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b/panda/board/obj/version @@ -1 +1 @@ -DEV-ec64617f-DEBUG \ No newline at end of file +DEV-3fb2bcdc-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 14908e9d9..7d1c2c9b4 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_1982741958495934934) { - out_1982741958495934934[0] = delta_x[0] + nom_x[0]; - out_1982741958495934934[1] = delta_x[1] + nom_x[1]; - out_1982741958495934934[2] = delta_x[2] + nom_x[2]; - out_1982741958495934934[3] = delta_x[3] + nom_x[3]; - out_1982741958495934934[4] = delta_x[4] + nom_x[4]; - out_1982741958495934934[5] = delta_x[5] + nom_x[5]; - out_1982741958495934934[6] = delta_x[6] + nom_x[6]; - out_1982741958495934934[7] = delta_x[7] + nom_x[7]; - out_1982741958495934934[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7311248151803822396) { + out_7311248151803822396[0] = delta_x[0] + nom_x[0]; + out_7311248151803822396[1] = delta_x[1] + nom_x[1]; + out_7311248151803822396[2] = delta_x[2] + nom_x[2]; + out_7311248151803822396[3] = delta_x[3] + nom_x[3]; + out_7311248151803822396[4] = delta_x[4] + nom_x[4]; + out_7311248151803822396[5] = delta_x[5] + nom_x[5]; + out_7311248151803822396[6] = delta_x[6] + nom_x[6]; + out_7311248151803822396[7] = delta_x[7] + nom_x[7]; + out_7311248151803822396[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805) { - out_1965858196176103805[0] = -nom_x[0] + true_x[0]; - out_1965858196176103805[1] = -nom_x[1] + true_x[1]; - out_1965858196176103805[2] = -nom_x[2] + true_x[2]; - out_1965858196176103805[3] = -nom_x[3] + true_x[3]; - out_1965858196176103805[4] = -nom_x[4] + true_x[4]; - out_1965858196176103805[5] = -nom_x[5] + true_x[5]; - out_1965858196176103805[6] = -nom_x[6] + true_x[6]; - out_1965858196176103805[7] = -nom_x[7] + true_x[7]; - out_1965858196176103805[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501) { + out_5602719869542378501[0] = -nom_x[0] + true_x[0]; + out_5602719869542378501[1] = -nom_x[1] + true_x[1]; + out_5602719869542378501[2] = -nom_x[2] + true_x[2]; + out_5602719869542378501[3] = -nom_x[3] + true_x[3]; + out_5602719869542378501[4] = -nom_x[4] + true_x[4]; + out_5602719869542378501[5] = -nom_x[5] + true_x[5]; + out_5602719869542378501[6] = -nom_x[6] + true_x[6]; + out_5602719869542378501[7] = -nom_x[7] + true_x[7]; + out_5602719869542378501[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7322816943518629238) { - out_7322816943518629238[0] = 1.0; - out_7322816943518629238[1] = 0.0; - out_7322816943518629238[2] = 0.0; - out_7322816943518629238[3] = 0.0; - out_7322816943518629238[4] = 0.0; - out_7322816943518629238[5] = 0.0; - out_7322816943518629238[6] = 0.0; - out_7322816943518629238[7] = 0.0; - out_7322816943518629238[8] = 0.0; - out_7322816943518629238[9] = 0.0; - out_7322816943518629238[10] = 1.0; - out_7322816943518629238[11] = 0.0; - out_7322816943518629238[12] = 0.0; - out_7322816943518629238[13] = 0.0; - out_7322816943518629238[14] = 0.0; - out_7322816943518629238[15] = 0.0; - out_7322816943518629238[16] = 0.0; - out_7322816943518629238[17] = 0.0; - out_7322816943518629238[18] = 0.0; - out_7322816943518629238[19] = 0.0; - out_7322816943518629238[20] = 1.0; - out_7322816943518629238[21] = 0.0; - out_7322816943518629238[22] = 0.0; - out_7322816943518629238[23] = 0.0; - out_7322816943518629238[24] = 0.0; - out_7322816943518629238[25] = 0.0; - out_7322816943518629238[26] = 0.0; - out_7322816943518629238[27] = 0.0; - out_7322816943518629238[28] = 0.0; - out_7322816943518629238[29] = 0.0; - out_7322816943518629238[30] = 1.0; - out_7322816943518629238[31] = 0.0; - out_7322816943518629238[32] = 0.0; - out_7322816943518629238[33] = 0.0; - out_7322816943518629238[34] = 0.0; - out_7322816943518629238[35] = 0.0; - out_7322816943518629238[36] = 0.0; - out_7322816943518629238[37] = 0.0; - out_7322816943518629238[38] = 0.0; - out_7322816943518629238[39] = 0.0; - out_7322816943518629238[40] = 1.0; - out_7322816943518629238[41] = 0.0; - out_7322816943518629238[42] = 0.0; - out_7322816943518629238[43] = 0.0; - out_7322816943518629238[44] = 0.0; - out_7322816943518629238[45] = 0.0; - out_7322816943518629238[46] = 0.0; - out_7322816943518629238[47] = 0.0; - out_7322816943518629238[48] = 0.0; - out_7322816943518629238[49] = 0.0; - out_7322816943518629238[50] = 1.0; - out_7322816943518629238[51] = 0.0; - out_7322816943518629238[52] = 0.0; - out_7322816943518629238[53] = 0.0; - out_7322816943518629238[54] = 0.0; - out_7322816943518629238[55] = 0.0; - out_7322816943518629238[56] = 0.0; - out_7322816943518629238[57] = 0.0; - out_7322816943518629238[58] = 0.0; - out_7322816943518629238[59] = 0.0; - out_7322816943518629238[60] = 1.0; - out_7322816943518629238[61] = 0.0; - out_7322816943518629238[62] = 0.0; - out_7322816943518629238[63] = 0.0; - out_7322816943518629238[64] = 0.0; - out_7322816943518629238[65] = 0.0; - out_7322816943518629238[66] = 0.0; - out_7322816943518629238[67] = 0.0; - out_7322816943518629238[68] = 0.0; - out_7322816943518629238[69] = 0.0; - out_7322816943518629238[70] = 1.0; - out_7322816943518629238[71] = 0.0; - out_7322816943518629238[72] = 0.0; - out_7322816943518629238[73] = 0.0; - out_7322816943518629238[74] = 0.0; - out_7322816943518629238[75] = 0.0; - out_7322816943518629238[76] = 0.0; - out_7322816943518629238[77] = 0.0; - out_7322816943518629238[78] = 0.0; - out_7322816943518629238[79] = 0.0; - out_7322816943518629238[80] = 1.0; +void H_mod_fun(double *state, double *out_6859429191092688662) { + out_6859429191092688662[0] = 1.0; + out_6859429191092688662[1] = 0.0; + out_6859429191092688662[2] = 0.0; + out_6859429191092688662[3] = 0.0; + out_6859429191092688662[4] = 0.0; + out_6859429191092688662[5] = 0.0; + out_6859429191092688662[6] = 0.0; + out_6859429191092688662[7] = 0.0; + out_6859429191092688662[8] = 0.0; + out_6859429191092688662[9] = 0.0; + out_6859429191092688662[10] = 1.0; + out_6859429191092688662[11] = 0.0; + out_6859429191092688662[12] = 0.0; + out_6859429191092688662[13] = 0.0; + out_6859429191092688662[14] = 0.0; + out_6859429191092688662[15] = 0.0; + out_6859429191092688662[16] = 0.0; + out_6859429191092688662[17] = 0.0; + out_6859429191092688662[18] = 0.0; + out_6859429191092688662[19] = 0.0; + out_6859429191092688662[20] = 1.0; + out_6859429191092688662[21] = 0.0; + out_6859429191092688662[22] = 0.0; + out_6859429191092688662[23] = 0.0; + out_6859429191092688662[24] = 0.0; + out_6859429191092688662[25] = 0.0; + out_6859429191092688662[26] = 0.0; + out_6859429191092688662[27] = 0.0; + out_6859429191092688662[28] = 0.0; + out_6859429191092688662[29] = 0.0; + out_6859429191092688662[30] = 1.0; + out_6859429191092688662[31] = 0.0; + out_6859429191092688662[32] = 0.0; + out_6859429191092688662[33] = 0.0; + out_6859429191092688662[34] = 0.0; + out_6859429191092688662[35] = 0.0; + out_6859429191092688662[36] = 0.0; + out_6859429191092688662[37] = 0.0; + out_6859429191092688662[38] = 0.0; + out_6859429191092688662[39] = 0.0; + out_6859429191092688662[40] = 1.0; + out_6859429191092688662[41] = 0.0; + out_6859429191092688662[42] = 0.0; + out_6859429191092688662[43] = 0.0; + out_6859429191092688662[44] = 0.0; + out_6859429191092688662[45] = 0.0; + out_6859429191092688662[46] = 0.0; + out_6859429191092688662[47] = 0.0; + out_6859429191092688662[48] = 0.0; + out_6859429191092688662[49] = 0.0; + out_6859429191092688662[50] = 1.0; + out_6859429191092688662[51] = 0.0; + out_6859429191092688662[52] = 0.0; + out_6859429191092688662[53] = 0.0; + out_6859429191092688662[54] = 0.0; + out_6859429191092688662[55] = 0.0; + out_6859429191092688662[56] = 0.0; + out_6859429191092688662[57] = 0.0; + out_6859429191092688662[58] = 0.0; + out_6859429191092688662[59] = 0.0; + out_6859429191092688662[60] = 1.0; + out_6859429191092688662[61] = 0.0; + out_6859429191092688662[62] = 0.0; + out_6859429191092688662[63] = 0.0; + out_6859429191092688662[64] = 0.0; + out_6859429191092688662[65] = 0.0; + out_6859429191092688662[66] = 0.0; + out_6859429191092688662[67] = 0.0; + out_6859429191092688662[68] = 0.0; + out_6859429191092688662[69] = 0.0; + out_6859429191092688662[70] = 1.0; + out_6859429191092688662[71] = 0.0; + out_6859429191092688662[72] = 0.0; + out_6859429191092688662[73] = 0.0; + out_6859429191092688662[74] = 0.0; + out_6859429191092688662[75] = 0.0; + out_6859429191092688662[76] = 0.0; + out_6859429191092688662[77] = 0.0; + out_6859429191092688662[78] = 0.0; + out_6859429191092688662[79] = 0.0; + out_6859429191092688662[80] = 1.0; } -void f_fun(double *state, double dt, double *out_6429621653186063469) { - out_6429621653186063469[0] = state[0]; - out_6429621653186063469[1] = state[1]; - out_6429621653186063469[2] = state[2]; - out_6429621653186063469[3] = state[3]; - out_6429621653186063469[4] = state[4]; - out_6429621653186063469[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_6429621653186063469[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_6429621653186063469[7] = state[7]; - out_6429621653186063469[8] = state[8]; +void f_fun(double *state, double dt, double *out_3400060270232460893) { + out_3400060270232460893[0] = state[0]; + out_3400060270232460893[1] = state[1]; + out_3400060270232460893[2] = state[2]; + out_3400060270232460893[3] = state[3]; + out_3400060270232460893[4] = state[4]; + out_3400060270232460893[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_3400060270232460893[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_3400060270232460893[7] = state[7]; + out_3400060270232460893[8] = state[8]; } -void F_fun(double *state, double dt, double *out_4451613020495234820) { - out_4451613020495234820[0] = 1; - out_4451613020495234820[1] = 0; - out_4451613020495234820[2] = 0; - out_4451613020495234820[3] = 0; - out_4451613020495234820[4] = 0; - out_4451613020495234820[5] = 0; - out_4451613020495234820[6] = 0; - out_4451613020495234820[7] = 0; - out_4451613020495234820[8] = 0; - out_4451613020495234820[9] = 0; - out_4451613020495234820[10] = 1; - out_4451613020495234820[11] = 0; - out_4451613020495234820[12] = 0; - out_4451613020495234820[13] = 0; - out_4451613020495234820[14] = 0; - out_4451613020495234820[15] = 0; - out_4451613020495234820[16] = 0; - out_4451613020495234820[17] = 0; - out_4451613020495234820[18] = 0; - out_4451613020495234820[19] = 0; - out_4451613020495234820[20] = 1; - out_4451613020495234820[21] = 0; - out_4451613020495234820[22] = 0; - out_4451613020495234820[23] = 0; - out_4451613020495234820[24] = 0; - out_4451613020495234820[25] = 0; - out_4451613020495234820[26] = 0; - out_4451613020495234820[27] = 0; - out_4451613020495234820[28] = 0; - out_4451613020495234820[29] = 0; - out_4451613020495234820[30] = 1; - out_4451613020495234820[31] = 0; - out_4451613020495234820[32] = 0; - out_4451613020495234820[33] = 0; - out_4451613020495234820[34] = 0; - out_4451613020495234820[35] = 0; - out_4451613020495234820[36] = 0; - out_4451613020495234820[37] = 0; - out_4451613020495234820[38] = 0; - out_4451613020495234820[39] = 0; - out_4451613020495234820[40] = 1; - out_4451613020495234820[41] = 0; - out_4451613020495234820[42] = 0; - out_4451613020495234820[43] = 0; - out_4451613020495234820[44] = 0; - out_4451613020495234820[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_4451613020495234820[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_4451613020495234820[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4451613020495234820[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4451613020495234820[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_4451613020495234820[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_4451613020495234820[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_4451613020495234820[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_4451613020495234820[53] = -9.8100000000000005*dt; - out_4451613020495234820[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_4451613020495234820[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_4451613020495234820[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4451613020495234820[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4451613020495234820[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_4451613020495234820[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_4451613020495234820[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_4451613020495234820[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4451613020495234820[62] = 0; - out_4451613020495234820[63] = 0; - out_4451613020495234820[64] = 0; - out_4451613020495234820[65] = 0; - out_4451613020495234820[66] = 0; - out_4451613020495234820[67] = 0; - out_4451613020495234820[68] = 0; - out_4451613020495234820[69] = 0; - out_4451613020495234820[70] = 1; - out_4451613020495234820[71] = 0; - out_4451613020495234820[72] = 0; - out_4451613020495234820[73] = 0; - out_4451613020495234820[74] = 0; - out_4451613020495234820[75] = 0; - out_4451613020495234820[76] = 0; - out_4451613020495234820[77] = 0; - out_4451613020495234820[78] = 0; - out_4451613020495234820[79] = 0; - out_4451613020495234820[80] = 1; +void F_fun(double *state, double dt, double *out_6511275578440991802) { + out_6511275578440991802[0] = 1; + out_6511275578440991802[1] = 0; + out_6511275578440991802[2] = 0; + out_6511275578440991802[3] = 0; + out_6511275578440991802[4] = 0; + out_6511275578440991802[5] = 0; + out_6511275578440991802[6] = 0; + out_6511275578440991802[7] = 0; + out_6511275578440991802[8] = 0; + out_6511275578440991802[9] = 0; + out_6511275578440991802[10] = 1; + out_6511275578440991802[11] = 0; + out_6511275578440991802[12] = 0; + out_6511275578440991802[13] = 0; + out_6511275578440991802[14] = 0; + out_6511275578440991802[15] = 0; + out_6511275578440991802[16] = 0; + out_6511275578440991802[17] = 0; + out_6511275578440991802[18] = 0; + out_6511275578440991802[19] = 0; + out_6511275578440991802[20] = 1; + out_6511275578440991802[21] = 0; + out_6511275578440991802[22] = 0; + out_6511275578440991802[23] = 0; + out_6511275578440991802[24] = 0; + out_6511275578440991802[25] = 0; + out_6511275578440991802[26] = 0; + out_6511275578440991802[27] = 0; + out_6511275578440991802[28] = 0; + out_6511275578440991802[29] = 0; + out_6511275578440991802[30] = 1; + out_6511275578440991802[31] = 0; + out_6511275578440991802[32] = 0; + out_6511275578440991802[33] = 0; + out_6511275578440991802[34] = 0; + out_6511275578440991802[35] = 0; + out_6511275578440991802[36] = 0; + out_6511275578440991802[37] = 0; + out_6511275578440991802[38] = 0; + out_6511275578440991802[39] = 0; + out_6511275578440991802[40] = 1; + out_6511275578440991802[41] = 0; + out_6511275578440991802[42] = 0; + out_6511275578440991802[43] = 0; + out_6511275578440991802[44] = 0; + out_6511275578440991802[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_6511275578440991802[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6511275578440991802[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6511275578440991802[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6511275578440991802[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_6511275578440991802[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6511275578440991802[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6511275578440991802[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6511275578440991802[53] = -9.8100000000000005*dt; + out_6511275578440991802[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_6511275578440991802[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6511275578440991802[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6511275578440991802[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6511275578440991802[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_6511275578440991802[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6511275578440991802[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_6511275578440991802[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6511275578440991802[62] = 0; + out_6511275578440991802[63] = 0; + out_6511275578440991802[64] = 0; + out_6511275578440991802[65] = 0; + out_6511275578440991802[66] = 0; + out_6511275578440991802[67] = 0; + out_6511275578440991802[68] = 0; + out_6511275578440991802[69] = 0; + out_6511275578440991802[70] = 1; + out_6511275578440991802[71] = 0; + out_6511275578440991802[72] = 0; + out_6511275578440991802[73] = 0; + out_6511275578440991802[74] = 0; + out_6511275578440991802[75] = 0; + out_6511275578440991802[76] = 0; + out_6511275578440991802[77] = 0; + out_6511275578440991802[78] = 0; + out_6511275578440991802[79] = 0; + out_6511275578440991802[80] = 1; } -void h_25(double *state, double *unused, double *out_5140546513771631716) { - out_5140546513771631716[0] = state[6]; +void h_25(double *state, double *unused, double *out_2633570630840598096) { + out_2633570630840598096[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1930738904278685141) { - out_1930738904278685141[0] = 0; - out_1930738904278685141[1] = 0; - out_1930738904278685141[2] = 0; - out_1930738904278685141[3] = 0; - out_1930738904278685141[4] = 0; - out_1930738904278685141[5] = 0; - out_1930738904278685141[6] = 1; - out_1930738904278685141[7] = 0; - out_1930738904278685141[8] = 0; +void H_25(double *state, double *unused, double *out_2394126656704625717) { + out_2394126656704625717[0] = 0; + out_2394126656704625717[1] = 0; + out_2394126656704625717[2] = 0; + out_2394126656704625717[3] = 0; + out_2394126656704625717[4] = 0; + out_2394126656704625717[5] = 0; + out_2394126656704625717[6] = 1; + out_2394126656704625717[7] = 0; + out_2394126656704625717[8] = 0; } -void h_24(double *state, double *unused, double *out_867003127290538570) { - out_867003127290538570[0] = state[4]; - out_867003127290538570[1] = state[5]; +void h_24(double *state, double *unused, double *out_3094145344632818755) { + out_3094145344632818755[0] = state[4]; + out_3094145344632818755[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4156446688257553703) { - out_4156446688257553703[0] = 0; - out_4156446688257553703[1] = 0; - out_4156446688257553703[2] = 0; - out_4156446688257553703[3] = 0; - out_4156446688257553703[4] = 1; - out_4156446688257553703[5] = 0; - out_4156446688257553703[6] = 0; - out_4156446688257553703[7] = 0; - out_4156446688257553703[8] = 0; - out_4156446688257553703[9] = 0; - out_4156446688257553703[10] = 0; - out_4156446688257553703[11] = 0; - out_4156446688257553703[12] = 0; - out_4156446688257553703[13] = 0; - out_4156446688257553703[14] = 1; - out_4156446688257553703[15] = 0; - out_4156446688257553703[16] = 0; - out_4156446688257553703[17] = 0; +void H_24(double *state, double *unused, double *out_665263537527311648) { + out_665263537527311648[0] = 0; + out_665263537527311648[1] = 0; + out_665263537527311648[2] = 0; + out_665263537527311648[3] = 0; + out_665263537527311648[4] = 1; + out_665263537527311648[5] = 0; + out_665263537527311648[6] = 0; + out_665263537527311648[7] = 0; + out_665263537527311648[8] = 0; + out_665263537527311648[9] = 0; + out_665263537527311648[10] = 0; + out_665263537527311648[11] = 0; + out_665263537527311648[12] = 0; + out_665263537527311648[13] = 0; + out_665263537527311648[14] = 1; + out_665263537527311648[15] = 0; + out_665263537527311648[16] = 0; + out_665263537527311648[17] = 0; } -void h_30(double *state, double *unused, double *out_5297733182122760861) { - out_5297733182122760861[0] = state[4]; +void h_30(double *state, double *unused, double *out_1872662776110252318) { + out_1872662776110252318[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8847429245770301896) { - out_8847429245770301896[0] = 0; - out_8847429245770301896[1] = 0; - out_8847429245770301896[2] = 0; - out_8847429245770301896[3] = 0; - out_8847429245770301896[4] = 1; - out_8847429245770301896[5] = 0; - out_8847429245770301896[6] = 0; - out_8847429245770301896[7] = 0; - out_8847429245770301896[8] = 0; +void H_30(double *state, double *unused, double *out_9135927075513309144) { + out_9135927075513309144[0] = 0; + out_9135927075513309144[1] = 0; + out_9135927075513309144[2] = 0; + out_9135927075513309144[3] = 0; + out_9135927075513309144[4] = 1; + out_9135927075513309144[5] = 0; + out_9135927075513309144[6] = 0; + out_9135927075513309144[7] = 0; + out_9135927075513309144[8] = 0; } -void h_26(double *state, double *unused, double *out_8147337623925945110) { - out_8147337623925945110[0] = state[7]; +void h_26(double *state, double *unused, double *out_2552698139187979215) { + out_2552698139187979215[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1810764414595371083) { - out_1810764414595371083[0] = 0; - out_1810764414595371083[1] = 0; - out_1810764414595371083[2] = 0; - out_1810764414595371083[3] = 0; - out_1810764414595371083[4] = 0; - out_1810764414595371083[5] = 0; - out_1810764414595371083[6] = 0; - out_1810764414595371083[7] = 1; - out_1810764414595371083[8] = 0; +void H_26(double *state, double *unused, double *out_1347376662169430507) { + out_1347376662169430507[0] = 0; + out_1347376662169430507[1] = 0; + out_1347376662169430507[2] = 0; + out_1347376662169430507[3] = 0; + out_1347376662169430507[4] = 0; + out_1347376662169430507[5] = 0; + out_1347376662169430507[6] = 0; + out_1347376662169430507[7] = 1; + out_1347376662169430507[8] = 0; } -void h_27(double *state, double *unused, double *out_217345790508090885) { - out_217345790508090885[0] = state[3]; +void h_27(double *state, double *unused, double *out_8276300501921554931) { + out_8276300501921554931[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6672665933969876985) { - out_6672665933969876985[0] = 0; - out_6672665933969876985[1] = 0; - out_6672665933969876985[2] = 0; - out_6672665933969876985[3] = 1; - out_6672665933969876985[4] = 0; - out_6672665933969876985[5] = 0; - out_6672665933969876985[6] = 0; - out_6672665933969876985[7] = 0; - out_6672665933969876985[8] = 0; +void H_27(double *state, double *unused, double *out_7136053686395817561) { + out_7136053686395817561[0] = 0; + out_7136053686395817561[1] = 0; + out_7136053686395817561[2] = 0; + out_7136053686395817561[3] = 1; + out_7136053686395817561[4] = 0; + out_7136053686395817561[5] = 0; + out_7136053686395817561[6] = 0; + out_7136053686395817561[7] = 0; + out_7136053686395817561[8] = 0; } -void h_29(double *state, double *unused, double *out_675547152666652547) { - out_675547152666652547[0] = state[1]; +void h_29(double *state, double *unused, double *out_6874336043771097963) { + out_6874336043771097963[0] = state[1]; } -void H_29(double *state, double *unused, double *out_9089083483624857536) { - out_9089083483624857536[0] = 0; - out_9089083483624857536[1] = 1; - out_9089083483624857536[2] = 0; - out_9089083483624857536[3] = 0; - out_9089083483624857536[4] = 0; - out_9089083483624857536[5] = 0; - out_9089083483624857536[6] = 0; - out_9089083483624857536[7] = 0; - out_9089083483624857536[8] = 0; +void H_29(double *state, double *unused, double *out_8625695731198916960) { + out_8625695731198916960[0] = 0; + out_8625695731198916960[1] = 1; + out_8625695731198916960[2] = 0; + out_8625695731198916960[3] = 0; + out_8625695731198916960[4] = 0; + out_8625695731198916960[5] = 0; + out_8625695731198916960[6] = 0; + out_8625695731198916960[7] = 0; + out_8625695731198916960[8] = 0; } -void h_28(double *state, double *unused, double *out_4927544272607556652) { - out_4927544272607556652[0] = state[0]; +void h_28(double *state, double *unused, double *out_1452606651919304359) { + out_1452606651919304359[0] = state[0]; } -void H_28(double *state, double *unused, double *out_123095809969204622) { - out_123095809969204622[0] = 1; - out_123095809969204622[1] = 0; - out_123095809969204622[2] = 0; - out_123095809969204622[3] = 0; - out_123095809969204622[4] = 0; - out_123095809969204622[5] = 0; - out_123095809969204622[6] = 0; - out_123095809969204622[7] = 0; - out_123095809969204622[8] = 0; +void H_28(double *state, double *unused, double *out_340291942456735954) { + out_340291942456735954[0] = 1; + out_340291942456735954[1] = 0; + out_340291942456735954[2] = 0; + out_340291942456735954[3] = 0; + out_340291942456735954[4] = 0; + out_340291942456735954[5] = 0; + out_340291942456735954[6] = 0; + out_340291942456735954[7] = 0; + out_340291942456735954[8] = 0; } -void h_31(double *state, double *unused, double *out_2544246198651735911) { - out_2544246198651735911[0] = state[8]; +void h_31(double *state, double *unused, double *out_4557978482014913700) { + out_4557978482014913700[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1961384866155645569) { - out_1961384866155645569[0] = 0; - out_1961384866155645569[1] = 0; - out_1961384866155645569[2] = 0; - out_1961384866155645569[3] = 0; - out_1961384866155645569[4] = 0; - out_1961384866155645569[5] = 0; - out_1961384866155645569[6] = 0; - out_1961384866155645569[7] = 0; - out_1961384866155645569[8] = 1; +void H_31(double *state, double *unused, double *out_2424772618581586145) { + out_2424772618581586145[0] = 0; + out_2424772618581586145[1] = 0; + out_2424772618581586145[2] = 0; + out_2424772618581586145[3] = 0; + out_2424772618581586145[4] = 0; + out_2424772618581586145[5] = 0; + out_2424772618581586145[6] = 0; + out_2424772618581586145[7] = 0; + out_2424772618581586145[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_1982741958495934934) { - err_fun(nom_x, delta_x, out_1982741958495934934); +void car_err_fun(double *nom_x, double *delta_x, double *out_7311248151803822396) { + err_fun(nom_x, delta_x, out_7311248151803822396); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805) { - inv_err_fun(nom_x, true_x, out_1965858196176103805); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501) { + inv_err_fun(nom_x, true_x, out_5602719869542378501); } -void car_H_mod_fun(double *state, double *out_7322816943518629238) { - H_mod_fun(state, out_7322816943518629238); +void car_H_mod_fun(double *state, double *out_6859429191092688662) { + H_mod_fun(state, out_6859429191092688662); } -void car_f_fun(double *state, double dt, double *out_6429621653186063469) { - f_fun(state, dt, out_6429621653186063469); +void car_f_fun(double *state, double dt, double *out_3400060270232460893) { + f_fun(state, dt, out_3400060270232460893); } -void car_F_fun(double *state, double dt, double *out_4451613020495234820) { - F_fun(state, dt, out_4451613020495234820); +void car_F_fun(double *state, double dt, double *out_6511275578440991802) { + F_fun(state, dt, out_6511275578440991802); } -void car_h_25(double *state, double *unused, double *out_5140546513771631716) { - h_25(state, unused, out_5140546513771631716); +void car_h_25(double *state, double *unused, double *out_2633570630840598096) { + h_25(state, unused, out_2633570630840598096); } -void car_H_25(double *state, double *unused, double *out_1930738904278685141) { - H_25(state, unused, out_1930738904278685141); +void car_H_25(double *state, double *unused, double *out_2394126656704625717) { + H_25(state, unused, out_2394126656704625717); } -void car_h_24(double *state, double *unused, double *out_867003127290538570) { - h_24(state, unused, out_867003127290538570); +void car_h_24(double *state, double *unused, double *out_3094145344632818755) { + h_24(state, unused, out_3094145344632818755); } -void car_H_24(double *state, double *unused, double *out_4156446688257553703) { - H_24(state, unused, out_4156446688257553703); +void car_H_24(double *state, double *unused, double *out_665263537527311648) { + H_24(state, unused, out_665263537527311648); } -void car_h_30(double *state, double *unused, double *out_5297733182122760861) { - h_30(state, unused, out_5297733182122760861); +void car_h_30(double *state, double *unused, double *out_1872662776110252318) { + h_30(state, unused, out_1872662776110252318); } -void car_H_30(double *state, double *unused, double *out_8847429245770301896) { - H_30(state, unused, out_8847429245770301896); +void car_H_30(double *state, double *unused, double *out_9135927075513309144) { + H_30(state, unused, out_9135927075513309144); } -void car_h_26(double *state, double *unused, double *out_8147337623925945110) { - h_26(state, unused, out_8147337623925945110); +void car_h_26(double *state, double *unused, double *out_2552698139187979215) { + h_26(state, unused, out_2552698139187979215); } -void car_H_26(double *state, double *unused, double *out_1810764414595371083) { - H_26(state, unused, out_1810764414595371083); +void car_H_26(double *state, double *unused, double *out_1347376662169430507) { + H_26(state, unused, out_1347376662169430507); } -void car_h_27(double *state, double *unused, double *out_217345790508090885) { - h_27(state, unused, out_217345790508090885); +void car_h_27(double *state, double *unused, double *out_8276300501921554931) { + h_27(state, unused, out_8276300501921554931); } -void car_H_27(double *state, double *unused, double *out_6672665933969876985) { - H_27(state, unused, out_6672665933969876985); +void car_H_27(double *state, double *unused, double *out_7136053686395817561) { + H_27(state, unused, out_7136053686395817561); } -void car_h_29(double *state, double *unused, double *out_675547152666652547) { - h_29(state, unused, out_675547152666652547); +void car_h_29(double *state, double *unused, double *out_6874336043771097963) { + h_29(state, unused, out_6874336043771097963); } -void car_H_29(double *state, double *unused, double *out_9089083483624857536) { - H_29(state, unused, out_9089083483624857536); +void car_H_29(double *state, double *unused, double *out_8625695731198916960) { + H_29(state, unused, out_8625695731198916960); } -void car_h_28(double *state, double *unused, double *out_4927544272607556652) { - h_28(state, unused, out_4927544272607556652); +void car_h_28(double *state, double *unused, double *out_1452606651919304359) { + h_28(state, unused, out_1452606651919304359); } -void car_H_28(double *state, double *unused, double *out_123095809969204622) { - H_28(state, unused, out_123095809969204622); +void car_H_28(double *state, double *unused, double *out_340291942456735954) { + H_28(state, unused, out_340291942456735954); } -void car_h_31(double *state, double *unused, double *out_2544246198651735911) { - h_31(state, unused, out_2544246198651735911); +void car_h_31(double *state, double *unused, double *out_4557978482014913700) { + h_31(state, unused, out_4557978482014913700); } -void car_H_31(double *state, double *unused, double *out_1961384866155645569) { - H_31(state, unused, out_1961384866155645569); +void car_H_31(double *state, double *unused, double *out_2424772618581586145) { + H_31(state, unused, out_2424772618581586145); } 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 c2cc266dc..80b4e0cd1 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_1982741958495934934); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805); -void car_H_mod_fun(double *state, double *out_7322816943518629238); -void car_f_fun(double *state, double dt, double *out_6429621653186063469); -void car_F_fun(double *state, double dt, double *out_4451613020495234820); -void car_h_25(double *state, double *unused, double *out_5140546513771631716); -void car_H_25(double *state, double *unused, double *out_1930738904278685141); -void car_h_24(double *state, double *unused, double *out_867003127290538570); -void car_H_24(double *state, double *unused, double *out_4156446688257553703); -void car_h_30(double *state, double *unused, double *out_5297733182122760861); -void car_H_30(double *state, double *unused, double *out_8847429245770301896); -void car_h_26(double *state, double *unused, double *out_8147337623925945110); -void car_H_26(double *state, double *unused, double *out_1810764414595371083); -void car_h_27(double *state, double *unused, double *out_217345790508090885); -void car_H_27(double *state, double *unused, double *out_6672665933969876985); -void car_h_29(double *state, double *unused, double *out_675547152666652547); -void car_H_29(double *state, double *unused, double *out_9089083483624857536); -void car_h_28(double *state, double *unused, double *out_4927544272607556652); -void car_H_28(double *state, double *unused, double *out_123095809969204622); -void car_h_31(double *state, double *unused, double *out_2544246198651735911); -void car_H_31(double *state, double *unused, double *out_1961384866155645569); +void car_err_fun(double *nom_x, double *delta_x, double *out_7311248151803822396); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501); +void car_H_mod_fun(double *state, double *out_6859429191092688662); +void car_f_fun(double *state, double dt, double *out_3400060270232460893); +void car_F_fun(double *state, double dt, double *out_6511275578440991802); +void car_h_25(double *state, double *unused, double *out_2633570630840598096); +void car_H_25(double *state, double *unused, double *out_2394126656704625717); +void car_h_24(double *state, double *unused, double *out_3094145344632818755); +void car_H_24(double *state, double *unused, double *out_665263537527311648); +void car_h_30(double *state, double *unused, double *out_1872662776110252318); +void car_H_30(double *state, double *unused, double *out_9135927075513309144); +void car_h_26(double *state, double *unused, double *out_2552698139187979215); +void car_H_26(double *state, double *unused, double *out_1347376662169430507); +void car_h_27(double *state, double *unused, double *out_8276300501921554931); +void car_H_27(double *state, double *unused, double *out_7136053686395817561); +void car_h_29(double *state, double *unused, double *out_6874336043771097963); +void car_H_29(double *state, double *unused, double *out_8625695731198916960); +void car_h_28(double *state, double *unused, double *out_1452606651919304359); +void car_H_28(double *state, double *unused, double *out_340291942456735954); +void car_h_31(double *state, double *unused, double *out_4557978482014913700); +void car_H_31(double *state, double *unused, double *out_2424772618581586145); 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 b9f42ff6a..30ae4c741 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_3122087598286484509) { - out_3122087598286484509[0] = delta_x[0] + nom_x[0]; - out_3122087598286484509[1] = delta_x[1] + nom_x[1]; - out_3122087598286484509[2] = delta_x[2] + nom_x[2]; - out_3122087598286484509[3] = delta_x[3] + nom_x[3]; - out_3122087598286484509[4] = delta_x[4] + nom_x[4]; - out_3122087598286484509[5] = delta_x[5] + nom_x[5]; - out_3122087598286484509[6] = delta_x[6] + nom_x[6]; - out_3122087598286484509[7] = delta_x[7] + nom_x[7]; - out_3122087598286484509[8] = delta_x[8] + nom_x[8]; - out_3122087598286484509[9] = delta_x[9] + nom_x[9]; - out_3122087598286484509[10] = delta_x[10] + nom_x[10]; - out_3122087598286484509[11] = delta_x[11] + nom_x[11]; - out_3122087598286484509[12] = delta_x[12] + nom_x[12]; - out_3122087598286484509[13] = delta_x[13] + nom_x[13]; - out_3122087598286484509[14] = delta_x[14] + nom_x[14]; - out_3122087598286484509[15] = delta_x[15] + nom_x[15]; - out_3122087598286484509[16] = delta_x[16] + nom_x[16]; - out_3122087598286484509[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2665641701635233151) { + out_2665641701635233151[0] = delta_x[0] + nom_x[0]; + out_2665641701635233151[1] = delta_x[1] + nom_x[1]; + out_2665641701635233151[2] = delta_x[2] + nom_x[2]; + out_2665641701635233151[3] = delta_x[3] + nom_x[3]; + out_2665641701635233151[4] = delta_x[4] + nom_x[4]; + out_2665641701635233151[5] = delta_x[5] + nom_x[5]; + out_2665641701635233151[6] = delta_x[6] + nom_x[6]; + out_2665641701635233151[7] = delta_x[7] + nom_x[7]; + out_2665641701635233151[8] = delta_x[8] + nom_x[8]; + out_2665641701635233151[9] = delta_x[9] + nom_x[9]; + out_2665641701635233151[10] = delta_x[10] + nom_x[10]; + out_2665641701635233151[11] = delta_x[11] + nom_x[11]; + out_2665641701635233151[12] = delta_x[12] + nom_x[12]; + out_2665641701635233151[13] = delta_x[13] + nom_x[13]; + out_2665641701635233151[14] = delta_x[14] + nom_x[14]; + out_2665641701635233151[15] = delta_x[15] + nom_x[15]; + out_2665641701635233151[16] = delta_x[16] + nom_x[16]; + out_2665641701635233151[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6671609920081726507) { - out_6671609920081726507[0] = -nom_x[0] + true_x[0]; - out_6671609920081726507[1] = -nom_x[1] + true_x[1]; - out_6671609920081726507[2] = -nom_x[2] + true_x[2]; - out_6671609920081726507[3] = -nom_x[3] + true_x[3]; - out_6671609920081726507[4] = -nom_x[4] + true_x[4]; - out_6671609920081726507[5] = -nom_x[5] + true_x[5]; - out_6671609920081726507[6] = -nom_x[6] + true_x[6]; - out_6671609920081726507[7] = -nom_x[7] + true_x[7]; - out_6671609920081726507[8] = -nom_x[8] + true_x[8]; - out_6671609920081726507[9] = -nom_x[9] + true_x[9]; - out_6671609920081726507[10] = -nom_x[10] + true_x[10]; - out_6671609920081726507[11] = -nom_x[11] + true_x[11]; - out_6671609920081726507[12] = -nom_x[12] + true_x[12]; - out_6671609920081726507[13] = -nom_x[13] + true_x[13]; - out_6671609920081726507[14] = -nom_x[14] + true_x[14]; - out_6671609920081726507[15] = -nom_x[15] + true_x[15]; - out_6671609920081726507[16] = -nom_x[16] + true_x[16]; - out_6671609920081726507[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8375727440013270020) { + out_8375727440013270020[0] = -nom_x[0] + true_x[0]; + out_8375727440013270020[1] = -nom_x[1] + true_x[1]; + out_8375727440013270020[2] = -nom_x[2] + true_x[2]; + out_8375727440013270020[3] = -nom_x[3] + true_x[3]; + out_8375727440013270020[4] = -nom_x[4] + true_x[4]; + out_8375727440013270020[5] = -nom_x[5] + true_x[5]; + out_8375727440013270020[6] = -nom_x[6] + true_x[6]; + out_8375727440013270020[7] = -nom_x[7] + true_x[7]; + out_8375727440013270020[8] = -nom_x[8] + true_x[8]; + out_8375727440013270020[9] = -nom_x[9] + true_x[9]; + out_8375727440013270020[10] = -nom_x[10] + true_x[10]; + out_8375727440013270020[11] = -nom_x[11] + true_x[11]; + out_8375727440013270020[12] = -nom_x[12] + true_x[12]; + out_8375727440013270020[13] = -nom_x[13] + true_x[13]; + out_8375727440013270020[14] = -nom_x[14] + true_x[14]; + out_8375727440013270020[15] = -nom_x[15] + true_x[15]; + out_8375727440013270020[16] = -nom_x[16] + true_x[16]; + out_8375727440013270020[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_6807142630278803635) { - out_6807142630278803635[0] = 1.0; - out_6807142630278803635[1] = 0.0; - out_6807142630278803635[2] = 0.0; - out_6807142630278803635[3] = 0.0; - out_6807142630278803635[4] = 0.0; - out_6807142630278803635[5] = 0.0; - out_6807142630278803635[6] = 0.0; - out_6807142630278803635[7] = 0.0; - out_6807142630278803635[8] = 0.0; - out_6807142630278803635[9] = 0.0; - out_6807142630278803635[10] = 0.0; - out_6807142630278803635[11] = 0.0; - out_6807142630278803635[12] = 0.0; - out_6807142630278803635[13] = 0.0; - out_6807142630278803635[14] = 0.0; - out_6807142630278803635[15] = 0.0; - out_6807142630278803635[16] = 0.0; - out_6807142630278803635[17] = 0.0; - out_6807142630278803635[18] = 0.0; - out_6807142630278803635[19] = 1.0; - out_6807142630278803635[20] = 0.0; - out_6807142630278803635[21] = 0.0; - out_6807142630278803635[22] = 0.0; - out_6807142630278803635[23] = 0.0; - out_6807142630278803635[24] = 0.0; - out_6807142630278803635[25] = 0.0; - out_6807142630278803635[26] = 0.0; - out_6807142630278803635[27] = 0.0; - out_6807142630278803635[28] = 0.0; - out_6807142630278803635[29] = 0.0; - out_6807142630278803635[30] = 0.0; - out_6807142630278803635[31] = 0.0; - out_6807142630278803635[32] = 0.0; - out_6807142630278803635[33] = 0.0; - out_6807142630278803635[34] = 0.0; - out_6807142630278803635[35] = 0.0; - out_6807142630278803635[36] = 0.0; - out_6807142630278803635[37] = 0.0; - out_6807142630278803635[38] = 1.0; - out_6807142630278803635[39] = 0.0; - out_6807142630278803635[40] = 0.0; - out_6807142630278803635[41] = 0.0; - out_6807142630278803635[42] = 0.0; - out_6807142630278803635[43] = 0.0; - out_6807142630278803635[44] = 0.0; - out_6807142630278803635[45] = 0.0; - out_6807142630278803635[46] = 0.0; - out_6807142630278803635[47] = 0.0; - out_6807142630278803635[48] = 0.0; - out_6807142630278803635[49] = 0.0; - out_6807142630278803635[50] = 0.0; - out_6807142630278803635[51] = 0.0; - out_6807142630278803635[52] = 0.0; - out_6807142630278803635[53] = 0.0; - out_6807142630278803635[54] = 0.0; - out_6807142630278803635[55] = 0.0; - out_6807142630278803635[56] = 0.0; - out_6807142630278803635[57] = 1.0; - out_6807142630278803635[58] = 0.0; - out_6807142630278803635[59] = 0.0; - out_6807142630278803635[60] = 0.0; - out_6807142630278803635[61] = 0.0; - out_6807142630278803635[62] = 0.0; - out_6807142630278803635[63] = 0.0; - out_6807142630278803635[64] = 0.0; - out_6807142630278803635[65] = 0.0; - out_6807142630278803635[66] = 0.0; - out_6807142630278803635[67] = 0.0; - out_6807142630278803635[68] = 0.0; - out_6807142630278803635[69] = 0.0; - out_6807142630278803635[70] = 0.0; - out_6807142630278803635[71] = 0.0; - out_6807142630278803635[72] = 0.0; - out_6807142630278803635[73] = 0.0; - out_6807142630278803635[74] = 0.0; - out_6807142630278803635[75] = 0.0; - out_6807142630278803635[76] = 1.0; - out_6807142630278803635[77] = 0.0; - out_6807142630278803635[78] = 0.0; - out_6807142630278803635[79] = 0.0; - out_6807142630278803635[80] = 0.0; - out_6807142630278803635[81] = 0.0; - out_6807142630278803635[82] = 0.0; - out_6807142630278803635[83] = 0.0; - out_6807142630278803635[84] = 0.0; - out_6807142630278803635[85] = 0.0; - out_6807142630278803635[86] = 0.0; - out_6807142630278803635[87] = 0.0; - out_6807142630278803635[88] = 0.0; - out_6807142630278803635[89] = 0.0; - out_6807142630278803635[90] = 0.0; - out_6807142630278803635[91] = 0.0; - out_6807142630278803635[92] = 0.0; - out_6807142630278803635[93] = 0.0; - out_6807142630278803635[94] = 0.0; - out_6807142630278803635[95] = 1.0; - out_6807142630278803635[96] = 0.0; - out_6807142630278803635[97] = 0.0; - out_6807142630278803635[98] = 0.0; - out_6807142630278803635[99] = 0.0; - out_6807142630278803635[100] = 0.0; - out_6807142630278803635[101] = 0.0; - out_6807142630278803635[102] = 0.0; - out_6807142630278803635[103] = 0.0; - out_6807142630278803635[104] = 0.0; - out_6807142630278803635[105] = 0.0; - out_6807142630278803635[106] = 0.0; - out_6807142630278803635[107] = 0.0; - out_6807142630278803635[108] = 0.0; - out_6807142630278803635[109] = 0.0; - out_6807142630278803635[110] = 0.0; - out_6807142630278803635[111] = 0.0; - out_6807142630278803635[112] = 0.0; - out_6807142630278803635[113] = 0.0; - out_6807142630278803635[114] = 1.0; - out_6807142630278803635[115] = 0.0; - out_6807142630278803635[116] = 0.0; - out_6807142630278803635[117] = 0.0; - out_6807142630278803635[118] = 0.0; - out_6807142630278803635[119] = 0.0; - out_6807142630278803635[120] = 0.0; - out_6807142630278803635[121] = 0.0; - out_6807142630278803635[122] = 0.0; - out_6807142630278803635[123] = 0.0; - out_6807142630278803635[124] = 0.0; - out_6807142630278803635[125] = 0.0; - out_6807142630278803635[126] = 0.0; - out_6807142630278803635[127] = 0.0; - out_6807142630278803635[128] = 0.0; - out_6807142630278803635[129] = 0.0; - out_6807142630278803635[130] = 0.0; - out_6807142630278803635[131] = 0.0; - out_6807142630278803635[132] = 0.0; - out_6807142630278803635[133] = 1.0; - out_6807142630278803635[134] = 0.0; - out_6807142630278803635[135] = 0.0; - out_6807142630278803635[136] = 0.0; - out_6807142630278803635[137] = 0.0; - out_6807142630278803635[138] = 0.0; - out_6807142630278803635[139] = 0.0; - out_6807142630278803635[140] = 0.0; - out_6807142630278803635[141] = 0.0; - out_6807142630278803635[142] = 0.0; - out_6807142630278803635[143] = 0.0; - out_6807142630278803635[144] = 0.0; - out_6807142630278803635[145] = 0.0; - out_6807142630278803635[146] = 0.0; - out_6807142630278803635[147] = 0.0; - out_6807142630278803635[148] = 0.0; - out_6807142630278803635[149] = 0.0; - out_6807142630278803635[150] = 0.0; - out_6807142630278803635[151] = 0.0; - out_6807142630278803635[152] = 1.0; - out_6807142630278803635[153] = 0.0; - out_6807142630278803635[154] = 0.0; - out_6807142630278803635[155] = 0.0; - out_6807142630278803635[156] = 0.0; - out_6807142630278803635[157] = 0.0; - out_6807142630278803635[158] = 0.0; - out_6807142630278803635[159] = 0.0; - out_6807142630278803635[160] = 0.0; - out_6807142630278803635[161] = 0.0; - out_6807142630278803635[162] = 0.0; - out_6807142630278803635[163] = 0.0; - out_6807142630278803635[164] = 0.0; - out_6807142630278803635[165] = 0.0; - out_6807142630278803635[166] = 0.0; - out_6807142630278803635[167] = 0.0; - out_6807142630278803635[168] = 0.0; - out_6807142630278803635[169] = 0.0; - out_6807142630278803635[170] = 0.0; - out_6807142630278803635[171] = 1.0; - out_6807142630278803635[172] = 0.0; - out_6807142630278803635[173] = 0.0; - out_6807142630278803635[174] = 0.0; - out_6807142630278803635[175] = 0.0; - out_6807142630278803635[176] = 0.0; - out_6807142630278803635[177] = 0.0; - out_6807142630278803635[178] = 0.0; - out_6807142630278803635[179] = 0.0; - out_6807142630278803635[180] = 0.0; - out_6807142630278803635[181] = 0.0; - out_6807142630278803635[182] = 0.0; - out_6807142630278803635[183] = 0.0; - out_6807142630278803635[184] = 0.0; - out_6807142630278803635[185] = 0.0; - out_6807142630278803635[186] = 0.0; - out_6807142630278803635[187] = 0.0; - out_6807142630278803635[188] = 0.0; - out_6807142630278803635[189] = 0.0; - out_6807142630278803635[190] = 1.0; - out_6807142630278803635[191] = 0.0; - out_6807142630278803635[192] = 0.0; - out_6807142630278803635[193] = 0.0; - out_6807142630278803635[194] = 0.0; - out_6807142630278803635[195] = 0.0; - out_6807142630278803635[196] = 0.0; - out_6807142630278803635[197] = 0.0; - out_6807142630278803635[198] = 0.0; - out_6807142630278803635[199] = 0.0; - out_6807142630278803635[200] = 0.0; - out_6807142630278803635[201] = 0.0; - out_6807142630278803635[202] = 0.0; - out_6807142630278803635[203] = 0.0; - out_6807142630278803635[204] = 0.0; - out_6807142630278803635[205] = 0.0; - out_6807142630278803635[206] = 0.0; - out_6807142630278803635[207] = 0.0; - out_6807142630278803635[208] = 0.0; - out_6807142630278803635[209] = 1.0; - out_6807142630278803635[210] = 0.0; - out_6807142630278803635[211] = 0.0; - out_6807142630278803635[212] = 0.0; - out_6807142630278803635[213] = 0.0; - out_6807142630278803635[214] = 0.0; - out_6807142630278803635[215] = 0.0; - out_6807142630278803635[216] = 0.0; - out_6807142630278803635[217] = 0.0; - out_6807142630278803635[218] = 0.0; - out_6807142630278803635[219] = 0.0; - out_6807142630278803635[220] = 0.0; - out_6807142630278803635[221] = 0.0; - out_6807142630278803635[222] = 0.0; - out_6807142630278803635[223] = 0.0; - out_6807142630278803635[224] = 0.0; - out_6807142630278803635[225] = 0.0; - out_6807142630278803635[226] = 0.0; - out_6807142630278803635[227] = 0.0; - out_6807142630278803635[228] = 1.0; - out_6807142630278803635[229] = 0.0; - out_6807142630278803635[230] = 0.0; - out_6807142630278803635[231] = 0.0; - out_6807142630278803635[232] = 0.0; - out_6807142630278803635[233] = 0.0; - out_6807142630278803635[234] = 0.0; - out_6807142630278803635[235] = 0.0; - out_6807142630278803635[236] = 0.0; - out_6807142630278803635[237] = 0.0; - out_6807142630278803635[238] = 0.0; - out_6807142630278803635[239] = 0.0; - out_6807142630278803635[240] = 0.0; - out_6807142630278803635[241] = 0.0; - out_6807142630278803635[242] = 0.0; - out_6807142630278803635[243] = 0.0; - out_6807142630278803635[244] = 0.0; - out_6807142630278803635[245] = 0.0; - out_6807142630278803635[246] = 0.0; - out_6807142630278803635[247] = 1.0; - out_6807142630278803635[248] = 0.0; - out_6807142630278803635[249] = 0.0; - out_6807142630278803635[250] = 0.0; - out_6807142630278803635[251] = 0.0; - out_6807142630278803635[252] = 0.0; - out_6807142630278803635[253] = 0.0; - out_6807142630278803635[254] = 0.0; - out_6807142630278803635[255] = 0.0; - out_6807142630278803635[256] = 0.0; - out_6807142630278803635[257] = 0.0; - out_6807142630278803635[258] = 0.0; - out_6807142630278803635[259] = 0.0; - out_6807142630278803635[260] = 0.0; - out_6807142630278803635[261] = 0.0; - out_6807142630278803635[262] = 0.0; - out_6807142630278803635[263] = 0.0; - out_6807142630278803635[264] = 0.0; - out_6807142630278803635[265] = 0.0; - out_6807142630278803635[266] = 1.0; - out_6807142630278803635[267] = 0.0; - out_6807142630278803635[268] = 0.0; - out_6807142630278803635[269] = 0.0; - out_6807142630278803635[270] = 0.0; - out_6807142630278803635[271] = 0.0; - out_6807142630278803635[272] = 0.0; - out_6807142630278803635[273] = 0.0; - out_6807142630278803635[274] = 0.0; - out_6807142630278803635[275] = 0.0; - out_6807142630278803635[276] = 0.0; - out_6807142630278803635[277] = 0.0; - out_6807142630278803635[278] = 0.0; - out_6807142630278803635[279] = 0.0; - out_6807142630278803635[280] = 0.0; - out_6807142630278803635[281] = 0.0; - out_6807142630278803635[282] = 0.0; - out_6807142630278803635[283] = 0.0; - out_6807142630278803635[284] = 0.0; - out_6807142630278803635[285] = 1.0; - out_6807142630278803635[286] = 0.0; - out_6807142630278803635[287] = 0.0; - out_6807142630278803635[288] = 0.0; - out_6807142630278803635[289] = 0.0; - out_6807142630278803635[290] = 0.0; - out_6807142630278803635[291] = 0.0; - out_6807142630278803635[292] = 0.0; - out_6807142630278803635[293] = 0.0; - out_6807142630278803635[294] = 0.0; - out_6807142630278803635[295] = 0.0; - out_6807142630278803635[296] = 0.0; - out_6807142630278803635[297] = 0.0; - out_6807142630278803635[298] = 0.0; - out_6807142630278803635[299] = 0.0; - out_6807142630278803635[300] = 0.0; - out_6807142630278803635[301] = 0.0; - out_6807142630278803635[302] = 0.0; - out_6807142630278803635[303] = 0.0; - out_6807142630278803635[304] = 1.0; - out_6807142630278803635[305] = 0.0; - out_6807142630278803635[306] = 0.0; - out_6807142630278803635[307] = 0.0; - out_6807142630278803635[308] = 0.0; - out_6807142630278803635[309] = 0.0; - out_6807142630278803635[310] = 0.0; - out_6807142630278803635[311] = 0.0; - out_6807142630278803635[312] = 0.0; - out_6807142630278803635[313] = 0.0; - out_6807142630278803635[314] = 0.0; - out_6807142630278803635[315] = 0.0; - out_6807142630278803635[316] = 0.0; - out_6807142630278803635[317] = 0.0; - out_6807142630278803635[318] = 0.0; - out_6807142630278803635[319] = 0.0; - out_6807142630278803635[320] = 0.0; - out_6807142630278803635[321] = 0.0; - out_6807142630278803635[322] = 0.0; - out_6807142630278803635[323] = 1.0; +void H_mod_fun(double *state, double *out_6067255468928274013) { + out_6067255468928274013[0] = 1.0; + out_6067255468928274013[1] = 0.0; + out_6067255468928274013[2] = 0.0; + out_6067255468928274013[3] = 0.0; + out_6067255468928274013[4] = 0.0; + out_6067255468928274013[5] = 0.0; + out_6067255468928274013[6] = 0.0; + out_6067255468928274013[7] = 0.0; + out_6067255468928274013[8] = 0.0; + out_6067255468928274013[9] = 0.0; + out_6067255468928274013[10] = 0.0; + out_6067255468928274013[11] = 0.0; + out_6067255468928274013[12] = 0.0; + out_6067255468928274013[13] = 0.0; + out_6067255468928274013[14] = 0.0; + out_6067255468928274013[15] = 0.0; + out_6067255468928274013[16] = 0.0; + out_6067255468928274013[17] = 0.0; + out_6067255468928274013[18] = 0.0; + out_6067255468928274013[19] = 1.0; + out_6067255468928274013[20] = 0.0; + out_6067255468928274013[21] = 0.0; + out_6067255468928274013[22] = 0.0; + out_6067255468928274013[23] = 0.0; + out_6067255468928274013[24] = 0.0; + out_6067255468928274013[25] = 0.0; + out_6067255468928274013[26] = 0.0; + out_6067255468928274013[27] = 0.0; + out_6067255468928274013[28] = 0.0; + out_6067255468928274013[29] = 0.0; + out_6067255468928274013[30] = 0.0; + out_6067255468928274013[31] = 0.0; + out_6067255468928274013[32] = 0.0; + out_6067255468928274013[33] = 0.0; + out_6067255468928274013[34] = 0.0; + out_6067255468928274013[35] = 0.0; + out_6067255468928274013[36] = 0.0; + out_6067255468928274013[37] = 0.0; + out_6067255468928274013[38] = 1.0; + out_6067255468928274013[39] = 0.0; + out_6067255468928274013[40] = 0.0; + out_6067255468928274013[41] = 0.0; + out_6067255468928274013[42] = 0.0; + out_6067255468928274013[43] = 0.0; + out_6067255468928274013[44] = 0.0; + out_6067255468928274013[45] = 0.0; + out_6067255468928274013[46] = 0.0; + out_6067255468928274013[47] = 0.0; + out_6067255468928274013[48] = 0.0; + out_6067255468928274013[49] = 0.0; + out_6067255468928274013[50] = 0.0; + out_6067255468928274013[51] = 0.0; + out_6067255468928274013[52] = 0.0; + out_6067255468928274013[53] = 0.0; + out_6067255468928274013[54] = 0.0; + out_6067255468928274013[55] = 0.0; + out_6067255468928274013[56] = 0.0; + out_6067255468928274013[57] = 1.0; + out_6067255468928274013[58] = 0.0; + out_6067255468928274013[59] = 0.0; + out_6067255468928274013[60] = 0.0; + out_6067255468928274013[61] = 0.0; + out_6067255468928274013[62] = 0.0; + out_6067255468928274013[63] = 0.0; + out_6067255468928274013[64] = 0.0; + out_6067255468928274013[65] = 0.0; + out_6067255468928274013[66] = 0.0; + out_6067255468928274013[67] = 0.0; + out_6067255468928274013[68] = 0.0; + out_6067255468928274013[69] = 0.0; + out_6067255468928274013[70] = 0.0; + out_6067255468928274013[71] = 0.0; + out_6067255468928274013[72] = 0.0; + out_6067255468928274013[73] = 0.0; + out_6067255468928274013[74] = 0.0; + out_6067255468928274013[75] = 0.0; + out_6067255468928274013[76] = 1.0; + out_6067255468928274013[77] = 0.0; + out_6067255468928274013[78] = 0.0; + out_6067255468928274013[79] = 0.0; + out_6067255468928274013[80] = 0.0; + out_6067255468928274013[81] = 0.0; + out_6067255468928274013[82] = 0.0; + out_6067255468928274013[83] = 0.0; + out_6067255468928274013[84] = 0.0; + out_6067255468928274013[85] = 0.0; + out_6067255468928274013[86] = 0.0; + out_6067255468928274013[87] = 0.0; + out_6067255468928274013[88] = 0.0; + out_6067255468928274013[89] = 0.0; + out_6067255468928274013[90] = 0.0; + out_6067255468928274013[91] = 0.0; + out_6067255468928274013[92] = 0.0; + out_6067255468928274013[93] = 0.0; + out_6067255468928274013[94] = 0.0; + out_6067255468928274013[95] = 1.0; + out_6067255468928274013[96] = 0.0; + out_6067255468928274013[97] = 0.0; + out_6067255468928274013[98] = 0.0; + out_6067255468928274013[99] = 0.0; + out_6067255468928274013[100] = 0.0; + out_6067255468928274013[101] = 0.0; + out_6067255468928274013[102] = 0.0; + out_6067255468928274013[103] = 0.0; + out_6067255468928274013[104] = 0.0; + out_6067255468928274013[105] = 0.0; + out_6067255468928274013[106] = 0.0; + out_6067255468928274013[107] = 0.0; + out_6067255468928274013[108] = 0.0; + out_6067255468928274013[109] = 0.0; + out_6067255468928274013[110] = 0.0; + out_6067255468928274013[111] = 0.0; + out_6067255468928274013[112] = 0.0; + out_6067255468928274013[113] = 0.0; + out_6067255468928274013[114] = 1.0; + out_6067255468928274013[115] = 0.0; + out_6067255468928274013[116] = 0.0; + out_6067255468928274013[117] = 0.0; + out_6067255468928274013[118] = 0.0; + out_6067255468928274013[119] = 0.0; + out_6067255468928274013[120] = 0.0; + out_6067255468928274013[121] = 0.0; + out_6067255468928274013[122] = 0.0; + out_6067255468928274013[123] = 0.0; + out_6067255468928274013[124] = 0.0; + out_6067255468928274013[125] = 0.0; + out_6067255468928274013[126] = 0.0; + out_6067255468928274013[127] = 0.0; + out_6067255468928274013[128] = 0.0; + out_6067255468928274013[129] = 0.0; + out_6067255468928274013[130] = 0.0; + out_6067255468928274013[131] = 0.0; + out_6067255468928274013[132] = 0.0; + out_6067255468928274013[133] = 1.0; + out_6067255468928274013[134] = 0.0; + out_6067255468928274013[135] = 0.0; + out_6067255468928274013[136] = 0.0; + out_6067255468928274013[137] = 0.0; + out_6067255468928274013[138] = 0.0; + out_6067255468928274013[139] = 0.0; + out_6067255468928274013[140] = 0.0; + out_6067255468928274013[141] = 0.0; + out_6067255468928274013[142] = 0.0; + out_6067255468928274013[143] = 0.0; + out_6067255468928274013[144] = 0.0; + out_6067255468928274013[145] = 0.0; + out_6067255468928274013[146] = 0.0; + out_6067255468928274013[147] = 0.0; + out_6067255468928274013[148] = 0.0; + out_6067255468928274013[149] = 0.0; + out_6067255468928274013[150] = 0.0; + out_6067255468928274013[151] = 0.0; + out_6067255468928274013[152] = 1.0; + out_6067255468928274013[153] = 0.0; + out_6067255468928274013[154] = 0.0; + out_6067255468928274013[155] = 0.0; + out_6067255468928274013[156] = 0.0; + out_6067255468928274013[157] = 0.0; + out_6067255468928274013[158] = 0.0; + out_6067255468928274013[159] = 0.0; + out_6067255468928274013[160] = 0.0; + out_6067255468928274013[161] = 0.0; + out_6067255468928274013[162] = 0.0; + out_6067255468928274013[163] = 0.0; + out_6067255468928274013[164] = 0.0; + out_6067255468928274013[165] = 0.0; + out_6067255468928274013[166] = 0.0; + out_6067255468928274013[167] = 0.0; + out_6067255468928274013[168] = 0.0; + out_6067255468928274013[169] = 0.0; + out_6067255468928274013[170] = 0.0; + out_6067255468928274013[171] = 1.0; + out_6067255468928274013[172] = 0.0; + out_6067255468928274013[173] = 0.0; + out_6067255468928274013[174] = 0.0; + out_6067255468928274013[175] = 0.0; + out_6067255468928274013[176] = 0.0; + out_6067255468928274013[177] = 0.0; + out_6067255468928274013[178] = 0.0; + out_6067255468928274013[179] = 0.0; + out_6067255468928274013[180] = 0.0; + out_6067255468928274013[181] = 0.0; + out_6067255468928274013[182] = 0.0; + out_6067255468928274013[183] = 0.0; + out_6067255468928274013[184] = 0.0; + out_6067255468928274013[185] = 0.0; + out_6067255468928274013[186] = 0.0; + out_6067255468928274013[187] = 0.0; + out_6067255468928274013[188] = 0.0; + out_6067255468928274013[189] = 0.0; + out_6067255468928274013[190] = 1.0; + out_6067255468928274013[191] = 0.0; + out_6067255468928274013[192] = 0.0; + out_6067255468928274013[193] = 0.0; + out_6067255468928274013[194] = 0.0; + out_6067255468928274013[195] = 0.0; + out_6067255468928274013[196] = 0.0; + out_6067255468928274013[197] = 0.0; + out_6067255468928274013[198] = 0.0; + out_6067255468928274013[199] = 0.0; + out_6067255468928274013[200] = 0.0; + out_6067255468928274013[201] = 0.0; + out_6067255468928274013[202] = 0.0; + out_6067255468928274013[203] = 0.0; + out_6067255468928274013[204] = 0.0; + out_6067255468928274013[205] = 0.0; + out_6067255468928274013[206] = 0.0; + out_6067255468928274013[207] = 0.0; + out_6067255468928274013[208] = 0.0; + out_6067255468928274013[209] = 1.0; + out_6067255468928274013[210] = 0.0; + out_6067255468928274013[211] = 0.0; + out_6067255468928274013[212] = 0.0; + out_6067255468928274013[213] = 0.0; + out_6067255468928274013[214] = 0.0; + out_6067255468928274013[215] = 0.0; + out_6067255468928274013[216] = 0.0; + out_6067255468928274013[217] = 0.0; + out_6067255468928274013[218] = 0.0; + out_6067255468928274013[219] = 0.0; + out_6067255468928274013[220] = 0.0; + out_6067255468928274013[221] = 0.0; + out_6067255468928274013[222] = 0.0; + out_6067255468928274013[223] = 0.0; + out_6067255468928274013[224] = 0.0; + out_6067255468928274013[225] = 0.0; + out_6067255468928274013[226] = 0.0; + out_6067255468928274013[227] = 0.0; + out_6067255468928274013[228] = 1.0; + out_6067255468928274013[229] = 0.0; + out_6067255468928274013[230] = 0.0; + out_6067255468928274013[231] = 0.0; + out_6067255468928274013[232] = 0.0; + out_6067255468928274013[233] = 0.0; + out_6067255468928274013[234] = 0.0; + out_6067255468928274013[235] = 0.0; + out_6067255468928274013[236] = 0.0; + out_6067255468928274013[237] = 0.0; + out_6067255468928274013[238] = 0.0; + out_6067255468928274013[239] = 0.0; + out_6067255468928274013[240] = 0.0; + out_6067255468928274013[241] = 0.0; + out_6067255468928274013[242] = 0.0; + out_6067255468928274013[243] = 0.0; + out_6067255468928274013[244] = 0.0; + out_6067255468928274013[245] = 0.0; + out_6067255468928274013[246] = 0.0; + out_6067255468928274013[247] = 1.0; + out_6067255468928274013[248] = 0.0; + out_6067255468928274013[249] = 0.0; + out_6067255468928274013[250] = 0.0; + out_6067255468928274013[251] = 0.0; + out_6067255468928274013[252] = 0.0; + out_6067255468928274013[253] = 0.0; + out_6067255468928274013[254] = 0.0; + out_6067255468928274013[255] = 0.0; + out_6067255468928274013[256] = 0.0; + out_6067255468928274013[257] = 0.0; + out_6067255468928274013[258] = 0.0; + out_6067255468928274013[259] = 0.0; + out_6067255468928274013[260] = 0.0; + out_6067255468928274013[261] = 0.0; + out_6067255468928274013[262] = 0.0; + out_6067255468928274013[263] = 0.0; + out_6067255468928274013[264] = 0.0; + out_6067255468928274013[265] = 0.0; + out_6067255468928274013[266] = 1.0; + out_6067255468928274013[267] = 0.0; + out_6067255468928274013[268] = 0.0; + out_6067255468928274013[269] = 0.0; + out_6067255468928274013[270] = 0.0; + out_6067255468928274013[271] = 0.0; + out_6067255468928274013[272] = 0.0; + out_6067255468928274013[273] = 0.0; + out_6067255468928274013[274] = 0.0; + out_6067255468928274013[275] = 0.0; + out_6067255468928274013[276] = 0.0; + out_6067255468928274013[277] = 0.0; + out_6067255468928274013[278] = 0.0; + out_6067255468928274013[279] = 0.0; + out_6067255468928274013[280] = 0.0; + out_6067255468928274013[281] = 0.0; + out_6067255468928274013[282] = 0.0; + out_6067255468928274013[283] = 0.0; + out_6067255468928274013[284] = 0.0; + out_6067255468928274013[285] = 1.0; + out_6067255468928274013[286] = 0.0; + out_6067255468928274013[287] = 0.0; + out_6067255468928274013[288] = 0.0; + out_6067255468928274013[289] = 0.0; + out_6067255468928274013[290] = 0.0; + out_6067255468928274013[291] = 0.0; + out_6067255468928274013[292] = 0.0; + out_6067255468928274013[293] = 0.0; + out_6067255468928274013[294] = 0.0; + out_6067255468928274013[295] = 0.0; + out_6067255468928274013[296] = 0.0; + out_6067255468928274013[297] = 0.0; + out_6067255468928274013[298] = 0.0; + out_6067255468928274013[299] = 0.0; + out_6067255468928274013[300] = 0.0; + out_6067255468928274013[301] = 0.0; + out_6067255468928274013[302] = 0.0; + out_6067255468928274013[303] = 0.0; + out_6067255468928274013[304] = 1.0; + out_6067255468928274013[305] = 0.0; + out_6067255468928274013[306] = 0.0; + out_6067255468928274013[307] = 0.0; + out_6067255468928274013[308] = 0.0; + out_6067255468928274013[309] = 0.0; + out_6067255468928274013[310] = 0.0; + out_6067255468928274013[311] = 0.0; + out_6067255468928274013[312] = 0.0; + out_6067255468928274013[313] = 0.0; + out_6067255468928274013[314] = 0.0; + out_6067255468928274013[315] = 0.0; + out_6067255468928274013[316] = 0.0; + out_6067255468928274013[317] = 0.0; + out_6067255468928274013[318] = 0.0; + out_6067255468928274013[319] = 0.0; + out_6067255468928274013[320] = 0.0; + out_6067255468928274013[321] = 0.0; + out_6067255468928274013[322] = 0.0; + out_6067255468928274013[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6438279809192142379) { - out_6438279809192142379[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_6438279809192142379[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_6438279809192142379[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_6438279809192142379[3] = dt*state[12] + state[3]; - out_6438279809192142379[4] = dt*state[13] + state[4]; - out_6438279809192142379[5] = dt*state[14] + state[5]; - out_6438279809192142379[6] = state[6]; - out_6438279809192142379[7] = state[7]; - out_6438279809192142379[8] = state[8]; - out_6438279809192142379[9] = state[9]; - out_6438279809192142379[10] = state[10]; - out_6438279809192142379[11] = state[11]; - out_6438279809192142379[12] = state[12]; - out_6438279809192142379[13] = state[13]; - out_6438279809192142379[14] = state[14]; - out_6438279809192142379[15] = state[15]; - out_6438279809192142379[16] = state[16]; - out_6438279809192142379[17] = state[17]; +void f_fun(double *state, double dt, double *out_6773782600033783154) { + out_6773782600033783154[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_6773782600033783154[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_6773782600033783154[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_6773782600033783154[3] = dt*state[12] + state[3]; + out_6773782600033783154[4] = dt*state[13] + state[4]; + out_6773782600033783154[5] = dt*state[14] + state[5]; + out_6773782600033783154[6] = state[6]; + out_6773782600033783154[7] = state[7]; + out_6773782600033783154[8] = state[8]; + out_6773782600033783154[9] = state[9]; + out_6773782600033783154[10] = state[10]; + out_6773782600033783154[11] = state[11]; + out_6773782600033783154[12] = state[12]; + out_6773782600033783154[13] = state[13]; + out_6773782600033783154[14] = state[14]; + out_6773782600033783154[15] = state[15]; + out_6773782600033783154[16] = state[16]; + out_6773782600033783154[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8719681830852947447) { - out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[2] = 0; - out_8719681830852947447[3] = 0; - out_8719681830852947447[4] = 0; - out_8719681830852947447[5] = 0; - out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[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_8719681830852947447[9] = 0; - out_8719681830852947447[10] = 0; - out_8719681830852947447[11] = 0; - out_8719681830852947447[12] = 0; - out_8719681830852947447[13] = 0; - out_8719681830852947447[14] = 0; - out_8719681830852947447[15] = 0; - out_8719681830852947447[16] = 0; - out_8719681830852947447[17] = 0; - out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[20] = 0; - out_8719681830852947447[21] = 0; - out_8719681830852947447[22] = 0; - out_8719681830852947447[23] = 0; - out_8719681830852947447[24] = 0; - out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[27] = 0; - out_8719681830852947447[28] = 0; - out_8719681830852947447[29] = 0; - out_8719681830852947447[30] = 0; - out_8719681830852947447[31] = 0; - out_8719681830852947447[32] = 0; - out_8719681830852947447[33] = 0; - out_8719681830852947447[34] = 0; - out_8719681830852947447[35] = 0; - out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[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_8719681830852947447[39] = 0; - out_8719681830852947447[40] = 0; - out_8719681830852947447[41] = 0; - out_8719681830852947447[42] = 0; - out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[45] = 0; - out_8719681830852947447[46] = 0; - out_8719681830852947447[47] = 0; - out_8719681830852947447[48] = 0; - out_8719681830852947447[49] = 0; - out_8719681830852947447[50] = 0; - out_8719681830852947447[51] = 0; - out_8719681830852947447[52] = 0; - out_8719681830852947447[53] = 0; - out_8719681830852947447[54] = 0; - out_8719681830852947447[55] = 0; - out_8719681830852947447[56] = 0; - out_8719681830852947447[57] = 1; - out_8719681830852947447[58] = 0; - out_8719681830852947447[59] = 0; - out_8719681830852947447[60] = 0; - out_8719681830852947447[61] = 0; - out_8719681830852947447[62] = 0; - out_8719681830852947447[63] = 0; - out_8719681830852947447[64] = 0; - out_8719681830852947447[65] = 0; - out_8719681830852947447[66] = dt; - out_8719681830852947447[67] = 0; - out_8719681830852947447[68] = 0; - out_8719681830852947447[69] = 0; - out_8719681830852947447[70] = 0; - out_8719681830852947447[71] = 0; - out_8719681830852947447[72] = 0; - out_8719681830852947447[73] = 0; - out_8719681830852947447[74] = 0; - out_8719681830852947447[75] = 0; - out_8719681830852947447[76] = 1; - out_8719681830852947447[77] = 0; - out_8719681830852947447[78] = 0; - out_8719681830852947447[79] = 0; - out_8719681830852947447[80] = 0; - out_8719681830852947447[81] = 0; - out_8719681830852947447[82] = 0; - out_8719681830852947447[83] = 0; - out_8719681830852947447[84] = 0; - out_8719681830852947447[85] = dt; - out_8719681830852947447[86] = 0; - out_8719681830852947447[87] = 0; - out_8719681830852947447[88] = 0; - out_8719681830852947447[89] = 0; - out_8719681830852947447[90] = 0; - out_8719681830852947447[91] = 0; - out_8719681830852947447[92] = 0; - out_8719681830852947447[93] = 0; - out_8719681830852947447[94] = 0; - out_8719681830852947447[95] = 1; - out_8719681830852947447[96] = 0; - out_8719681830852947447[97] = 0; - out_8719681830852947447[98] = 0; - out_8719681830852947447[99] = 0; - out_8719681830852947447[100] = 0; - out_8719681830852947447[101] = 0; - out_8719681830852947447[102] = 0; - out_8719681830852947447[103] = 0; - out_8719681830852947447[104] = dt; - out_8719681830852947447[105] = 0; - out_8719681830852947447[106] = 0; - out_8719681830852947447[107] = 0; - out_8719681830852947447[108] = 0; - out_8719681830852947447[109] = 0; - out_8719681830852947447[110] = 0; - out_8719681830852947447[111] = 0; - out_8719681830852947447[112] = 0; - out_8719681830852947447[113] = 0; - out_8719681830852947447[114] = 1; - out_8719681830852947447[115] = 0; - out_8719681830852947447[116] = 0; - out_8719681830852947447[117] = 0; - out_8719681830852947447[118] = 0; - out_8719681830852947447[119] = 0; - out_8719681830852947447[120] = 0; - out_8719681830852947447[121] = 0; - out_8719681830852947447[122] = 0; - out_8719681830852947447[123] = 0; - out_8719681830852947447[124] = 0; - out_8719681830852947447[125] = 0; - out_8719681830852947447[126] = 0; - out_8719681830852947447[127] = 0; - out_8719681830852947447[128] = 0; - out_8719681830852947447[129] = 0; - out_8719681830852947447[130] = 0; - out_8719681830852947447[131] = 0; - out_8719681830852947447[132] = 0; - out_8719681830852947447[133] = 1; - out_8719681830852947447[134] = 0; - out_8719681830852947447[135] = 0; - out_8719681830852947447[136] = 0; - out_8719681830852947447[137] = 0; - out_8719681830852947447[138] = 0; - out_8719681830852947447[139] = 0; - out_8719681830852947447[140] = 0; - out_8719681830852947447[141] = 0; - out_8719681830852947447[142] = 0; - out_8719681830852947447[143] = 0; - out_8719681830852947447[144] = 0; - out_8719681830852947447[145] = 0; - out_8719681830852947447[146] = 0; - out_8719681830852947447[147] = 0; - out_8719681830852947447[148] = 0; - out_8719681830852947447[149] = 0; - out_8719681830852947447[150] = 0; - out_8719681830852947447[151] = 0; - out_8719681830852947447[152] = 1; - out_8719681830852947447[153] = 0; - out_8719681830852947447[154] = 0; - out_8719681830852947447[155] = 0; - out_8719681830852947447[156] = 0; - out_8719681830852947447[157] = 0; - out_8719681830852947447[158] = 0; - out_8719681830852947447[159] = 0; - out_8719681830852947447[160] = 0; - out_8719681830852947447[161] = 0; - out_8719681830852947447[162] = 0; - out_8719681830852947447[163] = 0; - out_8719681830852947447[164] = 0; - out_8719681830852947447[165] = 0; - out_8719681830852947447[166] = 0; - out_8719681830852947447[167] = 0; - out_8719681830852947447[168] = 0; - out_8719681830852947447[169] = 0; - out_8719681830852947447[170] = 0; - out_8719681830852947447[171] = 1; - out_8719681830852947447[172] = 0; - out_8719681830852947447[173] = 0; - out_8719681830852947447[174] = 0; - out_8719681830852947447[175] = 0; - out_8719681830852947447[176] = 0; - out_8719681830852947447[177] = 0; - out_8719681830852947447[178] = 0; - out_8719681830852947447[179] = 0; - out_8719681830852947447[180] = 0; - out_8719681830852947447[181] = 0; - out_8719681830852947447[182] = 0; - out_8719681830852947447[183] = 0; - out_8719681830852947447[184] = 0; - out_8719681830852947447[185] = 0; - out_8719681830852947447[186] = 0; - out_8719681830852947447[187] = 0; - out_8719681830852947447[188] = 0; - out_8719681830852947447[189] = 0; - out_8719681830852947447[190] = 1; - out_8719681830852947447[191] = 0; - out_8719681830852947447[192] = 0; - out_8719681830852947447[193] = 0; - out_8719681830852947447[194] = 0; - out_8719681830852947447[195] = 0; - out_8719681830852947447[196] = 0; - out_8719681830852947447[197] = 0; - out_8719681830852947447[198] = 0; - out_8719681830852947447[199] = 0; - out_8719681830852947447[200] = 0; - out_8719681830852947447[201] = 0; - out_8719681830852947447[202] = 0; - out_8719681830852947447[203] = 0; - out_8719681830852947447[204] = 0; - out_8719681830852947447[205] = 0; - out_8719681830852947447[206] = 0; - out_8719681830852947447[207] = 0; - out_8719681830852947447[208] = 0; - out_8719681830852947447[209] = 1; - out_8719681830852947447[210] = 0; - out_8719681830852947447[211] = 0; - out_8719681830852947447[212] = 0; - out_8719681830852947447[213] = 0; - out_8719681830852947447[214] = 0; - out_8719681830852947447[215] = 0; - out_8719681830852947447[216] = 0; - out_8719681830852947447[217] = 0; - out_8719681830852947447[218] = 0; - out_8719681830852947447[219] = 0; - out_8719681830852947447[220] = 0; - out_8719681830852947447[221] = 0; - out_8719681830852947447[222] = 0; - out_8719681830852947447[223] = 0; - out_8719681830852947447[224] = 0; - out_8719681830852947447[225] = 0; - out_8719681830852947447[226] = 0; - out_8719681830852947447[227] = 0; - out_8719681830852947447[228] = 1; - out_8719681830852947447[229] = 0; - out_8719681830852947447[230] = 0; - out_8719681830852947447[231] = 0; - out_8719681830852947447[232] = 0; - out_8719681830852947447[233] = 0; - out_8719681830852947447[234] = 0; - out_8719681830852947447[235] = 0; - out_8719681830852947447[236] = 0; - out_8719681830852947447[237] = 0; - out_8719681830852947447[238] = 0; - out_8719681830852947447[239] = 0; - out_8719681830852947447[240] = 0; - out_8719681830852947447[241] = 0; - out_8719681830852947447[242] = 0; - out_8719681830852947447[243] = 0; - out_8719681830852947447[244] = 0; - out_8719681830852947447[245] = 0; - out_8719681830852947447[246] = 0; - out_8719681830852947447[247] = 1; - out_8719681830852947447[248] = 0; - out_8719681830852947447[249] = 0; - out_8719681830852947447[250] = 0; - out_8719681830852947447[251] = 0; - out_8719681830852947447[252] = 0; - out_8719681830852947447[253] = 0; - out_8719681830852947447[254] = 0; - out_8719681830852947447[255] = 0; - out_8719681830852947447[256] = 0; - out_8719681830852947447[257] = 0; - out_8719681830852947447[258] = 0; - out_8719681830852947447[259] = 0; - out_8719681830852947447[260] = 0; - out_8719681830852947447[261] = 0; - out_8719681830852947447[262] = 0; - out_8719681830852947447[263] = 0; - out_8719681830852947447[264] = 0; - out_8719681830852947447[265] = 0; - out_8719681830852947447[266] = 1; - out_8719681830852947447[267] = 0; - out_8719681830852947447[268] = 0; - out_8719681830852947447[269] = 0; - out_8719681830852947447[270] = 0; - out_8719681830852947447[271] = 0; - out_8719681830852947447[272] = 0; - out_8719681830852947447[273] = 0; - out_8719681830852947447[274] = 0; - out_8719681830852947447[275] = 0; - out_8719681830852947447[276] = 0; - out_8719681830852947447[277] = 0; - out_8719681830852947447[278] = 0; - out_8719681830852947447[279] = 0; - out_8719681830852947447[280] = 0; - out_8719681830852947447[281] = 0; - out_8719681830852947447[282] = 0; - out_8719681830852947447[283] = 0; - out_8719681830852947447[284] = 0; - out_8719681830852947447[285] = 1; - out_8719681830852947447[286] = 0; - out_8719681830852947447[287] = 0; - out_8719681830852947447[288] = 0; - out_8719681830852947447[289] = 0; - out_8719681830852947447[290] = 0; - out_8719681830852947447[291] = 0; - out_8719681830852947447[292] = 0; - out_8719681830852947447[293] = 0; - out_8719681830852947447[294] = 0; - out_8719681830852947447[295] = 0; - out_8719681830852947447[296] = 0; - out_8719681830852947447[297] = 0; - out_8719681830852947447[298] = 0; - out_8719681830852947447[299] = 0; - out_8719681830852947447[300] = 0; - out_8719681830852947447[301] = 0; - out_8719681830852947447[302] = 0; - out_8719681830852947447[303] = 0; - out_8719681830852947447[304] = 1; - out_8719681830852947447[305] = 0; - out_8719681830852947447[306] = 0; - out_8719681830852947447[307] = 0; - out_8719681830852947447[308] = 0; - out_8719681830852947447[309] = 0; - out_8719681830852947447[310] = 0; - out_8719681830852947447[311] = 0; - out_8719681830852947447[312] = 0; - out_8719681830852947447[313] = 0; - out_8719681830852947447[314] = 0; - out_8719681830852947447[315] = 0; - out_8719681830852947447[316] = 0; - out_8719681830852947447[317] = 0; - out_8719681830852947447[318] = 0; - out_8719681830852947447[319] = 0; - out_8719681830852947447[320] = 0; - out_8719681830852947447[321] = 0; - out_8719681830852947447[322] = 0; - out_8719681830852947447[323] = 1; +void F_fun(double *state, double dt, double *out_6298375408118706110) { + out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[2] = 0; + out_6298375408118706110[3] = 0; + out_6298375408118706110[4] = 0; + out_6298375408118706110[5] = 0; + out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[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_6298375408118706110[9] = 0; + out_6298375408118706110[10] = 0; + out_6298375408118706110[11] = 0; + out_6298375408118706110[12] = 0; + out_6298375408118706110[13] = 0; + out_6298375408118706110[14] = 0; + out_6298375408118706110[15] = 0; + out_6298375408118706110[16] = 0; + out_6298375408118706110[17] = 0; + out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[20] = 0; + out_6298375408118706110[21] = 0; + out_6298375408118706110[22] = 0; + out_6298375408118706110[23] = 0; + out_6298375408118706110[24] = 0; + out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[27] = 0; + out_6298375408118706110[28] = 0; + out_6298375408118706110[29] = 0; + out_6298375408118706110[30] = 0; + out_6298375408118706110[31] = 0; + out_6298375408118706110[32] = 0; + out_6298375408118706110[33] = 0; + out_6298375408118706110[34] = 0; + out_6298375408118706110[35] = 0; + out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[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_6298375408118706110[39] = 0; + out_6298375408118706110[40] = 0; + out_6298375408118706110[41] = 0; + out_6298375408118706110[42] = 0; + out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[45] = 0; + out_6298375408118706110[46] = 0; + out_6298375408118706110[47] = 0; + out_6298375408118706110[48] = 0; + out_6298375408118706110[49] = 0; + out_6298375408118706110[50] = 0; + out_6298375408118706110[51] = 0; + out_6298375408118706110[52] = 0; + out_6298375408118706110[53] = 0; + out_6298375408118706110[54] = 0; + out_6298375408118706110[55] = 0; + out_6298375408118706110[56] = 0; + out_6298375408118706110[57] = 1; + out_6298375408118706110[58] = 0; + out_6298375408118706110[59] = 0; + out_6298375408118706110[60] = 0; + out_6298375408118706110[61] = 0; + out_6298375408118706110[62] = 0; + out_6298375408118706110[63] = 0; + out_6298375408118706110[64] = 0; + out_6298375408118706110[65] = 0; + out_6298375408118706110[66] = dt; + out_6298375408118706110[67] = 0; + out_6298375408118706110[68] = 0; + out_6298375408118706110[69] = 0; + out_6298375408118706110[70] = 0; + out_6298375408118706110[71] = 0; + out_6298375408118706110[72] = 0; + out_6298375408118706110[73] = 0; + out_6298375408118706110[74] = 0; + out_6298375408118706110[75] = 0; + out_6298375408118706110[76] = 1; + out_6298375408118706110[77] = 0; + out_6298375408118706110[78] = 0; + out_6298375408118706110[79] = 0; + out_6298375408118706110[80] = 0; + out_6298375408118706110[81] = 0; + out_6298375408118706110[82] = 0; + out_6298375408118706110[83] = 0; + out_6298375408118706110[84] = 0; + out_6298375408118706110[85] = dt; + out_6298375408118706110[86] = 0; + out_6298375408118706110[87] = 0; + out_6298375408118706110[88] = 0; + out_6298375408118706110[89] = 0; + out_6298375408118706110[90] = 0; + out_6298375408118706110[91] = 0; + out_6298375408118706110[92] = 0; + out_6298375408118706110[93] = 0; + out_6298375408118706110[94] = 0; + out_6298375408118706110[95] = 1; + out_6298375408118706110[96] = 0; + out_6298375408118706110[97] = 0; + out_6298375408118706110[98] = 0; + out_6298375408118706110[99] = 0; + out_6298375408118706110[100] = 0; + out_6298375408118706110[101] = 0; + out_6298375408118706110[102] = 0; + out_6298375408118706110[103] = 0; + out_6298375408118706110[104] = dt; + out_6298375408118706110[105] = 0; + out_6298375408118706110[106] = 0; + out_6298375408118706110[107] = 0; + out_6298375408118706110[108] = 0; + out_6298375408118706110[109] = 0; + out_6298375408118706110[110] = 0; + out_6298375408118706110[111] = 0; + out_6298375408118706110[112] = 0; + out_6298375408118706110[113] = 0; + out_6298375408118706110[114] = 1; + out_6298375408118706110[115] = 0; + out_6298375408118706110[116] = 0; + out_6298375408118706110[117] = 0; + out_6298375408118706110[118] = 0; + out_6298375408118706110[119] = 0; + out_6298375408118706110[120] = 0; + out_6298375408118706110[121] = 0; + out_6298375408118706110[122] = 0; + out_6298375408118706110[123] = 0; + out_6298375408118706110[124] = 0; + out_6298375408118706110[125] = 0; + out_6298375408118706110[126] = 0; + out_6298375408118706110[127] = 0; + out_6298375408118706110[128] = 0; + out_6298375408118706110[129] = 0; + out_6298375408118706110[130] = 0; + out_6298375408118706110[131] = 0; + out_6298375408118706110[132] = 0; + out_6298375408118706110[133] = 1; + out_6298375408118706110[134] = 0; + out_6298375408118706110[135] = 0; + out_6298375408118706110[136] = 0; + out_6298375408118706110[137] = 0; + out_6298375408118706110[138] = 0; + out_6298375408118706110[139] = 0; + out_6298375408118706110[140] = 0; + out_6298375408118706110[141] = 0; + out_6298375408118706110[142] = 0; + out_6298375408118706110[143] = 0; + out_6298375408118706110[144] = 0; + out_6298375408118706110[145] = 0; + out_6298375408118706110[146] = 0; + out_6298375408118706110[147] = 0; + out_6298375408118706110[148] = 0; + out_6298375408118706110[149] = 0; + out_6298375408118706110[150] = 0; + out_6298375408118706110[151] = 0; + out_6298375408118706110[152] = 1; + out_6298375408118706110[153] = 0; + out_6298375408118706110[154] = 0; + out_6298375408118706110[155] = 0; + out_6298375408118706110[156] = 0; + out_6298375408118706110[157] = 0; + out_6298375408118706110[158] = 0; + out_6298375408118706110[159] = 0; + out_6298375408118706110[160] = 0; + out_6298375408118706110[161] = 0; + out_6298375408118706110[162] = 0; + out_6298375408118706110[163] = 0; + out_6298375408118706110[164] = 0; + out_6298375408118706110[165] = 0; + out_6298375408118706110[166] = 0; + out_6298375408118706110[167] = 0; + out_6298375408118706110[168] = 0; + out_6298375408118706110[169] = 0; + out_6298375408118706110[170] = 0; + out_6298375408118706110[171] = 1; + out_6298375408118706110[172] = 0; + out_6298375408118706110[173] = 0; + out_6298375408118706110[174] = 0; + out_6298375408118706110[175] = 0; + out_6298375408118706110[176] = 0; + out_6298375408118706110[177] = 0; + out_6298375408118706110[178] = 0; + out_6298375408118706110[179] = 0; + out_6298375408118706110[180] = 0; + out_6298375408118706110[181] = 0; + out_6298375408118706110[182] = 0; + out_6298375408118706110[183] = 0; + out_6298375408118706110[184] = 0; + out_6298375408118706110[185] = 0; + out_6298375408118706110[186] = 0; + out_6298375408118706110[187] = 0; + out_6298375408118706110[188] = 0; + out_6298375408118706110[189] = 0; + out_6298375408118706110[190] = 1; + out_6298375408118706110[191] = 0; + out_6298375408118706110[192] = 0; + out_6298375408118706110[193] = 0; + out_6298375408118706110[194] = 0; + out_6298375408118706110[195] = 0; + out_6298375408118706110[196] = 0; + out_6298375408118706110[197] = 0; + out_6298375408118706110[198] = 0; + out_6298375408118706110[199] = 0; + out_6298375408118706110[200] = 0; + out_6298375408118706110[201] = 0; + out_6298375408118706110[202] = 0; + out_6298375408118706110[203] = 0; + out_6298375408118706110[204] = 0; + out_6298375408118706110[205] = 0; + out_6298375408118706110[206] = 0; + out_6298375408118706110[207] = 0; + out_6298375408118706110[208] = 0; + out_6298375408118706110[209] = 1; + out_6298375408118706110[210] = 0; + out_6298375408118706110[211] = 0; + out_6298375408118706110[212] = 0; + out_6298375408118706110[213] = 0; + out_6298375408118706110[214] = 0; + out_6298375408118706110[215] = 0; + out_6298375408118706110[216] = 0; + out_6298375408118706110[217] = 0; + out_6298375408118706110[218] = 0; + out_6298375408118706110[219] = 0; + out_6298375408118706110[220] = 0; + out_6298375408118706110[221] = 0; + out_6298375408118706110[222] = 0; + out_6298375408118706110[223] = 0; + out_6298375408118706110[224] = 0; + out_6298375408118706110[225] = 0; + out_6298375408118706110[226] = 0; + out_6298375408118706110[227] = 0; + out_6298375408118706110[228] = 1; + out_6298375408118706110[229] = 0; + out_6298375408118706110[230] = 0; + out_6298375408118706110[231] = 0; + out_6298375408118706110[232] = 0; + out_6298375408118706110[233] = 0; + out_6298375408118706110[234] = 0; + out_6298375408118706110[235] = 0; + out_6298375408118706110[236] = 0; + out_6298375408118706110[237] = 0; + out_6298375408118706110[238] = 0; + out_6298375408118706110[239] = 0; + out_6298375408118706110[240] = 0; + out_6298375408118706110[241] = 0; + out_6298375408118706110[242] = 0; + out_6298375408118706110[243] = 0; + out_6298375408118706110[244] = 0; + out_6298375408118706110[245] = 0; + out_6298375408118706110[246] = 0; + out_6298375408118706110[247] = 1; + out_6298375408118706110[248] = 0; + out_6298375408118706110[249] = 0; + out_6298375408118706110[250] = 0; + out_6298375408118706110[251] = 0; + out_6298375408118706110[252] = 0; + out_6298375408118706110[253] = 0; + out_6298375408118706110[254] = 0; + out_6298375408118706110[255] = 0; + out_6298375408118706110[256] = 0; + out_6298375408118706110[257] = 0; + out_6298375408118706110[258] = 0; + out_6298375408118706110[259] = 0; + out_6298375408118706110[260] = 0; + out_6298375408118706110[261] = 0; + out_6298375408118706110[262] = 0; + out_6298375408118706110[263] = 0; + out_6298375408118706110[264] = 0; + out_6298375408118706110[265] = 0; + out_6298375408118706110[266] = 1; + out_6298375408118706110[267] = 0; + out_6298375408118706110[268] = 0; + out_6298375408118706110[269] = 0; + out_6298375408118706110[270] = 0; + out_6298375408118706110[271] = 0; + out_6298375408118706110[272] = 0; + out_6298375408118706110[273] = 0; + out_6298375408118706110[274] = 0; + out_6298375408118706110[275] = 0; + out_6298375408118706110[276] = 0; + out_6298375408118706110[277] = 0; + out_6298375408118706110[278] = 0; + out_6298375408118706110[279] = 0; + out_6298375408118706110[280] = 0; + out_6298375408118706110[281] = 0; + out_6298375408118706110[282] = 0; + out_6298375408118706110[283] = 0; + out_6298375408118706110[284] = 0; + out_6298375408118706110[285] = 1; + out_6298375408118706110[286] = 0; + out_6298375408118706110[287] = 0; + out_6298375408118706110[288] = 0; + out_6298375408118706110[289] = 0; + out_6298375408118706110[290] = 0; + out_6298375408118706110[291] = 0; + out_6298375408118706110[292] = 0; + out_6298375408118706110[293] = 0; + out_6298375408118706110[294] = 0; + out_6298375408118706110[295] = 0; + out_6298375408118706110[296] = 0; + out_6298375408118706110[297] = 0; + out_6298375408118706110[298] = 0; + out_6298375408118706110[299] = 0; + out_6298375408118706110[300] = 0; + out_6298375408118706110[301] = 0; + out_6298375408118706110[302] = 0; + out_6298375408118706110[303] = 0; + out_6298375408118706110[304] = 1; + out_6298375408118706110[305] = 0; + out_6298375408118706110[306] = 0; + out_6298375408118706110[307] = 0; + out_6298375408118706110[308] = 0; + out_6298375408118706110[309] = 0; + out_6298375408118706110[310] = 0; + out_6298375408118706110[311] = 0; + out_6298375408118706110[312] = 0; + out_6298375408118706110[313] = 0; + out_6298375408118706110[314] = 0; + out_6298375408118706110[315] = 0; + out_6298375408118706110[316] = 0; + out_6298375408118706110[317] = 0; + out_6298375408118706110[318] = 0; + out_6298375408118706110[319] = 0; + out_6298375408118706110[320] = 0; + out_6298375408118706110[321] = 0; + out_6298375408118706110[322] = 0; + out_6298375408118706110[323] = 1; } -void h_4(double *state, double *unused, double *out_2598619130748282794) { - out_2598619130748282794[0] = state[6] + state[9]; - out_2598619130748282794[1] = state[7] + state[10]; - out_2598619130748282794[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6452539322350206189) { + out_6452539322350206189[0] = state[6] + state[9]; + out_6452539322350206189[1] = state[7] + state[10]; + out_6452539322350206189[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_2137219035779017707) { - out_2137219035779017707[0] = 0; - out_2137219035779017707[1] = 0; - out_2137219035779017707[2] = 0; - out_2137219035779017707[3] = 0; - out_2137219035779017707[4] = 0; - out_2137219035779017707[5] = 0; - out_2137219035779017707[6] = 1; - out_2137219035779017707[7] = 0; - out_2137219035779017707[8] = 0; - out_2137219035779017707[9] = 1; - out_2137219035779017707[10] = 0; - out_2137219035779017707[11] = 0; - out_2137219035779017707[12] = 0; - out_2137219035779017707[13] = 0; - out_2137219035779017707[14] = 0; - out_2137219035779017707[15] = 0; - out_2137219035779017707[16] = 0; - out_2137219035779017707[17] = 0; - out_2137219035779017707[18] = 0; - out_2137219035779017707[19] = 0; - out_2137219035779017707[20] = 0; - out_2137219035779017707[21] = 0; - out_2137219035779017707[22] = 0; - out_2137219035779017707[23] = 0; - out_2137219035779017707[24] = 0; - out_2137219035779017707[25] = 1; - out_2137219035779017707[26] = 0; - out_2137219035779017707[27] = 0; - out_2137219035779017707[28] = 1; - out_2137219035779017707[29] = 0; - out_2137219035779017707[30] = 0; - out_2137219035779017707[31] = 0; - out_2137219035779017707[32] = 0; - out_2137219035779017707[33] = 0; - out_2137219035779017707[34] = 0; - out_2137219035779017707[35] = 0; - out_2137219035779017707[36] = 0; - out_2137219035779017707[37] = 0; - out_2137219035779017707[38] = 0; - out_2137219035779017707[39] = 0; - out_2137219035779017707[40] = 0; - out_2137219035779017707[41] = 0; - out_2137219035779017707[42] = 0; - out_2137219035779017707[43] = 0; - out_2137219035779017707[44] = 1; - out_2137219035779017707[45] = 0; - out_2137219035779017707[46] = 0; - out_2137219035779017707[47] = 1; - out_2137219035779017707[48] = 0; - out_2137219035779017707[49] = 0; - out_2137219035779017707[50] = 0; - out_2137219035779017707[51] = 0; - out_2137219035779017707[52] = 0; - out_2137219035779017707[53] = 0; +void H_4(double *state, double *unused, double *out_4829214681067158040) { + out_4829214681067158040[0] = 0; + out_4829214681067158040[1] = 0; + out_4829214681067158040[2] = 0; + out_4829214681067158040[3] = 0; + out_4829214681067158040[4] = 0; + out_4829214681067158040[5] = 0; + out_4829214681067158040[6] = 1; + out_4829214681067158040[7] = 0; + out_4829214681067158040[8] = 0; + out_4829214681067158040[9] = 1; + out_4829214681067158040[10] = 0; + out_4829214681067158040[11] = 0; + out_4829214681067158040[12] = 0; + out_4829214681067158040[13] = 0; + out_4829214681067158040[14] = 0; + out_4829214681067158040[15] = 0; + out_4829214681067158040[16] = 0; + out_4829214681067158040[17] = 0; + out_4829214681067158040[18] = 0; + out_4829214681067158040[19] = 0; + out_4829214681067158040[20] = 0; + out_4829214681067158040[21] = 0; + out_4829214681067158040[22] = 0; + out_4829214681067158040[23] = 0; + out_4829214681067158040[24] = 0; + out_4829214681067158040[25] = 1; + out_4829214681067158040[26] = 0; + out_4829214681067158040[27] = 0; + out_4829214681067158040[28] = 1; + out_4829214681067158040[29] = 0; + out_4829214681067158040[30] = 0; + out_4829214681067158040[31] = 0; + out_4829214681067158040[32] = 0; + out_4829214681067158040[33] = 0; + out_4829214681067158040[34] = 0; + out_4829214681067158040[35] = 0; + out_4829214681067158040[36] = 0; + out_4829214681067158040[37] = 0; + out_4829214681067158040[38] = 0; + out_4829214681067158040[39] = 0; + out_4829214681067158040[40] = 0; + out_4829214681067158040[41] = 0; + out_4829214681067158040[42] = 0; + out_4829214681067158040[43] = 0; + out_4829214681067158040[44] = 1; + out_4829214681067158040[45] = 0; + out_4829214681067158040[46] = 0; + out_4829214681067158040[47] = 1; + out_4829214681067158040[48] = 0; + out_4829214681067158040[49] = 0; + out_4829214681067158040[50] = 0; + out_4829214681067158040[51] = 0; + out_4829214681067158040[52] = 0; + out_4829214681067158040[53] = 0; } -void h_10(double *state, double *unused, double *out_7728804711762559661) { - out_7728804711762559661[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7728804711762559661[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7728804711762559661[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_5957134933492111448) { + out_5957134933492111448[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5957134933492111448[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5957134933492111448[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_3682779017075027073) { - out_3682779017075027073[0] = 0; - out_3682779017075027073[1] = 9.8100000000000005*cos(state[1]); - out_3682779017075027073[2] = 0; - out_3682779017075027073[3] = 0; - out_3682779017075027073[4] = -state[8]; - out_3682779017075027073[5] = state[7]; - out_3682779017075027073[6] = 0; - out_3682779017075027073[7] = state[5]; - out_3682779017075027073[8] = -state[4]; - out_3682779017075027073[9] = 0; - out_3682779017075027073[10] = 0; - out_3682779017075027073[11] = 0; - out_3682779017075027073[12] = 1; - out_3682779017075027073[13] = 0; - out_3682779017075027073[14] = 0; - out_3682779017075027073[15] = 1; - out_3682779017075027073[16] = 0; - out_3682779017075027073[17] = 0; - out_3682779017075027073[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3682779017075027073[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3682779017075027073[20] = 0; - out_3682779017075027073[21] = state[8]; - out_3682779017075027073[22] = 0; - out_3682779017075027073[23] = -state[6]; - out_3682779017075027073[24] = -state[5]; - out_3682779017075027073[25] = 0; - out_3682779017075027073[26] = state[3]; - out_3682779017075027073[27] = 0; - out_3682779017075027073[28] = 0; - out_3682779017075027073[29] = 0; - out_3682779017075027073[30] = 0; - out_3682779017075027073[31] = 1; - out_3682779017075027073[32] = 0; - out_3682779017075027073[33] = 0; - out_3682779017075027073[34] = 1; - out_3682779017075027073[35] = 0; - out_3682779017075027073[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3682779017075027073[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3682779017075027073[38] = 0; - out_3682779017075027073[39] = -state[7]; - out_3682779017075027073[40] = state[6]; - out_3682779017075027073[41] = 0; - out_3682779017075027073[42] = state[4]; - out_3682779017075027073[43] = -state[3]; - out_3682779017075027073[44] = 0; - out_3682779017075027073[45] = 0; - out_3682779017075027073[46] = 0; - out_3682779017075027073[47] = 0; - out_3682779017075027073[48] = 0; - out_3682779017075027073[49] = 0; - out_3682779017075027073[50] = 1; - out_3682779017075027073[51] = 0; - out_3682779017075027073[52] = 0; - out_3682779017075027073[53] = 1; +void H_10(double *state, double *unused, double *out_3625295134339217134) { + out_3625295134339217134[0] = 0; + out_3625295134339217134[1] = 9.8100000000000005*cos(state[1]); + out_3625295134339217134[2] = 0; + out_3625295134339217134[3] = 0; + out_3625295134339217134[4] = -state[8]; + out_3625295134339217134[5] = state[7]; + out_3625295134339217134[6] = 0; + out_3625295134339217134[7] = state[5]; + out_3625295134339217134[8] = -state[4]; + out_3625295134339217134[9] = 0; + out_3625295134339217134[10] = 0; + out_3625295134339217134[11] = 0; + out_3625295134339217134[12] = 1; + out_3625295134339217134[13] = 0; + out_3625295134339217134[14] = 0; + out_3625295134339217134[15] = 1; + out_3625295134339217134[16] = 0; + out_3625295134339217134[17] = 0; + out_3625295134339217134[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3625295134339217134[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3625295134339217134[20] = 0; + out_3625295134339217134[21] = state[8]; + out_3625295134339217134[22] = 0; + out_3625295134339217134[23] = -state[6]; + out_3625295134339217134[24] = -state[5]; + out_3625295134339217134[25] = 0; + out_3625295134339217134[26] = state[3]; + out_3625295134339217134[27] = 0; + out_3625295134339217134[28] = 0; + out_3625295134339217134[29] = 0; + out_3625295134339217134[30] = 0; + out_3625295134339217134[31] = 1; + out_3625295134339217134[32] = 0; + out_3625295134339217134[33] = 0; + out_3625295134339217134[34] = 1; + out_3625295134339217134[35] = 0; + out_3625295134339217134[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3625295134339217134[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3625295134339217134[38] = 0; + out_3625295134339217134[39] = -state[7]; + out_3625295134339217134[40] = state[6]; + out_3625295134339217134[41] = 0; + out_3625295134339217134[42] = state[4]; + out_3625295134339217134[43] = -state[3]; + out_3625295134339217134[44] = 0; + out_3625295134339217134[45] = 0; + out_3625295134339217134[46] = 0; + out_3625295134339217134[47] = 0; + out_3625295134339217134[48] = 0; + out_3625295134339217134[49] = 0; + out_3625295134339217134[50] = 1; + out_3625295134339217134[51] = 0; + out_3625295134339217134[52] = 0; + out_3625295134339217134[53] = 1; } -void h_13(double *state, double *unused, double *out_8746038974809318358) { - out_8746038974809318358[0] = state[3]; - out_8746038974809318358[1] = state[4]; - out_8746038974809318358[2] = state[5]; +void h_13(double *state, double *unused, double *out_6701412570788452504) { + out_6701412570788452504[0] = state[3]; + out_6701412570788452504[1] = state[4]; + out_6701412570788452504[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1075054789553315094) { - out_1075054789553315094[0] = 0; - out_1075054789553315094[1] = 0; - out_1075054789553315094[2] = 0; - out_1075054789553315094[3] = 1; - out_1075054789553315094[4] = 0; - out_1075054789553315094[5] = 0; - out_1075054789553315094[6] = 0; - out_1075054789553315094[7] = 0; - out_1075054789553315094[8] = 0; - out_1075054789553315094[9] = 0; - out_1075054789553315094[10] = 0; - out_1075054789553315094[11] = 0; - out_1075054789553315094[12] = 0; - out_1075054789553315094[13] = 0; - out_1075054789553315094[14] = 0; - out_1075054789553315094[15] = 0; - out_1075054789553315094[16] = 0; - out_1075054789553315094[17] = 0; - out_1075054789553315094[18] = 0; - out_1075054789553315094[19] = 0; - out_1075054789553315094[20] = 0; - out_1075054789553315094[21] = 0; - out_1075054789553315094[22] = 1; - out_1075054789553315094[23] = 0; - out_1075054789553315094[24] = 0; - out_1075054789553315094[25] = 0; - out_1075054789553315094[26] = 0; - out_1075054789553315094[27] = 0; - out_1075054789553315094[28] = 0; - out_1075054789553315094[29] = 0; - out_1075054789553315094[30] = 0; - out_1075054789553315094[31] = 0; - out_1075054789553315094[32] = 0; - out_1075054789553315094[33] = 0; - out_1075054789553315094[34] = 0; - out_1075054789553315094[35] = 0; - out_1075054789553315094[36] = 0; - out_1075054789553315094[37] = 0; - out_1075054789553315094[38] = 0; - out_1075054789553315094[39] = 0; - out_1075054789553315094[40] = 0; - out_1075054789553315094[41] = 1; - out_1075054789553315094[42] = 0; - out_1075054789553315094[43] = 0; - out_1075054789553315094[44] = 0; - out_1075054789553315094[45] = 0; - out_1075054789553315094[46] = 0; - out_1075054789553315094[47] = 0; - out_1075054789553315094[48] = 0; - out_1075054789553315094[49] = 0; - out_1075054789553315094[50] = 0; - out_1075054789553315094[51] = 0; - out_1075054789553315094[52] = 0; - out_1075054789553315094[53] = 0; +void H_13(double *state, double *unused, double *out_5393816600749002144) { + out_5393816600749002144[0] = 0; + out_5393816600749002144[1] = 0; + out_5393816600749002144[2] = 0; + out_5393816600749002144[3] = 1; + out_5393816600749002144[4] = 0; + out_5393816600749002144[5] = 0; + out_5393816600749002144[6] = 0; + out_5393816600749002144[7] = 0; + out_5393816600749002144[8] = 0; + out_5393816600749002144[9] = 0; + out_5393816600749002144[10] = 0; + out_5393816600749002144[11] = 0; + out_5393816600749002144[12] = 0; + out_5393816600749002144[13] = 0; + out_5393816600749002144[14] = 0; + out_5393816600749002144[15] = 0; + out_5393816600749002144[16] = 0; + out_5393816600749002144[17] = 0; + out_5393816600749002144[18] = 0; + out_5393816600749002144[19] = 0; + out_5393816600749002144[20] = 0; + out_5393816600749002144[21] = 0; + out_5393816600749002144[22] = 1; + out_5393816600749002144[23] = 0; + out_5393816600749002144[24] = 0; + out_5393816600749002144[25] = 0; + out_5393816600749002144[26] = 0; + out_5393816600749002144[27] = 0; + out_5393816600749002144[28] = 0; + out_5393816600749002144[29] = 0; + out_5393816600749002144[30] = 0; + out_5393816600749002144[31] = 0; + out_5393816600749002144[32] = 0; + out_5393816600749002144[33] = 0; + out_5393816600749002144[34] = 0; + out_5393816600749002144[35] = 0; + out_5393816600749002144[36] = 0; + out_5393816600749002144[37] = 0; + out_5393816600749002144[38] = 0; + out_5393816600749002144[39] = 0; + out_5393816600749002144[40] = 0; + out_5393816600749002144[41] = 1; + out_5393816600749002144[42] = 0; + out_5393816600749002144[43] = 0; + out_5393816600749002144[44] = 0; + out_5393816600749002144[45] = 0; + out_5393816600749002144[46] = 0; + out_5393816600749002144[47] = 0; + out_5393816600749002144[48] = 0; + out_5393816600749002144[49] = 0; + out_5393816600749002144[50] = 0; + out_5393816600749002144[51] = 0; + out_5393816600749002144[52] = 0; + out_5393816600749002144[53] = 0; } -void h_14(double *state, double *unused, double *out_4279600364142536095) { - out_4279600364142536095[0] = state[6]; - out_4279600364142536095[1] = state[7]; - out_4279600364142536095[2] = state[8]; +void h_14(double *state, double *unused, double *out_192900434341408297) { + out_192900434341408297[0] = state[6]; + out_192900434341408297[1] = state[7]; + out_192900434341408297[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5220007468074390003) { - out_5220007468074390003[0] = 0; - out_5220007468074390003[1] = 0; - out_5220007468074390003[2] = 0; - out_5220007468074390003[3] = 0; - out_5220007468074390003[4] = 0; - out_5220007468074390003[5] = 0; - out_5220007468074390003[6] = 1; - out_5220007468074390003[7] = 0; - out_5220007468074390003[8] = 0; - out_5220007468074390003[9] = 0; - out_5220007468074390003[10] = 0; - out_5220007468074390003[11] = 0; - out_5220007468074390003[12] = 0; - out_5220007468074390003[13] = 0; - out_5220007468074390003[14] = 0; - out_5220007468074390003[15] = 0; - out_5220007468074390003[16] = 0; - out_5220007468074390003[17] = 0; - out_5220007468074390003[18] = 0; - out_5220007468074390003[19] = 0; - out_5220007468074390003[20] = 0; - out_5220007468074390003[21] = 0; - out_5220007468074390003[22] = 0; - out_5220007468074390003[23] = 0; - out_5220007468074390003[24] = 0; - out_5220007468074390003[25] = 1; - out_5220007468074390003[26] = 0; - out_5220007468074390003[27] = 0; - out_5220007468074390003[28] = 0; - out_5220007468074390003[29] = 0; - out_5220007468074390003[30] = 0; - out_5220007468074390003[31] = 0; - out_5220007468074390003[32] = 0; - out_5220007468074390003[33] = 0; - out_5220007468074390003[34] = 0; - out_5220007468074390003[35] = 0; - out_5220007468074390003[36] = 0; - out_5220007468074390003[37] = 0; - out_5220007468074390003[38] = 0; - out_5220007468074390003[39] = 0; - out_5220007468074390003[40] = 0; - out_5220007468074390003[41] = 0; - out_5220007468074390003[42] = 0; - out_5220007468074390003[43] = 0; - out_5220007468074390003[44] = 1; - out_5220007468074390003[45] = 0; - out_5220007468074390003[46] = 0; - out_5220007468074390003[47] = 0; - out_5220007468074390003[48] = 0; - out_5220007468074390003[49] = 0; - out_5220007468074390003[50] = 0; - out_5220007468074390003[51] = 0; - out_5220007468074390003[52] = 0; - out_5220007468074390003[53] = 0; +void H_14(double *state, double *unused, double *out_1746426248771785744) { + out_1746426248771785744[0] = 0; + out_1746426248771785744[1] = 0; + out_1746426248771785744[2] = 0; + out_1746426248771785744[3] = 0; + out_1746426248771785744[4] = 0; + out_1746426248771785744[5] = 0; + out_1746426248771785744[6] = 1; + out_1746426248771785744[7] = 0; + out_1746426248771785744[8] = 0; + out_1746426248771785744[9] = 0; + out_1746426248771785744[10] = 0; + out_1746426248771785744[11] = 0; + out_1746426248771785744[12] = 0; + out_1746426248771785744[13] = 0; + out_1746426248771785744[14] = 0; + out_1746426248771785744[15] = 0; + out_1746426248771785744[16] = 0; + out_1746426248771785744[17] = 0; + out_1746426248771785744[18] = 0; + out_1746426248771785744[19] = 0; + out_1746426248771785744[20] = 0; + out_1746426248771785744[21] = 0; + out_1746426248771785744[22] = 0; + out_1746426248771785744[23] = 0; + out_1746426248771785744[24] = 0; + out_1746426248771785744[25] = 1; + out_1746426248771785744[26] = 0; + out_1746426248771785744[27] = 0; + out_1746426248771785744[28] = 0; + out_1746426248771785744[29] = 0; + out_1746426248771785744[30] = 0; + out_1746426248771785744[31] = 0; + out_1746426248771785744[32] = 0; + out_1746426248771785744[33] = 0; + out_1746426248771785744[34] = 0; + out_1746426248771785744[35] = 0; + out_1746426248771785744[36] = 0; + out_1746426248771785744[37] = 0; + out_1746426248771785744[38] = 0; + out_1746426248771785744[39] = 0; + out_1746426248771785744[40] = 0; + out_1746426248771785744[41] = 0; + out_1746426248771785744[42] = 0; + out_1746426248771785744[43] = 0; + out_1746426248771785744[44] = 1; + out_1746426248771785744[45] = 0; + out_1746426248771785744[46] = 0; + out_1746426248771785744[47] = 0; + out_1746426248771785744[48] = 0; + out_1746426248771785744[49] = 0; + out_1746426248771785744[50] = 0; + out_1746426248771785744[51] = 0; + out_1746426248771785744[52] = 0; + out_1746426248771785744[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_3122087598286484509) { - err_fun(nom_x, delta_x, out_3122087598286484509); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2665641701635233151) { + err_fun(nom_x, delta_x, out_2665641701635233151); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6671609920081726507) { - inv_err_fun(nom_x, true_x, out_6671609920081726507); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8375727440013270020) { + inv_err_fun(nom_x, true_x, out_8375727440013270020); } -void pose_H_mod_fun(double *state, double *out_6807142630278803635) { - H_mod_fun(state, out_6807142630278803635); +void pose_H_mod_fun(double *state, double *out_6067255468928274013) { + H_mod_fun(state, out_6067255468928274013); } -void pose_f_fun(double *state, double dt, double *out_6438279809192142379) { - f_fun(state, dt, out_6438279809192142379); +void pose_f_fun(double *state, double dt, double *out_6773782600033783154) { + f_fun(state, dt, out_6773782600033783154); } -void pose_F_fun(double *state, double dt, double *out_8719681830852947447) { - F_fun(state, dt, out_8719681830852947447); +void pose_F_fun(double *state, double dt, double *out_6298375408118706110) { + F_fun(state, dt, out_6298375408118706110); } -void pose_h_4(double *state, double *unused, double *out_2598619130748282794) { - h_4(state, unused, out_2598619130748282794); +void pose_h_4(double *state, double *unused, double *out_6452539322350206189) { + h_4(state, unused, out_6452539322350206189); } -void pose_H_4(double *state, double *unused, double *out_2137219035779017707) { - H_4(state, unused, out_2137219035779017707); +void pose_H_4(double *state, double *unused, double *out_4829214681067158040) { + H_4(state, unused, out_4829214681067158040); } -void pose_h_10(double *state, double *unused, double *out_7728804711762559661) { - h_10(state, unused, out_7728804711762559661); +void pose_h_10(double *state, double *unused, double *out_5957134933492111448) { + h_10(state, unused, out_5957134933492111448); } -void pose_H_10(double *state, double *unused, double *out_3682779017075027073) { - H_10(state, unused, out_3682779017075027073); +void pose_H_10(double *state, double *unused, double *out_3625295134339217134) { + H_10(state, unused, out_3625295134339217134); } -void pose_h_13(double *state, double *unused, double *out_8746038974809318358) { - h_13(state, unused, out_8746038974809318358); +void pose_h_13(double *state, double *unused, double *out_6701412570788452504) { + h_13(state, unused, out_6701412570788452504); } -void pose_H_13(double *state, double *unused, double *out_1075054789553315094) { - H_13(state, unused, out_1075054789553315094); +void pose_H_13(double *state, double *unused, double *out_5393816600749002144) { + H_13(state, unused, out_5393816600749002144); } -void pose_h_14(double *state, double *unused, double *out_4279600364142536095) { - h_14(state, unused, out_4279600364142536095); +void pose_h_14(double *state, double *unused, double *out_192900434341408297) { + h_14(state, unused, out_192900434341408297); } -void pose_H_14(double *state, double *unused, double *out_5220007468074390003) { - H_14(state, unused, out_5220007468074390003); +void pose_H_14(double *state, double *unused, double *out_1746426248771785744) { + H_14(state, unused, out_1746426248771785744); } 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 c4197c2a2..4f9693d43 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_3122087598286484509); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6671609920081726507); -void pose_H_mod_fun(double *state, double *out_6807142630278803635); -void pose_f_fun(double *state, double dt, double *out_6438279809192142379); -void pose_F_fun(double *state, double dt, double *out_8719681830852947447); -void pose_h_4(double *state, double *unused, double *out_2598619130748282794); -void pose_H_4(double *state, double *unused, double *out_2137219035779017707); -void pose_h_10(double *state, double *unused, double *out_7728804711762559661); -void pose_H_10(double *state, double *unused, double *out_3682779017075027073); -void pose_h_13(double *state, double *unused, double *out_8746038974809318358); -void pose_H_13(double *state, double *unused, double *out_1075054789553315094); -void pose_h_14(double *state, double *unused, double *out_4279600364142536095); -void pose_H_14(double *state, double *unused, double *out_5220007468074390003); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2665641701635233151); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8375727440013270020); +void pose_H_mod_fun(double *state, double *out_6067255468928274013); +void pose_f_fun(double *state, double dt, double *out_6773782600033783154); +void pose_F_fun(double *state, double dt, double *out_6298375408118706110); +void pose_h_4(double *state, double *unused, double *out_6452539322350206189); +void pose_H_4(double *state, double *unused, double *out_4829214681067158040); +void pose_h_10(double *state, double *unused, double *out_5957134933492111448); +void pose_H_10(double *state, double *unused, double *out_3625295134339217134); +void pose_h_13(double *state, double *unused, double *out_6701412570788452504); +void pose_H_13(double *state, double *unused, double *out_5393816600749002144); +void pose_h_14(double *state, double *unused, double *out_192900434341408297); +void pose_H_14(double *state, double *unused, double *out_1746426248771785744); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index fb3fcfd39..653afc31d 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index a63ec0855..4bda8b8a4 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index afb8dcf9c..a91230d9e 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index c89aa64d2..474a79a6a 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 8b96f4f6e..067a3b5f6 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ