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b/panda/board/obj/version @@ -1 +1 @@ -DEV-26ce46ba-DEBUG \ No newline at end of file +DEV-b5ab54ab-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 581e1bdd1..6469f0f07 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_8341138954345272666) { - out_8341138954345272666[0] = delta_x[0] + nom_x[0]; - out_8341138954345272666[1] = delta_x[1] + nom_x[1]; - out_8341138954345272666[2] = delta_x[2] + nom_x[2]; - out_8341138954345272666[3] = delta_x[3] + nom_x[3]; - out_8341138954345272666[4] = delta_x[4] + nom_x[4]; - out_8341138954345272666[5] = delta_x[5] + nom_x[5]; - out_8341138954345272666[6] = delta_x[6] + nom_x[6]; - out_8341138954345272666[7] = delta_x[7] + nom_x[7]; - out_8341138954345272666[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_4885896537278282144) { + out_4885896537278282144[0] = delta_x[0] + nom_x[0]; + out_4885896537278282144[1] = delta_x[1] + nom_x[1]; + out_4885896537278282144[2] = delta_x[2] + nom_x[2]; + out_4885896537278282144[3] = delta_x[3] + nom_x[3]; + out_4885896537278282144[4] = delta_x[4] + nom_x[4]; + out_4885896537278282144[5] = delta_x[5] + nom_x[5]; + out_4885896537278282144[6] = delta_x[6] + nom_x[6]; + out_4885896537278282144[7] = delta_x[7] + nom_x[7]; + out_4885896537278282144[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1053229851557441146) { - out_1053229851557441146[0] = -nom_x[0] + true_x[0]; - out_1053229851557441146[1] = -nom_x[1] + true_x[1]; - out_1053229851557441146[2] = -nom_x[2] + true_x[2]; - out_1053229851557441146[3] = -nom_x[3] + true_x[3]; - out_1053229851557441146[4] = -nom_x[4] + true_x[4]; - out_1053229851557441146[5] = -nom_x[5] + true_x[5]; - out_1053229851557441146[6] = -nom_x[6] + true_x[6]; - out_1053229851557441146[7] = -nom_x[7] + true_x[7]; - out_1053229851557441146[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3745151970403573209) { + out_3745151970403573209[0] = -nom_x[0] + true_x[0]; + out_3745151970403573209[1] = -nom_x[1] + true_x[1]; + out_3745151970403573209[2] = -nom_x[2] + true_x[2]; + out_3745151970403573209[3] = -nom_x[3] + true_x[3]; + out_3745151970403573209[4] = -nom_x[4] + true_x[4]; + out_3745151970403573209[5] = -nom_x[5] + true_x[5]; + out_3745151970403573209[6] = -nom_x[6] + true_x[6]; + out_3745151970403573209[7] = -nom_x[7] + true_x[7]; + out_3745151970403573209[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1742832659992124751) { - out_1742832659992124751[0] = 1.0; - out_1742832659992124751[1] = 0.0; - out_1742832659992124751[2] = 0.0; - out_1742832659992124751[3] = 0.0; - out_1742832659992124751[4] = 0.0; - out_1742832659992124751[5] = 0.0; - out_1742832659992124751[6] = 0.0; - out_1742832659992124751[7] = 0.0; - out_1742832659992124751[8] = 0.0; - out_1742832659992124751[9] = 0.0; - out_1742832659992124751[10] = 1.0; - out_1742832659992124751[11] = 0.0; - out_1742832659992124751[12] = 0.0; - out_1742832659992124751[13] = 0.0; - out_1742832659992124751[14] = 0.0; - out_1742832659992124751[15] = 0.0; - out_1742832659992124751[16] = 0.0; - out_1742832659992124751[17] = 0.0; - out_1742832659992124751[18] = 0.0; - out_1742832659992124751[19] = 0.0; - out_1742832659992124751[20] = 1.0; - out_1742832659992124751[21] = 0.0; - out_1742832659992124751[22] = 0.0; - out_1742832659992124751[23] = 0.0; - out_1742832659992124751[24] = 0.0; - out_1742832659992124751[25] = 0.0; - out_1742832659992124751[26] = 0.0; - out_1742832659992124751[27] = 0.0; - out_1742832659992124751[28] = 0.0; - out_1742832659992124751[29] = 0.0; - out_1742832659992124751[30] = 1.0; - out_1742832659992124751[31] = 0.0; - out_1742832659992124751[32] = 0.0; - out_1742832659992124751[33] = 0.0; - out_1742832659992124751[34] = 0.0; - out_1742832659992124751[35] = 0.0; - out_1742832659992124751[36] = 0.0; - out_1742832659992124751[37] = 0.0; - out_1742832659992124751[38] = 0.0; - out_1742832659992124751[39] = 0.0; - out_1742832659992124751[40] = 1.0; - out_1742832659992124751[41] = 0.0; - out_1742832659992124751[42] = 0.0; - out_1742832659992124751[43] = 0.0; - out_1742832659992124751[44] = 0.0; - out_1742832659992124751[45] = 0.0; - out_1742832659992124751[46] = 0.0; - out_1742832659992124751[47] = 0.0; - out_1742832659992124751[48] = 0.0; - out_1742832659992124751[49] = 0.0; - out_1742832659992124751[50] = 1.0; - out_1742832659992124751[51] = 0.0; - out_1742832659992124751[52] = 0.0; - out_1742832659992124751[53] = 0.0; - out_1742832659992124751[54] = 0.0; - out_1742832659992124751[55] = 0.0; - out_1742832659992124751[56] = 0.0; - out_1742832659992124751[57] = 0.0; - out_1742832659992124751[58] = 0.0; - out_1742832659992124751[59] = 0.0; - out_1742832659992124751[60] = 1.0; - out_1742832659992124751[61] = 0.0; - out_1742832659992124751[62] = 0.0; - out_1742832659992124751[63] = 0.0; - out_1742832659992124751[64] = 0.0; - out_1742832659992124751[65] = 0.0; - out_1742832659992124751[66] = 0.0; - out_1742832659992124751[67] = 0.0; - out_1742832659992124751[68] = 0.0; - out_1742832659992124751[69] = 0.0; - out_1742832659992124751[70] = 1.0; - out_1742832659992124751[71] = 0.0; - out_1742832659992124751[72] = 0.0; - out_1742832659992124751[73] = 0.0; - out_1742832659992124751[74] = 0.0; - out_1742832659992124751[75] = 0.0; - out_1742832659992124751[76] = 0.0; - out_1742832659992124751[77] = 0.0; - out_1742832659992124751[78] = 0.0; - out_1742832659992124751[79] = 0.0; - out_1742832659992124751[80] = 1.0; +void H_mod_fun(double *state, double *out_2937880372820632520) { + out_2937880372820632520[0] = 1.0; + out_2937880372820632520[1] = 0.0; + out_2937880372820632520[2] = 0.0; + out_2937880372820632520[3] = 0.0; + out_2937880372820632520[4] = 0.0; + out_2937880372820632520[5] = 0.0; + out_2937880372820632520[6] = 0.0; + out_2937880372820632520[7] = 0.0; + out_2937880372820632520[8] = 0.0; + out_2937880372820632520[9] = 0.0; + out_2937880372820632520[10] = 1.0; + out_2937880372820632520[11] = 0.0; + out_2937880372820632520[12] = 0.0; + out_2937880372820632520[13] = 0.0; + out_2937880372820632520[14] = 0.0; + out_2937880372820632520[15] = 0.0; + out_2937880372820632520[16] = 0.0; + out_2937880372820632520[17] = 0.0; + out_2937880372820632520[18] = 0.0; + out_2937880372820632520[19] = 0.0; + out_2937880372820632520[20] = 1.0; + out_2937880372820632520[21] = 0.0; + out_2937880372820632520[22] = 0.0; + out_2937880372820632520[23] = 0.0; + out_2937880372820632520[24] = 0.0; + out_2937880372820632520[25] = 0.0; + out_2937880372820632520[26] = 0.0; + out_2937880372820632520[27] = 0.0; + out_2937880372820632520[28] = 0.0; + out_2937880372820632520[29] = 0.0; + out_2937880372820632520[30] = 1.0; + out_2937880372820632520[31] = 0.0; + out_2937880372820632520[32] = 0.0; + out_2937880372820632520[33] = 0.0; + out_2937880372820632520[34] = 0.0; + out_2937880372820632520[35] = 0.0; + out_2937880372820632520[36] = 0.0; + out_2937880372820632520[37] = 0.0; + out_2937880372820632520[38] = 0.0; + out_2937880372820632520[39] = 0.0; + out_2937880372820632520[40] = 1.0; + out_2937880372820632520[41] = 0.0; + out_2937880372820632520[42] = 0.0; + out_2937880372820632520[43] = 0.0; + out_2937880372820632520[44] = 0.0; + out_2937880372820632520[45] = 0.0; + out_2937880372820632520[46] = 0.0; + out_2937880372820632520[47] = 0.0; + out_2937880372820632520[48] = 0.0; + out_2937880372820632520[49] = 0.0; + out_2937880372820632520[50] = 1.0; + out_2937880372820632520[51] = 0.0; + out_2937880372820632520[52] = 0.0; + out_2937880372820632520[53] = 0.0; + out_2937880372820632520[54] = 0.0; + out_2937880372820632520[55] = 0.0; + out_2937880372820632520[56] = 0.0; + out_2937880372820632520[57] = 0.0; + out_2937880372820632520[58] = 0.0; + out_2937880372820632520[59] = 0.0; + out_2937880372820632520[60] = 1.0; + out_2937880372820632520[61] = 0.0; + out_2937880372820632520[62] = 0.0; + out_2937880372820632520[63] = 0.0; + out_2937880372820632520[64] = 0.0; + out_2937880372820632520[65] = 0.0; + out_2937880372820632520[66] = 0.0; + out_2937880372820632520[67] = 0.0; + out_2937880372820632520[68] = 0.0; + out_2937880372820632520[69] = 0.0; + out_2937880372820632520[70] = 1.0; + out_2937880372820632520[71] = 0.0; + out_2937880372820632520[72] = 0.0; + out_2937880372820632520[73] = 0.0; + out_2937880372820632520[74] = 0.0; + out_2937880372820632520[75] = 0.0; + out_2937880372820632520[76] = 0.0; + out_2937880372820632520[77] = 0.0; + out_2937880372820632520[78] = 0.0; + out_2937880372820632520[79] = 0.0; + out_2937880372820632520[80] = 1.0; } -void f_fun(double *state, double dt, double *out_418888185766452101) { - out_418888185766452101[0] = state[0]; - out_418888185766452101[1] = state[1]; - out_418888185766452101[2] = state[2]; - out_418888185766452101[3] = state[3]; - out_418888185766452101[4] = state[4]; - out_418888185766452101[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_418888185766452101[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_418888185766452101[7] = state[7]; - out_418888185766452101[8] = state[8]; +void f_fun(double *state, double dt, double *out_4204558600518622219) { + out_4204558600518622219[0] = state[0]; + out_4204558600518622219[1] = state[1]; + out_4204558600518622219[2] = state[2]; + out_4204558600518622219[3] = state[3]; + out_4204558600518622219[4] = state[4]; + out_4204558600518622219[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_4204558600518622219[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_4204558600518622219[7] = state[7]; + out_4204558600518622219[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7332131154779998147) { - out_7332131154779998147[0] = 1; - out_7332131154779998147[1] = 0; - out_7332131154779998147[2] = 0; - out_7332131154779998147[3] = 0; - out_7332131154779998147[4] = 0; - out_7332131154779998147[5] = 0; - out_7332131154779998147[6] = 0; - out_7332131154779998147[7] = 0; - out_7332131154779998147[8] = 0; - out_7332131154779998147[9] = 0; - out_7332131154779998147[10] = 1; - out_7332131154779998147[11] = 0; - out_7332131154779998147[12] = 0; - out_7332131154779998147[13] = 0; - out_7332131154779998147[14] = 0; - out_7332131154779998147[15] = 0; - out_7332131154779998147[16] = 0; - out_7332131154779998147[17] = 0; - out_7332131154779998147[18] = 0; - out_7332131154779998147[19] = 0; - out_7332131154779998147[20] = 1; - out_7332131154779998147[21] = 0; - out_7332131154779998147[22] = 0; - out_7332131154779998147[23] = 0; - out_7332131154779998147[24] = 0; - out_7332131154779998147[25] = 0; - out_7332131154779998147[26] = 0; - out_7332131154779998147[27] = 0; - out_7332131154779998147[28] = 0; - out_7332131154779998147[29] = 0; - out_7332131154779998147[30] = 1; - out_7332131154779998147[31] = 0; - out_7332131154779998147[32] = 0; - out_7332131154779998147[33] = 0; - out_7332131154779998147[34] = 0; - out_7332131154779998147[35] = 0; - out_7332131154779998147[36] = 0; - out_7332131154779998147[37] = 0; - out_7332131154779998147[38] = 0; - out_7332131154779998147[39] = 0; - out_7332131154779998147[40] = 1; - out_7332131154779998147[41] = 0; - out_7332131154779998147[42] = 0; - out_7332131154779998147[43] = 0; - out_7332131154779998147[44] = 0; - out_7332131154779998147[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_7332131154779998147[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7332131154779998147[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7332131154779998147[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7332131154779998147[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_7332131154779998147[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7332131154779998147[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7332131154779998147[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7332131154779998147[53] = -9.8100000000000005*dt; - out_7332131154779998147[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_7332131154779998147[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7332131154779998147[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7332131154779998147[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7332131154779998147[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_7332131154779998147[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7332131154779998147[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_7332131154779998147[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7332131154779998147[62] = 0; - out_7332131154779998147[63] = 0; - out_7332131154779998147[64] = 0; - out_7332131154779998147[65] = 0; - out_7332131154779998147[66] = 0; - out_7332131154779998147[67] = 0; - out_7332131154779998147[68] = 0; - out_7332131154779998147[69] = 0; - out_7332131154779998147[70] = 1; - out_7332131154779998147[71] = 0; - out_7332131154779998147[72] = 0; - out_7332131154779998147[73] = 0; - out_7332131154779998147[74] = 0; - out_7332131154779998147[75] = 0; - out_7332131154779998147[76] = 0; - out_7332131154779998147[77] = 0; - out_7332131154779998147[78] = 0; - out_7332131154779998147[79] = 0; - out_7332131154779998147[80] = 1; +void F_fun(double *state, double dt, double *out_3726788735705827984) { + out_3726788735705827984[0] = 1; + out_3726788735705827984[1] = 0; + out_3726788735705827984[2] = 0; + out_3726788735705827984[3] = 0; + out_3726788735705827984[4] = 0; + out_3726788735705827984[5] = 0; + out_3726788735705827984[6] = 0; + out_3726788735705827984[7] = 0; + out_3726788735705827984[8] = 0; + out_3726788735705827984[9] = 0; + out_3726788735705827984[10] = 1; + out_3726788735705827984[11] = 0; + out_3726788735705827984[12] = 0; + out_3726788735705827984[13] = 0; + out_3726788735705827984[14] = 0; + out_3726788735705827984[15] = 0; + out_3726788735705827984[16] = 0; + out_3726788735705827984[17] = 0; + out_3726788735705827984[18] = 0; + out_3726788735705827984[19] = 0; + out_3726788735705827984[20] = 1; + out_3726788735705827984[21] = 0; + out_3726788735705827984[22] = 0; + out_3726788735705827984[23] = 0; + out_3726788735705827984[24] = 0; + out_3726788735705827984[25] = 0; + out_3726788735705827984[26] = 0; + out_3726788735705827984[27] = 0; + out_3726788735705827984[28] = 0; + out_3726788735705827984[29] = 0; + out_3726788735705827984[30] = 1; + out_3726788735705827984[31] = 0; + out_3726788735705827984[32] = 0; + out_3726788735705827984[33] = 0; + out_3726788735705827984[34] = 0; + out_3726788735705827984[35] = 0; + out_3726788735705827984[36] = 0; + out_3726788735705827984[37] = 0; + out_3726788735705827984[38] = 0; + out_3726788735705827984[39] = 0; + out_3726788735705827984[40] = 1; + out_3726788735705827984[41] = 0; + out_3726788735705827984[42] = 0; + out_3726788735705827984[43] = 0; + out_3726788735705827984[44] = 0; + out_3726788735705827984[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_3726788735705827984[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3726788735705827984[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3726788735705827984[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3726788735705827984[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_3726788735705827984[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3726788735705827984[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3726788735705827984[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3726788735705827984[53] = -9.8100000000000005*dt; + out_3726788735705827984[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_3726788735705827984[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3726788735705827984[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3726788735705827984[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3726788735705827984[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_3726788735705827984[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3726788735705827984[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_3726788735705827984[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3726788735705827984[62] = 0; + out_3726788735705827984[63] = 0; + out_3726788735705827984[64] = 0; + out_3726788735705827984[65] = 0; + out_3726788735705827984[66] = 0; + out_3726788735705827984[67] = 0; + out_3726788735705827984[68] = 0; + out_3726788735705827984[69] = 0; + out_3726788735705827984[70] = 1; + out_3726788735705827984[71] = 0; + out_3726788735705827984[72] = 0; + out_3726788735705827984[73] = 0; + out_3726788735705827984[74] = 0; + out_3726788735705827984[75] = 0; + out_3726788735705827984[76] = 0; + out_3726788735705827984[77] = 0; + out_3726788735705827984[78] = 0; + out_3726788735705827984[79] = 0; + out_3726788735705827984[80] = 1; } -void h_25(double *state, double *unused, double *out_2120117969057149735) { - out_2120117969057149735[0] = state[6]; +void h_25(double *state, double *unused, double *out_6349123496291746259) { + out_6349123496291746259[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6108633137067025220) { - out_6108633137067025220[0] = 0; - out_6108633137067025220[1] = 0; - out_6108633137067025220[2] = 0; - out_6108633137067025220[3] = 0; - out_6108633137067025220[4] = 0; - out_6108633137067025220[5] = 0; - out_6108633137067025220[6] = 1; - out_6108633137067025220[7] = 0; - out_6108633137067025220[8] = 0; +void H_25(double *state, double *unused, double *out_7841572198005297360) { + out_7841572198005297360[0] = 0; + out_7841572198005297360[1] = 0; + out_7841572198005297360[2] = 0; + out_7841572198005297360[3] = 0; + out_7841572198005297360[4] = 0; + out_7841572198005297360[5] = 0; + out_7841572198005297360[6] = 1; + out_7841572198005297360[7] = 0; + out_7841572198005297360[8] = 0; } -void h_24(double *state, double *unused, double *out_7094254727358861625) { - out_7094254727358861625[0] = state[4]; - out_7094254727358861625[1] = state[5]; +void h_24(double *state, double *unused, double *out_2774216340997546785) { + out_2774216340997546785[0] = state[4]; + out_2774216340997546785[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8334340921045893782) { - out_8334340921045893782[0] = 0; - out_8334340921045893782[1] = 0; - out_8334340921045893782[2] = 0; - out_8334340921045893782[3] = 0; - out_8334340921045893782[4] = 1; - out_8334340921045893782[5] = 0; - out_8334340921045893782[6] = 0; - out_8334340921045893782[7] = 0; - out_8334340921045893782[8] = 0; - out_8334340921045893782[9] = 0; - out_8334340921045893782[10] = 0; - out_8334340921045893782[11] = 0; - out_8334340921045893782[12] = 0; - out_8334340921045893782[13] = 0; - out_8334340921045893782[14] = 1; - out_8334340921045893782[15] = 0; - out_8334340921045893782[16] = 0; - out_8334340921045893782[17] = 0; +void H_24(double *state, double *unused, double *out_8427957452097104283) { + out_8427957452097104283[0] = 0; + out_8427957452097104283[1] = 0; + out_8427957452097104283[2] = 0; + out_8427957452097104283[3] = 0; + out_8427957452097104283[4] = 1; + out_8427957452097104283[5] = 0; + out_8427957452097104283[6] = 0; + out_8427957452097104283[7] = 0; + out_8427957452097104283[8] = 0; + out_8427957452097104283[9] = 0; + out_8427957452097104283[10] = 0; + out_8427957452097104283[11] = 0; + out_8427957452097104283[12] = 0; + out_8427957452097104283[13] = 0; + out_8427957452097104283[14] = 1; + out_8427957452097104283[15] = 0; + out_8427957452097104283[16] = 0; + out_8427957452097104283[17] = 0; } -void h_30(double *state, double *unused, double *out_4035329226783510394) { - out_4035329226783510394[0] = state[4]; +void h_30(double *state, double *unused, double *out_5326785351067454421) { + out_5326785351067454421[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5421420595150909641) { - out_5421420595150909641[0] = 0; - out_5421420595150909641[1] = 0; - out_5421420595150909641[2] = 0; - out_5421420595150909641[3] = 0; - out_5421420595150909641[4] = 1; - out_5421420595150909641[5] = 0; - out_5421420595150909641[6] = 0; - out_5421420595150909641[7] = 0; - out_5421420595150909641[8] = 0; +void H_30(double *state, double *unused, double *out_8086838917197005629) { + out_8086838917197005629[0] = 0; + out_8086838917197005629[1] = 0; + out_8086838917197005629[2] = 0; + out_8086838917197005629[3] = 0; + out_8086838917197005629[4] = 1; + out_8086838917197005629[5] = 0; + out_8086838917197005629[6] = 0; + out_8086838917197005629[7] = 0; + out_8086838917197005629[8] = 0; } -void h_26(double *state, double *unused, double *out_3432013342107032877) { - out_3432013342107032877[0] = state[7]; +void h_26(double *state, double *unused, double *out_3469524113198542719) { + out_3469524113198542719[0] = state[7]; } -void H_26(double *state, double *unused, double *out_2367129818192968996) { - out_2367129818192968996[0] = 0; - out_2367129818192968996[1] = 0; - out_2367129818192968996[2] = 0; - out_2367129818192968996[3] = 0; - out_2367129818192968996[4] = 0; - out_2367129818192968996[5] = 0; - out_2367129818192968996[6] = 0; - out_2367129818192968996[7] = 1; - out_2367129818192968996[8] = 0; +void H_26(double *state, double *unused, double *out_4100068879131241136) { + out_4100068879131241136[0] = 0; + out_4100068879131241136[1] = 0; + out_4100068879131241136[2] = 0; + out_4100068879131241136[3] = 0; + out_4100068879131241136[4] = 0; + out_4100068879131241136[5] = 0; + out_4100068879131241136[6] = 0; + out_4100068879131241136[7] = 1; + out_4100068879131241136[8] = 0; } -void h_27(double *state, double *unused, double *out_4789453276872201226) { - out_4789453276872201226[0] = state[3]; +void h_27(double *state, double *unused, double *out_1347450228630900614) { + out_1347450228630900614[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7596183906951334552) { - out_7596183906951334552[0] = 0; - out_7596183906951334552[1] = 0; - out_7596183906951334552[2] = 0; - out_7596183906951334552[3] = 1; - out_7596183906951334552[4] = 0; - out_7596183906951334552[5] = 0; - out_7596183906951334552[6] = 0; - out_7596183906951334552[7] = 0; - out_7596183906951334552[8] = 0; +void H_27(double *state, double *unused, double *out_8185141844712121076) { + out_8185141844712121076[0] = 0; + out_8185141844712121076[1] = 0; + out_8185141844712121076[2] = 0; + out_8185141844712121076[3] = 1; + out_8185141844712121076[4] = 0; + out_8185141844712121076[5] = 0; + out_8185141844712121076[6] = 0; + out_8185141844712121076[7] = 0; + out_8185141844712121076[8] = 0; } -void h_29(double *state, double *unused, double *out_8533129359367326134) { - out_8533129359367326134[0] = state[1]; +void h_29(double *state, double *unused, double *out_2289999299623121736) { + out_2289999299623121736[0] = state[1]; } -void H_29(double *state, double *unused, double *out_4911189250836517457) { - out_4911189250836517457[0] = 0; - out_4911189250836517457[1] = 1; - out_4911189250836517457[2] = 0; - out_4911189250836517457[3] = 0; - out_4911189250836517457[4] = 0; - out_4911189250836517457[5] = 0; - out_4911189250836517457[6] = 0; - out_4911189250836517457[7] = 0; - out_4911189250836517457[8] = 0; +void H_29(double *state, double *unused, double *out_7576607572882613445) { + out_7576607572882613445[0] = 0; + out_7576607572882613445[1] = 1; + out_7576607572882613445[2] = 0; + out_7576607572882613445[3] = 0; + out_7576607572882613445[4] = 0; + out_7576607572882613445[5] = 0; + out_7576607572882613445[6] = 0; + out_7576607572882613445[7] = 0; + out_7576607572882613445[8] = 0; } -void h_28(double *state, double *unused, double *out_212219990788644419) { - out_212219990788644419[0] = state[0]; +void h_28(double *state, double *unused, double *out_2290960081532563049) { + out_2290960081532563049[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4054798422819135457) { - out_4054798422819135457[0] = 1; - out_4054798422819135457[1] = 0; - out_4054798422819135457[2] = 0; - out_4054798422819135457[3] = 0; - out_4054798422819135457[4] = 0; - out_4054798422819135457[5] = 0; - out_4054798422819135457[6] = 0; - out_4054798422819135457[7] = 0; - out_4054798422819135457[8] = 0; +void H_28(double *state, double *unused, double *out_5787737483757407597) { + out_5787737483757407597[0] = 1; + out_5787737483757407597[1] = 0; + out_5787737483757407597[2] = 0; + out_5787737483757407597[3] = 0; + out_5787737483757407597[4] = 0; + out_5787737483757407597[5] = 0; + out_5787737483757407597[6] = 0; + out_5787737483757407597[7] = 0; + out_5787737483757407597[8] = 0; } -void h_31(double *state, double *unused, double *out_6046731432492005227) { - out_6046731432492005227[0] = state[8]; +void h_31(double *state, double *unused, double *out_8460171049163783007) { + out_8460171049163783007[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6139279098943985648) { - out_6139279098943985648[0] = 0; - out_6139279098943985648[1] = 0; - out_6139279098943985648[2] = 0; - out_6139279098943985648[3] = 0; - out_6139279098943985648[4] = 0; - out_6139279098943985648[5] = 0; - out_6139279098943985648[6] = 0; - out_6139279098943985648[7] = 0; - out_6139279098943985648[8] = 1; +void H_31(double *state, double *unused, double *out_3473860776897889660) { + out_3473860776897889660[0] = 0; + out_3473860776897889660[1] = 0; + out_3473860776897889660[2] = 0; + out_3473860776897889660[3] = 0; + out_3473860776897889660[4] = 0; + out_3473860776897889660[5] = 0; + out_3473860776897889660[6] = 0; + out_3473860776897889660[7] = 0; + out_3473860776897889660[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_8341138954345272666) { - err_fun(nom_x, delta_x, out_8341138954345272666); +void car_err_fun(double *nom_x, double *delta_x, double *out_4885896537278282144) { + err_fun(nom_x, delta_x, out_4885896537278282144); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1053229851557441146) { - inv_err_fun(nom_x, true_x, out_1053229851557441146); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3745151970403573209) { + inv_err_fun(nom_x, true_x, out_3745151970403573209); } -void car_H_mod_fun(double *state, double *out_1742832659992124751) { - H_mod_fun(state, out_1742832659992124751); +void car_H_mod_fun(double *state, double *out_2937880372820632520) { + H_mod_fun(state, out_2937880372820632520); } -void car_f_fun(double *state, double dt, double *out_418888185766452101) { - f_fun(state, dt, out_418888185766452101); +void car_f_fun(double *state, double dt, double *out_4204558600518622219) { + f_fun(state, dt, out_4204558600518622219); } -void car_F_fun(double *state, double dt, double *out_7332131154779998147) { - F_fun(state, dt, out_7332131154779998147); +void car_F_fun(double *state, double dt, double *out_3726788735705827984) { + F_fun(state, dt, out_3726788735705827984); } -void car_h_25(double *state, double *unused, double *out_2120117969057149735) { - h_25(state, unused, out_2120117969057149735); +void car_h_25(double *state, double *unused, double *out_6349123496291746259) { + h_25(state, unused, out_6349123496291746259); } -void car_H_25(double *state, double *unused, double *out_6108633137067025220) { - H_25(state, unused, out_6108633137067025220); +void car_H_25(double *state, double *unused, double *out_7841572198005297360) { + H_25(state, unused, out_7841572198005297360); } -void car_h_24(double *state, double *unused, double *out_7094254727358861625) { - h_24(state, unused, out_7094254727358861625); +void car_h_24(double *state, double *unused, double *out_2774216340997546785) { + h_24(state, unused, out_2774216340997546785); } -void car_H_24(double *state, double *unused, double *out_8334340921045893782) { - H_24(state, unused, out_8334340921045893782); +void car_H_24(double *state, double *unused, double *out_8427957452097104283) { + H_24(state, unused, out_8427957452097104283); } -void car_h_30(double *state, double *unused, double *out_4035329226783510394) { - h_30(state, unused, out_4035329226783510394); +void car_h_30(double *state, double *unused, double *out_5326785351067454421) { + h_30(state, unused, out_5326785351067454421); } -void car_H_30(double *state, double *unused, double *out_5421420595150909641) { - H_30(state, unused, out_5421420595150909641); +void car_H_30(double *state, double *unused, double *out_8086838917197005629) { + H_30(state, unused, out_8086838917197005629); } -void car_h_26(double *state, double *unused, double *out_3432013342107032877) { - h_26(state, unused, out_3432013342107032877); +void car_h_26(double *state, double *unused, double *out_3469524113198542719) { + h_26(state, unused, out_3469524113198542719); } -void car_H_26(double *state, double *unused, double *out_2367129818192968996) { - H_26(state, unused, out_2367129818192968996); +void car_H_26(double *state, double *unused, double *out_4100068879131241136) { + H_26(state, unused, out_4100068879131241136); } -void car_h_27(double *state, double *unused, double *out_4789453276872201226) { - h_27(state, unused, out_4789453276872201226); +void car_h_27(double *state, double *unused, double *out_1347450228630900614) { + h_27(state, unused, out_1347450228630900614); } -void car_H_27(double *state, double *unused, double *out_7596183906951334552) { - H_27(state, unused, out_7596183906951334552); +void car_H_27(double *state, double *unused, double *out_8185141844712121076) { + H_27(state, unused, out_8185141844712121076); } -void car_h_29(double *state, double *unused, double *out_8533129359367326134) { - h_29(state, unused, out_8533129359367326134); +void car_h_29(double *state, double *unused, double *out_2289999299623121736) { + h_29(state, unused, out_2289999299623121736); } -void car_H_29(double *state, double *unused, double *out_4911189250836517457) { - H_29(state, unused, out_4911189250836517457); +void car_H_29(double *state, double *unused, double *out_7576607572882613445) { + H_29(state, unused, out_7576607572882613445); } -void car_h_28(double *state, double *unused, double *out_212219990788644419) { - h_28(state, unused, out_212219990788644419); +void car_h_28(double *state, double *unused, double *out_2290960081532563049) { + h_28(state, unused, out_2290960081532563049); } -void car_H_28(double *state, double *unused, double *out_4054798422819135457) { - H_28(state, unused, out_4054798422819135457); +void car_H_28(double *state, double *unused, double *out_5787737483757407597) { + H_28(state, unused, out_5787737483757407597); } -void car_h_31(double *state, double *unused, double *out_6046731432492005227) { - h_31(state, unused, out_6046731432492005227); +void car_h_31(double *state, double *unused, double *out_8460171049163783007) { + h_31(state, unused, out_8460171049163783007); } -void car_H_31(double *state, double *unused, double *out_6139279098943985648) { - H_31(state, unused, out_6139279098943985648); +void car_H_31(double *state, double *unused, double *out_3473860776897889660) { + H_31(state, unused, out_3473860776897889660); } 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 7fa74d394..f07b6b6f7 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_8341138954345272666); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1053229851557441146); -void car_H_mod_fun(double *state, double *out_1742832659992124751); -void car_f_fun(double *state, double dt, double *out_418888185766452101); -void car_F_fun(double *state, double dt, double *out_7332131154779998147); -void car_h_25(double *state, double *unused, double *out_2120117969057149735); -void car_H_25(double *state, double *unused, double *out_6108633137067025220); -void car_h_24(double *state, double *unused, double *out_7094254727358861625); -void car_H_24(double *state, double *unused, double *out_8334340921045893782); -void car_h_30(double *state, double *unused, double *out_4035329226783510394); -void car_H_30(double *state, double *unused, double *out_5421420595150909641); -void car_h_26(double *state, double *unused, double *out_3432013342107032877); -void car_H_26(double *state, double *unused, double *out_2367129818192968996); -void car_h_27(double *state, double *unused, double *out_4789453276872201226); -void car_H_27(double *state, double *unused, double *out_7596183906951334552); -void car_h_29(double *state, double *unused, double *out_8533129359367326134); -void car_H_29(double *state, double *unused, double *out_4911189250836517457); -void car_h_28(double *state, double *unused, double *out_212219990788644419); -void car_H_28(double *state, double *unused, double *out_4054798422819135457); -void car_h_31(double *state, double *unused, double *out_6046731432492005227); -void car_H_31(double *state, double *unused, double *out_6139279098943985648); +void car_err_fun(double *nom_x, double *delta_x, double *out_4885896537278282144); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3745151970403573209); +void car_H_mod_fun(double *state, double *out_2937880372820632520); +void car_f_fun(double *state, double dt, double *out_4204558600518622219); +void car_F_fun(double *state, double dt, double *out_3726788735705827984); +void car_h_25(double *state, double *unused, double *out_6349123496291746259); +void car_H_25(double *state, double *unused, double *out_7841572198005297360); +void car_h_24(double *state, double *unused, double *out_2774216340997546785); +void car_H_24(double *state, double *unused, double *out_8427957452097104283); +void car_h_30(double *state, double *unused, double *out_5326785351067454421); +void car_H_30(double *state, double *unused, double *out_8086838917197005629); +void car_h_26(double *state, double *unused, double *out_3469524113198542719); +void car_H_26(double *state, double *unused, double *out_4100068879131241136); +void car_h_27(double *state, double *unused, double *out_1347450228630900614); +void car_H_27(double *state, double *unused, double *out_8185141844712121076); +void car_h_29(double *state, double *unused, double *out_2289999299623121736); +void car_H_29(double *state, double *unused, double *out_7576607572882613445); +void car_h_28(double *state, double *unused, double *out_2290960081532563049); +void car_H_28(double *state, double *unused, double *out_5787737483757407597); +void car_h_31(double *state, double *unused, double *out_8460171049163783007); +void car_H_31(double *state, double *unused, double *out_3473860776897889660); 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 7a258df15..fee86768f 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_1308154946342484284) { - out_1308154946342484284[0] = delta_x[0] + nom_x[0]; - out_1308154946342484284[1] = delta_x[1] + nom_x[1]; - out_1308154946342484284[2] = delta_x[2] + nom_x[2]; - out_1308154946342484284[3] = delta_x[3] + nom_x[3]; - out_1308154946342484284[4] = delta_x[4] + nom_x[4]; - out_1308154946342484284[5] = delta_x[5] + nom_x[5]; - out_1308154946342484284[6] = delta_x[6] + nom_x[6]; - out_1308154946342484284[7] = delta_x[7] + nom_x[7]; - out_1308154946342484284[8] = delta_x[8] + nom_x[8]; - out_1308154946342484284[9] = delta_x[9] + nom_x[9]; - out_1308154946342484284[10] = delta_x[10] + nom_x[10]; - out_1308154946342484284[11] = delta_x[11] + nom_x[11]; - out_1308154946342484284[12] = delta_x[12] + nom_x[12]; - out_1308154946342484284[13] = delta_x[13] + nom_x[13]; - out_1308154946342484284[14] = delta_x[14] + nom_x[14]; - out_1308154946342484284[15] = delta_x[15] + nom_x[15]; - out_1308154946342484284[16] = delta_x[16] + nom_x[16]; - out_1308154946342484284[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7136046097392635975) { + out_7136046097392635975[0] = delta_x[0] + nom_x[0]; + out_7136046097392635975[1] = delta_x[1] + nom_x[1]; + out_7136046097392635975[2] = delta_x[2] + nom_x[2]; + out_7136046097392635975[3] = delta_x[3] + nom_x[3]; + out_7136046097392635975[4] = delta_x[4] + nom_x[4]; + out_7136046097392635975[5] = delta_x[5] + nom_x[5]; + out_7136046097392635975[6] = delta_x[6] + nom_x[6]; + out_7136046097392635975[7] = delta_x[7] + nom_x[7]; + out_7136046097392635975[8] = delta_x[8] + nom_x[8]; + out_7136046097392635975[9] = delta_x[9] + nom_x[9]; + out_7136046097392635975[10] = delta_x[10] + nom_x[10]; + out_7136046097392635975[11] = delta_x[11] + nom_x[11]; + out_7136046097392635975[12] = delta_x[12] + nom_x[12]; + out_7136046097392635975[13] = delta_x[13] + nom_x[13]; + out_7136046097392635975[14] = delta_x[14] + nom_x[14]; + out_7136046097392635975[15] = delta_x[15] + nom_x[15]; + out_7136046097392635975[16] = delta_x[16] + nom_x[16]; + out_7136046097392635975[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8706500607592261698) { - out_8706500607592261698[0] = -nom_x[0] + true_x[0]; - out_8706500607592261698[1] = -nom_x[1] + true_x[1]; - out_8706500607592261698[2] = -nom_x[2] + true_x[2]; - out_8706500607592261698[3] = -nom_x[3] + true_x[3]; - out_8706500607592261698[4] = -nom_x[4] + true_x[4]; - out_8706500607592261698[5] = -nom_x[5] + true_x[5]; - out_8706500607592261698[6] = -nom_x[6] + true_x[6]; - out_8706500607592261698[7] = -nom_x[7] + true_x[7]; - out_8706500607592261698[8] = -nom_x[8] + true_x[8]; - out_8706500607592261698[9] = -nom_x[9] + true_x[9]; - out_8706500607592261698[10] = -nom_x[10] + true_x[10]; - out_8706500607592261698[11] = -nom_x[11] + true_x[11]; - out_8706500607592261698[12] = -nom_x[12] + true_x[12]; - out_8706500607592261698[13] = -nom_x[13] + true_x[13]; - out_8706500607592261698[14] = -nom_x[14] + true_x[14]; - out_8706500607592261698[15] = -nom_x[15] + true_x[15]; - out_8706500607592261698[16] = -nom_x[16] + true_x[16]; - out_8706500607592261698[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7829757394788773504) { + out_7829757394788773504[0] = -nom_x[0] + true_x[0]; + out_7829757394788773504[1] = -nom_x[1] + true_x[1]; + out_7829757394788773504[2] = -nom_x[2] + true_x[2]; + out_7829757394788773504[3] = -nom_x[3] + true_x[3]; + out_7829757394788773504[4] = -nom_x[4] + true_x[4]; + out_7829757394788773504[5] = -nom_x[5] + true_x[5]; + out_7829757394788773504[6] = -nom_x[6] + true_x[6]; + out_7829757394788773504[7] = -nom_x[7] + true_x[7]; + out_7829757394788773504[8] = -nom_x[8] + true_x[8]; + out_7829757394788773504[9] = -nom_x[9] + true_x[9]; + out_7829757394788773504[10] = -nom_x[10] + true_x[10]; + out_7829757394788773504[11] = -nom_x[11] + true_x[11]; + out_7829757394788773504[12] = -nom_x[12] + true_x[12]; + out_7829757394788773504[13] = -nom_x[13] + true_x[13]; + out_7829757394788773504[14] = -nom_x[14] + true_x[14]; + out_7829757394788773504[15] = -nom_x[15] + true_x[15]; + out_7829757394788773504[16] = -nom_x[16] + true_x[16]; + out_7829757394788773504[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1512473366161392308) { - out_1512473366161392308[0] = 1.0; - out_1512473366161392308[1] = 0.0; - out_1512473366161392308[2] = 0.0; - out_1512473366161392308[3] = 0.0; - out_1512473366161392308[4] = 0.0; - out_1512473366161392308[5] = 0.0; - out_1512473366161392308[6] = 0.0; - out_1512473366161392308[7] = 0.0; - out_1512473366161392308[8] = 0.0; - out_1512473366161392308[9] = 0.0; - out_1512473366161392308[10] = 0.0; - out_1512473366161392308[11] = 0.0; - out_1512473366161392308[12] = 0.0; - out_1512473366161392308[13] = 0.0; - out_1512473366161392308[14] = 0.0; - out_1512473366161392308[15] = 0.0; - out_1512473366161392308[16] = 0.0; - out_1512473366161392308[17] = 0.0; - out_1512473366161392308[18] = 0.0; - out_1512473366161392308[19] = 1.0; - out_1512473366161392308[20] = 0.0; - out_1512473366161392308[21] = 0.0; - out_1512473366161392308[22] = 0.0; - out_1512473366161392308[23] = 0.0; - out_1512473366161392308[24] = 0.0; - out_1512473366161392308[25] = 0.0; - out_1512473366161392308[26] = 0.0; - out_1512473366161392308[27] = 0.0; - out_1512473366161392308[28] = 0.0; - out_1512473366161392308[29] = 0.0; - out_1512473366161392308[30] = 0.0; - out_1512473366161392308[31] = 0.0; - out_1512473366161392308[32] = 0.0; - out_1512473366161392308[33] = 0.0; - out_1512473366161392308[34] = 0.0; - out_1512473366161392308[35] = 0.0; - out_1512473366161392308[36] = 0.0; - out_1512473366161392308[37] = 0.0; - out_1512473366161392308[38] = 1.0; - out_1512473366161392308[39] = 0.0; - out_1512473366161392308[40] = 0.0; - out_1512473366161392308[41] = 0.0; - out_1512473366161392308[42] = 0.0; - out_1512473366161392308[43] = 0.0; - out_1512473366161392308[44] = 0.0; - out_1512473366161392308[45] = 0.0; - out_1512473366161392308[46] = 0.0; - out_1512473366161392308[47] = 0.0; - out_1512473366161392308[48] = 0.0; - out_1512473366161392308[49] = 0.0; - out_1512473366161392308[50] = 0.0; - out_1512473366161392308[51] = 0.0; - out_1512473366161392308[52] = 0.0; - out_1512473366161392308[53] = 0.0; - out_1512473366161392308[54] = 0.0; - out_1512473366161392308[55] = 0.0; - out_1512473366161392308[56] = 0.0; - out_1512473366161392308[57] = 1.0; - out_1512473366161392308[58] = 0.0; - out_1512473366161392308[59] = 0.0; - out_1512473366161392308[60] = 0.0; - out_1512473366161392308[61] = 0.0; - out_1512473366161392308[62] = 0.0; - out_1512473366161392308[63] = 0.0; - out_1512473366161392308[64] = 0.0; - out_1512473366161392308[65] = 0.0; - out_1512473366161392308[66] = 0.0; - out_1512473366161392308[67] = 0.0; - out_1512473366161392308[68] = 0.0; - out_1512473366161392308[69] = 0.0; - out_1512473366161392308[70] = 0.0; - out_1512473366161392308[71] = 0.0; - out_1512473366161392308[72] = 0.0; - out_1512473366161392308[73] = 0.0; - out_1512473366161392308[74] = 0.0; - out_1512473366161392308[75] = 0.0; - out_1512473366161392308[76] = 1.0; - out_1512473366161392308[77] = 0.0; - out_1512473366161392308[78] = 0.0; - out_1512473366161392308[79] = 0.0; - out_1512473366161392308[80] = 0.0; - out_1512473366161392308[81] = 0.0; - out_1512473366161392308[82] = 0.0; - out_1512473366161392308[83] = 0.0; - out_1512473366161392308[84] = 0.0; - out_1512473366161392308[85] = 0.0; - out_1512473366161392308[86] = 0.0; - out_1512473366161392308[87] = 0.0; - out_1512473366161392308[88] = 0.0; - out_1512473366161392308[89] = 0.0; - out_1512473366161392308[90] = 0.0; - out_1512473366161392308[91] = 0.0; - out_1512473366161392308[92] = 0.0; - out_1512473366161392308[93] = 0.0; - out_1512473366161392308[94] = 0.0; - out_1512473366161392308[95] = 1.0; - out_1512473366161392308[96] = 0.0; - out_1512473366161392308[97] = 0.0; - out_1512473366161392308[98] = 0.0; - out_1512473366161392308[99] = 0.0; - out_1512473366161392308[100] = 0.0; - out_1512473366161392308[101] = 0.0; - out_1512473366161392308[102] = 0.0; - out_1512473366161392308[103] = 0.0; - out_1512473366161392308[104] = 0.0; - out_1512473366161392308[105] = 0.0; - out_1512473366161392308[106] = 0.0; - out_1512473366161392308[107] = 0.0; - out_1512473366161392308[108] = 0.0; - out_1512473366161392308[109] = 0.0; - out_1512473366161392308[110] = 0.0; - out_1512473366161392308[111] = 0.0; - out_1512473366161392308[112] = 0.0; - out_1512473366161392308[113] = 0.0; - out_1512473366161392308[114] = 1.0; - out_1512473366161392308[115] = 0.0; - out_1512473366161392308[116] = 0.0; - out_1512473366161392308[117] = 0.0; - out_1512473366161392308[118] = 0.0; - out_1512473366161392308[119] = 0.0; - out_1512473366161392308[120] = 0.0; - out_1512473366161392308[121] = 0.0; - out_1512473366161392308[122] = 0.0; - out_1512473366161392308[123] = 0.0; - out_1512473366161392308[124] = 0.0; - out_1512473366161392308[125] = 0.0; - out_1512473366161392308[126] = 0.0; - out_1512473366161392308[127] = 0.0; - out_1512473366161392308[128] = 0.0; - out_1512473366161392308[129] = 0.0; - out_1512473366161392308[130] = 0.0; - out_1512473366161392308[131] = 0.0; - out_1512473366161392308[132] = 0.0; - out_1512473366161392308[133] = 1.0; - out_1512473366161392308[134] = 0.0; - out_1512473366161392308[135] = 0.0; - out_1512473366161392308[136] = 0.0; - out_1512473366161392308[137] = 0.0; - out_1512473366161392308[138] = 0.0; - out_1512473366161392308[139] = 0.0; - out_1512473366161392308[140] = 0.0; - out_1512473366161392308[141] = 0.0; - out_1512473366161392308[142] = 0.0; - out_1512473366161392308[143] = 0.0; - out_1512473366161392308[144] = 0.0; - out_1512473366161392308[145] = 0.0; - out_1512473366161392308[146] = 0.0; - out_1512473366161392308[147] = 0.0; - out_1512473366161392308[148] = 0.0; - out_1512473366161392308[149] = 0.0; - out_1512473366161392308[150] = 0.0; - out_1512473366161392308[151] = 0.0; - out_1512473366161392308[152] = 1.0; - out_1512473366161392308[153] = 0.0; - out_1512473366161392308[154] = 0.0; - out_1512473366161392308[155] = 0.0; - out_1512473366161392308[156] = 0.0; - out_1512473366161392308[157] = 0.0; - out_1512473366161392308[158] = 0.0; - out_1512473366161392308[159] = 0.0; - out_1512473366161392308[160] = 0.0; - out_1512473366161392308[161] = 0.0; - out_1512473366161392308[162] = 0.0; - out_1512473366161392308[163] = 0.0; - out_1512473366161392308[164] = 0.0; - out_1512473366161392308[165] = 0.0; - out_1512473366161392308[166] = 0.0; - out_1512473366161392308[167] = 0.0; - out_1512473366161392308[168] = 0.0; - out_1512473366161392308[169] = 0.0; - out_1512473366161392308[170] = 0.0; - out_1512473366161392308[171] = 1.0; - out_1512473366161392308[172] = 0.0; - out_1512473366161392308[173] = 0.0; - out_1512473366161392308[174] = 0.0; - out_1512473366161392308[175] = 0.0; - out_1512473366161392308[176] = 0.0; - out_1512473366161392308[177] = 0.0; - out_1512473366161392308[178] = 0.0; - out_1512473366161392308[179] = 0.0; - out_1512473366161392308[180] = 0.0; - out_1512473366161392308[181] = 0.0; - out_1512473366161392308[182] = 0.0; - out_1512473366161392308[183] = 0.0; - out_1512473366161392308[184] = 0.0; - out_1512473366161392308[185] = 0.0; - out_1512473366161392308[186] = 0.0; - out_1512473366161392308[187] = 0.0; - out_1512473366161392308[188] = 0.0; - out_1512473366161392308[189] = 0.0; - out_1512473366161392308[190] = 1.0; - out_1512473366161392308[191] = 0.0; - out_1512473366161392308[192] = 0.0; - out_1512473366161392308[193] = 0.0; - out_1512473366161392308[194] = 0.0; - out_1512473366161392308[195] = 0.0; - out_1512473366161392308[196] = 0.0; - out_1512473366161392308[197] = 0.0; - out_1512473366161392308[198] = 0.0; - out_1512473366161392308[199] = 0.0; - out_1512473366161392308[200] = 0.0; - out_1512473366161392308[201] = 0.0; - out_1512473366161392308[202] = 0.0; - out_1512473366161392308[203] = 0.0; - out_1512473366161392308[204] = 0.0; - out_1512473366161392308[205] = 0.0; - out_1512473366161392308[206] = 0.0; - out_1512473366161392308[207] = 0.0; - out_1512473366161392308[208] = 0.0; - out_1512473366161392308[209] = 1.0; - out_1512473366161392308[210] = 0.0; - out_1512473366161392308[211] = 0.0; - out_1512473366161392308[212] = 0.0; - out_1512473366161392308[213] = 0.0; - out_1512473366161392308[214] = 0.0; - out_1512473366161392308[215] = 0.0; - out_1512473366161392308[216] = 0.0; - out_1512473366161392308[217] = 0.0; - out_1512473366161392308[218] = 0.0; - out_1512473366161392308[219] = 0.0; - out_1512473366161392308[220] = 0.0; - out_1512473366161392308[221] = 0.0; - out_1512473366161392308[222] = 0.0; - out_1512473366161392308[223] = 0.0; - out_1512473366161392308[224] = 0.0; - out_1512473366161392308[225] = 0.0; - out_1512473366161392308[226] = 0.0; - out_1512473366161392308[227] = 0.0; - out_1512473366161392308[228] = 1.0; - out_1512473366161392308[229] = 0.0; - out_1512473366161392308[230] = 0.0; - out_1512473366161392308[231] = 0.0; - out_1512473366161392308[232] = 0.0; - out_1512473366161392308[233] = 0.0; - out_1512473366161392308[234] = 0.0; - out_1512473366161392308[235] = 0.0; - out_1512473366161392308[236] = 0.0; - out_1512473366161392308[237] = 0.0; - out_1512473366161392308[238] = 0.0; - out_1512473366161392308[239] = 0.0; - out_1512473366161392308[240] = 0.0; - out_1512473366161392308[241] = 0.0; - out_1512473366161392308[242] = 0.0; - out_1512473366161392308[243] = 0.0; - out_1512473366161392308[244] = 0.0; - out_1512473366161392308[245] = 0.0; - out_1512473366161392308[246] = 0.0; - out_1512473366161392308[247] = 1.0; - out_1512473366161392308[248] = 0.0; - out_1512473366161392308[249] = 0.0; - out_1512473366161392308[250] = 0.0; - out_1512473366161392308[251] = 0.0; - out_1512473366161392308[252] = 0.0; - out_1512473366161392308[253] = 0.0; - out_1512473366161392308[254] = 0.0; - out_1512473366161392308[255] = 0.0; - out_1512473366161392308[256] = 0.0; - out_1512473366161392308[257] = 0.0; - out_1512473366161392308[258] = 0.0; - out_1512473366161392308[259] = 0.0; - out_1512473366161392308[260] = 0.0; - out_1512473366161392308[261] = 0.0; - out_1512473366161392308[262] = 0.0; - out_1512473366161392308[263] = 0.0; - out_1512473366161392308[264] = 0.0; - out_1512473366161392308[265] = 0.0; - out_1512473366161392308[266] = 1.0; - out_1512473366161392308[267] = 0.0; - out_1512473366161392308[268] = 0.0; - out_1512473366161392308[269] = 0.0; - out_1512473366161392308[270] = 0.0; - out_1512473366161392308[271] = 0.0; - out_1512473366161392308[272] = 0.0; - out_1512473366161392308[273] = 0.0; - out_1512473366161392308[274] = 0.0; - out_1512473366161392308[275] = 0.0; - out_1512473366161392308[276] = 0.0; - out_1512473366161392308[277] = 0.0; - out_1512473366161392308[278] = 0.0; - out_1512473366161392308[279] = 0.0; - out_1512473366161392308[280] = 0.0; - out_1512473366161392308[281] = 0.0; - out_1512473366161392308[282] = 0.0; - out_1512473366161392308[283] = 0.0; - out_1512473366161392308[284] = 0.0; - out_1512473366161392308[285] = 1.0; - out_1512473366161392308[286] = 0.0; - out_1512473366161392308[287] = 0.0; - out_1512473366161392308[288] = 0.0; - out_1512473366161392308[289] = 0.0; - out_1512473366161392308[290] = 0.0; - out_1512473366161392308[291] = 0.0; - out_1512473366161392308[292] = 0.0; - out_1512473366161392308[293] = 0.0; - out_1512473366161392308[294] = 0.0; - out_1512473366161392308[295] = 0.0; - out_1512473366161392308[296] = 0.0; - out_1512473366161392308[297] = 0.0; - out_1512473366161392308[298] = 0.0; - out_1512473366161392308[299] = 0.0; - out_1512473366161392308[300] = 0.0; - out_1512473366161392308[301] = 0.0; - out_1512473366161392308[302] = 0.0; - out_1512473366161392308[303] = 0.0; - out_1512473366161392308[304] = 1.0; - out_1512473366161392308[305] = 0.0; - out_1512473366161392308[306] = 0.0; - out_1512473366161392308[307] = 0.0; - out_1512473366161392308[308] = 0.0; - out_1512473366161392308[309] = 0.0; - out_1512473366161392308[310] = 0.0; - out_1512473366161392308[311] = 0.0; - out_1512473366161392308[312] = 0.0; - out_1512473366161392308[313] = 0.0; - out_1512473366161392308[314] = 0.0; - out_1512473366161392308[315] = 0.0; - out_1512473366161392308[316] = 0.0; - out_1512473366161392308[317] = 0.0; - out_1512473366161392308[318] = 0.0; - out_1512473366161392308[319] = 0.0; - out_1512473366161392308[320] = 0.0; - out_1512473366161392308[321] = 0.0; - out_1512473366161392308[322] = 0.0; - out_1512473366161392308[323] = 1.0; +void H_mod_fun(double *state, double *out_4151448671193851274) { + out_4151448671193851274[0] = 1.0; + out_4151448671193851274[1] = 0.0; + out_4151448671193851274[2] = 0.0; + out_4151448671193851274[3] = 0.0; + out_4151448671193851274[4] = 0.0; + out_4151448671193851274[5] = 0.0; + out_4151448671193851274[6] = 0.0; + out_4151448671193851274[7] = 0.0; + out_4151448671193851274[8] = 0.0; + out_4151448671193851274[9] = 0.0; + out_4151448671193851274[10] = 0.0; + out_4151448671193851274[11] = 0.0; + out_4151448671193851274[12] = 0.0; + out_4151448671193851274[13] = 0.0; + out_4151448671193851274[14] = 0.0; + out_4151448671193851274[15] = 0.0; + out_4151448671193851274[16] = 0.0; + out_4151448671193851274[17] = 0.0; + out_4151448671193851274[18] = 0.0; + out_4151448671193851274[19] = 1.0; + out_4151448671193851274[20] = 0.0; + out_4151448671193851274[21] = 0.0; + out_4151448671193851274[22] = 0.0; + out_4151448671193851274[23] = 0.0; + out_4151448671193851274[24] = 0.0; + out_4151448671193851274[25] = 0.0; + out_4151448671193851274[26] = 0.0; + out_4151448671193851274[27] = 0.0; + out_4151448671193851274[28] = 0.0; + out_4151448671193851274[29] = 0.0; + out_4151448671193851274[30] = 0.0; + out_4151448671193851274[31] = 0.0; + out_4151448671193851274[32] = 0.0; + out_4151448671193851274[33] = 0.0; + out_4151448671193851274[34] = 0.0; + out_4151448671193851274[35] = 0.0; + out_4151448671193851274[36] = 0.0; + out_4151448671193851274[37] = 0.0; + out_4151448671193851274[38] = 1.0; + out_4151448671193851274[39] = 0.0; + out_4151448671193851274[40] = 0.0; + out_4151448671193851274[41] = 0.0; + out_4151448671193851274[42] = 0.0; + out_4151448671193851274[43] = 0.0; + out_4151448671193851274[44] = 0.0; + out_4151448671193851274[45] = 0.0; + out_4151448671193851274[46] = 0.0; + out_4151448671193851274[47] = 0.0; + out_4151448671193851274[48] = 0.0; + out_4151448671193851274[49] = 0.0; + out_4151448671193851274[50] = 0.0; + out_4151448671193851274[51] = 0.0; + out_4151448671193851274[52] = 0.0; + out_4151448671193851274[53] = 0.0; + out_4151448671193851274[54] = 0.0; + out_4151448671193851274[55] = 0.0; + out_4151448671193851274[56] = 0.0; + out_4151448671193851274[57] = 1.0; + out_4151448671193851274[58] = 0.0; + out_4151448671193851274[59] = 0.0; + out_4151448671193851274[60] = 0.0; + out_4151448671193851274[61] = 0.0; + out_4151448671193851274[62] = 0.0; + out_4151448671193851274[63] = 0.0; + out_4151448671193851274[64] = 0.0; + out_4151448671193851274[65] = 0.0; + out_4151448671193851274[66] = 0.0; + out_4151448671193851274[67] = 0.0; + out_4151448671193851274[68] = 0.0; + out_4151448671193851274[69] = 0.0; + out_4151448671193851274[70] = 0.0; + out_4151448671193851274[71] = 0.0; + out_4151448671193851274[72] = 0.0; + out_4151448671193851274[73] = 0.0; + out_4151448671193851274[74] = 0.0; + out_4151448671193851274[75] = 0.0; + out_4151448671193851274[76] = 1.0; + out_4151448671193851274[77] = 0.0; + out_4151448671193851274[78] = 0.0; + out_4151448671193851274[79] = 0.0; + out_4151448671193851274[80] = 0.0; + out_4151448671193851274[81] = 0.0; + out_4151448671193851274[82] = 0.0; + out_4151448671193851274[83] = 0.0; + out_4151448671193851274[84] = 0.0; + out_4151448671193851274[85] = 0.0; + out_4151448671193851274[86] = 0.0; + out_4151448671193851274[87] = 0.0; + out_4151448671193851274[88] = 0.0; + out_4151448671193851274[89] = 0.0; + out_4151448671193851274[90] = 0.0; + out_4151448671193851274[91] = 0.0; + out_4151448671193851274[92] = 0.0; + out_4151448671193851274[93] = 0.0; + out_4151448671193851274[94] = 0.0; + out_4151448671193851274[95] = 1.0; + out_4151448671193851274[96] = 0.0; + out_4151448671193851274[97] = 0.0; + out_4151448671193851274[98] = 0.0; + out_4151448671193851274[99] = 0.0; + out_4151448671193851274[100] = 0.0; + out_4151448671193851274[101] = 0.0; + out_4151448671193851274[102] = 0.0; + out_4151448671193851274[103] = 0.0; + out_4151448671193851274[104] = 0.0; + out_4151448671193851274[105] = 0.0; + out_4151448671193851274[106] = 0.0; + out_4151448671193851274[107] = 0.0; + out_4151448671193851274[108] = 0.0; + out_4151448671193851274[109] = 0.0; + out_4151448671193851274[110] = 0.0; + out_4151448671193851274[111] = 0.0; + out_4151448671193851274[112] = 0.0; + out_4151448671193851274[113] = 0.0; + out_4151448671193851274[114] = 1.0; + out_4151448671193851274[115] = 0.0; + out_4151448671193851274[116] = 0.0; + out_4151448671193851274[117] = 0.0; + out_4151448671193851274[118] = 0.0; + out_4151448671193851274[119] = 0.0; + out_4151448671193851274[120] = 0.0; + out_4151448671193851274[121] = 0.0; + out_4151448671193851274[122] = 0.0; + out_4151448671193851274[123] = 0.0; + out_4151448671193851274[124] = 0.0; + out_4151448671193851274[125] = 0.0; + out_4151448671193851274[126] = 0.0; + out_4151448671193851274[127] = 0.0; + out_4151448671193851274[128] = 0.0; + out_4151448671193851274[129] = 0.0; + out_4151448671193851274[130] = 0.0; + out_4151448671193851274[131] = 0.0; + out_4151448671193851274[132] = 0.0; + out_4151448671193851274[133] = 1.0; + out_4151448671193851274[134] = 0.0; + out_4151448671193851274[135] = 0.0; + out_4151448671193851274[136] = 0.0; + out_4151448671193851274[137] = 0.0; + out_4151448671193851274[138] = 0.0; + out_4151448671193851274[139] = 0.0; + out_4151448671193851274[140] = 0.0; + out_4151448671193851274[141] = 0.0; + out_4151448671193851274[142] = 0.0; + out_4151448671193851274[143] = 0.0; + out_4151448671193851274[144] = 0.0; + out_4151448671193851274[145] = 0.0; + out_4151448671193851274[146] = 0.0; + out_4151448671193851274[147] = 0.0; + out_4151448671193851274[148] = 0.0; + out_4151448671193851274[149] = 0.0; + out_4151448671193851274[150] = 0.0; + out_4151448671193851274[151] = 0.0; + out_4151448671193851274[152] = 1.0; + out_4151448671193851274[153] = 0.0; + out_4151448671193851274[154] = 0.0; + out_4151448671193851274[155] = 0.0; + out_4151448671193851274[156] = 0.0; + out_4151448671193851274[157] = 0.0; + out_4151448671193851274[158] = 0.0; + out_4151448671193851274[159] = 0.0; + out_4151448671193851274[160] = 0.0; + out_4151448671193851274[161] = 0.0; + out_4151448671193851274[162] = 0.0; + out_4151448671193851274[163] = 0.0; + out_4151448671193851274[164] = 0.0; + out_4151448671193851274[165] = 0.0; + out_4151448671193851274[166] = 0.0; + out_4151448671193851274[167] = 0.0; + out_4151448671193851274[168] = 0.0; + out_4151448671193851274[169] = 0.0; + out_4151448671193851274[170] = 0.0; + out_4151448671193851274[171] = 1.0; + out_4151448671193851274[172] = 0.0; + out_4151448671193851274[173] = 0.0; + out_4151448671193851274[174] = 0.0; + out_4151448671193851274[175] = 0.0; + out_4151448671193851274[176] = 0.0; + out_4151448671193851274[177] = 0.0; + out_4151448671193851274[178] = 0.0; + out_4151448671193851274[179] = 0.0; + out_4151448671193851274[180] = 0.0; + out_4151448671193851274[181] = 0.0; + out_4151448671193851274[182] = 0.0; + out_4151448671193851274[183] = 0.0; + out_4151448671193851274[184] = 0.0; + out_4151448671193851274[185] = 0.0; + out_4151448671193851274[186] = 0.0; + out_4151448671193851274[187] = 0.0; + out_4151448671193851274[188] = 0.0; + out_4151448671193851274[189] = 0.0; + out_4151448671193851274[190] = 1.0; + out_4151448671193851274[191] = 0.0; + out_4151448671193851274[192] = 0.0; + out_4151448671193851274[193] = 0.0; + out_4151448671193851274[194] = 0.0; + out_4151448671193851274[195] = 0.0; + out_4151448671193851274[196] = 0.0; + out_4151448671193851274[197] = 0.0; + out_4151448671193851274[198] = 0.0; + out_4151448671193851274[199] = 0.0; + out_4151448671193851274[200] = 0.0; + out_4151448671193851274[201] = 0.0; + out_4151448671193851274[202] = 0.0; + out_4151448671193851274[203] = 0.0; + out_4151448671193851274[204] = 0.0; + out_4151448671193851274[205] = 0.0; + out_4151448671193851274[206] = 0.0; + out_4151448671193851274[207] = 0.0; + out_4151448671193851274[208] = 0.0; + out_4151448671193851274[209] = 1.0; + out_4151448671193851274[210] = 0.0; + out_4151448671193851274[211] = 0.0; + out_4151448671193851274[212] = 0.0; + out_4151448671193851274[213] = 0.0; + out_4151448671193851274[214] = 0.0; + out_4151448671193851274[215] = 0.0; + out_4151448671193851274[216] = 0.0; + out_4151448671193851274[217] = 0.0; + out_4151448671193851274[218] = 0.0; + out_4151448671193851274[219] = 0.0; + out_4151448671193851274[220] = 0.0; + out_4151448671193851274[221] = 0.0; + out_4151448671193851274[222] = 0.0; + out_4151448671193851274[223] = 0.0; + out_4151448671193851274[224] = 0.0; + out_4151448671193851274[225] = 0.0; + out_4151448671193851274[226] = 0.0; + out_4151448671193851274[227] = 0.0; + out_4151448671193851274[228] = 1.0; + out_4151448671193851274[229] = 0.0; + out_4151448671193851274[230] = 0.0; + out_4151448671193851274[231] = 0.0; + out_4151448671193851274[232] = 0.0; + out_4151448671193851274[233] = 0.0; + out_4151448671193851274[234] = 0.0; + out_4151448671193851274[235] = 0.0; + out_4151448671193851274[236] = 0.0; + out_4151448671193851274[237] = 0.0; + out_4151448671193851274[238] = 0.0; + out_4151448671193851274[239] = 0.0; + out_4151448671193851274[240] = 0.0; + out_4151448671193851274[241] = 0.0; + out_4151448671193851274[242] = 0.0; + out_4151448671193851274[243] = 0.0; + out_4151448671193851274[244] = 0.0; + out_4151448671193851274[245] = 0.0; + out_4151448671193851274[246] = 0.0; + out_4151448671193851274[247] = 1.0; + out_4151448671193851274[248] = 0.0; + out_4151448671193851274[249] = 0.0; + out_4151448671193851274[250] = 0.0; + out_4151448671193851274[251] = 0.0; + out_4151448671193851274[252] = 0.0; + out_4151448671193851274[253] = 0.0; + out_4151448671193851274[254] = 0.0; + out_4151448671193851274[255] = 0.0; + out_4151448671193851274[256] = 0.0; + out_4151448671193851274[257] = 0.0; + out_4151448671193851274[258] = 0.0; + out_4151448671193851274[259] = 0.0; + out_4151448671193851274[260] = 0.0; + out_4151448671193851274[261] = 0.0; + out_4151448671193851274[262] = 0.0; + out_4151448671193851274[263] = 0.0; + out_4151448671193851274[264] = 0.0; + out_4151448671193851274[265] = 0.0; + out_4151448671193851274[266] = 1.0; + out_4151448671193851274[267] = 0.0; + out_4151448671193851274[268] = 0.0; + out_4151448671193851274[269] = 0.0; + out_4151448671193851274[270] = 0.0; + out_4151448671193851274[271] = 0.0; + out_4151448671193851274[272] = 0.0; + out_4151448671193851274[273] = 0.0; + out_4151448671193851274[274] = 0.0; + out_4151448671193851274[275] = 0.0; + out_4151448671193851274[276] = 0.0; + out_4151448671193851274[277] = 0.0; + out_4151448671193851274[278] = 0.0; + out_4151448671193851274[279] = 0.0; + out_4151448671193851274[280] = 0.0; + out_4151448671193851274[281] = 0.0; + out_4151448671193851274[282] = 0.0; + out_4151448671193851274[283] = 0.0; + out_4151448671193851274[284] = 0.0; + out_4151448671193851274[285] = 1.0; + out_4151448671193851274[286] = 0.0; + out_4151448671193851274[287] = 0.0; + out_4151448671193851274[288] = 0.0; + out_4151448671193851274[289] = 0.0; + out_4151448671193851274[290] = 0.0; + out_4151448671193851274[291] = 0.0; + out_4151448671193851274[292] = 0.0; + out_4151448671193851274[293] = 0.0; + out_4151448671193851274[294] = 0.0; + out_4151448671193851274[295] = 0.0; + out_4151448671193851274[296] = 0.0; + out_4151448671193851274[297] = 0.0; + out_4151448671193851274[298] = 0.0; + out_4151448671193851274[299] = 0.0; + out_4151448671193851274[300] = 0.0; + out_4151448671193851274[301] = 0.0; + out_4151448671193851274[302] = 0.0; + out_4151448671193851274[303] = 0.0; + out_4151448671193851274[304] = 1.0; + out_4151448671193851274[305] = 0.0; + out_4151448671193851274[306] = 0.0; + out_4151448671193851274[307] = 0.0; + out_4151448671193851274[308] = 0.0; + out_4151448671193851274[309] = 0.0; + out_4151448671193851274[310] = 0.0; + out_4151448671193851274[311] = 0.0; + out_4151448671193851274[312] = 0.0; + out_4151448671193851274[313] = 0.0; + out_4151448671193851274[314] = 0.0; + out_4151448671193851274[315] = 0.0; + out_4151448671193851274[316] = 0.0; + out_4151448671193851274[317] = 0.0; + out_4151448671193851274[318] = 0.0; + out_4151448671193851274[319] = 0.0; + out_4151448671193851274[320] = 0.0; + out_4151448671193851274[321] = 0.0; + out_4151448671193851274[322] = 0.0; + out_4151448671193851274[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7813170452072968754) { - out_7813170452072968754[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_7813170452072968754[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_7813170452072968754[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_7813170452072968754[3] = dt*state[12] + state[3]; - out_7813170452072968754[4] = dt*state[13] + state[4]; - out_7813170452072968754[5] = dt*state[14] + state[5]; - out_7813170452072968754[6] = state[6]; - out_7813170452072968754[7] = state[7]; - out_7813170452072968754[8] = state[8]; - out_7813170452072968754[9] = state[9]; - out_7813170452072968754[10] = state[10]; - out_7813170452072968754[11] = state[11]; - out_7813170452072968754[12] = state[12]; - out_7813170452072968754[13] = state[13]; - out_7813170452072968754[14] = state[14]; - out_7813170452072968754[15] = state[15]; - out_7813170452072968754[16] = state[16]; - out_7813170452072968754[17] = state[17]; +void f_fun(double *state, double dt, double *out_1642603653923874431) { + out_1642603653923874431[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_1642603653923874431[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_1642603653923874431[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_1642603653923874431[3] = dt*state[12] + state[3]; + out_1642603653923874431[4] = dt*state[13] + state[4]; + out_1642603653923874431[5] = dt*state[14] + state[5]; + out_1642603653923874431[6] = state[6]; + out_1642603653923874431[7] = state[7]; + out_1642603653923874431[8] = state[8]; + out_1642603653923874431[9] = state[9]; + out_1642603653923874431[10] = state[10]; + out_1642603653923874431[11] = state[11]; + out_1642603653923874431[12] = state[12]; + out_1642603653923874431[13] = state[13]; + out_1642603653923874431[14] = state[14]; + out_1642603653923874431[15] = state[15]; + out_1642603653923874431[16] = state[16]; + out_1642603653923874431[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5083828130456064396) { - out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[2] = 0; - out_5083828130456064396[3] = 0; - out_5083828130456064396[4] = 0; - out_5083828130456064396[5] = 0; - out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[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_5083828130456064396[9] = 0; - out_5083828130456064396[10] = 0; - out_5083828130456064396[11] = 0; - out_5083828130456064396[12] = 0; - out_5083828130456064396[13] = 0; - out_5083828130456064396[14] = 0; - out_5083828130456064396[15] = 0; - out_5083828130456064396[16] = 0; - out_5083828130456064396[17] = 0; - out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[20] = 0; - out_5083828130456064396[21] = 0; - out_5083828130456064396[22] = 0; - out_5083828130456064396[23] = 0; - out_5083828130456064396[24] = 0; - out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[27] = 0; - out_5083828130456064396[28] = 0; - out_5083828130456064396[29] = 0; - out_5083828130456064396[30] = 0; - out_5083828130456064396[31] = 0; - out_5083828130456064396[32] = 0; - out_5083828130456064396[33] = 0; - out_5083828130456064396[34] = 0; - out_5083828130456064396[35] = 0; - out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[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_5083828130456064396[39] = 0; - out_5083828130456064396[40] = 0; - out_5083828130456064396[41] = 0; - out_5083828130456064396[42] = 0; - out_5083828130456064396[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_5083828130456064396[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_5083828130456064396[45] = 0; - out_5083828130456064396[46] = 0; - out_5083828130456064396[47] = 0; - out_5083828130456064396[48] = 0; - out_5083828130456064396[49] = 0; - out_5083828130456064396[50] = 0; - out_5083828130456064396[51] = 0; - out_5083828130456064396[52] = 0; - out_5083828130456064396[53] = 0; - out_5083828130456064396[54] = 0; - out_5083828130456064396[55] = 0; - out_5083828130456064396[56] = 0; - out_5083828130456064396[57] = 1; - out_5083828130456064396[58] = 0; - out_5083828130456064396[59] = 0; - out_5083828130456064396[60] = 0; - out_5083828130456064396[61] = 0; - out_5083828130456064396[62] = 0; - out_5083828130456064396[63] = 0; - out_5083828130456064396[64] = 0; - out_5083828130456064396[65] = 0; - out_5083828130456064396[66] = dt; - out_5083828130456064396[67] = 0; - out_5083828130456064396[68] = 0; - out_5083828130456064396[69] = 0; - out_5083828130456064396[70] = 0; - out_5083828130456064396[71] = 0; - out_5083828130456064396[72] = 0; - out_5083828130456064396[73] = 0; - out_5083828130456064396[74] = 0; - out_5083828130456064396[75] = 0; - out_5083828130456064396[76] = 1; - out_5083828130456064396[77] = 0; - out_5083828130456064396[78] = 0; - out_5083828130456064396[79] = 0; - out_5083828130456064396[80] = 0; - out_5083828130456064396[81] = 0; - out_5083828130456064396[82] = 0; - out_5083828130456064396[83] = 0; - out_5083828130456064396[84] = 0; - out_5083828130456064396[85] = dt; - out_5083828130456064396[86] = 0; - out_5083828130456064396[87] = 0; - out_5083828130456064396[88] = 0; - out_5083828130456064396[89] = 0; - out_5083828130456064396[90] = 0; - out_5083828130456064396[91] = 0; - out_5083828130456064396[92] = 0; - out_5083828130456064396[93] = 0; - out_5083828130456064396[94] = 0; - out_5083828130456064396[95] = 1; - out_5083828130456064396[96] = 0; - out_5083828130456064396[97] = 0; - out_5083828130456064396[98] = 0; - out_5083828130456064396[99] = 0; - out_5083828130456064396[100] = 0; - out_5083828130456064396[101] = 0; - out_5083828130456064396[102] = 0; - out_5083828130456064396[103] = 0; - out_5083828130456064396[104] = dt; - out_5083828130456064396[105] = 0; - out_5083828130456064396[106] = 0; - out_5083828130456064396[107] = 0; - out_5083828130456064396[108] = 0; - out_5083828130456064396[109] = 0; - out_5083828130456064396[110] = 0; - out_5083828130456064396[111] = 0; - out_5083828130456064396[112] = 0; - out_5083828130456064396[113] = 0; - out_5083828130456064396[114] = 1; - out_5083828130456064396[115] = 0; - out_5083828130456064396[116] = 0; - out_5083828130456064396[117] = 0; - out_5083828130456064396[118] = 0; - out_5083828130456064396[119] = 0; - out_5083828130456064396[120] = 0; - out_5083828130456064396[121] = 0; - out_5083828130456064396[122] = 0; - out_5083828130456064396[123] = 0; - out_5083828130456064396[124] = 0; - out_5083828130456064396[125] = 0; - out_5083828130456064396[126] = 0; - out_5083828130456064396[127] = 0; - out_5083828130456064396[128] = 0; - out_5083828130456064396[129] = 0; - out_5083828130456064396[130] = 0; - out_5083828130456064396[131] = 0; - out_5083828130456064396[132] = 0; - out_5083828130456064396[133] = 1; - out_5083828130456064396[134] = 0; - out_5083828130456064396[135] = 0; - out_5083828130456064396[136] = 0; - out_5083828130456064396[137] = 0; - out_5083828130456064396[138] = 0; - out_5083828130456064396[139] = 0; - out_5083828130456064396[140] = 0; - out_5083828130456064396[141] = 0; - out_5083828130456064396[142] = 0; - out_5083828130456064396[143] = 0; - out_5083828130456064396[144] = 0; - out_5083828130456064396[145] = 0; - out_5083828130456064396[146] = 0; - out_5083828130456064396[147] = 0; - out_5083828130456064396[148] = 0; - out_5083828130456064396[149] = 0; - out_5083828130456064396[150] = 0; - out_5083828130456064396[151] = 0; - out_5083828130456064396[152] = 1; - out_5083828130456064396[153] = 0; - out_5083828130456064396[154] = 0; - out_5083828130456064396[155] = 0; - out_5083828130456064396[156] = 0; - out_5083828130456064396[157] = 0; - out_5083828130456064396[158] = 0; - out_5083828130456064396[159] = 0; - out_5083828130456064396[160] = 0; - out_5083828130456064396[161] = 0; - out_5083828130456064396[162] = 0; - out_5083828130456064396[163] = 0; - out_5083828130456064396[164] = 0; - out_5083828130456064396[165] = 0; - out_5083828130456064396[166] = 0; - out_5083828130456064396[167] = 0; - out_5083828130456064396[168] = 0; - out_5083828130456064396[169] = 0; - out_5083828130456064396[170] = 0; - out_5083828130456064396[171] = 1; - out_5083828130456064396[172] = 0; - out_5083828130456064396[173] = 0; - out_5083828130456064396[174] = 0; - out_5083828130456064396[175] = 0; - out_5083828130456064396[176] = 0; - out_5083828130456064396[177] = 0; - out_5083828130456064396[178] = 0; - out_5083828130456064396[179] = 0; - out_5083828130456064396[180] = 0; - out_5083828130456064396[181] = 0; - out_5083828130456064396[182] = 0; - out_5083828130456064396[183] = 0; - out_5083828130456064396[184] = 0; - out_5083828130456064396[185] = 0; - out_5083828130456064396[186] = 0; - out_5083828130456064396[187] = 0; - out_5083828130456064396[188] = 0; - out_5083828130456064396[189] = 0; - out_5083828130456064396[190] = 1; - out_5083828130456064396[191] = 0; - out_5083828130456064396[192] = 0; - out_5083828130456064396[193] = 0; - out_5083828130456064396[194] = 0; - out_5083828130456064396[195] = 0; - out_5083828130456064396[196] = 0; - out_5083828130456064396[197] = 0; - out_5083828130456064396[198] = 0; - out_5083828130456064396[199] = 0; - out_5083828130456064396[200] = 0; - out_5083828130456064396[201] = 0; - out_5083828130456064396[202] = 0; - out_5083828130456064396[203] = 0; - out_5083828130456064396[204] = 0; - out_5083828130456064396[205] = 0; - out_5083828130456064396[206] = 0; - out_5083828130456064396[207] = 0; - out_5083828130456064396[208] = 0; - out_5083828130456064396[209] = 1; - out_5083828130456064396[210] = 0; - out_5083828130456064396[211] = 0; - out_5083828130456064396[212] = 0; - out_5083828130456064396[213] = 0; - out_5083828130456064396[214] = 0; - out_5083828130456064396[215] = 0; - out_5083828130456064396[216] = 0; - out_5083828130456064396[217] = 0; - out_5083828130456064396[218] = 0; - out_5083828130456064396[219] = 0; - out_5083828130456064396[220] = 0; - out_5083828130456064396[221] = 0; - out_5083828130456064396[222] = 0; - out_5083828130456064396[223] = 0; - out_5083828130456064396[224] = 0; - out_5083828130456064396[225] = 0; - out_5083828130456064396[226] = 0; - out_5083828130456064396[227] = 0; - out_5083828130456064396[228] = 1; - out_5083828130456064396[229] = 0; - out_5083828130456064396[230] = 0; - out_5083828130456064396[231] = 0; - out_5083828130456064396[232] = 0; - out_5083828130456064396[233] = 0; - out_5083828130456064396[234] = 0; - out_5083828130456064396[235] = 0; - out_5083828130456064396[236] = 0; - out_5083828130456064396[237] = 0; - out_5083828130456064396[238] = 0; - out_5083828130456064396[239] = 0; - out_5083828130456064396[240] = 0; - out_5083828130456064396[241] = 0; - out_5083828130456064396[242] = 0; - out_5083828130456064396[243] = 0; - out_5083828130456064396[244] = 0; - out_5083828130456064396[245] = 0; - out_5083828130456064396[246] = 0; - out_5083828130456064396[247] = 1; - out_5083828130456064396[248] = 0; - out_5083828130456064396[249] = 0; - out_5083828130456064396[250] = 0; - out_5083828130456064396[251] = 0; - out_5083828130456064396[252] = 0; - out_5083828130456064396[253] = 0; - out_5083828130456064396[254] = 0; - out_5083828130456064396[255] = 0; - out_5083828130456064396[256] = 0; - out_5083828130456064396[257] = 0; - out_5083828130456064396[258] = 0; - out_5083828130456064396[259] = 0; - out_5083828130456064396[260] = 0; - out_5083828130456064396[261] = 0; - out_5083828130456064396[262] = 0; - out_5083828130456064396[263] = 0; - out_5083828130456064396[264] = 0; - out_5083828130456064396[265] = 0; - out_5083828130456064396[266] = 1; - out_5083828130456064396[267] = 0; - out_5083828130456064396[268] = 0; - out_5083828130456064396[269] = 0; - out_5083828130456064396[270] = 0; - out_5083828130456064396[271] = 0; - out_5083828130456064396[272] = 0; - out_5083828130456064396[273] = 0; - out_5083828130456064396[274] = 0; - out_5083828130456064396[275] = 0; - out_5083828130456064396[276] = 0; - out_5083828130456064396[277] = 0; - out_5083828130456064396[278] = 0; - out_5083828130456064396[279] = 0; - out_5083828130456064396[280] = 0; - out_5083828130456064396[281] = 0; - out_5083828130456064396[282] = 0; - out_5083828130456064396[283] = 0; - out_5083828130456064396[284] = 0; - out_5083828130456064396[285] = 1; - out_5083828130456064396[286] = 0; - out_5083828130456064396[287] = 0; - out_5083828130456064396[288] = 0; - out_5083828130456064396[289] = 0; - out_5083828130456064396[290] = 0; - out_5083828130456064396[291] = 0; - out_5083828130456064396[292] = 0; - out_5083828130456064396[293] = 0; - out_5083828130456064396[294] = 0; - out_5083828130456064396[295] = 0; - out_5083828130456064396[296] = 0; - out_5083828130456064396[297] = 0; - out_5083828130456064396[298] = 0; - out_5083828130456064396[299] = 0; - out_5083828130456064396[300] = 0; - out_5083828130456064396[301] = 0; - out_5083828130456064396[302] = 0; - out_5083828130456064396[303] = 0; - out_5083828130456064396[304] = 1; - out_5083828130456064396[305] = 0; - out_5083828130456064396[306] = 0; - out_5083828130456064396[307] = 0; - out_5083828130456064396[308] = 0; - out_5083828130456064396[309] = 0; - out_5083828130456064396[310] = 0; - out_5083828130456064396[311] = 0; - out_5083828130456064396[312] = 0; - out_5083828130456064396[313] = 0; - out_5083828130456064396[314] = 0; - out_5083828130456064396[315] = 0; - out_5083828130456064396[316] = 0; - out_5083828130456064396[317] = 0; - out_5083828130456064396[318] = 0; - out_5083828130456064396[319] = 0; - out_5083828130456064396[320] = 0; - out_5083828130456064396[321] = 0; - out_5083828130456064396[322] = 0; - out_5083828130456064396[323] = 1; +void F_fun(double *state, double dt, double *out_7023136226815456968) { + out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[2] = 0; + out_7023136226815456968[3] = 0; + out_7023136226815456968[4] = 0; + out_7023136226815456968[5] = 0; + out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[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_7023136226815456968[9] = 0; + out_7023136226815456968[10] = 0; + out_7023136226815456968[11] = 0; + out_7023136226815456968[12] = 0; + out_7023136226815456968[13] = 0; + out_7023136226815456968[14] = 0; + out_7023136226815456968[15] = 0; + out_7023136226815456968[16] = 0; + out_7023136226815456968[17] = 0; + out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[20] = 0; + out_7023136226815456968[21] = 0; + out_7023136226815456968[22] = 0; + out_7023136226815456968[23] = 0; + out_7023136226815456968[24] = 0; + out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[27] = 0; + out_7023136226815456968[28] = 0; + out_7023136226815456968[29] = 0; + out_7023136226815456968[30] = 0; + out_7023136226815456968[31] = 0; + out_7023136226815456968[32] = 0; + out_7023136226815456968[33] = 0; + out_7023136226815456968[34] = 0; + out_7023136226815456968[35] = 0; + out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[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_7023136226815456968[39] = 0; + out_7023136226815456968[40] = 0; + out_7023136226815456968[41] = 0; + out_7023136226815456968[42] = 0; + out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[45] = 0; + out_7023136226815456968[46] = 0; + out_7023136226815456968[47] = 0; + out_7023136226815456968[48] = 0; + out_7023136226815456968[49] = 0; + out_7023136226815456968[50] = 0; + out_7023136226815456968[51] = 0; + out_7023136226815456968[52] = 0; + out_7023136226815456968[53] = 0; + out_7023136226815456968[54] = 0; + out_7023136226815456968[55] = 0; + out_7023136226815456968[56] = 0; + out_7023136226815456968[57] = 1; + out_7023136226815456968[58] = 0; + out_7023136226815456968[59] = 0; + out_7023136226815456968[60] = 0; + out_7023136226815456968[61] = 0; + out_7023136226815456968[62] = 0; + out_7023136226815456968[63] = 0; + out_7023136226815456968[64] = 0; + out_7023136226815456968[65] = 0; + out_7023136226815456968[66] = dt; + out_7023136226815456968[67] = 0; + out_7023136226815456968[68] = 0; + out_7023136226815456968[69] = 0; + out_7023136226815456968[70] = 0; + out_7023136226815456968[71] = 0; + out_7023136226815456968[72] = 0; + out_7023136226815456968[73] = 0; + out_7023136226815456968[74] = 0; + out_7023136226815456968[75] = 0; + out_7023136226815456968[76] = 1; + out_7023136226815456968[77] = 0; + out_7023136226815456968[78] = 0; + out_7023136226815456968[79] = 0; + out_7023136226815456968[80] = 0; + out_7023136226815456968[81] = 0; + out_7023136226815456968[82] = 0; + out_7023136226815456968[83] = 0; + out_7023136226815456968[84] = 0; + out_7023136226815456968[85] = dt; + out_7023136226815456968[86] = 0; + out_7023136226815456968[87] = 0; + out_7023136226815456968[88] = 0; + out_7023136226815456968[89] = 0; + out_7023136226815456968[90] = 0; + out_7023136226815456968[91] = 0; + out_7023136226815456968[92] = 0; + out_7023136226815456968[93] = 0; + out_7023136226815456968[94] = 0; + out_7023136226815456968[95] = 1; + out_7023136226815456968[96] = 0; + out_7023136226815456968[97] = 0; + out_7023136226815456968[98] = 0; + out_7023136226815456968[99] = 0; + out_7023136226815456968[100] = 0; + out_7023136226815456968[101] = 0; + out_7023136226815456968[102] = 0; + out_7023136226815456968[103] = 0; + out_7023136226815456968[104] = dt; + out_7023136226815456968[105] = 0; + out_7023136226815456968[106] = 0; + out_7023136226815456968[107] = 0; + out_7023136226815456968[108] = 0; + out_7023136226815456968[109] = 0; + out_7023136226815456968[110] = 0; + out_7023136226815456968[111] = 0; + out_7023136226815456968[112] = 0; + out_7023136226815456968[113] = 0; + out_7023136226815456968[114] = 1; + out_7023136226815456968[115] = 0; + out_7023136226815456968[116] = 0; + out_7023136226815456968[117] = 0; + out_7023136226815456968[118] = 0; + out_7023136226815456968[119] = 0; + out_7023136226815456968[120] = 0; + out_7023136226815456968[121] = 0; + out_7023136226815456968[122] = 0; + out_7023136226815456968[123] = 0; + out_7023136226815456968[124] = 0; + out_7023136226815456968[125] = 0; + out_7023136226815456968[126] = 0; + out_7023136226815456968[127] = 0; + out_7023136226815456968[128] = 0; + out_7023136226815456968[129] = 0; + out_7023136226815456968[130] = 0; + out_7023136226815456968[131] = 0; + out_7023136226815456968[132] = 0; + out_7023136226815456968[133] = 1; + out_7023136226815456968[134] = 0; + out_7023136226815456968[135] = 0; + out_7023136226815456968[136] = 0; + out_7023136226815456968[137] = 0; + out_7023136226815456968[138] = 0; + out_7023136226815456968[139] = 0; + out_7023136226815456968[140] = 0; + out_7023136226815456968[141] = 0; + out_7023136226815456968[142] = 0; + out_7023136226815456968[143] = 0; + out_7023136226815456968[144] = 0; + out_7023136226815456968[145] = 0; + out_7023136226815456968[146] = 0; + out_7023136226815456968[147] = 0; + out_7023136226815456968[148] = 0; + out_7023136226815456968[149] = 0; + out_7023136226815456968[150] = 0; + out_7023136226815456968[151] = 0; + out_7023136226815456968[152] = 1; + out_7023136226815456968[153] = 0; + out_7023136226815456968[154] = 0; + out_7023136226815456968[155] = 0; + out_7023136226815456968[156] = 0; + out_7023136226815456968[157] = 0; + out_7023136226815456968[158] = 0; + out_7023136226815456968[159] = 0; + out_7023136226815456968[160] = 0; + out_7023136226815456968[161] = 0; + out_7023136226815456968[162] = 0; + out_7023136226815456968[163] = 0; + out_7023136226815456968[164] = 0; + out_7023136226815456968[165] = 0; + out_7023136226815456968[166] = 0; + out_7023136226815456968[167] = 0; + out_7023136226815456968[168] = 0; + out_7023136226815456968[169] = 0; + out_7023136226815456968[170] = 0; + out_7023136226815456968[171] = 1; + out_7023136226815456968[172] = 0; + out_7023136226815456968[173] = 0; + out_7023136226815456968[174] = 0; + out_7023136226815456968[175] = 0; + out_7023136226815456968[176] = 0; + out_7023136226815456968[177] = 0; + out_7023136226815456968[178] = 0; + out_7023136226815456968[179] = 0; + out_7023136226815456968[180] = 0; + out_7023136226815456968[181] = 0; + out_7023136226815456968[182] = 0; + out_7023136226815456968[183] = 0; + out_7023136226815456968[184] = 0; + out_7023136226815456968[185] = 0; + out_7023136226815456968[186] = 0; + out_7023136226815456968[187] = 0; + out_7023136226815456968[188] = 0; + out_7023136226815456968[189] = 0; + out_7023136226815456968[190] = 1; + out_7023136226815456968[191] = 0; + out_7023136226815456968[192] = 0; + out_7023136226815456968[193] = 0; + out_7023136226815456968[194] = 0; + out_7023136226815456968[195] = 0; + out_7023136226815456968[196] = 0; + out_7023136226815456968[197] = 0; + out_7023136226815456968[198] = 0; + out_7023136226815456968[199] = 0; + out_7023136226815456968[200] = 0; + out_7023136226815456968[201] = 0; + out_7023136226815456968[202] = 0; + out_7023136226815456968[203] = 0; + out_7023136226815456968[204] = 0; + out_7023136226815456968[205] = 0; + out_7023136226815456968[206] = 0; + out_7023136226815456968[207] = 0; + out_7023136226815456968[208] = 0; + out_7023136226815456968[209] = 1; + out_7023136226815456968[210] = 0; + out_7023136226815456968[211] = 0; + out_7023136226815456968[212] = 0; + out_7023136226815456968[213] = 0; + out_7023136226815456968[214] = 0; + out_7023136226815456968[215] = 0; + out_7023136226815456968[216] = 0; + out_7023136226815456968[217] = 0; + out_7023136226815456968[218] = 0; + out_7023136226815456968[219] = 0; + out_7023136226815456968[220] = 0; + out_7023136226815456968[221] = 0; + out_7023136226815456968[222] = 0; + out_7023136226815456968[223] = 0; + out_7023136226815456968[224] = 0; + out_7023136226815456968[225] = 0; + out_7023136226815456968[226] = 0; + out_7023136226815456968[227] = 0; + out_7023136226815456968[228] = 1; + out_7023136226815456968[229] = 0; + out_7023136226815456968[230] = 0; + out_7023136226815456968[231] = 0; + out_7023136226815456968[232] = 0; + out_7023136226815456968[233] = 0; + out_7023136226815456968[234] = 0; + out_7023136226815456968[235] = 0; + out_7023136226815456968[236] = 0; + out_7023136226815456968[237] = 0; + out_7023136226815456968[238] = 0; + out_7023136226815456968[239] = 0; + out_7023136226815456968[240] = 0; + out_7023136226815456968[241] = 0; + out_7023136226815456968[242] = 0; + out_7023136226815456968[243] = 0; + out_7023136226815456968[244] = 0; + out_7023136226815456968[245] = 0; + out_7023136226815456968[246] = 0; + out_7023136226815456968[247] = 1; + out_7023136226815456968[248] = 0; + out_7023136226815456968[249] = 0; + out_7023136226815456968[250] = 0; + out_7023136226815456968[251] = 0; + out_7023136226815456968[252] = 0; + out_7023136226815456968[253] = 0; + out_7023136226815456968[254] = 0; + out_7023136226815456968[255] = 0; + out_7023136226815456968[256] = 0; + out_7023136226815456968[257] = 0; + out_7023136226815456968[258] = 0; + out_7023136226815456968[259] = 0; + out_7023136226815456968[260] = 0; + out_7023136226815456968[261] = 0; + out_7023136226815456968[262] = 0; + out_7023136226815456968[263] = 0; + out_7023136226815456968[264] = 0; + out_7023136226815456968[265] = 0; + out_7023136226815456968[266] = 1; + out_7023136226815456968[267] = 0; + out_7023136226815456968[268] = 0; + out_7023136226815456968[269] = 0; + out_7023136226815456968[270] = 0; + out_7023136226815456968[271] = 0; + out_7023136226815456968[272] = 0; + out_7023136226815456968[273] = 0; + out_7023136226815456968[274] = 0; + out_7023136226815456968[275] = 0; + out_7023136226815456968[276] = 0; + out_7023136226815456968[277] = 0; + out_7023136226815456968[278] = 0; + out_7023136226815456968[279] = 0; + out_7023136226815456968[280] = 0; + out_7023136226815456968[281] = 0; + out_7023136226815456968[282] = 0; + out_7023136226815456968[283] = 0; + out_7023136226815456968[284] = 0; + out_7023136226815456968[285] = 1; + out_7023136226815456968[286] = 0; + out_7023136226815456968[287] = 0; + out_7023136226815456968[288] = 0; + out_7023136226815456968[289] = 0; + out_7023136226815456968[290] = 0; + out_7023136226815456968[291] = 0; + out_7023136226815456968[292] = 0; + out_7023136226815456968[293] = 0; + out_7023136226815456968[294] = 0; + out_7023136226815456968[295] = 0; + out_7023136226815456968[296] = 0; + out_7023136226815456968[297] = 0; + out_7023136226815456968[298] = 0; + out_7023136226815456968[299] = 0; + out_7023136226815456968[300] = 0; + out_7023136226815456968[301] = 0; + out_7023136226815456968[302] = 0; + out_7023136226815456968[303] = 0; + out_7023136226815456968[304] = 1; + out_7023136226815456968[305] = 0; + out_7023136226815456968[306] = 0; + out_7023136226815456968[307] = 0; + out_7023136226815456968[308] = 0; + out_7023136226815456968[309] = 0; + out_7023136226815456968[310] = 0; + out_7023136226815456968[311] = 0; + out_7023136226815456968[312] = 0; + out_7023136226815456968[313] = 0; + out_7023136226815456968[314] = 0; + out_7023136226815456968[315] = 0; + out_7023136226815456968[316] = 0; + out_7023136226815456968[317] = 0; + out_7023136226815456968[318] = 0; + out_7023136226815456968[319] = 0; + out_7023136226815456968[320] = 0; + out_7023136226815456968[321] = 0; + out_7023136226815456968[322] = 0; + out_7023136226815456968[323] = 1; } -void h_4(double *state, double *unused, double *out_8720432154848991493) { - out_8720432154848991493[0] = state[6] + state[9]; - out_8720432154848991493[1] = state[7] + state[10]; - out_8720432154848991493[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_4588754796686824329) { + out_4588754796686824329[0] = state[6] + state[9]; + out_4588754796686824329[1] = state[7] + state[10]; + out_4588754796686824329[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4091132023239463575) { - out_4091132023239463575[0] = 0; - out_4091132023239463575[1] = 0; - out_4091132023239463575[2] = 0; - out_4091132023239463575[3] = 0; - out_4091132023239463575[4] = 0; - out_4091132023239463575[5] = 0; - out_4091132023239463575[6] = 1; - out_4091132023239463575[7] = 0; - out_4091132023239463575[8] = 0; - out_4091132023239463575[9] = 1; - out_4091132023239463575[10] = 0; - out_4091132023239463575[11] = 0; - out_4091132023239463575[12] = 0; - out_4091132023239463575[13] = 0; - out_4091132023239463575[14] = 0; - out_4091132023239463575[15] = 0; - out_4091132023239463575[16] = 0; - out_4091132023239463575[17] = 0; - out_4091132023239463575[18] = 0; - out_4091132023239463575[19] = 0; - out_4091132023239463575[20] = 0; - out_4091132023239463575[21] = 0; - out_4091132023239463575[22] = 0; - out_4091132023239463575[23] = 0; - out_4091132023239463575[24] = 0; - out_4091132023239463575[25] = 1; - out_4091132023239463575[26] = 0; - out_4091132023239463575[27] = 0; - out_4091132023239463575[28] = 1; - out_4091132023239463575[29] = 0; - out_4091132023239463575[30] = 0; - out_4091132023239463575[31] = 0; - out_4091132023239463575[32] = 0; - out_4091132023239463575[33] = 0; - out_4091132023239463575[34] = 0; - out_4091132023239463575[35] = 0; - out_4091132023239463575[36] = 0; - out_4091132023239463575[37] = 0; - out_4091132023239463575[38] = 0; - out_4091132023239463575[39] = 0; - out_4091132023239463575[40] = 0; - out_4091132023239463575[41] = 0; - out_4091132023239463575[42] = 0; - out_4091132023239463575[43] = 0; - out_4091132023239463575[44] = 1; - out_4091132023239463575[45] = 0; - out_4091132023239463575[46] = 0; - out_4091132023239463575[47] = 1; - out_4091132023239463575[48] = 0; - out_4091132023239463575[49] = 0; - out_4091132023239463575[50] = 0; - out_4091132023239463575[51] = 0; - out_4091132023239463575[52] = 0; - out_4091132023239463575[53] = 0; +void H_4(double *state, double *unused, double *out_6094990518542475575) { + out_6094990518542475575[0] = 0; + out_6094990518542475575[1] = 0; + out_6094990518542475575[2] = 0; + out_6094990518542475575[3] = 0; + out_6094990518542475575[4] = 0; + out_6094990518542475575[5] = 0; + out_6094990518542475575[6] = 1; + out_6094990518542475575[7] = 0; + out_6094990518542475575[8] = 0; + out_6094990518542475575[9] = 1; + out_6094990518542475575[10] = 0; + out_6094990518542475575[11] = 0; + out_6094990518542475575[12] = 0; + out_6094990518542475575[13] = 0; + out_6094990518542475575[14] = 0; + out_6094990518542475575[15] = 0; + out_6094990518542475575[16] = 0; + out_6094990518542475575[17] = 0; + out_6094990518542475575[18] = 0; + out_6094990518542475575[19] = 0; + out_6094990518542475575[20] = 0; + out_6094990518542475575[21] = 0; + out_6094990518542475575[22] = 0; + out_6094990518542475575[23] = 0; + out_6094990518542475575[24] = 0; + out_6094990518542475575[25] = 1; + out_6094990518542475575[26] = 0; + out_6094990518542475575[27] = 0; + out_6094990518542475575[28] = 1; + out_6094990518542475575[29] = 0; + out_6094990518542475575[30] = 0; + out_6094990518542475575[31] = 0; + out_6094990518542475575[32] = 0; + out_6094990518542475575[33] = 0; + out_6094990518542475575[34] = 0; + out_6094990518542475575[35] = 0; + out_6094990518542475575[36] = 0; + out_6094990518542475575[37] = 0; + out_6094990518542475575[38] = 0; + out_6094990518542475575[39] = 0; + out_6094990518542475575[40] = 0; + out_6094990518542475575[41] = 0; + out_6094990518542475575[42] = 0; + out_6094990518542475575[43] = 0; + out_6094990518542475575[44] = 1; + out_6094990518542475575[45] = 0; + out_6094990518542475575[46] = 0; + out_6094990518542475575[47] = 1; + out_6094990518542475575[48] = 0; + out_6094990518542475575[49] = 0; + out_6094990518542475575[50] = 0; + out_6094990518542475575[51] = 0; + out_6094990518542475575[52] = 0; + out_6094990518542475575[53] = 0; } -void h_10(double *state, double *unused, double *out_682446449180910309) { - out_682446449180910309[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_682446449180910309[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_682446449180910309[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_2376996171077473254) { + out_2376996171077473254[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2376996171077473254[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2376996171077473254[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_4919001356891757040) { - out_4919001356891757040[0] = 0; - out_4919001356891757040[1] = 9.8100000000000005*cos(state[1]); - out_4919001356891757040[2] = 0; - out_4919001356891757040[3] = 0; - out_4919001356891757040[4] = -state[8]; - out_4919001356891757040[5] = state[7]; - out_4919001356891757040[6] = 0; - out_4919001356891757040[7] = state[5]; - out_4919001356891757040[8] = -state[4]; - out_4919001356891757040[9] = 0; - out_4919001356891757040[10] = 0; - out_4919001356891757040[11] = 0; - out_4919001356891757040[12] = 1; - out_4919001356891757040[13] = 0; - out_4919001356891757040[14] = 0; - out_4919001356891757040[15] = 1; - out_4919001356891757040[16] = 0; - out_4919001356891757040[17] = 0; - out_4919001356891757040[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4919001356891757040[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4919001356891757040[20] = 0; - out_4919001356891757040[21] = state[8]; - out_4919001356891757040[22] = 0; - out_4919001356891757040[23] = -state[6]; - out_4919001356891757040[24] = -state[5]; - out_4919001356891757040[25] = 0; - out_4919001356891757040[26] = state[3]; - out_4919001356891757040[27] = 0; - out_4919001356891757040[28] = 0; - out_4919001356891757040[29] = 0; - out_4919001356891757040[30] = 0; - out_4919001356891757040[31] = 1; - out_4919001356891757040[32] = 0; - out_4919001356891757040[33] = 0; - out_4919001356891757040[34] = 1; - out_4919001356891757040[35] = 0; - out_4919001356891757040[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4919001356891757040[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4919001356891757040[38] = 0; - out_4919001356891757040[39] = -state[7]; - out_4919001356891757040[40] = state[6]; - out_4919001356891757040[41] = 0; - out_4919001356891757040[42] = state[4]; - out_4919001356891757040[43] = -state[3]; - out_4919001356891757040[44] = 0; - out_4919001356891757040[45] = 0; - out_4919001356891757040[46] = 0; - out_4919001356891757040[47] = 0; - out_4919001356891757040[48] = 0; - out_4919001356891757040[49] = 0; - out_4919001356891757040[50] = 1; - out_4919001356891757040[51] = 0; - out_4919001356891757040[52] = 0; - out_4919001356891757040[53] = 1; +void H_10(double *state, double *unused, double *out_3986987343223994685) { + out_3986987343223994685[0] = 0; + out_3986987343223994685[1] = 9.8100000000000005*cos(state[1]); + out_3986987343223994685[2] = 0; + out_3986987343223994685[3] = 0; + out_3986987343223994685[4] = -state[8]; + out_3986987343223994685[5] = state[7]; + out_3986987343223994685[6] = 0; + out_3986987343223994685[7] = state[5]; + out_3986987343223994685[8] = -state[4]; + out_3986987343223994685[9] = 0; + out_3986987343223994685[10] = 0; + out_3986987343223994685[11] = 0; + out_3986987343223994685[12] = 1; + out_3986987343223994685[13] = 0; + out_3986987343223994685[14] = 0; + out_3986987343223994685[15] = 1; + out_3986987343223994685[16] = 0; + out_3986987343223994685[17] = 0; + out_3986987343223994685[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3986987343223994685[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3986987343223994685[20] = 0; + out_3986987343223994685[21] = state[8]; + out_3986987343223994685[22] = 0; + out_3986987343223994685[23] = -state[6]; + out_3986987343223994685[24] = -state[5]; + out_3986987343223994685[25] = 0; + out_3986987343223994685[26] = state[3]; + out_3986987343223994685[27] = 0; + out_3986987343223994685[28] = 0; + out_3986987343223994685[29] = 0; + out_3986987343223994685[30] = 0; + out_3986987343223994685[31] = 1; + out_3986987343223994685[32] = 0; + out_3986987343223994685[33] = 0; + out_3986987343223994685[34] = 1; + out_3986987343223994685[35] = 0; + out_3986987343223994685[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3986987343223994685[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3986987343223994685[38] = 0; + out_3986987343223994685[39] = -state[7]; + out_3986987343223994685[40] = state[6]; + out_3986987343223994685[41] = 0; + out_3986987343223994685[42] = state[4]; + out_3986987343223994685[43] = -state[3]; + out_3986987343223994685[44] = 0; + out_3986987343223994685[45] = 0; + out_3986987343223994685[46] = 0; + out_3986987343223994685[47] = 0; + out_3986987343223994685[48] = 0; + out_3986987343223994685[49] = 0; + out_3986987343223994685[50] = 1; + out_3986987343223994685[51] = 0; + out_3986987343223994685[52] = 0; + out_3986987343223994685[53] = 1; } -void h_13(double *state, double *unused, double *out_2860834984953274042) { - out_2860834984953274042[0] = state[3]; - out_2860834984953274042[1] = state[4]; - out_2860834984953274042[2] = state[5]; +void h_13(double *state, double *unused, double *out_4475690324738606342) { + out_4475690324738606342[0] = state[3]; + out_4475690324738606342[1] = state[4]; + out_4475690324738606342[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7303405848571796376) { - out_7303405848571796376[0] = 0; - out_7303405848571796376[1] = 0; - out_7303405848571796376[2] = 0; - out_7303405848571796376[3] = 1; - out_7303405848571796376[4] = 0; - out_7303405848571796376[5] = 0; - out_7303405848571796376[6] = 0; - out_7303405848571796376[7] = 0; - out_7303405848571796376[8] = 0; - out_7303405848571796376[9] = 0; - out_7303405848571796376[10] = 0; - out_7303405848571796376[11] = 0; - out_7303405848571796376[12] = 0; - out_7303405848571796376[13] = 0; - out_7303405848571796376[14] = 0; - out_7303405848571796376[15] = 0; - out_7303405848571796376[16] = 0; - out_7303405848571796376[17] = 0; - out_7303405848571796376[18] = 0; - out_7303405848571796376[19] = 0; - out_7303405848571796376[20] = 0; - out_7303405848571796376[21] = 0; - out_7303405848571796376[22] = 1; - out_7303405848571796376[23] = 0; - out_7303405848571796376[24] = 0; - out_7303405848571796376[25] = 0; - out_7303405848571796376[26] = 0; - out_7303405848571796376[27] = 0; - out_7303405848571796376[28] = 0; - out_7303405848571796376[29] = 0; - out_7303405848571796376[30] = 0; - out_7303405848571796376[31] = 0; - out_7303405848571796376[32] = 0; - out_7303405848571796376[33] = 0; - out_7303405848571796376[34] = 0; - out_7303405848571796376[35] = 0; - out_7303405848571796376[36] = 0; - out_7303405848571796376[37] = 0; - out_7303405848571796376[38] = 0; - out_7303405848571796376[39] = 0; - out_7303405848571796376[40] = 0; - out_7303405848571796376[41] = 1; - out_7303405848571796376[42] = 0; - out_7303405848571796376[43] = 0; - out_7303405848571796376[44] = 0; - out_7303405848571796376[45] = 0; - out_7303405848571796376[46] = 0; - out_7303405848571796376[47] = 0; - out_7303405848571796376[48] = 0; - out_7303405848571796376[49] = 0; - out_7303405848571796376[50] = 0; - out_7303405848571796376[51] = 0; - out_7303405848571796376[52] = 0; - out_7303405848571796376[53] = 0; +void H_13(double *state, double *unused, double *out_1515640689774225354) { + out_1515640689774225354[0] = 0; + out_1515640689774225354[1] = 0; + out_1515640689774225354[2] = 0; + out_1515640689774225354[3] = 1; + out_1515640689774225354[4] = 0; + out_1515640689774225354[5] = 0; + out_1515640689774225354[6] = 0; + out_1515640689774225354[7] = 0; + out_1515640689774225354[8] = 0; + out_1515640689774225354[9] = 0; + out_1515640689774225354[10] = 0; + out_1515640689774225354[11] = 0; + out_1515640689774225354[12] = 0; + out_1515640689774225354[13] = 0; + out_1515640689774225354[14] = 0; + out_1515640689774225354[15] = 0; + out_1515640689774225354[16] = 0; + out_1515640689774225354[17] = 0; + out_1515640689774225354[18] = 0; + out_1515640689774225354[19] = 0; + out_1515640689774225354[20] = 0; + out_1515640689774225354[21] = 0; + out_1515640689774225354[22] = 1; + out_1515640689774225354[23] = 0; + out_1515640689774225354[24] = 0; + out_1515640689774225354[25] = 0; + out_1515640689774225354[26] = 0; + out_1515640689774225354[27] = 0; + out_1515640689774225354[28] = 0; + out_1515640689774225354[29] = 0; + out_1515640689774225354[30] = 0; + out_1515640689774225354[31] = 0; + out_1515640689774225354[32] = 0; + out_1515640689774225354[33] = 0; + out_1515640689774225354[34] = 0; + out_1515640689774225354[35] = 0; + out_1515640689774225354[36] = 0; + out_1515640689774225354[37] = 0; + out_1515640689774225354[38] = 0; + out_1515640689774225354[39] = 0; + out_1515640689774225354[40] = 0; + out_1515640689774225354[41] = 1; + out_1515640689774225354[42] = 0; + out_1515640689774225354[43] = 0; + out_1515640689774225354[44] = 0; + out_1515640689774225354[45] = 0; + out_1515640689774225354[46] = 0; + out_1515640689774225354[47] = 0; + out_1515640689774225354[48] = 0; + out_1515640689774225354[49] = 0; + out_1515640689774225354[50] = 0; + out_1515640689774225354[51] = 0; + out_1515640689774225354[52] = 0; + out_1515640689774225354[53] = 0; } -void h_14(double *state, double *unused, double *out_6283645208607536870) { - out_6283645208607536870[0] = state[6]; - out_6283645208607536870[1] = state[7]; - out_6283645208607536870[2] = state[8]; +void h_14(double *state, double *unused, double *out_4137331969092828561) { + out_4137331969092828561[0] = state[6]; + out_4137331969092828561[1] = state[7]; + out_4137331969092828561[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1008343590944091279) { - out_1008343590944091279[0] = 0; - out_1008343590944091279[1] = 0; - out_1008343590944091279[2] = 0; - out_1008343590944091279[3] = 0; - out_1008343590944091279[4] = 0; - out_1008343590944091279[5] = 0; - out_1008343590944091279[6] = 1; - out_1008343590944091279[7] = 0; - out_1008343590944091279[8] = 0; - out_1008343590944091279[9] = 0; - out_1008343590944091279[10] = 0; - out_1008343590944091279[11] = 0; - out_1008343590944091279[12] = 0; - out_1008343590944091279[13] = 0; - out_1008343590944091279[14] = 0; - out_1008343590944091279[15] = 0; - out_1008343590944091279[16] = 0; - out_1008343590944091279[17] = 0; - out_1008343590944091279[18] = 0; - out_1008343590944091279[19] = 0; - out_1008343590944091279[20] = 0; - out_1008343590944091279[21] = 0; - out_1008343590944091279[22] = 0; - out_1008343590944091279[23] = 0; - out_1008343590944091279[24] = 0; - out_1008343590944091279[25] = 1; - out_1008343590944091279[26] = 0; - out_1008343590944091279[27] = 0; - out_1008343590944091279[28] = 0; - out_1008343590944091279[29] = 0; - out_1008343590944091279[30] = 0; - out_1008343590944091279[31] = 0; - out_1008343590944091279[32] = 0; - out_1008343590944091279[33] = 0; - out_1008343590944091279[34] = 0; - out_1008343590944091279[35] = 0; - out_1008343590944091279[36] = 0; - out_1008343590944091279[37] = 0; - out_1008343590944091279[38] = 0; - out_1008343590944091279[39] = 0; - out_1008343590944091279[40] = 0; - out_1008343590944091279[41] = 0; - out_1008343590944091279[42] = 0; - out_1008343590944091279[43] = 0; - out_1008343590944091279[44] = 1; - out_1008343590944091279[45] = 0; - out_1008343590944091279[46] = 0; - out_1008343590944091279[47] = 0; - out_1008343590944091279[48] = 0; - out_1008343590944091279[49] = 0; - out_1008343590944091279[50] = 0; - out_1008343590944091279[51] = 0; - out_1008343590944091279[52] = 0; - out_1008343590944091279[53] = 0; +void H_14(double *state, double *unused, double *out_2131749662202991046) { + out_2131749662202991046[0] = 0; + out_2131749662202991046[1] = 0; + out_2131749662202991046[2] = 0; + out_2131749662202991046[3] = 0; + out_2131749662202991046[4] = 0; + out_2131749662202991046[5] = 0; + out_2131749662202991046[6] = 1; + out_2131749662202991046[7] = 0; + out_2131749662202991046[8] = 0; + out_2131749662202991046[9] = 0; + out_2131749662202991046[10] = 0; + out_2131749662202991046[11] = 0; + out_2131749662202991046[12] = 0; + out_2131749662202991046[13] = 0; + out_2131749662202991046[14] = 0; + out_2131749662202991046[15] = 0; + out_2131749662202991046[16] = 0; + out_2131749662202991046[17] = 0; + out_2131749662202991046[18] = 0; + out_2131749662202991046[19] = 0; + out_2131749662202991046[20] = 0; + out_2131749662202991046[21] = 0; + out_2131749662202991046[22] = 0; + out_2131749662202991046[23] = 0; + out_2131749662202991046[24] = 0; + out_2131749662202991046[25] = 1; + out_2131749662202991046[26] = 0; + out_2131749662202991046[27] = 0; + out_2131749662202991046[28] = 0; + out_2131749662202991046[29] = 0; + out_2131749662202991046[30] = 0; + out_2131749662202991046[31] = 0; + out_2131749662202991046[32] = 0; + out_2131749662202991046[33] = 0; + out_2131749662202991046[34] = 0; + out_2131749662202991046[35] = 0; + out_2131749662202991046[36] = 0; + out_2131749662202991046[37] = 0; + out_2131749662202991046[38] = 0; + out_2131749662202991046[39] = 0; + out_2131749662202991046[40] = 0; + out_2131749662202991046[41] = 0; + out_2131749662202991046[42] = 0; + out_2131749662202991046[43] = 0; + out_2131749662202991046[44] = 1; + out_2131749662202991046[45] = 0; + out_2131749662202991046[46] = 0; + out_2131749662202991046[47] = 0; + out_2131749662202991046[48] = 0; + out_2131749662202991046[49] = 0; + out_2131749662202991046[50] = 0; + out_2131749662202991046[51] = 0; + out_2131749662202991046[52] = 0; + out_2131749662202991046[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_1308154946342484284) { - err_fun(nom_x, delta_x, out_1308154946342484284); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7136046097392635975) { + err_fun(nom_x, delta_x, out_7136046097392635975); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8706500607592261698) { - inv_err_fun(nom_x, true_x, out_8706500607592261698); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7829757394788773504) { + inv_err_fun(nom_x, true_x, out_7829757394788773504); } -void pose_H_mod_fun(double *state, double *out_1512473366161392308) { - H_mod_fun(state, out_1512473366161392308); +void pose_H_mod_fun(double *state, double *out_4151448671193851274) { + H_mod_fun(state, out_4151448671193851274); } -void pose_f_fun(double *state, double dt, double *out_7813170452072968754) { - f_fun(state, dt, out_7813170452072968754); +void pose_f_fun(double *state, double dt, double *out_1642603653923874431) { + f_fun(state, dt, out_1642603653923874431); } -void pose_F_fun(double *state, double dt, double *out_5083828130456064396) { - F_fun(state, dt, out_5083828130456064396); +void pose_F_fun(double *state, double dt, double *out_7023136226815456968) { + F_fun(state, dt, out_7023136226815456968); } -void pose_h_4(double *state, double *unused, double *out_8720432154848991493) { - h_4(state, unused, out_8720432154848991493); +void pose_h_4(double *state, double *unused, double *out_4588754796686824329) { + h_4(state, unused, out_4588754796686824329); } -void pose_H_4(double *state, double *unused, double *out_4091132023239463575) { - H_4(state, unused, out_4091132023239463575); +void pose_H_4(double *state, double *unused, double *out_6094990518542475575) { + H_4(state, unused, out_6094990518542475575); } -void pose_h_10(double *state, double *unused, double *out_682446449180910309) { - h_10(state, unused, out_682446449180910309); +void pose_h_10(double *state, double *unused, double *out_2376996171077473254) { + h_10(state, unused, out_2376996171077473254); } -void pose_H_10(double *state, double *unused, double *out_4919001356891757040) { - H_10(state, unused, out_4919001356891757040); +void pose_H_10(double *state, double *unused, double *out_3986987343223994685) { + H_10(state, unused, out_3986987343223994685); } -void pose_h_13(double *state, double *unused, double *out_2860834984953274042) { - h_13(state, unused, out_2860834984953274042); +void pose_h_13(double *state, double *unused, double *out_4475690324738606342) { + h_13(state, unused, out_4475690324738606342); } -void pose_H_13(double *state, double *unused, double *out_7303405848571796376) { - H_13(state, unused, out_7303405848571796376); +void pose_H_13(double *state, double *unused, double *out_1515640689774225354) { + H_13(state, unused, out_1515640689774225354); } -void pose_h_14(double *state, double *unused, double *out_6283645208607536870) { - h_14(state, unused, out_6283645208607536870); +void pose_h_14(double *state, double *unused, double *out_4137331969092828561) { + h_14(state, unused, out_4137331969092828561); } -void pose_H_14(double *state, double *unused, double *out_1008343590944091279) { - H_14(state, unused, out_1008343590944091279); +void pose_H_14(double *state, double *unused, double *out_2131749662202991046) { + H_14(state, unused, out_2131749662202991046); } 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 7bfa74014..778c7e725 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_1308154946342484284); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8706500607592261698); -void pose_H_mod_fun(double *state, double *out_1512473366161392308); -void pose_f_fun(double *state, double dt, double *out_7813170452072968754); -void pose_F_fun(double *state, double dt, double *out_5083828130456064396); -void pose_h_4(double *state, double *unused, double *out_8720432154848991493); -void pose_H_4(double *state, double *unused, double *out_4091132023239463575); -void pose_h_10(double *state, double *unused, double *out_682446449180910309); -void pose_H_10(double *state, double *unused, double *out_4919001356891757040); -void pose_h_13(double *state, double *unused, double *out_2860834984953274042); -void pose_H_13(double *state, double *unused, double *out_7303405848571796376); -void pose_h_14(double *state, double *unused, double *out_6283645208607536870); -void pose_H_14(double *state, double *unused, double *out_1008343590944091279); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7136046097392635975); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7829757394788773504); +void pose_H_mod_fun(double *state, double *out_4151448671193851274); +void pose_f_fun(double *state, double dt, double *out_1642603653923874431); +void pose_F_fun(double *state, double dt, double *out_7023136226815456968); +void pose_h_4(double *state, double *unused, double *out_4588754796686824329); +void pose_H_4(double *state, double *unused, double *out_6094990518542475575); +void pose_h_10(double *state, double *unused, double *out_2376996171077473254); +void pose_H_10(double *state, double *unused, double *out_3986987343223994685); +void pose_h_13(double *state, double *unused, double *out_4475690324738606342); +void pose_H_13(double *state, double *unused, double *out_1515640689774225354); +void pose_h_14(double *state, double *unused, double *out_4137331969092828561); +void pose_H_14(double *state, double *unused, double *out_2131749662202991046); 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 c515a48cd..c498f0954 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index e80a83800..99d2c8d1f 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index ce86dc3ea..a85f57eb2 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 518058f8e..4310904d8 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index ef6a0d410..74b280300 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ