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b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index c042fb711..a58bb14a5 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 62042d5cc..885bb7c20 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 a69a179c0..c52995f6e 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 9b9bec59c..307fcfd8f 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-0351e7d8-DEBUG \ No newline at end of file +DEV-897addca-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 79f02945c..cf7d9df54 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_3329877133651101623) { - out_3329877133651101623[0] = delta_x[0] + nom_x[0]; - out_3329877133651101623[1] = delta_x[1] + nom_x[1]; - out_3329877133651101623[2] = delta_x[2] + nom_x[2]; - out_3329877133651101623[3] = delta_x[3] + nom_x[3]; - out_3329877133651101623[4] = delta_x[4] + nom_x[4]; - out_3329877133651101623[5] = delta_x[5] + nom_x[5]; - out_3329877133651101623[6] = delta_x[6] + nom_x[6]; - out_3329877133651101623[7] = delta_x[7] + nom_x[7]; - out_3329877133651101623[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_9081917749595232587) { + out_9081917749595232587[0] = delta_x[0] + nom_x[0]; + out_9081917749595232587[1] = delta_x[1] + nom_x[1]; + out_9081917749595232587[2] = delta_x[2] + nom_x[2]; + out_9081917749595232587[3] = delta_x[3] + nom_x[3]; + out_9081917749595232587[4] = delta_x[4] + nom_x[4]; + out_9081917749595232587[5] = delta_x[5] + nom_x[5]; + out_9081917749595232587[6] = delta_x[6] + nom_x[6]; + out_9081917749595232587[7] = delta_x[7] + nom_x[7]; + out_9081917749595232587[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) { - out_7760882190653564987[0] = -nom_x[0] + true_x[0]; - out_7760882190653564987[1] = -nom_x[1] + true_x[1]; - out_7760882190653564987[2] = -nom_x[2] + true_x[2]; - out_7760882190653564987[3] = -nom_x[3] + true_x[3]; - out_7760882190653564987[4] = -nom_x[4] + true_x[4]; - out_7760882190653564987[5] = -nom_x[5] + true_x[5]; - out_7760882190653564987[6] = -nom_x[6] + true_x[6]; - out_7760882190653564987[7] = -nom_x[7] + true_x[7]; - out_7760882190653564987[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1988639049671275534) { + out_1988639049671275534[0] = -nom_x[0] + true_x[0]; + out_1988639049671275534[1] = -nom_x[1] + true_x[1]; + out_1988639049671275534[2] = -nom_x[2] + true_x[2]; + out_1988639049671275534[3] = -nom_x[3] + true_x[3]; + out_1988639049671275534[4] = -nom_x[4] + true_x[4]; + out_1988639049671275534[5] = -nom_x[5] + true_x[5]; + out_1988639049671275534[6] = -nom_x[6] + true_x[6]; + out_1988639049671275534[7] = -nom_x[7] + true_x[7]; + out_1988639049671275534[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1773647306661711299) { - out_1773647306661711299[0] = 1.0; - out_1773647306661711299[1] = 0.0; - out_1773647306661711299[2] = 0.0; - out_1773647306661711299[3] = 0.0; - out_1773647306661711299[4] = 0.0; - out_1773647306661711299[5] = 0.0; - out_1773647306661711299[6] = 0.0; - out_1773647306661711299[7] = 0.0; - out_1773647306661711299[8] = 0.0; - out_1773647306661711299[9] = 0.0; - out_1773647306661711299[10] = 1.0; - out_1773647306661711299[11] = 0.0; - out_1773647306661711299[12] = 0.0; - out_1773647306661711299[13] = 0.0; - out_1773647306661711299[14] = 0.0; - out_1773647306661711299[15] = 0.0; - out_1773647306661711299[16] = 0.0; - out_1773647306661711299[17] = 0.0; - out_1773647306661711299[18] = 0.0; - out_1773647306661711299[19] = 0.0; - out_1773647306661711299[20] = 1.0; - out_1773647306661711299[21] = 0.0; - out_1773647306661711299[22] = 0.0; - out_1773647306661711299[23] = 0.0; - out_1773647306661711299[24] = 0.0; - out_1773647306661711299[25] = 0.0; - out_1773647306661711299[26] = 0.0; - out_1773647306661711299[27] = 0.0; - out_1773647306661711299[28] = 0.0; - out_1773647306661711299[29] = 0.0; - out_1773647306661711299[30] = 1.0; - out_1773647306661711299[31] = 0.0; - out_1773647306661711299[32] = 0.0; - out_1773647306661711299[33] = 0.0; - out_1773647306661711299[34] = 0.0; - out_1773647306661711299[35] = 0.0; - out_1773647306661711299[36] = 0.0; - out_1773647306661711299[37] = 0.0; - out_1773647306661711299[38] = 0.0; - out_1773647306661711299[39] = 0.0; - out_1773647306661711299[40] = 1.0; - out_1773647306661711299[41] = 0.0; - out_1773647306661711299[42] = 0.0; - out_1773647306661711299[43] = 0.0; - out_1773647306661711299[44] = 0.0; - out_1773647306661711299[45] = 0.0; - out_1773647306661711299[46] = 0.0; - out_1773647306661711299[47] = 0.0; - out_1773647306661711299[48] = 0.0; - out_1773647306661711299[49] = 0.0; - out_1773647306661711299[50] = 1.0; - out_1773647306661711299[51] = 0.0; - out_1773647306661711299[52] = 0.0; - out_1773647306661711299[53] = 0.0; - out_1773647306661711299[54] = 0.0; - out_1773647306661711299[55] = 0.0; - out_1773647306661711299[56] = 0.0; - out_1773647306661711299[57] = 0.0; - out_1773647306661711299[58] = 0.0; - out_1773647306661711299[59] = 0.0; - out_1773647306661711299[60] = 1.0; - out_1773647306661711299[61] = 0.0; - out_1773647306661711299[62] = 0.0; - out_1773647306661711299[63] = 0.0; - out_1773647306661711299[64] = 0.0; - out_1773647306661711299[65] = 0.0; - out_1773647306661711299[66] = 0.0; - out_1773647306661711299[67] = 0.0; - out_1773647306661711299[68] = 0.0; - out_1773647306661711299[69] = 0.0; - out_1773647306661711299[70] = 1.0; - out_1773647306661711299[71] = 0.0; - out_1773647306661711299[72] = 0.0; - out_1773647306661711299[73] = 0.0; - out_1773647306661711299[74] = 0.0; - out_1773647306661711299[75] = 0.0; - out_1773647306661711299[76] = 0.0; - out_1773647306661711299[77] = 0.0; - out_1773647306661711299[78] = 0.0; - out_1773647306661711299[79] = 0.0; - out_1773647306661711299[80] = 1.0; +void H_mod_fun(double *state, double *out_7384273333574390060) { + out_7384273333574390060[0] = 1.0; + out_7384273333574390060[1] = 0.0; + out_7384273333574390060[2] = 0.0; + out_7384273333574390060[3] = 0.0; + out_7384273333574390060[4] = 0.0; + out_7384273333574390060[5] = 0.0; + out_7384273333574390060[6] = 0.0; + out_7384273333574390060[7] = 0.0; + out_7384273333574390060[8] = 0.0; + out_7384273333574390060[9] = 0.0; + out_7384273333574390060[10] = 1.0; + out_7384273333574390060[11] = 0.0; + out_7384273333574390060[12] = 0.0; + out_7384273333574390060[13] = 0.0; + out_7384273333574390060[14] = 0.0; + out_7384273333574390060[15] = 0.0; + out_7384273333574390060[16] = 0.0; + out_7384273333574390060[17] = 0.0; + out_7384273333574390060[18] = 0.0; + out_7384273333574390060[19] = 0.0; + out_7384273333574390060[20] = 1.0; + out_7384273333574390060[21] = 0.0; + out_7384273333574390060[22] = 0.0; + out_7384273333574390060[23] = 0.0; + out_7384273333574390060[24] = 0.0; + out_7384273333574390060[25] = 0.0; + out_7384273333574390060[26] = 0.0; + out_7384273333574390060[27] = 0.0; + out_7384273333574390060[28] = 0.0; + out_7384273333574390060[29] = 0.0; + out_7384273333574390060[30] = 1.0; + out_7384273333574390060[31] = 0.0; + out_7384273333574390060[32] = 0.0; + out_7384273333574390060[33] = 0.0; + out_7384273333574390060[34] = 0.0; + out_7384273333574390060[35] = 0.0; + out_7384273333574390060[36] = 0.0; + out_7384273333574390060[37] = 0.0; + out_7384273333574390060[38] = 0.0; + out_7384273333574390060[39] = 0.0; + out_7384273333574390060[40] = 1.0; + out_7384273333574390060[41] = 0.0; + out_7384273333574390060[42] = 0.0; + out_7384273333574390060[43] = 0.0; + out_7384273333574390060[44] = 0.0; + out_7384273333574390060[45] = 0.0; + out_7384273333574390060[46] = 0.0; + out_7384273333574390060[47] = 0.0; + out_7384273333574390060[48] = 0.0; + out_7384273333574390060[49] = 0.0; + out_7384273333574390060[50] = 1.0; + out_7384273333574390060[51] = 0.0; + out_7384273333574390060[52] = 0.0; + out_7384273333574390060[53] = 0.0; + out_7384273333574390060[54] = 0.0; + out_7384273333574390060[55] = 0.0; + out_7384273333574390060[56] = 0.0; + out_7384273333574390060[57] = 0.0; + out_7384273333574390060[58] = 0.0; + out_7384273333574390060[59] = 0.0; + out_7384273333574390060[60] = 1.0; + out_7384273333574390060[61] = 0.0; + out_7384273333574390060[62] = 0.0; + out_7384273333574390060[63] = 0.0; + out_7384273333574390060[64] = 0.0; + out_7384273333574390060[65] = 0.0; + out_7384273333574390060[66] = 0.0; + out_7384273333574390060[67] = 0.0; + out_7384273333574390060[68] = 0.0; + out_7384273333574390060[69] = 0.0; + out_7384273333574390060[70] = 1.0; + out_7384273333574390060[71] = 0.0; + out_7384273333574390060[72] = 0.0; + out_7384273333574390060[73] = 0.0; + out_7384273333574390060[74] = 0.0; + out_7384273333574390060[75] = 0.0; + out_7384273333574390060[76] = 0.0; + out_7384273333574390060[77] = 0.0; + out_7384273333574390060[78] = 0.0; + out_7384273333574390060[79] = 0.0; + out_7384273333574390060[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8265395554005205627) { - out_8265395554005205627[0] = state[0]; - out_8265395554005205627[1] = state[1]; - out_8265395554005205627[2] = state[2]; - out_8265395554005205627[3] = state[3]; - out_8265395554005205627[4] = state[4]; - out_8265395554005205627[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_8265395554005205627[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_8265395554005205627[7] = state[7]; - out_8265395554005205627[8] = state[8]; +void f_fun(double *state, double dt, double *out_853161238105894931) { + out_853161238105894931[0] = state[0]; + out_853161238105894931[1] = state[1]; + out_853161238105894931[2] = state[2]; + out_853161238105894931[3] = state[3]; + out_853161238105894931[4] = state[4]; + out_853161238105894931[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_853161238105894931[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_853161238105894931[7] = state[7]; + out_853161238105894931[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5121501708015469294) { - out_5121501708015469294[0] = 1; - out_5121501708015469294[1] = 0; - out_5121501708015469294[2] = 0; - out_5121501708015469294[3] = 0; - out_5121501708015469294[4] = 0; - out_5121501708015469294[5] = 0; - out_5121501708015469294[6] = 0; - out_5121501708015469294[7] = 0; - out_5121501708015469294[8] = 0; - out_5121501708015469294[9] = 0; - out_5121501708015469294[10] = 1; - out_5121501708015469294[11] = 0; - out_5121501708015469294[12] = 0; - out_5121501708015469294[13] = 0; - out_5121501708015469294[14] = 0; - out_5121501708015469294[15] = 0; - out_5121501708015469294[16] = 0; - out_5121501708015469294[17] = 0; - out_5121501708015469294[18] = 0; - out_5121501708015469294[19] = 0; - out_5121501708015469294[20] = 1; - out_5121501708015469294[21] = 0; - out_5121501708015469294[22] = 0; - out_5121501708015469294[23] = 0; - out_5121501708015469294[24] = 0; - out_5121501708015469294[25] = 0; - out_5121501708015469294[26] = 0; - out_5121501708015469294[27] = 0; - out_5121501708015469294[28] = 0; - out_5121501708015469294[29] = 0; - out_5121501708015469294[30] = 1; - out_5121501708015469294[31] = 0; - out_5121501708015469294[32] = 0; - out_5121501708015469294[33] = 0; - out_5121501708015469294[34] = 0; - out_5121501708015469294[35] = 0; - out_5121501708015469294[36] = 0; - out_5121501708015469294[37] = 0; - out_5121501708015469294[38] = 0; - out_5121501708015469294[39] = 0; - out_5121501708015469294[40] = 1; - out_5121501708015469294[41] = 0; - out_5121501708015469294[42] = 0; - out_5121501708015469294[43] = 0; - out_5121501708015469294[44] = 0; - out_5121501708015469294[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_5121501708015469294[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5121501708015469294[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[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_5121501708015469294[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5121501708015469294[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5121501708015469294[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[53] = -9.8100000000000005*dt; - out_5121501708015469294[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_5121501708015469294[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5121501708015469294[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[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_5121501708015469294[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5121501708015469294[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_5121501708015469294[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[62] = 0; - out_5121501708015469294[63] = 0; - out_5121501708015469294[64] = 0; - out_5121501708015469294[65] = 0; - out_5121501708015469294[66] = 0; - out_5121501708015469294[67] = 0; - out_5121501708015469294[68] = 0; - out_5121501708015469294[69] = 0; - out_5121501708015469294[70] = 1; - out_5121501708015469294[71] = 0; - out_5121501708015469294[72] = 0; - out_5121501708015469294[73] = 0; - out_5121501708015469294[74] = 0; - out_5121501708015469294[75] = 0; - out_5121501708015469294[76] = 0; - out_5121501708015469294[77] = 0; - out_5121501708015469294[78] = 0; - out_5121501708015469294[79] = 0; - out_5121501708015469294[80] = 1; +void F_fun(double *state, double dt, double *out_6707016052586639669) { + out_6707016052586639669[0] = 1; + out_6707016052586639669[1] = 0; + out_6707016052586639669[2] = 0; + out_6707016052586639669[3] = 0; + out_6707016052586639669[4] = 0; + out_6707016052586639669[5] = 0; + out_6707016052586639669[6] = 0; + out_6707016052586639669[7] = 0; + out_6707016052586639669[8] = 0; + out_6707016052586639669[9] = 0; + out_6707016052586639669[10] = 1; + out_6707016052586639669[11] = 0; + out_6707016052586639669[12] = 0; + out_6707016052586639669[13] = 0; + out_6707016052586639669[14] = 0; + out_6707016052586639669[15] = 0; + out_6707016052586639669[16] = 0; + out_6707016052586639669[17] = 0; + out_6707016052586639669[18] = 0; + out_6707016052586639669[19] = 0; + out_6707016052586639669[20] = 1; + out_6707016052586639669[21] = 0; + out_6707016052586639669[22] = 0; + out_6707016052586639669[23] = 0; + out_6707016052586639669[24] = 0; + out_6707016052586639669[25] = 0; + out_6707016052586639669[26] = 0; + out_6707016052586639669[27] = 0; + out_6707016052586639669[28] = 0; + out_6707016052586639669[29] = 0; + out_6707016052586639669[30] = 1; + out_6707016052586639669[31] = 0; + out_6707016052586639669[32] = 0; + out_6707016052586639669[33] = 0; + out_6707016052586639669[34] = 0; + out_6707016052586639669[35] = 0; + out_6707016052586639669[36] = 0; + out_6707016052586639669[37] = 0; + out_6707016052586639669[38] = 0; + out_6707016052586639669[39] = 0; + out_6707016052586639669[40] = 1; + out_6707016052586639669[41] = 0; + out_6707016052586639669[42] = 0; + out_6707016052586639669[43] = 0; + out_6707016052586639669[44] = 0; + out_6707016052586639669[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_6707016052586639669[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6707016052586639669[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6707016052586639669[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6707016052586639669[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_6707016052586639669[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6707016052586639669[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6707016052586639669[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6707016052586639669[53] = -9.8100000000000005*dt; + out_6707016052586639669[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_6707016052586639669[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6707016052586639669[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6707016052586639669[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6707016052586639669[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_6707016052586639669[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6707016052586639669[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_6707016052586639669[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6707016052586639669[62] = 0; + out_6707016052586639669[63] = 0; + out_6707016052586639669[64] = 0; + out_6707016052586639669[65] = 0; + out_6707016052586639669[66] = 0; + out_6707016052586639669[67] = 0; + out_6707016052586639669[68] = 0; + out_6707016052586639669[69] = 0; + out_6707016052586639669[70] = 1; + out_6707016052586639669[71] = 0; + out_6707016052586639669[72] = 0; + out_6707016052586639669[73] = 0; + out_6707016052586639669[74] = 0; + out_6707016052586639669[75] = 0; + out_6707016052586639669[76] = 0; + out_6707016052586639669[77] = 0; + out_6707016052586639669[78] = 0; + out_6707016052586639669[79] = 0; + out_6707016052586639669[80] = 1; } -void h_25(double *state, double *unused, double *out_1871114119926472838) { - out_1871114119926472838[0] = state[6]; +void h_25(double *state, double *unused, double *out_2381998967459310187) { + out_2381998967459310187[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1749401331983653849) { - out_1749401331983653849[0] = 0; - out_1749401331983653849[1] = 0; - out_1749401331983653849[2] = 0; - out_1749401331983653849[3] = 0; - out_1749401331983653849[4] = 0; - out_1749401331983653849[5] = 0; - out_1749401331983653849[6] = 1; - out_1749401331983653849[7] = 0; - out_1749401331983653849[8] = 0; +void H_25(double *state, double *unused, double *out_758660054421155) { + out_758660054421155[0] = 0; + out_758660054421155[1] = 0; + out_758660054421155[2] = 0; + out_758660054421155[3] = 0; + out_758660054421155[4] = 0; + out_758660054421155[5] = 0; + out_758660054421155[6] = 1; + out_758660054421155[7] = 0; + out_758660054421155[8] = 0; } -void h_24(double *state, double *unused, double *out_4177328874243606255) { - out_4177328874243606255[0] = state[4]; - out_4177328874243606255[1] = state[5]; +void h_24(double *state, double *unused, double *out_8300475326001007063) { + out_8300475326001007063[0] = state[4]; + out_8300475326001007063[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1808524266818669287) { - out_1808524266818669287[0] = 0; - out_1808524266818669287[1] = 0; - out_1808524266818669287[2] = 0; - out_1808524266818669287[3] = 0; - out_1808524266818669287[4] = 1; - out_1808524266818669287[5] = 0; - out_1808524266818669287[6] = 0; - out_1808524266818669287[7] = 0; - out_1808524266818669287[8] = 0; - out_1808524266818669287[9] = 0; - out_1808524266818669287[10] = 0; - out_1808524266818669287[11] = 0; - out_1808524266818669287[12] = 0; - out_1808524266818669287[13] = 0; - out_1808524266818669287[14] = 1; - out_1808524266818669287[15] = 0; - out_1808524266818669287[16] = 0; - out_1808524266818669287[17] = 0; +void H_24(double *state, double *unused, double *out_3981564491343346743) { + out_3981564491343346743[0] = 0; + out_3981564491343346743[1] = 0; + out_3981564491343346743[2] = 0; + out_3981564491343346743[3] = 0; + out_3981564491343346743[4] = 1; + out_3981564491343346743[5] = 0; + out_3981564491343346743[6] = 0; + out_3981564491343346743[7] = 0; + out_3981564491343346743[8] = 0; + out_3981564491343346743[9] = 0; + out_3981564491343346743[10] = 0; + out_3981564491343346743[11] = 0; + out_3981564491343346743[12] = 0; + out_3981564491343346743[13] = 0; + out_3981564491343346743[14] = 1; + out_3981564491343346743[15] = 0; + out_3981564491343346743[16] = 0; + out_3981564491343346743[17] = 0; } -void h_30(double *state, double *unused, double *out_6625546561337267154) { - out_6625546561337267154[0] = state[4]; +void h_30(double *state, double *unused, double *out_8301479849429568988) { + out_8301479849429568988[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5167289009507962906) { - out_5167289009507962906[0] = 0; - out_5167289009507962906[1] = 0; - out_5167289009507962906[2] = 0; - out_5167289009507962906[3] = 0; - out_5167289009507962906[4] = 1; - out_5167289009507962906[5] = 0; - out_5167289009507962906[6] = 0; - out_5167289009507962906[7] = 0; - out_5167289009507962906[8] = 0; +void H_30(double *state, double *unused, double *out_6917449001546037910) { + out_6917449001546037910[0] = 0; + out_6917449001546037910[1] = 0; + out_6917449001546037910[2] = 0; + out_6917449001546037910[3] = 0; + out_6917449001546037910[4] = 1; + out_6917449001546037910[5] = 0; + out_6917449001546037910[6] = 0; + out_6917449001546037910[7] = 0; + out_6917449001546037910[8] = 0; } -void h_26(double *state, double *unused, double *out_8545349699624827873) { - out_8545349699624827873[0] = state[7]; +void h_26(double *state, double *unused, double *out_2889120507186530919) { + out_2889120507186530919[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5490904650857710073) { - out_5490904650857710073[0] = 0; - out_5490904650857710073[1] = 0; - out_5490904650857710073[2] = 0; - out_5490904650857710073[3] = 0; - out_5490904650857710073[4] = 0; - out_5490904650857710073[5] = 0; - out_5490904650857710073[6] = 0; - out_5490904650857710073[7] = 1; - out_5490904650857710073[8] = 0; +void H_26(double *state, double *unused, double *out_3305284629815221756) { + out_3305284629815221756[0] = 0; + out_3305284629815221756[1] = 0; + out_3305284629815221756[2] = 0; + out_3305284629815221756[3] = 0; + out_3305284629815221756[4] = 0; + out_3305284629815221756[5] = 0; + out_3305284629815221756[6] = 0; + out_3305284629815221756[7] = 1; + out_3305284629815221756[8] = 0; } -void h_27(double *state, double *unused, double *out_3470753115959557725) { - out_3470753115959557725[0] = state[3]; +void h_27(double *state, double *unused, double *out_8629601671821540616) { + out_8629601671821540616[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2992525697707537995) { - out_2992525697707537995[0] = 0; - out_2992525697707537995[1] = 0; - out_2992525697707537995[2] = 0; - out_2992525697707537995[3] = 1; - out_2992525697707537995[4] = 0; - out_2992525697707537995[5] = 0; - out_2992525697707537995[6] = 0; - out_2992525697707537995[7] = 0; - out_2992525697707537995[8] = 0; +void H_27(double *state, double *unused, double *out_4742685689745612999) { + out_4742685689745612999[0] = 0; + out_4742685689745612999[1] = 0; + out_4742685689745612999[2] = 0; + out_4742685689745612999[3] = 1; + out_4742685689745612999[4] = 0; + out_4742685689745612999[5] = 0; + out_4742685689745612999[6] = 0; + out_4742685689745612999[7] = 0; + out_4742685689745612999[8] = 0; } -void h_29(double *state, double *unused, double *out_7569056414238929589) { - out_7569056414238929589[0] = state[1]; +void h_29(double *state, double *unused, double *out_8904795734106046505) { + out_8904795734106046505[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1279162970837986962) { - out_1279162970837986962[0] = 0; - out_1279162970837986962[1] = 1; - out_1279162970837986962[2] = 0; - out_1279162970837986962[3] = 0; - out_1279162970837986962[4] = 0; - out_1279162970837986962[5] = 0; - out_1279162970837986962[6] = 0; - out_1279162970837986962[7] = 0; - out_1279162970837986962[8] = 0; +void H_29(double *state, double *unused, double *out_3029322962876061966) { + out_3029322962876061966[0] = 0; + out_3029322962876061966[1] = 1; + out_3029322962876061966[2] = 0; + out_3029322962876061966[3] = 0; + out_3029322962876061966[4] = 0; + out_3029322962876061966[5] = 0; + out_3029322962876061966[6] = 0; + out_3029322962876061966[7] = 0; + out_3029322962876061966[8] = 0; } -void h_28(double *state, double *unused, double *out_6507539167403890410) { - out_6507539167403890410[0] = state[0]; +void h_28(double *state, double *unused, double *out_6025196351012842965) { + out_6025196351012842965[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3803236046231543612) { - out_3803236046231543612[0] = 1; - out_3803236046231543612[1] = 0; - out_3803236046231543612[2] = 0; - out_3803236046231543612[3] = 0; - out_3803236046231543612[4] = 0; - out_3803236046231543612[5] = 0; - out_3803236046231543612[6] = 0; - out_3803236046231543612[7] = 0; - out_3803236046231543612[8] = 0; +void H_28(double *state, double *unused, double *out_2053076054193468608) { + out_2053076054193468608[0] = 1; + out_2053076054193468608[1] = 0; + out_2053076054193468608[2] = 0; + out_2053076054193468608[3] = 0; + out_2053076054193468608[4] = 0; + out_2053076054193468608[5] = 0; + out_2053076054193468608[6] = 0; + out_2053076054193468608[7] = 0; + out_2053076054193468608[8] = 0; } -void h_31(double *state, double *unused, double *out_5594040852719868954) { - out_5594040852719868954[0] = state[8]; +void h_31(double *state, double *unused, double *out_4388836258891040749) { + out_4388836258891040749[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1718755370106693421) { - out_1718755370106693421[0] = 0; - out_1718755370106693421[1] = 0; - out_1718755370106693421[2] = 0; - out_1718755370106693421[3] = 0; - out_1718755370106693421[4] = 0; - out_1718755370106693421[5] = 0; - out_1718755370106693421[6] = 0; - out_1718755370106693421[7] = 0; - out_1718755370106693421[8] = 1; +void H_31(double *state, double *unused, double *out_7077433910566238408) { + out_7077433910566238408[0] = 0; + out_7077433910566238408[1] = 0; + out_7077433910566238408[2] = 0; + out_7077433910566238408[3] = 0; + out_7077433910566238408[4] = 0; + out_7077433910566238408[5] = 0; + out_7077433910566238408[6] = 0; + out_7077433910566238408[7] = 0; + out_7077433910566238408[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_3329877133651101623) { - err_fun(nom_x, delta_x, out_3329877133651101623); +void car_err_fun(double *nom_x, double *delta_x, double *out_9081917749595232587) { + err_fun(nom_x, delta_x, out_9081917749595232587); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) { - inv_err_fun(nom_x, true_x, out_7760882190653564987); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1988639049671275534) { + inv_err_fun(nom_x, true_x, out_1988639049671275534); } -void car_H_mod_fun(double *state, double *out_1773647306661711299) { - H_mod_fun(state, out_1773647306661711299); +void car_H_mod_fun(double *state, double *out_7384273333574390060) { + H_mod_fun(state, out_7384273333574390060); } -void car_f_fun(double *state, double dt, double *out_8265395554005205627) { - f_fun(state, dt, out_8265395554005205627); +void car_f_fun(double *state, double dt, double *out_853161238105894931) { + f_fun(state, dt, out_853161238105894931); } -void car_F_fun(double *state, double dt, double *out_5121501708015469294) { - F_fun(state, dt, out_5121501708015469294); +void car_F_fun(double *state, double dt, double *out_6707016052586639669) { + F_fun(state, dt, out_6707016052586639669); } -void car_h_25(double *state, double *unused, double *out_1871114119926472838) { - h_25(state, unused, out_1871114119926472838); +void car_h_25(double *state, double *unused, double *out_2381998967459310187) { + h_25(state, unused, out_2381998967459310187); } -void car_H_25(double *state, double *unused, double *out_1749401331983653849) { - H_25(state, unused, out_1749401331983653849); +void car_H_25(double *state, double *unused, double *out_758660054421155) { + H_25(state, unused, out_758660054421155); } -void car_h_24(double *state, double *unused, double *out_4177328874243606255) { - h_24(state, unused, out_4177328874243606255); +void car_h_24(double *state, double *unused, double *out_8300475326001007063) { + h_24(state, unused, out_8300475326001007063); } -void car_H_24(double *state, double *unused, double *out_1808524266818669287) { - H_24(state, unused, out_1808524266818669287); +void car_H_24(double *state, double *unused, double *out_3981564491343346743) { + H_24(state, unused, out_3981564491343346743); } -void car_h_30(double *state, double *unused, double *out_6625546561337267154) { - h_30(state, unused, out_6625546561337267154); +void car_h_30(double *state, double *unused, double *out_8301479849429568988) { + h_30(state, unused, out_8301479849429568988); } -void car_H_30(double *state, double *unused, double *out_5167289009507962906) { - H_30(state, unused, out_5167289009507962906); +void car_H_30(double *state, double *unused, double *out_6917449001546037910) { + H_30(state, unused, out_6917449001546037910); } -void car_h_26(double *state, double *unused, double *out_8545349699624827873) { - h_26(state, unused, out_8545349699624827873); +void car_h_26(double *state, double *unused, double *out_2889120507186530919) { + h_26(state, unused, out_2889120507186530919); } -void car_H_26(double *state, double *unused, double *out_5490904650857710073) { - H_26(state, unused, out_5490904650857710073); +void car_H_26(double *state, double *unused, double *out_3305284629815221756) { + H_26(state, unused, out_3305284629815221756); } -void car_h_27(double *state, double *unused, double *out_3470753115959557725) { - h_27(state, unused, out_3470753115959557725); +void car_h_27(double *state, double *unused, double *out_8629601671821540616) { + h_27(state, unused, out_8629601671821540616); } -void car_H_27(double *state, double *unused, double *out_2992525697707537995) { - H_27(state, unused, out_2992525697707537995); +void car_H_27(double *state, double *unused, double *out_4742685689745612999) { + H_27(state, unused, out_4742685689745612999); } -void car_h_29(double *state, double *unused, double *out_7569056414238929589) { - h_29(state, unused, out_7569056414238929589); +void car_h_29(double *state, double *unused, double *out_8904795734106046505) { + h_29(state, unused, out_8904795734106046505); } -void car_H_29(double *state, double *unused, double *out_1279162970837986962) { - H_29(state, unused, out_1279162970837986962); +void car_H_29(double *state, double *unused, double *out_3029322962876061966) { + H_29(state, unused, out_3029322962876061966); } -void car_h_28(double *state, double *unused, double *out_6507539167403890410) { - h_28(state, unused, out_6507539167403890410); +void car_h_28(double *state, double *unused, double *out_6025196351012842965) { + h_28(state, unused, out_6025196351012842965); } -void car_H_28(double *state, double *unused, double *out_3803236046231543612) { - H_28(state, unused, out_3803236046231543612); +void car_H_28(double *state, double *unused, double *out_2053076054193468608) { + H_28(state, unused, out_2053076054193468608); } -void car_h_31(double *state, double *unused, double *out_5594040852719868954) { - h_31(state, unused, out_5594040852719868954); +void car_h_31(double *state, double *unused, double *out_4388836258891040749) { + h_31(state, unused, out_4388836258891040749); } -void car_H_31(double *state, double *unused, double *out_1718755370106693421) { - H_31(state, unused, out_1718755370106693421); +void car_H_31(double *state, double *unused, double *out_7077433910566238408) { + H_31(state, unused, out_7077433910566238408); } 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 5b9d4a4b7..1b6539be8 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_3329877133651101623); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987); -void car_H_mod_fun(double *state, double *out_1773647306661711299); -void car_f_fun(double *state, double dt, double *out_8265395554005205627); -void car_F_fun(double *state, double dt, double *out_5121501708015469294); -void car_h_25(double *state, double *unused, double *out_1871114119926472838); -void car_H_25(double *state, double *unused, double *out_1749401331983653849); -void car_h_24(double *state, double *unused, double *out_4177328874243606255); -void car_H_24(double *state, double *unused, double *out_1808524266818669287); -void car_h_30(double *state, double *unused, double *out_6625546561337267154); -void car_H_30(double *state, double *unused, double *out_5167289009507962906); -void car_h_26(double *state, double *unused, double *out_8545349699624827873); -void car_H_26(double *state, double *unused, double *out_5490904650857710073); -void car_h_27(double *state, double *unused, double *out_3470753115959557725); -void car_H_27(double *state, double *unused, double *out_2992525697707537995); -void car_h_29(double *state, double *unused, double *out_7569056414238929589); -void car_H_29(double *state, double *unused, double *out_1279162970837986962); -void car_h_28(double *state, double *unused, double *out_6507539167403890410); -void car_H_28(double *state, double *unused, double *out_3803236046231543612); -void car_h_31(double *state, double *unused, double *out_5594040852719868954); -void car_H_31(double *state, double *unused, double *out_1718755370106693421); +void car_err_fun(double *nom_x, double *delta_x, double *out_9081917749595232587); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1988639049671275534); +void car_H_mod_fun(double *state, double *out_7384273333574390060); +void car_f_fun(double *state, double dt, double *out_853161238105894931); +void car_F_fun(double *state, double dt, double *out_6707016052586639669); +void car_h_25(double *state, double *unused, double *out_2381998967459310187); +void car_H_25(double *state, double *unused, double *out_758660054421155); +void car_h_24(double *state, double *unused, double *out_8300475326001007063); +void car_H_24(double *state, double *unused, double *out_3981564491343346743); +void car_h_30(double *state, double *unused, double *out_8301479849429568988); +void car_H_30(double *state, double *unused, double *out_6917449001546037910); +void car_h_26(double *state, double *unused, double *out_2889120507186530919); +void car_H_26(double *state, double *unused, double *out_3305284629815221756); +void car_h_27(double *state, double *unused, double *out_8629601671821540616); +void car_H_27(double *state, double *unused, double *out_4742685689745612999); +void car_h_29(double *state, double *unused, double *out_8904795734106046505); +void car_H_29(double *state, double *unused, double *out_3029322962876061966); +void car_h_28(double *state, double *unused, double *out_6025196351012842965); +void car_H_28(double *state, double *unused, double *out_2053076054193468608); +void car_h_31(double *state, double *unused, double *out_4388836258891040749); +void car_H_31(double *state, double *unused, double *out_7077433910566238408); 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 87bcfb442..af4b962be 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_2803054085873220166) { - out_2803054085873220166[0] = delta_x[0] + nom_x[0]; - out_2803054085873220166[1] = delta_x[1] + nom_x[1]; - out_2803054085873220166[2] = delta_x[2] + nom_x[2]; - out_2803054085873220166[3] = delta_x[3] + nom_x[3]; - out_2803054085873220166[4] = delta_x[4] + nom_x[4]; - out_2803054085873220166[5] = delta_x[5] + nom_x[5]; - out_2803054085873220166[6] = delta_x[6] + nom_x[6]; - out_2803054085873220166[7] = delta_x[7] + nom_x[7]; - out_2803054085873220166[8] = delta_x[8] + nom_x[8]; - out_2803054085873220166[9] = delta_x[9] + nom_x[9]; - out_2803054085873220166[10] = delta_x[10] + nom_x[10]; - out_2803054085873220166[11] = delta_x[11] + nom_x[11]; - out_2803054085873220166[12] = delta_x[12] + nom_x[12]; - out_2803054085873220166[13] = delta_x[13] + nom_x[13]; - out_2803054085873220166[14] = delta_x[14] + nom_x[14]; - out_2803054085873220166[15] = delta_x[15] + nom_x[15]; - out_2803054085873220166[16] = delta_x[16] + nom_x[16]; - out_2803054085873220166[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_494363428253979517) { + out_494363428253979517[0] = delta_x[0] + nom_x[0]; + out_494363428253979517[1] = delta_x[1] + nom_x[1]; + out_494363428253979517[2] = delta_x[2] + nom_x[2]; + out_494363428253979517[3] = delta_x[3] + nom_x[3]; + out_494363428253979517[4] = delta_x[4] + nom_x[4]; + out_494363428253979517[5] = delta_x[5] + nom_x[5]; + out_494363428253979517[6] = delta_x[6] + nom_x[6]; + out_494363428253979517[7] = delta_x[7] + nom_x[7]; + out_494363428253979517[8] = delta_x[8] + nom_x[8]; + out_494363428253979517[9] = delta_x[9] + nom_x[9]; + out_494363428253979517[10] = delta_x[10] + nom_x[10]; + out_494363428253979517[11] = delta_x[11] + nom_x[11]; + out_494363428253979517[12] = delta_x[12] + nom_x[12]; + out_494363428253979517[13] = delta_x[13] + nom_x[13]; + out_494363428253979517[14] = delta_x[14] + nom_x[14]; + out_494363428253979517[15] = delta_x[15] + nom_x[15]; + out_494363428253979517[16] = delta_x[16] + nom_x[16]; + out_494363428253979517[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541) { - out_870718263858356541[0] = -nom_x[0] + true_x[0]; - out_870718263858356541[1] = -nom_x[1] + true_x[1]; - out_870718263858356541[2] = -nom_x[2] + true_x[2]; - out_870718263858356541[3] = -nom_x[3] + true_x[3]; - out_870718263858356541[4] = -nom_x[4] + true_x[4]; - out_870718263858356541[5] = -nom_x[5] + true_x[5]; - out_870718263858356541[6] = -nom_x[6] + true_x[6]; - out_870718263858356541[7] = -nom_x[7] + true_x[7]; - out_870718263858356541[8] = -nom_x[8] + true_x[8]; - out_870718263858356541[9] = -nom_x[9] + true_x[9]; - out_870718263858356541[10] = -nom_x[10] + true_x[10]; - out_870718263858356541[11] = -nom_x[11] + true_x[11]; - out_870718263858356541[12] = -nom_x[12] + true_x[12]; - out_870718263858356541[13] = -nom_x[13] + true_x[13]; - out_870718263858356541[14] = -nom_x[14] + true_x[14]; - out_870718263858356541[15] = -nom_x[15] + true_x[15]; - out_870718263858356541[16] = -nom_x[16] + true_x[16]; - out_870718263858356541[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7744180703950466915) { + out_7744180703950466915[0] = -nom_x[0] + true_x[0]; + out_7744180703950466915[1] = -nom_x[1] + true_x[1]; + out_7744180703950466915[2] = -nom_x[2] + true_x[2]; + out_7744180703950466915[3] = -nom_x[3] + true_x[3]; + out_7744180703950466915[4] = -nom_x[4] + true_x[4]; + out_7744180703950466915[5] = -nom_x[5] + true_x[5]; + out_7744180703950466915[6] = -nom_x[6] + true_x[6]; + out_7744180703950466915[7] = -nom_x[7] + true_x[7]; + out_7744180703950466915[8] = -nom_x[8] + true_x[8]; + out_7744180703950466915[9] = -nom_x[9] + true_x[9]; + out_7744180703950466915[10] = -nom_x[10] + true_x[10]; + out_7744180703950466915[11] = -nom_x[11] + true_x[11]; + out_7744180703950466915[12] = -nom_x[12] + true_x[12]; + out_7744180703950466915[13] = -nom_x[13] + true_x[13]; + out_7744180703950466915[14] = -nom_x[14] + true_x[14]; + out_7744180703950466915[15] = -nom_x[15] + true_x[15]; + out_7744180703950466915[16] = -nom_x[16] + true_x[16]; + out_7744180703950466915[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_245560868528396178) { - out_245560868528396178[0] = 1.0; - out_245560868528396178[1] = 0.0; - out_245560868528396178[2] = 0.0; - out_245560868528396178[3] = 0.0; - out_245560868528396178[4] = 0.0; - out_245560868528396178[5] = 0.0; - out_245560868528396178[6] = 0.0; - out_245560868528396178[7] = 0.0; - out_245560868528396178[8] = 0.0; - out_245560868528396178[9] = 0.0; - out_245560868528396178[10] = 0.0; - out_245560868528396178[11] = 0.0; - out_245560868528396178[12] = 0.0; - out_245560868528396178[13] = 0.0; - out_245560868528396178[14] = 0.0; - out_245560868528396178[15] = 0.0; - out_245560868528396178[16] = 0.0; - out_245560868528396178[17] = 0.0; - out_245560868528396178[18] = 0.0; - out_245560868528396178[19] = 1.0; - out_245560868528396178[20] = 0.0; - out_245560868528396178[21] = 0.0; - out_245560868528396178[22] = 0.0; - out_245560868528396178[23] = 0.0; - out_245560868528396178[24] = 0.0; - out_245560868528396178[25] = 0.0; - out_245560868528396178[26] = 0.0; - out_245560868528396178[27] = 0.0; - out_245560868528396178[28] = 0.0; - out_245560868528396178[29] = 0.0; - out_245560868528396178[30] = 0.0; - out_245560868528396178[31] = 0.0; - out_245560868528396178[32] = 0.0; - out_245560868528396178[33] = 0.0; - out_245560868528396178[34] = 0.0; - out_245560868528396178[35] = 0.0; - out_245560868528396178[36] = 0.0; - out_245560868528396178[37] = 0.0; - out_245560868528396178[38] = 1.0; - out_245560868528396178[39] = 0.0; - out_245560868528396178[40] = 0.0; - out_245560868528396178[41] = 0.0; - out_245560868528396178[42] = 0.0; - out_245560868528396178[43] = 0.0; - out_245560868528396178[44] = 0.0; - out_245560868528396178[45] = 0.0; - out_245560868528396178[46] = 0.0; - out_245560868528396178[47] = 0.0; - out_245560868528396178[48] = 0.0; - out_245560868528396178[49] = 0.0; - out_245560868528396178[50] = 0.0; - out_245560868528396178[51] = 0.0; - out_245560868528396178[52] = 0.0; - out_245560868528396178[53] = 0.0; - out_245560868528396178[54] = 0.0; - out_245560868528396178[55] = 0.0; - out_245560868528396178[56] = 0.0; - out_245560868528396178[57] = 1.0; - out_245560868528396178[58] = 0.0; - out_245560868528396178[59] = 0.0; - out_245560868528396178[60] = 0.0; - out_245560868528396178[61] = 0.0; - out_245560868528396178[62] = 0.0; - out_245560868528396178[63] = 0.0; - out_245560868528396178[64] = 0.0; - out_245560868528396178[65] = 0.0; - out_245560868528396178[66] = 0.0; - out_245560868528396178[67] = 0.0; - out_245560868528396178[68] = 0.0; - out_245560868528396178[69] = 0.0; - out_245560868528396178[70] = 0.0; - out_245560868528396178[71] = 0.0; - out_245560868528396178[72] = 0.0; - out_245560868528396178[73] = 0.0; - out_245560868528396178[74] = 0.0; - out_245560868528396178[75] = 0.0; - out_245560868528396178[76] = 1.0; - out_245560868528396178[77] = 0.0; - out_245560868528396178[78] = 0.0; - out_245560868528396178[79] = 0.0; - out_245560868528396178[80] = 0.0; - out_245560868528396178[81] = 0.0; - out_245560868528396178[82] = 0.0; - out_245560868528396178[83] = 0.0; - out_245560868528396178[84] = 0.0; - out_245560868528396178[85] = 0.0; - out_245560868528396178[86] = 0.0; - out_245560868528396178[87] = 0.0; - out_245560868528396178[88] = 0.0; - out_245560868528396178[89] = 0.0; - out_245560868528396178[90] = 0.0; - out_245560868528396178[91] = 0.0; - out_245560868528396178[92] = 0.0; - out_245560868528396178[93] = 0.0; - out_245560868528396178[94] = 0.0; - out_245560868528396178[95] = 1.0; - out_245560868528396178[96] = 0.0; - out_245560868528396178[97] = 0.0; - out_245560868528396178[98] = 0.0; - out_245560868528396178[99] = 0.0; - out_245560868528396178[100] = 0.0; - out_245560868528396178[101] = 0.0; - out_245560868528396178[102] = 0.0; - out_245560868528396178[103] = 0.0; - out_245560868528396178[104] = 0.0; - out_245560868528396178[105] = 0.0; - out_245560868528396178[106] = 0.0; - out_245560868528396178[107] = 0.0; - out_245560868528396178[108] = 0.0; - out_245560868528396178[109] = 0.0; - out_245560868528396178[110] = 0.0; - out_245560868528396178[111] = 0.0; - out_245560868528396178[112] = 0.0; - out_245560868528396178[113] = 0.0; - out_245560868528396178[114] = 1.0; - out_245560868528396178[115] = 0.0; - out_245560868528396178[116] = 0.0; - out_245560868528396178[117] = 0.0; - out_245560868528396178[118] = 0.0; - out_245560868528396178[119] = 0.0; - out_245560868528396178[120] = 0.0; - out_245560868528396178[121] = 0.0; - out_245560868528396178[122] = 0.0; - out_245560868528396178[123] = 0.0; - out_245560868528396178[124] = 0.0; - out_245560868528396178[125] = 0.0; - out_245560868528396178[126] = 0.0; - out_245560868528396178[127] = 0.0; - out_245560868528396178[128] = 0.0; - out_245560868528396178[129] = 0.0; - out_245560868528396178[130] = 0.0; - out_245560868528396178[131] = 0.0; - out_245560868528396178[132] = 0.0; - out_245560868528396178[133] = 1.0; - out_245560868528396178[134] = 0.0; - out_245560868528396178[135] = 0.0; - out_245560868528396178[136] = 0.0; - out_245560868528396178[137] = 0.0; - out_245560868528396178[138] = 0.0; - out_245560868528396178[139] = 0.0; - out_245560868528396178[140] = 0.0; - out_245560868528396178[141] = 0.0; - out_245560868528396178[142] = 0.0; - out_245560868528396178[143] = 0.0; - out_245560868528396178[144] = 0.0; - out_245560868528396178[145] = 0.0; - out_245560868528396178[146] = 0.0; - out_245560868528396178[147] = 0.0; - out_245560868528396178[148] = 0.0; - out_245560868528396178[149] = 0.0; - out_245560868528396178[150] = 0.0; - out_245560868528396178[151] = 0.0; - out_245560868528396178[152] = 1.0; - out_245560868528396178[153] = 0.0; - out_245560868528396178[154] = 0.0; - out_245560868528396178[155] = 0.0; - out_245560868528396178[156] = 0.0; - out_245560868528396178[157] = 0.0; - out_245560868528396178[158] = 0.0; - out_245560868528396178[159] = 0.0; - out_245560868528396178[160] = 0.0; - out_245560868528396178[161] = 0.0; - out_245560868528396178[162] = 0.0; - out_245560868528396178[163] = 0.0; - out_245560868528396178[164] = 0.0; - out_245560868528396178[165] = 0.0; - out_245560868528396178[166] = 0.0; - out_245560868528396178[167] = 0.0; - out_245560868528396178[168] = 0.0; - out_245560868528396178[169] = 0.0; - out_245560868528396178[170] = 0.0; - out_245560868528396178[171] = 1.0; - out_245560868528396178[172] = 0.0; - out_245560868528396178[173] = 0.0; - out_245560868528396178[174] = 0.0; - out_245560868528396178[175] = 0.0; - out_245560868528396178[176] = 0.0; - out_245560868528396178[177] = 0.0; - out_245560868528396178[178] = 0.0; - out_245560868528396178[179] = 0.0; - out_245560868528396178[180] = 0.0; - out_245560868528396178[181] = 0.0; - out_245560868528396178[182] = 0.0; - out_245560868528396178[183] = 0.0; - out_245560868528396178[184] = 0.0; - out_245560868528396178[185] = 0.0; - out_245560868528396178[186] = 0.0; - out_245560868528396178[187] = 0.0; - out_245560868528396178[188] = 0.0; - out_245560868528396178[189] = 0.0; - out_245560868528396178[190] = 1.0; - out_245560868528396178[191] = 0.0; - out_245560868528396178[192] = 0.0; - out_245560868528396178[193] = 0.0; - out_245560868528396178[194] = 0.0; - out_245560868528396178[195] = 0.0; - out_245560868528396178[196] = 0.0; - out_245560868528396178[197] = 0.0; - out_245560868528396178[198] = 0.0; - out_245560868528396178[199] = 0.0; - out_245560868528396178[200] = 0.0; - out_245560868528396178[201] = 0.0; - out_245560868528396178[202] = 0.0; - out_245560868528396178[203] = 0.0; - out_245560868528396178[204] = 0.0; - out_245560868528396178[205] = 0.0; - out_245560868528396178[206] = 0.0; - out_245560868528396178[207] = 0.0; - out_245560868528396178[208] = 0.0; - out_245560868528396178[209] = 1.0; - out_245560868528396178[210] = 0.0; - out_245560868528396178[211] = 0.0; - out_245560868528396178[212] = 0.0; - out_245560868528396178[213] = 0.0; - out_245560868528396178[214] = 0.0; - out_245560868528396178[215] = 0.0; - out_245560868528396178[216] = 0.0; - out_245560868528396178[217] = 0.0; - out_245560868528396178[218] = 0.0; - out_245560868528396178[219] = 0.0; - out_245560868528396178[220] = 0.0; - out_245560868528396178[221] = 0.0; - out_245560868528396178[222] = 0.0; - out_245560868528396178[223] = 0.0; - out_245560868528396178[224] = 0.0; - out_245560868528396178[225] = 0.0; - out_245560868528396178[226] = 0.0; - out_245560868528396178[227] = 0.0; - out_245560868528396178[228] = 1.0; - out_245560868528396178[229] = 0.0; - out_245560868528396178[230] = 0.0; - out_245560868528396178[231] = 0.0; - out_245560868528396178[232] = 0.0; - out_245560868528396178[233] = 0.0; - out_245560868528396178[234] = 0.0; - out_245560868528396178[235] = 0.0; - out_245560868528396178[236] = 0.0; - out_245560868528396178[237] = 0.0; - out_245560868528396178[238] = 0.0; - out_245560868528396178[239] = 0.0; - out_245560868528396178[240] = 0.0; - out_245560868528396178[241] = 0.0; - out_245560868528396178[242] = 0.0; - out_245560868528396178[243] = 0.0; - out_245560868528396178[244] = 0.0; - out_245560868528396178[245] = 0.0; - out_245560868528396178[246] = 0.0; - out_245560868528396178[247] = 1.0; - out_245560868528396178[248] = 0.0; - out_245560868528396178[249] = 0.0; - out_245560868528396178[250] = 0.0; - out_245560868528396178[251] = 0.0; - out_245560868528396178[252] = 0.0; - out_245560868528396178[253] = 0.0; - out_245560868528396178[254] = 0.0; - out_245560868528396178[255] = 0.0; - out_245560868528396178[256] = 0.0; - out_245560868528396178[257] = 0.0; - out_245560868528396178[258] = 0.0; - out_245560868528396178[259] = 0.0; - out_245560868528396178[260] = 0.0; - out_245560868528396178[261] = 0.0; - out_245560868528396178[262] = 0.0; - out_245560868528396178[263] = 0.0; - out_245560868528396178[264] = 0.0; - out_245560868528396178[265] = 0.0; - out_245560868528396178[266] = 1.0; - out_245560868528396178[267] = 0.0; - out_245560868528396178[268] = 0.0; - out_245560868528396178[269] = 0.0; - out_245560868528396178[270] = 0.0; - out_245560868528396178[271] = 0.0; - out_245560868528396178[272] = 0.0; - out_245560868528396178[273] = 0.0; - out_245560868528396178[274] = 0.0; - out_245560868528396178[275] = 0.0; - out_245560868528396178[276] = 0.0; - out_245560868528396178[277] = 0.0; - out_245560868528396178[278] = 0.0; - out_245560868528396178[279] = 0.0; - out_245560868528396178[280] = 0.0; - out_245560868528396178[281] = 0.0; - out_245560868528396178[282] = 0.0; - out_245560868528396178[283] = 0.0; - out_245560868528396178[284] = 0.0; - out_245560868528396178[285] = 1.0; - out_245560868528396178[286] = 0.0; - out_245560868528396178[287] = 0.0; - out_245560868528396178[288] = 0.0; - out_245560868528396178[289] = 0.0; - out_245560868528396178[290] = 0.0; - out_245560868528396178[291] = 0.0; - out_245560868528396178[292] = 0.0; - out_245560868528396178[293] = 0.0; - out_245560868528396178[294] = 0.0; - out_245560868528396178[295] = 0.0; - out_245560868528396178[296] = 0.0; - out_245560868528396178[297] = 0.0; - out_245560868528396178[298] = 0.0; - out_245560868528396178[299] = 0.0; - out_245560868528396178[300] = 0.0; - out_245560868528396178[301] = 0.0; - out_245560868528396178[302] = 0.0; - out_245560868528396178[303] = 0.0; - out_245560868528396178[304] = 1.0; - out_245560868528396178[305] = 0.0; - out_245560868528396178[306] = 0.0; - out_245560868528396178[307] = 0.0; - out_245560868528396178[308] = 0.0; - out_245560868528396178[309] = 0.0; - out_245560868528396178[310] = 0.0; - out_245560868528396178[311] = 0.0; - out_245560868528396178[312] = 0.0; - out_245560868528396178[313] = 0.0; - out_245560868528396178[314] = 0.0; - out_245560868528396178[315] = 0.0; - out_245560868528396178[316] = 0.0; - out_245560868528396178[317] = 0.0; - out_245560868528396178[318] = 0.0; - out_245560868528396178[319] = 0.0; - out_245560868528396178[320] = 0.0; - out_245560868528396178[321] = 0.0; - out_245560868528396178[322] = 0.0; - out_245560868528396178[323] = 1.0; +void H_mod_fun(double *state, double *out_8790605035544908227) { + out_8790605035544908227[0] = 1.0; + out_8790605035544908227[1] = 0.0; + out_8790605035544908227[2] = 0.0; + out_8790605035544908227[3] = 0.0; + out_8790605035544908227[4] = 0.0; + out_8790605035544908227[5] = 0.0; + out_8790605035544908227[6] = 0.0; + out_8790605035544908227[7] = 0.0; + out_8790605035544908227[8] = 0.0; + out_8790605035544908227[9] = 0.0; + out_8790605035544908227[10] = 0.0; + out_8790605035544908227[11] = 0.0; + out_8790605035544908227[12] = 0.0; + out_8790605035544908227[13] = 0.0; + out_8790605035544908227[14] = 0.0; + out_8790605035544908227[15] = 0.0; + out_8790605035544908227[16] = 0.0; + out_8790605035544908227[17] = 0.0; + out_8790605035544908227[18] = 0.0; + out_8790605035544908227[19] = 1.0; + out_8790605035544908227[20] = 0.0; + out_8790605035544908227[21] = 0.0; + out_8790605035544908227[22] = 0.0; + out_8790605035544908227[23] = 0.0; + out_8790605035544908227[24] = 0.0; + out_8790605035544908227[25] = 0.0; + out_8790605035544908227[26] = 0.0; + out_8790605035544908227[27] = 0.0; + out_8790605035544908227[28] = 0.0; + out_8790605035544908227[29] = 0.0; + out_8790605035544908227[30] = 0.0; + out_8790605035544908227[31] = 0.0; + out_8790605035544908227[32] = 0.0; + out_8790605035544908227[33] = 0.0; + out_8790605035544908227[34] = 0.0; + out_8790605035544908227[35] = 0.0; + out_8790605035544908227[36] = 0.0; + out_8790605035544908227[37] = 0.0; + out_8790605035544908227[38] = 1.0; + out_8790605035544908227[39] = 0.0; + out_8790605035544908227[40] = 0.0; + out_8790605035544908227[41] = 0.0; + out_8790605035544908227[42] = 0.0; + out_8790605035544908227[43] = 0.0; + out_8790605035544908227[44] = 0.0; + out_8790605035544908227[45] = 0.0; + out_8790605035544908227[46] = 0.0; + out_8790605035544908227[47] = 0.0; + out_8790605035544908227[48] = 0.0; + out_8790605035544908227[49] = 0.0; + out_8790605035544908227[50] = 0.0; + out_8790605035544908227[51] = 0.0; + out_8790605035544908227[52] = 0.0; + out_8790605035544908227[53] = 0.0; + out_8790605035544908227[54] = 0.0; + out_8790605035544908227[55] = 0.0; + out_8790605035544908227[56] = 0.0; + out_8790605035544908227[57] = 1.0; + out_8790605035544908227[58] = 0.0; + out_8790605035544908227[59] = 0.0; + out_8790605035544908227[60] = 0.0; + out_8790605035544908227[61] = 0.0; + out_8790605035544908227[62] = 0.0; + out_8790605035544908227[63] = 0.0; + out_8790605035544908227[64] = 0.0; + out_8790605035544908227[65] = 0.0; + out_8790605035544908227[66] = 0.0; + out_8790605035544908227[67] = 0.0; + out_8790605035544908227[68] = 0.0; + out_8790605035544908227[69] = 0.0; + out_8790605035544908227[70] = 0.0; + out_8790605035544908227[71] = 0.0; + out_8790605035544908227[72] = 0.0; + out_8790605035544908227[73] = 0.0; + out_8790605035544908227[74] = 0.0; + out_8790605035544908227[75] = 0.0; + out_8790605035544908227[76] = 1.0; + out_8790605035544908227[77] = 0.0; + out_8790605035544908227[78] = 0.0; + out_8790605035544908227[79] = 0.0; + out_8790605035544908227[80] = 0.0; + out_8790605035544908227[81] = 0.0; + out_8790605035544908227[82] = 0.0; + out_8790605035544908227[83] = 0.0; + out_8790605035544908227[84] = 0.0; + out_8790605035544908227[85] = 0.0; + out_8790605035544908227[86] = 0.0; + out_8790605035544908227[87] = 0.0; + out_8790605035544908227[88] = 0.0; + out_8790605035544908227[89] = 0.0; + out_8790605035544908227[90] = 0.0; + out_8790605035544908227[91] = 0.0; + out_8790605035544908227[92] = 0.0; + out_8790605035544908227[93] = 0.0; + out_8790605035544908227[94] = 0.0; + out_8790605035544908227[95] = 1.0; + out_8790605035544908227[96] = 0.0; + out_8790605035544908227[97] = 0.0; + out_8790605035544908227[98] = 0.0; + out_8790605035544908227[99] = 0.0; + out_8790605035544908227[100] = 0.0; + out_8790605035544908227[101] = 0.0; + out_8790605035544908227[102] = 0.0; + out_8790605035544908227[103] = 0.0; + out_8790605035544908227[104] = 0.0; + out_8790605035544908227[105] = 0.0; + out_8790605035544908227[106] = 0.0; + out_8790605035544908227[107] = 0.0; + out_8790605035544908227[108] = 0.0; + out_8790605035544908227[109] = 0.0; + out_8790605035544908227[110] = 0.0; + out_8790605035544908227[111] = 0.0; + out_8790605035544908227[112] = 0.0; + out_8790605035544908227[113] = 0.0; + out_8790605035544908227[114] = 1.0; + out_8790605035544908227[115] = 0.0; + out_8790605035544908227[116] = 0.0; + out_8790605035544908227[117] = 0.0; + out_8790605035544908227[118] = 0.0; + out_8790605035544908227[119] = 0.0; + out_8790605035544908227[120] = 0.0; + out_8790605035544908227[121] = 0.0; + out_8790605035544908227[122] = 0.0; + out_8790605035544908227[123] = 0.0; + out_8790605035544908227[124] = 0.0; + out_8790605035544908227[125] = 0.0; + out_8790605035544908227[126] = 0.0; + out_8790605035544908227[127] = 0.0; + out_8790605035544908227[128] = 0.0; + out_8790605035544908227[129] = 0.0; + out_8790605035544908227[130] = 0.0; + out_8790605035544908227[131] = 0.0; + out_8790605035544908227[132] = 0.0; + out_8790605035544908227[133] = 1.0; + out_8790605035544908227[134] = 0.0; + out_8790605035544908227[135] = 0.0; + out_8790605035544908227[136] = 0.0; + out_8790605035544908227[137] = 0.0; + out_8790605035544908227[138] = 0.0; + out_8790605035544908227[139] = 0.0; + out_8790605035544908227[140] = 0.0; + out_8790605035544908227[141] = 0.0; + out_8790605035544908227[142] = 0.0; + out_8790605035544908227[143] = 0.0; + out_8790605035544908227[144] = 0.0; + out_8790605035544908227[145] = 0.0; + out_8790605035544908227[146] = 0.0; + out_8790605035544908227[147] = 0.0; + out_8790605035544908227[148] = 0.0; + out_8790605035544908227[149] = 0.0; + out_8790605035544908227[150] = 0.0; + out_8790605035544908227[151] = 0.0; + out_8790605035544908227[152] = 1.0; + out_8790605035544908227[153] = 0.0; + out_8790605035544908227[154] = 0.0; + out_8790605035544908227[155] = 0.0; + out_8790605035544908227[156] = 0.0; + out_8790605035544908227[157] = 0.0; + out_8790605035544908227[158] = 0.0; + out_8790605035544908227[159] = 0.0; + out_8790605035544908227[160] = 0.0; + out_8790605035544908227[161] = 0.0; + out_8790605035544908227[162] = 0.0; + out_8790605035544908227[163] = 0.0; + out_8790605035544908227[164] = 0.0; + out_8790605035544908227[165] = 0.0; + out_8790605035544908227[166] = 0.0; + out_8790605035544908227[167] = 0.0; + out_8790605035544908227[168] = 0.0; + out_8790605035544908227[169] = 0.0; + out_8790605035544908227[170] = 0.0; + out_8790605035544908227[171] = 1.0; + out_8790605035544908227[172] = 0.0; + out_8790605035544908227[173] = 0.0; + out_8790605035544908227[174] = 0.0; + out_8790605035544908227[175] = 0.0; + out_8790605035544908227[176] = 0.0; + out_8790605035544908227[177] = 0.0; + out_8790605035544908227[178] = 0.0; + out_8790605035544908227[179] = 0.0; + out_8790605035544908227[180] = 0.0; + out_8790605035544908227[181] = 0.0; + out_8790605035544908227[182] = 0.0; + out_8790605035544908227[183] = 0.0; + out_8790605035544908227[184] = 0.0; + out_8790605035544908227[185] = 0.0; + out_8790605035544908227[186] = 0.0; + out_8790605035544908227[187] = 0.0; + out_8790605035544908227[188] = 0.0; + out_8790605035544908227[189] = 0.0; + out_8790605035544908227[190] = 1.0; + out_8790605035544908227[191] = 0.0; + out_8790605035544908227[192] = 0.0; + out_8790605035544908227[193] = 0.0; + out_8790605035544908227[194] = 0.0; + out_8790605035544908227[195] = 0.0; + out_8790605035544908227[196] = 0.0; + out_8790605035544908227[197] = 0.0; + out_8790605035544908227[198] = 0.0; + out_8790605035544908227[199] = 0.0; + out_8790605035544908227[200] = 0.0; + out_8790605035544908227[201] = 0.0; + out_8790605035544908227[202] = 0.0; + out_8790605035544908227[203] = 0.0; + out_8790605035544908227[204] = 0.0; + out_8790605035544908227[205] = 0.0; + out_8790605035544908227[206] = 0.0; + out_8790605035544908227[207] = 0.0; + out_8790605035544908227[208] = 0.0; + out_8790605035544908227[209] = 1.0; + out_8790605035544908227[210] = 0.0; + out_8790605035544908227[211] = 0.0; + out_8790605035544908227[212] = 0.0; + out_8790605035544908227[213] = 0.0; + out_8790605035544908227[214] = 0.0; + out_8790605035544908227[215] = 0.0; + out_8790605035544908227[216] = 0.0; + out_8790605035544908227[217] = 0.0; + out_8790605035544908227[218] = 0.0; + out_8790605035544908227[219] = 0.0; + out_8790605035544908227[220] = 0.0; + out_8790605035544908227[221] = 0.0; + out_8790605035544908227[222] = 0.0; + out_8790605035544908227[223] = 0.0; + out_8790605035544908227[224] = 0.0; + out_8790605035544908227[225] = 0.0; + out_8790605035544908227[226] = 0.0; + out_8790605035544908227[227] = 0.0; + out_8790605035544908227[228] = 1.0; + out_8790605035544908227[229] = 0.0; + out_8790605035544908227[230] = 0.0; + out_8790605035544908227[231] = 0.0; + out_8790605035544908227[232] = 0.0; + out_8790605035544908227[233] = 0.0; + out_8790605035544908227[234] = 0.0; + out_8790605035544908227[235] = 0.0; + out_8790605035544908227[236] = 0.0; + out_8790605035544908227[237] = 0.0; + out_8790605035544908227[238] = 0.0; + out_8790605035544908227[239] = 0.0; + out_8790605035544908227[240] = 0.0; + out_8790605035544908227[241] = 0.0; + out_8790605035544908227[242] = 0.0; + out_8790605035544908227[243] = 0.0; + out_8790605035544908227[244] = 0.0; + out_8790605035544908227[245] = 0.0; + out_8790605035544908227[246] = 0.0; + out_8790605035544908227[247] = 1.0; + out_8790605035544908227[248] = 0.0; + out_8790605035544908227[249] = 0.0; + out_8790605035544908227[250] = 0.0; + out_8790605035544908227[251] = 0.0; + out_8790605035544908227[252] = 0.0; + out_8790605035544908227[253] = 0.0; + out_8790605035544908227[254] = 0.0; + out_8790605035544908227[255] = 0.0; + out_8790605035544908227[256] = 0.0; + out_8790605035544908227[257] = 0.0; + out_8790605035544908227[258] = 0.0; + out_8790605035544908227[259] = 0.0; + out_8790605035544908227[260] = 0.0; + out_8790605035544908227[261] = 0.0; + out_8790605035544908227[262] = 0.0; + out_8790605035544908227[263] = 0.0; + out_8790605035544908227[264] = 0.0; + out_8790605035544908227[265] = 0.0; + out_8790605035544908227[266] = 1.0; + out_8790605035544908227[267] = 0.0; + out_8790605035544908227[268] = 0.0; + out_8790605035544908227[269] = 0.0; + out_8790605035544908227[270] = 0.0; + out_8790605035544908227[271] = 0.0; + out_8790605035544908227[272] = 0.0; + out_8790605035544908227[273] = 0.0; + out_8790605035544908227[274] = 0.0; + out_8790605035544908227[275] = 0.0; + out_8790605035544908227[276] = 0.0; + out_8790605035544908227[277] = 0.0; + out_8790605035544908227[278] = 0.0; + out_8790605035544908227[279] = 0.0; + out_8790605035544908227[280] = 0.0; + out_8790605035544908227[281] = 0.0; + out_8790605035544908227[282] = 0.0; + out_8790605035544908227[283] = 0.0; + out_8790605035544908227[284] = 0.0; + out_8790605035544908227[285] = 1.0; + out_8790605035544908227[286] = 0.0; + out_8790605035544908227[287] = 0.0; + out_8790605035544908227[288] = 0.0; + out_8790605035544908227[289] = 0.0; + out_8790605035544908227[290] = 0.0; + out_8790605035544908227[291] = 0.0; + out_8790605035544908227[292] = 0.0; + out_8790605035544908227[293] = 0.0; + out_8790605035544908227[294] = 0.0; + out_8790605035544908227[295] = 0.0; + out_8790605035544908227[296] = 0.0; + out_8790605035544908227[297] = 0.0; + out_8790605035544908227[298] = 0.0; + out_8790605035544908227[299] = 0.0; + out_8790605035544908227[300] = 0.0; + out_8790605035544908227[301] = 0.0; + out_8790605035544908227[302] = 0.0; + out_8790605035544908227[303] = 0.0; + out_8790605035544908227[304] = 1.0; + out_8790605035544908227[305] = 0.0; + out_8790605035544908227[306] = 0.0; + out_8790605035544908227[307] = 0.0; + out_8790605035544908227[308] = 0.0; + out_8790605035544908227[309] = 0.0; + out_8790605035544908227[310] = 0.0; + out_8790605035544908227[311] = 0.0; + out_8790605035544908227[312] = 0.0; + out_8790605035544908227[313] = 0.0; + out_8790605035544908227[314] = 0.0; + out_8790605035544908227[315] = 0.0; + out_8790605035544908227[316] = 0.0; + out_8790605035544908227[317] = 0.0; + out_8790605035544908227[318] = 0.0; + out_8790605035544908227[319] = 0.0; + out_8790605035544908227[320] = 0.0; + out_8790605035544908227[321] = 0.0; + out_8790605035544908227[322] = 0.0; + out_8790605035544908227[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8465405656783528291) { - out_8465405656783528291[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_8465405656783528291[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_8465405656783528291[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_8465405656783528291[3] = dt*state[12] + state[3]; - out_8465405656783528291[4] = dt*state[13] + state[4]; - out_8465405656783528291[5] = dt*state[14] + state[5]; - out_8465405656783528291[6] = state[6]; - out_8465405656783528291[7] = state[7]; - out_8465405656783528291[8] = state[8]; - out_8465405656783528291[9] = state[9]; - out_8465405656783528291[10] = state[10]; - out_8465405656783528291[11] = state[11]; - out_8465405656783528291[12] = state[12]; - out_8465405656783528291[13] = state[13]; - out_8465405656783528291[14] = state[14]; - out_8465405656783528291[15] = state[15]; - out_8465405656783528291[16] = state[16]; - out_8465405656783528291[17] = state[17]; +void f_fun(double *state, double dt, double *out_4191169391561892498) { + out_4191169391561892498[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_4191169391561892498[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_4191169391561892498[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_4191169391561892498[3] = dt*state[12] + state[3]; + out_4191169391561892498[4] = dt*state[13] + state[4]; + out_4191169391561892498[5] = dt*state[14] + state[5]; + out_4191169391561892498[6] = state[6]; + out_4191169391561892498[7] = state[7]; + out_4191169391561892498[8] = state[8]; + out_4191169391561892498[9] = state[9]; + out_4191169391561892498[10] = state[10]; + out_4191169391561892498[11] = state[11]; + out_4191169391561892498[12] = state[12]; + out_4191169391561892498[13] = state[13]; + out_4191169391561892498[14] = state[14]; + out_4191169391561892498[15] = state[15]; + out_4191169391561892498[16] = state[16]; + out_4191169391561892498[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5153518595662752782) { - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[2] = 0; - out_5153518595662752782[3] = 0; - out_5153518595662752782[4] = 0; - out_5153518595662752782[5] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[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_5153518595662752782[9] = 0; - out_5153518595662752782[10] = 0; - out_5153518595662752782[11] = 0; - out_5153518595662752782[12] = 0; - out_5153518595662752782[13] = 0; - out_5153518595662752782[14] = 0; - out_5153518595662752782[15] = 0; - out_5153518595662752782[16] = 0; - out_5153518595662752782[17] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[20] = 0; - out_5153518595662752782[21] = 0; - out_5153518595662752782[22] = 0; - out_5153518595662752782[23] = 0; - out_5153518595662752782[24] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[27] = 0; - out_5153518595662752782[28] = 0; - out_5153518595662752782[29] = 0; - out_5153518595662752782[30] = 0; - out_5153518595662752782[31] = 0; - out_5153518595662752782[32] = 0; - out_5153518595662752782[33] = 0; - out_5153518595662752782[34] = 0; - out_5153518595662752782[35] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[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_5153518595662752782[39] = 0; - out_5153518595662752782[40] = 0; - out_5153518595662752782[41] = 0; - out_5153518595662752782[42] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[45] = 0; - out_5153518595662752782[46] = 0; - out_5153518595662752782[47] = 0; - out_5153518595662752782[48] = 0; - out_5153518595662752782[49] = 0; - out_5153518595662752782[50] = 0; - out_5153518595662752782[51] = 0; - out_5153518595662752782[52] = 0; - out_5153518595662752782[53] = 0; - out_5153518595662752782[54] = 0; - out_5153518595662752782[55] = 0; - out_5153518595662752782[56] = 0; - out_5153518595662752782[57] = 1; - out_5153518595662752782[58] = 0; - out_5153518595662752782[59] = 0; - out_5153518595662752782[60] = 0; - out_5153518595662752782[61] = 0; - out_5153518595662752782[62] = 0; - out_5153518595662752782[63] = 0; - out_5153518595662752782[64] = 0; - out_5153518595662752782[65] = 0; - out_5153518595662752782[66] = dt; - out_5153518595662752782[67] = 0; - out_5153518595662752782[68] = 0; - out_5153518595662752782[69] = 0; - out_5153518595662752782[70] = 0; - out_5153518595662752782[71] = 0; - out_5153518595662752782[72] = 0; - out_5153518595662752782[73] = 0; - out_5153518595662752782[74] = 0; - out_5153518595662752782[75] = 0; - out_5153518595662752782[76] = 1; - out_5153518595662752782[77] = 0; - out_5153518595662752782[78] = 0; - out_5153518595662752782[79] = 0; - out_5153518595662752782[80] = 0; - out_5153518595662752782[81] = 0; - out_5153518595662752782[82] = 0; - out_5153518595662752782[83] = 0; - out_5153518595662752782[84] = 0; - out_5153518595662752782[85] = dt; - out_5153518595662752782[86] = 0; - out_5153518595662752782[87] = 0; - out_5153518595662752782[88] = 0; - out_5153518595662752782[89] = 0; - out_5153518595662752782[90] = 0; - out_5153518595662752782[91] = 0; - out_5153518595662752782[92] = 0; - out_5153518595662752782[93] = 0; - out_5153518595662752782[94] = 0; - out_5153518595662752782[95] = 1; - out_5153518595662752782[96] = 0; - out_5153518595662752782[97] = 0; - out_5153518595662752782[98] = 0; - out_5153518595662752782[99] = 0; - out_5153518595662752782[100] = 0; - out_5153518595662752782[101] = 0; - out_5153518595662752782[102] = 0; - out_5153518595662752782[103] = 0; - out_5153518595662752782[104] = dt; - out_5153518595662752782[105] = 0; - out_5153518595662752782[106] = 0; - out_5153518595662752782[107] = 0; - out_5153518595662752782[108] = 0; - out_5153518595662752782[109] = 0; - out_5153518595662752782[110] = 0; - out_5153518595662752782[111] = 0; - out_5153518595662752782[112] = 0; - out_5153518595662752782[113] = 0; - out_5153518595662752782[114] = 1; - out_5153518595662752782[115] = 0; - out_5153518595662752782[116] = 0; - out_5153518595662752782[117] = 0; - out_5153518595662752782[118] = 0; - out_5153518595662752782[119] = 0; - out_5153518595662752782[120] = 0; - out_5153518595662752782[121] = 0; - out_5153518595662752782[122] = 0; - out_5153518595662752782[123] = 0; - out_5153518595662752782[124] = 0; - out_5153518595662752782[125] = 0; - out_5153518595662752782[126] = 0; - out_5153518595662752782[127] = 0; - out_5153518595662752782[128] = 0; - out_5153518595662752782[129] = 0; - out_5153518595662752782[130] = 0; - out_5153518595662752782[131] = 0; - out_5153518595662752782[132] = 0; - out_5153518595662752782[133] = 1; - out_5153518595662752782[134] = 0; - out_5153518595662752782[135] = 0; - out_5153518595662752782[136] = 0; - out_5153518595662752782[137] = 0; - out_5153518595662752782[138] = 0; - out_5153518595662752782[139] = 0; - out_5153518595662752782[140] = 0; - out_5153518595662752782[141] = 0; - out_5153518595662752782[142] = 0; - out_5153518595662752782[143] = 0; - out_5153518595662752782[144] = 0; - out_5153518595662752782[145] = 0; - out_5153518595662752782[146] = 0; - out_5153518595662752782[147] = 0; - out_5153518595662752782[148] = 0; - out_5153518595662752782[149] = 0; - out_5153518595662752782[150] = 0; - out_5153518595662752782[151] = 0; - out_5153518595662752782[152] = 1; - out_5153518595662752782[153] = 0; - out_5153518595662752782[154] = 0; - out_5153518595662752782[155] = 0; - out_5153518595662752782[156] = 0; - out_5153518595662752782[157] = 0; - out_5153518595662752782[158] = 0; - out_5153518595662752782[159] = 0; - out_5153518595662752782[160] = 0; - out_5153518595662752782[161] = 0; - out_5153518595662752782[162] = 0; - out_5153518595662752782[163] = 0; - out_5153518595662752782[164] = 0; - out_5153518595662752782[165] = 0; - out_5153518595662752782[166] = 0; - out_5153518595662752782[167] = 0; - out_5153518595662752782[168] = 0; - out_5153518595662752782[169] = 0; - out_5153518595662752782[170] = 0; - out_5153518595662752782[171] = 1; - out_5153518595662752782[172] = 0; - out_5153518595662752782[173] = 0; - out_5153518595662752782[174] = 0; - out_5153518595662752782[175] = 0; - out_5153518595662752782[176] = 0; - out_5153518595662752782[177] = 0; - out_5153518595662752782[178] = 0; - out_5153518595662752782[179] = 0; - out_5153518595662752782[180] = 0; - out_5153518595662752782[181] = 0; - out_5153518595662752782[182] = 0; - out_5153518595662752782[183] = 0; - out_5153518595662752782[184] = 0; - out_5153518595662752782[185] = 0; - out_5153518595662752782[186] = 0; - out_5153518595662752782[187] = 0; - out_5153518595662752782[188] = 0; - out_5153518595662752782[189] = 0; - out_5153518595662752782[190] = 1; - out_5153518595662752782[191] = 0; - out_5153518595662752782[192] = 0; - out_5153518595662752782[193] = 0; - out_5153518595662752782[194] = 0; - out_5153518595662752782[195] = 0; - out_5153518595662752782[196] = 0; - out_5153518595662752782[197] = 0; - out_5153518595662752782[198] = 0; - out_5153518595662752782[199] = 0; - out_5153518595662752782[200] = 0; - out_5153518595662752782[201] = 0; - out_5153518595662752782[202] = 0; - out_5153518595662752782[203] = 0; - out_5153518595662752782[204] = 0; - out_5153518595662752782[205] = 0; - out_5153518595662752782[206] = 0; - out_5153518595662752782[207] = 0; - out_5153518595662752782[208] = 0; - out_5153518595662752782[209] = 1; - out_5153518595662752782[210] = 0; - out_5153518595662752782[211] = 0; - out_5153518595662752782[212] = 0; - out_5153518595662752782[213] = 0; - out_5153518595662752782[214] = 0; - out_5153518595662752782[215] = 0; - out_5153518595662752782[216] = 0; - out_5153518595662752782[217] = 0; - out_5153518595662752782[218] = 0; - out_5153518595662752782[219] = 0; - out_5153518595662752782[220] = 0; - out_5153518595662752782[221] = 0; - out_5153518595662752782[222] = 0; - out_5153518595662752782[223] = 0; - out_5153518595662752782[224] = 0; - out_5153518595662752782[225] = 0; - out_5153518595662752782[226] = 0; - out_5153518595662752782[227] = 0; - out_5153518595662752782[228] = 1; - out_5153518595662752782[229] = 0; - out_5153518595662752782[230] = 0; - out_5153518595662752782[231] = 0; - out_5153518595662752782[232] = 0; - out_5153518595662752782[233] = 0; - out_5153518595662752782[234] = 0; - out_5153518595662752782[235] = 0; - out_5153518595662752782[236] = 0; - out_5153518595662752782[237] = 0; - out_5153518595662752782[238] = 0; - out_5153518595662752782[239] = 0; - out_5153518595662752782[240] = 0; - out_5153518595662752782[241] = 0; - out_5153518595662752782[242] = 0; - out_5153518595662752782[243] = 0; - out_5153518595662752782[244] = 0; - out_5153518595662752782[245] = 0; - out_5153518595662752782[246] = 0; - out_5153518595662752782[247] = 1; - out_5153518595662752782[248] = 0; - out_5153518595662752782[249] = 0; - out_5153518595662752782[250] = 0; - out_5153518595662752782[251] = 0; - out_5153518595662752782[252] = 0; - out_5153518595662752782[253] = 0; - out_5153518595662752782[254] = 0; - out_5153518595662752782[255] = 0; - out_5153518595662752782[256] = 0; - out_5153518595662752782[257] = 0; - out_5153518595662752782[258] = 0; - out_5153518595662752782[259] = 0; - out_5153518595662752782[260] = 0; - out_5153518595662752782[261] = 0; - out_5153518595662752782[262] = 0; - out_5153518595662752782[263] = 0; - out_5153518595662752782[264] = 0; - out_5153518595662752782[265] = 0; - out_5153518595662752782[266] = 1; - out_5153518595662752782[267] = 0; - out_5153518595662752782[268] = 0; - out_5153518595662752782[269] = 0; - out_5153518595662752782[270] = 0; - out_5153518595662752782[271] = 0; - out_5153518595662752782[272] = 0; - out_5153518595662752782[273] = 0; - out_5153518595662752782[274] = 0; - out_5153518595662752782[275] = 0; - out_5153518595662752782[276] = 0; - out_5153518595662752782[277] = 0; - out_5153518595662752782[278] = 0; - out_5153518595662752782[279] = 0; - out_5153518595662752782[280] = 0; - out_5153518595662752782[281] = 0; - out_5153518595662752782[282] = 0; - out_5153518595662752782[283] = 0; - out_5153518595662752782[284] = 0; - out_5153518595662752782[285] = 1; - out_5153518595662752782[286] = 0; - out_5153518595662752782[287] = 0; - out_5153518595662752782[288] = 0; - out_5153518595662752782[289] = 0; - out_5153518595662752782[290] = 0; - out_5153518595662752782[291] = 0; - out_5153518595662752782[292] = 0; - out_5153518595662752782[293] = 0; - out_5153518595662752782[294] = 0; - out_5153518595662752782[295] = 0; - out_5153518595662752782[296] = 0; - out_5153518595662752782[297] = 0; - out_5153518595662752782[298] = 0; - out_5153518595662752782[299] = 0; - out_5153518595662752782[300] = 0; - out_5153518595662752782[301] = 0; - out_5153518595662752782[302] = 0; - out_5153518595662752782[303] = 0; - out_5153518595662752782[304] = 1; - out_5153518595662752782[305] = 0; - out_5153518595662752782[306] = 0; - out_5153518595662752782[307] = 0; - out_5153518595662752782[308] = 0; - out_5153518595662752782[309] = 0; - out_5153518595662752782[310] = 0; - out_5153518595662752782[311] = 0; - out_5153518595662752782[312] = 0; - out_5153518595662752782[313] = 0; - out_5153518595662752782[314] = 0; - out_5153518595662752782[315] = 0; - out_5153518595662752782[316] = 0; - out_5153518595662752782[317] = 0; - out_5153518595662752782[318] = 0; - out_5153518595662752782[319] = 0; - out_5153518595662752782[320] = 0; - out_5153518595662752782[321] = 0; - out_5153518595662752782[322] = 0; - out_5153518595662752782[323] = 1; +void F_fun(double *state, double dt, double *out_7295826236279740984) { + out_7295826236279740984[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_7295826236279740984[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_7295826236279740984[2] = 0; + out_7295826236279740984[3] = 0; + out_7295826236279740984[4] = 0; + out_7295826236279740984[5] = 0; + out_7295826236279740984[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_7295826236279740984[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_7295826236279740984[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_7295826236279740984[9] = 0; + out_7295826236279740984[10] = 0; + out_7295826236279740984[11] = 0; + out_7295826236279740984[12] = 0; + out_7295826236279740984[13] = 0; + out_7295826236279740984[14] = 0; + out_7295826236279740984[15] = 0; + out_7295826236279740984[16] = 0; + out_7295826236279740984[17] = 0; + out_7295826236279740984[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_7295826236279740984[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_7295826236279740984[20] = 0; + out_7295826236279740984[21] = 0; + out_7295826236279740984[22] = 0; + out_7295826236279740984[23] = 0; + out_7295826236279740984[24] = 0; + out_7295826236279740984[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_7295826236279740984[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_7295826236279740984[27] = 0; + out_7295826236279740984[28] = 0; + out_7295826236279740984[29] = 0; + out_7295826236279740984[30] = 0; + out_7295826236279740984[31] = 0; + out_7295826236279740984[32] = 0; + out_7295826236279740984[33] = 0; + out_7295826236279740984[34] = 0; + out_7295826236279740984[35] = 0; + out_7295826236279740984[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_7295826236279740984[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_7295826236279740984[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_7295826236279740984[39] = 0; + out_7295826236279740984[40] = 0; + out_7295826236279740984[41] = 0; + out_7295826236279740984[42] = 0; + out_7295826236279740984[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_7295826236279740984[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_7295826236279740984[45] = 0; + out_7295826236279740984[46] = 0; + out_7295826236279740984[47] = 0; + out_7295826236279740984[48] = 0; + out_7295826236279740984[49] = 0; + out_7295826236279740984[50] = 0; + out_7295826236279740984[51] = 0; + out_7295826236279740984[52] = 0; + out_7295826236279740984[53] = 0; + out_7295826236279740984[54] = 0; + out_7295826236279740984[55] = 0; + out_7295826236279740984[56] = 0; + out_7295826236279740984[57] = 1; + out_7295826236279740984[58] = 0; + out_7295826236279740984[59] = 0; + out_7295826236279740984[60] = 0; + out_7295826236279740984[61] = 0; + out_7295826236279740984[62] = 0; + out_7295826236279740984[63] = 0; + out_7295826236279740984[64] = 0; + out_7295826236279740984[65] = 0; + out_7295826236279740984[66] = dt; + out_7295826236279740984[67] = 0; + out_7295826236279740984[68] = 0; + out_7295826236279740984[69] = 0; + out_7295826236279740984[70] = 0; + out_7295826236279740984[71] = 0; + out_7295826236279740984[72] = 0; + out_7295826236279740984[73] = 0; + out_7295826236279740984[74] = 0; + out_7295826236279740984[75] = 0; + out_7295826236279740984[76] = 1; + out_7295826236279740984[77] = 0; + out_7295826236279740984[78] = 0; + out_7295826236279740984[79] = 0; + out_7295826236279740984[80] = 0; + out_7295826236279740984[81] = 0; + out_7295826236279740984[82] = 0; + out_7295826236279740984[83] = 0; + out_7295826236279740984[84] = 0; + out_7295826236279740984[85] = dt; + out_7295826236279740984[86] = 0; + out_7295826236279740984[87] = 0; + out_7295826236279740984[88] = 0; + out_7295826236279740984[89] = 0; + out_7295826236279740984[90] = 0; + out_7295826236279740984[91] = 0; + out_7295826236279740984[92] = 0; + out_7295826236279740984[93] = 0; + out_7295826236279740984[94] = 0; + out_7295826236279740984[95] = 1; + out_7295826236279740984[96] = 0; + out_7295826236279740984[97] = 0; + out_7295826236279740984[98] = 0; + out_7295826236279740984[99] = 0; + out_7295826236279740984[100] = 0; + out_7295826236279740984[101] = 0; + out_7295826236279740984[102] = 0; + out_7295826236279740984[103] = 0; + out_7295826236279740984[104] = dt; + out_7295826236279740984[105] = 0; + out_7295826236279740984[106] = 0; + out_7295826236279740984[107] = 0; + out_7295826236279740984[108] = 0; + out_7295826236279740984[109] = 0; + out_7295826236279740984[110] = 0; + out_7295826236279740984[111] = 0; + out_7295826236279740984[112] = 0; + out_7295826236279740984[113] = 0; + out_7295826236279740984[114] = 1; + out_7295826236279740984[115] = 0; + out_7295826236279740984[116] = 0; + out_7295826236279740984[117] = 0; + out_7295826236279740984[118] = 0; + out_7295826236279740984[119] = 0; + out_7295826236279740984[120] = 0; + out_7295826236279740984[121] = 0; + out_7295826236279740984[122] = 0; + out_7295826236279740984[123] = 0; + out_7295826236279740984[124] = 0; + out_7295826236279740984[125] = 0; + out_7295826236279740984[126] = 0; + out_7295826236279740984[127] = 0; + out_7295826236279740984[128] = 0; + out_7295826236279740984[129] = 0; + out_7295826236279740984[130] = 0; + out_7295826236279740984[131] = 0; + out_7295826236279740984[132] = 0; + out_7295826236279740984[133] = 1; + out_7295826236279740984[134] = 0; + out_7295826236279740984[135] = 0; + out_7295826236279740984[136] = 0; + out_7295826236279740984[137] = 0; + out_7295826236279740984[138] = 0; + out_7295826236279740984[139] = 0; + out_7295826236279740984[140] = 0; + out_7295826236279740984[141] = 0; + out_7295826236279740984[142] = 0; + out_7295826236279740984[143] = 0; + out_7295826236279740984[144] = 0; + out_7295826236279740984[145] = 0; + out_7295826236279740984[146] = 0; + out_7295826236279740984[147] = 0; + out_7295826236279740984[148] = 0; + out_7295826236279740984[149] = 0; + out_7295826236279740984[150] = 0; + out_7295826236279740984[151] = 0; + out_7295826236279740984[152] = 1; + out_7295826236279740984[153] = 0; + out_7295826236279740984[154] = 0; + out_7295826236279740984[155] = 0; + out_7295826236279740984[156] = 0; + out_7295826236279740984[157] = 0; + out_7295826236279740984[158] = 0; + out_7295826236279740984[159] = 0; + out_7295826236279740984[160] = 0; + out_7295826236279740984[161] = 0; + out_7295826236279740984[162] = 0; + out_7295826236279740984[163] = 0; + out_7295826236279740984[164] = 0; + out_7295826236279740984[165] = 0; + out_7295826236279740984[166] = 0; + out_7295826236279740984[167] = 0; + out_7295826236279740984[168] = 0; + out_7295826236279740984[169] = 0; + out_7295826236279740984[170] = 0; + out_7295826236279740984[171] = 1; + out_7295826236279740984[172] = 0; + out_7295826236279740984[173] = 0; + out_7295826236279740984[174] = 0; + out_7295826236279740984[175] = 0; + out_7295826236279740984[176] = 0; + out_7295826236279740984[177] = 0; + out_7295826236279740984[178] = 0; + out_7295826236279740984[179] = 0; + out_7295826236279740984[180] = 0; + out_7295826236279740984[181] = 0; + out_7295826236279740984[182] = 0; + out_7295826236279740984[183] = 0; + out_7295826236279740984[184] = 0; + out_7295826236279740984[185] = 0; + out_7295826236279740984[186] = 0; + out_7295826236279740984[187] = 0; + out_7295826236279740984[188] = 0; + out_7295826236279740984[189] = 0; + out_7295826236279740984[190] = 1; + out_7295826236279740984[191] = 0; + out_7295826236279740984[192] = 0; + out_7295826236279740984[193] = 0; + out_7295826236279740984[194] = 0; + out_7295826236279740984[195] = 0; + out_7295826236279740984[196] = 0; + out_7295826236279740984[197] = 0; + out_7295826236279740984[198] = 0; + out_7295826236279740984[199] = 0; + out_7295826236279740984[200] = 0; + out_7295826236279740984[201] = 0; + out_7295826236279740984[202] = 0; + out_7295826236279740984[203] = 0; + out_7295826236279740984[204] = 0; + out_7295826236279740984[205] = 0; + out_7295826236279740984[206] = 0; + out_7295826236279740984[207] = 0; + out_7295826236279740984[208] = 0; + out_7295826236279740984[209] = 1; + out_7295826236279740984[210] = 0; + out_7295826236279740984[211] = 0; + out_7295826236279740984[212] = 0; + out_7295826236279740984[213] = 0; + out_7295826236279740984[214] = 0; + out_7295826236279740984[215] = 0; + out_7295826236279740984[216] = 0; + out_7295826236279740984[217] = 0; + out_7295826236279740984[218] = 0; + out_7295826236279740984[219] = 0; + out_7295826236279740984[220] = 0; + out_7295826236279740984[221] = 0; + out_7295826236279740984[222] = 0; + out_7295826236279740984[223] = 0; + out_7295826236279740984[224] = 0; + out_7295826236279740984[225] = 0; + out_7295826236279740984[226] = 0; + out_7295826236279740984[227] = 0; + out_7295826236279740984[228] = 1; + out_7295826236279740984[229] = 0; + out_7295826236279740984[230] = 0; + out_7295826236279740984[231] = 0; + out_7295826236279740984[232] = 0; + out_7295826236279740984[233] = 0; + out_7295826236279740984[234] = 0; + out_7295826236279740984[235] = 0; + out_7295826236279740984[236] = 0; + out_7295826236279740984[237] = 0; + out_7295826236279740984[238] = 0; + out_7295826236279740984[239] = 0; + out_7295826236279740984[240] = 0; + out_7295826236279740984[241] = 0; + out_7295826236279740984[242] = 0; + out_7295826236279740984[243] = 0; + out_7295826236279740984[244] = 0; + out_7295826236279740984[245] = 0; + out_7295826236279740984[246] = 0; + out_7295826236279740984[247] = 1; + out_7295826236279740984[248] = 0; + out_7295826236279740984[249] = 0; + out_7295826236279740984[250] = 0; + out_7295826236279740984[251] = 0; + out_7295826236279740984[252] = 0; + out_7295826236279740984[253] = 0; + out_7295826236279740984[254] = 0; + out_7295826236279740984[255] = 0; + out_7295826236279740984[256] = 0; + out_7295826236279740984[257] = 0; + out_7295826236279740984[258] = 0; + out_7295826236279740984[259] = 0; + out_7295826236279740984[260] = 0; + out_7295826236279740984[261] = 0; + out_7295826236279740984[262] = 0; + out_7295826236279740984[263] = 0; + out_7295826236279740984[264] = 0; + out_7295826236279740984[265] = 0; + out_7295826236279740984[266] = 1; + out_7295826236279740984[267] = 0; + out_7295826236279740984[268] = 0; + out_7295826236279740984[269] = 0; + out_7295826236279740984[270] = 0; + out_7295826236279740984[271] = 0; + out_7295826236279740984[272] = 0; + out_7295826236279740984[273] = 0; + out_7295826236279740984[274] = 0; + out_7295826236279740984[275] = 0; + out_7295826236279740984[276] = 0; + out_7295826236279740984[277] = 0; + out_7295826236279740984[278] = 0; + out_7295826236279740984[279] = 0; + out_7295826236279740984[280] = 0; + out_7295826236279740984[281] = 0; + out_7295826236279740984[282] = 0; + out_7295826236279740984[283] = 0; + out_7295826236279740984[284] = 0; + out_7295826236279740984[285] = 1; + out_7295826236279740984[286] = 0; + out_7295826236279740984[287] = 0; + out_7295826236279740984[288] = 0; + out_7295826236279740984[289] = 0; + out_7295826236279740984[290] = 0; + out_7295826236279740984[291] = 0; + out_7295826236279740984[292] = 0; + out_7295826236279740984[293] = 0; + out_7295826236279740984[294] = 0; + out_7295826236279740984[295] = 0; + out_7295826236279740984[296] = 0; + out_7295826236279740984[297] = 0; + out_7295826236279740984[298] = 0; + out_7295826236279740984[299] = 0; + out_7295826236279740984[300] = 0; + out_7295826236279740984[301] = 0; + out_7295826236279740984[302] = 0; + out_7295826236279740984[303] = 0; + out_7295826236279740984[304] = 1; + out_7295826236279740984[305] = 0; + out_7295826236279740984[306] = 0; + out_7295826236279740984[307] = 0; + out_7295826236279740984[308] = 0; + out_7295826236279740984[309] = 0; + out_7295826236279740984[310] = 0; + out_7295826236279740984[311] = 0; + out_7295826236279740984[312] = 0; + out_7295826236279740984[313] = 0; + out_7295826236279740984[314] = 0; + out_7295826236279740984[315] = 0; + out_7295826236279740984[316] = 0; + out_7295826236279740984[317] = 0; + out_7295826236279740984[318] = 0; + out_7295826236279740984[319] = 0; + out_7295826236279740984[320] = 0; + out_7295826236279740984[321] = 0; + out_7295826236279740984[322] = 0; + out_7295826236279740984[323] = 1; } -void h_4(double *state, double *unused, double *out_3441983837194168135) { - out_3441983837194168135[0] = state[6] + state[9]; - out_3441983837194168135[1] = state[7] + state[10]; - out_3441983837194168135[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3793117268866733474) { + out_3793117268866733474[0] = state[6] + state[9]; + out_3793117268866733474[1] = state[7] + state[10]; + out_3793117268866733474[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3792847385831294211) { - out_3792847385831294211[0] = 0; - out_3792847385831294211[1] = 0; - out_3792847385831294211[2] = 0; - out_3792847385831294211[3] = 0; - out_3792847385831294211[4] = 0; - out_3792847385831294211[5] = 0; - out_3792847385831294211[6] = 1; - out_3792847385831294211[7] = 0; - out_3792847385831294211[8] = 0; - out_3792847385831294211[9] = 1; - out_3792847385831294211[10] = 0; - out_3792847385831294211[11] = 0; - out_3792847385831294211[12] = 0; - out_3792847385831294211[13] = 0; - out_3792847385831294211[14] = 0; - out_3792847385831294211[15] = 0; - out_3792847385831294211[16] = 0; - out_3792847385831294211[17] = 0; - out_3792847385831294211[18] = 0; - out_3792847385831294211[19] = 0; - out_3792847385831294211[20] = 0; - out_3792847385831294211[21] = 0; - out_3792847385831294211[22] = 0; - out_3792847385831294211[23] = 0; - out_3792847385831294211[24] = 0; - out_3792847385831294211[25] = 1; - out_3792847385831294211[26] = 0; - out_3792847385831294211[27] = 0; - out_3792847385831294211[28] = 1; - out_3792847385831294211[29] = 0; - out_3792847385831294211[30] = 0; - out_3792847385831294211[31] = 0; - out_3792847385831294211[32] = 0; - out_3792847385831294211[33] = 0; - out_3792847385831294211[34] = 0; - out_3792847385831294211[35] = 0; - out_3792847385831294211[36] = 0; - out_3792847385831294211[37] = 0; - out_3792847385831294211[38] = 0; - out_3792847385831294211[39] = 0; - out_3792847385831294211[40] = 0; - out_3792847385831294211[41] = 0; - out_3792847385831294211[42] = 0; - out_3792847385831294211[43] = 0; - out_3792847385831294211[44] = 1; - out_3792847385831294211[45] = 0; - out_3792847385831294211[46] = 0; - out_3792847385831294211[47] = 1; - out_3792847385831294211[48] = 0; - out_3792847385831294211[49] = 0; - out_3792847385831294211[50] = 0; - out_3792847385831294211[51] = 0; - out_3792847385831294211[52] = 0; - out_3792847385831294211[53] = 0; +void H_4(double *state, double *unused, double *out_5018797825701000655) { + out_5018797825701000655[0] = 0; + out_5018797825701000655[1] = 0; + out_5018797825701000655[2] = 0; + out_5018797825701000655[3] = 0; + out_5018797825701000655[4] = 0; + out_5018797825701000655[5] = 0; + out_5018797825701000655[6] = 1; + out_5018797825701000655[7] = 0; + out_5018797825701000655[8] = 0; + out_5018797825701000655[9] = 1; + out_5018797825701000655[10] = 0; + out_5018797825701000655[11] = 0; + out_5018797825701000655[12] = 0; + out_5018797825701000655[13] = 0; + out_5018797825701000655[14] = 0; + out_5018797825701000655[15] = 0; + out_5018797825701000655[16] = 0; + out_5018797825701000655[17] = 0; + out_5018797825701000655[18] = 0; + out_5018797825701000655[19] = 0; + out_5018797825701000655[20] = 0; + out_5018797825701000655[21] = 0; + out_5018797825701000655[22] = 0; + out_5018797825701000655[23] = 0; + out_5018797825701000655[24] = 0; + out_5018797825701000655[25] = 1; + out_5018797825701000655[26] = 0; + out_5018797825701000655[27] = 0; + out_5018797825701000655[28] = 1; + out_5018797825701000655[29] = 0; + out_5018797825701000655[30] = 0; + out_5018797825701000655[31] = 0; + out_5018797825701000655[32] = 0; + out_5018797825701000655[33] = 0; + out_5018797825701000655[34] = 0; + out_5018797825701000655[35] = 0; + out_5018797825701000655[36] = 0; + out_5018797825701000655[37] = 0; + out_5018797825701000655[38] = 0; + out_5018797825701000655[39] = 0; + out_5018797825701000655[40] = 0; + out_5018797825701000655[41] = 0; + out_5018797825701000655[42] = 0; + out_5018797825701000655[43] = 0; + out_5018797825701000655[44] = 1; + out_5018797825701000655[45] = 0; + out_5018797825701000655[46] = 0; + out_5018797825701000655[47] = 1; + out_5018797825701000655[48] = 0; + out_5018797825701000655[49] = 0; + out_5018797825701000655[50] = 0; + out_5018797825701000655[51] = 0; + out_5018797825701000655[52] = 0; + out_5018797825701000655[53] = 0; } -void h_10(double *state, double *unused, double *out_6864246601547225854) { - out_6864246601547225854[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6864246601547225854[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6864246601547225854[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_8131512363421803191) { + out_8131512363421803191[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8131512363421803191[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8131512363421803191[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_5871577252215708993) { - out_5871577252215708993[0] = 0; - out_5871577252215708993[1] = 9.8100000000000005*cos(state[1]); - out_5871577252215708993[2] = 0; - out_5871577252215708993[3] = 0; - out_5871577252215708993[4] = -state[8]; - out_5871577252215708993[5] = state[7]; - out_5871577252215708993[6] = 0; - out_5871577252215708993[7] = state[5]; - out_5871577252215708993[8] = -state[4]; - out_5871577252215708993[9] = 0; - out_5871577252215708993[10] = 0; - out_5871577252215708993[11] = 0; - out_5871577252215708993[12] = 1; - out_5871577252215708993[13] = 0; - out_5871577252215708993[14] = 0; - out_5871577252215708993[15] = 1; - out_5871577252215708993[16] = 0; - out_5871577252215708993[17] = 0; - out_5871577252215708993[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5871577252215708993[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5871577252215708993[20] = 0; - out_5871577252215708993[21] = state[8]; - out_5871577252215708993[22] = 0; - out_5871577252215708993[23] = -state[6]; - out_5871577252215708993[24] = -state[5]; - out_5871577252215708993[25] = 0; - out_5871577252215708993[26] = state[3]; - out_5871577252215708993[27] = 0; - out_5871577252215708993[28] = 0; - out_5871577252215708993[29] = 0; - out_5871577252215708993[30] = 0; - out_5871577252215708993[31] = 1; - out_5871577252215708993[32] = 0; - out_5871577252215708993[33] = 0; - out_5871577252215708993[34] = 1; - out_5871577252215708993[35] = 0; - out_5871577252215708993[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5871577252215708993[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5871577252215708993[38] = 0; - out_5871577252215708993[39] = -state[7]; - out_5871577252215708993[40] = state[6]; - out_5871577252215708993[41] = 0; - out_5871577252215708993[42] = state[4]; - out_5871577252215708993[43] = -state[3]; - out_5871577252215708993[44] = 0; - out_5871577252215708993[45] = 0; - out_5871577252215708993[46] = 0; - out_5871577252215708993[47] = 0; - out_5871577252215708993[48] = 0; - out_5871577252215708993[49] = 0; - out_5871577252215708993[50] = 1; - out_5871577252215708993[51] = 0; - out_5871577252215708993[52] = 0; - out_5871577252215708993[53] = 1; +void H_10(double *state, double *unused, double *out_8940915420831957940) { + out_8940915420831957940[0] = 0; + out_8940915420831957940[1] = 9.8100000000000005*cos(state[1]); + out_8940915420831957940[2] = 0; + out_8940915420831957940[3] = 0; + out_8940915420831957940[4] = -state[8]; + out_8940915420831957940[5] = state[7]; + out_8940915420831957940[6] = 0; + out_8940915420831957940[7] = state[5]; + out_8940915420831957940[8] = -state[4]; + out_8940915420831957940[9] = 0; + out_8940915420831957940[10] = 0; + out_8940915420831957940[11] = 0; + out_8940915420831957940[12] = 1; + out_8940915420831957940[13] = 0; + out_8940915420831957940[14] = 0; + out_8940915420831957940[15] = 1; + out_8940915420831957940[16] = 0; + out_8940915420831957940[17] = 0; + out_8940915420831957940[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8940915420831957940[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8940915420831957940[20] = 0; + out_8940915420831957940[21] = state[8]; + out_8940915420831957940[22] = 0; + out_8940915420831957940[23] = -state[6]; + out_8940915420831957940[24] = -state[5]; + out_8940915420831957940[25] = 0; + out_8940915420831957940[26] = state[3]; + out_8940915420831957940[27] = 0; + out_8940915420831957940[28] = 0; + out_8940915420831957940[29] = 0; + out_8940915420831957940[30] = 0; + out_8940915420831957940[31] = 1; + out_8940915420831957940[32] = 0; + out_8940915420831957940[33] = 0; + out_8940915420831957940[34] = 1; + out_8940915420831957940[35] = 0; + out_8940915420831957940[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8940915420831957940[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8940915420831957940[38] = 0; + out_8940915420831957940[39] = -state[7]; + out_8940915420831957940[40] = state[6]; + out_8940915420831957940[41] = 0; + out_8940915420831957940[42] = state[4]; + out_8940915420831957940[43] = -state[3]; + out_8940915420831957940[44] = 0; + out_8940915420831957940[45] = 0; + out_8940915420831957940[46] = 0; + out_8940915420831957940[47] = 0; + out_8940915420831957940[48] = 0; + out_8940915420831957940[49] = 0; + out_8940915420831957940[50] = 1; + out_8940915420831957940[51] = 0; + out_8940915420831957940[52] = 0; + out_8940915420831957940[53] = 1; } -void h_13(double *state, double *unused, double *out_3325053226247216097) { - out_3325053226247216097[0] = state[3]; - out_3325053226247216097[1] = state[4]; - out_3325053226247216097[2] = state[5]; +void h_13(double *state, double *unused, double *out_686674294679068388) { + out_686674294679068388[0] = state[3]; + out_686674294679068388[1] = state[4]; + out_686674294679068388[2] = state[5]; } -void H_13(double *state, double *unused, double *out_580573560498961410) { - out_580573560498961410[0] = 0; - out_580573560498961410[1] = 0; - out_580573560498961410[2] = 0; - out_580573560498961410[3] = 1; - out_580573560498961410[4] = 0; - out_580573560498961410[5] = 0; - out_580573560498961410[6] = 0; - out_580573560498961410[7] = 0; - out_580573560498961410[8] = 0; - out_580573560498961410[9] = 0; - out_580573560498961410[10] = 0; - out_580573560498961410[11] = 0; - out_580573560498961410[12] = 0; - out_580573560498961410[13] = 0; - out_580573560498961410[14] = 0; - out_580573560498961410[15] = 0; - out_580573560498961410[16] = 0; - out_580573560498961410[17] = 0; - out_580573560498961410[18] = 0; - out_580573560498961410[19] = 0; - out_580573560498961410[20] = 0; - out_580573560498961410[21] = 0; - out_580573560498961410[22] = 1; - out_580573560498961410[23] = 0; - out_580573560498961410[24] = 0; - out_580573560498961410[25] = 0; - out_580573560498961410[26] = 0; - out_580573560498961410[27] = 0; - out_580573560498961410[28] = 0; - out_580573560498961410[29] = 0; - out_580573560498961410[30] = 0; - out_580573560498961410[31] = 0; - out_580573560498961410[32] = 0; - out_580573560498961410[33] = 0; - out_580573560498961410[34] = 0; - out_580573560498961410[35] = 0; - out_580573560498961410[36] = 0; - out_580573560498961410[37] = 0; - out_580573560498961410[38] = 0; - out_580573560498961410[39] = 0; - out_580573560498961410[40] = 0; - out_580573560498961410[41] = 1; - out_580573560498961410[42] = 0; - out_580573560498961410[43] = 0; - out_580573560498961410[44] = 0; - out_580573560498961410[45] = 0; - out_580573560498961410[46] = 0; - out_580573560498961410[47] = 0; - out_580573560498961410[48] = 0; - out_580573560498961410[49] = 0; - out_580573560498961410[50] = 0; - out_580573560498961410[51] = 0; - out_580573560498961410[52] = 0; - out_580573560498961410[53] = 0; +void H_13(double *state, double *unused, double *out_8852553289003524679) { + out_8852553289003524679[0] = 0; + out_8852553289003524679[1] = 0; + out_8852553289003524679[2] = 0; + out_8852553289003524679[3] = 1; + out_8852553289003524679[4] = 0; + out_8852553289003524679[5] = 0; + out_8852553289003524679[6] = 0; + out_8852553289003524679[7] = 0; + out_8852553289003524679[8] = 0; + out_8852553289003524679[9] = 0; + out_8852553289003524679[10] = 0; + out_8852553289003524679[11] = 0; + out_8852553289003524679[12] = 0; + out_8852553289003524679[13] = 0; + out_8852553289003524679[14] = 0; + out_8852553289003524679[15] = 0; + out_8852553289003524679[16] = 0; + out_8852553289003524679[17] = 0; + out_8852553289003524679[18] = 0; + out_8852553289003524679[19] = 0; + out_8852553289003524679[20] = 0; + out_8852553289003524679[21] = 0; + out_8852553289003524679[22] = 1; + out_8852553289003524679[23] = 0; + out_8852553289003524679[24] = 0; + out_8852553289003524679[25] = 0; + out_8852553289003524679[26] = 0; + out_8852553289003524679[27] = 0; + out_8852553289003524679[28] = 0; + out_8852553289003524679[29] = 0; + out_8852553289003524679[30] = 0; + out_8852553289003524679[31] = 0; + out_8852553289003524679[32] = 0; + out_8852553289003524679[33] = 0; + out_8852553289003524679[34] = 0; + out_8852553289003524679[35] = 0; + out_8852553289003524679[36] = 0; + out_8852553289003524679[37] = 0; + out_8852553289003524679[38] = 0; + out_8852553289003524679[39] = 0; + out_8852553289003524679[40] = 0; + out_8852553289003524679[41] = 1; + out_8852553289003524679[42] = 0; + out_8852553289003524679[43] = 0; + out_8852553289003524679[44] = 0; + out_8852553289003524679[45] = 0; + out_8852553289003524679[46] = 0; + out_8852553289003524679[47] = 0; + out_8852553289003524679[48] = 0; + out_8852553289003524679[49] = 0; + out_8852553289003524679[50] = 0; + out_8852553289003524679[51] = 0; + out_8852553289003524679[52] = 0; + out_8852553289003524679[53] = 0; } -void h_14(double *state, double *unused, double *out_7213076452181803827) { - out_7213076452181803827[0] = state[6]; - out_7213076452181803827[1] = state[7]; - out_7213076452181803827[2] = state[8]; +void h_14(double *state, double *unused, double *out_4260835658611653154) { + out_4260835658611653154[0] = state[6]; + out_4260835658611653154[1] = state[7]; + out_4260835658611653154[2] = state[8]; } -void H_14(double *state, double *unused, double *out_170393470508190318) { - out_170393470508190318[0] = 0; - out_170393470508190318[1] = 0; - out_170393470508190318[2] = 0; - out_170393470508190318[3] = 0; - out_170393470508190318[4] = 0; - out_170393470508190318[5] = 0; - out_170393470508190318[6] = 1; - out_170393470508190318[7] = 0; - out_170393470508190318[8] = 0; - out_170393470508190318[9] = 0; - out_170393470508190318[10] = 0; - out_170393470508190318[11] = 0; - out_170393470508190318[12] = 0; - out_170393470508190318[13] = 0; - out_170393470508190318[14] = 0; - out_170393470508190318[15] = 0; - out_170393470508190318[16] = 0; - out_170393470508190318[17] = 0; - out_170393470508190318[18] = 0; - out_170393470508190318[19] = 0; - out_170393470508190318[20] = 0; - out_170393470508190318[21] = 0; - out_170393470508190318[22] = 0; - out_170393470508190318[23] = 0; - out_170393470508190318[24] = 0; - out_170393470508190318[25] = 1; - out_170393470508190318[26] = 0; - out_170393470508190318[27] = 0; - out_170393470508190318[28] = 0; - out_170393470508190318[29] = 0; - out_170393470508190318[30] = 0; - out_170393470508190318[31] = 0; - out_170393470508190318[32] = 0; - out_170393470508190318[33] = 0; - out_170393470508190318[34] = 0; - out_170393470508190318[35] = 0; - out_170393470508190318[36] = 0; - out_170393470508190318[37] = 0; - out_170393470508190318[38] = 0; - out_170393470508190318[39] = 0; - out_170393470508190318[40] = 0; - out_170393470508190318[41] = 0; - out_170393470508190318[42] = 0; - out_170393470508190318[43] = 0; - out_170393470508190318[44] = 1; - out_170393470508190318[45] = 0; - out_170393470508190318[46] = 0; - out_170393470508190318[47] = 0; - out_170393470508190318[48] = 0; - out_170393470508190318[49] = 0; - out_170393470508190318[50] = 0; - out_170393470508190318[51] = 0; - out_170393470508190318[52] = 0; - out_170393470508190318[53] = 0; +void H_14(double *state, double *unused, double *out_8101586257996372951) { + out_8101586257996372951[0] = 0; + out_8101586257996372951[1] = 0; + out_8101586257996372951[2] = 0; + out_8101586257996372951[3] = 0; + out_8101586257996372951[4] = 0; + out_8101586257996372951[5] = 0; + out_8101586257996372951[6] = 1; + out_8101586257996372951[7] = 0; + out_8101586257996372951[8] = 0; + out_8101586257996372951[9] = 0; + out_8101586257996372951[10] = 0; + out_8101586257996372951[11] = 0; + out_8101586257996372951[12] = 0; + out_8101586257996372951[13] = 0; + out_8101586257996372951[14] = 0; + out_8101586257996372951[15] = 0; + out_8101586257996372951[16] = 0; + out_8101586257996372951[17] = 0; + out_8101586257996372951[18] = 0; + out_8101586257996372951[19] = 0; + out_8101586257996372951[20] = 0; + out_8101586257996372951[21] = 0; + out_8101586257996372951[22] = 0; + out_8101586257996372951[23] = 0; + out_8101586257996372951[24] = 0; + out_8101586257996372951[25] = 1; + out_8101586257996372951[26] = 0; + out_8101586257996372951[27] = 0; + out_8101586257996372951[28] = 0; + out_8101586257996372951[29] = 0; + out_8101586257996372951[30] = 0; + out_8101586257996372951[31] = 0; + out_8101586257996372951[32] = 0; + out_8101586257996372951[33] = 0; + out_8101586257996372951[34] = 0; + out_8101586257996372951[35] = 0; + out_8101586257996372951[36] = 0; + out_8101586257996372951[37] = 0; + out_8101586257996372951[38] = 0; + out_8101586257996372951[39] = 0; + out_8101586257996372951[40] = 0; + out_8101586257996372951[41] = 0; + out_8101586257996372951[42] = 0; + out_8101586257996372951[43] = 0; + out_8101586257996372951[44] = 1; + out_8101586257996372951[45] = 0; + out_8101586257996372951[46] = 0; + out_8101586257996372951[47] = 0; + out_8101586257996372951[48] = 0; + out_8101586257996372951[49] = 0; + out_8101586257996372951[50] = 0; + out_8101586257996372951[51] = 0; + out_8101586257996372951[52] = 0; + out_8101586257996372951[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_2803054085873220166) { - err_fun(nom_x, delta_x, out_2803054085873220166); +void pose_err_fun(double *nom_x, double *delta_x, double *out_494363428253979517) { + err_fun(nom_x, delta_x, out_494363428253979517); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541) { - inv_err_fun(nom_x, true_x, out_870718263858356541); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7744180703950466915) { + inv_err_fun(nom_x, true_x, out_7744180703950466915); } -void pose_H_mod_fun(double *state, double *out_245560868528396178) { - H_mod_fun(state, out_245560868528396178); +void pose_H_mod_fun(double *state, double *out_8790605035544908227) { + H_mod_fun(state, out_8790605035544908227); } -void pose_f_fun(double *state, double dt, double *out_8465405656783528291) { - f_fun(state, dt, out_8465405656783528291); +void pose_f_fun(double *state, double dt, double *out_4191169391561892498) { + f_fun(state, dt, out_4191169391561892498); } -void pose_F_fun(double *state, double dt, double *out_5153518595662752782) { - F_fun(state, dt, out_5153518595662752782); +void pose_F_fun(double *state, double dt, double *out_7295826236279740984) { + F_fun(state, dt, out_7295826236279740984); } -void pose_h_4(double *state, double *unused, double *out_3441983837194168135) { - h_4(state, unused, out_3441983837194168135); +void pose_h_4(double *state, double *unused, double *out_3793117268866733474) { + h_4(state, unused, out_3793117268866733474); } -void pose_H_4(double *state, double *unused, double *out_3792847385831294211) { - H_4(state, unused, out_3792847385831294211); +void pose_H_4(double *state, double *unused, double *out_5018797825701000655) { + H_4(state, unused, out_5018797825701000655); } -void pose_h_10(double *state, double *unused, double *out_6864246601547225854) { - h_10(state, unused, out_6864246601547225854); +void pose_h_10(double *state, double *unused, double *out_8131512363421803191) { + h_10(state, unused, out_8131512363421803191); } -void pose_H_10(double *state, double *unused, double *out_5871577252215708993) { - H_10(state, unused, out_5871577252215708993); +void pose_H_10(double *state, double *unused, double *out_8940915420831957940) { + H_10(state, unused, out_8940915420831957940); } -void pose_h_13(double *state, double *unused, double *out_3325053226247216097) { - h_13(state, unused, out_3325053226247216097); +void pose_h_13(double *state, double *unused, double *out_686674294679068388) { + h_13(state, unused, out_686674294679068388); } -void pose_H_13(double *state, double *unused, double *out_580573560498961410) { - H_13(state, unused, out_580573560498961410); +void pose_H_13(double *state, double *unused, double *out_8852553289003524679) { + H_13(state, unused, out_8852553289003524679); } -void pose_h_14(double *state, double *unused, double *out_7213076452181803827) { - h_14(state, unused, out_7213076452181803827); +void pose_h_14(double *state, double *unused, double *out_4260835658611653154) { + h_14(state, unused, out_4260835658611653154); } -void pose_H_14(double *state, double *unused, double *out_170393470508190318) { - H_14(state, unused, out_170393470508190318); +void pose_H_14(double *state, double *unused, double *out_8101586257996372951) { + H_14(state, unused, out_8101586257996372951); } 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 ea16f9c46..e1ab0630d 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_2803054085873220166); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541); -void pose_H_mod_fun(double *state, double *out_245560868528396178); -void pose_f_fun(double *state, double dt, double *out_8465405656783528291); -void pose_F_fun(double *state, double dt, double *out_5153518595662752782); -void pose_h_4(double *state, double *unused, double *out_3441983837194168135); -void pose_H_4(double *state, double *unused, double *out_3792847385831294211); -void pose_h_10(double *state, double *unused, double *out_6864246601547225854); -void pose_H_10(double *state, double *unused, double *out_5871577252215708993); -void pose_h_13(double *state, double *unused, double *out_3325053226247216097); -void pose_H_13(double *state, double *unused, double *out_580573560498961410); -void pose_h_14(double *state, double *unused, double *out_7213076452181803827); -void pose_H_14(double *state, double *unused, double *out_170393470508190318); +void pose_err_fun(double *nom_x, double *delta_x, double *out_494363428253979517); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7744180703950466915); +void pose_H_mod_fun(double *state, double *out_8790605035544908227); +void pose_f_fun(double *state, double dt, double *out_4191169391561892498); +void pose_F_fun(double *state, double dt, double *out_7295826236279740984); +void pose_h_4(double *state, double *unused, double *out_3793117268866733474); +void pose_H_4(double *state, double *unused, double *out_5018797825701000655); +void pose_h_10(double *state, double *unused, double *out_8131512363421803191); +void pose_H_10(double *state, double *unused, double *out_8940915420831957940); +void pose_h_13(double *state, double *unused, double *out_686674294679068388); +void pose_H_13(double *state, double *unused, double *out_8852553289003524679); +void pose_h_14(double *state, double *unused, double *out_4260835658611653154); +void pose_H_14(double *state, double *unused, double *out_8101586257996372951); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file 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