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b/panda/board/obj/version @@ -1 +1 @@ -DEV-f30a8ea2-DEBUG +DEV-f8d47139-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 5f0fd4c8f..a506e2974 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_7775273935163259771) { - out_7775273935163259771[0] = delta_x[0] + nom_x[0]; - out_7775273935163259771[1] = delta_x[1] + nom_x[1]; - out_7775273935163259771[2] = delta_x[2] + nom_x[2]; - out_7775273935163259771[3] = delta_x[3] + nom_x[3]; - out_7775273935163259771[4] = delta_x[4] + nom_x[4]; - out_7775273935163259771[5] = delta_x[5] + nom_x[5]; - out_7775273935163259771[6] = delta_x[6] + nom_x[6]; - out_7775273935163259771[7] = delta_x[7] + nom_x[7]; - out_7775273935163259771[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5870650175258852411) { + out_5870650175258852411[0] = delta_x[0] + nom_x[0]; + out_5870650175258852411[1] = delta_x[1] + nom_x[1]; + out_5870650175258852411[2] = delta_x[2] + nom_x[2]; + out_5870650175258852411[3] = delta_x[3] + nom_x[3]; + out_5870650175258852411[4] = delta_x[4] + nom_x[4]; + out_5870650175258852411[5] = delta_x[5] + nom_x[5]; + out_5870650175258852411[6] = delta_x[6] + nom_x[6]; + out_5870650175258852411[7] = delta_x[7] + nom_x[7]; + out_5870650175258852411[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7144320503723657844) { - out_7144320503723657844[0] = -nom_x[0] + true_x[0]; - out_7144320503723657844[1] = -nom_x[1] + true_x[1]; - out_7144320503723657844[2] = -nom_x[2] + true_x[2]; - out_7144320503723657844[3] = -nom_x[3] + true_x[3]; - out_7144320503723657844[4] = -nom_x[4] + true_x[4]; - out_7144320503723657844[5] = -nom_x[5] + true_x[5]; - out_7144320503723657844[6] = -nom_x[6] + true_x[6]; - out_7144320503723657844[7] = -nom_x[7] + true_x[7]; - out_7144320503723657844[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3265729657434381044) { + out_3265729657434381044[0] = -nom_x[0] + true_x[0]; + out_3265729657434381044[1] = -nom_x[1] + true_x[1]; + out_3265729657434381044[2] = -nom_x[2] + true_x[2]; + out_3265729657434381044[3] = -nom_x[3] + true_x[3]; + out_3265729657434381044[4] = -nom_x[4] + true_x[4]; + out_3265729657434381044[5] = -nom_x[5] + true_x[5]; + out_3265729657434381044[6] = -nom_x[6] + true_x[6]; + out_3265729657434381044[7] = -nom_x[7] + true_x[7]; + out_3265729657434381044[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_5290264847807647293) { - out_5290264847807647293[0] = 1.0; - out_5290264847807647293[1] = 0.0; - out_5290264847807647293[2] = 0.0; - out_5290264847807647293[3] = 0.0; - out_5290264847807647293[4] = 0.0; - out_5290264847807647293[5] = 0.0; - out_5290264847807647293[6] = 0.0; - out_5290264847807647293[7] = 0.0; - out_5290264847807647293[8] = 0.0; - out_5290264847807647293[9] = 0.0; - out_5290264847807647293[10] = 1.0; - out_5290264847807647293[11] = 0.0; - out_5290264847807647293[12] = 0.0; - out_5290264847807647293[13] = 0.0; - out_5290264847807647293[14] = 0.0; - out_5290264847807647293[15] = 0.0; - out_5290264847807647293[16] = 0.0; - out_5290264847807647293[17] = 0.0; - out_5290264847807647293[18] = 0.0; - out_5290264847807647293[19] = 0.0; - out_5290264847807647293[20] = 1.0; - out_5290264847807647293[21] = 0.0; - out_5290264847807647293[22] = 0.0; - out_5290264847807647293[23] = 0.0; - out_5290264847807647293[24] = 0.0; - out_5290264847807647293[25] = 0.0; - out_5290264847807647293[26] = 0.0; - out_5290264847807647293[27] = 0.0; - out_5290264847807647293[28] = 0.0; - out_5290264847807647293[29] = 0.0; - out_5290264847807647293[30] = 1.0; - out_5290264847807647293[31] = 0.0; - out_5290264847807647293[32] = 0.0; - out_5290264847807647293[33] = 0.0; - out_5290264847807647293[34] = 0.0; - out_5290264847807647293[35] = 0.0; - out_5290264847807647293[36] = 0.0; - out_5290264847807647293[37] = 0.0; - out_5290264847807647293[38] = 0.0; - out_5290264847807647293[39] = 0.0; - out_5290264847807647293[40] = 1.0; - out_5290264847807647293[41] = 0.0; - out_5290264847807647293[42] = 0.0; - out_5290264847807647293[43] = 0.0; - out_5290264847807647293[44] = 0.0; - out_5290264847807647293[45] = 0.0; - out_5290264847807647293[46] = 0.0; - out_5290264847807647293[47] = 0.0; - out_5290264847807647293[48] = 0.0; - out_5290264847807647293[49] = 0.0; - out_5290264847807647293[50] = 1.0; - out_5290264847807647293[51] = 0.0; - out_5290264847807647293[52] = 0.0; - out_5290264847807647293[53] = 0.0; - out_5290264847807647293[54] = 0.0; - out_5290264847807647293[55] = 0.0; - out_5290264847807647293[56] = 0.0; - out_5290264847807647293[57] = 0.0; - out_5290264847807647293[58] = 0.0; - out_5290264847807647293[59] = 0.0; - out_5290264847807647293[60] = 1.0; - out_5290264847807647293[61] = 0.0; - out_5290264847807647293[62] = 0.0; - out_5290264847807647293[63] = 0.0; - out_5290264847807647293[64] = 0.0; - out_5290264847807647293[65] = 0.0; - out_5290264847807647293[66] = 0.0; - out_5290264847807647293[67] = 0.0; - out_5290264847807647293[68] = 0.0; - out_5290264847807647293[69] = 0.0; - out_5290264847807647293[70] = 1.0; - out_5290264847807647293[71] = 0.0; - out_5290264847807647293[72] = 0.0; - out_5290264847807647293[73] = 0.0; - out_5290264847807647293[74] = 0.0; - out_5290264847807647293[75] = 0.0; - out_5290264847807647293[76] = 0.0; - out_5290264847807647293[77] = 0.0; - out_5290264847807647293[78] = 0.0; - out_5290264847807647293[79] = 0.0; - out_5290264847807647293[80] = 1.0; +void H_mod_fun(double *state, double *out_8559018147660225964) { + out_8559018147660225964[0] = 1.0; + out_8559018147660225964[1] = 0.0; + out_8559018147660225964[2] = 0.0; + out_8559018147660225964[3] = 0.0; + out_8559018147660225964[4] = 0.0; + out_8559018147660225964[5] = 0.0; + out_8559018147660225964[6] = 0.0; + out_8559018147660225964[7] = 0.0; + out_8559018147660225964[8] = 0.0; + out_8559018147660225964[9] = 0.0; + out_8559018147660225964[10] = 1.0; + out_8559018147660225964[11] = 0.0; + out_8559018147660225964[12] = 0.0; + out_8559018147660225964[13] = 0.0; + out_8559018147660225964[14] = 0.0; + out_8559018147660225964[15] = 0.0; + out_8559018147660225964[16] = 0.0; + out_8559018147660225964[17] = 0.0; + out_8559018147660225964[18] = 0.0; + out_8559018147660225964[19] = 0.0; + out_8559018147660225964[20] = 1.0; + out_8559018147660225964[21] = 0.0; + out_8559018147660225964[22] = 0.0; + out_8559018147660225964[23] = 0.0; + out_8559018147660225964[24] = 0.0; + out_8559018147660225964[25] = 0.0; + out_8559018147660225964[26] = 0.0; + out_8559018147660225964[27] = 0.0; + out_8559018147660225964[28] = 0.0; + out_8559018147660225964[29] = 0.0; + out_8559018147660225964[30] = 1.0; + out_8559018147660225964[31] = 0.0; + out_8559018147660225964[32] = 0.0; + out_8559018147660225964[33] = 0.0; + out_8559018147660225964[34] = 0.0; + out_8559018147660225964[35] = 0.0; + out_8559018147660225964[36] = 0.0; + out_8559018147660225964[37] = 0.0; + out_8559018147660225964[38] = 0.0; + out_8559018147660225964[39] = 0.0; + out_8559018147660225964[40] = 1.0; + out_8559018147660225964[41] = 0.0; + out_8559018147660225964[42] = 0.0; + out_8559018147660225964[43] = 0.0; + out_8559018147660225964[44] = 0.0; + out_8559018147660225964[45] = 0.0; + out_8559018147660225964[46] = 0.0; + out_8559018147660225964[47] = 0.0; + out_8559018147660225964[48] = 0.0; + out_8559018147660225964[49] = 0.0; + out_8559018147660225964[50] = 1.0; + out_8559018147660225964[51] = 0.0; + out_8559018147660225964[52] = 0.0; + out_8559018147660225964[53] = 0.0; + out_8559018147660225964[54] = 0.0; + out_8559018147660225964[55] = 0.0; + out_8559018147660225964[56] = 0.0; + out_8559018147660225964[57] = 0.0; + out_8559018147660225964[58] = 0.0; + out_8559018147660225964[59] = 0.0; + out_8559018147660225964[60] = 1.0; + out_8559018147660225964[61] = 0.0; + out_8559018147660225964[62] = 0.0; + out_8559018147660225964[63] = 0.0; + out_8559018147660225964[64] = 0.0; + out_8559018147660225964[65] = 0.0; + out_8559018147660225964[66] = 0.0; + out_8559018147660225964[67] = 0.0; + out_8559018147660225964[68] = 0.0; + out_8559018147660225964[69] = 0.0; + out_8559018147660225964[70] = 1.0; + out_8559018147660225964[71] = 0.0; + out_8559018147660225964[72] = 0.0; + out_8559018147660225964[73] = 0.0; + out_8559018147660225964[74] = 0.0; + out_8559018147660225964[75] = 0.0; + out_8559018147660225964[76] = 0.0; + out_8559018147660225964[77] = 0.0; + out_8559018147660225964[78] = 0.0; + out_8559018147660225964[79] = 0.0; + out_8559018147660225964[80] = 1.0; } -void f_fun(double *state, double dt, double *out_6558018291433416815) { - out_6558018291433416815[0] = state[0]; - out_6558018291433416815[1] = state[1]; - out_6558018291433416815[2] = state[2]; - out_6558018291433416815[3] = state[3]; - out_6558018291433416815[4] = state[4]; - out_6558018291433416815[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_6558018291433416815[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_6558018291433416815[7] = state[7]; - out_6558018291433416815[8] = state[8]; +void f_fun(double *state, double dt, double *out_1736737013642959687) { + out_1736737013642959687[0] = state[0]; + out_1736737013642959687[1] = state[1]; + out_1736737013642959687[2] = state[2]; + out_1736737013642959687[3] = state[3]; + out_1736737013642959687[4] = state[4]; + out_1736737013642959687[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_1736737013642959687[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_1736737013642959687[7] = state[7]; + out_1736737013642959687[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7302370609560386304) { - out_7302370609560386304[0] = 1; - out_7302370609560386304[1] = 0; - out_7302370609560386304[2] = 0; - out_7302370609560386304[3] = 0; - out_7302370609560386304[4] = 0; - out_7302370609560386304[5] = 0; - out_7302370609560386304[6] = 0; - out_7302370609560386304[7] = 0; - out_7302370609560386304[8] = 0; - out_7302370609560386304[9] = 0; - out_7302370609560386304[10] = 1; - out_7302370609560386304[11] = 0; - out_7302370609560386304[12] = 0; - out_7302370609560386304[13] = 0; - out_7302370609560386304[14] = 0; - out_7302370609560386304[15] = 0; - out_7302370609560386304[16] = 0; - out_7302370609560386304[17] = 0; - out_7302370609560386304[18] = 0; - out_7302370609560386304[19] = 0; - out_7302370609560386304[20] = 1; - out_7302370609560386304[21] = 0; - out_7302370609560386304[22] = 0; - out_7302370609560386304[23] = 0; - out_7302370609560386304[24] = 0; - out_7302370609560386304[25] = 0; - out_7302370609560386304[26] = 0; - out_7302370609560386304[27] = 0; - out_7302370609560386304[28] = 0; - out_7302370609560386304[29] = 0; - out_7302370609560386304[30] = 1; - out_7302370609560386304[31] = 0; - out_7302370609560386304[32] = 0; - out_7302370609560386304[33] = 0; - out_7302370609560386304[34] = 0; - out_7302370609560386304[35] = 0; - out_7302370609560386304[36] = 0; - out_7302370609560386304[37] = 0; - out_7302370609560386304[38] = 0; - out_7302370609560386304[39] = 0; - out_7302370609560386304[40] = 1; - out_7302370609560386304[41] = 0; - out_7302370609560386304[42] = 0; - out_7302370609560386304[43] = 0; - out_7302370609560386304[44] = 0; - out_7302370609560386304[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_7302370609560386304[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7302370609560386304[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7302370609560386304[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7302370609560386304[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_7302370609560386304[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7302370609560386304[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7302370609560386304[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7302370609560386304[53] = -9.8100000000000005*dt; - out_7302370609560386304[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_7302370609560386304[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7302370609560386304[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7302370609560386304[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7302370609560386304[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_7302370609560386304[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7302370609560386304[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_7302370609560386304[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7302370609560386304[62] = 0; - out_7302370609560386304[63] = 0; - out_7302370609560386304[64] = 0; - out_7302370609560386304[65] = 0; - out_7302370609560386304[66] = 0; - out_7302370609560386304[67] = 0; - out_7302370609560386304[68] = 0; - out_7302370609560386304[69] = 0; - out_7302370609560386304[70] = 1; - out_7302370609560386304[71] = 0; - out_7302370609560386304[72] = 0; - out_7302370609560386304[73] = 0; - out_7302370609560386304[74] = 0; - out_7302370609560386304[75] = 0; - out_7302370609560386304[76] = 0; - out_7302370609560386304[77] = 0; - out_7302370609560386304[78] = 0; - out_7302370609560386304[79] = 0; - out_7302370609560386304[80] = 1; +void F_fun(double *state, double dt, double *out_2126390936971804335) { + out_2126390936971804335[0] = 1; + out_2126390936971804335[1] = 0; + out_2126390936971804335[2] = 0; + out_2126390936971804335[3] = 0; + out_2126390936971804335[4] = 0; + out_2126390936971804335[5] = 0; + out_2126390936971804335[6] = 0; + out_2126390936971804335[7] = 0; + out_2126390936971804335[8] = 0; + out_2126390936971804335[9] = 0; + out_2126390936971804335[10] = 1; + out_2126390936971804335[11] = 0; + out_2126390936971804335[12] = 0; + out_2126390936971804335[13] = 0; + out_2126390936971804335[14] = 0; + out_2126390936971804335[15] = 0; + out_2126390936971804335[16] = 0; + out_2126390936971804335[17] = 0; + out_2126390936971804335[18] = 0; + out_2126390936971804335[19] = 0; + out_2126390936971804335[20] = 1; + out_2126390936971804335[21] = 0; + out_2126390936971804335[22] = 0; + out_2126390936971804335[23] = 0; + out_2126390936971804335[24] = 0; + out_2126390936971804335[25] = 0; + out_2126390936971804335[26] = 0; + out_2126390936971804335[27] = 0; + out_2126390936971804335[28] = 0; + out_2126390936971804335[29] = 0; + out_2126390936971804335[30] = 1; + out_2126390936971804335[31] = 0; + out_2126390936971804335[32] = 0; + out_2126390936971804335[33] = 0; + out_2126390936971804335[34] = 0; + out_2126390936971804335[35] = 0; + out_2126390936971804335[36] = 0; + out_2126390936971804335[37] = 0; + out_2126390936971804335[38] = 0; + out_2126390936971804335[39] = 0; + out_2126390936971804335[40] = 1; + out_2126390936971804335[41] = 0; + out_2126390936971804335[42] = 0; + out_2126390936971804335[43] = 0; + out_2126390936971804335[44] = 0; + out_2126390936971804335[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_2126390936971804335[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2126390936971804335[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2126390936971804335[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2126390936971804335[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_2126390936971804335[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2126390936971804335[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2126390936971804335[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2126390936971804335[53] = -9.8100000000000005*dt; + out_2126390936971804335[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_2126390936971804335[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2126390936971804335[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2126390936971804335[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2126390936971804335[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_2126390936971804335[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2126390936971804335[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_2126390936971804335[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2126390936971804335[62] = 0; + out_2126390936971804335[63] = 0; + out_2126390936971804335[64] = 0; + out_2126390936971804335[65] = 0; + out_2126390936971804335[66] = 0; + out_2126390936971804335[67] = 0; + out_2126390936971804335[68] = 0; + out_2126390936971804335[69] = 0; + out_2126390936971804335[70] = 1; + out_2126390936971804335[71] = 0; + out_2126390936971804335[72] = 0; + out_2126390936971804335[73] = 0; + out_2126390936971804335[74] = 0; + out_2126390936971804335[75] = 0; + out_2126390936971804335[76] = 0; + out_2126390936971804335[77] = 0; + out_2126390936971804335[78] = 0; + out_2126390936971804335[79] = 0; + out_2126390936971804335[80] = 1; } -void h_25(double *state, double *unused, double *out_3941798905160139655) { - out_3941798905160139655[0] = state[6]; +void h_25(double *state, double *unused, double *out_650360746861026872) { + out_650360746861026872[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1767216209162282145) { - out_1767216209162282145[0] = 0; - out_1767216209162282145[1] = 0; - out_1767216209162282145[2] = 0; - out_1767216209162282145[3] = 0; - out_1767216209162282145[4] = 0; - out_1767216209162282145[5] = 0; - out_1767216209162282145[6] = 1; - out_1767216209162282145[7] = 0; - out_1767216209162282145[8] = 0; +void H_25(double *state, double *unused, double *out_5521925448974425183) { + out_5521925448974425183[0] = 0; + out_5521925448974425183[1] = 0; + out_5521925448974425183[2] = 0; + out_5521925448974425183[3] = 0; + out_5521925448974425183[4] = 0; + out_5521925448974425183[5] = 0; + out_5521925448974425183[6] = 1; + out_5521925448974425183[7] = 0; + out_5521925448974425183[8] = 0; } -void h_24(double *state, double *unused, double *out_3290253106094290464) { - out_3290253106094290464[0] = state[4]; - out_3290253106094290464[1] = state[5]; +void h_24(double *state, double *unused, double *out_6354297212728781983) { + out_6354297212728781983[0] = state[4]; + out_6354297212728781983[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2751282080003595813) { - out_2751282080003595813[0] = 0; - out_2751282080003595813[1] = 0; - out_2751282080003595813[2] = 0; - out_2751282080003595813[3] = 0; - out_2751282080003595813[4] = 1; - out_2751282080003595813[5] = 0; - out_2751282080003595813[6] = 0; - out_2751282080003595813[7] = 0; - out_2751282080003595813[8] = 0; - out_2751282080003595813[9] = 0; - out_2751282080003595813[10] = 0; - out_2751282080003595813[11] = 0; - out_2751282080003595813[12] = 0; - out_2751282080003595813[13] = 0; - out_2751282080003595813[14] = 1; - out_2751282080003595813[15] = 0; - out_2751282080003595813[16] = 0; - out_2751282080003595813[17] = 0; +void H_24(double *state, double *unused, double *out_1963999850172102047) { + out_1963999850172102047[0] = 0; + out_1963999850172102047[1] = 0; + out_1963999850172102047[2] = 0; + out_1963999850172102047[3] = 0; + out_1963999850172102047[4] = 1; + out_1963999850172102047[5] = 0; + out_1963999850172102047[6] = 0; + out_1963999850172102047[7] = 0; + out_1963999850172102047[8] = 0; + out_1963999850172102047[9] = 0; + out_1963999850172102047[10] = 0; + out_1963999850172102047[11] = 0; + out_1963999850172102047[12] = 0; + out_1963999850172102047[13] = 0; + out_1963999850172102047[14] = 1; + out_1963999850172102047[15] = 0; + out_1963999850172102047[16] = 0; + out_1963999850172102047[17] = 0; } -void h_30(double *state, double *unused, double *out_198122822665014747) { - out_198122822665014747[0] = state[4]; +void h_30(double *state, double *unused, double *out_5144912474794651785) { + out_5144912474794651785[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8683906550653898900) { - out_8683906550653898900[0] = 0; - out_8683906550653898900[1] = 0; - out_8683906550653898900[2] = 0; - out_8683906550653898900[3] = 0; - out_8683906550653898900[4] = 1; - out_8683906550653898900[5] = 0; - out_8683906550653898900[6] = 0; - out_8683906550653898900[7] = 0; - out_8683906550653898900[8] = 0; +void H_30(double *state, double *unused, double *out_1394764892517191572) { + out_1394764892517191572[0] = 0; + out_1394764892517191572[1] = 0; + out_1394764892517191572[2] = 0; + out_1394764892517191572[3] = 0; + out_1394764892517191572[4] = 1; + out_1394764892517191572[5] = 0; + out_1394764892517191572[6] = 0; + out_1394764892517191572[7] = 0; + out_1394764892517191572[8] = 0; } -void h_26(double *state, double *unused, double *out_4803550444995830898) { - out_4803550444995830898[0] = state[7]; +void h_26(double *state, double *unused, double *out_4541596590118174268) { + out_4541596590118174268[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5071742178923082746) { - out_5071742178923082746[0] = 0; - out_5071742178923082746[1] = 0; - out_5071742178923082746[2] = 0; - out_5071742178923082746[3] = 0; - out_5071742178923082746[4] = 0; - out_5071742178923082746[5] = 0; - out_5071742178923082746[6] = 0; - out_5071742178923082746[7] = 1; - out_5071742178923082746[8] = 0; +void H_26(double *state, double *unused, double *out_9183315305861070209) { + out_9183315305861070209[0] = 0; + out_9183315305861070209[1] = 0; + out_9183315305861070209[2] = 0; + out_9183315305861070209[3] = 0; + out_9183315305861070209[4] = 0; + out_9183315305861070209[5] = 0; + out_9183315305861070209[6] = 0; + out_9183315305861070209[7] = 1; + out_9183315305861070209[8] = 0; } -void h_27(double *state, double *unused, double *out_2457242612253709491) { - out_2457242612253709491[0] = state[3]; +void h_27(double *state, double *unused, double *out_2386425304583305813) { + out_2386425304583305813[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6509143238853473989) { - out_6509143238853473989[0] = 0; - out_6509143238853473989[1] = 0; - out_6509143238853473989[2] = 0; - out_6509143238853473989[3] = 1; - out_6509143238853473989[4] = 0; - out_6509143238853473989[5] = 0; - out_6509143238853473989[6] = 0; - out_6509143238853473989[7] = 0; - out_6509143238853473989[8] = 0; +void H_27(double *state, double *unused, double *out_779998419283233339) { + out_779998419283233339[0] = 0; + out_779998419283233339[1] = 0; + out_779998419283233339[2] = 0; + out_779998419283233339[3] = 1; + out_779998419283233339[4] = 0; + out_779998419283233339[5] = 0; + out_779998419283233339[6] = 0; + out_779998419283233339[7] = 0; + out_779998419283233339[8] = 0; } -void h_29(double *state, double *unused, double *out_8786285504469856155) { - out_8786285504469856155[0] = state[1]; +void h_29(double *state, double *unused, double *out_4201402621892989350) { + out_4201402621892989350[0] = state[1]; } -void H_29(double *state, double *unused, double *out_9194137894968291084) { - out_9194137894968291084[0] = 0; - out_9194137894968291084[1] = 1; - out_9194137894968291084[2] = 0; - out_9194137894968291084[3] = 0; - out_9194137894968291084[4] = 0; - out_9194137894968291084[5] = 0; - out_9194137894968291084[6] = 0; - out_9194137894968291084[7] = 0; - out_9194137894968291084[8] = 0; +void H_29(double *state, double *unused, double *out_1904996236831583756) { + out_1904996236831583756[0] = 0; + out_1904996236831583756[1] = 1; + out_1904996236831583756[2] = 0; + out_1904996236831583756[3] = 0; + out_1904996236831583756[4] = 0; + out_1904996236831583756[5] = 0; + out_1904996236831583756[6] = 0; + out_1904996236831583756[7] = 0; + out_1904996236831583756[8] = 0; } -void h_28(double *state, double *unused, double *out_1853926727577231974) { - out_1853926727577231974[0] = state[0]; +void h_28(double *state, double *unused, double *out_1783109419906828296) { + out_1783109419906828296[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4111738877898760510) { - out_4111738877898760510[0] = 1; - out_4111738877898760510[1] = 0; - out_4111738877898760510[2] = 0; - out_4111738877898760510[3] = 0; - out_4111738877898760510[4] = 0; - out_4111738877898760510[5] = 0; - out_4111738877898760510[6] = 0; - out_4111738877898760510[7] = 0; - out_4111738877898760510[8] = 0; +void H_28(double *state, double *unused, double *out_3177402780237946818) { + out_3177402780237946818[0] = 1; + out_3177402780237946818[1] = 0; + out_3177402780237946818[2] = 0; + out_3177402780237946818[3] = 0; + out_3177402780237946818[4] = 0; + out_3177402780237946818[5] = 0; + out_3177402780237946818[6] = 0; + out_3177402780237946818[7] = 0; + out_3177402780237946818[8] = 0; } -void h_31(double *state, double *unused, double *out_8040102203439511519) { - out_8040102203439511519[0] = state[8]; +void h_31(double *state, double *unused, double *out_7421195973211377808) { + out_7421195973211377808[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1797862171039242573) { - out_1797862171039242573[0] = 0; - out_1797862171039242573[1] = 0; - out_1797862171039242573[2] = 0; - out_1797862171039242573[3] = 0; - out_1797862171039242573[4] = 0; - out_1797862171039242573[5] = 0; - out_1797862171039242573[6] = 0; - out_1797862171039242573[7] = 0; - out_1797862171039242573[8] = 1; +void H_31(double *state, double *unused, double *out_5491279487097464755) { + out_5491279487097464755[0] = 0; + out_5491279487097464755[1] = 0; + out_5491279487097464755[2] = 0; + out_5491279487097464755[3] = 0; + out_5491279487097464755[4] = 0; + out_5491279487097464755[5] = 0; + out_5491279487097464755[6] = 0; + out_5491279487097464755[7] = 0; + out_5491279487097464755[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_7775273935163259771) { - err_fun(nom_x, delta_x, out_7775273935163259771); +void car_err_fun(double *nom_x, double *delta_x, double *out_5870650175258852411) { + err_fun(nom_x, delta_x, out_5870650175258852411); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7144320503723657844) { - inv_err_fun(nom_x, true_x, out_7144320503723657844); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3265729657434381044) { + inv_err_fun(nom_x, true_x, out_3265729657434381044); } -void car_H_mod_fun(double *state, double *out_5290264847807647293) { - H_mod_fun(state, out_5290264847807647293); +void car_H_mod_fun(double *state, double *out_8559018147660225964) { + H_mod_fun(state, out_8559018147660225964); } -void car_f_fun(double *state, double dt, double *out_6558018291433416815) { - f_fun(state, dt, out_6558018291433416815); +void car_f_fun(double *state, double dt, double *out_1736737013642959687) { + f_fun(state, dt, out_1736737013642959687); } -void car_F_fun(double *state, double dt, double *out_7302370609560386304) { - F_fun(state, dt, out_7302370609560386304); +void car_F_fun(double *state, double dt, double *out_2126390936971804335) { + F_fun(state, dt, out_2126390936971804335); } -void car_h_25(double *state, double *unused, double *out_3941798905160139655) { - h_25(state, unused, out_3941798905160139655); +void car_h_25(double *state, double *unused, double *out_650360746861026872) { + h_25(state, unused, out_650360746861026872); } -void car_H_25(double *state, double *unused, double *out_1767216209162282145) { - H_25(state, unused, out_1767216209162282145); +void car_H_25(double *state, double *unused, double *out_5521925448974425183) { + H_25(state, unused, out_5521925448974425183); } -void car_h_24(double *state, double *unused, double *out_3290253106094290464) { - h_24(state, unused, out_3290253106094290464); +void car_h_24(double *state, double *unused, double *out_6354297212728781983) { + h_24(state, unused, out_6354297212728781983); } -void car_H_24(double *state, double *unused, double *out_2751282080003595813) { - H_24(state, unused, out_2751282080003595813); +void car_H_24(double *state, double *unused, double *out_1963999850172102047) { + H_24(state, unused, out_1963999850172102047); } -void car_h_30(double *state, double *unused, double *out_198122822665014747) { - h_30(state, unused, out_198122822665014747); +void car_h_30(double *state, double *unused, double *out_5144912474794651785) { + h_30(state, unused, out_5144912474794651785); } -void car_H_30(double *state, double *unused, double *out_8683906550653898900) { - H_30(state, unused, out_8683906550653898900); +void car_H_30(double *state, double *unused, double *out_1394764892517191572) { + H_30(state, unused, out_1394764892517191572); } -void car_h_26(double *state, double *unused, double *out_4803550444995830898) { - h_26(state, unused, out_4803550444995830898); +void car_h_26(double *state, double *unused, double *out_4541596590118174268) { + h_26(state, unused, out_4541596590118174268); } -void car_H_26(double *state, double *unused, double *out_5071742178923082746) { - H_26(state, unused, out_5071742178923082746); +void car_H_26(double *state, double *unused, double *out_9183315305861070209) { + H_26(state, unused, out_9183315305861070209); } -void car_h_27(double *state, double *unused, double *out_2457242612253709491) { - h_27(state, unused, out_2457242612253709491); +void car_h_27(double *state, double *unused, double *out_2386425304583305813) { + h_27(state, unused, out_2386425304583305813); } -void car_H_27(double *state, double *unused, double *out_6509143238853473989) { - H_27(state, unused, out_6509143238853473989); +void car_H_27(double *state, double *unused, double *out_779998419283233339) { + H_27(state, unused, out_779998419283233339); } -void car_h_29(double *state, double *unused, double *out_8786285504469856155) { - h_29(state, unused, out_8786285504469856155); +void car_h_29(double *state, double *unused, double *out_4201402621892989350) { + h_29(state, unused, out_4201402621892989350); } -void car_H_29(double *state, double *unused, double *out_9194137894968291084) { - H_29(state, unused, out_9194137894968291084); +void car_H_29(double *state, double *unused, double *out_1904996236831583756) { + H_29(state, unused, out_1904996236831583756); } -void car_h_28(double *state, double *unused, double *out_1853926727577231974) { - h_28(state, unused, out_1853926727577231974); +void car_h_28(double *state, double *unused, double *out_1783109419906828296) { + h_28(state, unused, out_1783109419906828296); } -void car_H_28(double *state, double *unused, double *out_4111738877898760510) { - H_28(state, unused, out_4111738877898760510); +void car_H_28(double *state, double *unused, double *out_3177402780237946818) { + H_28(state, unused, out_3177402780237946818); } -void car_h_31(double *state, double *unused, double *out_8040102203439511519) { - h_31(state, unused, out_8040102203439511519); +void car_h_31(double *state, double *unused, double *out_7421195973211377808) { + h_31(state, unused, out_7421195973211377808); } -void car_H_31(double *state, double *unused, double *out_1797862171039242573) { - H_31(state, unused, out_1797862171039242573); +void car_H_31(double *state, double *unused, double *out_5491279487097464755) { + H_31(state, unused, out_5491279487097464755); } 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 184ecc1d2..463cf5ed5 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_7775273935163259771); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7144320503723657844); -void car_H_mod_fun(double *state, double *out_5290264847807647293); -void car_f_fun(double *state, double dt, double *out_6558018291433416815); -void car_F_fun(double *state, double dt, double *out_7302370609560386304); -void car_h_25(double *state, double *unused, double *out_3941798905160139655); -void car_H_25(double *state, double *unused, double *out_1767216209162282145); -void car_h_24(double *state, double *unused, double *out_3290253106094290464); -void car_H_24(double *state, double *unused, double *out_2751282080003595813); -void car_h_30(double *state, double *unused, double *out_198122822665014747); -void car_H_30(double *state, double *unused, double *out_8683906550653898900); -void car_h_26(double *state, double *unused, double *out_4803550444995830898); -void car_H_26(double *state, double *unused, double *out_5071742178923082746); -void car_h_27(double *state, double *unused, double *out_2457242612253709491); -void car_H_27(double *state, double *unused, double *out_6509143238853473989); -void car_h_29(double *state, double *unused, double *out_8786285504469856155); -void car_H_29(double *state, double *unused, double *out_9194137894968291084); -void car_h_28(double *state, double *unused, double *out_1853926727577231974); -void car_H_28(double *state, double *unused, double *out_4111738877898760510); -void car_h_31(double *state, double *unused, double *out_8040102203439511519); -void car_H_31(double *state, double *unused, double *out_1797862171039242573); +void car_err_fun(double *nom_x, double *delta_x, double *out_5870650175258852411); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3265729657434381044); +void car_H_mod_fun(double *state, double *out_8559018147660225964); +void car_f_fun(double *state, double dt, double *out_1736737013642959687); +void car_F_fun(double *state, double dt, double *out_2126390936971804335); +void car_h_25(double *state, double *unused, double *out_650360746861026872); +void car_H_25(double *state, double *unused, double *out_5521925448974425183); +void car_h_24(double *state, double *unused, double *out_6354297212728781983); +void car_H_24(double *state, double *unused, double *out_1963999850172102047); +void car_h_30(double *state, double *unused, double *out_5144912474794651785); +void car_H_30(double *state, double *unused, double *out_1394764892517191572); +void car_h_26(double *state, double *unused, double *out_4541596590118174268); +void car_H_26(double *state, double *unused, double *out_9183315305861070209); +void car_h_27(double *state, double *unused, double *out_2386425304583305813); +void car_H_27(double *state, double *unused, double *out_779998419283233339); +void car_h_29(double *state, double *unused, double *out_4201402621892989350); +void car_H_29(double *state, double *unused, double *out_1904996236831583756); +void car_h_28(double *state, double *unused, double *out_1783109419906828296); +void car_H_28(double *state, double *unused, double *out_3177402780237946818); +void car_h_31(double *state, double *unused, double *out_7421195973211377808); +void car_H_31(double *state, double *unused, double *out_5491279487097464755); 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 d76846554..a49f2e74e 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_772147526555487692) { - out_772147526555487692[0] = delta_x[0] + nom_x[0]; - out_772147526555487692[1] = delta_x[1] + nom_x[1]; - out_772147526555487692[2] = delta_x[2] + nom_x[2]; - out_772147526555487692[3] = delta_x[3] + nom_x[3]; - out_772147526555487692[4] = delta_x[4] + nom_x[4]; - out_772147526555487692[5] = delta_x[5] + nom_x[5]; - out_772147526555487692[6] = delta_x[6] + nom_x[6]; - out_772147526555487692[7] = delta_x[7] + nom_x[7]; - out_772147526555487692[8] = delta_x[8] + nom_x[8]; - out_772147526555487692[9] = delta_x[9] + nom_x[9]; - out_772147526555487692[10] = delta_x[10] + nom_x[10]; - out_772147526555487692[11] = delta_x[11] + nom_x[11]; - out_772147526555487692[12] = delta_x[12] + nom_x[12]; - out_772147526555487692[13] = delta_x[13] + nom_x[13]; - out_772147526555487692[14] = delta_x[14] + nom_x[14]; - out_772147526555487692[15] = delta_x[15] + nom_x[15]; - out_772147526555487692[16] = delta_x[16] + nom_x[16]; - out_772147526555487692[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7958882747940958001) { + out_7958882747940958001[0] = delta_x[0] + nom_x[0]; + out_7958882747940958001[1] = delta_x[1] + nom_x[1]; + out_7958882747940958001[2] = delta_x[2] + nom_x[2]; + out_7958882747940958001[3] = delta_x[3] + nom_x[3]; + out_7958882747940958001[4] = delta_x[4] + nom_x[4]; + out_7958882747940958001[5] = delta_x[5] + nom_x[5]; + out_7958882747940958001[6] = delta_x[6] + nom_x[6]; + out_7958882747940958001[7] = delta_x[7] + nom_x[7]; + out_7958882747940958001[8] = delta_x[8] + nom_x[8]; + out_7958882747940958001[9] = delta_x[9] + nom_x[9]; + out_7958882747940958001[10] = delta_x[10] + nom_x[10]; + out_7958882747940958001[11] = delta_x[11] + nom_x[11]; + out_7958882747940958001[12] = delta_x[12] + nom_x[12]; + out_7958882747940958001[13] = delta_x[13] + nom_x[13]; + out_7958882747940958001[14] = delta_x[14] + nom_x[14]; + out_7958882747940958001[15] = delta_x[15] + nom_x[15]; + out_7958882747940958001[16] = delta_x[16] + nom_x[16]; + out_7958882747940958001[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4282924253332717604) { - out_4282924253332717604[0] = -nom_x[0] + true_x[0]; - out_4282924253332717604[1] = -nom_x[1] + true_x[1]; - out_4282924253332717604[2] = -nom_x[2] + true_x[2]; - out_4282924253332717604[3] = -nom_x[3] + true_x[3]; - out_4282924253332717604[4] = -nom_x[4] + true_x[4]; - out_4282924253332717604[5] = -nom_x[5] + true_x[5]; - out_4282924253332717604[6] = -nom_x[6] + true_x[6]; - out_4282924253332717604[7] = -nom_x[7] + true_x[7]; - out_4282924253332717604[8] = -nom_x[8] + true_x[8]; - out_4282924253332717604[9] = -nom_x[9] + true_x[9]; - out_4282924253332717604[10] = -nom_x[10] + true_x[10]; - out_4282924253332717604[11] = -nom_x[11] + true_x[11]; - out_4282924253332717604[12] = -nom_x[12] + true_x[12]; - out_4282924253332717604[13] = -nom_x[13] + true_x[13]; - out_4282924253332717604[14] = -nom_x[14] + true_x[14]; - out_4282924253332717604[15] = -nom_x[15] + true_x[15]; - out_4282924253332717604[16] = -nom_x[16] + true_x[16]; - out_4282924253332717604[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4703319146697471116) { + out_4703319146697471116[0] = -nom_x[0] + true_x[0]; + out_4703319146697471116[1] = -nom_x[1] + true_x[1]; + out_4703319146697471116[2] = -nom_x[2] + true_x[2]; + out_4703319146697471116[3] = -nom_x[3] + true_x[3]; + out_4703319146697471116[4] = -nom_x[4] + true_x[4]; + out_4703319146697471116[5] = -nom_x[5] + true_x[5]; + out_4703319146697471116[6] = -nom_x[6] + true_x[6]; + out_4703319146697471116[7] = -nom_x[7] + true_x[7]; + out_4703319146697471116[8] = -nom_x[8] + true_x[8]; + out_4703319146697471116[9] = -nom_x[9] + true_x[9]; + out_4703319146697471116[10] = -nom_x[10] + true_x[10]; + out_4703319146697471116[11] = -nom_x[11] + true_x[11]; + out_4703319146697471116[12] = -nom_x[12] + true_x[12]; + out_4703319146697471116[13] = -nom_x[13] + true_x[13]; + out_4703319146697471116[14] = -nom_x[14] + true_x[14]; + out_4703319146697471116[15] = -nom_x[15] + true_x[15]; + out_4703319146697471116[16] = -nom_x[16] + true_x[16]; + out_4703319146697471116[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4974307322782455600) { - out_4974307322782455600[0] = 1.0; - out_4974307322782455600[1] = 0.0; - out_4974307322782455600[2] = 0.0; - out_4974307322782455600[3] = 0.0; - out_4974307322782455600[4] = 0.0; - out_4974307322782455600[5] = 0.0; - out_4974307322782455600[6] = 0.0; - out_4974307322782455600[7] = 0.0; - out_4974307322782455600[8] = 0.0; - out_4974307322782455600[9] = 0.0; - out_4974307322782455600[10] = 0.0; - out_4974307322782455600[11] = 0.0; - out_4974307322782455600[12] = 0.0; - out_4974307322782455600[13] = 0.0; - out_4974307322782455600[14] = 0.0; - out_4974307322782455600[15] = 0.0; - out_4974307322782455600[16] = 0.0; - out_4974307322782455600[17] = 0.0; - out_4974307322782455600[18] = 0.0; - out_4974307322782455600[19] = 1.0; - out_4974307322782455600[20] = 0.0; - out_4974307322782455600[21] = 0.0; - out_4974307322782455600[22] = 0.0; - out_4974307322782455600[23] = 0.0; - out_4974307322782455600[24] = 0.0; - out_4974307322782455600[25] = 0.0; - out_4974307322782455600[26] = 0.0; - out_4974307322782455600[27] = 0.0; - out_4974307322782455600[28] = 0.0; - out_4974307322782455600[29] = 0.0; - out_4974307322782455600[30] = 0.0; - out_4974307322782455600[31] = 0.0; - out_4974307322782455600[32] = 0.0; - out_4974307322782455600[33] = 0.0; - out_4974307322782455600[34] = 0.0; - out_4974307322782455600[35] = 0.0; - out_4974307322782455600[36] = 0.0; - out_4974307322782455600[37] = 0.0; - out_4974307322782455600[38] = 1.0; - out_4974307322782455600[39] = 0.0; - out_4974307322782455600[40] = 0.0; - out_4974307322782455600[41] = 0.0; - out_4974307322782455600[42] = 0.0; - out_4974307322782455600[43] = 0.0; - out_4974307322782455600[44] = 0.0; - out_4974307322782455600[45] = 0.0; - out_4974307322782455600[46] = 0.0; - out_4974307322782455600[47] = 0.0; - out_4974307322782455600[48] = 0.0; - out_4974307322782455600[49] = 0.0; - out_4974307322782455600[50] = 0.0; - out_4974307322782455600[51] = 0.0; - out_4974307322782455600[52] = 0.0; - out_4974307322782455600[53] = 0.0; - out_4974307322782455600[54] = 0.0; - out_4974307322782455600[55] = 0.0; - out_4974307322782455600[56] = 0.0; - out_4974307322782455600[57] = 1.0; - out_4974307322782455600[58] = 0.0; - out_4974307322782455600[59] = 0.0; - out_4974307322782455600[60] = 0.0; - out_4974307322782455600[61] = 0.0; - out_4974307322782455600[62] = 0.0; - out_4974307322782455600[63] = 0.0; - out_4974307322782455600[64] = 0.0; - out_4974307322782455600[65] = 0.0; - out_4974307322782455600[66] = 0.0; - out_4974307322782455600[67] = 0.0; - out_4974307322782455600[68] = 0.0; - out_4974307322782455600[69] = 0.0; - out_4974307322782455600[70] = 0.0; - out_4974307322782455600[71] = 0.0; - out_4974307322782455600[72] = 0.0; - out_4974307322782455600[73] = 0.0; - out_4974307322782455600[74] = 0.0; - out_4974307322782455600[75] = 0.0; - out_4974307322782455600[76] = 1.0; - out_4974307322782455600[77] = 0.0; - out_4974307322782455600[78] = 0.0; - out_4974307322782455600[79] = 0.0; - out_4974307322782455600[80] = 0.0; - out_4974307322782455600[81] = 0.0; - out_4974307322782455600[82] = 0.0; - out_4974307322782455600[83] = 0.0; - out_4974307322782455600[84] = 0.0; - out_4974307322782455600[85] = 0.0; - out_4974307322782455600[86] = 0.0; - out_4974307322782455600[87] = 0.0; - out_4974307322782455600[88] = 0.0; - out_4974307322782455600[89] = 0.0; - out_4974307322782455600[90] = 0.0; - out_4974307322782455600[91] = 0.0; - out_4974307322782455600[92] = 0.0; - out_4974307322782455600[93] = 0.0; - out_4974307322782455600[94] = 0.0; - out_4974307322782455600[95] = 1.0; - out_4974307322782455600[96] = 0.0; - out_4974307322782455600[97] = 0.0; - out_4974307322782455600[98] = 0.0; - out_4974307322782455600[99] = 0.0; - out_4974307322782455600[100] = 0.0; - out_4974307322782455600[101] = 0.0; - out_4974307322782455600[102] = 0.0; - out_4974307322782455600[103] = 0.0; - out_4974307322782455600[104] = 0.0; - out_4974307322782455600[105] = 0.0; - out_4974307322782455600[106] = 0.0; - out_4974307322782455600[107] = 0.0; - out_4974307322782455600[108] = 0.0; - out_4974307322782455600[109] = 0.0; - out_4974307322782455600[110] = 0.0; - out_4974307322782455600[111] = 0.0; - out_4974307322782455600[112] = 0.0; - out_4974307322782455600[113] = 0.0; - out_4974307322782455600[114] = 1.0; - out_4974307322782455600[115] = 0.0; - out_4974307322782455600[116] = 0.0; - out_4974307322782455600[117] = 0.0; - out_4974307322782455600[118] = 0.0; - out_4974307322782455600[119] = 0.0; - out_4974307322782455600[120] = 0.0; - out_4974307322782455600[121] = 0.0; - out_4974307322782455600[122] = 0.0; - out_4974307322782455600[123] = 0.0; - out_4974307322782455600[124] = 0.0; - out_4974307322782455600[125] = 0.0; - out_4974307322782455600[126] = 0.0; - out_4974307322782455600[127] = 0.0; - out_4974307322782455600[128] = 0.0; - out_4974307322782455600[129] = 0.0; - out_4974307322782455600[130] = 0.0; - out_4974307322782455600[131] = 0.0; - out_4974307322782455600[132] = 0.0; - out_4974307322782455600[133] = 1.0; - out_4974307322782455600[134] = 0.0; - out_4974307322782455600[135] = 0.0; - out_4974307322782455600[136] = 0.0; - out_4974307322782455600[137] = 0.0; - out_4974307322782455600[138] = 0.0; - out_4974307322782455600[139] = 0.0; - out_4974307322782455600[140] = 0.0; - out_4974307322782455600[141] = 0.0; - out_4974307322782455600[142] = 0.0; - out_4974307322782455600[143] = 0.0; - out_4974307322782455600[144] = 0.0; - out_4974307322782455600[145] = 0.0; - out_4974307322782455600[146] = 0.0; - out_4974307322782455600[147] = 0.0; - out_4974307322782455600[148] = 0.0; - out_4974307322782455600[149] = 0.0; - out_4974307322782455600[150] = 0.0; - out_4974307322782455600[151] = 0.0; - out_4974307322782455600[152] = 1.0; - out_4974307322782455600[153] = 0.0; - out_4974307322782455600[154] = 0.0; - out_4974307322782455600[155] = 0.0; - out_4974307322782455600[156] = 0.0; - out_4974307322782455600[157] = 0.0; - out_4974307322782455600[158] = 0.0; - out_4974307322782455600[159] = 0.0; - out_4974307322782455600[160] = 0.0; - out_4974307322782455600[161] = 0.0; - out_4974307322782455600[162] = 0.0; - out_4974307322782455600[163] = 0.0; - out_4974307322782455600[164] = 0.0; - out_4974307322782455600[165] = 0.0; - out_4974307322782455600[166] = 0.0; - out_4974307322782455600[167] = 0.0; - out_4974307322782455600[168] = 0.0; - out_4974307322782455600[169] = 0.0; - out_4974307322782455600[170] = 0.0; - out_4974307322782455600[171] = 1.0; - out_4974307322782455600[172] = 0.0; - out_4974307322782455600[173] = 0.0; - out_4974307322782455600[174] = 0.0; - out_4974307322782455600[175] = 0.0; - out_4974307322782455600[176] = 0.0; - out_4974307322782455600[177] = 0.0; - out_4974307322782455600[178] = 0.0; - out_4974307322782455600[179] = 0.0; - out_4974307322782455600[180] = 0.0; - out_4974307322782455600[181] = 0.0; - out_4974307322782455600[182] = 0.0; - out_4974307322782455600[183] = 0.0; - out_4974307322782455600[184] = 0.0; - out_4974307322782455600[185] = 0.0; - out_4974307322782455600[186] = 0.0; - out_4974307322782455600[187] = 0.0; - out_4974307322782455600[188] = 0.0; - out_4974307322782455600[189] = 0.0; - out_4974307322782455600[190] = 1.0; - out_4974307322782455600[191] = 0.0; - out_4974307322782455600[192] = 0.0; - out_4974307322782455600[193] = 0.0; - out_4974307322782455600[194] = 0.0; - out_4974307322782455600[195] = 0.0; - out_4974307322782455600[196] = 0.0; - out_4974307322782455600[197] = 0.0; - out_4974307322782455600[198] = 0.0; - out_4974307322782455600[199] = 0.0; - out_4974307322782455600[200] = 0.0; - out_4974307322782455600[201] = 0.0; - out_4974307322782455600[202] = 0.0; - out_4974307322782455600[203] = 0.0; - out_4974307322782455600[204] = 0.0; - out_4974307322782455600[205] = 0.0; - out_4974307322782455600[206] = 0.0; - out_4974307322782455600[207] = 0.0; - out_4974307322782455600[208] = 0.0; - out_4974307322782455600[209] = 1.0; - out_4974307322782455600[210] = 0.0; - out_4974307322782455600[211] = 0.0; - out_4974307322782455600[212] = 0.0; - out_4974307322782455600[213] = 0.0; - out_4974307322782455600[214] = 0.0; - out_4974307322782455600[215] = 0.0; - out_4974307322782455600[216] = 0.0; - out_4974307322782455600[217] = 0.0; - out_4974307322782455600[218] = 0.0; - out_4974307322782455600[219] = 0.0; - out_4974307322782455600[220] = 0.0; - out_4974307322782455600[221] = 0.0; - out_4974307322782455600[222] = 0.0; - out_4974307322782455600[223] = 0.0; - out_4974307322782455600[224] = 0.0; - out_4974307322782455600[225] = 0.0; - out_4974307322782455600[226] = 0.0; - out_4974307322782455600[227] = 0.0; - out_4974307322782455600[228] = 1.0; - out_4974307322782455600[229] = 0.0; - out_4974307322782455600[230] = 0.0; - out_4974307322782455600[231] = 0.0; - out_4974307322782455600[232] = 0.0; - out_4974307322782455600[233] = 0.0; - out_4974307322782455600[234] = 0.0; - out_4974307322782455600[235] = 0.0; - out_4974307322782455600[236] = 0.0; - out_4974307322782455600[237] = 0.0; - out_4974307322782455600[238] = 0.0; - out_4974307322782455600[239] = 0.0; - out_4974307322782455600[240] = 0.0; - out_4974307322782455600[241] = 0.0; - out_4974307322782455600[242] = 0.0; - out_4974307322782455600[243] = 0.0; - out_4974307322782455600[244] = 0.0; - out_4974307322782455600[245] = 0.0; - out_4974307322782455600[246] = 0.0; - out_4974307322782455600[247] = 1.0; - out_4974307322782455600[248] = 0.0; - out_4974307322782455600[249] = 0.0; - out_4974307322782455600[250] = 0.0; - out_4974307322782455600[251] = 0.0; - out_4974307322782455600[252] = 0.0; - out_4974307322782455600[253] = 0.0; - out_4974307322782455600[254] = 0.0; - out_4974307322782455600[255] = 0.0; - out_4974307322782455600[256] = 0.0; - out_4974307322782455600[257] = 0.0; - out_4974307322782455600[258] = 0.0; - out_4974307322782455600[259] = 0.0; - out_4974307322782455600[260] = 0.0; - out_4974307322782455600[261] = 0.0; - out_4974307322782455600[262] = 0.0; - out_4974307322782455600[263] = 0.0; - out_4974307322782455600[264] = 0.0; - out_4974307322782455600[265] = 0.0; - out_4974307322782455600[266] = 1.0; - out_4974307322782455600[267] = 0.0; - out_4974307322782455600[268] = 0.0; - out_4974307322782455600[269] = 0.0; - out_4974307322782455600[270] = 0.0; - out_4974307322782455600[271] = 0.0; - out_4974307322782455600[272] = 0.0; - out_4974307322782455600[273] = 0.0; - out_4974307322782455600[274] = 0.0; - out_4974307322782455600[275] = 0.0; - out_4974307322782455600[276] = 0.0; - out_4974307322782455600[277] = 0.0; - out_4974307322782455600[278] = 0.0; - out_4974307322782455600[279] = 0.0; - out_4974307322782455600[280] = 0.0; - out_4974307322782455600[281] = 0.0; - out_4974307322782455600[282] = 0.0; - out_4974307322782455600[283] = 0.0; - out_4974307322782455600[284] = 0.0; - out_4974307322782455600[285] = 1.0; - out_4974307322782455600[286] = 0.0; - out_4974307322782455600[287] = 0.0; - out_4974307322782455600[288] = 0.0; - out_4974307322782455600[289] = 0.0; - out_4974307322782455600[290] = 0.0; - out_4974307322782455600[291] = 0.0; - out_4974307322782455600[292] = 0.0; - out_4974307322782455600[293] = 0.0; - out_4974307322782455600[294] = 0.0; - out_4974307322782455600[295] = 0.0; - out_4974307322782455600[296] = 0.0; - out_4974307322782455600[297] = 0.0; - out_4974307322782455600[298] = 0.0; - out_4974307322782455600[299] = 0.0; - out_4974307322782455600[300] = 0.0; - out_4974307322782455600[301] = 0.0; - out_4974307322782455600[302] = 0.0; - out_4974307322782455600[303] = 0.0; - out_4974307322782455600[304] = 1.0; - out_4974307322782455600[305] = 0.0; - out_4974307322782455600[306] = 0.0; - out_4974307322782455600[307] = 0.0; - out_4974307322782455600[308] = 0.0; - out_4974307322782455600[309] = 0.0; - out_4974307322782455600[310] = 0.0; - out_4974307322782455600[311] = 0.0; - out_4974307322782455600[312] = 0.0; - out_4974307322782455600[313] = 0.0; - out_4974307322782455600[314] = 0.0; - out_4974307322782455600[315] = 0.0; - out_4974307322782455600[316] = 0.0; - out_4974307322782455600[317] = 0.0; - out_4974307322782455600[318] = 0.0; - out_4974307322782455600[319] = 0.0; - out_4974307322782455600[320] = 0.0; - out_4974307322782455600[321] = 0.0; - out_4974307322782455600[322] = 0.0; - out_4974307322782455600[323] = 1.0; +void H_mod_fun(double *state, double *out_656327009382969529) { + out_656327009382969529[0] = 1.0; + out_656327009382969529[1] = 0.0; + out_656327009382969529[2] = 0.0; + out_656327009382969529[3] = 0.0; + out_656327009382969529[4] = 0.0; + out_656327009382969529[5] = 0.0; + out_656327009382969529[6] = 0.0; + out_656327009382969529[7] = 0.0; + out_656327009382969529[8] = 0.0; + out_656327009382969529[9] = 0.0; + out_656327009382969529[10] = 0.0; + out_656327009382969529[11] = 0.0; + out_656327009382969529[12] = 0.0; + out_656327009382969529[13] = 0.0; + out_656327009382969529[14] = 0.0; + out_656327009382969529[15] = 0.0; + out_656327009382969529[16] = 0.0; + out_656327009382969529[17] = 0.0; + out_656327009382969529[18] = 0.0; + out_656327009382969529[19] = 1.0; + out_656327009382969529[20] = 0.0; + out_656327009382969529[21] = 0.0; + out_656327009382969529[22] = 0.0; + out_656327009382969529[23] = 0.0; + out_656327009382969529[24] = 0.0; + out_656327009382969529[25] = 0.0; + out_656327009382969529[26] = 0.0; + out_656327009382969529[27] = 0.0; + out_656327009382969529[28] = 0.0; + out_656327009382969529[29] = 0.0; + out_656327009382969529[30] = 0.0; + out_656327009382969529[31] = 0.0; + out_656327009382969529[32] = 0.0; + out_656327009382969529[33] = 0.0; + out_656327009382969529[34] = 0.0; + out_656327009382969529[35] = 0.0; + out_656327009382969529[36] = 0.0; + out_656327009382969529[37] = 0.0; + out_656327009382969529[38] = 1.0; + out_656327009382969529[39] = 0.0; + out_656327009382969529[40] = 0.0; + out_656327009382969529[41] = 0.0; + out_656327009382969529[42] = 0.0; + out_656327009382969529[43] = 0.0; + out_656327009382969529[44] = 0.0; + out_656327009382969529[45] = 0.0; + out_656327009382969529[46] = 0.0; + out_656327009382969529[47] = 0.0; + out_656327009382969529[48] = 0.0; + out_656327009382969529[49] = 0.0; + out_656327009382969529[50] = 0.0; + out_656327009382969529[51] = 0.0; + out_656327009382969529[52] = 0.0; + out_656327009382969529[53] = 0.0; + out_656327009382969529[54] = 0.0; + out_656327009382969529[55] = 0.0; + out_656327009382969529[56] = 0.0; + out_656327009382969529[57] = 1.0; + out_656327009382969529[58] = 0.0; + out_656327009382969529[59] = 0.0; + out_656327009382969529[60] = 0.0; + out_656327009382969529[61] = 0.0; + out_656327009382969529[62] = 0.0; + out_656327009382969529[63] = 0.0; + out_656327009382969529[64] = 0.0; + out_656327009382969529[65] = 0.0; + out_656327009382969529[66] = 0.0; + out_656327009382969529[67] = 0.0; + out_656327009382969529[68] = 0.0; + out_656327009382969529[69] = 0.0; + out_656327009382969529[70] = 0.0; + out_656327009382969529[71] = 0.0; + out_656327009382969529[72] = 0.0; + out_656327009382969529[73] = 0.0; + out_656327009382969529[74] = 0.0; + out_656327009382969529[75] = 0.0; + out_656327009382969529[76] = 1.0; + out_656327009382969529[77] = 0.0; + out_656327009382969529[78] = 0.0; + out_656327009382969529[79] = 0.0; + out_656327009382969529[80] = 0.0; + out_656327009382969529[81] = 0.0; + out_656327009382969529[82] = 0.0; + out_656327009382969529[83] = 0.0; + out_656327009382969529[84] = 0.0; + out_656327009382969529[85] = 0.0; + out_656327009382969529[86] = 0.0; + out_656327009382969529[87] = 0.0; + out_656327009382969529[88] = 0.0; + out_656327009382969529[89] = 0.0; + out_656327009382969529[90] = 0.0; + out_656327009382969529[91] = 0.0; + out_656327009382969529[92] = 0.0; + out_656327009382969529[93] = 0.0; + out_656327009382969529[94] = 0.0; + out_656327009382969529[95] = 1.0; + out_656327009382969529[96] = 0.0; + out_656327009382969529[97] = 0.0; + out_656327009382969529[98] = 0.0; + out_656327009382969529[99] = 0.0; + out_656327009382969529[100] = 0.0; + out_656327009382969529[101] = 0.0; + out_656327009382969529[102] = 0.0; + out_656327009382969529[103] = 0.0; + out_656327009382969529[104] = 0.0; + out_656327009382969529[105] = 0.0; + out_656327009382969529[106] = 0.0; + out_656327009382969529[107] = 0.0; + out_656327009382969529[108] = 0.0; + out_656327009382969529[109] = 0.0; + out_656327009382969529[110] = 0.0; + out_656327009382969529[111] = 0.0; + out_656327009382969529[112] = 0.0; + out_656327009382969529[113] = 0.0; + out_656327009382969529[114] = 1.0; + out_656327009382969529[115] = 0.0; + out_656327009382969529[116] = 0.0; + out_656327009382969529[117] = 0.0; + out_656327009382969529[118] = 0.0; + out_656327009382969529[119] = 0.0; + out_656327009382969529[120] = 0.0; + out_656327009382969529[121] = 0.0; + out_656327009382969529[122] = 0.0; + out_656327009382969529[123] = 0.0; + out_656327009382969529[124] = 0.0; + out_656327009382969529[125] = 0.0; + out_656327009382969529[126] = 0.0; + out_656327009382969529[127] = 0.0; + out_656327009382969529[128] = 0.0; + out_656327009382969529[129] = 0.0; + out_656327009382969529[130] = 0.0; + out_656327009382969529[131] = 0.0; + out_656327009382969529[132] = 0.0; + out_656327009382969529[133] = 1.0; + out_656327009382969529[134] = 0.0; + out_656327009382969529[135] = 0.0; + out_656327009382969529[136] = 0.0; + out_656327009382969529[137] = 0.0; + out_656327009382969529[138] = 0.0; + out_656327009382969529[139] = 0.0; + out_656327009382969529[140] = 0.0; + out_656327009382969529[141] = 0.0; + out_656327009382969529[142] = 0.0; + out_656327009382969529[143] = 0.0; + out_656327009382969529[144] = 0.0; + out_656327009382969529[145] = 0.0; + out_656327009382969529[146] = 0.0; + out_656327009382969529[147] = 0.0; + out_656327009382969529[148] = 0.0; + out_656327009382969529[149] = 0.0; + out_656327009382969529[150] = 0.0; + out_656327009382969529[151] = 0.0; + out_656327009382969529[152] = 1.0; + out_656327009382969529[153] = 0.0; + out_656327009382969529[154] = 0.0; + out_656327009382969529[155] = 0.0; + out_656327009382969529[156] = 0.0; + out_656327009382969529[157] = 0.0; + out_656327009382969529[158] = 0.0; + out_656327009382969529[159] = 0.0; + out_656327009382969529[160] = 0.0; + out_656327009382969529[161] = 0.0; + out_656327009382969529[162] = 0.0; + out_656327009382969529[163] = 0.0; + out_656327009382969529[164] = 0.0; + out_656327009382969529[165] = 0.0; + out_656327009382969529[166] = 0.0; + out_656327009382969529[167] = 0.0; + out_656327009382969529[168] = 0.0; + out_656327009382969529[169] = 0.0; + out_656327009382969529[170] = 0.0; + out_656327009382969529[171] = 1.0; + out_656327009382969529[172] = 0.0; + out_656327009382969529[173] = 0.0; + out_656327009382969529[174] = 0.0; + out_656327009382969529[175] = 0.0; + out_656327009382969529[176] = 0.0; + out_656327009382969529[177] = 0.0; + out_656327009382969529[178] = 0.0; + out_656327009382969529[179] = 0.0; + out_656327009382969529[180] = 0.0; + out_656327009382969529[181] = 0.0; + out_656327009382969529[182] = 0.0; + out_656327009382969529[183] = 0.0; + out_656327009382969529[184] = 0.0; + out_656327009382969529[185] = 0.0; + out_656327009382969529[186] = 0.0; + out_656327009382969529[187] = 0.0; + out_656327009382969529[188] = 0.0; + out_656327009382969529[189] = 0.0; + out_656327009382969529[190] = 1.0; + out_656327009382969529[191] = 0.0; + out_656327009382969529[192] = 0.0; + out_656327009382969529[193] = 0.0; + out_656327009382969529[194] = 0.0; + out_656327009382969529[195] = 0.0; + out_656327009382969529[196] = 0.0; + out_656327009382969529[197] = 0.0; + out_656327009382969529[198] = 0.0; + out_656327009382969529[199] = 0.0; + out_656327009382969529[200] = 0.0; + out_656327009382969529[201] = 0.0; + out_656327009382969529[202] = 0.0; + out_656327009382969529[203] = 0.0; + out_656327009382969529[204] = 0.0; + out_656327009382969529[205] = 0.0; + out_656327009382969529[206] = 0.0; + out_656327009382969529[207] = 0.0; + out_656327009382969529[208] = 0.0; + out_656327009382969529[209] = 1.0; + out_656327009382969529[210] = 0.0; + out_656327009382969529[211] = 0.0; + out_656327009382969529[212] = 0.0; + out_656327009382969529[213] = 0.0; + out_656327009382969529[214] = 0.0; + out_656327009382969529[215] = 0.0; + out_656327009382969529[216] = 0.0; + out_656327009382969529[217] = 0.0; + out_656327009382969529[218] = 0.0; + out_656327009382969529[219] = 0.0; + out_656327009382969529[220] = 0.0; + out_656327009382969529[221] = 0.0; + out_656327009382969529[222] = 0.0; + out_656327009382969529[223] = 0.0; + out_656327009382969529[224] = 0.0; + out_656327009382969529[225] = 0.0; + out_656327009382969529[226] = 0.0; + out_656327009382969529[227] = 0.0; + out_656327009382969529[228] = 1.0; + out_656327009382969529[229] = 0.0; + out_656327009382969529[230] = 0.0; + out_656327009382969529[231] = 0.0; + out_656327009382969529[232] = 0.0; + out_656327009382969529[233] = 0.0; + out_656327009382969529[234] = 0.0; + out_656327009382969529[235] = 0.0; + out_656327009382969529[236] = 0.0; + out_656327009382969529[237] = 0.0; + out_656327009382969529[238] = 0.0; + out_656327009382969529[239] = 0.0; + out_656327009382969529[240] = 0.0; + out_656327009382969529[241] = 0.0; + out_656327009382969529[242] = 0.0; + out_656327009382969529[243] = 0.0; + out_656327009382969529[244] = 0.0; + out_656327009382969529[245] = 0.0; + out_656327009382969529[246] = 0.0; + out_656327009382969529[247] = 1.0; + out_656327009382969529[248] = 0.0; + out_656327009382969529[249] = 0.0; + out_656327009382969529[250] = 0.0; + out_656327009382969529[251] = 0.0; + out_656327009382969529[252] = 0.0; + out_656327009382969529[253] = 0.0; + out_656327009382969529[254] = 0.0; + out_656327009382969529[255] = 0.0; + out_656327009382969529[256] = 0.0; + out_656327009382969529[257] = 0.0; + out_656327009382969529[258] = 0.0; + out_656327009382969529[259] = 0.0; + out_656327009382969529[260] = 0.0; + out_656327009382969529[261] = 0.0; + out_656327009382969529[262] = 0.0; + out_656327009382969529[263] = 0.0; + out_656327009382969529[264] = 0.0; + out_656327009382969529[265] = 0.0; + out_656327009382969529[266] = 1.0; + out_656327009382969529[267] = 0.0; + out_656327009382969529[268] = 0.0; + out_656327009382969529[269] = 0.0; + out_656327009382969529[270] = 0.0; + out_656327009382969529[271] = 0.0; + out_656327009382969529[272] = 0.0; + out_656327009382969529[273] = 0.0; + out_656327009382969529[274] = 0.0; + out_656327009382969529[275] = 0.0; + out_656327009382969529[276] = 0.0; + out_656327009382969529[277] = 0.0; + out_656327009382969529[278] = 0.0; + out_656327009382969529[279] = 0.0; + out_656327009382969529[280] = 0.0; + out_656327009382969529[281] = 0.0; + out_656327009382969529[282] = 0.0; + out_656327009382969529[283] = 0.0; + out_656327009382969529[284] = 0.0; + out_656327009382969529[285] = 1.0; + out_656327009382969529[286] = 0.0; + out_656327009382969529[287] = 0.0; + out_656327009382969529[288] = 0.0; + out_656327009382969529[289] = 0.0; + out_656327009382969529[290] = 0.0; + out_656327009382969529[291] = 0.0; + out_656327009382969529[292] = 0.0; + out_656327009382969529[293] = 0.0; + out_656327009382969529[294] = 0.0; + out_656327009382969529[295] = 0.0; + out_656327009382969529[296] = 0.0; + out_656327009382969529[297] = 0.0; + out_656327009382969529[298] = 0.0; + out_656327009382969529[299] = 0.0; + out_656327009382969529[300] = 0.0; + out_656327009382969529[301] = 0.0; + out_656327009382969529[302] = 0.0; + out_656327009382969529[303] = 0.0; + out_656327009382969529[304] = 1.0; + out_656327009382969529[305] = 0.0; + out_656327009382969529[306] = 0.0; + out_656327009382969529[307] = 0.0; + out_656327009382969529[308] = 0.0; + out_656327009382969529[309] = 0.0; + out_656327009382969529[310] = 0.0; + out_656327009382969529[311] = 0.0; + out_656327009382969529[312] = 0.0; + out_656327009382969529[313] = 0.0; + out_656327009382969529[314] = 0.0; + out_656327009382969529[315] = 0.0; + out_656327009382969529[316] = 0.0; + out_656327009382969529[317] = 0.0; + out_656327009382969529[318] = 0.0; + out_656327009382969529[319] = 0.0; + out_656327009382969529[320] = 0.0; + out_656327009382969529[321] = 0.0; + out_656327009382969529[322] = 0.0; + out_656327009382969529[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1104587078015232117) { - out_1104587078015232117[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_1104587078015232117[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_1104587078015232117[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_1104587078015232117[3] = dt*state[12] + state[3]; - out_1104587078015232117[4] = dt*state[13] + state[4]; - out_1104587078015232117[5] = dt*state[14] + state[5]; - out_1104587078015232117[6] = state[6]; - out_1104587078015232117[7] = state[7]; - out_1104587078015232117[8] = state[8]; - out_1104587078015232117[9] = state[9]; - out_1104587078015232117[10] = state[10]; - out_1104587078015232117[11] = state[11]; - out_1104587078015232117[12] = state[12]; - out_1104587078015232117[13] = state[13]; - out_1104587078015232117[14] = state[14]; - out_1104587078015232117[15] = state[15]; - out_1104587078015232117[16] = state[16]; - out_1104587078015232117[17] = state[17]; +void f_fun(double *state, double dt, double *out_1970546984054209494) { + out_1970546984054209494[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_1970546984054209494[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_1970546984054209494[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_1970546984054209494[3] = dt*state[12] + state[3]; + out_1970546984054209494[4] = dt*state[13] + state[4]; + out_1970546984054209494[5] = dt*state[14] + state[5]; + out_1970546984054209494[6] = state[6]; + out_1970546984054209494[7] = state[7]; + out_1970546984054209494[8] = state[8]; + out_1970546984054209494[9] = state[9]; + out_1970546984054209494[10] = state[10]; + out_1970546984054209494[11] = state[11]; + out_1970546984054209494[12] = state[12]; + out_1970546984054209494[13] = state[13]; + out_1970546984054209494[14] = state[14]; + out_1970546984054209494[15] = state[15]; + out_1970546984054209494[16] = state[16]; + out_1970546984054209494[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5293033715763511365) { - out_5293033715763511365[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_5293033715763511365[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_5293033715763511365[2] = 0; - out_5293033715763511365[3] = 0; - out_5293033715763511365[4] = 0; - out_5293033715763511365[5] = 0; - out_5293033715763511365[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_5293033715763511365[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_5293033715763511365[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_5293033715763511365[9] = 0; - out_5293033715763511365[10] = 0; - out_5293033715763511365[11] = 0; - out_5293033715763511365[12] = 0; - out_5293033715763511365[13] = 0; - out_5293033715763511365[14] = 0; - out_5293033715763511365[15] = 0; - out_5293033715763511365[16] = 0; - out_5293033715763511365[17] = 0; - out_5293033715763511365[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_5293033715763511365[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_5293033715763511365[20] = 0; - out_5293033715763511365[21] = 0; - out_5293033715763511365[22] = 0; - out_5293033715763511365[23] = 0; - out_5293033715763511365[24] = 0; - out_5293033715763511365[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_5293033715763511365[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_5293033715763511365[27] = 0; - out_5293033715763511365[28] = 0; - out_5293033715763511365[29] = 0; - out_5293033715763511365[30] = 0; - out_5293033715763511365[31] = 0; - out_5293033715763511365[32] = 0; - out_5293033715763511365[33] = 0; - out_5293033715763511365[34] = 0; - out_5293033715763511365[35] = 0; - out_5293033715763511365[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_5293033715763511365[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_5293033715763511365[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_5293033715763511365[39] = 0; - out_5293033715763511365[40] = 0; - out_5293033715763511365[41] = 0; - out_5293033715763511365[42] = 0; - out_5293033715763511365[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_5293033715763511365[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_5293033715763511365[45] = 0; - out_5293033715763511365[46] = 0; - out_5293033715763511365[47] = 0; - out_5293033715763511365[48] = 0; - out_5293033715763511365[49] = 0; - out_5293033715763511365[50] = 0; - out_5293033715763511365[51] = 0; - out_5293033715763511365[52] = 0; - out_5293033715763511365[53] = 0; - out_5293033715763511365[54] = 0; - out_5293033715763511365[55] = 0; - out_5293033715763511365[56] = 0; - out_5293033715763511365[57] = 1; - out_5293033715763511365[58] = 0; - out_5293033715763511365[59] = 0; - out_5293033715763511365[60] = 0; - out_5293033715763511365[61] = 0; - out_5293033715763511365[62] = 0; - out_5293033715763511365[63] = 0; - out_5293033715763511365[64] = 0; - out_5293033715763511365[65] = 0; - out_5293033715763511365[66] = dt; - out_5293033715763511365[67] = 0; - out_5293033715763511365[68] = 0; - out_5293033715763511365[69] = 0; - out_5293033715763511365[70] = 0; - out_5293033715763511365[71] = 0; - out_5293033715763511365[72] = 0; - out_5293033715763511365[73] = 0; - out_5293033715763511365[74] = 0; - out_5293033715763511365[75] = 0; - out_5293033715763511365[76] = 1; - out_5293033715763511365[77] = 0; - out_5293033715763511365[78] = 0; - out_5293033715763511365[79] = 0; - out_5293033715763511365[80] = 0; - out_5293033715763511365[81] = 0; - out_5293033715763511365[82] = 0; - out_5293033715763511365[83] = 0; - out_5293033715763511365[84] = 0; - out_5293033715763511365[85] = dt; - out_5293033715763511365[86] = 0; - out_5293033715763511365[87] = 0; - out_5293033715763511365[88] = 0; - out_5293033715763511365[89] = 0; - out_5293033715763511365[90] = 0; - out_5293033715763511365[91] = 0; - out_5293033715763511365[92] = 0; - out_5293033715763511365[93] = 0; - out_5293033715763511365[94] = 0; - out_5293033715763511365[95] = 1; - out_5293033715763511365[96] = 0; - out_5293033715763511365[97] = 0; - out_5293033715763511365[98] = 0; - out_5293033715763511365[99] = 0; - out_5293033715763511365[100] = 0; - out_5293033715763511365[101] = 0; - out_5293033715763511365[102] = 0; - out_5293033715763511365[103] = 0; - out_5293033715763511365[104] = dt; - out_5293033715763511365[105] = 0; - out_5293033715763511365[106] = 0; - out_5293033715763511365[107] = 0; - out_5293033715763511365[108] = 0; - out_5293033715763511365[109] = 0; - out_5293033715763511365[110] = 0; - out_5293033715763511365[111] = 0; - out_5293033715763511365[112] = 0; - out_5293033715763511365[113] = 0; - out_5293033715763511365[114] = 1; - out_5293033715763511365[115] = 0; - out_5293033715763511365[116] = 0; - out_5293033715763511365[117] = 0; - out_5293033715763511365[118] = 0; - out_5293033715763511365[119] = 0; - out_5293033715763511365[120] = 0; - out_5293033715763511365[121] = 0; - out_5293033715763511365[122] = 0; - out_5293033715763511365[123] = 0; - out_5293033715763511365[124] = 0; - out_5293033715763511365[125] = 0; - out_5293033715763511365[126] = 0; - out_5293033715763511365[127] = 0; - out_5293033715763511365[128] = 0; - out_5293033715763511365[129] = 0; - out_5293033715763511365[130] = 0; - out_5293033715763511365[131] = 0; - out_5293033715763511365[132] = 0; - out_5293033715763511365[133] = 1; - out_5293033715763511365[134] = 0; - out_5293033715763511365[135] = 0; - out_5293033715763511365[136] = 0; - out_5293033715763511365[137] = 0; - out_5293033715763511365[138] = 0; - out_5293033715763511365[139] = 0; - out_5293033715763511365[140] = 0; - out_5293033715763511365[141] = 0; - out_5293033715763511365[142] = 0; - out_5293033715763511365[143] = 0; - out_5293033715763511365[144] = 0; - out_5293033715763511365[145] = 0; - out_5293033715763511365[146] = 0; - out_5293033715763511365[147] = 0; - out_5293033715763511365[148] = 0; - out_5293033715763511365[149] = 0; - out_5293033715763511365[150] = 0; - out_5293033715763511365[151] = 0; - out_5293033715763511365[152] = 1; - out_5293033715763511365[153] = 0; - out_5293033715763511365[154] = 0; - out_5293033715763511365[155] = 0; - out_5293033715763511365[156] = 0; - out_5293033715763511365[157] = 0; - out_5293033715763511365[158] = 0; - out_5293033715763511365[159] = 0; - out_5293033715763511365[160] = 0; - out_5293033715763511365[161] = 0; - out_5293033715763511365[162] = 0; - out_5293033715763511365[163] = 0; - out_5293033715763511365[164] = 0; - out_5293033715763511365[165] = 0; - out_5293033715763511365[166] = 0; - out_5293033715763511365[167] = 0; - out_5293033715763511365[168] = 0; - out_5293033715763511365[169] = 0; - out_5293033715763511365[170] = 0; - out_5293033715763511365[171] = 1; - out_5293033715763511365[172] = 0; - out_5293033715763511365[173] = 0; - out_5293033715763511365[174] = 0; - out_5293033715763511365[175] = 0; - out_5293033715763511365[176] = 0; - out_5293033715763511365[177] = 0; - out_5293033715763511365[178] = 0; - out_5293033715763511365[179] = 0; - out_5293033715763511365[180] = 0; - out_5293033715763511365[181] = 0; - out_5293033715763511365[182] = 0; - out_5293033715763511365[183] = 0; - out_5293033715763511365[184] = 0; - out_5293033715763511365[185] = 0; - out_5293033715763511365[186] = 0; - out_5293033715763511365[187] = 0; - out_5293033715763511365[188] = 0; - out_5293033715763511365[189] = 0; - out_5293033715763511365[190] = 1; - out_5293033715763511365[191] = 0; - out_5293033715763511365[192] = 0; - out_5293033715763511365[193] = 0; - out_5293033715763511365[194] = 0; - out_5293033715763511365[195] = 0; - out_5293033715763511365[196] = 0; - out_5293033715763511365[197] = 0; - out_5293033715763511365[198] = 0; - out_5293033715763511365[199] = 0; - out_5293033715763511365[200] = 0; - out_5293033715763511365[201] = 0; - out_5293033715763511365[202] = 0; - out_5293033715763511365[203] = 0; - out_5293033715763511365[204] = 0; - out_5293033715763511365[205] = 0; - out_5293033715763511365[206] = 0; - out_5293033715763511365[207] = 0; - out_5293033715763511365[208] = 0; - out_5293033715763511365[209] = 1; - out_5293033715763511365[210] = 0; - out_5293033715763511365[211] = 0; - out_5293033715763511365[212] = 0; - out_5293033715763511365[213] = 0; - out_5293033715763511365[214] = 0; - out_5293033715763511365[215] = 0; - out_5293033715763511365[216] = 0; - out_5293033715763511365[217] = 0; - out_5293033715763511365[218] = 0; - out_5293033715763511365[219] = 0; - out_5293033715763511365[220] = 0; - out_5293033715763511365[221] = 0; - out_5293033715763511365[222] = 0; - out_5293033715763511365[223] = 0; - out_5293033715763511365[224] = 0; - out_5293033715763511365[225] = 0; - out_5293033715763511365[226] = 0; - out_5293033715763511365[227] = 0; - out_5293033715763511365[228] = 1; - out_5293033715763511365[229] = 0; - out_5293033715763511365[230] = 0; - out_5293033715763511365[231] = 0; - out_5293033715763511365[232] = 0; - out_5293033715763511365[233] = 0; - out_5293033715763511365[234] = 0; - out_5293033715763511365[235] = 0; - out_5293033715763511365[236] = 0; - out_5293033715763511365[237] = 0; - out_5293033715763511365[238] = 0; - out_5293033715763511365[239] = 0; - out_5293033715763511365[240] = 0; - out_5293033715763511365[241] = 0; - out_5293033715763511365[242] = 0; - out_5293033715763511365[243] = 0; - out_5293033715763511365[244] = 0; - out_5293033715763511365[245] = 0; - out_5293033715763511365[246] = 0; - out_5293033715763511365[247] = 1; - out_5293033715763511365[248] = 0; - out_5293033715763511365[249] = 0; - out_5293033715763511365[250] = 0; - out_5293033715763511365[251] = 0; - out_5293033715763511365[252] = 0; - out_5293033715763511365[253] = 0; - out_5293033715763511365[254] = 0; - out_5293033715763511365[255] = 0; - out_5293033715763511365[256] = 0; - out_5293033715763511365[257] = 0; - out_5293033715763511365[258] = 0; - out_5293033715763511365[259] = 0; - out_5293033715763511365[260] = 0; - out_5293033715763511365[261] = 0; - out_5293033715763511365[262] = 0; - out_5293033715763511365[263] = 0; - out_5293033715763511365[264] = 0; - out_5293033715763511365[265] = 0; - out_5293033715763511365[266] = 1; - out_5293033715763511365[267] = 0; - out_5293033715763511365[268] = 0; - out_5293033715763511365[269] = 0; - out_5293033715763511365[270] = 0; - out_5293033715763511365[271] = 0; - out_5293033715763511365[272] = 0; - out_5293033715763511365[273] = 0; - out_5293033715763511365[274] = 0; - out_5293033715763511365[275] = 0; - out_5293033715763511365[276] = 0; - out_5293033715763511365[277] = 0; - out_5293033715763511365[278] = 0; - out_5293033715763511365[279] = 0; - out_5293033715763511365[280] = 0; - out_5293033715763511365[281] = 0; - out_5293033715763511365[282] = 0; - out_5293033715763511365[283] = 0; - out_5293033715763511365[284] = 0; - out_5293033715763511365[285] = 1; - out_5293033715763511365[286] = 0; - out_5293033715763511365[287] = 0; - out_5293033715763511365[288] = 0; - out_5293033715763511365[289] = 0; - out_5293033715763511365[290] = 0; - out_5293033715763511365[291] = 0; - out_5293033715763511365[292] = 0; - out_5293033715763511365[293] = 0; - out_5293033715763511365[294] = 0; - out_5293033715763511365[295] = 0; - out_5293033715763511365[296] = 0; - out_5293033715763511365[297] = 0; - out_5293033715763511365[298] = 0; - out_5293033715763511365[299] = 0; - out_5293033715763511365[300] = 0; - out_5293033715763511365[301] = 0; - out_5293033715763511365[302] = 0; - out_5293033715763511365[303] = 0; - out_5293033715763511365[304] = 1; - out_5293033715763511365[305] = 0; - out_5293033715763511365[306] = 0; - out_5293033715763511365[307] = 0; - out_5293033715763511365[308] = 0; - out_5293033715763511365[309] = 0; - out_5293033715763511365[310] = 0; - out_5293033715763511365[311] = 0; - out_5293033715763511365[312] = 0; - out_5293033715763511365[313] = 0; - out_5293033715763511365[314] = 0; - out_5293033715763511365[315] = 0; - out_5293033715763511365[316] = 0; - out_5293033715763511365[317] = 0; - out_5293033715763511365[318] = 0; - out_5293033715763511365[319] = 0; - out_5293033715763511365[320] = 0; - out_5293033715763511365[321] = 0; - out_5293033715763511365[322] = 0; - out_5293033715763511365[323] = 1; +void F_fun(double *state, double dt, double *out_2484970000761638635) { + out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[2] = 0; + out_2484970000761638635[3] = 0; + out_2484970000761638635[4] = 0; + out_2484970000761638635[5] = 0; + out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[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_2484970000761638635[9] = 0; + out_2484970000761638635[10] = 0; + out_2484970000761638635[11] = 0; + out_2484970000761638635[12] = 0; + out_2484970000761638635[13] = 0; + out_2484970000761638635[14] = 0; + out_2484970000761638635[15] = 0; + out_2484970000761638635[16] = 0; + out_2484970000761638635[17] = 0; + out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[20] = 0; + out_2484970000761638635[21] = 0; + out_2484970000761638635[22] = 0; + out_2484970000761638635[23] = 0; + out_2484970000761638635[24] = 0; + out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[27] = 0; + out_2484970000761638635[28] = 0; + out_2484970000761638635[29] = 0; + out_2484970000761638635[30] = 0; + out_2484970000761638635[31] = 0; + out_2484970000761638635[32] = 0; + out_2484970000761638635[33] = 0; + out_2484970000761638635[34] = 0; + out_2484970000761638635[35] = 0; + out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[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_2484970000761638635[39] = 0; + out_2484970000761638635[40] = 0; + out_2484970000761638635[41] = 0; + out_2484970000761638635[42] = 0; + out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[45] = 0; + out_2484970000761638635[46] = 0; + out_2484970000761638635[47] = 0; + out_2484970000761638635[48] = 0; + out_2484970000761638635[49] = 0; + out_2484970000761638635[50] = 0; + out_2484970000761638635[51] = 0; + out_2484970000761638635[52] = 0; + out_2484970000761638635[53] = 0; + out_2484970000761638635[54] = 0; + out_2484970000761638635[55] = 0; + out_2484970000761638635[56] = 0; + out_2484970000761638635[57] = 1; + out_2484970000761638635[58] = 0; + out_2484970000761638635[59] = 0; + out_2484970000761638635[60] = 0; + out_2484970000761638635[61] = 0; + out_2484970000761638635[62] = 0; + out_2484970000761638635[63] = 0; + out_2484970000761638635[64] = 0; + out_2484970000761638635[65] = 0; + out_2484970000761638635[66] = dt; + out_2484970000761638635[67] = 0; + out_2484970000761638635[68] = 0; + out_2484970000761638635[69] = 0; + out_2484970000761638635[70] = 0; + out_2484970000761638635[71] = 0; + out_2484970000761638635[72] = 0; + out_2484970000761638635[73] = 0; + out_2484970000761638635[74] = 0; + out_2484970000761638635[75] = 0; + out_2484970000761638635[76] = 1; + out_2484970000761638635[77] = 0; + out_2484970000761638635[78] = 0; + out_2484970000761638635[79] = 0; + out_2484970000761638635[80] = 0; + out_2484970000761638635[81] = 0; + out_2484970000761638635[82] = 0; + out_2484970000761638635[83] = 0; + out_2484970000761638635[84] = 0; + out_2484970000761638635[85] = dt; + out_2484970000761638635[86] = 0; + out_2484970000761638635[87] = 0; + out_2484970000761638635[88] = 0; + out_2484970000761638635[89] = 0; + out_2484970000761638635[90] = 0; + out_2484970000761638635[91] = 0; + out_2484970000761638635[92] = 0; + out_2484970000761638635[93] = 0; + out_2484970000761638635[94] = 0; + out_2484970000761638635[95] = 1; + out_2484970000761638635[96] = 0; + out_2484970000761638635[97] = 0; + out_2484970000761638635[98] = 0; + out_2484970000761638635[99] = 0; + out_2484970000761638635[100] = 0; + out_2484970000761638635[101] = 0; + out_2484970000761638635[102] = 0; + out_2484970000761638635[103] = 0; + out_2484970000761638635[104] = dt; + out_2484970000761638635[105] = 0; + out_2484970000761638635[106] = 0; + out_2484970000761638635[107] = 0; + out_2484970000761638635[108] = 0; + out_2484970000761638635[109] = 0; + out_2484970000761638635[110] = 0; + out_2484970000761638635[111] = 0; + out_2484970000761638635[112] = 0; + out_2484970000761638635[113] = 0; + out_2484970000761638635[114] = 1; + out_2484970000761638635[115] = 0; + out_2484970000761638635[116] = 0; + out_2484970000761638635[117] = 0; + out_2484970000761638635[118] = 0; + out_2484970000761638635[119] = 0; + out_2484970000761638635[120] = 0; + out_2484970000761638635[121] = 0; + out_2484970000761638635[122] = 0; + out_2484970000761638635[123] = 0; + out_2484970000761638635[124] = 0; + out_2484970000761638635[125] = 0; + out_2484970000761638635[126] = 0; + out_2484970000761638635[127] = 0; + out_2484970000761638635[128] = 0; + out_2484970000761638635[129] = 0; + out_2484970000761638635[130] = 0; + out_2484970000761638635[131] = 0; + out_2484970000761638635[132] = 0; + out_2484970000761638635[133] = 1; + out_2484970000761638635[134] = 0; + out_2484970000761638635[135] = 0; + out_2484970000761638635[136] = 0; + out_2484970000761638635[137] = 0; + out_2484970000761638635[138] = 0; + out_2484970000761638635[139] = 0; + out_2484970000761638635[140] = 0; + out_2484970000761638635[141] = 0; + out_2484970000761638635[142] = 0; + out_2484970000761638635[143] = 0; + out_2484970000761638635[144] = 0; + out_2484970000761638635[145] = 0; + out_2484970000761638635[146] = 0; + out_2484970000761638635[147] = 0; + out_2484970000761638635[148] = 0; + out_2484970000761638635[149] = 0; + out_2484970000761638635[150] = 0; + out_2484970000761638635[151] = 0; + out_2484970000761638635[152] = 1; + out_2484970000761638635[153] = 0; + out_2484970000761638635[154] = 0; + out_2484970000761638635[155] = 0; + out_2484970000761638635[156] = 0; + out_2484970000761638635[157] = 0; + out_2484970000761638635[158] = 0; + out_2484970000761638635[159] = 0; + out_2484970000761638635[160] = 0; + out_2484970000761638635[161] = 0; + out_2484970000761638635[162] = 0; + out_2484970000761638635[163] = 0; + out_2484970000761638635[164] = 0; + out_2484970000761638635[165] = 0; + out_2484970000761638635[166] = 0; + out_2484970000761638635[167] = 0; + out_2484970000761638635[168] = 0; + out_2484970000761638635[169] = 0; + out_2484970000761638635[170] = 0; + out_2484970000761638635[171] = 1; + out_2484970000761638635[172] = 0; + out_2484970000761638635[173] = 0; + out_2484970000761638635[174] = 0; + out_2484970000761638635[175] = 0; + out_2484970000761638635[176] = 0; + out_2484970000761638635[177] = 0; + out_2484970000761638635[178] = 0; + out_2484970000761638635[179] = 0; + out_2484970000761638635[180] = 0; + out_2484970000761638635[181] = 0; + out_2484970000761638635[182] = 0; + out_2484970000761638635[183] = 0; + out_2484970000761638635[184] = 0; + out_2484970000761638635[185] = 0; + out_2484970000761638635[186] = 0; + out_2484970000761638635[187] = 0; + out_2484970000761638635[188] = 0; + out_2484970000761638635[189] = 0; + out_2484970000761638635[190] = 1; + out_2484970000761638635[191] = 0; + out_2484970000761638635[192] = 0; + out_2484970000761638635[193] = 0; + out_2484970000761638635[194] = 0; + out_2484970000761638635[195] = 0; + out_2484970000761638635[196] = 0; + out_2484970000761638635[197] = 0; + out_2484970000761638635[198] = 0; + out_2484970000761638635[199] = 0; + out_2484970000761638635[200] = 0; + out_2484970000761638635[201] = 0; + out_2484970000761638635[202] = 0; + out_2484970000761638635[203] = 0; + out_2484970000761638635[204] = 0; + out_2484970000761638635[205] = 0; + out_2484970000761638635[206] = 0; + out_2484970000761638635[207] = 0; + out_2484970000761638635[208] = 0; + out_2484970000761638635[209] = 1; + out_2484970000761638635[210] = 0; + out_2484970000761638635[211] = 0; + out_2484970000761638635[212] = 0; + out_2484970000761638635[213] = 0; + out_2484970000761638635[214] = 0; + out_2484970000761638635[215] = 0; + out_2484970000761638635[216] = 0; + out_2484970000761638635[217] = 0; + out_2484970000761638635[218] = 0; + out_2484970000761638635[219] = 0; + out_2484970000761638635[220] = 0; + out_2484970000761638635[221] = 0; + out_2484970000761638635[222] = 0; + out_2484970000761638635[223] = 0; + out_2484970000761638635[224] = 0; + out_2484970000761638635[225] = 0; + out_2484970000761638635[226] = 0; + out_2484970000761638635[227] = 0; + out_2484970000761638635[228] = 1; + out_2484970000761638635[229] = 0; + out_2484970000761638635[230] = 0; + out_2484970000761638635[231] = 0; + out_2484970000761638635[232] = 0; + out_2484970000761638635[233] = 0; + out_2484970000761638635[234] = 0; + out_2484970000761638635[235] = 0; + out_2484970000761638635[236] = 0; + out_2484970000761638635[237] = 0; + out_2484970000761638635[238] = 0; + out_2484970000761638635[239] = 0; + out_2484970000761638635[240] = 0; + out_2484970000761638635[241] = 0; + out_2484970000761638635[242] = 0; + out_2484970000761638635[243] = 0; + out_2484970000761638635[244] = 0; + out_2484970000761638635[245] = 0; + out_2484970000761638635[246] = 0; + out_2484970000761638635[247] = 1; + out_2484970000761638635[248] = 0; + out_2484970000761638635[249] = 0; + out_2484970000761638635[250] = 0; + out_2484970000761638635[251] = 0; + out_2484970000761638635[252] = 0; + out_2484970000761638635[253] = 0; + out_2484970000761638635[254] = 0; + out_2484970000761638635[255] = 0; + out_2484970000761638635[256] = 0; + out_2484970000761638635[257] = 0; + out_2484970000761638635[258] = 0; + out_2484970000761638635[259] = 0; + out_2484970000761638635[260] = 0; + out_2484970000761638635[261] = 0; + out_2484970000761638635[262] = 0; + out_2484970000761638635[263] = 0; + out_2484970000761638635[264] = 0; + out_2484970000761638635[265] = 0; + out_2484970000761638635[266] = 1; + out_2484970000761638635[267] = 0; + out_2484970000761638635[268] = 0; + out_2484970000761638635[269] = 0; + out_2484970000761638635[270] = 0; + out_2484970000761638635[271] = 0; + out_2484970000761638635[272] = 0; + out_2484970000761638635[273] = 0; + out_2484970000761638635[274] = 0; + out_2484970000761638635[275] = 0; + out_2484970000761638635[276] = 0; + out_2484970000761638635[277] = 0; + out_2484970000761638635[278] = 0; + out_2484970000761638635[279] = 0; + out_2484970000761638635[280] = 0; + out_2484970000761638635[281] = 0; + out_2484970000761638635[282] = 0; + out_2484970000761638635[283] = 0; + out_2484970000761638635[284] = 0; + out_2484970000761638635[285] = 1; + out_2484970000761638635[286] = 0; + out_2484970000761638635[287] = 0; + out_2484970000761638635[288] = 0; + out_2484970000761638635[289] = 0; + out_2484970000761638635[290] = 0; + out_2484970000761638635[291] = 0; + out_2484970000761638635[292] = 0; + out_2484970000761638635[293] = 0; + out_2484970000761638635[294] = 0; + out_2484970000761638635[295] = 0; + out_2484970000761638635[296] = 0; + out_2484970000761638635[297] = 0; + out_2484970000761638635[298] = 0; + out_2484970000761638635[299] = 0; + out_2484970000761638635[300] = 0; + out_2484970000761638635[301] = 0; + out_2484970000761638635[302] = 0; + out_2484970000761638635[303] = 0; + out_2484970000761638635[304] = 1; + out_2484970000761638635[305] = 0; + out_2484970000761638635[306] = 0; + out_2484970000761638635[307] = 0; + out_2484970000761638635[308] = 0; + out_2484970000761638635[309] = 0; + out_2484970000761638635[310] = 0; + out_2484970000761638635[311] = 0; + out_2484970000761638635[312] = 0; + out_2484970000761638635[313] = 0; + out_2484970000761638635[314] = 0; + out_2484970000761638635[315] = 0; + out_2484970000761638635[316] = 0; + out_2484970000761638635[317] = 0; + out_2484970000761638635[318] = 0; + out_2484970000761638635[319] = 0; + out_2484970000761638635[320] = 0; + out_2484970000761638635[321] = 0; + out_2484970000761638635[322] = 0; + out_2484970000761638635[323] = 1; } -void h_4(double *state, double *unused, double *out_5228726973950769986) { - out_5228726973950769986[0] = state[6] + state[9]; - out_5228726973950769986[1] = state[7] + state[10]; - out_5228726973950769986[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5725974613387962710) { + out_5725974613387962710[0] = state[6] + state[9]; + out_5725974613387962710[1] = state[7] + state[10]; + out_5725974613387962710[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3032303058814960921) { - out_3032303058814960921[0] = 0; - out_3032303058814960921[1] = 0; - out_3032303058814960921[2] = 0; - out_3032303058814960921[3] = 0; - out_3032303058814960921[4] = 0; - out_3032303058814960921[5] = 0; - out_3032303058814960921[6] = 1; - out_3032303058814960921[7] = 0; - out_3032303058814960921[8] = 0; - out_3032303058814960921[9] = 1; - out_3032303058814960921[10] = 0; - out_3032303058814960921[11] = 0; - out_3032303058814960921[12] = 0; - out_3032303058814960921[13] = 0; - out_3032303058814960921[14] = 0; - out_3032303058814960921[15] = 0; - out_3032303058814960921[16] = 0; - out_3032303058814960921[17] = 0; - out_3032303058814960921[18] = 0; - out_3032303058814960921[19] = 0; - out_3032303058814960921[20] = 0; - out_3032303058814960921[21] = 0; - out_3032303058814960921[22] = 0; - out_3032303058814960921[23] = 0; - out_3032303058814960921[24] = 0; - out_3032303058814960921[25] = 1; - out_3032303058814960921[26] = 0; - out_3032303058814960921[27] = 0; - out_3032303058814960921[28] = 1; - out_3032303058814960921[29] = 0; - out_3032303058814960921[30] = 0; - out_3032303058814960921[31] = 0; - out_3032303058814960921[32] = 0; - out_3032303058814960921[33] = 0; - out_3032303058814960921[34] = 0; - out_3032303058814960921[35] = 0; - out_3032303058814960921[36] = 0; - out_3032303058814960921[37] = 0; - out_3032303058814960921[38] = 0; - out_3032303058814960921[39] = 0; - out_3032303058814960921[40] = 0; - out_3032303058814960921[41] = 0; - out_3032303058814960921[42] = 0; - out_3032303058814960921[43] = 0; - out_3032303058814960921[44] = 1; - out_3032303058814960921[45] = 0; - out_3032303058814960921[46] = 0; - out_3032303058814960921[47] = 1; - out_3032303058814960921[48] = 0; - out_3032303058814960921[49] = 0; - out_3032303058814960921[50] = 0; - out_3032303058814960921[51] = 0; - out_3032303058814960921[52] = 0; - out_3032303058814960921[53] = 0; +void H_4(double *state, double *unused, double *out_3808243550112720964) { + out_3808243550112720964[0] = 0; + out_3808243550112720964[1] = 0; + out_3808243550112720964[2] = 0; + out_3808243550112720964[3] = 0; + out_3808243550112720964[4] = 0; + out_3808243550112720964[5] = 0; + out_3808243550112720964[6] = 1; + out_3808243550112720964[7] = 0; + out_3808243550112720964[8] = 0; + out_3808243550112720964[9] = 1; + out_3808243550112720964[10] = 0; + out_3808243550112720964[11] = 0; + out_3808243550112720964[12] = 0; + out_3808243550112720964[13] = 0; + out_3808243550112720964[14] = 0; + out_3808243550112720964[15] = 0; + out_3808243550112720964[16] = 0; + out_3808243550112720964[17] = 0; + out_3808243550112720964[18] = 0; + out_3808243550112720964[19] = 0; + out_3808243550112720964[20] = 0; + out_3808243550112720964[21] = 0; + out_3808243550112720964[22] = 0; + out_3808243550112720964[23] = 0; + out_3808243550112720964[24] = 0; + out_3808243550112720964[25] = 1; + out_3808243550112720964[26] = 0; + out_3808243550112720964[27] = 0; + out_3808243550112720964[28] = 1; + out_3808243550112720964[29] = 0; + out_3808243550112720964[30] = 0; + out_3808243550112720964[31] = 0; + out_3808243550112720964[32] = 0; + out_3808243550112720964[33] = 0; + out_3808243550112720964[34] = 0; + out_3808243550112720964[35] = 0; + out_3808243550112720964[36] = 0; + out_3808243550112720964[37] = 0; + out_3808243550112720964[38] = 0; + out_3808243550112720964[39] = 0; + out_3808243550112720964[40] = 0; + out_3808243550112720964[41] = 0; + out_3808243550112720964[42] = 0; + out_3808243550112720964[43] = 0; + out_3808243550112720964[44] = 1; + out_3808243550112720964[45] = 0; + out_3808243550112720964[46] = 0; + out_3808243550112720964[47] = 1; + out_3808243550112720964[48] = 0; + out_3808243550112720964[49] = 0; + out_3808243550112720964[50] = 0; + out_3808243550112720964[51] = 0; + out_3808243550112720964[52] = 0; + out_3808243550112720964[53] = 0; } -void h_10(double *state, double *unused, double *out_122492238844625391) { - out_122492238844625391[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_122492238844625391[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_122492238844625391[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_6479738358501538001) { + out_6479738358501538001[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6479738358501538001[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6479738358501538001[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_4293959578107599330) { - out_4293959578107599330[0] = 0; - out_4293959578107599330[1] = 9.8100000000000005*cos(state[1]); - out_4293959578107599330[2] = 0; - out_4293959578107599330[3] = 0; - out_4293959578107599330[4] = -state[8]; - out_4293959578107599330[5] = state[7]; - out_4293959578107599330[6] = 0; - out_4293959578107599330[7] = state[5]; - out_4293959578107599330[8] = -state[4]; - out_4293959578107599330[9] = 0; - out_4293959578107599330[10] = 0; - out_4293959578107599330[11] = 0; - out_4293959578107599330[12] = 1; - out_4293959578107599330[13] = 0; - out_4293959578107599330[14] = 0; - out_4293959578107599330[15] = 1; - out_4293959578107599330[16] = 0; - out_4293959578107599330[17] = 0; - out_4293959578107599330[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4293959578107599330[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4293959578107599330[20] = 0; - out_4293959578107599330[21] = state[8]; - out_4293959578107599330[22] = 0; - out_4293959578107599330[23] = -state[6]; - out_4293959578107599330[24] = -state[5]; - out_4293959578107599330[25] = 0; - out_4293959578107599330[26] = state[3]; - out_4293959578107599330[27] = 0; - out_4293959578107599330[28] = 0; - out_4293959578107599330[29] = 0; - out_4293959578107599330[30] = 0; - out_4293959578107599330[31] = 1; - out_4293959578107599330[32] = 0; - out_4293959578107599330[33] = 0; - out_4293959578107599330[34] = 1; - out_4293959578107599330[35] = 0; - out_4293959578107599330[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4293959578107599330[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4293959578107599330[38] = 0; - out_4293959578107599330[39] = -state[7]; - out_4293959578107599330[40] = state[6]; - out_4293959578107599330[41] = 0; - out_4293959578107599330[42] = state[4]; - out_4293959578107599330[43] = -state[3]; - out_4293959578107599330[44] = 0; - out_4293959578107599330[45] = 0; - out_4293959578107599330[46] = 0; - out_4293959578107599330[47] = 0; - out_4293959578107599330[48] = 0; - out_4293959578107599330[49] = 0; - out_4293959578107599330[50] = 1; - out_4293959578107599330[51] = 0; - out_4293959578107599330[52] = 0; - out_4293959578107599330[53] = 1; +void H_10(double *state, double *unused, double *out_2571832150125994618) { + out_2571832150125994618[0] = 0; + out_2571832150125994618[1] = 9.8100000000000005*cos(state[1]); + out_2571832150125994618[2] = 0; + out_2571832150125994618[3] = 0; + out_2571832150125994618[4] = -state[8]; + out_2571832150125994618[5] = state[7]; + out_2571832150125994618[6] = 0; + out_2571832150125994618[7] = state[5]; + out_2571832150125994618[8] = -state[4]; + out_2571832150125994618[9] = 0; + out_2571832150125994618[10] = 0; + out_2571832150125994618[11] = 0; + out_2571832150125994618[12] = 1; + out_2571832150125994618[13] = 0; + out_2571832150125994618[14] = 0; + out_2571832150125994618[15] = 1; + out_2571832150125994618[16] = 0; + out_2571832150125994618[17] = 0; + out_2571832150125994618[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2571832150125994618[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2571832150125994618[20] = 0; + out_2571832150125994618[21] = state[8]; + out_2571832150125994618[22] = 0; + out_2571832150125994618[23] = -state[6]; + out_2571832150125994618[24] = -state[5]; + out_2571832150125994618[25] = 0; + out_2571832150125994618[26] = state[3]; + out_2571832150125994618[27] = 0; + out_2571832150125994618[28] = 0; + out_2571832150125994618[29] = 0; + out_2571832150125994618[30] = 0; + out_2571832150125994618[31] = 1; + out_2571832150125994618[32] = 0; + out_2571832150125994618[33] = 0; + out_2571832150125994618[34] = 1; + out_2571832150125994618[35] = 0; + out_2571832150125994618[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2571832150125994618[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2571832150125994618[38] = 0; + out_2571832150125994618[39] = -state[7]; + out_2571832150125994618[40] = state[6]; + out_2571832150125994618[41] = 0; + out_2571832150125994618[42] = state[4]; + out_2571832150125994618[43] = -state[3]; + out_2571832150125994618[44] = 0; + out_2571832150125994618[45] = 0; + out_2571832150125994618[46] = 0; + out_2571832150125994618[47] = 0; + out_2571832150125994618[48] = 0; + out_2571832150125994618[49] = 0; + out_2571832150125994618[50] = 1; + out_2571832150125994618[51] = 0; + out_2571832150125994618[52] = 0; + out_2571832150125994618[53] = 1; } -void h_13(double *state, double *unused, double *out_4688840231226545336) { - out_4688840231226545336[0] = state[3]; - out_4688840231226545336[1] = state[4]; - out_4688840231226545336[2] = state[5]; +void h_13(double *state, double *unused, double *out_2468597468972695670) { + out_2468597468972695670[0] = state[3]; + out_2468597468972695670[1] = state[4]; + out_2468597468972695670[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7803809806577889766) { - out_7803809806577889766[0] = 0; - out_7803809806577889766[1] = 0; - out_7803809806577889766[2] = 0; - out_7803809806577889766[3] = 1; - out_7803809806577889766[4] = 0; - out_7803809806577889766[5] = 0; - out_7803809806577889766[6] = 0; - out_7803809806577889766[7] = 0; - out_7803809806577889766[8] = 0; - out_7803809806577889766[9] = 0; - out_7803809806577889766[10] = 0; - out_7803809806577889766[11] = 0; - out_7803809806577889766[12] = 0; - out_7803809806577889766[13] = 0; - out_7803809806577889766[14] = 0; - out_7803809806577889766[15] = 0; - out_7803809806577889766[16] = 0; - out_7803809806577889766[17] = 0; - out_7803809806577889766[18] = 0; - out_7803809806577889766[19] = 0; - out_7803809806577889766[20] = 0; - out_7803809806577889766[21] = 0; - out_7803809806577889766[22] = 1; - out_7803809806577889766[23] = 0; - out_7803809806577889766[24] = 0; - out_7803809806577889766[25] = 0; - out_7803809806577889766[26] = 0; - out_7803809806577889766[27] = 0; - out_7803809806577889766[28] = 0; - out_7803809806577889766[29] = 0; - out_7803809806577889766[30] = 0; - out_7803809806577889766[31] = 0; - out_7803809806577889766[32] = 0; - out_7803809806577889766[33] = 0; - out_7803809806577889766[34] = 0; - out_7803809806577889766[35] = 0; - out_7803809806577889766[36] = 0; - out_7803809806577889766[37] = 0; - out_7803809806577889766[38] = 0; - out_7803809806577889766[39] = 0; - out_7803809806577889766[40] = 0; - out_7803809806577889766[41] = 1; - out_7803809806577889766[42] = 0; - out_7803809806577889766[43] = 0; - out_7803809806577889766[44] = 0; - out_7803809806577889766[45] = 0; - out_7803809806577889766[46] = 0; - out_7803809806577889766[47] = 0; - out_7803809806577889766[48] = 0; - out_7803809806577889766[49] = 0; - out_7803809806577889766[50] = 0; - out_7803809806577889766[51] = 0; - out_7803809806577889766[52] = 0; - out_7803809806577889766[53] = 0; +void H_13(double *state, double *unused, double *out_595969724780388163) { + out_595969724780388163[0] = 0; + out_595969724780388163[1] = 0; + out_595969724780388163[2] = 0; + out_595969724780388163[3] = 1; + out_595969724780388163[4] = 0; + out_595969724780388163[5] = 0; + out_595969724780388163[6] = 0; + out_595969724780388163[7] = 0; + out_595969724780388163[8] = 0; + out_595969724780388163[9] = 0; + out_595969724780388163[10] = 0; + out_595969724780388163[11] = 0; + out_595969724780388163[12] = 0; + out_595969724780388163[13] = 0; + out_595969724780388163[14] = 0; + out_595969724780388163[15] = 0; + out_595969724780388163[16] = 0; + out_595969724780388163[17] = 0; + out_595969724780388163[18] = 0; + out_595969724780388163[19] = 0; + out_595969724780388163[20] = 0; + out_595969724780388163[21] = 0; + out_595969724780388163[22] = 1; + out_595969724780388163[23] = 0; + out_595969724780388163[24] = 0; + out_595969724780388163[25] = 0; + out_595969724780388163[26] = 0; + out_595969724780388163[27] = 0; + out_595969724780388163[28] = 0; + out_595969724780388163[29] = 0; + out_595969724780388163[30] = 0; + out_595969724780388163[31] = 0; + out_595969724780388163[32] = 0; + out_595969724780388163[33] = 0; + out_595969724780388163[34] = 0; + out_595969724780388163[35] = 0; + out_595969724780388163[36] = 0; + out_595969724780388163[37] = 0; + out_595969724780388163[38] = 0; + out_595969724780388163[39] = 0; + out_595969724780388163[40] = 0; + out_595969724780388163[41] = 1; + out_595969724780388163[42] = 0; + out_595969724780388163[43] = 0; + out_595969724780388163[44] = 0; + out_595969724780388163[45] = 0; + out_595969724780388163[46] = 0; + out_595969724780388163[47] = 0; + out_595969724780388163[48] = 0; + out_595969724780388163[49] = 0; + out_595969724780388163[50] = 0; + out_595969724780388163[51] = 0; + out_595969724780388163[52] = 0; + out_595969724780388163[53] = 0; } -void h_14(double *state, double *unused, double *out_5111785488402772162) { - out_5111785488402772162[0] = state[6]; - out_5111785488402772162[1] = state[7]; - out_5111785488402772162[2] = state[8]; +void h_14(double *state, double *unused, double *out_7378190979403323616) { + out_7378190979403323616[0] = state[6]; + out_7378190979403323616[1] = state[7]; + out_7378190979403323616[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6995543915154445450) { - out_6995543915154445450[0] = 0; - out_6995543915154445450[1] = 0; - out_6995543915154445450[2] = 0; - out_6995543915154445450[3] = 0; - out_6995543915154445450[4] = 0; - out_6995543915154445450[5] = 0; - out_6995543915154445450[6] = 1; - out_6995543915154445450[7] = 0; - out_6995543915154445450[8] = 0; - out_6995543915154445450[9] = 0; - out_6995543915154445450[10] = 0; - out_6995543915154445450[11] = 0; - out_6995543915154445450[12] = 0; - out_6995543915154445450[13] = 0; - out_6995543915154445450[14] = 0; - out_6995543915154445450[15] = 0; - out_6995543915154445450[16] = 0; - out_6995543915154445450[17] = 0; - out_6995543915154445450[18] = 0; - out_6995543915154445450[19] = 0; - out_6995543915154445450[20] = 0; - out_6995543915154445450[21] = 0; - out_6995543915154445450[22] = 0; - out_6995543915154445450[23] = 0; - out_6995543915154445450[24] = 0; - out_6995543915154445450[25] = 1; - out_6995543915154445450[26] = 0; - out_6995543915154445450[27] = 0; - out_6995543915154445450[28] = 0; - out_6995543915154445450[29] = 0; - out_6995543915154445450[30] = 0; - out_6995543915154445450[31] = 0; - out_6995543915154445450[32] = 0; - out_6995543915154445450[33] = 0; - out_6995543915154445450[34] = 0; - out_6995543915154445450[35] = 0; - out_6995543915154445450[36] = 0; - out_6995543915154445450[37] = 0; - out_6995543915154445450[38] = 0; - out_6995543915154445450[39] = 0; - out_6995543915154445450[40] = 0; - out_6995543915154445450[41] = 0; - out_6995543915154445450[42] = 0; - out_6995543915154445450[43] = 0; - out_6995543915154445450[44] = 1; - out_6995543915154445450[45] = 0; - out_6995543915154445450[46] = 0; - out_6995543915154445450[47] = 0; - out_6995543915154445450[48] = 0; - out_6995543915154445450[49] = 0; - out_6995543915154445450[50] = 0; - out_6995543915154445450[51] = 0; - out_6995543915154445450[52] = 0; - out_6995543915154445450[53] = 0; +void H_14(double *state, double *unused, double *out_6891031982408093260) { + out_6891031982408093260[0] = 0; + out_6891031982408093260[1] = 0; + out_6891031982408093260[2] = 0; + out_6891031982408093260[3] = 0; + out_6891031982408093260[4] = 0; + out_6891031982408093260[5] = 0; + out_6891031982408093260[6] = 1; + out_6891031982408093260[7] = 0; + out_6891031982408093260[8] = 0; + out_6891031982408093260[9] = 0; + out_6891031982408093260[10] = 0; + out_6891031982408093260[11] = 0; + out_6891031982408093260[12] = 0; + out_6891031982408093260[13] = 0; + out_6891031982408093260[14] = 0; + out_6891031982408093260[15] = 0; + out_6891031982408093260[16] = 0; + out_6891031982408093260[17] = 0; + out_6891031982408093260[18] = 0; + out_6891031982408093260[19] = 0; + out_6891031982408093260[20] = 0; + out_6891031982408093260[21] = 0; + out_6891031982408093260[22] = 0; + out_6891031982408093260[23] = 0; + out_6891031982408093260[24] = 0; + out_6891031982408093260[25] = 1; + out_6891031982408093260[26] = 0; + out_6891031982408093260[27] = 0; + out_6891031982408093260[28] = 0; + out_6891031982408093260[29] = 0; + out_6891031982408093260[30] = 0; + out_6891031982408093260[31] = 0; + out_6891031982408093260[32] = 0; + out_6891031982408093260[33] = 0; + out_6891031982408093260[34] = 0; + out_6891031982408093260[35] = 0; + out_6891031982408093260[36] = 0; + out_6891031982408093260[37] = 0; + out_6891031982408093260[38] = 0; + out_6891031982408093260[39] = 0; + out_6891031982408093260[40] = 0; + out_6891031982408093260[41] = 0; + out_6891031982408093260[42] = 0; + out_6891031982408093260[43] = 0; + out_6891031982408093260[44] = 1; + out_6891031982408093260[45] = 0; + out_6891031982408093260[46] = 0; + out_6891031982408093260[47] = 0; + out_6891031982408093260[48] = 0; + out_6891031982408093260[49] = 0; + out_6891031982408093260[50] = 0; + out_6891031982408093260[51] = 0; + out_6891031982408093260[52] = 0; + out_6891031982408093260[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_772147526555487692) { - err_fun(nom_x, delta_x, out_772147526555487692); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7958882747940958001) { + err_fun(nom_x, delta_x, out_7958882747940958001); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4282924253332717604) { - inv_err_fun(nom_x, true_x, out_4282924253332717604); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4703319146697471116) { + inv_err_fun(nom_x, true_x, out_4703319146697471116); } -void pose_H_mod_fun(double *state, double *out_4974307322782455600) { - H_mod_fun(state, out_4974307322782455600); +void pose_H_mod_fun(double *state, double *out_656327009382969529) { + H_mod_fun(state, out_656327009382969529); } -void pose_f_fun(double *state, double dt, double *out_1104587078015232117) { - f_fun(state, dt, out_1104587078015232117); +void pose_f_fun(double *state, double dt, double *out_1970546984054209494) { + f_fun(state, dt, out_1970546984054209494); } -void pose_F_fun(double *state, double dt, double *out_5293033715763511365) { - F_fun(state, dt, out_5293033715763511365); +void pose_F_fun(double *state, double dt, double *out_2484970000761638635) { + F_fun(state, dt, out_2484970000761638635); } -void pose_h_4(double *state, double *unused, double *out_5228726973950769986) { - h_4(state, unused, out_5228726973950769986); +void pose_h_4(double *state, double *unused, double *out_5725974613387962710) { + h_4(state, unused, out_5725974613387962710); } -void pose_H_4(double *state, double *unused, double *out_3032303058814960921) { - H_4(state, unused, out_3032303058814960921); +void pose_H_4(double *state, double *unused, double *out_3808243550112720964) { + H_4(state, unused, out_3808243550112720964); } -void pose_h_10(double *state, double *unused, double *out_122492238844625391) { - h_10(state, unused, out_122492238844625391); +void pose_h_10(double *state, double *unused, double *out_6479738358501538001) { + h_10(state, unused, out_6479738358501538001); } -void pose_H_10(double *state, double *unused, double *out_4293959578107599330) { - H_10(state, unused, out_4293959578107599330); +void pose_H_10(double *state, double *unused, double *out_2571832150125994618) { + H_10(state, unused, out_2571832150125994618); } -void pose_h_13(double *state, double *unused, double *out_4688840231226545336) { - h_13(state, unused, out_4688840231226545336); +void pose_h_13(double *state, double *unused, double *out_2468597468972695670) { + h_13(state, unused, out_2468597468972695670); } -void pose_H_13(double *state, double *unused, double *out_7803809806577889766) { - H_13(state, unused, out_7803809806577889766); +void pose_H_13(double *state, double *unused, double *out_595969724780388163) { + H_13(state, unused, out_595969724780388163); } -void pose_h_14(double *state, double *unused, double *out_5111785488402772162) { - h_14(state, unused, out_5111785488402772162); +void pose_h_14(double *state, double *unused, double *out_7378190979403323616) { + h_14(state, unused, out_7378190979403323616); } -void pose_H_14(double *state, double *unused, double *out_6995543915154445450) { - H_14(state, unused, out_6995543915154445450); +void pose_H_14(double *state, double *unused, double *out_6891031982408093260) { + H_14(state, unused, out_6891031982408093260); } 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 540ad9857..4272a187b 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_772147526555487692); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4282924253332717604); -void pose_H_mod_fun(double *state, double *out_4974307322782455600); -void pose_f_fun(double *state, double dt, double *out_1104587078015232117); -void pose_F_fun(double *state, double dt, double *out_5293033715763511365); -void pose_h_4(double *state, double *unused, double *out_5228726973950769986); -void pose_H_4(double *state, double *unused, double *out_3032303058814960921); -void pose_h_10(double *state, double *unused, double *out_122492238844625391); -void pose_H_10(double *state, double *unused, double *out_4293959578107599330); -void pose_h_13(double *state, double *unused, double *out_4688840231226545336); -void pose_H_13(double *state, double *unused, double *out_7803809806577889766); -void pose_h_14(double *state, double *unused, double *out_5111785488402772162); -void pose_H_14(double *state, double *unused, double *out_6995543915154445450); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7958882747940958001); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4703319146697471116); +void pose_H_mod_fun(double *state, double *out_656327009382969529); +void pose_f_fun(double *state, double dt, double *out_1970546984054209494); +void pose_F_fun(double *state, double dt, double *out_2484970000761638635); +void pose_h_4(double *state, double *unused, double *out_5725974613387962710); +void pose_H_4(double *state, double *unused, double *out_3808243550112720964); +void pose_h_10(double *state, double *unused, double *out_6479738358501538001); +void pose_H_10(double *state, double *unused, double *out_2571832150125994618); +void pose_h_13(double *state, double *unused, double *out_2468597468972695670); +void pose_H_13(double *state, double *unused, double *out_595969724780388163); +void pose_h_14(double *state, double *unused, double *out_7378190979403323616); +void pose_H_14(double *state, double *unused, double *out_6891031982408093260); 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 be0006575..f4d7cbbd0 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 677f0d63c..9dfa0b6f2 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index fa14fd66b..8aba3ecb0 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 021366ea9..70cadda5f 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 47f313545..b2c2c265a 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ