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a/panda/board/obj/bootstub.panda_tesla_wake.bin b/panda/board/obj/bootstub.panda_tesla_wake.bin index fdab39bd9f..f6dd452135 100755 Binary files a/panda/board/obj/bootstub.panda_tesla_wake.bin and b/panda/board/obj/bootstub.panda_tesla_wake.bin differ diff --git a/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin b/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin index fdab39bd9f..f6dd452135 100755 Binary files a/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index e09ca0728c..c604d26ac4 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-c51b9687-DEBUG"; +const uint8_t gitversion[19] = "DEV-e369bdcc-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed 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b/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf index 399e1fd817..fa59827870 100755 Binary files a/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf and b/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index c4a048cfd9..b7114f205d 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-c51b9687-DEBUG \ No newline at end of file +DEV-e369bdcc-DEBUG \ No newline at end of file diff --git a/rednose_repo/rednose/helpers/ekf_sym_pyx.so b/rednose_repo/rednose/helpers/ekf_sym_pyx.so index 985b6c7854..0c2e6104d9 100755 Binary files a/rednose_repo/rednose/helpers/ekf_sym_pyx.so and b/rednose_repo/rednose/helpers/ekf_sym_pyx.so differ diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 24c831ab36..6d1b89e314 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_6543135761510689107) { - out_6543135761510689107[0] = delta_x[0] + nom_x[0]; - out_6543135761510689107[1] = delta_x[1] + nom_x[1]; - out_6543135761510689107[2] = delta_x[2] + nom_x[2]; - out_6543135761510689107[3] = delta_x[3] + nom_x[3]; - out_6543135761510689107[4] = delta_x[4] + nom_x[4]; - out_6543135761510689107[5] = delta_x[5] + nom_x[5]; - out_6543135761510689107[6] = delta_x[6] + nom_x[6]; - out_6543135761510689107[7] = delta_x[7] + nom_x[7]; - out_6543135761510689107[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2580454465484491227) { + out_2580454465484491227[0] = delta_x[0] + nom_x[0]; + out_2580454465484491227[1] = delta_x[1] + nom_x[1]; + out_2580454465484491227[2] = delta_x[2] + nom_x[2]; + out_2580454465484491227[3] = delta_x[3] + nom_x[3]; + out_2580454465484491227[4] = delta_x[4] + nom_x[4]; + out_2580454465484491227[5] = delta_x[5] + nom_x[5]; + out_2580454465484491227[6] = delta_x[6] + nom_x[6]; + out_2580454465484491227[7] = delta_x[7] + nom_x[7]; + out_2580454465484491227[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2331655545426529005) { - out_2331655545426529005[0] = -nom_x[0] + true_x[0]; - out_2331655545426529005[1] = -nom_x[1] + true_x[1]; - out_2331655545426529005[2] = -nom_x[2] + true_x[2]; - out_2331655545426529005[3] = -nom_x[3] + true_x[3]; - out_2331655545426529005[4] = -nom_x[4] + true_x[4]; - out_2331655545426529005[5] = -nom_x[5] + true_x[5]; - out_2331655545426529005[6] = -nom_x[6] + true_x[6]; - out_2331655545426529005[7] = -nom_x[7] + true_x[7]; - out_2331655545426529005[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5942980338533536074) { + out_5942980338533536074[0] = -nom_x[0] + true_x[0]; + out_5942980338533536074[1] = -nom_x[1] + true_x[1]; + out_5942980338533536074[2] = -nom_x[2] + true_x[2]; + out_5942980338533536074[3] = -nom_x[3] + true_x[3]; + out_5942980338533536074[4] = -nom_x[4] + true_x[4]; + out_5942980338533536074[5] = -nom_x[5] + true_x[5]; + out_5942980338533536074[6] = -nom_x[6] + true_x[6]; + out_5942980338533536074[7] = -nom_x[7] + true_x[7]; + out_5942980338533536074[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6389313126975023722) { - out_6389313126975023722[0] = 1.0; - out_6389313126975023722[1] = 0.0; - out_6389313126975023722[2] = 0.0; - out_6389313126975023722[3] = 0.0; - out_6389313126975023722[4] = 0.0; - out_6389313126975023722[5] = 0.0; - out_6389313126975023722[6] = 0.0; - out_6389313126975023722[7] = 0.0; - out_6389313126975023722[8] = 0.0; - out_6389313126975023722[9] = 0.0; - out_6389313126975023722[10] = 1.0; - out_6389313126975023722[11] = 0.0; - out_6389313126975023722[12] = 0.0; - out_6389313126975023722[13] = 0.0; - out_6389313126975023722[14] = 0.0; - out_6389313126975023722[15] = 0.0; - out_6389313126975023722[16] = 0.0; - out_6389313126975023722[17] = 0.0; - out_6389313126975023722[18] = 0.0; - out_6389313126975023722[19] = 0.0; - out_6389313126975023722[20] = 1.0; - out_6389313126975023722[21] = 0.0; - out_6389313126975023722[22] = 0.0; - out_6389313126975023722[23] = 0.0; - out_6389313126975023722[24] = 0.0; - out_6389313126975023722[25] = 0.0; - out_6389313126975023722[26] = 0.0; - out_6389313126975023722[27] = 0.0; - out_6389313126975023722[28] = 0.0; - out_6389313126975023722[29] = 0.0; - out_6389313126975023722[30] = 1.0; - out_6389313126975023722[31] = 0.0; - out_6389313126975023722[32] = 0.0; - out_6389313126975023722[33] = 0.0; - out_6389313126975023722[34] = 0.0; - out_6389313126975023722[35] = 0.0; - out_6389313126975023722[36] = 0.0; - out_6389313126975023722[37] = 0.0; - out_6389313126975023722[38] = 0.0; - out_6389313126975023722[39] = 0.0; - out_6389313126975023722[40] = 1.0; - out_6389313126975023722[41] = 0.0; - out_6389313126975023722[42] = 0.0; - out_6389313126975023722[43] = 0.0; - out_6389313126975023722[44] = 0.0; - out_6389313126975023722[45] = 0.0; - out_6389313126975023722[46] = 0.0; - out_6389313126975023722[47] = 0.0; - out_6389313126975023722[48] = 0.0; - out_6389313126975023722[49] = 0.0; - out_6389313126975023722[50] = 1.0; - out_6389313126975023722[51] = 0.0; - out_6389313126975023722[52] = 0.0; - out_6389313126975023722[53] = 0.0; - out_6389313126975023722[54] = 0.0; - out_6389313126975023722[55] = 0.0; - out_6389313126975023722[56] = 0.0; - out_6389313126975023722[57] = 0.0; - out_6389313126975023722[58] = 0.0; - out_6389313126975023722[59] = 0.0; - out_6389313126975023722[60] = 1.0; - out_6389313126975023722[61] = 0.0; - out_6389313126975023722[62] = 0.0; - out_6389313126975023722[63] = 0.0; - out_6389313126975023722[64] = 0.0; - out_6389313126975023722[65] = 0.0; - out_6389313126975023722[66] = 0.0; - out_6389313126975023722[67] = 0.0; - out_6389313126975023722[68] = 0.0; - out_6389313126975023722[69] = 0.0; - out_6389313126975023722[70] = 1.0; - out_6389313126975023722[71] = 0.0; - out_6389313126975023722[72] = 0.0; - out_6389313126975023722[73] = 0.0; - out_6389313126975023722[74] = 0.0; - out_6389313126975023722[75] = 0.0; - out_6389313126975023722[76] = 0.0; - out_6389313126975023722[77] = 0.0; - out_6389313126975023722[78] = 0.0; - out_6389313126975023722[79] = 0.0; - out_6389313126975023722[80] = 1.0; +void H_mod_fun(double *state, double *out_8194968061470735391) { + out_8194968061470735391[0] = 1.0; + out_8194968061470735391[1] = 0.0; + out_8194968061470735391[2] = 0.0; + out_8194968061470735391[3] = 0.0; + out_8194968061470735391[4] = 0.0; + out_8194968061470735391[5] = 0.0; + out_8194968061470735391[6] = 0.0; + out_8194968061470735391[7] = 0.0; + out_8194968061470735391[8] = 0.0; + out_8194968061470735391[9] = 0.0; + out_8194968061470735391[10] = 1.0; + out_8194968061470735391[11] = 0.0; + out_8194968061470735391[12] = 0.0; + out_8194968061470735391[13] = 0.0; + out_8194968061470735391[14] = 0.0; + out_8194968061470735391[15] = 0.0; + out_8194968061470735391[16] = 0.0; + out_8194968061470735391[17] = 0.0; + out_8194968061470735391[18] = 0.0; + out_8194968061470735391[19] = 0.0; + out_8194968061470735391[20] = 1.0; + out_8194968061470735391[21] = 0.0; + out_8194968061470735391[22] = 0.0; + out_8194968061470735391[23] = 0.0; + out_8194968061470735391[24] = 0.0; + out_8194968061470735391[25] = 0.0; + out_8194968061470735391[26] = 0.0; + out_8194968061470735391[27] = 0.0; + out_8194968061470735391[28] = 0.0; + out_8194968061470735391[29] = 0.0; + out_8194968061470735391[30] = 1.0; + out_8194968061470735391[31] = 0.0; + out_8194968061470735391[32] = 0.0; + out_8194968061470735391[33] = 0.0; + out_8194968061470735391[34] = 0.0; + out_8194968061470735391[35] = 0.0; + out_8194968061470735391[36] = 0.0; + out_8194968061470735391[37] = 0.0; + out_8194968061470735391[38] = 0.0; + out_8194968061470735391[39] = 0.0; + out_8194968061470735391[40] = 1.0; + out_8194968061470735391[41] = 0.0; + out_8194968061470735391[42] = 0.0; + out_8194968061470735391[43] = 0.0; + out_8194968061470735391[44] = 0.0; + out_8194968061470735391[45] = 0.0; + out_8194968061470735391[46] = 0.0; + out_8194968061470735391[47] = 0.0; + out_8194968061470735391[48] = 0.0; + out_8194968061470735391[49] = 0.0; + out_8194968061470735391[50] = 1.0; + out_8194968061470735391[51] = 0.0; + out_8194968061470735391[52] = 0.0; + out_8194968061470735391[53] = 0.0; + out_8194968061470735391[54] = 0.0; + out_8194968061470735391[55] = 0.0; + out_8194968061470735391[56] = 0.0; + out_8194968061470735391[57] = 0.0; + out_8194968061470735391[58] = 0.0; + out_8194968061470735391[59] = 0.0; + out_8194968061470735391[60] = 1.0; + out_8194968061470735391[61] = 0.0; + out_8194968061470735391[62] = 0.0; + out_8194968061470735391[63] = 0.0; + out_8194968061470735391[64] = 0.0; + out_8194968061470735391[65] = 0.0; + out_8194968061470735391[66] = 0.0; + out_8194968061470735391[67] = 0.0; + out_8194968061470735391[68] = 0.0; + out_8194968061470735391[69] = 0.0; + out_8194968061470735391[70] = 1.0; + out_8194968061470735391[71] = 0.0; + out_8194968061470735391[72] = 0.0; + out_8194968061470735391[73] = 0.0; + out_8194968061470735391[74] = 0.0; + out_8194968061470735391[75] = 0.0; + out_8194968061470735391[76] = 0.0; + out_8194968061470735391[77] = 0.0; + out_8194968061470735391[78] = 0.0; + out_8194968061470735391[79] = 0.0; + out_8194968061470735391[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4897785971793930733) { - out_4897785971793930733[0] = state[0]; - out_4897785971793930733[1] = state[1]; - out_4897785971793930733[2] = state[2]; - out_4897785971793930733[3] = state[3]; - out_4897785971793930733[4] = state[4]; - out_4897785971793930733[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_4897785971793930733[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_4897785971793930733[7] = state[7]; - out_4897785971793930733[8] = state[8]; +void f_fun(double *state, double dt, double *out_4786356323138029797) { + out_4786356323138029797[0] = state[0]; + out_4786356323138029797[1] = state[1]; + out_4786356323138029797[2] = state[2]; + out_4786356323138029797[3] = state[3]; + out_4786356323138029797[4] = state[4]; + out_4786356323138029797[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_4786356323138029797[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_4786356323138029797[7] = state[7]; + out_4786356323138029797[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1120359963151235251) { - out_1120359963151235251[0] = 1; - out_1120359963151235251[1] = 0; - out_1120359963151235251[2] = 0; - out_1120359963151235251[3] = 0; - out_1120359963151235251[4] = 0; - out_1120359963151235251[5] = 0; - out_1120359963151235251[6] = 0; - out_1120359963151235251[7] = 0; - out_1120359963151235251[8] = 0; - out_1120359963151235251[9] = 0; - out_1120359963151235251[10] = 1; - out_1120359963151235251[11] = 0; - out_1120359963151235251[12] = 0; - out_1120359963151235251[13] = 0; - out_1120359963151235251[14] = 0; - out_1120359963151235251[15] = 0; - out_1120359963151235251[16] = 0; - out_1120359963151235251[17] = 0; - out_1120359963151235251[18] = 0; - out_1120359963151235251[19] = 0; - out_1120359963151235251[20] = 1; - out_1120359963151235251[21] = 0; - out_1120359963151235251[22] = 0; - out_1120359963151235251[23] = 0; - out_1120359963151235251[24] = 0; - out_1120359963151235251[25] = 0; - out_1120359963151235251[26] = 0; - out_1120359963151235251[27] = 0; - out_1120359963151235251[28] = 0; - out_1120359963151235251[29] = 0; - out_1120359963151235251[30] = 1; - out_1120359963151235251[31] = 0; - out_1120359963151235251[32] = 0; - out_1120359963151235251[33] = 0; - out_1120359963151235251[34] = 0; - out_1120359963151235251[35] = 0; - out_1120359963151235251[36] = 0; - out_1120359963151235251[37] = 0; - out_1120359963151235251[38] = 0; - out_1120359963151235251[39] = 0; - out_1120359963151235251[40] = 1; - out_1120359963151235251[41] = 0; - out_1120359963151235251[42] = 0; - out_1120359963151235251[43] = 0; - out_1120359963151235251[44] = 0; - out_1120359963151235251[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_1120359963151235251[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1120359963151235251[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1120359963151235251[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1120359963151235251[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_1120359963151235251[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1120359963151235251[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1120359963151235251[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1120359963151235251[53] = -9.8100000000000005*dt; - out_1120359963151235251[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_1120359963151235251[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1120359963151235251[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1120359963151235251[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1120359963151235251[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_1120359963151235251[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1120359963151235251[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_1120359963151235251[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1120359963151235251[62] = 0; - out_1120359963151235251[63] = 0; - out_1120359963151235251[64] = 0; - out_1120359963151235251[65] = 0; - out_1120359963151235251[66] = 0; - out_1120359963151235251[67] = 0; - out_1120359963151235251[68] = 0; - out_1120359963151235251[69] = 0; - out_1120359963151235251[70] = 1; - out_1120359963151235251[71] = 0; - out_1120359963151235251[72] = 0; - out_1120359963151235251[73] = 0; - out_1120359963151235251[74] = 0; - out_1120359963151235251[75] = 0; - out_1120359963151235251[76] = 0; - out_1120359963151235251[77] = 0; - out_1120359963151235251[78] = 0; - out_1120359963151235251[79] = 0; - out_1120359963151235251[80] = 1; +void F_fun(double *state, double dt, double *out_9135511833511698372) { + out_9135511833511698372[0] = 1; + out_9135511833511698372[1] = 0; + out_9135511833511698372[2] = 0; + out_9135511833511698372[3] = 0; + out_9135511833511698372[4] = 0; + out_9135511833511698372[5] = 0; + out_9135511833511698372[6] = 0; + out_9135511833511698372[7] = 0; + out_9135511833511698372[8] = 0; + out_9135511833511698372[9] = 0; + out_9135511833511698372[10] = 1; + out_9135511833511698372[11] = 0; + out_9135511833511698372[12] = 0; + out_9135511833511698372[13] = 0; + out_9135511833511698372[14] = 0; + out_9135511833511698372[15] = 0; + out_9135511833511698372[16] = 0; + out_9135511833511698372[17] = 0; + out_9135511833511698372[18] = 0; + out_9135511833511698372[19] = 0; + out_9135511833511698372[20] = 1; + out_9135511833511698372[21] = 0; + out_9135511833511698372[22] = 0; + out_9135511833511698372[23] = 0; + out_9135511833511698372[24] = 0; + out_9135511833511698372[25] = 0; + out_9135511833511698372[26] = 0; + out_9135511833511698372[27] = 0; + out_9135511833511698372[28] = 0; + out_9135511833511698372[29] = 0; + out_9135511833511698372[30] = 1; + out_9135511833511698372[31] = 0; + out_9135511833511698372[32] = 0; + out_9135511833511698372[33] = 0; + out_9135511833511698372[34] = 0; + out_9135511833511698372[35] = 0; + out_9135511833511698372[36] = 0; + out_9135511833511698372[37] = 0; + out_9135511833511698372[38] = 0; + out_9135511833511698372[39] = 0; + out_9135511833511698372[40] = 1; + out_9135511833511698372[41] = 0; + out_9135511833511698372[42] = 0; + out_9135511833511698372[43] = 0; + out_9135511833511698372[44] = 0; + out_9135511833511698372[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_9135511833511698372[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_9135511833511698372[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_9135511833511698372[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_9135511833511698372[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_9135511833511698372[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_9135511833511698372[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_9135511833511698372[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_9135511833511698372[53] = -9.8100000000000005*dt; + out_9135511833511698372[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_9135511833511698372[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_9135511833511698372[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_9135511833511698372[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_9135511833511698372[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_9135511833511698372[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_9135511833511698372[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_9135511833511698372[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_9135511833511698372[62] = 0; + out_9135511833511698372[63] = 0; + out_9135511833511698372[64] = 0; + out_9135511833511698372[65] = 0; + out_9135511833511698372[66] = 0; + out_9135511833511698372[67] = 0; + out_9135511833511698372[68] = 0; + out_9135511833511698372[69] = 0; + out_9135511833511698372[70] = 1; + out_9135511833511698372[71] = 0; + out_9135511833511698372[72] = 0; + out_9135511833511698372[73] = 0; + out_9135511833511698372[74] = 0; + out_9135511833511698372[75] = 0; + out_9135511833511698372[76] = 0; + out_9135511833511698372[77] = 0; + out_9135511833511698372[78] = 0; + out_9135511833511698372[79] = 0; + out_9135511833511698372[80] = 1; } -void h_25(double *state, double *unused, double *out_2169501381777287353) { - out_2169501381777287353[0] = state[6]; +void h_25(double *state, double *unused, double *out_8083637761377658508) { + out_8083637761377658508[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1485621301790358882) { - out_1485621301790358882[0] = 0; - out_1485621301790358882[1] = 0; - out_1485621301790358882[2] = 0; - out_1485621301790358882[3] = 0; - out_1485621301790358882[4] = 0; - out_1485621301790358882[5] = 0; - out_1485621301790358882[6] = 1; - out_1485621301790358882[7] = 0; - out_1485621301790358882[8] = 0; +void H_25(double *state, double *unused, double *out_3291276236286070551) { + out_3291276236286070551[0] = 0; + out_3291276236286070551[1] = 0; + out_3291276236286070551[2] = 0; + out_3291276236286070551[3] = 0; + out_3291276236286070551[4] = 0; + out_3291276236286070551[5] = 0; + out_3291276236286070551[6] = 1; + out_3291276236286070551[7] = 0; + out_3291276236286070551[8] = 0; } -void h_24(double *state, double *unused, double *out_8386299954951130399) { - out_8386299954951130399[0] = state[4]; - out_8386299954951130399[1] = state[5]; +void h_24(double *state, double *unused, double *out_6440652138727823346) { + out_6440652138727823346[0] = state[4]; + out_6440652138727823346[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1956078783833697606) { - out_1956078783833697606[0] = 0; - out_1956078783833697606[1] = 0; - out_1956078783833697606[2] = 0; - out_1956078783833697606[3] = 0; - out_1956078783833697606[4] = 1; - out_1956078783833697606[5] = 0; - out_1956078783833697606[6] = 0; - out_1956078783833697606[7] = 0; - out_1956078783833697606[8] = 0; - out_1956078783833697606[9] = 0; - out_1956078783833697606[10] = 0; - out_1956078783833697606[11] = 0; - out_1956078783833697606[12] = 0; - out_1956078783833697606[13] = 0; - out_1956078783833697606[14] = 1; - out_1956078783833697606[15] = 0; - out_1956078783833697606[16] = 0; - out_1956078783833697606[17] = 0; +void H_24(double *state, double *unused, double *out_8160091101313777403) { + out_8160091101313777403[0] = 0; + out_8160091101313777403[1] = 0; + out_8160091101313777403[2] = 0; + out_8160091101313777403[3] = 0; + out_8160091101313777403[4] = 1; + out_8160091101313777403[5] = 0; + out_8160091101313777403[6] = 0; + out_8160091101313777403[7] = 0; + out_8160091101313777403[8] = 0; + out_8160091101313777403[9] = 0; + out_8160091101313777403[10] = 0; + out_8160091101313777403[11] = 0; + out_8160091101313777403[12] = 0; + out_8160091101313777403[13] = 0; + out_8160091101313777403[14] = 1; + out_8160091101313777403[15] = 0; + out_8160091101313777403[16] = 0; + out_8160091101313777403[17] = 0; } -void h_30(double *state, double *unused, double *out_2444695444061793242) { - out_2444695444061793242[0] = state[4]; +void h_30(double *state, double *unused, double *out_5991949765328664151) { + out_5991949765328664151[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6013317631917967080) { - out_6013317631917967080[0] = 0; - out_6013317631917967080[1] = 0; - out_6013317631917967080[2] = 0; - out_6013317631917967080[3] = 0; - out_6013317631917967080[4] = 1; - out_6013317631917967080[5] = 0; - out_6013317631917967080[6] = 0; - out_6013317631917967080[7] = 0; - out_6013317631917967080[8] = 0; +void H_30(double *state, double *unused, double *out_7818972566413678749) { + out_7818972566413678749[0] = 0; + out_7818972566413678749[1] = 0; + out_7818972566413678749[2] = 0; + out_7818972566413678749[3] = 0; + out_7818972566413678749[4] = 1; + out_7818972566413678749[5] = 0; + out_7818972566413678749[6] = 0; + out_7818972566413678749[7] = 0; + out_7818972566413678749[8] = 0; } -void h_26(double *state, double *unused, double *out_2413046201872073325) { - out_2413046201872073325[0] = state[7]; +void h_26(double *state, double *unused, double *out_8397464415311706259) { + out_8397464415311706259[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5227124620664415106) { - out_5227124620664415106[0] = 0; - out_5227124620664415106[1] = 0; - out_5227124620664415106[2] = 0; - out_5227124620664415106[3] = 0; - out_5227124620664415106[4] = 0; - out_5227124620664415106[5] = 0; - out_5227124620664415106[6] = 0; - out_5227124620664415106[7] = 1; - out_5227124620664415106[8] = 0; +void H_26(double *state, double *unused, double *out_7032779555160126775) { + out_7032779555160126775[0] = 0; + out_7032779555160126775[1] = 0; + out_7032779555160126775[2] = 0; + out_7032779555160126775[3] = 0; + out_7032779555160126775[4] = 0; + out_7032779555160126775[5] = 0; + out_7032779555160126775[6] = 0; + out_7032779555160126775[7] = 1; + out_7032779555160126775[8] = 0; } -void h_27(double *state, double *unused, double *out_6236155437866939300) { - out_6236155437866939300[0] = state[3]; +void h_27(double *state, double *unused, double *out_1186756435998500064) { + out_1186756435998500064[0] = state[3]; } -void H_27(double *state, double *unused, double *out_3789723560734023863) { - out_3789723560734023863[0] = 0; - out_3789723560734023863[1] = 0; - out_3789723560734023863[2] = 0; - out_3789723560734023863[3] = 1; - out_3789723560734023863[4] = 0; - out_3789723560734023863[5] = 0; - out_3789723560734023863[6] = 0; - out_3789723560734023863[7] = 0; - out_3789723560734023863[8] = 0; +void H_27(double *state, double *unused, double *out_5595378495229735532) { + out_5595378495229735532[0] = 0; + out_5595378495229735532[1] = 0; + out_5595378495229735532[2] = 0; + out_5595378495229735532[3] = 1; + out_5595378495229735532[4] = 0; + out_5595378495229735532[5] = 0; + out_5595378495229735532[6] = 0; + out_5595378495229735532[7] = 0; + out_5595378495229735532[8] = 0; } -void h_29(double *state, double *unused, double *out_1645117212887109885) { - out_1645117212887109885[0] = state[1]; +void h_29(double *state, double *unused, double *out_4824205964252522414) { + out_4824205964252522414[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5503086287603574896) { - out_5503086287603574896[0] = 0; - out_5503086287603574896[1] = 1; - out_5503086287603574896[2] = 0; - out_5503086287603574896[3] = 0; - out_5503086287603574896[4] = 0; - out_5503086287603574896[5] = 0; - out_5503086287603574896[6] = 0; - out_5503086287603574896[7] = 0; - out_5503086287603574896[8] = 0; +void H_29(double *state, double *unused, double *out_7308741222099286565) { + out_7308741222099286565[0] = 0; + out_7308741222099286565[1] = 1; + out_7308741222099286565[2] = 0; + out_7308741222099286565[3] = 0; + out_7308741222099286565[4] = 0; + out_7308741222099286565[5] = 0; + out_7308741222099286565[6] = 0; + out_7308741222099286565[7] = 0; + out_7308741222099286565[8] = 0; } -void h_28(double *state, double *unused, double *out_5811547118428763170) { - out_5811547118428763170[0] = state[0]; +void h_28(double *state, double *unused, double *out_936072129372815930) { + out_936072129372815930[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3539456016038248645) { - out_3539456016038248645[0] = 1; - out_3539456016038248645[1] = 0; - out_3539456016038248645[2] = 0; - out_3539456016038248645[3] = 0; - out_3539456016038248645[4] = 0; - out_3539456016038248645[5] = 0; - out_3539456016038248645[6] = 0; - out_3539456016038248645[7] = 0; - out_3539456016038248645[8] = 0; +void H_28(double *state, double *unused, double *out_5345110950533960314) { + out_5345110950533960314[0] = 1; + out_5345110950533960314[1] = 0; + out_5345110950533960314[2] = 0; + out_5345110950533960314[3] = 0; + out_5345110950533960314[4] = 0; + out_5345110950533960314[5] = 0; + out_5345110950533960314[6] = 0; + out_5345110950533960314[7] = 0; + out_5345110950533960314[8] = 0; } -void h_31(double *state, double *unused, double *out_2741168024264044953) { - out_2741168024264044953[0] = state[8]; +void h_31(double *state, double *unused, double *out_4090110893946851470) { + out_4090110893946851470[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1454975339913398454) { - out_1454975339913398454[0] = 0; - out_1454975339913398454[1] = 0; - out_1454975339913398454[2] = 0; - out_1454975339913398454[3] = 0; - out_1454975339913398454[4] = 0; - out_1454975339913398454[5] = 0; - out_1454975339913398454[6] = 0; - out_1454975339913398454[7] = 0; - out_1454975339913398454[8] = 1; +void H_31(double *state, double *unused, double *out_7658987657393478251) { + out_7658987657393478251[0] = 0; + out_7658987657393478251[1] = 0; + out_7658987657393478251[2] = 0; + out_7658987657393478251[3] = 0; + out_7658987657393478251[4] = 0; + out_7658987657393478251[5] = 0; + out_7658987657393478251[6] = 0; + out_7658987657393478251[7] = 0; + out_7658987657393478251[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_6543135761510689107) { - err_fun(nom_x, delta_x, out_6543135761510689107); +void car_err_fun(double *nom_x, double *delta_x, double *out_2580454465484491227) { + err_fun(nom_x, delta_x, out_2580454465484491227); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2331655545426529005) { - inv_err_fun(nom_x, true_x, out_2331655545426529005); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5942980338533536074) { + inv_err_fun(nom_x, true_x, out_5942980338533536074); } -void car_H_mod_fun(double *state, double *out_6389313126975023722) { - H_mod_fun(state, out_6389313126975023722); +void car_H_mod_fun(double *state, double *out_8194968061470735391) { + H_mod_fun(state, out_8194968061470735391); } -void car_f_fun(double *state, double dt, double *out_4897785971793930733) { - f_fun(state, dt, out_4897785971793930733); +void car_f_fun(double *state, double dt, double *out_4786356323138029797) { + f_fun(state, dt, out_4786356323138029797); } -void car_F_fun(double *state, double dt, double *out_1120359963151235251) { - F_fun(state, dt, out_1120359963151235251); +void car_F_fun(double *state, double dt, double *out_9135511833511698372) { + F_fun(state, dt, out_9135511833511698372); } -void car_h_25(double *state, double *unused, double *out_2169501381777287353) { - h_25(state, unused, out_2169501381777287353); +void car_h_25(double *state, double *unused, double *out_8083637761377658508) { + h_25(state, unused, out_8083637761377658508); } -void car_H_25(double *state, double *unused, double *out_1485621301790358882) { - H_25(state, unused, out_1485621301790358882); +void car_H_25(double *state, double *unused, double *out_3291276236286070551) { + H_25(state, unused, out_3291276236286070551); } -void car_h_24(double *state, double *unused, double *out_8386299954951130399) { - h_24(state, unused, out_8386299954951130399); +void car_h_24(double *state, double *unused, double *out_6440652138727823346) { + h_24(state, unused, out_6440652138727823346); } -void car_H_24(double *state, double *unused, double *out_1956078783833697606) { - H_24(state, unused, out_1956078783833697606); +void car_H_24(double *state, double *unused, double *out_8160091101313777403) { + H_24(state, unused, out_8160091101313777403); } -void car_h_30(double *state, double *unused, double *out_2444695444061793242) { - h_30(state, unused, out_2444695444061793242); +void car_h_30(double *state, double *unused, double *out_5991949765328664151) { + h_30(state, unused, out_5991949765328664151); } -void car_H_30(double *state, double *unused, double *out_6013317631917967080) { - H_30(state, unused, out_6013317631917967080); +void car_H_30(double *state, double *unused, double *out_7818972566413678749) { + H_30(state, unused, out_7818972566413678749); } -void car_h_26(double *state, double *unused, double *out_2413046201872073325) { - h_26(state, unused, out_2413046201872073325); +void car_h_26(double *state, double *unused, double *out_8397464415311706259) { + h_26(state, unused, out_8397464415311706259); } -void car_H_26(double *state, double *unused, double *out_5227124620664415106) { - H_26(state, unused, out_5227124620664415106); +void car_H_26(double *state, double *unused, double *out_7032779555160126775) { + H_26(state, unused, out_7032779555160126775); } -void car_h_27(double *state, double *unused, double *out_6236155437866939300) { - h_27(state, unused, out_6236155437866939300); +void car_h_27(double *state, double *unused, double *out_1186756435998500064) { + h_27(state, unused, out_1186756435998500064); } -void car_H_27(double *state, double *unused, double *out_3789723560734023863) { - H_27(state, unused, out_3789723560734023863); +void car_H_27(double *state, double *unused, double *out_5595378495229735532) { + H_27(state, unused, out_5595378495229735532); } -void car_h_29(double *state, double *unused, double *out_1645117212887109885) { - h_29(state, unused, out_1645117212887109885); +void car_h_29(double *state, double *unused, double *out_4824205964252522414) { + h_29(state, unused, out_4824205964252522414); } -void car_H_29(double *state, double *unused, double *out_5503086287603574896) { - H_29(state, unused, out_5503086287603574896); +void car_H_29(double *state, double *unused, double *out_7308741222099286565) { + H_29(state, unused, out_7308741222099286565); } -void car_h_28(double *state, double *unused, double *out_5811547118428763170) { - h_28(state, unused, out_5811547118428763170); +void car_h_28(double *state, double *unused, double *out_936072129372815930) { + h_28(state, unused, out_936072129372815930); } -void car_H_28(double *state, double *unused, double *out_3539456016038248645) { - H_28(state, unused, out_3539456016038248645); +void car_H_28(double *state, double *unused, double *out_5345110950533960314) { + H_28(state, unused, out_5345110950533960314); } -void car_h_31(double *state, double *unused, double *out_2741168024264044953) { - h_31(state, unused, out_2741168024264044953); +void car_h_31(double *state, double *unused, double *out_4090110893946851470) { + h_31(state, unused, out_4090110893946851470); } -void car_H_31(double *state, double *unused, double *out_1454975339913398454) { - H_31(state, unused, out_1454975339913398454); +void car_H_31(double *state, double *unused, double *out_7658987657393478251) { + H_31(state, unused, out_7658987657393478251); } 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 522a103528..b9a3ea4ea3 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_6543135761510689107); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2331655545426529005); -void car_H_mod_fun(double *state, double *out_6389313126975023722); -void car_f_fun(double *state, double dt, double *out_4897785971793930733); -void car_F_fun(double *state, double dt, double *out_1120359963151235251); -void car_h_25(double *state, double *unused, double *out_2169501381777287353); -void car_H_25(double *state, double *unused, double *out_1485621301790358882); -void car_h_24(double *state, double *unused, double *out_8386299954951130399); -void car_H_24(double *state, double *unused, double *out_1956078783833697606); -void car_h_30(double *state, double *unused, double *out_2444695444061793242); -void car_H_30(double *state, double *unused, double *out_6013317631917967080); -void car_h_26(double *state, double *unused, double *out_2413046201872073325); -void car_H_26(double *state, double *unused, double *out_5227124620664415106); -void car_h_27(double *state, double *unused, double *out_6236155437866939300); -void car_H_27(double *state, double *unused, double *out_3789723560734023863); -void car_h_29(double *state, double *unused, double *out_1645117212887109885); -void car_H_29(double *state, double *unused, double *out_5503086287603574896); -void car_h_28(double *state, double *unused, double *out_5811547118428763170); -void car_H_28(double *state, double *unused, double *out_3539456016038248645); -void car_h_31(double *state, double *unused, double *out_2741168024264044953); -void car_H_31(double *state, double *unused, double *out_1454975339913398454); +void car_err_fun(double *nom_x, double *delta_x, double *out_2580454465484491227); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5942980338533536074); +void car_H_mod_fun(double *state, double *out_8194968061470735391); +void car_f_fun(double *state, double dt, double *out_4786356323138029797); +void car_F_fun(double *state, double dt, double *out_9135511833511698372); +void car_h_25(double *state, double *unused, double *out_8083637761377658508); +void car_H_25(double *state, double *unused, double *out_3291276236286070551); +void car_h_24(double *state, double *unused, double *out_6440652138727823346); +void car_H_24(double *state, double *unused, double *out_8160091101313777403); +void car_h_30(double *state, double *unused, double *out_5991949765328664151); +void car_H_30(double *state, double *unused, double *out_7818972566413678749); +void car_h_26(double *state, double *unused, double *out_8397464415311706259); +void car_H_26(double *state, double *unused, double *out_7032779555160126775); +void car_h_27(double *state, double *unused, double *out_1186756435998500064); +void car_H_27(double *state, double *unused, double *out_5595378495229735532); +void car_h_29(double *state, double *unused, double *out_4824205964252522414); +void car_H_29(double *state, double *unused, double *out_7308741222099286565); +void car_h_28(double *state, double *unused, double *out_936072129372815930); +void car_H_28(double *state, double *unused, double *out_5345110950533960314); +void car_h_31(double *state, double *unused, double *out_4090110893946851470); +void car_H_31(double *state, double *unused, double *out_7658987657393478251); 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/car.os b/selfdrive/locationd/models/generated/car.os index 763f6afba2..6d7a588d97 100644 Binary files a/selfdrive/locationd/models/generated/car.os and b/selfdrive/locationd/models/generated/car.os differ diff --git a/selfdrive/locationd/models/generated/libcar.so b/selfdrive/locationd/models/generated/libcar.so index e66b841c4e..ec2c55555b 100755 Binary files a/selfdrive/locationd/models/generated/libcar.so and b/selfdrive/locationd/models/generated/libcar.so differ diff --git a/selfdrive/locationd/models/generated/libpose.so b/selfdrive/locationd/models/generated/libpose.so index 1661647d9a..d89955950b 100755 Binary files a/selfdrive/locationd/models/generated/libpose.so and b/selfdrive/locationd/models/generated/libpose.so differ diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index d334d59f3e..40bfc35351 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_9222670015265418032) { - out_9222670015265418032[0] = delta_x[0] + nom_x[0]; - out_9222670015265418032[1] = delta_x[1] + nom_x[1]; - out_9222670015265418032[2] = delta_x[2] + nom_x[2]; - out_9222670015265418032[3] = delta_x[3] + nom_x[3]; - out_9222670015265418032[4] = delta_x[4] + nom_x[4]; - out_9222670015265418032[5] = delta_x[5] + nom_x[5]; - out_9222670015265418032[6] = delta_x[6] + nom_x[6]; - out_9222670015265418032[7] = delta_x[7] + nom_x[7]; - out_9222670015265418032[8] = delta_x[8] + nom_x[8]; - out_9222670015265418032[9] = delta_x[9] + nom_x[9]; - out_9222670015265418032[10] = delta_x[10] + nom_x[10]; - out_9222670015265418032[11] = delta_x[11] + nom_x[11]; - out_9222670015265418032[12] = delta_x[12] + nom_x[12]; - out_9222670015265418032[13] = delta_x[13] + nom_x[13]; - out_9222670015265418032[14] = delta_x[14] + nom_x[14]; - out_9222670015265418032[15] = delta_x[15] + nom_x[15]; - out_9222670015265418032[16] = delta_x[16] + nom_x[16]; - out_9222670015265418032[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_8427200704796300077) { + out_8427200704796300077[0] = delta_x[0] + nom_x[0]; + out_8427200704796300077[1] = delta_x[1] + nom_x[1]; + out_8427200704796300077[2] = delta_x[2] + nom_x[2]; + out_8427200704796300077[3] = delta_x[3] + nom_x[3]; + out_8427200704796300077[4] = delta_x[4] + nom_x[4]; + out_8427200704796300077[5] = delta_x[5] + nom_x[5]; + out_8427200704796300077[6] = delta_x[6] + nom_x[6]; + out_8427200704796300077[7] = delta_x[7] + nom_x[7]; + out_8427200704796300077[8] = delta_x[8] + nom_x[8]; + out_8427200704796300077[9] = delta_x[9] + nom_x[9]; + out_8427200704796300077[10] = delta_x[10] + nom_x[10]; + out_8427200704796300077[11] = delta_x[11] + nom_x[11]; + out_8427200704796300077[12] = delta_x[12] + nom_x[12]; + out_8427200704796300077[13] = delta_x[13] + nom_x[13]; + out_8427200704796300077[14] = delta_x[14] + nom_x[14]; + out_8427200704796300077[15] = delta_x[15] + nom_x[15]; + out_8427200704796300077[16] = delta_x[16] + nom_x[16]; + out_8427200704796300077[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6734711869955682828) { - out_6734711869955682828[0] = -nom_x[0] + true_x[0]; - out_6734711869955682828[1] = -nom_x[1] + true_x[1]; - out_6734711869955682828[2] = -nom_x[2] + true_x[2]; - out_6734711869955682828[3] = -nom_x[3] + true_x[3]; - out_6734711869955682828[4] = -nom_x[4] + true_x[4]; - out_6734711869955682828[5] = -nom_x[5] + true_x[5]; - out_6734711869955682828[6] = -nom_x[6] + true_x[6]; - out_6734711869955682828[7] = -nom_x[7] + true_x[7]; - out_6734711869955682828[8] = -nom_x[8] + true_x[8]; - out_6734711869955682828[9] = -nom_x[9] + true_x[9]; - out_6734711869955682828[10] = -nom_x[10] + true_x[10]; - out_6734711869955682828[11] = -nom_x[11] + true_x[11]; - out_6734711869955682828[12] = -nom_x[12] + true_x[12]; - out_6734711869955682828[13] = -nom_x[13] + true_x[13]; - out_6734711869955682828[14] = -nom_x[14] + true_x[14]; - out_6734711869955682828[15] = -nom_x[15] + true_x[15]; - out_6734711869955682828[16] = -nom_x[16] + true_x[16]; - out_6734711869955682828[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_209888032840788679) { + out_209888032840788679[0] = -nom_x[0] + true_x[0]; + out_209888032840788679[1] = -nom_x[1] + true_x[1]; + out_209888032840788679[2] = -nom_x[2] + true_x[2]; + out_209888032840788679[3] = -nom_x[3] + true_x[3]; + out_209888032840788679[4] = -nom_x[4] + true_x[4]; + out_209888032840788679[5] = -nom_x[5] + true_x[5]; + out_209888032840788679[6] = -nom_x[6] + true_x[6]; + out_209888032840788679[7] = -nom_x[7] + true_x[7]; + out_209888032840788679[8] = -nom_x[8] + true_x[8]; + out_209888032840788679[9] = -nom_x[9] + true_x[9]; + out_209888032840788679[10] = -nom_x[10] + true_x[10]; + out_209888032840788679[11] = -nom_x[11] + true_x[11]; + out_209888032840788679[12] = -nom_x[12] + true_x[12]; + out_209888032840788679[13] = -nom_x[13] + true_x[13]; + out_209888032840788679[14] = -nom_x[14] + true_x[14]; + out_209888032840788679[15] = -nom_x[15] + true_x[15]; + out_209888032840788679[16] = -nom_x[16] + true_x[16]; + out_209888032840788679[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3054834377026573453) { - out_3054834377026573453[0] = 1.0; - out_3054834377026573453[1] = 0.0; - out_3054834377026573453[2] = 0.0; - out_3054834377026573453[3] = 0.0; - out_3054834377026573453[4] = 0.0; - out_3054834377026573453[5] = 0.0; - out_3054834377026573453[6] = 0.0; - out_3054834377026573453[7] = 0.0; - out_3054834377026573453[8] = 0.0; - out_3054834377026573453[9] = 0.0; - out_3054834377026573453[10] = 0.0; - out_3054834377026573453[11] = 0.0; - out_3054834377026573453[12] = 0.0; - out_3054834377026573453[13] = 0.0; - out_3054834377026573453[14] = 0.0; - out_3054834377026573453[15] = 0.0; - out_3054834377026573453[16] = 0.0; - out_3054834377026573453[17] = 0.0; - out_3054834377026573453[18] = 0.0; - out_3054834377026573453[19] = 1.0; - out_3054834377026573453[20] = 0.0; - out_3054834377026573453[21] = 0.0; - out_3054834377026573453[22] = 0.0; - out_3054834377026573453[23] = 0.0; - out_3054834377026573453[24] = 0.0; - out_3054834377026573453[25] = 0.0; - out_3054834377026573453[26] = 0.0; - out_3054834377026573453[27] = 0.0; - out_3054834377026573453[28] = 0.0; - out_3054834377026573453[29] = 0.0; - out_3054834377026573453[30] = 0.0; - out_3054834377026573453[31] = 0.0; - out_3054834377026573453[32] = 0.0; - out_3054834377026573453[33] = 0.0; - out_3054834377026573453[34] = 0.0; - out_3054834377026573453[35] = 0.0; - out_3054834377026573453[36] = 0.0; - out_3054834377026573453[37] = 0.0; - out_3054834377026573453[38] = 1.0; - out_3054834377026573453[39] = 0.0; - out_3054834377026573453[40] = 0.0; - out_3054834377026573453[41] = 0.0; - out_3054834377026573453[42] = 0.0; - out_3054834377026573453[43] = 0.0; - out_3054834377026573453[44] = 0.0; - out_3054834377026573453[45] = 0.0; - out_3054834377026573453[46] = 0.0; - out_3054834377026573453[47] = 0.0; - out_3054834377026573453[48] = 0.0; - out_3054834377026573453[49] = 0.0; - out_3054834377026573453[50] = 0.0; - out_3054834377026573453[51] = 0.0; - out_3054834377026573453[52] = 0.0; - out_3054834377026573453[53] = 0.0; - out_3054834377026573453[54] = 0.0; - out_3054834377026573453[55] = 0.0; - out_3054834377026573453[56] = 0.0; - out_3054834377026573453[57] = 1.0; - out_3054834377026573453[58] = 0.0; - out_3054834377026573453[59] = 0.0; - out_3054834377026573453[60] = 0.0; - out_3054834377026573453[61] = 0.0; - out_3054834377026573453[62] = 0.0; - out_3054834377026573453[63] = 0.0; - out_3054834377026573453[64] = 0.0; - out_3054834377026573453[65] = 0.0; - out_3054834377026573453[66] = 0.0; - out_3054834377026573453[67] = 0.0; - out_3054834377026573453[68] = 0.0; - out_3054834377026573453[69] = 0.0; - out_3054834377026573453[70] = 0.0; - out_3054834377026573453[71] = 0.0; - out_3054834377026573453[72] = 0.0; - out_3054834377026573453[73] = 0.0; - out_3054834377026573453[74] = 0.0; - out_3054834377026573453[75] = 0.0; - out_3054834377026573453[76] = 1.0; - out_3054834377026573453[77] = 0.0; - out_3054834377026573453[78] = 0.0; - out_3054834377026573453[79] = 0.0; - out_3054834377026573453[80] = 0.0; - out_3054834377026573453[81] = 0.0; - out_3054834377026573453[82] = 0.0; - out_3054834377026573453[83] = 0.0; - out_3054834377026573453[84] = 0.0; - out_3054834377026573453[85] = 0.0; - out_3054834377026573453[86] = 0.0; - out_3054834377026573453[87] = 0.0; - out_3054834377026573453[88] = 0.0; - out_3054834377026573453[89] = 0.0; - out_3054834377026573453[90] = 0.0; - out_3054834377026573453[91] = 0.0; - out_3054834377026573453[92] = 0.0; - out_3054834377026573453[93] = 0.0; - out_3054834377026573453[94] = 0.0; - out_3054834377026573453[95] = 1.0; - out_3054834377026573453[96] = 0.0; - out_3054834377026573453[97] = 0.0; - out_3054834377026573453[98] = 0.0; - out_3054834377026573453[99] = 0.0; - out_3054834377026573453[100] = 0.0; - out_3054834377026573453[101] = 0.0; - out_3054834377026573453[102] = 0.0; - out_3054834377026573453[103] = 0.0; - out_3054834377026573453[104] = 0.0; - out_3054834377026573453[105] = 0.0; - out_3054834377026573453[106] = 0.0; - out_3054834377026573453[107] = 0.0; - out_3054834377026573453[108] = 0.0; - out_3054834377026573453[109] = 0.0; - out_3054834377026573453[110] = 0.0; - out_3054834377026573453[111] = 0.0; - out_3054834377026573453[112] = 0.0; - out_3054834377026573453[113] = 0.0; - out_3054834377026573453[114] = 1.0; - out_3054834377026573453[115] = 0.0; - out_3054834377026573453[116] = 0.0; - out_3054834377026573453[117] = 0.0; - out_3054834377026573453[118] = 0.0; - out_3054834377026573453[119] = 0.0; - out_3054834377026573453[120] = 0.0; - out_3054834377026573453[121] = 0.0; - out_3054834377026573453[122] = 0.0; - out_3054834377026573453[123] = 0.0; - out_3054834377026573453[124] = 0.0; - out_3054834377026573453[125] = 0.0; - out_3054834377026573453[126] = 0.0; - out_3054834377026573453[127] = 0.0; - out_3054834377026573453[128] = 0.0; - out_3054834377026573453[129] = 0.0; - out_3054834377026573453[130] = 0.0; - out_3054834377026573453[131] = 0.0; - out_3054834377026573453[132] = 0.0; - out_3054834377026573453[133] = 1.0; - out_3054834377026573453[134] = 0.0; - out_3054834377026573453[135] = 0.0; - out_3054834377026573453[136] = 0.0; - out_3054834377026573453[137] = 0.0; - out_3054834377026573453[138] = 0.0; - out_3054834377026573453[139] = 0.0; - out_3054834377026573453[140] = 0.0; - out_3054834377026573453[141] = 0.0; - out_3054834377026573453[142] = 0.0; - out_3054834377026573453[143] = 0.0; - out_3054834377026573453[144] = 0.0; - out_3054834377026573453[145] = 0.0; - out_3054834377026573453[146] = 0.0; - out_3054834377026573453[147] = 0.0; - out_3054834377026573453[148] = 0.0; - out_3054834377026573453[149] = 0.0; - out_3054834377026573453[150] = 0.0; - out_3054834377026573453[151] = 0.0; - out_3054834377026573453[152] = 1.0; - out_3054834377026573453[153] = 0.0; - out_3054834377026573453[154] = 0.0; - out_3054834377026573453[155] = 0.0; - out_3054834377026573453[156] = 0.0; - out_3054834377026573453[157] = 0.0; - out_3054834377026573453[158] = 0.0; - out_3054834377026573453[159] = 0.0; - out_3054834377026573453[160] = 0.0; - out_3054834377026573453[161] = 0.0; - out_3054834377026573453[162] = 0.0; - out_3054834377026573453[163] = 0.0; - out_3054834377026573453[164] = 0.0; - out_3054834377026573453[165] = 0.0; - out_3054834377026573453[166] = 0.0; - out_3054834377026573453[167] = 0.0; - out_3054834377026573453[168] = 0.0; - out_3054834377026573453[169] = 0.0; - out_3054834377026573453[170] = 0.0; - out_3054834377026573453[171] = 1.0; - out_3054834377026573453[172] = 0.0; - out_3054834377026573453[173] = 0.0; - out_3054834377026573453[174] = 0.0; - out_3054834377026573453[175] = 0.0; - out_3054834377026573453[176] = 0.0; - out_3054834377026573453[177] = 0.0; - out_3054834377026573453[178] = 0.0; - out_3054834377026573453[179] = 0.0; - out_3054834377026573453[180] = 0.0; - out_3054834377026573453[181] = 0.0; - out_3054834377026573453[182] = 0.0; - out_3054834377026573453[183] = 0.0; - out_3054834377026573453[184] = 0.0; - out_3054834377026573453[185] = 0.0; - out_3054834377026573453[186] = 0.0; - out_3054834377026573453[187] = 0.0; - out_3054834377026573453[188] = 0.0; - out_3054834377026573453[189] = 0.0; - out_3054834377026573453[190] = 1.0; - out_3054834377026573453[191] = 0.0; - out_3054834377026573453[192] = 0.0; - out_3054834377026573453[193] = 0.0; - out_3054834377026573453[194] = 0.0; - out_3054834377026573453[195] = 0.0; - out_3054834377026573453[196] = 0.0; - out_3054834377026573453[197] = 0.0; - out_3054834377026573453[198] = 0.0; - out_3054834377026573453[199] = 0.0; - out_3054834377026573453[200] = 0.0; - out_3054834377026573453[201] = 0.0; - out_3054834377026573453[202] = 0.0; - out_3054834377026573453[203] = 0.0; - out_3054834377026573453[204] = 0.0; - out_3054834377026573453[205] = 0.0; - out_3054834377026573453[206] = 0.0; - out_3054834377026573453[207] = 0.0; - out_3054834377026573453[208] = 0.0; - out_3054834377026573453[209] = 1.0; - out_3054834377026573453[210] = 0.0; - out_3054834377026573453[211] = 0.0; - out_3054834377026573453[212] = 0.0; - out_3054834377026573453[213] = 0.0; - out_3054834377026573453[214] = 0.0; - out_3054834377026573453[215] = 0.0; - out_3054834377026573453[216] = 0.0; - out_3054834377026573453[217] = 0.0; - out_3054834377026573453[218] = 0.0; - out_3054834377026573453[219] = 0.0; - out_3054834377026573453[220] = 0.0; - out_3054834377026573453[221] = 0.0; - out_3054834377026573453[222] = 0.0; - out_3054834377026573453[223] = 0.0; - out_3054834377026573453[224] = 0.0; - out_3054834377026573453[225] = 0.0; - out_3054834377026573453[226] = 0.0; - out_3054834377026573453[227] = 0.0; - out_3054834377026573453[228] = 1.0; - out_3054834377026573453[229] = 0.0; - out_3054834377026573453[230] = 0.0; - out_3054834377026573453[231] = 0.0; - out_3054834377026573453[232] = 0.0; - out_3054834377026573453[233] = 0.0; - out_3054834377026573453[234] = 0.0; - out_3054834377026573453[235] = 0.0; - out_3054834377026573453[236] = 0.0; - out_3054834377026573453[237] = 0.0; - out_3054834377026573453[238] = 0.0; - out_3054834377026573453[239] = 0.0; - out_3054834377026573453[240] = 0.0; - out_3054834377026573453[241] = 0.0; - out_3054834377026573453[242] = 0.0; - out_3054834377026573453[243] = 0.0; - out_3054834377026573453[244] = 0.0; - out_3054834377026573453[245] = 0.0; - out_3054834377026573453[246] = 0.0; - out_3054834377026573453[247] = 1.0; - out_3054834377026573453[248] = 0.0; - out_3054834377026573453[249] = 0.0; - out_3054834377026573453[250] = 0.0; - out_3054834377026573453[251] = 0.0; - out_3054834377026573453[252] = 0.0; - out_3054834377026573453[253] = 0.0; - out_3054834377026573453[254] = 0.0; - out_3054834377026573453[255] = 0.0; - out_3054834377026573453[256] = 0.0; - out_3054834377026573453[257] = 0.0; - out_3054834377026573453[258] = 0.0; - out_3054834377026573453[259] = 0.0; - out_3054834377026573453[260] = 0.0; - out_3054834377026573453[261] = 0.0; - out_3054834377026573453[262] = 0.0; - out_3054834377026573453[263] = 0.0; - out_3054834377026573453[264] = 0.0; - out_3054834377026573453[265] = 0.0; - out_3054834377026573453[266] = 1.0; - out_3054834377026573453[267] = 0.0; - out_3054834377026573453[268] = 0.0; - out_3054834377026573453[269] = 0.0; - out_3054834377026573453[270] = 0.0; - out_3054834377026573453[271] = 0.0; - out_3054834377026573453[272] = 0.0; - out_3054834377026573453[273] = 0.0; - out_3054834377026573453[274] = 0.0; - out_3054834377026573453[275] = 0.0; - out_3054834377026573453[276] = 0.0; - out_3054834377026573453[277] = 0.0; - out_3054834377026573453[278] = 0.0; - out_3054834377026573453[279] = 0.0; - out_3054834377026573453[280] = 0.0; - out_3054834377026573453[281] = 0.0; - out_3054834377026573453[282] = 0.0; - out_3054834377026573453[283] = 0.0; - out_3054834377026573453[284] = 0.0; - out_3054834377026573453[285] = 1.0; - out_3054834377026573453[286] = 0.0; - out_3054834377026573453[287] = 0.0; - out_3054834377026573453[288] = 0.0; - out_3054834377026573453[289] = 0.0; - out_3054834377026573453[290] = 0.0; - out_3054834377026573453[291] = 0.0; - out_3054834377026573453[292] = 0.0; - out_3054834377026573453[293] = 0.0; - out_3054834377026573453[294] = 0.0; - out_3054834377026573453[295] = 0.0; - out_3054834377026573453[296] = 0.0; - out_3054834377026573453[297] = 0.0; - out_3054834377026573453[298] = 0.0; - out_3054834377026573453[299] = 0.0; - out_3054834377026573453[300] = 0.0; - out_3054834377026573453[301] = 0.0; - out_3054834377026573453[302] = 0.0; - out_3054834377026573453[303] = 0.0; - out_3054834377026573453[304] = 1.0; - out_3054834377026573453[305] = 0.0; - out_3054834377026573453[306] = 0.0; - out_3054834377026573453[307] = 0.0; - out_3054834377026573453[308] = 0.0; - out_3054834377026573453[309] = 0.0; - out_3054834377026573453[310] = 0.0; - out_3054834377026573453[311] = 0.0; - out_3054834377026573453[312] = 0.0; - out_3054834377026573453[313] = 0.0; - out_3054834377026573453[314] = 0.0; - out_3054834377026573453[315] = 0.0; - out_3054834377026573453[316] = 0.0; - out_3054834377026573453[317] = 0.0; - out_3054834377026573453[318] = 0.0; - out_3054834377026573453[319] = 0.0; - out_3054834377026573453[320] = 0.0; - out_3054834377026573453[321] = 0.0; - out_3054834377026573453[322] = 0.0; - out_3054834377026573453[323] = 1.0; +void H_mod_fun(double *state, double *out_5010822586708507522) { + out_5010822586708507522[0] = 1.0; + out_5010822586708507522[1] = 0.0; + out_5010822586708507522[2] = 0.0; + out_5010822586708507522[3] = 0.0; + out_5010822586708507522[4] = 0.0; + out_5010822586708507522[5] = 0.0; + out_5010822586708507522[6] = 0.0; + out_5010822586708507522[7] = 0.0; + out_5010822586708507522[8] = 0.0; + out_5010822586708507522[9] = 0.0; + out_5010822586708507522[10] = 0.0; + out_5010822586708507522[11] = 0.0; + out_5010822586708507522[12] = 0.0; + out_5010822586708507522[13] = 0.0; + out_5010822586708507522[14] = 0.0; + out_5010822586708507522[15] = 0.0; + out_5010822586708507522[16] = 0.0; + out_5010822586708507522[17] = 0.0; + out_5010822586708507522[18] = 0.0; + out_5010822586708507522[19] = 1.0; + out_5010822586708507522[20] = 0.0; + out_5010822586708507522[21] = 0.0; + out_5010822586708507522[22] = 0.0; + out_5010822586708507522[23] = 0.0; + out_5010822586708507522[24] = 0.0; + out_5010822586708507522[25] = 0.0; + out_5010822586708507522[26] = 0.0; + out_5010822586708507522[27] = 0.0; + out_5010822586708507522[28] = 0.0; + out_5010822586708507522[29] = 0.0; + out_5010822586708507522[30] = 0.0; + out_5010822586708507522[31] = 0.0; + out_5010822586708507522[32] = 0.0; + out_5010822586708507522[33] = 0.0; + out_5010822586708507522[34] = 0.0; + out_5010822586708507522[35] = 0.0; + out_5010822586708507522[36] = 0.0; + out_5010822586708507522[37] = 0.0; + out_5010822586708507522[38] = 1.0; + out_5010822586708507522[39] = 0.0; + out_5010822586708507522[40] = 0.0; + out_5010822586708507522[41] = 0.0; + out_5010822586708507522[42] = 0.0; + out_5010822586708507522[43] = 0.0; + out_5010822586708507522[44] = 0.0; + out_5010822586708507522[45] = 0.0; + out_5010822586708507522[46] = 0.0; + out_5010822586708507522[47] = 0.0; + out_5010822586708507522[48] = 0.0; + out_5010822586708507522[49] = 0.0; + out_5010822586708507522[50] = 0.0; + out_5010822586708507522[51] = 0.0; + out_5010822586708507522[52] = 0.0; + out_5010822586708507522[53] = 0.0; + out_5010822586708507522[54] = 0.0; + out_5010822586708507522[55] = 0.0; + out_5010822586708507522[56] = 0.0; + out_5010822586708507522[57] = 1.0; + out_5010822586708507522[58] = 0.0; + out_5010822586708507522[59] = 0.0; + out_5010822586708507522[60] = 0.0; + out_5010822586708507522[61] = 0.0; + out_5010822586708507522[62] = 0.0; + out_5010822586708507522[63] = 0.0; + out_5010822586708507522[64] = 0.0; + out_5010822586708507522[65] = 0.0; + out_5010822586708507522[66] = 0.0; + out_5010822586708507522[67] = 0.0; + out_5010822586708507522[68] = 0.0; + out_5010822586708507522[69] = 0.0; + out_5010822586708507522[70] = 0.0; + out_5010822586708507522[71] = 0.0; + out_5010822586708507522[72] = 0.0; + out_5010822586708507522[73] = 0.0; + out_5010822586708507522[74] = 0.0; + out_5010822586708507522[75] = 0.0; + out_5010822586708507522[76] = 1.0; + out_5010822586708507522[77] = 0.0; + out_5010822586708507522[78] = 0.0; + out_5010822586708507522[79] = 0.0; + out_5010822586708507522[80] = 0.0; + out_5010822586708507522[81] = 0.0; + out_5010822586708507522[82] = 0.0; + out_5010822586708507522[83] = 0.0; + out_5010822586708507522[84] = 0.0; + out_5010822586708507522[85] = 0.0; + out_5010822586708507522[86] = 0.0; + out_5010822586708507522[87] = 0.0; + out_5010822586708507522[88] = 0.0; + out_5010822586708507522[89] = 0.0; + out_5010822586708507522[90] = 0.0; + out_5010822586708507522[91] = 0.0; + out_5010822586708507522[92] = 0.0; + out_5010822586708507522[93] = 0.0; + out_5010822586708507522[94] = 0.0; + out_5010822586708507522[95] = 1.0; + out_5010822586708507522[96] = 0.0; + out_5010822586708507522[97] = 0.0; + out_5010822586708507522[98] = 0.0; + out_5010822586708507522[99] = 0.0; + out_5010822586708507522[100] = 0.0; + out_5010822586708507522[101] = 0.0; + out_5010822586708507522[102] = 0.0; + out_5010822586708507522[103] = 0.0; + out_5010822586708507522[104] = 0.0; + out_5010822586708507522[105] = 0.0; + out_5010822586708507522[106] = 0.0; + out_5010822586708507522[107] = 0.0; + out_5010822586708507522[108] = 0.0; + out_5010822586708507522[109] = 0.0; + out_5010822586708507522[110] = 0.0; + out_5010822586708507522[111] = 0.0; + out_5010822586708507522[112] = 0.0; + out_5010822586708507522[113] = 0.0; + out_5010822586708507522[114] = 1.0; + out_5010822586708507522[115] = 0.0; + out_5010822586708507522[116] = 0.0; + out_5010822586708507522[117] = 0.0; + out_5010822586708507522[118] = 0.0; + out_5010822586708507522[119] = 0.0; + out_5010822586708507522[120] = 0.0; + out_5010822586708507522[121] = 0.0; + out_5010822586708507522[122] = 0.0; + out_5010822586708507522[123] = 0.0; + out_5010822586708507522[124] = 0.0; + out_5010822586708507522[125] = 0.0; + out_5010822586708507522[126] = 0.0; + out_5010822586708507522[127] = 0.0; + out_5010822586708507522[128] = 0.0; + out_5010822586708507522[129] = 0.0; + out_5010822586708507522[130] = 0.0; + out_5010822586708507522[131] = 0.0; + out_5010822586708507522[132] = 0.0; + out_5010822586708507522[133] = 1.0; + out_5010822586708507522[134] = 0.0; + out_5010822586708507522[135] = 0.0; + out_5010822586708507522[136] = 0.0; + out_5010822586708507522[137] = 0.0; + out_5010822586708507522[138] = 0.0; + out_5010822586708507522[139] = 0.0; + out_5010822586708507522[140] = 0.0; + out_5010822586708507522[141] = 0.0; + out_5010822586708507522[142] = 0.0; + out_5010822586708507522[143] = 0.0; + out_5010822586708507522[144] = 0.0; + out_5010822586708507522[145] = 0.0; + out_5010822586708507522[146] = 0.0; + out_5010822586708507522[147] = 0.0; + out_5010822586708507522[148] = 0.0; + out_5010822586708507522[149] = 0.0; + out_5010822586708507522[150] = 0.0; + out_5010822586708507522[151] = 0.0; + out_5010822586708507522[152] = 1.0; + out_5010822586708507522[153] = 0.0; + out_5010822586708507522[154] = 0.0; + out_5010822586708507522[155] = 0.0; + out_5010822586708507522[156] = 0.0; + out_5010822586708507522[157] = 0.0; + out_5010822586708507522[158] = 0.0; + out_5010822586708507522[159] = 0.0; + out_5010822586708507522[160] = 0.0; + out_5010822586708507522[161] = 0.0; + out_5010822586708507522[162] = 0.0; + out_5010822586708507522[163] = 0.0; + out_5010822586708507522[164] = 0.0; + out_5010822586708507522[165] = 0.0; + out_5010822586708507522[166] = 0.0; + out_5010822586708507522[167] = 0.0; + out_5010822586708507522[168] = 0.0; + out_5010822586708507522[169] = 0.0; + out_5010822586708507522[170] = 0.0; + out_5010822586708507522[171] = 1.0; + out_5010822586708507522[172] = 0.0; + out_5010822586708507522[173] = 0.0; + out_5010822586708507522[174] = 0.0; + out_5010822586708507522[175] = 0.0; + out_5010822586708507522[176] = 0.0; + out_5010822586708507522[177] = 0.0; + out_5010822586708507522[178] = 0.0; + out_5010822586708507522[179] = 0.0; + out_5010822586708507522[180] = 0.0; + out_5010822586708507522[181] = 0.0; + out_5010822586708507522[182] = 0.0; + out_5010822586708507522[183] = 0.0; + out_5010822586708507522[184] = 0.0; + out_5010822586708507522[185] = 0.0; + out_5010822586708507522[186] = 0.0; + out_5010822586708507522[187] = 0.0; + out_5010822586708507522[188] = 0.0; + out_5010822586708507522[189] = 0.0; + out_5010822586708507522[190] = 1.0; + out_5010822586708507522[191] = 0.0; + out_5010822586708507522[192] = 0.0; + out_5010822586708507522[193] = 0.0; + out_5010822586708507522[194] = 0.0; + out_5010822586708507522[195] = 0.0; + out_5010822586708507522[196] = 0.0; + out_5010822586708507522[197] = 0.0; + out_5010822586708507522[198] = 0.0; + out_5010822586708507522[199] = 0.0; + out_5010822586708507522[200] = 0.0; + out_5010822586708507522[201] = 0.0; + out_5010822586708507522[202] = 0.0; + out_5010822586708507522[203] = 0.0; + out_5010822586708507522[204] = 0.0; + out_5010822586708507522[205] = 0.0; + out_5010822586708507522[206] = 0.0; + out_5010822586708507522[207] = 0.0; + out_5010822586708507522[208] = 0.0; + out_5010822586708507522[209] = 1.0; + out_5010822586708507522[210] = 0.0; + out_5010822586708507522[211] = 0.0; + out_5010822586708507522[212] = 0.0; + out_5010822586708507522[213] = 0.0; + out_5010822586708507522[214] = 0.0; + out_5010822586708507522[215] = 0.0; + out_5010822586708507522[216] = 0.0; + out_5010822586708507522[217] = 0.0; + out_5010822586708507522[218] = 0.0; + out_5010822586708507522[219] = 0.0; + out_5010822586708507522[220] = 0.0; + out_5010822586708507522[221] = 0.0; + out_5010822586708507522[222] = 0.0; + out_5010822586708507522[223] = 0.0; + out_5010822586708507522[224] = 0.0; + out_5010822586708507522[225] = 0.0; + out_5010822586708507522[226] = 0.0; + out_5010822586708507522[227] = 0.0; + out_5010822586708507522[228] = 1.0; + out_5010822586708507522[229] = 0.0; + out_5010822586708507522[230] = 0.0; + out_5010822586708507522[231] = 0.0; + out_5010822586708507522[232] = 0.0; + out_5010822586708507522[233] = 0.0; + out_5010822586708507522[234] = 0.0; + out_5010822586708507522[235] = 0.0; + out_5010822586708507522[236] = 0.0; + out_5010822586708507522[237] = 0.0; + out_5010822586708507522[238] = 0.0; + out_5010822586708507522[239] = 0.0; + out_5010822586708507522[240] = 0.0; + out_5010822586708507522[241] = 0.0; + out_5010822586708507522[242] = 0.0; + out_5010822586708507522[243] = 0.0; + out_5010822586708507522[244] = 0.0; + out_5010822586708507522[245] = 0.0; + out_5010822586708507522[246] = 0.0; + out_5010822586708507522[247] = 1.0; + out_5010822586708507522[248] = 0.0; + out_5010822586708507522[249] = 0.0; + out_5010822586708507522[250] = 0.0; + out_5010822586708507522[251] = 0.0; + out_5010822586708507522[252] = 0.0; + out_5010822586708507522[253] = 0.0; + out_5010822586708507522[254] = 0.0; + out_5010822586708507522[255] = 0.0; + out_5010822586708507522[256] = 0.0; + out_5010822586708507522[257] = 0.0; + out_5010822586708507522[258] = 0.0; + out_5010822586708507522[259] = 0.0; + out_5010822586708507522[260] = 0.0; + out_5010822586708507522[261] = 0.0; + out_5010822586708507522[262] = 0.0; + out_5010822586708507522[263] = 0.0; + out_5010822586708507522[264] = 0.0; + out_5010822586708507522[265] = 0.0; + out_5010822586708507522[266] = 1.0; + out_5010822586708507522[267] = 0.0; + out_5010822586708507522[268] = 0.0; + out_5010822586708507522[269] = 0.0; + out_5010822586708507522[270] = 0.0; + out_5010822586708507522[271] = 0.0; + out_5010822586708507522[272] = 0.0; + out_5010822586708507522[273] = 0.0; + out_5010822586708507522[274] = 0.0; + out_5010822586708507522[275] = 0.0; + out_5010822586708507522[276] = 0.0; + out_5010822586708507522[277] = 0.0; + out_5010822586708507522[278] = 0.0; + out_5010822586708507522[279] = 0.0; + out_5010822586708507522[280] = 0.0; + out_5010822586708507522[281] = 0.0; + out_5010822586708507522[282] = 0.0; + out_5010822586708507522[283] = 0.0; + out_5010822586708507522[284] = 0.0; + out_5010822586708507522[285] = 1.0; + out_5010822586708507522[286] = 0.0; + out_5010822586708507522[287] = 0.0; + out_5010822586708507522[288] = 0.0; + out_5010822586708507522[289] = 0.0; + out_5010822586708507522[290] = 0.0; + out_5010822586708507522[291] = 0.0; + out_5010822586708507522[292] = 0.0; + out_5010822586708507522[293] = 0.0; + out_5010822586708507522[294] = 0.0; + out_5010822586708507522[295] = 0.0; + out_5010822586708507522[296] = 0.0; + out_5010822586708507522[297] = 0.0; + out_5010822586708507522[298] = 0.0; + out_5010822586708507522[299] = 0.0; + out_5010822586708507522[300] = 0.0; + out_5010822586708507522[301] = 0.0; + out_5010822586708507522[302] = 0.0; + out_5010822586708507522[303] = 0.0; + out_5010822586708507522[304] = 1.0; + out_5010822586708507522[305] = 0.0; + out_5010822586708507522[306] = 0.0; + out_5010822586708507522[307] = 0.0; + out_5010822586708507522[308] = 0.0; + out_5010822586708507522[309] = 0.0; + out_5010822586708507522[310] = 0.0; + out_5010822586708507522[311] = 0.0; + out_5010822586708507522[312] = 0.0; + out_5010822586708507522[313] = 0.0; + out_5010822586708507522[314] = 0.0; + out_5010822586708507522[315] = 0.0; + out_5010822586708507522[316] = 0.0; + out_5010822586708507522[317] = 0.0; + out_5010822586708507522[318] = 0.0; + out_5010822586708507522[319] = 0.0; + out_5010822586708507522[320] = 0.0; + out_5010822586708507522[321] = 0.0; + out_5010822586708507522[322] = 0.0; + out_5010822586708507522[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6521868085604382140) { - out_6521868085604382140[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_6521868085604382140[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_6521868085604382140[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_6521868085604382140[3] = dt*state[12] + state[3]; - out_6521868085604382140[4] = dt*state[13] + state[4]; - out_6521868085604382140[5] = dt*state[14] + state[5]; - out_6521868085604382140[6] = state[6]; - out_6521868085604382140[7] = state[7]; - out_6521868085604382140[8] = state[8]; - out_6521868085604382140[9] = state[9]; - out_6521868085604382140[10] = state[10]; - out_6521868085604382140[11] = state[11]; - out_6521868085604382140[12] = state[12]; - out_6521868085604382140[13] = state[13]; - out_6521868085604382140[14] = state[14]; - out_6521868085604382140[15] = state[15]; - out_6521868085604382140[16] = state[16]; - out_6521868085604382140[17] = state[17]; +void f_fun(double *state, double dt, double *out_8028362113385460735) { + out_8028362113385460735[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_8028362113385460735[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_8028362113385460735[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_8028362113385460735[3] = dt*state[12] + state[3]; + out_8028362113385460735[4] = dt*state[13] + state[4]; + out_8028362113385460735[5] = dt*state[14] + state[5]; + out_8028362113385460735[6] = state[6]; + out_8028362113385460735[7] = state[7]; + out_8028362113385460735[8] = state[8]; + out_8028362113385460735[9] = state[9]; + out_8028362113385460735[10] = state[10]; + out_8028362113385460735[11] = state[11]; + out_8028362113385460735[12] = state[12]; + out_8028362113385460735[13] = state[13]; + out_8028362113385460735[14] = state[14]; + out_8028362113385460735[15] = state[15]; + out_8028362113385460735[16] = state[16]; + out_8028362113385460735[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7891921077140001268) { - out_7891921077140001268[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_7891921077140001268[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_7891921077140001268[2] = 0; - out_7891921077140001268[3] = 0; - out_7891921077140001268[4] = 0; - out_7891921077140001268[5] = 0; - out_7891921077140001268[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_7891921077140001268[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_7891921077140001268[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_7891921077140001268[9] = 0; - out_7891921077140001268[10] = 0; - out_7891921077140001268[11] = 0; - out_7891921077140001268[12] = 0; - out_7891921077140001268[13] = 0; - out_7891921077140001268[14] = 0; - out_7891921077140001268[15] = 0; - out_7891921077140001268[16] = 0; - out_7891921077140001268[17] = 0; - out_7891921077140001268[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_7891921077140001268[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_7891921077140001268[20] = 0; - out_7891921077140001268[21] = 0; - out_7891921077140001268[22] = 0; - out_7891921077140001268[23] = 0; - out_7891921077140001268[24] = 0; - out_7891921077140001268[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_7891921077140001268[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_7891921077140001268[27] = 0; - out_7891921077140001268[28] = 0; - out_7891921077140001268[29] = 0; - out_7891921077140001268[30] = 0; - out_7891921077140001268[31] = 0; - out_7891921077140001268[32] = 0; - out_7891921077140001268[33] = 0; - out_7891921077140001268[34] = 0; - out_7891921077140001268[35] = 0; - out_7891921077140001268[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_7891921077140001268[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_7891921077140001268[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_7891921077140001268[39] = 0; - out_7891921077140001268[40] = 0; - out_7891921077140001268[41] = 0; - out_7891921077140001268[42] = 0; - out_7891921077140001268[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_7891921077140001268[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_7891921077140001268[45] = 0; - out_7891921077140001268[46] = 0; - out_7891921077140001268[47] = 0; - out_7891921077140001268[48] = 0; - out_7891921077140001268[49] = 0; - out_7891921077140001268[50] = 0; - out_7891921077140001268[51] = 0; - out_7891921077140001268[52] = 0; - out_7891921077140001268[53] = 0; - out_7891921077140001268[54] = 0; - out_7891921077140001268[55] = 0; - out_7891921077140001268[56] = 0; - out_7891921077140001268[57] = 1; - out_7891921077140001268[58] = 0; - out_7891921077140001268[59] = 0; - out_7891921077140001268[60] = 0; - out_7891921077140001268[61] = 0; - out_7891921077140001268[62] = 0; - out_7891921077140001268[63] = 0; - out_7891921077140001268[64] = 0; - out_7891921077140001268[65] = 0; - out_7891921077140001268[66] = dt; - out_7891921077140001268[67] = 0; - out_7891921077140001268[68] = 0; - out_7891921077140001268[69] = 0; - out_7891921077140001268[70] = 0; - out_7891921077140001268[71] = 0; - out_7891921077140001268[72] = 0; - out_7891921077140001268[73] = 0; - out_7891921077140001268[74] = 0; - out_7891921077140001268[75] = 0; - out_7891921077140001268[76] = 1; - out_7891921077140001268[77] = 0; - out_7891921077140001268[78] = 0; - out_7891921077140001268[79] = 0; - out_7891921077140001268[80] = 0; - out_7891921077140001268[81] = 0; - out_7891921077140001268[82] = 0; - out_7891921077140001268[83] = 0; - out_7891921077140001268[84] = 0; - out_7891921077140001268[85] = dt; - out_7891921077140001268[86] = 0; - out_7891921077140001268[87] = 0; - out_7891921077140001268[88] = 0; - out_7891921077140001268[89] = 0; - out_7891921077140001268[90] = 0; - out_7891921077140001268[91] = 0; - out_7891921077140001268[92] = 0; - out_7891921077140001268[93] = 0; - out_7891921077140001268[94] = 0; - out_7891921077140001268[95] = 1; - out_7891921077140001268[96] = 0; - out_7891921077140001268[97] = 0; - out_7891921077140001268[98] = 0; - out_7891921077140001268[99] = 0; - out_7891921077140001268[100] = 0; - out_7891921077140001268[101] = 0; - out_7891921077140001268[102] = 0; - out_7891921077140001268[103] = 0; - out_7891921077140001268[104] = dt; - out_7891921077140001268[105] = 0; - out_7891921077140001268[106] = 0; - out_7891921077140001268[107] = 0; - out_7891921077140001268[108] = 0; - out_7891921077140001268[109] = 0; - out_7891921077140001268[110] = 0; - out_7891921077140001268[111] = 0; - out_7891921077140001268[112] = 0; - out_7891921077140001268[113] = 0; - out_7891921077140001268[114] = 1; - out_7891921077140001268[115] = 0; - out_7891921077140001268[116] = 0; - out_7891921077140001268[117] = 0; - out_7891921077140001268[118] = 0; - out_7891921077140001268[119] = 0; - out_7891921077140001268[120] = 0; - out_7891921077140001268[121] = 0; - out_7891921077140001268[122] = 0; - out_7891921077140001268[123] = 0; - out_7891921077140001268[124] = 0; - out_7891921077140001268[125] = 0; - out_7891921077140001268[126] = 0; - out_7891921077140001268[127] = 0; - out_7891921077140001268[128] = 0; - out_7891921077140001268[129] = 0; - out_7891921077140001268[130] = 0; - out_7891921077140001268[131] = 0; - out_7891921077140001268[132] = 0; - out_7891921077140001268[133] = 1; - out_7891921077140001268[134] = 0; - out_7891921077140001268[135] = 0; - out_7891921077140001268[136] = 0; - out_7891921077140001268[137] = 0; - out_7891921077140001268[138] = 0; - out_7891921077140001268[139] = 0; - out_7891921077140001268[140] = 0; - out_7891921077140001268[141] = 0; - out_7891921077140001268[142] = 0; - out_7891921077140001268[143] = 0; - out_7891921077140001268[144] = 0; - out_7891921077140001268[145] = 0; - out_7891921077140001268[146] = 0; - out_7891921077140001268[147] = 0; - out_7891921077140001268[148] = 0; - out_7891921077140001268[149] = 0; - out_7891921077140001268[150] = 0; - out_7891921077140001268[151] = 0; - out_7891921077140001268[152] = 1; - out_7891921077140001268[153] = 0; - out_7891921077140001268[154] = 0; - out_7891921077140001268[155] = 0; - out_7891921077140001268[156] = 0; - out_7891921077140001268[157] = 0; - out_7891921077140001268[158] = 0; - out_7891921077140001268[159] = 0; - out_7891921077140001268[160] = 0; - out_7891921077140001268[161] = 0; - out_7891921077140001268[162] = 0; - out_7891921077140001268[163] = 0; - out_7891921077140001268[164] = 0; - out_7891921077140001268[165] = 0; - out_7891921077140001268[166] = 0; - out_7891921077140001268[167] = 0; - out_7891921077140001268[168] = 0; - out_7891921077140001268[169] = 0; - out_7891921077140001268[170] = 0; - out_7891921077140001268[171] = 1; - out_7891921077140001268[172] = 0; - out_7891921077140001268[173] = 0; - out_7891921077140001268[174] = 0; - out_7891921077140001268[175] = 0; - out_7891921077140001268[176] = 0; - out_7891921077140001268[177] = 0; - out_7891921077140001268[178] = 0; - out_7891921077140001268[179] = 0; - out_7891921077140001268[180] = 0; - out_7891921077140001268[181] = 0; - out_7891921077140001268[182] = 0; - out_7891921077140001268[183] = 0; - out_7891921077140001268[184] = 0; - out_7891921077140001268[185] = 0; - out_7891921077140001268[186] = 0; - out_7891921077140001268[187] = 0; - out_7891921077140001268[188] = 0; - out_7891921077140001268[189] = 0; - out_7891921077140001268[190] = 1; - out_7891921077140001268[191] = 0; - out_7891921077140001268[192] = 0; - out_7891921077140001268[193] = 0; - out_7891921077140001268[194] = 0; - out_7891921077140001268[195] = 0; - out_7891921077140001268[196] = 0; - out_7891921077140001268[197] = 0; - out_7891921077140001268[198] = 0; - out_7891921077140001268[199] = 0; - out_7891921077140001268[200] = 0; - out_7891921077140001268[201] = 0; - out_7891921077140001268[202] = 0; - out_7891921077140001268[203] = 0; - out_7891921077140001268[204] = 0; - out_7891921077140001268[205] = 0; - out_7891921077140001268[206] = 0; - out_7891921077140001268[207] = 0; - out_7891921077140001268[208] = 0; - out_7891921077140001268[209] = 1; - out_7891921077140001268[210] = 0; - out_7891921077140001268[211] = 0; - out_7891921077140001268[212] = 0; - out_7891921077140001268[213] = 0; - out_7891921077140001268[214] = 0; - out_7891921077140001268[215] = 0; - out_7891921077140001268[216] = 0; - out_7891921077140001268[217] = 0; - out_7891921077140001268[218] = 0; - out_7891921077140001268[219] = 0; - out_7891921077140001268[220] = 0; - out_7891921077140001268[221] = 0; - out_7891921077140001268[222] = 0; - out_7891921077140001268[223] = 0; - out_7891921077140001268[224] = 0; - out_7891921077140001268[225] = 0; - out_7891921077140001268[226] = 0; - out_7891921077140001268[227] = 0; - out_7891921077140001268[228] = 1; - out_7891921077140001268[229] = 0; - out_7891921077140001268[230] = 0; - out_7891921077140001268[231] = 0; - out_7891921077140001268[232] = 0; - out_7891921077140001268[233] = 0; - out_7891921077140001268[234] = 0; - out_7891921077140001268[235] = 0; - out_7891921077140001268[236] = 0; - out_7891921077140001268[237] = 0; - out_7891921077140001268[238] = 0; - out_7891921077140001268[239] = 0; - out_7891921077140001268[240] = 0; - out_7891921077140001268[241] = 0; - out_7891921077140001268[242] = 0; - out_7891921077140001268[243] = 0; - out_7891921077140001268[244] = 0; - out_7891921077140001268[245] = 0; - out_7891921077140001268[246] = 0; - out_7891921077140001268[247] = 1; - out_7891921077140001268[248] = 0; - out_7891921077140001268[249] = 0; - out_7891921077140001268[250] = 0; - out_7891921077140001268[251] = 0; - out_7891921077140001268[252] = 0; - out_7891921077140001268[253] = 0; - out_7891921077140001268[254] = 0; - out_7891921077140001268[255] = 0; - out_7891921077140001268[256] = 0; - out_7891921077140001268[257] = 0; - out_7891921077140001268[258] = 0; - out_7891921077140001268[259] = 0; - out_7891921077140001268[260] = 0; - out_7891921077140001268[261] = 0; - out_7891921077140001268[262] = 0; - out_7891921077140001268[263] = 0; - out_7891921077140001268[264] = 0; - out_7891921077140001268[265] = 0; - out_7891921077140001268[266] = 1; - out_7891921077140001268[267] = 0; - out_7891921077140001268[268] = 0; - out_7891921077140001268[269] = 0; - out_7891921077140001268[270] = 0; - out_7891921077140001268[271] = 0; - out_7891921077140001268[272] = 0; - out_7891921077140001268[273] = 0; - out_7891921077140001268[274] = 0; - out_7891921077140001268[275] = 0; - out_7891921077140001268[276] = 0; - out_7891921077140001268[277] = 0; - out_7891921077140001268[278] = 0; - out_7891921077140001268[279] = 0; - out_7891921077140001268[280] = 0; - out_7891921077140001268[281] = 0; - out_7891921077140001268[282] = 0; - out_7891921077140001268[283] = 0; - out_7891921077140001268[284] = 0; - out_7891921077140001268[285] = 1; - out_7891921077140001268[286] = 0; - out_7891921077140001268[287] = 0; - out_7891921077140001268[288] = 0; - out_7891921077140001268[289] = 0; - out_7891921077140001268[290] = 0; - out_7891921077140001268[291] = 0; - out_7891921077140001268[292] = 0; - out_7891921077140001268[293] = 0; - out_7891921077140001268[294] = 0; - out_7891921077140001268[295] = 0; - out_7891921077140001268[296] = 0; - out_7891921077140001268[297] = 0; - out_7891921077140001268[298] = 0; - out_7891921077140001268[299] = 0; - out_7891921077140001268[300] = 0; - out_7891921077140001268[301] = 0; - out_7891921077140001268[302] = 0; - out_7891921077140001268[303] = 0; - out_7891921077140001268[304] = 1; - out_7891921077140001268[305] = 0; - out_7891921077140001268[306] = 0; - out_7891921077140001268[307] = 0; - out_7891921077140001268[308] = 0; - out_7891921077140001268[309] = 0; - out_7891921077140001268[310] = 0; - out_7891921077140001268[311] = 0; - out_7891921077140001268[312] = 0; - out_7891921077140001268[313] = 0; - out_7891921077140001268[314] = 0; - out_7891921077140001268[315] = 0; - out_7891921077140001268[316] = 0; - out_7891921077140001268[317] = 0; - out_7891921077140001268[318] = 0; - out_7891921077140001268[319] = 0; - out_7891921077140001268[320] = 0; - out_7891921077140001268[321] = 0; - out_7891921077140001268[322] = 0; - out_7891921077140001268[323] = 1; +void F_fun(double *state, double dt, double *out_435032814721793170) { + out_435032814721793170[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_435032814721793170[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_435032814721793170[2] = 0; + out_435032814721793170[3] = 0; + out_435032814721793170[4] = 0; + out_435032814721793170[5] = 0; + out_435032814721793170[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_435032814721793170[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_435032814721793170[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_435032814721793170[9] = 0; + out_435032814721793170[10] = 0; + out_435032814721793170[11] = 0; + out_435032814721793170[12] = 0; + out_435032814721793170[13] = 0; + out_435032814721793170[14] = 0; + out_435032814721793170[15] = 0; + out_435032814721793170[16] = 0; + out_435032814721793170[17] = 0; + out_435032814721793170[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_435032814721793170[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_435032814721793170[20] = 0; + out_435032814721793170[21] = 0; + out_435032814721793170[22] = 0; + out_435032814721793170[23] = 0; + out_435032814721793170[24] = 0; + out_435032814721793170[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_435032814721793170[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_435032814721793170[27] = 0; + out_435032814721793170[28] = 0; + out_435032814721793170[29] = 0; + out_435032814721793170[30] = 0; + out_435032814721793170[31] = 0; + out_435032814721793170[32] = 0; + out_435032814721793170[33] = 0; + out_435032814721793170[34] = 0; + out_435032814721793170[35] = 0; + out_435032814721793170[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_435032814721793170[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_435032814721793170[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_435032814721793170[39] = 0; + out_435032814721793170[40] = 0; + out_435032814721793170[41] = 0; + out_435032814721793170[42] = 0; + out_435032814721793170[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_435032814721793170[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_435032814721793170[45] = 0; + out_435032814721793170[46] = 0; + out_435032814721793170[47] = 0; + out_435032814721793170[48] = 0; + out_435032814721793170[49] = 0; + out_435032814721793170[50] = 0; + out_435032814721793170[51] = 0; + out_435032814721793170[52] = 0; + out_435032814721793170[53] = 0; + out_435032814721793170[54] = 0; + out_435032814721793170[55] = 0; + out_435032814721793170[56] = 0; + out_435032814721793170[57] = 1; + out_435032814721793170[58] = 0; + out_435032814721793170[59] = 0; + out_435032814721793170[60] = 0; + out_435032814721793170[61] = 0; + out_435032814721793170[62] = 0; + out_435032814721793170[63] = 0; + out_435032814721793170[64] = 0; + out_435032814721793170[65] = 0; + out_435032814721793170[66] = dt; + out_435032814721793170[67] = 0; + out_435032814721793170[68] = 0; + out_435032814721793170[69] = 0; + out_435032814721793170[70] = 0; + out_435032814721793170[71] = 0; + out_435032814721793170[72] = 0; + out_435032814721793170[73] = 0; + out_435032814721793170[74] = 0; + out_435032814721793170[75] = 0; + out_435032814721793170[76] = 1; + out_435032814721793170[77] = 0; + out_435032814721793170[78] = 0; + out_435032814721793170[79] = 0; + out_435032814721793170[80] = 0; + out_435032814721793170[81] = 0; + out_435032814721793170[82] = 0; + out_435032814721793170[83] = 0; + out_435032814721793170[84] = 0; + out_435032814721793170[85] = dt; + out_435032814721793170[86] = 0; + out_435032814721793170[87] = 0; + out_435032814721793170[88] = 0; + out_435032814721793170[89] = 0; + out_435032814721793170[90] = 0; + out_435032814721793170[91] = 0; + out_435032814721793170[92] = 0; + out_435032814721793170[93] = 0; + out_435032814721793170[94] = 0; + out_435032814721793170[95] = 1; + out_435032814721793170[96] = 0; + out_435032814721793170[97] = 0; + out_435032814721793170[98] = 0; + out_435032814721793170[99] = 0; + out_435032814721793170[100] = 0; + out_435032814721793170[101] = 0; + out_435032814721793170[102] = 0; + out_435032814721793170[103] = 0; + out_435032814721793170[104] = dt; + out_435032814721793170[105] = 0; + out_435032814721793170[106] = 0; + out_435032814721793170[107] = 0; + out_435032814721793170[108] = 0; + out_435032814721793170[109] = 0; + out_435032814721793170[110] = 0; + out_435032814721793170[111] = 0; + out_435032814721793170[112] = 0; + out_435032814721793170[113] = 0; + out_435032814721793170[114] = 1; + out_435032814721793170[115] = 0; + out_435032814721793170[116] = 0; + out_435032814721793170[117] = 0; + out_435032814721793170[118] = 0; + out_435032814721793170[119] = 0; + out_435032814721793170[120] = 0; + out_435032814721793170[121] = 0; + out_435032814721793170[122] = 0; + out_435032814721793170[123] = 0; + out_435032814721793170[124] = 0; + out_435032814721793170[125] = 0; + out_435032814721793170[126] = 0; + out_435032814721793170[127] = 0; + out_435032814721793170[128] = 0; + out_435032814721793170[129] = 0; + out_435032814721793170[130] = 0; + out_435032814721793170[131] = 0; + out_435032814721793170[132] = 0; + out_435032814721793170[133] = 1; + out_435032814721793170[134] = 0; + out_435032814721793170[135] = 0; + out_435032814721793170[136] = 0; + out_435032814721793170[137] = 0; + out_435032814721793170[138] = 0; + out_435032814721793170[139] = 0; + out_435032814721793170[140] = 0; + out_435032814721793170[141] = 0; + out_435032814721793170[142] = 0; + out_435032814721793170[143] = 0; + out_435032814721793170[144] = 0; + out_435032814721793170[145] = 0; + out_435032814721793170[146] = 0; + out_435032814721793170[147] = 0; + out_435032814721793170[148] = 0; + out_435032814721793170[149] = 0; + out_435032814721793170[150] = 0; + out_435032814721793170[151] = 0; + out_435032814721793170[152] = 1; + out_435032814721793170[153] = 0; + out_435032814721793170[154] = 0; + out_435032814721793170[155] = 0; + out_435032814721793170[156] = 0; + out_435032814721793170[157] = 0; + out_435032814721793170[158] = 0; + out_435032814721793170[159] = 0; + out_435032814721793170[160] = 0; + out_435032814721793170[161] = 0; + out_435032814721793170[162] = 0; + out_435032814721793170[163] = 0; + out_435032814721793170[164] = 0; + out_435032814721793170[165] = 0; + out_435032814721793170[166] = 0; + out_435032814721793170[167] = 0; + out_435032814721793170[168] = 0; + out_435032814721793170[169] = 0; + out_435032814721793170[170] = 0; + out_435032814721793170[171] = 1; + out_435032814721793170[172] = 0; + out_435032814721793170[173] = 0; + out_435032814721793170[174] = 0; + out_435032814721793170[175] = 0; + out_435032814721793170[176] = 0; + out_435032814721793170[177] = 0; + out_435032814721793170[178] = 0; + out_435032814721793170[179] = 0; + out_435032814721793170[180] = 0; + out_435032814721793170[181] = 0; + out_435032814721793170[182] = 0; + out_435032814721793170[183] = 0; + out_435032814721793170[184] = 0; + out_435032814721793170[185] = 0; + out_435032814721793170[186] = 0; + out_435032814721793170[187] = 0; + out_435032814721793170[188] = 0; + out_435032814721793170[189] = 0; + out_435032814721793170[190] = 1; + out_435032814721793170[191] = 0; + out_435032814721793170[192] = 0; + out_435032814721793170[193] = 0; + out_435032814721793170[194] = 0; + out_435032814721793170[195] = 0; + out_435032814721793170[196] = 0; + out_435032814721793170[197] = 0; + out_435032814721793170[198] = 0; + out_435032814721793170[199] = 0; + out_435032814721793170[200] = 0; + out_435032814721793170[201] = 0; + out_435032814721793170[202] = 0; + out_435032814721793170[203] = 0; + out_435032814721793170[204] = 0; + out_435032814721793170[205] = 0; + out_435032814721793170[206] = 0; + out_435032814721793170[207] = 0; + out_435032814721793170[208] = 0; + out_435032814721793170[209] = 1; + out_435032814721793170[210] = 0; + out_435032814721793170[211] = 0; + out_435032814721793170[212] = 0; + out_435032814721793170[213] = 0; + out_435032814721793170[214] = 0; + out_435032814721793170[215] = 0; + out_435032814721793170[216] = 0; + out_435032814721793170[217] = 0; + out_435032814721793170[218] = 0; + out_435032814721793170[219] = 0; + out_435032814721793170[220] = 0; + out_435032814721793170[221] = 0; + out_435032814721793170[222] = 0; + out_435032814721793170[223] = 0; + out_435032814721793170[224] = 0; + out_435032814721793170[225] = 0; + out_435032814721793170[226] = 0; + out_435032814721793170[227] = 0; + out_435032814721793170[228] = 1; + out_435032814721793170[229] = 0; + out_435032814721793170[230] = 0; + out_435032814721793170[231] = 0; + out_435032814721793170[232] = 0; + out_435032814721793170[233] = 0; + out_435032814721793170[234] = 0; + out_435032814721793170[235] = 0; + out_435032814721793170[236] = 0; + out_435032814721793170[237] = 0; + out_435032814721793170[238] = 0; + out_435032814721793170[239] = 0; + out_435032814721793170[240] = 0; + out_435032814721793170[241] = 0; + out_435032814721793170[242] = 0; + out_435032814721793170[243] = 0; + out_435032814721793170[244] = 0; + out_435032814721793170[245] = 0; + out_435032814721793170[246] = 0; + out_435032814721793170[247] = 1; + out_435032814721793170[248] = 0; + out_435032814721793170[249] = 0; + out_435032814721793170[250] = 0; + out_435032814721793170[251] = 0; + out_435032814721793170[252] = 0; + out_435032814721793170[253] = 0; + out_435032814721793170[254] = 0; + out_435032814721793170[255] = 0; + out_435032814721793170[256] = 0; + out_435032814721793170[257] = 0; + out_435032814721793170[258] = 0; + out_435032814721793170[259] = 0; + out_435032814721793170[260] = 0; + out_435032814721793170[261] = 0; + out_435032814721793170[262] = 0; + out_435032814721793170[263] = 0; + out_435032814721793170[264] = 0; + out_435032814721793170[265] = 0; + out_435032814721793170[266] = 1; + out_435032814721793170[267] = 0; + out_435032814721793170[268] = 0; + out_435032814721793170[269] = 0; + out_435032814721793170[270] = 0; + out_435032814721793170[271] = 0; + out_435032814721793170[272] = 0; + out_435032814721793170[273] = 0; + out_435032814721793170[274] = 0; + out_435032814721793170[275] = 0; + out_435032814721793170[276] = 0; + out_435032814721793170[277] = 0; + out_435032814721793170[278] = 0; + out_435032814721793170[279] = 0; + out_435032814721793170[280] = 0; + out_435032814721793170[281] = 0; + out_435032814721793170[282] = 0; + out_435032814721793170[283] = 0; + out_435032814721793170[284] = 0; + out_435032814721793170[285] = 1; + out_435032814721793170[286] = 0; + out_435032814721793170[287] = 0; + out_435032814721793170[288] = 0; + out_435032814721793170[289] = 0; + out_435032814721793170[290] = 0; + out_435032814721793170[291] = 0; + out_435032814721793170[292] = 0; + out_435032814721793170[293] = 0; + out_435032814721793170[294] = 0; + out_435032814721793170[295] = 0; + out_435032814721793170[296] = 0; + out_435032814721793170[297] = 0; + out_435032814721793170[298] = 0; + out_435032814721793170[299] = 0; + out_435032814721793170[300] = 0; + out_435032814721793170[301] = 0; + out_435032814721793170[302] = 0; + out_435032814721793170[303] = 0; + out_435032814721793170[304] = 1; + out_435032814721793170[305] = 0; + out_435032814721793170[306] = 0; + out_435032814721793170[307] = 0; + out_435032814721793170[308] = 0; + out_435032814721793170[309] = 0; + out_435032814721793170[310] = 0; + out_435032814721793170[311] = 0; + out_435032814721793170[312] = 0; + out_435032814721793170[313] = 0; + out_435032814721793170[314] = 0; + out_435032814721793170[315] = 0; + out_435032814721793170[316] = 0; + out_435032814721793170[317] = 0; + out_435032814721793170[318] = 0; + out_435032814721793170[319] = 0; + out_435032814721793170[320] = 0; + out_435032814721793170[321] = 0; + out_435032814721793170[322] = 0; + out_435032814721793170[323] = 1; } -void h_4(double *state, double *unused, double *out_6238203153530464174) { - out_6238203153530464174[0] = state[6] + state[9]; - out_6238203153530464174[1] = state[7] + state[10]; - out_6238203153530464174[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5120020554280573886) { + out_5120020554280573886[0] = state[6] + state[9]; + out_5120020554280573886[1] = state[7] + state[10]; + out_5120020554280573886[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8902916183778532174) { - out_8902916183778532174[0] = 0; - out_8902916183778532174[1] = 0; - out_8902916183778532174[2] = 0; - out_8902916183778532174[3] = 0; - out_8902916183778532174[4] = 0; - out_8902916183778532174[5] = 0; - out_8902916183778532174[6] = 1; - out_8902916183778532174[7] = 0; - out_8902916183778532174[8] = 0; - out_8902916183778532174[9] = 1; - out_8902916183778532174[10] = 0; - out_8902916183778532174[11] = 0; - out_8902916183778532174[12] = 0; - out_8902916183778532174[13] = 0; - out_8902916183778532174[14] = 0; - out_8902916183778532174[15] = 0; - out_8902916183778532174[16] = 0; - out_8902916183778532174[17] = 0; - out_8902916183778532174[18] = 0; - out_8902916183778532174[19] = 0; - out_8902916183778532174[20] = 0; - out_8902916183778532174[21] = 0; - out_8902916183778532174[22] = 0; - out_8902916183778532174[23] = 0; - out_8902916183778532174[24] = 0; - out_8902916183778532174[25] = 1; - out_8902916183778532174[26] = 0; - out_8902916183778532174[27] = 0; - out_8902916183778532174[28] = 1; - out_8902916183778532174[29] = 0; - out_8902916183778532174[30] = 0; - out_8902916183778532174[31] = 0; - out_8902916183778532174[32] = 0; - out_8902916183778532174[33] = 0; - out_8902916183778532174[34] = 0; - out_8902916183778532174[35] = 0; - out_8902916183778532174[36] = 0; - out_8902916183778532174[37] = 0; - out_8902916183778532174[38] = 0; - out_8902916183778532174[39] = 0; - out_8902916183778532174[40] = 0; - out_8902916183778532174[41] = 0; - out_8902916183778532174[42] = 0; - out_8902916183778532174[43] = 0; - out_8902916183778532174[44] = 1; - out_8902916183778532174[45] = 0; - out_8902916183778532174[46] = 0; - out_8902916183778532174[47] = 1; - out_8902916183778532174[48] = 0; - out_8902916183778532174[49] = 0; - out_8902916183778532174[50] = 0; - out_8902916183778532174[51] = 0; - out_8902916183778532174[52] = 0; - out_8902916183778532174[53] = 0; +void H_4(double *state, double *unused, double *out_6208770068591405626) { + out_6208770068591405626[0] = 0; + out_6208770068591405626[1] = 0; + out_6208770068591405626[2] = 0; + out_6208770068591405626[3] = 0; + out_6208770068591405626[4] = 0; + out_6208770068591405626[5] = 0; + out_6208770068591405626[6] = 1; + out_6208770068591405626[7] = 0; + out_6208770068591405626[8] = 0; + out_6208770068591405626[9] = 1; + out_6208770068591405626[10] = 0; + out_6208770068591405626[11] = 0; + out_6208770068591405626[12] = 0; + out_6208770068591405626[13] = 0; + out_6208770068591405626[14] = 0; + out_6208770068591405626[15] = 0; + out_6208770068591405626[16] = 0; + out_6208770068591405626[17] = 0; + out_6208770068591405626[18] = 0; + out_6208770068591405626[19] = 0; + out_6208770068591405626[20] = 0; + out_6208770068591405626[21] = 0; + out_6208770068591405626[22] = 0; + out_6208770068591405626[23] = 0; + out_6208770068591405626[24] = 0; + out_6208770068591405626[25] = 1; + out_6208770068591405626[26] = 0; + out_6208770068591405626[27] = 0; + out_6208770068591405626[28] = 1; + out_6208770068591405626[29] = 0; + out_6208770068591405626[30] = 0; + out_6208770068591405626[31] = 0; + out_6208770068591405626[32] = 0; + out_6208770068591405626[33] = 0; + out_6208770068591405626[34] = 0; + out_6208770068591405626[35] = 0; + out_6208770068591405626[36] = 0; + out_6208770068591405626[37] = 0; + out_6208770068591405626[38] = 0; + out_6208770068591405626[39] = 0; + out_6208770068591405626[40] = 0; + out_6208770068591405626[41] = 0; + out_6208770068591405626[42] = 0; + out_6208770068591405626[43] = 0; + out_6208770068591405626[44] = 1; + out_6208770068591405626[45] = 0; + out_6208770068591405626[46] = 0; + out_6208770068591405626[47] = 1; + out_6208770068591405626[48] = 0; + out_6208770068591405626[49] = 0; + out_6208770068591405626[50] = 0; + out_6208770068591405626[51] = 0; + out_6208770068591405626[52] = 0; + out_6208770068591405626[53] = 0; } -void h_10(double *state, double *unused, double *out_479264188908505210) { - out_479264188908505210[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_479264188908505210[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_479264188908505210[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_1855806828650009923) { + out_1855806828650009923[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1855806828650009923[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1855806828650009923[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_5035106138755480521) { - out_5035106138755480521[0] = 0; - out_5035106138755480521[1] = 9.8100000000000005*cos(state[1]); - out_5035106138755480521[2] = 0; - out_5035106138755480521[3] = 0; - out_5035106138755480521[4] = -state[8]; - out_5035106138755480521[5] = state[7]; - out_5035106138755480521[6] = 0; - out_5035106138755480521[7] = state[5]; - out_5035106138755480521[8] = -state[4]; - out_5035106138755480521[9] = 0; - out_5035106138755480521[10] = 0; - out_5035106138755480521[11] = 0; - out_5035106138755480521[12] = 1; - out_5035106138755480521[13] = 0; - out_5035106138755480521[14] = 0; - out_5035106138755480521[15] = 1; - out_5035106138755480521[16] = 0; - out_5035106138755480521[17] = 0; - out_5035106138755480521[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5035106138755480521[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5035106138755480521[20] = 0; - out_5035106138755480521[21] = state[8]; - out_5035106138755480521[22] = 0; - out_5035106138755480521[23] = -state[6]; - out_5035106138755480521[24] = -state[5]; - out_5035106138755480521[25] = 0; - out_5035106138755480521[26] = state[3]; - out_5035106138755480521[27] = 0; - out_5035106138755480521[28] = 0; - out_5035106138755480521[29] = 0; - out_5035106138755480521[30] = 0; - out_5035106138755480521[31] = 1; - out_5035106138755480521[32] = 0; - out_5035106138755480521[33] = 0; - out_5035106138755480521[34] = 1; - out_5035106138755480521[35] = 0; - out_5035106138755480521[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5035106138755480521[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5035106138755480521[38] = 0; - out_5035106138755480521[39] = -state[7]; - out_5035106138755480521[40] = state[6]; - out_5035106138755480521[41] = 0; - out_5035106138755480521[42] = state[4]; - out_5035106138755480521[43] = -state[3]; - out_5035106138755480521[44] = 0; - out_5035106138755480521[45] = 0; - out_5035106138755480521[46] = 0; - out_5035106138755480521[47] = 0; - out_5035106138755480521[48] = 0; - out_5035106138755480521[49] = 0; - out_5035106138755480521[50] = 1; - out_5035106138755480521[51] = 0; - out_5035106138755480521[52] = 0; - out_5035106138755480521[53] = 1; +void H_10(double *state, double *unused, double *out_86752177367218496) { + out_86752177367218496[0] = 0; + out_86752177367218496[1] = 9.8100000000000005*cos(state[1]); + out_86752177367218496[2] = 0; + out_86752177367218496[3] = 0; + out_86752177367218496[4] = -state[8]; + out_86752177367218496[5] = state[7]; + out_86752177367218496[6] = 0; + out_86752177367218496[7] = state[5]; + out_86752177367218496[8] = -state[4]; + out_86752177367218496[9] = 0; + out_86752177367218496[10] = 0; + out_86752177367218496[11] = 0; + out_86752177367218496[12] = 1; + out_86752177367218496[13] = 0; + out_86752177367218496[14] = 0; + out_86752177367218496[15] = 1; + out_86752177367218496[16] = 0; + out_86752177367218496[17] = 0; + out_86752177367218496[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_86752177367218496[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_86752177367218496[20] = 0; + out_86752177367218496[21] = state[8]; + out_86752177367218496[22] = 0; + out_86752177367218496[23] = -state[6]; + out_86752177367218496[24] = -state[5]; + out_86752177367218496[25] = 0; + out_86752177367218496[26] = state[3]; + out_86752177367218496[27] = 0; + out_86752177367218496[28] = 0; + out_86752177367218496[29] = 0; + out_86752177367218496[30] = 0; + out_86752177367218496[31] = 1; + out_86752177367218496[32] = 0; + out_86752177367218496[33] = 0; + out_86752177367218496[34] = 1; + out_86752177367218496[35] = 0; + out_86752177367218496[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_86752177367218496[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_86752177367218496[38] = 0; + out_86752177367218496[39] = -state[7]; + out_86752177367218496[40] = state[6]; + out_86752177367218496[41] = 0; + out_86752177367218496[42] = state[4]; + out_86752177367218496[43] = -state[3]; + out_86752177367218496[44] = 0; + out_86752177367218496[45] = 0; + out_86752177367218496[46] = 0; + out_86752177367218496[47] = 0; + out_86752177367218496[48] = 0; + out_86752177367218496[49] = 0; + out_86752177367218496[50] = 1; + out_86752177367218496[51] = 0; + out_86752177367218496[52] = 0; + out_86752177367218496[53] = 1; } -void h_13(double *state, double *unused, double *out_2296929327731223213) { - out_2296929327731223213[0] = state[3]; - out_2296929327731223213[1] = state[4]; - out_2296929327731223213[2] = state[5]; +void h_13(double *state, double *unused, double *out_3472048471963902900) { + out_3472048471963902900[0] = state[3]; + out_3472048471963902900[1] = state[4]; + out_3472048471963902900[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5690642358446199373) { - out_5690642358446199373[0] = 0; - out_5690642358446199373[1] = 0; - out_5690642358446199373[2] = 0; - out_5690642358446199373[3] = 1; - out_5690642358446199373[4] = 0; - out_5690642358446199373[5] = 0; - out_5690642358446199373[6] = 0; - out_5690642358446199373[7] = 0; - out_5690642358446199373[8] = 0; - out_5690642358446199373[9] = 0; - out_5690642358446199373[10] = 0; - out_5690642358446199373[11] = 0; - out_5690642358446199373[12] = 0; - out_5690642358446199373[13] = 0; - out_5690642358446199373[14] = 0; - out_5690642358446199373[15] = 0; - out_5690642358446199373[16] = 0; - out_5690642358446199373[17] = 0; - out_5690642358446199373[18] = 0; - out_5690642358446199373[19] = 0; - out_5690642358446199373[20] = 0; - out_5690642358446199373[21] = 0; - out_5690642358446199373[22] = 1; - out_5690642358446199373[23] = 0; - out_5690642358446199373[24] = 0; - out_5690642358446199373[25] = 0; - out_5690642358446199373[26] = 0; - out_5690642358446199373[27] = 0; - out_5690642358446199373[28] = 0; - out_5690642358446199373[29] = 0; - out_5690642358446199373[30] = 0; - out_5690642358446199373[31] = 0; - out_5690642358446199373[32] = 0; - out_5690642358446199373[33] = 0; - out_5690642358446199373[34] = 0; - out_5690642358446199373[35] = 0; - out_5690642358446199373[36] = 0; - out_5690642358446199373[37] = 0; - out_5690642358446199373[38] = 0; - out_5690642358446199373[39] = 0; - out_5690642358446199373[40] = 0; - out_5690642358446199373[41] = 1; - out_5690642358446199373[42] = 0; - out_5690642358446199373[43] = 0; - out_5690642358446199373[44] = 0; - out_5690642358446199373[45] = 0; - out_5690642358446199373[46] = 0; - out_5690642358446199373[47] = 0; - out_5690642358446199373[48] = 0; - out_5690642358446199373[49] = 0; - out_5690642358446199373[50] = 0; - out_5690642358446199373[51] = 0; - out_5690642358446199373[52] = 0; - out_5690642358446199373[53] = 0; +void H_13(double *state, double *unused, double *out_9025700179785813189) { + out_9025700179785813189[0] = 0; + out_9025700179785813189[1] = 0; + out_9025700179785813189[2] = 0; + out_9025700179785813189[3] = 1; + out_9025700179785813189[4] = 0; + out_9025700179785813189[5] = 0; + out_9025700179785813189[6] = 0; + out_9025700179785813189[7] = 0; + out_9025700179785813189[8] = 0; + out_9025700179785813189[9] = 0; + out_9025700179785813189[10] = 0; + out_9025700179785813189[11] = 0; + out_9025700179785813189[12] = 0; + out_9025700179785813189[13] = 0; + out_9025700179785813189[14] = 0; + out_9025700179785813189[15] = 0; + out_9025700179785813189[16] = 0; + out_9025700179785813189[17] = 0; + out_9025700179785813189[18] = 0; + out_9025700179785813189[19] = 0; + out_9025700179785813189[20] = 0; + out_9025700179785813189[21] = 0; + out_9025700179785813189[22] = 1; + out_9025700179785813189[23] = 0; + out_9025700179785813189[24] = 0; + out_9025700179785813189[25] = 0; + out_9025700179785813189[26] = 0; + out_9025700179785813189[27] = 0; + out_9025700179785813189[28] = 0; + out_9025700179785813189[29] = 0; + out_9025700179785813189[30] = 0; + out_9025700179785813189[31] = 0; + out_9025700179785813189[32] = 0; + out_9025700179785813189[33] = 0; + out_9025700179785813189[34] = 0; + out_9025700179785813189[35] = 0; + out_9025700179785813189[36] = 0; + out_9025700179785813189[37] = 0; + out_9025700179785813189[38] = 0; + out_9025700179785813189[39] = 0; + out_9025700179785813189[40] = 0; + out_9025700179785813189[41] = 1; + out_9025700179785813189[42] = 0; + out_9025700179785813189[43] = 0; + out_9025700179785813189[44] = 0; + out_9025700179785813189[45] = 0; + out_9025700179785813189[46] = 0; + out_9025700179785813189[47] = 0; + out_9025700179785813189[48] = 0; + out_9025700179785813189[49] = 0; + out_9025700179785813189[50] = 0; + out_9025700179785813189[51] = 0; + out_9025700179785813189[52] = 0; + out_9025700179785813189[53] = 0; } -void h_14(double *state, double *unused, double *out_8770212541449767783) { - out_8770212541449767783[0] = state[6]; - out_8770212541449767783[1] = state[7]; - out_8770212541449767783[2] = state[8]; +void h_14(double *state, double *unused, double *out_1446434657591522405) { + out_1446434657591522405[0] = state[6]; + out_1446434657591522405[1] = state[7]; + out_1446434657591522405[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4939675327439047645) { - out_4939675327439047645[0] = 0; - out_4939675327439047645[1] = 0; - out_4939675327439047645[2] = 0; - out_4939675327439047645[3] = 0; - out_4939675327439047645[4] = 0; - out_4939675327439047645[5] = 0; - out_4939675327439047645[6] = 1; - out_4939675327439047645[7] = 0; - out_4939675327439047645[8] = 0; - out_4939675327439047645[9] = 0; - out_4939675327439047645[10] = 0; - out_4939675327439047645[11] = 0; - out_4939675327439047645[12] = 0; - out_4939675327439047645[13] = 0; - out_4939675327439047645[14] = 0; - out_4939675327439047645[15] = 0; - out_4939675327439047645[16] = 0; - out_4939675327439047645[17] = 0; - out_4939675327439047645[18] = 0; - out_4939675327439047645[19] = 0; - out_4939675327439047645[20] = 0; - out_4939675327439047645[21] = 0; - out_4939675327439047645[22] = 0; - out_4939675327439047645[23] = 0; - out_4939675327439047645[24] = 0; - out_4939675327439047645[25] = 1; - out_4939675327439047645[26] = 0; - out_4939675327439047645[27] = 0; - out_4939675327439047645[28] = 0; - out_4939675327439047645[29] = 0; - out_4939675327439047645[30] = 0; - out_4939675327439047645[31] = 0; - out_4939675327439047645[32] = 0; - out_4939675327439047645[33] = 0; - out_4939675327439047645[34] = 0; - out_4939675327439047645[35] = 0; - out_4939675327439047645[36] = 0; - out_4939675327439047645[37] = 0; - out_4939675327439047645[38] = 0; - out_4939675327439047645[39] = 0; - out_4939675327439047645[40] = 0; - out_4939675327439047645[41] = 0; - out_4939675327439047645[42] = 0; - out_4939675327439047645[43] = 0; - out_4939675327439047645[44] = 1; - out_4939675327439047645[45] = 0; - out_4939675327439047645[46] = 0; - out_4939675327439047645[47] = 0; - out_4939675327439047645[48] = 0; - out_4939675327439047645[49] = 0; - out_4939675327439047645[50] = 0; - out_4939675327439047645[51] = 0; - out_4939675327439047645[52] = 0; - out_4939675327439047645[53] = 0; +void H_14(double *state, double *unused, double *out_8274733148778661461) { + out_8274733148778661461[0] = 0; + out_8274733148778661461[1] = 0; + out_8274733148778661461[2] = 0; + out_8274733148778661461[3] = 0; + out_8274733148778661461[4] = 0; + out_8274733148778661461[5] = 0; + out_8274733148778661461[6] = 1; + out_8274733148778661461[7] = 0; + out_8274733148778661461[8] = 0; + out_8274733148778661461[9] = 0; + out_8274733148778661461[10] = 0; + out_8274733148778661461[11] = 0; + out_8274733148778661461[12] = 0; + out_8274733148778661461[13] = 0; + out_8274733148778661461[14] = 0; + out_8274733148778661461[15] = 0; + out_8274733148778661461[16] = 0; + out_8274733148778661461[17] = 0; + out_8274733148778661461[18] = 0; + out_8274733148778661461[19] = 0; + out_8274733148778661461[20] = 0; + out_8274733148778661461[21] = 0; + out_8274733148778661461[22] = 0; + out_8274733148778661461[23] = 0; + out_8274733148778661461[24] = 0; + out_8274733148778661461[25] = 1; + out_8274733148778661461[26] = 0; + out_8274733148778661461[27] = 0; + out_8274733148778661461[28] = 0; + out_8274733148778661461[29] = 0; + out_8274733148778661461[30] = 0; + out_8274733148778661461[31] = 0; + out_8274733148778661461[32] = 0; + out_8274733148778661461[33] = 0; + out_8274733148778661461[34] = 0; + out_8274733148778661461[35] = 0; + out_8274733148778661461[36] = 0; + out_8274733148778661461[37] = 0; + out_8274733148778661461[38] = 0; + out_8274733148778661461[39] = 0; + out_8274733148778661461[40] = 0; + out_8274733148778661461[41] = 0; + out_8274733148778661461[42] = 0; + out_8274733148778661461[43] = 0; + out_8274733148778661461[44] = 1; + out_8274733148778661461[45] = 0; + out_8274733148778661461[46] = 0; + out_8274733148778661461[47] = 0; + out_8274733148778661461[48] = 0; + out_8274733148778661461[49] = 0; + out_8274733148778661461[50] = 0; + out_8274733148778661461[51] = 0; + out_8274733148778661461[52] = 0; + out_8274733148778661461[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_9222670015265418032) { - err_fun(nom_x, delta_x, out_9222670015265418032); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8427200704796300077) { + err_fun(nom_x, delta_x, out_8427200704796300077); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6734711869955682828) { - inv_err_fun(nom_x, true_x, out_6734711869955682828); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_209888032840788679) { + inv_err_fun(nom_x, true_x, out_209888032840788679); } -void pose_H_mod_fun(double *state, double *out_3054834377026573453) { - H_mod_fun(state, out_3054834377026573453); +void pose_H_mod_fun(double *state, double *out_5010822586708507522) { + H_mod_fun(state, out_5010822586708507522); } -void pose_f_fun(double *state, double dt, double *out_6521868085604382140) { - f_fun(state, dt, out_6521868085604382140); +void pose_f_fun(double *state, double dt, double *out_8028362113385460735) { + f_fun(state, dt, out_8028362113385460735); } -void pose_F_fun(double *state, double dt, double *out_7891921077140001268) { - F_fun(state, dt, out_7891921077140001268); +void pose_F_fun(double *state, double dt, double *out_435032814721793170) { + F_fun(state, dt, out_435032814721793170); } -void pose_h_4(double *state, double *unused, double *out_6238203153530464174) { - h_4(state, unused, out_6238203153530464174); +void pose_h_4(double *state, double *unused, double *out_5120020554280573886) { + h_4(state, unused, out_5120020554280573886); } -void pose_H_4(double *state, double *unused, double *out_8902916183778532174) { - H_4(state, unused, out_8902916183778532174); +void pose_H_4(double *state, double *unused, double *out_6208770068591405626) { + H_4(state, unused, out_6208770068591405626); } -void pose_h_10(double *state, double *unused, double *out_479264188908505210) { - h_10(state, unused, out_479264188908505210); +void pose_h_10(double *state, double *unused, double *out_1855806828650009923) { + h_10(state, unused, out_1855806828650009923); } -void pose_H_10(double *state, double *unused, double *out_5035106138755480521) { - H_10(state, unused, out_5035106138755480521); +void pose_H_10(double *state, double *unused, double *out_86752177367218496) { + H_10(state, unused, out_86752177367218496); } -void pose_h_13(double *state, double *unused, double *out_2296929327731223213) { - h_13(state, unused, out_2296929327731223213); +void pose_h_13(double *state, double *unused, double *out_3472048471963902900) { + h_13(state, unused, out_3472048471963902900); } -void pose_H_13(double *state, double *unused, double *out_5690642358446199373) { - H_13(state, unused, out_5690642358446199373); +void pose_H_13(double *state, double *unused, double *out_9025700179785813189) { + H_13(state, unused, out_9025700179785813189); } -void pose_h_14(double *state, double *unused, double *out_8770212541449767783) { - h_14(state, unused, out_8770212541449767783); +void pose_h_14(double *state, double *unused, double *out_1446434657591522405) { + h_14(state, unused, out_1446434657591522405); } -void pose_H_14(double *state, double *unused, double *out_4939675327439047645) { - H_14(state, unused, out_4939675327439047645); +void pose_H_14(double *state, double *unused, double *out_8274733148778661461) { + H_14(state, unused, out_8274733148778661461); } 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 879b31ffff..fa858c7b09 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_9222670015265418032); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6734711869955682828); -void pose_H_mod_fun(double *state, double *out_3054834377026573453); -void pose_f_fun(double *state, double dt, double *out_6521868085604382140); -void pose_F_fun(double *state, double dt, double *out_7891921077140001268); -void pose_h_4(double *state, double *unused, double *out_6238203153530464174); -void pose_H_4(double *state, double *unused, double *out_8902916183778532174); -void pose_h_10(double *state, double *unused, double *out_479264188908505210); -void pose_H_10(double *state, double *unused, double *out_5035106138755480521); -void pose_h_13(double *state, double *unused, double *out_2296929327731223213); -void pose_H_13(double *state, double *unused, double *out_5690642358446199373); -void pose_h_14(double *state, double *unused, double *out_8770212541449767783); -void pose_H_14(double *state, double *unused, double *out_4939675327439047645); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8427200704796300077); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_209888032840788679); +void pose_H_mod_fun(double *state, double *out_5010822586708507522); +void pose_f_fun(double *state, double dt, double *out_8028362113385460735); +void pose_F_fun(double *state, double dt, double *out_435032814721793170); +void pose_h_4(double *state, double *unused, double *out_5120020554280573886); +void pose_H_4(double *state, double *unused, double *out_6208770068591405626); +void pose_h_10(double *state, double *unused, double *out_1855806828650009923); +void pose_H_10(double *state, double *unused, double *out_86752177367218496); +void pose_h_13(double *state, double *unused, double *out_3472048471963902900); +void pose_H_13(double *state, double *unused, double *out_9025700179785813189); +void pose_h_14(double *state, double *unused, double *out_1446434657591522405); +void pose_H_14(double *state, double *unused, double *out_8274733148778661461); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/pose.os b/selfdrive/locationd/models/generated/pose.os index b9449ef3d7..d32b2d3bba 100644 Binary files a/selfdrive/locationd/models/generated/pose.os and b/selfdrive/locationd/models/generated/pose.os differ diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index f57f27c547..10ac88268c 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index f6899bf972..b687bb4d3c 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index f3c8985653..50c2cd9d7c 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 0f9d6a9040..6a3760057e 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 8c5d8a3739..a7f85dbe99 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ