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b/panda/board/obj/version @@ -1 +1 @@ -DEV-3fb2bcdc-DEBUG \ No newline at end of file +DEV-4d9df8b1-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 7d1c2c9b4..57a3b0870 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_7311248151803822396) { - out_7311248151803822396[0] = delta_x[0] + nom_x[0]; - out_7311248151803822396[1] = delta_x[1] + nom_x[1]; - out_7311248151803822396[2] = delta_x[2] + nom_x[2]; - out_7311248151803822396[3] = delta_x[3] + nom_x[3]; - out_7311248151803822396[4] = delta_x[4] + nom_x[4]; - out_7311248151803822396[5] = delta_x[5] + nom_x[5]; - out_7311248151803822396[6] = delta_x[6] + nom_x[6]; - out_7311248151803822396[7] = delta_x[7] + nom_x[7]; - out_7311248151803822396[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7251302496478371121) { + out_7251302496478371121[0] = delta_x[0] + nom_x[0]; + out_7251302496478371121[1] = delta_x[1] + nom_x[1]; + out_7251302496478371121[2] = delta_x[2] + nom_x[2]; + out_7251302496478371121[3] = delta_x[3] + nom_x[3]; + out_7251302496478371121[4] = delta_x[4] + nom_x[4]; + out_7251302496478371121[5] = delta_x[5] + nom_x[5]; + out_7251302496478371121[6] = delta_x[6] + nom_x[6]; + out_7251302496478371121[7] = delta_x[7] + nom_x[7]; + out_7251302496478371121[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501) { - out_5602719869542378501[0] = -nom_x[0] + true_x[0]; - out_5602719869542378501[1] = -nom_x[1] + true_x[1]; - out_5602719869542378501[2] = -nom_x[2] + true_x[2]; - out_5602719869542378501[3] = -nom_x[3] + true_x[3]; - out_5602719869542378501[4] = -nom_x[4] + true_x[4]; - out_5602719869542378501[5] = -nom_x[5] + true_x[5]; - out_5602719869542378501[6] = -nom_x[6] + true_x[6]; - out_5602719869542378501[7] = -nom_x[7] + true_x[7]; - out_5602719869542378501[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7757777920139399450) { + out_7757777920139399450[0] = -nom_x[0] + true_x[0]; + out_7757777920139399450[1] = -nom_x[1] + true_x[1]; + out_7757777920139399450[2] = -nom_x[2] + true_x[2]; + out_7757777920139399450[3] = -nom_x[3] + true_x[3]; + out_7757777920139399450[4] = -nom_x[4] + true_x[4]; + out_7757777920139399450[5] = -nom_x[5] + true_x[5]; + out_7757777920139399450[6] = -nom_x[6] + true_x[6]; + out_7757777920139399450[7] = -nom_x[7] + true_x[7]; + out_7757777920139399450[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6859429191092688662) { - out_6859429191092688662[0] = 1.0; - out_6859429191092688662[1] = 0.0; - out_6859429191092688662[2] = 0.0; - out_6859429191092688662[3] = 0.0; - out_6859429191092688662[4] = 0.0; - out_6859429191092688662[5] = 0.0; - out_6859429191092688662[6] = 0.0; - out_6859429191092688662[7] = 0.0; - out_6859429191092688662[8] = 0.0; - out_6859429191092688662[9] = 0.0; - out_6859429191092688662[10] = 1.0; - out_6859429191092688662[11] = 0.0; - out_6859429191092688662[12] = 0.0; - out_6859429191092688662[13] = 0.0; - out_6859429191092688662[14] = 0.0; - out_6859429191092688662[15] = 0.0; - out_6859429191092688662[16] = 0.0; - out_6859429191092688662[17] = 0.0; - out_6859429191092688662[18] = 0.0; - out_6859429191092688662[19] = 0.0; - out_6859429191092688662[20] = 1.0; - out_6859429191092688662[21] = 0.0; - out_6859429191092688662[22] = 0.0; - out_6859429191092688662[23] = 0.0; - out_6859429191092688662[24] = 0.0; - out_6859429191092688662[25] = 0.0; - out_6859429191092688662[26] = 0.0; - out_6859429191092688662[27] = 0.0; - out_6859429191092688662[28] = 0.0; - out_6859429191092688662[29] = 0.0; - out_6859429191092688662[30] = 1.0; - out_6859429191092688662[31] = 0.0; - out_6859429191092688662[32] = 0.0; - out_6859429191092688662[33] = 0.0; - out_6859429191092688662[34] = 0.0; - out_6859429191092688662[35] = 0.0; - out_6859429191092688662[36] = 0.0; - out_6859429191092688662[37] = 0.0; - out_6859429191092688662[38] = 0.0; - out_6859429191092688662[39] = 0.0; - out_6859429191092688662[40] = 1.0; - out_6859429191092688662[41] = 0.0; - out_6859429191092688662[42] = 0.0; - out_6859429191092688662[43] = 0.0; - out_6859429191092688662[44] = 0.0; - out_6859429191092688662[45] = 0.0; - out_6859429191092688662[46] = 0.0; - out_6859429191092688662[47] = 0.0; - out_6859429191092688662[48] = 0.0; - out_6859429191092688662[49] = 0.0; - out_6859429191092688662[50] = 1.0; - out_6859429191092688662[51] = 0.0; - out_6859429191092688662[52] = 0.0; - out_6859429191092688662[53] = 0.0; - out_6859429191092688662[54] = 0.0; - out_6859429191092688662[55] = 0.0; - out_6859429191092688662[56] = 0.0; - out_6859429191092688662[57] = 0.0; - out_6859429191092688662[58] = 0.0; - out_6859429191092688662[59] = 0.0; - out_6859429191092688662[60] = 1.0; - out_6859429191092688662[61] = 0.0; - out_6859429191092688662[62] = 0.0; - out_6859429191092688662[63] = 0.0; - out_6859429191092688662[64] = 0.0; - out_6859429191092688662[65] = 0.0; - out_6859429191092688662[66] = 0.0; - out_6859429191092688662[67] = 0.0; - out_6859429191092688662[68] = 0.0; - out_6859429191092688662[69] = 0.0; - out_6859429191092688662[70] = 1.0; - out_6859429191092688662[71] = 0.0; - out_6859429191092688662[72] = 0.0; - out_6859429191092688662[73] = 0.0; - out_6859429191092688662[74] = 0.0; - out_6859429191092688662[75] = 0.0; - out_6859429191092688662[76] = 0.0; - out_6859429191092688662[77] = 0.0; - out_6859429191092688662[78] = 0.0; - out_6859429191092688662[79] = 0.0; - out_6859429191092688662[80] = 1.0; +void H_mod_fun(double *state, double *out_5994192809213785164) { + out_5994192809213785164[0] = 1.0; + out_5994192809213785164[1] = 0.0; + out_5994192809213785164[2] = 0.0; + out_5994192809213785164[3] = 0.0; + out_5994192809213785164[4] = 0.0; + out_5994192809213785164[5] = 0.0; + out_5994192809213785164[6] = 0.0; + out_5994192809213785164[7] = 0.0; + out_5994192809213785164[8] = 0.0; + out_5994192809213785164[9] = 0.0; + out_5994192809213785164[10] = 1.0; + out_5994192809213785164[11] = 0.0; + out_5994192809213785164[12] = 0.0; + out_5994192809213785164[13] = 0.0; + out_5994192809213785164[14] = 0.0; + out_5994192809213785164[15] = 0.0; + out_5994192809213785164[16] = 0.0; + out_5994192809213785164[17] = 0.0; + out_5994192809213785164[18] = 0.0; + out_5994192809213785164[19] = 0.0; + out_5994192809213785164[20] = 1.0; + out_5994192809213785164[21] = 0.0; + out_5994192809213785164[22] = 0.0; + out_5994192809213785164[23] = 0.0; + out_5994192809213785164[24] = 0.0; + out_5994192809213785164[25] = 0.0; + out_5994192809213785164[26] = 0.0; + out_5994192809213785164[27] = 0.0; + out_5994192809213785164[28] = 0.0; + out_5994192809213785164[29] = 0.0; + out_5994192809213785164[30] = 1.0; + out_5994192809213785164[31] = 0.0; + out_5994192809213785164[32] = 0.0; + out_5994192809213785164[33] = 0.0; + out_5994192809213785164[34] = 0.0; + out_5994192809213785164[35] = 0.0; + out_5994192809213785164[36] = 0.0; + out_5994192809213785164[37] = 0.0; + out_5994192809213785164[38] = 0.0; + out_5994192809213785164[39] = 0.0; + out_5994192809213785164[40] = 1.0; + out_5994192809213785164[41] = 0.0; + out_5994192809213785164[42] = 0.0; + out_5994192809213785164[43] = 0.0; + out_5994192809213785164[44] = 0.0; + out_5994192809213785164[45] = 0.0; + out_5994192809213785164[46] = 0.0; + out_5994192809213785164[47] = 0.0; + out_5994192809213785164[48] = 0.0; + out_5994192809213785164[49] = 0.0; + out_5994192809213785164[50] = 1.0; + out_5994192809213785164[51] = 0.0; + out_5994192809213785164[52] = 0.0; + out_5994192809213785164[53] = 0.0; + out_5994192809213785164[54] = 0.0; + out_5994192809213785164[55] = 0.0; + out_5994192809213785164[56] = 0.0; + out_5994192809213785164[57] = 0.0; + out_5994192809213785164[58] = 0.0; + out_5994192809213785164[59] = 0.0; + out_5994192809213785164[60] = 1.0; + out_5994192809213785164[61] = 0.0; + out_5994192809213785164[62] = 0.0; + out_5994192809213785164[63] = 0.0; + out_5994192809213785164[64] = 0.0; + out_5994192809213785164[65] = 0.0; + out_5994192809213785164[66] = 0.0; + out_5994192809213785164[67] = 0.0; + out_5994192809213785164[68] = 0.0; + out_5994192809213785164[69] = 0.0; + out_5994192809213785164[70] = 1.0; + out_5994192809213785164[71] = 0.0; + out_5994192809213785164[72] = 0.0; + out_5994192809213785164[73] = 0.0; + out_5994192809213785164[74] = 0.0; + out_5994192809213785164[75] = 0.0; + out_5994192809213785164[76] = 0.0; + out_5994192809213785164[77] = 0.0; + out_5994192809213785164[78] = 0.0; + out_5994192809213785164[79] = 0.0; + out_5994192809213785164[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3400060270232460893) { - out_3400060270232460893[0] = state[0]; - out_3400060270232460893[1] = state[1]; - out_3400060270232460893[2] = state[2]; - out_3400060270232460893[3] = state[3]; - out_3400060270232460893[4] = state[4]; - out_3400060270232460893[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_3400060270232460893[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_3400060270232460893[7] = state[7]; - out_3400060270232460893[8] = state[8]; +void f_fun(double *state, double dt, double *out_5541966606958472992) { + out_5541966606958472992[0] = state[0]; + out_5541966606958472992[1] = state[1]; + out_5541966606958472992[2] = state[2]; + out_5541966606958472992[3] = state[3]; + out_5541966606958472992[4] = state[4]; + out_5541966606958472992[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_5541966606958472992[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_5541966606958472992[7] = state[7]; + out_5541966606958472992[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6511275578440991802) { - out_6511275578440991802[0] = 1; - out_6511275578440991802[1] = 0; - out_6511275578440991802[2] = 0; - out_6511275578440991802[3] = 0; - out_6511275578440991802[4] = 0; - out_6511275578440991802[5] = 0; - out_6511275578440991802[6] = 0; - out_6511275578440991802[7] = 0; - out_6511275578440991802[8] = 0; - out_6511275578440991802[9] = 0; - out_6511275578440991802[10] = 1; - out_6511275578440991802[11] = 0; - out_6511275578440991802[12] = 0; - out_6511275578440991802[13] = 0; - out_6511275578440991802[14] = 0; - out_6511275578440991802[15] = 0; - out_6511275578440991802[16] = 0; - out_6511275578440991802[17] = 0; - out_6511275578440991802[18] = 0; - out_6511275578440991802[19] = 0; - out_6511275578440991802[20] = 1; - out_6511275578440991802[21] = 0; - out_6511275578440991802[22] = 0; - out_6511275578440991802[23] = 0; - out_6511275578440991802[24] = 0; - out_6511275578440991802[25] = 0; - out_6511275578440991802[26] = 0; - out_6511275578440991802[27] = 0; - out_6511275578440991802[28] = 0; - out_6511275578440991802[29] = 0; - out_6511275578440991802[30] = 1; - out_6511275578440991802[31] = 0; - out_6511275578440991802[32] = 0; - out_6511275578440991802[33] = 0; - out_6511275578440991802[34] = 0; - out_6511275578440991802[35] = 0; - out_6511275578440991802[36] = 0; - out_6511275578440991802[37] = 0; - out_6511275578440991802[38] = 0; - out_6511275578440991802[39] = 0; - out_6511275578440991802[40] = 1; - out_6511275578440991802[41] = 0; - out_6511275578440991802[42] = 0; - out_6511275578440991802[43] = 0; - out_6511275578440991802[44] = 0; - out_6511275578440991802[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_6511275578440991802[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6511275578440991802[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6511275578440991802[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6511275578440991802[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_6511275578440991802[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6511275578440991802[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6511275578440991802[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6511275578440991802[53] = -9.8100000000000005*dt; - out_6511275578440991802[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_6511275578440991802[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6511275578440991802[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6511275578440991802[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6511275578440991802[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_6511275578440991802[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6511275578440991802[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_6511275578440991802[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6511275578440991802[62] = 0; - out_6511275578440991802[63] = 0; - out_6511275578440991802[64] = 0; - out_6511275578440991802[65] = 0; - out_6511275578440991802[66] = 0; - out_6511275578440991802[67] = 0; - out_6511275578440991802[68] = 0; - out_6511275578440991802[69] = 0; - out_6511275578440991802[70] = 1; - out_6511275578440991802[71] = 0; - out_6511275578440991802[72] = 0; - out_6511275578440991802[73] = 0; - out_6511275578440991802[74] = 0; - out_6511275578440991802[75] = 0; - out_6511275578440991802[76] = 0; - out_6511275578440991802[77] = 0; - out_6511275578440991802[78] = 0; - out_6511275578440991802[79] = 0; - out_6511275578440991802[80] = 1; +void F_fun(double *state, double dt, double *out_3805616153551932316) { + out_3805616153551932316[0] = 1; + out_3805616153551932316[1] = 0; + out_3805616153551932316[2] = 0; + out_3805616153551932316[3] = 0; + out_3805616153551932316[4] = 0; + out_3805616153551932316[5] = 0; + out_3805616153551932316[6] = 0; + out_3805616153551932316[7] = 0; + out_3805616153551932316[8] = 0; + out_3805616153551932316[9] = 0; + out_3805616153551932316[10] = 1; + out_3805616153551932316[11] = 0; + out_3805616153551932316[12] = 0; + out_3805616153551932316[13] = 0; + out_3805616153551932316[14] = 0; + out_3805616153551932316[15] = 0; + out_3805616153551932316[16] = 0; + out_3805616153551932316[17] = 0; + out_3805616153551932316[18] = 0; + out_3805616153551932316[19] = 0; + out_3805616153551932316[20] = 1; + out_3805616153551932316[21] = 0; + out_3805616153551932316[22] = 0; + out_3805616153551932316[23] = 0; + out_3805616153551932316[24] = 0; + out_3805616153551932316[25] = 0; + out_3805616153551932316[26] = 0; + out_3805616153551932316[27] = 0; + out_3805616153551932316[28] = 0; + out_3805616153551932316[29] = 0; + out_3805616153551932316[30] = 1; + out_3805616153551932316[31] = 0; + out_3805616153551932316[32] = 0; + out_3805616153551932316[33] = 0; + out_3805616153551932316[34] = 0; + out_3805616153551932316[35] = 0; + out_3805616153551932316[36] = 0; + out_3805616153551932316[37] = 0; + out_3805616153551932316[38] = 0; + out_3805616153551932316[39] = 0; + out_3805616153551932316[40] = 1; + out_3805616153551932316[41] = 0; + out_3805616153551932316[42] = 0; + out_3805616153551932316[43] = 0; + out_3805616153551932316[44] = 0; + out_3805616153551932316[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_3805616153551932316[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3805616153551932316[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3805616153551932316[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3805616153551932316[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_3805616153551932316[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3805616153551932316[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3805616153551932316[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3805616153551932316[53] = -9.8100000000000005*dt; + out_3805616153551932316[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_3805616153551932316[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3805616153551932316[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3805616153551932316[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3805616153551932316[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_3805616153551932316[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3805616153551932316[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_3805616153551932316[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3805616153551932316[62] = 0; + out_3805616153551932316[63] = 0; + out_3805616153551932316[64] = 0; + out_3805616153551932316[65] = 0; + out_3805616153551932316[66] = 0; + out_3805616153551932316[67] = 0; + out_3805616153551932316[68] = 0; + out_3805616153551932316[69] = 0; + out_3805616153551932316[70] = 1; + out_3805616153551932316[71] = 0; + out_3805616153551932316[72] = 0; + out_3805616153551932316[73] = 0; + out_3805616153551932316[74] = 0; + out_3805616153551932316[75] = 0; + out_3805616153551932316[76] = 0; + out_3805616153551932316[77] = 0; + out_3805616153551932316[78] = 0; + out_3805616153551932316[79] = 0; + out_3805616153551932316[80] = 1; } -void h_25(double *state, double *unused, double *out_2633570630840598096) { - out_2633570630840598096[0] = state[6]; +void h_25(double *state, double *unused, double *out_4112076348506573484) { + out_4112076348506573484[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2394126656704625717) { - out_2394126656704625717[0] = 0; - out_2394126656704625717[1] = 0; - out_2394126656704625717[2] = 0; - out_2394126656704625717[3] = 0; - out_2394126656704625717[4] = 0; - out_2394126656704625717[5] = 0; - out_2394126656704625717[6] = 1; - out_2394126656704625717[7] = 0; - out_2394126656704625717[8] = 0; +void H_25(double *state, double *unused, double *out_2471212159224293487) { + out_2471212159224293487[0] = 0; + out_2471212159224293487[1] = 0; + out_2471212159224293487[2] = 0; + out_2471212159224293487[3] = 0; + out_2471212159224293487[4] = 0; + out_2471212159224293487[5] = 0; + out_2471212159224293487[6] = 1; + out_2471212159224293487[7] = 0; + out_2471212159224293487[8] = 0; } -void h_24(double *state, double *unused, double *out_3094145344632818755) { - out_3094145344632818755[0] = state[4]; - out_3094145344632818755[1] = state[5]; +void h_24(double *state, double *unused, double *out_2715398695630647729) { + out_2715398695630647729[0] = state[4]; + out_2715398695630647729[1] = state[5]; } -void H_24(double *state, double *unused, double *out_665263537527311648) { - out_665263537527311648[0] = 0; - out_665263537527311648[1] = 0; - out_665263537527311648[2] = 0; - out_665263537527311648[3] = 0; - out_665263537527311648[4] = 1; - out_665263537527311648[5] = 0; - out_665263537527311648[6] = 0; - out_665263537527311648[7] = 0; - out_665263537527311648[8] = 0; - out_665263537527311648[9] = 0; - out_665263537527311648[10] = 0; - out_665263537527311648[11] = 0; - out_665263537527311648[12] = 0; - out_665263537527311648[13] = 0; - out_665263537527311648[14] = 1; - out_665263537527311648[15] = 0; - out_665263537527311648[16] = 0; - out_665263537527311648[17] = 0; +void H_24(double *state, double *unused, double *out_1086713439578029649) { + out_1086713439578029649[0] = 0; + out_1086713439578029649[1] = 0; + out_1086713439578029649[2] = 0; + out_1086713439578029649[3] = 0; + out_1086713439578029649[4] = 1; + out_1086713439578029649[5] = 0; + out_1086713439578029649[6] = 0; + out_1086713439578029649[7] = 0; + out_1086713439578029649[8] = 0; + out_1086713439578029649[9] = 0; + out_1086713439578029649[10] = 0; + out_1086713439578029649[11] = 0; + out_1086713439578029649[12] = 0; + out_1086713439578029649[13] = 0; + out_1086713439578029649[14] = 1; + out_1086713439578029649[15] = 0; + out_1086713439578029649[16] = 0; + out_1086713439578029649[17] = 0; } -void h_30(double *state, double *unused, double *out_1872662776110252318) { - out_1872662776110252318[0] = state[4]; +void h_30(double *state, double *unused, double *out_3954889680155444339) { + out_3954889680155444339[0] = state[4]; } -void H_30(double *state, double *unused, double *out_9135927075513309144) { - out_9135927075513309144[0] = 0; - out_9135927075513309144[1] = 0; - out_9135927075513309144[2] = 0; - out_9135927075513309144[3] = 0; - out_9135927075513309144[4] = 1; - out_9135927075513309144[5] = 0; - out_9135927075513309144[6] = 0; - out_9135927075513309144[7] = 0; - out_9135927075513309144[8] = 0; +void H_30(double *state, double *unused, double *out_4445478182267323268) { + out_4445478182267323268[0] = 0; + out_4445478182267323268[1] = 0; + out_4445478182267323268[2] = 0; + out_4445478182267323268[3] = 0; + out_4445478182267323268[4] = 1; + out_4445478182267323268[5] = 0; + out_4445478182267323268[6] = 0; + out_4445478182267323268[7] = 0; + out_4445478182267323268[8] = 0; } -void h_26(double *state, double *unused, double *out_2552698139187979215) { - out_2552698139187979215[0] = state[7]; +void h_26(double *state, double *unused, double *out_1046783587505401306) { + out_1046783587505401306[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1347376662169430507) { - out_1347376662169430507[0] = 0; - out_1347376662169430507[1] = 0; - out_1347376662169430507[2] = 0; - out_1347376662169430507[3] = 0; - out_1347376662169430507[4] = 0; - out_1347376662169430507[5] = 0; - out_1347376662169430507[6] = 0; - out_1347376662169430507[7] = 1; - out_1347376662169430507[8] = 0; +void H_26(double *state, double *unused, double *out_6212715478098349711) { + out_6212715478098349711[0] = 0; + out_6212715478098349711[1] = 0; + out_6212715478098349711[2] = 0; + out_6212715478098349711[3] = 0; + out_6212715478098349711[4] = 0; + out_6212715478098349711[5] = 0; + out_6212715478098349711[6] = 0; + out_6212715478098349711[7] = 1; + out_6212715478098349711[8] = 0; } -void h_27(double *state, double *unused, double *out_8276300501921554931) { - out_8276300501921554931[0] = state[3]; +void h_27(double *state, double *unused, double *out_1075290297062240799) { + out_1075290297062240799[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7136053686395817561) { - out_7136053686395817561[0] = 0; - out_7136053686395817561[1] = 0; - out_7136053686395817561[2] = 0; - out_7136053686395817561[3] = 1; - out_7136053686395817561[4] = 0; - out_7136053686395817561[5] = 0; - out_7136053686395817561[6] = 0; - out_7136053686395817561[7] = 0; - out_7136053686395817561[8] = 0; +void H_27(double *state, double *unused, double *out_2270714870466898357) { + out_2270714870466898357[0] = 0; + out_2270714870466898357[1] = 0; + out_2270714870466898357[2] = 0; + out_2270714870466898357[3] = 1; + out_2270714870466898357[4] = 0; + out_2270714870466898357[5] = 0; + out_2270714870466898357[6] = 0; + out_2270714870466898357[7] = 0; + out_2270714870466898357[8] = 0; } -void h_29(double *state, double *unused, double *out_6874336043771097963) { - out_6874336043771097963[0] = state[1]; +void h_29(double *state, double *unused, double *out_5695544929288110137) { + out_5695544929288110137[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8625695731198916960) { - out_8625695731198916960[0] = 0; - out_8625695731198916960[1] = 1; - out_8625695731198916960[2] = 0; - out_8625695731198916960[3] = 0; - out_8625695731198916960[4] = 0; - out_8625695731198916960[5] = 0; - out_8625695731198916960[6] = 0; - out_8625695731198916960[7] = 0; - out_8625695731198916960[8] = 0; +void H_29(double *state, double *unused, double *out_4955709526581715452) { + out_4955709526581715452[0] = 0; + out_4955709526581715452[1] = 1; + out_4955709526581715452[2] = 0; + out_4955709526581715452[3] = 0; + out_4955709526581715452[4] = 0; + out_4955709526581715452[5] = 0; + out_4955709526581715452[6] = 0; + out_4955709526581715452[7] = 0; + out_4955709526581715452[8] = 0; } -void h_28(double *state, double *unused, double *out_1452606651919304359) { - out_1452606651919304359[0] = state[0]; +void h_28(double *state, double *unused, double *out_131780444160578364) { + out_131780444160578364[0] = state[0]; } -void H_28(double *state, double *unused, double *out_340291942456735954) { - out_340291942456735954[0] = 1; - out_340291942456735954[1] = 0; - out_340291942456735954[2] = 0; - out_340291942456735954[3] = 0; - out_340291942456735954[4] = 0; - out_340291942456735954[5] = 0; - out_340291942456735954[6] = 0; - out_340291942456735954[7] = 0; - out_340291942456735954[8] = 0; +void H_28(double *state, double *unused, double *out_4525046873472183250) { + out_4525046873472183250[0] = 1; + out_4525046873472183250[1] = 0; + out_4525046873472183250[2] = 0; + out_4525046873472183250[3] = 0; + out_4525046873472183250[4] = 0; + out_4525046873472183250[5] = 0; + out_4525046873472183250[6] = 0; + out_4525046873472183250[7] = 0; + out_4525046873472183250[8] = 0; } -void h_31(double *state, double *unused, double *out_4557978482014913700) { - out_4557978482014913700[0] = state[8]; +void h_31(double *state, double *unused, double *out_3836882286222067595) { + out_3836882286222067595[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2424772618581586145) { - out_2424772618581586145[0] = 0; - out_2424772618581586145[1] = 0; - out_2424772618581586145[2] = 0; - out_2424772618581586145[3] = 0; - out_2424772618581586145[4] = 0; - out_2424772618581586145[5] = 0; - out_2424772618581586145[6] = 0; - out_2424772618581586145[7] = 0; - out_2424772618581586145[8] = 1; +void H_31(double *state, double *unused, double *out_2440566197347333059) { + out_2440566197347333059[0] = 0; + out_2440566197347333059[1] = 0; + out_2440566197347333059[2] = 0; + out_2440566197347333059[3] = 0; + out_2440566197347333059[4] = 0; + out_2440566197347333059[5] = 0; + out_2440566197347333059[6] = 0; + out_2440566197347333059[7] = 0; + out_2440566197347333059[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_7311248151803822396) { - err_fun(nom_x, delta_x, out_7311248151803822396); +void car_err_fun(double *nom_x, double *delta_x, double *out_7251302496478371121) { + err_fun(nom_x, delta_x, out_7251302496478371121); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501) { - inv_err_fun(nom_x, true_x, out_5602719869542378501); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7757777920139399450) { + inv_err_fun(nom_x, true_x, out_7757777920139399450); } -void car_H_mod_fun(double *state, double *out_6859429191092688662) { - H_mod_fun(state, out_6859429191092688662); +void car_H_mod_fun(double *state, double *out_5994192809213785164) { + H_mod_fun(state, out_5994192809213785164); } -void car_f_fun(double *state, double dt, double *out_3400060270232460893) { - f_fun(state, dt, out_3400060270232460893); +void car_f_fun(double *state, double dt, double *out_5541966606958472992) { + f_fun(state, dt, out_5541966606958472992); } -void car_F_fun(double *state, double dt, double *out_6511275578440991802) { - F_fun(state, dt, out_6511275578440991802); +void car_F_fun(double *state, double dt, double *out_3805616153551932316) { + F_fun(state, dt, out_3805616153551932316); } -void car_h_25(double *state, double *unused, double *out_2633570630840598096) { - h_25(state, unused, out_2633570630840598096); +void car_h_25(double *state, double *unused, double *out_4112076348506573484) { + h_25(state, unused, out_4112076348506573484); } -void car_H_25(double *state, double *unused, double *out_2394126656704625717) { - H_25(state, unused, out_2394126656704625717); +void car_H_25(double *state, double *unused, double *out_2471212159224293487) { + H_25(state, unused, out_2471212159224293487); } -void car_h_24(double *state, double *unused, double *out_3094145344632818755) { - h_24(state, unused, out_3094145344632818755); +void car_h_24(double *state, double *unused, double *out_2715398695630647729) { + h_24(state, unused, out_2715398695630647729); } -void car_H_24(double *state, double *unused, double *out_665263537527311648) { - H_24(state, unused, out_665263537527311648); +void car_H_24(double *state, double *unused, double *out_1086713439578029649) { + H_24(state, unused, out_1086713439578029649); } -void car_h_30(double *state, double *unused, double *out_1872662776110252318) { - h_30(state, unused, out_1872662776110252318); +void car_h_30(double *state, double *unused, double *out_3954889680155444339) { + h_30(state, unused, out_3954889680155444339); } -void car_H_30(double *state, double *unused, double *out_9135927075513309144) { - H_30(state, unused, out_9135927075513309144); +void car_H_30(double *state, double *unused, double *out_4445478182267323268) { + H_30(state, unused, out_4445478182267323268); } -void car_h_26(double *state, double *unused, double *out_2552698139187979215) { - h_26(state, unused, out_2552698139187979215); +void car_h_26(double *state, double *unused, double *out_1046783587505401306) { + h_26(state, unused, out_1046783587505401306); } -void car_H_26(double *state, double *unused, double *out_1347376662169430507) { - H_26(state, unused, out_1347376662169430507); +void car_H_26(double *state, double *unused, double *out_6212715478098349711) { + H_26(state, unused, out_6212715478098349711); } -void car_h_27(double *state, double *unused, double *out_8276300501921554931) { - h_27(state, unused, out_8276300501921554931); +void car_h_27(double *state, double *unused, double *out_1075290297062240799) { + h_27(state, unused, out_1075290297062240799); } -void car_H_27(double *state, double *unused, double *out_7136053686395817561) { - H_27(state, unused, out_7136053686395817561); +void car_H_27(double *state, double *unused, double *out_2270714870466898357) { + H_27(state, unused, out_2270714870466898357); } -void car_h_29(double *state, double *unused, double *out_6874336043771097963) { - h_29(state, unused, out_6874336043771097963); +void car_h_29(double *state, double *unused, double *out_5695544929288110137) { + h_29(state, unused, out_5695544929288110137); } -void car_H_29(double *state, double *unused, double *out_8625695731198916960) { - H_29(state, unused, out_8625695731198916960); +void car_H_29(double *state, double *unused, double *out_4955709526581715452) { + H_29(state, unused, out_4955709526581715452); } -void car_h_28(double *state, double *unused, double *out_1452606651919304359) { - h_28(state, unused, out_1452606651919304359); +void car_h_28(double *state, double *unused, double *out_131780444160578364) { + h_28(state, unused, out_131780444160578364); } -void car_H_28(double *state, double *unused, double *out_340291942456735954) { - H_28(state, unused, out_340291942456735954); +void car_H_28(double *state, double *unused, double *out_4525046873472183250) { + H_28(state, unused, out_4525046873472183250); } -void car_h_31(double *state, double *unused, double *out_4557978482014913700) { - h_31(state, unused, out_4557978482014913700); +void car_h_31(double *state, double *unused, double *out_3836882286222067595) { + h_31(state, unused, out_3836882286222067595); } -void car_H_31(double *state, double *unused, double *out_2424772618581586145) { - H_31(state, unused, out_2424772618581586145); +void car_H_31(double *state, double *unused, double *out_2440566197347333059) { + H_31(state, unused, out_2440566197347333059); } 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 80b4e0cd1..0affad20d 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_7311248151803822396); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501); -void car_H_mod_fun(double *state, double *out_6859429191092688662); -void car_f_fun(double *state, double dt, double *out_3400060270232460893); -void car_F_fun(double *state, double dt, double *out_6511275578440991802); -void car_h_25(double *state, double *unused, double *out_2633570630840598096); -void car_H_25(double *state, double *unused, double *out_2394126656704625717); -void car_h_24(double *state, double *unused, double *out_3094145344632818755); -void car_H_24(double *state, double *unused, double *out_665263537527311648); -void car_h_30(double *state, double *unused, double *out_1872662776110252318); -void car_H_30(double *state, double *unused, double *out_9135927075513309144); -void car_h_26(double *state, double *unused, double *out_2552698139187979215); -void car_H_26(double *state, double *unused, double *out_1347376662169430507); -void car_h_27(double *state, double *unused, double *out_8276300501921554931); -void car_H_27(double *state, double *unused, double *out_7136053686395817561); -void car_h_29(double *state, double *unused, double *out_6874336043771097963); -void car_H_29(double *state, double *unused, double *out_8625695731198916960); -void car_h_28(double *state, double *unused, double *out_1452606651919304359); -void car_H_28(double *state, double *unused, double *out_340291942456735954); -void car_h_31(double *state, double *unused, double *out_4557978482014913700); -void car_H_31(double *state, double *unused, double *out_2424772618581586145); +void car_err_fun(double *nom_x, double *delta_x, double *out_7251302496478371121); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7757777920139399450); +void car_H_mod_fun(double *state, double *out_5994192809213785164); +void car_f_fun(double *state, double dt, double *out_5541966606958472992); +void car_F_fun(double *state, double dt, double *out_3805616153551932316); +void car_h_25(double *state, double *unused, double *out_4112076348506573484); +void car_H_25(double *state, double *unused, double *out_2471212159224293487); +void car_h_24(double *state, double *unused, double *out_2715398695630647729); +void car_H_24(double *state, double *unused, double *out_1086713439578029649); +void car_h_30(double *state, double *unused, double *out_3954889680155444339); +void car_H_30(double *state, double *unused, double *out_4445478182267323268); +void car_h_26(double *state, double *unused, double *out_1046783587505401306); +void car_H_26(double *state, double *unused, double *out_6212715478098349711); +void car_h_27(double *state, double *unused, double *out_1075290297062240799); +void car_H_27(double *state, double *unused, double *out_2270714870466898357); +void car_h_29(double *state, double *unused, double *out_5695544929288110137); +void car_H_29(double *state, double *unused, double *out_4955709526581715452); +void car_h_28(double *state, double *unused, double *out_131780444160578364); +void car_H_28(double *state, double *unused, double *out_4525046873472183250); +void car_h_31(double *state, double *unused, double *out_3836882286222067595); +void car_H_31(double *state, double *unused, double *out_2440566197347333059); 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 30ae4c741..421dd6b97 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_2665641701635233151) { - out_2665641701635233151[0] = delta_x[0] + nom_x[0]; - out_2665641701635233151[1] = delta_x[1] + nom_x[1]; - out_2665641701635233151[2] = delta_x[2] + nom_x[2]; - out_2665641701635233151[3] = delta_x[3] + nom_x[3]; - out_2665641701635233151[4] = delta_x[4] + nom_x[4]; - out_2665641701635233151[5] = delta_x[5] + nom_x[5]; - out_2665641701635233151[6] = delta_x[6] + nom_x[6]; - out_2665641701635233151[7] = delta_x[7] + nom_x[7]; - out_2665641701635233151[8] = delta_x[8] + nom_x[8]; - out_2665641701635233151[9] = delta_x[9] + nom_x[9]; - out_2665641701635233151[10] = delta_x[10] + nom_x[10]; - out_2665641701635233151[11] = delta_x[11] + nom_x[11]; - out_2665641701635233151[12] = delta_x[12] + nom_x[12]; - out_2665641701635233151[13] = delta_x[13] + nom_x[13]; - out_2665641701635233151[14] = delta_x[14] + nom_x[14]; - out_2665641701635233151[15] = delta_x[15] + nom_x[15]; - out_2665641701635233151[16] = delta_x[16] + nom_x[16]; - out_2665641701635233151[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2717418772724129561) { + out_2717418772724129561[0] = delta_x[0] + nom_x[0]; + out_2717418772724129561[1] = delta_x[1] + nom_x[1]; + out_2717418772724129561[2] = delta_x[2] + nom_x[2]; + out_2717418772724129561[3] = delta_x[3] + nom_x[3]; + out_2717418772724129561[4] = delta_x[4] + nom_x[4]; + out_2717418772724129561[5] = delta_x[5] + nom_x[5]; + out_2717418772724129561[6] = delta_x[6] + nom_x[6]; + out_2717418772724129561[7] = delta_x[7] + nom_x[7]; + out_2717418772724129561[8] = delta_x[8] + nom_x[8]; + out_2717418772724129561[9] = delta_x[9] + nom_x[9]; + out_2717418772724129561[10] = delta_x[10] + nom_x[10]; + out_2717418772724129561[11] = delta_x[11] + nom_x[11]; + out_2717418772724129561[12] = delta_x[12] + nom_x[12]; + out_2717418772724129561[13] = delta_x[13] + nom_x[13]; + out_2717418772724129561[14] = delta_x[14] + nom_x[14]; + out_2717418772724129561[15] = delta_x[15] + nom_x[15]; + out_2717418772724129561[16] = delta_x[16] + nom_x[16]; + out_2717418772724129561[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8375727440013270020) { - out_8375727440013270020[0] = -nom_x[0] + true_x[0]; - out_8375727440013270020[1] = -nom_x[1] + true_x[1]; - out_8375727440013270020[2] = -nom_x[2] + true_x[2]; - out_8375727440013270020[3] = -nom_x[3] + true_x[3]; - out_8375727440013270020[4] = -nom_x[4] + true_x[4]; - out_8375727440013270020[5] = -nom_x[5] + true_x[5]; - out_8375727440013270020[6] = -nom_x[6] + true_x[6]; - out_8375727440013270020[7] = -nom_x[7] + true_x[7]; - out_8375727440013270020[8] = -nom_x[8] + true_x[8]; - out_8375727440013270020[9] = -nom_x[9] + true_x[9]; - out_8375727440013270020[10] = -nom_x[10] + true_x[10]; - out_8375727440013270020[11] = -nom_x[11] + true_x[11]; - out_8375727440013270020[12] = -nom_x[12] + true_x[12]; - out_8375727440013270020[13] = -nom_x[13] + true_x[13]; - out_8375727440013270020[14] = -nom_x[14] + true_x[14]; - out_8375727440013270020[15] = -nom_x[15] + true_x[15]; - out_8375727440013270020[16] = -nom_x[16] + true_x[16]; - out_8375727440013270020[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6564594974930648805) { + out_6564594974930648805[0] = -nom_x[0] + true_x[0]; + out_6564594974930648805[1] = -nom_x[1] + true_x[1]; + out_6564594974930648805[2] = -nom_x[2] + true_x[2]; + out_6564594974930648805[3] = -nom_x[3] + true_x[3]; + out_6564594974930648805[4] = -nom_x[4] + true_x[4]; + out_6564594974930648805[5] = -nom_x[5] + true_x[5]; + out_6564594974930648805[6] = -nom_x[6] + true_x[6]; + out_6564594974930648805[7] = -nom_x[7] + true_x[7]; + out_6564594974930648805[8] = -nom_x[8] + true_x[8]; + out_6564594974930648805[9] = -nom_x[9] + true_x[9]; + out_6564594974930648805[10] = -nom_x[10] + true_x[10]; + out_6564594974930648805[11] = -nom_x[11] + true_x[11]; + out_6564594974930648805[12] = -nom_x[12] + true_x[12]; + out_6564594974930648805[13] = -nom_x[13] + true_x[13]; + out_6564594974930648805[14] = -nom_x[14] + true_x[14]; + out_6564594974930648805[15] = -nom_x[15] + true_x[15]; + out_6564594974930648805[16] = -nom_x[16] + true_x[16]; + out_6564594974930648805[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_6067255468928274013) { - out_6067255468928274013[0] = 1.0; - out_6067255468928274013[1] = 0.0; - out_6067255468928274013[2] = 0.0; - out_6067255468928274013[3] = 0.0; - out_6067255468928274013[4] = 0.0; - out_6067255468928274013[5] = 0.0; - out_6067255468928274013[6] = 0.0; - out_6067255468928274013[7] = 0.0; - out_6067255468928274013[8] = 0.0; - out_6067255468928274013[9] = 0.0; - out_6067255468928274013[10] = 0.0; - out_6067255468928274013[11] = 0.0; - out_6067255468928274013[12] = 0.0; - out_6067255468928274013[13] = 0.0; - out_6067255468928274013[14] = 0.0; - out_6067255468928274013[15] = 0.0; - out_6067255468928274013[16] = 0.0; - out_6067255468928274013[17] = 0.0; - out_6067255468928274013[18] = 0.0; - out_6067255468928274013[19] = 1.0; - out_6067255468928274013[20] = 0.0; - out_6067255468928274013[21] = 0.0; - out_6067255468928274013[22] = 0.0; - out_6067255468928274013[23] = 0.0; - out_6067255468928274013[24] = 0.0; - out_6067255468928274013[25] = 0.0; - out_6067255468928274013[26] = 0.0; - out_6067255468928274013[27] = 0.0; - out_6067255468928274013[28] = 0.0; - out_6067255468928274013[29] = 0.0; - out_6067255468928274013[30] = 0.0; - out_6067255468928274013[31] = 0.0; - out_6067255468928274013[32] = 0.0; - out_6067255468928274013[33] = 0.0; - out_6067255468928274013[34] = 0.0; - out_6067255468928274013[35] = 0.0; - out_6067255468928274013[36] = 0.0; - out_6067255468928274013[37] = 0.0; - out_6067255468928274013[38] = 1.0; - out_6067255468928274013[39] = 0.0; - out_6067255468928274013[40] = 0.0; - out_6067255468928274013[41] = 0.0; - out_6067255468928274013[42] = 0.0; - out_6067255468928274013[43] = 0.0; - out_6067255468928274013[44] = 0.0; - out_6067255468928274013[45] = 0.0; - out_6067255468928274013[46] = 0.0; - out_6067255468928274013[47] = 0.0; - out_6067255468928274013[48] = 0.0; - out_6067255468928274013[49] = 0.0; - out_6067255468928274013[50] = 0.0; - out_6067255468928274013[51] = 0.0; - out_6067255468928274013[52] = 0.0; - out_6067255468928274013[53] = 0.0; - out_6067255468928274013[54] = 0.0; - out_6067255468928274013[55] = 0.0; - out_6067255468928274013[56] = 0.0; - out_6067255468928274013[57] = 1.0; - out_6067255468928274013[58] = 0.0; - out_6067255468928274013[59] = 0.0; - out_6067255468928274013[60] = 0.0; - out_6067255468928274013[61] = 0.0; - out_6067255468928274013[62] = 0.0; - out_6067255468928274013[63] = 0.0; - out_6067255468928274013[64] = 0.0; - out_6067255468928274013[65] = 0.0; - out_6067255468928274013[66] = 0.0; - out_6067255468928274013[67] = 0.0; - out_6067255468928274013[68] = 0.0; - out_6067255468928274013[69] = 0.0; - out_6067255468928274013[70] = 0.0; - out_6067255468928274013[71] = 0.0; - out_6067255468928274013[72] = 0.0; - out_6067255468928274013[73] = 0.0; - out_6067255468928274013[74] = 0.0; - out_6067255468928274013[75] = 0.0; - out_6067255468928274013[76] = 1.0; - out_6067255468928274013[77] = 0.0; - out_6067255468928274013[78] = 0.0; - out_6067255468928274013[79] = 0.0; - out_6067255468928274013[80] = 0.0; - out_6067255468928274013[81] = 0.0; - out_6067255468928274013[82] = 0.0; - out_6067255468928274013[83] = 0.0; - out_6067255468928274013[84] = 0.0; - out_6067255468928274013[85] = 0.0; - out_6067255468928274013[86] = 0.0; - out_6067255468928274013[87] = 0.0; - out_6067255468928274013[88] = 0.0; - out_6067255468928274013[89] = 0.0; - out_6067255468928274013[90] = 0.0; - out_6067255468928274013[91] = 0.0; - out_6067255468928274013[92] = 0.0; - out_6067255468928274013[93] = 0.0; - out_6067255468928274013[94] = 0.0; - out_6067255468928274013[95] = 1.0; - out_6067255468928274013[96] = 0.0; - out_6067255468928274013[97] = 0.0; - out_6067255468928274013[98] = 0.0; - out_6067255468928274013[99] = 0.0; - out_6067255468928274013[100] = 0.0; - out_6067255468928274013[101] = 0.0; - out_6067255468928274013[102] = 0.0; - out_6067255468928274013[103] = 0.0; - out_6067255468928274013[104] = 0.0; - out_6067255468928274013[105] = 0.0; - out_6067255468928274013[106] = 0.0; - out_6067255468928274013[107] = 0.0; - out_6067255468928274013[108] = 0.0; - out_6067255468928274013[109] = 0.0; - out_6067255468928274013[110] = 0.0; - out_6067255468928274013[111] = 0.0; - out_6067255468928274013[112] = 0.0; - out_6067255468928274013[113] = 0.0; - out_6067255468928274013[114] = 1.0; - out_6067255468928274013[115] = 0.0; - out_6067255468928274013[116] = 0.0; - out_6067255468928274013[117] = 0.0; - out_6067255468928274013[118] = 0.0; - out_6067255468928274013[119] = 0.0; - out_6067255468928274013[120] = 0.0; - out_6067255468928274013[121] = 0.0; - out_6067255468928274013[122] = 0.0; - out_6067255468928274013[123] = 0.0; - out_6067255468928274013[124] = 0.0; - out_6067255468928274013[125] = 0.0; - out_6067255468928274013[126] = 0.0; - out_6067255468928274013[127] = 0.0; - out_6067255468928274013[128] = 0.0; - out_6067255468928274013[129] = 0.0; - out_6067255468928274013[130] = 0.0; - out_6067255468928274013[131] = 0.0; - out_6067255468928274013[132] = 0.0; - out_6067255468928274013[133] = 1.0; - out_6067255468928274013[134] = 0.0; - out_6067255468928274013[135] = 0.0; - out_6067255468928274013[136] = 0.0; - out_6067255468928274013[137] = 0.0; - out_6067255468928274013[138] = 0.0; - out_6067255468928274013[139] = 0.0; - out_6067255468928274013[140] = 0.0; - out_6067255468928274013[141] = 0.0; - out_6067255468928274013[142] = 0.0; - out_6067255468928274013[143] = 0.0; - out_6067255468928274013[144] = 0.0; - out_6067255468928274013[145] = 0.0; - out_6067255468928274013[146] = 0.0; - out_6067255468928274013[147] = 0.0; - out_6067255468928274013[148] = 0.0; - out_6067255468928274013[149] = 0.0; - out_6067255468928274013[150] = 0.0; - out_6067255468928274013[151] = 0.0; - out_6067255468928274013[152] = 1.0; - out_6067255468928274013[153] = 0.0; - out_6067255468928274013[154] = 0.0; - out_6067255468928274013[155] = 0.0; - out_6067255468928274013[156] = 0.0; - out_6067255468928274013[157] = 0.0; - out_6067255468928274013[158] = 0.0; - out_6067255468928274013[159] = 0.0; - out_6067255468928274013[160] = 0.0; - out_6067255468928274013[161] = 0.0; - out_6067255468928274013[162] = 0.0; - out_6067255468928274013[163] = 0.0; - out_6067255468928274013[164] = 0.0; - out_6067255468928274013[165] = 0.0; - out_6067255468928274013[166] = 0.0; - out_6067255468928274013[167] = 0.0; - out_6067255468928274013[168] = 0.0; - out_6067255468928274013[169] = 0.0; - out_6067255468928274013[170] = 0.0; - out_6067255468928274013[171] = 1.0; - out_6067255468928274013[172] = 0.0; - out_6067255468928274013[173] = 0.0; - out_6067255468928274013[174] = 0.0; - out_6067255468928274013[175] = 0.0; - out_6067255468928274013[176] = 0.0; - out_6067255468928274013[177] = 0.0; - out_6067255468928274013[178] = 0.0; - out_6067255468928274013[179] = 0.0; - out_6067255468928274013[180] = 0.0; - out_6067255468928274013[181] = 0.0; - out_6067255468928274013[182] = 0.0; - out_6067255468928274013[183] = 0.0; - out_6067255468928274013[184] = 0.0; - out_6067255468928274013[185] = 0.0; - out_6067255468928274013[186] = 0.0; - out_6067255468928274013[187] = 0.0; - out_6067255468928274013[188] = 0.0; - out_6067255468928274013[189] = 0.0; - out_6067255468928274013[190] = 1.0; - out_6067255468928274013[191] = 0.0; - out_6067255468928274013[192] = 0.0; - out_6067255468928274013[193] = 0.0; - out_6067255468928274013[194] = 0.0; - out_6067255468928274013[195] = 0.0; - out_6067255468928274013[196] = 0.0; - out_6067255468928274013[197] = 0.0; - out_6067255468928274013[198] = 0.0; - out_6067255468928274013[199] = 0.0; - out_6067255468928274013[200] = 0.0; - out_6067255468928274013[201] = 0.0; - out_6067255468928274013[202] = 0.0; - out_6067255468928274013[203] = 0.0; - out_6067255468928274013[204] = 0.0; - out_6067255468928274013[205] = 0.0; - out_6067255468928274013[206] = 0.0; - out_6067255468928274013[207] = 0.0; - out_6067255468928274013[208] = 0.0; - out_6067255468928274013[209] = 1.0; - out_6067255468928274013[210] = 0.0; - out_6067255468928274013[211] = 0.0; - out_6067255468928274013[212] = 0.0; - out_6067255468928274013[213] = 0.0; - out_6067255468928274013[214] = 0.0; - out_6067255468928274013[215] = 0.0; - out_6067255468928274013[216] = 0.0; - out_6067255468928274013[217] = 0.0; - out_6067255468928274013[218] = 0.0; - out_6067255468928274013[219] = 0.0; - out_6067255468928274013[220] = 0.0; - out_6067255468928274013[221] = 0.0; - out_6067255468928274013[222] = 0.0; - out_6067255468928274013[223] = 0.0; - out_6067255468928274013[224] = 0.0; - out_6067255468928274013[225] = 0.0; - out_6067255468928274013[226] = 0.0; - out_6067255468928274013[227] = 0.0; - out_6067255468928274013[228] = 1.0; - out_6067255468928274013[229] = 0.0; - out_6067255468928274013[230] = 0.0; - out_6067255468928274013[231] = 0.0; - out_6067255468928274013[232] = 0.0; - out_6067255468928274013[233] = 0.0; - out_6067255468928274013[234] = 0.0; - out_6067255468928274013[235] = 0.0; - out_6067255468928274013[236] = 0.0; - out_6067255468928274013[237] = 0.0; - out_6067255468928274013[238] = 0.0; - out_6067255468928274013[239] = 0.0; - out_6067255468928274013[240] = 0.0; - out_6067255468928274013[241] = 0.0; - out_6067255468928274013[242] = 0.0; - out_6067255468928274013[243] = 0.0; - out_6067255468928274013[244] = 0.0; - out_6067255468928274013[245] = 0.0; - out_6067255468928274013[246] = 0.0; - out_6067255468928274013[247] = 1.0; - out_6067255468928274013[248] = 0.0; - out_6067255468928274013[249] = 0.0; - out_6067255468928274013[250] = 0.0; - out_6067255468928274013[251] = 0.0; - out_6067255468928274013[252] = 0.0; - out_6067255468928274013[253] = 0.0; - out_6067255468928274013[254] = 0.0; - out_6067255468928274013[255] = 0.0; - out_6067255468928274013[256] = 0.0; - out_6067255468928274013[257] = 0.0; - out_6067255468928274013[258] = 0.0; - out_6067255468928274013[259] = 0.0; - out_6067255468928274013[260] = 0.0; - out_6067255468928274013[261] = 0.0; - out_6067255468928274013[262] = 0.0; - out_6067255468928274013[263] = 0.0; - out_6067255468928274013[264] = 0.0; - out_6067255468928274013[265] = 0.0; - out_6067255468928274013[266] = 1.0; - out_6067255468928274013[267] = 0.0; - out_6067255468928274013[268] = 0.0; - out_6067255468928274013[269] = 0.0; - out_6067255468928274013[270] = 0.0; - out_6067255468928274013[271] = 0.0; - out_6067255468928274013[272] = 0.0; - out_6067255468928274013[273] = 0.0; - out_6067255468928274013[274] = 0.0; - out_6067255468928274013[275] = 0.0; - out_6067255468928274013[276] = 0.0; - out_6067255468928274013[277] = 0.0; - out_6067255468928274013[278] = 0.0; - out_6067255468928274013[279] = 0.0; - out_6067255468928274013[280] = 0.0; - out_6067255468928274013[281] = 0.0; - out_6067255468928274013[282] = 0.0; - out_6067255468928274013[283] = 0.0; - out_6067255468928274013[284] = 0.0; - out_6067255468928274013[285] = 1.0; - out_6067255468928274013[286] = 0.0; - out_6067255468928274013[287] = 0.0; - out_6067255468928274013[288] = 0.0; - out_6067255468928274013[289] = 0.0; - out_6067255468928274013[290] = 0.0; - out_6067255468928274013[291] = 0.0; - out_6067255468928274013[292] = 0.0; - out_6067255468928274013[293] = 0.0; - out_6067255468928274013[294] = 0.0; - out_6067255468928274013[295] = 0.0; - out_6067255468928274013[296] = 0.0; - out_6067255468928274013[297] = 0.0; - out_6067255468928274013[298] = 0.0; - out_6067255468928274013[299] = 0.0; - out_6067255468928274013[300] = 0.0; - out_6067255468928274013[301] = 0.0; - out_6067255468928274013[302] = 0.0; - out_6067255468928274013[303] = 0.0; - out_6067255468928274013[304] = 1.0; - out_6067255468928274013[305] = 0.0; - out_6067255468928274013[306] = 0.0; - out_6067255468928274013[307] = 0.0; - out_6067255468928274013[308] = 0.0; - out_6067255468928274013[309] = 0.0; - out_6067255468928274013[310] = 0.0; - out_6067255468928274013[311] = 0.0; - out_6067255468928274013[312] = 0.0; - out_6067255468928274013[313] = 0.0; - out_6067255468928274013[314] = 0.0; - out_6067255468928274013[315] = 0.0; - out_6067255468928274013[316] = 0.0; - out_6067255468928274013[317] = 0.0; - out_6067255468928274013[318] = 0.0; - out_6067255468928274013[319] = 0.0; - out_6067255468928274013[320] = 0.0; - out_6067255468928274013[321] = 0.0; - out_6067255468928274013[322] = 0.0; - out_6067255468928274013[323] = 1.0; +void H_mod_fun(double *state, double *out_500884218142268447) { + out_500884218142268447[0] = 1.0; + out_500884218142268447[1] = 0.0; + out_500884218142268447[2] = 0.0; + out_500884218142268447[3] = 0.0; + out_500884218142268447[4] = 0.0; + out_500884218142268447[5] = 0.0; + out_500884218142268447[6] = 0.0; + out_500884218142268447[7] = 0.0; + out_500884218142268447[8] = 0.0; + out_500884218142268447[9] = 0.0; + out_500884218142268447[10] = 0.0; + out_500884218142268447[11] = 0.0; + out_500884218142268447[12] = 0.0; + out_500884218142268447[13] = 0.0; + out_500884218142268447[14] = 0.0; + out_500884218142268447[15] = 0.0; + out_500884218142268447[16] = 0.0; + out_500884218142268447[17] = 0.0; + out_500884218142268447[18] = 0.0; + out_500884218142268447[19] = 1.0; + out_500884218142268447[20] = 0.0; + out_500884218142268447[21] = 0.0; + out_500884218142268447[22] = 0.0; + out_500884218142268447[23] = 0.0; + out_500884218142268447[24] = 0.0; + out_500884218142268447[25] = 0.0; + out_500884218142268447[26] = 0.0; + out_500884218142268447[27] = 0.0; + out_500884218142268447[28] = 0.0; + out_500884218142268447[29] = 0.0; + out_500884218142268447[30] = 0.0; + out_500884218142268447[31] = 0.0; + out_500884218142268447[32] = 0.0; + out_500884218142268447[33] = 0.0; + out_500884218142268447[34] = 0.0; + out_500884218142268447[35] = 0.0; + out_500884218142268447[36] = 0.0; + out_500884218142268447[37] = 0.0; + out_500884218142268447[38] = 1.0; + out_500884218142268447[39] = 0.0; + out_500884218142268447[40] = 0.0; + out_500884218142268447[41] = 0.0; + out_500884218142268447[42] = 0.0; + out_500884218142268447[43] = 0.0; + out_500884218142268447[44] = 0.0; + out_500884218142268447[45] = 0.0; + out_500884218142268447[46] = 0.0; + out_500884218142268447[47] = 0.0; + out_500884218142268447[48] = 0.0; + out_500884218142268447[49] = 0.0; + out_500884218142268447[50] = 0.0; + out_500884218142268447[51] = 0.0; + out_500884218142268447[52] = 0.0; + out_500884218142268447[53] = 0.0; + out_500884218142268447[54] = 0.0; + out_500884218142268447[55] = 0.0; + out_500884218142268447[56] = 0.0; + out_500884218142268447[57] = 1.0; + out_500884218142268447[58] = 0.0; + out_500884218142268447[59] = 0.0; + out_500884218142268447[60] = 0.0; + out_500884218142268447[61] = 0.0; + out_500884218142268447[62] = 0.0; + out_500884218142268447[63] = 0.0; + out_500884218142268447[64] = 0.0; + out_500884218142268447[65] = 0.0; + out_500884218142268447[66] = 0.0; + out_500884218142268447[67] = 0.0; + out_500884218142268447[68] = 0.0; + out_500884218142268447[69] = 0.0; + out_500884218142268447[70] = 0.0; + out_500884218142268447[71] = 0.0; + out_500884218142268447[72] = 0.0; + out_500884218142268447[73] = 0.0; + out_500884218142268447[74] = 0.0; + out_500884218142268447[75] = 0.0; + out_500884218142268447[76] = 1.0; + out_500884218142268447[77] = 0.0; + out_500884218142268447[78] = 0.0; + out_500884218142268447[79] = 0.0; + out_500884218142268447[80] = 0.0; + out_500884218142268447[81] = 0.0; + out_500884218142268447[82] = 0.0; + out_500884218142268447[83] = 0.0; + out_500884218142268447[84] = 0.0; + out_500884218142268447[85] = 0.0; + out_500884218142268447[86] = 0.0; + out_500884218142268447[87] = 0.0; + out_500884218142268447[88] = 0.0; + out_500884218142268447[89] = 0.0; + out_500884218142268447[90] = 0.0; + out_500884218142268447[91] = 0.0; + out_500884218142268447[92] = 0.0; + out_500884218142268447[93] = 0.0; + out_500884218142268447[94] = 0.0; + out_500884218142268447[95] = 1.0; + out_500884218142268447[96] = 0.0; + out_500884218142268447[97] = 0.0; + out_500884218142268447[98] = 0.0; + out_500884218142268447[99] = 0.0; + out_500884218142268447[100] = 0.0; + out_500884218142268447[101] = 0.0; + out_500884218142268447[102] = 0.0; + out_500884218142268447[103] = 0.0; + out_500884218142268447[104] = 0.0; + out_500884218142268447[105] = 0.0; + out_500884218142268447[106] = 0.0; + out_500884218142268447[107] = 0.0; + out_500884218142268447[108] = 0.0; + out_500884218142268447[109] = 0.0; + out_500884218142268447[110] = 0.0; + out_500884218142268447[111] = 0.0; + out_500884218142268447[112] = 0.0; + out_500884218142268447[113] = 0.0; + out_500884218142268447[114] = 1.0; + out_500884218142268447[115] = 0.0; + out_500884218142268447[116] = 0.0; + out_500884218142268447[117] = 0.0; + out_500884218142268447[118] = 0.0; + out_500884218142268447[119] = 0.0; + out_500884218142268447[120] = 0.0; + out_500884218142268447[121] = 0.0; + out_500884218142268447[122] = 0.0; + out_500884218142268447[123] = 0.0; + out_500884218142268447[124] = 0.0; + out_500884218142268447[125] = 0.0; + out_500884218142268447[126] = 0.0; + out_500884218142268447[127] = 0.0; + out_500884218142268447[128] = 0.0; + out_500884218142268447[129] = 0.0; + out_500884218142268447[130] = 0.0; + out_500884218142268447[131] = 0.0; + out_500884218142268447[132] = 0.0; + out_500884218142268447[133] = 1.0; + out_500884218142268447[134] = 0.0; + out_500884218142268447[135] = 0.0; + out_500884218142268447[136] = 0.0; + out_500884218142268447[137] = 0.0; + out_500884218142268447[138] = 0.0; + out_500884218142268447[139] = 0.0; + out_500884218142268447[140] = 0.0; + out_500884218142268447[141] = 0.0; + out_500884218142268447[142] = 0.0; + out_500884218142268447[143] = 0.0; + out_500884218142268447[144] = 0.0; + out_500884218142268447[145] = 0.0; + out_500884218142268447[146] = 0.0; + out_500884218142268447[147] = 0.0; + out_500884218142268447[148] = 0.0; + out_500884218142268447[149] = 0.0; + out_500884218142268447[150] = 0.0; + out_500884218142268447[151] = 0.0; + out_500884218142268447[152] = 1.0; + out_500884218142268447[153] = 0.0; + out_500884218142268447[154] = 0.0; + out_500884218142268447[155] = 0.0; + out_500884218142268447[156] = 0.0; + out_500884218142268447[157] = 0.0; + out_500884218142268447[158] = 0.0; + out_500884218142268447[159] = 0.0; + out_500884218142268447[160] = 0.0; + out_500884218142268447[161] = 0.0; + out_500884218142268447[162] = 0.0; + out_500884218142268447[163] = 0.0; + out_500884218142268447[164] = 0.0; + out_500884218142268447[165] = 0.0; + out_500884218142268447[166] = 0.0; + out_500884218142268447[167] = 0.0; + out_500884218142268447[168] = 0.0; + out_500884218142268447[169] = 0.0; + out_500884218142268447[170] = 0.0; + out_500884218142268447[171] = 1.0; + out_500884218142268447[172] = 0.0; + out_500884218142268447[173] = 0.0; + out_500884218142268447[174] = 0.0; + out_500884218142268447[175] = 0.0; + out_500884218142268447[176] = 0.0; + out_500884218142268447[177] = 0.0; + out_500884218142268447[178] = 0.0; + out_500884218142268447[179] = 0.0; + out_500884218142268447[180] = 0.0; + out_500884218142268447[181] = 0.0; + out_500884218142268447[182] = 0.0; + out_500884218142268447[183] = 0.0; + out_500884218142268447[184] = 0.0; + out_500884218142268447[185] = 0.0; + out_500884218142268447[186] = 0.0; + out_500884218142268447[187] = 0.0; + out_500884218142268447[188] = 0.0; + out_500884218142268447[189] = 0.0; + out_500884218142268447[190] = 1.0; + out_500884218142268447[191] = 0.0; + out_500884218142268447[192] = 0.0; + out_500884218142268447[193] = 0.0; + out_500884218142268447[194] = 0.0; + out_500884218142268447[195] = 0.0; + out_500884218142268447[196] = 0.0; + out_500884218142268447[197] = 0.0; + out_500884218142268447[198] = 0.0; + out_500884218142268447[199] = 0.0; + out_500884218142268447[200] = 0.0; + out_500884218142268447[201] = 0.0; + out_500884218142268447[202] = 0.0; + out_500884218142268447[203] = 0.0; + out_500884218142268447[204] = 0.0; + out_500884218142268447[205] = 0.0; + out_500884218142268447[206] = 0.0; + out_500884218142268447[207] = 0.0; + out_500884218142268447[208] = 0.0; + out_500884218142268447[209] = 1.0; + out_500884218142268447[210] = 0.0; + out_500884218142268447[211] = 0.0; + out_500884218142268447[212] = 0.0; + out_500884218142268447[213] = 0.0; + out_500884218142268447[214] = 0.0; + out_500884218142268447[215] = 0.0; + out_500884218142268447[216] = 0.0; + out_500884218142268447[217] = 0.0; + out_500884218142268447[218] = 0.0; + out_500884218142268447[219] = 0.0; + out_500884218142268447[220] = 0.0; + out_500884218142268447[221] = 0.0; + out_500884218142268447[222] = 0.0; + out_500884218142268447[223] = 0.0; + out_500884218142268447[224] = 0.0; + out_500884218142268447[225] = 0.0; + out_500884218142268447[226] = 0.0; + out_500884218142268447[227] = 0.0; + out_500884218142268447[228] = 1.0; + out_500884218142268447[229] = 0.0; + out_500884218142268447[230] = 0.0; + out_500884218142268447[231] = 0.0; + out_500884218142268447[232] = 0.0; + out_500884218142268447[233] = 0.0; + out_500884218142268447[234] = 0.0; + out_500884218142268447[235] = 0.0; + out_500884218142268447[236] = 0.0; + out_500884218142268447[237] = 0.0; + out_500884218142268447[238] = 0.0; + out_500884218142268447[239] = 0.0; + out_500884218142268447[240] = 0.0; + out_500884218142268447[241] = 0.0; + out_500884218142268447[242] = 0.0; + out_500884218142268447[243] = 0.0; + out_500884218142268447[244] = 0.0; + out_500884218142268447[245] = 0.0; + out_500884218142268447[246] = 0.0; + out_500884218142268447[247] = 1.0; + out_500884218142268447[248] = 0.0; + out_500884218142268447[249] = 0.0; + out_500884218142268447[250] = 0.0; + out_500884218142268447[251] = 0.0; + out_500884218142268447[252] = 0.0; + out_500884218142268447[253] = 0.0; + out_500884218142268447[254] = 0.0; + out_500884218142268447[255] = 0.0; + out_500884218142268447[256] = 0.0; + out_500884218142268447[257] = 0.0; + out_500884218142268447[258] = 0.0; + out_500884218142268447[259] = 0.0; + out_500884218142268447[260] = 0.0; + out_500884218142268447[261] = 0.0; + out_500884218142268447[262] = 0.0; + out_500884218142268447[263] = 0.0; + out_500884218142268447[264] = 0.0; + out_500884218142268447[265] = 0.0; + out_500884218142268447[266] = 1.0; + out_500884218142268447[267] = 0.0; + out_500884218142268447[268] = 0.0; + out_500884218142268447[269] = 0.0; + out_500884218142268447[270] = 0.0; + out_500884218142268447[271] = 0.0; + out_500884218142268447[272] = 0.0; + out_500884218142268447[273] = 0.0; + out_500884218142268447[274] = 0.0; + out_500884218142268447[275] = 0.0; + out_500884218142268447[276] = 0.0; + out_500884218142268447[277] = 0.0; + out_500884218142268447[278] = 0.0; + out_500884218142268447[279] = 0.0; + out_500884218142268447[280] = 0.0; + out_500884218142268447[281] = 0.0; + out_500884218142268447[282] = 0.0; + out_500884218142268447[283] = 0.0; + out_500884218142268447[284] = 0.0; + out_500884218142268447[285] = 1.0; + out_500884218142268447[286] = 0.0; + out_500884218142268447[287] = 0.0; + out_500884218142268447[288] = 0.0; + out_500884218142268447[289] = 0.0; + out_500884218142268447[290] = 0.0; + out_500884218142268447[291] = 0.0; + out_500884218142268447[292] = 0.0; + out_500884218142268447[293] = 0.0; + out_500884218142268447[294] = 0.0; + out_500884218142268447[295] = 0.0; + out_500884218142268447[296] = 0.0; + out_500884218142268447[297] = 0.0; + out_500884218142268447[298] = 0.0; + out_500884218142268447[299] = 0.0; + out_500884218142268447[300] = 0.0; + out_500884218142268447[301] = 0.0; + out_500884218142268447[302] = 0.0; + out_500884218142268447[303] = 0.0; + out_500884218142268447[304] = 1.0; + out_500884218142268447[305] = 0.0; + out_500884218142268447[306] = 0.0; + out_500884218142268447[307] = 0.0; + out_500884218142268447[308] = 0.0; + out_500884218142268447[309] = 0.0; + out_500884218142268447[310] = 0.0; + out_500884218142268447[311] = 0.0; + out_500884218142268447[312] = 0.0; + out_500884218142268447[313] = 0.0; + out_500884218142268447[314] = 0.0; + out_500884218142268447[315] = 0.0; + out_500884218142268447[316] = 0.0; + out_500884218142268447[317] = 0.0; + out_500884218142268447[318] = 0.0; + out_500884218142268447[319] = 0.0; + out_500884218142268447[320] = 0.0; + out_500884218142268447[321] = 0.0; + out_500884218142268447[322] = 0.0; + out_500884218142268447[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6773782600033783154) { - out_6773782600033783154[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_6773782600033783154[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_6773782600033783154[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_6773782600033783154[3] = dt*state[12] + state[3]; - out_6773782600033783154[4] = dt*state[13] + state[4]; - out_6773782600033783154[5] = dt*state[14] + state[5]; - out_6773782600033783154[6] = state[6]; - out_6773782600033783154[7] = state[7]; - out_6773782600033783154[8] = state[8]; - out_6773782600033783154[9] = state[9]; - out_6773782600033783154[10] = state[10]; - out_6773782600033783154[11] = state[11]; - out_6773782600033783154[12] = state[12]; - out_6773782600033783154[13] = state[13]; - out_6773782600033783154[14] = state[14]; - out_6773782600033783154[15] = state[15]; - out_6773782600033783154[16] = state[16]; - out_6773782600033783154[17] = state[17]; +void f_fun(double *state, double dt, double *out_4066820228930702403) { + out_4066820228930702403[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_4066820228930702403[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_4066820228930702403[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_4066820228930702403[3] = dt*state[12] + state[3]; + out_4066820228930702403[4] = dt*state[13] + state[4]; + out_4066820228930702403[5] = dt*state[14] + state[5]; + out_4066820228930702403[6] = state[6]; + out_4066820228930702403[7] = state[7]; + out_4066820228930702403[8] = state[8]; + out_4066820228930702403[9] = state[9]; + out_4066820228930702403[10] = state[10]; + out_4066820228930702403[11] = state[11]; + out_4066820228930702403[12] = state[12]; + out_4066820228930702403[13] = state[13]; + out_4066820228930702403[14] = state[14]; + out_4066820228930702403[15] = state[15]; + out_4066820228930702403[16] = state[16]; + out_4066820228930702403[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6298375408118706110) { - out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[2] = 0; - out_6298375408118706110[3] = 0; - out_6298375408118706110[4] = 0; - out_6298375408118706110[5] = 0; - out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[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_6298375408118706110[9] = 0; - out_6298375408118706110[10] = 0; - out_6298375408118706110[11] = 0; - out_6298375408118706110[12] = 0; - out_6298375408118706110[13] = 0; - out_6298375408118706110[14] = 0; - out_6298375408118706110[15] = 0; - out_6298375408118706110[16] = 0; - out_6298375408118706110[17] = 0; - out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[20] = 0; - out_6298375408118706110[21] = 0; - out_6298375408118706110[22] = 0; - out_6298375408118706110[23] = 0; - out_6298375408118706110[24] = 0; - out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[27] = 0; - out_6298375408118706110[28] = 0; - out_6298375408118706110[29] = 0; - out_6298375408118706110[30] = 0; - out_6298375408118706110[31] = 0; - out_6298375408118706110[32] = 0; - out_6298375408118706110[33] = 0; - out_6298375408118706110[34] = 0; - out_6298375408118706110[35] = 0; - out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[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_6298375408118706110[39] = 0; - out_6298375408118706110[40] = 0; - out_6298375408118706110[41] = 0; - out_6298375408118706110[42] = 0; - out_6298375408118706110[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_6298375408118706110[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_6298375408118706110[45] = 0; - out_6298375408118706110[46] = 0; - out_6298375408118706110[47] = 0; - out_6298375408118706110[48] = 0; - out_6298375408118706110[49] = 0; - out_6298375408118706110[50] = 0; - out_6298375408118706110[51] = 0; - out_6298375408118706110[52] = 0; - out_6298375408118706110[53] = 0; - out_6298375408118706110[54] = 0; - out_6298375408118706110[55] = 0; - out_6298375408118706110[56] = 0; - out_6298375408118706110[57] = 1; - out_6298375408118706110[58] = 0; - out_6298375408118706110[59] = 0; - out_6298375408118706110[60] = 0; - out_6298375408118706110[61] = 0; - out_6298375408118706110[62] = 0; - out_6298375408118706110[63] = 0; - out_6298375408118706110[64] = 0; - out_6298375408118706110[65] = 0; - out_6298375408118706110[66] = dt; - out_6298375408118706110[67] = 0; - out_6298375408118706110[68] = 0; - out_6298375408118706110[69] = 0; - out_6298375408118706110[70] = 0; - out_6298375408118706110[71] = 0; - out_6298375408118706110[72] = 0; - out_6298375408118706110[73] = 0; - out_6298375408118706110[74] = 0; - out_6298375408118706110[75] = 0; - out_6298375408118706110[76] = 1; - out_6298375408118706110[77] = 0; - out_6298375408118706110[78] = 0; - out_6298375408118706110[79] = 0; - out_6298375408118706110[80] = 0; - out_6298375408118706110[81] = 0; - out_6298375408118706110[82] = 0; - out_6298375408118706110[83] = 0; - out_6298375408118706110[84] = 0; - out_6298375408118706110[85] = dt; - out_6298375408118706110[86] = 0; - out_6298375408118706110[87] = 0; - out_6298375408118706110[88] = 0; - out_6298375408118706110[89] = 0; - out_6298375408118706110[90] = 0; - out_6298375408118706110[91] = 0; - out_6298375408118706110[92] = 0; - out_6298375408118706110[93] = 0; - out_6298375408118706110[94] = 0; - out_6298375408118706110[95] = 1; - out_6298375408118706110[96] = 0; - out_6298375408118706110[97] = 0; - out_6298375408118706110[98] = 0; - out_6298375408118706110[99] = 0; - out_6298375408118706110[100] = 0; - out_6298375408118706110[101] = 0; - out_6298375408118706110[102] = 0; - out_6298375408118706110[103] = 0; - out_6298375408118706110[104] = dt; - out_6298375408118706110[105] = 0; - out_6298375408118706110[106] = 0; - out_6298375408118706110[107] = 0; - out_6298375408118706110[108] = 0; - out_6298375408118706110[109] = 0; - out_6298375408118706110[110] = 0; - out_6298375408118706110[111] = 0; - out_6298375408118706110[112] = 0; - out_6298375408118706110[113] = 0; - out_6298375408118706110[114] = 1; - out_6298375408118706110[115] = 0; - out_6298375408118706110[116] = 0; - out_6298375408118706110[117] = 0; - out_6298375408118706110[118] = 0; - out_6298375408118706110[119] = 0; - out_6298375408118706110[120] = 0; - out_6298375408118706110[121] = 0; - out_6298375408118706110[122] = 0; - out_6298375408118706110[123] = 0; - out_6298375408118706110[124] = 0; - out_6298375408118706110[125] = 0; - out_6298375408118706110[126] = 0; - out_6298375408118706110[127] = 0; - out_6298375408118706110[128] = 0; - out_6298375408118706110[129] = 0; - out_6298375408118706110[130] = 0; - out_6298375408118706110[131] = 0; - out_6298375408118706110[132] = 0; - out_6298375408118706110[133] = 1; - out_6298375408118706110[134] = 0; - out_6298375408118706110[135] = 0; - out_6298375408118706110[136] = 0; - out_6298375408118706110[137] = 0; - out_6298375408118706110[138] = 0; - out_6298375408118706110[139] = 0; - out_6298375408118706110[140] = 0; - out_6298375408118706110[141] = 0; - out_6298375408118706110[142] = 0; - out_6298375408118706110[143] = 0; - out_6298375408118706110[144] = 0; - out_6298375408118706110[145] = 0; - out_6298375408118706110[146] = 0; - out_6298375408118706110[147] = 0; - out_6298375408118706110[148] = 0; - out_6298375408118706110[149] = 0; - out_6298375408118706110[150] = 0; - out_6298375408118706110[151] = 0; - out_6298375408118706110[152] = 1; - out_6298375408118706110[153] = 0; - out_6298375408118706110[154] = 0; - out_6298375408118706110[155] = 0; - out_6298375408118706110[156] = 0; - out_6298375408118706110[157] = 0; - out_6298375408118706110[158] = 0; - out_6298375408118706110[159] = 0; - out_6298375408118706110[160] = 0; - out_6298375408118706110[161] = 0; - out_6298375408118706110[162] = 0; - out_6298375408118706110[163] = 0; - out_6298375408118706110[164] = 0; - out_6298375408118706110[165] = 0; - out_6298375408118706110[166] = 0; - out_6298375408118706110[167] = 0; - out_6298375408118706110[168] = 0; - out_6298375408118706110[169] = 0; - out_6298375408118706110[170] = 0; - out_6298375408118706110[171] = 1; - out_6298375408118706110[172] = 0; - out_6298375408118706110[173] = 0; - out_6298375408118706110[174] = 0; - out_6298375408118706110[175] = 0; - out_6298375408118706110[176] = 0; - out_6298375408118706110[177] = 0; - out_6298375408118706110[178] = 0; - out_6298375408118706110[179] = 0; - out_6298375408118706110[180] = 0; - out_6298375408118706110[181] = 0; - out_6298375408118706110[182] = 0; - out_6298375408118706110[183] = 0; - out_6298375408118706110[184] = 0; - out_6298375408118706110[185] = 0; - out_6298375408118706110[186] = 0; - out_6298375408118706110[187] = 0; - out_6298375408118706110[188] = 0; - out_6298375408118706110[189] = 0; - out_6298375408118706110[190] = 1; - out_6298375408118706110[191] = 0; - out_6298375408118706110[192] = 0; - out_6298375408118706110[193] = 0; - out_6298375408118706110[194] = 0; - out_6298375408118706110[195] = 0; - out_6298375408118706110[196] = 0; - out_6298375408118706110[197] = 0; - out_6298375408118706110[198] = 0; - out_6298375408118706110[199] = 0; - out_6298375408118706110[200] = 0; - out_6298375408118706110[201] = 0; - out_6298375408118706110[202] = 0; - out_6298375408118706110[203] = 0; - out_6298375408118706110[204] = 0; - out_6298375408118706110[205] = 0; - out_6298375408118706110[206] = 0; - out_6298375408118706110[207] = 0; - out_6298375408118706110[208] = 0; - out_6298375408118706110[209] = 1; - out_6298375408118706110[210] = 0; - out_6298375408118706110[211] = 0; - out_6298375408118706110[212] = 0; - out_6298375408118706110[213] = 0; - out_6298375408118706110[214] = 0; - out_6298375408118706110[215] = 0; - out_6298375408118706110[216] = 0; - out_6298375408118706110[217] = 0; - out_6298375408118706110[218] = 0; - out_6298375408118706110[219] = 0; - out_6298375408118706110[220] = 0; - out_6298375408118706110[221] = 0; - out_6298375408118706110[222] = 0; - out_6298375408118706110[223] = 0; - out_6298375408118706110[224] = 0; - out_6298375408118706110[225] = 0; - out_6298375408118706110[226] = 0; - out_6298375408118706110[227] = 0; - out_6298375408118706110[228] = 1; - out_6298375408118706110[229] = 0; - out_6298375408118706110[230] = 0; - out_6298375408118706110[231] = 0; - out_6298375408118706110[232] = 0; - out_6298375408118706110[233] = 0; - out_6298375408118706110[234] = 0; - out_6298375408118706110[235] = 0; - out_6298375408118706110[236] = 0; - out_6298375408118706110[237] = 0; - out_6298375408118706110[238] = 0; - out_6298375408118706110[239] = 0; - out_6298375408118706110[240] = 0; - out_6298375408118706110[241] = 0; - out_6298375408118706110[242] = 0; - out_6298375408118706110[243] = 0; - out_6298375408118706110[244] = 0; - out_6298375408118706110[245] = 0; - out_6298375408118706110[246] = 0; - out_6298375408118706110[247] = 1; - out_6298375408118706110[248] = 0; - out_6298375408118706110[249] = 0; - out_6298375408118706110[250] = 0; - out_6298375408118706110[251] = 0; - out_6298375408118706110[252] = 0; - out_6298375408118706110[253] = 0; - out_6298375408118706110[254] = 0; - out_6298375408118706110[255] = 0; - out_6298375408118706110[256] = 0; - out_6298375408118706110[257] = 0; - out_6298375408118706110[258] = 0; - out_6298375408118706110[259] = 0; - out_6298375408118706110[260] = 0; - out_6298375408118706110[261] = 0; - out_6298375408118706110[262] = 0; - out_6298375408118706110[263] = 0; - out_6298375408118706110[264] = 0; - out_6298375408118706110[265] = 0; - out_6298375408118706110[266] = 1; - out_6298375408118706110[267] = 0; - out_6298375408118706110[268] = 0; - out_6298375408118706110[269] = 0; - out_6298375408118706110[270] = 0; - out_6298375408118706110[271] = 0; - out_6298375408118706110[272] = 0; - out_6298375408118706110[273] = 0; - out_6298375408118706110[274] = 0; - out_6298375408118706110[275] = 0; - out_6298375408118706110[276] = 0; - out_6298375408118706110[277] = 0; - out_6298375408118706110[278] = 0; - out_6298375408118706110[279] = 0; - out_6298375408118706110[280] = 0; - out_6298375408118706110[281] = 0; - out_6298375408118706110[282] = 0; - out_6298375408118706110[283] = 0; - out_6298375408118706110[284] = 0; - out_6298375408118706110[285] = 1; - out_6298375408118706110[286] = 0; - out_6298375408118706110[287] = 0; - out_6298375408118706110[288] = 0; - out_6298375408118706110[289] = 0; - out_6298375408118706110[290] = 0; - out_6298375408118706110[291] = 0; - out_6298375408118706110[292] = 0; - out_6298375408118706110[293] = 0; - out_6298375408118706110[294] = 0; - out_6298375408118706110[295] = 0; - out_6298375408118706110[296] = 0; - out_6298375408118706110[297] = 0; - out_6298375408118706110[298] = 0; - out_6298375408118706110[299] = 0; - out_6298375408118706110[300] = 0; - out_6298375408118706110[301] = 0; - out_6298375408118706110[302] = 0; - out_6298375408118706110[303] = 0; - out_6298375408118706110[304] = 1; - out_6298375408118706110[305] = 0; - out_6298375408118706110[306] = 0; - out_6298375408118706110[307] = 0; - out_6298375408118706110[308] = 0; - out_6298375408118706110[309] = 0; - out_6298375408118706110[310] = 0; - out_6298375408118706110[311] = 0; - out_6298375408118706110[312] = 0; - out_6298375408118706110[313] = 0; - out_6298375408118706110[314] = 0; - out_6298375408118706110[315] = 0; - out_6298375408118706110[316] = 0; - out_6298375408118706110[317] = 0; - out_6298375408118706110[318] = 0; - out_6298375408118706110[319] = 0; - out_6298375408118706110[320] = 0; - out_6298375408118706110[321] = 0; - out_6298375408118706110[322] = 0; - out_6298375408118706110[323] = 1; +void F_fun(double *state, double dt, double *out_4990161262598215268) { + out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[2] = 0; + out_4990161262598215268[3] = 0; + out_4990161262598215268[4] = 0; + out_4990161262598215268[5] = 0; + out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[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_4990161262598215268[9] = 0; + out_4990161262598215268[10] = 0; + out_4990161262598215268[11] = 0; + out_4990161262598215268[12] = 0; + out_4990161262598215268[13] = 0; + out_4990161262598215268[14] = 0; + out_4990161262598215268[15] = 0; + out_4990161262598215268[16] = 0; + out_4990161262598215268[17] = 0; + out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[20] = 0; + out_4990161262598215268[21] = 0; + out_4990161262598215268[22] = 0; + out_4990161262598215268[23] = 0; + out_4990161262598215268[24] = 0; + out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[27] = 0; + out_4990161262598215268[28] = 0; + out_4990161262598215268[29] = 0; + out_4990161262598215268[30] = 0; + out_4990161262598215268[31] = 0; + out_4990161262598215268[32] = 0; + out_4990161262598215268[33] = 0; + out_4990161262598215268[34] = 0; + out_4990161262598215268[35] = 0; + out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[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_4990161262598215268[39] = 0; + out_4990161262598215268[40] = 0; + out_4990161262598215268[41] = 0; + out_4990161262598215268[42] = 0; + out_4990161262598215268[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_4990161262598215268[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_4990161262598215268[45] = 0; + out_4990161262598215268[46] = 0; + out_4990161262598215268[47] = 0; + out_4990161262598215268[48] = 0; + out_4990161262598215268[49] = 0; + out_4990161262598215268[50] = 0; + out_4990161262598215268[51] = 0; + out_4990161262598215268[52] = 0; + out_4990161262598215268[53] = 0; + out_4990161262598215268[54] = 0; + out_4990161262598215268[55] = 0; + out_4990161262598215268[56] = 0; + out_4990161262598215268[57] = 1; + out_4990161262598215268[58] = 0; + out_4990161262598215268[59] = 0; + out_4990161262598215268[60] = 0; + out_4990161262598215268[61] = 0; + out_4990161262598215268[62] = 0; + out_4990161262598215268[63] = 0; + out_4990161262598215268[64] = 0; + out_4990161262598215268[65] = 0; + out_4990161262598215268[66] = dt; + out_4990161262598215268[67] = 0; + out_4990161262598215268[68] = 0; + out_4990161262598215268[69] = 0; + out_4990161262598215268[70] = 0; + out_4990161262598215268[71] = 0; + out_4990161262598215268[72] = 0; + out_4990161262598215268[73] = 0; + out_4990161262598215268[74] = 0; + out_4990161262598215268[75] = 0; + out_4990161262598215268[76] = 1; + out_4990161262598215268[77] = 0; + out_4990161262598215268[78] = 0; + out_4990161262598215268[79] = 0; + out_4990161262598215268[80] = 0; + out_4990161262598215268[81] = 0; + out_4990161262598215268[82] = 0; + out_4990161262598215268[83] = 0; + out_4990161262598215268[84] = 0; + out_4990161262598215268[85] = dt; + out_4990161262598215268[86] = 0; + out_4990161262598215268[87] = 0; + out_4990161262598215268[88] = 0; + out_4990161262598215268[89] = 0; + out_4990161262598215268[90] = 0; + out_4990161262598215268[91] = 0; + out_4990161262598215268[92] = 0; + out_4990161262598215268[93] = 0; + out_4990161262598215268[94] = 0; + out_4990161262598215268[95] = 1; + out_4990161262598215268[96] = 0; + out_4990161262598215268[97] = 0; + out_4990161262598215268[98] = 0; + out_4990161262598215268[99] = 0; + out_4990161262598215268[100] = 0; + out_4990161262598215268[101] = 0; + out_4990161262598215268[102] = 0; + out_4990161262598215268[103] = 0; + out_4990161262598215268[104] = dt; + out_4990161262598215268[105] = 0; + out_4990161262598215268[106] = 0; + out_4990161262598215268[107] = 0; + out_4990161262598215268[108] = 0; + out_4990161262598215268[109] = 0; + out_4990161262598215268[110] = 0; + out_4990161262598215268[111] = 0; + out_4990161262598215268[112] = 0; + out_4990161262598215268[113] = 0; + out_4990161262598215268[114] = 1; + out_4990161262598215268[115] = 0; + out_4990161262598215268[116] = 0; + out_4990161262598215268[117] = 0; + out_4990161262598215268[118] = 0; + out_4990161262598215268[119] = 0; + out_4990161262598215268[120] = 0; + out_4990161262598215268[121] = 0; + out_4990161262598215268[122] = 0; + out_4990161262598215268[123] = 0; + out_4990161262598215268[124] = 0; + out_4990161262598215268[125] = 0; + out_4990161262598215268[126] = 0; + out_4990161262598215268[127] = 0; + out_4990161262598215268[128] = 0; + out_4990161262598215268[129] = 0; + out_4990161262598215268[130] = 0; + out_4990161262598215268[131] = 0; + out_4990161262598215268[132] = 0; + out_4990161262598215268[133] = 1; + out_4990161262598215268[134] = 0; + out_4990161262598215268[135] = 0; + out_4990161262598215268[136] = 0; + out_4990161262598215268[137] = 0; + out_4990161262598215268[138] = 0; + out_4990161262598215268[139] = 0; + out_4990161262598215268[140] = 0; + out_4990161262598215268[141] = 0; + out_4990161262598215268[142] = 0; + out_4990161262598215268[143] = 0; + out_4990161262598215268[144] = 0; + out_4990161262598215268[145] = 0; + out_4990161262598215268[146] = 0; + out_4990161262598215268[147] = 0; + out_4990161262598215268[148] = 0; + out_4990161262598215268[149] = 0; + out_4990161262598215268[150] = 0; + out_4990161262598215268[151] = 0; + out_4990161262598215268[152] = 1; + out_4990161262598215268[153] = 0; + out_4990161262598215268[154] = 0; + out_4990161262598215268[155] = 0; + out_4990161262598215268[156] = 0; + out_4990161262598215268[157] = 0; + out_4990161262598215268[158] = 0; + out_4990161262598215268[159] = 0; + out_4990161262598215268[160] = 0; + out_4990161262598215268[161] = 0; + out_4990161262598215268[162] = 0; + out_4990161262598215268[163] = 0; + out_4990161262598215268[164] = 0; + out_4990161262598215268[165] = 0; + out_4990161262598215268[166] = 0; + out_4990161262598215268[167] = 0; + out_4990161262598215268[168] = 0; + out_4990161262598215268[169] = 0; + out_4990161262598215268[170] = 0; + out_4990161262598215268[171] = 1; + out_4990161262598215268[172] = 0; + out_4990161262598215268[173] = 0; + out_4990161262598215268[174] = 0; + out_4990161262598215268[175] = 0; + out_4990161262598215268[176] = 0; + out_4990161262598215268[177] = 0; + out_4990161262598215268[178] = 0; + out_4990161262598215268[179] = 0; + out_4990161262598215268[180] = 0; + out_4990161262598215268[181] = 0; + out_4990161262598215268[182] = 0; + out_4990161262598215268[183] = 0; + out_4990161262598215268[184] = 0; + out_4990161262598215268[185] = 0; + out_4990161262598215268[186] = 0; + out_4990161262598215268[187] = 0; + out_4990161262598215268[188] = 0; + out_4990161262598215268[189] = 0; + out_4990161262598215268[190] = 1; + out_4990161262598215268[191] = 0; + out_4990161262598215268[192] = 0; + out_4990161262598215268[193] = 0; + out_4990161262598215268[194] = 0; + out_4990161262598215268[195] = 0; + out_4990161262598215268[196] = 0; + out_4990161262598215268[197] = 0; + out_4990161262598215268[198] = 0; + out_4990161262598215268[199] = 0; + out_4990161262598215268[200] = 0; + out_4990161262598215268[201] = 0; + out_4990161262598215268[202] = 0; + out_4990161262598215268[203] = 0; + out_4990161262598215268[204] = 0; + out_4990161262598215268[205] = 0; + out_4990161262598215268[206] = 0; + out_4990161262598215268[207] = 0; + out_4990161262598215268[208] = 0; + out_4990161262598215268[209] = 1; + out_4990161262598215268[210] = 0; + out_4990161262598215268[211] = 0; + out_4990161262598215268[212] = 0; + out_4990161262598215268[213] = 0; + out_4990161262598215268[214] = 0; + out_4990161262598215268[215] = 0; + out_4990161262598215268[216] = 0; + out_4990161262598215268[217] = 0; + out_4990161262598215268[218] = 0; + out_4990161262598215268[219] = 0; + out_4990161262598215268[220] = 0; + out_4990161262598215268[221] = 0; + out_4990161262598215268[222] = 0; + out_4990161262598215268[223] = 0; + out_4990161262598215268[224] = 0; + out_4990161262598215268[225] = 0; + out_4990161262598215268[226] = 0; + out_4990161262598215268[227] = 0; + out_4990161262598215268[228] = 1; + out_4990161262598215268[229] = 0; + out_4990161262598215268[230] = 0; + out_4990161262598215268[231] = 0; + out_4990161262598215268[232] = 0; + out_4990161262598215268[233] = 0; + out_4990161262598215268[234] = 0; + out_4990161262598215268[235] = 0; + out_4990161262598215268[236] = 0; + out_4990161262598215268[237] = 0; + out_4990161262598215268[238] = 0; + out_4990161262598215268[239] = 0; + out_4990161262598215268[240] = 0; + out_4990161262598215268[241] = 0; + out_4990161262598215268[242] = 0; + out_4990161262598215268[243] = 0; + out_4990161262598215268[244] = 0; + out_4990161262598215268[245] = 0; + out_4990161262598215268[246] = 0; + out_4990161262598215268[247] = 1; + out_4990161262598215268[248] = 0; + out_4990161262598215268[249] = 0; + out_4990161262598215268[250] = 0; + out_4990161262598215268[251] = 0; + out_4990161262598215268[252] = 0; + out_4990161262598215268[253] = 0; + out_4990161262598215268[254] = 0; + out_4990161262598215268[255] = 0; + out_4990161262598215268[256] = 0; + out_4990161262598215268[257] = 0; + out_4990161262598215268[258] = 0; + out_4990161262598215268[259] = 0; + out_4990161262598215268[260] = 0; + out_4990161262598215268[261] = 0; + out_4990161262598215268[262] = 0; + out_4990161262598215268[263] = 0; + out_4990161262598215268[264] = 0; + out_4990161262598215268[265] = 0; + out_4990161262598215268[266] = 1; + out_4990161262598215268[267] = 0; + out_4990161262598215268[268] = 0; + out_4990161262598215268[269] = 0; + out_4990161262598215268[270] = 0; + out_4990161262598215268[271] = 0; + out_4990161262598215268[272] = 0; + out_4990161262598215268[273] = 0; + out_4990161262598215268[274] = 0; + out_4990161262598215268[275] = 0; + out_4990161262598215268[276] = 0; + out_4990161262598215268[277] = 0; + out_4990161262598215268[278] = 0; + out_4990161262598215268[279] = 0; + out_4990161262598215268[280] = 0; + out_4990161262598215268[281] = 0; + out_4990161262598215268[282] = 0; + out_4990161262598215268[283] = 0; + out_4990161262598215268[284] = 0; + out_4990161262598215268[285] = 1; + out_4990161262598215268[286] = 0; + out_4990161262598215268[287] = 0; + out_4990161262598215268[288] = 0; + out_4990161262598215268[289] = 0; + out_4990161262598215268[290] = 0; + out_4990161262598215268[291] = 0; + out_4990161262598215268[292] = 0; + out_4990161262598215268[293] = 0; + out_4990161262598215268[294] = 0; + out_4990161262598215268[295] = 0; + out_4990161262598215268[296] = 0; + out_4990161262598215268[297] = 0; + out_4990161262598215268[298] = 0; + out_4990161262598215268[299] = 0; + out_4990161262598215268[300] = 0; + out_4990161262598215268[301] = 0; + out_4990161262598215268[302] = 0; + out_4990161262598215268[303] = 0; + out_4990161262598215268[304] = 1; + out_4990161262598215268[305] = 0; + out_4990161262598215268[306] = 0; + out_4990161262598215268[307] = 0; + out_4990161262598215268[308] = 0; + out_4990161262598215268[309] = 0; + out_4990161262598215268[310] = 0; + out_4990161262598215268[311] = 0; + out_4990161262598215268[312] = 0; + out_4990161262598215268[313] = 0; + out_4990161262598215268[314] = 0; + out_4990161262598215268[315] = 0; + out_4990161262598215268[316] = 0; + out_4990161262598215268[317] = 0; + out_4990161262598215268[318] = 0; + out_4990161262598215268[319] = 0; + out_4990161262598215268[320] = 0; + out_4990161262598215268[321] = 0; + out_4990161262598215268[322] = 0; + out_4990161262598215268[323] = 1; } -void h_4(double *state, double *unused, double *out_6452539322350206189) { - out_6452539322350206189[0] = state[6] + state[9]; - out_6452539322350206189[1] = state[7] + state[10]; - out_6452539322350206189[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6356659530746877918) { + out_6356659530746877918[0] = state[6] + state[9]; + out_6356659530746877918[1] = state[7] + state[10]; + out_6356659530746877918[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4829214681067158040) { - out_4829214681067158040[0] = 0; - out_4829214681067158040[1] = 0; - out_4829214681067158040[2] = 0; - out_4829214681067158040[3] = 0; - out_4829214681067158040[4] = 0; - out_4829214681067158040[5] = 0; - out_4829214681067158040[6] = 1; - out_4829214681067158040[7] = 0; - out_4829214681067158040[8] = 0; - out_4829214681067158040[9] = 1; - out_4829214681067158040[10] = 0; - out_4829214681067158040[11] = 0; - out_4829214681067158040[12] = 0; - out_4829214681067158040[13] = 0; - out_4829214681067158040[14] = 0; - out_4829214681067158040[15] = 0; - out_4829214681067158040[16] = 0; - out_4829214681067158040[17] = 0; - out_4829214681067158040[18] = 0; - out_4829214681067158040[19] = 0; - out_4829214681067158040[20] = 0; - out_4829214681067158040[21] = 0; - out_4829214681067158040[22] = 0; - out_4829214681067158040[23] = 0; - out_4829214681067158040[24] = 0; - out_4829214681067158040[25] = 1; - out_4829214681067158040[26] = 0; - out_4829214681067158040[27] = 0; - out_4829214681067158040[28] = 1; - out_4829214681067158040[29] = 0; - out_4829214681067158040[30] = 0; - out_4829214681067158040[31] = 0; - out_4829214681067158040[32] = 0; - out_4829214681067158040[33] = 0; - out_4829214681067158040[34] = 0; - out_4829214681067158040[35] = 0; - out_4829214681067158040[36] = 0; - out_4829214681067158040[37] = 0; - out_4829214681067158040[38] = 0; - out_4829214681067158040[39] = 0; - out_4829214681067158040[40] = 0; - out_4829214681067158040[41] = 0; - out_4829214681067158040[42] = 0; - out_4829214681067158040[43] = 0; - out_4829214681067158040[44] = 1; - out_4829214681067158040[45] = 0; - out_4829214681067158040[46] = 0; - out_4829214681067158040[47] = 1; - out_4829214681067158040[48] = 0; - out_4829214681067158040[49] = 0; - out_4829214681067158040[50] = 0; - out_4829214681067158040[51] = 0; - out_4829214681067158040[52] = 0; - out_4829214681067158040[53] = 0; +void H_4(double *state, double *unused, double *out_9001498189509461827) { + out_9001498189509461827[0] = 0; + out_9001498189509461827[1] = 0; + out_9001498189509461827[2] = 0; + out_9001498189509461827[3] = 0; + out_9001498189509461827[4] = 0; + out_9001498189509461827[5] = 0; + out_9001498189509461827[6] = 1; + out_9001498189509461827[7] = 0; + out_9001498189509461827[8] = 0; + out_9001498189509461827[9] = 1; + out_9001498189509461827[10] = 0; + out_9001498189509461827[11] = 0; + out_9001498189509461827[12] = 0; + out_9001498189509461827[13] = 0; + out_9001498189509461827[14] = 0; + out_9001498189509461827[15] = 0; + out_9001498189509461827[16] = 0; + out_9001498189509461827[17] = 0; + out_9001498189509461827[18] = 0; + out_9001498189509461827[19] = 0; + out_9001498189509461827[20] = 0; + out_9001498189509461827[21] = 0; + out_9001498189509461827[22] = 0; + out_9001498189509461827[23] = 0; + out_9001498189509461827[24] = 0; + out_9001498189509461827[25] = 1; + out_9001498189509461827[26] = 0; + out_9001498189509461827[27] = 0; + out_9001498189509461827[28] = 1; + out_9001498189509461827[29] = 0; + out_9001498189509461827[30] = 0; + out_9001498189509461827[31] = 0; + out_9001498189509461827[32] = 0; + out_9001498189509461827[33] = 0; + out_9001498189509461827[34] = 0; + out_9001498189509461827[35] = 0; + out_9001498189509461827[36] = 0; + out_9001498189509461827[37] = 0; + out_9001498189509461827[38] = 0; + out_9001498189509461827[39] = 0; + out_9001498189509461827[40] = 0; + out_9001498189509461827[41] = 0; + out_9001498189509461827[42] = 0; + out_9001498189509461827[43] = 0; + out_9001498189509461827[44] = 1; + out_9001498189509461827[45] = 0; + out_9001498189509461827[46] = 0; + out_9001498189509461827[47] = 1; + out_9001498189509461827[48] = 0; + out_9001498189509461827[49] = 0; + out_9001498189509461827[50] = 0; + out_9001498189509461827[51] = 0; + out_9001498189509461827[52] = 0; + out_9001498189509461827[53] = 0; } -void h_10(double *state, double *unused, double *out_5957134933492111448) { - out_5957134933492111448[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5957134933492111448[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5957134933492111448[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_4540118139912947621) { + out_4540118139912947621[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_4540118139912947621[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_4540118139912947621[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_3625295134339217134) { - out_3625295134339217134[0] = 0; - out_3625295134339217134[1] = 9.8100000000000005*cos(state[1]); - out_3625295134339217134[2] = 0; - out_3625295134339217134[3] = 0; - out_3625295134339217134[4] = -state[8]; - out_3625295134339217134[5] = state[7]; - out_3625295134339217134[6] = 0; - out_3625295134339217134[7] = state[5]; - out_3625295134339217134[8] = -state[4]; - out_3625295134339217134[9] = 0; - out_3625295134339217134[10] = 0; - out_3625295134339217134[11] = 0; - out_3625295134339217134[12] = 1; - out_3625295134339217134[13] = 0; - out_3625295134339217134[14] = 0; - out_3625295134339217134[15] = 1; - out_3625295134339217134[16] = 0; - out_3625295134339217134[17] = 0; - out_3625295134339217134[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3625295134339217134[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3625295134339217134[20] = 0; - out_3625295134339217134[21] = state[8]; - out_3625295134339217134[22] = 0; - out_3625295134339217134[23] = -state[6]; - out_3625295134339217134[24] = -state[5]; - out_3625295134339217134[25] = 0; - out_3625295134339217134[26] = state[3]; - out_3625295134339217134[27] = 0; - out_3625295134339217134[28] = 0; - out_3625295134339217134[29] = 0; - out_3625295134339217134[30] = 0; - out_3625295134339217134[31] = 1; - out_3625295134339217134[32] = 0; - out_3625295134339217134[33] = 0; - out_3625295134339217134[34] = 1; - out_3625295134339217134[35] = 0; - out_3625295134339217134[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3625295134339217134[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3625295134339217134[38] = 0; - out_3625295134339217134[39] = -state[7]; - out_3625295134339217134[40] = state[6]; - out_3625295134339217134[41] = 0; - out_3625295134339217134[42] = state[4]; - out_3625295134339217134[43] = -state[3]; - out_3625295134339217134[44] = 0; - out_3625295134339217134[45] = 0; - out_3625295134339217134[46] = 0; - out_3625295134339217134[47] = 0; - out_3625295134339217134[48] = 0; - out_3625295134339217134[49] = 0; - out_3625295134339217134[50] = 1; - out_3625295134339217134[51] = 0; - out_3625295134339217134[52] = 0; - out_3625295134339217134[53] = 1; +void H_10(double *state, double *unused, double *out_2609551212551183976) { + out_2609551212551183976[0] = 0; + out_2609551212551183976[1] = 9.8100000000000005*cos(state[1]); + out_2609551212551183976[2] = 0; + out_2609551212551183976[3] = 0; + out_2609551212551183976[4] = -state[8]; + out_2609551212551183976[5] = state[7]; + out_2609551212551183976[6] = 0; + out_2609551212551183976[7] = state[5]; + out_2609551212551183976[8] = -state[4]; + out_2609551212551183976[9] = 0; + out_2609551212551183976[10] = 0; + out_2609551212551183976[11] = 0; + out_2609551212551183976[12] = 1; + out_2609551212551183976[13] = 0; + out_2609551212551183976[14] = 0; + out_2609551212551183976[15] = 1; + out_2609551212551183976[16] = 0; + out_2609551212551183976[17] = 0; + out_2609551212551183976[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2609551212551183976[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2609551212551183976[20] = 0; + out_2609551212551183976[21] = state[8]; + out_2609551212551183976[22] = 0; + out_2609551212551183976[23] = -state[6]; + out_2609551212551183976[24] = -state[5]; + out_2609551212551183976[25] = 0; + out_2609551212551183976[26] = state[3]; + out_2609551212551183976[27] = 0; + out_2609551212551183976[28] = 0; + out_2609551212551183976[29] = 0; + out_2609551212551183976[30] = 0; + out_2609551212551183976[31] = 1; + out_2609551212551183976[32] = 0; + out_2609551212551183976[33] = 0; + out_2609551212551183976[34] = 1; + out_2609551212551183976[35] = 0; + out_2609551212551183976[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2609551212551183976[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2609551212551183976[38] = 0; + out_2609551212551183976[39] = -state[7]; + out_2609551212551183976[40] = state[6]; + out_2609551212551183976[41] = 0; + out_2609551212551183976[42] = state[4]; + out_2609551212551183976[43] = -state[3]; + out_2609551212551183976[44] = 0; + out_2609551212551183976[45] = 0; + out_2609551212551183976[46] = 0; + out_2609551212551183976[47] = 0; + out_2609551212551183976[48] = 0; + out_2609551212551183976[49] = 0; + out_2609551212551183976[50] = 1; + out_2609551212551183976[51] = 0; + out_2609551212551183976[52] = 0; + out_2609551212551183976[53] = 1; } -void h_13(double *state, double *unused, double *out_6701412570788452504) { - out_6701412570788452504[0] = state[3]; - out_6701412570788452504[1] = state[4]; - out_6701412570788452504[2] = state[5]; +void h_13(double *state, double *unused, double *out_8965537497810380637) { + out_8965537497810380637[0] = state[3]; + out_8965537497810380637[1] = state[4]; + out_8965537497810380637[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5393816600749002144) { - out_5393816600749002144[0] = 0; - out_5393816600749002144[1] = 0; - out_5393816600749002144[2] = 0; - out_5393816600749002144[3] = 1; - out_5393816600749002144[4] = 0; - out_5393816600749002144[5] = 0; - out_5393816600749002144[6] = 0; - out_5393816600749002144[7] = 0; - out_5393816600749002144[8] = 0; - out_5393816600749002144[9] = 0; - out_5393816600749002144[10] = 0; - out_5393816600749002144[11] = 0; - out_5393816600749002144[12] = 0; - out_5393816600749002144[13] = 0; - out_5393816600749002144[14] = 0; - out_5393816600749002144[15] = 0; - out_5393816600749002144[16] = 0; - out_5393816600749002144[17] = 0; - out_5393816600749002144[18] = 0; - out_5393816600749002144[19] = 0; - out_5393816600749002144[20] = 0; - out_5393816600749002144[21] = 0; - out_5393816600749002144[22] = 1; - out_5393816600749002144[23] = 0; - out_5393816600749002144[24] = 0; - out_5393816600749002144[25] = 0; - out_5393816600749002144[26] = 0; - out_5393816600749002144[27] = 0; - out_5393816600749002144[28] = 0; - out_5393816600749002144[29] = 0; - out_5393816600749002144[30] = 0; - out_5393816600749002144[31] = 0; - out_5393816600749002144[32] = 0; - out_5393816600749002144[33] = 0; - out_5393816600749002144[34] = 0; - out_5393816600749002144[35] = 0; - out_5393816600749002144[36] = 0; - out_5393816600749002144[37] = 0; - out_5393816600749002144[38] = 0; - out_5393816600749002144[39] = 0; - out_5393816600749002144[40] = 0; - out_5393816600749002144[41] = 1; - out_5393816600749002144[42] = 0; - out_5393816600749002144[43] = 0; - out_5393816600749002144[44] = 0; - out_5393816600749002144[45] = 0; - out_5393816600749002144[46] = 0; - out_5393816600749002144[47] = 0; - out_5393816600749002144[48] = 0; - out_5393816600749002144[49] = 0; - out_5393816600749002144[50] = 0; - out_5393816600749002144[51] = 0; - out_5393816600749002144[52] = 0; - out_5393816600749002144[53] = 0; +void H_13(double *state, double *unused, double *out_6232972058867756988) { + out_6232972058867756988[0] = 0; + out_6232972058867756988[1] = 0; + out_6232972058867756988[2] = 0; + out_6232972058867756988[3] = 1; + out_6232972058867756988[4] = 0; + out_6232972058867756988[5] = 0; + out_6232972058867756988[6] = 0; + out_6232972058867756988[7] = 0; + out_6232972058867756988[8] = 0; + out_6232972058867756988[9] = 0; + out_6232972058867756988[10] = 0; + out_6232972058867756988[11] = 0; + out_6232972058867756988[12] = 0; + out_6232972058867756988[13] = 0; + out_6232972058867756988[14] = 0; + out_6232972058867756988[15] = 0; + out_6232972058867756988[16] = 0; + out_6232972058867756988[17] = 0; + out_6232972058867756988[18] = 0; + out_6232972058867756988[19] = 0; + out_6232972058867756988[20] = 0; + out_6232972058867756988[21] = 0; + out_6232972058867756988[22] = 1; + out_6232972058867756988[23] = 0; + out_6232972058867756988[24] = 0; + out_6232972058867756988[25] = 0; + out_6232972058867756988[26] = 0; + out_6232972058867756988[27] = 0; + out_6232972058867756988[28] = 0; + out_6232972058867756988[29] = 0; + out_6232972058867756988[30] = 0; + out_6232972058867756988[31] = 0; + out_6232972058867756988[32] = 0; + out_6232972058867756988[33] = 0; + out_6232972058867756988[34] = 0; + out_6232972058867756988[35] = 0; + out_6232972058867756988[36] = 0; + out_6232972058867756988[37] = 0; + out_6232972058867756988[38] = 0; + out_6232972058867756988[39] = 0; + out_6232972058867756988[40] = 0; + out_6232972058867756988[41] = 1; + out_6232972058867756988[42] = 0; + out_6232972058867756988[43] = 0; + out_6232972058867756988[44] = 0; + out_6232972058867756988[45] = 0; + out_6232972058867756988[46] = 0; + out_6232972058867756988[47] = 0; + out_6232972058867756988[48] = 0; + out_6232972058867756988[49] = 0; + out_6232972058867756988[50] = 0; + out_6232972058867756988[51] = 0; + out_6232972058867756988[52] = 0; + out_6232972058867756988[53] = 0; } -void h_14(double *state, double *unused, double *out_192900434341408297) { - out_192900434341408297[0] = state[6]; - out_192900434341408297[1] = state[7]; - out_192900434341408297[2] = state[8]; +void h_14(double *state, double *unused, double *out_6865363732186478618) { + out_6865363732186478618[0] = state[6]; + out_6865363732186478618[1] = state[7]; + out_6865363732186478618[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1746426248771785744) { - out_1746426248771785744[0] = 0; - out_1746426248771785744[1] = 0; - out_1746426248771785744[2] = 0; - out_1746426248771785744[3] = 0; - out_1746426248771785744[4] = 0; - out_1746426248771785744[5] = 0; - out_1746426248771785744[6] = 1; - out_1746426248771785744[7] = 0; - out_1746426248771785744[8] = 0; - out_1746426248771785744[9] = 0; - out_1746426248771785744[10] = 0; - out_1746426248771785744[11] = 0; - out_1746426248771785744[12] = 0; - out_1746426248771785744[13] = 0; - out_1746426248771785744[14] = 0; - out_1746426248771785744[15] = 0; - out_1746426248771785744[16] = 0; - out_1746426248771785744[17] = 0; - out_1746426248771785744[18] = 0; - out_1746426248771785744[19] = 0; - out_1746426248771785744[20] = 0; - out_1746426248771785744[21] = 0; - out_1746426248771785744[22] = 0; - out_1746426248771785744[23] = 0; - out_1746426248771785744[24] = 0; - out_1746426248771785744[25] = 1; - out_1746426248771785744[26] = 0; - out_1746426248771785744[27] = 0; - out_1746426248771785744[28] = 0; - out_1746426248771785744[29] = 0; - out_1746426248771785744[30] = 0; - out_1746426248771785744[31] = 0; - out_1746426248771785744[32] = 0; - out_1746426248771785744[33] = 0; - out_1746426248771785744[34] = 0; - out_1746426248771785744[35] = 0; - out_1746426248771785744[36] = 0; - out_1746426248771785744[37] = 0; - out_1746426248771785744[38] = 0; - out_1746426248771785744[39] = 0; - out_1746426248771785744[40] = 0; - out_1746426248771785744[41] = 0; - out_1746426248771785744[42] = 0; - out_1746426248771785744[43] = 0; - out_1746426248771785744[44] = 1; - out_1746426248771785744[45] = 0; - out_1746426248771785744[46] = 0; - out_1746426248771785744[47] = 0; - out_1746426248771785744[48] = 0; - out_1746426248771785744[49] = 0; - out_1746426248771785744[50] = 0; - out_1746426248771785744[51] = 0; - out_1746426248771785744[52] = 0; - out_1746426248771785744[53] = 0; +void H_14(double *state, double *unused, double *out_8566381662864578228) { + out_8566381662864578228[0] = 0; + out_8566381662864578228[1] = 0; + out_8566381662864578228[2] = 0; + out_8566381662864578228[3] = 0; + out_8566381662864578228[4] = 0; + out_8566381662864578228[5] = 0; + out_8566381662864578228[6] = 1; + out_8566381662864578228[7] = 0; + out_8566381662864578228[8] = 0; + out_8566381662864578228[9] = 0; + out_8566381662864578228[10] = 0; + out_8566381662864578228[11] = 0; + out_8566381662864578228[12] = 0; + out_8566381662864578228[13] = 0; + out_8566381662864578228[14] = 0; + out_8566381662864578228[15] = 0; + out_8566381662864578228[16] = 0; + out_8566381662864578228[17] = 0; + out_8566381662864578228[18] = 0; + out_8566381662864578228[19] = 0; + out_8566381662864578228[20] = 0; + out_8566381662864578228[21] = 0; + out_8566381662864578228[22] = 0; + out_8566381662864578228[23] = 0; + out_8566381662864578228[24] = 0; + out_8566381662864578228[25] = 1; + out_8566381662864578228[26] = 0; + out_8566381662864578228[27] = 0; + out_8566381662864578228[28] = 0; + out_8566381662864578228[29] = 0; + out_8566381662864578228[30] = 0; + out_8566381662864578228[31] = 0; + out_8566381662864578228[32] = 0; + out_8566381662864578228[33] = 0; + out_8566381662864578228[34] = 0; + out_8566381662864578228[35] = 0; + out_8566381662864578228[36] = 0; + out_8566381662864578228[37] = 0; + out_8566381662864578228[38] = 0; + out_8566381662864578228[39] = 0; + out_8566381662864578228[40] = 0; + out_8566381662864578228[41] = 0; + out_8566381662864578228[42] = 0; + out_8566381662864578228[43] = 0; + out_8566381662864578228[44] = 1; + out_8566381662864578228[45] = 0; + out_8566381662864578228[46] = 0; + out_8566381662864578228[47] = 0; + out_8566381662864578228[48] = 0; + out_8566381662864578228[49] = 0; + out_8566381662864578228[50] = 0; + out_8566381662864578228[51] = 0; + out_8566381662864578228[52] = 0; + out_8566381662864578228[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_2665641701635233151) { - err_fun(nom_x, delta_x, out_2665641701635233151); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2717418772724129561) { + err_fun(nom_x, delta_x, out_2717418772724129561); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8375727440013270020) { - inv_err_fun(nom_x, true_x, out_8375727440013270020); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6564594974930648805) { + inv_err_fun(nom_x, true_x, out_6564594974930648805); } -void pose_H_mod_fun(double *state, double *out_6067255468928274013) { - H_mod_fun(state, out_6067255468928274013); +void pose_H_mod_fun(double *state, double *out_500884218142268447) { + H_mod_fun(state, out_500884218142268447); } -void pose_f_fun(double *state, double dt, double *out_6773782600033783154) { - f_fun(state, dt, out_6773782600033783154); +void pose_f_fun(double *state, double dt, double *out_4066820228930702403) { + f_fun(state, dt, out_4066820228930702403); } -void pose_F_fun(double *state, double dt, double *out_6298375408118706110) { - F_fun(state, dt, out_6298375408118706110); +void pose_F_fun(double *state, double dt, double *out_4990161262598215268) { + F_fun(state, dt, out_4990161262598215268); } -void pose_h_4(double *state, double *unused, double *out_6452539322350206189) { - h_4(state, unused, out_6452539322350206189); +void pose_h_4(double *state, double *unused, double *out_6356659530746877918) { + h_4(state, unused, out_6356659530746877918); } -void pose_H_4(double *state, double *unused, double *out_4829214681067158040) { - H_4(state, unused, out_4829214681067158040); +void pose_H_4(double *state, double *unused, double *out_9001498189509461827) { + H_4(state, unused, out_9001498189509461827); } -void pose_h_10(double *state, double *unused, double *out_5957134933492111448) { - h_10(state, unused, out_5957134933492111448); +void pose_h_10(double *state, double *unused, double *out_4540118139912947621) { + h_10(state, unused, out_4540118139912947621); } -void pose_H_10(double *state, double *unused, double *out_3625295134339217134) { - H_10(state, unused, out_3625295134339217134); +void pose_H_10(double *state, double *unused, double *out_2609551212551183976) { + H_10(state, unused, out_2609551212551183976); } -void pose_h_13(double *state, double *unused, double *out_6701412570788452504) { - h_13(state, unused, out_6701412570788452504); +void pose_h_13(double *state, double *unused, double *out_8965537497810380637) { + h_13(state, unused, out_8965537497810380637); } -void pose_H_13(double *state, double *unused, double *out_5393816600749002144) { - H_13(state, unused, out_5393816600749002144); +void pose_H_13(double *state, double *unused, double *out_6232972058867756988) { + H_13(state, unused, out_6232972058867756988); } -void pose_h_14(double *state, double *unused, double *out_192900434341408297) { - h_14(state, unused, out_192900434341408297); +void pose_h_14(double *state, double *unused, double *out_6865363732186478618) { + h_14(state, unused, out_6865363732186478618); } -void pose_H_14(double *state, double *unused, double *out_1746426248771785744) { - H_14(state, unused, out_1746426248771785744); +void pose_H_14(double *state, double *unused, double *out_8566381662864578228) { + H_14(state, unused, out_8566381662864578228); } 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 4f9693d43..35c082995 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_2665641701635233151); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8375727440013270020); -void pose_H_mod_fun(double *state, double *out_6067255468928274013); -void pose_f_fun(double *state, double dt, double *out_6773782600033783154); -void pose_F_fun(double *state, double dt, double *out_6298375408118706110); -void pose_h_4(double *state, double *unused, double *out_6452539322350206189); -void pose_H_4(double *state, double *unused, double *out_4829214681067158040); -void pose_h_10(double *state, double *unused, double *out_5957134933492111448); -void pose_H_10(double *state, double *unused, double *out_3625295134339217134); -void pose_h_13(double *state, double *unused, double *out_6701412570788452504); -void pose_H_13(double *state, double *unused, double *out_5393816600749002144); -void pose_h_14(double *state, double *unused, double *out_192900434341408297); -void pose_H_14(double *state, double *unused, double *out_1746426248771785744); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2717418772724129561); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6564594974930648805); +void pose_H_mod_fun(double *state, double *out_500884218142268447); +void pose_f_fun(double *state, double dt, double *out_4066820228930702403); +void pose_F_fun(double *state, double dt, double *out_4990161262598215268); +void pose_h_4(double *state, double *unused, double *out_6356659530746877918); +void pose_H_4(double *state, double *unused, double *out_9001498189509461827); +void pose_h_10(double *state, double *unused, double *out_4540118139912947621); +void pose_H_10(double *state, double *unused, double *out_2609551212551183976); +void pose_h_13(double *state, double *unused, double *out_8965537497810380637); +void pose_H_13(double *state, double *unused, double *out_6232972058867756988); +void pose_h_14(double *state, double *unused, double *out_6865363732186478618); +void pose_H_14(double *state, double *unused, double *out_8566381662864578228); 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 653afc31d..7cc588385 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 4bda8b8a4..d62f46709 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index a91230d9e..14fd944ff 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 474a79a6a..f67444d24 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 067a3b5f6..f1523e11a 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ