diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index c61ffd60ce..897b2ac00f 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 9ea488c945..bbe0e648b7 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index c5ffecfe62..4d0bf211d8 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index d2d2751bf6..8be07478e5 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 348aa0c1b2..1231e6bd43 100755 Binary 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differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 7d25341dd4..fdab39bd9f 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index 7d25341dd4..fdab39bd9f 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 188ec98900..29312e2cb5 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 7d25341dd4..fdab39bd9f 100755 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a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index b1cd5abc33..24c831ab36 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_781655183145825394) { - out_781655183145825394[0] = delta_x[0] + nom_x[0]; - out_781655183145825394[1] = delta_x[1] + nom_x[1]; - out_781655183145825394[2] = delta_x[2] + nom_x[2]; - out_781655183145825394[3] = delta_x[3] + nom_x[3]; - out_781655183145825394[4] = delta_x[4] + nom_x[4]; - out_781655183145825394[5] = delta_x[5] + nom_x[5]; - out_781655183145825394[6] = delta_x[6] + nom_x[6]; - out_781655183145825394[7] = delta_x[7] + nom_x[7]; - out_781655183145825394[8] = delta_x[8] + nom_x[8]; +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 inv_err_fun(double *nom_x, double *true_x, double *out_2912836612698073811) { - out_2912836612698073811[0] = -nom_x[0] + true_x[0]; - out_2912836612698073811[1] = -nom_x[1] + true_x[1]; - out_2912836612698073811[2] = -nom_x[2] + true_x[2]; - out_2912836612698073811[3] = -nom_x[3] + true_x[3]; - out_2912836612698073811[4] = -nom_x[4] + true_x[4]; - out_2912836612698073811[5] = -nom_x[5] + true_x[5]; - out_2912836612698073811[6] = -nom_x[6] + true_x[6]; - out_2912836612698073811[7] = -nom_x[7] + true_x[7]; - out_2912836612698073811[8] = -nom_x[8] + true_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 H_mod_fun(double *state, double *out_6456005511861377664) { - out_6456005511861377664[0] = 1.0; - out_6456005511861377664[1] = 0.0; - out_6456005511861377664[2] = 0.0; - out_6456005511861377664[3] = 0.0; - out_6456005511861377664[4] = 0.0; - out_6456005511861377664[5] = 0.0; - out_6456005511861377664[6] = 0.0; - out_6456005511861377664[7] = 0.0; - out_6456005511861377664[8] = 0.0; - out_6456005511861377664[9] = 0.0; - out_6456005511861377664[10] = 1.0; - out_6456005511861377664[11] = 0.0; - out_6456005511861377664[12] = 0.0; - out_6456005511861377664[13] = 0.0; - out_6456005511861377664[14] = 0.0; - out_6456005511861377664[15] = 0.0; - out_6456005511861377664[16] = 0.0; - out_6456005511861377664[17] = 0.0; - out_6456005511861377664[18] = 0.0; - out_6456005511861377664[19] = 0.0; - out_6456005511861377664[20] = 1.0; - out_6456005511861377664[21] = 0.0; - out_6456005511861377664[22] = 0.0; - out_6456005511861377664[23] = 0.0; - out_6456005511861377664[24] = 0.0; - out_6456005511861377664[25] = 0.0; - out_6456005511861377664[26] = 0.0; - out_6456005511861377664[27] = 0.0; - out_6456005511861377664[28] = 0.0; - out_6456005511861377664[29] = 0.0; - out_6456005511861377664[30] = 1.0; - out_6456005511861377664[31] = 0.0; - out_6456005511861377664[32] = 0.0; - out_6456005511861377664[33] = 0.0; - out_6456005511861377664[34] = 0.0; - out_6456005511861377664[35] = 0.0; - out_6456005511861377664[36] = 0.0; - out_6456005511861377664[37] = 0.0; - out_6456005511861377664[38] = 0.0; - out_6456005511861377664[39] = 0.0; - out_6456005511861377664[40] = 1.0; - out_6456005511861377664[41] = 0.0; - out_6456005511861377664[42] = 0.0; - out_6456005511861377664[43] = 0.0; - out_6456005511861377664[44] = 0.0; - out_6456005511861377664[45] = 0.0; - out_6456005511861377664[46] = 0.0; - out_6456005511861377664[47] = 0.0; - out_6456005511861377664[48] = 0.0; - out_6456005511861377664[49] = 0.0; - out_6456005511861377664[50] = 1.0; - out_6456005511861377664[51] = 0.0; - out_6456005511861377664[52] = 0.0; - out_6456005511861377664[53] = 0.0; - out_6456005511861377664[54] = 0.0; - out_6456005511861377664[55] = 0.0; - out_6456005511861377664[56] = 0.0; - out_6456005511861377664[57] = 0.0; - out_6456005511861377664[58] = 0.0; - out_6456005511861377664[59] = 0.0; - out_6456005511861377664[60] = 1.0; - out_6456005511861377664[61] = 0.0; - out_6456005511861377664[62] = 0.0; - out_6456005511861377664[63] = 0.0; - out_6456005511861377664[64] = 0.0; - out_6456005511861377664[65] = 0.0; - out_6456005511861377664[66] = 0.0; - out_6456005511861377664[67] = 0.0; - out_6456005511861377664[68] = 0.0; - out_6456005511861377664[69] = 0.0; - out_6456005511861377664[70] = 1.0; - out_6456005511861377664[71] = 0.0; - out_6456005511861377664[72] = 0.0; - out_6456005511861377664[73] = 0.0; - out_6456005511861377664[74] = 0.0; - out_6456005511861377664[75] = 0.0; - out_6456005511861377664[76] = 0.0; - out_6456005511861377664[77] = 0.0; - out_6456005511861377664[78] = 0.0; - out_6456005511861377664[79] = 0.0; - out_6456005511861377664[80] = 1.0; +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 f_fun(double *state, double dt, double *out_6006881912496167916) { - out_6006881912496167916[0] = state[0]; - out_6006881912496167916[1] = state[1]; - out_6006881912496167916[2] = state[2]; - out_6006881912496167916[3] = state[3]; - out_6006881912496167916[4] = state[4]; - out_6006881912496167916[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_6006881912496167916[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_6006881912496167916[7] = state[7]; - out_6006881912496167916[8] = state[8]; +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_1756382049312448223) { - out_1756382049312448223[0] = 1; - out_1756382049312448223[1] = 0; - out_1756382049312448223[2] = 0; - out_1756382049312448223[3] = 0; - out_1756382049312448223[4] = 0; - out_1756382049312448223[5] = 0; - out_1756382049312448223[6] = 0; - out_1756382049312448223[7] = 0; - out_1756382049312448223[8] = 0; - out_1756382049312448223[9] = 0; - out_1756382049312448223[10] = 1; - out_1756382049312448223[11] = 0; - out_1756382049312448223[12] = 0; - out_1756382049312448223[13] = 0; - out_1756382049312448223[14] = 0; - out_1756382049312448223[15] = 0; - out_1756382049312448223[16] = 0; - out_1756382049312448223[17] = 0; - out_1756382049312448223[18] = 0; - out_1756382049312448223[19] = 0; - out_1756382049312448223[20] = 1; - out_1756382049312448223[21] = 0; - out_1756382049312448223[22] = 0; - out_1756382049312448223[23] = 0; - out_1756382049312448223[24] = 0; - out_1756382049312448223[25] = 0; - out_1756382049312448223[26] = 0; - out_1756382049312448223[27] = 0; - out_1756382049312448223[28] = 0; - out_1756382049312448223[29] = 0; - out_1756382049312448223[30] = 1; - out_1756382049312448223[31] = 0; - out_1756382049312448223[32] = 0; - out_1756382049312448223[33] = 0; - out_1756382049312448223[34] = 0; - out_1756382049312448223[35] = 0; - out_1756382049312448223[36] = 0; - out_1756382049312448223[37] = 0; - out_1756382049312448223[38] = 0; - out_1756382049312448223[39] = 0; - out_1756382049312448223[40] = 1; - out_1756382049312448223[41] = 0; - out_1756382049312448223[42] = 0; - out_1756382049312448223[43] = 0; - out_1756382049312448223[44] = 0; - out_1756382049312448223[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_1756382049312448223[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1756382049312448223[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1756382049312448223[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1756382049312448223[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_1756382049312448223[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1756382049312448223[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1756382049312448223[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1756382049312448223[53] = -9.8100000000000005*dt; - out_1756382049312448223[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_1756382049312448223[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1756382049312448223[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1756382049312448223[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1756382049312448223[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_1756382049312448223[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1756382049312448223[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_1756382049312448223[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1756382049312448223[62] = 0; - out_1756382049312448223[63] = 0; - out_1756382049312448223[64] = 0; - out_1756382049312448223[65] = 0; - out_1756382049312448223[66] = 0; - out_1756382049312448223[67] = 0; - out_1756382049312448223[68] = 0; - out_1756382049312448223[69] = 0; - out_1756382049312448223[70] = 1; - out_1756382049312448223[71] = 0; - out_1756382049312448223[72] = 0; - out_1756382049312448223[73] = 0; - out_1756382049312448223[74] = 0; - out_1756382049312448223[75] = 0; - out_1756382049312448223[76] = 0; - out_1756382049312448223[77] = 0; - out_1756382049312448223[78] = 0; - out_1756382049312448223[79] = 0; - out_1756382049312448223[80] = 1; +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 h_25(double *state, double *unused, double *out_2827928331020362404) { - out_2827928331020362404[0] = state[6]; +void h_25(double *state, double *unused, double *out_2169501381777287353) { + out_2169501381777287353[0] = state[6]; } -void H_25(double *state, double *unused, double *out_7087046736663509112) { - out_7087046736663509112[0] = 0; - out_7087046736663509112[1] = 0; - out_7087046736663509112[2] = 0; - out_7087046736663509112[3] = 0; - out_7087046736663509112[4] = 0; - out_7087046736663509112[5] = 0; - out_7087046736663509112[6] = 1; - out_7087046736663509112[7] = 0; - out_7087046736663509112[8] = 0; +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_24(double *state, double *unused, double *out_668554717831057533) { - out_668554717831057533[0] = state[4]; - out_668554717831057533[1] = state[5]; +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_4909832313056359139) { - out_4909832313056359139[0] = 0; - out_4909832313056359139[1] = 0; - out_4909832313056359139[2] = 0; - out_4909832313056359139[3] = 0; - out_4909832313056359139[4] = 1; - out_4909832313056359139[5] = 0; - out_4909832313056359139[6] = 0; - out_4909832313056359139[7] = 0; - out_4909832313056359139[8] = 0; - out_4909832313056359139[9] = 0; - out_4909832313056359139[10] = 0; - out_4909832313056359139[11] = 0; - out_4909832313056359139[12] = 0; - out_4909832313056359139[13] = 0; - out_4909832313056359139[14] = 1; - out_4909832313056359139[15] = 0; - out_4909832313056359139[16] = 0; - out_4909832313056359139[17] = 0; +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_30(double *state, double *unused, double *out_4139386833660670090) { - out_4139386833660670090[0] = state[4]; +void h_30(double *state, double *unused, double *out_2444695444061793242) { + out_2444695444061793242[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6832001006918434306) { - out_6832001006918434306[0] = 0; - out_6832001006918434306[1] = 0; - out_6832001006918434306[2] = 0; - out_6832001006918434306[3] = 0; - out_6832001006918434306[4] = 1; - out_6832001006918434306[5] = 0; - out_6832001006918434306[6] = 0; - out_6832001006918434306[7] = 0; - out_6832001006918434306[8] = 0; +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_26(double *state, double *unused, double *out_9101766831341963322) { - out_9101766831341963322[0] = state[7]; +void h_26(double *state, double *unused, double *out_2413046201872073325) { + out_2413046201872073325[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7618194018171986280) { - out_7618194018171986280[0] = 0; - out_7618194018171986280[1] = 0; - out_7618194018171986280[2] = 0; - out_7618194018171986280[3] = 0; - out_7618194018171986280[4] = 0; - out_7618194018171986280[5] = 0; - out_7618194018171986280[6] = 0; - out_7618194018171986280[7] = 1; - out_7618194018171986280[8] = 0; +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_27(double *state, double *unused, double *out_2173744936640483241) { - out_2173744936640483241[0] = state[3]; +void h_27(double *state, double *unused, double *out_6236155437866939300) { + out_6236155437866939300[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4657237695118009395) { - out_4657237695118009395[0] = 0; - out_4657237695118009395[1] = 0; - out_4657237695118009395[2] = 0; - out_4657237695118009395[3] = 1; - out_4657237695118009395[4] = 0; - out_4657237695118009395[5] = 0; - out_4657237695118009395[6] = 0; - out_4657237695118009395[7] = 0; - out_4657237695118009395[8] = 0; +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_29(double *state, double *unused, double *out_8761572863116778404) { - out_8761572863116778404[0] = state[1]; +void h_29(double *state, double *unused, double *out_1645117212887109885) { + out_1645117212887109885[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7342232351232826490) { - out_7342232351232826490[0] = 0; - out_7342232351232826490[1] = 1; - out_7342232351232826490[2] = 0; - out_7342232351232826490[3] = 0; - out_7342232351232826490[4] = 0; - out_7342232351232826490[5] = 0; - out_7342232351232826490[6] = 0; - out_7342232351232826490[7] = 0; - out_7342232351232826490[8] = 0; +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_28(double *state, double *unused, double *out_7175418204301328886) { - out_7175418204301328886[0] = state[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_9140881450911398875) { - out_9140881450911398875[0] = 1; - out_9140881450911398875[1] = 0; - out_9140881450911398875[2] = 0; - out_9140881450911398875[3] = 0; - out_9140881450911398875[4] = 0; - out_9140881450911398875[5] = 0; - out_9140881450911398875[6] = 0; - out_9140881450911398875[7] = 0; - out_9140881450911398875[8] = 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_31(double *state, double *unused, double *out_6465377859274384754) { - out_6465377859274384754[0] = state[8]; +void h_31(double *state, double *unused, double *out_2741168024264044953) { + out_2741168024264044953[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6991985915938634804) { - out_6991985915938634804[0] = 0; - out_6991985915938634804[1] = 0; - out_6991985915938634804[2] = 0; - out_6991985915938634804[3] = 0; - out_6991985915938634804[4] = 0; - out_6991985915938634804[5] = 0; - out_6991985915938634804[6] = 0; - out_6991985915938634804[7] = 0; - out_6991985915938634804[8] = 1; +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; } #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_781655183145825394) { - err_fun(nom_x, delta_x, out_781655183145825394); +void car_err_fun(double *nom_x, double *delta_x, double *out_6543135761510689107) { + err_fun(nom_x, delta_x, out_6543135761510689107); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2912836612698073811) { - inv_err_fun(nom_x, true_x, out_2912836612698073811); +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_H_mod_fun(double *state, double *out_6456005511861377664) { - H_mod_fun(state, out_6456005511861377664); +void car_H_mod_fun(double *state, double *out_6389313126975023722) { + H_mod_fun(state, out_6389313126975023722); } -void car_f_fun(double *state, double dt, double *out_6006881912496167916) { - f_fun(state, dt, out_6006881912496167916); +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_1756382049312448223) { - F_fun(state, dt, out_1756382049312448223); +void car_F_fun(double *state, double dt, double *out_1120359963151235251) { + F_fun(state, dt, out_1120359963151235251); } -void car_h_25(double *state, double *unused, double *out_2827928331020362404) { - h_25(state, unused, out_2827928331020362404); +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_7087046736663509112) { - H_25(state, unused, out_7087046736663509112); +void car_H_25(double *state, double *unused, double *out_1485621301790358882) { + H_25(state, unused, out_1485621301790358882); } -void car_h_24(double *state, double *unused, double *out_668554717831057533) { - h_24(state, unused, out_668554717831057533); +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_4909832313056359139) { - H_24(state, unused, out_4909832313056359139); +void car_H_24(double *state, double *unused, double *out_1956078783833697606) { + H_24(state, unused, out_1956078783833697606); } -void car_h_30(double *state, double *unused, double *out_4139386833660670090) { - h_30(state, unused, out_4139386833660670090); +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_6832001006918434306) { - H_30(state, unused, out_6832001006918434306); +void car_H_30(double *state, double *unused, double *out_6013317631917967080) { + H_30(state, unused, out_6013317631917967080); } -void car_h_26(double *state, double *unused, double *out_9101766831341963322) { - h_26(state, unused, out_9101766831341963322); +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_7618194018171986280) { - H_26(state, unused, out_7618194018171986280); +void car_H_26(double *state, double *unused, double *out_5227124620664415106) { + H_26(state, unused, out_5227124620664415106); } -void car_h_27(double *state, double *unused, double *out_2173744936640483241) { - h_27(state, unused, out_2173744936640483241); +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_4657237695118009395) { - H_27(state, unused, out_4657237695118009395); +void car_H_27(double *state, double *unused, double *out_3789723560734023863) { + H_27(state, unused, out_3789723560734023863); } -void car_h_29(double *state, double *unused, double *out_8761572863116778404) { - h_29(state, unused, out_8761572863116778404); +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_7342232351232826490) { - H_29(state, unused, out_7342232351232826490); +void car_H_29(double *state, double *unused, double *out_5503086287603574896) { + H_29(state, unused, out_5503086287603574896); } -void car_h_28(double *state, double *unused, double *out_7175418204301328886) { - h_28(state, unused, out_7175418204301328886); +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_9140881450911398875) { - H_28(state, unused, out_9140881450911398875); +void car_H_28(double *state, double *unused, double *out_3539456016038248645) { + H_28(state, unused, out_3539456016038248645); } -void car_h_31(double *state, double *unused, double *out_6465377859274384754) { - h_31(state, unused, out_6465377859274384754); +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_6991985915938634804) { - H_31(state, unused, out_6991985915938634804); +void car_H_31(double *state, double *unused, double *out_1454975339913398454) { + H_31(state, unused, out_1454975339913398454); } 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 e606b1496f..522a103528 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_781655183145825394); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2912836612698073811); -void car_H_mod_fun(double *state, double *out_6456005511861377664); -void car_f_fun(double *state, double dt, double *out_6006881912496167916); -void car_F_fun(double *state, double dt, double *out_1756382049312448223); -void car_h_25(double *state, double *unused, double *out_2827928331020362404); -void car_H_25(double *state, double *unused, double *out_7087046736663509112); -void car_h_24(double *state, double *unused, double *out_668554717831057533); -void car_H_24(double *state, double *unused, double *out_4909832313056359139); -void car_h_30(double *state, double *unused, double *out_4139386833660670090); -void car_H_30(double *state, double *unused, double *out_6832001006918434306); -void car_h_26(double *state, double *unused, double *out_9101766831341963322); -void car_H_26(double *state, double *unused, double *out_7618194018171986280); -void car_h_27(double *state, double *unused, double *out_2173744936640483241); -void car_H_27(double *state, double *unused, double *out_4657237695118009395); -void car_h_29(double *state, double *unused, double *out_8761572863116778404); -void car_H_29(double *state, double *unused, double *out_7342232351232826490); -void car_h_28(double *state, double *unused, double *out_7175418204301328886); -void car_H_28(double *state, double *unused, double *out_9140881450911398875); -void car_h_31(double *state, double *unused, double *out_6465377859274384754); -void car_H_31(double *state, double *unused, double *out_6991985915938634804); +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_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 44f6117723..d334d59f3e 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_7437794640769795433) { - out_7437794640769795433[0] = delta_x[0] + nom_x[0]; - out_7437794640769795433[1] = delta_x[1] + nom_x[1]; - out_7437794640769795433[2] = delta_x[2] + nom_x[2]; - out_7437794640769795433[3] = delta_x[3] + nom_x[3]; - out_7437794640769795433[4] = delta_x[4] + nom_x[4]; - out_7437794640769795433[5] = delta_x[5] + nom_x[5]; - out_7437794640769795433[6] = delta_x[6] + nom_x[6]; - out_7437794640769795433[7] = delta_x[7] + nom_x[7]; - out_7437794640769795433[8] = delta_x[8] + nom_x[8]; - out_7437794640769795433[9] = delta_x[9] + nom_x[9]; - out_7437794640769795433[10] = delta_x[10] + nom_x[10]; - out_7437794640769795433[11] = delta_x[11] + nom_x[11]; - out_7437794640769795433[12] = delta_x[12] + nom_x[12]; - out_7437794640769795433[13] = delta_x[13] + nom_x[13]; - out_7437794640769795433[14] = delta_x[14] + nom_x[14]; - out_7437794640769795433[15] = delta_x[15] + nom_x[15]; - out_7437794640769795433[16] = delta_x[16] + nom_x[16]; - out_7437794640769795433[17] = delta_x[17] + nom_x[17]; +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 inv_err_fun(double *nom_x, double *true_x, double *out_2037082783356591262) { - out_2037082783356591262[0] = -nom_x[0] + true_x[0]; - out_2037082783356591262[1] = -nom_x[1] + true_x[1]; - out_2037082783356591262[2] = -nom_x[2] + true_x[2]; - out_2037082783356591262[3] = -nom_x[3] + true_x[3]; - out_2037082783356591262[4] = -nom_x[4] + true_x[4]; - out_2037082783356591262[5] = -nom_x[5] + true_x[5]; - out_2037082783356591262[6] = -nom_x[6] + true_x[6]; - out_2037082783356591262[7] = -nom_x[7] + true_x[7]; - out_2037082783356591262[8] = -nom_x[8] + true_x[8]; - out_2037082783356591262[9] = -nom_x[9] + true_x[9]; - out_2037082783356591262[10] = -nom_x[10] + true_x[10]; - out_2037082783356591262[11] = -nom_x[11] + true_x[11]; - out_2037082783356591262[12] = -nom_x[12] + true_x[12]; - out_2037082783356591262[13] = -nom_x[13] + true_x[13]; - out_2037082783356591262[14] = -nom_x[14] + true_x[14]; - out_2037082783356591262[15] = -nom_x[15] + true_x[15]; - out_2037082783356591262[16] = -nom_x[16] + true_x[16]; - out_2037082783356591262[17] = -nom_x[17] + true_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 H_mod_fun(double *state, double *out_6997830721327979188) { - out_6997830721327979188[0] = 1.0; - out_6997830721327979188[1] = 0.0; - out_6997830721327979188[2] = 0.0; - out_6997830721327979188[3] = 0.0; - out_6997830721327979188[4] = 0.0; - out_6997830721327979188[5] = 0.0; - out_6997830721327979188[6] = 0.0; - out_6997830721327979188[7] = 0.0; - out_6997830721327979188[8] = 0.0; - out_6997830721327979188[9] = 0.0; - out_6997830721327979188[10] = 0.0; - out_6997830721327979188[11] = 0.0; - out_6997830721327979188[12] = 0.0; - out_6997830721327979188[13] = 0.0; - out_6997830721327979188[14] = 0.0; - out_6997830721327979188[15] = 0.0; - out_6997830721327979188[16] = 0.0; - out_6997830721327979188[17] = 0.0; - out_6997830721327979188[18] = 0.0; - out_6997830721327979188[19] = 1.0; - out_6997830721327979188[20] = 0.0; - out_6997830721327979188[21] = 0.0; - out_6997830721327979188[22] = 0.0; - out_6997830721327979188[23] = 0.0; - out_6997830721327979188[24] = 0.0; - out_6997830721327979188[25] = 0.0; - out_6997830721327979188[26] = 0.0; - out_6997830721327979188[27] = 0.0; - out_6997830721327979188[28] = 0.0; - out_6997830721327979188[29] = 0.0; - out_6997830721327979188[30] = 0.0; - out_6997830721327979188[31] = 0.0; - out_6997830721327979188[32] = 0.0; - out_6997830721327979188[33] = 0.0; - out_6997830721327979188[34] = 0.0; - out_6997830721327979188[35] = 0.0; - out_6997830721327979188[36] = 0.0; - out_6997830721327979188[37] = 0.0; - out_6997830721327979188[38] = 1.0; - out_6997830721327979188[39] = 0.0; - out_6997830721327979188[40] = 0.0; - out_6997830721327979188[41] = 0.0; - out_6997830721327979188[42] = 0.0; - out_6997830721327979188[43] = 0.0; - out_6997830721327979188[44] = 0.0; - out_6997830721327979188[45] = 0.0; - out_6997830721327979188[46] = 0.0; - out_6997830721327979188[47] = 0.0; - out_6997830721327979188[48] = 0.0; - out_6997830721327979188[49] = 0.0; - out_6997830721327979188[50] = 0.0; - out_6997830721327979188[51] = 0.0; - out_6997830721327979188[52] = 0.0; - out_6997830721327979188[53] = 0.0; - out_6997830721327979188[54] = 0.0; - out_6997830721327979188[55] = 0.0; - out_6997830721327979188[56] = 0.0; - out_6997830721327979188[57] = 1.0; - out_6997830721327979188[58] = 0.0; - out_6997830721327979188[59] = 0.0; - out_6997830721327979188[60] = 0.0; - out_6997830721327979188[61] = 0.0; - out_6997830721327979188[62] = 0.0; - out_6997830721327979188[63] = 0.0; - out_6997830721327979188[64] = 0.0; - out_6997830721327979188[65] = 0.0; - out_6997830721327979188[66] = 0.0; - out_6997830721327979188[67] = 0.0; - out_6997830721327979188[68] = 0.0; - out_6997830721327979188[69] = 0.0; - out_6997830721327979188[70] = 0.0; - out_6997830721327979188[71] = 0.0; - out_6997830721327979188[72] = 0.0; - out_6997830721327979188[73] = 0.0; - out_6997830721327979188[74] = 0.0; - out_6997830721327979188[75] = 0.0; - out_6997830721327979188[76] = 1.0; - out_6997830721327979188[77] = 0.0; - out_6997830721327979188[78] = 0.0; - out_6997830721327979188[79] = 0.0; - out_6997830721327979188[80] = 0.0; - out_6997830721327979188[81] = 0.0; - out_6997830721327979188[82] = 0.0; - out_6997830721327979188[83] = 0.0; - out_6997830721327979188[84] = 0.0; - out_6997830721327979188[85] = 0.0; - out_6997830721327979188[86] = 0.0; - out_6997830721327979188[87] = 0.0; - out_6997830721327979188[88] = 0.0; - out_6997830721327979188[89] = 0.0; - out_6997830721327979188[90] = 0.0; - out_6997830721327979188[91] = 0.0; - out_6997830721327979188[92] = 0.0; - out_6997830721327979188[93] = 0.0; - out_6997830721327979188[94] = 0.0; - out_6997830721327979188[95] = 1.0; - out_6997830721327979188[96] = 0.0; - out_6997830721327979188[97] = 0.0; - out_6997830721327979188[98] = 0.0; - out_6997830721327979188[99] = 0.0; - out_6997830721327979188[100] = 0.0; - out_6997830721327979188[101] = 0.0; - out_6997830721327979188[102] = 0.0; - out_6997830721327979188[103] = 0.0; - out_6997830721327979188[104] = 0.0; - out_6997830721327979188[105] = 0.0; - out_6997830721327979188[106] = 0.0; - out_6997830721327979188[107] = 0.0; - out_6997830721327979188[108] = 0.0; - out_6997830721327979188[109] = 0.0; - out_6997830721327979188[110] = 0.0; - out_6997830721327979188[111] = 0.0; - out_6997830721327979188[112] = 0.0; - out_6997830721327979188[113] = 0.0; - out_6997830721327979188[114] = 1.0; - out_6997830721327979188[115] = 0.0; - out_6997830721327979188[116] = 0.0; - out_6997830721327979188[117] = 0.0; - out_6997830721327979188[118] = 0.0; - out_6997830721327979188[119] = 0.0; - out_6997830721327979188[120] = 0.0; - out_6997830721327979188[121] = 0.0; - out_6997830721327979188[122] = 0.0; - out_6997830721327979188[123] = 0.0; - out_6997830721327979188[124] = 0.0; - out_6997830721327979188[125] = 0.0; - out_6997830721327979188[126] = 0.0; - out_6997830721327979188[127] = 0.0; - out_6997830721327979188[128] = 0.0; - out_6997830721327979188[129] = 0.0; - out_6997830721327979188[130] = 0.0; - out_6997830721327979188[131] = 0.0; - out_6997830721327979188[132] = 0.0; - out_6997830721327979188[133] = 1.0; - out_6997830721327979188[134] = 0.0; - out_6997830721327979188[135] = 0.0; - out_6997830721327979188[136] = 0.0; - out_6997830721327979188[137] = 0.0; - out_6997830721327979188[138] = 0.0; - out_6997830721327979188[139] = 0.0; - out_6997830721327979188[140] = 0.0; - out_6997830721327979188[141] = 0.0; - out_6997830721327979188[142] = 0.0; - out_6997830721327979188[143] = 0.0; - out_6997830721327979188[144] = 0.0; - out_6997830721327979188[145] = 0.0; - out_6997830721327979188[146] = 0.0; - out_6997830721327979188[147] = 0.0; - out_6997830721327979188[148] = 0.0; - out_6997830721327979188[149] = 0.0; - out_6997830721327979188[150] = 0.0; - out_6997830721327979188[151] = 0.0; - out_6997830721327979188[152] = 1.0; - out_6997830721327979188[153] = 0.0; - out_6997830721327979188[154] = 0.0; - out_6997830721327979188[155] = 0.0; - out_6997830721327979188[156] = 0.0; - out_6997830721327979188[157] = 0.0; - out_6997830721327979188[158] = 0.0; - out_6997830721327979188[159] = 0.0; - out_6997830721327979188[160] = 0.0; - out_6997830721327979188[161] = 0.0; - out_6997830721327979188[162] = 0.0; - out_6997830721327979188[163] = 0.0; - out_6997830721327979188[164] = 0.0; - out_6997830721327979188[165] = 0.0; - out_6997830721327979188[166] = 0.0; - out_6997830721327979188[167] = 0.0; - out_6997830721327979188[168] = 0.0; - out_6997830721327979188[169] = 0.0; - out_6997830721327979188[170] = 0.0; - out_6997830721327979188[171] = 1.0; - out_6997830721327979188[172] = 0.0; - out_6997830721327979188[173] = 0.0; - out_6997830721327979188[174] = 0.0; - out_6997830721327979188[175] = 0.0; - out_6997830721327979188[176] = 0.0; - out_6997830721327979188[177] = 0.0; - out_6997830721327979188[178] = 0.0; - out_6997830721327979188[179] = 0.0; - out_6997830721327979188[180] = 0.0; - out_6997830721327979188[181] = 0.0; - out_6997830721327979188[182] = 0.0; - out_6997830721327979188[183] = 0.0; - out_6997830721327979188[184] = 0.0; - out_6997830721327979188[185] = 0.0; - out_6997830721327979188[186] = 0.0; - out_6997830721327979188[187] = 0.0; - out_6997830721327979188[188] = 0.0; - out_6997830721327979188[189] = 0.0; - out_6997830721327979188[190] = 1.0; - out_6997830721327979188[191] = 0.0; - out_6997830721327979188[192] = 0.0; - out_6997830721327979188[193] = 0.0; - out_6997830721327979188[194] = 0.0; - out_6997830721327979188[195] = 0.0; - out_6997830721327979188[196] = 0.0; - out_6997830721327979188[197] = 0.0; - out_6997830721327979188[198] = 0.0; - out_6997830721327979188[199] = 0.0; - out_6997830721327979188[200] = 0.0; - out_6997830721327979188[201] = 0.0; - out_6997830721327979188[202] = 0.0; - out_6997830721327979188[203] = 0.0; - out_6997830721327979188[204] = 0.0; - out_6997830721327979188[205] = 0.0; - out_6997830721327979188[206] = 0.0; - out_6997830721327979188[207] = 0.0; - out_6997830721327979188[208] = 0.0; - out_6997830721327979188[209] = 1.0; - out_6997830721327979188[210] = 0.0; - out_6997830721327979188[211] = 0.0; - out_6997830721327979188[212] = 0.0; - out_6997830721327979188[213] = 0.0; - out_6997830721327979188[214] = 0.0; - out_6997830721327979188[215] = 0.0; - out_6997830721327979188[216] = 0.0; - out_6997830721327979188[217] = 0.0; - out_6997830721327979188[218] = 0.0; - out_6997830721327979188[219] = 0.0; - out_6997830721327979188[220] = 0.0; - out_6997830721327979188[221] = 0.0; - out_6997830721327979188[222] = 0.0; - out_6997830721327979188[223] = 0.0; - out_6997830721327979188[224] = 0.0; - out_6997830721327979188[225] = 0.0; - out_6997830721327979188[226] = 0.0; - out_6997830721327979188[227] = 0.0; - out_6997830721327979188[228] = 1.0; - out_6997830721327979188[229] = 0.0; - out_6997830721327979188[230] = 0.0; - out_6997830721327979188[231] = 0.0; - out_6997830721327979188[232] = 0.0; - out_6997830721327979188[233] = 0.0; - out_6997830721327979188[234] = 0.0; - out_6997830721327979188[235] = 0.0; - out_6997830721327979188[236] = 0.0; - out_6997830721327979188[237] = 0.0; - out_6997830721327979188[238] = 0.0; - out_6997830721327979188[239] = 0.0; - out_6997830721327979188[240] = 0.0; - out_6997830721327979188[241] = 0.0; - out_6997830721327979188[242] = 0.0; - out_6997830721327979188[243] = 0.0; - out_6997830721327979188[244] = 0.0; - out_6997830721327979188[245] = 0.0; - out_6997830721327979188[246] = 0.0; - out_6997830721327979188[247] = 1.0; - out_6997830721327979188[248] = 0.0; - out_6997830721327979188[249] = 0.0; - out_6997830721327979188[250] = 0.0; - out_6997830721327979188[251] = 0.0; - out_6997830721327979188[252] = 0.0; - out_6997830721327979188[253] = 0.0; - out_6997830721327979188[254] = 0.0; - out_6997830721327979188[255] = 0.0; - out_6997830721327979188[256] = 0.0; - out_6997830721327979188[257] = 0.0; - out_6997830721327979188[258] = 0.0; - out_6997830721327979188[259] = 0.0; - out_6997830721327979188[260] = 0.0; - out_6997830721327979188[261] = 0.0; - out_6997830721327979188[262] = 0.0; - out_6997830721327979188[263] = 0.0; - out_6997830721327979188[264] = 0.0; - out_6997830721327979188[265] = 0.0; - out_6997830721327979188[266] = 1.0; - out_6997830721327979188[267] = 0.0; - out_6997830721327979188[268] = 0.0; - out_6997830721327979188[269] = 0.0; - out_6997830721327979188[270] = 0.0; - out_6997830721327979188[271] = 0.0; - out_6997830721327979188[272] = 0.0; - out_6997830721327979188[273] = 0.0; - out_6997830721327979188[274] = 0.0; - out_6997830721327979188[275] = 0.0; - out_6997830721327979188[276] = 0.0; - out_6997830721327979188[277] = 0.0; - out_6997830721327979188[278] = 0.0; - out_6997830721327979188[279] = 0.0; - out_6997830721327979188[280] = 0.0; - out_6997830721327979188[281] = 0.0; - out_6997830721327979188[282] = 0.0; - out_6997830721327979188[283] = 0.0; - out_6997830721327979188[284] = 0.0; - out_6997830721327979188[285] = 1.0; - out_6997830721327979188[286] = 0.0; - out_6997830721327979188[287] = 0.0; - out_6997830721327979188[288] = 0.0; - out_6997830721327979188[289] = 0.0; - out_6997830721327979188[290] = 0.0; - out_6997830721327979188[291] = 0.0; - out_6997830721327979188[292] = 0.0; - out_6997830721327979188[293] = 0.0; - out_6997830721327979188[294] = 0.0; - out_6997830721327979188[295] = 0.0; - out_6997830721327979188[296] = 0.0; - out_6997830721327979188[297] = 0.0; - out_6997830721327979188[298] = 0.0; - out_6997830721327979188[299] = 0.0; - out_6997830721327979188[300] = 0.0; - out_6997830721327979188[301] = 0.0; - out_6997830721327979188[302] = 0.0; - out_6997830721327979188[303] = 0.0; - out_6997830721327979188[304] = 1.0; - out_6997830721327979188[305] = 0.0; - out_6997830721327979188[306] = 0.0; - out_6997830721327979188[307] = 0.0; - out_6997830721327979188[308] = 0.0; - out_6997830721327979188[309] = 0.0; - out_6997830721327979188[310] = 0.0; - out_6997830721327979188[311] = 0.0; - out_6997830721327979188[312] = 0.0; - out_6997830721327979188[313] = 0.0; - out_6997830721327979188[314] = 0.0; - out_6997830721327979188[315] = 0.0; - out_6997830721327979188[316] = 0.0; - out_6997830721327979188[317] = 0.0; - out_6997830721327979188[318] = 0.0; - out_6997830721327979188[319] = 0.0; - out_6997830721327979188[320] = 0.0; - out_6997830721327979188[321] = 0.0; - out_6997830721327979188[322] = 0.0; - out_6997830721327979188[323] = 1.0; +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 f_fun(double *state, double dt, double *out_2524658316881090159) { - out_2524658316881090159[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_2524658316881090159[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_2524658316881090159[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_2524658316881090159[3] = dt*state[12] + state[3]; - out_2524658316881090159[4] = dt*state[13] + state[4]; - out_2524658316881090159[5] = dt*state[14] + state[5]; - out_2524658316881090159[6] = state[6]; - out_2524658316881090159[7] = state[7]; - out_2524658316881090159[8] = state[8]; - out_2524658316881090159[9] = state[9]; - out_2524658316881090159[10] = state[10]; - out_2524658316881090159[11] = state[11]; - out_2524658316881090159[12] = state[12]; - out_2524658316881090159[13] = state[13]; - out_2524658316881090159[14] = state[14]; - out_2524658316881090159[15] = state[15]; - out_2524658316881090159[16] = state[16]; - out_2524658316881090159[17] = state[17]; +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_1493803281019954497) { - out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[2] = 0; - out_1493803281019954497[3] = 0; - out_1493803281019954497[4] = 0; - out_1493803281019954497[5] = 0; - out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[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_1493803281019954497[9] = 0; - out_1493803281019954497[10] = 0; - out_1493803281019954497[11] = 0; - out_1493803281019954497[12] = 0; - out_1493803281019954497[13] = 0; - out_1493803281019954497[14] = 0; - out_1493803281019954497[15] = 0; - out_1493803281019954497[16] = 0; - out_1493803281019954497[17] = 0; - out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[20] = 0; - out_1493803281019954497[21] = 0; - out_1493803281019954497[22] = 0; - out_1493803281019954497[23] = 0; - out_1493803281019954497[24] = 0; - out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[27] = 0; - out_1493803281019954497[28] = 0; - out_1493803281019954497[29] = 0; - out_1493803281019954497[30] = 0; - out_1493803281019954497[31] = 0; - out_1493803281019954497[32] = 0; - out_1493803281019954497[33] = 0; - out_1493803281019954497[34] = 0; - out_1493803281019954497[35] = 0; - out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[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_1493803281019954497[39] = 0; - out_1493803281019954497[40] = 0; - out_1493803281019954497[41] = 0; - out_1493803281019954497[42] = 0; - out_1493803281019954497[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_1493803281019954497[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_1493803281019954497[45] = 0; - out_1493803281019954497[46] = 0; - out_1493803281019954497[47] = 0; - out_1493803281019954497[48] = 0; - out_1493803281019954497[49] = 0; - out_1493803281019954497[50] = 0; - out_1493803281019954497[51] = 0; - out_1493803281019954497[52] = 0; - out_1493803281019954497[53] = 0; - out_1493803281019954497[54] = 0; - out_1493803281019954497[55] = 0; - out_1493803281019954497[56] = 0; - out_1493803281019954497[57] = 1; - out_1493803281019954497[58] = 0; - out_1493803281019954497[59] = 0; - out_1493803281019954497[60] = 0; - out_1493803281019954497[61] = 0; - out_1493803281019954497[62] = 0; - out_1493803281019954497[63] = 0; - out_1493803281019954497[64] = 0; - out_1493803281019954497[65] = 0; - out_1493803281019954497[66] = dt; - out_1493803281019954497[67] = 0; - out_1493803281019954497[68] = 0; - out_1493803281019954497[69] = 0; - out_1493803281019954497[70] = 0; - out_1493803281019954497[71] = 0; - out_1493803281019954497[72] = 0; - out_1493803281019954497[73] = 0; - out_1493803281019954497[74] = 0; - out_1493803281019954497[75] = 0; - out_1493803281019954497[76] = 1; - out_1493803281019954497[77] = 0; - out_1493803281019954497[78] = 0; - out_1493803281019954497[79] = 0; - out_1493803281019954497[80] = 0; - out_1493803281019954497[81] = 0; - out_1493803281019954497[82] = 0; - out_1493803281019954497[83] = 0; - out_1493803281019954497[84] = 0; - out_1493803281019954497[85] = dt; - out_1493803281019954497[86] = 0; - out_1493803281019954497[87] = 0; - out_1493803281019954497[88] = 0; - out_1493803281019954497[89] = 0; - out_1493803281019954497[90] = 0; - out_1493803281019954497[91] = 0; - out_1493803281019954497[92] = 0; - out_1493803281019954497[93] = 0; - out_1493803281019954497[94] = 0; - out_1493803281019954497[95] = 1; - out_1493803281019954497[96] = 0; - out_1493803281019954497[97] = 0; - out_1493803281019954497[98] = 0; - out_1493803281019954497[99] = 0; - out_1493803281019954497[100] = 0; - out_1493803281019954497[101] = 0; - out_1493803281019954497[102] = 0; - out_1493803281019954497[103] = 0; - out_1493803281019954497[104] = dt; - out_1493803281019954497[105] = 0; - out_1493803281019954497[106] = 0; - out_1493803281019954497[107] = 0; - out_1493803281019954497[108] = 0; - out_1493803281019954497[109] = 0; - out_1493803281019954497[110] = 0; - out_1493803281019954497[111] = 0; - out_1493803281019954497[112] = 0; - out_1493803281019954497[113] = 0; - out_1493803281019954497[114] = 1; - out_1493803281019954497[115] = 0; - out_1493803281019954497[116] = 0; - out_1493803281019954497[117] = 0; - out_1493803281019954497[118] = 0; - out_1493803281019954497[119] = 0; - out_1493803281019954497[120] = 0; - out_1493803281019954497[121] = 0; - out_1493803281019954497[122] = 0; - out_1493803281019954497[123] = 0; - out_1493803281019954497[124] = 0; - out_1493803281019954497[125] = 0; - out_1493803281019954497[126] = 0; - out_1493803281019954497[127] = 0; - out_1493803281019954497[128] = 0; - out_1493803281019954497[129] = 0; - out_1493803281019954497[130] = 0; - out_1493803281019954497[131] = 0; - out_1493803281019954497[132] = 0; - out_1493803281019954497[133] = 1; - out_1493803281019954497[134] = 0; - out_1493803281019954497[135] = 0; - out_1493803281019954497[136] = 0; - out_1493803281019954497[137] = 0; - out_1493803281019954497[138] = 0; - out_1493803281019954497[139] = 0; - out_1493803281019954497[140] = 0; - out_1493803281019954497[141] = 0; - out_1493803281019954497[142] = 0; - out_1493803281019954497[143] = 0; - out_1493803281019954497[144] = 0; - out_1493803281019954497[145] = 0; - out_1493803281019954497[146] = 0; - out_1493803281019954497[147] = 0; - out_1493803281019954497[148] = 0; - out_1493803281019954497[149] = 0; - out_1493803281019954497[150] = 0; - out_1493803281019954497[151] = 0; - out_1493803281019954497[152] = 1; - out_1493803281019954497[153] = 0; - out_1493803281019954497[154] = 0; - out_1493803281019954497[155] = 0; - out_1493803281019954497[156] = 0; - out_1493803281019954497[157] = 0; - out_1493803281019954497[158] = 0; - out_1493803281019954497[159] = 0; - out_1493803281019954497[160] = 0; - out_1493803281019954497[161] = 0; - out_1493803281019954497[162] = 0; - out_1493803281019954497[163] = 0; - out_1493803281019954497[164] = 0; - out_1493803281019954497[165] = 0; - out_1493803281019954497[166] = 0; - out_1493803281019954497[167] = 0; - out_1493803281019954497[168] = 0; - out_1493803281019954497[169] = 0; - out_1493803281019954497[170] = 0; - out_1493803281019954497[171] = 1; - out_1493803281019954497[172] = 0; - out_1493803281019954497[173] = 0; - out_1493803281019954497[174] = 0; - out_1493803281019954497[175] = 0; - out_1493803281019954497[176] = 0; - out_1493803281019954497[177] = 0; - out_1493803281019954497[178] = 0; - out_1493803281019954497[179] = 0; - out_1493803281019954497[180] = 0; - out_1493803281019954497[181] = 0; - out_1493803281019954497[182] = 0; - out_1493803281019954497[183] = 0; - out_1493803281019954497[184] = 0; - out_1493803281019954497[185] = 0; - out_1493803281019954497[186] = 0; - out_1493803281019954497[187] = 0; - out_1493803281019954497[188] = 0; - out_1493803281019954497[189] = 0; - out_1493803281019954497[190] = 1; - out_1493803281019954497[191] = 0; - out_1493803281019954497[192] = 0; - out_1493803281019954497[193] = 0; - out_1493803281019954497[194] = 0; - out_1493803281019954497[195] = 0; - out_1493803281019954497[196] = 0; - out_1493803281019954497[197] = 0; - out_1493803281019954497[198] = 0; - out_1493803281019954497[199] = 0; - out_1493803281019954497[200] = 0; - out_1493803281019954497[201] = 0; - out_1493803281019954497[202] = 0; - out_1493803281019954497[203] = 0; - out_1493803281019954497[204] = 0; - out_1493803281019954497[205] = 0; - out_1493803281019954497[206] = 0; - out_1493803281019954497[207] = 0; - out_1493803281019954497[208] = 0; - out_1493803281019954497[209] = 1; - out_1493803281019954497[210] = 0; - out_1493803281019954497[211] = 0; - out_1493803281019954497[212] = 0; - out_1493803281019954497[213] = 0; - out_1493803281019954497[214] = 0; - out_1493803281019954497[215] = 0; - out_1493803281019954497[216] = 0; - out_1493803281019954497[217] = 0; - out_1493803281019954497[218] = 0; - out_1493803281019954497[219] = 0; - out_1493803281019954497[220] = 0; - out_1493803281019954497[221] = 0; - out_1493803281019954497[222] = 0; - out_1493803281019954497[223] = 0; - out_1493803281019954497[224] = 0; - out_1493803281019954497[225] = 0; - out_1493803281019954497[226] = 0; - out_1493803281019954497[227] = 0; - out_1493803281019954497[228] = 1; - out_1493803281019954497[229] = 0; - out_1493803281019954497[230] = 0; - out_1493803281019954497[231] = 0; - out_1493803281019954497[232] = 0; - out_1493803281019954497[233] = 0; - out_1493803281019954497[234] = 0; - out_1493803281019954497[235] = 0; - out_1493803281019954497[236] = 0; - out_1493803281019954497[237] = 0; - out_1493803281019954497[238] = 0; - out_1493803281019954497[239] = 0; - out_1493803281019954497[240] = 0; - out_1493803281019954497[241] = 0; - out_1493803281019954497[242] = 0; - out_1493803281019954497[243] = 0; - out_1493803281019954497[244] = 0; - out_1493803281019954497[245] = 0; - out_1493803281019954497[246] = 0; - out_1493803281019954497[247] = 1; - out_1493803281019954497[248] = 0; - out_1493803281019954497[249] = 0; - out_1493803281019954497[250] = 0; - out_1493803281019954497[251] = 0; - out_1493803281019954497[252] = 0; - out_1493803281019954497[253] = 0; - out_1493803281019954497[254] = 0; - out_1493803281019954497[255] = 0; - out_1493803281019954497[256] = 0; - out_1493803281019954497[257] = 0; - out_1493803281019954497[258] = 0; - out_1493803281019954497[259] = 0; - out_1493803281019954497[260] = 0; - out_1493803281019954497[261] = 0; - out_1493803281019954497[262] = 0; - out_1493803281019954497[263] = 0; - out_1493803281019954497[264] = 0; - out_1493803281019954497[265] = 0; - out_1493803281019954497[266] = 1; - out_1493803281019954497[267] = 0; - out_1493803281019954497[268] = 0; - out_1493803281019954497[269] = 0; - out_1493803281019954497[270] = 0; - out_1493803281019954497[271] = 0; - out_1493803281019954497[272] = 0; - out_1493803281019954497[273] = 0; - out_1493803281019954497[274] = 0; - out_1493803281019954497[275] = 0; - out_1493803281019954497[276] = 0; - out_1493803281019954497[277] = 0; - out_1493803281019954497[278] = 0; - out_1493803281019954497[279] = 0; - out_1493803281019954497[280] = 0; - out_1493803281019954497[281] = 0; - out_1493803281019954497[282] = 0; - out_1493803281019954497[283] = 0; - out_1493803281019954497[284] = 0; - out_1493803281019954497[285] = 1; - out_1493803281019954497[286] = 0; - out_1493803281019954497[287] = 0; - out_1493803281019954497[288] = 0; - out_1493803281019954497[289] = 0; - out_1493803281019954497[290] = 0; - out_1493803281019954497[291] = 0; - out_1493803281019954497[292] = 0; - out_1493803281019954497[293] = 0; - out_1493803281019954497[294] = 0; - out_1493803281019954497[295] = 0; - out_1493803281019954497[296] = 0; - out_1493803281019954497[297] = 0; - out_1493803281019954497[298] = 0; - out_1493803281019954497[299] = 0; - out_1493803281019954497[300] = 0; - out_1493803281019954497[301] = 0; - out_1493803281019954497[302] = 0; - out_1493803281019954497[303] = 0; - out_1493803281019954497[304] = 1; - out_1493803281019954497[305] = 0; - out_1493803281019954497[306] = 0; - out_1493803281019954497[307] = 0; - out_1493803281019954497[308] = 0; - out_1493803281019954497[309] = 0; - out_1493803281019954497[310] = 0; - out_1493803281019954497[311] = 0; - out_1493803281019954497[312] = 0; - out_1493803281019954497[313] = 0; - out_1493803281019954497[314] = 0; - out_1493803281019954497[315] = 0; - out_1493803281019954497[316] = 0; - out_1493803281019954497[317] = 0; - out_1493803281019954497[318] = 0; - out_1493803281019954497[319] = 0; - out_1493803281019954497[320] = 0; - out_1493803281019954497[321] = 0; - out_1493803281019954497[322] = 0; - out_1493803281019954497[323] = 1; +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 h_4(double *state, double *unused, double *out_9199116239139928597) { - out_9199116239139928597[0] = state[6] + state[9]; - out_9199116239139928597[1] = state[7] + state[10]; - out_9199116239139928597[2] = state[8] + state[11]; +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_5055826457360484509) { - out_5055826457360484509[0] = 0; - out_5055826457360484509[1] = 0; - out_5055826457360484509[2] = 0; - out_5055826457360484509[3] = 0; - out_5055826457360484509[4] = 0; - out_5055826457360484509[5] = 0; - out_5055826457360484509[6] = 1; - out_5055826457360484509[7] = 0; - out_5055826457360484509[8] = 0; - out_5055826457360484509[9] = 1; - out_5055826457360484509[10] = 0; - out_5055826457360484509[11] = 0; - out_5055826457360484509[12] = 0; - out_5055826457360484509[13] = 0; - out_5055826457360484509[14] = 0; - out_5055826457360484509[15] = 0; - out_5055826457360484509[16] = 0; - out_5055826457360484509[17] = 0; - out_5055826457360484509[18] = 0; - out_5055826457360484509[19] = 0; - out_5055826457360484509[20] = 0; - out_5055826457360484509[21] = 0; - out_5055826457360484509[22] = 0; - out_5055826457360484509[23] = 0; - out_5055826457360484509[24] = 0; - out_5055826457360484509[25] = 1; - out_5055826457360484509[26] = 0; - out_5055826457360484509[27] = 0; - out_5055826457360484509[28] = 1; - out_5055826457360484509[29] = 0; - out_5055826457360484509[30] = 0; - out_5055826457360484509[31] = 0; - out_5055826457360484509[32] = 0; - out_5055826457360484509[33] = 0; - out_5055826457360484509[34] = 0; - out_5055826457360484509[35] = 0; - out_5055826457360484509[36] = 0; - out_5055826457360484509[37] = 0; - out_5055826457360484509[38] = 0; - out_5055826457360484509[39] = 0; - out_5055826457360484509[40] = 0; - out_5055826457360484509[41] = 0; - out_5055826457360484509[42] = 0; - out_5055826457360484509[43] = 0; - out_5055826457360484509[44] = 1; - out_5055826457360484509[45] = 0; - out_5055826457360484509[46] = 0; - out_5055826457360484509[47] = 1; - out_5055826457360484509[48] = 0; - out_5055826457360484509[49] = 0; - out_5055826457360484509[50] = 0; - out_5055826457360484509[51] = 0; - out_5055826457360484509[52] = 0; - out_5055826457360484509[53] = 0; +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_10(double *state, double *unused, double *out_6229114816113941890) { - out_6229114816113941890[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6229114816113941890[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6229114816113941890[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_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_4767454895579609867) { - out_4767454895579609867[0] = 0; - out_4767454895579609867[1] = 9.8100000000000005*cos(state[1]); - out_4767454895579609867[2] = 0; - out_4767454895579609867[3] = 0; - out_4767454895579609867[4] = -state[8]; - out_4767454895579609867[5] = state[7]; - out_4767454895579609867[6] = 0; - out_4767454895579609867[7] = state[5]; - out_4767454895579609867[8] = -state[4]; - out_4767454895579609867[9] = 0; - out_4767454895579609867[10] = 0; - out_4767454895579609867[11] = 0; - out_4767454895579609867[12] = 1; - out_4767454895579609867[13] = 0; - out_4767454895579609867[14] = 0; - out_4767454895579609867[15] = 1; - out_4767454895579609867[16] = 0; - out_4767454895579609867[17] = 0; - out_4767454895579609867[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4767454895579609867[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4767454895579609867[20] = 0; - out_4767454895579609867[21] = state[8]; - out_4767454895579609867[22] = 0; - out_4767454895579609867[23] = -state[6]; - out_4767454895579609867[24] = -state[5]; - out_4767454895579609867[25] = 0; - out_4767454895579609867[26] = state[3]; - out_4767454895579609867[27] = 0; - out_4767454895579609867[28] = 0; - out_4767454895579609867[29] = 0; - out_4767454895579609867[30] = 0; - out_4767454895579609867[31] = 1; - out_4767454895579609867[32] = 0; - out_4767454895579609867[33] = 0; - out_4767454895579609867[34] = 1; - out_4767454895579609867[35] = 0; - out_4767454895579609867[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4767454895579609867[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4767454895579609867[38] = 0; - out_4767454895579609867[39] = -state[7]; - out_4767454895579609867[40] = state[6]; - out_4767454895579609867[41] = 0; - out_4767454895579609867[42] = state[4]; - out_4767454895579609867[43] = -state[3]; - out_4767454895579609867[44] = 0; - out_4767454895579609867[45] = 0; - out_4767454895579609867[46] = 0; - out_4767454895579609867[47] = 0; - out_4767454895579609867[48] = 0; - out_4767454895579609867[49] = 0; - out_4767454895579609867[50] = 1; - out_4767454895579609867[51] = 0; - out_4767454895579609867[52] = 0; - out_4767454895579609867[53] = 1; +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_13(double *state, double *unused, double *out_8087901312810249753) { - out_8087901312810249753[0] = state[3]; - out_8087901312810249753[1] = state[4]; - out_8087901312810249753[2] = state[5]; +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_5780286408032366178) { - out_5780286408032366178[0] = 0; - out_5780286408032366178[1] = 0; - out_5780286408032366178[2] = 0; - out_5780286408032366178[3] = 1; - out_5780286408032366178[4] = 0; - out_5780286408032366178[5] = 0; - out_5780286408032366178[6] = 0; - out_5780286408032366178[7] = 0; - out_5780286408032366178[8] = 0; - out_5780286408032366178[9] = 0; - out_5780286408032366178[10] = 0; - out_5780286408032366178[11] = 0; - out_5780286408032366178[12] = 0; - out_5780286408032366178[13] = 0; - out_5780286408032366178[14] = 0; - out_5780286408032366178[15] = 0; - out_5780286408032366178[16] = 0; - out_5780286408032366178[17] = 0; - out_5780286408032366178[18] = 0; - out_5780286408032366178[19] = 0; - out_5780286408032366178[20] = 0; - out_5780286408032366178[21] = 0; - out_5780286408032366178[22] = 1; - out_5780286408032366178[23] = 0; - out_5780286408032366178[24] = 0; - out_5780286408032366178[25] = 0; - out_5780286408032366178[26] = 0; - out_5780286408032366178[27] = 0; - out_5780286408032366178[28] = 0; - out_5780286408032366178[29] = 0; - out_5780286408032366178[30] = 0; - out_5780286408032366178[31] = 0; - out_5780286408032366178[32] = 0; - out_5780286408032366178[33] = 0; - out_5780286408032366178[34] = 0; - out_5780286408032366178[35] = 0; - out_5780286408032366178[36] = 0; - out_5780286408032366178[37] = 0; - out_5780286408032366178[38] = 0; - out_5780286408032366178[39] = 0; - out_5780286408032366178[40] = 0; - out_5780286408032366178[41] = 1; - out_5780286408032366178[42] = 0; - out_5780286408032366178[43] = 0; - out_5780286408032366178[44] = 0; - out_5780286408032366178[45] = 0; - out_5780286408032366178[46] = 0; - out_5780286408032366178[47] = 0; - out_5780286408032366178[48] = 0; - out_5780286408032366178[49] = 0; - out_5780286408032366178[50] = 0; - out_5780286408032366178[51] = 0; - out_5780286408032366178[52] = 0; - out_5780286408032366178[53] = 0; +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_14(double *state, double *unused, double *out_8155013269706044892) { - out_8155013269706044892[0] = state[6]; - out_8155013269706044892[1] = state[7]; - out_8155013269706044892[2] = state[8]; +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_9019067313699969038) { - out_9019067313699969038[0] = 0; - out_9019067313699969038[1] = 0; - out_9019067313699969038[2] = 0; - out_9019067313699969038[3] = 0; - out_9019067313699969038[4] = 0; - out_9019067313699969038[5] = 0; - out_9019067313699969038[6] = 1; - out_9019067313699969038[7] = 0; - out_9019067313699969038[8] = 0; - out_9019067313699969038[9] = 0; - out_9019067313699969038[10] = 0; - out_9019067313699969038[11] = 0; - out_9019067313699969038[12] = 0; - out_9019067313699969038[13] = 0; - out_9019067313699969038[14] = 0; - out_9019067313699969038[15] = 0; - out_9019067313699969038[16] = 0; - out_9019067313699969038[17] = 0; - out_9019067313699969038[18] = 0; - out_9019067313699969038[19] = 0; - out_9019067313699969038[20] = 0; - out_9019067313699969038[21] = 0; - out_9019067313699969038[22] = 0; - out_9019067313699969038[23] = 0; - out_9019067313699969038[24] = 0; - out_9019067313699969038[25] = 1; - out_9019067313699969038[26] = 0; - out_9019067313699969038[27] = 0; - out_9019067313699969038[28] = 0; - out_9019067313699969038[29] = 0; - out_9019067313699969038[30] = 0; - out_9019067313699969038[31] = 0; - out_9019067313699969038[32] = 0; - out_9019067313699969038[33] = 0; - out_9019067313699969038[34] = 0; - out_9019067313699969038[35] = 0; - out_9019067313699969038[36] = 0; - out_9019067313699969038[37] = 0; - out_9019067313699969038[38] = 0; - out_9019067313699969038[39] = 0; - out_9019067313699969038[40] = 0; - out_9019067313699969038[41] = 0; - out_9019067313699969038[42] = 0; - out_9019067313699969038[43] = 0; - out_9019067313699969038[44] = 1; - out_9019067313699969038[45] = 0; - out_9019067313699969038[46] = 0; - out_9019067313699969038[47] = 0; - out_9019067313699969038[48] = 0; - out_9019067313699969038[49] = 0; - out_9019067313699969038[50] = 0; - out_9019067313699969038[51] = 0; - out_9019067313699969038[52] = 0; - out_9019067313699969038[53] = 0; +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; } #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_7437794640769795433) { - err_fun(nom_x, delta_x, out_7437794640769795433); +void pose_err_fun(double *nom_x, double *delta_x, double *out_9222670015265418032) { + err_fun(nom_x, delta_x, out_9222670015265418032); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2037082783356591262) { - inv_err_fun(nom_x, true_x, out_2037082783356591262); +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_H_mod_fun(double *state, double *out_6997830721327979188) { - H_mod_fun(state, out_6997830721327979188); +void pose_H_mod_fun(double *state, double *out_3054834377026573453) { + H_mod_fun(state, out_3054834377026573453); } -void pose_f_fun(double *state, double dt, double *out_2524658316881090159) { - f_fun(state, dt, out_2524658316881090159); +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_1493803281019954497) { - F_fun(state, dt, out_1493803281019954497); +void pose_F_fun(double *state, double dt, double *out_7891921077140001268) { + F_fun(state, dt, out_7891921077140001268); } -void pose_h_4(double *state, double *unused, double *out_9199116239139928597) { - h_4(state, unused, out_9199116239139928597); +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_5055826457360484509) { - H_4(state, unused, out_5055826457360484509); +void pose_H_4(double *state, double *unused, double *out_8902916183778532174) { + H_4(state, unused, out_8902916183778532174); } -void pose_h_10(double *state, double *unused, double *out_6229114816113941890) { - h_10(state, unused, out_6229114816113941890); +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_4767454895579609867) { - H_10(state, unused, out_4767454895579609867); +void pose_H_10(double *state, double *unused, double *out_5035106138755480521) { + H_10(state, unused, out_5035106138755480521); } -void pose_h_13(double *state, double *unused, double *out_8087901312810249753) { - h_13(state, unused, out_8087901312810249753); +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_5780286408032366178) { - H_13(state, unused, out_5780286408032366178); +void pose_H_13(double *state, double *unused, double *out_5690642358446199373) { + H_13(state, unused, out_5690642358446199373); } -void pose_h_14(double *state, double *unused, double *out_8155013269706044892) { - h_14(state, unused, out_8155013269706044892); +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_9019067313699969038) { - H_14(state, unused, out_9019067313699969038); +void pose_H_14(double *state, double *unused, double *out_4939675327439047645) { + H_14(state, unused, out_4939675327439047645); } 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 c7140a5943..879b31ffff 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_7437794640769795433); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2037082783356591262); -void pose_H_mod_fun(double *state, double *out_6997830721327979188); -void pose_f_fun(double *state, double dt, double *out_2524658316881090159); -void pose_F_fun(double *state, double dt, double *out_1493803281019954497); -void pose_h_4(double *state, double *unused, double *out_9199116239139928597); -void pose_H_4(double *state, double *unused, double *out_5055826457360484509); -void pose_h_10(double *state, double *unused, double *out_6229114816113941890); -void pose_H_10(double *state, double *unused, double *out_4767454895579609867); -void pose_h_13(double *state, double *unused, double *out_8087901312810249753); -void pose_H_13(double *state, double *unused, double *out_5780286408032366178); -void pose_h_14(double *state, double *unused, double *out_8155013269706044892); -void pose_H_14(double *state, double *unused, double *out_9019067313699969038); +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_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file