diff --git a/cereal/libcereal.a b/cereal/libcereal.a index da7b1582ab..a242c1f0f8 100644 Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 897b2ac00f..3b0d6999fa 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 bbe0e648b7..fe0fc20b59 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 4d0bf211d8..27f6050e10 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 8be07478e5..de00bdba58 100755 Binary files a/panda/board/obj/body_h7/main.elf and 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a/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin b/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin index fdab39bd9f..dcd1dbf169 100755 Binary files a/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 8395404660..731fb1e497 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-3ba36ed4-DEBUG"; +const uint8_t gitversion[19] = "DEV-1db1ff9b-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 872ad278d0..7f33738b28 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 23dde23ae6..04259767f1 100755 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b/panda/board/obj/version index d6914641d5..648ac0c2a6 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-3ba36ed4-DEBUG \ No newline at end of file +DEV-1db1ff9b-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 24c831ab36..b1935d20ca 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_6543135761510689107) { - out_6543135761510689107[0] = delta_x[0] + nom_x[0]; - out_6543135761510689107[1] = delta_x[1] + nom_x[1]; - out_6543135761510689107[2] = delta_x[2] + nom_x[2]; - out_6543135761510689107[3] = delta_x[3] + nom_x[3]; - out_6543135761510689107[4] = delta_x[4] + nom_x[4]; - out_6543135761510689107[5] = delta_x[5] + nom_x[5]; - out_6543135761510689107[6] = delta_x[6] + nom_x[6]; - out_6543135761510689107[7] = delta_x[7] + nom_x[7]; - out_6543135761510689107[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5552049021186220575) { + out_5552049021186220575[0] = delta_x[0] + nom_x[0]; + out_5552049021186220575[1] = delta_x[1] + nom_x[1]; + out_5552049021186220575[2] = delta_x[2] + nom_x[2]; + out_5552049021186220575[3] = delta_x[3] + nom_x[3]; + out_5552049021186220575[4] = delta_x[4] + nom_x[4]; + out_5552049021186220575[5] = delta_x[5] + nom_x[5]; + out_5552049021186220575[6] = delta_x[6] + nom_x[6]; + out_5552049021186220575[7] = delta_x[7] + nom_x[7]; + out_5552049021186220575[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2331655545426529005) { - out_2331655545426529005[0] = -nom_x[0] + true_x[0]; - out_2331655545426529005[1] = -nom_x[1] + true_x[1]; - out_2331655545426529005[2] = -nom_x[2] + true_x[2]; - out_2331655545426529005[3] = -nom_x[3] + true_x[3]; - out_2331655545426529005[4] = -nom_x[4] + true_x[4]; - out_2331655545426529005[5] = -nom_x[5] + true_x[5]; - out_2331655545426529005[6] = -nom_x[6] + true_x[6]; - out_2331655545426529005[7] = -nom_x[7] + true_x[7]; - out_2331655545426529005[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_590150806491182217) { + out_590150806491182217[0] = -nom_x[0] + true_x[0]; + out_590150806491182217[1] = -nom_x[1] + true_x[1]; + out_590150806491182217[2] = -nom_x[2] + true_x[2]; + out_590150806491182217[3] = -nom_x[3] + true_x[3]; + out_590150806491182217[4] = -nom_x[4] + true_x[4]; + out_590150806491182217[5] = -nom_x[5] + true_x[5]; + out_590150806491182217[6] = -nom_x[6] + true_x[6]; + out_590150806491182217[7] = -nom_x[7] + true_x[7]; + out_590150806491182217[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6389313126975023722) { - out_6389313126975023722[0] = 1.0; - out_6389313126975023722[1] = 0.0; - out_6389313126975023722[2] = 0.0; - out_6389313126975023722[3] = 0.0; - out_6389313126975023722[4] = 0.0; - out_6389313126975023722[5] = 0.0; - out_6389313126975023722[6] = 0.0; - out_6389313126975023722[7] = 0.0; - out_6389313126975023722[8] = 0.0; - out_6389313126975023722[9] = 0.0; - out_6389313126975023722[10] = 1.0; - out_6389313126975023722[11] = 0.0; - out_6389313126975023722[12] = 0.0; - out_6389313126975023722[13] = 0.0; - out_6389313126975023722[14] = 0.0; - out_6389313126975023722[15] = 0.0; - out_6389313126975023722[16] = 0.0; - out_6389313126975023722[17] = 0.0; - out_6389313126975023722[18] = 0.0; - out_6389313126975023722[19] = 0.0; - out_6389313126975023722[20] = 1.0; - out_6389313126975023722[21] = 0.0; - out_6389313126975023722[22] = 0.0; - out_6389313126975023722[23] = 0.0; - out_6389313126975023722[24] = 0.0; - out_6389313126975023722[25] = 0.0; - out_6389313126975023722[26] = 0.0; - out_6389313126975023722[27] = 0.0; - out_6389313126975023722[28] = 0.0; - out_6389313126975023722[29] = 0.0; - out_6389313126975023722[30] = 1.0; - out_6389313126975023722[31] = 0.0; - out_6389313126975023722[32] = 0.0; - out_6389313126975023722[33] = 0.0; - out_6389313126975023722[34] = 0.0; - out_6389313126975023722[35] = 0.0; - out_6389313126975023722[36] = 0.0; - out_6389313126975023722[37] = 0.0; - out_6389313126975023722[38] = 0.0; - out_6389313126975023722[39] = 0.0; - out_6389313126975023722[40] = 1.0; - out_6389313126975023722[41] = 0.0; - out_6389313126975023722[42] = 0.0; - out_6389313126975023722[43] = 0.0; - out_6389313126975023722[44] = 0.0; - out_6389313126975023722[45] = 0.0; - out_6389313126975023722[46] = 0.0; - out_6389313126975023722[47] = 0.0; - out_6389313126975023722[48] = 0.0; - out_6389313126975023722[49] = 0.0; - out_6389313126975023722[50] = 1.0; - out_6389313126975023722[51] = 0.0; - out_6389313126975023722[52] = 0.0; - out_6389313126975023722[53] = 0.0; - out_6389313126975023722[54] = 0.0; - out_6389313126975023722[55] = 0.0; - out_6389313126975023722[56] = 0.0; - out_6389313126975023722[57] = 0.0; - out_6389313126975023722[58] = 0.0; - out_6389313126975023722[59] = 0.0; - out_6389313126975023722[60] = 1.0; - out_6389313126975023722[61] = 0.0; - out_6389313126975023722[62] = 0.0; - out_6389313126975023722[63] = 0.0; - out_6389313126975023722[64] = 0.0; - out_6389313126975023722[65] = 0.0; - out_6389313126975023722[66] = 0.0; - out_6389313126975023722[67] = 0.0; - out_6389313126975023722[68] = 0.0; - out_6389313126975023722[69] = 0.0; - out_6389313126975023722[70] = 1.0; - out_6389313126975023722[71] = 0.0; - out_6389313126975023722[72] = 0.0; - out_6389313126975023722[73] = 0.0; - out_6389313126975023722[74] = 0.0; - out_6389313126975023722[75] = 0.0; - out_6389313126975023722[76] = 0.0; - out_6389313126975023722[77] = 0.0; - out_6389313126975023722[78] = 0.0; - out_6389313126975023722[79] = 0.0; - out_6389313126975023722[80] = 1.0; +void H_mod_fun(double *state, double *out_462982770310503507) { + out_462982770310503507[0] = 1.0; + out_462982770310503507[1] = 0.0; + out_462982770310503507[2] = 0.0; + out_462982770310503507[3] = 0.0; + out_462982770310503507[4] = 0.0; + out_462982770310503507[5] = 0.0; + out_462982770310503507[6] = 0.0; + out_462982770310503507[7] = 0.0; + out_462982770310503507[8] = 0.0; + out_462982770310503507[9] = 0.0; + out_462982770310503507[10] = 1.0; + out_462982770310503507[11] = 0.0; + out_462982770310503507[12] = 0.0; + out_462982770310503507[13] = 0.0; + out_462982770310503507[14] = 0.0; + out_462982770310503507[15] = 0.0; + out_462982770310503507[16] = 0.0; + out_462982770310503507[17] = 0.0; + out_462982770310503507[18] = 0.0; + out_462982770310503507[19] = 0.0; + out_462982770310503507[20] = 1.0; + out_462982770310503507[21] = 0.0; + out_462982770310503507[22] = 0.0; + out_462982770310503507[23] = 0.0; + out_462982770310503507[24] = 0.0; + out_462982770310503507[25] = 0.0; + out_462982770310503507[26] = 0.0; + out_462982770310503507[27] = 0.0; + out_462982770310503507[28] = 0.0; + out_462982770310503507[29] = 0.0; + out_462982770310503507[30] = 1.0; + out_462982770310503507[31] = 0.0; + out_462982770310503507[32] = 0.0; + out_462982770310503507[33] = 0.0; + out_462982770310503507[34] = 0.0; + out_462982770310503507[35] = 0.0; + out_462982770310503507[36] = 0.0; + out_462982770310503507[37] = 0.0; + out_462982770310503507[38] = 0.0; + out_462982770310503507[39] = 0.0; + out_462982770310503507[40] = 1.0; + out_462982770310503507[41] = 0.0; + out_462982770310503507[42] = 0.0; + out_462982770310503507[43] = 0.0; + out_462982770310503507[44] = 0.0; + out_462982770310503507[45] = 0.0; + out_462982770310503507[46] = 0.0; + out_462982770310503507[47] = 0.0; + out_462982770310503507[48] = 0.0; + out_462982770310503507[49] = 0.0; + out_462982770310503507[50] = 1.0; + out_462982770310503507[51] = 0.0; + out_462982770310503507[52] = 0.0; + out_462982770310503507[53] = 0.0; + out_462982770310503507[54] = 0.0; + out_462982770310503507[55] = 0.0; + out_462982770310503507[56] = 0.0; + out_462982770310503507[57] = 0.0; + out_462982770310503507[58] = 0.0; + out_462982770310503507[59] = 0.0; + out_462982770310503507[60] = 1.0; + out_462982770310503507[61] = 0.0; + out_462982770310503507[62] = 0.0; + out_462982770310503507[63] = 0.0; + out_462982770310503507[64] = 0.0; + out_462982770310503507[65] = 0.0; + out_462982770310503507[66] = 0.0; + out_462982770310503507[67] = 0.0; + out_462982770310503507[68] = 0.0; + out_462982770310503507[69] = 0.0; + out_462982770310503507[70] = 1.0; + out_462982770310503507[71] = 0.0; + out_462982770310503507[72] = 0.0; + out_462982770310503507[73] = 0.0; + out_462982770310503507[74] = 0.0; + out_462982770310503507[75] = 0.0; + out_462982770310503507[76] = 0.0; + out_462982770310503507[77] = 0.0; + out_462982770310503507[78] = 0.0; + out_462982770310503507[79] = 0.0; + out_462982770310503507[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4897785971793930733) { - out_4897785971793930733[0] = state[0]; - out_4897785971793930733[1] = state[1]; - out_4897785971793930733[2] = state[2]; - out_4897785971793930733[3] = state[3]; - out_4897785971793930733[4] = state[4]; - out_4897785971793930733[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_4897785971793930733[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; - out_4897785971793930733[7] = state[7]; - out_4897785971793930733[8] = state[8]; +void f_fun(double *state, double dt, double *out_169833714219358489) { + out_169833714219358489[0] = state[0]; + out_169833714219358489[1] = state[1]; + out_169833714219358489[2] = state[2]; + out_169833714219358489[3] = state[3]; + out_169833714219358489[4] = state[4]; + out_169833714219358489[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_169833714219358489[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_169833714219358489[7] = state[7]; + out_169833714219358489[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1120359963151235251) { - out_1120359963151235251[0] = 1; - out_1120359963151235251[1] = 0; - out_1120359963151235251[2] = 0; - out_1120359963151235251[3] = 0; - out_1120359963151235251[4] = 0; - out_1120359963151235251[5] = 0; - out_1120359963151235251[6] = 0; - out_1120359963151235251[7] = 0; - out_1120359963151235251[8] = 0; - out_1120359963151235251[9] = 0; - out_1120359963151235251[10] = 1; - out_1120359963151235251[11] = 0; - out_1120359963151235251[12] = 0; - out_1120359963151235251[13] = 0; - out_1120359963151235251[14] = 0; - out_1120359963151235251[15] = 0; - out_1120359963151235251[16] = 0; - out_1120359963151235251[17] = 0; - out_1120359963151235251[18] = 0; - out_1120359963151235251[19] = 0; - out_1120359963151235251[20] = 1; - out_1120359963151235251[21] = 0; - out_1120359963151235251[22] = 0; - out_1120359963151235251[23] = 0; - out_1120359963151235251[24] = 0; - out_1120359963151235251[25] = 0; - out_1120359963151235251[26] = 0; - out_1120359963151235251[27] = 0; - out_1120359963151235251[28] = 0; - out_1120359963151235251[29] = 0; - out_1120359963151235251[30] = 1; - out_1120359963151235251[31] = 0; - out_1120359963151235251[32] = 0; - out_1120359963151235251[33] = 0; - out_1120359963151235251[34] = 0; - out_1120359963151235251[35] = 0; - out_1120359963151235251[36] = 0; - out_1120359963151235251[37] = 0; - out_1120359963151235251[38] = 0; - out_1120359963151235251[39] = 0; - out_1120359963151235251[40] = 1; - out_1120359963151235251[41] = 0; - out_1120359963151235251[42] = 0; - out_1120359963151235251[43] = 0; - out_1120359963151235251[44] = 0; - out_1120359963151235251[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); - out_1120359963151235251[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1120359963151235251[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1120359963151235251[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1120359963151235251[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); - out_1120359963151235251[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1120359963151235251[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1120359963151235251[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1120359963151235251[53] = -9.8100000000000005*dt; - out_1120359963151235251[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); - out_1120359963151235251[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1120359963151235251[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1120359963151235251[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1120359963151235251[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); - out_1120359963151235251[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1120359963151235251[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; - out_1120359963151235251[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1120359963151235251[62] = 0; - out_1120359963151235251[63] = 0; - out_1120359963151235251[64] = 0; - out_1120359963151235251[65] = 0; - out_1120359963151235251[66] = 0; - out_1120359963151235251[67] = 0; - out_1120359963151235251[68] = 0; - out_1120359963151235251[69] = 0; - out_1120359963151235251[70] = 1; - out_1120359963151235251[71] = 0; - out_1120359963151235251[72] = 0; - out_1120359963151235251[73] = 0; - out_1120359963151235251[74] = 0; - out_1120359963151235251[75] = 0; - out_1120359963151235251[76] = 0; - out_1120359963151235251[77] = 0; - out_1120359963151235251[78] = 0; - out_1120359963151235251[79] = 0; - out_1120359963151235251[80] = 1; +void F_fun(double *state, double dt, double *out_3869384383894482819) { + out_3869384383894482819[0] = 1; + out_3869384383894482819[1] = 0; + out_3869384383894482819[2] = 0; + out_3869384383894482819[3] = 0; + out_3869384383894482819[4] = 0; + out_3869384383894482819[5] = 0; + out_3869384383894482819[6] = 0; + out_3869384383894482819[7] = 0; + out_3869384383894482819[8] = 0; + out_3869384383894482819[9] = 0; + out_3869384383894482819[10] = 1; + out_3869384383894482819[11] = 0; + out_3869384383894482819[12] = 0; + out_3869384383894482819[13] = 0; + out_3869384383894482819[14] = 0; + out_3869384383894482819[15] = 0; + out_3869384383894482819[16] = 0; + out_3869384383894482819[17] = 0; + out_3869384383894482819[18] = 0; + out_3869384383894482819[19] = 0; + out_3869384383894482819[20] = 1; + out_3869384383894482819[21] = 0; + out_3869384383894482819[22] = 0; + out_3869384383894482819[23] = 0; + out_3869384383894482819[24] = 0; + out_3869384383894482819[25] = 0; + out_3869384383894482819[26] = 0; + out_3869384383894482819[27] = 0; + out_3869384383894482819[28] = 0; + out_3869384383894482819[29] = 0; + out_3869384383894482819[30] = 1; + out_3869384383894482819[31] = 0; + out_3869384383894482819[32] = 0; + out_3869384383894482819[33] = 0; + out_3869384383894482819[34] = 0; + out_3869384383894482819[35] = 0; + out_3869384383894482819[36] = 0; + out_3869384383894482819[37] = 0; + out_3869384383894482819[38] = 0; + out_3869384383894482819[39] = 0; + out_3869384383894482819[40] = 1; + out_3869384383894482819[41] = 0; + out_3869384383894482819[42] = 0; + out_3869384383894482819[43] = 0; + out_3869384383894482819[44] = 0; + out_3869384383894482819[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_3869384383894482819[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3869384383894482819[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3869384383894482819[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3869384383894482819[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_3869384383894482819[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3869384383894482819[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3869384383894482819[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3869384383894482819[53] = -9.8100000000000005*dt; + out_3869384383894482819[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_3869384383894482819[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3869384383894482819[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3869384383894482819[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3869384383894482819[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_3869384383894482819[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3869384383894482819[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_3869384383894482819[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3869384383894482819[62] = 0; + out_3869384383894482819[63] = 0; + out_3869384383894482819[64] = 0; + out_3869384383894482819[65] = 0; + out_3869384383894482819[66] = 0; + out_3869384383894482819[67] = 0; + out_3869384383894482819[68] = 0; + out_3869384383894482819[69] = 0; + out_3869384383894482819[70] = 1; + out_3869384383894482819[71] = 0; + out_3869384383894482819[72] = 0; + out_3869384383894482819[73] = 0; + out_3869384383894482819[74] = 0; + out_3869384383894482819[75] = 0; + out_3869384383894482819[76] = 0; + out_3869384383894482819[77] = 0; + out_3869384383894482819[78] = 0; + out_3869384383894482819[79] = 0; + out_3869384383894482819[80] = 1; } -void h_25(double *state, double *unused, double *out_2169501381777287353) { - out_2169501381777287353[0] = state[6]; +void h_25(double *state, double *unused, double *out_3087348870251025033) { + out_3087348870251025033[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1485621301790358882) { - out_1485621301790358882[0] = 0; - out_1485621301790358882[1] = 0; - out_1485621301790358882[2] = 0; - out_1485621301790358882[3] = 0; - out_1485621301790358882[4] = 0; - out_1485621301790358882[5] = 0; - out_1485621301790358882[6] = 1; - out_1485621301790358882[7] = 0; - out_1485621301790358882[8] = 0; +void H_25(double *state, double *unused, double *out_8790573077486810872) { + out_8790573077486810872[0] = 0; + out_8790573077486810872[1] = 0; + out_8790573077486810872[2] = 0; + out_8790573077486810872[3] = 0; + out_8790573077486810872[4] = 0; + out_8790573077486810872[5] = 0; + out_8790573077486810872[6] = 1; + out_8790573077486810872[7] = 0; + out_8790573077486810872[8] = 0; } -void h_24(double *state, double *unused, double *out_8386299954951130399) { - out_8386299954951130399[0] = state[4]; - out_8386299954951130399[1] = state[5]; +void h_24(double *state, double *unused, double *out_6915008056190712895) { + out_6915008056190712895[0] = state[4]; + out_6915008056190712895[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1956078783833697606) { - out_1956078783833697606[0] = 0; - out_1956078783833697606[1] = 0; - out_1956078783833697606[2] = 0; - out_1956078783833697606[3] = 0; - out_1956078783833697606[4] = 1; - out_1956078783833697606[5] = 0; - out_1956078783833697606[6] = 0; - out_1956078783833697606[7] = 0; - out_1956078783833697606[8] = 0; - out_1956078783833697606[9] = 0; - out_1956078783833697606[10] = 0; - out_1956078783833697606[11] = 0; - out_1956078783833697606[12] = 0; - out_1956078783833697606[13] = 0; - out_1956078783833697606[14] = 1; - out_1956078783833697606[15] = 0; - out_1956078783833697606[16] = 0; - out_1956078783833697606[17] = 0; +void H_24(double *state, double *unused, double *out_6617923478481311306) { + out_6617923478481311306[0] = 0; + out_6617923478481311306[1] = 0; + out_6617923478481311306[2] = 0; + out_6617923478481311306[3] = 0; + out_6617923478481311306[4] = 1; + out_6617923478481311306[5] = 0; + out_6617923478481311306[6] = 0; + out_6617923478481311306[7] = 0; + out_6617923478481311306[8] = 0; + out_6617923478481311306[9] = 0; + out_6617923478481311306[10] = 0; + out_6617923478481311306[11] = 0; + out_6617923478481311306[12] = 0; + out_6617923478481311306[13] = 0; + out_6617923478481311306[14] = 1; + out_6617923478481311306[15] = 0; + out_6617923478481311306[16] = 0; + out_6617923478481311306[17] = 0; } -void h_30(double *state, double *unused, double *out_2444695444061793242) { - out_2444695444061793242[0] = state[4]; +void h_30(double *state, double *unused, double *out_3500479056225270130) { + out_3500479056225270130[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6013317631917967080) { - out_6013317631917967080[0] = 0; - out_6013317631917967080[1] = 0; - out_6013317631917967080[2] = 0; - out_6013317631917967080[3] = 0; - out_6013317631917967080[4] = 1; - out_6013317631917967080[5] = 0; - out_6013317631917967080[6] = 0; - out_6013317631917967080[7] = 0; - out_6013317631917967080[8] = 0; +void H_30(double *state, double *unused, double *out_2739480654731123989) { + out_2739480654731123989[0] = 0; + out_2739480654731123989[1] = 0; + out_2739480654731123989[2] = 0; + out_2739480654731123989[3] = 0; + out_2739480654731123989[4] = 1; + out_2739480654731123989[5] = 0; + out_2739480654731123989[6] = 0; + out_2739480654731123989[7] = 0; + out_2739480654731123989[8] = 0; } -void h_26(double *state, double *unused, double *out_2413046201872073325) { - out_2413046201872073325[0] = state[7]; +void h_26(double *state, double *unused, double *out_2897163171548792613) { + out_2897163171548792613[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5227124620664415106) { - out_5227124620664415106[0] = 0; - out_5227124620664415106[1] = 0; - out_5227124620664415106[2] = 0; - out_5227124620664415106[3] = 0; - out_5227124620664415106[4] = 0; - out_5227124620664415106[5] = 0; - out_5227124620664415106[6] = 0; - out_5227124620664415106[7] = 1; - out_5227124620664415106[8] = 0; +void H_26(double *state, double *unused, double *out_5049069758612754648) { + out_5049069758612754648[0] = 0; + out_5049069758612754648[1] = 0; + out_5049069758612754648[2] = 0; + out_5049069758612754648[3] = 0; + out_5049069758612754648[4] = 0; + out_5049069758612754648[5] = 0; + out_5049069758612754648[6] = 0; + out_5049069758612754648[7] = 1; + out_5049069758612754648[8] = 0; } -void h_27(double *state, double *unused, double *out_6236155437866939300) { - out_6236155437866939300[0] = state[3]; +void h_27(double *state, double *unused, double *out_5691754191059722684) { + out_5691754191059722684[0] = state[3]; } -void H_27(double *state, double *unused, double *out_3789723560734023863) { - out_3789723560734023863[0] = 0; - out_3789723560734023863[1] = 0; - out_3789723560734023863[2] = 0; - out_3789723560734023863[3] = 1; - out_3789723560734023863[4] = 0; - out_3789723560734023863[5] = 0; - out_3789723560734023863[6] = 0; - out_3789723560734023863[7] = 0; - out_3789723560734023863[8] = 0; +void H_27(double *state, double *unused, double *out_4914243966531548900) { + out_4914243966531548900[0] = 0; + out_4914243966531548900[1] = 0; + out_4914243966531548900[2] = 0; + out_4914243966531548900[3] = 1; + out_4914243966531548900[4] = 0; + out_4914243966531548900[5] = 0; + out_4914243966531548900[6] = 0; + out_4914243966531548900[7] = 0; + out_4914243966531548900[8] = 0; } -void h_29(double *state, double *unused, double *out_1645117212887109885) { - out_1645117212887109885[0] = state[1]; +void h_29(double *state, double *unused, double *out_8502152323886115775) { + out_8502152323886115775[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5503086287603574896) { - out_5503086287603574896[0] = 0; - out_5503086287603574896[1] = 1; - out_5503086287603574896[2] = 0; - out_5503086287603574896[3] = 0; - out_5503086287603574896[4] = 0; - out_5503086287603574896[5] = 0; - out_5503086287603574896[6] = 0; - out_5503086287603574896[7] = 0; - out_5503086287603574896[8] = 0; +void H_29(double *state, double *unused, double *out_6627606693401099933) { + out_6627606693401099933[0] = 0; + out_6627606693401099933[1] = 1; + out_6627606693401099933[2] = 0; + out_6627606693401099933[3] = 0; + out_6627606693401099933[4] = 0; + out_6627606693401099933[5] = 0; + out_6627606693401099933[6] = 0; + out_6627606693401099933[7] = 0; + out_6627606693401099933[8] = 0; } -void h_28(double *state, double *unused, double *out_5811547118428763170) { - out_5811547118428763170[0] = state[0]; +void h_28(double *state, double *unused, double *out_7413122646763798369) { + out_7413122646763798369[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3539456016038248645) { - out_3539456016038248645[0] = 1; - out_3539456016038248645[1] = 0; - out_3539456016038248645[2] = 0; - out_3539456016038248645[3] = 0; - out_3539456016038248645[4] = 0; - out_3539456016038248645[5] = 0; - out_3539456016038248645[6] = 0; - out_3539456016038248645[7] = 0; - out_3539456016038248645[8] = 0; +void H_28(double *state, double *unused, double *out_6736738363238921109) { + out_6736738363238921109[0] = 1; + out_6736738363238921109[1] = 0; + out_6736738363238921109[2] = 0; + out_6736738363238921109[3] = 0; + out_6736738363238921109[4] = 0; + out_6736738363238921109[5] = 0; + out_6736738363238921109[6] = 0; + out_6736738363238921109[7] = 0; + out_6736738363238921109[8] = 0; } -void h_31(double *state, double *unused, double *out_2741168024264044953) { - out_2741168024264044953[0] = state[8]; +void h_31(double *state, double *unused, double *out_2930162201899895888) { + out_2930162201899895888[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1454975339913398454) { - out_1454975339913398454[0] = 0; - out_1454975339913398454[1] = 0; - out_1454975339913398454[2] = 0; - out_1454975339913398454[3] = 0; - out_1454975339913398454[4] = 0; - out_1454975339913398454[5] = 0; - out_1454975339913398454[6] = 0; - out_1454975339913398454[7] = 0; - out_1454975339913398454[8] = 1; +void H_31(double *state, double *unused, double *out_8821219039363771300) { + out_8821219039363771300[0] = 0; + out_8821219039363771300[1] = 0; + out_8821219039363771300[2] = 0; + out_8821219039363771300[3] = 0; + out_8821219039363771300[4] = 0; + out_8821219039363771300[5] = 0; + out_8821219039363771300[6] = 0; + out_8821219039363771300[7] = 0; + out_8821219039363771300[8] = 1; } #include #include @@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); } -void car_err_fun(double *nom_x, double *delta_x, double *out_6543135761510689107) { - err_fun(nom_x, delta_x, out_6543135761510689107); +void car_err_fun(double *nom_x, double *delta_x, double *out_5552049021186220575) { + err_fun(nom_x, delta_x, out_5552049021186220575); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2331655545426529005) { - inv_err_fun(nom_x, true_x, out_2331655545426529005); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_590150806491182217) { + inv_err_fun(nom_x, true_x, out_590150806491182217); } -void car_H_mod_fun(double *state, double *out_6389313126975023722) { - H_mod_fun(state, out_6389313126975023722); +void car_H_mod_fun(double *state, double *out_462982770310503507) { + H_mod_fun(state, out_462982770310503507); } -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_169833714219358489) { + f_fun(state, dt, out_169833714219358489); } -void car_F_fun(double *state, double dt, double *out_1120359963151235251) { - F_fun(state, dt, out_1120359963151235251); +void car_F_fun(double *state, double dt, double *out_3869384383894482819) { + F_fun(state, dt, out_3869384383894482819); } -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_3087348870251025033) { + h_25(state, unused, out_3087348870251025033); } -void car_H_25(double *state, double *unused, double *out_1485621301790358882) { - H_25(state, unused, out_1485621301790358882); +void car_H_25(double *state, double *unused, double *out_8790573077486810872) { + H_25(state, unused, out_8790573077486810872); } -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_6915008056190712895) { + h_24(state, unused, out_6915008056190712895); } -void car_H_24(double *state, double *unused, double *out_1956078783833697606) { - H_24(state, unused, out_1956078783833697606); +void car_H_24(double *state, double *unused, double *out_6617923478481311306) { + H_24(state, unused, out_6617923478481311306); } -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_3500479056225270130) { + h_30(state, unused, out_3500479056225270130); } -void car_H_30(double *state, double *unused, double *out_6013317631917967080) { - H_30(state, unused, out_6013317631917967080); +void car_H_30(double *state, double *unused, double *out_2739480654731123989) { + H_30(state, unused, out_2739480654731123989); } -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_2897163171548792613) { + h_26(state, unused, out_2897163171548792613); } -void car_H_26(double *state, double *unused, double *out_5227124620664415106) { - H_26(state, unused, out_5227124620664415106); +void car_H_26(double *state, double *unused, double *out_5049069758612754648) { + H_26(state, unused, out_5049069758612754648); } -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_5691754191059722684) { + h_27(state, unused, out_5691754191059722684); } -void car_H_27(double *state, double *unused, double *out_3789723560734023863) { - H_27(state, unused, out_3789723560734023863); +void car_H_27(double *state, double *unused, double *out_4914243966531548900) { + H_27(state, unused, out_4914243966531548900); } -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_8502152323886115775) { + h_29(state, unused, out_8502152323886115775); } -void car_H_29(double *state, double *unused, double *out_5503086287603574896) { - H_29(state, unused, out_5503086287603574896); +void car_H_29(double *state, double *unused, double *out_6627606693401099933) { + H_29(state, unused, out_6627606693401099933); } -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_7413122646763798369) { + h_28(state, unused, out_7413122646763798369); } -void car_H_28(double *state, double *unused, double *out_3539456016038248645) { - H_28(state, unused, out_3539456016038248645); +void car_H_28(double *state, double *unused, double *out_6736738363238921109) { + H_28(state, unused, out_6736738363238921109); } -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_2930162201899895888) { + h_31(state, unused, out_2930162201899895888); } -void car_H_31(double *state, double *unused, double *out_1454975339913398454) { - H_31(state, unused, out_1454975339913398454); +void car_H_31(double *state, double *unused, double *out_8821219039363771300) { + H_31(state, unused, out_8821219039363771300); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index 522a103528..063854210f 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_6543135761510689107); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2331655545426529005); -void car_H_mod_fun(double *state, double *out_6389313126975023722); -void car_f_fun(double *state, double dt, double *out_4897785971793930733); -void car_F_fun(double *state, double dt, double *out_1120359963151235251); -void car_h_25(double *state, double *unused, double *out_2169501381777287353); -void car_H_25(double *state, double *unused, double *out_1485621301790358882); -void car_h_24(double *state, double *unused, double *out_8386299954951130399); -void car_H_24(double *state, double *unused, double *out_1956078783833697606); -void car_h_30(double *state, double *unused, double *out_2444695444061793242); -void car_H_30(double *state, double *unused, double *out_6013317631917967080); -void car_h_26(double *state, double *unused, double *out_2413046201872073325); -void car_H_26(double *state, double *unused, double *out_5227124620664415106); -void car_h_27(double *state, double *unused, double *out_6236155437866939300); -void car_H_27(double *state, double *unused, double *out_3789723560734023863); -void car_h_29(double *state, double *unused, double *out_1645117212887109885); -void car_H_29(double *state, double *unused, double *out_5503086287603574896); -void car_h_28(double *state, double *unused, double *out_5811547118428763170); -void car_H_28(double *state, double *unused, double *out_3539456016038248645); -void car_h_31(double *state, double *unused, double *out_2741168024264044953); -void car_H_31(double *state, double *unused, double *out_1454975339913398454); +void car_err_fun(double *nom_x, double *delta_x, double *out_5552049021186220575); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_590150806491182217); +void car_H_mod_fun(double *state, double *out_462982770310503507); +void car_f_fun(double *state, double dt, double *out_169833714219358489); +void car_F_fun(double *state, double dt, double *out_3869384383894482819); +void car_h_25(double *state, double *unused, double *out_3087348870251025033); +void car_H_25(double *state, double *unused, double *out_8790573077486810872); +void car_h_24(double *state, double *unused, double *out_6915008056190712895); +void car_H_24(double *state, double *unused, double *out_6617923478481311306); +void car_h_30(double *state, double *unused, double *out_3500479056225270130); +void car_H_30(double *state, double *unused, double *out_2739480654731123989); +void car_h_26(double *state, double *unused, double *out_2897163171548792613); +void car_H_26(double *state, double *unused, double *out_5049069758612754648); +void car_h_27(double *state, double *unused, double *out_5691754191059722684); +void car_H_27(double *state, double *unused, double *out_4914243966531548900); +void car_h_29(double *state, double *unused, double *out_8502152323886115775); +void car_H_29(double *state, double *unused, double *out_6627606693401099933); +void car_h_28(double *state, double *unused, double *out_7413122646763798369); +void car_H_28(double *state, double *unused, double *out_6736738363238921109); +void car_h_31(double *state, double *unused, double *out_2930162201899895888); +void car_H_31(double *state, double *unused, double *out_8821219039363771300); 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 d334d59f3e..9eed9558ff 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_9222670015265418032) { - out_9222670015265418032[0] = delta_x[0] + nom_x[0]; - out_9222670015265418032[1] = delta_x[1] + nom_x[1]; - out_9222670015265418032[2] = delta_x[2] + nom_x[2]; - out_9222670015265418032[3] = delta_x[3] + nom_x[3]; - out_9222670015265418032[4] = delta_x[4] + nom_x[4]; - out_9222670015265418032[5] = delta_x[5] + nom_x[5]; - out_9222670015265418032[6] = delta_x[6] + nom_x[6]; - out_9222670015265418032[7] = delta_x[7] + nom_x[7]; - out_9222670015265418032[8] = delta_x[8] + nom_x[8]; - out_9222670015265418032[9] = delta_x[9] + nom_x[9]; - out_9222670015265418032[10] = delta_x[10] + nom_x[10]; - out_9222670015265418032[11] = delta_x[11] + nom_x[11]; - out_9222670015265418032[12] = delta_x[12] + nom_x[12]; - out_9222670015265418032[13] = delta_x[13] + nom_x[13]; - out_9222670015265418032[14] = delta_x[14] + nom_x[14]; - out_9222670015265418032[15] = delta_x[15] + nom_x[15]; - out_9222670015265418032[16] = delta_x[16] + nom_x[16]; - out_9222670015265418032[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_8294180210607547219) { + out_8294180210607547219[0] = delta_x[0] + nom_x[0]; + out_8294180210607547219[1] = delta_x[1] + nom_x[1]; + out_8294180210607547219[2] = delta_x[2] + nom_x[2]; + out_8294180210607547219[3] = delta_x[3] + nom_x[3]; + out_8294180210607547219[4] = delta_x[4] + nom_x[4]; + out_8294180210607547219[5] = delta_x[5] + nom_x[5]; + out_8294180210607547219[6] = delta_x[6] + nom_x[6]; + out_8294180210607547219[7] = delta_x[7] + nom_x[7]; + out_8294180210607547219[8] = delta_x[8] + nom_x[8]; + out_8294180210607547219[9] = delta_x[9] + nom_x[9]; + out_8294180210607547219[10] = delta_x[10] + nom_x[10]; + out_8294180210607547219[11] = delta_x[11] + nom_x[11]; + out_8294180210607547219[12] = delta_x[12] + nom_x[12]; + out_8294180210607547219[13] = delta_x[13] + nom_x[13]; + out_8294180210607547219[14] = delta_x[14] + nom_x[14]; + out_8294180210607547219[15] = delta_x[15] + nom_x[15]; + out_8294180210607547219[16] = delta_x[16] + nom_x[16]; + out_8294180210607547219[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6734711869955682828) { - out_6734711869955682828[0] = -nom_x[0] + true_x[0]; - out_6734711869955682828[1] = -nom_x[1] + true_x[1]; - out_6734711869955682828[2] = -nom_x[2] + true_x[2]; - out_6734711869955682828[3] = -nom_x[3] + true_x[3]; - out_6734711869955682828[4] = -nom_x[4] + true_x[4]; - out_6734711869955682828[5] = -nom_x[5] + true_x[5]; - out_6734711869955682828[6] = -nom_x[6] + true_x[6]; - out_6734711869955682828[7] = -nom_x[7] + true_x[7]; - out_6734711869955682828[8] = -nom_x[8] + true_x[8]; - out_6734711869955682828[9] = -nom_x[9] + true_x[9]; - out_6734711869955682828[10] = -nom_x[10] + true_x[10]; - out_6734711869955682828[11] = -nom_x[11] + true_x[11]; - out_6734711869955682828[12] = -nom_x[12] + true_x[12]; - out_6734711869955682828[13] = -nom_x[13] + true_x[13]; - out_6734711869955682828[14] = -nom_x[14] + true_x[14]; - out_6734711869955682828[15] = -nom_x[15] + true_x[15]; - out_6734711869955682828[16] = -nom_x[16] + true_x[16]; - out_6734711869955682828[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8330596021821018044) { + out_8330596021821018044[0] = -nom_x[0] + true_x[0]; + out_8330596021821018044[1] = -nom_x[1] + true_x[1]; + out_8330596021821018044[2] = -nom_x[2] + true_x[2]; + out_8330596021821018044[3] = -nom_x[3] + true_x[3]; + out_8330596021821018044[4] = -nom_x[4] + true_x[4]; + out_8330596021821018044[5] = -nom_x[5] + true_x[5]; + out_8330596021821018044[6] = -nom_x[6] + true_x[6]; + out_8330596021821018044[7] = -nom_x[7] + true_x[7]; + out_8330596021821018044[8] = -nom_x[8] + true_x[8]; + out_8330596021821018044[9] = -nom_x[9] + true_x[9]; + out_8330596021821018044[10] = -nom_x[10] + true_x[10]; + out_8330596021821018044[11] = -nom_x[11] + true_x[11]; + out_8330596021821018044[12] = -nom_x[12] + true_x[12]; + out_8330596021821018044[13] = -nom_x[13] + true_x[13]; + out_8330596021821018044[14] = -nom_x[14] + true_x[14]; + out_8330596021821018044[15] = -nom_x[15] + true_x[15]; + out_8330596021821018044[16] = -nom_x[16] + true_x[16]; + out_8330596021821018044[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3054834377026573453) { - out_3054834377026573453[0] = 1.0; - out_3054834377026573453[1] = 0.0; - out_3054834377026573453[2] = 0.0; - out_3054834377026573453[3] = 0.0; - out_3054834377026573453[4] = 0.0; - out_3054834377026573453[5] = 0.0; - out_3054834377026573453[6] = 0.0; - out_3054834377026573453[7] = 0.0; - out_3054834377026573453[8] = 0.0; - out_3054834377026573453[9] = 0.0; - out_3054834377026573453[10] = 0.0; - out_3054834377026573453[11] = 0.0; - out_3054834377026573453[12] = 0.0; - out_3054834377026573453[13] = 0.0; - out_3054834377026573453[14] = 0.0; - out_3054834377026573453[15] = 0.0; - out_3054834377026573453[16] = 0.0; - out_3054834377026573453[17] = 0.0; - out_3054834377026573453[18] = 0.0; - out_3054834377026573453[19] = 1.0; - out_3054834377026573453[20] = 0.0; - out_3054834377026573453[21] = 0.0; - out_3054834377026573453[22] = 0.0; - out_3054834377026573453[23] = 0.0; - out_3054834377026573453[24] = 0.0; - out_3054834377026573453[25] = 0.0; - out_3054834377026573453[26] = 0.0; - out_3054834377026573453[27] = 0.0; - out_3054834377026573453[28] = 0.0; - out_3054834377026573453[29] = 0.0; - out_3054834377026573453[30] = 0.0; - out_3054834377026573453[31] = 0.0; - out_3054834377026573453[32] = 0.0; - out_3054834377026573453[33] = 0.0; - out_3054834377026573453[34] = 0.0; - out_3054834377026573453[35] = 0.0; - out_3054834377026573453[36] = 0.0; - out_3054834377026573453[37] = 0.0; - out_3054834377026573453[38] = 1.0; - out_3054834377026573453[39] = 0.0; - out_3054834377026573453[40] = 0.0; - out_3054834377026573453[41] = 0.0; - out_3054834377026573453[42] = 0.0; - out_3054834377026573453[43] = 0.0; - out_3054834377026573453[44] = 0.0; - out_3054834377026573453[45] = 0.0; - out_3054834377026573453[46] = 0.0; - out_3054834377026573453[47] = 0.0; - out_3054834377026573453[48] = 0.0; - out_3054834377026573453[49] = 0.0; - out_3054834377026573453[50] = 0.0; - out_3054834377026573453[51] = 0.0; - out_3054834377026573453[52] = 0.0; - out_3054834377026573453[53] = 0.0; - out_3054834377026573453[54] = 0.0; - out_3054834377026573453[55] = 0.0; - out_3054834377026573453[56] = 0.0; - out_3054834377026573453[57] = 1.0; - out_3054834377026573453[58] = 0.0; - out_3054834377026573453[59] = 0.0; - out_3054834377026573453[60] = 0.0; - out_3054834377026573453[61] = 0.0; - out_3054834377026573453[62] = 0.0; - out_3054834377026573453[63] = 0.0; - out_3054834377026573453[64] = 0.0; - out_3054834377026573453[65] = 0.0; - out_3054834377026573453[66] = 0.0; - out_3054834377026573453[67] = 0.0; - out_3054834377026573453[68] = 0.0; - out_3054834377026573453[69] = 0.0; - out_3054834377026573453[70] = 0.0; - out_3054834377026573453[71] = 0.0; - out_3054834377026573453[72] = 0.0; - out_3054834377026573453[73] = 0.0; - out_3054834377026573453[74] = 0.0; - out_3054834377026573453[75] = 0.0; - out_3054834377026573453[76] = 1.0; - out_3054834377026573453[77] = 0.0; - out_3054834377026573453[78] = 0.0; - out_3054834377026573453[79] = 0.0; - out_3054834377026573453[80] = 0.0; - out_3054834377026573453[81] = 0.0; - out_3054834377026573453[82] = 0.0; - out_3054834377026573453[83] = 0.0; - out_3054834377026573453[84] = 0.0; - out_3054834377026573453[85] = 0.0; - out_3054834377026573453[86] = 0.0; - out_3054834377026573453[87] = 0.0; - out_3054834377026573453[88] = 0.0; - out_3054834377026573453[89] = 0.0; - out_3054834377026573453[90] = 0.0; - out_3054834377026573453[91] = 0.0; - out_3054834377026573453[92] = 0.0; - out_3054834377026573453[93] = 0.0; - out_3054834377026573453[94] = 0.0; - out_3054834377026573453[95] = 1.0; - out_3054834377026573453[96] = 0.0; - out_3054834377026573453[97] = 0.0; - out_3054834377026573453[98] = 0.0; - out_3054834377026573453[99] = 0.0; - out_3054834377026573453[100] = 0.0; - out_3054834377026573453[101] = 0.0; - out_3054834377026573453[102] = 0.0; - out_3054834377026573453[103] = 0.0; - out_3054834377026573453[104] = 0.0; - out_3054834377026573453[105] = 0.0; - out_3054834377026573453[106] = 0.0; - out_3054834377026573453[107] = 0.0; - out_3054834377026573453[108] = 0.0; - out_3054834377026573453[109] = 0.0; - out_3054834377026573453[110] = 0.0; - out_3054834377026573453[111] = 0.0; - out_3054834377026573453[112] = 0.0; - out_3054834377026573453[113] = 0.0; - out_3054834377026573453[114] = 1.0; - out_3054834377026573453[115] = 0.0; - out_3054834377026573453[116] = 0.0; - out_3054834377026573453[117] = 0.0; - out_3054834377026573453[118] = 0.0; - out_3054834377026573453[119] = 0.0; - out_3054834377026573453[120] = 0.0; - out_3054834377026573453[121] = 0.0; - out_3054834377026573453[122] = 0.0; - out_3054834377026573453[123] = 0.0; - out_3054834377026573453[124] = 0.0; - out_3054834377026573453[125] = 0.0; - out_3054834377026573453[126] = 0.0; - out_3054834377026573453[127] = 0.0; - out_3054834377026573453[128] = 0.0; - out_3054834377026573453[129] = 0.0; - out_3054834377026573453[130] = 0.0; - out_3054834377026573453[131] = 0.0; - out_3054834377026573453[132] = 0.0; - out_3054834377026573453[133] = 1.0; - out_3054834377026573453[134] = 0.0; - out_3054834377026573453[135] = 0.0; - out_3054834377026573453[136] = 0.0; - out_3054834377026573453[137] = 0.0; - out_3054834377026573453[138] = 0.0; - out_3054834377026573453[139] = 0.0; - out_3054834377026573453[140] = 0.0; - out_3054834377026573453[141] = 0.0; - out_3054834377026573453[142] = 0.0; - out_3054834377026573453[143] = 0.0; - out_3054834377026573453[144] = 0.0; - out_3054834377026573453[145] = 0.0; - out_3054834377026573453[146] = 0.0; - out_3054834377026573453[147] = 0.0; - out_3054834377026573453[148] = 0.0; - out_3054834377026573453[149] = 0.0; - out_3054834377026573453[150] = 0.0; - out_3054834377026573453[151] = 0.0; - out_3054834377026573453[152] = 1.0; - out_3054834377026573453[153] = 0.0; - out_3054834377026573453[154] = 0.0; - out_3054834377026573453[155] = 0.0; - out_3054834377026573453[156] = 0.0; - out_3054834377026573453[157] = 0.0; - out_3054834377026573453[158] = 0.0; - out_3054834377026573453[159] = 0.0; - out_3054834377026573453[160] = 0.0; - out_3054834377026573453[161] = 0.0; - out_3054834377026573453[162] = 0.0; - out_3054834377026573453[163] = 0.0; - out_3054834377026573453[164] = 0.0; - out_3054834377026573453[165] = 0.0; - out_3054834377026573453[166] = 0.0; - out_3054834377026573453[167] = 0.0; - out_3054834377026573453[168] = 0.0; - out_3054834377026573453[169] = 0.0; - out_3054834377026573453[170] = 0.0; - out_3054834377026573453[171] = 1.0; - out_3054834377026573453[172] = 0.0; - out_3054834377026573453[173] = 0.0; - out_3054834377026573453[174] = 0.0; - out_3054834377026573453[175] = 0.0; - out_3054834377026573453[176] = 0.0; - out_3054834377026573453[177] = 0.0; - out_3054834377026573453[178] = 0.0; - out_3054834377026573453[179] = 0.0; - out_3054834377026573453[180] = 0.0; - out_3054834377026573453[181] = 0.0; - out_3054834377026573453[182] = 0.0; - out_3054834377026573453[183] = 0.0; - out_3054834377026573453[184] = 0.0; - out_3054834377026573453[185] = 0.0; - out_3054834377026573453[186] = 0.0; - out_3054834377026573453[187] = 0.0; - out_3054834377026573453[188] = 0.0; - out_3054834377026573453[189] = 0.0; - out_3054834377026573453[190] = 1.0; - out_3054834377026573453[191] = 0.0; - out_3054834377026573453[192] = 0.0; - out_3054834377026573453[193] = 0.0; - out_3054834377026573453[194] = 0.0; - out_3054834377026573453[195] = 0.0; - out_3054834377026573453[196] = 0.0; - out_3054834377026573453[197] = 0.0; - out_3054834377026573453[198] = 0.0; - out_3054834377026573453[199] = 0.0; - out_3054834377026573453[200] = 0.0; - out_3054834377026573453[201] = 0.0; - out_3054834377026573453[202] = 0.0; - out_3054834377026573453[203] = 0.0; - out_3054834377026573453[204] = 0.0; - out_3054834377026573453[205] = 0.0; - out_3054834377026573453[206] = 0.0; - out_3054834377026573453[207] = 0.0; - out_3054834377026573453[208] = 0.0; - out_3054834377026573453[209] = 1.0; - out_3054834377026573453[210] = 0.0; - out_3054834377026573453[211] = 0.0; - out_3054834377026573453[212] = 0.0; - out_3054834377026573453[213] = 0.0; - out_3054834377026573453[214] = 0.0; - out_3054834377026573453[215] = 0.0; - out_3054834377026573453[216] = 0.0; - out_3054834377026573453[217] = 0.0; - out_3054834377026573453[218] = 0.0; - out_3054834377026573453[219] = 0.0; - out_3054834377026573453[220] = 0.0; - out_3054834377026573453[221] = 0.0; - out_3054834377026573453[222] = 0.0; - out_3054834377026573453[223] = 0.0; - out_3054834377026573453[224] = 0.0; - out_3054834377026573453[225] = 0.0; - out_3054834377026573453[226] = 0.0; - out_3054834377026573453[227] = 0.0; - out_3054834377026573453[228] = 1.0; - out_3054834377026573453[229] = 0.0; - out_3054834377026573453[230] = 0.0; - out_3054834377026573453[231] = 0.0; - out_3054834377026573453[232] = 0.0; - out_3054834377026573453[233] = 0.0; - out_3054834377026573453[234] = 0.0; - out_3054834377026573453[235] = 0.0; - out_3054834377026573453[236] = 0.0; - out_3054834377026573453[237] = 0.0; - out_3054834377026573453[238] = 0.0; - out_3054834377026573453[239] = 0.0; - out_3054834377026573453[240] = 0.0; - out_3054834377026573453[241] = 0.0; - out_3054834377026573453[242] = 0.0; - out_3054834377026573453[243] = 0.0; - out_3054834377026573453[244] = 0.0; - out_3054834377026573453[245] = 0.0; - out_3054834377026573453[246] = 0.0; - out_3054834377026573453[247] = 1.0; - out_3054834377026573453[248] = 0.0; - out_3054834377026573453[249] = 0.0; - out_3054834377026573453[250] = 0.0; - out_3054834377026573453[251] = 0.0; - out_3054834377026573453[252] = 0.0; - out_3054834377026573453[253] = 0.0; - out_3054834377026573453[254] = 0.0; - out_3054834377026573453[255] = 0.0; - out_3054834377026573453[256] = 0.0; - out_3054834377026573453[257] = 0.0; - out_3054834377026573453[258] = 0.0; - out_3054834377026573453[259] = 0.0; - out_3054834377026573453[260] = 0.0; - out_3054834377026573453[261] = 0.0; - out_3054834377026573453[262] = 0.0; - out_3054834377026573453[263] = 0.0; - out_3054834377026573453[264] = 0.0; - out_3054834377026573453[265] = 0.0; - out_3054834377026573453[266] = 1.0; - out_3054834377026573453[267] = 0.0; - out_3054834377026573453[268] = 0.0; - out_3054834377026573453[269] = 0.0; - out_3054834377026573453[270] = 0.0; - out_3054834377026573453[271] = 0.0; - out_3054834377026573453[272] = 0.0; - out_3054834377026573453[273] = 0.0; - out_3054834377026573453[274] = 0.0; - out_3054834377026573453[275] = 0.0; - out_3054834377026573453[276] = 0.0; - out_3054834377026573453[277] = 0.0; - out_3054834377026573453[278] = 0.0; - out_3054834377026573453[279] = 0.0; - out_3054834377026573453[280] = 0.0; - out_3054834377026573453[281] = 0.0; - out_3054834377026573453[282] = 0.0; - out_3054834377026573453[283] = 0.0; - out_3054834377026573453[284] = 0.0; - out_3054834377026573453[285] = 1.0; - out_3054834377026573453[286] = 0.0; - out_3054834377026573453[287] = 0.0; - out_3054834377026573453[288] = 0.0; - out_3054834377026573453[289] = 0.0; - out_3054834377026573453[290] = 0.0; - out_3054834377026573453[291] = 0.0; - out_3054834377026573453[292] = 0.0; - out_3054834377026573453[293] = 0.0; - out_3054834377026573453[294] = 0.0; - out_3054834377026573453[295] = 0.0; - out_3054834377026573453[296] = 0.0; - out_3054834377026573453[297] = 0.0; - out_3054834377026573453[298] = 0.0; - out_3054834377026573453[299] = 0.0; - out_3054834377026573453[300] = 0.0; - out_3054834377026573453[301] = 0.0; - out_3054834377026573453[302] = 0.0; - out_3054834377026573453[303] = 0.0; - out_3054834377026573453[304] = 1.0; - out_3054834377026573453[305] = 0.0; - out_3054834377026573453[306] = 0.0; - out_3054834377026573453[307] = 0.0; - out_3054834377026573453[308] = 0.0; - out_3054834377026573453[309] = 0.0; - out_3054834377026573453[310] = 0.0; - out_3054834377026573453[311] = 0.0; - out_3054834377026573453[312] = 0.0; - out_3054834377026573453[313] = 0.0; - out_3054834377026573453[314] = 0.0; - out_3054834377026573453[315] = 0.0; - out_3054834377026573453[316] = 0.0; - out_3054834377026573453[317] = 0.0; - out_3054834377026573453[318] = 0.0; - out_3054834377026573453[319] = 0.0; - out_3054834377026573453[320] = 0.0; - out_3054834377026573453[321] = 0.0; - out_3054834377026573453[322] = 0.0; - out_3054834377026573453[323] = 1.0; +void H_mod_fun(double *state, double *out_534058243187542804) { + out_534058243187542804[0] = 1.0; + out_534058243187542804[1] = 0.0; + out_534058243187542804[2] = 0.0; + out_534058243187542804[3] = 0.0; + out_534058243187542804[4] = 0.0; + out_534058243187542804[5] = 0.0; + out_534058243187542804[6] = 0.0; + out_534058243187542804[7] = 0.0; + out_534058243187542804[8] = 0.0; + out_534058243187542804[9] = 0.0; + out_534058243187542804[10] = 0.0; + out_534058243187542804[11] = 0.0; + out_534058243187542804[12] = 0.0; + out_534058243187542804[13] = 0.0; + out_534058243187542804[14] = 0.0; + out_534058243187542804[15] = 0.0; + out_534058243187542804[16] = 0.0; + out_534058243187542804[17] = 0.0; + out_534058243187542804[18] = 0.0; + out_534058243187542804[19] = 1.0; + out_534058243187542804[20] = 0.0; + out_534058243187542804[21] = 0.0; + out_534058243187542804[22] = 0.0; + out_534058243187542804[23] = 0.0; + out_534058243187542804[24] = 0.0; + out_534058243187542804[25] = 0.0; + out_534058243187542804[26] = 0.0; + out_534058243187542804[27] = 0.0; + out_534058243187542804[28] = 0.0; + out_534058243187542804[29] = 0.0; + out_534058243187542804[30] = 0.0; + out_534058243187542804[31] = 0.0; + out_534058243187542804[32] = 0.0; + out_534058243187542804[33] = 0.0; + out_534058243187542804[34] = 0.0; + out_534058243187542804[35] = 0.0; + out_534058243187542804[36] = 0.0; + out_534058243187542804[37] = 0.0; + out_534058243187542804[38] = 1.0; + out_534058243187542804[39] = 0.0; + out_534058243187542804[40] = 0.0; + out_534058243187542804[41] = 0.0; + out_534058243187542804[42] = 0.0; + out_534058243187542804[43] = 0.0; + out_534058243187542804[44] = 0.0; + out_534058243187542804[45] = 0.0; + out_534058243187542804[46] = 0.0; + out_534058243187542804[47] = 0.0; + out_534058243187542804[48] = 0.0; + out_534058243187542804[49] = 0.0; + out_534058243187542804[50] = 0.0; + out_534058243187542804[51] = 0.0; + out_534058243187542804[52] = 0.0; + out_534058243187542804[53] = 0.0; + out_534058243187542804[54] = 0.0; + out_534058243187542804[55] = 0.0; + out_534058243187542804[56] = 0.0; + out_534058243187542804[57] = 1.0; + out_534058243187542804[58] = 0.0; + out_534058243187542804[59] = 0.0; + out_534058243187542804[60] = 0.0; + out_534058243187542804[61] = 0.0; + out_534058243187542804[62] = 0.0; + out_534058243187542804[63] = 0.0; + out_534058243187542804[64] = 0.0; + out_534058243187542804[65] = 0.0; + out_534058243187542804[66] = 0.0; + out_534058243187542804[67] = 0.0; + out_534058243187542804[68] = 0.0; + out_534058243187542804[69] = 0.0; + out_534058243187542804[70] = 0.0; + out_534058243187542804[71] = 0.0; + out_534058243187542804[72] = 0.0; + out_534058243187542804[73] = 0.0; + out_534058243187542804[74] = 0.0; + out_534058243187542804[75] = 0.0; + out_534058243187542804[76] = 1.0; + out_534058243187542804[77] = 0.0; + out_534058243187542804[78] = 0.0; + out_534058243187542804[79] = 0.0; + out_534058243187542804[80] = 0.0; + out_534058243187542804[81] = 0.0; + out_534058243187542804[82] = 0.0; + out_534058243187542804[83] = 0.0; + out_534058243187542804[84] = 0.0; + out_534058243187542804[85] = 0.0; + out_534058243187542804[86] = 0.0; + out_534058243187542804[87] = 0.0; + out_534058243187542804[88] = 0.0; + out_534058243187542804[89] = 0.0; + out_534058243187542804[90] = 0.0; + out_534058243187542804[91] = 0.0; + out_534058243187542804[92] = 0.0; + out_534058243187542804[93] = 0.0; + out_534058243187542804[94] = 0.0; + out_534058243187542804[95] = 1.0; + out_534058243187542804[96] = 0.0; + out_534058243187542804[97] = 0.0; + out_534058243187542804[98] = 0.0; + out_534058243187542804[99] = 0.0; + out_534058243187542804[100] = 0.0; + out_534058243187542804[101] = 0.0; + out_534058243187542804[102] = 0.0; + out_534058243187542804[103] = 0.0; + out_534058243187542804[104] = 0.0; + out_534058243187542804[105] = 0.0; + out_534058243187542804[106] = 0.0; + out_534058243187542804[107] = 0.0; + out_534058243187542804[108] = 0.0; + out_534058243187542804[109] = 0.0; + out_534058243187542804[110] = 0.0; + out_534058243187542804[111] = 0.0; + out_534058243187542804[112] = 0.0; + out_534058243187542804[113] = 0.0; + out_534058243187542804[114] = 1.0; + out_534058243187542804[115] = 0.0; + out_534058243187542804[116] = 0.0; + out_534058243187542804[117] = 0.0; + out_534058243187542804[118] = 0.0; + out_534058243187542804[119] = 0.0; + out_534058243187542804[120] = 0.0; + out_534058243187542804[121] = 0.0; + out_534058243187542804[122] = 0.0; + out_534058243187542804[123] = 0.0; + out_534058243187542804[124] = 0.0; + out_534058243187542804[125] = 0.0; + out_534058243187542804[126] = 0.0; + out_534058243187542804[127] = 0.0; + out_534058243187542804[128] = 0.0; + out_534058243187542804[129] = 0.0; + out_534058243187542804[130] = 0.0; + out_534058243187542804[131] = 0.0; + out_534058243187542804[132] = 0.0; + out_534058243187542804[133] = 1.0; + out_534058243187542804[134] = 0.0; + out_534058243187542804[135] = 0.0; + out_534058243187542804[136] = 0.0; + out_534058243187542804[137] = 0.0; + out_534058243187542804[138] = 0.0; + out_534058243187542804[139] = 0.0; + out_534058243187542804[140] = 0.0; + out_534058243187542804[141] = 0.0; + out_534058243187542804[142] = 0.0; + out_534058243187542804[143] = 0.0; + out_534058243187542804[144] = 0.0; + out_534058243187542804[145] = 0.0; + out_534058243187542804[146] = 0.0; + out_534058243187542804[147] = 0.0; + out_534058243187542804[148] = 0.0; + out_534058243187542804[149] = 0.0; + out_534058243187542804[150] = 0.0; + out_534058243187542804[151] = 0.0; + out_534058243187542804[152] = 1.0; + out_534058243187542804[153] = 0.0; + out_534058243187542804[154] = 0.0; + out_534058243187542804[155] = 0.0; + out_534058243187542804[156] = 0.0; + out_534058243187542804[157] = 0.0; + out_534058243187542804[158] = 0.0; + out_534058243187542804[159] = 0.0; + out_534058243187542804[160] = 0.0; + out_534058243187542804[161] = 0.0; + out_534058243187542804[162] = 0.0; + out_534058243187542804[163] = 0.0; + out_534058243187542804[164] = 0.0; + out_534058243187542804[165] = 0.0; + out_534058243187542804[166] = 0.0; + out_534058243187542804[167] = 0.0; + out_534058243187542804[168] = 0.0; + out_534058243187542804[169] = 0.0; + out_534058243187542804[170] = 0.0; + out_534058243187542804[171] = 1.0; + out_534058243187542804[172] = 0.0; + out_534058243187542804[173] = 0.0; + out_534058243187542804[174] = 0.0; + out_534058243187542804[175] = 0.0; + out_534058243187542804[176] = 0.0; + out_534058243187542804[177] = 0.0; + out_534058243187542804[178] = 0.0; + out_534058243187542804[179] = 0.0; + out_534058243187542804[180] = 0.0; + out_534058243187542804[181] = 0.0; + out_534058243187542804[182] = 0.0; + out_534058243187542804[183] = 0.0; + out_534058243187542804[184] = 0.0; + out_534058243187542804[185] = 0.0; + out_534058243187542804[186] = 0.0; + out_534058243187542804[187] = 0.0; + out_534058243187542804[188] = 0.0; + out_534058243187542804[189] = 0.0; + out_534058243187542804[190] = 1.0; + out_534058243187542804[191] = 0.0; + out_534058243187542804[192] = 0.0; + out_534058243187542804[193] = 0.0; + out_534058243187542804[194] = 0.0; + out_534058243187542804[195] = 0.0; + out_534058243187542804[196] = 0.0; + out_534058243187542804[197] = 0.0; + out_534058243187542804[198] = 0.0; + out_534058243187542804[199] = 0.0; + out_534058243187542804[200] = 0.0; + out_534058243187542804[201] = 0.0; + out_534058243187542804[202] = 0.0; + out_534058243187542804[203] = 0.0; + out_534058243187542804[204] = 0.0; + out_534058243187542804[205] = 0.0; + out_534058243187542804[206] = 0.0; + out_534058243187542804[207] = 0.0; + out_534058243187542804[208] = 0.0; + out_534058243187542804[209] = 1.0; + out_534058243187542804[210] = 0.0; + out_534058243187542804[211] = 0.0; + out_534058243187542804[212] = 0.0; + out_534058243187542804[213] = 0.0; + out_534058243187542804[214] = 0.0; + out_534058243187542804[215] = 0.0; + out_534058243187542804[216] = 0.0; + out_534058243187542804[217] = 0.0; + out_534058243187542804[218] = 0.0; + out_534058243187542804[219] = 0.0; + out_534058243187542804[220] = 0.0; + out_534058243187542804[221] = 0.0; + out_534058243187542804[222] = 0.0; + out_534058243187542804[223] = 0.0; + out_534058243187542804[224] = 0.0; + out_534058243187542804[225] = 0.0; + out_534058243187542804[226] = 0.0; + out_534058243187542804[227] = 0.0; + out_534058243187542804[228] = 1.0; + out_534058243187542804[229] = 0.0; + out_534058243187542804[230] = 0.0; + out_534058243187542804[231] = 0.0; + out_534058243187542804[232] = 0.0; + out_534058243187542804[233] = 0.0; + out_534058243187542804[234] = 0.0; + out_534058243187542804[235] = 0.0; + out_534058243187542804[236] = 0.0; + out_534058243187542804[237] = 0.0; + out_534058243187542804[238] = 0.0; + out_534058243187542804[239] = 0.0; + out_534058243187542804[240] = 0.0; + out_534058243187542804[241] = 0.0; + out_534058243187542804[242] = 0.0; + out_534058243187542804[243] = 0.0; + out_534058243187542804[244] = 0.0; + out_534058243187542804[245] = 0.0; + out_534058243187542804[246] = 0.0; + out_534058243187542804[247] = 1.0; + out_534058243187542804[248] = 0.0; + out_534058243187542804[249] = 0.0; + out_534058243187542804[250] = 0.0; + out_534058243187542804[251] = 0.0; + out_534058243187542804[252] = 0.0; + out_534058243187542804[253] = 0.0; + out_534058243187542804[254] = 0.0; + out_534058243187542804[255] = 0.0; + out_534058243187542804[256] = 0.0; + out_534058243187542804[257] = 0.0; + out_534058243187542804[258] = 0.0; + out_534058243187542804[259] = 0.0; + out_534058243187542804[260] = 0.0; + out_534058243187542804[261] = 0.0; + out_534058243187542804[262] = 0.0; + out_534058243187542804[263] = 0.0; + out_534058243187542804[264] = 0.0; + out_534058243187542804[265] = 0.0; + out_534058243187542804[266] = 1.0; + out_534058243187542804[267] = 0.0; + out_534058243187542804[268] = 0.0; + out_534058243187542804[269] = 0.0; + out_534058243187542804[270] = 0.0; + out_534058243187542804[271] = 0.0; + out_534058243187542804[272] = 0.0; + out_534058243187542804[273] = 0.0; + out_534058243187542804[274] = 0.0; + out_534058243187542804[275] = 0.0; + out_534058243187542804[276] = 0.0; + out_534058243187542804[277] = 0.0; + out_534058243187542804[278] = 0.0; + out_534058243187542804[279] = 0.0; + out_534058243187542804[280] = 0.0; + out_534058243187542804[281] = 0.0; + out_534058243187542804[282] = 0.0; + out_534058243187542804[283] = 0.0; + out_534058243187542804[284] = 0.0; + out_534058243187542804[285] = 1.0; + out_534058243187542804[286] = 0.0; + out_534058243187542804[287] = 0.0; + out_534058243187542804[288] = 0.0; + out_534058243187542804[289] = 0.0; + out_534058243187542804[290] = 0.0; + out_534058243187542804[291] = 0.0; + out_534058243187542804[292] = 0.0; + out_534058243187542804[293] = 0.0; + out_534058243187542804[294] = 0.0; + out_534058243187542804[295] = 0.0; + out_534058243187542804[296] = 0.0; + out_534058243187542804[297] = 0.0; + out_534058243187542804[298] = 0.0; + out_534058243187542804[299] = 0.0; + out_534058243187542804[300] = 0.0; + out_534058243187542804[301] = 0.0; + out_534058243187542804[302] = 0.0; + out_534058243187542804[303] = 0.0; + out_534058243187542804[304] = 1.0; + out_534058243187542804[305] = 0.0; + out_534058243187542804[306] = 0.0; + out_534058243187542804[307] = 0.0; + out_534058243187542804[308] = 0.0; + out_534058243187542804[309] = 0.0; + out_534058243187542804[310] = 0.0; + out_534058243187542804[311] = 0.0; + out_534058243187542804[312] = 0.0; + out_534058243187542804[313] = 0.0; + out_534058243187542804[314] = 0.0; + out_534058243187542804[315] = 0.0; + out_534058243187542804[316] = 0.0; + out_534058243187542804[317] = 0.0; + out_534058243187542804[318] = 0.0; + out_534058243187542804[319] = 0.0; + out_534058243187542804[320] = 0.0; + out_534058243187542804[321] = 0.0; + out_534058243187542804[322] = 0.0; + out_534058243187542804[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6521868085604382140) { - out_6521868085604382140[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); - out_6521868085604382140[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); - out_6521868085604382140[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); - out_6521868085604382140[3] = dt*state[12] + state[3]; - out_6521868085604382140[4] = dt*state[13] + state[4]; - out_6521868085604382140[5] = dt*state[14] + state[5]; - out_6521868085604382140[6] = state[6]; - out_6521868085604382140[7] = state[7]; - out_6521868085604382140[8] = state[8]; - out_6521868085604382140[9] = state[9]; - out_6521868085604382140[10] = state[10]; - out_6521868085604382140[11] = state[11]; - out_6521868085604382140[12] = state[12]; - out_6521868085604382140[13] = state[13]; - out_6521868085604382140[14] = state[14]; - out_6521868085604382140[15] = state[15]; - out_6521868085604382140[16] = state[16]; - out_6521868085604382140[17] = state[17]; +void f_fun(double *state, double dt, double *out_2535209606058579312) { + out_2535209606058579312[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_2535209606058579312[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_2535209606058579312[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_2535209606058579312[3] = dt*state[12] + state[3]; + out_2535209606058579312[4] = dt*state[13] + state[4]; + out_2535209606058579312[5] = dt*state[14] + state[5]; + out_2535209606058579312[6] = state[6]; + out_2535209606058579312[7] = state[7]; + out_2535209606058579312[8] = state[8]; + out_2535209606058579312[9] = state[9]; + out_2535209606058579312[10] = state[10]; + out_2535209606058579312[11] = state[11]; + out_2535209606058579312[12] = state[12]; + out_2535209606058579312[13] = state[13]; + out_2535209606058579312[14] = state[14]; + out_2535209606058579312[15] = state[15]; + out_2535209606058579312[16] = state[16]; + out_2535209606058579312[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7891921077140001268) { - out_7891921077140001268[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_7891921077140001268[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_7891921077140001268[2] = 0; - out_7891921077140001268[3] = 0; - out_7891921077140001268[4] = 0; - out_7891921077140001268[5] = 0; - out_7891921077140001268[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_7891921077140001268[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_7891921077140001268[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_7891921077140001268[9] = 0; - out_7891921077140001268[10] = 0; - out_7891921077140001268[11] = 0; - out_7891921077140001268[12] = 0; - out_7891921077140001268[13] = 0; - out_7891921077140001268[14] = 0; - out_7891921077140001268[15] = 0; - out_7891921077140001268[16] = 0; - out_7891921077140001268[17] = 0; - out_7891921077140001268[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_7891921077140001268[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_7891921077140001268[20] = 0; - out_7891921077140001268[21] = 0; - out_7891921077140001268[22] = 0; - out_7891921077140001268[23] = 0; - out_7891921077140001268[24] = 0; - out_7891921077140001268[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_7891921077140001268[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_7891921077140001268[27] = 0; - out_7891921077140001268[28] = 0; - out_7891921077140001268[29] = 0; - out_7891921077140001268[30] = 0; - out_7891921077140001268[31] = 0; - out_7891921077140001268[32] = 0; - out_7891921077140001268[33] = 0; - out_7891921077140001268[34] = 0; - out_7891921077140001268[35] = 0; - out_7891921077140001268[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_7891921077140001268[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_7891921077140001268[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_7891921077140001268[39] = 0; - out_7891921077140001268[40] = 0; - out_7891921077140001268[41] = 0; - out_7891921077140001268[42] = 0; - out_7891921077140001268[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_7891921077140001268[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_7891921077140001268[45] = 0; - out_7891921077140001268[46] = 0; - out_7891921077140001268[47] = 0; - out_7891921077140001268[48] = 0; - out_7891921077140001268[49] = 0; - out_7891921077140001268[50] = 0; - out_7891921077140001268[51] = 0; - out_7891921077140001268[52] = 0; - out_7891921077140001268[53] = 0; - out_7891921077140001268[54] = 0; - out_7891921077140001268[55] = 0; - out_7891921077140001268[56] = 0; - out_7891921077140001268[57] = 1; - out_7891921077140001268[58] = 0; - out_7891921077140001268[59] = 0; - out_7891921077140001268[60] = 0; - out_7891921077140001268[61] = 0; - out_7891921077140001268[62] = 0; - out_7891921077140001268[63] = 0; - out_7891921077140001268[64] = 0; - out_7891921077140001268[65] = 0; - out_7891921077140001268[66] = dt; - out_7891921077140001268[67] = 0; - out_7891921077140001268[68] = 0; - out_7891921077140001268[69] = 0; - out_7891921077140001268[70] = 0; - out_7891921077140001268[71] = 0; - out_7891921077140001268[72] = 0; - out_7891921077140001268[73] = 0; - out_7891921077140001268[74] = 0; - out_7891921077140001268[75] = 0; - out_7891921077140001268[76] = 1; - out_7891921077140001268[77] = 0; - out_7891921077140001268[78] = 0; - out_7891921077140001268[79] = 0; - out_7891921077140001268[80] = 0; - out_7891921077140001268[81] = 0; - out_7891921077140001268[82] = 0; - out_7891921077140001268[83] = 0; - out_7891921077140001268[84] = 0; - out_7891921077140001268[85] = dt; - out_7891921077140001268[86] = 0; - out_7891921077140001268[87] = 0; - out_7891921077140001268[88] = 0; - out_7891921077140001268[89] = 0; - out_7891921077140001268[90] = 0; - out_7891921077140001268[91] = 0; - out_7891921077140001268[92] = 0; - out_7891921077140001268[93] = 0; - out_7891921077140001268[94] = 0; - out_7891921077140001268[95] = 1; - out_7891921077140001268[96] = 0; - out_7891921077140001268[97] = 0; - out_7891921077140001268[98] = 0; - out_7891921077140001268[99] = 0; - out_7891921077140001268[100] = 0; - out_7891921077140001268[101] = 0; - out_7891921077140001268[102] = 0; - out_7891921077140001268[103] = 0; - out_7891921077140001268[104] = dt; - out_7891921077140001268[105] = 0; - out_7891921077140001268[106] = 0; - out_7891921077140001268[107] = 0; - out_7891921077140001268[108] = 0; - out_7891921077140001268[109] = 0; - out_7891921077140001268[110] = 0; - out_7891921077140001268[111] = 0; - out_7891921077140001268[112] = 0; - out_7891921077140001268[113] = 0; - out_7891921077140001268[114] = 1; - out_7891921077140001268[115] = 0; - out_7891921077140001268[116] = 0; - out_7891921077140001268[117] = 0; - out_7891921077140001268[118] = 0; - out_7891921077140001268[119] = 0; - out_7891921077140001268[120] = 0; - out_7891921077140001268[121] = 0; - out_7891921077140001268[122] = 0; - out_7891921077140001268[123] = 0; - out_7891921077140001268[124] = 0; - out_7891921077140001268[125] = 0; - out_7891921077140001268[126] = 0; - out_7891921077140001268[127] = 0; - out_7891921077140001268[128] = 0; - out_7891921077140001268[129] = 0; - out_7891921077140001268[130] = 0; - out_7891921077140001268[131] = 0; - out_7891921077140001268[132] = 0; - out_7891921077140001268[133] = 1; - out_7891921077140001268[134] = 0; - out_7891921077140001268[135] = 0; - out_7891921077140001268[136] = 0; - out_7891921077140001268[137] = 0; - out_7891921077140001268[138] = 0; - out_7891921077140001268[139] = 0; - out_7891921077140001268[140] = 0; - out_7891921077140001268[141] = 0; - out_7891921077140001268[142] = 0; - out_7891921077140001268[143] = 0; - out_7891921077140001268[144] = 0; - out_7891921077140001268[145] = 0; - out_7891921077140001268[146] = 0; - out_7891921077140001268[147] = 0; - out_7891921077140001268[148] = 0; - out_7891921077140001268[149] = 0; - out_7891921077140001268[150] = 0; - out_7891921077140001268[151] = 0; - out_7891921077140001268[152] = 1; - out_7891921077140001268[153] = 0; - out_7891921077140001268[154] = 0; - out_7891921077140001268[155] = 0; - out_7891921077140001268[156] = 0; - out_7891921077140001268[157] = 0; - out_7891921077140001268[158] = 0; - out_7891921077140001268[159] = 0; - out_7891921077140001268[160] = 0; - out_7891921077140001268[161] = 0; - out_7891921077140001268[162] = 0; - out_7891921077140001268[163] = 0; - out_7891921077140001268[164] = 0; - out_7891921077140001268[165] = 0; - out_7891921077140001268[166] = 0; - out_7891921077140001268[167] = 0; - out_7891921077140001268[168] = 0; - out_7891921077140001268[169] = 0; - out_7891921077140001268[170] = 0; - out_7891921077140001268[171] = 1; - out_7891921077140001268[172] = 0; - out_7891921077140001268[173] = 0; - out_7891921077140001268[174] = 0; - out_7891921077140001268[175] = 0; - out_7891921077140001268[176] = 0; - out_7891921077140001268[177] = 0; - out_7891921077140001268[178] = 0; - out_7891921077140001268[179] = 0; - out_7891921077140001268[180] = 0; - out_7891921077140001268[181] = 0; - out_7891921077140001268[182] = 0; - out_7891921077140001268[183] = 0; - out_7891921077140001268[184] = 0; - out_7891921077140001268[185] = 0; - out_7891921077140001268[186] = 0; - out_7891921077140001268[187] = 0; - out_7891921077140001268[188] = 0; - out_7891921077140001268[189] = 0; - out_7891921077140001268[190] = 1; - out_7891921077140001268[191] = 0; - out_7891921077140001268[192] = 0; - out_7891921077140001268[193] = 0; - out_7891921077140001268[194] = 0; - out_7891921077140001268[195] = 0; - out_7891921077140001268[196] = 0; - out_7891921077140001268[197] = 0; - out_7891921077140001268[198] = 0; - out_7891921077140001268[199] = 0; - out_7891921077140001268[200] = 0; - out_7891921077140001268[201] = 0; - out_7891921077140001268[202] = 0; - out_7891921077140001268[203] = 0; - out_7891921077140001268[204] = 0; - out_7891921077140001268[205] = 0; - out_7891921077140001268[206] = 0; - out_7891921077140001268[207] = 0; - out_7891921077140001268[208] = 0; - out_7891921077140001268[209] = 1; - out_7891921077140001268[210] = 0; - out_7891921077140001268[211] = 0; - out_7891921077140001268[212] = 0; - out_7891921077140001268[213] = 0; - out_7891921077140001268[214] = 0; - out_7891921077140001268[215] = 0; - out_7891921077140001268[216] = 0; - out_7891921077140001268[217] = 0; - out_7891921077140001268[218] = 0; - out_7891921077140001268[219] = 0; - out_7891921077140001268[220] = 0; - out_7891921077140001268[221] = 0; - out_7891921077140001268[222] = 0; - out_7891921077140001268[223] = 0; - out_7891921077140001268[224] = 0; - out_7891921077140001268[225] = 0; - out_7891921077140001268[226] = 0; - out_7891921077140001268[227] = 0; - out_7891921077140001268[228] = 1; - out_7891921077140001268[229] = 0; - out_7891921077140001268[230] = 0; - out_7891921077140001268[231] = 0; - out_7891921077140001268[232] = 0; - out_7891921077140001268[233] = 0; - out_7891921077140001268[234] = 0; - out_7891921077140001268[235] = 0; - out_7891921077140001268[236] = 0; - out_7891921077140001268[237] = 0; - out_7891921077140001268[238] = 0; - out_7891921077140001268[239] = 0; - out_7891921077140001268[240] = 0; - out_7891921077140001268[241] = 0; - out_7891921077140001268[242] = 0; - out_7891921077140001268[243] = 0; - out_7891921077140001268[244] = 0; - out_7891921077140001268[245] = 0; - out_7891921077140001268[246] = 0; - out_7891921077140001268[247] = 1; - out_7891921077140001268[248] = 0; - out_7891921077140001268[249] = 0; - out_7891921077140001268[250] = 0; - out_7891921077140001268[251] = 0; - out_7891921077140001268[252] = 0; - out_7891921077140001268[253] = 0; - out_7891921077140001268[254] = 0; - out_7891921077140001268[255] = 0; - out_7891921077140001268[256] = 0; - out_7891921077140001268[257] = 0; - out_7891921077140001268[258] = 0; - out_7891921077140001268[259] = 0; - out_7891921077140001268[260] = 0; - out_7891921077140001268[261] = 0; - out_7891921077140001268[262] = 0; - out_7891921077140001268[263] = 0; - out_7891921077140001268[264] = 0; - out_7891921077140001268[265] = 0; - out_7891921077140001268[266] = 1; - out_7891921077140001268[267] = 0; - out_7891921077140001268[268] = 0; - out_7891921077140001268[269] = 0; - out_7891921077140001268[270] = 0; - out_7891921077140001268[271] = 0; - out_7891921077140001268[272] = 0; - out_7891921077140001268[273] = 0; - out_7891921077140001268[274] = 0; - out_7891921077140001268[275] = 0; - out_7891921077140001268[276] = 0; - out_7891921077140001268[277] = 0; - out_7891921077140001268[278] = 0; - out_7891921077140001268[279] = 0; - out_7891921077140001268[280] = 0; - out_7891921077140001268[281] = 0; - out_7891921077140001268[282] = 0; - out_7891921077140001268[283] = 0; - out_7891921077140001268[284] = 0; - out_7891921077140001268[285] = 1; - out_7891921077140001268[286] = 0; - out_7891921077140001268[287] = 0; - out_7891921077140001268[288] = 0; - out_7891921077140001268[289] = 0; - out_7891921077140001268[290] = 0; - out_7891921077140001268[291] = 0; - out_7891921077140001268[292] = 0; - out_7891921077140001268[293] = 0; - out_7891921077140001268[294] = 0; - out_7891921077140001268[295] = 0; - out_7891921077140001268[296] = 0; - out_7891921077140001268[297] = 0; - out_7891921077140001268[298] = 0; - out_7891921077140001268[299] = 0; - out_7891921077140001268[300] = 0; - out_7891921077140001268[301] = 0; - out_7891921077140001268[302] = 0; - out_7891921077140001268[303] = 0; - out_7891921077140001268[304] = 1; - out_7891921077140001268[305] = 0; - out_7891921077140001268[306] = 0; - out_7891921077140001268[307] = 0; - out_7891921077140001268[308] = 0; - out_7891921077140001268[309] = 0; - out_7891921077140001268[310] = 0; - out_7891921077140001268[311] = 0; - out_7891921077140001268[312] = 0; - out_7891921077140001268[313] = 0; - out_7891921077140001268[314] = 0; - out_7891921077140001268[315] = 0; - out_7891921077140001268[316] = 0; - out_7891921077140001268[317] = 0; - out_7891921077140001268[318] = 0; - out_7891921077140001268[319] = 0; - out_7891921077140001268[320] = 0; - out_7891921077140001268[321] = 0; - out_7891921077140001268[322] = 0; - out_7891921077140001268[323] = 1; +void F_fun(double *state, double dt, double *out_4915847086962688884) { + out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[2] = 0; + out_4915847086962688884[3] = 0; + out_4915847086962688884[4] = 0; + out_4915847086962688884[5] = 0; + out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[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_4915847086962688884[9] = 0; + out_4915847086962688884[10] = 0; + out_4915847086962688884[11] = 0; + out_4915847086962688884[12] = 0; + out_4915847086962688884[13] = 0; + out_4915847086962688884[14] = 0; + out_4915847086962688884[15] = 0; + out_4915847086962688884[16] = 0; + out_4915847086962688884[17] = 0; + out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[20] = 0; + out_4915847086962688884[21] = 0; + out_4915847086962688884[22] = 0; + out_4915847086962688884[23] = 0; + out_4915847086962688884[24] = 0; + out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[27] = 0; + out_4915847086962688884[28] = 0; + out_4915847086962688884[29] = 0; + out_4915847086962688884[30] = 0; + out_4915847086962688884[31] = 0; + out_4915847086962688884[32] = 0; + out_4915847086962688884[33] = 0; + out_4915847086962688884[34] = 0; + out_4915847086962688884[35] = 0; + out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[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_4915847086962688884[39] = 0; + out_4915847086962688884[40] = 0; + out_4915847086962688884[41] = 0; + out_4915847086962688884[42] = 0; + out_4915847086962688884[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_4915847086962688884[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_4915847086962688884[45] = 0; + out_4915847086962688884[46] = 0; + out_4915847086962688884[47] = 0; + out_4915847086962688884[48] = 0; + out_4915847086962688884[49] = 0; + out_4915847086962688884[50] = 0; + out_4915847086962688884[51] = 0; + out_4915847086962688884[52] = 0; + out_4915847086962688884[53] = 0; + out_4915847086962688884[54] = 0; + out_4915847086962688884[55] = 0; + out_4915847086962688884[56] = 0; + out_4915847086962688884[57] = 1; + out_4915847086962688884[58] = 0; + out_4915847086962688884[59] = 0; + out_4915847086962688884[60] = 0; + out_4915847086962688884[61] = 0; + out_4915847086962688884[62] = 0; + out_4915847086962688884[63] = 0; + out_4915847086962688884[64] = 0; + out_4915847086962688884[65] = 0; + out_4915847086962688884[66] = dt; + out_4915847086962688884[67] = 0; + out_4915847086962688884[68] = 0; + out_4915847086962688884[69] = 0; + out_4915847086962688884[70] = 0; + out_4915847086962688884[71] = 0; + out_4915847086962688884[72] = 0; + out_4915847086962688884[73] = 0; + out_4915847086962688884[74] = 0; + out_4915847086962688884[75] = 0; + out_4915847086962688884[76] = 1; + out_4915847086962688884[77] = 0; + out_4915847086962688884[78] = 0; + out_4915847086962688884[79] = 0; + out_4915847086962688884[80] = 0; + out_4915847086962688884[81] = 0; + out_4915847086962688884[82] = 0; + out_4915847086962688884[83] = 0; + out_4915847086962688884[84] = 0; + out_4915847086962688884[85] = dt; + out_4915847086962688884[86] = 0; + out_4915847086962688884[87] = 0; + out_4915847086962688884[88] = 0; + out_4915847086962688884[89] = 0; + out_4915847086962688884[90] = 0; + out_4915847086962688884[91] = 0; + out_4915847086962688884[92] = 0; + out_4915847086962688884[93] = 0; + out_4915847086962688884[94] = 0; + out_4915847086962688884[95] = 1; + out_4915847086962688884[96] = 0; + out_4915847086962688884[97] = 0; + out_4915847086962688884[98] = 0; + out_4915847086962688884[99] = 0; + out_4915847086962688884[100] = 0; + out_4915847086962688884[101] = 0; + out_4915847086962688884[102] = 0; + out_4915847086962688884[103] = 0; + out_4915847086962688884[104] = dt; + out_4915847086962688884[105] = 0; + out_4915847086962688884[106] = 0; + out_4915847086962688884[107] = 0; + out_4915847086962688884[108] = 0; + out_4915847086962688884[109] = 0; + out_4915847086962688884[110] = 0; + out_4915847086962688884[111] = 0; + out_4915847086962688884[112] = 0; + out_4915847086962688884[113] = 0; + out_4915847086962688884[114] = 1; + out_4915847086962688884[115] = 0; + out_4915847086962688884[116] = 0; + out_4915847086962688884[117] = 0; + out_4915847086962688884[118] = 0; + out_4915847086962688884[119] = 0; + out_4915847086962688884[120] = 0; + out_4915847086962688884[121] = 0; + out_4915847086962688884[122] = 0; + out_4915847086962688884[123] = 0; + out_4915847086962688884[124] = 0; + out_4915847086962688884[125] = 0; + out_4915847086962688884[126] = 0; + out_4915847086962688884[127] = 0; + out_4915847086962688884[128] = 0; + out_4915847086962688884[129] = 0; + out_4915847086962688884[130] = 0; + out_4915847086962688884[131] = 0; + out_4915847086962688884[132] = 0; + out_4915847086962688884[133] = 1; + out_4915847086962688884[134] = 0; + out_4915847086962688884[135] = 0; + out_4915847086962688884[136] = 0; + out_4915847086962688884[137] = 0; + out_4915847086962688884[138] = 0; + out_4915847086962688884[139] = 0; + out_4915847086962688884[140] = 0; + out_4915847086962688884[141] = 0; + out_4915847086962688884[142] = 0; + out_4915847086962688884[143] = 0; + out_4915847086962688884[144] = 0; + out_4915847086962688884[145] = 0; + out_4915847086962688884[146] = 0; + out_4915847086962688884[147] = 0; + out_4915847086962688884[148] = 0; + out_4915847086962688884[149] = 0; + out_4915847086962688884[150] = 0; + out_4915847086962688884[151] = 0; + out_4915847086962688884[152] = 1; + out_4915847086962688884[153] = 0; + out_4915847086962688884[154] = 0; + out_4915847086962688884[155] = 0; + out_4915847086962688884[156] = 0; + out_4915847086962688884[157] = 0; + out_4915847086962688884[158] = 0; + out_4915847086962688884[159] = 0; + out_4915847086962688884[160] = 0; + out_4915847086962688884[161] = 0; + out_4915847086962688884[162] = 0; + out_4915847086962688884[163] = 0; + out_4915847086962688884[164] = 0; + out_4915847086962688884[165] = 0; + out_4915847086962688884[166] = 0; + out_4915847086962688884[167] = 0; + out_4915847086962688884[168] = 0; + out_4915847086962688884[169] = 0; + out_4915847086962688884[170] = 0; + out_4915847086962688884[171] = 1; + out_4915847086962688884[172] = 0; + out_4915847086962688884[173] = 0; + out_4915847086962688884[174] = 0; + out_4915847086962688884[175] = 0; + out_4915847086962688884[176] = 0; + out_4915847086962688884[177] = 0; + out_4915847086962688884[178] = 0; + out_4915847086962688884[179] = 0; + out_4915847086962688884[180] = 0; + out_4915847086962688884[181] = 0; + out_4915847086962688884[182] = 0; + out_4915847086962688884[183] = 0; + out_4915847086962688884[184] = 0; + out_4915847086962688884[185] = 0; + out_4915847086962688884[186] = 0; + out_4915847086962688884[187] = 0; + out_4915847086962688884[188] = 0; + out_4915847086962688884[189] = 0; + out_4915847086962688884[190] = 1; + out_4915847086962688884[191] = 0; + out_4915847086962688884[192] = 0; + out_4915847086962688884[193] = 0; + out_4915847086962688884[194] = 0; + out_4915847086962688884[195] = 0; + out_4915847086962688884[196] = 0; + out_4915847086962688884[197] = 0; + out_4915847086962688884[198] = 0; + out_4915847086962688884[199] = 0; + out_4915847086962688884[200] = 0; + out_4915847086962688884[201] = 0; + out_4915847086962688884[202] = 0; + out_4915847086962688884[203] = 0; + out_4915847086962688884[204] = 0; + out_4915847086962688884[205] = 0; + out_4915847086962688884[206] = 0; + out_4915847086962688884[207] = 0; + out_4915847086962688884[208] = 0; + out_4915847086962688884[209] = 1; + out_4915847086962688884[210] = 0; + out_4915847086962688884[211] = 0; + out_4915847086962688884[212] = 0; + out_4915847086962688884[213] = 0; + out_4915847086962688884[214] = 0; + out_4915847086962688884[215] = 0; + out_4915847086962688884[216] = 0; + out_4915847086962688884[217] = 0; + out_4915847086962688884[218] = 0; + out_4915847086962688884[219] = 0; + out_4915847086962688884[220] = 0; + out_4915847086962688884[221] = 0; + out_4915847086962688884[222] = 0; + out_4915847086962688884[223] = 0; + out_4915847086962688884[224] = 0; + out_4915847086962688884[225] = 0; + out_4915847086962688884[226] = 0; + out_4915847086962688884[227] = 0; + out_4915847086962688884[228] = 1; + out_4915847086962688884[229] = 0; + out_4915847086962688884[230] = 0; + out_4915847086962688884[231] = 0; + out_4915847086962688884[232] = 0; + out_4915847086962688884[233] = 0; + out_4915847086962688884[234] = 0; + out_4915847086962688884[235] = 0; + out_4915847086962688884[236] = 0; + out_4915847086962688884[237] = 0; + out_4915847086962688884[238] = 0; + out_4915847086962688884[239] = 0; + out_4915847086962688884[240] = 0; + out_4915847086962688884[241] = 0; + out_4915847086962688884[242] = 0; + out_4915847086962688884[243] = 0; + out_4915847086962688884[244] = 0; + out_4915847086962688884[245] = 0; + out_4915847086962688884[246] = 0; + out_4915847086962688884[247] = 1; + out_4915847086962688884[248] = 0; + out_4915847086962688884[249] = 0; + out_4915847086962688884[250] = 0; + out_4915847086962688884[251] = 0; + out_4915847086962688884[252] = 0; + out_4915847086962688884[253] = 0; + out_4915847086962688884[254] = 0; + out_4915847086962688884[255] = 0; + out_4915847086962688884[256] = 0; + out_4915847086962688884[257] = 0; + out_4915847086962688884[258] = 0; + out_4915847086962688884[259] = 0; + out_4915847086962688884[260] = 0; + out_4915847086962688884[261] = 0; + out_4915847086962688884[262] = 0; + out_4915847086962688884[263] = 0; + out_4915847086962688884[264] = 0; + out_4915847086962688884[265] = 0; + out_4915847086962688884[266] = 1; + out_4915847086962688884[267] = 0; + out_4915847086962688884[268] = 0; + out_4915847086962688884[269] = 0; + out_4915847086962688884[270] = 0; + out_4915847086962688884[271] = 0; + out_4915847086962688884[272] = 0; + out_4915847086962688884[273] = 0; + out_4915847086962688884[274] = 0; + out_4915847086962688884[275] = 0; + out_4915847086962688884[276] = 0; + out_4915847086962688884[277] = 0; + out_4915847086962688884[278] = 0; + out_4915847086962688884[279] = 0; + out_4915847086962688884[280] = 0; + out_4915847086962688884[281] = 0; + out_4915847086962688884[282] = 0; + out_4915847086962688884[283] = 0; + out_4915847086962688884[284] = 0; + out_4915847086962688884[285] = 1; + out_4915847086962688884[286] = 0; + out_4915847086962688884[287] = 0; + out_4915847086962688884[288] = 0; + out_4915847086962688884[289] = 0; + out_4915847086962688884[290] = 0; + out_4915847086962688884[291] = 0; + out_4915847086962688884[292] = 0; + out_4915847086962688884[293] = 0; + out_4915847086962688884[294] = 0; + out_4915847086962688884[295] = 0; + out_4915847086962688884[296] = 0; + out_4915847086962688884[297] = 0; + out_4915847086962688884[298] = 0; + out_4915847086962688884[299] = 0; + out_4915847086962688884[300] = 0; + out_4915847086962688884[301] = 0; + out_4915847086962688884[302] = 0; + out_4915847086962688884[303] = 0; + out_4915847086962688884[304] = 1; + out_4915847086962688884[305] = 0; + out_4915847086962688884[306] = 0; + out_4915847086962688884[307] = 0; + out_4915847086962688884[308] = 0; + out_4915847086962688884[309] = 0; + out_4915847086962688884[310] = 0; + out_4915847086962688884[311] = 0; + out_4915847086962688884[312] = 0; + out_4915847086962688884[313] = 0; + out_4915847086962688884[314] = 0; + out_4915847086962688884[315] = 0; + out_4915847086962688884[316] = 0; + out_4915847086962688884[317] = 0; + out_4915847086962688884[318] = 0; + out_4915847086962688884[319] = 0; + out_4915847086962688884[320] = 0; + out_4915847086962688884[321] = 0; + out_4915847086962688884[322] = 0; + out_4915847086962688884[323] = 1; } -void h_4(double *state, double *unused, double *out_6238203153530464174) { - out_6238203153530464174[0] = state[6] + state[9]; - out_6238203153530464174[1] = state[7] + state[10]; - out_6238203153530464174[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_4566450913648834974) { + out_4566450913648834974[0] = state[6] + state[9]; + out_4566450913648834974[1] = state[7] + state[10]; + out_4566450913648834974[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8902916183778532174) { - out_8902916183778532174[0] = 0; - out_8902916183778532174[1] = 0; - out_8902916183778532174[2] = 0; - out_8902916183778532174[3] = 0; - out_8902916183778532174[4] = 0; - out_8902916183778532174[5] = 0; - out_8902916183778532174[6] = 1; - out_8902916183778532174[7] = 0; - out_8902916183778532174[8] = 0; - out_8902916183778532174[9] = 1; - out_8902916183778532174[10] = 0; - out_8902916183778532174[11] = 0; - out_8902916183778532174[12] = 0; - out_8902916183778532174[13] = 0; - out_8902916183778532174[14] = 0; - out_8902916183778532174[15] = 0; - out_8902916183778532174[16] = 0; - out_8902916183778532174[17] = 0; - out_8902916183778532174[18] = 0; - out_8902916183778532174[19] = 0; - out_8902916183778532174[20] = 0; - out_8902916183778532174[21] = 0; - out_8902916183778532174[22] = 0; - out_8902916183778532174[23] = 0; - out_8902916183778532174[24] = 0; - out_8902916183778532174[25] = 1; - out_8902916183778532174[26] = 0; - out_8902916183778532174[27] = 0; - out_8902916183778532174[28] = 1; - out_8902916183778532174[29] = 0; - out_8902916183778532174[30] = 0; - out_8902916183778532174[31] = 0; - out_8902916183778532174[32] = 0; - out_8902916183778532174[33] = 0; - out_8902916183778532174[34] = 0; - out_8902916183778532174[35] = 0; - out_8902916183778532174[36] = 0; - out_8902916183778532174[37] = 0; - out_8902916183778532174[38] = 0; - out_8902916183778532174[39] = 0; - out_8902916183778532174[40] = 0; - out_8902916183778532174[41] = 0; - out_8902916183778532174[42] = 0; - out_8902916183778532174[43] = 0; - out_8902916183778532174[44] = 1; - out_8902916183778532174[45] = 0; - out_8902916183778532174[46] = 0; - out_8902916183778532174[47] = 1; - out_8902916183778532174[48] = 0; - out_8902916183778532174[49] = 0; - out_8902916183778532174[50] = 0; - out_8902916183778532174[51] = 0; - out_8902916183778532174[52] = 0; - out_8902916183778532174[53] = 0; +void H_4(double *state, double *unused, double *out_8478926176726141688) { + out_8478926176726141688[0] = 0; + out_8478926176726141688[1] = 0; + out_8478926176726141688[2] = 0; + out_8478926176726141688[3] = 0; + out_8478926176726141688[4] = 0; + out_8478926176726141688[5] = 0; + out_8478926176726141688[6] = 1; + out_8478926176726141688[7] = 0; + out_8478926176726141688[8] = 0; + out_8478926176726141688[9] = 1; + out_8478926176726141688[10] = 0; + out_8478926176726141688[11] = 0; + out_8478926176726141688[12] = 0; + out_8478926176726141688[13] = 0; + out_8478926176726141688[14] = 0; + out_8478926176726141688[15] = 0; + out_8478926176726141688[16] = 0; + out_8478926176726141688[17] = 0; + out_8478926176726141688[18] = 0; + out_8478926176726141688[19] = 0; + out_8478926176726141688[20] = 0; + out_8478926176726141688[21] = 0; + out_8478926176726141688[22] = 0; + out_8478926176726141688[23] = 0; + out_8478926176726141688[24] = 0; + out_8478926176726141688[25] = 1; + out_8478926176726141688[26] = 0; + out_8478926176726141688[27] = 0; + out_8478926176726141688[28] = 1; + out_8478926176726141688[29] = 0; + out_8478926176726141688[30] = 0; + out_8478926176726141688[31] = 0; + out_8478926176726141688[32] = 0; + out_8478926176726141688[33] = 0; + out_8478926176726141688[34] = 0; + out_8478926176726141688[35] = 0; + out_8478926176726141688[36] = 0; + out_8478926176726141688[37] = 0; + out_8478926176726141688[38] = 0; + out_8478926176726141688[39] = 0; + out_8478926176726141688[40] = 0; + out_8478926176726141688[41] = 0; + out_8478926176726141688[42] = 0; + out_8478926176726141688[43] = 0; + out_8478926176726141688[44] = 1; + out_8478926176726141688[45] = 0; + out_8478926176726141688[46] = 0; + out_8478926176726141688[47] = 1; + out_8478926176726141688[48] = 0; + out_8478926176726141688[49] = 0; + out_8478926176726141688[50] = 0; + out_8478926176726141688[51] = 0; + out_8478926176726141688[52] = 0; + out_8478926176726141688[53] = 0; } -void h_10(double *state, double *unused, double *out_479264188908505210) { - out_479264188908505210[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_479264188908505210[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_479264188908505210[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; +void h_10(double *state, double *unused, double *out_7539996529410954195) { + out_7539996529410954195[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7539996529410954195[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7539996529410954195[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_5035106138755480521) { - out_5035106138755480521[0] = 0; - out_5035106138755480521[1] = 9.8100000000000005*cos(state[1]); - out_5035106138755480521[2] = 0; - out_5035106138755480521[3] = 0; - out_5035106138755480521[4] = -state[8]; - out_5035106138755480521[5] = state[7]; - out_5035106138755480521[6] = 0; - out_5035106138755480521[7] = state[5]; - out_5035106138755480521[8] = -state[4]; - out_5035106138755480521[9] = 0; - out_5035106138755480521[10] = 0; - out_5035106138755480521[11] = 0; - out_5035106138755480521[12] = 1; - out_5035106138755480521[13] = 0; - out_5035106138755480521[14] = 0; - out_5035106138755480521[15] = 1; - out_5035106138755480521[16] = 0; - out_5035106138755480521[17] = 0; - out_5035106138755480521[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5035106138755480521[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5035106138755480521[20] = 0; - out_5035106138755480521[21] = state[8]; - out_5035106138755480521[22] = 0; - out_5035106138755480521[23] = -state[6]; - out_5035106138755480521[24] = -state[5]; - out_5035106138755480521[25] = 0; - out_5035106138755480521[26] = state[3]; - out_5035106138755480521[27] = 0; - out_5035106138755480521[28] = 0; - out_5035106138755480521[29] = 0; - out_5035106138755480521[30] = 0; - out_5035106138755480521[31] = 1; - out_5035106138755480521[32] = 0; - out_5035106138755480521[33] = 0; - out_5035106138755480521[34] = 1; - out_5035106138755480521[35] = 0; - out_5035106138755480521[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5035106138755480521[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5035106138755480521[38] = 0; - out_5035106138755480521[39] = -state[7]; - out_5035106138755480521[40] = state[6]; - out_5035106138755480521[41] = 0; - out_5035106138755480521[42] = state[4]; - out_5035106138755480521[43] = -state[3]; - out_5035106138755480521[44] = 0; - out_5035106138755480521[45] = 0; - out_5035106138755480521[46] = 0; - out_5035106138755480521[47] = 0; - out_5035106138755480521[48] = 0; - out_5035106138755480521[49] = 0; - out_5035106138755480521[50] = 1; - out_5035106138755480521[51] = 0; - out_5035106138755480521[52] = 0; - out_5035106138755480521[53] = 1; +void H_10(double *state, double *unused, double *out_8508433762584458121) { + out_8508433762584458121[0] = 0; + out_8508433762584458121[1] = 9.8100000000000005*cos(state[1]); + out_8508433762584458121[2] = 0; + out_8508433762584458121[3] = 0; + out_8508433762584458121[4] = -state[8]; + out_8508433762584458121[5] = state[7]; + out_8508433762584458121[6] = 0; + out_8508433762584458121[7] = state[5]; + out_8508433762584458121[8] = -state[4]; + out_8508433762584458121[9] = 0; + out_8508433762584458121[10] = 0; + out_8508433762584458121[11] = 0; + out_8508433762584458121[12] = 1; + out_8508433762584458121[13] = 0; + out_8508433762584458121[14] = 0; + out_8508433762584458121[15] = 1; + out_8508433762584458121[16] = 0; + out_8508433762584458121[17] = 0; + out_8508433762584458121[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8508433762584458121[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8508433762584458121[20] = 0; + out_8508433762584458121[21] = state[8]; + out_8508433762584458121[22] = 0; + out_8508433762584458121[23] = -state[6]; + out_8508433762584458121[24] = -state[5]; + out_8508433762584458121[25] = 0; + out_8508433762584458121[26] = state[3]; + out_8508433762584458121[27] = 0; + out_8508433762584458121[28] = 0; + out_8508433762584458121[29] = 0; + out_8508433762584458121[30] = 0; + out_8508433762584458121[31] = 1; + out_8508433762584458121[32] = 0; + out_8508433762584458121[33] = 0; + out_8508433762584458121[34] = 1; + out_8508433762584458121[35] = 0; + out_8508433762584458121[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8508433762584458121[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8508433762584458121[38] = 0; + out_8508433762584458121[39] = -state[7]; + out_8508433762584458121[40] = state[6]; + out_8508433762584458121[41] = 0; + out_8508433762584458121[42] = state[4]; + out_8508433762584458121[43] = -state[3]; + out_8508433762584458121[44] = 0; + out_8508433762584458121[45] = 0; + out_8508433762584458121[46] = 0; + out_8508433762584458121[47] = 0; + out_8508433762584458121[48] = 0; + out_8508433762584458121[49] = 0; + out_8508433762584458121[50] = 1; + out_8508433762584458121[51] = 0; + out_8508433762584458121[52] = 0; + out_8508433762584458121[53] = 1; } -void h_13(double *state, double *unused, double *out_2296929327731223213) { - out_2296929327731223213[0] = state[3]; - out_2296929327731223213[1] = state[4]; - out_2296929327731223213[2] = state[5]; +void h_13(double *state, double *unused, double *out_4338527865886089826) { + out_4338527865886089826[0] = state[3]; + out_4338527865886089826[1] = state[4]; + out_4338527865886089826[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5690642358446199373) { - out_5690642358446199373[0] = 0; - out_5690642358446199373[1] = 0; - out_5690642358446199373[2] = 0; - out_5690642358446199373[3] = 1; - out_5690642358446199373[4] = 0; - out_5690642358446199373[5] = 0; - out_5690642358446199373[6] = 0; - out_5690642358446199373[7] = 0; - out_5690642358446199373[8] = 0; - out_5690642358446199373[9] = 0; - out_5690642358446199373[10] = 0; - out_5690642358446199373[11] = 0; - out_5690642358446199373[12] = 0; - out_5690642358446199373[13] = 0; - out_5690642358446199373[14] = 0; - out_5690642358446199373[15] = 0; - out_5690642358446199373[16] = 0; - out_5690642358446199373[17] = 0; - out_5690642358446199373[18] = 0; - out_5690642358446199373[19] = 0; - out_5690642358446199373[20] = 0; - out_5690642358446199373[21] = 0; - out_5690642358446199373[22] = 1; - out_5690642358446199373[23] = 0; - out_5690642358446199373[24] = 0; - out_5690642358446199373[25] = 0; - out_5690642358446199373[26] = 0; - out_5690642358446199373[27] = 0; - out_5690642358446199373[28] = 0; - out_5690642358446199373[29] = 0; - out_5690642358446199373[30] = 0; - out_5690642358446199373[31] = 0; - out_5690642358446199373[32] = 0; - out_5690642358446199373[33] = 0; - out_5690642358446199373[34] = 0; - out_5690642358446199373[35] = 0; - out_5690642358446199373[36] = 0; - out_5690642358446199373[37] = 0; - out_5690642358446199373[38] = 0; - out_5690642358446199373[39] = 0; - out_5690642358446199373[40] = 0; - out_5690642358446199373[41] = 1; - out_5690642358446199373[42] = 0; - out_5690642358446199373[43] = 0; - out_5690642358446199373[44] = 0; - out_5690642358446199373[45] = 0; - out_5690642358446199373[46] = 0; - out_5690642358446199373[47] = 0; - out_5690642358446199373[48] = 0; - out_5690642358446199373[49] = 0; - out_5690642358446199373[50] = 0; - out_5690642358446199373[51] = 0; - out_5690642358446199373[52] = 0; - out_5690642358446199373[53] = 0; +void H_13(double *state, double *unused, double *out_6755544071651077127) { + out_6755544071651077127[0] = 0; + out_6755544071651077127[1] = 0; + out_6755544071651077127[2] = 0; + out_6755544071651077127[3] = 1; + out_6755544071651077127[4] = 0; + out_6755544071651077127[5] = 0; + out_6755544071651077127[6] = 0; + out_6755544071651077127[7] = 0; + out_6755544071651077127[8] = 0; + out_6755544071651077127[9] = 0; + out_6755544071651077127[10] = 0; + out_6755544071651077127[11] = 0; + out_6755544071651077127[12] = 0; + out_6755544071651077127[13] = 0; + out_6755544071651077127[14] = 0; + out_6755544071651077127[15] = 0; + out_6755544071651077127[16] = 0; + out_6755544071651077127[17] = 0; + out_6755544071651077127[18] = 0; + out_6755544071651077127[19] = 0; + out_6755544071651077127[20] = 0; + out_6755544071651077127[21] = 0; + out_6755544071651077127[22] = 1; + out_6755544071651077127[23] = 0; + out_6755544071651077127[24] = 0; + out_6755544071651077127[25] = 0; + out_6755544071651077127[26] = 0; + out_6755544071651077127[27] = 0; + out_6755544071651077127[28] = 0; + out_6755544071651077127[29] = 0; + out_6755544071651077127[30] = 0; + out_6755544071651077127[31] = 0; + out_6755544071651077127[32] = 0; + out_6755544071651077127[33] = 0; + out_6755544071651077127[34] = 0; + out_6755544071651077127[35] = 0; + out_6755544071651077127[36] = 0; + out_6755544071651077127[37] = 0; + out_6755544071651077127[38] = 0; + out_6755544071651077127[39] = 0; + out_6755544071651077127[40] = 0; + out_6755544071651077127[41] = 1; + out_6755544071651077127[42] = 0; + out_6755544071651077127[43] = 0; + out_6755544071651077127[44] = 0; + out_6755544071651077127[45] = 0; + out_6755544071651077127[46] = 0; + out_6755544071651077127[47] = 0; + out_6755544071651077127[48] = 0; + out_6755544071651077127[49] = 0; + out_6755544071651077127[50] = 0; + out_6755544071651077127[51] = 0; + out_6755544071651077127[52] = 0; + out_6755544071651077127[53] = 0; } -void h_14(double *state, double *unused, double *out_8770212541449767783) { - out_8770212541449767783[0] = state[6]; - out_8770212541449767783[1] = state[7]; - out_8770212541449767783[2] = state[8]; +void h_14(double *state, double *unused, double *out_8691716025455276110) { + out_8691716025455276110[0] = state[6]; + out_8691716025455276110[1] = state[7]; + out_8691716025455276110[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4939675327439047645) { - out_4939675327439047645[0] = 0; - out_4939675327439047645[1] = 0; - out_4939675327439047645[2] = 0; - out_4939675327439047645[3] = 0; - out_4939675327439047645[4] = 0; - out_4939675327439047645[5] = 0; - out_4939675327439047645[6] = 1; - out_4939675327439047645[7] = 0; - out_4939675327439047645[8] = 0; - out_4939675327439047645[9] = 0; - out_4939675327439047645[10] = 0; - out_4939675327439047645[11] = 0; - out_4939675327439047645[12] = 0; - out_4939675327439047645[13] = 0; - out_4939675327439047645[14] = 0; - out_4939675327439047645[15] = 0; - out_4939675327439047645[16] = 0; - out_4939675327439047645[17] = 0; - out_4939675327439047645[18] = 0; - out_4939675327439047645[19] = 0; - out_4939675327439047645[20] = 0; - out_4939675327439047645[21] = 0; - out_4939675327439047645[22] = 0; - out_4939675327439047645[23] = 0; - out_4939675327439047645[24] = 0; - out_4939675327439047645[25] = 1; - out_4939675327439047645[26] = 0; - out_4939675327439047645[27] = 0; - out_4939675327439047645[28] = 0; - out_4939675327439047645[29] = 0; - out_4939675327439047645[30] = 0; - out_4939675327439047645[31] = 0; - out_4939675327439047645[32] = 0; - out_4939675327439047645[33] = 0; - out_4939675327439047645[34] = 0; - out_4939675327439047645[35] = 0; - out_4939675327439047645[36] = 0; - out_4939675327439047645[37] = 0; - out_4939675327439047645[38] = 0; - out_4939675327439047645[39] = 0; - out_4939675327439047645[40] = 0; - out_4939675327439047645[41] = 0; - out_4939675327439047645[42] = 0; - out_4939675327439047645[43] = 0; - out_4939675327439047645[44] = 1; - out_4939675327439047645[45] = 0; - out_4939675327439047645[46] = 0; - out_4939675327439047645[47] = 0; - out_4939675327439047645[48] = 0; - out_4939675327439047645[49] = 0; - out_4939675327439047645[50] = 0; - out_4939675327439047645[51] = 0; - out_4939675327439047645[52] = 0; - out_4939675327439047645[53] = 0; +void H_14(double *state, double *unused, double *out_6004577040643925399) { + out_6004577040643925399[0] = 0; + out_6004577040643925399[1] = 0; + out_6004577040643925399[2] = 0; + out_6004577040643925399[3] = 0; + out_6004577040643925399[4] = 0; + out_6004577040643925399[5] = 0; + out_6004577040643925399[6] = 1; + out_6004577040643925399[7] = 0; + out_6004577040643925399[8] = 0; + out_6004577040643925399[9] = 0; + out_6004577040643925399[10] = 0; + out_6004577040643925399[11] = 0; + out_6004577040643925399[12] = 0; + out_6004577040643925399[13] = 0; + out_6004577040643925399[14] = 0; + out_6004577040643925399[15] = 0; + out_6004577040643925399[16] = 0; + out_6004577040643925399[17] = 0; + out_6004577040643925399[18] = 0; + out_6004577040643925399[19] = 0; + out_6004577040643925399[20] = 0; + out_6004577040643925399[21] = 0; + out_6004577040643925399[22] = 0; + out_6004577040643925399[23] = 0; + out_6004577040643925399[24] = 0; + out_6004577040643925399[25] = 1; + out_6004577040643925399[26] = 0; + out_6004577040643925399[27] = 0; + out_6004577040643925399[28] = 0; + out_6004577040643925399[29] = 0; + out_6004577040643925399[30] = 0; + out_6004577040643925399[31] = 0; + out_6004577040643925399[32] = 0; + out_6004577040643925399[33] = 0; + out_6004577040643925399[34] = 0; + out_6004577040643925399[35] = 0; + out_6004577040643925399[36] = 0; + out_6004577040643925399[37] = 0; + out_6004577040643925399[38] = 0; + out_6004577040643925399[39] = 0; + out_6004577040643925399[40] = 0; + out_6004577040643925399[41] = 0; + out_6004577040643925399[42] = 0; + out_6004577040643925399[43] = 0; + out_6004577040643925399[44] = 1; + out_6004577040643925399[45] = 0; + out_6004577040643925399[46] = 0; + out_6004577040643925399[47] = 0; + out_6004577040643925399[48] = 0; + out_6004577040643925399[49] = 0; + out_6004577040643925399[50] = 0; + out_6004577040643925399[51] = 0; + out_6004577040643925399[52] = 0; + out_6004577040643925399[53] = 0; } #include #include @@ -1113,44 +1113,44 @@ void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, doub void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14); } -void pose_err_fun(double *nom_x, double *delta_x, double *out_9222670015265418032) { - err_fun(nom_x, delta_x, out_9222670015265418032); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8294180210607547219) { + err_fun(nom_x, delta_x, out_8294180210607547219); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6734711869955682828) { - inv_err_fun(nom_x, true_x, out_6734711869955682828); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8330596021821018044) { + inv_err_fun(nom_x, true_x, out_8330596021821018044); } -void pose_H_mod_fun(double *state, double *out_3054834377026573453) { - H_mod_fun(state, out_3054834377026573453); +void pose_H_mod_fun(double *state, double *out_534058243187542804) { + H_mod_fun(state, out_534058243187542804); } -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_2535209606058579312) { + f_fun(state, dt, out_2535209606058579312); } -void pose_F_fun(double *state, double dt, double *out_7891921077140001268) { - F_fun(state, dt, out_7891921077140001268); +void pose_F_fun(double *state, double dt, double *out_4915847086962688884) { + F_fun(state, dt, out_4915847086962688884); } -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_4566450913648834974) { + h_4(state, unused, out_4566450913648834974); } -void pose_H_4(double *state, double *unused, double *out_8902916183778532174) { - H_4(state, unused, out_8902916183778532174); +void pose_H_4(double *state, double *unused, double *out_8478926176726141688) { + H_4(state, unused, out_8478926176726141688); } -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_7539996529410954195) { + h_10(state, unused, out_7539996529410954195); } -void pose_H_10(double *state, double *unused, double *out_5035106138755480521) { - H_10(state, unused, out_5035106138755480521); +void pose_H_10(double *state, double *unused, double *out_8508433762584458121) { + H_10(state, unused, out_8508433762584458121); } -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_4338527865886089826) { + h_13(state, unused, out_4338527865886089826); } -void pose_H_13(double *state, double *unused, double *out_5690642358446199373) { - H_13(state, unused, out_5690642358446199373); +void pose_H_13(double *state, double *unused, double *out_6755544071651077127) { + H_13(state, unused, out_6755544071651077127); } -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_8691716025455276110) { + h_14(state, unused, out_8691716025455276110); } -void pose_H_14(double *state, double *unused, double *out_4939675327439047645) { - H_14(state, unused, out_4939675327439047645); +void pose_H_14(double *state, double *unused, double *out_6004577040643925399) { + H_14(state, unused, out_6004577040643925399); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/pose.h b/selfdrive/locationd/models/generated/pose.h index 879b31ffff..0b019cf857 100644 --- a/selfdrive/locationd/models/generated/pose.h +++ b/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_9222670015265418032); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6734711869955682828); -void pose_H_mod_fun(double *state, double *out_3054834377026573453); -void pose_f_fun(double *state, double dt, double *out_6521868085604382140); -void pose_F_fun(double *state, double dt, double *out_7891921077140001268); -void pose_h_4(double *state, double *unused, double *out_6238203153530464174); -void pose_H_4(double *state, double *unused, double *out_8902916183778532174); -void pose_h_10(double *state, double *unused, double *out_479264188908505210); -void pose_H_10(double *state, double *unused, double *out_5035106138755480521); -void pose_h_13(double *state, double *unused, double *out_2296929327731223213); -void pose_H_13(double *state, double *unused, double *out_5690642358446199373); -void pose_h_14(double *state, double *unused, double *out_8770212541449767783); -void pose_H_14(double *state, double *unused, double *out_4939675327439047645); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8294180210607547219); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8330596021821018044); +void pose_H_mod_fun(double *state, double *out_534058243187542804); +void pose_f_fun(double *state, double dt, double *out_2535209606058579312); +void pose_F_fun(double *state, double dt, double *out_4915847086962688884); +void pose_h_4(double *state, double *unused, double *out_4566450913648834974); +void pose_H_4(double *state, double *unused, double *out_8478926176726141688); +void pose_h_10(double *state, double *unused, double *out_7539996529410954195); +void pose_H_10(double *state, double *unused, double *out_8508433762584458121); +void pose_h_13(double *state, double *unused, double *out_4338527865886089826); +void pose_H_13(double *state, double *unused, double *out_6755544071651077127); +void pose_h_14(double *state, double *unused, double *out_8691716025455276110); +void pose_H_14(double *state, double *unused, double *out_6004577040643925399); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index f57f27c547..7bdc821fb2 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index f6899bf972..8cbd86511f 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index f3c8985653..89a6a0c254 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 0f9d6a9040..a501078596 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 8c5d8a3739..46221850da 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd 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