diff --git a/common/libcommon.a b/common/libcommon.a index 1b8cde78c..8654ee9b0 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index c0b20e50c..d5ba12b04 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.dbc b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.dbc index 85fabbffc..f27b73275 100644 --- a/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.dbc +++ b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.dbc @@ -35,7 +35,7 @@ NS_ : BS_: BU_: XXX - + BO_ 1280 RADAR_TRACK_500: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -47,7 +47,7 @@ BO_ 1280 RADAR_TRACK_500: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1281 RADAR_TRACK_501: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -59,7 +59,7 @@ BO_ 1281 RADAR_TRACK_501: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1282 RADAR_TRACK_502: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -71,7 +71,7 @@ BO_ 1282 RADAR_TRACK_502: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1283 RADAR_TRACK_503: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -83,7 +83,7 @@ BO_ 1283 RADAR_TRACK_503: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1284 RADAR_TRACK_504: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -95,7 +95,7 @@ BO_ 1284 RADAR_TRACK_504: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1285 RADAR_TRACK_505: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -107,7 +107,7 @@ BO_ 1285 RADAR_TRACK_505: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1286 RADAR_TRACK_506: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -119,7 +119,7 @@ BO_ 1286 RADAR_TRACK_506: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1287 RADAR_TRACK_507: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -131,7 +131,7 @@ BO_ 1287 RADAR_TRACK_507: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1288 RADAR_TRACK_508: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -143,7 +143,7 @@ BO_ 1288 RADAR_TRACK_508: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1289 RADAR_TRACK_509: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -155,7 +155,7 @@ BO_ 1289 RADAR_TRACK_509: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1290 RADAR_TRACK_50a: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -167,7 +167,7 @@ BO_ 1290 RADAR_TRACK_50a: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1291 RADAR_TRACK_50b: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -179,7 +179,7 @@ BO_ 1291 RADAR_TRACK_50b: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1292 RADAR_TRACK_50c: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -191,7 +191,7 @@ BO_ 1292 RADAR_TRACK_50c: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1293 RADAR_TRACK_50d: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -203,7 +203,7 @@ BO_ 1293 RADAR_TRACK_50d: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1294 RADAR_TRACK_50e: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -215,7 +215,7 @@ BO_ 1294 RADAR_TRACK_50e: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1295 RADAR_TRACK_50f: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -227,7 +227,7 @@ BO_ 1295 RADAR_TRACK_50f: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1296 RADAR_TRACK_510: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -239,7 +239,7 @@ BO_ 1296 RADAR_TRACK_510: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1297 RADAR_TRACK_511: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -251,7 +251,7 @@ BO_ 1297 RADAR_TRACK_511: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1298 RADAR_TRACK_512: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -263,7 +263,7 @@ BO_ 1298 RADAR_TRACK_512: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1299 RADAR_TRACK_513: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -275,7 +275,7 @@ BO_ 1299 RADAR_TRACK_513: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1300 RADAR_TRACK_514: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -287,7 +287,7 @@ BO_ 1300 RADAR_TRACK_514: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1301 RADAR_TRACK_515: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -299,7 +299,7 @@ BO_ 1301 RADAR_TRACK_515: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1302 RADAR_TRACK_516: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -311,7 +311,7 @@ BO_ 1302 RADAR_TRACK_516: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1303 RADAR_TRACK_517: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -323,7 +323,7 @@ BO_ 1303 RADAR_TRACK_517: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1304 RADAR_TRACK_518: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -335,7 +335,7 @@ BO_ 1304 RADAR_TRACK_518: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1305 RADAR_TRACK_519: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -347,7 +347,7 @@ BO_ 1305 RADAR_TRACK_519: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1306 RADAR_TRACK_51a: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -359,7 +359,7 @@ BO_ 1306 RADAR_TRACK_51a: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1307 RADAR_TRACK_51b: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -371,7 +371,7 @@ BO_ 1307 RADAR_TRACK_51b: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1308 RADAR_TRACK_51c: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -383,7 +383,7 @@ BO_ 1308 RADAR_TRACK_51c: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1309 RADAR_TRACK_51d: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -395,7 +395,7 @@ BO_ 1309 RADAR_TRACK_51d: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1310 RADAR_TRACK_51e: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -407,7 +407,7 @@ BO_ 1310 RADAR_TRACK_51e: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - + BO_ 1311 RADAR_TRACK_51f: 8 RADAR SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX @@ -419,3 +419,4 @@ BO_ 1311 RADAR_TRACK_51f: 8 RADAR SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX + \ No newline at end of file diff --git a/opendbc_repo/opendbc/dbc/generator/rivian/rivian_mando_front_radar.dbc b/opendbc_repo/opendbc/dbc/generator/rivian/rivian_mando_front_radar.dbc index 703c1d762..6c42cd817 100644 --- a/opendbc_repo/opendbc/dbc/generator/rivian/rivian_mando_front_radar.dbc +++ b/opendbc_repo/opendbc/dbc/generator/rivian/rivian_mando_front_radar.dbc @@ -35,7 +35,7 @@ NS_ : BS_: BU_: XXX - + BO_ 1280 RADAR_TRACK_500: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -45,7 +45,7 @@ BO_ 1280 RADAR_TRACK_500: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1281 RADAR_TRACK_501: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -55,7 +55,7 @@ BO_ 1281 RADAR_TRACK_501: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1282 RADAR_TRACK_502: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -65,7 +65,7 @@ BO_ 1282 RADAR_TRACK_502: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1283 RADAR_TRACK_503: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -75,7 +75,7 @@ BO_ 1283 RADAR_TRACK_503: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1284 RADAR_TRACK_504: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -85,7 +85,7 @@ BO_ 1284 RADAR_TRACK_504: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1285 RADAR_TRACK_505: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -95,7 +95,7 @@ BO_ 1285 RADAR_TRACK_505: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1286 RADAR_TRACK_506: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -105,7 +105,7 @@ BO_ 1286 RADAR_TRACK_506: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1287 RADAR_TRACK_507: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -115,7 +115,7 @@ BO_ 1287 RADAR_TRACK_507: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1288 RADAR_TRACK_508: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -125,7 +125,7 @@ BO_ 1288 RADAR_TRACK_508: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1289 RADAR_TRACK_509: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -135,7 +135,7 @@ BO_ 1289 RADAR_TRACK_509: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1290 RADAR_TRACK_50a: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -145,7 +145,7 @@ BO_ 1290 RADAR_TRACK_50a: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1291 RADAR_TRACK_50b: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -155,7 +155,7 @@ BO_ 1291 RADAR_TRACK_50b: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1292 RADAR_TRACK_50c: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -165,7 +165,7 @@ BO_ 1292 RADAR_TRACK_50c: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1293 RADAR_TRACK_50d: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -175,7 +175,7 @@ BO_ 1293 RADAR_TRACK_50d: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1294 RADAR_TRACK_50e: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -185,7 +185,7 @@ BO_ 1294 RADAR_TRACK_50e: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1295 RADAR_TRACK_50f: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -195,7 +195,7 @@ BO_ 1295 RADAR_TRACK_50f: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1296 RADAR_TRACK_510: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -205,7 +205,7 @@ BO_ 1296 RADAR_TRACK_510: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1297 RADAR_TRACK_511: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -215,7 +215,7 @@ BO_ 1297 RADAR_TRACK_511: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1298 RADAR_TRACK_512: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -225,7 +225,7 @@ BO_ 1298 RADAR_TRACK_512: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1299 RADAR_TRACK_513: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -235,7 +235,7 @@ BO_ 1299 RADAR_TRACK_513: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1300 RADAR_TRACK_514: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -245,7 +245,7 @@ BO_ 1300 RADAR_TRACK_514: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1301 RADAR_TRACK_515: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -255,7 +255,7 @@ BO_ 1301 RADAR_TRACK_515: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1302 RADAR_TRACK_516: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -265,7 +265,7 @@ BO_ 1302 RADAR_TRACK_516: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1303 RADAR_TRACK_517: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -275,7 +275,7 @@ BO_ 1303 RADAR_TRACK_517: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1304 RADAR_TRACK_518: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -285,7 +285,7 @@ BO_ 1304 RADAR_TRACK_518: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1305 RADAR_TRACK_519: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -295,7 +295,7 @@ BO_ 1305 RADAR_TRACK_519: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1306 RADAR_TRACK_51a: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -305,7 +305,7 @@ BO_ 1306 RADAR_TRACK_51a: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1307 RADAR_TRACK_51b: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -315,7 +315,7 @@ BO_ 1307 RADAR_TRACK_51b: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1308 RADAR_TRACK_51c: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -325,7 +325,7 @@ BO_ 1308 RADAR_TRACK_51c: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1309 RADAR_TRACK_51d: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -335,7 +335,7 @@ BO_ 1309 RADAR_TRACK_51d: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1310 RADAR_TRACK_51e: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -345,7 +345,7 @@ BO_ 1310 RADAR_TRACK_51e: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - + BO_ 1311 RADAR_TRACK_51f: 8 RADAR SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX @@ -355,3 +355,4 @@ BO_ 1311 RADAR_TRACK_51f: 8 RADAR SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX + \ No newline at end of file diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 11f6e7f2a..c0fa04a60 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index af054d334..16d821938 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 496d219d6..e640ccac2 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index bf8b6a5d6..d82258848 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 0474cd0c4..c91e94f83 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 9dabdd754..5f6f92f12 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 6424e8bc8..8a1342fed 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 6424e8bc8..8a1342fed 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 1195980d7..6b9f85095 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 9dabdd754..5f6f92f12 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 54a7e38ff..af52420b6 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-cdca40f0-DEBUG"; +const uint8_t gitversion[19] = "DEV-6f569061-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 4ccbd5aac..9dfb418c4 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 741c522a6..f4d9df9a0 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 3b9b9b3ac..52d8061f1 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 81e006245..bee2ab7b2 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index a82d4dd5e..3b65bb8b1 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index 586c37fe1..c0627a145 100755 Binary files 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b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 731f13f84..bbfae5f58 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 766499ad5..9126faf51 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 0b53d1187..dbf26ecd3 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 35e96b98a..fbd1f2024 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 0ad6cce08..2678c31f1 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index c6d0fdcd4..78bf75f75 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 0ccb76b0b..831760408 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index acd33f778..f92591c14 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 4e5a8782f..d553ce7fb 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 369b116b4..85626654b 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index bf9d44d97..c49b51a27 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-cdca40f0-DEBUG \ No newline at end of file +DEV-6f569061-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index db42cd5f4..b1e19043b 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_4413943037710355540) { - out_4413943037710355540[0] = delta_x[0] + nom_x[0]; - out_4413943037710355540[1] = delta_x[1] + nom_x[1]; - out_4413943037710355540[2] = delta_x[2] + nom_x[2]; - out_4413943037710355540[3] = delta_x[3] + nom_x[3]; - out_4413943037710355540[4] = delta_x[4] + nom_x[4]; - out_4413943037710355540[5] = delta_x[5] + nom_x[5]; - out_4413943037710355540[6] = delta_x[6] + nom_x[6]; - out_4413943037710355540[7] = delta_x[7] + nom_x[7]; - out_4413943037710355540[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6119760954545072171) { + out_6119760954545072171[0] = delta_x[0] + nom_x[0]; + out_6119760954545072171[1] = delta_x[1] + nom_x[1]; + out_6119760954545072171[2] = delta_x[2] + nom_x[2]; + out_6119760954545072171[3] = delta_x[3] + nom_x[3]; + out_6119760954545072171[4] = delta_x[4] + nom_x[4]; + out_6119760954545072171[5] = delta_x[5] + nom_x[5]; + out_6119760954545072171[6] = delta_x[6] + nom_x[6]; + out_6119760954545072171[7] = delta_x[7] + nom_x[7]; + out_6119760954545072171[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_896653973664715101) { - out_896653973664715101[0] = -nom_x[0] + true_x[0]; - out_896653973664715101[1] = -nom_x[1] + true_x[1]; - out_896653973664715101[2] = -nom_x[2] + true_x[2]; - out_896653973664715101[3] = -nom_x[3] + true_x[3]; - out_896653973664715101[4] = -nom_x[4] + true_x[4]; - out_896653973664715101[5] = -nom_x[5] + true_x[5]; - out_896653973664715101[6] = -nom_x[6] + true_x[6]; - out_896653973664715101[7] = -nom_x[7] + true_x[7]; - out_896653973664715101[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3032957791392119605) { + out_3032957791392119605[0] = -nom_x[0] + true_x[0]; + out_3032957791392119605[1] = -nom_x[1] + true_x[1]; + out_3032957791392119605[2] = -nom_x[2] + true_x[2]; + out_3032957791392119605[3] = -nom_x[3] + true_x[3]; + out_3032957791392119605[4] = -nom_x[4] + true_x[4]; + out_3032957791392119605[5] = -nom_x[5] + true_x[5]; + out_3032957791392119605[6] = -nom_x[6] + true_x[6]; + out_3032957791392119605[7] = -nom_x[7] + true_x[7]; + out_3032957791392119605[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_5267188789104253679) { - out_5267188789104253679[0] = 1.0; - out_5267188789104253679[1] = 0.0; - out_5267188789104253679[2] = 0.0; - out_5267188789104253679[3] = 0.0; - out_5267188789104253679[4] = 0.0; - out_5267188789104253679[5] = 0.0; - out_5267188789104253679[6] = 0.0; - out_5267188789104253679[7] = 0.0; - out_5267188789104253679[8] = 0.0; - out_5267188789104253679[9] = 0.0; - out_5267188789104253679[10] = 1.0; - out_5267188789104253679[11] = 0.0; - out_5267188789104253679[12] = 0.0; - out_5267188789104253679[13] = 0.0; - out_5267188789104253679[14] = 0.0; - out_5267188789104253679[15] = 0.0; - out_5267188789104253679[16] = 0.0; - out_5267188789104253679[17] = 0.0; - out_5267188789104253679[18] = 0.0; - out_5267188789104253679[19] = 0.0; - out_5267188789104253679[20] = 1.0; - out_5267188789104253679[21] = 0.0; - out_5267188789104253679[22] = 0.0; - out_5267188789104253679[23] = 0.0; - out_5267188789104253679[24] = 0.0; - out_5267188789104253679[25] = 0.0; - out_5267188789104253679[26] = 0.0; - out_5267188789104253679[27] = 0.0; - out_5267188789104253679[28] = 0.0; - out_5267188789104253679[29] = 0.0; - out_5267188789104253679[30] = 1.0; - out_5267188789104253679[31] = 0.0; - out_5267188789104253679[32] = 0.0; - out_5267188789104253679[33] = 0.0; - out_5267188789104253679[34] = 0.0; - out_5267188789104253679[35] = 0.0; - out_5267188789104253679[36] = 0.0; - out_5267188789104253679[37] = 0.0; - out_5267188789104253679[38] = 0.0; - out_5267188789104253679[39] = 0.0; - out_5267188789104253679[40] = 1.0; - out_5267188789104253679[41] = 0.0; - out_5267188789104253679[42] = 0.0; - out_5267188789104253679[43] = 0.0; - out_5267188789104253679[44] = 0.0; - out_5267188789104253679[45] = 0.0; - out_5267188789104253679[46] = 0.0; - out_5267188789104253679[47] = 0.0; - out_5267188789104253679[48] = 0.0; - out_5267188789104253679[49] = 0.0; - out_5267188789104253679[50] = 1.0; - out_5267188789104253679[51] = 0.0; - out_5267188789104253679[52] = 0.0; - out_5267188789104253679[53] = 0.0; - out_5267188789104253679[54] = 0.0; - out_5267188789104253679[55] = 0.0; - out_5267188789104253679[56] = 0.0; - out_5267188789104253679[57] = 0.0; - out_5267188789104253679[58] = 0.0; - out_5267188789104253679[59] = 0.0; - out_5267188789104253679[60] = 1.0; - out_5267188789104253679[61] = 0.0; - out_5267188789104253679[62] = 0.0; - out_5267188789104253679[63] = 0.0; - out_5267188789104253679[64] = 0.0; - out_5267188789104253679[65] = 0.0; - out_5267188789104253679[66] = 0.0; - out_5267188789104253679[67] = 0.0; - out_5267188789104253679[68] = 0.0; - out_5267188789104253679[69] = 0.0; - out_5267188789104253679[70] = 1.0; - out_5267188789104253679[71] = 0.0; - out_5267188789104253679[72] = 0.0; - out_5267188789104253679[73] = 0.0; - out_5267188789104253679[74] = 0.0; - out_5267188789104253679[75] = 0.0; - out_5267188789104253679[76] = 0.0; - out_5267188789104253679[77] = 0.0; - out_5267188789104253679[78] = 0.0; - out_5267188789104253679[79] = 0.0; - out_5267188789104253679[80] = 1.0; +void H_mod_fun(double *state, double *out_6225772227410316778) { + out_6225772227410316778[0] = 1.0; + out_6225772227410316778[1] = 0.0; + out_6225772227410316778[2] = 0.0; + out_6225772227410316778[3] = 0.0; + out_6225772227410316778[4] = 0.0; + out_6225772227410316778[5] = 0.0; + out_6225772227410316778[6] = 0.0; + out_6225772227410316778[7] = 0.0; + out_6225772227410316778[8] = 0.0; + out_6225772227410316778[9] = 0.0; + out_6225772227410316778[10] = 1.0; + out_6225772227410316778[11] = 0.0; + out_6225772227410316778[12] = 0.0; + out_6225772227410316778[13] = 0.0; + out_6225772227410316778[14] = 0.0; + out_6225772227410316778[15] = 0.0; + out_6225772227410316778[16] = 0.0; + out_6225772227410316778[17] = 0.0; + out_6225772227410316778[18] = 0.0; + out_6225772227410316778[19] = 0.0; + out_6225772227410316778[20] = 1.0; + out_6225772227410316778[21] = 0.0; + out_6225772227410316778[22] = 0.0; + out_6225772227410316778[23] = 0.0; + out_6225772227410316778[24] = 0.0; + out_6225772227410316778[25] = 0.0; + out_6225772227410316778[26] = 0.0; + out_6225772227410316778[27] = 0.0; + out_6225772227410316778[28] = 0.0; + out_6225772227410316778[29] = 0.0; + out_6225772227410316778[30] = 1.0; + out_6225772227410316778[31] = 0.0; + out_6225772227410316778[32] = 0.0; + out_6225772227410316778[33] = 0.0; + out_6225772227410316778[34] = 0.0; + out_6225772227410316778[35] = 0.0; + out_6225772227410316778[36] = 0.0; + out_6225772227410316778[37] = 0.0; + out_6225772227410316778[38] = 0.0; + out_6225772227410316778[39] = 0.0; + out_6225772227410316778[40] = 1.0; + out_6225772227410316778[41] = 0.0; + out_6225772227410316778[42] = 0.0; + out_6225772227410316778[43] = 0.0; + out_6225772227410316778[44] = 0.0; + out_6225772227410316778[45] = 0.0; + out_6225772227410316778[46] = 0.0; + out_6225772227410316778[47] = 0.0; + out_6225772227410316778[48] = 0.0; + out_6225772227410316778[49] = 0.0; + out_6225772227410316778[50] = 1.0; + out_6225772227410316778[51] = 0.0; + out_6225772227410316778[52] = 0.0; + out_6225772227410316778[53] = 0.0; + out_6225772227410316778[54] = 0.0; + out_6225772227410316778[55] = 0.0; + out_6225772227410316778[56] = 0.0; + out_6225772227410316778[57] = 0.0; + out_6225772227410316778[58] = 0.0; + out_6225772227410316778[59] = 0.0; + out_6225772227410316778[60] = 1.0; + out_6225772227410316778[61] = 0.0; + out_6225772227410316778[62] = 0.0; + out_6225772227410316778[63] = 0.0; + out_6225772227410316778[64] = 0.0; + out_6225772227410316778[65] = 0.0; + out_6225772227410316778[66] = 0.0; + out_6225772227410316778[67] = 0.0; + out_6225772227410316778[68] = 0.0; + out_6225772227410316778[69] = 0.0; + out_6225772227410316778[70] = 1.0; + out_6225772227410316778[71] = 0.0; + out_6225772227410316778[72] = 0.0; + out_6225772227410316778[73] = 0.0; + out_6225772227410316778[74] = 0.0; + out_6225772227410316778[75] = 0.0; + out_6225772227410316778[76] = 0.0; + out_6225772227410316778[77] = 0.0; + out_6225772227410316778[78] = 0.0; + out_6225772227410316778[79] = 0.0; + out_6225772227410316778[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1590758894307502735) { - out_1590758894307502735[0] = state[0]; - out_1590758894307502735[1] = state[1]; - out_1590758894307502735[2] = state[2]; - out_1590758894307502735[3] = state[3]; - out_1590758894307502735[4] = state[4]; - out_1590758894307502735[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_1590758894307502735[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_1590758894307502735[7] = state[7]; - out_1590758894307502735[8] = state[8]; +void f_fun(double *state, double dt, double *out_1791723405675881227) { + out_1791723405675881227[0] = state[0]; + out_1791723405675881227[1] = state[1]; + out_1791723405675881227[2] = state[2]; + out_1791723405675881227[3] = state[3]; + out_1791723405675881227[4] = state[4]; + out_1791723405675881227[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_1791723405675881227[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_1791723405675881227[7] = state[7]; + out_1791723405675881227[8] = state[8]; } -void F_fun(double *state, double dt, double *out_4932077017586128960) { - out_4932077017586128960[0] = 1; - out_4932077017586128960[1] = 0; - out_4932077017586128960[2] = 0; - out_4932077017586128960[3] = 0; - out_4932077017586128960[4] = 0; - out_4932077017586128960[5] = 0; - out_4932077017586128960[6] = 0; - out_4932077017586128960[7] = 0; - out_4932077017586128960[8] = 0; - out_4932077017586128960[9] = 0; - out_4932077017586128960[10] = 1; - out_4932077017586128960[11] = 0; - out_4932077017586128960[12] = 0; - out_4932077017586128960[13] = 0; - out_4932077017586128960[14] = 0; - out_4932077017586128960[15] = 0; - out_4932077017586128960[16] = 0; - out_4932077017586128960[17] = 0; - out_4932077017586128960[18] = 0; - out_4932077017586128960[19] = 0; - out_4932077017586128960[20] = 1; - out_4932077017586128960[21] = 0; - out_4932077017586128960[22] = 0; - out_4932077017586128960[23] = 0; - out_4932077017586128960[24] = 0; - out_4932077017586128960[25] = 0; - out_4932077017586128960[26] = 0; - out_4932077017586128960[27] = 0; - out_4932077017586128960[28] = 0; - out_4932077017586128960[29] = 0; - out_4932077017586128960[30] = 1; - out_4932077017586128960[31] = 0; - out_4932077017586128960[32] = 0; - out_4932077017586128960[33] = 0; - out_4932077017586128960[34] = 0; - out_4932077017586128960[35] = 0; - out_4932077017586128960[36] = 0; - out_4932077017586128960[37] = 0; - out_4932077017586128960[38] = 0; - out_4932077017586128960[39] = 0; - out_4932077017586128960[40] = 1; - out_4932077017586128960[41] = 0; - out_4932077017586128960[42] = 0; - out_4932077017586128960[43] = 0; - out_4932077017586128960[44] = 0; - out_4932077017586128960[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_4932077017586128960[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_4932077017586128960[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4932077017586128960[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4932077017586128960[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_4932077017586128960[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_4932077017586128960[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_4932077017586128960[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_4932077017586128960[53] = -9.8100000000000005*dt; - out_4932077017586128960[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_4932077017586128960[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_4932077017586128960[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4932077017586128960[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4932077017586128960[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_4932077017586128960[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_4932077017586128960[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_4932077017586128960[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4932077017586128960[62] = 0; - out_4932077017586128960[63] = 0; - out_4932077017586128960[64] = 0; - out_4932077017586128960[65] = 0; - out_4932077017586128960[66] = 0; - out_4932077017586128960[67] = 0; - out_4932077017586128960[68] = 0; - out_4932077017586128960[69] = 0; - out_4932077017586128960[70] = 1; - out_4932077017586128960[71] = 0; - out_4932077017586128960[72] = 0; - out_4932077017586128960[73] = 0; - out_4932077017586128960[74] = 0; - out_4932077017586128960[75] = 0; - out_4932077017586128960[76] = 0; - out_4932077017586128960[77] = 0; - out_4932077017586128960[78] = 0; - out_4932077017586128960[79] = 0; - out_4932077017586128960[80] = 1; +void F_fun(double *state, double dt, double *out_4540850954218753986) { + out_4540850954218753986[0] = 1; + out_4540850954218753986[1] = 0; + out_4540850954218753986[2] = 0; + out_4540850954218753986[3] = 0; + out_4540850954218753986[4] = 0; + out_4540850954218753986[5] = 0; + out_4540850954218753986[6] = 0; + out_4540850954218753986[7] = 0; + out_4540850954218753986[8] = 0; + out_4540850954218753986[9] = 0; + out_4540850954218753986[10] = 1; + out_4540850954218753986[11] = 0; + out_4540850954218753986[12] = 0; + out_4540850954218753986[13] = 0; + out_4540850954218753986[14] = 0; + out_4540850954218753986[15] = 0; + out_4540850954218753986[16] = 0; + out_4540850954218753986[17] = 0; + out_4540850954218753986[18] = 0; + out_4540850954218753986[19] = 0; + out_4540850954218753986[20] = 1; + out_4540850954218753986[21] = 0; + out_4540850954218753986[22] = 0; + out_4540850954218753986[23] = 0; + out_4540850954218753986[24] = 0; + out_4540850954218753986[25] = 0; + out_4540850954218753986[26] = 0; + out_4540850954218753986[27] = 0; + out_4540850954218753986[28] = 0; + out_4540850954218753986[29] = 0; + out_4540850954218753986[30] = 1; + out_4540850954218753986[31] = 0; + out_4540850954218753986[32] = 0; + out_4540850954218753986[33] = 0; + out_4540850954218753986[34] = 0; + out_4540850954218753986[35] = 0; + out_4540850954218753986[36] = 0; + out_4540850954218753986[37] = 0; + out_4540850954218753986[38] = 0; + out_4540850954218753986[39] = 0; + out_4540850954218753986[40] = 1; + out_4540850954218753986[41] = 0; + out_4540850954218753986[42] = 0; + out_4540850954218753986[43] = 0; + out_4540850954218753986[44] = 0; + out_4540850954218753986[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_4540850954218753986[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4540850954218753986[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4540850954218753986[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4540850954218753986[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_4540850954218753986[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4540850954218753986[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4540850954218753986[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4540850954218753986[53] = -9.8100000000000005*dt; + out_4540850954218753986[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_4540850954218753986[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4540850954218753986[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4540850954218753986[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4540850954218753986[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_4540850954218753986[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4540850954218753986[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_4540850954218753986[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4540850954218753986[62] = 0; + out_4540850954218753986[63] = 0; + out_4540850954218753986[64] = 0; + out_4540850954218753986[65] = 0; + out_4540850954218753986[66] = 0; + out_4540850954218753986[67] = 0; + out_4540850954218753986[68] = 0; + out_4540850954218753986[69] = 0; + out_4540850954218753986[70] = 1; + out_4540850954218753986[71] = 0; + out_4540850954218753986[72] = 0; + out_4540850954218753986[73] = 0; + out_4540850954218753986[74] = 0; + out_4540850954218753986[75] = 0; + out_4540850954218753986[76] = 0; + out_4540850954218753986[77] = 0; + out_4540850954218753986[78] = 0; + out_4540850954218753986[79] = 0; + out_4540850954218753986[80] = 1; } -void h_25(double *state, double *unused, double *out_2151142981028497358) { - out_2151142981028497358[0] = state[6]; +void h_25(double *state, double *unused, double *out_6713287060643499630) { + out_6713287060643499630[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5796040611085329032) { - out_5796040611085329032[0] = 0; - out_5796040611085329032[1] = 0; - out_5796040611085329032[2] = 0; - out_5796040611085329032[3] = 0; - out_5796040611085329032[4] = 0; - out_5796040611085329032[5] = 0; - out_5796040611085329032[6] = 1; - out_5796040611085329032[7] = 0; - out_5796040611085329032[8] = 0; +void H_25(double *state, double *unused, double *out_2967415998501920459) { + out_2967415998501920459[0] = 0; + out_2967415998501920459[1] = 0; + out_2967415998501920459[2] = 0; + out_2967415998501920459[3] = 0; + out_2967415998501920459[4] = 0; + out_2967415998501920459[5] = 0; + out_2967415998501920459[6] = 1; + out_2967415998501920459[7] = 0; + out_2967415998501920459[8] = 0; } -void h_24(double *state, double *unused, double *out_7809478958388963293) { - out_7809478958388963293[0] = state[4]; - out_7809478958388963293[1] = state[5]; +void h_24(double *state, double *unused, double *out_7006841003408788110) { + out_7006841003408788110[0] = state[4]; + out_7006841003408788110[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1813717459687561134) { - out_1813717459687561134[0] = 0; - out_1813717459687561134[1] = 0; - out_1813717459687561134[2] = 0; - out_1813717459687561134[3] = 0; - out_1813717459687561134[4] = 1; - out_1813717459687561134[5] = 0; - out_1813717459687561134[6] = 0; - out_1813717459687561134[7] = 0; - out_1813717459687561134[8] = 0; - out_1813717459687561134[9] = 0; - out_1813717459687561134[10] = 0; - out_1813717459687561134[11] = 0; - out_1813717459687561134[12] = 0; - out_1813717459687561134[13] = 0; - out_1813717459687561134[14] = 1; - out_1813717459687561134[15] = 0; - out_1813717459687561134[16] = 0; - out_1813717459687561134[17] = 0; +void H_24(double *state, double *unused, double *out_5140065597507420025) { + out_5140065597507420025[0] = 0; + out_5140065597507420025[1] = 0; + out_5140065597507420025[2] = 0; + out_5140065597507420025[3] = 0; + out_5140065597507420025[4] = 1; + out_5140065597507420025[5] = 0; + out_5140065597507420025[6] = 0; + out_5140065597507420025[7] = 0; + out_5140065597507420025[8] = 0; + out_5140065597507420025[9] = 0; + out_5140065597507420025[10] = 0; + out_5140065597507420025[11] = 0; + out_5140065597507420025[12] = 0; + out_5140065597507420025[13] = 0; + out_5140065597507420025[14] = 1; + out_5140065597507420025[15] = 0; + out_5140065597507420025[16] = 0; + out_5140065597507420025[17] = 0; } -void h_30(double *state, double *unused, double *out_8921978207378848294) { - out_8921978207378848294[0] = state[4]; +void h_30(double *state, double *unused, double *out_57548165706851306) { + out_57548165706851306[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5734013121132605829) { - out_5734013121132605829[0] = 0; - out_5734013121132605829[1] = 0; - out_5734013121132605829[2] = 0; - out_5734013121132605829[3] = 0; - out_5734013121132605829[4] = 1; - out_5734013121132605829[5] = 0; - out_5734013121132605829[6] = 0; - out_5734013121132605829[7] = 0; - out_5734013121132605829[8] = 0; +void H_30(double *state, double *unused, double *out_449083039994671832) { + out_449083039994671832[0] = 0; + out_449083039994671832[1] = 0; + out_449083039994671832[2] = 0; + out_449083039994671832[3] = 0; + out_449083039994671832[4] = 1; + out_449083039994671832[5] = 0; + out_449083039994671832[6] = 0; + out_449083039994671832[7] = 0; + out_449083039994671832[8] = 0; } -void h_26(double *state, double *unused, double *out_3355877023318338429) { - out_3355877023318338429[0] = state[7]; +void h_26(double *state, double *unused, double *out_5284319070179179257) { + out_5284319070179179257[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6452894675195640936) { - out_6452894675195640936[0] = 0; - out_6452894675195640936[1] = 0; - out_6452894675195640936[2] = 0; - out_6452894675195640936[3] = 0; - out_6452894675195640936[4] = 0; - out_6452894675195640936[5] = 0; - out_6452894675195640936[6] = 0; - out_6452894675195640936[7] = 1; - out_6452894675195640936[8] = 0; +void H_26(double *state, double *unused, double *out_6708919317375976683) { + out_6708919317375976683[0] = 0; + out_6708919317375976683[1] = 0; + out_6708919317375976683[2] = 0; + out_6708919317375976683[3] = 0; + out_6708919317375976683[4] = 0; + out_6708919317375976683[5] = 0; + out_6708919317375976683[6] = 0; + out_6708919317375976683[7] = 1; + out_6708919317375976683[8] = 0; } -void h_27(double *state, double *unused, double *out_6869400431411979084) { - out_6869400431411979084[0] = state[3]; +void h_27(double *state, double *unused, double *out_2937147548800054846) { + out_2937147548800054846[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7908776432933030740) { - out_7908776432933030740[0] = 0; - out_7908776432933030740[1] = 0; - out_7908776432933030740[2] = 0; - out_7908776432933030740[3] = 1; - out_7908776432933030740[4] = 0; - out_7908776432933030740[5] = 0; - out_7908776432933030740[6] = 0; - out_7908776432933030740[7] = 0; - out_7908776432933030740[8] = 0; +void H_27(double *state, double *unused, double *out_2623846351795096743) { + out_2623846351795096743[0] = 0; + out_2623846351795096743[1] = 0; + out_2623846351795096743[2] = 0; + out_2623846351795096743[3] = 1; + out_2623846351795096743[4] = 0; + out_2623846351795096743[5] = 0; + out_2623846351795096743[6] = 0; + out_2623846351795096743[7] = 0; + out_2623846351795096743[8] = 0; } -void h_29(double *state, double *unused, double *out_3696070991543523347) { - out_3696070991543523347[0] = state[1]; +void h_29(double *state, double *unused, double *out_3094334217151183991) { + out_3094334217151183991[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5223781776818213645) { - out_5223781776818213645[0] = 0; - out_5223781776818213645[1] = 1; - out_5223781776818213645[2] = 0; - out_5223781776818213645[3] = 0; - out_5223781776818213645[4] = 0; - out_5223781776818213645[5] = 0; - out_5223781776818213645[6] = 0; - out_5223781776818213645[7] = 0; - out_5223781776818213645[8] = 0; +void H_29(double *state, double *unused, double *out_61148304319720352) { + out_61148304319720352[0] = 0; + out_61148304319720352[1] = 1; + out_61148304319720352[2] = 0; + out_61148304319720352[3] = 0; + out_61148304319720352[4] = 0; + out_61148304319720352[5] = 0; + out_61148304319720352[6] = 0; + out_61148304319720352[7] = 0; + out_61148304319720352[8] = 0; } -void h_28(double *state, double *unused, double *out_6575670374636726887) { - out_6575670374636726887[0] = state[0]; +void h_28(double *state, double *unused, double *out_2064525718860790799) { + out_2064525718860790799[0] = state[0]; } -void H_28(double *state, double *unused, double *out_8140563279821807397) { - out_8140563279821807397[0] = 1; - out_8140563279821807397[1] = 0; - out_8140563279821807397[2] = 0; - out_8140563279821807397[3] = 0; - out_8140563279821807397[4] = 0; - out_8140563279821807397[5] = 0; - out_8140563279821807397[6] = 0; - out_8140563279821807397[7] = 0; - out_8140563279821807397[8] = 0; +void H_28(double *state, double *unused, double *out_5021250712749810222) { + out_5021250712749810222[0] = 1; + out_5021250712749810222[1] = 0; + out_5021250712749810222[2] = 0; + out_5021250712749810222[3] = 0; + out_5021250712749810222[4] = 0; + out_5021250712749810222[5] = 0; + out_5021250712749810222[6] = 0; + out_5021250712749810222[7] = 0; + out_5021250712749810222[8] = 0; } -void h_31(double *state, double *unused, double *out_5612122275792175083) { - out_5612122275792175083[0] = state[8]; +void h_31(double *state, double *unused, double *out_6870473728994628775) { + out_6870473728994628775[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5826686572962289460) { - out_5826686572962289460[0] = 0; - out_5826686572962289460[1] = 0; - out_5826686572962289460[2] = 0; - out_5826686572962289460[3] = 0; - out_5826686572962289460[4] = 0; - out_5826686572962289460[5] = 0; - out_5826686572962289460[6] = 0; - out_5826686572962289460[7] = 0; - out_5826686572962289460[8] = 1; +void H_31(double *state, double *unused, double *out_7335127419609328159) { + out_7335127419609328159[0] = 0; + out_7335127419609328159[1] = 0; + out_7335127419609328159[2] = 0; + out_7335127419609328159[3] = 0; + out_7335127419609328159[4] = 0; + out_7335127419609328159[5] = 0; + out_7335127419609328159[6] = 0; + out_7335127419609328159[7] = 0; + out_7335127419609328159[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_4413943037710355540) { - err_fun(nom_x, delta_x, out_4413943037710355540); +void car_err_fun(double *nom_x, double *delta_x, double *out_6119760954545072171) { + err_fun(nom_x, delta_x, out_6119760954545072171); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_896653973664715101) { - inv_err_fun(nom_x, true_x, out_896653973664715101); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3032957791392119605) { + inv_err_fun(nom_x, true_x, out_3032957791392119605); } -void car_H_mod_fun(double *state, double *out_5267188789104253679) { - H_mod_fun(state, out_5267188789104253679); +void car_H_mod_fun(double *state, double *out_6225772227410316778) { + H_mod_fun(state, out_6225772227410316778); } -void car_f_fun(double *state, double dt, double *out_1590758894307502735) { - f_fun(state, dt, out_1590758894307502735); +void car_f_fun(double *state, double dt, double *out_1791723405675881227) { + f_fun(state, dt, out_1791723405675881227); } -void car_F_fun(double *state, double dt, double *out_4932077017586128960) { - F_fun(state, dt, out_4932077017586128960); +void car_F_fun(double *state, double dt, double *out_4540850954218753986) { + F_fun(state, dt, out_4540850954218753986); } -void car_h_25(double *state, double *unused, double *out_2151142981028497358) { - h_25(state, unused, out_2151142981028497358); +void car_h_25(double *state, double *unused, double *out_6713287060643499630) { + h_25(state, unused, out_6713287060643499630); } -void car_H_25(double *state, double *unused, double *out_5796040611085329032) { - H_25(state, unused, out_5796040611085329032); +void car_H_25(double *state, double *unused, double *out_2967415998501920459) { + H_25(state, unused, out_2967415998501920459); } -void car_h_24(double *state, double *unused, double *out_7809478958388963293) { - h_24(state, unused, out_7809478958388963293); +void car_h_24(double *state, double *unused, double *out_7006841003408788110) { + h_24(state, unused, out_7006841003408788110); } -void car_H_24(double *state, double *unused, double *out_1813717459687561134) { - H_24(state, unused, out_1813717459687561134); +void car_H_24(double *state, double *unused, double *out_5140065597507420025) { + H_24(state, unused, out_5140065597507420025); } -void car_h_30(double *state, double *unused, double *out_8921978207378848294) { - h_30(state, unused, out_8921978207378848294); +void car_h_30(double *state, double *unused, double *out_57548165706851306) { + h_30(state, unused, out_57548165706851306); } -void car_H_30(double *state, double *unused, double *out_5734013121132605829) { - H_30(state, unused, out_5734013121132605829); +void car_H_30(double *state, double *unused, double *out_449083039994671832) { + H_30(state, unused, out_449083039994671832); } -void car_h_26(double *state, double *unused, double *out_3355877023318338429) { - h_26(state, unused, out_3355877023318338429); +void car_h_26(double *state, double *unused, double *out_5284319070179179257) { + h_26(state, unused, out_5284319070179179257); } -void car_H_26(double *state, double *unused, double *out_6452894675195640936) { - H_26(state, unused, out_6452894675195640936); +void car_H_26(double *state, double *unused, double *out_6708919317375976683) { + H_26(state, unused, out_6708919317375976683); } -void car_h_27(double *state, double *unused, double *out_6869400431411979084) { - h_27(state, unused, out_6869400431411979084); +void car_h_27(double *state, double *unused, double *out_2937147548800054846) { + h_27(state, unused, out_2937147548800054846); } -void car_H_27(double *state, double *unused, double *out_7908776432933030740) { - H_27(state, unused, out_7908776432933030740); +void car_H_27(double *state, double *unused, double *out_2623846351795096743) { + H_27(state, unused, out_2623846351795096743); } -void car_h_29(double *state, double *unused, double *out_3696070991543523347) { - h_29(state, unused, out_3696070991543523347); +void car_h_29(double *state, double *unused, double *out_3094334217151183991) { + h_29(state, unused, out_3094334217151183991); } -void car_H_29(double *state, double *unused, double *out_5223781776818213645) { - H_29(state, unused, out_5223781776818213645); +void car_H_29(double *state, double *unused, double *out_61148304319720352) { + H_29(state, unused, out_61148304319720352); } -void car_h_28(double *state, double *unused, double *out_6575670374636726887) { - h_28(state, unused, out_6575670374636726887); +void car_h_28(double *state, double *unused, double *out_2064525718860790799) { + h_28(state, unused, out_2064525718860790799); } -void car_H_28(double *state, double *unused, double *out_8140563279821807397) { - H_28(state, unused, out_8140563279821807397); +void car_H_28(double *state, double *unused, double *out_5021250712749810222) { + H_28(state, unused, out_5021250712749810222); } -void car_h_31(double *state, double *unused, double *out_5612122275792175083) { - h_31(state, unused, out_5612122275792175083); +void car_h_31(double *state, double *unused, double *out_6870473728994628775) { + h_31(state, unused, out_6870473728994628775); } -void car_H_31(double *state, double *unused, double *out_5826686572962289460) { - H_31(state, unused, out_5826686572962289460); +void car_H_31(double *state, double *unused, double *out_7335127419609328159) { + H_31(state, unused, out_7335127419609328159); } 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 f7c94acee..0c8bfa0c4 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_4413943037710355540); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_896653973664715101); -void car_H_mod_fun(double *state, double *out_5267188789104253679); -void car_f_fun(double *state, double dt, double *out_1590758894307502735); -void car_F_fun(double *state, double dt, double *out_4932077017586128960); -void car_h_25(double *state, double *unused, double *out_2151142981028497358); -void car_H_25(double *state, double *unused, double *out_5796040611085329032); -void car_h_24(double *state, double *unused, double *out_7809478958388963293); -void car_H_24(double *state, double *unused, double *out_1813717459687561134); -void car_h_30(double *state, double *unused, double *out_8921978207378848294); -void car_H_30(double *state, double *unused, double *out_5734013121132605829); -void car_h_26(double *state, double *unused, double *out_3355877023318338429); -void car_H_26(double *state, double *unused, double *out_6452894675195640936); -void car_h_27(double *state, double *unused, double *out_6869400431411979084); -void car_H_27(double *state, double *unused, double *out_7908776432933030740); -void car_h_29(double *state, double *unused, double *out_3696070991543523347); -void car_H_29(double *state, double *unused, double *out_5223781776818213645); -void car_h_28(double *state, double *unused, double *out_6575670374636726887); -void car_H_28(double *state, double *unused, double *out_8140563279821807397); -void car_h_31(double *state, double *unused, double *out_5612122275792175083); -void car_H_31(double *state, double *unused, double *out_5826686572962289460); +void car_err_fun(double *nom_x, double *delta_x, double *out_6119760954545072171); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3032957791392119605); +void car_H_mod_fun(double *state, double *out_6225772227410316778); +void car_f_fun(double *state, double dt, double *out_1791723405675881227); +void car_F_fun(double *state, double dt, double *out_4540850954218753986); +void car_h_25(double *state, double *unused, double *out_6713287060643499630); +void car_H_25(double *state, double *unused, double *out_2967415998501920459); +void car_h_24(double *state, double *unused, double *out_7006841003408788110); +void car_H_24(double *state, double *unused, double *out_5140065597507420025); +void car_h_30(double *state, double *unused, double *out_57548165706851306); +void car_H_30(double *state, double *unused, double *out_449083039994671832); +void car_h_26(double *state, double *unused, double *out_5284319070179179257); +void car_H_26(double *state, double *unused, double *out_6708919317375976683); +void car_h_27(double *state, double *unused, double *out_2937147548800054846); +void car_H_27(double *state, double *unused, double *out_2623846351795096743); +void car_h_29(double *state, double *unused, double *out_3094334217151183991); +void car_H_29(double *state, double *unused, double *out_61148304319720352); +void car_h_28(double *state, double *unused, double *out_2064525718860790799); +void car_H_28(double *state, double *unused, double *out_5021250712749810222); +void car_h_31(double *state, double *unused, double *out_6870473728994628775); +void car_H_31(double *state, double *unused, double *out_7335127419609328159); 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 1d45af591..da7e03d72 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_8743902382867857614) { - out_8743902382867857614[0] = delta_x[0] + nom_x[0]; - out_8743902382867857614[1] = delta_x[1] + nom_x[1]; - out_8743902382867857614[2] = delta_x[2] + nom_x[2]; - out_8743902382867857614[3] = delta_x[3] + nom_x[3]; - out_8743902382867857614[4] = delta_x[4] + nom_x[4]; - out_8743902382867857614[5] = delta_x[5] + nom_x[5]; - out_8743902382867857614[6] = delta_x[6] + nom_x[6]; - out_8743902382867857614[7] = delta_x[7] + nom_x[7]; - out_8743902382867857614[8] = delta_x[8] + nom_x[8]; - out_8743902382867857614[9] = delta_x[9] + nom_x[9]; - out_8743902382867857614[10] = delta_x[10] + nom_x[10]; - out_8743902382867857614[11] = delta_x[11] + nom_x[11]; - out_8743902382867857614[12] = delta_x[12] + nom_x[12]; - out_8743902382867857614[13] = delta_x[13] + nom_x[13]; - out_8743902382867857614[14] = delta_x[14] + nom_x[14]; - out_8743902382867857614[15] = delta_x[15] + nom_x[15]; - out_8743902382867857614[16] = delta_x[16] + nom_x[16]; - out_8743902382867857614[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4567767818172860295) { + out_4567767818172860295[0] = delta_x[0] + nom_x[0]; + out_4567767818172860295[1] = delta_x[1] + nom_x[1]; + out_4567767818172860295[2] = delta_x[2] + nom_x[2]; + out_4567767818172860295[3] = delta_x[3] + nom_x[3]; + out_4567767818172860295[4] = delta_x[4] + nom_x[4]; + out_4567767818172860295[5] = delta_x[5] + nom_x[5]; + out_4567767818172860295[6] = delta_x[6] + nom_x[6]; + out_4567767818172860295[7] = delta_x[7] + nom_x[7]; + out_4567767818172860295[8] = delta_x[8] + nom_x[8]; + out_4567767818172860295[9] = delta_x[9] + nom_x[9]; + out_4567767818172860295[10] = delta_x[10] + nom_x[10]; + out_4567767818172860295[11] = delta_x[11] + nom_x[11]; + out_4567767818172860295[12] = delta_x[12] + nom_x[12]; + out_4567767818172860295[13] = delta_x[13] + nom_x[13]; + out_4567767818172860295[14] = delta_x[14] + nom_x[14]; + out_4567767818172860295[15] = delta_x[15] + nom_x[15]; + out_4567767818172860295[16] = delta_x[16] + nom_x[16]; + out_4567767818172860295[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3636694381902544351) { - out_3636694381902544351[0] = -nom_x[0] + true_x[0]; - out_3636694381902544351[1] = -nom_x[1] + true_x[1]; - out_3636694381902544351[2] = -nom_x[2] + true_x[2]; - out_3636694381902544351[3] = -nom_x[3] + true_x[3]; - out_3636694381902544351[4] = -nom_x[4] + true_x[4]; - out_3636694381902544351[5] = -nom_x[5] + true_x[5]; - out_3636694381902544351[6] = -nom_x[6] + true_x[6]; - out_3636694381902544351[7] = -nom_x[7] + true_x[7]; - out_3636694381902544351[8] = -nom_x[8] + true_x[8]; - out_3636694381902544351[9] = -nom_x[9] + true_x[9]; - out_3636694381902544351[10] = -nom_x[10] + true_x[10]; - out_3636694381902544351[11] = -nom_x[11] + true_x[11]; - out_3636694381902544351[12] = -nom_x[12] + true_x[12]; - out_3636694381902544351[13] = -nom_x[13] + true_x[13]; - out_3636694381902544351[14] = -nom_x[14] + true_x[14]; - out_3636694381902544351[15] = -nom_x[15] + true_x[15]; - out_3636694381902544351[16] = -nom_x[16] + true_x[16]; - out_3636694381902544351[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4613807108104960206) { + out_4613807108104960206[0] = -nom_x[0] + true_x[0]; + out_4613807108104960206[1] = -nom_x[1] + true_x[1]; + out_4613807108104960206[2] = -nom_x[2] + true_x[2]; + out_4613807108104960206[3] = -nom_x[3] + true_x[3]; + out_4613807108104960206[4] = -nom_x[4] + true_x[4]; + out_4613807108104960206[5] = -nom_x[5] + true_x[5]; + out_4613807108104960206[6] = -nom_x[6] + true_x[6]; + out_4613807108104960206[7] = -nom_x[7] + true_x[7]; + out_4613807108104960206[8] = -nom_x[8] + true_x[8]; + out_4613807108104960206[9] = -nom_x[9] + true_x[9]; + out_4613807108104960206[10] = -nom_x[10] + true_x[10]; + out_4613807108104960206[11] = -nom_x[11] + true_x[11]; + out_4613807108104960206[12] = -nom_x[12] + true_x[12]; + out_4613807108104960206[13] = -nom_x[13] + true_x[13]; + out_4613807108104960206[14] = -nom_x[14] + true_x[14]; + out_4613807108104960206[15] = -nom_x[15] + true_x[15]; + out_4613807108104960206[16] = -nom_x[16] + true_x[16]; + out_4613807108104960206[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_2152190311268096506) { - out_2152190311268096506[0] = 1.0; - out_2152190311268096506[1] = 0.0; - out_2152190311268096506[2] = 0.0; - out_2152190311268096506[3] = 0.0; - out_2152190311268096506[4] = 0.0; - out_2152190311268096506[5] = 0.0; - out_2152190311268096506[6] = 0.0; - out_2152190311268096506[7] = 0.0; - out_2152190311268096506[8] = 0.0; - out_2152190311268096506[9] = 0.0; - out_2152190311268096506[10] = 0.0; - out_2152190311268096506[11] = 0.0; - out_2152190311268096506[12] = 0.0; - out_2152190311268096506[13] = 0.0; - out_2152190311268096506[14] = 0.0; - out_2152190311268096506[15] = 0.0; - out_2152190311268096506[16] = 0.0; - out_2152190311268096506[17] = 0.0; - out_2152190311268096506[18] = 0.0; - out_2152190311268096506[19] = 1.0; - out_2152190311268096506[20] = 0.0; - out_2152190311268096506[21] = 0.0; - out_2152190311268096506[22] = 0.0; - out_2152190311268096506[23] = 0.0; - out_2152190311268096506[24] = 0.0; - out_2152190311268096506[25] = 0.0; - out_2152190311268096506[26] = 0.0; - out_2152190311268096506[27] = 0.0; - out_2152190311268096506[28] = 0.0; - out_2152190311268096506[29] = 0.0; - out_2152190311268096506[30] = 0.0; - out_2152190311268096506[31] = 0.0; - out_2152190311268096506[32] = 0.0; - out_2152190311268096506[33] = 0.0; - out_2152190311268096506[34] = 0.0; - out_2152190311268096506[35] = 0.0; - out_2152190311268096506[36] = 0.0; - out_2152190311268096506[37] = 0.0; - out_2152190311268096506[38] = 1.0; - out_2152190311268096506[39] = 0.0; - out_2152190311268096506[40] = 0.0; - out_2152190311268096506[41] = 0.0; - out_2152190311268096506[42] = 0.0; - out_2152190311268096506[43] = 0.0; - out_2152190311268096506[44] = 0.0; - out_2152190311268096506[45] = 0.0; - out_2152190311268096506[46] = 0.0; - out_2152190311268096506[47] = 0.0; - out_2152190311268096506[48] = 0.0; - out_2152190311268096506[49] = 0.0; - out_2152190311268096506[50] = 0.0; - out_2152190311268096506[51] = 0.0; - out_2152190311268096506[52] = 0.0; - out_2152190311268096506[53] = 0.0; - out_2152190311268096506[54] = 0.0; - out_2152190311268096506[55] = 0.0; - out_2152190311268096506[56] = 0.0; - out_2152190311268096506[57] = 1.0; - out_2152190311268096506[58] = 0.0; - out_2152190311268096506[59] = 0.0; - out_2152190311268096506[60] = 0.0; - out_2152190311268096506[61] = 0.0; - out_2152190311268096506[62] = 0.0; - out_2152190311268096506[63] = 0.0; - out_2152190311268096506[64] = 0.0; - out_2152190311268096506[65] = 0.0; - out_2152190311268096506[66] = 0.0; - out_2152190311268096506[67] = 0.0; - out_2152190311268096506[68] = 0.0; - out_2152190311268096506[69] = 0.0; - out_2152190311268096506[70] = 0.0; - out_2152190311268096506[71] = 0.0; - out_2152190311268096506[72] = 0.0; - out_2152190311268096506[73] = 0.0; - out_2152190311268096506[74] = 0.0; - out_2152190311268096506[75] = 0.0; - out_2152190311268096506[76] = 1.0; - out_2152190311268096506[77] = 0.0; - out_2152190311268096506[78] = 0.0; - out_2152190311268096506[79] = 0.0; - out_2152190311268096506[80] = 0.0; - out_2152190311268096506[81] = 0.0; - out_2152190311268096506[82] = 0.0; - out_2152190311268096506[83] = 0.0; - out_2152190311268096506[84] = 0.0; - out_2152190311268096506[85] = 0.0; - out_2152190311268096506[86] = 0.0; - out_2152190311268096506[87] = 0.0; - out_2152190311268096506[88] = 0.0; - out_2152190311268096506[89] = 0.0; - out_2152190311268096506[90] = 0.0; - out_2152190311268096506[91] = 0.0; - out_2152190311268096506[92] = 0.0; - out_2152190311268096506[93] = 0.0; - out_2152190311268096506[94] = 0.0; - out_2152190311268096506[95] = 1.0; - out_2152190311268096506[96] = 0.0; - out_2152190311268096506[97] = 0.0; - out_2152190311268096506[98] = 0.0; - out_2152190311268096506[99] = 0.0; - out_2152190311268096506[100] = 0.0; - out_2152190311268096506[101] = 0.0; - out_2152190311268096506[102] = 0.0; - out_2152190311268096506[103] = 0.0; - out_2152190311268096506[104] = 0.0; - out_2152190311268096506[105] = 0.0; - out_2152190311268096506[106] = 0.0; - out_2152190311268096506[107] = 0.0; - out_2152190311268096506[108] = 0.0; - out_2152190311268096506[109] = 0.0; - out_2152190311268096506[110] = 0.0; - out_2152190311268096506[111] = 0.0; - out_2152190311268096506[112] = 0.0; - out_2152190311268096506[113] = 0.0; - out_2152190311268096506[114] = 1.0; - out_2152190311268096506[115] = 0.0; - out_2152190311268096506[116] = 0.0; - out_2152190311268096506[117] = 0.0; - out_2152190311268096506[118] = 0.0; - out_2152190311268096506[119] = 0.0; - out_2152190311268096506[120] = 0.0; - out_2152190311268096506[121] = 0.0; - out_2152190311268096506[122] = 0.0; - out_2152190311268096506[123] = 0.0; - out_2152190311268096506[124] = 0.0; - out_2152190311268096506[125] = 0.0; - out_2152190311268096506[126] = 0.0; - out_2152190311268096506[127] = 0.0; - out_2152190311268096506[128] = 0.0; - out_2152190311268096506[129] = 0.0; - out_2152190311268096506[130] = 0.0; - out_2152190311268096506[131] = 0.0; - out_2152190311268096506[132] = 0.0; - out_2152190311268096506[133] = 1.0; - out_2152190311268096506[134] = 0.0; - out_2152190311268096506[135] = 0.0; - out_2152190311268096506[136] = 0.0; - out_2152190311268096506[137] = 0.0; - out_2152190311268096506[138] = 0.0; - out_2152190311268096506[139] = 0.0; - out_2152190311268096506[140] = 0.0; - out_2152190311268096506[141] = 0.0; - out_2152190311268096506[142] = 0.0; - out_2152190311268096506[143] = 0.0; - out_2152190311268096506[144] = 0.0; - out_2152190311268096506[145] = 0.0; - out_2152190311268096506[146] = 0.0; - out_2152190311268096506[147] = 0.0; - out_2152190311268096506[148] = 0.0; - out_2152190311268096506[149] = 0.0; - out_2152190311268096506[150] = 0.0; - out_2152190311268096506[151] = 0.0; - out_2152190311268096506[152] = 1.0; - out_2152190311268096506[153] = 0.0; - out_2152190311268096506[154] = 0.0; - out_2152190311268096506[155] = 0.0; - out_2152190311268096506[156] = 0.0; - out_2152190311268096506[157] = 0.0; - out_2152190311268096506[158] = 0.0; - out_2152190311268096506[159] = 0.0; - out_2152190311268096506[160] = 0.0; - out_2152190311268096506[161] = 0.0; - out_2152190311268096506[162] = 0.0; - out_2152190311268096506[163] = 0.0; - out_2152190311268096506[164] = 0.0; - out_2152190311268096506[165] = 0.0; - out_2152190311268096506[166] = 0.0; - out_2152190311268096506[167] = 0.0; - out_2152190311268096506[168] = 0.0; - out_2152190311268096506[169] = 0.0; - out_2152190311268096506[170] = 0.0; - out_2152190311268096506[171] = 1.0; - out_2152190311268096506[172] = 0.0; - out_2152190311268096506[173] = 0.0; - out_2152190311268096506[174] = 0.0; - out_2152190311268096506[175] = 0.0; - out_2152190311268096506[176] = 0.0; - out_2152190311268096506[177] = 0.0; - out_2152190311268096506[178] = 0.0; - out_2152190311268096506[179] = 0.0; - out_2152190311268096506[180] = 0.0; - out_2152190311268096506[181] = 0.0; - out_2152190311268096506[182] = 0.0; - out_2152190311268096506[183] = 0.0; - out_2152190311268096506[184] = 0.0; - out_2152190311268096506[185] = 0.0; - out_2152190311268096506[186] = 0.0; - out_2152190311268096506[187] = 0.0; - out_2152190311268096506[188] = 0.0; - out_2152190311268096506[189] = 0.0; - out_2152190311268096506[190] = 1.0; - out_2152190311268096506[191] = 0.0; - out_2152190311268096506[192] = 0.0; - out_2152190311268096506[193] = 0.0; - out_2152190311268096506[194] = 0.0; - out_2152190311268096506[195] = 0.0; - out_2152190311268096506[196] = 0.0; - out_2152190311268096506[197] = 0.0; - out_2152190311268096506[198] = 0.0; - out_2152190311268096506[199] = 0.0; - out_2152190311268096506[200] = 0.0; - out_2152190311268096506[201] = 0.0; - out_2152190311268096506[202] = 0.0; - out_2152190311268096506[203] = 0.0; - out_2152190311268096506[204] = 0.0; - out_2152190311268096506[205] = 0.0; - out_2152190311268096506[206] = 0.0; - out_2152190311268096506[207] = 0.0; - out_2152190311268096506[208] = 0.0; - out_2152190311268096506[209] = 1.0; - out_2152190311268096506[210] = 0.0; - out_2152190311268096506[211] = 0.0; - out_2152190311268096506[212] = 0.0; - out_2152190311268096506[213] = 0.0; - out_2152190311268096506[214] = 0.0; - out_2152190311268096506[215] = 0.0; - out_2152190311268096506[216] = 0.0; - out_2152190311268096506[217] = 0.0; - out_2152190311268096506[218] = 0.0; - out_2152190311268096506[219] = 0.0; - out_2152190311268096506[220] = 0.0; - out_2152190311268096506[221] = 0.0; - out_2152190311268096506[222] = 0.0; - out_2152190311268096506[223] = 0.0; - out_2152190311268096506[224] = 0.0; - out_2152190311268096506[225] = 0.0; - out_2152190311268096506[226] = 0.0; - out_2152190311268096506[227] = 0.0; - out_2152190311268096506[228] = 1.0; - out_2152190311268096506[229] = 0.0; - out_2152190311268096506[230] = 0.0; - out_2152190311268096506[231] = 0.0; - out_2152190311268096506[232] = 0.0; - out_2152190311268096506[233] = 0.0; - out_2152190311268096506[234] = 0.0; - out_2152190311268096506[235] = 0.0; - out_2152190311268096506[236] = 0.0; - out_2152190311268096506[237] = 0.0; - out_2152190311268096506[238] = 0.0; - out_2152190311268096506[239] = 0.0; - out_2152190311268096506[240] = 0.0; - out_2152190311268096506[241] = 0.0; - out_2152190311268096506[242] = 0.0; - out_2152190311268096506[243] = 0.0; - out_2152190311268096506[244] = 0.0; - out_2152190311268096506[245] = 0.0; - out_2152190311268096506[246] = 0.0; - out_2152190311268096506[247] = 1.0; - out_2152190311268096506[248] = 0.0; - out_2152190311268096506[249] = 0.0; - out_2152190311268096506[250] = 0.0; - out_2152190311268096506[251] = 0.0; - out_2152190311268096506[252] = 0.0; - out_2152190311268096506[253] = 0.0; - out_2152190311268096506[254] = 0.0; - out_2152190311268096506[255] = 0.0; - out_2152190311268096506[256] = 0.0; - out_2152190311268096506[257] = 0.0; - out_2152190311268096506[258] = 0.0; - out_2152190311268096506[259] = 0.0; - out_2152190311268096506[260] = 0.0; - out_2152190311268096506[261] = 0.0; - out_2152190311268096506[262] = 0.0; - out_2152190311268096506[263] = 0.0; - out_2152190311268096506[264] = 0.0; - out_2152190311268096506[265] = 0.0; - out_2152190311268096506[266] = 1.0; - out_2152190311268096506[267] = 0.0; - out_2152190311268096506[268] = 0.0; - out_2152190311268096506[269] = 0.0; - out_2152190311268096506[270] = 0.0; - out_2152190311268096506[271] = 0.0; - out_2152190311268096506[272] = 0.0; - out_2152190311268096506[273] = 0.0; - out_2152190311268096506[274] = 0.0; - out_2152190311268096506[275] = 0.0; - out_2152190311268096506[276] = 0.0; - out_2152190311268096506[277] = 0.0; - out_2152190311268096506[278] = 0.0; - out_2152190311268096506[279] = 0.0; - out_2152190311268096506[280] = 0.0; - out_2152190311268096506[281] = 0.0; - out_2152190311268096506[282] = 0.0; - out_2152190311268096506[283] = 0.0; - out_2152190311268096506[284] = 0.0; - out_2152190311268096506[285] = 1.0; - out_2152190311268096506[286] = 0.0; - out_2152190311268096506[287] = 0.0; - out_2152190311268096506[288] = 0.0; - out_2152190311268096506[289] = 0.0; - out_2152190311268096506[290] = 0.0; - out_2152190311268096506[291] = 0.0; - out_2152190311268096506[292] = 0.0; - out_2152190311268096506[293] = 0.0; - out_2152190311268096506[294] = 0.0; - out_2152190311268096506[295] = 0.0; - out_2152190311268096506[296] = 0.0; - out_2152190311268096506[297] = 0.0; - out_2152190311268096506[298] = 0.0; - out_2152190311268096506[299] = 0.0; - out_2152190311268096506[300] = 0.0; - out_2152190311268096506[301] = 0.0; - out_2152190311268096506[302] = 0.0; - out_2152190311268096506[303] = 0.0; - out_2152190311268096506[304] = 1.0; - out_2152190311268096506[305] = 0.0; - out_2152190311268096506[306] = 0.0; - out_2152190311268096506[307] = 0.0; - out_2152190311268096506[308] = 0.0; - out_2152190311268096506[309] = 0.0; - out_2152190311268096506[310] = 0.0; - out_2152190311268096506[311] = 0.0; - out_2152190311268096506[312] = 0.0; - out_2152190311268096506[313] = 0.0; - out_2152190311268096506[314] = 0.0; - out_2152190311268096506[315] = 0.0; - out_2152190311268096506[316] = 0.0; - out_2152190311268096506[317] = 0.0; - out_2152190311268096506[318] = 0.0; - out_2152190311268096506[319] = 0.0; - out_2152190311268096506[320] = 0.0; - out_2152190311268096506[321] = 0.0; - out_2152190311268096506[322] = 0.0; - out_2152190311268096506[323] = 1.0; +void H_mod_fun(double *state, double *out_6572770099193808423) { + out_6572770099193808423[0] = 1.0; + out_6572770099193808423[1] = 0.0; + out_6572770099193808423[2] = 0.0; + out_6572770099193808423[3] = 0.0; + out_6572770099193808423[4] = 0.0; + out_6572770099193808423[5] = 0.0; + out_6572770099193808423[6] = 0.0; + out_6572770099193808423[7] = 0.0; + out_6572770099193808423[8] = 0.0; + out_6572770099193808423[9] = 0.0; + out_6572770099193808423[10] = 0.0; + out_6572770099193808423[11] = 0.0; + out_6572770099193808423[12] = 0.0; + out_6572770099193808423[13] = 0.0; + out_6572770099193808423[14] = 0.0; + out_6572770099193808423[15] = 0.0; + out_6572770099193808423[16] = 0.0; + out_6572770099193808423[17] = 0.0; + out_6572770099193808423[18] = 0.0; + out_6572770099193808423[19] = 1.0; + out_6572770099193808423[20] = 0.0; + out_6572770099193808423[21] = 0.0; + out_6572770099193808423[22] = 0.0; + out_6572770099193808423[23] = 0.0; + out_6572770099193808423[24] = 0.0; + out_6572770099193808423[25] = 0.0; + out_6572770099193808423[26] = 0.0; + out_6572770099193808423[27] = 0.0; + out_6572770099193808423[28] = 0.0; + out_6572770099193808423[29] = 0.0; + out_6572770099193808423[30] = 0.0; + out_6572770099193808423[31] = 0.0; + out_6572770099193808423[32] = 0.0; + out_6572770099193808423[33] = 0.0; + out_6572770099193808423[34] = 0.0; + out_6572770099193808423[35] = 0.0; + out_6572770099193808423[36] = 0.0; + out_6572770099193808423[37] = 0.0; + out_6572770099193808423[38] = 1.0; + out_6572770099193808423[39] = 0.0; + out_6572770099193808423[40] = 0.0; + out_6572770099193808423[41] = 0.0; + out_6572770099193808423[42] = 0.0; + out_6572770099193808423[43] = 0.0; + out_6572770099193808423[44] = 0.0; + out_6572770099193808423[45] = 0.0; + out_6572770099193808423[46] = 0.0; + out_6572770099193808423[47] = 0.0; + out_6572770099193808423[48] = 0.0; + out_6572770099193808423[49] = 0.0; + out_6572770099193808423[50] = 0.0; + out_6572770099193808423[51] = 0.0; + out_6572770099193808423[52] = 0.0; + out_6572770099193808423[53] = 0.0; + out_6572770099193808423[54] = 0.0; + out_6572770099193808423[55] = 0.0; + out_6572770099193808423[56] = 0.0; + out_6572770099193808423[57] = 1.0; + out_6572770099193808423[58] = 0.0; + out_6572770099193808423[59] = 0.0; + out_6572770099193808423[60] = 0.0; + out_6572770099193808423[61] = 0.0; + out_6572770099193808423[62] = 0.0; + out_6572770099193808423[63] = 0.0; + out_6572770099193808423[64] = 0.0; + out_6572770099193808423[65] = 0.0; + out_6572770099193808423[66] = 0.0; + out_6572770099193808423[67] = 0.0; + out_6572770099193808423[68] = 0.0; + out_6572770099193808423[69] = 0.0; + out_6572770099193808423[70] = 0.0; + out_6572770099193808423[71] = 0.0; + out_6572770099193808423[72] = 0.0; + out_6572770099193808423[73] = 0.0; + out_6572770099193808423[74] = 0.0; + out_6572770099193808423[75] = 0.0; + out_6572770099193808423[76] = 1.0; + out_6572770099193808423[77] = 0.0; + out_6572770099193808423[78] = 0.0; + out_6572770099193808423[79] = 0.0; + out_6572770099193808423[80] = 0.0; + out_6572770099193808423[81] = 0.0; + out_6572770099193808423[82] = 0.0; + out_6572770099193808423[83] = 0.0; + out_6572770099193808423[84] = 0.0; + out_6572770099193808423[85] = 0.0; + out_6572770099193808423[86] = 0.0; + out_6572770099193808423[87] = 0.0; + out_6572770099193808423[88] = 0.0; + out_6572770099193808423[89] = 0.0; + out_6572770099193808423[90] = 0.0; + out_6572770099193808423[91] = 0.0; + out_6572770099193808423[92] = 0.0; + out_6572770099193808423[93] = 0.0; + out_6572770099193808423[94] = 0.0; + out_6572770099193808423[95] = 1.0; + out_6572770099193808423[96] = 0.0; + out_6572770099193808423[97] = 0.0; + out_6572770099193808423[98] = 0.0; + out_6572770099193808423[99] = 0.0; + out_6572770099193808423[100] = 0.0; + out_6572770099193808423[101] = 0.0; + out_6572770099193808423[102] = 0.0; + out_6572770099193808423[103] = 0.0; + out_6572770099193808423[104] = 0.0; + out_6572770099193808423[105] = 0.0; + out_6572770099193808423[106] = 0.0; + out_6572770099193808423[107] = 0.0; + out_6572770099193808423[108] = 0.0; + out_6572770099193808423[109] = 0.0; + out_6572770099193808423[110] = 0.0; + out_6572770099193808423[111] = 0.0; + out_6572770099193808423[112] = 0.0; + out_6572770099193808423[113] = 0.0; + out_6572770099193808423[114] = 1.0; + out_6572770099193808423[115] = 0.0; + out_6572770099193808423[116] = 0.0; + out_6572770099193808423[117] = 0.0; + out_6572770099193808423[118] = 0.0; + out_6572770099193808423[119] = 0.0; + out_6572770099193808423[120] = 0.0; + out_6572770099193808423[121] = 0.0; + out_6572770099193808423[122] = 0.0; + out_6572770099193808423[123] = 0.0; + out_6572770099193808423[124] = 0.0; + out_6572770099193808423[125] = 0.0; + out_6572770099193808423[126] = 0.0; + out_6572770099193808423[127] = 0.0; + out_6572770099193808423[128] = 0.0; + out_6572770099193808423[129] = 0.0; + out_6572770099193808423[130] = 0.0; + out_6572770099193808423[131] = 0.0; + out_6572770099193808423[132] = 0.0; + out_6572770099193808423[133] = 1.0; + out_6572770099193808423[134] = 0.0; + out_6572770099193808423[135] = 0.0; + out_6572770099193808423[136] = 0.0; + out_6572770099193808423[137] = 0.0; + out_6572770099193808423[138] = 0.0; + out_6572770099193808423[139] = 0.0; + out_6572770099193808423[140] = 0.0; + out_6572770099193808423[141] = 0.0; + out_6572770099193808423[142] = 0.0; + out_6572770099193808423[143] = 0.0; + out_6572770099193808423[144] = 0.0; + out_6572770099193808423[145] = 0.0; + out_6572770099193808423[146] = 0.0; + out_6572770099193808423[147] = 0.0; + out_6572770099193808423[148] = 0.0; + out_6572770099193808423[149] = 0.0; + out_6572770099193808423[150] = 0.0; + out_6572770099193808423[151] = 0.0; + out_6572770099193808423[152] = 1.0; + out_6572770099193808423[153] = 0.0; + out_6572770099193808423[154] = 0.0; + out_6572770099193808423[155] = 0.0; + out_6572770099193808423[156] = 0.0; + out_6572770099193808423[157] = 0.0; + out_6572770099193808423[158] = 0.0; + out_6572770099193808423[159] = 0.0; + out_6572770099193808423[160] = 0.0; + out_6572770099193808423[161] = 0.0; + out_6572770099193808423[162] = 0.0; + out_6572770099193808423[163] = 0.0; + out_6572770099193808423[164] = 0.0; + out_6572770099193808423[165] = 0.0; + out_6572770099193808423[166] = 0.0; + out_6572770099193808423[167] = 0.0; + out_6572770099193808423[168] = 0.0; + out_6572770099193808423[169] = 0.0; + out_6572770099193808423[170] = 0.0; + out_6572770099193808423[171] = 1.0; + out_6572770099193808423[172] = 0.0; + out_6572770099193808423[173] = 0.0; + out_6572770099193808423[174] = 0.0; + out_6572770099193808423[175] = 0.0; + out_6572770099193808423[176] = 0.0; + out_6572770099193808423[177] = 0.0; + out_6572770099193808423[178] = 0.0; + out_6572770099193808423[179] = 0.0; + out_6572770099193808423[180] = 0.0; + out_6572770099193808423[181] = 0.0; + out_6572770099193808423[182] = 0.0; + out_6572770099193808423[183] = 0.0; + out_6572770099193808423[184] = 0.0; + out_6572770099193808423[185] = 0.0; + out_6572770099193808423[186] = 0.0; + out_6572770099193808423[187] = 0.0; + out_6572770099193808423[188] = 0.0; + out_6572770099193808423[189] = 0.0; + out_6572770099193808423[190] = 1.0; + out_6572770099193808423[191] = 0.0; + out_6572770099193808423[192] = 0.0; + out_6572770099193808423[193] = 0.0; + out_6572770099193808423[194] = 0.0; + out_6572770099193808423[195] = 0.0; + out_6572770099193808423[196] = 0.0; + out_6572770099193808423[197] = 0.0; + out_6572770099193808423[198] = 0.0; + out_6572770099193808423[199] = 0.0; + out_6572770099193808423[200] = 0.0; + out_6572770099193808423[201] = 0.0; + out_6572770099193808423[202] = 0.0; + out_6572770099193808423[203] = 0.0; + out_6572770099193808423[204] = 0.0; + out_6572770099193808423[205] = 0.0; + out_6572770099193808423[206] = 0.0; + out_6572770099193808423[207] = 0.0; + out_6572770099193808423[208] = 0.0; + out_6572770099193808423[209] = 1.0; + out_6572770099193808423[210] = 0.0; + out_6572770099193808423[211] = 0.0; + out_6572770099193808423[212] = 0.0; + out_6572770099193808423[213] = 0.0; + out_6572770099193808423[214] = 0.0; + out_6572770099193808423[215] = 0.0; + out_6572770099193808423[216] = 0.0; + out_6572770099193808423[217] = 0.0; + out_6572770099193808423[218] = 0.0; + out_6572770099193808423[219] = 0.0; + out_6572770099193808423[220] = 0.0; + out_6572770099193808423[221] = 0.0; + out_6572770099193808423[222] = 0.0; + out_6572770099193808423[223] = 0.0; + out_6572770099193808423[224] = 0.0; + out_6572770099193808423[225] = 0.0; + out_6572770099193808423[226] = 0.0; + out_6572770099193808423[227] = 0.0; + out_6572770099193808423[228] = 1.0; + out_6572770099193808423[229] = 0.0; + out_6572770099193808423[230] = 0.0; + out_6572770099193808423[231] = 0.0; + out_6572770099193808423[232] = 0.0; + out_6572770099193808423[233] = 0.0; + out_6572770099193808423[234] = 0.0; + out_6572770099193808423[235] = 0.0; + out_6572770099193808423[236] = 0.0; + out_6572770099193808423[237] = 0.0; + out_6572770099193808423[238] = 0.0; + out_6572770099193808423[239] = 0.0; + out_6572770099193808423[240] = 0.0; + out_6572770099193808423[241] = 0.0; + out_6572770099193808423[242] = 0.0; + out_6572770099193808423[243] = 0.0; + out_6572770099193808423[244] = 0.0; + out_6572770099193808423[245] = 0.0; + out_6572770099193808423[246] = 0.0; + out_6572770099193808423[247] = 1.0; + out_6572770099193808423[248] = 0.0; + out_6572770099193808423[249] = 0.0; + out_6572770099193808423[250] = 0.0; + out_6572770099193808423[251] = 0.0; + out_6572770099193808423[252] = 0.0; + out_6572770099193808423[253] = 0.0; + out_6572770099193808423[254] = 0.0; + out_6572770099193808423[255] = 0.0; + out_6572770099193808423[256] = 0.0; + out_6572770099193808423[257] = 0.0; + out_6572770099193808423[258] = 0.0; + out_6572770099193808423[259] = 0.0; + out_6572770099193808423[260] = 0.0; + out_6572770099193808423[261] = 0.0; + out_6572770099193808423[262] = 0.0; + out_6572770099193808423[263] = 0.0; + out_6572770099193808423[264] = 0.0; + out_6572770099193808423[265] = 0.0; + out_6572770099193808423[266] = 1.0; + out_6572770099193808423[267] = 0.0; + out_6572770099193808423[268] = 0.0; + out_6572770099193808423[269] = 0.0; + out_6572770099193808423[270] = 0.0; + out_6572770099193808423[271] = 0.0; + out_6572770099193808423[272] = 0.0; + out_6572770099193808423[273] = 0.0; + out_6572770099193808423[274] = 0.0; + out_6572770099193808423[275] = 0.0; + out_6572770099193808423[276] = 0.0; + out_6572770099193808423[277] = 0.0; + out_6572770099193808423[278] = 0.0; + out_6572770099193808423[279] = 0.0; + out_6572770099193808423[280] = 0.0; + out_6572770099193808423[281] = 0.0; + out_6572770099193808423[282] = 0.0; + out_6572770099193808423[283] = 0.0; + out_6572770099193808423[284] = 0.0; + out_6572770099193808423[285] = 1.0; + out_6572770099193808423[286] = 0.0; + out_6572770099193808423[287] = 0.0; + out_6572770099193808423[288] = 0.0; + out_6572770099193808423[289] = 0.0; + out_6572770099193808423[290] = 0.0; + out_6572770099193808423[291] = 0.0; + out_6572770099193808423[292] = 0.0; + out_6572770099193808423[293] = 0.0; + out_6572770099193808423[294] = 0.0; + out_6572770099193808423[295] = 0.0; + out_6572770099193808423[296] = 0.0; + out_6572770099193808423[297] = 0.0; + out_6572770099193808423[298] = 0.0; + out_6572770099193808423[299] = 0.0; + out_6572770099193808423[300] = 0.0; + out_6572770099193808423[301] = 0.0; + out_6572770099193808423[302] = 0.0; + out_6572770099193808423[303] = 0.0; + out_6572770099193808423[304] = 1.0; + out_6572770099193808423[305] = 0.0; + out_6572770099193808423[306] = 0.0; + out_6572770099193808423[307] = 0.0; + out_6572770099193808423[308] = 0.0; + out_6572770099193808423[309] = 0.0; + out_6572770099193808423[310] = 0.0; + out_6572770099193808423[311] = 0.0; + out_6572770099193808423[312] = 0.0; + out_6572770099193808423[313] = 0.0; + out_6572770099193808423[314] = 0.0; + out_6572770099193808423[315] = 0.0; + out_6572770099193808423[316] = 0.0; + out_6572770099193808423[317] = 0.0; + out_6572770099193808423[318] = 0.0; + out_6572770099193808423[319] = 0.0; + out_6572770099193808423[320] = 0.0; + out_6572770099193808423[321] = 0.0; + out_6572770099193808423[322] = 0.0; + out_6572770099193808423[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5042547316032857663) { - out_5042547316032857663[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_5042547316032857663[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_5042547316032857663[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_5042547316032857663[3] = dt*state[12] + state[3]; - out_5042547316032857663[4] = dt*state[13] + state[4]; - out_5042547316032857663[5] = dt*state[14] + state[5]; - out_5042547316032857663[6] = state[6]; - out_5042547316032857663[7] = state[7]; - out_5042547316032857663[8] = state[8]; - out_5042547316032857663[9] = state[9]; - out_5042547316032857663[10] = state[10]; - out_5042547316032857663[11] = state[11]; - out_5042547316032857663[12] = state[12]; - out_5042547316032857663[13] = state[13]; - out_5042547316032857663[14] = state[14]; - out_5042547316032857663[15] = state[15]; - out_5042547316032857663[16] = state[16]; - out_5042547316032857663[17] = state[17]; +void f_fun(double *state, double dt, double *out_972215043360367871) { + out_972215043360367871[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_972215043360367871[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_972215043360367871[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_972215043360367871[3] = dt*state[12] + state[3]; + out_972215043360367871[4] = dt*state[13] + state[4]; + out_972215043360367871[5] = dt*state[14] + state[5]; + out_972215043360367871[6] = state[6]; + out_972215043360367871[7] = state[7]; + out_972215043360367871[8] = state[8]; + out_972215043360367871[9] = state[9]; + out_972215043360367871[10] = state[10]; + out_972215043360367871[11] = state[11]; + out_972215043360367871[12] = state[12]; + out_972215043360367871[13] = state[13]; + out_972215043360367871[14] = state[14]; + out_972215043360367871[15] = state[15]; + out_972215043360367871[16] = state[16]; + out_972215043360367871[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6708996175305477877) { - out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[2] = 0; - out_6708996175305477877[3] = 0; - out_6708996175305477877[4] = 0; - out_6708996175305477877[5] = 0; - out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[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_6708996175305477877[9] = 0; - out_6708996175305477877[10] = 0; - out_6708996175305477877[11] = 0; - out_6708996175305477877[12] = 0; - out_6708996175305477877[13] = 0; - out_6708996175305477877[14] = 0; - out_6708996175305477877[15] = 0; - out_6708996175305477877[16] = 0; - out_6708996175305477877[17] = 0; - out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[20] = 0; - out_6708996175305477877[21] = 0; - out_6708996175305477877[22] = 0; - out_6708996175305477877[23] = 0; - out_6708996175305477877[24] = 0; - out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[27] = 0; - out_6708996175305477877[28] = 0; - out_6708996175305477877[29] = 0; - out_6708996175305477877[30] = 0; - out_6708996175305477877[31] = 0; - out_6708996175305477877[32] = 0; - out_6708996175305477877[33] = 0; - out_6708996175305477877[34] = 0; - out_6708996175305477877[35] = 0; - out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[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_6708996175305477877[39] = 0; - out_6708996175305477877[40] = 0; - out_6708996175305477877[41] = 0; - out_6708996175305477877[42] = 0; - out_6708996175305477877[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_6708996175305477877[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_6708996175305477877[45] = 0; - out_6708996175305477877[46] = 0; - out_6708996175305477877[47] = 0; - out_6708996175305477877[48] = 0; - out_6708996175305477877[49] = 0; - out_6708996175305477877[50] = 0; - out_6708996175305477877[51] = 0; - out_6708996175305477877[52] = 0; - out_6708996175305477877[53] = 0; - out_6708996175305477877[54] = 0; - out_6708996175305477877[55] = 0; - out_6708996175305477877[56] = 0; - out_6708996175305477877[57] = 1; - out_6708996175305477877[58] = 0; - out_6708996175305477877[59] = 0; - out_6708996175305477877[60] = 0; - out_6708996175305477877[61] = 0; - out_6708996175305477877[62] = 0; - out_6708996175305477877[63] = 0; - out_6708996175305477877[64] = 0; - out_6708996175305477877[65] = 0; - out_6708996175305477877[66] = dt; - out_6708996175305477877[67] = 0; - out_6708996175305477877[68] = 0; - out_6708996175305477877[69] = 0; - out_6708996175305477877[70] = 0; - out_6708996175305477877[71] = 0; - out_6708996175305477877[72] = 0; - out_6708996175305477877[73] = 0; - out_6708996175305477877[74] = 0; - out_6708996175305477877[75] = 0; - out_6708996175305477877[76] = 1; - out_6708996175305477877[77] = 0; - out_6708996175305477877[78] = 0; - out_6708996175305477877[79] = 0; - out_6708996175305477877[80] = 0; - out_6708996175305477877[81] = 0; - out_6708996175305477877[82] = 0; - out_6708996175305477877[83] = 0; - out_6708996175305477877[84] = 0; - out_6708996175305477877[85] = dt; - out_6708996175305477877[86] = 0; - out_6708996175305477877[87] = 0; - out_6708996175305477877[88] = 0; - out_6708996175305477877[89] = 0; - out_6708996175305477877[90] = 0; - out_6708996175305477877[91] = 0; - out_6708996175305477877[92] = 0; - out_6708996175305477877[93] = 0; - out_6708996175305477877[94] = 0; - out_6708996175305477877[95] = 1; - out_6708996175305477877[96] = 0; - out_6708996175305477877[97] = 0; - out_6708996175305477877[98] = 0; - out_6708996175305477877[99] = 0; - out_6708996175305477877[100] = 0; - out_6708996175305477877[101] = 0; - out_6708996175305477877[102] = 0; - out_6708996175305477877[103] = 0; - out_6708996175305477877[104] = dt; - out_6708996175305477877[105] = 0; - out_6708996175305477877[106] = 0; - out_6708996175305477877[107] = 0; - out_6708996175305477877[108] = 0; - out_6708996175305477877[109] = 0; - out_6708996175305477877[110] = 0; - out_6708996175305477877[111] = 0; - out_6708996175305477877[112] = 0; - out_6708996175305477877[113] = 0; - out_6708996175305477877[114] = 1; - out_6708996175305477877[115] = 0; - out_6708996175305477877[116] = 0; - out_6708996175305477877[117] = 0; - out_6708996175305477877[118] = 0; - out_6708996175305477877[119] = 0; - out_6708996175305477877[120] = 0; - out_6708996175305477877[121] = 0; - out_6708996175305477877[122] = 0; - out_6708996175305477877[123] = 0; - out_6708996175305477877[124] = 0; - out_6708996175305477877[125] = 0; - out_6708996175305477877[126] = 0; - out_6708996175305477877[127] = 0; - out_6708996175305477877[128] = 0; - out_6708996175305477877[129] = 0; - out_6708996175305477877[130] = 0; - out_6708996175305477877[131] = 0; - out_6708996175305477877[132] = 0; - out_6708996175305477877[133] = 1; - out_6708996175305477877[134] = 0; - out_6708996175305477877[135] = 0; - out_6708996175305477877[136] = 0; - out_6708996175305477877[137] = 0; - out_6708996175305477877[138] = 0; - out_6708996175305477877[139] = 0; - out_6708996175305477877[140] = 0; - out_6708996175305477877[141] = 0; - out_6708996175305477877[142] = 0; - out_6708996175305477877[143] = 0; - out_6708996175305477877[144] = 0; - out_6708996175305477877[145] = 0; - out_6708996175305477877[146] = 0; - out_6708996175305477877[147] = 0; - out_6708996175305477877[148] = 0; - out_6708996175305477877[149] = 0; - out_6708996175305477877[150] = 0; - out_6708996175305477877[151] = 0; - out_6708996175305477877[152] = 1; - out_6708996175305477877[153] = 0; - out_6708996175305477877[154] = 0; - out_6708996175305477877[155] = 0; - out_6708996175305477877[156] = 0; - out_6708996175305477877[157] = 0; - out_6708996175305477877[158] = 0; - out_6708996175305477877[159] = 0; - out_6708996175305477877[160] = 0; - out_6708996175305477877[161] = 0; - out_6708996175305477877[162] = 0; - out_6708996175305477877[163] = 0; - out_6708996175305477877[164] = 0; - out_6708996175305477877[165] = 0; - out_6708996175305477877[166] = 0; - out_6708996175305477877[167] = 0; - out_6708996175305477877[168] = 0; - out_6708996175305477877[169] = 0; - out_6708996175305477877[170] = 0; - out_6708996175305477877[171] = 1; - out_6708996175305477877[172] = 0; - out_6708996175305477877[173] = 0; - out_6708996175305477877[174] = 0; - out_6708996175305477877[175] = 0; - out_6708996175305477877[176] = 0; - out_6708996175305477877[177] = 0; - out_6708996175305477877[178] = 0; - out_6708996175305477877[179] = 0; - out_6708996175305477877[180] = 0; - out_6708996175305477877[181] = 0; - out_6708996175305477877[182] = 0; - out_6708996175305477877[183] = 0; - out_6708996175305477877[184] = 0; - out_6708996175305477877[185] = 0; - out_6708996175305477877[186] = 0; - out_6708996175305477877[187] = 0; - out_6708996175305477877[188] = 0; - out_6708996175305477877[189] = 0; - out_6708996175305477877[190] = 1; - out_6708996175305477877[191] = 0; - out_6708996175305477877[192] = 0; - out_6708996175305477877[193] = 0; - out_6708996175305477877[194] = 0; - out_6708996175305477877[195] = 0; - out_6708996175305477877[196] = 0; - out_6708996175305477877[197] = 0; - out_6708996175305477877[198] = 0; - out_6708996175305477877[199] = 0; - out_6708996175305477877[200] = 0; - out_6708996175305477877[201] = 0; - out_6708996175305477877[202] = 0; - out_6708996175305477877[203] = 0; - out_6708996175305477877[204] = 0; - out_6708996175305477877[205] = 0; - out_6708996175305477877[206] = 0; - out_6708996175305477877[207] = 0; - out_6708996175305477877[208] = 0; - out_6708996175305477877[209] = 1; - out_6708996175305477877[210] = 0; - out_6708996175305477877[211] = 0; - out_6708996175305477877[212] = 0; - out_6708996175305477877[213] = 0; - out_6708996175305477877[214] = 0; - out_6708996175305477877[215] = 0; - out_6708996175305477877[216] = 0; - out_6708996175305477877[217] = 0; - out_6708996175305477877[218] = 0; - out_6708996175305477877[219] = 0; - out_6708996175305477877[220] = 0; - out_6708996175305477877[221] = 0; - out_6708996175305477877[222] = 0; - out_6708996175305477877[223] = 0; - out_6708996175305477877[224] = 0; - out_6708996175305477877[225] = 0; - out_6708996175305477877[226] = 0; - out_6708996175305477877[227] = 0; - out_6708996175305477877[228] = 1; - out_6708996175305477877[229] = 0; - out_6708996175305477877[230] = 0; - out_6708996175305477877[231] = 0; - out_6708996175305477877[232] = 0; - out_6708996175305477877[233] = 0; - out_6708996175305477877[234] = 0; - out_6708996175305477877[235] = 0; - out_6708996175305477877[236] = 0; - out_6708996175305477877[237] = 0; - out_6708996175305477877[238] = 0; - out_6708996175305477877[239] = 0; - out_6708996175305477877[240] = 0; - out_6708996175305477877[241] = 0; - out_6708996175305477877[242] = 0; - out_6708996175305477877[243] = 0; - out_6708996175305477877[244] = 0; - out_6708996175305477877[245] = 0; - out_6708996175305477877[246] = 0; - out_6708996175305477877[247] = 1; - out_6708996175305477877[248] = 0; - out_6708996175305477877[249] = 0; - out_6708996175305477877[250] = 0; - out_6708996175305477877[251] = 0; - out_6708996175305477877[252] = 0; - out_6708996175305477877[253] = 0; - out_6708996175305477877[254] = 0; - out_6708996175305477877[255] = 0; - out_6708996175305477877[256] = 0; - out_6708996175305477877[257] = 0; - out_6708996175305477877[258] = 0; - out_6708996175305477877[259] = 0; - out_6708996175305477877[260] = 0; - out_6708996175305477877[261] = 0; - out_6708996175305477877[262] = 0; - out_6708996175305477877[263] = 0; - out_6708996175305477877[264] = 0; - out_6708996175305477877[265] = 0; - out_6708996175305477877[266] = 1; - out_6708996175305477877[267] = 0; - out_6708996175305477877[268] = 0; - out_6708996175305477877[269] = 0; - out_6708996175305477877[270] = 0; - out_6708996175305477877[271] = 0; - out_6708996175305477877[272] = 0; - out_6708996175305477877[273] = 0; - out_6708996175305477877[274] = 0; - out_6708996175305477877[275] = 0; - out_6708996175305477877[276] = 0; - out_6708996175305477877[277] = 0; - out_6708996175305477877[278] = 0; - out_6708996175305477877[279] = 0; - out_6708996175305477877[280] = 0; - out_6708996175305477877[281] = 0; - out_6708996175305477877[282] = 0; - out_6708996175305477877[283] = 0; - out_6708996175305477877[284] = 0; - out_6708996175305477877[285] = 1; - out_6708996175305477877[286] = 0; - out_6708996175305477877[287] = 0; - out_6708996175305477877[288] = 0; - out_6708996175305477877[289] = 0; - out_6708996175305477877[290] = 0; - out_6708996175305477877[291] = 0; - out_6708996175305477877[292] = 0; - out_6708996175305477877[293] = 0; - out_6708996175305477877[294] = 0; - out_6708996175305477877[295] = 0; - out_6708996175305477877[296] = 0; - out_6708996175305477877[297] = 0; - out_6708996175305477877[298] = 0; - out_6708996175305477877[299] = 0; - out_6708996175305477877[300] = 0; - out_6708996175305477877[301] = 0; - out_6708996175305477877[302] = 0; - out_6708996175305477877[303] = 0; - out_6708996175305477877[304] = 1; - out_6708996175305477877[305] = 0; - out_6708996175305477877[306] = 0; - out_6708996175305477877[307] = 0; - out_6708996175305477877[308] = 0; - out_6708996175305477877[309] = 0; - out_6708996175305477877[310] = 0; - out_6708996175305477877[311] = 0; - out_6708996175305477877[312] = 0; - out_6708996175305477877[313] = 0; - out_6708996175305477877[314] = 0; - out_6708996175305477877[315] = 0; - out_6708996175305477877[316] = 0; - out_6708996175305477877[317] = 0; - out_6708996175305477877[318] = 0; - out_6708996175305477877[319] = 0; - out_6708996175305477877[320] = 0; - out_6708996175305477877[321] = 0; - out_6708996175305477877[322] = 0; - out_6708996175305477877[323] = 1; +void F_fun(double *state, double dt, double *out_9096792433349462064) { + out_9096792433349462064[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_9096792433349462064[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_9096792433349462064[2] = 0; + out_9096792433349462064[3] = 0; + out_9096792433349462064[4] = 0; + out_9096792433349462064[5] = 0; + out_9096792433349462064[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_9096792433349462064[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_9096792433349462064[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_9096792433349462064[9] = 0; + out_9096792433349462064[10] = 0; + out_9096792433349462064[11] = 0; + out_9096792433349462064[12] = 0; + out_9096792433349462064[13] = 0; + out_9096792433349462064[14] = 0; + out_9096792433349462064[15] = 0; + out_9096792433349462064[16] = 0; + out_9096792433349462064[17] = 0; + out_9096792433349462064[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_9096792433349462064[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_9096792433349462064[20] = 0; + out_9096792433349462064[21] = 0; + out_9096792433349462064[22] = 0; + out_9096792433349462064[23] = 0; + out_9096792433349462064[24] = 0; + out_9096792433349462064[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_9096792433349462064[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_9096792433349462064[27] = 0; + out_9096792433349462064[28] = 0; + out_9096792433349462064[29] = 0; + out_9096792433349462064[30] = 0; + out_9096792433349462064[31] = 0; + out_9096792433349462064[32] = 0; + out_9096792433349462064[33] = 0; + out_9096792433349462064[34] = 0; + out_9096792433349462064[35] = 0; + out_9096792433349462064[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_9096792433349462064[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_9096792433349462064[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_9096792433349462064[39] = 0; + out_9096792433349462064[40] = 0; + out_9096792433349462064[41] = 0; + out_9096792433349462064[42] = 0; + out_9096792433349462064[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_9096792433349462064[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_9096792433349462064[45] = 0; + out_9096792433349462064[46] = 0; + out_9096792433349462064[47] = 0; + out_9096792433349462064[48] = 0; + out_9096792433349462064[49] = 0; + out_9096792433349462064[50] = 0; + out_9096792433349462064[51] = 0; + out_9096792433349462064[52] = 0; + out_9096792433349462064[53] = 0; + out_9096792433349462064[54] = 0; + out_9096792433349462064[55] = 0; + out_9096792433349462064[56] = 0; + out_9096792433349462064[57] = 1; + out_9096792433349462064[58] = 0; + out_9096792433349462064[59] = 0; + out_9096792433349462064[60] = 0; + out_9096792433349462064[61] = 0; + out_9096792433349462064[62] = 0; + out_9096792433349462064[63] = 0; + out_9096792433349462064[64] = 0; + out_9096792433349462064[65] = 0; + out_9096792433349462064[66] = dt; + out_9096792433349462064[67] = 0; + out_9096792433349462064[68] = 0; + out_9096792433349462064[69] = 0; + out_9096792433349462064[70] = 0; + out_9096792433349462064[71] = 0; + out_9096792433349462064[72] = 0; + out_9096792433349462064[73] = 0; + out_9096792433349462064[74] = 0; + out_9096792433349462064[75] = 0; + out_9096792433349462064[76] = 1; + out_9096792433349462064[77] = 0; + out_9096792433349462064[78] = 0; + out_9096792433349462064[79] = 0; + out_9096792433349462064[80] = 0; + out_9096792433349462064[81] = 0; + out_9096792433349462064[82] = 0; + out_9096792433349462064[83] = 0; + out_9096792433349462064[84] = 0; + out_9096792433349462064[85] = dt; + out_9096792433349462064[86] = 0; + out_9096792433349462064[87] = 0; + out_9096792433349462064[88] = 0; + out_9096792433349462064[89] = 0; + out_9096792433349462064[90] = 0; + out_9096792433349462064[91] = 0; + out_9096792433349462064[92] = 0; + out_9096792433349462064[93] = 0; + out_9096792433349462064[94] = 0; + out_9096792433349462064[95] = 1; + out_9096792433349462064[96] = 0; + out_9096792433349462064[97] = 0; + out_9096792433349462064[98] = 0; + out_9096792433349462064[99] = 0; + out_9096792433349462064[100] = 0; + out_9096792433349462064[101] = 0; + out_9096792433349462064[102] = 0; + out_9096792433349462064[103] = 0; + out_9096792433349462064[104] = dt; + out_9096792433349462064[105] = 0; + out_9096792433349462064[106] = 0; + out_9096792433349462064[107] = 0; + out_9096792433349462064[108] = 0; + out_9096792433349462064[109] = 0; + out_9096792433349462064[110] = 0; + out_9096792433349462064[111] = 0; + out_9096792433349462064[112] = 0; + out_9096792433349462064[113] = 0; + out_9096792433349462064[114] = 1; + out_9096792433349462064[115] = 0; + out_9096792433349462064[116] = 0; + out_9096792433349462064[117] = 0; + out_9096792433349462064[118] = 0; + out_9096792433349462064[119] = 0; + out_9096792433349462064[120] = 0; + out_9096792433349462064[121] = 0; + out_9096792433349462064[122] = 0; + out_9096792433349462064[123] = 0; + out_9096792433349462064[124] = 0; + out_9096792433349462064[125] = 0; + out_9096792433349462064[126] = 0; + out_9096792433349462064[127] = 0; + out_9096792433349462064[128] = 0; + out_9096792433349462064[129] = 0; + out_9096792433349462064[130] = 0; + out_9096792433349462064[131] = 0; + out_9096792433349462064[132] = 0; + out_9096792433349462064[133] = 1; + out_9096792433349462064[134] = 0; + out_9096792433349462064[135] = 0; + out_9096792433349462064[136] = 0; + out_9096792433349462064[137] = 0; + out_9096792433349462064[138] = 0; + out_9096792433349462064[139] = 0; + out_9096792433349462064[140] = 0; + out_9096792433349462064[141] = 0; + out_9096792433349462064[142] = 0; + out_9096792433349462064[143] = 0; + out_9096792433349462064[144] = 0; + out_9096792433349462064[145] = 0; + out_9096792433349462064[146] = 0; + out_9096792433349462064[147] = 0; + out_9096792433349462064[148] = 0; + out_9096792433349462064[149] = 0; + out_9096792433349462064[150] = 0; + out_9096792433349462064[151] = 0; + out_9096792433349462064[152] = 1; + out_9096792433349462064[153] = 0; + out_9096792433349462064[154] = 0; + out_9096792433349462064[155] = 0; + out_9096792433349462064[156] = 0; + out_9096792433349462064[157] = 0; + out_9096792433349462064[158] = 0; + out_9096792433349462064[159] = 0; + out_9096792433349462064[160] = 0; + out_9096792433349462064[161] = 0; + out_9096792433349462064[162] = 0; + out_9096792433349462064[163] = 0; + out_9096792433349462064[164] = 0; + out_9096792433349462064[165] = 0; + out_9096792433349462064[166] = 0; + out_9096792433349462064[167] = 0; + out_9096792433349462064[168] = 0; + out_9096792433349462064[169] = 0; + out_9096792433349462064[170] = 0; + out_9096792433349462064[171] = 1; + out_9096792433349462064[172] = 0; + out_9096792433349462064[173] = 0; + out_9096792433349462064[174] = 0; + out_9096792433349462064[175] = 0; + out_9096792433349462064[176] = 0; + out_9096792433349462064[177] = 0; + out_9096792433349462064[178] = 0; + out_9096792433349462064[179] = 0; + out_9096792433349462064[180] = 0; + out_9096792433349462064[181] = 0; + out_9096792433349462064[182] = 0; + out_9096792433349462064[183] = 0; + out_9096792433349462064[184] = 0; + out_9096792433349462064[185] = 0; + out_9096792433349462064[186] = 0; + out_9096792433349462064[187] = 0; + out_9096792433349462064[188] = 0; + out_9096792433349462064[189] = 0; + out_9096792433349462064[190] = 1; + out_9096792433349462064[191] = 0; + out_9096792433349462064[192] = 0; + out_9096792433349462064[193] = 0; + out_9096792433349462064[194] = 0; + out_9096792433349462064[195] = 0; + out_9096792433349462064[196] = 0; + out_9096792433349462064[197] = 0; + out_9096792433349462064[198] = 0; + out_9096792433349462064[199] = 0; + out_9096792433349462064[200] = 0; + out_9096792433349462064[201] = 0; + out_9096792433349462064[202] = 0; + out_9096792433349462064[203] = 0; + out_9096792433349462064[204] = 0; + out_9096792433349462064[205] = 0; + out_9096792433349462064[206] = 0; + out_9096792433349462064[207] = 0; + out_9096792433349462064[208] = 0; + out_9096792433349462064[209] = 1; + out_9096792433349462064[210] = 0; + out_9096792433349462064[211] = 0; + out_9096792433349462064[212] = 0; + out_9096792433349462064[213] = 0; + out_9096792433349462064[214] = 0; + out_9096792433349462064[215] = 0; + out_9096792433349462064[216] = 0; + out_9096792433349462064[217] = 0; + out_9096792433349462064[218] = 0; + out_9096792433349462064[219] = 0; + out_9096792433349462064[220] = 0; + out_9096792433349462064[221] = 0; + out_9096792433349462064[222] = 0; + out_9096792433349462064[223] = 0; + out_9096792433349462064[224] = 0; + out_9096792433349462064[225] = 0; + out_9096792433349462064[226] = 0; + out_9096792433349462064[227] = 0; + out_9096792433349462064[228] = 1; + out_9096792433349462064[229] = 0; + out_9096792433349462064[230] = 0; + out_9096792433349462064[231] = 0; + out_9096792433349462064[232] = 0; + out_9096792433349462064[233] = 0; + out_9096792433349462064[234] = 0; + out_9096792433349462064[235] = 0; + out_9096792433349462064[236] = 0; + out_9096792433349462064[237] = 0; + out_9096792433349462064[238] = 0; + out_9096792433349462064[239] = 0; + out_9096792433349462064[240] = 0; + out_9096792433349462064[241] = 0; + out_9096792433349462064[242] = 0; + out_9096792433349462064[243] = 0; + out_9096792433349462064[244] = 0; + out_9096792433349462064[245] = 0; + out_9096792433349462064[246] = 0; + out_9096792433349462064[247] = 1; + out_9096792433349462064[248] = 0; + out_9096792433349462064[249] = 0; + out_9096792433349462064[250] = 0; + out_9096792433349462064[251] = 0; + out_9096792433349462064[252] = 0; + out_9096792433349462064[253] = 0; + out_9096792433349462064[254] = 0; + out_9096792433349462064[255] = 0; + out_9096792433349462064[256] = 0; + out_9096792433349462064[257] = 0; + out_9096792433349462064[258] = 0; + out_9096792433349462064[259] = 0; + out_9096792433349462064[260] = 0; + out_9096792433349462064[261] = 0; + out_9096792433349462064[262] = 0; + out_9096792433349462064[263] = 0; + out_9096792433349462064[264] = 0; + out_9096792433349462064[265] = 0; + out_9096792433349462064[266] = 1; + out_9096792433349462064[267] = 0; + out_9096792433349462064[268] = 0; + out_9096792433349462064[269] = 0; + out_9096792433349462064[270] = 0; + out_9096792433349462064[271] = 0; + out_9096792433349462064[272] = 0; + out_9096792433349462064[273] = 0; + out_9096792433349462064[274] = 0; + out_9096792433349462064[275] = 0; + out_9096792433349462064[276] = 0; + out_9096792433349462064[277] = 0; + out_9096792433349462064[278] = 0; + out_9096792433349462064[279] = 0; + out_9096792433349462064[280] = 0; + out_9096792433349462064[281] = 0; + out_9096792433349462064[282] = 0; + out_9096792433349462064[283] = 0; + out_9096792433349462064[284] = 0; + out_9096792433349462064[285] = 1; + out_9096792433349462064[286] = 0; + out_9096792433349462064[287] = 0; + out_9096792433349462064[288] = 0; + out_9096792433349462064[289] = 0; + out_9096792433349462064[290] = 0; + out_9096792433349462064[291] = 0; + out_9096792433349462064[292] = 0; + out_9096792433349462064[293] = 0; + out_9096792433349462064[294] = 0; + out_9096792433349462064[295] = 0; + out_9096792433349462064[296] = 0; + out_9096792433349462064[297] = 0; + out_9096792433349462064[298] = 0; + out_9096792433349462064[299] = 0; + out_9096792433349462064[300] = 0; + out_9096792433349462064[301] = 0; + out_9096792433349462064[302] = 0; + out_9096792433349462064[303] = 0; + out_9096792433349462064[304] = 1; + out_9096792433349462064[305] = 0; + out_9096792433349462064[306] = 0; + out_9096792433349462064[307] = 0; + out_9096792433349462064[308] = 0; + out_9096792433349462064[309] = 0; + out_9096792433349462064[310] = 0; + out_9096792433349462064[311] = 0; + out_9096792433349462064[312] = 0; + out_9096792433349462064[313] = 0; + out_9096792433349462064[314] = 0; + out_9096792433349462064[315] = 0; + out_9096792433349462064[316] = 0; + out_9096792433349462064[317] = 0; + out_9096792433349462064[318] = 0; + out_9096792433349462064[319] = 0; + out_9096792433349462064[320] = 0; + out_9096792433349462064[321] = 0; + out_9096792433349462064[322] = 0; + out_9096792433349462064[323] = 1; } -void h_4(double *state, double *unused, double *out_3603221658780671100) { - out_3603221658780671100[0] = state[6] + state[9]; - out_3603221658780671100[1] = state[7] + state[10]; - out_3603221658780671100[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2265781100835663155) { + out_2265781100835663155[0] = state[6] + state[9]; + out_2265781100835663155[1] = state[7] + state[10]; + out_2265781100835663155[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_7556357530358465972) { - out_7556357530358465972[0] = 0; - out_7556357530358465972[1] = 0; - out_7556357530358465972[2] = 0; - out_7556357530358465972[3] = 0; - out_7556357530358465972[4] = 0; - out_7556357530358465972[5] = 0; - out_7556357530358465972[6] = 1; - out_7556357530358465972[7] = 0; - out_7556357530358465972[8] = 0; - out_7556357530358465972[9] = 1; - out_7556357530358465972[10] = 0; - out_7556357530358465972[11] = 0; - out_7556357530358465972[12] = 0; - out_7556357530358465972[13] = 0; - out_7556357530358465972[14] = 0; - out_7556357530358465972[15] = 0; - out_7556357530358465972[16] = 0; - out_7556357530358465972[17] = 0; - out_7556357530358465972[18] = 0; - out_7556357530358465972[19] = 0; - out_7556357530358465972[20] = 0; - out_7556357530358465972[21] = 0; - out_7556357530358465972[22] = 0; - out_7556357530358465972[23] = 0; - out_7556357530358465972[24] = 0; - out_7556357530358465972[25] = 1; - out_7556357530358465972[26] = 0; - out_7556357530358465972[27] = 0; - out_7556357530358465972[28] = 1; - out_7556357530358465972[29] = 0; - out_7556357530358465972[30] = 0; - out_7556357530358465972[31] = 0; - out_7556357530358465972[32] = 0; - out_7556357530358465972[33] = 0; - out_7556357530358465972[34] = 0; - out_7556357530358465972[35] = 0; - out_7556357530358465972[36] = 0; - out_7556357530358465972[37] = 0; - out_7556357530358465972[38] = 0; - out_7556357530358465972[39] = 0; - out_7556357530358465972[40] = 0; - out_7556357530358465972[41] = 0; - out_7556357530358465972[42] = 0; - out_7556357530358465972[43] = 0; - out_7556357530358465972[44] = 1; - out_7556357530358465972[45] = 0; - out_7556357530358465972[46] = 0; - out_7556357530358465972[47] = 1; - out_7556357530358465972[48] = 0; - out_7556357530358465972[49] = 0; - out_7556357530358465972[50] = 0; - out_7556357530358465972[51] = 0; - out_7556357530358465972[52] = 0; - out_7556357530358465972[53] = 0; +void H_4(double *state, double *unused, double *out_8392468825100105284) { + out_8392468825100105284[0] = 0; + out_8392468825100105284[1] = 0; + out_8392468825100105284[2] = 0; + out_8392468825100105284[3] = 0; + out_8392468825100105284[4] = 0; + out_8392468825100105284[5] = 0; + out_8392468825100105284[6] = 1; + out_8392468825100105284[7] = 0; + out_8392468825100105284[8] = 0; + out_8392468825100105284[9] = 1; + out_8392468825100105284[10] = 0; + out_8392468825100105284[11] = 0; + out_8392468825100105284[12] = 0; + out_8392468825100105284[13] = 0; + out_8392468825100105284[14] = 0; + out_8392468825100105284[15] = 0; + out_8392468825100105284[16] = 0; + out_8392468825100105284[17] = 0; + out_8392468825100105284[18] = 0; + out_8392468825100105284[19] = 0; + out_8392468825100105284[20] = 0; + out_8392468825100105284[21] = 0; + out_8392468825100105284[22] = 0; + out_8392468825100105284[23] = 0; + out_8392468825100105284[24] = 0; + out_8392468825100105284[25] = 1; + out_8392468825100105284[26] = 0; + out_8392468825100105284[27] = 0; + out_8392468825100105284[28] = 1; + out_8392468825100105284[29] = 0; + out_8392468825100105284[30] = 0; + out_8392468825100105284[31] = 0; + out_8392468825100105284[32] = 0; + out_8392468825100105284[33] = 0; + out_8392468825100105284[34] = 0; + out_8392468825100105284[35] = 0; + out_8392468825100105284[36] = 0; + out_8392468825100105284[37] = 0; + out_8392468825100105284[38] = 0; + out_8392468825100105284[39] = 0; + out_8392468825100105284[40] = 0; + out_8392468825100105284[41] = 0; + out_8392468825100105284[42] = 0; + out_8392468825100105284[43] = 0; + out_8392468825100105284[44] = 1; + out_8392468825100105284[45] = 0; + out_8392468825100105284[46] = 0; + out_8392468825100105284[47] = 1; + out_8392468825100105284[48] = 0; + out_8392468825100105284[49] = 0; + out_8392468825100105284[50] = 0; + out_8392468825100105284[51] = 0; + out_8392468825100105284[52] = 0; + out_8392468825100105284[53] = 0; } -void h_10(double *state, double *unused, double *out_8258563454346399047) { - out_8258563454346399047[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8258563454346399047[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8258563454346399047[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_316139620022094761) { + out_316139620022094761[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_316139620022094761[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_316139620022094761[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_2735534763065741146) { - out_2735534763065741146[0] = 0; - out_2735534763065741146[1] = 9.8100000000000005*cos(state[1]); - out_2735534763065741146[2] = 0; - out_2735534763065741146[3] = 0; - out_2735534763065741146[4] = -state[8]; - out_2735534763065741146[5] = state[7]; - out_2735534763065741146[6] = 0; - out_2735534763065741146[7] = state[5]; - out_2735534763065741146[8] = -state[4]; - out_2735534763065741146[9] = 0; - out_2735534763065741146[10] = 0; - out_2735534763065741146[11] = 0; - out_2735534763065741146[12] = 1; - out_2735534763065741146[13] = 0; - out_2735534763065741146[14] = 0; - out_2735534763065741146[15] = 1; - out_2735534763065741146[16] = 0; - out_2735534763065741146[17] = 0; - out_2735534763065741146[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2735534763065741146[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2735534763065741146[20] = 0; - out_2735534763065741146[21] = state[8]; - out_2735534763065741146[22] = 0; - out_2735534763065741146[23] = -state[6]; - out_2735534763065741146[24] = -state[5]; - out_2735534763065741146[25] = 0; - out_2735534763065741146[26] = state[3]; - out_2735534763065741146[27] = 0; - out_2735534763065741146[28] = 0; - out_2735534763065741146[29] = 0; - out_2735534763065741146[30] = 0; - out_2735534763065741146[31] = 1; - out_2735534763065741146[32] = 0; - out_2735534763065741146[33] = 0; - out_2735534763065741146[34] = 1; - out_2735534763065741146[35] = 0; - out_2735534763065741146[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2735534763065741146[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2735534763065741146[38] = 0; - out_2735534763065741146[39] = -state[7]; - out_2735534763065741146[40] = state[6]; - out_2735534763065741146[41] = 0; - out_2735534763065741146[42] = state[4]; - out_2735534763065741146[43] = -state[3]; - out_2735534763065741146[44] = 0; - out_2735534763065741146[45] = 0; - out_2735534763065741146[46] = 0; - out_2735534763065741146[47] = 0; - out_2735534763065741146[48] = 0; - out_2735534763065741146[49] = 0; - out_2735534763065741146[50] = 1; - out_2735534763065741146[51] = 0; - out_2735534763065741146[52] = 0; - out_2735534763065741146[53] = 1; +void H_10(double *state, double *unused, double *out_3533745887327993443) { + out_3533745887327993443[0] = 0; + out_3533745887327993443[1] = 9.8100000000000005*cos(state[1]); + out_3533745887327993443[2] = 0; + out_3533745887327993443[3] = 0; + out_3533745887327993443[4] = -state[8]; + out_3533745887327993443[5] = state[7]; + out_3533745887327993443[6] = 0; + out_3533745887327993443[7] = state[5]; + out_3533745887327993443[8] = -state[4]; + out_3533745887327993443[9] = 0; + out_3533745887327993443[10] = 0; + out_3533745887327993443[11] = 0; + out_3533745887327993443[12] = 1; + out_3533745887327993443[13] = 0; + out_3533745887327993443[14] = 0; + out_3533745887327993443[15] = 1; + out_3533745887327993443[16] = 0; + out_3533745887327993443[17] = 0; + out_3533745887327993443[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3533745887327993443[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3533745887327993443[20] = 0; + out_3533745887327993443[21] = state[8]; + out_3533745887327993443[22] = 0; + out_3533745887327993443[23] = -state[6]; + out_3533745887327993443[24] = -state[5]; + out_3533745887327993443[25] = 0; + out_3533745887327993443[26] = state[3]; + out_3533745887327993443[27] = 0; + out_3533745887327993443[28] = 0; + out_3533745887327993443[29] = 0; + out_3533745887327993443[30] = 0; + out_3533745887327993443[31] = 1; + out_3533745887327993443[32] = 0; + out_3533745887327993443[33] = 0; + out_3533745887327993443[34] = 1; + out_3533745887327993443[35] = 0; + out_3533745887327993443[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3533745887327993443[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3533745887327993443[38] = 0; + out_3533745887327993443[39] = -state[7]; + out_3533745887327993443[40] = state[6]; + out_3533745887327993443[41] = 0; + out_3533745887327993443[42] = state[4]; + out_3533745887327993443[43] = -state[3]; + out_3533745887327993443[44] = 0; + out_3533745887327993443[45] = 0; + out_3533745887327993443[46] = 0; + out_3533745887327993443[47] = 0; + out_3533745887327993443[48] = 0; + out_3533745887327993443[49] = 0; + out_3533745887327993443[50] = 1; + out_3533745887327993443[51] = 0; + out_3533745887327993443[52] = 0; + out_3533745887327993443[53] = 1; } -void h_13(double *state, double *unused, double *out_7576910815427407655) { - out_7576910815427407655[0] = state[3]; - out_7576910815427407655[1] = state[4]; - out_7576910815427407655[2] = state[5]; +void h_13(double *state, double *unused, double *out_5506810827115614970) { + out_5506810827115614970[0] = state[3]; + out_5506810827115614970[1] = state[4]; + out_5506810827115614970[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4344083705026133171) { - out_4344083705026133171[0] = 0; - out_4344083705026133171[1] = 0; - out_4344083705026133171[2] = 0; - out_4344083705026133171[3] = 1; - out_4344083705026133171[4] = 0; - out_4344083705026133171[5] = 0; - out_4344083705026133171[6] = 0; - out_4344083705026133171[7] = 0; - out_4344083705026133171[8] = 0; - out_4344083705026133171[9] = 0; - out_4344083705026133171[10] = 0; - out_4344083705026133171[11] = 0; - out_4344083705026133171[12] = 0; - out_4344083705026133171[13] = 0; - out_4344083705026133171[14] = 0; - out_4344083705026133171[15] = 0; - out_4344083705026133171[16] = 0; - out_4344083705026133171[17] = 0; - out_4344083705026133171[18] = 0; - out_4344083705026133171[19] = 0; - out_4344083705026133171[20] = 0; - out_4344083705026133171[21] = 0; - out_4344083705026133171[22] = 1; - out_4344083705026133171[23] = 0; - out_4344083705026133171[24] = 0; - out_4344083705026133171[25] = 0; - out_4344083705026133171[26] = 0; - out_4344083705026133171[27] = 0; - out_4344083705026133171[28] = 0; - out_4344083705026133171[29] = 0; - out_4344083705026133171[30] = 0; - out_4344083705026133171[31] = 0; - out_4344083705026133171[32] = 0; - out_4344083705026133171[33] = 0; - out_4344083705026133171[34] = 0; - out_4344083705026133171[35] = 0; - out_4344083705026133171[36] = 0; - out_4344083705026133171[37] = 0; - out_4344083705026133171[38] = 0; - out_4344083705026133171[39] = 0; - out_4344083705026133171[40] = 0; - out_4344083705026133171[41] = 1; - out_4344083705026133171[42] = 0; - out_4344083705026133171[43] = 0; - out_4344083705026133171[44] = 0; - out_4344083705026133171[45] = 0; - out_4344083705026133171[46] = 0; - out_4344083705026133171[47] = 0; - out_4344083705026133171[48] = 0; - out_4344083705026133171[49] = 0; - out_4344083705026133171[50] = 0; - out_4344083705026133171[51] = 0; - out_4344083705026133171[52] = 0; - out_4344083705026133171[53] = 0; +void H_13(double *state, double *unused, double *out_781837616783404355) { + out_781837616783404355[0] = 0; + out_781837616783404355[1] = 0; + out_781837616783404355[2] = 0; + out_781837616783404355[3] = 1; + out_781837616783404355[4] = 0; + out_781837616783404355[5] = 0; + out_781837616783404355[6] = 0; + out_781837616783404355[7] = 0; + out_781837616783404355[8] = 0; + out_781837616783404355[9] = 0; + out_781837616783404355[10] = 0; + out_781837616783404355[11] = 0; + out_781837616783404355[12] = 0; + out_781837616783404355[13] = 0; + out_781837616783404355[14] = 0; + out_781837616783404355[15] = 0; + out_781837616783404355[16] = 0; + out_781837616783404355[17] = 0; + out_781837616783404355[18] = 0; + out_781837616783404355[19] = 0; + out_781837616783404355[20] = 0; + out_781837616783404355[21] = 0; + out_781837616783404355[22] = 1; + out_781837616783404355[23] = 0; + out_781837616783404355[24] = 0; + out_781837616783404355[25] = 0; + out_781837616783404355[26] = 0; + out_781837616783404355[27] = 0; + out_781837616783404355[28] = 0; + out_781837616783404355[29] = 0; + out_781837616783404355[30] = 0; + out_781837616783404355[31] = 0; + out_781837616783404355[32] = 0; + out_781837616783404355[33] = 0; + out_781837616783404355[34] = 0; + out_781837616783404355[35] = 0; + out_781837616783404355[36] = 0; + out_781837616783404355[37] = 0; + out_781837616783404355[38] = 0; + out_781837616783404355[39] = 0; + out_781837616783404355[40] = 0; + out_781837616783404355[41] = 1; + out_781837616783404355[42] = 0; + out_781837616783404355[43] = 0; + out_781837616783404355[44] = 0; + out_781837616783404355[45] = 0; + out_781837616783404355[46] = 0; + out_781837616783404355[47] = 0; + out_781837616783404355[48] = 0; + out_781837616783404355[49] = 0; + out_781837616783404355[50] = 0; + out_781837616783404355[51] = 0; + out_781837616783404355[52] = 0; + out_781837616783404355[53] = 0; } -void h_14(double *state, double *unused, double *out_984451843965455601) { - out_984451843965455601[0] = state[6]; - out_984451843965455601[1] = state[7]; - out_984451843965455601[2] = state[8]; +void h_14(double *state, double *unused, double *out_3429617090731340208) { + out_3429617090731340208[0] = state[6]; + out_3429617090731340208[1] = state[7]; + out_3429617090731340208[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7807598111055713348) { - out_7807598111055713348[0] = 0; - out_7807598111055713348[1] = 0; - out_7807598111055713348[2] = 0; - out_7807598111055713348[3] = 0; - out_7807598111055713348[4] = 0; - out_7807598111055713348[5] = 0; - out_7807598111055713348[6] = 1; - out_7807598111055713348[7] = 0; - out_7807598111055713348[8] = 0; - out_7807598111055713348[9] = 0; - out_7807598111055713348[10] = 0; - out_7807598111055713348[11] = 0; - out_7807598111055713348[12] = 0; - out_7807598111055713348[13] = 0; - out_7807598111055713348[14] = 0; - out_7807598111055713348[15] = 0; - out_7807598111055713348[16] = 0; - out_7807598111055713348[17] = 0; - out_7807598111055713348[18] = 0; - out_7807598111055713348[19] = 0; - out_7807598111055713348[20] = 0; - out_7807598111055713348[21] = 0; - out_7807598111055713348[22] = 0; - out_7807598111055713348[23] = 0; - out_7807598111055713348[24] = 0; - out_7807598111055713348[25] = 1; - out_7807598111055713348[26] = 0; - out_7807598111055713348[27] = 0; - out_7807598111055713348[28] = 0; - out_7807598111055713348[29] = 0; - out_7807598111055713348[30] = 0; - out_7807598111055713348[31] = 0; - out_7807598111055713348[32] = 0; - out_7807598111055713348[33] = 0; - out_7807598111055713348[34] = 0; - out_7807598111055713348[35] = 0; - out_7807598111055713348[36] = 0; - out_7807598111055713348[37] = 0; - out_7807598111055713348[38] = 0; - out_7807598111055713348[39] = 0; - out_7807598111055713348[40] = 0; - out_7807598111055713348[41] = 0; - out_7807598111055713348[42] = 0; - out_7807598111055713348[43] = 0; - out_7807598111055713348[44] = 1; - out_7807598111055713348[45] = 0; - out_7807598111055713348[46] = 0; - out_7807598111055713348[47] = 0; - out_7807598111055713348[48] = 0; - out_7807598111055713348[49] = 0; - out_7807598111055713348[50] = 0; - out_7807598111055713348[51] = 0; - out_7807598111055713348[52] = 0; - out_7807598111055713348[53] = 0; +void H_14(double *state, double *unused, double *out_4429227968760620755) { + out_4429227968760620755[0] = 0; + out_4429227968760620755[1] = 0; + out_4429227968760620755[2] = 0; + out_4429227968760620755[3] = 0; + out_4429227968760620755[4] = 0; + out_4429227968760620755[5] = 0; + out_4429227968760620755[6] = 1; + out_4429227968760620755[7] = 0; + out_4429227968760620755[8] = 0; + out_4429227968760620755[9] = 0; + out_4429227968760620755[10] = 0; + out_4429227968760620755[11] = 0; + out_4429227968760620755[12] = 0; + out_4429227968760620755[13] = 0; + out_4429227968760620755[14] = 0; + out_4429227968760620755[15] = 0; + out_4429227968760620755[16] = 0; + out_4429227968760620755[17] = 0; + out_4429227968760620755[18] = 0; + out_4429227968760620755[19] = 0; + out_4429227968760620755[20] = 0; + out_4429227968760620755[21] = 0; + out_4429227968760620755[22] = 0; + out_4429227968760620755[23] = 0; + out_4429227968760620755[24] = 0; + out_4429227968760620755[25] = 1; + out_4429227968760620755[26] = 0; + out_4429227968760620755[27] = 0; + out_4429227968760620755[28] = 0; + out_4429227968760620755[29] = 0; + out_4429227968760620755[30] = 0; + out_4429227968760620755[31] = 0; + out_4429227968760620755[32] = 0; + out_4429227968760620755[33] = 0; + out_4429227968760620755[34] = 0; + out_4429227968760620755[35] = 0; + out_4429227968760620755[36] = 0; + out_4429227968760620755[37] = 0; + out_4429227968760620755[38] = 0; + out_4429227968760620755[39] = 0; + out_4429227968760620755[40] = 0; + out_4429227968760620755[41] = 0; + out_4429227968760620755[42] = 0; + out_4429227968760620755[43] = 0; + out_4429227968760620755[44] = 1; + out_4429227968760620755[45] = 0; + out_4429227968760620755[46] = 0; + out_4429227968760620755[47] = 0; + out_4429227968760620755[48] = 0; + out_4429227968760620755[49] = 0; + out_4429227968760620755[50] = 0; + out_4429227968760620755[51] = 0; + out_4429227968760620755[52] = 0; + out_4429227968760620755[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_8743902382867857614) { - err_fun(nom_x, delta_x, out_8743902382867857614); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4567767818172860295) { + err_fun(nom_x, delta_x, out_4567767818172860295); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3636694381902544351) { - inv_err_fun(nom_x, true_x, out_3636694381902544351); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4613807108104960206) { + inv_err_fun(nom_x, true_x, out_4613807108104960206); } -void pose_H_mod_fun(double *state, double *out_2152190311268096506) { - H_mod_fun(state, out_2152190311268096506); +void pose_H_mod_fun(double *state, double *out_6572770099193808423) { + H_mod_fun(state, out_6572770099193808423); } -void pose_f_fun(double *state, double dt, double *out_5042547316032857663) { - f_fun(state, dt, out_5042547316032857663); +void pose_f_fun(double *state, double dt, double *out_972215043360367871) { + f_fun(state, dt, out_972215043360367871); } -void pose_F_fun(double *state, double dt, double *out_6708996175305477877) { - F_fun(state, dt, out_6708996175305477877); +void pose_F_fun(double *state, double dt, double *out_9096792433349462064) { + F_fun(state, dt, out_9096792433349462064); } -void pose_h_4(double *state, double *unused, double *out_3603221658780671100) { - h_4(state, unused, out_3603221658780671100); +void pose_h_4(double *state, double *unused, double *out_2265781100835663155) { + h_4(state, unused, out_2265781100835663155); } -void pose_H_4(double *state, double *unused, double *out_7556357530358465972) { - H_4(state, unused, out_7556357530358465972); +void pose_H_4(double *state, double *unused, double *out_8392468825100105284) { + H_4(state, unused, out_8392468825100105284); } -void pose_h_10(double *state, double *unused, double *out_8258563454346399047) { - h_10(state, unused, out_8258563454346399047); +void pose_h_10(double *state, double *unused, double *out_316139620022094761) { + h_10(state, unused, out_316139620022094761); } -void pose_H_10(double *state, double *unused, double *out_2735534763065741146) { - H_10(state, unused, out_2735534763065741146); +void pose_H_10(double *state, double *unused, double *out_3533745887327993443) { + H_10(state, unused, out_3533745887327993443); } -void pose_h_13(double *state, double *unused, double *out_7576910815427407655) { - h_13(state, unused, out_7576910815427407655); +void pose_h_13(double *state, double *unused, double *out_5506810827115614970) { + h_13(state, unused, out_5506810827115614970); } -void pose_H_13(double *state, double *unused, double *out_4344083705026133171) { - H_13(state, unused, out_4344083705026133171); +void pose_H_13(double *state, double *unused, double *out_781837616783404355) { + H_13(state, unused, out_781837616783404355); } -void pose_h_14(double *state, double *unused, double *out_984451843965455601) { - h_14(state, unused, out_984451843965455601); +void pose_h_14(double *state, double *unused, double *out_3429617090731340208) { + h_14(state, unused, out_3429617090731340208); } -void pose_H_14(double *state, double *unused, double *out_7807598111055713348) { - H_14(state, unused, out_7807598111055713348); +void pose_H_14(double *state, double *unused, double *out_4429227968760620755) { + H_14(state, unused, out_4429227968760620755); } 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 01c56a2e5..6de21d4e2 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_8743902382867857614); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3636694381902544351); -void pose_H_mod_fun(double *state, double *out_2152190311268096506); -void pose_f_fun(double *state, double dt, double *out_5042547316032857663); -void pose_F_fun(double *state, double dt, double *out_6708996175305477877); -void pose_h_4(double *state, double *unused, double *out_3603221658780671100); -void pose_H_4(double *state, double *unused, double *out_7556357530358465972); -void pose_h_10(double *state, double *unused, double *out_8258563454346399047); -void pose_H_10(double *state, double *unused, double *out_2735534763065741146); -void pose_h_13(double *state, double *unused, double *out_7576910815427407655); -void pose_H_13(double *state, double *unused, double *out_4344083705026133171); -void pose_h_14(double *state, double *unused, double *out_984451843965455601); -void pose_H_14(double *state, double *unused, double *out_7807598111055713348); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4567767818172860295); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4613807108104960206); +void pose_H_mod_fun(double *state, double *out_6572770099193808423); +void pose_f_fun(double *state, double dt, double *out_972215043360367871); +void pose_F_fun(double *state, double dt, double *out_9096792433349462064); +void pose_h_4(double *state, double *unused, double *out_2265781100835663155); +void pose_H_4(double *state, double *unused, double *out_8392468825100105284); +void pose_h_10(double *state, double *unused, double *out_316139620022094761); +void pose_H_10(double *state, double *unused, double *out_3533745887327993443); +void pose_h_13(double *state, double *unused, double *out_5506810827115614970); +void pose_H_13(double *state, double *unused, double *out_781837616783404355); +void pose_h_14(double *state, double *unused, double *out_3429617090731340208); +void pose_H_14(double *state, double *unused, double *out_4429227968760620755); 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 d2ae9e694..b7d7cbc86 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 7d8a8e881..57c6143d2 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index cd4ccb33d..e166ba195 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 2ed729f17..c703dd978 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 8b0fa344b..338429af8 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 63ba52575..7a99dec7b 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ