diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 1f92e20bc..8dcf3859c 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 853f647c9..5749d44d2 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 08a74f9f3..adaf5b58d 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index cb2d5dcf6..9ce03d1f6 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 47655afc5..deb06f2f6 100755 Binary files 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uint8_t gitversion[19] = "DEV-f6ab7849-DEBUG"; +const uint8_t gitversion[19] = "DEV-f95dbf83-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 434ea9ea3..bfcf9a1b4 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index da04bc33d..03ec30c4a 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 8d5443912..81690acb9 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index c7de01af2..6493e7313 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed 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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 28a371ba4..9225daf0b 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 650a8f2f7..be76db01b 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-f6ab7849-DEBUG \ No newline at end of file +DEV-f95dbf83-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 3e7b970ac..c5b724f5e 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_3350045275544931453) { - out_3350045275544931453[0] = delta_x[0] + nom_x[0]; - out_3350045275544931453[1] = delta_x[1] + nom_x[1]; - out_3350045275544931453[2] = delta_x[2] + nom_x[2]; - out_3350045275544931453[3] = delta_x[3] + nom_x[3]; - out_3350045275544931453[4] = delta_x[4] + nom_x[4]; - out_3350045275544931453[5] = delta_x[5] + nom_x[5]; - out_3350045275544931453[6] = delta_x[6] + nom_x[6]; - out_3350045275544931453[7] = delta_x[7] + nom_x[7]; - out_3350045275544931453[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3355904321462358618) { + out_3355904321462358618[0] = delta_x[0] + nom_x[0]; + out_3355904321462358618[1] = delta_x[1] + nom_x[1]; + out_3355904321462358618[2] = delta_x[2] + nom_x[2]; + out_3355904321462358618[3] = delta_x[3] + nom_x[3]; + out_3355904321462358618[4] = delta_x[4] + nom_x[4]; + out_3355904321462358618[5] = delta_x[5] + nom_x[5]; + out_3355904321462358618[6] = delta_x[6] + nom_x[6]; + out_3355904321462358618[7] = delta_x[7] + nom_x[7]; + out_3355904321462358618[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_537147974555085981) { - out_537147974555085981[0] = -nom_x[0] + true_x[0]; - out_537147974555085981[1] = -nom_x[1] + true_x[1]; - out_537147974555085981[2] = -nom_x[2] + true_x[2]; - out_537147974555085981[3] = -nom_x[3] + true_x[3]; - out_537147974555085981[4] = -nom_x[4] + true_x[4]; - out_537147974555085981[5] = -nom_x[5] + true_x[5]; - out_537147974555085981[6] = -nom_x[6] + true_x[6]; - out_537147974555085981[7] = -nom_x[7] + true_x[7]; - out_537147974555085981[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_201422243433114007) { + out_201422243433114007[0] = -nom_x[0] + true_x[0]; + out_201422243433114007[1] = -nom_x[1] + true_x[1]; + out_201422243433114007[2] = -nom_x[2] + true_x[2]; + out_201422243433114007[3] = -nom_x[3] + true_x[3]; + out_201422243433114007[4] = -nom_x[4] + true_x[4]; + out_201422243433114007[5] = -nom_x[5] + true_x[5]; + out_201422243433114007[6] = -nom_x[6] + true_x[6]; + out_201422243433114007[7] = -nom_x[7] + true_x[7]; + out_201422243433114007[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7775026745617319605) { - out_7775026745617319605[0] = 1.0; - out_7775026745617319605[1] = 0.0; - out_7775026745617319605[2] = 0.0; - out_7775026745617319605[3] = 0.0; - out_7775026745617319605[4] = 0.0; - out_7775026745617319605[5] = 0.0; - out_7775026745617319605[6] = 0.0; - out_7775026745617319605[7] = 0.0; - out_7775026745617319605[8] = 0.0; - out_7775026745617319605[9] = 0.0; - out_7775026745617319605[10] = 1.0; - out_7775026745617319605[11] = 0.0; - out_7775026745617319605[12] = 0.0; - out_7775026745617319605[13] = 0.0; - out_7775026745617319605[14] = 0.0; - out_7775026745617319605[15] = 0.0; - out_7775026745617319605[16] = 0.0; - out_7775026745617319605[17] = 0.0; - out_7775026745617319605[18] = 0.0; - out_7775026745617319605[19] = 0.0; - out_7775026745617319605[20] = 1.0; - out_7775026745617319605[21] = 0.0; - out_7775026745617319605[22] = 0.0; - out_7775026745617319605[23] = 0.0; - out_7775026745617319605[24] = 0.0; - out_7775026745617319605[25] = 0.0; - out_7775026745617319605[26] = 0.0; - out_7775026745617319605[27] = 0.0; - out_7775026745617319605[28] = 0.0; - out_7775026745617319605[29] = 0.0; - out_7775026745617319605[30] = 1.0; - out_7775026745617319605[31] = 0.0; - out_7775026745617319605[32] = 0.0; - out_7775026745617319605[33] = 0.0; - out_7775026745617319605[34] = 0.0; - out_7775026745617319605[35] = 0.0; - out_7775026745617319605[36] = 0.0; - out_7775026745617319605[37] = 0.0; - out_7775026745617319605[38] = 0.0; - out_7775026745617319605[39] = 0.0; - out_7775026745617319605[40] = 1.0; - out_7775026745617319605[41] = 0.0; - out_7775026745617319605[42] = 0.0; - out_7775026745617319605[43] = 0.0; - out_7775026745617319605[44] = 0.0; - out_7775026745617319605[45] = 0.0; - out_7775026745617319605[46] = 0.0; - out_7775026745617319605[47] = 0.0; - out_7775026745617319605[48] = 0.0; - out_7775026745617319605[49] = 0.0; - out_7775026745617319605[50] = 1.0; - out_7775026745617319605[51] = 0.0; - out_7775026745617319605[52] = 0.0; - out_7775026745617319605[53] = 0.0; - out_7775026745617319605[54] = 0.0; - out_7775026745617319605[55] = 0.0; - out_7775026745617319605[56] = 0.0; - out_7775026745617319605[57] = 0.0; - out_7775026745617319605[58] = 0.0; - out_7775026745617319605[59] = 0.0; - out_7775026745617319605[60] = 1.0; - out_7775026745617319605[61] = 0.0; - out_7775026745617319605[62] = 0.0; - out_7775026745617319605[63] = 0.0; - out_7775026745617319605[64] = 0.0; - out_7775026745617319605[65] = 0.0; - out_7775026745617319605[66] = 0.0; - out_7775026745617319605[67] = 0.0; - out_7775026745617319605[68] = 0.0; - out_7775026745617319605[69] = 0.0; - out_7775026745617319605[70] = 1.0; - out_7775026745617319605[71] = 0.0; - out_7775026745617319605[72] = 0.0; - out_7775026745617319605[73] = 0.0; - out_7775026745617319605[74] = 0.0; - out_7775026745617319605[75] = 0.0; - out_7775026745617319605[76] = 0.0; - out_7775026745617319605[77] = 0.0; - out_7775026745617319605[78] = 0.0; - out_7775026745617319605[79] = 0.0; - out_7775026745617319605[80] = 1.0; +void H_mod_fun(double *state, double *out_99163613418102636) { + out_99163613418102636[0] = 1.0; + out_99163613418102636[1] = 0.0; + out_99163613418102636[2] = 0.0; + out_99163613418102636[3] = 0.0; + out_99163613418102636[4] = 0.0; + out_99163613418102636[5] = 0.0; + out_99163613418102636[6] = 0.0; + out_99163613418102636[7] = 0.0; + out_99163613418102636[8] = 0.0; + out_99163613418102636[9] = 0.0; + out_99163613418102636[10] = 1.0; + out_99163613418102636[11] = 0.0; + out_99163613418102636[12] = 0.0; + out_99163613418102636[13] = 0.0; + out_99163613418102636[14] = 0.0; + out_99163613418102636[15] = 0.0; + out_99163613418102636[16] = 0.0; + out_99163613418102636[17] = 0.0; + out_99163613418102636[18] = 0.0; + out_99163613418102636[19] = 0.0; + out_99163613418102636[20] = 1.0; + out_99163613418102636[21] = 0.0; + out_99163613418102636[22] = 0.0; + out_99163613418102636[23] = 0.0; + out_99163613418102636[24] = 0.0; + out_99163613418102636[25] = 0.0; + out_99163613418102636[26] = 0.0; + out_99163613418102636[27] = 0.0; + out_99163613418102636[28] = 0.0; + out_99163613418102636[29] = 0.0; + out_99163613418102636[30] = 1.0; + out_99163613418102636[31] = 0.0; + out_99163613418102636[32] = 0.0; + out_99163613418102636[33] = 0.0; + out_99163613418102636[34] = 0.0; + out_99163613418102636[35] = 0.0; + out_99163613418102636[36] = 0.0; + out_99163613418102636[37] = 0.0; + out_99163613418102636[38] = 0.0; + out_99163613418102636[39] = 0.0; + out_99163613418102636[40] = 1.0; + out_99163613418102636[41] = 0.0; + out_99163613418102636[42] = 0.0; + out_99163613418102636[43] = 0.0; + out_99163613418102636[44] = 0.0; + out_99163613418102636[45] = 0.0; + out_99163613418102636[46] = 0.0; + out_99163613418102636[47] = 0.0; + out_99163613418102636[48] = 0.0; + out_99163613418102636[49] = 0.0; + out_99163613418102636[50] = 1.0; + out_99163613418102636[51] = 0.0; + out_99163613418102636[52] = 0.0; + out_99163613418102636[53] = 0.0; + out_99163613418102636[54] = 0.0; + out_99163613418102636[55] = 0.0; + out_99163613418102636[56] = 0.0; + out_99163613418102636[57] = 0.0; + out_99163613418102636[58] = 0.0; + out_99163613418102636[59] = 0.0; + out_99163613418102636[60] = 1.0; + out_99163613418102636[61] = 0.0; + out_99163613418102636[62] = 0.0; + out_99163613418102636[63] = 0.0; + out_99163613418102636[64] = 0.0; + out_99163613418102636[65] = 0.0; + out_99163613418102636[66] = 0.0; + out_99163613418102636[67] = 0.0; + out_99163613418102636[68] = 0.0; + out_99163613418102636[69] = 0.0; + out_99163613418102636[70] = 1.0; + out_99163613418102636[71] = 0.0; + out_99163613418102636[72] = 0.0; + out_99163613418102636[73] = 0.0; + out_99163613418102636[74] = 0.0; + out_99163613418102636[75] = 0.0; + out_99163613418102636[76] = 0.0; + out_99163613418102636[77] = 0.0; + out_99163613418102636[78] = 0.0; + out_99163613418102636[79] = 0.0; + out_99163613418102636[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4198835588916233412) { - out_4198835588916233412[0] = state[0]; - out_4198835588916233412[1] = state[1]; - out_4198835588916233412[2] = state[2]; - out_4198835588916233412[3] = state[3]; - out_4198835588916233412[4] = state[4]; - out_4198835588916233412[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_4198835588916233412[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_4198835588916233412[7] = state[7]; - out_4198835588916233412[8] = state[8]; +void f_fun(double *state, double dt, double *out_4535403042767963777) { + out_4535403042767963777[0] = state[0]; + out_4535403042767963777[1] = state[1]; + out_4535403042767963777[2] = state[2]; + out_4535403042767963777[3] = state[3]; + out_4535403042767963777[4] = state[4]; + out_4535403042767963777[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_4535403042767963777[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_4535403042767963777[7] = state[7]; + out_4535403042767963777[8] = state[8]; } -void F_fun(double *state, double dt, double *out_4444349682340675673) { - out_4444349682340675673[0] = 1; - out_4444349682340675673[1] = 0; - out_4444349682340675673[2] = 0; - out_4444349682340675673[3] = 0; - out_4444349682340675673[4] = 0; - out_4444349682340675673[5] = 0; - out_4444349682340675673[6] = 0; - out_4444349682340675673[7] = 0; - out_4444349682340675673[8] = 0; - out_4444349682340675673[9] = 0; - out_4444349682340675673[10] = 1; - out_4444349682340675673[11] = 0; - out_4444349682340675673[12] = 0; - out_4444349682340675673[13] = 0; - out_4444349682340675673[14] = 0; - out_4444349682340675673[15] = 0; - out_4444349682340675673[16] = 0; - out_4444349682340675673[17] = 0; - out_4444349682340675673[18] = 0; - out_4444349682340675673[19] = 0; - out_4444349682340675673[20] = 1; - out_4444349682340675673[21] = 0; - out_4444349682340675673[22] = 0; - out_4444349682340675673[23] = 0; - out_4444349682340675673[24] = 0; - out_4444349682340675673[25] = 0; - out_4444349682340675673[26] = 0; - out_4444349682340675673[27] = 0; - out_4444349682340675673[28] = 0; - out_4444349682340675673[29] = 0; - out_4444349682340675673[30] = 1; - out_4444349682340675673[31] = 0; - out_4444349682340675673[32] = 0; - out_4444349682340675673[33] = 0; - out_4444349682340675673[34] = 0; - out_4444349682340675673[35] = 0; - out_4444349682340675673[36] = 0; - out_4444349682340675673[37] = 0; - out_4444349682340675673[38] = 0; - out_4444349682340675673[39] = 0; - out_4444349682340675673[40] = 1; - out_4444349682340675673[41] = 0; - out_4444349682340675673[42] = 0; - out_4444349682340675673[43] = 0; - out_4444349682340675673[44] = 0; - out_4444349682340675673[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_4444349682340675673[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_4444349682340675673[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4444349682340675673[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4444349682340675673[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_4444349682340675673[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_4444349682340675673[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_4444349682340675673[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_4444349682340675673[53] = -9.8100000000000005*dt; - out_4444349682340675673[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_4444349682340675673[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_4444349682340675673[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4444349682340675673[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4444349682340675673[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_4444349682340675673[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_4444349682340675673[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_4444349682340675673[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4444349682340675673[62] = 0; - out_4444349682340675673[63] = 0; - out_4444349682340675673[64] = 0; - out_4444349682340675673[65] = 0; - out_4444349682340675673[66] = 0; - out_4444349682340675673[67] = 0; - out_4444349682340675673[68] = 0; - out_4444349682340675673[69] = 0; - out_4444349682340675673[70] = 1; - out_4444349682340675673[71] = 0; - out_4444349682340675673[72] = 0; - out_4444349682340675673[73] = 0; - out_4444349682340675673[74] = 0; - out_4444349682340675673[75] = 0; - out_4444349682340675673[76] = 0; - out_4444349682340675673[77] = 0; - out_4444349682340675673[78] = 0; - out_4444349682340675673[79] = 0; - out_4444349682340675673[80] = 1; +void F_fun(double *state, double dt, double *out_3611627361836084616) { + out_3611627361836084616[0] = 1; + out_3611627361836084616[1] = 0; + out_3611627361836084616[2] = 0; + out_3611627361836084616[3] = 0; + out_3611627361836084616[4] = 0; + out_3611627361836084616[5] = 0; + out_3611627361836084616[6] = 0; + out_3611627361836084616[7] = 0; + out_3611627361836084616[8] = 0; + out_3611627361836084616[9] = 0; + out_3611627361836084616[10] = 1; + out_3611627361836084616[11] = 0; + out_3611627361836084616[12] = 0; + out_3611627361836084616[13] = 0; + out_3611627361836084616[14] = 0; + out_3611627361836084616[15] = 0; + out_3611627361836084616[16] = 0; + out_3611627361836084616[17] = 0; + out_3611627361836084616[18] = 0; + out_3611627361836084616[19] = 0; + out_3611627361836084616[20] = 1; + out_3611627361836084616[21] = 0; + out_3611627361836084616[22] = 0; + out_3611627361836084616[23] = 0; + out_3611627361836084616[24] = 0; + out_3611627361836084616[25] = 0; + out_3611627361836084616[26] = 0; + out_3611627361836084616[27] = 0; + out_3611627361836084616[28] = 0; + out_3611627361836084616[29] = 0; + out_3611627361836084616[30] = 1; + out_3611627361836084616[31] = 0; + out_3611627361836084616[32] = 0; + out_3611627361836084616[33] = 0; + out_3611627361836084616[34] = 0; + out_3611627361836084616[35] = 0; + out_3611627361836084616[36] = 0; + out_3611627361836084616[37] = 0; + out_3611627361836084616[38] = 0; + out_3611627361836084616[39] = 0; + out_3611627361836084616[40] = 1; + out_3611627361836084616[41] = 0; + out_3611627361836084616[42] = 0; + out_3611627361836084616[43] = 0; + out_3611627361836084616[44] = 0; + out_3611627361836084616[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_3611627361836084616[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3611627361836084616[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3611627361836084616[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3611627361836084616[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_3611627361836084616[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3611627361836084616[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3611627361836084616[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3611627361836084616[53] = -9.8100000000000005*dt; + out_3611627361836084616[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_3611627361836084616[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3611627361836084616[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3611627361836084616[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3611627361836084616[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_3611627361836084616[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3611627361836084616[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_3611627361836084616[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3611627361836084616[62] = 0; + out_3611627361836084616[63] = 0; + out_3611627361836084616[64] = 0; + out_3611627361836084616[65] = 0; + out_3611627361836084616[66] = 0; + out_3611627361836084616[67] = 0; + out_3611627361836084616[68] = 0; + out_3611627361836084616[69] = 0; + out_3611627361836084616[70] = 1; + out_3611627361836084616[71] = 0; + out_3611627361836084616[72] = 0; + out_3611627361836084616[73] = 0; + out_3611627361836084616[74] = 0; + out_3611627361836084616[75] = 0; + out_3611627361836084616[76] = 0; + out_3611627361836084616[77] = 0; + out_3611627361836084616[78] = 0; + out_3611627361836084616[79] = 0; + out_3611627361836084616[80] = 1; } -void h_25(double *state, double *unused, double *out_6936843442256047922) { - out_6936843442256047922[0] = state[6]; +void h_25(double *state, double *unused, double *out_5863917325441369509) { + out_5863917325441369509[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1418161480294917632) { - out_1418161480294917632[0] = 0; - out_1418161480294917632[1] = 0; - out_1418161480294917632[2] = 0; - out_1418161480294917632[3] = 0; - out_1418161480294917632[4] = 0; - out_1418161480294917632[5] = 0; - out_1418161480294917632[6] = 1; - out_1418161480294917632[7] = 0; - out_1418161480294917632[8] = 0; +void H_25(double *state, double *unused, double *out_4695667229509766473) { + out_4695667229509766473[0] = 0; + out_4695667229509766473[1] = 0; + out_4695667229509766473[2] = 0; + out_4695667229509766473[3] = 0; + out_4695667229509766473[4] = 0; + out_4695667229509766473[5] = 0; + out_4695667229509766473[6] = 1; + out_4695667229509766473[7] = 0; + out_4695667229509766473[8] = 0; } -void h_24(double *state, double *unused, double *out_5320826123735066091) { - out_5320826123735066091[0] = state[4]; - out_5320826123735066091[1] = state[5]; +void h_24(double *state, double *unused, double *out_3481314710267158875) { + out_3481314710267158875[0] = state[4]; + out_3481314710267158875[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6164670807261426666) { - out_6164670807261426666[0] = 0; - out_6164670807261426666[1] = 0; - out_6164670807261426666[2] = 0; - out_6164670807261426666[3] = 0; - out_6164670807261426666[4] = 1; - out_6164670807261426666[5] = 0; - out_6164670807261426666[6] = 0; - out_6164670807261426666[7] = 0; - out_6164670807261426666[8] = 0; - out_6164670807261426666[9] = 0; - out_6164670807261426666[10] = 0; - out_6164670807261426666[11] = 0; - out_6164670807261426666[12] = 0; - out_6164670807261426666[13] = 0; - out_6164670807261426666[14] = 1; - out_6164670807261426666[15] = 0; - out_6164670807261426666[16] = 0; - out_6164670807261426666[17] = 0; +void H_24(double *state, double *unused, double *out_4606210134248907981) { + out_4606210134248907981[0] = 0; + out_4606210134248907981[1] = 0; + out_4606210134248907981[2] = 0; + out_4606210134248907981[3] = 0; + out_4606210134248907981[4] = 1; + out_4606210134248907981[5] = 0; + out_4606210134248907981[6] = 0; + out_4606210134248907981[7] = 0; + out_4606210134248907981[8] = 0; + out_4606210134248907981[9] = 0; + out_4606210134248907981[10] = 0; + out_4606210134248907981[11] = 0; + out_4606210134248907981[12] = 0; + out_4606210134248907981[13] = 0; + out_4606210134248907981[14] = 1; + out_4606210134248907981[15] = 0; + out_4606210134248907981[16] = 0; + out_4606210134248907981[17] = 0; } -void h_30(double *state, double *unused, double *out_956096052628475437) { - out_956096052628475437[0] = state[4]; +void h_30(double *state, double *unused, double *out_723910601034925654) { + out_723910601034925654[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1100171478212330995) { - out_1100171478212330995[0] = 0; - out_1100171478212330995[1] = 0; - out_1100171478212330995[2] = 0; - out_1100171478212330995[3] = 0; - out_1100171478212330995[4] = 1; - out_1100171478212330995[5] = 0; - out_1100171478212330995[6] = 0; - out_1100171478212330995[7] = 0; - out_1100171478212330995[8] = 0; +void H_30(double *state, double *unused, double *out_2177334271002517846) { + out_2177334271002517846[0] = 0; + out_2177334271002517846[1] = 0; + out_2177334271002517846[2] = 0; + out_2177334271002517846[3] = 0; + out_2177334271002517846[4] = 1; + out_2177334271002517846[5] = 0; + out_2177334271002517846[6] = 0; + out_2177334271002517846[7] = 0; + out_2177334271002517846[8] = 0; } -void h_26(double *state, double *unused, double *out_1856456050641377946) { - out_1856456050641377946[0] = state[7]; +void h_26(double *state, double *unused, double *out_120594716358448137) { + out_120594716358448137[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1886364489465882969) { - out_1886364489465882969[0] = 0; - out_1886364489465882969[1] = 0; - out_1886364489465882969[2] = 0; - out_1886364489465882969[3] = 0; - out_1886364489465882969[4] = 0; - out_1886364489465882969[5] = 0; - out_1886364489465882969[6] = 0; - out_1886364489465882969[7] = 1; - out_1886364489465882969[8] = 0; +void H_26(double *state, double *unused, double *out_8437170548383822697) { + out_8437170548383822697[0] = 0; + out_8437170548383822697[1] = 0; + out_8437170548383822697[2] = 0; + out_8437170548383822697[3] = 0; + out_8437170548383822697[4] = 0; + out_8437170548383822697[5] = 0; + out_8437170548383822697[6] = 0; + out_8437170548383822697[7] = 1; + out_8437170548383822697[8] = 0; } -void h_27(double *state, double *unused, double *out_6508227363792658049) { - out_6508227363792658049[0] = state[3]; +void h_27(double *state, double *unused, double *out_6807427178343031944) { + out_6807427178343031944[0] = state[3]; } -void H_27(double *state, double *unused, double *out_3323765549396274212) { - out_3323765549396274212[0] = 0; - out_3323765549396274212[1] = 0; - out_3323765549396274212[2] = 0; - out_3323765549396274212[3] = 1; - out_3323765549396274212[4] = 0; - out_3323765549396274212[5] = 0; - out_3323765549396274212[6] = 0; - out_3323765549396274212[7] = 0; - out_3323765549396274212[8] = 0; +void H_27(double *state, double *unused, double *out_4352097582802942757) { + out_4352097582802942757[0] = 0; + out_4352097582802942757[1] = 0; + out_4352097582802942757[2] = 0; + out_4352097582802942757[3] = 1; + out_4352097582802942757[4] = 0; + out_4352097582802942757[5] = 0; + out_4352097582802942757[6] = 0; + out_4352097582802942757[7] = 0; + out_4352097582802942757[8] = 0; } -void h_29(double *state, double *unused, double *out_3441856028653153575) { - out_3441856028653153575[0] = state[1]; +void h_29(double *state, double *unused, double *out_2312875450409407031) { + out_2312875450409407031[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1610402822526723179) { - out_1610402822526723179[0] = 0; - out_1610402822526723179[1] = 1; - out_1610402822526723179[2] = 0; - out_1610402822526723179[3] = 0; - out_1610402822526723179[4] = 0; - out_1610402822526723179[5] = 0; - out_1610402822526723179[6] = 0; - out_1610402822526723179[7] = 0; - out_1610402822526723179[8] = 0; +void H_29(double *state, double *unused, double *out_1667102926688125662) { + out_1667102926688125662[0] = 0; + out_1667102926688125662[1] = 1; + out_1667102926688125662[2] = 0; + out_1667102926688125662[3] = 0; + out_1667102926688125662[4] = 0; + out_1667102926688125662[5] = 0; + out_1667102926688125662[6] = 0; + out_1667102926688125662[7] = 0; + out_1667102926688125662[8] = 0; } -void h_28(double *state, double *unused, double *out_8901730658472560882) { - out_8901730658472560882[0] = state[0]; +void h_28(double *state, double *unused, double *out_4636554191573453893) { + out_4636554191573453893[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3471996194542807395) { - out_3471996194542807395[0] = 1; - out_3471996194542807395[1] = 0; - out_3471996194542807395[2] = 0; - out_3471996194542807395[3] = 0; - out_3471996194542807395[4] = 0; - out_3471996194542807395[5] = 0; - out_3471996194542807395[6] = 0; - out_3471996194542807395[7] = 0; - out_3471996194542807395[8] = 0; +void H_28(double *state, double *unused, double *out_6749501943757656236) { + out_6749501943757656236[0] = 1; + out_6749501943757656236[1] = 0; + out_6749501943757656236[2] = 0; + out_6749501943757656236[3] = 0; + out_6749501943757656236[4] = 0; + out_6749501943757656236[5] = 0; + out_6749501943757656236[6] = 0; + out_6749501943757656236[7] = 0; + out_6749501943757656236[8] = 0; } -void h_31(double *state, double *unused, double *out_6661649379971542033) { - out_6661649379971542033[0] = state[8]; +void h_31(double *state, double *unused, double *out_5706730657090240364) { + out_5706730657090240364[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1260156387232531493) { - out_1260156387232531493[0] = 0; - out_1260156387232531493[1] = 0; - out_1260156387232531493[2] = 0; - out_1260156387232531493[3] = 0; - out_1260156387232531493[4] = 0; - out_1260156387232531493[5] = 0; - out_1260156387232531493[6] = 0; - out_1260156387232531493[7] = 0; - out_1260156387232531493[8] = 1; +void H_31(double *state, double *unused, double *out_9063378650617174173) { + out_9063378650617174173[0] = 0; + out_9063378650617174173[1] = 0; + out_9063378650617174173[2] = 0; + out_9063378650617174173[3] = 0; + out_9063378650617174173[4] = 0; + out_9063378650617174173[5] = 0; + out_9063378650617174173[6] = 0; + out_9063378650617174173[7] = 0; + out_9063378650617174173[8] = 1; } #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_3350045275544931453) { - err_fun(nom_x, delta_x, out_3350045275544931453); +void car_err_fun(double *nom_x, double *delta_x, double *out_3355904321462358618) { + err_fun(nom_x, delta_x, out_3355904321462358618); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_537147974555085981) { - inv_err_fun(nom_x, true_x, out_537147974555085981); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_201422243433114007) { + inv_err_fun(nom_x, true_x, out_201422243433114007); } -void car_H_mod_fun(double *state, double *out_7775026745617319605) { - H_mod_fun(state, out_7775026745617319605); +void car_H_mod_fun(double *state, double *out_99163613418102636) { + H_mod_fun(state, out_99163613418102636); } -void car_f_fun(double *state, double dt, double *out_4198835588916233412) { - f_fun(state, dt, out_4198835588916233412); +void car_f_fun(double *state, double dt, double *out_4535403042767963777) { + f_fun(state, dt, out_4535403042767963777); } -void car_F_fun(double *state, double dt, double *out_4444349682340675673) { - F_fun(state, dt, out_4444349682340675673); +void car_F_fun(double *state, double dt, double *out_3611627361836084616) { + F_fun(state, dt, out_3611627361836084616); } -void car_h_25(double *state, double *unused, double *out_6936843442256047922) { - h_25(state, unused, out_6936843442256047922); +void car_h_25(double *state, double *unused, double *out_5863917325441369509) { + h_25(state, unused, out_5863917325441369509); } -void car_H_25(double *state, double *unused, double *out_1418161480294917632) { - H_25(state, unused, out_1418161480294917632); +void car_H_25(double *state, double *unused, double *out_4695667229509766473) { + H_25(state, unused, out_4695667229509766473); } -void car_h_24(double *state, double *unused, double *out_5320826123735066091) { - h_24(state, unused, out_5320826123735066091); +void car_h_24(double *state, double *unused, double *out_3481314710267158875) { + h_24(state, unused, out_3481314710267158875); } -void car_H_24(double *state, double *unused, double *out_6164670807261426666) { - H_24(state, unused, out_6164670807261426666); +void car_H_24(double *state, double *unused, double *out_4606210134248907981) { + H_24(state, unused, out_4606210134248907981); } -void car_h_30(double *state, double *unused, double *out_956096052628475437) { - h_30(state, unused, out_956096052628475437); +void car_h_30(double *state, double *unused, double *out_723910601034925654) { + h_30(state, unused, out_723910601034925654); } -void car_H_30(double *state, double *unused, double *out_1100171478212330995) { - H_30(state, unused, out_1100171478212330995); +void car_H_30(double *state, double *unused, double *out_2177334271002517846) { + H_30(state, unused, out_2177334271002517846); } -void car_h_26(double *state, double *unused, double *out_1856456050641377946) { - h_26(state, unused, out_1856456050641377946); +void car_h_26(double *state, double *unused, double *out_120594716358448137) { + h_26(state, unused, out_120594716358448137); } -void car_H_26(double *state, double *unused, double *out_1886364489465882969) { - H_26(state, unused, out_1886364489465882969); +void car_H_26(double *state, double *unused, double *out_8437170548383822697) { + H_26(state, unused, out_8437170548383822697); } -void car_h_27(double *state, double *unused, double *out_6508227363792658049) { - h_27(state, unused, out_6508227363792658049); +void car_h_27(double *state, double *unused, double *out_6807427178343031944) { + h_27(state, unused, out_6807427178343031944); } -void car_H_27(double *state, double *unused, double *out_3323765549396274212) { - H_27(state, unused, out_3323765549396274212); +void car_H_27(double *state, double *unused, double *out_4352097582802942757) { + H_27(state, unused, out_4352097582802942757); } -void car_h_29(double *state, double *unused, double *out_3441856028653153575) { - h_29(state, unused, out_3441856028653153575); +void car_h_29(double *state, double *unused, double *out_2312875450409407031) { + h_29(state, unused, out_2312875450409407031); } -void car_H_29(double *state, double *unused, double *out_1610402822526723179) { - H_29(state, unused, out_1610402822526723179); +void car_H_29(double *state, double *unused, double *out_1667102926688125662) { + H_29(state, unused, out_1667102926688125662); } -void car_h_28(double *state, double *unused, double *out_8901730658472560882) { - h_28(state, unused, out_8901730658472560882); +void car_h_28(double *state, double *unused, double *out_4636554191573453893) { + h_28(state, unused, out_4636554191573453893); } -void car_H_28(double *state, double *unused, double *out_3471996194542807395) { - H_28(state, unused, out_3471996194542807395); +void car_H_28(double *state, double *unused, double *out_6749501943757656236) { + H_28(state, unused, out_6749501943757656236); } -void car_h_31(double *state, double *unused, double *out_6661649379971542033) { - h_31(state, unused, out_6661649379971542033); +void car_h_31(double *state, double *unused, double *out_5706730657090240364) { + h_31(state, unused, out_5706730657090240364); } -void car_H_31(double *state, double *unused, double *out_1260156387232531493) { - H_31(state, unused, out_1260156387232531493); +void car_H_31(double *state, double *unused, double *out_9063378650617174173) { + H_31(state, unused, out_9063378650617174173); } 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 86d9a4134..dad5cc283 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_3350045275544931453); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_537147974555085981); -void car_H_mod_fun(double *state, double *out_7775026745617319605); -void car_f_fun(double *state, double dt, double *out_4198835588916233412); -void car_F_fun(double *state, double dt, double *out_4444349682340675673); -void car_h_25(double *state, double *unused, double *out_6936843442256047922); -void car_H_25(double *state, double *unused, double *out_1418161480294917632); -void car_h_24(double *state, double *unused, double *out_5320826123735066091); -void car_H_24(double *state, double *unused, double *out_6164670807261426666); -void car_h_30(double *state, double *unused, double *out_956096052628475437); -void car_H_30(double *state, double *unused, double *out_1100171478212330995); -void car_h_26(double *state, double *unused, double *out_1856456050641377946); -void car_H_26(double *state, double *unused, double *out_1886364489465882969); -void car_h_27(double *state, double *unused, double *out_6508227363792658049); -void car_H_27(double *state, double *unused, double *out_3323765549396274212); -void car_h_29(double *state, double *unused, double *out_3441856028653153575); -void car_H_29(double *state, double *unused, double *out_1610402822526723179); -void car_h_28(double *state, double *unused, double *out_8901730658472560882); -void car_H_28(double *state, double *unused, double *out_3471996194542807395); -void car_h_31(double *state, double *unused, double *out_6661649379971542033); -void car_H_31(double *state, double *unused, double *out_1260156387232531493); +void car_err_fun(double *nom_x, double *delta_x, double *out_3355904321462358618); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_201422243433114007); +void car_H_mod_fun(double *state, double *out_99163613418102636); +void car_f_fun(double *state, double dt, double *out_4535403042767963777); +void car_F_fun(double *state, double dt, double *out_3611627361836084616); +void car_h_25(double *state, double *unused, double *out_5863917325441369509); +void car_H_25(double *state, double *unused, double *out_4695667229509766473); +void car_h_24(double *state, double *unused, double *out_3481314710267158875); +void car_H_24(double *state, double *unused, double *out_4606210134248907981); +void car_h_30(double *state, double *unused, double *out_723910601034925654); +void car_H_30(double *state, double *unused, double *out_2177334271002517846); +void car_h_26(double *state, double *unused, double *out_120594716358448137); +void car_H_26(double *state, double *unused, double *out_8437170548383822697); +void car_h_27(double *state, double *unused, double *out_6807427178343031944); +void car_H_27(double *state, double *unused, double *out_4352097582802942757); +void car_h_29(double *state, double *unused, double *out_2312875450409407031); +void car_H_29(double *state, double *unused, double *out_1667102926688125662); +void car_h_28(double *state, double *unused, double *out_4636554191573453893); +void car_H_28(double *state, double *unused, double *out_6749501943757656236); +void car_h_31(double *state, double *unused, double *out_5706730657090240364); +void car_H_31(double *state, double *unused, double *out_9063378650617174173); void car_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 0186c0d7a..e7d2ac0dd 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_5836812006117722374) { - out_5836812006117722374[0] = delta_x[0] + nom_x[0]; - out_5836812006117722374[1] = delta_x[1] + nom_x[1]; - out_5836812006117722374[2] = delta_x[2] + nom_x[2]; - out_5836812006117722374[3] = delta_x[3] + nom_x[3]; - out_5836812006117722374[4] = delta_x[4] + nom_x[4]; - out_5836812006117722374[5] = delta_x[5] + nom_x[5]; - out_5836812006117722374[6] = delta_x[6] + nom_x[6]; - out_5836812006117722374[7] = delta_x[7] + nom_x[7]; - out_5836812006117722374[8] = delta_x[8] + nom_x[8]; - out_5836812006117722374[9] = delta_x[9] + nom_x[9]; - out_5836812006117722374[10] = delta_x[10] + nom_x[10]; - out_5836812006117722374[11] = delta_x[11] + nom_x[11]; - out_5836812006117722374[12] = delta_x[12] + nom_x[12]; - out_5836812006117722374[13] = delta_x[13] + nom_x[13]; - out_5836812006117722374[14] = delta_x[14] + nom_x[14]; - out_5836812006117722374[15] = delta_x[15] + nom_x[15]; - out_5836812006117722374[16] = delta_x[16] + nom_x[16]; - out_5836812006117722374[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_384350097947890971) { + out_384350097947890971[0] = delta_x[0] + nom_x[0]; + out_384350097947890971[1] = delta_x[1] + nom_x[1]; + out_384350097947890971[2] = delta_x[2] + nom_x[2]; + out_384350097947890971[3] = delta_x[3] + nom_x[3]; + out_384350097947890971[4] = delta_x[4] + nom_x[4]; + out_384350097947890971[5] = delta_x[5] + nom_x[5]; + out_384350097947890971[6] = delta_x[6] + nom_x[6]; + out_384350097947890971[7] = delta_x[7] + nom_x[7]; + out_384350097947890971[8] = delta_x[8] + nom_x[8]; + out_384350097947890971[9] = delta_x[9] + nom_x[9]; + out_384350097947890971[10] = delta_x[10] + nom_x[10]; + out_384350097947890971[11] = delta_x[11] + nom_x[11]; + out_384350097947890971[12] = delta_x[12] + nom_x[12]; + out_384350097947890971[13] = delta_x[13] + nom_x[13]; + out_384350097947890971[14] = delta_x[14] + nom_x[14]; + out_384350097947890971[15] = delta_x[15] + nom_x[15]; + out_384350097947890971[16] = delta_x[16] + nom_x[16]; + out_384350097947890971[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_368701023819567149) { - out_368701023819567149[0] = -nom_x[0] + true_x[0]; - out_368701023819567149[1] = -nom_x[1] + true_x[1]; - out_368701023819567149[2] = -nom_x[2] + true_x[2]; - out_368701023819567149[3] = -nom_x[3] + true_x[3]; - out_368701023819567149[4] = -nom_x[4] + true_x[4]; - out_368701023819567149[5] = -nom_x[5] + true_x[5]; - out_368701023819567149[6] = -nom_x[6] + true_x[6]; - out_368701023819567149[7] = -nom_x[7] + true_x[7]; - out_368701023819567149[8] = -nom_x[8] + true_x[8]; - out_368701023819567149[9] = -nom_x[9] + true_x[9]; - out_368701023819567149[10] = -nom_x[10] + true_x[10]; - out_368701023819567149[11] = -nom_x[11] + true_x[11]; - out_368701023819567149[12] = -nom_x[12] + true_x[12]; - out_368701023819567149[13] = -nom_x[13] + true_x[13]; - out_368701023819567149[14] = -nom_x[14] + true_x[14]; - out_368701023819567149[15] = -nom_x[15] + true_x[15]; - out_368701023819567149[16] = -nom_x[16] + true_x[16]; - out_368701023819567149[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_161730175994041380) { + out_161730175994041380[0] = -nom_x[0] + true_x[0]; + out_161730175994041380[1] = -nom_x[1] + true_x[1]; + out_161730175994041380[2] = -nom_x[2] + true_x[2]; + out_161730175994041380[3] = -nom_x[3] + true_x[3]; + out_161730175994041380[4] = -nom_x[4] + true_x[4]; + out_161730175994041380[5] = -nom_x[5] + true_x[5]; + out_161730175994041380[6] = -nom_x[6] + true_x[6]; + out_161730175994041380[7] = -nom_x[7] + true_x[7]; + out_161730175994041380[8] = -nom_x[8] + true_x[8]; + out_161730175994041380[9] = -nom_x[9] + true_x[9]; + out_161730175994041380[10] = -nom_x[10] + true_x[10]; + out_161730175994041380[11] = -nom_x[11] + true_x[11]; + out_161730175994041380[12] = -nom_x[12] + true_x[12]; + out_161730175994041380[13] = -nom_x[13] + true_x[13]; + out_161730175994041380[14] = -nom_x[14] + true_x[14]; + out_161730175994041380[15] = -nom_x[15] + true_x[15]; + out_161730175994041380[16] = -nom_x[16] + true_x[16]; + out_161730175994041380[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5720830998239473631) { - out_5720830998239473631[0] = 1.0; - out_5720830998239473631[1] = 0.0; - out_5720830998239473631[2] = 0.0; - out_5720830998239473631[3] = 0.0; - out_5720830998239473631[4] = 0.0; - out_5720830998239473631[5] = 0.0; - out_5720830998239473631[6] = 0.0; - out_5720830998239473631[7] = 0.0; - out_5720830998239473631[8] = 0.0; - out_5720830998239473631[9] = 0.0; - out_5720830998239473631[10] = 0.0; - out_5720830998239473631[11] = 0.0; - out_5720830998239473631[12] = 0.0; - out_5720830998239473631[13] = 0.0; - out_5720830998239473631[14] = 0.0; - out_5720830998239473631[15] = 0.0; - out_5720830998239473631[16] = 0.0; - out_5720830998239473631[17] = 0.0; - out_5720830998239473631[18] = 0.0; - out_5720830998239473631[19] = 1.0; - out_5720830998239473631[20] = 0.0; - out_5720830998239473631[21] = 0.0; - out_5720830998239473631[22] = 0.0; - out_5720830998239473631[23] = 0.0; - out_5720830998239473631[24] = 0.0; - out_5720830998239473631[25] = 0.0; - out_5720830998239473631[26] = 0.0; - out_5720830998239473631[27] = 0.0; - out_5720830998239473631[28] = 0.0; - out_5720830998239473631[29] = 0.0; - out_5720830998239473631[30] = 0.0; - out_5720830998239473631[31] = 0.0; - out_5720830998239473631[32] = 0.0; - out_5720830998239473631[33] = 0.0; - out_5720830998239473631[34] = 0.0; - out_5720830998239473631[35] = 0.0; - out_5720830998239473631[36] = 0.0; - out_5720830998239473631[37] = 0.0; - out_5720830998239473631[38] = 1.0; - out_5720830998239473631[39] = 0.0; - out_5720830998239473631[40] = 0.0; - out_5720830998239473631[41] = 0.0; - out_5720830998239473631[42] = 0.0; - out_5720830998239473631[43] = 0.0; - out_5720830998239473631[44] = 0.0; - out_5720830998239473631[45] = 0.0; - out_5720830998239473631[46] = 0.0; - out_5720830998239473631[47] = 0.0; - out_5720830998239473631[48] = 0.0; - out_5720830998239473631[49] = 0.0; - out_5720830998239473631[50] = 0.0; - out_5720830998239473631[51] = 0.0; - out_5720830998239473631[52] = 0.0; - out_5720830998239473631[53] = 0.0; - out_5720830998239473631[54] = 0.0; - out_5720830998239473631[55] = 0.0; - out_5720830998239473631[56] = 0.0; - out_5720830998239473631[57] = 1.0; - out_5720830998239473631[58] = 0.0; - out_5720830998239473631[59] = 0.0; - out_5720830998239473631[60] = 0.0; - out_5720830998239473631[61] = 0.0; - out_5720830998239473631[62] = 0.0; - out_5720830998239473631[63] = 0.0; - out_5720830998239473631[64] = 0.0; - out_5720830998239473631[65] = 0.0; - out_5720830998239473631[66] = 0.0; - out_5720830998239473631[67] = 0.0; - out_5720830998239473631[68] = 0.0; - out_5720830998239473631[69] = 0.0; - out_5720830998239473631[70] = 0.0; - out_5720830998239473631[71] = 0.0; - out_5720830998239473631[72] = 0.0; - out_5720830998239473631[73] = 0.0; - out_5720830998239473631[74] = 0.0; - out_5720830998239473631[75] = 0.0; - out_5720830998239473631[76] = 1.0; - out_5720830998239473631[77] = 0.0; - out_5720830998239473631[78] = 0.0; - out_5720830998239473631[79] = 0.0; - out_5720830998239473631[80] = 0.0; - out_5720830998239473631[81] = 0.0; - out_5720830998239473631[82] = 0.0; - out_5720830998239473631[83] = 0.0; - out_5720830998239473631[84] = 0.0; - out_5720830998239473631[85] = 0.0; - out_5720830998239473631[86] = 0.0; - out_5720830998239473631[87] = 0.0; - out_5720830998239473631[88] = 0.0; - out_5720830998239473631[89] = 0.0; - out_5720830998239473631[90] = 0.0; - out_5720830998239473631[91] = 0.0; - out_5720830998239473631[92] = 0.0; - out_5720830998239473631[93] = 0.0; - out_5720830998239473631[94] = 0.0; - out_5720830998239473631[95] = 1.0; - out_5720830998239473631[96] = 0.0; - out_5720830998239473631[97] = 0.0; - out_5720830998239473631[98] = 0.0; - out_5720830998239473631[99] = 0.0; - out_5720830998239473631[100] = 0.0; - out_5720830998239473631[101] = 0.0; - out_5720830998239473631[102] = 0.0; - out_5720830998239473631[103] = 0.0; - out_5720830998239473631[104] = 0.0; - out_5720830998239473631[105] = 0.0; - out_5720830998239473631[106] = 0.0; - out_5720830998239473631[107] = 0.0; - out_5720830998239473631[108] = 0.0; - out_5720830998239473631[109] = 0.0; - out_5720830998239473631[110] = 0.0; - out_5720830998239473631[111] = 0.0; - out_5720830998239473631[112] = 0.0; - out_5720830998239473631[113] = 0.0; - out_5720830998239473631[114] = 1.0; - out_5720830998239473631[115] = 0.0; - out_5720830998239473631[116] = 0.0; - out_5720830998239473631[117] = 0.0; - out_5720830998239473631[118] = 0.0; - out_5720830998239473631[119] = 0.0; - out_5720830998239473631[120] = 0.0; - out_5720830998239473631[121] = 0.0; - out_5720830998239473631[122] = 0.0; - out_5720830998239473631[123] = 0.0; - out_5720830998239473631[124] = 0.0; - out_5720830998239473631[125] = 0.0; - out_5720830998239473631[126] = 0.0; - out_5720830998239473631[127] = 0.0; - out_5720830998239473631[128] = 0.0; - out_5720830998239473631[129] = 0.0; - out_5720830998239473631[130] = 0.0; - out_5720830998239473631[131] = 0.0; - out_5720830998239473631[132] = 0.0; - out_5720830998239473631[133] = 1.0; - out_5720830998239473631[134] = 0.0; - out_5720830998239473631[135] = 0.0; - out_5720830998239473631[136] = 0.0; - out_5720830998239473631[137] = 0.0; - out_5720830998239473631[138] = 0.0; - out_5720830998239473631[139] = 0.0; - out_5720830998239473631[140] = 0.0; - out_5720830998239473631[141] = 0.0; - out_5720830998239473631[142] = 0.0; - out_5720830998239473631[143] = 0.0; - out_5720830998239473631[144] = 0.0; - out_5720830998239473631[145] = 0.0; - out_5720830998239473631[146] = 0.0; - out_5720830998239473631[147] = 0.0; - out_5720830998239473631[148] = 0.0; - out_5720830998239473631[149] = 0.0; - out_5720830998239473631[150] = 0.0; - out_5720830998239473631[151] = 0.0; - out_5720830998239473631[152] = 1.0; - out_5720830998239473631[153] = 0.0; - out_5720830998239473631[154] = 0.0; - out_5720830998239473631[155] = 0.0; - out_5720830998239473631[156] = 0.0; - out_5720830998239473631[157] = 0.0; - out_5720830998239473631[158] = 0.0; - out_5720830998239473631[159] = 0.0; - out_5720830998239473631[160] = 0.0; - out_5720830998239473631[161] = 0.0; - out_5720830998239473631[162] = 0.0; - out_5720830998239473631[163] = 0.0; - out_5720830998239473631[164] = 0.0; - out_5720830998239473631[165] = 0.0; - out_5720830998239473631[166] = 0.0; - out_5720830998239473631[167] = 0.0; - out_5720830998239473631[168] = 0.0; - out_5720830998239473631[169] = 0.0; - out_5720830998239473631[170] = 0.0; - out_5720830998239473631[171] = 1.0; - out_5720830998239473631[172] = 0.0; - out_5720830998239473631[173] = 0.0; - out_5720830998239473631[174] = 0.0; - out_5720830998239473631[175] = 0.0; - out_5720830998239473631[176] = 0.0; - out_5720830998239473631[177] = 0.0; - out_5720830998239473631[178] = 0.0; - out_5720830998239473631[179] = 0.0; - out_5720830998239473631[180] = 0.0; - out_5720830998239473631[181] = 0.0; - out_5720830998239473631[182] = 0.0; - out_5720830998239473631[183] = 0.0; - out_5720830998239473631[184] = 0.0; - out_5720830998239473631[185] = 0.0; - out_5720830998239473631[186] = 0.0; - out_5720830998239473631[187] = 0.0; - out_5720830998239473631[188] = 0.0; - out_5720830998239473631[189] = 0.0; - out_5720830998239473631[190] = 1.0; - out_5720830998239473631[191] = 0.0; - out_5720830998239473631[192] = 0.0; - out_5720830998239473631[193] = 0.0; - out_5720830998239473631[194] = 0.0; - out_5720830998239473631[195] = 0.0; - out_5720830998239473631[196] = 0.0; - out_5720830998239473631[197] = 0.0; - out_5720830998239473631[198] = 0.0; - out_5720830998239473631[199] = 0.0; - out_5720830998239473631[200] = 0.0; - out_5720830998239473631[201] = 0.0; - out_5720830998239473631[202] = 0.0; - out_5720830998239473631[203] = 0.0; - out_5720830998239473631[204] = 0.0; - out_5720830998239473631[205] = 0.0; - out_5720830998239473631[206] = 0.0; - out_5720830998239473631[207] = 0.0; - out_5720830998239473631[208] = 0.0; - out_5720830998239473631[209] = 1.0; - out_5720830998239473631[210] = 0.0; - out_5720830998239473631[211] = 0.0; - out_5720830998239473631[212] = 0.0; - out_5720830998239473631[213] = 0.0; - out_5720830998239473631[214] = 0.0; - out_5720830998239473631[215] = 0.0; - out_5720830998239473631[216] = 0.0; - out_5720830998239473631[217] = 0.0; - out_5720830998239473631[218] = 0.0; - out_5720830998239473631[219] = 0.0; - out_5720830998239473631[220] = 0.0; - out_5720830998239473631[221] = 0.0; - out_5720830998239473631[222] = 0.0; - out_5720830998239473631[223] = 0.0; - out_5720830998239473631[224] = 0.0; - out_5720830998239473631[225] = 0.0; - out_5720830998239473631[226] = 0.0; - out_5720830998239473631[227] = 0.0; - out_5720830998239473631[228] = 1.0; - out_5720830998239473631[229] = 0.0; - out_5720830998239473631[230] = 0.0; - out_5720830998239473631[231] = 0.0; - out_5720830998239473631[232] = 0.0; - out_5720830998239473631[233] = 0.0; - out_5720830998239473631[234] = 0.0; - out_5720830998239473631[235] = 0.0; - out_5720830998239473631[236] = 0.0; - out_5720830998239473631[237] = 0.0; - out_5720830998239473631[238] = 0.0; - out_5720830998239473631[239] = 0.0; - out_5720830998239473631[240] = 0.0; - out_5720830998239473631[241] = 0.0; - out_5720830998239473631[242] = 0.0; - out_5720830998239473631[243] = 0.0; - out_5720830998239473631[244] = 0.0; - out_5720830998239473631[245] = 0.0; - out_5720830998239473631[246] = 0.0; - out_5720830998239473631[247] = 1.0; - out_5720830998239473631[248] = 0.0; - out_5720830998239473631[249] = 0.0; - out_5720830998239473631[250] = 0.0; - out_5720830998239473631[251] = 0.0; - out_5720830998239473631[252] = 0.0; - out_5720830998239473631[253] = 0.0; - out_5720830998239473631[254] = 0.0; - out_5720830998239473631[255] = 0.0; - out_5720830998239473631[256] = 0.0; - out_5720830998239473631[257] = 0.0; - out_5720830998239473631[258] = 0.0; - out_5720830998239473631[259] = 0.0; - out_5720830998239473631[260] = 0.0; - out_5720830998239473631[261] = 0.0; - out_5720830998239473631[262] = 0.0; - out_5720830998239473631[263] = 0.0; - out_5720830998239473631[264] = 0.0; - out_5720830998239473631[265] = 0.0; - out_5720830998239473631[266] = 1.0; - out_5720830998239473631[267] = 0.0; - out_5720830998239473631[268] = 0.0; - out_5720830998239473631[269] = 0.0; - out_5720830998239473631[270] = 0.0; - out_5720830998239473631[271] = 0.0; - out_5720830998239473631[272] = 0.0; - out_5720830998239473631[273] = 0.0; - out_5720830998239473631[274] = 0.0; - out_5720830998239473631[275] = 0.0; - out_5720830998239473631[276] = 0.0; - out_5720830998239473631[277] = 0.0; - out_5720830998239473631[278] = 0.0; - out_5720830998239473631[279] = 0.0; - out_5720830998239473631[280] = 0.0; - out_5720830998239473631[281] = 0.0; - out_5720830998239473631[282] = 0.0; - out_5720830998239473631[283] = 0.0; - out_5720830998239473631[284] = 0.0; - out_5720830998239473631[285] = 1.0; - out_5720830998239473631[286] = 0.0; - out_5720830998239473631[287] = 0.0; - out_5720830998239473631[288] = 0.0; - out_5720830998239473631[289] = 0.0; - out_5720830998239473631[290] = 0.0; - out_5720830998239473631[291] = 0.0; - out_5720830998239473631[292] = 0.0; - out_5720830998239473631[293] = 0.0; - out_5720830998239473631[294] = 0.0; - out_5720830998239473631[295] = 0.0; - out_5720830998239473631[296] = 0.0; - out_5720830998239473631[297] = 0.0; - out_5720830998239473631[298] = 0.0; - out_5720830998239473631[299] = 0.0; - out_5720830998239473631[300] = 0.0; - out_5720830998239473631[301] = 0.0; - out_5720830998239473631[302] = 0.0; - out_5720830998239473631[303] = 0.0; - out_5720830998239473631[304] = 1.0; - out_5720830998239473631[305] = 0.0; - out_5720830998239473631[306] = 0.0; - out_5720830998239473631[307] = 0.0; - out_5720830998239473631[308] = 0.0; - out_5720830998239473631[309] = 0.0; - out_5720830998239473631[310] = 0.0; - out_5720830998239473631[311] = 0.0; - out_5720830998239473631[312] = 0.0; - out_5720830998239473631[313] = 0.0; - out_5720830998239473631[314] = 0.0; - out_5720830998239473631[315] = 0.0; - out_5720830998239473631[316] = 0.0; - out_5720830998239473631[317] = 0.0; - out_5720830998239473631[318] = 0.0; - out_5720830998239473631[319] = 0.0; - out_5720830998239473631[320] = 0.0; - out_5720830998239473631[321] = 0.0; - out_5720830998239473631[322] = 0.0; - out_5720830998239473631[323] = 1.0; +void H_mod_fun(double *state, double *out_511897058818169074) { + out_511897058818169074[0] = 1.0; + out_511897058818169074[1] = 0.0; + out_511897058818169074[2] = 0.0; + out_511897058818169074[3] = 0.0; + out_511897058818169074[4] = 0.0; + out_511897058818169074[5] = 0.0; + out_511897058818169074[6] = 0.0; + out_511897058818169074[7] = 0.0; + out_511897058818169074[8] = 0.0; + out_511897058818169074[9] = 0.0; + out_511897058818169074[10] = 0.0; + out_511897058818169074[11] = 0.0; + out_511897058818169074[12] = 0.0; + out_511897058818169074[13] = 0.0; + out_511897058818169074[14] = 0.0; + out_511897058818169074[15] = 0.0; + out_511897058818169074[16] = 0.0; + out_511897058818169074[17] = 0.0; + out_511897058818169074[18] = 0.0; + out_511897058818169074[19] = 1.0; + out_511897058818169074[20] = 0.0; + out_511897058818169074[21] = 0.0; + out_511897058818169074[22] = 0.0; + out_511897058818169074[23] = 0.0; + out_511897058818169074[24] = 0.0; + out_511897058818169074[25] = 0.0; + out_511897058818169074[26] = 0.0; + out_511897058818169074[27] = 0.0; + out_511897058818169074[28] = 0.0; + out_511897058818169074[29] = 0.0; + out_511897058818169074[30] = 0.0; + out_511897058818169074[31] = 0.0; + out_511897058818169074[32] = 0.0; + out_511897058818169074[33] = 0.0; + out_511897058818169074[34] = 0.0; + out_511897058818169074[35] = 0.0; + out_511897058818169074[36] = 0.0; + out_511897058818169074[37] = 0.0; + out_511897058818169074[38] = 1.0; + out_511897058818169074[39] = 0.0; + out_511897058818169074[40] = 0.0; + out_511897058818169074[41] = 0.0; + out_511897058818169074[42] = 0.0; + out_511897058818169074[43] = 0.0; + out_511897058818169074[44] = 0.0; + out_511897058818169074[45] = 0.0; + out_511897058818169074[46] = 0.0; + out_511897058818169074[47] = 0.0; + out_511897058818169074[48] = 0.0; + out_511897058818169074[49] = 0.0; + out_511897058818169074[50] = 0.0; + out_511897058818169074[51] = 0.0; + out_511897058818169074[52] = 0.0; + out_511897058818169074[53] = 0.0; + out_511897058818169074[54] = 0.0; + out_511897058818169074[55] = 0.0; + out_511897058818169074[56] = 0.0; + out_511897058818169074[57] = 1.0; + out_511897058818169074[58] = 0.0; + out_511897058818169074[59] = 0.0; + out_511897058818169074[60] = 0.0; + out_511897058818169074[61] = 0.0; + out_511897058818169074[62] = 0.0; + out_511897058818169074[63] = 0.0; + out_511897058818169074[64] = 0.0; + out_511897058818169074[65] = 0.0; + out_511897058818169074[66] = 0.0; + out_511897058818169074[67] = 0.0; + out_511897058818169074[68] = 0.0; + out_511897058818169074[69] = 0.0; + out_511897058818169074[70] = 0.0; + out_511897058818169074[71] = 0.0; + out_511897058818169074[72] = 0.0; + out_511897058818169074[73] = 0.0; + out_511897058818169074[74] = 0.0; + out_511897058818169074[75] = 0.0; + out_511897058818169074[76] = 1.0; + out_511897058818169074[77] = 0.0; + out_511897058818169074[78] = 0.0; + out_511897058818169074[79] = 0.0; + out_511897058818169074[80] = 0.0; + out_511897058818169074[81] = 0.0; + out_511897058818169074[82] = 0.0; + out_511897058818169074[83] = 0.0; + out_511897058818169074[84] = 0.0; + out_511897058818169074[85] = 0.0; + out_511897058818169074[86] = 0.0; + out_511897058818169074[87] = 0.0; + out_511897058818169074[88] = 0.0; + out_511897058818169074[89] = 0.0; + out_511897058818169074[90] = 0.0; + out_511897058818169074[91] = 0.0; + out_511897058818169074[92] = 0.0; + out_511897058818169074[93] = 0.0; + out_511897058818169074[94] = 0.0; + out_511897058818169074[95] = 1.0; + out_511897058818169074[96] = 0.0; + out_511897058818169074[97] = 0.0; + out_511897058818169074[98] = 0.0; + out_511897058818169074[99] = 0.0; + out_511897058818169074[100] = 0.0; + out_511897058818169074[101] = 0.0; + out_511897058818169074[102] = 0.0; + out_511897058818169074[103] = 0.0; + out_511897058818169074[104] = 0.0; + out_511897058818169074[105] = 0.0; + out_511897058818169074[106] = 0.0; + out_511897058818169074[107] = 0.0; + out_511897058818169074[108] = 0.0; + out_511897058818169074[109] = 0.0; + out_511897058818169074[110] = 0.0; + out_511897058818169074[111] = 0.0; + out_511897058818169074[112] = 0.0; + out_511897058818169074[113] = 0.0; + out_511897058818169074[114] = 1.0; + out_511897058818169074[115] = 0.0; + out_511897058818169074[116] = 0.0; + out_511897058818169074[117] = 0.0; + out_511897058818169074[118] = 0.0; + out_511897058818169074[119] = 0.0; + out_511897058818169074[120] = 0.0; + out_511897058818169074[121] = 0.0; + out_511897058818169074[122] = 0.0; + out_511897058818169074[123] = 0.0; + out_511897058818169074[124] = 0.0; + out_511897058818169074[125] = 0.0; + out_511897058818169074[126] = 0.0; + out_511897058818169074[127] = 0.0; + out_511897058818169074[128] = 0.0; + out_511897058818169074[129] = 0.0; + out_511897058818169074[130] = 0.0; + out_511897058818169074[131] = 0.0; + out_511897058818169074[132] = 0.0; + out_511897058818169074[133] = 1.0; + out_511897058818169074[134] = 0.0; + out_511897058818169074[135] = 0.0; + out_511897058818169074[136] = 0.0; + out_511897058818169074[137] = 0.0; + out_511897058818169074[138] = 0.0; + out_511897058818169074[139] = 0.0; + out_511897058818169074[140] = 0.0; + out_511897058818169074[141] = 0.0; + out_511897058818169074[142] = 0.0; + out_511897058818169074[143] = 0.0; + out_511897058818169074[144] = 0.0; + out_511897058818169074[145] = 0.0; + out_511897058818169074[146] = 0.0; + out_511897058818169074[147] = 0.0; + out_511897058818169074[148] = 0.0; + out_511897058818169074[149] = 0.0; + out_511897058818169074[150] = 0.0; + out_511897058818169074[151] = 0.0; + out_511897058818169074[152] = 1.0; + out_511897058818169074[153] = 0.0; + out_511897058818169074[154] = 0.0; + out_511897058818169074[155] = 0.0; + out_511897058818169074[156] = 0.0; + out_511897058818169074[157] = 0.0; + out_511897058818169074[158] = 0.0; + out_511897058818169074[159] = 0.0; + out_511897058818169074[160] = 0.0; + out_511897058818169074[161] = 0.0; + out_511897058818169074[162] = 0.0; + out_511897058818169074[163] = 0.0; + out_511897058818169074[164] = 0.0; + out_511897058818169074[165] = 0.0; + out_511897058818169074[166] = 0.0; + out_511897058818169074[167] = 0.0; + out_511897058818169074[168] = 0.0; + out_511897058818169074[169] = 0.0; + out_511897058818169074[170] = 0.0; + out_511897058818169074[171] = 1.0; + out_511897058818169074[172] = 0.0; + out_511897058818169074[173] = 0.0; + out_511897058818169074[174] = 0.0; + out_511897058818169074[175] = 0.0; + out_511897058818169074[176] = 0.0; + out_511897058818169074[177] = 0.0; + out_511897058818169074[178] = 0.0; + out_511897058818169074[179] = 0.0; + out_511897058818169074[180] = 0.0; + out_511897058818169074[181] = 0.0; + out_511897058818169074[182] = 0.0; + out_511897058818169074[183] = 0.0; + out_511897058818169074[184] = 0.0; + out_511897058818169074[185] = 0.0; + out_511897058818169074[186] = 0.0; + out_511897058818169074[187] = 0.0; + out_511897058818169074[188] = 0.0; + out_511897058818169074[189] = 0.0; + out_511897058818169074[190] = 1.0; + out_511897058818169074[191] = 0.0; + out_511897058818169074[192] = 0.0; + out_511897058818169074[193] = 0.0; + out_511897058818169074[194] = 0.0; + out_511897058818169074[195] = 0.0; + out_511897058818169074[196] = 0.0; + out_511897058818169074[197] = 0.0; + out_511897058818169074[198] = 0.0; + out_511897058818169074[199] = 0.0; + out_511897058818169074[200] = 0.0; + out_511897058818169074[201] = 0.0; + out_511897058818169074[202] = 0.0; + out_511897058818169074[203] = 0.0; + out_511897058818169074[204] = 0.0; + out_511897058818169074[205] = 0.0; + out_511897058818169074[206] = 0.0; + out_511897058818169074[207] = 0.0; + out_511897058818169074[208] = 0.0; + out_511897058818169074[209] = 1.0; + out_511897058818169074[210] = 0.0; + out_511897058818169074[211] = 0.0; + out_511897058818169074[212] = 0.0; + out_511897058818169074[213] = 0.0; + out_511897058818169074[214] = 0.0; + out_511897058818169074[215] = 0.0; + out_511897058818169074[216] = 0.0; + out_511897058818169074[217] = 0.0; + out_511897058818169074[218] = 0.0; + out_511897058818169074[219] = 0.0; + out_511897058818169074[220] = 0.0; + out_511897058818169074[221] = 0.0; + out_511897058818169074[222] = 0.0; + out_511897058818169074[223] = 0.0; + out_511897058818169074[224] = 0.0; + out_511897058818169074[225] = 0.0; + out_511897058818169074[226] = 0.0; + out_511897058818169074[227] = 0.0; + out_511897058818169074[228] = 1.0; + out_511897058818169074[229] = 0.0; + out_511897058818169074[230] = 0.0; + out_511897058818169074[231] = 0.0; + out_511897058818169074[232] = 0.0; + out_511897058818169074[233] = 0.0; + out_511897058818169074[234] = 0.0; + out_511897058818169074[235] = 0.0; + out_511897058818169074[236] = 0.0; + out_511897058818169074[237] = 0.0; + out_511897058818169074[238] = 0.0; + out_511897058818169074[239] = 0.0; + out_511897058818169074[240] = 0.0; + out_511897058818169074[241] = 0.0; + out_511897058818169074[242] = 0.0; + out_511897058818169074[243] = 0.0; + out_511897058818169074[244] = 0.0; + out_511897058818169074[245] = 0.0; + out_511897058818169074[246] = 0.0; + out_511897058818169074[247] = 1.0; + out_511897058818169074[248] = 0.0; + out_511897058818169074[249] = 0.0; + out_511897058818169074[250] = 0.0; + out_511897058818169074[251] = 0.0; + out_511897058818169074[252] = 0.0; + out_511897058818169074[253] = 0.0; + out_511897058818169074[254] = 0.0; + out_511897058818169074[255] = 0.0; + out_511897058818169074[256] = 0.0; + out_511897058818169074[257] = 0.0; + out_511897058818169074[258] = 0.0; + out_511897058818169074[259] = 0.0; + out_511897058818169074[260] = 0.0; + out_511897058818169074[261] = 0.0; + out_511897058818169074[262] = 0.0; + out_511897058818169074[263] = 0.0; + out_511897058818169074[264] = 0.0; + out_511897058818169074[265] = 0.0; + out_511897058818169074[266] = 1.0; + out_511897058818169074[267] = 0.0; + out_511897058818169074[268] = 0.0; + out_511897058818169074[269] = 0.0; + out_511897058818169074[270] = 0.0; + out_511897058818169074[271] = 0.0; + out_511897058818169074[272] = 0.0; + out_511897058818169074[273] = 0.0; + out_511897058818169074[274] = 0.0; + out_511897058818169074[275] = 0.0; + out_511897058818169074[276] = 0.0; + out_511897058818169074[277] = 0.0; + out_511897058818169074[278] = 0.0; + out_511897058818169074[279] = 0.0; + out_511897058818169074[280] = 0.0; + out_511897058818169074[281] = 0.0; + out_511897058818169074[282] = 0.0; + out_511897058818169074[283] = 0.0; + out_511897058818169074[284] = 0.0; + out_511897058818169074[285] = 1.0; + out_511897058818169074[286] = 0.0; + out_511897058818169074[287] = 0.0; + out_511897058818169074[288] = 0.0; + out_511897058818169074[289] = 0.0; + out_511897058818169074[290] = 0.0; + out_511897058818169074[291] = 0.0; + out_511897058818169074[292] = 0.0; + out_511897058818169074[293] = 0.0; + out_511897058818169074[294] = 0.0; + out_511897058818169074[295] = 0.0; + out_511897058818169074[296] = 0.0; + out_511897058818169074[297] = 0.0; + out_511897058818169074[298] = 0.0; + out_511897058818169074[299] = 0.0; + out_511897058818169074[300] = 0.0; + out_511897058818169074[301] = 0.0; + out_511897058818169074[302] = 0.0; + out_511897058818169074[303] = 0.0; + out_511897058818169074[304] = 1.0; + out_511897058818169074[305] = 0.0; + out_511897058818169074[306] = 0.0; + out_511897058818169074[307] = 0.0; + out_511897058818169074[308] = 0.0; + out_511897058818169074[309] = 0.0; + out_511897058818169074[310] = 0.0; + out_511897058818169074[311] = 0.0; + out_511897058818169074[312] = 0.0; + out_511897058818169074[313] = 0.0; + out_511897058818169074[314] = 0.0; + out_511897058818169074[315] = 0.0; + out_511897058818169074[316] = 0.0; + out_511897058818169074[317] = 0.0; + out_511897058818169074[318] = 0.0; + out_511897058818169074[319] = 0.0; + out_511897058818169074[320] = 0.0; + out_511897058818169074[321] = 0.0; + out_511897058818169074[322] = 0.0; + out_511897058818169074[323] = 1.0; } -void f_fun(double *state, double dt, double *out_3302434187336556995) { - out_3302434187336556995[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_3302434187336556995[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_3302434187336556995[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_3302434187336556995[3] = dt*state[12] + state[3]; - out_3302434187336556995[4] = dt*state[13] + state[4]; - out_3302434187336556995[5] = dt*state[14] + state[5]; - out_3302434187336556995[6] = state[6]; - out_3302434187336556995[7] = state[7]; - out_3302434187336556995[8] = state[8]; - out_3302434187336556995[9] = state[9]; - out_3302434187336556995[10] = state[10]; - out_3302434187336556995[11] = state[11]; - out_3302434187336556995[12] = state[12]; - out_3302434187336556995[13] = state[13]; - out_3302434187336556995[14] = state[14]; - out_3302434187336556995[15] = state[15]; - out_3302434187336556995[16] = state[16]; - out_3302434187336556995[17] = state[17]; +void f_fun(double *state, double dt, double *out_4006543374555760922) { + out_4006543374555760922[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_4006543374555760922[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_4006543374555760922[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_4006543374555760922[3] = dt*state[12] + state[3]; + out_4006543374555760922[4] = dt*state[13] + state[4]; + out_4006543374555760922[5] = dt*state[14] + state[5]; + out_4006543374555760922[6] = state[6]; + out_4006543374555760922[7] = state[7]; + out_4006543374555760922[8] = state[8]; + out_4006543374555760922[9] = state[9]; + out_4006543374555760922[10] = state[10]; + out_4006543374555760922[11] = state[11]; + out_4006543374555760922[12] = state[12]; + out_4006543374555760922[13] = state[13]; + out_4006543374555760922[14] = state[14]; + out_4006543374555760922[15] = state[15]; + out_4006543374555760922[16] = state[16]; + out_4006543374555760922[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2147733219597398466) { - out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[2] = 0; - out_2147733219597398466[3] = 0; - out_2147733219597398466[4] = 0; - out_2147733219597398466[5] = 0; - out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[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_2147733219597398466[9] = 0; - out_2147733219597398466[10] = 0; - out_2147733219597398466[11] = 0; - out_2147733219597398466[12] = 0; - out_2147733219597398466[13] = 0; - out_2147733219597398466[14] = 0; - out_2147733219597398466[15] = 0; - out_2147733219597398466[16] = 0; - out_2147733219597398466[17] = 0; - out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[20] = 0; - out_2147733219597398466[21] = 0; - out_2147733219597398466[22] = 0; - out_2147733219597398466[23] = 0; - out_2147733219597398466[24] = 0; - out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[27] = 0; - out_2147733219597398466[28] = 0; - out_2147733219597398466[29] = 0; - out_2147733219597398466[30] = 0; - out_2147733219597398466[31] = 0; - out_2147733219597398466[32] = 0; - out_2147733219597398466[33] = 0; - out_2147733219597398466[34] = 0; - out_2147733219597398466[35] = 0; - out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[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_2147733219597398466[39] = 0; - out_2147733219597398466[40] = 0; - out_2147733219597398466[41] = 0; - out_2147733219597398466[42] = 0; - out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[45] = 0; - out_2147733219597398466[46] = 0; - out_2147733219597398466[47] = 0; - out_2147733219597398466[48] = 0; - out_2147733219597398466[49] = 0; - out_2147733219597398466[50] = 0; - out_2147733219597398466[51] = 0; - out_2147733219597398466[52] = 0; - out_2147733219597398466[53] = 0; - out_2147733219597398466[54] = 0; - out_2147733219597398466[55] = 0; - out_2147733219597398466[56] = 0; - out_2147733219597398466[57] = 1; - out_2147733219597398466[58] = 0; - out_2147733219597398466[59] = 0; - out_2147733219597398466[60] = 0; - out_2147733219597398466[61] = 0; - out_2147733219597398466[62] = 0; - out_2147733219597398466[63] = 0; - out_2147733219597398466[64] = 0; - out_2147733219597398466[65] = 0; - out_2147733219597398466[66] = dt; - out_2147733219597398466[67] = 0; - out_2147733219597398466[68] = 0; - out_2147733219597398466[69] = 0; - out_2147733219597398466[70] = 0; - out_2147733219597398466[71] = 0; - out_2147733219597398466[72] = 0; - out_2147733219597398466[73] = 0; - out_2147733219597398466[74] = 0; - out_2147733219597398466[75] = 0; - out_2147733219597398466[76] = 1; - out_2147733219597398466[77] = 0; - out_2147733219597398466[78] = 0; - out_2147733219597398466[79] = 0; - out_2147733219597398466[80] = 0; - out_2147733219597398466[81] = 0; - out_2147733219597398466[82] = 0; - out_2147733219597398466[83] = 0; - out_2147733219597398466[84] = 0; - out_2147733219597398466[85] = dt; - out_2147733219597398466[86] = 0; - out_2147733219597398466[87] = 0; - out_2147733219597398466[88] = 0; - out_2147733219597398466[89] = 0; - out_2147733219597398466[90] = 0; - out_2147733219597398466[91] = 0; - out_2147733219597398466[92] = 0; - out_2147733219597398466[93] = 0; - out_2147733219597398466[94] = 0; - out_2147733219597398466[95] = 1; - out_2147733219597398466[96] = 0; - out_2147733219597398466[97] = 0; - out_2147733219597398466[98] = 0; - out_2147733219597398466[99] = 0; - out_2147733219597398466[100] = 0; - out_2147733219597398466[101] = 0; - out_2147733219597398466[102] = 0; - out_2147733219597398466[103] = 0; - out_2147733219597398466[104] = dt; - out_2147733219597398466[105] = 0; - out_2147733219597398466[106] = 0; - out_2147733219597398466[107] = 0; - out_2147733219597398466[108] = 0; - out_2147733219597398466[109] = 0; - out_2147733219597398466[110] = 0; - out_2147733219597398466[111] = 0; - out_2147733219597398466[112] = 0; - out_2147733219597398466[113] = 0; - out_2147733219597398466[114] = 1; - out_2147733219597398466[115] = 0; - out_2147733219597398466[116] = 0; - out_2147733219597398466[117] = 0; - out_2147733219597398466[118] = 0; - out_2147733219597398466[119] = 0; - out_2147733219597398466[120] = 0; - out_2147733219597398466[121] = 0; - out_2147733219597398466[122] = 0; - out_2147733219597398466[123] = 0; - out_2147733219597398466[124] = 0; - out_2147733219597398466[125] = 0; - out_2147733219597398466[126] = 0; - out_2147733219597398466[127] = 0; - out_2147733219597398466[128] = 0; - out_2147733219597398466[129] = 0; - out_2147733219597398466[130] = 0; - out_2147733219597398466[131] = 0; - out_2147733219597398466[132] = 0; - out_2147733219597398466[133] = 1; - out_2147733219597398466[134] = 0; - out_2147733219597398466[135] = 0; - out_2147733219597398466[136] = 0; - out_2147733219597398466[137] = 0; - out_2147733219597398466[138] = 0; - out_2147733219597398466[139] = 0; - out_2147733219597398466[140] = 0; - out_2147733219597398466[141] = 0; - out_2147733219597398466[142] = 0; - out_2147733219597398466[143] = 0; - out_2147733219597398466[144] = 0; - out_2147733219597398466[145] = 0; - out_2147733219597398466[146] = 0; - out_2147733219597398466[147] = 0; - out_2147733219597398466[148] = 0; - out_2147733219597398466[149] = 0; - out_2147733219597398466[150] = 0; - out_2147733219597398466[151] = 0; - out_2147733219597398466[152] = 1; - out_2147733219597398466[153] = 0; - out_2147733219597398466[154] = 0; - out_2147733219597398466[155] = 0; - out_2147733219597398466[156] = 0; - out_2147733219597398466[157] = 0; - out_2147733219597398466[158] = 0; - out_2147733219597398466[159] = 0; - out_2147733219597398466[160] = 0; - out_2147733219597398466[161] = 0; - out_2147733219597398466[162] = 0; - out_2147733219597398466[163] = 0; - out_2147733219597398466[164] = 0; - out_2147733219597398466[165] = 0; - out_2147733219597398466[166] = 0; - out_2147733219597398466[167] = 0; - out_2147733219597398466[168] = 0; - out_2147733219597398466[169] = 0; - out_2147733219597398466[170] = 0; - out_2147733219597398466[171] = 1; - out_2147733219597398466[172] = 0; - out_2147733219597398466[173] = 0; - out_2147733219597398466[174] = 0; - out_2147733219597398466[175] = 0; - out_2147733219597398466[176] = 0; - out_2147733219597398466[177] = 0; - out_2147733219597398466[178] = 0; - out_2147733219597398466[179] = 0; - out_2147733219597398466[180] = 0; - out_2147733219597398466[181] = 0; - out_2147733219597398466[182] = 0; - out_2147733219597398466[183] = 0; - out_2147733219597398466[184] = 0; - out_2147733219597398466[185] = 0; - out_2147733219597398466[186] = 0; - out_2147733219597398466[187] = 0; - out_2147733219597398466[188] = 0; - out_2147733219597398466[189] = 0; - out_2147733219597398466[190] = 1; - out_2147733219597398466[191] = 0; - out_2147733219597398466[192] = 0; - out_2147733219597398466[193] = 0; - out_2147733219597398466[194] = 0; - out_2147733219597398466[195] = 0; - out_2147733219597398466[196] = 0; - out_2147733219597398466[197] = 0; - out_2147733219597398466[198] = 0; - out_2147733219597398466[199] = 0; - out_2147733219597398466[200] = 0; - out_2147733219597398466[201] = 0; - out_2147733219597398466[202] = 0; - out_2147733219597398466[203] = 0; - out_2147733219597398466[204] = 0; - out_2147733219597398466[205] = 0; - out_2147733219597398466[206] = 0; - out_2147733219597398466[207] = 0; - out_2147733219597398466[208] = 0; - out_2147733219597398466[209] = 1; - out_2147733219597398466[210] = 0; - out_2147733219597398466[211] = 0; - out_2147733219597398466[212] = 0; - out_2147733219597398466[213] = 0; - out_2147733219597398466[214] = 0; - out_2147733219597398466[215] = 0; - out_2147733219597398466[216] = 0; - out_2147733219597398466[217] = 0; - out_2147733219597398466[218] = 0; - out_2147733219597398466[219] = 0; - out_2147733219597398466[220] = 0; - out_2147733219597398466[221] = 0; - out_2147733219597398466[222] = 0; - out_2147733219597398466[223] = 0; - out_2147733219597398466[224] = 0; - out_2147733219597398466[225] = 0; - out_2147733219597398466[226] = 0; - out_2147733219597398466[227] = 0; - out_2147733219597398466[228] = 1; - out_2147733219597398466[229] = 0; - out_2147733219597398466[230] = 0; - out_2147733219597398466[231] = 0; - out_2147733219597398466[232] = 0; - out_2147733219597398466[233] = 0; - out_2147733219597398466[234] = 0; - out_2147733219597398466[235] = 0; - out_2147733219597398466[236] = 0; - out_2147733219597398466[237] = 0; - out_2147733219597398466[238] = 0; - out_2147733219597398466[239] = 0; - out_2147733219597398466[240] = 0; - out_2147733219597398466[241] = 0; - out_2147733219597398466[242] = 0; - out_2147733219597398466[243] = 0; - out_2147733219597398466[244] = 0; - out_2147733219597398466[245] = 0; - out_2147733219597398466[246] = 0; - out_2147733219597398466[247] = 1; - out_2147733219597398466[248] = 0; - out_2147733219597398466[249] = 0; - out_2147733219597398466[250] = 0; - out_2147733219597398466[251] = 0; - out_2147733219597398466[252] = 0; - out_2147733219597398466[253] = 0; - out_2147733219597398466[254] = 0; - out_2147733219597398466[255] = 0; - out_2147733219597398466[256] = 0; - out_2147733219597398466[257] = 0; - out_2147733219597398466[258] = 0; - out_2147733219597398466[259] = 0; - out_2147733219597398466[260] = 0; - out_2147733219597398466[261] = 0; - out_2147733219597398466[262] = 0; - out_2147733219597398466[263] = 0; - out_2147733219597398466[264] = 0; - out_2147733219597398466[265] = 0; - out_2147733219597398466[266] = 1; - out_2147733219597398466[267] = 0; - out_2147733219597398466[268] = 0; - out_2147733219597398466[269] = 0; - out_2147733219597398466[270] = 0; - out_2147733219597398466[271] = 0; - out_2147733219597398466[272] = 0; - out_2147733219597398466[273] = 0; - out_2147733219597398466[274] = 0; - out_2147733219597398466[275] = 0; - out_2147733219597398466[276] = 0; - out_2147733219597398466[277] = 0; - out_2147733219597398466[278] = 0; - out_2147733219597398466[279] = 0; - out_2147733219597398466[280] = 0; - out_2147733219597398466[281] = 0; - out_2147733219597398466[282] = 0; - out_2147733219597398466[283] = 0; - out_2147733219597398466[284] = 0; - out_2147733219597398466[285] = 1; - out_2147733219597398466[286] = 0; - out_2147733219597398466[287] = 0; - out_2147733219597398466[288] = 0; - out_2147733219597398466[289] = 0; - out_2147733219597398466[290] = 0; - out_2147733219597398466[291] = 0; - out_2147733219597398466[292] = 0; - out_2147733219597398466[293] = 0; - out_2147733219597398466[294] = 0; - out_2147733219597398466[295] = 0; - out_2147733219597398466[296] = 0; - out_2147733219597398466[297] = 0; - out_2147733219597398466[298] = 0; - out_2147733219597398466[299] = 0; - out_2147733219597398466[300] = 0; - out_2147733219597398466[301] = 0; - out_2147733219597398466[302] = 0; - out_2147733219597398466[303] = 0; - out_2147733219597398466[304] = 1; - out_2147733219597398466[305] = 0; - out_2147733219597398466[306] = 0; - out_2147733219597398466[307] = 0; - out_2147733219597398466[308] = 0; - out_2147733219597398466[309] = 0; - out_2147733219597398466[310] = 0; - out_2147733219597398466[311] = 0; - out_2147733219597398466[312] = 0; - out_2147733219597398466[313] = 0; - out_2147733219597398466[314] = 0; - out_2147733219597398466[315] = 0; - out_2147733219597398466[316] = 0; - out_2147733219597398466[317] = 0; - out_2147733219597398466[318] = 0; - out_2147733219597398466[319] = 0; - out_2147733219597398466[320] = 0; - out_2147733219597398466[321] = 0; - out_2147733219597398466[322] = 0; - out_2147733219597398466[323] = 1; +void F_fun(double *state, double dt, double *out_8169752966009844936) { + out_8169752966009844936[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8169752966009844936[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8169752966009844936[2] = 0; + out_8169752966009844936[3] = 0; + out_8169752966009844936[4] = 0; + out_8169752966009844936[5] = 0; + out_8169752966009844936[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8169752966009844936[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8169752966009844936[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8169752966009844936[9] = 0; + out_8169752966009844936[10] = 0; + out_8169752966009844936[11] = 0; + out_8169752966009844936[12] = 0; + out_8169752966009844936[13] = 0; + out_8169752966009844936[14] = 0; + out_8169752966009844936[15] = 0; + out_8169752966009844936[16] = 0; + out_8169752966009844936[17] = 0; + out_8169752966009844936[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8169752966009844936[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8169752966009844936[20] = 0; + out_8169752966009844936[21] = 0; + out_8169752966009844936[22] = 0; + out_8169752966009844936[23] = 0; + out_8169752966009844936[24] = 0; + out_8169752966009844936[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8169752966009844936[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8169752966009844936[27] = 0; + out_8169752966009844936[28] = 0; + out_8169752966009844936[29] = 0; + out_8169752966009844936[30] = 0; + out_8169752966009844936[31] = 0; + out_8169752966009844936[32] = 0; + out_8169752966009844936[33] = 0; + out_8169752966009844936[34] = 0; + out_8169752966009844936[35] = 0; + out_8169752966009844936[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8169752966009844936[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8169752966009844936[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8169752966009844936[39] = 0; + out_8169752966009844936[40] = 0; + out_8169752966009844936[41] = 0; + out_8169752966009844936[42] = 0; + out_8169752966009844936[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8169752966009844936[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8169752966009844936[45] = 0; + out_8169752966009844936[46] = 0; + out_8169752966009844936[47] = 0; + out_8169752966009844936[48] = 0; + out_8169752966009844936[49] = 0; + out_8169752966009844936[50] = 0; + out_8169752966009844936[51] = 0; + out_8169752966009844936[52] = 0; + out_8169752966009844936[53] = 0; + out_8169752966009844936[54] = 0; + out_8169752966009844936[55] = 0; + out_8169752966009844936[56] = 0; + out_8169752966009844936[57] = 1; + out_8169752966009844936[58] = 0; + out_8169752966009844936[59] = 0; + out_8169752966009844936[60] = 0; + out_8169752966009844936[61] = 0; + out_8169752966009844936[62] = 0; + out_8169752966009844936[63] = 0; + out_8169752966009844936[64] = 0; + out_8169752966009844936[65] = 0; + out_8169752966009844936[66] = dt; + out_8169752966009844936[67] = 0; + out_8169752966009844936[68] = 0; + out_8169752966009844936[69] = 0; + out_8169752966009844936[70] = 0; + out_8169752966009844936[71] = 0; + out_8169752966009844936[72] = 0; + out_8169752966009844936[73] = 0; + out_8169752966009844936[74] = 0; + out_8169752966009844936[75] = 0; + out_8169752966009844936[76] = 1; + out_8169752966009844936[77] = 0; + out_8169752966009844936[78] = 0; + out_8169752966009844936[79] = 0; + out_8169752966009844936[80] = 0; + out_8169752966009844936[81] = 0; + out_8169752966009844936[82] = 0; + out_8169752966009844936[83] = 0; + out_8169752966009844936[84] = 0; + out_8169752966009844936[85] = dt; + out_8169752966009844936[86] = 0; + out_8169752966009844936[87] = 0; + out_8169752966009844936[88] = 0; + out_8169752966009844936[89] = 0; + out_8169752966009844936[90] = 0; + out_8169752966009844936[91] = 0; + out_8169752966009844936[92] = 0; + out_8169752966009844936[93] = 0; + out_8169752966009844936[94] = 0; + out_8169752966009844936[95] = 1; + out_8169752966009844936[96] = 0; + out_8169752966009844936[97] = 0; + out_8169752966009844936[98] = 0; + out_8169752966009844936[99] = 0; + out_8169752966009844936[100] = 0; + out_8169752966009844936[101] = 0; + out_8169752966009844936[102] = 0; + out_8169752966009844936[103] = 0; + out_8169752966009844936[104] = dt; + out_8169752966009844936[105] = 0; + out_8169752966009844936[106] = 0; + out_8169752966009844936[107] = 0; + out_8169752966009844936[108] = 0; + out_8169752966009844936[109] = 0; + out_8169752966009844936[110] = 0; + out_8169752966009844936[111] = 0; + out_8169752966009844936[112] = 0; + out_8169752966009844936[113] = 0; + out_8169752966009844936[114] = 1; + out_8169752966009844936[115] = 0; + out_8169752966009844936[116] = 0; + out_8169752966009844936[117] = 0; + out_8169752966009844936[118] = 0; + out_8169752966009844936[119] = 0; + out_8169752966009844936[120] = 0; + out_8169752966009844936[121] = 0; + out_8169752966009844936[122] = 0; + out_8169752966009844936[123] = 0; + out_8169752966009844936[124] = 0; + out_8169752966009844936[125] = 0; + out_8169752966009844936[126] = 0; + out_8169752966009844936[127] = 0; + out_8169752966009844936[128] = 0; + out_8169752966009844936[129] = 0; + out_8169752966009844936[130] = 0; + out_8169752966009844936[131] = 0; + out_8169752966009844936[132] = 0; + out_8169752966009844936[133] = 1; + out_8169752966009844936[134] = 0; + out_8169752966009844936[135] = 0; + out_8169752966009844936[136] = 0; + out_8169752966009844936[137] = 0; + out_8169752966009844936[138] = 0; + out_8169752966009844936[139] = 0; + out_8169752966009844936[140] = 0; + out_8169752966009844936[141] = 0; + out_8169752966009844936[142] = 0; + out_8169752966009844936[143] = 0; + out_8169752966009844936[144] = 0; + out_8169752966009844936[145] = 0; + out_8169752966009844936[146] = 0; + out_8169752966009844936[147] = 0; + out_8169752966009844936[148] = 0; + out_8169752966009844936[149] = 0; + out_8169752966009844936[150] = 0; + out_8169752966009844936[151] = 0; + out_8169752966009844936[152] = 1; + out_8169752966009844936[153] = 0; + out_8169752966009844936[154] = 0; + out_8169752966009844936[155] = 0; + out_8169752966009844936[156] = 0; + out_8169752966009844936[157] = 0; + out_8169752966009844936[158] = 0; + out_8169752966009844936[159] = 0; + out_8169752966009844936[160] = 0; + out_8169752966009844936[161] = 0; + out_8169752966009844936[162] = 0; + out_8169752966009844936[163] = 0; + out_8169752966009844936[164] = 0; + out_8169752966009844936[165] = 0; + out_8169752966009844936[166] = 0; + out_8169752966009844936[167] = 0; + out_8169752966009844936[168] = 0; + out_8169752966009844936[169] = 0; + out_8169752966009844936[170] = 0; + out_8169752966009844936[171] = 1; + out_8169752966009844936[172] = 0; + out_8169752966009844936[173] = 0; + out_8169752966009844936[174] = 0; + out_8169752966009844936[175] = 0; + out_8169752966009844936[176] = 0; + out_8169752966009844936[177] = 0; + out_8169752966009844936[178] = 0; + out_8169752966009844936[179] = 0; + out_8169752966009844936[180] = 0; + out_8169752966009844936[181] = 0; + out_8169752966009844936[182] = 0; + out_8169752966009844936[183] = 0; + out_8169752966009844936[184] = 0; + out_8169752966009844936[185] = 0; + out_8169752966009844936[186] = 0; + out_8169752966009844936[187] = 0; + out_8169752966009844936[188] = 0; + out_8169752966009844936[189] = 0; + out_8169752966009844936[190] = 1; + out_8169752966009844936[191] = 0; + out_8169752966009844936[192] = 0; + out_8169752966009844936[193] = 0; + out_8169752966009844936[194] = 0; + out_8169752966009844936[195] = 0; + out_8169752966009844936[196] = 0; + out_8169752966009844936[197] = 0; + out_8169752966009844936[198] = 0; + out_8169752966009844936[199] = 0; + out_8169752966009844936[200] = 0; + out_8169752966009844936[201] = 0; + out_8169752966009844936[202] = 0; + out_8169752966009844936[203] = 0; + out_8169752966009844936[204] = 0; + out_8169752966009844936[205] = 0; + out_8169752966009844936[206] = 0; + out_8169752966009844936[207] = 0; + out_8169752966009844936[208] = 0; + out_8169752966009844936[209] = 1; + out_8169752966009844936[210] = 0; + out_8169752966009844936[211] = 0; + out_8169752966009844936[212] = 0; + out_8169752966009844936[213] = 0; + out_8169752966009844936[214] = 0; + out_8169752966009844936[215] = 0; + out_8169752966009844936[216] = 0; + out_8169752966009844936[217] = 0; + out_8169752966009844936[218] = 0; + out_8169752966009844936[219] = 0; + out_8169752966009844936[220] = 0; + out_8169752966009844936[221] = 0; + out_8169752966009844936[222] = 0; + out_8169752966009844936[223] = 0; + out_8169752966009844936[224] = 0; + out_8169752966009844936[225] = 0; + out_8169752966009844936[226] = 0; + out_8169752966009844936[227] = 0; + out_8169752966009844936[228] = 1; + out_8169752966009844936[229] = 0; + out_8169752966009844936[230] = 0; + out_8169752966009844936[231] = 0; + out_8169752966009844936[232] = 0; + out_8169752966009844936[233] = 0; + out_8169752966009844936[234] = 0; + out_8169752966009844936[235] = 0; + out_8169752966009844936[236] = 0; + out_8169752966009844936[237] = 0; + out_8169752966009844936[238] = 0; + out_8169752966009844936[239] = 0; + out_8169752966009844936[240] = 0; + out_8169752966009844936[241] = 0; + out_8169752966009844936[242] = 0; + out_8169752966009844936[243] = 0; + out_8169752966009844936[244] = 0; + out_8169752966009844936[245] = 0; + out_8169752966009844936[246] = 0; + out_8169752966009844936[247] = 1; + out_8169752966009844936[248] = 0; + out_8169752966009844936[249] = 0; + out_8169752966009844936[250] = 0; + out_8169752966009844936[251] = 0; + out_8169752966009844936[252] = 0; + out_8169752966009844936[253] = 0; + out_8169752966009844936[254] = 0; + out_8169752966009844936[255] = 0; + out_8169752966009844936[256] = 0; + out_8169752966009844936[257] = 0; + out_8169752966009844936[258] = 0; + out_8169752966009844936[259] = 0; + out_8169752966009844936[260] = 0; + out_8169752966009844936[261] = 0; + out_8169752966009844936[262] = 0; + out_8169752966009844936[263] = 0; + out_8169752966009844936[264] = 0; + out_8169752966009844936[265] = 0; + out_8169752966009844936[266] = 1; + out_8169752966009844936[267] = 0; + out_8169752966009844936[268] = 0; + out_8169752966009844936[269] = 0; + out_8169752966009844936[270] = 0; + out_8169752966009844936[271] = 0; + out_8169752966009844936[272] = 0; + out_8169752966009844936[273] = 0; + out_8169752966009844936[274] = 0; + out_8169752966009844936[275] = 0; + out_8169752966009844936[276] = 0; + out_8169752966009844936[277] = 0; + out_8169752966009844936[278] = 0; + out_8169752966009844936[279] = 0; + out_8169752966009844936[280] = 0; + out_8169752966009844936[281] = 0; + out_8169752966009844936[282] = 0; + out_8169752966009844936[283] = 0; + out_8169752966009844936[284] = 0; + out_8169752966009844936[285] = 1; + out_8169752966009844936[286] = 0; + out_8169752966009844936[287] = 0; + out_8169752966009844936[288] = 0; + out_8169752966009844936[289] = 0; + out_8169752966009844936[290] = 0; + out_8169752966009844936[291] = 0; + out_8169752966009844936[292] = 0; + out_8169752966009844936[293] = 0; + out_8169752966009844936[294] = 0; + out_8169752966009844936[295] = 0; + out_8169752966009844936[296] = 0; + out_8169752966009844936[297] = 0; + out_8169752966009844936[298] = 0; + out_8169752966009844936[299] = 0; + out_8169752966009844936[300] = 0; + out_8169752966009844936[301] = 0; + out_8169752966009844936[302] = 0; + out_8169752966009844936[303] = 0; + out_8169752966009844936[304] = 1; + out_8169752966009844936[305] = 0; + out_8169752966009844936[306] = 0; + out_8169752966009844936[307] = 0; + out_8169752966009844936[308] = 0; + out_8169752966009844936[309] = 0; + out_8169752966009844936[310] = 0; + out_8169752966009844936[311] = 0; + out_8169752966009844936[312] = 0; + out_8169752966009844936[313] = 0; + out_8169752966009844936[314] = 0; + out_8169752966009844936[315] = 0; + out_8169752966009844936[316] = 0; + out_8169752966009844936[317] = 0; + out_8169752966009844936[318] = 0; + out_8169752966009844936[319] = 0; + out_8169752966009844936[320] = 0; + out_8169752966009844936[321] = 0; + out_8169752966009844936[322] = 0; + out_8169752966009844936[323] = 1; } -void h_4(double *state, double *unused, double *out_390661508853925842) { - out_390661508853925842[0] = state[6] + state[9]; - out_390661508853925842[1] = state[7] + state[10]; - out_390661508853925842[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2516225834102864115) { + out_2516225834102864115[0] = state[6] + state[9]; + out_2516225834102864115[1] = state[7] + state[10]; + out_2516225834102864115[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3712928655556393493) { - out_3712928655556393493[0] = 0; - out_3712928655556393493[1] = 0; - out_3712928655556393493[2] = 0; - out_3712928655556393493[3] = 0; - out_3712928655556393493[4] = 0; - out_3712928655556393493[5] = 0; - out_3712928655556393493[6] = 1; - out_3712928655556393493[7] = 0; - out_3712928655556393493[8] = 0; - out_3712928655556393493[9] = 1; - out_3712928655556393493[10] = 0; - out_3712928655556393493[11] = 0; - out_3712928655556393493[12] = 0; - out_3712928655556393493[13] = 0; - out_3712928655556393493[14] = 0; - out_3712928655556393493[15] = 0; - out_3712928655556393493[16] = 0; - out_3712928655556393493[17] = 0; - out_3712928655556393493[18] = 0; - out_3712928655556393493[19] = 0; - out_3712928655556393493[20] = 0; - out_3712928655556393493[21] = 0; - out_3712928655556393493[22] = 0; - out_3712928655556393493[23] = 0; - out_3712928655556393493[24] = 0; - out_3712928655556393493[25] = 1; - out_3712928655556393493[26] = 0; - out_3712928655556393493[27] = 0; - out_3712928655556393493[28] = 1; - out_3712928655556393493[29] = 0; - out_3712928655556393493[30] = 0; - out_3712928655556393493[31] = 0; - out_3712928655556393493[32] = 0; - out_3712928655556393493[33] = 0; - out_3712928655556393493[34] = 0; - out_3712928655556393493[35] = 0; - out_3712928655556393493[36] = 0; - out_3712928655556393493[37] = 0; - out_3712928655556393493[38] = 0; - out_3712928655556393493[39] = 0; - out_3712928655556393493[40] = 0; - out_3712928655556393493[41] = 0; - out_3712928655556393493[42] = 0; - out_3712928655556393493[43] = 0; - out_3712928655556393493[44] = 1; - out_3712928655556393493[45] = 0; - out_3712928655556393493[46] = 0; - out_3712928655556393493[47] = 1; - out_3712928655556393493[48] = 0; - out_3712928655556393493[49] = 0; - out_3712928655556393493[50] = 0; - out_3712928655556393493[51] = 0; - out_3712928655556393493[52] = 0; - out_3712928655556393493[53] = 0; +void H_4(double *state, double *unused, double *out_686050423064729030) { + out_686050423064729030[0] = 0; + out_686050423064729030[1] = 0; + out_686050423064729030[2] = 0; + out_686050423064729030[3] = 0; + out_686050423064729030[4] = 0; + out_686050423064729030[5] = 0; + out_686050423064729030[6] = 1; + out_686050423064729030[7] = 0; + out_686050423064729030[8] = 0; + out_686050423064729030[9] = 1; + out_686050423064729030[10] = 0; + out_686050423064729030[11] = 0; + out_686050423064729030[12] = 0; + out_686050423064729030[13] = 0; + out_686050423064729030[14] = 0; + out_686050423064729030[15] = 0; + out_686050423064729030[16] = 0; + out_686050423064729030[17] = 0; + out_686050423064729030[18] = 0; + out_686050423064729030[19] = 0; + out_686050423064729030[20] = 0; + out_686050423064729030[21] = 0; + out_686050423064729030[22] = 0; + out_686050423064729030[23] = 0; + out_686050423064729030[24] = 0; + out_686050423064729030[25] = 1; + out_686050423064729030[26] = 0; + out_686050423064729030[27] = 0; + out_686050423064729030[28] = 1; + out_686050423064729030[29] = 0; + out_686050423064729030[30] = 0; + out_686050423064729030[31] = 0; + out_686050423064729030[32] = 0; + out_686050423064729030[33] = 0; + out_686050423064729030[34] = 0; + out_686050423064729030[35] = 0; + out_686050423064729030[36] = 0; + out_686050423064729030[37] = 0; + out_686050423064729030[38] = 0; + out_686050423064729030[39] = 0; + out_686050423064729030[40] = 0; + out_686050423064729030[41] = 0; + out_686050423064729030[42] = 0; + out_686050423064729030[43] = 0; + out_686050423064729030[44] = 1; + out_686050423064729030[45] = 0; + out_686050423064729030[46] = 0; + out_686050423064729030[47] = 1; + out_686050423064729030[48] = 0; + out_686050423064729030[49] = 0; + out_686050423064729030[50] = 0; + out_686050423064729030[51] = 0; + out_686050423064729030[52] = 0; + out_686050423064729030[53] = 0; } -void h_10(double *state, double *unused, double *out_4622668875416301287) { - out_4622668875416301287[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_4622668875416301287[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_4622668875416301287[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_865522221082823214) { + out_865522221082823214[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_865522221082823214[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_865522221082823214[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_9222803918002037771) { - out_9222803918002037771[0] = 0; - out_9222803918002037771[1] = 9.8100000000000005*cos(state[1]); - out_9222803918002037771[2] = 0; - out_9222803918002037771[3] = 0; - out_9222803918002037771[4] = -state[8]; - out_9222803918002037771[5] = state[7]; - out_9222803918002037771[6] = 0; - out_9222803918002037771[7] = state[5]; - out_9222803918002037771[8] = -state[4]; - out_9222803918002037771[9] = 0; - out_9222803918002037771[10] = 0; - out_9222803918002037771[11] = 0; - out_9222803918002037771[12] = 1; - out_9222803918002037771[13] = 0; - out_9222803918002037771[14] = 0; - out_9222803918002037771[15] = 1; - out_9222803918002037771[16] = 0; - out_9222803918002037771[17] = 0; - out_9222803918002037771[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_9222803918002037771[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_9222803918002037771[20] = 0; - out_9222803918002037771[21] = state[8]; - out_9222803918002037771[22] = 0; - out_9222803918002037771[23] = -state[6]; - out_9222803918002037771[24] = -state[5]; - out_9222803918002037771[25] = 0; - out_9222803918002037771[26] = state[3]; - out_9222803918002037771[27] = 0; - out_9222803918002037771[28] = 0; - out_9222803918002037771[29] = 0; - out_9222803918002037771[30] = 0; - out_9222803918002037771[31] = 1; - out_9222803918002037771[32] = 0; - out_9222803918002037771[33] = 0; - out_9222803918002037771[34] = 1; - out_9222803918002037771[35] = 0; - out_9222803918002037771[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_9222803918002037771[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_9222803918002037771[38] = 0; - out_9222803918002037771[39] = -state[7]; - out_9222803918002037771[40] = state[6]; - out_9222803918002037771[41] = 0; - out_9222803918002037771[42] = state[4]; - out_9222803918002037771[43] = -state[3]; - out_9222803918002037771[44] = 0; - out_9222803918002037771[45] = 0; - out_9222803918002037771[46] = 0; - out_9222803918002037771[47] = 0; - out_9222803918002037771[48] = 0; - out_9222803918002037771[49] = 0; - out_9222803918002037771[50] = 1; - out_9222803918002037771[51] = 0; - out_9222803918002037771[52] = 0; - out_9222803918002037771[53] = 1; +void H_10(double *state, double *unused, double *out_8576192708028364696) { + out_8576192708028364696[0] = 0; + out_8576192708028364696[1] = 9.8100000000000005*cos(state[1]); + out_8576192708028364696[2] = 0; + out_8576192708028364696[3] = 0; + out_8576192708028364696[4] = -state[8]; + out_8576192708028364696[5] = state[7]; + out_8576192708028364696[6] = 0; + out_8576192708028364696[7] = state[5]; + out_8576192708028364696[8] = -state[4]; + out_8576192708028364696[9] = 0; + out_8576192708028364696[10] = 0; + out_8576192708028364696[11] = 0; + out_8576192708028364696[12] = 1; + out_8576192708028364696[13] = 0; + out_8576192708028364696[14] = 0; + out_8576192708028364696[15] = 1; + out_8576192708028364696[16] = 0; + out_8576192708028364696[17] = 0; + out_8576192708028364696[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8576192708028364696[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8576192708028364696[20] = 0; + out_8576192708028364696[21] = state[8]; + out_8576192708028364696[22] = 0; + out_8576192708028364696[23] = -state[6]; + out_8576192708028364696[24] = -state[5]; + out_8576192708028364696[25] = 0; + out_8576192708028364696[26] = state[3]; + out_8576192708028364696[27] = 0; + out_8576192708028364696[28] = 0; + out_8576192708028364696[29] = 0; + out_8576192708028364696[30] = 0; + out_8576192708028364696[31] = 1; + out_8576192708028364696[32] = 0; + out_8576192708028364696[33] = 0; + out_8576192708028364696[34] = 1; + out_8576192708028364696[35] = 0; + out_8576192708028364696[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8576192708028364696[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8576192708028364696[38] = 0; + out_8576192708028364696[39] = -state[7]; + out_8576192708028364696[40] = state[6]; + out_8576192708028364696[41] = 0; + out_8576192708028364696[42] = state[4]; + out_8576192708028364696[43] = -state[3]; + out_8576192708028364696[44] = 0; + out_8576192708028364696[45] = 0; + out_8576192708028364696[46] = 0; + out_8576192708028364696[47] = 0; + out_8576192708028364696[48] = 0; + out_8576192708028364696[49] = 0; + out_8576192708028364696[50] = 1; + out_8576192708028364696[51] = 0; + out_8576192708028364696[52] = 0; + out_8576192708028364696[53] = 1; } -void h_13(double *state, double *unused, double *out_7573083638476335875) { - out_7573083638476335875[0] = state[3]; - out_7573083638476335875[1] = state[4]; - out_7573083638476335875[2] = state[5]; +void h_13(double *state, double *unused, double *out_8706817024690289876) { + out_8706817024690289876[0] = state[3]; + out_8706817024690289876[1] = state[4]; + out_8706817024690289876[2] = state[5]; } -void H_13(double *state, double *unused, double *out_500654830224060692) { - out_500654830224060692[0] = 0; - out_500654830224060692[1] = 0; - out_500654830224060692[2] = 0; - out_500654830224060692[3] = 1; - out_500654830224060692[4] = 0; - out_500654830224060692[5] = 0; - out_500654830224060692[6] = 0; - out_500654830224060692[7] = 0; - out_500654830224060692[8] = 0; - out_500654830224060692[9] = 0; - out_500654830224060692[10] = 0; - out_500654830224060692[11] = 0; - out_500654830224060692[12] = 0; - out_500654830224060692[13] = 0; - out_500654830224060692[14] = 0; - out_500654830224060692[15] = 0; - out_500654830224060692[16] = 0; - out_500654830224060692[17] = 0; - out_500654830224060692[18] = 0; - out_500654830224060692[19] = 0; - out_500654830224060692[20] = 0; - out_500654830224060692[21] = 0; - out_500654830224060692[22] = 1; - out_500654830224060692[23] = 0; - out_500654830224060692[24] = 0; - out_500654830224060692[25] = 0; - out_500654830224060692[26] = 0; - out_500654830224060692[27] = 0; - out_500654830224060692[28] = 0; - out_500654830224060692[29] = 0; - out_500654830224060692[30] = 0; - out_500654830224060692[31] = 0; - out_500654830224060692[32] = 0; - out_500654830224060692[33] = 0; - out_500654830224060692[34] = 0; - out_500654830224060692[35] = 0; - out_500654830224060692[36] = 0; - out_500654830224060692[37] = 0; - out_500654830224060692[38] = 0; - out_500654830224060692[39] = 0; - out_500654830224060692[40] = 0; - out_500654830224060692[41] = 1; - out_500654830224060692[42] = 0; - out_500654830224060692[43] = 0; - out_500654830224060692[44] = 0; - out_500654830224060692[45] = 0; - out_500654830224060692[46] = 0; - out_500654830224060692[47] = 0; - out_500654830224060692[48] = 0; - out_500654830224060692[49] = 0; - out_500654830224060692[50] = 0; - out_500654830224060692[51] = 0; - out_500654830224060692[52] = 0; - out_500654830224060692[53] = 0; +void H_13(double *state, double *unused, double *out_3898324248397061831) { + out_3898324248397061831[0] = 0; + out_3898324248397061831[1] = 0; + out_3898324248397061831[2] = 0; + out_3898324248397061831[3] = 1; + out_3898324248397061831[4] = 0; + out_3898324248397061831[5] = 0; + out_3898324248397061831[6] = 0; + out_3898324248397061831[7] = 0; + out_3898324248397061831[8] = 0; + out_3898324248397061831[9] = 0; + out_3898324248397061831[10] = 0; + out_3898324248397061831[11] = 0; + out_3898324248397061831[12] = 0; + out_3898324248397061831[13] = 0; + out_3898324248397061831[14] = 0; + out_3898324248397061831[15] = 0; + out_3898324248397061831[16] = 0; + out_3898324248397061831[17] = 0; + out_3898324248397061831[18] = 0; + out_3898324248397061831[19] = 0; + out_3898324248397061831[20] = 0; + out_3898324248397061831[21] = 0; + out_3898324248397061831[22] = 1; + out_3898324248397061831[23] = 0; + out_3898324248397061831[24] = 0; + out_3898324248397061831[25] = 0; + out_3898324248397061831[26] = 0; + out_3898324248397061831[27] = 0; + out_3898324248397061831[28] = 0; + out_3898324248397061831[29] = 0; + out_3898324248397061831[30] = 0; + out_3898324248397061831[31] = 0; + out_3898324248397061831[32] = 0; + out_3898324248397061831[33] = 0; + out_3898324248397061831[34] = 0; + out_3898324248397061831[35] = 0; + out_3898324248397061831[36] = 0; + out_3898324248397061831[37] = 0; + out_3898324248397061831[38] = 0; + out_3898324248397061831[39] = 0; + out_3898324248397061831[40] = 0; + out_3898324248397061831[41] = 1; + out_3898324248397061831[42] = 0; + out_3898324248397061831[43] = 0; + out_3898324248397061831[44] = 0; + out_3898324248397061831[45] = 0; + out_3898324248397061831[46] = 0; + out_3898324248397061831[47] = 0; + out_3898324248397061831[48] = 0; + out_3898324248397061831[49] = 0; + out_3898324248397061831[50] = 0; + out_3898324248397061831[51] = 0; + out_3898324248397061831[52] = 0; + out_3898324248397061831[53] = 0; } -void h_14(double *state, double *unused, double *out_4512296191106361905) { - out_4512296191106361905[0] = state[6]; - out_4512296191106361905[1] = state[7]; - out_4512296191106361905[2] = state[8]; +void h_14(double *state, double *unused, double *out_1828120776349525591) { + out_1828120776349525591[0] = state[6]; + out_1828120776349525591[1] = state[7]; + out_1828120776349525591[2] = state[8]; } -void H_14(double *state, double *unused, double *out_250312200783091036) { - out_250312200783091036[0] = 0; - out_250312200783091036[1] = 0; - out_250312200783091036[2] = 0; - out_250312200783091036[3] = 0; - out_250312200783091036[4] = 0; - out_250312200783091036[5] = 0; - out_250312200783091036[6] = 1; - out_250312200783091036[7] = 0; - out_250312200783091036[8] = 0; - out_250312200783091036[9] = 0; - out_250312200783091036[10] = 0; - out_250312200783091036[11] = 0; - out_250312200783091036[12] = 0; - out_250312200783091036[13] = 0; - out_250312200783091036[14] = 0; - out_250312200783091036[15] = 0; - out_250312200783091036[16] = 0; - out_250312200783091036[17] = 0; - out_250312200783091036[18] = 0; - out_250312200783091036[19] = 0; - out_250312200783091036[20] = 0; - out_250312200783091036[21] = 0; - out_250312200783091036[22] = 0; - out_250312200783091036[23] = 0; - out_250312200783091036[24] = 0; - out_250312200783091036[25] = 1; - out_250312200783091036[26] = 0; - out_250312200783091036[27] = 0; - out_250312200783091036[28] = 0; - out_250312200783091036[29] = 0; - out_250312200783091036[30] = 0; - out_250312200783091036[31] = 0; - out_250312200783091036[32] = 0; - out_250312200783091036[33] = 0; - out_250312200783091036[34] = 0; - out_250312200783091036[35] = 0; - out_250312200783091036[36] = 0; - out_250312200783091036[37] = 0; - out_250312200783091036[38] = 0; - out_250312200783091036[39] = 0; - out_250312200783091036[40] = 0; - out_250312200783091036[41] = 0; - out_250312200783091036[42] = 0; - out_250312200783091036[43] = 0; - out_250312200783091036[44] = 1; - out_250312200783091036[45] = 0; - out_250312200783091036[46] = 0; - out_250312200783091036[47] = 0; - out_250312200783091036[48] = 0; - out_250312200783091036[49] = 0; - out_250312200783091036[50] = 0; - out_250312200783091036[51] = 0; - out_250312200783091036[52] = 0; - out_250312200783091036[53] = 0; +void H_14(double *state, double *unused, double *out_2396738009230643266) { + out_2396738009230643266[0] = 0; + out_2396738009230643266[1] = 0; + out_2396738009230643266[2] = 0; + out_2396738009230643266[3] = 0; + out_2396738009230643266[4] = 0; + out_2396738009230643266[5] = 0; + out_2396738009230643266[6] = 1; + out_2396738009230643266[7] = 0; + out_2396738009230643266[8] = 0; + out_2396738009230643266[9] = 0; + out_2396738009230643266[10] = 0; + out_2396738009230643266[11] = 0; + out_2396738009230643266[12] = 0; + out_2396738009230643266[13] = 0; + out_2396738009230643266[14] = 0; + out_2396738009230643266[15] = 0; + out_2396738009230643266[16] = 0; + out_2396738009230643266[17] = 0; + out_2396738009230643266[18] = 0; + out_2396738009230643266[19] = 0; + out_2396738009230643266[20] = 0; + out_2396738009230643266[21] = 0; + out_2396738009230643266[22] = 0; + out_2396738009230643266[23] = 0; + out_2396738009230643266[24] = 0; + out_2396738009230643266[25] = 1; + out_2396738009230643266[26] = 0; + out_2396738009230643266[27] = 0; + out_2396738009230643266[28] = 0; + out_2396738009230643266[29] = 0; + out_2396738009230643266[30] = 0; + out_2396738009230643266[31] = 0; + out_2396738009230643266[32] = 0; + out_2396738009230643266[33] = 0; + out_2396738009230643266[34] = 0; + out_2396738009230643266[35] = 0; + out_2396738009230643266[36] = 0; + out_2396738009230643266[37] = 0; + out_2396738009230643266[38] = 0; + out_2396738009230643266[39] = 0; + out_2396738009230643266[40] = 0; + out_2396738009230643266[41] = 0; + out_2396738009230643266[42] = 0; + out_2396738009230643266[43] = 0; + out_2396738009230643266[44] = 1; + out_2396738009230643266[45] = 0; + out_2396738009230643266[46] = 0; + out_2396738009230643266[47] = 0; + out_2396738009230643266[48] = 0; + out_2396738009230643266[49] = 0; + out_2396738009230643266[50] = 0; + out_2396738009230643266[51] = 0; + out_2396738009230643266[52] = 0; + out_2396738009230643266[53] = 0; } #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_5836812006117722374) { - err_fun(nom_x, delta_x, out_5836812006117722374); +void pose_err_fun(double *nom_x, double *delta_x, double *out_384350097947890971) { + err_fun(nom_x, delta_x, out_384350097947890971); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_368701023819567149) { - inv_err_fun(nom_x, true_x, out_368701023819567149); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_161730175994041380) { + inv_err_fun(nom_x, true_x, out_161730175994041380); } -void pose_H_mod_fun(double *state, double *out_5720830998239473631) { - H_mod_fun(state, out_5720830998239473631); +void pose_H_mod_fun(double *state, double *out_511897058818169074) { + H_mod_fun(state, out_511897058818169074); } -void pose_f_fun(double *state, double dt, double *out_3302434187336556995) { - f_fun(state, dt, out_3302434187336556995); +void pose_f_fun(double *state, double dt, double *out_4006543374555760922) { + f_fun(state, dt, out_4006543374555760922); } -void pose_F_fun(double *state, double dt, double *out_2147733219597398466) { - F_fun(state, dt, out_2147733219597398466); +void pose_F_fun(double *state, double dt, double *out_8169752966009844936) { + F_fun(state, dt, out_8169752966009844936); } -void pose_h_4(double *state, double *unused, double *out_390661508853925842) { - h_4(state, unused, out_390661508853925842); +void pose_h_4(double *state, double *unused, double *out_2516225834102864115) { + h_4(state, unused, out_2516225834102864115); } -void pose_H_4(double *state, double *unused, double *out_3712928655556393493) { - H_4(state, unused, out_3712928655556393493); +void pose_H_4(double *state, double *unused, double *out_686050423064729030) { + H_4(state, unused, out_686050423064729030); } -void pose_h_10(double *state, double *unused, double *out_4622668875416301287) { - h_10(state, unused, out_4622668875416301287); +void pose_h_10(double *state, double *unused, double *out_865522221082823214) { + h_10(state, unused, out_865522221082823214); } -void pose_H_10(double *state, double *unused, double *out_9222803918002037771) { - H_10(state, unused, out_9222803918002037771); +void pose_H_10(double *state, double *unused, double *out_8576192708028364696) { + H_10(state, unused, out_8576192708028364696); } -void pose_h_13(double *state, double *unused, double *out_7573083638476335875) { - h_13(state, unused, out_7573083638476335875); +void pose_h_13(double *state, double *unused, double *out_8706817024690289876) { + h_13(state, unused, out_8706817024690289876); } -void pose_H_13(double *state, double *unused, double *out_500654830224060692) { - H_13(state, unused, out_500654830224060692); +void pose_H_13(double *state, double *unused, double *out_3898324248397061831) { + H_13(state, unused, out_3898324248397061831); } -void pose_h_14(double *state, double *unused, double *out_4512296191106361905) { - h_14(state, unused, out_4512296191106361905); +void pose_h_14(double *state, double *unused, double *out_1828120776349525591) { + h_14(state, unused, out_1828120776349525591); } -void pose_H_14(double *state, double *unused, double *out_250312200783091036) { - H_14(state, unused, out_250312200783091036); +void pose_H_14(double *state, double *unused, double *out_2396738009230643266) { + H_14(state, unused, out_2396738009230643266); } 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 a634f3de3..f991f50f8 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_5836812006117722374); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_368701023819567149); -void pose_H_mod_fun(double *state, double *out_5720830998239473631); -void pose_f_fun(double *state, double dt, double *out_3302434187336556995); -void pose_F_fun(double *state, double dt, double *out_2147733219597398466); -void pose_h_4(double *state, double *unused, double *out_390661508853925842); -void pose_H_4(double *state, double *unused, double *out_3712928655556393493); -void pose_h_10(double *state, double *unused, double *out_4622668875416301287); -void pose_H_10(double *state, double *unused, double *out_9222803918002037771); -void pose_h_13(double *state, double *unused, double *out_7573083638476335875); -void pose_H_13(double *state, double *unused, double *out_500654830224060692); -void pose_h_14(double *state, double *unused, double *out_4512296191106361905); -void pose_H_14(double *state, double *unused, double *out_250312200783091036); +void pose_err_fun(double *nom_x, double *delta_x, double *out_384350097947890971); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_161730175994041380); +void pose_H_mod_fun(double *state, double *out_511897058818169074); +void pose_f_fun(double *state, double dt, double *out_4006543374555760922); +void pose_F_fun(double *state, double dt, double *out_8169752966009844936); +void pose_h_4(double *state, double *unused, double *out_2516225834102864115); +void pose_H_4(double *state, double *unused, double *out_686050423064729030); +void pose_h_10(double *state, double *unused, double *out_865522221082823214); +void pose_H_10(double *state, double *unused, double *out_8576192708028364696); +void pose_h_13(double *state, double *unused, double *out_8706817024690289876); +void pose_H_13(double *state, double *unused, double *out_3898324248397061831); +void pose_h_14(double *state, double *unused, double *out_1828120776349525591); +void pose_H_14(double *state, double *unused, double *out_2396738009230643266); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file