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b/panda/board/obj/version @@ -1 +1 @@ -DEV-713ce294-DEBUG \ No newline at end of file +DEV-a96f15c1-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 1ac3087aa..1b380c408 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_2798728055434719104) { - out_2798728055434719104[0] = delta_x[0] + nom_x[0]; - out_2798728055434719104[1] = delta_x[1] + nom_x[1]; - out_2798728055434719104[2] = delta_x[2] + nom_x[2]; - out_2798728055434719104[3] = delta_x[3] + nom_x[3]; - out_2798728055434719104[4] = delta_x[4] + nom_x[4]; - out_2798728055434719104[5] = delta_x[5] + nom_x[5]; - out_2798728055434719104[6] = delta_x[6] + nom_x[6]; - out_2798728055434719104[7] = delta_x[7] + nom_x[7]; - out_2798728055434719104[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8323867421856300804) { + out_8323867421856300804[0] = delta_x[0] + nom_x[0]; + out_8323867421856300804[1] = delta_x[1] + nom_x[1]; + out_8323867421856300804[2] = delta_x[2] + nom_x[2]; + out_8323867421856300804[3] = delta_x[3] + nom_x[3]; + out_8323867421856300804[4] = delta_x[4] + nom_x[4]; + out_8323867421856300804[5] = delta_x[5] + nom_x[5]; + out_8323867421856300804[6] = delta_x[6] + nom_x[6]; + out_8323867421856300804[7] = delta_x[7] + nom_x[7]; + out_8323867421856300804[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641) { - out_5158994837086933641[0] = -nom_x[0] + true_x[0]; - out_5158994837086933641[1] = -nom_x[1] + true_x[1]; - out_5158994837086933641[2] = -nom_x[2] + true_x[2]; - out_5158994837086933641[3] = -nom_x[3] + true_x[3]; - out_5158994837086933641[4] = -nom_x[4] + true_x[4]; - out_5158994837086933641[5] = -nom_x[5] + true_x[5]; - out_5158994837086933641[6] = -nom_x[6] + true_x[6]; - out_5158994837086933641[7] = -nom_x[7] + true_x[7]; - out_5158994837086933641[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7813964173541078004) { + out_7813964173541078004[0] = -nom_x[0] + true_x[0]; + out_7813964173541078004[1] = -nom_x[1] + true_x[1]; + out_7813964173541078004[2] = -nom_x[2] + true_x[2]; + out_7813964173541078004[3] = -nom_x[3] + true_x[3]; + out_7813964173541078004[4] = -nom_x[4] + true_x[4]; + out_7813964173541078004[5] = -nom_x[5] + true_x[5]; + out_7813964173541078004[6] = -nom_x[6] + true_x[6]; + out_7813964173541078004[7] = -nom_x[7] + true_x[7]; + out_7813964173541078004[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8807292285450126459) { - out_8807292285450126459[0] = 1.0; - out_8807292285450126459[1] = 0.0; - out_8807292285450126459[2] = 0.0; - out_8807292285450126459[3] = 0.0; - out_8807292285450126459[4] = 0.0; - out_8807292285450126459[5] = 0.0; - out_8807292285450126459[6] = 0.0; - out_8807292285450126459[7] = 0.0; - out_8807292285450126459[8] = 0.0; - out_8807292285450126459[9] = 0.0; - out_8807292285450126459[10] = 1.0; - out_8807292285450126459[11] = 0.0; - out_8807292285450126459[12] = 0.0; - out_8807292285450126459[13] = 0.0; - out_8807292285450126459[14] = 0.0; - out_8807292285450126459[15] = 0.0; - out_8807292285450126459[16] = 0.0; - out_8807292285450126459[17] = 0.0; - out_8807292285450126459[18] = 0.0; - out_8807292285450126459[19] = 0.0; - out_8807292285450126459[20] = 1.0; - out_8807292285450126459[21] = 0.0; - out_8807292285450126459[22] = 0.0; - out_8807292285450126459[23] = 0.0; - out_8807292285450126459[24] = 0.0; - out_8807292285450126459[25] = 0.0; - out_8807292285450126459[26] = 0.0; - out_8807292285450126459[27] = 0.0; - out_8807292285450126459[28] = 0.0; - out_8807292285450126459[29] = 0.0; - out_8807292285450126459[30] = 1.0; - out_8807292285450126459[31] = 0.0; - out_8807292285450126459[32] = 0.0; - out_8807292285450126459[33] = 0.0; - out_8807292285450126459[34] = 0.0; - out_8807292285450126459[35] = 0.0; - out_8807292285450126459[36] = 0.0; - out_8807292285450126459[37] = 0.0; - out_8807292285450126459[38] = 0.0; - out_8807292285450126459[39] = 0.0; - out_8807292285450126459[40] = 1.0; - out_8807292285450126459[41] = 0.0; - out_8807292285450126459[42] = 0.0; - out_8807292285450126459[43] = 0.0; - out_8807292285450126459[44] = 0.0; - out_8807292285450126459[45] = 0.0; - out_8807292285450126459[46] = 0.0; - out_8807292285450126459[47] = 0.0; - out_8807292285450126459[48] = 0.0; - out_8807292285450126459[49] = 0.0; - out_8807292285450126459[50] = 1.0; - out_8807292285450126459[51] = 0.0; - out_8807292285450126459[52] = 0.0; - out_8807292285450126459[53] = 0.0; - out_8807292285450126459[54] = 0.0; - out_8807292285450126459[55] = 0.0; - out_8807292285450126459[56] = 0.0; - out_8807292285450126459[57] = 0.0; - out_8807292285450126459[58] = 0.0; - out_8807292285450126459[59] = 0.0; - out_8807292285450126459[60] = 1.0; - out_8807292285450126459[61] = 0.0; - out_8807292285450126459[62] = 0.0; - out_8807292285450126459[63] = 0.0; - out_8807292285450126459[64] = 0.0; - out_8807292285450126459[65] = 0.0; - out_8807292285450126459[66] = 0.0; - out_8807292285450126459[67] = 0.0; - out_8807292285450126459[68] = 0.0; - out_8807292285450126459[69] = 0.0; - out_8807292285450126459[70] = 1.0; - out_8807292285450126459[71] = 0.0; - out_8807292285450126459[72] = 0.0; - out_8807292285450126459[73] = 0.0; - out_8807292285450126459[74] = 0.0; - out_8807292285450126459[75] = 0.0; - out_8807292285450126459[76] = 0.0; - out_8807292285450126459[77] = 0.0; - out_8807292285450126459[78] = 0.0; - out_8807292285450126459[79] = 0.0; - out_8807292285450126459[80] = 1.0; +void H_mod_fun(double *state, double *out_4368145060515116157) { + out_4368145060515116157[0] = 1.0; + out_4368145060515116157[1] = 0.0; + out_4368145060515116157[2] = 0.0; + out_4368145060515116157[3] = 0.0; + out_4368145060515116157[4] = 0.0; + out_4368145060515116157[5] = 0.0; + out_4368145060515116157[6] = 0.0; + out_4368145060515116157[7] = 0.0; + out_4368145060515116157[8] = 0.0; + out_4368145060515116157[9] = 0.0; + out_4368145060515116157[10] = 1.0; + out_4368145060515116157[11] = 0.0; + out_4368145060515116157[12] = 0.0; + out_4368145060515116157[13] = 0.0; + out_4368145060515116157[14] = 0.0; + out_4368145060515116157[15] = 0.0; + out_4368145060515116157[16] = 0.0; + out_4368145060515116157[17] = 0.0; + out_4368145060515116157[18] = 0.0; + out_4368145060515116157[19] = 0.0; + out_4368145060515116157[20] = 1.0; + out_4368145060515116157[21] = 0.0; + out_4368145060515116157[22] = 0.0; + out_4368145060515116157[23] = 0.0; + out_4368145060515116157[24] = 0.0; + out_4368145060515116157[25] = 0.0; + out_4368145060515116157[26] = 0.0; + out_4368145060515116157[27] = 0.0; + out_4368145060515116157[28] = 0.0; + out_4368145060515116157[29] = 0.0; + out_4368145060515116157[30] = 1.0; + out_4368145060515116157[31] = 0.0; + out_4368145060515116157[32] = 0.0; + out_4368145060515116157[33] = 0.0; + out_4368145060515116157[34] = 0.0; + out_4368145060515116157[35] = 0.0; + out_4368145060515116157[36] = 0.0; + out_4368145060515116157[37] = 0.0; + out_4368145060515116157[38] = 0.0; + out_4368145060515116157[39] = 0.0; + out_4368145060515116157[40] = 1.0; + out_4368145060515116157[41] = 0.0; + out_4368145060515116157[42] = 0.0; + out_4368145060515116157[43] = 0.0; + out_4368145060515116157[44] = 0.0; + out_4368145060515116157[45] = 0.0; + out_4368145060515116157[46] = 0.0; + out_4368145060515116157[47] = 0.0; + out_4368145060515116157[48] = 0.0; + out_4368145060515116157[49] = 0.0; + out_4368145060515116157[50] = 1.0; + out_4368145060515116157[51] = 0.0; + out_4368145060515116157[52] = 0.0; + out_4368145060515116157[53] = 0.0; + out_4368145060515116157[54] = 0.0; + out_4368145060515116157[55] = 0.0; + out_4368145060515116157[56] = 0.0; + out_4368145060515116157[57] = 0.0; + out_4368145060515116157[58] = 0.0; + out_4368145060515116157[59] = 0.0; + out_4368145060515116157[60] = 1.0; + out_4368145060515116157[61] = 0.0; + out_4368145060515116157[62] = 0.0; + out_4368145060515116157[63] = 0.0; + out_4368145060515116157[64] = 0.0; + out_4368145060515116157[65] = 0.0; + out_4368145060515116157[66] = 0.0; + out_4368145060515116157[67] = 0.0; + out_4368145060515116157[68] = 0.0; + out_4368145060515116157[69] = 0.0; + out_4368145060515116157[70] = 1.0; + out_4368145060515116157[71] = 0.0; + out_4368145060515116157[72] = 0.0; + out_4368145060515116157[73] = 0.0; + out_4368145060515116157[74] = 0.0; + out_4368145060515116157[75] = 0.0; + out_4368145060515116157[76] = 0.0; + out_4368145060515116157[77] = 0.0; + out_4368145060515116157[78] = 0.0; + out_4368145060515116157[79] = 0.0; + out_4368145060515116157[80] = 1.0; } -void f_fun(double *state, double dt, double *out_547624329025478730) { - out_547624329025478730[0] = state[0]; - out_547624329025478730[1] = state[1]; - out_547624329025478730[2] = state[2]; - out_547624329025478730[3] = state[3]; - out_547624329025478730[4] = state[4]; - out_547624329025478730[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_547624329025478730[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_547624329025478730[7] = state[7]; - out_547624329025478730[8] = state[8]; +void f_fun(double *state, double dt, double *out_7186701084742487454) { + out_7186701084742487454[0] = state[0]; + out_7186701084742487454[1] = state[1]; + out_7186701084742487454[2] = state[2]; + out_7186701084742487454[3] = state[3]; + out_7186701084742487454[4] = state[4]; + out_7186701084742487454[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_7186701084742487454[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_7186701084742487454[7] = state[7]; + out_7186701084742487454[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6298604141859123794) { - out_6298604141859123794[0] = 1; - out_6298604141859123794[1] = 0; - out_6298604141859123794[2] = 0; - out_6298604141859123794[3] = 0; - out_6298604141859123794[4] = 0; - out_6298604141859123794[5] = 0; - out_6298604141859123794[6] = 0; - out_6298604141859123794[7] = 0; - out_6298604141859123794[8] = 0; - out_6298604141859123794[9] = 0; - out_6298604141859123794[10] = 1; - out_6298604141859123794[11] = 0; - out_6298604141859123794[12] = 0; - out_6298604141859123794[13] = 0; - out_6298604141859123794[14] = 0; - out_6298604141859123794[15] = 0; - out_6298604141859123794[16] = 0; - out_6298604141859123794[17] = 0; - out_6298604141859123794[18] = 0; - out_6298604141859123794[19] = 0; - out_6298604141859123794[20] = 1; - out_6298604141859123794[21] = 0; - out_6298604141859123794[22] = 0; - out_6298604141859123794[23] = 0; - out_6298604141859123794[24] = 0; - out_6298604141859123794[25] = 0; - out_6298604141859123794[26] = 0; - out_6298604141859123794[27] = 0; - out_6298604141859123794[28] = 0; - out_6298604141859123794[29] = 0; - out_6298604141859123794[30] = 1; - out_6298604141859123794[31] = 0; - out_6298604141859123794[32] = 0; - out_6298604141859123794[33] = 0; - out_6298604141859123794[34] = 0; - out_6298604141859123794[35] = 0; - out_6298604141859123794[36] = 0; - out_6298604141859123794[37] = 0; - out_6298604141859123794[38] = 0; - out_6298604141859123794[39] = 0; - out_6298604141859123794[40] = 1; - out_6298604141859123794[41] = 0; - out_6298604141859123794[42] = 0; - out_6298604141859123794[43] = 0; - out_6298604141859123794[44] = 0; - out_6298604141859123794[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_6298604141859123794[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6298604141859123794[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6298604141859123794[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6298604141859123794[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_6298604141859123794[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6298604141859123794[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6298604141859123794[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6298604141859123794[53] = -9.8100000000000005*dt; - out_6298604141859123794[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_6298604141859123794[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6298604141859123794[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6298604141859123794[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6298604141859123794[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_6298604141859123794[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6298604141859123794[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_6298604141859123794[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6298604141859123794[62] = 0; - out_6298604141859123794[63] = 0; - out_6298604141859123794[64] = 0; - out_6298604141859123794[65] = 0; - out_6298604141859123794[66] = 0; - out_6298604141859123794[67] = 0; - out_6298604141859123794[68] = 0; - out_6298604141859123794[69] = 0; - out_6298604141859123794[70] = 1; - out_6298604141859123794[71] = 0; - out_6298604141859123794[72] = 0; - out_6298604141859123794[73] = 0; - out_6298604141859123794[74] = 0; - out_6298604141859123794[75] = 0; - out_6298604141859123794[76] = 0; - out_6298604141859123794[77] = 0; - out_6298604141859123794[78] = 0; - out_6298604141859123794[79] = 0; - out_6298604141859123794[80] = 1; +void F_fun(double *state, double dt, double *out_4612755303362986431) { + out_4612755303362986431[0] = 1; + out_4612755303362986431[1] = 0; + out_4612755303362986431[2] = 0; + out_4612755303362986431[3] = 0; + out_4612755303362986431[4] = 0; + out_4612755303362986431[5] = 0; + out_4612755303362986431[6] = 0; + out_4612755303362986431[7] = 0; + out_4612755303362986431[8] = 0; + out_4612755303362986431[9] = 0; + out_4612755303362986431[10] = 1; + out_4612755303362986431[11] = 0; + out_4612755303362986431[12] = 0; + out_4612755303362986431[13] = 0; + out_4612755303362986431[14] = 0; + out_4612755303362986431[15] = 0; + out_4612755303362986431[16] = 0; + out_4612755303362986431[17] = 0; + out_4612755303362986431[18] = 0; + out_4612755303362986431[19] = 0; + out_4612755303362986431[20] = 1; + out_4612755303362986431[21] = 0; + out_4612755303362986431[22] = 0; + out_4612755303362986431[23] = 0; + out_4612755303362986431[24] = 0; + out_4612755303362986431[25] = 0; + out_4612755303362986431[26] = 0; + out_4612755303362986431[27] = 0; + out_4612755303362986431[28] = 0; + out_4612755303362986431[29] = 0; + out_4612755303362986431[30] = 1; + out_4612755303362986431[31] = 0; + out_4612755303362986431[32] = 0; + out_4612755303362986431[33] = 0; + out_4612755303362986431[34] = 0; + out_4612755303362986431[35] = 0; + out_4612755303362986431[36] = 0; + out_4612755303362986431[37] = 0; + out_4612755303362986431[38] = 0; + out_4612755303362986431[39] = 0; + out_4612755303362986431[40] = 1; + out_4612755303362986431[41] = 0; + out_4612755303362986431[42] = 0; + out_4612755303362986431[43] = 0; + out_4612755303362986431[44] = 0; + out_4612755303362986431[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_4612755303362986431[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4612755303362986431[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4612755303362986431[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4612755303362986431[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_4612755303362986431[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4612755303362986431[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4612755303362986431[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4612755303362986431[53] = -9.8100000000000005*dt; + out_4612755303362986431[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_4612755303362986431[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4612755303362986431[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4612755303362986431[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4612755303362986431[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_4612755303362986431[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4612755303362986431[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_4612755303362986431[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4612755303362986431[62] = 0; + out_4612755303362986431[63] = 0; + out_4612755303362986431[64] = 0; + out_4612755303362986431[65] = 0; + out_4612755303362986431[66] = 0; + out_4612755303362986431[67] = 0; + out_4612755303362986431[68] = 0; + out_4612755303362986431[69] = 0; + out_4612755303362986431[70] = 1; + out_4612755303362986431[71] = 0; + out_4612755303362986431[72] = 0; + out_4612755303362986431[73] = 0; + out_4612755303362986431[74] = 0; + out_4612755303362986431[75] = 0; + out_4612755303362986431[76] = 0; + out_4612755303362986431[77] = 0; + out_4612755303362986431[78] = 0; + out_4612755303362986431[79] = 0; + out_4612755303362986431[80] = 1; } -void h_25(double *state, double *unused, double *out_5598542368802412337) { - out_5598542368802412337[0] = state[6]; +void h_25(double *state, double *unused, double *out_4005374998728652660) { + out_4005374998728652660[0] = state[6]; } -void H_25(double *state, double *unused, double *out_446263562347187920) { - out_446263562347187920[0] = 0; - out_446263562347187920[1] = 0; - out_446263562347187920[2] = 0; - out_446263562347187920[3] = 0; - out_446263562347187920[4] = 0; - out_446263562347187920[5] = 0; - out_446263562347187920[6] = 1; - out_446263562347187920[7] = 0; - out_446263562347187920[8] = 0; +void H_25(double *state, double *unused, double *out_5317265982543598366) { + out_5317265982543598366[0] = 0; + out_5317265982543598366[1] = 0; + out_5317265982543598366[2] = 0; + out_5317265982543598366[3] = 0; + out_5317265982543598366[4] = 0; + out_5317265982543598366[5] = 0; + out_5317265982543598366[6] = 1; + out_5317265982543598366[7] = 0; + out_5317265982543598366[8] = 0; } -void h_24(double *state, double *unused, double *out_281619709901739940) { - out_281619709901739940[0] = state[4]; - out_281619709901739940[1] = state[5]; +void h_24(double *state, double *unused, double *out_1539683839994737822) { + out_1539683839994737822[0] = state[4]; + out_1539683839994737822[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4300245764619321114) { - out_4300245764619321114[0] = 0; - out_4300245764619321114[1] = 0; - out_4300245764619321114[2] = 0; - out_4300245764619321114[3] = 0; - out_4300245764619321114[4] = 1; - out_4300245764619321114[5] = 0; - out_4300245764619321114[6] = 0; - out_4300245764619321114[7] = 0; - out_4300245764619321114[8] = 0; - out_4300245764619321114[9] = 0; - out_4300245764619321114[10] = 0; - out_4300245764619321114[11] = 0; - out_4300245764619321114[12] = 0; - out_4300245764619321114[13] = 0; - out_4300245764619321114[14] = 1; - out_4300245764619321114[15] = 0; - out_4300245764619321114[16] = 0; - out_4300245764619321114[17] = 0; +void H_24(double *state, double *unused, double *out_3901412905096758025) { + out_3901412905096758025[0] = 0; + out_3901412905096758025[1] = 0; + out_3901412905096758025[2] = 0; + out_3901412905096758025[3] = 0; + out_3901412905096758025[4] = 1; + out_3901412905096758025[5] = 0; + out_3901412905096758025[6] = 0; + out_3901412905096758025[7] = 0; + out_3901412905096758025[8] = 0; + out_3901412905096758025[9] = 0; + out_3901412905096758025[10] = 0; + out_3901412905096758025[11] = 0; + out_3901412905096758025[12] = 0; + out_3901412905096758025[13] = 0; + out_3901412905096758025[14] = 1; + out_3901412905096758025[15] = 0; + out_3901412905096758025[16] = 0; + out_3901412905096758025[17] = 0; } -void h_30(double *state, double *unused, double *out_6077366478556788343) { - out_6077366478556788343[0] = state[4]; +void h_30(double *state, double *unused, double *out_3730180936444146771) { + out_3730180936444146771[0] = state[4]; } -void H_30(double *state, double *unused, double *out_7362953903838804675) { - out_7362953903838804675[0] = 0; - out_7362953903838804675[1] = 0; - out_7362953903838804675[2] = 0; - out_7362953903838804675[3] = 0; - out_7362953903838804675[4] = 1; - out_7362953903838804675[5] = 0; - out_7362953903838804675[6] = 0; - out_7362953903838804675[7] = 0; - out_7362953903838804675[8] = 0; +void H_30(double *state, double *unused, double *out_5187927035400358296) { + out_5187927035400358296[0] = 0; + out_5187927035400358296[1] = 0; + out_5187927035400358296[2] = 0; + out_5187927035400358296[3] = 0; + out_5187927035400358296[4] = 1; + out_5187927035400358296[5] = 0; + out_5187927035400358296[6] = 0; + out_5187927035400358296[7] = 0; + out_5187927035400358296[8] = 0; } -void h_26(double *state, double *unused, double *out_714876495074943436) { - out_714876495074943436[0] = state[7]; +void h_26(double *state, double *unused, double *out_8956088152279471718) { + out_8956088152279471718[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3295239756526868304) { - out_3295239756526868304[0] = 0; - out_3295239756526868304[1] = 0; - out_3295239756526868304[2] = 0; - out_3295239756526868304[3] = 0; - out_3295239756526868304[4] = 0; - out_3295239756526868304[5] = 0; - out_3295239756526868304[6] = 0; - out_3295239756526868304[7] = 1; - out_3295239756526868304[8] = 0; +void H_26(double *state, double *unused, double *out_1575762663669542142) { + out_1575762663669542142[0] = 0; + out_1575762663669542142[1] = 0; + out_1575762663669542142[2] = 0; + out_1575762663669542142[3] = 0; + out_1575762663669542142[4] = 0; + out_1575762663669542142[5] = 0; + out_1575762663669542142[6] = 0; + out_1575762663669542142[7] = 1; + out_1575762663669542142[8] = 0; } -void h_27(double *state, double *unused, double *out_3197767095463584803) { - out_3197767095463584803[0] = state[3]; +void h_27(double *state, double *unused, double *out_6609780319537350311) { + out_6609780319537350311[0] = state[3]; } -void H_27(double *state, double *unused, double *out_5188190592038379764) { - out_5188190592038379764[0] = 0; - out_5188190592038379764[1] = 0; - out_5188190592038379764[2] = 0; - out_5188190592038379764[3] = 1; - out_5188190592038379764[4] = 0; - out_5188190592038379764[5] = 0; - out_5188190592038379764[6] = 0; - out_5188190592038379764[7] = 0; - out_5188190592038379764[8] = 0; +void H_27(double *state, double *unused, double *out_3013163723599933385) { + out_3013163723599933385[0] = 0; + out_3013163723599933385[1] = 0; + out_3013163723599933385[2] = 0; + out_3013163723599933385[3] = 1; + out_3013163723599933385[4] = 0; + out_3013163723599933385[5] = 0; + out_3013163723599933385[6] = 0; + out_3013163723599933385[7] = 0; + out_3013163723599933385[8] = 0; } -void h_29(double *state, double *unused, double *out_9093529782405306684) { - out_9093529782405306684[0] = state[1]; +void h_29(double *state, double *unused, double *out_6766966987888479456) { + out_6766966987888479456[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7873185248153196859) { - out_7873185248153196859[0] = 0; - out_7873185248153196859[1] = 1; - out_7873185248153196859[2] = 0; - out_7873185248153196859[3] = 0; - out_7873185248153196859[4] = 0; - out_7873185248153196859[5] = 0; - out_7873185248153196859[6] = 0; - out_7873185248153196859[7] = 0; - out_7873185248153196859[8] = 0; +void H_29(double *state, double *unused, double *out_1299800996730382352) { + out_1299800996730382352[0] = 0; + out_1299800996730382352[1] = 1; + out_1299800996730382352[2] = 0; + out_1299800996730382352[3] = 0; + out_1299800996730382352[4] = 0; + out_1299800996730382352[5] = 0; + out_1299800996730382352[6] = 0; + out_1299800996730382352[7] = 0; + out_1299800996730382352[8] = 0; } -void h_28(double *state, double *unused, double *out_8199440363124430448) { - out_8199440363124430448[0] = state[0]; +void h_28(double *state, double *unused, double *out_1608107051876504666) { + out_1608107051876504666[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2790786231083666285) { - out_2790786231083666285[0] = 1; - out_2790786231083666285[1] = 0; - out_2790786231083666285[2] = 0; - out_2790786231083666285[3] = 0; - out_2790786231083666285[4] = 0; - out_2790786231083666285[5] = 0; - out_2790786231083666285[6] = 0; - out_2790786231083666285[7] = 0; - out_2790786231083666285[8] = 0; +void H_28(double *state, double *unused, double *out_3782598020339148222) { + out_3782598020339148222[0] = 1; + out_3782598020339148222[1] = 0; + out_3782598020339148222[2] = 0; + out_3782598020339148222[3] = 0; + out_3782598020339148222[4] = 0; + out_3782598020339148222[5] = 0; + out_3782598020339148222[6] = 0; + out_3782598020339148222[7] = 0; + out_3782598020339148222[8] = 0; } -void h_31(double *state, double *unused, double *out_5441355700451283192) { - out_5441355700451283192[0] = state[8]; +void h_31(double *state, double *unused, double *out_8285921879140238827) { + out_8285921879140238827[0] = state[8]; } -void H_31(double *state, double *unused, double *out_476909524224148348) { - out_476909524224148348[0] = 0; - out_476909524224148348[1] = 0; - out_476909524224148348[2] = 0; - out_476909524224148348[3] = 0; - out_476909524224148348[4] = 0; - out_476909524224148348[5] = 0; - out_476909524224148348[6] = 0; - out_476909524224148348[7] = 0; - out_476909524224148348[8] = 1; +void H_31(double *state, double *unused, double *out_5347911944420558794) { + out_5347911944420558794[0] = 0; + out_5347911944420558794[1] = 0; + out_5347911944420558794[2] = 0; + out_5347911944420558794[3] = 0; + out_5347911944420558794[4] = 0; + out_5347911944420558794[5] = 0; + out_5347911944420558794[6] = 0; + out_5347911944420558794[7] = 0; + out_5347911944420558794[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_2798728055434719104) { - err_fun(nom_x, delta_x, out_2798728055434719104); +void car_err_fun(double *nom_x, double *delta_x, double *out_8323867421856300804) { + err_fun(nom_x, delta_x, out_8323867421856300804); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641) { - inv_err_fun(nom_x, true_x, out_5158994837086933641); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7813964173541078004) { + inv_err_fun(nom_x, true_x, out_7813964173541078004); } -void car_H_mod_fun(double *state, double *out_8807292285450126459) { - H_mod_fun(state, out_8807292285450126459); +void car_H_mod_fun(double *state, double *out_4368145060515116157) { + H_mod_fun(state, out_4368145060515116157); } -void car_f_fun(double *state, double dt, double *out_547624329025478730) { - f_fun(state, dt, out_547624329025478730); +void car_f_fun(double *state, double dt, double *out_7186701084742487454) { + f_fun(state, dt, out_7186701084742487454); } -void car_F_fun(double *state, double dt, double *out_6298604141859123794) { - F_fun(state, dt, out_6298604141859123794); +void car_F_fun(double *state, double dt, double *out_4612755303362986431) { + F_fun(state, dt, out_4612755303362986431); } -void car_h_25(double *state, double *unused, double *out_5598542368802412337) { - h_25(state, unused, out_5598542368802412337); +void car_h_25(double *state, double *unused, double *out_4005374998728652660) { + h_25(state, unused, out_4005374998728652660); } -void car_H_25(double *state, double *unused, double *out_446263562347187920) { - H_25(state, unused, out_446263562347187920); +void car_H_25(double *state, double *unused, double *out_5317265982543598366) { + H_25(state, unused, out_5317265982543598366); } -void car_h_24(double *state, double *unused, double *out_281619709901739940) { - h_24(state, unused, out_281619709901739940); +void car_h_24(double *state, double *unused, double *out_1539683839994737822) { + h_24(state, unused, out_1539683839994737822); } -void car_H_24(double *state, double *unused, double *out_4300245764619321114) { - H_24(state, unused, out_4300245764619321114); +void car_H_24(double *state, double *unused, double *out_3901412905096758025) { + H_24(state, unused, out_3901412905096758025); } -void car_h_30(double *state, double *unused, double *out_6077366478556788343) { - h_30(state, unused, out_6077366478556788343); +void car_h_30(double *state, double *unused, double *out_3730180936444146771) { + h_30(state, unused, out_3730180936444146771); } -void car_H_30(double *state, double *unused, double *out_7362953903838804675) { - H_30(state, unused, out_7362953903838804675); +void car_H_30(double *state, double *unused, double *out_5187927035400358296) { + H_30(state, unused, out_5187927035400358296); } -void car_h_26(double *state, double *unused, double *out_714876495074943436) { - h_26(state, unused, out_714876495074943436); +void car_h_26(double *state, double *unused, double *out_8956088152279471718) { + h_26(state, unused, out_8956088152279471718); } -void car_H_26(double *state, double *unused, double *out_3295239756526868304) { - H_26(state, unused, out_3295239756526868304); +void car_H_26(double *state, double *unused, double *out_1575762663669542142) { + H_26(state, unused, out_1575762663669542142); } -void car_h_27(double *state, double *unused, double *out_3197767095463584803) { - h_27(state, unused, out_3197767095463584803); +void car_h_27(double *state, double *unused, double *out_6609780319537350311) { + h_27(state, unused, out_6609780319537350311); } -void car_H_27(double *state, double *unused, double *out_5188190592038379764) { - H_27(state, unused, out_5188190592038379764); +void car_H_27(double *state, double *unused, double *out_3013163723599933385) { + H_27(state, unused, out_3013163723599933385); } -void car_h_29(double *state, double *unused, double *out_9093529782405306684) { - h_29(state, unused, out_9093529782405306684); +void car_h_29(double *state, double *unused, double *out_6766966987888479456) { + h_29(state, unused, out_6766966987888479456); } -void car_H_29(double *state, double *unused, double *out_7873185248153196859) { - H_29(state, unused, out_7873185248153196859); +void car_H_29(double *state, double *unused, double *out_1299800996730382352) { + H_29(state, unused, out_1299800996730382352); } -void car_h_28(double *state, double *unused, double *out_8199440363124430448) { - h_28(state, unused, out_8199440363124430448); +void car_h_28(double *state, double *unused, double *out_1608107051876504666) { + h_28(state, unused, out_1608107051876504666); } -void car_H_28(double *state, double *unused, double *out_2790786231083666285) { - H_28(state, unused, out_2790786231083666285); +void car_H_28(double *state, double *unused, double *out_3782598020339148222) { + H_28(state, unused, out_3782598020339148222); } -void car_h_31(double *state, double *unused, double *out_5441355700451283192) { - h_31(state, unused, out_5441355700451283192); +void car_h_31(double *state, double *unused, double *out_8285921879140238827) { + h_31(state, unused, out_8285921879140238827); } -void car_H_31(double *state, double *unused, double *out_476909524224148348) { - H_31(state, unused, out_476909524224148348); +void car_H_31(double *state, double *unused, double *out_5347911944420558794) { + H_31(state, unused, out_5347911944420558794); } 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 f8b895142..c83929051 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_2798728055434719104); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641); -void car_H_mod_fun(double *state, double *out_8807292285450126459); -void car_f_fun(double *state, double dt, double *out_547624329025478730); -void car_F_fun(double *state, double dt, double *out_6298604141859123794); -void car_h_25(double *state, double *unused, double *out_5598542368802412337); -void car_H_25(double *state, double *unused, double *out_446263562347187920); -void car_h_24(double *state, double *unused, double *out_281619709901739940); -void car_H_24(double *state, double *unused, double *out_4300245764619321114); -void car_h_30(double *state, double *unused, double *out_6077366478556788343); -void car_H_30(double *state, double *unused, double *out_7362953903838804675); -void car_h_26(double *state, double *unused, double *out_714876495074943436); -void car_H_26(double *state, double *unused, double *out_3295239756526868304); -void car_h_27(double *state, double *unused, double *out_3197767095463584803); -void car_H_27(double *state, double *unused, double *out_5188190592038379764); -void car_h_29(double *state, double *unused, double *out_9093529782405306684); -void car_H_29(double *state, double *unused, double *out_7873185248153196859); -void car_h_28(double *state, double *unused, double *out_8199440363124430448); -void car_H_28(double *state, double *unused, double *out_2790786231083666285); -void car_h_31(double *state, double *unused, double *out_5441355700451283192); -void car_H_31(double *state, double *unused, double *out_476909524224148348); +void car_err_fun(double *nom_x, double *delta_x, double *out_8323867421856300804); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7813964173541078004); +void car_H_mod_fun(double *state, double *out_4368145060515116157); +void car_f_fun(double *state, double dt, double *out_7186701084742487454); +void car_F_fun(double *state, double dt, double *out_4612755303362986431); +void car_h_25(double *state, double *unused, double *out_4005374998728652660); +void car_H_25(double *state, double *unused, double *out_5317265982543598366); +void car_h_24(double *state, double *unused, double *out_1539683839994737822); +void car_H_24(double *state, double *unused, double *out_3901412905096758025); +void car_h_30(double *state, double *unused, double *out_3730180936444146771); +void car_H_30(double *state, double *unused, double *out_5187927035400358296); +void car_h_26(double *state, double *unused, double *out_8956088152279471718); +void car_H_26(double *state, double *unused, double *out_1575762663669542142); +void car_h_27(double *state, double *unused, double *out_6609780319537350311); +void car_H_27(double *state, double *unused, double *out_3013163723599933385); +void car_h_29(double *state, double *unused, double *out_6766966987888479456); +void car_H_29(double *state, double *unused, double *out_1299800996730382352); +void car_h_28(double *state, double *unused, double *out_1608107051876504666); +void car_H_28(double *state, double *unused, double *out_3782598020339148222); +void car_h_31(double *state, double *unused, double *out_8285921879140238827); +void car_H_31(double *state, double *unused, double *out_5347911944420558794); 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 4f563d943..6c7651f1b 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_8123935570106658818) { - out_8123935570106658818[0] = delta_x[0] + nom_x[0]; - out_8123935570106658818[1] = delta_x[1] + nom_x[1]; - out_8123935570106658818[2] = delta_x[2] + nom_x[2]; - out_8123935570106658818[3] = delta_x[3] + nom_x[3]; - out_8123935570106658818[4] = delta_x[4] + nom_x[4]; - out_8123935570106658818[5] = delta_x[5] + nom_x[5]; - out_8123935570106658818[6] = delta_x[6] + nom_x[6]; - out_8123935570106658818[7] = delta_x[7] + nom_x[7]; - out_8123935570106658818[8] = delta_x[8] + nom_x[8]; - out_8123935570106658818[9] = delta_x[9] + nom_x[9]; - out_8123935570106658818[10] = delta_x[10] + nom_x[10]; - out_8123935570106658818[11] = delta_x[11] + nom_x[11]; - out_8123935570106658818[12] = delta_x[12] + nom_x[12]; - out_8123935570106658818[13] = delta_x[13] + nom_x[13]; - out_8123935570106658818[14] = delta_x[14] + nom_x[14]; - out_8123935570106658818[15] = delta_x[15] + nom_x[15]; - out_8123935570106658818[16] = delta_x[16] + nom_x[16]; - out_8123935570106658818[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3361967793306967310) { + out_3361967793306967310[0] = delta_x[0] + nom_x[0]; + out_3361967793306967310[1] = delta_x[1] + nom_x[1]; + out_3361967793306967310[2] = delta_x[2] + nom_x[2]; + out_3361967793306967310[3] = delta_x[3] + nom_x[3]; + out_3361967793306967310[4] = delta_x[4] + nom_x[4]; + out_3361967793306967310[5] = delta_x[5] + nom_x[5]; + out_3361967793306967310[6] = delta_x[6] + nom_x[6]; + out_3361967793306967310[7] = delta_x[7] + nom_x[7]; + out_3361967793306967310[8] = delta_x[8] + nom_x[8]; + out_3361967793306967310[9] = delta_x[9] + nom_x[9]; + out_3361967793306967310[10] = delta_x[10] + nom_x[10]; + out_3361967793306967310[11] = delta_x[11] + nom_x[11]; + out_3361967793306967310[12] = delta_x[12] + nom_x[12]; + out_3361967793306967310[13] = delta_x[13] + nom_x[13]; + out_3361967793306967310[14] = delta_x[14] + nom_x[14]; + out_3361967793306967310[15] = delta_x[15] + nom_x[15]; + out_3361967793306967310[16] = delta_x[16] + nom_x[16]; + out_3361967793306967310[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670) { - out_7916605304970807670[0] = -nom_x[0] + true_x[0]; - out_7916605304970807670[1] = -nom_x[1] + true_x[1]; - out_7916605304970807670[2] = -nom_x[2] + true_x[2]; - out_7916605304970807670[3] = -nom_x[3] + true_x[3]; - out_7916605304970807670[4] = -nom_x[4] + true_x[4]; - out_7916605304970807670[5] = -nom_x[5] + true_x[5]; - out_7916605304970807670[6] = -nom_x[6] + true_x[6]; - out_7916605304970807670[7] = -nom_x[7] + true_x[7]; - out_7916605304970807670[8] = -nom_x[8] + true_x[8]; - out_7916605304970807670[9] = -nom_x[9] + true_x[9]; - out_7916605304970807670[10] = -nom_x[10] + true_x[10]; - out_7916605304970807670[11] = -nom_x[11] + true_x[11]; - out_7916605304970807670[12] = -nom_x[12] + true_x[12]; - out_7916605304970807670[13] = -nom_x[13] + true_x[13]; - out_7916605304970807670[14] = -nom_x[14] + true_x[14]; - out_7916605304970807670[15] = -nom_x[15] + true_x[15]; - out_7916605304970807670[16] = -nom_x[16] + true_x[16]; - out_7916605304970807670[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7875339861862151788) { + out_7875339861862151788[0] = -nom_x[0] + true_x[0]; + out_7875339861862151788[1] = -nom_x[1] + true_x[1]; + out_7875339861862151788[2] = -nom_x[2] + true_x[2]; + out_7875339861862151788[3] = -nom_x[3] + true_x[3]; + out_7875339861862151788[4] = -nom_x[4] + true_x[4]; + out_7875339861862151788[5] = -nom_x[5] + true_x[5]; + out_7875339861862151788[6] = -nom_x[6] + true_x[6]; + out_7875339861862151788[7] = -nom_x[7] + true_x[7]; + out_7875339861862151788[8] = -nom_x[8] + true_x[8]; + out_7875339861862151788[9] = -nom_x[9] + true_x[9]; + out_7875339861862151788[10] = -nom_x[10] + true_x[10]; + out_7875339861862151788[11] = -nom_x[11] + true_x[11]; + out_7875339861862151788[12] = -nom_x[12] + true_x[12]; + out_7875339861862151788[13] = -nom_x[13] + true_x[13]; + out_7875339861862151788[14] = -nom_x[14] + true_x[14]; + out_7875339861862151788[15] = -nom_x[15] + true_x[15]; + out_7875339861862151788[16] = -nom_x[16] + true_x[16]; + out_7875339861862151788[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1602815725505969341) { - out_1602815725505969341[0] = 1.0; - out_1602815725505969341[1] = 0.0; - out_1602815725505969341[2] = 0.0; - out_1602815725505969341[3] = 0.0; - out_1602815725505969341[4] = 0.0; - out_1602815725505969341[5] = 0.0; - out_1602815725505969341[6] = 0.0; - out_1602815725505969341[7] = 0.0; - out_1602815725505969341[8] = 0.0; - out_1602815725505969341[9] = 0.0; - out_1602815725505969341[10] = 0.0; - out_1602815725505969341[11] = 0.0; - out_1602815725505969341[12] = 0.0; - out_1602815725505969341[13] = 0.0; - out_1602815725505969341[14] = 0.0; - out_1602815725505969341[15] = 0.0; - out_1602815725505969341[16] = 0.0; - out_1602815725505969341[17] = 0.0; - out_1602815725505969341[18] = 0.0; - out_1602815725505969341[19] = 1.0; - out_1602815725505969341[20] = 0.0; - out_1602815725505969341[21] = 0.0; - out_1602815725505969341[22] = 0.0; - out_1602815725505969341[23] = 0.0; - out_1602815725505969341[24] = 0.0; - out_1602815725505969341[25] = 0.0; - out_1602815725505969341[26] = 0.0; - out_1602815725505969341[27] = 0.0; - out_1602815725505969341[28] = 0.0; - out_1602815725505969341[29] = 0.0; - out_1602815725505969341[30] = 0.0; - out_1602815725505969341[31] = 0.0; - out_1602815725505969341[32] = 0.0; - out_1602815725505969341[33] = 0.0; - out_1602815725505969341[34] = 0.0; - out_1602815725505969341[35] = 0.0; - out_1602815725505969341[36] = 0.0; - out_1602815725505969341[37] = 0.0; - out_1602815725505969341[38] = 1.0; - out_1602815725505969341[39] = 0.0; - out_1602815725505969341[40] = 0.0; - out_1602815725505969341[41] = 0.0; - out_1602815725505969341[42] = 0.0; - out_1602815725505969341[43] = 0.0; - out_1602815725505969341[44] = 0.0; - out_1602815725505969341[45] = 0.0; - out_1602815725505969341[46] = 0.0; - out_1602815725505969341[47] = 0.0; - out_1602815725505969341[48] = 0.0; - out_1602815725505969341[49] = 0.0; - out_1602815725505969341[50] = 0.0; - out_1602815725505969341[51] = 0.0; - out_1602815725505969341[52] = 0.0; - out_1602815725505969341[53] = 0.0; - out_1602815725505969341[54] = 0.0; - out_1602815725505969341[55] = 0.0; - out_1602815725505969341[56] = 0.0; - out_1602815725505969341[57] = 1.0; - out_1602815725505969341[58] = 0.0; - out_1602815725505969341[59] = 0.0; - out_1602815725505969341[60] = 0.0; - out_1602815725505969341[61] = 0.0; - out_1602815725505969341[62] = 0.0; - out_1602815725505969341[63] = 0.0; - out_1602815725505969341[64] = 0.0; - out_1602815725505969341[65] = 0.0; - out_1602815725505969341[66] = 0.0; - out_1602815725505969341[67] = 0.0; - out_1602815725505969341[68] = 0.0; - out_1602815725505969341[69] = 0.0; - out_1602815725505969341[70] = 0.0; - out_1602815725505969341[71] = 0.0; - out_1602815725505969341[72] = 0.0; - out_1602815725505969341[73] = 0.0; - out_1602815725505969341[74] = 0.0; - out_1602815725505969341[75] = 0.0; - out_1602815725505969341[76] = 1.0; - out_1602815725505969341[77] = 0.0; - out_1602815725505969341[78] = 0.0; - out_1602815725505969341[79] = 0.0; - out_1602815725505969341[80] = 0.0; - out_1602815725505969341[81] = 0.0; - out_1602815725505969341[82] = 0.0; - out_1602815725505969341[83] = 0.0; - out_1602815725505969341[84] = 0.0; - out_1602815725505969341[85] = 0.0; - out_1602815725505969341[86] = 0.0; - out_1602815725505969341[87] = 0.0; - out_1602815725505969341[88] = 0.0; - out_1602815725505969341[89] = 0.0; - out_1602815725505969341[90] = 0.0; - out_1602815725505969341[91] = 0.0; - out_1602815725505969341[92] = 0.0; - out_1602815725505969341[93] = 0.0; - out_1602815725505969341[94] = 0.0; - out_1602815725505969341[95] = 1.0; - out_1602815725505969341[96] = 0.0; - out_1602815725505969341[97] = 0.0; - out_1602815725505969341[98] = 0.0; - out_1602815725505969341[99] = 0.0; - out_1602815725505969341[100] = 0.0; - out_1602815725505969341[101] = 0.0; - out_1602815725505969341[102] = 0.0; - out_1602815725505969341[103] = 0.0; - out_1602815725505969341[104] = 0.0; - out_1602815725505969341[105] = 0.0; - out_1602815725505969341[106] = 0.0; - out_1602815725505969341[107] = 0.0; - out_1602815725505969341[108] = 0.0; - out_1602815725505969341[109] = 0.0; - out_1602815725505969341[110] = 0.0; - out_1602815725505969341[111] = 0.0; - out_1602815725505969341[112] = 0.0; - out_1602815725505969341[113] = 0.0; - out_1602815725505969341[114] = 1.0; - out_1602815725505969341[115] = 0.0; - out_1602815725505969341[116] = 0.0; - out_1602815725505969341[117] = 0.0; - out_1602815725505969341[118] = 0.0; - out_1602815725505969341[119] = 0.0; - out_1602815725505969341[120] = 0.0; - out_1602815725505969341[121] = 0.0; - out_1602815725505969341[122] = 0.0; - out_1602815725505969341[123] = 0.0; - out_1602815725505969341[124] = 0.0; - out_1602815725505969341[125] = 0.0; - out_1602815725505969341[126] = 0.0; - out_1602815725505969341[127] = 0.0; - out_1602815725505969341[128] = 0.0; - out_1602815725505969341[129] = 0.0; - out_1602815725505969341[130] = 0.0; - out_1602815725505969341[131] = 0.0; - out_1602815725505969341[132] = 0.0; - out_1602815725505969341[133] = 1.0; - out_1602815725505969341[134] = 0.0; - out_1602815725505969341[135] = 0.0; - out_1602815725505969341[136] = 0.0; - out_1602815725505969341[137] = 0.0; - out_1602815725505969341[138] = 0.0; - out_1602815725505969341[139] = 0.0; - out_1602815725505969341[140] = 0.0; - out_1602815725505969341[141] = 0.0; - out_1602815725505969341[142] = 0.0; - out_1602815725505969341[143] = 0.0; - out_1602815725505969341[144] = 0.0; - out_1602815725505969341[145] = 0.0; - out_1602815725505969341[146] = 0.0; - out_1602815725505969341[147] = 0.0; - out_1602815725505969341[148] = 0.0; - out_1602815725505969341[149] = 0.0; - out_1602815725505969341[150] = 0.0; - out_1602815725505969341[151] = 0.0; - out_1602815725505969341[152] = 1.0; - out_1602815725505969341[153] = 0.0; - out_1602815725505969341[154] = 0.0; - out_1602815725505969341[155] = 0.0; - out_1602815725505969341[156] = 0.0; - out_1602815725505969341[157] = 0.0; - out_1602815725505969341[158] = 0.0; - out_1602815725505969341[159] = 0.0; - out_1602815725505969341[160] = 0.0; - out_1602815725505969341[161] = 0.0; - out_1602815725505969341[162] = 0.0; - out_1602815725505969341[163] = 0.0; - out_1602815725505969341[164] = 0.0; - out_1602815725505969341[165] = 0.0; - out_1602815725505969341[166] = 0.0; - out_1602815725505969341[167] = 0.0; - out_1602815725505969341[168] = 0.0; - out_1602815725505969341[169] = 0.0; - out_1602815725505969341[170] = 0.0; - out_1602815725505969341[171] = 1.0; - out_1602815725505969341[172] = 0.0; - out_1602815725505969341[173] = 0.0; - out_1602815725505969341[174] = 0.0; - out_1602815725505969341[175] = 0.0; - out_1602815725505969341[176] = 0.0; - out_1602815725505969341[177] = 0.0; - out_1602815725505969341[178] = 0.0; - out_1602815725505969341[179] = 0.0; - out_1602815725505969341[180] = 0.0; - out_1602815725505969341[181] = 0.0; - out_1602815725505969341[182] = 0.0; - out_1602815725505969341[183] = 0.0; - out_1602815725505969341[184] = 0.0; - out_1602815725505969341[185] = 0.0; - out_1602815725505969341[186] = 0.0; - out_1602815725505969341[187] = 0.0; - out_1602815725505969341[188] = 0.0; - out_1602815725505969341[189] = 0.0; - out_1602815725505969341[190] = 1.0; - out_1602815725505969341[191] = 0.0; - out_1602815725505969341[192] = 0.0; - out_1602815725505969341[193] = 0.0; - out_1602815725505969341[194] = 0.0; - out_1602815725505969341[195] = 0.0; - out_1602815725505969341[196] = 0.0; - out_1602815725505969341[197] = 0.0; - out_1602815725505969341[198] = 0.0; - out_1602815725505969341[199] = 0.0; - out_1602815725505969341[200] = 0.0; - out_1602815725505969341[201] = 0.0; - out_1602815725505969341[202] = 0.0; - out_1602815725505969341[203] = 0.0; - out_1602815725505969341[204] = 0.0; - out_1602815725505969341[205] = 0.0; - out_1602815725505969341[206] = 0.0; - out_1602815725505969341[207] = 0.0; - out_1602815725505969341[208] = 0.0; - out_1602815725505969341[209] = 1.0; - out_1602815725505969341[210] = 0.0; - out_1602815725505969341[211] = 0.0; - out_1602815725505969341[212] = 0.0; - out_1602815725505969341[213] = 0.0; - out_1602815725505969341[214] = 0.0; - out_1602815725505969341[215] = 0.0; - out_1602815725505969341[216] = 0.0; - out_1602815725505969341[217] = 0.0; - out_1602815725505969341[218] = 0.0; - out_1602815725505969341[219] = 0.0; - out_1602815725505969341[220] = 0.0; - out_1602815725505969341[221] = 0.0; - out_1602815725505969341[222] = 0.0; - out_1602815725505969341[223] = 0.0; - out_1602815725505969341[224] = 0.0; - out_1602815725505969341[225] = 0.0; - out_1602815725505969341[226] = 0.0; - out_1602815725505969341[227] = 0.0; - out_1602815725505969341[228] = 1.0; - out_1602815725505969341[229] = 0.0; - out_1602815725505969341[230] = 0.0; - out_1602815725505969341[231] = 0.0; - out_1602815725505969341[232] = 0.0; - out_1602815725505969341[233] = 0.0; - out_1602815725505969341[234] = 0.0; - out_1602815725505969341[235] = 0.0; - out_1602815725505969341[236] = 0.0; - out_1602815725505969341[237] = 0.0; - out_1602815725505969341[238] = 0.0; - out_1602815725505969341[239] = 0.0; - out_1602815725505969341[240] = 0.0; - out_1602815725505969341[241] = 0.0; - out_1602815725505969341[242] = 0.0; - out_1602815725505969341[243] = 0.0; - out_1602815725505969341[244] = 0.0; - out_1602815725505969341[245] = 0.0; - out_1602815725505969341[246] = 0.0; - out_1602815725505969341[247] = 1.0; - out_1602815725505969341[248] = 0.0; - out_1602815725505969341[249] = 0.0; - out_1602815725505969341[250] = 0.0; - out_1602815725505969341[251] = 0.0; - out_1602815725505969341[252] = 0.0; - out_1602815725505969341[253] = 0.0; - out_1602815725505969341[254] = 0.0; - out_1602815725505969341[255] = 0.0; - out_1602815725505969341[256] = 0.0; - out_1602815725505969341[257] = 0.0; - out_1602815725505969341[258] = 0.0; - out_1602815725505969341[259] = 0.0; - out_1602815725505969341[260] = 0.0; - out_1602815725505969341[261] = 0.0; - out_1602815725505969341[262] = 0.0; - out_1602815725505969341[263] = 0.0; - out_1602815725505969341[264] = 0.0; - out_1602815725505969341[265] = 0.0; - out_1602815725505969341[266] = 1.0; - out_1602815725505969341[267] = 0.0; - out_1602815725505969341[268] = 0.0; - out_1602815725505969341[269] = 0.0; - out_1602815725505969341[270] = 0.0; - out_1602815725505969341[271] = 0.0; - out_1602815725505969341[272] = 0.0; - out_1602815725505969341[273] = 0.0; - out_1602815725505969341[274] = 0.0; - out_1602815725505969341[275] = 0.0; - out_1602815725505969341[276] = 0.0; - out_1602815725505969341[277] = 0.0; - out_1602815725505969341[278] = 0.0; - out_1602815725505969341[279] = 0.0; - out_1602815725505969341[280] = 0.0; - out_1602815725505969341[281] = 0.0; - out_1602815725505969341[282] = 0.0; - out_1602815725505969341[283] = 0.0; - out_1602815725505969341[284] = 0.0; - out_1602815725505969341[285] = 1.0; - out_1602815725505969341[286] = 0.0; - out_1602815725505969341[287] = 0.0; - out_1602815725505969341[288] = 0.0; - out_1602815725505969341[289] = 0.0; - out_1602815725505969341[290] = 0.0; - out_1602815725505969341[291] = 0.0; - out_1602815725505969341[292] = 0.0; - out_1602815725505969341[293] = 0.0; - out_1602815725505969341[294] = 0.0; - out_1602815725505969341[295] = 0.0; - out_1602815725505969341[296] = 0.0; - out_1602815725505969341[297] = 0.0; - out_1602815725505969341[298] = 0.0; - out_1602815725505969341[299] = 0.0; - out_1602815725505969341[300] = 0.0; - out_1602815725505969341[301] = 0.0; - out_1602815725505969341[302] = 0.0; - out_1602815725505969341[303] = 0.0; - out_1602815725505969341[304] = 1.0; - out_1602815725505969341[305] = 0.0; - out_1602815725505969341[306] = 0.0; - out_1602815725505969341[307] = 0.0; - out_1602815725505969341[308] = 0.0; - out_1602815725505969341[309] = 0.0; - out_1602815725505969341[310] = 0.0; - out_1602815725505969341[311] = 0.0; - out_1602815725505969341[312] = 0.0; - out_1602815725505969341[313] = 0.0; - out_1602815725505969341[314] = 0.0; - out_1602815725505969341[315] = 0.0; - out_1602815725505969341[316] = 0.0; - out_1602815725505969341[317] = 0.0; - out_1602815725505969341[318] = 0.0; - out_1602815725505969341[319] = 0.0; - out_1602815725505969341[320] = 0.0; - out_1602815725505969341[321] = 0.0; - out_1602815725505969341[322] = 0.0; - out_1602815725505969341[323] = 1.0; +void H_mod_fun(double *state, double *out_7246333483137394761) { + out_7246333483137394761[0] = 1.0; + out_7246333483137394761[1] = 0.0; + out_7246333483137394761[2] = 0.0; + out_7246333483137394761[3] = 0.0; + out_7246333483137394761[4] = 0.0; + out_7246333483137394761[5] = 0.0; + out_7246333483137394761[6] = 0.0; + out_7246333483137394761[7] = 0.0; + out_7246333483137394761[8] = 0.0; + out_7246333483137394761[9] = 0.0; + out_7246333483137394761[10] = 0.0; + out_7246333483137394761[11] = 0.0; + out_7246333483137394761[12] = 0.0; + out_7246333483137394761[13] = 0.0; + out_7246333483137394761[14] = 0.0; + out_7246333483137394761[15] = 0.0; + out_7246333483137394761[16] = 0.0; + out_7246333483137394761[17] = 0.0; + out_7246333483137394761[18] = 0.0; + out_7246333483137394761[19] = 1.0; + out_7246333483137394761[20] = 0.0; + out_7246333483137394761[21] = 0.0; + out_7246333483137394761[22] = 0.0; + out_7246333483137394761[23] = 0.0; + out_7246333483137394761[24] = 0.0; + out_7246333483137394761[25] = 0.0; + out_7246333483137394761[26] = 0.0; + out_7246333483137394761[27] = 0.0; + out_7246333483137394761[28] = 0.0; + out_7246333483137394761[29] = 0.0; + out_7246333483137394761[30] = 0.0; + out_7246333483137394761[31] = 0.0; + out_7246333483137394761[32] = 0.0; + out_7246333483137394761[33] = 0.0; + out_7246333483137394761[34] = 0.0; + out_7246333483137394761[35] = 0.0; + out_7246333483137394761[36] = 0.0; + out_7246333483137394761[37] = 0.0; + out_7246333483137394761[38] = 1.0; + out_7246333483137394761[39] = 0.0; + out_7246333483137394761[40] = 0.0; + out_7246333483137394761[41] = 0.0; + out_7246333483137394761[42] = 0.0; + out_7246333483137394761[43] = 0.0; + out_7246333483137394761[44] = 0.0; + out_7246333483137394761[45] = 0.0; + out_7246333483137394761[46] = 0.0; + out_7246333483137394761[47] = 0.0; + out_7246333483137394761[48] = 0.0; + out_7246333483137394761[49] = 0.0; + out_7246333483137394761[50] = 0.0; + out_7246333483137394761[51] = 0.0; + out_7246333483137394761[52] = 0.0; + out_7246333483137394761[53] = 0.0; + out_7246333483137394761[54] = 0.0; + out_7246333483137394761[55] = 0.0; + out_7246333483137394761[56] = 0.0; + out_7246333483137394761[57] = 1.0; + out_7246333483137394761[58] = 0.0; + out_7246333483137394761[59] = 0.0; + out_7246333483137394761[60] = 0.0; + out_7246333483137394761[61] = 0.0; + out_7246333483137394761[62] = 0.0; + out_7246333483137394761[63] = 0.0; + out_7246333483137394761[64] = 0.0; + out_7246333483137394761[65] = 0.0; + out_7246333483137394761[66] = 0.0; + out_7246333483137394761[67] = 0.0; + out_7246333483137394761[68] = 0.0; + out_7246333483137394761[69] = 0.0; + out_7246333483137394761[70] = 0.0; + out_7246333483137394761[71] = 0.0; + out_7246333483137394761[72] = 0.0; + out_7246333483137394761[73] = 0.0; + out_7246333483137394761[74] = 0.0; + out_7246333483137394761[75] = 0.0; + out_7246333483137394761[76] = 1.0; + out_7246333483137394761[77] = 0.0; + out_7246333483137394761[78] = 0.0; + out_7246333483137394761[79] = 0.0; + out_7246333483137394761[80] = 0.0; + out_7246333483137394761[81] = 0.0; + out_7246333483137394761[82] = 0.0; + out_7246333483137394761[83] = 0.0; + out_7246333483137394761[84] = 0.0; + out_7246333483137394761[85] = 0.0; + out_7246333483137394761[86] = 0.0; + out_7246333483137394761[87] = 0.0; + out_7246333483137394761[88] = 0.0; + out_7246333483137394761[89] = 0.0; + out_7246333483137394761[90] = 0.0; + out_7246333483137394761[91] = 0.0; + out_7246333483137394761[92] = 0.0; + out_7246333483137394761[93] = 0.0; + out_7246333483137394761[94] = 0.0; + out_7246333483137394761[95] = 1.0; + out_7246333483137394761[96] = 0.0; + out_7246333483137394761[97] = 0.0; + out_7246333483137394761[98] = 0.0; + out_7246333483137394761[99] = 0.0; + out_7246333483137394761[100] = 0.0; + out_7246333483137394761[101] = 0.0; + out_7246333483137394761[102] = 0.0; + out_7246333483137394761[103] = 0.0; + out_7246333483137394761[104] = 0.0; + out_7246333483137394761[105] = 0.0; + out_7246333483137394761[106] = 0.0; + out_7246333483137394761[107] = 0.0; + out_7246333483137394761[108] = 0.0; + out_7246333483137394761[109] = 0.0; + out_7246333483137394761[110] = 0.0; + out_7246333483137394761[111] = 0.0; + out_7246333483137394761[112] = 0.0; + out_7246333483137394761[113] = 0.0; + out_7246333483137394761[114] = 1.0; + out_7246333483137394761[115] = 0.0; + out_7246333483137394761[116] = 0.0; + out_7246333483137394761[117] = 0.0; + out_7246333483137394761[118] = 0.0; + out_7246333483137394761[119] = 0.0; + out_7246333483137394761[120] = 0.0; + out_7246333483137394761[121] = 0.0; + out_7246333483137394761[122] = 0.0; + out_7246333483137394761[123] = 0.0; + out_7246333483137394761[124] = 0.0; + out_7246333483137394761[125] = 0.0; + out_7246333483137394761[126] = 0.0; + out_7246333483137394761[127] = 0.0; + out_7246333483137394761[128] = 0.0; + out_7246333483137394761[129] = 0.0; + out_7246333483137394761[130] = 0.0; + out_7246333483137394761[131] = 0.0; + out_7246333483137394761[132] = 0.0; + out_7246333483137394761[133] = 1.0; + out_7246333483137394761[134] = 0.0; + out_7246333483137394761[135] = 0.0; + out_7246333483137394761[136] = 0.0; + out_7246333483137394761[137] = 0.0; + out_7246333483137394761[138] = 0.0; + out_7246333483137394761[139] = 0.0; + out_7246333483137394761[140] = 0.0; + out_7246333483137394761[141] = 0.0; + out_7246333483137394761[142] = 0.0; + out_7246333483137394761[143] = 0.0; + out_7246333483137394761[144] = 0.0; + out_7246333483137394761[145] = 0.0; + out_7246333483137394761[146] = 0.0; + out_7246333483137394761[147] = 0.0; + out_7246333483137394761[148] = 0.0; + out_7246333483137394761[149] = 0.0; + out_7246333483137394761[150] = 0.0; + out_7246333483137394761[151] = 0.0; + out_7246333483137394761[152] = 1.0; + out_7246333483137394761[153] = 0.0; + out_7246333483137394761[154] = 0.0; + out_7246333483137394761[155] = 0.0; + out_7246333483137394761[156] = 0.0; + out_7246333483137394761[157] = 0.0; + out_7246333483137394761[158] = 0.0; + out_7246333483137394761[159] = 0.0; + out_7246333483137394761[160] = 0.0; + out_7246333483137394761[161] = 0.0; + out_7246333483137394761[162] = 0.0; + out_7246333483137394761[163] = 0.0; + out_7246333483137394761[164] = 0.0; + out_7246333483137394761[165] = 0.0; + out_7246333483137394761[166] = 0.0; + out_7246333483137394761[167] = 0.0; + out_7246333483137394761[168] = 0.0; + out_7246333483137394761[169] = 0.0; + out_7246333483137394761[170] = 0.0; + out_7246333483137394761[171] = 1.0; + out_7246333483137394761[172] = 0.0; + out_7246333483137394761[173] = 0.0; + out_7246333483137394761[174] = 0.0; + out_7246333483137394761[175] = 0.0; + out_7246333483137394761[176] = 0.0; + out_7246333483137394761[177] = 0.0; + out_7246333483137394761[178] = 0.0; + out_7246333483137394761[179] = 0.0; + out_7246333483137394761[180] = 0.0; + out_7246333483137394761[181] = 0.0; + out_7246333483137394761[182] = 0.0; + out_7246333483137394761[183] = 0.0; + out_7246333483137394761[184] = 0.0; + out_7246333483137394761[185] = 0.0; + out_7246333483137394761[186] = 0.0; + out_7246333483137394761[187] = 0.0; + out_7246333483137394761[188] = 0.0; + out_7246333483137394761[189] = 0.0; + out_7246333483137394761[190] = 1.0; + out_7246333483137394761[191] = 0.0; + out_7246333483137394761[192] = 0.0; + out_7246333483137394761[193] = 0.0; + out_7246333483137394761[194] = 0.0; + out_7246333483137394761[195] = 0.0; + out_7246333483137394761[196] = 0.0; + out_7246333483137394761[197] = 0.0; + out_7246333483137394761[198] = 0.0; + out_7246333483137394761[199] = 0.0; + out_7246333483137394761[200] = 0.0; + out_7246333483137394761[201] = 0.0; + out_7246333483137394761[202] = 0.0; + out_7246333483137394761[203] = 0.0; + out_7246333483137394761[204] = 0.0; + out_7246333483137394761[205] = 0.0; + out_7246333483137394761[206] = 0.0; + out_7246333483137394761[207] = 0.0; + out_7246333483137394761[208] = 0.0; + out_7246333483137394761[209] = 1.0; + out_7246333483137394761[210] = 0.0; + out_7246333483137394761[211] = 0.0; + out_7246333483137394761[212] = 0.0; + out_7246333483137394761[213] = 0.0; + out_7246333483137394761[214] = 0.0; + out_7246333483137394761[215] = 0.0; + out_7246333483137394761[216] = 0.0; + out_7246333483137394761[217] = 0.0; + out_7246333483137394761[218] = 0.0; + out_7246333483137394761[219] = 0.0; + out_7246333483137394761[220] = 0.0; + out_7246333483137394761[221] = 0.0; + out_7246333483137394761[222] = 0.0; + out_7246333483137394761[223] = 0.0; + out_7246333483137394761[224] = 0.0; + out_7246333483137394761[225] = 0.0; + out_7246333483137394761[226] = 0.0; + out_7246333483137394761[227] = 0.0; + out_7246333483137394761[228] = 1.0; + out_7246333483137394761[229] = 0.0; + out_7246333483137394761[230] = 0.0; + out_7246333483137394761[231] = 0.0; + out_7246333483137394761[232] = 0.0; + out_7246333483137394761[233] = 0.0; + out_7246333483137394761[234] = 0.0; + out_7246333483137394761[235] = 0.0; + out_7246333483137394761[236] = 0.0; + out_7246333483137394761[237] = 0.0; + out_7246333483137394761[238] = 0.0; + out_7246333483137394761[239] = 0.0; + out_7246333483137394761[240] = 0.0; + out_7246333483137394761[241] = 0.0; + out_7246333483137394761[242] = 0.0; + out_7246333483137394761[243] = 0.0; + out_7246333483137394761[244] = 0.0; + out_7246333483137394761[245] = 0.0; + out_7246333483137394761[246] = 0.0; + out_7246333483137394761[247] = 1.0; + out_7246333483137394761[248] = 0.0; + out_7246333483137394761[249] = 0.0; + out_7246333483137394761[250] = 0.0; + out_7246333483137394761[251] = 0.0; + out_7246333483137394761[252] = 0.0; + out_7246333483137394761[253] = 0.0; + out_7246333483137394761[254] = 0.0; + out_7246333483137394761[255] = 0.0; + out_7246333483137394761[256] = 0.0; + out_7246333483137394761[257] = 0.0; + out_7246333483137394761[258] = 0.0; + out_7246333483137394761[259] = 0.0; + out_7246333483137394761[260] = 0.0; + out_7246333483137394761[261] = 0.0; + out_7246333483137394761[262] = 0.0; + out_7246333483137394761[263] = 0.0; + out_7246333483137394761[264] = 0.0; + out_7246333483137394761[265] = 0.0; + out_7246333483137394761[266] = 1.0; + out_7246333483137394761[267] = 0.0; + out_7246333483137394761[268] = 0.0; + out_7246333483137394761[269] = 0.0; + out_7246333483137394761[270] = 0.0; + out_7246333483137394761[271] = 0.0; + out_7246333483137394761[272] = 0.0; + out_7246333483137394761[273] = 0.0; + out_7246333483137394761[274] = 0.0; + out_7246333483137394761[275] = 0.0; + out_7246333483137394761[276] = 0.0; + out_7246333483137394761[277] = 0.0; + out_7246333483137394761[278] = 0.0; + out_7246333483137394761[279] = 0.0; + out_7246333483137394761[280] = 0.0; + out_7246333483137394761[281] = 0.0; + out_7246333483137394761[282] = 0.0; + out_7246333483137394761[283] = 0.0; + out_7246333483137394761[284] = 0.0; + out_7246333483137394761[285] = 1.0; + out_7246333483137394761[286] = 0.0; + out_7246333483137394761[287] = 0.0; + out_7246333483137394761[288] = 0.0; + out_7246333483137394761[289] = 0.0; + out_7246333483137394761[290] = 0.0; + out_7246333483137394761[291] = 0.0; + out_7246333483137394761[292] = 0.0; + out_7246333483137394761[293] = 0.0; + out_7246333483137394761[294] = 0.0; + out_7246333483137394761[295] = 0.0; + out_7246333483137394761[296] = 0.0; + out_7246333483137394761[297] = 0.0; + out_7246333483137394761[298] = 0.0; + out_7246333483137394761[299] = 0.0; + out_7246333483137394761[300] = 0.0; + out_7246333483137394761[301] = 0.0; + out_7246333483137394761[302] = 0.0; + out_7246333483137394761[303] = 0.0; + out_7246333483137394761[304] = 1.0; + out_7246333483137394761[305] = 0.0; + out_7246333483137394761[306] = 0.0; + out_7246333483137394761[307] = 0.0; + out_7246333483137394761[308] = 0.0; + out_7246333483137394761[309] = 0.0; + out_7246333483137394761[310] = 0.0; + out_7246333483137394761[311] = 0.0; + out_7246333483137394761[312] = 0.0; + out_7246333483137394761[313] = 0.0; + out_7246333483137394761[314] = 0.0; + out_7246333483137394761[315] = 0.0; + out_7246333483137394761[316] = 0.0; + out_7246333483137394761[317] = 0.0; + out_7246333483137394761[318] = 0.0; + out_7246333483137394761[319] = 0.0; + out_7246333483137394761[320] = 0.0; + out_7246333483137394761[321] = 0.0; + out_7246333483137394761[322] = 0.0; + out_7246333483137394761[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6941148323357631663) { - out_6941148323357631663[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_6941148323357631663[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_6941148323357631663[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_6941148323357631663[3] = dt*state[12] + state[3]; - out_6941148323357631663[4] = dt*state[13] + state[4]; - out_6941148323357631663[5] = dt*state[14] + state[5]; - out_6941148323357631663[6] = state[6]; - out_6941148323357631663[7] = state[7]; - out_6941148323357631663[8] = state[8]; - out_6941148323357631663[9] = state[9]; - out_6941148323357631663[10] = state[10]; - out_6941148323357631663[11] = state[11]; - out_6941148323357631663[12] = state[12]; - out_6941148323357631663[13] = state[13]; - out_6941148323357631663[14] = state[14]; - out_6941148323357631663[15] = state[15]; - out_6941148323357631663[16] = state[16]; - out_6941148323357631663[17] = state[17]; +void f_fun(double *state, double dt, double *out_4257952219025692833) { + out_4257952219025692833[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_4257952219025692833[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_4257952219025692833[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_4257952219025692833[3] = dt*state[12] + state[3]; + out_4257952219025692833[4] = dt*state[13] + state[4]; + out_4257952219025692833[5] = dt*state[14] + state[5]; + out_4257952219025692833[6] = state[6]; + out_4257952219025692833[7] = state[7]; + out_4257952219025692833[8] = state[8]; + out_4257952219025692833[9] = state[9]; + out_4257952219025692833[10] = state[10]; + out_4257952219025692833[11] = state[11]; + out_4257952219025692833[12] = state[12]; + out_4257952219025692833[13] = state[13]; + out_4257952219025692833[14] = state[14]; + out_4257952219025692833[15] = state[15]; + out_4257952219025692833[16] = state[16]; + out_4257952219025692833[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8174317485626071951) { - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[2] = 0; - out_8174317485626071951[3] = 0; - out_8174317485626071951[4] = 0; - out_8174317485626071951[5] = 0; - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[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_8174317485626071951[9] = 0; - out_8174317485626071951[10] = 0; - out_8174317485626071951[11] = 0; - out_8174317485626071951[12] = 0; - out_8174317485626071951[13] = 0; - out_8174317485626071951[14] = 0; - out_8174317485626071951[15] = 0; - out_8174317485626071951[16] = 0; - out_8174317485626071951[17] = 0; - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[20] = 0; - out_8174317485626071951[21] = 0; - out_8174317485626071951[22] = 0; - out_8174317485626071951[23] = 0; - out_8174317485626071951[24] = 0; - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[27] = 0; - out_8174317485626071951[28] = 0; - out_8174317485626071951[29] = 0; - out_8174317485626071951[30] = 0; - out_8174317485626071951[31] = 0; - out_8174317485626071951[32] = 0; - out_8174317485626071951[33] = 0; - out_8174317485626071951[34] = 0; - out_8174317485626071951[35] = 0; - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[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_8174317485626071951[39] = 0; - out_8174317485626071951[40] = 0; - out_8174317485626071951[41] = 0; - out_8174317485626071951[42] = 0; - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[45] = 0; - out_8174317485626071951[46] = 0; - out_8174317485626071951[47] = 0; - out_8174317485626071951[48] = 0; - out_8174317485626071951[49] = 0; - out_8174317485626071951[50] = 0; - out_8174317485626071951[51] = 0; - out_8174317485626071951[52] = 0; - out_8174317485626071951[53] = 0; - out_8174317485626071951[54] = 0; - out_8174317485626071951[55] = 0; - out_8174317485626071951[56] = 0; - out_8174317485626071951[57] = 1; - out_8174317485626071951[58] = 0; - out_8174317485626071951[59] = 0; - out_8174317485626071951[60] = 0; - out_8174317485626071951[61] = 0; - out_8174317485626071951[62] = 0; - out_8174317485626071951[63] = 0; - out_8174317485626071951[64] = 0; - out_8174317485626071951[65] = 0; - out_8174317485626071951[66] = dt; - out_8174317485626071951[67] = 0; - out_8174317485626071951[68] = 0; - out_8174317485626071951[69] = 0; - out_8174317485626071951[70] = 0; - out_8174317485626071951[71] = 0; - out_8174317485626071951[72] = 0; - out_8174317485626071951[73] = 0; - out_8174317485626071951[74] = 0; - out_8174317485626071951[75] = 0; - out_8174317485626071951[76] = 1; - out_8174317485626071951[77] = 0; - out_8174317485626071951[78] = 0; - out_8174317485626071951[79] = 0; - out_8174317485626071951[80] = 0; - out_8174317485626071951[81] = 0; - out_8174317485626071951[82] = 0; - out_8174317485626071951[83] = 0; - out_8174317485626071951[84] = 0; - out_8174317485626071951[85] = dt; - out_8174317485626071951[86] = 0; - out_8174317485626071951[87] = 0; - out_8174317485626071951[88] = 0; - out_8174317485626071951[89] = 0; - out_8174317485626071951[90] = 0; - out_8174317485626071951[91] = 0; - out_8174317485626071951[92] = 0; - out_8174317485626071951[93] = 0; - out_8174317485626071951[94] = 0; - out_8174317485626071951[95] = 1; - out_8174317485626071951[96] = 0; - out_8174317485626071951[97] = 0; - out_8174317485626071951[98] = 0; - out_8174317485626071951[99] = 0; - out_8174317485626071951[100] = 0; - out_8174317485626071951[101] = 0; - out_8174317485626071951[102] = 0; - out_8174317485626071951[103] = 0; - out_8174317485626071951[104] = dt; - out_8174317485626071951[105] = 0; - out_8174317485626071951[106] = 0; - out_8174317485626071951[107] = 0; - out_8174317485626071951[108] = 0; - out_8174317485626071951[109] = 0; - out_8174317485626071951[110] = 0; - out_8174317485626071951[111] = 0; - out_8174317485626071951[112] = 0; - out_8174317485626071951[113] = 0; - out_8174317485626071951[114] = 1; - out_8174317485626071951[115] = 0; - out_8174317485626071951[116] = 0; - out_8174317485626071951[117] = 0; - out_8174317485626071951[118] = 0; - out_8174317485626071951[119] = 0; - out_8174317485626071951[120] = 0; - out_8174317485626071951[121] = 0; - out_8174317485626071951[122] = 0; - out_8174317485626071951[123] = 0; - out_8174317485626071951[124] = 0; - out_8174317485626071951[125] = 0; - out_8174317485626071951[126] = 0; - out_8174317485626071951[127] = 0; - out_8174317485626071951[128] = 0; - out_8174317485626071951[129] = 0; - out_8174317485626071951[130] = 0; - out_8174317485626071951[131] = 0; - out_8174317485626071951[132] = 0; - out_8174317485626071951[133] = 1; - out_8174317485626071951[134] = 0; - out_8174317485626071951[135] = 0; - out_8174317485626071951[136] = 0; - out_8174317485626071951[137] = 0; - out_8174317485626071951[138] = 0; - out_8174317485626071951[139] = 0; - out_8174317485626071951[140] = 0; - out_8174317485626071951[141] = 0; - out_8174317485626071951[142] = 0; - out_8174317485626071951[143] = 0; - out_8174317485626071951[144] = 0; - out_8174317485626071951[145] = 0; - out_8174317485626071951[146] = 0; - out_8174317485626071951[147] = 0; - out_8174317485626071951[148] = 0; - out_8174317485626071951[149] = 0; - out_8174317485626071951[150] = 0; - out_8174317485626071951[151] = 0; - out_8174317485626071951[152] = 1; - out_8174317485626071951[153] = 0; - out_8174317485626071951[154] = 0; - out_8174317485626071951[155] = 0; - out_8174317485626071951[156] = 0; - out_8174317485626071951[157] = 0; - out_8174317485626071951[158] = 0; - out_8174317485626071951[159] = 0; - out_8174317485626071951[160] = 0; - out_8174317485626071951[161] = 0; - out_8174317485626071951[162] = 0; - out_8174317485626071951[163] = 0; - out_8174317485626071951[164] = 0; - out_8174317485626071951[165] = 0; - out_8174317485626071951[166] = 0; - out_8174317485626071951[167] = 0; - out_8174317485626071951[168] = 0; - out_8174317485626071951[169] = 0; - out_8174317485626071951[170] = 0; - out_8174317485626071951[171] = 1; - out_8174317485626071951[172] = 0; - out_8174317485626071951[173] = 0; - out_8174317485626071951[174] = 0; - out_8174317485626071951[175] = 0; - out_8174317485626071951[176] = 0; - out_8174317485626071951[177] = 0; - out_8174317485626071951[178] = 0; - out_8174317485626071951[179] = 0; - out_8174317485626071951[180] = 0; - out_8174317485626071951[181] = 0; - out_8174317485626071951[182] = 0; - out_8174317485626071951[183] = 0; - out_8174317485626071951[184] = 0; - out_8174317485626071951[185] = 0; - out_8174317485626071951[186] = 0; - out_8174317485626071951[187] = 0; - out_8174317485626071951[188] = 0; - out_8174317485626071951[189] = 0; - out_8174317485626071951[190] = 1; - out_8174317485626071951[191] = 0; - out_8174317485626071951[192] = 0; - out_8174317485626071951[193] = 0; - out_8174317485626071951[194] = 0; - out_8174317485626071951[195] = 0; - out_8174317485626071951[196] = 0; - out_8174317485626071951[197] = 0; - out_8174317485626071951[198] = 0; - out_8174317485626071951[199] = 0; - out_8174317485626071951[200] = 0; - out_8174317485626071951[201] = 0; - out_8174317485626071951[202] = 0; - out_8174317485626071951[203] = 0; - out_8174317485626071951[204] = 0; - out_8174317485626071951[205] = 0; - out_8174317485626071951[206] = 0; - out_8174317485626071951[207] = 0; - out_8174317485626071951[208] = 0; - out_8174317485626071951[209] = 1; - out_8174317485626071951[210] = 0; - out_8174317485626071951[211] = 0; - out_8174317485626071951[212] = 0; - out_8174317485626071951[213] = 0; - out_8174317485626071951[214] = 0; - out_8174317485626071951[215] = 0; - out_8174317485626071951[216] = 0; - out_8174317485626071951[217] = 0; - out_8174317485626071951[218] = 0; - out_8174317485626071951[219] = 0; - out_8174317485626071951[220] = 0; - out_8174317485626071951[221] = 0; - out_8174317485626071951[222] = 0; - out_8174317485626071951[223] = 0; - out_8174317485626071951[224] = 0; - out_8174317485626071951[225] = 0; - out_8174317485626071951[226] = 0; - out_8174317485626071951[227] = 0; - out_8174317485626071951[228] = 1; - out_8174317485626071951[229] = 0; - out_8174317485626071951[230] = 0; - out_8174317485626071951[231] = 0; - out_8174317485626071951[232] = 0; - out_8174317485626071951[233] = 0; - out_8174317485626071951[234] = 0; - out_8174317485626071951[235] = 0; - out_8174317485626071951[236] = 0; - out_8174317485626071951[237] = 0; - out_8174317485626071951[238] = 0; - out_8174317485626071951[239] = 0; - out_8174317485626071951[240] = 0; - out_8174317485626071951[241] = 0; - out_8174317485626071951[242] = 0; - out_8174317485626071951[243] = 0; - out_8174317485626071951[244] = 0; - out_8174317485626071951[245] = 0; - out_8174317485626071951[246] = 0; - out_8174317485626071951[247] = 1; - out_8174317485626071951[248] = 0; - out_8174317485626071951[249] = 0; - out_8174317485626071951[250] = 0; - out_8174317485626071951[251] = 0; - out_8174317485626071951[252] = 0; - out_8174317485626071951[253] = 0; - out_8174317485626071951[254] = 0; - out_8174317485626071951[255] = 0; - out_8174317485626071951[256] = 0; - out_8174317485626071951[257] = 0; - out_8174317485626071951[258] = 0; - out_8174317485626071951[259] = 0; - out_8174317485626071951[260] = 0; - out_8174317485626071951[261] = 0; - out_8174317485626071951[262] = 0; - out_8174317485626071951[263] = 0; - out_8174317485626071951[264] = 0; - out_8174317485626071951[265] = 0; - out_8174317485626071951[266] = 1; - out_8174317485626071951[267] = 0; - out_8174317485626071951[268] = 0; - out_8174317485626071951[269] = 0; - out_8174317485626071951[270] = 0; - out_8174317485626071951[271] = 0; - out_8174317485626071951[272] = 0; - out_8174317485626071951[273] = 0; - out_8174317485626071951[274] = 0; - out_8174317485626071951[275] = 0; - out_8174317485626071951[276] = 0; - out_8174317485626071951[277] = 0; - out_8174317485626071951[278] = 0; - out_8174317485626071951[279] = 0; - out_8174317485626071951[280] = 0; - out_8174317485626071951[281] = 0; - out_8174317485626071951[282] = 0; - out_8174317485626071951[283] = 0; - out_8174317485626071951[284] = 0; - out_8174317485626071951[285] = 1; - out_8174317485626071951[286] = 0; - out_8174317485626071951[287] = 0; - out_8174317485626071951[288] = 0; - out_8174317485626071951[289] = 0; - out_8174317485626071951[290] = 0; - out_8174317485626071951[291] = 0; - out_8174317485626071951[292] = 0; - out_8174317485626071951[293] = 0; - out_8174317485626071951[294] = 0; - out_8174317485626071951[295] = 0; - out_8174317485626071951[296] = 0; - out_8174317485626071951[297] = 0; - out_8174317485626071951[298] = 0; - out_8174317485626071951[299] = 0; - out_8174317485626071951[300] = 0; - out_8174317485626071951[301] = 0; - out_8174317485626071951[302] = 0; - out_8174317485626071951[303] = 0; - out_8174317485626071951[304] = 1; - out_8174317485626071951[305] = 0; - out_8174317485626071951[306] = 0; - out_8174317485626071951[307] = 0; - out_8174317485626071951[308] = 0; - out_8174317485626071951[309] = 0; - out_8174317485626071951[310] = 0; - out_8174317485626071951[311] = 0; - out_8174317485626071951[312] = 0; - out_8174317485626071951[313] = 0; - out_8174317485626071951[314] = 0; - out_8174317485626071951[315] = 0; - out_8174317485626071951[316] = 0; - out_8174317485626071951[317] = 0; - out_8174317485626071951[318] = 0; - out_8174317485626071951[319] = 0; - out_8174317485626071951[320] = 0; - out_8174317485626071951[321] = 0; - out_8174317485626071951[322] = 0; - out_8174317485626071951[323] = 1; +void F_fun(double *state, double dt, double *out_8053693544595325883) { + out_8053693544595325883[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_8053693544595325883[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_8053693544595325883[2] = 0; + out_8053693544595325883[3] = 0; + out_8053693544595325883[4] = 0; + out_8053693544595325883[5] = 0; + out_8053693544595325883[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_8053693544595325883[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_8053693544595325883[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_8053693544595325883[9] = 0; + out_8053693544595325883[10] = 0; + out_8053693544595325883[11] = 0; + out_8053693544595325883[12] = 0; + out_8053693544595325883[13] = 0; + out_8053693544595325883[14] = 0; + out_8053693544595325883[15] = 0; + out_8053693544595325883[16] = 0; + out_8053693544595325883[17] = 0; + out_8053693544595325883[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_8053693544595325883[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_8053693544595325883[20] = 0; + out_8053693544595325883[21] = 0; + out_8053693544595325883[22] = 0; + out_8053693544595325883[23] = 0; + out_8053693544595325883[24] = 0; + out_8053693544595325883[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_8053693544595325883[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_8053693544595325883[27] = 0; + out_8053693544595325883[28] = 0; + out_8053693544595325883[29] = 0; + out_8053693544595325883[30] = 0; + out_8053693544595325883[31] = 0; + out_8053693544595325883[32] = 0; + out_8053693544595325883[33] = 0; + out_8053693544595325883[34] = 0; + out_8053693544595325883[35] = 0; + out_8053693544595325883[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_8053693544595325883[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_8053693544595325883[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_8053693544595325883[39] = 0; + out_8053693544595325883[40] = 0; + out_8053693544595325883[41] = 0; + out_8053693544595325883[42] = 0; + out_8053693544595325883[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_8053693544595325883[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_8053693544595325883[45] = 0; + out_8053693544595325883[46] = 0; + out_8053693544595325883[47] = 0; + out_8053693544595325883[48] = 0; + out_8053693544595325883[49] = 0; + out_8053693544595325883[50] = 0; + out_8053693544595325883[51] = 0; + out_8053693544595325883[52] = 0; + out_8053693544595325883[53] = 0; + out_8053693544595325883[54] = 0; + out_8053693544595325883[55] = 0; + out_8053693544595325883[56] = 0; + out_8053693544595325883[57] = 1; + out_8053693544595325883[58] = 0; + out_8053693544595325883[59] = 0; + out_8053693544595325883[60] = 0; + out_8053693544595325883[61] = 0; + out_8053693544595325883[62] = 0; + out_8053693544595325883[63] = 0; + out_8053693544595325883[64] = 0; + out_8053693544595325883[65] = 0; + out_8053693544595325883[66] = dt; + out_8053693544595325883[67] = 0; + out_8053693544595325883[68] = 0; + out_8053693544595325883[69] = 0; + out_8053693544595325883[70] = 0; + out_8053693544595325883[71] = 0; + out_8053693544595325883[72] = 0; + out_8053693544595325883[73] = 0; + out_8053693544595325883[74] = 0; + out_8053693544595325883[75] = 0; + out_8053693544595325883[76] = 1; + out_8053693544595325883[77] = 0; + out_8053693544595325883[78] = 0; + out_8053693544595325883[79] = 0; + out_8053693544595325883[80] = 0; + out_8053693544595325883[81] = 0; + out_8053693544595325883[82] = 0; + out_8053693544595325883[83] = 0; + out_8053693544595325883[84] = 0; + out_8053693544595325883[85] = dt; + out_8053693544595325883[86] = 0; + out_8053693544595325883[87] = 0; + out_8053693544595325883[88] = 0; + out_8053693544595325883[89] = 0; + out_8053693544595325883[90] = 0; + out_8053693544595325883[91] = 0; + out_8053693544595325883[92] = 0; + out_8053693544595325883[93] = 0; + out_8053693544595325883[94] = 0; + out_8053693544595325883[95] = 1; + out_8053693544595325883[96] = 0; + out_8053693544595325883[97] = 0; + out_8053693544595325883[98] = 0; + out_8053693544595325883[99] = 0; + out_8053693544595325883[100] = 0; + out_8053693544595325883[101] = 0; + out_8053693544595325883[102] = 0; + out_8053693544595325883[103] = 0; + out_8053693544595325883[104] = dt; + out_8053693544595325883[105] = 0; + out_8053693544595325883[106] = 0; + out_8053693544595325883[107] = 0; + out_8053693544595325883[108] = 0; + out_8053693544595325883[109] = 0; + out_8053693544595325883[110] = 0; + out_8053693544595325883[111] = 0; + out_8053693544595325883[112] = 0; + out_8053693544595325883[113] = 0; + out_8053693544595325883[114] = 1; + out_8053693544595325883[115] = 0; + out_8053693544595325883[116] = 0; + out_8053693544595325883[117] = 0; + out_8053693544595325883[118] = 0; + out_8053693544595325883[119] = 0; + out_8053693544595325883[120] = 0; + out_8053693544595325883[121] = 0; + out_8053693544595325883[122] = 0; + out_8053693544595325883[123] = 0; + out_8053693544595325883[124] = 0; + out_8053693544595325883[125] = 0; + out_8053693544595325883[126] = 0; + out_8053693544595325883[127] = 0; + out_8053693544595325883[128] = 0; + out_8053693544595325883[129] = 0; + out_8053693544595325883[130] = 0; + out_8053693544595325883[131] = 0; + out_8053693544595325883[132] = 0; + out_8053693544595325883[133] = 1; + out_8053693544595325883[134] = 0; + out_8053693544595325883[135] = 0; + out_8053693544595325883[136] = 0; + out_8053693544595325883[137] = 0; + out_8053693544595325883[138] = 0; + out_8053693544595325883[139] = 0; + out_8053693544595325883[140] = 0; + out_8053693544595325883[141] = 0; + out_8053693544595325883[142] = 0; + out_8053693544595325883[143] = 0; + out_8053693544595325883[144] = 0; + out_8053693544595325883[145] = 0; + out_8053693544595325883[146] = 0; + out_8053693544595325883[147] = 0; + out_8053693544595325883[148] = 0; + out_8053693544595325883[149] = 0; + out_8053693544595325883[150] = 0; + out_8053693544595325883[151] = 0; + out_8053693544595325883[152] = 1; + out_8053693544595325883[153] = 0; + out_8053693544595325883[154] = 0; + out_8053693544595325883[155] = 0; + out_8053693544595325883[156] = 0; + out_8053693544595325883[157] = 0; + out_8053693544595325883[158] = 0; + out_8053693544595325883[159] = 0; + out_8053693544595325883[160] = 0; + out_8053693544595325883[161] = 0; + out_8053693544595325883[162] = 0; + out_8053693544595325883[163] = 0; + out_8053693544595325883[164] = 0; + out_8053693544595325883[165] = 0; + out_8053693544595325883[166] = 0; + out_8053693544595325883[167] = 0; + out_8053693544595325883[168] = 0; + out_8053693544595325883[169] = 0; + out_8053693544595325883[170] = 0; + out_8053693544595325883[171] = 1; + out_8053693544595325883[172] = 0; + out_8053693544595325883[173] = 0; + out_8053693544595325883[174] = 0; + out_8053693544595325883[175] = 0; + out_8053693544595325883[176] = 0; + out_8053693544595325883[177] = 0; + out_8053693544595325883[178] = 0; + out_8053693544595325883[179] = 0; + out_8053693544595325883[180] = 0; + out_8053693544595325883[181] = 0; + out_8053693544595325883[182] = 0; + out_8053693544595325883[183] = 0; + out_8053693544595325883[184] = 0; + out_8053693544595325883[185] = 0; + out_8053693544595325883[186] = 0; + out_8053693544595325883[187] = 0; + out_8053693544595325883[188] = 0; + out_8053693544595325883[189] = 0; + out_8053693544595325883[190] = 1; + out_8053693544595325883[191] = 0; + out_8053693544595325883[192] = 0; + out_8053693544595325883[193] = 0; + out_8053693544595325883[194] = 0; + out_8053693544595325883[195] = 0; + out_8053693544595325883[196] = 0; + out_8053693544595325883[197] = 0; + out_8053693544595325883[198] = 0; + out_8053693544595325883[199] = 0; + out_8053693544595325883[200] = 0; + out_8053693544595325883[201] = 0; + out_8053693544595325883[202] = 0; + out_8053693544595325883[203] = 0; + out_8053693544595325883[204] = 0; + out_8053693544595325883[205] = 0; + out_8053693544595325883[206] = 0; + out_8053693544595325883[207] = 0; + out_8053693544595325883[208] = 0; + out_8053693544595325883[209] = 1; + out_8053693544595325883[210] = 0; + out_8053693544595325883[211] = 0; + out_8053693544595325883[212] = 0; + out_8053693544595325883[213] = 0; + out_8053693544595325883[214] = 0; + out_8053693544595325883[215] = 0; + out_8053693544595325883[216] = 0; + out_8053693544595325883[217] = 0; + out_8053693544595325883[218] = 0; + out_8053693544595325883[219] = 0; + out_8053693544595325883[220] = 0; + out_8053693544595325883[221] = 0; + out_8053693544595325883[222] = 0; + out_8053693544595325883[223] = 0; + out_8053693544595325883[224] = 0; + out_8053693544595325883[225] = 0; + out_8053693544595325883[226] = 0; + out_8053693544595325883[227] = 0; + out_8053693544595325883[228] = 1; + out_8053693544595325883[229] = 0; + out_8053693544595325883[230] = 0; + out_8053693544595325883[231] = 0; + out_8053693544595325883[232] = 0; + out_8053693544595325883[233] = 0; + out_8053693544595325883[234] = 0; + out_8053693544595325883[235] = 0; + out_8053693544595325883[236] = 0; + out_8053693544595325883[237] = 0; + out_8053693544595325883[238] = 0; + out_8053693544595325883[239] = 0; + out_8053693544595325883[240] = 0; + out_8053693544595325883[241] = 0; + out_8053693544595325883[242] = 0; + out_8053693544595325883[243] = 0; + out_8053693544595325883[244] = 0; + out_8053693544595325883[245] = 0; + out_8053693544595325883[246] = 0; + out_8053693544595325883[247] = 1; + out_8053693544595325883[248] = 0; + out_8053693544595325883[249] = 0; + out_8053693544595325883[250] = 0; + out_8053693544595325883[251] = 0; + out_8053693544595325883[252] = 0; + out_8053693544595325883[253] = 0; + out_8053693544595325883[254] = 0; + out_8053693544595325883[255] = 0; + out_8053693544595325883[256] = 0; + out_8053693544595325883[257] = 0; + out_8053693544595325883[258] = 0; + out_8053693544595325883[259] = 0; + out_8053693544595325883[260] = 0; + out_8053693544595325883[261] = 0; + out_8053693544595325883[262] = 0; + out_8053693544595325883[263] = 0; + out_8053693544595325883[264] = 0; + out_8053693544595325883[265] = 0; + out_8053693544595325883[266] = 1; + out_8053693544595325883[267] = 0; + out_8053693544595325883[268] = 0; + out_8053693544595325883[269] = 0; + out_8053693544595325883[270] = 0; + out_8053693544595325883[271] = 0; + out_8053693544595325883[272] = 0; + out_8053693544595325883[273] = 0; + out_8053693544595325883[274] = 0; + out_8053693544595325883[275] = 0; + out_8053693544595325883[276] = 0; + out_8053693544595325883[277] = 0; + out_8053693544595325883[278] = 0; + out_8053693544595325883[279] = 0; + out_8053693544595325883[280] = 0; + out_8053693544595325883[281] = 0; + out_8053693544595325883[282] = 0; + out_8053693544595325883[283] = 0; + out_8053693544595325883[284] = 0; + out_8053693544595325883[285] = 1; + out_8053693544595325883[286] = 0; + out_8053693544595325883[287] = 0; + out_8053693544595325883[288] = 0; + out_8053693544595325883[289] = 0; + out_8053693544595325883[290] = 0; + out_8053693544595325883[291] = 0; + out_8053693544595325883[292] = 0; + out_8053693544595325883[293] = 0; + out_8053693544595325883[294] = 0; + out_8053693544595325883[295] = 0; + out_8053693544595325883[296] = 0; + out_8053693544595325883[297] = 0; + out_8053693544595325883[298] = 0; + out_8053693544595325883[299] = 0; + out_8053693544595325883[300] = 0; + out_8053693544595325883[301] = 0; + out_8053693544595325883[302] = 0; + out_8053693544595325883[303] = 0; + out_8053693544595325883[304] = 1; + out_8053693544595325883[305] = 0; + out_8053693544595325883[306] = 0; + out_8053693544595325883[307] = 0; + out_8053693544595325883[308] = 0; + out_8053693544595325883[309] = 0; + out_8053693544595325883[310] = 0; + out_8053693544595325883[311] = 0; + out_8053693544595325883[312] = 0; + out_8053693544595325883[313] = 0; + out_8053693544595325883[314] = 0; + out_8053693544595325883[315] = 0; + out_8053693544595325883[316] = 0; + out_8053693544595325883[317] = 0; + out_8053693544595325883[318] = 0; + out_8053693544595325883[319] = 0; + out_8053693544595325883[320] = 0; + out_8053693544595325883[321] = 0; + out_8053693544595325883[322] = 0; + out_8053693544595325883[323] = 1; } -void h_4(double *state, double *unused, double *out_5523365294760256360) { - out_5523365294760256360[0] = state[6] + state[9]; - out_5523365294760256360[1] = state[7] + state[10]; - out_5523365294760256360[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_8529365476343691696) { + out_8529365476343691696[0] = state[6] + state[9]; + out_8529365476343691696[1] = state[7] + state[10]; + out_8529365476343691696[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_848654723451256734) { - out_848654723451256734[0] = 0; - out_848654723451256734[1] = 0; - out_848654723451256734[2] = 0; - out_848654723451256734[3] = 0; - out_848654723451256734[4] = 0; - out_848654723451256734[5] = 0; - out_848654723451256734[6] = 1; - out_848654723451256734[7] = 0; - out_848654723451256734[8] = 0; - out_848654723451256734[9] = 1; - out_848654723451256734[10] = 0; - out_848654723451256734[11] = 0; - out_848654723451256734[12] = 0; - out_848654723451256734[13] = 0; - out_848654723451256734[14] = 0; - out_848654723451256734[15] = 0; - out_848654723451256734[16] = 0; - out_848654723451256734[17] = 0; - out_848654723451256734[18] = 0; - out_848654723451256734[19] = 0; - out_848654723451256734[20] = 0; - out_848654723451256734[21] = 0; - out_848654723451256734[22] = 0; - out_848654723451256734[23] = 0; - out_848654723451256734[24] = 0; - out_848654723451256734[25] = 1; - out_848654723451256734[26] = 0; - out_848654723451256734[27] = 0; - out_848654723451256734[28] = 1; - out_848654723451256734[29] = 0; - out_848654723451256734[30] = 0; - out_848654723451256734[31] = 0; - out_848654723451256734[32] = 0; - out_848654723451256734[33] = 0; - out_848654723451256734[34] = 0; - out_848654723451256734[35] = 0; - out_848654723451256734[36] = 0; - out_848654723451256734[37] = 0; - out_848654723451256734[38] = 0; - out_848654723451256734[39] = 0; - out_848654723451256734[40] = 0; - out_848654723451256734[41] = 0; - out_848654723451256734[42] = 0; - out_848654723451256734[43] = 0; - out_848654723451256734[44] = 1; - out_848654723451256734[45] = 0; - out_848654723451256734[46] = 0; - out_848654723451256734[47] = 1; - out_848654723451256734[48] = 0; - out_848654723451256734[49] = 0; - out_848654723451256734[50] = 0; - out_848654723451256734[51] = 0; - out_848654723451256734[52] = 0; - out_848654723451256734[53] = 0; +void H_4(double *state, double *unused, double *out_6047892205533076120) { + out_6047892205533076120[0] = 0; + out_6047892205533076120[1] = 0; + out_6047892205533076120[2] = 0; + out_6047892205533076120[3] = 0; + out_6047892205533076120[4] = 0; + out_6047892205533076120[5] = 0; + out_6047892205533076120[6] = 1; + out_6047892205533076120[7] = 0; + out_6047892205533076120[8] = 0; + out_6047892205533076120[9] = 1; + out_6047892205533076120[10] = 0; + out_6047892205533076120[11] = 0; + out_6047892205533076120[12] = 0; + out_6047892205533076120[13] = 0; + out_6047892205533076120[14] = 0; + out_6047892205533076120[15] = 0; + out_6047892205533076120[16] = 0; + out_6047892205533076120[17] = 0; + out_6047892205533076120[18] = 0; + out_6047892205533076120[19] = 0; + out_6047892205533076120[20] = 0; + out_6047892205533076120[21] = 0; + out_6047892205533076120[22] = 0; + out_6047892205533076120[23] = 0; + out_6047892205533076120[24] = 0; + out_6047892205533076120[25] = 1; + out_6047892205533076120[26] = 0; + out_6047892205533076120[27] = 0; + out_6047892205533076120[28] = 1; + out_6047892205533076120[29] = 0; + out_6047892205533076120[30] = 0; + out_6047892205533076120[31] = 0; + out_6047892205533076120[32] = 0; + out_6047892205533076120[33] = 0; + out_6047892205533076120[34] = 0; + out_6047892205533076120[35] = 0; + out_6047892205533076120[36] = 0; + out_6047892205533076120[37] = 0; + out_6047892205533076120[38] = 0; + out_6047892205533076120[39] = 0; + out_6047892205533076120[40] = 0; + out_6047892205533076120[41] = 0; + out_6047892205533076120[42] = 0; + out_6047892205533076120[43] = 0; + out_6047892205533076120[44] = 1; + out_6047892205533076120[45] = 0; + out_6047892205533076120[46] = 0; + out_6047892205533076120[47] = 1; + out_6047892205533076120[48] = 0; + out_6047892205533076120[49] = 0; + out_6047892205533076120[50] = 0; + out_6047892205533076120[51] = 0; + out_6047892205533076120[52] = 0; + out_6047892205533076120[53] = 0; } -void h_10(double *state, double *unused, double *out_1239079208898706284) { - out_1239079208898706284[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1239079208898706284[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1239079208898706284[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_4520142148577176948) { + out_4520142148577176948[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_4520142148577176948[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_4520142148577176948[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_1001724707531765931) { - out_1001724707531765931[0] = 0; - out_1001724707531765931[1] = 9.8100000000000005*cos(state[1]); - out_1001724707531765931[2] = 0; - out_1001724707531765931[3] = 0; - out_1001724707531765931[4] = -state[8]; - out_1001724707531765931[5] = state[7]; - out_1001724707531765931[6] = 0; - out_1001724707531765931[7] = state[5]; - out_1001724707531765931[8] = -state[4]; - out_1001724707531765931[9] = 0; - out_1001724707531765931[10] = 0; - out_1001724707531765931[11] = 0; - out_1001724707531765931[12] = 1; - out_1001724707531765931[13] = 0; - out_1001724707531765931[14] = 0; - out_1001724707531765931[15] = 1; - out_1001724707531765931[16] = 0; - out_1001724707531765931[17] = 0; - out_1001724707531765931[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1001724707531765931[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1001724707531765931[20] = 0; - out_1001724707531765931[21] = state[8]; - out_1001724707531765931[22] = 0; - out_1001724707531765931[23] = -state[6]; - out_1001724707531765931[24] = -state[5]; - out_1001724707531765931[25] = 0; - out_1001724707531765931[26] = state[3]; - out_1001724707531765931[27] = 0; - out_1001724707531765931[28] = 0; - out_1001724707531765931[29] = 0; - out_1001724707531765931[30] = 0; - out_1001724707531765931[31] = 1; - out_1001724707531765931[32] = 0; - out_1001724707531765931[33] = 0; - out_1001724707531765931[34] = 1; - out_1001724707531765931[35] = 0; - out_1001724707531765931[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1001724707531765931[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1001724707531765931[38] = 0; - out_1001724707531765931[39] = -state[7]; - out_1001724707531765931[40] = state[6]; - out_1001724707531765931[41] = 0; - out_1001724707531765931[42] = state[4]; - out_1001724707531765931[43] = -state[3]; - out_1001724707531765931[44] = 0; - out_1001724707531765931[45] = 0; - out_1001724707531765931[46] = 0; - out_1001724707531765931[47] = 0; - out_1001724707531765931[48] = 0; - out_1001724707531765931[49] = 0; - out_1001724707531765931[50] = 1; - out_1001724707531765931[51] = 0; - out_1001724707531765931[52] = 0; - out_1001724707531765931[53] = 1; +void H_10(double *state, double *unused, double *out_3464631693564984737) { + out_3464631693564984737[0] = 0; + out_3464631693564984737[1] = 9.8100000000000005*cos(state[1]); + out_3464631693564984737[2] = 0; + out_3464631693564984737[3] = 0; + out_3464631693564984737[4] = -state[8]; + out_3464631693564984737[5] = state[7]; + out_3464631693564984737[6] = 0; + out_3464631693564984737[7] = state[5]; + out_3464631693564984737[8] = -state[4]; + out_3464631693564984737[9] = 0; + out_3464631693564984737[10] = 0; + out_3464631693564984737[11] = 0; + out_3464631693564984737[12] = 1; + out_3464631693564984737[13] = 0; + out_3464631693564984737[14] = 0; + out_3464631693564984737[15] = 1; + out_3464631693564984737[16] = 0; + out_3464631693564984737[17] = 0; + out_3464631693564984737[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3464631693564984737[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3464631693564984737[20] = 0; + out_3464631693564984737[21] = state[8]; + out_3464631693564984737[22] = 0; + out_3464631693564984737[23] = -state[6]; + out_3464631693564984737[24] = -state[5]; + out_3464631693564984737[25] = 0; + out_3464631693564984737[26] = state[3]; + out_3464631693564984737[27] = 0; + out_3464631693564984737[28] = 0; + out_3464631693564984737[29] = 0; + out_3464631693564984737[30] = 0; + out_3464631693564984737[31] = 1; + out_3464631693564984737[32] = 0; + out_3464631693564984737[33] = 0; + out_3464631693564984737[34] = 1; + out_3464631693564984737[35] = 0; + out_3464631693564984737[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3464631693564984737[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3464631693564984737[38] = 0; + out_3464631693564984737[39] = -state[7]; + out_3464631693564984737[40] = state[6]; + out_3464631693564984737[41] = 0; + out_3464631693564984737[42] = state[4]; + out_3464631693564984737[43] = -state[3]; + out_3464631693564984737[44] = 0; + out_3464631693564984737[45] = 0; + out_3464631693564984737[46] = 0; + out_3464631693564984737[47] = 0; + out_3464631693564984737[48] = 0; + out_3464631693564984737[49] = 0; + out_3464631693564984737[50] = 1; + out_3464631693564984737[51] = 0; + out_3464631693564984737[52] = 0; + out_3464631693564984737[53] = 1; } -void h_13(double *state, double *unused, double *out_7307670055393162069) { - out_7307670055393162069[0] = state[3]; - out_7307670055393162069[1] = state[4]; - out_7307670055393162069[2] = state[5]; +void h_13(double *state, double *unused, double *out_5667716827714087134) { + out_5667716827714087134[0] = state[3]; + out_5667716827714087134[1] = state[4]; + out_5667716827714087134[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6761976484865444195) { - out_6761976484865444195[0] = 0; - out_6761976484865444195[1] = 0; - out_6761976484865444195[2] = 0; - out_6761976484865444195[3] = 1; - out_6761976484865444195[4] = 0; - out_6761976484865444195[5] = 0; - out_6761976484865444195[6] = 0; - out_6761976484865444195[7] = 0; - out_6761976484865444195[8] = 0; - out_6761976484865444195[9] = 0; - out_6761976484865444195[10] = 0; - out_6761976484865444195[11] = 0; - out_6761976484865444195[12] = 0; - out_6761976484865444195[13] = 0; - out_6761976484865444195[14] = 0; - out_6761976484865444195[15] = 0; - out_6761976484865444195[16] = 0; - out_6761976484865444195[17] = 0; - out_6761976484865444195[18] = 0; - out_6761976484865444195[19] = 0; - out_6761976484865444195[20] = 0; - out_6761976484865444195[21] = 0; - out_6761976484865444195[22] = 1; - out_6761976484865444195[23] = 0; - out_6761976484865444195[24] = 0; - out_6761976484865444195[25] = 0; - out_6761976484865444195[26] = 0; - out_6761976484865444195[27] = 0; - out_6761976484865444195[28] = 0; - out_6761976484865444195[29] = 0; - out_6761976484865444195[30] = 0; - out_6761976484865444195[31] = 0; - out_6761976484865444195[32] = 0; - out_6761976484865444195[33] = 0; - out_6761976484865444195[34] = 0; - out_6761976484865444195[35] = 0; - out_6761976484865444195[36] = 0; - out_6761976484865444195[37] = 0; - out_6761976484865444195[38] = 0; - out_6761976484865444195[39] = 0; - out_6761976484865444195[40] = 0; - out_6761976484865444195[41] = 1; - out_6761976484865444195[42] = 0; - out_6761976484865444195[43] = 0; - out_6761976484865444195[44] = 0; - out_6761976484865444195[45] = 0; - out_6761976484865444195[46] = 0; - out_6761976484865444195[47] = 0; - out_6761976484865444195[48] = 0; - out_6761976484865444195[49] = 0; - out_6761976484865444195[50] = 0; - out_6761976484865444195[51] = 0; - out_6761976484865444195[52] = 0; - out_6761976484865444195[53] = 0; +void H_13(double *state, double *unused, double *out_2835618380200743319) { + out_2835618380200743319[0] = 0; + out_2835618380200743319[1] = 0; + out_2835618380200743319[2] = 0; + out_2835618380200743319[3] = 1; + out_2835618380200743319[4] = 0; + out_2835618380200743319[5] = 0; + out_2835618380200743319[6] = 0; + out_2835618380200743319[7] = 0; + out_2835618380200743319[8] = 0; + out_2835618380200743319[9] = 0; + out_2835618380200743319[10] = 0; + out_2835618380200743319[11] = 0; + out_2835618380200743319[12] = 0; + out_2835618380200743319[13] = 0; + out_2835618380200743319[14] = 0; + out_2835618380200743319[15] = 0; + out_2835618380200743319[16] = 0; + out_2835618380200743319[17] = 0; + out_2835618380200743319[18] = 0; + out_2835618380200743319[19] = 0; + out_2835618380200743319[20] = 0; + out_2835618380200743319[21] = 0; + out_2835618380200743319[22] = 1; + out_2835618380200743319[23] = 0; + out_2835618380200743319[24] = 0; + out_2835618380200743319[25] = 0; + out_2835618380200743319[26] = 0; + out_2835618380200743319[27] = 0; + out_2835618380200743319[28] = 0; + out_2835618380200743319[29] = 0; + out_2835618380200743319[30] = 0; + out_2835618380200743319[31] = 0; + out_2835618380200743319[32] = 0; + out_2835618380200743319[33] = 0; + out_2835618380200743319[34] = 0; + out_2835618380200743319[35] = 0; + out_2835618380200743319[36] = 0; + out_2835618380200743319[37] = 0; + out_2835618380200743319[38] = 0; + out_2835618380200743319[39] = 0; + out_2835618380200743319[40] = 0; + out_2835618380200743319[41] = 1; + out_2835618380200743319[42] = 0; + out_2835618380200743319[43] = 0; + out_2835618380200743319[44] = 0; + out_2835618380200743319[45] = 0; + out_2835618380200743319[46] = 0; + out_2835618380200743319[47] = 0; + out_2835618380200743319[48] = 0; + out_2835618380200743319[49] = 0; + out_2835618380200743319[50] = 0; + out_2835618380200743319[51] = 0; + out_2835618380200743319[52] = 0; + out_2835618380200743319[53] = 0; } -void h_14(double *state, double *unused, double *out_7233663736752442507) { - out_7233663736752442507[0] = state[6]; - out_7233663736752442507[1] = state[7]; - out_7233663736752442507[2] = state[8]; +void h_14(double *state, double *unused, double *out_883582777045090799) { + out_883582777045090799[0] = state[6]; + out_883582777045090799[1] = state[7]; + out_883582777045090799[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3114586132888227795) { - out_3114586132888227795[0] = 0; - out_3114586132888227795[1] = 0; - out_3114586132888227795[2] = 0; - out_3114586132888227795[3] = 0; - out_3114586132888227795[4] = 0; - out_3114586132888227795[5] = 0; - out_3114586132888227795[6] = 1; - out_3114586132888227795[7] = 0; - out_3114586132888227795[8] = 0; - out_3114586132888227795[9] = 0; - out_3114586132888227795[10] = 0; - out_3114586132888227795[11] = 0; - out_3114586132888227795[12] = 0; - out_3114586132888227795[13] = 0; - out_3114586132888227795[14] = 0; - out_3114586132888227795[15] = 0; - out_3114586132888227795[16] = 0; - out_3114586132888227795[17] = 0; - out_3114586132888227795[18] = 0; - out_3114586132888227795[19] = 0; - out_3114586132888227795[20] = 0; - out_3114586132888227795[21] = 0; - out_3114586132888227795[22] = 0; - out_3114586132888227795[23] = 0; - out_3114586132888227795[24] = 0; - out_3114586132888227795[25] = 1; - out_3114586132888227795[26] = 0; - out_3114586132888227795[27] = 0; - out_3114586132888227795[28] = 0; - out_3114586132888227795[29] = 0; - out_3114586132888227795[30] = 0; - out_3114586132888227795[31] = 0; - out_3114586132888227795[32] = 0; - out_3114586132888227795[33] = 0; - out_3114586132888227795[34] = 0; - out_3114586132888227795[35] = 0; - out_3114586132888227795[36] = 0; - out_3114586132888227795[37] = 0; - out_3114586132888227795[38] = 0; - out_3114586132888227795[39] = 0; - out_3114586132888227795[40] = 0; - out_3114586132888227795[41] = 0; - out_3114586132888227795[42] = 0; - out_3114586132888227795[43] = 0; - out_3114586132888227795[44] = 1; - out_3114586132888227795[45] = 0; - out_3114586132888227795[46] = 0; - out_3114586132888227795[47] = 0; - out_3114586132888227795[48] = 0; - out_3114586132888227795[49] = 0; - out_3114586132888227795[50] = 0; - out_3114586132888227795[51] = 0; - out_3114586132888227795[52] = 0; - out_3114586132888227795[53] = 0; +void H_14(double *state, double *unused, double *out_2084651349193591591) { + out_2084651349193591591[0] = 0; + out_2084651349193591591[1] = 0; + out_2084651349193591591[2] = 0; + out_2084651349193591591[3] = 0; + out_2084651349193591591[4] = 0; + out_2084651349193591591[5] = 0; + out_2084651349193591591[6] = 1; + out_2084651349193591591[7] = 0; + out_2084651349193591591[8] = 0; + out_2084651349193591591[9] = 0; + out_2084651349193591591[10] = 0; + out_2084651349193591591[11] = 0; + out_2084651349193591591[12] = 0; + out_2084651349193591591[13] = 0; + out_2084651349193591591[14] = 0; + out_2084651349193591591[15] = 0; + out_2084651349193591591[16] = 0; + out_2084651349193591591[17] = 0; + out_2084651349193591591[18] = 0; + out_2084651349193591591[19] = 0; + out_2084651349193591591[20] = 0; + out_2084651349193591591[21] = 0; + out_2084651349193591591[22] = 0; + out_2084651349193591591[23] = 0; + out_2084651349193591591[24] = 0; + out_2084651349193591591[25] = 1; + out_2084651349193591591[26] = 0; + out_2084651349193591591[27] = 0; + out_2084651349193591591[28] = 0; + out_2084651349193591591[29] = 0; + out_2084651349193591591[30] = 0; + out_2084651349193591591[31] = 0; + out_2084651349193591591[32] = 0; + out_2084651349193591591[33] = 0; + out_2084651349193591591[34] = 0; + out_2084651349193591591[35] = 0; + out_2084651349193591591[36] = 0; + out_2084651349193591591[37] = 0; + out_2084651349193591591[38] = 0; + out_2084651349193591591[39] = 0; + out_2084651349193591591[40] = 0; + out_2084651349193591591[41] = 0; + out_2084651349193591591[42] = 0; + out_2084651349193591591[43] = 0; + out_2084651349193591591[44] = 1; + out_2084651349193591591[45] = 0; + out_2084651349193591591[46] = 0; + out_2084651349193591591[47] = 0; + out_2084651349193591591[48] = 0; + out_2084651349193591591[49] = 0; + out_2084651349193591591[50] = 0; + out_2084651349193591591[51] = 0; + out_2084651349193591591[52] = 0; + out_2084651349193591591[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_8123935570106658818) { - err_fun(nom_x, delta_x, out_8123935570106658818); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3361967793306967310) { + err_fun(nom_x, delta_x, out_3361967793306967310); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670) { - inv_err_fun(nom_x, true_x, out_7916605304970807670); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7875339861862151788) { + inv_err_fun(nom_x, true_x, out_7875339861862151788); } -void pose_H_mod_fun(double *state, double *out_1602815725505969341) { - H_mod_fun(state, out_1602815725505969341); +void pose_H_mod_fun(double *state, double *out_7246333483137394761) { + H_mod_fun(state, out_7246333483137394761); } -void pose_f_fun(double *state, double dt, double *out_6941148323357631663) { - f_fun(state, dt, out_6941148323357631663); +void pose_f_fun(double *state, double dt, double *out_4257952219025692833) { + f_fun(state, dt, out_4257952219025692833); } -void pose_F_fun(double *state, double dt, double *out_8174317485626071951) { - F_fun(state, dt, out_8174317485626071951); +void pose_F_fun(double *state, double dt, double *out_8053693544595325883) { + F_fun(state, dt, out_8053693544595325883); } -void pose_h_4(double *state, double *unused, double *out_5523365294760256360) { - h_4(state, unused, out_5523365294760256360); +void pose_h_4(double *state, double *unused, double *out_8529365476343691696) { + h_4(state, unused, out_8529365476343691696); } -void pose_H_4(double *state, double *unused, double *out_848654723451256734) { - H_4(state, unused, out_848654723451256734); +void pose_H_4(double *state, double *unused, double *out_6047892205533076120) { + H_4(state, unused, out_6047892205533076120); } -void pose_h_10(double *state, double *unused, double *out_1239079208898706284) { - h_10(state, unused, out_1239079208898706284); +void pose_h_10(double *state, double *unused, double *out_4520142148577176948) { + h_10(state, unused, out_4520142148577176948); } -void pose_H_10(double *state, double *unused, double *out_1001724707531765931) { - H_10(state, unused, out_1001724707531765931); +void pose_H_10(double *state, double *unused, double *out_3464631693564984737) { + H_10(state, unused, out_3464631693564984737); } -void pose_h_13(double *state, double *unused, double *out_7307670055393162069) { - h_13(state, unused, out_7307670055393162069); +void pose_h_13(double *state, double *unused, double *out_5667716827714087134) { + h_13(state, unused, out_5667716827714087134); } -void pose_H_13(double *state, double *unused, double *out_6761976484865444195) { - H_13(state, unused, out_6761976484865444195); +void pose_H_13(double *state, double *unused, double *out_2835618380200743319) { + H_13(state, unused, out_2835618380200743319); } -void pose_h_14(double *state, double *unused, double *out_7233663736752442507) { - h_14(state, unused, out_7233663736752442507); +void pose_h_14(double *state, double *unused, double *out_883582777045090799) { + h_14(state, unused, out_883582777045090799); } -void pose_H_14(double *state, double *unused, double *out_3114586132888227795) { - H_14(state, unused, out_3114586132888227795); +void pose_H_14(double *state, double *unused, double *out_2084651349193591591) { + H_14(state, unused, out_2084651349193591591); } 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 2d40ef84f..7f9159476 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_8123935570106658818); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670); -void pose_H_mod_fun(double *state, double *out_1602815725505969341); -void pose_f_fun(double *state, double dt, double *out_6941148323357631663); -void pose_F_fun(double *state, double dt, double *out_8174317485626071951); -void pose_h_4(double *state, double *unused, double *out_5523365294760256360); -void pose_H_4(double *state, double *unused, double *out_848654723451256734); -void pose_h_10(double *state, double *unused, double *out_1239079208898706284); -void pose_H_10(double *state, double *unused, double *out_1001724707531765931); -void pose_h_13(double *state, double *unused, double *out_7307670055393162069); -void pose_H_13(double *state, double *unused, double *out_6761976484865444195); -void pose_h_14(double *state, double *unused, double *out_7233663736752442507); -void pose_H_14(double *state, double *unused, double *out_3114586132888227795); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3361967793306967310); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7875339861862151788); +void pose_H_mod_fun(double *state, double *out_7246333483137394761); +void pose_f_fun(double *state, double dt, double *out_4257952219025692833); +void pose_F_fun(double *state, double dt, double *out_8053693544595325883); +void pose_h_4(double *state, double *unused, double *out_8529365476343691696); +void pose_H_4(double *state, double *unused, double *out_6047892205533076120); +void pose_h_10(double *state, double *unused, double *out_4520142148577176948); +void pose_H_10(double *state, double *unused, double *out_3464631693564984737); +void pose_h_13(double *state, double *unused, double *out_5667716827714087134); +void pose_H_13(double *state, double *unused, double *out_2835618380200743319); +void pose_h_14(double *state, double *unused, double *out_883582777045090799); +void pose_H_14(double *state, double *unused, double *out_2084651349193591591); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index b0098126c..ef5d853ff 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 1bdc16d05..19b7a64d6 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git 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