diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index bbb5b20af..8582fff70 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 364f77dc3..ae57900bd 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 2b4fe65ef..fc2407c38 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 56cc23703..88a1bc56b 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 9cbe30aec..6c383be1f 100755 Binary files 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differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 3f55c9203..d5eeb7918 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index 6fd758797..bd5e1d4dd 100644 Binary files a/panda/board/obj/panda_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index 688f86792..e16293367 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index 0fa6fd558..6b7242721 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 36157a7cf..4a3b15afd 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 7f7305359..863fa2043 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-199ef692-DEBUG \ No newline at end of file +DEV-fb1c2ea1-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index a8229a7c7..2a751768d 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_7469803269040701934) { - out_7469803269040701934[0] = delta_x[0] + nom_x[0]; - out_7469803269040701934[1] = delta_x[1] + nom_x[1]; - out_7469803269040701934[2] = delta_x[2] + nom_x[2]; - out_7469803269040701934[3] = delta_x[3] + nom_x[3]; - out_7469803269040701934[4] = delta_x[4] + nom_x[4]; - out_7469803269040701934[5] = delta_x[5] + nom_x[5]; - out_7469803269040701934[6] = delta_x[6] + nom_x[6]; - out_7469803269040701934[7] = delta_x[7] + nom_x[7]; - out_7469803269040701934[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8558441916270761648) { + out_8558441916270761648[0] = delta_x[0] + nom_x[0]; + out_8558441916270761648[1] = delta_x[1] + nom_x[1]; + out_8558441916270761648[2] = delta_x[2] + nom_x[2]; + out_8558441916270761648[3] = delta_x[3] + nom_x[3]; + out_8558441916270761648[4] = delta_x[4] + nom_x[4]; + out_8558441916270761648[5] = delta_x[5] + nom_x[5]; + out_8558441916270761648[6] = delta_x[6] + nom_x[6]; + out_8558441916270761648[7] = delta_x[7] + nom_x[7]; + out_8558441916270761648[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5146487777305957172) { - out_5146487777305957172[0] = -nom_x[0] + true_x[0]; - out_5146487777305957172[1] = -nom_x[1] + true_x[1]; - out_5146487777305957172[2] = -nom_x[2] + true_x[2]; - out_5146487777305957172[3] = -nom_x[3] + true_x[3]; - out_5146487777305957172[4] = -nom_x[4] + true_x[4]; - out_5146487777305957172[5] = -nom_x[5] + true_x[5]; - out_5146487777305957172[6] = -nom_x[6] + true_x[6]; - out_5146487777305957172[7] = -nom_x[7] + true_x[7]; - out_5146487777305957172[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_9137456234820429023) { + out_9137456234820429023[0] = -nom_x[0] + true_x[0]; + out_9137456234820429023[1] = -nom_x[1] + true_x[1]; + out_9137456234820429023[2] = -nom_x[2] + true_x[2]; + out_9137456234820429023[3] = -nom_x[3] + true_x[3]; + out_9137456234820429023[4] = -nom_x[4] + true_x[4]; + out_9137456234820429023[5] = -nom_x[5] + true_x[5]; + out_9137456234820429023[6] = -nom_x[6] + true_x[6]; + out_9137456234820429023[7] = -nom_x[7] + true_x[7]; + out_9137456234820429023[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6489034200722373172) { - out_6489034200722373172[0] = 1.0; - out_6489034200722373172[1] = 0.0; - out_6489034200722373172[2] = 0.0; - out_6489034200722373172[3] = 0.0; - out_6489034200722373172[4] = 0.0; - out_6489034200722373172[5] = 0.0; - out_6489034200722373172[6] = 0.0; - out_6489034200722373172[7] = 0.0; - out_6489034200722373172[8] = 0.0; - out_6489034200722373172[9] = 0.0; - out_6489034200722373172[10] = 1.0; - out_6489034200722373172[11] = 0.0; - out_6489034200722373172[12] = 0.0; - out_6489034200722373172[13] = 0.0; - out_6489034200722373172[14] = 0.0; - out_6489034200722373172[15] = 0.0; - out_6489034200722373172[16] = 0.0; - out_6489034200722373172[17] = 0.0; - out_6489034200722373172[18] = 0.0; - out_6489034200722373172[19] = 0.0; - out_6489034200722373172[20] = 1.0; - out_6489034200722373172[21] = 0.0; - out_6489034200722373172[22] = 0.0; - out_6489034200722373172[23] = 0.0; - out_6489034200722373172[24] = 0.0; - out_6489034200722373172[25] = 0.0; - out_6489034200722373172[26] = 0.0; - out_6489034200722373172[27] = 0.0; - out_6489034200722373172[28] = 0.0; - out_6489034200722373172[29] = 0.0; - out_6489034200722373172[30] = 1.0; - out_6489034200722373172[31] = 0.0; - out_6489034200722373172[32] = 0.0; - out_6489034200722373172[33] = 0.0; - out_6489034200722373172[34] = 0.0; - out_6489034200722373172[35] = 0.0; - out_6489034200722373172[36] = 0.0; - out_6489034200722373172[37] = 0.0; - out_6489034200722373172[38] = 0.0; - out_6489034200722373172[39] = 0.0; - out_6489034200722373172[40] = 1.0; - out_6489034200722373172[41] = 0.0; - out_6489034200722373172[42] = 0.0; - out_6489034200722373172[43] = 0.0; - out_6489034200722373172[44] = 0.0; - out_6489034200722373172[45] = 0.0; - out_6489034200722373172[46] = 0.0; - out_6489034200722373172[47] = 0.0; - out_6489034200722373172[48] = 0.0; - out_6489034200722373172[49] = 0.0; - out_6489034200722373172[50] = 1.0; - out_6489034200722373172[51] = 0.0; - out_6489034200722373172[52] = 0.0; - out_6489034200722373172[53] = 0.0; - out_6489034200722373172[54] = 0.0; - out_6489034200722373172[55] = 0.0; - out_6489034200722373172[56] = 0.0; - out_6489034200722373172[57] = 0.0; - out_6489034200722373172[58] = 0.0; - out_6489034200722373172[59] = 0.0; - out_6489034200722373172[60] = 1.0; - out_6489034200722373172[61] = 0.0; - out_6489034200722373172[62] = 0.0; - out_6489034200722373172[63] = 0.0; - out_6489034200722373172[64] = 0.0; - out_6489034200722373172[65] = 0.0; - out_6489034200722373172[66] = 0.0; - out_6489034200722373172[67] = 0.0; - out_6489034200722373172[68] = 0.0; - out_6489034200722373172[69] = 0.0; - out_6489034200722373172[70] = 1.0; - out_6489034200722373172[71] = 0.0; - out_6489034200722373172[72] = 0.0; - out_6489034200722373172[73] = 0.0; - out_6489034200722373172[74] = 0.0; - out_6489034200722373172[75] = 0.0; - out_6489034200722373172[76] = 0.0; - out_6489034200722373172[77] = 0.0; - out_6489034200722373172[78] = 0.0; - out_6489034200722373172[79] = 0.0; - out_6489034200722373172[80] = 1.0; +void H_mod_fun(double *state, double *out_7685081031100061070) { + out_7685081031100061070[0] = 1.0; + out_7685081031100061070[1] = 0.0; + out_7685081031100061070[2] = 0.0; + out_7685081031100061070[3] = 0.0; + out_7685081031100061070[4] = 0.0; + out_7685081031100061070[5] = 0.0; + out_7685081031100061070[6] = 0.0; + out_7685081031100061070[7] = 0.0; + out_7685081031100061070[8] = 0.0; + out_7685081031100061070[9] = 0.0; + out_7685081031100061070[10] = 1.0; + out_7685081031100061070[11] = 0.0; + out_7685081031100061070[12] = 0.0; + out_7685081031100061070[13] = 0.0; + out_7685081031100061070[14] = 0.0; + out_7685081031100061070[15] = 0.0; + out_7685081031100061070[16] = 0.0; + out_7685081031100061070[17] = 0.0; + out_7685081031100061070[18] = 0.0; + out_7685081031100061070[19] = 0.0; + out_7685081031100061070[20] = 1.0; + out_7685081031100061070[21] = 0.0; + out_7685081031100061070[22] = 0.0; + out_7685081031100061070[23] = 0.0; + out_7685081031100061070[24] = 0.0; + out_7685081031100061070[25] = 0.0; + out_7685081031100061070[26] = 0.0; + out_7685081031100061070[27] = 0.0; + out_7685081031100061070[28] = 0.0; + out_7685081031100061070[29] = 0.0; + out_7685081031100061070[30] = 1.0; + out_7685081031100061070[31] = 0.0; + out_7685081031100061070[32] = 0.0; + out_7685081031100061070[33] = 0.0; + out_7685081031100061070[34] = 0.0; + out_7685081031100061070[35] = 0.0; + out_7685081031100061070[36] = 0.0; + out_7685081031100061070[37] = 0.0; + out_7685081031100061070[38] = 0.0; + out_7685081031100061070[39] = 0.0; + out_7685081031100061070[40] = 1.0; + out_7685081031100061070[41] = 0.0; + out_7685081031100061070[42] = 0.0; + out_7685081031100061070[43] = 0.0; + out_7685081031100061070[44] = 0.0; + out_7685081031100061070[45] = 0.0; + out_7685081031100061070[46] = 0.0; + out_7685081031100061070[47] = 0.0; + out_7685081031100061070[48] = 0.0; + out_7685081031100061070[49] = 0.0; + out_7685081031100061070[50] = 1.0; + out_7685081031100061070[51] = 0.0; + out_7685081031100061070[52] = 0.0; + out_7685081031100061070[53] = 0.0; + out_7685081031100061070[54] = 0.0; + out_7685081031100061070[55] = 0.0; + out_7685081031100061070[56] = 0.0; + out_7685081031100061070[57] = 0.0; + out_7685081031100061070[58] = 0.0; + out_7685081031100061070[59] = 0.0; + out_7685081031100061070[60] = 1.0; + out_7685081031100061070[61] = 0.0; + out_7685081031100061070[62] = 0.0; + out_7685081031100061070[63] = 0.0; + out_7685081031100061070[64] = 0.0; + out_7685081031100061070[65] = 0.0; + out_7685081031100061070[66] = 0.0; + out_7685081031100061070[67] = 0.0; + out_7685081031100061070[68] = 0.0; + out_7685081031100061070[69] = 0.0; + out_7685081031100061070[70] = 1.0; + out_7685081031100061070[71] = 0.0; + out_7685081031100061070[72] = 0.0; + out_7685081031100061070[73] = 0.0; + out_7685081031100061070[74] = 0.0; + out_7685081031100061070[75] = 0.0; + out_7685081031100061070[76] = 0.0; + out_7685081031100061070[77] = 0.0; + out_7685081031100061070[78] = 0.0; + out_7685081031100061070[79] = 0.0; + out_7685081031100061070[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2115535381215445196) { - out_2115535381215445196[0] = state[0]; - out_2115535381215445196[1] = state[1]; - out_2115535381215445196[2] = state[2]; - out_2115535381215445196[3] = state[3]; - out_2115535381215445196[4] = state[4]; - out_2115535381215445196[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_2115535381215445196[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_2115535381215445196[7] = state[7]; - out_2115535381215445196[8] = state[8]; +void f_fun(double *state, double dt, double *out_6817432226726583046) { + out_6817432226726583046[0] = state[0]; + out_6817432226726583046[1] = state[1]; + out_6817432226726583046[2] = state[2]; + out_6817432226726583046[3] = state[3]; + out_6817432226726583046[4] = state[4]; + out_6817432226726583046[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_6817432226726583046[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_6817432226726583046[7] = state[7]; + out_6817432226726583046[8] = state[8]; } -void F_fun(double *state, double dt, double *out_697532477187400649) { - out_697532477187400649[0] = 1; - out_697532477187400649[1] = 0; - out_697532477187400649[2] = 0; - out_697532477187400649[3] = 0; - out_697532477187400649[4] = 0; - out_697532477187400649[5] = 0; - out_697532477187400649[6] = 0; - out_697532477187400649[7] = 0; - out_697532477187400649[8] = 0; - out_697532477187400649[9] = 0; - out_697532477187400649[10] = 1; - out_697532477187400649[11] = 0; - out_697532477187400649[12] = 0; - out_697532477187400649[13] = 0; - out_697532477187400649[14] = 0; - out_697532477187400649[15] = 0; - out_697532477187400649[16] = 0; - out_697532477187400649[17] = 0; - out_697532477187400649[18] = 0; - out_697532477187400649[19] = 0; - out_697532477187400649[20] = 1; - out_697532477187400649[21] = 0; - out_697532477187400649[22] = 0; - out_697532477187400649[23] = 0; - out_697532477187400649[24] = 0; - out_697532477187400649[25] = 0; - out_697532477187400649[26] = 0; - out_697532477187400649[27] = 0; - out_697532477187400649[28] = 0; - out_697532477187400649[29] = 0; - out_697532477187400649[30] = 1; - out_697532477187400649[31] = 0; - out_697532477187400649[32] = 0; - out_697532477187400649[33] = 0; - out_697532477187400649[34] = 0; - out_697532477187400649[35] = 0; - out_697532477187400649[36] = 0; - out_697532477187400649[37] = 0; - out_697532477187400649[38] = 0; - out_697532477187400649[39] = 0; - out_697532477187400649[40] = 1; - out_697532477187400649[41] = 0; - out_697532477187400649[42] = 0; - out_697532477187400649[43] = 0; - out_697532477187400649[44] = 0; - out_697532477187400649[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_697532477187400649[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_697532477187400649[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_697532477187400649[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_697532477187400649[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_697532477187400649[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_697532477187400649[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_697532477187400649[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_697532477187400649[53] = -9.8100000000000005*dt; - out_697532477187400649[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_697532477187400649[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_697532477187400649[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_697532477187400649[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_697532477187400649[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_697532477187400649[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_697532477187400649[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_697532477187400649[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_697532477187400649[62] = 0; - out_697532477187400649[63] = 0; - out_697532477187400649[64] = 0; - out_697532477187400649[65] = 0; - out_697532477187400649[66] = 0; - out_697532477187400649[67] = 0; - out_697532477187400649[68] = 0; - out_697532477187400649[69] = 0; - out_697532477187400649[70] = 1; - out_697532477187400649[71] = 0; - out_697532477187400649[72] = 0; - out_697532477187400649[73] = 0; - out_697532477187400649[74] = 0; - out_697532477187400649[75] = 0; - out_697532477187400649[76] = 0; - out_697532477187400649[77] = 0; - out_697532477187400649[78] = 0; - out_697532477187400649[79] = 0; - out_697532477187400649[80] = 1; +void F_fun(double *state, double dt, double *out_5439972572798473920) { + out_5439972572798473920[0] = 1; + out_5439972572798473920[1] = 0; + out_5439972572798473920[2] = 0; + out_5439972572798473920[3] = 0; + out_5439972572798473920[4] = 0; + out_5439972572798473920[5] = 0; + out_5439972572798473920[6] = 0; + out_5439972572798473920[7] = 0; + out_5439972572798473920[8] = 0; + out_5439972572798473920[9] = 0; + out_5439972572798473920[10] = 1; + out_5439972572798473920[11] = 0; + out_5439972572798473920[12] = 0; + out_5439972572798473920[13] = 0; + out_5439972572798473920[14] = 0; + out_5439972572798473920[15] = 0; + out_5439972572798473920[16] = 0; + out_5439972572798473920[17] = 0; + out_5439972572798473920[18] = 0; + out_5439972572798473920[19] = 0; + out_5439972572798473920[20] = 1; + out_5439972572798473920[21] = 0; + out_5439972572798473920[22] = 0; + out_5439972572798473920[23] = 0; + out_5439972572798473920[24] = 0; + out_5439972572798473920[25] = 0; + out_5439972572798473920[26] = 0; + out_5439972572798473920[27] = 0; + out_5439972572798473920[28] = 0; + out_5439972572798473920[29] = 0; + out_5439972572798473920[30] = 1; + out_5439972572798473920[31] = 0; + out_5439972572798473920[32] = 0; + out_5439972572798473920[33] = 0; + out_5439972572798473920[34] = 0; + out_5439972572798473920[35] = 0; + out_5439972572798473920[36] = 0; + out_5439972572798473920[37] = 0; + out_5439972572798473920[38] = 0; + out_5439972572798473920[39] = 0; + out_5439972572798473920[40] = 1; + out_5439972572798473920[41] = 0; + out_5439972572798473920[42] = 0; + out_5439972572798473920[43] = 0; + out_5439972572798473920[44] = 0; + out_5439972572798473920[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_5439972572798473920[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5439972572798473920[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5439972572798473920[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5439972572798473920[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_5439972572798473920[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5439972572798473920[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5439972572798473920[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5439972572798473920[53] = -9.8100000000000005*dt; + out_5439972572798473920[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_5439972572798473920[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5439972572798473920[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5439972572798473920[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5439972572798473920[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_5439972572798473920[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5439972572798473920[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_5439972572798473920[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5439972572798473920[62] = 0; + out_5439972572798473920[63] = 0; + out_5439972572798473920[64] = 0; + out_5439972572798473920[65] = 0; + out_5439972572798473920[66] = 0; + out_5439972572798473920[67] = 0; + out_5439972572798473920[68] = 0; + out_5439972572798473920[69] = 0; + out_5439972572798473920[70] = 1; + out_5439972572798473920[71] = 0; + out_5439972572798473920[72] = 0; + out_5439972572798473920[73] = 0; + out_5439972572798473920[74] = 0; + out_5439972572798473920[75] = 0; + out_5439972572798473920[76] = 0; + out_5439972572798473920[77] = 0; + out_5439972572798473920[78] = 0; + out_5439972572798473920[79] = 0; + out_5439972572798473920[80] = 1; } -void h_25(double *state, double *unused, double *out_5124614186779649716) { - out_5124614186779649716[0] = state[6]; +void h_25(double *state, double *unused, double *out_8501500738727009471) { + out_8501500738727009471[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2704154025189864065) { - out_2704154025189864065[0] = 0; - out_2704154025189864065[1] = 0; - out_2704154025189864065[2] = 0; - out_2704154025189864065[3] = 0; - out_2704154025189864065[4] = 0; - out_2704154025189864065[5] = 0; - out_2704154025189864065[6] = 1; - out_2704154025189864065[7] = 0; - out_2704154025189864065[8] = 0; +void H_25(double *state, double *unused, double *out_8190415473300357782) { + out_8190415473300357782[0] = 0; + out_8190415473300357782[1] = 0; + out_8190415473300357782[2] = 0; + out_8190415473300357782[3] = 0; + out_8190415473300357782[4] = 0; + out_8190415473300357782[5] = 0; + out_8190415473300357782[6] = 1; + out_8190415473300357782[7] = 0; + out_8190415473300357782[8] = 0; } -void h_24(double *state, double *unused, double *out_2288772113706282518) { - out_2288772113706282518[0] = state[4]; - out_2288772113706282518[1] = state[5]; +void h_24(double *state, double *unused, double *out_7993481566605781117) { + out_7993481566605781117[0] = state[4]; + out_7993481566605781117[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4876803624195363631) { - out_4876803624195363631[0] = 0; - out_4876803624195363631[1] = 0; - out_4876803624195363631[2] = 0; - out_4876803624195363631[3] = 0; - out_4876803624195363631[4] = 1; - out_4876803624195363631[5] = 0; - out_4876803624195363631[6] = 0; - out_4876803624195363631[7] = 0; - out_4876803624195363631[8] = 0; - out_4876803624195363631[9] = 0; - out_4876803624195363631[10] = 0; - out_4876803624195363631[11] = 0; - out_4876803624195363631[12] = 0; - out_4876803624195363631[13] = 0; - out_4876803624195363631[14] = 1; - out_4876803624195363631[15] = 0; - out_4876803624195363631[16] = 0; - out_4876803624195363631[17] = 0; +void H_24(double *state, double *unused, double *out_5146098263296009590) { + out_5146098263296009590[0] = 0; + out_5146098263296009590[1] = 0; + out_5146098263296009590[2] = 0; + out_5146098263296009590[3] = 0; + out_5146098263296009590[4] = 1; + out_5146098263296009590[5] = 0; + out_5146098263296009590[6] = 0; + out_5146098263296009590[7] = 0; + out_5146098263296009590[8] = 0; + out_5146098263296009590[9] = 0; + out_5146098263296009590[10] = 0; + out_5146098263296009590[11] = 0; + out_5146098263296009590[12] = 0; + out_5146098263296009590[13] = 0; + out_5146098263296009590[14] = 1; + out_5146098263296009590[15] = 0; + out_5146098263296009590[16] = 0; + out_5146098263296009590[17] = 0; } -void h_30(double *state, double *unused, double *out_3032926190730655359) { - out_3032926190730655359[0] = state[4]; +void h_30(double *state, double *unused, double *out_8776694801011515360) { + out_8776694801011515360[0] = state[4]; } -void H_30(double *state, double *unused, double *out_185821066682615438) { - out_185821066682615438[0] = 0; - out_185821066682615438[1] = 0; - out_185821066682615438[2] = 0; - out_185821066682615438[3] = 0; - out_185821066682615438[4] = 1; - out_185821066682615438[5] = 0; - out_185821066682615438[6] = 0; - out_185821066682615438[7] = 0; - out_185821066682615438[8] = 0; +void H_30(double *state, double *unused, double *out_8061076526157117712) { + out_8061076526157117712[0] = 0; + out_8061076526157117712[1] = 0; + out_8061076526157117712[2] = 0; + out_8061076526157117712[3] = 0; + out_8061076526157117712[4] = 1; + out_8061076526157117712[5] = 0; + out_8061076526157117712[6] = 0; + out_8061076526157117712[7] = 0; + out_8061076526157117712[8] = 0; } -void h_26(double *state, double *unused, double *out_7090256083799836565) { - out_7090256083799836565[0] = state[7]; +void h_26(double *state, double *unused, double *out_7296766696437168400) { + out_7296766696437168400[0] = state[7]; } -void H_26(double *state, double *unused, double *out_600371944570936536) { - out_600371944570936536[0] = 0; - out_600371944570936536[1] = 0; - out_600371944570936536[2] = 0; - out_600371944570936536[3] = 0; - out_600371944570936536[4] = 0; - out_600371944570936536[5] = 0; - out_600371944570936536[6] = 0; - out_600371944570936536[7] = 1; - out_600371944570936536[8] = 0; +void H_26(double *state, double *unused, double *out_4448912154426301558) { + out_4448912154426301558[0] = 0; + out_4448912154426301558[1] = 0; + out_4448912154426301558[2] = 0; + out_4448912154426301558[3] = 0; + out_4448912154426301558[4] = 0; + out_4448912154426301558[5] = 0; + out_4448912154426301558[6] = 0; + out_4448912154426301558[7] = 1; + out_4448912154426301558[8] = 0; } -void h_27(double *state, double *unused, double *out_6474868053290145758) { - out_6474868053290145758[0] = state[3]; +void h_27(double *state, double *unused, double *out_7237333786733854977) { + out_7237333786733854977[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2037773004501327779) { - out_2037773004501327779[0] = 0; - out_2037773004501327779[1] = 0; - out_2037773004501327779[2] = 0; - out_2037773004501327779[3] = 1; - out_2037773004501327779[4] = 0; - out_2037773004501327779[5] = 0; - out_2037773004501327779[6] = 0; - out_2037773004501327779[7] = 0; - out_2037773004501327779[8] = 0; +void H_27(double *state, double *unused, double *out_5886313214356692801) { + out_5886313214356692801[0] = 0; + out_5886313214356692801[1] = 0; + out_5886313214356692801[2] = 0; + out_5886313214356692801[3] = 1; + out_5886313214356692801[4] = 0; + out_5886313214356692801[5] = 0; + out_5886313214356692801[6] = 0; + out_5886313214356692801[7] = 0; + out_5886313214356692801[8] = 0; } -void h_29(double *state, double *unused, double *out_8675656061811612194) { - out_8675656061811612194[0] = state[1]; +void h_29(double *state, double *unused, double *out_1081886590893194848) { + out_1081886590893194848[0] = state[1]; } -void H_29(double *state, double *unused, double *out_324410277631776746) { - out_324410277631776746[0] = 0; - out_324410277631776746[1] = 1; - out_324410277631776746[2] = 0; - out_324410277631776746[3] = 0; - out_324410277631776746[4] = 0; - out_324410277631776746[5] = 0; - out_324410277631776746[6] = 0; - out_324410277631776746[7] = 0; - out_324410277631776746[8] = 0; +void H_29(double *state, double *unused, double *out_8571307870471509896) { + out_8571307870471509896[0] = 0; + out_8571307870471509896[1] = 1; + out_8571307870471509896[2] = 0; + out_8571307870471509896[3] = 0; + out_8571307870471509896[4] = 0; + out_8571307870471509896[5] = 0; + out_8571307870471509896[6] = 0; + out_8571307870471509896[7] = 0; + out_8571307870471509896[8] = 0; } -void h_28(double *state, double *unused, double *out_2417538160220964552) { - out_2417538160220964552[0] = state[0]; +void h_28(double *state, double *unused, double *out_6634017902057377460) { + out_6634017902057377460[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4757988739437753828) { - out_4757988739437753828[0] = 1; - out_4757988739437753828[1] = 0; - out_4757988739437753828[2] = 0; - out_4757988739437753828[3] = 0; - out_4757988739437753828[4] = 0; - out_4757988739437753828[5] = 0; - out_4757988739437753828[6] = 0; - out_4757988739437753828[7] = 0; - out_4757988739437753828[8] = 0; +void H_28(double *state, double *unused, double *out_6136580759052468019) { + out_6136580759052468019[0] = 1; + out_6136580759052468019[1] = 0; + out_6136580759052468019[2] = 0; + out_6136580759052468019[3] = 0; + out_6136580759052468019[4] = 0; + out_6136580759052468019[5] = 0; + out_6136580759052468019[6] = 0; + out_6136580759052468019[7] = 0; + out_6136580759052468019[8] = 0; } -void h_31(double *state, double *unused, double *out_6551294660579550964) { - out_6551294660579550964[0] = state[8]; +void h_31(double *state, double *unused, double *out_8658687407078138616) { + out_8658687407078138616[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2673508063312903637) { - out_2673508063312903637[0] = 0; - out_2673508063312903637[1] = 0; - out_2673508063312903637[2] = 0; - out_2673508063312903637[3] = 0; - out_2673508063312903637[4] = 0; - out_2673508063312903637[5] = 0; - out_2673508063312903637[6] = 0; - out_2673508063312903637[7] = 0; - out_2673508063312903637[8] = 1; +void H_31(double *state, double *unused, double *out_8221061435177318210) { + out_8221061435177318210[0] = 0; + out_8221061435177318210[1] = 0; + out_8221061435177318210[2] = 0; + out_8221061435177318210[3] = 0; + out_8221061435177318210[4] = 0; + out_8221061435177318210[5] = 0; + out_8221061435177318210[6] = 0; + out_8221061435177318210[7] = 0; + out_8221061435177318210[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_7469803269040701934) { - err_fun(nom_x, delta_x, out_7469803269040701934); +void car_err_fun(double *nom_x, double *delta_x, double *out_8558441916270761648) { + err_fun(nom_x, delta_x, out_8558441916270761648); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5146487777305957172) { - inv_err_fun(nom_x, true_x, out_5146487777305957172); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_9137456234820429023) { + inv_err_fun(nom_x, true_x, out_9137456234820429023); } -void car_H_mod_fun(double *state, double *out_6489034200722373172) { - H_mod_fun(state, out_6489034200722373172); +void car_H_mod_fun(double *state, double *out_7685081031100061070) { + H_mod_fun(state, out_7685081031100061070); } -void car_f_fun(double *state, double dt, double *out_2115535381215445196) { - f_fun(state, dt, out_2115535381215445196); +void car_f_fun(double *state, double dt, double *out_6817432226726583046) { + f_fun(state, dt, out_6817432226726583046); } -void car_F_fun(double *state, double dt, double *out_697532477187400649) { - F_fun(state, dt, out_697532477187400649); +void car_F_fun(double *state, double dt, double *out_5439972572798473920) { + F_fun(state, dt, out_5439972572798473920); } -void car_h_25(double *state, double *unused, double *out_5124614186779649716) { - h_25(state, unused, out_5124614186779649716); +void car_h_25(double *state, double *unused, double *out_8501500738727009471) { + h_25(state, unused, out_8501500738727009471); } -void car_H_25(double *state, double *unused, double *out_2704154025189864065) { - H_25(state, unused, out_2704154025189864065); +void car_H_25(double *state, double *unused, double *out_8190415473300357782) { + H_25(state, unused, out_8190415473300357782); } -void car_h_24(double *state, double *unused, double *out_2288772113706282518) { - h_24(state, unused, out_2288772113706282518); +void car_h_24(double *state, double *unused, double *out_7993481566605781117) { + h_24(state, unused, out_7993481566605781117); } -void car_H_24(double *state, double *unused, double *out_4876803624195363631) { - H_24(state, unused, out_4876803624195363631); +void car_H_24(double *state, double *unused, double *out_5146098263296009590) { + H_24(state, unused, out_5146098263296009590); } -void car_h_30(double *state, double *unused, double *out_3032926190730655359) { - h_30(state, unused, out_3032926190730655359); +void car_h_30(double *state, double *unused, double *out_8776694801011515360) { + h_30(state, unused, out_8776694801011515360); } -void car_H_30(double *state, double *unused, double *out_185821066682615438) { - H_30(state, unused, out_185821066682615438); +void car_H_30(double *state, double *unused, double *out_8061076526157117712) { + H_30(state, unused, out_8061076526157117712); } -void car_h_26(double *state, double *unused, double *out_7090256083799836565) { - h_26(state, unused, out_7090256083799836565); +void car_h_26(double *state, double *unused, double *out_7296766696437168400) { + h_26(state, unused, out_7296766696437168400); } -void car_H_26(double *state, double *unused, double *out_600371944570936536) { - H_26(state, unused, out_600371944570936536); +void car_H_26(double *state, double *unused, double *out_4448912154426301558) { + H_26(state, unused, out_4448912154426301558); } -void car_h_27(double *state, double *unused, double *out_6474868053290145758) { - h_27(state, unused, out_6474868053290145758); +void car_h_27(double *state, double *unused, double *out_7237333786733854977) { + h_27(state, unused, out_7237333786733854977); } -void car_H_27(double *state, double *unused, double *out_2037773004501327779) { - H_27(state, unused, out_2037773004501327779); +void car_H_27(double *state, double *unused, double *out_5886313214356692801) { + H_27(state, unused, out_5886313214356692801); } -void car_h_29(double *state, double *unused, double *out_8675656061811612194) { - h_29(state, unused, out_8675656061811612194); +void car_h_29(double *state, double *unused, double *out_1081886590893194848) { + h_29(state, unused, out_1081886590893194848); } -void car_H_29(double *state, double *unused, double *out_324410277631776746) { - H_29(state, unused, out_324410277631776746); +void car_H_29(double *state, double *unused, double *out_8571307870471509896) { + H_29(state, unused, out_8571307870471509896); } -void car_h_28(double *state, double *unused, double *out_2417538160220964552) { - h_28(state, unused, out_2417538160220964552); +void car_h_28(double *state, double *unused, double *out_6634017902057377460) { + h_28(state, unused, out_6634017902057377460); } -void car_H_28(double *state, double *unused, double *out_4757988739437753828) { - H_28(state, unused, out_4757988739437753828); +void car_H_28(double *state, double *unused, double *out_6136580759052468019) { + H_28(state, unused, out_6136580759052468019); } -void car_h_31(double *state, double *unused, double *out_6551294660579550964) { - h_31(state, unused, out_6551294660579550964); +void car_h_31(double *state, double *unused, double *out_8658687407078138616) { + h_31(state, unused, out_8658687407078138616); } -void car_H_31(double *state, double *unused, double *out_2673508063312903637) { - H_31(state, unused, out_2673508063312903637); +void car_H_31(double *state, double *unused, double *out_8221061435177318210) { + H_31(state, unused, out_8221061435177318210); } 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 4e1ee8f32..453b74fcf 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_7469803269040701934); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5146487777305957172); -void car_H_mod_fun(double *state, double *out_6489034200722373172); -void car_f_fun(double *state, double dt, double *out_2115535381215445196); -void car_F_fun(double *state, double dt, double *out_697532477187400649); -void car_h_25(double *state, double *unused, double *out_5124614186779649716); -void car_H_25(double *state, double *unused, double *out_2704154025189864065); -void car_h_24(double *state, double *unused, double *out_2288772113706282518); -void car_H_24(double *state, double *unused, double *out_4876803624195363631); -void car_h_30(double *state, double *unused, double *out_3032926190730655359); -void car_H_30(double *state, double *unused, double *out_185821066682615438); -void car_h_26(double *state, double *unused, double *out_7090256083799836565); -void car_H_26(double *state, double *unused, double *out_600371944570936536); -void car_h_27(double *state, double *unused, double *out_6474868053290145758); -void car_H_27(double *state, double *unused, double *out_2037773004501327779); -void car_h_29(double *state, double *unused, double *out_8675656061811612194); -void car_H_29(double *state, double *unused, double *out_324410277631776746); -void car_h_28(double *state, double *unused, double *out_2417538160220964552); -void car_H_28(double *state, double *unused, double *out_4757988739437753828); -void car_h_31(double *state, double *unused, double *out_6551294660579550964); -void car_H_31(double *state, double *unused, double *out_2673508063312903637); +void car_err_fun(double *nom_x, double *delta_x, double *out_8558441916270761648); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_9137456234820429023); +void car_H_mod_fun(double *state, double *out_7685081031100061070); +void car_f_fun(double *state, double dt, double *out_6817432226726583046); +void car_F_fun(double *state, double dt, double *out_5439972572798473920); +void car_h_25(double *state, double *unused, double *out_8501500738727009471); +void car_H_25(double *state, double *unused, double *out_8190415473300357782); +void car_h_24(double *state, double *unused, double *out_7993481566605781117); +void car_H_24(double *state, double *unused, double *out_5146098263296009590); +void car_h_30(double *state, double *unused, double *out_8776694801011515360); +void car_H_30(double *state, double *unused, double *out_8061076526157117712); +void car_h_26(double *state, double *unused, double *out_7296766696437168400); +void car_H_26(double *state, double *unused, double *out_4448912154426301558); +void car_h_27(double *state, double *unused, double *out_7237333786733854977); +void car_H_27(double *state, double *unused, double *out_5886313214356692801); +void car_h_29(double *state, double *unused, double *out_1081886590893194848); +void car_H_29(double *state, double *unused, double *out_8571307870471509896); +void car_h_28(double *state, double *unused, double *out_6634017902057377460); +void car_H_28(double *state, double *unused, double *out_6136580759052468019); +void car_h_31(double *state, double *unused, double *out_8658687407078138616); +void car_H_31(double *state, double *unused, double *out_8221061435177318210); 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 51866707b..e349ae8cb 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_3190087603797747831) { - out_3190087603797747831[0] = delta_x[0] + nom_x[0]; - out_3190087603797747831[1] = delta_x[1] + nom_x[1]; - out_3190087603797747831[2] = delta_x[2] + nom_x[2]; - out_3190087603797747831[3] = delta_x[3] + nom_x[3]; - out_3190087603797747831[4] = delta_x[4] + nom_x[4]; - out_3190087603797747831[5] = delta_x[5] + nom_x[5]; - out_3190087603797747831[6] = delta_x[6] + nom_x[6]; - out_3190087603797747831[7] = delta_x[7] + nom_x[7]; - out_3190087603797747831[8] = delta_x[8] + nom_x[8]; - out_3190087603797747831[9] = delta_x[9] + nom_x[9]; - out_3190087603797747831[10] = delta_x[10] + nom_x[10]; - out_3190087603797747831[11] = delta_x[11] + nom_x[11]; - out_3190087603797747831[12] = delta_x[12] + nom_x[12]; - out_3190087603797747831[13] = delta_x[13] + nom_x[13]; - out_3190087603797747831[14] = delta_x[14] + nom_x[14]; - out_3190087603797747831[15] = delta_x[15] + nom_x[15]; - out_3190087603797747831[16] = delta_x[16] + nom_x[16]; - out_3190087603797747831[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3697966966174848325) { + out_3697966966174848325[0] = delta_x[0] + nom_x[0]; + out_3697966966174848325[1] = delta_x[1] + nom_x[1]; + out_3697966966174848325[2] = delta_x[2] + nom_x[2]; + out_3697966966174848325[3] = delta_x[3] + nom_x[3]; + out_3697966966174848325[4] = delta_x[4] + nom_x[4]; + out_3697966966174848325[5] = delta_x[5] + nom_x[5]; + out_3697966966174848325[6] = delta_x[6] + nom_x[6]; + out_3697966966174848325[7] = delta_x[7] + nom_x[7]; + out_3697966966174848325[8] = delta_x[8] + nom_x[8]; + out_3697966966174848325[9] = delta_x[9] + nom_x[9]; + out_3697966966174848325[10] = delta_x[10] + nom_x[10]; + out_3697966966174848325[11] = delta_x[11] + nom_x[11]; + out_3697966966174848325[12] = delta_x[12] + nom_x[12]; + out_3697966966174848325[13] = delta_x[13] + nom_x[13]; + out_3697966966174848325[14] = delta_x[14] + nom_x[14]; + out_3697966966174848325[15] = delta_x[15] + nom_x[15]; + out_3697966966174848325[16] = delta_x[16] + nom_x[16]; + out_3697966966174848325[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_509645540564194226) { - out_509645540564194226[0] = -nom_x[0] + true_x[0]; - out_509645540564194226[1] = -nom_x[1] + true_x[1]; - out_509645540564194226[2] = -nom_x[2] + true_x[2]; - out_509645540564194226[3] = -nom_x[3] + true_x[3]; - out_509645540564194226[4] = -nom_x[4] + true_x[4]; - out_509645540564194226[5] = -nom_x[5] + true_x[5]; - out_509645540564194226[6] = -nom_x[6] + true_x[6]; - out_509645540564194226[7] = -nom_x[7] + true_x[7]; - out_509645540564194226[8] = -nom_x[8] + true_x[8]; - out_509645540564194226[9] = -nom_x[9] + true_x[9]; - out_509645540564194226[10] = -nom_x[10] + true_x[10]; - out_509645540564194226[11] = -nom_x[11] + true_x[11]; - out_509645540564194226[12] = -nom_x[12] + true_x[12]; - out_509645540564194226[13] = -nom_x[13] + true_x[13]; - out_509645540564194226[14] = -nom_x[14] + true_x[14]; - out_509645540564194226[15] = -nom_x[15] + true_x[15]; - out_509645540564194226[16] = -nom_x[16] + true_x[16]; - out_509645540564194226[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6121892126530152725) { + out_6121892126530152725[0] = -nom_x[0] + true_x[0]; + out_6121892126530152725[1] = -nom_x[1] + true_x[1]; + out_6121892126530152725[2] = -nom_x[2] + true_x[2]; + out_6121892126530152725[3] = -nom_x[3] + true_x[3]; + out_6121892126530152725[4] = -nom_x[4] + true_x[4]; + out_6121892126530152725[5] = -nom_x[5] + true_x[5]; + out_6121892126530152725[6] = -nom_x[6] + true_x[6]; + out_6121892126530152725[7] = -nom_x[7] + true_x[7]; + out_6121892126530152725[8] = -nom_x[8] + true_x[8]; + out_6121892126530152725[9] = -nom_x[9] + true_x[9]; + out_6121892126530152725[10] = -nom_x[10] + true_x[10]; + out_6121892126530152725[11] = -nom_x[11] + true_x[11]; + out_6121892126530152725[12] = -nom_x[12] + true_x[12]; + out_6121892126530152725[13] = -nom_x[13] + true_x[13]; + out_6121892126530152725[14] = -nom_x[14] + true_x[14]; + out_6121892126530152725[15] = -nom_x[15] + true_x[15]; + out_6121892126530152725[16] = -nom_x[16] + true_x[16]; + out_6121892126530152725[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5916418097484803312) { - out_5916418097484803312[0] = 1.0; - out_5916418097484803312[1] = 0.0; - out_5916418097484803312[2] = 0.0; - out_5916418097484803312[3] = 0.0; - out_5916418097484803312[4] = 0.0; - out_5916418097484803312[5] = 0.0; - out_5916418097484803312[6] = 0.0; - out_5916418097484803312[7] = 0.0; - out_5916418097484803312[8] = 0.0; - out_5916418097484803312[9] = 0.0; - out_5916418097484803312[10] = 0.0; - out_5916418097484803312[11] = 0.0; - out_5916418097484803312[12] = 0.0; - out_5916418097484803312[13] = 0.0; - out_5916418097484803312[14] = 0.0; - out_5916418097484803312[15] = 0.0; - out_5916418097484803312[16] = 0.0; - out_5916418097484803312[17] = 0.0; - out_5916418097484803312[18] = 0.0; - out_5916418097484803312[19] = 1.0; - out_5916418097484803312[20] = 0.0; - out_5916418097484803312[21] = 0.0; - out_5916418097484803312[22] = 0.0; - out_5916418097484803312[23] = 0.0; - out_5916418097484803312[24] = 0.0; - out_5916418097484803312[25] = 0.0; - out_5916418097484803312[26] = 0.0; - out_5916418097484803312[27] = 0.0; - out_5916418097484803312[28] = 0.0; - out_5916418097484803312[29] = 0.0; - out_5916418097484803312[30] = 0.0; - out_5916418097484803312[31] = 0.0; - out_5916418097484803312[32] = 0.0; - out_5916418097484803312[33] = 0.0; - out_5916418097484803312[34] = 0.0; - out_5916418097484803312[35] = 0.0; - out_5916418097484803312[36] = 0.0; - out_5916418097484803312[37] = 0.0; - out_5916418097484803312[38] = 1.0; - out_5916418097484803312[39] = 0.0; - out_5916418097484803312[40] = 0.0; - out_5916418097484803312[41] = 0.0; - out_5916418097484803312[42] = 0.0; - out_5916418097484803312[43] = 0.0; - out_5916418097484803312[44] = 0.0; - out_5916418097484803312[45] = 0.0; - out_5916418097484803312[46] = 0.0; - out_5916418097484803312[47] = 0.0; - out_5916418097484803312[48] = 0.0; - out_5916418097484803312[49] = 0.0; - out_5916418097484803312[50] = 0.0; - out_5916418097484803312[51] = 0.0; - out_5916418097484803312[52] = 0.0; - out_5916418097484803312[53] = 0.0; - out_5916418097484803312[54] = 0.0; - out_5916418097484803312[55] = 0.0; - out_5916418097484803312[56] = 0.0; - out_5916418097484803312[57] = 1.0; - out_5916418097484803312[58] = 0.0; - out_5916418097484803312[59] = 0.0; - out_5916418097484803312[60] = 0.0; - out_5916418097484803312[61] = 0.0; - out_5916418097484803312[62] = 0.0; - out_5916418097484803312[63] = 0.0; - out_5916418097484803312[64] = 0.0; - out_5916418097484803312[65] = 0.0; - out_5916418097484803312[66] = 0.0; - out_5916418097484803312[67] = 0.0; - out_5916418097484803312[68] = 0.0; - out_5916418097484803312[69] = 0.0; - out_5916418097484803312[70] = 0.0; - out_5916418097484803312[71] = 0.0; - out_5916418097484803312[72] = 0.0; - out_5916418097484803312[73] = 0.0; - out_5916418097484803312[74] = 0.0; - out_5916418097484803312[75] = 0.0; - out_5916418097484803312[76] = 1.0; - out_5916418097484803312[77] = 0.0; - out_5916418097484803312[78] = 0.0; - out_5916418097484803312[79] = 0.0; - out_5916418097484803312[80] = 0.0; - out_5916418097484803312[81] = 0.0; - out_5916418097484803312[82] = 0.0; - out_5916418097484803312[83] = 0.0; - out_5916418097484803312[84] = 0.0; - out_5916418097484803312[85] = 0.0; - out_5916418097484803312[86] = 0.0; - out_5916418097484803312[87] = 0.0; - out_5916418097484803312[88] = 0.0; - out_5916418097484803312[89] = 0.0; - out_5916418097484803312[90] = 0.0; - out_5916418097484803312[91] = 0.0; - out_5916418097484803312[92] = 0.0; - out_5916418097484803312[93] = 0.0; - out_5916418097484803312[94] = 0.0; - out_5916418097484803312[95] = 1.0; - out_5916418097484803312[96] = 0.0; - out_5916418097484803312[97] = 0.0; - out_5916418097484803312[98] = 0.0; - out_5916418097484803312[99] = 0.0; - out_5916418097484803312[100] = 0.0; - out_5916418097484803312[101] = 0.0; - out_5916418097484803312[102] = 0.0; - out_5916418097484803312[103] = 0.0; - out_5916418097484803312[104] = 0.0; - out_5916418097484803312[105] = 0.0; - out_5916418097484803312[106] = 0.0; - out_5916418097484803312[107] = 0.0; - out_5916418097484803312[108] = 0.0; - out_5916418097484803312[109] = 0.0; - out_5916418097484803312[110] = 0.0; - out_5916418097484803312[111] = 0.0; - out_5916418097484803312[112] = 0.0; - out_5916418097484803312[113] = 0.0; - out_5916418097484803312[114] = 1.0; - out_5916418097484803312[115] = 0.0; - out_5916418097484803312[116] = 0.0; - out_5916418097484803312[117] = 0.0; - out_5916418097484803312[118] = 0.0; - out_5916418097484803312[119] = 0.0; - out_5916418097484803312[120] = 0.0; - out_5916418097484803312[121] = 0.0; - out_5916418097484803312[122] = 0.0; - out_5916418097484803312[123] = 0.0; - out_5916418097484803312[124] = 0.0; - out_5916418097484803312[125] = 0.0; - out_5916418097484803312[126] = 0.0; - out_5916418097484803312[127] = 0.0; - out_5916418097484803312[128] = 0.0; - out_5916418097484803312[129] = 0.0; - out_5916418097484803312[130] = 0.0; - out_5916418097484803312[131] = 0.0; - out_5916418097484803312[132] = 0.0; - out_5916418097484803312[133] = 1.0; - out_5916418097484803312[134] = 0.0; - out_5916418097484803312[135] = 0.0; - out_5916418097484803312[136] = 0.0; - out_5916418097484803312[137] = 0.0; - out_5916418097484803312[138] = 0.0; - out_5916418097484803312[139] = 0.0; - out_5916418097484803312[140] = 0.0; - out_5916418097484803312[141] = 0.0; - out_5916418097484803312[142] = 0.0; - out_5916418097484803312[143] = 0.0; - out_5916418097484803312[144] = 0.0; - out_5916418097484803312[145] = 0.0; - out_5916418097484803312[146] = 0.0; - out_5916418097484803312[147] = 0.0; - out_5916418097484803312[148] = 0.0; - out_5916418097484803312[149] = 0.0; - out_5916418097484803312[150] = 0.0; - out_5916418097484803312[151] = 0.0; - out_5916418097484803312[152] = 1.0; - out_5916418097484803312[153] = 0.0; - out_5916418097484803312[154] = 0.0; - out_5916418097484803312[155] = 0.0; - out_5916418097484803312[156] = 0.0; - out_5916418097484803312[157] = 0.0; - out_5916418097484803312[158] = 0.0; - out_5916418097484803312[159] = 0.0; - out_5916418097484803312[160] = 0.0; - out_5916418097484803312[161] = 0.0; - out_5916418097484803312[162] = 0.0; - out_5916418097484803312[163] = 0.0; - out_5916418097484803312[164] = 0.0; - out_5916418097484803312[165] = 0.0; - out_5916418097484803312[166] = 0.0; - out_5916418097484803312[167] = 0.0; - out_5916418097484803312[168] = 0.0; - out_5916418097484803312[169] = 0.0; - out_5916418097484803312[170] = 0.0; - out_5916418097484803312[171] = 1.0; - out_5916418097484803312[172] = 0.0; - out_5916418097484803312[173] = 0.0; - out_5916418097484803312[174] = 0.0; - out_5916418097484803312[175] = 0.0; - out_5916418097484803312[176] = 0.0; - out_5916418097484803312[177] = 0.0; - out_5916418097484803312[178] = 0.0; - out_5916418097484803312[179] = 0.0; - out_5916418097484803312[180] = 0.0; - out_5916418097484803312[181] = 0.0; - out_5916418097484803312[182] = 0.0; - out_5916418097484803312[183] = 0.0; - out_5916418097484803312[184] = 0.0; - out_5916418097484803312[185] = 0.0; - out_5916418097484803312[186] = 0.0; - out_5916418097484803312[187] = 0.0; - out_5916418097484803312[188] = 0.0; - out_5916418097484803312[189] = 0.0; - out_5916418097484803312[190] = 1.0; - out_5916418097484803312[191] = 0.0; - out_5916418097484803312[192] = 0.0; - out_5916418097484803312[193] = 0.0; - out_5916418097484803312[194] = 0.0; - out_5916418097484803312[195] = 0.0; - out_5916418097484803312[196] = 0.0; - out_5916418097484803312[197] = 0.0; - out_5916418097484803312[198] = 0.0; - out_5916418097484803312[199] = 0.0; - out_5916418097484803312[200] = 0.0; - out_5916418097484803312[201] = 0.0; - out_5916418097484803312[202] = 0.0; - out_5916418097484803312[203] = 0.0; - out_5916418097484803312[204] = 0.0; - out_5916418097484803312[205] = 0.0; - out_5916418097484803312[206] = 0.0; - out_5916418097484803312[207] = 0.0; - out_5916418097484803312[208] = 0.0; - out_5916418097484803312[209] = 1.0; - out_5916418097484803312[210] = 0.0; - out_5916418097484803312[211] = 0.0; - out_5916418097484803312[212] = 0.0; - out_5916418097484803312[213] = 0.0; - out_5916418097484803312[214] = 0.0; - out_5916418097484803312[215] = 0.0; - out_5916418097484803312[216] = 0.0; - out_5916418097484803312[217] = 0.0; - out_5916418097484803312[218] = 0.0; - out_5916418097484803312[219] = 0.0; - out_5916418097484803312[220] = 0.0; - out_5916418097484803312[221] = 0.0; - out_5916418097484803312[222] = 0.0; - out_5916418097484803312[223] = 0.0; - out_5916418097484803312[224] = 0.0; - out_5916418097484803312[225] = 0.0; - out_5916418097484803312[226] = 0.0; - out_5916418097484803312[227] = 0.0; - out_5916418097484803312[228] = 1.0; - out_5916418097484803312[229] = 0.0; - out_5916418097484803312[230] = 0.0; - out_5916418097484803312[231] = 0.0; - out_5916418097484803312[232] = 0.0; - out_5916418097484803312[233] = 0.0; - out_5916418097484803312[234] = 0.0; - out_5916418097484803312[235] = 0.0; - out_5916418097484803312[236] = 0.0; - out_5916418097484803312[237] = 0.0; - out_5916418097484803312[238] = 0.0; - out_5916418097484803312[239] = 0.0; - out_5916418097484803312[240] = 0.0; - out_5916418097484803312[241] = 0.0; - out_5916418097484803312[242] = 0.0; - out_5916418097484803312[243] = 0.0; - out_5916418097484803312[244] = 0.0; - out_5916418097484803312[245] = 0.0; - out_5916418097484803312[246] = 0.0; - out_5916418097484803312[247] = 1.0; - out_5916418097484803312[248] = 0.0; - out_5916418097484803312[249] = 0.0; - out_5916418097484803312[250] = 0.0; - out_5916418097484803312[251] = 0.0; - out_5916418097484803312[252] = 0.0; - out_5916418097484803312[253] = 0.0; - out_5916418097484803312[254] = 0.0; - out_5916418097484803312[255] = 0.0; - out_5916418097484803312[256] = 0.0; - out_5916418097484803312[257] = 0.0; - out_5916418097484803312[258] = 0.0; - out_5916418097484803312[259] = 0.0; - out_5916418097484803312[260] = 0.0; - out_5916418097484803312[261] = 0.0; - out_5916418097484803312[262] = 0.0; - out_5916418097484803312[263] = 0.0; - out_5916418097484803312[264] = 0.0; - out_5916418097484803312[265] = 0.0; - out_5916418097484803312[266] = 1.0; - out_5916418097484803312[267] = 0.0; - out_5916418097484803312[268] = 0.0; - out_5916418097484803312[269] = 0.0; - out_5916418097484803312[270] = 0.0; - out_5916418097484803312[271] = 0.0; - out_5916418097484803312[272] = 0.0; - out_5916418097484803312[273] = 0.0; - out_5916418097484803312[274] = 0.0; - out_5916418097484803312[275] = 0.0; - out_5916418097484803312[276] = 0.0; - out_5916418097484803312[277] = 0.0; - out_5916418097484803312[278] = 0.0; - out_5916418097484803312[279] = 0.0; - out_5916418097484803312[280] = 0.0; - out_5916418097484803312[281] = 0.0; - out_5916418097484803312[282] = 0.0; - out_5916418097484803312[283] = 0.0; - out_5916418097484803312[284] = 0.0; - out_5916418097484803312[285] = 1.0; - out_5916418097484803312[286] = 0.0; - out_5916418097484803312[287] = 0.0; - out_5916418097484803312[288] = 0.0; - out_5916418097484803312[289] = 0.0; - out_5916418097484803312[290] = 0.0; - out_5916418097484803312[291] = 0.0; - out_5916418097484803312[292] = 0.0; - out_5916418097484803312[293] = 0.0; - out_5916418097484803312[294] = 0.0; - out_5916418097484803312[295] = 0.0; - out_5916418097484803312[296] = 0.0; - out_5916418097484803312[297] = 0.0; - out_5916418097484803312[298] = 0.0; - out_5916418097484803312[299] = 0.0; - out_5916418097484803312[300] = 0.0; - out_5916418097484803312[301] = 0.0; - out_5916418097484803312[302] = 0.0; - out_5916418097484803312[303] = 0.0; - out_5916418097484803312[304] = 1.0; - out_5916418097484803312[305] = 0.0; - out_5916418097484803312[306] = 0.0; - out_5916418097484803312[307] = 0.0; - out_5916418097484803312[308] = 0.0; - out_5916418097484803312[309] = 0.0; - out_5916418097484803312[310] = 0.0; - out_5916418097484803312[311] = 0.0; - out_5916418097484803312[312] = 0.0; - out_5916418097484803312[313] = 0.0; - out_5916418097484803312[314] = 0.0; - out_5916418097484803312[315] = 0.0; - out_5916418097484803312[316] = 0.0; - out_5916418097484803312[317] = 0.0; - out_5916418097484803312[318] = 0.0; - out_5916418097484803312[319] = 0.0; - out_5916418097484803312[320] = 0.0; - out_5916418097484803312[321] = 0.0; - out_5916418097484803312[322] = 0.0; - out_5916418097484803312[323] = 1.0; +void H_mod_fun(double *state, double *out_1116503706765055069) { + out_1116503706765055069[0] = 1.0; + out_1116503706765055069[1] = 0.0; + out_1116503706765055069[2] = 0.0; + out_1116503706765055069[3] = 0.0; + out_1116503706765055069[4] = 0.0; + out_1116503706765055069[5] = 0.0; + out_1116503706765055069[6] = 0.0; + out_1116503706765055069[7] = 0.0; + out_1116503706765055069[8] = 0.0; + out_1116503706765055069[9] = 0.0; + out_1116503706765055069[10] = 0.0; + out_1116503706765055069[11] = 0.0; + out_1116503706765055069[12] = 0.0; + out_1116503706765055069[13] = 0.0; + out_1116503706765055069[14] = 0.0; + out_1116503706765055069[15] = 0.0; + out_1116503706765055069[16] = 0.0; + out_1116503706765055069[17] = 0.0; + out_1116503706765055069[18] = 0.0; + out_1116503706765055069[19] = 1.0; + out_1116503706765055069[20] = 0.0; + out_1116503706765055069[21] = 0.0; + out_1116503706765055069[22] = 0.0; + out_1116503706765055069[23] = 0.0; + out_1116503706765055069[24] = 0.0; + out_1116503706765055069[25] = 0.0; + out_1116503706765055069[26] = 0.0; + out_1116503706765055069[27] = 0.0; + out_1116503706765055069[28] = 0.0; + out_1116503706765055069[29] = 0.0; + out_1116503706765055069[30] = 0.0; + out_1116503706765055069[31] = 0.0; + out_1116503706765055069[32] = 0.0; + out_1116503706765055069[33] = 0.0; + out_1116503706765055069[34] = 0.0; + out_1116503706765055069[35] = 0.0; + out_1116503706765055069[36] = 0.0; + out_1116503706765055069[37] = 0.0; + out_1116503706765055069[38] = 1.0; + out_1116503706765055069[39] = 0.0; + out_1116503706765055069[40] = 0.0; + out_1116503706765055069[41] = 0.0; + out_1116503706765055069[42] = 0.0; + out_1116503706765055069[43] = 0.0; + out_1116503706765055069[44] = 0.0; + out_1116503706765055069[45] = 0.0; + out_1116503706765055069[46] = 0.0; + out_1116503706765055069[47] = 0.0; + out_1116503706765055069[48] = 0.0; + out_1116503706765055069[49] = 0.0; + out_1116503706765055069[50] = 0.0; + out_1116503706765055069[51] = 0.0; + out_1116503706765055069[52] = 0.0; + out_1116503706765055069[53] = 0.0; + out_1116503706765055069[54] = 0.0; + out_1116503706765055069[55] = 0.0; + out_1116503706765055069[56] = 0.0; + out_1116503706765055069[57] = 1.0; + out_1116503706765055069[58] = 0.0; + out_1116503706765055069[59] = 0.0; + out_1116503706765055069[60] = 0.0; + out_1116503706765055069[61] = 0.0; + out_1116503706765055069[62] = 0.0; + out_1116503706765055069[63] = 0.0; + out_1116503706765055069[64] = 0.0; + out_1116503706765055069[65] = 0.0; + out_1116503706765055069[66] = 0.0; + out_1116503706765055069[67] = 0.0; + out_1116503706765055069[68] = 0.0; + out_1116503706765055069[69] = 0.0; + out_1116503706765055069[70] = 0.0; + out_1116503706765055069[71] = 0.0; + out_1116503706765055069[72] = 0.0; + out_1116503706765055069[73] = 0.0; + out_1116503706765055069[74] = 0.0; + out_1116503706765055069[75] = 0.0; + out_1116503706765055069[76] = 1.0; + out_1116503706765055069[77] = 0.0; + out_1116503706765055069[78] = 0.0; + out_1116503706765055069[79] = 0.0; + out_1116503706765055069[80] = 0.0; + out_1116503706765055069[81] = 0.0; + out_1116503706765055069[82] = 0.0; + out_1116503706765055069[83] = 0.0; + out_1116503706765055069[84] = 0.0; + out_1116503706765055069[85] = 0.0; + out_1116503706765055069[86] = 0.0; + out_1116503706765055069[87] = 0.0; + out_1116503706765055069[88] = 0.0; + out_1116503706765055069[89] = 0.0; + out_1116503706765055069[90] = 0.0; + out_1116503706765055069[91] = 0.0; + out_1116503706765055069[92] = 0.0; + out_1116503706765055069[93] = 0.0; + out_1116503706765055069[94] = 0.0; + out_1116503706765055069[95] = 1.0; + out_1116503706765055069[96] = 0.0; + out_1116503706765055069[97] = 0.0; + out_1116503706765055069[98] = 0.0; + out_1116503706765055069[99] = 0.0; + out_1116503706765055069[100] = 0.0; + out_1116503706765055069[101] = 0.0; + out_1116503706765055069[102] = 0.0; + out_1116503706765055069[103] = 0.0; + out_1116503706765055069[104] = 0.0; + out_1116503706765055069[105] = 0.0; + out_1116503706765055069[106] = 0.0; + out_1116503706765055069[107] = 0.0; + out_1116503706765055069[108] = 0.0; + out_1116503706765055069[109] = 0.0; + out_1116503706765055069[110] = 0.0; + out_1116503706765055069[111] = 0.0; + out_1116503706765055069[112] = 0.0; + out_1116503706765055069[113] = 0.0; + out_1116503706765055069[114] = 1.0; + out_1116503706765055069[115] = 0.0; + out_1116503706765055069[116] = 0.0; + out_1116503706765055069[117] = 0.0; + out_1116503706765055069[118] = 0.0; + out_1116503706765055069[119] = 0.0; + out_1116503706765055069[120] = 0.0; + out_1116503706765055069[121] = 0.0; + out_1116503706765055069[122] = 0.0; + out_1116503706765055069[123] = 0.0; + out_1116503706765055069[124] = 0.0; + out_1116503706765055069[125] = 0.0; + out_1116503706765055069[126] = 0.0; + out_1116503706765055069[127] = 0.0; + out_1116503706765055069[128] = 0.0; + out_1116503706765055069[129] = 0.0; + out_1116503706765055069[130] = 0.0; + out_1116503706765055069[131] = 0.0; + out_1116503706765055069[132] = 0.0; + out_1116503706765055069[133] = 1.0; + out_1116503706765055069[134] = 0.0; + out_1116503706765055069[135] = 0.0; + out_1116503706765055069[136] = 0.0; + out_1116503706765055069[137] = 0.0; + out_1116503706765055069[138] = 0.0; + out_1116503706765055069[139] = 0.0; + out_1116503706765055069[140] = 0.0; + out_1116503706765055069[141] = 0.0; + out_1116503706765055069[142] = 0.0; + out_1116503706765055069[143] = 0.0; + out_1116503706765055069[144] = 0.0; + out_1116503706765055069[145] = 0.0; + out_1116503706765055069[146] = 0.0; + out_1116503706765055069[147] = 0.0; + out_1116503706765055069[148] = 0.0; + out_1116503706765055069[149] = 0.0; + out_1116503706765055069[150] = 0.0; + out_1116503706765055069[151] = 0.0; + out_1116503706765055069[152] = 1.0; + out_1116503706765055069[153] = 0.0; + out_1116503706765055069[154] = 0.0; + out_1116503706765055069[155] = 0.0; + out_1116503706765055069[156] = 0.0; + out_1116503706765055069[157] = 0.0; + out_1116503706765055069[158] = 0.0; + out_1116503706765055069[159] = 0.0; + out_1116503706765055069[160] = 0.0; + out_1116503706765055069[161] = 0.0; + out_1116503706765055069[162] = 0.0; + out_1116503706765055069[163] = 0.0; + out_1116503706765055069[164] = 0.0; + out_1116503706765055069[165] = 0.0; + out_1116503706765055069[166] = 0.0; + out_1116503706765055069[167] = 0.0; + out_1116503706765055069[168] = 0.0; + out_1116503706765055069[169] = 0.0; + out_1116503706765055069[170] = 0.0; + out_1116503706765055069[171] = 1.0; + out_1116503706765055069[172] = 0.0; + out_1116503706765055069[173] = 0.0; + out_1116503706765055069[174] = 0.0; + out_1116503706765055069[175] = 0.0; + out_1116503706765055069[176] = 0.0; + out_1116503706765055069[177] = 0.0; + out_1116503706765055069[178] = 0.0; + out_1116503706765055069[179] = 0.0; + out_1116503706765055069[180] = 0.0; + out_1116503706765055069[181] = 0.0; + out_1116503706765055069[182] = 0.0; + out_1116503706765055069[183] = 0.0; + out_1116503706765055069[184] = 0.0; + out_1116503706765055069[185] = 0.0; + out_1116503706765055069[186] = 0.0; + out_1116503706765055069[187] = 0.0; + out_1116503706765055069[188] = 0.0; + out_1116503706765055069[189] = 0.0; + out_1116503706765055069[190] = 1.0; + out_1116503706765055069[191] = 0.0; + out_1116503706765055069[192] = 0.0; + out_1116503706765055069[193] = 0.0; + out_1116503706765055069[194] = 0.0; + out_1116503706765055069[195] = 0.0; + out_1116503706765055069[196] = 0.0; + out_1116503706765055069[197] = 0.0; + out_1116503706765055069[198] = 0.0; + out_1116503706765055069[199] = 0.0; + out_1116503706765055069[200] = 0.0; + out_1116503706765055069[201] = 0.0; + out_1116503706765055069[202] = 0.0; + out_1116503706765055069[203] = 0.0; + out_1116503706765055069[204] = 0.0; + out_1116503706765055069[205] = 0.0; + out_1116503706765055069[206] = 0.0; + out_1116503706765055069[207] = 0.0; + out_1116503706765055069[208] = 0.0; + out_1116503706765055069[209] = 1.0; + out_1116503706765055069[210] = 0.0; + out_1116503706765055069[211] = 0.0; + out_1116503706765055069[212] = 0.0; + out_1116503706765055069[213] = 0.0; + out_1116503706765055069[214] = 0.0; + out_1116503706765055069[215] = 0.0; + out_1116503706765055069[216] = 0.0; + out_1116503706765055069[217] = 0.0; + out_1116503706765055069[218] = 0.0; + out_1116503706765055069[219] = 0.0; + out_1116503706765055069[220] = 0.0; + out_1116503706765055069[221] = 0.0; + out_1116503706765055069[222] = 0.0; + out_1116503706765055069[223] = 0.0; + out_1116503706765055069[224] = 0.0; + out_1116503706765055069[225] = 0.0; + out_1116503706765055069[226] = 0.0; + out_1116503706765055069[227] = 0.0; + out_1116503706765055069[228] = 1.0; + out_1116503706765055069[229] = 0.0; + out_1116503706765055069[230] = 0.0; + out_1116503706765055069[231] = 0.0; + out_1116503706765055069[232] = 0.0; + out_1116503706765055069[233] = 0.0; + out_1116503706765055069[234] = 0.0; + out_1116503706765055069[235] = 0.0; + out_1116503706765055069[236] = 0.0; + out_1116503706765055069[237] = 0.0; + out_1116503706765055069[238] = 0.0; + out_1116503706765055069[239] = 0.0; + out_1116503706765055069[240] = 0.0; + out_1116503706765055069[241] = 0.0; + out_1116503706765055069[242] = 0.0; + out_1116503706765055069[243] = 0.0; + out_1116503706765055069[244] = 0.0; + out_1116503706765055069[245] = 0.0; + out_1116503706765055069[246] = 0.0; + out_1116503706765055069[247] = 1.0; + out_1116503706765055069[248] = 0.0; + out_1116503706765055069[249] = 0.0; + out_1116503706765055069[250] = 0.0; + out_1116503706765055069[251] = 0.0; + out_1116503706765055069[252] = 0.0; + out_1116503706765055069[253] = 0.0; + out_1116503706765055069[254] = 0.0; + out_1116503706765055069[255] = 0.0; + out_1116503706765055069[256] = 0.0; + out_1116503706765055069[257] = 0.0; + out_1116503706765055069[258] = 0.0; + out_1116503706765055069[259] = 0.0; + out_1116503706765055069[260] = 0.0; + out_1116503706765055069[261] = 0.0; + out_1116503706765055069[262] = 0.0; + out_1116503706765055069[263] = 0.0; + out_1116503706765055069[264] = 0.0; + out_1116503706765055069[265] = 0.0; + out_1116503706765055069[266] = 1.0; + out_1116503706765055069[267] = 0.0; + out_1116503706765055069[268] = 0.0; + out_1116503706765055069[269] = 0.0; + out_1116503706765055069[270] = 0.0; + out_1116503706765055069[271] = 0.0; + out_1116503706765055069[272] = 0.0; + out_1116503706765055069[273] = 0.0; + out_1116503706765055069[274] = 0.0; + out_1116503706765055069[275] = 0.0; + out_1116503706765055069[276] = 0.0; + out_1116503706765055069[277] = 0.0; + out_1116503706765055069[278] = 0.0; + out_1116503706765055069[279] = 0.0; + out_1116503706765055069[280] = 0.0; + out_1116503706765055069[281] = 0.0; + out_1116503706765055069[282] = 0.0; + out_1116503706765055069[283] = 0.0; + out_1116503706765055069[284] = 0.0; + out_1116503706765055069[285] = 1.0; + out_1116503706765055069[286] = 0.0; + out_1116503706765055069[287] = 0.0; + out_1116503706765055069[288] = 0.0; + out_1116503706765055069[289] = 0.0; + out_1116503706765055069[290] = 0.0; + out_1116503706765055069[291] = 0.0; + out_1116503706765055069[292] = 0.0; + out_1116503706765055069[293] = 0.0; + out_1116503706765055069[294] = 0.0; + out_1116503706765055069[295] = 0.0; + out_1116503706765055069[296] = 0.0; + out_1116503706765055069[297] = 0.0; + out_1116503706765055069[298] = 0.0; + out_1116503706765055069[299] = 0.0; + out_1116503706765055069[300] = 0.0; + out_1116503706765055069[301] = 0.0; + out_1116503706765055069[302] = 0.0; + out_1116503706765055069[303] = 0.0; + out_1116503706765055069[304] = 1.0; + out_1116503706765055069[305] = 0.0; + out_1116503706765055069[306] = 0.0; + out_1116503706765055069[307] = 0.0; + out_1116503706765055069[308] = 0.0; + out_1116503706765055069[309] = 0.0; + out_1116503706765055069[310] = 0.0; + out_1116503706765055069[311] = 0.0; + out_1116503706765055069[312] = 0.0; + out_1116503706765055069[313] = 0.0; + out_1116503706765055069[314] = 0.0; + out_1116503706765055069[315] = 0.0; + out_1116503706765055069[316] = 0.0; + out_1116503706765055069[317] = 0.0; + out_1116503706765055069[318] = 0.0; + out_1116503706765055069[319] = 0.0; + out_1116503706765055069[320] = 0.0; + out_1116503706765055069[321] = 0.0; + out_1116503706765055069[322] = 0.0; + out_1116503706765055069[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1884549682660320153) { - out_1884549682660320153[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_1884549682660320153[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_1884549682660320153[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_1884549682660320153[3] = dt*state[12] + state[3]; - out_1884549682660320153[4] = dt*state[13] + state[4]; - out_1884549682660320153[5] = dt*state[14] + state[5]; - out_1884549682660320153[6] = state[6]; - out_1884549682660320153[7] = state[7]; - out_1884549682660320153[8] = state[8]; - out_1884549682660320153[9] = state[9]; - out_1884549682660320153[10] = state[10]; - out_1884549682660320153[11] = state[11]; - out_1884549682660320153[12] = state[12]; - out_1884549682660320153[13] = state[13]; - out_1884549682660320153[14] = state[14]; - out_1884549682660320153[15] = state[15]; - out_1884549682660320153[16] = state[16]; - out_1884549682660320153[17] = state[17]; +void f_fun(double *state, double dt, double *out_2317659772838150308) { + out_2317659772838150308[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_2317659772838150308[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_2317659772838150308[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_2317659772838150308[3] = dt*state[12] + state[3]; + out_2317659772838150308[4] = dt*state[13] + state[4]; + out_2317659772838150308[5] = dt*state[14] + state[5]; + out_2317659772838150308[6] = state[6]; + out_2317659772838150308[7] = state[7]; + out_2317659772838150308[8] = state[8]; + out_2317659772838150308[9] = state[9]; + out_2317659772838150308[10] = state[10]; + out_2317659772838150308[11] = state[11]; + out_2317659772838150308[12] = state[12]; + out_2317659772838150308[13] = state[13]; + out_2317659772838150308[14] = state[14]; + out_2317659772838150308[15] = state[15]; + out_2317659772838150308[16] = state[16]; + out_2317659772838150308[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2096520336867054981) { - out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[2] = 0; - out_2096520336867054981[3] = 0; - out_2096520336867054981[4] = 0; - out_2096520336867054981[5] = 0; - out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[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_2096520336867054981[9] = 0; - out_2096520336867054981[10] = 0; - out_2096520336867054981[11] = 0; - out_2096520336867054981[12] = 0; - out_2096520336867054981[13] = 0; - out_2096520336867054981[14] = 0; - out_2096520336867054981[15] = 0; - out_2096520336867054981[16] = 0; - out_2096520336867054981[17] = 0; - out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[20] = 0; - out_2096520336867054981[21] = 0; - out_2096520336867054981[22] = 0; - out_2096520336867054981[23] = 0; - out_2096520336867054981[24] = 0; - out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[27] = 0; - out_2096520336867054981[28] = 0; - out_2096520336867054981[29] = 0; - out_2096520336867054981[30] = 0; - out_2096520336867054981[31] = 0; - out_2096520336867054981[32] = 0; - out_2096520336867054981[33] = 0; - out_2096520336867054981[34] = 0; - out_2096520336867054981[35] = 0; - out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[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_2096520336867054981[39] = 0; - out_2096520336867054981[40] = 0; - out_2096520336867054981[41] = 0; - out_2096520336867054981[42] = 0; - out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[45] = 0; - out_2096520336867054981[46] = 0; - out_2096520336867054981[47] = 0; - out_2096520336867054981[48] = 0; - out_2096520336867054981[49] = 0; - out_2096520336867054981[50] = 0; - out_2096520336867054981[51] = 0; - out_2096520336867054981[52] = 0; - out_2096520336867054981[53] = 0; - out_2096520336867054981[54] = 0; - out_2096520336867054981[55] = 0; - out_2096520336867054981[56] = 0; - out_2096520336867054981[57] = 1; - out_2096520336867054981[58] = 0; - out_2096520336867054981[59] = 0; - out_2096520336867054981[60] = 0; - out_2096520336867054981[61] = 0; - out_2096520336867054981[62] = 0; - out_2096520336867054981[63] = 0; - out_2096520336867054981[64] = 0; - out_2096520336867054981[65] = 0; - out_2096520336867054981[66] = dt; - out_2096520336867054981[67] = 0; - out_2096520336867054981[68] = 0; - out_2096520336867054981[69] = 0; - out_2096520336867054981[70] = 0; - out_2096520336867054981[71] = 0; - out_2096520336867054981[72] = 0; - out_2096520336867054981[73] = 0; - out_2096520336867054981[74] = 0; - out_2096520336867054981[75] = 0; - out_2096520336867054981[76] = 1; - out_2096520336867054981[77] = 0; - out_2096520336867054981[78] = 0; - out_2096520336867054981[79] = 0; - out_2096520336867054981[80] = 0; - out_2096520336867054981[81] = 0; - out_2096520336867054981[82] = 0; - out_2096520336867054981[83] = 0; - out_2096520336867054981[84] = 0; - out_2096520336867054981[85] = dt; - out_2096520336867054981[86] = 0; - out_2096520336867054981[87] = 0; - out_2096520336867054981[88] = 0; - out_2096520336867054981[89] = 0; - out_2096520336867054981[90] = 0; - out_2096520336867054981[91] = 0; - out_2096520336867054981[92] = 0; - out_2096520336867054981[93] = 0; - out_2096520336867054981[94] = 0; - out_2096520336867054981[95] = 1; - out_2096520336867054981[96] = 0; - out_2096520336867054981[97] = 0; - out_2096520336867054981[98] = 0; - out_2096520336867054981[99] = 0; - out_2096520336867054981[100] = 0; - out_2096520336867054981[101] = 0; - out_2096520336867054981[102] = 0; - out_2096520336867054981[103] = 0; - out_2096520336867054981[104] = dt; - out_2096520336867054981[105] = 0; - out_2096520336867054981[106] = 0; - out_2096520336867054981[107] = 0; - out_2096520336867054981[108] = 0; - out_2096520336867054981[109] = 0; - out_2096520336867054981[110] = 0; - out_2096520336867054981[111] = 0; - out_2096520336867054981[112] = 0; - out_2096520336867054981[113] = 0; - out_2096520336867054981[114] = 1; - out_2096520336867054981[115] = 0; - out_2096520336867054981[116] = 0; - out_2096520336867054981[117] = 0; - out_2096520336867054981[118] = 0; - out_2096520336867054981[119] = 0; - out_2096520336867054981[120] = 0; - out_2096520336867054981[121] = 0; - out_2096520336867054981[122] = 0; - out_2096520336867054981[123] = 0; - out_2096520336867054981[124] = 0; - out_2096520336867054981[125] = 0; - out_2096520336867054981[126] = 0; - out_2096520336867054981[127] = 0; - out_2096520336867054981[128] = 0; - out_2096520336867054981[129] = 0; - out_2096520336867054981[130] = 0; - out_2096520336867054981[131] = 0; - out_2096520336867054981[132] = 0; - out_2096520336867054981[133] = 1; - out_2096520336867054981[134] = 0; - out_2096520336867054981[135] = 0; - out_2096520336867054981[136] = 0; - out_2096520336867054981[137] = 0; - out_2096520336867054981[138] = 0; - out_2096520336867054981[139] = 0; - out_2096520336867054981[140] = 0; - out_2096520336867054981[141] = 0; - out_2096520336867054981[142] = 0; - out_2096520336867054981[143] = 0; - out_2096520336867054981[144] = 0; - out_2096520336867054981[145] = 0; - out_2096520336867054981[146] = 0; - out_2096520336867054981[147] = 0; - out_2096520336867054981[148] = 0; - out_2096520336867054981[149] = 0; - out_2096520336867054981[150] = 0; - out_2096520336867054981[151] = 0; - out_2096520336867054981[152] = 1; - out_2096520336867054981[153] = 0; - out_2096520336867054981[154] = 0; - out_2096520336867054981[155] = 0; - out_2096520336867054981[156] = 0; - out_2096520336867054981[157] = 0; - out_2096520336867054981[158] = 0; - out_2096520336867054981[159] = 0; - out_2096520336867054981[160] = 0; - out_2096520336867054981[161] = 0; - out_2096520336867054981[162] = 0; - out_2096520336867054981[163] = 0; - out_2096520336867054981[164] = 0; - out_2096520336867054981[165] = 0; - out_2096520336867054981[166] = 0; - out_2096520336867054981[167] = 0; - out_2096520336867054981[168] = 0; - out_2096520336867054981[169] = 0; - out_2096520336867054981[170] = 0; - out_2096520336867054981[171] = 1; - out_2096520336867054981[172] = 0; - out_2096520336867054981[173] = 0; - out_2096520336867054981[174] = 0; - out_2096520336867054981[175] = 0; - out_2096520336867054981[176] = 0; - out_2096520336867054981[177] = 0; - out_2096520336867054981[178] = 0; - out_2096520336867054981[179] = 0; - out_2096520336867054981[180] = 0; - out_2096520336867054981[181] = 0; - out_2096520336867054981[182] = 0; - out_2096520336867054981[183] = 0; - out_2096520336867054981[184] = 0; - out_2096520336867054981[185] = 0; - out_2096520336867054981[186] = 0; - out_2096520336867054981[187] = 0; - out_2096520336867054981[188] = 0; - out_2096520336867054981[189] = 0; - out_2096520336867054981[190] = 1; - out_2096520336867054981[191] = 0; - out_2096520336867054981[192] = 0; - out_2096520336867054981[193] = 0; - out_2096520336867054981[194] = 0; - out_2096520336867054981[195] = 0; - out_2096520336867054981[196] = 0; - out_2096520336867054981[197] = 0; - out_2096520336867054981[198] = 0; - out_2096520336867054981[199] = 0; - out_2096520336867054981[200] = 0; - out_2096520336867054981[201] = 0; - out_2096520336867054981[202] = 0; - out_2096520336867054981[203] = 0; - out_2096520336867054981[204] = 0; - out_2096520336867054981[205] = 0; - out_2096520336867054981[206] = 0; - out_2096520336867054981[207] = 0; - out_2096520336867054981[208] = 0; - out_2096520336867054981[209] = 1; - out_2096520336867054981[210] = 0; - out_2096520336867054981[211] = 0; - out_2096520336867054981[212] = 0; - out_2096520336867054981[213] = 0; - out_2096520336867054981[214] = 0; - out_2096520336867054981[215] = 0; - out_2096520336867054981[216] = 0; - out_2096520336867054981[217] = 0; - out_2096520336867054981[218] = 0; - out_2096520336867054981[219] = 0; - out_2096520336867054981[220] = 0; - out_2096520336867054981[221] = 0; - out_2096520336867054981[222] = 0; - out_2096520336867054981[223] = 0; - out_2096520336867054981[224] = 0; - out_2096520336867054981[225] = 0; - out_2096520336867054981[226] = 0; - out_2096520336867054981[227] = 0; - out_2096520336867054981[228] = 1; - out_2096520336867054981[229] = 0; - out_2096520336867054981[230] = 0; - out_2096520336867054981[231] = 0; - out_2096520336867054981[232] = 0; - out_2096520336867054981[233] = 0; - out_2096520336867054981[234] = 0; - out_2096520336867054981[235] = 0; - out_2096520336867054981[236] = 0; - out_2096520336867054981[237] = 0; - out_2096520336867054981[238] = 0; - out_2096520336867054981[239] = 0; - out_2096520336867054981[240] = 0; - out_2096520336867054981[241] = 0; - out_2096520336867054981[242] = 0; - out_2096520336867054981[243] = 0; - out_2096520336867054981[244] = 0; - out_2096520336867054981[245] = 0; - out_2096520336867054981[246] = 0; - out_2096520336867054981[247] = 1; - out_2096520336867054981[248] = 0; - out_2096520336867054981[249] = 0; - out_2096520336867054981[250] = 0; - out_2096520336867054981[251] = 0; - out_2096520336867054981[252] = 0; - out_2096520336867054981[253] = 0; - out_2096520336867054981[254] = 0; - out_2096520336867054981[255] = 0; - out_2096520336867054981[256] = 0; - out_2096520336867054981[257] = 0; - out_2096520336867054981[258] = 0; - out_2096520336867054981[259] = 0; - out_2096520336867054981[260] = 0; - out_2096520336867054981[261] = 0; - out_2096520336867054981[262] = 0; - out_2096520336867054981[263] = 0; - out_2096520336867054981[264] = 0; - out_2096520336867054981[265] = 0; - out_2096520336867054981[266] = 1; - out_2096520336867054981[267] = 0; - out_2096520336867054981[268] = 0; - out_2096520336867054981[269] = 0; - out_2096520336867054981[270] = 0; - out_2096520336867054981[271] = 0; - out_2096520336867054981[272] = 0; - out_2096520336867054981[273] = 0; - out_2096520336867054981[274] = 0; - out_2096520336867054981[275] = 0; - out_2096520336867054981[276] = 0; - out_2096520336867054981[277] = 0; - out_2096520336867054981[278] = 0; - out_2096520336867054981[279] = 0; - out_2096520336867054981[280] = 0; - out_2096520336867054981[281] = 0; - out_2096520336867054981[282] = 0; - out_2096520336867054981[283] = 0; - out_2096520336867054981[284] = 0; - out_2096520336867054981[285] = 1; - out_2096520336867054981[286] = 0; - out_2096520336867054981[287] = 0; - out_2096520336867054981[288] = 0; - out_2096520336867054981[289] = 0; - out_2096520336867054981[290] = 0; - out_2096520336867054981[291] = 0; - out_2096520336867054981[292] = 0; - out_2096520336867054981[293] = 0; - out_2096520336867054981[294] = 0; - out_2096520336867054981[295] = 0; - out_2096520336867054981[296] = 0; - out_2096520336867054981[297] = 0; - out_2096520336867054981[298] = 0; - out_2096520336867054981[299] = 0; - out_2096520336867054981[300] = 0; - out_2096520336867054981[301] = 0; - out_2096520336867054981[302] = 0; - out_2096520336867054981[303] = 0; - out_2096520336867054981[304] = 1; - out_2096520336867054981[305] = 0; - out_2096520336867054981[306] = 0; - out_2096520336867054981[307] = 0; - out_2096520336867054981[308] = 0; - out_2096520336867054981[309] = 0; - out_2096520336867054981[310] = 0; - out_2096520336867054981[311] = 0; - out_2096520336867054981[312] = 0; - out_2096520336867054981[313] = 0; - out_2096520336867054981[314] = 0; - out_2096520336867054981[315] = 0; - out_2096520336867054981[316] = 0; - out_2096520336867054981[317] = 0; - out_2096520336867054981[318] = 0; - out_2096520336867054981[319] = 0; - out_2096520336867054981[320] = 0; - out_2096520336867054981[321] = 0; - out_2096520336867054981[322] = 0; - out_2096520336867054981[323] = 1; +void F_fun(double *state, double dt, double *out_6164130103148092652) { + out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[2] = 0; + out_6164130103148092652[3] = 0; + out_6164130103148092652[4] = 0; + out_6164130103148092652[5] = 0; + out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[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_6164130103148092652[9] = 0; + out_6164130103148092652[10] = 0; + out_6164130103148092652[11] = 0; + out_6164130103148092652[12] = 0; + out_6164130103148092652[13] = 0; + out_6164130103148092652[14] = 0; + out_6164130103148092652[15] = 0; + out_6164130103148092652[16] = 0; + out_6164130103148092652[17] = 0; + out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[20] = 0; + out_6164130103148092652[21] = 0; + out_6164130103148092652[22] = 0; + out_6164130103148092652[23] = 0; + out_6164130103148092652[24] = 0; + out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[27] = 0; + out_6164130103148092652[28] = 0; + out_6164130103148092652[29] = 0; + out_6164130103148092652[30] = 0; + out_6164130103148092652[31] = 0; + out_6164130103148092652[32] = 0; + out_6164130103148092652[33] = 0; + out_6164130103148092652[34] = 0; + out_6164130103148092652[35] = 0; + out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[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_6164130103148092652[39] = 0; + out_6164130103148092652[40] = 0; + out_6164130103148092652[41] = 0; + out_6164130103148092652[42] = 0; + out_6164130103148092652[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_6164130103148092652[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_6164130103148092652[45] = 0; + out_6164130103148092652[46] = 0; + out_6164130103148092652[47] = 0; + out_6164130103148092652[48] = 0; + out_6164130103148092652[49] = 0; + out_6164130103148092652[50] = 0; + out_6164130103148092652[51] = 0; + out_6164130103148092652[52] = 0; + out_6164130103148092652[53] = 0; + out_6164130103148092652[54] = 0; + out_6164130103148092652[55] = 0; + out_6164130103148092652[56] = 0; + out_6164130103148092652[57] = 1; + out_6164130103148092652[58] = 0; + out_6164130103148092652[59] = 0; + out_6164130103148092652[60] = 0; + out_6164130103148092652[61] = 0; + out_6164130103148092652[62] = 0; + out_6164130103148092652[63] = 0; + out_6164130103148092652[64] = 0; + out_6164130103148092652[65] = 0; + out_6164130103148092652[66] = dt; + out_6164130103148092652[67] = 0; + out_6164130103148092652[68] = 0; + out_6164130103148092652[69] = 0; + out_6164130103148092652[70] = 0; + out_6164130103148092652[71] = 0; + out_6164130103148092652[72] = 0; + out_6164130103148092652[73] = 0; + out_6164130103148092652[74] = 0; + out_6164130103148092652[75] = 0; + out_6164130103148092652[76] = 1; + out_6164130103148092652[77] = 0; + out_6164130103148092652[78] = 0; + out_6164130103148092652[79] = 0; + out_6164130103148092652[80] = 0; + out_6164130103148092652[81] = 0; + out_6164130103148092652[82] = 0; + out_6164130103148092652[83] = 0; + out_6164130103148092652[84] = 0; + out_6164130103148092652[85] = dt; + out_6164130103148092652[86] = 0; + out_6164130103148092652[87] = 0; + out_6164130103148092652[88] = 0; + out_6164130103148092652[89] = 0; + out_6164130103148092652[90] = 0; + out_6164130103148092652[91] = 0; + out_6164130103148092652[92] = 0; + out_6164130103148092652[93] = 0; + out_6164130103148092652[94] = 0; + out_6164130103148092652[95] = 1; + out_6164130103148092652[96] = 0; + out_6164130103148092652[97] = 0; + out_6164130103148092652[98] = 0; + out_6164130103148092652[99] = 0; + out_6164130103148092652[100] = 0; + out_6164130103148092652[101] = 0; + out_6164130103148092652[102] = 0; + out_6164130103148092652[103] = 0; + out_6164130103148092652[104] = dt; + out_6164130103148092652[105] = 0; + out_6164130103148092652[106] = 0; + out_6164130103148092652[107] = 0; + out_6164130103148092652[108] = 0; + out_6164130103148092652[109] = 0; + out_6164130103148092652[110] = 0; + out_6164130103148092652[111] = 0; + out_6164130103148092652[112] = 0; + out_6164130103148092652[113] = 0; + out_6164130103148092652[114] = 1; + out_6164130103148092652[115] = 0; + out_6164130103148092652[116] = 0; + out_6164130103148092652[117] = 0; + out_6164130103148092652[118] = 0; + out_6164130103148092652[119] = 0; + out_6164130103148092652[120] = 0; + out_6164130103148092652[121] = 0; + out_6164130103148092652[122] = 0; + out_6164130103148092652[123] = 0; + out_6164130103148092652[124] = 0; + out_6164130103148092652[125] = 0; + out_6164130103148092652[126] = 0; + out_6164130103148092652[127] = 0; + out_6164130103148092652[128] = 0; + out_6164130103148092652[129] = 0; + out_6164130103148092652[130] = 0; + out_6164130103148092652[131] = 0; + out_6164130103148092652[132] = 0; + out_6164130103148092652[133] = 1; + out_6164130103148092652[134] = 0; + out_6164130103148092652[135] = 0; + out_6164130103148092652[136] = 0; + out_6164130103148092652[137] = 0; + out_6164130103148092652[138] = 0; + out_6164130103148092652[139] = 0; + out_6164130103148092652[140] = 0; + out_6164130103148092652[141] = 0; + out_6164130103148092652[142] = 0; + out_6164130103148092652[143] = 0; + out_6164130103148092652[144] = 0; + out_6164130103148092652[145] = 0; + out_6164130103148092652[146] = 0; + out_6164130103148092652[147] = 0; + out_6164130103148092652[148] = 0; + out_6164130103148092652[149] = 0; + out_6164130103148092652[150] = 0; + out_6164130103148092652[151] = 0; + out_6164130103148092652[152] = 1; + out_6164130103148092652[153] = 0; + out_6164130103148092652[154] = 0; + out_6164130103148092652[155] = 0; + out_6164130103148092652[156] = 0; + out_6164130103148092652[157] = 0; + out_6164130103148092652[158] = 0; + out_6164130103148092652[159] = 0; + out_6164130103148092652[160] = 0; + out_6164130103148092652[161] = 0; + out_6164130103148092652[162] = 0; + out_6164130103148092652[163] = 0; + out_6164130103148092652[164] = 0; + out_6164130103148092652[165] = 0; + out_6164130103148092652[166] = 0; + out_6164130103148092652[167] = 0; + out_6164130103148092652[168] = 0; + out_6164130103148092652[169] = 0; + out_6164130103148092652[170] = 0; + out_6164130103148092652[171] = 1; + out_6164130103148092652[172] = 0; + out_6164130103148092652[173] = 0; + out_6164130103148092652[174] = 0; + out_6164130103148092652[175] = 0; + out_6164130103148092652[176] = 0; + out_6164130103148092652[177] = 0; + out_6164130103148092652[178] = 0; + out_6164130103148092652[179] = 0; + out_6164130103148092652[180] = 0; + out_6164130103148092652[181] = 0; + out_6164130103148092652[182] = 0; + out_6164130103148092652[183] = 0; + out_6164130103148092652[184] = 0; + out_6164130103148092652[185] = 0; + out_6164130103148092652[186] = 0; + out_6164130103148092652[187] = 0; + out_6164130103148092652[188] = 0; + out_6164130103148092652[189] = 0; + out_6164130103148092652[190] = 1; + out_6164130103148092652[191] = 0; + out_6164130103148092652[192] = 0; + out_6164130103148092652[193] = 0; + out_6164130103148092652[194] = 0; + out_6164130103148092652[195] = 0; + out_6164130103148092652[196] = 0; + out_6164130103148092652[197] = 0; + out_6164130103148092652[198] = 0; + out_6164130103148092652[199] = 0; + out_6164130103148092652[200] = 0; + out_6164130103148092652[201] = 0; + out_6164130103148092652[202] = 0; + out_6164130103148092652[203] = 0; + out_6164130103148092652[204] = 0; + out_6164130103148092652[205] = 0; + out_6164130103148092652[206] = 0; + out_6164130103148092652[207] = 0; + out_6164130103148092652[208] = 0; + out_6164130103148092652[209] = 1; + out_6164130103148092652[210] = 0; + out_6164130103148092652[211] = 0; + out_6164130103148092652[212] = 0; + out_6164130103148092652[213] = 0; + out_6164130103148092652[214] = 0; + out_6164130103148092652[215] = 0; + out_6164130103148092652[216] = 0; + out_6164130103148092652[217] = 0; + out_6164130103148092652[218] = 0; + out_6164130103148092652[219] = 0; + out_6164130103148092652[220] = 0; + out_6164130103148092652[221] = 0; + out_6164130103148092652[222] = 0; + out_6164130103148092652[223] = 0; + out_6164130103148092652[224] = 0; + out_6164130103148092652[225] = 0; + out_6164130103148092652[226] = 0; + out_6164130103148092652[227] = 0; + out_6164130103148092652[228] = 1; + out_6164130103148092652[229] = 0; + out_6164130103148092652[230] = 0; + out_6164130103148092652[231] = 0; + out_6164130103148092652[232] = 0; + out_6164130103148092652[233] = 0; + out_6164130103148092652[234] = 0; + out_6164130103148092652[235] = 0; + out_6164130103148092652[236] = 0; + out_6164130103148092652[237] = 0; + out_6164130103148092652[238] = 0; + out_6164130103148092652[239] = 0; + out_6164130103148092652[240] = 0; + out_6164130103148092652[241] = 0; + out_6164130103148092652[242] = 0; + out_6164130103148092652[243] = 0; + out_6164130103148092652[244] = 0; + out_6164130103148092652[245] = 0; + out_6164130103148092652[246] = 0; + out_6164130103148092652[247] = 1; + out_6164130103148092652[248] = 0; + out_6164130103148092652[249] = 0; + out_6164130103148092652[250] = 0; + out_6164130103148092652[251] = 0; + out_6164130103148092652[252] = 0; + out_6164130103148092652[253] = 0; + out_6164130103148092652[254] = 0; + out_6164130103148092652[255] = 0; + out_6164130103148092652[256] = 0; + out_6164130103148092652[257] = 0; + out_6164130103148092652[258] = 0; + out_6164130103148092652[259] = 0; + out_6164130103148092652[260] = 0; + out_6164130103148092652[261] = 0; + out_6164130103148092652[262] = 0; + out_6164130103148092652[263] = 0; + out_6164130103148092652[264] = 0; + out_6164130103148092652[265] = 0; + out_6164130103148092652[266] = 1; + out_6164130103148092652[267] = 0; + out_6164130103148092652[268] = 0; + out_6164130103148092652[269] = 0; + out_6164130103148092652[270] = 0; + out_6164130103148092652[271] = 0; + out_6164130103148092652[272] = 0; + out_6164130103148092652[273] = 0; + out_6164130103148092652[274] = 0; + out_6164130103148092652[275] = 0; + out_6164130103148092652[276] = 0; + out_6164130103148092652[277] = 0; + out_6164130103148092652[278] = 0; + out_6164130103148092652[279] = 0; + out_6164130103148092652[280] = 0; + out_6164130103148092652[281] = 0; + out_6164130103148092652[282] = 0; + out_6164130103148092652[283] = 0; + out_6164130103148092652[284] = 0; + out_6164130103148092652[285] = 1; + out_6164130103148092652[286] = 0; + out_6164130103148092652[287] = 0; + out_6164130103148092652[288] = 0; + out_6164130103148092652[289] = 0; + out_6164130103148092652[290] = 0; + out_6164130103148092652[291] = 0; + out_6164130103148092652[292] = 0; + out_6164130103148092652[293] = 0; + out_6164130103148092652[294] = 0; + out_6164130103148092652[295] = 0; + out_6164130103148092652[296] = 0; + out_6164130103148092652[297] = 0; + out_6164130103148092652[298] = 0; + out_6164130103148092652[299] = 0; + out_6164130103148092652[300] = 0; + out_6164130103148092652[301] = 0; + out_6164130103148092652[302] = 0; + out_6164130103148092652[303] = 0; + out_6164130103148092652[304] = 1; + out_6164130103148092652[305] = 0; + out_6164130103148092652[306] = 0; + out_6164130103148092652[307] = 0; + out_6164130103148092652[308] = 0; + out_6164130103148092652[309] = 0; + out_6164130103148092652[310] = 0; + out_6164130103148092652[311] = 0; + out_6164130103148092652[312] = 0; + out_6164130103148092652[313] = 0; + out_6164130103148092652[314] = 0; + out_6164130103148092652[315] = 0; + out_6164130103148092652[316] = 0; + out_6164130103148092652[317] = 0; + out_6164130103148092652[318] = 0; + out_6164130103148092652[319] = 0; + out_6164130103148092652[320] = 0; + out_6164130103148092652[321] = 0; + out_6164130103148092652[322] = 0; + out_6164130103148092652[323] = 1; } -void h_4(double *state, double *unused, double *out_2454407190288685983) { - out_2454407190288685983[0] = state[6] + state[9]; - out_2454407190288685983[1] = state[7] + state[10]; - out_2454407190288685983[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2811574505702470007) { + out_2811574505702470007[0] = state[6] + state[9]; + out_2811574505702470007[1] = state[7] + state[10]; + out_2811574505702470007[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_6670579099539515919) { - out_6670579099539515919[0] = 0; - out_6670579099539515919[1] = 0; - out_6670579099539515919[2] = 0; - out_6670579099539515919[3] = 0; - out_6670579099539515919[4] = 0; - out_6670579099539515919[5] = 0; - out_6670579099539515919[6] = 1; - out_6670579099539515919[7] = 0; - out_6670579099539515919[8] = 0; - out_6670579099539515919[9] = 1; - out_6670579099539515919[10] = 0; - out_6670579099539515919[11] = 0; - out_6670579099539515919[12] = 0; - out_6670579099539515919[13] = 0; - out_6670579099539515919[14] = 0; - out_6670579099539515919[15] = 0; - out_6670579099539515919[16] = 0; - out_6670579099539515919[17] = 0; - out_6670579099539515919[18] = 0; - out_6670579099539515919[19] = 0; - out_6670579099539515919[20] = 0; - out_6670579099539515919[21] = 0; - out_6670579099539515919[22] = 0; - out_6670579099539515919[23] = 0; - out_6670579099539515919[24] = 0; - out_6670579099539515919[25] = 1; - out_6670579099539515919[26] = 0; - out_6670579099539515919[27] = 0; - out_6670579099539515919[28] = 1; - out_6670579099539515919[29] = 0; - out_6670579099539515919[30] = 0; - out_6670579099539515919[31] = 0; - out_6670579099539515919[32] = 0; - out_6670579099539515919[33] = 0; - out_6670579099539515919[34] = 0; - out_6670579099539515919[35] = 0; - out_6670579099539515919[36] = 0; - out_6670579099539515919[37] = 0; - out_6670579099539515919[38] = 0; - out_6670579099539515919[39] = 0; - out_6670579099539515919[40] = 0; - out_6670579099539515919[41] = 0; - out_6670579099539515919[42] = 0; - out_6670579099539515919[43] = 0; - out_6670579099539515919[44] = 1; - out_6670579099539515919[45] = 0; - out_6670579099539515919[46] = 0; - out_6670579099539515919[47] = 1; - out_6670579099539515919[48] = 0; - out_6670579099539515919[49] = 0; - out_6670579099539515919[50] = 0; - out_6670579099539515919[51] = 0; - out_6670579099539515919[52] = 0; - out_6670579099539515919[53] = 0; +void H_4(double *state, double *unused, double *out_8385878700886675205) { + out_8385878700886675205[0] = 0; + out_8385878700886675205[1] = 0; + out_8385878700886675205[2] = 0; + out_8385878700886675205[3] = 0; + out_8385878700886675205[4] = 0; + out_8385878700886675205[5] = 0; + out_8385878700886675205[6] = 1; + out_8385878700886675205[7] = 0; + out_8385878700886675205[8] = 0; + out_8385878700886675205[9] = 1; + out_8385878700886675205[10] = 0; + out_8385878700886675205[11] = 0; + out_8385878700886675205[12] = 0; + out_8385878700886675205[13] = 0; + out_8385878700886675205[14] = 0; + out_8385878700886675205[15] = 0; + out_8385878700886675205[16] = 0; + out_8385878700886675205[17] = 0; + out_8385878700886675205[18] = 0; + out_8385878700886675205[19] = 0; + out_8385878700886675205[20] = 0; + out_8385878700886675205[21] = 0; + out_8385878700886675205[22] = 0; + out_8385878700886675205[23] = 0; + out_8385878700886675205[24] = 0; + out_8385878700886675205[25] = 1; + out_8385878700886675205[26] = 0; + out_8385878700886675205[27] = 0; + out_8385878700886675205[28] = 1; + out_8385878700886675205[29] = 0; + out_8385878700886675205[30] = 0; + out_8385878700886675205[31] = 0; + out_8385878700886675205[32] = 0; + out_8385878700886675205[33] = 0; + out_8385878700886675205[34] = 0; + out_8385878700886675205[35] = 0; + out_8385878700886675205[36] = 0; + out_8385878700886675205[37] = 0; + out_8385878700886675205[38] = 0; + out_8385878700886675205[39] = 0; + out_8385878700886675205[40] = 0; + out_8385878700886675205[41] = 0; + out_8385878700886675205[42] = 0; + out_8385878700886675205[43] = 0; + out_8385878700886675205[44] = 1; + out_8385878700886675205[45] = 0; + out_8385878700886675205[46] = 0; + out_8385878700886675205[47] = 1; + out_8385878700886675205[48] = 0; + out_8385878700886675205[49] = 0; + out_8385878700886675205[50] = 0; + out_8385878700886675205[51] = 0; + out_8385878700886675205[52] = 0; + out_8385878700886675205[53] = 0; } -void h_10(double *state, double *unused, double *out_8369687601978266142) { - out_8369687601978266142[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8369687601978266142[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8369687601978266142[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_5534858922172779190) { + out_5534858922172779190[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5534858922172779190[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5534858922172779190[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_7187578973007118545) { - out_7187578973007118545[0] = 0; - out_7187578973007118545[1] = 9.8100000000000005*cos(state[1]); - out_7187578973007118545[2] = 0; - out_7187578973007118545[3] = 0; - out_7187578973007118545[4] = -state[8]; - out_7187578973007118545[5] = state[7]; - out_7187578973007118545[6] = 0; - out_7187578973007118545[7] = state[5]; - out_7187578973007118545[8] = -state[4]; - out_7187578973007118545[9] = 0; - out_7187578973007118545[10] = 0; - out_7187578973007118545[11] = 0; - out_7187578973007118545[12] = 1; - out_7187578973007118545[13] = 0; - out_7187578973007118545[14] = 0; - out_7187578973007118545[15] = 1; - out_7187578973007118545[16] = 0; - out_7187578973007118545[17] = 0; - out_7187578973007118545[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_7187578973007118545[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_7187578973007118545[20] = 0; - out_7187578973007118545[21] = state[8]; - out_7187578973007118545[22] = 0; - out_7187578973007118545[23] = -state[6]; - out_7187578973007118545[24] = -state[5]; - out_7187578973007118545[25] = 0; - out_7187578973007118545[26] = state[3]; - out_7187578973007118545[27] = 0; - out_7187578973007118545[28] = 0; - out_7187578973007118545[29] = 0; - out_7187578973007118545[30] = 0; - out_7187578973007118545[31] = 1; - out_7187578973007118545[32] = 0; - out_7187578973007118545[33] = 0; - out_7187578973007118545[34] = 1; - out_7187578973007118545[35] = 0; - out_7187578973007118545[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_7187578973007118545[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_7187578973007118545[38] = 0; - out_7187578973007118545[39] = -state[7]; - out_7187578973007118545[40] = state[6]; - out_7187578973007118545[41] = 0; - out_7187578973007118545[42] = state[4]; - out_7187578973007118545[43] = -state[3]; - out_7187578973007118545[44] = 0; - out_7187578973007118545[45] = 0; - out_7187578973007118545[46] = 0; - out_7187578973007118545[47] = 0; - out_7187578973007118545[48] = 0; - out_7187578973007118545[49] = 0; - out_7187578973007118545[50] = 1; - out_7187578973007118545[51] = 0; - out_7187578973007118545[52] = 0; - out_7187578973007118545[53] = 1; +void H_10(double *state, double *unused, double *out_3607384786905077425) { + out_3607384786905077425[0] = 0; + out_3607384786905077425[1] = 9.8100000000000005*cos(state[1]); + out_3607384786905077425[2] = 0; + out_3607384786905077425[3] = 0; + out_3607384786905077425[4] = -state[8]; + out_3607384786905077425[5] = state[7]; + out_3607384786905077425[6] = 0; + out_3607384786905077425[7] = state[5]; + out_3607384786905077425[8] = -state[4]; + out_3607384786905077425[9] = 0; + out_3607384786905077425[10] = 0; + out_3607384786905077425[11] = 0; + out_3607384786905077425[12] = 1; + out_3607384786905077425[13] = 0; + out_3607384786905077425[14] = 0; + out_3607384786905077425[15] = 1; + out_3607384786905077425[16] = 0; + out_3607384786905077425[17] = 0; + out_3607384786905077425[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3607384786905077425[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3607384786905077425[20] = 0; + out_3607384786905077425[21] = state[8]; + out_3607384786905077425[22] = 0; + out_3607384786905077425[23] = -state[6]; + out_3607384786905077425[24] = -state[5]; + out_3607384786905077425[25] = 0; + out_3607384786905077425[26] = state[3]; + out_3607384786905077425[27] = 0; + out_3607384786905077425[28] = 0; + out_3607384786905077425[29] = 0; + out_3607384786905077425[30] = 0; + out_3607384786905077425[31] = 1; + out_3607384786905077425[32] = 0; + out_3607384786905077425[33] = 0; + out_3607384786905077425[34] = 1; + out_3607384786905077425[35] = 0; + out_3607384786905077425[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3607384786905077425[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3607384786905077425[38] = 0; + out_3607384786905077425[39] = -state[7]; + out_3607384786905077425[40] = state[6]; + out_3607384786905077425[41] = 0; + out_3607384786905077425[42] = state[4]; + out_3607384786905077425[43] = -state[3]; + out_3607384786905077425[44] = 0; + out_3607384786905077425[45] = 0; + out_3607384786905077425[46] = 0; + out_3607384786905077425[47] = 0; + out_3607384786905077425[48] = 0; + out_3607384786905077425[49] = 0; + out_3607384786905077425[50] = 1; + out_3607384786905077425[51] = 0; + out_3607384786905077425[52] = 0; + out_3607384786905077425[53] = 1; } -void h_13(double *state, double *unused, double *out_23418844804759200) { - out_23418844804759200[0] = state[3]; - out_23418844804759200[1] = state[4]; - out_23418844804759200[2] = state[5]; +void h_13(double *state, double *unused, double *out_7690213453916874753) { + out_7690213453916874753[0] = state[3]; + out_7690213453916874753[1] = state[4]; + out_7690213453916874753[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4165533765853334768) { - out_4165533765853334768[0] = 0; - out_4165533765853334768[1] = 0; - out_4165533765853334768[2] = 0; - out_4165533765853334768[3] = 1; - out_4165533765853334768[4] = 0; - out_4165533765853334768[5] = 0; - out_4165533765853334768[6] = 0; - out_4165533765853334768[7] = 0; - out_4165533765853334768[8] = 0; - out_4165533765853334768[9] = 0; - out_4165533765853334768[10] = 0; - out_4165533765853334768[11] = 0; - out_4165533765853334768[12] = 0; - out_4165533765853334768[13] = 0; - out_4165533765853334768[14] = 0; - out_4165533765853334768[15] = 0; - out_4165533765853334768[16] = 0; - out_4165533765853334768[17] = 0; - out_4165533765853334768[18] = 0; - out_4165533765853334768[19] = 0; - out_4165533765853334768[20] = 0; - out_4165533765853334768[21] = 0; - out_4165533765853334768[22] = 1; - out_4165533765853334768[23] = 0; - out_4165533765853334768[24] = 0; - out_4165533765853334768[25] = 0; - out_4165533765853334768[26] = 0; - out_4165533765853334768[27] = 0; - out_4165533765853334768[28] = 0; - out_4165533765853334768[29] = 0; - out_4165533765853334768[30] = 0; - out_4165533765853334768[31] = 0; - out_4165533765853334768[32] = 0; - out_4165533765853334768[33] = 0; - out_4165533765853334768[34] = 0; - out_4165533765853334768[35] = 0; - out_4165533765853334768[36] = 0; - out_4165533765853334768[37] = 0; - out_4165533765853334768[38] = 0; - out_4165533765853334768[39] = 0; - out_4165533765853334768[40] = 0; - out_4165533765853334768[41] = 1; - out_4165533765853334768[42] = 0; - out_4165533765853334768[43] = 0; - out_4165533765853334768[44] = 0; - out_4165533765853334768[45] = 0; - out_4165533765853334768[46] = 0; - out_4165533765853334768[47] = 0; - out_4165533765853334768[48] = 0; - out_4165533765853334768[49] = 0; - out_4165533765853334768[50] = 0; - out_4165533765853334768[51] = 0; - out_4165533765853334768[52] = 0; - out_4165533765853334768[53] = 0; +void H_13(double *state, double *unused, double *out_6848591547490543610) { + out_6848591547490543610[0] = 0; + out_6848591547490543610[1] = 0; + out_6848591547490543610[2] = 0; + out_6848591547490543610[3] = 1; + out_6848591547490543610[4] = 0; + out_6848591547490543610[5] = 0; + out_6848591547490543610[6] = 0; + out_6848591547490543610[7] = 0; + out_6848591547490543610[8] = 0; + out_6848591547490543610[9] = 0; + out_6848591547490543610[10] = 0; + out_6848591547490543610[11] = 0; + out_6848591547490543610[12] = 0; + out_6848591547490543610[13] = 0; + out_6848591547490543610[14] = 0; + out_6848591547490543610[15] = 0; + out_6848591547490543610[16] = 0; + out_6848591547490543610[17] = 0; + out_6848591547490543610[18] = 0; + out_6848591547490543610[19] = 0; + out_6848591547490543610[20] = 0; + out_6848591547490543610[21] = 0; + out_6848591547490543610[22] = 1; + out_6848591547490543610[23] = 0; + out_6848591547490543610[24] = 0; + out_6848591547490543610[25] = 0; + out_6848591547490543610[26] = 0; + out_6848591547490543610[27] = 0; + out_6848591547490543610[28] = 0; + out_6848591547490543610[29] = 0; + out_6848591547490543610[30] = 0; + out_6848591547490543610[31] = 0; + out_6848591547490543610[32] = 0; + out_6848591547490543610[33] = 0; + out_6848591547490543610[34] = 0; + out_6848591547490543610[35] = 0; + out_6848591547490543610[36] = 0; + out_6848591547490543610[37] = 0; + out_6848591547490543610[38] = 0; + out_6848591547490543610[39] = 0; + out_6848591547490543610[40] = 0; + out_6848591547490543610[41] = 1; + out_6848591547490543610[42] = 0; + out_6848591547490543610[43] = 0; + out_6848591547490543610[44] = 0; + out_6848591547490543610[45] = 0; + out_6848591547490543610[46] = 0; + out_6848591547490543610[47] = 0; + out_6848591547490543610[48] = 0; + out_6848591547490543610[49] = 0; + out_6848591547490543610[50] = 0; + out_6848591547490543610[51] = 0; + out_6848591547490543610[52] = 0; + out_6848591547490543610[53] = 0; } -void h_14(double *state, double *unused, double *out_3766794879461642001) { - out_3766794879461642001[0] = state[6]; - out_3766794879461642001[1] = state[7]; - out_3766794879461642001[2] = state[8]; +void h_14(double *state, double *unused, double *out_1351222622664013473) { + out_1351222622664013473[0] = state[6]; + out_1351222622664013473[1] = state[7]; + out_1351222622664013473[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7812924117830551168) { - out_7812924117830551168[0] = 0; - out_7812924117830551168[1] = 0; - out_7812924117830551168[2] = 0; - out_7812924117830551168[3] = 0; - out_7812924117830551168[4] = 0; - out_7812924117830551168[5] = 0; - out_7812924117830551168[6] = 1; - out_7812924117830551168[7] = 0; - out_7812924117830551168[8] = 0; - out_7812924117830551168[9] = 0; - out_7812924117830551168[10] = 0; - out_7812924117830551168[11] = 0; - out_7812924117830551168[12] = 0; - out_7812924117830551168[13] = 0; - out_7812924117830551168[14] = 0; - out_7812924117830551168[15] = 0; - out_7812924117830551168[16] = 0; - out_7812924117830551168[17] = 0; - out_7812924117830551168[18] = 0; - out_7812924117830551168[19] = 0; - out_7812924117830551168[20] = 0; - out_7812924117830551168[21] = 0; - out_7812924117830551168[22] = 0; - out_7812924117830551168[23] = 0; - out_7812924117830551168[24] = 0; - out_7812924117830551168[25] = 1; - out_7812924117830551168[26] = 0; - out_7812924117830551168[27] = 0; - out_7812924117830551168[28] = 0; - out_7812924117830551168[29] = 0; - out_7812924117830551168[30] = 0; - out_7812924117830551168[31] = 0; - out_7812924117830551168[32] = 0; - out_7812924117830551168[33] = 0; - out_7812924117830551168[34] = 0; - out_7812924117830551168[35] = 0; - out_7812924117830551168[36] = 0; - out_7812924117830551168[37] = 0; - out_7812924117830551168[38] = 0; - out_7812924117830551168[39] = 0; - out_7812924117830551168[40] = 0; - out_7812924117830551168[41] = 0; - out_7812924117830551168[42] = 0; - out_7812924117830551168[43] = 0; - out_7812924117830551168[44] = 1; - out_7812924117830551168[45] = 0; - out_7812924117830551168[46] = 0; - out_7812924117830551168[47] = 0; - out_7812924117830551168[48] = 0; - out_7812924117830551168[49] = 0; - out_7812924117830551168[50] = 0; - out_7812924117830551168[51] = 0; - out_7812924117830551168[52] = 0; - out_7812924117830551168[53] = 0; +void H_14(double *state, double *unused, double *out_5303090268591302909) { + out_5303090268591302909[0] = 0; + out_5303090268591302909[1] = 0; + out_5303090268591302909[2] = 0; + out_5303090268591302909[3] = 0; + out_5303090268591302909[4] = 0; + out_5303090268591302909[5] = 0; + out_5303090268591302909[6] = 1; + out_5303090268591302909[7] = 0; + out_5303090268591302909[8] = 0; + out_5303090268591302909[9] = 0; + out_5303090268591302909[10] = 0; + out_5303090268591302909[11] = 0; + out_5303090268591302909[12] = 0; + out_5303090268591302909[13] = 0; + out_5303090268591302909[14] = 0; + out_5303090268591302909[15] = 0; + out_5303090268591302909[16] = 0; + out_5303090268591302909[17] = 0; + out_5303090268591302909[18] = 0; + out_5303090268591302909[19] = 0; + out_5303090268591302909[20] = 0; + out_5303090268591302909[21] = 0; + out_5303090268591302909[22] = 0; + out_5303090268591302909[23] = 0; + out_5303090268591302909[24] = 0; + out_5303090268591302909[25] = 1; + out_5303090268591302909[26] = 0; + out_5303090268591302909[27] = 0; + out_5303090268591302909[28] = 0; + out_5303090268591302909[29] = 0; + out_5303090268591302909[30] = 0; + out_5303090268591302909[31] = 0; + out_5303090268591302909[32] = 0; + out_5303090268591302909[33] = 0; + out_5303090268591302909[34] = 0; + out_5303090268591302909[35] = 0; + out_5303090268591302909[36] = 0; + out_5303090268591302909[37] = 0; + out_5303090268591302909[38] = 0; + out_5303090268591302909[39] = 0; + out_5303090268591302909[40] = 0; + out_5303090268591302909[41] = 0; + out_5303090268591302909[42] = 0; + out_5303090268591302909[43] = 0; + out_5303090268591302909[44] = 1; + out_5303090268591302909[45] = 0; + out_5303090268591302909[46] = 0; + out_5303090268591302909[47] = 0; + out_5303090268591302909[48] = 0; + out_5303090268591302909[49] = 0; + out_5303090268591302909[50] = 0; + out_5303090268591302909[51] = 0; + out_5303090268591302909[52] = 0; + out_5303090268591302909[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_3190087603797747831) { - err_fun(nom_x, delta_x, out_3190087603797747831); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3697966966174848325) { + err_fun(nom_x, delta_x, out_3697966966174848325); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_509645540564194226) { - inv_err_fun(nom_x, true_x, out_509645540564194226); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6121892126530152725) { + inv_err_fun(nom_x, true_x, out_6121892126530152725); } -void pose_H_mod_fun(double *state, double *out_5916418097484803312) { - H_mod_fun(state, out_5916418097484803312); +void pose_H_mod_fun(double *state, double *out_1116503706765055069) { + H_mod_fun(state, out_1116503706765055069); } -void pose_f_fun(double *state, double dt, double *out_1884549682660320153) { - f_fun(state, dt, out_1884549682660320153); +void pose_f_fun(double *state, double dt, double *out_2317659772838150308) { + f_fun(state, dt, out_2317659772838150308); } -void pose_F_fun(double *state, double dt, double *out_2096520336867054981) { - F_fun(state, dt, out_2096520336867054981); +void pose_F_fun(double *state, double dt, double *out_6164130103148092652) { + F_fun(state, dt, out_6164130103148092652); } -void pose_h_4(double *state, double *unused, double *out_2454407190288685983) { - h_4(state, unused, out_2454407190288685983); +void pose_h_4(double *state, double *unused, double *out_2811574505702470007) { + h_4(state, unused, out_2811574505702470007); } -void pose_H_4(double *state, double *unused, double *out_6670579099539515919) { - H_4(state, unused, out_6670579099539515919); +void pose_H_4(double *state, double *unused, double *out_8385878700886675205) { + H_4(state, unused, out_8385878700886675205); } -void pose_h_10(double *state, double *unused, double *out_8369687601978266142) { - h_10(state, unused, out_8369687601978266142); +void pose_h_10(double *state, double *unused, double *out_5534858922172779190) { + h_10(state, unused, out_5534858922172779190); } -void pose_H_10(double *state, double *unused, double *out_7187578973007118545) { - H_10(state, unused, out_7187578973007118545); +void pose_H_10(double *state, double *unused, double *out_3607384786905077425) { + H_10(state, unused, out_3607384786905077425); } -void pose_h_13(double *state, double *unused, double *out_23418844804759200) { - h_13(state, unused, out_23418844804759200); +void pose_h_13(double *state, double *unused, double *out_7690213453916874753) { + h_13(state, unused, out_7690213453916874753); } -void pose_H_13(double *state, double *unused, double *out_4165533765853334768) { - H_13(state, unused, out_4165533765853334768); +void pose_H_13(double *state, double *unused, double *out_6848591547490543610) { + H_13(state, unused, out_6848591547490543610); } -void pose_h_14(double *state, double *unused, double *out_3766794879461642001) { - h_14(state, unused, out_3766794879461642001); +void pose_h_14(double *state, double *unused, double *out_1351222622664013473) { + h_14(state, unused, out_1351222622664013473); } -void pose_H_14(double *state, double *unused, double *out_7812924117830551168) { - H_14(state, unused, out_7812924117830551168); +void pose_H_14(double *state, double *unused, double *out_5303090268591302909) { + H_14(state, unused, out_5303090268591302909); } 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 24b8538b6..b85056f82 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_3190087603797747831); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_509645540564194226); -void pose_H_mod_fun(double *state, double *out_5916418097484803312); -void pose_f_fun(double *state, double dt, double *out_1884549682660320153); -void pose_F_fun(double *state, double dt, double *out_2096520336867054981); -void pose_h_4(double *state, double *unused, double *out_2454407190288685983); -void pose_H_4(double *state, double *unused, double *out_6670579099539515919); -void pose_h_10(double *state, double *unused, double *out_8369687601978266142); -void pose_H_10(double *state, double *unused, double *out_7187578973007118545); -void pose_h_13(double *state, double *unused, double *out_23418844804759200); -void pose_H_13(double *state, double *unused, double *out_4165533765853334768); -void pose_h_14(double *state, double *unused, double *out_3766794879461642001); -void pose_H_14(double *state, double *unused, double *out_7812924117830551168); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3697966966174848325); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6121892126530152725); +void pose_H_mod_fun(double *state, double *out_1116503706765055069); +void pose_f_fun(double *state, double dt, double *out_2317659772838150308); +void pose_F_fun(double *state, double dt, double *out_6164130103148092652); +void pose_h_4(double *state, double *unused, double *out_2811574505702470007); +void pose_H_4(double *state, double *unused, double *out_8385878700886675205); +void pose_h_10(double *state, double *unused, double *out_5534858922172779190); +void pose_H_10(double *state, double *unused, double *out_3607384786905077425); +void pose_h_13(double *state, double *unused, double *out_7690213453916874753); +void pose_H_13(double *state, double *unused, double *out_6848591547490543610); +void pose_h_14(double *state, double *unused, double *out_1351222622664013473); +void pose_H_14(double *state, double *unused, double *out_5303090268591302909); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 865f2fa74..dab31a0e8 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ