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b/panda/board/obj/version @@ -1 +1 @@ -DEV-06f6ff66-DEBUG \ No newline at end of file +DEV-57ac82d1-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 096414279..32d6923a4 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_5769240825907262247) { - out_5769240825907262247[0] = delta_x[0] + nom_x[0]; - out_5769240825907262247[1] = delta_x[1] + nom_x[1]; - out_5769240825907262247[2] = delta_x[2] + nom_x[2]; - out_5769240825907262247[3] = delta_x[3] + nom_x[3]; - out_5769240825907262247[4] = delta_x[4] + nom_x[4]; - out_5769240825907262247[5] = delta_x[5] + nom_x[5]; - out_5769240825907262247[6] = delta_x[6] + nom_x[6]; - out_5769240825907262247[7] = delta_x[7] + nom_x[7]; - out_5769240825907262247[8] = delta_x[8] + nom_x[8]; +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 inv_err_fun(double *nom_x, double *true_x, double *out_2180470504006262414) { - out_2180470504006262414[0] = -nom_x[0] + true_x[0]; - out_2180470504006262414[1] = -nom_x[1] + true_x[1]; - out_2180470504006262414[2] = -nom_x[2] + true_x[2]; - out_2180470504006262414[3] = -nom_x[3] + true_x[3]; - out_2180470504006262414[4] = -nom_x[4] + true_x[4]; - out_2180470504006262414[5] = -nom_x[5] + true_x[5]; - out_2180470504006262414[6] = -nom_x[6] + true_x[6]; - out_2180470504006262414[7] = -nom_x[7] + true_x[7]; - out_2180470504006262414[8] = -nom_x[8] + true_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 H_mod_fun(double *state, double *out_199921167776384783) { - out_199921167776384783[0] = 1.0; - out_199921167776384783[1] = 0.0; - out_199921167776384783[2] = 0.0; - out_199921167776384783[3] = 0.0; - out_199921167776384783[4] = 0.0; - out_199921167776384783[5] = 0.0; - out_199921167776384783[6] = 0.0; - out_199921167776384783[7] = 0.0; - out_199921167776384783[8] = 0.0; - out_199921167776384783[9] = 0.0; - out_199921167776384783[10] = 1.0; - out_199921167776384783[11] = 0.0; - out_199921167776384783[12] = 0.0; - out_199921167776384783[13] = 0.0; - out_199921167776384783[14] = 0.0; - out_199921167776384783[15] = 0.0; - out_199921167776384783[16] = 0.0; - out_199921167776384783[17] = 0.0; - out_199921167776384783[18] = 0.0; - out_199921167776384783[19] = 0.0; - out_199921167776384783[20] = 1.0; - out_199921167776384783[21] = 0.0; - out_199921167776384783[22] = 0.0; - out_199921167776384783[23] = 0.0; - out_199921167776384783[24] = 0.0; - out_199921167776384783[25] = 0.0; - out_199921167776384783[26] = 0.0; - out_199921167776384783[27] = 0.0; - out_199921167776384783[28] = 0.0; - out_199921167776384783[29] = 0.0; - out_199921167776384783[30] = 1.0; - out_199921167776384783[31] = 0.0; - out_199921167776384783[32] = 0.0; - out_199921167776384783[33] = 0.0; - out_199921167776384783[34] = 0.0; - out_199921167776384783[35] = 0.0; - out_199921167776384783[36] = 0.0; - out_199921167776384783[37] = 0.0; - out_199921167776384783[38] = 0.0; - out_199921167776384783[39] = 0.0; - out_199921167776384783[40] = 1.0; - out_199921167776384783[41] = 0.0; - out_199921167776384783[42] = 0.0; - out_199921167776384783[43] = 0.0; - out_199921167776384783[44] = 0.0; - out_199921167776384783[45] = 0.0; - out_199921167776384783[46] = 0.0; - out_199921167776384783[47] = 0.0; - out_199921167776384783[48] = 0.0; - out_199921167776384783[49] = 0.0; - out_199921167776384783[50] = 1.0; - out_199921167776384783[51] = 0.0; - out_199921167776384783[52] = 0.0; - out_199921167776384783[53] = 0.0; - out_199921167776384783[54] = 0.0; - out_199921167776384783[55] = 0.0; - out_199921167776384783[56] = 0.0; - out_199921167776384783[57] = 0.0; - out_199921167776384783[58] = 0.0; - out_199921167776384783[59] = 0.0; - out_199921167776384783[60] = 1.0; - out_199921167776384783[61] = 0.0; - out_199921167776384783[62] = 0.0; - out_199921167776384783[63] = 0.0; - out_199921167776384783[64] = 0.0; - out_199921167776384783[65] = 0.0; - out_199921167776384783[66] = 0.0; - out_199921167776384783[67] = 0.0; - out_199921167776384783[68] = 0.0; - out_199921167776384783[69] = 0.0; - out_199921167776384783[70] = 1.0; - out_199921167776384783[71] = 0.0; - out_199921167776384783[72] = 0.0; - out_199921167776384783[73] = 0.0; - out_199921167776384783[74] = 0.0; - out_199921167776384783[75] = 0.0; - out_199921167776384783[76] = 0.0; - out_199921167776384783[77] = 0.0; - out_199921167776384783[78] = 0.0; - out_199921167776384783[79] = 0.0; - out_199921167776384783[80] = 1.0; +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 f_fun(double *state, double dt, double *out_1042331506821406330) { - out_1042331506821406330[0] = state[0]; - out_1042331506821406330[1] = state[1]; - out_1042331506821406330[2] = state[2]; - out_1042331506821406330[3] = state[3]; - out_1042331506821406330[4] = state[4]; - out_1042331506821406330[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_1042331506821406330[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_1042331506821406330[7] = state[7]; - out_1042331506821406330[8] = state[8]; +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_8550568359085178836) { - out_8550568359085178836[0] = 1; - out_8550568359085178836[1] = 0; - out_8550568359085178836[2] = 0; - out_8550568359085178836[3] = 0; - out_8550568359085178836[4] = 0; - out_8550568359085178836[5] = 0; - out_8550568359085178836[6] = 0; - out_8550568359085178836[7] = 0; - out_8550568359085178836[8] = 0; - out_8550568359085178836[9] = 0; - out_8550568359085178836[10] = 1; - out_8550568359085178836[11] = 0; - out_8550568359085178836[12] = 0; - out_8550568359085178836[13] = 0; - out_8550568359085178836[14] = 0; - out_8550568359085178836[15] = 0; - out_8550568359085178836[16] = 0; - out_8550568359085178836[17] = 0; - out_8550568359085178836[18] = 0; - out_8550568359085178836[19] = 0; - out_8550568359085178836[20] = 1; - out_8550568359085178836[21] = 0; - out_8550568359085178836[22] = 0; - out_8550568359085178836[23] = 0; - out_8550568359085178836[24] = 0; - out_8550568359085178836[25] = 0; - out_8550568359085178836[26] = 0; - out_8550568359085178836[27] = 0; - out_8550568359085178836[28] = 0; - out_8550568359085178836[29] = 0; - out_8550568359085178836[30] = 1; - out_8550568359085178836[31] = 0; - out_8550568359085178836[32] = 0; - out_8550568359085178836[33] = 0; - out_8550568359085178836[34] = 0; - out_8550568359085178836[35] = 0; - out_8550568359085178836[36] = 0; - out_8550568359085178836[37] = 0; - out_8550568359085178836[38] = 0; - out_8550568359085178836[39] = 0; - out_8550568359085178836[40] = 1; - out_8550568359085178836[41] = 0; - out_8550568359085178836[42] = 0; - out_8550568359085178836[43] = 0; - out_8550568359085178836[44] = 0; - out_8550568359085178836[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_8550568359085178836[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8550568359085178836[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8550568359085178836[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8550568359085178836[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_8550568359085178836[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8550568359085178836[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8550568359085178836[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8550568359085178836[53] = -9.8100000000000005*dt; - out_8550568359085178836[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_8550568359085178836[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8550568359085178836[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8550568359085178836[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8550568359085178836[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_8550568359085178836[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8550568359085178836[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_8550568359085178836[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8550568359085178836[62] = 0; - out_8550568359085178836[63] = 0; - out_8550568359085178836[64] = 0; - out_8550568359085178836[65] = 0; - out_8550568359085178836[66] = 0; - out_8550568359085178836[67] = 0; - out_8550568359085178836[68] = 0; - out_8550568359085178836[69] = 0; - out_8550568359085178836[70] = 1; - out_8550568359085178836[71] = 0; - out_8550568359085178836[72] = 0; - out_8550568359085178836[73] = 0; - out_8550568359085178836[74] = 0; - out_8550568359085178836[75] = 0; - out_8550568359085178836[76] = 0; - out_8550568359085178836[77] = 0; - out_8550568359085178836[78] = 0; - out_8550568359085178836[79] = 0; - out_8550568359085178836[80] = 1; +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 h_25(double *state, double *unused, double *out_5837605696441742449) { - out_5837605696441742449[0] = state[6]; +void h_25(double *state, double *unused, double *out_2775617380616102557) { + out_2775617380616102557[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8993267058135852454) { - out_8993267058135852454[0] = 0; - out_8993267058135852454[1] = 0; - out_8993267058135852454[2] = 0; - out_8993267058135852454[3] = 0; - out_8993267058135852454[4] = 0; - out_8993267058135852454[5] = 0; - out_8993267058135852454[6] = 1; - out_8993267058135852454[7] = 0; - out_8993267058135852454[8] = 0; +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_24(double *state, double *unused, double *out_5044076517459918856) { - out_5044076517459918856[0] = state[4]; - out_5044076517459918856[1] = state[5]; +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_7280827416568199596) { - out_7280827416568199596[0] = 0; - out_7280827416568199596[1] = 0; - out_7280827416568199596[2] = 0; - out_7280827416568199596[3] = 0; - out_7280827416568199596[4] = 1; - out_7280827416568199596[5] = 0; - out_7280827416568199596[6] = 0; - out_7280827416568199596[7] = 0; - out_7280827416568199596[8] = 0; - out_7280827416568199596[9] = 0; - out_7280827416568199596[10] = 0; - out_7280827416568199596[11] = 0; - out_7280827416568199596[12] = 0; - out_7280827416568199596[13] = 0; - out_7280827416568199596[14] = 1; - out_7280827416568199596[15] = 0; - out_7280827416568199596[16] = 0; - out_7280827416568199596[17] = 0; +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_30(double *state, double *unused, double *out_5983125520662397420) { - out_5983125520662397420[0] = state[4]; +void h_30(double *state, double *unused, double *out_6519293463111227465) { + out_6519293463111227465[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2076576716644235699) { - out_2076576716644235699[0] = 0; - out_2076576716644235699[1] = 0; - out_2076576716644235699[2] = 0; - out_2076576716644235699[3] = 0; - out_2076576716644235699[4] = 1; - out_2076576716644235699[5] = 0; - out_2076576716644235699[6] = 0; - out_2076576716644235699[7] = 0; - out_2076576716644235699[8] = 0; +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_26(double *state, double *unused, double *out_234514271167533250) { - out_234514271167533250[0] = state[7]; +void h_26(double *state, double *unused, double *out_7122609347787704982) { + out_7122609347787704982[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5688741088375051853) { - out_5688741088375051853[0] = 0; - out_5688741088375051853[1] = 0; - out_5688741088375051853[2] = 0; - out_5688741088375051853[3] = 0; - out_5688741088375051853[4] = 0; - out_5688741088375051853[5] = 0; - out_5688741088375051853[6] = 0; - out_5688741088375051853[7] = 1; - out_5688741088375051853[8] = 0; +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_27(double *state, double *unused, double *out_7383231161432484220) { - out_7383231161432484220[0] = state[3]; +void h_27(double *state, double *unused, double *out_7737997378297395789) { + out_7737997378297395789[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4251340028444660610) { - out_4251340028444660610[0] = 0; - out_4251340028444660610[1] = 0; - out_4251340028444660610[2] = 0; - out_4251340028444660610[3] = 1; - out_4251340028444660610[4] = 0; - out_4251340028444660610[5] = 0; - out_4251340028444660610[6] = 0; - out_4251340028444660610[7] = 0; - out_4251340028444660610[8] = 0; +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_29(double *state, double *unused, double *out_7461945285386308551) { - out_7461945285386308551[0] = state[1]; +void h_29(double *state, double *unused, double *out_3746027739128576800) { + out_3746027739128576800[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5964702755314211643) { - out_5964702755314211643[0] = 0; - out_5964702755314211643[1] = 1; - out_5964702755314211643[2] = 0; - out_5964702755314211643[3] = 0; - out_5964702755314211643[4] = 0; - out_5964702755314211643[5] = 0; - out_5964702755314211643[6] = 0; - out_5964702755314211643[7] = 0; - out_5964702755314211643[8] = 0; +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_28(double *state, double *unused, double *out_2381557893771638575) { - out_2381557893771638575[0] = state[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_7399642301325809399) { - out_7399642301325809399[0] = 1; - out_7399642301325809399[1] = 0; - out_7399642301325809399[2] = 0; - out_7399642301325809399[3] = 0; - out_7399642301325809399[4] = 0; - out_7399642301325809399[5] = 0; - out_7399642301325809399[6] = 0; - out_7399642301325809399[7] = 0; - out_7399642301325809399[8] = 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_31(double *state, double *unused, double *out_4845873120447136726) { - out_4845873120447136726[0] = state[8]; +void h_31(double *state, double *unused, double *out_5721043300647637435) { + out_5721043300647637435[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8962621096258892026) { - out_8962621096258892026[0] = 0; - out_8962621096258892026[1] = 0; - out_8962621096258892026[2] = 0; - out_8962621096258892026[3] = 0; - out_8962621096258892026[4] = 0; - out_8962621096258892026[5] = 0; - out_8962621096258892026[6] = 0; - out_8962621096258892026[7] = 0; - out_8962621096258892026[8] = 1; +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; } #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_5769240825907262247) { - err_fun(nom_x, delta_x, out_5769240825907262247); +void car_err_fun(double *nom_x, double *delta_x, double *out_6251513780499274303) { + err_fun(nom_x, delta_x, out_6251513780499274303); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2180470504006262414) { - inv_err_fun(nom_x, true_x, out_2180470504006262414); +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_H_mod_fun(double *state, double *out_199921167776384783) { - H_mod_fun(state, out_199921167776384783); +void car_H_mod_fun(double *state, double *out_3699562487368274414) { + H_mod_fun(state, out_3699562487368274414); } -void car_f_fun(double *state, double dt, double *out_1042331506821406330) { - f_fun(state, dt, out_1042331506821406330); +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_8550568359085178836) { - F_fun(state, dt, out_8550568359085178836); +void car_F_fun(double *state, double dt, double *out_2198054725359611149) { + F_fun(state, dt, out_2198054725359611149); } -void car_h_25(double *state, double *unused, double *out_5837605696441742449) { - h_25(state, unused, out_5837605696441742449); +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_8993267058135852454) { - H_25(state, unused, out_8993267058135852454); +void car_H_25(double *state, double *unused, double *out_5493625738543962823) { + H_25(state, unused, out_5493625738543962823); } -void car_h_24(double *state, double *unused, double *out_5044076517459918856) { - h_24(state, unused, out_5044076517459918856); +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_7280827416568199596) { - H_24(state, unused, out_7280827416568199596); +void car_H_24(double *state, double *unused, double *out_3267917954565094261) { + H_24(state, unused, out_3267917954565094261); } -void car_h_30(double *state, double *unused, double *out_5983125520662397420) { - h_30(state, unused, out_5983125520662397420); +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_2076576716644235699) { - H_30(state, unused, out_2076576716644235699); +void car_H_30(double *state, double *unused, double *out_1423064602947653932) { + H_30(state, unused, out_1423064602947653932); } -void car_h_26(double *state, double *unused, double *out_234514271167533250) { - h_26(state, unused, out_234514271167533250); +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_5688741088375051853) { - H_26(state, unused, out_5688741088375051853); +void car_H_26(double *state, double *unused, double *out_9211615016291532569) { + H_26(state, unused, out_9211615016291532569); } -void car_h_27(double *state, double *unused, double *out_7383231161432484220) { - h_27(state, unused, out_7383231161432484220); +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_4251340028444660610) { - H_27(state, unused, out_4251340028444660610); +void car_H_27(double *state, double *unused, double *out_7797727997487627804) { + H_27(state, unused, out_7797727997487627804); } -void car_h_29(double *state, double *unused, double *out_7461945285386308551) { - h_29(state, unused, out_7461945285386308551); +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_5964702755314211643) { - H_29(state, unused, out_5964702755314211643); +void car_H_29(double *state, double *unused, double *out_5112733341372810709) { + H_29(state, unused, out_5112733341372810709); } -void car_h_28(double *state, double *unused, double *out_2381557893771638575) { - h_28(state, unused, out_2381557893771638575); +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_7399642301325809399) { - H_28(state, unused, out_7399642301325809399); +void car_H_28(double *state, double *unused, double *out_3149103069807484458) { + H_28(state, unused, out_3149103069807484458); } -void car_h_31(double *state, double *unused, double *out_4845873120447136726) { - h_31(state, unused, out_4845873120447136726); +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_8962621096258892026) { - H_31(state, unused, out_8962621096258892026); +void car_H_31(double *state, double *unused, double *out_5462979776667002395) { + H_31(state, unused, out_5462979776667002395); } 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 83b09a422..e4f3eb002 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_5769240825907262247); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2180470504006262414); -void car_H_mod_fun(double *state, double *out_199921167776384783); -void car_f_fun(double *state, double dt, double *out_1042331506821406330); -void car_F_fun(double *state, double dt, double *out_8550568359085178836); -void car_h_25(double *state, double *unused, double *out_5837605696441742449); -void car_H_25(double *state, double *unused, double *out_8993267058135852454); -void car_h_24(double *state, double *unused, double *out_5044076517459918856); -void car_H_24(double *state, double *unused, double *out_7280827416568199596); -void car_h_30(double *state, double *unused, double *out_5983125520662397420); -void car_H_30(double *state, double *unused, double *out_2076576716644235699); -void car_h_26(double *state, double *unused, double *out_234514271167533250); -void car_H_26(double *state, double *unused, double *out_5688741088375051853); -void car_h_27(double *state, double *unused, double *out_7383231161432484220); -void car_H_27(double *state, double *unused, double *out_4251340028444660610); -void car_h_29(double *state, double *unused, double *out_7461945285386308551); -void car_H_29(double *state, double *unused, double *out_5964702755314211643); -void car_h_28(double *state, double *unused, double *out_2381557893771638575); -void car_H_28(double *state, double *unused, double *out_7399642301325809399); -void car_h_31(double *state, double *unused, double *out_4845873120447136726); -void car_H_31(double *state, double *unused, double *out_8962621096258892026); +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_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 50f7bac88..a1cd82f32 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_7746602045410251207) { - out_7746602045410251207[0] = delta_x[0] + nom_x[0]; - out_7746602045410251207[1] = delta_x[1] + nom_x[1]; - out_7746602045410251207[2] = delta_x[2] + nom_x[2]; - out_7746602045410251207[3] = delta_x[3] + nom_x[3]; - out_7746602045410251207[4] = delta_x[4] + nom_x[4]; - out_7746602045410251207[5] = delta_x[5] + nom_x[5]; - out_7746602045410251207[6] = delta_x[6] + nom_x[6]; - out_7746602045410251207[7] = delta_x[7] + nom_x[7]; - out_7746602045410251207[8] = delta_x[8] + nom_x[8]; - out_7746602045410251207[9] = delta_x[9] + nom_x[9]; - out_7746602045410251207[10] = delta_x[10] + nom_x[10]; - out_7746602045410251207[11] = delta_x[11] + nom_x[11]; - out_7746602045410251207[12] = delta_x[12] + nom_x[12]; - out_7746602045410251207[13] = delta_x[13] + nom_x[13]; - out_7746602045410251207[14] = delta_x[14] + nom_x[14]; - out_7746602045410251207[15] = delta_x[15] + nom_x[15]; - out_7746602045410251207[16] = delta_x[16] + nom_x[16]; - out_7746602045410251207[17] = delta_x[17] + nom_x[17]; +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 inv_err_fun(double *nom_x, double *true_x, double *out_7631524114608656485) { - out_7631524114608656485[0] = -nom_x[0] + true_x[0]; - out_7631524114608656485[1] = -nom_x[1] + true_x[1]; - out_7631524114608656485[2] = -nom_x[2] + true_x[2]; - out_7631524114608656485[3] = -nom_x[3] + true_x[3]; - out_7631524114608656485[4] = -nom_x[4] + true_x[4]; - out_7631524114608656485[5] = -nom_x[5] + true_x[5]; - out_7631524114608656485[6] = -nom_x[6] + true_x[6]; - out_7631524114608656485[7] = -nom_x[7] + true_x[7]; - out_7631524114608656485[8] = -nom_x[8] + true_x[8]; - out_7631524114608656485[9] = -nom_x[9] + true_x[9]; - out_7631524114608656485[10] = -nom_x[10] + true_x[10]; - out_7631524114608656485[11] = -nom_x[11] + true_x[11]; - out_7631524114608656485[12] = -nom_x[12] + true_x[12]; - out_7631524114608656485[13] = -nom_x[13] + true_x[13]; - out_7631524114608656485[14] = -nom_x[14] + true_x[14]; - out_7631524114608656485[15] = -nom_x[15] + true_x[15]; - out_7631524114608656485[16] = -nom_x[16] + true_x[16]; - out_7631524114608656485[17] = -nom_x[17] + true_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 H_mod_fun(double *state, double *out_506241675272442753) { - out_506241675272442753[0] = 1.0; - out_506241675272442753[1] = 0.0; - out_506241675272442753[2] = 0.0; - out_506241675272442753[3] = 0.0; - out_506241675272442753[4] = 0.0; - out_506241675272442753[5] = 0.0; - out_506241675272442753[6] = 0.0; - out_506241675272442753[7] = 0.0; - out_506241675272442753[8] = 0.0; - out_506241675272442753[9] = 0.0; - out_506241675272442753[10] = 0.0; - out_506241675272442753[11] = 0.0; - out_506241675272442753[12] = 0.0; - out_506241675272442753[13] = 0.0; - out_506241675272442753[14] = 0.0; - out_506241675272442753[15] = 0.0; - out_506241675272442753[16] = 0.0; - out_506241675272442753[17] = 0.0; - out_506241675272442753[18] = 0.0; - out_506241675272442753[19] = 1.0; - out_506241675272442753[20] = 0.0; - out_506241675272442753[21] = 0.0; - out_506241675272442753[22] = 0.0; - out_506241675272442753[23] = 0.0; - out_506241675272442753[24] = 0.0; - out_506241675272442753[25] = 0.0; - out_506241675272442753[26] = 0.0; - out_506241675272442753[27] = 0.0; - out_506241675272442753[28] = 0.0; - out_506241675272442753[29] = 0.0; - out_506241675272442753[30] = 0.0; - out_506241675272442753[31] = 0.0; - out_506241675272442753[32] = 0.0; - out_506241675272442753[33] = 0.0; - out_506241675272442753[34] = 0.0; - out_506241675272442753[35] = 0.0; - out_506241675272442753[36] = 0.0; - out_506241675272442753[37] = 0.0; - out_506241675272442753[38] = 1.0; - out_506241675272442753[39] = 0.0; - out_506241675272442753[40] = 0.0; - out_506241675272442753[41] = 0.0; - out_506241675272442753[42] = 0.0; - out_506241675272442753[43] = 0.0; - out_506241675272442753[44] = 0.0; - out_506241675272442753[45] = 0.0; - out_506241675272442753[46] = 0.0; - out_506241675272442753[47] = 0.0; - out_506241675272442753[48] = 0.0; - out_506241675272442753[49] = 0.0; - out_506241675272442753[50] = 0.0; - out_506241675272442753[51] = 0.0; - out_506241675272442753[52] = 0.0; - out_506241675272442753[53] = 0.0; - out_506241675272442753[54] = 0.0; - out_506241675272442753[55] = 0.0; - out_506241675272442753[56] = 0.0; - out_506241675272442753[57] = 1.0; - out_506241675272442753[58] = 0.0; - out_506241675272442753[59] = 0.0; - out_506241675272442753[60] = 0.0; - out_506241675272442753[61] = 0.0; - out_506241675272442753[62] = 0.0; - out_506241675272442753[63] = 0.0; - out_506241675272442753[64] = 0.0; - out_506241675272442753[65] = 0.0; - out_506241675272442753[66] = 0.0; - out_506241675272442753[67] = 0.0; - out_506241675272442753[68] = 0.0; - out_506241675272442753[69] = 0.0; - out_506241675272442753[70] = 0.0; - out_506241675272442753[71] = 0.0; - out_506241675272442753[72] = 0.0; - out_506241675272442753[73] = 0.0; - out_506241675272442753[74] = 0.0; - out_506241675272442753[75] = 0.0; - out_506241675272442753[76] = 1.0; - out_506241675272442753[77] = 0.0; - out_506241675272442753[78] = 0.0; - out_506241675272442753[79] = 0.0; - out_506241675272442753[80] = 0.0; - out_506241675272442753[81] = 0.0; - out_506241675272442753[82] = 0.0; - out_506241675272442753[83] = 0.0; - out_506241675272442753[84] = 0.0; - out_506241675272442753[85] = 0.0; - out_506241675272442753[86] = 0.0; - out_506241675272442753[87] = 0.0; - out_506241675272442753[88] = 0.0; - out_506241675272442753[89] = 0.0; - out_506241675272442753[90] = 0.0; - out_506241675272442753[91] = 0.0; - out_506241675272442753[92] = 0.0; - out_506241675272442753[93] = 0.0; - out_506241675272442753[94] = 0.0; - out_506241675272442753[95] = 1.0; - out_506241675272442753[96] = 0.0; - out_506241675272442753[97] = 0.0; - out_506241675272442753[98] = 0.0; - out_506241675272442753[99] = 0.0; - out_506241675272442753[100] = 0.0; - out_506241675272442753[101] = 0.0; - out_506241675272442753[102] = 0.0; - out_506241675272442753[103] = 0.0; - out_506241675272442753[104] = 0.0; - out_506241675272442753[105] = 0.0; - out_506241675272442753[106] = 0.0; - out_506241675272442753[107] = 0.0; - out_506241675272442753[108] = 0.0; - out_506241675272442753[109] = 0.0; - out_506241675272442753[110] = 0.0; - out_506241675272442753[111] = 0.0; - out_506241675272442753[112] = 0.0; - out_506241675272442753[113] = 0.0; - out_506241675272442753[114] = 1.0; - out_506241675272442753[115] = 0.0; - out_506241675272442753[116] = 0.0; - out_506241675272442753[117] = 0.0; - out_506241675272442753[118] = 0.0; - out_506241675272442753[119] = 0.0; - out_506241675272442753[120] = 0.0; - out_506241675272442753[121] = 0.0; - out_506241675272442753[122] = 0.0; - out_506241675272442753[123] = 0.0; - out_506241675272442753[124] = 0.0; - out_506241675272442753[125] = 0.0; - out_506241675272442753[126] = 0.0; - out_506241675272442753[127] = 0.0; - out_506241675272442753[128] = 0.0; - out_506241675272442753[129] = 0.0; - out_506241675272442753[130] = 0.0; - out_506241675272442753[131] = 0.0; - out_506241675272442753[132] = 0.0; - out_506241675272442753[133] = 1.0; - out_506241675272442753[134] = 0.0; - out_506241675272442753[135] = 0.0; - out_506241675272442753[136] = 0.0; - out_506241675272442753[137] = 0.0; - out_506241675272442753[138] = 0.0; - out_506241675272442753[139] = 0.0; - out_506241675272442753[140] = 0.0; - out_506241675272442753[141] = 0.0; - out_506241675272442753[142] = 0.0; - out_506241675272442753[143] = 0.0; - out_506241675272442753[144] = 0.0; - out_506241675272442753[145] = 0.0; - out_506241675272442753[146] = 0.0; - out_506241675272442753[147] = 0.0; - out_506241675272442753[148] = 0.0; - out_506241675272442753[149] = 0.0; - out_506241675272442753[150] = 0.0; - out_506241675272442753[151] = 0.0; - out_506241675272442753[152] = 1.0; - out_506241675272442753[153] = 0.0; - out_506241675272442753[154] = 0.0; - out_506241675272442753[155] = 0.0; - out_506241675272442753[156] = 0.0; - out_506241675272442753[157] = 0.0; - out_506241675272442753[158] = 0.0; - out_506241675272442753[159] = 0.0; - out_506241675272442753[160] = 0.0; - out_506241675272442753[161] = 0.0; - out_506241675272442753[162] = 0.0; - out_506241675272442753[163] = 0.0; - out_506241675272442753[164] = 0.0; - out_506241675272442753[165] = 0.0; - out_506241675272442753[166] = 0.0; - out_506241675272442753[167] = 0.0; - out_506241675272442753[168] = 0.0; - out_506241675272442753[169] = 0.0; - out_506241675272442753[170] = 0.0; - out_506241675272442753[171] = 1.0; - out_506241675272442753[172] = 0.0; - out_506241675272442753[173] = 0.0; - out_506241675272442753[174] = 0.0; - out_506241675272442753[175] = 0.0; - out_506241675272442753[176] = 0.0; - out_506241675272442753[177] = 0.0; - out_506241675272442753[178] = 0.0; - out_506241675272442753[179] = 0.0; - out_506241675272442753[180] = 0.0; - out_506241675272442753[181] = 0.0; - out_506241675272442753[182] = 0.0; - out_506241675272442753[183] = 0.0; - out_506241675272442753[184] = 0.0; - out_506241675272442753[185] = 0.0; - out_506241675272442753[186] = 0.0; - out_506241675272442753[187] = 0.0; - out_506241675272442753[188] = 0.0; - out_506241675272442753[189] = 0.0; - out_506241675272442753[190] = 1.0; - out_506241675272442753[191] = 0.0; - out_506241675272442753[192] = 0.0; - out_506241675272442753[193] = 0.0; - out_506241675272442753[194] = 0.0; - out_506241675272442753[195] = 0.0; - out_506241675272442753[196] = 0.0; - out_506241675272442753[197] = 0.0; - out_506241675272442753[198] = 0.0; - out_506241675272442753[199] = 0.0; - out_506241675272442753[200] = 0.0; - out_506241675272442753[201] = 0.0; - out_506241675272442753[202] = 0.0; - out_506241675272442753[203] = 0.0; - out_506241675272442753[204] = 0.0; - out_506241675272442753[205] = 0.0; - out_506241675272442753[206] = 0.0; - out_506241675272442753[207] = 0.0; - out_506241675272442753[208] = 0.0; - out_506241675272442753[209] = 1.0; - out_506241675272442753[210] = 0.0; - out_506241675272442753[211] = 0.0; - out_506241675272442753[212] = 0.0; - out_506241675272442753[213] = 0.0; - out_506241675272442753[214] = 0.0; - out_506241675272442753[215] = 0.0; - out_506241675272442753[216] = 0.0; - out_506241675272442753[217] = 0.0; - out_506241675272442753[218] = 0.0; - out_506241675272442753[219] = 0.0; - out_506241675272442753[220] = 0.0; - out_506241675272442753[221] = 0.0; - out_506241675272442753[222] = 0.0; - out_506241675272442753[223] = 0.0; - out_506241675272442753[224] = 0.0; - out_506241675272442753[225] = 0.0; - out_506241675272442753[226] = 0.0; - out_506241675272442753[227] = 0.0; - out_506241675272442753[228] = 1.0; - out_506241675272442753[229] = 0.0; - out_506241675272442753[230] = 0.0; - out_506241675272442753[231] = 0.0; - out_506241675272442753[232] = 0.0; - out_506241675272442753[233] = 0.0; - out_506241675272442753[234] = 0.0; - out_506241675272442753[235] = 0.0; - out_506241675272442753[236] = 0.0; - out_506241675272442753[237] = 0.0; - out_506241675272442753[238] = 0.0; - out_506241675272442753[239] = 0.0; - out_506241675272442753[240] = 0.0; - out_506241675272442753[241] = 0.0; - out_506241675272442753[242] = 0.0; - out_506241675272442753[243] = 0.0; - out_506241675272442753[244] = 0.0; - out_506241675272442753[245] = 0.0; - out_506241675272442753[246] = 0.0; - out_506241675272442753[247] = 1.0; - out_506241675272442753[248] = 0.0; - out_506241675272442753[249] = 0.0; - out_506241675272442753[250] = 0.0; - out_506241675272442753[251] = 0.0; - out_506241675272442753[252] = 0.0; - out_506241675272442753[253] = 0.0; - out_506241675272442753[254] = 0.0; - out_506241675272442753[255] = 0.0; - out_506241675272442753[256] = 0.0; - out_506241675272442753[257] = 0.0; - out_506241675272442753[258] = 0.0; - out_506241675272442753[259] = 0.0; - out_506241675272442753[260] = 0.0; - out_506241675272442753[261] = 0.0; - out_506241675272442753[262] = 0.0; - out_506241675272442753[263] = 0.0; - out_506241675272442753[264] = 0.0; - out_506241675272442753[265] = 0.0; - out_506241675272442753[266] = 1.0; - out_506241675272442753[267] = 0.0; - out_506241675272442753[268] = 0.0; - out_506241675272442753[269] = 0.0; - out_506241675272442753[270] = 0.0; - out_506241675272442753[271] = 0.0; - out_506241675272442753[272] = 0.0; - out_506241675272442753[273] = 0.0; - out_506241675272442753[274] = 0.0; - out_506241675272442753[275] = 0.0; - out_506241675272442753[276] = 0.0; - out_506241675272442753[277] = 0.0; - out_506241675272442753[278] = 0.0; - out_506241675272442753[279] = 0.0; - out_506241675272442753[280] = 0.0; - out_506241675272442753[281] = 0.0; - out_506241675272442753[282] = 0.0; - out_506241675272442753[283] = 0.0; - out_506241675272442753[284] = 0.0; - out_506241675272442753[285] = 1.0; - out_506241675272442753[286] = 0.0; - out_506241675272442753[287] = 0.0; - out_506241675272442753[288] = 0.0; - out_506241675272442753[289] = 0.0; - out_506241675272442753[290] = 0.0; - out_506241675272442753[291] = 0.0; - out_506241675272442753[292] = 0.0; - out_506241675272442753[293] = 0.0; - out_506241675272442753[294] = 0.0; - out_506241675272442753[295] = 0.0; - out_506241675272442753[296] = 0.0; - out_506241675272442753[297] = 0.0; - out_506241675272442753[298] = 0.0; - out_506241675272442753[299] = 0.0; - out_506241675272442753[300] = 0.0; - out_506241675272442753[301] = 0.0; - out_506241675272442753[302] = 0.0; - out_506241675272442753[303] = 0.0; - out_506241675272442753[304] = 1.0; - out_506241675272442753[305] = 0.0; - out_506241675272442753[306] = 0.0; - out_506241675272442753[307] = 0.0; - out_506241675272442753[308] = 0.0; - out_506241675272442753[309] = 0.0; - out_506241675272442753[310] = 0.0; - out_506241675272442753[311] = 0.0; - out_506241675272442753[312] = 0.0; - out_506241675272442753[313] = 0.0; - out_506241675272442753[314] = 0.0; - out_506241675272442753[315] = 0.0; - out_506241675272442753[316] = 0.0; - out_506241675272442753[317] = 0.0; - out_506241675272442753[318] = 0.0; - out_506241675272442753[319] = 0.0; - out_506241675272442753[320] = 0.0; - out_506241675272442753[321] = 0.0; - out_506241675272442753[322] = 0.0; - out_506241675272442753[323] = 1.0; +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 f_fun(double *state, double dt, double *out_4178544833437689493) { - out_4178544833437689493[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_4178544833437689493[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_4178544833437689493[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_4178544833437689493[3] = dt*state[12] + state[3]; - out_4178544833437689493[4] = dt*state[13] + state[4]; - out_4178544833437689493[5] = dt*state[14] + state[5]; - out_4178544833437689493[6] = state[6]; - out_4178544833437689493[7] = state[7]; - out_4178544833437689493[8] = state[8]; - out_4178544833437689493[9] = state[9]; - out_4178544833437689493[10] = state[10]; - out_4178544833437689493[11] = state[11]; - out_4178544833437689493[12] = state[12]; - out_4178544833437689493[13] = state[13]; - out_4178544833437689493[14] = state[14]; - out_4178544833437689493[15] = state[15]; - out_4178544833437689493[16] = state[16]; - out_4178544833437689493[17] = state[17]; +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_8152186578689356973) { - out_8152186578689356973[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_8152186578689356973[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_8152186578689356973[2] = 0; - out_8152186578689356973[3] = 0; - out_8152186578689356973[4] = 0; - out_8152186578689356973[5] = 0; - out_8152186578689356973[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_8152186578689356973[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_8152186578689356973[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_8152186578689356973[9] = 0; - out_8152186578689356973[10] = 0; - out_8152186578689356973[11] = 0; - out_8152186578689356973[12] = 0; - out_8152186578689356973[13] = 0; - out_8152186578689356973[14] = 0; - out_8152186578689356973[15] = 0; - out_8152186578689356973[16] = 0; - out_8152186578689356973[17] = 0; - out_8152186578689356973[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_8152186578689356973[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_8152186578689356973[20] = 0; - out_8152186578689356973[21] = 0; - out_8152186578689356973[22] = 0; - out_8152186578689356973[23] = 0; - out_8152186578689356973[24] = 0; - out_8152186578689356973[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_8152186578689356973[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_8152186578689356973[27] = 0; - out_8152186578689356973[28] = 0; - out_8152186578689356973[29] = 0; - out_8152186578689356973[30] = 0; - out_8152186578689356973[31] = 0; - out_8152186578689356973[32] = 0; - out_8152186578689356973[33] = 0; - out_8152186578689356973[34] = 0; - out_8152186578689356973[35] = 0; - out_8152186578689356973[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_8152186578689356973[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_8152186578689356973[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_8152186578689356973[39] = 0; - out_8152186578689356973[40] = 0; - out_8152186578689356973[41] = 0; - out_8152186578689356973[42] = 0; - out_8152186578689356973[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_8152186578689356973[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_8152186578689356973[45] = 0; - out_8152186578689356973[46] = 0; - out_8152186578689356973[47] = 0; - out_8152186578689356973[48] = 0; - out_8152186578689356973[49] = 0; - out_8152186578689356973[50] = 0; - out_8152186578689356973[51] = 0; - out_8152186578689356973[52] = 0; - out_8152186578689356973[53] = 0; - out_8152186578689356973[54] = 0; - out_8152186578689356973[55] = 0; - out_8152186578689356973[56] = 0; - out_8152186578689356973[57] = 1; - out_8152186578689356973[58] = 0; - out_8152186578689356973[59] = 0; - out_8152186578689356973[60] = 0; - out_8152186578689356973[61] = 0; - out_8152186578689356973[62] = 0; - out_8152186578689356973[63] = 0; - out_8152186578689356973[64] = 0; - out_8152186578689356973[65] = 0; - out_8152186578689356973[66] = dt; - out_8152186578689356973[67] = 0; - out_8152186578689356973[68] = 0; - out_8152186578689356973[69] = 0; - out_8152186578689356973[70] = 0; - out_8152186578689356973[71] = 0; - out_8152186578689356973[72] = 0; - out_8152186578689356973[73] = 0; - out_8152186578689356973[74] = 0; - out_8152186578689356973[75] = 0; - out_8152186578689356973[76] = 1; - out_8152186578689356973[77] = 0; - out_8152186578689356973[78] = 0; - out_8152186578689356973[79] = 0; - out_8152186578689356973[80] = 0; - out_8152186578689356973[81] = 0; - out_8152186578689356973[82] = 0; - out_8152186578689356973[83] = 0; - out_8152186578689356973[84] = 0; - out_8152186578689356973[85] = dt; - out_8152186578689356973[86] = 0; - out_8152186578689356973[87] = 0; - out_8152186578689356973[88] = 0; - out_8152186578689356973[89] = 0; - out_8152186578689356973[90] = 0; - out_8152186578689356973[91] = 0; - out_8152186578689356973[92] = 0; - out_8152186578689356973[93] = 0; - out_8152186578689356973[94] = 0; - out_8152186578689356973[95] = 1; - out_8152186578689356973[96] = 0; - out_8152186578689356973[97] = 0; - out_8152186578689356973[98] = 0; - out_8152186578689356973[99] = 0; - out_8152186578689356973[100] = 0; - out_8152186578689356973[101] = 0; - out_8152186578689356973[102] = 0; - out_8152186578689356973[103] = 0; - out_8152186578689356973[104] = dt; - out_8152186578689356973[105] = 0; - out_8152186578689356973[106] = 0; - out_8152186578689356973[107] = 0; - out_8152186578689356973[108] = 0; - out_8152186578689356973[109] = 0; - out_8152186578689356973[110] = 0; - out_8152186578689356973[111] = 0; - out_8152186578689356973[112] = 0; - out_8152186578689356973[113] = 0; - out_8152186578689356973[114] = 1; - out_8152186578689356973[115] = 0; - out_8152186578689356973[116] = 0; - out_8152186578689356973[117] = 0; - out_8152186578689356973[118] = 0; - out_8152186578689356973[119] = 0; - out_8152186578689356973[120] = 0; - out_8152186578689356973[121] = 0; - out_8152186578689356973[122] = 0; - out_8152186578689356973[123] = 0; - out_8152186578689356973[124] = 0; - out_8152186578689356973[125] = 0; - out_8152186578689356973[126] = 0; - out_8152186578689356973[127] = 0; - out_8152186578689356973[128] = 0; - out_8152186578689356973[129] = 0; - out_8152186578689356973[130] = 0; - out_8152186578689356973[131] = 0; - out_8152186578689356973[132] = 0; - out_8152186578689356973[133] = 1; - out_8152186578689356973[134] = 0; - out_8152186578689356973[135] = 0; - out_8152186578689356973[136] = 0; - out_8152186578689356973[137] = 0; - out_8152186578689356973[138] = 0; - out_8152186578689356973[139] = 0; - out_8152186578689356973[140] = 0; - out_8152186578689356973[141] = 0; - out_8152186578689356973[142] = 0; - out_8152186578689356973[143] = 0; - out_8152186578689356973[144] = 0; - out_8152186578689356973[145] = 0; - out_8152186578689356973[146] = 0; - out_8152186578689356973[147] = 0; - out_8152186578689356973[148] = 0; - out_8152186578689356973[149] = 0; - out_8152186578689356973[150] = 0; - out_8152186578689356973[151] = 0; - out_8152186578689356973[152] = 1; - out_8152186578689356973[153] = 0; - out_8152186578689356973[154] = 0; - out_8152186578689356973[155] = 0; - out_8152186578689356973[156] = 0; - out_8152186578689356973[157] = 0; - out_8152186578689356973[158] = 0; - out_8152186578689356973[159] = 0; - out_8152186578689356973[160] = 0; - out_8152186578689356973[161] = 0; - out_8152186578689356973[162] = 0; - out_8152186578689356973[163] = 0; - out_8152186578689356973[164] = 0; - out_8152186578689356973[165] = 0; - out_8152186578689356973[166] = 0; - out_8152186578689356973[167] = 0; - out_8152186578689356973[168] = 0; - out_8152186578689356973[169] = 0; - out_8152186578689356973[170] = 0; - out_8152186578689356973[171] = 1; - out_8152186578689356973[172] = 0; - out_8152186578689356973[173] = 0; - out_8152186578689356973[174] = 0; - out_8152186578689356973[175] = 0; - out_8152186578689356973[176] = 0; - out_8152186578689356973[177] = 0; - out_8152186578689356973[178] = 0; - out_8152186578689356973[179] = 0; - out_8152186578689356973[180] = 0; - out_8152186578689356973[181] = 0; - out_8152186578689356973[182] = 0; - out_8152186578689356973[183] = 0; - out_8152186578689356973[184] = 0; - out_8152186578689356973[185] = 0; - out_8152186578689356973[186] = 0; - out_8152186578689356973[187] = 0; - out_8152186578689356973[188] = 0; - out_8152186578689356973[189] = 0; - out_8152186578689356973[190] = 1; - out_8152186578689356973[191] = 0; - out_8152186578689356973[192] = 0; - out_8152186578689356973[193] = 0; - out_8152186578689356973[194] = 0; - out_8152186578689356973[195] = 0; - out_8152186578689356973[196] = 0; - out_8152186578689356973[197] = 0; - out_8152186578689356973[198] = 0; - out_8152186578689356973[199] = 0; - out_8152186578689356973[200] = 0; - out_8152186578689356973[201] = 0; - out_8152186578689356973[202] = 0; - out_8152186578689356973[203] = 0; - out_8152186578689356973[204] = 0; - out_8152186578689356973[205] = 0; - out_8152186578689356973[206] = 0; - out_8152186578689356973[207] = 0; - out_8152186578689356973[208] = 0; - out_8152186578689356973[209] = 1; - out_8152186578689356973[210] = 0; - out_8152186578689356973[211] = 0; - out_8152186578689356973[212] = 0; - out_8152186578689356973[213] = 0; - out_8152186578689356973[214] = 0; - out_8152186578689356973[215] = 0; - out_8152186578689356973[216] = 0; - out_8152186578689356973[217] = 0; - out_8152186578689356973[218] = 0; - out_8152186578689356973[219] = 0; - out_8152186578689356973[220] = 0; - out_8152186578689356973[221] = 0; - out_8152186578689356973[222] = 0; - out_8152186578689356973[223] = 0; - out_8152186578689356973[224] = 0; - out_8152186578689356973[225] = 0; - out_8152186578689356973[226] = 0; - out_8152186578689356973[227] = 0; - out_8152186578689356973[228] = 1; - out_8152186578689356973[229] = 0; - out_8152186578689356973[230] = 0; - out_8152186578689356973[231] = 0; - out_8152186578689356973[232] = 0; - out_8152186578689356973[233] = 0; - out_8152186578689356973[234] = 0; - out_8152186578689356973[235] = 0; - out_8152186578689356973[236] = 0; - out_8152186578689356973[237] = 0; - out_8152186578689356973[238] = 0; - out_8152186578689356973[239] = 0; - out_8152186578689356973[240] = 0; - out_8152186578689356973[241] = 0; - out_8152186578689356973[242] = 0; - out_8152186578689356973[243] = 0; - out_8152186578689356973[244] = 0; - out_8152186578689356973[245] = 0; - out_8152186578689356973[246] = 0; - out_8152186578689356973[247] = 1; - out_8152186578689356973[248] = 0; - out_8152186578689356973[249] = 0; - out_8152186578689356973[250] = 0; - out_8152186578689356973[251] = 0; - out_8152186578689356973[252] = 0; - out_8152186578689356973[253] = 0; - out_8152186578689356973[254] = 0; - out_8152186578689356973[255] = 0; - out_8152186578689356973[256] = 0; - out_8152186578689356973[257] = 0; - out_8152186578689356973[258] = 0; - out_8152186578689356973[259] = 0; - out_8152186578689356973[260] = 0; - out_8152186578689356973[261] = 0; - out_8152186578689356973[262] = 0; - out_8152186578689356973[263] = 0; - out_8152186578689356973[264] = 0; - out_8152186578689356973[265] = 0; - out_8152186578689356973[266] = 1; - out_8152186578689356973[267] = 0; - out_8152186578689356973[268] = 0; - out_8152186578689356973[269] = 0; - out_8152186578689356973[270] = 0; - out_8152186578689356973[271] = 0; - out_8152186578689356973[272] = 0; - out_8152186578689356973[273] = 0; - out_8152186578689356973[274] = 0; - out_8152186578689356973[275] = 0; - out_8152186578689356973[276] = 0; - out_8152186578689356973[277] = 0; - out_8152186578689356973[278] = 0; - out_8152186578689356973[279] = 0; - out_8152186578689356973[280] = 0; - out_8152186578689356973[281] = 0; - out_8152186578689356973[282] = 0; - out_8152186578689356973[283] = 0; - out_8152186578689356973[284] = 0; - out_8152186578689356973[285] = 1; - out_8152186578689356973[286] = 0; - out_8152186578689356973[287] = 0; - out_8152186578689356973[288] = 0; - out_8152186578689356973[289] = 0; - out_8152186578689356973[290] = 0; - out_8152186578689356973[291] = 0; - out_8152186578689356973[292] = 0; - out_8152186578689356973[293] = 0; - out_8152186578689356973[294] = 0; - out_8152186578689356973[295] = 0; - out_8152186578689356973[296] = 0; - out_8152186578689356973[297] = 0; - out_8152186578689356973[298] = 0; - out_8152186578689356973[299] = 0; - out_8152186578689356973[300] = 0; - out_8152186578689356973[301] = 0; - out_8152186578689356973[302] = 0; - out_8152186578689356973[303] = 0; - out_8152186578689356973[304] = 1; - out_8152186578689356973[305] = 0; - out_8152186578689356973[306] = 0; - out_8152186578689356973[307] = 0; - out_8152186578689356973[308] = 0; - out_8152186578689356973[309] = 0; - out_8152186578689356973[310] = 0; - out_8152186578689356973[311] = 0; - out_8152186578689356973[312] = 0; - out_8152186578689356973[313] = 0; - out_8152186578689356973[314] = 0; - out_8152186578689356973[315] = 0; - out_8152186578689356973[316] = 0; - out_8152186578689356973[317] = 0; - out_8152186578689356973[318] = 0; - out_8152186578689356973[319] = 0; - out_8152186578689356973[320] = 0; - out_8152186578689356973[321] = 0; - out_8152186578689356973[322] = 0; - out_8152186578689356973[323] = 1; +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 h_4(double *state, double *unused, double *out_6179676342109340429) { - out_6179676342109340429[0] = state[6] + state[9]; - out_6179676342109340429[1] = state[7] + state[10]; - out_6179676342109340429[2] = state[8] + state[11]; +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_1260402677327155360) { - out_1260402677327155360[0] = 0; - out_1260402677327155360[1] = 0; - out_1260402677327155360[2] = 0; - out_1260402677327155360[3] = 0; - out_1260402677327155360[4] = 0; - out_1260402677327155360[5] = 0; - out_1260402677327155360[6] = 1; - out_1260402677327155360[7] = 0; - out_1260402677327155360[8] = 0; - out_1260402677327155360[9] = 1; - out_1260402677327155360[10] = 0; - out_1260402677327155360[11] = 0; - out_1260402677327155360[12] = 0; - out_1260402677327155360[13] = 0; - out_1260402677327155360[14] = 0; - out_1260402677327155360[15] = 0; - out_1260402677327155360[16] = 0; - out_1260402677327155360[17] = 0; - out_1260402677327155360[18] = 0; - out_1260402677327155360[19] = 0; - out_1260402677327155360[20] = 0; - out_1260402677327155360[21] = 0; - out_1260402677327155360[22] = 0; - out_1260402677327155360[23] = 0; - out_1260402677327155360[24] = 0; - out_1260402677327155360[25] = 1; - out_1260402677327155360[26] = 0; - out_1260402677327155360[27] = 0; - out_1260402677327155360[28] = 1; - out_1260402677327155360[29] = 0; - out_1260402677327155360[30] = 0; - out_1260402677327155360[31] = 0; - out_1260402677327155360[32] = 0; - out_1260402677327155360[33] = 0; - out_1260402677327155360[34] = 0; - out_1260402677327155360[35] = 0; - out_1260402677327155360[36] = 0; - out_1260402677327155360[37] = 0; - out_1260402677327155360[38] = 0; - out_1260402677327155360[39] = 0; - out_1260402677327155360[40] = 0; - out_1260402677327155360[41] = 0; - out_1260402677327155360[42] = 0; - out_1260402677327155360[43] = 0; - out_1260402677327155360[44] = 1; - out_1260402677327155360[45] = 0; - out_1260402677327155360[46] = 0; - out_1260402677327155360[47] = 1; - out_1260402677327155360[48] = 0; - out_1260402677327155360[49] = 0; - out_1260402677327155360[50] = 0; - out_1260402677327155360[51] = 0; - out_1260402677327155360[52] = 0; - out_1260402677327155360[53] = 0; +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_10(double *state, double *unused, double *out_9202982941819295536) { - out_9202982941819295536[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_9202982941819295536[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_9202982941819295536[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_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_6171075050568888644) { - out_6171075050568888644[0] = 0; - out_6171075050568888644[1] = 9.8100000000000005*cos(state[1]); - out_6171075050568888644[2] = 0; - out_6171075050568888644[3] = 0; - out_6171075050568888644[4] = -state[8]; - out_6171075050568888644[5] = state[7]; - out_6171075050568888644[6] = 0; - out_6171075050568888644[7] = state[5]; - out_6171075050568888644[8] = -state[4]; - out_6171075050568888644[9] = 0; - out_6171075050568888644[10] = 0; - out_6171075050568888644[11] = 0; - out_6171075050568888644[12] = 1; - out_6171075050568888644[13] = 0; - out_6171075050568888644[14] = 0; - out_6171075050568888644[15] = 1; - out_6171075050568888644[16] = 0; - out_6171075050568888644[17] = 0; - out_6171075050568888644[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6171075050568888644[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6171075050568888644[20] = 0; - out_6171075050568888644[21] = state[8]; - out_6171075050568888644[22] = 0; - out_6171075050568888644[23] = -state[6]; - out_6171075050568888644[24] = -state[5]; - out_6171075050568888644[25] = 0; - out_6171075050568888644[26] = state[3]; - out_6171075050568888644[27] = 0; - out_6171075050568888644[28] = 0; - out_6171075050568888644[29] = 0; - out_6171075050568888644[30] = 0; - out_6171075050568888644[31] = 1; - out_6171075050568888644[32] = 0; - out_6171075050568888644[33] = 0; - out_6171075050568888644[34] = 1; - out_6171075050568888644[35] = 0; - out_6171075050568888644[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6171075050568888644[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6171075050568888644[38] = 0; - out_6171075050568888644[39] = -state[7]; - out_6171075050568888644[40] = state[6]; - out_6171075050568888644[41] = 0; - out_6171075050568888644[42] = state[4]; - out_6171075050568888644[43] = -state[3]; - out_6171075050568888644[44] = 0; - out_6171075050568888644[45] = 0; - out_6171075050568888644[46] = 0; - out_6171075050568888644[47] = 0; - out_6171075050568888644[48] = 0; - out_6171075050568888644[49] = 0; - out_6171075050568888644[50] = 1; - out_6171075050568888644[51] = 0; - out_6171075050568888644[52] = 0; - out_6171075050568888644[53] = 1; +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_13(double *state, double *unused, double *out_5137979176045158123) { - out_5137979176045158123[0] = state[3]; - out_5137979176045158123[1] = state[4]; - out_5137979176045158123[2] = state[5]; +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_4472676502659488161) { - out_4472676502659488161[0] = 0; - out_4472676502659488161[1] = 0; - out_4472676502659488161[2] = 0; - out_4472676502659488161[3] = 1; - out_4472676502659488161[4] = 0; - out_4472676502659488161[5] = 0; - out_4472676502659488161[6] = 0; - out_4472676502659488161[7] = 0; - out_4472676502659488161[8] = 0; - out_4472676502659488161[9] = 0; - out_4472676502659488161[10] = 0; - out_4472676502659488161[11] = 0; - out_4472676502659488161[12] = 0; - out_4472676502659488161[13] = 0; - out_4472676502659488161[14] = 0; - out_4472676502659488161[15] = 0; - out_4472676502659488161[16] = 0; - out_4472676502659488161[17] = 0; - out_4472676502659488161[18] = 0; - out_4472676502659488161[19] = 0; - out_4472676502659488161[20] = 0; - out_4472676502659488161[21] = 0; - out_4472676502659488161[22] = 1; - out_4472676502659488161[23] = 0; - out_4472676502659488161[24] = 0; - out_4472676502659488161[25] = 0; - out_4472676502659488161[26] = 0; - out_4472676502659488161[27] = 0; - out_4472676502659488161[28] = 0; - out_4472676502659488161[29] = 0; - out_4472676502659488161[30] = 0; - out_4472676502659488161[31] = 0; - out_4472676502659488161[32] = 0; - out_4472676502659488161[33] = 0; - out_4472676502659488161[34] = 0; - out_4472676502659488161[35] = 0; - out_4472676502659488161[36] = 0; - out_4472676502659488161[37] = 0; - out_4472676502659488161[38] = 0; - out_4472676502659488161[39] = 0; - out_4472676502659488161[40] = 0; - out_4472676502659488161[41] = 1; - out_4472676502659488161[42] = 0; - out_4472676502659488161[43] = 0; - out_4472676502659488161[44] = 0; - out_4472676502659488161[45] = 0; - out_4472676502659488161[46] = 0; - out_4472676502659488161[47] = 0; - out_4472676502659488161[48] = 0; - out_4472676502659488161[49] = 0; - out_4472676502659488161[50] = 0; - out_4472676502659488161[51] = 0; - out_4472676502659488161[52] = 0; - out_4472676502659488161[53] = 0; +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_14(double *state, double *unused, double *out_7033934925710428047) { - out_7033934925710428047[0] = state[6]; - out_7033934925710428047[1] = state[7]; - out_7033934925710428047[2] = state[8]; +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_1822385754968216936) { - out_1822385754968216936[0] = 0; - out_1822385754968216936[1] = 0; - out_1822385754968216936[2] = 0; - out_1822385754968216936[3] = 0; - out_1822385754968216936[4] = 0; - out_1822385754968216936[5] = 0; - out_1822385754968216936[6] = 1; - out_1822385754968216936[7] = 0; - out_1822385754968216936[8] = 0; - out_1822385754968216936[9] = 0; - out_1822385754968216936[10] = 0; - out_1822385754968216936[11] = 0; - out_1822385754968216936[12] = 0; - out_1822385754968216936[13] = 0; - out_1822385754968216936[14] = 0; - out_1822385754968216936[15] = 0; - out_1822385754968216936[16] = 0; - out_1822385754968216936[17] = 0; - out_1822385754968216936[18] = 0; - out_1822385754968216936[19] = 0; - out_1822385754968216936[20] = 0; - out_1822385754968216936[21] = 0; - out_1822385754968216936[22] = 0; - out_1822385754968216936[23] = 0; - out_1822385754968216936[24] = 0; - out_1822385754968216936[25] = 1; - out_1822385754968216936[26] = 0; - out_1822385754968216936[27] = 0; - out_1822385754968216936[28] = 0; - out_1822385754968216936[29] = 0; - out_1822385754968216936[30] = 0; - out_1822385754968216936[31] = 0; - out_1822385754968216936[32] = 0; - out_1822385754968216936[33] = 0; - out_1822385754968216936[34] = 0; - out_1822385754968216936[35] = 0; - out_1822385754968216936[36] = 0; - out_1822385754968216936[37] = 0; - out_1822385754968216936[38] = 0; - out_1822385754968216936[39] = 0; - out_1822385754968216936[40] = 0; - out_1822385754968216936[41] = 0; - out_1822385754968216936[42] = 0; - out_1822385754968216936[43] = 0; - out_1822385754968216936[44] = 1; - out_1822385754968216936[45] = 0; - out_1822385754968216936[46] = 0; - out_1822385754968216936[47] = 0; - out_1822385754968216936[48] = 0; - out_1822385754968216936[49] = 0; - out_1822385754968216936[50] = 0; - out_1822385754968216936[51] = 0; - out_1822385754968216936[52] = 0; - out_1822385754968216936[53] = 0; +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; } #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_7746602045410251207) { - err_fun(nom_x, delta_x, out_7746602045410251207); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7505672412271645129) { + err_fun(nom_x, delta_x, out_7505672412271645129); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7631524114608656485) { - inv_err_fun(nom_x, true_x, out_7631524114608656485); +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_H_mod_fun(double *state, double *out_506241675272442753) { - H_mod_fun(state, out_506241675272442753); +void pose_H_mod_fun(double *state, double *out_5142011875417202005) { + H_mod_fun(state, out_5142011875417202005); } -void pose_f_fun(double *state, double dt, double *out_4178544833437689493) { - f_fun(state, dt, out_4178544833437689493); +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_8152186578689356973) { - F_fun(state, dt, out_8152186578689356973); +void pose_F_fun(double *state, double dt, double *out_7326468457789213143) { + F_fun(state, dt, out_7326468457789213143); } -void pose_h_4(double *state, double *unused, double *out_6179676342109340429) { - h_4(state, unused, out_6179676342109340429); +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_1260402677327155360) { - H_4(state, unused, out_1260402677327155360); +void pose_H_4(double *state, double *unused, double *out_3058293008556022762) { + H_4(state, unused, out_3058293008556022762); } -void pose_h_10(double *state, double *unused, double *out_9202982941819295536) { - h_10(state, unused, out_9202982941819295536); +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_6171075050568888644) { - H_10(state, unused, out_6171075050568888644); +void pose_H_10(double *state, double *unused, double *out_3697294613085597244) { + H_10(state, unused, out_3697294613085597244); } -void pose_h_13(double *state, double *unused, double *out_5137979176045158123) { - h_13(state, unused, out_5137979176045158123); +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_4472676502659488161) { - H_13(state, unused, out_4472676502659488161); +void pose_H_13(double *state, double *unused, double *out_7777819856836827925) { + H_13(state, unused, out_7777819856836827925); } -void pose_h_14(double *state, double *unused, double *out_7033934925710428047) { - h_14(state, unused, out_7033934925710428047); +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_1822385754968216936) { - H_14(state, unused, out_1822385754968216936); +void pose_H_14(double *state, double *unused, double *out_7021533864895507291) { + H_14(state, unused, out_7021533864895507291); } 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 0bb793006..6d8a75a94 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_7746602045410251207); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7631524114608656485); -void pose_H_mod_fun(double *state, double *out_506241675272442753); -void pose_f_fun(double *state, double dt, double *out_4178544833437689493); -void pose_F_fun(double *state, double dt, double *out_8152186578689356973); -void pose_h_4(double *state, double *unused, double *out_6179676342109340429); -void pose_H_4(double *state, double *unused, double *out_1260402677327155360); -void pose_h_10(double *state, double *unused, double *out_9202982941819295536); -void pose_H_10(double *state, double *unused, double *out_6171075050568888644); -void pose_h_13(double *state, double *unused, double *out_5137979176045158123); -void pose_H_13(double *state, double *unused, double *out_4472676502659488161); -void pose_h_14(double *state, double *unused, double *out_7033934925710428047); -void pose_H_14(double *state, double *unused, double *out_1822385754968216936); +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_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 63a98cd24..8eac6feee 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 680e296b5..d31d1857a 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index ef70edb94..f319b43fb 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 600355151..918356676 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 2ac66d771..39f4c47fc 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd 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