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b/panda/board/obj/version @@ -1 +1 @@ -DEV-83cec26d-DEBUG \ No newline at end of file +DEV-2ef545b9-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index e70ca1831..5f0fd4c8f 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_7084348270501559549) { - out_7084348270501559549[0] = delta_x[0] + nom_x[0]; - out_7084348270501559549[1] = delta_x[1] + nom_x[1]; - out_7084348270501559549[2] = delta_x[2] + nom_x[2]; - out_7084348270501559549[3] = delta_x[3] + nom_x[3]; - out_7084348270501559549[4] = delta_x[4] + nom_x[4]; - out_7084348270501559549[5] = delta_x[5] + nom_x[5]; - out_7084348270501559549[6] = delta_x[6] + nom_x[6]; - out_7084348270501559549[7] = delta_x[7] + nom_x[7]; - out_7084348270501559549[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7775273935163259771) { + out_7775273935163259771[0] = delta_x[0] + nom_x[0]; + out_7775273935163259771[1] = delta_x[1] + nom_x[1]; + out_7775273935163259771[2] = delta_x[2] + nom_x[2]; + out_7775273935163259771[3] = delta_x[3] + nom_x[3]; + out_7775273935163259771[4] = delta_x[4] + nom_x[4]; + out_7775273935163259771[5] = delta_x[5] + nom_x[5]; + out_7775273935163259771[6] = delta_x[6] + nom_x[6]; + out_7775273935163259771[7] = delta_x[7] + nom_x[7]; + out_7775273935163259771[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_693097121251649199) { - out_693097121251649199[0] = -nom_x[0] + true_x[0]; - out_693097121251649199[1] = -nom_x[1] + true_x[1]; - out_693097121251649199[2] = -nom_x[2] + true_x[2]; - out_693097121251649199[3] = -nom_x[3] + true_x[3]; - out_693097121251649199[4] = -nom_x[4] + true_x[4]; - out_693097121251649199[5] = -nom_x[5] + true_x[5]; - out_693097121251649199[6] = -nom_x[6] + true_x[6]; - out_693097121251649199[7] = -nom_x[7] + true_x[7]; - out_693097121251649199[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7144320503723657844) { + out_7144320503723657844[0] = -nom_x[0] + true_x[0]; + out_7144320503723657844[1] = -nom_x[1] + true_x[1]; + out_7144320503723657844[2] = -nom_x[2] + true_x[2]; + out_7144320503723657844[3] = -nom_x[3] + true_x[3]; + out_7144320503723657844[4] = -nom_x[4] + true_x[4]; + out_7144320503723657844[5] = -nom_x[5] + true_x[5]; + out_7144320503723657844[6] = -nom_x[6] + true_x[6]; + out_7144320503723657844[7] = -nom_x[7] + true_x[7]; + out_7144320503723657844[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1623843232183312219) { - out_1623843232183312219[0] = 1.0; - out_1623843232183312219[1] = 0.0; - out_1623843232183312219[2] = 0.0; - out_1623843232183312219[3] = 0.0; - out_1623843232183312219[4] = 0.0; - out_1623843232183312219[5] = 0.0; - out_1623843232183312219[6] = 0.0; - out_1623843232183312219[7] = 0.0; - out_1623843232183312219[8] = 0.0; - out_1623843232183312219[9] = 0.0; - out_1623843232183312219[10] = 1.0; - out_1623843232183312219[11] = 0.0; - out_1623843232183312219[12] = 0.0; - out_1623843232183312219[13] = 0.0; - out_1623843232183312219[14] = 0.0; - out_1623843232183312219[15] = 0.0; - out_1623843232183312219[16] = 0.0; - out_1623843232183312219[17] = 0.0; - out_1623843232183312219[18] = 0.0; - out_1623843232183312219[19] = 0.0; - out_1623843232183312219[20] = 1.0; - out_1623843232183312219[21] = 0.0; - out_1623843232183312219[22] = 0.0; - out_1623843232183312219[23] = 0.0; - out_1623843232183312219[24] = 0.0; - out_1623843232183312219[25] = 0.0; - out_1623843232183312219[26] = 0.0; - out_1623843232183312219[27] = 0.0; - out_1623843232183312219[28] = 0.0; - out_1623843232183312219[29] = 0.0; - out_1623843232183312219[30] = 1.0; - out_1623843232183312219[31] = 0.0; - out_1623843232183312219[32] = 0.0; - out_1623843232183312219[33] = 0.0; - out_1623843232183312219[34] = 0.0; - out_1623843232183312219[35] = 0.0; - out_1623843232183312219[36] = 0.0; - out_1623843232183312219[37] = 0.0; - out_1623843232183312219[38] = 0.0; - out_1623843232183312219[39] = 0.0; - out_1623843232183312219[40] = 1.0; - out_1623843232183312219[41] = 0.0; - out_1623843232183312219[42] = 0.0; - out_1623843232183312219[43] = 0.0; - out_1623843232183312219[44] = 0.0; - out_1623843232183312219[45] = 0.0; - out_1623843232183312219[46] = 0.0; - out_1623843232183312219[47] = 0.0; - out_1623843232183312219[48] = 0.0; - out_1623843232183312219[49] = 0.0; - out_1623843232183312219[50] = 1.0; - out_1623843232183312219[51] = 0.0; - out_1623843232183312219[52] = 0.0; - out_1623843232183312219[53] = 0.0; - out_1623843232183312219[54] = 0.0; - out_1623843232183312219[55] = 0.0; - out_1623843232183312219[56] = 0.0; - out_1623843232183312219[57] = 0.0; - out_1623843232183312219[58] = 0.0; - out_1623843232183312219[59] = 0.0; - out_1623843232183312219[60] = 1.0; - out_1623843232183312219[61] = 0.0; - out_1623843232183312219[62] = 0.0; - out_1623843232183312219[63] = 0.0; - out_1623843232183312219[64] = 0.0; - out_1623843232183312219[65] = 0.0; - out_1623843232183312219[66] = 0.0; - out_1623843232183312219[67] = 0.0; - out_1623843232183312219[68] = 0.0; - out_1623843232183312219[69] = 0.0; - out_1623843232183312219[70] = 1.0; - out_1623843232183312219[71] = 0.0; - out_1623843232183312219[72] = 0.0; - out_1623843232183312219[73] = 0.0; - out_1623843232183312219[74] = 0.0; - out_1623843232183312219[75] = 0.0; - out_1623843232183312219[76] = 0.0; - out_1623843232183312219[77] = 0.0; - out_1623843232183312219[78] = 0.0; - out_1623843232183312219[79] = 0.0; - out_1623843232183312219[80] = 1.0; +void H_mod_fun(double *state, double *out_5290264847807647293) { + out_5290264847807647293[0] = 1.0; + out_5290264847807647293[1] = 0.0; + out_5290264847807647293[2] = 0.0; + out_5290264847807647293[3] = 0.0; + out_5290264847807647293[4] = 0.0; + out_5290264847807647293[5] = 0.0; + out_5290264847807647293[6] = 0.0; + out_5290264847807647293[7] = 0.0; + out_5290264847807647293[8] = 0.0; + out_5290264847807647293[9] = 0.0; + out_5290264847807647293[10] = 1.0; + out_5290264847807647293[11] = 0.0; + out_5290264847807647293[12] = 0.0; + out_5290264847807647293[13] = 0.0; + out_5290264847807647293[14] = 0.0; + out_5290264847807647293[15] = 0.0; + out_5290264847807647293[16] = 0.0; + out_5290264847807647293[17] = 0.0; + out_5290264847807647293[18] = 0.0; + out_5290264847807647293[19] = 0.0; + out_5290264847807647293[20] = 1.0; + out_5290264847807647293[21] = 0.0; + out_5290264847807647293[22] = 0.0; + out_5290264847807647293[23] = 0.0; + out_5290264847807647293[24] = 0.0; + out_5290264847807647293[25] = 0.0; + out_5290264847807647293[26] = 0.0; + out_5290264847807647293[27] = 0.0; + out_5290264847807647293[28] = 0.0; + out_5290264847807647293[29] = 0.0; + out_5290264847807647293[30] = 1.0; + out_5290264847807647293[31] = 0.0; + out_5290264847807647293[32] = 0.0; + out_5290264847807647293[33] = 0.0; + out_5290264847807647293[34] = 0.0; + out_5290264847807647293[35] = 0.0; + out_5290264847807647293[36] = 0.0; + out_5290264847807647293[37] = 0.0; + out_5290264847807647293[38] = 0.0; + out_5290264847807647293[39] = 0.0; + out_5290264847807647293[40] = 1.0; + out_5290264847807647293[41] = 0.0; + out_5290264847807647293[42] = 0.0; + out_5290264847807647293[43] = 0.0; + out_5290264847807647293[44] = 0.0; + out_5290264847807647293[45] = 0.0; + out_5290264847807647293[46] = 0.0; + out_5290264847807647293[47] = 0.0; + out_5290264847807647293[48] = 0.0; + out_5290264847807647293[49] = 0.0; + out_5290264847807647293[50] = 1.0; + out_5290264847807647293[51] = 0.0; + out_5290264847807647293[52] = 0.0; + out_5290264847807647293[53] = 0.0; + out_5290264847807647293[54] = 0.0; + out_5290264847807647293[55] = 0.0; + out_5290264847807647293[56] = 0.0; + out_5290264847807647293[57] = 0.0; + out_5290264847807647293[58] = 0.0; + out_5290264847807647293[59] = 0.0; + out_5290264847807647293[60] = 1.0; + out_5290264847807647293[61] = 0.0; + out_5290264847807647293[62] = 0.0; + out_5290264847807647293[63] = 0.0; + out_5290264847807647293[64] = 0.0; + out_5290264847807647293[65] = 0.0; + out_5290264847807647293[66] = 0.0; + out_5290264847807647293[67] = 0.0; + out_5290264847807647293[68] = 0.0; + out_5290264847807647293[69] = 0.0; + out_5290264847807647293[70] = 1.0; + out_5290264847807647293[71] = 0.0; + out_5290264847807647293[72] = 0.0; + out_5290264847807647293[73] = 0.0; + out_5290264847807647293[74] = 0.0; + out_5290264847807647293[75] = 0.0; + out_5290264847807647293[76] = 0.0; + out_5290264847807647293[77] = 0.0; + out_5290264847807647293[78] = 0.0; + out_5290264847807647293[79] = 0.0; + out_5290264847807647293[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1622952619636770739) { - out_1622952619636770739[0] = state[0]; - out_1622952619636770739[1] = state[1]; - out_1622952619636770739[2] = state[2]; - out_1622952619636770739[3] = state[3]; - out_1622952619636770739[4] = state[4]; - out_1622952619636770739[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_1622952619636770739[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_1622952619636770739[7] = state[7]; - out_1622952619636770739[8] = state[8]; +void f_fun(double *state, double dt, double *out_6558018291433416815) { + out_6558018291433416815[0] = state[0]; + out_6558018291433416815[1] = state[1]; + out_6558018291433416815[2] = state[2]; + out_6558018291433416815[3] = state[3]; + out_6558018291433416815[4] = state[4]; + out_6558018291433416815[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_6558018291433416815[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_6558018291433416815[7] = state[7]; + out_6558018291433416815[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7142842168519911469) { - out_7142842168519911469[0] = 1; - out_7142842168519911469[1] = 0; - out_7142842168519911469[2] = 0; - out_7142842168519911469[3] = 0; - out_7142842168519911469[4] = 0; - out_7142842168519911469[5] = 0; - out_7142842168519911469[6] = 0; - out_7142842168519911469[7] = 0; - out_7142842168519911469[8] = 0; - out_7142842168519911469[9] = 0; - out_7142842168519911469[10] = 1; - out_7142842168519911469[11] = 0; - out_7142842168519911469[12] = 0; - out_7142842168519911469[13] = 0; - out_7142842168519911469[14] = 0; - out_7142842168519911469[15] = 0; - out_7142842168519911469[16] = 0; - out_7142842168519911469[17] = 0; - out_7142842168519911469[18] = 0; - out_7142842168519911469[19] = 0; - out_7142842168519911469[20] = 1; - out_7142842168519911469[21] = 0; - out_7142842168519911469[22] = 0; - out_7142842168519911469[23] = 0; - out_7142842168519911469[24] = 0; - out_7142842168519911469[25] = 0; - out_7142842168519911469[26] = 0; - out_7142842168519911469[27] = 0; - out_7142842168519911469[28] = 0; - out_7142842168519911469[29] = 0; - out_7142842168519911469[30] = 1; - out_7142842168519911469[31] = 0; - out_7142842168519911469[32] = 0; - out_7142842168519911469[33] = 0; - out_7142842168519911469[34] = 0; - out_7142842168519911469[35] = 0; - out_7142842168519911469[36] = 0; - out_7142842168519911469[37] = 0; - out_7142842168519911469[38] = 0; - out_7142842168519911469[39] = 0; - out_7142842168519911469[40] = 1; - out_7142842168519911469[41] = 0; - out_7142842168519911469[42] = 0; - out_7142842168519911469[43] = 0; - out_7142842168519911469[44] = 0; - out_7142842168519911469[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_7142842168519911469[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7142842168519911469[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7142842168519911469[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7142842168519911469[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_7142842168519911469[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7142842168519911469[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7142842168519911469[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7142842168519911469[53] = -9.8100000000000005*dt; - out_7142842168519911469[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_7142842168519911469[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7142842168519911469[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7142842168519911469[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7142842168519911469[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_7142842168519911469[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7142842168519911469[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_7142842168519911469[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7142842168519911469[62] = 0; - out_7142842168519911469[63] = 0; - out_7142842168519911469[64] = 0; - out_7142842168519911469[65] = 0; - out_7142842168519911469[66] = 0; - out_7142842168519911469[67] = 0; - out_7142842168519911469[68] = 0; - out_7142842168519911469[69] = 0; - out_7142842168519911469[70] = 1; - out_7142842168519911469[71] = 0; - out_7142842168519911469[72] = 0; - out_7142842168519911469[73] = 0; - out_7142842168519911469[74] = 0; - out_7142842168519911469[75] = 0; - out_7142842168519911469[76] = 0; - out_7142842168519911469[77] = 0; - out_7142842168519911469[78] = 0; - out_7142842168519911469[79] = 0; - out_7142842168519911469[80] = 1; +void F_fun(double *state, double dt, double *out_7302370609560386304) { + out_7302370609560386304[0] = 1; + out_7302370609560386304[1] = 0; + out_7302370609560386304[2] = 0; + out_7302370609560386304[3] = 0; + out_7302370609560386304[4] = 0; + out_7302370609560386304[5] = 0; + out_7302370609560386304[6] = 0; + out_7302370609560386304[7] = 0; + out_7302370609560386304[8] = 0; + out_7302370609560386304[9] = 0; + out_7302370609560386304[10] = 1; + out_7302370609560386304[11] = 0; + out_7302370609560386304[12] = 0; + out_7302370609560386304[13] = 0; + out_7302370609560386304[14] = 0; + out_7302370609560386304[15] = 0; + out_7302370609560386304[16] = 0; + out_7302370609560386304[17] = 0; + out_7302370609560386304[18] = 0; + out_7302370609560386304[19] = 0; + out_7302370609560386304[20] = 1; + out_7302370609560386304[21] = 0; + out_7302370609560386304[22] = 0; + out_7302370609560386304[23] = 0; + out_7302370609560386304[24] = 0; + out_7302370609560386304[25] = 0; + out_7302370609560386304[26] = 0; + out_7302370609560386304[27] = 0; + out_7302370609560386304[28] = 0; + out_7302370609560386304[29] = 0; + out_7302370609560386304[30] = 1; + out_7302370609560386304[31] = 0; + out_7302370609560386304[32] = 0; + out_7302370609560386304[33] = 0; + out_7302370609560386304[34] = 0; + out_7302370609560386304[35] = 0; + out_7302370609560386304[36] = 0; + out_7302370609560386304[37] = 0; + out_7302370609560386304[38] = 0; + out_7302370609560386304[39] = 0; + out_7302370609560386304[40] = 1; + out_7302370609560386304[41] = 0; + out_7302370609560386304[42] = 0; + out_7302370609560386304[43] = 0; + out_7302370609560386304[44] = 0; + out_7302370609560386304[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_7302370609560386304[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7302370609560386304[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7302370609560386304[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7302370609560386304[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_7302370609560386304[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7302370609560386304[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7302370609560386304[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7302370609560386304[53] = -9.8100000000000005*dt; + out_7302370609560386304[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_7302370609560386304[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7302370609560386304[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7302370609560386304[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7302370609560386304[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_7302370609560386304[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7302370609560386304[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_7302370609560386304[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7302370609560386304[62] = 0; + out_7302370609560386304[63] = 0; + out_7302370609560386304[64] = 0; + out_7302370609560386304[65] = 0; + out_7302370609560386304[66] = 0; + out_7302370609560386304[67] = 0; + out_7302370609560386304[68] = 0; + out_7302370609560386304[69] = 0; + out_7302370609560386304[70] = 1; + out_7302370609560386304[71] = 0; + out_7302370609560386304[72] = 0; + out_7302370609560386304[73] = 0; + out_7302370609560386304[74] = 0; + out_7302370609560386304[75] = 0; + out_7302370609560386304[76] = 0; + out_7302370609560386304[77] = 0; + out_7302370609560386304[78] = 0; + out_7302370609560386304[79] = 0; + out_7302370609560386304[80] = 1; } -void h_25(double *state, double *unused, double *out_7699167154037203435) { - out_7699167154037203435[0] = state[6]; +void h_25(double *state, double *unused, double *out_3941798905160139655) { + out_3941798905160139655[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1899137417806179458) { - out_1899137417806179458[0] = 0; - out_1899137417806179458[1] = 0; - out_1899137417806179458[2] = 0; - out_1899137417806179458[3] = 0; - out_1899137417806179458[4] = 0; - out_1899137417806179458[5] = 0; - out_1899137417806179458[6] = 1; - out_1899137417806179458[7] = 0; - out_1899137417806179458[8] = 0; +void H_25(double *state, double *unused, double *out_1767216209162282145) { + out_1767216209162282145[0] = 0; + out_1767216209162282145[1] = 0; + out_1767216209162282145[2] = 0; + out_1767216209162282145[3] = 0; + out_1767216209162282145[4] = 0; + out_1767216209162282145[5] = 0; + out_1767216209162282145[6] = 1; + out_1767216209162282145[7] = 0; + out_1767216209162282145[8] = 0; } -void h_24(double *state, double *unused, double *out_5775267180984789848) { - out_5775267180984789848[0] = state[4]; - out_5775267180984789848[1] = state[5]; +void h_24(double *state, double *unused, double *out_3290253106094290464) { + out_3290253106094290464[0] = state[4]; + out_3290253106094290464[1] = state[5]; } -void H_24(double *state, double *unused, double *out_273512181199320108) { - out_273512181199320108[0] = 0; - out_273512181199320108[1] = 0; - out_273512181199320108[2] = 0; - out_273512181199320108[3] = 0; - out_273512181199320108[4] = 1; - out_273512181199320108[5] = 0; - out_273512181199320108[6] = 0; - out_273512181199320108[7] = 0; - out_273512181199320108[8] = 0; - out_273512181199320108[9] = 0; - out_273512181199320108[10] = 0; - out_273512181199320108[11] = 0; - out_273512181199320108[12] = 0; - out_273512181199320108[13] = 0; - out_273512181199320108[14] = 1; - out_273512181199320108[15] = 0; - out_273512181199320108[16] = 0; - out_273512181199320108[17] = 0; +void H_24(double *state, double *unused, double *out_2751282080003595813) { + out_2751282080003595813[0] = 0; + out_2751282080003595813[1] = 0; + out_2751282080003595813[2] = 0; + out_2751282080003595813[3] = 0; + out_2751282080003595813[4] = 1; + out_2751282080003595813[5] = 0; + out_2751282080003595813[6] = 0; + out_2751282080003595813[7] = 0; + out_2751282080003595813[8] = 0; + out_2751282080003595813[9] = 0; + out_2751282080003595813[10] = 0; + out_2751282080003595813[11] = 0; + out_2751282080003595813[12] = 0; + out_2751282080003595813[13] = 0; + out_2751282080003595813[14] = 1; + out_2751282080003595813[15] = 0; + out_2751282080003595813[16] = 0; + out_2751282080003595813[17] = 0; } -void h_30(double *state, double *unused, double *out_940710322681338449) { - out_940710322681338449[0] = state[4]; +void h_30(double *state, double *unused, double *out_198122822665014747) { + out_198122822665014747[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8815827759297796213) { - out_8815827759297796213[0] = 0; - out_8815827759297796213[1] = 0; - out_8815827759297796213[2] = 0; - out_8815827759297796213[3] = 0; - out_8815827759297796213[4] = 1; - out_8815827759297796213[5] = 0; - out_8815827759297796213[6] = 0; - out_8815827759297796213[7] = 0; - out_8815827759297796213[8] = 0; +void H_30(double *state, double *unused, double *out_8683906550653898900) { + out_8683906550653898900[0] = 0; + out_8683906550653898900[1] = 0; + out_8683906550653898900[2] = 0; + out_8683906550653898900[3] = 0; + out_8683906550653898900[4] = 1; + out_8683906550653898900[5] = 0; + out_8683906550653898900[6] = 0; + out_8683906550653898900[7] = 0; + out_8683906550653898900[8] = 0; } -void h_26(double *state, double *unused, double *out_1922794416016636561) { - out_1922794416016636561[0] = state[7]; +void h_26(double *state, double *unused, double *out_4803550444995830898) { + out_4803550444995830898[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1842365901067876766) { - out_1842365901067876766[0] = 0; - out_1842365901067876766[1] = 0; - out_1842365901067876766[2] = 0; - out_1842365901067876766[3] = 0; - out_1842365901067876766[4] = 0; - out_1842365901067876766[5] = 0; - out_1842365901067876766[6] = 0; - out_1842365901067876766[7] = 1; - out_1842365901067876766[8] = 0; +void H_26(double *state, double *unused, double *out_5071742178923082746) { + out_5071742178923082746[0] = 0; + out_5071742178923082746[1] = 0; + out_5071742178923082746[2] = 0; + out_5071742178923082746[3] = 0; + out_5071742178923082746[4] = 0; + out_5071742178923082746[5] = 0; + out_5071742178923082746[6] = 0; + out_5071742178923082746[7] = 1; + out_5071742178923082746[8] = 0; } -void h_27(double *state, double *unused, double *out_3098231746361013839) { - out_3098231746361013839[0] = state[3]; +void h_27(double *state, double *unused, double *out_2457242612253709491) { + out_2457242612253709491[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6641064447497371302) { - out_6641064447497371302[0] = 0; - out_6641064447497371302[1] = 0; - out_6641064447497371302[2] = 0; - out_6641064447497371302[3] = 1; - out_6641064447497371302[4] = 0; - out_6641064447497371302[5] = 0; - out_6641064447497371302[6] = 0; - out_6641064447497371302[7] = 0; - out_6641064447497371302[8] = 0; +void H_27(double *state, double *unused, double *out_6509143238853473989) { + out_6509143238853473989[0] = 0; + out_6509143238853473989[1] = 0; + out_6509143238853473989[2] = 0; + out_6509143238853473989[3] = 1; + out_6509143238853473989[4] = 0; + out_6509143238853473989[5] = 0; + out_6509143238853473989[6] = 0; + out_6509143238853473989[7] = 0; + out_6509143238853473989[8] = 0; } -void h_29(double *state, double *unused, double *out_539217781893008511) { - out_539217781893008511[0] = state[1]; +void h_29(double *state, double *unused, double *out_8786285504469856155) { + out_8786285504469856155[0] = state[1]; } -void H_29(double *state, double *unused, double *out_4927701720627820269) { - out_4927701720627820269[0] = 0; - out_4927701720627820269[1] = 1; - out_4927701720627820269[2] = 0; - out_4927701720627820269[3] = 0; - out_4927701720627820269[4] = 0; - out_4927701720627820269[5] = 0; - out_4927701720627820269[6] = 0; - out_4927701720627820269[7] = 0; - out_4927701720627820269[8] = 0; +void H_29(double *state, double *unused, double *out_9194137894968291084) { + out_9194137894968291084[0] = 0; + out_9194137894968291084[1] = 1; + out_9194137894968291084[2] = 0; + out_9194137894968291084[3] = 0; + out_9194137894968291084[4] = 0; + out_9194137894968291084[5] = 0; + out_9194137894968291084[6] = 0; + out_9194137894968291084[7] = 0; + out_9194137894968291084[8] = 0; } -void h_28(double *state, double *unused, double *out_822702928747961705) { - out_822702928747961705[0] = state[0]; +void h_28(double *state, double *unused, double *out_1853926727577231974) { + out_1853926727577231974[0] = state[0]; } -void H_28(double *state, double *unused, double *out_154697296441710305) { - out_154697296441710305[0] = 1; - out_154697296441710305[1] = 0; - out_154697296441710305[2] = 0; - out_154697296441710305[3] = 0; - out_154697296441710305[4] = 0; - out_154697296441710305[5] = 0; - out_154697296441710305[6] = 0; - out_154697296441710305[7] = 0; - out_154697296441710305[8] = 0; +void H_28(double *state, double *unused, double *out_4111738877898760510) { + out_4111738877898760510[0] = 1; + out_4111738877898760510[1] = 0; + out_4111738877898760510[2] = 0; + out_4111738877898760510[3] = 0; + out_4111738877898760510[4] = 0; + out_4111738877898760510[5] = 0; + out_4111738877898760510[6] = 0; + out_4111738877898760510[7] = 0; + out_4111738877898760510[8] = 0; } -void h_31(double *state, double *unused, double *out_6649273621392976317) { - out_6649273621392976317[0] = state[8]; +void h_31(double *state, double *unused, double *out_8040102203439511519) { + out_8040102203439511519[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1929783379683139886) { - out_1929783379683139886[0] = 0; - out_1929783379683139886[1] = 0; - out_1929783379683139886[2] = 0; - out_1929783379683139886[3] = 0; - out_1929783379683139886[4] = 0; - out_1929783379683139886[5] = 0; - out_1929783379683139886[6] = 0; - out_1929783379683139886[7] = 0; - out_1929783379683139886[8] = 1; +void H_31(double *state, double *unused, double *out_1797862171039242573) { + out_1797862171039242573[0] = 0; + out_1797862171039242573[1] = 0; + out_1797862171039242573[2] = 0; + out_1797862171039242573[3] = 0; + out_1797862171039242573[4] = 0; + out_1797862171039242573[5] = 0; + out_1797862171039242573[6] = 0; + out_1797862171039242573[7] = 0; + out_1797862171039242573[8] = 1; } #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_7084348270501559549) { - err_fun(nom_x, delta_x, out_7084348270501559549); +void car_err_fun(double *nom_x, double *delta_x, double *out_7775273935163259771) { + err_fun(nom_x, delta_x, out_7775273935163259771); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_693097121251649199) { - inv_err_fun(nom_x, true_x, out_693097121251649199); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7144320503723657844) { + inv_err_fun(nom_x, true_x, out_7144320503723657844); } -void car_H_mod_fun(double *state, double *out_1623843232183312219) { - H_mod_fun(state, out_1623843232183312219); +void car_H_mod_fun(double *state, double *out_5290264847807647293) { + H_mod_fun(state, out_5290264847807647293); } -void car_f_fun(double *state, double dt, double *out_1622952619636770739) { - f_fun(state, dt, out_1622952619636770739); +void car_f_fun(double *state, double dt, double *out_6558018291433416815) { + f_fun(state, dt, out_6558018291433416815); } -void car_F_fun(double *state, double dt, double *out_7142842168519911469) { - F_fun(state, dt, out_7142842168519911469); +void car_F_fun(double *state, double dt, double *out_7302370609560386304) { + F_fun(state, dt, out_7302370609560386304); } -void car_h_25(double *state, double *unused, double *out_7699167154037203435) { - h_25(state, unused, out_7699167154037203435); +void car_h_25(double *state, double *unused, double *out_3941798905160139655) { + h_25(state, unused, out_3941798905160139655); } -void car_H_25(double *state, double *unused, double *out_1899137417806179458) { - H_25(state, unused, out_1899137417806179458); +void car_H_25(double *state, double *unused, double *out_1767216209162282145) { + H_25(state, unused, out_1767216209162282145); } -void car_h_24(double *state, double *unused, double *out_5775267180984789848) { - h_24(state, unused, out_5775267180984789848); +void car_h_24(double *state, double *unused, double *out_3290253106094290464) { + h_24(state, unused, out_3290253106094290464); } -void car_H_24(double *state, double *unused, double *out_273512181199320108) { - H_24(state, unused, out_273512181199320108); +void car_H_24(double *state, double *unused, double *out_2751282080003595813) { + H_24(state, unused, out_2751282080003595813); } -void car_h_30(double *state, double *unused, double *out_940710322681338449) { - h_30(state, unused, out_940710322681338449); +void car_h_30(double *state, double *unused, double *out_198122822665014747) { + h_30(state, unused, out_198122822665014747); } -void car_H_30(double *state, double *unused, double *out_8815827759297796213) { - H_30(state, unused, out_8815827759297796213); +void car_H_30(double *state, double *unused, double *out_8683906550653898900) { + H_30(state, unused, out_8683906550653898900); } -void car_h_26(double *state, double *unused, double *out_1922794416016636561) { - h_26(state, unused, out_1922794416016636561); +void car_h_26(double *state, double *unused, double *out_4803550444995830898) { + h_26(state, unused, out_4803550444995830898); } -void car_H_26(double *state, double *unused, double *out_1842365901067876766) { - H_26(state, unused, out_1842365901067876766); +void car_H_26(double *state, double *unused, double *out_5071742178923082746) { + H_26(state, unused, out_5071742178923082746); } -void car_h_27(double *state, double *unused, double *out_3098231746361013839) { - h_27(state, unused, out_3098231746361013839); +void car_h_27(double *state, double *unused, double *out_2457242612253709491) { + h_27(state, unused, out_2457242612253709491); } -void car_H_27(double *state, double *unused, double *out_6641064447497371302) { - H_27(state, unused, out_6641064447497371302); +void car_H_27(double *state, double *unused, double *out_6509143238853473989) { + H_27(state, unused, out_6509143238853473989); } -void car_h_29(double *state, double *unused, double *out_539217781893008511) { - h_29(state, unused, out_539217781893008511); +void car_h_29(double *state, double *unused, double *out_8786285504469856155) { + h_29(state, unused, out_8786285504469856155); } -void car_H_29(double *state, double *unused, double *out_4927701720627820269) { - H_29(state, unused, out_4927701720627820269); +void car_H_29(double *state, double *unused, double *out_9194137894968291084) { + H_29(state, unused, out_9194137894968291084); } -void car_h_28(double *state, double *unused, double *out_822702928747961705) { - h_28(state, unused, out_822702928747961705); +void car_h_28(double *state, double *unused, double *out_1853926727577231974) { + h_28(state, unused, out_1853926727577231974); } -void car_H_28(double *state, double *unused, double *out_154697296441710305) { - H_28(state, unused, out_154697296441710305); +void car_H_28(double *state, double *unused, double *out_4111738877898760510) { + H_28(state, unused, out_4111738877898760510); } -void car_h_31(double *state, double *unused, double *out_6649273621392976317) { - h_31(state, unused, out_6649273621392976317); +void car_h_31(double *state, double *unused, double *out_8040102203439511519) { + h_31(state, unused, out_8040102203439511519); } -void car_H_31(double *state, double *unused, double *out_1929783379683139886) { - H_31(state, unused, out_1929783379683139886); +void car_H_31(double *state, double *unused, double *out_1797862171039242573) { + H_31(state, unused, out_1797862171039242573); } 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 c7c58ce19..184ecc1d2 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_7084348270501559549); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_693097121251649199); -void car_H_mod_fun(double *state, double *out_1623843232183312219); -void car_f_fun(double *state, double dt, double *out_1622952619636770739); -void car_F_fun(double *state, double dt, double *out_7142842168519911469); -void car_h_25(double *state, double *unused, double *out_7699167154037203435); -void car_H_25(double *state, double *unused, double *out_1899137417806179458); -void car_h_24(double *state, double *unused, double *out_5775267180984789848); -void car_H_24(double *state, double *unused, double *out_273512181199320108); -void car_h_30(double *state, double *unused, double *out_940710322681338449); -void car_H_30(double *state, double *unused, double *out_8815827759297796213); -void car_h_26(double *state, double *unused, double *out_1922794416016636561); -void car_H_26(double *state, double *unused, double *out_1842365901067876766); -void car_h_27(double *state, double *unused, double *out_3098231746361013839); -void car_H_27(double *state, double *unused, double *out_6641064447497371302); -void car_h_29(double *state, double *unused, double *out_539217781893008511); -void car_H_29(double *state, double *unused, double *out_4927701720627820269); -void car_h_28(double *state, double *unused, double *out_822702928747961705); -void car_H_28(double *state, double *unused, double *out_154697296441710305); -void car_h_31(double *state, double *unused, double *out_6649273621392976317); -void car_H_31(double *state, double *unused, double *out_1929783379683139886); +void car_err_fun(double *nom_x, double *delta_x, double *out_7775273935163259771); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7144320503723657844); +void car_H_mod_fun(double *state, double *out_5290264847807647293); +void car_f_fun(double *state, double dt, double *out_6558018291433416815); +void car_F_fun(double *state, double dt, double *out_7302370609560386304); +void car_h_25(double *state, double *unused, double *out_3941798905160139655); +void car_H_25(double *state, double *unused, double *out_1767216209162282145); +void car_h_24(double *state, double *unused, double *out_3290253106094290464); +void car_H_24(double *state, double *unused, double *out_2751282080003595813); +void car_h_30(double *state, double *unused, double *out_198122822665014747); +void car_H_30(double *state, double *unused, double *out_8683906550653898900); +void car_h_26(double *state, double *unused, double *out_4803550444995830898); +void car_H_26(double *state, double *unused, double *out_5071742178923082746); +void car_h_27(double *state, double *unused, double *out_2457242612253709491); +void car_H_27(double *state, double *unused, double *out_6509143238853473989); +void car_h_29(double *state, double *unused, double *out_8786285504469856155); +void car_H_29(double *state, double *unused, double *out_9194137894968291084); +void car_h_28(double *state, double *unused, double *out_1853926727577231974); +void car_H_28(double *state, double *unused, double *out_4111738877898760510); +void car_h_31(double *state, double *unused, double *out_8040102203439511519); +void car_H_31(double *state, double *unused, double *out_1797862171039242573); void car_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 b2d08a6b6..d76846554 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_2551549382290402050) { - out_2551549382290402050[0] = delta_x[0] + nom_x[0]; - out_2551549382290402050[1] = delta_x[1] + nom_x[1]; - out_2551549382290402050[2] = delta_x[2] + nom_x[2]; - out_2551549382290402050[3] = delta_x[3] + nom_x[3]; - out_2551549382290402050[4] = delta_x[4] + nom_x[4]; - out_2551549382290402050[5] = delta_x[5] + nom_x[5]; - out_2551549382290402050[6] = delta_x[6] + nom_x[6]; - out_2551549382290402050[7] = delta_x[7] + nom_x[7]; - out_2551549382290402050[8] = delta_x[8] + nom_x[8]; - out_2551549382290402050[9] = delta_x[9] + nom_x[9]; - out_2551549382290402050[10] = delta_x[10] + nom_x[10]; - out_2551549382290402050[11] = delta_x[11] + nom_x[11]; - out_2551549382290402050[12] = delta_x[12] + nom_x[12]; - out_2551549382290402050[13] = delta_x[13] + nom_x[13]; - out_2551549382290402050[14] = delta_x[14] + nom_x[14]; - out_2551549382290402050[15] = delta_x[15] + nom_x[15]; - out_2551549382290402050[16] = delta_x[16] + nom_x[16]; - out_2551549382290402050[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_772147526555487692) { + out_772147526555487692[0] = delta_x[0] + nom_x[0]; + out_772147526555487692[1] = delta_x[1] + nom_x[1]; + out_772147526555487692[2] = delta_x[2] + nom_x[2]; + out_772147526555487692[3] = delta_x[3] + nom_x[3]; + out_772147526555487692[4] = delta_x[4] + nom_x[4]; + out_772147526555487692[5] = delta_x[5] + nom_x[5]; + out_772147526555487692[6] = delta_x[6] + nom_x[6]; + out_772147526555487692[7] = delta_x[7] + nom_x[7]; + out_772147526555487692[8] = delta_x[8] + nom_x[8]; + out_772147526555487692[9] = delta_x[9] + nom_x[9]; + out_772147526555487692[10] = delta_x[10] + nom_x[10]; + out_772147526555487692[11] = delta_x[11] + nom_x[11]; + out_772147526555487692[12] = delta_x[12] + nom_x[12]; + out_772147526555487692[13] = delta_x[13] + nom_x[13]; + out_772147526555487692[14] = delta_x[14] + nom_x[14]; + out_772147526555487692[15] = delta_x[15] + nom_x[15]; + out_772147526555487692[16] = delta_x[16] + nom_x[16]; + out_772147526555487692[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3575109948453160374) { - out_3575109948453160374[0] = -nom_x[0] + true_x[0]; - out_3575109948453160374[1] = -nom_x[1] + true_x[1]; - out_3575109948453160374[2] = -nom_x[2] + true_x[2]; - out_3575109948453160374[3] = -nom_x[3] + true_x[3]; - out_3575109948453160374[4] = -nom_x[4] + true_x[4]; - out_3575109948453160374[5] = -nom_x[5] + true_x[5]; - out_3575109948453160374[6] = -nom_x[6] + true_x[6]; - out_3575109948453160374[7] = -nom_x[7] + true_x[7]; - out_3575109948453160374[8] = -nom_x[8] + true_x[8]; - out_3575109948453160374[9] = -nom_x[9] + true_x[9]; - out_3575109948453160374[10] = -nom_x[10] + true_x[10]; - out_3575109948453160374[11] = -nom_x[11] + true_x[11]; - out_3575109948453160374[12] = -nom_x[12] + true_x[12]; - out_3575109948453160374[13] = -nom_x[13] + true_x[13]; - out_3575109948453160374[14] = -nom_x[14] + true_x[14]; - out_3575109948453160374[15] = -nom_x[15] + true_x[15]; - out_3575109948453160374[16] = -nom_x[16] + true_x[16]; - out_3575109948453160374[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4282924253332717604) { + out_4282924253332717604[0] = -nom_x[0] + true_x[0]; + out_4282924253332717604[1] = -nom_x[1] + true_x[1]; + out_4282924253332717604[2] = -nom_x[2] + true_x[2]; + out_4282924253332717604[3] = -nom_x[3] + true_x[3]; + out_4282924253332717604[4] = -nom_x[4] + true_x[4]; + out_4282924253332717604[5] = -nom_x[5] + true_x[5]; + out_4282924253332717604[6] = -nom_x[6] + true_x[6]; + out_4282924253332717604[7] = -nom_x[7] + true_x[7]; + out_4282924253332717604[8] = -nom_x[8] + true_x[8]; + out_4282924253332717604[9] = -nom_x[9] + true_x[9]; + out_4282924253332717604[10] = -nom_x[10] + true_x[10]; + out_4282924253332717604[11] = -nom_x[11] + true_x[11]; + out_4282924253332717604[12] = -nom_x[12] + true_x[12]; + out_4282924253332717604[13] = -nom_x[13] + true_x[13]; + out_4282924253332717604[14] = -nom_x[14] + true_x[14]; + out_4282924253332717604[15] = -nom_x[15] + true_x[15]; + out_4282924253332717604[16] = -nom_x[16] + true_x[16]; + out_4282924253332717604[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_2954011976512996711) { - out_2954011976512996711[0] = 1.0; - out_2954011976512996711[1] = 0.0; - out_2954011976512996711[2] = 0.0; - out_2954011976512996711[3] = 0.0; - out_2954011976512996711[4] = 0.0; - out_2954011976512996711[5] = 0.0; - out_2954011976512996711[6] = 0.0; - out_2954011976512996711[7] = 0.0; - out_2954011976512996711[8] = 0.0; - out_2954011976512996711[9] = 0.0; - out_2954011976512996711[10] = 0.0; - out_2954011976512996711[11] = 0.0; - out_2954011976512996711[12] = 0.0; - out_2954011976512996711[13] = 0.0; - out_2954011976512996711[14] = 0.0; - out_2954011976512996711[15] = 0.0; - out_2954011976512996711[16] = 0.0; - out_2954011976512996711[17] = 0.0; - out_2954011976512996711[18] = 0.0; - out_2954011976512996711[19] = 1.0; - out_2954011976512996711[20] = 0.0; - out_2954011976512996711[21] = 0.0; - out_2954011976512996711[22] = 0.0; - out_2954011976512996711[23] = 0.0; - out_2954011976512996711[24] = 0.0; - out_2954011976512996711[25] = 0.0; - out_2954011976512996711[26] = 0.0; - out_2954011976512996711[27] = 0.0; - out_2954011976512996711[28] = 0.0; - out_2954011976512996711[29] = 0.0; - out_2954011976512996711[30] = 0.0; - out_2954011976512996711[31] = 0.0; - out_2954011976512996711[32] = 0.0; - out_2954011976512996711[33] = 0.0; - out_2954011976512996711[34] = 0.0; - out_2954011976512996711[35] = 0.0; - out_2954011976512996711[36] = 0.0; - out_2954011976512996711[37] = 0.0; - out_2954011976512996711[38] = 1.0; - out_2954011976512996711[39] = 0.0; - out_2954011976512996711[40] = 0.0; - out_2954011976512996711[41] = 0.0; - out_2954011976512996711[42] = 0.0; - out_2954011976512996711[43] = 0.0; - out_2954011976512996711[44] = 0.0; - out_2954011976512996711[45] = 0.0; - out_2954011976512996711[46] = 0.0; - out_2954011976512996711[47] = 0.0; - out_2954011976512996711[48] = 0.0; - out_2954011976512996711[49] = 0.0; - out_2954011976512996711[50] = 0.0; - out_2954011976512996711[51] = 0.0; - out_2954011976512996711[52] = 0.0; - out_2954011976512996711[53] = 0.0; - out_2954011976512996711[54] = 0.0; - out_2954011976512996711[55] = 0.0; - out_2954011976512996711[56] = 0.0; - out_2954011976512996711[57] = 1.0; - out_2954011976512996711[58] = 0.0; - out_2954011976512996711[59] = 0.0; - out_2954011976512996711[60] = 0.0; - out_2954011976512996711[61] = 0.0; - out_2954011976512996711[62] = 0.0; - out_2954011976512996711[63] = 0.0; - out_2954011976512996711[64] = 0.0; - out_2954011976512996711[65] = 0.0; - out_2954011976512996711[66] = 0.0; - out_2954011976512996711[67] = 0.0; - out_2954011976512996711[68] = 0.0; - out_2954011976512996711[69] = 0.0; - out_2954011976512996711[70] = 0.0; - out_2954011976512996711[71] = 0.0; - out_2954011976512996711[72] = 0.0; - out_2954011976512996711[73] = 0.0; - out_2954011976512996711[74] = 0.0; - out_2954011976512996711[75] = 0.0; - out_2954011976512996711[76] = 1.0; - out_2954011976512996711[77] = 0.0; - out_2954011976512996711[78] = 0.0; - out_2954011976512996711[79] = 0.0; - out_2954011976512996711[80] = 0.0; - out_2954011976512996711[81] = 0.0; - out_2954011976512996711[82] = 0.0; - out_2954011976512996711[83] = 0.0; - out_2954011976512996711[84] = 0.0; - out_2954011976512996711[85] = 0.0; - out_2954011976512996711[86] = 0.0; - out_2954011976512996711[87] = 0.0; - out_2954011976512996711[88] = 0.0; - out_2954011976512996711[89] = 0.0; - out_2954011976512996711[90] = 0.0; - out_2954011976512996711[91] = 0.0; - out_2954011976512996711[92] = 0.0; - out_2954011976512996711[93] = 0.0; - out_2954011976512996711[94] = 0.0; - out_2954011976512996711[95] = 1.0; - out_2954011976512996711[96] = 0.0; - out_2954011976512996711[97] = 0.0; - out_2954011976512996711[98] = 0.0; - out_2954011976512996711[99] = 0.0; - out_2954011976512996711[100] = 0.0; - out_2954011976512996711[101] = 0.0; - out_2954011976512996711[102] = 0.0; - out_2954011976512996711[103] = 0.0; - out_2954011976512996711[104] = 0.0; - out_2954011976512996711[105] = 0.0; - out_2954011976512996711[106] = 0.0; - out_2954011976512996711[107] = 0.0; - out_2954011976512996711[108] = 0.0; - out_2954011976512996711[109] = 0.0; - out_2954011976512996711[110] = 0.0; - out_2954011976512996711[111] = 0.0; - out_2954011976512996711[112] = 0.0; - out_2954011976512996711[113] = 0.0; - out_2954011976512996711[114] = 1.0; - out_2954011976512996711[115] = 0.0; - out_2954011976512996711[116] = 0.0; - out_2954011976512996711[117] = 0.0; - out_2954011976512996711[118] = 0.0; - out_2954011976512996711[119] = 0.0; - out_2954011976512996711[120] = 0.0; - out_2954011976512996711[121] = 0.0; - out_2954011976512996711[122] = 0.0; - out_2954011976512996711[123] = 0.0; - out_2954011976512996711[124] = 0.0; - out_2954011976512996711[125] = 0.0; - out_2954011976512996711[126] = 0.0; - out_2954011976512996711[127] = 0.0; - out_2954011976512996711[128] = 0.0; - out_2954011976512996711[129] = 0.0; - out_2954011976512996711[130] = 0.0; - out_2954011976512996711[131] = 0.0; - out_2954011976512996711[132] = 0.0; - out_2954011976512996711[133] = 1.0; - out_2954011976512996711[134] = 0.0; - out_2954011976512996711[135] = 0.0; - out_2954011976512996711[136] = 0.0; - out_2954011976512996711[137] = 0.0; - out_2954011976512996711[138] = 0.0; - out_2954011976512996711[139] = 0.0; - out_2954011976512996711[140] = 0.0; - out_2954011976512996711[141] = 0.0; - out_2954011976512996711[142] = 0.0; - out_2954011976512996711[143] = 0.0; - out_2954011976512996711[144] = 0.0; - out_2954011976512996711[145] = 0.0; - out_2954011976512996711[146] = 0.0; - out_2954011976512996711[147] = 0.0; - out_2954011976512996711[148] = 0.0; - out_2954011976512996711[149] = 0.0; - out_2954011976512996711[150] = 0.0; - out_2954011976512996711[151] = 0.0; - out_2954011976512996711[152] = 1.0; - out_2954011976512996711[153] = 0.0; - out_2954011976512996711[154] = 0.0; - out_2954011976512996711[155] = 0.0; - out_2954011976512996711[156] = 0.0; - out_2954011976512996711[157] = 0.0; - out_2954011976512996711[158] = 0.0; - out_2954011976512996711[159] = 0.0; - out_2954011976512996711[160] = 0.0; - out_2954011976512996711[161] = 0.0; - out_2954011976512996711[162] = 0.0; - out_2954011976512996711[163] = 0.0; - out_2954011976512996711[164] = 0.0; - out_2954011976512996711[165] = 0.0; - out_2954011976512996711[166] = 0.0; - out_2954011976512996711[167] = 0.0; - out_2954011976512996711[168] = 0.0; - out_2954011976512996711[169] = 0.0; - out_2954011976512996711[170] = 0.0; - out_2954011976512996711[171] = 1.0; - out_2954011976512996711[172] = 0.0; - out_2954011976512996711[173] = 0.0; - out_2954011976512996711[174] = 0.0; - out_2954011976512996711[175] = 0.0; - out_2954011976512996711[176] = 0.0; - out_2954011976512996711[177] = 0.0; - out_2954011976512996711[178] = 0.0; - out_2954011976512996711[179] = 0.0; - out_2954011976512996711[180] = 0.0; - out_2954011976512996711[181] = 0.0; - out_2954011976512996711[182] = 0.0; - out_2954011976512996711[183] = 0.0; - out_2954011976512996711[184] = 0.0; - out_2954011976512996711[185] = 0.0; - out_2954011976512996711[186] = 0.0; - out_2954011976512996711[187] = 0.0; - out_2954011976512996711[188] = 0.0; - out_2954011976512996711[189] = 0.0; - out_2954011976512996711[190] = 1.0; - out_2954011976512996711[191] = 0.0; - out_2954011976512996711[192] = 0.0; - out_2954011976512996711[193] = 0.0; - out_2954011976512996711[194] = 0.0; - out_2954011976512996711[195] = 0.0; - out_2954011976512996711[196] = 0.0; - out_2954011976512996711[197] = 0.0; - out_2954011976512996711[198] = 0.0; - out_2954011976512996711[199] = 0.0; - out_2954011976512996711[200] = 0.0; - out_2954011976512996711[201] = 0.0; - out_2954011976512996711[202] = 0.0; - out_2954011976512996711[203] = 0.0; - out_2954011976512996711[204] = 0.0; - out_2954011976512996711[205] = 0.0; - out_2954011976512996711[206] = 0.0; - out_2954011976512996711[207] = 0.0; - out_2954011976512996711[208] = 0.0; - out_2954011976512996711[209] = 1.0; - out_2954011976512996711[210] = 0.0; - out_2954011976512996711[211] = 0.0; - out_2954011976512996711[212] = 0.0; - out_2954011976512996711[213] = 0.0; - out_2954011976512996711[214] = 0.0; - out_2954011976512996711[215] = 0.0; - out_2954011976512996711[216] = 0.0; - out_2954011976512996711[217] = 0.0; - out_2954011976512996711[218] = 0.0; - out_2954011976512996711[219] = 0.0; - out_2954011976512996711[220] = 0.0; - out_2954011976512996711[221] = 0.0; - out_2954011976512996711[222] = 0.0; - out_2954011976512996711[223] = 0.0; - out_2954011976512996711[224] = 0.0; - out_2954011976512996711[225] = 0.0; - out_2954011976512996711[226] = 0.0; - out_2954011976512996711[227] = 0.0; - out_2954011976512996711[228] = 1.0; - out_2954011976512996711[229] = 0.0; - out_2954011976512996711[230] = 0.0; - out_2954011976512996711[231] = 0.0; - out_2954011976512996711[232] = 0.0; - out_2954011976512996711[233] = 0.0; - out_2954011976512996711[234] = 0.0; - out_2954011976512996711[235] = 0.0; - out_2954011976512996711[236] = 0.0; - out_2954011976512996711[237] = 0.0; - out_2954011976512996711[238] = 0.0; - out_2954011976512996711[239] = 0.0; - out_2954011976512996711[240] = 0.0; - out_2954011976512996711[241] = 0.0; - out_2954011976512996711[242] = 0.0; - out_2954011976512996711[243] = 0.0; - out_2954011976512996711[244] = 0.0; - out_2954011976512996711[245] = 0.0; - out_2954011976512996711[246] = 0.0; - out_2954011976512996711[247] = 1.0; - out_2954011976512996711[248] = 0.0; - out_2954011976512996711[249] = 0.0; - out_2954011976512996711[250] = 0.0; - out_2954011976512996711[251] = 0.0; - out_2954011976512996711[252] = 0.0; - out_2954011976512996711[253] = 0.0; - out_2954011976512996711[254] = 0.0; - out_2954011976512996711[255] = 0.0; - out_2954011976512996711[256] = 0.0; - out_2954011976512996711[257] = 0.0; - out_2954011976512996711[258] = 0.0; - out_2954011976512996711[259] = 0.0; - out_2954011976512996711[260] = 0.0; - out_2954011976512996711[261] = 0.0; - out_2954011976512996711[262] = 0.0; - out_2954011976512996711[263] = 0.0; - out_2954011976512996711[264] = 0.0; - out_2954011976512996711[265] = 0.0; - out_2954011976512996711[266] = 1.0; - out_2954011976512996711[267] = 0.0; - out_2954011976512996711[268] = 0.0; - out_2954011976512996711[269] = 0.0; - out_2954011976512996711[270] = 0.0; - out_2954011976512996711[271] = 0.0; - out_2954011976512996711[272] = 0.0; - out_2954011976512996711[273] = 0.0; - out_2954011976512996711[274] = 0.0; - out_2954011976512996711[275] = 0.0; - out_2954011976512996711[276] = 0.0; - out_2954011976512996711[277] = 0.0; - out_2954011976512996711[278] = 0.0; - out_2954011976512996711[279] = 0.0; - out_2954011976512996711[280] = 0.0; - out_2954011976512996711[281] = 0.0; - out_2954011976512996711[282] = 0.0; - out_2954011976512996711[283] = 0.0; - out_2954011976512996711[284] = 0.0; - out_2954011976512996711[285] = 1.0; - out_2954011976512996711[286] = 0.0; - out_2954011976512996711[287] = 0.0; - out_2954011976512996711[288] = 0.0; - out_2954011976512996711[289] = 0.0; - out_2954011976512996711[290] = 0.0; - out_2954011976512996711[291] = 0.0; - out_2954011976512996711[292] = 0.0; - out_2954011976512996711[293] = 0.0; - out_2954011976512996711[294] = 0.0; - out_2954011976512996711[295] = 0.0; - out_2954011976512996711[296] = 0.0; - out_2954011976512996711[297] = 0.0; - out_2954011976512996711[298] = 0.0; - out_2954011976512996711[299] = 0.0; - out_2954011976512996711[300] = 0.0; - out_2954011976512996711[301] = 0.0; - out_2954011976512996711[302] = 0.0; - out_2954011976512996711[303] = 0.0; - out_2954011976512996711[304] = 1.0; - out_2954011976512996711[305] = 0.0; - out_2954011976512996711[306] = 0.0; - out_2954011976512996711[307] = 0.0; - out_2954011976512996711[308] = 0.0; - out_2954011976512996711[309] = 0.0; - out_2954011976512996711[310] = 0.0; - out_2954011976512996711[311] = 0.0; - out_2954011976512996711[312] = 0.0; - out_2954011976512996711[313] = 0.0; - out_2954011976512996711[314] = 0.0; - out_2954011976512996711[315] = 0.0; - out_2954011976512996711[316] = 0.0; - out_2954011976512996711[317] = 0.0; - out_2954011976512996711[318] = 0.0; - out_2954011976512996711[319] = 0.0; - out_2954011976512996711[320] = 0.0; - out_2954011976512996711[321] = 0.0; - out_2954011976512996711[322] = 0.0; - out_2954011976512996711[323] = 1.0; +void H_mod_fun(double *state, double *out_4974307322782455600) { + out_4974307322782455600[0] = 1.0; + out_4974307322782455600[1] = 0.0; + out_4974307322782455600[2] = 0.0; + out_4974307322782455600[3] = 0.0; + out_4974307322782455600[4] = 0.0; + out_4974307322782455600[5] = 0.0; + out_4974307322782455600[6] = 0.0; + out_4974307322782455600[7] = 0.0; + out_4974307322782455600[8] = 0.0; + out_4974307322782455600[9] = 0.0; + out_4974307322782455600[10] = 0.0; + out_4974307322782455600[11] = 0.0; + out_4974307322782455600[12] = 0.0; + out_4974307322782455600[13] = 0.0; + out_4974307322782455600[14] = 0.0; + out_4974307322782455600[15] = 0.0; + out_4974307322782455600[16] = 0.0; + out_4974307322782455600[17] = 0.0; + out_4974307322782455600[18] = 0.0; + out_4974307322782455600[19] = 1.0; + out_4974307322782455600[20] = 0.0; + out_4974307322782455600[21] = 0.0; + out_4974307322782455600[22] = 0.0; + out_4974307322782455600[23] = 0.0; + out_4974307322782455600[24] = 0.0; + out_4974307322782455600[25] = 0.0; + out_4974307322782455600[26] = 0.0; + out_4974307322782455600[27] = 0.0; + out_4974307322782455600[28] = 0.0; + out_4974307322782455600[29] = 0.0; + out_4974307322782455600[30] = 0.0; + out_4974307322782455600[31] = 0.0; + out_4974307322782455600[32] = 0.0; + out_4974307322782455600[33] = 0.0; + out_4974307322782455600[34] = 0.0; + out_4974307322782455600[35] = 0.0; + out_4974307322782455600[36] = 0.0; + out_4974307322782455600[37] = 0.0; + out_4974307322782455600[38] = 1.0; + out_4974307322782455600[39] = 0.0; + out_4974307322782455600[40] = 0.0; + out_4974307322782455600[41] = 0.0; + out_4974307322782455600[42] = 0.0; + out_4974307322782455600[43] = 0.0; + out_4974307322782455600[44] = 0.0; + out_4974307322782455600[45] = 0.0; + out_4974307322782455600[46] = 0.0; + out_4974307322782455600[47] = 0.0; + out_4974307322782455600[48] = 0.0; + out_4974307322782455600[49] = 0.0; + out_4974307322782455600[50] = 0.0; + out_4974307322782455600[51] = 0.0; + out_4974307322782455600[52] = 0.0; + out_4974307322782455600[53] = 0.0; + out_4974307322782455600[54] = 0.0; + out_4974307322782455600[55] = 0.0; + out_4974307322782455600[56] = 0.0; + out_4974307322782455600[57] = 1.0; + out_4974307322782455600[58] = 0.0; + out_4974307322782455600[59] = 0.0; + out_4974307322782455600[60] = 0.0; + out_4974307322782455600[61] = 0.0; + out_4974307322782455600[62] = 0.0; + out_4974307322782455600[63] = 0.0; + out_4974307322782455600[64] = 0.0; + out_4974307322782455600[65] = 0.0; + out_4974307322782455600[66] = 0.0; + out_4974307322782455600[67] = 0.0; + out_4974307322782455600[68] = 0.0; + out_4974307322782455600[69] = 0.0; + out_4974307322782455600[70] = 0.0; + out_4974307322782455600[71] = 0.0; + out_4974307322782455600[72] = 0.0; + out_4974307322782455600[73] = 0.0; + out_4974307322782455600[74] = 0.0; + out_4974307322782455600[75] = 0.0; + out_4974307322782455600[76] = 1.0; + out_4974307322782455600[77] = 0.0; + out_4974307322782455600[78] = 0.0; + out_4974307322782455600[79] = 0.0; + out_4974307322782455600[80] = 0.0; + out_4974307322782455600[81] = 0.0; + out_4974307322782455600[82] = 0.0; + out_4974307322782455600[83] = 0.0; + out_4974307322782455600[84] = 0.0; + out_4974307322782455600[85] = 0.0; + out_4974307322782455600[86] = 0.0; + out_4974307322782455600[87] = 0.0; + out_4974307322782455600[88] = 0.0; + out_4974307322782455600[89] = 0.0; + out_4974307322782455600[90] = 0.0; + out_4974307322782455600[91] = 0.0; + out_4974307322782455600[92] = 0.0; + out_4974307322782455600[93] = 0.0; + out_4974307322782455600[94] = 0.0; + out_4974307322782455600[95] = 1.0; + out_4974307322782455600[96] = 0.0; + out_4974307322782455600[97] = 0.0; + out_4974307322782455600[98] = 0.0; + out_4974307322782455600[99] = 0.0; + out_4974307322782455600[100] = 0.0; + out_4974307322782455600[101] = 0.0; + out_4974307322782455600[102] = 0.0; + out_4974307322782455600[103] = 0.0; + out_4974307322782455600[104] = 0.0; + out_4974307322782455600[105] = 0.0; + out_4974307322782455600[106] = 0.0; + out_4974307322782455600[107] = 0.0; + out_4974307322782455600[108] = 0.0; + out_4974307322782455600[109] = 0.0; + out_4974307322782455600[110] = 0.0; + out_4974307322782455600[111] = 0.0; + out_4974307322782455600[112] = 0.0; + out_4974307322782455600[113] = 0.0; + out_4974307322782455600[114] = 1.0; + out_4974307322782455600[115] = 0.0; + out_4974307322782455600[116] = 0.0; + out_4974307322782455600[117] = 0.0; + out_4974307322782455600[118] = 0.0; + out_4974307322782455600[119] = 0.0; + out_4974307322782455600[120] = 0.0; + out_4974307322782455600[121] = 0.0; + out_4974307322782455600[122] = 0.0; + out_4974307322782455600[123] = 0.0; + out_4974307322782455600[124] = 0.0; + out_4974307322782455600[125] = 0.0; + out_4974307322782455600[126] = 0.0; + out_4974307322782455600[127] = 0.0; + out_4974307322782455600[128] = 0.0; + out_4974307322782455600[129] = 0.0; + out_4974307322782455600[130] = 0.0; + out_4974307322782455600[131] = 0.0; + out_4974307322782455600[132] = 0.0; + out_4974307322782455600[133] = 1.0; + out_4974307322782455600[134] = 0.0; + out_4974307322782455600[135] = 0.0; + out_4974307322782455600[136] = 0.0; + out_4974307322782455600[137] = 0.0; + out_4974307322782455600[138] = 0.0; + out_4974307322782455600[139] = 0.0; + out_4974307322782455600[140] = 0.0; + out_4974307322782455600[141] = 0.0; + out_4974307322782455600[142] = 0.0; + out_4974307322782455600[143] = 0.0; + out_4974307322782455600[144] = 0.0; + out_4974307322782455600[145] = 0.0; + out_4974307322782455600[146] = 0.0; + out_4974307322782455600[147] = 0.0; + out_4974307322782455600[148] = 0.0; + out_4974307322782455600[149] = 0.0; + out_4974307322782455600[150] = 0.0; + out_4974307322782455600[151] = 0.0; + out_4974307322782455600[152] = 1.0; + out_4974307322782455600[153] = 0.0; + out_4974307322782455600[154] = 0.0; + out_4974307322782455600[155] = 0.0; + out_4974307322782455600[156] = 0.0; + out_4974307322782455600[157] = 0.0; + out_4974307322782455600[158] = 0.0; + out_4974307322782455600[159] = 0.0; + out_4974307322782455600[160] = 0.0; + out_4974307322782455600[161] = 0.0; + out_4974307322782455600[162] = 0.0; + out_4974307322782455600[163] = 0.0; + out_4974307322782455600[164] = 0.0; + out_4974307322782455600[165] = 0.0; + out_4974307322782455600[166] = 0.0; + out_4974307322782455600[167] = 0.0; + out_4974307322782455600[168] = 0.0; + out_4974307322782455600[169] = 0.0; + out_4974307322782455600[170] = 0.0; + out_4974307322782455600[171] = 1.0; + out_4974307322782455600[172] = 0.0; + out_4974307322782455600[173] = 0.0; + out_4974307322782455600[174] = 0.0; + out_4974307322782455600[175] = 0.0; + out_4974307322782455600[176] = 0.0; + out_4974307322782455600[177] = 0.0; + out_4974307322782455600[178] = 0.0; + out_4974307322782455600[179] = 0.0; + out_4974307322782455600[180] = 0.0; + out_4974307322782455600[181] = 0.0; + out_4974307322782455600[182] = 0.0; + out_4974307322782455600[183] = 0.0; + out_4974307322782455600[184] = 0.0; + out_4974307322782455600[185] = 0.0; + out_4974307322782455600[186] = 0.0; + out_4974307322782455600[187] = 0.0; + out_4974307322782455600[188] = 0.0; + out_4974307322782455600[189] = 0.0; + out_4974307322782455600[190] = 1.0; + out_4974307322782455600[191] = 0.0; + out_4974307322782455600[192] = 0.0; + out_4974307322782455600[193] = 0.0; + out_4974307322782455600[194] = 0.0; + out_4974307322782455600[195] = 0.0; + out_4974307322782455600[196] = 0.0; + out_4974307322782455600[197] = 0.0; + out_4974307322782455600[198] = 0.0; + out_4974307322782455600[199] = 0.0; + out_4974307322782455600[200] = 0.0; + out_4974307322782455600[201] = 0.0; + out_4974307322782455600[202] = 0.0; + out_4974307322782455600[203] = 0.0; + out_4974307322782455600[204] = 0.0; + out_4974307322782455600[205] = 0.0; + out_4974307322782455600[206] = 0.0; + out_4974307322782455600[207] = 0.0; + out_4974307322782455600[208] = 0.0; + out_4974307322782455600[209] = 1.0; + out_4974307322782455600[210] = 0.0; + out_4974307322782455600[211] = 0.0; + out_4974307322782455600[212] = 0.0; + out_4974307322782455600[213] = 0.0; + out_4974307322782455600[214] = 0.0; + out_4974307322782455600[215] = 0.0; + out_4974307322782455600[216] = 0.0; + out_4974307322782455600[217] = 0.0; + out_4974307322782455600[218] = 0.0; + out_4974307322782455600[219] = 0.0; + out_4974307322782455600[220] = 0.0; + out_4974307322782455600[221] = 0.0; + out_4974307322782455600[222] = 0.0; + out_4974307322782455600[223] = 0.0; + out_4974307322782455600[224] = 0.0; + out_4974307322782455600[225] = 0.0; + out_4974307322782455600[226] = 0.0; + out_4974307322782455600[227] = 0.0; + out_4974307322782455600[228] = 1.0; + out_4974307322782455600[229] = 0.0; + out_4974307322782455600[230] = 0.0; + out_4974307322782455600[231] = 0.0; + out_4974307322782455600[232] = 0.0; + out_4974307322782455600[233] = 0.0; + out_4974307322782455600[234] = 0.0; + out_4974307322782455600[235] = 0.0; + out_4974307322782455600[236] = 0.0; + out_4974307322782455600[237] = 0.0; + out_4974307322782455600[238] = 0.0; + out_4974307322782455600[239] = 0.0; + out_4974307322782455600[240] = 0.0; + out_4974307322782455600[241] = 0.0; + out_4974307322782455600[242] = 0.0; + out_4974307322782455600[243] = 0.0; + out_4974307322782455600[244] = 0.0; + out_4974307322782455600[245] = 0.0; + out_4974307322782455600[246] = 0.0; + out_4974307322782455600[247] = 1.0; + out_4974307322782455600[248] = 0.0; + out_4974307322782455600[249] = 0.0; + out_4974307322782455600[250] = 0.0; + out_4974307322782455600[251] = 0.0; + out_4974307322782455600[252] = 0.0; + out_4974307322782455600[253] = 0.0; + out_4974307322782455600[254] = 0.0; + out_4974307322782455600[255] = 0.0; + out_4974307322782455600[256] = 0.0; + out_4974307322782455600[257] = 0.0; + out_4974307322782455600[258] = 0.0; + out_4974307322782455600[259] = 0.0; + out_4974307322782455600[260] = 0.0; + out_4974307322782455600[261] = 0.0; + out_4974307322782455600[262] = 0.0; + out_4974307322782455600[263] = 0.0; + out_4974307322782455600[264] = 0.0; + out_4974307322782455600[265] = 0.0; + out_4974307322782455600[266] = 1.0; + out_4974307322782455600[267] = 0.0; + out_4974307322782455600[268] = 0.0; + out_4974307322782455600[269] = 0.0; + out_4974307322782455600[270] = 0.0; + out_4974307322782455600[271] = 0.0; + out_4974307322782455600[272] = 0.0; + out_4974307322782455600[273] = 0.0; + out_4974307322782455600[274] = 0.0; + out_4974307322782455600[275] = 0.0; + out_4974307322782455600[276] = 0.0; + out_4974307322782455600[277] = 0.0; + out_4974307322782455600[278] = 0.0; + out_4974307322782455600[279] = 0.0; + out_4974307322782455600[280] = 0.0; + out_4974307322782455600[281] = 0.0; + out_4974307322782455600[282] = 0.0; + out_4974307322782455600[283] = 0.0; + out_4974307322782455600[284] = 0.0; + out_4974307322782455600[285] = 1.0; + out_4974307322782455600[286] = 0.0; + out_4974307322782455600[287] = 0.0; + out_4974307322782455600[288] = 0.0; + out_4974307322782455600[289] = 0.0; + out_4974307322782455600[290] = 0.0; + out_4974307322782455600[291] = 0.0; + out_4974307322782455600[292] = 0.0; + out_4974307322782455600[293] = 0.0; + out_4974307322782455600[294] = 0.0; + out_4974307322782455600[295] = 0.0; + out_4974307322782455600[296] = 0.0; + out_4974307322782455600[297] = 0.0; + out_4974307322782455600[298] = 0.0; + out_4974307322782455600[299] = 0.0; + out_4974307322782455600[300] = 0.0; + out_4974307322782455600[301] = 0.0; + out_4974307322782455600[302] = 0.0; + out_4974307322782455600[303] = 0.0; + out_4974307322782455600[304] = 1.0; + out_4974307322782455600[305] = 0.0; + out_4974307322782455600[306] = 0.0; + out_4974307322782455600[307] = 0.0; + out_4974307322782455600[308] = 0.0; + out_4974307322782455600[309] = 0.0; + out_4974307322782455600[310] = 0.0; + out_4974307322782455600[311] = 0.0; + out_4974307322782455600[312] = 0.0; + out_4974307322782455600[313] = 0.0; + out_4974307322782455600[314] = 0.0; + out_4974307322782455600[315] = 0.0; + out_4974307322782455600[316] = 0.0; + out_4974307322782455600[317] = 0.0; + out_4974307322782455600[318] = 0.0; + out_4974307322782455600[319] = 0.0; + out_4974307322782455600[320] = 0.0; + out_4974307322782455600[321] = 0.0; + out_4974307322782455600[322] = 0.0; + out_4974307322782455600[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4081841541460951824) { - out_4081841541460951824[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_4081841541460951824[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_4081841541460951824[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_4081841541460951824[3] = dt*state[12] + state[3]; - out_4081841541460951824[4] = dt*state[13] + state[4]; - out_4081841541460951824[5] = dt*state[14] + state[5]; - out_4081841541460951824[6] = state[6]; - out_4081841541460951824[7] = state[7]; - out_4081841541460951824[8] = state[8]; - out_4081841541460951824[9] = state[9]; - out_4081841541460951824[10] = state[10]; - out_4081841541460951824[11] = state[11]; - out_4081841541460951824[12] = state[12]; - out_4081841541460951824[13] = state[13]; - out_4081841541460951824[14] = state[14]; - out_4081841541460951824[15] = state[15]; - out_4081841541460951824[16] = state[16]; - out_4081841541460951824[17] = state[17]; +void f_fun(double *state, double dt, double *out_1104587078015232117) { + out_1104587078015232117[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_1104587078015232117[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_1104587078015232117[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_1104587078015232117[3] = dt*state[12] + state[3]; + out_1104587078015232117[4] = dt*state[13] + state[4]; + out_1104587078015232117[5] = dt*state[14] + state[5]; + out_1104587078015232117[6] = state[6]; + out_1104587078015232117[7] = state[7]; + out_1104587078015232117[8] = state[8]; + out_1104587078015232117[9] = state[9]; + out_1104587078015232117[10] = state[10]; + out_1104587078015232117[11] = state[11]; + out_1104587078015232117[12] = state[12]; + out_1104587078015232117[13] = state[13]; + out_1104587078015232117[14] = state[14]; + out_1104587078015232117[15] = state[15]; + out_1104587078015232117[16] = state[16]; + out_1104587078015232117[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2326707394449301144) { - out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[2] = 0; - out_2326707394449301144[3] = 0; - out_2326707394449301144[4] = 0; - out_2326707394449301144[5] = 0; - out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[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_2326707394449301144[9] = 0; - out_2326707394449301144[10] = 0; - out_2326707394449301144[11] = 0; - out_2326707394449301144[12] = 0; - out_2326707394449301144[13] = 0; - out_2326707394449301144[14] = 0; - out_2326707394449301144[15] = 0; - out_2326707394449301144[16] = 0; - out_2326707394449301144[17] = 0; - out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[20] = 0; - out_2326707394449301144[21] = 0; - out_2326707394449301144[22] = 0; - out_2326707394449301144[23] = 0; - out_2326707394449301144[24] = 0; - out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[27] = 0; - out_2326707394449301144[28] = 0; - out_2326707394449301144[29] = 0; - out_2326707394449301144[30] = 0; - out_2326707394449301144[31] = 0; - out_2326707394449301144[32] = 0; - out_2326707394449301144[33] = 0; - out_2326707394449301144[34] = 0; - out_2326707394449301144[35] = 0; - out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[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_2326707394449301144[39] = 0; - out_2326707394449301144[40] = 0; - out_2326707394449301144[41] = 0; - out_2326707394449301144[42] = 0; - out_2326707394449301144[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_2326707394449301144[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_2326707394449301144[45] = 0; - out_2326707394449301144[46] = 0; - out_2326707394449301144[47] = 0; - out_2326707394449301144[48] = 0; - out_2326707394449301144[49] = 0; - out_2326707394449301144[50] = 0; - out_2326707394449301144[51] = 0; - out_2326707394449301144[52] = 0; - out_2326707394449301144[53] = 0; - out_2326707394449301144[54] = 0; - out_2326707394449301144[55] = 0; - out_2326707394449301144[56] = 0; - out_2326707394449301144[57] = 1; - out_2326707394449301144[58] = 0; - out_2326707394449301144[59] = 0; - out_2326707394449301144[60] = 0; - out_2326707394449301144[61] = 0; - out_2326707394449301144[62] = 0; - out_2326707394449301144[63] = 0; - out_2326707394449301144[64] = 0; - out_2326707394449301144[65] = 0; - out_2326707394449301144[66] = dt; - out_2326707394449301144[67] = 0; - out_2326707394449301144[68] = 0; - out_2326707394449301144[69] = 0; - out_2326707394449301144[70] = 0; - out_2326707394449301144[71] = 0; - out_2326707394449301144[72] = 0; - out_2326707394449301144[73] = 0; - out_2326707394449301144[74] = 0; - out_2326707394449301144[75] = 0; - out_2326707394449301144[76] = 1; - out_2326707394449301144[77] = 0; - out_2326707394449301144[78] = 0; - out_2326707394449301144[79] = 0; - out_2326707394449301144[80] = 0; - out_2326707394449301144[81] = 0; - out_2326707394449301144[82] = 0; - out_2326707394449301144[83] = 0; - out_2326707394449301144[84] = 0; - out_2326707394449301144[85] = dt; - out_2326707394449301144[86] = 0; - out_2326707394449301144[87] = 0; - out_2326707394449301144[88] = 0; - out_2326707394449301144[89] = 0; - out_2326707394449301144[90] = 0; - out_2326707394449301144[91] = 0; - out_2326707394449301144[92] = 0; - out_2326707394449301144[93] = 0; - out_2326707394449301144[94] = 0; - out_2326707394449301144[95] = 1; - out_2326707394449301144[96] = 0; - out_2326707394449301144[97] = 0; - out_2326707394449301144[98] = 0; - out_2326707394449301144[99] = 0; - out_2326707394449301144[100] = 0; - out_2326707394449301144[101] = 0; - out_2326707394449301144[102] = 0; - out_2326707394449301144[103] = 0; - out_2326707394449301144[104] = dt; - out_2326707394449301144[105] = 0; - out_2326707394449301144[106] = 0; - out_2326707394449301144[107] = 0; - out_2326707394449301144[108] = 0; - out_2326707394449301144[109] = 0; - out_2326707394449301144[110] = 0; - out_2326707394449301144[111] = 0; - out_2326707394449301144[112] = 0; - out_2326707394449301144[113] = 0; - out_2326707394449301144[114] = 1; - out_2326707394449301144[115] = 0; - out_2326707394449301144[116] = 0; - out_2326707394449301144[117] = 0; - out_2326707394449301144[118] = 0; - out_2326707394449301144[119] = 0; - out_2326707394449301144[120] = 0; - out_2326707394449301144[121] = 0; - out_2326707394449301144[122] = 0; - out_2326707394449301144[123] = 0; - out_2326707394449301144[124] = 0; - out_2326707394449301144[125] = 0; - out_2326707394449301144[126] = 0; - out_2326707394449301144[127] = 0; - out_2326707394449301144[128] = 0; - out_2326707394449301144[129] = 0; - out_2326707394449301144[130] = 0; - out_2326707394449301144[131] = 0; - out_2326707394449301144[132] = 0; - out_2326707394449301144[133] = 1; - out_2326707394449301144[134] = 0; - out_2326707394449301144[135] = 0; - out_2326707394449301144[136] = 0; - out_2326707394449301144[137] = 0; - out_2326707394449301144[138] = 0; - out_2326707394449301144[139] = 0; - out_2326707394449301144[140] = 0; - out_2326707394449301144[141] = 0; - out_2326707394449301144[142] = 0; - out_2326707394449301144[143] = 0; - out_2326707394449301144[144] = 0; - out_2326707394449301144[145] = 0; - out_2326707394449301144[146] = 0; - out_2326707394449301144[147] = 0; - out_2326707394449301144[148] = 0; - out_2326707394449301144[149] = 0; - out_2326707394449301144[150] = 0; - out_2326707394449301144[151] = 0; - out_2326707394449301144[152] = 1; - out_2326707394449301144[153] = 0; - out_2326707394449301144[154] = 0; - out_2326707394449301144[155] = 0; - out_2326707394449301144[156] = 0; - out_2326707394449301144[157] = 0; - out_2326707394449301144[158] = 0; - out_2326707394449301144[159] = 0; - out_2326707394449301144[160] = 0; - out_2326707394449301144[161] = 0; - out_2326707394449301144[162] = 0; - out_2326707394449301144[163] = 0; - out_2326707394449301144[164] = 0; - out_2326707394449301144[165] = 0; - out_2326707394449301144[166] = 0; - out_2326707394449301144[167] = 0; - out_2326707394449301144[168] = 0; - out_2326707394449301144[169] = 0; - out_2326707394449301144[170] = 0; - out_2326707394449301144[171] = 1; - out_2326707394449301144[172] = 0; - out_2326707394449301144[173] = 0; - out_2326707394449301144[174] = 0; - out_2326707394449301144[175] = 0; - out_2326707394449301144[176] = 0; - out_2326707394449301144[177] = 0; - out_2326707394449301144[178] = 0; - out_2326707394449301144[179] = 0; - out_2326707394449301144[180] = 0; - out_2326707394449301144[181] = 0; - out_2326707394449301144[182] = 0; - out_2326707394449301144[183] = 0; - out_2326707394449301144[184] = 0; - out_2326707394449301144[185] = 0; - out_2326707394449301144[186] = 0; - out_2326707394449301144[187] = 0; - out_2326707394449301144[188] = 0; - out_2326707394449301144[189] = 0; - out_2326707394449301144[190] = 1; - out_2326707394449301144[191] = 0; - out_2326707394449301144[192] = 0; - out_2326707394449301144[193] = 0; - out_2326707394449301144[194] = 0; - out_2326707394449301144[195] = 0; - out_2326707394449301144[196] = 0; - out_2326707394449301144[197] = 0; - out_2326707394449301144[198] = 0; - out_2326707394449301144[199] = 0; - out_2326707394449301144[200] = 0; - out_2326707394449301144[201] = 0; - out_2326707394449301144[202] = 0; - out_2326707394449301144[203] = 0; - out_2326707394449301144[204] = 0; - out_2326707394449301144[205] = 0; - out_2326707394449301144[206] = 0; - out_2326707394449301144[207] = 0; - out_2326707394449301144[208] = 0; - out_2326707394449301144[209] = 1; - out_2326707394449301144[210] = 0; - out_2326707394449301144[211] = 0; - out_2326707394449301144[212] = 0; - out_2326707394449301144[213] = 0; - out_2326707394449301144[214] = 0; - out_2326707394449301144[215] = 0; - out_2326707394449301144[216] = 0; - out_2326707394449301144[217] = 0; - out_2326707394449301144[218] = 0; - out_2326707394449301144[219] = 0; - out_2326707394449301144[220] = 0; - out_2326707394449301144[221] = 0; - out_2326707394449301144[222] = 0; - out_2326707394449301144[223] = 0; - out_2326707394449301144[224] = 0; - out_2326707394449301144[225] = 0; - out_2326707394449301144[226] = 0; - out_2326707394449301144[227] = 0; - out_2326707394449301144[228] = 1; - out_2326707394449301144[229] = 0; - out_2326707394449301144[230] = 0; - out_2326707394449301144[231] = 0; - out_2326707394449301144[232] = 0; - out_2326707394449301144[233] = 0; - out_2326707394449301144[234] = 0; - out_2326707394449301144[235] = 0; - out_2326707394449301144[236] = 0; - out_2326707394449301144[237] = 0; - out_2326707394449301144[238] = 0; - out_2326707394449301144[239] = 0; - out_2326707394449301144[240] = 0; - out_2326707394449301144[241] = 0; - out_2326707394449301144[242] = 0; - out_2326707394449301144[243] = 0; - out_2326707394449301144[244] = 0; - out_2326707394449301144[245] = 0; - out_2326707394449301144[246] = 0; - out_2326707394449301144[247] = 1; - out_2326707394449301144[248] = 0; - out_2326707394449301144[249] = 0; - out_2326707394449301144[250] = 0; - out_2326707394449301144[251] = 0; - out_2326707394449301144[252] = 0; - out_2326707394449301144[253] = 0; - out_2326707394449301144[254] = 0; - out_2326707394449301144[255] = 0; - out_2326707394449301144[256] = 0; - out_2326707394449301144[257] = 0; - out_2326707394449301144[258] = 0; - out_2326707394449301144[259] = 0; - out_2326707394449301144[260] = 0; - out_2326707394449301144[261] = 0; - out_2326707394449301144[262] = 0; - out_2326707394449301144[263] = 0; - out_2326707394449301144[264] = 0; - out_2326707394449301144[265] = 0; - out_2326707394449301144[266] = 1; - out_2326707394449301144[267] = 0; - out_2326707394449301144[268] = 0; - out_2326707394449301144[269] = 0; - out_2326707394449301144[270] = 0; - out_2326707394449301144[271] = 0; - out_2326707394449301144[272] = 0; - out_2326707394449301144[273] = 0; - out_2326707394449301144[274] = 0; - out_2326707394449301144[275] = 0; - out_2326707394449301144[276] = 0; - out_2326707394449301144[277] = 0; - out_2326707394449301144[278] = 0; - out_2326707394449301144[279] = 0; - out_2326707394449301144[280] = 0; - out_2326707394449301144[281] = 0; - out_2326707394449301144[282] = 0; - out_2326707394449301144[283] = 0; - out_2326707394449301144[284] = 0; - out_2326707394449301144[285] = 1; - out_2326707394449301144[286] = 0; - out_2326707394449301144[287] = 0; - out_2326707394449301144[288] = 0; - out_2326707394449301144[289] = 0; - out_2326707394449301144[290] = 0; - out_2326707394449301144[291] = 0; - out_2326707394449301144[292] = 0; - out_2326707394449301144[293] = 0; - out_2326707394449301144[294] = 0; - out_2326707394449301144[295] = 0; - out_2326707394449301144[296] = 0; - out_2326707394449301144[297] = 0; - out_2326707394449301144[298] = 0; - out_2326707394449301144[299] = 0; - out_2326707394449301144[300] = 0; - out_2326707394449301144[301] = 0; - out_2326707394449301144[302] = 0; - out_2326707394449301144[303] = 0; - out_2326707394449301144[304] = 1; - out_2326707394449301144[305] = 0; - out_2326707394449301144[306] = 0; - out_2326707394449301144[307] = 0; - out_2326707394449301144[308] = 0; - out_2326707394449301144[309] = 0; - out_2326707394449301144[310] = 0; - out_2326707394449301144[311] = 0; - out_2326707394449301144[312] = 0; - out_2326707394449301144[313] = 0; - out_2326707394449301144[314] = 0; - out_2326707394449301144[315] = 0; - out_2326707394449301144[316] = 0; - out_2326707394449301144[317] = 0; - out_2326707394449301144[318] = 0; - out_2326707394449301144[319] = 0; - out_2326707394449301144[320] = 0; - out_2326707394449301144[321] = 0; - out_2326707394449301144[322] = 0; - out_2326707394449301144[323] = 1; +void F_fun(double *state, double dt, double *out_5293033715763511365) { + out_5293033715763511365[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_5293033715763511365[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_5293033715763511365[2] = 0; + out_5293033715763511365[3] = 0; + out_5293033715763511365[4] = 0; + out_5293033715763511365[5] = 0; + out_5293033715763511365[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_5293033715763511365[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_5293033715763511365[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_5293033715763511365[9] = 0; + out_5293033715763511365[10] = 0; + out_5293033715763511365[11] = 0; + out_5293033715763511365[12] = 0; + out_5293033715763511365[13] = 0; + out_5293033715763511365[14] = 0; + out_5293033715763511365[15] = 0; + out_5293033715763511365[16] = 0; + out_5293033715763511365[17] = 0; + out_5293033715763511365[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_5293033715763511365[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_5293033715763511365[20] = 0; + out_5293033715763511365[21] = 0; + out_5293033715763511365[22] = 0; + out_5293033715763511365[23] = 0; + out_5293033715763511365[24] = 0; + out_5293033715763511365[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_5293033715763511365[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_5293033715763511365[27] = 0; + out_5293033715763511365[28] = 0; + out_5293033715763511365[29] = 0; + out_5293033715763511365[30] = 0; + out_5293033715763511365[31] = 0; + out_5293033715763511365[32] = 0; + out_5293033715763511365[33] = 0; + out_5293033715763511365[34] = 0; + out_5293033715763511365[35] = 0; + out_5293033715763511365[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_5293033715763511365[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_5293033715763511365[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_5293033715763511365[39] = 0; + out_5293033715763511365[40] = 0; + out_5293033715763511365[41] = 0; + out_5293033715763511365[42] = 0; + out_5293033715763511365[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_5293033715763511365[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_5293033715763511365[45] = 0; + out_5293033715763511365[46] = 0; + out_5293033715763511365[47] = 0; + out_5293033715763511365[48] = 0; + out_5293033715763511365[49] = 0; + out_5293033715763511365[50] = 0; + out_5293033715763511365[51] = 0; + out_5293033715763511365[52] = 0; + out_5293033715763511365[53] = 0; + out_5293033715763511365[54] = 0; + out_5293033715763511365[55] = 0; + out_5293033715763511365[56] = 0; + out_5293033715763511365[57] = 1; + out_5293033715763511365[58] = 0; + out_5293033715763511365[59] = 0; + out_5293033715763511365[60] = 0; + out_5293033715763511365[61] = 0; + out_5293033715763511365[62] = 0; + out_5293033715763511365[63] = 0; + out_5293033715763511365[64] = 0; + out_5293033715763511365[65] = 0; + out_5293033715763511365[66] = dt; + out_5293033715763511365[67] = 0; + out_5293033715763511365[68] = 0; + out_5293033715763511365[69] = 0; + out_5293033715763511365[70] = 0; + out_5293033715763511365[71] = 0; + out_5293033715763511365[72] = 0; + out_5293033715763511365[73] = 0; + out_5293033715763511365[74] = 0; + out_5293033715763511365[75] = 0; + out_5293033715763511365[76] = 1; + out_5293033715763511365[77] = 0; + out_5293033715763511365[78] = 0; + out_5293033715763511365[79] = 0; + out_5293033715763511365[80] = 0; + out_5293033715763511365[81] = 0; + out_5293033715763511365[82] = 0; + out_5293033715763511365[83] = 0; + out_5293033715763511365[84] = 0; + out_5293033715763511365[85] = dt; + out_5293033715763511365[86] = 0; + out_5293033715763511365[87] = 0; + out_5293033715763511365[88] = 0; + out_5293033715763511365[89] = 0; + out_5293033715763511365[90] = 0; + out_5293033715763511365[91] = 0; + out_5293033715763511365[92] = 0; + out_5293033715763511365[93] = 0; + out_5293033715763511365[94] = 0; + out_5293033715763511365[95] = 1; + out_5293033715763511365[96] = 0; + out_5293033715763511365[97] = 0; + out_5293033715763511365[98] = 0; + out_5293033715763511365[99] = 0; + out_5293033715763511365[100] = 0; + out_5293033715763511365[101] = 0; + out_5293033715763511365[102] = 0; + out_5293033715763511365[103] = 0; + out_5293033715763511365[104] = dt; + out_5293033715763511365[105] = 0; + out_5293033715763511365[106] = 0; + out_5293033715763511365[107] = 0; + out_5293033715763511365[108] = 0; + out_5293033715763511365[109] = 0; + out_5293033715763511365[110] = 0; + out_5293033715763511365[111] = 0; + out_5293033715763511365[112] = 0; + out_5293033715763511365[113] = 0; + out_5293033715763511365[114] = 1; + out_5293033715763511365[115] = 0; + out_5293033715763511365[116] = 0; + out_5293033715763511365[117] = 0; + out_5293033715763511365[118] = 0; + out_5293033715763511365[119] = 0; + out_5293033715763511365[120] = 0; + out_5293033715763511365[121] = 0; + out_5293033715763511365[122] = 0; + out_5293033715763511365[123] = 0; + out_5293033715763511365[124] = 0; + out_5293033715763511365[125] = 0; + out_5293033715763511365[126] = 0; + out_5293033715763511365[127] = 0; + out_5293033715763511365[128] = 0; + out_5293033715763511365[129] = 0; + out_5293033715763511365[130] = 0; + out_5293033715763511365[131] = 0; + out_5293033715763511365[132] = 0; + out_5293033715763511365[133] = 1; + out_5293033715763511365[134] = 0; + out_5293033715763511365[135] = 0; + out_5293033715763511365[136] = 0; + out_5293033715763511365[137] = 0; + out_5293033715763511365[138] = 0; + out_5293033715763511365[139] = 0; + out_5293033715763511365[140] = 0; + out_5293033715763511365[141] = 0; + out_5293033715763511365[142] = 0; + out_5293033715763511365[143] = 0; + out_5293033715763511365[144] = 0; + out_5293033715763511365[145] = 0; + out_5293033715763511365[146] = 0; + out_5293033715763511365[147] = 0; + out_5293033715763511365[148] = 0; + out_5293033715763511365[149] = 0; + out_5293033715763511365[150] = 0; + out_5293033715763511365[151] = 0; + out_5293033715763511365[152] = 1; + out_5293033715763511365[153] = 0; + out_5293033715763511365[154] = 0; + out_5293033715763511365[155] = 0; + out_5293033715763511365[156] = 0; + out_5293033715763511365[157] = 0; + out_5293033715763511365[158] = 0; + out_5293033715763511365[159] = 0; + out_5293033715763511365[160] = 0; + out_5293033715763511365[161] = 0; + out_5293033715763511365[162] = 0; + out_5293033715763511365[163] = 0; + out_5293033715763511365[164] = 0; + out_5293033715763511365[165] = 0; + out_5293033715763511365[166] = 0; + out_5293033715763511365[167] = 0; + out_5293033715763511365[168] = 0; + out_5293033715763511365[169] = 0; + out_5293033715763511365[170] = 0; + out_5293033715763511365[171] = 1; + out_5293033715763511365[172] = 0; + out_5293033715763511365[173] = 0; + out_5293033715763511365[174] = 0; + out_5293033715763511365[175] = 0; + out_5293033715763511365[176] = 0; + out_5293033715763511365[177] = 0; + out_5293033715763511365[178] = 0; + out_5293033715763511365[179] = 0; + out_5293033715763511365[180] = 0; + out_5293033715763511365[181] = 0; + out_5293033715763511365[182] = 0; + out_5293033715763511365[183] = 0; + out_5293033715763511365[184] = 0; + out_5293033715763511365[185] = 0; + out_5293033715763511365[186] = 0; + out_5293033715763511365[187] = 0; + out_5293033715763511365[188] = 0; + out_5293033715763511365[189] = 0; + out_5293033715763511365[190] = 1; + out_5293033715763511365[191] = 0; + out_5293033715763511365[192] = 0; + out_5293033715763511365[193] = 0; + out_5293033715763511365[194] = 0; + out_5293033715763511365[195] = 0; + out_5293033715763511365[196] = 0; + out_5293033715763511365[197] = 0; + out_5293033715763511365[198] = 0; + out_5293033715763511365[199] = 0; + out_5293033715763511365[200] = 0; + out_5293033715763511365[201] = 0; + out_5293033715763511365[202] = 0; + out_5293033715763511365[203] = 0; + out_5293033715763511365[204] = 0; + out_5293033715763511365[205] = 0; + out_5293033715763511365[206] = 0; + out_5293033715763511365[207] = 0; + out_5293033715763511365[208] = 0; + out_5293033715763511365[209] = 1; + out_5293033715763511365[210] = 0; + out_5293033715763511365[211] = 0; + out_5293033715763511365[212] = 0; + out_5293033715763511365[213] = 0; + out_5293033715763511365[214] = 0; + out_5293033715763511365[215] = 0; + out_5293033715763511365[216] = 0; + out_5293033715763511365[217] = 0; + out_5293033715763511365[218] = 0; + out_5293033715763511365[219] = 0; + out_5293033715763511365[220] = 0; + out_5293033715763511365[221] = 0; + out_5293033715763511365[222] = 0; + out_5293033715763511365[223] = 0; + out_5293033715763511365[224] = 0; + out_5293033715763511365[225] = 0; + out_5293033715763511365[226] = 0; + out_5293033715763511365[227] = 0; + out_5293033715763511365[228] = 1; + out_5293033715763511365[229] = 0; + out_5293033715763511365[230] = 0; + out_5293033715763511365[231] = 0; + out_5293033715763511365[232] = 0; + out_5293033715763511365[233] = 0; + out_5293033715763511365[234] = 0; + out_5293033715763511365[235] = 0; + out_5293033715763511365[236] = 0; + out_5293033715763511365[237] = 0; + out_5293033715763511365[238] = 0; + out_5293033715763511365[239] = 0; + out_5293033715763511365[240] = 0; + out_5293033715763511365[241] = 0; + out_5293033715763511365[242] = 0; + out_5293033715763511365[243] = 0; + out_5293033715763511365[244] = 0; + out_5293033715763511365[245] = 0; + out_5293033715763511365[246] = 0; + out_5293033715763511365[247] = 1; + out_5293033715763511365[248] = 0; + out_5293033715763511365[249] = 0; + out_5293033715763511365[250] = 0; + out_5293033715763511365[251] = 0; + out_5293033715763511365[252] = 0; + out_5293033715763511365[253] = 0; + out_5293033715763511365[254] = 0; + out_5293033715763511365[255] = 0; + out_5293033715763511365[256] = 0; + out_5293033715763511365[257] = 0; + out_5293033715763511365[258] = 0; + out_5293033715763511365[259] = 0; + out_5293033715763511365[260] = 0; + out_5293033715763511365[261] = 0; + out_5293033715763511365[262] = 0; + out_5293033715763511365[263] = 0; + out_5293033715763511365[264] = 0; + out_5293033715763511365[265] = 0; + out_5293033715763511365[266] = 1; + out_5293033715763511365[267] = 0; + out_5293033715763511365[268] = 0; + out_5293033715763511365[269] = 0; + out_5293033715763511365[270] = 0; + out_5293033715763511365[271] = 0; + out_5293033715763511365[272] = 0; + out_5293033715763511365[273] = 0; + out_5293033715763511365[274] = 0; + out_5293033715763511365[275] = 0; + out_5293033715763511365[276] = 0; + out_5293033715763511365[277] = 0; + out_5293033715763511365[278] = 0; + out_5293033715763511365[279] = 0; + out_5293033715763511365[280] = 0; + out_5293033715763511365[281] = 0; + out_5293033715763511365[282] = 0; + out_5293033715763511365[283] = 0; + out_5293033715763511365[284] = 0; + out_5293033715763511365[285] = 1; + out_5293033715763511365[286] = 0; + out_5293033715763511365[287] = 0; + out_5293033715763511365[288] = 0; + out_5293033715763511365[289] = 0; + out_5293033715763511365[290] = 0; + out_5293033715763511365[291] = 0; + out_5293033715763511365[292] = 0; + out_5293033715763511365[293] = 0; + out_5293033715763511365[294] = 0; + out_5293033715763511365[295] = 0; + out_5293033715763511365[296] = 0; + out_5293033715763511365[297] = 0; + out_5293033715763511365[298] = 0; + out_5293033715763511365[299] = 0; + out_5293033715763511365[300] = 0; + out_5293033715763511365[301] = 0; + out_5293033715763511365[302] = 0; + out_5293033715763511365[303] = 0; + out_5293033715763511365[304] = 1; + out_5293033715763511365[305] = 0; + out_5293033715763511365[306] = 0; + out_5293033715763511365[307] = 0; + out_5293033715763511365[308] = 0; + out_5293033715763511365[309] = 0; + out_5293033715763511365[310] = 0; + out_5293033715763511365[311] = 0; + out_5293033715763511365[312] = 0; + out_5293033715763511365[313] = 0; + out_5293033715763511365[314] = 0; + out_5293033715763511365[315] = 0; + out_5293033715763511365[316] = 0; + out_5293033715763511365[317] = 0; + out_5293033715763511365[318] = 0; + out_5293033715763511365[319] = 0; + out_5293033715763511365[320] = 0; + out_5293033715763511365[321] = 0; + out_5293033715763511365[322] = 0; + out_5293033715763511365[323] = 1; } -void h_4(double *state, double *unused, double *out_5242858642703077087) { - out_5242858642703077087[0] = state[6] + state[9]; - out_5242858642703077087[1] = state[7] + state[10]; - out_5242858642703077087[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5228726973950769986) { + out_5228726973950769986[0] = state[6] + state[9]; + out_5228726973950769986[1] = state[7] + state[10]; + out_5228726973950769986[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1660615060416319653) { - out_1660615060416319653[0] = 0; - out_1660615060416319653[1] = 0; - out_1660615060416319653[2] = 0; - out_1660615060416319653[3] = 0; - out_1660615060416319653[4] = 0; - out_1660615060416319653[5] = 0; - out_1660615060416319653[6] = 1; - out_1660615060416319653[7] = 0; - out_1660615060416319653[8] = 0; - out_1660615060416319653[9] = 1; - out_1660615060416319653[10] = 0; - out_1660615060416319653[11] = 0; - out_1660615060416319653[12] = 0; - out_1660615060416319653[13] = 0; - out_1660615060416319653[14] = 0; - out_1660615060416319653[15] = 0; - out_1660615060416319653[16] = 0; - out_1660615060416319653[17] = 0; - out_1660615060416319653[18] = 0; - out_1660615060416319653[19] = 0; - out_1660615060416319653[20] = 0; - out_1660615060416319653[21] = 0; - out_1660615060416319653[22] = 0; - out_1660615060416319653[23] = 0; - out_1660615060416319653[24] = 0; - out_1660615060416319653[25] = 1; - out_1660615060416319653[26] = 0; - out_1660615060416319653[27] = 0; - out_1660615060416319653[28] = 1; - out_1660615060416319653[29] = 0; - out_1660615060416319653[30] = 0; - out_1660615060416319653[31] = 0; - out_1660615060416319653[32] = 0; - out_1660615060416319653[33] = 0; - out_1660615060416319653[34] = 0; - out_1660615060416319653[35] = 0; - out_1660615060416319653[36] = 0; - out_1660615060416319653[37] = 0; - out_1660615060416319653[38] = 0; - out_1660615060416319653[39] = 0; - out_1660615060416319653[40] = 0; - out_1660615060416319653[41] = 0; - out_1660615060416319653[42] = 0; - out_1660615060416319653[43] = 0; - out_1660615060416319653[44] = 1; - out_1660615060416319653[45] = 0; - out_1660615060416319653[46] = 0; - out_1660615060416319653[47] = 1; - out_1660615060416319653[48] = 0; - out_1660615060416319653[49] = 0; - out_1660615060416319653[50] = 0; - out_1660615060416319653[51] = 0; - out_1660615060416319653[52] = 0; - out_1660615060416319653[53] = 0; +void H_4(double *state, double *unused, double *out_3032303058814960921) { + out_3032303058814960921[0] = 0; + out_3032303058814960921[1] = 0; + out_3032303058814960921[2] = 0; + out_3032303058814960921[3] = 0; + out_3032303058814960921[4] = 0; + out_3032303058814960921[5] = 0; + out_3032303058814960921[6] = 1; + out_3032303058814960921[7] = 0; + out_3032303058814960921[8] = 0; + out_3032303058814960921[9] = 1; + out_3032303058814960921[10] = 0; + out_3032303058814960921[11] = 0; + out_3032303058814960921[12] = 0; + out_3032303058814960921[13] = 0; + out_3032303058814960921[14] = 0; + out_3032303058814960921[15] = 0; + out_3032303058814960921[16] = 0; + out_3032303058814960921[17] = 0; + out_3032303058814960921[18] = 0; + out_3032303058814960921[19] = 0; + out_3032303058814960921[20] = 0; + out_3032303058814960921[21] = 0; + out_3032303058814960921[22] = 0; + out_3032303058814960921[23] = 0; + out_3032303058814960921[24] = 0; + out_3032303058814960921[25] = 1; + out_3032303058814960921[26] = 0; + out_3032303058814960921[27] = 0; + out_3032303058814960921[28] = 1; + out_3032303058814960921[29] = 0; + out_3032303058814960921[30] = 0; + out_3032303058814960921[31] = 0; + out_3032303058814960921[32] = 0; + out_3032303058814960921[33] = 0; + out_3032303058814960921[34] = 0; + out_3032303058814960921[35] = 0; + out_3032303058814960921[36] = 0; + out_3032303058814960921[37] = 0; + out_3032303058814960921[38] = 0; + out_3032303058814960921[39] = 0; + out_3032303058814960921[40] = 0; + out_3032303058814960921[41] = 0; + out_3032303058814960921[42] = 0; + out_3032303058814960921[43] = 0; + out_3032303058814960921[44] = 1; + out_3032303058814960921[45] = 0; + out_3032303058814960921[46] = 0; + out_3032303058814960921[47] = 1; + out_3032303058814960921[48] = 0; + out_3032303058814960921[49] = 0; + out_3032303058814960921[50] = 0; + out_3032303058814960921[51] = 0; + out_3032303058814960921[52] = 0; + out_3032303058814960921[53] = 0; } -void h_10(double *state, double *unused, double *out_8287724405821980303) { - out_8287724405821980303[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8287724405821980303[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8287724405821980303[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_122492238844625391) { + out_122492238844625391[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_122492238844625391[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_122492238844625391[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_8634670991932313772) { - out_8634670991932313772[0] = 0; - out_8634670991932313772[1] = 9.8100000000000005*cos(state[1]); - out_8634670991932313772[2] = 0; - out_8634670991932313772[3] = 0; - out_8634670991932313772[4] = -state[8]; - out_8634670991932313772[5] = state[7]; - out_8634670991932313772[6] = 0; - out_8634670991932313772[7] = state[5]; - out_8634670991932313772[8] = -state[4]; - out_8634670991932313772[9] = 0; - out_8634670991932313772[10] = 0; - out_8634670991932313772[11] = 0; - out_8634670991932313772[12] = 1; - out_8634670991932313772[13] = 0; - out_8634670991932313772[14] = 0; - out_8634670991932313772[15] = 1; - out_8634670991932313772[16] = 0; - out_8634670991932313772[17] = 0; - out_8634670991932313772[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8634670991932313772[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8634670991932313772[20] = 0; - out_8634670991932313772[21] = state[8]; - out_8634670991932313772[22] = 0; - out_8634670991932313772[23] = -state[6]; - out_8634670991932313772[24] = -state[5]; - out_8634670991932313772[25] = 0; - out_8634670991932313772[26] = state[3]; - out_8634670991932313772[27] = 0; - out_8634670991932313772[28] = 0; - out_8634670991932313772[29] = 0; - out_8634670991932313772[30] = 0; - out_8634670991932313772[31] = 1; - out_8634670991932313772[32] = 0; - out_8634670991932313772[33] = 0; - out_8634670991932313772[34] = 1; - out_8634670991932313772[35] = 0; - out_8634670991932313772[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8634670991932313772[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8634670991932313772[38] = 0; - out_8634670991932313772[39] = -state[7]; - out_8634670991932313772[40] = state[6]; - out_8634670991932313772[41] = 0; - out_8634670991932313772[42] = state[4]; - out_8634670991932313772[43] = -state[3]; - out_8634670991932313772[44] = 0; - out_8634670991932313772[45] = 0; - out_8634670991932313772[46] = 0; - out_8634670991932313772[47] = 0; - out_8634670991932313772[48] = 0; - out_8634670991932313772[49] = 0; - out_8634670991932313772[50] = 1; - out_8634670991932313772[51] = 0; - out_8634670991932313772[52] = 0; - out_8634670991932313772[53] = 1; +void H_10(double *state, double *unused, double *out_4293959578107599330) { + out_4293959578107599330[0] = 0; + out_4293959578107599330[1] = 9.8100000000000005*cos(state[1]); + out_4293959578107599330[2] = 0; + out_4293959578107599330[3] = 0; + out_4293959578107599330[4] = -state[8]; + out_4293959578107599330[5] = state[7]; + out_4293959578107599330[6] = 0; + out_4293959578107599330[7] = state[5]; + out_4293959578107599330[8] = -state[4]; + out_4293959578107599330[9] = 0; + out_4293959578107599330[10] = 0; + out_4293959578107599330[11] = 0; + out_4293959578107599330[12] = 1; + out_4293959578107599330[13] = 0; + out_4293959578107599330[14] = 0; + out_4293959578107599330[15] = 1; + out_4293959578107599330[16] = 0; + out_4293959578107599330[17] = 0; + out_4293959578107599330[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4293959578107599330[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4293959578107599330[20] = 0; + out_4293959578107599330[21] = state[8]; + out_4293959578107599330[22] = 0; + out_4293959578107599330[23] = -state[6]; + out_4293959578107599330[24] = -state[5]; + out_4293959578107599330[25] = 0; + out_4293959578107599330[26] = state[3]; + out_4293959578107599330[27] = 0; + out_4293959578107599330[28] = 0; + out_4293959578107599330[29] = 0; + out_4293959578107599330[30] = 0; + out_4293959578107599330[31] = 1; + out_4293959578107599330[32] = 0; + out_4293959578107599330[33] = 0; + out_4293959578107599330[34] = 1; + out_4293959578107599330[35] = 0; + out_4293959578107599330[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4293959578107599330[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4293959578107599330[38] = 0; + out_4293959578107599330[39] = -state[7]; + out_4293959578107599330[40] = state[6]; + out_4293959578107599330[41] = 0; + out_4293959578107599330[42] = state[4]; + out_4293959578107599330[43] = -state[3]; + out_4293959578107599330[44] = 0; + out_4293959578107599330[45] = 0; + out_4293959578107599330[46] = 0; + out_4293959578107599330[47] = 0; + out_4293959578107599330[48] = 0; + out_4293959578107599330[49] = 0; + out_4293959578107599330[50] = 1; + out_4293959578107599330[51] = 0; + out_4293959578107599330[52] = 0; + out_4293959578107599330[53] = 1; } -void h_13(double *state, double *unused, double *out_936388540160520926) { - out_936388540160520926[0] = state[3]; - out_936388540160520926[1] = state[4]; - out_936388540160520926[2] = state[5]; +void h_13(double *state, double *unused, double *out_4688840231226545336) { + out_4688840231226545336[0] = state[3]; + out_4688840231226545336[1] = state[4]; + out_4688840231226545336[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4872888885748652454) { - out_4872888885748652454[0] = 0; - out_4872888885748652454[1] = 0; - out_4872888885748652454[2] = 0; - out_4872888885748652454[3] = 1; - out_4872888885748652454[4] = 0; - out_4872888885748652454[5] = 0; - out_4872888885748652454[6] = 0; - out_4872888885748652454[7] = 0; - out_4872888885748652454[8] = 0; - out_4872888885748652454[9] = 0; - out_4872888885748652454[10] = 0; - out_4872888885748652454[11] = 0; - out_4872888885748652454[12] = 0; - out_4872888885748652454[13] = 0; - out_4872888885748652454[14] = 0; - out_4872888885748652454[15] = 0; - out_4872888885748652454[16] = 0; - out_4872888885748652454[17] = 0; - out_4872888885748652454[18] = 0; - out_4872888885748652454[19] = 0; - out_4872888885748652454[20] = 0; - out_4872888885748652454[21] = 0; - out_4872888885748652454[22] = 1; - out_4872888885748652454[23] = 0; - out_4872888885748652454[24] = 0; - out_4872888885748652454[25] = 0; - out_4872888885748652454[26] = 0; - out_4872888885748652454[27] = 0; - out_4872888885748652454[28] = 0; - out_4872888885748652454[29] = 0; - out_4872888885748652454[30] = 0; - out_4872888885748652454[31] = 0; - out_4872888885748652454[32] = 0; - out_4872888885748652454[33] = 0; - out_4872888885748652454[34] = 0; - out_4872888885748652454[35] = 0; - out_4872888885748652454[36] = 0; - out_4872888885748652454[37] = 0; - out_4872888885748652454[38] = 0; - out_4872888885748652454[39] = 0; - out_4872888885748652454[40] = 0; - out_4872888885748652454[41] = 1; - out_4872888885748652454[42] = 0; - out_4872888885748652454[43] = 0; - out_4872888885748652454[44] = 0; - out_4872888885748652454[45] = 0; - out_4872888885748652454[46] = 0; - out_4872888885748652454[47] = 0; - out_4872888885748652454[48] = 0; - out_4872888885748652454[49] = 0; - out_4872888885748652454[50] = 0; - out_4872888885748652454[51] = 0; - out_4872888885748652454[52] = 0; - out_4872888885748652454[53] = 0; +void H_13(double *state, double *unused, double *out_7803809806577889766) { + out_7803809806577889766[0] = 0; + out_7803809806577889766[1] = 0; + out_7803809806577889766[2] = 0; + out_7803809806577889766[3] = 1; + out_7803809806577889766[4] = 0; + out_7803809806577889766[5] = 0; + out_7803809806577889766[6] = 0; + out_7803809806577889766[7] = 0; + out_7803809806577889766[8] = 0; + out_7803809806577889766[9] = 0; + out_7803809806577889766[10] = 0; + out_7803809806577889766[11] = 0; + out_7803809806577889766[12] = 0; + out_7803809806577889766[13] = 0; + out_7803809806577889766[14] = 0; + out_7803809806577889766[15] = 0; + out_7803809806577889766[16] = 0; + out_7803809806577889766[17] = 0; + out_7803809806577889766[18] = 0; + out_7803809806577889766[19] = 0; + out_7803809806577889766[20] = 0; + out_7803809806577889766[21] = 0; + out_7803809806577889766[22] = 1; + out_7803809806577889766[23] = 0; + out_7803809806577889766[24] = 0; + out_7803809806577889766[25] = 0; + out_7803809806577889766[26] = 0; + out_7803809806577889766[27] = 0; + out_7803809806577889766[28] = 0; + out_7803809806577889766[29] = 0; + out_7803809806577889766[30] = 0; + out_7803809806577889766[31] = 0; + out_7803809806577889766[32] = 0; + out_7803809806577889766[33] = 0; + out_7803809806577889766[34] = 0; + out_7803809806577889766[35] = 0; + out_7803809806577889766[36] = 0; + out_7803809806577889766[37] = 0; + out_7803809806577889766[38] = 0; + out_7803809806577889766[39] = 0; + out_7803809806577889766[40] = 0; + out_7803809806577889766[41] = 1; + out_7803809806577889766[42] = 0; + out_7803809806577889766[43] = 0; + out_7803809806577889766[44] = 0; + out_7803809806577889766[45] = 0; + out_7803809806577889766[46] = 0; + out_7803809806577889766[47] = 0; + out_7803809806577889766[48] = 0; + out_7803809806577889766[49] = 0; + out_7803809806577889766[50] = 0; + out_7803809806577889766[51] = 0; + out_7803809806577889766[52] = 0; + out_7803809806577889766[53] = 0; } -void h_14(double *state, double *unused, double *out_3784911557802666238) { - out_3784911557802666238[0] = state[6]; - out_3784911557802666238[1] = state[7]; - out_3784911557802666238[2] = state[8]; +void h_14(double *state, double *unused, double *out_5111785488402772162) { + out_5111785488402772162[0] = state[6]; + out_5111785488402772162[1] = state[7]; + out_5111785488402772162[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5623855916755804182) { - out_5623855916755804182[0] = 0; - out_5623855916755804182[1] = 0; - out_5623855916755804182[2] = 0; - out_5623855916755804182[3] = 0; - out_5623855916755804182[4] = 0; - out_5623855916755804182[5] = 0; - out_5623855916755804182[6] = 1; - out_5623855916755804182[7] = 0; - out_5623855916755804182[8] = 0; - out_5623855916755804182[9] = 0; - out_5623855916755804182[10] = 0; - out_5623855916755804182[11] = 0; - out_5623855916755804182[12] = 0; - out_5623855916755804182[13] = 0; - out_5623855916755804182[14] = 0; - out_5623855916755804182[15] = 0; - out_5623855916755804182[16] = 0; - out_5623855916755804182[17] = 0; - out_5623855916755804182[18] = 0; - out_5623855916755804182[19] = 0; - out_5623855916755804182[20] = 0; - out_5623855916755804182[21] = 0; - out_5623855916755804182[22] = 0; - out_5623855916755804182[23] = 0; - out_5623855916755804182[24] = 0; - out_5623855916755804182[25] = 1; - out_5623855916755804182[26] = 0; - out_5623855916755804182[27] = 0; - out_5623855916755804182[28] = 0; - out_5623855916755804182[29] = 0; - out_5623855916755804182[30] = 0; - out_5623855916755804182[31] = 0; - out_5623855916755804182[32] = 0; - out_5623855916755804182[33] = 0; - out_5623855916755804182[34] = 0; - out_5623855916755804182[35] = 0; - out_5623855916755804182[36] = 0; - out_5623855916755804182[37] = 0; - out_5623855916755804182[38] = 0; - out_5623855916755804182[39] = 0; - out_5623855916755804182[40] = 0; - out_5623855916755804182[41] = 0; - out_5623855916755804182[42] = 0; - out_5623855916755804182[43] = 0; - out_5623855916755804182[44] = 1; - out_5623855916755804182[45] = 0; - out_5623855916755804182[46] = 0; - out_5623855916755804182[47] = 0; - out_5623855916755804182[48] = 0; - out_5623855916755804182[49] = 0; - out_5623855916755804182[50] = 0; - out_5623855916755804182[51] = 0; - out_5623855916755804182[52] = 0; - out_5623855916755804182[53] = 0; +void H_14(double *state, double *unused, double *out_6995543915154445450) { + out_6995543915154445450[0] = 0; + out_6995543915154445450[1] = 0; + out_6995543915154445450[2] = 0; + out_6995543915154445450[3] = 0; + out_6995543915154445450[4] = 0; + out_6995543915154445450[5] = 0; + out_6995543915154445450[6] = 1; + out_6995543915154445450[7] = 0; + out_6995543915154445450[8] = 0; + out_6995543915154445450[9] = 0; + out_6995543915154445450[10] = 0; + out_6995543915154445450[11] = 0; + out_6995543915154445450[12] = 0; + out_6995543915154445450[13] = 0; + out_6995543915154445450[14] = 0; + out_6995543915154445450[15] = 0; + out_6995543915154445450[16] = 0; + out_6995543915154445450[17] = 0; + out_6995543915154445450[18] = 0; + out_6995543915154445450[19] = 0; + out_6995543915154445450[20] = 0; + out_6995543915154445450[21] = 0; + out_6995543915154445450[22] = 0; + out_6995543915154445450[23] = 0; + out_6995543915154445450[24] = 0; + out_6995543915154445450[25] = 1; + out_6995543915154445450[26] = 0; + out_6995543915154445450[27] = 0; + out_6995543915154445450[28] = 0; + out_6995543915154445450[29] = 0; + out_6995543915154445450[30] = 0; + out_6995543915154445450[31] = 0; + out_6995543915154445450[32] = 0; + out_6995543915154445450[33] = 0; + out_6995543915154445450[34] = 0; + out_6995543915154445450[35] = 0; + out_6995543915154445450[36] = 0; + out_6995543915154445450[37] = 0; + out_6995543915154445450[38] = 0; + out_6995543915154445450[39] = 0; + out_6995543915154445450[40] = 0; + out_6995543915154445450[41] = 0; + out_6995543915154445450[42] = 0; + out_6995543915154445450[43] = 0; + out_6995543915154445450[44] = 1; + out_6995543915154445450[45] = 0; + out_6995543915154445450[46] = 0; + out_6995543915154445450[47] = 0; + out_6995543915154445450[48] = 0; + out_6995543915154445450[49] = 0; + out_6995543915154445450[50] = 0; + out_6995543915154445450[51] = 0; + out_6995543915154445450[52] = 0; + out_6995543915154445450[53] = 0; } #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_2551549382290402050) { - err_fun(nom_x, delta_x, out_2551549382290402050); +void pose_err_fun(double *nom_x, double *delta_x, double *out_772147526555487692) { + err_fun(nom_x, delta_x, out_772147526555487692); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3575109948453160374) { - inv_err_fun(nom_x, true_x, out_3575109948453160374); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4282924253332717604) { + inv_err_fun(nom_x, true_x, out_4282924253332717604); } -void pose_H_mod_fun(double *state, double *out_2954011976512996711) { - H_mod_fun(state, out_2954011976512996711); +void pose_H_mod_fun(double *state, double *out_4974307322782455600) { + H_mod_fun(state, out_4974307322782455600); } -void pose_f_fun(double *state, double dt, double *out_4081841541460951824) { - f_fun(state, dt, out_4081841541460951824); +void pose_f_fun(double *state, double dt, double *out_1104587078015232117) { + f_fun(state, dt, out_1104587078015232117); } -void pose_F_fun(double *state, double dt, double *out_2326707394449301144) { - F_fun(state, dt, out_2326707394449301144); +void pose_F_fun(double *state, double dt, double *out_5293033715763511365) { + F_fun(state, dt, out_5293033715763511365); } -void pose_h_4(double *state, double *unused, double *out_5242858642703077087) { - h_4(state, unused, out_5242858642703077087); +void pose_h_4(double *state, double *unused, double *out_5228726973950769986) { + h_4(state, unused, out_5228726973950769986); } -void pose_H_4(double *state, double *unused, double *out_1660615060416319653) { - H_4(state, unused, out_1660615060416319653); +void pose_H_4(double *state, double *unused, double *out_3032303058814960921) { + H_4(state, unused, out_3032303058814960921); } -void pose_h_10(double *state, double *unused, double *out_8287724405821980303) { - h_10(state, unused, out_8287724405821980303); +void pose_h_10(double *state, double *unused, double *out_122492238844625391) { + h_10(state, unused, out_122492238844625391); } -void pose_H_10(double *state, double *unused, double *out_8634670991932313772) { - H_10(state, unused, out_8634670991932313772); +void pose_H_10(double *state, double *unused, double *out_4293959578107599330) { + H_10(state, unused, out_4293959578107599330); } -void pose_h_13(double *state, double *unused, double *out_936388540160520926) { - h_13(state, unused, out_936388540160520926); +void pose_h_13(double *state, double *unused, double *out_4688840231226545336) { + h_13(state, unused, out_4688840231226545336); } -void pose_H_13(double *state, double *unused, double *out_4872888885748652454) { - H_13(state, unused, out_4872888885748652454); +void pose_H_13(double *state, double *unused, double *out_7803809806577889766) { + H_13(state, unused, out_7803809806577889766); } -void pose_h_14(double *state, double *unused, double *out_3784911557802666238) { - h_14(state, unused, out_3784911557802666238); +void pose_h_14(double *state, double *unused, double *out_5111785488402772162) { + h_14(state, unused, out_5111785488402772162); } -void pose_H_14(double *state, double *unused, double *out_5623855916755804182) { - H_14(state, unused, out_5623855916755804182); +void pose_H_14(double *state, double *unused, double *out_6995543915154445450) { + H_14(state, unused, out_6995543915154445450); } 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 509eacadd..540ad9857 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_2551549382290402050); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3575109948453160374); -void pose_H_mod_fun(double *state, double *out_2954011976512996711); -void pose_f_fun(double *state, double dt, double *out_4081841541460951824); -void pose_F_fun(double *state, double dt, double *out_2326707394449301144); -void pose_h_4(double *state, double *unused, double *out_5242858642703077087); -void pose_H_4(double *state, double *unused, double *out_1660615060416319653); -void pose_h_10(double *state, double *unused, double *out_8287724405821980303); -void pose_H_10(double *state, double *unused, double *out_8634670991932313772); -void pose_h_13(double *state, double *unused, double *out_936388540160520926); -void pose_H_13(double *state, double *unused, double *out_4872888885748652454); -void pose_h_14(double *state, double *unused, double *out_3784911557802666238); -void pose_H_14(double *state, double *unused, double *out_5623855916755804182); +void pose_err_fun(double *nom_x, double *delta_x, double *out_772147526555487692); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4282924253332717604); +void pose_H_mod_fun(double *state, double *out_4974307322782455600); +void pose_f_fun(double *state, double dt, double *out_1104587078015232117); +void pose_F_fun(double *state, double dt, double *out_5293033715763511365); +void pose_h_4(double *state, double *unused, double *out_5228726973950769986); +void pose_H_4(double *state, double *unused, double *out_3032303058814960921); +void pose_h_10(double *state, double *unused, double *out_122492238844625391); +void pose_H_10(double *state, double *unused, double *out_4293959578107599330); +void pose_h_13(double *state, double *unused, double *out_4688840231226545336); +void pose_H_13(double *state, double *unused, double *out_7803809806577889766); +void pose_h_14(double *state, double *unused, double *out_5111785488402772162); +void pose_H_14(double *state, double *unused, double *out_6995543915154445450); void pose_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 2df485eb3..be0006575 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 5cd4511a0..677f0d63c 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index b27a3828b..fa14fd66b 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index b795061f2..021366ea9 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index b9955e2e5..47f313545 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ