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b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 17b832cc84..372fb4119a 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 6698c06fde..6743b47417 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-21805a54-DEBUG \ No newline at end of file +DEV-87b9fd5b-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index e75e038c31..ca764e88f2 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_5328892797193692082) { - out_5328892797193692082[0] = delta_x[0] + nom_x[0]; - out_5328892797193692082[1] = delta_x[1] + nom_x[1]; - out_5328892797193692082[2] = delta_x[2] + nom_x[2]; - out_5328892797193692082[3] = delta_x[3] + nom_x[3]; - out_5328892797193692082[4] = delta_x[4] + nom_x[4]; - out_5328892797193692082[5] = delta_x[5] + nom_x[5]; - out_5328892797193692082[6] = delta_x[6] + nom_x[6]; - out_5328892797193692082[7] = delta_x[7] + nom_x[7]; - out_5328892797193692082[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_395710906661730109) { + out_395710906661730109[0] = delta_x[0] + nom_x[0]; + out_395710906661730109[1] = delta_x[1] + nom_x[1]; + out_395710906661730109[2] = delta_x[2] + nom_x[2]; + out_395710906661730109[3] = delta_x[3] + nom_x[3]; + out_395710906661730109[4] = delta_x[4] + nom_x[4]; + out_395710906661730109[5] = delta_x[5] + nom_x[5]; + out_395710906661730109[6] = delta_x[6] + nom_x[6]; + out_395710906661730109[7] = delta_x[7] + nom_x[7]; + out_395710906661730109[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465) { - out_6664197118630309465[0] = -nom_x[0] + true_x[0]; - out_6664197118630309465[1] = -nom_x[1] + true_x[1]; - out_6664197118630309465[2] = -nom_x[2] + true_x[2]; - out_6664197118630309465[3] = -nom_x[3] + true_x[3]; - out_6664197118630309465[4] = -nom_x[4] + true_x[4]; - out_6664197118630309465[5] = -nom_x[5] + true_x[5]; - out_6664197118630309465[6] = -nom_x[6] + true_x[6]; - out_6664197118630309465[7] = -nom_x[7] + true_x[7]; - out_6664197118630309465[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6370952191766860566) { + out_6370952191766860566[0] = -nom_x[0] + true_x[0]; + out_6370952191766860566[1] = -nom_x[1] + true_x[1]; + out_6370952191766860566[2] = -nom_x[2] + true_x[2]; + out_6370952191766860566[3] = -nom_x[3] + true_x[3]; + out_6370952191766860566[4] = -nom_x[4] + true_x[4]; + out_6370952191766860566[5] = -nom_x[5] + true_x[5]; + out_6370952191766860566[6] = -nom_x[6] + true_x[6]; + out_6370952191766860566[7] = -nom_x[7] + true_x[7]; + out_6370952191766860566[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7049792320674666550) { - out_7049792320674666550[0] = 1.0; - out_7049792320674666550[1] = 0.0; - out_7049792320674666550[2] = 0.0; - out_7049792320674666550[3] = 0.0; - out_7049792320674666550[4] = 0.0; - out_7049792320674666550[5] = 0.0; - out_7049792320674666550[6] = 0.0; - out_7049792320674666550[7] = 0.0; - out_7049792320674666550[8] = 0.0; - out_7049792320674666550[9] = 0.0; - out_7049792320674666550[10] = 1.0; - out_7049792320674666550[11] = 0.0; - out_7049792320674666550[12] = 0.0; - out_7049792320674666550[13] = 0.0; - out_7049792320674666550[14] = 0.0; - out_7049792320674666550[15] = 0.0; - out_7049792320674666550[16] = 0.0; - out_7049792320674666550[17] = 0.0; - out_7049792320674666550[18] = 0.0; - out_7049792320674666550[19] = 0.0; - out_7049792320674666550[20] = 1.0; - out_7049792320674666550[21] = 0.0; - out_7049792320674666550[22] = 0.0; - out_7049792320674666550[23] = 0.0; - out_7049792320674666550[24] = 0.0; - out_7049792320674666550[25] = 0.0; - out_7049792320674666550[26] = 0.0; - out_7049792320674666550[27] = 0.0; - out_7049792320674666550[28] = 0.0; - out_7049792320674666550[29] = 0.0; - out_7049792320674666550[30] = 1.0; - out_7049792320674666550[31] = 0.0; - out_7049792320674666550[32] = 0.0; - out_7049792320674666550[33] = 0.0; - out_7049792320674666550[34] = 0.0; - out_7049792320674666550[35] = 0.0; - out_7049792320674666550[36] = 0.0; - out_7049792320674666550[37] = 0.0; - out_7049792320674666550[38] = 0.0; - out_7049792320674666550[39] = 0.0; - out_7049792320674666550[40] = 1.0; - out_7049792320674666550[41] = 0.0; - out_7049792320674666550[42] = 0.0; - out_7049792320674666550[43] = 0.0; - out_7049792320674666550[44] = 0.0; - out_7049792320674666550[45] = 0.0; - out_7049792320674666550[46] = 0.0; - out_7049792320674666550[47] = 0.0; - out_7049792320674666550[48] = 0.0; - out_7049792320674666550[49] = 0.0; - out_7049792320674666550[50] = 1.0; - out_7049792320674666550[51] = 0.0; - out_7049792320674666550[52] = 0.0; - out_7049792320674666550[53] = 0.0; - out_7049792320674666550[54] = 0.0; - out_7049792320674666550[55] = 0.0; - out_7049792320674666550[56] = 0.0; - out_7049792320674666550[57] = 0.0; - out_7049792320674666550[58] = 0.0; - out_7049792320674666550[59] = 0.0; - out_7049792320674666550[60] = 1.0; - out_7049792320674666550[61] = 0.0; - out_7049792320674666550[62] = 0.0; - out_7049792320674666550[63] = 0.0; - out_7049792320674666550[64] = 0.0; - out_7049792320674666550[65] = 0.0; - out_7049792320674666550[66] = 0.0; - out_7049792320674666550[67] = 0.0; - out_7049792320674666550[68] = 0.0; - out_7049792320674666550[69] = 0.0; - out_7049792320674666550[70] = 1.0; - out_7049792320674666550[71] = 0.0; - out_7049792320674666550[72] = 0.0; - out_7049792320674666550[73] = 0.0; - out_7049792320674666550[74] = 0.0; - out_7049792320674666550[75] = 0.0; - out_7049792320674666550[76] = 0.0; - out_7049792320674666550[77] = 0.0; - out_7049792320674666550[78] = 0.0; - out_7049792320674666550[79] = 0.0; - out_7049792320674666550[80] = 1.0; +void H_mod_fun(double *state, double *out_8610422609060100183) { + out_8610422609060100183[0] = 1.0; + out_8610422609060100183[1] = 0.0; + out_8610422609060100183[2] = 0.0; + out_8610422609060100183[3] = 0.0; + out_8610422609060100183[4] = 0.0; + out_8610422609060100183[5] = 0.0; + out_8610422609060100183[6] = 0.0; + out_8610422609060100183[7] = 0.0; + out_8610422609060100183[8] = 0.0; + out_8610422609060100183[9] = 0.0; + out_8610422609060100183[10] = 1.0; + out_8610422609060100183[11] = 0.0; + out_8610422609060100183[12] = 0.0; + out_8610422609060100183[13] = 0.0; + out_8610422609060100183[14] = 0.0; + out_8610422609060100183[15] = 0.0; + out_8610422609060100183[16] = 0.0; + out_8610422609060100183[17] = 0.0; + out_8610422609060100183[18] = 0.0; + out_8610422609060100183[19] = 0.0; + out_8610422609060100183[20] = 1.0; + out_8610422609060100183[21] = 0.0; + out_8610422609060100183[22] = 0.0; + out_8610422609060100183[23] = 0.0; + out_8610422609060100183[24] = 0.0; + out_8610422609060100183[25] = 0.0; + out_8610422609060100183[26] = 0.0; + out_8610422609060100183[27] = 0.0; + out_8610422609060100183[28] = 0.0; + out_8610422609060100183[29] = 0.0; + out_8610422609060100183[30] = 1.0; + out_8610422609060100183[31] = 0.0; + out_8610422609060100183[32] = 0.0; + out_8610422609060100183[33] = 0.0; + out_8610422609060100183[34] = 0.0; + out_8610422609060100183[35] = 0.0; + out_8610422609060100183[36] = 0.0; + out_8610422609060100183[37] = 0.0; + out_8610422609060100183[38] = 0.0; + out_8610422609060100183[39] = 0.0; + out_8610422609060100183[40] = 1.0; + out_8610422609060100183[41] = 0.0; + out_8610422609060100183[42] = 0.0; + out_8610422609060100183[43] = 0.0; + out_8610422609060100183[44] = 0.0; + out_8610422609060100183[45] = 0.0; + out_8610422609060100183[46] = 0.0; + out_8610422609060100183[47] = 0.0; + out_8610422609060100183[48] = 0.0; + out_8610422609060100183[49] = 0.0; + out_8610422609060100183[50] = 1.0; + out_8610422609060100183[51] = 0.0; + out_8610422609060100183[52] = 0.0; + out_8610422609060100183[53] = 0.0; + out_8610422609060100183[54] = 0.0; + out_8610422609060100183[55] = 0.0; + out_8610422609060100183[56] = 0.0; + out_8610422609060100183[57] = 0.0; + out_8610422609060100183[58] = 0.0; + out_8610422609060100183[59] = 0.0; + out_8610422609060100183[60] = 1.0; + out_8610422609060100183[61] = 0.0; + out_8610422609060100183[62] = 0.0; + out_8610422609060100183[63] = 0.0; + out_8610422609060100183[64] = 0.0; + out_8610422609060100183[65] = 0.0; + out_8610422609060100183[66] = 0.0; + out_8610422609060100183[67] = 0.0; + out_8610422609060100183[68] = 0.0; + out_8610422609060100183[69] = 0.0; + out_8610422609060100183[70] = 1.0; + out_8610422609060100183[71] = 0.0; + out_8610422609060100183[72] = 0.0; + out_8610422609060100183[73] = 0.0; + out_8610422609060100183[74] = 0.0; + out_8610422609060100183[75] = 0.0; + out_8610422609060100183[76] = 0.0; + out_8610422609060100183[77] = 0.0; + out_8610422609060100183[78] = 0.0; + out_8610422609060100183[79] = 0.0; + out_8610422609060100183[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8058289693715916474) { - out_8058289693715916474[0] = state[0]; - out_8058289693715916474[1] = state[1]; - out_8058289693715916474[2] = state[2]; - out_8058289693715916474[3] = state[3]; - out_8058289693715916474[4] = state[4]; - out_8058289693715916474[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_8058289693715916474[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_8058289693715916474[7] = state[7]; - out_8058289693715916474[8] = state[8]; +void f_fun(double *state, double dt, double *out_7209711513462721716) { + out_7209711513462721716[0] = state[0]; + out_7209711513462721716[1] = state[1]; + out_7209711513462721716[2] = state[2]; + out_7209711513462721716[3] = state[3]; + out_7209711513462721716[4] = state[4]; + out_7209711513462721716[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_7209711513462721716[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_7209711513462721716[7] = state[7]; + out_7209711513462721716[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6834456908135559848) { - out_6834456908135559848[0] = 1; - out_6834456908135559848[1] = 0; - out_6834456908135559848[2] = 0; - out_6834456908135559848[3] = 0; - out_6834456908135559848[4] = 0; - out_6834456908135559848[5] = 0; - out_6834456908135559848[6] = 0; - out_6834456908135559848[7] = 0; - out_6834456908135559848[8] = 0; - out_6834456908135559848[9] = 0; - out_6834456908135559848[10] = 1; - out_6834456908135559848[11] = 0; - out_6834456908135559848[12] = 0; - out_6834456908135559848[13] = 0; - out_6834456908135559848[14] = 0; - out_6834456908135559848[15] = 0; - out_6834456908135559848[16] = 0; - out_6834456908135559848[17] = 0; - out_6834456908135559848[18] = 0; - out_6834456908135559848[19] = 0; - out_6834456908135559848[20] = 1; - out_6834456908135559848[21] = 0; - out_6834456908135559848[22] = 0; - out_6834456908135559848[23] = 0; - out_6834456908135559848[24] = 0; - out_6834456908135559848[25] = 0; - out_6834456908135559848[26] = 0; - out_6834456908135559848[27] = 0; - out_6834456908135559848[28] = 0; - out_6834456908135559848[29] = 0; - out_6834456908135559848[30] = 1; - out_6834456908135559848[31] = 0; - out_6834456908135559848[32] = 0; - out_6834456908135559848[33] = 0; - out_6834456908135559848[34] = 0; - out_6834456908135559848[35] = 0; - out_6834456908135559848[36] = 0; - out_6834456908135559848[37] = 0; - out_6834456908135559848[38] = 0; - out_6834456908135559848[39] = 0; - out_6834456908135559848[40] = 1; - out_6834456908135559848[41] = 0; - out_6834456908135559848[42] = 0; - out_6834456908135559848[43] = 0; - out_6834456908135559848[44] = 0; - out_6834456908135559848[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_6834456908135559848[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6834456908135559848[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6834456908135559848[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6834456908135559848[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_6834456908135559848[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6834456908135559848[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6834456908135559848[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6834456908135559848[53] = -9.8100000000000005*dt; - out_6834456908135559848[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_6834456908135559848[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6834456908135559848[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6834456908135559848[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6834456908135559848[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_6834456908135559848[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6834456908135559848[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_6834456908135559848[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6834456908135559848[62] = 0; - out_6834456908135559848[63] = 0; - out_6834456908135559848[64] = 0; - out_6834456908135559848[65] = 0; - out_6834456908135559848[66] = 0; - out_6834456908135559848[67] = 0; - out_6834456908135559848[68] = 0; - out_6834456908135559848[69] = 0; - out_6834456908135559848[70] = 1; - out_6834456908135559848[71] = 0; - out_6834456908135559848[72] = 0; - out_6834456908135559848[73] = 0; - out_6834456908135559848[74] = 0; - out_6834456908135559848[75] = 0; - out_6834456908135559848[76] = 0; - out_6834456908135559848[77] = 0; - out_6834456908135559848[78] = 0; - out_6834456908135559848[79] = 0; - out_6834456908135559848[80] = 1; +void F_fun(double *state, double dt, double *out_832953036043329844) { + out_832953036043329844[0] = 1; + out_832953036043329844[1] = 0; + out_832953036043329844[2] = 0; + out_832953036043329844[3] = 0; + out_832953036043329844[4] = 0; + out_832953036043329844[5] = 0; + out_832953036043329844[6] = 0; + out_832953036043329844[7] = 0; + out_832953036043329844[8] = 0; + out_832953036043329844[9] = 0; + out_832953036043329844[10] = 1; + out_832953036043329844[11] = 0; + out_832953036043329844[12] = 0; + out_832953036043329844[13] = 0; + out_832953036043329844[14] = 0; + out_832953036043329844[15] = 0; + out_832953036043329844[16] = 0; + out_832953036043329844[17] = 0; + out_832953036043329844[18] = 0; + out_832953036043329844[19] = 0; + out_832953036043329844[20] = 1; + out_832953036043329844[21] = 0; + out_832953036043329844[22] = 0; + out_832953036043329844[23] = 0; + out_832953036043329844[24] = 0; + out_832953036043329844[25] = 0; + out_832953036043329844[26] = 0; + out_832953036043329844[27] = 0; + out_832953036043329844[28] = 0; + out_832953036043329844[29] = 0; + out_832953036043329844[30] = 1; + out_832953036043329844[31] = 0; + out_832953036043329844[32] = 0; + out_832953036043329844[33] = 0; + out_832953036043329844[34] = 0; + out_832953036043329844[35] = 0; + out_832953036043329844[36] = 0; + out_832953036043329844[37] = 0; + out_832953036043329844[38] = 0; + out_832953036043329844[39] = 0; + out_832953036043329844[40] = 1; + out_832953036043329844[41] = 0; + out_832953036043329844[42] = 0; + out_832953036043329844[43] = 0; + out_832953036043329844[44] = 0; + out_832953036043329844[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_832953036043329844[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_832953036043329844[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_832953036043329844[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_832953036043329844[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_832953036043329844[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_832953036043329844[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_832953036043329844[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_832953036043329844[53] = -9.8100000000000005*dt; + out_832953036043329844[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_832953036043329844[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_832953036043329844[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_832953036043329844[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_832953036043329844[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_832953036043329844[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_832953036043329844[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_832953036043329844[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_832953036043329844[62] = 0; + out_832953036043329844[63] = 0; + out_832953036043329844[64] = 0; + out_832953036043329844[65] = 0; + out_832953036043329844[66] = 0; + out_832953036043329844[67] = 0; + out_832953036043329844[68] = 0; + out_832953036043329844[69] = 0; + out_832953036043329844[70] = 1; + out_832953036043329844[71] = 0; + out_832953036043329844[72] = 0; + out_832953036043329844[73] = 0; + out_832953036043329844[74] = 0; + out_832953036043329844[75] = 0; + out_832953036043329844[76] = 0; + out_832953036043329844[77] = 0; + out_832953036043329844[78] = 0; + out_832953036043329844[79] = 0; + out_832953036043329844[80] = 1; } -void h_25(double *state, double *unused, double *out_3817993858643920850) { - out_3817993858643920850[0] = state[6]; +void h_25(double *state, double *unused, double *out_6217004965884737485) { + out_6217004965884737485[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2203763527122647829) { - out_2203763527122647829[0] = 0; - out_2203763527122647829[1] = 0; - out_2203763527122647829[2] = 0; - out_2203763527122647829[3] = 0; - out_2203763527122647829[4] = 0; - out_2203763527122647829[5] = 0; - out_2203763527122647829[6] = 1; - out_2203763527122647829[7] = 0; - out_2203763527122647829[8] = 0; +void H_25(double *state, double *unused, double *out_2113399649170070232) { + out_2113399649170070232[0] = 0; + out_2113399649170070232[1] = 0; + out_2113399649170070232[2] = 0; + out_2113399649170070232[3] = 0; + out_2113399649170070232[4] = 0; + out_2113399649170070232[5] = 0; + out_2113399649170070232[6] = 1; + out_2113399649170070232[7] = 0; + out_2113399649170070232[8] = 0; } -void h_24(double *state, double *unused, double *out_589890583681194954) { - out_589890583681194954[0] = state[4]; - out_589890583681194954[1] = state[5]; +void h_24(double *state, double *unused, double *out_724420575405524496) { + out_724420575405524496[0] = state[4]; + out_724420575405524496[1] = state[5]; } -void H_24(double *state, double *unused, double *out_31113928117148263) { - out_31113928117148263[0] = 0; - out_31113928117148263[1] = 0; - out_31113928117148263[2] = 0; - out_31113928117148263[3] = 0; - out_31113928117148263[4] = 1; - out_31113928117148263[5] = 0; - out_31113928117148263[6] = 0; - out_31113928117148263[7] = 0; - out_31113928117148263[8] = 0; - out_31113928117148263[9] = 0; - out_31113928117148263[10] = 0; - out_31113928117148263[11] = 0; - out_31113928117148263[12] = 0; - out_31113928117148263[13] = 0; - out_31113928117148263[14] = 1; - out_31113928117148263[15] = 0; - out_31113928117148263[16] = 0; - out_31113928117148263[17] = 0; +void H_24(double *state, double *unused, double *out_2755415215857636620) { + out_2755415215857636620[0] = 0; + out_2755415215857636620[1] = 0; + out_2755415215857636620[2] = 0; + out_2755415215857636620[3] = 0; + out_2755415215857636620[4] = 1; + out_2755415215857636620[5] = 0; + out_2755415215857636620[6] = 0; + out_2755415215857636620[7] = 0; + out_2755415215857636620[8] = 0; + out_2755415215857636620[9] = 0; + out_2755415215857636620[10] = 0; + out_2755415215857636620[11] = 0; + out_2755415215857636620[12] = 0; + out_2755415215857636620[13] = 0; + out_2755415215857636620[14] = 1; + out_2755415215857636620[15] = 0; + out_2755415215857636620[16] = 0; + out_2755415215857636620[17] = 0; } -void h_30(double *state, double *unused, double *out_855557586624953167) { - out_855557586624953167[0] = state[4]; +void h_30(double *state, double *unused, double *out_5458903881474463195) { + out_5458903881474463195[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4722096485629896456) { - out_4722096485629896456[0] = 0; - out_4722096485629896456[1] = 0; - out_4722096485629896456[2] = 0; - out_4722096485629896456[3] = 0; - out_4722096485629896456[4] = 1; - out_4722096485629896456[5] = 0; - out_4722096485629896456[6] = 0; - out_4722096485629896456[7] = 0; - out_4722096485629896456[8] = 0; +void H_30(double *state, double *unused, double *out_2414296680957537966) { + out_2414296680957537966[0] = 0; + out_2414296680957537966[1] = 0; + out_2414296680957537966[2] = 0; + out_2414296680957537966[3] = 0; + out_2414296680957537966[4] = 1; + out_2414296680957537966[5] = 0; + out_2414296680957537966[6] = 0; + out_2414296680957537966[7] = 0; + out_2414296680957537966[8] = 0; } -void h_26(double *state, double *unused, double *out_3459962907433650818) { - out_3459962907433650818[0] = state[7]; +void h_26(double *state, double *unused, double *out_7645972956349057858) { + out_7645972956349057858[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1537739791751408395) { - out_1537739791751408395[0] = 0; - out_1537739791751408395[1] = 0; - out_1537739791751408395[2] = 0; - out_1537739791751408395[3] = 0; - out_1537739791751408395[4] = 0; - out_1537739791751408395[5] = 0; - out_1537739791751408395[6] = 0; - out_1537739791751408395[7] = 1; - out_1537739791751408395[8] = 0; +void H_26(double *state, double *unused, double *out_1628103669703985992) { + out_1628103669703985992[0] = 0; + out_1628103669703985992[1] = 0; + out_1628103669703985992[2] = 0; + out_1628103669703985992[3] = 0; + out_1628103669703985992[4] = 0; + out_1628103669703985992[5] = 0; + out_1628103669703985992[6] = 0; + out_1628103669703985992[7] = 1; + out_1628103669703985992[8] = 0; } -void h_27(double *state, double *unused, double *out_2284525577089273540) { - out_2284525577089273540[0] = state[3]; +void h_27(double *state, double *unused, double *out_2579304498381259655) { + out_2579304498381259655[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6945690556813839673) { - out_6945690556813839673[0] = 0; - out_6945690556813839673[1] = 0; - out_6945690556813839673[2] = 0; - out_6945690556813839673[3] = 1; - out_6945690556813839673[4] = 0; - out_6945690556813839673[5] = 0; - out_6945690556813839673[6] = 0; - out_6945690556813839673[7] = 0; - out_6945690556813839673[8] = 0; +void H_27(double *state, double *unused, double *out_190702609773594749) { + out_190702609773594749[0] = 0; + out_190702609773594749[1] = 0; + out_190702609773594749[2] = 0; + out_190702609773594749[3] = 1; + out_190702609773594749[4] = 0; + out_190702609773594749[5] = 0; + out_190702609773594749[6] = 0; + out_190702609773594749[7] = 0; + out_190702609773594749[8] = 0; } -void h_29(double *state, double *unused, double *out_1458873471301430684) { - out_1458873471301430684[0] = state[1]; +void h_29(double *state, double *unused, double *out_7986166924574242776) { + out_7986166924574242776[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5232327829944288640) { - out_5232327829944288640[0] = 0; - out_5232327829944288640[1] = 1; - out_5232327829944288640[2] = 0; - out_5232327829944288640[3] = 0; - out_5232327829944288640[4] = 0; - out_5232327829944288640[5] = 0; - out_5232327829944288640[6] = 0; - out_5232327829944288640[7] = 0; - out_5232327829944288640[8] = 0; +void H_29(double *state, double *unused, double *out_1904065336643145782) { + out_1904065336643145782[0] = 0; + out_1904065336643145782[1] = 1; + out_1904065336643145782[2] = 0; + out_1904065336643145782[3] = 0; + out_1904065336643145782[4] = 0; + out_1904065336643145782[5] = 0; + out_1904065336643145782[6] = 0; + out_1904065336643145782[7] = 0; + out_1904065336643145782[8] = 0; } -void h_28(double *state, double *unused, double *out_7286198844750119185) { - out_7286198844750119185[0] = state[0]; +void h_28(double *state, double *unused, double *out_3819737019032589491) { + out_3819737019032589491[0] = state[0]; } -void H_28(double *state, double *unused, double *out_149928812874758066) { - out_149928812874758066[0] = 1; - out_149928812874758066[1] = 0; - out_149928812874758066[2] = 0; - out_149928812874758066[3] = 0; - out_149928812874758066[4] = 0; - out_149928812874758066[5] = 0; - out_149928812874758066[6] = 0; - out_149928812874758066[7] = 0; - out_149928812874758066[8] = 0; +void H_28(double *state, double *unused, double *out_6986464353712676356) { + out_6986464353712676356[0] = 1; + out_6986464353712676356[1] = 0; + out_6986464353712676356[2] = 0; + out_6986464353712676356[3] = 0; + out_6986464353712676356[4] = 0; + out_6986464353712676356[5] = 0; + out_6986464353712676356[6] = 0; + out_6986464353712676356[7] = 0; + out_6986464353712676356[8] = 0; } -void h_31(double *state, double *unused, double *out_9220241001058989162) { - out_9220241001058989162[0] = state[8]; +void h_31(double *state, double *unused, double *out_6059818297533608340) { + out_6059818297533608340[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2163947893984759871) { - out_2163947893984759871[0] = 0; - out_2163947893984759871[1] = 0; - out_2163947893984759871[2] = 0; - out_2163947893984759871[3] = 0; - out_2163947893984759871[4] = 0; - out_2163947893984759871[5] = 0; - out_2163947893984759871[6] = 0; - out_2163947893984759871[7] = 0; - out_2163947893984759871[8] = 1; +void H_31(double *state, double *unused, double *out_2254311771937337468) { + out_2254311771937337468[0] = 0; + out_2254311771937337468[1] = 0; + out_2254311771937337468[2] = 0; + out_2254311771937337468[3] = 0; + out_2254311771937337468[4] = 0; + out_2254311771937337468[5] = 0; + out_2254311771937337468[6] = 0; + out_2254311771937337468[7] = 0; + out_2254311771937337468[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_5328892797193692082) { - err_fun(nom_x, delta_x, out_5328892797193692082); +void car_err_fun(double *nom_x, double *delta_x, double *out_395710906661730109) { + err_fun(nom_x, delta_x, out_395710906661730109); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465) { - inv_err_fun(nom_x, true_x, out_6664197118630309465); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6370952191766860566) { + inv_err_fun(nom_x, true_x, out_6370952191766860566); } -void car_H_mod_fun(double *state, double *out_7049792320674666550) { - H_mod_fun(state, out_7049792320674666550); +void car_H_mod_fun(double *state, double *out_8610422609060100183) { + H_mod_fun(state, out_8610422609060100183); } -void car_f_fun(double *state, double dt, double *out_8058289693715916474) { - f_fun(state, dt, out_8058289693715916474); +void car_f_fun(double *state, double dt, double *out_7209711513462721716) { + f_fun(state, dt, out_7209711513462721716); } -void car_F_fun(double *state, double dt, double *out_6834456908135559848) { - F_fun(state, dt, out_6834456908135559848); +void car_F_fun(double *state, double dt, double *out_832953036043329844) { + F_fun(state, dt, out_832953036043329844); } -void car_h_25(double *state, double *unused, double *out_3817993858643920850) { - h_25(state, unused, out_3817993858643920850); +void car_h_25(double *state, double *unused, double *out_6217004965884737485) { + h_25(state, unused, out_6217004965884737485); } -void car_H_25(double *state, double *unused, double *out_2203763527122647829) { - H_25(state, unused, out_2203763527122647829); +void car_H_25(double *state, double *unused, double *out_2113399649170070232) { + H_25(state, unused, out_2113399649170070232); } -void car_h_24(double *state, double *unused, double *out_589890583681194954) { - h_24(state, unused, out_589890583681194954); +void car_h_24(double *state, double *unused, double *out_724420575405524496) { + h_24(state, unused, out_724420575405524496); } -void car_H_24(double *state, double *unused, double *out_31113928117148263) { - H_24(state, unused, out_31113928117148263); +void car_H_24(double *state, double *unused, double *out_2755415215857636620) { + H_24(state, unused, out_2755415215857636620); } -void car_h_30(double *state, double *unused, double *out_855557586624953167) { - h_30(state, unused, out_855557586624953167); +void car_h_30(double *state, double *unused, double *out_5458903881474463195) { + h_30(state, unused, out_5458903881474463195); } -void car_H_30(double *state, double *unused, double *out_4722096485629896456) { - H_30(state, unused, out_4722096485629896456); +void car_H_30(double *state, double *unused, double *out_2414296680957537966) { + H_30(state, unused, out_2414296680957537966); } -void car_h_26(double *state, double *unused, double *out_3459962907433650818) { - h_26(state, unused, out_3459962907433650818); +void car_h_26(double *state, double *unused, double *out_7645972956349057858) { + h_26(state, unused, out_7645972956349057858); } -void car_H_26(double *state, double *unused, double *out_1537739791751408395) { - H_26(state, unused, out_1537739791751408395); +void car_H_26(double *state, double *unused, double *out_1628103669703985992) { + H_26(state, unused, out_1628103669703985992); } -void car_h_27(double *state, double *unused, double *out_2284525577089273540) { - h_27(state, unused, out_2284525577089273540); +void car_h_27(double *state, double *unused, double *out_2579304498381259655) { + h_27(state, unused, out_2579304498381259655); } -void car_H_27(double *state, double *unused, double *out_6945690556813839673) { - H_27(state, unused, out_6945690556813839673); +void car_H_27(double *state, double *unused, double *out_190702609773594749) { + H_27(state, unused, out_190702609773594749); } -void car_h_29(double *state, double *unused, double *out_1458873471301430684) { - h_29(state, unused, out_1458873471301430684); +void car_h_29(double *state, double *unused, double *out_7986166924574242776) { + h_29(state, unused, out_7986166924574242776); } -void car_H_29(double *state, double *unused, double *out_5232327829944288640) { - H_29(state, unused, out_5232327829944288640); +void car_H_29(double *state, double *unused, double *out_1904065336643145782) { + H_29(state, unused, out_1904065336643145782); } -void car_h_28(double *state, double *unused, double *out_7286198844750119185) { - h_28(state, unused, out_7286198844750119185); +void car_h_28(double *state, double *unused, double *out_3819737019032589491) { + h_28(state, unused, out_3819737019032589491); } -void car_H_28(double *state, double *unused, double *out_149928812874758066) { - H_28(state, unused, out_149928812874758066); +void car_H_28(double *state, double *unused, double *out_6986464353712676356) { + H_28(state, unused, out_6986464353712676356); } -void car_h_31(double *state, double *unused, double *out_9220241001058989162) { - h_31(state, unused, out_9220241001058989162); +void car_h_31(double *state, double *unused, double *out_6059818297533608340) { + h_31(state, unused, out_6059818297533608340); } -void car_H_31(double *state, double *unused, double *out_2163947893984759871) { - H_31(state, unused, out_2163947893984759871); +void car_H_31(double *state, double *unused, double *out_2254311771937337468) { + H_31(state, unused, out_2254311771937337468); } 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 5f91f61b80..a8745b522a 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_5328892797193692082); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465); -void car_H_mod_fun(double *state, double *out_7049792320674666550); -void car_f_fun(double *state, double dt, double *out_8058289693715916474); -void car_F_fun(double *state, double dt, double *out_6834456908135559848); -void car_h_25(double *state, double *unused, double *out_3817993858643920850); -void car_H_25(double *state, double *unused, double *out_2203763527122647829); -void car_h_24(double *state, double *unused, double *out_589890583681194954); -void car_H_24(double *state, double *unused, double *out_31113928117148263); -void car_h_30(double *state, double *unused, double *out_855557586624953167); -void car_H_30(double *state, double *unused, double *out_4722096485629896456); -void car_h_26(double *state, double *unused, double *out_3459962907433650818); -void car_H_26(double *state, double *unused, double *out_1537739791751408395); -void car_h_27(double *state, double *unused, double *out_2284525577089273540); -void car_H_27(double *state, double *unused, double *out_6945690556813839673); -void car_h_29(double *state, double *unused, double *out_1458873471301430684); -void car_H_29(double *state, double *unused, double *out_5232327829944288640); -void car_h_28(double *state, double *unused, double *out_7286198844750119185); -void car_H_28(double *state, double *unused, double *out_149928812874758066); -void car_h_31(double *state, double *unused, double *out_9220241001058989162); -void car_H_31(double *state, double *unused, double *out_2163947893984759871); +void car_err_fun(double *nom_x, double *delta_x, double *out_395710906661730109); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6370952191766860566); +void car_H_mod_fun(double *state, double *out_8610422609060100183); +void car_f_fun(double *state, double dt, double *out_7209711513462721716); +void car_F_fun(double *state, double dt, double *out_832953036043329844); +void car_h_25(double *state, double *unused, double *out_6217004965884737485); +void car_H_25(double *state, double *unused, double *out_2113399649170070232); +void car_h_24(double *state, double *unused, double *out_724420575405524496); +void car_H_24(double *state, double *unused, double *out_2755415215857636620); +void car_h_30(double *state, double *unused, double *out_5458903881474463195); +void car_H_30(double *state, double *unused, double *out_2414296680957537966); +void car_h_26(double *state, double *unused, double *out_7645972956349057858); +void car_H_26(double *state, double *unused, double *out_1628103669703985992); +void car_h_27(double *state, double *unused, double *out_2579304498381259655); +void car_H_27(double *state, double *unused, double *out_190702609773594749); +void car_h_29(double *state, double *unused, double *out_7986166924574242776); +void car_H_29(double *state, double *unused, double *out_1904065336643145782); +void car_h_28(double *state, double *unused, double *out_3819737019032589491); +void car_H_28(double *state, double *unused, double *out_6986464353712676356); +void car_h_31(double *state, double *unused, double *out_6059818297533608340); +void car_H_31(double *state, double *unused, double *out_2254311771937337468); 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 eace4cd904..565724cd06 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_8334628911363265031) { - out_8334628911363265031[0] = delta_x[0] + nom_x[0]; - out_8334628911363265031[1] = delta_x[1] + nom_x[1]; - out_8334628911363265031[2] = delta_x[2] + nom_x[2]; - out_8334628911363265031[3] = delta_x[3] + nom_x[3]; - out_8334628911363265031[4] = delta_x[4] + nom_x[4]; - out_8334628911363265031[5] = delta_x[5] + nom_x[5]; - out_8334628911363265031[6] = delta_x[6] + nom_x[6]; - out_8334628911363265031[7] = delta_x[7] + nom_x[7]; - out_8334628911363265031[8] = delta_x[8] + nom_x[8]; - out_8334628911363265031[9] = delta_x[9] + nom_x[9]; - out_8334628911363265031[10] = delta_x[10] + nom_x[10]; - out_8334628911363265031[11] = delta_x[11] + nom_x[11]; - out_8334628911363265031[12] = delta_x[12] + nom_x[12]; - out_8334628911363265031[13] = delta_x[13] + nom_x[13]; - out_8334628911363265031[14] = delta_x[14] + nom_x[14]; - out_8334628911363265031[15] = delta_x[15] + nom_x[15]; - out_8334628911363265031[16] = delta_x[16] + nom_x[16]; - out_8334628911363265031[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3597460724364137401) { + out_3597460724364137401[0] = delta_x[0] + nom_x[0]; + out_3597460724364137401[1] = delta_x[1] + nom_x[1]; + out_3597460724364137401[2] = delta_x[2] + nom_x[2]; + out_3597460724364137401[3] = delta_x[3] + nom_x[3]; + out_3597460724364137401[4] = delta_x[4] + nom_x[4]; + out_3597460724364137401[5] = delta_x[5] + nom_x[5]; + out_3597460724364137401[6] = delta_x[6] + nom_x[6]; + out_3597460724364137401[7] = delta_x[7] + nom_x[7]; + out_3597460724364137401[8] = delta_x[8] + nom_x[8]; + out_3597460724364137401[9] = delta_x[9] + nom_x[9]; + out_3597460724364137401[10] = delta_x[10] + nom_x[10]; + out_3597460724364137401[11] = delta_x[11] + nom_x[11]; + out_3597460724364137401[12] = delta_x[12] + nom_x[12]; + out_3597460724364137401[13] = delta_x[13] + nom_x[13]; + out_3597460724364137401[14] = delta_x[14] + nom_x[14]; + out_3597460724364137401[15] = delta_x[15] + nom_x[15]; + out_3597460724364137401[16] = delta_x[16] + nom_x[16]; + out_3597460724364137401[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963) { - out_6557509511038369963[0] = -nom_x[0] + true_x[0]; - out_6557509511038369963[1] = -nom_x[1] + true_x[1]; - out_6557509511038369963[2] = -nom_x[2] + true_x[2]; - out_6557509511038369963[3] = -nom_x[3] + true_x[3]; - out_6557509511038369963[4] = -nom_x[4] + true_x[4]; - out_6557509511038369963[5] = -nom_x[5] + true_x[5]; - out_6557509511038369963[6] = -nom_x[6] + true_x[6]; - out_6557509511038369963[7] = -nom_x[7] + true_x[7]; - out_6557509511038369963[8] = -nom_x[8] + true_x[8]; - out_6557509511038369963[9] = -nom_x[9] + true_x[9]; - out_6557509511038369963[10] = -nom_x[10] + true_x[10]; - out_6557509511038369963[11] = -nom_x[11] + true_x[11]; - out_6557509511038369963[12] = -nom_x[12] + true_x[12]; - out_6557509511038369963[13] = -nom_x[13] + true_x[13]; - out_6557509511038369963[14] = -nom_x[14] + true_x[14]; - out_6557509511038369963[15] = -nom_x[15] + true_x[15]; - out_6557509511038369963[16] = -nom_x[16] + true_x[16]; - out_6557509511038369963[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1062002485999931142) { + out_1062002485999931142[0] = -nom_x[0] + true_x[0]; + out_1062002485999931142[1] = -nom_x[1] + true_x[1]; + out_1062002485999931142[2] = -nom_x[2] + true_x[2]; + out_1062002485999931142[3] = -nom_x[3] + true_x[3]; + out_1062002485999931142[4] = -nom_x[4] + true_x[4]; + out_1062002485999931142[5] = -nom_x[5] + true_x[5]; + out_1062002485999931142[6] = -nom_x[6] + true_x[6]; + out_1062002485999931142[7] = -nom_x[7] + true_x[7]; + out_1062002485999931142[8] = -nom_x[8] + true_x[8]; + out_1062002485999931142[9] = -nom_x[9] + true_x[9]; + out_1062002485999931142[10] = -nom_x[10] + true_x[10]; + out_1062002485999931142[11] = -nom_x[11] + true_x[11]; + out_1062002485999931142[12] = -nom_x[12] + true_x[12]; + out_1062002485999931142[13] = -nom_x[13] + true_x[13]; + out_1062002485999931142[14] = -nom_x[14] + true_x[14]; + out_1062002485999931142[15] = -nom_x[15] + true_x[15]; + out_1062002485999931142[16] = -nom_x[16] + true_x[16]; + out_1062002485999931142[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_2207458853057691014) { - out_2207458853057691014[0] = 1.0; - out_2207458853057691014[1] = 0.0; - out_2207458853057691014[2] = 0.0; - out_2207458853057691014[3] = 0.0; - out_2207458853057691014[4] = 0.0; - out_2207458853057691014[5] = 0.0; - out_2207458853057691014[6] = 0.0; - out_2207458853057691014[7] = 0.0; - out_2207458853057691014[8] = 0.0; - out_2207458853057691014[9] = 0.0; - out_2207458853057691014[10] = 0.0; - out_2207458853057691014[11] = 0.0; - out_2207458853057691014[12] = 0.0; - out_2207458853057691014[13] = 0.0; - out_2207458853057691014[14] = 0.0; - out_2207458853057691014[15] = 0.0; - out_2207458853057691014[16] = 0.0; - out_2207458853057691014[17] = 0.0; - out_2207458853057691014[18] = 0.0; - out_2207458853057691014[19] = 1.0; - out_2207458853057691014[20] = 0.0; - out_2207458853057691014[21] = 0.0; - out_2207458853057691014[22] = 0.0; - out_2207458853057691014[23] = 0.0; - out_2207458853057691014[24] = 0.0; - out_2207458853057691014[25] = 0.0; - out_2207458853057691014[26] = 0.0; - out_2207458853057691014[27] = 0.0; - out_2207458853057691014[28] = 0.0; - out_2207458853057691014[29] = 0.0; - out_2207458853057691014[30] = 0.0; - out_2207458853057691014[31] = 0.0; - out_2207458853057691014[32] = 0.0; - out_2207458853057691014[33] = 0.0; - out_2207458853057691014[34] = 0.0; - out_2207458853057691014[35] = 0.0; - out_2207458853057691014[36] = 0.0; - out_2207458853057691014[37] = 0.0; - out_2207458853057691014[38] = 1.0; - out_2207458853057691014[39] = 0.0; - out_2207458853057691014[40] = 0.0; - out_2207458853057691014[41] = 0.0; - out_2207458853057691014[42] = 0.0; - out_2207458853057691014[43] = 0.0; - out_2207458853057691014[44] = 0.0; - out_2207458853057691014[45] = 0.0; - out_2207458853057691014[46] = 0.0; - out_2207458853057691014[47] = 0.0; - out_2207458853057691014[48] = 0.0; - out_2207458853057691014[49] = 0.0; - out_2207458853057691014[50] = 0.0; - out_2207458853057691014[51] = 0.0; - out_2207458853057691014[52] = 0.0; - out_2207458853057691014[53] = 0.0; - out_2207458853057691014[54] = 0.0; - out_2207458853057691014[55] = 0.0; - out_2207458853057691014[56] = 0.0; - out_2207458853057691014[57] = 1.0; - out_2207458853057691014[58] = 0.0; - out_2207458853057691014[59] = 0.0; - out_2207458853057691014[60] = 0.0; - out_2207458853057691014[61] = 0.0; - out_2207458853057691014[62] = 0.0; - out_2207458853057691014[63] = 0.0; - out_2207458853057691014[64] = 0.0; - out_2207458853057691014[65] = 0.0; - out_2207458853057691014[66] = 0.0; - out_2207458853057691014[67] = 0.0; - out_2207458853057691014[68] = 0.0; - out_2207458853057691014[69] = 0.0; - out_2207458853057691014[70] = 0.0; - out_2207458853057691014[71] = 0.0; - out_2207458853057691014[72] = 0.0; - out_2207458853057691014[73] = 0.0; - out_2207458853057691014[74] = 0.0; - out_2207458853057691014[75] = 0.0; - out_2207458853057691014[76] = 1.0; - out_2207458853057691014[77] = 0.0; - out_2207458853057691014[78] = 0.0; - out_2207458853057691014[79] = 0.0; - out_2207458853057691014[80] = 0.0; - out_2207458853057691014[81] = 0.0; - out_2207458853057691014[82] = 0.0; - out_2207458853057691014[83] = 0.0; - out_2207458853057691014[84] = 0.0; - out_2207458853057691014[85] = 0.0; - out_2207458853057691014[86] = 0.0; - out_2207458853057691014[87] = 0.0; - out_2207458853057691014[88] = 0.0; - out_2207458853057691014[89] = 0.0; - out_2207458853057691014[90] = 0.0; - out_2207458853057691014[91] = 0.0; - out_2207458853057691014[92] = 0.0; - out_2207458853057691014[93] = 0.0; - out_2207458853057691014[94] = 0.0; - out_2207458853057691014[95] = 1.0; - out_2207458853057691014[96] = 0.0; - out_2207458853057691014[97] = 0.0; - out_2207458853057691014[98] = 0.0; - out_2207458853057691014[99] = 0.0; - out_2207458853057691014[100] = 0.0; - out_2207458853057691014[101] = 0.0; - out_2207458853057691014[102] = 0.0; - out_2207458853057691014[103] = 0.0; - out_2207458853057691014[104] = 0.0; - out_2207458853057691014[105] = 0.0; - out_2207458853057691014[106] = 0.0; - out_2207458853057691014[107] = 0.0; - out_2207458853057691014[108] = 0.0; - out_2207458853057691014[109] = 0.0; - out_2207458853057691014[110] = 0.0; - out_2207458853057691014[111] = 0.0; - out_2207458853057691014[112] = 0.0; - out_2207458853057691014[113] = 0.0; - out_2207458853057691014[114] = 1.0; - out_2207458853057691014[115] = 0.0; - out_2207458853057691014[116] = 0.0; - out_2207458853057691014[117] = 0.0; - out_2207458853057691014[118] = 0.0; - out_2207458853057691014[119] = 0.0; - out_2207458853057691014[120] = 0.0; - out_2207458853057691014[121] = 0.0; - out_2207458853057691014[122] = 0.0; - out_2207458853057691014[123] = 0.0; - out_2207458853057691014[124] = 0.0; - out_2207458853057691014[125] = 0.0; - out_2207458853057691014[126] = 0.0; - out_2207458853057691014[127] = 0.0; - out_2207458853057691014[128] = 0.0; - out_2207458853057691014[129] = 0.0; - out_2207458853057691014[130] = 0.0; - out_2207458853057691014[131] = 0.0; - out_2207458853057691014[132] = 0.0; - out_2207458853057691014[133] = 1.0; - out_2207458853057691014[134] = 0.0; - out_2207458853057691014[135] = 0.0; - out_2207458853057691014[136] = 0.0; - out_2207458853057691014[137] = 0.0; - out_2207458853057691014[138] = 0.0; - out_2207458853057691014[139] = 0.0; - out_2207458853057691014[140] = 0.0; - out_2207458853057691014[141] = 0.0; - out_2207458853057691014[142] = 0.0; - out_2207458853057691014[143] = 0.0; - out_2207458853057691014[144] = 0.0; - out_2207458853057691014[145] = 0.0; - out_2207458853057691014[146] = 0.0; - out_2207458853057691014[147] = 0.0; - out_2207458853057691014[148] = 0.0; - out_2207458853057691014[149] = 0.0; - out_2207458853057691014[150] = 0.0; - out_2207458853057691014[151] = 0.0; - out_2207458853057691014[152] = 1.0; - out_2207458853057691014[153] = 0.0; - out_2207458853057691014[154] = 0.0; - out_2207458853057691014[155] = 0.0; - out_2207458853057691014[156] = 0.0; - out_2207458853057691014[157] = 0.0; - out_2207458853057691014[158] = 0.0; - out_2207458853057691014[159] = 0.0; - out_2207458853057691014[160] = 0.0; - out_2207458853057691014[161] = 0.0; - out_2207458853057691014[162] = 0.0; - out_2207458853057691014[163] = 0.0; - out_2207458853057691014[164] = 0.0; - out_2207458853057691014[165] = 0.0; - out_2207458853057691014[166] = 0.0; - out_2207458853057691014[167] = 0.0; - out_2207458853057691014[168] = 0.0; - out_2207458853057691014[169] = 0.0; - out_2207458853057691014[170] = 0.0; - out_2207458853057691014[171] = 1.0; - out_2207458853057691014[172] = 0.0; - out_2207458853057691014[173] = 0.0; - out_2207458853057691014[174] = 0.0; - out_2207458853057691014[175] = 0.0; - out_2207458853057691014[176] = 0.0; - out_2207458853057691014[177] = 0.0; - out_2207458853057691014[178] = 0.0; - out_2207458853057691014[179] = 0.0; - out_2207458853057691014[180] = 0.0; - out_2207458853057691014[181] = 0.0; - out_2207458853057691014[182] = 0.0; - out_2207458853057691014[183] = 0.0; - out_2207458853057691014[184] = 0.0; - out_2207458853057691014[185] = 0.0; - out_2207458853057691014[186] = 0.0; - out_2207458853057691014[187] = 0.0; - out_2207458853057691014[188] = 0.0; - out_2207458853057691014[189] = 0.0; - out_2207458853057691014[190] = 1.0; - out_2207458853057691014[191] = 0.0; - out_2207458853057691014[192] = 0.0; - out_2207458853057691014[193] = 0.0; - out_2207458853057691014[194] = 0.0; - out_2207458853057691014[195] = 0.0; - out_2207458853057691014[196] = 0.0; - out_2207458853057691014[197] = 0.0; - out_2207458853057691014[198] = 0.0; - out_2207458853057691014[199] = 0.0; - out_2207458853057691014[200] = 0.0; - out_2207458853057691014[201] = 0.0; - out_2207458853057691014[202] = 0.0; - out_2207458853057691014[203] = 0.0; - out_2207458853057691014[204] = 0.0; - out_2207458853057691014[205] = 0.0; - out_2207458853057691014[206] = 0.0; - out_2207458853057691014[207] = 0.0; - out_2207458853057691014[208] = 0.0; - out_2207458853057691014[209] = 1.0; - out_2207458853057691014[210] = 0.0; - out_2207458853057691014[211] = 0.0; - out_2207458853057691014[212] = 0.0; - out_2207458853057691014[213] = 0.0; - out_2207458853057691014[214] = 0.0; - out_2207458853057691014[215] = 0.0; - out_2207458853057691014[216] = 0.0; - out_2207458853057691014[217] = 0.0; - out_2207458853057691014[218] = 0.0; - out_2207458853057691014[219] = 0.0; - out_2207458853057691014[220] = 0.0; - out_2207458853057691014[221] = 0.0; - out_2207458853057691014[222] = 0.0; - out_2207458853057691014[223] = 0.0; - out_2207458853057691014[224] = 0.0; - out_2207458853057691014[225] = 0.0; - out_2207458853057691014[226] = 0.0; - out_2207458853057691014[227] = 0.0; - out_2207458853057691014[228] = 1.0; - out_2207458853057691014[229] = 0.0; - out_2207458853057691014[230] = 0.0; - out_2207458853057691014[231] = 0.0; - out_2207458853057691014[232] = 0.0; - out_2207458853057691014[233] = 0.0; - out_2207458853057691014[234] = 0.0; - out_2207458853057691014[235] = 0.0; - out_2207458853057691014[236] = 0.0; - out_2207458853057691014[237] = 0.0; - out_2207458853057691014[238] = 0.0; - out_2207458853057691014[239] = 0.0; - out_2207458853057691014[240] = 0.0; - out_2207458853057691014[241] = 0.0; - out_2207458853057691014[242] = 0.0; - out_2207458853057691014[243] = 0.0; - out_2207458853057691014[244] = 0.0; - out_2207458853057691014[245] = 0.0; - out_2207458853057691014[246] = 0.0; - out_2207458853057691014[247] = 1.0; - out_2207458853057691014[248] = 0.0; - out_2207458853057691014[249] = 0.0; - out_2207458853057691014[250] = 0.0; - out_2207458853057691014[251] = 0.0; - out_2207458853057691014[252] = 0.0; - out_2207458853057691014[253] = 0.0; - out_2207458853057691014[254] = 0.0; - out_2207458853057691014[255] = 0.0; - out_2207458853057691014[256] = 0.0; - out_2207458853057691014[257] = 0.0; - out_2207458853057691014[258] = 0.0; - out_2207458853057691014[259] = 0.0; - out_2207458853057691014[260] = 0.0; - out_2207458853057691014[261] = 0.0; - out_2207458853057691014[262] = 0.0; - out_2207458853057691014[263] = 0.0; - out_2207458853057691014[264] = 0.0; - out_2207458853057691014[265] = 0.0; - out_2207458853057691014[266] = 1.0; - out_2207458853057691014[267] = 0.0; - out_2207458853057691014[268] = 0.0; - out_2207458853057691014[269] = 0.0; - out_2207458853057691014[270] = 0.0; - out_2207458853057691014[271] = 0.0; - out_2207458853057691014[272] = 0.0; - out_2207458853057691014[273] = 0.0; - out_2207458853057691014[274] = 0.0; - out_2207458853057691014[275] = 0.0; - out_2207458853057691014[276] = 0.0; - out_2207458853057691014[277] = 0.0; - out_2207458853057691014[278] = 0.0; - out_2207458853057691014[279] = 0.0; - out_2207458853057691014[280] = 0.0; - out_2207458853057691014[281] = 0.0; - out_2207458853057691014[282] = 0.0; - out_2207458853057691014[283] = 0.0; - out_2207458853057691014[284] = 0.0; - out_2207458853057691014[285] = 1.0; - out_2207458853057691014[286] = 0.0; - out_2207458853057691014[287] = 0.0; - out_2207458853057691014[288] = 0.0; - out_2207458853057691014[289] = 0.0; - out_2207458853057691014[290] = 0.0; - out_2207458853057691014[291] = 0.0; - out_2207458853057691014[292] = 0.0; - out_2207458853057691014[293] = 0.0; - out_2207458853057691014[294] = 0.0; - out_2207458853057691014[295] = 0.0; - out_2207458853057691014[296] = 0.0; - out_2207458853057691014[297] = 0.0; - out_2207458853057691014[298] = 0.0; - out_2207458853057691014[299] = 0.0; - out_2207458853057691014[300] = 0.0; - out_2207458853057691014[301] = 0.0; - out_2207458853057691014[302] = 0.0; - out_2207458853057691014[303] = 0.0; - out_2207458853057691014[304] = 1.0; - out_2207458853057691014[305] = 0.0; - out_2207458853057691014[306] = 0.0; - out_2207458853057691014[307] = 0.0; - out_2207458853057691014[308] = 0.0; - out_2207458853057691014[309] = 0.0; - out_2207458853057691014[310] = 0.0; - out_2207458853057691014[311] = 0.0; - out_2207458853057691014[312] = 0.0; - out_2207458853057691014[313] = 0.0; - out_2207458853057691014[314] = 0.0; - out_2207458853057691014[315] = 0.0; - out_2207458853057691014[316] = 0.0; - out_2207458853057691014[317] = 0.0; - out_2207458853057691014[318] = 0.0; - out_2207458853057691014[319] = 0.0; - out_2207458853057691014[320] = 0.0; - out_2207458853057691014[321] = 0.0; - out_2207458853057691014[322] = 0.0; - out_2207458853057691014[323] = 1.0; +void H_mod_fun(double *state, double *out_4662972867475177241) { + out_4662972867475177241[0] = 1.0; + out_4662972867475177241[1] = 0.0; + out_4662972867475177241[2] = 0.0; + out_4662972867475177241[3] = 0.0; + out_4662972867475177241[4] = 0.0; + out_4662972867475177241[5] = 0.0; + out_4662972867475177241[6] = 0.0; + out_4662972867475177241[7] = 0.0; + out_4662972867475177241[8] = 0.0; + out_4662972867475177241[9] = 0.0; + out_4662972867475177241[10] = 0.0; + out_4662972867475177241[11] = 0.0; + out_4662972867475177241[12] = 0.0; + out_4662972867475177241[13] = 0.0; + out_4662972867475177241[14] = 0.0; + out_4662972867475177241[15] = 0.0; + out_4662972867475177241[16] = 0.0; + out_4662972867475177241[17] = 0.0; + out_4662972867475177241[18] = 0.0; + out_4662972867475177241[19] = 1.0; + out_4662972867475177241[20] = 0.0; + out_4662972867475177241[21] = 0.0; + out_4662972867475177241[22] = 0.0; + out_4662972867475177241[23] = 0.0; + out_4662972867475177241[24] = 0.0; + out_4662972867475177241[25] = 0.0; + out_4662972867475177241[26] = 0.0; + out_4662972867475177241[27] = 0.0; + out_4662972867475177241[28] = 0.0; + out_4662972867475177241[29] = 0.0; + out_4662972867475177241[30] = 0.0; + out_4662972867475177241[31] = 0.0; + out_4662972867475177241[32] = 0.0; + out_4662972867475177241[33] = 0.0; + out_4662972867475177241[34] = 0.0; + out_4662972867475177241[35] = 0.0; + out_4662972867475177241[36] = 0.0; + out_4662972867475177241[37] = 0.0; + out_4662972867475177241[38] = 1.0; + out_4662972867475177241[39] = 0.0; + out_4662972867475177241[40] = 0.0; + out_4662972867475177241[41] = 0.0; + out_4662972867475177241[42] = 0.0; + out_4662972867475177241[43] = 0.0; + out_4662972867475177241[44] = 0.0; + out_4662972867475177241[45] = 0.0; + out_4662972867475177241[46] = 0.0; + out_4662972867475177241[47] = 0.0; + out_4662972867475177241[48] = 0.0; + out_4662972867475177241[49] = 0.0; + out_4662972867475177241[50] = 0.0; + out_4662972867475177241[51] = 0.0; + out_4662972867475177241[52] = 0.0; + out_4662972867475177241[53] = 0.0; + out_4662972867475177241[54] = 0.0; + out_4662972867475177241[55] = 0.0; + out_4662972867475177241[56] = 0.0; + out_4662972867475177241[57] = 1.0; + out_4662972867475177241[58] = 0.0; + out_4662972867475177241[59] = 0.0; + out_4662972867475177241[60] = 0.0; + out_4662972867475177241[61] = 0.0; + out_4662972867475177241[62] = 0.0; + out_4662972867475177241[63] = 0.0; + out_4662972867475177241[64] = 0.0; + out_4662972867475177241[65] = 0.0; + out_4662972867475177241[66] = 0.0; + out_4662972867475177241[67] = 0.0; + out_4662972867475177241[68] = 0.0; + out_4662972867475177241[69] = 0.0; + out_4662972867475177241[70] = 0.0; + out_4662972867475177241[71] = 0.0; + out_4662972867475177241[72] = 0.0; + out_4662972867475177241[73] = 0.0; + out_4662972867475177241[74] = 0.0; + out_4662972867475177241[75] = 0.0; + out_4662972867475177241[76] = 1.0; + out_4662972867475177241[77] = 0.0; + out_4662972867475177241[78] = 0.0; + out_4662972867475177241[79] = 0.0; + out_4662972867475177241[80] = 0.0; + out_4662972867475177241[81] = 0.0; + out_4662972867475177241[82] = 0.0; + out_4662972867475177241[83] = 0.0; + out_4662972867475177241[84] = 0.0; + out_4662972867475177241[85] = 0.0; + out_4662972867475177241[86] = 0.0; + out_4662972867475177241[87] = 0.0; + out_4662972867475177241[88] = 0.0; + out_4662972867475177241[89] = 0.0; + out_4662972867475177241[90] = 0.0; + out_4662972867475177241[91] = 0.0; + out_4662972867475177241[92] = 0.0; + out_4662972867475177241[93] = 0.0; + out_4662972867475177241[94] = 0.0; + out_4662972867475177241[95] = 1.0; + out_4662972867475177241[96] = 0.0; + out_4662972867475177241[97] = 0.0; + out_4662972867475177241[98] = 0.0; + out_4662972867475177241[99] = 0.0; + out_4662972867475177241[100] = 0.0; + out_4662972867475177241[101] = 0.0; + out_4662972867475177241[102] = 0.0; + out_4662972867475177241[103] = 0.0; + out_4662972867475177241[104] = 0.0; + out_4662972867475177241[105] = 0.0; + out_4662972867475177241[106] = 0.0; + out_4662972867475177241[107] = 0.0; + out_4662972867475177241[108] = 0.0; + out_4662972867475177241[109] = 0.0; + out_4662972867475177241[110] = 0.0; + out_4662972867475177241[111] = 0.0; + out_4662972867475177241[112] = 0.0; + out_4662972867475177241[113] = 0.0; + out_4662972867475177241[114] = 1.0; + out_4662972867475177241[115] = 0.0; + out_4662972867475177241[116] = 0.0; + out_4662972867475177241[117] = 0.0; + out_4662972867475177241[118] = 0.0; + out_4662972867475177241[119] = 0.0; + out_4662972867475177241[120] = 0.0; + out_4662972867475177241[121] = 0.0; + out_4662972867475177241[122] = 0.0; + out_4662972867475177241[123] = 0.0; + out_4662972867475177241[124] = 0.0; + out_4662972867475177241[125] = 0.0; + out_4662972867475177241[126] = 0.0; + out_4662972867475177241[127] = 0.0; + out_4662972867475177241[128] = 0.0; + out_4662972867475177241[129] = 0.0; + out_4662972867475177241[130] = 0.0; + out_4662972867475177241[131] = 0.0; + out_4662972867475177241[132] = 0.0; + out_4662972867475177241[133] = 1.0; + out_4662972867475177241[134] = 0.0; + out_4662972867475177241[135] = 0.0; + out_4662972867475177241[136] = 0.0; + out_4662972867475177241[137] = 0.0; + out_4662972867475177241[138] = 0.0; + out_4662972867475177241[139] = 0.0; + out_4662972867475177241[140] = 0.0; + out_4662972867475177241[141] = 0.0; + out_4662972867475177241[142] = 0.0; + out_4662972867475177241[143] = 0.0; + out_4662972867475177241[144] = 0.0; + out_4662972867475177241[145] = 0.0; + out_4662972867475177241[146] = 0.0; + out_4662972867475177241[147] = 0.0; + out_4662972867475177241[148] = 0.0; + out_4662972867475177241[149] = 0.0; + out_4662972867475177241[150] = 0.0; + out_4662972867475177241[151] = 0.0; + out_4662972867475177241[152] = 1.0; + out_4662972867475177241[153] = 0.0; + out_4662972867475177241[154] = 0.0; + out_4662972867475177241[155] = 0.0; + out_4662972867475177241[156] = 0.0; + out_4662972867475177241[157] = 0.0; + out_4662972867475177241[158] = 0.0; + out_4662972867475177241[159] = 0.0; + out_4662972867475177241[160] = 0.0; + out_4662972867475177241[161] = 0.0; + out_4662972867475177241[162] = 0.0; + out_4662972867475177241[163] = 0.0; + out_4662972867475177241[164] = 0.0; + out_4662972867475177241[165] = 0.0; + out_4662972867475177241[166] = 0.0; + out_4662972867475177241[167] = 0.0; + out_4662972867475177241[168] = 0.0; + out_4662972867475177241[169] = 0.0; + out_4662972867475177241[170] = 0.0; + out_4662972867475177241[171] = 1.0; + out_4662972867475177241[172] = 0.0; + out_4662972867475177241[173] = 0.0; + out_4662972867475177241[174] = 0.0; + out_4662972867475177241[175] = 0.0; + out_4662972867475177241[176] = 0.0; + out_4662972867475177241[177] = 0.0; + out_4662972867475177241[178] = 0.0; + out_4662972867475177241[179] = 0.0; + out_4662972867475177241[180] = 0.0; + out_4662972867475177241[181] = 0.0; + out_4662972867475177241[182] = 0.0; + out_4662972867475177241[183] = 0.0; + out_4662972867475177241[184] = 0.0; + out_4662972867475177241[185] = 0.0; + out_4662972867475177241[186] = 0.0; + out_4662972867475177241[187] = 0.0; + out_4662972867475177241[188] = 0.0; + out_4662972867475177241[189] = 0.0; + out_4662972867475177241[190] = 1.0; + out_4662972867475177241[191] = 0.0; + out_4662972867475177241[192] = 0.0; + out_4662972867475177241[193] = 0.0; + out_4662972867475177241[194] = 0.0; + out_4662972867475177241[195] = 0.0; + out_4662972867475177241[196] = 0.0; + out_4662972867475177241[197] = 0.0; + out_4662972867475177241[198] = 0.0; + out_4662972867475177241[199] = 0.0; + out_4662972867475177241[200] = 0.0; + out_4662972867475177241[201] = 0.0; + out_4662972867475177241[202] = 0.0; + out_4662972867475177241[203] = 0.0; + out_4662972867475177241[204] = 0.0; + out_4662972867475177241[205] = 0.0; + out_4662972867475177241[206] = 0.0; + out_4662972867475177241[207] = 0.0; + out_4662972867475177241[208] = 0.0; + out_4662972867475177241[209] = 1.0; + out_4662972867475177241[210] = 0.0; + out_4662972867475177241[211] = 0.0; + out_4662972867475177241[212] = 0.0; + out_4662972867475177241[213] = 0.0; + out_4662972867475177241[214] = 0.0; + out_4662972867475177241[215] = 0.0; + out_4662972867475177241[216] = 0.0; + out_4662972867475177241[217] = 0.0; + out_4662972867475177241[218] = 0.0; + out_4662972867475177241[219] = 0.0; + out_4662972867475177241[220] = 0.0; + out_4662972867475177241[221] = 0.0; + out_4662972867475177241[222] = 0.0; + out_4662972867475177241[223] = 0.0; + out_4662972867475177241[224] = 0.0; + out_4662972867475177241[225] = 0.0; + out_4662972867475177241[226] = 0.0; + out_4662972867475177241[227] = 0.0; + out_4662972867475177241[228] = 1.0; + out_4662972867475177241[229] = 0.0; + out_4662972867475177241[230] = 0.0; + out_4662972867475177241[231] = 0.0; + out_4662972867475177241[232] = 0.0; + out_4662972867475177241[233] = 0.0; + out_4662972867475177241[234] = 0.0; + out_4662972867475177241[235] = 0.0; + out_4662972867475177241[236] = 0.0; + out_4662972867475177241[237] = 0.0; + out_4662972867475177241[238] = 0.0; + out_4662972867475177241[239] = 0.0; + out_4662972867475177241[240] = 0.0; + out_4662972867475177241[241] = 0.0; + out_4662972867475177241[242] = 0.0; + out_4662972867475177241[243] = 0.0; + out_4662972867475177241[244] = 0.0; + out_4662972867475177241[245] = 0.0; + out_4662972867475177241[246] = 0.0; + out_4662972867475177241[247] = 1.0; + out_4662972867475177241[248] = 0.0; + out_4662972867475177241[249] = 0.0; + out_4662972867475177241[250] = 0.0; + out_4662972867475177241[251] = 0.0; + out_4662972867475177241[252] = 0.0; + out_4662972867475177241[253] = 0.0; + out_4662972867475177241[254] = 0.0; + out_4662972867475177241[255] = 0.0; + out_4662972867475177241[256] = 0.0; + out_4662972867475177241[257] = 0.0; + out_4662972867475177241[258] = 0.0; + out_4662972867475177241[259] = 0.0; + out_4662972867475177241[260] = 0.0; + out_4662972867475177241[261] = 0.0; + out_4662972867475177241[262] = 0.0; + out_4662972867475177241[263] = 0.0; + out_4662972867475177241[264] = 0.0; + out_4662972867475177241[265] = 0.0; + out_4662972867475177241[266] = 1.0; + out_4662972867475177241[267] = 0.0; + out_4662972867475177241[268] = 0.0; + out_4662972867475177241[269] = 0.0; + out_4662972867475177241[270] = 0.0; + out_4662972867475177241[271] = 0.0; + out_4662972867475177241[272] = 0.0; + out_4662972867475177241[273] = 0.0; + out_4662972867475177241[274] = 0.0; + out_4662972867475177241[275] = 0.0; + out_4662972867475177241[276] = 0.0; + out_4662972867475177241[277] = 0.0; + out_4662972867475177241[278] = 0.0; + out_4662972867475177241[279] = 0.0; + out_4662972867475177241[280] = 0.0; + out_4662972867475177241[281] = 0.0; + out_4662972867475177241[282] = 0.0; + out_4662972867475177241[283] = 0.0; + out_4662972867475177241[284] = 0.0; + out_4662972867475177241[285] = 1.0; + out_4662972867475177241[286] = 0.0; + out_4662972867475177241[287] = 0.0; + out_4662972867475177241[288] = 0.0; + out_4662972867475177241[289] = 0.0; + out_4662972867475177241[290] = 0.0; + out_4662972867475177241[291] = 0.0; + out_4662972867475177241[292] = 0.0; + out_4662972867475177241[293] = 0.0; + out_4662972867475177241[294] = 0.0; + out_4662972867475177241[295] = 0.0; + out_4662972867475177241[296] = 0.0; + out_4662972867475177241[297] = 0.0; + out_4662972867475177241[298] = 0.0; + out_4662972867475177241[299] = 0.0; + out_4662972867475177241[300] = 0.0; + out_4662972867475177241[301] = 0.0; + out_4662972867475177241[302] = 0.0; + out_4662972867475177241[303] = 0.0; + out_4662972867475177241[304] = 1.0; + out_4662972867475177241[305] = 0.0; + out_4662972867475177241[306] = 0.0; + out_4662972867475177241[307] = 0.0; + out_4662972867475177241[308] = 0.0; + out_4662972867475177241[309] = 0.0; + out_4662972867475177241[310] = 0.0; + out_4662972867475177241[311] = 0.0; + out_4662972867475177241[312] = 0.0; + out_4662972867475177241[313] = 0.0; + out_4662972867475177241[314] = 0.0; + out_4662972867475177241[315] = 0.0; + out_4662972867475177241[316] = 0.0; + out_4662972867475177241[317] = 0.0; + out_4662972867475177241[318] = 0.0; + out_4662972867475177241[319] = 0.0; + out_4662972867475177241[320] = 0.0; + out_4662972867475177241[321] = 0.0; + out_4662972867475177241[322] = 0.0; + out_4662972867475177241[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7635303320387631810) { - out_7635303320387631810[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_7635303320387631810[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_7635303320387631810[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_7635303320387631810[3] = dt*state[12] + state[3]; - out_7635303320387631810[4] = dt*state[13] + state[4]; - out_7635303320387631810[5] = dt*state[14] + state[5]; - out_7635303320387631810[6] = state[6]; - out_7635303320387631810[7] = state[7]; - out_7635303320387631810[8] = state[8]; - out_7635303320387631810[9] = state[9]; - out_7635303320387631810[10] = state[10]; - out_7635303320387631810[11] = state[11]; - out_7635303320387631810[12] = state[12]; - out_7635303320387631810[13] = state[13]; - out_7635303320387631810[14] = state[14]; - out_7635303320387631810[15] = state[15]; - out_7635303320387631810[16] = state[16]; - out_7635303320387631810[17] = state[17]; +void f_fun(double *state, double dt, double *out_3840229658681249647) { + out_3840229658681249647[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_3840229658681249647[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_3840229658681249647[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_3840229658681249647[3] = dt*state[12] + state[3]; + out_3840229658681249647[4] = dt*state[13] + state[4]; + out_3840229658681249647[5] = dt*state[14] + state[5]; + out_3840229658681249647[6] = state[6]; + out_3840229658681249647[7] = state[7]; + out_3840229658681249647[8] = state[8]; + out_3840229658681249647[9] = state[9]; + out_3840229658681249647[10] = state[10]; + out_3840229658681249647[11] = state[11]; + out_3840229658681249647[12] = state[12]; + out_3840229658681249647[13] = state[13]; + out_3840229658681249647[14] = state[14]; + out_3840229658681249647[15] = state[15]; + out_3840229658681249647[16] = state[16]; + out_3840229658681249647[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8324840199262111301) { - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[2] = 0; - out_8324840199262111301[3] = 0; - out_8324840199262111301[4] = 0; - out_8324840199262111301[5] = 0; - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[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_8324840199262111301[9] = 0; - out_8324840199262111301[10] = 0; - out_8324840199262111301[11] = 0; - out_8324840199262111301[12] = 0; - out_8324840199262111301[13] = 0; - out_8324840199262111301[14] = 0; - out_8324840199262111301[15] = 0; - out_8324840199262111301[16] = 0; - out_8324840199262111301[17] = 0; - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[20] = 0; - out_8324840199262111301[21] = 0; - out_8324840199262111301[22] = 0; - out_8324840199262111301[23] = 0; - out_8324840199262111301[24] = 0; - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[27] = 0; - out_8324840199262111301[28] = 0; - out_8324840199262111301[29] = 0; - out_8324840199262111301[30] = 0; - out_8324840199262111301[31] = 0; - out_8324840199262111301[32] = 0; - out_8324840199262111301[33] = 0; - out_8324840199262111301[34] = 0; - out_8324840199262111301[35] = 0; - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[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_8324840199262111301[39] = 0; - out_8324840199262111301[40] = 0; - out_8324840199262111301[41] = 0; - out_8324840199262111301[42] = 0; - out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[45] = 0; - out_8324840199262111301[46] = 0; - out_8324840199262111301[47] = 0; - out_8324840199262111301[48] = 0; - out_8324840199262111301[49] = 0; - out_8324840199262111301[50] = 0; - out_8324840199262111301[51] = 0; - out_8324840199262111301[52] = 0; - out_8324840199262111301[53] = 0; - out_8324840199262111301[54] = 0; - out_8324840199262111301[55] = 0; - out_8324840199262111301[56] = 0; - out_8324840199262111301[57] = 1; - out_8324840199262111301[58] = 0; - out_8324840199262111301[59] = 0; - out_8324840199262111301[60] = 0; - out_8324840199262111301[61] = 0; - out_8324840199262111301[62] = 0; - out_8324840199262111301[63] = 0; - out_8324840199262111301[64] = 0; - out_8324840199262111301[65] = 0; - out_8324840199262111301[66] = dt; - out_8324840199262111301[67] = 0; - out_8324840199262111301[68] = 0; - out_8324840199262111301[69] = 0; - out_8324840199262111301[70] = 0; - out_8324840199262111301[71] = 0; - out_8324840199262111301[72] = 0; - out_8324840199262111301[73] = 0; - out_8324840199262111301[74] = 0; - out_8324840199262111301[75] = 0; - out_8324840199262111301[76] = 1; - out_8324840199262111301[77] = 0; - out_8324840199262111301[78] = 0; - out_8324840199262111301[79] = 0; - out_8324840199262111301[80] = 0; - out_8324840199262111301[81] = 0; - out_8324840199262111301[82] = 0; - out_8324840199262111301[83] = 0; - out_8324840199262111301[84] = 0; - out_8324840199262111301[85] = dt; - out_8324840199262111301[86] = 0; - out_8324840199262111301[87] = 0; - out_8324840199262111301[88] = 0; - out_8324840199262111301[89] = 0; - out_8324840199262111301[90] = 0; - out_8324840199262111301[91] = 0; - out_8324840199262111301[92] = 0; - out_8324840199262111301[93] = 0; - out_8324840199262111301[94] = 0; - out_8324840199262111301[95] = 1; - out_8324840199262111301[96] = 0; - out_8324840199262111301[97] = 0; - out_8324840199262111301[98] = 0; - out_8324840199262111301[99] = 0; - out_8324840199262111301[100] = 0; - out_8324840199262111301[101] = 0; - out_8324840199262111301[102] = 0; - out_8324840199262111301[103] = 0; - out_8324840199262111301[104] = dt; - out_8324840199262111301[105] = 0; - out_8324840199262111301[106] = 0; - out_8324840199262111301[107] = 0; - out_8324840199262111301[108] = 0; - out_8324840199262111301[109] = 0; - out_8324840199262111301[110] = 0; - out_8324840199262111301[111] = 0; - out_8324840199262111301[112] = 0; - out_8324840199262111301[113] = 0; - out_8324840199262111301[114] = 1; - out_8324840199262111301[115] = 0; - out_8324840199262111301[116] = 0; - out_8324840199262111301[117] = 0; - out_8324840199262111301[118] = 0; - out_8324840199262111301[119] = 0; - out_8324840199262111301[120] = 0; - out_8324840199262111301[121] = 0; - out_8324840199262111301[122] = 0; - out_8324840199262111301[123] = 0; - out_8324840199262111301[124] = 0; - out_8324840199262111301[125] = 0; - out_8324840199262111301[126] = 0; - out_8324840199262111301[127] = 0; - out_8324840199262111301[128] = 0; - out_8324840199262111301[129] = 0; - out_8324840199262111301[130] = 0; - out_8324840199262111301[131] = 0; - out_8324840199262111301[132] = 0; - out_8324840199262111301[133] = 1; - out_8324840199262111301[134] = 0; - out_8324840199262111301[135] = 0; - out_8324840199262111301[136] = 0; - out_8324840199262111301[137] = 0; - out_8324840199262111301[138] = 0; - out_8324840199262111301[139] = 0; - out_8324840199262111301[140] = 0; - out_8324840199262111301[141] = 0; - out_8324840199262111301[142] = 0; - out_8324840199262111301[143] = 0; - out_8324840199262111301[144] = 0; - out_8324840199262111301[145] = 0; - out_8324840199262111301[146] = 0; - out_8324840199262111301[147] = 0; - out_8324840199262111301[148] = 0; - out_8324840199262111301[149] = 0; - out_8324840199262111301[150] = 0; - out_8324840199262111301[151] = 0; - out_8324840199262111301[152] = 1; - out_8324840199262111301[153] = 0; - out_8324840199262111301[154] = 0; - out_8324840199262111301[155] = 0; - out_8324840199262111301[156] = 0; - out_8324840199262111301[157] = 0; - out_8324840199262111301[158] = 0; - out_8324840199262111301[159] = 0; - out_8324840199262111301[160] = 0; - out_8324840199262111301[161] = 0; - out_8324840199262111301[162] = 0; - out_8324840199262111301[163] = 0; - out_8324840199262111301[164] = 0; - out_8324840199262111301[165] = 0; - out_8324840199262111301[166] = 0; - out_8324840199262111301[167] = 0; - out_8324840199262111301[168] = 0; - out_8324840199262111301[169] = 0; - out_8324840199262111301[170] = 0; - out_8324840199262111301[171] = 1; - out_8324840199262111301[172] = 0; - out_8324840199262111301[173] = 0; - out_8324840199262111301[174] = 0; - out_8324840199262111301[175] = 0; - out_8324840199262111301[176] = 0; - out_8324840199262111301[177] = 0; - out_8324840199262111301[178] = 0; - out_8324840199262111301[179] = 0; - out_8324840199262111301[180] = 0; - out_8324840199262111301[181] = 0; - out_8324840199262111301[182] = 0; - out_8324840199262111301[183] = 0; - out_8324840199262111301[184] = 0; - out_8324840199262111301[185] = 0; - out_8324840199262111301[186] = 0; - out_8324840199262111301[187] = 0; - out_8324840199262111301[188] = 0; - out_8324840199262111301[189] = 0; - out_8324840199262111301[190] = 1; - out_8324840199262111301[191] = 0; - out_8324840199262111301[192] = 0; - out_8324840199262111301[193] = 0; - out_8324840199262111301[194] = 0; - out_8324840199262111301[195] = 0; - out_8324840199262111301[196] = 0; - out_8324840199262111301[197] = 0; - out_8324840199262111301[198] = 0; - out_8324840199262111301[199] = 0; - out_8324840199262111301[200] = 0; - out_8324840199262111301[201] = 0; - out_8324840199262111301[202] = 0; - out_8324840199262111301[203] = 0; - out_8324840199262111301[204] = 0; - out_8324840199262111301[205] = 0; - out_8324840199262111301[206] = 0; - out_8324840199262111301[207] = 0; - out_8324840199262111301[208] = 0; - out_8324840199262111301[209] = 1; - out_8324840199262111301[210] = 0; - out_8324840199262111301[211] = 0; - out_8324840199262111301[212] = 0; - out_8324840199262111301[213] = 0; - out_8324840199262111301[214] = 0; - out_8324840199262111301[215] = 0; - out_8324840199262111301[216] = 0; - out_8324840199262111301[217] = 0; - out_8324840199262111301[218] = 0; - out_8324840199262111301[219] = 0; - out_8324840199262111301[220] = 0; - out_8324840199262111301[221] = 0; - out_8324840199262111301[222] = 0; - out_8324840199262111301[223] = 0; - out_8324840199262111301[224] = 0; - out_8324840199262111301[225] = 0; - out_8324840199262111301[226] = 0; - out_8324840199262111301[227] = 0; - out_8324840199262111301[228] = 1; - out_8324840199262111301[229] = 0; - out_8324840199262111301[230] = 0; - out_8324840199262111301[231] = 0; - out_8324840199262111301[232] = 0; - out_8324840199262111301[233] = 0; - out_8324840199262111301[234] = 0; - out_8324840199262111301[235] = 0; - out_8324840199262111301[236] = 0; - out_8324840199262111301[237] = 0; - out_8324840199262111301[238] = 0; - out_8324840199262111301[239] = 0; - out_8324840199262111301[240] = 0; - out_8324840199262111301[241] = 0; - out_8324840199262111301[242] = 0; - out_8324840199262111301[243] = 0; - out_8324840199262111301[244] = 0; - out_8324840199262111301[245] = 0; - out_8324840199262111301[246] = 0; - out_8324840199262111301[247] = 1; - out_8324840199262111301[248] = 0; - out_8324840199262111301[249] = 0; - out_8324840199262111301[250] = 0; - out_8324840199262111301[251] = 0; - out_8324840199262111301[252] = 0; - out_8324840199262111301[253] = 0; - out_8324840199262111301[254] = 0; - out_8324840199262111301[255] = 0; - out_8324840199262111301[256] = 0; - out_8324840199262111301[257] = 0; - out_8324840199262111301[258] = 0; - out_8324840199262111301[259] = 0; - out_8324840199262111301[260] = 0; - out_8324840199262111301[261] = 0; - out_8324840199262111301[262] = 0; - out_8324840199262111301[263] = 0; - out_8324840199262111301[264] = 0; - out_8324840199262111301[265] = 0; - out_8324840199262111301[266] = 1; - out_8324840199262111301[267] = 0; - out_8324840199262111301[268] = 0; - out_8324840199262111301[269] = 0; - out_8324840199262111301[270] = 0; - out_8324840199262111301[271] = 0; - out_8324840199262111301[272] = 0; - out_8324840199262111301[273] = 0; - out_8324840199262111301[274] = 0; - out_8324840199262111301[275] = 0; - out_8324840199262111301[276] = 0; - out_8324840199262111301[277] = 0; - out_8324840199262111301[278] = 0; - out_8324840199262111301[279] = 0; - out_8324840199262111301[280] = 0; - out_8324840199262111301[281] = 0; - out_8324840199262111301[282] = 0; - out_8324840199262111301[283] = 0; - out_8324840199262111301[284] = 0; - out_8324840199262111301[285] = 1; - out_8324840199262111301[286] = 0; - out_8324840199262111301[287] = 0; - out_8324840199262111301[288] = 0; - out_8324840199262111301[289] = 0; - out_8324840199262111301[290] = 0; - out_8324840199262111301[291] = 0; - out_8324840199262111301[292] = 0; - out_8324840199262111301[293] = 0; - out_8324840199262111301[294] = 0; - out_8324840199262111301[295] = 0; - out_8324840199262111301[296] = 0; - out_8324840199262111301[297] = 0; - out_8324840199262111301[298] = 0; - out_8324840199262111301[299] = 0; - out_8324840199262111301[300] = 0; - out_8324840199262111301[301] = 0; - out_8324840199262111301[302] = 0; - out_8324840199262111301[303] = 0; - out_8324840199262111301[304] = 1; - out_8324840199262111301[305] = 0; - out_8324840199262111301[306] = 0; - out_8324840199262111301[307] = 0; - out_8324840199262111301[308] = 0; - out_8324840199262111301[309] = 0; - out_8324840199262111301[310] = 0; - out_8324840199262111301[311] = 0; - out_8324840199262111301[312] = 0; - out_8324840199262111301[313] = 0; - out_8324840199262111301[314] = 0; - out_8324840199262111301[315] = 0; - out_8324840199262111301[316] = 0; - out_8324840199262111301[317] = 0; - out_8324840199262111301[318] = 0; - out_8324840199262111301[319] = 0; - out_8324840199262111301[320] = 0; - out_8324840199262111301[321] = 0; - out_8324840199262111301[322] = 0; - out_8324840199262111301[323] = 1; +void F_fun(double *state, double dt, double *out_8220635292339759608) { + out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[2] = 0; + out_8220635292339759608[3] = 0; + out_8220635292339759608[4] = 0; + out_8220635292339759608[5] = 0; + out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[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_8220635292339759608[9] = 0; + out_8220635292339759608[10] = 0; + out_8220635292339759608[11] = 0; + out_8220635292339759608[12] = 0; + out_8220635292339759608[13] = 0; + out_8220635292339759608[14] = 0; + out_8220635292339759608[15] = 0; + out_8220635292339759608[16] = 0; + out_8220635292339759608[17] = 0; + out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[20] = 0; + out_8220635292339759608[21] = 0; + out_8220635292339759608[22] = 0; + out_8220635292339759608[23] = 0; + out_8220635292339759608[24] = 0; + out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[27] = 0; + out_8220635292339759608[28] = 0; + out_8220635292339759608[29] = 0; + out_8220635292339759608[30] = 0; + out_8220635292339759608[31] = 0; + out_8220635292339759608[32] = 0; + out_8220635292339759608[33] = 0; + out_8220635292339759608[34] = 0; + out_8220635292339759608[35] = 0; + out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[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_8220635292339759608[39] = 0; + out_8220635292339759608[40] = 0; + out_8220635292339759608[41] = 0; + out_8220635292339759608[42] = 0; + out_8220635292339759608[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_8220635292339759608[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_8220635292339759608[45] = 0; + out_8220635292339759608[46] = 0; + out_8220635292339759608[47] = 0; + out_8220635292339759608[48] = 0; + out_8220635292339759608[49] = 0; + out_8220635292339759608[50] = 0; + out_8220635292339759608[51] = 0; + out_8220635292339759608[52] = 0; + out_8220635292339759608[53] = 0; + out_8220635292339759608[54] = 0; + out_8220635292339759608[55] = 0; + out_8220635292339759608[56] = 0; + out_8220635292339759608[57] = 1; + out_8220635292339759608[58] = 0; + out_8220635292339759608[59] = 0; + out_8220635292339759608[60] = 0; + out_8220635292339759608[61] = 0; + out_8220635292339759608[62] = 0; + out_8220635292339759608[63] = 0; + out_8220635292339759608[64] = 0; + out_8220635292339759608[65] = 0; + out_8220635292339759608[66] = dt; + out_8220635292339759608[67] = 0; + out_8220635292339759608[68] = 0; + out_8220635292339759608[69] = 0; + out_8220635292339759608[70] = 0; + out_8220635292339759608[71] = 0; + out_8220635292339759608[72] = 0; + out_8220635292339759608[73] = 0; + out_8220635292339759608[74] = 0; + out_8220635292339759608[75] = 0; + out_8220635292339759608[76] = 1; + out_8220635292339759608[77] = 0; + out_8220635292339759608[78] = 0; + out_8220635292339759608[79] = 0; + out_8220635292339759608[80] = 0; + out_8220635292339759608[81] = 0; + out_8220635292339759608[82] = 0; + out_8220635292339759608[83] = 0; + out_8220635292339759608[84] = 0; + out_8220635292339759608[85] = dt; + out_8220635292339759608[86] = 0; + out_8220635292339759608[87] = 0; + out_8220635292339759608[88] = 0; + out_8220635292339759608[89] = 0; + out_8220635292339759608[90] = 0; + out_8220635292339759608[91] = 0; + out_8220635292339759608[92] = 0; + out_8220635292339759608[93] = 0; + out_8220635292339759608[94] = 0; + out_8220635292339759608[95] = 1; + out_8220635292339759608[96] = 0; + out_8220635292339759608[97] = 0; + out_8220635292339759608[98] = 0; + out_8220635292339759608[99] = 0; + out_8220635292339759608[100] = 0; + out_8220635292339759608[101] = 0; + out_8220635292339759608[102] = 0; + out_8220635292339759608[103] = 0; + out_8220635292339759608[104] = dt; + out_8220635292339759608[105] = 0; + out_8220635292339759608[106] = 0; + out_8220635292339759608[107] = 0; + out_8220635292339759608[108] = 0; + out_8220635292339759608[109] = 0; + out_8220635292339759608[110] = 0; + out_8220635292339759608[111] = 0; + out_8220635292339759608[112] = 0; + out_8220635292339759608[113] = 0; + out_8220635292339759608[114] = 1; + out_8220635292339759608[115] = 0; + out_8220635292339759608[116] = 0; + out_8220635292339759608[117] = 0; + out_8220635292339759608[118] = 0; + out_8220635292339759608[119] = 0; + out_8220635292339759608[120] = 0; + out_8220635292339759608[121] = 0; + out_8220635292339759608[122] = 0; + out_8220635292339759608[123] = 0; + out_8220635292339759608[124] = 0; + out_8220635292339759608[125] = 0; + out_8220635292339759608[126] = 0; + out_8220635292339759608[127] = 0; + out_8220635292339759608[128] = 0; + out_8220635292339759608[129] = 0; + out_8220635292339759608[130] = 0; + out_8220635292339759608[131] = 0; + out_8220635292339759608[132] = 0; + out_8220635292339759608[133] = 1; + out_8220635292339759608[134] = 0; + out_8220635292339759608[135] = 0; + out_8220635292339759608[136] = 0; + out_8220635292339759608[137] = 0; + out_8220635292339759608[138] = 0; + out_8220635292339759608[139] = 0; + out_8220635292339759608[140] = 0; + out_8220635292339759608[141] = 0; + out_8220635292339759608[142] = 0; + out_8220635292339759608[143] = 0; + out_8220635292339759608[144] = 0; + out_8220635292339759608[145] = 0; + out_8220635292339759608[146] = 0; + out_8220635292339759608[147] = 0; + out_8220635292339759608[148] = 0; + out_8220635292339759608[149] = 0; + out_8220635292339759608[150] = 0; + out_8220635292339759608[151] = 0; + out_8220635292339759608[152] = 1; + out_8220635292339759608[153] = 0; + out_8220635292339759608[154] = 0; + out_8220635292339759608[155] = 0; + out_8220635292339759608[156] = 0; + out_8220635292339759608[157] = 0; + out_8220635292339759608[158] = 0; + out_8220635292339759608[159] = 0; + out_8220635292339759608[160] = 0; + out_8220635292339759608[161] = 0; + out_8220635292339759608[162] = 0; + out_8220635292339759608[163] = 0; + out_8220635292339759608[164] = 0; + out_8220635292339759608[165] = 0; + out_8220635292339759608[166] = 0; + out_8220635292339759608[167] = 0; + out_8220635292339759608[168] = 0; + out_8220635292339759608[169] = 0; + out_8220635292339759608[170] = 0; + out_8220635292339759608[171] = 1; + out_8220635292339759608[172] = 0; + out_8220635292339759608[173] = 0; + out_8220635292339759608[174] = 0; + out_8220635292339759608[175] = 0; + out_8220635292339759608[176] = 0; + out_8220635292339759608[177] = 0; + out_8220635292339759608[178] = 0; + out_8220635292339759608[179] = 0; + out_8220635292339759608[180] = 0; + out_8220635292339759608[181] = 0; + out_8220635292339759608[182] = 0; + out_8220635292339759608[183] = 0; + out_8220635292339759608[184] = 0; + out_8220635292339759608[185] = 0; + out_8220635292339759608[186] = 0; + out_8220635292339759608[187] = 0; + out_8220635292339759608[188] = 0; + out_8220635292339759608[189] = 0; + out_8220635292339759608[190] = 1; + out_8220635292339759608[191] = 0; + out_8220635292339759608[192] = 0; + out_8220635292339759608[193] = 0; + out_8220635292339759608[194] = 0; + out_8220635292339759608[195] = 0; + out_8220635292339759608[196] = 0; + out_8220635292339759608[197] = 0; + out_8220635292339759608[198] = 0; + out_8220635292339759608[199] = 0; + out_8220635292339759608[200] = 0; + out_8220635292339759608[201] = 0; + out_8220635292339759608[202] = 0; + out_8220635292339759608[203] = 0; + out_8220635292339759608[204] = 0; + out_8220635292339759608[205] = 0; + out_8220635292339759608[206] = 0; + out_8220635292339759608[207] = 0; + out_8220635292339759608[208] = 0; + out_8220635292339759608[209] = 1; + out_8220635292339759608[210] = 0; + out_8220635292339759608[211] = 0; + out_8220635292339759608[212] = 0; + out_8220635292339759608[213] = 0; + out_8220635292339759608[214] = 0; + out_8220635292339759608[215] = 0; + out_8220635292339759608[216] = 0; + out_8220635292339759608[217] = 0; + out_8220635292339759608[218] = 0; + out_8220635292339759608[219] = 0; + out_8220635292339759608[220] = 0; + out_8220635292339759608[221] = 0; + out_8220635292339759608[222] = 0; + out_8220635292339759608[223] = 0; + out_8220635292339759608[224] = 0; + out_8220635292339759608[225] = 0; + out_8220635292339759608[226] = 0; + out_8220635292339759608[227] = 0; + out_8220635292339759608[228] = 1; + out_8220635292339759608[229] = 0; + out_8220635292339759608[230] = 0; + out_8220635292339759608[231] = 0; + out_8220635292339759608[232] = 0; + out_8220635292339759608[233] = 0; + out_8220635292339759608[234] = 0; + out_8220635292339759608[235] = 0; + out_8220635292339759608[236] = 0; + out_8220635292339759608[237] = 0; + out_8220635292339759608[238] = 0; + out_8220635292339759608[239] = 0; + out_8220635292339759608[240] = 0; + out_8220635292339759608[241] = 0; + out_8220635292339759608[242] = 0; + out_8220635292339759608[243] = 0; + out_8220635292339759608[244] = 0; + out_8220635292339759608[245] = 0; + out_8220635292339759608[246] = 0; + out_8220635292339759608[247] = 1; + out_8220635292339759608[248] = 0; + out_8220635292339759608[249] = 0; + out_8220635292339759608[250] = 0; + out_8220635292339759608[251] = 0; + out_8220635292339759608[252] = 0; + out_8220635292339759608[253] = 0; + out_8220635292339759608[254] = 0; + out_8220635292339759608[255] = 0; + out_8220635292339759608[256] = 0; + out_8220635292339759608[257] = 0; + out_8220635292339759608[258] = 0; + out_8220635292339759608[259] = 0; + out_8220635292339759608[260] = 0; + out_8220635292339759608[261] = 0; + out_8220635292339759608[262] = 0; + out_8220635292339759608[263] = 0; + out_8220635292339759608[264] = 0; + out_8220635292339759608[265] = 0; + out_8220635292339759608[266] = 1; + out_8220635292339759608[267] = 0; + out_8220635292339759608[268] = 0; + out_8220635292339759608[269] = 0; + out_8220635292339759608[270] = 0; + out_8220635292339759608[271] = 0; + out_8220635292339759608[272] = 0; + out_8220635292339759608[273] = 0; + out_8220635292339759608[274] = 0; + out_8220635292339759608[275] = 0; + out_8220635292339759608[276] = 0; + out_8220635292339759608[277] = 0; + out_8220635292339759608[278] = 0; + out_8220635292339759608[279] = 0; + out_8220635292339759608[280] = 0; + out_8220635292339759608[281] = 0; + out_8220635292339759608[282] = 0; + out_8220635292339759608[283] = 0; + out_8220635292339759608[284] = 0; + out_8220635292339759608[285] = 1; + out_8220635292339759608[286] = 0; + out_8220635292339759608[287] = 0; + out_8220635292339759608[288] = 0; + out_8220635292339759608[289] = 0; + out_8220635292339759608[290] = 0; + out_8220635292339759608[291] = 0; + out_8220635292339759608[292] = 0; + out_8220635292339759608[293] = 0; + out_8220635292339759608[294] = 0; + out_8220635292339759608[295] = 0; + out_8220635292339759608[296] = 0; + out_8220635292339759608[297] = 0; + out_8220635292339759608[298] = 0; + out_8220635292339759608[299] = 0; + out_8220635292339759608[300] = 0; + out_8220635292339759608[301] = 0; + out_8220635292339759608[302] = 0; + out_8220635292339759608[303] = 0; + out_8220635292339759608[304] = 1; + out_8220635292339759608[305] = 0; + out_8220635292339759608[306] = 0; + out_8220635292339759608[307] = 0; + out_8220635292339759608[308] = 0; + out_8220635292339759608[309] = 0; + out_8220635292339759608[310] = 0; + out_8220635292339759608[311] = 0; + out_8220635292339759608[312] = 0; + out_8220635292339759608[313] = 0; + out_8220635292339759608[314] = 0; + out_8220635292339759608[315] = 0; + out_8220635292339759608[316] = 0; + out_8220635292339759608[317] = 0; + out_8220635292339759608[318] = 0; + out_8220635292339759608[319] = 0; + out_8220635292339759608[320] = 0; + out_8220635292339759608[321] = 0; + out_8220635292339759608[322] = 0; + out_8220635292339759608[323] = 1; } -void h_4(double *state, double *unused, double *out_2118179578320955915) { - out_2118179578320955915[0] = state[6] + state[9]; - out_2118179578320955915[1] = state[7] + state[10]; - out_2118179578320955915[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2097936204583725179) { + out_2097936204583725179[0] = state[6] + state[9]; + out_2097936204583725179[1] = state[7] + state[10]; + out_2097936204583725179[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_7359977238096771749) { - out_7359977238096771749[0] = 0; - out_7359977238096771749[1] = 0; - out_7359977238096771749[2] = 0; - out_7359977238096771749[3] = 0; - out_7359977238096771749[4] = 0; - out_7359977238096771749[5] = 0; - out_7359977238096771749[6] = 1; - out_7359977238096771749[7] = 0; - out_7359977238096771749[8] = 0; - out_7359977238096771749[9] = 1; - out_7359977238096771749[10] = 0; - out_7359977238096771749[11] = 0; - out_7359977238096771749[12] = 0; - out_7359977238096771749[13] = 0; - out_7359977238096771749[14] = 0; - out_7359977238096771749[15] = 0; - out_7359977238096771749[16] = 0; - out_7359977238096771749[17] = 0; - out_7359977238096771749[18] = 0; - out_7359977238096771749[19] = 0; - out_7359977238096771749[20] = 0; - out_7359977238096771749[21] = 0; - out_7359977238096771749[22] = 0; - out_7359977238096771749[23] = 0; - out_7359977238096771749[24] = 0; - out_7359977238096771749[25] = 1; - out_7359977238096771749[26] = 0; - out_7359977238096771749[27] = 0; - out_7359977238096771749[28] = 1; - out_7359977238096771749[29] = 0; - out_7359977238096771749[30] = 0; - out_7359977238096771749[31] = 0; - out_7359977238096771749[32] = 0; - out_7359977238096771749[33] = 0; - out_7359977238096771749[34] = 0; - out_7359977238096771749[35] = 0; - out_7359977238096771749[36] = 0; - out_7359977238096771749[37] = 0; - out_7359977238096771749[38] = 0; - out_7359977238096771749[39] = 0; - out_7359977238096771749[40] = 0; - out_7359977238096771749[41] = 0; - out_7359977238096771749[42] = 0; - out_7359977238096771749[43] = 0; - out_7359977238096771749[44] = 1; - out_7359977238096771749[45] = 0; - out_7359977238096771749[46] = 0; - out_7359977238096771749[47] = 1; - out_7359977238096771749[48] = 0; - out_7359977238096771749[49] = 0; - out_7359977238096771749[50] = 0; - out_7359977238096771749[51] = 0; - out_7359977238096771749[52] = 0; - out_7359977238096771749[53] = 0; +void H_4(double *state, double *unused, double *out_4839409540176553033) { + out_4839409540176553033[0] = 0; + out_4839409540176553033[1] = 0; + out_4839409540176553033[2] = 0; + out_4839409540176553033[3] = 0; + out_4839409540176553033[4] = 0; + out_4839409540176553033[5] = 0; + out_4839409540176553033[6] = 1; + out_4839409540176553033[7] = 0; + out_4839409540176553033[8] = 0; + out_4839409540176553033[9] = 1; + out_4839409540176553033[10] = 0; + out_4839409540176553033[11] = 0; + out_4839409540176553033[12] = 0; + out_4839409540176553033[13] = 0; + out_4839409540176553033[14] = 0; + out_4839409540176553033[15] = 0; + out_4839409540176553033[16] = 0; + out_4839409540176553033[17] = 0; + out_4839409540176553033[18] = 0; + out_4839409540176553033[19] = 0; + out_4839409540176553033[20] = 0; + out_4839409540176553033[21] = 0; + out_4839409540176553033[22] = 0; + out_4839409540176553033[23] = 0; + out_4839409540176553033[24] = 0; + out_4839409540176553033[25] = 1; + out_4839409540176553033[26] = 0; + out_4839409540176553033[27] = 0; + out_4839409540176553033[28] = 1; + out_4839409540176553033[29] = 0; + out_4839409540176553033[30] = 0; + out_4839409540176553033[31] = 0; + out_4839409540176553033[32] = 0; + out_4839409540176553033[33] = 0; + out_4839409540176553033[34] = 0; + out_4839409540176553033[35] = 0; + out_4839409540176553033[36] = 0; + out_4839409540176553033[37] = 0; + out_4839409540176553033[38] = 0; + out_4839409540176553033[39] = 0; + out_4839409540176553033[40] = 0; + out_4839409540176553033[41] = 0; + out_4839409540176553033[42] = 0; + out_4839409540176553033[43] = 0; + out_4839409540176553033[44] = 1; + out_4839409540176553033[45] = 0; + out_4839409540176553033[46] = 0; + out_4839409540176553033[47] = 1; + out_4839409540176553033[48] = 0; + out_4839409540176553033[49] = 0; + out_4839409540176553033[50] = 0; + out_4839409540176553033[51] = 0; + out_4839409540176553033[52] = 0; + out_4839409540176553033[53] = 0; } -void h_10(double *state, double *unused, double *out_863109591849531819) { - out_863109591849531819[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_863109591849531819[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_863109591849531819[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_29444642201375045) { + out_29444642201375045[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_29444642201375045[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_29444642201375045[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_6053481103905099724) { - out_6053481103905099724[0] = 0; - out_6053481103905099724[1] = 9.8100000000000005*cos(state[1]); - out_6053481103905099724[2] = 0; - out_6053481103905099724[3] = 0; - out_6053481103905099724[4] = -state[8]; - out_6053481103905099724[5] = state[7]; - out_6053481103905099724[6] = 0; - out_6053481103905099724[7] = state[5]; - out_6053481103905099724[8] = -state[4]; - out_6053481103905099724[9] = 0; - out_6053481103905099724[10] = 0; - out_6053481103905099724[11] = 0; - out_6053481103905099724[12] = 1; - out_6053481103905099724[13] = 0; - out_6053481103905099724[14] = 0; - out_6053481103905099724[15] = 1; - out_6053481103905099724[16] = 0; - out_6053481103905099724[17] = 0; - out_6053481103905099724[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6053481103905099724[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6053481103905099724[20] = 0; - out_6053481103905099724[21] = state[8]; - out_6053481103905099724[22] = 0; - out_6053481103905099724[23] = -state[6]; - out_6053481103905099724[24] = -state[5]; - out_6053481103905099724[25] = 0; - out_6053481103905099724[26] = state[3]; - out_6053481103905099724[27] = 0; - out_6053481103905099724[28] = 0; - out_6053481103905099724[29] = 0; - out_6053481103905099724[30] = 0; - out_6053481103905099724[31] = 1; - out_6053481103905099724[32] = 0; - out_6053481103905099724[33] = 0; - out_6053481103905099724[34] = 1; - out_6053481103905099724[35] = 0; - out_6053481103905099724[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6053481103905099724[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6053481103905099724[38] = 0; - out_6053481103905099724[39] = -state[7]; - out_6053481103905099724[40] = state[6]; - out_6053481103905099724[41] = 0; - out_6053481103905099724[42] = state[4]; - out_6053481103905099724[43] = -state[3]; - out_6053481103905099724[44] = 0; - out_6053481103905099724[45] = 0; - out_6053481103905099724[46] = 0; - out_6053481103905099724[47] = 0; - out_6053481103905099724[48] = 0; - out_6053481103905099724[49] = 0; - out_6053481103905099724[50] = 1; - out_6053481103905099724[51] = 0; - out_6053481103905099724[52] = 0; - out_6053481103905099724[53] = 1; +void H_10(double *state, double *unused, double *out_1070049335288984001) { + out_1070049335288984001[0] = 0; + out_1070049335288984001[1] = 9.8100000000000005*cos(state[1]); + out_1070049335288984001[2] = 0; + out_1070049335288984001[3] = 0; + out_1070049335288984001[4] = -state[8]; + out_1070049335288984001[5] = state[7]; + out_1070049335288984001[6] = 0; + out_1070049335288984001[7] = state[5]; + out_1070049335288984001[8] = -state[4]; + out_1070049335288984001[9] = 0; + out_1070049335288984001[10] = 0; + out_1070049335288984001[11] = 0; + out_1070049335288984001[12] = 1; + out_1070049335288984001[13] = 0; + out_1070049335288984001[14] = 0; + out_1070049335288984001[15] = 1; + out_1070049335288984001[16] = 0; + out_1070049335288984001[17] = 0; + out_1070049335288984001[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1070049335288984001[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1070049335288984001[20] = 0; + out_1070049335288984001[21] = state[8]; + out_1070049335288984001[22] = 0; + out_1070049335288984001[23] = -state[6]; + out_1070049335288984001[24] = -state[5]; + out_1070049335288984001[25] = 0; + out_1070049335288984001[26] = state[3]; + out_1070049335288984001[27] = 0; + out_1070049335288984001[28] = 0; + out_1070049335288984001[29] = 0; + out_1070049335288984001[30] = 0; + out_1070049335288984001[31] = 1; + out_1070049335288984001[32] = 0; + out_1070049335288984001[33] = 0; + out_1070049335288984001[34] = 1; + out_1070049335288984001[35] = 0; + out_1070049335288984001[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1070049335288984001[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1070049335288984001[38] = 0; + out_1070049335288984001[39] = -state[7]; + out_1070049335288984001[40] = state[6]; + out_1070049335288984001[41] = 0; + out_1070049335288984001[42] = state[4]; + out_1070049335288984001[43] = -state[3]; + out_1070049335288984001[44] = 0; + out_1070049335288984001[45] = 0; + out_1070049335288984001[46] = 0; + out_1070049335288984001[47] = 0; + out_1070049335288984001[48] = 0; + out_1070049335288984001[49] = 0; + out_1070049335288984001[50] = 1; + out_1070049335288984001[51] = 0; + out_1070049335288984001[52] = 0; + out_1070049335288984001[53] = 1; } -void h_13(double *state, double *unused, double *out_8506504787708500859) { - out_8506504787708500859[0] = state[3]; - out_8506504787708500859[1] = state[4]; - out_8506504787708500859[2] = state[5]; +void h_13(double *state, double *unused, double *out_61045813616994293) { + out_61045813616994293[0] = state[3]; + out_61045813616994293[1] = state[4]; + out_61045813616994293[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7874493010280447066) { - out_7874493010280447066[0] = 0; - out_7874493010280447066[1] = 0; - out_7874493010280447066[2] = 0; - out_7874493010280447066[3] = 1; - out_7874493010280447066[4] = 0; - out_7874493010280447066[5] = 0; - out_7874493010280447066[6] = 0; - out_7874493010280447066[7] = 0; - out_7874493010280447066[8] = 0; - out_7874493010280447066[9] = 0; - out_7874493010280447066[10] = 0; - out_7874493010280447066[11] = 0; - out_7874493010280447066[12] = 0; - out_7874493010280447066[13] = 0; - out_7874493010280447066[14] = 0; - out_7874493010280447066[15] = 0; - out_7874493010280447066[16] = 0; - out_7874493010280447066[17] = 0; - out_7874493010280447066[18] = 0; - out_7874493010280447066[19] = 0; - out_7874493010280447066[20] = 0; - out_7874493010280447066[21] = 0; - out_7874493010280447066[22] = 1; - out_7874493010280447066[23] = 0; - out_7874493010280447066[24] = 0; - out_7874493010280447066[25] = 0; - out_7874493010280447066[26] = 0; - out_7874493010280447066[27] = 0; - out_7874493010280447066[28] = 0; - out_7874493010280447066[29] = 0; - out_7874493010280447066[30] = 0; - out_7874493010280447066[31] = 0; - out_7874493010280447066[32] = 0; - out_7874493010280447066[33] = 0; - out_7874493010280447066[34] = 0; - out_7874493010280447066[35] = 0; - out_7874493010280447066[36] = 0; - out_7874493010280447066[37] = 0; - out_7874493010280447066[38] = 0; - out_7874493010280447066[39] = 0; - out_7874493010280447066[40] = 0; - out_7874493010280447066[41] = 1; - out_7874493010280447066[42] = 0; - out_7874493010280447066[43] = 0; - out_7874493010280447066[44] = 0; - out_7874493010280447066[45] = 0; - out_7874493010280447066[46] = 0; - out_7874493010280447066[47] = 0; - out_7874493010280447066[48] = 0; - out_7874493010280447066[49] = 0; - out_7874493010280447066[50] = 0; - out_7874493010280447066[51] = 0; - out_7874493010280447066[52] = 0; - out_7874493010280447066[53] = 0; +void H_13(double *state, double *unused, double *out_8051683365508885834) { + out_8051683365508885834[0] = 0; + out_8051683365508885834[1] = 0; + out_8051683365508885834[2] = 0; + out_8051683365508885834[3] = 1; + out_8051683365508885834[4] = 0; + out_8051683365508885834[5] = 0; + out_8051683365508885834[6] = 0; + out_8051683365508885834[7] = 0; + out_8051683365508885834[8] = 0; + out_8051683365508885834[9] = 0; + out_8051683365508885834[10] = 0; + out_8051683365508885834[11] = 0; + out_8051683365508885834[12] = 0; + out_8051683365508885834[13] = 0; + out_8051683365508885834[14] = 0; + out_8051683365508885834[15] = 0; + out_8051683365508885834[16] = 0; + out_8051683365508885834[17] = 0; + out_8051683365508885834[18] = 0; + out_8051683365508885834[19] = 0; + out_8051683365508885834[20] = 0; + out_8051683365508885834[21] = 0; + out_8051683365508885834[22] = 1; + out_8051683365508885834[23] = 0; + out_8051683365508885834[24] = 0; + out_8051683365508885834[25] = 0; + out_8051683365508885834[26] = 0; + out_8051683365508885834[27] = 0; + out_8051683365508885834[28] = 0; + out_8051683365508885834[29] = 0; + out_8051683365508885834[30] = 0; + out_8051683365508885834[31] = 0; + out_8051683365508885834[32] = 0; + out_8051683365508885834[33] = 0; + out_8051683365508885834[34] = 0; + out_8051683365508885834[35] = 0; + out_8051683365508885834[36] = 0; + out_8051683365508885834[37] = 0; + out_8051683365508885834[38] = 0; + out_8051683365508885834[39] = 0; + out_8051683365508885834[40] = 0; + out_8051683365508885834[41] = 1; + out_8051683365508885834[42] = 0; + out_8051683365508885834[43] = 0; + out_8051683365508885834[44] = 0; + out_8051683365508885834[45] = 0; + out_8051683365508885834[46] = 0; + out_8051683365508885834[47] = 0; + out_8051683365508885834[48] = 0; + out_8051683365508885834[49] = 0; + out_8051683365508885834[50] = 0; + out_8051683365508885834[51] = 0; + out_8051683365508885834[52] = 0; + out_8051683365508885834[53] = 0; } -void h_14(double *state, double *unused, double *out_6030639671543279411) { - out_6030639671543279411[0] = state[6]; - out_6030639671543279411[1] = state[7]; - out_6030639671543279411[2] = state[8]; +void h_14(double *state, double *unused, double *out_8545162578881105562) { + out_8545162578881105562[0] = state[6]; + out_8545162578881105562[1] = state[7]; + out_8545162578881105562[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7123525979273295338) { - out_7123525979273295338[0] = 0; - out_7123525979273295338[1] = 0; - out_7123525979273295338[2] = 0; - out_7123525979273295338[3] = 0; - out_7123525979273295338[4] = 0; - out_7123525979273295338[5] = 0; - out_7123525979273295338[6] = 1; - out_7123525979273295338[7] = 0; - out_7123525979273295338[8] = 0; - out_7123525979273295338[9] = 0; - out_7123525979273295338[10] = 0; - out_7123525979273295338[11] = 0; - out_7123525979273295338[12] = 0; - out_7123525979273295338[13] = 0; - out_7123525979273295338[14] = 0; - out_7123525979273295338[15] = 0; - out_7123525979273295338[16] = 0; - out_7123525979273295338[17] = 0; - out_7123525979273295338[18] = 0; - out_7123525979273295338[19] = 0; - out_7123525979273295338[20] = 0; - out_7123525979273295338[21] = 0; - out_7123525979273295338[22] = 0; - out_7123525979273295338[23] = 0; - out_7123525979273295338[24] = 0; - out_7123525979273295338[25] = 1; - out_7123525979273295338[26] = 0; - out_7123525979273295338[27] = 0; - out_7123525979273295338[28] = 0; - out_7123525979273295338[29] = 0; - out_7123525979273295338[30] = 0; - out_7123525979273295338[31] = 0; - out_7123525979273295338[32] = 0; - out_7123525979273295338[33] = 0; - out_7123525979273295338[34] = 0; - out_7123525979273295338[35] = 0; - out_7123525979273295338[36] = 0; - out_7123525979273295338[37] = 0; - out_7123525979273295338[38] = 0; - out_7123525979273295338[39] = 0; - out_7123525979273295338[40] = 0; - out_7123525979273295338[41] = 0; - out_7123525979273295338[42] = 0; - out_7123525979273295338[43] = 0; - out_7123525979273295338[44] = 1; - out_7123525979273295338[45] = 0; - out_7123525979273295338[46] = 0; - out_7123525979273295338[47] = 0; - out_7123525979273295338[48] = 0; - out_7123525979273295338[49] = 0; - out_7123525979273295338[50] = 0; - out_7123525979273295338[51] = 0; - out_7123525979273295338[52] = 0; - out_7123525979273295338[53] = 0; +void H_14(double *state, double *unused, double *out_4404293013531669434) { + out_4404293013531669434[0] = 0; + out_4404293013531669434[1] = 0; + out_4404293013531669434[2] = 0; + out_4404293013531669434[3] = 0; + out_4404293013531669434[4] = 0; + out_4404293013531669434[5] = 0; + out_4404293013531669434[6] = 1; + out_4404293013531669434[7] = 0; + out_4404293013531669434[8] = 0; + out_4404293013531669434[9] = 0; + out_4404293013531669434[10] = 0; + out_4404293013531669434[11] = 0; + out_4404293013531669434[12] = 0; + out_4404293013531669434[13] = 0; + out_4404293013531669434[14] = 0; + out_4404293013531669434[15] = 0; + out_4404293013531669434[16] = 0; + out_4404293013531669434[17] = 0; + out_4404293013531669434[18] = 0; + out_4404293013531669434[19] = 0; + out_4404293013531669434[20] = 0; + out_4404293013531669434[21] = 0; + out_4404293013531669434[22] = 0; + out_4404293013531669434[23] = 0; + out_4404293013531669434[24] = 0; + out_4404293013531669434[25] = 1; + out_4404293013531669434[26] = 0; + out_4404293013531669434[27] = 0; + out_4404293013531669434[28] = 0; + out_4404293013531669434[29] = 0; + out_4404293013531669434[30] = 0; + out_4404293013531669434[31] = 0; + out_4404293013531669434[32] = 0; + out_4404293013531669434[33] = 0; + out_4404293013531669434[34] = 0; + out_4404293013531669434[35] = 0; + out_4404293013531669434[36] = 0; + out_4404293013531669434[37] = 0; + out_4404293013531669434[38] = 0; + out_4404293013531669434[39] = 0; + out_4404293013531669434[40] = 0; + out_4404293013531669434[41] = 0; + out_4404293013531669434[42] = 0; + out_4404293013531669434[43] = 0; + out_4404293013531669434[44] = 1; + out_4404293013531669434[45] = 0; + out_4404293013531669434[46] = 0; + out_4404293013531669434[47] = 0; + out_4404293013531669434[48] = 0; + out_4404293013531669434[49] = 0; + out_4404293013531669434[50] = 0; + out_4404293013531669434[51] = 0; + out_4404293013531669434[52] = 0; + out_4404293013531669434[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_8334628911363265031) { - err_fun(nom_x, delta_x, out_8334628911363265031); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3597460724364137401) { + err_fun(nom_x, delta_x, out_3597460724364137401); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963) { - inv_err_fun(nom_x, true_x, out_6557509511038369963); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1062002485999931142) { + inv_err_fun(nom_x, true_x, out_1062002485999931142); } -void pose_H_mod_fun(double *state, double *out_2207458853057691014) { - H_mod_fun(state, out_2207458853057691014); +void pose_H_mod_fun(double *state, double *out_4662972867475177241) { + H_mod_fun(state, out_4662972867475177241); } -void pose_f_fun(double *state, double dt, double *out_7635303320387631810) { - f_fun(state, dt, out_7635303320387631810); +void pose_f_fun(double *state, double dt, double *out_3840229658681249647) { + f_fun(state, dt, out_3840229658681249647); } -void pose_F_fun(double *state, double dt, double *out_8324840199262111301) { - F_fun(state, dt, out_8324840199262111301); +void pose_F_fun(double *state, double dt, double *out_8220635292339759608) { + F_fun(state, dt, out_8220635292339759608); } -void pose_h_4(double *state, double *unused, double *out_2118179578320955915) { - h_4(state, unused, out_2118179578320955915); +void pose_h_4(double *state, double *unused, double *out_2097936204583725179) { + h_4(state, unused, out_2097936204583725179); } -void pose_H_4(double *state, double *unused, double *out_7359977238096771749) { - H_4(state, unused, out_7359977238096771749); +void pose_H_4(double *state, double *unused, double *out_4839409540176553033) { + H_4(state, unused, out_4839409540176553033); } -void pose_h_10(double *state, double *unused, double *out_863109591849531819) { - h_10(state, unused, out_863109591849531819); +void pose_h_10(double *state, double *unused, double *out_29444642201375045) { + h_10(state, unused, out_29444642201375045); } -void pose_H_10(double *state, double *unused, double *out_6053481103905099724) { - H_10(state, unused, out_6053481103905099724); +void pose_H_10(double *state, double *unused, double *out_1070049335288984001) { + H_10(state, unused, out_1070049335288984001); } -void pose_h_13(double *state, double *unused, double *out_8506504787708500859) { - h_13(state, unused, out_8506504787708500859); +void pose_h_13(double *state, double *unused, double *out_61045813616994293) { + h_13(state, unused, out_61045813616994293); } -void pose_H_13(double *state, double *unused, double *out_7874493010280447066) { - H_13(state, unused, out_7874493010280447066); +void pose_H_13(double *state, double *unused, double *out_8051683365508885834) { + H_13(state, unused, out_8051683365508885834); } -void pose_h_14(double *state, double *unused, double *out_6030639671543279411) { - h_14(state, unused, out_6030639671543279411); +void pose_h_14(double *state, double *unused, double *out_8545162578881105562) { + h_14(state, unused, out_8545162578881105562); } -void pose_H_14(double *state, double *unused, double *out_7123525979273295338) { - H_14(state, unused, out_7123525979273295338); +void pose_H_14(double *state, double *unused, double *out_4404293013531669434) { + H_14(state, unused, out_4404293013531669434); } 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 dd9184a476..36a57ae50a 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_8334628911363265031); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963); -void pose_H_mod_fun(double *state, double *out_2207458853057691014); -void pose_f_fun(double *state, double dt, double *out_7635303320387631810); -void pose_F_fun(double *state, double dt, double *out_8324840199262111301); -void pose_h_4(double *state, double *unused, double *out_2118179578320955915); -void pose_H_4(double *state, double *unused, double *out_7359977238096771749); -void pose_h_10(double *state, double *unused, double *out_863109591849531819); -void pose_H_10(double *state, double *unused, double *out_6053481103905099724); -void pose_h_13(double *state, double *unused, double *out_8506504787708500859); -void pose_H_13(double *state, double *unused, double *out_7874493010280447066); -void pose_h_14(double *state, double *unused, double *out_6030639671543279411); -void pose_H_14(double *state, double *unused, double *out_7123525979273295338); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3597460724364137401); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1062002485999931142); +void pose_H_mod_fun(double *state, double *out_4662972867475177241); +void pose_f_fun(double *state, double dt, double *out_3840229658681249647); +void pose_F_fun(double *state, double dt, double *out_8220635292339759608); +void pose_h_4(double *state, double *unused, double *out_2097936204583725179); +void pose_H_4(double *state, double *unused, double *out_4839409540176553033); +void pose_h_10(double *state, double *unused, double *out_29444642201375045); +void pose_H_10(double *state, double *unused, double *out_1070049335288984001); +void pose_h_13(double *state, double *unused, double *out_61045813616994293); +void pose_H_13(double *state, double *unused, double *out_8051683365508885834); +void pose_h_14(double *state, double *unused, double *out_8545162578881105562); +void pose_H_14(double *state, double *unused, double *out_4404293013531669434); 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 30565a9d5a..15e1da462b 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 30f8c895eb..490a9086ec 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 7fa536aec6..4a5735cb44 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index a1c139ba06..c9062e03bb 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 2e4694fa28..913f6dcde2 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ