diff --git a/cereal/libcereal.a b/cereal/libcereal.a index f61519ed8..45550a295 100644 Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ diff --git a/cereal/libsocketmaster.a b/cereal/libsocketmaster.a index 25617eab7..0ad5777f1 100644 Binary files a/cereal/libsocketmaster.a and b/cereal/libsocketmaster.a differ diff --git a/cereal/messaging/bridge b/cereal/messaging/bridge index ddb9b13c8..b0e8caa78 100755 Binary files a/cereal/messaging/bridge and b/cereal/messaging/bridge differ diff --git a/cereal/services.h b/cereal/services.h index db0a2333c..230494593 100644 --- a/cereal/services.h +++ b/cereal/services.h @@ -82,6 +82,7 @@ static std::map services = { { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20.000000, -1, 2097152}}, { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20.000000, -1, 2097152}}, { "customReserved9", {"customReserved9", true, 0.000000, 1, 256000}}, + { "starpilotLateralState", {"starpilotLateralState", true, 100.000000, 10, 256000}}, { "customReservedRawData0", {"customReservedRawData0", true, 0.000000, -1, 256000}}, { "customReservedRawData1", {"customReservedRawData1", true, 0.000000, -1, 256000}}, { "customReservedRawData2", {"customReservedRawData2", true, 0.000000, -1, 256000}}, diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index b9da390a4..3b4a47722 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 6eb5d30c4..509f18850 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 59ef2dc4e..1eafc3971 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 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a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 519cfe92c..36019710c 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-2175217e-DEBUG"; +const uint8_t gitversion[19] = "DEV-dd870ef2-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index ee63897cc..74473a57e 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 cd4e91678..df2d3f885 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 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b/panda/board/obj/version @@ -1 +1 @@ -DEV-2175217e-DEBUG \ No newline at end of file +DEV-dd870ef2-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index ff83355e1..6703e6f79 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_1506475022093702388) { - out_1506475022093702388[0] = delta_x[0] + nom_x[0]; - out_1506475022093702388[1] = delta_x[1] + nom_x[1]; - out_1506475022093702388[2] = delta_x[2] + nom_x[2]; - out_1506475022093702388[3] = delta_x[3] + nom_x[3]; - out_1506475022093702388[4] = delta_x[4] + nom_x[4]; - out_1506475022093702388[5] = delta_x[5] + nom_x[5]; - out_1506475022093702388[6] = delta_x[6] + nom_x[6]; - out_1506475022093702388[7] = delta_x[7] + nom_x[7]; - out_1506475022093702388[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3432893246118840176) { + out_3432893246118840176[0] = delta_x[0] + nom_x[0]; + out_3432893246118840176[1] = delta_x[1] + nom_x[1]; + out_3432893246118840176[2] = delta_x[2] + nom_x[2]; + out_3432893246118840176[3] = delta_x[3] + nom_x[3]; + out_3432893246118840176[4] = delta_x[4] + nom_x[4]; + out_3432893246118840176[5] = delta_x[5] + nom_x[5]; + out_3432893246118840176[6] = delta_x[6] + nom_x[6]; + out_3432893246118840176[7] = delta_x[7] + nom_x[7]; + out_3432893246118840176[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_9143363731815594717) { - out_9143363731815594717[0] = -nom_x[0] + true_x[0]; - out_9143363731815594717[1] = -nom_x[1] + true_x[1]; - out_9143363731815594717[2] = -nom_x[2] + true_x[2]; - out_9143363731815594717[3] = -nom_x[3] + true_x[3]; - out_9143363731815594717[4] = -nom_x[4] + true_x[4]; - out_9143363731815594717[5] = -nom_x[5] + true_x[5]; - out_9143363731815594717[6] = -nom_x[6] + true_x[6]; - out_9143363731815594717[7] = -nom_x[7] + true_x[7]; - out_9143363731815594717[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1800982245938664737) { + out_1800982245938664737[0] = -nom_x[0] + true_x[0]; + out_1800982245938664737[1] = -nom_x[1] + true_x[1]; + out_1800982245938664737[2] = -nom_x[2] + true_x[2]; + out_1800982245938664737[3] = -nom_x[3] + true_x[3]; + out_1800982245938664737[4] = -nom_x[4] + true_x[4]; + out_1800982245938664737[5] = -nom_x[5] + true_x[5]; + out_1800982245938664737[6] = -nom_x[6] + true_x[6]; + out_1800982245938664737[7] = -nom_x[7] + true_x[7]; + out_1800982245938664737[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_9131407703981301731) { - out_9131407703981301731[0] = 1.0; - out_9131407703981301731[1] = 0.0; - out_9131407703981301731[2] = 0.0; - out_9131407703981301731[3] = 0.0; - out_9131407703981301731[4] = 0.0; - out_9131407703981301731[5] = 0.0; - out_9131407703981301731[6] = 0.0; - out_9131407703981301731[7] = 0.0; - out_9131407703981301731[8] = 0.0; - out_9131407703981301731[9] = 0.0; - out_9131407703981301731[10] = 1.0; - out_9131407703981301731[11] = 0.0; - out_9131407703981301731[12] = 0.0; - out_9131407703981301731[13] = 0.0; - out_9131407703981301731[14] = 0.0; - out_9131407703981301731[15] = 0.0; - out_9131407703981301731[16] = 0.0; - out_9131407703981301731[17] = 0.0; - out_9131407703981301731[18] = 0.0; - out_9131407703981301731[19] = 0.0; - out_9131407703981301731[20] = 1.0; - out_9131407703981301731[21] = 0.0; - out_9131407703981301731[22] = 0.0; - out_9131407703981301731[23] = 0.0; - out_9131407703981301731[24] = 0.0; - out_9131407703981301731[25] = 0.0; - out_9131407703981301731[26] = 0.0; - out_9131407703981301731[27] = 0.0; - out_9131407703981301731[28] = 0.0; - out_9131407703981301731[29] = 0.0; - out_9131407703981301731[30] = 1.0; - out_9131407703981301731[31] = 0.0; - out_9131407703981301731[32] = 0.0; - out_9131407703981301731[33] = 0.0; - out_9131407703981301731[34] = 0.0; - out_9131407703981301731[35] = 0.0; - out_9131407703981301731[36] = 0.0; - out_9131407703981301731[37] = 0.0; - out_9131407703981301731[38] = 0.0; - out_9131407703981301731[39] = 0.0; - out_9131407703981301731[40] = 1.0; - out_9131407703981301731[41] = 0.0; - out_9131407703981301731[42] = 0.0; - out_9131407703981301731[43] = 0.0; - out_9131407703981301731[44] = 0.0; - out_9131407703981301731[45] = 0.0; - out_9131407703981301731[46] = 0.0; - out_9131407703981301731[47] = 0.0; - out_9131407703981301731[48] = 0.0; - out_9131407703981301731[49] = 0.0; - out_9131407703981301731[50] = 1.0; - out_9131407703981301731[51] = 0.0; - out_9131407703981301731[52] = 0.0; - out_9131407703981301731[53] = 0.0; - out_9131407703981301731[54] = 0.0; - out_9131407703981301731[55] = 0.0; - out_9131407703981301731[56] = 0.0; - out_9131407703981301731[57] = 0.0; - out_9131407703981301731[58] = 0.0; - out_9131407703981301731[59] = 0.0; - out_9131407703981301731[60] = 1.0; - out_9131407703981301731[61] = 0.0; - out_9131407703981301731[62] = 0.0; - out_9131407703981301731[63] = 0.0; - out_9131407703981301731[64] = 0.0; - out_9131407703981301731[65] = 0.0; - out_9131407703981301731[66] = 0.0; - out_9131407703981301731[67] = 0.0; - out_9131407703981301731[68] = 0.0; - out_9131407703981301731[69] = 0.0; - out_9131407703981301731[70] = 1.0; - out_9131407703981301731[71] = 0.0; - out_9131407703981301731[72] = 0.0; - out_9131407703981301731[73] = 0.0; - out_9131407703981301731[74] = 0.0; - out_9131407703981301731[75] = 0.0; - out_9131407703981301731[76] = 0.0; - out_9131407703981301731[77] = 0.0; - out_9131407703981301731[78] = 0.0; - out_9131407703981301731[79] = 0.0; - out_9131407703981301731[80] = 1.0; +void H_mod_fun(double *state, double *out_1928298863277366044) { + out_1928298863277366044[0] = 1.0; + out_1928298863277366044[1] = 0.0; + out_1928298863277366044[2] = 0.0; + out_1928298863277366044[3] = 0.0; + out_1928298863277366044[4] = 0.0; + out_1928298863277366044[5] = 0.0; + out_1928298863277366044[6] = 0.0; + out_1928298863277366044[7] = 0.0; + out_1928298863277366044[8] = 0.0; + out_1928298863277366044[9] = 0.0; + out_1928298863277366044[10] = 1.0; + out_1928298863277366044[11] = 0.0; + out_1928298863277366044[12] = 0.0; + out_1928298863277366044[13] = 0.0; + out_1928298863277366044[14] = 0.0; + out_1928298863277366044[15] = 0.0; + out_1928298863277366044[16] = 0.0; + out_1928298863277366044[17] = 0.0; + out_1928298863277366044[18] = 0.0; + out_1928298863277366044[19] = 0.0; + out_1928298863277366044[20] = 1.0; + out_1928298863277366044[21] = 0.0; + out_1928298863277366044[22] = 0.0; + out_1928298863277366044[23] = 0.0; + out_1928298863277366044[24] = 0.0; + out_1928298863277366044[25] = 0.0; + out_1928298863277366044[26] = 0.0; + out_1928298863277366044[27] = 0.0; + out_1928298863277366044[28] = 0.0; + out_1928298863277366044[29] = 0.0; + out_1928298863277366044[30] = 1.0; + out_1928298863277366044[31] = 0.0; + out_1928298863277366044[32] = 0.0; + out_1928298863277366044[33] = 0.0; + out_1928298863277366044[34] = 0.0; + out_1928298863277366044[35] = 0.0; + out_1928298863277366044[36] = 0.0; + out_1928298863277366044[37] = 0.0; + out_1928298863277366044[38] = 0.0; + out_1928298863277366044[39] = 0.0; + out_1928298863277366044[40] = 1.0; + out_1928298863277366044[41] = 0.0; + out_1928298863277366044[42] = 0.0; + out_1928298863277366044[43] = 0.0; + out_1928298863277366044[44] = 0.0; + out_1928298863277366044[45] = 0.0; + out_1928298863277366044[46] = 0.0; + out_1928298863277366044[47] = 0.0; + out_1928298863277366044[48] = 0.0; + out_1928298863277366044[49] = 0.0; + out_1928298863277366044[50] = 1.0; + out_1928298863277366044[51] = 0.0; + out_1928298863277366044[52] = 0.0; + out_1928298863277366044[53] = 0.0; + out_1928298863277366044[54] = 0.0; + out_1928298863277366044[55] = 0.0; + out_1928298863277366044[56] = 0.0; + out_1928298863277366044[57] = 0.0; + out_1928298863277366044[58] = 0.0; + out_1928298863277366044[59] = 0.0; + out_1928298863277366044[60] = 1.0; + out_1928298863277366044[61] = 0.0; + out_1928298863277366044[62] = 0.0; + out_1928298863277366044[63] = 0.0; + out_1928298863277366044[64] = 0.0; + out_1928298863277366044[65] = 0.0; + out_1928298863277366044[66] = 0.0; + out_1928298863277366044[67] = 0.0; + out_1928298863277366044[68] = 0.0; + out_1928298863277366044[69] = 0.0; + out_1928298863277366044[70] = 1.0; + out_1928298863277366044[71] = 0.0; + out_1928298863277366044[72] = 0.0; + out_1928298863277366044[73] = 0.0; + out_1928298863277366044[74] = 0.0; + out_1928298863277366044[75] = 0.0; + out_1928298863277366044[76] = 0.0; + out_1928298863277366044[77] = 0.0; + out_1928298863277366044[78] = 0.0; + out_1928298863277366044[79] = 0.0; + out_1928298863277366044[80] = 1.0; } -void f_fun(double *state, double dt, double *out_384729614673600146) { - out_384729614673600146[0] = state[0]; - out_384729614673600146[1] = state[1]; - out_384729614673600146[2] = state[2]; - out_384729614673600146[3] = state[3]; - out_384729614673600146[4] = state[4]; - out_384729614673600146[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_384729614673600146[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_384729614673600146[7] = state[7]; - out_384729614673600146[8] = state[8]; +void f_fun(double *state, double dt, double *out_4615698619111285378) { + out_4615698619111285378[0] = state[0]; + out_4615698619111285378[1] = state[1]; + out_4615698619111285378[2] = state[2]; + out_4615698619111285378[3] = state[3]; + out_4615698619111285378[4] = state[4]; + out_4615698619111285378[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_4615698619111285378[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_4615698619111285378[7] = state[7]; + out_4615698619111285378[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7440730494263305444) { - out_7440730494263305444[0] = 1; - out_7440730494263305444[1] = 0; - out_7440730494263305444[2] = 0; - out_7440730494263305444[3] = 0; - out_7440730494263305444[4] = 0; - out_7440730494263305444[5] = 0; - out_7440730494263305444[6] = 0; - out_7440730494263305444[7] = 0; - out_7440730494263305444[8] = 0; - out_7440730494263305444[9] = 0; - out_7440730494263305444[10] = 1; - out_7440730494263305444[11] = 0; - out_7440730494263305444[12] = 0; - out_7440730494263305444[13] = 0; - out_7440730494263305444[14] = 0; - out_7440730494263305444[15] = 0; - out_7440730494263305444[16] = 0; - out_7440730494263305444[17] = 0; - out_7440730494263305444[18] = 0; - out_7440730494263305444[19] = 0; - out_7440730494263305444[20] = 1; - out_7440730494263305444[21] = 0; - out_7440730494263305444[22] = 0; - out_7440730494263305444[23] = 0; - out_7440730494263305444[24] = 0; - out_7440730494263305444[25] = 0; - out_7440730494263305444[26] = 0; - out_7440730494263305444[27] = 0; - out_7440730494263305444[28] = 0; - out_7440730494263305444[29] = 0; - out_7440730494263305444[30] = 1; - out_7440730494263305444[31] = 0; - out_7440730494263305444[32] = 0; - out_7440730494263305444[33] = 0; - out_7440730494263305444[34] = 0; - out_7440730494263305444[35] = 0; - out_7440730494263305444[36] = 0; - out_7440730494263305444[37] = 0; - out_7440730494263305444[38] = 0; - out_7440730494263305444[39] = 0; - out_7440730494263305444[40] = 1; - out_7440730494263305444[41] = 0; - out_7440730494263305444[42] = 0; - out_7440730494263305444[43] = 0; - out_7440730494263305444[44] = 0; - out_7440730494263305444[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_7440730494263305444[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7440730494263305444[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7440730494263305444[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7440730494263305444[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_7440730494263305444[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7440730494263305444[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7440730494263305444[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7440730494263305444[53] = -9.8100000000000005*dt; - out_7440730494263305444[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_7440730494263305444[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7440730494263305444[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7440730494263305444[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7440730494263305444[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_7440730494263305444[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7440730494263305444[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_7440730494263305444[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7440730494263305444[62] = 0; - out_7440730494263305444[63] = 0; - out_7440730494263305444[64] = 0; - out_7440730494263305444[65] = 0; - out_7440730494263305444[66] = 0; - out_7440730494263305444[67] = 0; - out_7440730494263305444[68] = 0; - out_7440730494263305444[69] = 0; - out_7440730494263305444[70] = 1; - out_7440730494263305444[71] = 0; - out_7440730494263305444[72] = 0; - out_7440730494263305444[73] = 0; - out_7440730494263305444[74] = 0; - out_7440730494263305444[75] = 0; - out_7440730494263305444[76] = 0; - out_7440730494263305444[77] = 0; - out_7440730494263305444[78] = 0; - out_7440730494263305444[79] = 0; - out_7440730494263305444[80] = 1; +void F_fun(double *state, double dt, double *out_4973087374980231388) { + out_4973087374980231388[0] = 1; + out_4973087374980231388[1] = 0; + out_4973087374980231388[2] = 0; + out_4973087374980231388[3] = 0; + out_4973087374980231388[4] = 0; + out_4973087374980231388[5] = 0; + out_4973087374980231388[6] = 0; + out_4973087374980231388[7] = 0; + out_4973087374980231388[8] = 0; + out_4973087374980231388[9] = 0; + out_4973087374980231388[10] = 1; + out_4973087374980231388[11] = 0; + out_4973087374980231388[12] = 0; + out_4973087374980231388[13] = 0; + out_4973087374980231388[14] = 0; + out_4973087374980231388[15] = 0; + out_4973087374980231388[16] = 0; + out_4973087374980231388[17] = 0; + out_4973087374980231388[18] = 0; + out_4973087374980231388[19] = 0; + out_4973087374980231388[20] = 1; + out_4973087374980231388[21] = 0; + out_4973087374980231388[22] = 0; + out_4973087374980231388[23] = 0; + out_4973087374980231388[24] = 0; + out_4973087374980231388[25] = 0; + out_4973087374980231388[26] = 0; + out_4973087374980231388[27] = 0; + out_4973087374980231388[28] = 0; + out_4973087374980231388[29] = 0; + out_4973087374980231388[30] = 1; + out_4973087374980231388[31] = 0; + out_4973087374980231388[32] = 0; + out_4973087374980231388[33] = 0; + out_4973087374980231388[34] = 0; + out_4973087374980231388[35] = 0; + out_4973087374980231388[36] = 0; + out_4973087374980231388[37] = 0; + out_4973087374980231388[38] = 0; + out_4973087374980231388[39] = 0; + out_4973087374980231388[40] = 1; + out_4973087374980231388[41] = 0; + out_4973087374980231388[42] = 0; + out_4973087374980231388[43] = 0; + out_4973087374980231388[44] = 0; + out_4973087374980231388[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_4973087374980231388[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4973087374980231388[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4973087374980231388[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4973087374980231388[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_4973087374980231388[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4973087374980231388[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4973087374980231388[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4973087374980231388[53] = -9.8100000000000005*dt; + out_4973087374980231388[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_4973087374980231388[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4973087374980231388[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4973087374980231388[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4973087374980231388[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_4973087374980231388[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4973087374980231388[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_4973087374980231388[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4973087374980231388[62] = 0; + out_4973087374980231388[63] = 0; + out_4973087374980231388[64] = 0; + out_4973087374980231388[65] = 0; + out_4973087374980231388[66] = 0; + out_4973087374980231388[67] = 0; + out_4973087374980231388[68] = 0; + out_4973087374980231388[69] = 0; + out_4973087374980231388[70] = 1; + out_4973087374980231388[71] = 0; + out_4973087374980231388[72] = 0; + out_4973087374980231388[73] = 0; + out_4973087374980231388[74] = 0; + out_4973087374980231388[75] = 0; + out_4973087374980231388[76] = 0; + out_4973087374980231388[77] = 0; + out_4973087374980231388[78] = 0; + out_4973087374980231388[79] = 0; + out_4973087374980231388[80] = 1; } -void h_25(double *state, double *unused, double *out_4252950562849966829) { - out_4252950562849966829[0] = state[6]; +void h_25(double *state, double *unused, double *out_725345121681315694) { + out_725345121681315694[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6221318096935853377) { - out_6221318096935853377[0] = 0; - out_6221318096935853377[1] = 0; - out_6221318096935853377[2] = 0; - out_6221318096935853377[3] = 0; - out_6221318096935853377[4] = 0; - out_6221318096935853377[5] = 0; - out_6221318096935853377[6] = 1; - out_6221318096935853377[7] = 0; - out_6221318096935853377[8] = 0; +void H_25(double *state, double *unused, double *out_140226422483346712) { + out_140226422483346712[0] = 0; + out_140226422483346712[1] = 0; + out_140226422483346712[2] = 0; + out_140226422483346712[3] = 0; + out_140226422483346712[4] = 0; + out_140226422483346712[5] = 0; + out_140226422483346712[6] = 1; + out_140226422483346712[7] = 0; + out_140226422483346712[8] = 0; } -void h_24(double *state, double *unused, double *out_3680087672280189791) { - out_3680087672280189791[0] = state[4]; - out_3680087672280189791[1] = state[5]; +void h_24(double *state, double *unused, double *out_4245224659262713745) { + out_4245224659262713745[0] = state[4]; + out_4245224659262713745[1] = state[5]; } -void H_24(double *state, double *unused, double *out_9166284664138259719) { - out_9166284664138259719[0] = 0; - out_9166284664138259719[1] = 0; - out_9166284664138259719[2] = 0; - out_9166284664138259719[3] = 0; - out_9166284664138259719[4] = 1; - out_9166284664138259719[5] = 0; - out_9166284664138259719[6] = 0; - out_9166284664138259719[7] = 0; - out_9166284664138259719[8] = 0; - out_9166284664138259719[9] = 0; - out_9166284664138259719[10] = 0; - out_9166284664138259719[11] = 0; - out_9166284664138259719[12] = 0; - out_9166284664138259719[13] = 0; - out_9166284664138259719[14] = 1; - out_9166284664138259719[15] = 0; - out_9166284664138259719[16] = 0; - out_9166284664138259719[17] = 0; +void H_24(double *state, double *unused, double *out_610683904526685436) { + out_610683904526685436[0] = 0; + out_610683904526685436[1] = 0; + out_610683904526685436[2] = 0; + out_610683904526685436[3] = 0; + out_610683904526685436[4] = 1; + out_610683904526685436[5] = 0; + out_610683904526685436[6] = 0; + out_610683904526685436[7] = 0; + out_610683904526685436[8] = 0; + out_610683904526685436[9] = 0; + out_610683904526685436[10] = 0; + out_610683904526685436[11] = 0; + out_610683904526685436[12] = 0; + out_610683904526685436[13] = 0; + out_610683904526685436[14] = 1; + out_610683904526685436[15] = 0; + out_610683904526685436[16] = 0; + out_610683904526685436[17] = 0; } -void h_30(double *state, double *unused, double *out_7996626645345091737) { - out_7996626645345091737[0] = state[4]; +void h_30(double *state, double *unused, double *out_882531790032444839) { + out_882531790032444839[0] = state[4]; } -void H_30(double *state, double *unused, double *out_7697729646646090041) { - out_7697729646646090041[0] = 0; - out_7697729646646090041[1] = 0; - out_7697729646646090041[2] = 0; - out_7697729646646090041[3] = 0; - out_7697729646646090041[4] = 1; - out_7697729646646090041[5] = 0; - out_7697729646646090041[6] = 0; - out_7697729646646090041[7] = 0; - out_7697729646646090041[8] = 0; +void H_30(double *state, double *unused, double *out_269565369626586782) { + out_269565369626586782[0] = 0; + out_269565369626586782[1] = 0; + out_269565369626586782[2] = 0; + out_269565369626586782[3] = 0; + out_269565369626586782[4] = 1; + out_269565369626586782[5] = 0; + out_269565369626586782[6] = 0; + out_269565369626586782[7] = 0; + out_269565369626586782[8] = 0; } -void h_26(double *state, double *unused, double *out_3034246647663798505) { - out_3034246647663798505[0] = state[7]; +void h_26(double *state, double *unused, double *out_1240296775338871155) { + out_1240296775338871155[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8483922657899642015) { - out_8483922657899642015[0] = 0; - out_8483922657899642015[1] = 0; - out_8483922657899642015[2] = 0; - out_8483922657899642015[3] = 0; - out_8483922657899642015[4] = 0; - out_8483922657899642015[5] = 0; - out_8483922657899642015[6] = 0; - out_8483922657899642015[7] = 1; - out_8483922657899642015[8] = 0; +void H_26(double *state, double *unused, double *out_3881729741357402936) { + out_3881729741357402936[0] = 0; + out_3881729741357402936[1] = 0; + out_3881729741357402936[2] = 0; + out_3881729741357402936[3] = 0; + out_3881729741357402936[4] = 0; + out_3881729741357402936[5] = 0; + out_3881729741357402936[6] = 0; + out_3881729741357402936[7] = 1; + out_3881729741357402936[8] = 0; } -void h_27(double *state, double *unused, double *out_3649634678173489312) { - out_3649634678173489312[0] = state[3]; +void h_27(double *state, double *unused, double *out_4276328145979529951) { + out_4276328145979529951[0] = state[3]; } -void H_27(double *state, double *unused, double *out_5522966334845665130) { - out_5522966334845665130[0] = 0; - out_5522966334845665130[1] = 0; - out_5522966334845665130[2] = 0; - out_5522966334845665130[3] = 1; - out_5522966334845665130[4] = 0; - out_5522966334845665130[5] = 0; - out_5522966334845665130[6] = 0; - out_5522966334845665130[7] = 0; - out_5522966334845665130[8] = 0; +void H_27(double *state, double *unused, double *out_2444328681427011693) { + out_2444328681427011693[0] = 0; + out_2444328681427011693[1] = 0; + out_2444328681427011693[2] = 0; + out_2444328681427011693[3] = 1; + out_2444328681427011693[4] = 0; + out_2444328681427011693[5] = 0; + out_2444328681427011693[6] = 0; + out_2444328681427011693[7] = 0; + out_2444328681427011693[8] = 0; } -void h_29(double *state, double *unused, double *out_3374440615888983423) { - out_3374440615888983423[0] = state[1]; +void h_29(double *state, double *unused, double *out_3486937110841142490) { + out_3486937110841142490[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8207960990960482225) { - out_8207960990960482225[0] = 0; - out_8207960990960482225[1] = 1; - out_8207960990960482225[2] = 0; - out_8207960990960482225[3] = 0; - out_8207960990960482225[4] = 0; - out_8207960990960482225[5] = 0; - out_8207960990960482225[6] = 0; - out_8207960990960482225[7] = 0; - out_8207960990960482225[8] = 0; +void H_29(double *state, double *unused, double *out_240665974687805402) { + out_240665974687805402[0] = 0; + out_240665974687805402[1] = 1; + out_240665974687805402[2] = 0; + out_240665974687805402[3] = 0; + out_240665974687805402[4] = 0; + out_240665974687805402[5] = 0; + out_240665974687805402[6] = 0; + out_240665974687805402[7] = 0; + out_240665974687805402[8] = 0; } -void h_28(double *state, double *unused, double *out_1352038589487356333) { - out_1352038589487356333[0] = state[0]; +void h_28(double *state, double *unused, double *out_4705641026027310814) { + out_4705641026027310814[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3125561973890951651) { - out_3125561973890951651[0] = 1; - out_3125561973890951651[1] = 0; - out_3125561973890951651[2] = 0; - out_3125561973890951651[3] = 0; - out_3125561973890951651[4] = 0; - out_3125561973890951651[5] = 0; - out_3125561973890951651[6] = 0; - out_3125561973890951651[7] = 0; - out_3125561973890951651[8] = 0; +void H_28(double *state, double *unused, double *out_9206653648343458316) { + out_9206653648343458316[0] = 1; + out_9206653648343458316[1] = 0; + out_9206653648343458316[2] = 0; + out_9206653648343458316[3] = 0; + out_9206653648343458316[4] = 0; + out_9206653648343458316[5] = 0; + out_9206653648343458316[6] = 0; + out_9206653648343458316[7] = 0; + out_9206653648343458316[8] = 0; } -void h_31(double *state, double *unused, double *out_8114634039278468481) { - out_8114634039278468481[0] = state[8]; +void h_31(double *state, double *unused, double *out_6045490104669035242) { + out_6045490104669035242[0] = state[8]; } -void H_31(double *state, double *unused, double *out_7857714555666290539) { - out_7857714555666290539[0] = 0; - out_7857714555666290539[1] = 0; - out_7857714555666290539[2] = 0; - out_7857714555666290539[3] = 0; - out_7857714555666290539[4] = 0; - out_7857714555666290539[5] = 0; - out_7857714555666290539[6] = 0; - out_7857714555666290539[7] = 0; - out_7857714555666290539[8] = 1; +void H_31(double *state, double *unused, double *out_109580460606386284) { + out_109580460606386284[0] = 0; + out_109580460606386284[1] = 0; + out_109580460606386284[2] = 0; + out_109580460606386284[3] = 0; + out_109580460606386284[4] = 0; + out_109580460606386284[5] = 0; + out_109580460606386284[6] = 0; + out_109580460606386284[7] = 0; + out_109580460606386284[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_1506475022093702388) { - err_fun(nom_x, delta_x, out_1506475022093702388); +void car_err_fun(double *nom_x, double *delta_x, double *out_3432893246118840176) { + err_fun(nom_x, delta_x, out_3432893246118840176); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_9143363731815594717) { - inv_err_fun(nom_x, true_x, out_9143363731815594717); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1800982245938664737) { + inv_err_fun(nom_x, true_x, out_1800982245938664737); } -void car_H_mod_fun(double *state, double *out_9131407703981301731) { - H_mod_fun(state, out_9131407703981301731); +void car_H_mod_fun(double *state, double *out_1928298863277366044) { + H_mod_fun(state, out_1928298863277366044); } -void car_f_fun(double *state, double dt, double *out_384729614673600146) { - f_fun(state, dt, out_384729614673600146); +void car_f_fun(double *state, double dt, double *out_4615698619111285378) { + f_fun(state, dt, out_4615698619111285378); } -void car_F_fun(double *state, double dt, double *out_7440730494263305444) { - F_fun(state, dt, out_7440730494263305444); +void car_F_fun(double *state, double dt, double *out_4973087374980231388) { + F_fun(state, dt, out_4973087374980231388); } -void car_h_25(double *state, double *unused, double *out_4252950562849966829) { - h_25(state, unused, out_4252950562849966829); +void car_h_25(double *state, double *unused, double *out_725345121681315694) { + h_25(state, unused, out_725345121681315694); } -void car_H_25(double *state, double *unused, double *out_6221318096935853377) { - H_25(state, unused, out_6221318096935853377); +void car_H_25(double *state, double *unused, double *out_140226422483346712) { + H_25(state, unused, out_140226422483346712); } -void car_h_24(double *state, double *unused, double *out_3680087672280189791) { - h_24(state, unused, out_3680087672280189791); +void car_h_24(double *state, double *unused, double *out_4245224659262713745) { + h_24(state, unused, out_4245224659262713745); } -void car_H_24(double *state, double *unused, double *out_9166284664138259719) { - H_24(state, unused, out_9166284664138259719); +void car_H_24(double *state, double *unused, double *out_610683904526685436) { + H_24(state, unused, out_610683904526685436); } -void car_h_30(double *state, double *unused, double *out_7996626645345091737) { - h_30(state, unused, out_7996626645345091737); +void car_h_30(double *state, double *unused, double *out_882531790032444839) { + h_30(state, unused, out_882531790032444839); } -void car_H_30(double *state, double *unused, double *out_7697729646646090041) { - H_30(state, unused, out_7697729646646090041); +void car_H_30(double *state, double *unused, double *out_269565369626586782) { + H_30(state, unused, out_269565369626586782); } -void car_h_26(double *state, double *unused, double *out_3034246647663798505) { - h_26(state, unused, out_3034246647663798505); +void car_h_26(double *state, double *unused, double *out_1240296775338871155) { + h_26(state, unused, out_1240296775338871155); } -void car_H_26(double *state, double *unused, double *out_8483922657899642015) { - H_26(state, unused, out_8483922657899642015); +void car_H_26(double *state, double *unused, double *out_3881729741357402936) { + H_26(state, unused, out_3881729741357402936); } -void car_h_27(double *state, double *unused, double *out_3649634678173489312) { - h_27(state, unused, out_3649634678173489312); +void car_h_27(double *state, double *unused, double *out_4276328145979529951) { + h_27(state, unused, out_4276328145979529951); } -void car_H_27(double *state, double *unused, double *out_5522966334845665130) { - H_27(state, unused, out_5522966334845665130); +void car_H_27(double *state, double *unused, double *out_2444328681427011693) { + H_27(state, unused, out_2444328681427011693); } -void car_h_29(double *state, double *unused, double *out_3374440615888983423) { - h_29(state, unused, out_3374440615888983423); +void car_h_29(double *state, double *unused, double *out_3486937110841142490) { + h_29(state, unused, out_3486937110841142490); } -void car_H_29(double *state, double *unused, double *out_8207960990960482225) { - H_29(state, unused, out_8207960990960482225); +void car_H_29(double *state, double *unused, double *out_240665974687805402) { + H_29(state, unused, out_240665974687805402); } -void car_h_28(double *state, double *unused, double *out_1352038589487356333) { - h_28(state, unused, out_1352038589487356333); +void car_h_28(double *state, double *unused, double *out_4705641026027310814) { + h_28(state, unused, out_4705641026027310814); } -void car_H_28(double *state, double *unused, double *out_3125561973890951651) { - H_28(state, unused, out_3125561973890951651); +void car_H_28(double *state, double *unused, double *out_9206653648343458316) { + H_28(state, unused, out_9206653648343458316); } -void car_h_31(double *state, double *unused, double *out_8114634039278468481) { - h_31(state, unused, out_8114634039278468481); +void car_h_31(double *state, double *unused, double *out_6045490104669035242) { + h_31(state, unused, out_6045490104669035242); } -void car_H_31(double *state, double *unused, double *out_7857714555666290539) { - H_31(state, unused, out_7857714555666290539); +void car_H_31(double *state, double *unused, double *out_109580460606386284) { + H_31(state, unused, out_109580460606386284); } 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 db762190d..e3958872a 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_1506475022093702388); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_9143363731815594717); -void car_H_mod_fun(double *state, double *out_9131407703981301731); -void car_f_fun(double *state, double dt, double *out_384729614673600146); -void car_F_fun(double *state, double dt, double *out_7440730494263305444); -void car_h_25(double *state, double *unused, double *out_4252950562849966829); -void car_H_25(double *state, double *unused, double *out_6221318096935853377); -void car_h_24(double *state, double *unused, double *out_3680087672280189791); -void car_H_24(double *state, double *unused, double *out_9166284664138259719); -void car_h_30(double *state, double *unused, double *out_7996626645345091737); -void car_H_30(double *state, double *unused, double *out_7697729646646090041); -void car_h_26(double *state, double *unused, double *out_3034246647663798505); -void car_H_26(double *state, double *unused, double *out_8483922657899642015); -void car_h_27(double *state, double *unused, double *out_3649634678173489312); -void car_H_27(double *state, double *unused, double *out_5522966334845665130); -void car_h_29(double *state, double *unused, double *out_3374440615888983423); -void car_H_29(double *state, double *unused, double *out_8207960990960482225); -void car_h_28(double *state, double *unused, double *out_1352038589487356333); -void car_H_28(double *state, double *unused, double *out_3125561973890951651); -void car_h_31(double *state, double *unused, double *out_8114634039278468481); -void car_H_31(double *state, double *unused, double *out_7857714555666290539); +void car_err_fun(double *nom_x, double *delta_x, double *out_3432893246118840176); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1800982245938664737); +void car_H_mod_fun(double *state, double *out_1928298863277366044); +void car_f_fun(double *state, double dt, double *out_4615698619111285378); +void car_F_fun(double *state, double dt, double *out_4973087374980231388); +void car_h_25(double *state, double *unused, double *out_725345121681315694); +void car_H_25(double *state, double *unused, double *out_140226422483346712); +void car_h_24(double *state, double *unused, double *out_4245224659262713745); +void car_H_24(double *state, double *unused, double *out_610683904526685436); +void car_h_30(double *state, double *unused, double *out_882531790032444839); +void car_H_30(double *state, double *unused, double *out_269565369626586782); +void car_h_26(double *state, double *unused, double *out_1240296775338871155); +void car_H_26(double *state, double *unused, double *out_3881729741357402936); +void car_h_27(double *state, double *unused, double *out_4276328145979529951); +void car_H_27(double *state, double *unused, double *out_2444328681427011693); +void car_h_29(double *state, double *unused, double *out_3486937110841142490); +void car_H_29(double *state, double *unused, double *out_240665974687805402); +void car_h_28(double *state, double *unused, double *out_4705641026027310814); +void car_H_28(double *state, double *unused, double *out_9206653648343458316); +void car_h_31(double *state, double *unused, double *out_6045490104669035242); +void car_H_31(double *state, double *unused, double *out_109580460606386284); 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 89af70146..e14b5140f 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_5763415234273933913) { - out_5763415234273933913[0] = delta_x[0] + nom_x[0]; - out_5763415234273933913[1] = delta_x[1] + nom_x[1]; - out_5763415234273933913[2] = delta_x[2] + nom_x[2]; - out_5763415234273933913[3] = delta_x[3] + nom_x[3]; - out_5763415234273933913[4] = delta_x[4] + nom_x[4]; - out_5763415234273933913[5] = delta_x[5] + nom_x[5]; - out_5763415234273933913[6] = delta_x[6] + nom_x[6]; - out_5763415234273933913[7] = delta_x[7] + nom_x[7]; - out_5763415234273933913[8] = delta_x[8] + nom_x[8]; - out_5763415234273933913[9] = delta_x[9] + nom_x[9]; - out_5763415234273933913[10] = delta_x[10] + nom_x[10]; - out_5763415234273933913[11] = delta_x[11] + nom_x[11]; - out_5763415234273933913[12] = delta_x[12] + nom_x[12]; - out_5763415234273933913[13] = delta_x[13] + nom_x[13]; - out_5763415234273933913[14] = delta_x[14] + nom_x[14]; - out_5763415234273933913[15] = delta_x[15] + nom_x[15]; - out_5763415234273933913[16] = delta_x[16] + nom_x[16]; - out_5763415234273933913[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_845527351868247428) { + out_845527351868247428[0] = delta_x[0] + nom_x[0]; + out_845527351868247428[1] = delta_x[1] + nom_x[1]; + out_845527351868247428[2] = delta_x[2] + nom_x[2]; + out_845527351868247428[3] = delta_x[3] + nom_x[3]; + out_845527351868247428[4] = delta_x[4] + nom_x[4]; + out_845527351868247428[5] = delta_x[5] + nom_x[5]; + out_845527351868247428[6] = delta_x[6] + nom_x[6]; + out_845527351868247428[7] = delta_x[7] + nom_x[7]; + out_845527351868247428[8] = delta_x[8] + nom_x[8]; + out_845527351868247428[9] = delta_x[9] + nom_x[9]; + out_845527351868247428[10] = delta_x[10] + nom_x[10]; + out_845527351868247428[11] = delta_x[11] + nom_x[11]; + out_845527351868247428[12] = delta_x[12] + nom_x[12]; + out_845527351868247428[13] = delta_x[13] + nom_x[13]; + out_845527351868247428[14] = delta_x[14] + nom_x[14]; + out_845527351868247428[15] = delta_x[15] + nom_x[15]; + out_845527351868247428[16] = delta_x[16] + nom_x[16]; + out_845527351868247428[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1417325942549329712) { - out_1417325942549329712[0] = -nom_x[0] + true_x[0]; - out_1417325942549329712[1] = -nom_x[1] + true_x[1]; - out_1417325942549329712[2] = -nom_x[2] + true_x[2]; - out_1417325942549329712[3] = -nom_x[3] + true_x[3]; - out_1417325942549329712[4] = -nom_x[4] + true_x[4]; - out_1417325942549329712[5] = -nom_x[5] + true_x[5]; - out_1417325942549329712[6] = -nom_x[6] + true_x[6]; - out_1417325942549329712[7] = -nom_x[7] + true_x[7]; - out_1417325942549329712[8] = -nom_x[8] + true_x[8]; - out_1417325942549329712[9] = -nom_x[9] + true_x[9]; - out_1417325942549329712[10] = -nom_x[10] + true_x[10]; - out_1417325942549329712[11] = -nom_x[11] + true_x[11]; - out_1417325942549329712[12] = -nom_x[12] + true_x[12]; - out_1417325942549329712[13] = -nom_x[13] + true_x[13]; - out_1417325942549329712[14] = -nom_x[14] + true_x[14]; - out_1417325942549329712[15] = -nom_x[15] + true_x[15]; - out_1417325942549329712[16] = -nom_x[16] + true_x[16]; - out_1417325942549329712[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6367069276716114158) { + out_6367069276716114158[0] = -nom_x[0] + true_x[0]; + out_6367069276716114158[1] = -nom_x[1] + true_x[1]; + out_6367069276716114158[2] = -nom_x[2] + true_x[2]; + out_6367069276716114158[3] = -nom_x[3] + true_x[3]; + out_6367069276716114158[4] = -nom_x[4] + true_x[4]; + out_6367069276716114158[5] = -nom_x[5] + true_x[5]; + out_6367069276716114158[6] = -nom_x[6] + true_x[6]; + out_6367069276716114158[7] = -nom_x[7] + true_x[7]; + out_6367069276716114158[8] = -nom_x[8] + true_x[8]; + out_6367069276716114158[9] = -nom_x[9] + true_x[9]; + out_6367069276716114158[10] = -nom_x[10] + true_x[10]; + out_6367069276716114158[11] = -nom_x[11] + true_x[11]; + out_6367069276716114158[12] = -nom_x[12] + true_x[12]; + out_6367069276716114158[13] = -nom_x[13] + true_x[13]; + out_6367069276716114158[14] = -nom_x[14] + true_x[14]; + out_6367069276716114158[15] = -nom_x[15] + true_x[15]; + out_6367069276716114158[16] = -nom_x[16] + true_x[16]; + out_6367069276716114158[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7849761791714406524) { - out_7849761791714406524[0] = 1.0; - out_7849761791714406524[1] = 0.0; - out_7849761791714406524[2] = 0.0; - out_7849761791714406524[3] = 0.0; - out_7849761791714406524[4] = 0.0; - out_7849761791714406524[5] = 0.0; - out_7849761791714406524[6] = 0.0; - out_7849761791714406524[7] = 0.0; - out_7849761791714406524[8] = 0.0; - out_7849761791714406524[9] = 0.0; - out_7849761791714406524[10] = 0.0; - out_7849761791714406524[11] = 0.0; - out_7849761791714406524[12] = 0.0; - out_7849761791714406524[13] = 0.0; - out_7849761791714406524[14] = 0.0; - out_7849761791714406524[15] = 0.0; - out_7849761791714406524[16] = 0.0; - out_7849761791714406524[17] = 0.0; - out_7849761791714406524[18] = 0.0; - out_7849761791714406524[19] = 1.0; - out_7849761791714406524[20] = 0.0; - out_7849761791714406524[21] = 0.0; - out_7849761791714406524[22] = 0.0; - out_7849761791714406524[23] = 0.0; - out_7849761791714406524[24] = 0.0; - out_7849761791714406524[25] = 0.0; - out_7849761791714406524[26] = 0.0; - out_7849761791714406524[27] = 0.0; - out_7849761791714406524[28] = 0.0; - out_7849761791714406524[29] = 0.0; - out_7849761791714406524[30] = 0.0; - out_7849761791714406524[31] = 0.0; - out_7849761791714406524[32] = 0.0; - out_7849761791714406524[33] = 0.0; - out_7849761791714406524[34] = 0.0; - out_7849761791714406524[35] = 0.0; - out_7849761791714406524[36] = 0.0; - out_7849761791714406524[37] = 0.0; - out_7849761791714406524[38] = 1.0; - out_7849761791714406524[39] = 0.0; - out_7849761791714406524[40] = 0.0; - out_7849761791714406524[41] = 0.0; - out_7849761791714406524[42] = 0.0; - out_7849761791714406524[43] = 0.0; - out_7849761791714406524[44] = 0.0; - out_7849761791714406524[45] = 0.0; - out_7849761791714406524[46] = 0.0; - out_7849761791714406524[47] = 0.0; - out_7849761791714406524[48] = 0.0; - out_7849761791714406524[49] = 0.0; - out_7849761791714406524[50] = 0.0; - out_7849761791714406524[51] = 0.0; - out_7849761791714406524[52] = 0.0; - out_7849761791714406524[53] = 0.0; - out_7849761791714406524[54] = 0.0; - out_7849761791714406524[55] = 0.0; - out_7849761791714406524[56] = 0.0; - out_7849761791714406524[57] = 1.0; - out_7849761791714406524[58] = 0.0; - out_7849761791714406524[59] = 0.0; - out_7849761791714406524[60] = 0.0; - out_7849761791714406524[61] = 0.0; - out_7849761791714406524[62] = 0.0; - out_7849761791714406524[63] = 0.0; - out_7849761791714406524[64] = 0.0; - out_7849761791714406524[65] = 0.0; - out_7849761791714406524[66] = 0.0; - out_7849761791714406524[67] = 0.0; - out_7849761791714406524[68] = 0.0; - out_7849761791714406524[69] = 0.0; - out_7849761791714406524[70] = 0.0; - out_7849761791714406524[71] = 0.0; - out_7849761791714406524[72] = 0.0; - out_7849761791714406524[73] = 0.0; - out_7849761791714406524[74] = 0.0; - out_7849761791714406524[75] = 0.0; - out_7849761791714406524[76] = 1.0; - out_7849761791714406524[77] = 0.0; - out_7849761791714406524[78] = 0.0; - out_7849761791714406524[79] = 0.0; - out_7849761791714406524[80] = 0.0; - out_7849761791714406524[81] = 0.0; - out_7849761791714406524[82] = 0.0; - out_7849761791714406524[83] = 0.0; - out_7849761791714406524[84] = 0.0; - out_7849761791714406524[85] = 0.0; - out_7849761791714406524[86] = 0.0; - out_7849761791714406524[87] = 0.0; - out_7849761791714406524[88] = 0.0; - out_7849761791714406524[89] = 0.0; - out_7849761791714406524[90] = 0.0; - out_7849761791714406524[91] = 0.0; - out_7849761791714406524[92] = 0.0; - out_7849761791714406524[93] = 0.0; - out_7849761791714406524[94] = 0.0; - out_7849761791714406524[95] = 1.0; - out_7849761791714406524[96] = 0.0; - out_7849761791714406524[97] = 0.0; - out_7849761791714406524[98] = 0.0; - out_7849761791714406524[99] = 0.0; - out_7849761791714406524[100] = 0.0; - out_7849761791714406524[101] = 0.0; - out_7849761791714406524[102] = 0.0; - out_7849761791714406524[103] = 0.0; - out_7849761791714406524[104] = 0.0; - out_7849761791714406524[105] = 0.0; - out_7849761791714406524[106] = 0.0; - out_7849761791714406524[107] = 0.0; - out_7849761791714406524[108] = 0.0; - out_7849761791714406524[109] = 0.0; - out_7849761791714406524[110] = 0.0; - out_7849761791714406524[111] = 0.0; - out_7849761791714406524[112] = 0.0; - out_7849761791714406524[113] = 0.0; - out_7849761791714406524[114] = 1.0; - out_7849761791714406524[115] = 0.0; - out_7849761791714406524[116] = 0.0; - out_7849761791714406524[117] = 0.0; - out_7849761791714406524[118] = 0.0; - out_7849761791714406524[119] = 0.0; - out_7849761791714406524[120] = 0.0; - out_7849761791714406524[121] = 0.0; - out_7849761791714406524[122] = 0.0; - out_7849761791714406524[123] = 0.0; - out_7849761791714406524[124] = 0.0; - out_7849761791714406524[125] = 0.0; - out_7849761791714406524[126] = 0.0; - out_7849761791714406524[127] = 0.0; - out_7849761791714406524[128] = 0.0; - out_7849761791714406524[129] = 0.0; - out_7849761791714406524[130] = 0.0; - out_7849761791714406524[131] = 0.0; - out_7849761791714406524[132] = 0.0; - out_7849761791714406524[133] = 1.0; - out_7849761791714406524[134] = 0.0; - out_7849761791714406524[135] = 0.0; - out_7849761791714406524[136] = 0.0; - out_7849761791714406524[137] = 0.0; - out_7849761791714406524[138] = 0.0; - out_7849761791714406524[139] = 0.0; - out_7849761791714406524[140] = 0.0; - out_7849761791714406524[141] = 0.0; - out_7849761791714406524[142] = 0.0; - out_7849761791714406524[143] = 0.0; - out_7849761791714406524[144] = 0.0; - out_7849761791714406524[145] = 0.0; - out_7849761791714406524[146] = 0.0; - out_7849761791714406524[147] = 0.0; - out_7849761791714406524[148] = 0.0; - out_7849761791714406524[149] = 0.0; - out_7849761791714406524[150] = 0.0; - out_7849761791714406524[151] = 0.0; - out_7849761791714406524[152] = 1.0; - out_7849761791714406524[153] = 0.0; - out_7849761791714406524[154] = 0.0; - out_7849761791714406524[155] = 0.0; - out_7849761791714406524[156] = 0.0; - out_7849761791714406524[157] = 0.0; - out_7849761791714406524[158] = 0.0; - out_7849761791714406524[159] = 0.0; - out_7849761791714406524[160] = 0.0; - out_7849761791714406524[161] = 0.0; - out_7849761791714406524[162] = 0.0; - out_7849761791714406524[163] = 0.0; - out_7849761791714406524[164] = 0.0; - out_7849761791714406524[165] = 0.0; - out_7849761791714406524[166] = 0.0; - out_7849761791714406524[167] = 0.0; - out_7849761791714406524[168] = 0.0; - out_7849761791714406524[169] = 0.0; - out_7849761791714406524[170] = 0.0; - out_7849761791714406524[171] = 1.0; - out_7849761791714406524[172] = 0.0; - out_7849761791714406524[173] = 0.0; - out_7849761791714406524[174] = 0.0; - out_7849761791714406524[175] = 0.0; - out_7849761791714406524[176] = 0.0; - out_7849761791714406524[177] = 0.0; - out_7849761791714406524[178] = 0.0; - out_7849761791714406524[179] = 0.0; - out_7849761791714406524[180] = 0.0; - out_7849761791714406524[181] = 0.0; - out_7849761791714406524[182] = 0.0; - out_7849761791714406524[183] = 0.0; - out_7849761791714406524[184] = 0.0; - out_7849761791714406524[185] = 0.0; - out_7849761791714406524[186] = 0.0; - out_7849761791714406524[187] = 0.0; - out_7849761791714406524[188] = 0.0; - out_7849761791714406524[189] = 0.0; - out_7849761791714406524[190] = 1.0; - out_7849761791714406524[191] = 0.0; - out_7849761791714406524[192] = 0.0; - out_7849761791714406524[193] = 0.0; - out_7849761791714406524[194] = 0.0; - out_7849761791714406524[195] = 0.0; - out_7849761791714406524[196] = 0.0; - out_7849761791714406524[197] = 0.0; - out_7849761791714406524[198] = 0.0; - out_7849761791714406524[199] = 0.0; - out_7849761791714406524[200] = 0.0; - out_7849761791714406524[201] = 0.0; - out_7849761791714406524[202] = 0.0; - out_7849761791714406524[203] = 0.0; - out_7849761791714406524[204] = 0.0; - out_7849761791714406524[205] = 0.0; - out_7849761791714406524[206] = 0.0; - out_7849761791714406524[207] = 0.0; - out_7849761791714406524[208] = 0.0; - out_7849761791714406524[209] = 1.0; - out_7849761791714406524[210] = 0.0; - out_7849761791714406524[211] = 0.0; - out_7849761791714406524[212] = 0.0; - out_7849761791714406524[213] = 0.0; - out_7849761791714406524[214] = 0.0; - out_7849761791714406524[215] = 0.0; - out_7849761791714406524[216] = 0.0; - out_7849761791714406524[217] = 0.0; - out_7849761791714406524[218] = 0.0; - out_7849761791714406524[219] = 0.0; - out_7849761791714406524[220] = 0.0; - out_7849761791714406524[221] = 0.0; - out_7849761791714406524[222] = 0.0; - out_7849761791714406524[223] = 0.0; - out_7849761791714406524[224] = 0.0; - out_7849761791714406524[225] = 0.0; - out_7849761791714406524[226] = 0.0; - out_7849761791714406524[227] = 0.0; - out_7849761791714406524[228] = 1.0; - out_7849761791714406524[229] = 0.0; - out_7849761791714406524[230] = 0.0; - out_7849761791714406524[231] = 0.0; - out_7849761791714406524[232] = 0.0; - out_7849761791714406524[233] = 0.0; - out_7849761791714406524[234] = 0.0; - out_7849761791714406524[235] = 0.0; - out_7849761791714406524[236] = 0.0; - out_7849761791714406524[237] = 0.0; - out_7849761791714406524[238] = 0.0; - out_7849761791714406524[239] = 0.0; - out_7849761791714406524[240] = 0.0; - out_7849761791714406524[241] = 0.0; - out_7849761791714406524[242] = 0.0; - out_7849761791714406524[243] = 0.0; - out_7849761791714406524[244] = 0.0; - out_7849761791714406524[245] = 0.0; - out_7849761791714406524[246] = 0.0; - out_7849761791714406524[247] = 1.0; - out_7849761791714406524[248] = 0.0; - out_7849761791714406524[249] = 0.0; - out_7849761791714406524[250] = 0.0; - out_7849761791714406524[251] = 0.0; - out_7849761791714406524[252] = 0.0; - out_7849761791714406524[253] = 0.0; - out_7849761791714406524[254] = 0.0; - out_7849761791714406524[255] = 0.0; - out_7849761791714406524[256] = 0.0; - out_7849761791714406524[257] = 0.0; - out_7849761791714406524[258] = 0.0; - out_7849761791714406524[259] = 0.0; - out_7849761791714406524[260] = 0.0; - out_7849761791714406524[261] = 0.0; - out_7849761791714406524[262] = 0.0; - out_7849761791714406524[263] = 0.0; - out_7849761791714406524[264] = 0.0; - out_7849761791714406524[265] = 0.0; - out_7849761791714406524[266] = 1.0; - out_7849761791714406524[267] = 0.0; - out_7849761791714406524[268] = 0.0; - out_7849761791714406524[269] = 0.0; - out_7849761791714406524[270] = 0.0; - out_7849761791714406524[271] = 0.0; - out_7849761791714406524[272] = 0.0; - out_7849761791714406524[273] = 0.0; - out_7849761791714406524[274] = 0.0; - out_7849761791714406524[275] = 0.0; - out_7849761791714406524[276] = 0.0; - out_7849761791714406524[277] = 0.0; - out_7849761791714406524[278] = 0.0; - out_7849761791714406524[279] = 0.0; - out_7849761791714406524[280] = 0.0; - out_7849761791714406524[281] = 0.0; - out_7849761791714406524[282] = 0.0; - out_7849761791714406524[283] = 0.0; - out_7849761791714406524[284] = 0.0; - out_7849761791714406524[285] = 1.0; - out_7849761791714406524[286] = 0.0; - out_7849761791714406524[287] = 0.0; - out_7849761791714406524[288] = 0.0; - out_7849761791714406524[289] = 0.0; - out_7849761791714406524[290] = 0.0; - out_7849761791714406524[291] = 0.0; - out_7849761791714406524[292] = 0.0; - out_7849761791714406524[293] = 0.0; - out_7849761791714406524[294] = 0.0; - out_7849761791714406524[295] = 0.0; - out_7849761791714406524[296] = 0.0; - out_7849761791714406524[297] = 0.0; - out_7849761791714406524[298] = 0.0; - out_7849761791714406524[299] = 0.0; - out_7849761791714406524[300] = 0.0; - out_7849761791714406524[301] = 0.0; - out_7849761791714406524[302] = 0.0; - out_7849761791714406524[303] = 0.0; - out_7849761791714406524[304] = 1.0; - out_7849761791714406524[305] = 0.0; - out_7849761791714406524[306] = 0.0; - out_7849761791714406524[307] = 0.0; - out_7849761791714406524[308] = 0.0; - out_7849761791714406524[309] = 0.0; - out_7849761791714406524[310] = 0.0; - out_7849761791714406524[311] = 0.0; - out_7849761791714406524[312] = 0.0; - out_7849761791714406524[313] = 0.0; - out_7849761791714406524[314] = 0.0; - out_7849761791714406524[315] = 0.0; - out_7849761791714406524[316] = 0.0; - out_7849761791714406524[317] = 0.0; - out_7849761791714406524[318] = 0.0; - out_7849761791714406524[319] = 0.0; - out_7849761791714406524[320] = 0.0; - out_7849761791714406524[321] = 0.0; - out_7849761791714406524[322] = 0.0; - out_7849761791714406524[323] = 1.0; +void H_mod_fun(double *state, double *out_7305256634145735915) { + out_7305256634145735915[0] = 1.0; + out_7305256634145735915[1] = 0.0; + out_7305256634145735915[2] = 0.0; + out_7305256634145735915[3] = 0.0; + out_7305256634145735915[4] = 0.0; + out_7305256634145735915[5] = 0.0; + out_7305256634145735915[6] = 0.0; + out_7305256634145735915[7] = 0.0; + out_7305256634145735915[8] = 0.0; + out_7305256634145735915[9] = 0.0; + out_7305256634145735915[10] = 0.0; + out_7305256634145735915[11] = 0.0; + out_7305256634145735915[12] = 0.0; + out_7305256634145735915[13] = 0.0; + out_7305256634145735915[14] = 0.0; + out_7305256634145735915[15] = 0.0; + out_7305256634145735915[16] = 0.0; + out_7305256634145735915[17] = 0.0; + out_7305256634145735915[18] = 0.0; + out_7305256634145735915[19] = 1.0; + out_7305256634145735915[20] = 0.0; + out_7305256634145735915[21] = 0.0; + out_7305256634145735915[22] = 0.0; + out_7305256634145735915[23] = 0.0; + out_7305256634145735915[24] = 0.0; + out_7305256634145735915[25] = 0.0; + out_7305256634145735915[26] = 0.0; + out_7305256634145735915[27] = 0.0; + out_7305256634145735915[28] = 0.0; + out_7305256634145735915[29] = 0.0; + out_7305256634145735915[30] = 0.0; + out_7305256634145735915[31] = 0.0; + out_7305256634145735915[32] = 0.0; + out_7305256634145735915[33] = 0.0; + out_7305256634145735915[34] = 0.0; + out_7305256634145735915[35] = 0.0; + out_7305256634145735915[36] = 0.0; + out_7305256634145735915[37] = 0.0; + out_7305256634145735915[38] = 1.0; + out_7305256634145735915[39] = 0.0; + out_7305256634145735915[40] = 0.0; + out_7305256634145735915[41] = 0.0; + out_7305256634145735915[42] = 0.0; + out_7305256634145735915[43] = 0.0; + out_7305256634145735915[44] = 0.0; + out_7305256634145735915[45] = 0.0; + out_7305256634145735915[46] = 0.0; + out_7305256634145735915[47] = 0.0; + out_7305256634145735915[48] = 0.0; + out_7305256634145735915[49] = 0.0; + out_7305256634145735915[50] = 0.0; + out_7305256634145735915[51] = 0.0; + out_7305256634145735915[52] = 0.0; + out_7305256634145735915[53] = 0.0; + out_7305256634145735915[54] = 0.0; + out_7305256634145735915[55] = 0.0; + out_7305256634145735915[56] = 0.0; + out_7305256634145735915[57] = 1.0; + out_7305256634145735915[58] = 0.0; + out_7305256634145735915[59] = 0.0; + out_7305256634145735915[60] = 0.0; + out_7305256634145735915[61] = 0.0; + out_7305256634145735915[62] = 0.0; + out_7305256634145735915[63] = 0.0; + out_7305256634145735915[64] = 0.0; + out_7305256634145735915[65] = 0.0; + out_7305256634145735915[66] = 0.0; + out_7305256634145735915[67] = 0.0; + out_7305256634145735915[68] = 0.0; + out_7305256634145735915[69] = 0.0; + out_7305256634145735915[70] = 0.0; + out_7305256634145735915[71] = 0.0; + out_7305256634145735915[72] = 0.0; + out_7305256634145735915[73] = 0.0; + out_7305256634145735915[74] = 0.0; + out_7305256634145735915[75] = 0.0; + out_7305256634145735915[76] = 1.0; + out_7305256634145735915[77] = 0.0; + out_7305256634145735915[78] = 0.0; + out_7305256634145735915[79] = 0.0; + out_7305256634145735915[80] = 0.0; + out_7305256634145735915[81] = 0.0; + out_7305256634145735915[82] = 0.0; + out_7305256634145735915[83] = 0.0; + out_7305256634145735915[84] = 0.0; + out_7305256634145735915[85] = 0.0; + out_7305256634145735915[86] = 0.0; + out_7305256634145735915[87] = 0.0; + out_7305256634145735915[88] = 0.0; + out_7305256634145735915[89] = 0.0; + out_7305256634145735915[90] = 0.0; + out_7305256634145735915[91] = 0.0; + out_7305256634145735915[92] = 0.0; + out_7305256634145735915[93] = 0.0; + out_7305256634145735915[94] = 0.0; + out_7305256634145735915[95] = 1.0; + out_7305256634145735915[96] = 0.0; + out_7305256634145735915[97] = 0.0; + out_7305256634145735915[98] = 0.0; + out_7305256634145735915[99] = 0.0; + out_7305256634145735915[100] = 0.0; + out_7305256634145735915[101] = 0.0; + out_7305256634145735915[102] = 0.0; + out_7305256634145735915[103] = 0.0; + out_7305256634145735915[104] = 0.0; + out_7305256634145735915[105] = 0.0; + out_7305256634145735915[106] = 0.0; + out_7305256634145735915[107] = 0.0; + out_7305256634145735915[108] = 0.0; + out_7305256634145735915[109] = 0.0; + out_7305256634145735915[110] = 0.0; + out_7305256634145735915[111] = 0.0; + out_7305256634145735915[112] = 0.0; + out_7305256634145735915[113] = 0.0; + out_7305256634145735915[114] = 1.0; + out_7305256634145735915[115] = 0.0; + out_7305256634145735915[116] = 0.0; + out_7305256634145735915[117] = 0.0; + out_7305256634145735915[118] = 0.0; + out_7305256634145735915[119] = 0.0; + out_7305256634145735915[120] = 0.0; + out_7305256634145735915[121] = 0.0; + out_7305256634145735915[122] = 0.0; + out_7305256634145735915[123] = 0.0; + out_7305256634145735915[124] = 0.0; + out_7305256634145735915[125] = 0.0; + out_7305256634145735915[126] = 0.0; + out_7305256634145735915[127] = 0.0; + out_7305256634145735915[128] = 0.0; + out_7305256634145735915[129] = 0.0; + out_7305256634145735915[130] = 0.0; + out_7305256634145735915[131] = 0.0; + out_7305256634145735915[132] = 0.0; + out_7305256634145735915[133] = 1.0; + out_7305256634145735915[134] = 0.0; + out_7305256634145735915[135] = 0.0; + out_7305256634145735915[136] = 0.0; + out_7305256634145735915[137] = 0.0; + out_7305256634145735915[138] = 0.0; + out_7305256634145735915[139] = 0.0; + out_7305256634145735915[140] = 0.0; + out_7305256634145735915[141] = 0.0; + out_7305256634145735915[142] = 0.0; + out_7305256634145735915[143] = 0.0; + out_7305256634145735915[144] = 0.0; + out_7305256634145735915[145] = 0.0; + out_7305256634145735915[146] = 0.0; + out_7305256634145735915[147] = 0.0; + out_7305256634145735915[148] = 0.0; + out_7305256634145735915[149] = 0.0; + out_7305256634145735915[150] = 0.0; + out_7305256634145735915[151] = 0.0; + out_7305256634145735915[152] = 1.0; + out_7305256634145735915[153] = 0.0; + out_7305256634145735915[154] = 0.0; + out_7305256634145735915[155] = 0.0; + out_7305256634145735915[156] = 0.0; + out_7305256634145735915[157] = 0.0; + out_7305256634145735915[158] = 0.0; + out_7305256634145735915[159] = 0.0; + out_7305256634145735915[160] = 0.0; + out_7305256634145735915[161] = 0.0; + out_7305256634145735915[162] = 0.0; + out_7305256634145735915[163] = 0.0; + out_7305256634145735915[164] = 0.0; + out_7305256634145735915[165] = 0.0; + out_7305256634145735915[166] = 0.0; + out_7305256634145735915[167] = 0.0; + out_7305256634145735915[168] = 0.0; + out_7305256634145735915[169] = 0.0; + out_7305256634145735915[170] = 0.0; + out_7305256634145735915[171] = 1.0; + out_7305256634145735915[172] = 0.0; + out_7305256634145735915[173] = 0.0; + out_7305256634145735915[174] = 0.0; + out_7305256634145735915[175] = 0.0; + out_7305256634145735915[176] = 0.0; + out_7305256634145735915[177] = 0.0; + out_7305256634145735915[178] = 0.0; + out_7305256634145735915[179] = 0.0; + out_7305256634145735915[180] = 0.0; + out_7305256634145735915[181] = 0.0; + out_7305256634145735915[182] = 0.0; + out_7305256634145735915[183] = 0.0; + out_7305256634145735915[184] = 0.0; + out_7305256634145735915[185] = 0.0; + out_7305256634145735915[186] = 0.0; + out_7305256634145735915[187] = 0.0; + out_7305256634145735915[188] = 0.0; + out_7305256634145735915[189] = 0.0; + out_7305256634145735915[190] = 1.0; + out_7305256634145735915[191] = 0.0; + out_7305256634145735915[192] = 0.0; + out_7305256634145735915[193] = 0.0; + out_7305256634145735915[194] = 0.0; + out_7305256634145735915[195] = 0.0; + out_7305256634145735915[196] = 0.0; + out_7305256634145735915[197] = 0.0; + out_7305256634145735915[198] = 0.0; + out_7305256634145735915[199] = 0.0; + out_7305256634145735915[200] = 0.0; + out_7305256634145735915[201] = 0.0; + out_7305256634145735915[202] = 0.0; + out_7305256634145735915[203] = 0.0; + out_7305256634145735915[204] = 0.0; + out_7305256634145735915[205] = 0.0; + out_7305256634145735915[206] = 0.0; + out_7305256634145735915[207] = 0.0; + out_7305256634145735915[208] = 0.0; + out_7305256634145735915[209] = 1.0; + out_7305256634145735915[210] = 0.0; + out_7305256634145735915[211] = 0.0; + out_7305256634145735915[212] = 0.0; + out_7305256634145735915[213] = 0.0; + out_7305256634145735915[214] = 0.0; + out_7305256634145735915[215] = 0.0; + out_7305256634145735915[216] = 0.0; + out_7305256634145735915[217] = 0.0; + out_7305256634145735915[218] = 0.0; + out_7305256634145735915[219] = 0.0; + out_7305256634145735915[220] = 0.0; + out_7305256634145735915[221] = 0.0; + out_7305256634145735915[222] = 0.0; + out_7305256634145735915[223] = 0.0; + out_7305256634145735915[224] = 0.0; + out_7305256634145735915[225] = 0.0; + out_7305256634145735915[226] = 0.0; + out_7305256634145735915[227] = 0.0; + out_7305256634145735915[228] = 1.0; + out_7305256634145735915[229] = 0.0; + out_7305256634145735915[230] = 0.0; + out_7305256634145735915[231] = 0.0; + out_7305256634145735915[232] = 0.0; + out_7305256634145735915[233] = 0.0; + out_7305256634145735915[234] = 0.0; + out_7305256634145735915[235] = 0.0; + out_7305256634145735915[236] = 0.0; + out_7305256634145735915[237] = 0.0; + out_7305256634145735915[238] = 0.0; + out_7305256634145735915[239] = 0.0; + out_7305256634145735915[240] = 0.0; + out_7305256634145735915[241] = 0.0; + out_7305256634145735915[242] = 0.0; + out_7305256634145735915[243] = 0.0; + out_7305256634145735915[244] = 0.0; + out_7305256634145735915[245] = 0.0; + out_7305256634145735915[246] = 0.0; + out_7305256634145735915[247] = 1.0; + out_7305256634145735915[248] = 0.0; + out_7305256634145735915[249] = 0.0; + out_7305256634145735915[250] = 0.0; + out_7305256634145735915[251] = 0.0; + out_7305256634145735915[252] = 0.0; + out_7305256634145735915[253] = 0.0; + out_7305256634145735915[254] = 0.0; + out_7305256634145735915[255] = 0.0; + out_7305256634145735915[256] = 0.0; + out_7305256634145735915[257] = 0.0; + out_7305256634145735915[258] = 0.0; + out_7305256634145735915[259] = 0.0; + out_7305256634145735915[260] = 0.0; + out_7305256634145735915[261] = 0.0; + out_7305256634145735915[262] = 0.0; + out_7305256634145735915[263] = 0.0; + out_7305256634145735915[264] = 0.0; + out_7305256634145735915[265] = 0.0; + out_7305256634145735915[266] = 1.0; + out_7305256634145735915[267] = 0.0; + out_7305256634145735915[268] = 0.0; + out_7305256634145735915[269] = 0.0; + out_7305256634145735915[270] = 0.0; + out_7305256634145735915[271] = 0.0; + out_7305256634145735915[272] = 0.0; + out_7305256634145735915[273] = 0.0; + out_7305256634145735915[274] = 0.0; + out_7305256634145735915[275] = 0.0; + out_7305256634145735915[276] = 0.0; + out_7305256634145735915[277] = 0.0; + out_7305256634145735915[278] = 0.0; + out_7305256634145735915[279] = 0.0; + out_7305256634145735915[280] = 0.0; + out_7305256634145735915[281] = 0.0; + out_7305256634145735915[282] = 0.0; + out_7305256634145735915[283] = 0.0; + out_7305256634145735915[284] = 0.0; + out_7305256634145735915[285] = 1.0; + out_7305256634145735915[286] = 0.0; + out_7305256634145735915[287] = 0.0; + out_7305256634145735915[288] = 0.0; + out_7305256634145735915[289] = 0.0; + out_7305256634145735915[290] = 0.0; + out_7305256634145735915[291] = 0.0; + out_7305256634145735915[292] = 0.0; + out_7305256634145735915[293] = 0.0; + out_7305256634145735915[294] = 0.0; + out_7305256634145735915[295] = 0.0; + out_7305256634145735915[296] = 0.0; + out_7305256634145735915[297] = 0.0; + out_7305256634145735915[298] = 0.0; + out_7305256634145735915[299] = 0.0; + out_7305256634145735915[300] = 0.0; + out_7305256634145735915[301] = 0.0; + out_7305256634145735915[302] = 0.0; + out_7305256634145735915[303] = 0.0; + out_7305256634145735915[304] = 1.0; + out_7305256634145735915[305] = 0.0; + out_7305256634145735915[306] = 0.0; + out_7305256634145735915[307] = 0.0; + out_7305256634145735915[308] = 0.0; + out_7305256634145735915[309] = 0.0; + out_7305256634145735915[310] = 0.0; + out_7305256634145735915[311] = 0.0; + out_7305256634145735915[312] = 0.0; + out_7305256634145735915[313] = 0.0; + out_7305256634145735915[314] = 0.0; + out_7305256634145735915[315] = 0.0; + out_7305256634145735915[316] = 0.0; + out_7305256634145735915[317] = 0.0; + out_7305256634145735915[318] = 0.0; + out_7305256634145735915[319] = 0.0; + out_7305256634145735915[320] = 0.0; + out_7305256634145735915[321] = 0.0; + out_7305256634145735915[322] = 0.0; + out_7305256634145735915[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4127372900134371769) { - out_4127372900134371769[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_4127372900134371769[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_4127372900134371769[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_4127372900134371769[3] = dt*state[12] + state[3]; - out_4127372900134371769[4] = dt*state[13] + state[4]; - out_4127372900134371769[5] = dt*state[14] + state[5]; - out_4127372900134371769[6] = state[6]; - out_4127372900134371769[7] = state[7]; - out_4127372900134371769[8] = state[8]; - out_4127372900134371769[9] = state[9]; - out_4127372900134371769[10] = state[10]; - out_4127372900134371769[11] = state[11]; - out_4127372900134371769[12] = state[12]; - out_4127372900134371769[13] = state[13]; - out_4127372900134371769[14] = state[14]; - out_4127372900134371769[15] = state[15]; - out_4127372900134371769[16] = state[16]; - out_4127372900134371769[17] = state[17]; +void f_fun(double *state, double dt, double *out_9088132790328569434) { + out_9088132790328569434[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_9088132790328569434[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_9088132790328569434[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_9088132790328569434[3] = dt*state[12] + state[3]; + out_9088132790328569434[4] = dt*state[13] + state[4]; + out_9088132790328569434[5] = dt*state[14] + state[5]; + out_9088132790328569434[6] = state[6]; + out_9088132790328569434[7] = state[7]; + out_9088132790328569434[8] = state[8]; + out_9088132790328569434[9] = state[9]; + out_9088132790328569434[10] = state[10]; + out_9088132790328569434[11] = state[11]; + out_9088132790328569434[12] = state[12]; + out_9088132790328569434[13] = state[13]; + out_9088132790328569434[14] = state[14]; + out_9088132790328569434[15] = state[15]; + out_9088132790328569434[16] = state[16]; + out_9088132790328569434[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6790734299023463428) { - out_6790734299023463428[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_6790734299023463428[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_6790734299023463428[2] = 0; - out_6790734299023463428[3] = 0; - out_6790734299023463428[4] = 0; - out_6790734299023463428[5] = 0; - out_6790734299023463428[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_6790734299023463428[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_6790734299023463428[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_6790734299023463428[9] = 0; - out_6790734299023463428[10] = 0; - out_6790734299023463428[11] = 0; - out_6790734299023463428[12] = 0; - out_6790734299023463428[13] = 0; - out_6790734299023463428[14] = 0; - out_6790734299023463428[15] = 0; - out_6790734299023463428[16] = 0; - out_6790734299023463428[17] = 0; - out_6790734299023463428[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_6790734299023463428[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_6790734299023463428[20] = 0; - out_6790734299023463428[21] = 0; - out_6790734299023463428[22] = 0; - out_6790734299023463428[23] = 0; - out_6790734299023463428[24] = 0; - out_6790734299023463428[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_6790734299023463428[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_6790734299023463428[27] = 0; - out_6790734299023463428[28] = 0; - out_6790734299023463428[29] = 0; - out_6790734299023463428[30] = 0; - out_6790734299023463428[31] = 0; - out_6790734299023463428[32] = 0; - out_6790734299023463428[33] = 0; - out_6790734299023463428[34] = 0; - out_6790734299023463428[35] = 0; - out_6790734299023463428[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_6790734299023463428[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_6790734299023463428[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_6790734299023463428[39] = 0; - out_6790734299023463428[40] = 0; - out_6790734299023463428[41] = 0; - out_6790734299023463428[42] = 0; - out_6790734299023463428[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_6790734299023463428[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_6790734299023463428[45] = 0; - out_6790734299023463428[46] = 0; - out_6790734299023463428[47] = 0; - out_6790734299023463428[48] = 0; - out_6790734299023463428[49] = 0; - out_6790734299023463428[50] = 0; - out_6790734299023463428[51] = 0; - out_6790734299023463428[52] = 0; - out_6790734299023463428[53] = 0; - out_6790734299023463428[54] = 0; - out_6790734299023463428[55] = 0; - out_6790734299023463428[56] = 0; - out_6790734299023463428[57] = 1; - out_6790734299023463428[58] = 0; - out_6790734299023463428[59] = 0; - out_6790734299023463428[60] = 0; - out_6790734299023463428[61] = 0; - out_6790734299023463428[62] = 0; - out_6790734299023463428[63] = 0; - out_6790734299023463428[64] = 0; - out_6790734299023463428[65] = 0; - out_6790734299023463428[66] = dt; - out_6790734299023463428[67] = 0; - out_6790734299023463428[68] = 0; - out_6790734299023463428[69] = 0; - out_6790734299023463428[70] = 0; - out_6790734299023463428[71] = 0; - out_6790734299023463428[72] = 0; - out_6790734299023463428[73] = 0; - out_6790734299023463428[74] = 0; - out_6790734299023463428[75] = 0; - out_6790734299023463428[76] = 1; - out_6790734299023463428[77] = 0; - out_6790734299023463428[78] = 0; - out_6790734299023463428[79] = 0; - out_6790734299023463428[80] = 0; - out_6790734299023463428[81] = 0; - out_6790734299023463428[82] = 0; - out_6790734299023463428[83] = 0; - out_6790734299023463428[84] = 0; - out_6790734299023463428[85] = dt; - out_6790734299023463428[86] = 0; - out_6790734299023463428[87] = 0; - out_6790734299023463428[88] = 0; - out_6790734299023463428[89] = 0; - out_6790734299023463428[90] = 0; - out_6790734299023463428[91] = 0; - out_6790734299023463428[92] = 0; - out_6790734299023463428[93] = 0; - out_6790734299023463428[94] = 0; - out_6790734299023463428[95] = 1; - out_6790734299023463428[96] = 0; - out_6790734299023463428[97] = 0; - out_6790734299023463428[98] = 0; - out_6790734299023463428[99] = 0; - out_6790734299023463428[100] = 0; - out_6790734299023463428[101] = 0; - out_6790734299023463428[102] = 0; - out_6790734299023463428[103] = 0; - out_6790734299023463428[104] = dt; - out_6790734299023463428[105] = 0; - out_6790734299023463428[106] = 0; - out_6790734299023463428[107] = 0; - out_6790734299023463428[108] = 0; - out_6790734299023463428[109] = 0; - out_6790734299023463428[110] = 0; - out_6790734299023463428[111] = 0; - out_6790734299023463428[112] = 0; - out_6790734299023463428[113] = 0; - out_6790734299023463428[114] = 1; - out_6790734299023463428[115] = 0; - out_6790734299023463428[116] = 0; - out_6790734299023463428[117] = 0; - out_6790734299023463428[118] = 0; - out_6790734299023463428[119] = 0; - out_6790734299023463428[120] = 0; - out_6790734299023463428[121] = 0; - out_6790734299023463428[122] = 0; - out_6790734299023463428[123] = 0; - out_6790734299023463428[124] = 0; - out_6790734299023463428[125] = 0; - out_6790734299023463428[126] = 0; - out_6790734299023463428[127] = 0; - out_6790734299023463428[128] = 0; - out_6790734299023463428[129] = 0; - out_6790734299023463428[130] = 0; - out_6790734299023463428[131] = 0; - out_6790734299023463428[132] = 0; - out_6790734299023463428[133] = 1; - out_6790734299023463428[134] = 0; - out_6790734299023463428[135] = 0; - out_6790734299023463428[136] = 0; - out_6790734299023463428[137] = 0; - out_6790734299023463428[138] = 0; - out_6790734299023463428[139] = 0; - out_6790734299023463428[140] = 0; - out_6790734299023463428[141] = 0; - out_6790734299023463428[142] = 0; - out_6790734299023463428[143] = 0; - out_6790734299023463428[144] = 0; - out_6790734299023463428[145] = 0; - out_6790734299023463428[146] = 0; - out_6790734299023463428[147] = 0; - out_6790734299023463428[148] = 0; - out_6790734299023463428[149] = 0; - out_6790734299023463428[150] = 0; - out_6790734299023463428[151] = 0; - out_6790734299023463428[152] = 1; - out_6790734299023463428[153] = 0; - out_6790734299023463428[154] = 0; - out_6790734299023463428[155] = 0; - out_6790734299023463428[156] = 0; - out_6790734299023463428[157] = 0; - out_6790734299023463428[158] = 0; - out_6790734299023463428[159] = 0; - out_6790734299023463428[160] = 0; - out_6790734299023463428[161] = 0; - out_6790734299023463428[162] = 0; - out_6790734299023463428[163] = 0; - out_6790734299023463428[164] = 0; - out_6790734299023463428[165] = 0; - out_6790734299023463428[166] = 0; - out_6790734299023463428[167] = 0; - out_6790734299023463428[168] = 0; - out_6790734299023463428[169] = 0; - out_6790734299023463428[170] = 0; - out_6790734299023463428[171] = 1; - out_6790734299023463428[172] = 0; - out_6790734299023463428[173] = 0; - out_6790734299023463428[174] = 0; - out_6790734299023463428[175] = 0; - out_6790734299023463428[176] = 0; - out_6790734299023463428[177] = 0; - out_6790734299023463428[178] = 0; - out_6790734299023463428[179] = 0; - out_6790734299023463428[180] = 0; - out_6790734299023463428[181] = 0; - out_6790734299023463428[182] = 0; - out_6790734299023463428[183] = 0; - out_6790734299023463428[184] = 0; - out_6790734299023463428[185] = 0; - out_6790734299023463428[186] = 0; - out_6790734299023463428[187] = 0; - out_6790734299023463428[188] = 0; - out_6790734299023463428[189] = 0; - out_6790734299023463428[190] = 1; - out_6790734299023463428[191] = 0; - out_6790734299023463428[192] = 0; - out_6790734299023463428[193] = 0; - out_6790734299023463428[194] = 0; - out_6790734299023463428[195] = 0; - out_6790734299023463428[196] = 0; - out_6790734299023463428[197] = 0; - out_6790734299023463428[198] = 0; - out_6790734299023463428[199] = 0; - out_6790734299023463428[200] = 0; - out_6790734299023463428[201] = 0; - out_6790734299023463428[202] = 0; - out_6790734299023463428[203] = 0; - out_6790734299023463428[204] = 0; - out_6790734299023463428[205] = 0; - out_6790734299023463428[206] = 0; - out_6790734299023463428[207] = 0; - out_6790734299023463428[208] = 0; - out_6790734299023463428[209] = 1; - out_6790734299023463428[210] = 0; - out_6790734299023463428[211] = 0; - out_6790734299023463428[212] = 0; - out_6790734299023463428[213] = 0; - out_6790734299023463428[214] = 0; - out_6790734299023463428[215] = 0; - out_6790734299023463428[216] = 0; - out_6790734299023463428[217] = 0; - out_6790734299023463428[218] = 0; - out_6790734299023463428[219] = 0; - out_6790734299023463428[220] = 0; - out_6790734299023463428[221] = 0; - out_6790734299023463428[222] = 0; - out_6790734299023463428[223] = 0; - out_6790734299023463428[224] = 0; - out_6790734299023463428[225] = 0; - out_6790734299023463428[226] = 0; - out_6790734299023463428[227] = 0; - out_6790734299023463428[228] = 1; - out_6790734299023463428[229] = 0; - out_6790734299023463428[230] = 0; - out_6790734299023463428[231] = 0; - out_6790734299023463428[232] = 0; - out_6790734299023463428[233] = 0; - out_6790734299023463428[234] = 0; - out_6790734299023463428[235] = 0; - out_6790734299023463428[236] = 0; - out_6790734299023463428[237] = 0; - out_6790734299023463428[238] = 0; - out_6790734299023463428[239] = 0; - out_6790734299023463428[240] = 0; - out_6790734299023463428[241] = 0; - out_6790734299023463428[242] = 0; - out_6790734299023463428[243] = 0; - out_6790734299023463428[244] = 0; - out_6790734299023463428[245] = 0; - out_6790734299023463428[246] = 0; - out_6790734299023463428[247] = 1; - out_6790734299023463428[248] = 0; - out_6790734299023463428[249] = 0; - out_6790734299023463428[250] = 0; - out_6790734299023463428[251] = 0; - out_6790734299023463428[252] = 0; - out_6790734299023463428[253] = 0; - out_6790734299023463428[254] = 0; - out_6790734299023463428[255] = 0; - out_6790734299023463428[256] = 0; - out_6790734299023463428[257] = 0; - out_6790734299023463428[258] = 0; - out_6790734299023463428[259] = 0; - out_6790734299023463428[260] = 0; - out_6790734299023463428[261] = 0; - out_6790734299023463428[262] = 0; - out_6790734299023463428[263] = 0; - out_6790734299023463428[264] = 0; - out_6790734299023463428[265] = 0; - out_6790734299023463428[266] = 1; - out_6790734299023463428[267] = 0; - out_6790734299023463428[268] = 0; - out_6790734299023463428[269] = 0; - out_6790734299023463428[270] = 0; - out_6790734299023463428[271] = 0; - out_6790734299023463428[272] = 0; - out_6790734299023463428[273] = 0; - out_6790734299023463428[274] = 0; - out_6790734299023463428[275] = 0; - out_6790734299023463428[276] = 0; - out_6790734299023463428[277] = 0; - out_6790734299023463428[278] = 0; - out_6790734299023463428[279] = 0; - out_6790734299023463428[280] = 0; - out_6790734299023463428[281] = 0; - out_6790734299023463428[282] = 0; - out_6790734299023463428[283] = 0; - out_6790734299023463428[284] = 0; - out_6790734299023463428[285] = 1; - out_6790734299023463428[286] = 0; - out_6790734299023463428[287] = 0; - out_6790734299023463428[288] = 0; - out_6790734299023463428[289] = 0; - out_6790734299023463428[290] = 0; - out_6790734299023463428[291] = 0; - out_6790734299023463428[292] = 0; - out_6790734299023463428[293] = 0; - out_6790734299023463428[294] = 0; - out_6790734299023463428[295] = 0; - out_6790734299023463428[296] = 0; - out_6790734299023463428[297] = 0; - out_6790734299023463428[298] = 0; - out_6790734299023463428[299] = 0; - out_6790734299023463428[300] = 0; - out_6790734299023463428[301] = 0; - out_6790734299023463428[302] = 0; - out_6790734299023463428[303] = 0; - out_6790734299023463428[304] = 1; - out_6790734299023463428[305] = 0; - out_6790734299023463428[306] = 0; - out_6790734299023463428[307] = 0; - out_6790734299023463428[308] = 0; - out_6790734299023463428[309] = 0; - out_6790734299023463428[310] = 0; - out_6790734299023463428[311] = 0; - out_6790734299023463428[312] = 0; - out_6790734299023463428[313] = 0; - out_6790734299023463428[314] = 0; - out_6790734299023463428[315] = 0; - out_6790734299023463428[316] = 0; - out_6790734299023463428[317] = 0; - out_6790734299023463428[318] = 0; - out_6790734299023463428[319] = 0; - out_6790734299023463428[320] = 0; - out_6790734299023463428[321] = 0; - out_6790734299023463428[322] = 0; - out_6790734299023463428[323] = 1; +void F_fun(double *state, double dt, double *out_729090673475074795) { + out_729090673475074795[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_729090673475074795[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_729090673475074795[2] = 0; + out_729090673475074795[3] = 0; + out_729090673475074795[4] = 0; + out_729090673475074795[5] = 0; + out_729090673475074795[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_729090673475074795[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_729090673475074795[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_729090673475074795[9] = 0; + out_729090673475074795[10] = 0; + out_729090673475074795[11] = 0; + out_729090673475074795[12] = 0; + out_729090673475074795[13] = 0; + out_729090673475074795[14] = 0; + out_729090673475074795[15] = 0; + out_729090673475074795[16] = 0; + out_729090673475074795[17] = 0; + out_729090673475074795[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_729090673475074795[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_729090673475074795[20] = 0; + out_729090673475074795[21] = 0; + out_729090673475074795[22] = 0; + out_729090673475074795[23] = 0; + out_729090673475074795[24] = 0; + out_729090673475074795[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_729090673475074795[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_729090673475074795[27] = 0; + out_729090673475074795[28] = 0; + out_729090673475074795[29] = 0; + out_729090673475074795[30] = 0; + out_729090673475074795[31] = 0; + out_729090673475074795[32] = 0; + out_729090673475074795[33] = 0; + out_729090673475074795[34] = 0; + out_729090673475074795[35] = 0; + out_729090673475074795[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_729090673475074795[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_729090673475074795[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_729090673475074795[39] = 0; + out_729090673475074795[40] = 0; + out_729090673475074795[41] = 0; + out_729090673475074795[42] = 0; + out_729090673475074795[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_729090673475074795[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_729090673475074795[45] = 0; + out_729090673475074795[46] = 0; + out_729090673475074795[47] = 0; + out_729090673475074795[48] = 0; + out_729090673475074795[49] = 0; + out_729090673475074795[50] = 0; + out_729090673475074795[51] = 0; + out_729090673475074795[52] = 0; + out_729090673475074795[53] = 0; + out_729090673475074795[54] = 0; + out_729090673475074795[55] = 0; + out_729090673475074795[56] = 0; + out_729090673475074795[57] = 1; + out_729090673475074795[58] = 0; + out_729090673475074795[59] = 0; + out_729090673475074795[60] = 0; + out_729090673475074795[61] = 0; + out_729090673475074795[62] = 0; + out_729090673475074795[63] = 0; + out_729090673475074795[64] = 0; + out_729090673475074795[65] = 0; + out_729090673475074795[66] = dt; + out_729090673475074795[67] = 0; + out_729090673475074795[68] = 0; + out_729090673475074795[69] = 0; + out_729090673475074795[70] = 0; + out_729090673475074795[71] = 0; + out_729090673475074795[72] = 0; + out_729090673475074795[73] = 0; + out_729090673475074795[74] = 0; + out_729090673475074795[75] = 0; + out_729090673475074795[76] = 1; + out_729090673475074795[77] = 0; + out_729090673475074795[78] = 0; + out_729090673475074795[79] = 0; + out_729090673475074795[80] = 0; + out_729090673475074795[81] = 0; + out_729090673475074795[82] = 0; + out_729090673475074795[83] = 0; + out_729090673475074795[84] = 0; + out_729090673475074795[85] = dt; + out_729090673475074795[86] = 0; + out_729090673475074795[87] = 0; + out_729090673475074795[88] = 0; + out_729090673475074795[89] = 0; + out_729090673475074795[90] = 0; + out_729090673475074795[91] = 0; + out_729090673475074795[92] = 0; + out_729090673475074795[93] = 0; + out_729090673475074795[94] = 0; + out_729090673475074795[95] = 1; + out_729090673475074795[96] = 0; + out_729090673475074795[97] = 0; + out_729090673475074795[98] = 0; + out_729090673475074795[99] = 0; + out_729090673475074795[100] = 0; + out_729090673475074795[101] = 0; + out_729090673475074795[102] = 0; + out_729090673475074795[103] = 0; + out_729090673475074795[104] = dt; + out_729090673475074795[105] = 0; + out_729090673475074795[106] = 0; + out_729090673475074795[107] = 0; + out_729090673475074795[108] = 0; + out_729090673475074795[109] = 0; + out_729090673475074795[110] = 0; + out_729090673475074795[111] = 0; + out_729090673475074795[112] = 0; + out_729090673475074795[113] = 0; + out_729090673475074795[114] = 1; + out_729090673475074795[115] = 0; + out_729090673475074795[116] = 0; + out_729090673475074795[117] = 0; + out_729090673475074795[118] = 0; + out_729090673475074795[119] = 0; + out_729090673475074795[120] = 0; + out_729090673475074795[121] = 0; + out_729090673475074795[122] = 0; + out_729090673475074795[123] = 0; + out_729090673475074795[124] = 0; + out_729090673475074795[125] = 0; + out_729090673475074795[126] = 0; + out_729090673475074795[127] = 0; + out_729090673475074795[128] = 0; + out_729090673475074795[129] = 0; + out_729090673475074795[130] = 0; + out_729090673475074795[131] = 0; + out_729090673475074795[132] = 0; + out_729090673475074795[133] = 1; + out_729090673475074795[134] = 0; + out_729090673475074795[135] = 0; + out_729090673475074795[136] = 0; + out_729090673475074795[137] = 0; + out_729090673475074795[138] = 0; + out_729090673475074795[139] = 0; + out_729090673475074795[140] = 0; + out_729090673475074795[141] = 0; + out_729090673475074795[142] = 0; + out_729090673475074795[143] = 0; + out_729090673475074795[144] = 0; + out_729090673475074795[145] = 0; + out_729090673475074795[146] = 0; + out_729090673475074795[147] = 0; + out_729090673475074795[148] = 0; + out_729090673475074795[149] = 0; + out_729090673475074795[150] = 0; + out_729090673475074795[151] = 0; + out_729090673475074795[152] = 1; + out_729090673475074795[153] = 0; + out_729090673475074795[154] = 0; + out_729090673475074795[155] = 0; + out_729090673475074795[156] = 0; + out_729090673475074795[157] = 0; + out_729090673475074795[158] = 0; + out_729090673475074795[159] = 0; + out_729090673475074795[160] = 0; + out_729090673475074795[161] = 0; + out_729090673475074795[162] = 0; + out_729090673475074795[163] = 0; + out_729090673475074795[164] = 0; + out_729090673475074795[165] = 0; + out_729090673475074795[166] = 0; + out_729090673475074795[167] = 0; + out_729090673475074795[168] = 0; + out_729090673475074795[169] = 0; + out_729090673475074795[170] = 0; + out_729090673475074795[171] = 1; + out_729090673475074795[172] = 0; + out_729090673475074795[173] = 0; + out_729090673475074795[174] = 0; + out_729090673475074795[175] = 0; + out_729090673475074795[176] = 0; + out_729090673475074795[177] = 0; + out_729090673475074795[178] = 0; + out_729090673475074795[179] = 0; + out_729090673475074795[180] = 0; + out_729090673475074795[181] = 0; + out_729090673475074795[182] = 0; + out_729090673475074795[183] = 0; + out_729090673475074795[184] = 0; + out_729090673475074795[185] = 0; + out_729090673475074795[186] = 0; + out_729090673475074795[187] = 0; + out_729090673475074795[188] = 0; + out_729090673475074795[189] = 0; + out_729090673475074795[190] = 1; + out_729090673475074795[191] = 0; + out_729090673475074795[192] = 0; + out_729090673475074795[193] = 0; + out_729090673475074795[194] = 0; + out_729090673475074795[195] = 0; + out_729090673475074795[196] = 0; + out_729090673475074795[197] = 0; + out_729090673475074795[198] = 0; + out_729090673475074795[199] = 0; + out_729090673475074795[200] = 0; + out_729090673475074795[201] = 0; + out_729090673475074795[202] = 0; + out_729090673475074795[203] = 0; + out_729090673475074795[204] = 0; + out_729090673475074795[205] = 0; + out_729090673475074795[206] = 0; + out_729090673475074795[207] = 0; + out_729090673475074795[208] = 0; + out_729090673475074795[209] = 1; + out_729090673475074795[210] = 0; + out_729090673475074795[211] = 0; + out_729090673475074795[212] = 0; + out_729090673475074795[213] = 0; + out_729090673475074795[214] = 0; + out_729090673475074795[215] = 0; + out_729090673475074795[216] = 0; + out_729090673475074795[217] = 0; + out_729090673475074795[218] = 0; + out_729090673475074795[219] = 0; + out_729090673475074795[220] = 0; + out_729090673475074795[221] = 0; + out_729090673475074795[222] = 0; + out_729090673475074795[223] = 0; + out_729090673475074795[224] = 0; + out_729090673475074795[225] = 0; + out_729090673475074795[226] = 0; + out_729090673475074795[227] = 0; + out_729090673475074795[228] = 1; + out_729090673475074795[229] = 0; + out_729090673475074795[230] = 0; + out_729090673475074795[231] = 0; + out_729090673475074795[232] = 0; + out_729090673475074795[233] = 0; + out_729090673475074795[234] = 0; + out_729090673475074795[235] = 0; + out_729090673475074795[236] = 0; + out_729090673475074795[237] = 0; + out_729090673475074795[238] = 0; + out_729090673475074795[239] = 0; + out_729090673475074795[240] = 0; + out_729090673475074795[241] = 0; + out_729090673475074795[242] = 0; + out_729090673475074795[243] = 0; + out_729090673475074795[244] = 0; + out_729090673475074795[245] = 0; + out_729090673475074795[246] = 0; + out_729090673475074795[247] = 1; + out_729090673475074795[248] = 0; + out_729090673475074795[249] = 0; + out_729090673475074795[250] = 0; + out_729090673475074795[251] = 0; + out_729090673475074795[252] = 0; + out_729090673475074795[253] = 0; + out_729090673475074795[254] = 0; + out_729090673475074795[255] = 0; + out_729090673475074795[256] = 0; + out_729090673475074795[257] = 0; + out_729090673475074795[258] = 0; + out_729090673475074795[259] = 0; + out_729090673475074795[260] = 0; + out_729090673475074795[261] = 0; + out_729090673475074795[262] = 0; + out_729090673475074795[263] = 0; + out_729090673475074795[264] = 0; + out_729090673475074795[265] = 0; + out_729090673475074795[266] = 1; + out_729090673475074795[267] = 0; + out_729090673475074795[268] = 0; + out_729090673475074795[269] = 0; + out_729090673475074795[270] = 0; + out_729090673475074795[271] = 0; + out_729090673475074795[272] = 0; + out_729090673475074795[273] = 0; + out_729090673475074795[274] = 0; + out_729090673475074795[275] = 0; + out_729090673475074795[276] = 0; + out_729090673475074795[277] = 0; + out_729090673475074795[278] = 0; + out_729090673475074795[279] = 0; + out_729090673475074795[280] = 0; + out_729090673475074795[281] = 0; + out_729090673475074795[282] = 0; + out_729090673475074795[283] = 0; + out_729090673475074795[284] = 0; + out_729090673475074795[285] = 1; + out_729090673475074795[286] = 0; + out_729090673475074795[287] = 0; + out_729090673475074795[288] = 0; + out_729090673475074795[289] = 0; + out_729090673475074795[290] = 0; + out_729090673475074795[291] = 0; + out_729090673475074795[292] = 0; + out_729090673475074795[293] = 0; + out_729090673475074795[294] = 0; + out_729090673475074795[295] = 0; + out_729090673475074795[296] = 0; + out_729090673475074795[297] = 0; + out_729090673475074795[298] = 0; + out_729090673475074795[299] = 0; + out_729090673475074795[300] = 0; + out_729090673475074795[301] = 0; + out_729090673475074795[302] = 0; + out_729090673475074795[303] = 0; + out_729090673475074795[304] = 1; + out_729090673475074795[305] = 0; + out_729090673475074795[306] = 0; + out_729090673475074795[307] = 0; + out_729090673475074795[308] = 0; + out_729090673475074795[309] = 0; + out_729090673475074795[310] = 0; + out_729090673475074795[311] = 0; + out_729090673475074795[312] = 0; + out_729090673475074795[313] = 0; + out_729090673475074795[314] = 0; + out_729090673475074795[315] = 0; + out_729090673475074795[316] = 0; + out_729090673475074795[317] = 0; + out_729090673475074795[318] = 0; + out_729090673475074795[319] = 0; + out_729090673475074795[320] = 0; + out_729090673475074795[321] = 0; + out_729090673475074795[322] = 0; + out_729090673475074795[323] = 1; } -void h_4(double *state, double *unused, double *out_7856717095735989173) { - out_7856717095735989173[0] = state[6] + state[9]; - out_7856717095735989173[1] = state[7] + state[10]; - out_7856717095735989173[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_8764272932229882331) { + out_8764272932229882331[0] = state[6] + state[9]; + out_8764272932229882331[1] = state[7] + state[10]; + out_8764272932229882331[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_6651814309831508420) { - out_6651814309831508420[0] = 0; - out_6651814309831508420[1] = 0; - out_6651814309831508420[2] = 0; - out_6651814309831508420[3] = 0; - out_6651814309831508420[4] = 0; - out_6651814309831508420[5] = 0; - out_6651814309831508420[6] = 1; - out_6651814309831508420[7] = 0; - out_6651814309831508420[8] = 0; - out_6651814309831508420[9] = 1; - out_6651814309831508420[10] = 0; - out_6651814309831508420[11] = 0; - out_6651814309831508420[12] = 0; - out_6651814309831508420[13] = 0; - out_6651814309831508420[14] = 0; - out_6651814309831508420[15] = 0; - out_6651814309831508420[16] = 0; - out_6651814309831508420[17] = 0; - out_6651814309831508420[18] = 0; - out_6651814309831508420[19] = 0; - out_6651814309831508420[20] = 0; - out_6651814309831508420[21] = 0; - out_6651814309831508420[22] = 0; - out_6651814309831508420[23] = 0; - out_6651814309831508420[24] = 0; - out_6651814309831508420[25] = 1; - out_6651814309831508420[26] = 0; - out_6651814309831508420[27] = 0; - out_6651814309831508420[28] = 1; - out_6651814309831508420[29] = 0; - out_6651814309831508420[30] = 0; - out_6651814309831508420[31] = 0; - out_6651814309831508420[32] = 0; - out_6651814309831508420[33] = 0; - out_6651814309831508420[34] = 0; - out_6651814309831508420[35] = 0; - out_6651814309831508420[36] = 0; - out_6651814309831508420[37] = 0; - out_6651814309831508420[38] = 0; - out_6651814309831508420[39] = 0; - out_6651814309831508420[40] = 0; - out_6651814309831508420[41] = 0; - out_6651814309831508420[42] = 0; - out_6651814309831508420[43] = 0; - out_6651814309831508420[44] = 1; - out_6651814309831508420[45] = 0; - out_6651814309831508420[46] = 0; - out_6651814309831508420[47] = 1; - out_6651814309831508420[48] = 0; - out_6651814309831508420[49] = 0; - out_6651814309831508420[50] = 0; - out_6651814309831508420[51] = 0; - out_6651814309831508420[52] = 0; - out_6651814309831508420[53] = 0; +void H_4(double *state, double *unused, double *out_5988969054524734966) { + out_5988969054524734966[0] = 0; + out_5988969054524734966[1] = 0; + out_5988969054524734966[2] = 0; + out_5988969054524734966[3] = 0; + out_5988969054524734966[4] = 0; + out_5988969054524734966[5] = 0; + out_5988969054524734966[6] = 1; + out_5988969054524734966[7] = 0; + out_5988969054524734966[8] = 0; + out_5988969054524734966[9] = 1; + out_5988969054524734966[10] = 0; + out_5988969054524734966[11] = 0; + out_5988969054524734966[12] = 0; + out_5988969054524734966[13] = 0; + out_5988969054524734966[14] = 0; + out_5988969054524734966[15] = 0; + out_5988969054524734966[16] = 0; + out_5988969054524734966[17] = 0; + out_5988969054524734966[18] = 0; + out_5988969054524734966[19] = 0; + out_5988969054524734966[20] = 0; + out_5988969054524734966[21] = 0; + out_5988969054524734966[22] = 0; + out_5988969054524734966[23] = 0; + out_5988969054524734966[24] = 0; + out_5988969054524734966[25] = 1; + out_5988969054524734966[26] = 0; + out_5988969054524734966[27] = 0; + out_5988969054524734966[28] = 1; + out_5988969054524734966[29] = 0; + out_5988969054524734966[30] = 0; + out_5988969054524734966[31] = 0; + out_5988969054524734966[32] = 0; + out_5988969054524734966[33] = 0; + out_5988969054524734966[34] = 0; + out_5988969054524734966[35] = 0; + out_5988969054524734966[36] = 0; + out_5988969054524734966[37] = 0; + out_5988969054524734966[38] = 0; + out_5988969054524734966[39] = 0; + out_5988969054524734966[40] = 0; + out_5988969054524734966[41] = 0; + out_5988969054524734966[42] = 0; + out_5988969054524734966[43] = 0; + out_5988969054524734966[44] = 1; + out_5988969054524734966[45] = 0; + out_5988969054524734966[46] = 0; + out_5988969054524734966[47] = 1; + out_5988969054524734966[48] = 0; + out_5988969054524734966[49] = 0; + out_5988969054524734966[50] = 0; + out_5988969054524734966[51] = 0; + out_5988969054524734966[52] = 0; + out_5988969054524734966[53] = 0; } -void h_10(double *state, double *unused, double *out_7802819887885526758) { - out_7802819887885526758[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7802819887885526758[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7802819887885526758[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_6414221724467934748) { + out_6414221724467934748[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6414221724467934748[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6414221724467934748[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_2391217134998665876) { - out_2391217134998665876[0] = 0; - out_2391217134998665876[1] = 9.8100000000000005*cos(state[1]); - out_2391217134998665876[2] = 0; - out_2391217134998665876[3] = 0; - out_2391217134998665876[4] = -state[8]; - out_2391217134998665876[5] = state[7]; - out_2391217134998665876[6] = 0; - out_2391217134998665876[7] = state[5]; - out_2391217134998665876[8] = -state[4]; - out_2391217134998665876[9] = 0; - out_2391217134998665876[10] = 0; - out_2391217134998665876[11] = 0; - out_2391217134998665876[12] = 1; - out_2391217134998665876[13] = 0; - out_2391217134998665876[14] = 0; - out_2391217134998665876[15] = 1; - out_2391217134998665876[16] = 0; - out_2391217134998665876[17] = 0; - out_2391217134998665876[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2391217134998665876[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2391217134998665876[20] = 0; - out_2391217134998665876[21] = state[8]; - out_2391217134998665876[22] = 0; - out_2391217134998665876[23] = -state[6]; - out_2391217134998665876[24] = -state[5]; - out_2391217134998665876[25] = 0; - out_2391217134998665876[26] = state[3]; - out_2391217134998665876[27] = 0; - out_2391217134998665876[28] = 0; - out_2391217134998665876[29] = 0; - out_2391217134998665876[30] = 0; - out_2391217134998665876[31] = 1; - out_2391217134998665876[32] = 0; - out_2391217134998665876[33] = 0; - out_2391217134998665876[34] = 1; - out_2391217134998665876[35] = 0; - out_2391217134998665876[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2391217134998665876[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2391217134998665876[38] = 0; - out_2391217134998665876[39] = -state[7]; - out_2391217134998665876[40] = state[6]; - out_2391217134998665876[41] = 0; - out_2391217134998665876[42] = state[4]; - out_2391217134998665876[43] = -state[3]; - out_2391217134998665876[44] = 0; - out_2391217134998665876[45] = 0; - out_2391217134998665876[46] = 0; - out_2391217134998665876[47] = 0; - out_2391217134998665876[48] = 0; - out_2391217134998665876[49] = 0; - out_2391217134998665876[50] = 1; - out_2391217134998665876[51] = 0; - out_2391217134998665876[52] = 0; - out_2391217134998665876[53] = 1; +void H_10(double *state, double *unused, double *out_1153388749736371435) { + out_1153388749736371435[0] = 0; + out_1153388749736371435[1] = 9.8100000000000005*cos(state[1]); + out_1153388749736371435[2] = 0; + out_1153388749736371435[3] = 0; + out_1153388749736371435[4] = -state[8]; + out_1153388749736371435[5] = state[7]; + out_1153388749736371435[6] = 0; + out_1153388749736371435[7] = state[5]; + out_1153388749736371435[8] = -state[4]; + out_1153388749736371435[9] = 0; + out_1153388749736371435[10] = 0; + out_1153388749736371435[11] = 0; + out_1153388749736371435[12] = 1; + out_1153388749736371435[13] = 0; + out_1153388749736371435[14] = 0; + out_1153388749736371435[15] = 1; + out_1153388749736371435[16] = 0; + out_1153388749736371435[17] = 0; + out_1153388749736371435[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1153388749736371435[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1153388749736371435[20] = 0; + out_1153388749736371435[21] = state[8]; + out_1153388749736371435[22] = 0; + out_1153388749736371435[23] = -state[6]; + out_1153388749736371435[24] = -state[5]; + out_1153388749736371435[25] = 0; + out_1153388749736371435[26] = state[3]; + out_1153388749736371435[27] = 0; + out_1153388749736371435[28] = 0; + out_1153388749736371435[29] = 0; + out_1153388749736371435[30] = 0; + out_1153388749736371435[31] = 1; + out_1153388749736371435[32] = 0; + out_1153388749736371435[33] = 0; + out_1153388749736371435[34] = 1; + out_1153388749736371435[35] = 0; + out_1153388749736371435[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1153388749736371435[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1153388749736371435[38] = 0; + out_1153388749736371435[39] = -state[7]; + out_1153388749736371435[40] = state[6]; + out_1153388749736371435[41] = 0; + out_1153388749736371435[42] = state[4]; + out_1153388749736371435[43] = -state[3]; + out_1153388749736371435[44] = 0; + out_1153388749736371435[45] = 0; + out_1153388749736371435[46] = 0; + out_1153388749736371435[47] = 0; + out_1153388749736371435[48] = 0; + out_1153388749736371435[49] = 0; + out_1153388749736371435[50] = 1; + out_1153388749736371435[51] = 0; + out_1153388749736371435[52] = 0; + out_1153388749736371435[53] = 1; } -void h_13(double *state, double *unused, double *out_7948582274063627909) { - out_7948582274063627909[0] = state[3]; - out_7948582274063627909[1] = state[4]; - out_7948582274063627909[2] = state[5]; +void h_13(double *state, double *unused, double *out_5610980844253424068) { + out_5610980844253424068[0] = state[3]; + out_5610980844253424068[1] = state[4]; + out_5610980844253424068[2] = state[5]; } -void H_13(double *state, double *unused, double *out_3439540484499175619) { - out_3439540484499175619[0] = 0; - out_3439540484499175619[1] = 0; - out_3439540484499175619[2] = 0; - out_3439540484499175619[3] = 1; - out_3439540484499175619[4] = 0; - out_3439540484499175619[5] = 0; - out_3439540484499175619[6] = 0; - out_3439540484499175619[7] = 0; - out_3439540484499175619[8] = 0; - out_3439540484499175619[9] = 0; - out_3439540484499175619[10] = 0; - out_3439540484499175619[11] = 0; - out_3439540484499175619[12] = 0; - out_3439540484499175619[13] = 0; - out_3439540484499175619[14] = 0; - out_3439540484499175619[15] = 0; - out_3439540484499175619[16] = 0; - out_3439540484499175619[17] = 0; - out_3439540484499175619[18] = 0; - out_3439540484499175619[19] = 0; - out_3439540484499175619[20] = 0; - out_3439540484499175619[21] = 0; - out_3439540484499175619[22] = 1; - out_3439540484499175619[23] = 0; - out_3439540484499175619[24] = 0; - out_3439540484499175619[25] = 0; - out_3439540484499175619[26] = 0; - out_3439540484499175619[27] = 0; - out_3439540484499175619[28] = 0; - out_3439540484499175619[29] = 0; - out_3439540484499175619[30] = 0; - out_3439540484499175619[31] = 0; - out_3439540484499175619[32] = 0; - out_3439540484499175619[33] = 0; - out_3439540484499175619[34] = 0; - out_3439540484499175619[35] = 0; - out_3439540484499175619[36] = 0; - out_3439540484499175619[37] = 0; - out_3439540484499175619[38] = 0; - out_3439540484499175619[39] = 0; - out_3439540484499175619[40] = 0; - out_3439540484499175619[41] = 1; - out_3439540484499175619[42] = 0; - out_3439540484499175619[43] = 0; - out_3439540484499175619[44] = 0; - out_3439540484499175619[45] = 0; - out_3439540484499175619[46] = 0; - out_3439540484499175619[47] = 0; - out_3439540484499175619[48] = 0; - out_3439540484499175619[49] = 0; - out_3439540484499175619[50] = 0; - out_3439540484499175619[51] = 0; - out_3439540484499175619[52] = 0; - out_3439540484499175619[53] = 0; +void H_13(double *state, double *unused, double *out_2776695229192402165) { + out_2776695229192402165[0] = 0; + out_2776695229192402165[1] = 0; + out_2776695229192402165[2] = 0; + out_2776695229192402165[3] = 1; + out_2776695229192402165[4] = 0; + out_2776695229192402165[5] = 0; + out_2776695229192402165[6] = 0; + out_2776695229192402165[7] = 0; + out_2776695229192402165[8] = 0; + out_2776695229192402165[9] = 0; + out_2776695229192402165[10] = 0; + out_2776695229192402165[11] = 0; + out_2776695229192402165[12] = 0; + out_2776695229192402165[13] = 0; + out_2776695229192402165[14] = 0; + out_2776695229192402165[15] = 0; + out_2776695229192402165[16] = 0; + out_2776695229192402165[17] = 0; + out_2776695229192402165[18] = 0; + out_2776695229192402165[19] = 0; + out_2776695229192402165[20] = 0; + out_2776695229192402165[21] = 0; + out_2776695229192402165[22] = 1; + out_2776695229192402165[23] = 0; + out_2776695229192402165[24] = 0; + out_2776695229192402165[25] = 0; + out_2776695229192402165[26] = 0; + out_2776695229192402165[27] = 0; + out_2776695229192402165[28] = 0; + out_2776695229192402165[29] = 0; + out_2776695229192402165[30] = 0; + out_2776695229192402165[31] = 0; + out_2776695229192402165[32] = 0; + out_2776695229192402165[33] = 0; + out_2776695229192402165[34] = 0; + out_2776695229192402165[35] = 0; + out_2776695229192402165[36] = 0; + out_2776695229192402165[37] = 0; + out_2776695229192402165[38] = 0; + out_2776695229192402165[39] = 0; + out_2776695229192402165[40] = 0; + out_2776695229192402165[41] = 1; + out_2776695229192402165[42] = 0; + out_2776695229192402165[43] = 0; + out_2776695229192402165[44] = 0; + out_2776695229192402165[45] = 0; + out_2776695229192402165[46] = 0; + out_2776695229192402165[47] = 0; + out_2776695229192402165[48] = 0; + out_2776695229192402165[49] = 0; + out_2776695229192402165[50] = 0; + out_2776695229192402165[51] = 0; + out_2776695229192402165[52] = 0; + out_2776695229192402165[53] = 0; } -void h_14(double *state, double *unused, double *out_223099352326779878) { - out_223099352326779878[0] = state[6]; - out_223099352326779878[1] = state[7]; - out_223099352326779878[2] = state[8]; +void h_14(double *state, double *unused, double *out_4768711222929490371) { + out_4768711222929490371[0] = state[6]; + out_4768711222929490371[1] = state[7]; + out_4768711222929490371[2] = state[8]; } -void H_14(double *state, double *unused, double *out_8712141331582670900) { - out_8712141331582670900[0] = 0; - out_8712141331582670900[1] = 0; - out_8712141331582670900[2] = 0; - out_8712141331582670900[3] = 0; - out_8712141331582670900[4] = 0; - out_8712141331582670900[5] = 0; - out_8712141331582670900[6] = 1; - out_8712141331582670900[7] = 0; - out_8712141331582670900[8] = 0; - out_8712141331582670900[9] = 0; - out_8712141331582670900[10] = 0; - out_8712141331582670900[11] = 0; - out_8712141331582670900[12] = 0; - out_8712141331582670900[13] = 0; - out_8712141331582670900[14] = 0; - out_8712141331582670900[15] = 0; - out_8712141331582670900[16] = 0; - out_8712141331582670900[17] = 0; - out_8712141331582670900[18] = 0; - out_8712141331582670900[19] = 0; - out_8712141331582670900[20] = 0; - out_8712141331582670900[21] = 0; - out_8712141331582670900[22] = 0; - out_8712141331582670900[23] = 0; - out_8712141331582670900[24] = 0; - out_8712141331582670900[25] = 1; - out_8712141331582670900[26] = 0; - out_8712141331582670900[27] = 0; - out_8712141331582670900[28] = 0; - out_8712141331582670900[29] = 0; - out_8712141331582670900[30] = 0; - out_8712141331582670900[31] = 0; - out_8712141331582670900[32] = 0; - out_8712141331582670900[33] = 0; - out_8712141331582670900[34] = 0; - out_8712141331582670900[35] = 0; - out_8712141331582670900[36] = 0; - out_8712141331582670900[37] = 0; - out_8712141331582670900[38] = 0; - out_8712141331582670900[39] = 0; - out_8712141331582670900[40] = 0; - out_8712141331582670900[41] = 0; - out_8712141331582670900[42] = 0; - out_8712141331582670900[43] = 0; - out_8712141331582670900[44] = 1; - out_8712141331582670900[45] = 0; - out_8712141331582670900[46] = 0; - out_8712141331582670900[47] = 0; - out_8712141331582670900[48] = 0; - out_8712141331582670900[49] = 0; - out_8712141331582670900[50] = 0; - out_8712141331582670900[51] = 0; - out_8712141331582670900[52] = 0; - out_8712141331582670900[53] = 0; +void H_14(double *state, double *unused, double *out_9071757486820107262) { + out_9071757486820107262[0] = 0; + out_9071757486820107262[1] = 0; + out_9071757486820107262[2] = 0; + out_9071757486820107262[3] = 0; + out_9071757486820107262[4] = 0; + out_9071757486820107262[5] = 0; + out_9071757486820107262[6] = 1; + out_9071757486820107262[7] = 0; + out_9071757486820107262[8] = 0; + out_9071757486820107262[9] = 0; + out_9071757486820107262[10] = 0; + out_9071757486820107262[11] = 0; + out_9071757486820107262[12] = 0; + out_9071757486820107262[13] = 0; + out_9071757486820107262[14] = 0; + out_9071757486820107262[15] = 0; + out_9071757486820107262[16] = 0; + out_9071757486820107262[17] = 0; + out_9071757486820107262[18] = 0; + out_9071757486820107262[19] = 0; + out_9071757486820107262[20] = 0; + out_9071757486820107262[21] = 0; + out_9071757486820107262[22] = 0; + out_9071757486820107262[23] = 0; + out_9071757486820107262[24] = 0; + out_9071757486820107262[25] = 1; + out_9071757486820107262[26] = 0; + out_9071757486820107262[27] = 0; + out_9071757486820107262[28] = 0; + out_9071757486820107262[29] = 0; + out_9071757486820107262[30] = 0; + out_9071757486820107262[31] = 0; + out_9071757486820107262[32] = 0; + out_9071757486820107262[33] = 0; + out_9071757486820107262[34] = 0; + out_9071757486820107262[35] = 0; + out_9071757486820107262[36] = 0; + out_9071757486820107262[37] = 0; + out_9071757486820107262[38] = 0; + out_9071757486820107262[39] = 0; + out_9071757486820107262[40] = 0; + out_9071757486820107262[41] = 0; + out_9071757486820107262[42] = 0; + out_9071757486820107262[43] = 0; + out_9071757486820107262[44] = 1; + out_9071757486820107262[45] = 0; + out_9071757486820107262[46] = 0; + out_9071757486820107262[47] = 0; + out_9071757486820107262[48] = 0; + out_9071757486820107262[49] = 0; + out_9071757486820107262[50] = 0; + out_9071757486820107262[51] = 0; + out_9071757486820107262[52] = 0; + out_9071757486820107262[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_5763415234273933913) { - err_fun(nom_x, delta_x, out_5763415234273933913); +void pose_err_fun(double *nom_x, double *delta_x, double *out_845527351868247428) { + err_fun(nom_x, delta_x, out_845527351868247428); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1417325942549329712) { - inv_err_fun(nom_x, true_x, out_1417325942549329712); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6367069276716114158) { + inv_err_fun(nom_x, true_x, out_6367069276716114158); } -void pose_H_mod_fun(double *state, double *out_7849761791714406524) { - H_mod_fun(state, out_7849761791714406524); +void pose_H_mod_fun(double *state, double *out_7305256634145735915) { + H_mod_fun(state, out_7305256634145735915); } -void pose_f_fun(double *state, double dt, double *out_4127372900134371769) { - f_fun(state, dt, out_4127372900134371769); +void pose_f_fun(double *state, double dt, double *out_9088132790328569434) { + f_fun(state, dt, out_9088132790328569434); } -void pose_F_fun(double *state, double dt, double *out_6790734299023463428) { - F_fun(state, dt, out_6790734299023463428); +void pose_F_fun(double *state, double dt, double *out_729090673475074795) { + F_fun(state, dt, out_729090673475074795); } -void pose_h_4(double *state, double *unused, double *out_7856717095735989173) { - h_4(state, unused, out_7856717095735989173); +void pose_h_4(double *state, double *unused, double *out_8764272932229882331) { + h_4(state, unused, out_8764272932229882331); } -void pose_H_4(double *state, double *unused, double *out_6651814309831508420) { - H_4(state, unused, out_6651814309831508420); +void pose_H_4(double *state, double *unused, double *out_5988969054524734966) { + H_4(state, unused, out_5988969054524734966); } -void pose_h_10(double *state, double *unused, double *out_7802819887885526758) { - h_10(state, unused, out_7802819887885526758); +void pose_h_10(double *state, double *unused, double *out_6414221724467934748) { + h_10(state, unused, out_6414221724467934748); } -void pose_H_10(double *state, double *unused, double *out_2391217134998665876) { - H_10(state, unused, out_2391217134998665876); +void pose_H_10(double *state, double *unused, double *out_1153388749736371435) { + H_10(state, unused, out_1153388749736371435); } -void pose_h_13(double *state, double *unused, double *out_7948582274063627909) { - h_13(state, unused, out_7948582274063627909); +void pose_h_13(double *state, double *unused, double *out_5610980844253424068) { + h_13(state, unused, out_5610980844253424068); } -void pose_H_13(double *state, double *unused, double *out_3439540484499175619) { - H_13(state, unused, out_3439540484499175619); +void pose_H_13(double *state, double *unused, double *out_2776695229192402165) { + H_13(state, unused, out_2776695229192402165); } -void pose_h_14(double *state, double *unused, double *out_223099352326779878) { - h_14(state, unused, out_223099352326779878); +void pose_h_14(double *state, double *unused, double *out_4768711222929490371) { + h_14(state, unused, out_4768711222929490371); } -void pose_H_14(double *state, double *unused, double *out_8712141331582670900) { - H_14(state, unused, out_8712141331582670900); +void pose_H_14(double *state, double *unused, double *out_9071757486820107262) { + H_14(state, unused, out_9071757486820107262); } 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 2edc25bb1..655dd6806 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_5763415234273933913); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1417325942549329712); -void pose_H_mod_fun(double *state, double *out_7849761791714406524); -void pose_f_fun(double *state, double dt, double *out_4127372900134371769); -void pose_F_fun(double *state, double dt, double *out_6790734299023463428); -void pose_h_4(double *state, double *unused, double *out_7856717095735989173); -void pose_H_4(double *state, double *unused, double *out_6651814309831508420); -void pose_h_10(double *state, double *unused, double *out_7802819887885526758); -void pose_H_10(double *state, double *unused, double *out_2391217134998665876); -void pose_h_13(double *state, double *unused, double *out_7948582274063627909); -void pose_H_13(double *state, double *unused, double *out_3439540484499175619); -void pose_h_14(double *state, double *unused, double *out_223099352326779878); -void pose_H_14(double *state, double *unused, double *out_8712141331582670900); +void pose_err_fun(double *nom_x, double *delta_x, double *out_845527351868247428); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6367069276716114158); +void pose_H_mod_fun(double *state, double *out_7305256634145735915); +void pose_f_fun(double *state, double dt, double *out_9088132790328569434); +void pose_F_fun(double *state, double dt, double *out_729090673475074795); +void pose_h_4(double *state, double *unused, double *out_8764272932229882331); +void pose_H_4(double *state, double *unused, double *out_5988969054524734966); +void pose_h_10(double *state, double *unused, double *out_6414221724467934748); +void pose_H_10(double *state, double *unused, double *out_1153388749736371435); +void pose_h_13(double *state, double *unused, double *out_5610980844253424068); +void pose_H_13(double *state, double *unused, double *out_2776695229192402165); +void pose_h_14(double *state, double *unused, double *out_4768711222929490371); +void pose_H_14(double *state, double *unused, double *out_9071757486820107262); 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 39cc6b922..a4e6611b2 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 83e885781..b3f89bfd4 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index d6c480d3d..65d4a28f1 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index a38a80f10..a5cd349a5 100755 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