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b/panda/board/obj/version @@ -1 +1 @@ -DEV-80f46561-DEBUG \ No newline at end of file +DEV-d773ad90-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index f0b3e8b71..c0df2737a 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_8290791895352476901) { - out_8290791895352476901[0] = delta_x[0] + nom_x[0]; - out_8290791895352476901[1] = delta_x[1] + nom_x[1]; - out_8290791895352476901[2] = delta_x[2] + nom_x[2]; - out_8290791895352476901[3] = delta_x[3] + nom_x[3]; - out_8290791895352476901[4] = delta_x[4] + nom_x[4]; - out_8290791895352476901[5] = delta_x[5] + nom_x[5]; - out_8290791895352476901[6] = delta_x[6] + nom_x[6]; - out_8290791895352476901[7] = delta_x[7] + nom_x[7]; - out_8290791895352476901[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8449647197806450456) { + out_8449647197806450456[0] = delta_x[0] + nom_x[0]; + out_8449647197806450456[1] = delta_x[1] + nom_x[1]; + out_8449647197806450456[2] = delta_x[2] + nom_x[2]; + out_8449647197806450456[3] = delta_x[3] + nom_x[3]; + out_8449647197806450456[4] = delta_x[4] + nom_x[4]; + out_8449647197806450456[5] = delta_x[5] + nom_x[5]; + out_8449647197806450456[6] = delta_x[6] + nom_x[6]; + out_8449647197806450456[7] = delta_x[7] + nom_x[7]; + out_8449647197806450456[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3328957974600116526) { - out_3328957974600116526[0] = -nom_x[0] + true_x[0]; - out_3328957974600116526[1] = -nom_x[1] + true_x[1]; - out_3328957974600116526[2] = -nom_x[2] + true_x[2]; - out_3328957974600116526[3] = -nom_x[3] + true_x[3]; - out_3328957974600116526[4] = -nom_x[4] + true_x[4]; - out_3328957974600116526[5] = -nom_x[5] + true_x[5]; - out_3328957974600116526[6] = -nom_x[6] + true_x[6]; - out_3328957974600116526[7] = -nom_x[7] + true_x[7]; - out_3328957974600116526[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5810954439872327790) { + out_5810954439872327790[0] = -nom_x[0] + true_x[0]; + out_5810954439872327790[1] = -nom_x[1] + true_x[1]; + out_5810954439872327790[2] = -nom_x[2] + true_x[2]; + out_5810954439872327790[3] = -nom_x[3] + true_x[3]; + out_5810954439872327790[4] = -nom_x[4] + true_x[4]; + out_5810954439872327790[5] = -nom_x[5] + true_x[5]; + out_5810954439872327790[6] = -nom_x[6] + true_x[6]; + out_5810954439872327790[7] = -nom_x[7] + true_x[7]; + out_5810954439872327790[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_5003844791385944482) { - out_5003844791385944482[0] = 1.0; - out_5003844791385944482[1] = 0.0; - out_5003844791385944482[2] = 0.0; - out_5003844791385944482[3] = 0.0; - out_5003844791385944482[4] = 0.0; - out_5003844791385944482[5] = 0.0; - out_5003844791385944482[6] = 0.0; - out_5003844791385944482[7] = 0.0; - out_5003844791385944482[8] = 0.0; - out_5003844791385944482[9] = 0.0; - out_5003844791385944482[10] = 1.0; - out_5003844791385944482[11] = 0.0; - out_5003844791385944482[12] = 0.0; - out_5003844791385944482[13] = 0.0; - out_5003844791385944482[14] = 0.0; - out_5003844791385944482[15] = 0.0; - out_5003844791385944482[16] = 0.0; - out_5003844791385944482[17] = 0.0; - out_5003844791385944482[18] = 0.0; - out_5003844791385944482[19] = 0.0; - out_5003844791385944482[20] = 1.0; - out_5003844791385944482[21] = 0.0; - out_5003844791385944482[22] = 0.0; - out_5003844791385944482[23] = 0.0; - out_5003844791385944482[24] = 0.0; - out_5003844791385944482[25] = 0.0; - out_5003844791385944482[26] = 0.0; - out_5003844791385944482[27] = 0.0; - out_5003844791385944482[28] = 0.0; - out_5003844791385944482[29] = 0.0; - out_5003844791385944482[30] = 1.0; - out_5003844791385944482[31] = 0.0; - out_5003844791385944482[32] = 0.0; - out_5003844791385944482[33] = 0.0; - out_5003844791385944482[34] = 0.0; - out_5003844791385944482[35] = 0.0; - out_5003844791385944482[36] = 0.0; - out_5003844791385944482[37] = 0.0; - out_5003844791385944482[38] = 0.0; - out_5003844791385944482[39] = 0.0; - out_5003844791385944482[40] = 1.0; - out_5003844791385944482[41] = 0.0; - out_5003844791385944482[42] = 0.0; - out_5003844791385944482[43] = 0.0; - out_5003844791385944482[44] = 0.0; - out_5003844791385944482[45] = 0.0; - out_5003844791385944482[46] = 0.0; - out_5003844791385944482[47] = 0.0; - out_5003844791385944482[48] = 0.0; - out_5003844791385944482[49] = 0.0; - out_5003844791385944482[50] = 1.0; - out_5003844791385944482[51] = 0.0; - out_5003844791385944482[52] = 0.0; - out_5003844791385944482[53] = 0.0; - out_5003844791385944482[54] = 0.0; - out_5003844791385944482[55] = 0.0; - out_5003844791385944482[56] = 0.0; - out_5003844791385944482[57] = 0.0; - out_5003844791385944482[58] = 0.0; - out_5003844791385944482[59] = 0.0; - out_5003844791385944482[60] = 1.0; - out_5003844791385944482[61] = 0.0; - out_5003844791385944482[62] = 0.0; - out_5003844791385944482[63] = 0.0; - out_5003844791385944482[64] = 0.0; - out_5003844791385944482[65] = 0.0; - out_5003844791385944482[66] = 0.0; - out_5003844791385944482[67] = 0.0; - out_5003844791385944482[68] = 0.0; - out_5003844791385944482[69] = 0.0; - out_5003844791385944482[70] = 1.0; - out_5003844791385944482[71] = 0.0; - out_5003844791385944482[72] = 0.0; - out_5003844791385944482[73] = 0.0; - out_5003844791385944482[74] = 0.0; - out_5003844791385944482[75] = 0.0; - out_5003844791385944482[76] = 0.0; - out_5003844791385944482[77] = 0.0; - out_5003844791385944482[78] = 0.0; - out_5003844791385944482[79] = 0.0; - out_5003844791385944482[80] = 1.0; +void H_mod_fun(double *state, double *out_618486876633759422) { + out_618486876633759422[0] = 1.0; + out_618486876633759422[1] = 0.0; + out_618486876633759422[2] = 0.0; + out_618486876633759422[3] = 0.0; + out_618486876633759422[4] = 0.0; + out_618486876633759422[5] = 0.0; + out_618486876633759422[6] = 0.0; + out_618486876633759422[7] = 0.0; + out_618486876633759422[8] = 0.0; + out_618486876633759422[9] = 0.0; + out_618486876633759422[10] = 1.0; + out_618486876633759422[11] = 0.0; + out_618486876633759422[12] = 0.0; + out_618486876633759422[13] = 0.0; + out_618486876633759422[14] = 0.0; + out_618486876633759422[15] = 0.0; + out_618486876633759422[16] = 0.0; + out_618486876633759422[17] = 0.0; + out_618486876633759422[18] = 0.0; + out_618486876633759422[19] = 0.0; + out_618486876633759422[20] = 1.0; + out_618486876633759422[21] = 0.0; + out_618486876633759422[22] = 0.0; + out_618486876633759422[23] = 0.0; + out_618486876633759422[24] = 0.0; + out_618486876633759422[25] = 0.0; + out_618486876633759422[26] = 0.0; + out_618486876633759422[27] = 0.0; + out_618486876633759422[28] = 0.0; + out_618486876633759422[29] = 0.0; + out_618486876633759422[30] = 1.0; + out_618486876633759422[31] = 0.0; + out_618486876633759422[32] = 0.0; + out_618486876633759422[33] = 0.0; + out_618486876633759422[34] = 0.0; + out_618486876633759422[35] = 0.0; + out_618486876633759422[36] = 0.0; + out_618486876633759422[37] = 0.0; + out_618486876633759422[38] = 0.0; + out_618486876633759422[39] = 0.0; + out_618486876633759422[40] = 1.0; + out_618486876633759422[41] = 0.0; + out_618486876633759422[42] = 0.0; + out_618486876633759422[43] = 0.0; + out_618486876633759422[44] = 0.0; + out_618486876633759422[45] = 0.0; + out_618486876633759422[46] = 0.0; + out_618486876633759422[47] = 0.0; + out_618486876633759422[48] = 0.0; + out_618486876633759422[49] = 0.0; + out_618486876633759422[50] = 1.0; + out_618486876633759422[51] = 0.0; + out_618486876633759422[52] = 0.0; + out_618486876633759422[53] = 0.0; + out_618486876633759422[54] = 0.0; + out_618486876633759422[55] = 0.0; + out_618486876633759422[56] = 0.0; + out_618486876633759422[57] = 0.0; + out_618486876633759422[58] = 0.0; + out_618486876633759422[59] = 0.0; + out_618486876633759422[60] = 1.0; + out_618486876633759422[61] = 0.0; + out_618486876633759422[62] = 0.0; + out_618486876633759422[63] = 0.0; + out_618486876633759422[64] = 0.0; + out_618486876633759422[65] = 0.0; + out_618486876633759422[66] = 0.0; + out_618486876633759422[67] = 0.0; + out_618486876633759422[68] = 0.0; + out_618486876633759422[69] = 0.0; + out_618486876633759422[70] = 1.0; + out_618486876633759422[71] = 0.0; + out_618486876633759422[72] = 0.0; + out_618486876633759422[73] = 0.0; + out_618486876633759422[74] = 0.0; + out_618486876633759422[75] = 0.0; + out_618486876633759422[76] = 0.0; + out_618486876633759422[77] = 0.0; + out_618486876633759422[78] = 0.0; + out_618486876633759422[79] = 0.0; + out_618486876633759422[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2539953356409783064) { - out_2539953356409783064[0] = state[0]; - out_2539953356409783064[1] = state[1]; - out_2539953356409783064[2] = state[2]; - out_2539953356409783064[3] = state[3]; - out_2539953356409783064[4] = state[4]; - out_2539953356409783064[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_2539953356409783064[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_2539953356409783064[7] = state[7]; - out_2539953356409783064[8] = state[8]; +void f_fun(double *state, double dt, double *out_8508843375909038975) { + out_8508843375909038975[0] = state[0]; + out_8508843375909038975[1] = state[1]; + out_8508843375909038975[2] = state[2]; + out_8508843375909038975[3] = state[3]; + out_8508843375909038975[4] = state[4]; + out_8508843375909038975[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_8508843375909038975[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_8508843375909038975[7] = state[7]; + out_8508843375909038975[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7655677773978689580) { - out_7655677773978689580[0] = 1; - out_7655677773978689580[1] = 0; - out_7655677773978689580[2] = 0; - out_7655677773978689580[3] = 0; - out_7655677773978689580[4] = 0; - out_7655677773978689580[5] = 0; - out_7655677773978689580[6] = 0; - out_7655677773978689580[7] = 0; - out_7655677773978689580[8] = 0; - out_7655677773978689580[9] = 0; - out_7655677773978689580[10] = 1; - out_7655677773978689580[11] = 0; - out_7655677773978689580[12] = 0; - out_7655677773978689580[13] = 0; - out_7655677773978689580[14] = 0; - out_7655677773978689580[15] = 0; - out_7655677773978689580[16] = 0; - out_7655677773978689580[17] = 0; - out_7655677773978689580[18] = 0; - out_7655677773978689580[19] = 0; - out_7655677773978689580[20] = 1; - out_7655677773978689580[21] = 0; - out_7655677773978689580[22] = 0; - out_7655677773978689580[23] = 0; - out_7655677773978689580[24] = 0; - out_7655677773978689580[25] = 0; - out_7655677773978689580[26] = 0; - out_7655677773978689580[27] = 0; - out_7655677773978689580[28] = 0; - out_7655677773978689580[29] = 0; - out_7655677773978689580[30] = 1; - out_7655677773978689580[31] = 0; - out_7655677773978689580[32] = 0; - out_7655677773978689580[33] = 0; - out_7655677773978689580[34] = 0; - out_7655677773978689580[35] = 0; - out_7655677773978689580[36] = 0; - out_7655677773978689580[37] = 0; - out_7655677773978689580[38] = 0; - out_7655677773978689580[39] = 0; - out_7655677773978689580[40] = 1; - out_7655677773978689580[41] = 0; - out_7655677773978689580[42] = 0; - out_7655677773978689580[43] = 0; - out_7655677773978689580[44] = 0; - out_7655677773978689580[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_7655677773978689580[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7655677773978689580[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7655677773978689580[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7655677773978689580[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_7655677773978689580[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7655677773978689580[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7655677773978689580[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7655677773978689580[53] = -9.8100000000000005*dt; - out_7655677773978689580[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_7655677773978689580[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7655677773978689580[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7655677773978689580[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7655677773978689580[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_7655677773978689580[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7655677773978689580[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_7655677773978689580[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7655677773978689580[62] = 0; - out_7655677773978689580[63] = 0; - out_7655677773978689580[64] = 0; - out_7655677773978689580[65] = 0; - out_7655677773978689580[66] = 0; - out_7655677773978689580[67] = 0; - out_7655677773978689580[68] = 0; - out_7655677773978689580[69] = 0; - out_7655677773978689580[70] = 1; - out_7655677773978689580[71] = 0; - out_7655677773978689580[72] = 0; - out_7655677773978689580[73] = 0; - out_7655677773978689580[74] = 0; - out_7655677773978689580[75] = 0; - out_7655677773978689580[76] = 0; - out_7655677773978689580[77] = 0; - out_7655677773978689580[78] = 0; - out_7655677773978689580[79] = 0; - out_7655677773978689580[80] = 1; +void F_fun(double *state, double dt, double *out_2668986513863288583) { + out_2668986513863288583[0] = 1; + out_2668986513863288583[1] = 0; + out_2668986513863288583[2] = 0; + out_2668986513863288583[3] = 0; + out_2668986513863288583[4] = 0; + out_2668986513863288583[5] = 0; + out_2668986513863288583[6] = 0; + out_2668986513863288583[7] = 0; + out_2668986513863288583[8] = 0; + out_2668986513863288583[9] = 0; + out_2668986513863288583[10] = 1; + out_2668986513863288583[11] = 0; + out_2668986513863288583[12] = 0; + out_2668986513863288583[13] = 0; + out_2668986513863288583[14] = 0; + out_2668986513863288583[15] = 0; + out_2668986513863288583[16] = 0; + out_2668986513863288583[17] = 0; + out_2668986513863288583[18] = 0; + out_2668986513863288583[19] = 0; + out_2668986513863288583[20] = 1; + out_2668986513863288583[21] = 0; + out_2668986513863288583[22] = 0; + out_2668986513863288583[23] = 0; + out_2668986513863288583[24] = 0; + out_2668986513863288583[25] = 0; + out_2668986513863288583[26] = 0; + out_2668986513863288583[27] = 0; + out_2668986513863288583[28] = 0; + out_2668986513863288583[29] = 0; + out_2668986513863288583[30] = 1; + out_2668986513863288583[31] = 0; + out_2668986513863288583[32] = 0; + out_2668986513863288583[33] = 0; + out_2668986513863288583[34] = 0; + out_2668986513863288583[35] = 0; + out_2668986513863288583[36] = 0; + out_2668986513863288583[37] = 0; + out_2668986513863288583[38] = 0; + out_2668986513863288583[39] = 0; + out_2668986513863288583[40] = 1; + out_2668986513863288583[41] = 0; + out_2668986513863288583[42] = 0; + out_2668986513863288583[43] = 0; + out_2668986513863288583[44] = 0; + out_2668986513863288583[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_2668986513863288583[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2668986513863288583[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2668986513863288583[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2668986513863288583[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_2668986513863288583[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2668986513863288583[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2668986513863288583[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2668986513863288583[53] = -9.8100000000000005*dt; + out_2668986513863288583[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_2668986513863288583[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2668986513863288583[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2668986513863288583[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2668986513863288583[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_2668986513863288583[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2668986513863288583[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_2668986513863288583[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2668986513863288583[62] = 0; + out_2668986513863288583[63] = 0; + out_2668986513863288583[64] = 0; + out_2668986513863288583[65] = 0; + out_2668986513863288583[66] = 0; + out_2668986513863288583[67] = 0; + out_2668986513863288583[68] = 0; + out_2668986513863288583[69] = 0; + out_2668986513863288583[70] = 1; + out_2668986513863288583[71] = 0; + out_2668986513863288583[72] = 0; + out_2668986513863288583[73] = 0; + out_2668986513863288583[74] = 0; + out_2668986513863288583[75] = 0; + out_2668986513863288583[76] = 0; + out_2668986513863288583[77] = 0; + out_2668986513863288583[78] = 0; + out_2668986513863288583[79] = 0; + out_2668986513863288583[80] = 1; } -void h_25(double *state, double *unused, double *out_1727643108219156348) { - out_1727643108219156348[0] = state[6]; +void h_25(double *state, double *unused, double *out_4860957648027245326) { + out_4860957648027245326[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5770292553468151731) { - out_5770292553468151731[0] = 0; - out_5770292553468151731[1] = 0; - out_5770292553468151731[2] = 0; - out_5770292553468151731[3] = 0; - out_5770292553468151731[4] = 0; - out_5770292553468151731[5] = 0; - out_5770292553468151731[6] = 1; - out_5770292553468151731[7] = 0; - out_5770292553468151731[8] = 0; +void H_25(double *state, double *unused, double *out_6932876854201394115) { + out_6932876854201394115[0] = 0; + out_6932876854201394115[1] = 0; + out_6932876854201394115[2] = 0; + out_6932876854201394115[3] = 0; + out_6932876854201394115[4] = 0; + out_6932876854201394115[5] = 0; + out_6932876854201394115[6] = 1; + out_6932876854201394115[7] = 0; + out_6932876854201394115[8] = 0; } -void h_24(double *state, double *unused, double *out_4524050476975214784) { - out_4524050476975214784[0] = state[4]; - out_4524050476975214784[1] = state[5]; +void h_24(double *state, double *unused, double *out_8219518906691440912) { + out_8219518906691440912[0] = state[4]; + out_8219518906691440912[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6475418840390238459) { - out_6475418840390238459[0] = 0; - out_6475418840390238459[1] = 0; - out_6475418840390238459[2] = 0; - out_6475418840390238459[3] = 0; - out_6475418840390238459[4] = 1; - out_6475418840390238459[5] = 0; - out_6475418840390238459[6] = 0; - out_6475418840390238459[7] = 0; - out_6475418840390238459[8] = 0; - out_6475418840390238459[9] = 0; - out_6475418840390238459[10] = 0; - out_6475418840390238459[11] = 0; - out_6475418840390238459[12] = 0; - out_6475418840390238459[13] = 0; - out_6475418840390238459[14] = 1; - out_6475418840390238459[15] = 0; - out_6475418840390238459[16] = 0; - out_6475418840390238459[17] = 0; +void H_24(double *state, double *unused, double *out_6462419372158055391) { + out_6462419372158055391[0] = 0; + out_6462419372158055391[1] = 0; + out_6462419372158055391[2] = 0; + out_6462419372158055391[3] = 0; + out_6462419372158055391[4] = 1; + out_6462419372158055391[5] = 0; + out_6462419372158055391[6] = 0; + out_6462419372158055391[7] = 0; + out_6462419372158055391[8] = 0; + out_6462419372158055391[9] = 0; + out_6462419372158055391[10] = 0; + out_6462419372158055391[11] = 0; + out_6462419372158055391[12] = 0; + out_6462419372158055391[13] = 0; + out_6462419372158055391[14] = 1; + out_6462419372158055391[15] = 0; + out_6462419372158055391[16] = 0; + out_6462419372158055391[17] = 0; } -void h_30(double *state, double *unused, double *out_90439028039008013) { - out_90439028039008013[0] = state[4]; +void h_30(double *state, double *unused, double *out_1502636330274570535) { + out_1502636330274570535[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8148755190113791687) { - out_8148755190113791687[0] = 0; - out_8148755190113791687[1] = 0; - out_8148755190113791687[2] = 0; - out_8148755190113791687[3] = 0; - out_8148755190113791687[4] = 1; - out_8148755190113791687[5] = 0; - out_8148755190113791687[6] = 0; - out_8148755190113791687[7] = 0; - out_8148755190113791687[8] = 0; +void H_30(double *state, double *unused, double *out_6803537907058154045) { + out_6803537907058154045[0] = 0; + out_6803537907058154045[1] = 0; + out_6803537907058154045[2] = 0; + out_6803537907058154045[3] = 0; + out_6803537907058154045[4] = 1; + out_6803537907058154045[5] = 0; + out_6803537907058154045[6] = 0; + out_6803537907058154045[7] = 0; + out_6803537907058154045[8] = 0; } -void h_26(double *state, double *unused, double *out_1938532702514813353) { - out_1938532702514813353[0] = state[7]; +void h_26(double *state, double *unused, double *out_899320445598093018) { + out_899320445598093018[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8934948201367343661) { - out_8934948201367343661[0] = 0; - out_8934948201367343661[1] = 0; - out_8934948201367343661[2] = 0; - out_8934948201367343661[3] = 0; - out_8934948201367343661[4] = 0; - out_8934948201367343661[5] = 0; - out_8934948201367343661[6] = 0; - out_8934948201367343661[7] = 1; - out_8934948201367343661[8] = 0; +void H_26(double *state, double *unused, double *out_3191373535327337891) { + out_3191373535327337891[0] = 0; + out_3191373535327337891[1] = 0; + out_3191373535327337891[2] = 0; + out_3191373535327337891[3] = 0; + out_3191373535327337891[4] = 0; + out_3191373535327337891[5] = 0; + out_3191373535327337891[6] = 0; + out_3191373535327337891[7] = 1; + out_3191373535327337891[8] = 0; } -void h_27(double *state, double *unused, double *out_2553920733024504160) { - out_2553920733024504160[0] = state[3]; +void h_27(double *state, double *unused, double *out_6028701449103387063) { + out_6028701449103387063[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8074394812411816712) { - out_8074394812411816712[0] = 0; - out_8074394812411816712[1] = 0; - out_8074394812411816712[2] = 0; - out_8074394812411816712[3] = 1; - out_8074394812411816712[4] = 0; - out_8074394812411816712[5] = 0; - out_8074394812411816712[6] = 0; - out_8074394812411816712[7] = 0; - out_8074394812411816712[8] = 0; +void H_27(double *state, double *unused, double *out_4628774595257729134) { + out_4628774595257729134[0] = 0; + out_4628774595257729134[1] = 0; + out_4628774595257729134[2] = 0; + out_4628774595257729134[3] = 1; + out_4628774595257729134[4] = 0; + out_4628774595257729134[5] = 0; + out_4628774595257729134[6] = 0; + out_4628774595257729134[7] = 0; + out_4628774595257729134[8] = 0; } -void h_29(double *state, double *unused, double *out_1033948880940670448) { - out_1033948880940670448[0] = state[1]; +void h_29(double *state, double *unused, double *out_1056966285338217398) { + out_1056966285338217398[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8658986534428183871) { - out_8658986534428183871[0] = 0; - out_8658986534428183871[1] = 1; - out_8658986534428183871[2] = 0; - out_8658986534428183871[3] = 0; - out_8658986534428183871[4] = 0; - out_8658986534428183871[5] = 0; - out_8658986534428183871[6] = 0; - out_8658986534428183871[7] = 0; - out_8658986534428183871[8] = 0; +void H_29(double *state, double *unused, double *out_7313769251372546229) { + out_7313769251372546229[0] = 0; + out_7313769251372546229[1] = 1; + out_7313769251372546229[2] = 0; + out_7313769251372546229[3] = 0; + out_7313769251372546229[4] = 0; + out_7313769251372546229[5] = 0; + out_7313769251372546229[6] = 0; + out_7313769251372546229[7] = 0; + out_7313769251372546229[8] = 0; } -void h_28(double *state, double *unused, double *out_3913548264033873988) { - out_3913548264033873988[0] = state[0]; +void h_28(double *state, double *unused, double *out_1027028181442541418) { + out_1027028181442541418[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3576587517358653297) { - out_3576587517358653297[0] = 1; - out_3576587517358653297[1] = 0; - out_3576587517358653297[2] = 0; - out_3576587517358653297[3] = 0; - out_3576587517358653297[4] = 0; - out_3576587517358653297[5] = 0; - out_3576587517358653297[6] = 0; - out_3576587517358653297[7] = 0; - out_3576587517358653297[8] = 0; +void H_28(double *state, double *unused, double *out_2166987148681352473) { + out_2166987148681352473[0] = 1; + out_2166987148681352473[1] = 0; + out_2166987148681352473[2] = 0; + out_2166987148681352473[3] = 0; + out_2166987148681352473[4] = 0; + out_2166987148681352473[5] = 0; + out_2166987148681352473[6] = 0; + out_2166987148681352473[7] = 0; + out_2166987148681352473[8] = 0; } -void h_31(double *state, double *unused, double *out_7253700544770179461) { - out_7253700544770179461[0] = state[8]; +void h_31(double *state, double *unused, double *out_4928004927850595483) { + out_4928004927850595483[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5739646591591191303) { - out_5739646591591191303[0] = 0; - out_5739646591591191303[1] = 0; - out_5739646591591191303[2] = 0; - out_5739646591591191303[3] = 0; - out_5739646591591191303[4] = 0; - out_5739646591591191303[5] = 0; - out_5739646591591191303[6] = 0; - out_5739646591591191303[7] = 0; - out_5739646591591191303[8] = 1; +void H_31(double *state, double *unused, double *out_6963522816078354543) { + out_6963522816078354543[0] = 0; + out_6963522816078354543[1] = 0; + out_6963522816078354543[2] = 0; + out_6963522816078354543[3] = 0; + out_6963522816078354543[4] = 0; + out_6963522816078354543[5] = 0; + out_6963522816078354543[6] = 0; + out_6963522816078354543[7] = 0; + out_6963522816078354543[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_8290791895352476901) { - err_fun(nom_x, delta_x, out_8290791895352476901); +void car_err_fun(double *nom_x, double *delta_x, double *out_8449647197806450456) { + err_fun(nom_x, delta_x, out_8449647197806450456); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3328957974600116526) { - inv_err_fun(nom_x, true_x, out_3328957974600116526); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5810954439872327790) { + inv_err_fun(nom_x, true_x, out_5810954439872327790); } -void car_H_mod_fun(double *state, double *out_5003844791385944482) { - H_mod_fun(state, out_5003844791385944482); +void car_H_mod_fun(double *state, double *out_618486876633759422) { + H_mod_fun(state, out_618486876633759422); } -void car_f_fun(double *state, double dt, double *out_2539953356409783064) { - f_fun(state, dt, out_2539953356409783064); +void car_f_fun(double *state, double dt, double *out_8508843375909038975) { + f_fun(state, dt, out_8508843375909038975); } -void car_F_fun(double *state, double dt, double *out_7655677773978689580) { - F_fun(state, dt, out_7655677773978689580); +void car_F_fun(double *state, double dt, double *out_2668986513863288583) { + F_fun(state, dt, out_2668986513863288583); } -void car_h_25(double *state, double *unused, double *out_1727643108219156348) { - h_25(state, unused, out_1727643108219156348); +void car_h_25(double *state, double *unused, double *out_4860957648027245326) { + h_25(state, unused, out_4860957648027245326); } -void car_H_25(double *state, double *unused, double *out_5770292553468151731) { - H_25(state, unused, out_5770292553468151731); +void car_H_25(double *state, double *unused, double *out_6932876854201394115) { + H_25(state, unused, out_6932876854201394115); } -void car_h_24(double *state, double *unused, double *out_4524050476975214784) { - h_24(state, unused, out_4524050476975214784); +void car_h_24(double *state, double *unused, double *out_8219518906691440912) { + h_24(state, unused, out_8219518906691440912); } -void car_H_24(double *state, double *unused, double *out_6475418840390238459) { - H_24(state, unused, out_6475418840390238459); +void car_H_24(double *state, double *unused, double *out_6462419372158055391) { + H_24(state, unused, out_6462419372158055391); } -void car_h_30(double *state, double *unused, double *out_90439028039008013) { - h_30(state, unused, out_90439028039008013); +void car_h_30(double *state, double *unused, double *out_1502636330274570535) { + h_30(state, unused, out_1502636330274570535); } -void car_H_30(double *state, double *unused, double *out_8148755190113791687) { - H_30(state, unused, out_8148755190113791687); +void car_H_30(double *state, double *unused, double *out_6803537907058154045) { + H_30(state, unused, out_6803537907058154045); } -void car_h_26(double *state, double *unused, double *out_1938532702514813353) { - h_26(state, unused, out_1938532702514813353); +void car_h_26(double *state, double *unused, double *out_899320445598093018) { + h_26(state, unused, out_899320445598093018); } -void car_H_26(double *state, double *unused, double *out_8934948201367343661) { - H_26(state, unused, out_8934948201367343661); +void car_H_26(double *state, double *unused, double *out_3191373535327337891) { + H_26(state, unused, out_3191373535327337891); } -void car_h_27(double *state, double *unused, double *out_2553920733024504160) { - h_27(state, unused, out_2553920733024504160); +void car_h_27(double *state, double *unused, double *out_6028701449103387063) { + h_27(state, unused, out_6028701449103387063); } -void car_H_27(double *state, double *unused, double *out_8074394812411816712) { - H_27(state, unused, out_8074394812411816712); +void car_H_27(double *state, double *unused, double *out_4628774595257729134) { + H_27(state, unused, out_4628774595257729134); } -void car_h_29(double *state, double *unused, double *out_1033948880940670448) { - h_29(state, unused, out_1033948880940670448); +void car_h_29(double *state, double *unused, double *out_1056966285338217398) { + h_29(state, unused, out_1056966285338217398); } -void car_H_29(double *state, double *unused, double *out_8658986534428183871) { - H_29(state, unused, out_8658986534428183871); +void car_H_29(double *state, double *unused, double *out_7313769251372546229) { + H_29(state, unused, out_7313769251372546229); } -void car_h_28(double *state, double *unused, double *out_3913548264033873988) { - h_28(state, unused, out_3913548264033873988); +void car_h_28(double *state, double *unused, double *out_1027028181442541418) { + h_28(state, unused, out_1027028181442541418); } -void car_H_28(double *state, double *unused, double *out_3576587517358653297) { - H_28(state, unused, out_3576587517358653297); +void car_H_28(double *state, double *unused, double *out_2166987148681352473) { + H_28(state, unused, out_2166987148681352473); } -void car_h_31(double *state, double *unused, double *out_7253700544770179461) { - h_31(state, unused, out_7253700544770179461); +void car_h_31(double *state, double *unused, double *out_4928004927850595483) { + h_31(state, unused, out_4928004927850595483); } -void car_H_31(double *state, double *unused, double *out_5739646591591191303) { - H_31(state, unused, out_5739646591591191303); +void car_H_31(double *state, double *unused, double *out_6963522816078354543) { + H_31(state, unused, out_6963522816078354543); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index 5c0c2c338..f0b4a0e24 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_8290791895352476901); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3328957974600116526); -void car_H_mod_fun(double *state, double *out_5003844791385944482); -void car_f_fun(double *state, double dt, double *out_2539953356409783064); -void car_F_fun(double *state, double dt, double *out_7655677773978689580); -void car_h_25(double *state, double *unused, double *out_1727643108219156348); -void car_H_25(double *state, double *unused, double *out_5770292553468151731); -void car_h_24(double *state, double *unused, double *out_4524050476975214784); -void car_H_24(double *state, double *unused, double *out_6475418840390238459); -void car_h_30(double *state, double *unused, double *out_90439028039008013); -void car_H_30(double *state, double *unused, double *out_8148755190113791687); -void car_h_26(double *state, double *unused, double *out_1938532702514813353); -void car_H_26(double *state, double *unused, double *out_8934948201367343661); -void car_h_27(double *state, double *unused, double *out_2553920733024504160); -void car_H_27(double *state, double *unused, double *out_8074394812411816712); -void car_h_29(double *state, double *unused, double *out_1033948880940670448); -void car_H_29(double *state, double *unused, double *out_8658986534428183871); -void car_h_28(double *state, double *unused, double *out_3913548264033873988); -void car_H_28(double *state, double *unused, double *out_3576587517358653297); -void car_h_31(double *state, double *unused, double *out_7253700544770179461); -void car_H_31(double *state, double *unused, double *out_5739646591591191303); +void car_err_fun(double *nom_x, double *delta_x, double *out_8449647197806450456); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5810954439872327790); +void car_H_mod_fun(double *state, double *out_618486876633759422); +void car_f_fun(double *state, double dt, double *out_8508843375909038975); +void car_F_fun(double *state, double dt, double *out_2668986513863288583); +void car_h_25(double *state, double *unused, double *out_4860957648027245326); +void car_H_25(double *state, double *unused, double *out_6932876854201394115); +void car_h_24(double *state, double *unused, double *out_8219518906691440912); +void car_H_24(double *state, double *unused, double *out_6462419372158055391); +void car_h_30(double *state, double *unused, double *out_1502636330274570535); +void car_H_30(double *state, double *unused, double *out_6803537907058154045); +void car_h_26(double *state, double *unused, double *out_899320445598093018); +void car_H_26(double *state, double *unused, double *out_3191373535327337891); +void car_h_27(double *state, double *unused, double *out_6028701449103387063); +void car_H_27(double *state, double *unused, double *out_4628774595257729134); +void car_h_29(double *state, double *unused, double *out_1056966285338217398); +void car_H_29(double *state, double *unused, double *out_7313769251372546229); +void car_h_28(double *state, double *unused, double *out_1027028181442541418); +void car_H_28(double *state, double *unused, double *out_2166987148681352473); +void car_h_31(double *state, double *unused, double *out_4928004927850595483); +void car_H_31(double *state, double *unused, double *out_6963522816078354543); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index fdd8c2327..428d845ff 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_607652414837750033) { - out_607652414837750033[0] = delta_x[0] + nom_x[0]; - out_607652414837750033[1] = delta_x[1] + nom_x[1]; - out_607652414837750033[2] = delta_x[2] + nom_x[2]; - out_607652414837750033[3] = delta_x[3] + nom_x[3]; - out_607652414837750033[4] = delta_x[4] + nom_x[4]; - out_607652414837750033[5] = delta_x[5] + nom_x[5]; - out_607652414837750033[6] = delta_x[6] + nom_x[6]; - out_607652414837750033[7] = delta_x[7] + nom_x[7]; - out_607652414837750033[8] = delta_x[8] + nom_x[8]; - out_607652414837750033[9] = delta_x[9] + nom_x[9]; - out_607652414837750033[10] = delta_x[10] + nom_x[10]; - out_607652414837750033[11] = delta_x[11] + nom_x[11]; - out_607652414837750033[12] = delta_x[12] + nom_x[12]; - out_607652414837750033[13] = delta_x[13] + nom_x[13]; - out_607652414837750033[14] = delta_x[14] + nom_x[14]; - out_607652414837750033[15] = delta_x[15] + nom_x[15]; - out_607652414837750033[16] = delta_x[16] + nom_x[16]; - out_607652414837750033[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5522943408677507622) { + out_5522943408677507622[0] = delta_x[0] + nom_x[0]; + out_5522943408677507622[1] = delta_x[1] + nom_x[1]; + out_5522943408677507622[2] = delta_x[2] + nom_x[2]; + out_5522943408677507622[3] = delta_x[3] + nom_x[3]; + out_5522943408677507622[4] = delta_x[4] + nom_x[4]; + out_5522943408677507622[5] = delta_x[5] + nom_x[5]; + out_5522943408677507622[6] = delta_x[6] + nom_x[6]; + out_5522943408677507622[7] = delta_x[7] + nom_x[7]; + out_5522943408677507622[8] = delta_x[8] + nom_x[8]; + out_5522943408677507622[9] = delta_x[9] + nom_x[9]; + out_5522943408677507622[10] = delta_x[10] + nom_x[10]; + out_5522943408677507622[11] = delta_x[11] + nom_x[11]; + out_5522943408677507622[12] = delta_x[12] + nom_x[12]; + out_5522943408677507622[13] = delta_x[13] + nom_x[13]; + out_5522943408677507622[14] = delta_x[14] + nom_x[14]; + out_5522943408677507622[15] = delta_x[15] + nom_x[15]; + out_5522943408677507622[16] = delta_x[16] + nom_x[16]; + out_5522943408677507622[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4916314802659989276) { - out_4916314802659989276[0] = -nom_x[0] + true_x[0]; - out_4916314802659989276[1] = -nom_x[1] + true_x[1]; - out_4916314802659989276[2] = -nom_x[2] + true_x[2]; - out_4916314802659989276[3] = -nom_x[3] + true_x[3]; - out_4916314802659989276[4] = -nom_x[4] + true_x[4]; - out_4916314802659989276[5] = -nom_x[5] + true_x[5]; - out_4916314802659989276[6] = -nom_x[6] + true_x[6]; - out_4916314802659989276[7] = -nom_x[7] + true_x[7]; - out_4916314802659989276[8] = -nom_x[8] + true_x[8]; - out_4916314802659989276[9] = -nom_x[9] + true_x[9]; - out_4916314802659989276[10] = -nom_x[10] + true_x[10]; - out_4916314802659989276[11] = -nom_x[11] + true_x[11]; - out_4916314802659989276[12] = -nom_x[12] + true_x[12]; - out_4916314802659989276[13] = -nom_x[13] + true_x[13]; - out_4916314802659989276[14] = -nom_x[14] + true_x[14]; - out_4916314802659989276[15] = -nom_x[15] + true_x[15]; - out_4916314802659989276[16] = -nom_x[16] + true_x[16]; - out_4916314802659989276[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4295983432349839383) { + out_4295983432349839383[0] = -nom_x[0] + true_x[0]; + out_4295983432349839383[1] = -nom_x[1] + true_x[1]; + out_4295983432349839383[2] = -nom_x[2] + true_x[2]; + out_4295983432349839383[3] = -nom_x[3] + true_x[3]; + out_4295983432349839383[4] = -nom_x[4] + true_x[4]; + out_4295983432349839383[5] = -nom_x[5] + true_x[5]; + out_4295983432349839383[6] = -nom_x[6] + true_x[6]; + out_4295983432349839383[7] = -nom_x[7] + true_x[7]; + out_4295983432349839383[8] = -nom_x[8] + true_x[8]; + out_4295983432349839383[9] = -nom_x[9] + true_x[9]; + out_4295983432349839383[10] = -nom_x[10] + true_x[10]; + out_4295983432349839383[11] = -nom_x[11] + true_x[11]; + out_4295983432349839383[12] = -nom_x[12] + true_x[12]; + out_4295983432349839383[13] = -nom_x[13] + true_x[13]; + out_4295983432349839383[14] = -nom_x[14] + true_x[14]; + out_4295983432349839383[15] = -nom_x[15] + true_x[15]; + out_4295983432349839383[16] = -nom_x[16] + true_x[16]; + out_4295983432349839383[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1887258982449267152) { - out_1887258982449267152[0] = 1.0; - out_1887258982449267152[1] = 0.0; - out_1887258982449267152[2] = 0.0; - out_1887258982449267152[3] = 0.0; - out_1887258982449267152[4] = 0.0; - out_1887258982449267152[5] = 0.0; - out_1887258982449267152[6] = 0.0; - out_1887258982449267152[7] = 0.0; - out_1887258982449267152[8] = 0.0; - out_1887258982449267152[9] = 0.0; - out_1887258982449267152[10] = 0.0; - out_1887258982449267152[11] = 0.0; - out_1887258982449267152[12] = 0.0; - out_1887258982449267152[13] = 0.0; - out_1887258982449267152[14] = 0.0; - out_1887258982449267152[15] = 0.0; - out_1887258982449267152[16] = 0.0; - out_1887258982449267152[17] = 0.0; - out_1887258982449267152[18] = 0.0; - out_1887258982449267152[19] = 1.0; - out_1887258982449267152[20] = 0.0; - out_1887258982449267152[21] = 0.0; - out_1887258982449267152[22] = 0.0; - out_1887258982449267152[23] = 0.0; - out_1887258982449267152[24] = 0.0; - out_1887258982449267152[25] = 0.0; - out_1887258982449267152[26] = 0.0; - out_1887258982449267152[27] = 0.0; - out_1887258982449267152[28] = 0.0; - out_1887258982449267152[29] = 0.0; - out_1887258982449267152[30] = 0.0; - out_1887258982449267152[31] = 0.0; - out_1887258982449267152[32] = 0.0; - out_1887258982449267152[33] = 0.0; - out_1887258982449267152[34] = 0.0; - out_1887258982449267152[35] = 0.0; - out_1887258982449267152[36] = 0.0; - out_1887258982449267152[37] = 0.0; - out_1887258982449267152[38] = 1.0; - out_1887258982449267152[39] = 0.0; - out_1887258982449267152[40] = 0.0; - out_1887258982449267152[41] = 0.0; - out_1887258982449267152[42] = 0.0; - out_1887258982449267152[43] = 0.0; - out_1887258982449267152[44] = 0.0; - out_1887258982449267152[45] = 0.0; - out_1887258982449267152[46] = 0.0; - out_1887258982449267152[47] = 0.0; - out_1887258982449267152[48] = 0.0; - out_1887258982449267152[49] = 0.0; - out_1887258982449267152[50] = 0.0; - out_1887258982449267152[51] = 0.0; - out_1887258982449267152[52] = 0.0; - out_1887258982449267152[53] = 0.0; - out_1887258982449267152[54] = 0.0; - out_1887258982449267152[55] = 0.0; - out_1887258982449267152[56] = 0.0; - out_1887258982449267152[57] = 1.0; - out_1887258982449267152[58] = 0.0; - out_1887258982449267152[59] = 0.0; - out_1887258982449267152[60] = 0.0; - out_1887258982449267152[61] = 0.0; - out_1887258982449267152[62] = 0.0; - out_1887258982449267152[63] = 0.0; - out_1887258982449267152[64] = 0.0; - out_1887258982449267152[65] = 0.0; - out_1887258982449267152[66] = 0.0; - out_1887258982449267152[67] = 0.0; - out_1887258982449267152[68] = 0.0; - out_1887258982449267152[69] = 0.0; - out_1887258982449267152[70] = 0.0; - out_1887258982449267152[71] = 0.0; - out_1887258982449267152[72] = 0.0; - out_1887258982449267152[73] = 0.0; - out_1887258982449267152[74] = 0.0; - out_1887258982449267152[75] = 0.0; - out_1887258982449267152[76] = 1.0; - out_1887258982449267152[77] = 0.0; - out_1887258982449267152[78] = 0.0; - out_1887258982449267152[79] = 0.0; - out_1887258982449267152[80] = 0.0; - out_1887258982449267152[81] = 0.0; - out_1887258982449267152[82] = 0.0; - out_1887258982449267152[83] = 0.0; - out_1887258982449267152[84] = 0.0; - out_1887258982449267152[85] = 0.0; - out_1887258982449267152[86] = 0.0; - out_1887258982449267152[87] = 0.0; - out_1887258982449267152[88] = 0.0; - out_1887258982449267152[89] = 0.0; - out_1887258982449267152[90] = 0.0; - out_1887258982449267152[91] = 0.0; - out_1887258982449267152[92] = 0.0; - out_1887258982449267152[93] = 0.0; - out_1887258982449267152[94] = 0.0; - out_1887258982449267152[95] = 1.0; - out_1887258982449267152[96] = 0.0; - out_1887258982449267152[97] = 0.0; - out_1887258982449267152[98] = 0.0; - out_1887258982449267152[99] = 0.0; - out_1887258982449267152[100] = 0.0; - out_1887258982449267152[101] = 0.0; - out_1887258982449267152[102] = 0.0; - out_1887258982449267152[103] = 0.0; - out_1887258982449267152[104] = 0.0; - out_1887258982449267152[105] = 0.0; - out_1887258982449267152[106] = 0.0; - out_1887258982449267152[107] = 0.0; - out_1887258982449267152[108] = 0.0; - out_1887258982449267152[109] = 0.0; - out_1887258982449267152[110] = 0.0; - out_1887258982449267152[111] = 0.0; - out_1887258982449267152[112] = 0.0; - out_1887258982449267152[113] = 0.0; - out_1887258982449267152[114] = 1.0; - out_1887258982449267152[115] = 0.0; - out_1887258982449267152[116] = 0.0; - out_1887258982449267152[117] = 0.0; - out_1887258982449267152[118] = 0.0; - out_1887258982449267152[119] = 0.0; - out_1887258982449267152[120] = 0.0; - out_1887258982449267152[121] = 0.0; - out_1887258982449267152[122] = 0.0; - out_1887258982449267152[123] = 0.0; - out_1887258982449267152[124] = 0.0; - out_1887258982449267152[125] = 0.0; - out_1887258982449267152[126] = 0.0; - out_1887258982449267152[127] = 0.0; - out_1887258982449267152[128] = 0.0; - out_1887258982449267152[129] = 0.0; - out_1887258982449267152[130] = 0.0; - out_1887258982449267152[131] = 0.0; - out_1887258982449267152[132] = 0.0; - out_1887258982449267152[133] = 1.0; - out_1887258982449267152[134] = 0.0; - out_1887258982449267152[135] = 0.0; - out_1887258982449267152[136] = 0.0; - out_1887258982449267152[137] = 0.0; - out_1887258982449267152[138] = 0.0; - out_1887258982449267152[139] = 0.0; - out_1887258982449267152[140] = 0.0; - out_1887258982449267152[141] = 0.0; - out_1887258982449267152[142] = 0.0; - out_1887258982449267152[143] = 0.0; - out_1887258982449267152[144] = 0.0; - out_1887258982449267152[145] = 0.0; - out_1887258982449267152[146] = 0.0; - out_1887258982449267152[147] = 0.0; - out_1887258982449267152[148] = 0.0; - out_1887258982449267152[149] = 0.0; - out_1887258982449267152[150] = 0.0; - out_1887258982449267152[151] = 0.0; - out_1887258982449267152[152] = 1.0; - out_1887258982449267152[153] = 0.0; - out_1887258982449267152[154] = 0.0; - out_1887258982449267152[155] = 0.0; - out_1887258982449267152[156] = 0.0; - out_1887258982449267152[157] = 0.0; - out_1887258982449267152[158] = 0.0; - out_1887258982449267152[159] = 0.0; - out_1887258982449267152[160] = 0.0; - out_1887258982449267152[161] = 0.0; - out_1887258982449267152[162] = 0.0; - out_1887258982449267152[163] = 0.0; - out_1887258982449267152[164] = 0.0; - out_1887258982449267152[165] = 0.0; - out_1887258982449267152[166] = 0.0; - out_1887258982449267152[167] = 0.0; - out_1887258982449267152[168] = 0.0; - out_1887258982449267152[169] = 0.0; - out_1887258982449267152[170] = 0.0; - out_1887258982449267152[171] = 1.0; - out_1887258982449267152[172] = 0.0; - out_1887258982449267152[173] = 0.0; - out_1887258982449267152[174] = 0.0; - out_1887258982449267152[175] = 0.0; - out_1887258982449267152[176] = 0.0; - out_1887258982449267152[177] = 0.0; - out_1887258982449267152[178] = 0.0; - out_1887258982449267152[179] = 0.0; - out_1887258982449267152[180] = 0.0; - out_1887258982449267152[181] = 0.0; - out_1887258982449267152[182] = 0.0; - out_1887258982449267152[183] = 0.0; - out_1887258982449267152[184] = 0.0; - out_1887258982449267152[185] = 0.0; - out_1887258982449267152[186] = 0.0; - out_1887258982449267152[187] = 0.0; - out_1887258982449267152[188] = 0.0; - out_1887258982449267152[189] = 0.0; - out_1887258982449267152[190] = 1.0; - out_1887258982449267152[191] = 0.0; - out_1887258982449267152[192] = 0.0; - out_1887258982449267152[193] = 0.0; - out_1887258982449267152[194] = 0.0; - out_1887258982449267152[195] = 0.0; - out_1887258982449267152[196] = 0.0; - out_1887258982449267152[197] = 0.0; - out_1887258982449267152[198] = 0.0; - out_1887258982449267152[199] = 0.0; - out_1887258982449267152[200] = 0.0; - out_1887258982449267152[201] = 0.0; - out_1887258982449267152[202] = 0.0; - out_1887258982449267152[203] = 0.0; - out_1887258982449267152[204] = 0.0; - out_1887258982449267152[205] = 0.0; - out_1887258982449267152[206] = 0.0; - out_1887258982449267152[207] = 0.0; - out_1887258982449267152[208] = 0.0; - out_1887258982449267152[209] = 1.0; - out_1887258982449267152[210] = 0.0; - out_1887258982449267152[211] = 0.0; - out_1887258982449267152[212] = 0.0; - out_1887258982449267152[213] = 0.0; - out_1887258982449267152[214] = 0.0; - out_1887258982449267152[215] = 0.0; - out_1887258982449267152[216] = 0.0; - out_1887258982449267152[217] = 0.0; - out_1887258982449267152[218] = 0.0; - out_1887258982449267152[219] = 0.0; - out_1887258982449267152[220] = 0.0; - out_1887258982449267152[221] = 0.0; - out_1887258982449267152[222] = 0.0; - out_1887258982449267152[223] = 0.0; - out_1887258982449267152[224] = 0.0; - out_1887258982449267152[225] = 0.0; - out_1887258982449267152[226] = 0.0; - out_1887258982449267152[227] = 0.0; - out_1887258982449267152[228] = 1.0; - out_1887258982449267152[229] = 0.0; - out_1887258982449267152[230] = 0.0; - out_1887258982449267152[231] = 0.0; - out_1887258982449267152[232] = 0.0; - out_1887258982449267152[233] = 0.0; - out_1887258982449267152[234] = 0.0; - out_1887258982449267152[235] = 0.0; - out_1887258982449267152[236] = 0.0; - out_1887258982449267152[237] = 0.0; - out_1887258982449267152[238] = 0.0; - out_1887258982449267152[239] = 0.0; - out_1887258982449267152[240] = 0.0; - out_1887258982449267152[241] = 0.0; - out_1887258982449267152[242] = 0.0; - out_1887258982449267152[243] = 0.0; - out_1887258982449267152[244] = 0.0; - out_1887258982449267152[245] = 0.0; - out_1887258982449267152[246] = 0.0; - out_1887258982449267152[247] = 1.0; - out_1887258982449267152[248] = 0.0; - out_1887258982449267152[249] = 0.0; - out_1887258982449267152[250] = 0.0; - out_1887258982449267152[251] = 0.0; - out_1887258982449267152[252] = 0.0; - out_1887258982449267152[253] = 0.0; - out_1887258982449267152[254] = 0.0; - out_1887258982449267152[255] = 0.0; - out_1887258982449267152[256] = 0.0; - out_1887258982449267152[257] = 0.0; - out_1887258982449267152[258] = 0.0; - out_1887258982449267152[259] = 0.0; - out_1887258982449267152[260] = 0.0; - out_1887258982449267152[261] = 0.0; - out_1887258982449267152[262] = 0.0; - out_1887258982449267152[263] = 0.0; - out_1887258982449267152[264] = 0.0; - out_1887258982449267152[265] = 0.0; - out_1887258982449267152[266] = 1.0; - out_1887258982449267152[267] = 0.0; - out_1887258982449267152[268] = 0.0; - out_1887258982449267152[269] = 0.0; - out_1887258982449267152[270] = 0.0; - out_1887258982449267152[271] = 0.0; - out_1887258982449267152[272] = 0.0; - out_1887258982449267152[273] = 0.0; - out_1887258982449267152[274] = 0.0; - out_1887258982449267152[275] = 0.0; - out_1887258982449267152[276] = 0.0; - out_1887258982449267152[277] = 0.0; - out_1887258982449267152[278] = 0.0; - out_1887258982449267152[279] = 0.0; - out_1887258982449267152[280] = 0.0; - out_1887258982449267152[281] = 0.0; - out_1887258982449267152[282] = 0.0; - out_1887258982449267152[283] = 0.0; - out_1887258982449267152[284] = 0.0; - out_1887258982449267152[285] = 1.0; - out_1887258982449267152[286] = 0.0; - out_1887258982449267152[287] = 0.0; - out_1887258982449267152[288] = 0.0; - out_1887258982449267152[289] = 0.0; - out_1887258982449267152[290] = 0.0; - out_1887258982449267152[291] = 0.0; - out_1887258982449267152[292] = 0.0; - out_1887258982449267152[293] = 0.0; - out_1887258982449267152[294] = 0.0; - out_1887258982449267152[295] = 0.0; - out_1887258982449267152[296] = 0.0; - out_1887258982449267152[297] = 0.0; - out_1887258982449267152[298] = 0.0; - out_1887258982449267152[299] = 0.0; - out_1887258982449267152[300] = 0.0; - out_1887258982449267152[301] = 0.0; - out_1887258982449267152[302] = 0.0; - out_1887258982449267152[303] = 0.0; - out_1887258982449267152[304] = 1.0; - out_1887258982449267152[305] = 0.0; - out_1887258982449267152[306] = 0.0; - out_1887258982449267152[307] = 0.0; - out_1887258982449267152[308] = 0.0; - out_1887258982449267152[309] = 0.0; - out_1887258982449267152[310] = 0.0; - out_1887258982449267152[311] = 0.0; - out_1887258982449267152[312] = 0.0; - out_1887258982449267152[313] = 0.0; - out_1887258982449267152[314] = 0.0; - out_1887258982449267152[315] = 0.0; - out_1887258982449267152[316] = 0.0; - out_1887258982449267152[317] = 0.0; - out_1887258982449267152[318] = 0.0; - out_1887258982449267152[319] = 0.0; - out_1887258982449267152[320] = 0.0; - out_1887258982449267152[321] = 0.0; - out_1887258982449267152[322] = 0.0; - out_1887258982449267152[323] = 1.0; +void H_mod_fun(double *state, double *out_4346696932482416909) { + out_4346696932482416909[0] = 1.0; + out_4346696932482416909[1] = 0.0; + out_4346696932482416909[2] = 0.0; + out_4346696932482416909[3] = 0.0; + out_4346696932482416909[4] = 0.0; + out_4346696932482416909[5] = 0.0; + out_4346696932482416909[6] = 0.0; + out_4346696932482416909[7] = 0.0; + out_4346696932482416909[8] = 0.0; + out_4346696932482416909[9] = 0.0; + out_4346696932482416909[10] = 0.0; + out_4346696932482416909[11] = 0.0; + out_4346696932482416909[12] = 0.0; + out_4346696932482416909[13] = 0.0; + out_4346696932482416909[14] = 0.0; + out_4346696932482416909[15] = 0.0; + out_4346696932482416909[16] = 0.0; + out_4346696932482416909[17] = 0.0; + out_4346696932482416909[18] = 0.0; + out_4346696932482416909[19] = 1.0; + out_4346696932482416909[20] = 0.0; + out_4346696932482416909[21] = 0.0; + out_4346696932482416909[22] = 0.0; + out_4346696932482416909[23] = 0.0; + out_4346696932482416909[24] = 0.0; + out_4346696932482416909[25] = 0.0; + out_4346696932482416909[26] = 0.0; + out_4346696932482416909[27] = 0.0; + out_4346696932482416909[28] = 0.0; + out_4346696932482416909[29] = 0.0; + out_4346696932482416909[30] = 0.0; + out_4346696932482416909[31] = 0.0; + out_4346696932482416909[32] = 0.0; + out_4346696932482416909[33] = 0.0; + out_4346696932482416909[34] = 0.0; + out_4346696932482416909[35] = 0.0; + out_4346696932482416909[36] = 0.0; + out_4346696932482416909[37] = 0.0; + out_4346696932482416909[38] = 1.0; + out_4346696932482416909[39] = 0.0; + out_4346696932482416909[40] = 0.0; + out_4346696932482416909[41] = 0.0; + out_4346696932482416909[42] = 0.0; + out_4346696932482416909[43] = 0.0; + out_4346696932482416909[44] = 0.0; + out_4346696932482416909[45] = 0.0; + out_4346696932482416909[46] = 0.0; + out_4346696932482416909[47] = 0.0; + out_4346696932482416909[48] = 0.0; + out_4346696932482416909[49] = 0.0; + out_4346696932482416909[50] = 0.0; + out_4346696932482416909[51] = 0.0; + out_4346696932482416909[52] = 0.0; + out_4346696932482416909[53] = 0.0; + out_4346696932482416909[54] = 0.0; + out_4346696932482416909[55] = 0.0; + out_4346696932482416909[56] = 0.0; + out_4346696932482416909[57] = 1.0; + out_4346696932482416909[58] = 0.0; + out_4346696932482416909[59] = 0.0; + out_4346696932482416909[60] = 0.0; + out_4346696932482416909[61] = 0.0; + out_4346696932482416909[62] = 0.0; + out_4346696932482416909[63] = 0.0; + out_4346696932482416909[64] = 0.0; + out_4346696932482416909[65] = 0.0; + out_4346696932482416909[66] = 0.0; + out_4346696932482416909[67] = 0.0; + out_4346696932482416909[68] = 0.0; + out_4346696932482416909[69] = 0.0; + out_4346696932482416909[70] = 0.0; + out_4346696932482416909[71] = 0.0; + out_4346696932482416909[72] = 0.0; + out_4346696932482416909[73] = 0.0; + out_4346696932482416909[74] = 0.0; + out_4346696932482416909[75] = 0.0; + out_4346696932482416909[76] = 1.0; + out_4346696932482416909[77] = 0.0; + out_4346696932482416909[78] = 0.0; + out_4346696932482416909[79] = 0.0; + out_4346696932482416909[80] = 0.0; + out_4346696932482416909[81] = 0.0; + out_4346696932482416909[82] = 0.0; + out_4346696932482416909[83] = 0.0; + out_4346696932482416909[84] = 0.0; + out_4346696932482416909[85] = 0.0; + out_4346696932482416909[86] = 0.0; + out_4346696932482416909[87] = 0.0; + out_4346696932482416909[88] = 0.0; + out_4346696932482416909[89] = 0.0; + out_4346696932482416909[90] = 0.0; + out_4346696932482416909[91] = 0.0; + out_4346696932482416909[92] = 0.0; + out_4346696932482416909[93] = 0.0; + out_4346696932482416909[94] = 0.0; + out_4346696932482416909[95] = 1.0; + out_4346696932482416909[96] = 0.0; + out_4346696932482416909[97] = 0.0; + out_4346696932482416909[98] = 0.0; + out_4346696932482416909[99] = 0.0; + out_4346696932482416909[100] = 0.0; + out_4346696932482416909[101] = 0.0; + out_4346696932482416909[102] = 0.0; + out_4346696932482416909[103] = 0.0; + out_4346696932482416909[104] = 0.0; + out_4346696932482416909[105] = 0.0; + out_4346696932482416909[106] = 0.0; + out_4346696932482416909[107] = 0.0; + out_4346696932482416909[108] = 0.0; + out_4346696932482416909[109] = 0.0; + out_4346696932482416909[110] = 0.0; + out_4346696932482416909[111] = 0.0; + out_4346696932482416909[112] = 0.0; + out_4346696932482416909[113] = 0.0; + out_4346696932482416909[114] = 1.0; + out_4346696932482416909[115] = 0.0; + out_4346696932482416909[116] = 0.0; + out_4346696932482416909[117] = 0.0; + out_4346696932482416909[118] = 0.0; + out_4346696932482416909[119] = 0.0; + out_4346696932482416909[120] = 0.0; + out_4346696932482416909[121] = 0.0; + out_4346696932482416909[122] = 0.0; + out_4346696932482416909[123] = 0.0; + out_4346696932482416909[124] = 0.0; + out_4346696932482416909[125] = 0.0; + out_4346696932482416909[126] = 0.0; + out_4346696932482416909[127] = 0.0; + out_4346696932482416909[128] = 0.0; + out_4346696932482416909[129] = 0.0; + out_4346696932482416909[130] = 0.0; + out_4346696932482416909[131] = 0.0; + out_4346696932482416909[132] = 0.0; + out_4346696932482416909[133] = 1.0; + out_4346696932482416909[134] = 0.0; + out_4346696932482416909[135] = 0.0; + out_4346696932482416909[136] = 0.0; + out_4346696932482416909[137] = 0.0; + out_4346696932482416909[138] = 0.0; + out_4346696932482416909[139] = 0.0; + out_4346696932482416909[140] = 0.0; + out_4346696932482416909[141] = 0.0; + out_4346696932482416909[142] = 0.0; + out_4346696932482416909[143] = 0.0; + out_4346696932482416909[144] = 0.0; + out_4346696932482416909[145] = 0.0; + out_4346696932482416909[146] = 0.0; + out_4346696932482416909[147] = 0.0; + out_4346696932482416909[148] = 0.0; + out_4346696932482416909[149] = 0.0; + out_4346696932482416909[150] = 0.0; + out_4346696932482416909[151] = 0.0; + out_4346696932482416909[152] = 1.0; + out_4346696932482416909[153] = 0.0; + out_4346696932482416909[154] = 0.0; + out_4346696932482416909[155] = 0.0; + out_4346696932482416909[156] = 0.0; + out_4346696932482416909[157] = 0.0; + out_4346696932482416909[158] = 0.0; + out_4346696932482416909[159] = 0.0; + out_4346696932482416909[160] = 0.0; + out_4346696932482416909[161] = 0.0; + out_4346696932482416909[162] = 0.0; + out_4346696932482416909[163] = 0.0; + out_4346696932482416909[164] = 0.0; + out_4346696932482416909[165] = 0.0; + out_4346696932482416909[166] = 0.0; + out_4346696932482416909[167] = 0.0; + out_4346696932482416909[168] = 0.0; + out_4346696932482416909[169] = 0.0; + out_4346696932482416909[170] = 0.0; + out_4346696932482416909[171] = 1.0; + out_4346696932482416909[172] = 0.0; + out_4346696932482416909[173] = 0.0; + out_4346696932482416909[174] = 0.0; + out_4346696932482416909[175] = 0.0; + out_4346696932482416909[176] = 0.0; + out_4346696932482416909[177] = 0.0; + out_4346696932482416909[178] = 0.0; + out_4346696932482416909[179] = 0.0; + out_4346696932482416909[180] = 0.0; + out_4346696932482416909[181] = 0.0; + out_4346696932482416909[182] = 0.0; + out_4346696932482416909[183] = 0.0; + out_4346696932482416909[184] = 0.0; + out_4346696932482416909[185] = 0.0; + out_4346696932482416909[186] = 0.0; + out_4346696932482416909[187] = 0.0; + out_4346696932482416909[188] = 0.0; + out_4346696932482416909[189] = 0.0; + out_4346696932482416909[190] = 1.0; + out_4346696932482416909[191] = 0.0; + out_4346696932482416909[192] = 0.0; + out_4346696932482416909[193] = 0.0; + out_4346696932482416909[194] = 0.0; + out_4346696932482416909[195] = 0.0; + out_4346696932482416909[196] = 0.0; + out_4346696932482416909[197] = 0.0; + out_4346696932482416909[198] = 0.0; + out_4346696932482416909[199] = 0.0; + out_4346696932482416909[200] = 0.0; + out_4346696932482416909[201] = 0.0; + out_4346696932482416909[202] = 0.0; + out_4346696932482416909[203] = 0.0; + out_4346696932482416909[204] = 0.0; + out_4346696932482416909[205] = 0.0; + out_4346696932482416909[206] = 0.0; + out_4346696932482416909[207] = 0.0; + out_4346696932482416909[208] = 0.0; + out_4346696932482416909[209] = 1.0; + out_4346696932482416909[210] = 0.0; + out_4346696932482416909[211] = 0.0; + out_4346696932482416909[212] = 0.0; + out_4346696932482416909[213] = 0.0; + out_4346696932482416909[214] = 0.0; + out_4346696932482416909[215] = 0.0; + out_4346696932482416909[216] = 0.0; + out_4346696932482416909[217] = 0.0; + out_4346696932482416909[218] = 0.0; + out_4346696932482416909[219] = 0.0; + out_4346696932482416909[220] = 0.0; + out_4346696932482416909[221] = 0.0; + out_4346696932482416909[222] = 0.0; + out_4346696932482416909[223] = 0.0; + out_4346696932482416909[224] = 0.0; + out_4346696932482416909[225] = 0.0; + out_4346696932482416909[226] = 0.0; + out_4346696932482416909[227] = 0.0; + out_4346696932482416909[228] = 1.0; + out_4346696932482416909[229] = 0.0; + out_4346696932482416909[230] = 0.0; + out_4346696932482416909[231] = 0.0; + out_4346696932482416909[232] = 0.0; + out_4346696932482416909[233] = 0.0; + out_4346696932482416909[234] = 0.0; + out_4346696932482416909[235] = 0.0; + out_4346696932482416909[236] = 0.0; + out_4346696932482416909[237] = 0.0; + out_4346696932482416909[238] = 0.0; + out_4346696932482416909[239] = 0.0; + out_4346696932482416909[240] = 0.0; + out_4346696932482416909[241] = 0.0; + out_4346696932482416909[242] = 0.0; + out_4346696932482416909[243] = 0.0; + out_4346696932482416909[244] = 0.0; + out_4346696932482416909[245] = 0.0; + out_4346696932482416909[246] = 0.0; + out_4346696932482416909[247] = 1.0; + out_4346696932482416909[248] = 0.0; + out_4346696932482416909[249] = 0.0; + out_4346696932482416909[250] = 0.0; + out_4346696932482416909[251] = 0.0; + out_4346696932482416909[252] = 0.0; + out_4346696932482416909[253] = 0.0; + out_4346696932482416909[254] = 0.0; + out_4346696932482416909[255] = 0.0; + out_4346696932482416909[256] = 0.0; + out_4346696932482416909[257] = 0.0; + out_4346696932482416909[258] = 0.0; + out_4346696932482416909[259] = 0.0; + out_4346696932482416909[260] = 0.0; + out_4346696932482416909[261] = 0.0; + out_4346696932482416909[262] = 0.0; + out_4346696932482416909[263] = 0.0; + out_4346696932482416909[264] = 0.0; + out_4346696932482416909[265] = 0.0; + out_4346696932482416909[266] = 1.0; + out_4346696932482416909[267] = 0.0; + out_4346696932482416909[268] = 0.0; + out_4346696932482416909[269] = 0.0; + out_4346696932482416909[270] = 0.0; + out_4346696932482416909[271] = 0.0; + out_4346696932482416909[272] = 0.0; + out_4346696932482416909[273] = 0.0; + out_4346696932482416909[274] = 0.0; + out_4346696932482416909[275] = 0.0; + out_4346696932482416909[276] = 0.0; + out_4346696932482416909[277] = 0.0; + out_4346696932482416909[278] = 0.0; + out_4346696932482416909[279] = 0.0; + out_4346696932482416909[280] = 0.0; + out_4346696932482416909[281] = 0.0; + out_4346696932482416909[282] = 0.0; + out_4346696932482416909[283] = 0.0; + out_4346696932482416909[284] = 0.0; + out_4346696932482416909[285] = 1.0; + out_4346696932482416909[286] = 0.0; + out_4346696932482416909[287] = 0.0; + out_4346696932482416909[288] = 0.0; + out_4346696932482416909[289] = 0.0; + out_4346696932482416909[290] = 0.0; + out_4346696932482416909[291] = 0.0; + out_4346696932482416909[292] = 0.0; + out_4346696932482416909[293] = 0.0; + out_4346696932482416909[294] = 0.0; + out_4346696932482416909[295] = 0.0; + out_4346696932482416909[296] = 0.0; + out_4346696932482416909[297] = 0.0; + out_4346696932482416909[298] = 0.0; + out_4346696932482416909[299] = 0.0; + out_4346696932482416909[300] = 0.0; + out_4346696932482416909[301] = 0.0; + out_4346696932482416909[302] = 0.0; + out_4346696932482416909[303] = 0.0; + out_4346696932482416909[304] = 1.0; + out_4346696932482416909[305] = 0.0; + out_4346696932482416909[306] = 0.0; + out_4346696932482416909[307] = 0.0; + out_4346696932482416909[308] = 0.0; + out_4346696932482416909[309] = 0.0; + out_4346696932482416909[310] = 0.0; + out_4346696932482416909[311] = 0.0; + out_4346696932482416909[312] = 0.0; + out_4346696932482416909[313] = 0.0; + out_4346696932482416909[314] = 0.0; + out_4346696932482416909[315] = 0.0; + out_4346696932482416909[316] = 0.0; + out_4346696932482416909[317] = 0.0; + out_4346696932482416909[318] = 0.0; + out_4346696932482416909[319] = 0.0; + out_4346696932482416909[320] = 0.0; + out_4346696932482416909[321] = 0.0; + out_4346696932482416909[322] = 0.0; + out_4346696932482416909[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2681276694689160944) { - out_2681276694689160944[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_2681276694689160944[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_2681276694689160944[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_2681276694689160944[3] = dt*state[12] + state[3]; - out_2681276694689160944[4] = dt*state[13] + state[4]; - out_2681276694689160944[5] = dt*state[14] + state[5]; - out_2681276694689160944[6] = state[6]; - out_2681276694689160944[7] = state[7]; - out_2681276694689160944[8] = state[8]; - out_2681276694689160944[9] = state[9]; - out_2681276694689160944[10] = state[10]; - out_2681276694689160944[11] = state[11]; - out_2681276694689160944[12] = state[12]; - out_2681276694689160944[13] = state[13]; - out_2681276694689160944[14] = state[14]; - out_2681276694689160944[15] = state[15]; - out_2681276694689160944[16] = state[16]; - out_2681276694689160944[17] = state[17]; +void f_fun(double *state, double dt, double *out_6102158893978946471) { + out_6102158893978946471[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_6102158893978946471[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_6102158893978946471[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_6102158893978946471[3] = dt*state[12] + state[3]; + out_6102158893978946471[4] = dt*state[13] + state[4]; + out_6102158893978946471[5] = dt*state[14] + state[5]; + out_6102158893978946471[6] = state[6]; + out_6102158893978946471[7] = state[7]; + out_6102158893978946471[8] = state[8]; + out_6102158893978946471[9] = state[9]; + out_6102158893978946471[10] = state[10]; + out_6102158893978946471[11] = state[11]; + out_6102158893978946471[12] = state[12]; + out_6102158893978946471[13] = state[13]; + out_6102158893978946471[14] = state[14]; + out_6102158893978946471[15] = state[15]; + out_6102158893978946471[16] = state[16]; + out_6102158893978946471[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6011099377550215473) { - out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[2] = 0; - out_6011099377550215473[3] = 0; - out_6011099377550215473[4] = 0; - out_6011099377550215473[5] = 0; - out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[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_6011099377550215473[9] = 0; - out_6011099377550215473[10] = 0; - out_6011099377550215473[11] = 0; - out_6011099377550215473[12] = 0; - out_6011099377550215473[13] = 0; - out_6011099377550215473[14] = 0; - out_6011099377550215473[15] = 0; - out_6011099377550215473[16] = 0; - out_6011099377550215473[17] = 0; - out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[20] = 0; - out_6011099377550215473[21] = 0; - out_6011099377550215473[22] = 0; - out_6011099377550215473[23] = 0; - out_6011099377550215473[24] = 0; - out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[27] = 0; - out_6011099377550215473[28] = 0; - out_6011099377550215473[29] = 0; - out_6011099377550215473[30] = 0; - out_6011099377550215473[31] = 0; - out_6011099377550215473[32] = 0; - out_6011099377550215473[33] = 0; - out_6011099377550215473[34] = 0; - out_6011099377550215473[35] = 0; - out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[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_6011099377550215473[39] = 0; - out_6011099377550215473[40] = 0; - out_6011099377550215473[41] = 0; - out_6011099377550215473[42] = 0; - out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[45] = 0; - out_6011099377550215473[46] = 0; - out_6011099377550215473[47] = 0; - out_6011099377550215473[48] = 0; - out_6011099377550215473[49] = 0; - out_6011099377550215473[50] = 0; - out_6011099377550215473[51] = 0; - out_6011099377550215473[52] = 0; - out_6011099377550215473[53] = 0; - out_6011099377550215473[54] = 0; - out_6011099377550215473[55] = 0; - out_6011099377550215473[56] = 0; - out_6011099377550215473[57] = 1; - out_6011099377550215473[58] = 0; - out_6011099377550215473[59] = 0; - out_6011099377550215473[60] = 0; - out_6011099377550215473[61] = 0; - out_6011099377550215473[62] = 0; - out_6011099377550215473[63] = 0; - out_6011099377550215473[64] = 0; - out_6011099377550215473[65] = 0; - out_6011099377550215473[66] = dt; - out_6011099377550215473[67] = 0; - out_6011099377550215473[68] = 0; - out_6011099377550215473[69] = 0; - out_6011099377550215473[70] = 0; - out_6011099377550215473[71] = 0; - out_6011099377550215473[72] = 0; - out_6011099377550215473[73] = 0; - out_6011099377550215473[74] = 0; - out_6011099377550215473[75] = 0; - out_6011099377550215473[76] = 1; - out_6011099377550215473[77] = 0; - out_6011099377550215473[78] = 0; - out_6011099377550215473[79] = 0; - out_6011099377550215473[80] = 0; - out_6011099377550215473[81] = 0; - out_6011099377550215473[82] = 0; - out_6011099377550215473[83] = 0; - out_6011099377550215473[84] = 0; - out_6011099377550215473[85] = dt; - out_6011099377550215473[86] = 0; - out_6011099377550215473[87] = 0; - out_6011099377550215473[88] = 0; - out_6011099377550215473[89] = 0; - out_6011099377550215473[90] = 0; - out_6011099377550215473[91] = 0; - out_6011099377550215473[92] = 0; - out_6011099377550215473[93] = 0; - out_6011099377550215473[94] = 0; - out_6011099377550215473[95] = 1; - out_6011099377550215473[96] = 0; - out_6011099377550215473[97] = 0; - out_6011099377550215473[98] = 0; - out_6011099377550215473[99] = 0; - out_6011099377550215473[100] = 0; - out_6011099377550215473[101] = 0; - out_6011099377550215473[102] = 0; - out_6011099377550215473[103] = 0; - out_6011099377550215473[104] = dt; - out_6011099377550215473[105] = 0; - out_6011099377550215473[106] = 0; - out_6011099377550215473[107] = 0; - out_6011099377550215473[108] = 0; - out_6011099377550215473[109] = 0; - out_6011099377550215473[110] = 0; - out_6011099377550215473[111] = 0; - out_6011099377550215473[112] = 0; - out_6011099377550215473[113] = 0; - out_6011099377550215473[114] = 1; - out_6011099377550215473[115] = 0; - out_6011099377550215473[116] = 0; - out_6011099377550215473[117] = 0; - out_6011099377550215473[118] = 0; - out_6011099377550215473[119] = 0; - out_6011099377550215473[120] = 0; - out_6011099377550215473[121] = 0; - out_6011099377550215473[122] = 0; - out_6011099377550215473[123] = 0; - out_6011099377550215473[124] = 0; - out_6011099377550215473[125] = 0; - out_6011099377550215473[126] = 0; - out_6011099377550215473[127] = 0; - out_6011099377550215473[128] = 0; - out_6011099377550215473[129] = 0; - out_6011099377550215473[130] = 0; - out_6011099377550215473[131] = 0; - out_6011099377550215473[132] = 0; - out_6011099377550215473[133] = 1; - out_6011099377550215473[134] = 0; - out_6011099377550215473[135] = 0; - out_6011099377550215473[136] = 0; - out_6011099377550215473[137] = 0; - out_6011099377550215473[138] = 0; - out_6011099377550215473[139] = 0; - out_6011099377550215473[140] = 0; - out_6011099377550215473[141] = 0; - out_6011099377550215473[142] = 0; - out_6011099377550215473[143] = 0; - out_6011099377550215473[144] = 0; - out_6011099377550215473[145] = 0; - out_6011099377550215473[146] = 0; - out_6011099377550215473[147] = 0; - out_6011099377550215473[148] = 0; - out_6011099377550215473[149] = 0; - out_6011099377550215473[150] = 0; - out_6011099377550215473[151] = 0; - out_6011099377550215473[152] = 1; - out_6011099377550215473[153] = 0; - out_6011099377550215473[154] = 0; - out_6011099377550215473[155] = 0; - out_6011099377550215473[156] = 0; - out_6011099377550215473[157] = 0; - out_6011099377550215473[158] = 0; - out_6011099377550215473[159] = 0; - out_6011099377550215473[160] = 0; - out_6011099377550215473[161] = 0; - out_6011099377550215473[162] = 0; - out_6011099377550215473[163] = 0; - out_6011099377550215473[164] = 0; - out_6011099377550215473[165] = 0; - out_6011099377550215473[166] = 0; - out_6011099377550215473[167] = 0; - out_6011099377550215473[168] = 0; - out_6011099377550215473[169] = 0; - out_6011099377550215473[170] = 0; - out_6011099377550215473[171] = 1; - out_6011099377550215473[172] = 0; - out_6011099377550215473[173] = 0; - out_6011099377550215473[174] = 0; - out_6011099377550215473[175] = 0; - out_6011099377550215473[176] = 0; - out_6011099377550215473[177] = 0; - out_6011099377550215473[178] = 0; - out_6011099377550215473[179] = 0; - out_6011099377550215473[180] = 0; - out_6011099377550215473[181] = 0; - out_6011099377550215473[182] = 0; - out_6011099377550215473[183] = 0; - out_6011099377550215473[184] = 0; - out_6011099377550215473[185] = 0; - out_6011099377550215473[186] = 0; - out_6011099377550215473[187] = 0; - out_6011099377550215473[188] = 0; - out_6011099377550215473[189] = 0; - out_6011099377550215473[190] = 1; - out_6011099377550215473[191] = 0; - out_6011099377550215473[192] = 0; - out_6011099377550215473[193] = 0; - out_6011099377550215473[194] = 0; - out_6011099377550215473[195] = 0; - out_6011099377550215473[196] = 0; - out_6011099377550215473[197] = 0; - out_6011099377550215473[198] = 0; - out_6011099377550215473[199] = 0; - out_6011099377550215473[200] = 0; - out_6011099377550215473[201] = 0; - out_6011099377550215473[202] = 0; - out_6011099377550215473[203] = 0; - out_6011099377550215473[204] = 0; - out_6011099377550215473[205] = 0; - out_6011099377550215473[206] = 0; - out_6011099377550215473[207] = 0; - out_6011099377550215473[208] = 0; - out_6011099377550215473[209] = 1; - out_6011099377550215473[210] = 0; - out_6011099377550215473[211] = 0; - out_6011099377550215473[212] = 0; - out_6011099377550215473[213] = 0; - out_6011099377550215473[214] = 0; - out_6011099377550215473[215] = 0; - out_6011099377550215473[216] = 0; - out_6011099377550215473[217] = 0; - out_6011099377550215473[218] = 0; - out_6011099377550215473[219] = 0; - out_6011099377550215473[220] = 0; - out_6011099377550215473[221] = 0; - out_6011099377550215473[222] = 0; - out_6011099377550215473[223] = 0; - out_6011099377550215473[224] = 0; - out_6011099377550215473[225] = 0; - out_6011099377550215473[226] = 0; - out_6011099377550215473[227] = 0; - out_6011099377550215473[228] = 1; - out_6011099377550215473[229] = 0; - out_6011099377550215473[230] = 0; - out_6011099377550215473[231] = 0; - out_6011099377550215473[232] = 0; - out_6011099377550215473[233] = 0; - out_6011099377550215473[234] = 0; - out_6011099377550215473[235] = 0; - out_6011099377550215473[236] = 0; - out_6011099377550215473[237] = 0; - out_6011099377550215473[238] = 0; - out_6011099377550215473[239] = 0; - out_6011099377550215473[240] = 0; - out_6011099377550215473[241] = 0; - out_6011099377550215473[242] = 0; - out_6011099377550215473[243] = 0; - out_6011099377550215473[244] = 0; - out_6011099377550215473[245] = 0; - out_6011099377550215473[246] = 0; - out_6011099377550215473[247] = 1; - out_6011099377550215473[248] = 0; - out_6011099377550215473[249] = 0; - out_6011099377550215473[250] = 0; - out_6011099377550215473[251] = 0; - out_6011099377550215473[252] = 0; - out_6011099377550215473[253] = 0; - out_6011099377550215473[254] = 0; - out_6011099377550215473[255] = 0; - out_6011099377550215473[256] = 0; - out_6011099377550215473[257] = 0; - out_6011099377550215473[258] = 0; - out_6011099377550215473[259] = 0; - out_6011099377550215473[260] = 0; - out_6011099377550215473[261] = 0; - out_6011099377550215473[262] = 0; - out_6011099377550215473[263] = 0; - out_6011099377550215473[264] = 0; - out_6011099377550215473[265] = 0; - out_6011099377550215473[266] = 1; - out_6011099377550215473[267] = 0; - out_6011099377550215473[268] = 0; - out_6011099377550215473[269] = 0; - out_6011099377550215473[270] = 0; - out_6011099377550215473[271] = 0; - out_6011099377550215473[272] = 0; - out_6011099377550215473[273] = 0; - out_6011099377550215473[274] = 0; - out_6011099377550215473[275] = 0; - out_6011099377550215473[276] = 0; - out_6011099377550215473[277] = 0; - out_6011099377550215473[278] = 0; - out_6011099377550215473[279] = 0; - out_6011099377550215473[280] = 0; - out_6011099377550215473[281] = 0; - out_6011099377550215473[282] = 0; - out_6011099377550215473[283] = 0; - out_6011099377550215473[284] = 0; - out_6011099377550215473[285] = 1; - out_6011099377550215473[286] = 0; - out_6011099377550215473[287] = 0; - out_6011099377550215473[288] = 0; - out_6011099377550215473[289] = 0; - out_6011099377550215473[290] = 0; - out_6011099377550215473[291] = 0; - out_6011099377550215473[292] = 0; - out_6011099377550215473[293] = 0; - out_6011099377550215473[294] = 0; - out_6011099377550215473[295] = 0; - out_6011099377550215473[296] = 0; - out_6011099377550215473[297] = 0; - out_6011099377550215473[298] = 0; - out_6011099377550215473[299] = 0; - out_6011099377550215473[300] = 0; - out_6011099377550215473[301] = 0; - out_6011099377550215473[302] = 0; - out_6011099377550215473[303] = 0; - out_6011099377550215473[304] = 1; - out_6011099377550215473[305] = 0; - out_6011099377550215473[306] = 0; - out_6011099377550215473[307] = 0; - out_6011099377550215473[308] = 0; - out_6011099377550215473[309] = 0; - out_6011099377550215473[310] = 0; - out_6011099377550215473[311] = 0; - out_6011099377550215473[312] = 0; - out_6011099377550215473[313] = 0; - out_6011099377550215473[314] = 0; - out_6011099377550215473[315] = 0; - out_6011099377550215473[316] = 0; - out_6011099377550215473[317] = 0; - out_6011099377550215473[318] = 0; - out_6011099377550215473[319] = 0; - out_6011099377550215473[320] = 0; - out_6011099377550215473[321] = 0; - out_6011099377550215473[322] = 0; - out_6011099377550215473[323] = 1; +void F_fun(double *state, double dt, double *out_2499898042682651457) { + out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[2] = 0; + out_2499898042682651457[3] = 0; + out_2499898042682651457[4] = 0; + out_2499898042682651457[5] = 0; + out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[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_2499898042682651457[9] = 0; + out_2499898042682651457[10] = 0; + out_2499898042682651457[11] = 0; + out_2499898042682651457[12] = 0; + out_2499898042682651457[13] = 0; + out_2499898042682651457[14] = 0; + out_2499898042682651457[15] = 0; + out_2499898042682651457[16] = 0; + out_2499898042682651457[17] = 0; + out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[20] = 0; + out_2499898042682651457[21] = 0; + out_2499898042682651457[22] = 0; + out_2499898042682651457[23] = 0; + out_2499898042682651457[24] = 0; + out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[27] = 0; + out_2499898042682651457[28] = 0; + out_2499898042682651457[29] = 0; + out_2499898042682651457[30] = 0; + out_2499898042682651457[31] = 0; + out_2499898042682651457[32] = 0; + out_2499898042682651457[33] = 0; + out_2499898042682651457[34] = 0; + out_2499898042682651457[35] = 0; + out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[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_2499898042682651457[39] = 0; + out_2499898042682651457[40] = 0; + out_2499898042682651457[41] = 0; + out_2499898042682651457[42] = 0; + out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[45] = 0; + out_2499898042682651457[46] = 0; + out_2499898042682651457[47] = 0; + out_2499898042682651457[48] = 0; + out_2499898042682651457[49] = 0; + out_2499898042682651457[50] = 0; + out_2499898042682651457[51] = 0; + out_2499898042682651457[52] = 0; + out_2499898042682651457[53] = 0; + out_2499898042682651457[54] = 0; + out_2499898042682651457[55] = 0; + out_2499898042682651457[56] = 0; + out_2499898042682651457[57] = 1; + out_2499898042682651457[58] = 0; + out_2499898042682651457[59] = 0; + out_2499898042682651457[60] = 0; + out_2499898042682651457[61] = 0; + out_2499898042682651457[62] = 0; + out_2499898042682651457[63] = 0; + out_2499898042682651457[64] = 0; + out_2499898042682651457[65] = 0; + out_2499898042682651457[66] = dt; + out_2499898042682651457[67] = 0; + out_2499898042682651457[68] = 0; + out_2499898042682651457[69] = 0; + out_2499898042682651457[70] = 0; + out_2499898042682651457[71] = 0; + out_2499898042682651457[72] = 0; + out_2499898042682651457[73] = 0; + out_2499898042682651457[74] = 0; + out_2499898042682651457[75] = 0; + out_2499898042682651457[76] = 1; + out_2499898042682651457[77] = 0; + out_2499898042682651457[78] = 0; + out_2499898042682651457[79] = 0; + out_2499898042682651457[80] = 0; + out_2499898042682651457[81] = 0; + out_2499898042682651457[82] = 0; + out_2499898042682651457[83] = 0; + out_2499898042682651457[84] = 0; + out_2499898042682651457[85] = dt; + out_2499898042682651457[86] = 0; + out_2499898042682651457[87] = 0; + out_2499898042682651457[88] = 0; + out_2499898042682651457[89] = 0; + out_2499898042682651457[90] = 0; + out_2499898042682651457[91] = 0; + out_2499898042682651457[92] = 0; + out_2499898042682651457[93] = 0; + out_2499898042682651457[94] = 0; + out_2499898042682651457[95] = 1; + out_2499898042682651457[96] = 0; + out_2499898042682651457[97] = 0; + out_2499898042682651457[98] = 0; + out_2499898042682651457[99] = 0; + out_2499898042682651457[100] = 0; + out_2499898042682651457[101] = 0; + out_2499898042682651457[102] = 0; + out_2499898042682651457[103] = 0; + out_2499898042682651457[104] = dt; + out_2499898042682651457[105] = 0; + out_2499898042682651457[106] = 0; + out_2499898042682651457[107] = 0; + out_2499898042682651457[108] = 0; + out_2499898042682651457[109] = 0; + out_2499898042682651457[110] = 0; + out_2499898042682651457[111] = 0; + out_2499898042682651457[112] = 0; + out_2499898042682651457[113] = 0; + out_2499898042682651457[114] = 1; + out_2499898042682651457[115] = 0; + out_2499898042682651457[116] = 0; + out_2499898042682651457[117] = 0; + out_2499898042682651457[118] = 0; + out_2499898042682651457[119] = 0; + out_2499898042682651457[120] = 0; + out_2499898042682651457[121] = 0; + out_2499898042682651457[122] = 0; + out_2499898042682651457[123] = 0; + out_2499898042682651457[124] = 0; + out_2499898042682651457[125] = 0; + out_2499898042682651457[126] = 0; + out_2499898042682651457[127] = 0; + out_2499898042682651457[128] = 0; + out_2499898042682651457[129] = 0; + out_2499898042682651457[130] = 0; + out_2499898042682651457[131] = 0; + out_2499898042682651457[132] = 0; + out_2499898042682651457[133] = 1; + out_2499898042682651457[134] = 0; + out_2499898042682651457[135] = 0; + out_2499898042682651457[136] = 0; + out_2499898042682651457[137] = 0; + out_2499898042682651457[138] = 0; + out_2499898042682651457[139] = 0; + out_2499898042682651457[140] = 0; + out_2499898042682651457[141] = 0; + out_2499898042682651457[142] = 0; + out_2499898042682651457[143] = 0; + out_2499898042682651457[144] = 0; + out_2499898042682651457[145] = 0; + out_2499898042682651457[146] = 0; + out_2499898042682651457[147] = 0; + out_2499898042682651457[148] = 0; + out_2499898042682651457[149] = 0; + out_2499898042682651457[150] = 0; + out_2499898042682651457[151] = 0; + out_2499898042682651457[152] = 1; + out_2499898042682651457[153] = 0; + out_2499898042682651457[154] = 0; + out_2499898042682651457[155] = 0; + out_2499898042682651457[156] = 0; + out_2499898042682651457[157] = 0; + out_2499898042682651457[158] = 0; + out_2499898042682651457[159] = 0; + out_2499898042682651457[160] = 0; + out_2499898042682651457[161] = 0; + out_2499898042682651457[162] = 0; + out_2499898042682651457[163] = 0; + out_2499898042682651457[164] = 0; + out_2499898042682651457[165] = 0; + out_2499898042682651457[166] = 0; + out_2499898042682651457[167] = 0; + out_2499898042682651457[168] = 0; + out_2499898042682651457[169] = 0; + out_2499898042682651457[170] = 0; + out_2499898042682651457[171] = 1; + out_2499898042682651457[172] = 0; + out_2499898042682651457[173] = 0; + out_2499898042682651457[174] = 0; + out_2499898042682651457[175] = 0; + out_2499898042682651457[176] = 0; + out_2499898042682651457[177] = 0; + out_2499898042682651457[178] = 0; + out_2499898042682651457[179] = 0; + out_2499898042682651457[180] = 0; + out_2499898042682651457[181] = 0; + out_2499898042682651457[182] = 0; + out_2499898042682651457[183] = 0; + out_2499898042682651457[184] = 0; + out_2499898042682651457[185] = 0; + out_2499898042682651457[186] = 0; + out_2499898042682651457[187] = 0; + out_2499898042682651457[188] = 0; + out_2499898042682651457[189] = 0; + out_2499898042682651457[190] = 1; + out_2499898042682651457[191] = 0; + out_2499898042682651457[192] = 0; + out_2499898042682651457[193] = 0; + out_2499898042682651457[194] = 0; + out_2499898042682651457[195] = 0; + out_2499898042682651457[196] = 0; + out_2499898042682651457[197] = 0; + out_2499898042682651457[198] = 0; + out_2499898042682651457[199] = 0; + out_2499898042682651457[200] = 0; + out_2499898042682651457[201] = 0; + out_2499898042682651457[202] = 0; + out_2499898042682651457[203] = 0; + out_2499898042682651457[204] = 0; + out_2499898042682651457[205] = 0; + out_2499898042682651457[206] = 0; + out_2499898042682651457[207] = 0; + out_2499898042682651457[208] = 0; + out_2499898042682651457[209] = 1; + out_2499898042682651457[210] = 0; + out_2499898042682651457[211] = 0; + out_2499898042682651457[212] = 0; + out_2499898042682651457[213] = 0; + out_2499898042682651457[214] = 0; + out_2499898042682651457[215] = 0; + out_2499898042682651457[216] = 0; + out_2499898042682651457[217] = 0; + out_2499898042682651457[218] = 0; + out_2499898042682651457[219] = 0; + out_2499898042682651457[220] = 0; + out_2499898042682651457[221] = 0; + out_2499898042682651457[222] = 0; + out_2499898042682651457[223] = 0; + out_2499898042682651457[224] = 0; + out_2499898042682651457[225] = 0; + out_2499898042682651457[226] = 0; + out_2499898042682651457[227] = 0; + out_2499898042682651457[228] = 1; + out_2499898042682651457[229] = 0; + out_2499898042682651457[230] = 0; + out_2499898042682651457[231] = 0; + out_2499898042682651457[232] = 0; + out_2499898042682651457[233] = 0; + out_2499898042682651457[234] = 0; + out_2499898042682651457[235] = 0; + out_2499898042682651457[236] = 0; + out_2499898042682651457[237] = 0; + out_2499898042682651457[238] = 0; + out_2499898042682651457[239] = 0; + out_2499898042682651457[240] = 0; + out_2499898042682651457[241] = 0; + out_2499898042682651457[242] = 0; + out_2499898042682651457[243] = 0; + out_2499898042682651457[244] = 0; + out_2499898042682651457[245] = 0; + out_2499898042682651457[246] = 0; + out_2499898042682651457[247] = 1; + out_2499898042682651457[248] = 0; + out_2499898042682651457[249] = 0; + out_2499898042682651457[250] = 0; + out_2499898042682651457[251] = 0; + out_2499898042682651457[252] = 0; + out_2499898042682651457[253] = 0; + out_2499898042682651457[254] = 0; + out_2499898042682651457[255] = 0; + out_2499898042682651457[256] = 0; + out_2499898042682651457[257] = 0; + out_2499898042682651457[258] = 0; + out_2499898042682651457[259] = 0; + out_2499898042682651457[260] = 0; + out_2499898042682651457[261] = 0; + out_2499898042682651457[262] = 0; + out_2499898042682651457[263] = 0; + out_2499898042682651457[264] = 0; + out_2499898042682651457[265] = 0; + out_2499898042682651457[266] = 1; + out_2499898042682651457[267] = 0; + out_2499898042682651457[268] = 0; + out_2499898042682651457[269] = 0; + out_2499898042682651457[270] = 0; + out_2499898042682651457[271] = 0; + out_2499898042682651457[272] = 0; + out_2499898042682651457[273] = 0; + out_2499898042682651457[274] = 0; + out_2499898042682651457[275] = 0; + out_2499898042682651457[276] = 0; + out_2499898042682651457[277] = 0; + out_2499898042682651457[278] = 0; + out_2499898042682651457[279] = 0; + out_2499898042682651457[280] = 0; + out_2499898042682651457[281] = 0; + out_2499898042682651457[282] = 0; + out_2499898042682651457[283] = 0; + out_2499898042682651457[284] = 0; + out_2499898042682651457[285] = 1; + out_2499898042682651457[286] = 0; + out_2499898042682651457[287] = 0; + out_2499898042682651457[288] = 0; + out_2499898042682651457[289] = 0; + out_2499898042682651457[290] = 0; + out_2499898042682651457[291] = 0; + out_2499898042682651457[292] = 0; + out_2499898042682651457[293] = 0; + out_2499898042682651457[294] = 0; + out_2499898042682651457[295] = 0; + out_2499898042682651457[296] = 0; + out_2499898042682651457[297] = 0; + out_2499898042682651457[298] = 0; + out_2499898042682651457[299] = 0; + out_2499898042682651457[300] = 0; + out_2499898042682651457[301] = 0; + out_2499898042682651457[302] = 0; + out_2499898042682651457[303] = 0; + out_2499898042682651457[304] = 1; + out_2499898042682651457[305] = 0; + out_2499898042682651457[306] = 0; + out_2499898042682651457[307] = 0; + out_2499898042682651457[308] = 0; + out_2499898042682651457[309] = 0; + out_2499898042682651457[310] = 0; + out_2499898042682651457[311] = 0; + out_2499898042682651457[312] = 0; + out_2499898042682651457[313] = 0; + out_2499898042682651457[314] = 0; + out_2499898042682651457[315] = 0; + out_2499898042682651457[316] = 0; + out_2499898042682651457[317] = 0; + out_2499898042682651457[318] = 0; + out_2499898042682651457[319] = 0; + out_2499898042682651457[320] = 0; + out_2499898042682651457[321] = 0; + out_2499898042682651457[322] = 0; + out_2499898042682651457[323] = 1; } -void h_4(double *state, double *unused, double *out_5478412217433972001) { - out_5478412217433972001[0] = state[6] + state[9]; - out_5478412217433972001[1] = state[7] + state[10]; - out_5478412217433972001[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3279047988568344132) { + out_3279047988568344132[0] = state[6] + state[9]; + out_3279047988568344132[1] = state[7] + state[10]; + out_3279047988568344132[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3085206464332165256) { - out_3085206464332165256[0] = 0; - out_3085206464332165256[1] = 0; - out_3085206464332165256[2] = 0; - out_3085206464332165256[3] = 0; - out_3085206464332165256[4] = 0; - out_3085206464332165256[5] = 0; - out_3085206464332165256[6] = 1; - out_3085206464332165256[7] = 0; - out_3085206464332165256[8] = 0; - out_3085206464332165256[9] = 1; - out_3085206464332165256[10] = 0; - out_3085206464332165256[11] = 0; - out_3085206464332165256[12] = 0; - out_3085206464332165256[13] = 0; - out_3085206464332165256[14] = 0; - out_3085206464332165256[15] = 0; - out_3085206464332165256[16] = 0; - out_3085206464332165256[17] = 0; - out_3085206464332165256[18] = 0; - out_3085206464332165256[19] = 0; - out_3085206464332165256[20] = 0; - out_3085206464332165256[21] = 0; - out_3085206464332165256[22] = 0; - out_3085206464332165256[23] = 0; - out_3085206464332165256[24] = 0; - out_3085206464332165256[25] = 1; - out_3085206464332165256[26] = 0; - out_3085206464332165256[27] = 0; - out_3085206464332165256[28] = 1; - out_3085206464332165256[29] = 0; - out_3085206464332165256[30] = 0; - out_3085206464332165256[31] = 0; - out_3085206464332165256[32] = 0; - out_3085206464332165256[33] = 0; - out_3085206464332165256[34] = 0; - out_3085206464332165256[35] = 0; - out_3085206464332165256[36] = 0; - out_3085206464332165256[37] = 0; - out_3085206464332165256[38] = 0; - out_3085206464332165256[39] = 0; - out_3085206464332165256[40] = 0; - out_3085206464332165256[41] = 0; - out_3085206464332165256[42] = 0; - out_3085206464332165256[43] = 0; - out_3085206464332165256[44] = 1; - out_3085206464332165256[45] = 0; - out_3085206464332165256[46] = 0; - out_3085206464332165256[47] = 1; - out_3085206464332165256[48] = 0; - out_3085206464332165256[49] = 0; - out_3085206464332165256[50] = 0; - out_3085206464332165256[51] = 0; - out_3085206464332165256[52] = 0; - out_3085206464332165256[53] = 0; +void H_4(double *state, double *unused, double *out_5899742257253909940) { + out_5899742257253909940[0] = 0; + out_5899742257253909940[1] = 0; + out_5899742257253909940[2] = 0; + out_5899742257253909940[3] = 0; + out_5899742257253909940[4] = 0; + out_5899742257253909940[5] = 0; + out_5899742257253909940[6] = 1; + out_5899742257253909940[7] = 0; + out_5899742257253909940[8] = 0; + out_5899742257253909940[9] = 1; + out_5899742257253909940[10] = 0; + out_5899742257253909940[11] = 0; + out_5899742257253909940[12] = 0; + out_5899742257253909940[13] = 0; + out_5899742257253909940[14] = 0; + out_5899742257253909940[15] = 0; + out_5899742257253909940[16] = 0; + out_5899742257253909940[17] = 0; + out_5899742257253909940[18] = 0; + out_5899742257253909940[19] = 0; + out_5899742257253909940[20] = 0; + out_5899742257253909940[21] = 0; + out_5899742257253909940[22] = 0; + out_5899742257253909940[23] = 0; + out_5899742257253909940[24] = 0; + out_5899742257253909940[25] = 1; + out_5899742257253909940[26] = 0; + out_5899742257253909940[27] = 0; + out_5899742257253909940[28] = 1; + out_5899742257253909940[29] = 0; + out_5899742257253909940[30] = 0; + out_5899742257253909940[31] = 0; + out_5899742257253909940[32] = 0; + out_5899742257253909940[33] = 0; + out_5899742257253909940[34] = 0; + out_5899742257253909940[35] = 0; + out_5899742257253909940[36] = 0; + out_5899742257253909940[37] = 0; + out_5899742257253909940[38] = 0; + out_5899742257253909940[39] = 0; + out_5899742257253909940[40] = 0; + out_5899742257253909940[41] = 0; + out_5899742257253909940[42] = 0; + out_5899742257253909940[43] = 0; + out_5899742257253909940[44] = 1; + out_5899742257253909940[45] = 0; + out_5899742257253909940[46] = 0; + out_5899742257253909940[47] = 1; + out_5899742257253909940[48] = 0; + out_5899742257253909940[49] = 0; + out_5899742257253909940[50] = 0; + out_5899742257253909940[51] = 0; + out_5899742257253909940[52] = 0; + out_5899742257253909940[53] = 0; } -void h_10(double *state, double *unused, double *out_5861828944145935890) { - out_5861828944145935890[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5861828944145935890[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5861828944145935890[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_9007933995216703840) { + out_9007933995216703840[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_9007933995216703840[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_9007933995216703840[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_1460352446362739633) { - out_1460352446362739633[0] = 0; - out_1460352446362739633[1] = 9.8100000000000005*cos(state[1]); - out_1460352446362739633[2] = 0; - out_1460352446362739633[3] = 0; - out_1460352446362739633[4] = -state[8]; - out_1460352446362739633[5] = state[7]; - out_1460352446362739633[6] = 0; - out_1460352446362739633[7] = state[5]; - out_1460352446362739633[8] = -state[4]; - out_1460352446362739633[9] = 0; - out_1460352446362739633[10] = 0; - out_1460352446362739633[11] = 0; - out_1460352446362739633[12] = 1; - out_1460352446362739633[13] = 0; - out_1460352446362739633[14] = 0; - out_1460352446362739633[15] = 1; - out_1460352446362739633[16] = 0; - out_1460352446362739633[17] = 0; - out_1460352446362739633[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1460352446362739633[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1460352446362739633[20] = 0; - out_1460352446362739633[21] = state[8]; - out_1460352446362739633[22] = 0; - out_1460352446362739633[23] = -state[6]; - out_1460352446362739633[24] = -state[5]; - out_1460352446362739633[25] = 0; - out_1460352446362739633[26] = state[3]; - out_1460352446362739633[27] = 0; - out_1460352446362739633[28] = 0; - out_1460352446362739633[29] = 0; - out_1460352446362739633[30] = 0; - out_1460352446362739633[31] = 1; - out_1460352446362739633[32] = 0; - out_1460352446362739633[33] = 0; - out_1460352446362739633[34] = 1; - out_1460352446362739633[35] = 0; - out_1460352446362739633[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1460352446362739633[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1460352446362739633[38] = 0; - out_1460352446362739633[39] = -state[7]; - out_1460352446362739633[40] = state[6]; - out_1460352446362739633[41] = 0; - out_1460352446362739633[42] = state[4]; - out_1460352446362739633[43] = -state[3]; - out_1460352446362739633[44] = 0; - out_1460352446362739633[45] = 0; - out_1460352446362739633[46] = 0; - out_1460352446362739633[47] = 0; - out_1460352446362739633[48] = 0; - out_1460352446362739633[49] = 0; - out_1460352446362739633[50] = 1; - out_1460352446362739633[51] = 0; - out_1460352446362739633[52] = 0; - out_1460352446362739633[53] = 1; +void H_10(double *state, double *unused, double *out_2326992144684427807) { + out_2326992144684427807[0] = 0; + out_2326992144684427807[1] = 9.8100000000000005*cos(state[1]); + out_2326992144684427807[2] = 0; + out_2326992144684427807[3] = 0; + out_2326992144684427807[4] = -state[8]; + out_2326992144684427807[5] = state[7]; + out_2326992144684427807[6] = 0; + out_2326992144684427807[7] = state[5]; + out_2326992144684427807[8] = -state[4]; + out_2326992144684427807[9] = 0; + out_2326992144684427807[10] = 0; + out_2326992144684427807[11] = 0; + out_2326992144684427807[12] = 1; + out_2326992144684427807[13] = 0; + out_2326992144684427807[14] = 0; + out_2326992144684427807[15] = 1; + out_2326992144684427807[16] = 0; + out_2326992144684427807[17] = 0; + out_2326992144684427807[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2326992144684427807[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2326992144684427807[20] = 0; + out_2326992144684427807[21] = state[8]; + out_2326992144684427807[22] = 0; + out_2326992144684427807[23] = -state[6]; + out_2326992144684427807[24] = -state[5]; + out_2326992144684427807[25] = 0; + out_2326992144684427807[26] = state[3]; + out_2326992144684427807[27] = 0; + out_2326992144684427807[28] = 0; + out_2326992144684427807[29] = 0; + out_2326992144684427807[30] = 0; + out_2326992144684427807[31] = 1; + out_2326992144684427807[32] = 0; + out_2326992144684427807[33] = 0; + out_2326992144684427807[34] = 1; + out_2326992144684427807[35] = 0; + out_2326992144684427807[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2326992144684427807[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2326992144684427807[38] = 0; + out_2326992144684427807[39] = -state[7]; + out_2326992144684427807[40] = state[6]; + out_2326992144684427807[41] = 0; + out_2326992144684427807[42] = state[4]; + out_2326992144684427807[43] = -state[3]; + out_2326992144684427807[44] = 0; + out_2326992144684427807[45] = 0; + out_2326992144684427807[46] = 0; + out_2326992144684427807[47] = 0; + out_2326992144684427807[48] = 0; + out_2326992144684427807[49] = 0; + out_2326992144684427807[50] = 1; + out_2326992144684427807[51] = 0; + out_2326992144684427807[52] = 0; + out_2326992144684427807[53] = 1; } -void h_13(double *state, double *unused, double *out_6845339361600931042) { - out_6845339361600931042[0] = state[3]; - out_6845339361600931042[1] = state[4]; - out_6845339361600931042[2] = state[5]; +void h_13(double *state, double *unused, double *out_8858214994014047499) { + out_8858214994014047499[0] = state[3]; + out_8858214994014047499[1] = state[4]; + out_8858214994014047499[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6297480289664498057) { - out_6297480289664498057[0] = 0; - out_6297480289664498057[1] = 0; - out_6297480289664498057[2] = 0; - out_6297480289664498057[3] = 1; - out_6297480289664498057[4] = 0; - out_6297480289664498057[5] = 0; - out_6297480289664498057[6] = 0; - out_6297480289664498057[7] = 0; - out_6297480289664498057[8] = 0; - out_6297480289664498057[9] = 0; - out_6297480289664498057[10] = 0; - out_6297480289664498057[11] = 0; - out_6297480289664498057[12] = 0; - out_6297480289664498057[13] = 0; - out_6297480289664498057[14] = 0; - out_6297480289664498057[15] = 0; - out_6297480289664498057[16] = 0; - out_6297480289664498057[17] = 0; - out_6297480289664498057[18] = 0; - out_6297480289664498057[19] = 0; - out_6297480289664498057[20] = 0; - out_6297480289664498057[21] = 0; - out_6297480289664498057[22] = 1; - out_6297480289664498057[23] = 0; - out_6297480289664498057[24] = 0; - out_6297480289664498057[25] = 0; - out_6297480289664498057[26] = 0; - out_6297480289664498057[27] = 0; - out_6297480289664498057[28] = 0; - out_6297480289664498057[29] = 0; - out_6297480289664498057[30] = 0; - out_6297480289664498057[31] = 0; - out_6297480289664498057[32] = 0; - out_6297480289664498057[33] = 0; - out_6297480289664498057[34] = 0; - out_6297480289664498057[35] = 0; - out_6297480289664498057[36] = 0; - out_6297480289664498057[37] = 0; - out_6297480289664498057[38] = 0; - out_6297480289664498057[39] = 0; - out_6297480289664498057[40] = 0; - out_6297480289664498057[41] = 1; - out_6297480289664498057[42] = 0; - out_6297480289664498057[43] = 0; - out_6297480289664498057[44] = 0; - out_6297480289664498057[45] = 0; - out_6297480289664498057[46] = 0; - out_6297480289664498057[47] = 0; - out_6297480289664498057[48] = 0; - out_6297480289664498057[49] = 0; - out_6297480289664498057[50] = 0; - out_6297480289664498057[51] = 0; - out_6297480289664498057[52] = 0; - out_6297480289664498057[53] = 0; +void H_13(double *state, double *unused, double *out_1710888951062790989) { + out_1710888951062790989[0] = 0; + out_1710888951062790989[1] = 0; + out_1710888951062790989[2] = 0; + out_1710888951062790989[3] = 1; + out_1710888951062790989[4] = 0; + out_1710888951062790989[5] = 0; + out_1710888951062790989[6] = 0; + out_1710888951062790989[7] = 0; + out_1710888951062790989[8] = 0; + out_1710888951062790989[9] = 0; + out_1710888951062790989[10] = 0; + out_1710888951062790989[11] = 0; + out_1710888951062790989[12] = 0; + out_1710888951062790989[13] = 0; + out_1710888951062790989[14] = 0; + out_1710888951062790989[15] = 0; + out_1710888951062790989[16] = 0; + out_1710888951062790989[17] = 0; + out_1710888951062790989[18] = 0; + out_1710888951062790989[19] = 0; + out_1710888951062790989[20] = 0; + out_1710888951062790989[21] = 0; + out_1710888951062790989[22] = 1; + out_1710888951062790989[23] = 0; + out_1710888951062790989[24] = 0; + out_1710888951062790989[25] = 0; + out_1710888951062790989[26] = 0; + out_1710888951062790989[27] = 0; + out_1710888951062790989[28] = 0; + out_1710888951062790989[29] = 0; + out_1710888951062790989[30] = 0; + out_1710888951062790989[31] = 0; + out_1710888951062790989[32] = 0; + out_1710888951062790989[33] = 0; + out_1710888951062790989[34] = 0; + out_1710888951062790989[35] = 0; + out_1710888951062790989[36] = 0; + out_1710888951062790989[37] = 0; + out_1710888951062790989[38] = 0; + out_1710888951062790989[39] = 0; + out_1710888951062790989[40] = 0; + out_1710888951062790989[41] = 1; + out_1710888951062790989[42] = 0; + out_1710888951062790989[43] = 0; + out_1710888951062790989[44] = 0; + out_1710888951062790989[45] = 0; + out_1710888951062790989[46] = 0; + out_1710888951062790989[47] = 0; + out_1710888951062790989[48] = 0; + out_1710888951062790989[49] = 0; + out_1710888951062790989[50] = 0; + out_1710888951062790989[51] = 0; + out_1710888951062790989[52] = 0; + out_1710888951062790989[53] = 0; } -void h_14(double *state, double *unused, double *out_6355309693456612665) { - out_6355309693456612665[0] = state[6]; - out_6355309693456612665[1] = state[7]; - out_6355309693456612665[2] = state[8]; +void h_14(double *state, double *unused, double *out_7751194400543680936) { + out_7751194400543680936[0] = state[6]; + out_7751194400543680936[1] = state[7]; + out_7751194400543680936[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2418032036792960) { - out_2418032036792960[0] = 0; - out_2418032036792960[1] = 0; - out_2418032036792960[2] = 0; - out_2418032036792960[3] = 0; - out_2418032036792960[4] = 0; - out_2418032036792960[5] = 0; - out_2418032036792960[6] = 1; - out_2418032036792960[7] = 0; - out_2418032036792960[8] = 0; - out_2418032036792960[9] = 0; - out_2418032036792960[10] = 0; - out_2418032036792960[11] = 0; - out_2418032036792960[12] = 0; - out_2418032036792960[13] = 0; - out_2418032036792960[14] = 0; - out_2418032036792960[15] = 0; - out_2418032036792960[16] = 0; - out_2418032036792960[17] = 0; - out_2418032036792960[18] = 0; - out_2418032036792960[19] = 0; - out_2418032036792960[20] = 0; - out_2418032036792960[21] = 0; - out_2418032036792960[22] = 0; - out_2418032036792960[23] = 0; - out_2418032036792960[24] = 0; - out_2418032036792960[25] = 1; - out_2418032036792960[26] = 0; - out_2418032036792960[27] = 0; - out_2418032036792960[28] = 0; - out_2418032036792960[29] = 0; - out_2418032036792960[30] = 0; - out_2418032036792960[31] = 0; - out_2418032036792960[32] = 0; - out_2418032036792960[33] = 0; - out_2418032036792960[34] = 0; - out_2418032036792960[35] = 0; - out_2418032036792960[36] = 0; - out_2418032036792960[37] = 0; - out_2418032036792960[38] = 0; - out_2418032036792960[39] = 0; - out_2418032036792960[40] = 0; - out_2418032036792960[41] = 0; - out_2418032036792960[42] = 0; - out_2418032036792960[43] = 0; - out_2418032036792960[44] = 1; - out_2418032036792960[45] = 0; - out_2418032036792960[46] = 0; - out_2418032036792960[47] = 0; - out_2418032036792960[48] = 0; - out_2418032036792960[49] = 0; - out_2418032036792960[50] = 0; - out_2418032036792960[51] = 0; - out_2418032036792960[52] = 0; - out_2418032036792960[53] = 0; +void H_14(double *state, double *unused, double *out_1936501400914425411) { + out_1936501400914425411[0] = 0; + out_1936501400914425411[1] = 0; + out_1936501400914425411[2] = 0; + out_1936501400914425411[3] = 0; + out_1936501400914425411[4] = 0; + out_1936501400914425411[5] = 0; + out_1936501400914425411[6] = 1; + out_1936501400914425411[7] = 0; + out_1936501400914425411[8] = 0; + out_1936501400914425411[9] = 0; + out_1936501400914425411[10] = 0; + out_1936501400914425411[11] = 0; + out_1936501400914425411[12] = 0; + out_1936501400914425411[13] = 0; + out_1936501400914425411[14] = 0; + out_1936501400914425411[15] = 0; + out_1936501400914425411[16] = 0; + out_1936501400914425411[17] = 0; + out_1936501400914425411[18] = 0; + out_1936501400914425411[19] = 0; + out_1936501400914425411[20] = 0; + out_1936501400914425411[21] = 0; + out_1936501400914425411[22] = 0; + out_1936501400914425411[23] = 0; + out_1936501400914425411[24] = 0; + out_1936501400914425411[25] = 1; + out_1936501400914425411[26] = 0; + out_1936501400914425411[27] = 0; + out_1936501400914425411[28] = 0; + out_1936501400914425411[29] = 0; + out_1936501400914425411[30] = 0; + out_1936501400914425411[31] = 0; + out_1936501400914425411[32] = 0; + out_1936501400914425411[33] = 0; + out_1936501400914425411[34] = 0; + out_1936501400914425411[35] = 0; + out_1936501400914425411[36] = 0; + out_1936501400914425411[37] = 0; + out_1936501400914425411[38] = 0; + out_1936501400914425411[39] = 0; + out_1936501400914425411[40] = 0; + out_1936501400914425411[41] = 0; + out_1936501400914425411[42] = 0; + out_1936501400914425411[43] = 0; + out_1936501400914425411[44] = 1; + out_1936501400914425411[45] = 0; + out_1936501400914425411[46] = 0; + out_1936501400914425411[47] = 0; + out_1936501400914425411[48] = 0; + out_1936501400914425411[49] = 0; + out_1936501400914425411[50] = 0; + out_1936501400914425411[51] = 0; + out_1936501400914425411[52] = 0; + out_1936501400914425411[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_607652414837750033) { - err_fun(nom_x, delta_x, out_607652414837750033); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5522943408677507622) { + err_fun(nom_x, delta_x, out_5522943408677507622); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4916314802659989276) { - inv_err_fun(nom_x, true_x, out_4916314802659989276); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4295983432349839383) { + inv_err_fun(nom_x, true_x, out_4295983432349839383); } -void pose_H_mod_fun(double *state, double *out_1887258982449267152) { - H_mod_fun(state, out_1887258982449267152); +void pose_H_mod_fun(double *state, double *out_4346696932482416909) { + H_mod_fun(state, out_4346696932482416909); } -void pose_f_fun(double *state, double dt, double *out_2681276694689160944) { - f_fun(state, dt, out_2681276694689160944); +void pose_f_fun(double *state, double dt, double *out_6102158893978946471) { + f_fun(state, dt, out_6102158893978946471); } -void pose_F_fun(double *state, double dt, double *out_6011099377550215473) { - F_fun(state, dt, out_6011099377550215473); +void pose_F_fun(double *state, double dt, double *out_2499898042682651457) { + F_fun(state, dt, out_2499898042682651457); } -void pose_h_4(double *state, double *unused, double *out_5478412217433972001) { - h_4(state, unused, out_5478412217433972001); +void pose_h_4(double *state, double *unused, double *out_3279047988568344132) { + h_4(state, unused, out_3279047988568344132); } -void pose_H_4(double *state, double *unused, double *out_3085206464332165256) { - H_4(state, unused, out_3085206464332165256); +void pose_H_4(double *state, double *unused, double *out_5899742257253909940) { + H_4(state, unused, out_5899742257253909940); } -void pose_h_10(double *state, double *unused, double *out_5861828944145935890) { - h_10(state, unused, out_5861828944145935890); +void pose_h_10(double *state, double *unused, double *out_9007933995216703840) { + h_10(state, unused, out_9007933995216703840); } -void pose_H_10(double *state, double *unused, double *out_1460352446362739633) { - H_10(state, unused, out_1460352446362739633); +void pose_H_10(double *state, double *unused, double *out_2326992144684427807) { + H_10(state, unused, out_2326992144684427807); } -void pose_h_13(double *state, double *unused, double *out_6845339361600931042) { - h_13(state, unused, out_6845339361600931042); +void pose_h_13(double *state, double *unused, double *out_8858214994014047499) { + h_13(state, unused, out_8858214994014047499); } -void pose_H_13(double *state, double *unused, double *out_6297480289664498057) { - H_13(state, unused, out_6297480289664498057); +void pose_H_13(double *state, double *unused, double *out_1710888951062790989) { + H_13(state, unused, out_1710888951062790989); } -void pose_h_14(double *state, double *unused, double *out_6355309693456612665) { - h_14(state, unused, out_6355309693456612665); +void pose_h_14(double *state, double *unused, double *out_7751194400543680936) { + h_14(state, unused, out_7751194400543680936); } -void pose_H_14(double *state, double *unused, double *out_2418032036792960) { - H_14(state, unused, out_2418032036792960); +void pose_H_14(double *state, double *unused, double *out_1936501400914425411) { + H_14(state, unused, out_1936501400914425411); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/pose.h b/selfdrive/locationd/models/generated/pose.h index df39e56eb..94abaca9c 100644 --- a/selfdrive/locationd/models/generated/pose.h +++ b/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_607652414837750033); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4916314802659989276); -void pose_H_mod_fun(double *state, double *out_1887258982449267152); -void pose_f_fun(double *state, double dt, double *out_2681276694689160944); -void pose_F_fun(double *state, double dt, double *out_6011099377550215473); -void pose_h_4(double *state, double *unused, double *out_5478412217433972001); -void pose_H_4(double *state, double *unused, double *out_3085206464332165256); -void pose_h_10(double *state, double *unused, double *out_5861828944145935890); -void pose_H_10(double *state, double *unused, double *out_1460352446362739633); -void pose_h_13(double *state, double *unused, double *out_6845339361600931042); -void pose_H_13(double *state, double *unused, double *out_6297480289664498057); -void pose_h_14(double *state, double *unused, double *out_6355309693456612665); -void pose_H_14(double *state, double *unused, double *out_2418032036792960); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5522943408677507622); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4295983432349839383); +void pose_H_mod_fun(double *state, double *out_4346696932482416909); +void pose_f_fun(double *state, double dt, double *out_6102158893978946471); +void pose_F_fun(double *state, double dt, double *out_2499898042682651457); +void pose_h_4(double *state, double *unused, double *out_3279047988568344132); +void pose_H_4(double *state, double *unused, double *out_5899742257253909940); +void pose_h_10(double *state, double *unused, double *out_9007933995216703840); +void pose_H_10(double *state, double *unused, double *out_2326992144684427807); +void pose_h_13(double *state, double *unused, double *out_8858214994014047499); +void pose_H_13(double *state, double *unused, double *out_1710888951062790989); +void pose_h_14(double *state, double *unused, double *out_7751194400543680936); +void pose_H_14(double *state, double *unused, double *out_1936501400914425411); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 696c91f33..681dd3698 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 0114a2d97..77bc934d6 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index bdb585285..6cd5d514f 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index fa675a808..b15b7e93b 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 7fbd4c2fd..249db8460 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 466e8c53f..b8d2cd582 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ