diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 7d9569bef..5a468b02c 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 652006171..67208e629 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 7357c67d8..ceacafe7b 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 75c235159..c0be795c3 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 9370e224e..aab6bab44 100755 Binary files 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differ diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index 824689a2c..192db7bf3 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index ee7735c15..db0275efc 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index ee7735c15..db0275efc 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin 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uint8_t gitversion[19] = "DEV-459d7c40-DEBUG"; +const uint8_t gitversion[19] = "DEV-e0d9e05f-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 251b0f887..5b13e2db7 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 4350d4b42..9ab0b3610 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 3db0d3996..460425b00 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index f658678f2..016a60440 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed 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a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 579f205e4..de72e8091 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index ee4c1a9c6..49550b889 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-459d7c40-DEBUG \ No newline at end of file +DEV-e0d9e05f-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 329994cdc..dfb80e548 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_3745689373699638561) { - out_3745689373699638561[0] = delta_x[0] + nom_x[0]; - out_3745689373699638561[1] = delta_x[1] + nom_x[1]; - out_3745689373699638561[2] = delta_x[2] + nom_x[2]; - out_3745689373699638561[3] = delta_x[3] + nom_x[3]; - out_3745689373699638561[4] = delta_x[4] + nom_x[4]; - out_3745689373699638561[5] = delta_x[5] + nom_x[5]; - out_3745689373699638561[6] = delta_x[6] + nom_x[6]; - out_3745689373699638561[7] = delta_x[7] + nom_x[7]; - out_3745689373699638561[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3970546799234288025) { + out_3970546799234288025[0] = delta_x[0] + nom_x[0]; + out_3970546799234288025[1] = delta_x[1] + nom_x[1]; + out_3970546799234288025[2] = delta_x[2] + nom_x[2]; + out_3970546799234288025[3] = delta_x[3] + nom_x[3]; + out_3970546799234288025[4] = delta_x[4] + nom_x[4]; + out_3970546799234288025[5] = delta_x[5] + nom_x[5]; + out_3970546799234288025[6] = delta_x[6] + nom_x[6]; + out_3970546799234288025[7] = delta_x[7] + nom_x[7]; + out_3970546799234288025[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2400897459040094715) { - out_2400897459040094715[0] = -nom_x[0] + true_x[0]; - out_2400897459040094715[1] = -nom_x[1] + true_x[1]; - out_2400897459040094715[2] = -nom_x[2] + true_x[2]; - out_2400897459040094715[3] = -nom_x[3] + true_x[3]; - out_2400897459040094715[4] = -nom_x[4] + true_x[4]; - out_2400897459040094715[5] = -nom_x[5] + true_x[5]; - out_2400897459040094715[6] = -nom_x[6] + true_x[6]; - out_2400897459040094715[7] = -nom_x[7] + true_x[7]; - out_2400897459040094715[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550) { + out_2567718075778826550[0] = -nom_x[0] + true_x[0]; + out_2567718075778826550[1] = -nom_x[1] + true_x[1]; + out_2567718075778826550[2] = -nom_x[2] + true_x[2]; + out_2567718075778826550[3] = -nom_x[3] + true_x[3]; + out_2567718075778826550[4] = -nom_x[4] + true_x[4]; + out_2567718075778826550[5] = -nom_x[5] + true_x[5]; + out_2567718075778826550[6] = -nom_x[6] + true_x[6]; + out_2567718075778826550[7] = -nom_x[7] + true_x[7]; + out_2567718075778826550[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7767655668809768572) { - out_7767655668809768572[0] = 1.0; - out_7767655668809768572[1] = 0.0; - out_7767655668809768572[2] = 0.0; - out_7767655668809768572[3] = 0.0; - out_7767655668809768572[4] = 0.0; - out_7767655668809768572[5] = 0.0; - out_7767655668809768572[6] = 0.0; - out_7767655668809768572[7] = 0.0; - out_7767655668809768572[8] = 0.0; - out_7767655668809768572[9] = 0.0; - out_7767655668809768572[10] = 1.0; - out_7767655668809768572[11] = 0.0; - out_7767655668809768572[12] = 0.0; - out_7767655668809768572[13] = 0.0; - out_7767655668809768572[14] = 0.0; - out_7767655668809768572[15] = 0.0; - out_7767655668809768572[16] = 0.0; - out_7767655668809768572[17] = 0.0; - out_7767655668809768572[18] = 0.0; - out_7767655668809768572[19] = 0.0; - out_7767655668809768572[20] = 1.0; - out_7767655668809768572[21] = 0.0; - out_7767655668809768572[22] = 0.0; - out_7767655668809768572[23] = 0.0; - out_7767655668809768572[24] = 0.0; - out_7767655668809768572[25] = 0.0; - out_7767655668809768572[26] = 0.0; - out_7767655668809768572[27] = 0.0; - out_7767655668809768572[28] = 0.0; - out_7767655668809768572[29] = 0.0; - out_7767655668809768572[30] = 1.0; - out_7767655668809768572[31] = 0.0; - out_7767655668809768572[32] = 0.0; - out_7767655668809768572[33] = 0.0; - out_7767655668809768572[34] = 0.0; - out_7767655668809768572[35] = 0.0; - out_7767655668809768572[36] = 0.0; - out_7767655668809768572[37] = 0.0; - out_7767655668809768572[38] = 0.0; - out_7767655668809768572[39] = 0.0; - out_7767655668809768572[40] = 1.0; - out_7767655668809768572[41] = 0.0; - out_7767655668809768572[42] = 0.0; - out_7767655668809768572[43] = 0.0; - out_7767655668809768572[44] = 0.0; - out_7767655668809768572[45] = 0.0; - out_7767655668809768572[46] = 0.0; - out_7767655668809768572[47] = 0.0; - out_7767655668809768572[48] = 0.0; - out_7767655668809768572[49] = 0.0; - out_7767655668809768572[50] = 1.0; - out_7767655668809768572[51] = 0.0; - out_7767655668809768572[52] = 0.0; - out_7767655668809768572[53] = 0.0; - out_7767655668809768572[54] = 0.0; - out_7767655668809768572[55] = 0.0; - out_7767655668809768572[56] = 0.0; - out_7767655668809768572[57] = 0.0; - out_7767655668809768572[58] = 0.0; - out_7767655668809768572[59] = 0.0; - out_7767655668809768572[60] = 1.0; - out_7767655668809768572[61] = 0.0; - out_7767655668809768572[62] = 0.0; - out_7767655668809768572[63] = 0.0; - out_7767655668809768572[64] = 0.0; - out_7767655668809768572[65] = 0.0; - out_7767655668809768572[66] = 0.0; - out_7767655668809768572[67] = 0.0; - out_7767655668809768572[68] = 0.0; - out_7767655668809768572[69] = 0.0; - out_7767655668809768572[70] = 1.0; - out_7767655668809768572[71] = 0.0; - out_7767655668809768572[72] = 0.0; - out_7767655668809768572[73] = 0.0; - out_7767655668809768572[74] = 0.0; - out_7767655668809768572[75] = 0.0; - out_7767655668809768572[76] = 0.0; - out_7767655668809768572[77] = 0.0; - out_7767655668809768572[78] = 0.0; - out_7767655668809768572[79] = 0.0; - out_7767655668809768572[80] = 1.0; +void H_mod_fun(double *state, double *out_1717749627572306313) { + out_1717749627572306313[0] = 1.0; + out_1717749627572306313[1] = 0.0; + out_1717749627572306313[2] = 0.0; + out_1717749627572306313[3] = 0.0; + out_1717749627572306313[4] = 0.0; + out_1717749627572306313[5] = 0.0; + out_1717749627572306313[6] = 0.0; + out_1717749627572306313[7] = 0.0; + out_1717749627572306313[8] = 0.0; + out_1717749627572306313[9] = 0.0; + out_1717749627572306313[10] = 1.0; + out_1717749627572306313[11] = 0.0; + out_1717749627572306313[12] = 0.0; + out_1717749627572306313[13] = 0.0; + out_1717749627572306313[14] = 0.0; + out_1717749627572306313[15] = 0.0; + out_1717749627572306313[16] = 0.0; + out_1717749627572306313[17] = 0.0; + out_1717749627572306313[18] = 0.0; + out_1717749627572306313[19] = 0.0; + out_1717749627572306313[20] = 1.0; + out_1717749627572306313[21] = 0.0; + out_1717749627572306313[22] = 0.0; + out_1717749627572306313[23] = 0.0; + out_1717749627572306313[24] = 0.0; + out_1717749627572306313[25] = 0.0; + out_1717749627572306313[26] = 0.0; + out_1717749627572306313[27] = 0.0; + out_1717749627572306313[28] = 0.0; + out_1717749627572306313[29] = 0.0; + out_1717749627572306313[30] = 1.0; + out_1717749627572306313[31] = 0.0; + out_1717749627572306313[32] = 0.0; + out_1717749627572306313[33] = 0.0; + out_1717749627572306313[34] = 0.0; + out_1717749627572306313[35] = 0.0; + out_1717749627572306313[36] = 0.0; + out_1717749627572306313[37] = 0.0; + out_1717749627572306313[38] = 0.0; + out_1717749627572306313[39] = 0.0; + out_1717749627572306313[40] = 1.0; + out_1717749627572306313[41] = 0.0; + out_1717749627572306313[42] = 0.0; + out_1717749627572306313[43] = 0.0; + out_1717749627572306313[44] = 0.0; + out_1717749627572306313[45] = 0.0; + out_1717749627572306313[46] = 0.0; + out_1717749627572306313[47] = 0.0; + out_1717749627572306313[48] = 0.0; + out_1717749627572306313[49] = 0.0; + out_1717749627572306313[50] = 1.0; + out_1717749627572306313[51] = 0.0; + out_1717749627572306313[52] = 0.0; + out_1717749627572306313[53] = 0.0; + out_1717749627572306313[54] = 0.0; + out_1717749627572306313[55] = 0.0; + out_1717749627572306313[56] = 0.0; + out_1717749627572306313[57] = 0.0; + out_1717749627572306313[58] = 0.0; + out_1717749627572306313[59] = 0.0; + out_1717749627572306313[60] = 1.0; + out_1717749627572306313[61] = 0.0; + out_1717749627572306313[62] = 0.0; + out_1717749627572306313[63] = 0.0; + out_1717749627572306313[64] = 0.0; + out_1717749627572306313[65] = 0.0; + out_1717749627572306313[66] = 0.0; + out_1717749627572306313[67] = 0.0; + out_1717749627572306313[68] = 0.0; + out_1717749627572306313[69] = 0.0; + out_1717749627572306313[70] = 1.0; + out_1717749627572306313[71] = 0.0; + out_1717749627572306313[72] = 0.0; + out_1717749627572306313[73] = 0.0; + out_1717749627572306313[74] = 0.0; + out_1717749627572306313[75] = 0.0; + out_1717749627572306313[76] = 0.0; + out_1717749627572306313[77] = 0.0; + out_1717749627572306313[78] = 0.0; + out_1717749627572306313[79] = 0.0; + out_1717749627572306313[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3612821593330881774) { - out_3612821593330881774[0] = state[0]; - out_3612821593330881774[1] = state[1]; - out_3612821593330881774[2] = state[2]; - out_3612821593330881774[3] = state[3]; - out_3612821593330881774[4] = state[4]; - out_3612821593330881774[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_3612821593330881774[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_3612821593330881774[7] = state[7]; - out_3612821593330881774[8] = state[8]; +void f_fun(double *state, double dt, double *out_4680969065089583930) { + out_4680969065089583930[0] = state[0]; + out_4680969065089583930[1] = state[1]; + out_4680969065089583930[2] = state[2]; + out_4680969065089583930[3] = state[3]; + out_4680969065089583930[4] = state[4]; + out_4680969065089583930[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_4680969065089583930[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_4680969065089583930[7] = state[7]; + out_4680969065089583930[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2179834667538047746) { - out_2179834667538047746[0] = 1; - out_2179834667538047746[1] = 0; - out_2179834667538047746[2] = 0; - out_2179834667538047746[3] = 0; - out_2179834667538047746[4] = 0; - out_2179834667538047746[5] = 0; - out_2179834667538047746[6] = 0; - out_2179834667538047746[7] = 0; - out_2179834667538047746[8] = 0; - out_2179834667538047746[9] = 0; - out_2179834667538047746[10] = 1; - out_2179834667538047746[11] = 0; - out_2179834667538047746[12] = 0; - out_2179834667538047746[13] = 0; - out_2179834667538047746[14] = 0; - out_2179834667538047746[15] = 0; - out_2179834667538047746[16] = 0; - out_2179834667538047746[17] = 0; - out_2179834667538047746[18] = 0; - out_2179834667538047746[19] = 0; - out_2179834667538047746[20] = 1; - out_2179834667538047746[21] = 0; - out_2179834667538047746[22] = 0; - out_2179834667538047746[23] = 0; - out_2179834667538047746[24] = 0; - out_2179834667538047746[25] = 0; - out_2179834667538047746[26] = 0; - out_2179834667538047746[27] = 0; - out_2179834667538047746[28] = 0; - out_2179834667538047746[29] = 0; - out_2179834667538047746[30] = 1; - out_2179834667538047746[31] = 0; - out_2179834667538047746[32] = 0; - out_2179834667538047746[33] = 0; - out_2179834667538047746[34] = 0; - out_2179834667538047746[35] = 0; - out_2179834667538047746[36] = 0; - out_2179834667538047746[37] = 0; - out_2179834667538047746[38] = 0; - out_2179834667538047746[39] = 0; - out_2179834667538047746[40] = 1; - out_2179834667538047746[41] = 0; - out_2179834667538047746[42] = 0; - out_2179834667538047746[43] = 0; - out_2179834667538047746[44] = 0; - out_2179834667538047746[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_2179834667538047746[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2179834667538047746[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2179834667538047746[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2179834667538047746[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_2179834667538047746[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2179834667538047746[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2179834667538047746[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2179834667538047746[53] = -9.8100000000000005*dt; - out_2179834667538047746[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_2179834667538047746[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2179834667538047746[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2179834667538047746[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2179834667538047746[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_2179834667538047746[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2179834667538047746[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_2179834667538047746[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2179834667538047746[62] = 0; - out_2179834667538047746[63] = 0; - out_2179834667538047746[64] = 0; - out_2179834667538047746[65] = 0; - out_2179834667538047746[66] = 0; - out_2179834667538047746[67] = 0; - out_2179834667538047746[68] = 0; - out_2179834667538047746[69] = 0; - out_2179834667538047746[70] = 1; - out_2179834667538047746[71] = 0; - out_2179834667538047746[72] = 0; - out_2179834667538047746[73] = 0; - out_2179834667538047746[74] = 0; - out_2179834667538047746[75] = 0; - out_2179834667538047746[76] = 0; - out_2179834667538047746[77] = 0; - out_2179834667538047746[78] = 0; - out_2179834667538047746[79] = 0; - out_2179834667538047746[80] = 1; +void F_fun(double *state, double dt, double *out_6937343164270022068) { + out_6937343164270022068[0] = 1; + out_6937343164270022068[1] = 0; + out_6937343164270022068[2] = 0; + out_6937343164270022068[3] = 0; + out_6937343164270022068[4] = 0; + out_6937343164270022068[5] = 0; + out_6937343164270022068[6] = 0; + out_6937343164270022068[7] = 0; + out_6937343164270022068[8] = 0; + out_6937343164270022068[9] = 0; + out_6937343164270022068[10] = 1; + out_6937343164270022068[11] = 0; + out_6937343164270022068[12] = 0; + out_6937343164270022068[13] = 0; + out_6937343164270022068[14] = 0; + out_6937343164270022068[15] = 0; + out_6937343164270022068[16] = 0; + out_6937343164270022068[17] = 0; + out_6937343164270022068[18] = 0; + out_6937343164270022068[19] = 0; + out_6937343164270022068[20] = 1; + out_6937343164270022068[21] = 0; + out_6937343164270022068[22] = 0; + out_6937343164270022068[23] = 0; + out_6937343164270022068[24] = 0; + out_6937343164270022068[25] = 0; + out_6937343164270022068[26] = 0; + out_6937343164270022068[27] = 0; + out_6937343164270022068[28] = 0; + out_6937343164270022068[29] = 0; + out_6937343164270022068[30] = 1; + out_6937343164270022068[31] = 0; + out_6937343164270022068[32] = 0; + out_6937343164270022068[33] = 0; + out_6937343164270022068[34] = 0; + out_6937343164270022068[35] = 0; + out_6937343164270022068[36] = 0; + out_6937343164270022068[37] = 0; + out_6937343164270022068[38] = 0; + out_6937343164270022068[39] = 0; + out_6937343164270022068[40] = 1; + out_6937343164270022068[41] = 0; + out_6937343164270022068[42] = 0; + out_6937343164270022068[43] = 0; + out_6937343164270022068[44] = 0; + out_6937343164270022068[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_6937343164270022068[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6937343164270022068[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6937343164270022068[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6937343164270022068[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_6937343164270022068[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6937343164270022068[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6937343164270022068[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6937343164270022068[53] = -9.8100000000000005*dt; + out_6937343164270022068[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_6937343164270022068[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6937343164270022068[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6937343164270022068[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6937343164270022068[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_6937343164270022068[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6937343164270022068[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_6937343164270022068[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6937343164270022068[62] = 0; + out_6937343164270022068[63] = 0; + out_6937343164270022068[64] = 0; + out_6937343164270022068[65] = 0; + out_6937343164270022068[66] = 0; + out_6937343164270022068[67] = 0; + out_6937343164270022068[68] = 0; + out_6937343164270022068[69] = 0; + out_6937343164270022068[70] = 1; + out_6937343164270022068[71] = 0; + out_6937343164270022068[72] = 0; + out_6937343164270022068[73] = 0; + out_6937343164270022068[74] = 0; + out_6937343164270022068[75] = 0; + out_6937343164270022068[76] = 0; + out_6937343164270022068[77] = 0; + out_6937343164270022068[78] = 0; + out_6937343164270022068[79] = 0; + out_6937343164270022068[80] = 1; } -void h_25(double *state, double *unused, double *out_6182136655387767236) { - out_6182136655387767236[0] = state[6]; +void h_25(double *state, double *unused, double *out_5928605043652166783) { + out_5928605043652166783[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2863963843625103732) { - out_2863963843625103732[0] = 0; - out_2863963843625103732[1] = 0; - out_2863963843625103732[2] = 0; - out_2863963843625103732[3] = 0; - out_2863963843625103732[4] = 0; - out_2863963843625103732[5] = 0; - out_2863963843625103732[6] = 1; - out_2863963843625103732[7] = 0; - out_2863963843625103732[8] = 0; +void H_25(double *state, double *unused, double *out_8807656413163385498) { + out_8807656413163385498[0] = 0; + out_8807656413163385498[1] = 0; + out_8807656413163385498[2] = 0; + out_8807656413163385498[3] = 0; + out_8807656413163385498[4] = 0; + out_8807656413163385498[5] = 0; + out_8807656413163385498[6] = 1; + out_8807656413163385498[7] = 0; + out_8807656413163385498[8] = 0; } -void h_24(double *state, double *unused, double *out_7699556082354746130) { - out_7699556082354746130[0] = state[4]; - out_7699556082354746130[1] = state[5]; +void h_24(double *state, double *unused, double *out_226265923538190981) { + out_226265923538190981[0] = state[4]; + out_226265923538190981[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8991184345786785929) { - out_8991184345786785929[0] = 0; - out_8991184345786785929[1] = 0; - out_8991184345786785929[2] = 0; - out_8991184345786785929[3] = 0; - out_8991184345786785929[4] = 1; - out_8991184345786785929[5] = 0; - out_8991184345786785929[6] = 0; - out_8991184345786785929[7] = 0; - out_8991184345786785929[8] = 0; - out_8991184345786785929[9] = 0; - out_8991184345786785929[10] = 0; - out_8991184345786785929[11] = 0; - out_8991184345786785929[12] = 0; - out_8991184345786785929[13] = 0; - out_8991184345786785929[14] = 1; - out_8991184345786785929[15] = 0; - out_8991184345786785929[16] = 0; - out_8991184345786785929[17] = 0; +void H_24(double *state, double *unused, double *out_5249730814361062362) { + out_5249730814361062362[0] = 0; + out_5249730814361062362[1] = 0; + out_5249730814361062362[2] = 0; + out_5249730814361062362[3] = 0; + out_5249730814361062362[4] = 1; + out_5249730814361062362[5] = 0; + out_5249730814361062362[6] = 0; + out_5249730814361062362[7] = 0; + out_5249730814361062362[8] = 0; + out_5249730814361062362[9] = 0; + out_5249730814361062362[10] = 0; + out_5249730814361062362[11] = 0; + out_5249730814361062362[12] = 0; + out_5249730814361062362[13] = 0; + out_5249730814361062362[14] = 1; + out_5249730814361062362[15] = 0; + out_5249730814361062362[16] = 0; + out_5249730814361062362[17] = 0; } -void h_30(double *state, double *unused, double *out_3234410665032282275) { - out_3234410665032282275[0] = state[4]; +void h_30(double *state, double *unused, double *out_8880689501803362483) { + out_8880689501803362483[0] = state[4]; } -void H_30(double *state, double *unused, double *out_345630885117855105) { - out_345630885117855105[0] = 0; - out_345630885117855105[1] = 0; - out_345630885117855105[2] = 0; - out_345630885117855105[3] = 0; - out_345630885117855105[4] = 1; - out_345630885117855105[5] = 0; - out_345630885117855105[6] = 0; - out_345630885117855105[7] = 0; - out_345630885117855105[8] = 0; +void H_30(double *state, double *unused, double *out_6289323454656136871) { + out_6289323454656136871[0] = 0; + out_6289323454656136871[1] = 0; + out_6289323454656136871[2] = 0; + out_6289323454656136871[3] = 0; + out_6289323454656136871[4] = 1; + out_6289323454656136871[5] = 0; + out_6289323454656136871[6] = 0; + out_6289323454656136871[7] = 0; + out_6289323454656136871[8] = 0; } -void h_26(double *state, double *unused, double *out_8236083932693127920) { - out_8236083932693127920[0] = state[7]; +void h_26(double *state, double *unused, double *out_101279670203478282) { + out_101279670203478282[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6605467162499159956) { - out_6605467162499159956[0] = 0; - out_6605467162499159956[1] = 0; - out_6605467162499159956[2] = 0; - out_6605467162499159956[3] = 0; - out_6605467162499159956[4] = 0; - out_6605467162499159956[5] = 0; - out_6605467162499159956[6] = 0; - out_6605467162499159956[7] = 1; - out_6605467162499159956[8] = 0; +void H_26(double *state, double *unused, double *out_5897584341672109894) { + out_5897584341672109894[0] = 0; + out_5897584341672109894[1] = 0; + out_5897584341672109894[2] = 0; + out_5897584341672109894[3] = 0; + out_5897584341672109894[4] = 0; + out_5897584341672109894[5] = 0; + out_5897584341672109894[6] = 0; + out_5897584341672109894[7] = 1; + out_5897584341672109894[8] = 0; } -void h_27(double *state, double *unused, double *out_5200052562052469124) { - out_5200052562052469124[0] = state[3]; +void h_27(double *state, double *unused, double *out_3324199722843469132) { + out_3324199722843469132[0] = state[3]; } -void H_27(double *state, double *unused, double *out_1877963186066088112) { - out_1877963186066088112[0] = 0; - out_1877963186066088112[1] = 0; - out_1877963186066088112[2] = 0; - out_1877963186066088112[3] = 1; - out_1877963186066088112[4] = 0; - out_1877963186066088112[5] = 0; - out_1877963186066088112[6] = 0; - out_1877963186066088112[7] = 0; - out_1877963186066088112[8] = 0; +void H_27(double *state, double *unused, double *out_8464086766456561782) { + out_8464086766456561782[0] = 0; + out_8464086766456561782[1] = 0; + out_8464086766456561782[2] = 0; + out_8464086766456561782[3] = 1; + out_8464086766456561782[4] = 0; + out_8464086766456561782[5] = 0; + out_8464086766456561782[6] = 0; + out_8464086766456561782[7] = 0; + out_8464086766456561782[8] = 0; } -void h_29(double *state, double *unused, double *out_1767262602628563370) { - out_1767262602628563370[0] = state[1]; +void h_29(double *state, double *unused, double *out_3167013054492339987) { + out_3167013054492339987[0] = state[1]; } -void H_29(double *state, double *unused, double *out_164600459196537079) { - out_164600459196537079[0] = 0; - out_164600459196537079[1] = 1; - out_164600459196537079[2] = 0; - out_164600459196537079[3] = 0; - out_164600459196537079[4] = 0; - out_164600459196537079[5] = 0; - out_164600459196537079[6] = 0; - out_164600459196537079[7] = 0; - out_164600459196537079[8] = 0; +void H_29(double *state, double *unused, double *out_5779092110341744687) { + out_5779092110341744687[0] = 0; + out_5779092110341744687[1] = 1; + out_5779092110341744687[2] = 0; + out_5779092110341744687[3] = 0; + out_5779092110341744687[4] = 0; + out_5779092110341744687[5] = 0; + out_5779092110341744687[6] = 0; + out_5779092110341744687[7] = 0; + out_5779092110341744687[8] = 0; } -void h_28(double *state, double *unused, double *out_8284311513975789260) { - out_8284311513975789260[0] = state[0]; +void h_28(double *state, double *unused, double *out_287413671399136447) { + out_287413671399136447[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4917798557872993495) { - out_4917798557872993495[0] = 1; - out_4917798557872993495[1] = 0; - out_4917798557872993495[2] = 0; - out_4917798557872993495[3] = 0; - out_4917798557872993495[4] = 0; - out_4917798557872993495[5] = 0; - out_4917798557872993495[6] = 0; - out_4917798557872993495[7] = 0; - out_4917798557872993495[8] = 0; +void H_28(double *state, double *unused, double *out_7585252946298276355) { + out_7585252946298276355[0] = 1; + out_7585252946298276355[1] = 0; + out_7585252946298276355[2] = 0; + out_7585252946298276355[3] = 0; + out_7585252946298276355[4] = 0; + out_7585252946298276355[5] = 0; + out_7585252946298276355[6] = 0; + out_7585252946298276355[7] = 0; + out_7585252946298276355[8] = 0; } -void h_31(double *state, double *unused, double *out_588698570962583700) { - out_588698570962583700[0] = state[8]; +void h_31(double *state, double *unused, double *out_1952667607101882402) { + out_1952667607101882402[0] = state[8]; } -void H_31(double *state, double *unused, double *out_7231675264732511432) { - out_7231675264732511432[0] = 0; - out_7231675264732511432[1] = 0; - out_7231675264732511432[2] = 0; - out_7231675264732511432[3] = 0; - out_7231675264732511432[4] = 0; - out_7231675264732511432[5] = 0; - out_7231675264732511432[6] = 0; - out_7231675264732511432[7] = 0; - out_7231675264732511432[8] = 1; +void H_31(double *state, double *unused, double *out_5271376239438758418) { + out_5271376239438758418[0] = 0; + out_5271376239438758418[1] = 0; + out_5271376239438758418[2] = 0; + out_5271376239438758418[3] = 0; + out_5271376239438758418[4] = 0; + out_5271376239438758418[5] = 0; + out_5271376239438758418[6] = 0; + out_5271376239438758418[7] = 0; + out_5271376239438758418[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_3745689373699638561) { - err_fun(nom_x, delta_x, out_3745689373699638561); +void car_err_fun(double *nom_x, double *delta_x, double *out_3970546799234288025) { + err_fun(nom_x, delta_x, out_3970546799234288025); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2400897459040094715) { - inv_err_fun(nom_x, true_x, out_2400897459040094715); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550) { + inv_err_fun(nom_x, true_x, out_2567718075778826550); } -void car_H_mod_fun(double *state, double *out_7767655668809768572) { - H_mod_fun(state, out_7767655668809768572); +void car_H_mod_fun(double *state, double *out_1717749627572306313) { + H_mod_fun(state, out_1717749627572306313); } -void car_f_fun(double *state, double dt, double *out_3612821593330881774) { - f_fun(state, dt, out_3612821593330881774); +void car_f_fun(double *state, double dt, double *out_4680969065089583930) { + f_fun(state, dt, out_4680969065089583930); } -void car_F_fun(double *state, double dt, double *out_2179834667538047746) { - F_fun(state, dt, out_2179834667538047746); +void car_F_fun(double *state, double dt, double *out_6937343164270022068) { + F_fun(state, dt, out_6937343164270022068); } -void car_h_25(double *state, double *unused, double *out_6182136655387767236) { - h_25(state, unused, out_6182136655387767236); +void car_h_25(double *state, double *unused, double *out_5928605043652166783) { + h_25(state, unused, out_5928605043652166783); } -void car_H_25(double *state, double *unused, double *out_2863963843625103732) { - H_25(state, unused, out_2863963843625103732); +void car_H_25(double *state, double *unused, double *out_8807656413163385498) { + H_25(state, unused, out_8807656413163385498); } -void car_h_24(double *state, double *unused, double *out_7699556082354746130) { - h_24(state, unused, out_7699556082354746130); +void car_h_24(double *state, double *unused, double *out_226265923538190981) { + h_24(state, unused, out_226265923538190981); } -void car_H_24(double *state, double *unused, double *out_8991184345786785929) { - H_24(state, unused, out_8991184345786785929); +void car_H_24(double *state, double *unused, double *out_5249730814361062362) { + H_24(state, unused, out_5249730814361062362); } -void car_h_30(double *state, double *unused, double *out_3234410665032282275) { - h_30(state, unused, out_3234410665032282275); +void car_h_30(double *state, double *unused, double *out_8880689501803362483) { + h_30(state, unused, out_8880689501803362483); } -void car_H_30(double *state, double *unused, double *out_345630885117855105) { - H_30(state, unused, out_345630885117855105); +void car_H_30(double *state, double *unused, double *out_6289323454656136871) { + H_30(state, unused, out_6289323454656136871); } -void car_h_26(double *state, double *unused, double *out_8236083932693127920) { - h_26(state, unused, out_8236083932693127920); +void car_h_26(double *state, double *unused, double *out_101279670203478282) { + h_26(state, unused, out_101279670203478282); } -void car_H_26(double *state, double *unused, double *out_6605467162499159956) { - H_26(state, unused, out_6605467162499159956); +void car_H_26(double *state, double *unused, double *out_5897584341672109894) { + H_26(state, unused, out_5897584341672109894); } -void car_h_27(double *state, double *unused, double *out_5200052562052469124) { - h_27(state, unused, out_5200052562052469124); +void car_h_27(double *state, double *unused, double *out_3324199722843469132) { + h_27(state, unused, out_3324199722843469132); } -void car_H_27(double *state, double *unused, double *out_1877963186066088112) { - H_27(state, unused, out_1877963186066088112); +void car_H_27(double *state, double *unused, double *out_8464086766456561782) { + H_27(state, unused, out_8464086766456561782); } -void car_h_29(double *state, double *unused, double *out_1767262602628563370) { - h_29(state, unused, out_1767262602628563370); +void car_h_29(double *state, double *unused, double *out_3167013054492339987) { + h_29(state, unused, out_3167013054492339987); } -void car_H_29(double *state, double *unused, double *out_164600459196537079) { - H_29(state, unused, out_164600459196537079); +void car_H_29(double *state, double *unused, double *out_5779092110341744687) { + H_29(state, unused, out_5779092110341744687); } -void car_h_28(double *state, double *unused, double *out_8284311513975789260) { - h_28(state, unused, out_8284311513975789260); +void car_h_28(double *state, double *unused, double *out_287413671399136447) { + h_28(state, unused, out_287413671399136447); } -void car_H_28(double *state, double *unused, double *out_4917798557872993495) { - H_28(state, unused, out_4917798557872993495); +void car_H_28(double *state, double *unused, double *out_7585252946298276355) { + H_28(state, unused, out_7585252946298276355); } -void car_h_31(double *state, double *unused, double *out_588698570962583700) { - h_31(state, unused, out_588698570962583700); +void car_h_31(double *state, double *unused, double *out_1952667607101882402) { + h_31(state, unused, out_1952667607101882402); } -void car_H_31(double *state, double *unused, double *out_7231675264732511432) { - H_31(state, unused, out_7231675264732511432); +void car_H_31(double *state, double *unused, double *out_5271376239438758418) { + H_31(state, unused, out_5271376239438758418); } 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 ae1d7f602..16cf84aab 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_3745689373699638561); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2400897459040094715); -void car_H_mod_fun(double *state, double *out_7767655668809768572); -void car_f_fun(double *state, double dt, double *out_3612821593330881774); -void car_F_fun(double *state, double dt, double *out_2179834667538047746); -void car_h_25(double *state, double *unused, double *out_6182136655387767236); -void car_H_25(double *state, double *unused, double *out_2863963843625103732); -void car_h_24(double *state, double *unused, double *out_7699556082354746130); -void car_H_24(double *state, double *unused, double *out_8991184345786785929); -void car_h_30(double *state, double *unused, double *out_3234410665032282275); -void car_H_30(double *state, double *unused, double *out_345630885117855105); -void car_h_26(double *state, double *unused, double *out_8236083932693127920); -void car_H_26(double *state, double *unused, double *out_6605467162499159956); -void car_h_27(double *state, double *unused, double *out_5200052562052469124); -void car_H_27(double *state, double *unused, double *out_1877963186066088112); -void car_h_29(double *state, double *unused, double *out_1767262602628563370); -void car_H_29(double *state, double *unused, double *out_164600459196537079); -void car_h_28(double *state, double *unused, double *out_8284311513975789260); -void car_H_28(double *state, double *unused, double *out_4917798557872993495); -void car_h_31(double *state, double *unused, double *out_588698570962583700); -void car_H_31(double *state, double *unused, double *out_7231675264732511432); +void car_err_fun(double *nom_x, double *delta_x, double *out_3970546799234288025); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550); +void car_H_mod_fun(double *state, double *out_1717749627572306313); +void car_f_fun(double *state, double dt, double *out_4680969065089583930); +void car_F_fun(double *state, double dt, double *out_6937343164270022068); +void car_h_25(double *state, double *unused, double *out_5928605043652166783); +void car_H_25(double *state, double *unused, double *out_8807656413163385498); +void car_h_24(double *state, double *unused, double *out_226265923538190981); +void car_H_24(double *state, double *unused, double *out_5249730814361062362); +void car_h_30(double *state, double *unused, double *out_8880689501803362483); +void car_H_30(double *state, double *unused, double *out_6289323454656136871); +void car_h_26(double *state, double *unused, double *out_101279670203478282); +void car_H_26(double *state, double *unused, double *out_5897584341672109894); +void car_h_27(double *state, double *unused, double *out_3324199722843469132); +void car_H_27(double *state, double *unused, double *out_8464086766456561782); +void car_h_29(double *state, double *unused, double *out_3167013054492339987); +void car_H_29(double *state, double *unused, double *out_5779092110341744687); +void car_h_28(double *state, double *unused, double *out_287413671399136447); +void car_H_28(double *state, double *unused, double *out_7585252946298276355); +void car_h_31(double *state, double *unused, double *out_1952667607101882402); +void car_H_31(double *state, double *unused, double *out_5271376239438758418); 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 4fd53c1fe..9949bfc54 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_5813097801788606117) { - out_5813097801788606117[0] = delta_x[0] + nom_x[0]; - out_5813097801788606117[1] = delta_x[1] + nom_x[1]; - out_5813097801788606117[2] = delta_x[2] + nom_x[2]; - out_5813097801788606117[3] = delta_x[3] + nom_x[3]; - out_5813097801788606117[4] = delta_x[4] + nom_x[4]; - out_5813097801788606117[5] = delta_x[5] + nom_x[5]; - out_5813097801788606117[6] = delta_x[6] + nom_x[6]; - out_5813097801788606117[7] = delta_x[7] + nom_x[7]; - out_5813097801788606117[8] = delta_x[8] + nom_x[8]; - out_5813097801788606117[9] = delta_x[9] + nom_x[9]; - out_5813097801788606117[10] = delta_x[10] + nom_x[10]; - out_5813097801788606117[11] = delta_x[11] + nom_x[11]; - out_5813097801788606117[12] = delta_x[12] + nom_x[12]; - out_5813097801788606117[13] = delta_x[13] + nom_x[13]; - out_5813097801788606117[14] = delta_x[14] + nom_x[14]; - out_5813097801788606117[15] = delta_x[15] + nom_x[15]; - out_5813097801788606117[16] = delta_x[16] + nom_x[16]; - out_5813097801788606117[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_788519772333288428) { + out_788519772333288428[0] = delta_x[0] + nom_x[0]; + out_788519772333288428[1] = delta_x[1] + nom_x[1]; + out_788519772333288428[2] = delta_x[2] + nom_x[2]; + out_788519772333288428[3] = delta_x[3] + nom_x[3]; + out_788519772333288428[4] = delta_x[4] + nom_x[4]; + out_788519772333288428[5] = delta_x[5] + nom_x[5]; + out_788519772333288428[6] = delta_x[6] + nom_x[6]; + out_788519772333288428[7] = delta_x[7] + nom_x[7]; + out_788519772333288428[8] = delta_x[8] + nom_x[8]; + out_788519772333288428[9] = delta_x[9] + nom_x[9]; + out_788519772333288428[10] = delta_x[10] + nom_x[10]; + out_788519772333288428[11] = delta_x[11] + nom_x[11]; + out_788519772333288428[12] = delta_x[12] + nom_x[12]; + out_788519772333288428[13] = delta_x[13] + nom_x[13]; + out_788519772333288428[14] = delta_x[14] + nom_x[14]; + out_788519772333288428[15] = delta_x[15] + nom_x[15]; + out_788519772333288428[16] = delta_x[16] + nom_x[16]; + out_788519772333288428[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_265932847343752274) { - out_265932847343752274[0] = -nom_x[0] + true_x[0]; - out_265932847343752274[1] = -nom_x[1] + true_x[1]; - out_265932847343752274[2] = -nom_x[2] + true_x[2]; - out_265932847343752274[3] = -nom_x[3] + true_x[3]; - out_265932847343752274[4] = -nom_x[4] + true_x[4]; - out_265932847343752274[5] = -nom_x[5] + true_x[5]; - out_265932847343752274[6] = -nom_x[6] + true_x[6]; - out_265932847343752274[7] = -nom_x[7] + true_x[7]; - out_265932847343752274[8] = -nom_x[8] + true_x[8]; - out_265932847343752274[9] = -nom_x[9] + true_x[9]; - out_265932847343752274[10] = -nom_x[10] + true_x[10]; - out_265932847343752274[11] = -nom_x[11] + true_x[11]; - out_265932847343752274[12] = -nom_x[12] + true_x[12]; - out_265932847343752274[13] = -nom_x[13] + true_x[13]; - out_265932847343752274[14] = -nom_x[14] + true_x[14]; - out_265932847343752274[15] = -nom_x[15] + true_x[15]; - out_265932847343752274[16] = -nom_x[16] + true_x[16]; - out_265932847343752274[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3476371721226452847) { + out_3476371721226452847[0] = -nom_x[0] + true_x[0]; + out_3476371721226452847[1] = -nom_x[1] + true_x[1]; + out_3476371721226452847[2] = -nom_x[2] + true_x[2]; + out_3476371721226452847[3] = -nom_x[3] + true_x[3]; + out_3476371721226452847[4] = -nom_x[4] + true_x[4]; + out_3476371721226452847[5] = -nom_x[5] + true_x[5]; + out_3476371721226452847[6] = -nom_x[6] + true_x[6]; + out_3476371721226452847[7] = -nom_x[7] + true_x[7]; + out_3476371721226452847[8] = -nom_x[8] + true_x[8]; + out_3476371721226452847[9] = -nom_x[9] + true_x[9]; + out_3476371721226452847[10] = -nom_x[10] + true_x[10]; + out_3476371721226452847[11] = -nom_x[11] + true_x[11]; + out_3476371721226452847[12] = -nom_x[12] + true_x[12]; + out_3476371721226452847[13] = -nom_x[13] + true_x[13]; + out_3476371721226452847[14] = -nom_x[14] + true_x[14]; + out_3476371721226452847[15] = -nom_x[15] + true_x[15]; + out_3476371721226452847[16] = -nom_x[16] + true_x[16]; + out_3476371721226452847[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3782749078324294962) { - out_3782749078324294962[0] = 1.0; - out_3782749078324294962[1] = 0.0; - out_3782749078324294962[2] = 0.0; - out_3782749078324294962[3] = 0.0; - out_3782749078324294962[4] = 0.0; - out_3782749078324294962[5] = 0.0; - out_3782749078324294962[6] = 0.0; - out_3782749078324294962[7] = 0.0; - out_3782749078324294962[8] = 0.0; - out_3782749078324294962[9] = 0.0; - out_3782749078324294962[10] = 0.0; - out_3782749078324294962[11] = 0.0; - out_3782749078324294962[12] = 0.0; - out_3782749078324294962[13] = 0.0; - out_3782749078324294962[14] = 0.0; - out_3782749078324294962[15] = 0.0; - out_3782749078324294962[16] = 0.0; - out_3782749078324294962[17] = 0.0; - out_3782749078324294962[18] = 0.0; - out_3782749078324294962[19] = 1.0; - out_3782749078324294962[20] = 0.0; - out_3782749078324294962[21] = 0.0; - out_3782749078324294962[22] = 0.0; - out_3782749078324294962[23] = 0.0; - out_3782749078324294962[24] = 0.0; - out_3782749078324294962[25] = 0.0; - out_3782749078324294962[26] = 0.0; - out_3782749078324294962[27] = 0.0; - out_3782749078324294962[28] = 0.0; - out_3782749078324294962[29] = 0.0; - out_3782749078324294962[30] = 0.0; - out_3782749078324294962[31] = 0.0; - out_3782749078324294962[32] = 0.0; - out_3782749078324294962[33] = 0.0; - out_3782749078324294962[34] = 0.0; - out_3782749078324294962[35] = 0.0; - out_3782749078324294962[36] = 0.0; - out_3782749078324294962[37] = 0.0; - out_3782749078324294962[38] = 1.0; - out_3782749078324294962[39] = 0.0; - out_3782749078324294962[40] = 0.0; - out_3782749078324294962[41] = 0.0; - out_3782749078324294962[42] = 0.0; - out_3782749078324294962[43] = 0.0; - out_3782749078324294962[44] = 0.0; - out_3782749078324294962[45] = 0.0; - out_3782749078324294962[46] = 0.0; - out_3782749078324294962[47] = 0.0; - out_3782749078324294962[48] = 0.0; - out_3782749078324294962[49] = 0.0; - out_3782749078324294962[50] = 0.0; - out_3782749078324294962[51] = 0.0; - out_3782749078324294962[52] = 0.0; - out_3782749078324294962[53] = 0.0; - out_3782749078324294962[54] = 0.0; - out_3782749078324294962[55] = 0.0; - out_3782749078324294962[56] = 0.0; - out_3782749078324294962[57] = 1.0; - out_3782749078324294962[58] = 0.0; - out_3782749078324294962[59] = 0.0; - out_3782749078324294962[60] = 0.0; - out_3782749078324294962[61] = 0.0; - out_3782749078324294962[62] = 0.0; - out_3782749078324294962[63] = 0.0; - out_3782749078324294962[64] = 0.0; - out_3782749078324294962[65] = 0.0; - out_3782749078324294962[66] = 0.0; - out_3782749078324294962[67] = 0.0; - out_3782749078324294962[68] = 0.0; - out_3782749078324294962[69] = 0.0; - out_3782749078324294962[70] = 0.0; - out_3782749078324294962[71] = 0.0; - out_3782749078324294962[72] = 0.0; - out_3782749078324294962[73] = 0.0; - out_3782749078324294962[74] = 0.0; - out_3782749078324294962[75] = 0.0; - out_3782749078324294962[76] = 1.0; - out_3782749078324294962[77] = 0.0; - out_3782749078324294962[78] = 0.0; - out_3782749078324294962[79] = 0.0; - out_3782749078324294962[80] = 0.0; - out_3782749078324294962[81] = 0.0; - out_3782749078324294962[82] = 0.0; - out_3782749078324294962[83] = 0.0; - out_3782749078324294962[84] = 0.0; - out_3782749078324294962[85] = 0.0; - out_3782749078324294962[86] = 0.0; - out_3782749078324294962[87] = 0.0; - out_3782749078324294962[88] = 0.0; - out_3782749078324294962[89] = 0.0; - out_3782749078324294962[90] = 0.0; - out_3782749078324294962[91] = 0.0; - out_3782749078324294962[92] = 0.0; - out_3782749078324294962[93] = 0.0; - out_3782749078324294962[94] = 0.0; - out_3782749078324294962[95] = 1.0; - out_3782749078324294962[96] = 0.0; - out_3782749078324294962[97] = 0.0; - out_3782749078324294962[98] = 0.0; - out_3782749078324294962[99] = 0.0; - out_3782749078324294962[100] = 0.0; - out_3782749078324294962[101] = 0.0; - out_3782749078324294962[102] = 0.0; - out_3782749078324294962[103] = 0.0; - out_3782749078324294962[104] = 0.0; - out_3782749078324294962[105] = 0.0; - out_3782749078324294962[106] = 0.0; - out_3782749078324294962[107] = 0.0; - out_3782749078324294962[108] = 0.0; - out_3782749078324294962[109] = 0.0; - out_3782749078324294962[110] = 0.0; - out_3782749078324294962[111] = 0.0; - out_3782749078324294962[112] = 0.0; - out_3782749078324294962[113] = 0.0; - out_3782749078324294962[114] = 1.0; - out_3782749078324294962[115] = 0.0; - out_3782749078324294962[116] = 0.0; - out_3782749078324294962[117] = 0.0; - out_3782749078324294962[118] = 0.0; - out_3782749078324294962[119] = 0.0; - out_3782749078324294962[120] = 0.0; - out_3782749078324294962[121] = 0.0; - out_3782749078324294962[122] = 0.0; - out_3782749078324294962[123] = 0.0; - out_3782749078324294962[124] = 0.0; - out_3782749078324294962[125] = 0.0; - out_3782749078324294962[126] = 0.0; - out_3782749078324294962[127] = 0.0; - out_3782749078324294962[128] = 0.0; - out_3782749078324294962[129] = 0.0; - out_3782749078324294962[130] = 0.0; - out_3782749078324294962[131] = 0.0; - out_3782749078324294962[132] = 0.0; - out_3782749078324294962[133] = 1.0; - out_3782749078324294962[134] = 0.0; - out_3782749078324294962[135] = 0.0; - out_3782749078324294962[136] = 0.0; - out_3782749078324294962[137] = 0.0; - out_3782749078324294962[138] = 0.0; - out_3782749078324294962[139] = 0.0; - out_3782749078324294962[140] = 0.0; - out_3782749078324294962[141] = 0.0; - out_3782749078324294962[142] = 0.0; - out_3782749078324294962[143] = 0.0; - out_3782749078324294962[144] = 0.0; - out_3782749078324294962[145] = 0.0; - out_3782749078324294962[146] = 0.0; - out_3782749078324294962[147] = 0.0; - out_3782749078324294962[148] = 0.0; - out_3782749078324294962[149] = 0.0; - out_3782749078324294962[150] = 0.0; - out_3782749078324294962[151] = 0.0; - out_3782749078324294962[152] = 1.0; - out_3782749078324294962[153] = 0.0; - out_3782749078324294962[154] = 0.0; - out_3782749078324294962[155] = 0.0; - out_3782749078324294962[156] = 0.0; - out_3782749078324294962[157] = 0.0; - out_3782749078324294962[158] = 0.0; - out_3782749078324294962[159] = 0.0; - out_3782749078324294962[160] = 0.0; - out_3782749078324294962[161] = 0.0; - out_3782749078324294962[162] = 0.0; - out_3782749078324294962[163] = 0.0; - out_3782749078324294962[164] = 0.0; - out_3782749078324294962[165] = 0.0; - out_3782749078324294962[166] = 0.0; - out_3782749078324294962[167] = 0.0; - out_3782749078324294962[168] = 0.0; - out_3782749078324294962[169] = 0.0; - out_3782749078324294962[170] = 0.0; - out_3782749078324294962[171] = 1.0; - out_3782749078324294962[172] = 0.0; - out_3782749078324294962[173] = 0.0; - out_3782749078324294962[174] = 0.0; - out_3782749078324294962[175] = 0.0; - out_3782749078324294962[176] = 0.0; - out_3782749078324294962[177] = 0.0; - out_3782749078324294962[178] = 0.0; - out_3782749078324294962[179] = 0.0; - out_3782749078324294962[180] = 0.0; - out_3782749078324294962[181] = 0.0; - out_3782749078324294962[182] = 0.0; - out_3782749078324294962[183] = 0.0; - out_3782749078324294962[184] = 0.0; - out_3782749078324294962[185] = 0.0; - out_3782749078324294962[186] = 0.0; - out_3782749078324294962[187] = 0.0; - out_3782749078324294962[188] = 0.0; - out_3782749078324294962[189] = 0.0; - out_3782749078324294962[190] = 1.0; - out_3782749078324294962[191] = 0.0; - out_3782749078324294962[192] = 0.0; - out_3782749078324294962[193] = 0.0; - out_3782749078324294962[194] = 0.0; - out_3782749078324294962[195] = 0.0; - out_3782749078324294962[196] = 0.0; - out_3782749078324294962[197] = 0.0; - out_3782749078324294962[198] = 0.0; - out_3782749078324294962[199] = 0.0; - out_3782749078324294962[200] = 0.0; - out_3782749078324294962[201] = 0.0; - out_3782749078324294962[202] = 0.0; - out_3782749078324294962[203] = 0.0; - out_3782749078324294962[204] = 0.0; - out_3782749078324294962[205] = 0.0; - out_3782749078324294962[206] = 0.0; - out_3782749078324294962[207] = 0.0; - out_3782749078324294962[208] = 0.0; - out_3782749078324294962[209] = 1.0; - out_3782749078324294962[210] = 0.0; - out_3782749078324294962[211] = 0.0; - out_3782749078324294962[212] = 0.0; - out_3782749078324294962[213] = 0.0; - out_3782749078324294962[214] = 0.0; - out_3782749078324294962[215] = 0.0; - out_3782749078324294962[216] = 0.0; - out_3782749078324294962[217] = 0.0; - out_3782749078324294962[218] = 0.0; - out_3782749078324294962[219] = 0.0; - out_3782749078324294962[220] = 0.0; - out_3782749078324294962[221] = 0.0; - out_3782749078324294962[222] = 0.0; - out_3782749078324294962[223] = 0.0; - out_3782749078324294962[224] = 0.0; - out_3782749078324294962[225] = 0.0; - out_3782749078324294962[226] = 0.0; - out_3782749078324294962[227] = 0.0; - out_3782749078324294962[228] = 1.0; - out_3782749078324294962[229] = 0.0; - out_3782749078324294962[230] = 0.0; - out_3782749078324294962[231] = 0.0; - out_3782749078324294962[232] = 0.0; - out_3782749078324294962[233] = 0.0; - out_3782749078324294962[234] = 0.0; - out_3782749078324294962[235] = 0.0; - out_3782749078324294962[236] = 0.0; - out_3782749078324294962[237] = 0.0; - out_3782749078324294962[238] = 0.0; - out_3782749078324294962[239] = 0.0; - out_3782749078324294962[240] = 0.0; - out_3782749078324294962[241] = 0.0; - out_3782749078324294962[242] = 0.0; - out_3782749078324294962[243] = 0.0; - out_3782749078324294962[244] = 0.0; - out_3782749078324294962[245] = 0.0; - out_3782749078324294962[246] = 0.0; - out_3782749078324294962[247] = 1.0; - out_3782749078324294962[248] = 0.0; - out_3782749078324294962[249] = 0.0; - out_3782749078324294962[250] = 0.0; - out_3782749078324294962[251] = 0.0; - out_3782749078324294962[252] = 0.0; - out_3782749078324294962[253] = 0.0; - out_3782749078324294962[254] = 0.0; - out_3782749078324294962[255] = 0.0; - out_3782749078324294962[256] = 0.0; - out_3782749078324294962[257] = 0.0; - out_3782749078324294962[258] = 0.0; - out_3782749078324294962[259] = 0.0; - out_3782749078324294962[260] = 0.0; - out_3782749078324294962[261] = 0.0; - out_3782749078324294962[262] = 0.0; - out_3782749078324294962[263] = 0.0; - out_3782749078324294962[264] = 0.0; - out_3782749078324294962[265] = 0.0; - out_3782749078324294962[266] = 1.0; - out_3782749078324294962[267] = 0.0; - out_3782749078324294962[268] = 0.0; - out_3782749078324294962[269] = 0.0; - out_3782749078324294962[270] = 0.0; - out_3782749078324294962[271] = 0.0; - out_3782749078324294962[272] = 0.0; - out_3782749078324294962[273] = 0.0; - out_3782749078324294962[274] = 0.0; - out_3782749078324294962[275] = 0.0; - out_3782749078324294962[276] = 0.0; - out_3782749078324294962[277] = 0.0; - out_3782749078324294962[278] = 0.0; - out_3782749078324294962[279] = 0.0; - out_3782749078324294962[280] = 0.0; - out_3782749078324294962[281] = 0.0; - out_3782749078324294962[282] = 0.0; - out_3782749078324294962[283] = 0.0; - out_3782749078324294962[284] = 0.0; - out_3782749078324294962[285] = 1.0; - out_3782749078324294962[286] = 0.0; - out_3782749078324294962[287] = 0.0; - out_3782749078324294962[288] = 0.0; - out_3782749078324294962[289] = 0.0; - out_3782749078324294962[290] = 0.0; - out_3782749078324294962[291] = 0.0; - out_3782749078324294962[292] = 0.0; - out_3782749078324294962[293] = 0.0; - out_3782749078324294962[294] = 0.0; - out_3782749078324294962[295] = 0.0; - out_3782749078324294962[296] = 0.0; - out_3782749078324294962[297] = 0.0; - out_3782749078324294962[298] = 0.0; - out_3782749078324294962[299] = 0.0; - out_3782749078324294962[300] = 0.0; - out_3782749078324294962[301] = 0.0; - out_3782749078324294962[302] = 0.0; - out_3782749078324294962[303] = 0.0; - out_3782749078324294962[304] = 1.0; - out_3782749078324294962[305] = 0.0; - out_3782749078324294962[306] = 0.0; - out_3782749078324294962[307] = 0.0; - out_3782749078324294962[308] = 0.0; - out_3782749078324294962[309] = 0.0; - out_3782749078324294962[310] = 0.0; - out_3782749078324294962[311] = 0.0; - out_3782749078324294962[312] = 0.0; - out_3782749078324294962[313] = 0.0; - out_3782749078324294962[314] = 0.0; - out_3782749078324294962[315] = 0.0; - out_3782749078324294962[316] = 0.0; - out_3782749078324294962[317] = 0.0; - out_3782749078324294962[318] = 0.0; - out_3782749078324294962[319] = 0.0; - out_3782749078324294962[320] = 0.0; - out_3782749078324294962[321] = 0.0; - out_3782749078324294962[322] = 0.0; - out_3782749078324294962[323] = 1.0; +void H_mod_fun(double *state, double *out_1856202857491626372) { + out_1856202857491626372[0] = 1.0; + out_1856202857491626372[1] = 0.0; + out_1856202857491626372[2] = 0.0; + out_1856202857491626372[3] = 0.0; + out_1856202857491626372[4] = 0.0; + out_1856202857491626372[5] = 0.0; + out_1856202857491626372[6] = 0.0; + out_1856202857491626372[7] = 0.0; + out_1856202857491626372[8] = 0.0; + out_1856202857491626372[9] = 0.0; + out_1856202857491626372[10] = 0.0; + out_1856202857491626372[11] = 0.0; + out_1856202857491626372[12] = 0.0; + out_1856202857491626372[13] = 0.0; + out_1856202857491626372[14] = 0.0; + out_1856202857491626372[15] = 0.0; + out_1856202857491626372[16] = 0.0; + out_1856202857491626372[17] = 0.0; + out_1856202857491626372[18] = 0.0; + out_1856202857491626372[19] = 1.0; + out_1856202857491626372[20] = 0.0; + out_1856202857491626372[21] = 0.0; + out_1856202857491626372[22] = 0.0; + out_1856202857491626372[23] = 0.0; + out_1856202857491626372[24] = 0.0; + out_1856202857491626372[25] = 0.0; + out_1856202857491626372[26] = 0.0; + out_1856202857491626372[27] = 0.0; + out_1856202857491626372[28] = 0.0; + out_1856202857491626372[29] = 0.0; + out_1856202857491626372[30] = 0.0; + out_1856202857491626372[31] = 0.0; + out_1856202857491626372[32] = 0.0; + out_1856202857491626372[33] = 0.0; + out_1856202857491626372[34] = 0.0; + out_1856202857491626372[35] = 0.0; + out_1856202857491626372[36] = 0.0; + out_1856202857491626372[37] = 0.0; + out_1856202857491626372[38] = 1.0; + out_1856202857491626372[39] = 0.0; + out_1856202857491626372[40] = 0.0; + out_1856202857491626372[41] = 0.0; + out_1856202857491626372[42] = 0.0; + out_1856202857491626372[43] = 0.0; + out_1856202857491626372[44] = 0.0; + out_1856202857491626372[45] = 0.0; + out_1856202857491626372[46] = 0.0; + out_1856202857491626372[47] = 0.0; + out_1856202857491626372[48] = 0.0; + out_1856202857491626372[49] = 0.0; + out_1856202857491626372[50] = 0.0; + out_1856202857491626372[51] = 0.0; + out_1856202857491626372[52] = 0.0; + out_1856202857491626372[53] = 0.0; + out_1856202857491626372[54] = 0.0; + out_1856202857491626372[55] = 0.0; + out_1856202857491626372[56] = 0.0; + out_1856202857491626372[57] = 1.0; + out_1856202857491626372[58] = 0.0; + out_1856202857491626372[59] = 0.0; + out_1856202857491626372[60] = 0.0; + out_1856202857491626372[61] = 0.0; + out_1856202857491626372[62] = 0.0; + out_1856202857491626372[63] = 0.0; + out_1856202857491626372[64] = 0.0; + out_1856202857491626372[65] = 0.0; + out_1856202857491626372[66] = 0.0; + out_1856202857491626372[67] = 0.0; + out_1856202857491626372[68] = 0.0; + out_1856202857491626372[69] = 0.0; + out_1856202857491626372[70] = 0.0; + out_1856202857491626372[71] = 0.0; + out_1856202857491626372[72] = 0.0; + out_1856202857491626372[73] = 0.0; + out_1856202857491626372[74] = 0.0; + out_1856202857491626372[75] = 0.0; + out_1856202857491626372[76] = 1.0; + out_1856202857491626372[77] = 0.0; + out_1856202857491626372[78] = 0.0; + out_1856202857491626372[79] = 0.0; + out_1856202857491626372[80] = 0.0; + out_1856202857491626372[81] = 0.0; + out_1856202857491626372[82] = 0.0; + out_1856202857491626372[83] = 0.0; + out_1856202857491626372[84] = 0.0; + out_1856202857491626372[85] = 0.0; + out_1856202857491626372[86] = 0.0; + out_1856202857491626372[87] = 0.0; + out_1856202857491626372[88] = 0.0; + out_1856202857491626372[89] = 0.0; + out_1856202857491626372[90] = 0.0; + out_1856202857491626372[91] = 0.0; + out_1856202857491626372[92] = 0.0; + out_1856202857491626372[93] = 0.0; + out_1856202857491626372[94] = 0.0; + out_1856202857491626372[95] = 1.0; + out_1856202857491626372[96] = 0.0; + out_1856202857491626372[97] = 0.0; + out_1856202857491626372[98] = 0.0; + out_1856202857491626372[99] = 0.0; + out_1856202857491626372[100] = 0.0; + out_1856202857491626372[101] = 0.0; + out_1856202857491626372[102] = 0.0; + out_1856202857491626372[103] = 0.0; + out_1856202857491626372[104] = 0.0; + out_1856202857491626372[105] = 0.0; + out_1856202857491626372[106] = 0.0; + out_1856202857491626372[107] = 0.0; + out_1856202857491626372[108] = 0.0; + out_1856202857491626372[109] = 0.0; + out_1856202857491626372[110] = 0.0; + out_1856202857491626372[111] = 0.0; + out_1856202857491626372[112] = 0.0; + out_1856202857491626372[113] = 0.0; + out_1856202857491626372[114] = 1.0; + out_1856202857491626372[115] = 0.0; + out_1856202857491626372[116] = 0.0; + out_1856202857491626372[117] = 0.0; + out_1856202857491626372[118] = 0.0; + out_1856202857491626372[119] = 0.0; + out_1856202857491626372[120] = 0.0; + out_1856202857491626372[121] = 0.0; + out_1856202857491626372[122] = 0.0; + out_1856202857491626372[123] = 0.0; + out_1856202857491626372[124] = 0.0; + out_1856202857491626372[125] = 0.0; + out_1856202857491626372[126] = 0.0; + out_1856202857491626372[127] = 0.0; + out_1856202857491626372[128] = 0.0; + out_1856202857491626372[129] = 0.0; + out_1856202857491626372[130] = 0.0; + out_1856202857491626372[131] = 0.0; + out_1856202857491626372[132] = 0.0; + out_1856202857491626372[133] = 1.0; + out_1856202857491626372[134] = 0.0; + out_1856202857491626372[135] = 0.0; + out_1856202857491626372[136] = 0.0; + out_1856202857491626372[137] = 0.0; + out_1856202857491626372[138] = 0.0; + out_1856202857491626372[139] = 0.0; + out_1856202857491626372[140] = 0.0; + out_1856202857491626372[141] = 0.0; + out_1856202857491626372[142] = 0.0; + out_1856202857491626372[143] = 0.0; + out_1856202857491626372[144] = 0.0; + out_1856202857491626372[145] = 0.0; + out_1856202857491626372[146] = 0.0; + out_1856202857491626372[147] = 0.0; + out_1856202857491626372[148] = 0.0; + out_1856202857491626372[149] = 0.0; + out_1856202857491626372[150] = 0.0; + out_1856202857491626372[151] = 0.0; + out_1856202857491626372[152] = 1.0; + out_1856202857491626372[153] = 0.0; + out_1856202857491626372[154] = 0.0; + out_1856202857491626372[155] = 0.0; + out_1856202857491626372[156] = 0.0; + out_1856202857491626372[157] = 0.0; + out_1856202857491626372[158] = 0.0; + out_1856202857491626372[159] = 0.0; + out_1856202857491626372[160] = 0.0; + out_1856202857491626372[161] = 0.0; + out_1856202857491626372[162] = 0.0; + out_1856202857491626372[163] = 0.0; + out_1856202857491626372[164] = 0.0; + out_1856202857491626372[165] = 0.0; + out_1856202857491626372[166] = 0.0; + out_1856202857491626372[167] = 0.0; + out_1856202857491626372[168] = 0.0; + out_1856202857491626372[169] = 0.0; + out_1856202857491626372[170] = 0.0; + out_1856202857491626372[171] = 1.0; + out_1856202857491626372[172] = 0.0; + out_1856202857491626372[173] = 0.0; + out_1856202857491626372[174] = 0.0; + out_1856202857491626372[175] = 0.0; + out_1856202857491626372[176] = 0.0; + out_1856202857491626372[177] = 0.0; + out_1856202857491626372[178] = 0.0; + out_1856202857491626372[179] = 0.0; + out_1856202857491626372[180] = 0.0; + out_1856202857491626372[181] = 0.0; + out_1856202857491626372[182] = 0.0; + out_1856202857491626372[183] = 0.0; + out_1856202857491626372[184] = 0.0; + out_1856202857491626372[185] = 0.0; + out_1856202857491626372[186] = 0.0; + out_1856202857491626372[187] = 0.0; + out_1856202857491626372[188] = 0.0; + out_1856202857491626372[189] = 0.0; + out_1856202857491626372[190] = 1.0; + out_1856202857491626372[191] = 0.0; + out_1856202857491626372[192] = 0.0; + out_1856202857491626372[193] = 0.0; + out_1856202857491626372[194] = 0.0; + out_1856202857491626372[195] = 0.0; + out_1856202857491626372[196] = 0.0; + out_1856202857491626372[197] = 0.0; + out_1856202857491626372[198] = 0.0; + out_1856202857491626372[199] = 0.0; + out_1856202857491626372[200] = 0.0; + out_1856202857491626372[201] = 0.0; + out_1856202857491626372[202] = 0.0; + out_1856202857491626372[203] = 0.0; + out_1856202857491626372[204] = 0.0; + out_1856202857491626372[205] = 0.0; + out_1856202857491626372[206] = 0.0; + out_1856202857491626372[207] = 0.0; + out_1856202857491626372[208] = 0.0; + out_1856202857491626372[209] = 1.0; + out_1856202857491626372[210] = 0.0; + out_1856202857491626372[211] = 0.0; + out_1856202857491626372[212] = 0.0; + out_1856202857491626372[213] = 0.0; + out_1856202857491626372[214] = 0.0; + out_1856202857491626372[215] = 0.0; + out_1856202857491626372[216] = 0.0; + out_1856202857491626372[217] = 0.0; + out_1856202857491626372[218] = 0.0; + out_1856202857491626372[219] = 0.0; + out_1856202857491626372[220] = 0.0; + out_1856202857491626372[221] = 0.0; + out_1856202857491626372[222] = 0.0; + out_1856202857491626372[223] = 0.0; + out_1856202857491626372[224] = 0.0; + out_1856202857491626372[225] = 0.0; + out_1856202857491626372[226] = 0.0; + out_1856202857491626372[227] = 0.0; + out_1856202857491626372[228] = 1.0; + out_1856202857491626372[229] = 0.0; + out_1856202857491626372[230] = 0.0; + out_1856202857491626372[231] = 0.0; + out_1856202857491626372[232] = 0.0; + out_1856202857491626372[233] = 0.0; + out_1856202857491626372[234] = 0.0; + out_1856202857491626372[235] = 0.0; + out_1856202857491626372[236] = 0.0; + out_1856202857491626372[237] = 0.0; + out_1856202857491626372[238] = 0.0; + out_1856202857491626372[239] = 0.0; + out_1856202857491626372[240] = 0.0; + out_1856202857491626372[241] = 0.0; + out_1856202857491626372[242] = 0.0; + out_1856202857491626372[243] = 0.0; + out_1856202857491626372[244] = 0.0; + out_1856202857491626372[245] = 0.0; + out_1856202857491626372[246] = 0.0; + out_1856202857491626372[247] = 1.0; + out_1856202857491626372[248] = 0.0; + out_1856202857491626372[249] = 0.0; + out_1856202857491626372[250] = 0.0; + out_1856202857491626372[251] = 0.0; + out_1856202857491626372[252] = 0.0; + out_1856202857491626372[253] = 0.0; + out_1856202857491626372[254] = 0.0; + out_1856202857491626372[255] = 0.0; + out_1856202857491626372[256] = 0.0; + out_1856202857491626372[257] = 0.0; + out_1856202857491626372[258] = 0.0; + out_1856202857491626372[259] = 0.0; + out_1856202857491626372[260] = 0.0; + out_1856202857491626372[261] = 0.0; + out_1856202857491626372[262] = 0.0; + out_1856202857491626372[263] = 0.0; + out_1856202857491626372[264] = 0.0; + out_1856202857491626372[265] = 0.0; + out_1856202857491626372[266] = 1.0; + out_1856202857491626372[267] = 0.0; + out_1856202857491626372[268] = 0.0; + out_1856202857491626372[269] = 0.0; + out_1856202857491626372[270] = 0.0; + out_1856202857491626372[271] = 0.0; + out_1856202857491626372[272] = 0.0; + out_1856202857491626372[273] = 0.0; + out_1856202857491626372[274] = 0.0; + out_1856202857491626372[275] = 0.0; + out_1856202857491626372[276] = 0.0; + out_1856202857491626372[277] = 0.0; + out_1856202857491626372[278] = 0.0; + out_1856202857491626372[279] = 0.0; + out_1856202857491626372[280] = 0.0; + out_1856202857491626372[281] = 0.0; + out_1856202857491626372[282] = 0.0; + out_1856202857491626372[283] = 0.0; + out_1856202857491626372[284] = 0.0; + out_1856202857491626372[285] = 1.0; + out_1856202857491626372[286] = 0.0; + out_1856202857491626372[287] = 0.0; + out_1856202857491626372[288] = 0.0; + out_1856202857491626372[289] = 0.0; + out_1856202857491626372[290] = 0.0; + out_1856202857491626372[291] = 0.0; + out_1856202857491626372[292] = 0.0; + out_1856202857491626372[293] = 0.0; + out_1856202857491626372[294] = 0.0; + out_1856202857491626372[295] = 0.0; + out_1856202857491626372[296] = 0.0; + out_1856202857491626372[297] = 0.0; + out_1856202857491626372[298] = 0.0; + out_1856202857491626372[299] = 0.0; + out_1856202857491626372[300] = 0.0; + out_1856202857491626372[301] = 0.0; + out_1856202857491626372[302] = 0.0; + out_1856202857491626372[303] = 0.0; + out_1856202857491626372[304] = 1.0; + out_1856202857491626372[305] = 0.0; + out_1856202857491626372[306] = 0.0; + out_1856202857491626372[307] = 0.0; + out_1856202857491626372[308] = 0.0; + out_1856202857491626372[309] = 0.0; + out_1856202857491626372[310] = 0.0; + out_1856202857491626372[311] = 0.0; + out_1856202857491626372[312] = 0.0; + out_1856202857491626372[313] = 0.0; + out_1856202857491626372[314] = 0.0; + out_1856202857491626372[315] = 0.0; + out_1856202857491626372[316] = 0.0; + out_1856202857491626372[317] = 0.0; + out_1856202857491626372[318] = 0.0; + out_1856202857491626372[319] = 0.0; + out_1856202857491626372[320] = 0.0; + out_1856202857491626372[321] = 0.0; + out_1856202857491626372[322] = 0.0; + out_1856202857491626372[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2316687695349101514) { - out_2316687695349101514[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_2316687695349101514[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_2316687695349101514[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_2316687695349101514[3] = dt*state[12] + state[3]; - out_2316687695349101514[4] = dt*state[13] + state[4]; - out_2316687695349101514[5] = dt*state[14] + state[5]; - out_2316687695349101514[6] = state[6]; - out_2316687695349101514[7] = state[7]; - out_2316687695349101514[8] = state[8]; - out_2316687695349101514[9] = state[9]; - out_2316687695349101514[10] = state[10]; - out_2316687695349101514[11] = state[11]; - out_2316687695349101514[12] = state[12]; - out_2316687695349101514[13] = state[13]; - out_2316687695349101514[14] = state[14]; - out_2316687695349101514[15] = state[15]; - out_2316687695349101514[16] = state[16]; - out_2316687695349101514[17] = state[17]; +void f_fun(double *state, double dt, double *out_7190390231498499682) { + out_7190390231498499682[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_7190390231498499682[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_7190390231498499682[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_7190390231498499682[3] = dt*state[12] + state[3]; + out_7190390231498499682[4] = dt*state[13] + state[4]; + out_7190390231498499682[5] = dt*state[14] + state[5]; + out_7190390231498499682[6] = state[6]; + out_7190390231498499682[7] = state[7]; + out_7190390231498499682[8] = state[8]; + out_7190390231498499682[9] = state[9]; + out_7190390231498499682[10] = state[10]; + out_7190390231498499682[11] = state[11]; + out_7190390231498499682[12] = state[12]; + out_7190390231498499682[13] = state[13]; + out_7190390231498499682[14] = state[14]; + out_7190390231498499682[15] = state[15]; + out_7190390231498499682[16] = state[16]; + out_7190390231498499682[17] = state[17]; } -void F_fun(double *state, double dt, double *out_830203783768276833) { - out_830203783768276833[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_830203783768276833[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_830203783768276833[2] = 0; - out_830203783768276833[3] = 0; - out_830203783768276833[4] = 0; - out_830203783768276833[5] = 0; - out_830203783768276833[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_830203783768276833[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_830203783768276833[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_830203783768276833[9] = 0; - out_830203783768276833[10] = 0; - out_830203783768276833[11] = 0; - out_830203783768276833[12] = 0; - out_830203783768276833[13] = 0; - out_830203783768276833[14] = 0; - out_830203783768276833[15] = 0; - out_830203783768276833[16] = 0; - out_830203783768276833[17] = 0; - out_830203783768276833[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_830203783768276833[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_830203783768276833[20] = 0; - out_830203783768276833[21] = 0; - out_830203783768276833[22] = 0; - out_830203783768276833[23] = 0; - out_830203783768276833[24] = 0; - out_830203783768276833[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_830203783768276833[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_830203783768276833[27] = 0; - out_830203783768276833[28] = 0; - out_830203783768276833[29] = 0; - out_830203783768276833[30] = 0; - out_830203783768276833[31] = 0; - out_830203783768276833[32] = 0; - out_830203783768276833[33] = 0; - out_830203783768276833[34] = 0; - out_830203783768276833[35] = 0; - out_830203783768276833[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_830203783768276833[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_830203783768276833[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_830203783768276833[39] = 0; - out_830203783768276833[40] = 0; - out_830203783768276833[41] = 0; - out_830203783768276833[42] = 0; - out_830203783768276833[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_830203783768276833[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_830203783768276833[45] = 0; - out_830203783768276833[46] = 0; - out_830203783768276833[47] = 0; - out_830203783768276833[48] = 0; - out_830203783768276833[49] = 0; - out_830203783768276833[50] = 0; - out_830203783768276833[51] = 0; - out_830203783768276833[52] = 0; - out_830203783768276833[53] = 0; - out_830203783768276833[54] = 0; - out_830203783768276833[55] = 0; - out_830203783768276833[56] = 0; - out_830203783768276833[57] = 1; - out_830203783768276833[58] = 0; - out_830203783768276833[59] = 0; - out_830203783768276833[60] = 0; - out_830203783768276833[61] = 0; - out_830203783768276833[62] = 0; - out_830203783768276833[63] = 0; - out_830203783768276833[64] = 0; - out_830203783768276833[65] = 0; - out_830203783768276833[66] = dt; - out_830203783768276833[67] = 0; - out_830203783768276833[68] = 0; - out_830203783768276833[69] = 0; - out_830203783768276833[70] = 0; - out_830203783768276833[71] = 0; - out_830203783768276833[72] = 0; - out_830203783768276833[73] = 0; - out_830203783768276833[74] = 0; - out_830203783768276833[75] = 0; - out_830203783768276833[76] = 1; - out_830203783768276833[77] = 0; - out_830203783768276833[78] = 0; - out_830203783768276833[79] = 0; - out_830203783768276833[80] = 0; - out_830203783768276833[81] = 0; - out_830203783768276833[82] = 0; - out_830203783768276833[83] = 0; - out_830203783768276833[84] = 0; - out_830203783768276833[85] = dt; - out_830203783768276833[86] = 0; - out_830203783768276833[87] = 0; - out_830203783768276833[88] = 0; - out_830203783768276833[89] = 0; - out_830203783768276833[90] = 0; - out_830203783768276833[91] = 0; - out_830203783768276833[92] = 0; - out_830203783768276833[93] = 0; - out_830203783768276833[94] = 0; - out_830203783768276833[95] = 1; - out_830203783768276833[96] = 0; - out_830203783768276833[97] = 0; - out_830203783768276833[98] = 0; - out_830203783768276833[99] = 0; - out_830203783768276833[100] = 0; - out_830203783768276833[101] = 0; - out_830203783768276833[102] = 0; - out_830203783768276833[103] = 0; - out_830203783768276833[104] = dt; - out_830203783768276833[105] = 0; - out_830203783768276833[106] = 0; - out_830203783768276833[107] = 0; - out_830203783768276833[108] = 0; - out_830203783768276833[109] = 0; - out_830203783768276833[110] = 0; - out_830203783768276833[111] = 0; - out_830203783768276833[112] = 0; - out_830203783768276833[113] = 0; - out_830203783768276833[114] = 1; - out_830203783768276833[115] = 0; - out_830203783768276833[116] = 0; - out_830203783768276833[117] = 0; - out_830203783768276833[118] = 0; - out_830203783768276833[119] = 0; - out_830203783768276833[120] = 0; - out_830203783768276833[121] = 0; - out_830203783768276833[122] = 0; - out_830203783768276833[123] = 0; - out_830203783768276833[124] = 0; - out_830203783768276833[125] = 0; - out_830203783768276833[126] = 0; - out_830203783768276833[127] = 0; - out_830203783768276833[128] = 0; - out_830203783768276833[129] = 0; - out_830203783768276833[130] = 0; - out_830203783768276833[131] = 0; - out_830203783768276833[132] = 0; - out_830203783768276833[133] = 1; - out_830203783768276833[134] = 0; - out_830203783768276833[135] = 0; - out_830203783768276833[136] = 0; - out_830203783768276833[137] = 0; - out_830203783768276833[138] = 0; - out_830203783768276833[139] = 0; - out_830203783768276833[140] = 0; - out_830203783768276833[141] = 0; - out_830203783768276833[142] = 0; - out_830203783768276833[143] = 0; - out_830203783768276833[144] = 0; - out_830203783768276833[145] = 0; - out_830203783768276833[146] = 0; - out_830203783768276833[147] = 0; - out_830203783768276833[148] = 0; - out_830203783768276833[149] = 0; - out_830203783768276833[150] = 0; - out_830203783768276833[151] = 0; - out_830203783768276833[152] = 1; - out_830203783768276833[153] = 0; - out_830203783768276833[154] = 0; - out_830203783768276833[155] = 0; - out_830203783768276833[156] = 0; - out_830203783768276833[157] = 0; - out_830203783768276833[158] = 0; - out_830203783768276833[159] = 0; - out_830203783768276833[160] = 0; - out_830203783768276833[161] = 0; - out_830203783768276833[162] = 0; - out_830203783768276833[163] = 0; - out_830203783768276833[164] = 0; - out_830203783768276833[165] = 0; - out_830203783768276833[166] = 0; - out_830203783768276833[167] = 0; - out_830203783768276833[168] = 0; - out_830203783768276833[169] = 0; - out_830203783768276833[170] = 0; - out_830203783768276833[171] = 1; - out_830203783768276833[172] = 0; - out_830203783768276833[173] = 0; - out_830203783768276833[174] = 0; - out_830203783768276833[175] = 0; - out_830203783768276833[176] = 0; - out_830203783768276833[177] = 0; - out_830203783768276833[178] = 0; - out_830203783768276833[179] = 0; - out_830203783768276833[180] = 0; - out_830203783768276833[181] = 0; - out_830203783768276833[182] = 0; - out_830203783768276833[183] = 0; - out_830203783768276833[184] = 0; - out_830203783768276833[185] = 0; - out_830203783768276833[186] = 0; - out_830203783768276833[187] = 0; - out_830203783768276833[188] = 0; - out_830203783768276833[189] = 0; - out_830203783768276833[190] = 1; - out_830203783768276833[191] = 0; - out_830203783768276833[192] = 0; - out_830203783768276833[193] = 0; - out_830203783768276833[194] = 0; - out_830203783768276833[195] = 0; - out_830203783768276833[196] = 0; - out_830203783768276833[197] = 0; - out_830203783768276833[198] = 0; - out_830203783768276833[199] = 0; - out_830203783768276833[200] = 0; - out_830203783768276833[201] = 0; - out_830203783768276833[202] = 0; - out_830203783768276833[203] = 0; - out_830203783768276833[204] = 0; - out_830203783768276833[205] = 0; - out_830203783768276833[206] = 0; - out_830203783768276833[207] = 0; - out_830203783768276833[208] = 0; - out_830203783768276833[209] = 1; - out_830203783768276833[210] = 0; - out_830203783768276833[211] = 0; - out_830203783768276833[212] = 0; - out_830203783768276833[213] = 0; - out_830203783768276833[214] = 0; - out_830203783768276833[215] = 0; - out_830203783768276833[216] = 0; - out_830203783768276833[217] = 0; - out_830203783768276833[218] = 0; - out_830203783768276833[219] = 0; - out_830203783768276833[220] = 0; - out_830203783768276833[221] = 0; - out_830203783768276833[222] = 0; - out_830203783768276833[223] = 0; - out_830203783768276833[224] = 0; - out_830203783768276833[225] = 0; - out_830203783768276833[226] = 0; - out_830203783768276833[227] = 0; - out_830203783768276833[228] = 1; - out_830203783768276833[229] = 0; - out_830203783768276833[230] = 0; - out_830203783768276833[231] = 0; - out_830203783768276833[232] = 0; - out_830203783768276833[233] = 0; - out_830203783768276833[234] = 0; - out_830203783768276833[235] = 0; - out_830203783768276833[236] = 0; - out_830203783768276833[237] = 0; - out_830203783768276833[238] = 0; - out_830203783768276833[239] = 0; - out_830203783768276833[240] = 0; - out_830203783768276833[241] = 0; - out_830203783768276833[242] = 0; - out_830203783768276833[243] = 0; - out_830203783768276833[244] = 0; - out_830203783768276833[245] = 0; - out_830203783768276833[246] = 0; - out_830203783768276833[247] = 1; - out_830203783768276833[248] = 0; - out_830203783768276833[249] = 0; - out_830203783768276833[250] = 0; - out_830203783768276833[251] = 0; - out_830203783768276833[252] = 0; - out_830203783768276833[253] = 0; - out_830203783768276833[254] = 0; - out_830203783768276833[255] = 0; - out_830203783768276833[256] = 0; - out_830203783768276833[257] = 0; - out_830203783768276833[258] = 0; - out_830203783768276833[259] = 0; - out_830203783768276833[260] = 0; - out_830203783768276833[261] = 0; - out_830203783768276833[262] = 0; - out_830203783768276833[263] = 0; - out_830203783768276833[264] = 0; - out_830203783768276833[265] = 0; - out_830203783768276833[266] = 1; - out_830203783768276833[267] = 0; - out_830203783768276833[268] = 0; - out_830203783768276833[269] = 0; - out_830203783768276833[270] = 0; - out_830203783768276833[271] = 0; - out_830203783768276833[272] = 0; - out_830203783768276833[273] = 0; - out_830203783768276833[274] = 0; - out_830203783768276833[275] = 0; - out_830203783768276833[276] = 0; - out_830203783768276833[277] = 0; - out_830203783768276833[278] = 0; - out_830203783768276833[279] = 0; - out_830203783768276833[280] = 0; - out_830203783768276833[281] = 0; - out_830203783768276833[282] = 0; - out_830203783768276833[283] = 0; - out_830203783768276833[284] = 0; - out_830203783768276833[285] = 1; - out_830203783768276833[286] = 0; - out_830203783768276833[287] = 0; - out_830203783768276833[288] = 0; - out_830203783768276833[289] = 0; - out_830203783768276833[290] = 0; - out_830203783768276833[291] = 0; - out_830203783768276833[292] = 0; - out_830203783768276833[293] = 0; - out_830203783768276833[294] = 0; - out_830203783768276833[295] = 0; - out_830203783768276833[296] = 0; - out_830203783768276833[297] = 0; - out_830203783768276833[298] = 0; - out_830203783768276833[299] = 0; - out_830203783768276833[300] = 0; - out_830203783768276833[301] = 0; - out_830203783768276833[302] = 0; - out_830203783768276833[303] = 0; - out_830203783768276833[304] = 1; - out_830203783768276833[305] = 0; - out_830203783768276833[306] = 0; - out_830203783768276833[307] = 0; - out_830203783768276833[308] = 0; - out_830203783768276833[309] = 0; - out_830203783768276833[310] = 0; - out_830203783768276833[311] = 0; - out_830203783768276833[312] = 0; - out_830203783768276833[313] = 0; - out_830203783768276833[314] = 0; - out_830203783768276833[315] = 0; - out_830203783768276833[316] = 0; - out_830203783768276833[317] = 0; - out_830203783768276833[318] = 0; - out_830203783768276833[319] = 0; - out_830203783768276833[320] = 0; - out_830203783768276833[321] = 0; - out_830203783768276833[322] = 0; - out_830203783768276833[323] = 1; +void F_fun(double *state, double dt, double *out_4238346152453461367) { + out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[2] = 0; + out_4238346152453461367[3] = 0; + out_4238346152453461367[4] = 0; + out_4238346152453461367[5] = 0; + out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[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_4238346152453461367[9] = 0; + out_4238346152453461367[10] = 0; + out_4238346152453461367[11] = 0; + out_4238346152453461367[12] = 0; + out_4238346152453461367[13] = 0; + out_4238346152453461367[14] = 0; + out_4238346152453461367[15] = 0; + out_4238346152453461367[16] = 0; + out_4238346152453461367[17] = 0; + out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[20] = 0; + out_4238346152453461367[21] = 0; + out_4238346152453461367[22] = 0; + out_4238346152453461367[23] = 0; + out_4238346152453461367[24] = 0; + out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[27] = 0; + out_4238346152453461367[28] = 0; + out_4238346152453461367[29] = 0; + out_4238346152453461367[30] = 0; + out_4238346152453461367[31] = 0; + out_4238346152453461367[32] = 0; + out_4238346152453461367[33] = 0; + out_4238346152453461367[34] = 0; + out_4238346152453461367[35] = 0; + out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[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_4238346152453461367[39] = 0; + out_4238346152453461367[40] = 0; + out_4238346152453461367[41] = 0; + out_4238346152453461367[42] = 0; + out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[45] = 0; + out_4238346152453461367[46] = 0; + out_4238346152453461367[47] = 0; + out_4238346152453461367[48] = 0; + out_4238346152453461367[49] = 0; + out_4238346152453461367[50] = 0; + out_4238346152453461367[51] = 0; + out_4238346152453461367[52] = 0; + out_4238346152453461367[53] = 0; + out_4238346152453461367[54] = 0; + out_4238346152453461367[55] = 0; + out_4238346152453461367[56] = 0; + out_4238346152453461367[57] = 1; + out_4238346152453461367[58] = 0; + out_4238346152453461367[59] = 0; + out_4238346152453461367[60] = 0; + out_4238346152453461367[61] = 0; + out_4238346152453461367[62] = 0; + out_4238346152453461367[63] = 0; + out_4238346152453461367[64] = 0; + out_4238346152453461367[65] = 0; + out_4238346152453461367[66] = dt; + out_4238346152453461367[67] = 0; + out_4238346152453461367[68] = 0; + out_4238346152453461367[69] = 0; + out_4238346152453461367[70] = 0; + out_4238346152453461367[71] = 0; + out_4238346152453461367[72] = 0; + out_4238346152453461367[73] = 0; + out_4238346152453461367[74] = 0; + out_4238346152453461367[75] = 0; + out_4238346152453461367[76] = 1; + out_4238346152453461367[77] = 0; + out_4238346152453461367[78] = 0; + out_4238346152453461367[79] = 0; + out_4238346152453461367[80] = 0; + out_4238346152453461367[81] = 0; + out_4238346152453461367[82] = 0; + out_4238346152453461367[83] = 0; + out_4238346152453461367[84] = 0; + out_4238346152453461367[85] = dt; + out_4238346152453461367[86] = 0; + out_4238346152453461367[87] = 0; + out_4238346152453461367[88] = 0; + out_4238346152453461367[89] = 0; + out_4238346152453461367[90] = 0; + out_4238346152453461367[91] = 0; + out_4238346152453461367[92] = 0; + out_4238346152453461367[93] = 0; + out_4238346152453461367[94] = 0; + out_4238346152453461367[95] = 1; + out_4238346152453461367[96] = 0; + out_4238346152453461367[97] = 0; + out_4238346152453461367[98] = 0; + out_4238346152453461367[99] = 0; + out_4238346152453461367[100] = 0; + out_4238346152453461367[101] = 0; + out_4238346152453461367[102] = 0; + out_4238346152453461367[103] = 0; + out_4238346152453461367[104] = dt; + out_4238346152453461367[105] = 0; + out_4238346152453461367[106] = 0; + out_4238346152453461367[107] = 0; + out_4238346152453461367[108] = 0; + out_4238346152453461367[109] = 0; + out_4238346152453461367[110] = 0; + out_4238346152453461367[111] = 0; + out_4238346152453461367[112] = 0; + out_4238346152453461367[113] = 0; + out_4238346152453461367[114] = 1; + out_4238346152453461367[115] = 0; + out_4238346152453461367[116] = 0; + out_4238346152453461367[117] = 0; + out_4238346152453461367[118] = 0; + out_4238346152453461367[119] = 0; + out_4238346152453461367[120] = 0; + out_4238346152453461367[121] = 0; + out_4238346152453461367[122] = 0; + out_4238346152453461367[123] = 0; + out_4238346152453461367[124] = 0; + out_4238346152453461367[125] = 0; + out_4238346152453461367[126] = 0; + out_4238346152453461367[127] = 0; + out_4238346152453461367[128] = 0; + out_4238346152453461367[129] = 0; + out_4238346152453461367[130] = 0; + out_4238346152453461367[131] = 0; + out_4238346152453461367[132] = 0; + out_4238346152453461367[133] = 1; + out_4238346152453461367[134] = 0; + out_4238346152453461367[135] = 0; + out_4238346152453461367[136] = 0; + out_4238346152453461367[137] = 0; + out_4238346152453461367[138] = 0; + out_4238346152453461367[139] = 0; + out_4238346152453461367[140] = 0; + out_4238346152453461367[141] = 0; + out_4238346152453461367[142] = 0; + out_4238346152453461367[143] = 0; + out_4238346152453461367[144] = 0; + out_4238346152453461367[145] = 0; + out_4238346152453461367[146] = 0; + out_4238346152453461367[147] = 0; + out_4238346152453461367[148] = 0; + out_4238346152453461367[149] = 0; + out_4238346152453461367[150] = 0; + out_4238346152453461367[151] = 0; + out_4238346152453461367[152] = 1; + out_4238346152453461367[153] = 0; + out_4238346152453461367[154] = 0; + out_4238346152453461367[155] = 0; + out_4238346152453461367[156] = 0; + out_4238346152453461367[157] = 0; + out_4238346152453461367[158] = 0; + out_4238346152453461367[159] = 0; + out_4238346152453461367[160] = 0; + out_4238346152453461367[161] = 0; + out_4238346152453461367[162] = 0; + out_4238346152453461367[163] = 0; + out_4238346152453461367[164] = 0; + out_4238346152453461367[165] = 0; + out_4238346152453461367[166] = 0; + out_4238346152453461367[167] = 0; + out_4238346152453461367[168] = 0; + out_4238346152453461367[169] = 0; + out_4238346152453461367[170] = 0; + out_4238346152453461367[171] = 1; + out_4238346152453461367[172] = 0; + out_4238346152453461367[173] = 0; + out_4238346152453461367[174] = 0; + out_4238346152453461367[175] = 0; + out_4238346152453461367[176] = 0; + out_4238346152453461367[177] = 0; + out_4238346152453461367[178] = 0; + out_4238346152453461367[179] = 0; + out_4238346152453461367[180] = 0; + out_4238346152453461367[181] = 0; + out_4238346152453461367[182] = 0; + out_4238346152453461367[183] = 0; + out_4238346152453461367[184] = 0; + out_4238346152453461367[185] = 0; + out_4238346152453461367[186] = 0; + out_4238346152453461367[187] = 0; + out_4238346152453461367[188] = 0; + out_4238346152453461367[189] = 0; + out_4238346152453461367[190] = 1; + out_4238346152453461367[191] = 0; + out_4238346152453461367[192] = 0; + out_4238346152453461367[193] = 0; + out_4238346152453461367[194] = 0; + out_4238346152453461367[195] = 0; + out_4238346152453461367[196] = 0; + out_4238346152453461367[197] = 0; + out_4238346152453461367[198] = 0; + out_4238346152453461367[199] = 0; + out_4238346152453461367[200] = 0; + out_4238346152453461367[201] = 0; + out_4238346152453461367[202] = 0; + out_4238346152453461367[203] = 0; + out_4238346152453461367[204] = 0; + out_4238346152453461367[205] = 0; + out_4238346152453461367[206] = 0; + out_4238346152453461367[207] = 0; + out_4238346152453461367[208] = 0; + out_4238346152453461367[209] = 1; + out_4238346152453461367[210] = 0; + out_4238346152453461367[211] = 0; + out_4238346152453461367[212] = 0; + out_4238346152453461367[213] = 0; + out_4238346152453461367[214] = 0; + out_4238346152453461367[215] = 0; + out_4238346152453461367[216] = 0; + out_4238346152453461367[217] = 0; + out_4238346152453461367[218] = 0; + out_4238346152453461367[219] = 0; + out_4238346152453461367[220] = 0; + out_4238346152453461367[221] = 0; + out_4238346152453461367[222] = 0; + out_4238346152453461367[223] = 0; + out_4238346152453461367[224] = 0; + out_4238346152453461367[225] = 0; + out_4238346152453461367[226] = 0; + out_4238346152453461367[227] = 0; + out_4238346152453461367[228] = 1; + out_4238346152453461367[229] = 0; + out_4238346152453461367[230] = 0; + out_4238346152453461367[231] = 0; + out_4238346152453461367[232] = 0; + out_4238346152453461367[233] = 0; + out_4238346152453461367[234] = 0; + out_4238346152453461367[235] = 0; + out_4238346152453461367[236] = 0; + out_4238346152453461367[237] = 0; + out_4238346152453461367[238] = 0; + out_4238346152453461367[239] = 0; + out_4238346152453461367[240] = 0; + out_4238346152453461367[241] = 0; + out_4238346152453461367[242] = 0; + out_4238346152453461367[243] = 0; + out_4238346152453461367[244] = 0; + out_4238346152453461367[245] = 0; + out_4238346152453461367[246] = 0; + out_4238346152453461367[247] = 1; + out_4238346152453461367[248] = 0; + out_4238346152453461367[249] = 0; + out_4238346152453461367[250] = 0; + out_4238346152453461367[251] = 0; + out_4238346152453461367[252] = 0; + out_4238346152453461367[253] = 0; + out_4238346152453461367[254] = 0; + out_4238346152453461367[255] = 0; + out_4238346152453461367[256] = 0; + out_4238346152453461367[257] = 0; + out_4238346152453461367[258] = 0; + out_4238346152453461367[259] = 0; + out_4238346152453461367[260] = 0; + out_4238346152453461367[261] = 0; + out_4238346152453461367[262] = 0; + out_4238346152453461367[263] = 0; + out_4238346152453461367[264] = 0; + out_4238346152453461367[265] = 0; + out_4238346152453461367[266] = 1; + out_4238346152453461367[267] = 0; + out_4238346152453461367[268] = 0; + out_4238346152453461367[269] = 0; + out_4238346152453461367[270] = 0; + out_4238346152453461367[271] = 0; + out_4238346152453461367[272] = 0; + out_4238346152453461367[273] = 0; + out_4238346152453461367[274] = 0; + out_4238346152453461367[275] = 0; + out_4238346152453461367[276] = 0; + out_4238346152453461367[277] = 0; + out_4238346152453461367[278] = 0; + out_4238346152453461367[279] = 0; + out_4238346152453461367[280] = 0; + out_4238346152453461367[281] = 0; + out_4238346152453461367[282] = 0; + out_4238346152453461367[283] = 0; + out_4238346152453461367[284] = 0; + out_4238346152453461367[285] = 1; + out_4238346152453461367[286] = 0; + out_4238346152453461367[287] = 0; + out_4238346152453461367[288] = 0; + out_4238346152453461367[289] = 0; + out_4238346152453461367[290] = 0; + out_4238346152453461367[291] = 0; + out_4238346152453461367[292] = 0; + out_4238346152453461367[293] = 0; + out_4238346152453461367[294] = 0; + out_4238346152453461367[295] = 0; + out_4238346152453461367[296] = 0; + out_4238346152453461367[297] = 0; + out_4238346152453461367[298] = 0; + out_4238346152453461367[299] = 0; + out_4238346152453461367[300] = 0; + out_4238346152453461367[301] = 0; + out_4238346152453461367[302] = 0; + out_4238346152453461367[303] = 0; + out_4238346152453461367[304] = 1; + out_4238346152453461367[305] = 0; + out_4238346152453461367[306] = 0; + out_4238346152453461367[307] = 0; + out_4238346152453461367[308] = 0; + out_4238346152453461367[309] = 0; + out_4238346152453461367[310] = 0; + out_4238346152453461367[311] = 0; + out_4238346152453461367[312] = 0; + out_4238346152453461367[313] = 0; + out_4238346152453461367[314] = 0; + out_4238346152453461367[315] = 0; + out_4238346152453461367[316] = 0; + out_4238346152453461367[317] = 0; + out_4238346152453461367[318] = 0; + out_4238346152453461367[319] = 0; + out_4238346152453461367[320] = 0; + out_4238346152453461367[321] = 0; + out_4238346152453461367[322] = 0; + out_4238346152453461367[323] = 1; } -void h_4(double *state, double *unused, double *out_1652667498977980545) { - out_1652667498977980545[0] = state[6] + state[9]; - out_1652667498977980545[1] = state[7] + state[10]; - out_1652667498977980545[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7341523241853351564) { + out_7341523241853351564[0] = state[6] + state[9]; + out_7341523241853351564[1] = state[7] + state[10]; + out_7341523241853351564[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_2065332728427663759) { - out_2065332728427663759[0] = 0; - out_2065332728427663759[1] = 0; - out_2065332728427663759[2] = 0; - out_2065332728427663759[3] = 0; - out_2065332728427663759[4] = 0; - out_2065332728427663759[5] = 0; - out_2065332728427663759[6] = 1; - out_2065332728427663759[7] = 0; - out_2065332728427663759[8] = 0; - out_2065332728427663759[9] = 1; - out_2065332728427663759[10] = 0; - out_2065332728427663759[11] = 0; - out_2065332728427663759[12] = 0; - out_2065332728427663759[13] = 0; - out_2065332728427663759[14] = 0; - out_2065332728427663759[15] = 0; - out_2065332728427663759[16] = 0; - out_2065332728427663759[17] = 0; - out_2065332728427663759[18] = 0; - out_2065332728427663759[19] = 0; - out_2065332728427663759[20] = 0; - out_2065332728427663759[21] = 0; - out_2065332728427663759[22] = 0; - out_2065332728427663759[23] = 0; - out_2065332728427663759[24] = 0; - out_2065332728427663759[25] = 1; - out_2065332728427663759[26] = 0; - out_2065332728427663759[27] = 0; - out_2065332728427663759[28] = 1; - out_2065332728427663759[29] = 0; - out_2065332728427663759[30] = 0; - out_2065332728427663759[31] = 0; - out_2065332728427663759[32] = 0; - out_2065332728427663759[33] = 0; - out_2065332728427663759[34] = 0; - out_2065332728427663759[35] = 0; - out_2065332728427663759[36] = 0; - out_2065332728427663759[37] = 0; - out_2065332728427663759[38] = 0; - out_2065332728427663759[39] = 0; - out_2065332728427663759[40] = 0; - out_2065332728427663759[41] = 0; - out_2065332728427663759[42] = 0; - out_2065332728427663759[43] = 0; - out_2065332728427663759[44] = 1; - out_2065332728427663759[45] = 0; - out_2065332728427663759[46] = 0; - out_2065332728427663759[47] = 1; - out_2065332728427663759[48] = 0; - out_2065332728427663759[49] = 0; - out_2065332728427663759[50] = 0; - out_2065332728427663759[51] = 0; - out_2065332728427663759[52] = 0; - out_2065332728427663759[53] = 0; +void H_4(double *state, double *unused, double *out_3675901583397923233) { + out_3675901583397923233[0] = 0; + out_3675901583397923233[1] = 0; + out_3675901583397923233[2] = 0; + out_3675901583397923233[3] = 0; + out_3675901583397923233[4] = 0; + out_3675901583397923233[5] = 0; + out_3675901583397923233[6] = 1; + out_3675901583397923233[7] = 0; + out_3675901583397923233[8] = 0; + out_3675901583397923233[9] = 1; + out_3675901583397923233[10] = 0; + out_3675901583397923233[11] = 0; + out_3675901583397923233[12] = 0; + out_3675901583397923233[13] = 0; + out_3675901583397923233[14] = 0; + out_3675901583397923233[15] = 0; + out_3675901583397923233[16] = 0; + out_3675901583397923233[17] = 0; + out_3675901583397923233[18] = 0; + out_3675901583397923233[19] = 0; + out_3675901583397923233[20] = 0; + out_3675901583397923233[21] = 0; + out_3675901583397923233[22] = 0; + out_3675901583397923233[23] = 0; + out_3675901583397923233[24] = 0; + out_3675901583397923233[25] = 1; + out_3675901583397923233[26] = 0; + out_3675901583397923233[27] = 0; + out_3675901583397923233[28] = 1; + out_3675901583397923233[29] = 0; + out_3675901583397923233[30] = 0; + out_3675901583397923233[31] = 0; + out_3675901583397923233[32] = 0; + out_3675901583397923233[33] = 0; + out_3675901583397923233[34] = 0; + out_3675901583397923233[35] = 0; + out_3675901583397923233[36] = 0; + out_3675901583397923233[37] = 0; + out_3675901583397923233[38] = 0; + out_3675901583397923233[39] = 0; + out_3675901583397923233[40] = 0; + out_3675901583397923233[41] = 0; + out_3675901583397923233[42] = 0; + out_3675901583397923233[43] = 0; + out_3675901583397923233[44] = 1; + out_3675901583397923233[45] = 0; + out_3675901583397923233[46] = 0; + out_3675901583397923233[47] = 1; + out_3675901583397923233[48] = 0; + out_3675901583397923233[49] = 0; + out_3675901583397923233[50] = 0; + out_3675901583397923233[51] = 0; + out_3675901583397923233[52] = 0; + out_3675901583397923233[53] = 0; } -void h_10(double *state, double *unused, double *out_8803253396773735652) { - out_8803253396773735652[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8803253396773735652[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8803253396773735652[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_7979280784138322600) { + out_7979280784138322600[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7979280784138322600[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7979280784138322600[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_1768777245936477788) { - out_1768777245936477788[0] = 0; - out_1768777245936477788[1] = 9.8100000000000005*cos(state[1]); - out_1768777245936477788[2] = 0; - out_1768777245936477788[3] = 0; - out_1768777245936477788[4] = -state[8]; - out_1768777245936477788[5] = state[7]; - out_1768777245936477788[6] = 0; - out_1768777245936477788[7] = state[5]; - out_1768777245936477788[8] = -state[4]; - out_1768777245936477788[9] = 0; - out_1768777245936477788[10] = 0; - out_1768777245936477788[11] = 0; - out_1768777245936477788[12] = 1; - out_1768777245936477788[13] = 0; - out_1768777245936477788[14] = 0; - out_1768777245936477788[15] = 1; - out_1768777245936477788[16] = 0; - out_1768777245936477788[17] = 0; - out_1768777245936477788[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1768777245936477788[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1768777245936477788[20] = 0; - out_1768777245936477788[21] = state[8]; - out_1768777245936477788[22] = 0; - out_1768777245936477788[23] = -state[6]; - out_1768777245936477788[24] = -state[5]; - out_1768777245936477788[25] = 0; - out_1768777245936477788[26] = state[3]; - out_1768777245936477788[27] = 0; - out_1768777245936477788[28] = 0; - out_1768777245936477788[29] = 0; - out_1768777245936477788[30] = 0; - out_1768777245936477788[31] = 1; - out_1768777245936477788[32] = 0; - out_1768777245936477788[33] = 0; - out_1768777245936477788[34] = 1; - out_1768777245936477788[35] = 0; - out_1768777245936477788[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1768777245936477788[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1768777245936477788[38] = 0; - out_1768777245936477788[39] = -state[7]; - out_1768777245936477788[40] = state[6]; - out_1768777245936477788[41] = 0; - out_1768777245936477788[42] = state[4]; - out_1768777245936477788[43] = -state[3]; - out_1768777245936477788[44] = 0; - out_1768777245936477788[45] = 0; - out_1768777245936477788[46] = 0; - out_1768777245936477788[47] = 0; - out_1768777245936477788[48] = 0; - out_1768777245936477788[49] = 0; - out_1768777245936477788[50] = 1; - out_1768777245936477788[51] = 0; - out_1768777245936477788[52] = 0; - out_1768777245936477788[53] = 1; +void H_10(double *state, double *unused, double *out_2717029967524110913) { + out_2717029967524110913[0] = 0; + out_2717029967524110913[1] = 9.8100000000000005*cos(state[1]); + out_2717029967524110913[2] = 0; + out_2717029967524110913[3] = 0; + out_2717029967524110913[4] = -state[8]; + out_2717029967524110913[5] = state[7]; + out_2717029967524110913[6] = 0; + out_2717029967524110913[7] = state[5]; + out_2717029967524110913[8] = -state[4]; + out_2717029967524110913[9] = 0; + out_2717029967524110913[10] = 0; + out_2717029967524110913[11] = 0; + out_2717029967524110913[12] = 1; + out_2717029967524110913[13] = 0; + out_2717029967524110913[14] = 0; + out_2717029967524110913[15] = 1; + out_2717029967524110913[16] = 0; + out_2717029967524110913[17] = 0; + out_2717029967524110913[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2717029967524110913[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2717029967524110913[20] = 0; + out_2717029967524110913[21] = state[8]; + out_2717029967524110913[22] = 0; + out_2717029967524110913[23] = -state[6]; + out_2717029967524110913[24] = -state[5]; + out_2717029967524110913[25] = 0; + out_2717029967524110913[26] = state[3]; + out_2717029967524110913[27] = 0; + out_2717029967524110913[28] = 0; + out_2717029967524110913[29] = 0; + out_2717029967524110913[30] = 0; + out_2717029967524110913[31] = 1; + out_2717029967524110913[32] = 0; + out_2717029967524110913[33] = 0; + out_2717029967524110913[34] = 1; + out_2717029967524110913[35] = 0; + out_2717029967524110913[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2717029967524110913[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2717029967524110913[38] = 0; + out_2717029967524110913[39] = -state[7]; + out_2717029967524110913[40] = state[6]; + out_2717029967524110913[41] = 0; + out_2717029967524110913[42] = state[4]; + out_2717029967524110913[43] = -state[3]; + out_2717029967524110913[44] = 0; + out_2717029967524110913[45] = 0; + out_2717029967524110913[46] = 0; + out_2717029967524110913[47] = 0; + out_2717029967524110913[48] = 0; + out_2717029967524110913[49] = 0; + out_2717029967524110913[50] = 1; + out_2717029967524110913[51] = 0; + out_2717029967524110913[52] = 0; + out_2717029967524110913[53] = 1; } -void h_13(double *state, double *unused, double *out_5388839778110327076) { - out_5388839778110327076[0] = state[3]; - out_5388839778110327076[1] = state[4]; - out_5388839778110327076[2] = state[5]; +void h_13(double *state, double *unused, double *out_2249980252911390508) { + out_2249980252911390508[0] = state[3]; + out_2249980252911390508[1] = state[4]; + out_2249980252911390508[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1146941096904669042) { - out_1146941096904669042[0] = 0; - out_1146941096904669042[1] = 0; - out_1146941096904669042[2] = 0; - out_1146941096904669042[3] = 1; - out_1146941096904669042[4] = 0; - out_1146941096904669042[5] = 0; - out_1146941096904669042[6] = 0; - out_1146941096904669042[7] = 0; - out_1146941096904669042[8] = 0; - out_1146941096904669042[9] = 0; - out_1146941096904669042[10] = 0; - out_1146941096904669042[11] = 0; - out_1146941096904669042[12] = 0; - out_1146941096904669042[13] = 0; - out_1146941096904669042[14] = 0; - out_1146941096904669042[15] = 0; - out_1146941096904669042[16] = 0; - out_1146941096904669042[17] = 0; - out_1146941096904669042[18] = 0; - out_1146941096904669042[19] = 0; - out_1146941096904669042[20] = 0; - out_1146941096904669042[21] = 0; - out_1146941096904669042[22] = 1; - out_1146941096904669042[23] = 0; - out_1146941096904669042[24] = 0; - out_1146941096904669042[25] = 0; - out_1146941096904669042[26] = 0; - out_1146941096904669042[27] = 0; - out_1146941096904669042[28] = 0; - out_1146941096904669042[29] = 0; - out_1146941096904669042[30] = 0; - out_1146941096904669042[31] = 0; - out_1146941096904669042[32] = 0; - out_1146941096904669042[33] = 0; - out_1146941096904669042[34] = 0; - out_1146941096904669042[35] = 0; - out_1146941096904669042[36] = 0; - out_1146941096904669042[37] = 0; - out_1146941096904669042[38] = 0; - out_1146941096904669042[39] = 0; - out_1146941096904669042[40] = 0; - out_1146941096904669042[41] = 1; - out_1146941096904669042[42] = 0; - out_1146941096904669042[43] = 0; - out_1146941096904669042[44] = 0; - out_1146941096904669042[45] = 0; - out_1146941096904669042[46] = 0; - out_1146941096904669042[47] = 0; - out_1146941096904669042[48] = 0; - out_1146941096904669042[49] = 0; - out_1146941096904669042[50] = 0; - out_1146941096904669042[51] = 0; - out_1146941096904669042[52] = 0; - out_1146941096904669042[53] = 0; +void H_13(double *state, double *unused, double *out_3934729624918777696) { + out_3934729624918777696[0] = 0; + out_3934729624918777696[1] = 0; + out_3934729624918777696[2] = 0; + out_3934729624918777696[3] = 1; + out_3934729624918777696[4] = 0; + out_3934729624918777696[5] = 0; + out_3934729624918777696[6] = 0; + out_3934729624918777696[7] = 0; + out_3934729624918777696[8] = 0; + out_3934729624918777696[9] = 0; + out_3934729624918777696[10] = 0; + out_3934729624918777696[11] = 0; + out_3934729624918777696[12] = 0; + out_3934729624918777696[13] = 0; + out_3934729624918777696[14] = 0; + out_3934729624918777696[15] = 0; + out_3934729624918777696[16] = 0; + out_3934729624918777696[17] = 0; + out_3934729624918777696[18] = 0; + out_3934729624918777696[19] = 0; + out_3934729624918777696[20] = 0; + out_3934729624918777696[21] = 0; + out_3934729624918777696[22] = 1; + out_3934729624918777696[23] = 0; + out_3934729624918777696[24] = 0; + out_3934729624918777696[25] = 0; + out_3934729624918777696[26] = 0; + out_3934729624918777696[27] = 0; + out_3934729624918777696[28] = 0; + out_3934729624918777696[29] = 0; + out_3934729624918777696[30] = 0; + out_3934729624918777696[31] = 0; + out_3934729624918777696[32] = 0; + out_3934729624918777696[33] = 0; + out_3934729624918777696[34] = 0; + out_3934729624918777696[35] = 0; + out_3934729624918777696[36] = 0; + out_3934729624918777696[37] = 0; + out_3934729624918777696[38] = 0; + out_3934729624918777696[39] = 0; + out_3934729624918777696[40] = 0; + out_3934729624918777696[41] = 1; + out_3934729624918777696[42] = 0; + out_3934729624918777696[43] = 0; + out_3934729624918777696[44] = 0; + out_3934729624918777696[45] = 0; + out_3934729624918777696[46] = 0; + out_3934729624918777696[47] = 0; + out_3934729624918777696[48] = 0; + out_3934729624918777696[49] = 0; + out_3934729624918777696[50] = 0; + out_3934729624918777696[51] = 0; + out_3934729624918777696[52] = 0; + out_3934729624918777696[53] = 0; } -void h_14(double *state, double *unused, double *out_653899258242143155) { - out_653899258242143155[0] = state[6]; - out_653899258242143155[1] = state[7]; - out_653899258242143155[2] = state[8]; +void h_14(double *state, double *unused, double *out_6063115878095578816) { + out_6063115878095578816[0] = state[6]; + out_6063115878095578816[1] = state[7]; + out_6063115878095578816[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1897908127911820770) { - out_1897908127911820770[0] = 0; - out_1897908127911820770[1] = 0; - out_1897908127911820770[2] = 0; - out_1897908127911820770[3] = 0; - out_1897908127911820770[4] = 0; - out_1897908127911820770[5] = 0; - out_1897908127911820770[6] = 1; - out_1897908127911820770[7] = 0; - out_1897908127911820770[8] = 0; - out_1897908127911820770[9] = 0; - out_1897908127911820770[10] = 0; - out_1897908127911820770[11] = 0; - out_1897908127911820770[12] = 0; - out_1897908127911820770[13] = 0; - out_1897908127911820770[14] = 0; - out_1897908127911820770[15] = 0; - out_1897908127911820770[16] = 0; - out_1897908127911820770[17] = 0; - out_1897908127911820770[18] = 0; - out_1897908127911820770[19] = 0; - out_1897908127911820770[20] = 0; - out_1897908127911820770[21] = 0; - out_1897908127911820770[22] = 0; - out_1897908127911820770[23] = 0; - out_1897908127911820770[24] = 0; - out_1897908127911820770[25] = 1; - out_1897908127911820770[26] = 0; - out_1897908127911820770[27] = 0; - out_1897908127911820770[28] = 0; - out_1897908127911820770[29] = 0; - out_1897908127911820770[30] = 0; - out_1897908127911820770[31] = 0; - out_1897908127911820770[32] = 0; - out_1897908127911820770[33] = 0; - out_1897908127911820770[34] = 0; - out_1897908127911820770[35] = 0; - out_1897908127911820770[36] = 0; - out_1897908127911820770[37] = 0; - out_1897908127911820770[38] = 0; - out_1897908127911820770[39] = 0; - out_1897908127911820770[40] = 0; - out_1897908127911820770[41] = 0; - out_1897908127911820770[42] = 0; - out_1897908127911820770[43] = 0; - out_1897908127911820770[44] = 1; - out_1897908127911820770[45] = 0; - out_1897908127911820770[46] = 0; - out_1897908127911820770[47] = 0; - out_1897908127911820770[48] = 0; - out_1897908127911820770[49] = 0; - out_1897908127911820770[50] = 0; - out_1897908127911820770[51] = 0; - out_1897908127911820770[52] = 0; - out_1897908127911820770[53] = 0; +void H_14(double *state, double *unused, double *out_287339272941561296) { + out_287339272941561296[0] = 0; + out_287339272941561296[1] = 0; + out_287339272941561296[2] = 0; + out_287339272941561296[3] = 0; + out_287339272941561296[4] = 0; + out_287339272941561296[5] = 0; + out_287339272941561296[6] = 1; + out_287339272941561296[7] = 0; + out_287339272941561296[8] = 0; + out_287339272941561296[9] = 0; + out_287339272941561296[10] = 0; + out_287339272941561296[11] = 0; + out_287339272941561296[12] = 0; + out_287339272941561296[13] = 0; + out_287339272941561296[14] = 0; + out_287339272941561296[15] = 0; + out_287339272941561296[16] = 0; + out_287339272941561296[17] = 0; + out_287339272941561296[18] = 0; + out_287339272941561296[19] = 0; + out_287339272941561296[20] = 0; + out_287339272941561296[21] = 0; + out_287339272941561296[22] = 0; + out_287339272941561296[23] = 0; + out_287339272941561296[24] = 0; + out_287339272941561296[25] = 1; + out_287339272941561296[26] = 0; + out_287339272941561296[27] = 0; + out_287339272941561296[28] = 0; + out_287339272941561296[29] = 0; + out_287339272941561296[30] = 0; + out_287339272941561296[31] = 0; + out_287339272941561296[32] = 0; + out_287339272941561296[33] = 0; + out_287339272941561296[34] = 0; + out_287339272941561296[35] = 0; + out_287339272941561296[36] = 0; + out_287339272941561296[37] = 0; + out_287339272941561296[38] = 0; + out_287339272941561296[39] = 0; + out_287339272941561296[40] = 0; + out_287339272941561296[41] = 0; + out_287339272941561296[42] = 0; + out_287339272941561296[43] = 0; + out_287339272941561296[44] = 1; + out_287339272941561296[45] = 0; + out_287339272941561296[46] = 0; + out_287339272941561296[47] = 0; + out_287339272941561296[48] = 0; + out_287339272941561296[49] = 0; + out_287339272941561296[50] = 0; + out_287339272941561296[51] = 0; + out_287339272941561296[52] = 0; + out_287339272941561296[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_5813097801788606117) { - err_fun(nom_x, delta_x, out_5813097801788606117); +void pose_err_fun(double *nom_x, double *delta_x, double *out_788519772333288428) { + err_fun(nom_x, delta_x, out_788519772333288428); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_265932847343752274) { - inv_err_fun(nom_x, true_x, out_265932847343752274); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3476371721226452847) { + inv_err_fun(nom_x, true_x, out_3476371721226452847); } -void pose_H_mod_fun(double *state, double *out_3782749078324294962) { - H_mod_fun(state, out_3782749078324294962); +void pose_H_mod_fun(double *state, double *out_1856202857491626372) { + H_mod_fun(state, out_1856202857491626372); } -void pose_f_fun(double *state, double dt, double *out_2316687695349101514) { - f_fun(state, dt, out_2316687695349101514); +void pose_f_fun(double *state, double dt, double *out_7190390231498499682) { + f_fun(state, dt, out_7190390231498499682); } -void pose_F_fun(double *state, double dt, double *out_830203783768276833) { - F_fun(state, dt, out_830203783768276833); +void pose_F_fun(double *state, double dt, double *out_4238346152453461367) { + F_fun(state, dt, out_4238346152453461367); } -void pose_h_4(double *state, double *unused, double *out_1652667498977980545) { - h_4(state, unused, out_1652667498977980545); +void pose_h_4(double *state, double *unused, double *out_7341523241853351564) { + h_4(state, unused, out_7341523241853351564); } -void pose_H_4(double *state, double *unused, double *out_2065332728427663759) { - H_4(state, unused, out_2065332728427663759); +void pose_H_4(double *state, double *unused, double *out_3675901583397923233) { + H_4(state, unused, out_3675901583397923233); } -void pose_h_10(double *state, double *unused, double *out_8803253396773735652) { - h_10(state, unused, out_8803253396773735652); +void pose_h_10(double *state, double *unused, double *out_7979280784138322600) { + h_10(state, unused, out_7979280784138322600); } -void pose_H_10(double *state, double *unused, double *out_1768777245936477788) { - H_10(state, unused, out_1768777245936477788); +void pose_H_10(double *state, double *unused, double *out_2717029967524110913) { + H_10(state, unused, out_2717029967524110913); } -void pose_h_13(double *state, double *unused, double *out_5388839778110327076) { - h_13(state, unused, out_5388839778110327076); +void pose_h_13(double *state, double *unused, double *out_2249980252911390508) { + h_13(state, unused, out_2249980252911390508); } -void pose_H_13(double *state, double *unused, double *out_1146941096904669042) { - H_13(state, unused, out_1146941096904669042); +void pose_H_13(double *state, double *unused, double *out_3934729624918777696) { + H_13(state, unused, out_3934729624918777696); } -void pose_h_14(double *state, double *unused, double *out_653899258242143155) { - h_14(state, unused, out_653899258242143155); +void pose_h_14(double *state, double *unused, double *out_6063115878095578816) { + h_14(state, unused, out_6063115878095578816); } -void pose_H_14(double *state, double *unused, double *out_1897908127911820770) { - H_14(state, unused, out_1897908127911820770); +void pose_H_14(double *state, double *unused, double *out_287339272941561296) { + H_14(state, unused, out_287339272941561296); } 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 eeb554410..77ec20497 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_5813097801788606117); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_265932847343752274); -void pose_H_mod_fun(double *state, double *out_3782749078324294962); -void pose_f_fun(double *state, double dt, double *out_2316687695349101514); -void pose_F_fun(double *state, double dt, double *out_830203783768276833); -void pose_h_4(double *state, double *unused, double *out_1652667498977980545); -void pose_H_4(double *state, double *unused, double *out_2065332728427663759); -void pose_h_10(double *state, double *unused, double *out_8803253396773735652); -void pose_H_10(double *state, double *unused, double *out_1768777245936477788); -void pose_h_13(double *state, double *unused, double *out_5388839778110327076); -void pose_H_13(double *state, double *unused, double *out_1146941096904669042); -void pose_h_14(double *state, double *unused, double *out_653899258242143155); -void pose_H_14(double *state, double *unused, double *out_1897908127911820770); +void pose_err_fun(double *nom_x, double *delta_x, double *out_788519772333288428); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3476371721226452847); +void pose_H_mod_fun(double *state, double *out_1856202857491626372); +void pose_f_fun(double *state, double dt, double *out_7190390231498499682); +void pose_F_fun(double *state, double dt, double *out_4238346152453461367); +void pose_h_4(double *state, double *unused, double *out_7341523241853351564); +void pose_H_4(double *state, double *unused, double *out_3675901583397923233); +void pose_h_10(double *state, double *unused, double *out_7979280784138322600); +void pose_H_10(double *state, double *unused, double *out_2717029967524110913); +void pose_h_13(double *state, double *unused, double *out_2249980252911390508); +void pose_H_13(double *state, double *unused, double *out_3934729624918777696); +void pose_h_14(double *state, double *unused, double *out_6063115878095578816); +void pose_H_14(double *state, double *unused, double *out_287339272941561296); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file