diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 25a1037d9..69b24d661 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 9602c1e95..bddd9b212 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 7e180e1a2..1f37f01c1 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 5cee2b022..05c045b21 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 3be96d09a..ba1fb39c4 100755 Binary files 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1e2064b0f..480277de5 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index d8527ab66..6dce2bf93 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 24156a8f3..77d30f1f7 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-f351dbac-DEBUG \ No newline at end of file +DEV-284bb45c-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 4e61d22c2..def0508b6 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_6892109097522362188) { - out_6892109097522362188[0] = delta_x[0] + nom_x[0]; - out_6892109097522362188[1] = delta_x[1] + nom_x[1]; - out_6892109097522362188[2] = delta_x[2] + nom_x[2]; - out_6892109097522362188[3] = delta_x[3] + nom_x[3]; - out_6892109097522362188[4] = delta_x[4] + nom_x[4]; - out_6892109097522362188[5] = delta_x[5] + nom_x[5]; - out_6892109097522362188[6] = delta_x[6] + nom_x[6]; - out_6892109097522362188[7] = delta_x[7] + nom_x[7]; - out_6892109097522362188[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_9063299258885678089) { + out_9063299258885678089[0] = delta_x[0] + nom_x[0]; + out_9063299258885678089[1] = delta_x[1] + nom_x[1]; + out_9063299258885678089[2] = delta_x[2] + nom_x[2]; + out_9063299258885678089[3] = delta_x[3] + nom_x[3]; + out_9063299258885678089[4] = delta_x[4] + nom_x[4]; + out_9063299258885678089[5] = delta_x[5] + nom_x[5]; + out_9063299258885678089[6] = delta_x[6] + nom_x[6]; + out_9063299258885678089[7] = delta_x[7] + nom_x[7]; + out_9063299258885678089[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5432001000781993507) { - out_5432001000781993507[0] = -nom_x[0] + true_x[0]; - out_5432001000781993507[1] = -nom_x[1] + true_x[1]; - out_5432001000781993507[2] = -nom_x[2] + true_x[2]; - out_5432001000781993507[3] = -nom_x[3] + true_x[3]; - out_5432001000781993507[4] = -nom_x[4] + true_x[4]; - out_5432001000781993507[5] = -nom_x[5] + true_x[5]; - out_5432001000781993507[6] = -nom_x[6] + true_x[6]; - out_5432001000781993507[7] = -nom_x[7] + true_x[7]; - out_5432001000781993507[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5249330638840185569) { + out_5249330638840185569[0] = -nom_x[0] + true_x[0]; + out_5249330638840185569[1] = -nom_x[1] + true_x[1]; + out_5249330638840185569[2] = -nom_x[2] + true_x[2]; + out_5249330638840185569[3] = -nom_x[3] + true_x[3]; + out_5249330638840185569[4] = -nom_x[4] + true_x[4]; + out_5249330638840185569[5] = -nom_x[5] + true_x[5]; + out_5249330638840185569[6] = -nom_x[6] + true_x[6]; + out_5249330638840185569[7] = -nom_x[7] + true_x[7]; + out_5249330638840185569[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1134362066478752987) { - out_1134362066478752987[0] = 1.0; - out_1134362066478752987[1] = 0.0; - out_1134362066478752987[2] = 0.0; - out_1134362066478752987[3] = 0.0; - out_1134362066478752987[4] = 0.0; - out_1134362066478752987[5] = 0.0; - out_1134362066478752987[6] = 0.0; - out_1134362066478752987[7] = 0.0; - out_1134362066478752987[8] = 0.0; - out_1134362066478752987[9] = 0.0; - out_1134362066478752987[10] = 1.0; - out_1134362066478752987[11] = 0.0; - out_1134362066478752987[12] = 0.0; - out_1134362066478752987[13] = 0.0; - out_1134362066478752987[14] = 0.0; - out_1134362066478752987[15] = 0.0; - out_1134362066478752987[16] = 0.0; - out_1134362066478752987[17] = 0.0; - out_1134362066478752987[18] = 0.0; - out_1134362066478752987[19] = 0.0; - out_1134362066478752987[20] = 1.0; - out_1134362066478752987[21] = 0.0; - out_1134362066478752987[22] = 0.0; - out_1134362066478752987[23] = 0.0; - out_1134362066478752987[24] = 0.0; - out_1134362066478752987[25] = 0.0; - out_1134362066478752987[26] = 0.0; - out_1134362066478752987[27] = 0.0; - out_1134362066478752987[28] = 0.0; - out_1134362066478752987[29] = 0.0; - out_1134362066478752987[30] = 1.0; - out_1134362066478752987[31] = 0.0; - out_1134362066478752987[32] = 0.0; - out_1134362066478752987[33] = 0.0; - out_1134362066478752987[34] = 0.0; - out_1134362066478752987[35] = 0.0; - out_1134362066478752987[36] = 0.0; - out_1134362066478752987[37] = 0.0; - out_1134362066478752987[38] = 0.0; - out_1134362066478752987[39] = 0.0; - out_1134362066478752987[40] = 1.0; - out_1134362066478752987[41] = 0.0; - out_1134362066478752987[42] = 0.0; - out_1134362066478752987[43] = 0.0; - out_1134362066478752987[44] = 0.0; - out_1134362066478752987[45] = 0.0; - out_1134362066478752987[46] = 0.0; - out_1134362066478752987[47] = 0.0; - out_1134362066478752987[48] = 0.0; - out_1134362066478752987[49] = 0.0; - out_1134362066478752987[50] = 1.0; - out_1134362066478752987[51] = 0.0; - out_1134362066478752987[52] = 0.0; - out_1134362066478752987[53] = 0.0; - out_1134362066478752987[54] = 0.0; - out_1134362066478752987[55] = 0.0; - out_1134362066478752987[56] = 0.0; - out_1134362066478752987[57] = 0.0; - out_1134362066478752987[58] = 0.0; - out_1134362066478752987[59] = 0.0; - out_1134362066478752987[60] = 1.0; - out_1134362066478752987[61] = 0.0; - out_1134362066478752987[62] = 0.0; - out_1134362066478752987[63] = 0.0; - out_1134362066478752987[64] = 0.0; - out_1134362066478752987[65] = 0.0; - out_1134362066478752987[66] = 0.0; - out_1134362066478752987[67] = 0.0; - out_1134362066478752987[68] = 0.0; - out_1134362066478752987[69] = 0.0; - out_1134362066478752987[70] = 1.0; - out_1134362066478752987[71] = 0.0; - out_1134362066478752987[72] = 0.0; - out_1134362066478752987[73] = 0.0; - out_1134362066478752987[74] = 0.0; - out_1134362066478752987[75] = 0.0; - out_1134362066478752987[76] = 0.0; - out_1134362066478752987[77] = 0.0; - out_1134362066478752987[78] = 0.0; - out_1134362066478752987[79] = 0.0; - out_1134362066478752987[80] = 1.0; +void H_mod_fun(double *state, double *out_6730506552132857878) { + out_6730506552132857878[0] = 1.0; + out_6730506552132857878[1] = 0.0; + out_6730506552132857878[2] = 0.0; + out_6730506552132857878[3] = 0.0; + out_6730506552132857878[4] = 0.0; + out_6730506552132857878[5] = 0.0; + out_6730506552132857878[6] = 0.0; + out_6730506552132857878[7] = 0.0; + out_6730506552132857878[8] = 0.0; + out_6730506552132857878[9] = 0.0; + out_6730506552132857878[10] = 1.0; + out_6730506552132857878[11] = 0.0; + out_6730506552132857878[12] = 0.0; + out_6730506552132857878[13] = 0.0; + out_6730506552132857878[14] = 0.0; + out_6730506552132857878[15] = 0.0; + out_6730506552132857878[16] = 0.0; + out_6730506552132857878[17] = 0.0; + out_6730506552132857878[18] = 0.0; + out_6730506552132857878[19] = 0.0; + out_6730506552132857878[20] = 1.0; + out_6730506552132857878[21] = 0.0; + out_6730506552132857878[22] = 0.0; + out_6730506552132857878[23] = 0.0; + out_6730506552132857878[24] = 0.0; + out_6730506552132857878[25] = 0.0; + out_6730506552132857878[26] = 0.0; + out_6730506552132857878[27] = 0.0; + out_6730506552132857878[28] = 0.0; + out_6730506552132857878[29] = 0.0; + out_6730506552132857878[30] = 1.0; + out_6730506552132857878[31] = 0.0; + out_6730506552132857878[32] = 0.0; + out_6730506552132857878[33] = 0.0; + out_6730506552132857878[34] = 0.0; + out_6730506552132857878[35] = 0.0; + out_6730506552132857878[36] = 0.0; + out_6730506552132857878[37] = 0.0; + out_6730506552132857878[38] = 0.0; + out_6730506552132857878[39] = 0.0; + out_6730506552132857878[40] = 1.0; + out_6730506552132857878[41] = 0.0; + out_6730506552132857878[42] = 0.0; + out_6730506552132857878[43] = 0.0; + out_6730506552132857878[44] = 0.0; + out_6730506552132857878[45] = 0.0; + out_6730506552132857878[46] = 0.0; + out_6730506552132857878[47] = 0.0; + out_6730506552132857878[48] = 0.0; + out_6730506552132857878[49] = 0.0; + out_6730506552132857878[50] = 1.0; + out_6730506552132857878[51] = 0.0; + out_6730506552132857878[52] = 0.0; + out_6730506552132857878[53] = 0.0; + out_6730506552132857878[54] = 0.0; + out_6730506552132857878[55] = 0.0; + out_6730506552132857878[56] = 0.0; + out_6730506552132857878[57] = 0.0; + out_6730506552132857878[58] = 0.0; + out_6730506552132857878[59] = 0.0; + out_6730506552132857878[60] = 1.0; + out_6730506552132857878[61] = 0.0; + out_6730506552132857878[62] = 0.0; + out_6730506552132857878[63] = 0.0; + out_6730506552132857878[64] = 0.0; + out_6730506552132857878[65] = 0.0; + out_6730506552132857878[66] = 0.0; + out_6730506552132857878[67] = 0.0; + out_6730506552132857878[68] = 0.0; + out_6730506552132857878[69] = 0.0; + out_6730506552132857878[70] = 1.0; + out_6730506552132857878[71] = 0.0; + out_6730506552132857878[72] = 0.0; + out_6730506552132857878[73] = 0.0; + out_6730506552132857878[74] = 0.0; + out_6730506552132857878[75] = 0.0; + out_6730506552132857878[76] = 0.0; + out_6730506552132857878[77] = 0.0; + out_6730506552132857878[78] = 0.0; + out_6730506552132857878[79] = 0.0; + out_6730506552132857878[80] = 1.0; } -void f_fun(double *state, double dt, double *out_9123630075498474389) { - out_9123630075498474389[0] = state[0]; - out_9123630075498474389[1] = state[1]; - out_9123630075498474389[2] = state[2]; - out_9123630075498474389[3] = state[3]; - out_9123630075498474389[4] = state[4]; - out_9123630075498474389[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_9123630075498474389[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_9123630075498474389[7] = state[7]; - out_9123630075498474389[8] = state[8]; +void f_fun(double *state, double dt, double *out_4022133726006847666) { + out_4022133726006847666[0] = state[0]; + out_4022133726006847666[1] = state[1]; + out_4022133726006847666[2] = state[2]; + out_4022133726006847666[3] = state[3]; + out_4022133726006847666[4] = state[4]; + out_4022133726006847666[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_4022133726006847666[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_4022133726006847666[7] = state[7]; + out_4022133726006847666[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5012636381780854897) { - out_5012636381780854897[0] = 1; - out_5012636381780854897[1] = 0; - out_5012636381780854897[2] = 0; - out_5012636381780854897[3] = 0; - out_5012636381780854897[4] = 0; - out_5012636381780854897[5] = 0; - out_5012636381780854897[6] = 0; - out_5012636381780854897[7] = 0; - out_5012636381780854897[8] = 0; - out_5012636381780854897[9] = 0; - out_5012636381780854897[10] = 1; - out_5012636381780854897[11] = 0; - out_5012636381780854897[12] = 0; - out_5012636381780854897[13] = 0; - out_5012636381780854897[14] = 0; - out_5012636381780854897[15] = 0; - out_5012636381780854897[16] = 0; - out_5012636381780854897[17] = 0; - out_5012636381780854897[18] = 0; - out_5012636381780854897[19] = 0; - out_5012636381780854897[20] = 1; - out_5012636381780854897[21] = 0; - out_5012636381780854897[22] = 0; - out_5012636381780854897[23] = 0; - out_5012636381780854897[24] = 0; - out_5012636381780854897[25] = 0; - out_5012636381780854897[26] = 0; - out_5012636381780854897[27] = 0; - out_5012636381780854897[28] = 0; - out_5012636381780854897[29] = 0; - out_5012636381780854897[30] = 1; - out_5012636381780854897[31] = 0; - out_5012636381780854897[32] = 0; - out_5012636381780854897[33] = 0; - out_5012636381780854897[34] = 0; - out_5012636381780854897[35] = 0; - out_5012636381780854897[36] = 0; - out_5012636381780854897[37] = 0; - out_5012636381780854897[38] = 0; - out_5012636381780854897[39] = 0; - out_5012636381780854897[40] = 1; - out_5012636381780854897[41] = 0; - out_5012636381780854897[42] = 0; - out_5012636381780854897[43] = 0; - out_5012636381780854897[44] = 0; - out_5012636381780854897[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_5012636381780854897[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5012636381780854897[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5012636381780854897[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5012636381780854897[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_5012636381780854897[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5012636381780854897[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5012636381780854897[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5012636381780854897[53] = -9.8100000000000005*dt; - out_5012636381780854897[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_5012636381780854897[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5012636381780854897[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5012636381780854897[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5012636381780854897[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_5012636381780854897[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5012636381780854897[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_5012636381780854897[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5012636381780854897[62] = 0; - out_5012636381780854897[63] = 0; - out_5012636381780854897[64] = 0; - out_5012636381780854897[65] = 0; - out_5012636381780854897[66] = 0; - out_5012636381780854897[67] = 0; - out_5012636381780854897[68] = 0; - out_5012636381780854897[69] = 0; - out_5012636381780854897[70] = 1; - out_5012636381780854897[71] = 0; - out_5012636381780854897[72] = 0; - out_5012636381780854897[73] = 0; - out_5012636381780854897[74] = 0; - out_5012636381780854897[75] = 0; - out_5012636381780854897[76] = 0; - out_5012636381780854897[77] = 0; - out_5012636381780854897[78] = 0; - out_5012636381780854897[79] = 0; - out_5012636381780854897[80] = 1; +void F_fun(double *state, double dt, double *out_1291922867413743277) { + out_1291922867413743277[0] = 1; + out_1291922867413743277[1] = 0; + out_1291922867413743277[2] = 0; + out_1291922867413743277[3] = 0; + out_1291922867413743277[4] = 0; + out_1291922867413743277[5] = 0; + out_1291922867413743277[6] = 0; + out_1291922867413743277[7] = 0; + out_1291922867413743277[8] = 0; + out_1291922867413743277[9] = 0; + out_1291922867413743277[10] = 1; + out_1291922867413743277[11] = 0; + out_1291922867413743277[12] = 0; + out_1291922867413743277[13] = 0; + out_1291922867413743277[14] = 0; + out_1291922867413743277[15] = 0; + out_1291922867413743277[16] = 0; + out_1291922867413743277[17] = 0; + out_1291922867413743277[18] = 0; + out_1291922867413743277[19] = 0; + out_1291922867413743277[20] = 1; + out_1291922867413743277[21] = 0; + out_1291922867413743277[22] = 0; + out_1291922867413743277[23] = 0; + out_1291922867413743277[24] = 0; + out_1291922867413743277[25] = 0; + out_1291922867413743277[26] = 0; + out_1291922867413743277[27] = 0; + out_1291922867413743277[28] = 0; + out_1291922867413743277[29] = 0; + out_1291922867413743277[30] = 1; + out_1291922867413743277[31] = 0; + out_1291922867413743277[32] = 0; + out_1291922867413743277[33] = 0; + out_1291922867413743277[34] = 0; + out_1291922867413743277[35] = 0; + out_1291922867413743277[36] = 0; + out_1291922867413743277[37] = 0; + out_1291922867413743277[38] = 0; + out_1291922867413743277[39] = 0; + out_1291922867413743277[40] = 1; + out_1291922867413743277[41] = 0; + out_1291922867413743277[42] = 0; + out_1291922867413743277[43] = 0; + out_1291922867413743277[44] = 0; + out_1291922867413743277[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_1291922867413743277[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1291922867413743277[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1291922867413743277[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1291922867413743277[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_1291922867413743277[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1291922867413743277[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1291922867413743277[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1291922867413743277[53] = -9.8100000000000005*dt; + out_1291922867413743277[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_1291922867413743277[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1291922867413743277[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1291922867413743277[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1291922867413743277[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_1291922867413743277[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1291922867413743277[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_1291922867413743277[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1291922867413743277[62] = 0; + out_1291922867413743277[63] = 0; + out_1291922867413743277[64] = 0; + out_1291922867413743277[65] = 0; + out_1291922867413743277[66] = 0; + out_1291922867413743277[67] = 0; + out_1291922867413743277[68] = 0; + out_1291922867413743277[69] = 0; + out_1291922867413743277[70] = 1; + out_1291922867413743277[71] = 0; + out_1291922867413743277[72] = 0; + out_1291922867413743277[73] = 0; + out_1291922867413743277[74] = 0; + out_1291922867413743277[75] = 0; + out_1291922867413743277[76] = 0; + out_1291922867413743277[77] = 0; + out_1291922867413743277[78] = 0; + out_1291922867413743277[79] = 0; + out_1291922867413743277[80] = 1; } -void h_25(double *state, double *unused, double *out_5169748066208681951) { - out_5169748066208681951[0] = state[6]; +void h_25(double *state, double *unused, double *out_7640527507174277193) { + out_7640527507174277193[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6786975966495106818) { - out_6786975966495106818[0] = 0; - out_6786975966495106818[1] = 0; - out_6786975966495106818[2] = 0; - out_6786975966495106818[3] = 0; - out_6786975966495106818[4] = 0; - out_6786975966495106818[5] = 0; - out_6786975966495106818[6] = 1; - out_6786975966495106818[7] = 0; - out_6786975966495106818[8] = 0; +void H_25(double *state, double *unused, double *out_3207525902143366201) { + out_3207525902143366201[0] = 0; + out_3207525902143366201[1] = 0; + out_3207525902143366201[2] = 0; + out_3207525902143366201[3] = 0; + out_3207525902143366201[4] = 0; + out_3207525902143366201[5] = 0; + out_3207525902143366201[6] = 1; + out_3207525902143366201[7] = 0; + out_3207525902143366201[8] = 0; } -void h_24(double *state, double *unused, double *out_6620362679693609370) { - out_6620362679693609370[0] = state[4]; - out_6620362679693609370[1] = state[5]; +void h_24(double *state, double *unused, double *out_7298880785486689687) { + out_7298880785486689687[0] = state[4]; + out_7298880785486689687[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8101842508412121662) { - out_8101842508412121662[0] = 0; - out_8101842508412121662[1] = 0; - out_8101842508412121662[2] = 0; - out_8101842508412121662[3] = 0; - out_8101842508412121662[4] = 1; - out_8101842508412121662[5] = 0; - out_8101842508412121662[6] = 0; - out_8101842508412121662[7] = 0; - out_8101842508412121662[8] = 0; - out_8101842508412121662[9] = 0; - out_8101842508412121662[10] = 0; - out_8101842508412121662[11] = 0; - out_8101842508412121662[12] = 0; - out_8101842508412121662[13] = 0; - out_8101842508412121662[14] = 1; - out_8101842508412121662[15] = 0; - out_8101842508412121662[16] = 0; - out_8101842508412121662[17] = 0; +void H_24(double *state, double *unused, double *out_350399696658956935) { + out_350399696658956935[0] = 0; + out_350399696658956935[1] = 0; + out_350399696658956935[2] = 0; + out_350399696658956935[3] = 0; + out_350399696658956935[4] = 1; + out_350399696658956935[5] = 0; + out_350399696658956935[6] = 0; + out_350399696658956935[7] = 0; + out_350399696658956935[8] = 0; + out_350399696658956935[9] = 0; + out_350399696658956935[10] = 0; + out_350399696658956935[11] = 0; + out_350399696658956935[12] = 0; + out_350399696658956935[13] = 0; + out_350399696658956935[14] = 1; + out_350399696658956935[15] = 0; + out_350399696658956935[16] = 0; + out_350399696658956935[17] = 0; } -void h_30(double *state, double *unused, double *out_5326934734559811096) { - out_5326934734559811096[0] = state[4]; +void h_30(double *state, double *unused, double *out_7182326145015715531) { + out_7182326145015715531[0] = state[4]; } -void H_30(double *state, double *unused, double *out_9141435148707196171) { - out_9141435148707196171[0] = 0; - out_9141435148707196171[1] = 0; - out_9141435148707196171[2] = 0; - out_9141435148707196171[3] = 0; - out_9141435148707196171[4] = 1; - out_9141435148707196171[5] = 0; - out_9141435148707196171[6] = 0; - out_9141435148707196171[7] = 0; - out_9141435148707196171[8] = 0; +void H_30(double *state, double *unused, double *out_689192943636117574) { + out_689192943636117574[0] = 0; + out_689192943636117574[1] = 0; + out_689192943636117574[2] = 0; + out_689192943636117574[3] = 0; + out_689192943636117574[4] = 1; + out_689192943636117574[5] = 0; + out_689192943636117574[6] = 0; + out_689192943636117574[7] = 0; + out_689192943636117574[8] = 0; } -void h_26(double *state, double *unused, double *out_5930250619236288613) { - out_5930250619236288613[0] = state[7]; +void h_26(double *state, double *unused, double *out_2037436081900067994) { + out_2037436081900067994[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3045472647621050594) { - out_3045472647621050594[0] = 0; - out_3045472647621050594[1] = 0; - out_3045472647621050594[2] = 0; - out_3045472647621050594[3] = 0; - out_3045472647621050594[4] = 0; - out_3045472647621050594[5] = 0; - out_3045472647621050594[6] = 0; - out_3045472647621050594[7] = 1; - out_3045472647621050594[8] = 0; +void H_26(double *state, double *unused, double *out_6949029221017422425) { + out_6949029221017422425[0] = 0; + out_6949029221017422425[1] = 0; + out_6949029221017422425[2] = 0; + out_6949029221017422425[3] = 0; + out_6949029221017422425[4] = 0; + out_6949029221017422425[5] = 0; + out_6949029221017422425[6] = 0; + out_6949029221017422425[7] = 1; + out_6949029221017422425[8] = 0; } -void h_27(double *state, double *unused, double *out_7982300169478535334) { - out_7982300169478535334[0] = state[3]; +void h_27(double *state, double *unused, double *out_6184030537079166109) { + out_6184030537079166109[0] = state[3]; } -void H_27(double *state, double *unused, double *out_84516324567073709) { - out_84516324567073709[0] = 0; - out_84516324567073709[1] = 0; - out_84516324567073709[2] = 0; - out_84516324567073709[3] = 1; - out_84516324567073709[4] = 0; - out_84516324567073709[5] = 0; - out_84516324567073709[6] = 0; - out_84516324567073709[7] = 0; - out_84516324567073709[8] = 0; +void H_27(double *state, double *unused, double *out_1534401127547825643) { + out_1534401127547825643[0] = 0; + out_1534401127547825643[1] = 0; + out_1534401127547825643[2] = 0; + out_1534401127547825643[3] = 1; + out_1534401127547825643[4] = 0; + out_1534401127547825643[5] = 0; + out_1534401127547825643[6] = 0; + out_1534401127547825643[7] = 0; + out_1534401127547825643[8] = 0; } -void h_29(double *state, double *unused, double *out_3693608677880665346) { - out_3693608677880665346[0] = state[1]; +void h_29(double *state, double *unused, double *out_783284627601866385) { + out_783284627601866385[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2769510980681890804) { - out_2769510980681890804[0] = 0; - out_2769510980681890804[1] = 1; - out_2769510980681890804[2] = 0; - out_2769510980681890804[3] = 0; - out_2769510980681890804[4] = 0; - out_2769510980681890804[5] = 0; - out_2769510980681890804[6] = 0; - out_2769510980681890804[7] = 0; - out_2769510980681890804[8] = 0; +void H_29(double *state, double *unused, double *out_178961599321725390) { + out_178961599321725390[0] = 0; + out_178961599321725390[1] = 1; + out_178961599321725390[2] = 0; + out_178961599321725390[3] = 0; + out_178961599321725390[4] = 0; + out_178961599321725390[5] = 0; + out_178961599321725390[6] = 0; + out_178961599321725390[7] = 0; + out_178961599321725390[8] = 0; } -void h_28(double *state, double *unused, double *out_9150043970554677071) { - out_9150043970554677071[0] = state[0]; +void h_28(double *state, double *unused, double *out_1182357269418320464) { + out_1182357269418320464[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4733141252247217055) { - out_4733141252247217055[0] = 1; - out_4733141252247217055[1] = 0; - out_4733141252247217055[2] = 0; - out_4733141252247217055[3] = 0; - out_4733141252247217055[4] = 0; - out_4733141252247217055[5] = 0; - out_4733141252247217055[6] = 0; - out_4733141252247217055[7] = 0; - out_4733141252247217055[8] = 0; +void H_28(double *state, double *unused, double *out_5261360616391255964) { + out_5261360616391255964[0] = 1; + out_5261360616391255964[1] = 0; + out_5261360616391255964[2] = 0; + out_5261360616391255964[3] = 0; + out_5261360616391255964[4] = 0; + out_5261360616391255964[5] = 0; + out_5261360616391255964[6] = 0; + out_5261360616391255964[7] = 0; + out_5261360616391255964[8] = 0; } -void h_31(double *state, double *unused, double *out_1601087160141668985) { - out_1601087160141668985[0] = state[8]; +void h_31(double *state, double *unused, double *out_3042951309714601982) { + out_3042951309714601982[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2419264545387699118) { - out_2419264545387699118[0] = 0; - out_2419264545387699118[1] = 0; - out_2419264545387699118[2] = 0; - out_2419264545387699118[3] = 0; - out_2419264545387699118[4] = 0; - out_2419264545387699118[5] = 0; - out_2419264545387699118[6] = 0; - out_2419264545387699118[7] = 0; - out_2419264545387699118[8] = 1; +void H_31(double *state, double *unused, double *out_3176879940266405773) { + out_3176879940266405773[0] = 0; + out_3176879940266405773[1] = 0; + out_3176879940266405773[2] = 0; + out_3176879940266405773[3] = 0; + out_3176879940266405773[4] = 0; + out_3176879940266405773[5] = 0; + out_3176879940266405773[6] = 0; + out_3176879940266405773[7] = 0; + out_3176879940266405773[8] = 1; } #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_6892109097522362188) { - err_fun(nom_x, delta_x, out_6892109097522362188); +void car_err_fun(double *nom_x, double *delta_x, double *out_9063299258885678089) { + err_fun(nom_x, delta_x, out_9063299258885678089); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5432001000781993507) { - inv_err_fun(nom_x, true_x, out_5432001000781993507); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5249330638840185569) { + inv_err_fun(nom_x, true_x, out_5249330638840185569); } -void car_H_mod_fun(double *state, double *out_1134362066478752987) { - H_mod_fun(state, out_1134362066478752987); +void car_H_mod_fun(double *state, double *out_6730506552132857878) { + H_mod_fun(state, out_6730506552132857878); } -void car_f_fun(double *state, double dt, double *out_9123630075498474389) { - f_fun(state, dt, out_9123630075498474389); +void car_f_fun(double *state, double dt, double *out_4022133726006847666) { + f_fun(state, dt, out_4022133726006847666); } -void car_F_fun(double *state, double dt, double *out_5012636381780854897) { - F_fun(state, dt, out_5012636381780854897); +void car_F_fun(double *state, double dt, double *out_1291922867413743277) { + F_fun(state, dt, out_1291922867413743277); } -void car_h_25(double *state, double *unused, double *out_5169748066208681951) { - h_25(state, unused, out_5169748066208681951); +void car_h_25(double *state, double *unused, double *out_7640527507174277193) { + h_25(state, unused, out_7640527507174277193); } -void car_H_25(double *state, double *unused, double *out_6786975966495106818) { - H_25(state, unused, out_6786975966495106818); +void car_H_25(double *state, double *unused, double *out_3207525902143366201) { + H_25(state, unused, out_3207525902143366201); } -void car_h_24(double *state, double *unused, double *out_6620362679693609370) { - h_24(state, unused, out_6620362679693609370); +void car_h_24(double *state, double *unused, double *out_7298880785486689687) { + h_24(state, unused, out_7298880785486689687); } -void car_H_24(double *state, double *unused, double *out_8101842508412121662) { - H_24(state, unused, out_8101842508412121662); +void car_H_24(double *state, double *unused, double *out_350399696658956935) { + H_24(state, unused, out_350399696658956935); } -void car_h_30(double *state, double *unused, double *out_5326934734559811096) { - h_30(state, unused, out_5326934734559811096); +void car_h_30(double *state, double *unused, double *out_7182326145015715531) { + h_30(state, unused, out_7182326145015715531); } -void car_H_30(double *state, double *unused, double *out_9141435148707196171) { - H_30(state, unused, out_9141435148707196171); +void car_H_30(double *state, double *unused, double *out_689192943636117574) { + H_30(state, unused, out_689192943636117574); } -void car_h_26(double *state, double *unused, double *out_5930250619236288613) { - h_26(state, unused, out_5930250619236288613); +void car_h_26(double *state, double *unused, double *out_2037436081900067994) { + h_26(state, unused, out_2037436081900067994); } -void car_H_26(double *state, double *unused, double *out_3045472647621050594) { - H_26(state, unused, out_3045472647621050594); +void car_H_26(double *state, double *unused, double *out_6949029221017422425) { + H_26(state, unused, out_6949029221017422425); } -void car_h_27(double *state, double *unused, double *out_7982300169478535334) { - h_27(state, unused, out_7982300169478535334); +void car_h_27(double *state, double *unused, double *out_6184030537079166109) { + h_27(state, unused, out_6184030537079166109); } -void car_H_27(double *state, double *unused, double *out_84516324567073709) { - H_27(state, unused, out_84516324567073709); +void car_H_27(double *state, double *unused, double *out_1534401127547825643) { + H_27(state, unused, out_1534401127547825643); } -void car_h_29(double *state, double *unused, double *out_3693608677880665346) { - h_29(state, unused, out_3693608677880665346); +void car_h_29(double *state, double *unused, double *out_783284627601866385) { + h_29(state, unused, out_783284627601866385); } -void car_H_29(double *state, double *unused, double *out_2769510980681890804) { - H_29(state, unused, out_2769510980681890804); +void car_H_29(double *state, double *unused, double *out_178961599321725390) { + H_29(state, unused, out_178961599321725390); } -void car_h_28(double *state, double *unused, double *out_9150043970554677071) { - h_28(state, unused, out_9150043970554677071); +void car_h_28(double *state, double *unused, double *out_1182357269418320464) { + h_28(state, unused, out_1182357269418320464); } -void car_H_28(double *state, double *unused, double *out_4733141252247217055) { - H_28(state, unused, out_4733141252247217055); +void car_H_28(double *state, double *unused, double *out_5261360616391255964) { + H_28(state, unused, out_5261360616391255964); } -void car_h_31(double *state, double *unused, double *out_1601087160141668985) { - h_31(state, unused, out_1601087160141668985); +void car_h_31(double *state, double *unused, double *out_3042951309714601982) { + h_31(state, unused, out_3042951309714601982); } -void car_H_31(double *state, double *unused, double *out_2419264545387699118) { - H_31(state, unused, out_2419264545387699118); +void car_H_31(double *state, double *unused, double *out_3176879940266405773) { + H_31(state, unused, out_3176879940266405773); } 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 93126b41b..659bd8b2f 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_6892109097522362188); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5432001000781993507); -void car_H_mod_fun(double *state, double *out_1134362066478752987); -void car_f_fun(double *state, double dt, double *out_9123630075498474389); -void car_F_fun(double *state, double dt, double *out_5012636381780854897); -void car_h_25(double *state, double *unused, double *out_5169748066208681951); -void car_H_25(double *state, double *unused, double *out_6786975966495106818); -void car_h_24(double *state, double *unused, double *out_6620362679693609370); -void car_H_24(double *state, double *unused, double *out_8101842508412121662); -void car_h_30(double *state, double *unused, double *out_5326934734559811096); -void car_H_30(double *state, double *unused, double *out_9141435148707196171); -void car_h_26(double *state, double *unused, double *out_5930250619236288613); -void car_H_26(double *state, double *unused, double *out_3045472647621050594); -void car_h_27(double *state, double *unused, double *out_7982300169478535334); -void car_H_27(double *state, double *unused, double *out_84516324567073709); -void car_h_29(double *state, double *unused, double *out_3693608677880665346); -void car_H_29(double *state, double *unused, double *out_2769510980681890804); -void car_h_28(double *state, double *unused, double *out_9150043970554677071); -void car_H_28(double *state, double *unused, double *out_4733141252247217055); -void car_h_31(double *state, double *unused, double *out_1601087160141668985); -void car_H_31(double *state, double *unused, double *out_2419264545387699118); +void car_err_fun(double *nom_x, double *delta_x, double *out_9063299258885678089); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5249330638840185569); +void car_H_mod_fun(double *state, double *out_6730506552132857878); +void car_f_fun(double *state, double dt, double *out_4022133726006847666); +void car_F_fun(double *state, double dt, double *out_1291922867413743277); +void car_h_25(double *state, double *unused, double *out_7640527507174277193); +void car_H_25(double *state, double *unused, double *out_3207525902143366201); +void car_h_24(double *state, double *unused, double *out_7298880785486689687); +void car_H_24(double *state, double *unused, double *out_350399696658956935); +void car_h_30(double *state, double *unused, double *out_7182326145015715531); +void car_H_30(double *state, double *unused, double *out_689192943636117574); +void car_h_26(double *state, double *unused, double *out_2037436081900067994); +void car_H_26(double *state, double *unused, double *out_6949029221017422425); +void car_h_27(double *state, double *unused, double *out_6184030537079166109); +void car_H_27(double *state, double *unused, double *out_1534401127547825643); +void car_h_29(double *state, double *unused, double *out_783284627601866385); +void car_H_29(double *state, double *unused, double *out_178961599321725390); +void car_h_28(double *state, double *unused, double *out_1182357269418320464); +void car_H_28(double *state, double *unused, double *out_5261360616391255964); +void car_h_31(double *state, double *unused, double *out_3042951309714601982); +void car_H_31(double *state, double *unused, double *out_3176879940266405773); void car_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 a0abcf595..54ab0fc78 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_2367672105654731741) { - out_2367672105654731741[0] = delta_x[0] + nom_x[0]; - out_2367672105654731741[1] = delta_x[1] + nom_x[1]; - out_2367672105654731741[2] = delta_x[2] + nom_x[2]; - out_2367672105654731741[3] = delta_x[3] + nom_x[3]; - out_2367672105654731741[4] = delta_x[4] + nom_x[4]; - out_2367672105654731741[5] = delta_x[5] + nom_x[5]; - out_2367672105654731741[6] = delta_x[6] + nom_x[6]; - out_2367672105654731741[7] = delta_x[7] + nom_x[7]; - out_2367672105654731741[8] = delta_x[8] + nom_x[8]; - out_2367672105654731741[9] = delta_x[9] + nom_x[9]; - out_2367672105654731741[10] = delta_x[10] + nom_x[10]; - out_2367672105654731741[11] = delta_x[11] + nom_x[11]; - out_2367672105654731741[12] = delta_x[12] + nom_x[12]; - out_2367672105654731741[13] = delta_x[13] + nom_x[13]; - out_2367672105654731741[14] = delta_x[14] + nom_x[14]; - out_2367672105654731741[15] = delta_x[15] + nom_x[15]; - out_2367672105654731741[16] = delta_x[16] + nom_x[16]; - out_2367672105654731741[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5169544621376104769) { + out_5169544621376104769[0] = delta_x[0] + nom_x[0]; + out_5169544621376104769[1] = delta_x[1] + nom_x[1]; + out_5169544621376104769[2] = delta_x[2] + nom_x[2]; + out_5169544621376104769[3] = delta_x[3] + nom_x[3]; + out_5169544621376104769[4] = delta_x[4] + nom_x[4]; + out_5169544621376104769[5] = delta_x[5] + nom_x[5]; + out_5169544621376104769[6] = delta_x[6] + nom_x[6]; + out_5169544621376104769[7] = delta_x[7] + nom_x[7]; + out_5169544621376104769[8] = delta_x[8] + nom_x[8]; + out_5169544621376104769[9] = delta_x[9] + nom_x[9]; + out_5169544621376104769[10] = delta_x[10] + nom_x[10]; + out_5169544621376104769[11] = delta_x[11] + nom_x[11]; + out_5169544621376104769[12] = delta_x[12] + nom_x[12]; + out_5169544621376104769[13] = delta_x[13] + nom_x[13]; + out_5169544621376104769[14] = delta_x[14] + nom_x[14]; + out_5169544621376104769[15] = delta_x[15] + nom_x[15]; + out_5169544621376104769[16] = delta_x[16] + nom_x[16]; + out_5169544621376104769[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5219205296235492699) { - out_5219205296235492699[0] = -nom_x[0] + true_x[0]; - out_5219205296235492699[1] = -nom_x[1] + true_x[1]; - out_5219205296235492699[2] = -nom_x[2] + true_x[2]; - out_5219205296235492699[3] = -nom_x[3] + true_x[3]; - out_5219205296235492699[4] = -nom_x[4] + true_x[4]; - out_5219205296235492699[5] = -nom_x[5] + true_x[5]; - out_5219205296235492699[6] = -nom_x[6] + true_x[6]; - out_5219205296235492699[7] = -nom_x[7] + true_x[7]; - out_5219205296235492699[8] = -nom_x[8] + true_x[8]; - out_5219205296235492699[9] = -nom_x[9] + true_x[9]; - out_5219205296235492699[10] = -nom_x[10] + true_x[10]; - out_5219205296235492699[11] = -nom_x[11] + true_x[11]; - out_5219205296235492699[12] = -nom_x[12] + true_x[12]; - out_5219205296235492699[13] = -nom_x[13] + true_x[13]; - out_5219205296235492699[14] = -nom_x[14] + true_x[14]; - out_5219205296235492699[15] = -nom_x[15] + true_x[15]; - out_5219205296235492699[16] = -nom_x[16] + true_x[16]; - out_5219205296235492699[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5560919447530739345) { + out_5560919447530739345[0] = -nom_x[0] + true_x[0]; + out_5560919447530739345[1] = -nom_x[1] + true_x[1]; + out_5560919447530739345[2] = -nom_x[2] + true_x[2]; + out_5560919447530739345[3] = -nom_x[3] + true_x[3]; + out_5560919447530739345[4] = -nom_x[4] + true_x[4]; + out_5560919447530739345[5] = -nom_x[5] + true_x[5]; + out_5560919447530739345[6] = -nom_x[6] + true_x[6]; + out_5560919447530739345[7] = -nom_x[7] + true_x[7]; + out_5560919447530739345[8] = -nom_x[8] + true_x[8]; + out_5560919447530739345[9] = -nom_x[9] + true_x[9]; + out_5560919447530739345[10] = -nom_x[10] + true_x[10]; + out_5560919447530739345[11] = -nom_x[11] + true_x[11]; + out_5560919447530739345[12] = -nom_x[12] + true_x[12]; + out_5560919447530739345[13] = -nom_x[13] + true_x[13]; + out_5560919447530739345[14] = -nom_x[14] + true_x[14]; + out_5560919447530739345[15] = -nom_x[15] + true_x[15]; + out_5560919447530739345[16] = -nom_x[16] + true_x[16]; + out_5560919447530739345[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7701265832873588876) { - out_7701265832873588876[0] = 1.0; - out_7701265832873588876[1] = 0.0; - out_7701265832873588876[2] = 0.0; - out_7701265832873588876[3] = 0.0; - out_7701265832873588876[4] = 0.0; - out_7701265832873588876[5] = 0.0; - out_7701265832873588876[6] = 0.0; - out_7701265832873588876[7] = 0.0; - out_7701265832873588876[8] = 0.0; - out_7701265832873588876[9] = 0.0; - out_7701265832873588876[10] = 0.0; - out_7701265832873588876[11] = 0.0; - out_7701265832873588876[12] = 0.0; - out_7701265832873588876[13] = 0.0; - out_7701265832873588876[14] = 0.0; - out_7701265832873588876[15] = 0.0; - out_7701265832873588876[16] = 0.0; - out_7701265832873588876[17] = 0.0; - out_7701265832873588876[18] = 0.0; - out_7701265832873588876[19] = 1.0; - out_7701265832873588876[20] = 0.0; - out_7701265832873588876[21] = 0.0; - out_7701265832873588876[22] = 0.0; - out_7701265832873588876[23] = 0.0; - out_7701265832873588876[24] = 0.0; - out_7701265832873588876[25] = 0.0; - out_7701265832873588876[26] = 0.0; - out_7701265832873588876[27] = 0.0; - out_7701265832873588876[28] = 0.0; - out_7701265832873588876[29] = 0.0; - out_7701265832873588876[30] = 0.0; - out_7701265832873588876[31] = 0.0; - out_7701265832873588876[32] = 0.0; - out_7701265832873588876[33] = 0.0; - out_7701265832873588876[34] = 0.0; - out_7701265832873588876[35] = 0.0; - out_7701265832873588876[36] = 0.0; - out_7701265832873588876[37] = 0.0; - out_7701265832873588876[38] = 1.0; - out_7701265832873588876[39] = 0.0; - out_7701265832873588876[40] = 0.0; - out_7701265832873588876[41] = 0.0; - out_7701265832873588876[42] = 0.0; - out_7701265832873588876[43] = 0.0; - out_7701265832873588876[44] = 0.0; - out_7701265832873588876[45] = 0.0; - out_7701265832873588876[46] = 0.0; - out_7701265832873588876[47] = 0.0; - out_7701265832873588876[48] = 0.0; - out_7701265832873588876[49] = 0.0; - out_7701265832873588876[50] = 0.0; - out_7701265832873588876[51] = 0.0; - out_7701265832873588876[52] = 0.0; - out_7701265832873588876[53] = 0.0; - out_7701265832873588876[54] = 0.0; - out_7701265832873588876[55] = 0.0; - out_7701265832873588876[56] = 0.0; - out_7701265832873588876[57] = 1.0; - out_7701265832873588876[58] = 0.0; - out_7701265832873588876[59] = 0.0; - out_7701265832873588876[60] = 0.0; - out_7701265832873588876[61] = 0.0; - out_7701265832873588876[62] = 0.0; - out_7701265832873588876[63] = 0.0; - out_7701265832873588876[64] = 0.0; - out_7701265832873588876[65] = 0.0; - out_7701265832873588876[66] = 0.0; - out_7701265832873588876[67] = 0.0; - out_7701265832873588876[68] = 0.0; - out_7701265832873588876[69] = 0.0; - out_7701265832873588876[70] = 0.0; - out_7701265832873588876[71] = 0.0; - out_7701265832873588876[72] = 0.0; - out_7701265832873588876[73] = 0.0; - out_7701265832873588876[74] = 0.0; - out_7701265832873588876[75] = 0.0; - out_7701265832873588876[76] = 1.0; - out_7701265832873588876[77] = 0.0; - out_7701265832873588876[78] = 0.0; - out_7701265832873588876[79] = 0.0; - out_7701265832873588876[80] = 0.0; - out_7701265832873588876[81] = 0.0; - out_7701265832873588876[82] = 0.0; - out_7701265832873588876[83] = 0.0; - out_7701265832873588876[84] = 0.0; - out_7701265832873588876[85] = 0.0; - out_7701265832873588876[86] = 0.0; - out_7701265832873588876[87] = 0.0; - out_7701265832873588876[88] = 0.0; - out_7701265832873588876[89] = 0.0; - out_7701265832873588876[90] = 0.0; - out_7701265832873588876[91] = 0.0; - out_7701265832873588876[92] = 0.0; - out_7701265832873588876[93] = 0.0; - out_7701265832873588876[94] = 0.0; - out_7701265832873588876[95] = 1.0; - out_7701265832873588876[96] = 0.0; - out_7701265832873588876[97] = 0.0; - out_7701265832873588876[98] = 0.0; - out_7701265832873588876[99] = 0.0; - out_7701265832873588876[100] = 0.0; - out_7701265832873588876[101] = 0.0; - out_7701265832873588876[102] = 0.0; - out_7701265832873588876[103] = 0.0; - out_7701265832873588876[104] = 0.0; - out_7701265832873588876[105] = 0.0; - out_7701265832873588876[106] = 0.0; - out_7701265832873588876[107] = 0.0; - out_7701265832873588876[108] = 0.0; - out_7701265832873588876[109] = 0.0; - out_7701265832873588876[110] = 0.0; - out_7701265832873588876[111] = 0.0; - out_7701265832873588876[112] = 0.0; - out_7701265832873588876[113] = 0.0; - out_7701265832873588876[114] = 1.0; - out_7701265832873588876[115] = 0.0; - out_7701265832873588876[116] = 0.0; - out_7701265832873588876[117] = 0.0; - out_7701265832873588876[118] = 0.0; - out_7701265832873588876[119] = 0.0; - out_7701265832873588876[120] = 0.0; - out_7701265832873588876[121] = 0.0; - out_7701265832873588876[122] = 0.0; - out_7701265832873588876[123] = 0.0; - out_7701265832873588876[124] = 0.0; - out_7701265832873588876[125] = 0.0; - out_7701265832873588876[126] = 0.0; - out_7701265832873588876[127] = 0.0; - out_7701265832873588876[128] = 0.0; - out_7701265832873588876[129] = 0.0; - out_7701265832873588876[130] = 0.0; - out_7701265832873588876[131] = 0.0; - out_7701265832873588876[132] = 0.0; - out_7701265832873588876[133] = 1.0; - out_7701265832873588876[134] = 0.0; - out_7701265832873588876[135] = 0.0; - out_7701265832873588876[136] = 0.0; - out_7701265832873588876[137] = 0.0; - out_7701265832873588876[138] = 0.0; - out_7701265832873588876[139] = 0.0; - out_7701265832873588876[140] = 0.0; - out_7701265832873588876[141] = 0.0; - out_7701265832873588876[142] = 0.0; - out_7701265832873588876[143] = 0.0; - out_7701265832873588876[144] = 0.0; - out_7701265832873588876[145] = 0.0; - out_7701265832873588876[146] = 0.0; - out_7701265832873588876[147] = 0.0; - out_7701265832873588876[148] = 0.0; - out_7701265832873588876[149] = 0.0; - out_7701265832873588876[150] = 0.0; - out_7701265832873588876[151] = 0.0; - out_7701265832873588876[152] = 1.0; - out_7701265832873588876[153] = 0.0; - out_7701265832873588876[154] = 0.0; - out_7701265832873588876[155] = 0.0; - out_7701265832873588876[156] = 0.0; - out_7701265832873588876[157] = 0.0; - out_7701265832873588876[158] = 0.0; - out_7701265832873588876[159] = 0.0; - out_7701265832873588876[160] = 0.0; - out_7701265832873588876[161] = 0.0; - out_7701265832873588876[162] = 0.0; - out_7701265832873588876[163] = 0.0; - out_7701265832873588876[164] = 0.0; - out_7701265832873588876[165] = 0.0; - out_7701265832873588876[166] = 0.0; - out_7701265832873588876[167] = 0.0; - out_7701265832873588876[168] = 0.0; - out_7701265832873588876[169] = 0.0; - out_7701265832873588876[170] = 0.0; - out_7701265832873588876[171] = 1.0; - out_7701265832873588876[172] = 0.0; - out_7701265832873588876[173] = 0.0; - out_7701265832873588876[174] = 0.0; - out_7701265832873588876[175] = 0.0; - out_7701265832873588876[176] = 0.0; - out_7701265832873588876[177] = 0.0; - out_7701265832873588876[178] = 0.0; - out_7701265832873588876[179] = 0.0; - out_7701265832873588876[180] = 0.0; - out_7701265832873588876[181] = 0.0; - out_7701265832873588876[182] = 0.0; - out_7701265832873588876[183] = 0.0; - out_7701265832873588876[184] = 0.0; - out_7701265832873588876[185] = 0.0; - out_7701265832873588876[186] = 0.0; - out_7701265832873588876[187] = 0.0; - out_7701265832873588876[188] = 0.0; - out_7701265832873588876[189] = 0.0; - out_7701265832873588876[190] = 1.0; - out_7701265832873588876[191] = 0.0; - out_7701265832873588876[192] = 0.0; - out_7701265832873588876[193] = 0.0; - out_7701265832873588876[194] = 0.0; - out_7701265832873588876[195] = 0.0; - out_7701265832873588876[196] = 0.0; - out_7701265832873588876[197] = 0.0; - out_7701265832873588876[198] = 0.0; - out_7701265832873588876[199] = 0.0; - out_7701265832873588876[200] = 0.0; - out_7701265832873588876[201] = 0.0; - out_7701265832873588876[202] = 0.0; - out_7701265832873588876[203] = 0.0; - out_7701265832873588876[204] = 0.0; - out_7701265832873588876[205] = 0.0; - out_7701265832873588876[206] = 0.0; - out_7701265832873588876[207] = 0.0; - out_7701265832873588876[208] = 0.0; - out_7701265832873588876[209] = 1.0; - out_7701265832873588876[210] = 0.0; - out_7701265832873588876[211] = 0.0; - out_7701265832873588876[212] = 0.0; - out_7701265832873588876[213] = 0.0; - out_7701265832873588876[214] = 0.0; - out_7701265832873588876[215] = 0.0; - out_7701265832873588876[216] = 0.0; - out_7701265832873588876[217] = 0.0; - out_7701265832873588876[218] = 0.0; - out_7701265832873588876[219] = 0.0; - out_7701265832873588876[220] = 0.0; - out_7701265832873588876[221] = 0.0; - out_7701265832873588876[222] = 0.0; - out_7701265832873588876[223] = 0.0; - out_7701265832873588876[224] = 0.0; - out_7701265832873588876[225] = 0.0; - out_7701265832873588876[226] = 0.0; - out_7701265832873588876[227] = 0.0; - out_7701265832873588876[228] = 1.0; - out_7701265832873588876[229] = 0.0; - out_7701265832873588876[230] = 0.0; - out_7701265832873588876[231] = 0.0; - out_7701265832873588876[232] = 0.0; - out_7701265832873588876[233] = 0.0; - out_7701265832873588876[234] = 0.0; - out_7701265832873588876[235] = 0.0; - out_7701265832873588876[236] = 0.0; - out_7701265832873588876[237] = 0.0; - out_7701265832873588876[238] = 0.0; - out_7701265832873588876[239] = 0.0; - out_7701265832873588876[240] = 0.0; - out_7701265832873588876[241] = 0.0; - out_7701265832873588876[242] = 0.0; - out_7701265832873588876[243] = 0.0; - out_7701265832873588876[244] = 0.0; - out_7701265832873588876[245] = 0.0; - out_7701265832873588876[246] = 0.0; - out_7701265832873588876[247] = 1.0; - out_7701265832873588876[248] = 0.0; - out_7701265832873588876[249] = 0.0; - out_7701265832873588876[250] = 0.0; - out_7701265832873588876[251] = 0.0; - out_7701265832873588876[252] = 0.0; - out_7701265832873588876[253] = 0.0; - out_7701265832873588876[254] = 0.0; - out_7701265832873588876[255] = 0.0; - out_7701265832873588876[256] = 0.0; - out_7701265832873588876[257] = 0.0; - out_7701265832873588876[258] = 0.0; - out_7701265832873588876[259] = 0.0; - out_7701265832873588876[260] = 0.0; - out_7701265832873588876[261] = 0.0; - out_7701265832873588876[262] = 0.0; - out_7701265832873588876[263] = 0.0; - out_7701265832873588876[264] = 0.0; - out_7701265832873588876[265] = 0.0; - out_7701265832873588876[266] = 1.0; - out_7701265832873588876[267] = 0.0; - out_7701265832873588876[268] = 0.0; - out_7701265832873588876[269] = 0.0; - out_7701265832873588876[270] = 0.0; - out_7701265832873588876[271] = 0.0; - out_7701265832873588876[272] = 0.0; - out_7701265832873588876[273] = 0.0; - out_7701265832873588876[274] = 0.0; - out_7701265832873588876[275] = 0.0; - out_7701265832873588876[276] = 0.0; - out_7701265832873588876[277] = 0.0; - out_7701265832873588876[278] = 0.0; - out_7701265832873588876[279] = 0.0; - out_7701265832873588876[280] = 0.0; - out_7701265832873588876[281] = 0.0; - out_7701265832873588876[282] = 0.0; - out_7701265832873588876[283] = 0.0; - out_7701265832873588876[284] = 0.0; - out_7701265832873588876[285] = 1.0; - out_7701265832873588876[286] = 0.0; - out_7701265832873588876[287] = 0.0; - out_7701265832873588876[288] = 0.0; - out_7701265832873588876[289] = 0.0; - out_7701265832873588876[290] = 0.0; - out_7701265832873588876[291] = 0.0; - out_7701265832873588876[292] = 0.0; - out_7701265832873588876[293] = 0.0; - out_7701265832873588876[294] = 0.0; - out_7701265832873588876[295] = 0.0; - out_7701265832873588876[296] = 0.0; - out_7701265832873588876[297] = 0.0; - out_7701265832873588876[298] = 0.0; - out_7701265832873588876[299] = 0.0; - out_7701265832873588876[300] = 0.0; - out_7701265832873588876[301] = 0.0; - out_7701265832873588876[302] = 0.0; - out_7701265832873588876[303] = 0.0; - out_7701265832873588876[304] = 1.0; - out_7701265832873588876[305] = 0.0; - out_7701265832873588876[306] = 0.0; - out_7701265832873588876[307] = 0.0; - out_7701265832873588876[308] = 0.0; - out_7701265832873588876[309] = 0.0; - out_7701265832873588876[310] = 0.0; - out_7701265832873588876[311] = 0.0; - out_7701265832873588876[312] = 0.0; - out_7701265832873588876[313] = 0.0; - out_7701265832873588876[314] = 0.0; - out_7701265832873588876[315] = 0.0; - out_7701265832873588876[316] = 0.0; - out_7701265832873588876[317] = 0.0; - out_7701265832873588876[318] = 0.0; - out_7701265832873588876[319] = 0.0; - out_7701265832873588876[320] = 0.0; - out_7701265832873588876[321] = 0.0; - out_7701265832873588876[322] = 0.0; - out_7701265832873588876[323] = 1.0; +void H_mod_fun(double *state, double *out_8932661143090135832) { + out_8932661143090135832[0] = 1.0; + out_8932661143090135832[1] = 0.0; + out_8932661143090135832[2] = 0.0; + out_8932661143090135832[3] = 0.0; + out_8932661143090135832[4] = 0.0; + out_8932661143090135832[5] = 0.0; + out_8932661143090135832[6] = 0.0; + out_8932661143090135832[7] = 0.0; + out_8932661143090135832[8] = 0.0; + out_8932661143090135832[9] = 0.0; + out_8932661143090135832[10] = 0.0; + out_8932661143090135832[11] = 0.0; + out_8932661143090135832[12] = 0.0; + out_8932661143090135832[13] = 0.0; + out_8932661143090135832[14] = 0.0; + out_8932661143090135832[15] = 0.0; + out_8932661143090135832[16] = 0.0; + out_8932661143090135832[17] = 0.0; + out_8932661143090135832[18] = 0.0; + out_8932661143090135832[19] = 1.0; + out_8932661143090135832[20] = 0.0; + out_8932661143090135832[21] = 0.0; + out_8932661143090135832[22] = 0.0; + out_8932661143090135832[23] = 0.0; + out_8932661143090135832[24] = 0.0; + out_8932661143090135832[25] = 0.0; + out_8932661143090135832[26] = 0.0; + out_8932661143090135832[27] = 0.0; + out_8932661143090135832[28] = 0.0; + out_8932661143090135832[29] = 0.0; + out_8932661143090135832[30] = 0.0; + out_8932661143090135832[31] = 0.0; + out_8932661143090135832[32] = 0.0; + out_8932661143090135832[33] = 0.0; + out_8932661143090135832[34] = 0.0; + out_8932661143090135832[35] = 0.0; + out_8932661143090135832[36] = 0.0; + out_8932661143090135832[37] = 0.0; + out_8932661143090135832[38] = 1.0; + out_8932661143090135832[39] = 0.0; + out_8932661143090135832[40] = 0.0; + out_8932661143090135832[41] = 0.0; + out_8932661143090135832[42] = 0.0; + out_8932661143090135832[43] = 0.0; + out_8932661143090135832[44] = 0.0; + out_8932661143090135832[45] = 0.0; + out_8932661143090135832[46] = 0.0; + out_8932661143090135832[47] = 0.0; + out_8932661143090135832[48] = 0.0; + out_8932661143090135832[49] = 0.0; + out_8932661143090135832[50] = 0.0; + out_8932661143090135832[51] = 0.0; + out_8932661143090135832[52] = 0.0; + out_8932661143090135832[53] = 0.0; + out_8932661143090135832[54] = 0.0; + out_8932661143090135832[55] = 0.0; + out_8932661143090135832[56] = 0.0; + out_8932661143090135832[57] = 1.0; + out_8932661143090135832[58] = 0.0; + out_8932661143090135832[59] = 0.0; + out_8932661143090135832[60] = 0.0; + out_8932661143090135832[61] = 0.0; + out_8932661143090135832[62] = 0.0; + out_8932661143090135832[63] = 0.0; + out_8932661143090135832[64] = 0.0; + out_8932661143090135832[65] = 0.0; + out_8932661143090135832[66] = 0.0; + out_8932661143090135832[67] = 0.0; + out_8932661143090135832[68] = 0.0; + out_8932661143090135832[69] = 0.0; + out_8932661143090135832[70] = 0.0; + out_8932661143090135832[71] = 0.0; + out_8932661143090135832[72] = 0.0; + out_8932661143090135832[73] = 0.0; + out_8932661143090135832[74] = 0.0; + out_8932661143090135832[75] = 0.0; + out_8932661143090135832[76] = 1.0; + out_8932661143090135832[77] = 0.0; + out_8932661143090135832[78] = 0.0; + out_8932661143090135832[79] = 0.0; + out_8932661143090135832[80] = 0.0; + out_8932661143090135832[81] = 0.0; + out_8932661143090135832[82] = 0.0; + out_8932661143090135832[83] = 0.0; + out_8932661143090135832[84] = 0.0; + out_8932661143090135832[85] = 0.0; + out_8932661143090135832[86] = 0.0; + out_8932661143090135832[87] = 0.0; + out_8932661143090135832[88] = 0.0; + out_8932661143090135832[89] = 0.0; + out_8932661143090135832[90] = 0.0; + out_8932661143090135832[91] = 0.0; + out_8932661143090135832[92] = 0.0; + out_8932661143090135832[93] = 0.0; + out_8932661143090135832[94] = 0.0; + out_8932661143090135832[95] = 1.0; + out_8932661143090135832[96] = 0.0; + out_8932661143090135832[97] = 0.0; + out_8932661143090135832[98] = 0.0; + out_8932661143090135832[99] = 0.0; + out_8932661143090135832[100] = 0.0; + out_8932661143090135832[101] = 0.0; + out_8932661143090135832[102] = 0.0; + out_8932661143090135832[103] = 0.0; + out_8932661143090135832[104] = 0.0; + out_8932661143090135832[105] = 0.0; + out_8932661143090135832[106] = 0.0; + out_8932661143090135832[107] = 0.0; + out_8932661143090135832[108] = 0.0; + out_8932661143090135832[109] = 0.0; + out_8932661143090135832[110] = 0.0; + out_8932661143090135832[111] = 0.0; + out_8932661143090135832[112] = 0.0; + out_8932661143090135832[113] = 0.0; + out_8932661143090135832[114] = 1.0; + out_8932661143090135832[115] = 0.0; + out_8932661143090135832[116] = 0.0; + out_8932661143090135832[117] = 0.0; + out_8932661143090135832[118] = 0.0; + out_8932661143090135832[119] = 0.0; + out_8932661143090135832[120] = 0.0; + out_8932661143090135832[121] = 0.0; + out_8932661143090135832[122] = 0.0; + out_8932661143090135832[123] = 0.0; + out_8932661143090135832[124] = 0.0; + out_8932661143090135832[125] = 0.0; + out_8932661143090135832[126] = 0.0; + out_8932661143090135832[127] = 0.0; + out_8932661143090135832[128] = 0.0; + out_8932661143090135832[129] = 0.0; + out_8932661143090135832[130] = 0.0; + out_8932661143090135832[131] = 0.0; + out_8932661143090135832[132] = 0.0; + out_8932661143090135832[133] = 1.0; + out_8932661143090135832[134] = 0.0; + out_8932661143090135832[135] = 0.0; + out_8932661143090135832[136] = 0.0; + out_8932661143090135832[137] = 0.0; + out_8932661143090135832[138] = 0.0; + out_8932661143090135832[139] = 0.0; + out_8932661143090135832[140] = 0.0; + out_8932661143090135832[141] = 0.0; + out_8932661143090135832[142] = 0.0; + out_8932661143090135832[143] = 0.0; + out_8932661143090135832[144] = 0.0; + out_8932661143090135832[145] = 0.0; + out_8932661143090135832[146] = 0.0; + out_8932661143090135832[147] = 0.0; + out_8932661143090135832[148] = 0.0; + out_8932661143090135832[149] = 0.0; + out_8932661143090135832[150] = 0.0; + out_8932661143090135832[151] = 0.0; + out_8932661143090135832[152] = 1.0; + out_8932661143090135832[153] = 0.0; + out_8932661143090135832[154] = 0.0; + out_8932661143090135832[155] = 0.0; + out_8932661143090135832[156] = 0.0; + out_8932661143090135832[157] = 0.0; + out_8932661143090135832[158] = 0.0; + out_8932661143090135832[159] = 0.0; + out_8932661143090135832[160] = 0.0; + out_8932661143090135832[161] = 0.0; + out_8932661143090135832[162] = 0.0; + out_8932661143090135832[163] = 0.0; + out_8932661143090135832[164] = 0.0; + out_8932661143090135832[165] = 0.0; + out_8932661143090135832[166] = 0.0; + out_8932661143090135832[167] = 0.0; + out_8932661143090135832[168] = 0.0; + out_8932661143090135832[169] = 0.0; + out_8932661143090135832[170] = 0.0; + out_8932661143090135832[171] = 1.0; + out_8932661143090135832[172] = 0.0; + out_8932661143090135832[173] = 0.0; + out_8932661143090135832[174] = 0.0; + out_8932661143090135832[175] = 0.0; + out_8932661143090135832[176] = 0.0; + out_8932661143090135832[177] = 0.0; + out_8932661143090135832[178] = 0.0; + out_8932661143090135832[179] = 0.0; + out_8932661143090135832[180] = 0.0; + out_8932661143090135832[181] = 0.0; + out_8932661143090135832[182] = 0.0; + out_8932661143090135832[183] = 0.0; + out_8932661143090135832[184] = 0.0; + out_8932661143090135832[185] = 0.0; + out_8932661143090135832[186] = 0.0; + out_8932661143090135832[187] = 0.0; + out_8932661143090135832[188] = 0.0; + out_8932661143090135832[189] = 0.0; + out_8932661143090135832[190] = 1.0; + out_8932661143090135832[191] = 0.0; + out_8932661143090135832[192] = 0.0; + out_8932661143090135832[193] = 0.0; + out_8932661143090135832[194] = 0.0; + out_8932661143090135832[195] = 0.0; + out_8932661143090135832[196] = 0.0; + out_8932661143090135832[197] = 0.0; + out_8932661143090135832[198] = 0.0; + out_8932661143090135832[199] = 0.0; + out_8932661143090135832[200] = 0.0; + out_8932661143090135832[201] = 0.0; + out_8932661143090135832[202] = 0.0; + out_8932661143090135832[203] = 0.0; + out_8932661143090135832[204] = 0.0; + out_8932661143090135832[205] = 0.0; + out_8932661143090135832[206] = 0.0; + out_8932661143090135832[207] = 0.0; + out_8932661143090135832[208] = 0.0; + out_8932661143090135832[209] = 1.0; + out_8932661143090135832[210] = 0.0; + out_8932661143090135832[211] = 0.0; + out_8932661143090135832[212] = 0.0; + out_8932661143090135832[213] = 0.0; + out_8932661143090135832[214] = 0.0; + out_8932661143090135832[215] = 0.0; + out_8932661143090135832[216] = 0.0; + out_8932661143090135832[217] = 0.0; + out_8932661143090135832[218] = 0.0; + out_8932661143090135832[219] = 0.0; + out_8932661143090135832[220] = 0.0; + out_8932661143090135832[221] = 0.0; + out_8932661143090135832[222] = 0.0; + out_8932661143090135832[223] = 0.0; + out_8932661143090135832[224] = 0.0; + out_8932661143090135832[225] = 0.0; + out_8932661143090135832[226] = 0.0; + out_8932661143090135832[227] = 0.0; + out_8932661143090135832[228] = 1.0; + out_8932661143090135832[229] = 0.0; + out_8932661143090135832[230] = 0.0; + out_8932661143090135832[231] = 0.0; + out_8932661143090135832[232] = 0.0; + out_8932661143090135832[233] = 0.0; + out_8932661143090135832[234] = 0.0; + out_8932661143090135832[235] = 0.0; + out_8932661143090135832[236] = 0.0; + out_8932661143090135832[237] = 0.0; + out_8932661143090135832[238] = 0.0; + out_8932661143090135832[239] = 0.0; + out_8932661143090135832[240] = 0.0; + out_8932661143090135832[241] = 0.0; + out_8932661143090135832[242] = 0.0; + out_8932661143090135832[243] = 0.0; + out_8932661143090135832[244] = 0.0; + out_8932661143090135832[245] = 0.0; + out_8932661143090135832[246] = 0.0; + out_8932661143090135832[247] = 1.0; + out_8932661143090135832[248] = 0.0; + out_8932661143090135832[249] = 0.0; + out_8932661143090135832[250] = 0.0; + out_8932661143090135832[251] = 0.0; + out_8932661143090135832[252] = 0.0; + out_8932661143090135832[253] = 0.0; + out_8932661143090135832[254] = 0.0; + out_8932661143090135832[255] = 0.0; + out_8932661143090135832[256] = 0.0; + out_8932661143090135832[257] = 0.0; + out_8932661143090135832[258] = 0.0; + out_8932661143090135832[259] = 0.0; + out_8932661143090135832[260] = 0.0; + out_8932661143090135832[261] = 0.0; + out_8932661143090135832[262] = 0.0; + out_8932661143090135832[263] = 0.0; + out_8932661143090135832[264] = 0.0; + out_8932661143090135832[265] = 0.0; + out_8932661143090135832[266] = 1.0; + out_8932661143090135832[267] = 0.0; + out_8932661143090135832[268] = 0.0; + out_8932661143090135832[269] = 0.0; + out_8932661143090135832[270] = 0.0; + out_8932661143090135832[271] = 0.0; + out_8932661143090135832[272] = 0.0; + out_8932661143090135832[273] = 0.0; + out_8932661143090135832[274] = 0.0; + out_8932661143090135832[275] = 0.0; + out_8932661143090135832[276] = 0.0; + out_8932661143090135832[277] = 0.0; + out_8932661143090135832[278] = 0.0; + out_8932661143090135832[279] = 0.0; + out_8932661143090135832[280] = 0.0; + out_8932661143090135832[281] = 0.0; + out_8932661143090135832[282] = 0.0; + out_8932661143090135832[283] = 0.0; + out_8932661143090135832[284] = 0.0; + out_8932661143090135832[285] = 1.0; + out_8932661143090135832[286] = 0.0; + out_8932661143090135832[287] = 0.0; + out_8932661143090135832[288] = 0.0; + out_8932661143090135832[289] = 0.0; + out_8932661143090135832[290] = 0.0; + out_8932661143090135832[291] = 0.0; + out_8932661143090135832[292] = 0.0; + out_8932661143090135832[293] = 0.0; + out_8932661143090135832[294] = 0.0; + out_8932661143090135832[295] = 0.0; + out_8932661143090135832[296] = 0.0; + out_8932661143090135832[297] = 0.0; + out_8932661143090135832[298] = 0.0; + out_8932661143090135832[299] = 0.0; + out_8932661143090135832[300] = 0.0; + out_8932661143090135832[301] = 0.0; + out_8932661143090135832[302] = 0.0; + out_8932661143090135832[303] = 0.0; + out_8932661143090135832[304] = 1.0; + out_8932661143090135832[305] = 0.0; + out_8932661143090135832[306] = 0.0; + out_8932661143090135832[307] = 0.0; + out_8932661143090135832[308] = 0.0; + out_8932661143090135832[309] = 0.0; + out_8932661143090135832[310] = 0.0; + out_8932661143090135832[311] = 0.0; + out_8932661143090135832[312] = 0.0; + out_8932661143090135832[313] = 0.0; + out_8932661143090135832[314] = 0.0; + out_8932661143090135832[315] = 0.0; + out_8932661143090135832[316] = 0.0; + out_8932661143090135832[317] = 0.0; + out_8932661143090135832[318] = 0.0; + out_8932661143090135832[319] = 0.0; + out_8932661143090135832[320] = 0.0; + out_8932661143090135832[321] = 0.0; + out_8932661143090135832[322] = 0.0; + out_8932661143090135832[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2925592785824916722) { - out_2925592785824916722[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_2925592785824916722[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_2925592785824916722[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_2925592785824916722[3] = dt*state[12] + state[3]; - out_2925592785824916722[4] = dt*state[13] + state[4]; - out_2925592785824916722[5] = dt*state[14] + state[5]; - out_2925592785824916722[6] = state[6]; - out_2925592785824916722[7] = state[7]; - out_2925592785824916722[8] = state[8]; - out_2925592785824916722[9] = state[9]; - out_2925592785824916722[10] = state[10]; - out_2925592785824916722[11] = state[11]; - out_2925592785824916722[12] = state[12]; - out_2925592785824916722[13] = state[13]; - out_2925592785824916722[14] = state[14]; - out_2925592785824916722[15] = state[15]; - out_2925592785824916722[16] = state[16]; - out_2925592785824916722[17] = state[17]; +void f_fun(double *state, double dt, double *out_3609843023403364566) { + out_3609843023403364566[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_3609843023403364566[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_3609843023403364566[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_3609843023403364566[3] = dt*state[12] + state[3]; + out_3609843023403364566[4] = dt*state[13] + state[4]; + out_3609843023403364566[5] = dt*state[14] + state[5]; + out_3609843023403364566[6] = state[6]; + out_3609843023403364566[7] = state[7]; + out_3609843023403364566[8] = state[8]; + out_3609843023403364566[9] = state[9]; + out_3609843023403364566[10] = state[10]; + out_3609843023403364566[11] = state[11]; + out_3609843023403364566[12] = state[12]; + out_3609843023403364566[13] = state[13]; + out_3609843023403364566[14] = state[14]; + out_3609843023403364566[15] = state[15]; + out_3609843023403364566[16] = state[16]; + out_3609843023403364566[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6409294416375959373) { - out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[2] = 0; - out_6409294416375959373[3] = 0; - out_6409294416375959373[4] = 0; - out_6409294416375959373[5] = 0; - out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[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_6409294416375959373[9] = 0; - out_6409294416375959373[10] = 0; - out_6409294416375959373[11] = 0; - out_6409294416375959373[12] = 0; - out_6409294416375959373[13] = 0; - out_6409294416375959373[14] = 0; - out_6409294416375959373[15] = 0; - out_6409294416375959373[16] = 0; - out_6409294416375959373[17] = 0; - out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[20] = 0; - out_6409294416375959373[21] = 0; - out_6409294416375959373[22] = 0; - out_6409294416375959373[23] = 0; - out_6409294416375959373[24] = 0; - out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[27] = 0; - out_6409294416375959373[28] = 0; - out_6409294416375959373[29] = 0; - out_6409294416375959373[30] = 0; - out_6409294416375959373[31] = 0; - out_6409294416375959373[32] = 0; - out_6409294416375959373[33] = 0; - out_6409294416375959373[34] = 0; - out_6409294416375959373[35] = 0; - out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[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_6409294416375959373[39] = 0; - out_6409294416375959373[40] = 0; - out_6409294416375959373[41] = 0; - out_6409294416375959373[42] = 0; - out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[45] = 0; - out_6409294416375959373[46] = 0; - out_6409294416375959373[47] = 0; - out_6409294416375959373[48] = 0; - out_6409294416375959373[49] = 0; - out_6409294416375959373[50] = 0; - out_6409294416375959373[51] = 0; - out_6409294416375959373[52] = 0; - out_6409294416375959373[53] = 0; - out_6409294416375959373[54] = 0; - out_6409294416375959373[55] = 0; - out_6409294416375959373[56] = 0; - out_6409294416375959373[57] = 1; - out_6409294416375959373[58] = 0; - out_6409294416375959373[59] = 0; - out_6409294416375959373[60] = 0; - out_6409294416375959373[61] = 0; - out_6409294416375959373[62] = 0; - out_6409294416375959373[63] = 0; - out_6409294416375959373[64] = 0; - out_6409294416375959373[65] = 0; - out_6409294416375959373[66] = dt; - out_6409294416375959373[67] = 0; - out_6409294416375959373[68] = 0; - out_6409294416375959373[69] = 0; - out_6409294416375959373[70] = 0; - out_6409294416375959373[71] = 0; - out_6409294416375959373[72] = 0; - out_6409294416375959373[73] = 0; - out_6409294416375959373[74] = 0; - out_6409294416375959373[75] = 0; - out_6409294416375959373[76] = 1; - out_6409294416375959373[77] = 0; - out_6409294416375959373[78] = 0; - out_6409294416375959373[79] = 0; - out_6409294416375959373[80] = 0; - out_6409294416375959373[81] = 0; - out_6409294416375959373[82] = 0; - out_6409294416375959373[83] = 0; - out_6409294416375959373[84] = 0; - out_6409294416375959373[85] = dt; - out_6409294416375959373[86] = 0; - out_6409294416375959373[87] = 0; - out_6409294416375959373[88] = 0; - out_6409294416375959373[89] = 0; - out_6409294416375959373[90] = 0; - out_6409294416375959373[91] = 0; - out_6409294416375959373[92] = 0; - out_6409294416375959373[93] = 0; - out_6409294416375959373[94] = 0; - out_6409294416375959373[95] = 1; - out_6409294416375959373[96] = 0; - out_6409294416375959373[97] = 0; - out_6409294416375959373[98] = 0; - out_6409294416375959373[99] = 0; - out_6409294416375959373[100] = 0; - out_6409294416375959373[101] = 0; - out_6409294416375959373[102] = 0; - out_6409294416375959373[103] = 0; - out_6409294416375959373[104] = dt; - out_6409294416375959373[105] = 0; - out_6409294416375959373[106] = 0; - out_6409294416375959373[107] = 0; - out_6409294416375959373[108] = 0; - out_6409294416375959373[109] = 0; - out_6409294416375959373[110] = 0; - out_6409294416375959373[111] = 0; - out_6409294416375959373[112] = 0; - out_6409294416375959373[113] = 0; - out_6409294416375959373[114] = 1; - out_6409294416375959373[115] = 0; - out_6409294416375959373[116] = 0; - out_6409294416375959373[117] = 0; - out_6409294416375959373[118] = 0; - out_6409294416375959373[119] = 0; - out_6409294416375959373[120] = 0; - out_6409294416375959373[121] = 0; - out_6409294416375959373[122] = 0; - out_6409294416375959373[123] = 0; - out_6409294416375959373[124] = 0; - out_6409294416375959373[125] = 0; - out_6409294416375959373[126] = 0; - out_6409294416375959373[127] = 0; - out_6409294416375959373[128] = 0; - out_6409294416375959373[129] = 0; - out_6409294416375959373[130] = 0; - out_6409294416375959373[131] = 0; - out_6409294416375959373[132] = 0; - out_6409294416375959373[133] = 1; - out_6409294416375959373[134] = 0; - out_6409294416375959373[135] = 0; - out_6409294416375959373[136] = 0; - out_6409294416375959373[137] = 0; - out_6409294416375959373[138] = 0; - out_6409294416375959373[139] = 0; - out_6409294416375959373[140] = 0; - out_6409294416375959373[141] = 0; - out_6409294416375959373[142] = 0; - out_6409294416375959373[143] = 0; - out_6409294416375959373[144] = 0; - out_6409294416375959373[145] = 0; - out_6409294416375959373[146] = 0; - out_6409294416375959373[147] = 0; - out_6409294416375959373[148] = 0; - out_6409294416375959373[149] = 0; - out_6409294416375959373[150] = 0; - out_6409294416375959373[151] = 0; - out_6409294416375959373[152] = 1; - out_6409294416375959373[153] = 0; - out_6409294416375959373[154] = 0; - out_6409294416375959373[155] = 0; - out_6409294416375959373[156] = 0; - out_6409294416375959373[157] = 0; - out_6409294416375959373[158] = 0; - out_6409294416375959373[159] = 0; - out_6409294416375959373[160] = 0; - out_6409294416375959373[161] = 0; - out_6409294416375959373[162] = 0; - out_6409294416375959373[163] = 0; - out_6409294416375959373[164] = 0; - out_6409294416375959373[165] = 0; - out_6409294416375959373[166] = 0; - out_6409294416375959373[167] = 0; - out_6409294416375959373[168] = 0; - out_6409294416375959373[169] = 0; - out_6409294416375959373[170] = 0; - out_6409294416375959373[171] = 1; - out_6409294416375959373[172] = 0; - out_6409294416375959373[173] = 0; - out_6409294416375959373[174] = 0; - out_6409294416375959373[175] = 0; - out_6409294416375959373[176] = 0; - out_6409294416375959373[177] = 0; - out_6409294416375959373[178] = 0; - out_6409294416375959373[179] = 0; - out_6409294416375959373[180] = 0; - out_6409294416375959373[181] = 0; - out_6409294416375959373[182] = 0; - out_6409294416375959373[183] = 0; - out_6409294416375959373[184] = 0; - out_6409294416375959373[185] = 0; - out_6409294416375959373[186] = 0; - out_6409294416375959373[187] = 0; - out_6409294416375959373[188] = 0; - out_6409294416375959373[189] = 0; - out_6409294416375959373[190] = 1; - out_6409294416375959373[191] = 0; - out_6409294416375959373[192] = 0; - out_6409294416375959373[193] = 0; - out_6409294416375959373[194] = 0; - out_6409294416375959373[195] = 0; - out_6409294416375959373[196] = 0; - out_6409294416375959373[197] = 0; - out_6409294416375959373[198] = 0; - out_6409294416375959373[199] = 0; - out_6409294416375959373[200] = 0; - out_6409294416375959373[201] = 0; - out_6409294416375959373[202] = 0; - out_6409294416375959373[203] = 0; - out_6409294416375959373[204] = 0; - out_6409294416375959373[205] = 0; - out_6409294416375959373[206] = 0; - out_6409294416375959373[207] = 0; - out_6409294416375959373[208] = 0; - out_6409294416375959373[209] = 1; - out_6409294416375959373[210] = 0; - out_6409294416375959373[211] = 0; - out_6409294416375959373[212] = 0; - out_6409294416375959373[213] = 0; - out_6409294416375959373[214] = 0; - out_6409294416375959373[215] = 0; - out_6409294416375959373[216] = 0; - out_6409294416375959373[217] = 0; - out_6409294416375959373[218] = 0; - out_6409294416375959373[219] = 0; - out_6409294416375959373[220] = 0; - out_6409294416375959373[221] = 0; - out_6409294416375959373[222] = 0; - out_6409294416375959373[223] = 0; - out_6409294416375959373[224] = 0; - out_6409294416375959373[225] = 0; - out_6409294416375959373[226] = 0; - out_6409294416375959373[227] = 0; - out_6409294416375959373[228] = 1; - out_6409294416375959373[229] = 0; - out_6409294416375959373[230] = 0; - out_6409294416375959373[231] = 0; - out_6409294416375959373[232] = 0; - out_6409294416375959373[233] = 0; - out_6409294416375959373[234] = 0; - out_6409294416375959373[235] = 0; - out_6409294416375959373[236] = 0; - out_6409294416375959373[237] = 0; - out_6409294416375959373[238] = 0; - out_6409294416375959373[239] = 0; - out_6409294416375959373[240] = 0; - out_6409294416375959373[241] = 0; - out_6409294416375959373[242] = 0; - out_6409294416375959373[243] = 0; - out_6409294416375959373[244] = 0; - out_6409294416375959373[245] = 0; - out_6409294416375959373[246] = 0; - out_6409294416375959373[247] = 1; - out_6409294416375959373[248] = 0; - out_6409294416375959373[249] = 0; - out_6409294416375959373[250] = 0; - out_6409294416375959373[251] = 0; - out_6409294416375959373[252] = 0; - out_6409294416375959373[253] = 0; - out_6409294416375959373[254] = 0; - out_6409294416375959373[255] = 0; - out_6409294416375959373[256] = 0; - out_6409294416375959373[257] = 0; - out_6409294416375959373[258] = 0; - out_6409294416375959373[259] = 0; - out_6409294416375959373[260] = 0; - out_6409294416375959373[261] = 0; - out_6409294416375959373[262] = 0; - out_6409294416375959373[263] = 0; - out_6409294416375959373[264] = 0; - out_6409294416375959373[265] = 0; - out_6409294416375959373[266] = 1; - out_6409294416375959373[267] = 0; - out_6409294416375959373[268] = 0; - out_6409294416375959373[269] = 0; - out_6409294416375959373[270] = 0; - out_6409294416375959373[271] = 0; - out_6409294416375959373[272] = 0; - out_6409294416375959373[273] = 0; - out_6409294416375959373[274] = 0; - out_6409294416375959373[275] = 0; - out_6409294416375959373[276] = 0; - out_6409294416375959373[277] = 0; - out_6409294416375959373[278] = 0; - out_6409294416375959373[279] = 0; - out_6409294416375959373[280] = 0; - out_6409294416375959373[281] = 0; - out_6409294416375959373[282] = 0; - out_6409294416375959373[283] = 0; - out_6409294416375959373[284] = 0; - out_6409294416375959373[285] = 1; - out_6409294416375959373[286] = 0; - out_6409294416375959373[287] = 0; - out_6409294416375959373[288] = 0; - out_6409294416375959373[289] = 0; - out_6409294416375959373[290] = 0; - out_6409294416375959373[291] = 0; - out_6409294416375959373[292] = 0; - out_6409294416375959373[293] = 0; - out_6409294416375959373[294] = 0; - out_6409294416375959373[295] = 0; - out_6409294416375959373[296] = 0; - out_6409294416375959373[297] = 0; - out_6409294416375959373[298] = 0; - out_6409294416375959373[299] = 0; - out_6409294416375959373[300] = 0; - out_6409294416375959373[301] = 0; - out_6409294416375959373[302] = 0; - out_6409294416375959373[303] = 0; - out_6409294416375959373[304] = 1; - out_6409294416375959373[305] = 0; - out_6409294416375959373[306] = 0; - out_6409294416375959373[307] = 0; - out_6409294416375959373[308] = 0; - out_6409294416375959373[309] = 0; - out_6409294416375959373[310] = 0; - out_6409294416375959373[311] = 0; - out_6409294416375959373[312] = 0; - out_6409294416375959373[313] = 0; - out_6409294416375959373[314] = 0; - out_6409294416375959373[315] = 0; - out_6409294416375959373[316] = 0; - out_6409294416375959373[317] = 0; - out_6409294416375959373[318] = 0; - out_6409294416375959373[319] = 0; - out_6409294416375959373[320] = 0; - out_6409294416375959373[321] = 0; - out_6409294416375959373[322] = 0; - out_6409294416375959373[323] = 1; +void F_fun(double *state, double dt, double *out_8950799816554095649) { + out_8950799816554095649[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8950799816554095649[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8950799816554095649[2] = 0; + out_8950799816554095649[3] = 0; + out_8950799816554095649[4] = 0; + out_8950799816554095649[5] = 0; + out_8950799816554095649[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8950799816554095649[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8950799816554095649[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8950799816554095649[9] = 0; + out_8950799816554095649[10] = 0; + out_8950799816554095649[11] = 0; + out_8950799816554095649[12] = 0; + out_8950799816554095649[13] = 0; + out_8950799816554095649[14] = 0; + out_8950799816554095649[15] = 0; + out_8950799816554095649[16] = 0; + out_8950799816554095649[17] = 0; + out_8950799816554095649[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8950799816554095649[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8950799816554095649[20] = 0; + out_8950799816554095649[21] = 0; + out_8950799816554095649[22] = 0; + out_8950799816554095649[23] = 0; + out_8950799816554095649[24] = 0; + out_8950799816554095649[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8950799816554095649[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8950799816554095649[27] = 0; + out_8950799816554095649[28] = 0; + out_8950799816554095649[29] = 0; + out_8950799816554095649[30] = 0; + out_8950799816554095649[31] = 0; + out_8950799816554095649[32] = 0; + out_8950799816554095649[33] = 0; + out_8950799816554095649[34] = 0; + out_8950799816554095649[35] = 0; + out_8950799816554095649[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8950799816554095649[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8950799816554095649[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8950799816554095649[39] = 0; + out_8950799816554095649[40] = 0; + out_8950799816554095649[41] = 0; + out_8950799816554095649[42] = 0; + out_8950799816554095649[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8950799816554095649[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8950799816554095649[45] = 0; + out_8950799816554095649[46] = 0; + out_8950799816554095649[47] = 0; + out_8950799816554095649[48] = 0; + out_8950799816554095649[49] = 0; + out_8950799816554095649[50] = 0; + out_8950799816554095649[51] = 0; + out_8950799816554095649[52] = 0; + out_8950799816554095649[53] = 0; + out_8950799816554095649[54] = 0; + out_8950799816554095649[55] = 0; + out_8950799816554095649[56] = 0; + out_8950799816554095649[57] = 1; + out_8950799816554095649[58] = 0; + out_8950799816554095649[59] = 0; + out_8950799816554095649[60] = 0; + out_8950799816554095649[61] = 0; + out_8950799816554095649[62] = 0; + out_8950799816554095649[63] = 0; + out_8950799816554095649[64] = 0; + out_8950799816554095649[65] = 0; + out_8950799816554095649[66] = dt; + out_8950799816554095649[67] = 0; + out_8950799816554095649[68] = 0; + out_8950799816554095649[69] = 0; + out_8950799816554095649[70] = 0; + out_8950799816554095649[71] = 0; + out_8950799816554095649[72] = 0; + out_8950799816554095649[73] = 0; + out_8950799816554095649[74] = 0; + out_8950799816554095649[75] = 0; + out_8950799816554095649[76] = 1; + out_8950799816554095649[77] = 0; + out_8950799816554095649[78] = 0; + out_8950799816554095649[79] = 0; + out_8950799816554095649[80] = 0; + out_8950799816554095649[81] = 0; + out_8950799816554095649[82] = 0; + out_8950799816554095649[83] = 0; + out_8950799816554095649[84] = 0; + out_8950799816554095649[85] = dt; + out_8950799816554095649[86] = 0; + out_8950799816554095649[87] = 0; + out_8950799816554095649[88] = 0; + out_8950799816554095649[89] = 0; + out_8950799816554095649[90] = 0; + out_8950799816554095649[91] = 0; + out_8950799816554095649[92] = 0; + out_8950799816554095649[93] = 0; + out_8950799816554095649[94] = 0; + out_8950799816554095649[95] = 1; + out_8950799816554095649[96] = 0; + out_8950799816554095649[97] = 0; + out_8950799816554095649[98] = 0; + out_8950799816554095649[99] = 0; + out_8950799816554095649[100] = 0; + out_8950799816554095649[101] = 0; + out_8950799816554095649[102] = 0; + out_8950799816554095649[103] = 0; + out_8950799816554095649[104] = dt; + out_8950799816554095649[105] = 0; + out_8950799816554095649[106] = 0; + out_8950799816554095649[107] = 0; + out_8950799816554095649[108] = 0; + out_8950799816554095649[109] = 0; + out_8950799816554095649[110] = 0; + out_8950799816554095649[111] = 0; + out_8950799816554095649[112] = 0; + out_8950799816554095649[113] = 0; + out_8950799816554095649[114] = 1; + out_8950799816554095649[115] = 0; + out_8950799816554095649[116] = 0; + out_8950799816554095649[117] = 0; + out_8950799816554095649[118] = 0; + out_8950799816554095649[119] = 0; + out_8950799816554095649[120] = 0; + out_8950799816554095649[121] = 0; + out_8950799816554095649[122] = 0; + out_8950799816554095649[123] = 0; + out_8950799816554095649[124] = 0; + out_8950799816554095649[125] = 0; + out_8950799816554095649[126] = 0; + out_8950799816554095649[127] = 0; + out_8950799816554095649[128] = 0; + out_8950799816554095649[129] = 0; + out_8950799816554095649[130] = 0; + out_8950799816554095649[131] = 0; + out_8950799816554095649[132] = 0; + out_8950799816554095649[133] = 1; + out_8950799816554095649[134] = 0; + out_8950799816554095649[135] = 0; + out_8950799816554095649[136] = 0; + out_8950799816554095649[137] = 0; + out_8950799816554095649[138] = 0; + out_8950799816554095649[139] = 0; + out_8950799816554095649[140] = 0; + out_8950799816554095649[141] = 0; + out_8950799816554095649[142] = 0; + out_8950799816554095649[143] = 0; + out_8950799816554095649[144] = 0; + out_8950799816554095649[145] = 0; + out_8950799816554095649[146] = 0; + out_8950799816554095649[147] = 0; + out_8950799816554095649[148] = 0; + out_8950799816554095649[149] = 0; + out_8950799816554095649[150] = 0; + out_8950799816554095649[151] = 0; + out_8950799816554095649[152] = 1; + out_8950799816554095649[153] = 0; + out_8950799816554095649[154] = 0; + out_8950799816554095649[155] = 0; + out_8950799816554095649[156] = 0; + out_8950799816554095649[157] = 0; + out_8950799816554095649[158] = 0; + out_8950799816554095649[159] = 0; + out_8950799816554095649[160] = 0; + out_8950799816554095649[161] = 0; + out_8950799816554095649[162] = 0; + out_8950799816554095649[163] = 0; + out_8950799816554095649[164] = 0; + out_8950799816554095649[165] = 0; + out_8950799816554095649[166] = 0; + out_8950799816554095649[167] = 0; + out_8950799816554095649[168] = 0; + out_8950799816554095649[169] = 0; + out_8950799816554095649[170] = 0; + out_8950799816554095649[171] = 1; + out_8950799816554095649[172] = 0; + out_8950799816554095649[173] = 0; + out_8950799816554095649[174] = 0; + out_8950799816554095649[175] = 0; + out_8950799816554095649[176] = 0; + out_8950799816554095649[177] = 0; + out_8950799816554095649[178] = 0; + out_8950799816554095649[179] = 0; + out_8950799816554095649[180] = 0; + out_8950799816554095649[181] = 0; + out_8950799816554095649[182] = 0; + out_8950799816554095649[183] = 0; + out_8950799816554095649[184] = 0; + out_8950799816554095649[185] = 0; + out_8950799816554095649[186] = 0; + out_8950799816554095649[187] = 0; + out_8950799816554095649[188] = 0; + out_8950799816554095649[189] = 0; + out_8950799816554095649[190] = 1; + out_8950799816554095649[191] = 0; + out_8950799816554095649[192] = 0; + out_8950799816554095649[193] = 0; + out_8950799816554095649[194] = 0; + out_8950799816554095649[195] = 0; + out_8950799816554095649[196] = 0; + out_8950799816554095649[197] = 0; + out_8950799816554095649[198] = 0; + out_8950799816554095649[199] = 0; + out_8950799816554095649[200] = 0; + out_8950799816554095649[201] = 0; + out_8950799816554095649[202] = 0; + out_8950799816554095649[203] = 0; + out_8950799816554095649[204] = 0; + out_8950799816554095649[205] = 0; + out_8950799816554095649[206] = 0; + out_8950799816554095649[207] = 0; + out_8950799816554095649[208] = 0; + out_8950799816554095649[209] = 1; + out_8950799816554095649[210] = 0; + out_8950799816554095649[211] = 0; + out_8950799816554095649[212] = 0; + out_8950799816554095649[213] = 0; + out_8950799816554095649[214] = 0; + out_8950799816554095649[215] = 0; + out_8950799816554095649[216] = 0; + out_8950799816554095649[217] = 0; + out_8950799816554095649[218] = 0; + out_8950799816554095649[219] = 0; + out_8950799816554095649[220] = 0; + out_8950799816554095649[221] = 0; + out_8950799816554095649[222] = 0; + out_8950799816554095649[223] = 0; + out_8950799816554095649[224] = 0; + out_8950799816554095649[225] = 0; + out_8950799816554095649[226] = 0; + out_8950799816554095649[227] = 0; + out_8950799816554095649[228] = 1; + out_8950799816554095649[229] = 0; + out_8950799816554095649[230] = 0; + out_8950799816554095649[231] = 0; + out_8950799816554095649[232] = 0; + out_8950799816554095649[233] = 0; + out_8950799816554095649[234] = 0; + out_8950799816554095649[235] = 0; + out_8950799816554095649[236] = 0; + out_8950799816554095649[237] = 0; + out_8950799816554095649[238] = 0; + out_8950799816554095649[239] = 0; + out_8950799816554095649[240] = 0; + out_8950799816554095649[241] = 0; + out_8950799816554095649[242] = 0; + out_8950799816554095649[243] = 0; + out_8950799816554095649[244] = 0; + out_8950799816554095649[245] = 0; + out_8950799816554095649[246] = 0; + out_8950799816554095649[247] = 1; + out_8950799816554095649[248] = 0; + out_8950799816554095649[249] = 0; + out_8950799816554095649[250] = 0; + out_8950799816554095649[251] = 0; + out_8950799816554095649[252] = 0; + out_8950799816554095649[253] = 0; + out_8950799816554095649[254] = 0; + out_8950799816554095649[255] = 0; + out_8950799816554095649[256] = 0; + out_8950799816554095649[257] = 0; + out_8950799816554095649[258] = 0; + out_8950799816554095649[259] = 0; + out_8950799816554095649[260] = 0; + out_8950799816554095649[261] = 0; + out_8950799816554095649[262] = 0; + out_8950799816554095649[263] = 0; + out_8950799816554095649[264] = 0; + out_8950799816554095649[265] = 0; + out_8950799816554095649[266] = 1; + out_8950799816554095649[267] = 0; + out_8950799816554095649[268] = 0; + out_8950799816554095649[269] = 0; + out_8950799816554095649[270] = 0; + out_8950799816554095649[271] = 0; + out_8950799816554095649[272] = 0; + out_8950799816554095649[273] = 0; + out_8950799816554095649[274] = 0; + out_8950799816554095649[275] = 0; + out_8950799816554095649[276] = 0; + out_8950799816554095649[277] = 0; + out_8950799816554095649[278] = 0; + out_8950799816554095649[279] = 0; + out_8950799816554095649[280] = 0; + out_8950799816554095649[281] = 0; + out_8950799816554095649[282] = 0; + out_8950799816554095649[283] = 0; + out_8950799816554095649[284] = 0; + out_8950799816554095649[285] = 1; + out_8950799816554095649[286] = 0; + out_8950799816554095649[287] = 0; + out_8950799816554095649[288] = 0; + out_8950799816554095649[289] = 0; + out_8950799816554095649[290] = 0; + out_8950799816554095649[291] = 0; + out_8950799816554095649[292] = 0; + out_8950799816554095649[293] = 0; + out_8950799816554095649[294] = 0; + out_8950799816554095649[295] = 0; + out_8950799816554095649[296] = 0; + out_8950799816554095649[297] = 0; + out_8950799816554095649[298] = 0; + out_8950799816554095649[299] = 0; + out_8950799816554095649[300] = 0; + out_8950799816554095649[301] = 0; + out_8950799816554095649[302] = 0; + out_8950799816554095649[303] = 0; + out_8950799816554095649[304] = 1; + out_8950799816554095649[305] = 0; + out_8950799816554095649[306] = 0; + out_8950799816554095649[307] = 0; + out_8950799816554095649[308] = 0; + out_8950799816554095649[309] = 0; + out_8950799816554095649[310] = 0; + out_8950799816554095649[311] = 0; + out_8950799816554095649[312] = 0; + out_8950799816554095649[313] = 0; + out_8950799816554095649[314] = 0; + out_8950799816554095649[315] = 0; + out_8950799816554095649[316] = 0; + out_8950799816554095649[317] = 0; + out_8950799816554095649[318] = 0; + out_8950799816554095649[319] = 0; + out_8950799816554095649[320] = 0; + out_8950799816554095649[321] = 0; + out_8950799816554095649[322] = 0; + out_8950799816554095649[323] = 1; } -void h_4(double *state, double *unused, double *out_915233285986441516) { - out_915233285986441516[0] = state[6] + state[9]; - out_915233285986441516[1] = state[7] + state[10]; - out_915233285986441516[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7061694870208984097) { + out_7061694870208984097[0] = state[6] + state[9]; + out_7061694870208984097[1] = state[7] + state[10]; + out_7061694870208984097[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8851967337240186650) { - out_8851967337240186650[0] = 0; - out_8851967337240186650[1] = 0; - out_8851967337240186650[2] = 0; - out_8851967337240186650[3] = 0; - out_8851967337240186650[4] = 0; - out_8851967337240186650[5] = 0; - out_8851967337240186650[6] = 1; - out_8851967337240186650[7] = 0; - out_8851967337240186650[8] = 0; - out_8851967337240186650[9] = 1; - out_8851967337240186650[10] = 0; - out_8851967337240186650[11] = 0; - out_8851967337240186650[12] = 0; - out_8851967337240186650[13] = 0; - out_8851967337240186650[14] = 0; - out_8851967337240186650[15] = 0; - out_8851967337240186650[16] = 0; - out_8851967337240186650[17] = 0; - out_8851967337240186650[18] = 0; - out_8851967337240186650[19] = 0; - out_8851967337240186650[20] = 0; - out_8851967337240186650[21] = 0; - out_8851967337240186650[22] = 0; - out_8851967337240186650[23] = 0; - out_8851967337240186650[24] = 0; - out_8851967337240186650[25] = 1; - out_8851967337240186650[26] = 0; - out_8851967337240186650[27] = 0; - out_8851967337240186650[28] = 1; - out_8851967337240186650[29] = 0; - out_8851967337240186650[30] = 0; - out_8851967337240186650[31] = 0; - out_8851967337240186650[32] = 0; - out_8851967337240186650[33] = 0; - out_8851967337240186650[34] = 0; - out_8851967337240186650[35] = 0; - out_8851967337240186650[36] = 0; - out_8851967337240186650[37] = 0; - out_8851967337240186650[38] = 0; - out_8851967337240186650[39] = 0; - out_8851967337240186650[40] = 0; - out_8851967337240186650[41] = 0; - out_8851967337240186650[42] = 0; - out_8851967337240186650[43] = 0; - out_8851967337240186650[44] = 1; - out_8851967337240186650[45] = 0; - out_8851967337240186650[46] = 0; - out_8851967337240186650[47] = 1; - out_8851967337240186650[48] = 0; - out_8851967337240186650[49] = 0; - out_8851967337240186650[50] = 0; - out_8851967337240186650[51] = 0; - out_8851967337240186650[52] = 0; - out_8851967337240186650[53] = 0; +void H_4(double *state, double *unused, double *out_4465290511533350274) { + out_4465290511533350274[0] = 0; + out_4465290511533350274[1] = 0; + out_4465290511533350274[2] = 0; + out_4465290511533350274[3] = 0; + out_4465290511533350274[4] = 0; + out_4465290511533350274[5] = 0; + out_4465290511533350274[6] = 1; + out_4465290511533350274[7] = 0; + out_4465290511533350274[8] = 0; + out_4465290511533350274[9] = 1; + out_4465290511533350274[10] = 0; + out_4465290511533350274[11] = 0; + out_4465290511533350274[12] = 0; + out_4465290511533350274[13] = 0; + out_4465290511533350274[14] = 0; + out_4465290511533350274[15] = 0; + out_4465290511533350274[16] = 0; + out_4465290511533350274[17] = 0; + out_4465290511533350274[18] = 0; + out_4465290511533350274[19] = 0; + out_4465290511533350274[20] = 0; + out_4465290511533350274[21] = 0; + out_4465290511533350274[22] = 0; + out_4465290511533350274[23] = 0; + out_4465290511533350274[24] = 0; + out_4465290511533350274[25] = 1; + out_4465290511533350274[26] = 0; + out_4465290511533350274[27] = 0; + out_4465290511533350274[28] = 1; + out_4465290511533350274[29] = 0; + out_4465290511533350274[30] = 0; + out_4465290511533350274[31] = 0; + out_4465290511533350274[32] = 0; + out_4465290511533350274[33] = 0; + out_4465290511533350274[34] = 0; + out_4465290511533350274[35] = 0; + out_4465290511533350274[36] = 0; + out_4465290511533350274[37] = 0; + out_4465290511533350274[38] = 0; + out_4465290511533350274[39] = 0; + out_4465290511533350274[40] = 0; + out_4465290511533350274[41] = 0; + out_4465290511533350274[42] = 0; + out_4465290511533350274[43] = 0; + out_4465290511533350274[44] = 1; + out_4465290511533350274[45] = 0; + out_4465290511533350274[46] = 0; + out_4465290511533350274[47] = 1; + out_4465290511533350274[48] = 0; + out_4465290511533350274[49] = 0; + out_4465290511533350274[50] = 0; + out_4465290511533350274[51] = 0; + out_4465290511533350274[52] = 0; + out_4465290511533350274[53] = 0; } -void h_10(double *state, double *unused, double *out_1698568734316977875) { - out_1698568734316977875[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1698568734316977875[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1698568734316977875[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_10860459686481955) { + out_10860459686481955[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_10860459686481955[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_10860459686481955[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_2859565754749971930) { - out_2859565754749971930[0] = 0; - out_2859565754749971930[1] = 9.8100000000000005*cos(state[1]); - out_2859565754749971930[2] = 0; - out_2859565754749971930[3] = 0; - out_2859565754749971930[4] = -state[8]; - out_2859565754749971930[5] = state[7]; - out_2859565754749971930[6] = 0; - out_2859565754749971930[7] = state[5]; - out_2859565754749971930[8] = -state[4]; - out_2859565754749971930[9] = 0; - out_2859565754749971930[10] = 0; - out_2859565754749971930[11] = 0; - out_2859565754749971930[12] = 1; - out_2859565754749971930[13] = 0; - out_2859565754749971930[14] = 0; - out_2859565754749971930[15] = 1; - out_2859565754749971930[16] = 0; - out_2859565754749971930[17] = 0; - out_2859565754749971930[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2859565754749971930[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2859565754749971930[20] = 0; - out_2859565754749971930[21] = state[8]; - out_2859565754749971930[22] = 0; - out_2859565754749971930[23] = -state[6]; - out_2859565754749971930[24] = -state[5]; - out_2859565754749971930[25] = 0; - out_2859565754749971930[26] = state[3]; - out_2859565754749971930[27] = 0; - out_2859565754749971930[28] = 0; - out_2859565754749971930[29] = 0; - out_2859565754749971930[30] = 0; - out_2859565754749971930[31] = 1; - out_2859565754749971930[32] = 0; - out_2859565754749971930[33] = 0; - out_2859565754749971930[34] = 1; - out_2859565754749971930[35] = 0; - out_2859565754749971930[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2859565754749971930[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2859565754749971930[38] = 0; - out_2859565754749971930[39] = -state[7]; - out_2859565754749971930[40] = state[6]; - out_2859565754749971930[41] = 0; - out_2859565754749971930[42] = state[4]; - out_2859565754749971930[43] = -state[3]; - out_2859565754749971930[44] = 0; - out_2859565754749971930[45] = 0; - out_2859565754749971930[46] = 0; - out_2859565754749971930[47] = 0; - out_2859565754749971930[48] = 0; - out_2859565754749971930[49] = 0; - out_2859565754749971930[50] = 1; - out_2859565754749971930[51] = 0; - out_2859565754749971930[52] = 0; - out_2859565754749971930[53] = 1; +void H_10(double *state, double *unused, double *out_3271917644950253884) { + out_3271917644950253884[0] = 0; + out_3271917644950253884[1] = 9.8100000000000005*cos(state[1]); + out_3271917644950253884[2] = 0; + out_3271917644950253884[3] = 0; + out_3271917644950253884[4] = -state[8]; + out_3271917644950253884[5] = state[7]; + out_3271917644950253884[6] = 0; + out_3271917644950253884[7] = state[5]; + out_3271917644950253884[8] = -state[4]; + out_3271917644950253884[9] = 0; + out_3271917644950253884[10] = 0; + out_3271917644950253884[11] = 0; + out_3271917644950253884[12] = 1; + out_3271917644950253884[13] = 0; + out_3271917644950253884[14] = 0; + out_3271917644950253884[15] = 1; + out_3271917644950253884[16] = 0; + out_3271917644950253884[17] = 0; + out_3271917644950253884[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3271917644950253884[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3271917644950253884[20] = 0; + out_3271917644950253884[21] = state[8]; + out_3271917644950253884[22] = 0; + out_3271917644950253884[23] = -state[6]; + out_3271917644950253884[24] = -state[5]; + out_3271917644950253884[25] = 0; + out_3271917644950253884[26] = state[3]; + out_3271917644950253884[27] = 0; + out_3271917644950253884[28] = 0; + out_3271917644950253884[29] = 0; + out_3271917644950253884[30] = 0; + out_3271917644950253884[31] = 1; + out_3271917644950253884[32] = 0; + out_3271917644950253884[33] = 0; + out_3271917644950253884[34] = 1; + out_3271917644950253884[35] = 0; + out_3271917644950253884[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3271917644950253884[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3271917644950253884[38] = 0; + out_3271917644950253884[39] = -state[7]; + out_3271917644950253884[40] = state[6]; + out_3271917644950253884[41] = 0; + out_3271917644950253884[42] = state[4]; + out_3271917644950253884[43] = -state[3]; + out_3271917644950253884[44] = 0; + out_3271917644950253884[45] = 0; + out_3271917644950253884[46] = 0; + out_3271917644950253884[47] = 0; + out_3271917644950253884[48] = 0; + out_3271917644950253884[49] = 0; + out_3271917644950253884[50] = 1; + out_3271917644950253884[51] = 0; + out_3271917644950253884[52] = 0; + out_3271917644950253884[53] = 1; } -void h_13(double *state, double *unused, double *out_4058736517215946312) { - out_4058736517215946312[0] = state[3]; - out_4058736517215946312[1] = state[4]; - out_4058736517215946312[2] = state[5]; +void h_13(double *state, double *unused, double *out_1178992313314753128) { + out_1178992313314753128[0] = state[3]; + out_1178992313314753128[1] = state[4]; + out_1178992313314753128[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6382502911137032165) { - out_6382502911137032165[0] = 0; - out_6382502911137032165[1] = 0; - out_6382502911137032165[2] = 0; - out_6382502911137032165[3] = 1; - out_6382502911137032165[4] = 0; - out_6382502911137032165[5] = 0; - out_6382502911137032165[6] = 0; - out_6382502911137032165[7] = 0; - out_6382502911137032165[8] = 0; - out_6382502911137032165[9] = 0; - out_6382502911137032165[10] = 0; - out_6382502911137032165[11] = 0; - out_6382502911137032165[12] = 0; - out_6382502911137032165[13] = 0; - out_6382502911137032165[14] = 0; - out_6382502911137032165[15] = 0; - out_6382502911137032165[16] = 0; - out_6382502911137032165[17] = 0; - out_6382502911137032165[18] = 0; - out_6382502911137032165[19] = 0; - out_6382502911137032165[20] = 0; - out_6382502911137032165[21] = 0; - out_6382502911137032165[22] = 1; - out_6382502911137032165[23] = 0; - out_6382502911137032165[24] = 0; - out_6382502911137032165[25] = 0; - out_6382502911137032165[26] = 0; - out_6382502911137032165[27] = 0; - out_6382502911137032165[28] = 0; - out_6382502911137032165[29] = 0; - out_6382502911137032165[30] = 0; - out_6382502911137032165[31] = 0; - out_6382502911137032165[32] = 0; - out_6382502911137032165[33] = 0; - out_6382502911137032165[34] = 0; - out_6382502911137032165[35] = 0; - out_6382502911137032165[36] = 0; - out_6382502911137032165[37] = 0; - out_6382502911137032165[38] = 0; - out_6382502911137032165[39] = 0; - out_6382502911137032165[40] = 0; - out_6382502911137032165[41] = 1; - out_6382502911137032165[42] = 0; - out_6382502911137032165[43] = 0; - out_6382502911137032165[44] = 0; - out_6382502911137032165[45] = 0; - out_6382502911137032165[46] = 0; - out_6382502911137032165[47] = 0; - out_6382502911137032165[48] = 0; - out_6382502911137032165[49] = 0; - out_6382502911137032165[50] = 0; - out_6382502911137032165[51] = 0; - out_6382502911137032165[52] = 0; - out_6382502911137032165[53] = 0; +void H_13(double *state, double *unused, double *out_7677564336865683075) { + out_7677564336865683075[0] = 0; + out_7677564336865683075[1] = 0; + out_7677564336865683075[2] = 0; + out_7677564336865683075[3] = 1; + out_7677564336865683075[4] = 0; + out_7677564336865683075[5] = 0; + out_7677564336865683075[6] = 0; + out_7677564336865683075[7] = 0; + out_7677564336865683075[8] = 0; + out_7677564336865683075[9] = 0; + out_7677564336865683075[10] = 0; + out_7677564336865683075[11] = 0; + out_7677564336865683075[12] = 0; + out_7677564336865683075[13] = 0; + out_7677564336865683075[14] = 0; + out_7677564336865683075[15] = 0; + out_7677564336865683075[16] = 0; + out_7677564336865683075[17] = 0; + out_7677564336865683075[18] = 0; + out_7677564336865683075[19] = 0; + out_7677564336865683075[20] = 0; + out_7677564336865683075[21] = 0; + out_7677564336865683075[22] = 1; + out_7677564336865683075[23] = 0; + out_7677564336865683075[24] = 0; + out_7677564336865683075[25] = 0; + out_7677564336865683075[26] = 0; + out_7677564336865683075[27] = 0; + out_7677564336865683075[28] = 0; + out_7677564336865683075[29] = 0; + out_7677564336865683075[30] = 0; + out_7677564336865683075[31] = 0; + out_7677564336865683075[32] = 0; + out_7677564336865683075[33] = 0; + out_7677564336865683075[34] = 0; + out_7677564336865683075[35] = 0; + out_7677564336865683075[36] = 0; + out_7677564336865683075[37] = 0; + out_7677564336865683075[38] = 0; + out_7677564336865683075[39] = 0; + out_7677564336865683075[40] = 0; + out_7677564336865683075[41] = 1; + out_7677564336865683075[42] = 0; + out_7677564336865683075[43] = 0; + out_7677564336865683075[44] = 0; + out_7677564336865683075[45] = 0; + out_7677564336865683075[46] = 0; + out_7677564336865683075[47] = 0; + out_7677564336865683075[48] = 0; + out_7677564336865683075[49] = 0; + out_7677564336865683075[50] = 0; + out_7677564336865683075[51] = 0; + out_7677564336865683075[52] = 0; + out_7677564336865683075[53] = 0; } -void h_14(double *state, double *unused, double *out_6181664354414385783) { - out_6181664354414385783[0] = state[6]; - out_6181664354414385783[1] = state[7]; - out_6181664354414385783[2] = state[8]; +void h_14(double *state, double *unused, double *out_3940331790740833198) { + out_3940331790740833198[0] = state[6]; + out_3940331790740833198[1] = state[7]; + out_3940331790740833198[2] = state[8]; } -void H_14(double *state, double *unused, double *out_8416850810595303051) { - out_8416850810595303051[0] = 0; - out_8416850810595303051[1] = 0; - out_8416850810595303051[2] = 0; - out_8416850810595303051[3] = 0; - out_8416850810595303051[4] = 0; - out_8416850810595303051[5] = 0; - out_8416850810595303051[6] = 1; - out_8416850810595303051[7] = 0; - out_8416850810595303051[8] = 0; - out_8416850810595303051[9] = 0; - out_8416850810595303051[10] = 0; - out_8416850810595303051[11] = 0; - out_8416850810595303051[12] = 0; - out_8416850810595303051[13] = 0; - out_8416850810595303051[14] = 0; - out_8416850810595303051[15] = 0; - out_8416850810595303051[16] = 0; - out_8416850810595303051[17] = 0; - out_8416850810595303051[18] = 0; - out_8416850810595303051[19] = 0; - out_8416850810595303051[20] = 0; - out_8416850810595303051[21] = 0; - out_8416850810595303051[22] = 0; - out_8416850810595303051[23] = 0; - out_8416850810595303051[24] = 0; - out_8416850810595303051[25] = 1; - out_8416850810595303051[26] = 0; - out_8416850810595303051[27] = 0; - out_8416850810595303051[28] = 0; - out_8416850810595303051[29] = 0; - out_8416850810595303051[30] = 0; - out_8416850810595303051[31] = 0; - out_8416850810595303051[32] = 0; - out_8416850810595303051[33] = 0; - out_8416850810595303051[34] = 0; - out_8416850810595303051[35] = 0; - out_8416850810595303051[36] = 0; - out_8416850810595303051[37] = 0; - out_8416850810595303051[38] = 0; - out_8416850810595303051[39] = 0; - out_8416850810595303051[40] = 0; - out_8416850810595303051[41] = 0; - out_8416850810595303051[42] = 0; - out_8416850810595303051[43] = 0; - out_8416850810595303051[44] = 1; - out_8416850810595303051[45] = 0; - out_8416850810595303051[46] = 0; - out_8416850810595303051[47] = 0; - out_8416850810595303051[48] = 0; - out_8416850810595303051[49] = 0; - out_8416850810595303051[50] = 0; - out_8416850810595303051[51] = 0; - out_8416850810595303051[52] = 0; - out_8416850810595303051[53] = 0; +void H_14(double *state, double *unused, double *out_8428531367872834803) { + out_8428531367872834803[0] = 0; + out_8428531367872834803[1] = 0; + out_8428531367872834803[2] = 0; + out_8428531367872834803[3] = 0; + out_8428531367872834803[4] = 0; + out_8428531367872834803[5] = 0; + out_8428531367872834803[6] = 1; + out_8428531367872834803[7] = 0; + out_8428531367872834803[8] = 0; + out_8428531367872834803[9] = 0; + out_8428531367872834803[10] = 0; + out_8428531367872834803[11] = 0; + out_8428531367872834803[12] = 0; + out_8428531367872834803[13] = 0; + out_8428531367872834803[14] = 0; + out_8428531367872834803[15] = 0; + out_8428531367872834803[16] = 0; + out_8428531367872834803[17] = 0; + out_8428531367872834803[18] = 0; + out_8428531367872834803[19] = 0; + out_8428531367872834803[20] = 0; + out_8428531367872834803[21] = 0; + out_8428531367872834803[22] = 0; + out_8428531367872834803[23] = 0; + out_8428531367872834803[24] = 0; + out_8428531367872834803[25] = 1; + out_8428531367872834803[26] = 0; + out_8428531367872834803[27] = 0; + out_8428531367872834803[28] = 0; + out_8428531367872834803[29] = 0; + out_8428531367872834803[30] = 0; + out_8428531367872834803[31] = 0; + out_8428531367872834803[32] = 0; + out_8428531367872834803[33] = 0; + out_8428531367872834803[34] = 0; + out_8428531367872834803[35] = 0; + out_8428531367872834803[36] = 0; + out_8428531367872834803[37] = 0; + out_8428531367872834803[38] = 0; + out_8428531367872834803[39] = 0; + out_8428531367872834803[40] = 0; + out_8428531367872834803[41] = 0; + out_8428531367872834803[42] = 0; + out_8428531367872834803[43] = 0; + out_8428531367872834803[44] = 1; + out_8428531367872834803[45] = 0; + out_8428531367872834803[46] = 0; + out_8428531367872834803[47] = 0; + out_8428531367872834803[48] = 0; + out_8428531367872834803[49] = 0; + out_8428531367872834803[50] = 0; + out_8428531367872834803[51] = 0; + out_8428531367872834803[52] = 0; + out_8428531367872834803[53] = 0; } #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_2367672105654731741) { - err_fun(nom_x, delta_x, out_2367672105654731741); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5169544621376104769) { + err_fun(nom_x, delta_x, out_5169544621376104769); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5219205296235492699) { - inv_err_fun(nom_x, true_x, out_5219205296235492699); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5560919447530739345) { + inv_err_fun(nom_x, true_x, out_5560919447530739345); } -void pose_H_mod_fun(double *state, double *out_7701265832873588876) { - H_mod_fun(state, out_7701265832873588876); +void pose_H_mod_fun(double *state, double *out_8932661143090135832) { + H_mod_fun(state, out_8932661143090135832); } -void pose_f_fun(double *state, double dt, double *out_2925592785824916722) { - f_fun(state, dt, out_2925592785824916722); +void pose_f_fun(double *state, double dt, double *out_3609843023403364566) { + f_fun(state, dt, out_3609843023403364566); } -void pose_F_fun(double *state, double dt, double *out_6409294416375959373) { - F_fun(state, dt, out_6409294416375959373); +void pose_F_fun(double *state, double dt, double *out_8950799816554095649) { + F_fun(state, dt, out_8950799816554095649); } -void pose_h_4(double *state, double *unused, double *out_915233285986441516) { - h_4(state, unused, out_915233285986441516); +void pose_h_4(double *state, double *unused, double *out_7061694870208984097) { + h_4(state, unused, out_7061694870208984097); } -void pose_H_4(double *state, double *unused, double *out_8851967337240186650) { - H_4(state, unused, out_8851967337240186650); +void pose_H_4(double *state, double *unused, double *out_4465290511533350274) { + H_4(state, unused, out_4465290511533350274); } -void pose_h_10(double *state, double *unused, double *out_1698568734316977875) { - h_10(state, unused, out_1698568734316977875); +void pose_h_10(double *state, double *unused, double *out_10860459686481955) { + h_10(state, unused, out_10860459686481955); } -void pose_H_10(double *state, double *unused, double *out_2859565754749971930) { - H_10(state, unused, out_2859565754749971930); +void pose_H_10(double *state, double *unused, double *out_3271917644950253884) { + H_10(state, unused, out_3271917644950253884); } -void pose_h_13(double *state, double *unused, double *out_4058736517215946312) { - h_13(state, unused, out_4058736517215946312); +void pose_h_13(double *state, double *unused, double *out_1178992313314753128) { + h_13(state, unused, out_1178992313314753128); } -void pose_H_13(double *state, double *unused, double *out_6382502911137032165) { - H_13(state, unused, out_6382502911137032165); +void pose_H_13(double *state, double *unused, double *out_7677564336865683075) { + H_13(state, unused, out_7677564336865683075); } -void pose_h_14(double *state, double *unused, double *out_6181664354414385783) { - h_14(state, unused, out_6181664354414385783); +void pose_h_14(double *state, double *unused, double *out_3940331790740833198) { + h_14(state, unused, out_3940331790740833198); } -void pose_H_14(double *state, double *unused, double *out_8416850810595303051) { - H_14(state, unused, out_8416850810595303051); +void pose_H_14(double *state, double *unused, double *out_8428531367872834803) { + H_14(state, unused, out_8428531367872834803); } 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 686fd7ba6..1ae1127a0 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_2367672105654731741); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5219205296235492699); -void pose_H_mod_fun(double *state, double *out_7701265832873588876); -void pose_f_fun(double *state, double dt, double *out_2925592785824916722); -void pose_F_fun(double *state, double dt, double *out_6409294416375959373); -void pose_h_4(double *state, double *unused, double *out_915233285986441516); -void pose_H_4(double *state, double *unused, double *out_8851967337240186650); -void pose_h_10(double *state, double *unused, double *out_1698568734316977875); -void pose_H_10(double *state, double *unused, double *out_2859565754749971930); -void pose_h_13(double *state, double *unused, double *out_4058736517215946312); -void pose_H_13(double *state, double *unused, double *out_6382502911137032165); -void pose_h_14(double *state, double *unused, double *out_6181664354414385783); -void pose_H_14(double *state, double *unused, double *out_8416850810595303051); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5169544621376104769); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5560919447530739345); +void pose_H_mod_fun(double *state, double *out_8932661143090135832); +void pose_f_fun(double *state, double dt, double *out_3609843023403364566); +void pose_F_fun(double *state, double dt, double *out_8950799816554095649); +void pose_h_4(double *state, double *unused, double *out_7061694870208984097); +void pose_H_4(double *state, double *unused, double *out_4465290511533350274); +void pose_h_10(double *state, double *unused, double *out_10860459686481955); +void pose_H_10(double *state, double *unused, double *out_3271917644950253884); +void pose_h_13(double *state, double *unused, double *out_1178992313314753128); +void pose_H_13(double *state, double *unused, double *out_7677564336865683075); +void pose_h_14(double *state, double *unused, double *out_3940331790740833198); +void pose_H_14(double *state, double *unused, double *out_8428531367872834803); void pose_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 aac72995f..3ec5eba3a 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index f6c64aedc..a33fd3d13 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index c476746f2..fc24a5a6e 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index fa9f03bcc..95891f58c 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 4ef745884..8cea5118b 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd 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