diff --git a/cereal/libcereal.a b/cereal/libcereal.a index 7574a7981..777b24147 100644 Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ diff --git a/cereal/libsocketmaster.a b/cereal/libsocketmaster.a index 0ad5777f1..f4a3d3889 100644 Binary files a/cereal/libsocketmaster.a and b/cereal/libsocketmaster.a differ diff --git a/cereal/messaging/bridge b/cereal/messaging/bridge index b0e8caa78..d3794ba08 100755 Binary files a/cereal/messaging/bridge and b/cereal/messaging/bridge differ diff --git a/cereal/services.h b/cereal/services.h index 230494593..b5576af63 100644 --- a/cereal/services.h +++ b/cereal/services.h @@ -12,6 +12,7 @@ static std::map services = { { "temperatureSensor", {"temperatureSensor", true, 2.000000, 200, 256000}}, { "gpsNMEA", {"gpsNMEA", true, 9.000000, -1, 256000}}, { "deviceState", {"deviceState", true, 2.000000, 1, 256000}}, + { "chestnutState", {"chestnutState", true, 10.000000, 10, 256000}}, { "touch", {"touch", true, 20.000000, 1, 256000}}, { "can", {"can", true, 100.000000, 2053, 10485760}}, { "controlsState", {"controlsState", true, 100.000000, 10, 2097152}}, diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 8dcf3859c..20ceb8d81 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 5749d44d2..fc609e3f9 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 adaf5b58d..e61750cf2 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 9ce03d1f6..46ac36ab7 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git 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a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 2b330db03..baa5cc0ef 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-f95dbf83-DEBUG"; +const uint8_t gitversion[19] = "DEV-230ed14e-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index bfcf9a1b4..c69a376fd 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 03ec30c4a..5eb23aeb7 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 81690acb9..dca8793bf 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf 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and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index cfd445cc7..d06c859ff 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 9225daf0b..8f2fe2b54 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 be76db01b..2b0ed1aeb 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-f95dbf83-DEBUG \ No newline at end of file +DEV-230ed14e-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index c5b724f5e..250aa3b4b 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_3355904321462358618) { - out_3355904321462358618[0] = delta_x[0] + nom_x[0]; - out_3355904321462358618[1] = delta_x[1] + nom_x[1]; - out_3355904321462358618[2] = delta_x[2] + nom_x[2]; - out_3355904321462358618[3] = delta_x[3] + nom_x[3]; - out_3355904321462358618[4] = delta_x[4] + nom_x[4]; - out_3355904321462358618[5] = delta_x[5] + nom_x[5]; - out_3355904321462358618[6] = delta_x[6] + nom_x[6]; - out_3355904321462358618[7] = delta_x[7] + nom_x[7]; - out_3355904321462358618[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3009395508469456389) { + out_3009395508469456389[0] = delta_x[0] + nom_x[0]; + out_3009395508469456389[1] = delta_x[1] + nom_x[1]; + out_3009395508469456389[2] = delta_x[2] + nom_x[2]; + out_3009395508469456389[3] = delta_x[3] + nom_x[3]; + out_3009395508469456389[4] = delta_x[4] + nom_x[4]; + out_3009395508469456389[5] = delta_x[5] + nom_x[5]; + out_3009395508469456389[6] = delta_x[6] + nom_x[6]; + out_3009395508469456389[7] = delta_x[7] + nom_x[7]; + out_3009395508469456389[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_201422243433114007) { - out_201422243433114007[0] = -nom_x[0] + true_x[0]; - out_201422243433114007[1] = -nom_x[1] + true_x[1]; - out_201422243433114007[2] = -nom_x[2] + true_x[2]; - out_201422243433114007[3] = -nom_x[3] + true_x[3]; - out_201422243433114007[4] = -nom_x[4] + true_x[4]; - out_201422243433114007[5] = -nom_x[5] + true_x[5]; - out_201422243433114007[6] = -nom_x[6] + true_x[6]; - out_201422243433114007[7] = -nom_x[7] + true_x[7]; - out_201422243433114007[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6058691817726549063) { + out_6058691817726549063[0] = -nom_x[0] + true_x[0]; + out_6058691817726549063[1] = -nom_x[1] + true_x[1]; + out_6058691817726549063[2] = -nom_x[2] + true_x[2]; + out_6058691817726549063[3] = -nom_x[3] + true_x[3]; + out_6058691817726549063[4] = -nom_x[4] + true_x[4]; + out_6058691817726549063[5] = -nom_x[5] + true_x[5]; + out_6058691817726549063[6] = -nom_x[6] + true_x[6]; + out_6058691817726549063[7] = -nom_x[7] + true_x[7]; + out_6058691817726549063[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_99163613418102636) { - out_99163613418102636[0] = 1.0; - out_99163613418102636[1] = 0.0; - out_99163613418102636[2] = 0.0; - out_99163613418102636[3] = 0.0; - out_99163613418102636[4] = 0.0; - out_99163613418102636[5] = 0.0; - out_99163613418102636[6] = 0.0; - out_99163613418102636[7] = 0.0; - out_99163613418102636[8] = 0.0; - out_99163613418102636[9] = 0.0; - out_99163613418102636[10] = 1.0; - out_99163613418102636[11] = 0.0; - out_99163613418102636[12] = 0.0; - out_99163613418102636[13] = 0.0; - out_99163613418102636[14] = 0.0; - out_99163613418102636[15] = 0.0; - out_99163613418102636[16] = 0.0; - out_99163613418102636[17] = 0.0; - out_99163613418102636[18] = 0.0; - out_99163613418102636[19] = 0.0; - out_99163613418102636[20] = 1.0; - out_99163613418102636[21] = 0.0; - out_99163613418102636[22] = 0.0; - out_99163613418102636[23] = 0.0; - out_99163613418102636[24] = 0.0; - out_99163613418102636[25] = 0.0; - out_99163613418102636[26] = 0.0; - out_99163613418102636[27] = 0.0; - out_99163613418102636[28] = 0.0; - out_99163613418102636[29] = 0.0; - out_99163613418102636[30] = 1.0; - out_99163613418102636[31] = 0.0; - out_99163613418102636[32] = 0.0; - out_99163613418102636[33] = 0.0; - out_99163613418102636[34] = 0.0; - out_99163613418102636[35] = 0.0; - out_99163613418102636[36] = 0.0; - out_99163613418102636[37] = 0.0; - out_99163613418102636[38] = 0.0; - out_99163613418102636[39] = 0.0; - out_99163613418102636[40] = 1.0; - out_99163613418102636[41] = 0.0; - out_99163613418102636[42] = 0.0; - out_99163613418102636[43] = 0.0; - out_99163613418102636[44] = 0.0; - out_99163613418102636[45] = 0.0; - out_99163613418102636[46] = 0.0; - out_99163613418102636[47] = 0.0; - out_99163613418102636[48] = 0.0; - out_99163613418102636[49] = 0.0; - out_99163613418102636[50] = 1.0; - out_99163613418102636[51] = 0.0; - out_99163613418102636[52] = 0.0; - out_99163613418102636[53] = 0.0; - out_99163613418102636[54] = 0.0; - out_99163613418102636[55] = 0.0; - out_99163613418102636[56] = 0.0; - out_99163613418102636[57] = 0.0; - out_99163613418102636[58] = 0.0; - out_99163613418102636[59] = 0.0; - out_99163613418102636[60] = 1.0; - out_99163613418102636[61] = 0.0; - out_99163613418102636[62] = 0.0; - out_99163613418102636[63] = 0.0; - out_99163613418102636[64] = 0.0; - out_99163613418102636[65] = 0.0; - out_99163613418102636[66] = 0.0; - out_99163613418102636[67] = 0.0; - out_99163613418102636[68] = 0.0; - out_99163613418102636[69] = 0.0; - out_99163613418102636[70] = 1.0; - out_99163613418102636[71] = 0.0; - out_99163613418102636[72] = 0.0; - out_99163613418102636[73] = 0.0; - out_99163613418102636[74] = 0.0; - out_99163613418102636[75] = 0.0; - out_99163613418102636[76] = 0.0; - out_99163613418102636[77] = 0.0; - out_99163613418102636[78] = 0.0; - out_99163613418102636[79] = 0.0; - out_99163613418102636[80] = 1.0; +void H_mod_fun(double *state, double *out_6620632585560778509) { + out_6620632585560778509[0] = 1.0; + out_6620632585560778509[1] = 0.0; + out_6620632585560778509[2] = 0.0; + out_6620632585560778509[3] = 0.0; + out_6620632585560778509[4] = 0.0; + out_6620632585560778509[5] = 0.0; + out_6620632585560778509[6] = 0.0; + out_6620632585560778509[7] = 0.0; + out_6620632585560778509[8] = 0.0; + out_6620632585560778509[9] = 0.0; + out_6620632585560778509[10] = 1.0; + out_6620632585560778509[11] = 0.0; + out_6620632585560778509[12] = 0.0; + out_6620632585560778509[13] = 0.0; + out_6620632585560778509[14] = 0.0; + out_6620632585560778509[15] = 0.0; + out_6620632585560778509[16] = 0.0; + out_6620632585560778509[17] = 0.0; + out_6620632585560778509[18] = 0.0; + out_6620632585560778509[19] = 0.0; + out_6620632585560778509[20] = 1.0; + out_6620632585560778509[21] = 0.0; + out_6620632585560778509[22] = 0.0; + out_6620632585560778509[23] = 0.0; + out_6620632585560778509[24] = 0.0; + out_6620632585560778509[25] = 0.0; + out_6620632585560778509[26] = 0.0; + out_6620632585560778509[27] = 0.0; + out_6620632585560778509[28] = 0.0; + out_6620632585560778509[29] = 0.0; + out_6620632585560778509[30] = 1.0; + out_6620632585560778509[31] = 0.0; + out_6620632585560778509[32] = 0.0; + out_6620632585560778509[33] = 0.0; + out_6620632585560778509[34] = 0.0; + out_6620632585560778509[35] = 0.0; + out_6620632585560778509[36] = 0.0; + out_6620632585560778509[37] = 0.0; + out_6620632585560778509[38] = 0.0; + out_6620632585560778509[39] = 0.0; + out_6620632585560778509[40] = 1.0; + out_6620632585560778509[41] = 0.0; + out_6620632585560778509[42] = 0.0; + out_6620632585560778509[43] = 0.0; + out_6620632585560778509[44] = 0.0; + out_6620632585560778509[45] = 0.0; + out_6620632585560778509[46] = 0.0; + out_6620632585560778509[47] = 0.0; + out_6620632585560778509[48] = 0.0; + out_6620632585560778509[49] = 0.0; + out_6620632585560778509[50] = 1.0; + out_6620632585560778509[51] = 0.0; + out_6620632585560778509[52] = 0.0; + out_6620632585560778509[53] = 0.0; + out_6620632585560778509[54] = 0.0; + out_6620632585560778509[55] = 0.0; + out_6620632585560778509[56] = 0.0; + out_6620632585560778509[57] = 0.0; + out_6620632585560778509[58] = 0.0; + out_6620632585560778509[59] = 0.0; + out_6620632585560778509[60] = 1.0; + out_6620632585560778509[61] = 0.0; + out_6620632585560778509[62] = 0.0; + out_6620632585560778509[63] = 0.0; + out_6620632585560778509[64] = 0.0; + out_6620632585560778509[65] = 0.0; + out_6620632585560778509[66] = 0.0; + out_6620632585560778509[67] = 0.0; + out_6620632585560778509[68] = 0.0; + out_6620632585560778509[69] = 0.0; + out_6620632585560778509[70] = 1.0; + out_6620632585560778509[71] = 0.0; + out_6620632585560778509[72] = 0.0; + out_6620632585560778509[73] = 0.0; + out_6620632585560778509[74] = 0.0; + out_6620632585560778509[75] = 0.0; + out_6620632585560778509[76] = 0.0; + out_6620632585560778509[77] = 0.0; + out_6620632585560778509[78] = 0.0; + out_6620632585560778509[79] = 0.0; + out_6620632585560778509[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4535403042767963777) { - out_4535403042767963777[0] = state[0]; - out_4535403042767963777[1] = state[1]; - out_4535403042767963777[2] = state[2]; - out_4535403042767963777[3] = state[3]; - out_4535403042767963777[4] = state[4]; - out_4535403042767963777[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_4535403042767963777[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_4535403042767963777[7] = state[7]; - out_4535403042767963777[8] = state[8]; +void f_fun(double *state, double dt, double *out_3578319971516081169) { + out_3578319971516081169[0] = state[0]; + out_3578319971516081169[1] = state[1]; + out_3578319971516081169[2] = state[2]; + out_3578319971516081169[3] = state[3]; + out_3578319971516081169[4] = state[4]; + out_3578319971516081169[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_3578319971516081169[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_3578319971516081169[7] = state[7]; + out_3578319971516081169[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3611627361836084616) { - out_3611627361836084616[0] = 1; - out_3611627361836084616[1] = 0; - out_3611627361836084616[2] = 0; - out_3611627361836084616[3] = 0; - out_3611627361836084616[4] = 0; - out_3611627361836084616[5] = 0; - out_3611627361836084616[6] = 0; - out_3611627361836084616[7] = 0; - out_3611627361836084616[8] = 0; - out_3611627361836084616[9] = 0; - out_3611627361836084616[10] = 1; - out_3611627361836084616[11] = 0; - out_3611627361836084616[12] = 0; - out_3611627361836084616[13] = 0; - out_3611627361836084616[14] = 0; - out_3611627361836084616[15] = 0; - out_3611627361836084616[16] = 0; - out_3611627361836084616[17] = 0; - out_3611627361836084616[18] = 0; - out_3611627361836084616[19] = 0; - out_3611627361836084616[20] = 1; - out_3611627361836084616[21] = 0; - out_3611627361836084616[22] = 0; - out_3611627361836084616[23] = 0; - out_3611627361836084616[24] = 0; - out_3611627361836084616[25] = 0; - out_3611627361836084616[26] = 0; - out_3611627361836084616[27] = 0; - out_3611627361836084616[28] = 0; - out_3611627361836084616[29] = 0; - out_3611627361836084616[30] = 1; - out_3611627361836084616[31] = 0; - out_3611627361836084616[32] = 0; - out_3611627361836084616[33] = 0; - out_3611627361836084616[34] = 0; - out_3611627361836084616[35] = 0; - out_3611627361836084616[36] = 0; - out_3611627361836084616[37] = 0; - out_3611627361836084616[38] = 0; - out_3611627361836084616[39] = 0; - out_3611627361836084616[40] = 1; - out_3611627361836084616[41] = 0; - out_3611627361836084616[42] = 0; - out_3611627361836084616[43] = 0; - out_3611627361836084616[44] = 0; - out_3611627361836084616[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_3611627361836084616[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3611627361836084616[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3611627361836084616[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3611627361836084616[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_3611627361836084616[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3611627361836084616[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3611627361836084616[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3611627361836084616[53] = -9.8100000000000005*dt; - out_3611627361836084616[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_3611627361836084616[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3611627361836084616[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3611627361836084616[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3611627361836084616[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_3611627361836084616[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3611627361836084616[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_3611627361836084616[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3611627361836084616[62] = 0; - out_3611627361836084616[63] = 0; - out_3611627361836084616[64] = 0; - out_3611627361836084616[65] = 0; - out_3611627361836084616[66] = 0; - out_3611627361836084616[67] = 0; - out_3611627361836084616[68] = 0; - out_3611627361836084616[69] = 0; - out_3611627361836084616[70] = 1; - out_3611627361836084616[71] = 0; - out_3611627361836084616[72] = 0; - out_3611627361836084616[73] = 0; - out_3611627361836084616[74] = 0; - out_3611627361836084616[75] = 0; - out_3611627361836084616[76] = 0; - out_3611627361836084616[77] = 0; - out_3611627361836084616[78] = 0; - out_3611627361836084616[79] = 0; - out_3611627361836084616[80] = 1; +void F_fun(double *state, double dt, double *out_2530937000049298875) { + out_2530937000049298875[0] = 1; + out_2530937000049298875[1] = 0; + out_2530937000049298875[2] = 0; + out_2530937000049298875[3] = 0; + out_2530937000049298875[4] = 0; + out_2530937000049298875[5] = 0; + out_2530937000049298875[6] = 0; + out_2530937000049298875[7] = 0; + out_2530937000049298875[8] = 0; + out_2530937000049298875[9] = 0; + out_2530937000049298875[10] = 1; + out_2530937000049298875[11] = 0; + out_2530937000049298875[12] = 0; + out_2530937000049298875[13] = 0; + out_2530937000049298875[14] = 0; + out_2530937000049298875[15] = 0; + out_2530937000049298875[16] = 0; + out_2530937000049298875[17] = 0; + out_2530937000049298875[18] = 0; + out_2530937000049298875[19] = 0; + out_2530937000049298875[20] = 1; + out_2530937000049298875[21] = 0; + out_2530937000049298875[22] = 0; + out_2530937000049298875[23] = 0; + out_2530937000049298875[24] = 0; + out_2530937000049298875[25] = 0; + out_2530937000049298875[26] = 0; + out_2530937000049298875[27] = 0; + out_2530937000049298875[28] = 0; + out_2530937000049298875[29] = 0; + out_2530937000049298875[30] = 1; + out_2530937000049298875[31] = 0; + out_2530937000049298875[32] = 0; + out_2530937000049298875[33] = 0; + out_2530937000049298875[34] = 0; + out_2530937000049298875[35] = 0; + out_2530937000049298875[36] = 0; + out_2530937000049298875[37] = 0; + out_2530937000049298875[38] = 0; + out_2530937000049298875[39] = 0; + out_2530937000049298875[40] = 1; + out_2530937000049298875[41] = 0; + out_2530937000049298875[42] = 0; + out_2530937000049298875[43] = 0; + out_2530937000049298875[44] = 0; + out_2530937000049298875[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_2530937000049298875[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2530937000049298875[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2530937000049298875[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2530937000049298875[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_2530937000049298875[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2530937000049298875[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2530937000049298875[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2530937000049298875[53] = -9.8100000000000005*dt; + out_2530937000049298875[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_2530937000049298875[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2530937000049298875[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2530937000049298875[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2530937000049298875[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_2530937000049298875[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2530937000049298875[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_2530937000049298875[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2530937000049298875[62] = 0; + out_2530937000049298875[63] = 0; + out_2530937000049298875[64] = 0; + out_2530937000049298875[65] = 0; + out_2530937000049298875[66] = 0; + out_2530937000049298875[67] = 0; + out_2530937000049298875[68] = 0; + out_2530937000049298875[69] = 0; + out_2530937000049298875[70] = 1; + out_2530937000049298875[71] = 0; + out_2530937000049298875[72] = 0; + out_2530937000049298875[73] = 0; + out_2530937000049298875[74] = 0; + out_2530937000049298875[75] = 0; + out_2530937000049298875[76] = 0; + out_2530937000049298875[77] = 0; + out_2530937000049298875[78] = 0; + out_2530937000049298875[79] = 0; + out_2530937000049298875[80] = 1; } -void h_25(double *state, double *unused, double *out_5863917325441369509) { - out_5863917325441369509[0] = state[6]; +void h_25(double *state, double *unused, double *out_2134931354245078390) { + out_2134931354245078390[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4695667229509766473) { - out_4695667229509766473[0] = 0; - out_4695667229509766473[1] = 0; - out_4695667229509766473[2] = 0; - out_4695667229509766473[3] = 0; - out_4695667229509766473[4] = 0; - out_4695667229509766473[5] = 0; - out_4695667229509766473[6] = 1; - out_4695667229509766473[7] = 0; - out_4695667229509766473[8] = 0; +void H_25(double *state, double *unused, double *out_2632923262236535870) { + out_2632923262236535870[0] = 0; + out_2632923262236535870[1] = 0; + out_2632923262236535870[2] = 0; + out_2632923262236535870[3] = 0; + out_2632923262236535870[4] = 0; + out_2632923262236535870[5] = 0; + out_2632923262236535870[6] = 1; + out_2632923262236535870[7] = 0; + out_2632923262236535870[8] = 0; } -void h_24(double *state, double *unused, double *out_3481314710267158875) { - out_3481314710267158875[0] = state[4]; - out_3481314710267158875[1] = state[5]; +void h_24(double *state, double *unused, double *out_8365765087520140722) { + out_8365765087520140722[0] = state[4]; + out_8365765087520140722[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4606210134248907981) { - out_4606210134248907981[0] = 0; - out_4606210134248907981[1] = 0; - out_4606210134248907981[2] = 0; - out_4606210134248907981[3] = 0; - out_4606210134248907981[4] = 1; - out_4606210134248907981[5] = 0; - out_4606210134248907981[6] = 0; - out_4606210134248907981[7] = 0; - out_4606210134248907981[8] = 0; - out_4606210134248907981[9] = 0; - out_4606210134248907981[10] = 0; - out_4606210134248907981[11] = 0; - out_4606210134248907981[12] = 0; - out_4606210134248907981[13] = 0; - out_4606210134248907981[14] = 1; - out_4606210134248907981[15] = 0; - out_4606210134248907981[16] = 0; - out_4606210134248907981[17] = 0; +void H_24(double *state, double *unused, double *out_460273663231036304) { + out_460273663231036304[0] = 0; + out_460273663231036304[1] = 0; + out_460273663231036304[2] = 0; + out_460273663231036304[3] = 0; + out_460273663231036304[4] = 1; + out_460273663231036304[5] = 0; + out_460273663231036304[6] = 0; + out_460273663231036304[7] = 0; + out_460273663231036304[8] = 0; + out_460273663231036304[9] = 0; + out_460273663231036304[10] = 0; + out_460273663231036304[11] = 0; + out_460273663231036304[12] = 0; + out_460273663231036304[13] = 0; + out_460273663231036304[14] = 1; + out_460273663231036304[15] = 0; + out_460273663231036304[16] = 0; + out_460273663231036304[17] = 0; } -void h_30(double *state, double *unused, double *out_723910601034925654) { - out_723910601034925654[0] = state[4]; +void h_30(double *state, double *unused, double *out_5772380882499100740) { + out_5772380882499100740[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2177334271002517846) { - out_2177334271002517846[0] = 0; - out_2177334271002517846[1] = 0; - out_2177334271002517846[2] = 0; - out_2177334271002517846[3] = 0; - out_2177334271002517846[4] = 1; - out_2177334271002517846[5] = 0; - out_2177334271002517846[6] = 0; - out_2177334271002517846[7] = 0; - out_2177334271002517846[8] = 0; +void H_30(double *state, double *unused, double *out_5151256220743784497) { + out_5151256220743784497[0] = 0; + out_5151256220743784497[1] = 0; + out_5151256220743784497[2] = 0; + out_5151256220743784497[3] = 0; + out_5151256220743784497[4] = 1; + out_5151256220743784497[5] = 0; + out_5151256220743784497[6] = 0; + out_5151256220743784497[7] = 0; + out_5151256220743784497[8] = 0; } -void h_26(double *state, double *unused, double *out_120594716358448137) { - out_120594716358448137[0] = state[7]; +void h_26(double *state, double *unused, double *out_770707614838255095) { + out_770707614838255095[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8437170548383822697) { - out_8437170548383822697[0] = 0; - out_8437170548383822697[1] = 0; - out_8437170548383822697[2] = 0; - out_8437170548383822697[3] = 0; - out_8437170548383822697[4] = 0; - out_8437170548383822697[5] = 0; - out_8437170548383822697[6] = 0; - out_8437170548383822697[7] = 1; - out_8437170548383822697[8] = 0; +void H_26(double *state, double *unused, double *out_1108580056637520354) { + out_1108580056637520354[0] = 0; + out_1108580056637520354[1] = 0; + out_1108580056637520354[2] = 0; + out_1108580056637520354[3] = 0; + out_1108580056637520354[4] = 0; + out_1108580056637520354[5] = 0; + out_1108580056637520354[6] = 0; + out_1108580056637520354[7] = 1; + out_1108580056637520354[8] = 0; } -void h_27(double *state, double *unused, double *out_6807427178343031944) { - out_6807427178343031944[0] = state[3]; +void h_27(double *state, double *unused, double *out_7593975799595780900) { + out_7593975799595780900[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4352097582802942757) { - out_4352097582802942757[0] = 0; - out_4352097582802942757[1] = 0; - out_4352097582802942757[2] = 0; - out_4352097582802942757[3] = 1; - out_4352097582802942757[4] = 0; - out_4352097582802942757[5] = 0; - out_4352097582802942757[6] = 0; - out_4352097582802942757[7] = 0; - out_4352097582802942757[8] = 0; +void H_27(double *state, double *unused, double *out_7374850291927727714) { + out_7374850291927727714[0] = 0; + out_7374850291927727714[1] = 0; + out_7374850291927727714[2] = 0; + out_7374850291927727714[3] = 1; + out_7374850291927727714[4] = 0; + out_7374850291927727714[5] = 0; + out_7374850291927727714[6] = 0; + out_7374850291927727714[7] = 0; + out_7374850291927727714[8] = 0; } -void h_29(double *state, double *unused, double *out_2312875450409407031) { - out_2312875450409407031[0] = state[1]; +void h_29(double *state, double *unused, double *out_287296851158268285) { + out_287296851158268285[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1667102926688125662) { - out_1667102926688125662[0] = 0; - out_1667102926688125662[1] = 1; - out_1667102926688125662[2] = 0; - out_1667102926688125662[3] = 0; - out_1667102926688125662[4] = 0; - out_1667102926688125662[5] = 0; - out_1667102926688125662[6] = 0; - out_1667102926688125662[7] = 0; - out_1667102926688125662[8] = 0; +void H_29(double *state, double *unused, double *out_5661487565058176681) { + out_5661487565058176681[0] = 0; + out_5661487565058176681[1] = 1; + out_5661487565058176681[2] = 0; + out_5661487565058176681[3] = 0; + out_5661487565058176681[4] = 0; + out_5661487565058176681[5] = 0; + out_5661487565058176681[6] = 0; + out_5661487565058176681[7] = 0; + out_5661487565058176681[8] = 0; } -void h_28(double *state, double *unused, double *out_4636554191573453893) { - out_4636554191573453893[0] = state[0]; +void h_28(double *state, double *unused, double *out_6243721933085284858) { + out_6243721933085284858[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6749501943757656236) { - out_6749501943757656236[0] = 1; - out_6749501943757656236[1] = 0; - out_6749501943757656236[2] = 0; - out_6749501943757656236[3] = 0; - out_6749501943757656236[4] = 0; - out_6749501943757656236[5] = 0; - out_6749501943757656236[6] = 0; - out_6749501943757656236[7] = 0; - out_6749501943757656236[8] = 0; +void H_28(double *state, double *unused, double *out_579088547988646107) { + out_579088547988646107[0] = 1; + out_579088547988646107[1] = 0; + out_579088547988646107[2] = 0; + out_579088547988646107[3] = 0; + out_579088547988646107[4] = 0; + out_579088547988646107[5] = 0; + out_579088547988646107[6] = 0; + out_579088547988646107[7] = 0; + out_579088547988646107[8] = 0; } -void h_31(double *state, double *unused, double *out_5706730657090240364) { - out_5706730657090240364[0] = state[8]; +void h_31(double *state, double *unused, double *out_8851253955215584901) { + out_8851253955215584901[0] = state[8]; } -void H_31(double *state, double *unused, double *out_9063378650617174173) { - out_9063378650617174173[0] = 0; - out_9063378650617174173[1] = 0; - out_9063378650617174173[2] = 0; - out_9063378650617174173[3] = 0; - out_9063378650617174173[4] = 0; - out_9063378650617174173[5] = 0; - out_9063378650617174173[6] = 0; - out_9063378650617174173[7] = 0; - out_9063378650617174173[8] = 1; +void H_31(double *state, double *unused, double *out_2663569224113496298) { + out_2663569224113496298[0] = 0; + out_2663569224113496298[1] = 0; + out_2663569224113496298[2] = 0; + out_2663569224113496298[3] = 0; + out_2663569224113496298[4] = 0; + out_2663569224113496298[5] = 0; + out_2663569224113496298[6] = 0; + out_2663569224113496298[7] = 0; + out_2663569224113496298[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_3355904321462358618) { - err_fun(nom_x, delta_x, out_3355904321462358618); +void car_err_fun(double *nom_x, double *delta_x, double *out_3009395508469456389) { + err_fun(nom_x, delta_x, out_3009395508469456389); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_201422243433114007) { - inv_err_fun(nom_x, true_x, out_201422243433114007); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6058691817726549063) { + inv_err_fun(nom_x, true_x, out_6058691817726549063); } -void car_H_mod_fun(double *state, double *out_99163613418102636) { - H_mod_fun(state, out_99163613418102636); +void car_H_mod_fun(double *state, double *out_6620632585560778509) { + H_mod_fun(state, out_6620632585560778509); } -void car_f_fun(double *state, double dt, double *out_4535403042767963777) { - f_fun(state, dt, out_4535403042767963777); +void car_f_fun(double *state, double dt, double *out_3578319971516081169) { + f_fun(state, dt, out_3578319971516081169); } -void car_F_fun(double *state, double dt, double *out_3611627361836084616) { - F_fun(state, dt, out_3611627361836084616); +void car_F_fun(double *state, double dt, double *out_2530937000049298875) { + F_fun(state, dt, out_2530937000049298875); } -void car_h_25(double *state, double *unused, double *out_5863917325441369509) { - h_25(state, unused, out_5863917325441369509); +void car_h_25(double *state, double *unused, double *out_2134931354245078390) { + h_25(state, unused, out_2134931354245078390); } -void car_H_25(double *state, double *unused, double *out_4695667229509766473) { - H_25(state, unused, out_4695667229509766473); +void car_H_25(double *state, double *unused, double *out_2632923262236535870) { + H_25(state, unused, out_2632923262236535870); } -void car_h_24(double *state, double *unused, double *out_3481314710267158875) { - h_24(state, unused, out_3481314710267158875); +void car_h_24(double *state, double *unused, double *out_8365765087520140722) { + h_24(state, unused, out_8365765087520140722); } -void car_H_24(double *state, double *unused, double *out_4606210134248907981) { - H_24(state, unused, out_4606210134248907981); +void car_H_24(double *state, double *unused, double *out_460273663231036304) { + H_24(state, unused, out_460273663231036304); } -void car_h_30(double *state, double *unused, double *out_723910601034925654) { - h_30(state, unused, out_723910601034925654); +void car_h_30(double *state, double *unused, double *out_5772380882499100740) { + h_30(state, unused, out_5772380882499100740); } -void car_H_30(double *state, double *unused, double *out_2177334271002517846) { - H_30(state, unused, out_2177334271002517846); +void car_H_30(double *state, double *unused, double *out_5151256220743784497) { + H_30(state, unused, out_5151256220743784497); } -void car_h_26(double *state, double *unused, double *out_120594716358448137) { - h_26(state, unused, out_120594716358448137); +void car_h_26(double *state, double *unused, double *out_770707614838255095) { + h_26(state, unused, out_770707614838255095); } -void car_H_26(double *state, double *unused, double *out_8437170548383822697) { - H_26(state, unused, out_8437170548383822697); +void car_H_26(double *state, double *unused, double *out_1108580056637520354) { + H_26(state, unused, out_1108580056637520354); } -void car_h_27(double *state, double *unused, double *out_6807427178343031944) { - h_27(state, unused, out_6807427178343031944); +void car_h_27(double *state, double *unused, double *out_7593975799595780900) { + h_27(state, unused, out_7593975799595780900); } -void car_H_27(double *state, double *unused, double *out_4352097582802942757) { - H_27(state, unused, out_4352097582802942757); +void car_H_27(double *state, double *unused, double *out_7374850291927727714) { + H_27(state, unused, out_7374850291927727714); } -void car_h_29(double *state, double *unused, double *out_2312875450409407031) { - h_29(state, unused, out_2312875450409407031); +void car_h_29(double *state, double *unused, double *out_287296851158268285) { + h_29(state, unused, out_287296851158268285); } -void car_H_29(double *state, double *unused, double *out_1667102926688125662) { - H_29(state, unused, out_1667102926688125662); +void car_H_29(double *state, double *unused, double *out_5661487565058176681) { + H_29(state, unused, out_5661487565058176681); } -void car_h_28(double *state, double *unused, double *out_4636554191573453893) { - h_28(state, unused, out_4636554191573453893); +void car_h_28(double *state, double *unused, double *out_6243721933085284858) { + h_28(state, unused, out_6243721933085284858); } -void car_H_28(double *state, double *unused, double *out_6749501943757656236) { - H_28(state, unused, out_6749501943757656236); +void car_H_28(double *state, double *unused, double *out_579088547988646107) { + H_28(state, unused, out_579088547988646107); } -void car_h_31(double *state, double *unused, double *out_5706730657090240364) { - h_31(state, unused, out_5706730657090240364); +void car_h_31(double *state, double *unused, double *out_8851253955215584901) { + h_31(state, unused, out_8851253955215584901); } -void car_H_31(double *state, double *unused, double *out_9063378650617174173) { - H_31(state, unused, out_9063378650617174173); +void car_H_31(double *state, double *unused, double *out_2663569224113496298) { + H_31(state, unused, out_2663569224113496298); } 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 dad5cc283..4942dcdd4 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_3355904321462358618); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_201422243433114007); -void car_H_mod_fun(double *state, double *out_99163613418102636); -void car_f_fun(double *state, double dt, double *out_4535403042767963777); -void car_F_fun(double *state, double dt, double *out_3611627361836084616); -void car_h_25(double *state, double *unused, double *out_5863917325441369509); -void car_H_25(double *state, double *unused, double *out_4695667229509766473); -void car_h_24(double *state, double *unused, double *out_3481314710267158875); -void car_H_24(double *state, double *unused, double *out_4606210134248907981); -void car_h_30(double *state, double *unused, double *out_723910601034925654); -void car_H_30(double *state, double *unused, double *out_2177334271002517846); -void car_h_26(double *state, double *unused, double *out_120594716358448137); -void car_H_26(double *state, double *unused, double *out_8437170548383822697); -void car_h_27(double *state, double *unused, double *out_6807427178343031944); -void car_H_27(double *state, double *unused, double *out_4352097582802942757); -void car_h_29(double *state, double *unused, double *out_2312875450409407031); -void car_H_29(double *state, double *unused, double *out_1667102926688125662); -void car_h_28(double *state, double *unused, double *out_4636554191573453893); -void car_H_28(double *state, double *unused, double *out_6749501943757656236); -void car_h_31(double *state, double *unused, double *out_5706730657090240364); -void car_H_31(double *state, double *unused, double *out_9063378650617174173); +void car_err_fun(double *nom_x, double *delta_x, double *out_3009395508469456389); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6058691817726549063); +void car_H_mod_fun(double *state, double *out_6620632585560778509); +void car_f_fun(double *state, double dt, double *out_3578319971516081169); +void car_F_fun(double *state, double dt, double *out_2530937000049298875); +void car_h_25(double *state, double *unused, double *out_2134931354245078390); +void car_H_25(double *state, double *unused, double *out_2632923262236535870); +void car_h_24(double *state, double *unused, double *out_8365765087520140722); +void car_H_24(double *state, double *unused, double *out_460273663231036304); +void car_h_30(double *state, double *unused, double *out_5772380882499100740); +void car_H_30(double *state, double *unused, double *out_5151256220743784497); +void car_h_26(double *state, double *unused, double *out_770707614838255095); +void car_H_26(double *state, double *unused, double *out_1108580056637520354); +void car_h_27(double *state, double *unused, double *out_7593975799595780900); +void car_H_27(double *state, double *unused, double *out_7374850291927727714); +void car_h_29(double *state, double *unused, double *out_287296851158268285); +void car_H_29(double *state, double *unused, double *out_5661487565058176681); +void car_h_28(double *state, double *unused, double *out_6243721933085284858); +void car_H_28(double *state, double *unused, double *out_579088547988646107); +void car_h_31(double *state, double *unused, double *out_8851253955215584901); +void car_H_31(double *state, double *unused, double *out_2663569224113496298); 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 e7d2ac0dd..eb0ec02c3 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_384350097947890971) { - out_384350097947890971[0] = delta_x[0] + nom_x[0]; - out_384350097947890971[1] = delta_x[1] + nom_x[1]; - out_384350097947890971[2] = delta_x[2] + nom_x[2]; - out_384350097947890971[3] = delta_x[3] + nom_x[3]; - out_384350097947890971[4] = delta_x[4] + nom_x[4]; - out_384350097947890971[5] = delta_x[5] + nom_x[5]; - out_384350097947890971[6] = delta_x[6] + nom_x[6]; - out_384350097947890971[7] = delta_x[7] + nom_x[7]; - out_384350097947890971[8] = delta_x[8] + nom_x[8]; - out_384350097947890971[9] = delta_x[9] + nom_x[9]; - out_384350097947890971[10] = delta_x[10] + nom_x[10]; - out_384350097947890971[11] = delta_x[11] + nom_x[11]; - out_384350097947890971[12] = delta_x[12] + nom_x[12]; - out_384350097947890971[13] = delta_x[13] + nom_x[13]; - out_384350097947890971[14] = delta_x[14] + nom_x[14]; - out_384350097947890971[15] = delta_x[15] + nom_x[15]; - out_384350097947890971[16] = delta_x[16] + nom_x[16]; - out_384350097947890971[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_709589957515877441) { + out_709589957515877441[0] = delta_x[0] + nom_x[0]; + out_709589957515877441[1] = delta_x[1] + nom_x[1]; + out_709589957515877441[2] = delta_x[2] + nom_x[2]; + out_709589957515877441[3] = delta_x[3] + nom_x[3]; + out_709589957515877441[4] = delta_x[4] + nom_x[4]; + out_709589957515877441[5] = delta_x[5] + nom_x[5]; + out_709589957515877441[6] = delta_x[6] + nom_x[6]; + out_709589957515877441[7] = delta_x[7] + nom_x[7]; + out_709589957515877441[8] = delta_x[8] + nom_x[8]; + out_709589957515877441[9] = delta_x[9] + nom_x[9]; + out_709589957515877441[10] = delta_x[10] + nom_x[10]; + out_709589957515877441[11] = delta_x[11] + nom_x[11]; + out_709589957515877441[12] = delta_x[12] + nom_x[12]; + out_709589957515877441[13] = delta_x[13] + nom_x[13]; + out_709589957515877441[14] = delta_x[14] + nom_x[14]; + out_709589957515877441[15] = delta_x[15] + nom_x[15]; + out_709589957515877441[16] = delta_x[16] + nom_x[16]; + out_709589957515877441[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_161730175994041380) { - out_161730175994041380[0] = -nom_x[0] + true_x[0]; - out_161730175994041380[1] = -nom_x[1] + true_x[1]; - out_161730175994041380[2] = -nom_x[2] + true_x[2]; - out_161730175994041380[3] = -nom_x[3] + true_x[3]; - out_161730175994041380[4] = -nom_x[4] + true_x[4]; - out_161730175994041380[5] = -nom_x[5] + true_x[5]; - out_161730175994041380[6] = -nom_x[6] + true_x[6]; - out_161730175994041380[7] = -nom_x[7] + true_x[7]; - out_161730175994041380[8] = -nom_x[8] + true_x[8]; - out_161730175994041380[9] = -nom_x[9] + true_x[9]; - out_161730175994041380[10] = -nom_x[10] + true_x[10]; - out_161730175994041380[11] = -nom_x[11] + true_x[11]; - out_161730175994041380[12] = -nom_x[12] + true_x[12]; - out_161730175994041380[13] = -nom_x[13] + true_x[13]; - out_161730175994041380[14] = -nom_x[14] + true_x[14]; - out_161730175994041380[15] = -nom_x[15] + true_x[15]; - out_161730175994041380[16] = -nom_x[16] + true_x[16]; - out_161730175994041380[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3661238081000149023) { + out_3661238081000149023[0] = -nom_x[0] + true_x[0]; + out_3661238081000149023[1] = -nom_x[1] + true_x[1]; + out_3661238081000149023[2] = -nom_x[2] + true_x[2]; + out_3661238081000149023[3] = -nom_x[3] + true_x[3]; + out_3661238081000149023[4] = -nom_x[4] + true_x[4]; + out_3661238081000149023[5] = -nom_x[5] + true_x[5]; + out_3661238081000149023[6] = -nom_x[6] + true_x[6]; + out_3661238081000149023[7] = -nom_x[7] + true_x[7]; + out_3661238081000149023[8] = -nom_x[8] + true_x[8]; + out_3661238081000149023[9] = -nom_x[9] + true_x[9]; + out_3661238081000149023[10] = -nom_x[10] + true_x[10]; + out_3661238081000149023[11] = -nom_x[11] + true_x[11]; + out_3661238081000149023[12] = -nom_x[12] + true_x[12]; + out_3661238081000149023[13] = -nom_x[13] + true_x[13]; + out_3661238081000149023[14] = -nom_x[14] + true_x[14]; + out_3661238081000149023[15] = -nom_x[15] + true_x[15]; + out_3661238081000149023[16] = -nom_x[16] + true_x[16]; + out_3661238081000149023[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_511897058818169074) { - out_511897058818169074[0] = 1.0; - out_511897058818169074[1] = 0.0; - out_511897058818169074[2] = 0.0; - out_511897058818169074[3] = 0.0; - out_511897058818169074[4] = 0.0; - out_511897058818169074[5] = 0.0; - out_511897058818169074[6] = 0.0; - out_511897058818169074[7] = 0.0; - out_511897058818169074[8] = 0.0; - out_511897058818169074[9] = 0.0; - out_511897058818169074[10] = 0.0; - out_511897058818169074[11] = 0.0; - out_511897058818169074[12] = 0.0; - out_511897058818169074[13] = 0.0; - out_511897058818169074[14] = 0.0; - out_511897058818169074[15] = 0.0; - out_511897058818169074[16] = 0.0; - out_511897058818169074[17] = 0.0; - out_511897058818169074[18] = 0.0; - out_511897058818169074[19] = 1.0; - out_511897058818169074[20] = 0.0; - out_511897058818169074[21] = 0.0; - out_511897058818169074[22] = 0.0; - out_511897058818169074[23] = 0.0; - out_511897058818169074[24] = 0.0; - out_511897058818169074[25] = 0.0; - out_511897058818169074[26] = 0.0; - out_511897058818169074[27] = 0.0; - out_511897058818169074[28] = 0.0; - out_511897058818169074[29] = 0.0; - out_511897058818169074[30] = 0.0; - out_511897058818169074[31] = 0.0; - out_511897058818169074[32] = 0.0; - out_511897058818169074[33] = 0.0; - out_511897058818169074[34] = 0.0; - out_511897058818169074[35] = 0.0; - out_511897058818169074[36] = 0.0; - out_511897058818169074[37] = 0.0; - out_511897058818169074[38] = 1.0; - out_511897058818169074[39] = 0.0; - out_511897058818169074[40] = 0.0; - out_511897058818169074[41] = 0.0; - out_511897058818169074[42] = 0.0; - out_511897058818169074[43] = 0.0; - out_511897058818169074[44] = 0.0; - out_511897058818169074[45] = 0.0; - out_511897058818169074[46] = 0.0; - out_511897058818169074[47] = 0.0; - out_511897058818169074[48] = 0.0; - out_511897058818169074[49] = 0.0; - out_511897058818169074[50] = 0.0; - out_511897058818169074[51] = 0.0; - out_511897058818169074[52] = 0.0; - out_511897058818169074[53] = 0.0; - out_511897058818169074[54] = 0.0; - out_511897058818169074[55] = 0.0; - out_511897058818169074[56] = 0.0; - out_511897058818169074[57] = 1.0; - out_511897058818169074[58] = 0.0; - out_511897058818169074[59] = 0.0; - out_511897058818169074[60] = 0.0; - out_511897058818169074[61] = 0.0; - out_511897058818169074[62] = 0.0; - out_511897058818169074[63] = 0.0; - out_511897058818169074[64] = 0.0; - out_511897058818169074[65] = 0.0; - out_511897058818169074[66] = 0.0; - out_511897058818169074[67] = 0.0; - out_511897058818169074[68] = 0.0; - out_511897058818169074[69] = 0.0; - out_511897058818169074[70] = 0.0; - out_511897058818169074[71] = 0.0; - out_511897058818169074[72] = 0.0; - out_511897058818169074[73] = 0.0; - out_511897058818169074[74] = 0.0; - out_511897058818169074[75] = 0.0; - out_511897058818169074[76] = 1.0; - out_511897058818169074[77] = 0.0; - out_511897058818169074[78] = 0.0; - out_511897058818169074[79] = 0.0; - out_511897058818169074[80] = 0.0; - out_511897058818169074[81] = 0.0; - out_511897058818169074[82] = 0.0; - out_511897058818169074[83] = 0.0; - out_511897058818169074[84] = 0.0; - out_511897058818169074[85] = 0.0; - out_511897058818169074[86] = 0.0; - out_511897058818169074[87] = 0.0; - out_511897058818169074[88] = 0.0; - out_511897058818169074[89] = 0.0; - out_511897058818169074[90] = 0.0; - out_511897058818169074[91] = 0.0; - out_511897058818169074[92] = 0.0; - out_511897058818169074[93] = 0.0; - out_511897058818169074[94] = 0.0; - out_511897058818169074[95] = 1.0; - out_511897058818169074[96] = 0.0; - out_511897058818169074[97] = 0.0; - out_511897058818169074[98] = 0.0; - out_511897058818169074[99] = 0.0; - out_511897058818169074[100] = 0.0; - out_511897058818169074[101] = 0.0; - out_511897058818169074[102] = 0.0; - out_511897058818169074[103] = 0.0; - out_511897058818169074[104] = 0.0; - out_511897058818169074[105] = 0.0; - out_511897058818169074[106] = 0.0; - out_511897058818169074[107] = 0.0; - out_511897058818169074[108] = 0.0; - out_511897058818169074[109] = 0.0; - out_511897058818169074[110] = 0.0; - out_511897058818169074[111] = 0.0; - out_511897058818169074[112] = 0.0; - out_511897058818169074[113] = 0.0; - out_511897058818169074[114] = 1.0; - out_511897058818169074[115] = 0.0; - out_511897058818169074[116] = 0.0; - out_511897058818169074[117] = 0.0; - out_511897058818169074[118] = 0.0; - out_511897058818169074[119] = 0.0; - out_511897058818169074[120] = 0.0; - out_511897058818169074[121] = 0.0; - out_511897058818169074[122] = 0.0; - out_511897058818169074[123] = 0.0; - out_511897058818169074[124] = 0.0; - out_511897058818169074[125] = 0.0; - out_511897058818169074[126] = 0.0; - out_511897058818169074[127] = 0.0; - out_511897058818169074[128] = 0.0; - out_511897058818169074[129] = 0.0; - out_511897058818169074[130] = 0.0; - out_511897058818169074[131] = 0.0; - out_511897058818169074[132] = 0.0; - out_511897058818169074[133] = 1.0; - out_511897058818169074[134] = 0.0; - out_511897058818169074[135] = 0.0; - out_511897058818169074[136] = 0.0; - out_511897058818169074[137] = 0.0; - out_511897058818169074[138] = 0.0; - out_511897058818169074[139] = 0.0; - out_511897058818169074[140] = 0.0; - out_511897058818169074[141] = 0.0; - out_511897058818169074[142] = 0.0; - out_511897058818169074[143] = 0.0; - out_511897058818169074[144] = 0.0; - out_511897058818169074[145] = 0.0; - out_511897058818169074[146] = 0.0; - out_511897058818169074[147] = 0.0; - out_511897058818169074[148] = 0.0; - out_511897058818169074[149] = 0.0; - out_511897058818169074[150] = 0.0; - out_511897058818169074[151] = 0.0; - out_511897058818169074[152] = 1.0; - out_511897058818169074[153] = 0.0; - out_511897058818169074[154] = 0.0; - out_511897058818169074[155] = 0.0; - out_511897058818169074[156] = 0.0; - out_511897058818169074[157] = 0.0; - out_511897058818169074[158] = 0.0; - out_511897058818169074[159] = 0.0; - out_511897058818169074[160] = 0.0; - out_511897058818169074[161] = 0.0; - out_511897058818169074[162] = 0.0; - out_511897058818169074[163] = 0.0; - out_511897058818169074[164] = 0.0; - out_511897058818169074[165] = 0.0; - out_511897058818169074[166] = 0.0; - out_511897058818169074[167] = 0.0; - out_511897058818169074[168] = 0.0; - out_511897058818169074[169] = 0.0; - out_511897058818169074[170] = 0.0; - out_511897058818169074[171] = 1.0; - out_511897058818169074[172] = 0.0; - out_511897058818169074[173] = 0.0; - out_511897058818169074[174] = 0.0; - out_511897058818169074[175] = 0.0; - out_511897058818169074[176] = 0.0; - out_511897058818169074[177] = 0.0; - out_511897058818169074[178] = 0.0; - out_511897058818169074[179] = 0.0; - out_511897058818169074[180] = 0.0; - out_511897058818169074[181] = 0.0; - out_511897058818169074[182] = 0.0; - out_511897058818169074[183] = 0.0; - out_511897058818169074[184] = 0.0; - out_511897058818169074[185] = 0.0; - out_511897058818169074[186] = 0.0; - out_511897058818169074[187] = 0.0; - out_511897058818169074[188] = 0.0; - out_511897058818169074[189] = 0.0; - out_511897058818169074[190] = 1.0; - out_511897058818169074[191] = 0.0; - out_511897058818169074[192] = 0.0; - out_511897058818169074[193] = 0.0; - out_511897058818169074[194] = 0.0; - out_511897058818169074[195] = 0.0; - out_511897058818169074[196] = 0.0; - out_511897058818169074[197] = 0.0; - out_511897058818169074[198] = 0.0; - out_511897058818169074[199] = 0.0; - out_511897058818169074[200] = 0.0; - out_511897058818169074[201] = 0.0; - out_511897058818169074[202] = 0.0; - out_511897058818169074[203] = 0.0; - out_511897058818169074[204] = 0.0; - out_511897058818169074[205] = 0.0; - out_511897058818169074[206] = 0.0; - out_511897058818169074[207] = 0.0; - out_511897058818169074[208] = 0.0; - out_511897058818169074[209] = 1.0; - out_511897058818169074[210] = 0.0; - out_511897058818169074[211] = 0.0; - out_511897058818169074[212] = 0.0; - out_511897058818169074[213] = 0.0; - out_511897058818169074[214] = 0.0; - out_511897058818169074[215] = 0.0; - out_511897058818169074[216] = 0.0; - out_511897058818169074[217] = 0.0; - out_511897058818169074[218] = 0.0; - out_511897058818169074[219] = 0.0; - out_511897058818169074[220] = 0.0; - out_511897058818169074[221] = 0.0; - out_511897058818169074[222] = 0.0; - out_511897058818169074[223] = 0.0; - out_511897058818169074[224] = 0.0; - out_511897058818169074[225] = 0.0; - out_511897058818169074[226] = 0.0; - out_511897058818169074[227] = 0.0; - out_511897058818169074[228] = 1.0; - out_511897058818169074[229] = 0.0; - out_511897058818169074[230] = 0.0; - out_511897058818169074[231] = 0.0; - out_511897058818169074[232] = 0.0; - out_511897058818169074[233] = 0.0; - out_511897058818169074[234] = 0.0; - out_511897058818169074[235] = 0.0; - out_511897058818169074[236] = 0.0; - out_511897058818169074[237] = 0.0; - out_511897058818169074[238] = 0.0; - out_511897058818169074[239] = 0.0; - out_511897058818169074[240] = 0.0; - out_511897058818169074[241] = 0.0; - out_511897058818169074[242] = 0.0; - out_511897058818169074[243] = 0.0; - out_511897058818169074[244] = 0.0; - out_511897058818169074[245] = 0.0; - out_511897058818169074[246] = 0.0; - out_511897058818169074[247] = 1.0; - out_511897058818169074[248] = 0.0; - out_511897058818169074[249] = 0.0; - out_511897058818169074[250] = 0.0; - out_511897058818169074[251] = 0.0; - out_511897058818169074[252] = 0.0; - out_511897058818169074[253] = 0.0; - out_511897058818169074[254] = 0.0; - out_511897058818169074[255] = 0.0; - out_511897058818169074[256] = 0.0; - out_511897058818169074[257] = 0.0; - out_511897058818169074[258] = 0.0; - out_511897058818169074[259] = 0.0; - out_511897058818169074[260] = 0.0; - out_511897058818169074[261] = 0.0; - out_511897058818169074[262] = 0.0; - out_511897058818169074[263] = 0.0; - out_511897058818169074[264] = 0.0; - out_511897058818169074[265] = 0.0; - out_511897058818169074[266] = 1.0; - out_511897058818169074[267] = 0.0; - out_511897058818169074[268] = 0.0; - out_511897058818169074[269] = 0.0; - out_511897058818169074[270] = 0.0; - out_511897058818169074[271] = 0.0; - out_511897058818169074[272] = 0.0; - out_511897058818169074[273] = 0.0; - out_511897058818169074[274] = 0.0; - out_511897058818169074[275] = 0.0; - out_511897058818169074[276] = 0.0; - out_511897058818169074[277] = 0.0; - out_511897058818169074[278] = 0.0; - out_511897058818169074[279] = 0.0; - out_511897058818169074[280] = 0.0; - out_511897058818169074[281] = 0.0; - out_511897058818169074[282] = 0.0; - out_511897058818169074[283] = 0.0; - out_511897058818169074[284] = 0.0; - out_511897058818169074[285] = 1.0; - out_511897058818169074[286] = 0.0; - out_511897058818169074[287] = 0.0; - out_511897058818169074[288] = 0.0; - out_511897058818169074[289] = 0.0; - out_511897058818169074[290] = 0.0; - out_511897058818169074[291] = 0.0; - out_511897058818169074[292] = 0.0; - out_511897058818169074[293] = 0.0; - out_511897058818169074[294] = 0.0; - out_511897058818169074[295] = 0.0; - out_511897058818169074[296] = 0.0; - out_511897058818169074[297] = 0.0; - out_511897058818169074[298] = 0.0; - out_511897058818169074[299] = 0.0; - out_511897058818169074[300] = 0.0; - out_511897058818169074[301] = 0.0; - out_511897058818169074[302] = 0.0; - out_511897058818169074[303] = 0.0; - out_511897058818169074[304] = 1.0; - out_511897058818169074[305] = 0.0; - out_511897058818169074[306] = 0.0; - out_511897058818169074[307] = 0.0; - out_511897058818169074[308] = 0.0; - out_511897058818169074[309] = 0.0; - out_511897058818169074[310] = 0.0; - out_511897058818169074[311] = 0.0; - out_511897058818169074[312] = 0.0; - out_511897058818169074[313] = 0.0; - out_511897058818169074[314] = 0.0; - out_511897058818169074[315] = 0.0; - out_511897058818169074[316] = 0.0; - out_511897058818169074[317] = 0.0; - out_511897058818169074[318] = 0.0; - out_511897058818169074[319] = 0.0; - out_511897058818169074[320] = 0.0; - out_511897058818169074[321] = 0.0; - out_511897058818169074[322] = 0.0; - out_511897058818169074[323] = 1.0; +void H_mod_fun(double *state, double *out_3274536842161333363) { + out_3274536842161333363[0] = 1.0; + out_3274536842161333363[1] = 0.0; + out_3274536842161333363[2] = 0.0; + out_3274536842161333363[3] = 0.0; + out_3274536842161333363[4] = 0.0; + out_3274536842161333363[5] = 0.0; + out_3274536842161333363[6] = 0.0; + out_3274536842161333363[7] = 0.0; + out_3274536842161333363[8] = 0.0; + out_3274536842161333363[9] = 0.0; + out_3274536842161333363[10] = 0.0; + out_3274536842161333363[11] = 0.0; + out_3274536842161333363[12] = 0.0; + out_3274536842161333363[13] = 0.0; + out_3274536842161333363[14] = 0.0; + out_3274536842161333363[15] = 0.0; + out_3274536842161333363[16] = 0.0; + out_3274536842161333363[17] = 0.0; + out_3274536842161333363[18] = 0.0; + out_3274536842161333363[19] = 1.0; + out_3274536842161333363[20] = 0.0; + out_3274536842161333363[21] = 0.0; + out_3274536842161333363[22] = 0.0; + out_3274536842161333363[23] = 0.0; + out_3274536842161333363[24] = 0.0; + out_3274536842161333363[25] = 0.0; + out_3274536842161333363[26] = 0.0; + out_3274536842161333363[27] = 0.0; + out_3274536842161333363[28] = 0.0; + out_3274536842161333363[29] = 0.0; + out_3274536842161333363[30] = 0.0; + out_3274536842161333363[31] = 0.0; + out_3274536842161333363[32] = 0.0; + out_3274536842161333363[33] = 0.0; + out_3274536842161333363[34] = 0.0; + out_3274536842161333363[35] = 0.0; + out_3274536842161333363[36] = 0.0; + out_3274536842161333363[37] = 0.0; + out_3274536842161333363[38] = 1.0; + out_3274536842161333363[39] = 0.0; + out_3274536842161333363[40] = 0.0; + out_3274536842161333363[41] = 0.0; + out_3274536842161333363[42] = 0.0; + out_3274536842161333363[43] = 0.0; + out_3274536842161333363[44] = 0.0; + out_3274536842161333363[45] = 0.0; + out_3274536842161333363[46] = 0.0; + out_3274536842161333363[47] = 0.0; + out_3274536842161333363[48] = 0.0; + out_3274536842161333363[49] = 0.0; + out_3274536842161333363[50] = 0.0; + out_3274536842161333363[51] = 0.0; + out_3274536842161333363[52] = 0.0; + out_3274536842161333363[53] = 0.0; + out_3274536842161333363[54] = 0.0; + out_3274536842161333363[55] = 0.0; + out_3274536842161333363[56] = 0.0; + out_3274536842161333363[57] = 1.0; + out_3274536842161333363[58] = 0.0; + out_3274536842161333363[59] = 0.0; + out_3274536842161333363[60] = 0.0; + out_3274536842161333363[61] = 0.0; + out_3274536842161333363[62] = 0.0; + out_3274536842161333363[63] = 0.0; + out_3274536842161333363[64] = 0.0; + out_3274536842161333363[65] = 0.0; + out_3274536842161333363[66] = 0.0; + out_3274536842161333363[67] = 0.0; + out_3274536842161333363[68] = 0.0; + out_3274536842161333363[69] = 0.0; + out_3274536842161333363[70] = 0.0; + out_3274536842161333363[71] = 0.0; + out_3274536842161333363[72] = 0.0; + out_3274536842161333363[73] = 0.0; + out_3274536842161333363[74] = 0.0; + out_3274536842161333363[75] = 0.0; + out_3274536842161333363[76] = 1.0; + out_3274536842161333363[77] = 0.0; + out_3274536842161333363[78] = 0.0; + out_3274536842161333363[79] = 0.0; + out_3274536842161333363[80] = 0.0; + out_3274536842161333363[81] = 0.0; + out_3274536842161333363[82] = 0.0; + out_3274536842161333363[83] = 0.0; + out_3274536842161333363[84] = 0.0; + out_3274536842161333363[85] = 0.0; + out_3274536842161333363[86] = 0.0; + out_3274536842161333363[87] = 0.0; + out_3274536842161333363[88] = 0.0; + out_3274536842161333363[89] = 0.0; + out_3274536842161333363[90] = 0.0; + out_3274536842161333363[91] = 0.0; + out_3274536842161333363[92] = 0.0; + out_3274536842161333363[93] = 0.0; + out_3274536842161333363[94] = 0.0; + out_3274536842161333363[95] = 1.0; + out_3274536842161333363[96] = 0.0; + out_3274536842161333363[97] = 0.0; + out_3274536842161333363[98] = 0.0; + out_3274536842161333363[99] = 0.0; + out_3274536842161333363[100] = 0.0; + out_3274536842161333363[101] = 0.0; + out_3274536842161333363[102] = 0.0; + out_3274536842161333363[103] = 0.0; + out_3274536842161333363[104] = 0.0; + out_3274536842161333363[105] = 0.0; + out_3274536842161333363[106] = 0.0; + out_3274536842161333363[107] = 0.0; + out_3274536842161333363[108] = 0.0; + out_3274536842161333363[109] = 0.0; + out_3274536842161333363[110] = 0.0; + out_3274536842161333363[111] = 0.0; + out_3274536842161333363[112] = 0.0; + out_3274536842161333363[113] = 0.0; + out_3274536842161333363[114] = 1.0; + out_3274536842161333363[115] = 0.0; + out_3274536842161333363[116] = 0.0; + out_3274536842161333363[117] = 0.0; + out_3274536842161333363[118] = 0.0; + out_3274536842161333363[119] = 0.0; + out_3274536842161333363[120] = 0.0; + out_3274536842161333363[121] = 0.0; + out_3274536842161333363[122] = 0.0; + out_3274536842161333363[123] = 0.0; + out_3274536842161333363[124] = 0.0; + out_3274536842161333363[125] = 0.0; + out_3274536842161333363[126] = 0.0; + out_3274536842161333363[127] = 0.0; + out_3274536842161333363[128] = 0.0; + out_3274536842161333363[129] = 0.0; + out_3274536842161333363[130] = 0.0; + out_3274536842161333363[131] = 0.0; + out_3274536842161333363[132] = 0.0; + out_3274536842161333363[133] = 1.0; + out_3274536842161333363[134] = 0.0; + out_3274536842161333363[135] = 0.0; + out_3274536842161333363[136] = 0.0; + out_3274536842161333363[137] = 0.0; + out_3274536842161333363[138] = 0.0; + out_3274536842161333363[139] = 0.0; + out_3274536842161333363[140] = 0.0; + out_3274536842161333363[141] = 0.0; + out_3274536842161333363[142] = 0.0; + out_3274536842161333363[143] = 0.0; + out_3274536842161333363[144] = 0.0; + out_3274536842161333363[145] = 0.0; + out_3274536842161333363[146] = 0.0; + out_3274536842161333363[147] = 0.0; + out_3274536842161333363[148] = 0.0; + out_3274536842161333363[149] = 0.0; + out_3274536842161333363[150] = 0.0; + out_3274536842161333363[151] = 0.0; + out_3274536842161333363[152] = 1.0; + out_3274536842161333363[153] = 0.0; + out_3274536842161333363[154] = 0.0; + out_3274536842161333363[155] = 0.0; + out_3274536842161333363[156] = 0.0; + out_3274536842161333363[157] = 0.0; + out_3274536842161333363[158] = 0.0; + out_3274536842161333363[159] = 0.0; + out_3274536842161333363[160] = 0.0; + out_3274536842161333363[161] = 0.0; + out_3274536842161333363[162] = 0.0; + out_3274536842161333363[163] = 0.0; + out_3274536842161333363[164] = 0.0; + out_3274536842161333363[165] = 0.0; + out_3274536842161333363[166] = 0.0; + out_3274536842161333363[167] = 0.0; + out_3274536842161333363[168] = 0.0; + out_3274536842161333363[169] = 0.0; + out_3274536842161333363[170] = 0.0; + out_3274536842161333363[171] = 1.0; + out_3274536842161333363[172] = 0.0; + out_3274536842161333363[173] = 0.0; + out_3274536842161333363[174] = 0.0; + out_3274536842161333363[175] = 0.0; + out_3274536842161333363[176] = 0.0; + out_3274536842161333363[177] = 0.0; + out_3274536842161333363[178] = 0.0; + out_3274536842161333363[179] = 0.0; + out_3274536842161333363[180] = 0.0; + out_3274536842161333363[181] = 0.0; + out_3274536842161333363[182] = 0.0; + out_3274536842161333363[183] = 0.0; + out_3274536842161333363[184] = 0.0; + out_3274536842161333363[185] = 0.0; + out_3274536842161333363[186] = 0.0; + out_3274536842161333363[187] = 0.0; + out_3274536842161333363[188] = 0.0; + out_3274536842161333363[189] = 0.0; + out_3274536842161333363[190] = 1.0; + out_3274536842161333363[191] = 0.0; + out_3274536842161333363[192] = 0.0; + out_3274536842161333363[193] = 0.0; + out_3274536842161333363[194] = 0.0; + out_3274536842161333363[195] = 0.0; + out_3274536842161333363[196] = 0.0; + out_3274536842161333363[197] = 0.0; + out_3274536842161333363[198] = 0.0; + out_3274536842161333363[199] = 0.0; + out_3274536842161333363[200] = 0.0; + out_3274536842161333363[201] = 0.0; + out_3274536842161333363[202] = 0.0; + out_3274536842161333363[203] = 0.0; + out_3274536842161333363[204] = 0.0; + out_3274536842161333363[205] = 0.0; + out_3274536842161333363[206] = 0.0; + out_3274536842161333363[207] = 0.0; + out_3274536842161333363[208] = 0.0; + out_3274536842161333363[209] = 1.0; + out_3274536842161333363[210] = 0.0; + out_3274536842161333363[211] = 0.0; + out_3274536842161333363[212] = 0.0; + out_3274536842161333363[213] = 0.0; + out_3274536842161333363[214] = 0.0; + out_3274536842161333363[215] = 0.0; + out_3274536842161333363[216] = 0.0; + out_3274536842161333363[217] = 0.0; + out_3274536842161333363[218] = 0.0; + out_3274536842161333363[219] = 0.0; + out_3274536842161333363[220] = 0.0; + out_3274536842161333363[221] = 0.0; + out_3274536842161333363[222] = 0.0; + out_3274536842161333363[223] = 0.0; + out_3274536842161333363[224] = 0.0; + out_3274536842161333363[225] = 0.0; + out_3274536842161333363[226] = 0.0; + out_3274536842161333363[227] = 0.0; + out_3274536842161333363[228] = 1.0; + out_3274536842161333363[229] = 0.0; + out_3274536842161333363[230] = 0.0; + out_3274536842161333363[231] = 0.0; + out_3274536842161333363[232] = 0.0; + out_3274536842161333363[233] = 0.0; + out_3274536842161333363[234] = 0.0; + out_3274536842161333363[235] = 0.0; + out_3274536842161333363[236] = 0.0; + out_3274536842161333363[237] = 0.0; + out_3274536842161333363[238] = 0.0; + out_3274536842161333363[239] = 0.0; + out_3274536842161333363[240] = 0.0; + out_3274536842161333363[241] = 0.0; + out_3274536842161333363[242] = 0.0; + out_3274536842161333363[243] = 0.0; + out_3274536842161333363[244] = 0.0; + out_3274536842161333363[245] = 0.0; + out_3274536842161333363[246] = 0.0; + out_3274536842161333363[247] = 1.0; + out_3274536842161333363[248] = 0.0; + out_3274536842161333363[249] = 0.0; + out_3274536842161333363[250] = 0.0; + out_3274536842161333363[251] = 0.0; + out_3274536842161333363[252] = 0.0; + out_3274536842161333363[253] = 0.0; + out_3274536842161333363[254] = 0.0; + out_3274536842161333363[255] = 0.0; + out_3274536842161333363[256] = 0.0; + out_3274536842161333363[257] = 0.0; + out_3274536842161333363[258] = 0.0; + out_3274536842161333363[259] = 0.0; + out_3274536842161333363[260] = 0.0; + out_3274536842161333363[261] = 0.0; + out_3274536842161333363[262] = 0.0; + out_3274536842161333363[263] = 0.0; + out_3274536842161333363[264] = 0.0; + out_3274536842161333363[265] = 0.0; + out_3274536842161333363[266] = 1.0; + out_3274536842161333363[267] = 0.0; + out_3274536842161333363[268] = 0.0; + out_3274536842161333363[269] = 0.0; + out_3274536842161333363[270] = 0.0; + out_3274536842161333363[271] = 0.0; + out_3274536842161333363[272] = 0.0; + out_3274536842161333363[273] = 0.0; + out_3274536842161333363[274] = 0.0; + out_3274536842161333363[275] = 0.0; + out_3274536842161333363[276] = 0.0; + out_3274536842161333363[277] = 0.0; + out_3274536842161333363[278] = 0.0; + out_3274536842161333363[279] = 0.0; + out_3274536842161333363[280] = 0.0; + out_3274536842161333363[281] = 0.0; + out_3274536842161333363[282] = 0.0; + out_3274536842161333363[283] = 0.0; + out_3274536842161333363[284] = 0.0; + out_3274536842161333363[285] = 1.0; + out_3274536842161333363[286] = 0.0; + out_3274536842161333363[287] = 0.0; + out_3274536842161333363[288] = 0.0; + out_3274536842161333363[289] = 0.0; + out_3274536842161333363[290] = 0.0; + out_3274536842161333363[291] = 0.0; + out_3274536842161333363[292] = 0.0; + out_3274536842161333363[293] = 0.0; + out_3274536842161333363[294] = 0.0; + out_3274536842161333363[295] = 0.0; + out_3274536842161333363[296] = 0.0; + out_3274536842161333363[297] = 0.0; + out_3274536842161333363[298] = 0.0; + out_3274536842161333363[299] = 0.0; + out_3274536842161333363[300] = 0.0; + out_3274536842161333363[301] = 0.0; + out_3274536842161333363[302] = 0.0; + out_3274536842161333363[303] = 0.0; + out_3274536842161333363[304] = 1.0; + out_3274536842161333363[305] = 0.0; + out_3274536842161333363[306] = 0.0; + out_3274536842161333363[307] = 0.0; + out_3274536842161333363[308] = 0.0; + out_3274536842161333363[309] = 0.0; + out_3274536842161333363[310] = 0.0; + out_3274536842161333363[311] = 0.0; + out_3274536842161333363[312] = 0.0; + out_3274536842161333363[313] = 0.0; + out_3274536842161333363[314] = 0.0; + out_3274536842161333363[315] = 0.0; + out_3274536842161333363[316] = 0.0; + out_3274536842161333363[317] = 0.0; + out_3274536842161333363[318] = 0.0; + out_3274536842161333363[319] = 0.0; + out_3274536842161333363[320] = 0.0; + out_3274536842161333363[321] = 0.0; + out_3274536842161333363[322] = 0.0; + out_3274536842161333363[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4006543374555760922) { - out_4006543374555760922[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_4006543374555760922[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_4006543374555760922[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_4006543374555760922[3] = dt*state[12] + state[3]; - out_4006543374555760922[4] = dt*state[13] + state[4]; - out_4006543374555760922[5] = dt*state[14] + state[5]; - out_4006543374555760922[6] = state[6]; - out_4006543374555760922[7] = state[7]; - out_4006543374555760922[8] = state[8]; - out_4006543374555760922[9] = state[9]; - out_4006543374555760922[10] = state[10]; - out_4006543374555760922[11] = state[11]; - out_4006543374555760922[12] = state[12]; - out_4006543374555760922[13] = state[13]; - out_4006543374555760922[14] = state[14]; - out_4006543374555760922[15] = state[15]; - out_4006543374555760922[16] = state[16]; - out_4006543374555760922[17] = state[17]; +void f_fun(double *state, double dt, double *out_54085149498667220) { + out_54085149498667220[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_54085149498667220[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_54085149498667220[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_54085149498667220[3] = dt*state[12] + state[3]; + out_54085149498667220[4] = dt*state[13] + state[4]; + out_54085149498667220[5] = dt*state[14] + state[5]; + out_54085149498667220[6] = state[6]; + out_54085149498667220[7] = state[7]; + out_54085149498667220[8] = state[8]; + out_54085149498667220[9] = state[9]; + out_54085149498667220[10] = state[10]; + out_54085149498667220[11] = state[11]; + out_54085149498667220[12] = state[12]; + out_54085149498667220[13] = state[13]; + out_54085149498667220[14] = state[14]; + out_54085149498667220[15] = state[15]; + out_54085149498667220[16] = state[16]; + out_54085149498667220[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8169752966009844936) { - out_8169752966009844936[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_8169752966009844936[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_8169752966009844936[2] = 0; - out_8169752966009844936[3] = 0; - out_8169752966009844936[4] = 0; - out_8169752966009844936[5] = 0; - out_8169752966009844936[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_8169752966009844936[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_8169752966009844936[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_8169752966009844936[9] = 0; - out_8169752966009844936[10] = 0; - out_8169752966009844936[11] = 0; - out_8169752966009844936[12] = 0; - out_8169752966009844936[13] = 0; - out_8169752966009844936[14] = 0; - out_8169752966009844936[15] = 0; - out_8169752966009844936[16] = 0; - out_8169752966009844936[17] = 0; - out_8169752966009844936[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_8169752966009844936[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_8169752966009844936[20] = 0; - out_8169752966009844936[21] = 0; - out_8169752966009844936[22] = 0; - out_8169752966009844936[23] = 0; - out_8169752966009844936[24] = 0; - out_8169752966009844936[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_8169752966009844936[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_8169752966009844936[27] = 0; - out_8169752966009844936[28] = 0; - out_8169752966009844936[29] = 0; - out_8169752966009844936[30] = 0; - out_8169752966009844936[31] = 0; - out_8169752966009844936[32] = 0; - out_8169752966009844936[33] = 0; - out_8169752966009844936[34] = 0; - out_8169752966009844936[35] = 0; - out_8169752966009844936[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_8169752966009844936[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_8169752966009844936[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_8169752966009844936[39] = 0; - out_8169752966009844936[40] = 0; - out_8169752966009844936[41] = 0; - out_8169752966009844936[42] = 0; - out_8169752966009844936[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_8169752966009844936[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_8169752966009844936[45] = 0; - out_8169752966009844936[46] = 0; - out_8169752966009844936[47] = 0; - out_8169752966009844936[48] = 0; - out_8169752966009844936[49] = 0; - out_8169752966009844936[50] = 0; - out_8169752966009844936[51] = 0; - out_8169752966009844936[52] = 0; - out_8169752966009844936[53] = 0; - out_8169752966009844936[54] = 0; - out_8169752966009844936[55] = 0; - out_8169752966009844936[56] = 0; - out_8169752966009844936[57] = 1; - out_8169752966009844936[58] = 0; - out_8169752966009844936[59] = 0; - out_8169752966009844936[60] = 0; - out_8169752966009844936[61] = 0; - out_8169752966009844936[62] = 0; - out_8169752966009844936[63] = 0; - out_8169752966009844936[64] = 0; - out_8169752966009844936[65] = 0; - out_8169752966009844936[66] = dt; - out_8169752966009844936[67] = 0; - out_8169752966009844936[68] = 0; - out_8169752966009844936[69] = 0; - out_8169752966009844936[70] = 0; - out_8169752966009844936[71] = 0; - out_8169752966009844936[72] = 0; - out_8169752966009844936[73] = 0; - out_8169752966009844936[74] = 0; - out_8169752966009844936[75] = 0; - out_8169752966009844936[76] = 1; - out_8169752966009844936[77] = 0; - out_8169752966009844936[78] = 0; - out_8169752966009844936[79] = 0; - out_8169752966009844936[80] = 0; - out_8169752966009844936[81] = 0; - out_8169752966009844936[82] = 0; - out_8169752966009844936[83] = 0; - out_8169752966009844936[84] = 0; - out_8169752966009844936[85] = dt; - out_8169752966009844936[86] = 0; - out_8169752966009844936[87] = 0; - out_8169752966009844936[88] = 0; - out_8169752966009844936[89] = 0; - out_8169752966009844936[90] = 0; - out_8169752966009844936[91] = 0; - out_8169752966009844936[92] = 0; - out_8169752966009844936[93] = 0; - out_8169752966009844936[94] = 0; - out_8169752966009844936[95] = 1; - out_8169752966009844936[96] = 0; - out_8169752966009844936[97] = 0; - out_8169752966009844936[98] = 0; - out_8169752966009844936[99] = 0; - out_8169752966009844936[100] = 0; - out_8169752966009844936[101] = 0; - out_8169752966009844936[102] = 0; - out_8169752966009844936[103] = 0; - out_8169752966009844936[104] = dt; - out_8169752966009844936[105] = 0; - out_8169752966009844936[106] = 0; - out_8169752966009844936[107] = 0; - out_8169752966009844936[108] = 0; - out_8169752966009844936[109] = 0; - out_8169752966009844936[110] = 0; - out_8169752966009844936[111] = 0; - out_8169752966009844936[112] = 0; - out_8169752966009844936[113] = 0; - out_8169752966009844936[114] = 1; - out_8169752966009844936[115] = 0; - out_8169752966009844936[116] = 0; - out_8169752966009844936[117] = 0; - out_8169752966009844936[118] = 0; - out_8169752966009844936[119] = 0; - out_8169752966009844936[120] = 0; - out_8169752966009844936[121] = 0; - out_8169752966009844936[122] = 0; - out_8169752966009844936[123] = 0; - out_8169752966009844936[124] = 0; - out_8169752966009844936[125] = 0; - out_8169752966009844936[126] = 0; - out_8169752966009844936[127] = 0; - out_8169752966009844936[128] = 0; - out_8169752966009844936[129] = 0; - out_8169752966009844936[130] = 0; - out_8169752966009844936[131] = 0; - out_8169752966009844936[132] = 0; - out_8169752966009844936[133] = 1; - out_8169752966009844936[134] = 0; - out_8169752966009844936[135] = 0; - out_8169752966009844936[136] = 0; - out_8169752966009844936[137] = 0; - out_8169752966009844936[138] = 0; - out_8169752966009844936[139] = 0; - out_8169752966009844936[140] = 0; - out_8169752966009844936[141] = 0; - out_8169752966009844936[142] = 0; - out_8169752966009844936[143] = 0; - out_8169752966009844936[144] = 0; - out_8169752966009844936[145] = 0; - out_8169752966009844936[146] = 0; - out_8169752966009844936[147] = 0; - out_8169752966009844936[148] = 0; - out_8169752966009844936[149] = 0; - out_8169752966009844936[150] = 0; - out_8169752966009844936[151] = 0; - out_8169752966009844936[152] = 1; - out_8169752966009844936[153] = 0; - out_8169752966009844936[154] = 0; - out_8169752966009844936[155] = 0; - out_8169752966009844936[156] = 0; - out_8169752966009844936[157] = 0; - out_8169752966009844936[158] = 0; - out_8169752966009844936[159] = 0; - out_8169752966009844936[160] = 0; - out_8169752966009844936[161] = 0; - out_8169752966009844936[162] = 0; - out_8169752966009844936[163] = 0; - out_8169752966009844936[164] = 0; - out_8169752966009844936[165] = 0; - out_8169752966009844936[166] = 0; - out_8169752966009844936[167] = 0; - out_8169752966009844936[168] = 0; - out_8169752966009844936[169] = 0; - out_8169752966009844936[170] = 0; - out_8169752966009844936[171] = 1; - out_8169752966009844936[172] = 0; - out_8169752966009844936[173] = 0; - out_8169752966009844936[174] = 0; - out_8169752966009844936[175] = 0; - out_8169752966009844936[176] = 0; - out_8169752966009844936[177] = 0; - out_8169752966009844936[178] = 0; - out_8169752966009844936[179] = 0; - out_8169752966009844936[180] = 0; - out_8169752966009844936[181] = 0; - out_8169752966009844936[182] = 0; - out_8169752966009844936[183] = 0; - out_8169752966009844936[184] = 0; - out_8169752966009844936[185] = 0; - out_8169752966009844936[186] = 0; - out_8169752966009844936[187] = 0; - out_8169752966009844936[188] = 0; - out_8169752966009844936[189] = 0; - out_8169752966009844936[190] = 1; - out_8169752966009844936[191] = 0; - out_8169752966009844936[192] = 0; - out_8169752966009844936[193] = 0; - out_8169752966009844936[194] = 0; - out_8169752966009844936[195] = 0; - out_8169752966009844936[196] = 0; - out_8169752966009844936[197] = 0; - out_8169752966009844936[198] = 0; - out_8169752966009844936[199] = 0; - out_8169752966009844936[200] = 0; - out_8169752966009844936[201] = 0; - out_8169752966009844936[202] = 0; - out_8169752966009844936[203] = 0; - out_8169752966009844936[204] = 0; - out_8169752966009844936[205] = 0; - out_8169752966009844936[206] = 0; - out_8169752966009844936[207] = 0; - out_8169752966009844936[208] = 0; - out_8169752966009844936[209] = 1; - out_8169752966009844936[210] = 0; - out_8169752966009844936[211] = 0; - out_8169752966009844936[212] = 0; - out_8169752966009844936[213] = 0; - out_8169752966009844936[214] = 0; - out_8169752966009844936[215] = 0; - out_8169752966009844936[216] = 0; - out_8169752966009844936[217] = 0; - out_8169752966009844936[218] = 0; - out_8169752966009844936[219] = 0; - out_8169752966009844936[220] = 0; - out_8169752966009844936[221] = 0; - out_8169752966009844936[222] = 0; - out_8169752966009844936[223] = 0; - out_8169752966009844936[224] = 0; - out_8169752966009844936[225] = 0; - out_8169752966009844936[226] = 0; - out_8169752966009844936[227] = 0; - out_8169752966009844936[228] = 1; - out_8169752966009844936[229] = 0; - out_8169752966009844936[230] = 0; - out_8169752966009844936[231] = 0; - out_8169752966009844936[232] = 0; - out_8169752966009844936[233] = 0; - out_8169752966009844936[234] = 0; - out_8169752966009844936[235] = 0; - out_8169752966009844936[236] = 0; - out_8169752966009844936[237] = 0; - out_8169752966009844936[238] = 0; - out_8169752966009844936[239] = 0; - out_8169752966009844936[240] = 0; - out_8169752966009844936[241] = 0; - out_8169752966009844936[242] = 0; - out_8169752966009844936[243] = 0; - out_8169752966009844936[244] = 0; - out_8169752966009844936[245] = 0; - out_8169752966009844936[246] = 0; - out_8169752966009844936[247] = 1; - out_8169752966009844936[248] = 0; - out_8169752966009844936[249] = 0; - out_8169752966009844936[250] = 0; - out_8169752966009844936[251] = 0; - out_8169752966009844936[252] = 0; - out_8169752966009844936[253] = 0; - out_8169752966009844936[254] = 0; - out_8169752966009844936[255] = 0; - out_8169752966009844936[256] = 0; - out_8169752966009844936[257] = 0; - out_8169752966009844936[258] = 0; - out_8169752966009844936[259] = 0; - out_8169752966009844936[260] = 0; - out_8169752966009844936[261] = 0; - out_8169752966009844936[262] = 0; - out_8169752966009844936[263] = 0; - out_8169752966009844936[264] = 0; - out_8169752966009844936[265] = 0; - out_8169752966009844936[266] = 1; - out_8169752966009844936[267] = 0; - out_8169752966009844936[268] = 0; - out_8169752966009844936[269] = 0; - out_8169752966009844936[270] = 0; - out_8169752966009844936[271] = 0; - out_8169752966009844936[272] = 0; - out_8169752966009844936[273] = 0; - out_8169752966009844936[274] = 0; - out_8169752966009844936[275] = 0; - out_8169752966009844936[276] = 0; - out_8169752966009844936[277] = 0; - out_8169752966009844936[278] = 0; - out_8169752966009844936[279] = 0; - out_8169752966009844936[280] = 0; - out_8169752966009844936[281] = 0; - out_8169752966009844936[282] = 0; - out_8169752966009844936[283] = 0; - out_8169752966009844936[284] = 0; - out_8169752966009844936[285] = 1; - out_8169752966009844936[286] = 0; - out_8169752966009844936[287] = 0; - out_8169752966009844936[288] = 0; - out_8169752966009844936[289] = 0; - out_8169752966009844936[290] = 0; - out_8169752966009844936[291] = 0; - out_8169752966009844936[292] = 0; - out_8169752966009844936[293] = 0; - out_8169752966009844936[294] = 0; - out_8169752966009844936[295] = 0; - out_8169752966009844936[296] = 0; - out_8169752966009844936[297] = 0; - out_8169752966009844936[298] = 0; - out_8169752966009844936[299] = 0; - out_8169752966009844936[300] = 0; - out_8169752966009844936[301] = 0; - out_8169752966009844936[302] = 0; - out_8169752966009844936[303] = 0; - out_8169752966009844936[304] = 1; - out_8169752966009844936[305] = 0; - out_8169752966009844936[306] = 0; - out_8169752966009844936[307] = 0; - out_8169752966009844936[308] = 0; - out_8169752966009844936[309] = 0; - out_8169752966009844936[310] = 0; - out_8169752966009844936[311] = 0; - out_8169752966009844936[312] = 0; - out_8169752966009844936[313] = 0; - out_8169752966009844936[314] = 0; - out_8169752966009844936[315] = 0; - out_8169752966009844936[316] = 0; - out_8169752966009844936[317] = 0; - out_8169752966009844936[318] = 0; - out_8169752966009844936[319] = 0; - out_8169752966009844936[320] = 0; - out_8169752966009844936[321] = 0; - out_8169752966009844936[322] = 0; - out_8169752966009844936[323] = 1; +void F_fun(double *state, double dt, double *out_3360900556715541089) { + out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[2] = 0; + out_3360900556715541089[3] = 0; + out_3360900556715541089[4] = 0; + out_3360900556715541089[5] = 0; + out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[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_3360900556715541089[9] = 0; + out_3360900556715541089[10] = 0; + out_3360900556715541089[11] = 0; + out_3360900556715541089[12] = 0; + out_3360900556715541089[13] = 0; + out_3360900556715541089[14] = 0; + out_3360900556715541089[15] = 0; + out_3360900556715541089[16] = 0; + out_3360900556715541089[17] = 0; + out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[20] = 0; + out_3360900556715541089[21] = 0; + out_3360900556715541089[22] = 0; + out_3360900556715541089[23] = 0; + out_3360900556715541089[24] = 0; + out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[27] = 0; + out_3360900556715541089[28] = 0; + out_3360900556715541089[29] = 0; + out_3360900556715541089[30] = 0; + out_3360900556715541089[31] = 0; + out_3360900556715541089[32] = 0; + out_3360900556715541089[33] = 0; + out_3360900556715541089[34] = 0; + out_3360900556715541089[35] = 0; + out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[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_3360900556715541089[39] = 0; + out_3360900556715541089[40] = 0; + out_3360900556715541089[41] = 0; + out_3360900556715541089[42] = 0; + out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[45] = 0; + out_3360900556715541089[46] = 0; + out_3360900556715541089[47] = 0; + out_3360900556715541089[48] = 0; + out_3360900556715541089[49] = 0; + out_3360900556715541089[50] = 0; + out_3360900556715541089[51] = 0; + out_3360900556715541089[52] = 0; + out_3360900556715541089[53] = 0; + out_3360900556715541089[54] = 0; + out_3360900556715541089[55] = 0; + out_3360900556715541089[56] = 0; + out_3360900556715541089[57] = 1; + out_3360900556715541089[58] = 0; + out_3360900556715541089[59] = 0; + out_3360900556715541089[60] = 0; + out_3360900556715541089[61] = 0; + out_3360900556715541089[62] = 0; + out_3360900556715541089[63] = 0; + out_3360900556715541089[64] = 0; + out_3360900556715541089[65] = 0; + out_3360900556715541089[66] = dt; + out_3360900556715541089[67] = 0; + out_3360900556715541089[68] = 0; + out_3360900556715541089[69] = 0; + out_3360900556715541089[70] = 0; + out_3360900556715541089[71] = 0; + out_3360900556715541089[72] = 0; + out_3360900556715541089[73] = 0; + out_3360900556715541089[74] = 0; + out_3360900556715541089[75] = 0; + out_3360900556715541089[76] = 1; + out_3360900556715541089[77] = 0; + out_3360900556715541089[78] = 0; + out_3360900556715541089[79] = 0; + out_3360900556715541089[80] = 0; + out_3360900556715541089[81] = 0; + out_3360900556715541089[82] = 0; + out_3360900556715541089[83] = 0; + out_3360900556715541089[84] = 0; + out_3360900556715541089[85] = dt; + out_3360900556715541089[86] = 0; + out_3360900556715541089[87] = 0; + out_3360900556715541089[88] = 0; + out_3360900556715541089[89] = 0; + out_3360900556715541089[90] = 0; + out_3360900556715541089[91] = 0; + out_3360900556715541089[92] = 0; + out_3360900556715541089[93] = 0; + out_3360900556715541089[94] = 0; + out_3360900556715541089[95] = 1; + out_3360900556715541089[96] = 0; + out_3360900556715541089[97] = 0; + out_3360900556715541089[98] = 0; + out_3360900556715541089[99] = 0; + out_3360900556715541089[100] = 0; + out_3360900556715541089[101] = 0; + out_3360900556715541089[102] = 0; + out_3360900556715541089[103] = 0; + out_3360900556715541089[104] = dt; + out_3360900556715541089[105] = 0; + out_3360900556715541089[106] = 0; + out_3360900556715541089[107] = 0; + out_3360900556715541089[108] = 0; + out_3360900556715541089[109] = 0; + out_3360900556715541089[110] = 0; + out_3360900556715541089[111] = 0; + out_3360900556715541089[112] = 0; + out_3360900556715541089[113] = 0; + out_3360900556715541089[114] = 1; + out_3360900556715541089[115] = 0; + out_3360900556715541089[116] = 0; + out_3360900556715541089[117] = 0; + out_3360900556715541089[118] = 0; + out_3360900556715541089[119] = 0; + out_3360900556715541089[120] = 0; + out_3360900556715541089[121] = 0; + out_3360900556715541089[122] = 0; + out_3360900556715541089[123] = 0; + out_3360900556715541089[124] = 0; + out_3360900556715541089[125] = 0; + out_3360900556715541089[126] = 0; + out_3360900556715541089[127] = 0; + out_3360900556715541089[128] = 0; + out_3360900556715541089[129] = 0; + out_3360900556715541089[130] = 0; + out_3360900556715541089[131] = 0; + out_3360900556715541089[132] = 0; + out_3360900556715541089[133] = 1; + out_3360900556715541089[134] = 0; + out_3360900556715541089[135] = 0; + out_3360900556715541089[136] = 0; + out_3360900556715541089[137] = 0; + out_3360900556715541089[138] = 0; + out_3360900556715541089[139] = 0; + out_3360900556715541089[140] = 0; + out_3360900556715541089[141] = 0; + out_3360900556715541089[142] = 0; + out_3360900556715541089[143] = 0; + out_3360900556715541089[144] = 0; + out_3360900556715541089[145] = 0; + out_3360900556715541089[146] = 0; + out_3360900556715541089[147] = 0; + out_3360900556715541089[148] = 0; + out_3360900556715541089[149] = 0; + out_3360900556715541089[150] = 0; + out_3360900556715541089[151] = 0; + out_3360900556715541089[152] = 1; + out_3360900556715541089[153] = 0; + out_3360900556715541089[154] = 0; + out_3360900556715541089[155] = 0; + out_3360900556715541089[156] = 0; + out_3360900556715541089[157] = 0; + out_3360900556715541089[158] = 0; + out_3360900556715541089[159] = 0; + out_3360900556715541089[160] = 0; + out_3360900556715541089[161] = 0; + out_3360900556715541089[162] = 0; + out_3360900556715541089[163] = 0; + out_3360900556715541089[164] = 0; + out_3360900556715541089[165] = 0; + out_3360900556715541089[166] = 0; + out_3360900556715541089[167] = 0; + out_3360900556715541089[168] = 0; + out_3360900556715541089[169] = 0; + out_3360900556715541089[170] = 0; + out_3360900556715541089[171] = 1; + out_3360900556715541089[172] = 0; + out_3360900556715541089[173] = 0; + out_3360900556715541089[174] = 0; + out_3360900556715541089[175] = 0; + out_3360900556715541089[176] = 0; + out_3360900556715541089[177] = 0; + out_3360900556715541089[178] = 0; + out_3360900556715541089[179] = 0; + out_3360900556715541089[180] = 0; + out_3360900556715541089[181] = 0; + out_3360900556715541089[182] = 0; + out_3360900556715541089[183] = 0; + out_3360900556715541089[184] = 0; + out_3360900556715541089[185] = 0; + out_3360900556715541089[186] = 0; + out_3360900556715541089[187] = 0; + out_3360900556715541089[188] = 0; + out_3360900556715541089[189] = 0; + out_3360900556715541089[190] = 1; + out_3360900556715541089[191] = 0; + out_3360900556715541089[192] = 0; + out_3360900556715541089[193] = 0; + out_3360900556715541089[194] = 0; + out_3360900556715541089[195] = 0; + out_3360900556715541089[196] = 0; + out_3360900556715541089[197] = 0; + out_3360900556715541089[198] = 0; + out_3360900556715541089[199] = 0; + out_3360900556715541089[200] = 0; + out_3360900556715541089[201] = 0; + out_3360900556715541089[202] = 0; + out_3360900556715541089[203] = 0; + out_3360900556715541089[204] = 0; + out_3360900556715541089[205] = 0; + out_3360900556715541089[206] = 0; + out_3360900556715541089[207] = 0; + out_3360900556715541089[208] = 0; + out_3360900556715541089[209] = 1; + out_3360900556715541089[210] = 0; + out_3360900556715541089[211] = 0; + out_3360900556715541089[212] = 0; + out_3360900556715541089[213] = 0; + out_3360900556715541089[214] = 0; + out_3360900556715541089[215] = 0; + out_3360900556715541089[216] = 0; + out_3360900556715541089[217] = 0; + out_3360900556715541089[218] = 0; + out_3360900556715541089[219] = 0; + out_3360900556715541089[220] = 0; + out_3360900556715541089[221] = 0; + out_3360900556715541089[222] = 0; + out_3360900556715541089[223] = 0; + out_3360900556715541089[224] = 0; + out_3360900556715541089[225] = 0; + out_3360900556715541089[226] = 0; + out_3360900556715541089[227] = 0; + out_3360900556715541089[228] = 1; + out_3360900556715541089[229] = 0; + out_3360900556715541089[230] = 0; + out_3360900556715541089[231] = 0; + out_3360900556715541089[232] = 0; + out_3360900556715541089[233] = 0; + out_3360900556715541089[234] = 0; + out_3360900556715541089[235] = 0; + out_3360900556715541089[236] = 0; + out_3360900556715541089[237] = 0; + out_3360900556715541089[238] = 0; + out_3360900556715541089[239] = 0; + out_3360900556715541089[240] = 0; + out_3360900556715541089[241] = 0; + out_3360900556715541089[242] = 0; + out_3360900556715541089[243] = 0; + out_3360900556715541089[244] = 0; + out_3360900556715541089[245] = 0; + out_3360900556715541089[246] = 0; + out_3360900556715541089[247] = 1; + out_3360900556715541089[248] = 0; + out_3360900556715541089[249] = 0; + out_3360900556715541089[250] = 0; + out_3360900556715541089[251] = 0; + out_3360900556715541089[252] = 0; + out_3360900556715541089[253] = 0; + out_3360900556715541089[254] = 0; + out_3360900556715541089[255] = 0; + out_3360900556715541089[256] = 0; + out_3360900556715541089[257] = 0; + out_3360900556715541089[258] = 0; + out_3360900556715541089[259] = 0; + out_3360900556715541089[260] = 0; + out_3360900556715541089[261] = 0; + out_3360900556715541089[262] = 0; + out_3360900556715541089[263] = 0; + out_3360900556715541089[264] = 0; + out_3360900556715541089[265] = 0; + out_3360900556715541089[266] = 1; + out_3360900556715541089[267] = 0; + out_3360900556715541089[268] = 0; + out_3360900556715541089[269] = 0; + out_3360900556715541089[270] = 0; + out_3360900556715541089[271] = 0; + out_3360900556715541089[272] = 0; + out_3360900556715541089[273] = 0; + out_3360900556715541089[274] = 0; + out_3360900556715541089[275] = 0; + out_3360900556715541089[276] = 0; + out_3360900556715541089[277] = 0; + out_3360900556715541089[278] = 0; + out_3360900556715541089[279] = 0; + out_3360900556715541089[280] = 0; + out_3360900556715541089[281] = 0; + out_3360900556715541089[282] = 0; + out_3360900556715541089[283] = 0; + out_3360900556715541089[284] = 0; + out_3360900556715541089[285] = 1; + out_3360900556715541089[286] = 0; + out_3360900556715541089[287] = 0; + out_3360900556715541089[288] = 0; + out_3360900556715541089[289] = 0; + out_3360900556715541089[290] = 0; + out_3360900556715541089[291] = 0; + out_3360900556715541089[292] = 0; + out_3360900556715541089[293] = 0; + out_3360900556715541089[294] = 0; + out_3360900556715541089[295] = 0; + out_3360900556715541089[296] = 0; + out_3360900556715541089[297] = 0; + out_3360900556715541089[298] = 0; + out_3360900556715541089[299] = 0; + out_3360900556715541089[300] = 0; + out_3360900556715541089[301] = 0; + out_3360900556715541089[302] = 0; + out_3360900556715541089[303] = 0; + out_3360900556715541089[304] = 1; + out_3360900556715541089[305] = 0; + out_3360900556715541089[306] = 0; + out_3360900556715541089[307] = 0; + out_3360900556715541089[308] = 0; + out_3360900556715541089[309] = 0; + out_3360900556715541089[310] = 0; + out_3360900556715541089[311] = 0; + out_3360900556715541089[312] = 0; + out_3360900556715541089[313] = 0; + out_3360900556715541089[314] = 0; + out_3360900556715541089[315] = 0; + out_3360900556715541089[316] = 0; + out_3360900556715541089[317] = 0; + out_3360900556715541089[318] = 0; + out_3360900556715541089[319] = 0; + out_3360900556715541089[320] = 0; + out_3360900556715541089[321] = 0; + out_3360900556715541089[322] = 0; + out_3360900556715541089[323] = 1; } -void h_4(double *state, double *unused, double *out_2516225834102864115) { - out_2516225834102864115[0] = state[6] + state[9]; - out_2516225834102864115[1] = state[7] + state[10]; - out_2516225834102864115[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6781682784175939845) { + out_6781682784175939845[0] = state[6] + state[9]; + out_6781682784175939845[1] = state[7] + state[10]; + out_6781682784175939845[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_686050423064729030) { - out_686050423064729030[0] = 0; - out_686050423064729030[1] = 0; - out_686050423064729030[2] = 0; - out_686050423064729030[3] = 0; - out_686050423064729030[4] = 0; - out_686050423064729030[5] = 0; - out_686050423064729030[6] = 1; - out_686050423064729030[7] = 0; - out_686050423064729030[8] = 0; - out_686050423064729030[9] = 1; - out_686050423064729030[10] = 0; - out_686050423064729030[11] = 0; - out_686050423064729030[12] = 0; - out_686050423064729030[13] = 0; - out_686050423064729030[14] = 0; - out_686050423064729030[15] = 0; - out_686050423064729030[16] = 0; - out_686050423064729030[17] = 0; - out_686050423064729030[18] = 0; - out_686050423064729030[19] = 0; - out_686050423064729030[20] = 0; - out_686050423064729030[21] = 0; - out_686050423064729030[22] = 0; - out_686050423064729030[23] = 0; - out_686050423064729030[24] = 0; - out_686050423064729030[25] = 1; - out_686050423064729030[26] = 0; - out_686050423064729030[27] = 0; - out_686050423064729030[28] = 1; - out_686050423064729030[29] = 0; - out_686050423064729030[30] = 0; - out_686050423064729030[31] = 0; - out_686050423064729030[32] = 0; - out_686050423064729030[33] = 0; - out_686050423064729030[34] = 0; - out_686050423064729030[35] = 0; - out_686050423064729030[36] = 0; - out_686050423064729030[37] = 0; - out_686050423064729030[38] = 0; - out_686050423064729030[39] = 0; - out_686050423064729030[40] = 0; - out_686050423064729030[41] = 0; - out_686050423064729030[42] = 0; - out_686050423064729030[43] = 0; - out_686050423064729030[44] = 1; - out_686050423064729030[45] = 0; - out_686050423064729030[46] = 0; - out_686050423064729030[47] = 1; - out_686050423064729030[48] = 0; - out_686050423064729030[49] = 0; - out_686050423064729030[50] = 0; - out_686050423064729030[51] = 0; - out_686050423064729030[52] = 0; - out_686050423064729030[53] = 0; +void H_4(double *state, double *unused, double *out_2076589360278435259) { + out_2076589360278435259[0] = 0; + out_2076589360278435259[1] = 0; + out_2076589360278435259[2] = 0; + out_2076589360278435259[3] = 0; + out_2076589360278435259[4] = 0; + out_2076589360278435259[5] = 0; + out_2076589360278435259[6] = 1; + out_2076589360278435259[7] = 0; + out_2076589360278435259[8] = 0; + out_2076589360278435259[9] = 1; + out_2076589360278435259[10] = 0; + out_2076589360278435259[11] = 0; + out_2076589360278435259[12] = 0; + out_2076589360278435259[13] = 0; + out_2076589360278435259[14] = 0; + out_2076589360278435259[15] = 0; + out_2076589360278435259[16] = 0; + out_2076589360278435259[17] = 0; + out_2076589360278435259[18] = 0; + out_2076589360278435259[19] = 0; + out_2076589360278435259[20] = 0; + out_2076589360278435259[21] = 0; + out_2076589360278435259[22] = 0; + out_2076589360278435259[23] = 0; + out_2076589360278435259[24] = 0; + out_2076589360278435259[25] = 1; + out_2076589360278435259[26] = 0; + out_2076589360278435259[27] = 0; + out_2076589360278435259[28] = 1; + out_2076589360278435259[29] = 0; + out_2076589360278435259[30] = 0; + out_2076589360278435259[31] = 0; + out_2076589360278435259[32] = 0; + out_2076589360278435259[33] = 0; + out_2076589360278435259[34] = 0; + out_2076589360278435259[35] = 0; + out_2076589360278435259[36] = 0; + out_2076589360278435259[37] = 0; + out_2076589360278435259[38] = 0; + out_2076589360278435259[39] = 0; + out_2076589360278435259[40] = 0; + out_2076589360278435259[41] = 0; + out_2076589360278435259[42] = 0; + out_2076589360278435259[43] = 0; + out_2076589360278435259[44] = 1; + out_2076589360278435259[45] = 0; + out_2076589360278435259[46] = 0; + out_2076589360278435259[47] = 1; + out_2076589360278435259[48] = 0; + out_2076589360278435259[49] = 0; + out_2076589360278435259[50] = 0; + out_2076589360278435259[51] = 0; + out_2076589360278435259[52] = 0; + out_2076589360278435259[53] = 0; } -void h_10(double *state, double *unused, double *out_865522221082823214) { - out_865522221082823214[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_865522221082823214[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_865522221082823214[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_4409132040641892266) { + out_4409132040641892266[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_4409132040641892266[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_4409132040641892266[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_8576192708028364696) { - out_8576192708028364696[0] = 0; - out_8576192708028364696[1] = 9.8100000000000005*cos(state[1]); - out_8576192708028364696[2] = 0; - out_8576192708028364696[3] = 0; - out_8576192708028364696[4] = -state[8]; - out_8576192708028364696[5] = state[7]; - out_8576192708028364696[6] = 0; - out_8576192708028364696[7] = state[5]; - out_8576192708028364696[8] = -state[4]; - out_8576192708028364696[9] = 0; - out_8576192708028364696[10] = 0; - out_8576192708028364696[11] = 0; - out_8576192708028364696[12] = 1; - out_8576192708028364696[13] = 0; - out_8576192708028364696[14] = 0; - out_8576192708028364696[15] = 1; - out_8576192708028364696[16] = 0; - out_8576192708028364696[17] = 0; - out_8576192708028364696[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8576192708028364696[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8576192708028364696[20] = 0; - out_8576192708028364696[21] = state[8]; - out_8576192708028364696[22] = 0; - out_8576192708028364696[23] = -state[6]; - out_8576192708028364696[24] = -state[5]; - out_8576192708028364696[25] = 0; - out_8576192708028364696[26] = state[3]; - out_8576192708028364696[27] = 0; - out_8576192708028364696[28] = 0; - out_8576192708028364696[29] = 0; - out_8576192708028364696[30] = 0; - out_8576192708028364696[31] = 1; - out_8576192708028364696[32] = 0; - out_8576192708028364696[33] = 0; - out_8576192708028364696[34] = 1; - out_8576192708028364696[35] = 0; - out_8576192708028364696[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8576192708028364696[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8576192708028364696[38] = 0; - out_8576192708028364696[39] = -state[7]; - out_8576192708028364696[40] = state[6]; - out_8576192708028364696[41] = 0; - out_8576192708028364696[42] = state[4]; - out_8576192708028364696[43] = -state[3]; - out_8576192708028364696[44] = 0; - out_8576192708028364696[45] = 0; - out_8576192708028364696[46] = 0; - out_8576192708028364696[47] = 0; - out_8576192708028364696[48] = 0; - out_8576192708028364696[49] = 0; - out_8576192708028364696[50] = 1; - out_8576192708028364696[51] = 0; - out_8576192708028364696[52] = 0; - out_8576192708028364696[53] = 1; +void H_10(double *state, double *unused, double *out_6826621589500186302) { + out_6826621589500186302[0] = 0; + out_6826621589500186302[1] = 9.8100000000000005*cos(state[1]); + out_6826621589500186302[2] = 0; + out_6826621589500186302[3] = 0; + out_6826621589500186302[4] = -state[8]; + out_6826621589500186302[5] = state[7]; + out_6826621589500186302[6] = 0; + out_6826621589500186302[7] = state[5]; + out_6826621589500186302[8] = -state[4]; + out_6826621589500186302[9] = 0; + out_6826621589500186302[10] = 0; + out_6826621589500186302[11] = 0; + out_6826621589500186302[12] = 1; + out_6826621589500186302[13] = 0; + out_6826621589500186302[14] = 0; + out_6826621589500186302[15] = 1; + out_6826621589500186302[16] = 0; + out_6826621589500186302[17] = 0; + out_6826621589500186302[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6826621589500186302[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6826621589500186302[20] = 0; + out_6826621589500186302[21] = state[8]; + out_6826621589500186302[22] = 0; + out_6826621589500186302[23] = -state[6]; + out_6826621589500186302[24] = -state[5]; + out_6826621589500186302[25] = 0; + out_6826621589500186302[26] = state[3]; + out_6826621589500186302[27] = 0; + out_6826621589500186302[28] = 0; + out_6826621589500186302[29] = 0; + out_6826621589500186302[30] = 0; + out_6826621589500186302[31] = 1; + out_6826621589500186302[32] = 0; + out_6826621589500186302[33] = 0; + out_6826621589500186302[34] = 1; + out_6826621589500186302[35] = 0; + out_6826621589500186302[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6826621589500186302[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6826621589500186302[38] = 0; + out_6826621589500186302[39] = -state[7]; + out_6826621589500186302[40] = state[6]; + out_6826621589500186302[41] = 0; + out_6826621589500186302[42] = state[4]; + out_6826621589500186302[43] = -state[3]; + out_6826621589500186302[44] = 0; + out_6826621589500186302[45] = 0; + out_6826621589500186302[46] = 0; + out_6826621589500186302[47] = 0; + out_6826621589500186302[48] = 0; + out_6826621589500186302[49] = 0; + out_6826621589500186302[50] = 1; + out_6826621589500186302[51] = 0; + out_6826621589500186302[52] = 0; + out_6826621589500186302[53] = 1; } -void h_13(double *state, double *unused, double *out_8706817024690289876) { - out_8706817024690289876[0] = state[3]; - out_8706817024690289876[1] = state[4]; - out_8706817024690289876[2] = state[5]; +void h_13(double *state, double *unused, double *out_1754250637475505882) { + out_1754250637475505882[0] = state[3]; + out_1754250637475505882[1] = state[4]; + out_1754250637475505882[2] = state[5]; } -void H_13(double *state, double *unused, double *out_3898324248397061831) { - out_3898324248397061831[0] = 0; - out_3898324248397061831[1] = 0; - out_3898324248397061831[2] = 0; - out_3898324248397061831[3] = 1; - out_3898324248397061831[4] = 0; - out_3898324248397061831[5] = 0; - out_3898324248397061831[6] = 0; - out_3898324248397061831[7] = 0; - out_3898324248397061831[8] = 0; - out_3898324248397061831[9] = 0; - out_3898324248397061831[10] = 0; - out_3898324248397061831[11] = 0; - out_3898324248397061831[12] = 0; - out_3898324248397061831[13] = 0; - out_3898324248397061831[14] = 0; - out_3898324248397061831[15] = 0; - out_3898324248397061831[16] = 0; - out_3898324248397061831[17] = 0; - out_3898324248397061831[18] = 0; - out_3898324248397061831[19] = 0; - out_3898324248397061831[20] = 0; - out_3898324248397061831[21] = 0; - out_3898324248397061831[22] = 1; - out_3898324248397061831[23] = 0; - out_3898324248397061831[24] = 0; - out_3898324248397061831[25] = 0; - out_3898324248397061831[26] = 0; - out_3898324248397061831[27] = 0; - out_3898324248397061831[28] = 0; - out_3898324248397061831[29] = 0; - out_3898324248397061831[30] = 0; - out_3898324248397061831[31] = 0; - out_3898324248397061831[32] = 0; - out_3898324248397061831[33] = 0; - out_3898324248397061831[34] = 0; - out_3898324248397061831[35] = 0; - out_3898324248397061831[36] = 0; - out_3898324248397061831[37] = 0; - out_3898324248397061831[38] = 0; - out_3898324248397061831[39] = 0; - out_3898324248397061831[40] = 0; - out_3898324248397061831[41] = 1; - out_3898324248397061831[42] = 0; - out_3898324248397061831[43] = 0; - out_3898324248397061831[44] = 0; - out_3898324248397061831[45] = 0; - out_3898324248397061831[46] = 0; - out_3898324248397061831[47] = 0; - out_3898324248397061831[48] = 0; - out_3898324248397061831[49] = 0; - out_3898324248397061831[50] = 0; - out_3898324248397061831[51] = 0; - out_3898324248397061831[52] = 0; - out_3898324248397061831[53] = 0; +void H_13(double *state, double *unused, double *out_1135684465053897542) { + out_1135684465053897542[0] = 0; + out_1135684465053897542[1] = 0; + out_1135684465053897542[2] = 0; + out_1135684465053897542[3] = 1; + out_1135684465053897542[4] = 0; + out_1135684465053897542[5] = 0; + out_1135684465053897542[6] = 0; + out_1135684465053897542[7] = 0; + out_1135684465053897542[8] = 0; + out_1135684465053897542[9] = 0; + out_1135684465053897542[10] = 0; + out_1135684465053897542[11] = 0; + out_1135684465053897542[12] = 0; + out_1135684465053897542[13] = 0; + out_1135684465053897542[14] = 0; + out_1135684465053897542[15] = 0; + out_1135684465053897542[16] = 0; + out_1135684465053897542[17] = 0; + out_1135684465053897542[18] = 0; + out_1135684465053897542[19] = 0; + out_1135684465053897542[20] = 0; + out_1135684465053897542[21] = 0; + out_1135684465053897542[22] = 1; + out_1135684465053897542[23] = 0; + out_1135684465053897542[24] = 0; + out_1135684465053897542[25] = 0; + out_1135684465053897542[26] = 0; + out_1135684465053897542[27] = 0; + out_1135684465053897542[28] = 0; + out_1135684465053897542[29] = 0; + out_1135684465053897542[30] = 0; + out_1135684465053897542[31] = 0; + out_1135684465053897542[32] = 0; + out_1135684465053897542[33] = 0; + out_1135684465053897542[34] = 0; + out_1135684465053897542[35] = 0; + out_1135684465053897542[36] = 0; + out_1135684465053897542[37] = 0; + out_1135684465053897542[38] = 0; + out_1135684465053897542[39] = 0; + out_1135684465053897542[40] = 0; + out_1135684465053897542[41] = 1; + out_1135684465053897542[42] = 0; + out_1135684465053897542[43] = 0; + out_1135684465053897542[44] = 0; + out_1135684465053897542[45] = 0; + out_1135684465053897542[46] = 0; + out_1135684465053897542[47] = 0; + out_1135684465053897542[48] = 0; + out_1135684465053897542[49] = 0; + out_1135684465053897542[50] = 0; + out_1135684465053897542[51] = 0; + out_1135684465053897542[52] = 0; + out_1135684465053897542[53] = 0; } -void h_14(double *state, double *unused, double *out_1828120776349525591) { - out_1828120776349525591[0] = state[6]; - out_1828120776349525591[1] = state[7]; - out_1828120776349525591[2] = state[8]; +void h_14(double *state, double *unused, double *out_2425630726311968111) { + out_2425630726311968111[0] = state[6]; + out_2425630726311968111[1] = state[7]; + out_2425630726311968111[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2396738009230643266) { - out_2396738009230643266[0] = 0; - out_2396738009230643266[1] = 0; - out_2396738009230643266[2] = 0; - out_2396738009230643266[3] = 0; - out_2396738009230643266[4] = 0; - out_2396738009230643266[5] = 0; - out_2396738009230643266[6] = 1; - out_2396738009230643266[7] = 0; - out_2396738009230643266[8] = 0; - out_2396738009230643266[9] = 0; - out_2396738009230643266[10] = 0; - out_2396738009230643266[11] = 0; - out_2396738009230643266[12] = 0; - out_2396738009230643266[13] = 0; - out_2396738009230643266[14] = 0; - out_2396738009230643266[15] = 0; - out_2396738009230643266[16] = 0; - out_2396738009230643266[17] = 0; - out_2396738009230643266[18] = 0; - out_2396738009230643266[19] = 0; - out_2396738009230643266[20] = 0; - out_2396738009230643266[21] = 0; - out_2396738009230643266[22] = 0; - out_2396738009230643266[23] = 0; - out_2396738009230643266[24] = 0; - out_2396738009230643266[25] = 1; - out_2396738009230643266[26] = 0; - out_2396738009230643266[27] = 0; - out_2396738009230643266[28] = 0; - out_2396738009230643266[29] = 0; - out_2396738009230643266[30] = 0; - out_2396738009230643266[31] = 0; - out_2396738009230643266[32] = 0; - out_2396738009230643266[33] = 0; - out_2396738009230643266[34] = 0; - out_2396738009230643266[35] = 0; - out_2396738009230643266[36] = 0; - out_2396738009230643266[37] = 0; - out_2396738009230643266[38] = 0; - out_2396738009230643266[39] = 0; - out_2396738009230643266[40] = 0; - out_2396738009230643266[41] = 0; - out_2396738009230643266[42] = 0; - out_2396738009230643266[43] = 0; - out_2396738009230643266[44] = 1; - out_2396738009230643266[45] = 0; - out_2396738009230643266[46] = 0; - out_2396738009230643266[47] = 0; - out_2396738009230643266[48] = 0; - out_2396738009230643266[49] = 0; - out_2396738009230643266[50] = 0; - out_2396738009230643266[51] = 0; - out_2396738009230643266[52] = 0; - out_2396738009230643266[53] = 0; +void H_14(double *state, double *unused, double *out_1886651496061049270) { + out_1886651496061049270[0] = 0; + out_1886651496061049270[1] = 0; + out_1886651496061049270[2] = 0; + out_1886651496061049270[3] = 0; + out_1886651496061049270[4] = 0; + out_1886651496061049270[5] = 0; + out_1886651496061049270[6] = 1; + out_1886651496061049270[7] = 0; + out_1886651496061049270[8] = 0; + out_1886651496061049270[9] = 0; + out_1886651496061049270[10] = 0; + out_1886651496061049270[11] = 0; + out_1886651496061049270[12] = 0; + out_1886651496061049270[13] = 0; + out_1886651496061049270[14] = 0; + out_1886651496061049270[15] = 0; + out_1886651496061049270[16] = 0; + out_1886651496061049270[17] = 0; + out_1886651496061049270[18] = 0; + out_1886651496061049270[19] = 0; + out_1886651496061049270[20] = 0; + out_1886651496061049270[21] = 0; + out_1886651496061049270[22] = 0; + out_1886651496061049270[23] = 0; + out_1886651496061049270[24] = 0; + out_1886651496061049270[25] = 1; + out_1886651496061049270[26] = 0; + out_1886651496061049270[27] = 0; + out_1886651496061049270[28] = 0; + out_1886651496061049270[29] = 0; + out_1886651496061049270[30] = 0; + out_1886651496061049270[31] = 0; + out_1886651496061049270[32] = 0; + out_1886651496061049270[33] = 0; + out_1886651496061049270[34] = 0; + out_1886651496061049270[35] = 0; + out_1886651496061049270[36] = 0; + out_1886651496061049270[37] = 0; + out_1886651496061049270[38] = 0; + out_1886651496061049270[39] = 0; + out_1886651496061049270[40] = 0; + out_1886651496061049270[41] = 0; + out_1886651496061049270[42] = 0; + out_1886651496061049270[43] = 0; + out_1886651496061049270[44] = 1; + out_1886651496061049270[45] = 0; + out_1886651496061049270[46] = 0; + out_1886651496061049270[47] = 0; + out_1886651496061049270[48] = 0; + out_1886651496061049270[49] = 0; + out_1886651496061049270[50] = 0; + out_1886651496061049270[51] = 0; + out_1886651496061049270[52] = 0; + out_1886651496061049270[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_384350097947890971) { - err_fun(nom_x, delta_x, out_384350097947890971); +void pose_err_fun(double *nom_x, double *delta_x, double *out_709589957515877441) { + err_fun(nom_x, delta_x, out_709589957515877441); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_161730175994041380) { - inv_err_fun(nom_x, true_x, out_161730175994041380); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3661238081000149023) { + inv_err_fun(nom_x, true_x, out_3661238081000149023); } -void pose_H_mod_fun(double *state, double *out_511897058818169074) { - H_mod_fun(state, out_511897058818169074); +void pose_H_mod_fun(double *state, double *out_3274536842161333363) { + H_mod_fun(state, out_3274536842161333363); } -void pose_f_fun(double *state, double dt, double *out_4006543374555760922) { - f_fun(state, dt, out_4006543374555760922); +void pose_f_fun(double *state, double dt, double *out_54085149498667220) { + f_fun(state, dt, out_54085149498667220); } -void pose_F_fun(double *state, double dt, double *out_8169752966009844936) { - F_fun(state, dt, out_8169752966009844936); +void pose_F_fun(double *state, double dt, double *out_3360900556715541089) { + F_fun(state, dt, out_3360900556715541089); } -void pose_h_4(double *state, double *unused, double *out_2516225834102864115) { - h_4(state, unused, out_2516225834102864115); +void pose_h_4(double *state, double *unused, double *out_6781682784175939845) { + h_4(state, unused, out_6781682784175939845); } -void pose_H_4(double *state, double *unused, double *out_686050423064729030) { - H_4(state, unused, out_686050423064729030); +void pose_H_4(double *state, double *unused, double *out_2076589360278435259) { + H_4(state, unused, out_2076589360278435259); } -void pose_h_10(double *state, double *unused, double *out_865522221082823214) { - h_10(state, unused, out_865522221082823214); +void pose_h_10(double *state, double *unused, double *out_4409132040641892266) { + h_10(state, unused, out_4409132040641892266); } -void pose_H_10(double *state, double *unused, double *out_8576192708028364696) { - H_10(state, unused, out_8576192708028364696); +void pose_H_10(double *state, double *unused, double *out_6826621589500186302) { + H_10(state, unused, out_6826621589500186302); } -void pose_h_13(double *state, double *unused, double *out_8706817024690289876) { - h_13(state, unused, out_8706817024690289876); +void pose_h_13(double *state, double *unused, double *out_1754250637475505882) { + h_13(state, unused, out_1754250637475505882); } -void pose_H_13(double *state, double *unused, double *out_3898324248397061831) { - H_13(state, unused, out_3898324248397061831); +void pose_H_13(double *state, double *unused, double *out_1135684465053897542) { + H_13(state, unused, out_1135684465053897542); } -void pose_h_14(double *state, double *unused, double *out_1828120776349525591) { - h_14(state, unused, out_1828120776349525591); +void pose_h_14(double *state, double *unused, double *out_2425630726311968111) { + h_14(state, unused, out_2425630726311968111); } -void pose_H_14(double *state, double *unused, double *out_2396738009230643266) { - H_14(state, unused, out_2396738009230643266); +void pose_H_14(double *state, double *unused, double *out_1886651496061049270) { + H_14(state, unused, out_1886651496061049270); } 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 f991f50f8..4488ac0a3 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_384350097947890971); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_161730175994041380); -void pose_H_mod_fun(double *state, double *out_511897058818169074); -void pose_f_fun(double *state, double dt, double *out_4006543374555760922); -void pose_F_fun(double *state, double dt, double *out_8169752966009844936); -void pose_h_4(double *state, double *unused, double *out_2516225834102864115); -void pose_H_4(double *state, double *unused, double *out_686050423064729030); -void pose_h_10(double *state, double *unused, double *out_865522221082823214); -void pose_H_10(double *state, double *unused, double *out_8576192708028364696); -void pose_h_13(double *state, double *unused, double *out_8706817024690289876); -void pose_H_13(double *state, double *unused, double *out_3898324248397061831); -void pose_h_14(double *state, double *unused, double *out_1828120776349525591); -void pose_H_14(double *state, double *unused, double *out_2396738009230643266); +void pose_err_fun(double *nom_x, double *delta_x, double *out_709589957515877441); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3661238081000149023); +void pose_H_mod_fun(double *state, double *out_3274536842161333363); +void pose_f_fun(double *state, double dt, double *out_54085149498667220); +void pose_F_fun(double *state, double dt, double *out_3360900556715541089); +void pose_h_4(double *state, double *unused, double *out_6781682784175939845); +void pose_H_4(double *state, double *unused, double *out_2076589360278435259); +void pose_h_10(double *state, double *unused, double *out_4409132040641892266); +void pose_H_10(double *state, double *unused, double *out_6826621589500186302); +void pose_h_13(double *state, double *unused, double *out_1754250637475505882); +void pose_H_13(double *state, double *unused, double *out_1135684465053897542); +void pose_h_14(double *state, double *unused, double *out_2425630726311968111); +void pose_H_14(double *state, double *unused, double *out_1886651496061049270); 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 34cc26cd6..f56ed6483 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index e0c7ea20c..b9639caef 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index d0b175168..79ddf894c 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index c13d6e5aa..ece96201a 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ