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b/panda/board/obj/version @@ -1 +1 @@ -DEV-0351e7d8-DEBUG \ No newline at end of file +DEV-d1bb5c89-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 79f02945c..8be80178f 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_3329877133651101623) { - out_3329877133651101623[0] = delta_x[0] + nom_x[0]; - out_3329877133651101623[1] = delta_x[1] + nom_x[1]; - out_3329877133651101623[2] = delta_x[2] + nom_x[2]; - out_3329877133651101623[3] = delta_x[3] + nom_x[3]; - out_3329877133651101623[4] = delta_x[4] + nom_x[4]; - out_3329877133651101623[5] = delta_x[5] + nom_x[5]; - out_3329877133651101623[6] = delta_x[6] + nom_x[6]; - out_3329877133651101623[7] = delta_x[7] + nom_x[7]; - out_3329877133651101623[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7316368395552197740) { + out_7316368395552197740[0] = delta_x[0] + nom_x[0]; + out_7316368395552197740[1] = delta_x[1] + nom_x[1]; + out_7316368395552197740[2] = delta_x[2] + nom_x[2]; + out_7316368395552197740[3] = delta_x[3] + nom_x[3]; + out_7316368395552197740[4] = delta_x[4] + nom_x[4]; + out_7316368395552197740[5] = delta_x[5] + nom_x[5]; + out_7316368395552197740[6] = delta_x[6] + nom_x[6]; + out_7316368395552197740[7] = delta_x[7] + nom_x[7]; + out_7316368395552197740[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) { - out_7760882190653564987[0] = -nom_x[0] + true_x[0]; - out_7760882190653564987[1] = -nom_x[1] + true_x[1]; - out_7760882190653564987[2] = -nom_x[2] + true_x[2]; - out_7760882190653564987[3] = -nom_x[3] + true_x[3]; - out_7760882190653564987[4] = -nom_x[4] + true_x[4]; - out_7760882190653564987[5] = -nom_x[5] + true_x[5]; - out_7760882190653564987[6] = -nom_x[6] + true_x[6]; - out_7760882190653564987[7] = -nom_x[7] + true_x[7]; - out_7760882190653564987[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1979647693272640270) { + out_1979647693272640270[0] = -nom_x[0] + true_x[0]; + out_1979647693272640270[1] = -nom_x[1] + true_x[1]; + out_1979647693272640270[2] = -nom_x[2] + true_x[2]; + out_1979647693272640270[3] = -nom_x[3] + true_x[3]; + out_1979647693272640270[4] = -nom_x[4] + true_x[4]; + out_1979647693272640270[5] = -nom_x[5] + true_x[5]; + out_1979647693272640270[6] = -nom_x[6] + true_x[6]; + out_1979647693272640270[7] = -nom_x[7] + true_x[7]; + out_1979647693272640270[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1773647306661711299) { - out_1773647306661711299[0] = 1.0; - out_1773647306661711299[1] = 0.0; - out_1773647306661711299[2] = 0.0; - out_1773647306661711299[3] = 0.0; - out_1773647306661711299[4] = 0.0; - out_1773647306661711299[5] = 0.0; - out_1773647306661711299[6] = 0.0; - out_1773647306661711299[7] = 0.0; - out_1773647306661711299[8] = 0.0; - out_1773647306661711299[9] = 0.0; - out_1773647306661711299[10] = 1.0; - out_1773647306661711299[11] = 0.0; - out_1773647306661711299[12] = 0.0; - out_1773647306661711299[13] = 0.0; - out_1773647306661711299[14] = 0.0; - out_1773647306661711299[15] = 0.0; - out_1773647306661711299[16] = 0.0; - out_1773647306661711299[17] = 0.0; - out_1773647306661711299[18] = 0.0; - out_1773647306661711299[19] = 0.0; - out_1773647306661711299[20] = 1.0; - out_1773647306661711299[21] = 0.0; - out_1773647306661711299[22] = 0.0; - out_1773647306661711299[23] = 0.0; - out_1773647306661711299[24] = 0.0; - out_1773647306661711299[25] = 0.0; - out_1773647306661711299[26] = 0.0; - out_1773647306661711299[27] = 0.0; - out_1773647306661711299[28] = 0.0; - out_1773647306661711299[29] = 0.0; - out_1773647306661711299[30] = 1.0; - out_1773647306661711299[31] = 0.0; - out_1773647306661711299[32] = 0.0; - out_1773647306661711299[33] = 0.0; - out_1773647306661711299[34] = 0.0; - out_1773647306661711299[35] = 0.0; - out_1773647306661711299[36] = 0.0; - out_1773647306661711299[37] = 0.0; - out_1773647306661711299[38] = 0.0; - out_1773647306661711299[39] = 0.0; - out_1773647306661711299[40] = 1.0; - out_1773647306661711299[41] = 0.0; - out_1773647306661711299[42] = 0.0; - out_1773647306661711299[43] = 0.0; - out_1773647306661711299[44] = 0.0; - out_1773647306661711299[45] = 0.0; - out_1773647306661711299[46] = 0.0; - out_1773647306661711299[47] = 0.0; - out_1773647306661711299[48] = 0.0; - out_1773647306661711299[49] = 0.0; - out_1773647306661711299[50] = 1.0; - out_1773647306661711299[51] = 0.0; - out_1773647306661711299[52] = 0.0; - out_1773647306661711299[53] = 0.0; - out_1773647306661711299[54] = 0.0; - out_1773647306661711299[55] = 0.0; - out_1773647306661711299[56] = 0.0; - out_1773647306661711299[57] = 0.0; - out_1773647306661711299[58] = 0.0; - out_1773647306661711299[59] = 0.0; - out_1773647306661711299[60] = 1.0; - out_1773647306661711299[61] = 0.0; - out_1773647306661711299[62] = 0.0; - out_1773647306661711299[63] = 0.0; - out_1773647306661711299[64] = 0.0; - out_1773647306661711299[65] = 0.0; - out_1773647306661711299[66] = 0.0; - out_1773647306661711299[67] = 0.0; - out_1773647306661711299[68] = 0.0; - out_1773647306661711299[69] = 0.0; - out_1773647306661711299[70] = 1.0; - out_1773647306661711299[71] = 0.0; - out_1773647306661711299[72] = 0.0; - out_1773647306661711299[73] = 0.0; - out_1773647306661711299[74] = 0.0; - out_1773647306661711299[75] = 0.0; - out_1773647306661711299[76] = 0.0; - out_1773647306661711299[77] = 0.0; - out_1773647306661711299[78] = 0.0; - out_1773647306661711299[79] = 0.0; - out_1773647306661711299[80] = 1.0; +void H_mod_fun(double *state, double *out_2820666923051649688) { + out_2820666923051649688[0] = 1.0; + out_2820666923051649688[1] = 0.0; + out_2820666923051649688[2] = 0.0; + out_2820666923051649688[3] = 0.0; + out_2820666923051649688[4] = 0.0; + out_2820666923051649688[5] = 0.0; + out_2820666923051649688[6] = 0.0; + out_2820666923051649688[7] = 0.0; + out_2820666923051649688[8] = 0.0; + out_2820666923051649688[9] = 0.0; + out_2820666923051649688[10] = 1.0; + out_2820666923051649688[11] = 0.0; + out_2820666923051649688[12] = 0.0; + out_2820666923051649688[13] = 0.0; + out_2820666923051649688[14] = 0.0; + out_2820666923051649688[15] = 0.0; + out_2820666923051649688[16] = 0.0; + out_2820666923051649688[17] = 0.0; + out_2820666923051649688[18] = 0.0; + out_2820666923051649688[19] = 0.0; + out_2820666923051649688[20] = 1.0; + out_2820666923051649688[21] = 0.0; + out_2820666923051649688[22] = 0.0; + out_2820666923051649688[23] = 0.0; + out_2820666923051649688[24] = 0.0; + out_2820666923051649688[25] = 0.0; + out_2820666923051649688[26] = 0.0; + out_2820666923051649688[27] = 0.0; + out_2820666923051649688[28] = 0.0; + out_2820666923051649688[29] = 0.0; + out_2820666923051649688[30] = 1.0; + out_2820666923051649688[31] = 0.0; + out_2820666923051649688[32] = 0.0; + out_2820666923051649688[33] = 0.0; + out_2820666923051649688[34] = 0.0; + out_2820666923051649688[35] = 0.0; + out_2820666923051649688[36] = 0.0; + out_2820666923051649688[37] = 0.0; + out_2820666923051649688[38] = 0.0; + out_2820666923051649688[39] = 0.0; + out_2820666923051649688[40] = 1.0; + out_2820666923051649688[41] = 0.0; + out_2820666923051649688[42] = 0.0; + out_2820666923051649688[43] = 0.0; + out_2820666923051649688[44] = 0.0; + out_2820666923051649688[45] = 0.0; + out_2820666923051649688[46] = 0.0; + out_2820666923051649688[47] = 0.0; + out_2820666923051649688[48] = 0.0; + out_2820666923051649688[49] = 0.0; + out_2820666923051649688[50] = 1.0; + out_2820666923051649688[51] = 0.0; + out_2820666923051649688[52] = 0.0; + out_2820666923051649688[53] = 0.0; + out_2820666923051649688[54] = 0.0; + out_2820666923051649688[55] = 0.0; + out_2820666923051649688[56] = 0.0; + out_2820666923051649688[57] = 0.0; + out_2820666923051649688[58] = 0.0; + out_2820666923051649688[59] = 0.0; + out_2820666923051649688[60] = 1.0; + out_2820666923051649688[61] = 0.0; + out_2820666923051649688[62] = 0.0; + out_2820666923051649688[63] = 0.0; + out_2820666923051649688[64] = 0.0; + out_2820666923051649688[65] = 0.0; + out_2820666923051649688[66] = 0.0; + out_2820666923051649688[67] = 0.0; + out_2820666923051649688[68] = 0.0; + out_2820666923051649688[69] = 0.0; + out_2820666923051649688[70] = 1.0; + out_2820666923051649688[71] = 0.0; + out_2820666923051649688[72] = 0.0; + out_2820666923051649688[73] = 0.0; + out_2820666923051649688[74] = 0.0; + out_2820666923051649688[75] = 0.0; + out_2820666923051649688[76] = 0.0; + out_2820666923051649688[77] = 0.0; + out_2820666923051649688[78] = 0.0; + out_2820666923051649688[79] = 0.0; + out_2820666923051649688[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8265395554005205627) { - out_8265395554005205627[0] = state[0]; - out_8265395554005205627[1] = state[1]; - out_8265395554005205627[2] = state[2]; - out_8265395554005205627[3] = state[3]; - out_8265395554005205627[4] = state[4]; - out_8265395554005205627[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_8265395554005205627[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_8265395554005205627[7] = state[7]; - out_8265395554005205627[8] = state[8]; +void f_fun(double *state, double dt, double *out_830938017298167130) { + out_830938017298167130[0] = state[0]; + out_830938017298167130[1] = state[1]; + out_830938017298167130[2] = state[2]; + out_830938017298167130[3] = state[3]; + out_830938017298167130[4] = state[4]; + out_830938017298167130[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_830938017298167130[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_830938017298167130[7] = state[7]; + out_830938017298167130[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5121501708015469294) { - out_5121501708015469294[0] = 1; - out_5121501708015469294[1] = 0; - out_5121501708015469294[2] = 0; - out_5121501708015469294[3] = 0; - out_5121501708015469294[4] = 0; - out_5121501708015469294[5] = 0; - out_5121501708015469294[6] = 0; - out_5121501708015469294[7] = 0; - out_5121501708015469294[8] = 0; - out_5121501708015469294[9] = 0; - out_5121501708015469294[10] = 1; - out_5121501708015469294[11] = 0; - out_5121501708015469294[12] = 0; - out_5121501708015469294[13] = 0; - out_5121501708015469294[14] = 0; - out_5121501708015469294[15] = 0; - out_5121501708015469294[16] = 0; - out_5121501708015469294[17] = 0; - out_5121501708015469294[18] = 0; - out_5121501708015469294[19] = 0; - out_5121501708015469294[20] = 1; - out_5121501708015469294[21] = 0; - out_5121501708015469294[22] = 0; - out_5121501708015469294[23] = 0; - out_5121501708015469294[24] = 0; - out_5121501708015469294[25] = 0; - out_5121501708015469294[26] = 0; - out_5121501708015469294[27] = 0; - out_5121501708015469294[28] = 0; - out_5121501708015469294[29] = 0; - out_5121501708015469294[30] = 1; - out_5121501708015469294[31] = 0; - out_5121501708015469294[32] = 0; - out_5121501708015469294[33] = 0; - out_5121501708015469294[34] = 0; - out_5121501708015469294[35] = 0; - out_5121501708015469294[36] = 0; - out_5121501708015469294[37] = 0; - out_5121501708015469294[38] = 0; - out_5121501708015469294[39] = 0; - out_5121501708015469294[40] = 1; - out_5121501708015469294[41] = 0; - out_5121501708015469294[42] = 0; - out_5121501708015469294[43] = 0; - out_5121501708015469294[44] = 0; - out_5121501708015469294[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_5121501708015469294[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5121501708015469294[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[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_5121501708015469294[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5121501708015469294[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5121501708015469294[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[53] = -9.8100000000000005*dt; - out_5121501708015469294[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_5121501708015469294[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5121501708015469294[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[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_5121501708015469294[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5121501708015469294[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_5121501708015469294[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[62] = 0; - out_5121501708015469294[63] = 0; - out_5121501708015469294[64] = 0; - out_5121501708015469294[65] = 0; - out_5121501708015469294[66] = 0; - out_5121501708015469294[67] = 0; - out_5121501708015469294[68] = 0; - out_5121501708015469294[69] = 0; - out_5121501708015469294[70] = 1; - out_5121501708015469294[71] = 0; - out_5121501708015469294[72] = 0; - out_5121501708015469294[73] = 0; - out_5121501708015469294[74] = 0; - out_5121501708015469294[75] = 0; - out_5121501708015469294[76] = 0; - out_5121501708015469294[77] = 0; - out_5121501708015469294[78] = 0; - out_5121501708015469294[79] = 0; - out_5121501708015469294[80] = 1; +void F_fun(double *state, double dt, double *out_8851408027615256561) { + out_8851408027615256561[0] = 1; + out_8851408027615256561[1] = 0; + out_8851408027615256561[2] = 0; + out_8851408027615256561[3] = 0; + out_8851408027615256561[4] = 0; + out_8851408027615256561[5] = 0; + out_8851408027615256561[6] = 0; + out_8851408027615256561[7] = 0; + out_8851408027615256561[8] = 0; + out_8851408027615256561[9] = 0; + out_8851408027615256561[10] = 1; + out_8851408027615256561[11] = 0; + out_8851408027615256561[12] = 0; + out_8851408027615256561[13] = 0; + out_8851408027615256561[14] = 0; + out_8851408027615256561[15] = 0; + out_8851408027615256561[16] = 0; + out_8851408027615256561[17] = 0; + out_8851408027615256561[18] = 0; + out_8851408027615256561[19] = 0; + out_8851408027615256561[20] = 1; + out_8851408027615256561[21] = 0; + out_8851408027615256561[22] = 0; + out_8851408027615256561[23] = 0; + out_8851408027615256561[24] = 0; + out_8851408027615256561[25] = 0; + out_8851408027615256561[26] = 0; + out_8851408027615256561[27] = 0; + out_8851408027615256561[28] = 0; + out_8851408027615256561[29] = 0; + out_8851408027615256561[30] = 1; + out_8851408027615256561[31] = 0; + out_8851408027615256561[32] = 0; + out_8851408027615256561[33] = 0; + out_8851408027615256561[34] = 0; + out_8851408027615256561[35] = 0; + out_8851408027615256561[36] = 0; + out_8851408027615256561[37] = 0; + out_8851408027615256561[38] = 0; + out_8851408027615256561[39] = 0; + out_8851408027615256561[40] = 1; + out_8851408027615256561[41] = 0; + out_8851408027615256561[42] = 0; + out_8851408027615256561[43] = 0; + out_8851408027615256561[44] = 0; + out_8851408027615256561[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_8851408027615256561[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8851408027615256561[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8851408027615256561[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8851408027615256561[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_8851408027615256561[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8851408027615256561[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8851408027615256561[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8851408027615256561[53] = -9.8100000000000005*dt; + out_8851408027615256561[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_8851408027615256561[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8851408027615256561[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8851408027615256561[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8851408027615256561[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_8851408027615256561[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8851408027615256561[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_8851408027615256561[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8851408027615256561[62] = 0; + out_8851408027615256561[63] = 0; + out_8851408027615256561[64] = 0; + out_8851408027615256561[65] = 0; + out_8851408027615256561[66] = 0; + out_8851408027615256561[67] = 0; + out_8851408027615256561[68] = 0; + out_8851408027615256561[69] = 0; + out_8851408027615256561[70] = 1; + out_8851408027615256561[71] = 0; + out_8851408027615256561[72] = 0; + out_8851408027615256561[73] = 0; + out_8851408027615256561[74] = 0; + out_8851408027615256561[75] = 0; + out_8851408027615256561[76] = 0; + out_8851408027615256561[77] = 0; + out_8851408027615256561[78] = 0; + out_8851408027615256561[79] = 0; + out_8851408027615256561[80] = 1; } -void h_25(double *state, double *unused, double *out_1871114119926472838) { - out_1871114119926472838[0] = state[6]; +void h_25(double *state, double *unused, double *out_7795708739304550937) { + out_7795708739304550937[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1749401331983653849) { - out_1749401331983653849[0] = 0; - out_1749401331983653849[1] = 0; - out_1749401331983653849[2] = 0; - out_1749401331983653849[3] = 0; - out_1749401331983653849[4] = 0; - out_1749401331983653849[5] = 0; - out_1749401331983653849[6] = 1; - out_1749401331983653849[7] = 0; - out_1749401331983653849[8] = 0; +void H_25(double *state, double *unused, double *out_7724358748236314528) { + out_7724358748236314528[0] = 0; + out_7724358748236314528[1] = 0; + out_7724358748236314528[2] = 0; + out_7724358748236314528[3] = 0; + out_7724358748236314528[4] = 0; + out_7724358748236314528[5] = 0; + out_7724358748236314528[6] = 1; + out_7724358748236314528[7] = 0; + out_7724358748236314528[8] = 0; } -void h_24(double *state, double *unused, double *out_4177328874243606255) { - out_4177328874243606255[0] = state[4]; - out_4177328874243606255[1] = state[5]; +void h_24(double *state, double *unused, double *out_8377130028693208980) { + out_8377130028693208980[0] = state[4]; + out_8377130028693208980[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1808524266818669287) { - out_1808524266818669287[0] = 0; - out_1808524266818669287[1] = 0; - out_1808524266818669287[2] = 0; - out_1808524266818669287[3] = 0; - out_1808524266818669287[4] = 1; - out_1808524266818669287[5] = 0; - out_1808524266818669287[6] = 0; - out_1808524266818669287[7] = 0; - out_1808524266818669287[8] = 0; - out_1808524266818669287[9] = 0; - out_1808524266818669287[10] = 0; - out_1808524266818669287[11] = 0; - out_1808524266818669287[12] = 0; - out_1808524266818669287[13] = 0; - out_1808524266818669287[14] = 1; - out_1808524266818669287[15] = 0; - out_1808524266818669287[16] = 0; - out_1808524266818669287[17] = 0; +void H_24(double *state, double *unused, double *out_8545170901866087115) { + out_8545170901866087115[0] = 0; + out_8545170901866087115[1] = 0; + out_8545170901866087115[2] = 0; + out_8545170901866087115[3] = 0; + out_8545170901866087115[4] = 1; + out_8545170901866087115[5] = 0; + out_8545170901866087115[6] = 0; + out_8545170901866087115[7] = 0; + out_8545170901866087115[8] = 0; + out_8545170901866087115[9] = 0; + out_8545170901866087115[10] = 0; + out_8545170901866087115[11] = 0; + out_8545170901866087115[12] = 0; + out_8545170901866087115[13] = 0; + out_8545170901866087115[14] = 1; + out_8545170901866087115[15] = 0; + out_8545170901866087115[16] = 0; + out_8545170901866087115[17] = 0; } -void h_30(double *state, double *unused, double *out_6625546561337267154) { - out_6625546561337267154[0] = state[4]; +void h_30(double *state, double *unused, double *out_1351097608283057666) { + out_1351097608283057666[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5167289009507962906) { - out_5167289009507962906[0] = 0; - out_5167289009507962906[1] = 0; - out_5167289009507962906[2] = 0; - out_5167289009507962906[3] = 0; - out_5167289009507962906[4] = 1; - out_5167289009507962906[5] = 0; - out_5167289009507962906[6] = 0; - out_5167289009507962906[7] = 0; - out_5167289009507962906[8] = 0; +void H_30(double *state, double *unused, double *out_8204052366965988461) { + out_8204052366965988461[0] = 0; + out_8204052366965988461[1] = 0; + out_8204052366965988461[2] = 0; + out_8204052366965988461[3] = 0; + out_8204052366965988461[4] = 1; + out_8204052366965988461[5] = 0; + out_8204052366965988461[6] = 0; + out_8204052366965988461[7] = 0; + out_8204052366965988461[8] = 0; } -void h_26(double *state, double *unused, double *out_8545349699624827873) { - out_8545349699624827873[0] = state[7]; +void h_26(double *state, double *unused, double *out_5047943909130791480) { + out_5047943909130791480[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5490904650857710073) { - out_5490904650857710073[0] = 0; - out_5490904650857710073[1] = 0; - out_5490904650857710073[2] = 0; - out_5490904650857710073[3] = 0; - out_5490904650857710073[4] = 0; - out_5490904650857710073[5] = 0; - out_5490904650857710073[6] = 0; - out_5490904650857710073[7] = 1; - out_5490904650857710073[8] = 0; +void H_26(double *state, double *unused, double *out_3982855429362258304) { + out_3982855429362258304[0] = 0; + out_3982855429362258304[1] = 0; + out_3982855429362258304[2] = 0; + out_3982855429362258304[3] = 0; + out_3982855429362258304[4] = 0; + out_3982855429362258304[5] = 0; + out_3982855429362258304[6] = 0; + out_3982855429362258304[7] = 1; + out_3982855429362258304[8] = 0; } -void h_27(double *state, double *unused, double *out_3470753115959557725) { - out_3470753115959557725[0] = state[3]; +void h_27(double *state, double *unused, double *out_2569801523469225990) { + out_2569801523469225990[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2992525697707537995) { - out_2992525697707537995[0] = 0; - out_2992525697707537995[1] = 0; - out_2992525697707537995[2] = 0; - out_2992525697707537995[3] = 1; - out_2992525697707537995[4] = 0; - out_2992525697707537995[5] = 0; - out_2992525697707537995[6] = 0; - out_2992525697707537995[7] = 0; - out_2992525697707537995[8] = 0; +void H_27(double *state, double *unused, double *out_1021899106308281419) { + out_1021899106308281419[0] = 0; + out_1021899106308281419[1] = 0; + out_1021899106308281419[2] = 0; + out_1021899106308281419[3] = 1; + out_1021899106308281419[4] = 0; + out_1021899106308281419[5] = 0; + out_1021899106308281419[6] = 0; + out_1021899106308281419[7] = 0; + out_1021899106308281419[8] = 0; } -void h_29(double *state, double *unused, double *out_7569056414238929589) { - out_7569056414238929589[0] = state[1]; +void h_29(double *state, double *unused, double *out_2294607461184720101) { + out_2294607461184720101[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1279162970837986962) { - out_1279162970837986962[0] = 0; - out_1279162970837986962[1] = 1; - out_1279162970837986962[2] = 0; - out_1279162970837986962[3] = 0; - out_1279162970837986962[4] = 0; - out_1279162970837986962[5] = 0; - out_1279162970837986962[6] = 0; - out_1279162970837986962[7] = 0; - out_1279162970837986962[8] = 0; +void H_29(double *state, double *unused, double *out_3706893762423098514) { + out_3706893762423098514[0] = 0; + out_3706893762423098514[1] = 1; + out_3706893762423098514[2] = 0; + out_3706893762423098514[3] = 0; + out_3706893762423098514[4] = 0; + out_3706893762423098514[5] = 0; + out_3706893762423098514[6] = 0; + out_3706893762423098514[7] = 0; + out_3706893762423098514[8] = 0; } -void h_28(double *state, double *unused, double *out_6507539167403890410) { - out_6507539167403890410[0] = state[0]; +void h_28(double *state, double *unused, double *out_2431871744191619655) { + out_2431871744191619655[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3803236046231543612) { - out_3803236046231543612[0] = 1; - out_3803236046231543612[1] = 0; - out_3803236046231543612[2] = 0; - out_3803236046231543612[3] = 0; - out_3803236046231543612[4] = 0; - out_3803236046231543612[5] = 0; - out_3803236046231543612[6] = 0; - out_3803236046231543612[7] = 0; - out_3803236046231543612[8] = 0; +void H_28(double *state, double *unused, double *out_5670524033988424765) { + out_5670524033988424765[0] = 1; + out_5670524033988424765[1] = 0; + out_5670524033988424765[2] = 0; + out_5670524033988424765[3] = 0; + out_5670524033988424765[4] = 0; + out_5670524033988424765[5] = 0; + out_5670524033988424765[6] = 0; + out_5670524033988424765[7] = 0; + out_5670524033988424765[8] = 0; } -void h_31(double *state, double *unused, double *out_5594040852719868954) { - out_5594040852719868954[0] = state[8]; +void h_31(double *state, double *unused, double *out_7013585806150978329) { + out_7013585806150978329[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1718755370106693421) { - out_1718755370106693421[0] = 0; - out_1718755370106693421[1] = 0; - out_1718755370106693421[2] = 0; - out_1718755370106693421[3] = 0; - out_1718755370106693421[4] = 0; - out_1718755370106693421[5] = 0; - out_1718755370106693421[6] = 0; - out_1718755370106693421[7] = 0; - out_1718755370106693421[8] = 1; +void H_31(double *state, double *unused, double *out_3356647327128906828) { + out_3356647327128906828[0] = 0; + out_3356647327128906828[1] = 0; + out_3356647327128906828[2] = 0; + out_3356647327128906828[3] = 0; + out_3356647327128906828[4] = 0; + out_3356647327128906828[5] = 0; + out_3356647327128906828[6] = 0; + out_3356647327128906828[7] = 0; + out_3356647327128906828[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_3329877133651101623) { - err_fun(nom_x, delta_x, out_3329877133651101623); +void car_err_fun(double *nom_x, double *delta_x, double *out_7316368395552197740) { + err_fun(nom_x, delta_x, out_7316368395552197740); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) { - inv_err_fun(nom_x, true_x, out_7760882190653564987); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1979647693272640270) { + inv_err_fun(nom_x, true_x, out_1979647693272640270); } -void car_H_mod_fun(double *state, double *out_1773647306661711299) { - H_mod_fun(state, out_1773647306661711299); +void car_H_mod_fun(double *state, double *out_2820666923051649688) { + H_mod_fun(state, out_2820666923051649688); } -void car_f_fun(double *state, double dt, double *out_8265395554005205627) { - f_fun(state, dt, out_8265395554005205627); +void car_f_fun(double *state, double dt, double *out_830938017298167130) { + f_fun(state, dt, out_830938017298167130); } -void car_F_fun(double *state, double dt, double *out_5121501708015469294) { - F_fun(state, dt, out_5121501708015469294); +void car_F_fun(double *state, double dt, double *out_8851408027615256561) { + F_fun(state, dt, out_8851408027615256561); } -void car_h_25(double *state, double *unused, double *out_1871114119926472838) { - h_25(state, unused, out_1871114119926472838); +void car_h_25(double *state, double *unused, double *out_7795708739304550937) { + h_25(state, unused, out_7795708739304550937); } -void car_H_25(double *state, double *unused, double *out_1749401331983653849) { - H_25(state, unused, out_1749401331983653849); +void car_H_25(double *state, double *unused, double *out_7724358748236314528) { + H_25(state, unused, out_7724358748236314528); } -void car_h_24(double *state, double *unused, double *out_4177328874243606255) { - h_24(state, unused, out_4177328874243606255); +void car_h_24(double *state, double *unused, double *out_8377130028693208980) { + h_24(state, unused, out_8377130028693208980); } -void car_H_24(double *state, double *unused, double *out_1808524266818669287) { - H_24(state, unused, out_1808524266818669287); +void car_H_24(double *state, double *unused, double *out_8545170901866087115) { + H_24(state, unused, out_8545170901866087115); } -void car_h_30(double *state, double *unused, double *out_6625546561337267154) { - h_30(state, unused, out_6625546561337267154); +void car_h_30(double *state, double *unused, double *out_1351097608283057666) { + h_30(state, unused, out_1351097608283057666); } -void car_H_30(double *state, double *unused, double *out_5167289009507962906) { - H_30(state, unused, out_5167289009507962906); +void car_H_30(double *state, double *unused, double *out_8204052366965988461) { + H_30(state, unused, out_8204052366965988461); } -void car_h_26(double *state, double *unused, double *out_8545349699624827873) { - h_26(state, unused, out_8545349699624827873); +void car_h_26(double *state, double *unused, double *out_5047943909130791480) { + h_26(state, unused, out_5047943909130791480); } -void car_H_26(double *state, double *unused, double *out_5490904650857710073) { - H_26(state, unused, out_5490904650857710073); +void car_H_26(double *state, double *unused, double *out_3982855429362258304) { + H_26(state, unused, out_3982855429362258304); } -void car_h_27(double *state, double *unused, double *out_3470753115959557725) { - h_27(state, unused, out_3470753115959557725); +void car_h_27(double *state, double *unused, double *out_2569801523469225990) { + h_27(state, unused, out_2569801523469225990); } -void car_H_27(double *state, double *unused, double *out_2992525697707537995) { - H_27(state, unused, out_2992525697707537995); +void car_H_27(double *state, double *unused, double *out_1021899106308281419) { + H_27(state, unused, out_1021899106308281419); } -void car_h_29(double *state, double *unused, double *out_7569056414238929589) { - h_29(state, unused, out_7569056414238929589); +void car_h_29(double *state, double *unused, double *out_2294607461184720101) { + h_29(state, unused, out_2294607461184720101); } -void car_H_29(double *state, double *unused, double *out_1279162970837986962) { - H_29(state, unused, out_1279162970837986962); +void car_H_29(double *state, double *unused, double *out_3706893762423098514) { + H_29(state, unused, out_3706893762423098514); } -void car_h_28(double *state, double *unused, double *out_6507539167403890410) { - h_28(state, unused, out_6507539167403890410); +void car_h_28(double *state, double *unused, double *out_2431871744191619655) { + h_28(state, unused, out_2431871744191619655); } -void car_H_28(double *state, double *unused, double *out_3803236046231543612) { - H_28(state, unused, out_3803236046231543612); +void car_H_28(double *state, double *unused, double *out_5670524033988424765) { + H_28(state, unused, out_5670524033988424765); } -void car_h_31(double *state, double *unused, double *out_5594040852719868954) { - h_31(state, unused, out_5594040852719868954); +void car_h_31(double *state, double *unused, double *out_7013585806150978329) { + h_31(state, unused, out_7013585806150978329); } -void car_H_31(double *state, double *unused, double *out_1718755370106693421) { - H_31(state, unused, out_1718755370106693421); +void car_H_31(double *state, double *unused, double *out_3356647327128906828) { + H_31(state, unused, out_3356647327128906828); } 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 5b9d4a4b7..e2f15b7bf 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_3329877133651101623); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987); -void car_H_mod_fun(double *state, double *out_1773647306661711299); -void car_f_fun(double *state, double dt, double *out_8265395554005205627); -void car_F_fun(double *state, double dt, double *out_5121501708015469294); -void car_h_25(double *state, double *unused, double *out_1871114119926472838); -void car_H_25(double *state, double *unused, double *out_1749401331983653849); -void car_h_24(double *state, double *unused, double *out_4177328874243606255); -void car_H_24(double *state, double *unused, double *out_1808524266818669287); -void car_h_30(double *state, double *unused, double *out_6625546561337267154); -void car_H_30(double *state, double *unused, double *out_5167289009507962906); -void car_h_26(double *state, double *unused, double *out_8545349699624827873); -void car_H_26(double *state, double *unused, double *out_5490904650857710073); -void car_h_27(double *state, double *unused, double *out_3470753115959557725); -void car_H_27(double *state, double *unused, double *out_2992525697707537995); -void car_h_29(double *state, double *unused, double *out_7569056414238929589); -void car_H_29(double *state, double *unused, double *out_1279162970837986962); -void car_h_28(double *state, double *unused, double *out_6507539167403890410); -void car_H_28(double *state, double *unused, double *out_3803236046231543612); -void car_h_31(double *state, double *unused, double *out_5594040852719868954); -void car_H_31(double *state, double *unused, double *out_1718755370106693421); +void car_err_fun(double *nom_x, double *delta_x, double *out_7316368395552197740); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1979647693272640270); +void car_H_mod_fun(double *state, double *out_2820666923051649688); +void car_f_fun(double *state, double dt, double *out_830938017298167130); +void car_F_fun(double *state, double dt, double *out_8851408027615256561); +void car_h_25(double *state, double *unused, double *out_7795708739304550937); +void car_H_25(double *state, double *unused, double *out_7724358748236314528); +void car_h_24(double *state, double *unused, double *out_8377130028693208980); +void car_H_24(double *state, double *unused, double *out_8545170901866087115); +void car_h_30(double *state, double *unused, double *out_1351097608283057666); +void car_H_30(double *state, double *unused, double *out_8204052366965988461); +void car_h_26(double *state, double *unused, double *out_5047943909130791480); +void car_H_26(double *state, double *unused, double *out_3982855429362258304); +void car_h_27(double *state, double *unused, double *out_2569801523469225990); +void car_H_27(double *state, double *unused, double *out_1021899106308281419); +void car_h_29(double *state, double *unused, double *out_2294607461184720101); +void car_H_29(double *state, double *unused, double *out_3706893762423098514); +void car_h_28(double *state, double *unused, double *out_2431871744191619655); +void car_H_28(double *state, double *unused, double *out_5670524033988424765); +void car_h_31(double *state, double *unused, double *out_7013585806150978329); +void car_H_31(double *state, double *unused, double *out_3356647327128906828); 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 87bcfb442..94890c164 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_2803054085873220166) { - out_2803054085873220166[0] = delta_x[0] + nom_x[0]; - out_2803054085873220166[1] = delta_x[1] + nom_x[1]; - out_2803054085873220166[2] = delta_x[2] + nom_x[2]; - out_2803054085873220166[3] = delta_x[3] + nom_x[3]; - out_2803054085873220166[4] = delta_x[4] + nom_x[4]; - out_2803054085873220166[5] = delta_x[5] + nom_x[5]; - out_2803054085873220166[6] = delta_x[6] + nom_x[6]; - out_2803054085873220166[7] = delta_x[7] + nom_x[7]; - out_2803054085873220166[8] = delta_x[8] + nom_x[8]; - out_2803054085873220166[9] = delta_x[9] + nom_x[9]; - out_2803054085873220166[10] = delta_x[10] + nom_x[10]; - out_2803054085873220166[11] = delta_x[11] + nom_x[11]; - out_2803054085873220166[12] = delta_x[12] + nom_x[12]; - out_2803054085873220166[13] = delta_x[13] + nom_x[13]; - out_2803054085873220166[14] = delta_x[14] + nom_x[14]; - out_2803054085873220166[15] = delta_x[15] + nom_x[15]; - out_2803054085873220166[16] = delta_x[16] + nom_x[16]; - out_2803054085873220166[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2355293272416553220) { + out_2355293272416553220[0] = delta_x[0] + nom_x[0]; + out_2355293272416553220[1] = delta_x[1] + nom_x[1]; + out_2355293272416553220[2] = delta_x[2] + nom_x[2]; + out_2355293272416553220[3] = delta_x[3] + nom_x[3]; + out_2355293272416553220[4] = delta_x[4] + nom_x[4]; + out_2355293272416553220[5] = delta_x[5] + nom_x[5]; + out_2355293272416553220[6] = delta_x[6] + nom_x[6]; + out_2355293272416553220[7] = delta_x[7] + nom_x[7]; + out_2355293272416553220[8] = delta_x[8] + nom_x[8]; + out_2355293272416553220[9] = delta_x[9] + nom_x[9]; + out_2355293272416553220[10] = delta_x[10] + nom_x[10]; + out_2355293272416553220[11] = delta_x[11] + nom_x[11]; + out_2355293272416553220[12] = delta_x[12] + nom_x[12]; + out_2355293272416553220[13] = delta_x[13] + nom_x[13]; + out_2355293272416553220[14] = delta_x[14] + nom_x[14]; + out_2355293272416553220[15] = delta_x[15] + nom_x[15]; + out_2355293272416553220[16] = delta_x[16] + nom_x[16]; + out_2355293272416553220[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541) { - out_870718263858356541[0] = -nom_x[0] + true_x[0]; - out_870718263858356541[1] = -nom_x[1] + true_x[1]; - out_870718263858356541[2] = -nom_x[2] + true_x[2]; - out_870718263858356541[3] = -nom_x[3] + true_x[3]; - out_870718263858356541[4] = -nom_x[4] + true_x[4]; - out_870718263858356541[5] = -nom_x[5] + true_x[5]; - out_870718263858356541[6] = -nom_x[6] + true_x[6]; - out_870718263858356541[7] = -nom_x[7] + true_x[7]; - out_870718263858356541[8] = -nom_x[8] + true_x[8]; - out_870718263858356541[9] = -nom_x[9] + true_x[9]; - out_870718263858356541[10] = -nom_x[10] + true_x[10]; - out_870718263858356541[11] = -nom_x[11] + true_x[11]; - out_870718263858356541[12] = -nom_x[12] + true_x[12]; - out_870718263858356541[13] = -nom_x[13] + true_x[13]; - out_870718263858356541[14] = -nom_x[14] + true_x[14]; - out_870718263858356541[15] = -nom_x[15] + true_x[15]; - out_870718263858356541[16] = -nom_x[16] + true_x[16]; - out_870718263858356541[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4800523972292248179) { + out_4800523972292248179[0] = -nom_x[0] + true_x[0]; + out_4800523972292248179[1] = -nom_x[1] + true_x[1]; + out_4800523972292248179[2] = -nom_x[2] + true_x[2]; + out_4800523972292248179[3] = -nom_x[3] + true_x[3]; + out_4800523972292248179[4] = -nom_x[4] + true_x[4]; + out_4800523972292248179[5] = -nom_x[5] + true_x[5]; + out_4800523972292248179[6] = -nom_x[6] + true_x[6]; + out_4800523972292248179[7] = -nom_x[7] + true_x[7]; + out_4800523972292248179[8] = -nom_x[8] + true_x[8]; + out_4800523972292248179[9] = -nom_x[9] + true_x[9]; + out_4800523972292248179[10] = -nom_x[10] + true_x[10]; + out_4800523972292248179[11] = -nom_x[11] + true_x[11]; + out_4800523972292248179[12] = -nom_x[12] + true_x[12]; + out_4800523972292248179[13] = -nom_x[13] + true_x[13]; + out_4800523972292248179[14] = -nom_x[14] + true_x[14]; + out_4800523972292248179[15] = -nom_x[15] + true_x[15]; + out_4800523972292248179[16] = -nom_x[16] + true_x[16]; + out_4800523972292248179[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_245560868528396178) { - out_245560868528396178[0] = 1.0; - out_245560868528396178[1] = 0.0; - out_245560868528396178[2] = 0.0; - out_245560868528396178[3] = 0.0; - out_245560868528396178[4] = 0.0; - out_245560868528396178[5] = 0.0; - out_245560868528396178[6] = 0.0; - out_245560868528396178[7] = 0.0; - out_245560868528396178[8] = 0.0; - out_245560868528396178[9] = 0.0; - out_245560868528396178[10] = 0.0; - out_245560868528396178[11] = 0.0; - out_245560868528396178[12] = 0.0; - out_245560868528396178[13] = 0.0; - out_245560868528396178[14] = 0.0; - out_245560868528396178[15] = 0.0; - out_245560868528396178[16] = 0.0; - out_245560868528396178[17] = 0.0; - out_245560868528396178[18] = 0.0; - out_245560868528396178[19] = 1.0; - out_245560868528396178[20] = 0.0; - out_245560868528396178[21] = 0.0; - out_245560868528396178[22] = 0.0; - out_245560868528396178[23] = 0.0; - out_245560868528396178[24] = 0.0; - out_245560868528396178[25] = 0.0; - out_245560868528396178[26] = 0.0; - out_245560868528396178[27] = 0.0; - out_245560868528396178[28] = 0.0; - out_245560868528396178[29] = 0.0; - out_245560868528396178[30] = 0.0; - out_245560868528396178[31] = 0.0; - out_245560868528396178[32] = 0.0; - out_245560868528396178[33] = 0.0; - out_245560868528396178[34] = 0.0; - out_245560868528396178[35] = 0.0; - out_245560868528396178[36] = 0.0; - out_245560868528396178[37] = 0.0; - out_245560868528396178[38] = 1.0; - out_245560868528396178[39] = 0.0; - out_245560868528396178[40] = 0.0; - out_245560868528396178[41] = 0.0; - out_245560868528396178[42] = 0.0; - out_245560868528396178[43] = 0.0; - out_245560868528396178[44] = 0.0; - out_245560868528396178[45] = 0.0; - out_245560868528396178[46] = 0.0; - out_245560868528396178[47] = 0.0; - out_245560868528396178[48] = 0.0; - out_245560868528396178[49] = 0.0; - out_245560868528396178[50] = 0.0; - out_245560868528396178[51] = 0.0; - out_245560868528396178[52] = 0.0; - out_245560868528396178[53] = 0.0; - out_245560868528396178[54] = 0.0; - out_245560868528396178[55] = 0.0; - out_245560868528396178[56] = 0.0; - out_245560868528396178[57] = 1.0; - out_245560868528396178[58] = 0.0; - out_245560868528396178[59] = 0.0; - out_245560868528396178[60] = 0.0; - out_245560868528396178[61] = 0.0; - out_245560868528396178[62] = 0.0; - out_245560868528396178[63] = 0.0; - out_245560868528396178[64] = 0.0; - out_245560868528396178[65] = 0.0; - out_245560868528396178[66] = 0.0; - out_245560868528396178[67] = 0.0; - out_245560868528396178[68] = 0.0; - out_245560868528396178[69] = 0.0; - out_245560868528396178[70] = 0.0; - out_245560868528396178[71] = 0.0; - out_245560868528396178[72] = 0.0; - out_245560868528396178[73] = 0.0; - out_245560868528396178[74] = 0.0; - out_245560868528396178[75] = 0.0; - out_245560868528396178[76] = 1.0; - out_245560868528396178[77] = 0.0; - out_245560868528396178[78] = 0.0; - out_245560868528396178[79] = 0.0; - out_245560868528396178[80] = 0.0; - out_245560868528396178[81] = 0.0; - out_245560868528396178[82] = 0.0; - out_245560868528396178[83] = 0.0; - out_245560868528396178[84] = 0.0; - out_245560868528396178[85] = 0.0; - out_245560868528396178[86] = 0.0; - out_245560868528396178[87] = 0.0; - out_245560868528396178[88] = 0.0; - out_245560868528396178[89] = 0.0; - out_245560868528396178[90] = 0.0; - out_245560868528396178[91] = 0.0; - out_245560868528396178[92] = 0.0; - out_245560868528396178[93] = 0.0; - out_245560868528396178[94] = 0.0; - out_245560868528396178[95] = 1.0; - out_245560868528396178[96] = 0.0; - out_245560868528396178[97] = 0.0; - out_245560868528396178[98] = 0.0; - out_245560868528396178[99] = 0.0; - out_245560868528396178[100] = 0.0; - out_245560868528396178[101] = 0.0; - out_245560868528396178[102] = 0.0; - out_245560868528396178[103] = 0.0; - out_245560868528396178[104] = 0.0; - out_245560868528396178[105] = 0.0; - out_245560868528396178[106] = 0.0; - out_245560868528396178[107] = 0.0; - out_245560868528396178[108] = 0.0; - out_245560868528396178[109] = 0.0; - out_245560868528396178[110] = 0.0; - out_245560868528396178[111] = 0.0; - out_245560868528396178[112] = 0.0; - out_245560868528396178[113] = 0.0; - out_245560868528396178[114] = 1.0; - out_245560868528396178[115] = 0.0; - out_245560868528396178[116] = 0.0; - out_245560868528396178[117] = 0.0; - out_245560868528396178[118] = 0.0; - out_245560868528396178[119] = 0.0; - out_245560868528396178[120] = 0.0; - out_245560868528396178[121] = 0.0; - out_245560868528396178[122] = 0.0; - out_245560868528396178[123] = 0.0; - out_245560868528396178[124] = 0.0; - out_245560868528396178[125] = 0.0; - out_245560868528396178[126] = 0.0; - out_245560868528396178[127] = 0.0; - out_245560868528396178[128] = 0.0; - out_245560868528396178[129] = 0.0; - out_245560868528396178[130] = 0.0; - out_245560868528396178[131] = 0.0; - out_245560868528396178[132] = 0.0; - out_245560868528396178[133] = 1.0; - out_245560868528396178[134] = 0.0; - out_245560868528396178[135] = 0.0; - out_245560868528396178[136] = 0.0; - out_245560868528396178[137] = 0.0; - out_245560868528396178[138] = 0.0; - out_245560868528396178[139] = 0.0; - out_245560868528396178[140] = 0.0; - out_245560868528396178[141] = 0.0; - out_245560868528396178[142] = 0.0; - out_245560868528396178[143] = 0.0; - out_245560868528396178[144] = 0.0; - out_245560868528396178[145] = 0.0; - out_245560868528396178[146] = 0.0; - out_245560868528396178[147] = 0.0; - out_245560868528396178[148] = 0.0; - out_245560868528396178[149] = 0.0; - out_245560868528396178[150] = 0.0; - out_245560868528396178[151] = 0.0; - out_245560868528396178[152] = 1.0; - out_245560868528396178[153] = 0.0; - out_245560868528396178[154] = 0.0; - out_245560868528396178[155] = 0.0; - out_245560868528396178[156] = 0.0; - out_245560868528396178[157] = 0.0; - out_245560868528396178[158] = 0.0; - out_245560868528396178[159] = 0.0; - out_245560868528396178[160] = 0.0; - out_245560868528396178[161] = 0.0; - out_245560868528396178[162] = 0.0; - out_245560868528396178[163] = 0.0; - out_245560868528396178[164] = 0.0; - out_245560868528396178[165] = 0.0; - out_245560868528396178[166] = 0.0; - out_245560868528396178[167] = 0.0; - out_245560868528396178[168] = 0.0; - out_245560868528396178[169] = 0.0; - out_245560868528396178[170] = 0.0; - out_245560868528396178[171] = 1.0; - out_245560868528396178[172] = 0.0; - out_245560868528396178[173] = 0.0; - out_245560868528396178[174] = 0.0; - out_245560868528396178[175] = 0.0; - out_245560868528396178[176] = 0.0; - out_245560868528396178[177] = 0.0; - out_245560868528396178[178] = 0.0; - out_245560868528396178[179] = 0.0; - out_245560868528396178[180] = 0.0; - out_245560868528396178[181] = 0.0; - out_245560868528396178[182] = 0.0; - out_245560868528396178[183] = 0.0; - out_245560868528396178[184] = 0.0; - out_245560868528396178[185] = 0.0; - out_245560868528396178[186] = 0.0; - out_245560868528396178[187] = 0.0; - out_245560868528396178[188] = 0.0; - out_245560868528396178[189] = 0.0; - out_245560868528396178[190] = 1.0; - out_245560868528396178[191] = 0.0; - out_245560868528396178[192] = 0.0; - out_245560868528396178[193] = 0.0; - out_245560868528396178[194] = 0.0; - out_245560868528396178[195] = 0.0; - out_245560868528396178[196] = 0.0; - out_245560868528396178[197] = 0.0; - out_245560868528396178[198] = 0.0; - out_245560868528396178[199] = 0.0; - out_245560868528396178[200] = 0.0; - out_245560868528396178[201] = 0.0; - out_245560868528396178[202] = 0.0; - out_245560868528396178[203] = 0.0; - out_245560868528396178[204] = 0.0; - out_245560868528396178[205] = 0.0; - out_245560868528396178[206] = 0.0; - out_245560868528396178[207] = 0.0; - out_245560868528396178[208] = 0.0; - out_245560868528396178[209] = 1.0; - out_245560868528396178[210] = 0.0; - out_245560868528396178[211] = 0.0; - out_245560868528396178[212] = 0.0; - out_245560868528396178[213] = 0.0; - out_245560868528396178[214] = 0.0; - out_245560868528396178[215] = 0.0; - out_245560868528396178[216] = 0.0; - out_245560868528396178[217] = 0.0; - out_245560868528396178[218] = 0.0; - out_245560868528396178[219] = 0.0; - out_245560868528396178[220] = 0.0; - out_245560868528396178[221] = 0.0; - out_245560868528396178[222] = 0.0; - out_245560868528396178[223] = 0.0; - out_245560868528396178[224] = 0.0; - out_245560868528396178[225] = 0.0; - out_245560868528396178[226] = 0.0; - out_245560868528396178[227] = 0.0; - out_245560868528396178[228] = 1.0; - out_245560868528396178[229] = 0.0; - out_245560868528396178[230] = 0.0; - out_245560868528396178[231] = 0.0; - out_245560868528396178[232] = 0.0; - out_245560868528396178[233] = 0.0; - out_245560868528396178[234] = 0.0; - out_245560868528396178[235] = 0.0; - out_245560868528396178[236] = 0.0; - out_245560868528396178[237] = 0.0; - out_245560868528396178[238] = 0.0; - out_245560868528396178[239] = 0.0; - out_245560868528396178[240] = 0.0; - out_245560868528396178[241] = 0.0; - out_245560868528396178[242] = 0.0; - out_245560868528396178[243] = 0.0; - out_245560868528396178[244] = 0.0; - out_245560868528396178[245] = 0.0; - out_245560868528396178[246] = 0.0; - out_245560868528396178[247] = 1.0; - out_245560868528396178[248] = 0.0; - out_245560868528396178[249] = 0.0; - out_245560868528396178[250] = 0.0; - out_245560868528396178[251] = 0.0; - out_245560868528396178[252] = 0.0; - out_245560868528396178[253] = 0.0; - out_245560868528396178[254] = 0.0; - out_245560868528396178[255] = 0.0; - out_245560868528396178[256] = 0.0; - out_245560868528396178[257] = 0.0; - out_245560868528396178[258] = 0.0; - out_245560868528396178[259] = 0.0; - out_245560868528396178[260] = 0.0; - out_245560868528396178[261] = 0.0; - out_245560868528396178[262] = 0.0; - out_245560868528396178[263] = 0.0; - out_245560868528396178[264] = 0.0; - out_245560868528396178[265] = 0.0; - out_245560868528396178[266] = 1.0; - out_245560868528396178[267] = 0.0; - out_245560868528396178[268] = 0.0; - out_245560868528396178[269] = 0.0; - out_245560868528396178[270] = 0.0; - out_245560868528396178[271] = 0.0; - out_245560868528396178[272] = 0.0; - out_245560868528396178[273] = 0.0; - out_245560868528396178[274] = 0.0; - out_245560868528396178[275] = 0.0; - out_245560868528396178[276] = 0.0; - out_245560868528396178[277] = 0.0; - out_245560868528396178[278] = 0.0; - out_245560868528396178[279] = 0.0; - out_245560868528396178[280] = 0.0; - out_245560868528396178[281] = 0.0; - out_245560868528396178[282] = 0.0; - out_245560868528396178[283] = 0.0; - out_245560868528396178[284] = 0.0; - out_245560868528396178[285] = 1.0; - out_245560868528396178[286] = 0.0; - out_245560868528396178[287] = 0.0; - out_245560868528396178[288] = 0.0; - out_245560868528396178[289] = 0.0; - out_245560868528396178[290] = 0.0; - out_245560868528396178[291] = 0.0; - out_245560868528396178[292] = 0.0; - out_245560868528396178[293] = 0.0; - out_245560868528396178[294] = 0.0; - out_245560868528396178[295] = 0.0; - out_245560868528396178[296] = 0.0; - out_245560868528396178[297] = 0.0; - out_245560868528396178[298] = 0.0; - out_245560868528396178[299] = 0.0; - out_245560868528396178[300] = 0.0; - out_245560868528396178[301] = 0.0; - out_245560868528396178[302] = 0.0; - out_245560868528396178[303] = 0.0; - out_245560868528396178[304] = 1.0; - out_245560868528396178[305] = 0.0; - out_245560868528396178[306] = 0.0; - out_245560868528396178[307] = 0.0; - out_245560868528396178[308] = 0.0; - out_245560868528396178[309] = 0.0; - out_245560868528396178[310] = 0.0; - out_245560868528396178[311] = 0.0; - out_245560868528396178[312] = 0.0; - out_245560868528396178[313] = 0.0; - out_245560868528396178[314] = 0.0; - out_245560868528396178[315] = 0.0; - out_245560868528396178[316] = 0.0; - out_245560868528396178[317] = 0.0; - out_245560868528396178[318] = 0.0; - out_245560868528396178[319] = 0.0; - out_245560868528396178[320] = 0.0; - out_245560868528396178[321] = 0.0; - out_245560868528396178[322] = 0.0; - out_245560868528396178[323] = 1.0; +void H_mod_fun(double *state, double *out_1756056773937278960) { + out_1756056773937278960[0] = 1.0; + out_1756056773937278960[1] = 0.0; + out_1756056773937278960[2] = 0.0; + out_1756056773937278960[3] = 0.0; + out_1756056773937278960[4] = 0.0; + out_1756056773937278960[5] = 0.0; + out_1756056773937278960[6] = 0.0; + out_1756056773937278960[7] = 0.0; + out_1756056773937278960[8] = 0.0; + out_1756056773937278960[9] = 0.0; + out_1756056773937278960[10] = 0.0; + out_1756056773937278960[11] = 0.0; + out_1756056773937278960[12] = 0.0; + out_1756056773937278960[13] = 0.0; + out_1756056773937278960[14] = 0.0; + out_1756056773937278960[15] = 0.0; + out_1756056773937278960[16] = 0.0; + out_1756056773937278960[17] = 0.0; + out_1756056773937278960[18] = 0.0; + out_1756056773937278960[19] = 1.0; + out_1756056773937278960[20] = 0.0; + out_1756056773937278960[21] = 0.0; + out_1756056773937278960[22] = 0.0; + out_1756056773937278960[23] = 0.0; + out_1756056773937278960[24] = 0.0; + out_1756056773937278960[25] = 0.0; + out_1756056773937278960[26] = 0.0; + out_1756056773937278960[27] = 0.0; + out_1756056773937278960[28] = 0.0; + out_1756056773937278960[29] = 0.0; + out_1756056773937278960[30] = 0.0; + out_1756056773937278960[31] = 0.0; + out_1756056773937278960[32] = 0.0; + out_1756056773937278960[33] = 0.0; + out_1756056773937278960[34] = 0.0; + out_1756056773937278960[35] = 0.0; + out_1756056773937278960[36] = 0.0; + out_1756056773937278960[37] = 0.0; + out_1756056773937278960[38] = 1.0; + out_1756056773937278960[39] = 0.0; + out_1756056773937278960[40] = 0.0; + out_1756056773937278960[41] = 0.0; + out_1756056773937278960[42] = 0.0; + out_1756056773937278960[43] = 0.0; + out_1756056773937278960[44] = 0.0; + out_1756056773937278960[45] = 0.0; + out_1756056773937278960[46] = 0.0; + out_1756056773937278960[47] = 0.0; + out_1756056773937278960[48] = 0.0; + out_1756056773937278960[49] = 0.0; + out_1756056773937278960[50] = 0.0; + out_1756056773937278960[51] = 0.0; + out_1756056773937278960[52] = 0.0; + out_1756056773937278960[53] = 0.0; + out_1756056773937278960[54] = 0.0; + out_1756056773937278960[55] = 0.0; + out_1756056773937278960[56] = 0.0; + out_1756056773937278960[57] = 1.0; + out_1756056773937278960[58] = 0.0; + out_1756056773937278960[59] = 0.0; + out_1756056773937278960[60] = 0.0; + out_1756056773937278960[61] = 0.0; + out_1756056773937278960[62] = 0.0; + out_1756056773937278960[63] = 0.0; + out_1756056773937278960[64] = 0.0; + out_1756056773937278960[65] = 0.0; + out_1756056773937278960[66] = 0.0; + out_1756056773937278960[67] = 0.0; + out_1756056773937278960[68] = 0.0; + out_1756056773937278960[69] = 0.0; + out_1756056773937278960[70] = 0.0; + out_1756056773937278960[71] = 0.0; + out_1756056773937278960[72] = 0.0; + out_1756056773937278960[73] = 0.0; + out_1756056773937278960[74] = 0.0; + out_1756056773937278960[75] = 0.0; + out_1756056773937278960[76] = 1.0; + out_1756056773937278960[77] = 0.0; + out_1756056773937278960[78] = 0.0; + out_1756056773937278960[79] = 0.0; + out_1756056773937278960[80] = 0.0; + out_1756056773937278960[81] = 0.0; + out_1756056773937278960[82] = 0.0; + out_1756056773937278960[83] = 0.0; + out_1756056773937278960[84] = 0.0; + out_1756056773937278960[85] = 0.0; + out_1756056773937278960[86] = 0.0; + out_1756056773937278960[87] = 0.0; + out_1756056773937278960[88] = 0.0; + out_1756056773937278960[89] = 0.0; + out_1756056773937278960[90] = 0.0; + out_1756056773937278960[91] = 0.0; + out_1756056773937278960[92] = 0.0; + out_1756056773937278960[93] = 0.0; + out_1756056773937278960[94] = 0.0; + out_1756056773937278960[95] = 1.0; + out_1756056773937278960[96] = 0.0; + out_1756056773937278960[97] = 0.0; + out_1756056773937278960[98] = 0.0; + out_1756056773937278960[99] = 0.0; + out_1756056773937278960[100] = 0.0; + out_1756056773937278960[101] = 0.0; + out_1756056773937278960[102] = 0.0; + out_1756056773937278960[103] = 0.0; + out_1756056773937278960[104] = 0.0; + out_1756056773937278960[105] = 0.0; + out_1756056773937278960[106] = 0.0; + out_1756056773937278960[107] = 0.0; + out_1756056773937278960[108] = 0.0; + out_1756056773937278960[109] = 0.0; + out_1756056773937278960[110] = 0.0; + out_1756056773937278960[111] = 0.0; + out_1756056773937278960[112] = 0.0; + out_1756056773937278960[113] = 0.0; + out_1756056773937278960[114] = 1.0; + out_1756056773937278960[115] = 0.0; + out_1756056773937278960[116] = 0.0; + out_1756056773937278960[117] = 0.0; + out_1756056773937278960[118] = 0.0; + out_1756056773937278960[119] = 0.0; + out_1756056773937278960[120] = 0.0; + out_1756056773937278960[121] = 0.0; + out_1756056773937278960[122] = 0.0; + out_1756056773937278960[123] = 0.0; + out_1756056773937278960[124] = 0.0; + out_1756056773937278960[125] = 0.0; + out_1756056773937278960[126] = 0.0; + out_1756056773937278960[127] = 0.0; + out_1756056773937278960[128] = 0.0; + out_1756056773937278960[129] = 0.0; + out_1756056773937278960[130] = 0.0; + out_1756056773937278960[131] = 0.0; + out_1756056773937278960[132] = 0.0; + out_1756056773937278960[133] = 1.0; + out_1756056773937278960[134] = 0.0; + out_1756056773937278960[135] = 0.0; + out_1756056773937278960[136] = 0.0; + out_1756056773937278960[137] = 0.0; + out_1756056773937278960[138] = 0.0; + out_1756056773937278960[139] = 0.0; + out_1756056773937278960[140] = 0.0; + out_1756056773937278960[141] = 0.0; + out_1756056773937278960[142] = 0.0; + out_1756056773937278960[143] = 0.0; + out_1756056773937278960[144] = 0.0; + out_1756056773937278960[145] = 0.0; + out_1756056773937278960[146] = 0.0; + out_1756056773937278960[147] = 0.0; + out_1756056773937278960[148] = 0.0; + out_1756056773937278960[149] = 0.0; + out_1756056773937278960[150] = 0.0; + out_1756056773937278960[151] = 0.0; + out_1756056773937278960[152] = 1.0; + out_1756056773937278960[153] = 0.0; + out_1756056773937278960[154] = 0.0; + out_1756056773937278960[155] = 0.0; + out_1756056773937278960[156] = 0.0; + out_1756056773937278960[157] = 0.0; + out_1756056773937278960[158] = 0.0; + out_1756056773937278960[159] = 0.0; + out_1756056773937278960[160] = 0.0; + out_1756056773937278960[161] = 0.0; + out_1756056773937278960[162] = 0.0; + out_1756056773937278960[163] = 0.0; + out_1756056773937278960[164] = 0.0; + out_1756056773937278960[165] = 0.0; + out_1756056773937278960[166] = 0.0; + out_1756056773937278960[167] = 0.0; + out_1756056773937278960[168] = 0.0; + out_1756056773937278960[169] = 0.0; + out_1756056773937278960[170] = 0.0; + out_1756056773937278960[171] = 1.0; + out_1756056773937278960[172] = 0.0; + out_1756056773937278960[173] = 0.0; + out_1756056773937278960[174] = 0.0; + out_1756056773937278960[175] = 0.0; + out_1756056773937278960[176] = 0.0; + out_1756056773937278960[177] = 0.0; + out_1756056773937278960[178] = 0.0; + out_1756056773937278960[179] = 0.0; + out_1756056773937278960[180] = 0.0; + out_1756056773937278960[181] = 0.0; + out_1756056773937278960[182] = 0.0; + out_1756056773937278960[183] = 0.0; + out_1756056773937278960[184] = 0.0; + out_1756056773937278960[185] = 0.0; + out_1756056773937278960[186] = 0.0; + out_1756056773937278960[187] = 0.0; + out_1756056773937278960[188] = 0.0; + out_1756056773937278960[189] = 0.0; + out_1756056773937278960[190] = 1.0; + out_1756056773937278960[191] = 0.0; + out_1756056773937278960[192] = 0.0; + out_1756056773937278960[193] = 0.0; + out_1756056773937278960[194] = 0.0; + out_1756056773937278960[195] = 0.0; + out_1756056773937278960[196] = 0.0; + out_1756056773937278960[197] = 0.0; + out_1756056773937278960[198] = 0.0; + out_1756056773937278960[199] = 0.0; + out_1756056773937278960[200] = 0.0; + out_1756056773937278960[201] = 0.0; + out_1756056773937278960[202] = 0.0; + out_1756056773937278960[203] = 0.0; + out_1756056773937278960[204] = 0.0; + out_1756056773937278960[205] = 0.0; + out_1756056773937278960[206] = 0.0; + out_1756056773937278960[207] = 0.0; + out_1756056773937278960[208] = 0.0; + out_1756056773937278960[209] = 1.0; + out_1756056773937278960[210] = 0.0; + out_1756056773937278960[211] = 0.0; + out_1756056773937278960[212] = 0.0; + out_1756056773937278960[213] = 0.0; + out_1756056773937278960[214] = 0.0; + out_1756056773937278960[215] = 0.0; + out_1756056773937278960[216] = 0.0; + out_1756056773937278960[217] = 0.0; + out_1756056773937278960[218] = 0.0; + out_1756056773937278960[219] = 0.0; + out_1756056773937278960[220] = 0.0; + out_1756056773937278960[221] = 0.0; + out_1756056773937278960[222] = 0.0; + out_1756056773937278960[223] = 0.0; + out_1756056773937278960[224] = 0.0; + out_1756056773937278960[225] = 0.0; + out_1756056773937278960[226] = 0.0; + out_1756056773937278960[227] = 0.0; + out_1756056773937278960[228] = 1.0; + out_1756056773937278960[229] = 0.0; + out_1756056773937278960[230] = 0.0; + out_1756056773937278960[231] = 0.0; + out_1756056773937278960[232] = 0.0; + out_1756056773937278960[233] = 0.0; + out_1756056773937278960[234] = 0.0; + out_1756056773937278960[235] = 0.0; + out_1756056773937278960[236] = 0.0; + out_1756056773937278960[237] = 0.0; + out_1756056773937278960[238] = 0.0; + out_1756056773937278960[239] = 0.0; + out_1756056773937278960[240] = 0.0; + out_1756056773937278960[241] = 0.0; + out_1756056773937278960[242] = 0.0; + out_1756056773937278960[243] = 0.0; + out_1756056773937278960[244] = 0.0; + out_1756056773937278960[245] = 0.0; + out_1756056773937278960[246] = 0.0; + out_1756056773937278960[247] = 1.0; + out_1756056773937278960[248] = 0.0; + out_1756056773937278960[249] = 0.0; + out_1756056773937278960[250] = 0.0; + out_1756056773937278960[251] = 0.0; + out_1756056773937278960[252] = 0.0; + out_1756056773937278960[253] = 0.0; + out_1756056773937278960[254] = 0.0; + out_1756056773937278960[255] = 0.0; + out_1756056773937278960[256] = 0.0; + out_1756056773937278960[257] = 0.0; + out_1756056773937278960[258] = 0.0; + out_1756056773937278960[259] = 0.0; + out_1756056773937278960[260] = 0.0; + out_1756056773937278960[261] = 0.0; + out_1756056773937278960[262] = 0.0; + out_1756056773937278960[263] = 0.0; + out_1756056773937278960[264] = 0.0; + out_1756056773937278960[265] = 0.0; + out_1756056773937278960[266] = 1.0; + out_1756056773937278960[267] = 0.0; + out_1756056773937278960[268] = 0.0; + out_1756056773937278960[269] = 0.0; + out_1756056773937278960[270] = 0.0; + out_1756056773937278960[271] = 0.0; + out_1756056773937278960[272] = 0.0; + out_1756056773937278960[273] = 0.0; + out_1756056773937278960[274] = 0.0; + out_1756056773937278960[275] = 0.0; + out_1756056773937278960[276] = 0.0; + out_1756056773937278960[277] = 0.0; + out_1756056773937278960[278] = 0.0; + out_1756056773937278960[279] = 0.0; + out_1756056773937278960[280] = 0.0; + out_1756056773937278960[281] = 0.0; + out_1756056773937278960[282] = 0.0; + out_1756056773937278960[283] = 0.0; + out_1756056773937278960[284] = 0.0; + out_1756056773937278960[285] = 1.0; + out_1756056773937278960[286] = 0.0; + out_1756056773937278960[287] = 0.0; + out_1756056773937278960[288] = 0.0; + out_1756056773937278960[289] = 0.0; + out_1756056773937278960[290] = 0.0; + out_1756056773937278960[291] = 0.0; + out_1756056773937278960[292] = 0.0; + out_1756056773937278960[293] = 0.0; + out_1756056773937278960[294] = 0.0; + out_1756056773937278960[295] = 0.0; + out_1756056773937278960[296] = 0.0; + out_1756056773937278960[297] = 0.0; + out_1756056773937278960[298] = 0.0; + out_1756056773937278960[299] = 0.0; + out_1756056773937278960[300] = 0.0; + out_1756056773937278960[301] = 0.0; + out_1756056773937278960[302] = 0.0; + out_1756056773937278960[303] = 0.0; + out_1756056773937278960[304] = 1.0; + out_1756056773937278960[305] = 0.0; + out_1756056773937278960[306] = 0.0; + out_1756056773937278960[307] = 0.0; + out_1756056773937278960[308] = 0.0; + out_1756056773937278960[309] = 0.0; + out_1756056773937278960[310] = 0.0; + out_1756056773937278960[311] = 0.0; + out_1756056773937278960[312] = 0.0; + out_1756056773937278960[313] = 0.0; + out_1756056773937278960[314] = 0.0; + out_1756056773937278960[315] = 0.0; + out_1756056773937278960[316] = 0.0; + out_1756056773937278960[317] = 0.0; + out_1756056773937278960[318] = 0.0; + out_1756056773937278960[319] = 0.0; + out_1756056773937278960[320] = 0.0; + out_1756056773937278960[321] = 0.0; + out_1756056773937278960[322] = 0.0; + out_1756056773937278960[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8465405656783528291) { - out_8465405656783528291[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_8465405656783528291[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_8465405656783528291[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_8465405656783528291[3] = dt*state[12] + state[3]; - out_8465405656783528291[4] = dt*state[13] + state[4]; - out_8465405656783528291[5] = dt*state[14] + state[5]; - out_8465405656783528291[6] = state[6]; - out_8465405656783528291[7] = state[7]; - out_8465405656783528291[8] = state[8]; - out_8465405656783528291[9] = state[9]; - out_8465405656783528291[10] = state[10]; - out_8465405656783528291[11] = state[11]; - out_8465405656783528291[12] = state[12]; - out_8465405656783528291[13] = state[13]; - out_8465405656783528291[14] = state[14]; - out_8465405656783528291[15] = state[15]; - out_8465405656783528291[16] = state[16]; - out_8465405656783528291[17] = state[17]; +void f_fun(double *state, double dt, double *out_4431905570801982118) { + out_4431905570801982118[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_4431905570801982118[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_4431905570801982118[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_4431905570801982118[3] = dt*state[12] + state[3]; + out_4431905570801982118[4] = dt*state[13] + state[4]; + out_4431905570801982118[5] = dt*state[14] + state[5]; + out_4431905570801982118[6] = state[6]; + out_4431905570801982118[7] = state[7]; + out_4431905570801982118[8] = state[8]; + out_4431905570801982118[9] = state[9]; + out_4431905570801982118[10] = state[10]; + out_4431905570801982118[11] = state[11]; + out_4431905570801982118[12] = state[12]; + out_4431905570801982118[13] = state[13]; + out_4431905570801982118[14] = state[14]; + out_4431905570801982118[15] = state[15]; + out_4431905570801982118[16] = state[16]; + out_4431905570801982118[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5153518595662752782) { - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[2] = 0; - out_5153518595662752782[3] = 0; - out_5153518595662752782[4] = 0; - out_5153518595662752782[5] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[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_5153518595662752782[9] = 0; - out_5153518595662752782[10] = 0; - out_5153518595662752782[11] = 0; - out_5153518595662752782[12] = 0; - out_5153518595662752782[13] = 0; - out_5153518595662752782[14] = 0; - out_5153518595662752782[15] = 0; - out_5153518595662752782[16] = 0; - out_5153518595662752782[17] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[20] = 0; - out_5153518595662752782[21] = 0; - out_5153518595662752782[22] = 0; - out_5153518595662752782[23] = 0; - out_5153518595662752782[24] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[27] = 0; - out_5153518595662752782[28] = 0; - out_5153518595662752782[29] = 0; - out_5153518595662752782[30] = 0; - out_5153518595662752782[31] = 0; - out_5153518595662752782[32] = 0; - out_5153518595662752782[33] = 0; - out_5153518595662752782[34] = 0; - out_5153518595662752782[35] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[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_5153518595662752782[39] = 0; - out_5153518595662752782[40] = 0; - out_5153518595662752782[41] = 0; - out_5153518595662752782[42] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[45] = 0; - out_5153518595662752782[46] = 0; - out_5153518595662752782[47] = 0; - out_5153518595662752782[48] = 0; - out_5153518595662752782[49] = 0; - out_5153518595662752782[50] = 0; - out_5153518595662752782[51] = 0; - out_5153518595662752782[52] = 0; - out_5153518595662752782[53] = 0; - out_5153518595662752782[54] = 0; - out_5153518595662752782[55] = 0; - out_5153518595662752782[56] = 0; - out_5153518595662752782[57] = 1; - out_5153518595662752782[58] = 0; - out_5153518595662752782[59] = 0; - out_5153518595662752782[60] = 0; - out_5153518595662752782[61] = 0; - out_5153518595662752782[62] = 0; - out_5153518595662752782[63] = 0; - out_5153518595662752782[64] = 0; - out_5153518595662752782[65] = 0; - out_5153518595662752782[66] = dt; - out_5153518595662752782[67] = 0; - out_5153518595662752782[68] = 0; - out_5153518595662752782[69] = 0; - out_5153518595662752782[70] = 0; - out_5153518595662752782[71] = 0; - out_5153518595662752782[72] = 0; - out_5153518595662752782[73] = 0; - out_5153518595662752782[74] = 0; - out_5153518595662752782[75] = 0; - out_5153518595662752782[76] = 1; - out_5153518595662752782[77] = 0; - out_5153518595662752782[78] = 0; - out_5153518595662752782[79] = 0; - out_5153518595662752782[80] = 0; - out_5153518595662752782[81] = 0; - out_5153518595662752782[82] = 0; - out_5153518595662752782[83] = 0; - out_5153518595662752782[84] = 0; - out_5153518595662752782[85] = dt; - out_5153518595662752782[86] = 0; - out_5153518595662752782[87] = 0; - out_5153518595662752782[88] = 0; - out_5153518595662752782[89] = 0; - out_5153518595662752782[90] = 0; - out_5153518595662752782[91] = 0; - out_5153518595662752782[92] = 0; - out_5153518595662752782[93] = 0; - out_5153518595662752782[94] = 0; - out_5153518595662752782[95] = 1; - out_5153518595662752782[96] = 0; - out_5153518595662752782[97] = 0; - out_5153518595662752782[98] = 0; - out_5153518595662752782[99] = 0; - out_5153518595662752782[100] = 0; - out_5153518595662752782[101] = 0; - out_5153518595662752782[102] = 0; - out_5153518595662752782[103] = 0; - out_5153518595662752782[104] = dt; - out_5153518595662752782[105] = 0; - out_5153518595662752782[106] = 0; - out_5153518595662752782[107] = 0; - out_5153518595662752782[108] = 0; - out_5153518595662752782[109] = 0; - out_5153518595662752782[110] = 0; - out_5153518595662752782[111] = 0; - out_5153518595662752782[112] = 0; - out_5153518595662752782[113] = 0; - out_5153518595662752782[114] = 1; - out_5153518595662752782[115] = 0; - out_5153518595662752782[116] = 0; - out_5153518595662752782[117] = 0; - out_5153518595662752782[118] = 0; - out_5153518595662752782[119] = 0; - out_5153518595662752782[120] = 0; - out_5153518595662752782[121] = 0; - out_5153518595662752782[122] = 0; - out_5153518595662752782[123] = 0; - out_5153518595662752782[124] = 0; - out_5153518595662752782[125] = 0; - out_5153518595662752782[126] = 0; - out_5153518595662752782[127] = 0; - out_5153518595662752782[128] = 0; - out_5153518595662752782[129] = 0; - out_5153518595662752782[130] = 0; - out_5153518595662752782[131] = 0; - out_5153518595662752782[132] = 0; - out_5153518595662752782[133] = 1; - out_5153518595662752782[134] = 0; - out_5153518595662752782[135] = 0; - out_5153518595662752782[136] = 0; - out_5153518595662752782[137] = 0; - out_5153518595662752782[138] = 0; - out_5153518595662752782[139] = 0; - out_5153518595662752782[140] = 0; - out_5153518595662752782[141] = 0; - out_5153518595662752782[142] = 0; - out_5153518595662752782[143] = 0; - out_5153518595662752782[144] = 0; - out_5153518595662752782[145] = 0; - out_5153518595662752782[146] = 0; - out_5153518595662752782[147] = 0; - out_5153518595662752782[148] = 0; - out_5153518595662752782[149] = 0; - out_5153518595662752782[150] = 0; - out_5153518595662752782[151] = 0; - out_5153518595662752782[152] = 1; - out_5153518595662752782[153] = 0; - out_5153518595662752782[154] = 0; - out_5153518595662752782[155] = 0; - out_5153518595662752782[156] = 0; - out_5153518595662752782[157] = 0; - out_5153518595662752782[158] = 0; - out_5153518595662752782[159] = 0; - out_5153518595662752782[160] = 0; - out_5153518595662752782[161] = 0; - out_5153518595662752782[162] = 0; - out_5153518595662752782[163] = 0; - out_5153518595662752782[164] = 0; - out_5153518595662752782[165] = 0; - out_5153518595662752782[166] = 0; - out_5153518595662752782[167] = 0; - out_5153518595662752782[168] = 0; - out_5153518595662752782[169] = 0; - out_5153518595662752782[170] = 0; - out_5153518595662752782[171] = 1; - out_5153518595662752782[172] = 0; - out_5153518595662752782[173] = 0; - out_5153518595662752782[174] = 0; - out_5153518595662752782[175] = 0; - out_5153518595662752782[176] = 0; - out_5153518595662752782[177] = 0; - out_5153518595662752782[178] = 0; - out_5153518595662752782[179] = 0; - out_5153518595662752782[180] = 0; - out_5153518595662752782[181] = 0; - out_5153518595662752782[182] = 0; - out_5153518595662752782[183] = 0; - out_5153518595662752782[184] = 0; - out_5153518595662752782[185] = 0; - out_5153518595662752782[186] = 0; - out_5153518595662752782[187] = 0; - out_5153518595662752782[188] = 0; - out_5153518595662752782[189] = 0; - out_5153518595662752782[190] = 1; - out_5153518595662752782[191] = 0; - out_5153518595662752782[192] = 0; - out_5153518595662752782[193] = 0; - out_5153518595662752782[194] = 0; - out_5153518595662752782[195] = 0; - out_5153518595662752782[196] = 0; - out_5153518595662752782[197] = 0; - out_5153518595662752782[198] = 0; - out_5153518595662752782[199] = 0; - out_5153518595662752782[200] = 0; - out_5153518595662752782[201] = 0; - out_5153518595662752782[202] = 0; - out_5153518595662752782[203] = 0; - out_5153518595662752782[204] = 0; - out_5153518595662752782[205] = 0; - out_5153518595662752782[206] = 0; - out_5153518595662752782[207] = 0; - out_5153518595662752782[208] = 0; - out_5153518595662752782[209] = 1; - out_5153518595662752782[210] = 0; - out_5153518595662752782[211] = 0; - out_5153518595662752782[212] = 0; - out_5153518595662752782[213] = 0; - out_5153518595662752782[214] = 0; - out_5153518595662752782[215] = 0; - out_5153518595662752782[216] = 0; - out_5153518595662752782[217] = 0; - out_5153518595662752782[218] = 0; - out_5153518595662752782[219] = 0; - out_5153518595662752782[220] = 0; - out_5153518595662752782[221] = 0; - out_5153518595662752782[222] = 0; - out_5153518595662752782[223] = 0; - out_5153518595662752782[224] = 0; - out_5153518595662752782[225] = 0; - out_5153518595662752782[226] = 0; - out_5153518595662752782[227] = 0; - out_5153518595662752782[228] = 1; - out_5153518595662752782[229] = 0; - out_5153518595662752782[230] = 0; - out_5153518595662752782[231] = 0; - out_5153518595662752782[232] = 0; - out_5153518595662752782[233] = 0; - out_5153518595662752782[234] = 0; - out_5153518595662752782[235] = 0; - out_5153518595662752782[236] = 0; - out_5153518595662752782[237] = 0; - out_5153518595662752782[238] = 0; - out_5153518595662752782[239] = 0; - out_5153518595662752782[240] = 0; - out_5153518595662752782[241] = 0; - out_5153518595662752782[242] = 0; - out_5153518595662752782[243] = 0; - out_5153518595662752782[244] = 0; - out_5153518595662752782[245] = 0; - out_5153518595662752782[246] = 0; - out_5153518595662752782[247] = 1; - out_5153518595662752782[248] = 0; - out_5153518595662752782[249] = 0; - out_5153518595662752782[250] = 0; - out_5153518595662752782[251] = 0; - out_5153518595662752782[252] = 0; - out_5153518595662752782[253] = 0; - out_5153518595662752782[254] = 0; - out_5153518595662752782[255] = 0; - out_5153518595662752782[256] = 0; - out_5153518595662752782[257] = 0; - out_5153518595662752782[258] = 0; - out_5153518595662752782[259] = 0; - out_5153518595662752782[260] = 0; - out_5153518595662752782[261] = 0; - out_5153518595662752782[262] = 0; - out_5153518595662752782[263] = 0; - out_5153518595662752782[264] = 0; - out_5153518595662752782[265] = 0; - out_5153518595662752782[266] = 1; - out_5153518595662752782[267] = 0; - out_5153518595662752782[268] = 0; - out_5153518595662752782[269] = 0; - out_5153518595662752782[270] = 0; - out_5153518595662752782[271] = 0; - out_5153518595662752782[272] = 0; - out_5153518595662752782[273] = 0; - out_5153518595662752782[274] = 0; - out_5153518595662752782[275] = 0; - out_5153518595662752782[276] = 0; - out_5153518595662752782[277] = 0; - out_5153518595662752782[278] = 0; - out_5153518595662752782[279] = 0; - out_5153518595662752782[280] = 0; - out_5153518595662752782[281] = 0; - out_5153518595662752782[282] = 0; - out_5153518595662752782[283] = 0; - out_5153518595662752782[284] = 0; - out_5153518595662752782[285] = 1; - out_5153518595662752782[286] = 0; - out_5153518595662752782[287] = 0; - out_5153518595662752782[288] = 0; - out_5153518595662752782[289] = 0; - out_5153518595662752782[290] = 0; - out_5153518595662752782[291] = 0; - out_5153518595662752782[292] = 0; - out_5153518595662752782[293] = 0; - out_5153518595662752782[294] = 0; - out_5153518595662752782[295] = 0; - out_5153518595662752782[296] = 0; - out_5153518595662752782[297] = 0; - out_5153518595662752782[298] = 0; - out_5153518595662752782[299] = 0; - out_5153518595662752782[300] = 0; - out_5153518595662752782[301] = 0; - out_5153518595662752782[302] = 0; - out_5153518595662752782[303] = 0; - out_5153518595662752782[304] = 1; - out_5153518595662752782[305] = 0; - out_5153518595662752782[306] = 0; - out_5153518595662752782[307] = 0; - out_5153518595662752782[308] = 0; - out_5153518595662752782[309] = 0; - out_5153518595662752782[310] = 0; - out_5153518595662752782[311] = 0; - out_5153518595662752782[312] = 0; - out_5153518595662752782[313] = 0; - out_5153518595662752782[314] = 0; - out_5153518595662752782[315] = 0; - out_5153518595662752782[316] = 0; - out_5153518595662752782[317] = 0; - out_5153518595662752782[318] = 0; - out_5153518595662752782[319] = 0; - out_5153518595662752782[320] = 0; - out_5153518595662752782[321] = 0; - out_5153518595662752782[322] = 0; - out_5153518595662752782[323] = 1; +void F_fun(double *state, double dt, double *out_2871178270800665939) { + out_2871178270800665939[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_2871178270800665939[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_2871178270800665939[2] = 0; + out_2871178270800665939[3] = 0; + out_2871178270800665939[4] = 0; + out_2871178270800665939[5] = 0; + out_2871178270800665939[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_2871178270800665939[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_2871178270800665939[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_2871178270800665939[9] = 0; + out_2871178270800665939[10] = 0; + out_2871178270800665939[11] = 0; + out_2871178270800665939[12] = 0; + out_2871178270800665939[13] = 0; + out_2871178270800665939[14] = 0; + out_2871178270800665939[15] = 0; + out_2871178270800665939[16] = 0; + out_2871178270800665939[17] = 0; + out_2871178270800665939[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_2871178270800665939[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_2871178270800665939[20] = 0; + out_2871178270800665939[21] = 0; + out_2871178270800665939[22] = 0; + out_2871178270800665939[23] = 0; + out_2871178270800665939[24] = 0; + out_2871178270800665939[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_2871178270800665939[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_2871178270800665939[27] = 0; + out_2871178270800665939[28] = 0; + out_2871178270800665939[29] = 0; + out_2871178270800665939[30] = 0; + out_2871178270800665939[31] = 0; + out_2871178270800665939[32] = 0; + out_2871178270800665939[33] = 0; + out_2871178270800665939[34] = 0; + out_2871178270800665939[35] = 0; + out_2871178270800665939[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_2871178270800665939[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_2871178270800665939[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_2871178270800665939[39] = 0; + out_2871178270800665939[40] = 0; + out_2871178270800665939[41] = 0; + out_2871178270800665939[42] = 0; + out_2871178270800665939[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_2871178270800665939[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_2871178270800665939[45] = 0; + out_2871178270800665939[46] = 0; + out_2871178270800665939[47] = 0; + out_2871178270800665939[48] = 0; + out_2871178270800665939[49] = 0; + out_2871178270800665939[50] = 0; + out_2871178270800665939[51] = 0; + out_2871178270800665939[52] = 0; + out_2871178270800665939[53] = 0; + out_2871178270800665939[54] = 0; + out_2871178270800665939[55] = 0; + out_2871178270800665939[56] = 0; + out_2871178270800665939[57] = 1; + out_2871178270800665939[58] = 0; + out_2871178270800665939[59] = 0; + out_2871178270800665939[60] = 0; + out_2871178270800665939[61] = 0; + out_2871178270800665939[62] = 0; + out_2871178270800665939[63] = 0; + out_2871178270800665939[64] = 0; + out_2871178270800665939[65] = 0; + out_2871178270800665939[66] = dt; + out_2871178270800665939[67] = 0; + out_2871178270800665939[68] = 0; + out_2871178270800665939[69] = 0; + out_2871178270800665939[70] = 0; + out_2871178270800665939[71] = 0; + out_2871178270800665939[72] = 0; + out_2871178270800665939[73] = 0; + out_2871178270800665939[74] = 0; + out_2871178270800665939[75] = 0; + out_2871178270800665939[76] = 1; + out_2871178270800665939[77] = 0; + out_2871178270800665939[78] = 0; + out_2871178270800665939[79] = 0; + out_2871178270800665939[80] = 0; + out_2871178270800665939[81] = 0; + out_2871178270800665939[82] = 0; + out_2871178270800665939[83] = 0; + out_2871178270800665939[84] = 0; + out_2871178270800665939[85] = dt; + out_2871178270800665939[86] = 0; + out_2871178270800665939[87] = 0; + out_2871178270800665939[88] = 0; + out_2871178270800665939[89] = 0; + out_2871178270800665939[90] = 0; + out_2871178270800665939[91] = 0; + out_2871178270800665939[92] = 0; + out_2871178270800665939[93] = 0; + out_2871178270800665939[94] = 0; + out_2871178270800665939[95] = 1; + out_2871178270800665939[96] = 0; + out_2871178270800665939[97] = 0; + out_2871178270800665939[98] = 0; + out_2871178270800665939[99] = 0; + out_2871178270800665939[100] = 0; + out_2871178270800665939[101] = 0; + out_2871178270800665939[102] = 0; + out_2871178270800665939[103] = 0; + out_2871178270800665939[104] = dt; + out_2871178270800665939[105] = 0; + out_2871178270800665939[106] = 0; + out_2871178270800665939[107] = 0; + out_2871178270800665939[108] = 0; + out_2871178270800665939[109] = 0; + out_2871178270800665939[110] = 0; + out_2871178270800665939[111] = 0; + out_2871178270800665939[112] = 0; + out_2871178270800665939[113] = 0; + out_2871178270800665939[114] = 1; + out_2871178270800665939[115] = 0; + out_2871178270800665939[116] = 0; + out_2871178270800665939[117] = 0; + out_2871178270800665939[118] = 0; + out_2871178270800665939[119] = 0; + out_2871178270800665939[120] = 0; + out_2871178270800665939[121] = 0; + out_2871178270800665939[122] = 0; + out_2871178270800665939[123] = 0; + out_2871178270800665939[124] = 0; + out_2871178270800665939[125] = 0; + out_2871178270800665939[126] = 0; + out_2871178270800665939[127] = 0; + out_2871178270800665939[128] = 0; + out_2871178270800665939[129] = 0; + out_2871178270800665939[130] = 0; + out_2871178270800665939[131] = 0; + out_2871178270800665939[132] = 0; + out_2871178270800665939[133] = 1; + out_2871178270800665939[134] = 0; + out_2871178270800665939[135] = 0; + out_2871178270800665939[136] = 0; + out_2871178270800665939[137] = 0; + out_2871178270800665939[138] = 0; + out_2871178270800665939[139] = 0; + out_2871178270800665939[140] = 0; + out_2871178270800665939[141] = 0; + out_2871178270800665939[142] = 0; + out_2871178270800665939[143] = 0; + out_2871178270800665939[144] = 0; + out_2871178270800665939[145] = 0; + out_2871178270800665939[146] = 0; + out_2871178270800665939[147] = 0; + out_2871178270800665939[148] = 0; + out_2871178270800665939[149] = 0; + out_2871178270800665939[150] = 0; + out_2871178270800665939[151] = 0; + out_2871178270800665939[152] = 1; + out_2871178270800665939[153] = 0; + out_2871178270800665939[154] = 0; + out_2871178270800665939[155] = 0; + out_2871178270800665939[156] = 0; + out_2871178270800665939[157] = 0; + out_2871178270800665939[158] = 0; + out_2871178270800665939[159] = 0; + out_2871178270800665939[160] = 0; + out_2871178270800665939[161] = 0; + out_2871178270800665939[162] = 0; + out_2871178270800665939[163] = 0; + out_2871178270800665939[164] = 0; + out_2871178270800665939[165] = 0; + out_2871178270800665939[166] = 0; + out_2871178270800665939[167] = 0; + out_2871178270800665939[168] = 0; + out_2871178270800665939[169] = 0; + out_2871178270800665939[170] = 0; + out_2871178270800665939[171] = 1; + out_2871178270800665939[172] = 0; + out_2871178270800665939[173] = 0; + out_2871178270800665939[174] = 0; + out_2871178270800665939[175] = 0; + out_2871178270800665939[176] = 0; + out_2871178270800665939[177] = 0; + out_2871178270800665939[178] = 0; + out_2871178270800665939[179] = 0; + out_2871178270800665939[180] = 0; + out_2871178270800665939[181] = 0; + out_2871178270800665939[182] = 0; + out_2871178270800665939[183] = 0; + out_2871178270800665939[184] = 0; + out_2871178270800665939[185] = 0; + out_2871178270800665939[186] = 0; + out_2871178270800665939[187] = 0; + out_2871178270800665939[188] = 0; + out_2871178270800665939[189] = 0; + out_2871178270800665939[190] = 1; + out_2871178270800665939[191] = 0; + out_2871178270800665939[192] = 0; + out_2871178270800665939[193] = 0; + out_2871178270800665939[194] = 0; + out_2871178270800665939[195] = 0; + out_2871178270800665939[196] = 0; + out_2871178270800665939[197] = 0; + out_2871178270800665939[198] = 0; + out_2871178270800665939[199] = 0; + out_2871178270800665939[200] = 0; + out_2871178270800665939[201] = 0; + out_2871178270800665939[202] = 0; + out_2871178270800665939[203] = 0; + out_2871178270800665939[204] = 0; + out_2871178270800665939[205] = 0; + out_2871178270800665939[206] = 0; + out_2871178270800665939[207] = 0; + out_2871178270800665939[208] = 0; + out_2871178270800665939[209] = 1; + out_2871178270800665939[210] = 0; + out_2871178270800665939[211] = 0; + out_2871178270800665939[212] = 0; + out_2871178270800665939[213] = 0; + out_2871178270800665939[214] = 0; + out_2871178270800665939[215] = 0; + out_2871178270800665939[216] = 0; + out_2871178270800665939[217] = 0; + out_2871178270800665939[218] = 0; + out_2871178270800665939[219] = 0; + out_2871178270800665939[220] = 0; + out_2871178270800665939[221] = 0; + out_2871178270800665939[222] = 0; + out_2871178270800665939[223] = 0; + out_2871178270800665939[224] = 0; + out_2871178270800665939[225] = 0; + out_2871178270800665939[226] = 0; + out_2871178270800665939[227] = 0; + out_2871178270800665939[228] = 1; + out_2871178270800665939[229] = 0; + out_2871178270800665939[230] = 0; + out_2871178270800665939[231] = 0; + out_2871178270800665939[232] = 0; + out_2871178270800665939[233] = 0; + out_2871178270800665939[234] = 0; + out_2871178270800665939[235] = 0; + out_2871178270800665939[236] = 0; + out_2871178270800665939[237] = 0; + out_2871178270800665939[238] = 0; + out_2871178270800665939[239] = 0; + out_2871178270800665939[240] = 0; + out_2871178270800665939[241] = 0; + out_2871178270800665939[242] = 0; + out_2871178270800665939[243] = 0; + out_2871178270800665939[244] = 0; + out_2871178270800665939[245] = 0; + out_2871178270800665939[246] = 0; + out_2871178270800665939[247] = 1; + out_2871178270800665939[248] = 0; + out_2871178270800665939[249] = 0; + out_2871178270800665939[250] = 0; + out_2871178270800665939[251] = 0; + out_2871178270800665939[252] = 0; + out_2871178270800665939[253] = 0; + out_2871178270800665939[254] = 0; + out_2871178270800665939[255] = 0; + out_2871178270800665939[256] = 0; + out_2871178270800665939[257] = 0; + out_2871178270800665939[258] = 0; + out_2871178270800665939[259] = 0; + out_2871178270800665939[260] = 0; + out_2871178270800665939[261] = 0; + out_2871178270800665939[262] = 0; + out_2871178270800665939[263] = 0; + out_2871178270800665939[264] = 0; + out_2871178270800665939[265] = 0; + out_2871178270800665939[266] = 1; + out_2871178270800665939[267] = 0; + out_2871178270800665939[268] = 0; + out_2871178270800665939[269] = 0; + out_2871178270800665939[270] = 0; + out_2871178270800665939[271] = 0; + out_2871178270800665939[272] = 0; + out_2871178270800665939[273] = 0; + out_2871178270800665939[274] = 0; + out_2871178270800665939[275] = 0; + out_2871178270800665939[276] = 0; + out_2871178270800665939[277] = 0; + out_2871178270800665939[278] = 0; + out_2871178270800665939[279] = 0; + out_2871178270800665939[280] = 0; + out_2871178270800665939[281] = 0; + out_2871178270800665939[282] = 0; + out_2871178270800665939[283] = 0; + out_2871178270800665939[284] = 0; + out_2871178270800665939[285] = 1; + out_2871178270800665939[286] = 0; + out_2871178270800665939[287] = 0; + out_2871178270800665939[288] = 0; + out_2871178270800665939[289] = 0; + out_2871178270800665939[290] = 0; + out_2871178270800665939[291] = 0; + out_2871178270800665939[292] = 0; + out_2871178270800665939[293] = 0; + out_2871178270800665939[294] = 0; + out_2871178270800665939[295] = 0; + out_2871178270800665939[296] = 0; + out_2871178270800665939[297] = 0; + out_2871178270800665939[298] = 0; + out_2871178270800665939[299] = 0; + out_2871178270800665939[300] = 0; + out_2871178270800665939[301] = 0; + out_2871178270800665939[302] = 0; + out_2871178270800665939[303] = 0; + out_2871178270800665939[304] = 1; + out_2871178270800665939[305] = 0; + out_2871178270800665939[306] = 0; + out_2871178270800665939[307] = 0; + out_2871178270800665939[308] = 0; + out_2871178270800665939[309] = 0; + out_2871178270800665939[310] = 0; + out_2871178270800665939[311] = 0; + out_2871178270800665939[312] = 0; + out_2871178270800665939[313] = 0; + out_2871178270800665939[314] = 0; + out_2871178270800665939[315] = 0; + out_2871178270800665939[316] = 0; + out_2871178270800665939[317] = 0; + out_2871178270800665939[318] = 0; + out_2871178270800665939[319] = 0; + out_2871178270800665939[320] = 0; + out_2871178270800665939[321] = 0; + out_2871178270800665939[322] = 0; + out_2871178270800665939[323] = 1; } -void h_4(double *state, double *unused, double *out_3441983837194168135) { - out_3441983837194168135[0] = state[6] + state[9]; - out_3441983837194168135[1] = state[7] + state[10]; - out_3441983837194168135[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3846978595453462265) { + out_3846978595453462265[0] = state[6] + state[9]; + out_3846978595453462265[1] = state[7] + state[10]; + out_3846978595453462265[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3792847385831294211) { - out_3792847385831294211[0] = 0; - out_3792847385831294211[1] = 0; - out_3792847385831294211[2] = 0; - out_3792847385831294211[3] = 0; - out_3792847385831294211[4] = 0; - out_3792847385831294211[5] = 0; - out_3792847385831294211[6] = 1; - out_3792847385831294211[7] = 0; - out_3792847385831294211[8] = 0; - out_3792847385831294211[9] = 1; - out_3792847385831294211[10] = 0; - out_3792847385831294211[11] = 0; - out_3792847385831294211[12] = 0; - out_3792847385831294211[13] = 0; - out_3792847385831294211[14] = 0; - out_3792847385831294211[15] = 0; - out_3792847385831294211[16] = 0; - out_3792847385831294211[17] = 0; - out_3792847385831294211[18] = 0; - out_3792847385831294211[19] = 0; - out_3792847385831294211[20] = 0; - out_3792847385831294211[21] = 0; - out_3792847385831294211[22] = 0; - out_3792847385831294211[23] = 0; - out_3792847385831294211[24] = 0; - out_3792847385831294211[25] = 1; - out_3792847385831294211[26] = 0; - out_3792847385831294211[27] = 0; - out_3792847385831294211[28] = 1; - out_3792847385831294211[29] = 0; - out_3792847385831294211[30] = 0; - out_3792847385831294211[31] = 0; - out_3792847385831294211[32] = 0; - out_3792847385831294211[33] = 0; - out_3792847385831294211[34] = 0; - out_3792847385831294211[35] = 0; - out_3792847385831294211[36] = 0; - out_3792847385831294211[37] = 0; - out_3792847385831294211[38] = 0; - out_3792847385831294211[39] = 0; - out_3792847385831294211[40] = 0; - out_3792847385831294211[41] = 0; - out_3792847385831294211[42] = 0; - out_3792847385831294211[43] = 0; - out_3792847385831294211[44] = 1; - out_3792847385831294211[45] = 0; - out_3792847385831294211[46] = 0; - out_3792847385831294211[47] = 1; - out_3792847385831294211[48] = 0; - out_3792847385831294211[49] = 0; - out_3792847385831294211[50] = 0; - out_3792847385831294211[51] = 0; - out_3792847385831294211[52] = 0; - out_3792847385831294211[53] = 0; +void H_4(double *state, double *unused, double *out_2510217775991991567) { + out_2510217775991991567[0] = 0; + out_2510217775991991567[1] = 0; + out_2510217775991991567[2] = 0; + out_2510217775991991567[3] = 0; + out_2510217775991991567[4] = 0; + out_2510217775991991567[5] = 0; + out_2510217775991991567[6] = 1; + out_2510217775991991567[7] = 0; + out_2510217775991991567[8] = 0; + out_2510217775991991567[9] = 1; + out_2510217775991991567[10] = 0; + out_2510217775991991567[11] = 0; + out_2510217775991991567[12] = 0; + out_2510217775991991567[13] = 0; + out_2510217775991991567[14] = 0; + out_2510217775991991567[15] = 0; + out_2510217775991991567[16] = 0; + out_2510217775991991567[17] = 0; + out_2510217775991991567[18] = 0; + out_2510217775991991567[19] = 0; + out_2510217775991991567[20] = 0; + out_2510217775991991567[21] = 0; + out_2510217775991991567[22] = 0; + out_2510217775991991567[23] = 0; + out_2510217775991991567[24] = 0; + out_2510217775991991567[25] = 1; + out_2510217775991991567[26] = 0; + out_2510217775991991567[27] = 0; + out_2510217775991991567[28] = 1; + out_2510217775991991567[29] = 0; + out_2510217775991991567[30] = 0; + out_2510217775991991567[31] = 0; + out_2510217775991991567[32] = 0; + out_2510217775991991567[33] = 0; + out_2510217775991991567[34] = 0; + out_2510217775991991567[35] = 0; + out_2510217775991991567[36] = 0; + out_2510217775991991567[37] = 0; + out_2510217775991991567[38] = 0; + out_2510217775991991567[39] = 0; + out_2510217775991991567[40] = 0; + out_2510217775991991567[41] = 0; + out_2510217775991991567[42] = 0; + out_2510217775991991567[43] = 0; + out_2510217775991991567[44] = 1; + out_2510217775991991567[45] = 0; + out_2510217775991991567[46] = 0; + out_2510217775991991567[47] = 1; + out_2510217775991991567[48] = 0; + out_2510217775991991567[49] = 0; + out_2510217775991991567[50] = 0; + out_2510217775991991567[51] = 0; + out_2510217775991991567[52] = 0; + out_2510217775991991567[53] = 0; } -void h_10(double *state, double *unused, double *out_6864246601547225854) { - out_6864246601547225854[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6864246601547225854[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6864246601547225854[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_7920856264594772367) { + out_7920856264594772367[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7920856264594772367[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7920856264594772367[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_5871577252215708993) { - out_5871577252215708993[0] = 0; - out_5871577252215708993[1] = 9.8100000000000005*cos(state[1]); - out_5871577252215708993[2] = 0; - out_5871577252215708993[3] = 0; - out_5871577252215708993[4] = -state[8]; - out_5871577252215708993[5] = state[7]; - out_5871577252215708993[6] = 0; - out_5871577252215708993[7] = state[5]; - out_5871577252215708993[8] = -state[4]; - out_5871577252215708993[9] = 0; - out_5871577252215708993[10] = 0; - out_5871577252215708993[11] = 0; - out_5871577252215708993[12] = 1; - out_5871577252215708993[13] = 0; - out_5871577252215708993[14] = 0; - out_5871577252215708993[15] = 1; - out_5871577252215708993[16] = 0; - out_5871577252215708993[17] = 0; - out_5871577252215708993[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5871577252215708993[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5871577252215708993[20] = 0; - out_5871577252215708993[21] = state[8]; - out_5871577252215708993[22] = 0; - out_5871577252215708993[23] = -state[6]; - out_5871577252215708993[24] = -state[5]; - out_5871577252215708993[25] = 0; - out_5871577252215708993[26] = state[3]; - out_5871577252215708993[27] = 0; - out_5871577252215708993[28] = 0; - out_5871577252215708993[29] = 0; - out_5871577252215708993[30] = 0; - out_5871577252215708993[31] = 1; - out_5871577252215708993[32] = 0; - out_5871577252215708993[33] = 0; - out_5871577252215708993[34] = 1; - out_5871577252215708993[35] = 0; - out_5871577252215708993[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5871577252215708993[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5871577252215708993[38] = 0; - out_5871577252215708993[39] = -state[7]; - out_5871577252215708993[40] = state[6]; - out_5871577252215708993[41] = 0; - out_5871577252215708993[42] = state[4]; - out_5871577252215708993[43] = -state[3]; - out_5871577252215708993[44] = 0; - out_5871577252215708993[45] = 0; - out_5871577252215708993[46] = 0; - out_5871577252215708993[47] = 0; - out_5871577252215708993[48] = 0; - out_5871577252215708993[49] = 0; - out_5871577252215708993[50] = 1; - out_5871577252215708993[51] = 0; - out_5871577252215708993[52] = 0; - out_5871577252215708993[53] = 1; +void H_10(double *state, double *unused, double *out_8226281178388112719) { + out_8226281178388112719[0] = 0; + out_8226281178388112719[1] = 9.8100000000000005*cos(state[1]); + out_8226281178388112719[2] = 0; + out_8226281178388112719[3] = 0; + out_8226281178388112719[4] = -state[8]; + out_8226281178388112719[5] = state[7]; + out_8226281178388112719[6] = 0; + out_8226281178388112719[7] = state[5]; + out_8226281178388112719[8] = -state[4]; + out_8226281178388112719[9] = 0; + out_8226281178388112719[10] = 0; + out_8226281178388112719[11] = 0; + out_8226281178388112719[12] = 1; + out_8226281178388112719[13] = 0; + out_8226281178388112719[14] = 0; + out_8226281178388112719[15] = 1; + out_8226281178388112719[16] = 0; + out_8226281178388112719[17] = 0; + out_8226281178388112719[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8226281178388112719[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8226281178388112719[20] = 0; + out_8226281178388112719[21] = state[8]; + out_8226281178388112719[22] = 0; + out_8226281178388112719[23] = -state[6]; + out_8226281178388112719[24] = -state[5]; + out_8226281178388112719[25] = 0; + out_8226281178388112719[26] = state[3]; + out_8226281178388112719[27] = 0; + out_8226281178388112719[28] = 0; + out_8226281178388112719[29] = 0; + out_8226281178388112719[30] = 0; + out_8226281178388112719[31] = 1; + out_8226281178388112719[32] = 0; + out_8226281178388112719[33] = 0; + out_8226281178388112719[34] = 1; + out_8226281178388112719[35] = 0; + out_8226281178388112719[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8226281178388112719[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8226281178388112719[38] = 0; + out_8226281178388112719[39] = -state[7]; + out_8226281178388112719[40] = state[6]; + out_8226281178388112719[41] = 0; + out_8226281178388112719[42] = state[4]; + out_8226281178388112719[43] = -state[3]; + out_8226281178388112719[44] = 0; + out_8226281178388112719[45] = 0; + out_8226281178388112719[46] = 0; + out_8226281178388112719[47] = 0; + out_8226281178388112719[48] = 0; + out_8226281178388112719[49] = 0; + out_8226281178388112719[50] = 1; + out_8226281178388112719[51] = 0; + out_8226281178388112719[52] = 0; + out_8226281178388112719[53] = 1; } -void h_13(double *state, double *unused, double *out_3325053226247216097) { - out_3325053226247216097[0] = state[3]; - out_3325053226247216097[1] = state[4]; - out_3325053226247216097[2] = state[5]; +void h_13(double *state, double *unused, double *out_8094608070185368102) { + out_8094608070185368102[0] = state[3]; + out_8094608070185368102[1] = state[4]; + out_8094608070185368102[2] = state[5]; } -void H_13(double *state, double *unused, double *out_580573560498961410) { - out_580573560498961410[0] = 0; - out_580573560498961410[1] = 0; - out_580573560498961410[2] = 0; - out_580573560498961410[3] = 1; - out_580573560498961410[4] = 0; - out_580573560498961410[5] = 0; - out_580573560498961410[6] = 0; - out_580573560498961410[7] = 0; - out_580573560498961410[8] = 0; - out_580573560498961410[9] = 0; - out_580573560498961410[10] = 0; - out_580573560498961410[11] = 0; - out_580573560498961410[12] = 0; - out_580573560498961410[13] = 0; - out_580573560498961410[14] = 0; - out_580573560498961410[15] = 0; - out_580573560498961410[16] = 0; - out_580573560498961410[17] = 0; - out_580573560498961410[18] = 0; - out_580573560498961410[19] = 0; - out_580573560498961410[20] = 0; - out_580573560498961410[21] = 0; - out_580573560498961410[22] = 1; - out_580573560498961410[23] = 0; - out_580573560498961410[24] = 0; - out_580573560498961410[25] = 0; - out_580573560498961410[26] = 0; - out_580573560498961410[27] = 0; - out_580573560498961410[28] = 0; - out_580573560498961410[29] = 0; - out_580573560498961410[30] = 0; - out_580573560498961410[31] = 0; - out_580573560498961410[32] = 0; - out_580573560498961410[33] = 0; - out_580573560498961410[34] = 0; - out_580573560498961410[35] = 0; - out_580573560498961410[36] = 0; - out_580573560498961410[37] = 0; - out_580573560498961410[38] = 0; - out_580573560498961410[39] = 0; - out_580573560498961410[40] = 0; - out_580573560498961410[41] = 1; - out_580573560498961410[42] = 0; - out_580573560498961410[43] = 0; - out_580573560498961410[44] = 0; - out_580573560498961410[45] = 0; - out_580573560498961410[46] = 0; - out_580573560498961410[47] = 0; - out_580573560498961410[48] = 0; - out_580573560498961410[49] = 0; - out_580573560498961410[50] = 0; - out_580573560498961410[51] = 0; - out_580573560498961410[52] = 0; - out_580573560498961410[53] = 0; +void H_13(double *state, double *unused, double *out_8325895089400859120) { + out_8325895089400859120[0] = 0; + out_8325895089400859120[1] = 0; + out_8325895089400859120[2] = 0; + out_8325895089400859120[3] = 1; + out_8325895089400859120[4] = 0; + out_8325895089400859120[5] = 0; + out_8325895089400859120[6] = 0; + out_8325895089400859120[7] = 0; + out_8325895089400859120[8] = 0; + out_8325895089400859120[9] = 0; + out_8325895089400859120[10] = 0; + out_8325895089400859120[11] = 0; + out_8325895089400859120[12] = 0; + out_8325895089400859120[13] = 0; + out_8325895089400859120[14] = 0; + out_8325895089400859120[15] = 0; + out_8325895089400859120[16] = 0; + out_8325895089400859120[17] = 0; + out_8325895089400859120[18] = 0; + out_8325895089400859120[19] = 0; + out_8325895089400859120[20] = 0; + out_8325895089400859120[21] = 0; + out_8325895089400859120[22] = 1; + out_8325895089400859120[23] = 0; + out_8325895089400859120[24] = 0; + out_8325895089400859120[25] = 0; + out_8325895089400859120[26] = 0; + out_8325895089400859120[27] = 0; + out_8325895089400859120[28] = 0; + out_8325895089400859120[29] = 0; + out_8325895089400859120[30] = 0; + out_8325895089400859120[31] = 0; + out_8325895089400859120[32] = 0; + out_8325895089400859120[33] = 0; + out_8325895089400859120[34] = 0; + out_8325895089400859120[35] = 0; + out_8325895089400859120[36] = 0; + out_8325895089400859120[37] = 0; + out_8325895089400859120[38] = 0; + out_8325895089400859120[39] = 0; + out_8325895089400859120[40] = 0; + out_8325895089400859120[41] = 1; + out_8325895089400859120[42] = 0; + out_8325895089400859120[43] = 0; + out_8325895089400859120[44] = 0; + out_8325895089400859120[45] = 0; + out_8325895089400859120[46] = 0; + out_8325895089400859120[47] = 0; + out_8325895089400859120[48] = 0; + out_8325895089400859120[49] = 0; + out_8325895089400859120[50] = 0; + out_8325895089400859120[51] = 0; + out_8325895089400859120[52] = 0; + out_8325895089400859120[53] = 0; } -void h_14(double *state, double *unused, double *out_7213076452181803827) { - out_7213076452181803827[0] = state[6]; - out_7213076452181803827[1] = state[7]; - out_7213076452181803827[2] = state[8]; +void h_14(double *state, double *unused, double *out_1490158875401441001) { + out_1490158875401441001[0] = state[6]; + out_1490158875401441001[1] = state[7]; + out_1490158875401441001[2] = state[8]; } -void H_14(double *state, double *unused, double *out_170393470508190318) { - out_170393470508190318[0] = 0; - out_170393470508190318[1] = 0; - out_170393470508190318[2] = 0; - out_170393470508190318[3] = 0; - out_170393470508190318[4] = 0; - out_170393470508190318[5] = 0; - out_170393470508190318[6] = 1; - out_170393470508190318[7] = 0; - out_170393470508190318[8] = 0; - out_170393470508190318[9] = 0; - out_170393470508190318[10] = 0; - out_170393470508190318[11] = 0; - out_170393470508190318[12] = 0; - out_170393470508190318[13] = 0; - out_170393470508190318[14] = 0; - out_170393470508190318[15] = 0; - out_170393470508190318[16] = 0; - out_170393470508190318[17] = 0; - out_170393470508190318[18] = 0; - out_170393470508190318[19] = 0; - out_170393470508190318[20] = 0; - out_170393470508190318[21] = 0; - out_170393470508190318[22] = 0; - out_170393470508190318[23] = 0; - out_170393470508190318[24] = 0; - out_170393470508190318[25] = 1; - out_170393470508190318[26] = 0; - out_170393470508190318[27] = 0; - out_170393470508190318[28] = 0; - out_170393470508190318[29] = 0; - out_170393470508190318[30] = 0; - out_170393470508190318[31] = 0; - out_170393470508190318[32] = 0; - out_170393470508190318[33] = 0; - out_170393470508190318[34] = 0; - out_170393470508190318[35] = 0; - out_170393470508190318[36] = 0; - out_170393470508190318[37] = 0; - out_170393470508190318[38] = 0; - out_170393470508190318[39] = 0; - out_170393470508190318[40] = 0; - out_170393470508190318[41] = 0; - out_170393470508190318[42] = 0; - out_170393470508190318[43] = 0; - out_170393470508190318[44] = 1; - out_170393470508190318[45] = 0; - out_170393470508190318[46] = 0; - out_170393470508190318[47] = 0; - out_170393470508190318[48] = 0; - out_170393470508190318[49] = 0; - out_170393470508190318[50] = 0; - out_170393470508190318[51] = 0; - out_170393470508190318[52] = 0; - out_170393470508190318[53] = 0; +void H_14(double *state, double *unused, double *out_572570656303380729) { + out_572570656303380729[0] = 0; + out_572570656303380729[1] = 0; + out_572570656303380729[2] = 0; + out_572570656303380729[3] = 0; + out_572570656303380729[4] = 0; + out_572570656303380729[5] = 0; + out_572570656303380729[6] = 1; + out_572570656303380729[7] = 0; + out_572570656303380729[8] = 0; + out_572570656303380729[9] = 0; + out_572570656303380729[10] = 0; + out_572570656303380729[11] = 0; + out_572570656303380729[12] = 0; + out_572570656303380729[13] = 0; + out_572570656303380729[14] = 0; + out_572570656303380729[15] = 0; + out_572570656303380729[16] = 0; + out_572570656303380729[17] = 0; + out_572570656303380729[18] = 0; + out_572570656303380729[19] = 0; + out_572570656303380729[20] = 0; + out_572570656303380729[21] = 0; + out_572570656303380729[22] = 0; + out_572570656303380729[23] = 0; + out_572570656303380729[24] = 0; + out_572570656303380729[25] = 1; + out_572570656303380729[26] = 0; + out_572570656303380729[27] = 0; + out_572570656303380729[28] = 0; + out_572570656303380729[29] = 0; + out_572570656303380729[30] = 0; + out_572570656303380729[31] = 0; + out_572570656303380729[32] = 0; + out_572570656303380729[33] = 0; + out_572570656303380729[34] = 0; + out_572570656303380729[35] = 0; + out_572570656303380729[36] = 0; + out_572570656303380729[37] = 0; + out_572570656303380729[38] = 0; + out_572570656303380729[39] = 0; + out_572570656303380729[40] = 0; + out_572570656303380729[41] = 0; + out_572570656303380729[42] = 0; + out_572570656303380729[43] = 0; + out_572570656303380729[44] = 1; + out_572570656303380729[45] = 0; + out_572570656303380729[46] = 0; + out_572570656303380729[47] = 0; + out_572570656303380729[48] = 0; + out_572570656303380729[49] = 0; + out_572570656303380729[50] = 0; + out_572570656303380729[51] = 0; + out_572570656303380729[52] = 0; + out_572570656303380729[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_2803054085873220166) { - err_fun(nom_x, delta_x, out_2803054085873220166); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2355293272416553220) { + err_fun(nom_x, delta_x, out_2355293272416553220); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541) { - inv_err_fun(nom_x, true_x, out_870718263858356541); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4800523972292248179) { + inv_err_fun(nom_x, true_x, out_4800523972292248179); } -void pose_H_mod_fun(double *state, double *out_245560868528396178) { - H_mod_fun(state, out_245560868528396178); +void pose_H_mod_fun(double *state, double *out_1756056773937278960) { + H_mod_fun(state, out_1756056773937278960); } -void pose_f_fun(double *state, double dt, double *out_8465405656783528291) { - f_fun(state, dt, out_8465405656783528291); +void pose_f_fun(double *state, double dt, double *out_4431905570801982118) { + f_fun(state, dt, out_4431905570801982118); } -void pose_F_fun(double *state, double dt, double *out_5153518595662752782) { - F_fun(state, dt, out_5153518595662752782); +void pose_F_fun(double *state, double dt, double *out_2871178270800665939) { + F_fun(state, dt, out_2871178270800665939); } -void pose_h_4(double *state, double *unused, double *out_3441983837194168135) { - h_4(state, unused, out_3441983837194168135); +void pose_h_4(double *state, double *unused, double *out_3846978595453462265) { + h_4(state, unused, out_3846978595453462265); } -void pose_H_4(double *state, double *unused, double *out_3792847385831294211) { - H_4(state, unused, out_3792847385831294211); +void pose_H_4(double *state, double *unused, double *out_2510217775991991567) { + H_4(state, unused, out_2510217775991991567); } -void pose_h_10(double *state, double *unused, double *out_6864246601547225854) { - h_10(state, unused, out_6864246601547225854); +void pose_h_10(double *state, double *unused, double *out_7920856264594772367) { + h_10(state, unused, out_7920856264594772367); } -void pose_H_10(double *state, double *unused, double *out_5871577252215708993) { - H_10(state, unused, out_5871577252215708993); +void pose_H_10(double *state, double *unused, double *out_8226281178388112719) { + H_10(state, unused, out_8226281178388112719); } -void pose_h_13(double *state, double *unused, double *out_3325053226247216097) { - h_13(state, unused, out_3325053226247216097); +void pose_h_13(double *state, double *unused, double *out_8094608070185368102) { + h_13(state, unused, out_8094608070185368102); } -void pose_H_13(double *state, double *unused, double *out_580573560498961410) { - H_13(state, unused, out_580573560498961410); +void pose_H_13(double *state, double *unused, double *out_8325895089400859120) { + H_13(state, unused, out_8325895089400859120); } -void pose_h_14(double *state, double *unused, double *out_7213076452181803827) { - h_14(state, unused, out_7213076452181803827); +void pose_h_14(double *state, double *unused, double *out_1490158875401441001) { + h_14(state, unused, out_1490158875401441001); } -void pose_H_14(double *state, double *unused, double *out_170393470508190318) { - H_14(state, unused, out_170393470508190318); +void pose_H_14(double *state, double *unused, double *out_572570656303380729) { + H_14(state, unused, out_572570656303380729); } 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 ea16f9c46..a0603b483 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_2803054085873220166); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541); -void pose_H_mod_fun(double *state, double *out_245560868528396178); -void pose_f_fun(double *state, double dt, double *out_8465405656783528291); -void pose_F_fun(double *state, double dt, double *out_5153518595662752782); -void pose_h_4(double *state, double *unused, double *out_3441983837194168135); -void pose_H_4(double *state, double *unused, double *out_3792847385831294211); -void pose_h_10(double *state, double *unused, double *out_6864246601547225854); -void pose_H_10(double *state, double *unused, double *out_5871577252215708993); -void pose_h_13(double *state, double *unused, double *out_3325053226247216097); -void pose_H_13(double *state, double *unused, double *out_580573560498961410); -void pose_h_14(double *state, double *unused, double *out_7213076452181803827); -void pose_H_14(double *state, double *unused, double *out_170393470508190318); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2355293272416553220); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4800523972292248179); +void pose_H_mod_fun(double *state, double *out_1756056773937278960); +void pose_f_fun(double *state, double dt, double *out_4431905570801982118); +void pose_F_fun(double *state, double dt, double *out_2871178270800665939); +void pose_h_4(double *state, double *unused, double *out_3846978595453462265); +void pose_H_4(double *state, double *unused, double *out_2510217775991991567); +void pose_h_10(double *state, double *unused, double *out_7920856264594772367); +void pose_H_10(double *state, double *unused, double *out_8226281178388112719); +void pose_h_13(double *state, double *unused, double *out_8094608070185368102); +void pose_H_13(double *state, double *unused, double *out_8325895089400859120); +void pose_h_14(double *state, double *unused, double *out_1490158875401441001); +void pose_H_14(double *state, double *unused, double *out_572570656303380729); 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 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