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b/panda/board/obj/version @@ -1 +1 @@ -DEV-a59f46c7-DEBUG \ No newline at end of file +DEV-d4d06e55-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 32d6923a4..5c5d83f7b 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_6251513780499274303) { - out_6251513780499274303[0] = delta_x[0] + nom_x[0]; - out_6251513780499274303[1] = delta_x[1] + nom_x[1]; - out_6251513780499274303[2] = delta_x[2] + nom_x[2]; - out_6251513780499274303[3] = delta_x[3] + nom_x[3]; - out_6251513780499274303[4] = delta_x[4] + nom_x[4]; - out_6251513780499274303[5] = delta_x[5] + nom_x[5]; - out_6251513780499274303[6] = delta_x[6] + nom_x[6]; - out_6251513780499274303[7] = delta_x[7] + nom_x[7]; - out_6251513780499274303[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3114295045279175255) { + out_3114295045279175255[0] = delta_x[0] + nom_x[0]; + out_3114295045279175255[1] = delta_x[1] + nom_x[1]; + out_3114295045279175255[2] = delta_x[2] + nom_x[2]; + out_3114295045279175255[3] = delta_x[3] + nom_x[3]; + out_3114295045279175255[4] = delta_x[4] + nom_x[4]; + out_3114295045279175255[5] = delta_x[5] + nom_x[5]; + out_3114295045279175255[6] = delta_x[6] + nom_x[6]; + out_3114295045279175255[7] = delta_x[7] + nom_x[7]; + out_3114295045279175255[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1361283985005059007) { - out_1361283985005059007[0] = -nom_x[0] + true_x[0]; - out_1361283985005059007[1] = -nom_x[1] + true_x[1]; - out_1361283985005059007[2] = -nom_x[2] + true_x[2]; - out_1361283985005059007[3] = -nom_x[3] + true_x[3]; - out_1361283985005059007[4] = -nom_x[4] + true_x[4]; - out_1361283985005059007[5] = -nom_x[5] + true_x[5]; - out_1361283985005059007[6] = -nom_x[6] + true_x[6]; - out_1361283985005059007[7] = -nom_x[7] + true_x[7]; - out_1361283985005059007[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2774429114405664516) { + out_2774429114405664516[0] = -nom_x[0] + true_x[0]; + out_2774429114405664516[1] = -nom_x[1] + true_x[1]; + out_2774429114405664516[2] = -nom_x[2] + true_x[2]; + out_2774429114405664516[3] = -nom_x[3] + true_x[3]; + out_2774429114405664516[4] = -nom_x[4] + true_x[4]; + out_2774429114405664516[5] = -nom_x[5] + true_x[5]; + out_2774429114405664516[6] = -nom_x[6] + true_x[6]; + out_2774429114405664516[7] = -nom_x[7] + true_x[7]; + out_2774429114405664516[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_3699562487368274414) { - out_3699562487368274414[0] = 1.0; - out_3699562487368274414[1] = 0.0; - out_3699562487368274414[2] = 0.0; - out_3699562487368274414[3] = 0.0; - out_3699562487368274414[4] = 0.0; - out_3699562487368274414[5] = 0.0; - out_3699562487368274414[6] = 0.0; - out_3699562487368274414[7] = 0.0; - out_3699562487368274414[8] = 0.0; - out_3699562487368274414[9] = 0.0; - out_3699562487368274414[10] = 1.0; - out_3699562487368274414[11] = 0.0; - out_3699562487368274414[12] = 0.0; - out_3699562487368274414[13] = 0.0; - out_3699562487368274414[14] = 0.0; - out_3699562487368274414[15] = 0.0; - out_3699562487368274414[16] = 0.0; - out_3699562487368274414[17] = 0.0; - out_3699562487368274414[18] = 0.0; - out_3699562487368274414[19] = 0.0; - out_3699562487368274414[20] = 1.0; - out_3699562487368274414[21] = 0.0; - out_3699562487368274414[22] = 0.0; - out_3699562487368274414[23] = 0.0; - out_3699562487368274414[24] = 0.0; - out_3699562487368274414[25] = 0.0; - out_3699562487368274414[26] = 0.0; - out_3699562487368274414[27] = 0.0; - out_3699562487368274414[28] = 0.0; - out_3699562487368274414[29] = 0.0; - out_3699562487368274414[30] = 1.0; - out_3699562487368274414[31] = 0.0; - out_3699562487368274414[32] = 0.0; - out_3699562487368274414[33] = 0.0; - out_3699562487368274414[34] = 0.0; - out_3699562487368274414[35] = 0.0; - out_3699562487368274414[36] = 0.0; - out_3699562487368274414[37] = 0.0; - out_3699562487368274414[38] = 0.0; - out_3699562487368274414[39] = 0.0; - out_3699562487368274414[40] = 1.0; - out_3699562487368274414[41] = 0.0; - out_3699562487368274414[42] = 0.0; - out_3699562487368274414[43] = 0.0; - out_3699562487368274414[44] = 0.0; - out_3699562487368274414[45] = 0.0; - out_3699562487368274414[46] = 0.0; - out_3699562487368274414[47] = 0.0; - out_3699562487368274414[48] = 0.0; - out_3699562487368274414[49] = 0.0; - out_3699562487368274414[50] = 1.0; - out_3699562487368274414[51] = 0.0; - out_3699562487368274414[52] = 0.0; - out_3699562487368274414[53] = 0.0; - out_3699562487368274414[54] = 0.0; - out_3699562487368274414[55] = 0.0; - out_3699562487368274414[56] = 0.0; - out_3699562487368274414[57] = 0.0; - out_3699562487368274414[58] = 0.0; - out_3699562487368274414[59] = 0.0; - out_3699562487368274414[60] = 1.0; - out_3699562487368274414[61] = 0.0; - out_3699562487368274414[62] = 0.0; - out_3699562487368274414[63] = 0.0; - out_3699562487368274414[64] = 0.0; - out_3699562487368274414[65] = 0.0; - out_3699562487368274414[66] = 0.0; - out_3699562487368274414[67] = 0.0; - out_3699562487368274414[68] = 0.0; - out_3699562487368274414[69] = 0.0; - out_3699562487368274414[70] = 1.0; - out_3699562487368274414[71] = 0.0; - out_3699562487368274414[72] = 0.0; - out_3699562487368274414[73] = 0.0; - out_3699562487368274414[74] = 0.0; - out_3699562487368274414[75] = 0.0; - out_3699562487368274414[76] = 0.0; - out_3699562487368274414[77] = 0.0; - out_3699562487368274414[78] = 0.0; - out_3699562487368274414[79] = 0.0; - out_3699562487368274414[80] = 1.0; +void H_mod_fun(double *state, double *out_6080875852390524285) { + out_6080875852390524285[0] = 1.0; + out_6080875852390524285[1] = 0.0; + out_6080875852390524285[2] = 0.0; + out_6080875852390524285[3] = 0.0; + out_6080875852390524285[4] = 0.0; + out_6080875852390524285[5] = 0.0; + out_6080875852390524285[6] = 0.0; + out_6080875852390524285[7] = 0.0; + out_6080875852390524285[8] = 0.0; + out_6080875852390524285[9] = 0.0; + out_6080875852390524285[10] = 1.0; + out_6080875852390524285[11] = 0.0; + out_6080875852390524285[12] = 0.0; + out_6080875852390524285[13] = 0.0; + out_6080875852390524285[14] = 0.0; + out_6080875852390524285[15] = 0.0; + out_6080875852390524285[16] = 0.0; + out_6080875852390524285[17] = 0.0; + out_6080875852390524285[18] = 0.0; + out_6080875852390524285[19] = 0.0; + out_6080875852390524285[20] = 1.0; + out_6080875852390524285[21] = 0.0; + out_6080875852390524285[22] = 0.0; + out_6080875852390524285[23] = 0.0; + out_6080875852390524285[24] = 0.0; + out_6080875852390524285[25] = 0.0; + out_6080875852390524285[26] = 0.0; + out_6080875852390524285[27] = 0.0; + out_6080875852390524285[28] = 0.0; + out_6080875852390524285[29] = 0.0; + out_6080875852390524285[30] = 1.0; + out_6080875852390524285[31] = 0.0; + out_6080875852390524285[32] = 0.0; + out_6080875852390524285[33] = 0.0; + out_6080875852390524285[34] = 0.0; + out_6080875852390524285[35] = 0.0; + out_6080875852390524285[36] = 0.0; + out_6080875852390524285[37] = 0.0; + out_6080875852390524285[38] = 0.0; + out_6080875852390524285[39] = 0.0; + out_6080875852390524285[40] = 1.0; + out_6080875852390524285[41] = 0.0; + out_6080875852390524285[42] = 0.0; + out_6080875852390524285[43] = 0.0; + out_6080875852390524285[44] = 0.0; + out_6080875852390524285[45] = 0.0; + out_6080875852390524285[46] = 0.0; + out_6080875852390524285[47] = 0.0; + out_6080875852390524285[48] = 0.0; + out_6080875852390524285[49] = 0.0; + out_6080875852390524285[50] = 1.0; + out_6080875852390524285[51] = 0.0; + out_6080875852390524285[52] = 0.0; + out_6080875852390524285[53] = 0.0; + out_6080875852390524285[54] = 0.0; + out_6080875852390524285[55] = 0.0; + out_6080875852390524285[56] = 0.0; + out_6080875852390524285[57] = 0.0; + out_6080875852390524285[58] = 0.0; + out_6080875852390524285[59] = 0.0; + out_6080875852390524285[60] = 1.0; + out_6080875852390524285[61] = 0.0; + out_6080875852390524285[62] = 0.0; + out_6080875852390524285[63] = 0.0; + out_6080875852390524285[64] = 0.0; + out_6080875852390524285[65] = 0.0; + out_6080875852390524285[66] = 0.0; + out_6080875852390524285[67] = 0.0; + out_6080875852390524285[68] = 0.0; + out_6080875852390524285[69] = 0.0; + out_6080875852390524285[70] = 1.0; + out_6080875852390524285[71] = 0.0; + out_6080875852390524285[72] = 0.0; + out_6080875852390524285[73] = 0.0; + out_6080875852390524285[74] = 0.0; + out_6080875852390524285[75] = 0.0; + out_6080875852390524285[76] = 0.0; + out_6080875852390524285[77] = 0.0; + out_6080875852390524285[78] = 0.0; + out_6080875852390524285[79] = 0.0; + out_6080875852390524285[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1113205683479280207) { - out_1113205683479280207[0] = state[0]; - out_1113205683479280207[1] = state[1]; - out_1113205683479280207[2] = state[2]; - out_1113205683479280207[3] = state[3]; - out_1113205683479280207[4] = state[4]; - out_1113205683479280207[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_1113205683479280207[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_1113205683479280207[7] = state[7]; - out_1113205683479280207[8] = state[8]; +void f_fun(double *state, double dt, double *out_6417706388998195307) { + out_6417706388998195307[0] = state[0]; + out_6417706388998195307[1] = state[1]; + out_6417706388998195307[2] = state[2]; + out_6417706388998195307[3] = state[3]; + out_6417706388998195307[4] = state[4]; + out_6417706388998195307[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_6417706388998195307[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_6417706388998195307[7] = state[7]; + out_6417706388998195307[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2198054725359611149) { - out_2198054725359611149[0] = 1; - out_2198054725359611149[1] = 0; - out_2198054725359611149[2] = 0; - out_2198054725359611149[3] = 0; - out_2198054725359611149[4] = 0; - out_2198054725359611149[5] = 0; - out_2198054725359611149[6] = 0; - out_2198054725359611149[7] = 0; - out_2198054725359611149[8] = 0; - out_2198054725359611149[9] = 0; - out_2198054725359611149[10] = 1; - out_2198054725359611149[11] = 0; - out_2198054725359611149[12] = 0; - out_2198054725359611149[13] = 0; - out_2198054725359611149[14] = 0; - out_2198054725359611149[15] = 0; - out_2198054725359611149[16] = 0; - out_2198054725359611149[17] = 0; - out_2198054725359611149[18] = 0; - out_2198054725359611149[19] = 0; - out_2198054725359611149[20] = 1; - out_2198054725359611149[21] = 0; - out_2198054725359611149[22] = 0; - out_2198054725359611149[23] = 0; - out_2198054725359611149[24] = 0; - out_2198054725359611149[25] = 0; - out_2198054725359611149[26] = 0; - out_2198054725359611149[27] = 0; - out_2198054725359611149[28] = 0; - out_2198054725359611149[29] = 0; - out_2198054725359611149[30] = 1; - out_2198054725359611149[31] = 0; - out_2198054725359611149[32] = 0; - out_2198054725359611149[33] = 0; - out_2198054725359611149[34] = 0; - out_2198054725359611149[35] = 0; - out_2198054725359611149[36] = 0; - out_2198054725359611149[37] = 0; - out_2198054725359611149[38] = 0; - out_2198054725359611149[39] = 0; - out_2198054725359611149[40] = 1; - out_2198054725359611149[41] = 0; - out_2198054725359611149[42] = 0; - out_2198054725359611149[43] = 0; - out_2198054725359611149[44] = 0; - out_2198054725359611149[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_2198054725359611149[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2198054725359611149[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2198054725359611149[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2198054725359611149[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_2198054725359611149[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2198054725359611149[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2198054725359611149[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2198054725359611149[53] = -9.8100000000000005*dt; - out_2198054725359611149[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_2198054725359611149[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2198054725359611149[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2198054725359611149[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2198054725359611149[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_2198054725359611149[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2198054725359611149[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_2198054725359611149[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2198054725359611149[62] = 0; - out_2198054725359611149[63] = 0; - out_2198054725359611149[64] = 0; - out_2198054725359611149[65] = 0; - out_2198054725359611149[66] = 0; - out_2198054725359611149[67] = 0; - out_2198054725359611149[68] = 0; - out_2198054725359611149[69] = 0; - out_2198054725359611149[70] = 1; - out_2198054725359611149[71] = 0; - out_2198054725359611149[72] = 0; - out_2198054725359611149[73] = 0; - out_2198054725359611149[74] = 0; - out_2198054725359611149[75] = 0; - out_2198054725359611149[76] = 0; - out_2198054725359611149[77] = 0; - out_2198054725359611149[78] = 0; - out_2198054725359611149[79] = 0; - out_2198054725359611149[80] = 1; +void F_fun(double *state, double dt, double *out_883841085229346789) { + out_883841085229346789[0] = 1; + out_883841085229346789[1] = 0; + out_883841085229346789[2] = 0; + out_883841085229346789[3] = 0; + out_883841085229346789[4] = 0; + out_883841085229346789[5] = 0; + out_883841085229346789[6] = 0; + out_883841085229346789[7] = 0; + out_883841085229346789[8] = 0; + out_883841085229346789[9] = 0; + out_883841085229346789[10] = 1; + out_883841085229346789[11] = 0; + out_883841085229346789[12] = 0; + out_883841085229346789[13] = 0; + out_883841085229346789[14] = 0; + out_883841085229346789[15] = 0; + out_883841085229346789[16] = 0; + out_883841085229346789[17] = 0; + out_883841085229346789[18] = 0; + out_883841085229346789[19] = 0; + out_883841085229346789[20] = 1; + out_883841085229346789[21] = 0; + out_883841085229346789[22] = 0; + out_883841085229346789[23] = 0; + out_883841085229346789[24] = 0; + out_883841085229346789[25] = 0; + out_883841085229346789[26] = 0; + out_883841085229346789[27] = 0; + out_883841085229346789[28] = 0; + out_883841085229346789[29] = 0; + out_883841085229346789[30] = 1; + out_883841085229346789[31] = 0; + out_883841085229346789[32] = 0; + out_883841085229346789[33] = 0; + out_883841085229346789[34] = 0; + out_883841085229346789[35] = 0; + out_883841085229346789[36] = 0; + out_883841085229346789[37] = 0; + out_883841085229346789[38] = 0; + out_883841085229346789[39] = 0; + out_883841085229346789[40] = 1; + out_883841085229346789[41] = 0; + out_883841085229346789[42] = 0; + out_883841085229346789[43] = 0; + out_883841085229346789[44] = 0; + out_883841085229346789[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_883841085229346789[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_883841085229346789[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_883841085229346789[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_883841085229346789[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_883841085229346789[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_883841085229346789[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_883841085229346789[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_883841085229346789[53] = -9.8100000000000005*dt; + out_883841085229346789[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_883841085229346789[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_883841085229346789[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_883841085229346789[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_883841085229346789[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_883841085229346789[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_883841085229346789[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_883841085229346789[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_883841085229346789[62] = 0; + out_883841085229346789[63] = 0; + out_883841085229346789[64] = 0; + out_883841085229346789[65] = 0; + out_883841085229346789[66] = 0; + out_883841085229346789[67] = 0; + out_883841085229346789[68] = 0; + out_883841085229346789[69] = 0; + out_883841085229346789[70] = 1; + out_883841085229346789[71] = 0; + out_883841085229346789[72] = 0; + out_883841085229346789[73] = 0; + out_883841085229346789[74] = 0; + out_883841085229346789[75] = 0; + out_883841085229346789[76] = 0; + out_883841085229346789[77] = 0; + out_883841085229346789[78] = 0; + out_883841085229346789[79] = 0; + out_883841085229346789[80] = 1; } -void h_25(double *state, double *unused, double *out_2775617380616102557) { - out_2775617380616102557[0] = state[6]; +void h_25(double *state, double *unused, double *out_2855412773557287240) { + out_2855412773557287240[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5493625738543962823) { - out_5493625738543962823[0] = 0; - out_5493625738543962823[1] = 0; - out_5493625738543962823[2] = 0; - out_5493625738543962823[3] = 0; - out_5493625738543962823[4] = 0; - out_5493625738543962823[5] = 0; - out_5493625738543962823[6] = 1; - out_5493625738543962823[7] = 0; - out_5493625738543962823[8] = 0; +void H_25(double *state, double *unused, double *out_2557895202401032608) { + out_2557895202401032608[0] = 0; + out_2557895202401032608[1] = 0; + out_2557895202401032608[2] = 0; + out_2557895202401032608[3] = 0; + out_2557895202401032608[4] = 0; + out_2557895202401032608[5] = 0; + out_2557895202401032608[6] = 1; + out_2557895202401032608[7] = 0; + out_2557895202401032608[8] = 0; } -void h_24(double *state, double *unused, double *out_6646117502185914860) { - out_6646117502185914860[0] = state[4]; - out_6646117502185914860[1] = state[5]; +void h_24(double *state, double *unused, double *out_8685899773420353243) { + out_8685899773420353243[0] = state[4]; + out_8685899773420353243[1] = state[5]; } -void H_24(double *state, double *unused, double *out_3267917954565094261) { - out_3267917954565094261[0] = 0; - out_3267917954565094261[1] = 0; - out_3267917954565094261[2] = 0; - out_3267917954565094261[3] = 0; - out_3267917954565094261[4] = 1; - out_3267917954565094261[5] = 0; - out_3267917954565094261[6] = 0; - out_3267917954565094261[7] = 0; - out_3267917954565094261[8] = 0; - out_3267917954565094261[9] = 0; - out_3267917954565094261[10] = 0; - out_3267917954565094261[11] = 0; - out_3267917954565094261[12] = 0; - out_3267917954565094261[13] = 0; - out_3267917954565094261[14] = 1; - out_3267917954565094261[15] = 0; - out_3267917954565094261[16] = 0; - out_3267917954565094261[17] = 0; +void H_24(double *state, double *unused, double *out_1000030396401290528) { + out_1000030396401290528[0] = 0; + out_1000030396401290528[1] = 0; + out_1000030396401290528[2] = 0; + out_1000030396401290528[3] = 0; + out_1000030396401290528[4] = 1; + out_1000030396401290528[5] = 0; + out_1000030396401290528[6] = 0; + out_1000030396401290528[7] = 0; + out_1000030396401290528[8] = 0; + out_1000030396401290528[9] = 0; + out_1000030396401290528[10] = 0; + out_1000030396401290528[11] = 0; + out_1000030396401290528[12] = 0; + out_1000030396401290528[13] = 0; + out_1000030396401290528[14] = 1; + out_1000030396401290528[15] = 0; + out_1000030396401290528[16] = 0; + out_1000030396401290528[17] = 0; } -void h_30(double *state, double *unused, double *out_6519293463111227465) { - out_6519293463111227465[0] = state[4]; +void h_30(double *state, double *unused, double *out_3732415152919007923) { + out_3732415152919007923[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1423064602947653932) { - out_1423064602947653932[0] = 0; - out_1423064602947653932[1] = 0; - out_1423064602947653932[2] = 0; - out_1423064602947653932[3] = 0; - out_1423064602947653932[4] = 1; - out_1423064602947653932[5] = 0; - out_1423064602947653932[6] = 0; - out_1423064602947653932[7] = 0; - out_1423064602947653932[8] = 0; +void H_30(double *state, double *unused, double *out_4358795139090584147) { + out_4358795139090584147[0] = 0; + out_4358795139090584147[1] = 0; + out_4358795139090584147[2] = 0; + out_4358795139090584147[3] = 0; + out_4358795139090584147[4] = 1; + out_4358795139090584147[5] = 0; + out_4358795139090584147[6] = 0; + out_4358795139090584147[7] = 0; + out_4358795139090584147[8] = 0; } -void h_26(double *state, double *unused, double *out_7122609347787704982) { - out_7122609347787704982[0] = state[7]; +void h_26(double *state, double *unused, double *out_665536928362621089) { + out_665536928362621089[0] = state[7]; } -void H_26(double *state, double *unused, double *out_9211615016291532569) { - out_9211615016291532569[0] = 0; - out_9211615016291532569[1] = 0; - out_9211615016291532569[2] = 0; - out_9211615016291532569[3] = 0; - out_9211615016291532569[4] = 0; - out_9211615016291532569[5] = 0; - out_9211615016291532569[6] = 0; - out_9211615016291532569[7] = 1; - out_9211615016291532569[8] = 0; +void H_26(double *state, double *unused, double *out_6299398521275088832) { + out_6299398521275088832[0] = 0; + out_6299398521275088832[1] = 0; + out_6299398521275088832[2] = 0; + out_6299398521275088832[3] = 0; + out_6299398521275088832[4] = 0; + out_6299398521275088832[5] = 0; + out_6299398521275088832[6] = 0; + out_6299398521275088832[7] = 1; + out_6299398521275088832[8] = 0; } -void h_27(double *state, double *unused, double *out_7737997378297395789) { - out_7737997378297395789[0] = state[3]; +void h_27(double *state, double *unused, double *out_3247106662175907150) { + out_3247106662175907150[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7797727997487627804) { - out_7797727997487627804[0] = 0; - out_7797727997487627804[1] = 0; - out_7797727997487627804[2] = 0; - out_7797727997487627804[3] = 1; - out_7797727997487627804[4] = 0; - out_7797727997487627804[5] = 0; - out_7797727997487627804[6] = 0; - out_7797727997487627804[7] = 0; - out_7797727997487627804[8] = 0; +void H_27(double *state, double *unused, double *out_2184031827290159236) { + out_2184031827290159236[0] = 0; + out_2184031827290159236[1] = 0; + out_2184031827290159236[2] = 0; + out_2184031827290159236[3] = 1; + out_2184031827290159236[4] = 0; + out_2184031827290159236[5] = 0; + out_2184031827290159236[6] = 0; + out_2184031827290159236[7] = 0; + out_2184031827290159236[8] = 0; } -void h_29(double *state, double *unused, double *out_3746027739128576800) { - out_3746027739128576800[0] = state[1]; +void h_29(double *state, double *unused, double *out_9044190215692984337) { + out_9044190215692984337[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5112733341372810709) { - out_5112733341372810709[0] = 0; - out_5112733341372810709[1] = 1; - out_5112733341372810709[2] = 0; - out_5112733341372810709[3] = 0; - out_5112733341372810709[4] = 0; - out_5112733341372810709[5] = 0; - out_5112733341372810709[6] = 0; - out_5112733341372810709[7] = 0; - out_5112733341372810709[8] = 0; +void H_29(double *state, double *unused, double *out_470669100420608203) { + out_470669100420608203[0] = 0; + out_470669100420608203[1] = 1; + out_470669100420608203[2] = 0; + out_470669100420608203[3] = 0; + out_470669100420608203[4] = 0; + out_470669100420608203[5] = 0; + out_470669100420608203[6] = 0; + out_470669100420608203[7] = 0; + out_470669100420608203[8] = 0; } -void h_28(double *state, double *unused, double *out_8104341374603458176) { - out_8104341374603458176[0] = state[0]; +void h_28(double *state, double *unused, double *out_8248779929836752795) { + out_8248779929836752795[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3149103069807484458) { - out_3149103069807484458[0] = 1; - out_3149103069807484458[1] = 0; - out_3149103069807484458[2] = 0; - out_3149103069807484458[3] = 0; - out_3149103069807484458[4] = 0; - out_3149103069807484458[5] = 0; - out_3149103069807484458[6] = 0; - out_3149103069807484458[7] = 0; - out_3149103069807484458[8] = 0; +void H_28(double *state, double *unused, double *out_4611729916648922371) { + out_4611729916648922371[0] = 1; + out_4611729916648922371[1] = 0; + out_4611729916648922371[2] = 0; + out_4611729916648922371[3] = 0; + out_4611729916648922371[4] = 0; + out_4611729916648922371[5] = 0; + out_4611729916648922371[6] = 0; + out_4611729916648922371[7] = 0; + out_4611729916648922371[8] = 0; } -void h_31(double *state, double *unused, double *out_5721043300647637435) { - out_5721043300647637435[0] = state[8]; +void h_31(double *state, double *unused, double *out_6008698651335733946) { + out_6008698651335733946[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5462979776667002395) { - out_5462979776667002395[0] = 0; - out_5462979776667002395[1] = 0; - out_5462979776667002395[2] = 0; - out_5462979776667002395[3] = 0; - out_5462979776667002395[4] = 0; - out_5462979776667002395[5] = 0; - out_5462979776667002395[6] = 0; - out_5462979776667002395[7] = 0; - out_5462979776667002395[8] = 1; +void H_31(double *state, double *unused, double *out_2527249240524072180) { + out_2527249240524072180[0] = 0; + out_2527249240524072180[1] = 0; + out_2527249240524072180[2] = 0; + out_2527249240524072180[3] = 0; + out_2527249240524072180[4] = 0; + out_2527249240524072180[5] = 0; + out_2527249240524072180[6] = 0; + out_2527249240524072180[7] = 0; + out_2527249240524072180[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_6251513780499274303) { - err_fun(nom_x, delta_x, out_6251513780499274303); +void car_err_fun(double *nom_x, double *delta_x, double *out_3114295045279175255) { + err_fun(nom_x, delta_x, out_3114295045279175255); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1361283985005059007) { - inv_err_fun(nom_x, true_x, out_1361283985005059007); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2774429114405664516) { + inv_err_fun(nom_x, true_x, out_2774429114405664516); } -void car_H_mod_fun(double *state, double *out_3699562487368274414) { - H_mod_fun(state, out_3699562487368274414); +void car_H_mod_fun(double *state, double *out_6080875852390524285) { + H_mod_fun(state, out_6080875852390524285); } -void car_f_fun(double *state, double dt, double *out_1113205683479280207) { - f_fun(state, dt, out_1113205683479280207); +void car_f_fun(double *state, double dt, double *out_6417706388998195307) { + f_fun(state, dt, out_6417706388998195307); } -void car_F_fun(double *state, double dt, double *out_2198054725359611149) { - F_fun(state, dt, out_2198054725359611149); +void car_F_fun(double *state, double dt, double *out_883841085229346789) { + F_fun(state, dt, out_883841085229346789); } -void car_h_25(double *state, double *unused, double *out_2775617380616102557) { - h_25(state, unused, out_2775617380616102557); +void car_h_25(double *state, double *unused, double *out_2855412773557287240) { + h_25(state, unused, out_2855412773557287240); } -void car_H_25(double *state, double *unused, double *out_5493625738543962823) { - H_25(state, unused, out_5493625738543962823); +void car_H_25(double *state, double *unused, double *out_2557895202401032608) { + H_25(state, unused, out_2557895202401032608); } -void car_h_24(double *state, double *unused, double *out_6646117502185914860) { - h_24(state, unused, out_6646117502185914860); +void car_h_24(double *state, double *unused, double *out_8685899773420353243) { + h_24(state, unused, out_8685899773420353243); } -void car_H_24(double *state, double *unused, double *out_3267917954565094261) { - H_24(state, unused, out_3267917954565094261); +void car_H_24(double *state, double *unused, double *out_1000030396401290528) { + H_24(state, unused, out_1000030396401290528); } -void car_h_30(double *state, double *unused, double *out_6519293463111227465) { - h_30(state, unused, out_6519293463111227465); +void car_h_30(double *state, double *unused, double *out_3732415152919007923) { + h_30(state, unused, out_3732415152919007923); } -void car_H_30(double *state, double *unused, double *out_1423064602947653932) { - H_30(state, unused, out_1423064602947653932); +void car_H_30(double *state, double *unused, double *out_4358795139090584147) { + H_30(state, unused, out_4358795139090584147); } -void car_h_26(double *state, double *unused, double *out_7122609347787704982) { - h_26(state, unused, out_7122609347787704982); +void car_h_26(double *state, double *unused, double *out_665536928362621089) { + h_26(state, unused, out_665536928362621089); } -void car_H_26(double *state, double *unused, double *out_9211615016291532569) { - H_26(state, unused, out_9211615016291532569); +void car_H_26(double *state, double *unused, double *out_6299398521275088832) { + H_26(state, unused, out_6299398521275088832); } -void car_h_27(double *state, double *unused, double *out_7737997378297395789) { - h_27(state, unused, out_7737997378297395789); +void car_h_27(double *state, double *unused, double *out_3247106662175907150) { + h_27(state, unused, out_3247106662175907150); } -void car_H_27(double *state, double *unused, double *out_7797727997487627804) { - H_27(state, unused, out_7797727997487627804); +void car_H_27(double *state, double *unused, double *out_2184031827290159236) { + H_27(state, unused, out_2184031827290159236); } -void car_h_29(double *state, double *unused, double *out_3746027739128576800) { - h_29(state, unused, out_3746027739128576800); +void car_h_29(double *state, double *unused, double *out_9044190215692984337) { + h_29(state, unused, out_9044190215692984337); } -void car_H_29(double *state, double *unused, double *out_5112733341372810709) { - H_29(state, unused, out_5112733341372810709); +void car_H_29(double *state, double *unused, double *out_470669100420608203) { + H_29(state, unused, out_470669100420608203); } -void car_h_28(double *state, double *unused, double *out_8104341374603458176) { - h_28(state, unused, out_8104341374603458176); +void car_h_28(double *state, double *unused, double *out_8248779929836752795) { + h_28(state, unused, out_8248779929836752795); } -void car_H_28(double *state, double *unused, double *out_3149103069807484458) { - H_28(state, unused, out_3149103069807484458); +void car_H_28(double *state, double *unused, double *out_4611729916648922371) { + H_28(state, unused, out_4611729916648922371); } -void car_h_31(double *state, double *unused, double *out_5721043300647637435) { - h_31(state, unused, out_5721043300647637435); +void car_h_31(double *state, double *unused, double *out_6008698651335733946) { + h_31(state, unused, out_6008698651335733946); } -void car_H_31(double *state, double *unused, double *out_5462979776667002395) { - H_31(state, unused, out_5462979776667002395); +void car_H_31(double *state, double *unused, double *out_2527249240524072180) { + H_31(state, unused, out_2527249240524072180); } 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 e4f3eb002..ba5315733 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_6251513780499274303); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1361283985005059007); -void car_H_mod_fun(double *state, double *out_3699562487368274414); -void car_f_fun(double *state, double dt, double *out_1113205683479280207); -void car_F_fun(double *state, double dt, double *out_2198054725359611149); -void car_h_25(double *state, double *unused, double *out_2775617380616102557); -void car_H_25(double *state, double *unused, double *out_5493625738543962823); -void car_h_24(double *state, double *unused, double *out_6646117502185914860); -void car_H_24(double *state, double *unused, double *out_3267917954565094261); -void car_h_30(double *state, double *unused, double *out_6519293463111227465); -void car_H_30(double *state, double *unused, double *out_1423064602947653932); -void car_h_26(double *state, double *unused, double *out_7122609347787704982); -void car_H_26(double *state, double *unused, double *out_9211615016291532569); -void car_h_27(double *state, double *unused, double *out_7737997378297395789); -void car_H_27(double *state, double *unused, double *out_7797727997487627804); -void car_h_29(double *state, double *unused, double *out_3746027739128576800); -void car_H_29(double *state, double *unused, double *out_5112733341372810709); -void car_h_28(double *state, double *unused, double *out_8104341374603458176); -void car_H_28(double *state, double *unused, double *out_3149103069807484458); -void car_h_31(double *state, double *unused, double *out_5721043300647637435); -void car_H_31(double *state, double *unused, double *out_5462979776667002395); +void car_err_fun(double *nom_x, double *delta_x, double *out_3114295045279175255); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2774429114405664516); +void car_H_mod_fun(double *state, double *out_6080875852390524285); +void car_f_fun(double *state, double dt, double *out_6417706388998195307); +void car_F_fun(double *state, double dt, double *out_883841085229346789); +void car_h_25(double *state, double *unused, double *out_2855412773557287240); +void car_H_25(double *state, double *unused, double *out_2557895202401032608); +void car_h_24(double *state, double *unused, double *out_8685899773420353243); +void car_H_24(double *state, double *unused, double *out_1000030396401290528); +void car_h_30(double *state, double *unused, double *out_3732415152919007923); +void car_H_30(double *state, double *unused, double *out_4358795139090584147); +void car_h_26(double *state, double *unused, double *out_665536928362621089); +void car_H_26(double *state, double *unused, double *out_6299398521275088832); +void car_h_27(double *state, double *unused, double *out_3247106662175907150); +void car_H_27(double *state, double *unused, double *out_2184031827290159236); +void car_h_29(double *state, double *unused, double *out_9044190215692984337); +void car_H_29(double *state, double *unused, double *out_470669100420608203); +void car_h_28(double *state, double *unused, double *out_8248779929836752795); +void car_H_28(double *state, double *unused, double *out_4611729916648922371); +void car_h_31(double *state, double *unused, double *out_6008698651335733946); +void car_H_31(double *state, double *unused, double *out_2527249240524072180); 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 a1cd82f32..bfa7bb6e4 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_7505672412271645129) { - out_7505672412271645129[0] = delta_x[0] + nom_x[0]; - out_7505672412271645129[1] = delta_x[1] + nom_x[1]; - out_7505672412271645129[2] = delta_x[2] + nom_x[2]; - out_7505672412271645129[3] = delta_x[3] + nom_x[3]; - out_7505672412271645129[4] = delta_x[4] + nom_x[4]; - out_7505672412271645129[5] = delta_x[5] + nom_x[5]; - out_7505672412271645129[6] = delta_x[6] + nom_x[6]; - out_7505672412271645129[7] = delta_x[7] + nom_x[7]; - out_7505672412271645129[8] = delta_x[8] + nom_x[8]; - out_7505672412271645129[9] = delta_x[9] + nom_x[9]; - out_7505672412271645129[10] = delta_x[10] + nom_x[10]; - out_7505672412271645129[11] = delta_x[11] + nom_x[11]; - out_7505672412271645129[12] = delta_x[12] + nom_x[12]; - out_7505672412271645129[13] = delta_x[13] + nom_x[13]; - out_7505672412271645129[14] = delta_x[14] + nom_x[14]; - out_7505672412271645129[15] = delta_x[15] + nom_x[15]; - out_7505672412271645129[16] = delta_x[16] + nom_x[16]; - out_7505672412271645129[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5206974560936582462) { + out_5206974560936582462[0] = delta_x[0] + nom_x[0]; + out_5206974560936582462[1] = delta_x[1] + nom_x[1]; + out_5206974560936582462[2] = delta_x[2] + nom_x[2]; + out_5206974560936582462[3] = delta_x[3] + nom_x[3]; + out_5206974560936582462[4] = delta_x[4] + nom_x[4]; + out_5206974560936582462[5] = delta_x[5] + nom_x[5]; + out_5206974560936582462[6] = delta_x[6] + nom_x[6]; + out_5206974560936582462[7] = delta_x[7] + nom_x[7]; + out_5206974560936582462[8] = delta_x[8] + nom_x[8]; + out_5206974560936582462[9] = delta_x[9] + nom_x[9]; + out_5206974560936582462[10] = delta_x[10] + nom_x[10]; + out_5206974560936582462[11] = delta_x[11] + nom_x[11]; + out_5206974560936582462[12] = delta_x[12] + nom_x[12]; + out_5206974560936582462[13] = delta_x[13] + nom_x[13]; + out_5206974560936582462[14] = delta_x[14] + nom_x[14]; + out_5206974560936582462[15] = delta_x[15] + nom_x[15]; + out_5206974560936582462[16] = delta_x[16] + nom_x[16]; + out_5206974560936582462[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_850525553930579209) { - out_850525553930579209[0] = -nom_x[0] + true_x[0]; - out_850525553930579209[1] = -nom_x[1] + true_x[1]; - out_850525553930579209[2] = -nom_x[2] + true_x[2]; - out_850525553930579209[3] = -nom_x[3] + true_x[3]; - out_850525553930579209[4] = -nom_x[4] + true_x[4]; - out_850525553930579209[5] = -nom_x[5] + true_x[5]; - out_850525553930579209[6] = -nom_x[6] + true_x[6]; - out_850525553930579209[7] = -nom_x[7] + true_x[7]; - out_850525553930579209[8] = -nom_x[8] + true_x[8]; - out_850525553930579209[9] = -nom_x[9] + true_x[9]; - out_850525553930579209[10] = -nom_x[10] + true_x[10]; - out_850525553930579209[11] = -nom_x[11] + true_x[11]; - out_850525553930579209[12] = -nom_x[12] + true_x[12]; - out_850525553930579209[13] = -nom_x[13] + true_x[13]; - out_850525553930579209[14] = -nom_x[14] + true_x[14]; - out_850525553930579209[15] = -nom_x[15] + true_x[15]; - out_850525553930579209[16] = -nom_x[16] + true_x[16]; - out_850525553930579209[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8580851081509816390) { + out_8580851081509816390[0] = -nom_x[0] + true_x[0]; + out_8580851081509816390[1] = -nom_x[1] + true_x[1]; + out_8580851081509816390[2] = -nom_x[2] + true_x[2]; + out_8580851081509816390[3] = -nom_x[3] + true_x[3]; + out_8580851081509816390[4] = -nom_x[4] + true_x[4]; + out_8580851081509816390[5] = -nom_x[5] + true_x[5]; + out_8580851081509816390[6] = -nom_x[6] + true_x[6]; + out_8580851081509816390[7] = -nom_x[7] + true_x[7]; + out_8580851081509816390[8] = -nom_x[8] + true_x[8]; + out_8580851081509816390[9] = -nom_x[9] + true_x[9]; + out_8580851081509816390[10] = -nom_x[10] + true_x[10]; + out_8580851081509816390[11] = -nom_x[11] + true_x[11]; + out_8580851081509816390[12] = -nom_x[12] + true_x[12]; + out_8580851081509816390[13] = -nom_x[13] + true_x[13]; + out_8580851081509816390[14] = -nom_x[14] + true_x[14]; + out_8580851081509816390[15] = -nom_x[15] + true_x[15]; + out_8580851081509816390[16] = -nom_x[16] + true_x[16]; + out_8580851081509816390[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5142011875417202005) { - out_5142011875417202005[0] = 1.0; - out_5142011875417202005[1] = 0.0; - out_5142011875417202005[2] = 0.0; - out_5142011875417202005[3] = 0.0; - out_5142011875417202005[4] = 0.0; - out_5142011875417202005[5] = 0.0; - out_5142011875417202005[6] = 0.0; - out_5142011875417202005[7] = 0.0; - out_5142011875417202005[8] = 0.0; - out_5142011875417202005[9] = 0.0; - out_5142011875417202005[10] = 0.0; - out_5142011875417202005[11] = 0.0; - out_5142011875417202005[12] = 0.0; - out_5142011875417202005[13] = 0.0; - out_5142011875417202005[14] = 0.0; - out_5142011875417202005[15] = 0.0; - out_5142011875417202005[16] = 0.0; - out_5142011875417202005[17] = 0.0; - out_5142011875417202005[18] = 0.0; - out_5142011875417202005[19] = 1.0; - out_5142011875417202005[20] = 0.0; - out_5142011875417202005[21] = 0.0; - out_5142011875417202005[22] = 0.0; - out_5142011875417202005[23] = 0.0; - out_5142011875417202005[24] = 0.0; - out_5142011875417202005[25] = 0.0; - out_5142011875417202005[26] = 0.0; - out_5142011875417202005[27] = 0.0; - out_5142011875417202005[28] = 0.0; - out_5142011875417202005[29] = 0.0; - out_5142011875417202005[30] = 0.0; - out_5142011875417202005[31] = 0.0; - out_5142011875417202005[32] = 0.0; - out_5142011875417202005[33] = 0.0; - out_5142011875417202005[34] = 0.0; - out_5142011875417202005[35] = 0.0; - out_5142011875417202005[36] = 0.0; - out_5142011875417202005[37] = 0.0; - out_5142011875417202005[38] = 1.0; - out_5142011875417202005[39] = 0.0; - out_5142011875417202005[40] = 0.0; - out_5142011875417202005[41] = 0.0; - out_5142011875417202005[42] = 0.0; - out_5142011875417202005[43] = 0.0; - out_5142011875417202005[44] = 0.0; - out_5142011875417202005[45] = 0.0; - out_5142011875417202005[46] = 0.0; - out_5142011875417202005[47] = 0.0; - out_5142011875417202005[48] = 0.0; - out_5142011875417202005[49] = 0.0; - out_5142011875417202005[50] = 0.0; - out_5142011875417202005[51] = 0.0; - out_5142011875417202005[52] = 0.0; - out_5142011875417202005[53] = 0.0; - out_5142011875417202005[54] = 0.0; - out_5142011875417202005[55] = 0.0; - out_5142011875417202005[56] = 0.0; - out_5142011875417202005[57] = 1.0; - out_5142011875417202005[58] = 0.0; - out_5142011875417202005[59] = 0.0; - out_5142011875417202005[60] = 0.0; - out_5142011875417202005[61] = 0.0; - out_5142011875417202005[62] = 0.0; - out_5142011875417202005[63] = 0.0; - out_5142011875417202005[64] = 0.0; - out_5142011875417202005[65] = 0.0; - out_5142011875417202005[66] = 0.0; - out_5142011875417202005[67] = 0.0; - out_5142011875417202005[68] = 0.0; - out_5142011875417202005[69] = 0.0; - out_5142011875417202005[70] = 0.0; - out_5142011875417202005[71] = 0.0; - out_5142011875417202005[72] = 0.0; - out_5142011875417202005[73] = 0.0; - out_5142011875417202005[74] = 0.0; - out_5142011875417202005[75] = 0.0; - out_5142011875417202005[76] = 1.0; - out_5142011875417202005[77] = 0.0; - out_5142011875417202005[78] = 0.0; - out_5142011875417202005[79] = 0.0; - out_5142011875417202005[80] = 0.0; - out_5142011875417202005[81] = 0.0; - out_5142011875417202005[82] = 0.0; - out_5142011875417202005[83] = 0.0; - out_5142011875417202005[84] = 0.0; - out_5142011875417202005[85] = 0.0; - out_5142011875417202005[86] = 0.0; - out_5142011875417202005[87] = 0.0; - out_5142011875417202005[88] = 0.0; - out_5142011875417202005[89] = 0.0; - out_5142011875417202005[90] = 0.0; - out_5142011875417202005[91] = 0.0; - out_5142011875417202005[92] = 0.0; - out_5142011875417202005[93] = 0.0; - out_5142011875417202005[94] = 0.0; - out_5142011875417202005[95] = 1.0; - out_5142011875417202005[96] = 0.0; - out_5142011875417202005[97] = 0.0; - out_5142011875417202005[98] = 0.0; - out_5142011875417202005[99] = 0.0; - out_5142011875417202005[100] = 0.0; - out_5142011875417202005[101] = 0.0; - out_5142011875417202005[102] = 0.0; - out_5142011875417202005[103] = 0.0; - out_5142011875417202005[104] = 0.0; - out_5142011875417202005[105] = 0.0; - out_5142011875417202005[106] = 0.0; - out_5142011875417202005[107] = 0.0; - out_5142011875417202005[108] = 0.0; - out_5142011875417202005[109] = 0.0; - out_5142011875417202005[110] = 0.0; - out_5142011875417202005[111] = 0.0; - out_5142011875417202005[112] = 0.0; - out_5142011875417202005[113] = 0.0; - out_5142011875417202005[114] = 1.0; - out_5142011875417202005[115] = 0.0; - out_5142011875417202005[116] = 0.0; - out_5142011875417202005[117] = 0.0; - out_5142011875417202005[118] = 0.0; - out_5142011875417202005[119] = 0.0; - out_5142011875417202005[120] = 0.0; - out_5142011875417202005[121] = 0.0; - out_5142011875417202005[122] = 0.0; - out_5142011875417202005[123] = 0.0; - out_5142011875417202005[124] = 0.0; - out_5142011875417202005[125] = 0.0; - out_5142011875417202005[126] = 0.0; - out_5142011875417202005[127] = 0.0; - out_5142011875417202005[128] = 0.0; - out_5142011875417202005[129] = 0.0; - out_5142011875417202005[130] = 0.0; - out_5142011875417202005[131] = 0.0; - out_5142011875417202005[132] = 0.0; - out_5142011875417202005[133] = 1.0; - out_5142011875417202005[134] = 0.0; - out_5142011875417202005[135] = 0.0; - out_5142011875417202005[136] = 0.0; - out_5142011875417202005[137] = 0.0; - out_5142011875417202005[138] = 0.0; - out_5142011875417202005[139] = 0.0; - out_5142011875417202005[140] = 0.0; - out_5142011875417202005[141] = 0.0; - out_5142011875417202005[142] = 0.0; - out_5142011875417202005[143] = 0.0; - out_5142011875417202005[144] = 0.0; - out_5142011875417202005[145] = 0.0; - out_5142011875417202005[146] = 0.0; - out_5142011875417202005[147] = 0.0; - out_5142011875417202005[148] = 0.0; - out_5142011875417202005[149] = 0.0; - out_5142011875417202005[150] = 0.0; - out_5142011875417202005[151] = 0.0; - out_5142011875417202005[152] = 1.0; - out_5142011875417202005[153] = 0.0; - out_5142011875417202005[154] = 0.0; - out_5142011875417202005[155] = 0.0; - out_5142011875417202005[156] = 0.0; - out_5142011875417202005[157] = 0.0; - out_5142011875417202005[158] = 0.0; - out_5142011875417202005[159] = 0.0; - out_5142011875417202005[160] = 0.0; - out_5142011875417202005[161] = 0.0; - out_5142011875417202005[162] = 0.0; - out_5142011875417202005[163] = 0.0; - out_5142011875417202005[164] = 0.0; - out_5142011875417202005[165] = 0.0; - out_5142011875417202005[166] = 0.0; - out_5142011875417202005[167] = 0.0; - out_5142011875417202005[168] = 0.0; - out_5142011875417202005[169] = 0.0; - out_5142011875417202005[170] = 0.0; - out_5142011875417202005[171] = 1.0; - out_5142011875417202005[172] = 0.0; - out_5142011875417202005[173] = 0.0; - out_5142011875417202005[174] = 0.0; - out_5142011875417202005[175] = 0.0; - out_5142011875417202005[176] = 0.0; - out_5142011875417202005[177] = 0.0; - out_5142011875417202005[178] = 0.0; - out_5142011875417202005[179] = 0.0; - out_5142011875417202005[180] = 0.0; - out_5142011875417202005[181] = 0.0; - out_5142011875417202005[182] = 0.0; - out_5142011875417202005[183] = 0.0; - out_5142011875417202005[184] = 0.0; - out_5142011875417202005[185] = 0.0; - out_5142011875417202005[186] = 0.0; - out_5142011875417202005[187] = 0.0; - out_5142011875417202005[188] = 0.0; - out_5142011875417202005[189] = 0.0; - out_5142011875417202005[190] = 1.0; - out_5142011875417202005[191] = 0.0; - out_5142011875417202005[192] = 0.0; - out_5142011875417202005[193] = 0.0; - out_5142011875417202005[194] = 0.0; - out_5142011875417202005[195] = 0.0; - out_5142011875417202005[196] = 0.0; - out_5142011875417202005[197] = 0.0; - out_5142011875417202005[198] = 0.0; - out_5142011875417202005[199] = 0.0; - out_5142011875417202005[200] = 0.0; - out_5142011875417202005[201] = 0.0; - out_5142011875417202005[202] = 0.0; - out_5142011875417202005[203] = 0.0; - out_5142011875417202005[204] = 0.0; - out_5142011875417202005[205] = 0.0; - out_5142011875417202005[206] = 0.0; - out_5142011875417202005[207] = 0.0; - out_5142011875417202005[208] = 0.0; - out_5142011875417202005[209] = 1.0; - out_5142011875417202005[210] = 0.0; - out_5142011875417202005[211] = 0.0; - out_5142011875417202005[212] = 0.0; - out_5142011875417202005[213] = 0.0; - out_5142011875417202005[214] = 0.0; - out_5142011875417202005[215] = 0.0; - out_5142011875417202005[216] = 0.0; - out_5142011875417202005[217] = 0.0; - out_5142011875417202005[218] = 0.0; - out_5142011875417202005[219] = 0.0; - out_5142011875417202005[220] = 0.0; - out_5142011875417202005[221] = 0.0; - out_5142011875417202005[222] = 0.0; - out_5142011875417202005[223] = 0.0; - out_5142011875417202005[224] = 0.0; - out_5142011875417202005[225] = 0.0; - out_5142011875417202005[226] = 0.0; - out_5142011875417202005[227] = 0.0; - out_5142011875417202005[228] = 1.0; - out_5142011875417202005[229] = 0.0; - out_5142011875417202005[230] = 0.0; - out_5142011875417202005[231] = 0.0; - out_5142011875417202005[232] = 0.0; - out_5142011875417202005[233] = 0.0; - out_5142011875417202005[234] = 0.0; - out_5142011875417202005[235] = 0.0; - out_5142011875417202005[236] = 0.0; - out_5142011875417202005[237] = 0.0; - out_5142011875417202005[238] = 0.0; - out_5142011875417202005[239] = 0.0; - out_5142011875417202005[240] = 0.0; - out_5142011875417202005[241] = 0.0; - out_5142011875417202005[242] = 0.0; - out_5142011875417202005[243] = 0.0; - out_5142011875417202005[244] = 0.0; - out_5142011875417202005[245] = 0.0; - out_5142011875417202005[246] = 0.0; - out_5142011875417202005[247] = 1.0; - out_5142011875417202005[248] = 0.0; - out_5142011875417202005[249] = 0.0; - out_5142011875417202005[250] = 0.0; - out_5142011875417202005[251] = 0.0; - out_5142011875417202005[252] = 0.0; - out_5142011875417202005[253] = 0.0; - out_5142011875417202005[254] = 0.0; - out_5142011875417202005[255] = 0.0; - out_5142011875417202005[256] = 0.0; - out_5142011875417202005[257] = 0.0; - out_5142011875417202005[258] = 0.0; - out_5142011875417202005[259] = 0.0; - out_5142011875417202005[260] = 0.0; - out_5142011875417202005[261] = 0.0; - out_5142011875417202005[262] = 0.0; - out_5142011875417202005[263] = 0.0; - out_5142011875417202005[264] = 0.0; - out_5142011875417202005[265] = 0.0; - out_5142011875417202005[266] = 1.0; - out_5142011875417202005[267] = 0.0; - out_5142011875417202005[268] = 0.0; - out_5142011875417202005[269] = 0.0; - out_5142011875417202005[270] = 0.0; - out_5142011875417202005[271] = 0.0; - out_5142011875417202005[272] = 0.0; - out_5142011875417202005[273] = 0.0; - out_5142011875417202005[274] = 0.0; - out_5142011875417202005[275] = 0.0; - out_5142011875417202005[276] = 0.0; - out_5142011875417202005[277] = 0.0; - out_5142011875417202005[278] = 0.0; - out_5142011875417202005[279] = 0.0; - out_5142011875417202005[280] = 0.0; - out_5142011875417202005[281] = 0.0; - out_5142011875417202005[282] = 0.0; - out_5142011875417202005[283] = 0.0; - out_5142011875417202005[284] = 0.0; - out_5142011875417202005[285] = 1.0; - out_5142011875417202005[286] = 0.0; - out_5142011875417202005[287] = 0.0; - out_5142011875417202005[288] = 0.0; - out_5142011875417202005[289] = 0.0; - out_5142011875417202005[290] = 0.0; - out_5142011875417202005[291] = 0.0; - out_5142011875417202005[292] = 0.0; - out_5142011875417202005[293] = 0.0; - out_5142011875417202005[294] = 0.0; - out_5142011875417202005[295] = 0.0; - out_5142011875417202005[296] = 0.0; - out_5142011875417202005[297] = 0.0; - out_5142011875417202005[298] = 0.0; - out_5142011875417202005[299] = 0.0; - out_5142011875417202005[300] = 0.0; - out_5142011875417202005[301] = 0.0; - out_5142011875417202005[302] = 0.0; - out_5142011875417202005[303] = 0.0; - out_5142011875417202005[304] = 1.0; - out_5142011875417202005[305] = 0.0; - out_5142011875417202005[306] = 0.0; - out_5142011875417202005[307] = 0.0; - out_5142011875417202005[308] = 0.0; - out_5142011875417202005[309] = 0.0; - out_5142011875417202005[310] = 0.0; - out_5142011875417202005[311] = 0.0; - out_5142011875417202005[312] = 0.0; - out_5142011875417202005[313] = 0.0; - out_5142011875417202005[314] = 0.0; - out_5142011875417202005[315] = 0.0; - out_5142011875417202005[316] = 0.0; - out_5142011875417202005[317] = 0.0; - out_5142011875417202005[318] = 0.0; - out_5142011875417202005[319] = 0.0; - out_5142011875417202005[320] = 0.0; - out_5142011875417202005[321] = 0.0; - out_5142011875417202005[322] = 0.0; - out_5142011875417202005[323] = 1.0; +void H_mod_fun(double *state, double *out_310958725680718826) { + out_310958725680718826[0] = 1.0; + out_310958725680718826[1] = 0.0; + out_310958725680718826[2] = 0.0; + out_310958725680718826[3] = 0.0; + out_310958725680718826[4] = 0.0; + out_310958725680718826[5] = 0.0; + out_310958725680718826[6] = 0.0; + out_310958725680718826[7] = 0.0; + out_310958725680718826[8] = 0.0; + out_310958725680718826[9] = 0.0; + out_310958725680718826[10] = 0.0; + out_310958725680718826[11] = 0.0; + out_310958725680718826[12] = 0.0; + out_310958725680718826[13] = 0.0; + out_310958725680718826[14] = 0.0; + out_310958725680718826[15] = 0.0; + out_310958725680718826[16] = 0.0; + out_310958725680718826[17] = 0.0; + out_310958725680718826[18] = 0.0; + out_310958725680718826[19] = 1.0; + out_310958725680718826[20] = 0.0; + out_310958725680718826[21] = 0.0; + out_310958725680718826[22] = 0.0; + out_310958725680718826[23] = 0.0; + out_310958725680718826[24] = 0.0; + out_310958725680718826[25] = 0.0; + out_310958725680718826[26] = 0.0; + out_310958725680718826[27] = 0.0; + out_310958725680718826[28] = 0.0; + out_310958725680718826[29] = 0.0; + out_310958725680718826[30] = 0.0; + out_310958725680718826[31] = 0.0; + out_310958725680718826[32] = 0.0; + out_310958725680718826[33] = 0.0; + out_310958725680718826[34] = 0.0; + out_310958725680718826[35] = 0.0; + out_310958725680718826[36] = 0.0; + out_310958725680718826[37] = 0.0; + out_310958725680718826[38] = 1.0; + out_310958725680718826[39] = 0.0; + out_310958725680718826[40] = 0.0; + out_310958725680718826[41] = 0.0; + out_310958725680718826[42] = 0.0; + out_310958725680718826[43] = 0.0; + out_310958725680718826[44] = 0.0; + out_310958725680718826[45] = 0.0; + out_310958725680718826[46] = 0.0; + out_310958725680718826[47] = 0.0; + out_310958725680718826[48] = 0.0; + out_310958725680718826[49] = 0.0; + out_310958725680718826[50] = 0.0; + out_310958725680718826[51] = 0.0; + out_310958725680718826[52] = 0.0; + out_310958725680718826[53] = 0.0; + out_310958725680718826[54] = 0.0; + out_310958725680718826[55] = 0.0; + out_310958725680718826[56] = 0.0; + out_310958725680718826[57] = 1.0; + out_310958725680718826[58] = 0.0; + out_310958725680718826[59] = 0.0; + out_310958725680718826[60] = 0.0; + out_310958725680718826[61] = 0.0; + out_310958725680718826[62] = 0.0; + out_310958725680718826[63] = 0.0; + out_310958725680718826[64] = 0.0; + out_310958725680718826[65] = 0.0; + out_310958725680718826[66] = 0.0; + out_310958725680718826[67] = 0.0; + out_310958725680718826[68] = 0.0; + out_310958725680718826[69] = 0.0; + out_310958725680718826[70] = 0.0; + out_310958725680718826[71] = 0.0; + out_310958725680718826[72] = 0.0; + out_310958725680718826[73] = 0.0; + out_310958725680718826[74] = 0.0; + out_310958725680718826[75] = 0.0; + out_310958725680718826[76] = 1.0; + out_310958725680718826[77] = 0.0; + out_310958725680718826[78] = 0.0; + out_310958725680718826[79] = 0.0; + out_310958725680718826[80] = 0.0; + out_310958725680718826[81] = 0.0; + out_310958725680718826[82] = 0.0; + out_310958725680718826[83] = 0.0; + out_310958725680718826[84] = 0.0; + out_310958725680718826[85] = 0.0; + out_310958725680718826[86] = 0.0; + out_310958725680718826[87] = 0.0; + out_310958725680718826[88] = 0.0; + out_310958725680718826[89] = 0.0; + out_310958725680718826[90] = 0.0; + out_310958725680718826[91] = 0.0; + out_310958725680718826[92] = 0.0; + out_310958725680718826[93] = 0.0; + out_310958725680718826[94] = 0.0; + out_310958725680718826[95] = 1.0; + out_310958725680718826[96] = 0.0; + out_310958725680718826[97] = 0.0; + out_310958725680718826[98] = 0.0; + out_310958725680718826[99] = 0.0; + out_310958725680718826[100] = 0.0; + out_310958725680718826[101] = 0.0; + out_310958725680718826[102] = 0.0; + out_310958725680718826[103] = 0.0; + out_310958725680718826[104] = 0.0; + out_310958725680718826[105] = 0.0; + out_310958725680718826[106] = 0.0; + out_310958725680718826[107] = 0.0; + out_310958725680718826[108] = 0.0; + out_310958725680718826[109] = 0.0; + out_310958725680718826[110] = 0.0; + out_310958725680718826[111] = 0.0; + out_310958725680718826[112] = 0.0; + out_310958725680718826[113] = 0.0; + out_310958725680718826[114] = 1.0; + out_310958725680718826[115] = 0.0; + out_310958725680718826[116] = 0.0; + out_310958725680718826[117] = 0.0; + out_310958725680718826[118] = 0.0; + out_310958725680718826[119] = 0.0; + out_310958725680718826[120] = 0.0; + out_310958725680718826[121] = 0.0; + out_310958725680718826[122] = 0.0; + out_310958725680718826[123] = 0.0; + out_310958725680718826[124] = 0.0; + out_310958725680718826[125] = 0.0; + out_310958725680718826[126] = 0.0; + out_310958725680718826[127] = 0.0; + out_310958725680718826[128] = 0.0; + out_310958725680718826[129] = 0.0; + out_310958725680718826[130] = 0.0; + out_310958725680718826[131] = 0.0; + out_310958725680718826[132] = 0.0; + out_310958725680718826[133] = 1.0; + out_310958725680718826[134] = 0.0; + out_310958725680718826[135] = 0.0; + out_310958725680718826[136] = 0.0; + out_310958725680718826[137] = 0.0; + out_310958725680718826[138] = 0.0; + out_310958725680718826[139] = 0.0; + out_310958725680718826[140] = 0.0; + out_310958725680718826[141] = 0.0; + out_310958725680718826[142] = 0.0; + out_310958725680718826[143] = 0.0; + out_310958725680718826[144] = 0.0; + out_310958725680718826[145] = 0.0; + out_310958725680718826[146] = 0.0; + out_310958725680718826[147] = 0.0; + out_310958725680718826[148] = 0.0; + out_310958725680718826[149] = 0.0; + out_310958725680718826[150] = 0.0; + out_310958725680718826[151] = 0.0; + out_310958725680718826[152] = 1.0; + out_310958725680718826[153] = 0.0; + out_310958725680718826[154] = 0.0; + out_310958725680718826[155] = 0.0; + out_310958725680718826[156] = 0.0; + out_310958725680718826[157] = 0.0; + out_310958725680718826[158] = 0.0; + out_310958725680718826[159] = 0.0; + out_310958725680718826[160] = 0.0; + out_310958725680718826[161] = 0.0; + out_310958725680718826[162] = 0.0; + out_310958725680718826[163] = 0.0; + out_310958725680718826[164] = 0.0; + out_310958725680718826[165] = 0.0; + out_310958725680718826[166] = 0.0; + out_310958725680718826[167] = 0.0; + out_310958725680718826[168] = 0.0; + out_310958725680718826[169] = 0.0; + out_310958725680718826[170] = 0.0; + out_310958725680718826[171] = 1.0; + out_310958725680718826[172] = 0.0; + out_310958725680718826[173] = 0.0; + out_310958725680718826[174] = 0.0; + out_310958725680718826[175] = 0.0; + out_310958725680718826[176] = 0.0; + out_310958725680718826[177] = 0.0; + out_310958725680718826[178] = 0.0; + out_310958725680718826[179] = 0.0; + out_310958725680718826[180] = 0.0; + out_310958725680718826[181] = 0.0; + out_310958725680718826[182] = 0.0; + out_310958725680718826[183] = 0.0; + out_310958725680718826[184] = 0.0; + out_310958725680718826[185] = 0.0; + out_310958725680718826[186] = 0.0; + out_310958725680718826[187] = 0.0; + out_310958725680718826[188] = 0.0; + out_310958725680718826[189] = 0.0; + out_310958725680718826[190] = 1.0; + out_310958725680718826[191] = 0.0; + out_310958725680718826[192] = 0.0; + out_310958725680718826[193] = 0.0; + out_310958725680718826[194] = 0.0; + out_310958725680718826[195] = 0.0; + out_310958725680718826[196] = 0.0; + out_310958725680718826[197] = 0.0; + out_310958725680718826[198] = 0.0; + out_310958725680718826[199] = 0.0; + out_310958725680718826[200] = 0.0; + out_310958725680718826[201] = 0.0; + out_310958725680718826[202] = 0.0; + out_310958725680718826[203] = 0.0; + out_310958725680718826[204] = 0.0; + out_310958725680718826[205] = 0.0; + out_310958725680718826[206] = 0.0; + out_310958725680718826[207] = 0.0; + out_310958725680718826[208] = 0.0; + out_310958725680718826[209] = 1.0; + out_310958725680718826[210] = 0.0; + out_310958725680718826[211] = 0.0; + out_310958725680718826[212] = 0.0; + out_310958725680718826[213] = 0.0; + out_310958725680718826[214] = 0.0; + out_310958725680718826[215] = 0.0; + out_310958725680718826[216] = 0.0; + out_310958725680718826[217] = 0.0; + out_310958725680718826[218] = 0.0; + out_310958725680718826[219] = 0.0; + out_310958725680718826[220] = 0.0; + out_310958725680718826[221] = 0.0; + out_310958725680718826[222] = 0.0; + out_310958725680718826[223] = 0.0; + out_310958725680718826[224] = 0.0; + out_310958725680718826[225] = 0.0; + out_310958725680718826[226] = 0.0; + out_310958725680718826[227] = 0.0; + out_310958725680718826[228] = 1.0; + out_310958725680718826[229] = 0.0; + out_310958725680718826[230] = 0.0; + out_310958725680718826[231] = 0.0; + out_310958725680718826[232] = 0.0; + out_310958725680718826[233] = 0.0; + out_310958725680718826[234] = 0.0; + out_310958725680718826[235] = 0.0; + out_310958725680718826[236] = 0.0; + out_310958725680718826[237] = 0.0; + out_310958725680718826[238] = 0.0; + out_310958725680718826[239] = 0.0; + out_310958725680718826[240] = 0.0; + out_310958725680718826[241] = 0.0; + out_310958725680718826[242] = 0.0; + out_310958725680718826[243] = 0.0; + out_310958725680718826[244] = 0.0; + out_310958725680718826[245] = 0.0; + out_310958725680718826[246] = 0.0; + out_310958725680718826[247] = 1.0; + out_310958725680718826[248] = 0.0; + out_310958725680718826[249] = 0.0; + out_310958725680718826[250] = 0.0; + out_310958725680718826[251] = 0.0; + out_310958725680718826[252] = 0.0; + out_310958725680718826[253] = 0.0; + out_310958725680718826[254] = 0.0; + out_310958725680718826[255] = 0.0; + out_310958725680718826[256] = 0.0; + out_310958725680718826[257] = 0.0; + out_310958725680718826[258] = 0.0; + out_310958725680718826[259] = 0.0; + out_310958725680718826[260] = 0.0; + out_310958725680718826[261] = 0.0; + out_310958725680718826[262] = 0.0; + out_310958725680718826[263] = 0.0; + out_310958725680718826[264] = 0.0; + out_310958725680718826[265] = 0.0; + out_310958725680718826[266] = 1.0; + out_310958725680718826[267] = 0.0; + out_310958725680718826[268] = 0.0; + out_310958725680718826[269] = 0.0; + out_310958725680718826[270] = 0.0; + out_310958725680718826[271] = 0.0; + out_310958725680718826[272] = 0.0; + out_310958725680718826[273] = 0.0; + out_310958725680718826[274] = 0.0; + out_310958725680718826[275] = 0.0; + out_310958725680718826[276] = 0.0; + out_310958725680718826[277] = 0.0; + out_310958725680718826[278] = 0.0; + out_310958725680718826[279] = 0.0; + out_310958725680718826[280] = 0.0; + out_310958725680718826[281] = 0.0; + out_310958725680718826[282] = 0.0; + out_310958725680718826[283] = 0.0; + out_310958725680718826[284] = 0.0; + out_310958725680718826[285] = 1.0; + out_310958725680718826[286] = 0.0; + out_310958725680718826[287] = 0.0; + out_310958725680718826[288] = 0.0; + out_310958725680718826[289] = 0.0; + out_310958725680718826[290] = 0.0; + out_310958725680718826[291] = 0.0; + out_310958725680718826[292] = 0.0; + out_310958725680718826[293] = 0.0; + out_310958725680718826[294] = 0.0; + out_310958725680718826[295] = 0.0; + out_310958725680718826[296] = 0.0; + out_310958725680718826[297] = 0.0; + out_310958725680718826[298] = 0.0; + out_310958725680718826[299] = 0.0; + out_310958725680718826[300] = 0.0; + out_310958725680718826[301] = 0.0; + out_310958725680718826[302] = 0.0; + out_310958725680718826[303] = 0.0; + out_310958725680718826[304] = 1.0; + out_310958725680718826[305] = 0.0; + out_310958725680718826[306] = 0.0; + out_310958725680718826[307] = 0.0; + out_310958725680718826[308] = 0.0; + out_310958725680718826[309] = 0.0; + out_310958725680718826[310] = 0.0; + out_310958725680718826[311] = 0.0; + out_310958725680718826[312] = 0.0; + out_310958725680718826[313] = 0.0; + out_310958725680718826[314] = 0.0; + out_310958725680718826[315] = 0.0; + out_310958725680718826[316] = 0.0; + out_310958725680718826[317] = 0.0; + out_310958725680718826[318] = 0.0; + out_310958725680718826[319] = 0.0; + out_310958725680718826[320] = 0.0; + out_310958725680718826[321] = 0.0; + out_310958725680718826[322] = 0.0; + out_310958725680718826[323] = 1.0; } -void f_fun(double *state, double dt, double *out_203013903358445647) { - out_203013903358445647[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_203013903358445647[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_203013903358445647[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_203013903358445647[3] = dt*state[12] + state[3]; - out_203013903358445647[4] = dt*state[13] + state[4]; - out_203013903358445647[5] = dt*state[14] + state[5]; - out_203013903358445647[6] = state[6]; - out_203013903358445647[7] = state[7]; - out_203013903358445647[8] = state[8]; - out_203013903358445647[9] = state[9]; - out_203013903358445647[10] = state[10]; - out_203013903358445647[11] = state[11]; - out_203013903358445647[12] = state[12]; - out_203013903358445647[13] = state[13]; - out_203013903358445647[14] = state[14]; - out_203013903358445647[15] = state[15]; - out_203013903358445647[16] = state[16]; - out_203013903358445647[17] = state[17]; +void f_fun(double *state, double dt, double *out_8333876756213369009) { + out_8333876756213369009[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_8333876756213369009[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_8333876756213369009[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_8333876756213369009[3] = dt*state[12] + state[3]; + out_8333876756213369009[4] = dt*state[13] + state[4]; + out_8333876756213369009[5] = dt*state[14] + state[5]; + out_8333876756213369009[6] = state[6]; + out_8333876756213369009[7] = state[7]; + out_8333876756213369009[8] = state[8]; + out_8333876756213369009[9] = state[9]; + out_8333876756213369009[10] = state[10]; + out_8333876756213369009[11] = state[11]; + out_8333876756213369009[12] = state[12]; + out_8333876756213369009[13] = state[13]; + out_8333876756213369009[14] = state[14]; + out_8333876756213369009[15] = state[15]; + out_8333876756213369009[16] = state[16]; + out_8333876756213369009[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7326468457789213143) { - out_7326468457789213143[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_7326468457789213143[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_7326468457789213143[2] = 0; - out_7326468457789213143[3] = 0; - out_7326468457789213143[4] = 0; - out_7326468457789213143[5] = 0; - out_7326468457789213143[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_7326468457789213143[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_7326468457789213143[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_7326468457789213143[9] = 0; - out_7326468457789213143[10] = 0; - out_7326468457789213143[11] = 0; - out_7326468457789213143[12] = 0; - out_7326468457789213143[13] = 0; - out_7326468457789213143[14] = 0; - out_7326468457789213143[15] = 0; - out_7326468457789213143[16] = 0; - out_7326468457789213143[17] = 0; - out_7326468457789213143[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_7326468457789213143[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_7326468457789213143[20] = 0; - out_7326468457789213143[21] = 0; - out_7326468457789213143[22] = 0; - out_7326468457789213143[23] = 0; - out_7326468457789213143[24] = 0; - out_7326468457789213143[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_7326468457789213143[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_7326468457789213143[27] = 0; - out_7326468457789213143[28] = 0; - out_7326468457789213143[29] = 0; - out_7326468457789213143[30] = 0; - out_7326468457789213143[31] = 0; - out_7326468457789213143[32] = 0; - out_7326468457789213143[33] = 0; - out_7326468457789213143[34] = 0; - out_7326468457789213143[35] = 0; - out_7326468457789213143[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_7326468457789213143[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_7326468457789213143[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_7326468457789213143[39] = 0; - out_7326468457789213143[40] = 0; - out_7326468457789213143[41] = 0; - out_7326468457789213143[42] = 0; - out_7326468457789213143[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_7326468457789213143[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_7326468457789213143[45] = 0; - out_7326468457789213143[46] = 0; - out_7326468457789213143[47] = 0; - out_7326468457789213143[48] = 0; - out_7326468457789213143[49] = 0; - out_7326468457789213143[50] = 0; - out_7326468457789213143[51] = 0; - out_7326468457789213143[52] = 0; - out_7326468457789213143[53] = 0; - out_7326468457789213143[54] = 0; - out_7326468457789213143[55] = 0; - out_7326468457789213143[56] = 0; - out_7326468457789213143[57] = 1; - out_7326468457789213143[58] = 0; - out_7326468457789213143[59] = 0; - out_7326468457789213143[60] = 0; - out_7326468457789213143[61] = 0; - out_7326468457789213143[62] = 0; - out_7326468457789213143[63] = 0; - out_7326468457789213143[64] = 0; - out_7326468457789213143[65] = 0; - out_7326468457789213143[66] = dt; - out_7326468457789213143[67] = 0; - out_7326468457789213143[68] = 0; - out_7326468457789213143[69] = 0; - out_7326468457789213143[70] = 0; - out_7326468457789213143[71] = 0; - out_7326468457789213143[72] = 0; - out_7326468457789213143[73] = 0; - out_7326468457789213143[74] = 0; - out_7326468457789213143[75] = 0; - out_7326468457789213143[76] = 1; - out_7326468457789213143[77] = 0; - out_7326468457789213143[78] = 0; - out_7326468457789213143[79] = 0; - out_7326468457789213143[80] = 0; - out_7326468457789213143[81] = 0; - out_7326468457789213143[82] = 0; - out_7326468457789213143[83] = 0; - out_7326468457789213143[84] = 0; - out_7326468457789213143[85] = dt; - out_7326468457789213143[86] = 0; - out_7326468457789213143[87] = 0; - out_7326468457789213143[88] = 0; - out_7326468457789213143[89] = 0; - out_7326468457789213143[90] = 0; - out_7326468457789213143[91] = 0; - out_7326468457789213143[92] = 0; - out_7326468457789213143[93] = 0; - out_7326468457789213143[94] = 0; - out_7326468457789213143[95] = 1; - out_7326468457789213143[96] = 0; - out_7326468457789213143[97] = 0; - out_7326468457789213143[98] = 0; - out_7326468457789213143[99] = 0; - out_7326468457789213143[100] = 0; - out_7326468457789213143[101] = 0; - out_7326468457789213143[102] = 0; - out_7326468457789213143[103] = 0; - out_7326468457789213143[104] = dt; - out_7326468457789213143[105] = 0; - out_7326468457789213143[106] = 0; - out_7326468457789213143[107] = 0; - out_7326468457789213143[108] = 0; - out_7326468457789213143[109] = 0; - out_7326468457789213143[110] = 0; - out_7326468457789213143[111] = 0; - out_7326468457789213143[112] = 0; - out_7326468457789213143[113] = 0; - out_7326468457789213143[114] = 1; - out_7326468457789213143[115] = 0; - out_7326468457789213143[116] = 0; - out_7326468457789213143[117] = 0; - out_7326468457789213143[118] = 0; - out_7326468457789213143[119] = 0; - out_7326468457789213143[120] = 0; - out_7326468457789213143[121] = 0; - out_7326468457789213143[122] = 0; - out_7326468457789213143[123] = 0; - out_7326468457789213143[124] = 0; - out_7326468457789213143[125] = 0; - out_7326468457789213143[126] = 0; - out_7326468457789213143[127] = 0; - out_7326468457789213143[128] = 0; - out_7326468457789213143[129] = 0; - out_7326468457789213143[130] = 0; - out_7326468457789213143[131] = 0; - out_7326468457789213143[132] = 0; - out_7326468457789213143[133] = 1; - out_7326468457789213143[134] = 0; - out_7326468457789213143[135] = 0; - out_7326468457789213143[136] = 0; - out_7326468457789213143[137] = 0; - out_7326468457789213143[138] = 0; - out_7326468457789213143[139] = 0; - out_7326468457789213143[140] = 0; - out_7326468457789213143[141] = 0; - out_7326468457789213143[142] = 0; - out_7326468457789213143[143] = 0; - out_7326468457789213143[144] = 0; - out_7326468457789213143[145] = 0; - out_7326468457789213143[146] = 0; - out_7326468457789213143[147] = 0; - out_7326468457789213143[148] = 0; - out_7326468457789213143[149] = 0; - out_7326468457789213143[150] = 0; - out_7326468457789213143[151] = 0; - out_7326468457789213143[152] = 1; - out_7326468457789213143[153] = 0; - out_7326468457789213143[154] = 0; - out_7326468457789213143[155] = 0; - out_7326468457789213143[156] = 0; - out_7326468457789213143[157] = 0; - out_7326468457789213143[158] = 0; - out_7326468457789213143[159] = 0; - out_7326468457789213143[160] = 0; - out_7326468457789213143[161] = 0; - out_7326468457789213143[162] = 0; - out_7326468457789213143[163] = 0; - out_7326468457789213143[164] = 0; - out_7326468457789213143[165] = 0; - out_7326468457789213143[166] = 0; - out_7326468457789213143[167] = 0; - out_7326468457789213143[168] = 0; - out_7326468457789213143[169] = 0; - out_7326468457789213143[170] = 0; - out_7326468457789213143[171] = 1; - out_7326468457789213143[172] = 0; - out_7326468457789213143[173] = 0; - out_7326468457789213143[174] = 0; - out_7326468457789213143[175] = 0; - out_7326468457789213143[176] = 0; - out_7326468457789213143[177] = 0; - out_7326468457789213143[178] = 0; - out_7326468457789213143[179] = 0; - out_7326468457789213143[180] = 0; - out_7326468457789213143[181] = 0; - out_7326468457789213143[182] = 0; - out_7326468457789213143[183] = 0; - out_7326468457789213143[184] = 0; - out_7326468457789213143[185] = 0; - out_7326468457789213143[186] = 0; - out_7326468457789213143[187] = 0; - out_7326468457789213143[188] = 0; - out_7326468457789213143[189] = 0; - out_7326468457789213143[190] = 1; - out_7326468457789213143[191] = 0; - out_7326468457789213143[192] = 0; - out_7326468457789213143[193] = 0; - out_7326468457789213143[194] = 0; - out_7326468457789213143[195] = 0; - out_7326468457789213143[196] = 0; - out_7326468457789213143[197] = 0; - out_7326468457789213143[198] = 0; - out_7326468457789213143[199] = 0; - out_7326468457789213143[200] = 0; - out_7326468457789213143[201] = 0; - out_7326468457789213143[202] = 0; - out_7326468457789213143[203] = 0; - out_7326468457789213143[204] = 0; - out_7326468457789213143[205] = 0; - out_7326468457789213143[206] = 0; - out_7326468457789213143[207] = 0; - out_7326468457789213143[208] = 0; - out_7326468457789213143[209] = 1; - out_7326468457789213143[210] = 0; - out_7326468457789213143[211] = 0; - out_7326468457789213143[212] = 0; - out_7326468457789213143[213] = 0; - out_7326468457789213143[214] = 0; - out_7326468457789213143[215] = 0; - out_7326468457789213143[216] = 0; - out_7326468457789213143[217] = 0; - out_7326468457789213143[218] = 0; - out_7326468457789213143[219] = 0; - out_7326468457789213143[220] = 0; - out_7326468457789213143[221] = 0; - out_7326468457789213143[222] = 0; - out_7326468457789213143[223] = 0; - out_7326468457789213143[224] = 0; - out_7326468457789213143[225] = 0; - out_7326468457789213143[226] = 0; - out_7326468457789213143[227] = 0; - out_7326468457789213143[228] = 1; - out_7326468457789213143[229] = 0; - out_7326468457789213143[230] = 0; - out_7326468457789213143[231] = 0; - out_7326468457789213143[232] = 0; - out_7326468457789213143[233] = 0; - out_7326468457789213143[234] = 0; - out_7326468457789213143[235] = 0; - out_7326468457789213143[236] = 0; - out_7326468457789213143[237] = 0; - out_7326468457789213143[238] = 0; - out_7326468457789213143[239] = 0; - out_7326468457789213143[240] = 0; - out_7326468457789213143[241] = 0; - out_7326468457789213143[242] = 0; - out_7326468457789213143[243] = 0; - out_7326468457789213143[244] = 0; - out_7326468457789213143[245] = 0; - out_7326468457789213143[246] = 0; - out_7326468457789213143[247] = 1; - out_7326468457789213143[248] = 0; - out_7326468457789213143[249] = 0; - out_7326468457789213143[250] = 0; - out_7326468457789213143[251] = 0; - out_7326468457789213143[252] = 0; - out_7326468457789213143[253] = 0; - out_7326468457789213143[254] = 0; - out_7326468457789213143[255] = 0; - out_7326468457789213143[256] = 0; - out_7326468457789213143[257] = 0; - out_7326468457789213143[258] = 0; - out_7326468457789213143[259] = 0; - out_7326468457789213143[260] = 0; - out_7326468457789213143[261] = 0; - out_7326468457789213143[262] = 0; - out_7326468457789213143[263] = 0; - out_7326468457789213143[264] = 0; - out_7326468457789213143[265] = 0; - out_7326468457789213143[266] = 1; - out_7326468457789213143[267] = 0; - out_7326468457789213143[268] = 0; - out_7326468457789213143[269] = 0; - out_7326468457789213143[270] = 0; - out_7326468457789213143[271] = 0; - out_7326468457789213143[272] = 0; - out_7326468457789213143[273] = 0; - out_7326468457789213143[274] = 0; - out_7326468457789213143[275] = 0; - out_7326468457789213143[276] = 0; - out_7326468457789213143[277] = 0; - out_7326468457789213143[278] = 0; - out_7326468457789213143[279] = 0; - out_7326468457789213143[280] = 0; - out_7326468457789213143[281] = 0; - out_7326468457789213143[282] = 0; - out_7326468457789213143[283] = 0; - out_7326468457789213143[284] = 0; - out_7326468457789213143[285] = 1; - out_7326468457789213143[286] = 0; - out_7326468457789213143[287] = 0; - out_7326468457789213143[288] = 0; - out_7326468457789213143[289] = 0; - out_7326468457789213143[290] = 0; - out_7326468457789213143[291] = 0; - out_7326468457789213143[292] = 0; - out_7326468457789213143[293] = 0; - out_7326468457789213143[294] = 0; - out_7326468457789213143[295] = 0; - out_7326468457789213143[296] = 0; - out_7326468457789213143[297] = 0; - out_7326468457789213143[298] = 0; - out_7326468457789213143[299] = 0; - out_7326468457789213143[300] = 0; - out_7326468457789213143[301] = 0; - out_7326468457789213143[302] = 0; - out_7326468457789213143[303] = 0; - out_7326468457789213143[304] = 1; - out_7326468457789213143[305] = 0; - out_7326468457789213143[306] = 0; - out_7326468457789213143[307] = 0; - out_7326468457789213143[308] = 0; - out_7326468457789213143[309] = 0; - out_7326468457789213143[310] = 0; - out_7326468457789213143[311] = 0; - out_7326468457789213143[312] = 0; - out_7326468457789213143[313] = 0; - out_7326468457789213143[314] = 0; - out_7326468457789213143[315] = 0; - out_7326468457789213143[316] = 0; - out_7326468457789213143[317] = 0; - out_7326468457789213143[318] = 0; - out_7326468457789213143[319] = 0; - out_7326468457789213143[320] = 0; - out_7326468457789213143[321] = 0; - out_7326468457789213143[322] = 0; - out_7326468457789213143[323] = 1; +void F_fun(double *state, double dt, double *out_8736875160637463263) { + out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[2] = 0; + out_8736875160637463263[3] = 0; + out_8736875160637463263[4] = 0; + out_8736875160637463263[5] = 0; + out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[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_8736875160637463263[9] = 0; + out_8736875160637463263[10] = 0; + out_8736875160637463263[11] = 0; + out_8736875160637463263[12] = 0; + out_8736875160637463263[13] = 0; + out_8736875160637463263[14] = 0; + out_8736875160637463263[15] = 0; + out_8736875160637463263[16] = 0; + out_8736875160637463263[17] = 0; + out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[20] = 0; + out_8736875160637463263[21] = 0; + out_8736875160637463263[22] = 0; + out_8736875160637463263[23] = 0; + out_8736875160637463263[24] = 0; + out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[27] = 0; + out_8736875160637463263[28] = 0; + out_8736875160637463263[29] = 0; + out_8736875160637463263[30] = 0; + out_8736875160637463263[31] = 0; + out_8736875160637463263[32] = 0; + out_8736875160637463263[33] = 0; + out_8736875160637463263[34] = 0; + out_8736875160637463263[35] = 0; + out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[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_8736875160637463263[39] = 0; + out_8736875160637463263[40] = 0; + out_8736875160637463263[41] = 0; + out_8736875160637463263[42] = 0; + out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[45] = 0; + out_8736875160637463263[46] = 0; + out_8736875160637463263[47] = 0; + out_8736875160637463263[48] = 0; + out_8736875160637463263[49] = 0; + out_8736875160637463263[50] = 0; + out_8736875160637463263[51] = 0; + out_8736875160637463263[52] = 0; + out_8736875160637463263[53] = 0; + out_8736875160637463263[54] = 0; + out_8736875160637463263[55] = 0; + out_8736875160637463263[56] = 0; + out_8736875160637463263[57] = 1; + out_8736875160637463263[58] = 0; + out_8736875160637463263[59] = 0; + out_8736875160637463263[60] = 0; + out_8736875160637463263[61] = 0; + out_8736875160637463263[62] = 0; + out_8736875160637463263[63] = 0; + out_8736875160637463263[64] = 0; + out_8736875160637463263[65] = 0; + out_8736875160637463263[66] = dt; + out_8736875160637463263[67] = 0; + out_8736875160637463263[68] = 0; + out_8736875160637463263[69] = 0; + out_8736875160637463263[70] = 0; + out_8736875160637463263[71] = 0; + out_8736875160637463263[72] = 0; + out_8736875160637463263[73] = 0; + out_8736875160637463263[74] = 0; + out_8736875160637463263[75] = 0; + out_8736875160637463263[76] = 1; + out_8736875160637463263[77] = 0; + out_8736875160637463263[78] = 0; + out_8736875160637463263[79] = 0; + out_8736875160637463263[80] = 0; + out_8736875160637463263[81] = 0; + out_8736875160637463263[82] = 0; + out_8736875160637463263[83] = 0; + out_8736875160637463263[84] = 0; + out_8736875160637463263[85] = dt; + out_8736875160637463263[86] = 0; + out_8736875160637463263[87] = 0; + out_8736875160637463263[88] = 0; + out_8736875160637463263[89] = 0; + out_8736875160637463263[90] = 0; + out_8736875160637463263[91] = 0; + out_8736875160637463263[92] = 0; + out_8736875160637463263[93] = 0; + out_8736875160637463263[94] = 0; + out_8736875160637463263[95] = 1; + out_8736875160637463263[96] = 0; + out_8736875160637463263[97] = 0; + out_8736875160637463263[98] = 0; + out_8736875160637463263[99] = 0; + out_8736875160637463263[100] = 0; + out_8736875160637463263[101] = 0; + out_8736875160637463263[102] = 0; + out_8736875160637463263[103] = 0; + out_8736875160637463263[104] = dt; + out_8736875160637463263[105] = 0; + out_8736875160637463263[106] = 0; + out_8736875160637463263[107] = 0; + out_8736875160637463263[108] = 0; + out_8736875160637463263[109] = 0; + out_8736875160637463263[110] = 0; + out_8736875160637463263[111] = 0; + out_8736875160637463263[112] = 0; + out_8736875160637463263[113] = 0; + out_8736875160637463263[114] = 1; + out_8736875160637463263[115] = 0; + out_8736875160637463263[116] = 0; + out_8736875160637463263[117] = 0; + out_8736875160637463263[118] = 0; + out_8736875160637463263[119] = 0; + out_8736875160637463263[120] = 0; + out_8736875160637463263[121] = 0; + out_8736875160637463263[122] = 0; + out_8736875160637463263[123] = 0; + out_8736875160637463263[124] = 0; + out_8736875160637463263[125] = 0; + out_8736875160637463263[126] = 0; + out_8736875160637463263[127] = 0; + out_8736875160637463263[128] = 0; + out_8736875160637463263[129] = 0; + out_8736875160637463263[130] = 0; + out_8736875160637463263[131] = 0; + out_8736875160637463263[132] = 0; + out_8736875160637463263[133] = 1; + out_8736875160637463263[134] = 0; + out_8736875160637463263[135] = 0; + out_8736875160637463263[136] = 0; + out_8736875160637463263[137] = 0; + out_8736875160637463263[138] = 0; + out_8736875160637463263[139] = 0; + out_8736875160637463263[140] = 0; + out_8736875160637463263[141] = 0; + out_8736875160637463263[142] = 0; + out_8736875160637463263[143] = 0; + out_8736875160637463263[144] = 0; + out_8736875160637463263[145] = 0; + out_8736875160637463263[146] = 0; + out_8736875160637463263[147] = 0; + out_8736875160637463263[148] = 0; + out_8736875160637463263[149] = 0; + out_8736875160637463263[150] = 0; + out_8736875160637463263[151] = 0; + out_8736875160637463263[152] = 1; + out_8736875160637463263[153] = 0; + out_8736875160637463263[154] = 0; + out_8736875160637463263[155] = 0; + out_8736875160637463263[156] = 0; + out_8736875160637463263[157] = 0; + out_8736875160637463263[158] = 0; + out_8736875160637463263[159] = 0; + out_8736875160637463263[160] = 0; + out_8736875160637463263[161] = 0; + out_8736875160637463263[162] = 0; + out_8736875160637463263[163] = 0; + out_8736875160637463263[164] = 0; + out_8736875160637463263[165] = 0; + out_8736875160637463263[166] = 0; + out_8736875160637463263[167] = 0; + out_8736875160637463263[168] = 0; + out_8736875160637463263[169] = 0; + out_8736875160637463263[170] = 0; + out_8736875160637463263[171] = 1; + out_8736875160637463263[172] = 0; + out_8736875160637463263[173] = 0; + out_8736875160637463263[174] = 0; + out_8736875160637463263[175] = 0; + out_8736875160637463263[176] = 0; + out_8736875160637463263[177] = 0; + out_8736875160637463263[178] = 0; + out_8736875160637463263[179] = 0; + out_8736875160637463263[180] = 0; + out_8736875160637463263[181] = 0; + out_8736875160637463263[182] = 0; + out_8736875160637463263[183] = 0; + out_8736875160637463263[184] = 0; + out_8736875160637463263[185] = 0; + out_8736875160637463263[186] = 0; + out_8736875160637463263[187] = 0; + out_8736875160637463263[188] = 0; + out_8736875160637463263[189] = 0; + out_8736875160637463263[190] = 1; + out_8736875160637463263[191] = 0; + out_8736875160637463263[192] = 0; + out_8736875160637463263[193] = 0; + out_8736875160637463263[194] = 0; + out_8736875160637463263[195] = 0; + out_8736875160637463263[196] = 0; + out_8736875160637463263[197] = 0; + out_8736875160637463263[198] = 0; + out_8736875160637463263[199] = 0; + out_8736875160637463263[200] = 0; + out_8736875160637463263[201] = 0; + out_8736875160637463263[202] = 0; + out_8736875160637463263[203] = 0; + out_8736875160637463263[204] = 0; + out_8736875160637463263[205] = 0; + out_8736875160637463263[206] = 0; + out_8736875160637463263[207] = 0; + out_8736875160637463263[208] = 0; + out_8736875160637463263[209] = 1; + out_8736875160637463263[210] = 0; + out_8736875160637463263[211] = 0; + out_8736875160637463263[212] = 0; + out_8736875160637463263[213] = 0; + out_8736875160637463263[214] = 0; + out_8736875160637463263[215] = 0; + out_8736875160637463263[216] = 0; + out_8736875160637463263[217] = 0; + out_8736875160637463263[218] = 0; + out_8736875160637463263[219] = 0; + out_8736875160637463263[220] = 0; + out_8736875160637463263[221] = 0; + out_8736875160637463263[222] = 0; + out_8736875160637463263[223] = 0; + out_8736875160637463263[224] = 0; + out_8736875160637463263[225] = 0; + out_8736875160637463263[226] = 0; + out_8736875160637463263[227] = 0; + out_8736875160637463263[228] = 1; + out_8736875160637463263[229] = 0; + out_8736875160637463263[230] = 0; + out_8736875160637463263[231] = 0; + out_8736875160637463263[232] = 0; + out_8736875160637463263[233] = 0; + out_8736875160637463263[234] = 0; + out_8736875160637463263[235] = 0; + out_8736875160637463263[236] = 0; + out_8736875160637463263[237] = 0; + out_8736875160637463263[238] = 0; + out_8736875160637463263[239] = 0; + out_8736875160637463263[240] = 0; + out_8736875160637463263[241] = 0; + out_8736875160637463263[242] = 0; + out_8736875160637463263[243] = 0; + out_8736875160637463263[244] = 0; + out_8736875160637463263[245] = 0; + out_8736875160637463263[246] = 0; + out_8736875160637463263[247] = 1; + out_8736875160637463263[248] = 0; + out_8736875160637463263[249] = 0; + out_8736875160637463263[250] = 0; + out_8736875160637463263[251] = 0; + out_8736875160637463263[252] = 0; + out_8736875160637463263[253] = 0; + out_8736875160637463263[254] = 0; + out_8736875160637463263[255] = 0; + out_8736875160637463263[256] = 0; + out_8736875160637463263[257] = 0; + out_8736875160637463263[258] = 0; + out_8736875160637463263[259] = 0; + out_8736875160637463263[260] = 0; + out_8736875160637463263[261] = 0; + out_8736875160637463263[262] = 0; + out_8736875160637463263[263] = 0; + out_8736875160637463263[264] = 0; + out_8736875160637463263[265] = 0; + out_8736875160637463263[266] = 1; + out_8736875160637463263[267] = 0; + out_8736875160637463263[268] = 0; + out_8736875160637463263[269] = 0; + out_8736875160637463263[270] = 0; + out_8736875160637463263[271] = 0; + out_8736875160637463263[272] = 0; + out_8736875160637463263[273] = 0; + out_8736875160637463263[274] = 0; + out_8736875160637463263[275] = 0; + out_8736875160637463263[276] = 0; + out_8736875160637463263[277] = 0; + out_8736875160637463263[278] = 0; + out_8736875160637463263[279] = 0; + out_8736875160637463263[280] = 0; + out_8736875160637463263[281] = 0; + out_8736875160637463263[282] = 0; + out_8736875160637463263[283] = 0; + out_8736875160637463263[284] = 0; + out_8736875160637463263[285] = 1; + out_8736875160637463263[286] = 0; + out_8736875160637463263[287] = 0; + out_8736875160637463263[288] = 0; + out_8736875160637463263[289] = 0; + out_8736875160637463263[290] = 0; + out_8736875160637463263[291] = 0; + out_8736875160637463263[292] = 0; + out_8736875160637463263[293] = 0; + out_8736875160637463263[294] = 0; + out_8736875160637463263[295] = 0; + out_8736875160637463263[296] = 0; + out_8736875160637463263[297] = 0; + out_8736875160637463263[298] = 0; + out_8736875160637463263[299] = 0; + out_8736875160637463263[300] = 0; + out_8736875160637463263[301] = 0; + out_8736875160637463263[302] = 0; + out_8736875160637463263[303] = 0; + out_8736875160637463263[304] = 1; + out_8736875160637463263[305] = 0; + out_8736875160637463263[306] = 0; + out_8736875160637463263[307] = 0; + out_8736875160637463263[308] = 0; + out_8736875160637463263[309] = 0; + out_8736875160637463263[310] = 0; + out_8736875160637463263[311] = 0; + out_8736875160637463263[312] = 0; + out_8736875160637463263[313] = 0; + out_8736875160637463263[314] = 0; + out_8736875160637463263[315] = 0; + out_8736875160637463263[316] = 0; + out_8736875160637463263[317] = 0; + out_8736875160637463263[318] = 0; + out_8736875160637463263[319] = 0; + out_8736875160637463263[320] = 0; + out_8736875160637463263[321] = 0; + out_8736875160637463263[322] = 0; + out_8736875160637463263[323] = 1; } -void h_4(double *state, double *unused, double *out_8153824291242181436) { - out_8153824291242181436[0] = state[6] + state[9]; - out_8153824291242181436[1] = state[7] + state[10]; - out_8153824291242181436[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5158761943134929654) { + out_5158761943134929654[0] = state[6] + state[9]; + out_5158761943134929654[1] = state[7] + state[10]; + out_5158761943134929654[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3058293008556022762) { - out_3058293008556022762[0] = 0; - out_3058293008556022762[1] = 0; - out_3058293008556022762[2] = 0; - out_3058293008556022762[3] = 0; - out_3058293008556022762[4] = 0; - out_3058293008556022762[5] = 0; - out_3058293008556022762[6] = 1; - out_3058293008556022762[7] = 0; - out_3058293008556022762[8] = 0; - out_3058293008556022762[9] = 1; - out_3058293008556022762[10] = 0; - out_3058293008556022762[11] = 0; - out_3058293008556022762[12] = 0; - out_3058293008556022762[13] = 0; - out_3058293008556022762[14] = 0; - out_3058293008556022762[15] = 0; - out_3058293008556022762[16] = 0; - out_3058293008556022762[17] = 0; - out_3058293008556022762[18] = 0; - out_3058293008556022762[19] = 0; - out_3058293008556022762[20] = 0; - out_3058293008556022762[21] = 0; - out_3058293008556022762[22] = 0; - out_3058293008556022762[23] = 0; - out_3058293008556022762[24] = 0; - out_3058293008556022762[25] = 1; - out_3058293008556022762[26] = 0; - out_3058293008556022762[27] = 0; - out_3058293008556022762[28] = 1; - out_3058293008556022762[29] = 0; - out_3058293008556022762[30] = 0; - out_3058293008556022762[31] = 0; - out_3058293008556022762[32] = 0; - out_3058293008556022762[33] = 0; - out_3058293008556022762[34] = 0; - out_3058293008556022762[35] = 0; - out_3058293008556022762[36] = 0; - out_3058293008556022762[37] = 0; - out_3058293008556022762[38] = 0; - out_3058293008556022762[39] = 0; - out_3058293008556022762[40] = 0; - out_3058293008556022762[41] = 0; - out_3058293008556022762[42] = 0; - out_3058293008556022762[43] = 0; - out_3058293008556022762[44] = 1; - out_3058293008556022762[45] = 0; - out_3058293008556022762[46] = 0; - out_3058293008556022762[47] = 1; - out_3058293008556022762[48] = 0; - out_3058293008556022762[49] = 0; - out_3058293008556022762[50] = 0; - out_3058293008556022762[51] = 0; - out_3058293008556022762[52] = 0; - out_3058293008556022762[53] = 0; +void H_4(double *state, double *unused, double *out_4082765935524626398) { + out_4082765935524626398[0] = 0; + out_4082765935524626398[1] = 0; + out_4082765935524626398[2] = 0; + out_4082765935524626398[3] = 0; + out_4082765935524626398[4] = 0; + out_4082765935524626398[5] = 0; + out_4082765935524626398[6] = 1; + out_4082765935524626398[7] = 0; + out_4082765935524626398[8] = 0; + out_4082765935524626398[9] = 1; + out_4082765935524626398[10] = 0; + out_4082765935524626398[11] = 0; + out_4082765935524626398[12] = 0; + out_4082765935524626398[13] = 0; + out_4082765935524626398[14] = 0; + out_4082765935524626398[15] = 0; + out_4082765935524626398[16] = 0; + out_4082765935524626398[17] = 0; + out_4082765935524626398[18] = 0; + out_4082765935524626398[19] = 0; + out_4082765935524626398[20] = 0; + out_4082765935524626398[21] = 0; + out_4082765935524626398[22] = 0; + out_4082765935524626398[23] = 0; + out_4082765935524626398[24] = 0; + out_4082765935524626398[25] = 1; + out_4082765935524626398[26] = 0; + out_4082765935524626398[27] = 0; + out_4082765935524626398[28] = 1; + out_4082765935524626398[29] = 0; + out_4082765935524626398[30] = 0; + out_4082765935524626398[31] = 0; + out_4082765935524626398[32] = 0; + out_4082765935524626398[33] = 0; + out_4082765935524626398[34] = 0; + out_4082765935524626398[35] = 0; + out_4082765935524626398[36] = 0; + out_4082765935524626398[37] = 0; + out_4082765935524626398[38] = 0; + out_4082765935524626398[39] = 0; + out_4082765935524626398[40] = 0; + out_4082765935524626398[41] = 0; + out_4082765935524626398[42] = 0; + out_4082765935524626398[43] = 0; + out_4082765935524626398[44] = 1; + out_4082765935524626398[45] = 0; + out_4082765935524626398[46] = 0; + out_4082765935524626398[47] = 1; + out_4082765935524626398[48] = 0; + out_4082765935524626398[49] = 0; + out_4082765935524626398[50] = 0; + out_4082765935524626398[51] = 0; + out_4082765935524626398[52] = 0; + out_4082765935524626398[53] = 0; } -void h_10(double *state, double *unused, double *out_3951144425666594182) { - out_3951144425666594182[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3951144425666594182[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3951144425666594182[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_563005185308758885) { + out_563005185308758885[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_563005185308758885[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_563005185308758885[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_3697294613085597244) { - out_3697294613085597244[0] = 0; - out_3697294613085597244[1] = 9.8100000000000005*cos(state[1]); - out_3697294613085597244[2] = 0; - out_3697294613085597244[3] = 0; - out_3697294613085597244[4] = -state[8]; - out_3697294613085597244[5] = state[7]; - out_3697294613085597244[6] = 0; - out_3697294613085597244[7] = state[5]; - out_3697294613085597244[8] = -state[4]; - out_3697294613085597244[9] = 0; - out_3697294613085597244[10] = 0; - out_3697294613085597244[11] = 0; - out_3697294613085597244[12] = 1; - out_3697294613085597244[13] = 0; - out_3697294613085597244[14] = 0; - out_3697294613085597244[15] = 1; - out_3697294613085597244[16] = 0; - out_3697294613085597244[17] = 0; - out_3697294613085597244[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3697294613085597244[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3697294613085597244[20] = 0; - out_3697294613085597244[21] = state[8]; - out_3697294613085597244[22] = 0; - out_3697294613085597244[23] = -state[6]; - out_3697294613085597244[24] = -state[5]; - out_3697294613085597244[25] = 0; - out_3697294613085597244[26] = state[3]; - out_3697294613085597244[27] = 0; - out_3697294613085597244[28] = 0; - out_3697294613085597244[29] = 0; - out_3697294613085597244[30] = 0; - out_3697294613085597244[31] = 1; - out_3697294613085597244[32] = 0; - out_3697294613085597244[33] = 0; - out_3697294613085597244[34] = 1; - out_3697294613085597244[35] = 0; - out_3697294613085597244[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3697294613085597244[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3697294613085597244[38] = 0; - out_3697294613085597244[39] = -state[7]; - out_3697294613085597244[40] = state[6]; - out_3697294613085597244[41] = 0; - out_3697294613085597244[42] = state[4]; - out_3697294613085597244[43] = -state[3]; - out_3697294613085597244[44] = 0; - out_3697294613085597244[45] = 0; - out_3697294613085597244[46] = 0; - out_3697294613085597244[47] = 0; - out_3697294613085597244[48] = 0; - out_3697294613085597244[49] = 0; - out_3697294613085597244[50] = 1; - out_3697294613085597244[51] = 0; - out_3697294613085597244[52] = 0; - out_3697294613085597244[53] = 1; +void H_10(double *state, double *unused, double *out_7993288058010589722) { + out_7993288058010589722[0] = 0; + out_7993288058010589722[1] = 9.8100000000000005*cos(state[1]); + out_7993288058010589722[2] = 0; + out_7993288058010589722[3] = 0; + out_7993288058010589722[4] = -state[8]; + out_7993288058010589722[5] = state[7]; + out_7993288058010589722[6] = 0; + out_7993288058010589722[7] = state[5]; + out_7993288058010589722[8] = -state[4]; + out_7993288058010589722[9] = 0; + out_7993288058010589722[10] = 0; + out_7993288058010589722[11] = 0; + out_7993288058010589722[12] = 1; + out_7993288058010589722[13] = 0; + out_7993288058010589722[14] = 0; + out_7993288058010589722[15] = 1; + out_7993288058010589722[16] = 0; + out_7993288058010589722[17] = 0; + out_7993288058010589722[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_7993288058010589722[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_7993288058010589722[20] = 0; + out_7993288058010589722[21] = state[8]; + out_7993288058010589722[22] = 0; + out_7993288058010589722[23] = -state[6]; + out_7993288058010589722[24] = -state[5]; + out_7993288058010589722[25] = 0; + out_7993288058010589722[26] = state[3]; + out_7993288058010589722[27] = 0; + out_7993288058010589722[28] = 0; + out_7993288058010589722[29] = 0; + out_7993288058010589722[30] = 0; + out_7993288058010589722[31] = 1; + out_7993288058010589722[32] = 0; + out_7993288058010589722[33] = 0; + out_7993288058010589722[34] = 1; + out_7993288058010589722[35] = 0; + out_7993288058010589722[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_7993288058010589722[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_7993288058010589722[38] = 0; + out_7993288058010589722[39] = -state[7]; + out_7993288058010589722[40] = state[6]; + out_7993288058010589722[41] = 0; + out_7993288058010589722[42] = state[4]; + out_7993288058010589722[43] = -state[3]; + out_7993288058010589722[44] = 0; + out_7993288058010589722[45] = 0; + out_7993288058010589722[46] = 0; + out_7993288058010589722[47] = 0; + out_7993288058010589722[48] = 0; + out_7993288058010589722[49] = 0; + out_7993288058010589722[50] = 1; + out_7993288058010589722[51] = 0; + out_7993288058010589722[52] = 0; + out_7993288058010589722[53] = 1; } -void h_13(double *state, double *unused, double *out_6907487104961603826) { - out_6907487104961603826[0] = state[3]; - out_6907487104961603826[1] = state[4]; - out_6907487104961603826[2] = state[5]; +void h_13(double *state, double *unused, double *out_1191809301965979441) { + out_1191809301965979441[0] = state[3]; + out_1191809301965979441[1] = state[4]; + out_1191809301965979441[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7777819856836827925) { - out_7777819856836827925[0] = 0; - out_7777819856836827925[1] = 0; - out_7777819856836827925[2] = 0; - out_7777819856836827925[3] = 1; - out_7777819856836827925[4] = 0; - out_7777819856836827925[5] = 0; - out_7777819856836827925[6] = 0; - out_7777819856836827925[7] = 0; - out_7777819856836827925[8] = 0; - out_7777819856836827925[9] = 0; - out_7777819856836827925[10] = 0; - out_7777819856836827925[11] = 0; - out_7777819856836827925[12] = 0; - out_7777819856836827925[13] = 0; - out_7777819856836827925[14] = 0; - out_7777819856836827925[15] = 0; - out_7777819856836827925[16] = 0; - out_7777819856836827925[17] = 0; - out_7777819856836827925[18] = 0; - out_7777819856836827925[19] = 0; - out_7777819856836827925[20] = 0; - out_7777819856836827925[21] = 0; - out_7777819856836827925[22] = 1; - out_7777819856836827925[23] = 0; - out_7777819856836827925[24] = 0; - out_7777819856836827925[25] = 0; - out_7777819856836827925[26] = 0; - out_7777819856836827925[27] = 0; - out_7777819856836827925[28] = 0; - out_7777819856836827925[29] = 0; - out_7777819856836827925[30] = 0; - out_7777819856836827925[31] = 0; - out_7777819856836827925[32] = 0; - out_7777819856836827925[33] = 0; - out_7777819856836827925[34] = 0; - out_7777819856836827925[35] = 0; - out_7777819856836827925[36] = 0; - out_7777819856836827925[37] = 0; - out_7777819856836827925[38] = 0; - out_7777819856836827925[39] = 0; - out_7777819856836827925[40] = 0; - out_7777819856836827925[41] = 1; - out_7777819856836827925[42] = 0; - out_7777819856836827925[43] = 0; - out_7777819856836827925[44] = 0; - out_7777819856836827925[45] = 0; - out_7777819856836827925[46] = 0; - out_7777819856836827925[47] = 0; - out_7777819856836827925[48] = 0; - out_7777819856836827925[49] = 0; - out_7777819856836827925[50] = 0; - out_7777819856836827925[51] = 0; - out_7777819856836827925[52] = 0; - out_7777819856836827925[53] = 0; +void H_13(double *state, double *unused, double *out_7295039760856959199) { + out_7295039760856959199[0] = 0; + out_7295039760856959199[1] = 0; + out_7295039760856959199[2] = 0; + out_7295039760856959199[3] = 1; + out_7295039760856959199[4] = 0; + out_7295039760856959199[5] = 0; + out_7295039760856959199[6] = 0; + out_7295039760856959199[7] = 0; + out_7295039760856959199[8] = 0; + out_7295039760856959199[9] = 0; + out_7295039760856959199[10] = 0; + out_7295039760856959199[11] = 0; + out_7295039760856959199[12] = 0; + out_7295039760856959199[13] = 0; + out_7295039760856959199[14] = 0; + out_7295039760856959199[15] = 0; + out_7295039760856959199[16] = 0; + out_7295039760856959199[17] = 0; + out_7295039760856959199[18] = 0; + out_7295039760856959199[19] = 0; + out_7295039760856959199[20] = 0; + out_7295039760856959199[21] = 0; + out_7295039760856959199[22] = 1; + out_7295039760856959199[23] = 0; + out_7295039760856959199[24] = 0; + out_7295039760856959199[25] = 0; + out_7295039760856959199[26] = 0; + out_7295039760856959199[27] = 0; + out_7295039760856959199[28] = 0; + out_7295039760856959199[29] = 0; + out_7295039760856959199[30] = 0; + out_7295039760856959199[31] = 0; + out_7295039760856959199[32] = 0; + out_7295039760856959199[33] = 0; + out_7295039760856959199[34] = 0; + out_7295039760856959199[35] = 0; + out_7295039760856959199[36] = 0; + out_7295039760856959199[37] = 0; + out_7295039760856959199[38] = 0; + out_7295039760856959199[39] = 0; + out_7295039760856959199[40] = 0; + out_7295039760856959199[41] = 1; + out_7295039760856959199[42] = 0; + out_7295039760856959199[43] = 0; + out_7295039760856959199[44] = 0; + out_7295039760856959199[45] = 0; + out_7295039760856959199[46] = 0; + out_7295039760856959199[47] = 0; + out_7295039760856959199[48] = 0; + out_7295039760856959199[49] = 0; + out_7295039760856959199[50] = 0; + out_7295039760856959199[51] = 0; + out_7295039760856959199[52] = 0; + out_7295039760856959199[53] = 0; } -void h_14(double *state, double *unused, double *out_2370415612838457693) { - out_2370415612838457693[0] = state[6]; - out_2370415612838457693[1] = state[7]; - out_2370415612838457693[2] = state[8]; +void h_14(double *state, double *unused, double *out_8501358265546490714) { + out_8501358265546490714[0] = state[6]; + out_8501358265546490714[1] = state[7]; + out_8501358265546490714[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7021533864895507291) { - out_7021533864895507291[0] = 0; - out_7021533864895507291[1] = 0; - out_7021533864895507291[2] = 0; - out_7021533864895507291[3] = 0; - out_7021533864895507291[4] = 0; - out_7021533864895507291[5] = 0; - out_7021533864895507291[6] = 1; - out_7021533864895507291[7] = 0; - out_7021533864895507291[8] = 0; - out_7021533864895507291[9] = 0; - out_7021533864895507291[10] = 0; - out_7021533864895507291[11] = 0; - out_7021533864895507291[12] = 0; - out_7021533864895507291[13] = 0; - out_7021533864895507291[14] = 0; - out_7021533864895507291[15] = 0; - out_7021533864895507291[16] = 0; - out_7021533864895507291[17] = 0; - out_7021533864895507291[18] = 0; - out_7021533864895507291[19] = 0; - out_7021533864895507291[20] = 0; - out_7021533864895507291[21] = 0; - out_7021533864895507291[22] = 0; - out_7021533864895507291[23] = 0; - out_7021533864895507291[24] = 0; - out_7021533864895507291[25] = 1; - out_7021533864895507291[26] = 0; - out_7021533864895507291[27] = 0; - out_7021533864895507291[28] = 0; - out_7021533864895507291[29] = 0; - out_7021533864895507291[30] = 0; - out_7021533864895507291[31] = 0; - out_7021533864895507291[32] = 0; - out_7021533864895507291[33] = 0; - out_7021533864895507291[34] = 0; - out_7021533864895507291[35] = 0; - out_7021533864895507291[36] = 0; - out_7021533864895507291[37] = 0; - out_7021533864895507291[38] = 0; - out_7021533864895507291[39] = 0; - out_7021533864895507291[40] = 0; - out_7021533864895507291[41] = 0; - out_7021533864895507291[42] = 0; - out_7021533864895507291[43] = 0; - out_7021533864895507291[44] = 1; - out_7021533864895507291[45] = 0; - out_7021533864895507291[46] = 0; - out_7021533864895507291[47] = 0; - out_7021533864895507291[48] = 0; - out_7021533864895507291[49] = 0; - out_7021533864895507291[50] = 0; - out_7021533864895507291[51] = 0; - out_7021533864895507291[52] = 0; - out_7021533864895507291[53] = 0; +void H_14(double *state, double *unused, double *out_999977503229254102) { + out_999977503229254102[0] = 0; + out_999977503229254102[1] = 0; + out_999977503229254102[2] = 0; + out_999977503229254102[3] = 0; + out_999977503229254102[4] = 0; + out_999977503229254102[5] = 0; + out_999977503229254102[6] = 1; + out_999977503229254102[7] = 0; + out_999977503229254102[8] = 0; + out_999977503229254102[9] = 0; + out_999977503229254102[10] = 0; + out_999977503229254102[11] = 0; + out_999977503229254102[12] = 0; + out_999977503229254102[13] = 0; + out_999977503229254102[14] = 0; + out_999977503229254102[15] = 0; + out_999977503229254102[16] = 0; + out_999977503229254102[17] = 0; + out_999977503229254102[18] = 0; + out_999977503229254102[19] = 0; + out_999977503229254102[20] = 0; + out_999977503229254102[21] = 0; + out_999977503229254102[22] = 0; + out_999977503229254102[23] = 0; + out_999977503229254102[24] = 0; + out_999977503229254102[25] = 1; + out_999977503229254102[26] = 0; + out_999977503229254102[27] = 0; + out_999977503229254102[28] = 0; + out_999977503229254102[29] = 0; + out_999977503229254102[30] = 0; + out_999977503229254102[31] = 0; + out_999977503229254102[32] = 0; + out_999977503229254102[33] = 0; + out_999977503229254102[34] = 0; + out_999977503229254102[35] = 0; + out_999977503229254102[36] = 0; + out_999977503229254102[37] = 0; + out_999977503229254102[38] = 0; + out_999977503229254102[39] = 0; + out_999977503229254102[40] = 0; + out_999977503229254102[41] = 0; + out_999977503229254102[42] = 0; + out_999977503229254102[43] = 0; + out_999977503229254102[44] = 1; + out_999977503229254102[45] = 0; + out_999977503229254102[46] = 0; + out_999977503229254102[47] = 0; + out_999977503229254102[48] = 0; + out_999977503229254102[49] = 0; + out_999977503229254102[50] = 0; + out_999977503229254102[51] = 0; + out_999977503229254102[52] = 0; + out_999977503229254102[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_7505672412271645129) { - err_fun(nom_x, delta_x, out_7505672412271645129); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5206974560936582462) { + err_fun(nom_x, delta_x, out_5206974560936582462); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_850525553930579209) { - inv_err_fun(nom_x, true_x, out_850525553930579209); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8580851081509816390) { + inv_err_fun(nom_x, true_x, out_8580851081509816390); } -void pose_H_mod_fun(double *state, double *out_5142011875417202005) { - H_mod_fun(state, out_5142011875417202005); +void pose_H_mod_fun(double *state, double *out_310958725680718826) { + H_mod_fun(state, out_310958725680718826); } -void pose_f_fun(double *state, double dt, double *out_203013903358445647) { - f_fun(state, dt, out_203013903358445647); +void pose_f_fun(double *state, double dt, double *out_8333876756213369009) { + f_fun(state, dt, out_8333876756213369009); } -void pose_F_fun(double *state, double dt, double *out_7326468457789213143) { - F_fun(state, dt, out_7326468457789213143); +void pose_F_fun(double *state, double dt, double *out_8736875160637463263) { + F_fun(state, dt, out_8736875160637463263); } -void pose_h_4(double *state, double *unused, double *out_8153824291242181436) { - h_4(state, unused, out_8153824291242181436); +void pose_h_4(double *state, double *unused, double *out_5158761943134929654) { + h_4(state, unused, out_5158761943134929654); } -void pose_H_4(double *state, double *unused, double *out_3058293008556022762) { - H_4(state, unused, out_3058293008556022762); +void pose_H_4(double *state, double *unused, double *out_4082765935524626398) { + H_4(state, unused, out_4082765935524626398); } -void pose_h_10(double *state, double *unused, double *out_3951144425666594182) { - h_10(state, unused, out_3951144425666594182); +void pose_h_10(double *state, double *unused, double *out_563005185308758885) { + h_10(state, unused, out_563005185308758885); } -void pose_H_10(double *state, double *unused, double *out_3697294613085597244) { - H_10(state, unused, out_3697294613085597244); +void pose_H_10(double *state, double *unused, double *out_7993288058010589722) { + H_10(state, unused, out_7993288058010589722); } -void pose_h_13(double *state, double *unused, double *out_6907487104961603826) { - h_13(state, unused, out_6907487104961603826); +void pose_h_13(double *state, double *unused, double *out_1191809301965979441) { + h_13(state, unused, out_1191809301965979441); } -void pose_H_13(double *state, double *unused, double *out_7777819856836827925) { - H_13(state, unused, out_7777819856836827925); +void pose_H_13(double *state, double *unused, double *out_7295039760856959199) { + H_13(state, unused, out_7295039760856959199); } -void pose_h_14(double *state, double *unused, double *out_2370415612838457693) { - h_14(state, unused, out_2370415612838457693); +void pose_h_14(double *state, double *unused, double *out_8501358265546490714) { + h_14(state, unused, out_8501358265546490714); } -void pose_H_14(double *state, double *unused, double *out_7021533864895507291) { - H_14(state, unused, out_7021533864895507291); +void pose_H_14(double *state, double *unused, double *out_999977503229254102) { + H_14(state, unused, out_999977503229254102); } 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 6d8a75a94..65e183930 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_7505672412271645129); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_850525553930579209); -void pose_H_mod_fun(double *state, double *out_5142011875417202005); -void pose_f_fun(double *state, double dt, double *out_203013903358445647); -void pose_F_fun(double *state, double dt, double *out_7326468457789213143); -void pose_h_4(double *state, double *unused, double *out_8153824291242181436); -void pose_H_4(double *state, double *unused, double *out_3058293008556022762); -void pose_h_10(double *state, double *unused, double *out_3951144425666594182); -void pose_H_10(double *state, double *unused, double *out_3697294613085597244); -void pose_h_13(double *state, double *unused, double *out_6907487104961603826); -void pose_H_13(double *state, double *unused, double *out_7777819856836827925); -void pose_h_14(double *state, double *unused, double *out_2370415612838457693); -void pose_H_14(double *state, double *unused, double *out_7021533864895507291); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5206974560936582462); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8580851081509816390); +void pose_H_mod_fun(double *state, double *out_310958725680718826); +void pose_f_fun(double *state, double dt, double *out_8333876756213369009); +void pose_F_fun(double *state, double dt, double *out_8736875160637463263); +void pose_h_4(double *state, double *unused, double *out_5158761943134929654); +void pose_H_4(double *state, double *unused, double *out_4082765935524626398); +void pose_h_10(double *state, double *unused, double *out_563005185308758885); +void pose_H_10(double *state, double *unused, double *out_7993288058010589722); +void pose_h_13(double *state, double *unused, double *out_1191809301965979441); +void pose_H_13(double *state, double *unused, double *out_7295039760856959199); +void pose_h_14(double *state, double *unused, double *out_8501358265546490714); +void pose_H_14(double *state, double *unused, double *out_999977503229254102); 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 8eac6feee..190d87c1a 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index d31d1857a..058ce8c2a 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index f319b43fb..3403011fd 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 918356676..576021fb7 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 39f4c47fc..25b6f15f0 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index c5dc06cf1..4de7b1f8e 100755 Binary files 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