c5425fc..0eb00c3592 100644 --- a/openpilot/cereal/gen/cpp/custom.capnp.c++ +++ b/openpilot/cereal/gen/cpp/custom.capnp.c++ @@ -3849,17 +3849,17 @@ const ::capnp::_::RawSchema s_da96579883444c35 = { 0, 5, i_da96579883444c35, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<1013> b_a1680744031fdb2d = { +static const ::capnp::_::AlignedData<1081> b_a1680744031fdb2d = { { 0, 0, 0, 0, 5, 0, 6, 0, 45, 219, 31, 3, 68, 7, 104, 161, - 13, 0, 0, 0, 1, 0, 18, 0, + 13, 0, 0, 0, 1, 0, 21, 0, 89, 10, 85, 29, 102, 186, 38, 181, 22, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 178, 0, 0, 0, 29, 0, 0, 0, 87, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 117, 0, 0, 0, 239, 12, 0, 0, + 117, 0, 0, 0, 207, 13, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 99, 117, 115, 116, 111, 109, 46, 99, @@ -3889,420 +3889,448 @@ static const ::capnp::_::AlignedData<1013> b_a1680744031fdb2d = { 67, 111, 110, 100, 105, 116, 105, 111, 110, 97, 108, 77, 111, 100, 101, 83, 116, 97, 116, 101, 0, 0, 0, 0, - 236, 0, 0, 0, 3, 0, 4, 0, + 252, 0, 0, 0, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 101, 6, 0, 0, 58, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 96, 6, 0, 0, 3, 0, 1, 0, - 108, 6, 0, 0, 2, 0, 1, 0, - 1, 0, 0, 0, 1, 0, 0, 0, - 0, 0, 1, 0, 1, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 105, 6, 0, 0, 74, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 104, 6, 0, 0, 3, 0, 1, 0, - 116, 6, 0, 0, 2, 0, 1, 0, - 2, 0, 0, 0, 2, 0, 0, 0, - 0, 0, 1, 0, 2, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 113, 6, 0, 0, 66, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 108, 6, 0, 0, 3, 0, 1, 0, - 120, 6, 0, 0, 2, 0, 1, 0, - 3, 0, 0, 0, 3, 0, 0, 0, - 0, 0, 1, 0, 3, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 117, 6, 0, 0, 106, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 116, 6, 0, 0, 3, 0, 1, 0, - 128, 6, 0, 0, 2, 0, 1, 0, - 4, 0, 0, 0, 4, 0, 0, 0, - 0, 0, 1, 0, 4, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 125, 6, 0, 0, 58, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 120, 6, 0, 0, 3, 0, 1, 0, - 132, 6, 0, 0, 2, 0, 1, 0, - 5, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1, 0, 5, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 129, 6, 0, 0, 114, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 128, 6, 0, 0, 3, 0, 1, 0, - 140, 6, 0, 0, 2, 0, 1, 0, - 6, 0, 0, 0, 5, 0, 0, 0, - 0, 0, 1, 0, 6, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 137, 6, 0, 0, 82, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 136, 6, 0, 0, 3, 0, 1, 0, - 148, 6, 0, 0, 2, 0, 1, 0, - 7, 0, 0, 0, 1, 0, 0, 0, - 0, 0, 1, 0, 7, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 145, 6, 0, 0, 114, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 144, 6, 0, 0, 3, 0, 1, 0, - 156, 6, 0, 0, 2, 0, 1, 0, - 8, 0, 0, 0, 128, 0, 0, 0, - 0, 0, 1, 0, 8, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 153, 6, 0, 0, 66, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 148, 6, 0, 0, 3, 0, 1, 0, - 160, 6, 0, 0, 2, 0, 1, 0, - 9, 0, 0, 0, 129, 0, 0, 0, - 0, 0, 1, 0, 9, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 157, 6, 0, 0, 98, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 156, 6, 0, 0, 3, 0, 1, 0, - 168, 6, 0, 0, 2, 0, 1, 0, - 10, 0, 0, 0, 6, 0, 0, 0, - 0, 0, 1, 0, 10, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 165, 6, 0, 0, 130, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 164, 6, 0, 0, 3, 0, 1, 0, - 176, 6, 0, 0, 2, 0, 1, 0, - 11, 0, 0, 0, 7, 0, 0, 0, - 0, 0, 1, 0, 11, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 173, 6, 0, 0, 58, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 168, 6, 0, 0, 3, 0, 1, 0, - 180, 6, 0, 0, 2, 0, 1, 0, - 12, 0, 0, 0, 5, 0, 0, 0, - 0, 0, 1, 0, 12, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 177, 6, 0, 0, 90, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 176, 6, 0, 0, 3, 0, 1, 0, - 188, 6, 0, 0, 2, 0, 1, 0, - 13, 0, 0, 0, 6, 0, 0, 0, - 0, 0, 1, 0, 13, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 185, 6, 0, 0, 154, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 188, 6, 0, 0, 3, 0, 1, 0, - 200, 6, 0, 0, 2, 0, 1, 0, - 14, 0, 0, 0, 130, 0, 0, 0, - 0, 0, 1, 0, 14, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 197, 6, 0, 0, 98, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 196, 6, 0, 0, 3, 0, 1, 0, - 208, 6, 0, 0, 2, 0, 1, 0, - 15, 0, 0, 0, 7, 0, 0, 0, - 0, 0, 1, 0, 15, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 205, 6, 0, 0, 58, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 200, 6, 0, 0, 3, 0, 1, 0, - 212, 6, 0, 0, 2, 0, 1, 0, - 16, 0, 0, 0, 8, 0, 0, 0, - 0, 0, 1, 0, 16, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 209, 6, 0, 0, 106, 0, 0, 0, + 213, 6, 0, 0, 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 208, 6, 0, 0, 3, 0, 1, 0, 220, 6, 0, 0, 2, 0, 1, 0, - 17, 0, 0, 0, 131, 0, 0, 0, - 0, 0, 1, 0, 17, 0, 0, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 217, 6, 0, 0, 90, 0, 0, 0, + 217, 6, 0, 0, 74, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 216, 6, 0, 0, 3, 0, 1, 0, 228, 6, 0, 0, 2, 0, 1, 0, - 18, 0, 0, 0, 9, 0, 0, 0, - 0, 0, 1, 0, 18, 0, 0, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 225, 6, 0, 0, 146, 0, 0, 0, + 225, 6, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 6, 0, 0, 3, 0, 1, 0, + 232, 6, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 6, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 228, 6, 0, 0, 3, 0, 1, 0, 240, 6, 0, 0, 2, 0, 1, 0, - 19, 0, 0, 0, 132, 0, 0, 0, - 0, 0, 1, 0, 19, 0, 0, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 237, 6, 0, 0, 90, 0, 0, 0, + 237, 6, 0, 0, 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 236, 6, 0, 0, 3, 0, 1, 0, - 248, 6, 0, 0, 2, 0, 1, 0, - 20, 0, 0, 0, 5, 0, 0, 0, - 0, 0, 1, 0, 20, 0, 0, 0, + 232, 6, 0, 0, 3, 0, 1, 0, + 244, 6, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 245, 6, 0, 0, 90, 0, 0, 0, + 241, 6, 0, 0, 114, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 244, 6, 0, 0, 3, 0, 1, 0, - 0, 7, 0, 0, 2, 0, 1, 0, - 21, 0, 0, 0, 6, 0, 0, 0, - 0, 0, 1, 0, 21, 0, 0, 0, + 240, 6, 0, 0, 3, 0, 1, 0, + 252, 6, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 253, 6, 0, 0, 122, 0, 0, 0, + 249, 6, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 252, 6, 0, 0, 3, 0, 1, 0, - 8, 7, 0, 0, 2, 0, 1, 0, - 22, 0, 0, 0, 8, 0, 0, 0, - 0, 0, 1, 0, 22, 0, 0, 0, + 248, 6, 0, 0, 3, 0, 1, 0, + 4, 7, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 5, 7, 0, 0, 58, 0, 0, 0, + 1, 7, 0, 0, 114, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 7, 0, 0, 3, 0, 1, 0, 12, 7, 0, 0, 2, 0, 1, 0, - 23, 0, 0, 0, 7, 0, 0, 0, - 0, 0, 1, 0, 23, 0, 0, 0, + 8, 0, 0, 0, 128, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 9, 7, 0, 0, 138, 0, 0, 0, + 9, 7, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 7, 0, 0, 3, 0, 1, 0, + 16, 7, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 129, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 7, 0, 0, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 7, 0, 0, 3, 0, 1, 0, 24, 7, 0, 0, 2, 0, 1, 0, - 24, 0, 0, 0, 9, 0, 0, 0, - 0, 0, 1, 0, 24, 0, 0, 0, + 10, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 21, 7, 0, 0, 106, 0, 0, 0, + 21, 7, 0, 0, 130, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 20, 7, 0, 0, 3, 0, 1, 0, 32, 7, 0, 0, 2, 0, 1, 0, - 25, 0, 0, 0, 10, 0, 0, 0, - 0, 0, 1, 0, 25, 0, 0, 0, + 11, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 29, 7, 0, 0, 194, 0, 0, 0, + 29, 7, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 7, 0, 0, 3, 0, 1, 0, + 36, 7, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 7, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 32, 7, 0, 0, 3, 0, 1, 0, 44, 7, 0, 0, 2, 0, 1, 0, - 26, 0, 0, 0, 16, 0, 0, 0, - 0, 0, 1, 0, 26, 0, 0, 0, + 13, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 41, 7, 0, 0, 114, 0, 0, 0, + 41, 7, 0, 0, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 40, 7, 0, 0, 3, 0, 1, 0, - 52, 7, 0, 0, 2, 0, 1, 0, - 27, 0, 0, 0, 9, 0, 0, 0, - 0, 0, 1, 0, 27, 0, 0, 0, + 44, 7, 0, 0, 3, 0, 1, 0, + 56, 7, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 49, 7, 0, 0, 186, 0, 0, 0, + 53, 7, 0, 0, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 52, 7, 0, 0, 3, 0, 1, 0, 64, 7, 0, 0, 2, 0, 1, 0, - 28, 0, 0, 0, 10, 0, 0, 0, - 0, 0, 1, 0, 28, 0, 0, 0, + 15, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 61, 7, 0, 0, 202, 0, 0, 0, + 61, 7, 0, 0, 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 68, 7, 0, 0, 3, 0, 1, 0, - 80, 7, 0, 0, 2, 0, 1, 0, - 29, 0, 0, 0, 11, 0, 0, 0, - 0, 0, 1, 0, 29, 0, 0, 0, + 56, 7, 0, 0, 3, 0, 1, 0, + 68, 7, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 77, 7, 0, 0, 82, 0, 0, 0, + 65, 7, 0, 0, 106, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 76, 7, 0, 0, 3, 0, 1, 0, - 88, 7, 0, 0, 2, 0, 1, 0, - 30, 0, 0, 0, 11, 0, 0, 0, - 0, 0, 1, 0, 30, 0, 0, 0, + 64, 7, 0, 0, 3, 0, 1, 0, + 76, 7, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 131, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 85, 7, 0, 0, 114, 0, 0, 0, + 73, 7, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 7, 0, 0, 3, 0, 1, 0, + 84, 7, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 7, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 84, 7, 0, 0, 3, 0, 1, 0, 96, 7, 0, 0, 2, 0, 1, 0, - 31, 0, 0, 0, 12, 0, 0, 0, - 0, 0, 1, 0, 31, 0, 0, 0, + 19, 0, 0, 0, 132, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 93, 7, 0, 0, 50, 0, 0, 0, + 93, 7, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 88, 7, 0, 0, 3, 0, 1, 0, - 100, 7, 0, 0, 2, 0, 1, 0, - 32, 0, 0, 0, 13, 0, 0, 0, - 0, 0, 1, 0, 32, 0, 0, 0, + 92, 7, 0, 0, 3, 0, 1, 0, + 104, 7, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 97, 7, 0, 0, 130, 0, 0, 0, + 101, 7, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 96, 7, 0, 0, 3, 0, 1, 0, - 108, 7, 0, 0, 2, 0, 1, 0, - 33, 0, 0, 0, 14, 0, 0, 0, - 0, 0, 1, 0, 33, 0, 0, 0, + 100, 7, 0, 0, 3, 0, 1, 0, + 112, 7, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 105, 7, 0, 0, 98, 0, 0, 0, + 109, 7, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 104, 7, 0, 0, 3, 0, 1, 0, - 116, 7, 0, 0, 2, 0, 1, 0, - 34, 0, 0, 0, 15, 0, 0, 0, - 0, 0, 1, 0, 34, 0, 0, 0, + 108, 7, 0, 0, 3, 0, 1, 0, + 120, 7, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 113, 7, 0, 0, 122, 0, 0, 0, + 117, 7, 0, 0, 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 112, 7, 0, 0, 3, 0, 1, 0, 124, 7, 0, 0, 2, 0, 1, 0, - 35, 0, 0, 0, 16, 0, 0, 0, - 0, 0, 1, 0, 35, 0, 0, 0, + 23, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 121, 7, 0, 0, 122, 0, 0, 0, + 121, 7, 0, 0, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 120, 7, 0, 0, 3, 0, 1, 0, - 132, 7, 0, 0, 2, 0, 1, 0, - 36, 0, 0, 0, 17, 0, 0, 0, - 0, 0, 1, 0, 36, 0, 0, 0, + 124, 7, 0, 0, 3, 0, 1, 0, + 136, 7, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, 0, 0, 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0, + 61, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 61, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 9, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 9, 0, 0, 3, 0, 1, 0, + 72, 9, 0, 0, 2, 0, 1, 0, + 62, 0, 0, 0, 40, 0, 0, 0, + 0, 0, 1, 0, 62, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 9, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 9, 0, 0, 3, 0, 1, 0, + 84, 9, 0, 0, 2, 0, 1, 0, 115, 108, 111, 116, 73, 100, 0, 0, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -4861,6 +4889,46 @@ static const ::capnp::_::AlignedData<1013> b_a1680744031fdb2d = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 112, 116, 101, 100, + 73, 115, 80, 114, 101, 118, 105, 101, + 119, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 104, 101, 101, 108, 79, 118, 101, + 114, 114, 105, 100, 101, 83, 105, 110, + 99, 101, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 104, 101, 101, 108, 65, 100, 111, + 112, 116, 77, 111, 110, 111, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 104, 101, 101, 108, 65, 100, 111, + 112, 116, 84, 97, 114, 103, 101, 116, + 77, 112, 115, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, } }; @@ -4873,11 +4941,11 @@ static const ::capnp::_::RawSchema* const d_a1680744031fdb2d[] = { &s_f58695a93b568caf, &s_fb41e1a738d832cb, }; -static const uint16_t m_a1680744031fdb2d[] = {42, 56, 35, 13, 23, 24, 51, 50, 29, 30, 32, 31, 20, 9, 40, 16, 37, 8, 7, 14, 43, 17, 38, 19, 45, 47, 39, 55, 54, 53, 10, 15, 48, 44, 52, 36, 18, 46, 21, 4, 49, 6, 0, 1, 11, 26, 27, 25, 41, 28, 12, 22, 34, 33, 58, 57, 2, 3, 5}; -static const uint16_t i_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58}; +static const uint16_t m_a1680744031fdb2d[] = {42, 59, 56, 35, 13, 23, 24, 51, 50, 29, 30, 32, 31, 20, 9, 40, 16, 37, 8, 7, 14, 43, 17, 38, 19, 45, 47, 39, 55, 54, 53, 10, 15, 48, 44, 52, 36, 18, 46, 21, 4, 49, 6, 0, 1, 11, 26, 27, 25, 41, 28, 12, 22, 34, 33, 58, 57, 2, 3, 5, 61, 62, 60}; +static const uint16_t i_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62}; const ::capnp::_::RawSchema s_a1680744031fdb2d = { - 0xa1680744031fdb2d, b_a1680744031fdb2d.words, 1013, d_a1680744031fdb2d, m_a1680744031fdb2d, - 5, 59, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false + 0xa1680744031fdb2d, b_a1680744031fdb2d.words, 1081, d_a1680744031fdb2d, m_a1680744031fdb2d, + 5, 63, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<81> b_a7940385bedd1d4c = { @@ -6216,17 +6284,17 @@ const ::capnp::_::RawSchema s_9a4b2a0189fe1224 = { }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Choice_9a4b2a0189fe1224, 9a4b2a0189fe1224); -static const ::capnp::_::AlignedData<159> b_9ccdc8676701b412 = { +static const ::capnp::_::AlignedData<176> b_9ccdc8676701b412 = { { 0, 0, 0, 0, 5, 0, 6, 0, 18, 180, 1, 103, 103, 200, 205, 156, - 13, 0, 0, 0, 1, 0, 4, 0, + 13, 0, 0, 0, 1, 0, 5, 0, 89, 10, 85, 29, 102, 186, 38, 181, 4, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 186, 0, 0, 0, 29, 0, 0, 0, 55, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 77, 0, 0, 0, 199, 1, 0, 0, + 77, 0, 0, 0, 255, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 99, 117, 115, 116, 111, 109, 46, 99, @@ -6246,63 +6314,70 @@ static const ::capnp::_::AlignedData<159> b_9ccdc8676701b412 = { 110, 97, 108, 77, 97, 110, 117, 97, 108, 65, 99, 116, 105, 111, 110, 0, 75, 105, 110, 100, 0, 0, 0, 0, - 32, 0, 0, 0, 3, 0, 4, 0, + 36, 0, 0, 0, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 209, 0, 0, 0, 82, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 208, 0, 0, 0, 3, 0, 1, 0, - 220, 0, 0, 0, 2, 0, 1, 0, - 1, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1, 0, 1, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 217, 0, 0, 0, 90, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 216, 0, 0, 0, 3, 0, 1, 0, - 228, 0, 0, 0, 2, 0, 1, 0, - 2, 0, 0, 0, 1, 0, 0, 0, - 0, 0, 1, 0, 2, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 225, 0, 0, 0, 90, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 224, 0, 0, 0, 3, 0, 1, 0, - 236, 0, 0, 0, 2, 0, 1, 0, - 3, 0, 0, 0, 2, 0, 0, 0, - 0, 0, 1, 0, 3, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 233, 0, 0, 0, 122, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 232, 0, 0, 0, 3, 0, 1, 0, - 244, 0, 0, 0, 2, 0, 1, 0, - 4, 0, 0, 0, 12, 0, 0, 0, - 0, 0, 1, 0, 4, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 241, 0, 0, 0, 42, 0, 0, 0, + 237, 0, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 236, 0, 0, 0, 3, 0, 1, 0, 248, 0, 0, 0, 2, 0, 1, 0, - 5, 0, 0, 0, 1, 0, 0, 0, - 0, 0, 1, 0, 5, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 245, 0, 0, 0, 146, 0, 0, 0, + 245, 0, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 248, 0, 0, 0, 3, 0, 1, 0, - 4, 1, 0, 0, 2, 0, 1, 0, - 6, 0, 0, 0, 2, 0, 0, 0, - 0, 0, 1, 0, 6, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 1, 1, 0, 0, 138, 0, 0, 0, + 253, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 1, 0, 0, 3, 0, 1, 0, 16, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, 7, 0, 0, 0, 3, 0, 0, 0, 0, 0, 1, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 13, 1, 0, 0, 122, 0, 0, 0, + 41, 1, 0, 0, 122, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 12, 1, 0, 0, 3, 0, 1, 0, - 24, 1, 0, 0, 2, 0, 1, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, 115, 101, 115, 115, 105, 111, 110, 73, 100, 0, 0, 0, 0, 0, 0, 0, 12, 0, 0, 0, 0, 0, 0, 0, @@ -6374,6 +6449,16 @@ static const ::capnp::_::AlignedData<159> b_9ccdc8676701b412 = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 104, 101, 101, 108, 65, 100, 111, + 112, 116, 77, 111, 110, 111, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, } }; @@ -6384,11 +6469,11 @@ static const ::capnp::_::RawSchema* const d_9ccdc8676701b412[] = { &s_b539e7c0aa8c1e69, &s_b8cbd9e666181b95, }; -static const uint16_t m_9ccdc8676701b412[] = {5, 6, 7, 2, 4, 3, 1, 0}; -static const uint16_t i_9ccdc8676701b412[] = {0, 1, 2, 3, 4, 5, 6, 7}; +static const uint16_t m_9ccdc8676701b412[] = {5, 6, 7, 2, 4, 3, 1, 0, 8}; +static const uint16_t i_9ccdc8676701b412[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; const ::capnp::_::RawSchema s_9ccdc8676701b412 = { - 0x9ccdc8676701b412, b_9ccdc8676701b412.words, 159, d_9ccdc8676701b412, m_9ccdc8676701b412, - 3, 8, i_9ccdc8676701b412, nullptr, nullptr, { &s_9ccdc8676701b412, nullptr, nullptr, 0, 0, nullptr }, false + 0x9ccdc8676701b412, b_9ccdc8676701b412.words, 176, d_9ccdc8676701b412, m_9ccdc8676701b412, + 3, 9, i_9ccdc8676701b412, nullptr, nullptr, { &s_9ccdc8676701b412, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<234> b_b539e7c0aa8c1e69 = { @@ -6982,17 +7067,17 @@ const ::capnp::_::RawSchema s_b8cbd9e666181b95 = { }; #endif // !CAPNP_LITE CAPNP_DEFINE_ENUM(Kind_b8cbd9e666181b95, b8cbd9e666181b95); -static const ::capnp::_::AlignedData<295> b_cd96dafb67a082d0 = { +static const ::capnp::_::AlignedData<312> b_cd96dafb67a082d0 = { { 0, 0, 0, 0, 5, 0, 6, 0, 208, 130, 160, 103, 251, 218, 150, 205, - 13, 0, 0, 0, 1, 0, 7, 0, + 13, 0, 0, 0, 1, 0, 8, 0, 89, 10, 85, 29, 102, 186, 38, 181, 6, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 226, 0, 0, 0, 33, 0, 0, 0, 87, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 113, 0, 0, 0, 135, 3, 0, 0, + 113, 0, 0, 0, 191, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 99, 117, 115, 116, 111, 109, 46, 99, @@ -7021,119 +7106,126 @@ static const ::capnp::_::AlignedData<295> b_cd96dafb67a082d0 = { 77, 97, 110, 117, 97, 108, 77, 111, 100, 101, 71, 101, 115, 116, 117, 114, 101, 0, 0, 0, 0, 0, 0, 0, - 64, 0, 0, 0, 3, 0, 4, 0, + 68, 0, 0, 0, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 177, 1, 0, 0, 66, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 172, 1, 0, 0, 3, 0, 1, 0, - 184, 1, 0, 0, 2, 0, 1, 0, - 1, 0, 0, 0, 1, 0, 0, 0, - 0, 0, 1, 0, 1, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 181, 1, 0, 0, 138, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 184, 1, 0, 0, 3, 0, 1, 0, - 196, 1, 0, 0, 2, 0, 1, 0, - 2, 0, 0, 0, 4, 0, 0, 0, - 0, 0, 1, 0, 2, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 193, 1, 0, 0, 98, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 192, 1, 0, 0, 3, 0, 1, 0, - 204, 1, 0, 0, 2, 0, 1, 0, - 3, 0, 0, 0, 5, 0, 0, 0, - 0, 0, 1, 0, 3, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 201, 1, 0, 0, 98, 0, 0, 0, + 205, 1, 0, 0, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 200, 1, 0, 0, 3, 0, 1, 0, 212, 1, 0, 0, 2, 0, 1, 0, - 4, 0, 0, 0, 12, 0, 0, 0, - 0, 0, 1, 0, 4, 0, 0, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 209, 1, 0, 0, 58, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 204, 1, 0, 0, 3, 0, 1, 0, - 216, 1, 0, 0, 2, 0, 1, 0, - 5, 0, 0, 0, 208, 0, 0, 0, - 0, 0, 1, 0, 5, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 213, 1, 0, 0, 82, 0, 0, 0, + 209, 1, 0, 0, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 212, 1, 0, 0, 3, 0, 1, 0, 224, 1, 0, 0, 2, 0, 1, 0, - 6, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1, 0, 6, 0, 0, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 221, 1, 0, 0, 146, 0, 0, 0, + 221, 1, 0, 0, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 224, 1, 0, 0, 3, 0, 1, 0, - 236, 1, 0, 0, 2, 0, 1, 0, - 7, 0, 0, 0, 14, 0, 0, 0, - 0, 0, 1, 0, 7, 0, 0, 0, + 220, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 233, 1, 0, 0, 42, 0, 0, 0, + 229, 1, 0, 0, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 228, 1, 0, 0, 3, 0, 1, 0, 240, 1, 0, 0, 2, 0, 1, 0, - 8, 0, 0, 0, 1, 0, 0, 0, - 0, 0, 1, 0, 8, 0, 0, 0, + 4, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 237, 1, 0, 0, 82, 0, 0, 0, + 237, 1, 0, 0, 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 236, 1, 0, 0, 3, 0, 1, 0, - 248, 1, 0, 0, 2, 0, 1, 0, - 9, 0, 0, 0, 4, 0, 0, 0, - 0, 0, 1, 0, 9, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 208, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 245, 1, 0, 0, 90, 0, 0, 0, + 241, 1, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 244, 1, 0, 0, 3, 0, 1, 0, - 0, 2, 0, 0, 2, 0, 1, 0, - 10, 0, 0, 0, 5, 0, 0, 0, - 0, 0, 1, 0, 10, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 253, 1, 0, 0, 122, 0, 0, 0, + 249, 1, 0, 0, 146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 252, 1, 0, 0, 3, 0, 1, 0, 8, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 2, 0, 0, 3, 0, 1, 0, + 12, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 2, 0, 0, 3, 0, 1, 0, + 28, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 2, 0, 0, 3, 0, 1, 0, + 36, 2, 0, 0, 2, 0, 1, 0, 11, 0, 0, 0, 6, 0, 0, 0, 0, 0, 1, 0, 11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 5, 2, 0, 0, 82, 0, 0, 0, + 33, 2, 0, 0, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 4, 2, 0, 0, 3, 0, 1, 0, - 16, 2, 0, 0, 2, 0, 1, 0, + 32, 2, 0, 0, 3, 0, 1, 0, + 44, 2, 0, 0, 2, 0, 1, 0, 12, 0, 0, 0, 2, 0, 0, 0, 0, 0, 1, 0, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 13, 2, 0, 0, 90, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 12, 2, 0, 0, 3, 0, 1, 0, - 24, 2, 0, 0, 2, 0, 1, 0, - 13, 0, 0, 0, 3, 0, 0, 0, - 0, 0, 1, 0, 13, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 21, 2, 0, 0, 98, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 20, 2, 0, 0, 3, 0, 1, 0, - 32, 2, 0, 0, 2, 0, 1, 0, - 14, 0, 0, 0, 4, 0, 0, 0, - 0, 0, 1, 0, 14, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 29, 2, 0, 0, 98, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 28, 2, 0, 0, 3, 0, 1, 0, - 40, 2, 0, 0, 2, 0, 1, 0, - 15, 0, 0, 0, 5, 0, 0, 0, - 0, 0, 1, 0, 15, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 37, 2, 0, 0, 138, 0, 0, 0, + 41, 2, 0, 0, 90, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 40, 2, 0, 0, 3, 0, 1, 0, 52, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 2, 0, 0, 3, 0, 1, 0, + 60, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 2, 0, 0, 3, 0, 1, 0, + 68, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 2, 0, 0, 3, 0, 1, 0, + 80, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 2, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 2, 0, 0, 3, 0, 1, 0, + 92, 2, 0, 0, 2, 0, 1, 0, 101, 118, 101, 110, 116, 73, 100, 0, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -7276,6 +7368,16 @@ static const ::capnp::_::AlignedData<295> b_cd96dafb67a082d0 = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 104, 101, 101, 108, 79, 118, 101, + 114, 114, 105, 100, 101, 83, 105, 110, + 99, 101, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, } }; @@ -7289,11 +7391,11 @@ static const ::capnp::_::RawSchema* const d_cd96dafb67a082d0[] = { &s_efc922094a634c9f, &s_fd07e0b91e3573c2, }; -static const uint16_t m_cd96dafb67a082d0[] = {4, 11, 9, 0, 7, 5, 12, 1, 10, 2, 6, 3, 8, 15, 13, 14}; -static const uint16_t i_cd96dafb67a082d0[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +static const uint16_t m_cd96dafb67a082d0[] = {4, 11, 9, 0, 7, 5, 12, 1, 10, 2, 6, 3, 8, 15, 13, 14, 16}; +static const uint16_t i_cd96dafb67a082d0[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; const ::capnp::_::RawSchema s_cd96dafb67a082d0 = { - 0xcd96dafb67a082d0, b_cd96dafb67a082d0.words, 295, d_cd96dafb67a082d0, m_cd96dafb67a082d0, - 6, 16, i_cd96dafb67a082d0, nullptr, nullptr, { &s_cd96dafb67a082d0, nullptr, nullptr, 0, 0, nullptr }, false + 0xcd96dafb67a082d0, b_cd96dafb67a082d0.words, 312, d_cd96dafb67a082d0, m_cd96dafb67a082d0, + 6, 17, i_cd96dafb67a082d0, nullptr, nullptr, { &s_cd96dafb67a082d0, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<99> b_cc2db5640fb6dc61 = { diff --git a/openpilot/cereal/gen/cpp/custom.capnp.h b/openpilot/cereal/gen/cpp/custom.capnp.h index fd93090451..510781cc90 100644 --- a/openpilot/cereal/gen/cpp/custom.capnp.h +++ b/openpilot/cereal/gen/cpp/custom.capnp.h @@ -749,7 +749,7 @@ struct SlcState { struct ConditionalModeState; struct _capnpPrivate { - CAPNP_DECLARE_STRUCT_HEADER(a1680744031fdb2d, 18, 22) + CAPNP_DECLARE_STRUCT_HEADER(a1680744031fdb2d, 21, 22) #if !CAPNP_LITE static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } #endif // !CAPNP_LITE @@ -845,7 +845,7 @@ struct SlcAction { struct _capnpPrivate { - CAPNP_DECLARE_STRUCT_HEADER(9ccdc8676701b412, 4, 4) + CAPNP_DECLARE_STRUCT_HEADER(9ccdc8676701b412, 5, 4) #if !CAPNP_LITE static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } #endif // !CAPNP_LITE @@ -897,7 +897,7 @@ struct SlcCruiseEvent { struct ManualModeGesture; struct _capnpPrivate { - CAPNP_DECLARE_STRUCT_HEADER(cd96dafb67a082d0, 7, 6) + CAPNP_DECLARE_STRUCT_HEADER(cd96dafb67a082d0, 8, 6) #if !CAPNP_LITE static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } #endif // !CAPNP_LITE @@ -4524,6 +4524,14 @@ public: inline bool hasUpcomingBoundaryId() const; inline ::capnp::Text::Reader getUpcomingBoundaryId() const; + inline bool getAcceptedIsPreview() const; + + inline ::uint64_t getWheelOverrideSince() const; + + inline ::uint64_t getWheelAdoptMonoTime() const; + + inline float getWheelAdoptTargetMps() const; + private: ::capnp::_::StructReader _reader; template @@ -4817,6 +4825,18 @@ public: inline void adoptUpcomingBoundaryId(::capnp::Orphan< ::capnp::Text>&& value); inline ::capnp::Orphan< ::capnp::Text> disownUpcomingBoundaryId(); + inline bool getAcceptedIsPreview(); + inline void setAcceptedIsPreview(bool value); + + inline ::uint64_t getWheelOverrideSince(); + inline void setWheelOverrideSince( ::uint64_t value); + + inline ::uint64_t getWheelAdoptMonoTime(); + inline void setWheelAdoptMonoTime( ::uint64_t value); + + inline float getWheelAdoptTargetMps(); + inline void setWheelAdoptTargetMps(float value); + private: ::capnp::_::StructBuilder _builder; template @@ -5669,6 +5689,8 @@ public: inline bool hasControllerMode() const; inline ::cereal::SlcAction::ControllerCruiseAction::Reader getControllerMode() const; + inline ::uint64_t getWheelAdoptMonoTime() const; + private: ::capnp::_::StructReader _reader; template @@ -5737,6 +5759,9 @@ public: inline void adoptControllerMode(::capnp::Orphan< ::cereal::SlcAction::ControllerCruiseAction>&& value); inline ::capnp::Orphan< ::cereal::SlcAction::ControllerCruiseAction> disownControllerMode(); + inline ::uint64_t getWheelAdoptMonoTime(); + inline void setWheelAdoptMonoTime( ::uint64_t value); + private: ::capnp::_::StructBuilder _builder; template @@ -6128,6 +6153,8 @@ public: inline bool hasTeslaStockCruise() const; inline ::cereal::SlcCruiseEvent::TeslaStockCruise::Reader getTeslaStockCruise() const; + inline ::uint64_t getWheelOverrideSince() const; + private: ::capnp::_::StructReader _reader; template @@ -6228,6 +6255,9 @@ public: inline void adoptTeslaStockCruise(::capnp::Orphan< ::cereal::SlcCruiseEvent::TeslaStockCruise>&& value); inline ::capnp::Orphan< ::cereal::SlcCruiseEvent::TeslaStockCruise> disownTeslaStockCruise(); + inline ::uint64_t getWheelOverrideSince(); + inline void setWheelOverrideSince( ::uint64_t value); + private: ::capnp::_::StructBuilder _builder; template @@ -20214,6 +20244,62 @@ inline ::capnp::Orphan< ::capnp::Text> SlcState::Builder::disownUpcomingBoundary ::capnp::bounded<21>() * ::capnp::POINTERS)); } +inline bool SlcState::Reader::getAcceptedIsPreview() const { + return _reader.getDataField( + ::capnp::bounded<141>() * ::capnp::ELEMENTS); +} + +inline bool SlcState::Builder::getAcceptedIsPreview() { + return _builder.getDataField( + ::capnp::bounded<141>() * ::capnp::ELEMENTS); +} +inline void SlcState::Builder::setAcceptedIsPreview(bool value) { + _builder.setDataField( + ::capnp::bounded<141>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t SlcState::Reader::getWheelOverrideSince() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t SlcState::Builder::getWheelOverrideSince() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<18>() * ::capnp::ELEMENTS); +} +inline void SlcState::Builder::setWheelOverrideSince( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<18>() * ::capnp::ELEMENTS, value); +} + +inline ::uint64_t SlcState::Reader::getWheelAdoptMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t SlcState::Builder::getWheelAdoptMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<19>() * ::capnp::ELEMENTS); +} +inline void SlcState::Builder::setWheelAdoptMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<19>() * ::capnp::ELEMENTS, value); +} + +inline float SlcState::Reader::getWheelAdoptTargetMps() const { + return _reader.getDataField( + ::capnp::bounded<40>() * ::capnp::ELEMENTS); +} + +inline float SlcState::Builder::getWheelAdoptTargetMps() { + return _builder.getDataField( + ::capnp::bounded<40>() * ::capnp::ELEMENTS); +} +inline void SlcState::Builder::setWheelAdoptTargetMps(float value) { + _builder.setDataField( + ::capnp::bounded<40>() * ::capnp::ELEMENTS, value); +} + inline bool SlcState::SourceReading::Reader::hasSource() const { return !_reader.getPointerField( ::capnp::bounded<0>() * ::capnp::POINTERS).isNull(); @@ -21721,6 +21807,20 @@ inline ::capnp::Orphan< ::cereal::SlcAction::ControllerCruiseAction> SlcAction:: ::capnp::bounded<3>() * ::capnp::POINTERS)); } +inline ::uint64_t SlcAction::Reader::getWheelAdoptMonoTime() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t SlcAction::Builder::getWheelAdoptMonoTime() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS); +} +inline void SlcAction::Builder::setWheelAdoptMonoTime( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<4>() * ::capnp::ELEMENTS, value); +} + inline ::uint16_t SlcAction::ControllerCruiseAction::Reader::getVersion() const { return _reader.getDataField< ::uint16_t>( ::capnp::bounded<0>() * ::capnp::ELEMENTS); @@ -22589,6 +22689,20 @@ inline ::capnp::Orphan< ::cereal::SlcCruiseEvent::TeslaStockCruise> SlcCruiseEve ::capnp::bounded<5>() * ::capnp::POINTERS)); } +inline ::uint64_t SlcCruiseEvent::Reader::getWheelOverrideSince() const { + return _reader.getDataField< ::uint64_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} + +inline ::uint64_t SlcCruiseEvent::Builder::getWheelOverrideSince() { + return _builder.getDataField< ::uint64_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS); +} +inline void SlcCruiseEvent::Builder::setWheelOverrideSince( ::uint64_t value) { + _builder.setDataField< ::uint64_t>( + ::capnp::bounded<7>() * ::capnp::ELEMENTS, value); +} + inline ::uint16_t SlcCruiseEvent::TeslaStockCruise::Reader::getVersion() const { return _reader.getDataField< ::uint16_t>( ::capnp::bounded<0>() * ::capnp::ELEMENTS); diff --git a/openpilot/cereal/libcereal.a b/openpilot/cereal/libcereal.a index e3abbfcced..ac441fcf34 100644 Binary files a/openpilot/cereal/libcereal.a and b/openpilot/cereal/libcereal.a differ diff --git a/openpilot/common/libcommon.a b/openpilot/common/libcommon.a index bb4a5f98fc..1784ac60bb 100644 Binary files a/openpilot/common/libcommon.a and b/openpilot/common/libcommon.a differ diff --git a/openpilot/common/libparams_c.so b/openpilot/common/libparams_c.so index 53972cfec6..61ae1f7995 100755 Binary files a/openpilot/common/libparams_c.so and b/openpilot/common/libparams_c.so differ diff --git a/openpilot/selfdrive/locationd/models/generated/car.cpp b/openpilot/selfdrive/locationd/models/generated/car.cpp index 06ea3aaad3..45cead1442 100644 --- a/openpilot/selfdrive/locationd/models/generated/car.cpp +++ b/openpilot/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_2633990546043802948) { - out_2633990546043802948[0] = delta_x[0] + nom_x[0]; - out_2633990546043802948[1] = delta_x[1] + nom_x[1]; - out_2633990546043802948[2] = delta_x[2] + nom_x[2]; - out_2633990546043802948[3] = delta_x[3] + nom_x[3]; - out_2633990546043802948[4] = delta_x[4] + nom_x[4]; - out_2633990546043802948[5] = delta_x[5] + nom_x[5]; - out_2633990546043802948[6] = delta_x[6] + nom_x[6]; - out_2633990546043802948[7] = delta_x[7] + nom_x[7]; - out_2633990546043802948[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3392229238668395910) { + out_3392229238668395910[0] = delta_x[0] + nom_x[0]; + out_3392229238668395910[1] = delta_x[1] + nom_x[1]; + out_3392229238668395910[2] = delta_x[2] + nom_x[2]; + out_3392229238668395910[3] = delta_x[3] + nom_x[3]; + out_3392229238668395910[4] = delta_x[4] + nom_x[4]; + out_3392229238668395910[5] = delta_x[5] + nom_x[5]; + out_3392229238668395910[6] = delta_x[6] + nom_x[6]; + out_3392229238668395910[7] = delta_x[7] + nom_x[7]; + out_3392229238668395910[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1648181344021920920) { - out_1648181344021920920[0] = -nom_x[0] + true_x[0]; - out_1648181344021920920[1] = -nom_x[1] + true_x[1]; - out_1648181344021920920[2] = -nom_x[2] + true_x[2]; - out_1648181344021920920[3] = -nom_x[3] + true_x[3]; - out_1648181344021920920[4] = -nom_x[4] + true_x[4]; - out_1648181344021920920[5] = -nom_x[5] + true_x[5]; - out_1648181344021920920[6] = -nom_x[6] + true_x[6]; - out_1648181344021920920[7] = -nom_x[7] + true_x[7]; - out_1648181344021920920[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8775703397352493346) { + out_8775703397352493346[0] = -nom_x[0] + true_x[0]; + out_8775703397352493346[1] = -nom_x[1] + true_x[1]; + out_8775703397352493346[2] = -nom_x[2] + true_x[2]; + out_8775703397352493346[3] = -nom_x[3] + true_x[3]; + out_8775703397352493346[4] = -nom_x[4] + true_x[4]; + out_8775703397352493346[5] = -nom_x[5] + true_x[5]; + out_8775703397352493346[6] = -nom_x[6] + true_x[6]; + out_8775703397352493346[7] = -nom_x[7] + true_x[7]; + out_8775703397352493346[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6471050303960736584) { - out_6471050303960736584[0] = 1.0; - out_6471050303960736584[1] = 0.0; - out_6471050303960736584[2] = 0.0; - out_6471050303960736584[3] = 0.0; - out_6471050303960736584[4] = 0.0; - out_6471050303960736584[5] = 0.0; - out_6471050303960736584[6] = 0.0; - out_6471050303960736584[7] = 0.0; - out_6471050303960736584[8] = 0.0; - out_6471050303960736584[9] = 0.0; - out_6471050303960736584[10] = 1.0; - out_6471050303960736584[11] = 0.0; - out_6471050303960736584[12] = 0.0; - out_6471050303960736584[13] = 0.0; - out_6471050303960736584[14] = 0.0; - out_6471050303960736584[15] = 0.0; - out_6471050303960736584[16] = 0.0; - out_6471050303960736584[17] = 0.0; - out_6471050303960736584[18] = 0.0; - out_6471050303960736584[19] = 0.0; - out_6471050303960736584[20] = 1.0; - out_6471050303960736584[21] = 0.0; - out_6471050303960736584[22] = 0.0; - out_6471050303960736584[23] = 0.0; - out_6471050303960736584[24] = 0.0; - out_6471050303960736584[25] = 0.0; - out_6471050303960736584[26] = 0.0; - out_6471050303960736584[27] = 0.0; - out_6471050303960736584[28] = 0.0; - out_6471050303960736584[29] = 0.0; - out_6471050303960736584[30] = 1.0; - out_6471050303960736584[31] = 0.0; - out_6471050303960736584[32] = 0.0; - out_6471050303960736584[33] = 0.0; - out_6471050303960736584[34] = 0.0; - out_6471050303960736584[35] = 0.0; - out_6471050303960736584[36] = 0.0; - out_6471050303960736584[37] = 0.0; - out_6471050303960736584[38] = 0.0; - out_6471050303960736584[39] = 0.0; - out_6471050303960736584[40] = 1.0; - out_6471050303960736584[41] = 0.0; - out_6471050303960736584[42] = 0.0; - out_6471050303960736584[43] = 0.0; - out_6471050303960736584[44] = 0.0; - out_6471050303960736584[45] = 0.0; - out_6471050303960736584[46] = 0.0; - out_6471050303960736584[47] = 0.0; - out_6471050303960736584[48] = 0.0; - out_6471050303960736584[49] = 0.0; - out_6471050303960736584[50] = 1.0; - out_6471050303960736584[51] = 0.0; - out_6471050303960736584[52] = 0.0; - out_6471050303960736584[53] = 0.0; - out_6471050303960736584[54] = 0.0; - out_6471050303960736584[55] = 0.0; - out_6471050303960736584[56] = 0.0; - out_6471050303960736584[57] = 0.0; - out_6471050303960736584[58] = 0.0; - out_6471050303960736584[59] = 0.0; - out_6471050303960736584[60] = 1.0; - out_6471050303960736584[61] = 0.0; - out_6471050303960736584[62] = 0.0; - out_6471050303960736584[63] = 0.0; - out_6471050303960736584[64] = 0.0; - out_6471050303960736584[65] = 0.0; - out_6471050303960736584[66] = 0.0; - out_6471050303960736584[67] = 0.0; - out_6471050303960736584[68] = 0.0; - out_6471050303960736584[69] = 0.0; - out_6471050303960736584[70] = 1.0; - out_6471050303960736584[71] = 0.0; - out_6471050303960736584[72] = 0.0; - out_6471050303960736584[73] = 0.0; - out_6471050303960736584[74] = 0.0; - out_6471050303960736584[75] = 0.0; - out_6471050303960736584[76] = 0.0; - out_6471050303960736584[77] = 0.0; - out_6471050303960736584[78] = 0.0; - out_6471050303960736584[79] = 0.0; - out_6471050303960736584[80] = 1.0; +void H_mod_fun(double *state, double *out_4824001013826507625) { + out_4824001013826507625[0] = 1.0; + out_4824001013826507625[1] = 0.0; + out_4824001013826507625[2] = 0.0; + out_4824001013826507625[3] = 0.0; + out_4824001013826507625[4] = 0.0; + out_4824001013826507625[5] = 0.0; + out_4824001013826507625[6] = 0.0; + out_4824001013826507625[7] = 0.0; + out_4824001013826507625[8] = 0.0; + out_4824001013826507625[9] = 0.0; + out_4824001013826507625[10] = 1.0; + out_4824001013826507625[11] = 0.0; + out_4824001013826507625[12] = 0.0; + out_4824001013826507625[13] = 0.0; + out_4824001013826507625[14] = 0.0; + out_4824001013826507625[15] = 0.0; + out_4824001013826507625[16] = 0.0; + out_4824001013826507625[17] = 0.0; + out_4824001013826507625[18] = 0.0; + out_4824001013826507625[19] = 0.0; + out_4824001013826507625[20] = 1.0; + out_4824001013826507625[21] = 0.0; + out_4824001013826507625[22] = 0.0; + out_4824001013826507625[23] = 0.0; + out_4824001013826507625[24] = 0.0; + out_4824001013826507625[25] = 0.0; + out_4824001013826507625[26] = 0.0; + out_4824001013826507625[27] = 0.0; + out_4824001013826507625[28] = 0.0; + out_4824001013826507625[29] = 0.0; + out_4824001013826507625[30] = 1.0; + out_4824001013826507625[31] = 0.0; + out_4824001013826507625[32] = 0.0; + out_4824001013826507625[33] = 0.0; + out_4824001013826507625[34] = 0.0; + out_4824001013826507625[35] = 0.0; + out_4824001013826507625[36] = 0.0; + out_4824001013826507625[37] = 0.0; + out_4824001013826507625[38] = 0.0; + out_4824001013826507625[39] = 0.0; + out_4824001013826507625[40] = 1.0; + out_4824001013826507625[41] = 0.0; + out_4824001013826507625[42] = 0.0; + out_4824001013826507625[43] = 0.0; + out_4824001013826507625[44] = 0.0; + out_4824001013826507625[45] = 0.0; + out_4824001013826507625[46] = 0.0; + out_4824001013826507625[47] = 0.0; + out_4824001013826507625[48] = 0.0; + out_4824001013826507625[49] = 0.0; + out_4824001013826507625[50] = 1.0; + out_4824001013826507625[51] = 0.0; + out_4824001013826507625[52] = 0.0; + out_4824001013826507625[53] = 0.0; + out_4824001013826507625[54] = 0.0; + out_4824001013826507625[55] = 0.0; + out_4824001013826507625[56] = 0.0; + out_4824001013826507625[57] = 0.0; + out_4824001013826507625[58] = 0.0; + out_4824001013826507625[59] = 0.0; + out_4824001013826507625[60] = 1.0; + out_4824001013826507625[61] = 0.0; + out_4824001013826507625[62] = 0.0; + out_4824001013826507625[63] = 0.0; + out_4824001013826507625[64] = 0.0; + out_4824001013826507625[65] = 0.0; + out_4824001013826507625[66] = 0.0; + out_4824001013826507625[67] = 0.0; + out_4824001013826507625[68] = 0.0; + out_4824001013826507625[69] = 0.0; + out_4824001013826507625[70] = 1.0; + out_4824001013826507625[71] = 0.0; + out_4824001013826507625[72] = 0.0; + out_4824001013826507625[73] = 0.0; + out_4824001013826507625[74] = 0.0; + out_4824001013826507625[75] = 0.0; + out_4824001013826507625[76] = 0.0; + out_4824001013826507625[77] = 0.0; + out_4824001013826507625[78] = 0.0; + out_4824001013826507625[79] = 0.0; + out_4824001013826507625[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3688269730868187383) { - out_3688269730868187383[0] = state[0]; - out_3688269730868187383[1] = state[1]; - out_3688269730868187383[2] = state[2]; - out_3688269730868187383[3] = state[3]; - out_3688269730868187383[4] = state[4]; - out_3688269730868187383[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_3688269730868187383[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_3688269730868187383[7] = state[7]; - out_3688269730868187383[8] = state[8]; +void f_fun(double *state, double dt, double *out_6057528982108647722) { + out_6057528982108647722[0] = state[0]; + out_6057528982108647722[1] = state[1]; + out_6057528982108647722[2] = state[2]; + out_6057528982108647722[3] = state[3]; + out_6057528982108647722[4] = state[4]; + out_6057528982108647722[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_6057528982108647722[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_6057528982108647722[7] = state[7]; + out_6057528982108647722[8] = state[8]; } -void F_fun(double *state, double dt, double *out_9019266380936848145) { - out_9019266380936848145[0] = 1; - out_9019266380936848145[1] = 0; - out_9019266380936848145[2] = 0; - out_9019266380936848145[3] = 0; - out_9019266380936848145[4] = 0; - out_9019266380936848145[5] = 0; - out_9019266380936848145[6] = 0; - out_9019266380936848145[7] = 0; - out_9019266380936848145[8] = 0; - out_9019266380936848145[9] = 0; - out_9019266380936848145[10] = 1; - out_9019266380936848145[11] = 0; - out_9019266380936848145[12] = 0; - out_9019266380936848145[13] = 0; - out_9019266380936848145[14] = 0; - out_9019266380936848145[15] = 0; - out_9019266380936848145[16] = 0; - out_9019266380936848145[17] = 0; - out_9019266380936848145[18] = 0; - out_9019266380936848145[19] = 0; - out_9019266380936848145[20] = 1; - out_9019266380936848145[21] = 0; - out_9019266380936848145[22] = 0; - out_9019266380936848145[23] = 0; - out_9019266380936848145[24] = 0; - out_9019266380936848145[25] = 0; - out_9019266380936848145[26] = 0; - out_9019266380936848145[27] = 0; - out_9019266380936848145[28] = 0; - out_9019266380936848145[29] = 0; - out_9019266380936848145[30] = 1; - out_9019266380936848145[31] = 0; - out_9019266380936848145[32] = 0; - out_9019266380936848145[33] = 0; - out_9019266380936848145[34] = 0; - out_9019266380936848145[35] = 0; - out_9019266380936848145[36] = 0; - out_9019266380936848145[37] = 0; - out_9019266380936848145[38] = 0; - out_9019266380936848145[39] = 0; - out_9019266380936848145[40] = 1; - out_9019266380936848145[41] = 0; - out_9019266380936848145[42] = 0; - out_9019266380936848145[43] = 0; - out_9019266380936848145[44] = 0; - out_9019266380936848145[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_9019266380936848145[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_9019266380936848145[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_9019266380936848145[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_9019266380936848145[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_9019266380936848145[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_9019266380936848145[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_9019266380936848145[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_9019266380936848145[53] = -9.8100000000000005*dt; - out_9019266380936848145[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_9019266380936848145[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_9019266380936848145[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_9019266380936848145[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_9019266380936848145[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_9019266380936848145[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_9019266380936848145[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_9019266380936848145[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_9019266380936848145[62] = 0; - out_9019266380936848145[63] = 0; - out_9019266380936848145[64] = 0; - out_9019266380936848145[65] = 0; - out_9019266380936848145[66] = 0; - out_9019266380936848145[67] = 0; - out_9019266380936848145[68] = 0; - out_9019266380936848145[69] = 0; - out_9019266380936848145[70] = 1; - out_9019266380936848145[71] = 0; - out_9019266380936848145[72] = 0; - out_9019266380936848145[73] = 0; - out_9019266380936848145[74] = 0; - out_9019266380936848145[75] = 0; - out_9019266380936848145[76] = 0; - out_9019266380936848145[77] = 0; - out_9019266380936848145[78] = 0; - out_9019266380936848145[79] = 0; - out_9019266380936848145[80] = 1; +void F_fun(double *state, double dt, double *out_178208695147004115) { + out_178208695147004115[0] = 1; + out_178208695147004115[1] = 0; + out_178208695147004115[2] = 0; + out_178208695147004115[3] = 0; + out_178208695147004115[4] = 0; + out_178208695147004115[5] = 0; + out_178208695147004115[6] = 0; + out_178208695147004115[7] = 0; + out_178208695147004115[8] = 0; + out_178208695147004115[9] = 0; + out_178208695147004115[10] = 1; + out_178208695147004115[11] = 0; + out_178208695147004115[12] = 0; + out_178208695147004115[13] = 0; + out_178208695147004115[14] = 0; + out_178208695147004115[15] = 0; + out_178208695147004115[16] = 0; + out_178208695147004115[17] = 0; + out_178208695147004115[18] = 0; + out_178208695147004115[19] = 0; + out_178208695147004115[20] = 1; + out_178208695147004115[21] = 0; + out_178208695147004115[22] = 0; + out_178208695147004115[23] = 0; + out_178208695147004115[24] = 0; + out_178208695147004115[25] = 0; + out_178208695147004115[26] = 0; + out_178208695147004115[27] = 0; + out_178208695147004115[28] = 0; + out_178208695147004115[29] = 0; + out_178208695147004115[30] = 1; + out_178208695147004115[31] = 0; + out_178208695147004115[32] = 0; + out_178208695147004115[33] = 0; + out_178208695147004115[34] = 0; + out_178208695147004115[35] = 0; + out_178208695147004115[36] = 0; + out_178208695147004115[37] = 0; + out_178208695147004115[38] = 0; + out_178208695147004115[39] = 0; + out_178208695147004115[40] = 1; + out_178208695147004115[41] = 0; + out_178208695147004115[42] = 0; + out_178208695147004115[43] = 0; + out_178208695147004115[44] = 0; + out_178208695147004115[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_178208695147004115[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_178208695147004115[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_178208695147004115[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_178208695147004115[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_178208695147004115[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_178208695147004115[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_178208695147004115[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_178208695147004115[53] = -9.8100000000000005*dt; + out_178208695147004115[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_178208695147004115[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_178208695147004115[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_178208695147004115[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_178208695147004115[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_178208695147004115[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_178208695147004115[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_178208695147004115[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_178208695147004115[62] = 0; + out_178208695147004115[63] = 0; + out_178208695147004115[64] = 0; + out_178208695147004115[65] = 0; + out_178208695147004115[66] = 0; + out_178208695147004115[67] = 0; + out_178208695147004115[68] = 0; + out_178208695147004115[69] = 0; + out_178208695147004115[70] = 1; + out_178208695147004115[71] = 0; + out_178208695147004115[72] = 0; + out_178208695147004115[73] = 0; + out_178208695147004115[74] = 0; + out_178208695147004115[75] = 0; + out_178208695147004115[76] = 0; + out_178208695147004115[77] = 0; + out_178208695147004115[78] = 0; + out_178208695147004115[79] = 0; + out_178208695147004115[80] = 1; } -void h_25(double *state, double *unused, double *out_797744778366010140) { - out_797744778366010140[0] = state[6]; +void h_25(double *state, double *unused, double *out_8550702395314279714) { + out_8550702395314279714[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1567358478776071744) { - out_1567358478776071744[0] = 0; - out_1567358478776071744[1] = 0; - out_1567358478776071744[2] = 0; - out_1567358478776071744[3] = 0; - out_1567358478776071744[4] = 0; - out_1567358478776071744[5] = 0; - out_1567358478776071744[6] = 1; - out_1567358478776071744[7] = 0; - out_1567358478776071744[8] = 0; +void H_25(double *state, double *unused, double *out_2187444088811081431) { + out_2187444088811081431[0] = 0; + out_2187444088811081431[1] = 0; + out_2187444088811081431[2] = 0; + out_2187444088811081431[3] = 0; + out_2187444088811081431[4] = 0; + out_2187444088811081431[5] = 0; + out_2187444088811081431[6] = 1; + out_2187444088811081431[7] = 0; + out_2187444088811081431[8] = 0; } -void h_24(double *state, double *unused, double *out_190155790201239850) { - out_190155790201239850[0] = state[4]; - out_190155790201239850[1] = state[5]; +void h_24(double *state, double *unused, double *out_3063831735768408815) { + out_3063831735768408815[0] = state[4]; + out_3063831735768408815[1] = state[5]; } -void H_24(double *state, double *unused, double *out_5549681630173839642) { - out_5549681630173839642[0] = 0; - out_5549681630173839642[1] = 0; - out_5549681630173839642[2] = 0; - out_5549681630173839642[3] = 0; - out_5549681630173839642[4] = 1; - out_5549681630173839642[5] = 0; - out_5549681630173839642[6] = 0; - out_5549681630173839642[7] = 0; - out_5549681630173839642[8] = 0; - out_5549681630173839642[9] = 0; - out_5549681630173839642[10] = 0; - out_5549681630173839642[11] = 0; - out_5549681630173839642[12] = 0; - out_5549681630173839642[13] = 0; - out_5549681630173839642[14] = 1; - out_5549681630173839642[15] = 0; - out_5549681630173839642[16] = 0; - out_5549681630173839642[17] = 0; +void H_24(double *state, double *unused, double *out_5745369687613404567) { + out_5745369687613404567[0] = 0; + out_5745369687613404567[1] = 0; + out_5745369687613404567[2] = 0; + out_5745369687613404567[3] = 0; + out_5745369687613404567[4] = 1; + out_5745369687613404567[5] = 0; + out_5745369687613404567[6] = 0; + out_5745369687613404567[7] = 0; + out_5745369687613404567[8] = 0; + out_5745369687613404567[9] = 0; + out_5745369687613404567[10] = 0; + out_5745369687613404567[11] = 0; + out_5745369687613404567[12] = 0; + out_5745369687613404567[13] = 0; + out_5745369687613404567[14] = 1; + out_5745369687613404567[15] = 0; + out_5745369687613404567[16] = 0; + out_5745369687613404567[17] = 0; } -void h_30(double *state, double *unused, double *out_8511282010659690294) { - out_8511282010659690294[0] = state[4]; +void h_30(double *state, double *unused, double *out_8471988271360455383) { + out_8471988271360455383[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5349331862715545011) { - out_5349331862715545011[0] = 0; - out_5349331862715545011[1] = 0; - out_5349331862715545011[2] = 0; - out_5349331862715545011[3] = 0; - out_5349331862715545011[4] = 1; - out_5349331862715545011[5] = 0; - out_5349331862715545011[6] = 0; - out_5349331862715545011[7] = 0; - out_5349331862715545011[8] = 0; +void H_30(double *state, double *unused, double *out_2340252241316526767) { + out_2340252241316526767[0] = 0; + out_2340252241316526767[1] = 0; + out_2340252241316526767[2] = 0; + out_2340252241316526767[3] = 0; + out_2340252241316526767[4] = 1; + out_2340252241316526767[5] = 0; + out_2340252241316526767[6] = 0; + out_2340252241316526767[7] = 0; + out_2340252241316526767[8] = 0; } -void h_26(double *state, double *unused, double *out_5186767263433807506) { - out_5186767263433807506[0] = state[7]; +void h_26(double *state, double *unused, double *out_3470315003699609738) { + out_3470315003699609738[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1737167490984728857) { - out_1737167490984728857[0] = 0; - out_1737167490984728857[1] = 0; - out_1737167490984728857[2] = 0; - out_1737167490984728857[3] = 0; - out_1737167490984728857[4] = 0; - out_1737167490984728857[5] = 0; - out_1737167490984728857[6] = 0; - out_1737167490984728857[7] = 1; - out_1737167490984728857[8] = 0; +void H_26(double *state, double *unused, double *out_1554059230062974793) { + out_1554059230062974793[0] = 0; + out_1554059230062974793[1] = 0; + out_1554059230062974793[2] = 0; + out_1554059230062974793[3] = 0; + out_1554059230062974793[4] = 0; + out_1554059230062974793[5] = 0; + out_1554059230062974793[6] = 0; + out_1554059230062974793[7] = 1; + out_1554059230062974793[8] = 0; } -void h_27(double *state, double *unused, double *out_3402150099174707791) { - out_3402150099174707791[0] = state[3]; +void h_27(double *state, double *unused, double *out_4147430428900407732) { + out_4147430428900407732[0] = state[3]; } -void H_27(double *state, double *unused, double *out_3174568550915120100) { - out_3174568550915120100[0] = 0; - out_3174568550915120100[1] = 0; - out_3174568550915120100[2] = 0; - out_3174568550915120100[3] = 1; - out_3174568550915120100[4] = 0; - out_3174568550915120100[5] = 0; - out_3174568550915120100[6] = 0; - out_3174568550915120100[7] = 0; - out_3174568550915120100[8] = 0; +void H_27(double *state, double *unused, double *out_4515015553116951678) { + out_4515015553116951678[0] = 0; + out_4515015553116951678[1] = 0; + out_4515015553116951678[2] = 0; + out_4515015553116951678[3] = 1; + out_4515015553116951678[4] = 0; + out_4515015553116951678[5] = 0; + out_4515015553116951678[6] = 0; + out_4515015553116951678[7] = 0; + out_4515015553116951678[8] = 0; } -void h_29(double *state, double *unused, double *out_2753297096665952338) { - out_2753297096665952338[0] = state[1]; +void h_29(double *state, double *unused, double *out_6344999803363309424) { + out_6344999803363309424[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5859563207029937195) { - out_5859563207029937195[0] = 0; - out_5859563207029937195[1] = 1; - out_5859563207029937195[2] = 0; - out_5859563207029937195[3] = 0; - out_5859563207029937195[4] = 0; - out_5859563207029937195[5] = 0; - out_5859563207029937195[6] = 0; - out_5859563207029937195[7] = 0; - out_5859563207029937195[8] = 0; +void H_29(double *state, double *unused, double *out_1830020897002134583) { + out_1830020897002134583[0] = 0; + out_1830020897002134583[1] = 1; + out_1830020897002134583[2] = 0; + out_1830020897002134583[3] = 0; + out_1830020897002134583[4] = 0; + out_1830020897002134583[5] = 0; + out_1830020897002134583[6] = 0; + out_1830020897002134583[7] = 0; + out_1830020897002134583[8] = 0; } -void h_28(double *state, double *unused, double *out_6022818472511333083) { - out_6022818472511333083[0] = state[0]; +void h_28(double *state, double *unused, double *out_7296550941016078105) { + out_7296550941016078105[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3621193193023961507) { - out_3621193193023961507[0] = 1; - out_3621193193023961507[1] = 0; - out_3621193193023961507[2] = 0; - out_3621193193023961507[3] = 0; - out_3621193193023961507[4] = 0; - out_3621193193023961507[5] = 0; - out_3621193193023961507[6] = 0; - out_3621193193023961507[7] = 0; - out_3621193193023961507[8] = 0; +void H_28(double *state, double *unused, double *out_133609374563191668) { + out_133609374563191668[0] = 1; + out_133609374563191668[1] = 0; + out_133609374563191668[2] = 0; + out_133609374563191668[3] = 0; + out_133609374563191668[4] = 0; + out_133609374563191668[5] = 0; + out_133609374563191668[6] = 0; + out_133609374563191668[7] = 0; + out_133609374563191668[8] = 0; } -void h_31(double *state, double *unused, double *out_8679017429120059325) { - out_8679017429120059325[0] = state[8]; +void h_31(double *state, double *unused, double *out_2132776421574599461) { + out_2132776421574599461[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5509316771735745509) { - out_5509316771735745509[0] = 0; - out_5509316771735745509[1] = 0; - out_5509316771735745509[2] = 0; - out_5509316771735745509[3] = 0; - out_5509316771735745509[4] = 0; - out_5509316771735745509[5] = 0; - out_5509316771735745509[6] = 0; - out_5509316771735745509[7] = 0; - out_5509316771735745509[8] = 1; +void H_31(double *state, double *unused, double *out_2180267332296326269) { + out_2180267332296326269[0] = 0; + out_2180267332296326269[1] = 0; + out_2180267332296326269[2] = 0; + out_2180267332296326269[3] = 0; + out_2180267332296326269[4] = 0; + out_2180267332296326269[5] = 0; + out_2180267332296326269[6] = 0; + out_2180267332296326269[7] = 0; + out_2180267332296326269[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_2633990546043802948) { - err_fun(nom_x, delta_x, out_2633990546043802948); +void car_err_fun(double *nom_x, double *delta_x, double *out_3392229238668395910) { + err_fun(nom_x, delta_x, out_3392229238668395910); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1648181344021920920) { - inv_err_fun(nom_x, true_x, out_1648181344021920920); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8775703397352493346) { + inv_err_fun(nom_x, true_x, out_8775703397352493346); } -void car_H_mod_fun(double *state, double *out_6471050303960736584) { - H_mod_fun(state, out_6471050303960736584); +void car_H_mod_fun(double *state, double *out_4824001013826507625) { + H_mod_fun(state, out_4824001013826507625); } -void car_f_fun(double *state, double dt, double *out_3688269730868187383) { - f_fun(state, dt, out_3688269730868187383); +void car_f_fun(double *state, double dt, double *out_6057528982108647722) { + f_fun(state, dt, out_6057528982108647722); } -void car_F_fun(double *state, double dt, double *out_9019266380936848145) { - F_fun(state, dt, out_9019266380936848145); +void car_F_fun(double *state, double dt, double *out_178208695147004115) { + F_fun(state, dt, out_178208695147004115); } -void car_h_25(double *state, double *unused, double *out_797744778366010140) { - h_25(state, unused, out_797744778366010140); +void car_h_25(double *state, double *unused, double *out_8550702395314279714) { + h_25(state, unused, out_8550702395314279714); } -void car_H_25(double *state, double *unused, double *out_1567358478776071744) { - H_25(state, unused, out_1567358478776071744); +void car_H_25(double *state, double *unused, double *out_2187444088811081431) { + H_25(state, unused, out_2187444088811081431); } -void car_h_24(double *state, double *unused, double *out_190155790201239850) { - h_24(state, unused, out_190155790201239850); +void car_h_24(double *state, double *unused, double *out_3063831735768408815) { + h_24(state, unused, out_3063831735768408815); } -void car_H_24(double *state, double *unused, double *out_5549681630173839642) { - H_24(state, unused, out_5549681630173839642); +void car_H_24(double *state, double *unused, double *out_5745369687613404567) { + H_24(state, unused, out_5745369687613404567); } -void car_h_30(double *state, double *unused, double *out_8511282010659690294) { - h_30(state, unused, out_8511282010659690294); +void car_h_30(double *state, double *unused, double *out_8471988271360455383) { + h_30(state, unused, out_8471988271360455383); } -void car_H_30(double *state, double *unused, double *out_5349331862715545011) { - H_30(state, unused, out_5349331862715545011); +void car_H_30(double *state, double *unused, double *out_2340252241316526767) { + H_30(state, unused, out_2340252241316526767); } -void car_h_26(double *state, double *unused, double *out_5186767263433807506) { - h_26(state, unused, out_5186767263433807506); +void car_h_26(double *state, double *unused, double *out_3470315003699609738) { + h_26(state, unused, out_3470315003699609738); } -void car_H_26(double *state, double *unused, double *out_1737167490984728857) { - H_26(state, unused, out_1737167490984728857); +void car_H_26(double *state, double *unused, double *out_1554059230062974793) { + H_26(state, unused, out_1554059230062974793); } -void car_h_27(double *state, double *unused, double *out_3402150099174707791) { - h_27(state, unused, out_3402150099174707791); +void car_h_27(double *state, double *unused, double *out_4147430428900407732) { + h_27(state, unused, out_4147430428900407732); } -void car_H_27(double *state, double *unused, double *out_3174568550915120100) { - H_27(state, unused, out_3174568550915120100); +void car_H_27(double *state, double *unused, double *out_4515015553116951678) { + H_27(state, unused, out_4515015553116951678); } -void car_h_29(double *state, double *unused, double *out_2753297096665952338) { - h_29(state, unused, out_2753297096665952338); +void car_h_29(double *state, double *unused, double *out_6344999803363309424) { + h_29(state, unused, out_6344999803363309424); } -void car_H_29(double *state, double *unused, double *out_5859563207029937195) { - H_29(state, unused, out_5859563207029937195); +void car_H_29(double *state, double *unused, double *out_1830020897002134583) { + H_29(state, unused, out_1830020897002134583); } -void car_h_28(double *state, double *unused, double *out_6022818472511333083) { - h_28(state, unused, out_6022818472511333083); +void car_h_28(double *state, double *unused, double *out_7296550941016078105) { + h_28(state, unused, out_7296550941016078105); } -void car_H_28(double *state, double *unused, double *out_3621193193023961507) { - H_28(state, unused, out_3621193193023961507); +void car_H_28(double *state, double *unused, double *out_133609374563191668) { + H_28(state, unused, out_133609374563191668); } -void car_h_31(double *state, double *unused, double *out_8679017429120059325) { - h_31(state, unused, out_8679017429120059325); +void car_h_31(double *state, double *unused, double *out_2132776421574599461) { + h_31(state, unused, out_2132776421574599461); } -void car_H_31(double *state, double *unused, double *out_5509316771735745509) { - H_31(state, unused, out_5509316771735745509); +void car_H_31(double *state, double *unused, double *out_2180267332296326269) { + H_31(state, unused, out_2180267332296326269); } 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/openpilot/selfdrive/locationd/models/generated/car.h b/openpilot/selfdrive/locationd/models/generated/car.h index 5fed943d99..0b0f1182f0 100644 --- a/openpilot/selfdrive/locationd/models/generated/car.h +++ b/openpilot/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_2633990546043802948); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1648181344021920920); -void car_H_mod_fun(double *state, double *out_6471050303960736584); -void car_f_fun(double *state, double dt, double *out_3688269730868187383); -void car_F_fun(double *state, double dt, double *out_9019266380936848145); -void car_h_25(double *state, double *unused, double *out_797744778366010140); -void car_H_25(double *state, double *unused, double *out_1567358478776071744); -void car_h_24(double *state, double *unused, double *out_190155790201239850); -void car_H_24(double *state, double *unused, double *out_5549681630173839642); -void car_h_30(double *state, double *unused, double *out_8511282010659690294); -void car_H_30(double *state, double *unused, double *out_5349331862715545011); -void car_h_26(double *state, double *unused, double *out_5186767263433807506); -void car_H_26(double *state, double *unused, double *out_1737167490984728857); -void car_h_27(double *state, double *unused, double *out_3402150099174707791); -void car_H_27(double *state, double *unused, double *out_3174568550915120100); -void car_h_29(double *state, double *unused, double *out_2753297096665952338); -void car_H_29(double *state, double *unused, double *out_5859563207029937195); -void car_h_28(double *state, double *unused, double *out_6022818472511333083); -void car_H_28(double *state, double *unused, double *out_3621193193023961507); -void car_h_31(double *state, double *unused, double *out_8679017429120059325); -void car_H_31(double *state, double *unused, double *out_5509316771735745509); +void car_err_fun(double *nom_x, double *delta_x, double *out_3392229238668395910); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8775703397352493346); +void car_H_mod_fun(double *state, double *out_4824001013826507625); +void car_f_fun(double *state, double dt, double *out_6057528982108647722); +void car_F_fun(double *state, double dt, double *out_178208695147004115); +void car_h_25(double *state, double *unused, double *out_8550702395314279714); +void car_H_25(double *state, double *unused, double *out_2187444088811081431); +void car_h_24(double *state, double *unused, double *out_3063831735768408815); +void car_H_24(double *state, double *unused, double *out_5745369687613404567); +void car_h_30(double *state, double *unused, double *out_8471988271360455383); +void car_H_30(double *state, double *unused, double *out_2340252241316526767); +void car_h_26(double *state, double *unused, double *out_3470315003699609738); +void car_H_26(double *state, double *unused, double *out_1554059230062974793); +void car_h_27(double *state, double *unused, double *out_4147430428900407732); +void car_H_27(double *state, double *unused, double *out_4515015553116951678); +void car_h_29(double *state, double *unused, double *out_6344999803363309424); +void car_H_29(double *state, double *unused, double *out_1830020897002134583); +void car_h_28(double *state, double *unused, double *out_7296550941016078105); +void car_H_28(double *state, double *unused, double *out_133609374563191668); +void car_h_31(double *state, double *unused, double *out_2132776421574599461); +void car_H_31(double *state, double *unused, double *out_2180267332296326269); 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/openpilot/selfdrive/locationd/models/generated/libcar.so b/openpilot/selfdrive/locationd/models/generated/libcar.so index 4233fb3c77..aacf2b9ae9 100755 Binary files a/openpilot/selfdrive/locationd/models/generated/libcar.so and b/openpilot/selfdrive/locationd/models/generated/libcar.so differ diff --git a/openpilot/selfdrive/locationd/models/generated/libpose.so b/openpilot/selfdrive/locationd/models/generated/libpose.so index 62d12cec94..acece8c1e1 100755 Binary files a/openpilot/selfdrive/locationd/models/generated/libpose.so and b/openpilot/selfdrive/locationd/models/generated/libpose.so differ diff --git a/openpilot/selfdrive/locationd/models/generated/pose.cpp b/openpilot/selfdrive/locationd/models/generated/pose.cpp index 5c229af101..3ee22ff9c2 100644 --- a/openpilot/selfdrive/locationd/models/generated/pose.cpp +++ b/openpilot/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_2521549048397866319) { - out_2521549048397866319[0] = delta_x[0] + nom_x[0]; - out_2521549048397866319[1] = delta_x[1] + nom_x[1]; - out_2521549048397866319[2] = delta_x[2] + nom_x[2]; - out_2521549048397866319[3] = delta_x[3] + nom_x[3]; - out_2521549048397866319[4] = delta_x[4] + nom_x[4]; - out_2521549048397866319[5] = delta_x[5] + nom_x[5]; - out_2521549048397866319[6] = delta_x[6] + nom_x[6]; - out_2521549048397866319[7] = delta_x[7] + nom_x[7]; - out_2521549048397866319[8] = delta_x[8] + nom_x[8]; - out_2521549048397866319[9] = delta_x[9] + nom_x[9]; - out_2521549048397866319[10] = delta_x[10] + nom_x[10]; - out_2521549048397866319[11] = delta_x[11] + nom_x[11]; - out_2521549048397866319[12] = delta_x[12] + nom_x[12]; - out_2521549048397866319[13] = delta_x[13] + nom_x[13]; - out_2521549048397866319[14] = delta_x[14] + nom_x[14]; - out_2521549048397866319[15] = delta_x[15] + nom_x[15]; - out_2521549048397866319[16] = delta_x[16] + nom_x[16]; - out_2521549048397866319[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_944171533359057280) { + out_944171533359057280[0] = delta_x[0] + nom_x[0]; + out_944171533359057280[1] = delta_x[1] + nom_x[1]; + out_944171533359057280[2] = delta_x[2] + nom_x[2]; + out_944171533359057280[3] = delta_x[3] + nom_x[3]; + out_944171533359057280[4] = delta_x[4] + nom_x[4]; + out_944171533359057280[5] = delta_x[5] + nom_x[5]; + out_944171533359057280[6] = delta_x[6] + nom_x[6]; + out_944171533359057280[7] = delta_x[7] + nom_x[7]; + out_944171533359057280[8] = delta_x[8] + nom_x[8]; + out_944171533359057280[9] = delta_x[9] + nom_x[9]; + out_944171533359057280[10] = delta_x[10] + nom_x[10]; + out_944171533359057280[11] = delta_x[11] + nom_x[11]; + out_944171533359057280[12] = delta_x[12] + nom_x[12]; + out_944171533359057280[13] = delta_x[13] + nom_x[13]; + out_944171533359057280[14] = delta_x[14] + nom_x[14]; + out_944171533359057280[15] = delta_x[15] + nom_x[15]; + out_944171533359057280[16] = delta_x[16] + nom_x[16]; + out_944171533359057280[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4368796387448451064) { - out_4368796387448451064[0] = -nom_x[0] + true_x[0]; - out_4368796387448451064[1] = -nom_x[1] + true_x[1]; - out_4368796387448451064[2] = -nom_x[2] + true_x[2]; - out_4368796387448451064[3] = -nom_x[3] + true_x[3]; - out_4368796387448451064[4] = -nom_x[4] + true_x[4]; - out_4368796387448451064[5] = -nom_x[5] + true_x[5]; - out_4368796387448451064[6] = -nom_x[6] + true_x[6]; - out_4368796387448451064[7] = -nom_x[7] + true_x[7]; - out_4368796387448451064[8] = -nom_x[8] + true_x[8]; - out_4368796387448451064[9] = -nom_x[9] + true_x[9]; - out_4368796387448451064[10] = -nom_x[10] + true_x[10]; - out_4368796387448451064[11] = -nom_x[11] + true_x[11]; - out_4368796387448451064[12] = -nom_x[12] + true_x[12]; - out_4368796387448451064[13] = -nom_x[13] + true_x[13]; - out_4368796387448451064[14] = -nom_x[14] + true_x[14]; - out_4368796387448451064[15] = -nom_x[15] + true_x[15]; - out_4368796387448451064[16] = -nom_x[16] + true_x[16]; - out_4368796387448451064[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5987343215061063396) { + out_5987343215061063396[0] = -nom_x[0] + true_x[0]; + out_5987343215061063396[1] = -nom_x[1] + true_x[1]; + out_5987343215061063396[2] = -nom_x[2] + true_x[2]; + out_5987343215061063396[3] = -nom_x[3] + true_x[3]; + out_5987343215061063396[4] = -nom_x[4] + true_x[4]; + out_5987343215061063396[5] = -nom_x[5] + true_x[5]; + out_5987343215061063396[6] = -nom_x[6] + true_x[6]; + out_5987343215061063396[7] = -nom_x[7] + true_x[7]; + out_5987343215061063396[8] = -nom_x[8] + true_x[8]; + out_5987343215061063396[9] = -nom_x[9] + true_x[9]; + out_5987343215061063396[10] = -nom_x[10] + true_x[10]; + out_5987343215061063396[11] = -nom_x[11] + true_x[11]; + out_5987343215061063396[12] = -nom_x[12] + true_x[12]; + out_5987343215061063396[13] = -nom_x[13] + true_x[13]; + out_5987343215061063396[14] = -nom_x[14] + true_x[14]; + out_5987343215061063396[15] = -nom_x[15] + true_x[15]; + out_5987343215061063396[16] = -nom_x[16] + true_x[16]; + out_5987343215061063396[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4711938499332200676) { - out_4711938499332200676[0] = 1.0; - out_4711938499332200676[1] = 0.0; - out_4711938499332200676[2] = 0.0; - out_4711938499332200676[3] = 0.0; - out_4711938499332200676[4] = 0.0; - out_4711938499332200676[5] = 0.0; - out_4711938499332200676[6] = 0.0; - out_4711938499332200676[7] = 0.0; - out_4711938499332200676[8] = 0.0; - out_4711938499332200676[9] = 0.0; - out_4711938499332200676[10] = 0.0; - out_4711938499332200676[11] = 0.0; - out_4711938499332200676[12] = 0.0; - out_4711938499332200676[13] = 0.0; - out_4711938499332200676[14] = 0.0; - out_4711938499332200676[15] = 0.0; - out_4711938499332200676[16] = 0.0; - out_4711938499332200676[17] = 0.0; - out_4711938499332200676[18] = 0.0; - out_4711938499332200676[19] = 1.0; - out_4711938499332200676[20] = 0.0; - out_4711938499332200676[21] = 0.0; - out_4711938499332200676[22] = 0.0; - out_4711938499332200676[23] = 0.0; - out_4711938499332200676[24] = 0.0; - out_4711938499332200676[25] = 0.0; - out_4711938499332200676[26] = 0.0; - out_4711938499332200676[27] = 0.0; - out_4711938499332200676[28] = 0.0; - out_4711938499332200676[29] = 0.0; - out_4711938499332200676[30] = 0.0; - out_4711938499332200676[31] = 0.0; - out_4711938499332200676[32] = 0.0; - out_4711938499332200676[33] = 0.0; - out_4711938499332200676[34] = 0.0; - out_4711938499332200676[35] = 0.0; - out_4711938499332200676[36] = 0.0; - out_4711938499332200676[37] = 0.0; - out_4711938499332200676[38] = 1.0; - out_4711938499332200676[39] = 0.0; - out_4711938499332200676[40] = 0.0; - out_4711938499332200676[41] = 0.0; - out_4711938499332200676[42] = 0.0; - out_4711938499332200676[43] = 0.0; - out_4711938499332200676[44] = 0.0; - out_4711938499332200676[45] = 0.0; - out_4711938499332200676[46] = 0.0; - out_4711938499332200676[47] = 0.0; - out_4711938499332200676[48] = 0.0; - out_4711938499332200676[49] = 0.0; - out_4711938499332200676[50] = 0.0; - out_4711938499332200676[51] = 0.0; - out_4711938499332200676[52] = 0.0; - out_4711938499332200676[53] = 0.0; - out_4711938499332200676[54] = 0.0; - out_4711938499332200676[55] = 0.0; - out_4711938499332200676[56] = 0.0; - out_4711938499332200676[57] = 1.0; - out_4711938499332200676[58] = 0.0; - out_4711938499332200676[59] = 0.0; - out_4711938499332200676[60] = 0.0; - out_4711938499332200676[61] = 0.0; - out_4711938499332200676[62] = 0.0; - out_4711938499332200676[63] = 0.0; - out_4711938499332200676[64] = 0.0; - out_4711938499332200676[65] = 0.0; - out_4711938499332200676[66] = 0.0; - out_4711938499332200676[67] = 0.0; - out_4711938499332200676[68] = 0.0; - out_4711938499332200676[69] = 0.0; - out_4711938499332200676[70] = 0.0; - out_4711938499332200676[71] = 0.0; - out_4711938499332200676[72] = 0.0; - out_4711938499332200676[73] = 0.0; - out_4711938499332200676[74] = 0.0; - out_4711938499332200676[75] = 0.0; - out_4711938499332200676[76] = 1.0; - out_4711938499332200676[77] = 0.0; - out_4711938499332200676[78] = 0.0; - out_4711938499332200676[79] = 0.0; - out_4711938499332200676[80] = 0.0; - out_4711938499332200676[81] = 0.0; - out_4711938499332200676[82] = 0.0; - out_4711938499332200676[83] = 0.0; - out_4711938499332200676[84] = 0.0; - out_4711938499332200676[85] = 0.0; - out_4711938499332200676[86] = 0.0; - out_4711938499332200676[87] = 0.0; - out_4711938499332200676[88] = 0.0; - out_4711938499332200676[89] = 0.0; - out_4711938499332200676[90] = 0.0; - out_4711938499332200676[91] = 0.0; - out_4711938499332200676[92] = 0.0; - out_4711938499332200676[93] = 0.0; - out_4711938499332200676[94] = 0.0; - out_4711938499332200676[95] = 1.0; - out_4711938499332200676[96] = 0.0; - out_4711938499332200676[97] = 0.0; - out_4711938499332200676[98] = 0.0; - out_4711938499332200676[99] = 0.0; - out_4711938499332200676[100] = 0.0; - out_4711938499332200676[101] = 0.0; - out_4711938499332200676[102] = 0.0; - out_4711938499332200676[103] = 0.0; - out_4711938499332200676[104] = 0.0; - out_4711938499332200676[105] = 0.0; - out_4711938499332200676[106] = 0.0; - out_4711938499332200676[107] = 0.0; - out_4711938499332200676[108] = 0.0; - out_4711938499332200676[109] = 0.0; - out_4711938499332200676[110] = 0.0; - out_4711938499332200676[111] = 0.0; - out_4711938499332200676[112] = 0.0; - out_4711938499332200676[113] = 0.0; - out_4711938499332200676[114] = 1.0; - out_4711938499332200676[115] = 0.0; - out_4711938499332200676[116] = 0.0; - out_4711938499332200676[117] = 0.0; - out_4711938499332200676[118] = 0.0; - out_4711938499332200676[119] = 0.0; - out_4711938499332200676[120] = 0.0; - out_4711938499332200676[121] = 0.0; - out_4711938499332200676[122] = 0.0; - out_4711938499332200676[123] = 0.0; - out_4711938499332200676[124] = 0.0; - out_4711938499332200676[125] = 0.0; - out_4711938499332200676[126] = 0.0; - out_4711938499332200676[127] = 0.0; - out_4711938499332200676[128] = 0.0; - out_4711938499332200676[129] = 0.0; - out_4711938499332200676[130] = 0.0; - out_4711938499332200676[131] = 0.0; - out_4711938499332200676[132] = 0.0; - out_4711938499332200676[133] = 1.0; - out_4711938499332200676[134] = 0.0; - out_4711938499332200676[135] = 0.0; - out_4711938499332200676[136] = 0.0; - out_4711938499332200676[137] = 0.0; - out_4711938499332200676[138] = 0.0; - out_4711938499332200676[139] = 0.0; - out_4711938499332200676[140] = 0.0; - out_4711938499332200676[141] = 0.0; - out_4711938499332200676[142] = 0.0; - out_4711938499332200676[143] = 0.0; - out_4711938499332200676[144] = 0.0; - out_4711938499332200676[145] = 0.0; - out_4711938499332200676[146] = 0.0; - out_4711938499332200676[147] = 0.0; - out_4711938499332200676[148] = 0.0; - out_4711938499332200676[149] = 0.0; - out_4711938499332200676[150] = 0.0; - out_4711938499332200676[151] = 0.0; - out_4711938499332200676[152] = 1.0; - out_4711938499332200676[153] = 0.0; - out_4711938499332200676[154] = 0.0; - out_4711938499332200676[155] = 0.0; - out_4711938499332200676[156] = 0.0; - out_4711938499332200676[157] = 0.0; - out_4711938499332200676[158] = 0.0; - out_4711938499332200676[159] = 0.0; - out_4711938499332200676[160] = 0.0; - out_4711938499332200676[161] = 0.0; - out_4711938499332200676[162] = 0.0; - out_4711938499332200676[163] = 0.0; - out_4711938499332200676[164] = 0.0; - out_4711938499332200676[165] = 0.0; - out_4711938499332200676[166] = 0.0; - out_4711938499332200676[167] = 0.0; - out_4711938499332200676[168] = 0.0; - out_4711938499332200676[169] = 0.0; - out_4711938499332200676[170] = 0.0; - out_4711938499332200676[171] = 1.0; - out_4711938499332200676[172] = 0.0; - out_4711938499332200676[173] = 0.0; - out_4711938499332200676[174] = 0.0; - out_4711938499332200676[175] = 0.0; - out_4711938499332200676[176] = 0.0; - out_4711938499332200676[177] = 0.0; - out_4711938499332200676[178] = 0.0; - out_4711938499332200676[179] = 0.0; - out_4711938499332200676[180] = 0.0; - out_4711938499332200676[181] = 0.0; - out_4711938499332200676[182] = 0.0; - out_4711938499332200676[183] = 0.0; - out_4711938499332200676[184] = 0.0; - out_4711938499332200676[185] = 0.0; - out_4711938499332200676[186] = 0.0; - out_4711938499332200676[187] = 0.0; - out_4711938499332200676[188] = 0.0; - out_4711938499332200676[189] = 0.0; - out_4711938499332200676[190] = 1.0; - out_4711938499332200676[191] = 0.0; - out_4711938499332200676[192] = 0.0; - out_4711938499332200676[193] = 0.0; - out_4711938499332200676[194] = 0.0; - out_4711938499332200676[195] = 0.0; - out_4711938499332200676[196] = 0.0; - out_4711938499332200676[197] = 0.0; - out_4711938499332200676[198] = 0.0; - out_4711938499332200676[199] = 0.0; - out_4711938499332200676[200] = 0.0; - out_4711938499332200676[201] = 0.0; - out_4711938499332200676[202] = 0.0; - out_4711938499332200676[203] = 0.0; - out_4711938499332200676[204] = 0.0; - out_4711938499332200676[205] = 0.0; - out_4711938499332200676[206] = 0.0; - out_4711938499332200676[207] = 0.0; - out_4711938499332200676[208] = 0.0; - out_4711938499332200676[209] = 1.0; - out_4711938499332200676[210] = 0.0; - out_4711938499332200676[211] = 0.0; - out_4711938499332200676[212] = 0.0; - out_4711938499332200676[213] = 0.0; - out_4711938499332200676[214] = 0.0; - out_4711938499332200676[215] = 0.0; - out_4711938499332200676[216] = 0.0; - out_4711938499332200676[217] = 0.0; - out_4711938499332200676[218] = 0.0; - out_4711938499332200676[219] = 0.0; - out_4711938499332200676[220] = 0.0; - out_4711938499332200676[221] = 0.0; - out_4711938499332200676[222] = 0.0; - out_4711938499332200676[223] = 0.0; - out_4711938499332200676[224] = 0.0; - out_4711938499332200676[225] = 0.0; - out_4711938499332200676[226] = 0.0; - out_4711938499332200676[227] = 0.0; - out_4711938499332200676[228] = 1.0; - out_4711938499332200676[229] = 0.0; - out_4711938499332200676[230] = 0.0; - out_4711938499332200676[231] = 0.0; - out_4711938499332200676[232] = 0.0; - out_4711938499332200676[233] = 0.0; - out_4711938499332200676[234] = 0.0; - out_4711938499332200676[235] = 0.0; - out_4711938499332200676[236] = 0.0; - out_4711938499332200676[237] = 0.0; - out_4711938499332200676[238] = 0.0; - out_4711938499332200676[239] = 0.0; - out_4711938499332200676[240] = 0.0; - out_4711938499332200676[241] = 0.0; - out_4711938499332200676[242] = 0.0; - out_4711938499332200676[243] = 0.0; - out_4711938499332200676[244] = 0.0; - out_4711938499332200676[245] = 0.0; - out_4711938499332200676[246] = 0.0; - out_4711938499332200676[247] = 1.0; - out_4711938499332200676[248] = 0.0; - out_4711938499332200676[249] = 0.0; - out_4711938499332200676[250] = 0.0; - out_4711938499332200676[251] = 0.0; - out_4711938499332200676[252] = 0.0; - out_4711938499332200676[253] = 0.0; - out_4711938499332200676[254] = 0.0; - out_4711938499332200676[255] = 0.0; - out_4711938499332200676[256] = 0.0; - out_4711938499332200676[257] = 0.0; - out_4711938499332200676[258] = 0.0; - out_4711938499332200676[259] = 0.0; - out_4711938499332200676[260] = 0.0; - out_4711938499332200676[261] = 0.0; - out_4711938499332200676[262] = 0.0; - out_4711938499332200676[263] = 0.0; - out_4711938499332200676[264] = 0.0; - out_4711938499332200676[265] = 0.0; - out_4711938499332200676[266] = 1.0; - out_4711938499332200676[267] = 0.0; - out_4711938499332200676[268] = 0.0; - out_4711938499332200676[269] = 0.0; - out_4711938499332200676[270] = 0.0; - out_4711938499332200676[271] = 0.0; - out_4711938499332200676[272] = 0.0; - out_4711938499332200676[273] = 0.0; - out_4711938499332200676[274] = 0.0; - out_4711938499332200676[275] = 0.0; - out_4711938499332200676[276] = 0.0; - out_4711938499332200676[277] = 0.0; - out_4711938499332200676[278] = 0.0; - out_4711938499332200676[279] = 0.0; - out_4711938499332200676[280] = 0.0; - out_4711938499332200676[281] = 0.0; - out_4711938499332200676[282] = 0.0; - out_4711938499332200676[283] = 0.0; - out_4711938499332200676[284] = 0.0; - out_4711938499332200676[285] = 1.0; - out_4711938499332200676[286] = 0.0; - out_4711938499332200676[287] = 0.0; - out_4711938499332200676[288] = 0.0; - out_4711938499332200676[289] = 0.0; - out_4711938499332200676[290] = 0.0; - out_4711938499332200676[291] = 0.0; - out_4711938499332200676[292] = 0.0; - out_4711938499332200676[293] = 0.0; - out_4711938499332200676[294] = 0.0; - out_4711938499332200676[295] = 0.0; - out_4711938499332200676[296] = 0.0; - out_4711938499332200676[297] = 0.0; - out_4711938499332200676[298] = 0.0; - out_4711938499332200676[299] = 0.0; - out_4711938499332200676[300] = 0.0; - out_4711938499332200676[301] = 0.0; - out_4711938499332200676[302] = 0.0; - out_4711938499332200676[303] = 0.0; - out_4711938499332200676[304] = 1.0; - out_4711938499332200676[305] = 0.0; - out_4711938499332200676[306] = 0.0; - out_4711938499332200676[307] = 0.0; - out_4711938499332200676[308] = 0.0; - out_4711938499332200676[309] = 0.0; - out_4711938499332200676[310] = 0.0; - out_4711938499332200676[311] = 0.0; - out_4711938499332200676[312] = 0.0; - out_4711938499332200676[313] = 0.0; - out_4711938499332200676[314] = 0.0; - out_4711938499332200676[315] = 0.0; - out_4711938499332200676[316] = 0.0; - out_4711938499332200676[317] = 0.0; - out_4711938499332200676[318] = 0.0; - out_4711938499332200676[319] = 0.0; - out_4711938499332200676[320] = 0.0; - out_4711938499332200676[321] = 0.0; - out_4711938499332200676[322] = 0.0; - out_4711938499332200676[323] = 1.0; +void H_mod_fun(double *state, double *out_922696574028504956) { + out_922696574028504956[0] = 1.0; + out_922696574028504956[1] = 0.0; + out_922696574028504956[2] = 0.0; + out_922696574028504956[3] = 0.0; + out_922696574028504956[4] = 0.0; + out_922696574028504956[5] = 0.0; + out_922696574028504956[6] = 0.0; + out_922696574028504956[7] = 0.0; + out_922696574028504956[8] = 0.0; + out_922696574028504956[9] = 0.0; + out_922696574028504956[10] = 0.0; + out_922696574028504956[11] = 0.0; + out_922696574028504956[12] = 0.0; + out_922696574028504956[13] = 0.0; + out_922696574028504956[14] = 0.0; + out_922696574028504956[15] = 0.0; + out_922696574028504956[16] = 0.0; + out_922696574028504956[17] = 0.0; + out_922696574028504956[18] = 0.0; + out_922696574028504956[19] = 1.0; + out_922696574028504956[20] = 0.0; + out_922696574028504956[21] = 0.0; + out_922696574028504956[22] = 0.0; + out_922696574028504956[23] = 0.0; + out_922696574028504956[24] = 0.0; + out_922696574028504956[25] = 0.0; + out_922696574028504956[26] = 0.0; + out_922696574028504956[27] = 0.0; + out_922696574028504956[28] = 0.0; + out_922696574028504956[29] = 0.0; + out_922696574028504956[30] = 0.0; + out_922696574028504956[31] = 0.0; + out_922696574028504956[32] = 0.0; + out_922696574028504956[33] = 0.0; + out_922696574028504956[34] = 0.0; + out_922696574028504956[35] = 0.0; + out_922696574028504956[36] = 0.0; + out_922696574028504956[37] = 0.0; + out_922696574028504956[38] = 1.0; + out_922696574028504956[39] = 0.0; + out_922696574028504956[40] = 0.0; + out_922696574028504956[41] = 0.0; + out_922696574028504956[42] = 0.0; + out_922696574028504956[43] = 0.0; + out_922696574028504956[44] = 0.0; + out_922696574028504956[45] = 0.0; + out_922696574028504956[46] = 0.0; + out_922696574028504956[47] = 0.0; + out_922696574028504956[48] = 0.0; + out_922696574028504956[49] = 0.0; + out_922696574028504956[50] = 0.0; + out_922696574028504956[51] = 0.0; + out_922696574028504956[52] = 0.0; + out_922696574028504956[53] = 0.0; + out_922696574028504956[54] = 0.0; + out_922696574028504956[55] = 0.0; + out_922696574028504956[56] = 0.0; + out_922696574028504956[57] = 1.0; + out_922696574028504956[58] = 0.0; + out_922696574028504956[59] = 0.0; + out_922696574028504956[60] = 0.0; + out_922696574028504956[61] = 0.0; + out_922696574028504956[62] = 0.0; + out_922696574028504956[63] = 0.0; + out_922696574028504956[64] = 0.0; + out_922696574028504956[65] = 0.0; + out_922696574028504956[66] = 0.0; + out_922696574028504956[67] = 0.0; + out_922696574028504956[68] = 0.0; + out_922696574028504956[69] = 0.0; + out_922696574028504956[70] = 0.0; + out_922696574028504956[71] = 0.0; + out_922696574028504956[72] = 0.0; + out_922696574028504956[73] = 0.0; + out_922696574028504956[74] = 0.0; + out_922696574028504956[75] = 0.0; + out_922696574028504956[76] = 1.0; + out_922696574028504956[77] = 0.0; + out_922696574028504956[78] = 0.0; + out_922696574028504956[79] = 0.0; + out_922696574028504956[80] = 0.0; + out_922696574028504956[81] = 0.0; + out_922696574028504956[82] = 0.0; + out_922696574028504956[83] = 0.0; + out_922696574028504956[84] = 0.0; + out_922696574028504956[85] = 0.0; + out_922696574028504956[86] = 0.0; + out_922696574028504956[87] = 0.0; + out_922696574028504956[88] = 0.0; + out_922696574028504956[89] = 0.0; + out_922696574028504956[90] = 0.0; + out_922696574028504956[91] = 0.0; + out_922696574028504956[92] = 0.0; + out_922696574028504956[93] = 0.0; + out_922696574028504956[94] = 0.0; + out_922696574028504956[95] = 1.0; + out_922696574028504956[96] = 0.0; + out_922696574028504956[97] = 0.0; + out_922696574028504956[98] = 0.0; + out_922696574028504956[99] = 0.0; + out_922696574028504956[100] = 0.0; + out_922696574028504956[101] = 0.0; + out_922696574028504956[102] = 0.0; + out_922696574028504956[103] = 0.0; + out_922696574028504956[104] = 0.0; + out_922696574028504956[105] = 0.0; + out_922696574028504956[106] = 0.0; + out_922696574028504956[107] = 0.0; + out_922696574028504956[108] = 0.0; + out_922696574028504956[109] = 0.0; + out_922696574028504956[110] = 0.0; + out_922696574028504956[111] = 0.0; + out_922696574028504956[112] = 0.0; + out_922696574028504956[113] = 0.0; + out_922696574028504956[114] = 1.0; + out_922696574028504956[115] = 0.0; + out_922696574028504956[116] = 0.0; + out_922696574028504956[117] = 0.0; + out_922696574028504956[118] = 0.0; + out_922696574028504956[119] = 0.0; + out_922696574028504956[120] = 0.0; + out_922696574028504956[121] = 0.0; + out_922696574028504956[122] = 0.0; + out_922696574028504956[123] = 0.0; + out_922696574028504956[124] = 0.0; + out_922696574028504956[125] = 0.0; + out_922696574028504956[126] = 0.0; + out_922696574028504956[127] = 0.0; + out_922696574028504956[128] = 0.0; + out_922696574028504956[129] = 0.0; + out_922696574028504956[130] = 0.0; + out_922696574028504956[131] = 0.0; + out_922696574028504956[132] = 0.0; + out_922696574028504956[133] = 1.0; + out_922696574028504956[134] = 0.0; + out_922696574028504956[135] = 0.0; + out_922696574028504956[136] = 0.0; + out_922696574028504956[137] = 0.0; + out_922696574028504956[138] = 0.0; + out_922696574028504956[139] = 0.0; + out_922696574028504956[140] = 0.0; + out_922696574028504956[141] = 0.0; + out_922696574028504956[142] = 0.0; + out_922696574028504956[143] = 0.0; + out_922696574028504956[144] = 0.0; + out_922696574028504956[145] = 0.0; + out_922696574028504956[146] = 0.0; + out_922696574028504956[147] = 0.0; + out_922696574028504956[148] = 0.0; + out_922696574028504956[149] = 0.0; + out_922696574028504956[150] = 0.0; + out_922696574028504956[151] = 0.0; + out_922696574028504956[152] = 1.0; + out_922696574028504956[153] = 0.0; + out_922696574028504956[154] = 0.0; + out_922696574028504956[155] = 0.0; + out_922696574028504956[156] = 0.0; + out_922696574028504956[157] = 0.0; + out_922696574028504956[158] = 0.0; + out_922696574028504956[159] = 0.0; + out_922696574028504956[160] = 0.0; + out_922696574028504956[161] = 0.0; + out_922696574028504956[162] = 0.0; + out_922696574028504956[163] = 0.0; + out_922696574028504956[164] = 0.0; + out_922696574028504956[165] = 0.0; + out_922696574028504956[166] = 0.0; + out_922696574028504956[167] = 0.0; + out_922696574028504956[168] = 0.0; + out_922696574028504956[169] = 0.0; + out_922696574028504956[170] = 0.0; + out_922696574028504956[171] = 1.0; + out_922696574028504956[172] = 0.0; + out_922696574028504956[173] = 0.0; + out_922696574028504956[174] = 0.0; + out_922696574028504956[175] = 0.0; + out_922696574028504956[176] = 0.0; + out_922696574028504956[177] = 0.0; + out_922696574028504956[178] = 0.0; + out_922696574028504956[179] = 0.0; + out_922696574028504956[180] = 0.0; + out_922696574028504956[181] = 0.0; + out_922696574028504956[182] = 0.0; + out_922696574028504956[183] = 0.0; + out_922696574028504956[184] = 0.0; + out_922696574028504956[185] = 0.0; + out_922696574028504956[186] = 0.0; + out_922696574028504956[187] = 0.0; + out_922696574028504956[188] = 0.0; + out_922696574028504956[189] = 0.0; + out_922696574028504956[190] = 1.0; + out_922696574028504956[191] = 0.0; + out_922696574028504956[192] = 0.0; + out_922696574028504956[193] = 0.0; + out_922696574028504956[194] = 0.0; + out_922696574028504956[195] = 0.0; + out_922696574028504956[196] = 0.0; + out_922696574028504956[197] = 0.0; + out_922696574028504956[198] = 0.0; + out_922696574028504956[199] = 0.0; + out_922696574028504956[200] = 0.0; + out_922696574028504956[201] = 0.0; + out_922696574028504956[202] = 0.0; + out_922696574028504956[203] = 0.0; + out_922696574028504956[204] = 0.0; + out_922696574028504956[205] = 0.0; + out_922696574028504956[206] = 0.0; + out_922696574028504956[207] = 0.0; + out_922696574028504956[208] = 0.0; + out_922696574028504956[209] = 1.0; + out_922696574028504956[210] = 0.0; + out_922696574028504956[211] = 0.0; + out_922696574028504956[212] = 0.0; + out_922696574028504956[213] = 0.0; + out_922696574028504956[214] = 0.0; + out_922696574028504956[215] = 0.0; + out_922696574028504956[216] = 0.0; + out_922696574028504956[217] = 0.0; + out_922696574028504956[218] = 0.0; + out_922696574028504956[219] = 0.0; + out_922696574028504956[220] = 0.0; + out_922696574028504956[221] = 0.0; + out_922696574028504956[222] = 0.0; + out_922696574028504956[223] = 0.0; + out_922696574028504956[224] = 0.0; + out_922696574028504956[225] = 0.0; + out_922696574028504956[226] = 0.0; + out_922696574028504956[227] = 0.0; + out_922696574028504956[228] = 1.0; + out_922696574028504956[229] = 0.0; + out_922696574028504956[230] = 0.0; + out_922696574028504956[231] = 0.0; + out_922696574028504956[232] = 0.0; + out_922696574028504956[233] = 0.0; + out_922696574028504956[234] = 0.0; + out_922696574028504956[235] = 0.0; + out_922696574028504956[236] = 0.0; + out_922696574028504956[237] = 0.0; + out_922696574028504956[238] = 0.0; + out_922696574028504956[239] = 0.0; + out_922696574028504956[240] = 0.0; + out_922696574028504956[241] = 0.0; + out_922696574028504956[242] = 0.0; + out_922696574028504956[243] = 0.0; + out_922696574028504956[244] = 0.0; + out_922696574028504956[245] = 0.0; + out_922696574028504956[246] = 0.0; + out_922696574028504956[247] = 1.0; + out_922696574028504956[248] = 0.0; + out_922696574028504956[249] = 0.0; + out_922696574028504956[250] = 0.0; + out_922696574028504956[251] = 0.0; + out_922696574028504956[252] = 0.0; + out_922696574028504956[253] = 0.0; + out_922696574028504956[254] = 0.0; + out_922696574028504956[255] = 0.0; + out_922696574028504956[256] = 0.0; + out_922696574028504956[257] = 0.0; + out_922696574028504956[258] = 0.0; + out_922696574028504956[259] = 0.0; + out_922696574028504956[260] = 0.0; + out_922696574028504956[261] = 0.0; + out_922696574028504956[262] = 0.0; + out_922696574028504956[263] = 0.0; + out_922696574028504956[264] = 0.0; + out_922696574028504956[265] = 0.0; + out_922696574028504956[266] = 1.0; + out_922696574028504956[267] = 0.0; + out_922696574028504956[268] = 0.0; + out_922696574028504956[269] = 0.0; + out_922696574028504956[270] = 0.0; + out_922696574028504956[271] = 0.0; + out_922696574028504956[272] = 0.0; + out_922696574028504956[273] = 0.0; + out_922696574028504956[274] = 0.0; + out_922696574028504956[275] = 0.0; + out_922696574028504956[276] = 0.0; + out_922696574028504956[277] = 0.0; + out_922696574028504956[278] = 0.0; + out_922696574028504956[279] = 0.0; + out_922696574028504956[280] = 0.0; + out_922696574028504956[281] = 0.0; + out_922696574028504956[282] = 0.0; + out_922696574028504956[283] = 0.0; + out_922696574028504956[284] = 0.0; + out_922696574028504956[285] = 1.0; + out_922696574028504956[286] = 0.0; + out_922696574028504956[287] = 0.0; + out_922696574028504956[288] = 0.0; + out_922696574028504956[289] = 0.0; + out_922696574028504956[290] = 0.0; + out_922696574028504956[291] = 0.0; + out_922696574028504956[292] = 0.0; + out_922696574028504956[293] = 0.0; + out_922696574028504956[294] = 0.0; + out_922696574028504956[295] = 0.0; + out_922696574028504956[296] = 0.0; + out_922696574028504956[297] = 0.0; + out_922696574028504956[298] = 0.0; + out_922696574028504956[299] = 0.0; + out_922696574028504956[300] = 0.0; + out_922696574028504956[301] = 0.0; + out_922696574028504956[302] = 0.0; + out_922696574028504956[303] = 0.0; + out_922696574028504956[304] = 1.0; + out_922696574028504956[305] = 0.0; + out_922696574028504956[306] = 0.0; + out_922696574028504956[307] = 0.0; + out_922696574028504956[308] = 0.0; + out_922696574028504956[309] = 0.0; + out_922696574028504956[310] = 0.0; + out_922696574028504956[311] = 0.0; + out_922696574028504956[312] = 0.0; + out_922696574028504956[313] = 0.0; + out_922696574028504956[314] = 0.0; + out_922696574028504956[315] = 0.0; + out_922696574028504956[316] = 0.0; + out_922696574028504956[317] = 0.0; + out_922696574028504956[318] = 0.0; + out_922696574028504956[319] = 0.0; + out_922696574028504956[320] = 0.0; + out_922696574028504956[321] = 0.0; + out_922696574028504956[322] = 0.0; + out_922696574028504956[323] = 1.0; } -void f_fun(double *state, double dt, double *out_3583623669529018238) { - out_3583623669529018238[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_3583623669529018238[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_3583623669529018238[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_3583623669529018238[3] = dt*state[12] + state[3]; - out_3583623669529018238[4] = dt*state[13] + state[4]; - out_3583623669529018238[5] = dt*state[14] + state[5]; - out_3583623669529018238[6] = state[6]; - out_3583623669529018238[7] = state[7]; - out_3583623669529018238[8] = state[8]; - out_3583623669529018238[9] = state[9]; - out_3583623669529018238[10] = state[10]; - out_3583623669529018238[11] = state[11]; - out_3583623669529018238[12] = state[12]; - out_3583623669529018238[13] = state[13]; - out_3583623669529018238[14] = state[14]; - out_3583623669529018238[15] = state[15]; - out_3583623669529018238[16] = state[16]; - out_3583623669529018238[17] = state[17]; +void f_fun(double *state, double dt, double *out_7271275588779717019) { + out_7271275588779717019[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_7271275588779717019[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_7271275588779717019[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_7271275588779717019[3] = dt*state[12] + state[3]; + out_7271275588779717019[4] = dt*state[13] + state[4]; + out_7271275588779717019[5] = dt*state[14] + state[5]; + out_7271275588779717019[6] = state[6]; + out_7271275588779717019[7] = state[7]; + out_7271275588779717019[8] = state[8]; + out_7271275588779717019[9] = state[9]; + out_7271275588779717019[10] = state[10]; + out_7271275588779717019[11] = state[11]; + out_7271275588779717019[12] = state[12]; + out_7271275588779717019[13] = state[13]; + out_7271275588779717019[14] = state[14]; + out_7271275588779717019[15] = state[15]; + out_7271275588779717019[16] = state[16]; + out_7271275588779717019[17] = state[17]; } -void F_fun(double *state, double dt, double *out_147281941884768427) { - out_147281941884768427[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_147281941884768427[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_147281941884768427[2] = 0; - out_147281941884768427[3] = 0; - out_147281941884768427[4] = 0; - out_147281941884768427[5] = 0; - out_147281941884768427[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_147281941884768427[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_147281941884768427[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_147281941884768427[9] = 0; - out_147281941884768427[10] = 0; - out_147281941884768427[11] = 0; - out_147281941884768427[12] = 0; - out_147281941884768427[13] = 0; - out_147281941884768427[14] = 0; - out_147281941884768427[15] = 0; - out_147281941884768427[16] = 0; - out_147281941884768427[17] = 0; - out_147281941884768427[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_147281941884768427[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_147281941884768427[20] = 0; - out_147281941884768427[21] = 0; - out_147281941884768427[22] = 0; - out_147281941884768427[23] = 0; - out_147281941884768427[24] = 0; - out_147281941884768427[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_147281941884768427[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_147281941884768427[27] = 0; - out_147281941884768427[28] = 0; - out_147281941884768427[29] = 0; - out_147281941884768427[30] = 0; - out_147281941884768427[31] = 0; - out_147281941884768427[32] = 0; - out_147281941884768427[33] = 0; - out_147281941884768427[34] = 0; - out_147281941884768427[35] = 0; - out_147281941884768427[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_147281941884768427[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_147281941884768427[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_147281941884768427[39] = 0; - out_147281941884768427[40] = 0; - out_147281941884768427[41] = 0; - out_147281941884768427[42] = 0; - out_147281941884768427[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_147281941884768427[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_147281941884768427[45] = 0; - out_147281941884768427[46] = 0; - out_147281941884768427[47] = 0; - out_147281941884768427[48] = 0; - out_147281941884768427[49] = 0; - out_147281941884768427[50] = 0; - out_147281941884768427[51] = 0; - out_147281941884768427[52] = 0; - out_147281941884768427[53] = 0; - out_147281941884768427[54] = 0; - out_147281941884768427[55] = 0; - out_147281941884768427[56] = 0; - out_147281941884768427[57] = 1; - out_147281941884768427[58] = 0; - out_147281941884768427[59] = 0; - out_147281941884768427[60] = 0; - out_147281941884768427[61] = 0; - out_147281941884768427[62] = 0; - out_147281941884768427[63] = 0; - out_147281941884768427[64] = 0; - out_147281941884768427[65] = 0; - out_147281941884768427[66] = dt; - out_147281941884768427[67] = 0; - out_147281941884768427[68] = 0; - out_147281941884768427[69] = 0; - out_147281941884768427[70] = 0; - out_147281941884768427[71] = 0; - out_147281941884768427[72] = 0; - out_147281941884768427[73] = 0; - out_147281941884768427[74] = 0; - out_147281941884768427[75] = 0; - out_147281941884768427[76] = 1; - out_147281941884768427[77] = 0; - out_147281941884768427[78] = 0; - out_147281941884768427[79] = 0; - out_147281941884768427[80] = 0; - out_147281941884768427[81] = 0; - out_147281941884768427[82] = 0; - out_147281941884768427[83] = 0; - out_147281941884768427[84] = 0; - out_147281941884768427[85] = dt; - out_147281941884768427[86] = 0; - out_147281941884768427[87] = 0; - out_147281941884768427[88] = 0; - out_147281941884768427[89] = 0; - out_147281941884768427[90] = 0; - out_147281941884768427[91] = 0; - out_147281941884768427[92] = 0; - out_147281941884768427[93] = 0; - out_147281941884768427[94] = 0; - out_147281941884768427[95] = 1; - out_147281941884768427[96] = 0; - out_147281941884768427[97] = 0; - out_147281941884768427[98] = 0; - out_147281941884768427[99] = 0; - out_147281941884768427[100] = 0; - out_147281941884768427[101] = 0; - out_147281941884768427[102] = 0; - out_147281941884768427[103] = 0; - out_147281941884768427[104] = dt; - out_147281941884768427[105] = 0; - out_147281941884768427[106] = 0; - out_147281941884768427[107] = 0; - out_147281941884768427[108] = 0; - out_147281941884768427[109] = 0; - out_147281941884768427[110] = 0; - out_147281941884768427[111] = 0; - out_147281941884768427[112] = 0; - out_147281941884768427[113] = 0; - out_147281941884768427[114] = 1; - out_147281941884768427[115] = 0; - out_147281941884768427[116] = 0; - out_147281941884768427[117] = 0; - out_147281941884768427[118] = 0; - out_147281941884768427[119] = 0; - out_147281941884768427[120] = 0; - out_147281941884768427[121] = 0; - out_147281941884768427[122] = 0; - out_147281941884768427[123] = 0; - out_147281941884768427[124] = 0; - out_147281941884768427[125] = 0; - out_147281941884768427[126] = 0; - out_147281941884768427[127] = 0; - out_147281941884768427[128] = 0; - out_147281941884768427[129] = 0; - out_147281941884768427[130] = 0; - out_147281941884768427[131] = 0; - out_147281941884768427[132] = 0; - out_147281941884768427[133] = 1; - out_147281941884768427[134] = 0; - out_147281941884768427[135] = 0; - out_147281941884768427[136] = 0; - out_147281941884768427[137] = 0; - out_147281941884768427[138] = 0; - out_147281941884768427[139] = 0; - out_147281941884768427[140] = 0; - out_147281941884768427[141] = 0; - out_147281941884768427[142] = 0; - out_147281941884768427[143] = 0; - out_147281941884768427[144] = 0; - out_147281941884768427[145] = 0; - out_147281941884768427[146] = 0; - out_147281941884768427[147] = 0; - out_147281941884768427[148] = 0; - out_147281941884768427[149] = 0; - out_147281941884768427[150] = 0; - out_147281941884768427[151] = 0; - out_147281941884768427[152] = 1; - out_147281941884768427[153] = 0; - out_147281941884768427[154] = 0; - out_147281941884768427[155] = 0; - out_147281941884768427[156] = 0; - out_147281941884768427[157] = 0; - out_147281941884768427[158] = 0; - out_147281941884768427[159] = 0; - out_147281941884768427[160] = 0; - out_147281941884768427[161] = 0; - out_147281941884768427[162] = 0; - out_147281941884768427[163] = 0; - out_147281941884768427[164] = 0; - out_147281941884768427[165] = 0; - out_147281941884768427[166] = 0; - out_147281941884768427[167] = 0; - out_147281941884768427[168] = 0; - out_147281941884768427[169] = 0; - out_147281941884768427[170] = 0; - out_147281941884768427[171] = 1; - out_147281941884768427[172] = 0; - out_147281941884768427[173] = 0; - out_147281941884768427[174] = 0; - out_147281941884768427[175] = 0; - out_147281941884768427[176] = 0; - out_147281941884768427[177] = 0; - out_147281941884768427[178] = 0; - out_147281941884768427[179] = 0; - out_147281941884768427[180] = 0; - out_147281941884768427[181] = 0; - out_147281941884768427[182] = 0; - out_147281941884768427[183] = 0; - out_147281941884768427[184] = 0; - out_147281941884768427[185] = 0; - out_147281941884768427[186] = 0; - out_147281941884768427[187] = 0; - out_147281941884768427[188] = 0; - out_147281941884768427[189] = 0; - out_147281941884768427[190] = 1; - out_147281941884768427[191] = 0; - out_147281941884768427[192] = 0; - out_147281941884768427[193] = 0; - out_147281941884768427[194] = 0; - out_147281941884768427[195] = 0; - out_147281941884768427[196] = 0; - out_147281941884768427[197] = 0; - out_147281941884768427[198] = 0; - out_147281941884768427[199] = 0; - out_147281941884768427[200] = 0; - out_147281941884768427[201] = 0; - out_147281941884768427[202] = 0; - out_147281941884768427[203] = 0; - out_147281941884768427[204] = 0; - out_147281941884768427[205] = 0; - out_147281941884768427[206] = 0; - out_147281941884768427[207] = 0; - out_147281941884768427[208] = 0; - out_147281941884768427[209] = 1; - out_147281941884768427[210] = 0; - out_147281941884768427[211] = 0; - out_147281941884768427[212] = 0; - out_147281941884768427[213] = 0; - out_147281941884768427[214] = 0; - out_147281941884768427[215] = 0; - out_147281941884768427[216] = 0; - out_147281941884768427[217] = 0; - out_147281941884768427[218] = 0; - out_147281941884768427[219] = 0; - out_147281941884768427[220] = 0; - out_147281941884768427[221] = 0; - out_147281941884768427[222] = 0; - out_147281941884768427[223] = 0; - out_147281941884768427[224] = 0; - out_147281941884768427[225] = 0; - out_147281941884768427[226] = 0; - out_147281941884768427[227] = 0; - out_147281941884768427[228] = 1; - out_147281941884768427[229] = 0; - out_147281941884768427[230] = 0; - out_147281941884768427[231] = 0; - out_147281941884768427[232] = 0; - out_147281941884768427[233] = 0; - out_147281941884768427[234] = 0; - out_147281941884768427[235] = 0; - out_147281941884768427[236] = 0; - out_147281941884768427[237] = 0; - out_147281941884768427[238] = 0; - out_147281941884768427[239] = 0; - out_147281941884768427[240] = 0; - out_147281941884768427[241] = 0; - out_147281941884768427[242] = 0; - out_147281941884768427[243] = 0; - out_147281941884768427[244] = 0; - out_147281941884768427[245] = 0; - out_147281941884768427[246] = 0; - out_147281941884768427[247] = 1; - out_147281941884768427[248] = 0; - out_147281941884768427[249] = 0; - out_147281941884768427[250] = 0; - out_147281941884768427[251] = 0; - out_147281941884768427[252] = 0; - out_147281941884768427[253] = 0; - out_147281941884768427[254] = 0; - out_147281941884768427[255] = 0; - out_147281941884768427[256] = 0; - out_147281941884768427[257] = 0; - out_147281941884768427[258] = 0; - out_147281941884768427[259] = 0; - out_147281941884768427[260] = 0; - out_147281941884768427[261] = 0; - out_147281941884768427[262] = 0; - out_147281941884768427[263] = 0; - out_147281941884768427[264] = 0; - out_147281941884768427[265] = 0; - out_147281941884768427[266] = 1; - out_147281941884768427[267] = 0; - out_147281941884768427[268] = 0; - out_147281941884768427[269] = 0; - out_147281941884768427[270] = 0; - out_147281941884768427[271] = 0; - out_147281941884768427[272] = 0; - out_147281941884768427[273] = 0; - out_147281941884768427[274] = 0; - out_147281941884768427[275] = 0; - out_147281941884768427[276] = 0; - out_147281941884768427[277] = 0; - out_147281941884768427[278] = 0; - out_147281941884768427[279] = 0; - out_147281941884768427[280] = 0; - out_147281941884768427[281] = 0; - out_147281941884768427[282] = 0; - out_147281941884768427[283] = 0; - out_147281941884768427[284] = 0; - out_147281941884768427[285] = 1; - out_147281941884768427[286] = 0; - out_147281941884768427[287] = 0; - out_147281941884768427[288] = 0; - out_147281941884768427[289] = 0; - out_147281941884768427[290] = 0; - out_147281941884768427[291] = 0; - out_147281941884768427[292] = 0; - out_147281941884768427[293] = 0; - out_147281941884768427[294] = 0; - out_147281941884768427[295] = 0; - out_147281941884768427[296] = 0; - out_147281941884768427[297] = 0; - out_147281941884768427[298] = 0; - out_147281941884768427[299] = 0; - out_147281941884768427[300] = 0; - out_147281941884768427[301] = 0; - out_147281941884768427[302] = 0; - out_147281941884768427[303] = 0; - out_147281941884768427[304] = 1; - out_147281941884768427[305] = 0; - out_147281941884768427[306] = 0; - out_147281941884768427[307] = 0; - out_147281941884768427[308] = 0; - out_147281941884768427[309] = 0; - out_147281941884768427[310] = 0; - out_147281941884768427[311] = 0; - out_147281941884768427[312] = 0; - out_147281941884768427[313] = 0; - out_147281941884768427[314] = 0; - out_147281941884768427[315] = 0; - out_147281941884768427[316] = 0; - out_147281941884768427[317] = 0; - out_147281941884768427[318] = 0; - out_147281941884768427[319] = 0; - out_147281941884768427[320] = 0; - out_147281941884768427[321] = 0; - out_147281941884768427[322] = 0; - out_147281941884768427[323] = 1; +void F_fun(double *state, double dt, double *out_1488608338000593967) { + out_1488608338000593967[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_1488608338000593967[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_1488608338000593967[2] = 0; + out_1488608338000593967[3] = 0; + out_1488608338000593967[4] = 0; + out_1488608338000593967[5] = 0; + out_1488608338000593967[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_1488608338000593967[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_1488608338000593967[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_1488608338000593967[9] = 0; + out_1488608338000593967[10] = 0; + out_1488608338000593967[11] = 0; + out_1488608338000593967[12] = 0; + out_1488608338000593967[13] = 0; + out_1488608338000593967[14] = 0; + out_1488608338000593967[15] = 0; + out_1488608338000593967[16] = 0; + out_1488608338000593967[17] = 0; + out_1488608338000593967[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_1488608338000593967[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_1488608338000593967[20] = 0; + out_1488608338000593967[21] = 0; + out_1488608338000593967[22] = 0; + out_1488608338000593967[23] = 0; + out_1488608338000593967[24] = 0; + out_1488608338000593967[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_1488608338000593967[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_1488608338000593967[27] = 0; + out_1488608338000593967[28] = 0; + out_1488608338000593967[29] = 0; + out_1488608338000593967[30] = 0; + out_1488608338000593967[31] = 0; + out_1488608338000593967[32] = 0; + out_1488608338000593967[33] = 0; + out_1488608338000593967[34] = 0; + out_1488608338000593967[35] = 0; + out_1488608338000593967[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_1488608338000593967[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_1488608338000593967[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_1488608338000593967[39] = 0; + out_1488608338000593967[40] = 0; + out_1488608338000593967[41] = 0; + out_1488608338000593967[42] = 0; + out_1488608338000593967[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_1488608338000593967[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_1488608338000593967[45] = 0; + out_1488608338000593967[46] = 0; + out_1488608338000593967[47] = 0; + out_1488608338000593967[48] = 0; + out_1488608338000593967[49] = 0; + out_1488608338000593967[50] = 0; + out_1488608338000593967[51] = 0; + out_1488608338000593967[52] = 0; + out_1488608338000593967[53] = 0; + out_1488608338000593967[54] = 0; + out_1488608338000593967[55] = 0; + out_1488608338000593967[56] = 0; + out_1488608338000593967[57] = 1; + out_1488608338000593967[58] = 0; + out_1488608338000593967[59] = 0; + out_1488608338000593967[60] = 0; + out_1488608338000593967[61] = 0; + out_1488608338000593967[62] = 0; + out_1488608338000593967[63] = 0; + out_1488608338000593967[64] = 0; + out_1488608338000593967[65] = 0; + out_1488608338000593967[66] = dt; + out_1488608338000593967[67] = 0; + out_1488608338000593967[68] = 0; + out_1488608338000593967[69] = 0; + out_1488608338000593967[70] = 0; + out_1488608338000593967[71] = 0; + out_1488608338000593967[72] = 0; + out_1488608338000593967[73] = 0; + out_1488608338000593967[74] = 0; + out_1488608338000593967[75] = 0; + out_1488608338000593967[76] = 1; + out_1488608338000593967[77] = 0; + out_1488608338000593967[78] = 0; + out_1488608338000593967[79] = 0; + out_1488608338000593967[80] = 0; + out_1488608338000593967[81] = 0; + out_1488608338000593967[82] = 0; + out_1488608338000593967[83] = 0; + out_1488608338000593967[84] = 0; + out_1488608338000593967[85] = dt; + out_1488608338000593967[86] = 0; + out_1488608338000593967[87] = 0; + out_1488608338000593967[88] = 0; + out_1488608338000593967[89] = 0; + out_1488608338000593967[90] = 0; + out_1488608338000593967[91] = 0; + out_1488608338000593967[92] = 0; + out_1488608338000593967[93] = 0; + out_1488608338000593967[94] = 0; + out_1488608338000593967[95] = 1; + out_1488608338000593967[96] = 0; + out_1488608338000593967[97] = 0; + out_1488608338000593967[98] = 0; + out_1488608338000593967[99] = 0; + out_1488608338000593967[100] = 0; + out_1488608338000593967[101] = 0; + out_1488608338000593967[102] = 0; + out_1488608338000593967[103] = 0; + out_1488608338000593967[104] = dt; + out_1488608338000593967[105] = 0; + out_1488608338000593967[106] = 0; + out_1488608338000593967[107] = 0; + out_1488608338000593967[108] = 0; + out_1488608338000593967[109] = 0; + out_1488608338000593967[110] = 0; + out_1488608338000593967[111] = 0; + out_1488608338000593967[112] = 0; + out_1488608338000593967[113] = 0; + out_1488608338000593967[114] = 1; + out_1488608338000593967[115] = 0; + out_1488608338000593967[116] = 0; + out_1488608338000593967[117] = 0; + out_1488608338000593967[118] = 0; + out_1488608338000593967[119] = 0; + out_1488608338000593967[120] = 0; + out_1488608338000593967[121] = 0; + out_1488608338000593967[122] = 0; + out_1488608338000593967[123] = 0; + out_1488608338000593967[124] = 0; + out_1488608338000593967[125] = 0; + out_1488608338000593967[126] = 0; + out_1488608338000593967[127] = 0; + out_1488608338000593967[128] = 0; + out_1488608338000593967[129] = 0; + out_1488608338000593967[130] = 0; + out_1488608338000593967[131] = 0; + out_1488608338000593967[132] = 0; + out_1488608338000593967[133] = 1; + out_1488608338000593967[134] = 0; + out_1488608338000593967[135] = 0; + out_1488608338000593967[136] = 0; + out_1488608338000593967[137] = 0; + out_1488608338000593967[138] = 0; + out_1488608338000593967[139] = 0; + out_1488608338000593967[140] = 0; + out_1488608338000593967[141] = 0; + out_1488608338000593967[142] = 0; + out_1488608338000593967[143] = 0; + out_1488608338000593967[144] = 0; + out_1488608338000593967[145] = 0; + out_1488608338000593967[146] = 0; + out_1488608338000593967[147] = 0; + out_1488608338000593967[148] = 0; + out_1488608338000593967[149] = 0; + out_1488608338000593967[150] = 0; + out_1488608338000593967[151] = 0; + out_1488608338000593967[152] = 1; + out_1488608338000593967[153] = 0; + out_1488608338000593967[154] = 0; + out_1488608338000593967[155] = 0; + out_1488608338000593967[156] = 0; + out_1488608338000593967[157] = 0; + out_1488608338000593967[158] = 0; + out_1488608338000593967[159] = 0; + out_1488608338000593967[160] = 0; + out_1488608338000593967[161] = 0; + out_1488608338000593967[162] = 0; + out_1488608338000593967[163] = 0; + out_1488608338000593967[164] = 0; + out_1488608338000593967[165] = 0; + out_1488608338000593967[166] = 0; + out_1488608338000593967[167] = 0; + out_1488608338000593967[168] = 0; + out_1488608338000593967[169] = 0; + out_1488608338000593967[170] = 0; + out_1488608338000593967[171] = 1; + out_1488608338000593967[172] = 0; + out_1488608338000593967[173] = 0; + out_1488608338000593967[174] = 0; + out_1488608338000593967[175] = 0; + out_1488608338000593967[176] = 0; + out_1488608338000593967[177] = 0; + out_1488608338000593967[178] = 0; + out_1488608338000593967[179] = 0; + out_1488608338000593967[180] = 0; + out_1488608338000593967[181] = 0; + out_1488608338000593967[182] = 0; + out_1488608338000593967[183] = 0; + out_1488608338000593967[184] = 0; + out_1488608338000593967[185] = 0; + out_1488608338000593967[186] = 0; + out_1488608338000593967[187] = 0; + out_1488608338000593967[188] = 0; + out_1488608338000593967[189] = 0; + out_1488608338000593967[190] = 1; + out_1488608338000593967[191] = 0; + out_1488608338000593967[192] = 0; + out_1488608338000593967[193] = 0; + out_1488608338000593967[194] = 0; + out_1488608338000593967[195] = 0; + out_1488608338000593967[196] = 0; + out_1488608338000593967[197] = 0; + out_1488608338000593967[198] = 0; + out_1488608338000593967[199] = 0; + out_1488608338000593967[200] = 0; + out_1488608338000593967[201] = 0; + out_1488608338000593967[202] = 0; + out_1488608338000593967[203] = 0; + out_1488608338000593967[204] = 0; + out_1488608338000593967[205] = 0; + out_1488608338000593967[206] = 0; + out_1488608338000593967[207] = 0; + out_1488608338000593967[208] = 0; + out_1488608338000593967[209] = 1; + out_1488608338000593967[210] = 0; + out_1488608338000593967[211] = 0; + out_1488608338000593967[212] = 0; + out_1488608338000593967[213] = 0; + out_1488608338000593967[214] = 0; + out_1488608338000593967[215] = 0; + out_1488608338000593967[216] = 0; + out_1488608338000593967[217] = 0; + out_1488608338000593967[218] = 0; + out_1488608338000593967[219] = 0; + out_1488608338000593967[220] = 0; + out_1488608338000593967[221] = 0; + out_1488608338000593967[222] = 0; + out_1488608338000593967[223] = 0; + out_1488608338000593967[224] = 0; + out_1488608338000593967[225] = 0; + out_1488608338000593967[226] = 0; + out_1488608338000593967[227] = 0; + out_1488608338000593967[228] = 1; + out_1488608338000593967[229] = 0; + out_1488608338000593967[230] = 0; + out_1488608338000593967[231] = 0; + out_1488608338000593967[232] = 0; + out_1488608338000593967[233] = 0; + out_1488608338000593967[234] = 0; + out_1488608338000593967[235] = 0; + out_1488608338000593967[236] = 0; + out_1488608338000593967[237] = 0; + out_1488608338000593967[238] = 0; + out_1488608338000593967[239] = 0; + out_1488608338000593967[240] = 0; + out_1488608338000593967[241] = 0; + out_1488608338000593967[242] = 0; + out_1488608338000593967[243] = 0; + out_1488608338000593967[244] = 0; + out_1488608338000593967[245] = 0; + out_1488608338000593967[246] = 0; + out_1488608338000593967[247] = 1; + out_1488608338000593967[248] = 0; + out_1488608338000593967[249] = 0; + out_1488608338000593967[250] = 0; + out_1488608338000593967[251] = 0; + out_1488608338000593967[252] = 0; + out_1488608338000593967[253] = 0; + out_1488608338000593967[254] = 0; + out_1488608338000593967[255] = 0; + out_1488608338000593967[256] = 0; + out_1488608338000593967[257] = 0; + out_1488608338000593967[258] = 0; + out_1488608338000593967[259] = 0; + out_1488608338000593967[260] = 0; + out_1488608338000593967[261] = 0; + out_1488608338000593967[262] = 0; + out_1488608338000593967[263] = 0; + out_1488608338000593967[264] = 0; + out_1488608338000593967[265] = 0; + out_1488608338000593967[266] = 1; + out_1488608338000593967[267] = 0; + out_1488608338000593967[268] = 0; + out_1488608338000593967[269] = 0; + out_1488608338000593967[270] = 0; + out_1488608338000593967[271] = 0; + out_1488608338000593967[272] = 0; + out_1488608338000593967[273] = 0; + out_1488608338000593967[274] = 0; + out_1488608338000593967[275] = 0; + out_1488608338000593967[276] = 0; + out_1488608338000593967[277] = 0; + out_1488608338000593967[278] = 0; + out_1488608338000593967[279] = 0; + out_1488608338000593967[280] = 0; + out_1488608338000593967[281] = 0; + out_1488608338000593967[282] = 0; + out_1488608338000593967[283] = 0; + out_1488608338000593967[284] = 0; + out_1488608338000593967[285] = 1; + out_1488608338000593967[286] = 0; + out_1488608338000593967[287] = 0; + out_1488608338000593967[288] = 0; + out_1488608338000593967[289] = 0; + out_1488608338000593967[290] = 0; + out_1488608338000593967[291] = 0; + out_1488608338000593967[292] = 0; + out_1488608338000593967[293] = 0; + out_1488608338000593967[294] = 0; + out_1488608338000593967[295] = 0; + out_1488608338000593967[296] = 0; + out_1488608338000593967[297] = 0; + out_1488608338000593967[298] = 0; + out_1488608338000593967[299] = 0; + out_1488608338000593967[300] = 0; + out_1488608338000593967[301] = 0; + out_1488608338000593967[302] = 0; + out_1488608338000593967[303] = 0; + out_1488608338000593967[304] = 1; + out_1488608338000593967[305] = 0; + out_1488608338000593967[306] = 0; + out_1488608338000593967[307] = 0; + out_1488608338000593967[308] = 0; + out_1488608338000593967[309] = 0; + out_1488608338000593967[310] = 0; + out_1488608338000593967[311] = 0; + out_1488608338000593967[312] = 0; + out_1488608338000593967[313] = 0; + out_1488608338000593967[314] = 0; + out_1488608338000593967[315] = 0; + out_1488608338000593967[316] = 0; + out_1488608338000593967[317] = 0; + out_1488608338000593967[318] = 0; + out_1488608338000593967[319] = 0; + out_1488608338000593967[320] = 0; + out_1488608338000593967[321] = 0; + out_1488608338000593967[322] = 0; + out_1488608338000593967[323] = 1; } -void h_4(double *state, double *unused, double *out_8338357592566013610) { - out_8338357592566013610[0] = state[6] + state[9]; - out_8338357592566013610[1] = state[7] + state[10]; - out_8338357592566013610[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7790743839692054955) { + out_7790743839692054955[0] = state[6] + state[9]; + out_7790743839692054955[1] = state[7] + state[10]; + out_7790743839692054955[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_940131289488293104) { - out_940131289488293104[0] = 0; - out_940131289488293104[1] = 0; - out_940131289488293104[2] = 0; - out_940131289488293104[3] = 0; - out_940131289488293104[4] = 0; - out_940131289488293104[5] = 0; - out_940131289488293104[6] = 1; - out_940131289488293104[7] = 0; - out_940131289488293104[8] = 0; - out_940131289488293104[9] = 1; - out_940131289488293104[10] = 0; - out_940131289488293104[11] = 0; - out_940131289488293104[12] = 0; - out_940131289488293104[13] = 0; - out_940131289488293104[14] = 0; - out_940131289488293104[15] = 0; - out_940131289488293104[16] = 0; - out_940131289488293104[17] = 0; - out_940131289488293104[18] = 0; - out_940131289488293104[19] = 0; - out_940131289488293104[20] = 0; - out_940131289488293104[21] = 0; - out_940131289488293104[22] = 0; - out_940131289488293104[23] = 0; - out_940131289488293104[24] = 0; - out_940131289488293104[25] = 1; - out_940131289488293104[26] = 0; - out_940131289488293104[27] = 0; - out_940131289488293104[28] = 1; - out_940131289488293104[29] = 0; - out_940131289488293104[30] = 0; - out_940131289488293104[31] = 0; - out_940131289488293104[32] = 0; - out_940131289488293104[33] = 0; - out_940131289488293104[34] = 0; - out_940131289488293104[35] = 0; - out_940131289488293104[36] = 0; - out_940131289488293104[37] = 0; - out_940131289488293104[38] = 0; - out_940131289488293104[39] = 0; - out_940131289488293104[40] = 0; - out_940131289488293104[41] = 0; - out_940131289488293104[42] = 0; - out_940131289488293104[43] = 0; - out_940131289488293104[44] = 1; - out_940131289488293104[45] = 0; - out_940131289488293104[46] = 0; - out_940131289488293104[47] = 1; - out_940131289488293104[48] = 0; - out_940131289488293104[49] = 0; - out_940131289488293104[50] = 0; - out_940131289488293104[51] = 0; - out_940131289488293104[52] = 0; - out_940131289488293104[53] = 0; +void H_4(double *state, double *unused, double *out_1533656544988368493) { + out_1533656544988368493[0] = 0; + out_1533656544988368493[1] = 0; + out_1533656544988368493[2] = 0; + out_1533656544988368493[3] = 0; + out_1533656544988368493[4] = 0; + out_1533656544988368493[5] = 0; + out_1533656544988368493[6] = 1; + out_1533656544988368493[7] = 0; + out_1533656544988368493[8] = 0; + out_1533656544988368493[9] = 1; + out_1533656544988368493[10] = 0; + out_1533656544988368493[11] = 0; + out_1533656544988368493[12] = 0; + out_1533656544988368493[13] = 0; + out_1533656544988368493[14] = 0; + out_1533656544988368493[15] = 0; + out_1533656544988368493[16] = 0; + out_1533656544988368493[17] = 0; + out_1533656544988368493[18] = 0; + out_1533656544988368493[19] = 0; + out_1533656544988368493[20] = 0; + out_1533656544988368493[21] = 0; + out_1533656544988368493[22] = 0; + out_1533656544988368493[23] = 0; + out_1533656544988368493[24] = 0; + out_1533656544988368493[25] = 1; + out_1533656544988368493[26] = 0; + out_1533656544988368493[27] = 0; + out_1533656544988368493[28] = 1; + out_1533656544988368493[29] = 0; + out_1533656544988368493[30] = 0; + out_1533656544988368493[31] = 0; + out_1533656544988368493[32] = 0; + out_1533656544988368493[33] = 0; + out_1533656544988368493[34] = 0; + out_1533656544988368493[35] = 0; + out_1533656544988368493[36] = 0; + out_1533656544988368493[37] = 0; + out_1533656544988368493[38] = 0; + out_1533656544988368493[39] = 0; + out_1533656544988368493[40] = 0; + out_1533656544988368493[41] = 0; + out_1533656544988368493[42] = 0; + out_1533656544988368493[43] = 0; + out_1533656544988368493[44] = 1; + out_1533656544988368493[45] = 0; + out_1533656544988368493[46] = 0; + out_1533656544988368493[47] = 1; + out_1533656544988368493[48] = 0; + out_1533656544988368493[49] = 0; + out_1533656544988368493[50] = 0; + out_1533656544988368493[51] = 0; + out_1533656544988368493[52] = 0; + out_1533656544988368493[53] = 0; } -void h_10(double *state, double *unused, double *out_8345234452777105931) { - out_8345234452777105931[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8345234452777105931[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8345234452777105931[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_9133294609098034128) { + out_9133294609098034128[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_9133294609098034128[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_9133294609098034128[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_1248319787069001495) { - out_1248319787069001495[0] = 0; - out_1248319787069001495[1] = 9.8100000000000005*cos(state[1]); - out_1248319787069001495[2] = 0; - out_1248319787069001495[3] = 0; - out_1248319787069001495[4] = -state[8]; - out_1248319787069001495[5] = state[7]; - out_1248319787069001495[6] = 0; - out_1248319787069001495[7] = state[5]; - out_1248319787069001495[8] = -state[4]; - out_1248319787069001495[9] = 0; - out_1248319787069001495[10] = 0; - out_1248319787069001495[11] = 0; - out_1248319787069001495[12] = 1; - out_1248319787069001495[13] = 0; - out_1248319787069001495[14] = 0; - out_1248319787069001495[15] = 1; - out_1248319787069001495[16] = 0; - out_1248319787069001495[17] = 0; - out_1248319787069001495[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1248319787069001495[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1248319787069001495[20] = 0; - out_1248319787069001495[21] = state[8]; - out_1248319787069001495[22] = 0; - out_1248319787069001495[23] = -state[6]; - out_1248319787069001495[24] = -state[5]; - out_1248319787069001495[25] = 0; - out_1248319787069001495[26] = state[3]; - out_1248319787069001495[27] = 0; - out_1248319787069001495[28] = 0; - out_1248319787069001495[29] = 0; - out_1248319787069001495[30] = 0; - out_1248319787069001495[31] = 1; - out_1248319787069001495[32] = 0; - out_1248319787069001495[33] = 0; - out_1248319787069001495[34] = 1; - out_1248319787069001495[35] = 0; - out_1248319787069001495[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1248319787069001495[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1248319787069001495[38] = 0; - out_1248319787069001495[39] = -state[7]; - out_1248319787069001495[40] = state[6]; - out_1248319787069001495[41] = 0; - out_1248319787069001495[42] = state[4]; - out_1248319787069001495[43] = -state[3]; - out_1248319787069001495[44] = 0; - out_1248319787069001495[45] = 0; - out_1248319787069001495[46] = 0; - out_1248319787069001495[47] = 0; - out_1248319787069001495[48] = 0; - out_1248319787069001495[49] = 0; - out_1248319787069001495[50] = 1; - out_1248319787069001495[51] = 0; - out_1248319787069001495[52] = 0; - out_1248319787069001495[53] = 1; +void H_10(double *state, double *unused, double *out_1083055239647106891) { + out_1083055239647106891[0] = 0; + out_1083055239647106891[1] = 9.8100000000000005*cos(state[1]); + out_1083055239647106891[2] = 0; + out_1083055239647106891[3] = 0; + out_1083055239647106891[4] = -state[8]; + out_1083055239647106891[5] = state[7]; + out_1083055239647106891[6] = 0; + out_1083055239647106891[7] = state[5]; + out_1083055239647106891[8] = -state[4]; + out_1083055239647106891[9] = 0; + out_1083055239647106891[10] = 0; + out_1083055239647106891[11] = 0; + out_1083055239647106891[12] = 1; + out_1083055239647106891[13] = 0; + out_1083055239647106891[14] = 0; + out_1083055239647106891[15] = 1; + out_1083055239647106891[16] = 0; + out_1083055239647106891[17] = 0; + out_1083055239647106891[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1083055239647106891[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1083055239647106891[20] = 0; + out_1083055239647106891[21] = state[8]; + out_1083055239647106891[22] = 0; + out_1083055239647106891[23] = -state[6]; + out_1083055239647106891[24] = -state[5]; + out_1083055239647106891[25] = 0; + out_1083055239647106891[26] = state[3]; + out_1083055239647106891[27] = 0; + out_1083055239647106891[28] = 0; + out_1083055239647106891[29] = 0; + out_1083055239647106891[30] = 0; + out_1083055239647106891[31] = 1; + out_1083055239647106891[32] = 0; + out_1083055239647106891[33] = 0; + out_1083055239647106891[34] = 1; + out_1083055239647106891[35] = 0; + out_1083055239647106891[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1083055239647106891[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1083055239647106891[38] = 0; + out_1083055239647106891[39] = -state[7]; + out_1083055239647106891[40] = state[6]; + out_1083055239647106891[41] = 0; + out_1083055239647106891[42] = state[4]; + out_1083055239647106891[43] = -state[3]; + out_1083055239647106891[44] = 0; + out_1083055239647106891[45] = 0; + out_1083055239647106891[46] = 0; + out_1083055239647106891[47] = 0; + out_1083055239647106891[48] = 0; + out_1083055239647106891[49] = 0; + out_1083055239647106891[50] = 1; + out_1083055239647106891[51] = 0; + out_1083055239647106891[52] = 0; + out_1083055239647106891[53] = 1; } -void h_13(double *state, double *unused, double *out_1047798615184752827) { - out_1047798615184752827[0] = state[3]; - out_1047798615184752827[1] = state[4]; - out_1047798615184752827[2] = state[5]; +void h_13(double *state, double *unused, double *out_7261076778239694426) { + out_7261076778239694426[0] = state[3]; + out_7261076778239694426[1] = state[4]; + out_7261076778239694426[2] = state[5]; } -void H_13(double *state, double *unused, double *out_375529369806449000) { - out_375529369806449000[0] = 0; - out_375529369806449000[1] = 0; - out_375529369806449000[2] = 0; - out_375529369806449000[3] = 1; - out_375529369806449000[4] = 0; - out_375529369806449000[5] = 0; - out_375529369806449000[6] = 0; - out_375529369806449000[7] = 0; - out_375529369806449000[8] = 0; - out_375529369806449000[9] = 0; - out_375529369806449000[10] = 0; - out_375529369806449000[11] = 0; - out_375529369806449000[12] = 0; - out_375529369806449000[13] = 0; - out_375529369806449000[14] = 0; - out_375529369806449000[15] = 0; - out_375529369806449000[16] = 0; - out_375529369806449000[17] = 0; - out_375529369806449000[18] = 0; - out_375529369806449000[19] = 0; - out_375529369806449000[20] = 0; - out_375529369806449000[21] = 0; - out_375529369806449000[22] = 1; - out_375529369806449000[23] = 0; - out_375529369806449000[24] = 0; - out_375529369806449000[25] = 0; - out_375529369806449000[26] = 0; - out_375529369806449000[27] = 0; - out_375529369806449000[28] = 0; - out_375529369806449000[29] = 0; - out_375529369806449000[30] = 0; - out_375529369806449000[31] = 0; - out_375529369806449000[32] = 0; - out_375529369806449000[33] = 0; - out_375529369806449000[34] = 0; - out_375529369806449000[35] = 0; - out_375529369806449000[36] = 0; - out_375529369806449000[37] = 0; - out_375529369806449000[38] = 0; - out_375529369806449000[39] = 0; - out_375529369806449000[40] = 0; - out_375529369806449000[41] = 1; - out_375529369806449000[42] = 0; - out_375529369806449000[43] = 0; - out_375529369806449000[44] = 0; - out_375529369806449000[45] = 0; - out_375529369806449000[46] = 0; - out_375529369806449000[47] = 0; - out_375529369806449000[48] = 0; - out_375529369806449000[49] = 0; - out_375529369806449000[50] = 0; - out_375529369806449000[51] = 0; - out_375529369806449000[52] = 0; - out_375529369806449000[53] = 0; +void H_13(double *state, double *unused, double *out_4745930370320701294) { + out_4745930370320701294[0] = 0; + out_4745930370320701294[1] = 0; + out_4745930370320701294[2] = 0; + out_4745930370320701294[3] = 1; + out_4745930370320701294[4] = 0; + out_4745930370320701294[5] = 0; + out_4745930370320701294[6] = 0; + out_4745930370320701294[7] = 0; + out_4745930370320701294[8] = 0; + out_4745930370320701294[9] = 0; + out_4745930370320701294[10] = 0; + out_4745930370320701294[11] = 0; + out_4745930370320701294[12] = 0; + out_4745930370320701294[13] = 0; + out_4745930370320701294[14] = 0; + out_4745930370320701294[15] = 0; + out_4745930370320701294[16] = 0; + out_4745930370320701294[17] = 0; + out_4745930370320701294[18] = 0; + out_4745930370320701294[19] = 0; + out_4745930370320701294[20] = 0; + out_4745930370320701294[21] = 0; + out_4745930370320701294[22] = 1; + out_4745930370320701294[23] = 0; + out_4745930370320701294[24] = 0; + out_4745930370320701294[25] = 0; + out_4745930370320701294[26] = 0; + out_4745930370320701294[27] = 0; + out_4745930370320701294[28] = 0; + out_4745930370320701294[29] = 0; + out_4745930370320701294[30] = 0; + out_4745930370320701294[31] = 0; + out_4745930370320701294[32] = 0; + out_4745930370320701294[33] = 0; + out_4745930370320701294[34] = 0; + out_4745930370320701294[35] = 0; + out_4745930370320701294[36] = 0; + out_4745930370320701294[37] = 0; + out_4745930370320701294[38] = 0; + out_4745930370320701294[39] = 0; + out_4745930370320701294[40] = 0; + out_4745930370320701294[41] = 1; + out_4745930370320701294[42] = 0; + out_4745930370320701294[43] = 0; + out_4745930370320701294[44] = 0; + out_4745930370320701294[45] = 0; + out_4745930370320701294[46] = 0; + out_4745930370320701294[47] = 0; + out_4745930370320701294[48] = 0; + out_4745930370320701294[49] = 0; + out_4745930370320701294[50] = 0; + out_4745930370320701294[51] = 0; + out_4745930370320701294[52] = 0; + out_4745930370320701294[53] = 0; } -void h_14(double *state, double *unused, double *out_4235679239024063539) { - out_4235679239024063539[0] = state[6]; - out_4235679239024063539[1] = state[7]; - out_4235679239024063539[2] = state[8]; +void h_14(double *state, double *unused, double *out_3309539515902900024) { + out_3309539515902900024[0] = state[6]; + out_3309539515902900024[1] = state[7]; + out_3309539515902900024[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4022919721783665400) { - out_4022919721783665400[0] = 0; - out_4022919721783665400[1] = 0; - out_4022919721783665400[2] = 0; - out_4022919721783665400[3] = 0; - out_4022919721783665400[4] = 0; - out_4022919721783665400[5] = 0; - out_4022919721783665400[6] = 1; - out_4022919721783665400[7] = 0; - out_4022919721783665400[8] = 0; - out_4022919721783665400[9] = 0; - out_4022919721783665400[10] = 0; - out_4022919721783665400[11] = 0; - out_4022919721783665400[12] = 0; - out_4022919721783665400[13] = 0; - out_4022919721783665400[14] = 0; - out_4022919721783665400[15] = 0; - out_4022919721783665400[16] = 0; - out_4022919721783665400[17] = 0; - out_4022919721783665400[18] = 0; - out_4022919721783665400[19] = 0; - out_4022919721783665400[20] = 0; - out_4022919721783665400[21] = 0; - out_4022919721783665400[22] = 0; - out_4022919721783665400[23] = 0; - out_4022919721783665400[24] = 0; - out_4022919721783665400[25] = 1; - out_4022919721783665400[26] = 0; - out_4022919721783665400[27] = 0; - out_4022919721783665400[28] = 0; - out_4022919721783665400[29] = 0; - out_4022919721783665400[30] = 0; - out_4022919721783665400[31] = 0; - out_4022919721783665400[32] = 0; - out_4022919721783665400[33] = 0; - out_4022919721783665400[34] = 0; - out_4022919721783665400[35] = 0; - out_4022919721783665400[36] = 0; - out_4022919721783665400[37] = 0; - out_4022919721783665400[38] = 0; - out_4022919721783665400[39] = 0; - out_4022919721783665400[40] = 0; - out_4022919721783665400[41] = 0; - out_4022919721783665400[42] = 0; - out_4022919721783665400[43] = 0; - out_4022919721783665400[44] = 1; - out_4022919721783665400[45] = 0; - out_4022919721783665400[46] = 0; - out_4022919721783665400[47] = 0; - out_4022919721783665400[48] = 0; - out_4022919721783665400[49] = 0; - out_4022919721783665400[50] = 0; - out_4022919721783665400[51] = 0; - out_4022919721783665400[52] = 0; - out_4022919721783665400[53] = 0; +void H_14(double *state, double *unused, double *out_5496897401327853022) { + out_5496897401327853022[0] = 0; + out_5496897401327853022[1] = 0; + out_5496897401327853022[2] = 0; + out_5496897401327853022[3] = 0; + out_5496897401327853022[4] = 0; + out_5496897401327853022[5] = 0; + out_5496897401327853022[6] = 1; + out_5496897401327853022[7] = 0; + out_5496897401327853022[8] = 0; + out_5496897401327853022[9] = 0; + out_5496897401327853022[10] = 0; + out_5496897401327853022[11] = 0; + out_5496897401327853022[12] = 0; + out_5496897401327853022[13] = 0; + out_5496897401327853022[14] = 0; + out_5496897401327853022[15] = 0; + out_5496897401327853022[16] = 0; + out_5496897401327853022[17] = 0; + out_5496897401327853022[18] = 0; + out_5496897401327853022[19] = 0; + out_5496897401327853022[20] = 0; + out_5496897401327853022[21] = 0; + out_5496897401327853022[22] = 0; + out_5496897401327853022[23] = 0; + out_5496897401327853022[24] = 0; + out_5496897401327853022[25] = 1; + out_5496897401327853022[26] = 0; + out_5496897401327853022[27] = 0; + out_5496897401327853022[28] = 0; + out_5496897401327853022[29] = 0; + out_5496897401327853022[30] = 0; + out_5496897401327853022[31] = 0; + out_5496897401327853022[32] = 0; + out_5496897401327853022[33] = 0; + out_5496897401327853022[34] = 0; + out_5496897401327853022[35] = 0; + out_5496897401327853022[36] = 0; + out_5496897401327853022[37] = 0; + out_5496897401327853022[38] = 0; + out_5496897401327853022[39] = 0; + out_5496897401327853022[40] = 0; + out_5496897401327853022[41] = 0; + out_5496897401327853022[42] = 0; + out_5496897401327853022[43] = 0; + out_5496897401327853022[44] = 1; + out_5496897401327853022[45] = 0; + out_5496897401327853022[46] = 0; + out_5496897401327853022[47] = 0; + out_5496897401327853022[48] = 0; + out_5496897401327853022[49] = 0; + out_5496897401327853022[50] = 0; + out_5496897401327853022[51] = 0; + out_5496897401327853022[52] = 0; + out_5496897401327853022[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_2521549048397866319) { - err_fun(nom_x, delta_x, out_2521549048397866319); +void pose_err_fun(double *nom_x, double *delta_x, double *out_944171533359057280) { + err_fun(nom_x, delta_x, out_944171533359057280); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4368796387448451064) { - inv_err_fun(nom_x, true_x, out_4368796387448451064); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5987343215061063396) { + inv_err_fun(nom_x, true_x, out_5987343215061063396); } -void pose_H_mod_fun(double *state, double *out_4711938499332200676) { - H_mod_fun(state, out_4711938499332200676); +void pose_H_mod_fun(double *state, double *out_922696574028504956) { + H_mod_fun(state, out_922696574028504956); } -void pose_f_fun(double *state, double dt, double *out_3583623669529018238) { - f_fun(state, dt, out_3583623669529018238); +void pose_f_fun(double *state, double dt, double *out_7271275588779717019) { + f_fun(state, dt, out_7271275588779717019); } -void pose_F_fun(double *state, double dt, double *out_147281941884768427) { - F_fun(state, dt, out_147281941884768427); +void pose_F_fun(double *state, double dt, double *out_1488608338000593967) { + F_fun(state, dt, out_1488608338000593967); } -void pose_h_4(double *state, double *unused, double *out_8338357592566013610) { - h_4(state, unused, out_8338357592566013610); +void pose_h_4(double *state, double *unused, double *out_7790743839692054955) { + h_4(state, unused, out_7790743839692054955); } -void pose_H_4(double *state, double *unused, double *out_940131289488293104) { - H_4(state, unused, out_940131289488293104); +void pose_H_4(double *state, double *unused, double *out_1533656544988368493) { + H_4(state, unused, out_1533656544988368493); } -void pose_h_10(double *state, double *unused, double *out_8345234452777105931) { - h_10(state, unused, out_8345234452777105931); +void pose_h_10(double *state, double *unused, double *out_9133294609098034128) { + h_10(state, unused, out_9133294609098034128); } -void pose_H_10(double *state, double *unused, double *out_1248319787069001495) { - H_10(state, unused, out_1248319787069001495); +void pose_H_10(double *state, double *unused, double *out_1083055239647106891) { + H_10(state, unused, out_1083055239647106891); } -void pose_h_13(double *state, double *unused, double *out_1047798615184752827) { - h_13(state, unused, out_1047798615184752827); +void pose_h_13(double *state, double *unused, double *out_7261076778239694426) { + h_13(state, unused, out_7261076778239694426); } -void pose_H_13(double *state, double *unused, double *out_375529369806449000) { - H_13(state, unused, out_375529369806449000); +void pose_H_13(double *state, double *unused, double *out_4745930370320701294) { + H_13(state, unused, out_4745930370320701294); } -void pose_h_14(double *state, double *unused, double *out_4235679239024063539) { - h_14(state, unused, out_4235679239024063539); +void pose_h_14(double *state, double *unused, double *out_3309539515902900024) { + h_14(state, unused, out_3309539515902900024); } -void pose_H_14(double *state, double *unused, double *out_4022919721783665400) { - H_14(state, unused, out_4022919721783665400); +void pose_H_14(double *state, double *unused, double *out_5496897401327853022) { + H_14(state, unused, out_5496897401327853022); } 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/openpilot/selfdrive/locationd/models/generated/pose.h b/openpilot/selfdrive/locationd/models/generated/pose.h index 00fb226953..97ad8345de 100644 --- a/openpilot/selfdrive/locationd/models/generated/pose.h +++ b/openpilot/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_2521549048397866319); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4368796387448451064); -void pose_H_mod_fun(double *state, double *out_4711938499332200676); -void pose_f_fun(double *state, double dt, double *out_3583623669529018238); -void pose_F_fun(double *state, double dt, double *out_147281941884768427); -void pose_h_4(double *state, double *unused, double *out_8338357592566013610); -void pose_H_4(double *state, double *unused, double *out_940131289488293104); -void pose_h_10(double *state, double *unused, double *out_8345234452777105931); -void pose_H_10(double *state, double *unused, double *out_1248319787069001495); -void pose_h_13(double *state, double *unused, double *out_1047798615184752827); -void pose_H_13(double *state, double *unused, double *out_375529369806449000); -void pose_h_14(double *state, double *unused, double *out_4235679239024063539); -void pose_H_14(double *state, double *unused, double *out_4022919721783665400); +void pose_err_fun(double *nom_x, double *delta_x, double *out_944171533359057280); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5987343215061063396); +void pose_H_mod_fun(double *state, double *out_922696574028504956); +void pose_f_fun(double *state, double dt, double *out_7271275588779717019); +void pose_F_fun(double *state, double dt, double *out_1488608338000593967); +void pose_h_4(double *state, double *unused, double *out_7790743839692054955); +void pose_H_4(double *state, double *unused, double *out_1533656544988368493); +void pose_h_10(double *state, double *unused, double *out_9133294609098034128); +void pose_H_10(double *state, double *unused, double *out_1083055239647106891); +void pose_h_13(double *state, double *unused, double *out_7261076778239694426); +void pose_H_13(double *state, double *unused, double *out_4745930370320701294); +void pose_h_14(double *state, double *unused, double *out_3309539515902900024); +void pose_H_14(double *state, double *unused, double *out_5496897401327853022); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/openpilot/selfdrive/pandad/panda_safety.o b/openpilot/selfdrive/pandad/panda_safety.o index d34b248ef8..114427ce65 100644 Binary files a/openpilot/selfdrive/pandad/panda_safety.o and b/openpilot/selfdrive/pandad/panda_safety.o differ diff --git a/openpilot/selfdrive/pandad/pandad b/openpilot/selfdrive/pandad/pandad index 5f60f7145c..ebd0714a09 100755 Binary files a/openpilot/selfdrive/pandad/pandad and b/openpilot/selfdrive/pandad/pandad differ diff --git a/openpilot/selfdrive/pandad/pandad.o b/openpilot/selfdrive/pandad/pandad.o index 1e81e8446e..5827219917 100644 Binary files a/openpilot/selfdrive/pandad/pandad.o and b/openpilot/selfdrive/pandad/pandad.o differ diff 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01a62e0ea6..90c7a8b27e 100644 Binary files a/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index e844548dd0..74e1ca7651 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,4 +1,4 @@ #pragma once extern const uint8_t gitversion[29]; -const uint8_t gitversion[29] = "DEV-5114f466-Pf38f504f-DEBUG"; +const uint8_t gitversion[29] = "DEV-3a22ddda-Pf38f504f-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 053f29f5e1..a91c9a01a7 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_can_ignition_only.bin.signed b/panda/board/obj/panda_can_ignition_only.bin.signed index 263dff3d13..8623a08f25 100644 Binary files a/panda/board/obj/panda_can_ignition_only.bin.signed and 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a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index b2b1495687..1b24647217 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index 1575cec69f..c32ede289b 100644 Binary files a/panda/board/obj/panda_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_tesla_wake.bin.signed b/panda/board/obj/panda_tesla_wake.bin.signed index a6524ecee1..fb4693f8ff 100644 Binary files a/panda/board/obj/panda_tesla_wake.bin.signed and b/panda/board/obj/panda_tesla_wake.bin.signed differ diff --git a/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed b/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed index d2b447682a..ead2833919 100644 Binary files a/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed and b/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/version b/panda/board/obj/version index e602cb3fc9..626c46309b 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-5114f466-Pf38f504f-DEBUG \ No newline at end of file +DEV-3a22ddda-Pf38f504f-DEBUG \ No newline at end of file diff --git a/prebuilt.json b/prebuilt.json index d8742d14dc..6304d6f4f0 100644 --- a/prebuilt.json +++ b/prebuilt.json @@ -1 +1 @@ -{"protected_inventory_sha256": "388ca644c98b0c10d27bf009a39b15a2fd7581a42c82ef5e05cce72fde3c5a83", "schema_version": 1} +{"protected_inventory_sha256": "b9672e51fdd2774a1f4c75e2ac164b85ab8bd9459710668197af0b6f4154ff0b", "schema_version": 1}