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b/panda/board/obj/version @@ -1 +1 @@ -DEV-0351e7d8-DEBUG \ No newline at end of file +DEV-c309cf17-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 79f02945c..123fe166a 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_3329877133651101623) { - out_3329877133651101623[0] = delta_x[0] + nom_x[0]; - out_3329877133651101623[1] = delta_x[1] + nom_x[1]; - out_3329877133651101623[2] = delta_x[2] + nom_x[2]; - out_3329877133651101623[3] = delta_x[3] + nom_x[3]; - out_3329877133651101623[4] = delta_x[4] + nom_x[4]; - out_3329877133651101623[5] = delta_x[5] + nom_x[5]; - out_3329877133651101623[6] = delta_x[6] + nom_x[6]; - out_3329877133651101623[7] = delta_x[7] + nom_x[7]; - out_3329877133651101623[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6104712207101523759) { + out_6104712207101523759[0] = delta_x[0] + nom_x[0]; + out_6104712207101523759[1] = delta_x[1] + nom_x[1]; + out_6104712207101523759[2] = delta_x[2] + nom_x[2]; + out_6104712207101523759[3] = delta_x[3] + nom_x[3]; + out_6104712207101523759[4] = delta_x[4] + nom_x[4]; + out_6104712207101523759[5] = delta_x[5] + nom_x[5]; + out_6104712207101523759[6] = delta_x[6] + nom_x[6]; + out_6104712207101523759[7] = delta_x[7] + nom_x[7]; + out_6104712207101523759[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) { - out_7760882190653564987[0] = -nom_x[0] + true_x[0]; - out_7760882190653564987[1] = -nom_x[1] + true_x[1]; - out_7760882190653564987[2] = -nom_x[2] + true_x[2]; - out_7760882190653564987[3] = -nom_x[3] + true_x[3]; - out_7760882190653564987[4] = -nom_x[4] + true_x[4]; - out_7760882190653564987[5] = -nom_x[5] + true_x[5]; - out_7760882190653564987[6] = -nom_x[6] + true_x[6]; - out_7760882190653564987[7] = -nom_x[7] + true_x[7]; - out_7760882190653564987[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4901417542031613009) { + out_4901417542031613009[0] = -nom_x[0] + true_x[0]; + out_4901417542031613009[1] = -nom_x[1] + true_x[1]; + out_4901417542031613009[2] = -nom_x[2] + true_x[2]; + out_4901417542031613009[3] = -nom_x[3] + true_x[3]; + out_4901417542031613009[4] = -nom_x[4] + true_x[4]; + out_4901417542031613009[5] = -nom_x[5] + true_x[5]; + out_4901417542031613009[6] = -nom_x[6] + true_x[6]; + out_4901417542031613009[7] = -nom_x[7] + true_x[7]; + out_4901417542031613009[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1773647306661711299) { - out_1773647306661711299[0] = 1.0; - out_1773647306661711299[1] = 0.0; - out_1773647306661711299[2] = 0.0; - out_1773647306661711299[3] = 0.0; - out_1773647306661711299[4] = 0.0; - out_1773647306661711299[5] = 0.0; - out_1773647306661711299[6] = 0.0; - out_1773647306661711299[7] = 0.0; - out_1773647306661711299[8] = 0.0; - out_1773647306661711299[9] = 0.0; - out_1773647306661711299[10] = 1.0; - out_1773647306661711299[11] = 0.0; - out_1773647306661711299[12] = 0.0; - out_1773647306661711299[13] = 0.0; - out_1773647306661711299[14] = 0.0; - out_1773647306661711299[15] = 0.0; - out_1773647306661711299[16] = 0.0; - out_1773647306661711299[17] = 0.0; - out_1773647306661711299[18] = 0.0; - out_1773647306661711299[19] = 0.0; - out_1773647306661711299[20] = 1.0; - out_1773647306661711299[21] = 0.0; - out_1773647306661711299[22] = 0.0; - out_1773647306661711299[23] = 0.0; - out_1773647306661711299[24] = 0.0; - out_1773647306661711299[25] = 0.0; - out_1773647306661711299[26] = 0.0; - out_1773647306661711299[27] = 0.0; - out_1773647306661711299[28] = 0.0; - out_1773647306661711299[29] = 0.0; - out_1773647306661711299[30] = 1.0; - out_1773647306661711299[31] = 0.0; - out_1773647306661711299[32] = 0.0; - out_1773647306661711299[33] = 0.0; - out_1773647306661711299[34] = 0.0; - out_1773647306661711299[35] = 0.0; - out_1773647306661711299[36] = 0.0; - out_1773647306661711299[37] = 0.0; - out_1773647306661711299[38] = 0.0; - out_1773647306661711299[39] = 0.0; - out_1773647306661711299[40] = 1.0; - out_1773647306661711299[41] = 0.0; - out_1773647306661711299[42] = 0.0; - out_1773647306661711299[43] = 0.0; - out_1773647306661711299[44] = 0.0; - out_1773647306661711299[45] = 0.0; - out_1773647306661711299[46] = 0.0; - out_1773647306661711299[47] = 0.0; - out_1773647306661711299[48] = 0.0; - out_1773647306661711299[49] = 0.0; - out_1773647306661711299[50] = 1.0; - out_1773647306661711299[51] = 0.0; - out_1773647306661711299[52] = 0.0; - out_1773647306661711299[53] = 0.0; - out_1773647306661711299[54] = 0.0; - out_1773647306661711299[55] = 0.0; - out_1773647306661711299[56] = 0.0; - out_1773647306661711299[57] = 0.0; - out_1773647306661711299[58] = 0.0; - out_1773647306661711299[59] = 0.0; - out_1773647306661711299[60] = 1.0; - out_1773647306661711299[61] = 0.0; - out_1773647306661711299[62] = 0.0; - out_1773647306661711299[63] = 0.0; - out_1773647306661711299[64] = 0.0; - out_1773647306661711299[65] = 0.0; - out_1773647306661711299[66] = 0.0; - out_1773647306661711299[67] = 0.0; - out_1773647306661711299[68] = 0.0; - out_1773647306661711299[69] = 0.0; - out_1773647306661711299[70] = 1.0; - out_1773647306661711299[71] = 0.0; - out_1773647306661711299[72] = 0.0; - out_1773647306661711299[73] = 0.0; - out_1773647306661711299[74] = 0.0; - out_1773647306661711299[75] = 0.0; - out_1773647306661711299[76] = 0.0; - out_1773647306661711299[77] = 0.0; - out_1773647306661711299[78] = 0.0; - out_1773647306661711299[79] = 0.0; - out_1773647306661711299[80] = 1.0; +void H_mod_fun(double *state, double *out_4051006717071082906) { + out_4051006717071082906[0] = 1.0; + out_4051006717071082906[1] = 0.0; + out_4051006717071082906[2] = 0.0; + out_4051006717071082906[3] = 0.0; + out_4051006717071082906[4] = 0.0; + out_4051006717071082906[5] = 0.0; + out_4051006717071082906[6] = 0.0; + out_4051006717071082906[7] = 0.0; + out_4051006717071082906[8] = 0.0; + out_4051006717071082906[9] = 0.0; + out_4051006717071082906[10] = 1.0; + out_4051006717071082906[11] = 0.0; + out_4051006717071082906[12] = 0.0; + out_4051006717071082906[13] = 0.0; + out_4051006717071082906[14] = 0.0; + out_4051006717071082906[15] = 0.0; + out_4051006717071082906[16] = 0.0; + out_4051006717071082906[17] = 0.0; + out_4051006717071082906[18] = 0.0; + out_4051006717071082906[19] = 0.0; + out_4051006717071082906[20] = 1.0; + out_4051006717071082906[21] = 0.0; + out_4051006717071082906[22] = 0.0; + out_4051006717071082906[23] = 0.0; + out_4051006717071082906[24] = 0.0; + out_4051006717071082906[25] = 0.0; + out_4051006717071082906[26] = 0.0; + out_4051006717071082906[27] = 0.0; + out_4051006717071082906[28] = 0.0; + out_4051006717071082906[29] = 0.0; + out_4051006717071082906[30] = 1.0; + out_4051006717071082906[31] = 0.0; + out_4051006717071082906[32] = 0.0; + out_4051006717071082906[33] = 0.0; + out_4051006717071082906[34] = 0.0; + out_4051006717071082906[35] = 0.0; + out_4051006717071082906[36] = 0.0; + out_4051006717071082906[37] = 0.0; + out_4051006717071082906[38] = 0.0; + out_4051006717071082906[39] = 0.0; + out_4051006717071082906[40] = 1.0; + out_4051006717071082906[41] = 0.0; + out_4051006717071082906[42] = 0.0; + out_4051006717071082906[43] = 0.0; + out_4051006717071082906[44] = 0.0; + out_4051006717071082906[45] = 0.0; + out_4051006717071082906[46] = 0.0; + out_4051006717071082906[47] = 0.0; + out_4051006717071082906[48] = 0.0; + out_4051006717071082906[49] = 0.0; + out_4051006717071082906[50] = 1.0; + out_4051006717071082906[51] = 0.0; + out_4051006717071082906[52] = 0.0; + out_4051006717071082906[53] = 0.0; + out_4051006717071082906[54] = 0.0; + out_4051006717071082906[55] = 0.0; + out_4051006717071082906[56] = 0.0; + out_4051006717071082906[57] = 0.0; + out_4051006717071082906[58] = 0.0; + out_4051006717071082906[59] = 0.0; + out_4051006717071082906[60] = 1.0; + out_4051006717071082906[61] = 0.0; + out_4051006717071082906[62] = 0.0; + out_4051006717071082906[63] = 0.0; + out_4051006717071082906[64] = 0.0; + out_4051006717071082906[65] = 0.0; + out_4051006717071082906[66] = 0.0; + out_4051006717071082906[67] = 0.0; + out_4051006717071082906[68] = 0.0; + out_4051006717071082906[69] = 0.0; + out_4051006717071082906[70] = 1.0; + out_4051006717071082906[71] = 0.0; + out_4051006717071082906[72] = 0.0; + out_4051006717071082906[73] = 0.0; + out_4051006717071082906[74] = 0.0; + out_4051006717071082906[75] = 0.0; + out_4051006717071082906[76] = 0.0; + out_4051006717071082906[77] = 0.0; + out_4051006717071082906[78] = 0.0; + out_4051006717071082906[79] = 0.0; + out_4051006717071082906[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8265395554005205627) { - out_8265395554005205627[0] = state[0]; - out_8265395554005205627[1] = state[1]; - out_8265395554005205627[2] = state[2]; - out_8265395554005205627[3] = state[3]; - out_8265395554005205627[4] = state[4]; - out_8265395554005205627[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_8265395554005205627[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_8265395554005205627[7] = state[7]; - out_8265395554005205627[8] = state[8]; +void f_fun(double *state, double dt, double *out_3418974710290228612) { + out_3418974710290228612[0] = state[0]; + out_3418974710290228612[1] = state[1]; + out_3418974710290228612[2] = state[2]; + out_3418974710290228612[3] = state[3]; + out_3418974710290228612[4] = state[4]; + out_3418974710290228612[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_3418974710290228612[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_3418974710290228612[7] = state[7]; + out_3418974710290228612[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5121501708015469294) { - out_5121501708015469294[0] = 1; - out_5121501708015469294[1] = 0; - out_5121501708015469294[2] = 0; - out_5121501708015469294[3] = 0; - out_5121501708015469294[4] = 0; - out_5121501708015469294[5] = 0; - out_5121501708015469294[6] = 0; - out_5121501708015469294[7] = 0; - out_5121501708015469294[8] = 0; - out_5121501708015469294[9] = 0; - out_5121501708015469294[10] = 1; - out_5121501708015469294[11] = 0; - out_5121501708015469294[12] = 0; - out_5121501708015469294[13] = 0; - out_5121501708015469294[14] = 0; - out_5121501708015469294[15] = 0; - out_5121501708015469294[16] = 0; - out_5121501708015469294[17] = 0; - out_5121501708015469294[18] = 0; - out_5121501708015469294[19] = 0; - out_5121501708015469294[20] = 1; - out_5121501708015469294[21] = 0; - out_5121501708015469294[22] = 0; - out_5121501708015469294[23] = 0; - out_5121501708015469294[24] = 0; - out_5121501708015469294[25] = 0; - out_5121501708015469294[26] = 0; - out_5121501708015469294[27] = 0; - out_5121501708015469294[28] = 0; - out_5121501708015469294[29] = 0; - out_5121501708015469294[30] = 1; - out_5121501708015469294[31] = 0; - out_5121501708015469294[32] = 0; - out_5121501708015469294[33] = 0; - out_5121501708015469294[34] = 0; - out_5121501708015469294[35] = 0; - out_5121501708015469294[36] = 0; - out_5121501708015469294[37] = 0; - out_5121501708015469294[38] = 0; - out_5121501708015469294[39] = 0; - out_5121501708015469294[40] = 1; - out_5121501708015469294[41] = 0; - out_5121501708015469294[42] = 0; - out_5121501708015469294[43] = 0; - out_5121501708015469294[44] = 0; - out_5121501708015469294[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_5121501708015469294[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5121501708015469294[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_5121501708015469294[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5121501708015469294[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5121501708015469294[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[53] = -9.8100000000000005*dt; - out_5121501708015469294[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_5121501708015469294[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5121501708015469294[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_5121501708015469294[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5121501708015469294[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_5121501708015469294[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[62] = 0; - out_5121501708015469294[63] = 0; - out_5121501708015469294[64] = 0; - out_5121501708015469294[65] = 0; - out_5121501708015469294[66] = 0; - out_5121501708015469294[67] = 0; - out_5121501708015469294[68] = 0; - out_5121501708015469294[69] = 0; - out_5121501708015469294[70] = 1; - out_5121501708015469294[71] = 0; - out_5121501708015469294[72] = 0; - out_5121501708015469294[73] = 0; - out_5121501708015469294[74] = 0; - out_5121501708015469294[75] = 0; - out_5121501708015469294[76] = 0; - out_5121501708015469294[77] = 0; - out_5121501708015469294[78] = 0; - out_5121501708015469294[79] = 0; - out_5121501708015469294[80] = 1; +void F_fun(double *state, double dt, double *out_3699468657963228141) { + out_3699468657963228141[0] = 1; + out_3699468657963228141[1] = 0; + out_3699468657963228141[2] = 0; + out_3699468657963228141[3] = 0; + out_3699468657963228141[4] = 0; + out_3699468657963228141[5] = 0; + out_3699468657963228141[6] = 0; + out_3699468657963228141[7] = 0; + out_3699468657963228141[8] = 0; + out_3699468657963228141[9] = 0; + out_3699468657963228141[10] = 1; + out_3699468657963228141[11] = 0; + out_3699468657963228141[12] = 0; + out_3699468657963228141[13] = 0; + out_3699468657963228141[14] = 0; + out_3699468657963228141[15] = 0; + out_3699468657963228141[16] = 0; + out_3699468657963228141[17] = 0; + out_3699468657963228141[18] = 0; + out_3699468657963228141[19] = 0; + out_3699468657963228141[20] = 1; + out_3699468657963228141[21] = 0; + out_3699468657963228141[22] = 0; + out_3699468657963228141[23] = 0; + out_3699468657963228141[24] = 0; + out_3699468657963228141[25] = 0; + out_3699468657963228141[26] = 0; + out_3699468657963228141[27] = 0; + out_3699468657963228141[28] = 0; + out_3699468657963228141[29] = 0; + out_3699468657963228141[30] = 1; + out_3699468657963228141[31] = 0; + out_3699468657963228141[32] = 0; + out_3699468657963228141[33] = 0; + out_3699468657963228141[34] = 0; + out_3699468657963228141[35] = 0; + out_3699468657963228141[36] = 0; + out_3699468657963228141[37] = 0; + out_3699468657963228141[38] = 0; + out_3699468657963228141[39] = 0; + out_3699468657963228141[40] = 1; + out_3699468657963228141[41] = 0; + out_3699468657963228141[42] = 0; + out_3699468657963228141[43] = 0; + out_3699468657963228141[44] = 0; + out_3699468657963228141[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_3699468657963228141[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3699468657963228141[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3699468657963228141[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3699468657963228141[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_3699468657963228141[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3699468657963228141[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3699468657963228141[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3699468657963228141[53] = -9.8100000000000005*dt; + out_3699468657963228141[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_3699468657963228141[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3699468657963228141[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3699468657963228141[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3699468657963228141[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_3699468657963228141[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3699468657963228141[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_3699468657963228141[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3699468657963228141[62] = 0; + out_3699468657963228141[63] = 0; + out_3699468657963228141[64] = 0; + out_3699468657963228141[65] = 0; + out_3699468657963228141[66] = 0; + out_3699468657963228141[67] = 0; + out_3699468657963228141[68] = 0; + out_3699468657963228141[69] = 0; + out_3699468657963228141[70] = 1; + out_3699468657963228141[71] = 0; + out_3699468657963228141[72] = 0; + out_3699468657963228141[73] = 0; + out_3699468657963228141[74] = 0; + out_3699468657963228141[75] = 0; + out_3699468657963228141[76] = 0; + out_3699468657963228141[77] = 0; + out_3699468657963228141[78] = 0; + out_3699468657963228141[79] = 0; + out_3699468657963228141[80] = 1; } -void h_25(double *state, double *unused, double *out_1871114119926472838) { - out_1871114119926472838[0] = state[6]; +void h_25(double *state, double *unused, double *out_7881868868211418241) { + out_7881868868211418241[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1749401331983653849) { - out_1749401331983653849[0] = 0; - out_1749401331983653849[1] = 0; - out_1749401331983653849[2] = 0; - out_1749401331983653849[3] = 0; - out_1749401331983653849[4] = 0; - out_1749401331983653849[5] = 0; - out_1749401331983653849[6] = 1; - out_1749401331983653849[7] = 0; - out_1749401331983653849[8] = 0; +void H_25(double *state, double *unused, double *out_7573987367060574583) { + out_7573987367060574583[0] = 0; + out_7573987367060574583[1] = 0; + out_7573987367060574583[2] = 0; + out_7573987367060574583[3] = 0; + out_7573987367060574583[4] = 0; + out_7573987367060574583[5] = 0; + out_7573987367060574583[6] = 1; + out_7573987367060574583[7] = 0; + out_7573987367060574583[8] = 0; } -void h_24(double *state, double *unused, double *out_4177328874243606255) { - out_4177328874243606255[0] = state[4]; - out_4177328874243606255[1] = state[5]; +void h_24(double *state, double *unused, double *out_6965493433416690101) { + out_6965493433416690101[0] = state[4]; + out_6965493433416690101[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1808524266818669287) { - out_1808524266818669287[0] = 0; - out_1808524266818669287[1] = 0; - out_1808524266818669287[2] = 0; - out_1808524266818669287[3] = 0; - out_1808524266818669287[4] = 1; - out_1808524266818669287[5] = 0; - out_1808524266818669287[6] = 0; - out_1808524266818669287[7] = 0; - out_1808524266818669287[8] = 0; - out_1808524266818669287[9] = 0; - out_1808524266818669287[10] = 0; - out_1808524266818669287[11] = 0; - out_1808524266818669287[12] = 0; - out_1808524266818669287[13] = 0; - out_1808524266818669287[14] = 1; - out_1808524266818669287[15] = 0; - out_1808524266818669287[16] = 0; - out_1808524266818669287[17] = 0; +void H_24(double *state, double *unused, double *out_7314831107846653897) { + out_7314831107846653897[0] = 0; + out_7314831107846653897[1] = 0; + out_7314831107846653897[2] = 0; + out_7314831107846653897[3] = 0; + out_7314831107846653897[4] = 1; + out_7314831107846653897[5] = 0; + out_7314831107846653897[6] = 0; + out_7314831107846653897[7] = 0; + out_7314831107846653897[8] = 0; + out_7314831107846653897[9] = 0; + out_7314831107846653897[10] = 0; + out_7314831107846653897[11] = 0; + out_7314831107846653897[12] = 0; + out_7314831107846653897[13] = 0; + out_7314831107846653897[14] = 1; + out_7314831107846653897[15] = 0; + out_7314831107846653897[16] = 0; + out_7314831107846653897[17] = 0; } -void h_30(double *state, double *unused, double *out_6625546561337267154) { - out_6625546561337267154[0] = state[4]; +void h_30(double *state, double *unused, double *out_5527754398725254445) { + out_5527754398725254445[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5167289009507962906) { - out_5167289009507962906[0] = 0; - out_5167289009507962906[1] = 0; - out_5167289009507962906[2] = 0; - out_5167289009507962906[3] = 0; - out_5167289009507962906[4] = 1; - out_5167289009507962906[5] = 0; - out_5167289009507962906[6] = 0; - out_5167289009507962906[7] = 0; - out_5167289009507962906[8] = 0; +void H_30(double *state, double *unused, double *out_8354423748141728406) { + out_8354423748141728406[0] = 0; + out_8354423748141728406[1] = 0; + out_8354423748141728406[2] = 0; + out_8354423748141728406[3] = 0; + out_8354423748141728406[4] = 1; + out_8354423748141728406[5] = 0; + out_8354423748141728406[6] = 0; + out_8354423748141728406[7] = 0; + out_8354423748141728406[8] = 0; } -void h_26(double *state, double *unused, double *out_8545349699624827873) { - out_8545349699624827873[0] = state[7]; +void h_26(double *state, double *unused, double *out_4047826294150907485) { + out_4047826294150907485[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5490904650857710073) { - out_5490904650857710073[0] = 0; - out_5490904650857710073[1] = 0; - out_5490904650857710073[2] = 0; - out_5490904650857710073[3] = 0; - out_5490904650857710073[4] = 0; - out_5490904650857710073[5] = 0; - out_5490904650857710073[6] = 0; - out_5490904650857710073[7] = 1; - out_5490904650857710073[8] = 0; +void H_26(double *state, double *unused, double *out_3832484048186518359) { + out_3832484048186518359[0] = 0; + out_3832484048186518359[1] = 0; + out_3832484048186518359[2] = 0; + out_3832484048186518359[3] = 0; + out_3832484048186518359[4] = 0; + out_3832484048186518359[5] = 0; + out_3832484048186518359[6] = 0; + out_3832484048186518359[7] = 1; + out_3832484048186518359[8] = 0; } -void h_27(double *state, double *unused, double *out_3470753115959557725) { - out_3470753115959557725[0] = state[3]; +void h_27(double *state, double *unused, double *out_7960469884689435724) { + out_7960469884689435724[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2992525697707537995) { - out_2992525697707537995[0] = 0; - out_2992525697707537995[1] = 0; - out_2992525697707537995[2] = 0; - out_2992525697707537995[3] = 1; - out_2992525697707537995[4] = 0; - out_2992525697707537995[5] = 0; - out_2992525697707537995[6] = 0; - out_2992525697707537995[7] = 0; - out_2992525697707537995[8] = 0; +void H_27(double *state, double *unused, double *out_6130829676957785189) { + out_6130829676957785189[0] = 0; + out_6130829676957785189[1] = 0; + out_6130829676957785189[2] = 0; + out_6130829676957785189[3] = 1; + out_6130829676957785189[4] = 0; + out_6130829676957785189[5] = 0; + out_6130829676957785189[6] = 0; + out_6130829676957785189[7] = 0; + out_6130829676957785189[8] = 0; } -void h_29(double *state, double *unused, double *out_7569056414238929589) { - out_7569056414238929589[0] = state[1]; +void h_29(double *state, double *unused, double *out_4330826993179455763) { + out_4330826993179455763[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1279162970837986962) { - out_1279162970837986962[0] = 0; - out_1279162970837986962[1] = 1; - out_1279162970837986962[2] = 0; - out_1279162970837986962[3] = 0; - out_1279162970837986962[4] = 0; - out_1279162970837986962[5] = 0; - out_1279162970837986962[6] = 0; - out_1279162970837986962[7] = 0; - out_1279162970837986962[8] = 0; +void H_29(double *state, double *unused, double *out_7844192403827336222) { + out_7844192403827336222[0] = 0; + out_7844192403827336222[1] = 1; + out_7844192403827336222[2] = 0; + out_7844192403827336222[3] = 0; + out_7844192403827336222[4] = 0; + out_7844192403827336222[5] = 0; + out_7844192403827336222[6] = 0; + out_7844192403827336222[7] = 0; + out_7844192403827336222[8] = 0; } -void h_28(double *state, double *unused, double *out_6507539167403890410) { - out_6507539167403890410[0] = state[0]; +void h_28(double *state, double *unused, double *out_8563785769365913241) { + out_8563785769365913241[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3803236046231543612) { - out_3803236046231543612[0] = 1; - out_3803236046231543612[1] = 0; - out_3803236046231543612[2] = 0; - out_3803236046231543612[3] = 0; - out_3803236046231543612[4] = 0; - out_3803236046231543612[5] = 0; - out_3803236046231543612[6] = 0; - out_3803236046231543612[7] = 0; - out_3803236046231543612[8] = 0; +void H_28(double *state, double *unused, double *out_5520152652812684820) { + out_5520152652812684820[0] = 1; + out_5520152652812684820[1] = 0; + out_5520152652812684820[2] = 0; + out_5520152652812684820[3] = 0; + out_5520152652812684820[4] = 0; + out_5520152652812684820[5] = 0; + out_5520152652812684820[6] = 0; + out_5520152652812684820[7] = 0; + out_5520152652812684820[8] = 0; } -void h_31(double *state, double *unused, double *out_5594040852719868954) { - out_5594040852719868954[0] = state[8]; +void h_31(double *state, double *unused, double *out_6703191729069631723) { + out_6703191729069631723[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1718755370106693421) { - out_1718755370106693421[0] = 0; - out_1718755370106693421[1] = 0; - out_1718755370106693421[2] = 0; - out_1718755370106693421[3] = 0; - out_1718755370106693421[4] = 0; - out_1718755370106693421[5] = 0; - out_1718755370106693421[6] = 0; - out_1718755370106693421[7] = 0; - out_1718755370106693421[8] = 1; +void H_31(double *state, double *unused, double *out_7604633328937535011) { + out_7604633328937535011[0] = 0; + out_7604633328937535011[1] = 0; + out_7604633328937535011[2] = 0; + out_7604633328937535011[3] = 0; + out_7604633328937535011[4] = 0; + out_7604633328937535011[5] = 0; + out_7604633328937535011[6] = 0; + out_7604633328937535011[7] = 0; + out_7604633328937535011[8] = 1; } #include #include @@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); } -void car_err_fun(double *nom_x, double *delta_x, double *out_3329877133651101623) { - err_fun(nom_x, delta_x, out_3329877133651101623); +void car_err_fun(double *nom_x, double *delta_x, double *out_6104712207101523759) { + err_fun(nom_x, delta_x, out_6104712207101523759); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) { - inv_err_fun(nom_x, true_x, out_7760882190653564987); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4901417542031613009) { + inv_err_fun(nom_x, true_x, out_4901417542031613009); } -void car_H_mod_fun(double *state, double *out_1773647306661711299) { - H_mod_fun(state, out_1773647306661711299); +void car_H_mod_fun(double *state, double *out_4051006717071082906) { + H_mod_fun(state, out_4051006717071082906); } -void car_f_fun(double *state, double dt, double *out_8265395554005205627) { - f_fun(state, dt, out_8265395554005205627); +void car_f_fun(double *state, double dt, double *out_3418974710290228612) { + f_fun(state, dt, out_3418974710290228612); } -void car_F_fun(double *state, double dt, double *out_5121501708015469294) { - F_fun(state, dt, out_5121501708015469294); +void car_F_fun(double *state, double dt, double *out_3699468657963228141) { + F_fun(state, dt, out_3699468657963228141); } -void car_h_25(double *state, double *unused, double *out_1871114119926472838) { - h_25(state, unused, out_1871114119926472838); +void car_h_25(double *state, double *unused, double *out_7881868868211418241) { + h_25(state, unused, out_7881868868211418241); } -void car_H_25(double *state, double *unused, double *out_1749401331983653849) { - H_25(state, unused, out_1749401331983653849); +void car_H_25(double *state, double *unused, double *out_7573987367060574583) { + H_25(state, unused, out_7573987367060574583); } -void car_h_24(double *state, double *unused, double *out_4177328874243606255) { - h_24(state, unused, out_4177328874243606255); +void car_h_24(double *state, double *unused, double *out_6965493433416690101) { + h_24(state, unused, out_6965493433416690101); } -void car_H_24(double *state, double *unused, double *out_1808524266818669287) { - H_24(state, unused, out_1808524266818669287); +void car_H_24(double *state, double *unused, double *out_7314831107846653897) { + H_24(state, unused, out_7314831107846653897); } -void car_h_30(double *state, double *unused, double *out_6625546561337267154) { - h_30(state, unused, out_6625546561337267154); +void car_h_30(double *state, double *unused, double *out_5527754398725254445) { + h_30(state, unused, out_5527754398725254445); } -void car_H_30(double *state, double *unused, double *out_5167289009507962906) { - H_30(state, unused, out_5167289009507962906); +void car_H_30(double *state, double *unused, double *out_8354423748141728406) { + H_30(state, unused, out_8354423748141728406); } -void car_h_26(double *state, double *unused, double *out_8545349699624827873) { - h_26(state, unused, out_8545349699624827873); +void car_h_26(double *state, double *unused, double *out_4047826294150907485) { + h_26(state, unused, out_4047826294150907485); } -void car_H_26(double *state, double *unused, double *out_5490904650857710073) { - H_26(state, unused, out_5490904650857710073); +void car_H_26(double *state, double *unused, double *out_3832484048186518359) { + H_26(state, unused, out_3832484048186518359); } -void car_h_27(double *state, double *unused, double *out_3470753115959557725) { - h_27(state, unused, out_3470753115959557725); +void car_h_27(double *state, double *unused, double *out_7960469884689435724) { + h_27(state, unused, out_7960469884689435724); } -void car_H_27(double *state, double *unused, double *out_2992525697707537995) { - H_27(state, unused, out_2992525697707537995); +void car_H_27(double *state, double *unused, double *out_6130829676957785189) { + H_27(state, unused, out_6130829676957785189); } -void car_h_29(double *state, double *unused, double *out_7569056414238929589) { - h_29(state, unused, out_7569056414238929589); +void car_h_29(double *state, double *unused, double *out_4330826993179455763) { + h_29(state, unused, out_4330826993179455763); } -void car_H_29(double *state, double *unused, double *out_1279162970837986962) { - H_29(state, unused, out_1279162970837986962); +void car_H_29(double *state, double *unused, double *out_7844192403827336222) { + H_29(state, unused, out_7844192403827336222); } -void car_h_28(double *state, double *unused, double *out_6507539167403890410) { - h_28(state, unused, out_6507539167403890410); +void car_h_28(double *state, double *unused, double *out_8563785769365913241) { + h_28(state, unused, out_8563785769365913241); } -void car_H_28(double *state, double *unused, double *out_3803236046231543612) { - H_28(state, unused, out_3803236046231543612); +void car_H_28(double *state, double *unused, double *out_5520152652812684820) { + H_28(state, unused, out_5520152652812684820); } -void car_h_31(double *state, double *unused, double *out_5594040852719868954) { - h_31(state, unused, out_5594040852719868954); +void car_h_31(double *state, double *unused, double *out_6703191729069631723) { + h_31(state, unused, out_6703191729069631723); } -void car_H_31(double *state, double *unused, double *out_1718755370106693421) { - H_31(state, unused, out_1718755370106693421); +void car_H_31(double *state, double *unused, double *out_7604633328937535011) { + H_31(state, unused, out_7604633328937535011); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index 5b9d4a4b7..9c95269b8 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_3329877133651101623); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987); -void car_H_mod_fun(double *state, double *out_1773647306661711299); -void car_f_fun(double *state, double dt, double *out_8265395554005205627); -void car_F_fun(double *state, double dt, double *out_5121501708015469294); -void car_h_25(double *state, double *unused, double *out_1871114119926472838); -void car_H_25(double *state, double *unused, double *out_1749401331983653849); -void car_h_24(double *state, double *unused, double *out_4177328874243606255); -void car_H_24(double *state, double *unused, double *out_1808524266818669287); -void car_h_30(double *state, double *unused, double *out_6625546561337267154); -void car_H_30(double *state, double *unused, double *out_5167289009507962906); -void car_h_26(double *state, double *unused, double *out_8545349699624827873); -void car_H_26(double *state, double *unused, double *out_5490904650857710073); -void car_h_27(double *state, double *unused, double *out_3470753115959557725); -void car_H_27(double *state, double *unused, double *out_2992525697707537995); -void car_h_29(double *state, double *unused, double *out_7569056414238929589); -void car_H_29(double *state, double *unused, double *out_1279162970837986962); -void car_h_28(double *state, double *unused, double *out_6507539167403890410); -void car_H_28(double *state, double *unused, double *out_3803236046231543612); -void car_h_31(double *state, double *unused, double *out_5594040852719868954); -void car_H_31(double *state, double *unused, double *out_1718755370106693421); +void car_err_fun(double *nom_x, double *delta_x, double *out_6104712207101523759); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4901417542031613009); +void car_H_mod_fun(double *state, double *out_4051006717071082906); +void car_f_fun(double *state, double dt, double *out_3418974710290228612); +void car_F_fun(double *state, double dt, double *out_3699468657963228141); +void car_h_25(double *state, double *unused, double *out_7881868868211418241); +void car_H_25(double *state, double *unused, double *out_7573987367060574583); +void car_h_24(double *state, double *unused, double *out_6965493433416690101); +void car_H_24(double *state, double *unused, double *out_7314831107846653897); +void car_h_30(double *state, double *unused, double *out_5527754398725254445); +void car_H_30(double *state, double *unused, double *out_8354423748141728406); +void car_h_26(double *state, double *unused, double *out_4047826294150907485); +void car_H_26(double *state, double *unused, double *out_3832484048186518359); +void car_h_27(double *state, double *unused, double *out_7960469884689435724); +void car_H_27(double *state, double *unused, double *out_6130829676957785189); +void car_h_29(double *state, double *unused, double *out_4330826993179455763); +void car_H_29(double *state, double *unused, double *out_7844192403827336222); +void car_h_28(double *state, double *unused, double *out_8563785769365913241); +void car_H_28(double *state, double *unused, double *out_5520152652812684820); +void car_h_31(double *state, double *unused, double *out_6703191729069631723); +void car_H_31(double *state, double *unused, double *out_7604633328937535011); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 87bcfb442..86097a7d5 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_2803054085873220166) { - out_2803054085873220166[0] = delta_x[0] + nom_x[0]; - out_2803054085873220166[1] = delta_x[1] + nom_x[1]; - out_2803054085873220166[2] = delta_x[2] + nom_x[2]; - out_2803054085873220166[3] = delta_x[3] + nom_x[3]; - out_2803054085873220166[4] = delta_x[4] + nom_x[4]; - out_2803054085873220166[5] = delta_x[5] + nom_x[5]; - out_2803054085873220166[6] = delta_x[6] + nom_x[6]; - out_2803054085873220166[7] = delta_x[7] + nom_x[7]; - out_2803054085873220166[8] = delta_x[8] + nom_x[8]; - out_2803054085873220166[9] = delta_x[9] + nom_x[9]; - out_2803054085873220166[10] = delta_x[10] + nom_x[10]; - out_2803054085873220166[11] = delta_x[11] + nom_x[11]; - out_2803054085873220166[12] = delta_x[12] + nom_x[12]; - out_2803054085873220166[13] = delta_x[13] + nom_x[13]; - out_2803054085873220166[14] = delta_x[14] + nom_x[14]; - out_2803054085873220166[15] = delta_x[15] + nom_x[15]; - out_2803054085873220166[16] = delta_x[16] + nom_x[16]; - out_2803054085873220166[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7616755969345465164) { + out_7616755969345465164[0] = delta_x[0] + nom_x[0]; + out_7616755969345465164[1] = delta_x[1] + nom_x[1]; + out_7616755969345465164[2] = delta_x[2] + nom_x[2]; + out_7616755969345465164[3] = delta_x[3] + nom_x[3]; + out_7616755969345465164[4] = delta_x[4] + nom_x[4]; + out_7616755969345465164[5] = delta_x[5] + nom_x[5]; + out_7616755969345465164[6] = delta_x[6] + nom_x[6]; + out_7616755969345465164[7] = delta_x[7] + nom_x[7]; + out_7616755969345465164[8] = delta_x[8] + nom_x[8]; + out_7616755969345465164[9] = delta_x[9] + nom_x[9]; + out_7616755969345465164[10] = delta_x[10] + nom_x[10]; + out_7616755969345465164[11] = delta_x[11] + nom_x[11]; + out_7616755969345465164[12] = delta_x[12] + nom_x[12]; + out_7616755969345465164[13] = delta_x[13] + nom_x[13]; + out_7616755969345465164[14] = delta_x[14] + nom_x[14]; + out_7616755969345465164[15] = delta_x[15] + nom_x[15]; + out_7616755969345465164[16] = delta_x[16] + nom_x[16]; + out_7616755969345465164[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541) { - out_870718263858356541[0] = -nom_x[0] + true_x[0]; - out_870718263858356541[1] = -nom_x[1] + true_x[1]; - out_870718263858356541[2] = -nom_x[2] + true_x[2]; - out_870718263858356541[3] = -nom_x[3] + true_x[3]; - out_870718263858356541[4] = -nom_x[4] + true_x[4]; - out_870718263858356541[5] = -nom_x[5] + true_x[5]; - out_870718263858356541[6] = -nom_x[6] + true_x[6]; - out_870718263858356541[7] = -nom_x[7] + true_x[7]; - out_870718263858356541[8] = -nom_x[8] + true_x[8]; - out_870718263858356541[9] = -nom_x[9] + true_x[9]; - out_870718263858356541[10] = -nom_x[10] + true_x[10]; - out_870718263858356541[11] = -nom_x[11] + true_x[11]; - out_870718263858356541[12] = -nom_x[12] + true_x[12]; - out_870718263858356541[13] = -nom_x[13] + true_x[13]; - out_870718263858356541[14] = -nom_x[14] + true_x[14]; - out_870718263858356541[15] = -nom_x[15] + true_x[15]; - out_870718263858356541[16] = -nom_x[16] + true_x[16]; - out_870718263858356541[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2983579217144166569) { + out_2983579217144166569[0] = -nom_x[0] + true_x[0]; + out_2983579217144166569[1] = -nom_x[1] + true_x[1]; + out_2983579217144166569[2] = -nom_x[2] + true_x[2]; + out_2983579217144166569[3] = -nom_x[3] + true_x[3]; + out_2983579217144166569[4] = -nom_x[4] + true_x[4]; + out_2983579217144166569[5] = -nom_x[5] + true_x[5]; + out_2983579217144166569[6] = -nom_x[6] + true_x[6]; + out_2983579217144166569[7] = -nom_x[7] + true_x[7]; + out_2983579217144166569[8] = -nom_x[8] + true_x[8]; + out_2983579217144166569[9] = -nom_x[9] + true_x[9]; + out_2983579217144166569[10] = -nom_x[10] + true_x[10]; + out_2983579217144166569[11] = -nom_x[11] + true_x[11]; + out_2983579217144166569[12] = -nom_x[12] + true_x[12]; + out_2983579217144166569[13] = -nom_x[13] + true_x[13]; + out_2983579217144166569[14] = -nom_x[14] + true_x[14]; + out_2983579217144166569[15] = -nom_x[15] + true_x[15]; + out_2983579217144166569[16] = -nom_x[16] + true_x[16]; + out_2983579217144166569[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_245560868528396178) { - out_245560868528396178[0] = 1.0; - out_245560868528396178[1] = 0.0; - out_245560868528396178[2] = 0.0; - out_245560868528396178[3] = 0.0; - out_245560868528396178[4] = 0.0; - out_245560868528396178[5] = 0.0; - out_245560868528396178[6] = 0.0; - out_245560868528396178[7] = 0.0; - out_245560868528396178[8] = 0.0; - out_245560868528396178[9] = 0.0; - out_245560868528396178[10] = 0.0; - out_245560868528396178[11] = 0.0; - out_245560868528396178[12] = 0.0; - out_245560868528396178[13] = 0.0; - out_245560868528396178[14] = 0.0; - out_245560868528396178[15] = 0.0; - out_245560868528396178[16] = 0.0; - out_245560868528396178[17] = 0.0; - out_245560868528396178[18] = 0.0; - out_245560868528396178[19] = 1.0; - out_245560868528396178[20] = 0.0; - out_245560868528396178[21] = 0.0; - out_245560868528396178[22] = 0.0; - out_245560868528396178[23] = 0.0; - out_245560868528396178[24] = 0.0; - out_245560868528396178[25] = 0.0; - out_245560868528396178[26] = 0.0; - out_245560868528396178[27] = 0.0; - out_245560868528396178[28] = 0.0; - out_245560868528396178[29] = 0.0; - out_245560868528396178[30] = 0.0; - out_245560868528396178[31] = 0.0; - out_245560868528396178[32] = 0.0; - out_245560868528396178[33] = 0.0; - out_245560868528396178[34] = 0.0; - out_245560868528396178[35] = 0.0; - out_245560868528396178[36] = 0.0; - out_245560868528396178[37] = 0.0; - out_245560868528396178[38] = 1.0; - out_245560868528396178[39] = 0.0; - out_245560868528396178[40] = 0.0; - out_245560868528396178[41] = 0.0; - out_245560868528396178[42] = 0.0; - out_245560868528396178[43] = 0.0; - out_245560868528396178[44] = 0.0; - out_245560868528396178[45] = 0.0; - out_245560868528396178[46] = 0.0; - out_245560868528396178[47] = 0.0; - out_245560868528396178[48] = 0.0; - out_245560868528396178[49] = 0.0; - out_245560868528396178[50] = 0.0; - out_245560868528396178[51] = 0.0; - out_245560868528396178[52] = 0.0; - out_245560868528396178[53] = 0.0; - out_245560868528396178[54] = 0.0; - out_245560868528396178[55] = 0.0; - out_245560868528396178[56] = 0.0; - out_245560868528396178[57] = 1.0; - out_245560868528396178[58] = 0.0; - out_245560868528396178[59] = 0.0; - out_245560868528396178[60] = 0.0; - out_245560868528396178[61] = 0.0; - out_245560868528396178[62] = 0.0; - out_245560868528396178[63] = 0.0; - out_245560868528396178[64] = 0.0; - out_245560868528396178[65] = 0.0; - out_245560868528396178[66] = 0.0; - out_245560868528396178[67] = 0.0; - out_245560868528396178[68] = 0.0; - out_245560868528396178[69] = 0.0; - out_245560868528396178[70] = 0.0; - out_245560868528396178[71] = 0.0; - out_245560868528396178[72] = 0.0; - out_245560868528396178[73] = 0.0; - out_245560868528396178[74] = 0.0; - out_245560868528396178[75] = 0.0; - out_245560868528396178[76] = 1.0; - out_245560868528396178[77] = 0.0; - out_245560868528396178[78] = 0.0; - out_245560868528396178[79] = 0.0; - out_245560868528396178[80] = 0.0; - out_245560868528396178[81] = 0.0; - out_245560868528396178[82] = 0.0; - out_245560868528396178[83] = 0.0; - out_245560868528396178[84] = 0.0; - out_245560868528396178[85] = 0.0; - out_245560868528396178[86] = 0.0; - out_245560868528396178[87] = 0.0; - out_245560868528396178[88] = 0.0; - out_245560868528396178[89] = 0.0; - out_245560868528396178[90] = 0.0; - out_245560868528396178[91] = 0.0; - out_245560868528396178[92] = 0.0; - out_245560868528396178[93] = 0.0; - out_245560868528396178[94] = 0.0; - out_245560868528396178[95] = 1.0; - out_245560868528396178[96] = 0.0; - out_245560868528396178[97] = 0.0; - out_245560868528396178[98] = 0.0; - out_245560868528396178[99] = 0.0; - out_245560868528396178[100] = 0.0; - out_245560868528396178[101] = 0.0; - out_245560868528396178[102] = 0.0; - out_245560868528396178[103] = 0.0; - out_245560868528396178[104] = 0.0; - out_245560868528396178[105] = 0.0; - out_245560868528396178[106] = 0.0; - out_245560868528396178[107] = 0.0; - out_245560868528396178[108] = 0.0; - out_245560868528396178[109] = 0.0; - out_245560868528396178[110] = 0.0; - out_245560868528396178[111] = 0.0; - out_245560868528396178[112] = 0.0; - out_245560868528396178[113] = 0.0; - out_245560868528396178[114] = 1.0; - out_245560868528396178[115] = 0.0; - out_245560868528396178[116] = 0.0; - out_245560868528396178[117] = 0.0; - out_245560868528396178[118] = 0.0; - out_245560868528396178[119] = 0.0; - out_245560868528396178[120] = 0.0; - out_245560868528396178[121] = 0.0; - out_245560868528396178[122] = 0.0; - out_245560868528396178[123] = 0.0; - out_245560868528396178[124] = 0.0; - out_245560868528396178[125] = 0.0; - out_245560868528396178[126] = 0.0; - out_245560868528396178[127] = 0.0; - out_245560868528396178[128] = 0.0; - out_245560868528396178[129] = 0.0; - out_245560868528396178[130] = 0.0; - out_245560868528396178[131] = 0.0; - out_245560868528396178[132] = 0.0; - out_245560868528396178[133] = 1.0; - out_245560868528396178[134] = 0.0; - out_245560868528396178[135] = 0.0; - out_245560868528396178[136] = 0.0; - out_245560868528396178[137] = 0.0; - out_245560868528396178[138] = 0.0; - out_245560868528396178[139] = 0.0; - out_245560868528396178[140] = 0.0; - out_245560868528396178[141] = 0.0; - out_245560868528396178[142] = 0.0; - out_245560868528396178[143] = 0.0; - out_245560868528396178[144] = 0.0; - out_245560868528396178[145] = 0.0; - out_245560868528396178[146] = 0.0; - out_245560868528396178[147] = 0.0; - out_245560868528396178[148] = 0.0; - out_245560868528396178[149] = 0.0; - out_245560868528396178[150] = 0.0; - out_245560868528396178[151] = 0.0; - out_245560868528396178[152] = 1.0; - out_245560868528396178[153] = 0.0; - out_245560868528396178[154] = 0.0; - out_245560868528396178[155] = 0.0; - out_245560868528396178[156] = 0.0; - out_245560868528396178[157] = 0.0; - out_245560868528396178[158] = 0.0; - out_245560868528396178[159] = 0.0; - out_245560868528396178[160] = 0.0; - out_245560868528396178[161] = 0.0; - out_245560868528396178[162] = 0.0; - out_245560868528396178[163] = 0.0; - out_245560868528396178[164] = 0.0; - out_245560868528396178[165] = 0.0; - out_245560868528396178[166] = 0.0; - out_245560868528396178[167] = 0.0; - out_245560868528396178[168] = 0.0; - out_245560868528396178[169] = 0.0; - out_245560868528396178[170] = 0.0; - out_245560868528396178[171] = 1.0; - out_245560868528396178[172] = 0.0; - out_245560868528396178[173] = 0.0; - out_245560868528396178[174] = 0.0; - out_245560868528396178[175] = 0.0; - out_245560868528396178[176] = 0.0; - out_245560868528396178[177] = 0.0; - out_245560868528396178[178] = 0.0; - out_245560868528396178[179] = 0.0; - out_245560868528396178[180] = 0.0; - out_245560868528396178[181] = 0.0; - out_245560868528396178[182] = 0.0; - out_245560868528396178[183] = 0.0; - out_245560868528396178[184] = 0.0; - out_245560868528396178[185] = 0.0; - out_245560868528396178[186] = 0.0; - out_245560868528396178[187] = 0.0; - out_245560868528396178[188] = 0.0; - out_245560868528396178[189] = 0.0; - out_245560868528396178[190] = 1.0; - out_245560868528396178[191] = 0.0; - out_245560868528396178[192] = 0.0; - out_245560868528396178[193] = 0.0; - out_245560868528396178[194] = 0.0; - out_245560868528396178[195] = 0.0; - out_245560868528396178[196] = 0.0; - out_245560868528396178[197] = 0.0; - out_245560868528396178[198] = 0.0; - out_245560868528396178[199] = 0.0; - out_245560868528396178[200] = 0.0; - out_245560868528396178[201] = 0.0; - out_245560868528396178[202] = 0.0; - out_245560868528396178[203] = 0.0; - out_245560868528396178[204] = 0.0; - out_245560868528396178[205] = 0.0; - out_245560868528396178[206] = 0.0; - out_245560868528396178[207] = 0.0; - out_245560868528396178[208] = 0.0; - out_245560868528396178[209] = 1.0; - out_245560868528396178[210] = 0.0; - out_245560868528396178[211] = 0.0; - out_245560868528396178[212] = 0.0; - out_245560868528396178[213] = 0.0; - out_245560868528396178[214] = 0.0; - out_245560868528396178[215] = 0.0; - out_245560868528396178[216] = 0.0; - out_245560868528396178[217] = 0.0; - out_245560868528396178[218] = 0.0; - out_245560868528396178[219] = 0.0; - out_245560868528396178[220] = 0.0; - out_245560868528396178[221] = 0.0; - out_245560868528396178[222] = 0.0; - out_245560868528396178[223] = 0.0; - out_245560868528396178[224] = 0.0; - out_245560868528396178[225] = 0.0; - out_245560868528396178[226] = 0.0; - out_245560868528396178[227] = 0.0; - out_245560868528396178[228] = 1.0; - out_245560868528396178[229] = 0.0; - out_245560868528396178[230] = 0.0; - out_245560868528396178[231] = 0.0; - out_245560868528396178[232] = 0.0; - out_245560868528396178[233] = 0.0; - out_245560868528396178[234] = 0.0; - out_245560868528396178[235] = 0.0; - out_245560868528396178[236] = 0.0; - out_245560868528396178[237] = 0.0; - out_245560868528396178[238] = 0.0; - out_245560868528396178[239] = 0.0; - out_245560868528396178[240] = 0.0; - out_245560868528396178[241] = 0.0; - out_245560868528396178[242] = 0.0; - out_245560868528396178[243] = 0.0; - out_245560868528396178[244] = 0.0; - out_245560868528396178[245] = 0.0; - out_245560868528396178[246] = 0.0; - out_245560868528396178[247] = 1.0; - out_245560868528396178[248] = 0.0; - out_245560868528396178[249] = 0.0; - out_245560868528396178[250] = 0.0; - out_245560868528396178[251] = 0.0; - out_245560868528396178[252] = 0.0; - out_245560868528396178[253] = 0.0; - out_245560868528396178[254] = 0.0; - out_245560868528396178[255] = 0.0; - out_245560868528396178[256] = 0.0; - out_245560868528396178[257] = 0.0; - out_245560868528396178[258] = 0.0; - out_245560868528396178[259] = 0.0; - out_245560868528396178[260] = 0.0; - out_245560868528396178[261] = 0.0; - out_245560868528396178[262] = 0.0; - out_245560868528396178[263] = 0.0; - out_245560868528396178[264] = 0.0; - out_245560868528396178[265] = 0.0; - out_245560868528396178[266] = 1.0; - out_245560868528396178[267] = 0.0; - out_245560868528396178[268] = 0.0; - out_245560868528396178[269] = 0.0; - out_245560868528396178[270] = 0.0; - out_245560868528396178[271] = 0.0; - out_245560868528396178[272] = 0.0; - out_245560868528396178[273] = 0.0; - out_245560868528396178[274] = 0.0; - out_245560868528396178[275] = 0.0; - out_245560868528396178[276] = 0.0; - out_245560868528396178[277] = 0.0; - out_245560868528396178[278] = 0.0; - out_245560868528396178[279] = 0.0; - out_245560868528396178[280] = 0.0; - out_245560868528396178[281] = 0.0; - out_245560868528396178[282] = 0.0; - out_245560868528396178[283] = 0.0; - out_245560868528396178[284] = 0.0; - out_245560868528396178[285] = 1.0; - out_245560868528396178[286] = 0.0; - out_245560868528396178[287] = 0.0; - out_245560868528396178[288] = 0.0; - out_245560868528396178[289] = 0.0; - out_245560868528396178[290] = 0.0; - out_245560868528396178[291] = 0.0; - out_245560868528396178[292] = 0.0; - out_245560868528396178[293] = 0.0; - out_245560868528396178[294] = 0.0; - out_245560868528396178[295] = 0.0; - out_245560868528396178[296] = 0.0; - out_245560868528396178[297] = 0.0; - out_245560868528396178[298] = 0.0; - out_245560868528396178[299] = 0.0; - out_245560868528396178[300] = 0.0; - out_245560868528396178[301] = 0.0; - out_245560868528396178[302] = 0.0; - out_245560868528396178[303] = 0.0; - out_245560868528396178[304] = 1.0; - out_245560868528396178[305] = 0.0; - out_245560868528396178[306] = 0.0; - out_245560868528396178[307] = 0.0; - out_245560868528396178[308] = 0.0; - out_245560868528396178[309] = 0.0; - out_245560868528396178[310] = 0.0; - out_245560868528396178[311] = 0.0; - out_245560868528396178[312] = 0.0; - out_245560868528396178[313] = 0.0; - out_245560868528396178[314] = 0.0; - out_245560868528396178[315] = 0.0; - out_245560868528396178[316] = 0.0; - out_245560868528396178[317] = 0.0; - out_245560868528396178[318] = 0.0; - out_245560868528396178[319] = 0.0; - out_245560868528396178[320] = 0.0; - out_245560868528396178[321] = 0.0; - out_245560868528396178[322] = 0.0; - out_245560868528396178[323] = 1.0; +void H_mod_fun(double *state, double *out_7561037298851331177) { + out_7561037298851331177[0] = 1.0; + out_7561037298851331177[1] = 0.0; + out_7561037298851331177[2] = 0.0; + out_7561037298851331177[3] = 0.0; + out_7561037298851331177[4] = 0.0; + out_7561037298851331177[5] = 0.0; + out_7561037298851331177[6] = 0.0; + out_7561037298851331177[7] = 0.0; + out_7561037298851331177[8] = 0.0; + out_7561037298851331177[9] = 0.0; + out_7561037298851331177[10] = 0.0; + out_7561037298851331177[11] = 0.0; + out_7561037298851331177[12] = 0.0; + out_7561037298851331177[13] = 0.0; + out_7561037298851331177[14] = 0.0; + out_7561037298851331177[15] = 0.0; + out_7561037298851331177[16] = 0.0; + out_7561037298851331177[17] = 0.0; + out_7561037298851331177[18] = 0.0; + out_7561037298851331177[19] = 1.0; + out_7561037298851331177[20] = 0.0; + out_7561037298851331177[21] = 0.0; + out_7561037298851331177[22] = 0.0; + out_7561037298851331177[23] = 0.0; + out_7561037298851331177[24] = 0.0; + out_7561037298851331177[25] = 0.0; + out_7561037298851331177[26] = 0.0; + out_7561037298851331177[27] = 0.0; + out_7561037298851331177[28] = 0.0; + out_7561037298851331177[29] = 0.0; + out_7561037298851331177[30] = 0.0; + out_7561037298851331177[31] = 0.0; + out_7561037298851331177[32] = 0.0; + out_7561037298851331177[33] = 0.0; + out_7561037298851331177[34] = 0.0; + out_7561037298851331177[35] = 0.0; + out_7561037298851331177[36] = 0.0; + out_7561037298851331177[37] = 0.0; + out_7561037298851331177[38] = 1.0; + out_7561037298851331177[39] = 0.0; + out_7561037298851331177[40] = 0.0; + out_7561037298851331177[41] = 0.0; + out_7561037298851331177[42] = 0.0; + out_7561037298851331177[43] = 0.0; + out_7561037298851331177[44] = 0.0; + out_7561037298851331177[45] = 0.0; + out_7561037298851331177[46] = 0.0; + out_7561037298851331177[47] = 0.0; + out_7561037298851331177[48] = 0.0; + out_7561037298851331177[49] = 0.0; + out_7561037298851331177[50] = 0.0; + out_7561037298851331177[51] = 0.0; + out_7561037298851331177[52] = 0.0; + out_7561037298851331177[53] = 0.0; + out_7561037298851331177[54] = 0.0; + out_7561037298851331177[55] = 0.0; + out_7561037298851331177[56] = 0.0; + out_7561037298851331177[57] = 1.0; + out_7561037298851331177[58] = 0.0; + out_7561037298851331177[59] = 0.0; + out_7561037298851331177[60] = 0.0; + out_7561037298851331177[61] = 0.0; + out_7561037298851331177[62] = 0.0; + out_7561037298851331177[63] = 0.0; + out_7561037298851331177[64] = 0.0; + out_7561037298851331177[65] = 0.0; + out_7561037298851331177[66] = 0.0; + out_7561037298851331177[67] = 0.0; + out_7561037298851331177[68] = 0.0; + out_7561037298851331177[69] = 0.0; + out_7561037298851331177[70] = 0.0; + out_7561037298851331177[71] = 0.0; + out_7561037298851331177[72] = 0.0; + out_7561037298851331177[73] = 0.0; + out_7561037298851331177[74] = 0.0; + out_7561037298851331177[75] = 0.0; + out_7561037298851331177[76] = 1.0; + out_7561037298851331177[77] = 0.0; + out_7561037298851331177[78] = 0.0; + out_7561037298851331177[79] = 0.0; + out_7561037298851331177[80] = 0.0; + out_7561037298851331177[81] = 0.0; + out_7561037298851331177[82] = 0.0; + out_7561037298851331177[83] = 0.0; + out_7561037298851331177[84] = 0.0; + out_7561037298851331177[85] = 0.0; + out_7561037298851331177[86] = 0.0; + out_7561037298851331177[87] = 0.0; + out_7561037298851331177[88] = 0.0; + out_7561037298851331177[89] = 0.0; + out_7561037298851331177[90] = 0.0; + out_7561037298851331177[91] = 0.0; + out_7561037298851331177[92] = 0.0; + out_7561037298851331177[93] = 0.0; + out_7561037298851331177[94] = 0.0; + out_7561037298851331177[95] = 1.0; + out_7561037298851331177[96] = 0.0; + out_7561037298851331177[97] = 0.0; + out_7561037298851331177[98] = 0.0; + out_7561037298851331177[99] = 0.0; + out_7561037298851331177[100] = 0.0; + out_7561037298851331177[101] = 0.0; + out_7561037298851331177[102] = 0.0; + out_7561037298851331177[103] = 0.0; + out_7561037298851331177[104] = 0.0; + out_7561037298851331177[105] = 0.0; + out_7561037298851331177[106] = 0.0; + out_7561037298851331177[107] = 0.0; + out_7561037298851331177[108] = 0.0; + out_7561037298851331177[109] = 0.0; + out_7561037298851331177[110] = 0.0; + out_7561037298851331177[111] = 0.0; + out_7561037298851331177[112] = 0.0; + out_7561037298851331177[113] = 0.0; + out_7561037298851331177[114] = 1.0; + out_7561037298851331177[115] = 0.0; + out_7561037298851331177[116] = 0.0; + out_7561037298851331177[117] = 0.0; + out_7561037298851331177[118] = 0.0; + out_7561037298851331177[119] = 0.0; + out_7561037298851331177[120] = 0.0; + out_7561037298851331177[121] = 0.0; + out_7561037298851331177[122] = 0.0; + out_7561037298851331177[123] = 0.0; + out_7561037298851331177[124] = 0.0; + out_7561037298851331177[125] = 0.0; + out_7561037298851331177[126] = 0.0; + out_7561037298851331177[127] = 0.0; + out_7561037298851331177[128] = 0.0; + out_7561037298851331177[129] = 0.0; + out_7561037298851331177[130] = 0.0; + out_7561037298851331177[131] = 0.0; + out_7561037298851331177[132] = 0.0; + out_7561037298851331177[133] = 1.0; + out_7561037298851331177[134] = 0.0; + out_7561037298851331177[135] = 0.0; + out_7561037298851331177[136] = 0.0; + out_7561037298851331177[137] = 0.0; + out_7561037298851331177[138] = 0.0; + out_7561037298851331177[139] = 0.0; + out_7561037298851331177[140] = 0.0; + out_7561037298851331177[141] = 0.0; + out_7561037298851331177[142] = 0.0; + out_7561037298851331177[143] = 0.0; + out_7561037298851331177[144] = 0.0; + out_7561037298851331177[145] = 0.0; + out_7561037298851331177[146] = 0.0; + out_7561037298851331177[147] = 0.0; + out_7561037298851331177[148] = 0.0; + out_7561037298851331177[149] = 0.0; + out_7561037298851331177[150] = 0.0; + out_7561037298851331177[151] = 0.0; + out_7561037298851331177[152] = 1.0; + out_7561037298851331177[153] = 0.0; + out_7561037298851331177[154] = 0.0; + out_7561037298851331177[155] = 0.0; + out_7561037298851331177[156] = 0.0; + out_7561037298851331177[157] = 0.0; + out_7561037298851331177[158] = 0.0; + out_7561037298851331177[159] = 0.0; + out_7561037298851331177[160] = 0.0; + out_7561037298851331177[161] = 0.0; + out_7561037298851331177[162] = 0.0; + out_7561037298851331177[163] = 0.0; + out_7561037298851331177[164] = 0.0; + out_7561037298851331177[165] = 0.0; + out_7561037298851331177[166] = 0.0; + out_7561037298851331177[167] = 0.0; + out_7561037298851331177[168] = 0.0; + out_7561037298851331177[169] = 0.0; + out_7561037298851331177[170] = 0.0; + out_7561037298851331177[171] = 1.0; + out_7561037298851331177[172] = 0.0; + out_7561037298851331177[173] = 0.0; + out_7561037298851331177[174] = 0.0; + out_7561037298851331177[175] = 0.0; + out_7561037298851331177[176] = 0.0; + out_7561037298851331177[177] = 0.0; + out_7561037298851331177[178] = 0.0; + out_7561037298851331177[179] = 0.0; + out_7561037298851331177[180] = 0.0; + out_7561037298851331177[181] = 0.0; + out_7561037298851331177[182] = 0.0; + out_7561037298851331177[183] = 0.0; + out_7561037298851331177[184] = 0.0; + out_7561037298851331177[185] = 0.0; + out_7561037298851331177[186] = 0.0; + out_7561037298851331177[187] = 0.0; + out_7561037298851331177[188] = 0.0; + out_7561037298851331177[189] = 0.0; + out_7561037298851331177[190] = 1.0; + out_7561037298851331177[191] = 0.0; + out_7561037298851331177[192] = 0.0; + out_7561037298851331177[193] = 0.0; + out_7561037298851331177[194] = 0.0; + out_7561037298851331177[195] = 0.0; + out_7561037298851331177[196] = 0.0; + out_7561037298851331177[197] = 0.0; + out_7561037298851331177[198] = 0.0; + out_7561037298851331177[199] = 0.0; + out_7561037298851331177[200] = 0.0; + out_7561037298851331177[201] = 0.0; + out_7561037298851331177[202] = 0.0; + out_7561037298851331177[203] = 0.0; + out_7561037298851331177[204] = 0.0; + out_7561037298851331177[205] = 0.0; + out_7561037298851331177[206] = 0.0; + out_7561037298851331177[207] = 0.0; + out_7561037298851331177[208] = 0.0; + out_7561037298851331177[209] = 1.0; + out_7561037298851331177[210] = 0.0; + out_7561037298851331177[211] = 0.0; + out_7561037298851331177[212] = 0.0; + out_7561037298851331177[213] = 0.0; + out_7561037298851331177[214] = 0.0; + out_7561037298851331177[215] = 0.0; + out_7561037298851331177[216] = 0.0; + out_7561037298851331177[217] = 0.0; + out_7561037298851331177[218] = 0.0; + out_7561037298851331177[219] = 0.0; + out_7561037298851331177[220] = 0.0; + out_7561037298851331177[221] = 0.0; + out_7561037298851331177[222] = 0.0; + out_7561037298851331177[223] = 0.0; + out_7561037298851331177[224] = 0.0; + out_7561037298851331177[225] = 0.0; + out_7561037298851331177[226] = 0.0; + out_7561037298851331177[227] = 0.0; + out_7561037298851331177[228] = 1.0; + out_7561037298851331177[229] = 0.0; + out_7561037298851331177[230] = 0.0; + out_7561037298851331177[231] = 0.0; + out_7561037298851331177[232] = 0.0; + out_7561037298851331177[233] = 0.0; + out_7561037298851331177[234] = 0.0; + out_7561037298851331177[235] = 0.0; + out_7561037298851331177[236] = 0.0; + out_7561037298851331177[237] = 0.0; + out_7561037298851331177[238] = 0.0; + out_7561037298851331177[239] = 0.0; + out_7561037298851331177[240] = 0.0; + out_7561037298851331177[241] = 0.0; + out_7561037298851331177[242] = 0.0; + out_7561037298851331177[243] = 0.0; + out_7561037298851331177[244] = 0.0; + out_7561037298851331177[245] = 0.0; + out_7561037298851331177[246] = 0.0; + out_7561037298851331177[247] = 1.0; + out_7561037298851331177[248] = 0.0; + out_7561037298851331177[249] = 0.0; + out_7561037298851331177[250] = 0.0; + out_7561037298851331177[251] = 0.0; + out_7561037298851331177[252] = 0.0; + out_7561037298851331177[253] = 0.0; + out_7561037298851331177[254] = 0.0; + out_7561037298851331177[255] = 0.0; + out_7561037298851331177[256] = 0.0; + out_7561037298851331177[257] = 0.0; + out_7561037298851331177[258] = 0.0; + out_7561037298851331177[259] = 0.0; + out_7561037298851331177[260] = 0.0; + out_7561037298851331177[261] = 0.0; + out_7561037298851331177[262] = 0.0; + out_7561037298851331177[263] = 0.0; + out_7561037298851331177[264] = 0.0; + out_7561037298851331177[265] = 0.0; + out_7561037298851331177[266] = 1.0; + out_7561037298851331177[267] = 0.0; + out_7561037298851331177[268] = 0.0; + out_7561037298851331177[269] = 0.0; + out_7561037298851331177[270] = 0.0; + out_7561037298851331177[271] = 0.0; + out_7561037298851331177[272] = 0.0; + out_7561037298851331177[273] = 0.0; + out_7561037298851331177[274] = 0.0; + out_7561037298851331177[275] = 0.0; + out_7561037298851331177[276] = 0.0; + out_7561037298851331177[277] = 0.0; + out_7561037298851331177[278] = 0.0; + out_7561037298851331177[279] = 0.0; + out_7561037298851331177[280] = 0.0; + out_7561037298851331177[281] = 0.0; + out_7561037298851331177[282] = 0.0; + out_7561037298851331177[283] = 0.0; + out_7561037298851331177[284] = 0.0; + out_7561037298851331177[285] = 1.0; + out_7561037298851331177[286] = 0.0; + out_7561037298851331177[287] = 0.0; + out_7561037298851331177[288] = 0.0; + out_7561037298851331177[289] = 0.0; + out_7561037298851331177[290] = 0.0; + out_7561037298851331177[291] = 0.0; + out_7561037298851331177[292] = 0.0; + out_7561037298851331177[293] = 0.0; + out_7561037298851331177[294] = 0.0; + out_7561037298851331177[295] = 0.0; + out_7561037298851331177[296] = 0.0; + out_7561037298851331177[297] = 0.0; + out_7561037298851331177[298] = 0.0; + out_7561037298851331177[299] = 0.0; + out_7561037298851331177[300] = 0.0; + out_7561037298851331177[301] = 0.0; + out_7561037298851331177[302] = 0.0; + out_7561037298851331177[303] = 0.0; + out_7561037298851331177[304] = 1.0; + out_7561037298851331177[305] = 0.0; + out_7561037298851331177[306] = 0.0; + out_7561037298851331177[307] = 0.0; + out_7561037298851331177[308] = 0.0; + out_7561037298851331177[309] = 0.0; + out_7561037298851331177[310] = 0.0; + out_7561037298851331177[311] = 0.0; + out_7561037298851331177[312] = 0.0; + out_7561037298851331177[313] = 0.0; + out_7561037298851331177[314] = 0.0; + out_7561037298851331177[315] = 0.0; + out_7561037298851331177[316] = 0.0; + out_7561037298851331177[317] = 0.0; + out_7561037298851331177[318] = 0.0; + out_7561037298851331177[319] = 0.0; + out_7561037298851331177[320] = 0.0; + out_7561037298851331177[321] = 0.0; + out_7561037298851331177[322] = 0.0; + out_7561037298851331177[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8465405656783528291) { - out_8465405656783528291[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); - out_8465405656783528291[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); - out_8465405656783528291[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); - out_8465405656783528291[3] = dt*state[12] + state[3]; - out_8465405656783528291[4] = dt*state[13] + state[4]; - out_8465405656783528291[5] = dt*state[14] + state[5]; - out_8465405656783528291[6] = state[6]; - out_8465405656783528291[7] = state[7]; - out_8465405656783528291[8] = state[8]; - out_8465405656783528291[9] = state[9]; - out_8465405656783528291[10] = state[10]; - out_8465405656783528291[11] = state[11]; - out_8465405656783528291[12] = state[12]; - out_8465405656783528291[13] = state[13]; - out_8465405656783528291[14] = state[14]; - out_8465405656783528291[15] = state[15]; - out_8465405656783528291[16] = state[16]; - out_8465405656783528291[17] = state[17]; +void f_fun(double *state, double dt, double *out_5713485962747764656) { + out_5713485962747764656[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_5713485962747764656[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_5713485962747764656[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_5713485962747764656[3] = dt*state[12] + state[3]; + out_5713485962747764656[4] = dt*state[13] + state[4]; + out_5713485962747764656[5] = dt*state[14] + state[5]; + out_5713485962747764656[6] = state[6]; + out_5713485962747764656[7] = state[7]; + out_5713485962747764656[8] = state[8]; + out_5713485962747764656[9] = state[9]; + out_5713485962747764656[10] = state[10]; + out_5713485962747764656[11] = state[11]; + out_5713485962747764656[12] = state[12]; + out_5713485962747764656[13] = state[13]; + out_5713485962747764656[14] = state[14]; + out_5713485962747764656[15] = state[15]; + out_5713485962747764656[16] = state[16]; + out_5713485962747764656[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5153518595662752782) { - out_5153518595662752782[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5153518595662752782[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5153518595662752782[2] = 0; - out_5153518595662752782[3] = 0; - out_5153518595662752782[4] = 0; - out_5153518595662752782[5] = 0; - out_5153518595662752782[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5153518595662752782[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5153518595662752782[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_5153518595662752782[9] = 0; - out_5153518595662752782[10] = 0; - out_5153518595662752782[11] = 0; - out_5153518595662752782[12] = 0; - out_5153518595662752782[13] = 0; - out_5153518595662752782[14] = 0; - out_5153518595662752782[15] = 0; - out_5153518595662752782[16] = 0; - out_5153518595662752782[17] = 0; - out_5153518595662752782[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5153518595662752782[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5153518595662752782[20] = 0; - out_5153518595662752782[21] = 0; - out_5153518595662752782[22] = 0; - out_5153518595662752782[23] = 0; - out_5153518595662752782[24] = 0; - out_5153518595662752782[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5153518595662752782[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_5153518595662752782[27] = 0; - out_5153518595662752782[28] = 0; - out_5153518595662752782[29] = 0; - out_5153518595662752782[30] = 0; - out_5153518595662752782[31] = 0; - out_5153518595662752782[32] = 0; - out_5153518595662752782[33] = 0; - out_5153518595662752782[34] = 0; - out_5153518595662752782[35] = 0; - out_5153518595662752782[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5153518595662752782[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5153518595662752782[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5153518595662752782[39] = 0; - out_5153518595662752782[40] = 0; - out_5153518595662752782[41] = 0; - out_5153518595662752782[42] = 0; - out_5153518595662752782[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5153518595662752782[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_5153518595662752782[45] = 0; - out_5153518595662752782[46] = 0; - out_5153518595662752782[47] = 0; - out_5153518595662752782[48] = 0; - out_5153518595662752782[49] = 0; - out_5153518595662752782[50] = 0; - out_5153518595662752782[51] = 0; - out_5153518595662752782[52] = 0; - out_5153518595662752782[53] = 0; - out_5153518595662752782[54] = 0; - out_5153518595662752782[55] = 0; - out_5153518595662752782[56] = 0; - out_5153518595662752782[57] = 1; - out_5153518595662752782[58] = 0; - out_5153518595662752782[59] = 0; - out_5153518595662752782[60] = 0; - out_5153518595662752782[61] = 0; - out_5153518595662752782[62] = 0; - out_5153518595662752782[63] = 0; - out_5153518595662752782[64] = 0; - out_5153518595662752782[65] = 0; - out_5153518595662752782[66] = dt; - out_5153518595662752782[67] = 0; - out_5153518595662752782[68] = 0; - out_5153518595662752782[69] = 0; - out_5153518595662752782[70] = 0; - out_5153518595662752782[71] = 0; - out_5153518595662752782[72] = 0; - out_5153518595662752782[73] = 0; - out_5153518595662752782[74] = 0; - out_5153518595662752782[75] = 0; - out_5153518595662752782[76] = 1; - out_5153518595662752782[77] = 0; - out_5153518595662752782[78] = 0; - out_5153518595662752782[79] = 0; - out_5153518595662752782[80] = 0; - out_5153518595662752782[81] = 0; - out_5153518595662752782[82] = 0; - out_5153518595662752782[83] = 0; - out_5153518595662752782[84] = 0; - out_5153518595662752782[85] = dt; - out_5153518595662752782[86] = 0; - out_5153518595662752782[87] = 0; - out_5153518595662752782[88] = 0; - out_5153518595662752782[89] = 0; - out_5153518595662752782[90] = 0; - out_5153518595662752782[91] = 0; - out_5153518595662752782[92] = 0; - out_5153518595662752782[93] = 0; - out_5153518595662752782[94] = 0; - out_5153518595662752782[95] = 1; - out_5153518595662752782[96] = 0; - out_5153518595662752782[97] = 0; - out_5153518595662752782[98] = 0; - out_5153518595662752782[99] = 0; - out_5153518595662752782[100] = 0; - out_5153518595662752782[101] = 0; - out_5153518595662752782[102] = 0; - out_5153518595662752782[103] = 0; - out_5153518595662752782[104] = dt; - out_5153518595662752782[105] = 0; - out_5153518595662752782[106] = 0; - out_5153518595662752782[107] = 0; - out_5153518595662752782[108] = 0; - out_5153518595662752782[109] = 0; - out_5153518595662752782[110] = 0; - out_5153518595662752782[111] = 0; - out_5153518595662752782[112] = 0; - out_5153518595662752782[113] = 0; - out_5153518595662752782[114] = 1; - out_5153518595662752782[115] = 0; - out_5153518595662752782[116] = 0; - out_5153518595662752782[117] = 0; - out_5153518595662752782[118] = 0; - out_5153518595662752782[119] = 0; - out_5153518595662752782[120] = 0; - out_5153518595662752782[121] = 0; - out_5153518595662752782[122] = 0; - out_5153518595662752782[123] = 0; - out_5153518595662752782[124] = 0; - out_5153518595662752782[125] = 0; - out_5153518595662752782[126] = 0; - out_5153518595662752782[127] = 0; - out_5153518595662752782[128] = 0; - out_5153518595662752782[129] = 0; - out_5153518595662752782[130] = 0; - out_5153518595662752782[131] = 0; - out_5153518595662752782[132] = 0; - out_5153518595662752782[133] = 1; - out_5153518595662752782[134] = 0; - out_5153518595662752782[135] = 0; - out_5153518595662752782[136] = 0; - out_5153518595662752782[137] = 0; - out_5153518595662752782[138] = 0; - out_5153518595662752782[139] = 0; - out_5153518595662752782[140] = 0; - out_5153518595662752782[141] = 0; - out_5153518595662752782[142] = 0; - out_5153518595662752782[143] = 0; - out_5153518595662752782[144] = 0; - out_5153518595662752782[145] = 0; - out_5153518595662752782[146] = 0; - out_5153518595662752782[147] = 0; - out_5153518595662752782[148] = 0; - out_5153518595662752782[149] = 0; - out_5153518595662752782[150] = 0; - out_5153518595662752782[151] = 0; - out_5153518595662752782[152] = 1; - out_5153518595662752782[153] = 0; - out_5153518595662752782[154] = 0; - out_5153518595662752782[155] = 0; - out_5153518595662752782[156] = 0; - out_5153518595662752782[157] = 0; - out_5153518595662752782[158] = 0; - out_5153518595662752782[159] = 0; - out_5153518595662752782[160] = 0; - out_5153518595662752782[161] = 0; - out_5153518595662752782[162] = 0; - out_5153518595662752782[163] = 0; - out_5153518595662752782[164] = 0; - out_5153518595662752782[165] = 0; - out_5153518595662752782[166] = 0; - out_5153518595662752782[167] = 0; - out_5153518595662752782[168] = 0; - out_5153518595662752782[169] = 0; - out_5153518595662752782[170] = 0; - out_5153518595662752782[171] = 1; - out_5153518595662752782[172] = 0; - out_5153518595662752782[173] = 0; - out_5153518595662752782[174] = 0; - out_5153518595662752782[175] = 0; - out_5153518595662752782[176] = 0; - out_5153518595662752782[177] = 0; - out_5153518595662752782[178] = 0; - out_5153518595662752782[179] = 0; - out_5153518595662752782[180] = 0; - out_5153518595662752782[181] = 0; - out_5153518595662752782[182] = 0; - out_5153518595662752782[183] = 0; - out_5153518595662752782[184] = 0; - out_5153518595662752782[185] = 0; - out_5153518595662752782[186] = 0; - out_5153518595662752782[187] = 0; - out_5153518595662752782[188] = 0; - out_5153518595662752782[189] = 0; - out_5153518595662752782[190] = 1; - out_5153518595662752782[191] = 0; - out_5153518595662752782[192] = 0; - out_5153518595662752782[193] = 0; - out_5153518595662752782[194] = 0; - out_5153518595662752782[195] = 0; - out_5153518595662752782[196] = 0; - out_5153518595662752782[197] = 0; - out_5153518595662752782[198] = 0; - out_5153518595662752782[199] = 0; - out_5153518595662752782[200] = 0; - out_5153518595662752782[201] = 0; - out_5153518595662752782[202] = 0; - out_5153518595662752782[203] = 0; - out_5153518595662752782[204] = 0; - out_5153518595662752782[205] = 0; - out_5153518595662752782[206] = 0; - out_5153518595662752782[207] = 0; - out_5153518595662752782[208] = 0; - out_5153518595662752782[209] = 1; - out_5153518595662752782[210] = 0; - out_5153518595662752782[211] = 0; - out_5153518595662752782[212] = 0; - out_5153518595662752782[213] = 0; - out_5153518595662752782[214] = 0; - out_5153518595662752782[215] = 0; - out_5153518595662752782[216] = 0; - out_5153518595662752782[217] = 0; - out_5153518595662752782[218] = 0; - out_5153518595662752782[219] = 0; - out_5153518595662752782[220] = 0; - out_5153518595662752782[221] = 0; - out_5153518595662752782[222] = 0; - out_5153518595662752782[223] = 0; - out_5153518595662752782[224] = 0; - out_5153518595662752782[225] = 0; - out_5153518595662752782[226] = 0; - out_5153518595662752782[227] = 0; - out_5153518595662752782[228] = 1; - out_5153518595662752782[229] = 0; - out_5153518595662752782[230] = 0; - out_5153518595662752782[231] = 0; - out_5153518595662752782[232] = 0; - out_5153518595662752782[233] = 0; - out_5153518595662752782[234] = 0; - out_5153518595662752782[235] = 0; - out_5153518595662752782[236] = 0; - out_5153518595662752782[237] = 0; - out_5153518595662752782[238] = 0; - out_5153518595662752782[239] = 0; - out_5153518595662752782[240] = 0; - out_5153518595662752782[241] = 0; - out_5153518595662752782[242] = 0; - out_5153518595662752782[243] = 0; - out_5153518595662752782[244] = 0; - out_5153518595662752782[245] = 0; - out_5153518595662752782[246] = 0; - out_5153518595662752782[247] = 1; - out_5153518595662752782[248] = 0; - out_5153518595662752782[249] = 0; - out_5153518595662752782[250] = 0; - out_5153518595662752782[251] = 0; - out_5153518595662752782[252] = 0; - out_5153518595662752782[253] = 0; - out_5153518595662752782[254] = 0; - out_5153518595662752782[255] = 0; - out_5153518595662752782[256] = 0; - out_5153518595662752782[257] = 0; - out_5153518595662752782[258] = 0; - out_5153518595662752782[259] = 0; - out_5153518595662752782[260] = 0; - out_5153518595662752782[261] = 0; - out_5153518595662752782[262] = 0; - out_5153518595662752782[263] = 0; - out_5153518595662752782[264] = 0; - out_5153518595662752782[265] = 0; - out_5153518595662752782[266] = 1; - out_5153518595662752782[267] = 0; - out_5153518595662752782[268] = 0; - out_5153518595662752782[269] = 0; - out_5153518595662752782[270] = 0; - out_5153518595662752782[271] = 0; - out_5153518595662752782[272] = 0; - out_5153518595662752782[273] = 0; - out_5153518595662752782[274] = 0; - out_5153518595662752782[275] = 0; - out_5153518595662752782[276] = 0; - out_5153518595662752782[277] = 0; - out_5153518595662752782[278] = 0; - out_5153518595662752782[279] = 0; - out_5153518595662752782[280] = 0; - out_5153518595662752782[281] = 0; - out_5153518595662752782[282] = 0; - out_5153518595662752782[283] = 0; - out_5153518595662752782[284] = 0; - out_5153518595662752782[285] = 1; - out_5153518595662752782[286] = 0; - out_5153518595662752782[287] = 0; - out_5153518595662752782[288] = 0; - out_5153518595662752782[289] = 0; - out_5153518595662752782[290] = 0; - out_5153518595662752782[291] = 0; - out_5153518595662752782[292] = 0; - out_5153518595662752782[293] = 0; - out_5153518595662752782[294] = 0; - out_5153518595662752782[295] = 0; - out_5153518595662752782[296] = 0; - out_5153518595662752782[297] = 0; - out_5153518595662752782[298] = 0; - out_5153518595662752782[299] = 0; - out_5153518595662752782[300] = 0; - out_5153518595662752782[301] = 0; - out_5153518595662752782[302] = 0; - out_5153518595662752782[303] = 0; - out_5153518595662752782[304] = 1; - out_5153518595662752782[305] = 0; - out_5153518595662752782[306] = 0; - out_5153518595662752782[307] = 0; - out_5153518595662752782[308] = 0; - out_5153518595662752782[309] = 0; - out_5153518595662752782[310] = 0; - out_5153518595662752782[311] = 0; - out_5153518595662752782[312] = 0; - out_5153518595662752782[313] = 0; - out_5153518595662752782[314] = 0; - out_5153518595662752782[315] = 0; - out_5153518595662752782[316] = 0; - out_5153518595662752782[317] = 0; - out_5153518595662752782[318] = 0; - out_5153518595662752782[319] = 0; - out_5153518595662752782[320] = 0; - out_5153518595662752782[321] = 0; - out_5153518595662752782[322] = 0; - out_5153518595662752782[323] = 1; +void F_fun(double *state, double dt, double *out_958271563642232375) { + out_958271563642232375[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_958271563642232375[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_958271563642232375[2] = 0; + out_958271563642232375[3] = 0; + out_958271563642232375[4] = 0; + out_958271563642232375[5] = 0; + out_958271563642232375[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_958271563642232375[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_958271563642232375[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_958271563642232375[9] = 0; + out_958271563642232375[10] = 0; + out_958271563642232375[11] = 0; + out_958271563642232375[12] = 0; + out_958271563642232375[13] = 0; + out_958271563642232375[14] = 0; + out_958271563642232375[15] = 0; + out_958271563642232375[16] = 0; + out_958271563642232375[17] = 0; + out_958271563642232375[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_958271563642232375[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_958271563642232375[20] = 0; + out_958271563642232375[21] = 0; + out_958271563642232375[22] = 0; + out_958271563642232375[23] = 0; + out_958271563642232375[24] = 0; + out_958271563642232375[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_958271563642232375[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_958271563642232375[27] = 0; + out_958271563642232375[28] = 0; + out_958271563642232375[29] = 0; + out_958271563642232375[30] = 0; + out_958271563642232375[31] = 0; + out_958271563642232375[32] = 0; + out_958271563642232375[33] = 0; + out_958271563642232375[34] = 0; + out_958271563642232375[35] = 0; + out_958271563642232375[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_958271563642232375[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_958271563642232375[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_958271563642232375[39] = 0; + out_958271563642232375[40] = 0; + out_958271563642232375[41] = 0; + out_958271563642232375[42] = 0; + out_958271563642232375[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_958271563642232375[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_958271563642232375[45] = 0; + out_958271563642232375[46] = 0; + out_958271563642232375[47] = 0; + out_958271563642232375[48] = 0; + out_958271563642232375[49] = 0; + out_958271563642232375[50] = 0; + out_958271563642232375[51] = 0; + out_958271563642232375[52] = 0; + out_958271563642232375[53] = 0; + out_958271563642232375[54] = 0; + out_958271563642232375[55] = 0; + out_958271563642232375[56] = 0; + out_958271563642232375[57] = 1; + out_958271563642232375[58] = 0; + out_958271563642232375[59] = 0; + out_958271563642232375[60] = 0; + out_958271563642232375[61] = 0; + out_958271563642232375[62] = 0; + out_958271563642232375[63] = 0; + out_958271563642232375[64] = 0; + out_958271563642232375[65] = 0; + out_958271563642232375[66] = dt; + out_958271563642232375[67] = 0; + out_958271563642232375[68] = 0; + out_958271563642232375[69] = 0; + out_958271563642232375[70] = 0; + out_958271563642232375[71] = 0; + out_958271563642232375[72] = 0; + out_958271563642232375[73] = 0; + out_958271563642232375[74] = 0; + out_958271563642232375[75] = 0; + out_958271563642232375[76] = 1; + out_958271563642232375[77] = 0; + out_958271563642232375[78] = 0; + out_958271563642232375[79] = 0; + out_958271563642232375[80] = 0; + out_958271563642232375[81] = 0; + out_958271563642232375[82] = 0; + out_958271563642232375[83] = 0; + out_958271563642232375[84] = 0; + out_958271563642232375[85] = dt; + out_958271563642232375[86] = 0; + out_958271563642232375[87] = 0; + out_958271563642232375[88] = 0; + out_958271563642232375[89] = 0; + out_958271563642232375[90] = 0; + out_958271563642232375[91] = 0; + out_958271563642232375[92] = 0; + out_958271563642232375[93] = 0; + out_958271563642232375[94] = 0; + out_958271563642232375[95] = 1; + out_958271563642232375[96] = 0; + out_958271563642232375[97] = 0; + out_958271563642232375[98] = 0; + out_958271563642232375[99] = 0; + out_958271563642232375[100] = 0; + out_958271563642232375[101] = 0; + out_958271563642232375[102] = 0; + out_958271563642232375[103] = 0; + out_958271563642232375[104] = dt; + out_958271563642232375[105] = 0; + out_958271563642232375[106] = 0; + out_958271563642232375[107] = 0; + out_958271563642232375[108] = 0; + out_958271563642232375[109] = 0; + out_958271563642232375[110] = 0; + out_958271563642232375[111] = 0; + out_958271563642232375[112] = 0; + out_958271563642232375[113] = 0; + out_958271563642232375[114] = 1; + out_958271563642232375[115] = 0; + out_958271563642232375[116] = 0; + out_958271563642232375[117] = 0; + out_958271563642232375[118] = 0; + out_958271563642232375[119] = 0; + out_958271563642232375[120] = 0; + out_958271563642232375[121] = 0; + out_958271563642232375[122] = 0; + out_958271563642232375[123] = 0; + out_958271563642232375[124] = 0; + out_958271563642232375[125] = 0; + out_958271563642232375[126] = 0; + out_958271563642232375[127] = 0; + out_958271563642232375[128] = 0; + out_958271563642232375[129] = 0; + out_958271563642232375[130] = 0; + out_958271563642232375[131] = 0; + out_958271563642232375[132] = 0; + out_958271563642232375[133] = 1; + out_958271563642232375[134] = 0; + out_958271563642232375[135] = 0; + out_958271563642232375[136] = 0; + out_958271563642232375[137] = 0; + out_958271563642232375[138] = 0; + out_958271563642232375[139] = 0; + out_958271563642232375[140] = 0; + out_958271563642232375[141] = 0; + out_958271563642232375[142] = 0; + out_958271563642232375[143] = 0; + out_958271563642232375[144] = 0; + out_958271563642232375[145] = 0; + out_958271563642232375[146] = 0; + out_958271563642232375[147] = 0; + out_958271563642232375[148] = 0; + out_958271563642232375[149] = 0; + out_958271563642232375[150] = 0; + out_958271563642232375[151] = 0; + out_958271563642232375[152] = 1; + out_958271563642232375[153] = 0; + out_958271563642232375[154] = 0; + out_958271563642232375[155] = 0; + out_958271563642232375[156] = 0; + out_958271563642232375[157] = 0; + out_958271563642232375[158] = 0; + out_958271563642232375[159] = 0; + out_958271563642232375[160] = 0; + out_958271563642232375[161] = 0; + out_958271563642232375[162] = 0; + out_958271563642232375[163] = 0; + out_958271563642232375[164] = 0; + out_958271563642232375[165] = 0; + out_958271563642232375[166] = 0; + out_958271563642232375[167] = 0; + out_958271563642232375[168] = 0; + out_958271563642232375[169] = 0; + out_958271563642232375[170] = 0; + out_958271563642232375[171] = 1; + out_958271563642232375[172] = 0; + out_958271563642232375[173] = 0; + out_958271563642232375[174] = 0; + out_958271563642232375[175] = 0; + out_958271563642232375[176] = 0; + out_958271563642232375[177] = 0; + out_958271563642232375[178] = 0; + out_958271563642232375[179] = 0; + out_958271563642232375[180] = 0; + out_958271563642232375[181] = 0; + out_958271563642232375[182] = 0; + out_958271563642232375[183] = 0; + out_958271563642232375[184] = 0; + out_958271563642232375[185] = 0; + out_958271563642232375[186] = 0; + out_958271563642232375[187] = 0; + out_958271563642232375[188] = 0; + out_958271563642232375[189] = 0; + out_958271563642232375[190] = 1; + out_958271563642232375[191] = 0; + out_958271563642232375[192] = 0; + out_958271563642232375[193] = 0; + out_958271563642232375[194] = 0; + out_958271563642232375[195] = 0; + out_958271563642232375[196] = 0; + out_958271563642232375[197] = 0; + out_958271563642232375[198] = 0; + out_958271563642232375[199] = 0; + out_958271563642232375[200] = 0; + out_958271563642232375[201] = 0; + out_958271563642232375[202] = 0; + out_958271563642232375[203] = 0; + out_958271563642232375[204] = 0; + out_958271563642232375[205] = 0; + out_958271563642232375[206] = 0; + out_958271563642232375[207] = 0; + out_958271563642232375[208] = 0; + out_958271563642232375[209] = 1; + out_958271563642232375[210] = 0; + out_958271563642232375[211] = 0; + out_958271563642232375[212] = 0; + out_958271563642232375[213] = 0; + out_958271563642232375[214] = 0; + out_958271563642232375[215] = 0; + out_958271563642232375[216] = 0; + out_958271563642232375[217] = 0; + out_958271563642232375[218] = 0; + out_958271563642232375[219] = 0; + out_958271563642232375[220] = 0; + out_958271563642232375[221] = 0; + out_958271563642232375[222] = 0; + out_958271563642232375[223] = 0; + out_958271563642232375[224] = 0; + out_958271563642232375[225] = 0; + out_958271563642232375[226] = 0; + out_958271563642232375[227] = 0; + out_958271563642232375[228] = 1; + out_958271563642232375[229] = 0; + out_958271563642232375[230] = 0; + out_958271563642232375[231] = 0; + out_958271563642232375[232] = 0; + out_958271563642232375[233] = 0; + out_958271563642232375[234] = 0; + out_958271563642232375[235] = 0; + out_958271563642232375[236] = 0; + out_958271563642232375[237] = 0; + out_958271563642232375[238] = 0; + out_958271563642232375[239] = 0; + out_958271563642232375[240] = 0; + out_958271563642232375[241] = 0; + out_958271563642232375[242] = 0; + out_958271563642232375[243] = 0; + out_958271563642232375[244] = 0; + out_958271563642232375[245] = 0; + out_958271563642232375[246] = 0; + out_958271563642232375[247] = 1; + out_958271563642232375[248] = 0; + out_958271563642232375[249] = 0; + out_958271563642232375[250] = 0; + out_958271563642232375[251] = 0; + out_958271563642232375[252] = 0; + out_958271563642232375[253] = 0; + out_958271563642232375[254] = 0; + out_958271563642232375[255] = 0; + out_958271563642232375[256] = 0; + out_958271563642232375[257] = 0; + out_958271563642232375[258] = 0; + out_958271563642232375[259] = 0; + out_958271563642232375[260] = 0; + out_958271563642232375[261] = 0; + out_958271563642232375[262] = 0; + out_958271563642232375[263] = 0; + out_958271563642232375[264] = 0; + out_958271563642232375[265] = 0; + out_958271563642232375[266] = 1; + out_958271563642232375[267] = 0; + out_958271563642232375[268] = 0; + out_958271563642232375[269] = 0; + out_958271563642232375[270] = 0; + out_958271563642232375[271] = 0; + out_958271563642232375[272] = 0; + out_958271563642232375[273] = 0; + out_958271563642232375[274] = 0; + out_958271563642232375[275] = 0; + out_958271563642232375[276] = 0; + out_958271563642232375[277] = 0; + out_958271563642232375[278] = 0; + out_958271563642232375[279] = 0; + out_958271563642232375[280] = 0; + out_958271563642232375[281] = 0; + out_958271563642232375[282] = 0; + out_958271563642232375[283] = 0; + out_958271563642232375[284] = 0; + out_958271563642232375[285] = 1; + out_958271563642232375[286] = 0; + out_958271563642232375[287] = 0; + out_958271563642232375[288] = 0; + out_958271563642232375[289] = 0; + out_958271563642232375[290] = 0; + out_958271563642232375[291] = 0; + out_958271563642232375[292] = 0; + out_958271563642232375[293] = 0; + out_958271563642232375[294] = 0; + out_958271563642232375[295] = 0; + out_958271563642232375[296] = 0; + out_958271563642232375[297] = 0; + out_958271563642232375[298] = 0; + out_958271563642232375[299] = 0; + out_958271563642232375[300] = 0; + out_958271563642232375[301] = 0; + out_958271563642232375[302] = 0; + out_958271563642232375[303] = 0; + out_958271563642232375[304] = 1; + out_958271563642232375[305] = 0; + out_958271563642232375[306] = 0; + out_958271563642232375[307] = 0; + out_958271563642232375[308] = 0; + out_958271563642232375[309] = 0; + out_958271563642232375[310] = 0; + out_958271563642232375[311] = 0; + out_958271563642232375[312] = 0; + out_958271563642232375[313] = 0; + out_958271563642232375[314] = 0; + out_958271563642232375[315] = 0; + out_958271563642232375[316] = 0; + out_958271563642232375[317] = 0; + out_958271563642232375[318] = 0; + out_958271563642232375[319] = 0; + out_958271563642232375[320] = 0; + out_958271563642232375[321] = 0; + out_958271563642232375[322] = 0; + out_958271563642232375[323] = 1; } -void h_4(double *state, double *unused, double *out_3441983837194168135) { - out_3441983837194168135[0] = state[6] + state[9]; - out_3441983837194168135[1] = state[7] + state[10]; - out_3441983837194168135[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_4832992228856902742) { + out_4832992228856902742[0] = state[6] + state[9]; + out_4832992228856902742[1] = state[7] + state[10]; + out_4832992228856902742[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3792847385831294211) { - out_3792847385831294211[0] = 0; - out_3792847385831294211[1] = 0; - out_3792847385831294211[2] = 0; - out_3792847385831294211[3] = 0; - out_3792847385831294211[4] = 0; - out_3792847385831294211[5] = 0; - out_3792847385831294211[6] = 1; - out_3792847385831294211[7] = 0; - out_3792847385831294211[8] = 0; - out_3792847385831294211[9] = 1; - out_3792847385831294211[10] = 0; - out_3792847385831294211[11] = 0; - out_3792847385831294211[12] = 0; - out_3792847385831294211[13] = 0; - out_3792847385831294211[14] = 0; - out_3792847385831294211[15] = 0; - out_3792847385831294211[16] = 0; - out_3792847385831294211[17] = 0; - out_3792847385831294211[18] = 0; - out_3792847385831294211[19] = 0; - out_3792847385831294211[20] = 0; - out_3792847385831294211[21] = 0; - out_3792847385831294211[22] = 0; - out_3792847385831294211[23] = 0; - out_3792847385831294211[24] = 0; - out_3792847385831294211[25] = 1; - out_3792847385831294211[26] = 0; - out_3792847385831294211[27] = 0; - out_3792847385831294211[28] = 1; - out_3792847385831294211[29] = 0; - out_3792847385831294211[30] = 0; - out_3792847385831294211[31] = 0; - out_3792847385831294211[32] = 0; - out_3792847385831294211[33] = 0; - out_3792847385831294211[34] = 0; - out_3792847385831294211[35] = 0; - out_3792847385831294211[36] = 0; - out_3792847385831294211[37] = 0; - out_3792847385831294211[38] = 0; - out_3792847385831294211[39] = 0; - out_3792847385831294211[40] = 0; - out_3792847385831294211[41] = 0; - out_3792847385831294211[42] = 0; - out_3792847385831294211[43] = 0; - out_3792847385831294211[44] = 1; - out_3792847385831294211[45] = 0; - out_3792847385831294211[46] = 0; - out_3792847385831294211[47] = 1; - out_3792847385831294211[48] = 0; - out_3792847385831294211[49] = 0; - out_3792847385831294211[50] = 0; - out_3792847385831294211[51] = 0; - out_3792847385831294211[52] = 0; - out_3792847385831294211[53] = 0; +void H_4(double *state, double *unused, double *out_2408518913812250442) { + out_2408518913812250442[0] = 0; + out_2408518913812250442[1] = 0; + out_2408518913812250442[2] = 0; + out_2408518913812250442[3] = 0; + out_2408518913812250442[4] = 0; + out_2408518913812250442[5] = 0; + out_2408518913812250442[6] = 1; + out_2408518913812250442[7] = 0; + out_2408518913812250442[8] = 0; + out_2408518913812250442[9] = 1; + out_2408518913812250442[10] = 0; + out_2408518913812250442[11] = 0; + out_2408518913812250442[12] = 0; + out_2408518913812250442[13] = 0; + out_2408518913812250442[14] = 0; + out_2408518913812250442[15] = 0; + out_2408518913812250442[16] = 0; + out_2408518913812250442[17] = 0; + out_2408518913812250442[18] = 0; + out_2408518913812250442[19] = 0; + out_2408518913812250442[20] = 0; + out_2408518913812250442[21] = 0; + out_2408518913812250442[22] = 0; + out_2408518913812250442[23] = 0; + out_2408518913812250442[24] = 0; + out_2408518913812250442[25] = 1; + out_2408518913812250442[26] = 0; + out_2408518913812250442[27] = 0; + out_2408518913812250442[28] = 1; + out_2408518913812250442[29] = 0; + out_2408518913812250442[30] = 0; + out_2408518913812250442[31] = 0; + out_2408518913812250442[32] = 0; + out_2408518913812250442[33] = 0; + out_2408518913812250442[34] = 0; + out_2408518913812250442[35] = 0; + out_2408518913812250442[36] = 0; + out_2408518913812250442[37] = 0; + out_2408518913812250442[38] = 0; + out_2408518913812250442[39] = 0; + out_2408518913812250442[40] = 0; + out_2408518913812250442[41] = 0; + out_2408518913812250442[42] = 0; + out_2408518913812250442[43] = 0; + out_2408518913812250442[44] = 1; + out_2408518913812250442[45] = 0; + out_2408518913812250442[46] = 0; + out_2408518913812250442[47] = 1; + out_2408518913812250442[48] = 0; + out_2408518913812250442[49] = 0; + out_2408518913812250442[50] = 0; + out_2408518913812250442[51] = 0; + out_2408518913812250442[52] = 0; + out_2408518913812250442[53] = 0; } -void h_10(double *state, double *unused, double *out_6864246601547225854) { - out_6864246601547225854[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6864246601547225854[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6864246601547225854[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; +void h_10(double *state, double *unused, double *out_3497927463584229027) { + out_3497927463584229027[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_3497927463584229027[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_3497927463584229027[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_5871577252215708993) { - out_5871577252215708993[0] = 0; - out_5871577252215708993[1] = 9.8100000000000005*cos(state[1]); - out_5871577252215708993[2] = 0; - out_5871577252215708993[3] = 0; - out_5871577252215708993[4] = -state[8]; - out_5871577252215708993[5] = state[7]; - out_5871577252215708993[6] = 0; - out_5871577252215708993[7] = state[5]; - out_5871577252215708993[8] = -state[4]; - out_5871577252215708993[9] = 0; - out_5871577252215708993[10] = 0; - out_5871577252215708993[11] = 0; - out_5871577252215708993[12] = 1; - out_5871577252215708993[13] = 0; - out_5871577252215708993[14] = 0; - out_5871577252215708993[15] = 1; - out_5871577252215708993[16] = 0; - out_5871577252215708993[17] = 0; - out_5871577252215708993[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5871577252215708993[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5871577252215708993[20] = 0; - out_5871577252215708993[21] = state[8]; - out_5871577252215708993[22] = 0; - out_5871577252215708993[23] = -state[6]; - out_5871577252215708993[24] = -state[5]; - out_5871577252215708993[25] = 0; - out_5871577252215708993[26] = state[3]; - out_5871577252215708993[27] = 0; - out_5871577252215708993[28] = 0; - out_5871577252215708993[29] = 0; - out_5871577252215708993[30] = 0; - out_5871577252215708993[31] = 1; - out_5871577252215708993[32] = 0; - out_5871577252215708993[33] = 0; - out_5871577252215708993[34] = 1; - out_5871577252215708993[35] = 0; - out_5871577252215708993[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5871577252215708993[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5871577252215708993[38] = 0; - out_5871577252215708993[39] = -state[7]; - out_5871577252215708993[40] = state[6]; - out_5871577252215708993[41] = 0; - out_5871577252215708993[42] = state[4]; - out_5871577252215708993[43] = -state[3]; - out_5871577252215708993[44] = 0; - out_5871577252215708993[45] = 0; - out_5871577252215708993[46] = 0; - out_5871577252215708993[47] = 0; - out_5871577252215708993[48] = 0; - out_5871577252215708993[49] = 0; - out_5871577252215708993[50] = 1; - out_5871577252215708993[51] = 0; - out_5871577252215708993[52] = 0; - out_5871577252215708993[53] = 1; +void H_10(double *state, double *unused, double *out_4949237892416765352) { + out_4949237892416765352[0] = 0; + out_4949237892416765352[1] = 9.8100000000000005*cos(state[1]); + out_4949237892416765352[2] = 0; + out_4949237892416765352[3] = 0; + out_4949237892416765352[4] = -state[8]; + out_4949237892416765352[5] = state[7]; + out_4949237892416765352[6] = 0; + out_4949237892416765352[7] = state[5]; + out_4949237892416765352[8] = -state[4]; + out_4949237892416765352[9] = 0; + out_4949237892416765352[10] = 0; + out_4949237892416765352[11] = 0; + out_4949237892416765352[12] = 1; + out_4949237892416765352[13] = 0; + out_4949237892416765352[14] = 0; + out_4949237892416765352[15] = 1; + out_4949237892416765352[16] = 0; + out_4949237892416765352[17] = 0; + out_4949237892416765352[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4949237892416765352[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4949237892416765352[20] = 0; + out_4949237892416765352[21] = state[8]; + out_4949237892416765352[22] = 0; + out_4949237892416765352[23] = -state[6]; + out_4949237892416765352[24] = -state[5]; + out_4949237892416765352[25] = 0; + out_4949237892416765352[26] = state[3]; + out_4949237892416765352[27] = 0; + out_4949237892416765352[28] = 0; + out_4949237892416765352[29] = 0; + out_4949237892416765352[30] = 0; + out_4949237892416765352[31] = 1; + out_4949237892416765352[32] = 0; + out_4949237892416765352[33] = 0; + out_4949237892416765352[34] = 1; + out_4949237892416765352[35] = 0; + out_4949237892416765352[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4949237892416765352[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4949237892416765352[38] = 0; + out_4949237892416765352[39] = -state[7]; + out_4949237892416765352[40] = state[6]; + out_4949237892416765352[41] = 0; + out_4949237892416765352[42] = state[4]; + out_4949237892416765352[43] = -state[3]; + out_4949237892416765352[44] = 0; + out_4949237892416765352[45] = 0; + out_4949237892416765352[46] = 0; + out_4949237892416765352[47] = 0; + out_4949237892416765352[48] = 0; + out_4949237892416765352[49] = 0; + out_4949237892416765352[50] = 1; + out_4949237892416765352[51] = 0; + out_4949237892416765352[52] = 0; + out_4949237892416765352[53] = 1; } -void h_13(double *state, double *unused, double *out_3325053226247216097) { - out_3325053226247216097[0] = state[3]; - out_3325053226247216097[1] = state[4]; - out_3325053226247216097[2] = state[5]; +void h_13(double *state, double *unused, double *out_7372319986312258601) { + out_7372319986312258601[0] = state[3]; + out_7372319986312258601[1] = state[4]; + out_7372319986312258601[2] = state[5]; } -void H_13(double *state, double *unused, double *out_580573560498961410) { - out_580573560498961410[0] = 0; - out_580573560498961410[1] = 0; - out_580573560498961410[2] = 0; - out_580573560498961410[3] = 1; - out_580573560498961410[4] = 0; - out_580573560498961410[5] = 0; - out_580573560498961410[6] = 0; - out_580573560498961410[7] = 0; - out_580573560498961410[8] = 0; - out_580573560498961410[9] = 0; - out_580573560498961410[10] = 0; - out_580573560498961410[11] = 0; - out_580573560498961410[12] = 0; - out_580573560498961410[13] = 0; - out_580573560498961410[14] = 0; - out_580573560498961410[15] = 0; - out_580573560498961410[16] = 0; - out_580573560498961410[17] = 0; - out_580573560498961410[18] = 0; - out_580573560498961410[19] = 0; - out_580573560498961410[20] = 0; - out_580573560498961410[21] = 0; - out_580573560498961410[22] = 1; - out_580573560498961410[23] = 0; - out_580573560498961410[24] = 0; - out_580573560498961410[25] = 0; - out_580573560498961410[26] = 0; - out_580573560498961410[27] = 0; - out_580573560498961410[28] = 0; - out_580573560498961410[29] = 0; - out_580573560498961410[30] = 0; - out_580573560498961410[31] = 0; - out_580573560498961410[32] = 0; - out_580573560498961410[33] = 0; - out_580573560498961410[34] = 0; - out_580573560498961410[35] = 0; - out_580573560498961410[36] = 0; - out_580573560498961410[37] = 0; - out_580573560498961410[38] = 0; - out_580573560498961410[39] = 0; - out_580573560498961410[40] = 0; - out_580573560498961410[41] = 1; - out_580573560498961410[42] = 0; - out_580573560498961410[43] = 0; - out_580573560498961410[44] = 0; - out_580573560498961410[45] = 0; - out_580573560498961410[46] = 0; - out_580573560498961410[47] = 0; - out_580573560498961410[48] = 0; - out_580573560498961410[49] = 0; - out_580573560498961410[50] = 0; - out_580573560498961410[51] = 0; - out_580573560498961410[52] = 0; - out_580573560498961410[53] = 0; +void H_13(double *state, double *unused, double *out_803754911520082359) { + out_803754911520082359[0] = 0; + out_803754911520082359[1] = 0; + out_803754911520082359[2] = 0; + out_803754911520082359[3] = 1; + out_803754911520082359[4] = 0; + out_803754911520082359[5] = 0; + out_803754911520082359[6] = 0; + out_803754911520082359[7] = 0; + out_803754911520082359[8] = 0; + out_803754911520082359[9] = 0; + out_803754911520082359[10] = 0; + out_803754911520082359[11] = 0; + out_803754911520082359[12] = 0; + out_803754911520082359[13] = 0; + out_803754911520082359[14] = 0; + out_803754911520082359[15] = 0; + out_803754911520082359[16] = 0; + out_803754911520082359[17] = 0; + out_803754911520082359[18] = 0; + out_803754911520082359[19] = 0; + out_803754911520082359[20] = 0; + out_803754911520082359[21] = 0; + out_803754911520082359[22] = 1; + out_803754911520082359[23] = 0; + out_803754911520082359[24] = 0; + out_803754911520082359[25] = 0; + out_803754911520082359[26] = 0; + out_803754911520082359[27] = 0; + out_803754911520082359[28] = 0; + out_803754911520082359[29] = 0; + out_803754911520082359[30] = 0; + out_803754911520082359[31] = 0; + out_803754911520082359[32] = 0; + out_803754911520082359[33] = 0; + out_803754911520082359[34] = 0; + out_803754911520082359[35] = 0; + out_803754911520082359[36] = 0; + out_803754911520082359[37] = 0; + out_803754911520082359[38] = 0; + out_803754911520082359[39] = 0; + out_803754911520082359[40] = 0; + out_803754911520082359[41] = 1; + out_803754911520082359[42] = 0; + out_803754911520082359[43] = 0; + out_803754911520082359[44] = 0; + out_803754911520082359[45] = 0; + out_803754911520082359[46] = 0; + out_803754911520082359[47] = 0; + out_803754911520082359[48] = 0; + out_803754911520082359[49] = 0; + out_803754911520082359[50] = 0; + out_803754911520082359[51] = 0; + out_803754911520082359[52] = 0; + out_803754911520082359[53] = 0; } -void h_14(double *state, double *unused, double *out_7213076452181803827) { - out_7213076452181803827[0] = state[6]; - out_7213076452181803827[1] = state[7]; - out_7213076452181803827[2] = state[8]; +void h_14(double *state, double *unused, double *out_1827110187090498104) { + out_1827110187090498104[0] = state[6]; + out_1827110187090498104[1] = state[7]; + out_1827110187090498104[2] = state[8]; } -void H_14(double *state, double *unused, double *out_170393470508190318) { - out_170393470508190318[0] = 0; - out_170393470508190318[1] = 0; - out_170393470508190318[2] = 0; - out_170393470508190318[3] = 0; - out_170393470508190318[4] = 0; - out_170393470508190318[5] = 0; - out_170393470508190318[6] = 1; - out_170393470508190318[7] = 0; - out_170393470508190318[8] = 0; - out_170393470508190318[9] = 0; - out_170393470508190318[10] = 0; - out_170393470508190318[11] = 0; - out_170393470508190318[12] = 0; - out_170393470508190318[13] = 0; - out_170393470508190318[14] = 0; - out_170393470508190318[15] = 0; - out_170393470508190318[16] = 0; - out_170393470508190318[17] = 0; - out_170393470508190318[18] = 0; - out_170393470508190318[19] = 0; - out_170393470508190318[20] = 0; - out_170393470508190318[21] = 0; - out_170393470508190318[22] = 0; - out_170393470508190318[23] = 0; - out_170393470508190318[24] = 0; - out_170393470508190318[25] = 1; - out_170393470508190318[26] = 0; - out_170393470508190318[27] = 0; - out_170393470508190318[28] = 0; - out_170393470508190318[29] = 0; - out_170393470508190318[30] = 0; - out_170393470508190318[31] = 0; - out_170393470508190318[32] = 0; - out_170393470508190318[33] = 0; - out_170393470508190318[34] = 0; - out_170393470508190318[35] = 0; - out_170393470508190318[36] = 0; - out_170393470508190318[37] = 0; - out_170393470508190318[38] = 0; - out_170393470508190318[39] = 0; - out_170393470508190318[40] = 0; - out_170393470508190318[41] = 0; - out_170393470508190318[42] = 0; - out_170393470508190318[43] = 0; - out_170393470508190318[44] = 1; - out_170393470508190318[45] = 0; - out_170393470508190318[46] = 0; - out_170393470508190318[47] = 0; - out_170393470508190318[48] = 0; - out_170393470508190318[49] = 0; - out_170393470508190318[50] = 0; - out_170393470508190318[51] = 0; - out_170393470508190318[52] = 0; - out_170393470508190318[53] = 0; +void H_14(double *state, double *unused, double *out_1554721942527234087) { + out_1554721942527234087[0] = 0; + out_1554721942527234087[1] = 0; + out_1554721942527234087[2] = 0; + out_1554721942527234087[3] = 0; + out_1554721942527234087[4] = 0; + out_1554721942527234087[5] = 0; + out_1554721942527234087[6] = 1; + out_1554721942527234087[7] = 0; + out_1554721942527234087[8] = 0; + out_1554721942527234087[9] = 0; + out_1554721942527234087[10] = 0; + out_1554721942527234087[11] = 0; + out_1554721942527234087[12] = 0; + out_1554721942527234087[13] = 0; + out_1554721942527234087[14] = 0; + out_1554721942527234087[15] = 0; + out_1554721942527234087[16] = 0; + out_1554721942527234087[17] = 0; + out_1554721942527234087[18] = 0; + out_1554721942527234087[19] = 0; + out_1554721942527234087[20] = 0; + out_1554721942527234087[21] = 0; + out_1554721942527234087[22] = 0; + out_1554721942527234087[23] = 0; + out_1554721942527234087[24] = 0; + out_1554721942527234087[25] = 1; + out_1554721942527234087[26] = 0; + out_1554721942527234087[27] = 0; + out_1554721942527234087[28] = 0; + out_1554721942527234087[29] = 0; + out_1554721942527234087[30] = 0; + out_1554721942527234087[31] = 0; + out_1554721942527234087[32] = 0; + out_1554721942527234087[33] = 0; + out_1554721942527234087[34] = 0; + out_1554721942527234087[35] = 0; + out_1554721942527234087[36] = 0; + out_1554721942527234087[37] = 0; + out_1554721942527234087[38] = 0; + out_1554721942527234087[39] = 0; + out_1554721942527234087[40] = 0; + out_1554721942527234087[41] = 0; + out_1554721942527234087[42] = 0; + out_1554721942527234087[43] = 0; + out_1554721942527234087[44] = 1; + out_1554721942527234087[45] = 0; + out_1554721942527234087[46] = 0; + out_1554721942527234087[47] = 0; + out_1554721942527234087[48] = 0; + out_1554721942527234087[49] = 0; + out_1554721942527234087[50] = 0; + out_1554721942527234087[51] = 0; + out_1554721942527234087[52] = 0; + out_1554721942527234087[53] = 0; } #include #include @@ -1113,44 +1113,44 @@ void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, doub void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14); } -void pose_err_fun(double *nom_x, double *delta_x, double *out_2803054085873220166) { - err_fun(nom_x, delta_x, out_2803054085873220166); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7616755969345465164) { + err_fun(nom_x, delta_x, out_7616755969345465164); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541) { - inv_err_fun(nom_x, true_x, out_870718263858356541); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2983579217144166569) { + inv_err_fun(nom_x, true_x, out_2983579217144166569); } -void pose_H_mod_fun(double *state, double *out_245560868528396178) { - H_mod_fun(state, out_245560868528396178); +void pose_H_mod_fun(double *state, double *out_7561037298851331177) { + H_mod_fun(state, out_7561037298851331177); } -void pose_f_fun(double *state, double dt, double *out_8465405656783528291) { - f_fun(state, dt, out_8465405656783528291); +void pose_f_fun(double *state, double dt, double *out_5713485962747764656) { + f_fun(state, dt, out_5713485962747764656); } -void pose_F_fun(double *state, double dt, double *out_5153518595662752782) { - F_fun(state, dt, out_5153518595662752782); +void pose_F_fun(double *state, double dt, double *out_958271563642232375) { + F_fun(state, dt, out_958271563642232375); } -void pose_h_4(double *state, double *unused, double *out_3441983837194168135) { - h_4(state, unused, out_3441983837194168135); +void pose_h_4(double *state, double *unused, double *out_4832992228856902742) { + h_4(state, unused, out_4832992228856902742); } -void pose_H_4(double *state, double *unused, double *out_3792847385831294211) { - H_4(state, unused, out_3792847385831294211); +void pose_H_4(double *state, double *unused, double *out_2408518913812250442) { + H_4(state, unused, out_2408518913812250442); } -void pose_h_10(double *state, double *unused, double *out_6864246601547225854) { - h_10(state, unused, out_6864246601547225854); +void pose_h_10(double *state, double *unused, double *out_3497927463584229027) { + h_10(state, unused, out_3497927463584229027); } -void pose_H_10(double *state, double *unused, double *out_5871577252215708993) { - H_10(state, unused, out_5871577252215708993); +void pose_H_10(double *state, double *unused, double *out_4949237892416765352) { + H_10(state, unused, out_4949237892416765352); } -void pose_h_13(double *state, double *unused, double *out_3325053226247216097) { - h_13(state, unused, out_3325053226247216097); +void pose_h_13(double *state, double *unused, double *out_7372319986312258601) { + h_13(state, unused, out_7372319986312258601); } -void pose_H_13(double *state, double *unused, double *out_580573560498961410) { - H_13(state, unused, out_580573560498961410); +void pose_H_13(double *state, double *unused, double *out_803754911520082359) { + H_13(state, unused, out_803754911520082359); } -void pose_h_14(double *state, double *unused, double *out_7213076452181803827) { - h_14(state, unused, out_7213076452181803827); +void pose_h_14(double *state, double *unused, double *out_1827110187090498104) { + h_14(state, unused, out_1827110187090498104); } -void pose_H_14(double *state, double *unused, double *out_170393470508190318) { - H_14(state, unused, out_170393470508190318); +void pose_H_14(double *state, double *unused, double *out_1554721942527234087) { + H_14(state, unused, out_1554721942527234087); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/pose.h b/selfdrive/locationd/models/generated/pose.h index ea16f9c46..86f8b70a7 100644 --- a/selfdrive/locationd/models/generated/pose.h +++ b/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_2803054085873220166); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541); -void pose_H_mod_fun(double *state, double *out_245560868528396178); -void pose_f_fun(double *state, double dt, double *out_8465405656783528291); -void pose_F_fun(double *state, double dt, double *out_5153518595662752782); -void pose_h_4(double *state, double *unused, double *out_3441983837194168135); -void pose_H_4(double *state, double *unused, double *out_3792847385831294211); -void pose_h_10(double *state, double *unused, double *out_6864246601547225854); -void pose_H_10(double *state, double *unused, double *out_5871577252215708993); -void pose_h_13(double *state, double *unused, double *out_3325053226247216097); -void pose_H_13(double *state, double *unused, double *out_580573560498961410); -void pose_h_14(double *state, double *unused, double *out_7213076452181803827); -void pose_H_14(double *state, double *unused, double *out_170393470508190318); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7616755969345465164); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2983579217144166569); +void pose_H_mod_fun(double *state, double *out_7561037298851331177); +void pose_f_fun(double *state, double dt, double *out_5713485962747764656); +void pose_F_fun(double *state, double dt, double *out_958271563642232375); +void pose_h_4(double *state, double *unused, double *out_4832992228856902742); +void pose_H_4(double *state, double *unused, double *out_2408518913812250442); +void pose_h_10(double *state, double *unused, double *out_3497927463584229027); +void pose_H_10(double *state, double *unused, double *out_4949237892416765352); +void pose_h_13(double *state, double *unused, double *out_7372319986312258601); +void pose_H_13(double *state, double *unused, double *out_803754911520082359); +void pose_h_14(double *state, double *unused, double *out_1827110187090498104); +void pose_H_14(double *state, double *unused, double *out_1554721942527234087); 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 60efbcd72..ffd46076e 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui 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