diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 63e7931d8..25a1037d9 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 1c1940765..9602c1e95 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 7ac81dbf3..7e180e1a2 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 fd6b7ecd4..5cee2b022 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 77e213042..3be96d09a 100755 Binary files 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332dc7a8b..1e2064b0f 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index eef6fd923..d8527ab66 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 e45bad33c..24156a8f3 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-f0601e27-DEBUG \ No newline at end of file +DEV-f351dbac-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index e234cf4d0..4e61d22c2 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_2541993810890450617) { - out_2541993810890450617[0] = delta_x[0] + nom_x[0]; - out_2541993810890450617[1] = delta_x[1] + nom_x[1]; - out_2541993810890450617[2] = delta_x[2] + nom_x[2]; - out_2541993810890450617[3] = delta_x[3] + nom_x[3]; - out_2541993810890450617[4] = delta_x[4] + nom_x[4]; - out_2541993810890450617[5] = delta_x[5] + nom_x[5]; - out_2541993810890450617[6] = delta_x[6] + nom_x[6]; - out_2541993810890450617[7] = delta_x[7] + nom_x[7]; - out_2541993810890450617[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6892109097522362188) { + out_6892109097522362188[0] = delta_x[0] + nom_x[0]; + out_6892109097522362188[1] = delta_x[1] + nom_x[1]; + out_6892109097522362188[2] = delta_x[2] + nom_x[2]; + out_6892109097522362188[3] = delta_x[3] + nom_x[3]; + out_6892109097522362188[4] = delta_x[4] + nom_x[4]; + out_6892109097522362188[5] = delta_x[5] + nom_x[5]; + out_6892109097522362188[6] = delta_x[6] + nom_x[6]; + out_6892109097522362188[7] = delta_x[7] + nom_x[7]; + out_6892109097522362188[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4007732744251149414) { - out_4007732744251149414[0] = -nom_x[0] + true_x[0]; - out_4007732744251149414[1] = -nom_x[1] + true_x[1]; - out_4007732744251149414[2] = -nom_x[2] + true_x[2]; - out_4007732744251149414[3] = -nom_x[3] + true_x[3]; - out_4007732744251149414[4] = -nom_x[4] + true_x[4]; - out_4007732744251149414[5] = -nom_x[5] + true_x[5]; - out_4007732744251149414[6] = -nom_x[6] + true_x[6]; - out_4007732744251149414[7] = -nom_x[7] + true_x[7]; - out_4007732744251149414[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5432001000781993507) { + out_5432001000781993507[0] = -nom_x[0] + true_x[0]; + out_5432001000781993507[1] = -nom_x[1] + true_x[1]; + out_5432001000781993507[2] = -nom_x[2] + true_x[2]; + out_5432001000781993507[3] = -nom_x[3] + true_x[3]; + out_5432001000781993507[4] = -nom_x[4] + true_x[4]; + out_5432001000781993507[5] = -nom_x[5] + true_x[5]; + out_5432001000781993507[6] = -nom_x[6] + true_x[6]; + out_5432001000781993507[7] = -nom_x[7] + true_x[7]; + out_5432001000781993507[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6685865118100003284) { - out_6685865118100003284[0] = 1.0; - out_6685865118100003284[1] = 0.0; - out_6685865118100003284[2] = 0.0; - out_6685865118100003284[3] = 0.0; - out_6685865118100003284[4] = 0.0; - out_6685865118100003284[5] = 0.0; - out_6685865118100003284[6] = 0.0; - out_6685865118100003284[7] = 0.0; - out_6685865118100003284[8] = 0.0; - out_6685865118100003284[9] = 0.0; - out_6685865118100003284[10] = 1.0; - out_6685865118100003284[11] = 0.0; - out_6685865118100003284[12] = 0.0; - out_6685865118100003284[13] = 0.0; - out_6685865118100003284[14] = 0.0; - out_6685865118100003284[15] = 0.0; - out_6685865118100003284[16] = 0.0; - out_6685865118100003284[17] = 0.0; - out_6685865118100003284[18] = 0.0; - out_6685865118100003284[19] = 0.0; - out_6685865118100003284[20] = 1.0; - out_6685865118100003284[21] = 0.0; - out_6685865118100003284[22] = 0.0; - out_6685865118100003284[23] = 0.0; - out_6685865118100003284[24] = 0.0; - out_6685865118100003284[25] = 0.0; - out_6685865118100003284[26] = 0.0; - out_6685865118100003284[27] = 0.0; - out_6685865118100003284[28] = 0.0; - out_6685865118100003284[29] = 0.0; - out_6685865118100003284[30] = 1.0; - out_6685865118100003284[31] = 0.0; - out_6685865118100003284[32] = 0.0; - out_6685865118100003284[33] = 0.0; - out_6685865118100003284[34] = 0.0; - out_6685865118100003284[35] = 0.0; - out_6685865118100003284[36] = 0.0; - out_6685865118100003284[37] = 0.0; - out_6685865118100003284[38] = 0.0; - out_6685865118100003284[39] = 0.0; - out_6685865118100003284[40] = 1.0; - out_6685865118100003284[41] = 0.0; - out_6685865118100003284[42] = 0.0; - out_6685865118100003284[43] = 0.0; - out_6685865118100003284[44] = 0.0; - out_6685865118100003284[45] = 0.0; - out_6685865118100003284[46] = 0.0; - out_6685865118100003284[47] = 0.0; - out_6685865118100003284[48] = 0.0; - out_6685865118100003284[49] = 0.0; - out_6685865118100003284[50] = 1.0; - out_6685865118100003284[51] = 0.0; - out_6685865118100003284[52] = 0.0; - out_6685865118100003284[53] = 0.0; - out_6685865118100003284[54] = 0.0; - out_6685865118100003284[55] = 0.0; - out_6685865118100003284[56] = 0.0; - out_6685865118100003284[57] = 0.0; - out_6685865118100003284[58] = 0.0; - out_6685865118100003284[59] = 0.0; - out_6685865118100003284[60] = 1.0; - out_6685865118100003284[61] = 0.0; - out_6685865118100003284[62] = 0.0; - out_6685865118100003284[63] = 0.0; - out_6685865118100003284[64] = 0.0; - out_6685865118100003284[65] = 0.0; - out_6685865118100003284[66] = 0.0; - out_6685865118100003284[67] = 0.0; - out_6685865118100003284[68] = 0.0; - out_6685865118100003284[69] = 0.0; - out_6685865118100003284[70] = 1.0; - out_6685865118100003284[71] = 0.0; - out_6685865118100003284[72] = 0.0; - out_6685865118100003284[73] = 0.0; - out_6685865118100003284[74] = 0.0; - out_6685865118100003284[75] = 0.0; - out_6685865118100003284[76] = 0.0; - out_6685865118100003284[77] = 0.0; - out_6685865118100003284[78] = 0.0; - out_6685865118100003284[79] = 0.0; - out_6685865118100003284[80] = 1.0; +void H_mod_fun(double *state, double *out_1134362066478752987) { + out_1134362066478752987[0] = 1.0; + out_1134362066478752987[1] = 0.0; + out_1134362066478752987[2] = 0.0; + out_1134362066478752987[3] = 0.0; + out_1134362066478752987[4] = 0.0; + out_1134362066478752987[5] = 0.0; + out_1134362066478752987[6] = 0.0; + out_1134362066478752987[7] = 0.0; + out_1134362066478752987[8] = 0.0; + out_1134362066478752987[9] = 0.0; + out_1134362066478752987[10] = 1.0; + out_1134362066478752987[11] = 0.0; + out_1134362066478752987[12] = 0.0; + out_1134362066478752987[13] = 0.0; + out_1134362066478752987[14] = 0.0; + out_1134362066478752987[15] = 0.0; + out_1134362066478752987[16] = 0.0; + out_1134362066478752987[17] = 0.0; + out_1134362066478752987[18] = 0.0; + out_1134362066478752987[19] = 0.0; + out_1134362066478752987[20] = 1.0; + out_1134362066478752987[21] = 0.0; + out_1134362066478752987[22] = 0.0; + out_1134362066478752987[23] = 0.0; + out_1134362066478752987[24] = 0.0; + out_1134362066478752987[25] = 0.0; + out_1134362066478752987[26] = 0.0; + out_1134362066478752987[27] = 0.0; + out_1134362066478752987[28] = 0.0; + out_1134362066478752987[29] = 0.0; + out_1134362066478752987[30] = 1.0; + out_1134362066478752987[31] = 0.0; + out_1134362066478752987[32] = 0.0; + out_1134362066478752987[33] = 0.0; + out_1134362066478752987[34] = 0.0; + out_1134362066478752987[35] = 0.0; + out_1134362066478752987[36] = 0.0; + out_1134362066478752987[37] = 0.0; + out_1134362066478752987[38] = 0.0; + out_1134362066478752987[39] = 0.0; + out_1134362066478752987[40] = 1.0; + out_1134362066478752987[41] = 0.0; + out_1134362066478752987[42] = 0.0; + out_1134362066478752987[43] = 0.0; + out_1134362066478752987[44] = 0.0; + out_1134362066478752987[45] = 0.0; + out_1134362066478752987[46] = 0.0; + out_1134362066478752987[47] = 0.0; + out_1134362066478752987[48] = 0.0; + out_1134362066478752987[49] = 0.0; + out_1134362066478752987[50] = 1.0; + out_1134362066478752987[51] = 0.0; + out_1134362066478752987[52] = 0.0; + out_1134362066478752987[53] = 0.0; + out_1134362066478752987[54] = 0.0; + out_1134362066478752987[55] = 0.0; + out_1134362066478752987[56] = 0.0; + out_1134362066478752987[57] = 0.0; + out_1134362066478752987[58] = 0.0; + out_1134362066478752987[59] = 0.0; + out_1134362066478752987[60] = 1.0; + out_1134362066478752987[61] = 0.0; + out_1134362066478752987[62] = 0.0; + out_1134362066478752987[63] = 0.0; + out_1134362066478752987[64] = 0.0; + out_1134362066478752987[65] = 0.0; + out_1134362066478752987[66] = 0.0; + out_1134362066478752987[67] = 0.0; + out_1134362066478752987[68] = 0.0; + out_1134362066478752987[69] = 0.0; + out_1134362066478752987[70] = 1.0; + out_1134362066478752987[71] = 0.0; + out_1134362066478752987[72] = 0.0; + out_1134362066478752987[73] = 0.0; + out_1134362066478752987[74] = 0.0; + out_1134362066478752987[75] = 0.0; + out_1134362066478752987[76] = 0.0; + out_1134362066478752987[77] = 0.0; + out_1134362066478752987[78] = 0.0; + out_1134362066478752987[79] = 0.0; + out_1134362066478752987[80] = 1.0; } -void f_fun(double *state, double dt, double *out_6974049569071864212) { - out_6974049569071864212[0] = state[0]; - out_6974049569071864212[1] = state[1]; - out_6974049569071864212[2] = state[2]; - out_6974049569071864212[3] = state[3]; - out_6974049569071864212[4] = state[4]; - out_6974049569071864212[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_6974049569071864212[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_6974049569071864212[7] = state[7]; - out_6974049569071864212[8] = state[8]; +void f_fun(double *state, double dt, double *out_9123630075498474389) { + out_9123630075498474389[0] = state[0]; + out_9123630075498474389[1] = state[1]; + out_9123630075498474389[2] = state[2]; + out_9123630075498474389[3] = state[3]; + out_9123630075498474389[4] = state[4]; + out_9123630075498474389[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_9123630075498474389[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_9123630075498474389[7] = state[7]; + out_9123630075498474389[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7385013454295441423) { - out_7385013454295441423[0] = 1; - out_7385013454295441423[1] = 0; - out_7385013454295441423[2] = 0; - out_7385013454295441423[3] = 0; - out_7385013454295441423[4] = 0; - out_7385013454295441423[5] = 0; - out_7385013454295441423[6] = 0; - out_7385013454295441423[7] = 0; - out_7385013454295441423[8] = 0; - out_7385013454295441423[9] = 0; - out_7385013454295441423[10] = 1; - out_7385013454295441423[11] = 0; - out_7385013454295441423[12] = 0; - out_7385013454295441423[13] = 0; - out_7385013454295441423[14] = 0; - out_7385013454295441423[15] = 0; - out_7385013454295441423[16] = 0; - out_7385013454295441423[17] = 0; - out_7385013454295441423[18] = 0; - out_7385013454295441423[19] = 0; - out_7385013454295441423[20] = 1; - out_7385013454295441423[21] = 0; - out_7385013454295441423[22] = 0; - out_7385013454295441423[23] = 0; - out_7385013454295441423[24] = 0; - out_7385013454295441423[25] = 0; - out_7385013454295441423[26] = 0; - out_7385013454295441423[27] = 0; - out_7385013454295441423[28] = 0; - out_7385013454295441423[29] = 0; - out_7385013454295441423[30] = 1; - out_7385013454295441423[31] = 0; - out_7385013454295441423[32] = 0; - out_7385013454295441423[33] = 0; - out_7385013454295441423[34] = 0; - out_7385013454295441423[35] = 0; - out_7385013454295441423[36] = 0; - out_7385013454295441423[37] = 0; - out_7385013454295441423[38] = 0; - out_7385013454295441423[39] = 0; - out_7385013454295441423[40] = 1; - out_7385013454295441423[41] = 0; - out_7385013454295441423[42] = 0; - out_7385013454295441423[43] = 0; - out_7385013454295441423[44] = 0; - out_7385013454295441423[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_7385013454295441423[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7385013454295441423[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7385013454295441423[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7385013454295441423[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_7385013454295441423[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7385013454295441423[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7385013454295441423[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7385013454295441423[53] = -9.8100000000000005*dt; - out_7385013454295441423[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_7385013454295441423[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7385013454295441423[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7385013454295441423[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7385013454295441423[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_7385013454295441423[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7385013454295441423[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_7385013454295441423[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7385013454295441423[62] = 0; - out_7385013454295441423[63] = 0; - out_7385013454295441423[64] = 0; - out_7385013454295441423[65] = 0; - out_7385013454295441423[66] = 0; - out_7385013454295441423[67] = 0; - out_7385013454295441423[68] = 0; - out_7385013454295441423[69] = 0; - out_7385013454295441423[70] = 1; - out_7385013454295441423[71] = 0; - out_7385013454295441423[72] = 0; - out_7385013454295441423[73] = 0; - out_7385013454295441423[74] = 0; - out_7385013454295441423[75] = 0; - out_7385013454295441423[76] = 0; - out_7385013454295441423[77] = 0; - out_7385013454295441423[78] = 0; - out_7385013454295441423[79] = 0; - out_7385013454295441423[80] = 1; +void F_fun(double *state, double dt, double *out_5012636381780854897) { + out_5012636381780854897[0] = 1; + out_5012636381780854897[1] = 0; + out_5012636381780854897[2] = 0; + out_5012636381780854897[3] = 0; + out_5012636381780854897[4] = 0; + out_5012636381780854897[5] = 0; + out_5012636381780854897[6] = 0; + out_5012636381780854897[7] = 0; + out_5012636381780854897[8] = 0; + out_5012636381780854897[9] = 0; + out_5012636381780854897[10] = 1; + out_5012636381780854897[11] = 0; + out_5012636381780854897[12] = 0; + out_5012636381780854897[13] = 0; + out_5012636381780854897[14] = 0; + out_5012636381780854897[15] = 0; + out_5012636381780854897[16] = 0; + out_5012636381780854897[17] = 0; + out_5012636381780854897[18] = 0; + out_5012636381780854897[19] = 0; + out_5012636381780854897[20] = 1; + out_5012636381780854897[21] = 0; + out_5012636381780854897[22] = 0; + out_5012636381780854897[23] = 0; + out_5012636381780854897[24] = 0; + out_5012636381780854897[25] = 0; + out_5012636381780854897[26] = 0; + out_5012636381780854897[27] = 0; + out_5012636381780854897[28] = 0; + out_5012636381780854897[29] = 0; + out_5012636381780854897[30] = 1; + out_5012636381780854897[31] = 0; + out_5012636381780854897[32] = 0; + out_5012636381780854897[33] = 0; + out_5012636381780854897[34] = 0; + out_5012636381780854897[35] = 0; + out_5012636381780854897[36] = 0; + out_5012636381780854897[37] = 0; + out_5012636381780854897[38] = 0; + out_5012636381780854897[39] = 0; + out_5012636381780854897[40] = 1; + out_5012636381780854897[41] = 0; + out_5012636381780854897[42] = 0; + out_5012636381780854897[43] = 0; + out_5012636381780854897[44] = 0; + out_5012636381780854897[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_5012636381780854897[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5012636381780854897[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5012636381780854897[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5012636381780854897[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_5012636381780854897[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5012636381780854897[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5012636381780854897[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5012636381780854897[53] = -9.8100000000000005*dt; + out_5012636381780854897[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_5012636381780854897[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5012636381780854897[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5012636381780854897[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5012636381780854897[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_5012636381780854897[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5012636381780854897[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_5012636381780854897[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5012636381780854897[62] = 0; + out_5012636381780854897[63] = 0; + out_5012636381780854897[64] = 0; + out_5012636381780854897[65] = 0; + out_5012636381780854897[66] = 0; + out_5012636381780854897[67] = 0; + out_5012636381780854897[68] = 0; + out_5012636381780854897[69] = 0; + out_5012636381780854897[70] = 1; + out_5012636381780854897[71] = 0; + out_5012636381780854897[72] = 0; + out_5012636381780854897[73] = 0; + out_5012636381780854897[74] = 0; + out_5012636381780854897[75] = 0; + out_5012636381780854897[76] = 0; + out_5012636381780854897[77] = 0; + out_5012636381780854897[78] = 0; + out_5012636381780854897[79] = 0; + out_5012636381780854897[80] = 1; } -void h_25(double *state, double *unused, double *out_8051554989951709251) { - out_8051554989951709251[0] = state[6]; +void h_25(double *state, double *unused, double *out_5169748066208681951) { + out_5169748066208681951[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2507323107812233953) { - out_2507323107812233953[0] = 0; - out_2507323107812233953[1] = 0; - out_2507323107812233953[2] = 0; - out_2507323107812233953[3] = 0; - out_2507323107812233953[4] = 0; - out_2507323107812233953[5] = 0; - out_2507323107812233953[6] = 1; - out_2507323107812233953[7] = 0; - out_2507323107812233953[8] = 0; +void H_25(double *state, double *unused, double *out_6786975966495106818) { + out_6786975966495106818[0] = 0; + out_6786975966495106818[1] = 0; + out_6786975966495106818[2] = 0; + out_6786975966495106818[3] = 0; + out_6786975966495106818[4] = 0; + out_6786975966495106818[5] = 0; + out_6786975966495106818[6] = 1; + out_6786975966495106818[7] = 0; + out_6786975966495106818[8] = 0; } -void h_24(double *state, double *unused, double *out_3112249856335132889) { - out_3112249856335132889[0] = state[4]; - out_3112249856335132889[1] = state[5]; +void h_24(double *state, double *unused, double *out_6620362679693609370) { + out_6620362679693609370[0] = state[4]; + out_6620362679693609370[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4679972706817733519) { - out_4679972706817733519[0] = 0; - out_4679972706817733519[1] = 0; - out_4679972706817733519[2] = 0; - out_4679972706817733519[3] = 0; - out_4679972706817733519[4] = 1; - out_4679972706817733519[5] = 0; - out_4679972706817733519[6] = 0; - out_4679972706817733519[7] = 0; - out_4679972706817733519[8] = 0; - out_4679972706817733519[9] = 0; - out_4679972706817733519[10] = 0; - out_4679972706817733519[11] = 0; - out_4679972706817733519[12] = 0; - out_4679972706817733519[13] = 0; - out_4679972706817733519[14] = 1; - out_4679972706817733519[15] = 0; - out_4679972706817733519[16] = 0; - out_4679972706817733519[17] = 0; +void H_24(double *state, double *unused, double *out_8101842508412121662) { + out_8101842508412121662[0] = 0; + out_8101842508412121662[1] = 0; + out_8101842508412121662[2] = 0; + out_8101842508412121662[3] = 0; + out_8101842508412121662[4] = 1; + out_8101842508412121662[5] = 0; + out_8101842508412121662[6] = 0; + out_8101842508412121662[7] = 0; + out_8101842508412121662[8] = 0; + out_8101842508412121662[9] = 0; + out_8101842508412121662[10] = 0; + out_8101842508412121662[11] = 0; + out_8101842508412121662[12] = 0; + out_8101842508412121662[13] = 0; + out_8101842508412121662[14] = 1; + out_8101842508412121662[15] = 0; + out_8101842508412121662[16] = 0; + out_8101842508412121662[17] = 0; } -void h_30(double *state, double *unused, double *out_432221354858015888) { - out_432221354858015888[0] = state[4]; +void h_30(double *state, double *unused, double *out_5326934734559811096) { + out_5326934734559811096[0] = state[4]; } -void H_30(double *state, double *unused, double *out_11009850695014674) { - out_11009850695014674[0] = 0; - out_11009850695014674[1] = 0; - out_11009850695014674[2] = 0; - out_11009850695014674[3] = 0; - out_11009850695014674[4] = 1; - out_11009850695014674[5] = 0; - out_11009850695014674[6] = 0; - out_11009850695014674[7] = 0; - out_11009850695014674[8] = 0; +void H_30(double *state, double *unused, double *out_9141435148707196171) { + out_9141435148707196171[0] = 0; + out_9141435148707196171[1] = 0; + out_9141435148707196171[2] = 0; + out_9141435148707196171[3] = 0; + out_9141435148707196171[4] = 1; + out_9141435148707196171[5] = 0; + out_9141435148707196171[6] = 0; + out_9141435148707196171[7] = 0; + out_9141435148707196171[8] = 0; } -void h_26(double *state, double *unused, double *out_8837878174502242541) { - out_8837878174502242541[0] = state[7]; +void h_26(double *state, double *unused, double *out_5930250619236288613) { + out_5930250619236288613[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6248826426686290177) { - out_6248826426686290177[0] = 0; - out_6248826426686290177[1] = 0; - out_6248826426686290177[2] = 0; - out_6248826426686290177[3] = 0; - out_6248826426686290177[4] = 0; - out_6248826426686290177[5] = 0; - out_6248826426686290177[6] = 0; - out_6248826426686290177[7] = 1; - out_6248826426686290177[8] = 0; +void H_26(double *state, double *unused, double *out_3045472647621050594) { + out_3045472647621050594[0] = 0; + out_3045472647621050594[1] = 0; + out_3045472647621050594[2] = 0; + out_3045472647621050594[3] = 0; + out_3045472647621050594[4] = 0; + out_3045472647621050594[5] = 0; + out_3045472647621050594[6] = 0; + out_3045472647621050594[7] = 1; + out_3045472647621050594[8] = 0; } -void h_27(double *state, double *unused, double *out_5014768938507376566) { - out_5014768938507376566[0] = state[3]; +void h_27(double *state, double *unused, double *out_7982300169478535334) { + out_7982300169478535334[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2234603921878957891) { - out_2234603921878957891[0] = 0; - out_2234603921878957891[1] = 0; - out_2234603921878957891[2] = 0; - out_2234603921878957891[3] = 1; - out_2234603921878957891[4] = 0; - out_2234603921878957891[5] = 0; - out_2234603921878957891[6] = 0; - out_2234603921878957891[7] = 0; - out_2234603921878957891[8] = 0; +void H_27(double *state, double *unused, double *out_84516324567073709) { + out_84516324567073709[0] = 0; + out_84516324567073709[1] = 0; + out_84516324567073709[2] = 0; + out_84516324567073709[3] = 1; + out_84516324567073709[4] = 0; + out_84516324567073709[5] = 0; + out_84516324567073709[6] = 0; + out_84516324567073709[7] = 0; + out_84516324567073709[8] = 0; } -void h_29(double *state, double *unused, double *out_5550702484448125865) { - out_5550702484448125865[0] = state[1]; +void h_29(double *state, double *unused, double *out_3693608677880665346) { + out_3693608677880665346[0] = state[1]; } -void H_29(double *state, double *unused, double *out_521241195009406858) { - out_521241195009406858[0] = 0; - out_521241195009406858[1] = 1; - out_521241195009406858[2] = 0; - out_521241195009406858[3] = 0; - out_521241195009406858[4] = 0; - out_521241195009406858[5] = 0; - out_521241195009406858[6] = 0; - out_521241195009406858[7] = 0; - out_521241195009406858[8] = 0; +void H_29(double *state, double *unused, double *out_2769510980681890804) { + out_2769510980681890804[0] = 0; + out_2769510980681890804[1] = 1; + out_2769510980681890804[2] = 0; + out_2769510980681890804[3] = 0; + out_2769510980681890804[4] = 0; + out_2769510980681890804[5] = 0; + out_2769510980681890804[6] = 0; + out_2769510980681890804[7] = 0; + out_2769510980681890804[8] = 0; } -void h_28(double *state, double *unused, double *out_8430301867541329405) { - out_8430301867541329405[0] = state[0]; +void h_28(double *state, double *unused, double *out_9150043970554677071) { + out_9150043970554677071[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4561157822060123716) { - out_4561157822060123716[0] = 1; - out_4561157822060123716[1] = 0; - out_4561157822060123716[2] = 0; - out_4561157822060123716[3] = 0; - out_4561157822060123716[4] = 0; - out_4561157822060123716[5] = 0; - out_4561157822060123716[6] = 0; - out_4561157822060123716[7] = 0; - out_4561157822060123716[8] = 0; +void H_28(double *state, double *unused, double *out_4733141252247217055) { + out_4733141252247217055[0] = 1; + out_4733141252247217055[1] = 0; + out_4733141252247217055[2] = 0; + out_4733141252247217055[3] = 0; + out_4733141252247217055[4] = 0; + out_4733141252247217055[5] = 0; + out_4733141252247217055[6] = 0; + out_4733141252247217055[7] = 0; + out_4733141252247217055[8] = 0; } -void h_31(double *state, double *unused, double *out_3624353857407491429) { - out_3624353857407491429[0] = state[8]; +void h_31(double *state, double *unused, double *out_1601087160141668985) { + out_1601087160141668985[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6875034528919641653) { - out_6875034528919641653[0] = 0; - out_6875034528919641653[1] = 0; - out_6875034528919641653[2] = 0; - out_6875034528919641653[3] = 0; - out_6875034528919641653[4] = 0; - out_6875034528919641653[5] = 0; - out_6875034528919641653[6] = 0; - out_6875034528919641653[7] = 0; - out_6875034528919641653[8] = 1; +void H_31(double *state, double *unused, double *out_2419264545387699118) { + out_2419264545387699118[0] = 0; + out_2419264545387699118[1] = 0; + out_2419264545387699118[2] = 0; + out_2419264545387699118[3] = 0; + out_2419264545387699118[4] = 0; + out_2419264545387699118[5] = 0; + out_2419264545387699118[6] = 0; + out_2419264545387699118[7] = 0; + out_2419264545387699118[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_2541993810890450617) { - err_fun(nom_x, delta_x, out_2541993810890450617); +void car_err_fun(double *nom_x, double *delta_x, double *out_6892109097522362188) { + err_fun(nom_x, delta_x, out_6892109097522362188); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4007732744251149414) { - inv_err_fun(nom_x, true_x, out_4007732744251149414); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5432001000781993507) { + inv_err_fun(nom_x, true_x, out_5432001000781993507); } -void car_H_mod_fun(double *state, double *out_6685865118100003284) { - H_mod_fun(state, out_6685865118100003284); +void car_H_mod_fun(double *state, double *out_1134362066478752987) { + H_mod_fun(state, out_1134362066478752987); } -void car_f_fun(double *state, double dt, double *out_6974049569071864212) { - f_fun(state, dt, out_6974049569071864212); +void car_f_fun(double *state, double dt, double *out_9123630075498474389) { + f_fun(state, dt, out_9123630075498474389); } -void car_F_fun(double *state, double dt, double *out_7385013454295441423) { - F_fun(state, dt, out_7385013454295441423); +void car_F_fun(double *state, double dt, double *out_5012636381780854897) { + F_fun(state, dt, out_5012636381780854897); } -void car_h_25(double *state, double *unused, double *out_8051554989951709251) { - h_25(state, unused, out_8051554989951709251); +void car_h_25(double *state, double *unused, double *out_5169748066208681951) { + h_25(state, unused, out_5169748066208681951); } -void car_H_25(double *state, double *unused, double *out_2507323107812233953) { - H_25(state, unused, out_2507323107812233953); +void car_H_25(double *state, double *unused, double *out_6786975966495106818) { + H_25(state, unused, out_6786975966495106818); } -void car_h_24(double *state, double *unused, double *out_3112249856335132889) { - h_24(state, unused, out_3112249856335132889); +void car_h_24(double *state, double *unused, double *out_6620362679693609370) { + h_24(state, unused, out_6620362679693609370); } -void car_H_24(double *state, double *unused, double *out_4679972706817733519) { - H_24(state, unused, out_4679972706817733519); +void car_H_24(double *state, double *unused, double *out_8101842508412121662) { + H_24(state, unused, out_8101842508412121662); } -void car_h_30(double *state, double *unused, double *out_432221354858015888) { - h_30(state, unused, out_432221354858015888); +void car_h_30(double *state, double *unused, double *out_5326934734559811096) { + h_30(state, unused, out_5326934734559811096); } -void car_H_30(double *state, double *unused, double *out_11009850695014674) { - H_30(state, unused, out_11009850695014674); +void car_H_30(double *state, double *unused, double *out_9141435148707196171) { + H_30(state, unused, out_9141435148707196171); } -void car_h_26(double *state, double *unused, double *out_8837878174502242541) { - h_26(state, unused, out_8837878174502242541); +void car_h_26(double *state, double *unused, double *out_5930250619236288613) { + h_26(state, unused, out_5930250619236288613); } -void car_H_26(double *state, double *unused, double *out_6248826426686290177) { - H_26(state, unused, out_6248826426686290177); +void car_H_26(double *state, double *unused, double *out_3045472647621050594) { + H_26(state, unused, out_3045472647621050594); } -void car_h_27(double *state, double *unused, double *out_5014768938507376566) { - h_27(state, unused, out_5014768938507376566); +void car_h_27(double *state, double *unused, double *out_7982300169478535334) { + h_27(state, unused, out_7982300169478535334); } -void car_H_27(double *state, double *unused, double *out_2234603921878957891) { - H_27(state, unused, out_2234603921878957891); +void car_H_27(double *state, double *unused, double *out_84516324567073709) { + H_27(state, unused, out_84516324567073709); } -void car_h_29(double *state, double *unused, double *out_5550702484448125865) { - h_29(state, unused, out_5550702484448125865); +void car_h_29(double *state, double *unused, double *out_3693608677880665346) { + h_29(state, unused, out_3693608677880665346); } -void car_H_29(double *state, double *unused, double *out_521241195009406858) { - H_29(state, unused, out_521241195009406858); +void car_H_29(double *state, double *unused, double *out_2769510980681890804) { + H_29(state, unused, out_2769510980681890804); } -void car_h_28(double *state, double *unused, double *out_8430301867541329405) { - h_28(state, unused, out_8430301867541329405); +void car_h_28(double *state, double *unused, double *out_9150043970554677071) { + h_28(state, unused, out_9150043970554677071); } -void car_H_28(double *state, double *unused, double *out_4561157822060123716) { - H_28(state, unused, out_4561157822060123716); +void car_H_28(double *state, double *unused, double *out_4733141252247217055) { + H_28(state, unused, out_4733141252247217055); } -void car_h_31(double *state, double *unused, double *out_3624353857407491429) { - h_31(state, unused, out_3624353857407491429); +void car_h_31(double *state, double *unused, double *out_1601087160141668985) { + h_31(state, unused, out_1601087160141668985); } -void car_H_31(double *state, double *unused, double *out_6875034528919641653) { - H_31(state, unused, out_6875034528919641653); +void car_H_31(double *state, double *unused, double *out_2419264545387699118) { + H_31(state, unused, out_2419264545387699118); } 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 53eb86fbe..93126b41b 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_2541993810890450617); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4007732744251149414); -void car_H_mod_fun(double *state, double *out_6685865118100003284); -void car_f_fun(double *state, double dt, double *out_6974049569071864212); -void car_F_fun(double *state, double dt, double *out_7385013454295441423); -void car_h_25(double *state, double *unused, double *out_8051554989951709251); -void car_H_25(double *state, double *unused, double *out_2507323107812233953); -void car_h_24(double *state, double *unused, double *out_3112249856335132889); -void car_H_24(double *state, double *unused, double *out_4679972706817733519); -void car_h_30(double *state, double *unused, double *out_432221354858015888); -void car_H_30(double *state, double *unused, double *out_11009850695014674); -void car_h_26(double *state, double *unused, double *out_8837878174502242541); -void car_H_26(double *state, double *unused, double *out_6248826426686290177); -void car_h_27(double *state, double *unused, double *out_5014768938507376566); -void car_H_27(double *state, double *unused, double *out_2234603921878957891); -void car_h_29(double *state, double *unused, double *out_5550702484448125865); -void car_H_29(double *state, double *unused, double *out_521241195009406858); -void car_h_28(double *state, double *unused, double *out_8430301867541329405); -void car_H_28(double *state, double *unused, double *out_4561157822060123716); -void car_h_31(double *state, double *unused, double *out_3624353857407491429); -void car_H_31(double *state, double *unused, double *out_6875034528919641653); +void car_err_fun(double *nom_x, double *delta_x, double *out_6892109097522362188); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5432001000781993507); +void car_H_mod_fun(double *state, double *out_1134362066478752987); +void car_f_fun(double *state, double dt, double *out_9123630075498474389); +void car_F_fun(double *state, double dt, double *out_5012636381780854897); +void car_h_25(double *state, double *unused, double *out_5169748066208681951); +void car_H_25(double *state, double *unused, double *out_6786975966495106818); +void car_h_24(double *state, double *unused, double *out_6620362679693609370); +void car_H_24(double *state, double *unused, double *out_8101842508412121662); +void car_h_30(double *state, double *unused, double *out_5326934734559811096); +void car_H_30(double *state, double *unused, double *out_9141435148707196171); +void car_h_26(double *state, double *unused, double *out_5930250619236288613); +void car_H_26(double *state, double *unused, double *out_3045472647621050594); +void car_h_27(double *state, double *unused, double *out_7982300169478535334); +void car_H_27(double *state, double *unused, double *out_84516324567073709); +void car_h_29(double *state, double *unused, double *out_3693608677880665346); +void car_H_29(double *state, double *unused, double *out_2769510980681890804); +void car_h_28(double *state, double *unused, double *out_9150043970554677071); +void car_H_28(double *state, double *unused, double *out_4733141252247217055); +void car_h_31(double *state, double *unused, double *out_1601087160141668985); +void car_H_31(double *state, double *unused, double *out_2419264545387699118); 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 3708ac1eb..a0abcf595 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_3370172615713873468) { - out_3370172615713873468[0] = delta_x[0] + nom_x[0]; - out_3370172615713873468[1] = delta_x[1] + nom_x[1]; - out_3370172615713873468[2] = delta_x[2] + nom_x[2]; - out_3370172615713873468[3] = delta_x[3] + nom_x[3]; - out_3370172615713873468[4] = delta_x[4] + nom_x[4]; - out_3370172615713873468[5] = delta_x[5] + nom_x[5]; - out_3370172615713873468[6] = delta_x[6] + nom_x[6]; - out_3370172615713873468[7] = delta_x[7] + nom_x[7]; - out_3370172615713873468[8] = delta_x[8] + nom_x[8]; - out_3370172615713873468[9] = delta_x[9] + nom_x[9]; - out_3370172615713873468[10] = delta_x[10] + nom_x[10]; - out_3370172615713873468[11] = delta_x[11] + nom_x[11]; - out_3370172615713873468[12] = delta_x[12] + nom_x[12]; - out_3370172615713873468[13] = delta_x[13] + nom_x[13]; - out_3370172615713873468[14] = delta_x[14] + nom_x[14]; - out_3370172615713873468[15] = delta_x[15] + nom_x[15]; - out_3370172615713873468[16] = delta_x[16] + nom_x[16]; - out_3370172615713873468[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2367672105654731741) { + out_2367672105654731741[0] = delta_x[0] + nom_x[0]; + out_2367672105654731741[1] = delta_x[1] + nom_x[1]; + out_2367672105654731741[2] = delta_x[2] + nom_x[2]; + out_2367672105654731741[3] = delta_x[3] + nom_x[3]; + out_2367672105654731741[4] = delta_x[4] + nom_x[4]; + out_2367672105654731741[5] = delta_x[5] + nom_x[5]; + out_2367672105654731741[6] = delta_x[6] + nom_x[6]; + out_2367672105654731741[7] = delta_x[7] + nom_x[7]; + out_2367672105654731741[8] = delta_x[8] + nom_x[8]; + out_2367672105654731741[9] = delta_x[9] + nom_x[9]; + out_2367672105654731741[10] = delta_x[10] + nom_x[10]; + out_2367672105654731741[11] = delta_x[11] + nom_x[11]; + out_2367672105654731741[12] = delta_x[12] + nom_x[12]; + out_2367672105654731741[13] = delta_x[13] + nom_x[13]; + out_2367672105654731741[14] = delta_x[14] + nom_x[14]; + out_2367672105654731741[15] = delta_x[15] + nom_x[15]; + out_2367672105654731741[16] = delta_x[16] + nom_x[16]; + out_2367672105654731741[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3634672358247053874) { - out_3634672358247053874[0] = -nom_x[0] + true_x[0]; - out_3634672358247053874[1] = -nom_x[1] + true_x[1]; - out_3634672358247053874[2] = -nom_x[2] + true_x[2]; - out_3634672358247053874[3] = -nom_x[3] + true_x[3]; - out_3634672358247053874[4] = -nom_x[4] + true_x[4]; - out_3634672358247053874[5] = -nom_x[5] + true_x[5]; - out_3634672358247053874[6] = -nom_x[6] + true_x[6]; - out_3634672358247053874[7] = -nom_x[7] + true_x[7]; - out_3634672358247053874[8] = -nom_x[8] + true_x[8]; - out_3634672358247053874[9] = -nom_x[9] + true_x[9]; - out_3634672358247053874[10] = -nom_x[10] + true_x[10]; - out_3634672358247053874[11] = -nom_x[11] + true_x[11]; - out_3634672358247053874[12] = -nom_x[12] + true_x[12]; - out_3634672358247053874[13] = -nom_x[13] + true_x[13]; - out_3634672358247053874[14] = -nom_x[14] + true_x[14]; - out_3634672358247053874[15] = -nom_x[15] + true_x[15]; - out_3634672358247053874[16] = -nom_x[16] + true_x[16]; - out_3634672358247053874[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5219205296235492699) { + out_5219205296235492699[0] = -nom_x[0] + true_x[0]; + out_5219205296235492699[1] = -nom_x[1] + true_x[1]; + out_5219205296235492699[2] = -nom_x[2] + true_x[2]; + out_5219205296235492699[3] = -nom_x[3] + true_x[3]; + out_5219205296235492699[4] = -nom_x[4] + true_x[4]; + out_5219205296235492699[5] = -nom_x[5] + true_x[5]; + out_5219205296235492699[6] = -nom_x[6] + true_x[6]; + out_5219205296235492699[7] = -nom_x[7] + true_x[7]; + out_5219205296235492699[8] = -nom_x[8] + true_x[8]; + out_5219205296235492699[9] = -nom_x[9] + true_x[9]; + out_5219205296235492699[10] = -nom_x[10] + true_x[10]; + out_5219205296235492699[11] = -nom_x[11] + true_x[11]; + out_5219205296235492699[12] = -nom_x[12] + true_x[12]; + out_5219205296235492699[13] = -nom_x[13] + true_x[13]; + out_5219205296235492699[14] = -nom_x[14] + true_x[14]; + out_5219205296235492699[15] = -nom_x[15] + true_x[15]; + out_5219205296235492699[16] = -nom_x[16] + true_x[16]; + out_5219205296235492699[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4326808709061064235) { - out_4326808709061064235[0] = 1.0; - out_4326808709061064235[1] = 0.0; - out_4326808709061064235[2] = 0.0; - out_4326808709061064235[3] = 0.0; - out_4326808709061064235[4] = 0.0; - out_4326808709061064235[5] = 0.0; - out_4326808709061064235[6] = 0.0; - out_4326808709061064235[7] = 0.0; - out_4326808709061064235[8] = 0.0; - out_4326808709061064235[9] = 0.0; - out_4326808709061064235[10] = 0.0; - out_4326808709061064235[11] = 0.0; - out_4326808709061064235[12] = 0.0; - out_4326808709061064235[13] = 0.0; - out_4326808709061064235[14] = 0.0; - out_4326808709061064235[15] = 0.0; - out_4326808709061064235[16] = 0.0; - out_4326808709061064235[17] = 0.0; - out_4326808709061064235[18] = 0.0; - out_4326808709061064235[19] = 1.0; - out_4326808709061064235[20] = 0.0; - out_4326808709061064235[21] = 0.0; - out_4326808709061064235[22] = 0.0; - out_4326808709061064235[23] = 0.0; - out_4326808709061064235[24] = 0.0; - out_4326808709061064235[25] = 0.0; - out_4326808709061064235[26] = 0.0; - out_4326808709061064235[27] = 0.0; - out_4326808709061064235[28] = 0.0; - out_4326808709061064235[29] = 0.0; - out_4326808709061064235[30] = 0.0; - out_4326808709061064235[31] = 0.0; - out_4326808709061064235[32] = 0.0; - out_4326808709061064235[33] = 0.0; - out_4326808709061064235[34] = 0.0; - out_4326808709061064235[35] = 0.0; - out_4326808709061064235[36] = 0.0; - out_4326808709061064235[37] = 0.0; - out_4326808709061064235[38] = 1.0; - out_4326808709061064235[39] = 0.0; - out_4326808709061064235[40] = 0.0; - out_4326808709061064235[41] = 0.0; - out_4326808709061064235[42] = 0.0; - out_4326808709061064235[43] = 0.0; - out_4326808709061064235[44] = 0.0; - out_4326808709061064235[45] = 0.0; - out_4326808709061064235[46] = 0.0; - out_4326808709061064235[47] = 0.0; - out_4326808709061064235[48] = 0.0; - out_4326808709061064235[49] = 0.0; - out_4326808709061064235[50] = 0.0; - out_4326808709061064235[51] = 0.0; - out_4326808709061064235[52] = 0.0; - out_4326808709061064235[53] = 0.0; - out_4326808709061064235[54] = 0.0; - out_4326808709061064235[55] = 0.0; - out_4326808709061064235[56] = 0.0; - out_4326808709061064235[57] = 1.0; - out_4326808709061064235[58] = 0.0; - out_4326808709061064235[59] = 0.0; - out_4326808709061064235[60] = 0.0; - out_4326808709061064235[61] = 0.0; - out_4326808709061064235[62] = 0.0; - out_4326808709061064235[63] = 0.0; - out_4326808709061064235[64] = 0.0; - out_4326808709061064235[65] = 0.0; - out_4326808709061064235[66] = 0.0; - out_4326808709061064235[67] = 0.0; - out_4326808709061064235[68] = 0.0; - out_4326808709061064235[69] = 0.0; - out_4326808709061064235[70] = 0.0; - out_4326808709061064235[71] = 0.0; - out_4326808709061064235[72] = 0.0; - out_4326808709061064235[73] = 0.0; - out_4326808709061064235[74] = 0.0; - out_4326808709061064235[75] = 0.0; - out_4326808709061064235[76] = 1.0; - out_4326808709061064235[77] = 0.0; - out_4326808709061064235[78] = 0.0; - out_4326808709061064235[79] = 0.0; - out_4326808709061064235[80] = 0.0; - out_4326808709061064235[81] = 0.0; - out_4326808709061064235[82] = 0.0; - out_4326808709061064235[83] = 0.0; - out_4326808709061064235[84] = 0.0; - out_4326808709061064235[85] = 0.0; - out_4326808709061064235[86] = 0.0; - out_4326808709061064235[87] = 0.0; - out_4326808709061064235[88] = 0.0; - out_4326808709061064235[89] = 0.0; - out_4326808709061064235[90] = 0.0; - out_4326808709061064235[91] = 0.0; - out_4326808709061064235[92] = 0.0; - out_4326808709061064235[93] = 0.0; - out_4326808709061064235[94] = 0.0; - out_4326808709061064235[95] = 1.0; - out_4326808709061064235[96] = 0.0; - out_4326808709061064235[97] = 0.0; - out_4326808709061064235[98] = 0.0; - out_4326808709061064235[99] = 0.0; - out_4326808709061064235[100] = 0.0; - out_4326808709061064235[101] = 0.0; - out_4326808709061064235[102] = 0.0; - out_4326808709061064235[103] = 0.0; - out_4326808709061064235[104] = 0.0; - out_4326808709061064235[105] = 0.0; - out_4326808709061064235[106] = 0.0; - out_4326808709061064235[107] = 0.0; - out_4326808709061064235[108] = 0.0; - out_4326808709061064235[109] = 0.0; - out_4326808709061064235[110] = 0.0; - out_4326808709061064235[111] = 0.0; - out_4326808709061064235[112] = 0.0; - out_4326808709061064235[113] = 0.0; - out_4326808709061064235[114] = 1.0; - out_4326808709061064235[115] = 0.0; - out_4326808709061064235[116] = 0.0; - out_4326808709061064235[117] = 0.0; - out_4326808709061064235[118] = 0.0; - out_4326808709061064235[119] = 0.0; - out_4326808709061064235[120] = 0.0; - out_4326808709061064235[121] = 0.0; - out_4326808709061064235[122] = 0.0; - out_4326808709061064235[123] = 0.0; - out_4326808709061064235[124] = 0.0; - out_4326808709061064235[125] = 0.0; - out_4326808709061064235[126] = 0.0; - out_4326808709061064235[127] = 0.0; - out_4326808709061064235[128] = 0.0; - out_4326808709061064235[129] = 0.0; - out_4326808709061064235[130] = 0.0; - out_4326808709061064235[131] = 0.0; - out_4326808709061064235[132] = 0.0; - out_4326808709061064235[133] = 1.0; - out_4326808709061064235[134] = 0.0; - out_4326808709061064235[135] = 0.0; - out_4326808709061064235[136] = 0.0; - out_4326808709061064235[137] = 0.0; - out_4326808709061064235[138] = 0.0; - out_4326808709061064235[139] = 0.0; - out_4326808709061064235[140] = 0.0; - out_4326808709061064235[141] = 0.0; - out_4326808709061064235[142] = 0.0; - out_4326808709061064235[143] = 0.0; - out_4326808709061064235[144] = 0.0; - out_4326808709061064235[145] = 0.0; - out_4326808709061064235[146] = 0.0; - out_4326808709061064235[147] = 0.0; - out_4326808709061064235[148] = 0.0; - out_4326808709061064235[149] = 0.0; - out_4326808709061064235[150] = 0.0; - out_4326808709061064235[151] = 0.0; - out_4326808709061064235[152] = 1.0; - out_4326808709061064235[153] = 0.0; - out_4326808709061064235[154] = 0.0; - out_4326808709061064235[155] = 0.0; - out_4326808709061064235[156] = 0.0; - out_4326808709061064235[157] = 0.0; - out_4326808709061064235[158] = 0.0; - out_4326808709061064235[159] = 0.0; - out_4326808709061064235[160] = 0.0; - out_4326808709061064235[161] = 0.0; - out_4326808709061064235[162] = 0.0; - out_4326808709061064235[163] = 0.0; - out_4326808709061064235[164] = 0.0; - out_4326808709061064235[165] = 0.0; - out_4326808709061064235[166] = 0.0; - out_4326808709061064235[167] = 0.0; - out_4326808709061064235[168] = 0.0; - out_4326808709061064235[169] = 0.0; - out_4326808709061064235[170] = 0.0; - out_4326808709061064235[171] = 1.0; - out_4326808709061064235[172] = 0.0; - out_4326808709061064235[173] = 0.0; - out_4326808709061064235[174] = 0.0; - out_4326808709061064235[175] = 0.0; - out_4326808709061064235[176] = 0.0; - out_4326808709061064235[177] = 0.0; - out_4326808709061064235[178] = 0.0; - out_4326808709061064235[179] = 0.0; - out_4326808709061064235[180] = 0.0; - out_4326808709061064235[181] = 0.0; - out_4326808709061064235[182] = 0.0; - out_4326808709061064235[183] = 0.0; - out_4326808709061064235[184] = 0.0; - out_4326808709061064235[185] = 0.0; - out_4326808709061064235[186] = 0.0; - out_4326808709061064235[187] = 0.0; - out_4326808709061064235[188] = 0.0; - out_4326808709061064235[189] = 0.0; - out_4326808709061064235[190] = 1.0; - out_4326808709061064235[191] = 0.0; - out_4326808709061064235[192] = 0.0; - out_4326808709061064235[193] = 0.0; - out_4326808709061064235[194] = 0.0; - out_4326808709061064235[195] = 0.0; - out_4326808709061064235[196] = 0.0; - out_4326808709061064235[197] = 0.0; - out_4326808709061064235[198] = 0.0; - out_4326808709061064235[199] = 0.0; - out_4326808709061064235[200] = 0.0; - out_4326808709061064235[201] = 0.0; - out_4326808709061064235[202] = 0.0; - out_4326808709061064235[203] = 0.0; - out_4326808709061064235[204] = 0.0; - out_4326808709061064235[205] = 0.0; - out_4326808709061064235[206] = 0.0; - out_4326808709061064235[207] = 0.0; - out_4326808709061064235[208] = 0.0; - out_4326808709061064235[209] = 1.0; - out_4326808709061064235[210] = 0.0; - out_4326808709061064235[211] = 0.0; - out_4326808709061064235[212] = 0.0; - out_4326808709061064235[213] = 0.0; - out_4326808709061064235[214] = 0.0; - out_4326808709061064235[215] = 0.0; - out_4326808709061064235[216] = 0.0; - out_4326808709061064235[217] = 0.0; - out_4326808709061064235[218] = 0.0; - out_4326808709061064235[219] = 0.0; - out_4326808709061064235[220] = 0.0; - out_4326808709061064235[221] = 0.0; - out_4326808709061064235[222] = 0.0; - out_4326808709061064235[223] = 0.0; - out_4326808709061064235[224] = 0.0; - out_4326808709061064235[225] = 0.0; - out_4326808709061064235[226] = 0.0; - out_4326808709061064235[227] = 0.0; - out_4326808709061064235[228] = 1.0; - out_4326808709061064235[229] = 0.0; - out_4326808709061064235[230] = 0.0; - out_4326808709061064235[231] = 0.0; - out_4326808709061064235[232] = 0.0; - out_4326808709061064235[233] = 0.0; - out_4326808709061064235[234] = 0.0; - out_4326808709061064235[235] = 0.0; - out_4326808709061064235[236] = 0.0; - out_4326808709061064235[237] = 0.0; - out_4326808709061064235[238] = 0.0; - out_4326808709061064235[239] = 0.0; - out_4326808709061064235[240] = 0.0; - out_4326808709061064235[241] = 0.0; - out_4326808709061064235[242] = 0.0; - out_4326808709061064235[243] = 0.0; - out_4326808709061064235[244] = 0.0; - out_4326808709061064235[245] = 0.0; - out_4326808709061064235[246] = 0.0; - out_4326808709061064235[247] = 1.0; - out_4326808709061064235[248] = 0.0; - out_4326808709061064235[249] = 0.0; - out_4326808709061064235[250] = 0.0; - out_4326808709061064235[251] = 0.0; - out_4326808709061064235[252] = 0.0; - out_4326808709061064235[253] = 0.0; - out_4326808709061064235[254] = 0.0; - out_4326808709061064235[255] = 0.0; - out_4326808709061064235[256] = 0.0; - out_4326808709061064235[257] = 0.0; - out_4326808709061064235[258] = 0.0; - out_4326808709061064235[259] = 0.0; - out_4326808709061064235[260] = 0.0; - out_4326808709061064235[261] = 0.0; - out_4326808709061064235[262] = 0.0; - out_4326808709061064235[263] = 0.0; - out_4326808709061064235[264] = 0.0; - out_4326808709061064235[265] = 0.0; - out_4326808709061064235[266] = 1.0; - out_4326808709061064235[267] = 0.0; - out_4326808709061064235[268] = 0.0; - out_4326808709061064235[269] = 0.0; - out_4326808709061064235[270] = 0.0; - out_4326808709061064235[271] = 0.0; - out_4326808709061064235[272] = 0.0; - out_4326808709061064235[273] = 0.0; - out_4326808709061064235[274] = 0.0; - out_4326808709061064235[275] = 0.0; - out_4326808709061064235[276] = 0.0; - out_4326808709061064235[277] = 0.0; - out_4326808709061064235[278] = 0.0; - out_4326808709061064235[279] = 0.0; - out_4326808709061064235[280] = 0.0; - out_4326808709061064235[281] = 0.0; - out_4326808709061064235[282] = 0.0; - out_4326808709061064235[283] = 0.0; - out_4326808709061064235[284] = 0.0; - out_4326808709061064235[285] = 1.0; - out_4326808709061064235[286] = 0.0; - out_4326808709061064235[287] = 0.0; - out_4326808709061064235[288] = 0.0; - out_4326808709061064235[289] = 0.0; - out_4326808709061064235[290] = 0.0; - out_4326808709061064235[291] = 0.0; - out_4326808709061064235[292] = 0.0; - out_4326808709061064235[293] = 0.0; - out_4326808709061064235[294] = 0.0; - out_4326808709061064235[295] = 0.0; - out_4326808709061064235[296] = 0.0; - out_4326808709061064235[297] = 0.0; - out_4326808709061064235[298] = 0.0; - out_4326808709061064235[299] = 0.0; - out_4326808709061064235[300] = 0.0; - out_4326808709061064235[301] = 0.0; - out_4326808709061064235[302] = 0.0; - out_4326808709061064235[303] = 0.0; - out_4326808709061064235[304] = 1.0; - out_4326808709061064235[305] = 0.0; - out_4326808709061064235[306] = 0.0; - out_4326808709061064235[307] = 0.0; - out_4326808709061064235[308] = 0.0; - out_4326808709061064235[309] = 0.0; - out_4326808709061064235[310] = 0.0; - out_4326808709061064235[311] = 0.0; - out_4326808709061064235[312] = 0.0; - out_4326808709061064235[313] = 0.0; - out_4326808709061064235[314] = 0.0; - out_4326808709061064235[315] = 0.0; - out_4326808709061064235[316] = 0.0; - out_4326808709061064235[317] = 0.0; - out_4326808709061064235[318] = 0.0; - out_4326808709061064235[319] = 0.0; - out_4326808709061064235[320] = 0.0; - out_4326808709061064235[321] = 0.0; - out_4326808709061064235[322] = 0.0; - out_4326808709061064235[323] = 1.0; +void H_mod_fun(double *state, double *out_7701265832873588876) { + out_7701265832873588876[0] = 1.0; + out_7701265832873588876[1] = 0.0; + out_7701265832873588876[2] = 0.0; + out_7701265832873588876[3] = 0.0; + out_7701265832873588876[4] = 0.0; + out_7701265832873588876[5] = 0.0; + out_7701265832873588876[6] = 0.0; + out_7701265832873588876[7] = 0.0; + out_7701265832873588876[8] = 0.0; + out_7701265832873588876[9] = 0.0; + out_7701265832873588876[10] = 0.0; + out_7701265832873588876[11] = 0.0; + out_7701265832873588876[12] = 0.0; + out_7701265832873588876[13] = 0.0; + out_7701265832873588876[14] = 0.0; + out_7701265832873588876[15] = 0.0; + out_7701265832873588876[16] = 0.0; + out_7701265832873588876[17] = 0.0; + out_7701265832873588876[18] = 0.0; + out_7701265832873588876[19] = 1.0; + out_7701265832873588876[20] = 0.0; + out_7701265832873588876[21] = 0.0; + out_7701265832873588876[22] = 0.0; + out_7701265832873588876[23] = 0.0; + out_7701265832873588876[24] = 0.0; + out_7701265832873588876[25] = 0.0; + out_7701265832873588876[26] = 0.0; + out_7701265832873588876[27] = 0.0; + out_7701265832873588876[28] = 0.0; + out_7701265832873588876[29] = 0.0; + out_7701265832873588876[30] = 0.0; + out_7701265832873588876[31] = 0.0; + out_7701265832873588876[32] = 0.0; + out_7701265832873588876[33] = 0.0; + out_7701265832873588876[34] = 0.0; + out_7701265832873588876[35] = 0.0; + out_7701265832873588876[36] = 0.0; + out_7701265832873588876[37] = 0.0; + out_7701265832873588876[38] = 1.0; + out_7701265832873588876[39] = 0.0; + out_7701265832873588876[40] = 0.0; + out_7701265832873588876[41] = 0.0; + out_7701265832873588876[42] = 0.0; + out_7701265832873588876[43] = 0.0; + out_7701265832873588876[44] = 0.0; + out_7701265832873588876[45] = 0.0; + out_7701265832873588876[46] = 0.0; + out_7701265832873588876[47] = 0.0; + out_7701265832873588876[48] = 0.0; + out_7701265832873588876[49] = 0.0; + out_7701265832873588876[50] = 0.0; + out_7701265832873588876[51] = 0.0; + out_7701265832873588876[52] = 0.0; + out_7701265832873588876[53] = 0.0; + out_7701265832873588876[54] = 0.0; + out_7701265832873588876[55] = 0.0; + out_7701265832873588876[56] = 0.0; + out_7701265832873588876[57] = 1.0; + out_7701265832873588876[58] = 0.0; + out_7701265832873588876[59] = 0.0; + out_7701265832873588876[60] = 0.0; + out_7701265832873588876[61] = 0.0; + out_7701265832873588876[62] = 0.0; + out_7701265832873588876[63] = 0.0; + out_7701265832873588876[64] = 0.0; + out_7701265832873588876[65] = 0.0; + out_7701265832873588876[66] = 0.0; + out_7701265832873588876[67] = 0.0; + out_7701265832873588876[68] = 0.0; + out_7701265832873588876[69] = 0.0; + out_7701265832873588876[70] = 0.0; + out_7701265832873588876[71] = 0.0; + out_7701265832873588876[72] = 0.0; + out_7701265832873588876[73] = 0.0; + out_7701265832873588876[74] = 0.0; + out_7701265832873588876[75] = 0.0; + out_7701265832873588876[76] = 1.0; + out_7701265832873588876[77] = 0.0; + out_7701265832873588876[78] = 0.0; + out_7701265832873588876[79] = 0.0; + out_7701265832873588876[80] = 0.0; + out_7701265832873588876[81] = 0.0; + out_7701265832873588876[82] = 0.0; + out_7701265832873588876[83] = 0.0; + out_7701265832873588876[84] = 0.0; + out_7701265832873588876[85] = 0.0; + out_7701265832873588876[86] = 0.0; + out_7701265832873588876[87] = 0.0; + out_7701265832873588876[88] = 0.0; + out_7701265832873588876[89] = 0.0; + out_7701265832873588876[90] = 0.0; + out_7701265832873588876[91] = 0.0; + out_7701265832873588876[92] = 0.0; + out_7701265832873588876[93] = 0.0; + out_7701265832873588876[94] = 0.0; + out_7701265832873588876[95] = 1.0; + out_7701265832873588876[96] = 0.0; + out_7701265832873588876[97] = 0.0; + out_7701265832873588876[98] = 0.0; + out_7701265832873588876[99] = 0.0; + out_7701265832873588876[100] = 0.0; + out_7701265832873588876[101] = 0.0; + out_7701265832873588876[102] = 0.0; + out_7701265832873588876[103] = 0.0; + out_7701265832873588876[104] = 0.0; + out_7701265832873588876[105] = 0.0; + out_7701265832873588876[106] = 0.0; + out_7701265832873588876[107] = 0.0; + out_7701265832873588876[108] = 0.0; + out_7701265832873588876[109] = 0.0; + out_7701265832873588876[110] = 0.0; + out_7701265832873588876[111] = 0.0; + out_7701265832873588876[112] = 0.0; + out_7701265832873588876[113] = 0.0; + out_7701265832873588876[114] = 1.0; + out_7701265832873588876[115] = 0.0; + out_7701265832873588876[116] = 0.0; + out_7701265832873588876[117] = 0.0; + out_7701265832873588876[118] = 0.0; + out_7701265832873588876[119] = 0.0; + out_7701265832873588876[120] = 0.0; + out_7701265832873588876[121] = 0.0; + out_7701265832873588876[122] = 0.0; + out_7701265832873588876[123] = 0.0; + out_7701265832873588876[124] = 0.0; + out_7701265832873588876[125] = 0.0; + out_7701265832873588876[126] = 0.0; + out_7701265832873588876[127] = 0.0; + out_7701265832873588876[128] = 0.0; + out_7701265832873588876[129] = 0.0; + out_7701265832873588876[130] = 0.0; + out_7701265832873588876[131] = 0.0; + out_7701265832873588876[132] = 0.0; + out_7701265832873588876[133] = 1.0; + out_7701265832873588876[134] = 0.0; + out_7701265832873588876[135] = 0.0; + out_7701265832873588876[136] = 0.0; + out_7701265832873588876[137] = 0.0; + out_7701265832873588876[138] = 0.0; + out_7701265832873588876[139] = 0.0; + out_7701265832873588876[140] = 0.0; + out_7701265832873588876[141] = 0.0; + out_7701265832873588876[142] = 0.0; + out_7701265832873588876[143] = 0.0; + out_7701265832873588876[144] = 0.0; + out_7701265832873588876[145] = 0.0; + out_7701265832873588876[146] = 0.0; + out_7701265832873588876[147] = 0.0; + out_7701265832873588876[148] = 0.0; + out_7701265832873588876[149] = 0.0; + out_7701265832873588876[150] = 0.0; + out_7701265832873588876[151] = 0.0; + out_7701265832873588876[152] = 1.0; + out_7701265832873588876[153] = 0.0; + out_7701265832873588876[154] = 0.0; + out_7701265832873588876[155] = 0.0; + out_7701265832873588876[156] = 0.0; + out_7701265832873588876[157] = 0.0; + out_7701265832873588876[158] = 0.0; + out_7701265832873588876[159] = 0.0; + out_7701265832873588876[160] = 0.0; + out_7701265832873588876[161] = 0.0; + out_7701265832873588876[162] = 0.0; + out_7701265832873588876[163] = 0.0; + out_7701265832873588876[164] = 0.0; + out_7701265832873588876[165] = 0.0; + out_7701265832873588876[166] = 0.0; + out_7701265832873588876[167] = 0.0; + out_7701265832873588876[168] = 0.0; + out_7701265832873588876[169] = 0.0; + out_7701265832873588876[170] = 0.0; + out_7701265832873588876[171] = 1.0; + out_7701265832873588876[172] = 0.0; + out_7701265832873588876[173] = 0.0; + out_7701265832873588876[174] = 0.0; + out_7701265832873588876[175] = 0.0; + out_7701265832873588876[176] = 0.0; + out_7701265832873588876[177] = 0.0; + out_7701265832873588876[178] = 0.0; + out_7701265832873588876[179] = 0.0; + out_7701265832873588876[180] = 0.0; + out_7701265832873588876[181] = 0.0; + out_7701265832873588876[182] = 0.0; + out_7701265832873588876[183] = 0.0; + out_7701265832873588876[184] = 0.0; + out_7701265832873588876[185] = 0.0; + out_7701265832873588876[186] = 0.0; + out_7701265832873588876[187] = 0.0; + out_7701265832873588876[188] = 0.0; + out_7701265832873588876[189] = 0.0; + out_7701265832873588876[190] = 1.0; + out_7701265832873588876[191] = 0.0; + out_7701265832873588876[192] = 0.0; + out_7701265832873588876[193] = 0.0; + out_7701265832873588876[194] = 0.0; + out_7701265832873588876[195] = 0.0; + out_7701265832873588876[196] = 0.0; + out_7701265832873588876[197] = 0.0; + out_7701265832873588876[198] = 0.0; + out_7701265832873588876[199] = 0.0; + out_7701265832873588876[200] = 0.0; + out_7701265832873588876[201] = 0.0; + out_7701265832873588876[202] = 0.0; + out_7701265832873588876[203] = 0.0; + out_7701265832873588876[204] = 0.0; + out_7701265832873588876[205] = 0.0; + out_7701265832873588876[206] = 0.0; + out_7701265832873588876[207] = 0.0; + out_7701265832873588876[208] = 0.0; + out_7701265832873588876[209] = 1.0; + out_7701265832873588876[210] = 0.0; + out_7701265832873588876[211] = 0.0; + out_7701265832873588876[212] = 0.0; + out_7701265832873588876[213] = 0.0; + out_7701265832873588876[214] = 0.0; + out_7701265832873588876[215] = 0.0; + out_7701265832873588876[216] = 0.0; + out_7701265832873588876[217] = 0.0; + out_7701265832873588876[218] = 0.0; + out_7701265832873588876[219] = 0.0; + out_7701265832873588876[220] = 0.0; + out_7701265832873588876[221] = 0.0; + out_7701265832873588876[222] = 0.0; + out_7701265832873588876[223] = 0.0; + out_7701265832873588876[224] = 0.0; + out_7701265832873588876[225] = 0.0; + out_7701265832873588876[226] = 0.0; + out_7701265832873588876[227] = 0.0; + out_7701265832873588876[228] = 1.0; + out_7701265832873588876[229] = 0.0; + out_7701265832873588876[230] = 0.0; + out_7701265832873588876[231] = 0.0; + out_7701265832873588876[232] = 0.0; + out_7701265832873588876[233] = 0.0; + out_7701265832873588876[234] = 0.0; + out_7701265832873588876[235] = 0.0; + out_7701265832873588876[236] = 0.0; + out_7701265832873588876[237] = 0.0; + out_7701265832873588876[238] = 0.0; + out_7701265832873588876[239] = 0.0; + out_7701265832873588876[240] = 0.0; + out_7701265832873588876[241] = 0.0; + out_7701265832873588876[242] = 0.0; + out_7701265832873588876[243] = 0.0; + out_7701265832873588876[244] = 0.0; + out_7701265832873588876[245] = 0.0; + out_7701265832873588876[246] = 0.0; + out_7701265832873588876[247] = 1.0; + out_7701265832873588876[248] = 0.0; + out_7701265832873588876[249] = 0.0; + out_7701265832873588876[250] = 0.0; + out_7701265832873588876[251] = 0.0; + out_7701265832873588876[252] = 0.0; + out_7701265832873588876[253] = 0.0; + out_7701265832873588876[254] = 0.0; + out_7701265832873588876[255] = 0.0; + out_7701265832873588876[256] = 0.0; + out_7701265832873588876[257] = 0.0; + out_7701265832873588876[258] = 0.0; + out_7701265832873588876[259] = 0.0; + out_7701265832873588876[260] = 0.0; + out_7701265832873588876[261] = 0.0; + out_7701265832873588876[262] = 0.0; + out_7701265832873588876[263] = 0.0; + out_7701265832873588876[264] = 0.0; + out_7701265832873588876[265] = 0.0; + out_7701265832873588876[266] = 1.0; + out_7701265832873588876[267] = 0.0; + out_7701265832873588876[268] = 0.0; + out_7701265832873588876[269] = 0.0; + out_7701265832873588876[270] = 0.0; + out_7701265832873588876[271] = 0.0; + out_7701265832873588876[272] = 0.0; + out_7701265832873588876[273] = 0.0; + out_7701265832873588876[274] = 0.0; + out_7701265832873588876[275] = 0.0; + out_7701265832873588876[276] = 0.0; + out_7701265832873588876[277] = 0.0; + out_7701265832873588876[278] = 0.0; + out_7701265832873588876[279] = 0.0; + out_7701265832873588876[280] = 0.0; + out_7701265832873588876[281] = 0.0; + out_7701265832873588876[282] = 0.0; + out_7701265832873588876[283] = 0.0; + out_7701265832873588876[284] = 0.0; + out_7701265832873588876[285] = 1.0; + out_7701265832873588876[286] = 0.0; + out_7701265832873588876[287] = 0.0; + out_7701265832873588876[288] = 0.0; + out_7701265832873588876[289] = 0.0; + out_7701265832873588876[290] = 0.0; + out_7701265832873588876[291] = 0.0; + out_7701265832873588876[292] = 0.0; + out_7701265832873588876[293] = 0.0; + out_7701265832873588876[294] = 0.0; + out_7701265832873588876[295] = 0.0; + out_7701265832873588876[296] = 0.0; + out_7701265832873588876[297] = 0.0; + out_7701265832873588876[298] = 0.0; + out_7701265832873588876[299] = 0.0; + out_7701265832873588876[300] = 0.0; + out_7701265832873588876[301] = 0.0; + out_7701265832873588876[302] = 0.0; + out_7701265832873588876[303] = 0.0; + out_7701265832873588876[304] = 1.0; + out_7701265832873588876[305] = 0.0; + out_7701265832873588876[306] = 0.0; + out_7701265832873588876[307] = 0.0; + out_7701265832873588876[308] = 0.0; + out_7701265832873588876[309] = 0.0; + out_7701265832873588876[310] = 0.0; + out_7701265832873588876[311] = 0.0; + out_7701265832873588876[312] = 0.0; + out_7701265832873588876[313] = 0.0; + out_7701265832873588876[314] = 0.0; + out_7701265832873588876[315] = 0.0; + out_7701265832873588876[316] = 0.0; + out_7701265832873588876[317] = 0.0; + out_7701265832873588876[318] = 0.0; + out_7701265832873588876[319] = 0.0; + out_7701265832873588876[320] = 0.0; + out_7701265832873588876[321] = 0.0; + out_7701265832873588876[322] = 0.0; + out_7701265832873588876[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4276772873746558675) { - out_4276772873746558675[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_4276772873746558675[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_4276772873746558675[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_4276772873746558675[3] = dt*state[12] + state[3]; - out_4276772873746558675[4] = dt*state[13] + state[4]; - out_4276772873746558675[5] = dt*state[14] + state[5]; - out_4276772873746558675[6] = state[6]; - out_4276772873746558675[7] = state[7]; - out_4276772873746558675[8] = state[8]; - out_4276772873746558675[9] = state[9]; - out_4276772873746558675[10] = state[10]; - out_4276772873746558675[11] = state[11]; - out_4276772873746558675[12] = state[12]; - out_4276772873746558675[13] = state[13]; - out_4276772873746558675[14] = state[14]; - out_4276772873746558675[15] = state[15]; - out_4276772873746558675[16] = state[16]; - out_4276772873746558675[17] = state[17]; +void f_fun(double *state, double dt, double *out_2925592785824916722) { + out_2925592785824916722[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_2925592785824916722[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_2925592785824916722[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_2925592785824916722[3] = dt*state[12] + state[3]; + out_2925592785824916722[4] = dt*state[13] + state[4]; + out_2925592785824916722[5] = dt*state[14] + state[5]; + out_2925592785824916722[6] = state[6]; + out_2925592785824916722[7] = state[7]; + out_2925592785824916722[8] = state[8]; + out_2925592785824916722[9] = state[9]; + out_2925592785824916722[10] = state[10]; + out_2925592785824916722[11] = state[11]; + out_2925592785824916722[12] = state[12]; + out_2925592785824916722[13] = state[13]; + out_2925592785824916722[14] = state[14]; + out_2925592785824916722[15] = state[15]; + out_2925592785824916722[16] = state[16]; + out_2925592785824916722[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4500717382901464499) { - out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[2] = 0; - out_4500717382901464499[3] = 0; - out_4500717382901464499[4] = 0; - out_4500717382901464499[5] = 0; - out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[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_4500717382901464499[9] = 0; - out_4500717382901464499[10] = 0; - out_4500717382901464499[11] = 0; - out_4500717382901464499[12] = 0; - out_4500717382901464499[13] = 0; - out_4500717382901464499[14] = 0; - out_4500717382901464499[15] = 0; - out_4500717382901464499[16] = 0; - out_4500717382901464499[17] = 0; - out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[20] = 0; - out_4500717382901464499[21] = 0; - out_4500717382901464499[22] = 0; - out_4500717382901464499[23] = 0; - out_4500717382901464499[24] = 0; - out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[27] = 0; - out_4500717382901464499[28] = 0; - out_4500717382901464499[29] = 0; - out_4500717382901464499[30] = 0; - out_4500717382901464499[31] = 0; - out_4500717382901464499[32] = 0; - out_4500717382901464499[33] = 0; - out_4500717382901464499[34] = 0; - out_4500717382901464499[35] = 0; - out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[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_4500717382901464499[39] = 0; - out_4500717382901464499[40] = 0; - out_4500717382901464499[41] = 0; - out_4500717382901464499[42] = 0; - out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[45] = 0; - out_4500717382901464499[46] = 0; - out_4500717382901464499[47] = 0; - out_4500717382901464499[48] = 0; - out_4500717382901464499[49] = 0; - out_4500717382901464499[50] = 0; - out_4500717382901464499[51] = 0; - out_4500717382901464499[52] = 0; - out_4500717382901464499[53] = 0; - out_4500717382901464499[54] = 0; - out_4500717382901464499[55] = 0; - out_4500717382901464499[56] = 0; - out_4500717382901464499[57] = 1; - out_4500717382901464499[58] = 0; - out_4500717382901464499[59] = 0; - out_4500717382901464499[60] = 0; - out_4500717382901464499[61] = 0; - out_4500717382901464499[62] = 0; - out_4500717382901464499[63] = 0; - out_4500717382901464499[64] = 0; - out_4500717382901464499[65] = 0; - out_4500717382901464499[66] = dt; - out_4500717382901464499[67] = 0; - out_4500717382901464499[68] = 0; - out_4500717382901464499[69] = 0; - out_4500717382901464499[70] = 0; - out_4500717382901464499[71] = 0; - out_4500717382901464499[72] = 0; - out_4500717382901464499[73] = 0; - out_4500717382901464499[74] = 0; - out_4500717382901464499[75] = 0; - out_4500717382901464499[76] = 1; - out_4500717382901464499[77] = 0; - out_4500717382901464499[78] = 0; - out_4500717382901464499[79] = 0; - out_4500717382901464499[80] = 0; - out_4500717382901464499[81] = 0; - out_4500717382901464499[82] = 0; - out_4500717382901464499[83] = 0; - out_4500717382901464499[84] = 0; - out_4500717382901464499[85] = dt; - out_4500717382901464499[86] = 0; - out_4500717382901464499[87] = 0; - out_4500717382901464499[88] = 0; - out_4500717382901464499[89] = 0; - out_4500717382901464499[90] = 0; - out_4500717382901464499[91] = 0; - out_4500717382901464499[92] = 0; - out_4500717382901464499[93] = 0; - out_4500717382901464499[94] = 0; - out_4500717382901464499[95] = 1; - out_4500717382901464499[96] = 0; - out_4500717382901464499[97] = 0; - out_4500717382901464499[98] = 0; - out_4500717382901464499[99] = 0; - out_4500717382901464499[100] = 0; - out_4500717382901464499[101] = 0; - out_4500717382901464499[102] = 0; - out_4500717382901464499[103] = 0; - out_4500717382901464499[104] = dt; - out_4500717382901464499[105] = 0; - out_4500717382901464499[106] = 0; - out_4500717382901464499[107] = 0; - out_4500717382901464499[108] = 0; - out_4500717382901464499[109] = 0; - out_4500717382901464499[110] = 0; - out_4500717382901464499[111] = 0; - out_4500717382901464499[112] = 0; - out_4500717382901464499[113] = 0; - out_4500717382901464499[114] = 1; - out_4500717382901464499[115] = 0; - out_4500717382901464499[116] = 0; - out_4500717382901464499[117] = 0; - out_4500717382901464499[118] = 0; - out_4500717382901464499[119] = 0; - out_4500717382901464499[120] = 0; - out_4500717382901464499[121] = 0; - out_4500717382901464499[122] = 0; - out_4500717382901464499[123] = 0; - out_4500717382901464499[124] = 0; - out_4500717382901464499[125] = 0; - out_4500717382901464499[126] = 0; - out_4500717382901464499[127] = 0; - out_4500717382901464499[128] = 0; - out_4500717382901464499[129] = 0; - out_4500717382901464499[130] = 0; - out_4500717382901464499[131] = 0; - out_4500717382901464499[132] = 0; - out_4500717382901464499[133] = 1; - out_4500717382901464499[134] = 0; - out_4500717382901464499[135] = 0; - out_4500717382901464499[136] = 0; - out_4500717382901464499[137] = 0; - out_4500717382901464499[138] = 0; - out_4500717382901464499[139] = 0; - out_4500717382901464499[140] = 0; - out_4500717382901464499[141] = 0; - out_4500717382901464499[142] = 0; - out_4500717382901464499[143] = 0; - out_4500717382901464499[144] = 0; - out_4500717382901464499[145] = 0; - out_4500717382901464499[146] = 0; - out_4500717382901464499[147] = 0; - out_4500717382901464499[148] = 0; - out_4500717382901464499[149] = 0; - out_4500717382901464499[150] = 0; - out_4500717382901464499[151] = 0; - out_4500717382901464499[152] = 1; - out_4500717382901464499[153] = 0; - out_4500717382901464499[154] = 0; - out_4500717382901464499[155] = 0; - out_4500717382901464499[156] = 0; - out_4500717382901464499[157] = 0; - out_4500717382901464499[158] = 0; - out_4500717382901464499[159] = 0; - out_4500717382901464499[160] = 0; - out_4500717382901464499[161] = 0; - out_4500717382901464499[162] = 0; - out_4500717382901464499[163] = 0; - out_4500717382901464499[164] = 0; - out_4500717382901464499[165] = 0; - out_4500717382901464499[166] = 0; - out_4500717382901464499[167] = 0; - out_4500717382901464499[168] = 0; - out_4500717382901464499[169] = 0; - out_4500717382901464499[170] = 0; - out_4500717382901464499[171] = 1; - out_4500717382901464499[172] = 0; - out_4500717382901464499[173] = 0; - out_4500717382901464499[174] = 0; - out_4500717382901464499[175] = 0; - out_4500717382901464499[176] = 0; - out_4500717382901464499[177] = 0; - out_4500717382901464499[178] = 0; - out_4500717382901464499[179] = 0; - out_4500717382901464499[180] = 0; - out_4500717382901464499[181] = 0; - out_4500717382901464499[182] = 0; - out_4500717382901464499[183] = 0; - out_4500717382901464499[184] = 0; - out_4500717382901464499[185] = 0; - out_4500717382901464499[186] = 0; - out_4500717382901464499[187] = 0; - out_4500717382901464499[188] = 0; - out_4500717382901464499[189] = 0; - out_4500717382901464499[190] = 1; - out_4500717382901464499[191] = 0; - out_4500717382901464499[192] = 0; - out_4500717382901464499[193] = 0; - out_4500717382901464499[194] = 0; - out_4500717382901464499[195] = 0; - out_4500717382901464499[196] = 0; - out_4500717382901464499[197] = 0; - out_4500717382901464499[198] = 0; - out_4500717382901464499[199] = 0; - out_4500717382901464499[200] = 0; - out_4500717382901464499[201] = 0; - out_4500717382901464499[202] = 0; - out_4500717382901464499[203] = 0; - out_4500717382901464499[204] = 0; - out_4500717382901464499[205] = 0; - out_4500717382901464499[206] = 0; - out_4500717382901464499[207] = 0; - out_4500717382901464499[208] = 0; - out_4500717382901464499[209] = 1; - out_4500717382901464499[210] = 0; - out_4500717382901464499[211] = 0; - out_4500717382901464499[212] = 0; - out_4500717382901464499[213] = 0; - out_4500717382901464499[214] = 0; - out_4500717382901464499[215] = 0; - out_4500717382901464499[216] = 0; - out_4500717382901464499[217] = 0; - out_4500717382901464499[218] = 0; - out_4500717382901464499[219] = 0; - out_4500717382901464499[220] = 0; - out_4500717382901464499[221] = 0; - out_4500717382901464499[222] = 0; - out_4500717382901464499[223] = 0; - out_4500717382901464499[224] = 0; - out_4500717382901464499[225] = 0; - out_4500717382901464499[226] = 0; - out_4500717382901464499[227] = 0; - out_4500717382901464499[228] = 1; - out_4500717382901464499[229] = 0; - out_4500717382901464499[230] = 0; - out_4500717382901464499[231] = 0; - out_4500717382901464499[232] = 0; - out_4500717382901464499[233] = 0; - out_4500717382901464499[234] = 0; - out_4500717382901464499[235] = 0; - out_4500717382901464499[236] = 0; - out_4500717382901464499[237] = 0; - out_4500717382901464499[238] = 0; - out_4500717382901464499[239] = 0; - out_4500717382901464499[240] = 0; - out_4500717382901464499[241] = 0; - out_4500717382901464499[242] = 0; - out_4500717382901464499[243] = 0; - out_4500717382901464499[244] = 0; - out_4500717382901464499[245] = 0; - out_4500717382901464499[246] = 0; - out_4500717382901464499[247] = 1; - out_4500717382901464499[248] = 0; - out_4500717382901464499[249] = 0; - out_4500717382901464499[250] = 0; - out_4500717382901464499[251] = 0; - out_4500717382901464499[252] = 0; - out_4500717382901464499[253] = 0; - out_4500717382901464499[254] = 0; - out_4500717382901464499[255] = 0; - out_4500717382901464499[256] = 0; - out_4500717382901464499[257] = 0; - out_4500717382901464499[258] = 0; - out_4500717382901464499[259] = 0; - out_4500717382901464499[260] = 0; - out_4500717382901464499[261] = 0; - out_4500717382901464499[262] = 0; - out_4500717382901464499[263] = 0; - out_4500717382901464499[264] = 0; - out_4500717382901464499[265] = 0; - out_4500717382901464499[266] = 1; - out_4500717382901464499[267] = 0; - out_4500717382901464499[268] = 0; - out_4500717382901464499[269] = 0; - out_4500717382901464499[270] = 0; - out_4500717382901464499[271] = 0; - out_4500717382901464499[272] = 0; - out_4500717382901464499[273] = 0; - out_4500717382901464499[274] = 0; - out_4500717382901464499[275] = 0; - out_4500717382901464499[276] = 0; - out_4500717382901464499[277] = 0; - out_4500717382901464499[278] = 0; - out_4500717382901464499[279] = 0; - out_4500717382901464499[280] = 0; - out_4500717382901464499[281] = 0; - out_4500717382901464499[282] = 0; - out_4500717382901464499[283] = 0; - out_4500717382901464499[284] = 0; - out_4500717382901464499[285] = 1; - out_4500717382901464499[286] = 0; - out_4500717382901464499[287] = 0; - out_4500717382901464499[288] = 0; - out_4500717382901464499[289] = 0; - out_4500717382901464499[290] = 0; - out_4500717382901464499[291] = 0; - out_4500717382901464499[292] = 0; - out_4500717382901464499[293] = 0; - out_4500717382901464499[294] = 0; - out_4500717382901464499[295] = 0; - out_4500717382901464499[296] = 0; - out_4500717382901464499[297] = 0; - out_4500717382901464499[298] = 0; - out_4500717382901464499[299] = 0; - out_4500717382901464499[300] = 0; - out_4500717382901464499[301] = 0; - out_4500717382901464499[302] = 0; - out_4500717382901464499[303] = 0; - out_4500717382901464499[304] = 1; - out_4500717382901464499[305] = 0; - out_4500717382901464499[306] = 0; - out_4500717382901464499[307] = 0; - out_4500717382901464499[308] = 0; - out_4500717382901464499[309] = 0; - out_4500717382901464499[310] = 0; - out_4500717382901464499[311] = 0; - out_4500717382901464499[312] = 0; - out_4500717382901464499[313] = 0; - out_4500717382901464499[314] = 0; - out_4500717382901464499[315] = 0; - out_4500717382901464499[316] = 0; - out_4500717382901464499[317] = 0; - out_4500717382901464499[318] = 0; - out_4500717382901464499[319] = 0; - out_4500717382901464499[320] = 0; - out_4500717382901464499[321] = 0; - out_4500717382901464499[322] = 0; - out_4500717382901464499[323] = 1; +void F_fun(double *state, double dt, double *out_6409294416375959373) { + out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[2] = 0; + out_6409294416375959373[3] = 0; + out_6409294416375959373[4] = 0; + out_6409294416375959373[5] = 0; + out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[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_6409294416375959373[9] = 0; + out_6409294416375959373[10] = 0; + out_6409294416375959373[11] = 0; + out_6409294416375959373[12] = 0; + out_6409294416375959373[13] = 0; + out_6409294416375959373[14] = 0; + out_6409294416375959373[15] = 0; + out_6409294416375959373[16] = 0; + out_6409294416375959373[17] = 0; + out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[20] = 0; + out_6409294416375959373[21] = 0; + out_6409294416375959373[22] = 0; + out_6409294416375959373[23] = 0; + out_6409294416375959373[24] = 0; + out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[27] = 0; + out_6409294416375959373[28] = 0; + out_6409294416375959373[29] = 0; + out_6409294416375959373[30] = 0; + out_6409294416375959373[31] = 0; + out_6409294416375959373[32] = 0; + out_6409294416375959373[33] = 0; + out_6409294416375959373[34] = 0; + out_6409294416375959373[35] = 0; + out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[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_6409294416375959373[39] = 0; + out_6409294416375959373[40] = 0; + out_6409294416375959373[41] = 0; + out_6409294416375959373[42] = 0; + out_6409294416375959373[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_6409294416375959373[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_6409294416375959373[45] = 0; + out_6409294416375959373[46] = 0; + out_6409294416375959373[47] = 0; + out_6409294416375959373[48] = 0; + out_6409294416375959373[49] = 0; + out_6409294416375959373[50] = 0; + out_6409294416375959373[51] = 0; + out_6409294416375959373[52] = 0; + out_6409294416375959373[53] = 0; + out_6409294416375959373[54] = 0; + out_6409294416375959373[55] = 0; + out_6409294416375959373[56] = 0; + out_6409294416375959373[57] = 1; + out_6409294416375959373[58] = 0; + out_6409294416375959373[59] = 0; + out_6409294416375959373[60] = 0; + out_6409294416375959373[61] = 0; + out_6409294416375959373[62] = 0; + out_6409294416375959373[63] = 0; + out_6409294416375959373[64] = 0; + out_6409294416375959373[65] = 0; + out_6409294416375959373[66] = dt; + out_6409294416375959373[67] = 0; + out_6409294416375959373[68] = 0; + out_6409294416375959373[69] = 0; + out_6409294416375959373[70] = 0; + out_6409294416375959373[71] = 0; + out_6409294416375959373[72] = 0; + out_6409294416375959373[73] = 0; + out_6409294416375959373[74] = 0; + out_6409294416375959373[75] = 0; + out_6409294416375959373[76] = 1; + out_6409294416375959373[77] = 0; + out_6409294416375959373[78] = 0; + out_6409294416375959373[79] = 0; + out_6409294416375959373[80] = 0; + out_6409294416375959373[81] = 0; + out_6409294416375959373[82] = 0; + out_6409294416375959373[83] = 0; + out_6409294416375959373[84] = 0; + out_6409294416375959373[85] = dt; + out_6409294416375959373[86] = 0; + out_6409294416375959373[87] = 0; + out_6409294416375959373[88] = 0; + out_6409294416375959373[89] = 0; + out_6409294416375959373[90] = 0; + out_6409294416375959373[91] = 0; + out_6409294416375959373[92] = 0; + out_6409294416375959373[93] = 0; + out_6409294416375959373[94] = 0; + out_6409294416375959373[95] = 1; + out_6409294416375959373[96] = 0; + out_6409294416375959373[97] = 0; + out_6409294416375959373[98] = 0; + out_6409294416375959373[99] = 0; + out_6409294416375959373[100] = 0; + out_6409294416375959373[101] = 0; + out_6409294416375959373[102] = 0; + out_6409294416375959373[103] = 0; + out_6409294416375959373[104] = dt; + out_6409294416375959373[105] = 0; + out_6409294416375959373[106] = 0; + out_6409294416375959373[107] = 0; + out_6409294416375959373[108] = 0; + out_6409294416375959373[109] = 0; + out_6409294416375959373[110] = 0; + out_6409294416375959373[111] = 0; + out_6409294416375959373[112] = 0; + out_6409294416375959373[113] = 0; + out_6409294416375959373[114] = 1; + out_6409294416375959373[115] = 0; + out_6409294416375959373[116] = 0; + out_6409294416375959373[117] = 0; + out_6409294416375959373[118] = 0; + out_6409294416375959373[119] = 0; + out_6409294416375959373[120] = 0; + out_6409294416375959373[121] = 0; + out_6409294416375959373[122] = 0; + out_6409294416375959373[123] = 0; + out_6409294416375959373[124] = 0; + out_6409294416375959373[125] = 0; + out_6409294416375959373[126] = 0; + out_6409294416375959373[127] = 0; + out_6409294416375959373[128] = 0; + out_6409294416375959373[129] = 0; + out_6409294416375959373[130] = 0; + out_6409294416375959373[131] = 0; + out_6409294416375959373[132] = 0; + out_6409294416375959373[133] = 1; + out_6409294416375959373[134] = 0; + out_6409294416375959373[135] = 0; + out_6409294416375959373[136] = 0; + out_6409294416375959373[137] = 0; + out_6409294416375959373[138] = 0; + out_6409294416375959373[139] = 0; + out_6409294416375959373[140] = 0; + out_6409294416375959373[141] = 0; + out_6409294416375959373[142] = 0; + out_6409294416375959373[143] = 0; + out_6409294416375959373[144] = 0; + out_6409294416375959373[145] = 0; + out_6409294416375959373[146] = 0; + out_6409294416375959373[147] = 0; + out_6409294416375959373[148] = 0; + out_6409294416375959373[149] = 0; + out_6409294416375959373[150] = 0; + out_6409294416375959373[151] = 0; + out_6409294416375959373[152] = 1; + out_6409294416375959373[153] = 0; + out_6409294416375959373[154] = 0; + out_6409294416375959373[155] = 0; + out_6409294416375959373[156] = 0; + out_6409294416375959373[157] = 0; + out_6409294416375959373[158] = 0; + out_6409294416375959373[159] = 0; + out_6409294416375959373[160] = 0; + out_6409294416375959373[161] = 0; + out_6409294416375959373[162] = 0; + out_6409294416375959373[163] = 0; + out_6409294416375959373[164] = 0; + out_6409294416375959373[165] = 0; + out_6409294416375959373[166] = 0; + out_6409294416375959373[167] = 0; + out_6409294416375959373[168] = 0; + out_6409294416375959373[169] = 0; + out_6409294416375959373[170] = 0; + out_6409294416375959373[171] = 1; + out_6409294416375959373[172] = 0; + out_6409294416375959373[173] = 0; + out_6409294416375959373[174] = 0; + out_6409294416375959373[175] = 0; + out_6409294416375959373[176] = 0; + out_6409294416375959373[177] = 0; + out_6409294416375959373[178] = 0; + out_6409294416375959373[179] = 0; + out_6409294416375959373[180] = 0; + out_6409294416375959373[181] = 0; + out_6409294416375959373[182] = 0; + out_6409294416375959373[183] = 0; + out_6409294416375959373[184] = 0; + out_6409294416375959373[185] = 0; + out_6409294416375959373[186] = 0; + out_6409294416375959373[187] = 0; + out_6409294416375959373[188] = 0; + out_6409294416375959373[189] = 0; + out_6409294416375959373[190] = 1; + out_6409294416375959373[191] = 0; + out_6409294416375959373[192] = 0; + out_6409294416375959373[193] = 0; + out_6409294416375959373[194] = 0; + out_6409294416375959373[195] = 0; + out_6409294416375959373[196] = 0; + out_6409294416375959373[197] = 0; + out_6409294416375959373[198] = 0; + out_6409294416375959373[199] = 0; + out_6409294416375959373[200] = 0; + out_6409294416375959373[201] = 0; + out_6409294416375959373[202] = 0; + out_6409294416375959373[203] = 0; + out_6409294416375959373[204] = 0; + out_6409294416375959373[205] = 0; + out_6409294416375959373[206] = 0; + out_6409294416375959373[207] = 0; + out_6409294416375959373[208] = 0; + out_6409294416375959373[209] = 1; + out_6409294416375959373[210] = 0; + out_6409294416375959373[211] = 0; + out_6409294416375959373[212] = 0; + out_6409294416375959373[213] = 0; + out_6409294416375959373[214] = 0; + out_6409294416375959373[215] = 0; + out_6409294416375959373[216] = 0; + out_6409294416375959373[217] = 0; + out_6409294416375959373[218] = 0; + out_6409294416375959373[219] = 0; + out_6409294416375959373[220] = 0; + out_6409294416375959373[221] = 0; + out_6409294416375959373[222] = 0; + out_6409294416375959373[223] = 0; + out_6409294416375959373[224] = 0; + out_6409294416375959373[225] = 0; + out_6409294416375959373[226] = 0; + out_6409294416375959373[227] = 0; + out_6409294416375959373[228] = 1; + out_6409294416375959373[229] = 0; + out_6409294416375959373[230] = 0; + out_6409294416375959373[231] = 0; + out_6409294416375959373[232] = 0; + out_6409294416375959373[233] = 0; + out_6409294416375959373[234] = 0; + out_6409294416375959373[235] = 0; + out_6409294416375959373[236] = 0; + out_6409294416375959373[237] = 0; + out_6409294416375959373[238] = 0; + out_6409294416375959373[239] = 0; + out_6409294416375959373[240] = 0; + out_6409294416375959373[241] = 0; + out_6409294416375959373[242] = 0; + out_6409294416375959373[243] = 0; + out_6409294416375959373[244] = 0; + out_6409294416375959373[245] = 0; + out_6409294416375959373[246] = 0; + out_6409294416375959373[247] = 1; + out_6409294416375959373[248] = 0; + out_6409294416375959373[249] = 0; + out_6409294416375959373[250] = 0; + out_6409294416375959373[251] = 0; + out_6409294416375959373[252] = 0; + out_6409294416375959373[253] = 0; + out_6409294416375959373[254] = 0; + out_6409294416375959373[255] = 0; + out_6409294416375959373[256] = 0; + out_6409294416375959373[257] = 0; + out_6409294416375959373[258] = 0; + out_6409294416375959373[259] = 0; + out_6409294416375959373[260] = 0; + out_6409294416375959373[261] = 0; + out_6409294416375959373[262] = 0; + out_6409294416375959373[263] = 0; + out_6409294416375959373[264] = 0; + out_6409294416375959373[265] = 0; + out_6409294416375959373[266] = 1; + out_6409294416375959373[267] = 0; + out_6409294416375959373[268] = 0; + out_6409294416375959373[269] = 0; + out_6409294416375959373[270] = 0; + out_6409294416375959373[271] = 0; + out_6409294416375959373[272] = 0; + out_6409294416375959373[273] = 0; + out_6409294416375959373[274] = 0; + out_6409294416375959373[275] = 0; + out_6409294416375959373[276] = 0; + out_6409294416375959373[277] = 0; + out_6409294416375959373[278] = 0; + out_6409294416375959373[279] = 0; + out_6409294416375959373[280] = 0; + out_6409294416375959373[281] = 0; + out_6409294416375959373[282] = 0; + out_6409294416375959373[283] = 0; + out_6409294416375959373[284] = 0; + out_6409294416375959373[285] = 1; + out_6409294416375959373[286] = 0; + out_6409294416375959373[287] = 0; + out_6409294416375959373[288] = 0; + out_6409294416375959373[289] = 0; + out_6409294416375959373[290] = 0; + out_6409294416375959373[291] = 0; + out_6409294416375959373[292] = 0; + out_6409294416375959373[293] = 0; + out_6409294416375959373[294] = 0; + out_6409294416375959373[295] = 0; + out_6409294416375959373[296] = 0; + out_6409294416375959373[297] = 0; + out_6409294416375959373[298] = 0; + out_6409294416375959373[299] = 0; + out_6409294416375959373[300] = 0; + out_6409294416375959373[301] = 0; + out_6409294416375959373[302] = 0; + out_6409294416375959373[303] = 0; + out_6409294416375959373[304] = 1; + out_6409294416375959373[305] = 0; + out_6409294416375959373[306] = 0; + out_6409294416375959373[307] = 0; + out_6409294416375959373[308] = 0; + out_6409294416375959373[309] = 0; + out_6409294416375959373[310] = 0; + out_6409294416375959373[311] = 0; + out_6409294416375959373[312] = 0; + out_6409294416375959373[313] = 0; + out_6409294416375959373[314] = 0; + out_6409294416375959373[315] = 0; + out_6409294416375959373[316] = 0; + out_6409294416375959373[317] = 0; + out_6409294416375959373[318] = 0; + out_6409294416375959373[319] = 0; + out_6409294416375959373[320] = 0; + out_6409294416375959373[321] = 0; + out_6409294416375959373[322] = 0; + out_6409294416375959373[323] = 1; } -void h_4(double *state, double *unused, double *out_5593213153040418665) { - out_5593213153040418665[0] = state[6] + state[9]; - out_5593213153040418665[1] = state[7] + state[10]; - out_5593213153040418665[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_915233285986441516) { + out_915233285986441516[0] = state[6] + state[9]; + out_915233285986441516[1] = state[7] + state[10]; + out_915233285986441516[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8098615918904971807) { - out_8098615918904971807[0] = 0; - out_8098615918904971807[1] = 0; - out_8098615918904971807[2] = 0; - out_8098615918904971807[3] = 0; - out_8098615918904971807[4] = 0; - out_8098615918904971807[5] = 0; - out_8098615918904971807[6] = 1; - out_8098615918904971807[7] = 0; - out_8098615918904971807[8] = 0; - out_8098615918904971807[9] = 1; - out_8098615918904971807[10] = 0; - out_8098615918904971807[11] = 0; - out_8098615918904971807[12] = 0; - out_8098615918904971807[13] = 0; - out_8098615918904971807[14] = 0; - out_8098615918904971807[15] = 0; - out_8098615918904971807[16] = 0; - out_8098615918904971807[17] = 0; - out_8098615918904971807[18] = 0; - out_8098615918904971807[19] = 0; - out_8098615918904971807[20] = 0; - out_8098615918904971807[21] = 0; - out_8098615918904971807[22] = 0; - out_8098615918904971807[23] = 0; - out_8098615918904971807[24] = 0; - out_8098615918904971807[25] = 1; - out_8098615918904971807[26] = 0; - out_8098615918904971807[27] = 0; - out_8098615918904971807[28] = 1; - out_8098615918904971807[29] = 0; - out_8098615918904971807[30] = 0; - out_8098615918904971807[31] = 0; - out_8098615918904971807[32] = 0; - out_8098615918904971807[33] = 0; - out_8098615918904971807[34] = 0; - out_8098615918904971807[35] = 0; - out_8098615918904971807[36] = 0; - out_8098615918904971807[37] = 0; - out_8098615918904971807[38] = 0; - out_8098615918904971807[39] = 0; - out_8098615918904971807[40] = 0; - out_8098615918904971807[41] = 0; - out_8098615918904971807[42] = 0; - out_8098615918904971807[43] = 0; - out_8098615918904971807[44] = 1; - out_8098615918904971807[45] = 0; - out_8098615918904971807[46] = 0; - out_8098615918904971807[47] = 1; - out_8098615918904971807[48] = 0; - out_8098615918904971807[49] = 0; - out_8098615918904971807[50] = 0; - out_8098615918904971807[51] = 0; - out_8098615918904971807[52] = 0; - out_8098615918904971807[53] = 0; +void H_4(double *state, double *unused, double *out_8851967337240186650) { + out_8851967337240186650[0] = 0; + out_8851967337240186650[1] = 0; + out_8851967337240186650[2] = 0; + out_8851967337240186650[3] = 0; + out_8851967337240186650[4] = 0; + out_8851967337240186650[5] = 0; + out_8851967337240186650[6] = 1; + out_8851967337240186650[7] = 0; + out_8851967337240186650[8] = 0; + out_8851967337240186650[9] = 1; + out_8851967337240186650[10] = 0; + out_8851967337240186650[11] = 0; + out_8851967337240186650[12] = 0; + out_8851967337240186650[13] = 0; + out_8851967337240186650[14] = 0; + out_8851967337240186650[15] = 0; + out_8851967337240186650[16] = 0; + out_8851967337240186650[17] = 0; + out_8851967337240186650[18] = 0; + out_8851967337240186650[19] = 0; + out_8851967337240186650[20] = 0; + out_8851967337240186650[21] = 0; + out_8851967337240186650[22] = 0; + out_8851967337240186650[23] = 0; + out_8851967337240186650[24] = 0; + out_8851967337240186650[25] = 1; + out_8851967337240186650[26] = 0; + out_8851967337240186650[27] = 0; + out_8851967337240186650[28] = 1; + out_8851967337240186650[29] = 0; + out_8851967337240186650[30] = 0; + out_8851967337240186650[31] = 0; + out_8851967337240186650[32] = 0; + out_8851967337240186650[33] = 0; + out_8851967337240186650[34] = 0; + out_8851967337240186650[35] = 0; + out_8851967337240186650[36] = 0; + out_8851967337240186650[37] = 0; + out_8851967337240186650[38] = 0; + out_8851967337240186650[39] = 0; + out_8851967337240186650[40] = 0; + out_8851967337240186650[41] = 0; + out_8851967337240186650[42] = 0; + out_8851967337240186650[43] = 0; + out_8851967337240186650[44] = 1; + out_8851967337240186650[45] = 0; + out_8851967337240186650[46] = 0; + out_8851967337240186650[47] = 1; + out_8851967337240186650[48] = 0; + out_8851967337240186650[49] = 0; + out_8851967337240186650[50] = 0; + out_8851967337240186650[51] = 0; + out_8851967337240186650[52] = 0; + out_8851967337240186650[53] = 0; } -void h_10(double *state, double *unused, double *out_665779804057694470) { - out_665779804057694470[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_665779804057694470[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_665779804057694470[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_1698568734316977875) { + out_1698568734316977875[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1698568734316977875[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1698568734316977875[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_1520950660944493368) { - out_1520950660944493368[0] = 0; - out_1520950660944493368[1] = 9.8100000000000005*cos(state[1]); - out_1520950660944493368[2] = 0; - out_1520950660944493368[3] = 0; - out_1520950660944493368[4] = -state[8]; - out_1520950660944493368[5] = state[7]; - out_1520950660944493368[6] = 0; - out_1520950660944493368[7] = state[5]; - out_1520950660944493368[8] = -state[4]; - out_1520950660944493368[9] = 0; - out_1520950660944493368[10] = 0; - out_1520950660944493368[11] = 0; - out_1520950660944493368[12] = 1; - out_1520950660944493368[13] = 0; - out_1520950660944493368[14] = 0; - out_1520950660944493368[15] = 1; - out_1520950660944493368[16] = 0; - out_1520950660944493368[17] = 0; - out_1520950660944493368[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1520950660944493368[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1520950660944493368[20] = 0; - out_1520950660944493368[21] = state[8]; - out_1520950660944493368[22] = 0; - out_1520950660944493368[23] = -state[6]; - out_1520950660944493368[24] = -state[5]; - out_1520950660944493368[25] = 0; - out_1520950660944493368[26] = state[3]; - out_1520950660944493368[27] = 0; - out_1520950660944493368[28] = 0; - out_1520950660944493368[29] = 0; - out_1520950660944493368[30] = 0; - out_1520950660944493368[31] = 1; - out_1520950660944493368[32] = 0; - out_1520950660944493368[33] = 0; - out_1520950660944493368[34] = 1; - out_1520950660944493368[35] = 0; - out_1520950660944493368[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1520950660944493368[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1520950660944493368[38] = 0; - out_1520950660944493368[39] = -state[7]; - out_1520950660944493368[40] = state[6]; - out_1520950660944493368[41] = 0; - out_1520950660944493368[42] = state[4]; - out_1520950660944493368[43] = -state[3]; - out_1520950660944493368[44] = 0; - out_1520950660944493368[45] = 0; - out_1520950660944493368[46] = 0; - out_1520950660944493368[47] = 0; - out_1520950660944493368[48] = 0; - out_1520950660944493368[49] = 0; - out_1520950660944493368[50] = 1; - out_1520950660944493368[51] = 0; - out_1520950660944493368[52] = 0; - out_1520950660944493368[53] = 1; +void H_10(double *state, double *unused, double *out_2859565754749971930) { + out_2859565754749971930[0] = 0; + out_2859565754749971930[1] = 9.8100000000000005*cos(state[1]); + out_2859565754749971930[2] = 0; + out_2859565754749971930[3] = 0; + out_2859565754749971930[4] = -state[8]; + out_2859565754749971930[5] = state[7]; + out_2859565754749971930[6] = 0; + out_2859565754749971930[7] = state[5]; + out_2859565754749971930[8] = -state[4]; + out_2859565754749971930[9] = 0; + out_2859565754749971930[10] = 0; + out_2859565754749971930[11] = 0; + out_2859565754749971930[12] = 1; + out_2859565754749971930[13] = 0; + out_2859565754749971930[14] = 0; + out_2859565754749971930[15] = 1; + out_2859565754749971930[16] = 0; + out_2859565754749971930[17] = 0; + out_2859565754749971930[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2859565754749971930[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2859565754749971930[20] = 0; + out_2859565754749971930[21] = state[8]; + out_2859565754749971930[22] = 0; + out_2859565754749971930[23] = -state[6]; + out_2859565754749971930[24] = -state[5]; + out_2859565754749971930[25] = 0; + out_2859565754749971930[26] = state[3]; + out_2859565754749971930[27] = 0; + out_2859565754749971930[28] = 0; + out_2859565754749971930[29] = 0; + out_2859565754749971930[30] = 0; + out_2859565754749971930[31] = 1; + out_2859565754749971930[32] = 0; + out_2859565754749971930[33] = 0; + out_2859565754749971930[34] = 1; + out_2859565754749971930[35] = 0; + out_2859565754749971930[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2859565754749971930[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2859565754749971930[38] = 0; + out_2859565754749971930[39] = -state[7]; + out_2859565754749971930[40] = state[6]; + out_2859565754749971930[41] = 0; + out_2859565754749971930[42] = state[4]; + out_2859565754749971930[43] = -state[3]; + out_2859565754749971930[44] = 0; + out_2859565754749971930[45] = 0; + out_2859565754749971930[46] = 0; + out_2859565754749971930[47] = 0; + out_2859565754749971930[48] = 0; + out_2859565754749971930[49] = 0; + out_2859565754749971930[50] = 1; + out_2859565754749971930[51] = 0; + out_2859565754749971930[52] = 0; + out_2859565754749971930[53] = 1; } -void h_13(double *state, double *unused, double *out_1559309075612614656) { - out_1559309075612614656[0] = state[3]; - out_1559309075612614656[1] = state[4]; - out_1559309075612614656[2] = state[5]; +void h_13(double *state, double *unused, double *out_4058736517215946312) { + out_4058736517215946312[0] = state[3]; + out_4058736517215946312[1] = state[4]; + out_4058736517215946312[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8663217838586815911) { - out_8663217838586815911[0] = 0; - out_8663217838586815911[1] = 0; - out_8663217838586815911[2] = 0; - out_8663217838586815911[3] = 1; - out_8663217838586815911[4] = 0; - out_8663217838586815911[5] = 0; - out_8663217838586815911[6] = 0; - out_8663217838586815911[7] = 0; - out_8663217838586815911[8] = 0; - out_8663217838586815911[9] = 0; - out_8663217838586815911[10] = 0; - out_8663217838586815911[11] = 0; - out_8663217838586815911[12] = 0; - out_8663217838586815911[13] = 0; - out_8663217838586815911[14] = 0; - out_8663217838586815911[15] = 0; - out_8663217838586815911[16] = 0; - out_8663217838586815911[17] = 0; - out_8663217838586815911[18] = 0; - out_8663217838586815911[19] = 0; - out_8663217838586815911[20] = 0; - out_8663217838586815911[21] = 0; - out_8663217838586815911[22] = 1; - out_8663217838586815911[23] = 0; - out_8663217838586815911[24] = 0; - out_8663217838586815911[25] = 0; - out_8663217838586815911[26] = 0; - out_8663217838586815911[27] = 0; - out_8663217838586815911[28] = 0; - out_8663217838586815911[29] = 0; - out_8663217838586815911[30] = 0; - out_8663217838586815911[31] = 0; - out_8663217838586815911[32] = 0; - out_8663217838586815911[33] = 0; - out_8663217838586815911[34] = 0; - out_8663217838586815911[35] = 0; - out_8663217838586815911[36] = 0; - out_8663217838586815911[37] = 0; - out_8663217838586815911[38] = 0; - out_8663217838586815911[39] = 0; - out_8663217838586815911[40] = 0; - out_8663217838586815911[41] = 1; - out_8663217838586815911[42] = 0; - out_8663217838586815911[43] = 0; - out_8663217838586815911[44] = 0; - out_8663217838586815911[45] = 0; - out_8663217838586815911[46] = 0; - out_8663217838586815911[47] = 0; - out_8663217838586815911[48] = 0; - out_8663217838586815911[49] = 0; - out_8663217838586815911[50] = 0; - out_8663217838586815911[51] = 0; - out_8663217838586815911[52] = 0; - out_8663217838586815911[53] = 0; +void H_13(double *state, double *unused, double *out_6382502911137032165) { + out_6382502911137032165[0] = 0; + out_6382502911137032165[1] = 0; + out_6382502911137032165[2] = 0; + out_6382502911137032165[3] = 1; + out_6382502911137032165[4] = 0; + out_6382502911137032165[5] = 0; + out_6382502911137032165[6] = 0; + out_6382502911137032165[7] = 0; + out_6382502911137032165[8] = 0; + out_6382502911137032165[9] = 0; + out_6382502911137032165[10] = 0; + out_6382502911137032165[11] = 0; + out_6382502911137032165[12] = 0; + out_6382502911137032165[13] = 0; + out_6382502911137032165[14] = 0; + out_6382502911137032165[15] = 0; + out_6382502911137032165[16] = 0; + out_6382502911137032165[17] = 0; + out_6382502911137032165[18] = 0; + out_6382502911137032165[19] = 0; + out_6382502911137032165[20] = 0; + out_6382502911137032165[21] = 0; + out_6382502911137032165[22] = 1; + out_6382502911137032165[23] = 0; + out_6382502911137032165[24] = 0; + out_6382502911137032165[25] = 0; + out_6382502911137032165[26] = 0; + out_6382502911137032165[27] = 0; + out_6382502911137032165[28] = 0; + out_6382502911137032165[29] = 0; + out_6382502911137032165[30] = 0; + out_6382502911137032165[31] = 0; + out_6382502911137032165[32] = 0; + out_6382502911137032165[33] = 0; + out_6382502911137032165[34] = 0; + out_6382502911137032165[35] = 0; + out_6382502911137032165[36] = 0; + out_6382502911137032165[37] = 0; + out_6382502911137032165[38] = 0; + out_6382502911137032165[39] = 0; + out_6382502911137032165[40] = 0; + out_6382502911137032165[41] = 1; + out_6382502911137032165[42] = 0; + out_6382502911137032165[43] = 0; + out_6382502911137032165[44] = 0; + out_6382502911137032165[45] = 0; + out_6382502911137032165[46] = 0; + out_6382502911137032165[47] = 0; + out_6382502911137032165[48] = 0; + out_6382502911137032165[49] = 0; + out_6382502911137032165[50] = 0; + out_6382502911137032165[51] = 0; + out_6382502911137032165[52] = 0; + out_6382502911137032165[53] = 0; } -void h_14(double *state, double *unused, double *out_3210315045012193153) { - out_3210315045012193153[0] = state[6]; - out_3210315045012193153[1] = state[7]; - out_3210315045012193153[2] = state[8]; +void h_14(double *state, double *unused, double *out_6181664354414385783) { + out_6181664354414385783[0] = state[6]; + out_6181664354414385783[1] = state[7]; + out_6181664354414385783[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5015827486609599511) { - out_5015827486609599511[0] = 0; - out_5015827486609599511[1] = 0; - out_5015827486609599511[2] = 0; - out_5015827486609599511[3] = 0; - out_5015827486609599511[4] = 0; - out_5015827486609599511[5] = 0; - out_5015827486609599511[6] = 1; - out_5015827486609599511[7] = 0; - out_5015827486609599511[8] = 0; - out_5015827486609599511[9] = 0; - out_5015827486609599511[10] = 0; - out_5015827486609599511[11] = 0; - out_5015827486609599511[12] = 0; - out_5015827486609599511[13] = 0; - out_5015827486609599511[14] = 0; - out_5015827486609599511[15] = 0; - out_5015827486609599511[16] = 0; - out_5015827486609599511[17] = 0; - out_5015827486609599511[18] = 0; - out_5015827486609599511[19] = 0; - out_5015827486609599511[20] = 0; - out_5015827486609599511[21] = 0; - out_5015827486609599511[22] = 0; - out_5015827486609599511[23] = 0; - out_5015827486609599511[24] = 0; - out_5015827486609599511[25] = 1; - out_5015827486609599511[26] = 0; - out_5015827486609599511[27] = 0; - out_5015827486609599511[28] = 0; - out_5015827486609599511[29] = 0; - out_5015827486609599511[30] = 0; - out_5015827486609599511[31] = 0; - out_5015827486609599511[32] = 0; - out_5015827486609599511[33] = 0; - out_5015827486609599511[34] = 0; - out_5015827486609599511[35] = 0; - out_5015827486609599511[36] = 0; - out_5015827486609599511[37] = 0; - out_5015827486609599511[38] = 0; - out_5015827486609599511[39] = 0; - out_5015827486609599511[40] = 0; - out_5015827486609599511[41] = 0; - out_5015827486609599511[42] = 0; - out_5015827486609599511[43] = 0; - out_5015827486609599511[44] = 1; - out_5015827486609599511[45] = 0; - out_5015827486609599511[46] = 0; - out_5015827486609599511[47] = 0; - out_5015827486609599511[48] = 0; - out_5015827486609599511[49] = 0; - out_5015827486609599511[50] = 0; - out_5015827486609599511[51] = 0; - out_5015827486609599511[52] = 0; - out_5015827486609599511[53] = 0; +void H_14(double *state, double *unused, double *out_8416850810595303051) { + out_8416850810595303051[0] = 0; + out_8416850810595303051[1] = 0; + out_8416850810595303051[2] = 0; + out_8416850810595303051[3] = 0; + out_8416850810595303051[4] = 0; + out_8416850810595303051[5] = 0; + out_8416850810595303051[6] = 1; + out_8416850810595303051[7] = 0; + out_8416850810595303051[8] = 0; + out_8416850810595303051[9] = 0; + out_8416850810595303051[10] = 0; + out_8416850810595303051[11] = 0; + out_8416850810595303051[12] = 0; + out_8416850810595303051[13] = 0; + out_8416850810595303051[14] = 0; + out_8416850810595303051[15] = 0; + out_8416850810595303051[16] = 0; + out_8416850810595303051[17] = 0; + out_8416850810595303051[18] = 0; + out_8416850810595303051[19] = 0; + out_8416850810595303051[20] = 0; + out_8416850810595303051[21] = 0; + out_8416850810595303051[22] = 0; + out_8416850810595303051[23] = 0; + out_8416850810595303051[24] = 0; + out_8416850810595303051[25] = 1; + out_8416850810595303051[26] = 0; + out_8416850810595303051[27] = 0; + out_8416850810595303051[28] = 0; + out_8416850810595303051[29] = 0; + out_8416850810595303051[30] = 0; + out_8416850810595303051[31] = 0; + out_8416850810595303051[32] = 0; + out_8416850810595303051[33] = 0; + out_8416850810595303051[34] = 0; + out_8416850810595303051[35] = 0; + out_8416850810595303051[36] = 0; + out_8416850810595303051[37] = 0; + out_8416850810595303051[38] = 0; + out_8416850810595303051[39] = 0; + out_8416850810595303051[40] = 0; + out_8416850810595303051[41] = 0; + out_8416850810595303051[42] = 0; + out_8416850810595303051[43] = 0; + out_8416850810595303051[44] = 1; + out_8416850810595303051[45] = 0; + out_8416850810595303051[46] = 0; + out_8416850810595303051[47] = 0; + out_8416850810595303051[48] = 0; + out_8416850810595303051[49] = 0; + out_8416850810595303051[50] = 0; + out_8416850810595303051[51] = 0; + out_8416850810595303051[52] = 0; + out_8416850810595303051[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_3370172615713873468) { - err_fun(nom_x, delta_x, out_3370172615713873468); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2367672105654731741) { + err_fun(nom_x, delta_x, out_2367672105654731741); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3634672358247053874) { - inv_err_fun(nom_x, true_x, out_3634672358247053874); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5219205296235492699) { + inv_err_fun(nom_x, true_x, out_5219205296235492699); } -void pose_H_mod_fun(double *state, double *out_4326808709061064235) { - H_mod_fun(state, out_4326808709061064235); +void pose_H_mod_fun(double *state, double *out_7701265832873588876) { + H_mod_fun(state, out_7701265832873588876); } -void pose_f_fun(double *state, double dt, double *out_4276772873746558675) { - f_fun(state, dt, out_4276772873746558675); +void pose_f_fun(double *state, double dt, double *out_2925592785824916722) { + f_fun(state, dt, out_2925592785824916722); } -void pose_F_fun(double *state, double dt, double *out_4500717382901464499) { - F_fun(state, dt, out_4500717382901464499); +void pose_F_fun(double *state, double dt, double *out_6409294416375959373) { + F_fun(state, dt, out_6409294416375959373); } -void pose_h_4(double *state, double *unused, double *out_5593213153040418665) { - h_4(state, unused, out_5593213153040418665); +void pose_h_4(double *state, double *unused, double *out_915233285986441516) { + h_4(state, unused, out_915233285986441516); } -void pose_H_4(double *state, double *unused, double *out_8098615918904971807) { - H_4(state, unused, out_8098615918904971807); +void pose_H_4(double *state, double *unused, double *out_8851967337240186650) { + H_4(state, unused, out_8851967337240186650); } -void pose_h_10(double *state, double *unused, double *out_665779804057694470) { - h_10(state, unused, out_665779804057694470); +void pose_h_10(double *state, double *unused, double *out_1698568734316977875) { + h_10(state, unused, out_1698568734316977875); } -void pose_H_10(double *state, double *unused, double *out_1520950660944493368) { - H_10(state, unused, out_1520950660944493368); +void pose_H_10(double *state, double *unused, double *out_2859565754749971930) { + H_10(state, unused, out_2859565754749971930); } -void pose_h_13(double *state, double *unused, double *out_1559309075612614656) { - h_13(state, unused, out_1559309075612614656); +void pose_h_13(double *state, double *unused, double *out_4058736517215946312) { + h_13(state, unused, out_4058736517215946312); } -void pose_H_13(double *state, double *unused, double *out_8663217838586815911) { - H_13(state, unused, out_8663217838586815911); +void pose_H_13(double *state, double *unused, double *out_6382502911137032165) { + H_13(state, unused, out_6382502911137032165); } -void pose_h_14(double *state, double *unused, double *out_3210315045012193153) { - h_14(state, unused, out_3210315045012193153); +void pose_h_14(double *state, double *unused, double *out_6181664354414385783) { + h_14(state, unused, out_6181664354414385783); } -void pose_H_14(double *state, double *unused, double *out_5015827486609599511) { - H_14(state, unused, out_5015827486609599511); +void pose_H_14(double *state, double *unused, double *out_8416850810595303051) { + H_14(state, unused, out_8416850810595303051); } 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 b64b80959..686fd7ba6 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_3370172615713873468); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3634672358247053874); -void pose_H_mod_fun(double *state, double *out_4326808709061064235); -void pose_f_fun(double *state, double dt, double *out_4276772873746558675); -void pose_F_fun(double *state, double dt, double *out_4500717382901464499); -void pose_h_4(double *state, double *unused, double *out_5593213153040418665); -void pose_H_4(double *state, double *unused, double *out_8098615918904971807); -void pose_h_10(double *state, double *unused, double *out_665779804057694470); -void pose_H_10(double *state, double *unused, double *out_1520950660944493368); -void pose_h_13(double *state, double *unused, double *out_1559309075612614656); -void pose_H_13(double *state, double *unused, double *out_8663217838586815911); -void pose_h_14(double *state, double *unused, double *out_3210315045012193153); -void pose_H_14(double *state, double *unused, double *out_5015827486609599511); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2367672105654731741); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5219205296235492699); +void pose_H_mod_fun(double *state, double *out_7701265832873588876); +void pose_f_fun(double *state, double dt, double *out_2925592785824916722); +void pose_F_fun(double *state, double dt, double *out_6409294416375959373); +void pose_h_4(double *state, double *unused, double *out_915233285986441516); +void pose_H_4(double *state, double *unused, double *out_8851967337240186650); +void pose_h_10(double *state, double *unused, double *out_1698568734316977875); +void pose_H_10(double *state, double *unused, double *out_2859565754749971930); +void pose_h_13(double *state, double *unused, double *out_4058736517215946312); +void pose_H_13(double *state, double *unused, double *out_6382502911137032165); +void pose_h_14(double *state, double *unused, double *out_6181664354414385783); +void pose_H_14(double *state, double *unused, double *out_8416850810595303051); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 447881dbc..f6c64aedc 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ